Merge commit '12c7f6289f69611312e005e24fe9dd72fc86ed53' into HEAD
This bring in tag v2020.1.1-beta-2 from allwpilib, and the corresponding
ni-libraries (these will probably need to be updated again before/during
the season). At some point, we also need to move allwpilib_2019 to just
be allwpilib.
Change-Id: I7a624e04c2503aac19644fcc200880a4a9e61a75
diff --git a/third_party/allwpilib_2019/.gitignore b/third_party/allwpilib_2019/.gitignore
index 25cbab1..85c56af 100644
--- a/third_party/allwpilib_2019/.gitignore
+++ b/third_party/allwpilib_2019/.gitignore
@@ -2,7 +2,7 @@
dependency-reduced-pom.xml
doxygen.log
-buildcmake/
+build*/
# Created by the jenkins test script
test-reports
@@ -214,3 +214,10 @@
# Visual Studio 2015 cache/options directory
.vs/
+
+# compile_commands
+compile_commands.json
+
+# clang configuration and clangd cache
+.clang
+.clangd/
diff --git a/third_party/allwpilib_2019/.styleguide b/third_party/allwpilib_2019/.styleguide
index b93b522..aaeda49 100644
--- a/third_party/allwpilib_2019/.styleguide
+++ b/third_party/allwpilib_2019/.styleguide
@@ -29,11 +29,13 @@
^cameraserver/
^cscore
^hal/
+ ^imgui
^mockdata/
^networktables/
^ntcore
^opencv2/
^support/
+ ^units/
^vision/
^wpi/
}
diff --git a/third_party/allwpilib_2019/.wpilib/wpilib_preferences.json b/third_party/allwpilib_2019/.wpilib/wpilib_preferences.json
index 0c8975e..7e9049c 100644
--- a/third_party/allwpilib_2019/.wpilib/wpilib_preferences.json
+++ b/third_party/allwpilib_2019/.wpilib/wpilib_preferences.json
@@ -1,6 +1,6 @@
-{
- "enableCppIntellisense": true,
- "currentLanguage": "cpp",
- "projectYear": "2019",
- "teamNumber": 0
-}
+{
+ "enableCppIntellisense": true,
+ "currentLanguage": "cpp",
+ "projectYear": "2019",
+ "teamNumber": 0
+}
diff --git a/third_party/allwpilib_2019/CMakeLists.txt b/third_party/allwpilib_2019/CMakeLists.txt
index e659add..7a54492 100644
--- a/third_party/allwpilib_2019/CMakeLists.txt
+++ b/third_party/allwpilib_2019/CMakeLists.txt
@@ -48,8 +48,13 @@
option(BUILD_SHARED_LIBS "build with shared libs (needed for JNI)" ON)
option(WITHOUT_CSCORE "Don't build cscore (removes OpenCV requirement)" OFF)
option(WITHOUT_ALLWPILIB "Don't build allwpilib (removes OpenCV requirement)" ON)
+option(WITH_TESTS "build unit tests (requires internet connection)" OFF)
option(USE_EXTERNAL_HAL "Use a separately built HAL" OFF)
set(EXTERNAL_HAL_FILE "" CACHE FILEPATH "Location to look for an external HAL CMake File")
+option(USE_VCPKG_LIBUV "Use vcpkg libuv" OFF)
+option(USE_VCPKG_EIGEN "Use vcpkg eigen" OFF)
+option(FLAT_INSTALL_WPILIB "Use a flat install directory" OFF)
+option(WITH_SIMULATION_MODULES "build simulation modules" OFF)
if (NOT WITHOUT_JAVA AND NOT BUILD_SHARED_LIBS)
message(FATAL_ERROR "
@@ -65,28 +70,67 @@
set( java_lib_dest wpilib/java )
set( jni_lib_dest wpilib/jni )
-if (MSVC)
+if (MSVC OR FLAT_INSTALL_WPILIB)
set (wpilib_config_dir ${wpilib_dest})
else()
set (wpilib_config_dir share/wpilib)
endif()
+if (USE_VCPKG_LIBUV)
+set (LIBUV_VCPKG_REPLACE "find_package(unofficial-libuv CONFIG)")
+endif()
+
+if (USE_VCPKG_EIGEN)
+set (EIGEN_VCPKG_REPLACE "find_package(Eigen3 CONFIG)")
+endif()
+
+if (MSVC OR FLAT_INSTALL_WPILIB)
+set(WPIUTIL_DEP_REPLACE "include($\{SELF_DIR\}/wpiutil-config.cmake)")
+set(NTCORE_DEP_REPLACE "include($\{SELF_DIR\}/ntcore-config.cmake)")
+set(CSCORE_DEP_REPLACE_IMPL "include(\${SELF_DIR}/cscore-config.cmake)")
+set(CAMERASERVER_DEP_REPLACE_IMPL "include(\${SELF_DIR}/cameraserver-config.cmake)")
+set(HAL_DEP_REPLACE_IMPL "include(\${SELF_DIR}/hal-config.cmake)")
+set(WPILIBC_DEP_REPLACE_IMPL "include(\${SELF_DIR}/wpilibc-config.cmake)")
+else()
+set(WPIUTIL_DEP_REPLACE "find_dependency(wpiutil)")
+set(NTCORE_DEP_REPLACE "find_dependency(ntcore)")
+set(CSCORE_DEP_REPLACE_IMPL "find_dependency(cscore)")
+set(CAMERASERVER_DEP_REPLACE_IMPL "find_dependency(cameraserver)")
+set(HAL_DEP_REPLACE_IMPL "find_dependency(hal)")
+set(WPILIBC_DEP_REPLACE_IMPL "find_dependency(wpilibc)")
+endif()
+
+set(FILENAME_DEP_REPLACE "get_filename_component(SELF_DIR \"$\{CMAKE_CURRENT_LIST_FILE\}\" PATH)")
+set(SELF_DIR "$\{SELF_DIR\}")
+
+if (WITH_TESTS)
+ enable_testing()
+ add_subdirectory(googletest)
+ include(GoogleTest)
+endif()
+
add_subdirectory(wpiutil)
add_subdirectory(ntcore)
if (NOT WITHOUT_CSCORE)
+ set(CSCORE_DEP_REPLACE ${CSCORE_DEP_REPLACE_IMPL})
+ set(CAMERASERVER_DEP_REPLACE ${CAMERASERVER_DEP_REPLACE_IMPL})
add_subdirectory(cscore)
add_subdirectory(cameraserver)
- set (CSCORE_DEP_REPLACE "find_dependency(cscore)")
- set (CAMERASERVER_DEP_REPLACE "find_dependency(cameraserver)")
if (NOT WITHOUT_ALLWPILIB)
+ set(HAL_DEP_REPLACE ${HAL_DEP_REPLACE_IMPL})
+ set(WPILIBC_DEP_REPLACE ${WPILIBC_DEP_REPLACE_IMPL})
add_subdirectory(hal)
add_subdirectory(wpilibj)
add_subdirectory(wpilibc)
- set (HAL_DEP_REPLACE "find_dependency(hal)")
- set (WPILIBC_DEP_REPLACE "find_dependency(wpilibc)")
+ add_subdirectory(myRobot)
endif()
endif()
+if (WITH_SIMULATION_MODULES AND NOT USE_EXTERNAL_HAL)
+ add_subdirectory(imgui)
+ add_subdirectory(simulation)
+endif()
+
configure_file(wpilib-config.cmake.in ${CMAKE_BINARY_DIR}/wpilib-config.cmake )
install(FILES ${CMAKE_BINARY_DIR}/wpilib-config.cmake DESTINATION ${wpilib_config_dir})
diff --git a/third_party/allwpilib_2019/CONTRIBUTING.md b/third_party/allwpilib_2019/CONTRIBUTING.md
index b25e4d4..30988a4 100644
--- a/third_party/allwpilib_2019/CONTRIBUTING.md
+++ b/third_party/allwpilib_2019/CONTRIBUTING.md
@@ -20,7 +20,7 @@
- Substantial changes often need to have corresponding LabVIEW changes. To do this, we will work with NI on these large changes.
- Changes should have tests.
- Code should be well documented.
- - This often involves ScreenSteps. To add content to ScreenSteps, we will work with you to get the appropriate articles written.
+ - This involves writing tutorials and/or usage guides for your submitted feature. These articles are then hosted on the [WPILib](https://docs.wpilib.org/) documentation website. See the [frc-docs repository](https://github.com/wpilibsuite/frc-docs) for more information.
## What to Contribute
@@ -53,4 +53,4 @@
## Licensing
-By contributing to WPILib, you agree that your code will be distributed with WPILib, and licensed under the license for the WPILib project. You should not contribute code that you do not have permission to relicense in this manner. This includes code that is licensed under the GPL that you do not have permission to relicense, as WPILib is not released under a copyleft license. Our license is the 3-clause BSD license, which you can find [here](license.txt).
+By contributing to WPILib, you agree that your code will be distributed with WPILib, and licensed under the license for the WPILib project. You should not contribute code that you do not have permission to relicense in this manner. This includes code that is licensed under the GPL that you do not have permission to relicense, as WPILib is not released under a copyleft license. Our license is the 3-clause BSD license, which you can find [here](LICENSE.txt).
diff --git a/third_party/allwpilib_2019/MavenArtifacts.md b/third_party/allwpilib_2019/MavenArtifacts.md
index 825a23a..3d32586 100644
--- a/third_party/allwpilib_2019/MavenArtifacts.md
+++ b/third_party/allwpilib_2019/MavenArtifacts.md
@@ -5,8 +5,8 @@
## Repositories
We provide two repositories. These repositories are:
-* (Release) http://first.wpi.edu/FRC/roborio/maven/release/
-* (Development) http://first.wpi.edu/FRC/roborio/maven/development/
+* (Release) https://first.wpi.edu/FRC/roborio/maven/release/
+* (Development) https://first.wpi.edu/FRC/roborio/maven/development/
The release repository is where official WPILib releases are pushed.
The development repository is where development releases of every commit to [master](https://github.com/wpilibsuite/allwpilib/tree/master) is pushed.
diff --git a/third_party/allwpilib_2019/README.md b/third_party/allwpilib_2019/README.md
index c3fdeb4..fe1f8c5 100644
--- a/third_party/allwpilib_2019/README.md
+++ b/third_party/allwpilib_2019/README.md
@@ -25,10 +25,10 @@
- A C++ compiler
- On Linux, GCC works fine
- - On Windows, you need Visual Studio 2017 (the free community edition works fine).
+ - On Windows, you need Visual Studio 2019 (the free community edition works fine).
Make sure to select the C++ Programming Language for installation
- [ARM Compiler Toolchain](https://github.com/wpilibsuite/toolchain-builder/releases)
- * Note that for 2019 and beyond, you should use version 6 or greater of GCC
+ * Note that for 2020 and beyond, you should use version 7 or greater of GCC
- Doxygen (Only required if you want to build the C++ documentation)
## Setup
diff --git a/third_party/allwpilib_2019/ThirdPartyNotices.txt b/third_party/allwpilib_2019/ThirdPartyNotices.txt
index 1ec0097..fae1250 100644
--- a/third_party/allwpilib_2019/ThirdPartyNotices.txt
+++ b/third_party/allwpilib_2019/ThirdPartyNotices.txt
@@ -31,13 +31,19 @@
wpiutil/src/test/native/cpp/sigslot/
tcpsockets wpiutil/src/main/native/cpp/TCP{Stream,Connector,Acceptor}.cpp
wpiutil/src/main/native/include/wpi/TCP*.h
-Optional wpiutil/src/main/native/include/wpi/optional.h
- wpiutil/src/test/native/cpp/test_optional.cpp
Bootstrap wpiutil/src/main/native/resources/bootstrap-*
CoreUI wpiutil/src/main/native/resources/coreui-*
Feather Icons wpiutil/src/main/native/resources/feather-*
jQuery wpiutil/src/main/native/resources/jquery-*
popper.js wpiutil/src/main/native/resources/popper-*
+units wpiutil/src/main/native/include/units/units.h
+Eigen wpiutil/src/main/native/eigeninclude/
+StackWalker wpiutil/src/main/native/windows/StackWalker.*
+Team 254 Library wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/SplineParameterizer.java
+ wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryParameterizer.java
+ wpilibc/src/main/native/include/spline/SplineParameterizer.h
+ wpilibc/src/main/native/include/trajectory/TrajectoryParameterizer.h
+ wpilibc/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
==============================================================================
@@ -222,36 +228,6 @@
==============================================================================
-Optional License
-==============================================================================
-Copyright (C) 2011 - 2017 Andrzej Krzemienski.
-
-Boost Software License - Version 1.0 - August 17th, 2003
-
-Permission is hereby granted, free of charge, to any person or organization
-obtaining a copy of the software and accompanying documentation covered by
-this license (the "Software") to use, reproduce, display, distribute,
-execute, and transmit the Software, and to prepare derivative works of the
-Software, and to permit third-parties to whom the Software is furnished to
-do so, all subject to the following:
-
-The copyright notices in the Software and this entire statement, including
-the above license grant, this restriction and the following disclaimer,
-must be included in all copies of the Software, in whole or in part, and
-all derivative works of the Software, unless such copies or derivative
-works are solely in the form of machine-executable object code generated by
-a source language processor.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
-SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
-FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
-ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
-DEALINGS IN THE SOFTWARE.
-
-
-==============================================================================
Bootstrap License
==============================================================================
Copyright (c) 2011-2018 Twitter, Inc.
@@ -371,3 +347,462 @@
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
+
+
+=============
+units License
+=============
+The MIT License (MIT)
+
+Copyright (c) 2016 Nic Holthaus
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+
+=============
+Eigen license
+=============
+Mozilla Public License Version 2.0
+==================================
+
+1. Definitions
+--------------
+
+1.1. "Contributor"
+ means each individual or legal entity that creates, contributes to
+ the creation of, or owns Covered Software.
+
+1.2. "Contributor Version"
+ means the combination of the Contributions of others (if any) used
+ by a Contributor and that particular Contributor's Contribution.
+
+1.3. "Contribution"
+ means Covered Software of a particular Contributor.
+
+1.4. "Covered Software"
+ means Source Code Form to which the initial Contributor has attached
+ the notice in Exhibit A, the Executable Form of such Source Code
+ Form, and Modifications of such Source Code Form, in each case
+ including portions thereof.
+
+1.5. "Incompatible With Secondary Licenses"
+ means
+
+ (a) that the initial Contributor has attached the notice described
+ in Exhibit B to the Covered Software; or
+
+ (b) that the Covered Software was made available under the terms of
+ version 1.1 or earlier of the License, but not also under the
+ terms of a Secondary License.
+
+1.6. "Executable Form"
+ means any form of the work other than Source Code Form.
+
+1.7. "Larger Work"
+ means a work that combines Covered Software with other material, in
+ a separate file or files, that is not Covered Software.
+
+1.8. "License"
+ means this document.
+
+1.9. "Licensable"
+ means having the right to grant, to the maximum extent possible,
+ whether at the time of the initial grant or subsequently, any and
+ all of the rights conveyed by this License.
+
+1.10. "Modifications"
+ means any of the following:
+
+ (a) any file in Source Code Form that results from an addition to,
+ deletion from, or modification of the contents of Covered
+ Software; or
+
+ (b) any new file in Source Code Form that contains any Covered
+ Software.
+
+1.11. "Patent Claims" of a Contributor
+ means any patent claim(s), including without limitation, method,
+ process, and apparatus claims, in any patent Licensable by such
+ Contributor that would be infringed, but for the grant of the
+ License, by the making, using, selling, offering for sale, having
+ made, import, or transfer of either its Contributions or its
+ Contributor Version.
+
+1.12. "Secondary License"
+ means either the GNU General Public License, Version 2.0, the GNU
+ Lesser General Public License, Version 2.1, the GNU Affero General
+ Public License, Version 3.0, or any later versions of those
+ licenses.
+
+1.13. "Source Code Form"
+ means the form of the work preferred for making modifications.
+
+1.14. "You" (or "Your")
+ means an individual or a legal entity exercising rights under this
+ License. For legal entities, "You" includes any entity that
+ controls, is controlled by, or is under common control with You. For
+ purposes of this definition, "control" means (a) the power, direct
+ or indirect, to cause the direction or management of such entity,
+ whether by contract or otherwise, or (b) ownership of more than
+ fifty percent (50%) of the outstanding shares or beneficial
+ ownership of such entity.
+
+2. License Grants and Conditions
+--------------------------------
+
+2.1. Grants
+
+Each Contributor hereby grants You a world-wide, royalty-free,
+non-exclusive license:
+
+(a) under intellectual property rights (other than patent or trademark)
+ Licensable by such Contributor to use, reproduce, make available,
+ modify, display, perform, distribute, and otherwise exploit its
+ Contributions, either on an unmodified basis, with Modifications, or
+ as part of a Larger Work; and
+
+(b) under Patent Claims of such Contributor to make, use, sell, offer
+ for sale, have made, import, and otherwise transfer either its
+ Contributions or its Contributor Version.
+
+2.2. Effective Date
+
+The licenses granted in Section 2.1 with respect to any Contribution
+become effective for each Contribution on the date the Contributor first
+distributes such Contribution.
+
+2.3. Limitations on Grant Scope
+
+The licenses granted in this Section 2 are the only rights granted under
+this License. No additional rights or licenses will be implied from the
+distribution or licensing of Covered Software under this License.
+Notwithstanding Section 2.1(b) above, no patent license is granted by a
+Contributor:
+
+(a) for any code that a Contributor has removed from Covered Software;
+ or
+
+(b) for infringements caused by: (i) Your and any other third party's
+ modifications of Covered Software, or (ii) the combination of its
+ Contributions with other software (except as part of its Contributor
+ Version); or
+
+(c) under Patent Claims infringed by Covered Software in the absence of
+ its Contributions.
+
+This License does not grant any rights in the trademarks, service marks,
+or logos of any Contributor (except as may be necessary to comply with
+the notice requirements in Section 3.4).
+
+2.4. Subsequent Licenses
+
+No Contributor makes additional grants as a result of Your choice to
+distribute the Covered Software under a subsequent version of this
+License (see Section 10.2) or under the terms of a Secondary License (if
+permitted under the terms of Section 3.3).
+
+2.5. Representation
+
+Each Contributor represents that the Contributor believes its
+Contributions are its original creation(s) or it has sufficient rights
+to grant the rights to its Contributions conveyed by this License.
+
+2.6. Fair Use
+
+This License is not intended to limit any rights You have under
+applicable copyright doctrines of fair use, fair dealing, or other
+equivalents.
+
+2.7. Conditions
+
+Sections 3.1, 3.2, 3.3, and 3.4 are conditions of the licenses granted
+in Section 2.1.
+
+3. Responsibilities
+-------------------
+
+3.1. Distribution of Source Form
+
+All distribution of Covered Software in Source Code Form, including any
+Modifications that You create or to which You contribute, must be under
+the terms of this License. You must inform recipients that the Source
+Code Form of the Covered Software is governed by the terms of this
+License, and how they can obtain a copy of this License. You may not
+attempt to alter or restrict the recipients' rights in the Source Code
+Form.
+
+3.2. Distribution of Executable Form
+
+If You distribute Covered Software in Executable Form then:
+
+(a) such Covered Software must also be made available in Source Code
+ Form, as described in Section 3.1, and You must inform recipients of
+ the Executable Form how they can obtain a copy of such Source Code
+ Form by reasonable means in a timely manner, at a charge no more
+ than the cost of distribution to the recipient; and
+
+(b) You may distribute such Executable Form under the terms of this
+ License, or sublicense it under different terms, provided that the
+ license for the Executable Form does not attempt to limit or alter
+ the recipients' rights in the Source Code Form under this License.
+
+3.3. Distribution of a Larger Work
+
+You may create and distribute a Larger Work under terms of Your choice,
+provided that You also comply with the requirements of this License for
+the Covered Software. If the Larger Work is a combination of Covered
+Software with a work governed by one or more Secondary Licenses, and the
+Covered Software is not Incompatible With Secondary Licenses, this
+License permits You to additionally distribute such Covered Software
+under the terms of such Secondary License(s), so that the recipient of
+the Larger Work may, at their option, further distribute the Covered
+Software under the terms of either this License or such Secondary
+License(s).
+
+3.4. Notices
+
+You may not remove or alter the substance of any license notices
+(including copyright notices, patent notices, disclaimers of warranty,
+or limitations of liability) contained within the Source Code Form of
+the Covered Software, except that You may alter any license notices to
+the extent required to remedy known factual inaccuracies.
+
+3.5. Application of Additional Terms
+
+You may choose to offer, and to charge a fee for, warranty, support,
+indemnity or liability obligations to one or more recipients of Covered
+Software. However, You may do so only on Your own behalf, and not on
+behalf of any Contributor. You must make it absolutely clear that any
+such warranty, support, indemnity, or liability obligation is offered by
+You alone, and You hereby agree to indemnify every Contributor for any
+liability incurred by such Contributor as a result of warranty, support,
+indemnity or liability terms You offer. You may include additional
+disclaimers of warranty and limitations of liability specific to any
+jurisdiction.
+
+4. Inability to Comply Due to Statute or Regulation
+---------------------------------------------------
+
+If it is impossible for You to comply with any of the terms of this
+License with respect to some or all of the Covered Software due to
+statute, judicial order, or regulation then You must: (a) comply with
+the terms of this License to the maximum extent possible; and (b)
+describe the limitations and the code they affect. Such description must
+be placed in a text file included with all distributions of the Covered
+Software under this License. Except to the extent prohibited by statute
+or regulation, such description must be sufficiently detailed for a
+recipient of ordinary skill to be able to understand it.
+
+5. Termination
+--------------
+
+5.1. The rights granted under this License will terminate automatically
+if You fail to comply with any of its terms. However, if You become
+compliant, then the rights granted under this License from a particular
+Contributor are reinstated (a) provisionally, unless and until such
+Contributor explicitly and finally terminates Your grants, and (b) on an
+ongoing basis, if such Contributor fails to notify You of the
+non-compliance by some reasonable means prior to 60 days after You have
+come back into compliance. Moreover, Your grants from a particular
+Contributor are reinstated on an ongoing basis if such Contributor
+notifies You of the non-compliance by some reasonable means, this is the
+first time You have received notice of non-compliance with this License
+from such Contributor, and You become compliant prior to 30 days after
+Your receipt of the notice.
+
+5.2. If You initiate litigation against any entity by asserting a patent
+infringement claim (excluding declaratory judgment actions,
+counter-claims, and cross-claims) alleging that a Contributor Version
+directly or indirectly infringes any patent, then the rights granted to
+You by any and all Contributors for the Covered Software under Section
+2.1 of this License shall terminate.
+
+5.3. In the event of termination under Sections 5.1 or 5.2 above, all
+end user license agreements (excluding distributors and resellers) which
+have been validly granted by You or Your distributors under this License
+prior to termination shall survive termination.
+
+************************************************************************
+* *
+* 6. Disclaimer of Warranty *
+* ------------------------- *
+* *
+* Covered Software is provided under this License on an "as is" *
+* basis, without warranty of any kind, either expressed, implied, or *
+* statutory, including, without limitation, warranties that the *
+* Covered Software is free of defects, merchantable, fit for a *
+* particular purpose or non-infringing. The entire risk as to the *
+* quality and performance of the Covered Software is with You. *
+* Should any Covered Software prove defective in any respect, You *
+* (not any Contributor) assume the cost of any necessary servicing, *
+* repair, or correction. This disclaimer of warranty constitutes an *
+* essential part of this License. No use of any Covered Software is *
+* authorized under this License except under this disclaimer. *
+* *
+************************************************************************
+
+************************************************************************
+* *
+* 7. Limitation of Liability *
+* -------------------------- *
+* *
+* Under no circumstances and under no legal theory, whether tort *
+* (including negligence), contract, or otherwise, shall any *
+* Contributor, or anyone who distributes Covered Software as *
+* permitted above, be liable to You for any direct, indirect, *
+* special, incidental, or consequential damages of any character *
+* including, without limitation, damages for lost profits, loss of *
+* goodwill, work stoppage, computer failure or malfunction, or any *
+* and all other commercial damages or losses, even if such party *
+* shall have been informed of the possibility of such damages. This *
+* limitation of liability shall not apply to liability for death or *
+* personal injury resulting from such party's negligence to the *
+* extent applicable law prohibits such limitation. Some *
+* jurisdictions do not allow the exclusion or limitation of *
+* incidental or consequential damages, so this exclusion and *
+* limitation may not apply to You. *
+* *
+************************************************************************
+
+8. Litigation
+-------------
+
+Any litigation relating to this License may be brought only in the
+courts of a jurisdiction where the defendant maintains its principal
+place of business and such litigation shall be governed by laws of that
+jurisdiction, without reference to its conflict-of-law provisions.
+Nothing in this Section shall prevent a party's ability to bring
+cross-claims or counter-claims.
+
+9. Miscellaneous
+----------------
+
+This License represents the complete agreement concerning the subject
+matter hereof. If any provision of this License is held to be
+unenforceable, such provision shall be reformed only to the extent
+necessary to make it enforceable. Any law or regulation which provides
+that the language of a contract shall be construed against the drafter
+shall not be used to construe this License against a Contributor.
+
+10. Versions of the License
+---------------------------
+
+10.1. New Versions
+
+Mozilla Foundation is the license steward. Except as provided in Section
+10.3, no one other than the license steward has the right to modify or
+publish new versions of this License. Each version will be given a
+distinguishing version number.
+
+10.2. Effect of New Versions
+
+You may distribute the Covered Software under the terms of the version
+of the License under which You originally received the Covered Software,
+or under the terms of any subsequent version published by the license
+steward.
+
+10.3. Modified Versions
+
+If you create software not governed by this License, and you want to
+create a new license for such software, you may create and use a
+modified version of this License if you rename the license and remove
+any references to the name of the license steward (except to note that
+such modified license differs from this License).
+
+10.4. Distributing Source Code Form that is Incompatible With Secondary
+Licenses
+
+If You choose to distribute Source Code Form that is Incompatible With
+Secondary Licenses under the terms of this version of the License, the
+notice described in Exhibit B of this License must be attached.
+
+Exhibit A - Source Code Form License Notice
+-------------------------------------------
+
+ This Source Code Form is subject to the terms of the Mozilla Public
+ License, v. 2.0. If a copy of the MPL was not distributed with this
+ file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+If it is not possible or desirable to put the notice in a particular
+file, then You may include the notice in a location (such as a LICENSE
+file in a relevant directory) where a recipient would be likely to look
+for such a notice.
+
+You may add additional accurate notices of copyright ownership.
+
+Exhibit B - "Incompatible With Secondary Licenses" Notice
+---------------------------------------------------------
+
+ This Source Code Form is "Incompatible With Secondary Licenses", as
+ defined by the Mozilla Public License, v. 2.0.
+
+
+===================
+StackWalker License
+===================
+Copyright (c) 2005-2013, Jochen Kalmbach
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice,
+this list of conditions and the following disclaimer.
+Redistributions in binary form must reproduce the above copyright notice,
+this list of conditions and the following disclaimer in the documentation
+and/or other materials provided with the distribution.
+Neither the name of Jochen Kalmbach nor the names of its contributors may be
+used to endorse or promote products derived from this software without
+specific prior written permission.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+
+================
+Team 254 Library
+================
+MIT License
+
+Copyright (c) 2018 Team 254
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/third_party/allwpilib_2019/azure-pipelines-testbench.yaml b/third_party/allwpilib_2019/azure-pipelines-testbench.yaml
new file mode 100644
index 0000000..3ed5507
--- /dev/null
+++ b/third_party/allwpilib_2019/azure-pipelines-testbench.yaml
@@ -0,0 +1,19 @@
+# Starter pipeline
+# Start with a minimal pipeline that you can customize to build and deploy your code.
+# Add steps that build, run tests, deploy, and more:
+# https://aka.ms/yaml
+
+trigger:
+- master
+
+pool:
+ vmImage: 'ubuntu-latest'
+
+steps:
+- script: echo Hello, world!
+ displayName: 'Run a one-line script'
+
+- script: |
+ echo Add other tasks to build, test, and deploy your project.
+ echo See https://aka.ms/yaml
+ displayName: 'Run a multi-line script'
diff --git a/third_party/allwpilib_2019/azure-pipelines.yml b/third_party/allwpilib_2019/azure-pipelines.yml
index 73e85a7..2c5e952 100644
--- a/third_party/allwpilib_2019/azure-pipelines.yml
+++ b/third_party/allwpilib_2019/azure-pipelines.yml
@@ -5,179 +5,413 @@
resources:
containers:
- - container: wpilib2019
- image: wpilib/roborio-cross-ubuntu:2019-18.04
+ - container: wpilib2020
+ image: wpilib/roborio-cross-ubuntu:2020-18.04
- container: raspbian
- image: wpilib/raspbian-cross-ubuntu:18.04
+ image: wpilib/raspbian-cross-ubuntu:10-18.04
+ - container: aarch64
+ image: wpilib/aarch64-cross-ubuntu:bionic-18.04
+ - container: ubuntu
+ image: wpilib/ubuntu-base:18.04
-jobs:
- - job: Linux_Arm
- pool:
- vmImage: 'Ubuntu 16.04'
+variables:
+- group: Artifactory-Package-Publish
- container: wpilib2019
+trigger:
+ batch: true
+ branches:
+ include:
+ - master
- steps:
- - task: Gradle@2
- inputs:
- workingDirectory: ''
- gradleWrapperFile: 'gradlew'
- gradleOptions: '-Xmx3072m'
- publishJUnitResults: false
- testResultsFiles: '**/TEST-*.xml'
- tasks: 'build'
- options: '-PonlyAthena'
- # checkStyleRunAnalysis: true
- # pmdRunAnalysis: true
+stages:
+- stage: Build
+ jobs:
+ - job: Linux_Arm
+ pool:
+ vmImage: 'Ubuntu 16.04'
- - job: Linux_Raspbian
- pool:
- vmImage: 'Ubuntu 16.04'
+ container: wpilib2020
- container: raspbian
+ timeoutInMinutes: 0
- steps:
- - task: Gradle@2
- inputs:
- workingDirectory: ''
- gradleWrapperFile: 'gradlew'
- gradleOptions: '-Xmx3072m'
- publishJUnitResults: true
- testResultsFiles: '**/TEST-*.xml'
- tasks: 'build'
- options: '-PonlyRaspbian'
- # checkStyleRunAnalysis: true
- # pmdRunAnalysis: true
-
- - job: Linux
- pool:
- vmImage: 'Ubuntu 16.04'
-
- container: wpilib2019
-
- steps:
- - task: Gradle@2
- inputs:
- workingDirectory: ''
- gradleWrapperFile: 'gradlew'
- gradleOptions: '-Xmx3072m'
- publishJUnitResults: true
- testResultsFiles: '**/TEST-*.xml'
- tasks: 'build'
- options: '-PskipAthena'
- # checkStyleRunAnalysis: true
- # pmdRunAnalysis: true
-
- - job: Styleguide
- pool:
- vmImage: 'Ubuntu 16.04'
-
- steps:
- - script: |
- sudo apt-get update -y
- sudo apt-get install clang-format-5.0 python3-setuptools -y
- sudo pip3 install --upgrade pip
- sudo pip3 install wpiformat
- git checkout -b master
- displayName: 'Install Dependencies'
- - script: |
- wpiformat -y 2018 -clang 5.0
- displayName: 'Run WPIFormat'
- failOnStderr: true
- - script: |
- git --no-pager diff --exit-code HEAD # Ensure formatter made no changes
- displayName: 'Check WPIFormat Output'
- failOnStderr: true
-
- - job: CMakeBuild
- pool:
- vmImage: 'Ubuntu 16.04'
-
- container: wpilib2019
-
- steps:
- - task: CMake@1
+ steps:
+ - task: Gradle@2
+ condition: and(succeeded(), not(startsWith(variables['Build.SourceBranch'], 'refs/tags/v')))
inputs:
- cmakeArgs: '-DWITHOUT_ALLWPILIB=OFF ..'
+ workingDirectory: ''
+ gradleWrapperFile: 'gradlew'
+ gradleOptions: '-Xmx3072m'
+ publishJUnitResults: false
+ testResultsFiles: '**/TEST-*.xml'
+ tasks: 'build'
+ options: '-Ponlylinuxathena -PbuildServer'
+
+ - task: Gradle@2
+ condition: and(succeeded(), startsWith(variables['Build.SourceBranch'], 'refs/tags/v'))
+ inputs:
+ workingDirectory: ''
+ gradleWrapperFile: 'gradlew'
+ gradleOptions: '-Xmx3072m'
+ publishJUnitResults: false
+ testResultsFiles: '**/TEST-*.xml'
+ tasks: 'build'
+ options: '-Ponlylinuxathena -PreleaseMode -PbuildServer'
+
+ - task: PublishPipelineArtifact@0
+ inputs:
+ artifactName: 'Athena'
+ targetPath: 'build/allOutputs'
+
+ - job: Linux_Raspbian
+ pool:
+ vmImage: 'Ubuntu 16.04'
+
+ container: raspbian
+
+ timeoutInMinutes: 0
+
+ steps:
+ - task: Gradle@2
+ condition: and(succeeded(), not(startsWith(variables['Build.SourceBranch'], 'refs/tags/v')))
+ inputs:
+ workingDirectory: ''
+ gradleWrapperFile: 'gradlew'
+ gradleOptions: '-Xmx3072m'
+ publishJUnitResults: true
+ testResultsFiles: '**/TEST-*.xml'
+ tasks: 'build'
+ options: '-Ponlylinuxraspbian -PbuildServer'
+
+ - task: Gradle@2
+ condition: and(succeeded(), startsWith(variables['Build.SourceBranch'], 'refs/tags/v'))
+ inputs:
+ workingDirectory: ''
+ gradleWrapperFile: 'gradlew'
+ gradleOptions: '-Xmx3072m'
+ publishJUnitResults: true
+ testResultsFiles: '**/TEST-*.xml'
+ tasks: 'build'
+ options: '-Ponlylinuxraspbian -PreleaseMode -PbuildServer'
+
+ - task: PublishPipelineArtifact@0
+ inputs:
+ artifactName: 'Raspbian'
+ targetPath: 'build/allOutputs'
+
+ - job: Linux_Aarch64
+ pool:
+ vmImage: 'Ubuntu 16.04'
+
+ container: aarch64
+
+ timeoutInMinutes: 0
+
+ steps:
+ - task: Gradle@2
+ condition: and(succeeded(), not(startsWith(variables['Build.SourceBranch'], 'refs/tags/v')))
+ inputs:
+ workingDirectory: ''
+ gradleWrapperFile: 'gradlew'
+ gradleOptions: '-Xmx3072m'
+ publishJUnitResults: true
+ testResultsFiles: '**/TEST-*.xml'
+ tasks: 'build'
+ options: '-Ponlylinuxaarch64bionic -PbuildServer'
+
+ - task: Gradle@2
+ condition: and(succeeded(), startsWith(variables['Build.SourceBranch'], 'refs/tags/v'))
+ inputs:
+ workingDirectory: ''
+ gradleWrapperFile: 'gradlew'
+ gradleOptions: '-Xmx3072m'
+ publishJUnitResults: true
+ testResultsFiles: '**/TEST-*.xml'
+ tasks: 'build'
+ options: '-Ponlylinuxaarch64bionic -PreleaseMode -PbuildServer'
+
+ - task: PublishPipelineArtifact@0
+ inputs:
+ artifactName: 'Aarch64'
+ targetPath: 'build/allOutputs'
+
+ - job: Linux
+ pool:
+ vmImage: 'Ubuntu 16.04'
+
+ container: ubuntu
+
+ timeoutInMinutes: 0
+
+ steps:
+ - task: Gradle@2
+ condition: and(succeeded(), not(startsWith(variables['Build.SourceBranch'], 'refs/tags/v')))
+ inputs:
+ workingDirectory: ''
+ gradleWrapperFile: 'gradlew'
+ gradleOptions: '-Xmx3072m'
+ publishJUnitResults: true
+ testResultsFiles: '**/TEST-*.xml'
+ tasks: 'build'
+ options: '-PbuildServer'
+
+ - task: Gradle@2
+ condition: and(succeeded(), startsWith(variables['Build.SourceBranch'], 'refs/tags/v'))
+ inputs:
+ workingDirectory: ''
+ gradleWrapperFile: 'gradlew'
+ gradleOptions: '-Xmx3072m'
+ publishJUnitResults: true
+ testResultsFiles: '**/TEST-*.xml'
+ tasks: 'build'
+ options: '-PreleaseMode -PbuildServer'
+
+ - task: PublishPipelineArtifact@0
+ inputs:
+ artifactName: 'Linux'
+ targetPath: 'build/allOutputs'
+
+ - job: Styleguide
+ pool:
+ vmImage: 'Ubuntu 16.04'
+
+ container: ubuntu
+
+ timeoutInMinutes: 0
+
+ steps:
+ - script: |
+ sudo pip3 install wpiformat
+ displayName: 'Install wpiformat'
+ - script: |
+ git checkout -b master
+ wpiformat -clang 6.0
+ displayName: 'Run wpiformat'
+ - script: |
+ # Ensure formatter made no changes
+ git --no-pager diff --exit-code HEAD
+ displayName: 'Check wpiformat Output'
+
+ - job: CMakeBuild
+ pool:
+ vmImage: 'Ubuntu 16.04'
+
+ container: wpilib2020
+
+ timeoutInMinutes: 0
+
+ steps:
+ - task: CMake@1
+ inputs:
+ cmakeArgs: '-DWITHOUT_ALLWPILIB=OFF ..'
+ - script: |
+ make -j3
+ workingDirectory: 'build'
+ displayName: 'Build'
+
+ - job: Windows_64_Bit
+ pool:
+ vmImage: 'windows-2019'
+
+ timeoutInMinutes: 0
+ steps:
+ - task: Gradle@2
+ condition: and(succeeded(), not(startsWith(variables['Build.SourceBranch'], 'refs/tags/v')))
+ inputs:
+ workingDirectory: ''
+ gradleWrapperFile: 'gradlew'
+ gradleOptions: '-Xmx3072m'
+ jdkVersionOption: '1.11'
+ publishJUnitResults: true
+ testResultsFiles: '**/TEST-*.xml'
+ tasks: 'build'
+ options: '-PskipPMD -PbuildServer'
+
+ - task: Gradle@2
+ condition: and(succeeded(), startsWith(variables['Build.SourceBranch'], 'refs/tags/v'))
+ inputs:
+ workingDirectory: ''
+ gradleWrapperFile: 'gradlew'
+ gradleOptions: '-Xmx3072m'
+ jdkVersionOption: '1.11'
+ publishJUnitResults: true
+ testResultsFiles: '**/TEST-*.xml'
+ tasks: 'build'
+ options: '-PskipPMD -PreleaseMode -PbuildServer'
+
+ - task: PublishPipelineArtifact@0
+ inputs:
+ artifactName: 'Win64'
+ targetPath: 'build/allOutputs'
+
+ - job: Windows_32_Bit
+ pool:
+ vmImage: 'windows-2019'
+
+ timeoutInMinutes: 0
+ steps:
+ - powershell: |
+ mkdir build
+ $ProgressPreference = 'SilentlyContinue'
+ wget "https://github.com/AdoptOpenJDK/openjdk11-binaries/releases/download/jdk-11.0.4%2B11/OpenJDK11U-jdk_x86-32_windows_hotspot_11.0.4_11.zip" -O "build\jdk.zip"
+ displayName: 'Download JDK'
+ - task: JavaToolInstaller@0
+ inputs:
+ jdkSourceOption: localDirectory
+ jdkFile: 'build/jdk.zip'
+ jdkDestinationDirectory: 'build/jdkinst'
+ jdkArchitectureOption: x86
+
+ - task: Gradle@2
+ condition: and(succeeded(), not(startsWith(variables['Build.SourceBranch'], 'refs/tags/v')))
+ inputs:
+ workingDirectory: ''
+ gradleWrapperFile: 'gradlew'
+ gradleOptions: '-Xmx1024m'
+ publishJUnitResults: true
+ testResultsFiles: '**/TEST-*.xml'
+ tasks: 'build'
+ options: '-PskipPMD -PbuildServer'
+
+ - task: Gradle@2
+ condition: and(succeeded(), startsWith(variables['Build.SourceBranch'], 'refs/tags/v'))
+ inputs:
+ workingDirectory: ''
+ gradleWrapperFile: 'gradlew'
+ gradleOptions: '-Xmx1024m'
+ publishJUnitResults: true
+ testResultsFiles: '**/TEST-*.xml'
+ tasks: 'build'
+ options: '-PskipPMD -PreleaseMode -PbuildServer'
+
+ - task: PublishPipelineArtifact@0
+ inputs:
+ artifactName: 'Win32'
+ targetPath: 'build/allOutputs'
+
+ - job: Mac
+ pool:
+ vmImage: 'macOS-10.14'
+
+ timeoutInMinutes: 0
+ steps:
- script: |
- make -j3
- workingDirectory: 'build'
- displayName: 'Build'
+ mkdir build
+ export JAVA_HOME=`/usr/libexec/java_home -v 11`
+ displayName: 'Setup JDK'
- - job: Windows_64_Bit
- pool:
- vmImage: 'vs2017-win2016'
- steps:
- - powershell: |
- mkdir build
- $ProgressPreference = 'SilentlyContinue'
- wget "https://download.java.net/java/ga/jdk11/openjdk-11_windows-x64_bin.zip" -O "build\jdk.zip"
- displayName: 'Download JDK'
- - task: JavaToolInstaller@0
- inputs:
- jdkSourceOption: localDirectory
- jdkFile: 'build/jdk.zip'
- jdkDestinationDirectory: 'build/jdkinst'
- jdkArchitectureOption: x64
- - task: Gradle@2
- inputs:
- workingDirectory: ''
- gradleWrapperFile: 'gradlew'
- gradleOptions: '-Xmx3072m'
- publishJUnitResults: true
- testResultsFiles: '**/TEST-*.xml'
- tasks: 'build'
- # checkStyleRunAnalysis: true
- # pmdRunAnalysis: true
+ - task: Gradle@2
+ condition: and(succeeded(), not(startsWith(variables['Build.SourceBranch'], 'refs/tags/v')))
+ inputs:
+ workingDirectory: ''
+ gradleWrapperFile: 'gradlew'
+ gradleOptions: '-Xmx3072m'
+ jdkVersionOption: '1.11'
+ publishJUnitResults: true
+ testResultsFiles: '**/TEST-*.xml'
+ tasks: 'build'
+ options: '-PbuildServer'
- - job: Windows_32_Bit
- pool:
- vmImage: 'vs2017-win2016'
- steps:
- - powershell: |
- mkdir build
- $ProgressPreference = 'SilentlyContinue'
- wget "https://github.com/wpilibsuite/frc-openjdk-windows/releases/download/v11.0.0u28-1/jdk-x86-11.0.0u28-1.zip" -O "build\jdk.zip"
- displayName: 'Download JDK'
- - task: JavaToolInstaller@0
- inputs:
- jdkSourceOption: localDirectory
- jdkFile: 'build/jdk.zip'
- jdkDestinationDirectory: 'build/jdkinst'
- jdkArchitectureOption: x86
- - task: Gradle@2
- inputs:
- workingDirectory: ''
- gradleWrapperFile: 'gradlew'
- gradleOptions: '-Xmx1024m'
- publishJUnitResults: true
- testResultsFiles: '**/TEST-*.xml'
- tasks: 'build'
- # checkStyleRunAnalysis: true
- # pmdRunAnalysis: true
+ - task: Gradle@2
+ condition: and(succeeded(), startsWith(variables['Build.SourceBranch'], 'refs/tags/v'))
+ inputs:
+ workingDirectory: ''
+ gradleWrapperFile: 'gradlew'
+ gradleOptions: '-Xmx3072m'
+ jdkVersionOption: '1.11'
+ publishJUnitResults: true
+ testResultsFiles: '**/TEST-*.xml'
+ tasks: 'build'
+ options: '-PreleaseMode -PbuildServer'
- - job: Mac
- pool:
- vmImage: 'xcode9-macos10.13'
- steps:
+ - task: PublishPipelineArtifact@0
+ inputs:
+ artifactName: 'Mac'
+ targetPath: 'build/allOutputs'
+
+- stage: Combine
+ jobs:
+ - job: CombineJob
+ pool:
+ vmImage: 'macOS-10.14'
+
+ timeoutInMinutes: 0
+
+ steps:
+ - checkout: none
- script: |
- mkdir build
- wget "https://download.java.net/java/ga/jdk11/openjdk-11_osx-x64_bin.tar.gz" -O "build/jdk.tar.gz"
- sudo tar xvzf build/jdk.tar.gz -C /Library/Java/JavaVirtualMachines/
- export JAVA_HOME=/Library/Java/JavaVirtualMachines/jdk-11.jdk/Contents/Home/
- displayName: 'Setup JDK'
- - script: |
- rm /Users/vsts/.gradle/init.d/log-gradle-version-plugin.gradle
- displayName: 'Delete Version init script'
+ git clone https://github.com/wpilibsuite/build-tools
+ displayName: 'Clone Combiner'
+ - task: DownloadPipelineArtifact@0
+ inputs:
+ artifactName: 'Mac'
+ targetPath: 'build-tools/combiner/products/build/allOutputs'
+ - task: DownloadPipelineArtifact@0
+ inputs:
+ artifactName: 'Win32'
+ targetPath: 'build-tools/combiner/products/build/allOutputs'
+ - task: DownloadPipelineArtifact@0
+ inputs:
+ artifactName: 'Win64'
+ targetPath: 'build-tools/combiner/products/build/allOutputs'
+ - task: DownloadPipelineArtifact@0
+ inputs:
+ artifactName: 'Linux'
+ targetPath: 'build-tools/combiner/products/build/allOutputs'
+ - task: DownloadPipelineArtifact@0
+ inputs:
+ artifactName: 'Raspbian'
+ targetPath: 'build-tools/combiner/products/build/allOutputs'
+ - task: DownloadPipelineArtifact@0
+ inputs:
+ artifactName: 'Athena'
+ targetPath: 'build-tools/combiner/products/build/allOutputs'
+ - task: DownloadPipelineArtifact@0
+ inputs:
+ artifactName: 'Aarch64'
+ targetPath: 'build-tools/combiner/products/build/allOutputs'
+
+# PR Builds
- task: Gradle@2
inputs:
- workingDirectory: ''
- gradleWrapperFile: 'gradlew'
+ workingDirectory: 'build-tools/combiner'
+ gradleWrapperFile: 'build-tools/combiner/gradlew'
gradleOptions: '-Xmx3072m'
- javaHomeOption: 'path'
- jdkDirectory: '/Library/Java/JavaVirtualMachines/jdk-11.jdk/Contents/Home/'
- publishJUnitResults: true
- testResultsFiles: '**/TEST-*.xml'
- tasks: 'build'
- # checkStyleRunAnalysis: true
- # pmdRunAnalysis: true
+ tasks: 'publish '
+ options: '-Pallwpilib'
+ condition: and(succeeded(), and(ne(variables['Build.SourceBranch'], 'refs/heads/master'), not(startsWith(variables['Build.SourceBranch'], 'refs/tags/v'))))
+
+# Master Builds
+ - task: Gradle@2
+ inputs:
+ workingDirectory: 'build-tools/combiner'
+ gradleWrapperFile: 'build-tools/combiner/gradlew'
+ gradleOptions: '-Xmx3072m'
+ tasks: 'publish '
+ options: '-Pallwpilib'
+ condition: and(succeeded(), eq(variables['Build.SourceBranch'], 'refs/heads/master'))
+ env:
+ RUN_AZURE_ARTIFACTORY_RELEASE: 'TRUE'
+ ARTIFACTORY_PUBLISH_USERNAME: $(PublishUserName)
+ ARTIFACTORY_PUBLISH_PASSWORD: $(PublishPassword)
+
+# Tagged Builds
+ - task: Gradle@2
+ inputs:
+ workingDirectory: 'build-tools/combiner'
+ gradleWrapperFile: 'build-tools/combiner/gradlew'
+ gradleOptions: '-Xmx3072m'
+ tasks: 'publish '
+ options: '-Pallwpilib -PreleaseRepoPublish'
+ condition: and(succeeded(), startsWith(variables['Build.SourceBranch'], 'refs/tags/v'))
+ env:
+ RUN_AZURE_ARTIFACTORY_RELEASE: 'TRUE'
+ ARTIFACTORY_PUBLISH_USERNAME: $(PublishUserName)
+ ARTIFACTORY_PUBLISH_PASSWORD: $(PublishPassword)
+
+ - script: |
+ echo "##vso[task.setvariable variable=UserHome]$HOME"
+ displayName: 'Set Home Variable'
+ - task: PublishPipelineArtifact@0
+ inputs:
+ artifactName: 'Maven'
+ targetPath: $(UserHome)/releases
diff --git a/third_party/allwpilib_2019/build.gradle b/third_party/allwpilib_2019/build.gradle
index aac1e12..b6b6410 100644
--- a/third_party/allwpilib_2019/build.gradle
+++ b/third_party/allwpilib_2019/build.gradle
@@ -1,18 +1,36 @@
+import edu.wpi.first.toolchain.*
+
plugins {
id 'base'
- id 'edu.wpi.first.wpilib.versioning.WPILibVersioningPlugin' version '2.3'
- id 'edu.wpi.first.NativeUtils' version '2.1.2'
- id 'edu.wpi.first.GradleJni' version '0.3.1'
- id 'edu.wpi.first.GradleVsCode' version '0.7.1'
+ id 'edu.wpi.first.wpilib.versioning.WPILibVersioningPlugin' version '4.0.1'
+ id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2020.1'
+ id 'edu.wpi.first.NativeUtils' apply false
+ id 'edu.wpi.first.GradleJni' version '0.9.1'
+ id 'edu.wpi.first.GradleVsCode' version '0.9.4'
id 'idea'
id 'visual-studio'
- id 'com.gradle.build-scan' version '2.0.2'
+ id 'com.gradle.build-scan' version '2.3'
id 'net.ltgt.errorprone' version '0.6' apply false
id 'com.github.johnrengelman.shadow' version '4.0.3' apply false
}
-repositories {
- mavenCentral()
+if (project.hasProperty('buildServer')) {
+ wpilibVersioning.buildServerMode = true
+}
+
+if (project.hasProperty('releaseMode')) {
+ wpilibVersioning.releaseMode = true
+}
+
+allprojects {
+ repositories {
+ mavenCentral()
+ }
+ if (project.hasProperty('releaseMode')) {
+ wpilibRepositories.addAllReleaseRepositories(it)
+ } else {
+ wpilibRepositories.addAllDevelopmentRepositories(it)
+ }
}
buildScan {
@@ -24,20 +42,11 @@
ext.licenseFile = files("$rootDir/LICENSE.txt", "$rootDir/ThirdPartyNotices.txt")
-// Ensure that the WPILibVersioningPlugin is setup by setting the release type, if releaseType wasn't
-// already specified on the command line
-if (!hasProperty('releaseType')) {
- WPILibVersion {
- releaseType = 'dev'
- }
+if (project.hasProperty("publishVersion")) {
+ wpilibVersioning.version.set(project.publishVersion)
}
-def pubVersion
-if (project.hasProperty("publishVersion")) {
- pubVersion = project.publishVersion
-} else {
- pubVersion = WPILibVersion.version
-}
+wpilibVersioning.version.finalizeValue()
def outputsFolder = file("$buildDir/allOutputs")
@@ -54,7 +63,7 @@
}
doLast {
- versionFile.write pubVersion
+ versionFile.write wpilibVersioning.version.get()
}
}
@@ -87,10 +96,6 @@
apply from: "${rootDir}/shared/java/javastyle.gradle"
- repositories {
- mavenCentral()
- }
-
// Disables doclint in java 8.
if (JavaVersion.current().isJava8Compatible()) {
tasks.withType(Javadoc) {
@@ -99,6 +104,10 @@
}
}
+ext.getCurrentArch = {
+ return NativePlatforms.desktop
+}
+
wrapper {
- gradleVersion = '5.0'
+ gradleVersion = '5.4.1'
}
diff --git a/third_party/allwpilib_2019/buildSrc/build.gradle b/third_party/allwpilib_2019/buildSrc/build.gradle
new file mode 100644
index 0000000..a0c2b85
--- /dev/null
+++ b/third_party/allwpilib_2019/buildSrc/build.gradle
@@ -0,0 +1,9 @@
+repositories {
+ maven {
+ url "https://plugins.gradle.org/m2/"
+ mavenLocal()
+ }
+}
+dependencies {
+ compile "edu.wpi.first:native-utils:2020.1.4"
+}
diff --git a/third_party/allwpilib_2019/buildSrc/src/main/groovy/DisableBuildingGTest.groovy b/third_party/allwpilib_2019/buildSrc/src/main/groovy/DisableBuildingGTest.groovy
new file mode 100644
index 0000000..bdf46f7
--- /dev/null
+++ b/third_party/allwpilib_2019/buildSrc/src/main/groovy/DisableBuildingGTest.groovy
@@ -0,0 +1,70 @@
+
+import org.gradle.api.GradleException;
+import org.gradle.api.Plugin;
+import org.gradle.api.Project;
+import org.gradle.api.Task;
+import org.gradle.api.file.FileTree;
+import org.gradle.api.tasks.compile.JavaCompile;
+import org.gradle.language.base.internal.ProjectLayout;
+import org.gradle.language.base.plugins.ComponentModelBasePlugin;
+import org.gradle.language.nativeplatform.tasks.AbstractNativeSourceCompileTask;
+import org.gradle.model.ModelMap;
+import edu.wpi.first.toolchain.ToolchainExtension
+import org.gradle.model.Mutate;
+import org.gradle.api.plugins.ExtensionContainer;
+import org.gradle.nativeplatform.test.googletest.GoogleTestTestSuiteBinarySpec;
+import org.gradle.model.RuleSource;
+import org.gradle.model.Validate;
+import org.gradle.nativeplatform.NativeExecutableBinarySpec
+import org.gradle.nativeplatform.NativeBinarySpec;
+import org.gradle.nativeplatform.NativeComponentSpec;
+import org.gradle.nativeplatform.NativeLibrarySpec;
+import org.gradle.nativeplatform.SharedLibraryBinarySpec;
+import org.gradle.nativeplatform.StaticLibraryBinarySpec;
+import org.gradle.nativeplatform.platform.internal.NativePlatformInternal;
+import org.gradle.nativeplatform.toolchain.NativeToolChain;
+import org.gradle.nativeplatform.toolchain.NativeToolChainRegistry;
+import org.gradle.nativeplatform.toolchain.internal.PlatformToolProvider;
+import org.gradle.nativeplatform.toolchain.internal.ToolType;
+import org.gradle.nativeplatform.toolchain.internal.gcc.AbstractGccCompatibleToolChain;
+import org.gradle.nativeplatform.toolchain.internal.msvcpp.VisualCppToolChain;
+import org.gradle.nativeplatform.toolchain.internal.tools.ToolRegistry;
+import org.gradle.platform.base.BinarySpec;
+import org.gradle.platform.base.ComponentSpec;
+import org.gradle.platform.base.ComponentSpecContainer;
+import org.gradle.platform.base.BinaryContainer;
+import org.gradle.platform.base.ComponentType;
+import org.gradle.platform.base.TypeBuilder;
+import org.gradle.nativeplatform.tasks.ObjectFilesToBinary;
+import groovy.transform.CompileStatic;
+import groovy.transform.CompileDynamic
+import org.gradle.nativeplatform.BuildTypeContainer
+
+@CompileStatic
+class DisableBuildingGTest implements Plugin<Project> {
+ @CompileStatic
+ public void apply(Project project) {
+
+ }
+
+ @CompileStatic
+ static class Rules extends RuleSource {
+ @CompileDynamic
+ private static void setBuildableFalseDynamically(NativeBinarySpec binary) {
+ binary.buildable = false
+ }
+
+ @Validate
+ @CompileStatic
+ // TODO: Move this to tc plugin
+ void disableCrossTests(BinaryContainer binaries, ExtensionContainer extContainer) {
+ final ToolchainExtension ext = extContainer.getByType(ToolchainExtension.class);
+
+ for (GoogleTestTestSuiteBinarySpec binary : binaries.withType(GoogleTestTestSuiteBinarySpec.class)) {
+ if (ext.getCrossCompilers().findByName(binary.getTargetPlatform().getName()) != null) {
+ setBuildableFalseDynamically(binary)
+ }
+ }
+ }
+ }
+}
diff --git a/third_party/allwpilib_2019/buildSrc/src/main/groovy/MultiBuilds.groovy b/third_party/allwpilib_2019/buildSrc/src/main/groovy/MultiBuilds.groovy
index aa1a225..31530b8 100644
--- a/third_party/allwpilib_2019/buildSrc/src/main/groovy/MultiBuilds.groovy
+++ b/third_party/allwpilib_2019/buildSrc/src/main/groovy/MultiBuilds.groovy
@@ -1,95 +1,74 @@
-
-import org.gradle.api.GradleException;
-import org.gradle.api.Plugin;
-import org.gradle.api.Project;
-import org.gradle.api.Task;
-import org.gradle.api.file.FileTree;
-import org.gradle.api.tasks.compile.JavaCompile;
-import org.gradle.language.base.internal.ProjectLayout;
-import org.gradle.language.base.plugins.ComponentModelBasePlugin;
-import org.gradle.language.nativeplatform.tasks.AbstractNativeSourceCompileTask;
-import org.gradle.model.ModelMap;
-import org.gradle.model.Mutate;
-import org.gradle.nativeplatform.test.googletest.GoogleTestTestSuiteBinarySpec;
-import org.gradle.model.RuleSource;
-import org.gradle.model.Validate;
-import org.gradle.nativeplatform.NativeExecutableBinarySpec
-import org.gradle.nativeplatform.NativeBinarySpec;
-import org.gradle.nativeplatform.NativeComponentSpec;
-import org.gradle.nativeplatform.NativeLibrarySpec;
-import org.gradle.nativeplatform.SharedLibraryBinarySpec;
-import org.gradle.nativeplatform.StaticLibraryBinarySpec;
-import org.gradle.nativeplatform.platform.internal.NativePlatformInternal;
-import org.gradle.nativeplatform.toolchain.NativeToolChain;
-import org.gradle.nativeplatform.toolchain.NativeToolChainRegistry;
-import org.gradle.nativeplatform.toolchain.internal.PlatformToolProvider;
-import org.gradle.nativeplatform.toolchain.internal.ToolType;
-import org.gradle.nativeplatform.toolchain.internal.gcc.AbstractGccCompatibleToolChain;
-import org.gradle.nativeplatform.toolchain.internal.msvcpp.VisualCppToolChain;
-import org.gradle.nativeplatform.toolchain.internal.tools.ToolRegistry;
-import org.gradle.platform.base.BinarySpec;
-import org.gradle.platform.base.ComponentSpec;
-import org.gradle.platform.base.ComponentSpecContainer;
-import org.gradle.platform.base.BinaryContainer;
-import org.gradle.platform.base.ComponentType;
-import org.gradle.platform.base.TypeBuilder;
-import org.gradle.nativeplatform.tasks.ObjectFilesToBinary;
-import groovy.transform.CompileStatic;
-import groovy.transform.CompileDynamic
-import org.gradle.nativeplatform.BuildTypeContainer
-
-@CompileStatic
-class MultiBuilds implements Plugin<Project> {
- @CompileStatic
- public void apply(Project project) {
-
- }
-
- @CompileStatic
- static class Rules extends RuleSource {
- @Mutate
- void setupBuildTypes(BuildTypeContainer buildTypes, ProjectLayout projectLayout) {
- def project = (Project) projectLayout.projectIdentifier
- if (project.hasProperty('releaseBuild')) {
- buildTypes.create('debug')
- } else {
- buildTypes.create('release')
- }
- }
-
- @CompileDynamic
- private static void setBuildableFalseDynamically(NativeBinarySpec binary) {
- binary.buildable = false
- }
-
- @Mutate
- @CompileStatic
- void disableReleaseGoogleTest(BinaryContainer binaries, ProjectLayout projectLayout) {
- def project = (Project) projectLayout.projectIdentifier
- if (project.hasProperty('testRelease')) {
- return
- }
- binaries.withType(GoogleTestTestSuiteBinarySpec) { oSpec ->
- GoogleTestTestSuiteBinarySpec spec = (GoogleTestTestSuiteBinarySpec) oSpec
- if (spec.buildType.name == 'release') {
- Rules.setBuildableFalseDynamically(spec)
- }
- }
- // def crossCompileConfigs = []
- // for (BuildConfig config : configs) {
- // if (!BuildConfigRulesBase.isCrossCompile(config)) {
- // continue
- // }
- // crossCompileConfigs << config.architecture
- // }
- // if (!crossCompileConfigs.empty) {
- // binaries.withType(GoogleTestTestSuiteBinarySpec) { oSpec ->
- // GoogleTestTestSuiteBinarySpec spec = (GoogleTestTestSuiteBinarySpec) oSpec
- // if (crossCompileConfigs.contains(spec.targetPlatform.architecture.name)) {
- // setBuildableFalseDynamically(spec)
- // }
- // }
- // }
- }
- }
-}
+
+import org.gradle.api.GradleException;
+import org.gradle.api.Plugin;
+import org.gradle.api.Project;
+import org.gradle.api.Task;
+import org.gradle.api.file.FileTree;
+import org.gradle.api.tasks.compile.JavaCompile;
+import org.gradle.language.base.internal.ProjectLayout;
+import org.gradle.language.base.plugins.ComponentModelBasePlugin;
+import org.gradle.language.nativeplatform.tasks.AbstractNativeSourceCompileTask;
+import org.gradle.model.ModelMap;
+import edu.wpi.first.toolchain.ToolchainExtension
+import org.gradle.model.Mutate;
+import org.gradle.api.plugins.ExtensionContainer;
+import org.gradle.nativeplatform.test.googletest.GoogleTestTestSuiteBinarySpec;
+import org.gradle.model.RuleSource;
+import org.gradle.model.Validate;
+import org.gradle.nativeplatform.test.tasks.RunTestExecutable
+import org.gradle.nativeplatform.NativeExecutableBinarySpec
+import org.gradle.nativeplatform.NativeBinarySpec;
+import org.gradle.nativeplatform.NativeComponentSpec;
+import org.gradle.nativeplatform.NativeLibrarySpec;
+import org.gradle.nativeplatform.SharedLibraryBinarySpec;
+import org.gradle.nativeplatform.StaticLibraryBinarySpec;
+import org.gradle.nativeplatform.platform.internal.NativePlatformInternal;
+import org.gradle.nativeplatform.toolchain.NativeToolChain;
+import org.gradle.nativeplatform.toolchain.NativeToolChainRegistry;
+import org.gradle.nativeplatform.toolchain.internal.PlatformToolProvider;
+import org.gradle.nativeplatform.toolchain.internal.ToolType;
+import org.gradle.nativeplatform.toolchain.internal.gcc.AbstractGccCompatibleToolChain;
+import org.gradle.nativeplatform.toolchain.internal.msvcpp.VisualCppToolChain;
+import org.gradle.nativeplatform.toolchain.internal.tools.ToolRegistry;
+import org.gradle.platform.base.BinarySpec;
+import org.gradle.platform.base.ComponentSpec;
+import org.gradle.platform.base.ComponentSpecContainer;
+import org.gradle.platform.base.BinaryContainer;
+import org.gradle.platform.base.ComponentType;
+import org.gradle.platform.base.TypeBuilder;
+import org.gradle.nativeplatform.tasks.ObjectFilesToBinary;
+import groovy.transform.CompileStatic;
+import groovy.transform.CompileDynamic
+import org.gradle.nativeplatform.BuildTypeContainer
+
+@CompileStatic
+class MultiBuilds implements Plugin<Project> {
+ @CompileStatic
+ public void apply(Project project) {
+
+ }
+
+ @CompileStatic
+ static class Rules extends RuleSource {
+ @CompileDynamic
+ private static void setBuildableFalseDynamically(NativeBinarySpec binary) {
+ binary.buildable = false
+ }
+
+
+ @Mutate
+ @CompileStatic
+ void disableReleaseGoogleTest(BinaryContainer binaries, ProjectLayout projectLayout) {
+ def project = (Project) projectLayout.projectIdentifier
+ if (project.hasProperty('testRelease')) {
+ return
+ }
+ binaries.withType(GoogleTestTestSuiteBinarySpec) { oSpec ->
+ GoogleTestTestSuiteBinarySpec spec = (GoogleTestTestSuiteBinarySpec) oSpec
+ if (spec.buildType.name == 'release') {
+ Rules.setBuildableFalseDynamically(spec)
+ }
+ }
+ }
+ }
+}
diff --git a/third_party/allwpilib_2019/buildSrc/src/main/groovy/SingleNativeBuild.groovy b/third_party/allwpilib_2019/buildSrc/src/main/groovy/SingleNativeBuild.groovy
index f37fc57..2b7e087 100644
--- a/third_party/allwpilib_2019/buildSrc/src/main/groovy/SingleNativeBuild.groovy
+++ b/third_party/allwpilib_2019/buildSrc/src/main/groovy/SingleNativeBuild.groovy
@@ -40,6 +40,7 @@
import org.gradle.platform.base.TypeBuilder;
import org.gradle.nativeplatform.tasks.ObjectFilesToBinary;
import groovy.transform.CompileStatic;
+import edu.wpi.first.nativeutils.tasks.ExportsGenerationTask
@CompileStatic
class SingleNativeBuild implements Plugin<Project> {
@@ -52,6 +53,22 @@
static class Rules extends RuleSource {
@Mutate
@CompileStatic
+ void removeMacSystemIncludes(ModelMap<Task> tasks, BinaryContainer binaries) {
+ binaries.each {
+ if (!(it instanceof NativeBinarySpec)) {
+ return
+ }
+ NativeBinarySpec nativeBin = (NativeBinarySpec)it
+ if (nativeBin.targetPlatform.operatingSystem.isMacOsX()) {
+ nativeBin.tasks.withType(AbstractNativeSourceCompileTask) { AbstractNativeSourceCompileTask compileTask->
+ compileTask.getSystemIncludes().setFrom()
+ }
+ }
+ }
+ }
+
+ @Mutate
+ @CompileStatic
void setupSingleNativeBuild(ModelMap<Task> tasks, ComponentSpecContainer components, BinaryContainer binaryContainer, ProjectLayout projectLayout) {
Project project = (Project) projectLayout.projectIdentifier;
@@ -78,8 +95,7 @@
return
}
def tmpBaseBin = (NativeBinarySpec) oTmpBaseBin
- if (tmpBaseBin.targetPlatform.operatingSystem.name == binary.targetPlatform.operatingSystem.name &&
- tmpBaseBin.targetPlatform.architecture.name == binary.targetPlatform.architecture.name &&
+ if (tmpBaseBin.targetPlatform.name == binary.targetPlatform.name &&
tmpBaseBin.buildType == binary.buildType) {
baseBin = tmpBaseBin
}
@@ -89,6 +105,10 @@
if (binary instanceof SharedLibraryBinarySpec) {
def sBinary = (SharedLibraryBinarySpec) binary
ObjectFilesToBinary link = (ObjectFilesToBinary) sBinary.tasks.link
+ ExportsGenerationTask exportsTask = binary.tasks.withType(ExportsGenerationTask)[0]
+ if (exportsTask != null) {
+ exportsTask.dependsOn compileTask
+ }
link.dependsOn compileTask
link.inputs.dir compileTask.objectFileDir
def tree = project.fileTree(compileTask.objectFileDir)
diff --git a/third_party/allwpilib_2019/cameraserver/CMakeLists.txt b/third_party/allwpilib_2019/cameraserver/CMakeLists.txt
index a3a7460..d77cb4e 100644
--- a/third_party/allwpilib_2019/cameraserver/CMakeLists.txt
+++ b/third_party/allwpilib_2019/cameraserver/CMakeLists.txt
@@ -1,5 +1,8 @@
project(cameraserver)
+include(CompileWarnings)
+include(AddTest)
+
find_package( OpenCV REQUIRED )
# Java bindings
@@ -32,6 +35,7 @@
target_include_directories(cameraserver PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
$<INSTALL_INTERFACE:${include_dest}/cameraserver>)
+wpilib_target_warnings(cameraserver)
target_link_libraries(cameraserver PUBLIC ntcore cscore wpiutil ${OpenCV_LIBS})
set_property(TARGET cameraserver PROPERTY FOLDER "libraries")
@@ -43,15 +47,24 @@
install(TARGETS cameraserver RUNTIME DESTINATION "${jni_lib_dest}" COMPONENT Runtime)
endif()
-if (MSVC)
+if (MSVC OR FLAT_INSTALL_WPILIB)
set (cameraserver_config_dir ${wpilib_dest})
else()
set (cameraserver_config_dir share/cameraserver)
endif()
-install(FILES cameraserver-config.cmake DESTINATION ${cameraserver_config_dir})
+configure_file(cameraserver-config.cmake.in ${CMAKE_BINARY_DIR}/cameraserver-config.cmake )
+install(FILES ${CMAKE_BINARY_DIR}/cameraserver-config.cmake DESTINATION ${cameraserver_config_dir})
install(EXPORT cameraserver DESTINATION ${cameraserver_config_dir})
file(GLOB multiCameraServer_src multiCameraServer/src/main/native/cpp/*.cpp)
add_executable(multiCameraServer ${multiCameraServer_src})
+wpilib_target_warnings(multiCameraServer)
target_link_libraries(multiCameraServer cameraserver)
+
+set_property(TARGET multiCameraServer PROPERTY FOLDER "examples")
+
+if (WITH_TESTS)
+ wpilib_add_test(cameraserver src/test/native/cpp)
+ target_link_libraries(cameraserver_test cameraserver gtest)
+endif()
diff --git a/third_party/allwpilib_2019/cameraserver/build.gradle b/third_party/allwpilib_2019/cameraserver/build.gradle
index 2b19454..d59d749 100644
--- a/third_party/allwpilib_2019/cameraserver/build.gradle
+++ b/third_party/allwpilib_2019/cameraserver/build.gradle
@@ -30,23 +30,20 @@
apply from: "${rootDir}/shared/opencv.gradle"
-model {
- // Exports config is a utility to enable exporting all symbols in a C++ library on windows to a DLL.
- // This removes the need for DllExport on a library. However, the gradle C++ builder has a bug
- // where some extra symbols are added that cannot be resolved at link time. This configuration
- // lets you specify specific symbols to exlude from exporting.
- exportsConfigs {
- cameraserver(ExportsConfig) {
- x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
- '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
- '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
- '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
- x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
- '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
- '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
- '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
- }
+nativeUtils.exportsConfigs {
+ cameraserver {
+ x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+ '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+ '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
+ '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
+ x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+ '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+ '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
+ '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
}
+}
+
+model {
components {}
binaries {
all {
@@ -66,7 +63,7 @@
if (it in NativeExecutableSpec && it.name == "${nativeName}Dev") {
it.binaries.each {
if (!found) {
- def arch = it.targetPlatform.architecture.name
+ def arch = it.targetPlatform.name
if (arch == systemArch) {
def filePath = it.tasks.install.installDirectory.get().toString() + File.separatorChar + 'lib'
diff --git a/third_party/allwpilib_2019/cameraserver/cameraserver-config.cmake b/third_party/allwpilib_2019/cameraserver/cameraserver-config.cmake
deleted file mode 100644
index 2c2b1cc..0000000
--- a/third_party/allwpilib_2019/cameraserver/cameraserver-config.cmake
+++ /dev/null
@@ -1,8 +0,0 @@
-include(CMakeFindDependencyMacro)
-find_dependency(wpiutil)
-find_dependency(ntcore)
-find_dependency(cscore)
-find_dependency(OpenCV)
-
-get_filename_component(SELF_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
-include(${SELF_DIR}/cameraserver.cmake)
diff --git a/third_party/allwpilib_2019/cameraserver/cameraserver-config.cmake.in b/third_party/allwpilib_2019/cameraserver/cameraserver-config.cmake.in
new file mode 100644
index 0000000..301b25b
--- /dev/null
+++ b/third_party/allwpilib_2019/cameraserver/cameraserver-config.cmake.in
@@ -0,0 +1,8 @@
+include(CMakeFindDependencyMacro)
+@FILENAME_DEP_REPLACE@
+@WPIUTIL_DEP_REPLACE@
+@NTCORE_DEP_REPLACE@
+@CSCORE_DEP_REPLACE@
+find_dependency(OpenCV)
+
+include(${SELF_DIR}/cameraserver.cmake)
diff --git a/third_party/allwpilib_2019/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java b/third_party/allwpilib_2019/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java
index fe54225..3ef23c3 100644
--- a/third_party/allwpilib_2019/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java
+++ b/third_party/allwpilib_2019/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,8 +9,9 @@
import java.util.ArrayList;
import java.util.Arrays;
-import java.util.Hashtable;
+import java.util.HashMap;
import java.util.Map;
+import java.util.Objects;
import java.util.concurrent.atomic.AtomicInteger;
import edu.wpi.cscore.AxisCamera;
@@ -142,17 +143,21 @@
values[j] = "mjpg:" + values[j];
}
- // Look to see if we have a passthrough server for this source
- for (VideoSink i : m_sinks.values()) {
- int sink = i.getHandle();
- int sinkSource = CameraServerJNI.getSinkSource(sink);
- if (source == sinkSource
- && VideoSink.getKindFromInt(CameraServerJNI.getSinkKind(sink)) == VideoSink.Kind.kMjpeg) {
- // Add USB-only passthrough
- String[] finalValues = Arrays.copyOf(values, values.length + 1);
- int port = CameraServerJNI.getMjpegServerPort(sink);
- finalValues[values.length] = makeStreamValue("172.22.11.2", port);
- return finalValues;
+ if (CameraServerSharedStore.getCameraServerShared().isRoboRIO()) {
+ // Look to see if we have a passthrough server for this source
+ // Only do this on the roboRIO
+ for (VideoSink i : m_sinks.values()) {
+ int sink = i.getHandle();
+ int sinkSource = CameraServerJNI.getSinkSource(sink);
+ if (source == sinkSource
+ && VideoSink.getKindFromInt(CameraServerJNI.getSinkKind(sink))
+ == VideoSink.Kind.kMjpeg) {
+ // Add USB-only passthrough
+ String[] finalValues = Arrays.copyOf(values, values.length + 1);
+ int port = CameraServerJNI.getMjpegServerPort(sink);
+ finalValues[values.length] = makeStreamValue("172.22.11.2", port);
+ return finalValues;
+ }
}
}
@@ -166,13 +171,9 @@
int sink = i.getHandle();
// Get the source's subtable (if none exists, we're done)
- int source;
- Integer fixedSource = m_fixedSources.get(sink);
- if (fixedSource != null) {
- source = fixedSource;
- } else {
- source = CameraServerJNI.getSinkSource(sink);
- }
+ int source = Objects.requireNonNullElseGet(m_fixedSources.get(sink),
+ () -> CameraServerJNI.getSinkSource(sink));
+
if (source == 0) {
continue;
}
@@ -301,10 +302,10 @@
"PMD.NPathComplexity"})
private CameraServer() {
m_defaultUsbDevice = new AtomicInteger();
- m_sources = new Hashtable<>();
- m_sinks = new Hashtable<>();
- m_fixedSources = new Hashtable<>();
- m_tables = new Hashtable<>();
+ m_sources = new HashMap<>();
+ m_sinks = new HashMap<>();
+ m_fixedSources = new HashMap<>();
+ m_tables = new HashMap<>();
m_publishTable = NetworkTableInstance.getDefault().getTable(kPublishName);
m_nextPort = kBasePort;
m_addresses = new String[0];
@@ -615,7 +616,9 @@
// create a dummy CvSource
CvSource source = new CvSource(name, VideoMode.PixelFormat.kMJPEG, 160, 120, 30);
MjpegServer server = startAutomaticCapture(source);
- m_fixedSources.put(server.getHandle(), source.getHandle());
+ synchronized (this) {
+ m_fixedSources.put(server.getHandle(), source.getHandle());
+ }
return server;
}
diff --git a/third_party/allwpilib_2019/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServerShared.java b/third_party/allwpilib_2019/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServerShared.java
index 32a4d01..c9cbb8f 100644
--- a/third_party/allwpilib_2019/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServerShared.java
+++ b/third_party/allwpilib_2019/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServerShared.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -43,4 +43,13 @@
* @param id the usage id
*/
void reportAxisCamera(int id);
+
+ /**
+ * Get if running on a roboRIO.
+ *
+ * @return true if on roboRIO
+ */
+ default boolean isRoboRIO() {
+ return false;
+ }
}
diff --git a/third_party/allwpilib_2019/cameraserver/src/main/java/edu/wpi/first/vision/VisionRunner.java b/third_party/allwpilib_2019/cameraserver/src/main/java/edu/wpi/first/vision/VisionRunner.java
index 24ffcda..8d8b12e 100644
--- a/third_party/allwpilib_2019/cameraserver/src/main/java/edu/wpi/first/vision/VisionRunner.java
+++ b/third_party/allwpilib_2019/cameraserver/src/main/java/edu/wpi/first/vision/VisionRunner.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -77,7 +77,7 @@
public void runOnce() {
Long id = CameraServerSharedStore.getCameraServerShared().getRobotMainThreadId();
- if (id != null && Thread.currentThread().getId() == id.longValue()) {
+ if (id != null && Thread.currentThread().getId() == id) {
throw new IllegalStateException(
"VisionRunner.runOnce() cannot be called from the main robot thread");
}
@@ -110,7 +110,7 @@
public void runForever() {
Long id = CameraServerSharedStore.getCameraServerShared().getRobotMainThreadId();
- if (id != null && Thread.currentThread().getId() == id.longValue()) {
+ if (id != null && Thread.currentThread().getId() == id) {
throw new IllegalStateException(
"VisionRunner.runForever() cannot be called from the main robot thread");
}
diff --git a/third_party/allwpilib_2019/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp b/third_party/allwpilib_2019/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp
index a3caf5c..2302b1a 100644
--- a/third_party/allwpilib_2019/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp
+++ b/third_party/allwpilib_2019/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -56,21 +56,21 @@
CS_Status status = 0;
buf.clear();
switch (cs::GetSourceKind(source, &status)) {
- case cs::VideoSource::kUsb: {
+ case CS_SOURCE_USB: {
wpi::StringRef prefix{"usb:"};
buf.append(prefix.begin(), prefix.end());
auto path = cs::GetUsbCameraPath(source, &status);
buf.append(path.begin(), path.end());
break;
}
- case cs::VideoSource::kHttp: {
+ case CS_SOURCE_HTTP: {
wpi::StringRef prefix{"ip:"};
buf.append(prefix.begin(), prefix.end());
auto urls = cs::GetHttpCameraUrls(source, &status);
if (!urls.empty()) buf.append(urls[0].begin(), urls[0].end());
break;
}
- case cs::VideoSource::kCv:
+ case CS_SOURCE_CV:
return "cv:";
default:
return "unknown:";
@@ -87,7 +87,7 @@
std::shared_ptr<nt::NetworkTable> CameraServer::Impl::GetSourceTable(
CS_Source source) {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
return m_tables.lookup(source);
}
@@ -132,7 +132,9 @@
auto values = cs::GetHttpCameraUrls(source, &status);
for (auto& value : values) value = "mjpg:" + value;
+#ifdef __FRC_ROBORIO__
// Look to see if we have a passthrough server for this source
+ // Only do this on the roboRIO
for (const auto& i : m_sinks) {
CS_Sink sink = i.second.GetHandle();
CS_Source sinkSource = cs::GetSinkSource(sink, &status);
@@ -144,13 +146,14 @@
break;
}
}
+#endif
// Set table value
return values;
}
void CameraServer::Impl::UpdateStreamValues() {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
// Over all the sinks...
for (const auto& i : m_sinks) {
CS_Status status = 0;
@@ -239,14 +242,14 @@
CS_Status status = 0;
nt::NetworkTableEntry entry = table->GetEntry(name);
switch (event.propertyKind) {
- case cs::VideoProperty::kBoolean:
+ case CS_PROP_BOOLEAN:
if (isNew)
entry.SetDefaultBoolean(event.value != 0);
else
entry.SetBoolean(event.value != 0);
break;
- case cs::VideoProperty::kInteger:
- case cs::VideoProperty::kEnum:
+ case CS_PROP_INTEGER:
+ case CS_PROP_ENUM:
if (isNew) {
entry.SetDefaultDouble(event.value);
table->GetEntry(infoName + "/min")
@@ -261,7 +264,7 @@
entry.SetDouble(event.value);
}
break;
- case cs::VideoProperty::kString:
+ case CS_PROP_STRING:
if (isNew)
entry.SetDefaultString(event.valueStr);
else
@@ -296,7 +299,7 @@
// Create subtable for the camera
auto table = m_publishTable->GetSubTable(event.name);
{
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
m_tables.insert(std::make_pair(event.sourceHandle, table));
}
wpi::SmallString<64> buf;
@@ -561,7 +564,7 @@
cs::VideoSource source;
{
auto csShared = GetCameraServerShared();
- std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
+ std::scoped_lock lock(m_impl->m_mutex);
if (m_impl->m_primarySourceName.empty()) {
csShared->SetCameraServerError("no camera available");
return cs::CvSink{};
@@ -581,7 +584,7 @@
name += camera.GetName();
{
- std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
+ std::scoped_lock lock(m_impl->m_mutex);
auto it = m_impl->m_sinks.find(name);
if (it != m_impl->m_sinks.end()) {
auto kind = it->second.GetKind();
@@ -606,7 +609,7 @@
wpi::StringRef nameStr = name.toStringRef(nameBuf);
cs::VideoSource source;
{
- std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
+ std::scoped_lock lock(m_impl->m_mutex);
auto it = m_impl->m_sources.find(nameStr);
if (it == m_impl->m_sources.end()) {
auto csShared = GetCameraServerShared();
@@ -628,7 +631,7 @@
cs::MjpegServer CameraServer::AddServer(const wpi::Twine& name) {
int port;
{
- std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
+ std::scoped_lock lock(m_impl->m_mutex);
port = m_impl->m_nextPort++;
}
return AddServer(name, port);
@@ -641,12 +644,12 @@
}
void CameraServer::AddServer(const cs::VideoSink& server) {
- std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
+ std::scoped_lock lock(m_impl->m_mutex);
m_impl->m_sinks.try_emplace(server.GetName(), server);
}
void CameraServer::RemoveServer(const wpi::Twine& name) {
- std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
+ std::scoped_lock lock(m_impl->m_mutex);
wpi::SmallString<64> nameBuf;
m_impl->m_sinks.erase(name.toStringRef(nameBuf));
}
@@ -654,7 +657,7 @@
cs::VideoSink CameraServer::GetServer() {
wpi::SmallString<64> name;
{
- std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
+ std::scoped_lock lock(m_impl->m_mutex);
if (m_impl->m_primarySourceName.empty()) {
auto csShared = GetCameraServerShared();
csShared->SetCameraServerError("no camera available");
@@ -669,7 +672,7 @@
cs::VideoSink CameraServer::GetServer(const wpi::Twine& name) {
wpi::SmallString<64> nameBuf;
wpi::StringRef nameStr = name.toStringRef(nameBuf);
- std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
+ std::scoped_lock lock(m_impl->m_mutex);
auto it = m_impl->m_sinks.find(nameStr);
if (it == m_impl->m_sinks.end()) {
auto csShared = GetCameraServerShared();
@@ -681,19 +684,19 @@
void CameraServer::AddCamera(const cs::VideoSource& camera) {
std::string name = camera.GetName();
- std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
+ std::scoped_lock lock(m_impl->m_mutex);
if (m_impl->m_primarySourceName.empty()) m_impl->m_primarySourceName = name;
m_impl->m_sources.try_emplace(name, camera);
}
void CameraServer::RemoveCamera(const wpi::Twine& name) {
- std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
+ std::scoped_lock lock(m_impl->m_mutex);
wpi::SmallString<64> nameBuf;
m_impl->m_sources.erase(name.toStringRef(nameBuf));
}
void CameraServer::SetSize(int size) {
- std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
+ std::scoped_lock lock(m_impl->m_mutex);
if (m_impl->m_primarySourceName.empty()) return;
auto it = m_impl->m_sources.find(m_impl->m_primarySourceName);
if (it == m_impl->m_sources.end()) return;
diff --git a/third_party/allwpilib_2019/cameraserver/src/main/native/cpp/cameraserver/CameraServerShared.cpp b/third_party/allwpilib_2019/cameraserver/src/main/native/cpp/cameraserver/CameraServerShared.cpp
index 97ab090..7d30d28 100644
--- a/third_party/allwpilib_2019/cameraserver/src/main/native/cpp/cameraserver/CameraServerShared.cpp
+++ b/third_party/allwpilib_2019/cameraserver/src/main/native/cpp/cameraserver/CameraServerShared.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -24,20 +24,22 @@
};
} // namespace
-namespace frc {
-
-static std::unique_ptr<CameraServerShared> cameraServerShared = nullptr;
+static std::unique_ptr<frc::CameraServerShared> cameraServerShared = nullptr;
static wpi::mutex setLock;
-void SetCameraServerShared(std::unique_ptr<CameraServerShared> shared) {
- std::unique_lock<wpi::mutex> lock(setLock);
- cameraServerShared = std::move(shared);
-}
+namespace frc {
CameraServerShared* GetCameraServerShared() {
- std::unique_lock<wpi::mutex> lock(setLock);
+ std::unique_lock lock(setLock);
if (!cameraServerShared) {
cameraServerShared = std::make_unique<DefaultCameraServerShared>();
}
return cameraServerShared.get();
}
} // namespace frc
+
+extern "C" {
+void CameraServer_SetCameraServerShared(frc::CameraServerShared* shared) {
+ std::unique_lock lock(setLock);
+ cameraServerShared.reset(shared);
+}
+} // extern "C"
diff --git a/third_party/allwpilib_2019/cameraserver/src/main/native/include/CameraServer.h b/third_party/allwpilib_2019/cameraserver/src/main/native/include/CameraServer.h
deleted file mode 100644
index 2fcc0f2..0000000
--- a/third_party/allwpilib_2019/cameraserver/src/main/native/include/CameraServer.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: CameraServer.h is deprecated; include cameraserver/CameraServer.h instead"
-#else
-#warning "CameraServer.h is deprecated; include cameraserver/CameraServer.h instead"
-#endif
-
-// clang-format on
-
-#include "cameraserver/CameraServer.h"
diff --git a/third_party/allwpilib_2019/cameraserver/src/main/native/include/cameraserver/CameraServer.h b/third_party/allwpilib_2019/cameraserver/src/main/native/include/cameraserver/CameraServer.h
index 46c2448..8f384fd 100644
--- a/third_party/allwpilib_2019/cameraserver/src/main/native/include/cameraserver/CameraServer.h
+++ b/third_party/allwpilib_2019/cameraserver/src/main/native/include/cameraserver/CameraServer.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -16,6 +16,7 @@
#include <wpi/Twine.h>
#include "cscore.h"
+#include "cscore_cv.h"
namespace frc {
diff --git a/third_party/allwpilib_2019/cameraserver/src/main/native/include/cameraserver/CameraServerShared.h b/third_party/allwpilib_2019/cameraserver/src/main/native/include/cameraserver/CameraServerShared.h
index 72b784e..cb72c9b 100644
--- a/third_party/allwpilib_2019/cameraserver/src/main/native/include/cameraserver/CameraServerShared.h
+++ b/third_party/allwpilib_2019/cameraserver/src/main/native/include/cameraserver/CameraServerShared.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -26,6 +26,10 @@
virtual std::pair<std::thread::id, bool> GetRobotMainThreadId() const = 0;
};
-void SetCameraServerShared(std::unique_ptr<CameraServerShared> shared);
CameraServerShared* GetCameraServerShared();
} // namespace frc
+
+extern "C" {
+// Takes ownership
+void CameraServer_SetCameraServerShared(frc::CameraServerShared* shared);
+} // extern "C"
diff --git a/third_party/allwpilib_2019/cameraserver/src/main/native/include/vision/VisionRunner.h b/third_party/allwpilib_2019/cameraserver/src/main/native/include/vision/VisionRunner.h
index a317f80..610ac4d 100644
--- a/third_party/allwpilib_2019/cameraserver/src/main/native/include/vision/VisionRunner.h
+++ b/third_party/allwpilib_2019/cameraserver/src/main/native/include/vision/VisionRunner.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,6 +12,7 @@
#include <memory>
#include "cscore.h"
+#include "cscore_cv.h"
#include "vision/VisionPipeline.h"
namespace frc {
diff --git a/third_party/allwpilib_2019/cmake/modules/AddTest.cmake b/third_party/allwpilib_2019/cmake/modules/AddTest.cmake
new file mode 100644
index 0000000..c8ef579
--- /dev/null
+++ b/third_party/allwpilib_2019/cmake/modules/AddTest.cmake
@@ -0,0 +1,14 @@
+include(CompileWarnings)
+
+macro(wpilib_add_test name srcdir)
+ file(GLOB_RECURSE test_src ${srcdir}/*.cpp)
+ add_executable(${name}_test ${test_src})
+ wpilib_target_warnings(${name}_test)
+ if (BUILD_SHARED_LIBS)
+ target_compile_definitions(${name}_test PRIVATE -DGTEST_LINKED_AS_SHARED_LIBRARY)
+ endif()
+ if (MSVC)
+ target_compile_options(${name}_test PRIVATE /wd4251 /wd4101)
+ endif()
+ add_test(NAME ${name} COMMAND ${name}_test)
+endmacro()
diff --git a/third_party/allwpilib_2019/cmake/modules/CompileWarnings.cmake b/third_party/allwpilib_2019/cmake/modules/CompileWarnings.cmake
new file mode 100644
index 0000000..0eb9733
--- /dev/null
+++ b/third_party/allwpilib_2019/cmake/modules/CompileWarnings.cmake
@@ -0,0 +1,7 @@
+macro(wpilib_target_warnings target)
+ if(NOT MSVC)
+ target_compile_options(${target} PRIVATE -Wall -pedantic -Wextra -Werror -Wno-unused-parameter -Wno-error=deprecated-declarations)
+ else()
+ target_compile_options(${target} PRIVATE /wd4244 /wd4267 /wd4146 /WX /wd4996)
+ endif()
+endmacro()
diff --git a/third_party/allwpilib_2019/cmake/modules/GenResources.cmake b/third_party/allwpilib_2019/cmake/modules/GenResources.cmake
index 2b2386f..06d34a3 100644
--- a/third_party/allwpilib_2019/cmake/modules/GenResources.cmake
+++ b/third_party/allwpilib_2019/cmake/modules/GenResources.cmake
@@ -1,3 +1,4 @@
+set(SCRIPTS_DIR "${CMAKE_CURRENT_LIST_DIR}/../scripts")
MACRO(GENERATE_RESOURCES inputDir outputDir prefix namespace outputFiles)
FILE(GLOB inputFiles ${inputDir}/*)
SET(${outputFiles})
@@ -16,9 +17,9 @@
"-Doutput=${output}"
"-Dprefix=${prefix}"
"-Dnamespace=${namespace}"
- -P "${CMAKE_SOURCE_DIR}/cmake/scripts/GenResource.cmake"
+ -P "${SCRIPTS_DIR}/GenResource.cmake"
MAIN_DEPENDENCY ${input}
- DEPENDS ${CMAKE_SOURCE_DIR}/cmake/scripts/GenResource.cmake
+ DEPENDS ${SCRIPTS_DIR}/GenResource.cmake
VERBATIM
)
ENDFOREACH()
diff --git a/third_party/allwpilib_2019/cmake/toolchains/arm-frc-gnueabi.toolchain.cmake b/third_party/allwpilib_2019/cmake/toolchains/arm-frc-gnueabi.toolchain.cmake
new file mode 100644
index 0000000..8e6536a
--- /dev/null
+++ b/third_party/allwpilib_2019/cmake/toolchains/arm-frc-gnueabi.toolchain.cmake
@@ -0,0 +1,4 @@
+set(GCC_COMPILER_VERSION "" CACHE STRING "GCC Compiler version")
+set(GNU_MACHINE "arm-frc2020-linux-gnueabi" CACHE STRING "GNU compiler triple")
+set(SOFTFP yes)
+include("${CMAKE_CURRENT_LIST_DIR}/arm.toolchain.cmake")
diff --git a/third_party/allwpilib_2019/cmake/toolchains/arm-pi-gnueabihf.toolchain.cmake b/third_party/allwpilib_2019/cmake/toolchains/arm-pi-gnueabihf.toolchain.cmake
new file mode 100644
index 0000000..abb8027
--- /dev/null
+++ b/third_party/allwpilib_2019/cmake/toolchains/arm-pi-gnueabihf.toolchain.cmake
@@ -0,0 +1,98 @@
+set(GCC_COMPILER_VERSION "" CACHE STRING "GCC Compiler version")
+set(GNU_MACHINE "arm-raspbian10-linux-gnueabi" CACHE STRING "GNU compiler triple")
+
+if(COMMAND toolchain_save_config)
+ return() # prevent recursive call
+endif()
+
+set(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_SYSTEM_VERSION 1)
+if(NOT DEFINED CMAKE_SYSTEM_PROCESSOR)
+ set(CMAKE_SYSTEM_PROCESSOR arm)
+else()
+ #message("CMAKE_SYSTEM_PROCESSOR=${CMAKE_SYSTEM_PROCESSOR}")
+endif()
+
+include("${CMAKE_CURRENT_LIST_DIR}/opencv/platforms/linux/gnu.toolchain.cmake")
+
+if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm AND NOT ARM_IGNORE_FP)
+ set(FLOAT_ABI_SUFFIX "")
+ if(NOT SOFTFP)
+ set(FLOAT_ABI_SUFFIX "hf")
+ endif()
+endif()
+
+if(NOT "x${GCC_COMPILER_VERSION}" STREQUAL "x")
+ set(__GCC_VER_SUFFIX "-${GCC_COMPILER_VERSION}")
+endif()
+
+if(NOT DEFINED CMAKE_C_COMPILER)
+ find_program(CMAKE_C_COMPILER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-gcc${__GCC_VER_SUFFIX})
+else()
+ #message(WARNING "CMAKE_C_COMPILER=${CMAKE_C_COMPILER} is defined")
+endif()
+if(NOT DEFINED CMAKE_CXX_COMPILER)
+ find_program(CMAKE_CXX_COMPILER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-g++${__GCC_VER_SUFFIX})
+else()
+ #message(WARNING "CMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER} is defined")
+endif()
+if(NOT DEFINED CMAKE_LINKER)
+ find_program(CMAKE_LINKER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ld${__GCC_VER_SUFFIX} ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ld)
+else()
+ #message(WARNING "CMAKE_LINKER=${CMAKE_LINKER} is defined")
+endif()
+if(NOT DEFINED CMAKE_AR)
+ find_program(CMAKE_AR NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ar${__GCC_VER_SUFFIX} ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ar)
+else()
+ #message(WARNING "CMAKE_AR=${CMAKE_AR} is defined")
+endif()
+
+if(NOT DEFINED ARM_LINUX_SYSROOT AND DEFINED GNU_MACHINE)
+ set(ARM_LINUX_SYSROOT /usr/${GNU_MACHINE}${FLOAT_ABI_SUFFIX})
+endif()
+
+if(NOT DEFINED CMAKE_CXX_FLAGS)
+ set(CMAKE_CXX_FLAGS "" CACHE INTERNAL "")
+ set(CMAKE_C_FLAGS "" CACHE INTERNAL "")
+ set(CMAKE_SHARED_LINKER_FLAGS "" CACHE INTERNAL "")
+ set(CMAKE_MODULE_LINKER_FLAGS "" CACHE INTERNAL "")
+ set(CMAKE_EXE_LINKER_FLAGS "" CACHE INTERNAL "")
+
+ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fdata-sections -Wa,--noexecstack -fsigned-char -Wno-psabi")
+ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fdata-sections -Wa,--noexecstack -fsigned-char -Wno-psabi")
+ if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm)
+ set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,-z,nocopyreloc")
+ endif()
+ if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm)
+ set(ARM_LINKER_FLAGS "-Wl,--fix-cortex-a8 -Wl,--no-undefined -Wl,--gc-sections -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now")
+ elseif(CMAKE_SYSTEM_PROCESSOR STREQUAL aarch64)
+ set(ARM_LINKER_FLAGS "-Wl,--no-undefined -Wl,--gc-sections -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now")
+ endif()
+ set(CMAKE_SHARED_LINKER_FLAGS "${ARM_LINKER_FLAGS} ${CMAKE_SHARED_LINKER_FLAGS}")
+ set(CMAKE_MODULE_LINKER_FLAGS "${ARM_LINKER_FLAGS} ${CMAKE_MODULE_LINKER_FLAGS}")
+ set(CMAKE_EXE_LINKER_FLAGS "${ARM_LINKER_FLAGS} ${CMAKE_EXE_LINKER_FLAGS}")
+else()
+ #message(WARNING "CMAKE_CXX_FLAGS='${CMAKE_CXX_FLAGS}' is defined")
+endif()
+
+if(USE_NEON)
+ message(WARNING "You use obsolete variable USE_NEON to enable NEON instruction set. Use -DENABLE_NEON=ON instead." )
+ set(ENABLE_NEON TRUE)
+elseif(USE_VFPV3)
+ message(WARNING "You use obsolete variable USE_VFPV3 to enable VFPV3 instruction set. Use -DENABLE_VFPV3=ON instead." )
+ set(ENABLE_VFPV3 TRUE)
+endif()
+
+set(CMAKE_FIND_ROOT_PATH ${CMAKE_FIND_ROOT_PATH} ${ARM_LINUX_SYSROOT})
+
+if(EXISTS ${CUDA_TOOLKIT_ROOT_DIR})
+ set(CMAKE_FIND_ROOT_PATH ${CMAKE_FIND_ROOT_PATH} ${CUDA_TOOLKIT_ROOT_DIR})
+endif()
+
+set(TOOLCHAIN_CONFIG_VARS ${TOOLCHAIN_CONFIG_VARS}
+ ARM_LINUX_SYSROOT
+ ENABLE_NEON
+ ENABLE_VFPV3
+ CUDA_TOOLKIT_ROOT_DIR
+)
+toolchain_save_config()
diff --git a/third_party/allwpilib_2019/cmake/toolchains/arm.toolchain.cmake b/third_party/allwpilib_2019/cmake/toolchains/arm.toolchain.cmake
new file mode 100644
index 0000000..184997f
--- /dev/null
+++ b/third_party/allwpilib_2019/cmake/toolchains/arm.toolchain.cmake
@@ -0,0 +1,97 @@
+if(COMMAND toolchain_save_config)
+ return() # prevent recursive call
+endif()
+
+set(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_SYSTEM_VERSION 1)
+if(NOT DEFINED CMAKE_SYSTEM_PROCESSOR)
+ set(CMAKE_SYSTEM_PROCESSOR arm)
+else()
+ #message("CMAKE_SYSTEM_PROCESSOR=${CMAKE_SYSTEM_PROCESSOR}")
+endif()
+
+include("${CMAKE_CURRENT_LIST_DIR}/gnu.toolchain.cmake")
+
+if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm AND NOT ARM_IGNORE_FP)
+ set(FLOAT_ABI_SUFFIX "")
+ if(NOT SOFTFP)
+ set(FLOAT_ABI_SUFFIX "hf")
+ endif()
+endif()
+
+if(NOT "x${GCC_COMPILER_VERSION}" STREQUAL "x")
+ set(__GCC_VER_SUFFIX "-${GCC_COMPILER_VERSION}")
+endif()
+
+if(NOT DEFINED CMAKE_C_COMPILER)
+ find_program(CMAKE_C_COMPILER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-gcc${__GCC_VER_SUFFIX})
+else()
+ #message(WARNING "CMAKE_C_COMPILER=${CMAKE_C_COMPILER} is defined")
+endif()
+if(NOT DEFINED CMAKE_CXX_COMPILER)
+ find_program(CMAKE_CXX_COMPILER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-g++${__GCC_VER_SUFFIX})
+else()
+ #message(WARNING "CMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER} is defined")
+endif()
+if(NOT DEFINED CMAKE_LINKER)
+ find_program(CMAKE_LINKER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ld${__GCC_VER_SUFFIX} ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ld)
+else()
+ #message(WARNING "CMAKE_LINKER=${CMAKE_LINKER} is defined")
+endif()
+if(NOT DEFINED CMAKE_AR)
+ find_program(CMAKE_AR NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ar${__GCC_VER_SUFFIX} ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ar)
+else()
+ #message(WARNING "CMAKE_AR=${CMAKE_AR} is defined")
+endif()
+
+if(NOT DEFINED ARM_LINUX_SYSROOT AND DEFINED GNU_MACHINE)
+ set(ARM_LINUX_SYSROOT /usr/${GNU_MACHINE}${FLOAT_ABI_SUFFIX})
+endif()
+
+if(NOT DEFINED CMAKE_CXX_FLAGS)
+ set(CMAKE_CXX_FLAGS "" CACHE INTERNAL "")
+ set(CMAKE_C_FLAGS "" CACHE INTERNAL "")
+ set(CMAKE_SHARED_LINKER_FLAGS "" CACHE INTERNAL "")
+ set(CMAKE_MODULE_LINKER_FLAGS "" CACHE INTERNAL "")
+ set(CMAKE_EXE_LINKER_FLAGS "" CACHE INTERNAL "")
+
+ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fdata-sections -Wa,--noexecstack -fsigned-char -Wno-psabi")
+ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fdata-sections -Wa,--noexecstack -fsigned-char -Wno-psabi")
+ if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm)
+ set(CMAKE_CXX_FLAGS "-mthumb ${CMAKE_CXX_FLAGS}")
+ set(CMAKE_C_FLAGS "-mthumb ${CMAKE_C_FLAGS}")
+ set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,-z,nocopyreloc")
+ endif()
+ if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm)
+ set(ARM_LINKER_FLAGS "-Wl,--fix-cortex-a8 -Wl,--no-undefined -Wl,--gc-sections -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now")
+ elseif(CMAKE_SYSTEM_PROCESSOR STREQUAL aarch64)
+ set(ARM_LINKER_FLAGS "-Wl,--no-undefined -Wl,--gc-sections -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now")
+ endif()
+ set(CMAKE_SHARED_LINKER_FLAGS "${ARM_LINKER_FLAGS} ${CMAKE_SHARED_LINKER_FLAGS}")
+ set(CMAKE_MODULE_LINKER_FLAGS "${ARM_LINKER_FLAGS} ${CMAKE_MODULE_LINKER_FLAGS}")
+ set(CMAKE_EXE_LINKER_FLAGS "${ARM_LINKER_FLAGS} ${CMAKE_EXE_LINKER_FLAGS}")
+else()
+ #message(WARNING "CMAKE_CXX_FLAGS='${CMAKE_CXX_FLAGS}' is defined")
+endif()
+
+if(USE_NEON)
+ message(WARNING "You use obsolete variable USE_NEON to enable NEON instruction set. Use -DENABLE_NEON=ON instead." )
+ set(ENABLE_NEON TRUE)
+elseif(USE_VFPV3)
+ message(WARNING "You use obsolete variable USE_VFPV3 to enable VFPV3 instruction set. Use -DENABLE_VFPV3=ON instead." )
+ set(ENABLE_VFPV3 TRUE)
+endif()
+
+set(CMAKE_FIND_ROOT_PATH ${CMAKE_FIND_ROOT_PATH} ${ARM_LINUX_SYSROOT})
+
+if(EXISTS ${CUDA_TOOLKIT_ROOT_DIR})
+ set(CMAKE_FIND_ROOT_PATH ${CMAKE_FIND_ROOT_PATH} ${CUDA_TOOLKIT_ROOT_DIR})
+endif()
+
+set(TOOLCHAIN_CONFIG_VARS ${TOOLCHAIN_CONFIG_VARS}
+ ARM_LINUX_SYSROOT
+ ENABLE_NEON
+ ENABLE_VFPV3
+ CUDA_TOOLKIT_ROOT_DIR
+)
+toolchain_save_config()
diff --git a/third_party/allwpilib_2019/cmake/toolchains/gnu.toolchain.cmake b/third_party/allwpilib_2019/cmake/toolchains/gnu.toolchain.cmake
new file mode 100644
index 0000000..cba08e7
--- /dev/null
+++ b/third_party/allwpilib_2019/cmake/toolchains/gnu.toolchain.cmake
@@ -0,0 +1,134 @@
+cmake_minimum_required(VERSION 2.8)
+
+# load settings in case of "try compile"
+set(TOOLCHAIN_CONFIG_FILE "${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/toolchain.config.cmake")
+get_property(__IN_TRY_COMPILE GLOBAL PROPERTY IN_TRY_COMPILE)
+if(__IN_TRY_COMPILE)
+ include("${CMAKE_CURRENT_SOURCE_DIR}/../toolchain.config.cmake" OPTIONAL) # CMAKE_BINARY_DIR is different
+ macro(toolchain_save_config)
+ # nothing
+ endmacro()
+else()
+ macro(toolchain_save_config)
+ set(__config "#message(\"Load TOOLCHAIN config...\")\n")
+ get_cmake_property(__variableNames VARIABLES)
+ set(__vars_list ${ARGN})
+ list(APPEND __vars_list
+ ${TOOLCHAIN_CONFIG_VARS}
+ CMAKE_SYSTEM_NAME
+ CMAKE_SYSTEM_VERSION
+ CMAKE_SYSTEM_PROCESSOR
+ CMAKE_C_COMPILER
+ CMAKE_CXX_COMPILER
+ CMAKE_C_FLAGS
+ CMAKE_CXX_FLAGS
+ CMAKE_SHARED_LINKER_FLAGS
+ CMAKE_MODULE_LINKER_FLAGS
+ CMAKE_EXE_LINKER_FLAGS
+ CMAKE_SKIP_RPATH
+ CMAKE_FIND_ROOT_PATH
+ GCC_COMPILER_VERSION
+ )
+ foreach(__var ${__variableNames})
+ foreach(_v ${__vars_list})
+ if("x${__var}" STREQUAL "x${_v}")
+ if(${__var} MATCHES " ")
+ set(__config "${__config}set(${__var} \"${${__var}}\")\n")
+ else()
+ set(__config "${__config}set(${__var} ${${__var}})\n")
+ endif()
+ endif()
+ endforeach()
+ endforeach()
+ if(EXISTS "${TOOLCHAIN_CONFIG_FILE}")
+ file(READ "${TOOLCHAIN_CONFIG_FILE}" __config_old)
+ endif()
+ if("${__config_old}" STREQUAL "${__config}")
+ # nothing
+ else()
+ #message("Update TOOLCHAIN config: ${__config}")
+ file(WRITE "${TOOLCHAIN_CONFIG_FILE}" "${__config}")
+ endif()
+ unset(__config)
+ unset(__config_old)
+ unset(__vars_list)
+ unset(__variableNames)
+ endmacro()
+endif() # IN_TRY_COMPILE
+
+if(NOT CMAKE_FIND_ROOT_PATH_MODE_LIBRARY)
+ set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+endif()
+
+if(NOT CMAKE_FIND_ROOT_PATH_MODE_INCLUDE)
+ set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+endif()
+
+if(NOT CMAKE_FIND_ROOT_PATH_MODE_PACKAGE)
+ set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
+endif()
+
+if(NOT CMAKE_FIND_ROOT_PATH_MODE_PROGRAM)
+ set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+endif()
+
+macro(__cmake_find_root_save_and_reset)
+ foreach(v
+ CMAKE_FIND_ROOT_PATH_MODE_LIBRARY
+ CMAKE_FIND_ROOT_PATH_MODE_INCLUDE
+ CMAKE_FIND_ROOT_PATH_MODE_PACKAGE
+ CMAKE_FIND_ROOT_PATH_MODE_PROGRAM
+ )
+ set(__save_${v} ${${v}})
+ set(${v} NEVER)
+ endforeach()
+endmacro()
+
+macro(__cmake_find_root_restore)
+ foreach(v
+ CMAKE_FIND_ROOT_PATH_MODE_LIBRARY
+ CMAKE_FIND_ROOT_PATH_MODE_INCLUDE
+ CMAKE_FIND_ROOT_PATH_MODE_PACKAGE
+ CMAKE_FIND_ROOT_PATH_MODE_PROGRAM
+ )
+ set(${v} ${__save_${v}})
+ unset(__save_${v})
+ endforeach()
+endmacro()
+
+
+# macro to find programs on the host OS
+macro(find_host_program)
+ __cmake_find_root_save_and_reset()
+ if(CMAKE_HOST_WIN32)
+ SET(WIN32 1)
+ SET(UNIX)
+ elseif(CMAKE_HOST_APPLE)
+ SET(APPLE 1)
+ SET(UNIX)
+ endif()
+ find_program(${ARGN})
+ SET(WIN32)
+ SET(APPLE)
+ SET(UNIX 1)
+ __cmake_find_root_restore()
+endmacro()
+
+# macro to find packages on the host OS
+macro(find_host_package)
+ __cmake_find_root_save_and_reset()
+ if(CMAKE_HOST_WIN32)
+ SET(WIN32 1)
+ SET(UNIX)
+ elseif(CMAKE_HOST_APPLE)
+ SET(APPLE 1)
+ SET(UNIX)
+ endif()
+ find_package(${ARGN})
+ SET(WIN32)
+ SET(APPLE)
+ SET(UNIX 1)
+ __cmake_find_root_restore()
+endmacro()
+
+set(CMAKE_SKIP_RPATH TRUE CACHE BOOL "If set, runtime paths are not added when using shared libraries.")
diff --git a/third_party/allwpilib_2019/cscore/CMakeLists.txt b/third_party/allwpilib_2019/cscore/CMakeLists.txt
index 52bcb54..a87ab7d 100644
--- a/third_party/allwpilib_2019/cscore/CMakeLists.txt
+++ b/third_party/allwpilib_2019/cscore/CMakeLists.txt
@@ -1,6 +1,8 @@
project(cscore)
include(SubDirList)
+include(CompileWarnings)
+include(AddTest)
find_package( OpenCV REQUIRED )
@@ -21,14 +23,15 @@
endif()
else()
target_sources(cscore PRIVATE ${cscore_windows_src})
- target_compile_options(cscore PUBLIC -DNOMINMAX)
- target_compile_options(cscore PRIVATE -D_CRT_SECURE_NO_WARNINGS)
+ target_compile_definitions(cscore PUBLIC -DNOMINMAX)
+ target_compile_definitions(cscore PRIVATE -D_CRT_SECURE_NO_WARNINGS)
endif()
target_include_directories(cscore PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
$<INSTALL_INTERFACE:${include_dest}/cscore>)
target_include_directories(cscore PRIVATE src/main/native/cpp)
+wpilib_target_warnings(cscore)
target_link_libraries(cscore PUBLIC wpiutil ${OpenCV_LIBS})
set_property(TARGET cscore PROPERTY FOLDER "libraries")
@@ -36,13 +39,14 @@
install(TARGETS cscore EXPORT cscore DESTINATION "${main_lib_dest}")
install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/cscore")
-if (MSVC)
+if (MSVC OR FLAT_INSTALL_WPILIB)
set (cscore_config_dir ${wpilib_dest})
else()
set (cscore_config_dir share/cscore)
endif()
-install(FILES cscore-config.cmake DESTINATION ${cscore_config_dir})
+configure_file(cscore-config.cmake.in ${CMAKE_BINARY_DIR}/cscore-config.cmake )
+install(FILES ${CMAKE_BINARY_DIR}/cscore-config.cmake DESTINATION ${cscore_config_dir})
install(EXPORT cscore DESTINATION ${cscore_config_dir})
SUBDIR_LIST(cscore_examples "${CMAKE_CURRENT_SOURCE_DIR}/examples")
@@ -50,7 +54,9 @@
file(GLOB cscore_example_src examples/${example}/*.cpp)
if(cscore_example_src)
add_executable(cscore_${example} ${cscore_example_src})
+ wpilib_target_warnings(cscore_${example})
target_link_libraries(cscore_${example} cscore)
+ set_property(TARGET cscore_${example} PROPERTY FOLDER "examples")
endif()
endforeach()
@@ -101,6 +107,7 @@
set_property(TARGET cscore_jar PROPERTY FOLDER "java")
add_library(cscorejni ${cscore_jni_src})
+ wpilib_target_warnings(cscorejni)
target_link_libraries(cscorejni PUBLIC cscore wpiutil ${OpenCV_LIBS})
set_property(TARGET cscorejni PROPERTY FOLDER "libraries")
@@ -120,3 +127,8 @@
install(TARGETS cscorejni EXPORT cscorejni DESTINATION "${main_lib_dest}")
endif()
+
+if (WITH_TESTS)
+ wpilib_add_test(cscore src/test/native/cpp)
+ target_link_libraries(cscore_test cscore gmock)
+endif()
diff --git a/third_party/allwpilib_2019/cscore/build.gradle b/third_party/allwpilib_2019/cscore/build.gradle
index 3162c88..4514b95 100644
--- a/third_party/allwpilib_2019/cscore/build.gradle
+++ b/third_party/allwpilib_2019/cscore/build.gradle
@@ -5,9 +5,13 @@
devMain = 'edu.wpi.cscore.DevMain'
}
-if (OperatingSystem.current().isMacOsX()) {
- apply plugin: 'objective-cpp'
-}
+// Removed because having the objective-cpp plugin added breaks
+// embedded tools and its toolchain check. It causes an obj-cpp
+// source set to be added to all binaries, even cross binaries
+// with no support.
+// if (OperatingSystem.current().isMacOsX()) {
+// apply plugin: 'objective-cpp'
+// }
apply from: "${rootDir}/shared/jni/setupBuild.gradle"
@@ -20,18 +24,18 @@
useJava = true
useCpp = true
splitSetup = {
- if (it.targetPlatform.operatingSystem.name == 'osx') {
+ if (it.targetPlatform.operatingSystem.isMacOsX()) {
it.sources {
- macObjCpp(ObjectiveCppSourceSet) {
- source {
- srcDirs = ['src/main/native/objcpp']
- include '**/*.mm'
- }
- exportedHeaders {
- srcDirs 'src/main/native/include'
- include '**/*.h'
- }
- }
+ // macObjCpp(ObjectiveCppSourceSet) {
+ // source {
+ // srcDirs = ['src/main/native/objcpp']
+ // include '**/*.mm'
+ // }
+ // exportedHeaders {
+ // srcDirs 'src/main/native/include'
+ // include '**/*.h'
+ // }
+ // }
cscoreMacCpp(CppSourceSet) {
source {
srcDirs 'src/main/native/osx'
@@ -43,7 +47,7 @@
}
}
}
- } else if (it.targetPlatform.operatingSystem.name == 'linux') {
+ } else if (it.targetPlatform.operatingSystem.isLinux()) {
it.sources {
cscoreLinuxCpp(CppSourceSet) {
source {
@@ -56,7 +60,7 @@
}
}
}
- } else if (it.targetPlatform.operatingSystem.name == 'windows') {
+ } else if (it.targetPlatform.operatingSystem.isWindows()) {
it.sources {
cscoreWindowsCpp(CppSourceSet) {
source {
@@ -88,43 +92,28 @@
apply from: "${rootDir}/shared/opencv.gradle"
-model {
- // Exports config is a utility to enable exporting all symbols in a C++ library on windows to a DLL.
- // This removes the need for DllExport on a library. However, the gradle C++ builder has a bug
- // where some extra symbols are added that cannot be resolved at link time. This configuration
- // lets you specify specific symbols to exlude from exporting.
- exportsConfigs {
- cscore(ExportsConfig) {
- x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
- '_CT??_R0?AVbad_cast',
- '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
- '_TI5?AVfailure', '==']
- x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
- '_CT??_R0?AVbad_cast',
- '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
- '_TI5?AVfailure', '==']
+nativeUtils.exportsConfigs {
+ cscore {
+ x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+ '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+ '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
+ '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
+ x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+ '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+ '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
+ '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
+ }
+ cscoreJNI {
+ x86SymbolFilter = { symbols ->
+ symbols.removeIf({ !it.startsWith('CS_') })
}
- cscoreJNI(ExportsConfig) {
- x86SymbolFilter = { symbols ->
- def retList = []
- symbols.each { symbol ->
- if (symbol.startsWith('CS_')) {
- retList << symbol
- }
- }
- return retList
- }
- x64SymbolFilter = { symbols ->
- def retList = []
- symbols.each { symbol ->
- if (symbol.startsWith('CS_')) {
- retList << symbol
- }
- }
- return retList
- }
+ x64SymbolFilter = { symbols ->
+ symbols.removeIf({ !it.startsWith('CS_') })
}
}
+}
+
+model {
components {
examplesMap.each { key, value ->
"${key}"(NativeExecutableSpec) {
diff --git a/third_party/allwpilib_2019/cscore/cscore-config.cmake b/third_party/allwpilib_2019/cscore/cscore-config.cmake
deleted file mode 100644
index 790633b..0000000
--- a/third_party/allwpilib_2019/cscore/cscore-config.cmake
+++ /dev/null
@@ -1,6 +0,0 @@
-include(CMakeFindDependencyMacro)
-find_dependency(wpiutil)
-find_dependency(OpenCV)
-
-get_filename_component(SELF_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
-include(${SELF_DIR}/cscore.cmake)
diff --git a/third_party/allwpilib_2019/cscore/cscore-config.cmake.in b/third_party/allwpilib_2019/cscore/cscore-config.cmake.in
new file mode 100644
index 0000000..da85e8b
--- /dev/null
+++ b/third_party/allwpilib_2019/cscore/cscore-config.cmake.in
@@ -0,0 +1,6 @@
+include(CMakeFindDependencyMacro)
+@FILENAME_DEP_REPLACE@
+@WPIUTIL_DEP_REPLACE@
+find_dependency(OpenCV)
+
+include(${SELF_DIR}/cscore.cmake)
diff --git a/third_party/allwpilib_2019/cscore/examples/httpcvstream/httpcvstream.cpp b/third_party/allwpilib_2019/cscore/examples/httpcvstream/httpcvstream.cpp
index db8e0d7..90d61d5 100644
--- a/third_party/allwpilib_2019/cscore/examples/httpcvstream/httpcvstream.cpp
+++ b/third_party/allwpilib_2019/cscore/examples/httpcvstream/httpcvstream.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -11,6 +11,7 @@
#include <opencv2/core/core.hpp>
#include "cscore.h"
+#include "cscore_cv.h"
int main() {
cs::HttpCamera camera{"httpcam", "http://localhost:8081/?action=stream"};
diff --git a/third_party/allwpilib_2019/cscore/examples/usbcvstream/usbcvstream.cpp b/third_party/allwpilib_2019/cscore/examples/usbcvstream/usbcvstream.cpp
index 68796b4..9a4ab06 100644
--- a/third_party/allwpilib_2019/cscore/examples/usbcvstream/usbcvstream.cpp
+++ b/third_party/allwpilib_2019/cscore/examples/usbcvstream/usbcvstream.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -11,6 +11,7 @@
#include <opencv2/core/core.hpp>
#include "cscore.h"
+#include "cscore_cv.h"
int main() {
cs::UsbCamera camera{"usbcam", 0};
diff --git a/third_party/allwpilib_2019/cscore/java-examples/RawCVMatSink.java b/third_party/allwpilib_2019/cscore/java-examples/RawCVMatSink.java
new file mode 100644
index 0000000..d9557f7
--- /dev/null
+++ b/third_party/allwpilib_2019/cscore/java-examples/RawCVMatSink.java
@@ -0,0 +1,96 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.cscore;
+
+import java.nio.ByteBuffer;
+
+import org.opencv.core.CvType;
+import org.opencv.core.Mat;
+
+import edu.wpi.cscore.VideoMode.PixelFormat;
+import edu.wpi.cscore.raw.RawFrame;
+
+public class RawCVMatSink extends ImageSink {
+ RawFrame frame = new RawFrame();
+ Mat tmpMat;
+ ByteBuffer origByteBuffer;
+ int width;
+ int height;
+ int pixelFormat;
+ int bgrValue = PixelFormat.kBGR.getValue();
+
+ private int getCVFormat(PixelFormat pixelFormat) {
+ int type = 0;
+ switch (pixelFormat) {
+ case kYUYV:
+ case kRGB565:
+ type = CvType.CV_8UC2;
+ break;
+ case kBGR:
+ type = CvType.CV_8UC3;
+ break;
+ case kGray:
+ case kMJPEG:
+ default:
+ type = CvType.CV_8UC1;
+ break;
+ }
+ return type;
+ }
+
+ /**
+ * Create a sink for accepting OpenCV images.
+ * WaitForFrame() must be called on the created sink to get each new
+ * image.
+ *
+ * @param name Source name (arbitrary unique identifier)
+ */
+ public RawCVMatSink(String name) {
+ super(CameraServerJNI.createRawSink(name));
+ }
+
+ /**
+ * Wait for the next frame and get the image.
+ * Times out (returning 0) after 0.225 seconds.
+ * The provided image will have three 3-bit channels stored in BGR order.
+ *
+ * @return Frame time, or 0 on error (call GetError() to obtain the error
+ * message)
+ */
+ public long grabFrame(Mat image) {
+ return grabFrame(image, 0.225);
+ }
+
+ /**
+ * Wait for the next frame and get the image.
+ * Times out (returning 0) after timeout seconds.
+ * The provided image will have three 3-bit channels stored in BGR order.
+ *
+ * @return Frame time, or 0 on error (call GetError() to obtain the error
+ * message); the frame time is in 1 us increments.
+ */
+ public long grabFrame(Mat image, double timeout) {
+ frame.setWidth(0);
+ frame.setHeight(0);
+ frame.setPixelFormat(bgrValue);
+ long rv = CameraServerJNI.grabSinkFrameTimeout(m_handle, frame, timeout);
+ if (rv <= 0) {
+ return rv;
+ }
+
+ if (frame.getDataByteBuffer() != origByteBuffer || width != frame.getWidth() || height != frame.getHeight() || pixelFormat != frame.getPixelFormat()) {
+ origByteBuffer = frame.getDataByteBuffer();
+ height = frame.getHeight();
+ width = frame.getWidth();
+ pixelFormat = frame.getPixelFormat();
+ tmpMat = new Mat(frame.getHeight(), frame.getWidth(), getCVFormat(VideoMode.getPixelFormatFromInt(pixelFormat)), origByteBuffer);
+ }
+ tmpMat.copyTo(image);
+ return rv;
+ }
+}
diff --git a/third_party/allwpilib_2019/cscore/java-examples/RawCVMatSource.java b/third_party/allwpilib_2019/cscore/java-examples/RawCVMatSource.java
new file mode 100644
index 0000000..65bd7d2
--- /dev/null
+++ b/third_party/allwpilib_2019/cscore/java-examples/RawCVMatSource.java
@@ -0,0 +1,59 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.cscore;
+
+import org.opencv.core.Mat;
+
+import edu.wpi.cscore.VideoMode.PixelFormat;
+
+public class RawCVMatSource extends ImageSource {
+ /**
+ * Create an OpenCV source.
+ *
+ * @param name Source name (arbitrary unique identifier)
+ * @param mode Video mode being generated
+ */
+ public RawCVMatSource(String name, VideoMode mode) {
+ super(CameraServerJNI.createRawSource(name,
+ mode.pixelFormat.getValue(),
+ mode.width,
+ mode.height,
+ mode.fps));
+ }
+
+ /**
+ * Create an OpenCV source.
+ *
+ * @param name Source name (arbitrary unique identifier)
+ * @param pixelFormat Pixel format
+ * @param width width
+ * @param height height
+ * @param fps fps
+ */
+ public RawCVMatSource(String name, VideoMode.PixelFormat pixelFormat, int width, int height, int fps) {
+ super(CameraServerJNI.createRawSource(name, pixelFormat.getValue(), width, height, fps));
+ }
+
+ /**
+ * Put an OpenCV image and notify sinks.
+ *
+ * <p>Only 8-bit single-channel or 3-channel (with BGR channel order) images
+ * are supported. If the format, depth or channel order is different, use
+ * Mat.convertTo() and/or cvtColor() to convert it first.
+ *
+ * @param image OpenCV image
+ */
+ public void putFrame(Mat image) {
+ int channels = image.channels();
+ if (channels != 1 && channels != 3) {
+ throw new VideoException("Unsupported Image Type");
+ }
+ int imgType = channels == 1 ? PixelFormat.kGray.getValue() : PixelFormat.kBGR.getValue();
+ CameraServerJNI.putRawSourceFrame(m_handle, image.dataAddr(), image.width(), image.height(), imgType, (int)image.total() * channels);
+ }
+}
diff --git a/third_party/allwpilib_2019/cscore/src/dev/java/edu/wpi/cscore/DevMain.java b/third_party/allwpilib_2019/cscore/src/dev/java/edu/wpi/cscore/DevMain.java
index e7fd516..51bfd26 100644
--- a/third_party/allwpilib_2019/cscore/src/dev/java/edu/wpi/cscore/DevMain.java
+++ b/third_party/allwpilib_2019/cscore/src/dev/java/edu/wpi/cscore/DevMain.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
diff --git a/third_party/allwpilib_2019/cscore/src/dev/native/cpp/main.cpp b/third_party/allwpilib_2019/cscore/src/dev/native/cpp/main.cpp
index b95de47..f27f61f 100644
--- a/third_party/allwpilib_2019/cscore/src/dev/native/cpp/main.cpp
+++ b/third_party/allwpilib_2019/cscore/src/dev/native/cpp/main.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
diff --git a/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/CameraServerCvJNI.java b/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/CameraServerCvJNI.java
new file mode 100644
index 0000000..78b4ff8
--- /dev/null
+++ b/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/CameraServerCvJNI.java
@@ -0,0 +1,72 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.cscore;
+
+import java.io.IOException;
+import java.util.concurrent.atomic.AtomicBoolean;
+
+import org.opencv.core.Core;
+
+import edu.wpi.first.wpiutil.RuntimeLoader;
+
+public class CameraServerCvJNI {
+ static boolean libraryLoaded = false;
+
+ static RuntimeLoader<Core> loader = null;
+
+ public static class Helper {
+ private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
+
+ public static boolean getExtractOnStaticLoad() {
+ return extractOnStaticLoad.get();
+ }
+
+ public static void setExtractOnStaticLoad(boolean load) {
+ extractOnStaticLoad.set(load);
+ }
+ }
+
+ static {
+ String opencvName = Core.NATIVE_LIBRARY_NAME;
+ if (Helper.getExtractOnStaticLoad()) {
+ try {
+ CameraServerJNI.forceLoad();
+ loader = new RuntimeLoader<>(opencvName, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
+ loader.loadLibraryHashed();
+ } catch (IOException ex) {
+ ex.printStackTrace();
+ System.exit(1);
+ }
+ libraryLoaded = true;
+ }
+ }
+
+ /**
+ * Force load the library.
+ */
+ public static synchronized void forceLoad() throws IOException {
+ if (libraryLoaded) {
+ return;
+ }
+ CameraServerJNI.forceLoad();
+ loader = new RuntimeLoader<>(Core.NATIVE_LIBRARY_NAME, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
+ loader.loadLibrary();
+ libraryLoaded = true;
+ }
+
+ public static native int createCvSource(String name, int pixelFormat, int width, int height, int fps);
+
+ public static native void putSourceFrame(int source, long imageNativeObj);
+
+ public static native int createCvSink(String name);
+ //public static native int createCvSinkCallback(String name,
+ // void (*processFrame)(long time));
+
+ public static native long grabSinkFrame(int sink, long imageNativeObj);
+ public static native long grabSinkFrameTimeout(int sink, long imageNativeObj, double timeout);
+}
diff --git a/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/CameraServerJNI.java b/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/CameraServerJNI.java
index cb6202d..ac18408 100644
--- a/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/CameraServerJNI.java
+++ b/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/CameraServerJNI.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,21 +8,32 @@
package edu.wpi.cscore;
import java.io.IOException;
+import java.nio.ByteBuffer;
+import java.util.concurrent.atomic.AtomicBoolean;
import java.util.function.Consumer;
-import org.opencv.core.Core;
-
+import edu.wpi.cscore.raw.RawFrame;
import edu.wpi.first.wpiutil.RuntimeLoader;
public class CameraServerJNI {
static boolean libraryLoaded = false;
- static boolean cvLibraryLoaded = false;
static RuntimeLoader<CameraServerJNI> loader = null;
- static RuntimeLoader<Core> cvLoader = null;
+
+ public static class Helper {
+ private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
+
+ public static boolean getExtractOnStaticLoad() {
+ return extractOnStaticLoad.get();
+ }
+
+ public static void setExtractOnStaticLoad(boolean load) {
+ extractOnStaticLoad.set(load);
+ }
+ }
static {
- if (!libraryLoaded) {
+ if (Helper.getExtractOnStaticLoad()) {
try {
loader = new RuntimeLoader<>("cscorejni", RuntimeLoader.getDefaultExtractionRoot(), CameraServerJNI.class);
loader.loadLibrary();
@@ -32,21 +43,19 @@
}
libraryLoaded = true;
}
-
- String opencvName = Core.NATIVE_LIBRARY_NAME;
- if (!cvLibraryLoaded) {
- try {
- cvLoader = new RuntimeLoader<>(opencvName, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
- cvLoader.loadLibraryHashed();
- } catch (IOException ex) {
- ex.printStackTrace();
- System.exit(1);
- }
- cvLibraryLoaded = true;
- }
}
- public static void forceLoad() {}
+ /**
+ * Force load the library.
+ */
+ public static synchronized void forceLoad() throws IOException {
+ if (libraryLoaded) {
+ return;
+ }
+ loader = new RuntimeLoader<>("cscorejni", RuntimeLoader.getDefaultExtractionRoot(), CameraServerJNI.class);
+ loader.loadLibrary();
+ libraryLoaded = true;
+ }
//
// Property Functions
@@ -70,7 +79,7 @@
public static native int createUsbCameraPath(String name, String path);
public static native int createHttpCamera(String name, String url, int kind);
public static native int createHttpCameraMulti(String name, String[] urls, int kind);
- public static native int createCvSource(String name, int pixelFormat, int width, int height, int fps);
+ public static native int createRawSource(String name, int pixelFormat, int width, int height, int fps);
//
// Source Functions
@@ -122,9 +131,13 @@
public static native String[] getHttpCameraUrls(int source);
//
- // OpenCV Source Functions
+ // Image Source Functions
//
- public static native void putSourceFrame(int source, long imageNativeObj);
+ public static native void putRawSourceFrameBB(int source, ByteBuffer data, int width, int height, int pixelFormat, int totalData);
+ public static native void putRawSourceFrame(int source, long data, int width, int height, int pixelFormat, int totalData);
+ public static void putRawSourceFrame(int source, RawFrame raw) {
+ putRawSourceFrame(source, raw.getDataPtr(), raw.getWidth(), raw.getHeight(), raw.getPixelFormat(), raw.getTotalData());
+ }
public static native void notifySourceError(int source, String msg);
public static native void setSourceConnected(int source, boolean connected);
public static native void setSourceDescription(int source, String description);
@@ -135,9 +148,8 @@
// Sink Creation Functions
//
public static native int createMjpegServer(String name, String listenAddress, int port);
- public static native int createCvSink(String name);
- //public static native int createCvSinkCallback(String name,
- // void (*processFrame)(long time));
+
+ public static native int createRawSink(String name);
//
// Sink Functions
@@ -162,11 +174,19 @@
public static native int getMjpegServerPort(int sink);
//
- // OpenCV Sink Functions
+ // Image Sink Functions
//
public static native void setSinkDescription(int sink, String description);
- public static native long grabSinkFrame(int sink, long imageNativeObj);
- public static native long grabSinkFrameTimeout(int sink, long imageNativeObj, double timeout);
+
+ private static native long grabRawSinkFrameImpl(int sink, RawFrame rawFrame, long rawFramePtr, ByteBuffer byteBuffer, int width, int height, int pixelFormat);
+ private static native long grabRawSinkFrameTimeoutImpl(int sink, RawFrame rawFrame, long rawFramePtr, ByteBuffer byteBuffer, int width, int height, int pixelFormat, double timeout);
+
+ public static long grabSinkFrame(int sink, RawFrame rawFrame) {
+ return grabRawSinkFrameImpl(sink, rawFrame, rawFrame.getFramePtr(), rawFrame.getDataByteBuffer(), rawFrame.getWidth(), rawFrame.getHeight(), rawFrame.getPixelFormat());
+ }
+ public static long grabSinkFrameTimeout(int sink, RawFrame rawFrame, double timeout) {
+ return grabRawSinkFrameTimeoutImpl(sink, rawFrame, rawFrame.getFramePtr(), rawFrame.getDataByteBuffer(), rawFrame.getWidth(), rawFrame.getHeight(), rawFrame.getPixelFormat(), timeout);
+ }
public static native String getSinkError(int sink);
public static native void setSinkEnabled(int sink, boolean enabled);
@@ -228,4 +248,8 @@
public static native String getHostname();
public static native String[] getNetworkInterfaces();
+
+ public static native long allocateRawFrame();
+
+ public static native void freeRawFrame(long frame);
}
diff --git a/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/CvSink.java b/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/CvSink.java
index c2c7d0e..f12dcc7 100644
--- a/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/CvSink.java
+++ b/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/CvSink.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -11,8 +11,11 @@
/**
* A sink for user code to accept video frames as OpenCV images.
+ * These sinks require the WPILib OpenCV builds.
+ * For an alternate OpenCV, see the documentation how to build your own
+ * with RawSink.
*/
-public class CvSink extends VideoSink {
+public class CvSink extends ImageSink {
/**
* Create a sink for accepting OpenCV images.
* WaitForFrame() must be called on the created sink to get each new
@@ -21,7 +24,7 @@
* @param name Source name (arbitrary unique identifier)
*/
public CvSink(String name) {
- super(CameraServerJNI.createCvSink(name));
+ super(CameraServerCvJNI.createCvSink(name));
}
/// Create a sink for accepting OpenCV images in a separate thread.
@@ -38,15 +41,6 @@
//}
/**
- * Set sink description.
- *
- * @param description Description
- */
- public void setDescription(String description) {
- CameraServerJNI.setSinkDescription(m_handle, description);
- }
-
- /**
* Wait for the next frame and get the image.
* Times out (returning 0) after 0.225 seconds.
* The provided image will have three 3-bit channels stored in BGR order.
@@ -67,7 +61,7 @@
* message); the frame time is in 1 us increments.
*/
public long grabFrame(Mat image, double timeout) {
- return CameraServerJNI.grabSinkFrameTimeout(m_handle, image.nativeObj, timeout);
+ return CameraServerCvJNI.grabSinkFrameTimeout(m_handle, image.nativeObj, timeout);
}
/**
@@ -78,24 +72,6 @@
* message); the frame time is in 1 us increments.
*/
public long grabFrameNoTimeout(Mat image) {
- return CameraServerJNI.grabSinkFrame(m_handle, image.nativeObj);
- }
-
- /**
- * Get error string. Call this if WaitForFrame() returns 0 to determine
- * what the error is.
- */
- public String getError() {
- return CameraServerJNI.getSinkError(m_handle);
- }
-
- /**
- * Enable or disable getting new frames.
- * Disabling will cause processFrame (for callback-based CvSinks) to not
- * be called and WaitForFrame() to not return. This can be used to save
- * processor resources when frames are not needed.
- */
- public void setEnabled(boolean enabled) {
- CameraServerJNI.setSinkEnabled(m_handle, enabled);
+ return CameraServerCvJNI.grabSinkFrame(m_handle, image.nativeObj);
}
}
diff --git a/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/CvSource.java b/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/CvSource.java
index 47cd409..c04d197 100644
--- a/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/CvSource.java
+++ b/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/CvSource.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -11,8 +11,11 @@
/**
* A source that represents a video camera.
+ * These sources require the WPILib OpenCV builds.
+ * For an alternate OpenCV, see the documentation how to build your own
+ * with RawSource.
*/
-public class CvSource extends VideoSource {
+public class CvSource extends ImageSource {
/**
* Create an OpenCV source.
*
@@ -20,7 +23,7 @@
* @param mode Video mode being generated
*/
public CvSource(String name, VideoMode mode) {
- super(CameraServerJNI.createCvSource(name,
+ super(CameraServerCvJNI.createCvSource(name,
mode.pixelFormat.getValue(),
mode.width,
mode.height,
@@ -37,7 +40,7 @@
* @param fps fps
*/
public CvSource(String name, VideoMode.PixelFormat pixelFormat, int width, int height, int fps) {
- super(CameraServerJNI.createCvSource(name, pixelFormat.getValue(), width, height, fps));
+ super(CameraServerCvJNI.createCvSource(name, pixelFormat.getValue(), width, height, fps));
}
/**
@@ -50,154 +53,7 @@
* @param image OpenCV image
*/
public void putFrame(Mat image) {
- CameraServerJNI.putSourceFrame(m_handle, image.nativeObj);
+ CameraServerCvJNI.putSourceFrame(m_handle, image.nativeObj);
}
- /**
- * Signal sinks that an error has occurred. This should be called instead
- * of NotifyFrame when an error occurs.
- */
- public void notifyError(String msg) {
- CameraServerJNI.notifySourceError(m_handle, msg);
- }
-
- /**
- * Set source connection status. Defaults to true.
- *
- * @param connected True for connected, false for disconnected
- */
- public void setConnected(boolean connected) {
- CameraServerJNI.setSourceConnected(m_handle, connected);
- }
-
- /**
- * Set source description.
- *
- * @param description Description
- */
- public void setDescription(String description) {
- CameraServerJNI.setSourceDescription(m_handle, description);
- }
-
- /**
- * Create a property.
- *
- * @param name Property name
- * @param kind Property kind
- * @param minimum Minimum value
- * @param maximum Maximum value
- * @param step Step value
- * @param defaultValue Default value
- * @param value Current value
- * @return Property
- */
- public VideoProperty createProperty(String name,
- VideoProperty.Kind kind,
- int minimum,
- int maximum,
- int step,
- int defaultValue,
- int value) {
- return new VideoProperty(
- CameraServerJNI.createSourceProperty(m_handle,
- name,
- kind.getValue(),
- minimum,
- maximum,
- step,
- defaultValue,
- value));
- }
-
- /**
- * Create an integer property.
- *
- * @param name Property name
- * @param minimum Minimum value
- * @param maximum Maximum value
- * @param step Step value
- * @param defaultValue Default value
- * @param value Current value
- * @return Property
- */
- public VideoProperty createIntegerProperty(String name,
- int minimum,
- int maximum,
- int step,
- int defaultValue,
- int value) {
- return new VideoProperty(
- CameraServerJNI.createSourceProperty(m_handle,
- name,
- VideoProperty.Kind.kInteger.getValue(),
- minimum,
- maximum,
- step,
- defaultValue,
- value));
- }
-
- /**
- * Create a boolean property.
- *
- * @param name Property name
- * @param defaultValue Default value
- * @param value Current value
- * @return Property
- */
- public VideoProperty createBooleanProperty(String name, boolean defaultValue, boolean value) {
- return new VideoProperty(
- CameraServerJNI.createSourceProperty(m_handle,
- name,
- VideoProperty.Kind.kBoolean.getValue(),
- 0,
- 1,
- 1,
- defaultValue ? 1 : 0,
- value ? 1 : 0));
- }
-
- /**
- * Create a string property.
- *
- * @param name Property name
- * @param value Current value
- * @return Property
- */
- public VideoProperty createStringProperty(String name, String value) {
- VideoProperty prop = new VideoProperty(
- CameraServerJNI.createSourceProperty(m_handle,
- name,
- VideoProperty.Kind.kString.getValue(),
- 0,
- 0,
- 0,
- 0,
- 0));
- prop.setString(value);
- return prop;
- }
-
- /**
- * Configure enum property choices.
- *
- * @param property Property
- * @param choices Choices
- */
- public void setEnumPropertyChoices(VideoProperty property, String[] choices) {
- CameraServerJNI.setSourceEnumPropertyChoices(m_handle, property.m_handle, choices);
- }
-
- /**
- * Configure enum property choices.
- *
- * @param property Property
- * @param choices Choices
- * @deprecated Use {@code setEnumPropertyChoices} instead.
- */
- @Deprecated
- @SuppressWarnings("MethodName")
- public void SetEnumPropertyChoices(VideoProperty property, String[] choices) {
- setEnumPropertyChoices(property, choices);
- }
}
diff --git a/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/ImageSink.java b/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/ImageSink.java
new file mode 100644
index 0000000..f755fb6
--- /dev/null
+++ b/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/ImageSink.java
@@ -0,0 +1,41 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.cscore;
+
+public abstract class ImageSink extends VideoSink {
+ protected ImageSink(int handle) {
+ super(handle);
+ }
+
+ /**
+ * Set sink description.
+ *
+ * @param description Description
+ */
+ public void setDescription(String description) {
+ CameraServerJNI.setSinkDescription(m_handle, description);
+ }
+
+ /**
+ * Get error string. Call this if WaitForFrame() returns 0 to determine
+ * what the error is.
+ */
+ public String getError() {
+ return CameraServerJNI.getSinkError(m_handle);
+ }
+
+ /**
+ * Enable or disable getting new frames.
+ * Disabling will cause processFrame (for callback-based CvSinks) to not
+ * be called and WaitForFrame() to not return. This can be used to save
+ * processor resources when frames are not needed.
+ */
+ public void setEnabled(boolean enabled) {
+ CameraServerJNI.setSinkEnabled(m_handle, enabled);
+ }
+}
diff --git a/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/ImageSource.java b/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/ImageSource.java
new file mode 100644
index 0000000..3787516
--- /dev/null
+++ b/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/ImageSource.java
@@ -0,0 +1,162 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.cscore;
+
+public abstract class ImageSource extends VideoSource {
+ protected ImageSource(int handle) {
+ super(handle);
+ }
+
+ /**
+ * Signal sinks that an error has occurred. This should be called instead
+ * of NotifyFrame when an error occurs.
+ */
+ public void notifyError(String msg) {
+ CameraServerJNI.notifySourceError(m_handle, msg);
+ }
+
+ /**
+ * Set source connection status. Defaults to true.
+ *
+ * @param connected True for connected, false for disconnected
+ */
+ public void setConnected(boolean connected) {
+ CameraServerJNI.setSourceConnected(m_handle, connected);
+ }
+
+ /**
+ * Set source description.
+ *
+ * @param description Description
+ */
+ public void setDescription(String description) {
+ CameraServerJNI.setSourceDescription(m_handle, description);
+ }
+
+ /**
+ * Create a property.
+ *
+ * @param name Property name
+ * @param kind Property kind
+ * @param minimum Minimum value
+ * @param maximum Maximum value
+ * @param step Step value
+ * @param defaultValue Default value
+ * @param value Current value
+ * @return Property
+ */
+ public VideoProperty createProperty(String name,
+ VideoProperty.Kind kind,
+ int minimum,
+ int maximum,
+ int step,
+ int defaultValue,
+ int value) {
+ return new VideoProperty(
+ CameraServerJNI.createSourceProperty(m_handle,
+ name,
+ kind.getValue(),
+ minimum,
+ maximum,
+ step,
+ defaultValue,
+ value));
+ }
+
+ /**
+ * Create an integer property.
+ *
+ * @param name Property name
+ * @param minimum Minimum value
+ * @param maximum Maximum value
+ * @param step Step value
+ * @param defaultValue Default value
+ * @param value Current value
+ * @return Property
+ */
+ public VideoProperty createIntegerProperty(String name,
+ int minimum,
+ int maximum,
+ int step,
+ int defaultValue,
+ int value) {
+ return new VideoProperty(
+ CameraServerJNI.createSourceProperty(m_handle,
+ name,
+ VideoProperty.Kind.kInteger.getValue(),
+ minimum,
+ maximum,
+ step,
+ defaultValue,
+ value));
+ }
+
+ /**
+ * Create a boolean property.
+ *
+ * @param name Property name
+ * @param defaultValue Default value
+ * @param value Current value
+ * @return Property
+ */
+ public VideoProperty createBooleanProperty(String name, boolean defaultValue, boolean value) {
+ return new VideoProperty(
+ CameraServerJNI.createSourceProperty(m_handle,
+ name,
+ VideoProperty.Kind.kBoolean.getValue(),
+ 0,
+ 1,
+ 1,
+ defaultValue ? 1 : 0,
+ value ? 1 : 0));
+ }
+
+ /**
+ * Create a string property.
+ *
+ * @param name Property name
+ * @param value Current value
+ * @return Property
+ */
+ public VideoProperty createStringProperty(String name, String value) {
+ VideoProperty prop = new VideoProperty(
+ CameraServerJNI.createSourceProperty(m_handle,
+ name,
+ VideoProperty.Kind.kString.getValue(),
+ 0,
+ 0,
+ 0,
+ 0,
+ 0));
+ prop.setString(value);
+ return prop;
+ }
+
+ /**
+ * Configure enum property choices.
+ *
+ * @param property Property
+ * @param choices Choices
+ */
+ public void setEnumPropertyChoices(VideoProperty property, String[] choices) {
+ CameraServerJNI.setSourceEnumPropertyChoices(m_handle, property.m_handle, choices);
+ }
+
+ /**
+ * Configure enum property choices.
+ *
+ * @param property Property
+ * @param choices Choices
+ * @deprecated Use {@code setEnumPropertyChoices} instead.
+ */
+ @Deprecated
+ @SuppressWarnings("MethodName")
+ public void SetEnumPropertyChoices(VideoProperty property, String[] choices) {
+ setEnumPropertyChoices(property, choices);
+ }
+}
diff --git a/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/MjpegServer.java b/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/MjpegServer.java
index fbbddf8..4c00aed 100644
--- a/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/MjpegServer.java
+++ b/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/MjpegServer.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
diff --git a/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/UsbCameraInfo.java b/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/UsbCameraInfo.java
index 42ef466..c3a8309 100644
--- a/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/UsbCameraInfo.java
+++ b/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/UsbCameraInfo.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -18,13 +18,18 @@
* @param path Path to device if available (e.g. '/dev/video0' on Linux)
* @param name Vendor/model name of the camera as provided by the USB driver
* @param otherPaths Other path aliases to device
+ * @param vendorId USB vendor id
+ * @param productId USB product id
*/
@SuppressWarnings("PMD.ArrayIsStoredDirectly")
- public UsbCameraInfo(int dev, String path, String name, String[] otherPaths) {
+ public UsbCameraInfo(int dev, String path, String name, String[] otherPaths, int vendorId,
+ int productId) {
this.dev = dev;
this.path = path;
this.name = name;
this.otherPaths = otherPaths;
+ this.vendorId = vendorId;
+ this.productId = productId;
}
/**
@@ -50,4 +55,16 @@
*/
@SuppressWarnings("MemberName")
public String[] otherPaths;
+
+ /**
+ * USB vendor id.
+ */
+ @SuppressWarnings("MemberName")
+ public int vendorId;
+
+ /**
+ * USB product id.
+ */
+ @SuppressWarnings("MemberName")
+ public int productId;
}
diff --git a/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/VideoListener.java b/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/VideoListener.java
index 8dd62fa..2a35505 100644
--- a/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/VideoListener.java
+++ b/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/VideoListener.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -27,11 +27,6 @@
m_handle = CameraServerJNI.addListener(listener, eventMask, immediateNotify);
}
- @Deprecated
- public void free() {
- close();
- }
-
@Override
public synchronized void close() {
if (m_handle != 0) {
diff --git a/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/VideoSink.java b/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/VideoSink.java
index a59a952..107f6d9 100644
--- a/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/VideoSink.java
+++ b/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/VideoSink.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -14,7 +14,7 @@
*/
public class VideoSink implements AutoCloseable {
public enum Kind {
- kUnknown(0), kMjpeg(2), kCv(4);
+ kUnknown(0), kMjpeg(2), kCv(4), kRaw(8);
@SuppressWarnings("MemberName")
private final int value;
@@ -46,11 +46,6 @@
m_handle = handle;
}
- @Deprecated
- public void free() {
- close();
- }
-
@Override
public synchronized void close() {
if (m_handle != 0) {
@@ -186,7 +181,7 @@
* @return Connected source; nullptr if no source connected.
*/
public VideoSource getSource() {
- // While VideoSource.free() will call releaseSource(), getSinkSource()
+ // While VideoSource.close() will call releaseSource(), getSinkSource()
// increments the internal reference count so this is okay to do.
return new VideoSource(CameraServerJNI.getSinkSource(m_handle));
}
diff --git a/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/VideoSource.java b/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/VideoSource.java
index cac344c..51d3821 100644
--- a/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/VideoSource.java
+++ b/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/VideoSource.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -14,7 +14,7 @@
*/
public class VideoSource implements AutoCloseable {
public enum Kind {
- kUnknown(0), kUsb(1), kHttp(2), kCv(4);
+ kUnknown(0), kUsb(1), kHttp(2), kCv(4), kRaw(8);
@SuppressWarnings("MemberName")
private final int value;
@@ -81,11 +81,6 @@
m_handle = handle;
}
- @Deprecated
- public void free() {
- close();
- }
-
@Override
public synchronized void close() {
if (m_handle != 0) {
diff --git a/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/raw/RawFrame.java b/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/raw/RawFrame.java
new file mode 100644
index 0000000..0e7a9ce
--- /dev/null
+++ b/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/raw/RawFrame.java
@@ -0,0 +1,130 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.cscore.raw;
+
+import java.nio.ByteBuffer;
+
+import edu.wpi.cscore.CameraServerJNI;
+
+/**
+ * Class for storing raw frame data between image read call.
+ *
+ * <p>Data is reused for each frame read, rather then reallocating every frame.
+ */
+public class RawFrame implements AutoCloseable {
+ private final long m_framePtr;
+ private ByteBuffer m_dataByteBuffer;
+ private long m_dataPtr;
+ private int m_totalData;
+ private int m_width;
+ private int m_height;
+ private int m_pixelFormat;
+
+ /**
+ * Construct a new RawFrame.
+ */
+ public RawFrame() {
+ m_framePtr = CameraServerJNI.allocateRawFrame();
+ }
+
+ /**
+ * Close the RawFrame, releasing native resources.
+ * Any images currently using the data will be invalidated.
+ */
+ @Override
+ public void close() {
+ CameraServerJNI.freeRawFrame(m_framePtr);
+ }
+
+ /**
+ * Called from JNI to set data in class.
+ */
+ public void setData(ByteBuffer dataByteBuffer, long dataPtr, int totalData,
+ int width, int height, int pixelFormat) {
+ m_dataByteBuffer = dataByteBuffer;
+ m_dataPtr = dataPtr;
+ m_totalData = totalData;
+ m_width = width;
+ m_height = height;
+ m_pixelFormat = pixelFormat;
+ }
+
+ /**
+ * Get the pointer to native representation of this frame.
+ */
+ public long getFramePtr() {
+ return m_framePtr;
+ }
+
+ /**
+ * Get a ByteBuffer pointing to the frame data.
+ * This ByteBuffer is backed by the frame directly. Its lifetime is controlled by
+ * the frame. If a new frame gets read, it will overwrite the current one.
+ */
+ public ByteBuffer getDataByteBuffer() {
+ return m_dataByteBuffer;
+ }
+
+ /**
+ * Get a long (is a char* in native code) pointing to the frame data.
+ * This pointer is backed by the frame directly. Its lifetime is controlled by
+ * the frame. If a new frame gets read, it will overwrite the current one.
+ */
+ public long getDataPtr() {
+ return m_dataPtr;
+ }
+
+ /**
+ * Get the total length of the data stored in the frame.
+ */
+ public int getTotalData() {
+ return m_totalData;
+ }
+
+ /**
+ * Get the width of the frame.
+ */
+ public int getWidth() {
+ return m_width;
+ }
+
+ /**
+ * Set the width of the frame.
+ */
+ public void setWidth(int width) {
+ this.m_width = width;
+ }
+
+ /**
+ * Get the height of the frame.
+ */
+ public int getHeight() {
+ return m_height;
+ }
+
+ /**
+ * Set the height of the frame.
+ */
+ public void setHeight(int height) {
+ this.m_height = height;
+ }
+
+ /**
+ * Get the PixelFormat of the frame.
+ */
+ public int getPixelFormat() {
+ return m_pixelFormat;
+ }
+
+ /**
+ * Set the PixelFormat of the frame.
+ */
+ public void setPixelFormat(int pixelFormat) {
+ this.m_pixelFormat = pixelFormat;
+ }
+}
diff --git a/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/raw/RawSink.java b/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/raw/RawSink.java
new file mode 100644
index 0000000..535f356
--- /dev/null
+++ b/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/raw/RawSink.java
@@ -0,0 +1,68 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.cscore.raw;
+
+import edu.wpi.cscore.CameraServerJNI;
+import edu.wpi.cscore.ImageSink;
+
+/**
+ * A sink for user code to accept video frames as raw bytes.
+ *
+ * <p>This is a complex API, most cases should use CvSink.
+ */
+public class RawSink extends ImageSink {
+ /**
+ * Create a sink for accepting raw images.
+ *
+ * <p>grabFrame() must be called on the created sink to get each new
+ * image.
+ *
+ * @param name Source name (arbitrary unique identifier)
+ */
+ public RawSink(String name) {
+ super(CameraServerJNI.createRawSink(name));
+ }
+
+ /**
+ * Wait for the next frame and get the image.
+ * Times out (returning 0) after 0.225 seconds.
+ * The provided image will have three 8-bit channels stored in BGR order.
+ *
+ * @return Frame time, or 0 on error (call getError() to obtain the error
+ * message); the frame time is in the same time base as wpi::Now(),
+ * and is in 1 us increments.
+ */
+ protected long grabFrame(RawFrame frame) {
+ return grabFrame(frame, 0.225);
+ }
+
+ /**
+ * Wait for the next frame and get the image.
+ * Times out (returning 0) after timeout seconds.
+ * The provided image will have three 8-bit channels stored in BGR order.
+ *
+ * @return Frame time, or 0 on error (call getError() to obtain the error
+ * message); the frame time is in the same time base as wpi::Now(),
+ * and is in 1 us increments.
+ */
+ protected long grabFrame(RawFrame frame, double timeout) {
+ return CameraServerJNI.grabSinkFrameTimeout(m_handle, frame, timeout);
+ }
+
+ /**
+ * Wait for the next frame and get the image. May block forever.
+ * The provided image will have three 8-bit channels stored in BGR order.
+ *
+ * @return Frame time, or 0 on error (call getError() to obtain the error
+ * message); the frame time is in the same time base as wpi::Now(),
+ * and is in 1 us increments.
+ */
+ protected long grabFrameNoTimeout(RawFrame frame) {
+ return CameraServerJNI.grabSinkFrame(m_handle, frame);
+ }
+}
diff --git a/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/raw/RawSource.java b/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/raw/RawSource.java
new file mode 100644
index 0000000..9dfb3f3
--- /dev/null
+++ b/third_party/allwpilib_2019/cscore/src/main/java/edu/wpi/cscore/raw/RawSource.java
@@ -0,0 +1,85 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.cscore.raw;
+
+import edu.wpi.cscore.CameraServerJNI;
+import edu.wpi.cscore.ImageSource;
+import edu.wpi.cscore.VideoMode;
+
+/**
+ * A source for user code to provide video frames as raw bytes.
+ *
+ * <p>This is a complex API, most cases should use CvSource.
+ */
+public class RawSource extends ImageSource {
+ /**
+ * Create a raw frame source.
+ *
+ * @param name Source name (arbitrary unique identifier)
+ * @param mode Video mode being generated
+ */
+ public RawSource(String name, VideoMode mode) {
+ super(CameraServerJNI.createRawSource(name,
+ mode.pixelFormat.getValue(),
+ mode.width, mode.height,
+ mode.fps));
+ }
+
+ /**
+ * Create a raw frame source.
+ *
+ * @param name Source name (arbitrary unique identifier)
+ * @param pixelFormat Pixel format
+ * @param width width
+ * @param height height
+ * @param fps fps
+ */
+ public RawSource(String name, VideoMode.PixelFormat pixelFormat, int width, int height, int fps) {
+ super(CameraServerJNI.createRawSource(name,
+ pixelFormat.getValue(),
+ width, height,
+ fps));
+ }
+
+ /**
+ * Put a raw image and notify sinks.
+ *
+ * @param image raw frame image
+ */
+ protected void putFrame(RawFrame image) {
+ CameraServerJNI.putRawSourceFrame(m_handle, image);
+ }
+
+ /**
+ * Put a raw image and notify sinks.
+ *
+ * @param data raw frame data pointer
+ * @param width frame width
+ * @param height frame height
+ * @param pixelFormat pixel format
+ * @param totalData length of data in total
+ */
+ protected void putFrame(long data, int width, int height, int pixelFormat, int totalData) {
+ CameraServerJNI.putRawSourceFrame(m_handle, data, width, height, pixelFormat, totalData);
+ }
+
+ /**
+ * Put a raw image and notify sinks.
+ *
+ * @param data raw frame data pointer
+ * @param width frame width
+ * @param height frame height
+ * @param pixelFormat pixel format
+ * @param totalData length of data in total
+ */
+ protected void putFrame(long data, int width, int height, VideoMode.PixelFormat pixelFormat,
+ int totalData) {
+ CameraServerJNI.putRawSourceFrame(m_handle, data, width, height, pixelFormat.getValue(),
+ totalData);
+ }
+}
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/cpp/ConfigurableSourceImpl.cpp b/third_party/allwpilib_2019/cscore/src/main/native/cpp/ConfigurableSourceImpl.cpp
new file mode 100644
index 0000000..b974169
--- /dev/null
+++ b/third_party/allwpilib_2019/cscore/src/main/native/cpp/ConfigurableSourceImpl.cpp
@@ -0,0 +1,109 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "ConfigurableSourceImpl.h"
+
+#include <wpi/timestamp.h>
+
+#include "Handle.h"
+#include "Instance.h"
+#include "Log.h"
+#include "Notifier.h"
+
+using namespace cs;
+
+ConfigurableSourceImpl::ConfigurableSourceImpl(const wpi::Twine& name,
+ wpi::Logger& logger,
+ Notifier& notifier,
+ Telemetry& telemetry,
+ const VideoMode& mode)
+ : SourceImpl{name, logger, notifier, telemetry} {
+ m_mode = mode;
+ m_videoModes.push_back(m_mode);
+}
+
+ConfigurableSourceImpl::~ConfigurableSourceImpl() {}
+
+void ConfigurableSourceImpl::Start() {
+ m_notifier.NotifySource(*this, CS_SOURCE_CONNECTED);
+ m_notifier.NotifySource(*this, CS_SOURCE_VIDEOMODES_UPDATED);
+ m_notifier.NotifySourceVideoMode(*this, m_mode);
+}
+
+bool ConfigurableSourceImpl::SetVideoMode(const VideoMode& mode,
+ CS_Status* status) {
+ {
+ std::scoped_lock lock(m_mutex);
+ m_mode = mode;
+ m_videoModes[0] = mode;
+ }
+ m_notifier.NotifySourceVideoMode(*this, mode);
+ return true;
+}
+
+void ConfigurableSourceImpl::NumSinksChanged() {
+ // ignore
+}
+
+void ConfigurableSourceImpl::NumSinksEnabledChanged() {
+ // ignore
+}
+
+void ConfigurableSourceImpl::NotifyError(const wpi::Twine& msg) {
+ PutError(msg, wpi::Now());
+}
+
+int ConfigurableSourceImpl::CreateProperty(const wpi::Twine& name,
+ CS_PropertyKind kind, int minimum,
+ int maximum, int step,
+ int defaultValue, int value) {
+ std::scoped_lock lock(m_mutex);
+ int ndx = CreateOrUpdateProperty(name,
+ [=] {
+ return std::make_unique<PropertyImpl>(
+ name, kind, minimum, maximum, step,
+ defaultValue, value);
+ },
+ [&](PropertyImpl& prop) {
+ // update all but value
+ prop.propKind = kind;
+ prop.minimum = minimum;
+ prop.maximum = maximum;
+ prop.step = step;
+ prop.defaultValue = defaultValue;
+ value = prop.value;
+ });
+ m_notifier.NotifySourceProperty(*this, CS_SOURCE_PROPERTY_CREATED, name, ndx,
+ kind, value, wpi::Twine{});
+ return ndx;
+}
+
+int ConfigurableSourceImpl::CreateProperty(
+ const wpi::Twine& name, CS_PropertyKind kind, int minimum, int maximum,
+ int step, int defaultValue, int value,
+ std::function<void(CS_Property property)> onChange) {
+ // TODO
+ return 0;
+}
+
+void ConfigurableSourceImpl::SetEnumPropertyChoices(
+ int property, wpi::ArrayRef<std::string> choices, CS_Status* status) {
+ std::scoped_lock lock(m_mutex);
+ auto prop = GetProperty(property);
+ if (!prop) {
+ *status = CS_INVALID_PROPERTY;
+ return;
+ }
+ if (prop->propKind != CS_PROP_ENUM) {
+ *status = CS_WRONG_PROPERTY_TYPE;
+ return;
+ }
+ prop->enumChoices = choices;
+ m_notifier.NotifySourceProperty(*this, CS_SOURCE_PROPERTY_CHOICES_UPDATED,
+ prop->name, property, CS_PROP_ENUM,
+ prop->value, wpi::Twine{});
+}
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/cpp/ConfigurableSourceImpl.h b/third_party/allwpilib_2019/cscore/src/main/native/cpp/ConfigurableSourceImpl.h
new file mode 100644
index 0000000..a10f27e
--- /dev/null
+++ b/third_party/allwpilib_2019/cscore/src/main/native/cpp/ConfigurableSourceImpl.h
@@ -0,0 +1,56 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#ifndef CSCORE_CONFIGURABLESOURCEIMPL_H_
+#define CSCORE_CONFIGURABLESOURCEIMPL_H_
+
+#include <atomic>
+#include <functional>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include <wpi/ArrayRef.h>
+#include <wpi/Twine.h>
+
+#include "SourceImpl.h"
+
+namespace cs {
+
+class ConfigurableSourceImpl : public SourceImpl {
+ protected:
+ ConfigurableSourceImpl(const wpi::Twine& name, wpi::Logger& logger,
+ Notifier& notifier, Telemetry& telemetry,
+ const VideoMode& mode);
+
+ public:
+ ~ConfigurableSourceImpl() override;
+
+ void Start() override;
+
+ bool SetVideoMode(const VideoMode& mode, CS_Status* status) override;
+
+ void NumSinksChanged() override;
+ void NumSinksEnabledChanged() override;
+
+ // OpenCV-specific functions
+ void NotifyError(const wpi::Twine& msg);
+ int CreateProperty(const wpi::Twine& name, CS_PropertyKind kind, int minimum,
+ int maximum, int step, int defaultValue, int value);
+ int CreateProperty(const wpi::Twine& name, CS_PropertyKind kind, int minimum,
+ int maximum, int step, int defaultValue, int value,
+ std::function<void(CS_Property property)> onChange);
+ void SetEnumPropertyChoices(int property, wpi::ArrayRef<std::string> choices,
+ CS_Status* status);
+
+ private:
+ std::atomic_bool m_connected{true};
+};
+
+} // namespace cs
+
+#endif // CSCORE_CONFIGURABLESOURCEIMPL_H_
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/cpp/CvSinkImpl.cpp b/third_party/allwpilib_2019/cscore/src/main/native/cpp/CvSinkImpl.cpp
index 17dbd18..7ba505a 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/cpp/CvSinkImpl.cpp
+++ b/third_party/allwpilib_2019/cscore/src/main/native/cpp/CvSinkImpl.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -138,10 +138,12 @@
inst.telemetry, processFrame));
}
+static constexpr unsigned SinkMask = CS_SINK_CV | CS_SINK_RAW;
+
void SetSinkDescription(CS_Sink sink, const wpi::Twine& description,
CS_Status* status) {
auto data = Instance::GetInstance().GetSink(sink);
- if (!data || data->kind != CS_SINK_CV) {
+ if (!data || (data->kind & SinkMask) == 0) {
*status = CS_INVALID_HANDLE;
return;
}
@@ -169,7 +171,7 @@
std::string GetSinkError(CS_Sink sink, CS_Status* status) {
auto data = Instance::GetInstance().GetSink(sink);
- if (!data || data->kind != CS_SINK_CV) {
+ if (!data || (data->kind & SinkMask) == 0) {
*status = CS_INVALID_HANDLE;
return std::string{};
}
@@ -179,7 +181,7 @@
wpi::StringRef GetSinkError(CS_Sink sink, wpi::SmallVectorImpl<char>& buf,
CS_Status* status) {
auto data = Instance::GetInstance().GetSink(sink);
- if (!data || data->kind != CS_SINK_CV) {
+ if (!data || (data->kind & SinkMask) == 0) {
*status = CS_INVALID_HANDLE;
return wpi::StringRef{};
}
@@ -188,7 +190,7 @@
void SetSinkEnabled(CS_Sink sink, bool enabled, CS_Status* status) {
auto data = Instance::GetInstance().GetSink(sink);
- if (!data || data->kind != CS_SINK_CV) {
+ if (!data || (data->kind & SinkMask) == 0) {
*status = CS_INVALID_HANDLE;
return;
}
@@ -215,6 +217,7 @@
return cs::SetSinkDescription(sink, description, status);
}
+#if CV_VERSION_MAJOR < 4
uint64_t CS_GrabSinkFrame(CS_Sink sink, struct CvMat* image,
CS_Status* status) {
auto mat = cv::cvarrToMat(image);
@@ -226,6 +229,7 @@
auto mat = cv::cvarrToMat(image);
return cs::GrabSinkFrameTimeout(sink, mat, timeout, status);
}
+#endif // CV_VERSION_MAJOR < 4
uint64_t CS_GrabSinkFrameCpp(CS_Sink sink, cv::Mat* image, CS_Status* status) {
return cs::GrabSinkFrame(sink, *image, status);
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/cpp/CvSourceImpl.cpp b/third_party/allwpilib_2019/cscore/src/main/native/cpp/CvSourceImpl.cpp
index 449a9ee..49b9d28 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/cpp/CvSourceImpl.cpp
+++ b/third_party/allwpilib_2019/cscore/src/main/native/cpp/CvSourceImpl.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -25,37 +25,10 @@
CvSourceImpl::CvSourceImpl(const wpi::Twine& name, wpi::Logger& logger,
Notifier& notifier, Telemetry& telemetry,
const VideoMode& mode)
- : SourceImpl{name, logger, notifier, telemetry} {
- m_mode = mode;
- m_videoModes.push_back(m_mode);
-}
+ : ConfigurableSourceImpl{name, logger, notifier, telemetry, mode} {}
CvSourceImpl::~CvSourceImpl() {}
-void CvSourceImpl::Start() {
- m_notifier.NotifySource(*this, CS_SOURCE_CONNECTED);
- m_notifier.NotifySource(*this, CS_SOURCE_VIDEOMODES_UPDATED);
- m_notifier.NotifySourceVideoMode(*this, m_mode);
-}
-
-bool CvSourceImpl::SetVideoMode(const VideoMode& mode, CS_Status* status) {
- {
- std::lock_guard<wpi::mutex> lock(m_mutex);
- m_mode = mode;
- m_videoModes[0] = mode;
- }
- m_notifier.NotifySourceVideoMode(*this, mode);
- return true;
-}
-
-void CvSourceImpl::NumSinksChanged() {
- // ignore
-}
-
-void CvSourceImpl::NumSinksEnabledChanged() {
- // ignore
-}
-
void CvSourceImpl::PutFrame(cv::Mat& image) {
// We only support 8-bit images; convert if necessary.
cv::Mat finalImage;
@@ -89,61 +62,6 @@
SourceImpl::PutFrame(std::move(dest), wpi::Now());
}
-void CvSourceImpl::NotifyError(const wpi::Twine& msg) {
- PutError(msg, wpi::Now());
-}
-
-int CvSourceImpl::CreateProperty(const wpi::Twine& name, CS_PropertyKind kind,
- int minimum, int maximum, int step,
- int defaultValue, int value) {
- std::lock_guard<wpi::mutex> lock(m_mutex);
- int ndx = CreateOrUpdateProperty(name,
- [=] {
- return wpi::make_unique<PropertyImpl>(
- name, kind, minimum, maximum, step,
- defaultValue, value);
- },
- [&](PropertyImpl& prop) {
- // update all but value
- prop.propKind = kind;
- prop.minimum = minimum;
- prop.maximum = maximum;
- prop.step = step;
- prop.defaultValue = defaultValue;
- value = prop.value;
- });
- m_notifier.NotifySourceProperty(*this, CS_SOURCE_PROPERTY_CREATED, name, ndx,
- kind, value, wpi::Twine{});
- return ndx;
-}
-
-int CvSourceImpl::CreateProperty(
- const wpi::Twine& name, CS_PropertyKind kind, int minimum, int maximum,
- int step, int defaultValue, int value,
- std::function<void(CS_Property property)> onChange) {
- // TODO
- return 0;
-}
-
-void CvSourceImpl::SetEnumPropertyChoices(int property,
- wpi::ArrayRef<std::string> choices,
- CS_Status* status) {
- std::lock_guard<wpi::mutex> lock(m_mutex);
- auto prop = GetProperty(property);
- if (!prop) {
- *status = CS_INVALID_PROPERTY;
- return;
- }
- if (prop->propKind != CS_PROP_ENUM) {
- *status = CS_WRONG_PROPERTY_TYPE;
- return;
- }
- prop->enumChoices = choices;
- m_notifier.NotifySourceProperty(*this, CS_SOURCE_PROPERTY_CHOICES_UPDATED,
- prop->name, property, CS_PROP_ENUM,
- prop->value, wpi::Twine{});
-}
-
namespace cs {
CS_Source CreateCvSource(const wpi::Twine& name, const VideoMode& mode,
@@ -163,10 +81,12 @@
static_cast<CvSourceImpl&>(*data->source).PutFrame(image);
}
+static constexpr unsigned SourceMask = CS_SINK_CV | CS_SINK_RAW;
+
void NotifySourceError(CS_Source source, const wpi::Twine& msg,
CS_Status* status) {
auto data = Instance::GetInstance().GetSource(source);
- if (!data || data->kind != CS_SOURCE_CV) {
+ if (!data || (data->kind & SourceMask) == 0) {
*status = CS_INVALID_HANDLE;
return;
}
@@ -175,7 +95,7 @@
void SetSourceConnected(CS_Source source, bool connected, CS_Status* status) {
auto data = Instance::GetInstance().GetSource(source);
- if (!data || data->kind != CS_SOURCE_CV) {
+ if (!data || (data->kind & SourceMask) == 0) {
*status = CS_INVALID_HANDLE;
return;
}
@@ -185,7 +105,7 @@
void SetSourceDescription(CS_Source source, const wpi::Twine& description,
CS_Status* status) {
auto data = Instance::GetInstance().GetSource(source);
- if (!data || data->kind != CS_SOURCE_CV) {
+ if (!data || (data->kind & SourceMask) == 0) {
*status = CS_INVALID_HANDLE;
return;
}
@@ -197,7 +117,7 @@
int step, int defaultValue, int value,
CS_Status* status) {
auto data = Instance::GetInstance().GetSource(source);
- if (!data || data->kind != CS_SOURCE_CV) {
+ if (!data || (data->kind & SourceMask) == 0) {
*status = CS_INVALID_HANDLE;
return -1;
}
@@ -212,7 +132,7 @@
int maximum, int step, int defaultValue, int value,
std::function<void(CS_Property property)> onChange, CS_Status* status) {
auto data = Instance::GetInstance().GetSource(source);
- if (!data || data->kind != CS_SOURCE_CV) {
+ if (!data || (data->kind & SourceMask) == 0) {
*status = CS_INVALID_HANDLE;
return -1;
}
@@ -226,7 +146,7 @@
wpi::ArrayRef<std::string> choices,
CS_Status* status) {
auto data = Instance::GetInstance().GetSource(source);
- if (!data || data->kind != CS_SOURCE_CV) {
+ if (!data || (data->kind & SourceMask) == 0) {
*status = CS_INVALID_HANDLE;
return;
}
@@ -258,11 +178,13 @@
status);
}
+#if CV_VERSION_MAJOR < 4
void CS_PutSourceFrame(CS_Source source, struct CvMat* image,
CS_Status* status) {
auto mat = cv::cvarrToMat(image);
return cs::PutSourceFrame(source, mat, status);
}
+#endif // CV_VERSION_MAJOR < 4
void CS_PutSourceFrameCpp(CS_Source source, cv::Mat* image, CS_Status* status) {
return cs::PutSourceFrame(source, *image, status);
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/cpp/CvSourceImpl.h b/third_party/allwpilib_2019/cscore/src/main/native/cpp/CvSourceImpl.h
index e1a9cd2..978d012 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/cpp/CvSourceImpl.h
+++ b/third_party/allwpilib_2019/cscore/src/main/native/cpp/CvSourceImpl.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -18,33 +18,19 @@
#include <wpi/ArrayRef.h>
#include <wpi/Twine.h>
+#include "ConfigurableSourceImpl.h"
#include "SourceImpl.h"
namespace cs {
-class CvSourceImpl : public SourceImpl {
+class CvSourceImpl : public ConfigurableSourceImpl {
public:
CvSourceImpl(const wpi::Twine& name, wpi::Logger& logger, Notifier& notifier,
Telemetry& telemetry, const VideoMode& mode);
~CvSourceImpl() override;
- void Start() override;
-
- bool SetVideoMode(const VideoMode& mode, CS_Status* status) override;
-
- void NumSinksChanged() override;
- void NumSinksEnabledChanged() override;
-
// OpenCV-specific functions
void PutFrame(cv::Mat& image);
- void NotifyError(const wpi::Twine& msg);
- int CreateProperty(const wpi::Twine& name, CS_PropertyKind kind, int minimum,
- int maximum, int step, int defaultValue, int value);
- int CreateProperty(const wpi::Twine& name, CS_PropertyKind kind, int minimum,
- int maximum, int step, int defaultValue, int value,
- std::function<void(CS_Property property)> onChange);
- void SetEnumPropertyChoices(int property, wpi::ArrayRef<std::string> choices,
- CS_Status* status);
private:
std::atomic_bool m_connected{true};
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/cpp/Frame.cpp b/third_party/allwpilib_2019/cscore/src/main/native/cpp/Frame.cpp
index 15f9b2d..466cb52 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/cpp/Frame.cpp
+++ b/third_party/allwpilib_2019/cscore/src/main/native/cpp/Frame.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -36,7 +36,7 @@
Image* Frame::GetNearestImage(int width, int height) const {
if (!m_impl) return nullptr;
- std::lock_guard<wpi::recursive_mutex> lock(m_impl->mutex);
+ std::scoped_lock lock(m_impl->mutex);
Image* found = nullptr;
// Ideally we want the smallest image at least width/height in size
@@ -60,7 +60,7 @@
VideoMode::PixelFormat pixelFormat,
int jpegQuality) const {
if (!m_impl) return nullptr;
- std::lock_guard<wpi::recursive_mutex> lock(m_impl->mutex);
+ std::scoped_lock lock(m_impl->mutex);
Image* found = nullptr;
// We want the smallest image at least width/height (or the next largest),
@@ -253,7 +253,7 @@
// Save the result
Image* rv = newImage.release();
if (m_impl) {
- std::lock_guard<wpi::recursive_mutex> lock(m_impl->mutex);
+ std::scoped_lock lock(m_impl->mutex);
m_impl->images.push_back(rv);
}
return rv;
@@ -274,7 +274,7 @@
// Save the result
Image* rv = newImage.release();
if (m_impl) {
- std::lock_guard<wpi::recursive_mutex> lock(m_impl->mutex);
+ std::scoped_lock lock(m_impl->mutex);
m_impl->images.push_back(rv);
}
return rv;
@@ -294,7 +294,7 @@
// Save the result
Image* rv = newImage.release();
if (m_impl) {
- std::lock_guard<wpi::recursive_mutex> lock(m_impl->mutex);
+ std::scoped_lock lock(m_impl->mutex);
m_impl->images.push_back(rv);
}
return rv;
@@ -314,7 +314,7 @@
// Save the result
Image* rv = newImage.release();
if (m_impl) {
- std::lock_guard<wpi::recursive_mutex> lock(m_impl->mutex);
+ std::scoped_lock lock(m_impl->mutex);
m_impl->images.push_back(rv);
}
return rv;
@@ -334,7 +334,7 @@
// Save the result
Image* rv = newImage.release();
if (m_impl) {
- std::lock_guard<wpi::recursive_mutex> lock(m_impl->mutex);
+ std::scoped_lock lock(m_impl->mutex);
m_impl->images.push_back(rv);
}
return rv;
@@ -354,14 +354,14 @@
// Save the result
Image* rv = newImage.release();
if (m_impl) {
- std::lock_guard<wpi::recursive_mutex> lock(m_impl->mutex);
+ std::scoped_lock lock(m_impl->mutex);
m_impl->images.push_back(rv);
}
return rv;
}
Image* Frame::ConvertGrayToBGR(Image* image) {
- if (!image || image->pixelFormat != VideoMode::kBGR) return nullptr;
+ if (!image || image->pixelFormat != VideoMode::kGray) return nullptr;
// Allocate a BGR image
auto newImage =
@@ -374,7 +374,7 @@
// Save the result
Image* rv = newImage.release();
if (m_impl) {
- std::lock_guard<wpi::recursive_mutex> lock(m_impl->mutex);
+ std::scoped_lock lock(m_impl->mutex);
m_impl->images.push_back(rv);
}
return rv;
@@ -383,7 +383,7 @@
Image* Frame::ConvertBGRToMJPEG(Image* image, int quality) {
if (!image || image->pixelFormat != VideoMode::kBGR) return nullptr;
if (!m_impl) return nullptr;
- std::lock_guard<wpi::recursive_mutex> lock(m_impl->mutex);
+ std::scoped_lock lock(m_impl->mutex);
// Allocate a JPEG image. We don't actually know what the resulting size
// will be; while the destination will automatically grow, doing so will
@@ -397,7 +397,7 @@
// Compress
if (m_impl->compressionParams.empty()) {
- m_impl->compressionParams.push_back(CV_IMWRITE_JPEG_QUALITY);
+ m_impl->compressionParams.push_back(cv::IMWRITE_JPEG_QUALITY);
m_impl->compressionParams.push_back(quality);
} else {
m_impl->compressionParams[1] = quality;
@@ -414,7 +414,7 @@
Image* Frame::ConvertGrayToMJPEG(Image* image, int quality) {
if (!image || image->pixelFormat != VideoMode::kGray) return nullptr;
if (!m_impl) return nullptr;
- std::lock_guard<wpi::recursive_mutex> lock(m_impl->mutex);
+ std::scoped_lock lock(m_impl->mutex);
// Allocate a JPEG image. We don't actually know what the resulting size
// will be; while the destination will automatically grow, doing so will
@@ -428,7 +428,7 @@
// Compress
if (m_impl->compressionParams.empty()) {
- m_impl->compressionParams.push_back(CV_IMWRITE_JPEG_QUALITY);
+ m_impl->compressionParams.push_back(cv::IMWRITE_JPEG_QUALITY);
m_impl->compressionParams.push_back(quality);
} else {
m_impl->compressionParams[1] = quality;
@@ -446,7 +446,7 @@
VideoMode::PixelFormat pixelFormat,
int requiredJpegQuality, int defaultJpegQuality) {
if (!m_impl) return nullptr;
- std::lock_guard<wpi::recursive_mutex> lock(m_impl->mutex);
+ std::scoped_lock lock(m_impl->mutex);
Image* cur = GetNearestImage(width, height, pixelFormat, requiredJpegQuality);
if (!cur || cur->Is(width, height, pixelFormat, requiredJpegQuality))
return cur;
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/cpp/Frame.h b/third_party/allwpilib_2019/cscore/src/main/native/cpp/Frame.h
index b977f24..07fa24f 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/cpp/Frame.h
+++ b/third_party/allwpilib_2019/cscore/src/main/native/cpp/Frame.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -80,42 +80,42 @@
int GetOriginalWidth() const {
if (!m_impl) return 0;
- std::lock_guard<wpi::recursive_mutex> lock(m_impl->mutex);
+ std::scoped_lock lock(m_impl->mutex);
if (m_impl->images.empty()) return 0;
return m_impl->images[0]->width;
}
int GetOriginalHeight() const {
if (!m_impl) return 0;
- std::lock_guard<wpi::recursive_mutex> lock(m_impl->mutex);
+ std::scoped_lock lock(m_impl->mutex);
if (m_impl->images.empty()) return 0;
return m_impl->images[0]->height;
}
int GetOriginalPixelFormat() const {
if (!m_impl) return 0;
- std::lock_guard<wpi::recursive_mutex> lock(m_impl->mutex);
+ std::scoped_lock lock(m_impl->mutex);
if (m_impl->images.empty()) return 0;
return m_impl->images[0]->pixelFormat;
}
int GetOriginalJpegQuality() const {
if (!m_impl) return 0;
- std::lock_guard<wpi::recursive_mutex> lock(m_impl->mutex);
+ std::scoped_lock lock(m_impl->mutex);
if (m_impl->images.empty()) return 0;
return m_impl->images[0]->jpegQuality;
}
Image* GetExistingImage(size_t i = 0) const {
if (!m_impl) return nullptr;
- std::lock_guard<wpi::recursive_mutex> lock(m_impl->mutex);
+ std::scoped_lock lock(m_impl->mutex);
if (i >= m_impl->images.size()) return nullptr;
return m_impl->images[i];
}
Image* GetExistingImage(int width, int height) const {
if (!m_impl) return nullptr;
- std::lock_guard<wpi::recursive_mutex> lock(m_impl->mutex);
+ std::scoped_lock lock(m_impl->mutex);
for (auto i : m_impl->images) {
if (i->Is(width, height)) return i;
}
@@ -125,7 +125,7 @@
Image* GetExistingImage(int width, int height,
VideoMode::PixelFormat pixelFormat) const {
if (!m_impl) return nullptr;
- std::lock_guard<wpi::recursive_mutex> lock(m_impl->mutex);
+ std::scoped_lock lock(m_impl->mutex);
for (auto i : m_impl->images) {
if (i->Is(width, height, pixelFormat)) return i;
}
@@ -136,7 +136,7 @@
VideoMode::PixelFormat pixelFormat,
int jpegQuality) const {
if (!m_impl) return nullptr;
- std::lock_guard<wpi::recursive_mutex> lock(m_impl->mutex);
+ std::scoped_lock lock(m_impl->mutex);
for (auto i : m_impl->images) {
if (i->Is(width, height, pixelFormat, jpegQuality)) return i;
}
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/cpp/HttpCameraImpl.cpp b/third_party/allwpilib_2019/cscore/src/main/native/cpp/HttpCameraImpl.cpp
index f15fc5f..5bf7a8a 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/cpp/HttpCameraImpl.cpp
+++ b/third_party/allwpilib_2019/cscore/src/main/native/cpp/HttpCameraImpl.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,9 +7,8 @@
#include "HttpCameraImpl.h"
-#include <wpi/STLExtras.h>
+#include <wpi/MemAlloc.h>
#include <wpi/TCPConnector.h>
-#include <wpi/memory.h>
#include <wpi/timestamp.h>
#include "Handle.h"
@@ -38,7 +37,7 @@
// Close file if it's open
{
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
if (m_streamConn) m_streamConn->stream->close();
if (m_settingsConn) m_settingsConn->stream->close();
}
@@ -65,7 +64,7 @@
void HttpCameraImpl::MonitorThreadMain() {
while (m_active) {
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
// sleep for 1 second between checks
m_monitorCond.wait_for(lock, std::chrono::seconds(1),
[=] { return !m_active; });
@@ -96,7 +95,7 @@
// disconnect if not enabled
if (!IsEnabled()) {
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
if (m_streamConn) m_streamConn->stream->close();
// Wait for enable
m_sinkEnabledCond.wait(lock, [=] { return !m_active || IsEnabled(); });
@@ -118,7 +117,7 @@
// stream
DeviceStream(conn->is, boundary);
{
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
m_streamConn = nullptr;
}
}
@@ -132,7 +131,7 @@
// Build the request
wpi::HttpRequest req;
{
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
if (m_locations.empty()) {
SERROR("locations array is empty!?");
std::this_thread::sleep_for(std::chrono::seconds(1));
@@ -149,12 +148,12 @@
if (!m_active || !stream) return nullptr;
- auto connPtr = wpi::make_unique<wpi::HttpConnection>(std::move(stream), 1);
+ auto connPtr = std::make_unique<wpi::HttpConnection>(std::move(stream), 1);
wpi::HttpConnection* conn = connPtr.get();
// update m_streamConn
{
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
m_frameCount = 1; // avoid a race with monitor thread
m_streamConn = std::move(connPtr);
}
@@ -162,7 +161,7 @@
std::string warn;
if (!conn->Handshake(req, &warn)) {
SWARNING(GetName() << ": " << warn);
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
m_streamConn = nullptr;
return nullptr;
}
@@ -174,7 +173,7 @@
if (mediaType != "multipart/x-mixed-replace") {
SWARNING("\"" << req.host << "\": unrecognized Content-Type \"" << mediaType
<< "\"");
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
m_streamConn = nullptr;
return nullptr;
}
@@ -189,6 +188,9 @@
std::tie(key, value) = keyvalue.split('=');
if (key.trim() == "boundary") {
value = value.trim().trim('"'); // value may be quoted
+ if (value.startswith("--")) {
+ value = value.substr(2);
+ }
boundary.append(value.begin(), value.end());
}
}
@@ -196,7 +198,7 @@
if (boundary.empty()) {
SWARNING("\"" << req.host
<< "\": empty multi-part boundary or no Content-Type");
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
m_streamConn = nullptr;
return nullptr;
}
@@ -219,11 +221,16 @@
if (!FindMultipartBoundary(is, boundary, nullptr)) break;
// Read the next two characters after the boundary (normally \r\n)
+ // Handle just \n for LabVIEW however
char eol[2];
- is.read(eol, 2);
+ is.read(eol, 1);
if (!m_active || is.has_error()) break;
- // End-of-stream is indicated with trailing --
- if (eol[0] == '-' && eol[1] == '-') break;
+ if (eol[0] != '\n') {
+ is.read(eol + 1, 1);
+ if (!m_active || is.has_error()) break;
+ // End-of-stream is indicated with trailing --
+ if (eol[0] == '-' && eol[1] == '-') break;
+ }
if (!DeviceStreamFrame(is, imageBuf))
++numErrors;
@@ -291,7 +298,7 @@
for (;;) {
wpi::HttpRequest req;
{
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
m_settingsCond.wait(lock, [=] {
return !m_active || (m_prefLocation != -1 && !m_settings.empty());
});
@@ -314,12 +321,12 @@
if (!m_active || !stream) return;
- auto connPtr = wpi::make_unique<wpi::HttpConnection>(std::move(stream), 1);
+ auto connPtr = std::make_unique<wpi::HttpConnection>(std::move(stream), 1);
wpi::HttpConnection* conn = connPtr.get();
// update m_settingsConn
{
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
m_settingsConn = std::move(connPtr);
}
@@ -331,7 +338,7 @@
}
CS_HttpCameraKind HttpCameraImpl::GetKind() const {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
return m_kind;
}
@@ -349,7 +356,7 @@
}
}
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
m_locations.swap(locations);
m_nextLocation = 0;
m_streamSettingsUpdated = true;
@@ -357,7 +364,7 @@
}
std::vector<std::string> HttpCameraImpl::GetUrls() const {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
std::vector<std::string> urls;
for (const auto& loc : m_locations) urls.push_back(loc.url);
return urls;
@@ -368,8 +375,8 @@
bool viaSettings, CS_PropertyKind kind,
int minimum, int maximum, int step,
int defaultValue, int value) const {
- std::lock_guard<wpi::mutex> lock(m_mutex);
- m_propertyData.emplace_back(wpi::make_unique<PropertyData>(
+ std::scoped_lock lock(m_mutex);
+ m_propertyData.emplace_back(std::make_unique<PropertyData>(
name, httpParam, viaSettings, kind, minimum, maximum, step, defaultValue,
value));
@@ -382,8 +389,8 @@
void HttpCameraImpl::CreateEnumProperty(
const wpi::Twine& name, const wpi::Twine& httpParam, bool viaSettings,
int defaultValue, int value, std::initializer_list<T> choices) const {
- std::lock_guard<wpi::mutex> lock(m_mutex);
- m_propertyData.emplace_back(wpi::make_unique<PropertyData>(
+ std::scoped_lock lock(m_mutex);
+ m_propertyData.emplace_back(std::make_unique<PropertyData>(
name, httpParam, viaSettings, CS_PROP_ENUM, 0, choices.size() - 1, 1,
defaultValue, value));
@@ -401,11 +408,11 @@
std::unique_ptr<PropertyImpl> HttpCameraImpl::CreateEmptyProperty(
const wpi::Twine& name) const {
- return wpi::make_unique<PropertyData>(name);
+ return std::make_unique<PropertyData>(name);
}
bool HttpCameraImpl::CacheProperties(CS_Status* status) const {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
// Pretty typical set of video modes
m_videoModes.clear();
@@ -461,7 +468,7 @@
bool HttpCameraImpl::SetVideoMode(const VideoMode& mode, CS_Status* status) {
if (mode.pixelFormat != VideoMode::kMJPEG) return false;
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
m_mode = mode;
m_streamSettingsUpdated = true;
return true;
@@ -490,7 +497,7 @@
true, CS_PROP_INTEGER, 0, 100, 1, 50, 50);
// TODO: get video modes from device
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
m_videoModes.clear();
m_videoModes.emplace_back(VideoMode::kMJPEG, 640, 480, 30);
m_videoModes.emplace_back(VideoMode::kMJPEG, 480, 360, 30);
@@ -603,7 +610,7 @@
char** CS_GetHttpCameraUrls(CS_Source source, int* count, CS_Status* status) {
auto urls = cs::GetHttpCameraUrls(source, status);
char** out =
- static_cast<char**>(wpi::CheckedMalloc(urls.size() * sizeof(char*)));
+ static_cast<char**>(wpi::safe_malloc(urls.size() * sizeof(char*)));
*count = urls.size();
for (size_t i = 0; i < urls.size(); ++i) out[i] = cs::ConvertToC(urls[i]);
return out;
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/cpp/Log.h b/third_party/allwpilib_2019/cscore/src/main/native/cpp/Log.h
index 9ca0e1b..b9fd9ab 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/cpp/Log.h
+++ b/third_party/allwpilib_2019/cscore/src/main/native/cpp/Log.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -17,7 +17,7 @@
#define WARNING(x) WPI_WARNING(m_logger, x)
#define INFO(x) WPI_INFO(m_logger, x)
-#define DEBUG(x) WPI_DEBUG(m_logger, x)
+#define DEBUG0(x) WPI_DEBUG(m_logger, x)
#define DEBUG1(x) WPI_DEBUG1(m_logger, x)
#define DEBUG2(x) WPI_DEBUG2(m_logger, x)
#define DEBUG3(x) WPI_DEBUG3(m_logger, x)
@@ -27,7 +27,7 @@
#define SWARNING(x) WARNING(GetName() << ": " << x)
#define SINFO(x) INFO(GetName() << ": " << x)
-#define SDEBUG(x) DEBUG(GetName() << ": " << x)
+#define SDEBUG(x) DEBUG0(GetName() << ": " << x)
#define SDEBUG1(x) DEBUG1(GetName() << ": " << x)
#define SDEBUG2(x) DEBUG2(GetName() << ": " << x)
#define SDEBUG3(x) DEBUG3(GetName() << ": " << x)
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/cpp/MjpegServerImpl.cpp b/third_party/allwpilib_2019/cscore/src/main/native/cpp/MjpegServerImpl.cpp
index f548f9c..e30b745 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/cpp/MjpegServerImpl.cpp
+++ b/third_party/allwpilib_2019/cscore/src/main/native/cpp/MjpegServerImpl.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -105,18 +105,18 @@
wpi::StringRef GetName() { return m_name; }
std::shared_ptr<SourceImpl> GetSource() {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
return m_source;
}
void StartStream() {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
if (m_source) m_source->EnableSink();
m_streaming = true;
}
void StopStream() {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
if (m_source) m_source->DisableSink();
m_streaming = false;
}
@@ -865,7 +865,7 @@
// worker thread for clients that connected to this server
void MjpegServerImpl::ConnThread::Main() {
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
while (m_active) {
while (!m_stream) {
m_cond.wait(lock);
@@ -898,7 +898,7 @@
auto source = GetSource();
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
// Find unoccupied worker thread, or create one if necessary
auto it = std::find_if(m_connThreads.begin(), m_connThreads.end(),
[](const wpi::SafeThreadOwner<ConnThread>& owner) {
@@ -937,7 +937,7 @@
}
void MjpegServerImpl::SetSourceImpl(std::shared_ptr<SourceImpl> source) {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
for (auto& connThread : m_connThreads) {
if (auto thr = connThread.GetThread()) {
if (thr->m_source != source) {
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/cpp/Notifier.cpp b/third_party/allwpilib_2019/cscore/src/main/native/cpp/Notifier.cpp
index 45bd050..e4645c9 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/cpp/Notifier.cpp
+++ b/third_party/allwpilib_2019/cscore/src/main/native/cpp/Notifier.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -102,7 +102,7 @@
void Notifier::Thread::Main() {
if (m_on_start) m_on_start();
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
while (m_active) {
while (m_notifications.empty()) {
m_cond.wait(lock);
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/cpp/PropertyContainer.cpp b/third_party/allwpilib_2019/cscore/src/main/native/cpp/PropertyContainer.cpp
index 46ea77d..17bf94b 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/cpp/PropertyContainer.cpp
+++ b/third_party/allwpilib_2019/cscore/src/main/native/cpp/PropertyContainer.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -18,7 +18,7 @@
// We can't fail, so instead we create a new index if caching fails.
CS_Status status = 0;
if (!m_properties_cached) CacheProperties(&status);
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
wpi::SmallVector<char, 64> nameBuf;
int& ndx = m_properties[name.toStringRef(nameBuf)];
if (ndx == 0) {
@@ -33,7 +33,7 @@
wpi::SmallVectorImpl<int>& vec, CS_Status* status) const {
if (!m_properties_cached && !CacheProperties(status))
return wpi::ArrayRef<int>{};
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
for (int i = 0; i < static_cast<int>(m_propertyData.size()); ++i) {
if (m_propertyData[i]) vec.push_back(i + 1);
}
@@ -43,7 +43,7 @@
CS_PropertyKind PropertyContainer::GetPropertyKind(int property) const {
CS_Status status = 0;
if (!m_properties_cached && !CacheProperties(&status)) return CS_PROP_NONE;
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
auto prop = GetProperty(property);
if (!prop) return CS_PROP_NONE;
return prop->propKind;
@@ -52,7 +52,7 @@
wpi::StringRef PropertyContainer::GetPropertyName(
int property, wpi::SmallVectorImpl<char>& buf, CS_Status* status) const {
if (!m_properties_cached && !CacheProperties(status)) return wpi::StringRef{};
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
auto prop = GetProperty(property);
if (!prop) {
*status = CS_INVALID_PROPERTY;
@@ -64,7 +64,7 @@
int PropertyContainer::GetProperty(int property, CS_Status* status) const {
if (!m_properties_cached && !CacheProperties(status)) return 0;
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
auto prop = GetProperty(property);
if (!prop) {
*status = CS_INVALID_PROPERTY;
@@ -80,7 +80,7 @@
void PropertyContainer::SetProperty(int property, int value,
CS_Status* status) {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
auto prop = GetProperty(property);
if (!prop) {
*status = CS_INVALID_PROPERTY;
@@ -101,7 +101,7 @@
int PropertyContainer::GetPropertyMin(int property, CS_Status* status) const {
if (!m_properties_cached && !CacheProperties(status)) return 0;
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
auto prop = GetProperty(property);
if (!prop) {
*status = CS_INVALID_PROPERTY;
@@ -112,7 +112,7 @@
int PropertyContainer::GetPropertyMax(int property, CS_Status* status) const {
if (!m_properties_cached && !CacheProperties(status)) return 0;
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
auto prop = GetProperty(property);
if (!prop) {
*status = CS_INVALID_PROPERTY;
@@ -123,7 +123,7 @@
int PropertyContainer::GetPropertyStep(int property, CS_Status* status) const {
if (!m_properties_cached && !CacheProperties(status)) return 0;
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
auto prop = GetProperty(property);
if (!prop) {
*status = CS_INVALID_PROPERTY;
@@ -135,7 +135,7 @@
int PropertyContainer::GetPropertyDefault(int property,
CS_Status* status) const {
if (!m_properties_cached && !CacheProperties(status)) return 0;
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
auto prop = GetProperty(property);
if (!prop) {
*status = CS_INVALID_PROPERTY;
@@ -147,7 +147,7 @@
wpi::StringRef PropertyContainer::GetStringProperty(
int property, wpi::SmallVectorImpl<char>& buf, CS_Status* status) const {
if (!m_properties_cached && !CacheProperties(status)) return wpi::StringRef{};
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
auto prop = GetProperty(property);
if (!prop) {
*status = CS_INVALID_PROPERTY;
@@ -164,7 +164,7 @@
void PropertyContainer::SetStringProperty(int property, const wpi::Twine& value,
CS_Status* status) {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
auto prop = GetProperty(property);
if (!prop) {
*status = CS_INVALID_PROPERTY;
@@ -186,7 +186,7 @@
int property, CS_Status* status) const {
if (!m_properties_cached && !CacheProperties(status))
return std::vector<std::string>{};
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
auto prop = GetProperty(property);
if (!prop) {
*status = CS_INVALID_PROPERTY;
@@ -201,7 +201,7 @@
std::unique_ptr<PropertyImpl> PropertyContainer::CreateEmptyProperty(
const wpi::Twine& name) const {
- return wpi::make_unique<PropertyImpl>(name);
+ return std::make_unique<PropertyImpl>(name);
}
bool PropertyContainer::CacheProperties(CS_Status* status) const {
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/cpp/PropertyContainer.h b/third_party/allwpilib_2019/cscore/src/main/native/cpp/PropertyContainer.h
index 19197b2..9bbb9c7 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/cpp/PropertyContainer.h
+++ b/third_party/allwpilib_2019/cscore/src/main/native/cpp/PropertyContainer.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/cpp/RawSinkImpl.cpp b/third_party/allwpilib_2019/cscore/src/main/native/cpp/RawSinkImpl.cpp
new file mode 100644
index 0000000..986378f
--- /dev/null
+++ b/third_party/allwpilib_2019/cscore/src/main/native/cpp/RawSinkImpl.cpp
@@ -0,0 +1,199 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "RawSinkImpl.h"
+
+#include "Instance.h"
+#include "cscore.h"
+#include "cscore_raw.h"
+
+using namespace cs;
+
+RawSinkImpl::RawSinkImpl(const wpi::Twine& name, wpi::Logger& logger,
+ Notifier& notifier, Telemetry& telemetry)
+ : SinkImpl{name, logger, notifier, telemetry} {
+ m_active = true;
+ // m_thread = std::thread(&RawSinkImpl::ThreadMain, this);
+}
+
+RawSinkImpl::RawSinkImpl(const wpi::Twine& name, wpi::Logger& logger,
+ Notifier& notifier, Telemetry& telemetry,
+ std::function<void(uint64_t time)> processFrame)
+ : SinkImpl{name, logger, notifier, telemetry} {}
+
+RawSinkImpl::~RawSinkImpl() { Stop(); }
+
+void RawSinkImpl::Stop() {
+ m_active = false;
+
+ // wake up any waiters by forcing an empty frame to be sent
+ if (auto source = GetSource()) source->Wakeup();
+
+ // join thread
+ if (m_thread.joinable()) m_thread.join();
+}
+
+uint64_t RawSinkImpl::GrabFrame(CS_RawFrame& image) {
+ SetEnabled(true);
+
+ auto source = GetSource();
+ if (!source) {
+ // Source disconnected; sleep for one second
+ std::this_thread::sleep_for(std::chrono::seconds(1));
+ return 0;
+ }
+
+ auto frame = source->GetNextFrame(); // blocks
+ if (!frame) {
+ // Bad frame; sleep for 20 ms so we don't consume all processor time.
+ std::this_thread::sleep_for(std::chrono::milliseconds(20));
+ return 0; // signal error
+ }
+
+ return GrabFrameImpl(image, frame);
+}
+
+uint64_t RawSinkImpl::GrabFrame(CS_RawFrame& image, double timeout) {
+ SetEnabled(true);
+
+ auto source = GetSource();
+ if (!source) {
+ // Source disconnected; sleep for one second
+ std::this_thread::sleep_for(std::chrono::seconds(1));
+ return 0;
+ }
+
+ auto frame = source->GetNextFrame(timeout); // blocks
+ if (!frame) {
+ // Bad frame; sleep for 20 ms so we don't consume all processor time.
+ std::this_thread::sleep_for(std::chrono::milliseconds(20));
+ return 0; // signal error
+ }
+
+ return GrabFrameImpl(image, frame);
+}
+
+uint64_t RawSinkImpl::GrabFrameImpl(CS_RawFrame& rawFrame,
+ Frame& incomingFrame) {
+ Image* newImage = nullptr;
+
+ if (rawFrame.pixelFormat == CS_PixelFormat::CS_PIXFMT_UNKNOWN) {
+ // Always get incoming image directly on unknown
+ newImage = incomingFrame.GetExistingImage(0);
+ } else {
+ // Format is known, ask for it
+ auto width = rawFrame.width;
+ auto height = rawFrame.height;
+ auto pixelFormat =
+ static_cast<VideoMode::PixelFormat>(rawFrame.pixelFormat);
+ if (width <= 0 || height <= 0) {
+ width = incomingFrame.GetOriginalWidth();
+ height = incomingFrame.GetOriginalHeight();
+ }
+ newImage = incomingFrame.GetImage(width, height, pixelFormat);
+ }
+
+ if (!newImage) {
+ // Shouldn't happen, but just in case...
+ std::this_thread::sleep_for(std::chrono::milliseconds(20));
+ return 0;
+ }
+
+ CS_AllocateRawFrameData(&rawFrame, newImage->size());
+ rawFrame.height = newImage->height;
+ rawFrame.width = newImage->width;
+ rawFrame.pixelFormat = newImage->pixelFormat;
+ rawFrame.totalData = newImage->size();
+ std::copy(newImage->data(), newImage->data() + rawFrame.totalData,
+ rawFrame.data);
+
+ return incomingFrame.GetTime();
+}
+
+// Send HTTP response and a stream of JPG-frames
+void RawSinkImpl::ThreadMain() {
+ Enable();
+ while (m_active) {
+ auto source = GetSource();
+ if (!source) {
+ // Source disconnected; sleep for one second
+ std::this_thread::sleep_for(std::chrono::seconds(1));
+ continue;
+ }
+ SDEBUG4("waiting for frame");
+ Frame frame = source->GetNextFrame(); // blocks
+ if (!m_active) break;
+ if (!frame) {
+ // Bad frame; sleep for 10 ms so we don't consume all processor time.
+ std::this_thread::sleep_for(std::chrono::milliseconds(10));
+ continue;
+ }
+ // TODO m_processFrame();
+ }
+ Disable();
+}
+
+namespace cs {
+CS_Sink CreateRawSink(const wpi::Twine& name, CS_Status* status) {
+ auto& inst = Instance::GetInstance();
+ return inst.CreateSink(CS_SINK_RAW,
+ std::make_shared<RawSinkImpl>(
+ name, inst.logger, inst.notifier, inst.telemetry));
+}
+
+CS_Sink CreateRawSinkCallback(const wpi::Twine& name,
+ std::function<void(uint64_t time)> processFrame,
+ CS_Status* status) {
+ auto& inst = Instance::GetInstance();
+ return inst.CreateSink(CS_SINK_RAW, std::make_shared<RawSinkImpl>(
+ name, inst.logger, inst.notifier,
+ inst.telemetry, processFrame));
+}
+
+uint64_t GrabSinkFrame(CS_Sink sink, CS_RawFrame& image, CS_Status* status) {
+ auto data = Instance::GetInstance().GetSink(sink);
+ if (!data || data->kind != CS_SINK_RAW) {
+ *status = CS_INVALID_HANDLE;
+ return 0;
+ }
+ return static_cast<RawSinkImpl&>(*data->sink).GrabFrame(image);
+}
+
+uint64_t GrabSinkFrameTimeout(CS_Sink sink, CS_RawFrame& image, double timeout,
+ CS_Status* status) {
+ auto data = Instance::GetInstance().GetSink(sink);
+ if (!data || data->kind != CS_SINK_RAW) {
+ *status = CS_INVALID_HANDLE;
+ return 0;
+ }
+ return static_cast<RawSinkImpl&>(*data->sink).GrabFrame(image, timeout);
+}
+} // namespace cs
+
+extern "C" {
+CS_Sink CS_CreateRawSink(const char* name, CS_Status* status) {
+ return cs::CreateRawSink(name, status);
+}
+
+CS_Sink CS_CreateRawSinkCallback(const char* name, void* data,
+ void (*processFrame)(void* data,
+ uint64_t time),
+ CS_Status* status) {
+ return cs::CreateRawSinkCallback(
+ name, [=](uint64_t time) { processFrame(data, time); }, status);
+}
+
+uint64_t CS_GrabRawSinkFrame(CS_Sink sink, struct CS_RawFrame* image,
+ CS_Status* status) {
+ return cs::GrabSinkFrame(sink, *image, status);
+}
+
+uint64_t CS_GrabRawSinkFrameTimeout(CS_Sink sink, struct CS_RawFrame* image,
+ double timeout, CS_Status* status) {
+ return cs::GrabSinkFrameTimeout(sink, *image, timeout, status);
+}
+} // extern "C"
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/cpp/RawSinkImpl.h b/third_party/allwpilib_2019/cscore/src/main/native/cpp/RawSinkImpl.h
new file mode 100644
index 0000000..3e69485
--- /dev/null
+++ b/third_party/allwpilib_2019/cscore/src/main/native/cpp/RawSinkImpl.h
@@ -0,0 +1,52 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#ifndef CSCORE_RAWSINKIMPL_H_
+#define CSCORE_RAWSINKIMPL_H_
+
+#include <stdint.h>
+
+#include <atomic>
+#include <functional>
+#include <thread>
+
+#include <wpi/Twine.h>
+#include <wpi/condition_variable.h>
+
+#include "Frame.h"
+#include "SinkImpl.h"
+#include "cscore_raw.h"
+
+namespace cs {
+class SourceImpl;
+
+class RawSinkImpl : public SinkImpl {
+ public:
+ RawSinkImpl(const wpi::Twine& name, wpi::Logger& logger, Notifier& notifier,
+ Telemetry& telemetry);
+ RawSinkImpl(const wpi::Twine& name, wpi::Logger& logger, Notifier& notifier,
+ Telemetry& telemetry,
+ std::function<void(uint64_t time)> processFrame);
+ ~RawSinkImpl() override;
+
+ void Stop();
+
+ uint64_t GrabFrame(CS_RawFrame& frame);
+ uint64_t GrabFrame(CS_RawFrame& frame, double timeout);
+
+ private:
+ void ThreadMain();
+
+ uint64_t GrabFrameImpl(CS_RawFrame& rawFrame, Frame& incomingFrame);
+
+ std::atomic_bool m_active; // set to false to terminate threads
+ std::thread m_thread;
+ std::function<void(uint64_t time)> m_processFrame;
+};
+} // namespace cs
+
+#endif // CSCORE_RAWSINKIMPL_H_
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/cpp/RawSourceImpl.cpp b/third_party/allwpilib_2019/cscore/src/main/native/cpp/RawSourceImpl.cpp
new file mode 100644
index 0000000..e0dba2d
--- /dev/null
+++ b/third_party/allwpilib_2019/cscore/src/main/native/cpp/RawSourceImpl.cpp
@@ -0,0 +1,83 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "RawSourceImpl.h"
+
+#include <wpi/timestamp.h>
+
+#include "Handle.h"
+#include "Instance.h"
+#include "Log.h"
+#include "Notifier.h"
+#include "cscore_raw.h"
+
+using namespace cs;
+
+RawSourceImpl::RawSourceImpl(const wpi::Twine& name, wpi::Logger& logger,
+ Notifier& notifier, Telemetry& telemetry,
+ const VideoMode& mode)
+ : ConfigurableSourceImpl{name, logger, notifier, telemetry, mode} {}
+
+RawSourceImpl::~RawSourceImpl() {}
+
+void RawSourceImpl::PutFrame(const CS_RawFrame& image) {
+ int type;
+ switch (image.pixelFormat) {
+ case VideoMode::kYUYV:
+ case VideoMode::kRGB565:
+ type = CV_8UC2;
+ break;
+ case VideoMode::kBGR:
+ type = CV_8UC3;
+ break;
+ case VideoMode::kGray:
+ case VideoMode::kMJPEG:
+ default:
+ type = CV_8UC1;
+ break;
+ }
+ cv::Mat finalImage{image.height, image.width, type, image.data};
+ std::unique_ptr<Image> dest =
+ AllocImage(static_cast<VideoMode::PixelFormat>(image.pixelFormat),
+ image.width, image.height, image.totalData);
+ finalImage.copyTo(dest->AsMat());
+
+ SourceImpl::PutFrame(std::move(dest), wpi::Now());
+}
+
+namespace cs {
+CS_Source CreateRawSource(const wpi::Twine& name, const VideoMode& mode,
+ CS_Status* status) {
+ auto& inst = Instance::GetInstance();
+ return inst.CreateSource(CS_SOURCE_RAW, std::make_shared<RawSourceImpl>(
+ name, inst.logger, inst.notifier,
+ inst.telemetry, mode));
+}
+
+void PutSourceFrame(CS_Source source, const CS_RawFrame& image,
+ CS_Status* status) {
+ auto data = Instance::GetInstance().GetSource(source);
+ if (!data || data->kind != CS_SOURCE_RAW) {
+ *status = CS_INVALID_HANDLE;
+ return;
+ }
+ static_cast<RawSourceImpl&>(*data->source).PutFrame(image);
+}
+} // namespace cs
+
+extern "C" {
+CS_Source CS_CreateRawSource(const char* name, const CS_VideoMode* mode,
+ CS_Status* status) {
+ return cs::CreateRawSource(name, static_cast<const cs::VideoMode&>(*mode),
+ status);
+}
+
+void CS_PutRawSourceFrame(CS_Source source, const struct CS_RawFrame* image,
+ CS_Status* status) {
+ return cs::PutSourceFrame(source, *image, status);
+}
+} // extern "C"
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/cpp/RawSourceImpl.h b/third_party/allwpilib_2019/cscore/src/main/native/cpp/RawSourceImpl.h
new file mode 100644
index 0000000..1fdc749
--- /dev/null
+++ b/third_party/allwpilib_2019/cscore/src/main/native/cpp/RawSourceImpl.h
@@ -0,0 +1,41 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#ifndef CSCORE_RAWSOURCEIMPL_H_
+#define CSCORE_RAWSOURCEIMPL_H_
+
+#include <atomic>
+#include <functional>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include <wpi/ArrayRef.h>
+#include <wpi/Twine.h>
+
+#include "ConfigurableSourceImpl.h"
+#include "SourceImpl.h"
+#include "cscore_raw.h"
+
+namespace cs {
+
+class RawSourceImpl : public ConfigurableSourceImpl {
+ public:
+ RawSourceImpl(const wpi::Twine& name, wpi::Logger& logger, Notifier& notifier,
+ Telemetry& telemetry, const VideoMode& mode);
+ ~RawSourceImpl() override;
+
+ // Raw-specific functions
+ void PutFrame(const CS_RawFrame& image);
+
+ private:
+ std::atomic_bool m_connected{true};
+};
+
+} // namespace cs
+
+#endif // CSCORE_RAWSOURCEIMPL_H_
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/cpp/SinkImpl.cpp b/third_party/allwpilib_2019/cscore/src/main/native/cpp/SinkImpl.cpp
index 637b407..5d4235a 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/cpp/SinkImpl.cpp
+++ b/third_party/allwpilib_2019/cscore/src/main/native/cpp/SinkImpl.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -30,18 +30,18 @@
}
void SinkImpl::SetDescription(const wpi::Twine& description) {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
m_description = description.str();
}
wpi::StringRef SinkImpl::GetDescription(wpi::SmallVectorImpl<char>& buf) const {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
buf.append(m_description.begin(), m_description.end());
return wpi::StringRef{buf.data(), buf.size()};
}
void SinkImpl::Enable() {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
++m_enabledCount;
if (m_enabledCount == 1) {
if (m_source) m_source->EnableSink();
@@ -50,7 +50,7 @@
}
void SinkImpl::Disable() {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
--m_enabledCount;
if (m_enabledCount == 0) {
if (m_source) m_source->DisableSink();
@@ -59,7 +59,7 @@
}
void SinkImpl::SetEnabled(bool enabled) {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
if (enabled && m_enabledCount == 0) {
if (m_source) m_source->EnableSink();
m_enabledCount = 1;
@@ -73,7 +73,7 @@
void SinkImpl::SetSource(std::shared_ptr<SourceImpl> source) {
{
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
if (m_source == source) return;
if (m_source) {
if (m_enabledCount > 0) m_source->DisableSink();
@@ -89,13 +89,13 @@
}
std::string SinkImpl::GetError() const {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
if (!m_source) return "no source connected";
return m_source->GetCurFrame().GetError();
}
wpi::StringRef SinkImpl::GetError(wpi::SmallVectorImpl<char>& buf) const {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
if (!m_source) return "no source connected";
// Make a copy as it's shared data
wpi::StringRef error = m_source->GetCurFrame().GetError();
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/cpp/SinkImpl.h b/third_party/allwpilib_2019/cscore/src/main/native/cpp/SinkImpl.h
index 147268f..7ad831f 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/cpp/SinkImpl.h
+++ b/third_party/allwpilib_2019/cscore/src/main/native/cpp/SinkImpl.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -48,7 +48,7 @@
void SetSource(std::shared_ptr<SourceImpl> source);
std::shared_ptr<SourceImpl> GetSource() const {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
return m_source;
}
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/cpp/SourceImpl.cpp b/third_party/allwpilib_2019/cscore/src/main/native/cpp/SourceImpl.cpp
index e646eb6..455b6cd 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/cpp/SourceImpl.cpp
+++ b/third_party/allwpilib_2019/cscore/src/main/native/cpp/SourceImpl.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,7 +10,6 @@
#include <algorithm>
#include <cstring>
-#include <wpi/STLExtras.h>
#include <wpi/json.h>
#include <wpi/timestamp.h>
@@ -45,13 +44,13 @@
}
void SourceImpl::SetDescription(const wpi::Twine& description) {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
m_description = description.str();
}
wpi::StringRef SourceImpl::GetDescription(
wpi::SmallVectorImpl<char>& buf) const {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
buf.append(m_description.begin(), m_description.end());
return wpi::StringRef{buf.data(), buf.size()};
}
@@ -65,24 +64,24 @@
}
uint64_t SourceImpl::GetCurFrameTime() {
- std::unique_lock<wpi::mutex> lock{m_frameMutex};
+ std::unique_lock lock{m_frameMutex};
return m_frame.GetTime();
}
Frame SourceImpl::GetCurFrame() {
- std::unique_lock<wpi::mutex> lock{m_frameMutex};
+ std::unique_lock lock{m_frameMutex};
return m_frame;
}
Frame SourceImpl::GetNextFrame() {
- std::unique_lock<wpi::mutex> lock{m_frameMutex};
+ std::unique_lock lock{m_frameMutex};
auto oldTime = m_frame.GetTime();
m_frameCv.wait(lock, [=] { return m_frame.GetTime() != oldTime; });
return m_frame;
}
Frame SourceImpl::GetNextFrame(double timeout) {
- std::unique_lock<wpi::mutex> lock{m_frameMutex};
+ std::unique_lock lock{m_frameMutex};
auto oldTime = m_frame.GetTime();
if (!m_frameCv.wait_for(
lock, std::chrono::milliseconds(static_cast<int>(timeout * 1000)),
@@ -94,7 +93,7 @@
void SourceImpl::Wakeup() {
{
- std::lock_guard<wpi::mutex> lock{m_frameMutex};
+ std::scoped_lock lock{m_frameMutex};
m_frame = Frame{*this, wpi::StringRef{}, 0};
}
m_frameCv.notify_all();
@@ -135,7 +134,7 @@
VideoMode SourceImpl::GetVideoMode(CS_Status* status) const {
if (!m_properties_cached && !CacheProperties(status)) return VideoMode{};
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
return m_mode;
}
@@ -381,7 +380,7 @@
CS_Status* status) const {
if (!m_properties_cached && !CacheProperties(status))
return std::vector<VideoMode>{};
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
return m_videoModes;
}
@@ -389,7 +388,7 @@
VideoMode::PixelFormat pixelFormat, int width, int height, size_t size) {
std::unique_ptr<Image> image;
{
- std::lock_guard<wpi::mutex> lock{m_poolMutex};
+ std::scoped_lock lock{m_poolMutex};
// find the smallest existing frame that is at least big enough.
int found = -1;
for (size_t i = 0; i < m_imagesAvail.size(); ++i) {
@@ -441,7 +440,7 @@
// Update frame
{
- std::lock_guard<wpi::mutex> lock{m_frameMutex};
+ std::scoped_lock lock{m_frameMutex};
m_frame = Frame{*this, std::move(image), time};
}
@@ -452,7 +451,7 @@
void SourceImpl::PutError(const wpi::Twine& msg, Frame::Time time) {
// Update frame
{
- std::lock_guard<wpi::mutex> lock{m_frameMutex};
+ std::scoped_lock lock{m_frameMutex};
m_frame = Frame{*this, msg, time};
}
@@ -490,7 +489,7 @@
}
void SourceImpl::ReleaseImage(std::unique_ptr<Image> image) {
- std::lock_guard<wpi::mutex> lock{m_poolMutex};
+ std::scoped_lock lock{m_poolMutex};
if (m_destroyFrames) return;
// Return the frame to the pool. First try to find an empty slot, otherwise
// add it to the end.
@@ -512,9 +511,9 @@
}
std::unique_ptr<Frame::Impl> SourceImpl::AllocFrameImpl() {
- std::lock_guard<wpi::mutex> lock{m_poolMutex};
+ std::scoped_lock lock{m_poolMutex};
- if (m_framesAvail.empty()) return wpi::make_unique<Frame::Impl>(*this);
+ if (m_framesAvail.empty()) return std::make_unique<Frame::Impl>(*this);
auto impl = std::move(m_framesAvail.back());
m_framesAvail.pop_back();
@@ -522,7 +521,7 @@
}
void SourceImpl::ReleaseFrameImpl(std::unique_ptr<Frame::Impl> impl) {
- std::lock_guard<wpi::mutex> lock{m_poolMutex};
+ std::scoped_lock lock{m_poolMutex};
if (m_destroyFrames) return;
m_framesAvail.push_back(std::move(impl));
}
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/cpp/Telemetry.cpp b/third_party/allwpilib_2019/cscore/src/main/native/cpp/Telemetry.cpp
index fa6c93c..77130f6 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/cpp/Telemetry.cpp
+++ b/third_party/allwpilib_2019/cscore/src/main/native/cpp/Telemetry.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -53,7 +53,7 @@
void Telemetry::Stop() { m_owner.Stop(); }
void Telemetry::Thread::Main() {
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
auto prevTime = std::chrono::steady_clock::now();
while (m_active) {
double period = m_period;
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/cpp/UnlimitedHandleResource.h b/third_party/allwpilib_2019/cscore/src/main/native/cpp/UnlimitedHandleResource.h
index c297cfa..6c9a538 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/cpp/UnlimitedHandleResource.h
+++ b/third_party/allwpilib_2019/cscore/src/main/native/cpp/UnlimitedHandleResource.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -78,7 +78,7 @@
template <typename... Args>
THandle UnlimitedHandleResource<THandle, TStruct, typeValue, TMutex>::Allocate(
Args&&... args) {
- std::lock_guard<TMutex> sync(m_handleMutex);
+ std::scoped_lock sync(m_handleMutex);
size_t i;
for (i = 0; i < m_structures.size(); i++) {
if (m_structures[i] == nullptr) {
@@ -96,7 +96,7 @@
template <typename THandle, typename TStruct, int typeValue, typename TMutex>
THandle UnlimitedHandleResource<THandle, TStruct, typeValue, TMutex>::Allocate(
std::shared_ptr<THandle> structure) {
- std::lock_guard<TMutex> sync(m_handleMutex);
+ std::scoped_lock sync(m_handleMutex);
size_t i;
for (i = 0; i < m_structures.size(); i++) {
if (m_structures[i] == nullptr) {
@@ -117,7 +117,7 @@
auto index =
handle.GetTypedIndex(static_cast<typename THandle::Type>(typeValue));
if (index < 0) return nullptr;
- std::lock_guard<TMutex> sync(m_handleMutex);
+ std::scoped_lock sync(m_handleMutex);
if (index >= static_cast<int>(m_structures.size())) return nullptr;
return m_structures[index];
}
@@ -129,7 +129,7 @@
auto index =
handle.GetTypedIndex(static_cast<typename THandle::Type>(typeValue));
if (index < 0) return nullptr;
- std::lock_guard<TMutex> sync(m_handleMutex);
+ std::scoped_lock sync(m_handleMutex);
if (index >= static_cast<int>(m_structures.size())) return nullptr;
auto rv = std::move(m_structures[index]);
m_structures[index].reset();
@@ -148,7 +148,7 @@
template <typename THandle, typename TStruct, int typeValue, typename TMutex>
inline std::vector<std::shared_ptr<TStruct>>
UnlimitedHandleResource<THandle, TStruct, typeValue, TMutex>::FreeAll() {
- std::lock_guard<TMutex> sync(m_handleMutex);
+ std::scoped_lock sync(m_handleMutex);
auto rv = std::move(m_structures);
m_structures.clear();
return rv;
@@ -158,7 +158,7 @@
template <typename F>
inline void
UnlimitedHandleResource<THandle, TStruct, typeValue, TMutex>::ForEach(F func) {
- std::lock_guard<TMutex> sync(m_handleMutex);
+ std::scoped_lock sync(m_handleMutex);
for (size_t i = 0; i < m_structures.size(); i++) {
if (m_structures[i] != nullptr) func(MakeHandle(i), *(m_structures[i]));
}
@@ -168,7 +168,7 @@
template <typename F>
inline std::pair<THandle, std::shared_ptr<TStruct>>
UnlimitedHandleResource<THandle, TStruct, typeValue, TMutex>::FindIf(F func) {
- std::lock_guard<TMutex> sync(m_handleMutex);
+ std::scoped_lock sync(m_handleMutex);
for (size_t i = 0; i < m_structures.size(); i++) {
auto& structure = m_structures[i];
if (structure != nullptr && func(*structure))
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/cpp/UsbCameraImplCommon.cpp b/third_party/allwpilib_2019/cscore/src/main/native/cpp/UsbCameraImplCommon.cpp
index 082e398..2b3fb08 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/cpp/UsbCameraImplCommon.cpp
+++ b/third_party/allwpilib_2019/cscore/src/main/native/cpp/UsbCameraImplCommon.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -17,10 +17,12 @@
out->path = ConvertToC(in.path);
out->name = ConvertToC(in.name);
out->otherPaths = static_cast<char**>(
- wpi::CheckedMalloc(in.otherPaths.size() * sizeof(char*)));
+ wpi::safe_malloc(in.otherPaths.size() * sizeof(char*)));
out->otherPathsCount = in.otherPaths.size();
for (size_t i = 0; i < in.otherPaths.size(); ++i)
out->otherPaths[i] = cs::ConvertToC(in.otherPaths[i]);
+ out->vendorId = in.vendorId;
+ out->productId = in.productId;
}
static void FreeUsbCameraInfo(CS_UsbCameraInfo* info) {
@@ -50,7 +52,7 @@
auto info = cs::GetUsbCameraInfo(source, status);
if (*status != CS_OK) return nullptr;
CS_UsbCameraInfo* out = static_cast<CS_UsbCameraInfo*>(
- wpi::CheckedMalloc(sizeof(CS_UsbCameraInfo)));
+ wpi::safe_malloc(sizeof(CS_UsbCameraInfo)));
ConvertToC(out, info);
return out;
}
@@ -58,7 +60,7 @@
CS_UsbCameraInfo* CS_EnumerateUsbCameras(int* count, CS_Status* status) {
auto cameras = cs::EnumerateUsbCameras(status);
CS_UsbCameraInfo* out = static_cast<CS_UsbCameraInfo*>(
- wpi::CheckedMalloc(cameras.size() * sizeof(CS_UsbCameraInfo)));
+ wpi::safe_malloc(cameras.size() * sizeof(CS_UsbCameraInfo)));
*count = cameras.size();
for (size_t i = 0; i < cameras.size(); ++i) ConvertToC(&out[i], cameras[i]);
return out;
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/cpp/c_util.h b/third_party/allwpilib_2019/cscore/src/main/native/cpp/c_util.h
index 6264e1f..f985fe2 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/cpp/c_util.h
+++ b/third_party/allwpilib_2019/cscore/src/main/native/cpp/c_util.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -11,13 +11,13 @@
#include <cstdlib>
#include <cstring>
+#include <wpi/MemAlloc.h>
#include <wpi/StringRef.h>
-#include <wpi/memory.h>
namespace cs {
inline char* ConvertToC(wpi::StringRef in) {
- char* out = static_cast<char*>(wpi::CheckedMalloc(in.size() + 1));
+ char* out = static_cast<char*>(wpi::safe_malloc(in.size() + 1));
std::memmove(out, in.data(), in.size());
out[in.size()] = '\0';
return out;
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/cpp/cscore_c.cpp b/third_party/allwpilib_2019/cscore/src/main/native/cpp/cscore_c.cpp
index 1819d13..321572e 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/cpp/cscore_c.cpp
+++ b/third_party/allwpilib_2019/cscore/src/main/native/cpp/cscore_c.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -11,11 +11,12 @@
#include <cstdlib>
#include <opencv2/core/core.hpp>
+#include <wpi/MemAlloc.h>
#include <wpi/SmallString.h>
-#include <wpi/memory.h>
#include "c_util.h"
#include "cscore_cpp.h"
+#include "cscore_raw.h"
extern "C" {
@@ -70,7 +71,7 @@
CS_Status* status) {
auto choices = cs::GetEnumPropertyChoices(property, status);
char** out =
- static_cast<char**>(wpi::CheckedMalloc(choices.size() * sizeof(char*)));
+ static_cast<char**>(wpi::safe_malloc(choices.size() * sizeof(char*)));
*count = choices.size();
for (size_t i = 0; i < choices.size(); ++i)
out[i] = cs::ConvertToC(choices[i]);
@@ -123,7 +124,7 @@
wpi::SmallVector<CS_Property, 32> buf;
auto vec = cs::EnumerateSourceProperties(source, buf, status);
CS_Property* out = static_cast<CS_Property*>(
- wpi::CheckedMalloc(vec.size() * sizeof(CS_Property)));
+ wpi::safe_malloc(vec.size() * sizeof(CS_Property)));
*count = vec.size();
std::copy(vec.begin(), vec.end(), out);
return out;
@@ -183,7 +184,7 @@
CS_Status* status) {
auto vec = cs::EnumerateSourceVideoModes(source, status);
CS_VideoMode* out = static_cast<CS_VideoMode*>(
- wpi::CheckedMalloc(vec.size() * sizeof(CS_VideoMode)));
+ wpi::safe_malloc(vec.size() * sizeof(CS_VideoMode)));
*count = vec.size();
std::copy(vec.begin(), vec.end(), out);
return out;
@@ -193,8 +194,8 @@
CS_Status* status) {
wpi::SmallVector<CS_Sink, 32> buf;
auto handles = cs::EnumerateSourceSinks(source, buf, status);
- CS_Sink* sinks = static_cast<CS_Sink*>(
- wpi::CheckedMalloc(handles.size() * sizeof(CS_Sink)));
+ CS_Sink* sinks =
+ static_cast<CS_Sink*>(wpi::safe_malloc(handles.size() * sizeof(CS_Sink)));
*count = handles.size();
std::copy(handles.begin(), handles.end(), sinks);
return sinks;
@@ -271,7 +272,7 @@
wpi::SmallVector<CS_Property, 32> buf;
auto vec = cs::EnumerateSinkProperties(sink, buf, status);
CS_Property* out = static_cast<CS_Property*>(
- wpi::CheckedMalloc(vec.size() * sizeof(CS_Property)));
+ wpi::safe_malloc(vec.size() * sizeof(CS_Property)));
*count = vec.size();
std::copy(vec.begin(), vec.end(), out);
return out;
@@ -372,7 +373,7 @@
wpi::SmallVector<CS_Source, 32> buf;
auto handles = cs::EnumerateSourceHandles(buf, status);
CS_Source* sources = static_cast<CS_Source*>(
- wpi::CheckedMalloc(handles.size() * sizeof(CS_Source)));
+ wpi::safe_malloc(handles.size() * sizeof(CS_Source)));
*count = handles.size();
std::copy(handles.begin(), handles.end(), sources);
return sources;
@@ -390,8 +391,8 @@
CS_Sink* CS_EnumerateSinks(int* count, CS_Status* status) {
wpi::SmallVector<CS_Sink, 32> buf;
auto handles = cs::EnumerateSinkHandles(buf, status);
- CS_Sink* sinks = static_cast<CS_Sink*>(
- wpi::CheckedMalloc(handles.size() * sizeof(CS_Sink)));
+ CS_Sink* sinks =
+ static_cast<CS_Sink*>(wpi::safe_malloc(handles.size() * sizeof(CS_Sink)));
*count = handles.size();
std::copy(handles.begin(), handles.end(), sinks);
return sinks;
@@ -426,8 +427,8 @@
char** CS_GetNetworkInterfaces(int* count) {
auto interfaces = cs::GetNetworkInterfaces();
- char** out = static_cast<char**>(
- wpi::CheckedMalloc(interfaces.size() * sizeof(char*)));
+ char** out =
+ static_cast<char**>(wpi::safe_malloc(interfaces.size() * sizeof(char*)));
*count = interfaces.size();
for (size_t i = 0; i < interfaces.size(); ++i)
out[i] = cs::ConvertToC(interfaces[i]);
@@ -440,4 +441,23 @@
std::free(interfaces);
}
+void CS_AllocateRawFrameData(CS_RawFrame* frame, int requestedSize) {
+ if (frame->dataLength >= requestedSize) return;
+ if (frame->data) {
+ frame->data =
+ static_cast<char*>(wpi::safe_realloc(frame->data, requestedSize));
+ } else {
+ frame->data = static_cast<char*>(wpi::safe_malloc(requestedSize));
+ }
+ frame->dataLength = requestedSize;
+}
+
+void CS_FreeRawFrameData(CS_RawFrame* frame) {
+ if (frame->data) {
+ std::free(frame->data);
+ frame->data = nullptr;
+ frame->dataLength = 0;
+ }
+}
+
} // extern "C"
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/cpp/cscore_cpp.cpp b/third_party/allwpilib_2019/cscore/src/main/native/cpp/cscore_cpp.cpp
index 83b4e87..d49fb04 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/cpp/cscore_cpp.cpp
+++ b/third_party/allwpilib_2019/cscore/src/main/native/cpp/cscore_cpp.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/cpp/cscore_oo.cpp b/third_party/allwpilib_2019/cscore/src/main/native/cpp/cscore_oo.cpp
index f455273..f42ed5a 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/cpp/cscore_oo.cpp
+++ b/third_party/allwpilib_2019/cscore/src/main/native/cpp/cscore_oo.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/cpp/jni/CameraServerJNI.cpp b/third_party/allwpilib_2019/cscore/src/main/native/cpp/jni/CameraServerJNI.cpp
index 528d5e4..c50a7db 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/cpp/jni/CameraServerJNI.cpp
+++ b/third_party/allwpilib_2019/cscore/src/main/native/cpp/jni/CameraServerJNI.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,8 +10,14 @@
#include <wpi/raw_ostream.h>
#include "cscore_cpp.h"
+#include "cscore_cv.h"
+#include "cscore_raw.h"
#include "edu_wpi_cscore_CameraServerJNI.h"
+namespace cv {
+class Mat;
+} // namespace cv
+
using namespace wpi::java;
//
@@ -23,6 +29,7 @@
static JClass usbCameraInfoCls;
static JClass videoModeCls;
static JClass videoEventCls;
+static JClass rawFrameCls;
static JException videoEx;
static JException nullPointerEx;
static JException unsupportedEx;
@@ -32,7 +39,8 @@
static const JClassInit classes[] = {
{"edu/wpi/cscore/UsbCameraInfo", &usbCameraInfoCls},
{"edu/wpi/cscore/VideoMode", &videoModeCls},
- {"edu/wpi/cscore/VideoEvent", &videoEventCls}};
+ {"edu/wpi/cscore/VideoEvent", &videoEventCls},
+ {"edu/wpi/cscore/raw/RawFrame", &rawFrameCls}};
static const JExceptionInit exceptions[] = {
{"edu/wpi/cscore/VideoException", &videoEx},
@@ -186,13 +194,14 @@
static jobject MakeJObject(JNIEnv* env, const cs::UsbCameraInfo& info) {
static jmethodID constructor = env->GetMethodID(
usbCameraInfoCls, "<init>",
- "(ILjava/lang/String;Ljava/lang/String;[Ljava/lang/String;)V");
+ "(ILjava/lang/String;Ljava/lang/String;[Ljava/lang/String;II)V");
JLocal<jstring> path(env, MakeJString(env, info.path));
JLocal<jstring> name(env, MakeJString(env, info.name));
JLocal<jobjectArray> otherPaths(env, MakeJStringArray(env, info.otherPaths));
return env->NewObject(usbCameraInfoCls, constructor,
static_cast<jint>(info.dev), path.obj(), name.obj(),
- otherPaths.obj());
+ otherPaths.obj(), static_cast<jint>(info.vendorId),
+ static_cast<jint>(info.productId));
}
static jobject MakeJObject(JNIEnv* env, const cs::VideoMode& videoMode) {
@@ -506,12 +515,12 @@
}
/*
- * Class: edu_wpi_cscore_CameraServerJNI
+ * Class: edu_wpi_cscore_CameraServerCvJNI
* Method: createCvSource
* Signature: (Ljava/lang/String;IIII)I
*/
JNIEXPORT jint JNICALL
-Java_edu_wpi_cscore_CameraServerJNI_createCvSource
+Java_edu_wpi_cscore_CameraServerCvJNI_createCvSource
(JNIEnv* env, jclass, jstring name, jint pixelFormat, jint width, jint height,
jint fps)
{
@@ -532,6 +541,31 @@
/*
* Class: edu_wpi_cscore_CameraServerJNI
+ * Method: createRawSource
+ * Signature: (Ljava/lang/String;IIII)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_cscore_CameraServerJNI_createRawSource
+ (JNIEnv* env, jclass, jstring name, jint pixelFormat, jint width, jint height,
+ jint fps)
+{
+ if (!name) {
+ nullPointerEx.Throw(env, "name cannot be null");
+ return 0;
+ }
+ CS_Status status = 0;
+ auto val = cs::CreateRawSource(
+ JStringRef{env, name}.str(),
+ cs::VideoMode{static_cast<cs::VideoMode::PixelFormat>(pixelFormat),
+ static_cast<int>(width), static_cast<int>(height),
+ static_cast<int>(fps)},
+ &status);
+ CheckStatus(env, status);
+ return val;
+}
+
+/*
+ * Class: edu_wpi_cscore_CameraServerJNI
* Method: getSourceKind
* Signature: (I)I
*/
@@ -1054,12 +1088,12 @@
}
/*
- * Class: edu_wpi_cscore_CameraServerJNI
+ * Class: edu_wpi_cscore_CameraServerCvJNI
* Method: putSourceFrame
* Signature: (IJ)V
*/
JNIEXPORT void JNICALL
-Java_edu_wpi_cscore_CameraServerJNI_putSourceFrame
+Java_edu_wpi_cscore_CameraServerCvJNI_putSourceFrame
(JNIEnv* env, jclass, jint source, jlong imageNativeObj)
{
cv::Mat& image = *((cv::Mat*)imageNativeObj);
@@ -1068,6 +1102,51 @@
CheckStatus(env, status);
}
+// int width, int height, int pixelFormat, int totalData
+
+/*
+ * Class: edu_wpi_cscore_CameraServerJNI
+ * Method: putRawSourceFrameBB
+ * Signature: (ILjava/lang/Object;IIII)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_cscore_CameraServerJNI_putRawSourceFrameBB
+ (JNIEnv* env, jclass, jint source, jobject byteBuffer, jint width,
+ jint height, jint pixelFormat, jint totalData)
+{
+ CS_RawFrame rawFrame;
+ rawFrame.data =
+ reinterpret_cast<char*>(env->GetDirectBufferAddress(byteBuffer));
+ rawFrame.totalData = totalData;
+ rawFrame.pixelFormat = pixelFormat;
+ rawFrame.width = width;
+ rawFrame.height = height;
+ CS_Status status = 0;
+ cs::PutSourceFrame(source, rawFrame, &status);
+ CheckStatus(env, status);
+}
+
+/*
+ * Class: edu_wpi_cscore_CameraServerJNI
+ * Method: putRawSourceFrame
+ * Signature: (IJIIII)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_cscore_CameraServerJNI_putRawSourceFrame
+ (JNIEnv* env, jclass, jint source, jlong ptr, jint width, jint height,
+ jint pixelFormat, jint totalData)
+{
+ CS_RawFrame rawFrame;
+ rawFrame.data = reinterpret_cast<char*>(static_cast<intptr_t>(ptr));
+ rawFrame.totalData = totalData;
+ rawFrame.pixelFormat = pixelFormat;
+ rawFrame.width = width;
+ rawFrame.height = height;
+ CS_Status status = 0;
+ cs::PutSourceFrame(source, rawFrame, &status);
+ CheckStatus(env, status);
+}
+
/*
* Class: edu_wpi_cscore_CameraServerJNI
* Method: notifySourceError
@@ -1192,12 +1271,12 @@
}
/*
- * Class: edu_wpi_cscore_CameraServerJNI
+ * Class: edu_wpi_cscore_CameraServerCvJNI
* Method: createCvSink
* Signature: (Ljava/lang/String;)I
*/
JNIEXPORT jint JNICALL
-Java_edu_wpi_cscore_CameraServerJNI_createCvSink
+Java_edu_wpi_cscore_CameraServerCvJNI_createCvSink
(JNIEnv* env, jclass, jstring name)
{
if (!name) {
@@ -1212,6 +1291,25 @@
/*
* Class: edu_wpi_cscore_CameraServerJNI
+ * Method: createRawSink
+ * Signature: (Ljava/lang/String;)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_cscore_CameraServerJNI_createRawSink
+ (JNIEnv* env, jclass, jstring name)
+{
+ if (!name) {
+ nullPointerEx.Throw(env, "name cannot be null");
+ return 0;
+ }
+ CS_Status status = 0;
+ auto val = cs::CreateRawSink(JStringRef{env, name}.str(), &status);
+ CheckStatus(env, status);
+ return val;
+}
+
+/*
+ * Class: edu_wpi_cscore_CameraServerJNI
* Method: getSinkKind
* Signature: (I)I
*/
@@ -1449,12 +1547,12 @@
}
/*
- * Class: edu_wpi_cscore_CameraServerJNI
+ * Class: edu_wpi_cscore_CameraServerCvJNI
* Method: grabSinkFrame
* Signature: (IJ)J
*/
JNIEXPORT jlong JNICALL
-Java_edu_wpi_cscore_CameraServerJNI_grabSinkFrame
+Java_edu_wpi_cscore_CameraServerCvJNI_grabSinkFrame
(JNIEnv* env, jclass, jint sink, jlong imageNativeObj)
{
cv::Mat& image = *((cv::Mat*)imageNativeObj);
@@ -1465,12 +1563,12 @@
}
/*
- * Class: edu_wpi_cscore_CameraServerJNI
+ * Class: edu_wpi_cscore_CameraServerCvJNI
* Method: grabSinkFrameTimeout
* Signature: (IJD)J
*/
JNIEXPORT jlong JNICALL
-Java_edu_wpi_cscore_CameraServerJNI_grabSinkFrameTimeout
+Java_edu_wpi_cscore_CameraServerCvJNI_grabSinkFrameTimeout
(JNIEnv* env, jclass, jint sink, jlong imageNativeObj, jdouble timeout)
{
cv::Mat& image = *((cv::Mat*)imageNativeObj);
@@ -1480,6 +1578,75 @@
return rv;
}
+static void SetRawFrameData(JNIEnv* env, jobject rawFrameObj,
+ jobject byteBuffer, bool didChangeDataPtr,
+ const CS_RawFrame& frame) {
+ static jmethodID setMethod =
+ env->GetMethodID(rawFrameCls, "setData", "(Ljava/nio/ByteBuffer;JIIII)V");
+ jlong framePtr = static_cast<jlong>(reinterpret_cast<intptr_t>(frame.data));
+
+ if (didChangeDataPtr) {
+ byteBuffer = env->NewDirectByteBuffer(frame.data, frame.dataLength);
+ }
+
+ env->CallVoidMethod(
+ rawFrameObj, setMethod, byteBuffer, framePtr,
+ static_cast<jint>(frame.totalData), static_cast<jint>(frame.width),
+ static_cast<jint>(frame.height), static_cast<jint>(frame.pixelFormat));
+}
+
+/*
+ * Class: edu_wpi_cscore_CameraServerJNI
+ * Method: grabRawSinkFrameImpl
+ * Signature: (ILjava/lang/Object;JLjava/lang/Object;III)J
+ */
+JNIEXPORT jlong JNICALL
+Java_edu_wpi_cscore_CameraServerJNI_grabRawSinkFrameImpl
+ (JNIEnv* env, jclass, jint sink, jobject rawFrameObj, jlong rawFramePtr,
+ jobject byteBuffer, jint width, jint height, jint pixelFormat)
+{
+ CS_RawFrame* ptr =
+ reinterpret_cast<CS_RawFrame*>(static_cast<intptr_t>(rawFramePtr));
+ auto origDataPtr = ptr->data;
+ ptr->width = width;
+ ptr->height = height;
+ ptr->pixelFormat = pixelFormat;
+ CS_Status status = 0;
+ auto rv = cs::GrabSinkFrame(static_cast<CS_Sink>(sink), *ptr, &status);
+ if (!CheckStatus(env, status)) {
+ return 0;
+ }
+ SetRawFrameData(env, rawFrameObj, byteBuffer, origDataPtr != ptr->data, *ptr);
+ return rv;
+}
+
+/*
+ * Class: edu_wpi_cscore_CameraServerJNI
+ * Method: grabRawSinkFrameTimeoutImpl
+ * Signature: (ILjava/lang/Object;JLjava/lang/Object;IIID)J
+ */
+JNIEXPORT jlong JNICALL
+Java_edu_wpi_cscore_CameraServerJNI_grabRawSinkFrameTimeoutImpl
+ (JNIEnv* env, jclass, jint sink, jobject rawFrameObj, jlong rawFramePtr,
+ jobject byteBuffer, jint width, jint height, jint pixelFormat,
+ jdouble timeout)
+{
+ CS_RawFrame* ptr =
+ reinterpret_cast<CS_RawFrame*>(static_cast<intptr_t>(rawFramePtr));
+ auto origDataPtr = ptr->data;
+ ptr->width = width;
+ ptr->height = height;
+ ptr->pixelFormat = pixelFormat;
+ CS_Status status = 0;
+ auto rv = cs::GrabSinkFrameTimeout(static_cast<CS_Sink>(sink), *ptr, timeout,
+ &status);
+ if (!CheckStatus(env, status)) {
+ return 0;
+ }
+ SetRawFrameData(env, rawFrameObj, byteBuffer, origDataPtr != ptr->data, *ptr);
+ return rv;
+}
+
/*
* Class: edu_wpi_cscore_CameraServerJNI
* Method: getSinkError
@@ -1781,4 +1948,32 @@
minLevel);
}
+/*
+ * Class: edu_wpi_cscore_CameraServerJNI
+ * Method: allocateRawFrame
+ * Signature: ()J
+ */
+JNIEXPORT jlong JNICALL
+Java_edu_wpi_cscore_CameraServerJNI_allocateRawFrame
+ (JNIEnv*, jclass)
+{
+ cs::RawFrame* rawFrame = new cs::RawFrame{};
+ intptr_t rawFrameIntPtr = reinterpret_cast<intptr_t>(rawFrame);
+ return static_cast<jlong>(rawFrameIntPtr);
+}
+
+/*
+ * Class: edu_wpi_cscore_CameraServerJNI
+ * Method: freeRawFrame
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_cscore_CameraServerJNI_freeRawFrame
+ (JNIEnv*, jclass, jlong rawFrame)
+{
+ cs::RawFrame* ptr =
+ reinterpret_cast<cs::RawFrame*>(static_cast<intptr_t>(rawFrame));
+ delete ptr;
+}
+
} // extern "C"
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/include/cscore_c.h b/third_party/allwpilib_2019/cscore/src/main/native/include/cscore_c.h
index 182b9b2..24e30b4 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/include/cscore_c.h
+++ b/third_party/allwpilib_2019/cscore/src/main/native/include/cscore_c.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -20,8 +20,6 @@
extern "C" {
#endif
-struct CvMat;
-
/**
* @defgroup cscore_c_api cscore C API
*
@@ -128,7 +126,8 @@
CS_SOURCE_UNKNOWN = 0,
CS_SOURCE_USB = 1,
CS_SOURCE_HTTP = 2,
- CS_SOURCE_CV = 4
+ CS_SOURCE_CV = 4,
+ CS_SOURCE_RAW = 8,
};
/**
@@ -144,7 +143,12 @@
/**
* Sink kinds
*/
-enum CS_SinkKind { CS_SINK_UNKNOWN = 0, CS_SINK_MJPEG = 2, CS_SINK_CV = 4 };
+enum CS_SinkKind {
+ CS_SINK_UNKNOWN = 0,
+ CS_SINK_MJPEG = 2,
+ CS_SINK_CV = 4,
+ CS_SINK_RAW = 8
+};
/**
* Listener event kinds
@@ -232,6 +236,8 @@
char* name;
int otherPathsCount;
char** otherPaths;
+ int vendorId;
+ int productId;
} CS_UsbCameraInfo;
/**
@@ -351,8 +357,6 @@
* @defgroup cscore_opencv_source_cfunc OpenCV Source Functions
* @{
*/
-void CS_PutSourceFrame(CS_Source source, struct CvMat* image,
- CS_Status* status);
void CS_NotifySourceError(CS_Source source, const char* msg, CS_Status* status);
void CS_SetSourceConnected(CS_Source source, CS_Bool connected,
CS_Status* status);
@@ -415,9 +419,6 @@
*/
void CS_SetSinkDescription(CS_Sink sink, const char* description,
CS_Status* status);
-uint64_t CS_GrabSinkFrame(CS_Sink sink, struct CvMat* image, CS_Status* status);
-uint64_t CS_GrabSinkFrameTimeout(CS_Sink sink, struct CvMat* image,
- double timeout, CS_Status* status);
char* CS_GetSinkError(CS_Sink sink, CS_Status* status);
void CS_SetSinkEnabled(CS_Sink sink, CS_Bool enabled, CS_Status* status);
/** @} */
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/include/cscore_cpp.h b/third_party/allwpilib_2019/cscore/src/main/native/include/cscore_cpp.h
index a400b78..c1ec024 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/include/cscore_cpp.h
+++ b/third_party/allwpilib_2019/cscore/src/main/native/include/cscore_cpp.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -21,9 +21,11 @@
#include "cscore_c.h"
-namespace cv {
-class Mat;
-} // namespace cv
+#ifdef _WIN32
+// Disable uninitialized variable warnings
+#pragma warning(push)
+#pragma warning(disable : 26495)
+#endif
namespace wpi {
class json;
@@ -54,6 +56,10 @@
std::string name;
/** Other path aliases to device (e.g. '/dev/v4l/by-id/...' etc on Linux) */
std::vector<std::string> otherPaths;
+ /** USB Vendor Id */
+ int vendorId = -1;
+ /** USB Product Id */
+ int productId = -1;
};
/**
@@ -286,7 +292,6 @@
* @defgroup cscore_opencv_source_func OpenCV Source Functions
* @{
*/
-void PutSourceFrame(CS_Source source, cv::Mat& image, CS_Status* status);
void NotifySourceError(CS_Source source, const wpi::Twine& msg,
CS_Status* status);
void SetSourceConnected(CS_Source source, bool connected, CS_Status* status);
@@ -312,6 +317,7 @@
CS_Sink CreateCvSinkCallback(const wpi::Twine& name,
std::function<void(uint64_t time)> processFrame,
CS_Status* status);
+
/** @} */
/**
@@ -356,9 +362,6 @@
*/
void SetSinkDescription(CS_Sink sink, const wpi::Twine& description,
CS_Status* status);
-uint64_t GrabSinkFrame(CS_Sink sink, cv::Mat& image, CS_Status* status);
-uint64_t GrabSinkFrameTimeout(CS_Sink sink, cv::Mat& image, double timeout,
- CS_Status* status);
std::string GetSinkError(CS_Sink sink, CS_Status* status);
wpi::StringRef GetSinkError(CS_Sink sink, wpi::SmallVectorImpl<char>& buf,
CS_Status* status);
@@ -429,18 +432,9 @@
} // namespace cs
-/**
- * @defgroup cscore_cpp_opencv_special cscore C functions taking a cv::Mat*
- *
- * These are needed for specific interop implementations.
- * @{
- */
-extern "C" {
-uint64_t CS_GrabSinkFrameCpp(CS_Sink sink, cv::Mat* image, CS_Status* status);
-uint64_t CS_GrabSinkFrameTimeoutCpp(CS_Sink sink, cv::Mat* image,
- double timeout, CS_Status* status);
-void CS_PutSourceFrameCpp(CS_Source source, cv::Mat* image, CS_Status* status);
-} // extern "C"
-/** @} */
+#ifdef _WIN32
+// Disable uninitialized variable warnings
+#pragma warning(pop)
+#endif
#endif // CSCORE_CSCORE_CPP_H_
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/include/cscore_cv.h b/third_party/allwpilib_2019/cscore/src/main/native/include/cscore_cv.h
new file mode 100644
index 0000000..650399b
--- /dev/null
+++ b/third_party/allwpilib_2019/cscore/src/main/native/include/cscore_cv.h
@@ -0,0 +1,209 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#ifndef CSCORE_CSCORE_CV_H_
+#define CSCORE_CSCORE_CV_H_
+
+#include "cscore_c.h"
+
+#ifdef CSCORE_CSCORE_RAW_CV_H_
+#error "Cannot include both cscore_cv.h and cscore_raw_cv.h in the same file"
+#endif
+
+#ifdef __cplusplus
+#include "cscore_oo.h" // NOLINT(build/include_order)
+
+#endif
+
+#if CV_VERSION_MAJOR < 4
+
+#ifdef __cplusplus
+extern "C" { // NOLINT(build/include_order)
+#endif
+
+struct CvMat;
+
+void CS_PutSourceFrame(CS_Source source, struct CvMat* image,
+ CS_Status* status);
+
+uint64_t CS_GrabSinkFrame(CS_Sink sink, struct CvMat* image, CS_Status* status);
+uint64_t CS_GrabSinkFrameTimeout(CS_Sink sink, struct CvMat* image,
+ double timeout, CS_Status* status);
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+#endif // CV_VERSION_MAJOR < 4
+
+#ifdef __cplusplus
+
+#include "cscore_oo.h"
+
+namespace cv {
+class Mat;
+} // namespace cv
+
+namespace cs {
+
+/**
+ * @defgroup cscore_cpp_opencv_special cscore C functions taking a cv::Mat*
+ *
+ * These are needed for specific interop implementations.
+ * @{
+ */
+extern "C" {
+uint64_t CS_GrabSinkFrameCpp(CS_Sink sink, cv::Mat* image, CS_Status* status);
+uint64_t CS_GrabSinkFrameTimeoutCpp(CS_Sink sink, cv::Mat* image,
+ double timeout, CS_Status* status);
+void CS_PutSourceFrameCpp(CS_Source source, cv::Mat* image, CS_Status* status);
+} // extern "C"
+/** @} */
+
+void PutSourceFrame(CS_Source source, cv::Mat& image, CS_Status* status);
+uint64_t GrabSinkFrame(CS_Sink sink, cv::Mat& image, CS_Status* status);
+uint64_t GrabSinkFrameTimeout(CS_Sink sink, cv::Mat& image, double timeout,
+ CS_Status* status);
+
+/**
+ * A source for user code to provide OpenCV images as video frames.
+ * These sources require the WPILib OpenCV builds.
+ * For an alternate OpenCV, include "cscore_raw_cv.h" instead, and
+ * include your Mat header before that header.
+ */
+class CvSource : public ImageSource {
+ public:
+ CvSource() = default;
+
+ /**
+ * Create an OpenCV source.
+ *
+ * @param name Source name (arbitrary unique identifier)
+ * @param mode Video mode being generated
+ */
+ CvSource(const wpi::Twine& name, const VideoMode& mode);
+
+ /**
+ * Create an OpenCV source.
+ *
+ * @param name Source name (arbitrary unique identifier)
+ * @param pixelFormat Pixel format
+ * @param width width
+ * @param height height
+ * @param fps fps
+ */
+ CvSource(const wpi::Twine& name, VideoMode::PixelFormat pixelFormat,
+ int width, int height, int fps);
+
+ /**
+ * Put an OpenCV image and notify sinks.
+ *
+ * <p>Only 8-bit single-channel or 3-channel (with BGR channel order) images
+ * are supported. If the format, depth or channel order is different, use
+ * cv::Mat::convertTo() and/or cv::cvtColor() to convert it first.
+ *
+ * @param image OpenCV image
+ */
+ void PutFrame(cv::Mat& image);
+};
+
+/**
+ * A sink for user code to accept video frames as OpenCV images.
+ * These sinks require the WPILib OpenCV builds.
+ * For an alternate OpenCV, include "cscore_raw_cv.h" instead, and
+ * include your Mat header before that header.
+ */
+class CvSink : public ImageSink {
+ public:
+ CvSink() = default;
+
+ /**
+ * Create a sink for accepting OpenCV images.
+ *
+ * <p>WaitForFrame() must be called on the created sink to get each new
+ * image.
+ *
+ * @param name Source name (arbitrary unique identifier)
+ */
+ explicit CvSink(const wpi::Twine& name);
+
+ /**
+ * Create a sink for accepting OpenCV images in a separate thread.
+ *
+ * <p>A thread will be created that calls WaitForFrame() and calls the
+ * processFrame() callback each time a new frame arrives.
+ *
+ * @param name Source name (arbitrary unique identifier)
+ * @param processFrame Frame processing function; will be called with a
+ * time=0 if an error occurred. processFrame should call GetImage()
+ * or GetError() as needed, but should not call (except in very
+ * unusual circumstances) WaitForImage().
+ */
+ CvSink(const wpi::Twine& name,
+ std::function<void(uint64_t time)> processFrame);
+
+ /**
+ * Wait for the next frame and get the image.
+ * Times out (returning 0) after timeout seconds.
+ * The provided image will have three 8-bit channels stored in BGR order.
+ *
+ * @return Frame time, or 0 on error (call GetError() to obtain the error
+ * message); the frame time is in the same time base as wpi::Now(),
+ * and is in 1 us increments.
+ */
+ uint64_t GrabFrame(cv::Mat& image, double timeout = 0.225) const;
+
+ /**
+ * Wait for the next frame and get the image. May block forever.
+ * The provided image will have three 8-bit channels stored in BGR order.
+ *
+ * @return Frame time, or 0 on error (call GetError() to obtain the error
+ * message); the frame time is in the same time base as wpi::Now(),
+ * and is in 1 us increments.
+ */
+ uint64_t GrabFrameNoTimeout(cv::Mat& image) const;
+};
+
+inline CvSource::CvSource(const wpi::Twine& name, const VideoMode& mode) {
+ m_handle = CreateCvSource(name, mode, &m_status);
+}
+
+inline CvSource::CvSource(const wpi::Twine& name, VideoMode::PixelFormat format,
+ int width, int height, int fps) {
+ m_handle =
+ CreateCvSource(name, VideoMode{format, width, height, fps}, &m_status);
+}
+
+inline void CvSource::PutFrame(cv::Mat& image) {
+ m_status = 0;
+ PutSourceFrame(m_handle, image, &m_status);
+}
+
+inline CvSink::CvSink(const wpi::Twine& name) {
+ m_handle = CreateCvSink(name, &m_status);
+}
+
+inline CvSink::CvSink(const wpi::Twine& name,
+ std::function<void(uint64_t time)> processFrame) {
+ m_handle = CreateCvSinkCallback(name, processFrame, &m_status);
+}
+
+inline uint64_t CvSink::GrabFrame(cv::Mat& image, double timeout) const {
+ m_status = 0;
+ return GrabSinkFrameTimeout(m_handle, image, timeout, &m_status);
+}
+
+inline uint64_t CvSink::GrabFrameNoTimeout(cv::Mat& image) const {
+ m_status = 0;
+ return GrabSinkFrame(m_handle, image, &m_status);
+}
+
+} // namespace cs
+
+#endif
+
+#endif // CSCORE_CSCORE_CV_H_
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/include/cscore_oo.h b/third_party/allwpilib_2019/cscore/src/main/native/include/cscore_oo.h
index 7e0cb9f..5ab0f70 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/include/cscore_oo.h
+++ b/third_party/allwpilib_2019/cscore/src/main/native/include/cscore_oo.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -28,7 +28,7 @@
*/
// Forward declarations so friend declarations work correctly
-class CvSource;
+class ImageSource;
class VideoEvent;
class VideoSink;
class VideoSource;
@@ -37,7 +37,7 @@
* A source or sink property.
*/
class VideoProperty {
- friend class CvSource;
+ friend class ImageSource;
friend class VideoEvent;
friend class VideoSink;
friend class VideoSource;
@@ -51,7 +51,7 @@
kEnum = CS_PROP_ENUM
};
- VideoProperty() : m_handle(0), m_kind(kNone) {}
+ VideoProperty() : m_status(0), m_handle(0), m_kind(kNone) {}
std::string GetName() const;
@@ -617,43 +617,13 @@
};
/**
- * A source for user code to provide OpenCV images as video frames.
+ * A base class for single image providing sources.
*/
-class CvSource : public VideoSource {
+class ImageSource : public VideoSource {
+ protected:
+ ImageSource() = default;
+
public:
- CvSource() = default;
-
- /**
- * Create an OpenCV source.
- *
- * @param name Source name (arbitrary unique identifier)
- * @param mode Video mode being generated
- */
- CvSource(const wpi::Twine& name, const VideoMode& mode);
-
- /**
- * Create an OpenCV source.
- *
- * @param name Source name (arbitrary unique identifier)
- * @param pixelFormat Pixel format
- * @param width width
- * @param height height
- * @param fps fps
- */
- CvSource(const wpi::Twine& name, VideoMode::PixelFormat pixelFormat,
- int width, int height, int fps);
-
- /**
- * Put an OpenCV image and notify sinks.
- *
- * <p>Only 8-bit single-channel or 3-channel (with BGR channel order) images
- * are supported. If the format, depth or channel order is different, use
- * cv::Mat::convertTo() and/or cv::cvtColor() to convert it first.
- *
- * @param image OpenCV image
- */
- void PutFrame(cv::Mat& image);
-
/**
* Signal sinks that an error has occurred. This should be called instead
* of NotifyFrame when an error occurs.
@@ -979,37 +949,13 @@
};
/**
- * A sink for user code to accept video frames as OpenCV images.
+ * A base class for single image reading sinks.
*/
-class CvSink : public VideoSink {
+class ImageSink : public VideoSink {
+ protected:
+ ImageSink() = default;
+
public:
- CvSink() = default;
-
- /**
- * Create a sink for accepting OpenCV images.
- *
- * <p>WaitForFrame() must be called on the created sink to get each new
- * image.
- *
- * @param name Source name (arbitrary unique identifier)
- */
- explicit CvSink(const wpi::Twine& name);
-
- /**
- * Create a sink for accepting OpenCV images in a separate thread.
- *
- * <p>A thread will be created that calls WaitForFrame() and calls the
- * processFrame() callback each time a new frame arrives.
- *
- * @param name Source name (arbitrary unique identifier)
- * @param processFrame Frame processing function; will be called with a
- * time=0 if an error occurred. processFrame should call GetImage()
- * or GetError() as needed, but should not call (except in very
- * unusual circumstances) WaitForImage().
- */
- CvSink(const wpi::Twine& name,
- std::function<void(uint64_t time)> processFrame);
-
/**
* Set sink description.
*
@@ -1018,27 +964,6 @@
void SetDescription(const wpi::Twine& description);
/**
- * Wait for the next frame and get the image.
- * Times out (returning 0) after timeout seconds.
- * The provided image will have three 8-bit channels stored in BGR order.
- *
- * @return Frame time, or 0 on error (call GetError() to obtain the error
- * message); the frame time is in the same time base as wpi::Now(),
- * and is in 1 us increments.
- */
- uint64_t GrabFrame(cv::Mat& image, double timeout = 0.225) const;
-
- /**
- * Wait for the next frame and get the image. May block forever.
- * The provided image will have three 8-bit channels stored in BGR order.
- *
- * @return Frame time, or 0 on error (call GetError() to obtain the error
- * message); the frame time is in the same time base as wpi::Now(),
- * and is in 1 us increments.
- */
- uint64_t GrabFrameNoTimeout(cv::Mat& image) const;
-
- /**
* Get error string. Call this if WaitForFrame() returns 0 to determine
* what the error is.
*/
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/include/cscore_oo.inl b/third_party/allwpilib_2019/cscore/src/main/native/include/cscore_oo.inl
index 5162e1d..ffd2b23 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/include/cscore_oo.inl
+++ b/third_party/allwpilib_2019/cscore/src/main/native/include/cscore_oo.inl
@@ -76,7 +76,7 @@
}
inline VideoProperty::VideoProperty(CS_Property handle, Kind kind)
- : m_handle(handle), m_kind(kind) {}
+ : m_status(0), m_handle(handle), m_kind(kind) {}
inline VideoSource::VideoSource(const VideoSource& source)
: m_handle(source.m_handle == 0 ? 0
@@ -378,37 +378,22 @@
std::initializer_list<T> hosts)
: HttpCamera(name, HostToUrl(hosts), kAxis) {}
-inline CvSource::CvSource(const wpi::Twine& name, const VideoMode& mode) {
- m_handle = CreateCvSource(name, mode, &m_status);
-}
-
-inline CvSource::CvSource(const wpi::Twine& name, VideoMode::PixelFormat format,
- int width, int height, int fps) {
- m_handle =
- CreateCvSource(name, VideoMode{format, width, height, fps}, &m_status);
-}
-
-inline void CvSource::PutFrame(cv::Mat& image) {
- m_status = 0;
- PutSourceFrame(m_handle, image, &m_status);
-}
-
-inline void CvSource::NotifyError(const wpi::Twine& msg) {
+inline void ImageSource::NotifyError(const wpi::Twine& msg) {
m_status = 0;
NotifySourceError(m_handle, msg, &m_status);
}
-inline void CvSource::SetConnected(bool connected) {
+inline void ImageSource::SetConnected(bool connected) {
m_status = 0;
SetSourceConnected(m_handle, connected, &m_status);
}
-inline void CvSource::SetDescription(const wpi::Twine& description) {
+inline void ImageSource::SetDescription(const wpi::Twine& description) {
m_status = 0;
SetSourceDescription(m_handle, description, &m_status);
}
-inline VideoProperty CvSource::CreateProperty(const wpi::Twine& name,
+inline VideoProperty ImageSource::CreateProperty(const wpi::Twine& name,
VideoProperty::Kind kind,
int minimum, int maximum,
int step, int defaultValue,
@@ -419,7 +404,7 @@
minimum, maximum, step, defaultValue, value, &m_status)};
}
-inline VideoProperty CvSource::CreateIntegerProperty(const wpi::Twine& name,
+inline VideoProperty ImageSource::CreateIntegerProperty(const wpi::Twine& name,
int minimum, int maximum,
int step, int defaultValue,
int value) {
@@ -429,7 +414,7 @@
minimum, maximum, step, defaultValue, value, &m_status)};
}
-inline VideoProperty CvSource::CreateBooleanProperty(const wpi::Twine& name,
+inline VideoProperty ImageSource::CreateBooleanProperty(const wpi::Twine& name,
bool defaultValue,
bool value) {
m_status = 0;
@@ -438,7 +423,7 @@
0, 1, 1, defaultValue ? 1 : 0, value ? 1 : 0, &m_status)};
}
-inline VideoProperty CvSource::CreateStringProperty(const wpi::Twine& name,
+inline VideoProperty ImageSource::CreateStringProperty(const wpi::Twine& name,
const wpi::Twine& value) {
m_status = 0;
auto prop = VideoProperty{CreateSourceProperty(
@@ -449,14 +434,14 @@
}
-inline void CvSource::SetEnumPropertyChoices(
+inline void ImageSource::SetEnumPropertyChoices(
const VideoProperty& property, wpi::ArrayRef<std::string> choices) {
m_status = 0;
SetSourceEnumPropertyChoices(m_handle, property.m_handle, choices, &m_status);
}
template <typename T>
-inline void CvSource::SetEnumPropertyChoices(const VideoProperty& property,
+inline void ImageSource::SetEnumPropertyChoices(const VideoProperty& property,
std::initializer_list<T> choices) {
std::vector<std::string> vec;
vec.reserve(choices.size());
@@ -575,36 +560,17 @@
quality, &m_status);
}
-inline CvSink::CvSink(const wpi::Twine& name) {
- m_handle = CreateCvSink(name, &m_status);
-}
-
-inline CvSink::CvSink(const wpi::Twine& name,
- std::function<void(uint64_t time)> processFrame) {
- m_handle = CreateCvSinkCallback(name, processFrame, &m_status);
-}
-
-inline void CvSink::SetDescription(const wpi::Twine& description) {
+inline void ImageSink::SetDescription(const wpi::Twine& description) {
m_status = 0;
SetSinkDescription(m_handle, description, &m_status);
}
-inline uint64_t CvSink::GrabFrame(cv::Mat& image, double timeout) const {
- m_status = 0;
- return GrabSinkFrameTimeout(m_handle, image, timeout, &m_status);
-}
-
-inline uint64_t CvSink::GrabFrameNoTimeout(cv::Mat& image) const {
- m_status = 0;
- return GrabSinkFrame(m_handle, image, &m_status);
-}
-
-inline std::string CvSink::GetError() const {
+inline std::string ImageSink::GetError() const {
m_status = 0;
return GetSinkError(m_handle, &m_status);
}
-inline void CvSink::SetEnabled(bool enabled) {
+inline void ImageSink::SetEnabled(bool enabled) {
m_status = 0;
SetSinkEnabled(m_handle, enabled, &m_status);
}
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/include/cscore_raw.h b/third_party/allwpilib_2019/cscore/src/main/native/include/cscore_raw.h
new file mode 100644
index 0000000..902d90e
--- /dev/null
+++ b/third_party/allwpilib_2019/cscore/src/main/native/include/cscore_raw.h
@@ -0,0 +1,234 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#ifndef CSCORE_CSCORE_RAW_H_
+#define CSCORE_CSCORE_RAW_H_
+
+#include "cscore_c.h"
+
+#ifdef __cplusplus
+#include "cscore_oo.h"
+#endif
+
+/**
+ * Raw Frame
+ */
+typedef struct CS_RawFrame {
+ char* data;
+ int dataLength;
+ int pixelFormat;
+ int width;
+ int height;
+ int totalData;
+} CS_RawFrame;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @defgroup cscore_raw_cfunc Raw Image Functions
+ * @{
+ */
+void CS_AllocateRawFrameData(CS_RawFrame* frame, int requestedSize);
+void CS_FreeRawFrameData(CS_RawFrame* frame);
+
+uint64_t CS_GrabRawSinkFrame(CS_Sink sink, struct CS_RawFrame* rawImage,
+ CS_Status* status);
+uint64_t CS_GrabRawSinkFrameTimeout(CS_Sink sink, struct CS_RawFrame* rawImage,
+ double timeout, CS_Status* status);
+
+CS_Sink CS_CreateRawSink(const char* name, CS_Status* status);
+
+CS_Sink CS_CreateRawSinkCallback(const char* name, void* data,
+ void (*processFrame)(void* data,
+ uint64_t time),
+ CS_Status* status);
+
+void CS_PutRawSourceFrame(CS_Source source, const struct CS_RawFrame* image,
+ CS_Status* status);
+
+CS_Source CS_CreateRawSource(const char* name, const CS_VideoMode* mode,
+ CS_Status* status);
+/** @} */
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+#ifdef __cplusplus
+namespace cs {
+
+struct RawFrame : public CS_RawFrame {
+ RawFrame() {
+ data = nullptr;
+ dataLength = 0;
+ pixelFormat = CS_PIXFMT_UNKNOWN;
+ width = 0;
+ height = 0;
+ totalData = 0;
+ }
+
+ ~RawFrame() { CS_FreeRawFrameData(this); }
+};
+
+/**
+ * @defgroup cscore_raw_func Raw Image Functions
+ * @{
+ */
+
+CS_Source CreateRawSource(const wpi::Twine& name, const VideoMode& mode,
+ CS_Status* status);
+
+CS_Sink CreateRawSink(const wpi::Twine& name, CS_Status* status);
+CS_Sink CreateRawSinkCallback(const wpi::Twine& name,
+ std::function<void(uint64_t time)> processFrame,
+ CS_Status* status);
+
+void PutSourceFrame(CS_Source source, const CS_RawFrame& image,
+ CS_Status* status);
+uint64_t GrabSinkFrame(CS_Sink sink, CS_RawFrame& image, CS_Status* status);
+uint64_t GrabSinkFrameTimeout(CS_Sink sink, CS_RawFrame& image, double timeout,
+ CS_Status* status);
+
+/**
+ * A source for user code to provide video frames as raw bytes.
+ *
+ * This is a complex API, most cases should use CvSource.
+ */
+class RawSource : public ImageSource {
+ public:
+ RawSource() = default;
+
+ /**
+ * Create a raw frame source.
+ *
+ * @param name Source name (arbitrary unique identifier)
+ * @param mode Video mode being generated
+ */
+ RawSource(const wpi::Twine& name, const VideoMode& mode);
+
+ /**
+ * Create a raw frame source.
+ *
+ * @param name Source name (arbitrary unique identifier)
+ * @param pixelFormat Pixel format
+ * @param width width
+ * @param height height
+ * @param fps fps
+ */
+ RawSource(const wpi::Twine& name, VideoMode::PixelFormat pixelFormat,
+ int width, int height, int fps);
+
+ protected:
+ /**
+ * Put a raw image and notify sinks.
+ *
+ * @param image raw frame image
+ */
+ void PutFrame(RawFrame& image);
+};
+
+/**
+ * A sink for user code to accept video frames as raw bytes.
+ *
+ * This is a complex API, most cases should use CvSource.
+ */
+class RawSink : public ImageSink {
+ public:
+ RawSink() = default;
+
+ /**
+ * Create a sink for accepting raw images.
+ *
+ * <p>GrabFrame() must be called on the created sink to get each new
+ * image.
+ *
+ * @param name Source name (arbitrary unique identifier)
+ */
+ explicit RawSink(const wpi::Twine& name);
+
+ /**
+ * Create a sink for accepting raws images in a separate thread.
+ *
+ * <p>A thread will be created that calls WaitForFrame() and calls the
+ * processFrame() callback each time a new frame arrives.
+ *
+ * @param name Source name (arbitrary unique identifier)
+ * @param processFrame Frame processing function; will be called with a
+ * time=0 if an error occurred. processFrame should call GetImage()
+ * or GetError() as needed, but should not call (except in very
+ * unusual circumstances) WaitForImage().
+ */
+ RawSink(const wpi::Twine& name,
+ std::function<void(uint64_t time)> processFrame);
+
+ protected:
+ /**
+ * Wait for the next frame and get the image.
+ * Times out (returning 0) after timeout seconds.
+ * The provided image will have three 8-bit channels stored in BGR order.
+ *
+ * @return Frame time, or 0 on error (call GetError() to obtain the error
+ * message); the frame time is in the same time base as wpi::Now(),
+ * and is in 1 us increments.
+ */
+ uint64_t GrabFrame(RawFrame& image, double timeout = 0.225) const;
+
+ /**
+ * Wait for the next frame and get the image. May block forever.
+ * The provided image will have three 8-bit channels stored in BGR order.
+ *
+ * @return Frame time, or 0 on error (call GetError() to obtain the error
+ * message); the frame time is in the same time base as wpi::Now(),
+ * and is in 1 us increments.
+ */
+ uint64_t GrabFrameNoTimeout(RawFrame& image) const;
+};
+
+inline RawSource::RawSource(const wpi::Twine& name, const VideoMode& mode) {
+ m_handle = CreateRawSource(name, mode, &m_status);
+}
+
+inline RawSource::RawSource(const wpi::Twine& name,
+ VideoMode::PixelFormat format, int width,
+ int height, int fps) {
+ m_handle =
+ CreateRawSource(name, VideoMode{format, width, height, fps}, &m_status);
+}
+
+inline void RawSource::PutFrame(RawFrame& image) {
+ m_status = 0;
+ PutSourceFrame(m_handle, image, &m_status);
+}
+
+inline RawSink::RawSink(const wpi::Twine& name) {
+ m_handle = CreateRawSink(name, &m_status);
+}
+
+inline RawSink::RawSink(const wpi::Twine& name,
+ std::function<void(uint64_t time)> processFrame) {
+ m_handle = CreateRawSinkCallback(name, processFrame, &m_status);
+}
+
+inline uint64_t RawSink::GrabFrame(RawFrame& image, double timeout) const {
+ m_status = 0;
+ return GrabSinkFrameTimeout(m_handle, image, timeout, &m_status);
+}
+
+inline uint64_t RawSink::GrabFrameNoTimeout(RawFrame& image) const {
+ m_status = 0;
+ return GrabSinkFrame(m_handle, image, &m_status);
+}
+
+} // namespace cs
+
+/** @} */
+
+#endif
+
+#endif // CSCORE_CSCORE_RAW_H_
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/include/cscore_raw_cv.h b/third_party/allwpilib_2019/cscore/src/main/native/include/cscore_raw_cv.h
new file mode 100644
index 0000000..ed40006
--- /dev/null
+++ b/third_party/allwpilib_2019/cscore/src/main/native/include/cscore_raw_cv.h
@@ -0,0 +1,218 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#ifndef CSCORE_CSCORE_RAW_CV_H_
+#define CSCORE_CSCORE_RAW_CV_H_
+
+#ifdef CSCORE_CSCORE_CV_H_
+#error "Cannot include both cscore_cv.h and cscore_raw_cv.h in the same file"
+#endif
+
+#include "cscore_raw.h"
+
+namespace cs {
+/**
+ * A source for using the raw frame API to provide opencv images.
+ *
+ * If you are using the WPILib OpenCV builds, do not use this, and
+ * instead include "cscore_cv.h" to get a more performant version.
+ *
+ * This is not dependent on any opencv binary ABI, and can be used
+ * with versions of OpenCV that are not 3. If using OpenCV 3, use
+ * CvSource.
+ */
+class RawCvSource : public RawSource {
+ public:
+ RawCvSource() = default;
+
+ /**
+ * Create a Raw OpenCV source.
+ *
+ * @param name Source name (arbitrary unique identifier)
+ * @param mode Video mode being generated
+ */
+ RawCvSource(const wpi::Twine& name, const VideoMode& mode);
+
+ /**
+ * Create a Raw OpenCV source.
+ *
+ * @param name Source name (arbitrary unique identifier)
+ * @param pixelFormat Pixel format
+ * @param width width
+ * @param height height
+ * @param fps fps
+ */
+ RawCvSource(const wpi::Twine& name, VideoMode::PixelFormat pixelFormat,
+ int width, int height, int fps);
+
+ /**
+ * Put an OpenCV image and notify sinks.
+ *
+ * <p>Only 8-bit single-channel or 3-channel (with BGR channel order) images
+ * are supported. If the format, depth or channel order is different, use
+ * cv::Mat::convertTo() and/or cv::cvtColor() to convert it first.
+ *
+ * @param image OpenCV image
+ */
+ void PutFrame(cv::Mat& image);
+
+ private:
+ RawFrame rawFrame;
+};
+
+/**
+ * A sink for user code to accept raw video frames as OpenCV images.
+ *
+ * If you are using the WPILib OpenCV builds, do not use this, and
+ * instead include "cscore_cv.h" to get a more performant version.
+ *
+ * This is not dependent on any opencv binary ABI, and can be used
+ * with versions of OpenCV that are not 3. If using OpenCV 3, use
+ * CvSink.
+ */
+class RawCvSink : public RawSink {
+ public:
+ RawCvSink() = default;
+
+ /**
+ * Create a sink for accepting OpenCV images.
+ *
+ * <p>WaitForFrame() must be called on the created sink to get each new
+ * image.
+ *
+ * @param name Source name (arbitrary unique identifier)
+ */
+ explicit RawCvSink(const wpi::Twine& name);
+
+ /**
+ * Create a sink for accepting OpenCV images in a separate thread.
+ *
+ * <p>A thread will be created that calls WaitForFrame() and calls the
+ * processFrame() callback each time a new frame arrives.
+ *
+ * @param name Source name (arbitrary unique identifier)
+ * @param processFrame Frame processing function; will be called with a
+ * time=0 if an error occurred. processFrame should call GetImage()
+ * or GetError() as needed, but should not call (except in very
+ * unusual circumstances) WaitForImage().
+ */
+ RawCvSink(const wpi::Twine& name,
+ std::function<void(uint64_t time)> processFrame);
+
+ /**
+ * Wait for the next frame and get the image.
+ * Times out (returning 0) after timeout seconds.
+ * The provided image will have three 8-bit channels stored in BGR order.
+ *
+ * @return Frame time, or 0 on error (call GetError() to obtain the error
+ * message); the frame time is in the same time base as wpi::Now(),
+ * and is in 1 us increments.
+ */
+ uint64_t GrabFrame(cv::Mat& image, double timeout = 0.225);
+
+ /**
+ * Wait for the next frame and get the image. May block forever.
+ * The provided image will have three 8-bit channels stored in BGR order.
+ *
+ * @return Frame time, or 0 on error (call GetError() to obtain the error
+ * message); the frame time is in the same time base as wpi::Now(),
+ * and is in 1 us increments.
+ */
+ uint64_t GrabFrameNoTimeout(cv::Mat& image);
+
+ /**
+ * Wait for the next frame and get the image.
+ * Times out (returning 0) after timeout seconds.
+ * The provided image will have three 8-bit channels stored in BGR order.
+ *
+ * @return Frame time, or 0 on error (call GetError() to obtain the error
+ * message); the frame time is in the same time base as wpi::Now(),
+ * and is in 1 us increments.
+ */
+ uint64_t GrabFrameDirect(cv::Mat& image, double timeout = 0.225);
+
+ /**
+ * Wait for the next frame and get the image. May block forever.
+ * The provided image will have three 8-bit channels stored in BGR order.
+ *
+ * @return Frame time, or 0 on error (call GetError() to obtain the error
+ * message); the frame time is in the same time base as wpi::Now(),
+ * and is in 1 us increments.
+ */
+ uint64_t GrabFrameNoTimeoutDirect(cv::Mat& image);
+
+ private:
+ RawFrame rawFrame;
+};
+
+inline RawCvSource::RawCvSource(const wpi::Twine& name, const VideoMode& mode)
+ : RawSource{name, mode} {}
+
+inline RawCvSource::RawCvSource(const wpi::Twine& name,
+ VideoMode::PixelFormat format, int width,
+ int height, int fps)
+ : RawSource{name, format, width, height, fps} {}
+
+inline void RawCvSource::PutFrame(cv::Mat& image) {
+ m_status = 0;
+ rawFrame.data = reinterpret_cast<char*>(image.data);
+ rawFrame.width = image.cols;
+ rawFrame.height = image.rows;
+ rawFrame.totalData = image.total() * image.channels;
+ rawFrame.pixelFormat = image.channels == 3 ? CS_PIXFMT_BGR : CS_PIXFMT_GRAY;
+ PutSourceFrame(m_handle, rawFrame, &m_status);
+}
+
+inline RawCvSink::RawCvSink(const wpi::Twine& name) : RawSink{name} {}
+
+inline RawCvSink::RawCvSink(const wpi::Twine& name,
+ std::function<void(uint64_t time)> processFrame)
+ : RawSink{name, processFrame} {}
+
+inline uint64_t RawCvSink::GrabFrame(cv::Mat& image, double timeout) {
+ cv::Mat tmpMat;
+ auto retVal = GrabFrameDirect(tmpMat);
+ if (retVal <= 0) {
+ return retVal;
+ }
+ tmpMat.copyTo(image);
+ return retVal;
+}
+
+inline uint64_t RawCvSink::GrabFrameNoTimeout(cv::Mat& image) {
+ cv::Mat tmpMat;
+ auto retVal = GrabFrameNoTimeoutDirect(tmpMat);
+ if (retVal <= 0) {
+ return retVal;
+ }
+ tmpMat.copyTo(image);
+ return retVal;
+}
+
+inline uint64_t RawCvSink::GrabFrameDirect(cv::Mat& image, double timeout) {
+ rawFrame.height = 0;
+ rawFrame.width = 0;
+ rawFrame.pixelFormat = CS_PixelFormat::CS_PIXFMT_BGR;
+ m_status = RawSink::GrabFrame(rawFrame, timeout);
+ if (m_status <= 0) return m_status;
+ image = cv::Mat{rawFrame.height, rawFrame.width, CV_8UC3, rawFrame.data};
+ return m_status;
+}
+
+inline uint64_t RawCvSink::GrabFrameNoTimeoutDirect(cv::Mat& image) {
+ rawFrame.height = 0;
+ rawFrame.width = 0;
+ rawFrame.pixelFormat = CS_PixelFormat::CS_PIXFMT_BGR;
+ m_status = RawSink::GrabFrameNoTimeout(rawFrame);
+ if (m_status <= 0) return m_status;
+ image = cv::Mat{rawFrame.height, rawFrame.width, CV_8UC3, rawFrame.data};
+ return m_status;
+}
+
+} // namespace cs
+
+#endif // CSCORE_CSCORE_RAW_CV_H_
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/linux/NetworkListener.cpp b/third_party/allwpilib_2019/cscore/src/main/native/linux/NetworkListener.cpp
index ed3d966..6915b30 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/linux/NetworkListener.cpp
+++ b/third_party/allwpilib_2019/cscore/src/main/native/linux/NetworkListener.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -132,8 +132,9 @@
break; // XXX: is this the right thing to do here?
}
if (len == 0) continue; // EOF?
+ unsigned int ulen = static_cast<unsigned int>(len);
for (struct nlmsghdr* nh = reinterpret_cast<struct nlmsghdr*>(buf);
- NLMSG_OK(nh, len); nh = NLMSG_NEXT(nh, len)) {
+ NLMSG_OK(nh, ulen); nh = NLMSG_NEXT(nh, ulen)) {
if (nh->nlmsg_type == NLMSG_DONE) break;
if (nh->nlmsg_type == RTM_NEWLINK || nh->nlmsg_type == RTM_DELLINK ||
nh->nlmsg_type == RTM_NEWADDR || nh->nlmsg_type == RTM_DELADDR) {
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/linux/UsbCameraImpl.cpp b/third_party/allwpilib_2019/cscore/src/main/native/linux/UsbCameraImpl.cpp
index 125c936..6bed486 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/linux/UsbCameraImpl.cpp
+++ b/third_party/allwpilib_2019/cscore/src/main/native/linux/UsbCameraImpl.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -25,9 +25,9 @@
#include <algorithm>
#include <wpi/FileSystem.h>
+#include <wpi/MemAlloc.h>
#include <wpi/Path.h>
#include <wpi/SmallString.h>
-#include <wpi/memory.h>
#include <wpi/raw_ostream.h>
#include <wpi/timestamp.h>
@@ -108,6 +108,11 @@
static constexpr const int quirkLifeCamHd3000[] = {
5, 10, 20, 39, 78, 156, 312, 625, 1250, 2500, 5000, 10000, 20000};
+static constexpr char const* quirkPS3EyePropExAuto = "auto_exposure";
+static constexpr char const* quirkPS3EyePropExValue = "exposure";
+static constexpr const int quirkPS3EyePropExAutoOn = 0;
+static constexpr const int quirkPS3EyePropExAutoOff = 1;
+
int UsbCameraImpl::RawToPercentage(const UsbCameraProperty& rawProp,
int rawValue) {
// LifeCam exposure setting quirk
@@ -138,10 +143,36 @@
(rawProp.maximum - rawProp.minimum) * (percentValue / 100.0);
}
-static bool GetDescriptionSysV4L(wpi::StringRef path, std::string* desc) {
- wpi::SmallString<64> ifpath{"/sys/class/video4linux/"};
- ifpath += path.substr(5);
- ifpath += "/device/interface";
+static bool GetVendorProduct(int dev, int* vendor, int* product) {
+ wpi::SmallString<64> ifpath;
+ {
+ wpi::raw_svector_ostream oss{ifpath};
+ oss << "/sys/class/video4linux/video" << dev << "/device/modalias";
+ }
+
+ int fd = open(ifpath.c_str(), O_RDONLY);
+ if (fd < 0) return false;
+
+ char readBuf[128];
+ ssize_t n = read(fd, readBuf, sizeof(readBuf));
+ close(fd);
+
+ if (n <= 0) return false;
+ wpi::StringRef readStr{readBuf};
+ if (readStr.substr(readStr.find('v')).substr(1, 4).getAsInteger(16, *vendor))
+ return false;
+ if (readStr.substr(readStr.find('p')).substr(1, 4).getAsInteger(16, *product))
+ return false;
+
+ return true;
+}
+
+static bool GetDescriptionSysV4L(int dev, std::string* desc) {
+ wpi::SmallString<64> ifpath;
+ {
+ wpi::raw_svector_ostream oss{ifpath};
+ oss << "/sys/class/video4linux/video" << dev << "/device/interface";
+ }
int fd = open(ifpath.c_str(), O_RDONLY);
if (fd < 0) return false;
@@ -187,23 +218,35 @@
return true;
}
-static std::string GetDescriptionImpl(const char* cpath) {
+static int GetDeviceNum(const char* cpath) {
wpi::StringRef path{cpath};
- char pathBuf[128];
- std::string rv;
+ std::string pathBuf;
- // If trying to get by id or path, follow symlink
- if (path.startswith("/dev/v4l/by-id/")) {
- ssize_t n = readlink(cpath, pathBuf, sizeof(pathBuf));
- if (n > 0) path = wpi::StringRef(pathBuf, n);
- } else if (path.startswith("/dev/v4l/by-path/")) {
- ssize_t n = readlink(cpath, pathBuf, sizeof(pathBuf));
- if (n > 0) path = wpi::StringRef(pathBuf, n);
+ // it might be a symlink; if so, find the symlink target (e.g. /dev/videoN),
+ // add that to the list and make it the keypath
+ if (wpi::sys::fs::is_symlink_file(cpath)) {
+ char* target = ::realpath(cpath, nullptr);
+ if (target) {
+ pathBuf = target;
+ path = pathBuf;
+ std::free(target);
+ }
}
- if (path.startswith("/dev/video")) {
+ path = wpi::sys::path::filename(path);
+ if (!path.startswith("video")) return -1;
+ int dev = -1;
+ if (path.substr(5).getAsInteger(10, dev)) return -1;
+ return dev;
+}
+
+static std::string GetDescriptionImpl(const char* cpath) {
+ std::string rv;
+
+ int dev = GetDeviceNum(cpath);
+ if (dev >= 0) {
// Sometimes the /sys tree gives a better name.
- if (GetDescriptionSysV4L(path, &rv)) return rv;
+ if (GetDescriptionSysV4L(dev, &rv)) return rv;
}
// Otherwise use an ioctl to query the caps and get the card name
@@ -447,8 +490,7 @@
if (fd < 0) return; // already disconnected
// Unmap buffers
- for (int i = 0; i < kNumBuffers; ++i)
- m_buffers[i] = std::move(UsbCameraBuffer{});
+ for (int i = 0; i < kNumBuffers; ++i) m_buffers[i] = UsbCameraBuffer{};
// Close device
close(fd);
@@ -492,7 +534,7 @@
// Restore settings
SDEBUG3("restoring settings");
- std::unique_lock<wpi::mutex> lock2(m_mutex);
+ std::unique_lock lock2(m_mutex);
for (size_t i = 0; i < m_propertyData.size(); ++i) {
const auto prop =
static_cast<const UsbCameraProperty*>(m_propertyData[i].get());
@@ -534,11 +576,11 @@
SDEBUG4("buf " << i << " length=" << buf.length
<< " offset=" << buf.m.offset);
- m_buffers[i] = std::move(UsbCameraBuffer(fd, buf.length, buf.m.offset));
+ m_buffers[i] = UsbCameraBuffer(fd, buf.length, buf.m.offset);
if (!m_buffers[i].m_data) {
SWARNING("could not map buffer " << i);
// release other buffers
- for (int j = 0; j < i; ++j) m_buffers[j] = std::move(UsbCameraBuffer{});
+ for (int j = 0; j < i; ++j) m_buffers[j] = UsbCameraBuffer{};
close(fd);
m_fd = -1;
return;
@@ -737,7 +779,7 @@
}
void UsbCameraImpl::DeviceProcessCommands() {
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
if (m_commands.empty()) return;
while (!m_commands.empty()) {
auto msg = std::move(m_commands.back());
@@ -816,7 +858,7 @@
vfmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (DoIoctl(fd, VIDIOC_G_FMT, &vfmt) != 0) {
SERROR("could not read current video mode");
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
m_mode = VideoMode{VideoMode::kMJPEG, 320, 240, 30};
return;
}
@@ -882,7 +924,7 @@
// Save to global mode
{
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
m_mode.pixelFormat = pixelFormat;
m_mode.width = width;
m_mode.height = height;
@@ -908,11 +950,11 @@
std::unique_ptr<UsbCameraProperty> perProp;
if (IsPercentageProperty(rawProp->name)) {
perProp =
- wpi::make_unique<UsbCameraProperty>(rawProp->name, 0, *rawProp, 0, 0);
+ std::make_unique<UsbCameraProperty>(rawProp->name, 0, *rawProp, 0, 0);
rawProp->name = "raw_" + perProp->name;
}
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
int* rawIndex = &m_properties[rawProp->name];
bool newRaw = *rawIndex == 0;
UsbCameraProperty* oldRawProp =
@@ -1071,7 +1113,7 @@
}
{
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
m_videoModes.swap(modes);
}
m_notifier.NotifySource(*this, CS_SOURCE_VIDEOMODES_UPDATED);
@@ -1086,14 +1128,14 @@
// Add the message to the command queue
{
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
m_commands.emplace_back(std::move(msg));
}
// Signal the camera thread
if (eventfd_write(fd, 1) < 0) return CS_SOURCE_IS_DISCONNECTED;
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
while (m_active) {
// Did we get a response to *our* request?
auto it =
@@ -1121,7 +1163,7 @@
// Add the message to the command queue
{
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
m_commands.emplace_back(std::move(msg));
}
@@ -1131,7 +1173,7 @@
std::unique_ptr<PropertyImpl> UsbCameraImpl::CreateEmptyProperty(
const wpi::Twine& name) const {
- return wpi::make_unique<UsbCameraProperty>(name);
+ return std::make_unique<UsbCameraProperty>(name);
}
bool UsbCameraImpl::CacheProperties(CS_Status* status) const {
@@ -1150,6 +1192,14 @@
wpi::StringRef desc = GetDescription(descbuf);
m_lifecam_exposure =
desc.endswith("LifeCam HD-3000") || desc.endswith("LifeCam Cinema (TM)");
+
+ int deviceNum = GetDeviceNum(m_path.c_str());
+ if (deviceNum >= 0) {
+ int vendorId, productId;
+ if (GetVendorProduct(deviceNum, &vendorId, &productId)) {
+ m_ps3eyecam_exposure = vendorId == 0x2000 && productId == 0x0145;
+ }
+ }
}
void UsbCameraImpl::SetProperty(int property, int value, CS_Status* status) {
@@ -1195,21 +1245,41 @@
void UsbCameraImpl::SetExposureAuto(CS_Status* status) {
// auto; this is an enum value
- SetProperty(GetPropertyIndex(kPropExAuto), 3, status);
+ if (m_ps3eyecam_exposure) {
+ SetProperty(GetPropertyIndex(quirkPS3EyePropExAuto),
+ quirkPS3EyePropExAutoOn, status);
+
+ } else {
+ SetProperty(GetPropertyIndex(kPropExAuto), 3, status);
+ }
}
void UsbCameraImpl::SetExposureHoldCurrent(CS_Status* status) {
- SetProperty(GetPropertyIndex(kPropExAuto), 1, status); // manual
+ if (m_ps3eyecam_exposure) {
+ SetProperty(GetPropertyIndex(quirkPS3EyePropExAuto),
+ quirkPS3EyePropExAutoOff, status); // manual
+ } else {
+ SetProperty(GetPropertyIndex(kPropExAuto), 1, status); // manual
+ }
}
void UsbCameraImpl::SetExposureManual(int value, CS_Status* status) {
- SetProperty(GetPropertyIndex(kPropExAuto), 1, status); // manual
+ if (m_ps3eyecam_exposure) {
+ SetProperty(GetPropertyIndex(quirkPS3EyePropExAuto),
+ quirkPS3EyePropExAutoOff, status); // manual
+ } else {
+ SetProperty(GetPropertyIndex(kPropExAuto), 1, status); // manual
+ }
if (value > 100) {
value = 100;
} else if (value < 0) {
value = 0;
}
- SetProperty(GetPropertyIndex(kPropExValue), value, status);
+ if (m_ps3eyecam_exposure) {
+ SetProperty(GetPropertyIndex(quirkPS3EyePropExValue), value, status);
+ } else {
+ SetProperty(GetPropertyIndex(kPropExValue), value, status);
+ }
}
bool UsbCameraImpl::SetVideoMode(const VideoMode& mode, CS_Status* status) {
@@ -1292,24 +1362,15 @@
std::string keypath = static_cast<UsbCameraImpl&>(*data->source).GetPath();
info.path = keypath;
- // it might be a symlink; if so, find the symlink target (e.g. /dev/videoN),
- // add that to the list and make it the keypath
- if (wpi::sys::fs::is_symlink_file(keypath)) {
- char* target = ::realpath(keypath.c_str(), nullptr);
- if (target) {
- keypath.assign(target);
- info.otherPaths.emplace_back(keypath);
- std::free(target);
- }
- }
-
// device number
- wpi::StringRef fname = wpi::sys::path::filename(keypath);
- if (fname.startswith("video")) fname.substr(5).getAsInteger(10, info.dev);
+ info.dev = GetDeviceNum(keypath.c_str());
// description
info.name = GetDescriptionImpl(keypath.c_str());
+ // vendor/product id
+ GetVendorProduct(info.dev, &info.vendorId, &info.productId);
+
// look through /dev/v4l/by-id and /dev/v4l/by-path for symlinks to the
// keypath
wpi::SmallString<128> path;
@@ -1360,6 +1421,8 @@
info.name = GetDescriptionImpl(path.c_str());
if (info.name.empty()) continue;
+ GetVendorProduct(dev, &info.vendorId, &info.productId);
+
if (dev >= retval.size()) retval.resize(info.dev + 1);
retval[info.dev] = std::move(info);
}
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/linux/UsbCameraImpl.h b/third_party/allwpilib_2019/cscore/src/main/native/linux/UsbCameraImpl.h
index eb4a311..3627228 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/linux/UsbCameraImpl.h
+++ b/third_party/allwpilib_2019/cscore/src/main/native/linux/UsbCameraImpl.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -164,7 +164,8 @@
std::thread m_cameraThread;
// Quirks
- bool m_lifecam_exposure{false}; // Microsoft LifeCam exposure
+ bool m_lifecam_exposure{false}; // Microsoft LifeCam exposure
+ bool m_ps3eyecam_exposure{false}; // PS3 Eyecam exposure
//
// Variables protected by m_mutex
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/linux/UsbCameraProperty.cpp b/third_party/allwpilib_2019/cscore/src/main/native/linux/UsbCameraProperty.cpp
index 4f51976..4dfa39c 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/linux/UsbCameraProperty.cpp
+++ b/third_party/allwpilib_2019/cscore/src/main/native/linux/UsbCameraProperty.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,7 +7,6 @@
#include "UsbCameraProperty.h"
-#include <wpi/STLExtras.h>
#include <wpi/SmallString.h>
#include <wpi/raw_ostream.h>
@@ -224,7 +223,7 @@
*id = qc_ext.id; // copy back
// We don't support array types
if (qc_ext.elems > 1 || qc_ext.nr_of_dims > 0) return nullptr;
- prop = wpi::make_unique<UsbCameraProperty>(qc_ext);
+ prop = std::make_unique<UsbCameraProperty>(qc_ext);
}
#endif
if (!prop) {
@@ -235,7 +234,7 @@
rc = TryIoctl(fd, VIDIOC_QUERYCTRL, &qc);
*id = qc.id; // copy back
if (rc != 0) return nullptr;
- prop = wpi::make_unique<UsbCameraProperty>(qc);
+ prop = std::make_unique<UsbCameraProperty>(qc);
}
// Cache enum property choices
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/linux/UsbCameraProperty.h b/third_party/allwpilib_2019/cscore/src/main/native/linux/UsbCameraProperty.h
index d3569cc..32c5e19 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/linux/UsbCameraProperty.h
+++ b/third_party/allwpilib_2019/cscore/src/main/native/linux/UsbCameraProperty.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/windows/NetworkUtil.cpp b/third_party/allwpilib_2019/cscore/src/main/native/windows/NetworkUtil.cpp
index e994eb8..151ba79 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/windows/NetworkUtil.cpp
+++ b/third_party/allwpilib_2019/cscore/src/main/native/windows/NetworkUtil.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/windows/UsbCameraImpl.cpp b/third_party/allwpilib_2019/cscore/src/main/native/windows/UsbCameraImpl.cpp
index e45f361..69c1fcb 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/windows/UsbCameraImpl.cpp
+++ b/third_party/allwpilib_2019/cscore/src/main/native/windows/UsbCameraImpl.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -28,8 +28,8 @@
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
+#include <wpi/MemAlloc.h>
#include <wpi/SmallString.h>
-#include <wpi/memory.h>
#include <wpi/raw_ostream.h>
#include <wpi/timestamp.h>
@@ -54,6 +54,8 @@
#pragma comment(lib, "Mfreadwrite.lib")
#pragma comment(lib, "Shlwapi.lib")
+#pragma warning(disable : 4996 4018 26451)
+
static constexpr int NewImageMessage = 0x0400 + 4488;
static constexpr int SetCameraMessage = 0x0400 + 254;
static constexpr int WaitForStartupMessage = 0x0400 + 294;
@@ -76,12 +78,16 @@
: SourceImpl{name, logger, notifier, telemetry}, m_path{path.str()} {
std::wstring_convert<std::codecvt_utf8<wchar_t>> utf8_conv;
m_widePath = utf8_conv.from_bytes(m_path.c_str());
+ m_deviceId = -1;
+ StartMessagePump();
}
UsbCameraImpl::UsbCameraImpl(const wpi::Twine& name, wpi::Logger& logger,
Notifier& notifier, Telemetry& telemetry,
int deviceId)
- : SourceImpl{name, logger, notifier, telemetry}, m_deviceId(deviceId) {}
+ : SourceImpl{name, logger, notifier, telemetry}, m_deviceId(deviceId) {
+ StartMessagePump();
+}
UsbCameraImpl::~UsbCameraImpl() { m_messagePump = nullptr; }
@@ -192,11 +198,14 @@
SetCameraMessage, Message::kNumSinksEnabledChanged, nullptr);
}
-void UsbCameraImpl::Start() {
+void UsbCameraImpl::StartMessagePump() {
m_messagePump = std::make_unique<WindowsMessagePump>(
[this](HWND hwnd, UINT uiMsg, WPARAM wParam, LPARAM lParam) {
return this->PumpMain(hwnd, uiMsg, wParam, lParam);
});
+}
+
+void UsbCameraImpl::Start() {
m_messagePump->PostWindowMessage(PumpReadyMessage, nullptr, nullptr);
}
@@ -354,6 +363,7 @@
DeviceConnect();
break;
case WaitForStartupMessage:
+ DeviceConnect();
return CS_OK;
case WM_DEVICECHANGE: {
// Device potentially changed
@@ -401,7 +411,7 @@
{
Message* msg = reinterpret_cast<Message*>(lParam);
Message::Kind msgKind = static_cast<Message::Kind>(wParam);
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
auto retVal = DeviceProcessCommand(lock, msgKind, msg);
return retVal;
}
@@ -413,16 +423,16 @@
static cs::VideoMode::PixelFormat GetFromGUID(const GUID& guid) {
// Compare GUID to one of the supported ones
- if (guid == MFVideoFormat_NV12) {
+ if (IsEqualGUID(guid, MFVideoFormat_NV12)) {
// GrayScale
return cs::VideoMode::PixelFormat::kGray;
- } else if (guid == MFVideoFormat_YUY2) {
+ } else if (IsEqualGUID(guid, MFVideoFormat_YUY2)) {
return cs::VideoMode::PixelFormat::kYUYV;
- } else if (guid == MFVideoFormat_RGB24) {
+ } else if (IsEqualGUID(guid, MFVideoFormat_RGB24)) {
return cs::VideoMode::PixelFormat::kBGR;
- } else if (guid == MFVideoFormat_MJPG) {
+ } else if (IsEqualGUID(guid, MFVideoFormat_MJPG)) {
return cs::VideoMode::PixelFormat::kMJPEG;
- } else if (guid == MFVideoFormat_RGB565) {
+ } else if (IsEqualGUID(guid, MFVideoFormat_RGB565)) {
return cs::VideoMode::PixelFormat::kRGB565;
} else {
return cs::VideoMode::PixelFormat::kUnknown;
@@ -585,11 +595,11 @@
std::unique_ptr<UsbCameraProperty> perProp;
if (IsPercentageProperty(rawProp->name)) {
perProp =
- wpi::make_unique<UsbCameraProperty>(rawProp->name, 0, *rawProp, 0, 0);
+ std::make_unique<UsbCameraProperty>(rawProp->name, 0, *rawProp, 0, 0);
rawProp->name = "raw_" + perProp->name;
}
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
int* rawIndex = &m_properties[rawProp->name];
bool newRaw = *rawIndex == 0;
UsbCameraProperty* oldRawProp =
@@ -672,7 +682,7 @@
}
NotifyPropertyCreated(*rawIndex, *rawPropPtr);
- if (perPropPtr) NotifyPropertyCreated(*perIndex, *perPropPtr);
+ if (perPropPtr && perIndex) NotifyPropertyCreated(*perIndex, *perPropPtr);
}
CS_StatusValue UsbCameraImpl::DeviceProcessCommand(
@@ -808,7 +818,10 @@
m_currentMode = std::move(newModeType);
m_mode = newMode;
+#pragma warning(push)
+#pragma warning(disable : 26110)
lock.unlock();
+#pragma warning(pop)
if (m_sourceReader) {
DeviceDisconnect();
DeviceConnect();
@@ -862,10 +875,10 @@
// Default mode is not supported. Grab first supported image
auto&& firstSupported = m_windowsVideoModes[0];
m_currentMode = firstSupported.second;
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
m_mode = firstSupported.first;
} else {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
m_mode = result->first;
}
}
@@ -947,7 +960,7 @@
count++;
}
{
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
m_videoModes.swap(modes);
}
m_notifier.NotifySource(*this, CS_SOURCE_VIDEOMODES_UPDATED);
@@ -962,6 +975,7 @@
std::wstring_convert<std::codecvt_utf8<wchar_t>> utf8_conv;
ComPtr<IMFAttributes> pAttributes;
IMFActivate** ppDevices = nullptr;
+ UINT32 count = 0;
// Create an attribute store to specify the enumeration parameters.
HRESULT hr = MFCreateAttributes(pAttributes.GetAddressOf(), 1);
@@ -977,7 +991,6 @@
}
// Enumerate devices.
- UINT32 count;
hr = MFEnumDeviceSources(pAttributes.Get(), &ppDevices, &count);
if (FAILED(hr)) {
goto done;
@@ -993,11 +1006,11 @@
info.dev = i;
WCHAR buf[512];
ppDevices[i]->GetString(MF_DEVSOURCE_ATTRIBUTE_FRIENDLY_NAME, buf,
- sizeof(buf), NULL);
+ sizeof(buf) / sizeof(WCHAR), NULL);
info.name = utf8_conv.to_bytes(buf);
ppDevices[i]->GetString(
MF_DEVSOURCE_ATTRIBUTE_SOURCE_TYPE_VIDCAP_SYMBOLIC_LINK, buf,
- sizeof(buf), NULL);
+ sizeof(buf) / sizeof(WCHAR), NULL);
info.path = utf8_conv.to_bytes(buf);
retval.emplace_back(std::move(info));
}
@@ -1005,12 +1018,15 @@
done:
pAttributes.Reset();
- for (DWORD i = 0; i < count; i++) {
- if (ppDevices[i]) {
- ppDevices[i]->Release();
- ppDevices[i] = nullptr;
+ if (ppDevices) {
+ for (DWORD i = 0; i < count; i++) {
+ if (ppDevices[i]) {
+ ppDevices[i]->Release();
+ ppDevices[i] = nullptr;
+ }
}
}
+
CoTaskMemFree(ppDevices);
return retval;
}
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/windows/UsbCameraImpl.h b/third_party/allwpilib_2019/cscore/src/main/native/windows/UsbCameraImpl.h
index 4013cda..11e07aa 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/windows/UsbCameraImpl.h
+++ b/third_party/allwpilib_2019/cscore/src/main/native/windows/UsbCameraImpl.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -98,7 +98,7 @@
};
explicit Message(Kind kind_)
- : kind(kind_), from(std::this_thread::get_id()) {}
+ : kind(kind_), data{0}, from(std::this_thread::get_id()) {}
Kind kind;
int data[4];
@@ -154,6 +154,8 @@
int RawToPercentage(const UsbCameraProperty& rawProp, int rawValue);
int PercentageToRaw(const UsbCameraProperty& rawProp, int percentValue);
+ void StartMessagePump();
+
//
// Variables only used within camera thread
//
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/windows/UsbCameraProperty.cpp b/third_party/allwpilib_2019/cscore/src/main/native/windows/UsbCameraProperty.cpp
index ee4198b..ae22436 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/windows/UsbCameraProperty.cpp
+++ b/third_party/allwpilib_2019/cscore/src/main/native/windows/UsbCameraProperty.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
diff --git a/third_party/allwpilib_2019/cscore/src/main/native/windows/UsbCameraProperty.h b/third_party/allwpilib_2019/cscore/src/main/native/windows/UsbCameraProperty.h
index 68795fc..11888e9 100644
--- a/third_party/allwpilib_2019/cscore/src/main/native/windows/UsbCameraProperty.h
+++ b/third_party/allwpilib_2019/cscore/src/main/native/windows/UsbCameraProperty.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -68,8 +68,10 @@
bool isAutoProp{true};
bool isControlProperty{false};
- tagVideoProcAmpProperty tagVideoProc;
- tagCameraControlProperty tagCameraControl;
+ tagVideoProcAmpProperty tagVideoProc{
+ tagVideoProcAmpProperty::VideoProcAmp_Brightness};
+ tagCameraControlProperty tagCameraControl{
+ tagCameraControlProperty::CameraControl_Pan};
// If this is a percentage (rather than raw) property
bool percentage{false};
diff --git a/third_party/allwpilib_2019/cscore/src/test/java/edu/wpi/cscore/UsbCameraTest.java b/third_party/allwpilib_2019/cscore/src/test/java/edu/wpi/cscore/UsbCameraTest.java
index b55dc4e..9df3645 100644
--- a/third_party/allwpilib_2019/cscore/src/test/java/edu/wpi/cscore/UsbCameraTest.java
+++ b/third_party/allwpilib_2019/cscore/src/test/java/edu/wpi/cscore/UsbCameraTest.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -25,16 +25,14 @@
class UsbCameraTest {
@Nested
@EnabledOnOs(OS.LINUX)
- static class ConnectVerbose {
+ class ConnectVerbose {
@Test
void setConnectVerboseEnabledTest() {
try (UsbCamera camera = new UsbCamera("Nonexistant Camera", getNonexistentCameraDev())) {
camera.setConnectVerbose(1);
CompletableFuture<String> result = new CompletableFuture<>();
- CameraServerJNI.setLogger((level, file, line, message) -> {
- result.complete(message);
- }, 20);
+ CameraServerJNI.setLogger((level, file, line, message) -> result.complete(message), 20);
assertTimeoutPreemptively(Duration.ofSeconds(5),
() -> assertTrue(result.get().contains("Connecting to USB camera on ")));
@@ -47,9 +45,7 @@
camera.setConnectVerbose(0);
CompletableFuture<String> result = new CompletableFuture<>();
- CameraServerJNI.setLogger((level, file, line, message) -> {
- result.complete(message);
- }, 20);
+ CameraServerJNI.setLogger((level, file, line, message) -> result.complete(message), 20);
assertThrows(TimeoutException.class,
() -> result.get(3, TimeUnit.SECONDS));
@@ -60,6 +56,6 @@
private static int getNonexistentCameraDev() {
return Arrays.stream(CameraServerJNI.enumerateUsbCameras())
.mapToInt(info -> info.dev)
- .max().orElseGet(() -> -1) + 1;
+ .max().orElse(-1) + 1;
}
}
diff --git a/third_party/allwpilib_2019/docs/build.gradle b/third_party/allwpilib_2019/docs/build.gradle
index 5bf8dd4..c3e8cab 100644
--- a/third_party/allwpilib_2019/docs/build.gradle
+++ b/third_party/allwpilib_2019/docs/build.gradle
@@ -11,13 +11,6 @@
evaluationDependsOn(':wpilibc')
evaluationDependsOn(':wpilibj')
-def pubVersion = ''
-if (project.hasProperty("publishVersion")) {
- pubVersion = project.publishVersion
-} else {
- pubVersion = WPILibVersion.version
-}
-
def baseArtifactIdCpp = 'documentation'
def artifactGroupIdCpp = 'edu.wpi.first.wpilibc'
def zipBaseNameCpp = '_GROUP_edu_wpi_first_wpilibc_ID_documentation_CLS'
@@ -39,7 +32,7 @@
doxygen {
executables {
- doxygen version : '1.8.8'
+ doxygen version : '1.8.16'
}
}
@@ -51,9 +44,16 @@
source it.source
}
+ exclude 'Eigen/**'
+ exclude 'unsupported/**'
+ exclude 'units/**'
+ exclude 'uv.h'
+ exclude 'uv/**'
+
+
extension_mapping 'inc=C++'
project_name 'WPILibC++'
- project_number pubVersion
+ project_number wpilibVersioning.version.get()
javadoc_autobrief true
recursive true
quiet true
@@ -67,6 +67,7 @@
use_mathjax true
html_timestamp true
generate_treeview true
+ extract_static true
}
tasks.register("zipCppDocs", Zip) {
@@ -77,7 +78,6 @@
into '/'
}
-
// Java
configurations {
javaSource {
@@ -97,7 +97,8 @@
apply from: "${rootDir}/shared/opencv.gradle"
task generateJavaDocs(type: Javadoc) {
- options.links("https://docs.oracle.com/javase/8/docs/api/")
+ classpath += project(":wpiutil").sourceSets.main.compileClasspath
+ options.links("https://docs.oracle.com/en/java/javase/11/docs/api/")
options.addStringOption "tag", "pre:a:Pre-Condition"
options.addStringOption('Xdoclint:accessibility,html,missing,reference,syntax')
options.addBooleanOption('html5', true)
@@ -112,8 +113,9 @@
source configurations.javaSource.collect { zipTree(it) }
include '**/*.java'
failOnError = true
+ options.encoding = 'UTF-8'
- title = "WPILib API $pubVersion"
+ title = "WPILib API ${wpilibVersioning.version.get()}"
ext.entryPoint = "$destinationDir/index.html"
if (JavaVersion.current().isJava11Compatible()) {
@@ -150,14 +152,14 @@
artifactId = "${baseArtifactIdJava}"
groupId artifactGroupIdJava
- version pubVersion
+ version wpilibVersioning.version.get()
}
cpp(MavenPublication) {
artifact zipCppDocs
artifactId = "${baseArtifactIdCpp}"
groupId artifactGroupIdCpp
- version pubVersion
+ version wpilibVersioning.version.get()
}
}
}
diff --git a/third_party/allwpilib_2019/googletest/CMakeLists.txt b/third_party/allwpilib_2019/googletest/CMakeLists.txt
new file mode 100644
index 0000000..c792212
--- /dev/null
+++ b/third_party/allwpilib_2019/googletest/CMakeLists.txt
@@ -0,0 +1,24 @@
+# Download and unpack googletest at configure time
+configure_file(CMakeLists.txt.in googletest-download/CMakeLists.txt)
+execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" .
+ RESULT_VARIABLE result
+ WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/googletest-download )
+if(result)
+ message(FATAL_ERROR "CMake step for googletest failed: ${result}")
+endif()
+execute_process(COMMAND ${CMAKE_COMMAND} --build .
+ RESULT_VARIABLE result
+ WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/googletest-download )
+if(result)
+ message(FATAL_ERROR "Build step for googletest failed: ${result}")
+endif()
+
+# Prevent overriding the parent project's compiler/linker
+# settings on Windows
+set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
+
+# Add googletest directly to our build. This defines
+# the gtest and gtest_main targets.
+add_subdirectory(${CMAKE_CURRENT_BINARY_DIR}/googletest-src
+ ${CMAKE_CURRENT_BINARY_DIR}/googletest-build
+ EXCLUDE_FROM_ALL)
diff --git a/third_party/allwpilib_2019/googletest/CMakeLists.txt.in b/third_party/allwpilib_2019/googletest/CMakeLists.txt.in
new file mode 100644
index 0000000..9378f44
--- /dev/null
+++ b/third_party/allwpilib_2019/googletest/CMakeLists.txt.in
@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 2.8.2)
+
+project(googletest-download NONE)
+
+include(ExternalProject)
+ExternalProject_Add(googletest
+ GIT_REPOSITORY https://github.com/google/googletest.git
+ GIT_TAG b4676595c03a26bb84f68542c8b74d3d89b38b68
+ SOURCE_DIR "${CMAKE_CURRENT_BINARY_DIR}/googletest-src"
+ BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}/googletest-build"
+ CONFIGURE_COMMAND ""
+ BUILD_COMMAND ""
+ INSTALL_COMMAND ""
+ TEST_COMMAND ""
+)
diff --git a/third_party/allwpilib_2019/gradle/wrapper/gradle-wrapper.jar b/third_party/allwpilib_2019/gradle/wrapper/gradle-wrapper.jar
index 457aad0..5c2d1cf 100644
--- a/third_party/allwpilib_2019/gradle/wrapper/gradle-wrapper.jar
+++ b/third_party/allwpilib_2019/gradle/wrapper/gradle-wrapper.jar
Binary files differ
diff --git a/third_party/allwpilib_2019/gradle/wrapper/gradle-wrapper.properties b/third_party/allwpilib_2019/gradle/wrapper/gradle-wrapper.properties
index 75b8c7c..f4d7b2b 100644
--- a/third_party/allwpilib_2019/gradle/wrapper/gradle-wrapper.properties
+++ b/third_party/allwpilib_2019/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,5 @@
distributionBase=GRADLE_USER_HOME
distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-5.0-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-5.4.1-bin.zip
zipStoreBase=GRADLE_USER_HOME
zipStorePath=wrapper/dists
diff --git a/third_party/allwpilib_2019/gradlew b/third_party/allwpilib_2019/gradlew
index af6708f..b0d6d0a 100755
--- a/third_party/allwpilib_2019/gradlew
+++ b/third_party/allwpilib_2019/gradlew
@@ -1,5 +1,21 @@
#!/usr/bin/env sh
+#
+# Copyright 2015 the original author or authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+
##############################################################################
##
## Gradle start up script for UN*X
@@ -28,7 +44,7 @@
APP_BASE_NAME=`basename "$0"`
# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-DEFAULT_JVM_OPTS='"-Xmx64m"'
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
# Use the maximum available, or set MAX_FD != -1 to use that value.
MAX_FD="maximum"
diff --git a/third_party/allwpilib_2019/gradlew.bat b/third_party/allwpilib_2019/gradlew.bat
index 0f8d593..15e1ee3 100644
--- a/third_party/allwpilib_2019/gradlew.bat
+++ b/third_party/allwpilib_2019/gradlew.bat
@@ -1,3 +1,19 @@
+@rem
+@rem Copyright 2015 the original author or authors.
+@rem
+@rem Licensed under the Apache License, Version 2.0 (the "License");
+@rem you may not use this file except in compliance with the License.
+@rem You may obtain a copy of the License at
+@rem
+@rem http://www.apache.org/licenses/LICENSE-2.0
+@rem
+@rem Unless required by applicable law or agreed to in writing, software
+@rem distributed under the License is distributed on an "AS IS" BASIS,
+@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+@rem See the License for the specific language governing permissions and
+@rem limitations under the License.
+@rem
+
@if "%DEBUG%" == "" @echo off
@rem ##########################################################################
@rem
@@ -14,7 +30,7 @@
set APP_HOME=%DIRNAME%
@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-set DEFAULT_JVM_OPTS="-Xmx64m"
+set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
@rem Find java.exe
if defined JAVA_HOME goto findJavaFromJavaHome
diff --git a/third_party/allwpilib_2019/hal/CMakeLists.txt b/third_party/allwpilib_2019/hal/CMakeLists.txt
index e52d90f..c29f770 100644
--- a/third_party/allwpilib_2019/hal/CMakeLists.txt
+++ b/third_party/allwpilib_2019/hal/CMakeLists.txt
@@ -1,5 +1,7 @@
project(hal)
+include(CompileWarnings)
+include(AddTest)
file(STRINGS src/generate/Instances.txt RAW_INSTANCES)
file(STRINGS src/generate/ResourceType.txt RAW_RESOURCE_TYPES)
@@ -23,11 +25,13 @@
string(REPLACE ";" "\n" usage_reporting_instances_cpp "${usage_reporting_instances_cpp}")
file(GLOB
+ hal_shared_native_src src/main/native/cpp/*.cpp
hal_shared_native_src src/main/native/cpp/cpp/*.cpp
hal_shared_native_src src/main/native/cpp/handles/*.cpp
hal_sim_native_src src/main/native/sim/*.cpp
hal_sim_native_src src/main/native/sim/mockdata/*.cpp)
add_library(hal ${hal_shared_native_src})
+wpilib_target_warnings(hal)
set_target_properties(hal PROPERTIES DEBUG_POSTFIX "d")
if(USE_EXTERNAL_HAL)
@@ -55,13 +59,14 @@
install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/hal")
install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/gen DESTINATION "${include_dest}/hal")
-if (MSVC)
+if (MSVC OR FLAT_INSTALL_WPILIB)
set (hal_config_dir ${wpilib_dest})
else()
set (hal_config_dir share/hal)
endif()
-install(FILES hal-config.cmake DESTINATION ${hal_config_dir})
+configure_file(hal-config.cmake.in ${CMAKE_BINARY_DIR}/hal-config.cmake )
+install(FILES ${CMAKE_BINARY_DIR}/hal-config.cmake DESTINATION ${hal_config_dir})
install(EXPORT hal DESTINATION ${hal_config_dir})
# Java bindings
@@ -104,6 +109,7 @@
set_target_properties(haljni PROPERTIES OUTPUT_NAME "wpiHaljni")
+ wpilib_target_warnings(haljni)
target_link_libraries(haljni PUBLIC hal wpiutil)
set_property(TARGET haljni PROPERTY FOLDER "libraries")
@@ -123,3 +129,8 @@
install(TARGETS haljni EXPORT haljni DESTINATION "${main_lib_dest}")
endif()
+
+if (WITH_TESTS)
+ wpilib_add_test(hal src/test/native/cpp)
+ target_link_libraries(hal_test hal gtest)
+endif()
diff --git a/third_party/allwpilib_2019/hal/build.gradle b/third_party/allwpilib_2019/hal/build.gradle
index 2f49ee5..56b220d 100644
--- a/third_party/allwpilib_2019/hal/build.gradle
+++ b/third_party/allwpilib_2019/hal/build.gradle
@@ -43,6 +43,8 @@
}
}
+apply plugin: DisableBuildingGTest
+
ext {
addHalDependency = { binary, shared->
binary.tasks.withType(AbstractNativeSourceCompileTask) {
@@ -67,7 +69,7 @@
it.tasks.withType(AbstractNativeSourceCompileTask) {
it.dependsOn generateUsageReporting
}
- if (it.targetPlatform.architecture.name == 'athena') {
+ if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
it.sources {
athenaJniCpp(CppSourceSet) {
source {
@@ -99,7 +101,7 @@
it.tasks.withType(AbstractNativeSourceCompileTask) {
it.dependsOn generateUsageReporting
}
- if (it.targetPlatform.architecture.name == 'athena') {
+ if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
it.sources {
athenaCpp(CppSourceSet) {
source {
@@ -163,41 +165,23 @@
}
}
-model {
- // Exports config is a utility to enable exporting all symbols in a C++ library on windows to a DLL.
- // This removes the need for DllExport on a library. However, the gradle C++ builder has a bug
- // where some extra symbols are added that cannot be resolved at link time. This configuration
- // lets you specify specific symbols to exlude from exporting.
- exportsConfigs {
- hal(ExportsConfig) {
- x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
- '_CT??_R0?AVbad_cast',
- '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
- '_TI5?AVfailure']
- x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
- '_CT??_R0?AVbad_cast',
- '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
- '_TI5?AVfailure']
+nativeUtils.exportsConfigs {
+ hal {
+ x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+ '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+ '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
+ '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
+ x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+ '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+ '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
+ '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
+ }
+ halJNI {
+ x86SymbolFilter = { symbols ->
+ symbols.removeIf({ !it.startsWith('HAL_') && !it.startsWith('HALSIM_') })
}
- halJNI(ExportsConfig) {
- x86SymbolFilter = { symbols ->
- def retList = []
- symbols.each { symbol ->
- if (symbol.startsWith('HAL_') || symbol.startsWith('HALSIM_')) {
- retList << symbol
- }
- }
- return retList
- }
- x64SymbolFilter = { symbols ->
- def retList = []
- symbols.each { symbol ->
- if (symbol.startsWith('HAL_') || symbol.startsWith('HALSIM_')) {
- retList << symbol
- }
- }
- return retList
- }
+ x64SymbolFilter = { symbols ->
+ symbols.removeIf({ !it.startsWith('HAL_') && !it.startsWith('HALSIM_') })
}
}
}
diff --git a/third_party/allwpilib_2019/hal/hal-config.cmake b/third_party/allwpilib_2019/hal/hal-config.cmake
deleted file mode 100644
index 97a574e..0000000
--- a/third_party/allwpilib_2019/hal/hal-config.cmake
+++ /dev/null
@@ -1,5 +0,0 @@
-include(CMakeFindDependencyMacro)
-find_dependency(wpiutil)
-
-get_filename_component(SELF_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
-include(${SELF_DIR}/hal.cmake)
diff --git a/third_party/allwpilib_2019/hal/hal-config.cmake.in b/third_party/allwpilib_2019/hal/hal-config.cmake.in
new file mode 100644
index 0000000..ae5533c
--- /dev/null
+++ b/third_party/allwpilib_2019/hal/hal-config.cmake.in
@@ -0,0 +1,5 @@
+include(CMakeFindDependencyMacro)
+@FILENAME_DEP_REPLACE@
+@WPIUTIL_DEP_REPLACE@
+
+include(${SELF_DIR}/hal.cmake)
diff --git a/third_party/allwpilib_2019/hal/simjni.gradle b/third_party/allwpilib_2019/hal/simjni.gradle
index 599f094..c1aef73 100644
--- a/third_party/allwpilib_2019/hal/simjni.gradle
+++ b/third_party/allwpilib_2019/hal/simjni.gradle
@@ -12,7 +12,7 @@
it.all { component ->
if (component in getJniSpecClass()) {
component.binaries.all { binary ->
- if (binary.targetPlatform.architecture.name == 'athena') {
+ if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
binary.tasks.withType(CppCompile) {
it.dependsOn createdTask
}
diff --git a/third_party/allwpilib_2019/hal/src/generate/FRCNetComm.java.in b/third_party/allwpilib_2019/hal/src/generate/FRCNetComm.java.in
index af49407..2c2f924 100644
--- a/third_party/allwpilib_2019/hal/src/generate/FRCNetComm.java.in
+++ b/third_party/allwpilib_2019/hal/src/generate/FRCNetComm.java.in
@@ -1,33 +1,33 @@
-/*
- * Autogenerated file! Do not manually edit this file.
- */
-
-package edu.wpi.first.hal;
-
-/**
- * JNI wrapper for library <b>FRC_NetworkCommunication</b><br>.
- */
-@SuppressWarnings({"MethodName", "LineLength"})
-public class FRCNetComm {
- /**
- * Resource type from UsageReporting.
- */
- @SuppressWarnings({"TypeName", "PMD.ConstantsInInterface"})
- public static final class tResourceType {
- private tResourceType() {
- }
-
-${usage_reporting_types}
- }
-
- /**
- * Instances from UsageReporting.
- */
- @SuppressWarnings({"TypeName", "PMD.ConstantsInInterface"})
- public static final class tInstances {
- private tInstances() {
- }
-
-${usage_reporting_instances}
- }
-}
+/*
+ * Autogenerated file! Do not manually edit this file.
+ */
+
+package edu.wpi.first.hal;
+
+/**
+ * JNI wrapper for library <b>FRC_NetworkCommunication</b><br>.
+ */
+@SuppressWarnings({"MethodName", "LineLength"})
+public class FRCNetComm {
+ /**
+ * Resource type from UsageReporting.
+ */
+ @SuppressWarnings({"TypeName", "PMD.ConstantsInInterface"})
+ public static final class tResourceType {
+ private tResourceType() {
+ }
+
+${usage_reporting_types}
+ }
+
+ /**
+ * Instances from UsageReporting.
+ */
+ @SuppressWarnings({"TypeName", "PMD.ConstantsInInterface"})
+ public static final class tInstances {
+ private tInstances() {
+ }
+
+${usage_reporting_instances}
+ }
+}
diff --git a/third_party/allwpilib_2019/hal/src/generate/FRCUsageReporting.h.in b/third_party/allwpilib_2019/hal/src/generate/FRCUsageReporting.h.in
index 7cf8128..0ed3b33 100644
--- a/third_party/allwpilib_2019/hal/src/generate/FRCUsageReporting.h.in
+++ b/third_party/allwpilib_2019/hal/src/generate/FRCUsageReporting.h.in
@@ -1,14 +1,14 @@
-#pragma once
-
-/*
- * Autogenerated file! Do not manually edit this file.
- */
-
-namespace HALUsageReporting {
- typedef enum {
-${usage_reporting_types_cpp}
- } tResourceType;
- typedef enum {
-${usage_reporting_instances_cpp}
- } tInstances;
-}
+#pragma once
+
+/*
+ * Autogenerated file! Do not manually edit this file.
+ */
+
+namespace HALUsageReporting {
+ typedef enum {
+${usage_reporting_types_cpp}
+ } tResourceType;
+ typedef enum {
+${usage_reporting_instances_cpp}
+ } tInstances;
+}
diff --git a/third_party/allwpilib_2019/hal/src/generate/Instances.txt b/third_party/allwpilib_2019/hal/src/generate/Instances.txt
index 25fc463..e7e9fea 100644
--- a/third_party/allwpilib_2019/hal/src/generate/Instances.txt
+++ b/third_party/allwpilib_2019/hal/src/generate/Instances.txt
@@ -1,44 +1,44 @@
-kLanguage_LabVIEW = 1
-kLanguage_CPlusPlus = 2
-kLanguage_Java = 3
-kLanguage_Python = 4
-kLanguage_DotNet = 5
-kCANPlugin_BlackJagBridge = 1
-kCANPlugin_2CAN = 2
-kFramework_Iterative = 1
-kFramework_Simple = 2
-kFramework_CommandControl = 3
-kFramework_Timed = 4
-kFramework_ROS = 5
-kFramework_RobotBuilder = 6
-kRobotDrive_ArcadeStandard = 1
-kRobotDrive_ArcadeButtonSpin = 2
-kRobotDrive_ArcadeRatioCurve = 3
-kRobotDrive_Tank = 4
-kRobotDrive_MecanumPolar = 5
-kRobotDrive_MecanumCartesian = 6
-kRobotDrive2_DifferentialArcade = 7
-kRobotDrive2_DifferentialTank = 8
-kRobotDrive2_DifferentialCurvature = 9
-kRobotDrive2_MecanumCartesian = 10
-kRobotDrive2_MecanumPolar = 11
-kRobotDrive2_KilloughCartesian = 12
-kRobotDrive2_KilloughPolar = 13
-kDriverStationCIO_Analog = 1
-kDriverStationCIO_DigitalIn = 2
-kDriverStationCIO_DigitalOut = 3
-kDriverStationEIO_Acceleration = 1
-kDriverStationEIO_AnalogIn = 2
-kDriverStationEIO_AnalogOut = 3
-kDriverStationEIO_Button = 4
-kDriverStationEIO_LED = 5
-kDriverStationEIO_DigitalIn = 6
-kDriverStationEIO_DigitalOut = 7
-kDriverStationEIO_FixedDigitalOut = 8
-kDriverStationEIO_PWM = 9
-kDriverStationEIO_Encoder = 10
-kDriverStationEIO_TouchSlider = 11
-kADXL345_SPI = 1
-kADXL345_I2C = 2
-kCommand_Scheduler = 1
-kSmartDashboard_Instance = 1
+kLanguage_LabVIEW = 1
+kLanguage_CPlusPlus = 2
+kLanguage_Java = 3
+kLanguage_Python = 4
+kLanguage_DotNet = 5
+kCANPlugin_BlackJagBridge = 1
+kCANPlugin_2CAN = 2
+kFramework_Iterative = 1
+kFramework_Simple = 2
+kFramework_CommandControl = 3
+kFramework_Timed = 4
+kFramework_ROS = 5
+kFramework_RobotBuilder = 6
+kRobotDrive_ArcadeStandard = 1
+kRobotDrive_ArcadeButtonSpin = 2
+kRobotDrive_ArcadeRatioCurve = 3
+kRobotDrive_Tank = 4
+kRobotDrive_MecanumPolar = 5
+kRobotDrive_MecanumCartesian = 6
+kRobotDrive2_DifferentialArcade = 7
+kRobotDrive2_DifferentialTank = 8
+kRobotDrive2_DifferentialCurvature = 9
+kRobotDrive2_MecanumCartesian = 10
+kRobotDrive2_MecanumPolar = 11
+kRobotDrive2_KilloughCartesian = 12
+kRobotDrive2_KilloughPolar = 13
+kDriverStationCIO_Analog = 1
+kDriverStationCIO_DigitalIn = 2
+kDriverStationCIO_DigitalOut = 3
+kDriverStationEIO_Acceleration = 1
+kDriverStationEIO_AnalogIn = 2
+kDriverStationEIO_AnalogOut = 3
+kDriverStationEIO_Button = 4
+kDriverStationEIO_LED = 5
+kDriverStationEIO_DigitalIn = 6
+kDriverStationEIO_DigitalOut = 7
+kDriverStationEIO_FixedDigitalOut = 8
+kDriverStationEIO_PWM = 9
+kDriverStationEIO_Encoder = 10
+kDriverStationEIO_TouchSlider = 11
+kADXL345_SPI = 1
+kADXL345_I2C = 2
+kCommand_Scheduler = 1
+kSmartDashboard_Instance = 1
diff --git a/third_party/allwpilib_2019/hal/src/generate/ResourceType.txt b/third_party/allwpilib_2019/hal/src/generate/ResourceType.txt
index b8699b0..1c9068a 100644
--- a/third_party/allwpilib_2019/hal/src/generate/ResourceType.txt
+++ b/third_party/allwpilib_2019/hal/src/generate/ResourceType.txt
@@ -1,85 +1,85 @@
-kResourceType_Controller = 0
-kResourceType_Module = 1
-kResourceType_Language = 2
-kResourceType_CANPlugin = 3
-kResourceType_Accelerometer = 4
-kResourceType_ADXL345 = 5
-kResourceType_AnalogChannel = 6
-kResourceType_AnalogTrigger = 7
-kResourceType_AnalogTriggerOutput = 8
-kResourceType_CANJaguar = 9
-kResourceType_Compressor = 10
-kResourceType_Counter = 11
-kResourceType_Dashboard = 12
-kResourceType_DigitalInput = 13
-kResourceType_DigitalOutput = 14
-kResourceType_DriverStationCIO = 15
-kResourceType_DriverStationEIO = 16
-kResourceType_DriverStationLCD = 17
-kResourceType_Encoder = 18
-kResourceType_GearTooth = 19
-kResourceType_Gyro = 20
-kResourceType_I2C = 21
-kResourceType_Framework = 22
-kResourceType_Jaguar = 23
-kResourceType_Joystick = 24
-kResourceType_Kinect = 25
-kResourceType_KinectStick = 26
-kResourceType_PIDController = 27
-kResourceType_Preferences = 28
-kResourceType_PWM = 29
-kResourceType_Relay = 30
-kResourceType_RobotDrive = 31
-kResourceType_SerialPort = 32
-kResourceType_Servo = 33
-kResourceType_Solenoid = 34
-kResourceType_SPI = 35
-kResourceType_Task = 36
-kResourceType_Ultrasonic = 37
-kResourceType_Victor = 38
-kResourceType_Button = 39
-kResourceType_Command = 40
-kResourceType_AxisCamera = 41
-kResourceType_PCVideoServer = 42
-kResourceType_SmartDashboard = 43
-kResourceType_Talon = 44
-kResourceType_HiTechnicColorSensor = 45
-kResourceType_HiTechnicAccel = 46
-kResourceType_HiTechnicCompass = 47
-kResourceType_SRF08 = 48
-kResourceType_AnalogOutput = 49
-kResourceType_VictorSP = 50
-kResourceType_PWMTalonSRX = 51
-kResourceType_CANTalonSRX = 52
-kResourceType_ADXL362 = 53
-kResourceType_ADXRS450 = 54
-kResourceType_RevSPARK = 55
-kResourceType_MindsensorsSD540 = 56
-kResourceType_DigitalGlitchFilter = 57
-kResourceType_ADIS16448 = 58
-kResourceType_PDP = 59
-kResourceType_PCM = 60
-kResourceType_PigeonIMU = 61
-kResourceType_NidecBrushless = 62
-kResourceType_CANifier = 63
-kResourceType_CTRE_future0 = 64
-kResourceType_CTRE_future1 = 65
-kResourceType_CTRE_future2 = 66
-kResourceType_CTRE_future3 = 67
-kResourceType_CTRE_future4 = 68
-kResourceType_CTRE_future5 = 69
-kResourceType_CTRE_future6 = 70
-kResourceType_LinearFilter = 71
-kResourceType_XboxController = 72
-kResourceType_UsbCamera = 73
-kResourceType_NavX = 74
-kResourceType_Pixy = 75
-kResourceType_Pixy2 = 76
-kResourceType_ScanseSweep = 77
-kResourceType_Shuffleboard = 78
-kResourceType_CAN = 79
-kResourceType_DigilentDMC60 = 80
-kResourceType_PWMVictorSPX = 81
-kResourceType_RevSparkMaxPWM = 82
-kResourceType_RevSparkMaxCAN = 83
-kResourceType_ADIS16470 = 84
+kResourceType_Controller = 0
+kResourceType_Module = 1
+kResourceType_Language = 2
+kResourceType_CANPlugin = 3
+kResourceType_Accelerometer = 4
+kResourceType_ADXL345 = 5
+kResourceType_AnalogChannel = 6
+kResourceType_AnalogTrigger = 7
+kResourceType_AnalogTriggerOutput = 8
+kResourceType_CANJaguar = 9
+kResourceType_Compressor = 10
+kResourceType_Counter = 11
+kResourceType_Dashboard = 12
+kResourceType_DigitalInput = 13
+kResourceType_DigitalOutput = 14
+kResourceType_DriverStationCIO = 15
+kResourceType_DriverStationEIO = 16
+kResourceType_DriverStationLCD = 17
+kResourceType_Encoder = 18
+kResourceType_GearTooth = 19
+kResourceType_Gyro = 20
+kResourceType_I2C = 21
+kResourceType_Framework = 22
+kResourceType_Jaguar = 23
+kResourceType_Joystick = 24
+kResourceType_Kinect = 25
+kResourceType_KinectStick = 26
+kResourceType_PIDController = 27
+kResourceType_Preferences = 28
+kResourceType_PWM = 29
+kResourceType_Relay = 30
+kResourceType_RobotDrive = 31
+kResourceType_SerialPort = 32
+kResourceType_Servo = 33
+kResourceType_Solenoid = 34
+kResourceType_SPI = 35
+kResourceType_Task = 36
+kResourceType_Ultrasonic = 37
+kResourceType_Victor = 38
+kResourceType_Button = 39
+kResourceType_Command = 40
+kResourceType_AxisCamera = 41
+kResourceType_PCVideoServer = 42
+kResourceType_SmartDashboard = 43
+kResourceType_Talon = 44
+kResourceType_HiTechnicColorSensor = 45
+kResourceType_HiTechnicAccel = 46
+kResourceType_HiTechnicCompass = 47
+kResourceType_SRF08 = 48
+kResourceType_AnalogOutput = 49
+kResourceType_VictorSP = 50
+kResourceType_PWMTalonSRX = 51
+kResourceType_CANTalonSRX = 52
+kResourceType_ADXL362 = 53
+kResourceType_ADXRS450 = 54
+kResourceType_RevSPARK = 55
+kResourceType_MindsensorsSD540 = 56
+kResourceType_DigitalGlitchFilter = 57
+kResourceType_ADIS16448 = 58
+kResourceType_PDP = 59
+kResourceType_PCM = 60
+kResourceType_PigeonIMU = 61
+kResourceType_NidecBrushless = 62
+kResourceType_CANifier = 63
+kResourceType_CTRE_future0 = 64
+kResourceType_CTRE_future1 = 65
+kResourceType_CTRE_future2 = 66
+kResourceType_CTRE_future3 = 67
+kResourceType_CTRE_future4 = 68
+kResourceType_CTRE_future5 = 69
+kResourceType_CTRE_future6 = 70
+kResourceType_LinearFilter = 71
+kResourceType_XboxController = 72
+kResourceType_UsbCamera = 73
+kResourceType_NavX = 74
+kResourceType_Pixy = 75
+kResourceType_Pixy2 = 76
+kResourceType_ScanseSweep = 77
+kResourceType_Shuffleboard = 78
+kResourceType_CAN = 79
+kResourceType_DigilentDMC60 = 80
+kResourceType_PWMVictorSPX = 81
+kResourceType_RevSparkMaxPWM = 82
+kResourceType_RevSparkMaxCAN = 83
+kResourceType_ADIS16470 = 84
diff --git a/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java
index 3e78039..38e67a7 100644
--- a/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java
+++ b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -46,6 +46,8 @@
public static native boolean checkAnalogOutputChannel(int channel);
+ public static native void setAnalogInputSimDevice(int handle, int device);
+
public static native void setAnalogOutput(int portHandle, double voltage);
public static native double getAnalogOutput(int portHandle);
diff --git a/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/CANAPIJNI.java b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/CANAPIJNI.java
index 1ac3ca7..029cc6d 100644
--- a/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/CANAPIJNI.java
+++ b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/CANAPIJNI.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -18,6 +18,8 @@
public static native void writeCANPacketRepeating(int handle, byte[] data, int apiId,
int repeatMs);
+ public static native void writeCANRTRFrame(int handle, int length, int apiId);
+
public static native void stopCANPacketRepeating(int handle, int apiId);
public static native boolean readCANPacketNew(int handle, int apiId, CANData data);
@@ -26,7 +28,4 @@
public static native boolean readCANPacketTimeout(int handle, int apiId, int timeoutMs,
CANData data);
-
- public static native boolean readCANPeriodicPacket(int handle, int apiId, int timeoutMs,
- int periodMs, CANData data);
}
diff --git a/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/DIOJNI.java b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/DIOJNI.java
index b9c11a5..ad83c3c 100644
--- a/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/DIOJNI.java
+++ b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/DIOJNI.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -15,6 +15,8 @@
public static native void freeDIOPort(int dioPortHandle);
+ public static native void setDIOSimDevice(int handle, int device);
+
// TODO(Thad): Switch this to use boolean
public static native void setDIO(int dioPortHandle, short value);
diff --git a/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/EncoderJNI.java b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/EncoderJNI.java
index 082b6d9..40fa1c1 100644
--- a/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/EncoderJNI.java
+++ b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/EncoderJNI.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -14,6 +14,8 @@
public static native void freeEncoder(int encoderHandle);
+ public static native void setEncoderSimDevice(int handle, int device);
+
public static native int getEncoder(int encoderHandle);
public static native int getEncoderRaw(int encoderHandle);
diff --git a/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/HAL.java b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/HAL.java
index a298ff6..8f09a0a 100644
--- a/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/HAL.java
+++ b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/HAL.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -18,6 +18,12 @@
public static native boolean initialize(int timeout, int mode);
+ public static native boolean hasMain();
+
+ public static native void runMain();
+
+ public static native void exitMain();
+
public static native void observeUserProgramStarting();
public static native void observeUserProgramDisabled();
diff --git a/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/HALValue.java b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/HALValue.java
new file mode 100644
index 0000000..636af8f
--- /dev/null
+++ b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/HALValue.java
@@ -0,0 +1,169 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.hal;
+
+@SuppressWarnings("AbbreviationAsWordInName")
+public final class HALValue {
+ public static final int kUnassigned = 0;
+ public static final int kBoolean = 0x01;
+ public static final int kDouble = 0x02;
+ public static final int kEnum = 0x04;
+ public static final int kInt = 0x08;
+ public static final int kLong = 0x10;
+
+ private int m_type;
+ private long m_long;
+ private double m_double;
+
+ private HALValue(double value, int type) {
+ m_type = type;
+ m_double = value;
+ }
+
+ private HALValue(long value, int type) {
+ m_type = type;
+ m_long = value;
+ }
+
+ private HALValue() {
+
+ }
+
+ /**
+ * Get the type of the value.
+ *
+ * @return Type (e.g. kBoolean).
+ */
+ public int getType() {
+ return m_type;
+ }
+
+ /**
+ * Get the value as a boolean. Does not perform type checking.
+ *
+ * @return value contents
+ */
+ public boolean getBoolean() {
+ return m_long != 0;
+ }
+
+ /**
+ * Get the value as a long. Does not perform type checking.
+ *
+ * @return value contents
+ */
+ public long getLong() {
+ return m_long;
+ }
+
+ /**
+ * Get the value as a double. Does not perform type checking.
+ *
+ * @return value contents
+ */
+ public double getDouble() {
+ return m_double;
+ }
+
+ /**
+ * Get the native long value. Does not perform type checking.
+ *
+ * @return value contents
+ */
+ public long getNativeLong() {
+ return m_long;
+ }
+
+ /**
+ * Get the native double value. Does not perform type checking.
+ *
+ * @return value contents
+ */
+ public double getNativeDouble() {
+ return m_double;
+ }
+
+ /**
+ * Build a HAL boolean value.
+ *
+ * @param value value
+ * @return HAL value
+ */
+ public static HALValue makeBoolean(boolean value) {
+ return new HALValue(value ? 1 : 0, kBoolean);
+ }
+
+ /**
+ * Build a HAL enum value.
+ *
+ * @param value value
+ * @return HAL value
+ */
+ public static HALValue makeEnum(int value) {
+ return new HALValue(value, kEnum);
+ }
+
+ /**
+ * Build a HAL integer value.
+ *
+ * @param value value
+ * @return HAL value
+ */
+ public static HALValue makeInt(int value) {
+ return new HALValue(value, kInt);
+ }
+
+ /**
+ * Build a HAL long value.
+ *
+ * @param value value
+ * @return HAL value
+ */
+ public static HALValue makeLong(long value) {
+ return new HALValue(value, kLong);
+ }
+
+ /**
+ * Build a HAL double value.
+ *
+ * @param value value
+ * @return HAL value
+ */
+ public static HALValue makeDouble(double value) {
+ return new HALValue(value, kDouble);
+ }
+
+ public static HALValue makeUnassigned() {
+ return new HALValue();
+ }
+
+ /**
+ * Build a HAL value from its native components.
+ *
+ * @param type type
+ * @param value1 long value (all except double)
+ * @param value2 double value (for double only)
+ * @return HAL value
+ */
+ public static HALValue fromNative(int type, long value1, double value2) {
+ switch (type) {
+ case 0x01:
+ return makeBoolean(value1 != 0);
+ case 0x02:
+ return makeDouble(value2);
+ case 0x16:
+ return makeEnum((int) value1);
+ case 0x32:
+ return makeInt((int) value1);
+ case 0x64:
+ return makeLong(value1);
+ default:
+ return makeUnassigned();
+ }
+ }
+}
diff --git a/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/JNIWrapper.java b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/JNIWrapper.java
index 21342bc..63ad39f 100644
--- a/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/JNIWrapper.java
+++ b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/JNIWrapper.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,6 +8,7 @@
package edu.wpi.first.hal;
import java.io.IOException;
+import java.util.concurrent.atomic.AtomicBoolean;
import edu.wpi.first.wpiutil.RuntimeLoader;
@@ -18,8 +19,20 @@
static boolean libraryLoaded = false;
static RuntimeLoader<JNIWrapper> loader = null;
+ public static class Helper {
+ private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
+
+ public static boolean getExtractOnStaticLoad() {
+ return extractOnStaticLoad.get();
+ }
+
+ public static void setExtractOnStaticLoad(boolean load) {
+ extractOnStaticLoad.set(load);
+ }
+ }
+
static {
- if (!libraryLoaded) {
+ if (Helper.getExtractOnStaticLoad()) {
try {
loader = new RuntimeLoader<>("wpiHaljni", RuntimeLoader.getDefaultExtractionRoot(), JNIWrapper.class);
loader.loadLibrary();
@@ -28,7 +41,18 @@
System.exit(1);
}
libraryLoaded = true;
- libraryLoaded = true;
}
}
+
+ /**
+ * Force load the library.
+ */
+ public static synchronized void forceLoad() throws IOException {
+ if (libraryLoaded) {
+ return;
+ }
+ loader = new RuntimeLoader<>("wpiHaljni", RuntimeLoader.getDefaultExtractionRoot(), JNIWrapper.class);
+ loader.loadLibrary();
+ libraryLoaded = true;
+ }
}
diff --git a/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/SerialPortJNI.java b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/SerialPortJNI.java
index db98b9c..267947b 100644
--- a/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/SerialPortJNI.java
+++ b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/SerialPortJNI.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,41 +8,41 @@
package edu.wpi.first.hal;
public class SerialPortJNI extends JNIWrapper {
- public static native void serialInitializePort(byte port);
+ public static native int serialInitializePort(byte port);
- public static native void serialInitializePortDirect(byte port, String portName);
+ public static native int serialInitializePortDirect(byte port, String portName);
- public static native void serialSetBaudRate(byte port, int baud);
+ public static native void serialSetBaudRate(int handle, int baud);
- public static native void serialSetDataBits(byte port, byte bits);
+ public static native void serialSetDataBits(int handle, byte bits);
- public static native void serialSetParity(byte port, byte parity);
+ public static native void serialSetParity(int handle, byte parity);
- public static native void serialSetStopBits(byte port, byte stopBits);
+ public static native void serialSetStopBits(int handle, byte stopBits);
- public static native void serialSetWriteMode(byte port, byte mode);
+ public static native void serialSetWriteMode(int handle, byte mode);
- public static native void serialSetFlowControl(byte port, byte flow);
+ public static native void serialSetFlowControl(int handle, byte flow);
- public static native void serialSetTimeout(byte port, double timeout);
+ public static native void serialSetTimeout(int handle, double timeout);
- public static native void serialEnableTermination(byte port, char terminator);
+ public static native void serialEnableTermination(int handle, char terminator);
- public static native void serialDisableTermination(byte port);
+ public static native void serialDisableTermination(int handle);
- public static native void serialSetReadBufferSize(byte port, int size);
+ public static native void serialSetReadBufferSize(int handle, int size);
- public static native void serialSetWriteBufferSize(byte port, int size);
+ public static native void serialSetWriteBufferSize(int handle, int size);
- public static native int serialGetBytesReceived(byte port);
+ public static native int serialGetBytesReceived(int handle);
- public static native int serialRead(byte port, byte[] buffer, int count);
+ public static native int serialRead(int handle, byte[] buffer, int count);
- public static native int serialWrite(byte port, byte[] buffer, int count);
+ public static native int serialWrite(int handle, byte[] buffer, int count);
- public static native void serialFlush(byte port);
+ public static native void serialFlush(int handle);
- public static native void serialClear(byte port);
+ public static native void serialClear(int handle);
- public static native void serialClose(byte port);
+ public static native void serialClose(int handle);
}
diff --git a/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/SimBoolean.java b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/SimBoolean.java
new file mode 100644
index 0000000..00e8552
--- /dev/null
+++ b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/SimBoolean.java
@@ -0,0 +1,40 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.hal;
+
+/**
+ * A wrapper around a simulator boolean value handle.
+ */
+public class SimBoolean extends SimValue {
+ /**
+ * Wraps a simulated value handle as returned by SimDeviceJNI.createSimValueBoolean().
+ *
+ * @param handle simulated value handle
+ */
+ public SimBoolean(int handle) {
+ super(handle);
+ }
+
+ /**
+ * Gets the simulated value.
+ *
+ * @return The current value
+ */
+ public boolean get() {
+ return SimDeviceJNI.getSimValueBoolean(m_handle);
+ }
+
+ /**
+ * Sets the simulated value.
+ *
+ * @param value the value to set
+ */
+ public void set(boolean value) {
+ SimDeviceJNI.setSimValueBoolean(m_handle, value);
+ }
+}
diff --git a/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/SimDevice.java b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/SimDevice.java
new file mode 100644
index 0000000..ecddc2e
--- /dev/null
+++ b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/SimDevice.java
@@ -0,0 +1,171 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.hal;
+
+/**
+ * A wrapper around a simulator device handle.
+ */
+public class SimDevice implements AutoCloseable {
+ /**
+ * Creates a simulated device.
+ *
+ * <p>The device name must be unique. Returns null if the device name
+ * already exists. If multiple instances of the same device are desired,
+ * recommend appending the instance/unique identifer in brackets to the base
+ * name, e.g. "device[1]".
+ *
+ * <p>null is returned if not in simulation.
+ *
+ * @param name device name
+ * @return simulated device object
+ */
+ public static SimDevice create(String name) {
+ int handle = SimDeviceJNI.createSimDevice(name);
+ if (handle <= 0) {
+ return null;
+ }
+ return new SimDevice(handle);
+ }
+
+ /**
+ * Creates a simulated device.
+ *
+ * <p>The device name must be unique. Returns null if the device name
+ * already exists. This is a convenience method that appends index in
+ * brackets to the device name, e.g. passing index=1 results in "device[1]"
+ * for the device name.
+ *
+ * <p>null is returned if not in simulation.
+ *
+ * @param name device name
+ * @param index device index number to append to name
+ * @return simulated device object
+ */
+ public static SimDevice create(String name, int index) {
+ return create(name + "[" + index + "]");
+ }
+
+ /**
+ * Creates a simulated device.
+ *
+ * <p>The device name must be unique. Returns null if the device name
+ * already exists. This is a convenience method that appends index and
+ * channel in brackets to the device name, e.g. passing index=1 and channel=2
+ * results in "device[1,2]" for the device name.
+ *
+ * <p>null is returned if not in simulation.
+ *
+ * @param name device name
+ * @param index device index number to append to name
+ * @param channel device channel number to append to name
+ * @return simulated device object
+ */
+ public static SimDevice create(String name, int index, int channel) {
+ return create(name + "[" + index + "," + channel + "]");
+ }
+
+ /**
+ * Wraps a simulated device handle as returned by SimDeviceJNI.createSimDevice().
+ *
+ * @param handle simulated device handle
+ */
+ public SimDevice(int handle) {
+ m_handle = handle;
+ }
+
+ @Override
+ public void close() {
+ SimDeviceJNI.freeSimDevice(m_handle);
+ }
+
+ /**
+ * Get the internal device handle.
+ *
+ * @return internal handle
+ */
+ public int getNativeHandle() {
+ return m_handle;
+ }
+
+ /**
+ * Creates a value on the simulated device.
+ *
+ * <p>Returns null if not in simulation.
+ *
+ * @param name value name
+ * @param readonly if the value should not be written from simulation side
+ * @param initialValue initial value
+ * @return simulated value object
+ */
+ public SimValue createValue(String name, boolean readonly, HALValue initialValue) {
+ int handle = SimDeviceJNI.createSimValue(m_handle, name, readonly, initialValue);
+ if (handle <= 0) {
+ return null;
+ }
+ return new SimValue(handle);
+ }
+
+ /**
+ * Creates a double value on the simulated device.
+ *
+ * <p>Returns null if not in simulation.
+ *
+ * @param name value name
+ * @param readonly if the value should not be written from simulation side
+ * @param initialValue initial value
+ * @return simulated double value object
+ */
+ public SimDouble createDouble(String name, boolean readonly, double initialValue) {
+ int handle = SimDeviceJNI.createSimValueDouble(m_handle, name, readonly, initialValue);
+ if (handle <= 0) {
+ return null;
+ }
+ return new SimDouble(handle);
+ }
+
+ /**
+ * Creates an enumerated value on the simulated device.
+ *
+ * <p>Enumerated values are always in the range 0 to numOptions-1.
+ *
+ * <p>Returns null if not in simulation.
+ *
+ * @param name value name
+ * @param readonly if the value should not be written from simulation side
+ * @param options array of option descriptions
+ * @param initialValue initial value (selection)
+ * @return simulated enum value object
+ */
+ public SimEnum createEnum(String name, boolean readonly, String[] options, int initialValue) {
+ int handle = SimDeviceJNI.createSimValueEnum(m_handle, name, readonly, options, initialValue);
+ if (handle <= 0) {
+ return null;
+ }
+ return new SimEnum(handle);
+ }
+
+ /**
+ * Creates a boolean value on the simulated device.
+ *
+ * <p>Returns null if not in simulation.
+ *
+ * @param name value name
+ * @param readonly if the value should not be written from simulation side
+ * @param initialValue initial value
+ * @return simulated boolean value object
+ */
+ public SimBoolean createBoolean(String name, boolean readonly, boolean initialValue) {
+ int handle = SimDeviceJNI.createSimValueBoolean(m_handle, name, readonly, initialValue);
+ if (handle <= 0) {
+ return null;
+ }
+ return new SimBoolean(handle);
+ }
+
+ private final int m_handle;
+}
diff --git a/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/SimDeviceJNI.java b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/SimDeviceJNI.java
new file mode 100644
index 0000000..d9b8931
--- /dev/null
+++ b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/SimDeviceJNI.java
@@ -0,0 +1,183 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.hal;
+
+public class SimDeviceJNI extends JNIWrapper {
+ /**
+ * Creates a simulated device.
+ *
+ * <p>The device name must be unique. 0 is returned if the device name
+ * already exists. If multiple instances of the same device are desired,
+ * recommend appending the instance/unique identifer in brackets to the base
+ * name, e.g. "device[1]".
+ *
+ * <p>0 is returned if not in simulation.
+ *
+ * @param name device name
+ * @return simulated device handle
+ */
+ public static native int createSimDevice(String name);
+
+ /**
+ * Frees a simulated device.
+ *
+ * <p>This also allows the same device name to be used again.
+ * This also frees all the simulated values created on the device.
+ *
+ * @param handle simulated device handle
+ */
+ public static native void freeSimDevice(int handle);
+
+ private static native int createSimValueNative(int device, String name, boolean readonly,
+ int type, long value1, double value2);
+
+ /**
+ * Creates a value on a simulated device.
+ *
+ * <p>Returns 0 if not in simulation; this can be used to avoid calls
+ * to Set/Get functions.
+ *
+ * @param device simulated device handle
+ * @param name value name
+ * @param readonly if the value should not be written from simulation side
+ * @param initialValue initial value
+ * @return simulated value handle
+ */
+ public static int createSimValue(int device, String name, boolean readonly,
+ HALValue initialValue) {
+ return createSimValueNative(device, name, readonly, initialValue.getType(),
+ initialValue.getNativeLong(), initialValue.getNativeDouble());
+ }
+
+ /**
+ * Creates a double value on a simulated device.
+ *
+ * <p>Returns 0 if not in simulation; this can be used to avoid calls
+ * to Set/Get functions.
+ *
+ * @param device simulated device handle
+ * @param name value name
+ * @param readonly if the value should not be written from simulation side
+ * @param initialValue initial value
+ * @return simulated value handle
+ */
+ public static int createSimValueDouble(int device, String name, boolean readonly,
+ double initialValue) {
+ return createSimValueNative(device, name, readonly, HALValue.kDouble, 0, initialValue);
+ }
+
+ /**
+ * Creates an enumerated value on a simulated device.
+ *
+ * <p>Enumerated values are always in the range 0 to numOptions-1.
+ *
+ * <p>Returns 0 if not in simulation; this can be used to avoid calls
+ * to Set/Get functions.
+ *
+ * @param device simulated device handle
+ * @param name value name
+ * @param readonly if the value should not be written from simulation side
+ * @param options array of option descriptions
+ * @param initialValue initial value (selection)
+ * @return simulated value handle
+ */
+ public static native int createSimValueEnum(int device, String name, boolean readonly,
+ String[] options, int initialValue);
+
+ /**
+ * Creates a boolean value on a simulated device.
+ *
+ * <p>Returns 0 if not in simulation; this can be used to avoid calls
+ * to Set/Get functions.
+ *
+ * @param device simulated device handle
+ * @param name value name
+ * @param readonly if the value should not be written from simulation side
+ * @param initialValue initial value
+ * @return simulated value handle
+ */
+ public static int createSimValueBoolean(int device, String name, boolean readonly,
+ boolean initialValue) {
+ return createSimValueNative(device, name, readonly, HALValue.kBoolean,
+ initialValue ? 1 : 0, 0.0);
+ }
+
+ /**
+ * Gets a simulated value.
+ *
+ * @param handle simulated value handle
+ * @return The current value
+ */
+ public static native HALValue getSimValue(int handle);
+
+ /**
+ * Gets a simulated value (double).
+ *
+ * @param handle simulated value handle
+ * @return The current value
+ */
+ public static native double getSimValueDouble(int handle);
+
+ /**
+ * Gets a simulated value (enum).
+ *
+ * @param handle simulated value handle
+ * @return The current value
+ */
+ public static native int getSimValueEnum(int handle);
+
+ /**
+ * Gets a simulated value (boolean).
+ *
+ * @param handle simulated value handle
+ * @return The current value
+ */
+ public static native boolean getSimValueBoolean(int handle);
+
+ private static native void setSimValueNative(int handle, int type, long value1, double value2);
+
+ /**
+ * Sets a simulated value.
+ *
+ * @param handle simulated value handle
+ * @param value the value to set
+ */
+ public static void setSimValue(int handle, HALValue value) {
+ setSimValueNative(handle, value.getType(), value.getNativeLong(), value.getNativeDouble());
+ }
+
+ /**
+ * Sets a simulated value (double).
+ *
+ * @param handle simulated value handle
+ * @param value the value to set
+ */
+ public static void setSimValueDouble(int handle, double value) {
+ setSimValueNative(handle, HALValue.kDouble, 0, value);
+ }
+
+ /**
+ * Sets a simulated value (enum).
+ *
+ * @param handle simulated value handle
+ * @param value the value to set
+ */
+ public static void setSimValueEnum(int handle, int value) {
+ setSimValueNative(handle, HALValue.kEnum, value, 0.0);
+ }
+
+ /**
+ * Sets a simulated value (boolean).
+ *
+ * @param handle simulated value handle
+ * @param value the value to set
+ */
+ public static void setSimValueBoolean(int handle, boolean value) {
+ setSimValueNative(handle, HALValue.kBoolean, value ? 1 : 0, 0.0);
+ }
+}
diff --git a/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/SimDouble.java b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/SimDouble.java
new file mode 100644
index 0000000..51c9789
--- /dev/null
+++ b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/SimDouble.java
@@ -0,0 +1,40 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.hal;
+
+/**
+ * A wrapper around a simulator double value handle.
+ */
+public class SimDouble extends SimValue {
+ /**
+ * Wraps a simulated value handle as returned by SimDeviceJNI.createSimValueDouble().
+ *
+ * @param handle simulated value handle
+ */
+ public SimDouble(int handle) {
+ super(handle);
+ }
+
+ /**
+ * Gets the simulated value.
+ *
+ * @return The current value
+ */
+ public double get() {
+ return SimDeviceJNI.getSimValueDouble(m_handle);
+ }
+
+ /**
+ * Sets the simulated value.
+ *
+ * @param value the value to set
+ */
+ public void set(double value) {
+ SimDeviceJNI.setSimValueDouble(m_handle, value);
+ }
+}
diff --git a/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/SimEnum.java b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/SimEnum.java
new file mode 100644
index 0000000..d951bed
--- /dev/null
+++ b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/SimEnum.java
@@ -0,0 +1,40 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.hal;
+
+/**
+ * A wrapper around a simulator enum value handle.
+ */
+public class SimEnum extends SimValue {
+ /**
+ * Wraps a simulated value handle as returned by SimDeviceJNI.createSimValueEnum().
+ *
+ * @param handle simulated value handle
+ */
+ public SimEnum(int handle) {
+ super(handle);
+ }
+
+ /**
+ * Gets the simulated value.
+ *
+ * @return The current value
+ */
+ public int get() {
+ return SimDeviceJNI.getSimValueEnum(m_handle);
+ }
+
+ /**
+ * Sets the simulated value.
+ *
+ * @param value the value to set
+ */
+ public void set(int value) {
+ SimDeviceJNI.setSimValueEnum(m_handle, value);
+ }
+}
diff --git a/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/SimValue.java b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/SimValue.java
new file mode 100644
index 0000000..05d6b0c
--- /dev/null
+++ b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/SimValue.java
@@ -0,0 +1,51 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.hal;
+
+/**
+ * A wrapper around a simulator value handle.
+ */
+public class SimValue {
+ /**
+ * Wraps a simulated value handle as returned by SimDeviceJNI.createSimValue().
+ *
+ * @param handle simulated value handle
+ */
+ public SimValue(int handle) {
+ m_handle = handle;
+ }
+
+ /**
+ * Get the internal device handle.
+ *
+ * @return internal handle
+ */
+ public int getNativeHandle() {
+ return m_handle;
+ }
+
+ /**
+ * Gets the simulated value.
+ *
+ * @return The current value
+ */
+ public HALValue getValue() {
+ return SimDeviceJNI.getSimValue(m_handle);
+ }
+
+ /**
+ * Sets the simulated value.
+ *
+ * @param value the value to set
+ */
+ public void setValue(HALValue value) {
+ SimDeviceJNI.setSimValue(m_handle, value);
+ }
+
+ protected final int m_handle;
+}
diff --git a/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/can/CANExceptionFactory.java b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/can/CANExceptionFactory.java
index 132dae1..dc089f8 100644
--- a/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/can/CANExceptionFactory.java
+++ b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/can/CANExceptionFactory.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -32,13 +32,12 @@
throw new CANMessageNotFoundException();
case ERR_CANSessionMux_NotAllowed:
case NIRioStatus.kRIOStatusFeatureNotSupported:
- throw new CANMessageNotAllowedException("MessageID = " + Integer.toString(messageID));
+ throw new CANMessageNotAllowedException("MessageID = " + messageID);
case ERR_CANSessionMux_NotInitialized:
case NIRioStatus.kRIOStatusResourceNotInitialized:
throw new CANNotInitializedException();
default:
- throw new UncleanStatusException("Fatal status code detected: " + Integer.toString(
- status));
+ throw new UncleanStatusException("Fatal status code detected: " + status);
}
}
diff --git a/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/sim/DriverStationSim.java b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/sim/DriverStationSim.java
index 20fed0d..f87051f 100644
--- a/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/sim/DriverStationSim.java
+++ b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/sim/DriverStationSim.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
diff --git a/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/sim/NotifyCallback.java b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/sim/NotifyCallback.java
index 8781f75..9c655e4 100644
--- a/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/sim/NotifyCallback.java
+++ b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/sim/NotifyCallback.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,29 +7,12 @@
package edu.wpi.first.hal.sim;
+import edu.wpi.first.hal.HALValue;
+
public interface NotifyCallback {
- void callback(String name, SimValue value);
+ void callback(String name, HALValue value);
default void callbackNative(String name, int type, long value1, double value2) {
- switch (type) {
- case 0x01:
- callback(name, SimValue.makeBoolean(value1 != 0));
- break;
- case 0x02:
- callback(name, SimValue.makeDouble(value2));
- break;
- case 0x16:
- callback(name, SimValue.makeEnum((int) value1));
- break;
- case 0x32:
- callback(name, SimValue.makeInt((int) value1));
- break;
- case 0x64:
- callback(name, SimValue.makeLong(value1));
- break;
- default:
- callback(name, SimValue.makeUnassigned());
- break;
- }
+ callback(name, HALValue.fromNative(type, value1, value2));
}
}
diff --git a/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/sim/SimDeviceCallback.java b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/sim/SimDeviceCallback.java
new file mode 100644
index 0000000..ff9e45b
--- /dev/null
+++ b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/sim/SimDeviceCallback.java
@@ -0,0 +1,13 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.hal.sim;
+
+@FunctionalInterface
+public interface SimDeviceCallback {
+ void callback(String name, int handle);
+}
diff --git a/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/sim/SimValue.java b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/sim/SimValue.java
deleted file mode 100644
index 3dbb7c9..0000000
--- a/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/sim/SimValue.java
+++ /dev/null
@@ -1,66 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.hal.sim;
-
-public final class SimValue {
- private boolean m_boolean;
- private long m_long;
- private double m_double;
-
- private SimValue(boolean b) {
- m_boolean = b;
- }
-
- private SimValue(double v) {
- m_double = v;
- }
-
- private SimValue(long v) {
- m_long = v;
- }
-
- private SimValue() {
-
- }
-
- public boolean getBoolean() {
- return m_boolean;
- }
-
- public long getLong() {
- return m_long;
- }
-
- public double getDouble() {
- return m_double;
- }
-
- public static SimValue makeBoolean(boolean value) {
- return new SimValue(value);
- }
-
- public static SimValue makeEnum(int value) {
- return new SimValue(value);
- }
-
- public static SimValue makeInt(int value) {
- return new SimValue(value);
- }
-
- public static SimValue makeLong(long value) {
- return new SimValue(value);
- }
-
- public static SimValue makeDouble(double value) {
- return new SimValue(value);
- }
-
- public static SimValue makeUnassigned() {
- return new SimValue();
- }
-}
diff --git a/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/sim/SimValueCallback.java b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/sim/SimValueCallback.java
new file mode 100644
index 0000000..786158a
--- /dev/null
+++ b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/sim/SimValueCallback.java
@@ -0,0 +1,19 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.hal.sim;
+
+import edu.wpi.first.hal.HALValue;
+
+@FunctionalInterface
+public interface SimValueCallback {
+ void callback(String name, int handle, boolean readonly, HALValue value);
+
+ default void callbackNative(String name, int handle, boolean readonly, int type, long value1, double value2) {
+ callback(name, handle, readonly, HALValue.fromNative(type, value1, value2));
+ }
+}
diff --git a/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/sim/mockdata/SimDeviceDataJNI.java b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/sim/mockdata/SimDeviceDataJNI.java
new file mode 100644
index 0000000..2b8a38a
--- /dev/null
+++ b/third_party/allwpilib_2019/hal/src/main/java/edu/wpi/first/hal/sim/mockdata/SimDeviceDataJNI.java
@@ -0,0 +1,73 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.hal.sim.mockdata;
+
+import edu.wpi.first.hal.sim.SimDeviceCallback;
+import edu.wpi.first.hal.sim.SimValueCallback;
+import edu.wpi.first.hal.HALValue;
+import edu.wpi.first.hal.JNIWrapper;
+
+public class SimDeviceDataJNI extends JNIWrapper {
+ public static native int registerSimDeviceCreatedCallback(String prefix, SimDeviceCallback callback, boolean initialNotify);
+ public static native void cancelSimDeviceCreatedCallback(int uid);
+
+ public static native int registerSimDeviceFreedCallback(String prefix, SimDeviceCallback callback);
+ public static native void cancelSimDeviceFreedCallback(int uid);
+
+ public static native int getSimDeviceHandle(String name);
+
+ public static native int getSimValueDeviceHandle(int handle);
+
+ public static class SimDeviceInfo {
+ public SimDeviceInfo(String name, int handle) {
+ this.name = name;
+ this.handle = handle;
+ }
+
+ @SuppressWarnings("MemberName")
+ String name;
+
+ @SuppressWarnings("MemberName")
+ int handle;
+ }
+ public static native SimDeviceInfo[] enumerateSimDevices(String prefix);
+
+ public static native int registerSimValueCreatedCallback(int device, SimValueCallback callback, boolean initialNotify);
+ public static native void cancelSimValueCreatedCallback(int uid);
+
+ public static native int registerSimValueChangedCallback(int handle, SimValueCallback callback, boolean initialNotify);
+ public static native void cancelSimValueChangedCallback(int uid);
+
+ public static native int getSimValueHandle(int device, String name);
+
+ public static class SimValueInfo {
+ public SimValueInfo(String name, int handle, boolean readonly, int type, long value1, double value2) {
+ this.name = name;
+ this.handle = handle;
+ this.readonly = readonly;
+ this.value = HALValue.fromNative(type, value1, value2);
+ }
+
+ @SuppressWarnings("MemberName")
+ String name;
+
+ @SuppressWarnings("MemberName")
+ int handle;
+
+ @SuppressWarnings("MemberName")
+ boolean readonly;
+
+ @SuppressWarnings("MemberName")
+ HALValue value;
+ }
+ public static native SimValueInfo[] enumerateSimValues(int device);
+
+ public static native String[] getSimValueEnumOptions(int handle);
+
+ public static native void resetSimDeviceData();
+}
diff --git a/third_party/allwpilib_2019/hal/src/main/native/athena/AnalogInput.cpp b/third_party/allwpilib_2019/hal/src/main/native/athena/AnalogInput.cpp
index b11280d..859524e 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/athena/AnalogInput.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/athena/AnalogInput.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -75,6 +75,9 @@
return channel < kNumAnalogInputs && channel >= 0;
}
+void HAL_SetAnalogInputSimDevice(HAL_AnalogInputHandle handle,
+ HAL_SimDeviceHandle device) {}
+
void HAL_SetAnalogSampleRate(double samplesPerSecond, int32_t* status) {
// TODO: This will change when variable size scan lists are implemented.
// TODO: Need double comparison with epsilon.
@@ -149,7 +152,7 @@
readSelect.Channel = port->channel;
readSelect.Averaged = false;
- std::lock_guard<wpi::mutex> lock(analogRegisterWindowMutex);
+ std::scoped_lock lock(analogRegisterWindowMutex);
analogInputSystem->writeReadSelect(readSelect, status);
analogInputSystem->strobeLatchOutput(status);
return static_cast<int16_t>(analogInputSystem->readOutput(status));
@@ -166,7 +169,7 @@
readSelect.Channel = port->channel;
readSelect.Averaged = true;
- std::lock_guard<wpi::mutex> lock(analogRegisterWindowMutex);
+ std::scoped_lock lock(analogRegisterWindowMutex);
analogInputSystem->writeReadSelect(readSelect, status);
analogInputSystem->strobeLatchOutput(status);
return static_cast<int32_t>(analogInputSystem->readOutput(status));
diff --git a/third_party/allwpilib_2019/hal/src/main/native/athena/AnalogInternal.cpp b/third_party/allwpilib_2019/hal/src/main/native/athena/AnalogInternal.cpp
index 6e02def..03a246d 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/athena/AnalogInternal.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/athena/AnalogInternal.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -44,7 +44,7 @@
void initializeAnalog(int32_t* status) {
hal::init::CheckInit();
if (analogSystemInitialized) return;
- std::lock_guard<wpi::mutex> lock(analogRegisterWindowMutex);
+ std::scoped_lock lock(analogRegisterWindowMutex);
if (analogSystemInitialized) return;
analogInputSystem.reset(tAI::create(status));
analogOutputSystem.reset(tAO::create(status));
diff --git a/third_party/allwpilib_2019/hal/src/main/native/athena/CANAPI.cpp b/third_party/allwpilib_2019/hal/src/main/native/athena/CANAPI.cpp
index 01c06bd..44cdb58 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/athena/CANAPI.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/athena/CANAPI.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -68,6 +68,8 @@
return createdId;
}
+extern "C" {
+
HAL_CANHandle HAL_InitializeCAN(HAL_CANManufacturer manufacturer,
int32_t deviceId, HAL_CANDeviceType deviceType,
int32_t* status) {
@@ -91,12 +93,12 @@
void HAL_CleanCAN(HAL_CANHandle handle) {
auto data = canHandles->Free(handle);
- std::lock_guard<wpi::mutex> lock(data->mapMutex);
+ std::scoped_lock lock(data->mapMutex);
for (auto&& i : data->periodicSends) {
int32_t s = 0;
- HAL_CAN_SendMessage(i.first, nullptr, 0, HAL_CAN_SEND_PERIOD_STOP_REPEATING,
- &s);
+ auto id = CreateCANId(data.get(), i.first);
+ HAL_CAN_SendMessage(id, nullptr, 0, HAL_CAN_SEND_PERIOD_STOP_REPEATING, &s);
i.second = -1;
}
}
@@ -115,7 +117,7 @@
if (*status != 0) {
return;
}
- std::lock_guard<wpi::mutex> lock(can->mapMutex);
+ std::scoped_lock lock(can->mapMutex);
can->periodicSends[apiId] = -1;
}
@@ -134,10 +136,31 @@
if (*status != 0) {
return;
}
- std::lock_guard<wpi::mutex> lock(can->mapMutex);
+ std::scoped_lock lock(can->mapMutex);
can->periodicSends[apiId] = repeatMs;
}
+void HAL_WriteCANRTRFrame(HAL_CANHandle handle, int32_t length, int32_t apiId,
+ int32_t* status) {
+ auto can = canHandles->Get(handle);
+ if (!can) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+ auto id = CreateCANId(can.get(), apiId);
+ id |= HAL_CAN_IS_FRAME_REMOTE;
+ uint8_t data[8];
+ std::memset(data, 0, sizeof(data));
+
+ HAL_CAN_SendMessage(id, data, length, HAL_CAN_SEND_PERIOD_NO_REPEAT, status);
+
+ if (*status != 0) {
+ return;
+ }
+ std::scoped_lock lock(can->mapMutex);
+ can->periodicSends[apiId] = -1;
+}
+
void HAL_StopCANPacketRepeating(HAL_CANHandle handle, int32_t apiId,
int32_t* status) {
auto can = canHandles->Get(handle);
@@ -153,7 +176,7 @@
if (*status != 0) {
return;
}
- std::lock_guard<wpi::mutex> lock(can->mapMutex);
+ std::scoped_lock lock(can->mapMutex);
can->periodicSends[apiId] = -1;
}
@@ -172,7 +195,7 @@
HAL_CAN_ReceiveMessage(&messageId, 0x1FFFFFFF, data, &dataSize, &ts, status);
if (*status == 0) {
- std::lock_guard<wpi::mutex> lock(can->mapMutex);
+ std::scoped_lock lock(can->mapMutex);
auto& msg = can->receives[messageId];
msg.length = dataSize;
msg.lastTimeStamp = ts;
@@ -197,7 +220,7 @@
uint32_t ts = 0;
HAL_CAN_ReceiveMessage(&messageId, 0x1FFFFFFF, data, &dataSize, &ts, status);
- std::lock_guard<wpi::mutex> lock(can->mapMutex);
+ std::scoped_lock lock(can->mapMutex);
if (*status == 0) {
// fresh update
auto& msg = can->receives[messageId];
@@ -234,7 +257,7 @@
uint32_t ts = 0;
HAL_CAN_ReceiveMessage(&messageId, 0x1FFFFFFF, data, &dataSize, &ts, status);
- std::lock_guard<wpi::mutex> lock(can->mapMutex);
+ std::scoped_lock lock(can->mapMutex);
if (*status == 0) {
// fresh update
auto& msg = can->receives[messageId];
@@ -262,65 +285,4 @@
}
}
}
-
-void HAL_ReadCANPeriodicPacket(HAL_CANHandle handle, int32_t apiId,
- uint8_t* data, int32_t* length,
- uint64_t* receivedTimestamp, int32_t timeoutMs,
- int32_t periodMs, int32_t* status) {
- auto can = canHandles->Get(handle);
- if (!can) {
- *status = HAL_HANDLE_ERROR;
- return;
- }
-
- uint32_t messageId = CreateCANId(can.get(), apiId);
-
- {
- std::lock_guard<wpi::mutex> lock(can->mapMutex);
- auto i = can->receives.find(messageId);
- if (i != can->receives.end()) {
- // Found, check if new enough
- uint32_t now = GetPacketBaseTime();
- if (now - i->second.lastTimeStamp < static_cast<uint32_t>(periodMs)) {
- // Read the data from the stored message into the output
- std::memcpy(data, i->second.data, i->second.length);
- *length = i->second.length;
- *receivedTimestamp = i->second.lastTimeStamp;
- *status = 0;
- return;
- }
- }
- }
-
- uint8_t dataSize = 0;
- uint32_t ts = 0;
- HAL_CAN_ReceiveMessage(&messageId, 0x1FFFFFFF, data, &dataSize, &ts, status);
-
- std::lock_guard<wpi::mutex> lock(can->mapMutex);
- if (*status == 0) {
- // fresh update
- auto& msg = can->receives[messageId];
- msg.length = dataSize;
- *length = dataSize;
- msg.lastTimeStamp = ts;
- *receivedTimestamp = ts;
- // The NetComm call placed in data, copy into the msg
- std::memcpy(msg.data, data, dataSize);
- } else {
- auto i = can->receives.find(messageId);
- if (i != can->receives.end()) {
- // Found, check if new enough
- uint32_t now = GetPacketBaseTime();
- if (now - i->second.lastTimeStamp > static_cast<uint32_t>(timeoutMs)) {
- // Timeout, return bad status
- *status = HAL_CAN_TIMEOUT;
- return;
- }
- // Read the data from the stored message into the output
- std::memcpy(data, i->second.data, i->second.length);
- *length = i->second.length;
- *receivedTimestamp = i->second.lastTimeStamp;
- *status = 0;
- }
- }
-}
+} // extern "C"
diff --git a/third_party/allwpilib_2019/hal/src/main/native/athena/DIO.cpp b/third_party/allwpilib_2019/hal/src/main/native/athena/DIO.cpp
index 96eab2b..dc4631e 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/athena/DIO.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/athena/DIO.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -69,7 +69,7 @@
port->channel = static_cast<uint8_t>(channel);
- std::lock_guard<wpi::mutex> lock(digitalDIOMutex);
+ std::scoped_lock lock(digitalDIOMutex);
tDIO::tOutputEnable outputEnable = digitalSystem->readOutputEnable(status);
@@ -143,7 +143,7 @@
}
int32_t status = 0;
- std::lock_guard<wpi::mutex> lock(digitalDIOMutex);
+ std::scoped_lock lock(digitalDIOMutex);
if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
// Unset the SPI flag
int32_t bitToUnset = 1 << remapSPIChannel(port->channel);
@@ -160,6 +160,9 @@
}
}
+void HAL_SetDIOSimDevice(HAL_DigitalHandle handle, HAL_SimDeviceHandle device) {
+}
+
HAL_DigitalPWMHandle HAL_AllocateDigitalPWM(int32_t* status) {
auto handle = digitalPWMHandles->Allocate();
if (handle == HAL_kInvalidHandle) {
@@ -205,7 +208,7 @@
double rawDutyCycle = 256.0 * dutyCycle;
if (rawDutyCycle > 255.5) rawDutyCycle = 255.5;
{
- std::lock_guard<wpi::mutex> lock(digitalPwmMutex);
+ std::scoped_lock lock(digitalPwmMutex);
uint16_t pwmPeriodPower = digitalSystem->readPWMPeriodPower(status);
if (pwmPeriodPower < 4) {
// The resolution of the duty cycle drops close to the highest
@@ -251,7 +254,7 @@
if (value != 0) value = 1;
}
{
- std::lock_guard<wpi::mutex> lock(digitalDIOMutex);
+ std::scoped_lock lock(digitalDIOMutex);
tDIO::tDO currentDIO = digitalSystem->readDO(status);
if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
@@ -289,7 +292,7 @@
return;
}
{
- std::lock_guard<wpi::mutex> lock(digitalDIOMutex);
+ std::scoped_lock lock(digitalDIOMutex);
tDIO::tOutputEnable currentDIO = digitalSystem->readOutputEnable(status);
if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
@@ -382,8 +385,8 @@
}
digitalSystem->writePulseLength(
- static_cast<uint8_t>(1.0e9 * pulseLength /
- (pwmSystem->readLoopTiming(status) * 25)),
+ static_cast<uint16_t>(1.0e9 * pulseLength /
+ (pwmSystem->readLoopTiming(status) * 25)),
status);
digitalSystem->writePulse(pulse, status);
}
@@ -421,7 +424,7 @@
return;
}
- std::lock_guard<wpi::mutex> lock(digitalDIOMutex);
+ std::scoped_lock lock(digitalDIOMutex);
if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
// Channels 10-15 are SPI channels, so subtract our MXP channels
digitalSystem->writeFilterSelectHdr(port->channel - kNumDigitalMXPChannels,
@@ -441,7 +444,7 @@
return 0;
}
- std::lock_guard<wpi::mutex> lock(digitalDIOMutex);
+ std::scoped_lock lock(digitalDIOMutex);
if (port->channel >= kNumDigitalHeaders + kNumDigitalMXPChannels) {
// Channels 10-15 are SPI channels, so subtract our MXP channels
return digitalSystem->readFilterSelectHdr(
@@ -457,7 +460,7 @@
void HAL_SetFilterPeriod(int32_t filterIndex, int64_t value, int32_t* status) {
initializeDigital(status);
if (*status != 0) return;
- std::lock_guard<wpi::mutex> lock(digitalDIOMutex);
+ std::scoped_lock lock(digitalDIOMutex);
digitalSystem->writeFilterPeriodHdr(filterIndex, value, status);
if (*status == 0) {
digitalSystem->writeFilterPeriodMXP(filterIndex, value, status);
@@ -470,7 +473,7 @@
uint32_t hdrPeriod = 0;
uint32_t mxpPeriod = 0;
{
- std::lock_guard<wpi::mutex> lock(digitalDIOMutex);
+ std::scoped_lock lock(digitalDIOMutex);
hdrPeriod = digitalSystem->readFilterPeriodHdr(filterIndex, status);
if (*status == 0) {
mxpPeriod = digitalSystem->readFilterPeriodMXP(filterIndex, status);
diff --git a/third_party/allwpilib_2019/hal/src/main/native/athena/DigitalInternal.cpp b/third_party/allwpilib_2019/hal/src/main/native/athena/DigitalInternal.cpp
index bdba75b..684d35a 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/athena/DigitalInternal.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/athena/DigitalInternal.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -74,7 +74,7 @@
// Initial check, as if it's true initialization has finished
if (initialized) return;
- std::lock_guard<wpi::mutex> lock(initializeMutex);
+ std::scoped_lock lock(initializeMutex);
// Second check in case another thread was waiting
if (initialized) return;
diff --git a/third_party/allwpilib_2019/hal/src/main/native/athena/Encoder.cpp b/third_party/allwpilib_2019/hal/src/main/native/athena/Encoder.cpp
index adf70ed..bf3a273 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/athena/Encoder.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/athena/Encoder.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -261,6 +261,9 @@
encoderHandles->Free(encoderHandle);
}
+void HAL_SetEncoderSimDevice(HAL_EncoderHandle handle,
+ HAL_SimDeviceHandle device) {}
+
int32_t HAL_GetEncoder(HAL_EncoderHandle encoderHandle, int32_t* status) {
auto encoder = encoderHandles->Get(encoderHandle);
if (encoder == nullptr) {
diff --git a/third_party/allwpilib_2019/hal/src/main/native/athena/FRCDriverStation.cpp b/third_party/allwpilib_2019/hal/src/main/native/athena/FRCDriverStation.cpp
index 5409ad0..23c874f 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/athena/FRCDriverStation.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/athena/FRCDriverStation.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -30,64 +30,9 @@
static constexpr int kJoystickPorts = 6;
-// Joystick User Data
-static std::unique_ptr<HAL_JoystickAxes[]> m_joystickAxes;
-static std::unique_ptr<HAL_JoystickPOVs[]> m_joystickPOVs;
-static std::unique_ptr<HAL_JoystickButtons[]> m_joystickButtons;
-static std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptor;
-static std::unique_ptr<HAL_MatchInfo> m_matchInfo;
-
-// Joystick Cached Data
-static std::unique_ptr<HAL_JoystickAxes[]> m_joystickAxesCache;
-static std::unique_ptr<HAL_JoystickPOVs[]> m_joystickPOVsCache;
-static std::unique_ptr<HAL_JoystickButtons[]> m_joystickButtonsCache;
-static std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptorCache;
-static std::unique_ptr<HAL_MatchInfo> m_matchInfoCache;
-
-static wpi::mutex m_cacheDataMutex;
-
-// Control word variables
-static HAL_ControlWord m_controlWordCache;
-static std::chrono::steady_clock::time_point m_lastControlWordUpdate;
-static wpi::mutex m_controlWordMutex;
-
// Message and Data variables
static wpi::mutex msgMutex;
-static void InitializeDriverStationCaches() {
- m_joystickAxes = std::make_unique<HAL_JoystickAxes[]>(kJoystickPorts);
- m_joystickPOVs = std::make_unique<HAL_JoystickPOVs[]>(kJoystickPorts);
- m_joystickButtons = std::make_unique<HAL_JoystickButtons[]>(kJoystickPorts);
- m_joystickDescriptor =
- std::make_unique<HAL_JoystickDescriptor[]>(kJoystickPorts);
- m_matchInfo = std::make_unique<HAL_MatchInfo>();
- m_joystickAxesCache = std::make_unique<HAL_JoystickAxes[]>(kJoystickPorts);
- m_joystickPOVsCache = std::make_unique<HAL_JoystickPOVs[]>(kJoystickPorts);
- m_joystickButtonsCache =
- std::make_unique<HAL_JoystickButtons[]>(kJoystickPorts);
- m_joystickDescriptorCache =
- std::make_unique<HAL_JoystickDescriptor[]>(kJoystickPorts);
- m_matchInfoCache = std::make_unique<HAL_MatchInfo>();
-
- // All joysticks should default to having zero axes, povs and buttons, so
- // uninitialized memory doesn't get sent to speed controllers.
- for (unsigned int i = 0; i < kJoystickPorts; i++) {
- m_joystickAxes[i].count = 0;
- m_joystickPOVs[i].count = 0;
- m_joystickButtons[i].count = 0;
- m_joystickDescriptor[i].isXbox = 0;
- m_joystickDescriptor[i].type = -1;
- m_joystickDescriptor[i].name[0] = '\0';
-
- m_joystickAxesCache[i].count = 0;
- m_joystickPOVsCache[i].count = 0;
- m_joystickButtonsCache[i].count = 0;
- m_joystickDescriptorCache[i].isXbox = 0;
- m_joystickDescriptorCache[i].type = -1;
- m_joystickDescriptorCache[i].name[0] = '\0';
- }
-}
-
static int32_t HAL_GetJoystickAxesInternal(int32_t joystickNum,
HAL_JoystickAxes* axes) {
HAL_JoystickAxesInt axesInt;
@@ -138,7 +83,7 @@
static int32_t HAL_GetJoystickDescriptorInternal(int32_t joystickNum,
HAL_JoystickDescriptor* desc) {
desc->isXbox = 0;
- desc->type = std::numeric_limits<uint8_t>::max();
+ desc->type = (std::numeric_limits<uint8_t>::max)();
desc->name[0] = '\0';
desc->axisCount =
HAL_kMaxJoystickAxes; /* set to the desc->axisTypes's capacity */
@@ -177,90 +122,18 @@
return status;
}
-static void UpdateDriverStationControlWord(bool force,
- HAL_ControlWord& controlWord) {
- auto now = std::chrono::steady_clock::now();
- std::lock_guard<wpi::mutex> lock(m_controlWordMutex);
- // Update every 50 ms or on force.
- if ((now - m_lastControlWordUpdate > std::chrono::milliseconds(50)) ||
- force) {
- HAL_GetControlWordInternal(&m_controlWordCache);
- m_lastControlWordUpdate = now;
- }
- controlWord = m_controlWordCache;
-}
-
-static void UpdateDriverStationDataCaches() {
- // Get the status of all of the joysticks, and save to the cache
- for (uint8_t stick = 0; stick < kJoystickPorts; stick++) {
- HAL_GetJoystickAxesInternal(stick, &m_joystickAxesCache[stick]);
- HAL_GetJoystickPOVsInternal(stick, &m_joystickPOVsCache[stick]);
- HAL_GetJoystickButtonsInternal(stick, &m_joystickButtonsCache[stick]);
- HAL_GetJoystickDescriptorInternal(stick, &m_joystickDescriptorCache[stick]);
- }
- // Grab match specific data
- HAL_GetMatchInfoInternal(m_matchInfoCache.get());
-
- // Force a control word update, to make sure the data is the newest.
- HAL_ControlWord controlWord;
- UpdateDriverStationControlWord(true, controlWord);
-
- {
- // Obtain a lock on the data, swap the cached data into the main data arrays
- std::lock_guard<wpi::mutex> lock(m_cacheDataMutex);
-
- m_joystickAxes.swap(m_joystickAxesCache);
- m_joystickPOVs.swap(m_joystickPOVsCache);
- m_joystickButtons.swap(m_joystickButtonsCache);
- m_joystickDescriptor.swap(m_joystickDescriptorCache);
- m_matchInfo.swap(m_matchInfoCache);
- }
-}
-
-class DriverStationThread : public wpi::SafeThread {
- public:
- void Main() {
- std::unique_lock<wpi::mutex> lock(m_mutex);
- while (m_active) {
- m_cond.wait(lock, [&] { return !m_active || m_notify; });
- if (!m_active) break;
- m_notify = false;
-
- lock.unlock();
- UpdateDriverStationDataCaches();
- lock.lock();
-
- // Notify all threads
- newDSDataAvailableCounter++;
- newDSDataAvailableCond.notify_all();
- }
-
- // Notify waiters on thread exit
- newDSDataAvailableCounter++;
- newDSDataAvailableCond.notify_all();
- }
-
- bool m_notify = false;
- wpi::condition_variable newDSDataAvailableCond;
- int newDSDataAvailableCounter{0};
-};
-
-class DriverStationThreadOwner
- : public wpi::SafeThreadOwner<DriverStationThread> {
- public:
- void Notify() {
- auto thr = GetThread();
- if (!thr) return;
- thr->m_notify = true;
- thr->m_cond.notify_one();
- }
-};
-
-static std::unique_ptr<DriverStationThreadOwner> dsThread = nullptr;
+static wpi::mutex* newDSDataAvailableMutex;
+static wpi::condition_variable* newDSDataAvailableCond;
+static int newDSDataAvailableCounter{0};
namespace hal {
namespace init {
-void InitializeFRCDriverStation() {}
+void InitializeFRCDriverStation() {
+ static wpi::mutex newMutex;
+ newDSDataAvailableMutex = &newMutex;
+ static wpi::condition_variable newCond;
+ newDSDataAvailableCond = &newCond;
+}
} // namespace init
} // namespace hal
@@ -272,7 +145,7 @@
// Avoid flooding console by keeping track of previous 5 error
// messages and only printing again if they're longer than 1 second old.
static constexpr int KEEP_MSGS = 5;
- std::lock_guard<wpi::mutex> lock(msgMutex);
+ std::scoped_lock lock(msgMutex);
static std::string prevMsg[KEEP_MSGS];
static std::chrono::time_point<std::chrono::steady_clock>
prevMsgTime[KEEP_MSGS];
@@ -292,8 +165,43 @@
}
int retval = 0;
if (i == KEEP_MSGS || (curTime - prevMsgTime[i]) >= std::chrono::seconds(1)) {
- retval = FRC_NetworkCommunication_sendError(isError, errorCode, isLVCode,
- details, location, callStack);
+ wpi::StringRef detailsRef{details};
+ wpi::StringRef locationRef{location};
+ wpi::StringRef callStackRef{callStack};
+
+ // 1 tag, 4 timestamp, 2 seqnum
+ // 2 numOccur, 4 error code, 1 flags, 6 strlen
+ // 1 extra needed for padding on Netcomm end.
+ size_t baseLength = 21;
+
+ if (baseLength + detailsRef.size() + locationRef.size() +
+ callStackRef.size() <=
+ 65536) {
+ // Pass through
+ retval = FRC_NetworkCommunication_sendError(isError, errorCode, isLVCode,
+ details, location, callStack);
+ } else if (baseLength + detailsRef.size() > 65536) {
+ // Details too long, cut both location and stack
+ auto newLen = 65536 - baseLength;
+ std::string newDetails{details, newLen};
+ char empty = '\0';
+ retval = FRC_NetworkCommunication_sendError(
+ isError, errorCode, isLVCode, newDetails.c_str(), &empty, &empty);
+ } else if (baseLength + detailsRef.size() + locationRef.size() > 65536) {
+ // Location too long, cut stack
+ auto newLen = 65536 - baseLength - detailsRef.size();
+ std::string newLocation{location, newLen};
+ char empty = '\0';
+ retval = FRC_NetworkCommunication_sendError(
+ isError, errorCode, isLVCode, details, newLocation.c_str(), &empty);
+ } else {
+ // Stack too long
+ auto newLen = 65536 - baseLength - detailsRef.size() - locationRef.size();
+ std::string newCallStack{callStack, newLen};
+ retval = FRC_NetworkCommunication_sendError(isError, errorCode, isLVCode,
+ details, location,
+ newCallStack.c_str());
+ }
if (printMsg) {
if (location && location[0] != '\0') {
wpi::errs() << (isError ? "Error" : "Warning") << " at " << location
@@ -322,41 +230,29 @@
}
int32_t HAL_GetControlWord(HAL_ControlWord* controlWord) {
- std::memset(controlWord, 0, sizeof(HAL_ControlWord));
- UpdateDriverStationControlWord(false, *controlWord);
- return 0;
+ return HAL_GetControlWordInternal(controlWord);
}
int32_t HAL_GetJoystickAxes(int32_t joystickNum, HAL_JoystickAxes* axes) {
- std::unique_lock<wpi::mutex> lock(m_cacheDataMutex);
- *axes = m_joystickAxes[joystickNum];
- return 0;
+ return HAL_GetJoystickAxesInternal(joystickNum, axes);
}
int32_t HAL_GetJoystickPOVs(int32_t joystickNum, HAL_JoystickPOVs* povs) {
- std::unique_lock<wpi::mutex> lock(m_cacheDataMutex);
- *povs = m_joystickPOVs[joystickNum];
- return 0;
+ return HAL_GetJoystickPOVsInternal(joystickNum, povs);
}
int32_t HAL_GetJoystickButtons(int32_t joystickNum,
HAL_JoystickButtons* buttons) {
- std::unique_lock<wpi::mutex> lock(m_cacheDataMutex);
- *buttons = m_joystickButtons[joystickNum];
- return 0;
+ return HAL_GetJoystickButtonsInternal(joystickNum, buttons);
}
int32_t HAL_GetJoystickDescriptor(int32_t joystickNum,
HAL_JoystickDescriptor* desc) {
- std::unique_lock<wpi::mutex> lock(m_cacheDataMutex);
- *desc = m_joystickDescriptor[joystickNum];
- return 0;
+ return HAL_GetJoystickDescriptorInternal(joystickNum, desc);
}
int32_t HAL_GetMatchInfo(HAL_MatchInfo* info) {
- std::unique_lock<wpi::mutex> lock(m_cacheDataMutex);
- *info = *m_matchInfo;
- return 0;
+ return HAL_GetMatchInfoInternal(info);
}
HAL_AllianceStationID HAL_GetAllianceStation(int32_t* status) {
@@ -448,10 +344,8 @@
// 20ms rate occurs once every 2.7 years of DS connected runtime, so not
// worth the cycles to check.
thread_local int lastCount{-1};
- if (!dsThread) return false;
- auto thr = dsThread->GetThread();
- if (!thr) return false;
- int currentCount = thr->newDSDataAvailableCounter;
+ std::lock_guard lock{*newDSDataAvailableMutex};
+ int currentCount = newDSDataAvailableCounter;
if (lastCount == currentCount) return false;
lastCount = currentCount;
return true;
@@ -471,19 +365,16 @@
auto timeoutTime =
std::chrono::steady_clock::now() + std::chrono::duration<double>(timeout);
- if (!dsThread) return false;
- auto thr = dsThread->GetThread();
- if (!thr) return false;
- int currentCount = thr->newDSDataAvailableCounter;
- while (thr->newDSDataAvailableCounter == currentCount) {
+ std::unique_lock lock{*newDSDataAvailableMutex};
+ int currentCount = newDSDataAvailableCounter;
+ while (newDSDataAvailableCounter == currentCount) {
if (timeout > 0) {
- auto timedOut =
- thr->newDSDataAvailableCond.wait_until(thr.GetLock(), timeoutTime);
+ auto timedOut = newDSDataAvailableCond->wait_until(lock, timeoutTime);
if (timedOut == std::cv_status::timeout) {
return false;
}
} else {
- thr->newDSDataAvailableCond.wait(thr.GetLock());
+ newDSDataAvailableCond->wait(lock);
}
}
return true;
@@ -496,7 +387,9 @@
// Since we could get other values, require our specific handle
// to signal our threads
if (refNum != refNumber) return;
- dsThread->Notify();
+ // Notify all threads
+ newDSDataAvailableCounter++;
+ newDSDataAvailableCond->notify_all();
}
/*
@@ -510,15 +403,10 @@
// Initial check, as if it's true initialization has finished
if (initialized) return;
- std::lock_guard<wpi::mutex> lock(initializeMutex);
+ std::scoped_lock lock(initializeMutex);
// Second check in case another thread was waiting
if (initialized) return;
- InitializeDriverStationCaches();
-
- dsThread = std::make_unique<DriverStationThreadOwner>();
- dsThread->Start();
-
// Set up the occur function internally with NetComm
NetCommRPCProxy_SetOccurFuncPointer(newDataOccur);
// Set up our occur reference number
diff --git a/third_party/allwpilib_2019/hal/src/main/native/athena/HAL.cpp b/third_party/allwpilib_2019/hal/src/main/native/athena/HAL.cpp
index 8c62fdc..774cdd8 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/athena/HAL.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/athena/HAL.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -59,6 +59,7 @@
InitializeFRCDriverStation();
InitializeI2C();
InitialzeInterrupts();
+ InitializeMain();
InitializeNotifier();
InitializePCMInternal();
InitializePDP();
@@ -249,24 +250,6 @@
return !(watchdog->readStatus_PowerAlive(status));
}
-void HAL_BaseInitialize(int32_t* status) {
- static std::atomic_bool initialized{false};
- static wpi::mutex initializeMutex;
- // Initial check, as if it's true initialization has finished
- if (initialized) return;
-
- std::lock_guard<wpi::mutex> lock(initializeMutex);
- // Second check in case another thread was waiting
- if (initialized) return;
- // image 4; Fixes errors caused by multiple processes. Talk to NI about this
- nFPGA::nRoboRIO_FPGANamespace::g_currentTargetClass =
- nLoadOut::kTargetClass_RoboRIO;
-
- global.reset(tGlobal::create(status));
- watchdog.reset(tSysWatchdog::create(status));
- initialized = true;
-}
-
static bool killExistingProgram(int timeout, int mode) {
// Kill any previous robot programs
std::fstream fs;
@@ -314,7 +297,7 @@
// Initial check, as if it's true initialization has finished
if (initialized) return true;
- std::lock_guard<wpi::mutex> lock(initializeMutex);
+ std::scoped_lock lock(initializeMutex);
// Second check in case another thread was waiting
if (initialized) return true;
@@ -340,8 +323,14 @@
setNewDataSem(nullptr);
});
+ // image 4; Fixes errors caused by multiple processes. Talk to NI about this
+ nFPGA::nRoboRIO_FPGANamespace::g_currentTargetClass =
+ nLoadOut::kTargetClass_RoboRIO;
+
int32_t status = 0;
- HAL_BaseInitialize(&status);
+ global.reset(tGlobal::create(&status));
+ watchdog.reset(tSysWatchdog::create(&status));
+
if (status != 0) return false;
HAL_InitializeDriverStation();
@@ -352,8 +341,9 @@
uint64_t rv = HAL_GetFPGATime(&status);
if (status != 0) {
wpi::errs()
- << "Call to HAL_GetFPGATime failed."
- << "Initialization might have failed. Time will not be correct\n";
+ << "Call to HAL_GetFPGATime failed in wpi::Now() with status "
+ << status
+ << ". Initialization might have failed. Time will not be correct\n";
wpi::errs().flush();
return 0u;
}
diff --git a/third_party/allwpilib_2019/hal/src/main/native/athena/HALInitializer.h b/third_party/allwpilib_2019/hal/src/main/native/athena/HALInitializer.h
index 7956083..ca3f290 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/athena/HALInitializer.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/athena/HALInitializer.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -37,6 +37,7 @@
extern void InitializeHAL();
extern void InitializeI2C();
extern void InitialzeInterrupts();
+extern void InitializeMain();
extern void InitializeNotifier();
extern void InitializePCMInternal();
extern void InitializePDP();
diff --git a/third_party/allwpilib_2019/hal/src/main/native/athena/I2C.cpp b/third_party/allwpilib_2019/hal/src/main/native/athena/I2C.cpp
index 907906e..b72e25e 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/athena/I2C.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/athena/I2C.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -52,7 +52,7 @@
}
if (port == HAL_I2C_kOnboard) {
- std::lock_guard<wpi::mutex> lock(digitalI2COnBoardMutex);
+ std::scoped_lock lock(digitalI2COnBoardMutex);
i2COnboardObjCount++;
if (i2COnboardObjCount > 1) return;
int handle = open("/dev/i2c-2", O_RDWR);
@@ -62,7 +62,7 @@
}
i2COnBoardHandle = handle;
} else {
- std::lock_guard<wpi::mutex> lock(digitalI2CMXPMutex);
+ std::scoped_lock lock(digitalI2CMXPMutex);
i2CMXPObjCount++;
if (i2CMXPObjCount > 1) return;
if ((i2CMXPDigitalHandle1 = HAL_InitializeDIOPort(
@@ -108,10 +108,10 @@
rdwr.nmsgs = 2;
if (port == HAL_I2C_kOnboard) {
- std::lock_guard<wpi::mutex> lock(digitalI2COnBoardMutex);
+ std::scoped_lock lock(digitalI2COnBoardMutex);
return ioctl(i2COnBoardHandle, I2C_RDWR, &rdwr);
} else {
- std::lock_guard<wpi::mutex> lock(digitalI2CMXPMutex);
+ std::scoped_lock lock(digitalI2CMXPMutex);
return ioctl(i2CMXPHandle, I2C_RDWR, &rdwr);
}
}
@@ -134,10 +134,10 @@
rdwr.nmsgs = 1;
if (port == HAL_I2C_kOnboard) {
- std::lock_guard<wpi::mutex> lock(digitalI2COnBoardMutex);
+ std::scoped_lock lock(digitalI2COnBoardMutex);
return ioctl(i2COnBoardHandle, I2C_RDWR, &rdwr);
} else {
- std::lock_guard<wpi::mutex> lock(digitalI2CMXPMutex);
+ std::scoped_lock lock(digitalI2CMXPMutex);
return ioctl(i2CMXPHandle, I2C_RDWR, &rdwr);
}
}
@@ -160,10 +160,10 @@
rdwr.nmsgs = 1;
if (port == HAL_I2C_kOnboard) {
- std::lock_guard<wpi::mutex> lock(digitalI2COnBoardMutex);
+ std::scoped_lock lock(digitalI2COnBoardMutex);
return ioctl(i2COnBoardHandle, I2C_RDWR, &rdwr);
} else {
- std::lock_guard<wpi::mutex> lock(digitalI2CMXPMutex);
+ std::scoped_lock lock(digitalI2CMXPMutex);
return ioctl(i2CMXPHandle, I2C_RDWR, &rdwr);
}
}
@@ -175,12 +175,12 @@
}
if (port == HAL_I2C_kOnboard) {
- std::lock_guard<wpi::mutex> lock(digitalI2COnBoardMutex);
+ std::scoped_lock lock(digitalI2COnBoardMutex);
if (i2COnboardObjCount-- == 0) {
close(i2COnBoardHandle);
}
} else {
- std::lock_guard<wpi::mutex> lock(digitalI2CMXPMutex);
+ std::scoped_lock lock(digitalI2CMXPMutex);
if (i2CMXPObjCount-- == 0) {
close(i2CMXPHandle);
}
diff --git a/third_party/allwpilib_2019/hal/src/main/native/athena/Interrupts.cpp b/third_party/allwpilib_2019/hal/src/main/native/athena/Interrupts.cpp
index c661da4..b0b2071 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/athena/Interrupts.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/athena/Interrupts.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -26,7 +26,7 @@
class InterruptThread : public wpi::SafeThread {
public:
void Main() {
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
while (m_active) {
m_cond.wait(lock, [&] { return !m_active || m_notify; });
if (!m_active) break;
@@ -118,7 +118,7 @@
if (anInterrupt == nullptr) {
return nullptr;
}
- anInterrupt->manager->enable(status);
+ anInterrupt->manager->disable(status);
void* param = anInterrupt->param;
return param;
}
diff --git a/third_party/allwpilib_2019/hal/src/main/native/athena/Notifier.cpp b/third_party/allwpilib_2019/hal/src/main/native/athena/Notifier.cpp
index c457cd1..662b04e 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/athena/Notifier.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/athena/Notifier.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -53,7 +53,7 @@
~NotifierHandleContainer() {
ForEach([](HAL_NotifierHandle handle, Notifier* notifier) {
{
- std::lock_guard<wpi::mutex> lock(notifier->mutex);
+ std::scoped_lock lock(notifier->mutex);
notifier->triggerTime = UINT64_MAX;
notifier->triggeredTime = 0;
notifier->active = false;
@@ -66,7 +66,7 @@
static NotifierHandleContainer* notifierHandles;
static void alarmCallback(uint32_t, void*) {
- std::lock_guard<wpi::mutex> lock(notifierMutex);
+ std::scoped_lock lock(notifierMutex);
int32_t status = 0;
uint64_t currentTime = 0;
@@ -77,7 +77,7 @@
notifierHandles->ForEach([&](HAL_NotifierHandle handle, Notifier* notifier) {
if (notifier->triggerTime == UINT64_MAX) return;
if (currentTime == 0) currentTime = HAL_GetFPGATime(&status);
- std::unique_lock<wpi::mutex> lock(notifier->mutex);
+ std::unique_lock lock(notifier->mutex);
if (notifier->triggerTime < currentTime) {
notifier->triggerTime = UINT64_MAX;
notifier->triggeredTime = currentTime;
@@ -119,7 +119,7 @@
std::atexit(cleanupNotifierAtExit);
if (notifierRefCount.fetch_add(1) == 0) {
- std::lock_guard<wpi::mutex> lock(notifierMutex);
+ std::scoped_lock lock(notifierMutex);
// create manager and alarm if not already created
if (!notifierManager) {
notifierManager = std::make_unique<tInterruptManager>(
@@ -144,7 +144,7 @@
if (!notifier) return;
{
- std::lock_guard<wpi::mutex> lock(notifier->mutex);
+ std::scoped_lock lock(notifier->mutex);
notifier->triggerTime = UINT64_MAX;
notifier->triggeredTime = 0;
notifier->active = false;
@@ -158,7 +158,7 @@
// Just in case HAL_StopNotifier() wasn't called...
{
- std::lock_guard<wpi::mutex> lock(notifier->mutex);
+ std::scoped_lock lock(notifier->mutex);
notifier->triggerTime = UINT64_MAX;
notifier->triggeredTime = 0;
notifier->active = false;
@@ -177,7 +177,7 @@
// if (notifierAlarm) notifierAlarm->writeEnable(false, status);
// if (notifierManager) notifierManager->disable(status);
- // std::lock_guard<wpi::mutex> lock(notifierMutex);
+ // std::scoped_lock lock(notifierMutex);
// notifierAlarm = nullptr;
// notifierManager = nullptr;
// closestTrigger = UINT64_MAX;
@@ -190,12 +190,12 @@
if (!notifier) return;
{
- std::lock_guard<wpi::mutex> lock(notifier->mutex);
+ std::scoped_lock lock(notifier->mutex);
notifier->triggerTime = triggerTime;
notifier->triggeredTime = UINT64_MAX;
}
- std::lock_guard<wpi::mutex> lock(notifierMutex);
+ std::scoped_lock lock(notifierMutex);
// Update alarm time if closer than current.
if (triggerTime < closestTrigger) {
bool wasActive = (closestTrigger != UINT64_MAX);
@@ -214,7 +214,7 @@
if (!notifier) return;
{
- std::lock_guard<wpi::mutex> lock(notifier->mutex);
+ std::scoped_lock lock(notifier->mutex);
notifier->triggerTime = UINT64_MAX;
}
}
@@ -223,7 +223,7 @@
int32_t* status) {
auto notifier = notifierHandles->Get(notifierHandle);
if (!notifier) return 0;
- std::unique_lock<wpi::mutex> lock(notifier->mutex);
+ std::unique_lock lock(notifier->mutex);
notifier->cond.wait(lock, [&] {
return !notifier->active || notifier->triggeredTime != UINT64_MAX;
});
diff --git a/third_party/allwpilib_2019/hal/src/main/native/athena/PDP.cpp b/third_party/allwpilib_2019/hal/src/main/native/athena/PDP.cpp
index 22ea8c1..f27f5da 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/athena/PDP.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/athena/PDP.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -34,7 +34,6 @@
static constexpr int32_t Control1 = 0x70;
static constexpr int32_t TimeoutMs = 100;
-static constexpr int32_t StatusPeriodMs = 25;
/* encoder/decoders */
union PdpStatus1 {
@@ -130,7 +129,7 @@
return HAL_kInvalidHandle;
}
- std::lock_guard<wpi::mutex> lock(pdpHandleMutex);
+ std::scoped_lock lock(pdpHandleMutex);
if (pdpHandles[module] != HAL_kInvalidHandle) {
*status = 0;
@@ -173,9 +172,8 @@
int32_t length = 0;
uint64_t receivedTimestamp = 0;
- HAL_ReadCANPeriodicPacket(handle, Status3, pdpStatus.data, &length,
- &receivedTimestamp, TimeoutMs, StatusPeriodMs,
- status);
+ HAL_ReadCANPacketTimeout(handle, Status3, pdpStatus.data, &length,
+ &receivedTimestamp, TimeoutMs, status);
return pdpStatus.bits.temp * 1.03250836957542 - 67.8564500484966;
}
@@ -185,9 +183,8 @@
int32_t length = 0;
uint64_t receivedTimestamp = 0;
- HAL_ReadCANPeriodicPacket(handle, Status3, pdpStatus.data, &length,
- &receivedTimestamp, TimeoutMs, StatusPeriodMs,
- status);
+ HAL_ReadCANPacketTimeout(handle, Status3, pdpStatus.data, &length,
+ &receivedTimestamp, TimeoutMs, status);
return pdpStatus.bits.busVoltage * 0.05 + 4.0; /* 50mV per unit plus 4V. */
}
@@ -206,9 +203,8 @@
if (channel <= 5) {
PdpStatus1 pdpStatus;
- HAL_ReadCANPeriodicPacket(handle, Status1, pdpStatus.data, &length,
- &receivedTimestamp, TimeoutMs, StatusPeriodMs,
- status);
+ HAL_ReadCANPacketTimeout(handle, Status1, pdpStatus.data, &length,
+ &receivedTimestamp, TimeoutMs, status);
switch (channel) {
case 0:
raw = (static_cast<uint32_t>(pdpStatus.bits.chan1_h8) << 2) |
@@ -237,9 +233,8 @@
}
} else if (channel <= 11) {
PdpStatus2 pdpStatus;
- HAL_ReadCANPeriodicPacket(handle, Status2, pdpStatus.data, &length,
- &receivedTimestamp, TimeoutMs, StatusPeriodMs,
- status);
+ HAL_ReadCANPacketTimeout(handle, Status2, pdpStatus.data, &length,
+ &receivedTimestamp, TimeoutMs, status);
switch (channel) {
case 6:
raw = (static_cast<uint32_t>(pdpStatus.bits.chan7_h8) << 2) |
@@ -268,9 +263,8 @@
}
} else {
PdpStatus3 pdpStatus;
- HAL_ReadCANPeriodicPacket(handle, Status3, pdpStatus.data, &length,
- &receivedTimestamp, TimeoutMs, StatusPeriodMs,
- status);
+ HAL_ReadCANPacketTimeout(handle, Status3, pdpStatus.data, &length,
+ &receivedTimestamp, TimeoutMs, status);
switch (channel) {
case 12:
raw = (static_cast<uint32_t>(pdpStatus.bits.chan13_h8) << 2) |
@@ -300,9 +294,8 @@
int32_t length = 0;
uint64_t receivedTimestamp = 0;
- HAL_ReadCANPeriodicPacket(handle, StatusEnergy, pdpStatus.data, &length,
- &receivedTimestamp, TimeoutMs, StatusPeriodMs,
- status);
+ HAL_ReadCANPacketTimeout(handle, StatusEnergy, pdpStatus.data, &length,
+ &receivedTimestamp, TimeoutMs, status);
uint32_t raw;
raw = pdpStatus.bits.TotalCurrent_125mAperunit_h8;
@@ -316,9 +309,8 @@
int32_t length = 0;
uint64_t receivedTimestamp = 0;
- HAL_ReadCANPeriodicPacket(handle, StatusEnergy, pdpStatus.data, &length,
- &receivedTimestamp, TimeoutMs, StatusPeriodMs,
- status);
+ HAL_ReadCANPacketTimeout(handle, StatusEnergy, pdpStatus.data, &length,
+ &receivedTimestamp, TimeoutMs, status);
uint32_t raw;
raw = pdpStatus.bits.Power_125mWperunit_h4;
@@ -334,9 +326,8 @@
int32_t length = 0;
uint64_t receivedTimestamp = 0;
- HAL_ReadCANPeriodicPacket(handle, StatusEnergy, pdpStatus.data, &length,
- &receivedTimestamp, TimeoutMs, StatusPeriodMs,
- status);
+ HAL_ReadCANPacketTimeout(handle, StatusEnergy, pdpStatus.data, &length,
+ &receivedTimestamp, TimeoutMs, status);
uint32_t raw;
raw = pdpStatus.bits.Energy_125mWPerUnitXTmeas_h4;
diff --git a/third_party/allwpilib_2019/hal/src/main/native/athena/PWM.cpp b/third_party/allwpilib_2019/hal/src/main/native/athena/PWM.cpp
index 06b527c..a3b141c 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/athena/PWM.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/athena/PWM.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -266,11 +266,9 @@
DigitalPort* dPort = port.get();
- if (speed < -1.0) {
- speed = -1.0;
- } else if (speed > 1.0) {
- speed = 1.0;
- } else if (!std::isfinite(speed)) {
+ if (std::isfinite(speed)) {
+ speed = std::clamp(speed, -1.0, 1.0);
+ } else {
speed = 0.0;
}
diff --git a/third_party/allwpilib_2019/hal/src/main/native/athena/Relay.cpp b/third_party/allwpilib_2019/hal/src/main/native/athena/Relay.cpp
index 9f7d6c0..71880a8 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/athena/Relay.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/athena/Relay.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -100,7 +100,7 @@
*status = HAL_HANDLE_ERROR;
return;
}
- std::lock_guard<wpi::mutex> lock(digitalRelayMutex);
+ std::scoped_lock lock(digitalRelayMutex);
uint8_t relays = 0;
if (port->fwd) {
relays = relaySystem->readValue_Forward(status);
diff --git a/third_party/allwpilib_2019/hal/src/main/native/athena/SPI.cpp b/third_party/allwpilib_2019/hal/src/main/native/athena/SPI.cpp
index ddced41..bb0666a 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/athena/SPI.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/athena/SPI.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -55,7 +55,7 @@
// There are two SPI devices: one for ports 0-3 (onboard), the other for port
// 4 (MXP).
if (!spiAutoRunning) return false;
- std::lock_guard<wpi::mutex> lock(spiAutoMutex);
+ std::scoped_lock lock(spiAutoMutex);
return (spiAutoPort >= 0 && spiAutoPort <= 3 && port >= 0 && port <= 3) ||
(spiAutoPort == 4 && port == 4);
}
@@ -253,7 +253,7 @@
xfer.rx_buf = (__u64)dataReceived;
xfer.len = size;
- std::lock_guard<wpi::mutex> lock(spiApiMutexes[port]);
+ std::scoped_lock lock(spiApiMutexes[port]);
return ioctl(HAL_GetSPIHandle(port), SPI_IOC_MESSAGE(1), &xfer);
}
@@ -270,7 +270,7 @@
xfer.tx_buf = (__u64)dataToSend;
xfer.len = sendSize;
- std::lock_guard<wpi::mutex> lock(spiApiMutexes[port]);
+ std::scoped_lock lock(spiApiMutexes[port]);
return ioctl(HAL_GetSPIHandle(port), SPI_IOC_MESSAGE(1), &xfer);
}
@@ -286,7 +286,7 @@
xfer.rx_buf = (__u64)buffer;
xfer.len = count;
- std::lock_guard<wpi::mutex> lock(spiApiMutexes[port]);
+ std::scoped_lock lock(spiApiMutexes[port]);
return ioctl(HAL_GetSPIHandle(port), SPI_IOC_MESSAGE(1), &xfer);
}
@@ -299,7 +299,7 @@
HAL_FreeSPIAuto(port, &status);
{
- std::lock_guard<wpi::mutex> lock(spiApiMutexes[port]);
+ std::scoped_lock lock(spiApiMutexes[port]);
close(HAL_GetSPIHandle(port));
}
@@ -335,7 +335,7 @@
return;
}
- std::lock_guard<wpi::mutex> lock(spiApiMutexes[port]);
+ std::scoped_lock lock(spiApiMutexes[port]);
ioctl(HAL_GetSPIHandle(port), SPI_IOC_WR_MAX_SPEED_HZ, &speed);
}
@@ -350,7 +350,7 @@
mode |= (clkIdleHigh ? 2 : 0);
mode |= (sampleOnTrailing ? 1 : 0);
- std::lock_guard<wpi::mutex> lock(spiApiMutexes[port]);
+ std::scoped_lock lock(spiApiMutexes[port]);
ioctl(HAL_GetSPIHandle(port), SPI_IOC_WR_MODE, &mode);
}
@@ -360,7 +360,7 @@
return;
}
- std::lock_guard<wpi::mutex> lock(spiApiMutexes[port]);
+ std::scoped_lock lock(spiApiMutexes[port]);
if (port < 4) {
spiSystem->writeChipSelectActiveHigh_Hdr(
spiSystem->readChipSelectActiveHigh_Hdr(status) | (1 << port), status);
@@ -375,7 +375,7 @@
return;
}
- std::lock_guard<wpi::mutex> lock(spiApiMutexes[port]);
+ std::scoped_lock lock(spiApiMutexes[port]);
if (port < 4) {
spiSystem->writeChipSelectActiveHigh_Hdr(
spiSystem->readChipSelectActiveHigh_Hdr(status) & ~(1 << port), status);
@@ -389,7 +389,7 @@
return 0;
}
- std::lock_guard<wpi::mutex> lock(spiHandleMutexes[port]);
+ std::scoped_lock lock(spiHandleMutexes[port]);
switch (port) {
case 0:
return m_spiCS0Handle;
@@ -411,7 +411,7 @@
return;
}
- std::lock_guard<wpi::mutex> lock(spiHandleMutexes[port]);
+ std::scoped_lock lock(spiHandleMutexes[port]);
switch (port) {
case 0:
m_spiCS0Handle = handle;
@@ -439,7 +439,7 @@
return;
}
- std::lock_guard<wpi::mutex> lock(spiAutoMutex);
+ std::scoped_lock lock(spiAutoMutex);
// FPGA only has one auto SPI engine
if (spiAutoPort != kSpiMaxHandles) {
*status = RESOURCE_IS_ALLOCATED;
@@ -470,7 +470,7 @@
return;
}
- std::lock_guard<wpi::mutex> lock(spiAutoMutex);
+ std::scoped_lock lock(spiAutoMutex);
if (spiAutoPort != port) return;
spiAutoPort = kSpiMaxHandles;
@@ -487,7 +487,7 @@
}
void HAL_StartSPIAutoRate(HAL_SPIPort port, double period, int32_t* status) {
- std::lock_guard<wpi::mutex> lock(spiAutoMutex);
+ std::scoped_lock lock(spiAutoMutex);
// FPGA only has one auto SPI engine
if (port != spiAutoPort) {
*status = INCOMPATIBLE_STATE;
@@ -510,7 +510,7 @@
HAL_AnalogTriggerType analogTriggerType,
HAL_Bool triggerRising, HAL_Bool triggerFalling,
int32_t* status) {
- std::lock_guard<wpi::mutex> lock(spiAutoMutex);
+ std::scoped_lock lock(spiAutoMutex);
// FPGA only has one auto SPI engine
if (port != spiAutoPort) {
*status = INCOMPATIBLE_STATE;
@@ -545,7 +545,7 @@
}
void HAL_StopSPIAuto(HAL_SPIPort port, int32_t* status) {
- std::lock_guard<wpi::mutex> lock(spiAutoMutex);
+ std::scoped_lock lock(spiAutoMutex);
// FPGA only has one auto SPI engine
if (port != spiAutoPort) {
*status = INCOMPATIBLE_STATE;
@@ -575,7 +575,7 @@
return;
}
- std::lock_guard<wpi::mutex> lock(spiAutoMutex);
+ std::scoped_lock lock(spiAutoMutex);
// FPGA only has one auto SPI engine
if (port != spiAutoPort) {
*status = INCOMPATIBLE_STATE;
@@ -594,7 +594,7 @@
}
void HAL_ForceSPIAutoRead(HAL_SPIPort port, int32_t* status) {
- std::lock_guard<wpi::mutex> lock(spiAutoMutex);
+ std::scoped_lock lock(spiAutoMutex);
// FPGA only has one auto SPI engine
if (port != spiAutoPort) {
*status = INCOMPATIBLE_STATE;
@@ -607,7 +607,7 @@
int32_t HAL_ReadSPIAutoReceivedData(HAL_SPIPort port, uint32_t* buffer,
int32_t numToRead, double timeout,
int32_t* status) {
- std::lock_guard<wpi::mutex> lock(spiAutoMutex);
+ std::scoped_lock lock(spiAutoMutex);
// FPGA only has one auto SPI engine
if (port != spiAutoPort) {
*status = INCOMPATIBLE_STATE;
@@ -621,7 +621,7 @@
}
int32_t HAL_GetSPIAutoDroppedCount(HAL_SPIPort port, int32_t* status) {
- std::lock_guard<wpi::mutex> lock(spiAutoMutex);
+ std::scoped_lock lock(spiAutoMutex);
// FPGA only has one auto SPI engine
if (port != spiAutoPort) {
*status = INCOMPATIBLE_STATE;
diff --git a/third_party/allwpilib_2019/hal/src/main/native/athena/SerialPort.cpp b/third_party/allwpilib_2019/hal/src/main/native/athena/SerialPort.cpp
index d2597a9..7ef9b70 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/athena/SerialPort.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/athena/SerialPort.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,168 +7,493 @@
#include "hal/SerialPort.h"
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <termios.h>
+#include <unistd.h>
+
+#include <cerrno>
+#include <chrono>
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
+#include <iostream>
+#include <stdexcept>
#include <string>
+#include <thread>
-#include "HALInitializer.h"
#include "hal/cpp/SerialHelper.h"
-#include "visa/visa.h"
+#include "hal/handles/HandlesInternal.h"
+#include "hal/handles/IndexedHandleResource.h"
-static int32_t resourceManagerHandle{0};
-static HAL_SerialPort portHandles[4];
+namespace {
+struct SerialPort {
+ int portId;
+ struct termios tty;
+ int baudRate;
+
+ double timeout = 0;
+
+ bool termination = false;
+ char terminationChar = '\n';
+};
+} // namespace
+
+namespace hal {
+IndexedHandleResource<HAL_SerialPortHandle, SerialPort, 4,
+ HAL_HandleEnum::SerialPort>* serialPortHandles;
+} // namespace hal
namespace hal {
namespace init {
-void InitializeSerialPort() {}
+void InitializeSerialPort() {
+ static IndexedHandleResource<HAL_SerialPortHandle, SerialPort, 4,
+ HAL_HandleEnum::SerialPort>
+ spH;
+ serialPortHandles = &spH;
+}
} // namespace init
} // namespace hal
+using namespace hal;
+
extern "C" {
-
-void HAL_InitializeSerialPort(HAL_SerialPort port, int32_t* status) {
- hal::init::CheckInit();
- std::string portName;
-
- if (resourceManagerHandle == 0)
- viOpenDefaultRM(reinterpret_cast<ViSession*>(&resourceManagerHandle));
+HAL_SerialPortHandle HAL_InitializeSerialPort(HAL_SerialPort port,
+ int32_t* status) {
+ // hal::init::CheckInit();
hal::SerialHelper serialHelper;
- portName = serialHelper.GetVISASerialPortName(port, status);
+ std::string portName = serialHelper.GetOSSerialPortName(port, status);
if (*status < 0) {
+ return HAL_kInvalidHandle;
+ }
+
+ return HAL_InitializeSerialPortDirect(port, portName.c_str(), status);
+}
+HAL_SerialPortHandle HAL_InitializeSerialPortDirect(HAL_SerialPort port,
+ const char* portName,
+ int32_t* status) {
+ auto handle = serialPortHandles->Allocate(static_cast<int16_t>(port), status);
+
+ if (*status != 0) {
+ return HAL_kInvalidHandle;
+ }
+
+ auto serialPort = serialPortHandles->Get(handle);
+
+ if (serialPort == nullptr) {
+ *status = HAL_HANDLE_ERROR;
+ return HAL_kInvalidHandle;
+ }
+
+ serialPort->portId = open(portName, O_RDWR | O_NOCTTY);
+ if (serialPort->portId < 0) {
+ *status = errno;
+ serialPortHandles->Free(handle);
+ return HAL_kInvalidHandle;
+ }
+
+ std::memset(&serialPort->tty, 0, sizeof(serialPort->tty));
+
+ serialPort->baudRate = B9600;
+ cfsetospeed(&serialPort->tty, static_cast<speed_t>(serialPort->baudRate));
+ cfsetispeed(&serialPort->tty, static_cast<speed_t>(serialPort->baudRate));
+
+ serialPort->tty.c_cflag &= ~PARENB;
+ serialPort->tty.c_cflag &= ~CSTOPB;
+ serialPort->tty.c_cflag &= ~CSIZE;
+ serialPort->tty.c_cflag |= CS8;
+
+ serialPort->tty.c_cc[VMIN] = 0;
+ serialPort->tty.c_cc[VTIME] = 10;
+
+ serialPort->tty.c_cflag |= CREAD | CLOCAL;
+
+ serialPort->tty.c_lflag &= ~(ICANON | ECHO | ISIG);
+ serialPort->tty.c_iflag &= ~(IXON | IXOFF | IXANY);
+ /* Raw output mode, sends the raw and unprocessed data (send as it is).
+ * If it is in canonical mode and sending new line char then CR
+ * will be added as prefix and send as CR LF
+ */
+ serialPort->tty.c_oflag = ~OPOST;
+
+ tcflush(serialPort->portId, TCIOFLUSH);
+ if (tcsetattr(serialPort->portId, TCSANOW, &serialPort->tty) != 0) {
+ *status = errno;
+ close(serialPort->portId);
+ serialPortHandles->Free(handle);
+ return HAL_kInvalidHandle;
+ }
+ return handle;
+}
+
+void HAL_CloseSerial(HAL_SerialPortHandle handle, int32_t* status) {
+ auto port = serialPortHandles->Get(handle);
+ serialPortHandles->Free(handle);
+
+ if (port) {
+ close(port->portId);
+ }
+}
+
+int HAL_GetSerialFD(HAL_SerialPortHandle handle, int32_t* status) {
+ auto port = serialPortHandles->Get(handle);
+ if (!port) {
+ *status = HAL_HANDLE_ERROR;
+ return -1;
+ }
+ return port->portId;
+}
+
+#define BAUDCASE(BAUD) \
+ case BAUD: \
+ port->baudRate = B##BAUD; \
+ break;
+
+void HAL_SetSerialBaudRate(HAL_SerialPortHandle handle, int32_t baud,
+ int32_t* status) {
+ auto port = serialPortHandles->Get(handle);
+ if (!port) {
+ *status = HAL_HANDLE_ERROR;
return;
}
- *status = viOpen(resourceManagerHandle, const_cast<char*>(portName.c_str()),
- VI_NULL, VI_NULL,
- reinterpret_cast<ViSession*>(&portHandles[port]));
- if (*status > 0) *status = 0;
+ switch (baud) {
+ BAUDCASE(50)
+ BAUDCASE(75)
+ BAUDCASE(110)
+ BAUDCASE(134)
+ BAUDCASE(150)
+ BAUDCASE(200)
+ BAUDCASE(300)
+ BAUDCASE(600)
+ BAUDCASE(1200)
+ BAUDCASE(1800)
+ BAUDCASE(2400)
+ BAUDCASE(4800)
+ BAUDCASE(9600)
+ BAUDCASE(19200)
+ BAUDCASE(38400)
+ BAUDCASE(57600)
+ BAUDCASE(115200)
+ BAUDCASE(230400)
+ BAUDCASE(460800)
+ BAUDCASE(500000)
+ BAUDCASE(576000)
+ BAUDCASE(921600)
+ BAUDCASE(1000000)
+ BAUDCASE(1152000)
+ BAUDCASE(1500000)
+ BAUDCASE(2000000)
+ BAUDCASE(2500000)
+ BAUDCASE(3000000)
+ BAUDCASE(3500000)
+ BAUDCASE(4000000)
+ default:
+ *status = PARAMETER_OUT_OF_RANGE;
+ return;
+ }
+ int err = cfsetospeed(&port->tty, static_cast<speed_t>(port->baudRate));
+ if (err < 0) {
+ *status = errno;
+ return;
+ }
+ err = cfsetispeed(&port->tty, static_cast<speed_t>(port->baudRate));
+ if (err < 0) {
+ *status = errno;
+ return;
+ }
+ err = tcsetattr(port->portId, TCSANOW, &port->tty);
+ if (err < 0) {
+ *status = errno;
+ }
}
-void HAL_InitializeSerialPortDirect(HAL_SerialPort port, const char* portName,
- int32_t* status) {
- *status = viOpen(resourceManagerHandle, const_cast<char*>(portName), VI_NULL,
- VI_NULL, reinterpret_cast<ViSession*>(&portHandles[port]));
- if (*status > 0) *status = 0;
-}
-
-void HAL_SetSerialBaudRate(HAL_SerialPort port, int32_t baud, int32_t* status) {
- *status = viSetAttribute(portHandles[port], VI_ATTR_ASRL_BAUD, baud);
- if (*status > 0) *status = 0;
-}
-
-void HAL_SetSerialDataBits(HAL_SerialPort port, int32_t bits, int32_t* status) {
- *status = viSetAttribute(portHandles[port], VI_ATTR_ASRL_DATA_BITS, bits);
- if (*status > 0) *status = 0;
-}
-
-void HAL_SetSerialParity(HAL_SerialPort port, int32_t parity, int32_t* status) {
- *status = viSetAttribute(portHandles[port], VI_ATTR_ASRL_PARITY, parity);
- if (*status > 0) *status = 0;
-}
-
-void HAL_SetSerialStopBits(HAL_SerialPort port, int32_t stopBits,
+void HAL_SetSerialDataBits(HAL_SerialPortHandle handle, int32_t bits,
int32_t* status) {
- *status = viSetAttribute(portHandles[port], VI_ATTR_ASRL_STOP_BITS, stopBits);
- if (*status > 0) *status = 0;
+ auto port = serialPortHandles->Get(handle);
+ if (!port) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ int bitFlag = -1;
+ switch (bits) {
+ case 5:
+ bitFlag = CS5;
+ break;
+ case 6:
+ bitFlag = CS6;
+ break;
+ case 7:
+ bitFlag = CS7;
+ break;
+ case 8:
+ bitFlag = CS8;
+ break;
+ default:
+ *status = PARAMETER_OUT_OF_RANGE;
+ return;
+ }
+
+ port->tty.c_cflag &= ~CSIZE;
+ port->tty.c_cflag |= bitFlag;
+
+ int err = tcsetattr(port->portId, TCSANOW, &port->tty);
+ if (err < 0) {
+ *status = errno;
+ }
}
-void HAL_SetSerialWriteMode(HAL_SerialPort port, int32_t mode,
+void HAL_SetSerialParity(HAL_SerialPortHandle handle, int32_t parity,
+ int32_t* status) {
+ auto port = serialPortHandles->Get(handle);
+ if (!port) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ switch (parity) {
+ case 0: // None
+ port->tty.c_cflag &= ~PARENB;
+ port->tty.c_cflag &= ~CMSPAR;
+ break;
+ case 1: // Odd
+ port->tty.c_cflag |= PARENB;
+ port->tty.c_cflag &= ~CMSPAR;
+ port->tty.c_cflag &= ~PARODD;
+ break;
+ case 2: // Even
+ port->tty.c_cflag |= PARENB;
+ port->tty.c_cflag &= ~CMSPAR;
+ port->tty.c_cflag |= PARODD;
+ break;
+ case 3: // Mark
+ port->tty.c_cflag |= PARENB;
+ port->tty.c_cflag |= CMSPAR;
+ port->tty.c_cflag |= PARODD;
+ break;
+ case 4: // Space
+ port->tty.c_cflag |= PARENB;
+ port->tty.c_cflag |= CMSPAR;
+ port->tty.c_cflag &= ~PARODD;
+ break;
+ default:
+ *status = PARAMETER_OUT_OF_RANGE;
+ return;
+ }
+
+ int err = tcsetattr(port->portId, TCSANOW, &port->tty);
+ if (err < 0) {
+ *status = errno;
+ }
+}
+
+void HAL_SetSerialStopBits(HAL_SerialPortHandle handle, int32_t stopBits,
+ int32_t* status) {
+ auto port = serialPortHandles->Get(handle);
+ if (!port) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ switch (stopBits) {
+ case 10: // 1
+ port->tty.c_cflag &= ~CSTOPB;
+ break;
+ case 15: // 1.5
+ case 20: // 2
+ port->tty.c_cflag |= CSTOPB;
+ break;
+ default:
+ *status = PARAMETER_OUT_OF_RANGE;
+ return;
+ }
+
+ int err = tcsetattr(port->portId, TCSANOW, &port->tty);
+ if (err < 0) {
+ *status = errno;
+ }
+}
+
+void HAL_SetSerialWriteMode(HAL_SerialPortHandle handle, int32_t mode,
int32_t* status) {
- *status = viSetAttribute(portHandles[port], VI_ATTR_WR_BUF_OPER_MODE, mode);
- if (*status > 0) *status = 0;
+ // This seems to be a no op on the NI serial port driver
}
-void HAL_SetSerialFlowControl(HAL_SerialPort port, int32_t flow,
+void HAL_SetSerialFlowControl(HAL_SerialPortHandle handle, int32_t flow,
int32_t* status) {
- *status = viSetAttribute(portHandles[port], VI_ATTR_ASRL_FLOW_CNTRL, flow);
- if (*status > 0) *status = 0;
+ auto port = serialPortHandles->Get(handle);
+ if (!port) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+
+ switch (flow) {
+ case 0:
+ port->tty.c_cflag &= ~CRTSCTS;
+ break;
+ case 1:
+ port->tty.c_cflag &= ~CRTSCTS;
+ port->tty.c_iflag &= IXON | IXOFF;
+ break;
+ case 2:
+ port->tty.c_cflag |= CRTSCTS;
+ break;
+ default:
+ *status = PARAMETER_OUT_OF_RANGE;
+ return;
+ }
+
+ int err = tcsetattr(port->portId, TCSANOW, &port->tty);
+ if (err < 0) {
+ *status = errno;
+ }
}
-void HAL_SetSerialTimeout(HAL_SerialPort port, double timeout,
+void HAL_SetSerialTimeout(HAL_SerialPortHandle handle, double timeout,
int32_t* status) {
- *status = viSetAttribute(portHandles[port], VI_ATTR_TMO_VALUE,
- static_cast<uint32_t>(timeout * 1e3));
- if (*status > 0) *status = 0;
+ auto port = serialPortHandles->Get(handle);
+ if (!port) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+ port->timeout = timeout;
+ port->tty.c_cc[VTIME] = static_cast<int>(timeout * 10);
+ int err = tcsetattr(port->portId, TCSANOW, &port->tty);
+ if (err < 0) {
+ *status = errno;
+ }
}
-void HAL_EnableSerialTermination(HAL_SerialPort port, char terminator,
+void HAL_EnableSerialTermination(HAL_SerialPortHandle handle, char terminator,
int32_t* status) {
- viSetAttribute(portHandles[port], VI_ATTR_TERMCHAR_EN, VI_TRUE);
- viSetAttribute(portHandles[port], VI_ATTR_TERMCHAR, terminator);
- *status = viSetAttribute(portHandles[port], VI_ATTR_ASRL_END_IN,
- VI_ASRL_END_TERMCHAR);
- if (*status > 0) *status = 0;
+ auto port = serialPortHandles->Get(handle);
+ if (!port) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+ port->termination = true;
+ port->terminationChar = terminator;
}
-void HAL_DisableSerialTermination(HAL_SerialPort port, int32_t* status) {
- viSetAttribute(portHandles[port], VI_ATTR_TERMCHAR_EN, VI_FALSE);
- *status =
- viSetAttribute(portHandles[port], VI_ATTR_ASRL_END_IN, VI_ASRL_END_NONE);
- if (*status > 0) *status = 0;
-}
-
-void HAL_SetSerialReadBufferSize(HAL_SerialPort port, int32_t size,
- int32_t* status) {
- *status = viSetBuf(portHandles[port], VI_READ_BUF, size);
- if (*status > 0) *status = 0;
-}
-
-void HAL_SetSerialWriteBufferSize(HAL_SerialPort port, int32_t size,
+void HAL_DisableSerialTermination(HAL_SerialPortHandle handle,
int32_t* status) {
- *status = viSetBuf(portHandles[port], VI_WRITE_BUF, size);
- if (*status > 0) *status = 0;
+ auto port = serialPortHandles->Get(handle);
+ if (!port) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+ port->termination = false;
}
-int32_t HAL_GetSerialBytesReceived(HAL_SerialPort port, int32_t* status) {
- int32_t bytes = 0;
+void HAL_SetSerialReadBufferSize(HAL_SerialPortHandle handle, int32_t size,
+ int32_t* status) {
+ // NO OP currently
+}
- *status = viGetAttribute(portHandles[port], VI_ATTR_ASRL_AVAIL_NUM, &bytes);
- if (*status > 0) *status = 0;
+void HAL_SetSerialWriteBufferSize(HAL_SerialPortHandle handle, int32_t size,
+ int32_t* status) {
+ // NO OP currently
+}
+
+int32_t HAL_GetSerialBytesReceived(HAL_SerialPortHandle handle,
+ int32_t* status) {
+ auto port = serialPortHandles->Get(handle);
+ if (!port) {
+ *status = HAL_HANDLE_ERROR;
+ return -1;
+ }
+ int bytes = 0;
+ int err = ioctl(port->portId, FIONREAD, &bytes);
+ if (err < 0) {
+ *status = errno;
+ }
return bytes;
}
-int32_t HAL_ReadSerial(HAL_SerialPort port, char* buffer, int32_t count,
+int32_t HAL_ReadSerial(HAL_SerialPortHandle handle, char* buffer, int32_t count,
int32_t* status) {
- uint32_t retCount = 0;
+ // Don't do anything if 0 bytes were requested
+ if (count == 0) return 0;
- *status =
- viRead(portHandles[port], (ViPBuf)buffer, count, (ViPUInt32)&retCount);
-
- if (*status == VI_ERROR_IO || *status == VI_ERROR_ASRL_OVERRUN ||
- *status == VI_ERROR_ASRL_FRAMING || *status == VI_ERROR_ASRL_PARITY) {
- int32_t localStatus = 0;
- HAL_ClearSerial(port, &localStatus);
+ auto port = serialPortHandles->Get(handle);
+ if (!port) {
+ *status = HAL_HANDLE_ERROR;
+ return -1;
}
- if (*status == VI_ERROR_TMO || *status > 0) *status = 0;
- return static_cast<int32_t>(retCount);
+ int n = 0, loc = 0;
+ char buf = '\0';
+ std::memset(buffer, '\0', count);
+ *status = 0;
+
+ do {
+ n = read(port->portId, &buf, 1);
+ if (n == 1) {
+ buffer[loc] = buf;
+ loc++;
+ // If buffer is full, return
+ if (loc == count) {
+ return loc;
+ }
+ // If terminating, and termination was hit return;
+ if (port->termination && buf == port->terminationChar) {
+ return loc;
+ }
+ } else if (n == -1) {
+ // ERROR
+ *status = errno;
+ return loc;
+ } else {
+ // If nothing read, timeout
+ return loc;
+ }
+ } while (true);
}
-int32_t HAL_WriteSerial(HAL_SerialPort port, const char* buffer, int32_t count,
- int32_t* status) {
- uint32_t retCount = 0;
+int32_t HAL_WriteSerial(HAL_SerialPortHandle handle, const char* buffer,
+ int32_t count, int32_t* status) {
+ auto port = serialPortHandles->Get(handle);
+ if (!port) {
+ *status = HAL_HANDLE_ERROR;
+ return -1;
+ }
- *status =
- viWrite(portHandles[port], (ViPBuf)buffer, count, (ViPUInt32)&retCount);
-
- if (*status > 0) *status = 0;
- return static_cast<int32_t>(retCount);
+ int written = 0, spot = 0;
+ do {
+ written = write(port->portId, buffer + spot, count - spot);
+ if (written < 0) {
+ *status = errno;
+ return spot;
+ }
+ spot += written;
+ } while (spot < count);
+ return spot;
}
-void HAL_FlushSerial(HAL_SerialPort port, int32_t* status) {
- *status = viFlush(portHandles[port], VI_WRITE_BUF);
- if (*status > 0) *status = 0;
+void HAL_FlushSerial(HAL_SerialPortHandle handle, int32_t* status) {
+ auto port = serialPortHandles->Get(handle);
+ if (!port) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+ int err = tcdrain(port->portId);
+ if (err < 0) {
+ *status = errno;
+ }
}
-
-void HAL_ClearSerial(HAL_SerialPort port, int32_t* status) {
- *status = viClear(portHandles[port]);
- if (*status > 0) *status = 0;
+void HAL_ClearSerial(HAL_SerialPortHandle handle, int32_t* status) {
+ auto port = serialPortHandles->Get(handle);
+ if (!port) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+ int err = tcflush(port->portId, TCIOFLUSH);
+ if (err < 0) {
+ *status = errno;
+ }
}
-
-void HAL_CloseSerial(HAL_SerialPort port, int32_t* status) {
- *status = viClose(portHandles[port]);
- if (*status > 0) *status = 0;
-}
-
} // extern "C"
diff --git a/third_party/allwpilib_2019/hal/src/main/native/athena/SimDevice.cpp b/third_party/allwpilib_2019/hal/src/main/native/athena/SimDevice.cpp
new file mode 100644
index 0000000..94a65d4
--- /dev/null
+++ b/third_party/allwpilib_2019/hal/src/main/native/athena/SimDevice.cpp
@@ -0,0 +1,41 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "hal/SimDevice.h"
+
+extern "C" {
+
+HAL_SimDeviceHandle HAL_CreateSimDevice(const char* name) { return 0; }
+
+void HAL_FreeSimDevice(HAL_SimDeviceHandle handle) {}
+
+HAL_SimValueHandle HAL_CreateSimValue(HAL_SimDeviceHandle device,
+ const char* name, HAL_Bool readonly,
+ const struct HAL_Value* initialValue) {
+ return 0;
+}
+
+HAL_SimValueHandle HAL_CreateSimValueEnum(HAL_SimDeviceHandle device,
+ const char* name, HAL_Bool readonly,
+ int32_t numOptions,
+ const char** options,
+ int32_t initialValue) {
+ return 0;
+}
+
+void HAL_GetSimValue(HAL_SimValueHandle handle, struct HAL_Value* value) {
+ value->type = HAL_UNASSIGNED;
+}
+
+void HAL_SetSimValue(HAL_SimValueHandle handle, const struct HAL_Value* value) {
+}
+
+hal::SimDevice::SimDevice(const char* name, int index) {}
+
+hal::SimDevice::SimDevice(const char* name, int index, int channel) {}
+
+} // extern "C"
diff --git a/third_party/allwpilib_2019/hal/src/main/native/athena/cpp/SerialHelper.cpp b/third_party/allwpilib_2019/hal/src/main/native/athena/cpp/SerialHelper.cpp
index 98b22db..e312e2a 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/athena/cpp/SerialHelper.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/athena/cpp/SerialHelper.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -14,8 +14,8 @@
#include <wpi/FileSystem.h>
#include <wpi/StringRef.h>
-#include "../visa/visa.h"
#include "hal/Errors.h"
+#include "visa/visa.h"
constexpr const char* OnboardResourceVISA = "ASRL1::INSTR";
constexpr const char* MxpResourceVISA = "ASRL2::INSTR";
@@ -275,7 +275,7 @@
int32_t SerialHelper::GetIndexForPort(HAL_SerialPort port, int32_t* status) {
// Hold lock whenever we're using the names array
- std::lock_guard<wpi::mutex> lock(m_nameMutex);
+ std::scoped_lock lock(m_nameMutex);
std::string portString = m_usbNames[port - 2];
diff --git a/third_party/allwpilib_2019/hal/src/main/native/athena/ctre/CtreCanNode.cpp b/third_party/allwpilib_2019/hal/src/main/native/athena/ctre/CtreCanNode.cpp
index bd3c9e8..440bebd 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/athena/ctre/CtreCanNode.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/athena/ctre/CtreCanNode.cpp
@@ -86,7 +86,7 @@
if(timeoutMs > 999)
timeoutMs = 999;
FRC_NetworkCommunication_CANSessionMux_receiveMessage(&arbId,kFullMessageIDMask,dataBytes,&len,&timeStamp,&status);
- std::lock_guard<wpi::mutex> lock(_lck);
+ std::scoped_lock lock(_lck);
if(status == 0){
/* fresh update */
rxEvent_t & r = _rxRxEvents[arbId]; /* lookup entry or make a default new one with all zeroes */
diff --git a/third_party/allwpilib_2019/hal/src/main/native/athena/visa/visa.h b/third_party/allwpilib_2019/hal/src/main/native/athena/visa/visa.h
deleted file mode 100644
index 3c6ad30..0000000
--- a/third_party/allwpilib_2019/hal/src/main/native/athena/visa/visa.h
+++ /dev/null
@@ -1,1064 +0,0 @@
-/*---------------------------------------------------------------------------*/
-/* Distributed by IVI Foundation Inc. */
-/* Contains National Instruments extensions. */
-/* Do not modify the contents of this file. */
-/*---------------------------------------------------------------------------*/
-/* */
-/* Title : VISA.H */
-/* Date : 10-09-2006 */
-/* Purpose : Include file for the VISA Library 4.0 specification */
-/* */
-/*---------------------------------------------------------------------------*/
-/* When using NI-VISA extensions, you must link with the VISA library that */
-/* comes with NI-VISA. Currently, the extensions provided by NI-VISA are: */
-/* */
-/* PXI (Compact PCI eXtensions for Instrumentation) and PCI support. To use */
-/* this, you must define the macro NIVISA_PXI before including this header. */
-/* You must also create an INF file with the VISA Driver Development Wizard. */
-/* */
-/* A fast set of macros for viPeekXX/viPokeXX that guarantees binary */
-/* compatibility with other implementations of VISA. To use this, you must */
-/* define the macro NIVISA_PEEKPOKE before including this header. */
-/* */
-/* Support for USB devices that do not conform to a specific class. To use */
-/* this, you must define the macro NIVISA_USB before including this header. */
-/* You must also create an INF file with the VISA Driver Development Wizard. */
-/*---------------------------------------------------------------------------*/
-
-#ifndef __VISA_HEADER__
-#define __VISA_HEADER__
-
-#include <stdarg.h>
-
-#if !defined(__VISATYPE_HEADER__)
-#include "visatype.h"
-#endif
-
-#define VI_SPEC_VERSION (0x00400000UL)
-
-#if defined(__cplusplus) || defined(__cplusplus__)
- extern "C" {
-#endif
-
-#if defined(_CVI_)
-#pragma EnableLibraryRuntimeChecking
-#endif
-
-/*- VISA Types --------------------------------------------------------------*/
-
-typedef ViObject ViEvent;
-typedef ViEvent _VI_PTR ViPEvent;
-typedef ViObject ViFindList;
-typedef ViFindList _VI_PTR ViPFindList;
-
-#if defined(_VI_INT64_UINT64_DEFINED) && defined(_VISA_ENV_IS_64_BIT)
-typedef ViUInt64 ViBusAddress;
-typedef ViUInt64 ViBusSize;
-typedef ViUInt64 ViAttrState;
-#else
-typedef ViUInt32 ViBusAddress;
-typedef ViUInt32 ViBusSize;
-typedef ViUInt32 ViAttrState;
-#endif
-
-#if defined(_VI_INT64_UINT64_DEFINED)
-typedef ViUInt64 ViBusAddress64;
-typedef ViBusAddress64 _VI_PTR ViPBusAddress64;
-#endif
-
-typedef ViUInt32 ViEventType;
-typedef ViEventType _VI_PTR ViPEventType;
-typedef ViEventType _VI_PTR ViAEventType;
-typedef void _VI_PTR ViPAttrState;
-typedef ViAttr _VI_PTR ViPAttr;
-typedef ViAttr _VI_PTR ViAAttr;
-
-typedef ViString ViKeyId;
-typedef ViPString ViPKeyId;
-typedef ViUInt32 ViJobId;
-typedef ViJobId _VI_PTR ViPJobId;
-typedef ViUInt32 ViAccessMode;
-typedef ViAccessMode _VI_PTR ViPAccessMode;
-typedef ViBusAddress _VI_PTR ViPBusAddress;
-typedef ViUInt32 ViEventFilter;
-
-typedef va_list ViVAList;
-
-typedef ViStatus (_VI_FUNCH _VI_PTR ViHndlr)
- (ViSession vi, ViEventType eventType, ViEvent event, ViAddr userHandle);
-
-/*- Resource Manager Functions and Operations -------------------------------*/
-
-ViStatus _VI_FUNC viOpenDefaultRM (ViPSession vi);
-ViStatus _VI_FUNC viFindRsrc (ViSession sesn, ViString expr, ViPFindList vi,
- ViPUInt32 retCnt, ViChar _VI_FAR desc[]);
-ViStatus _VI_FUNC viFindNext (ViFindList vi, ViChar _VI_FAR desc[]);
-ViStatus _VI_FUNC viParseRsrc (ViSession rmSesn, ViRsrc rsrcName,
- ViPUInt16 intfType, ViPUInt16 intfNum);
-ViStatus _VI_FUNC viParseRsrcEx (ViSession rmSesn, ViRsrc rsrcName, ViPUInt16 intfType,
- ViPUInt16 intfNum, ViChar _VI_FAR rsrcClass[],
- ViChar _VI_FAR expandedUnaliasedName[],
- ViChar _VI_FAR aliasIfExists[]);
-ViStatus _VI_FUNC viOpen (ViSession sesn, ViRsrc name, ViAccessMode mode,
- ViUInt32 timeout, ViPSession vi);
-
-/*- Resource Template Operations --------------------------------------------*/
-
-ViStatus _VI_FUNC viClose (ViObject vi);
-ViStatus _VI_FUNC viSetAttribute (ViObject vi, ViAttr attrName, ViAttrState attrValue);
-ViStatus _VI_FUNC viGetAttribute (ViObject vi, ViAttr attrName, void _VI_PTR attrValue);
-ViStatus _VI_FUNC viStatusDesc (ViObject vi, ViStatus status, ViChar _VI_FAR desc[]);
-ViStatus _VI_FUNC viTerminate (ViObject vi, ViUInt16 degree, ViJobId jobId);
-
-ViStatus _VI_FUNC viLock (ViSession vi, ViAccessMode lockType, ViUInt32 timeout,
- ViKeyId requestedKey, ViChar _VI_FAR accessKey[]);
-ViStatus _VI_FUNC viUnlock (ViSession vi);
-ViStatus _VI_FUNC viEnableEvent (ViSession vi, ViEventType eventType, ViUInt16 mechanism,
- ViEventFilter context);
-ViStatus _VI_FUNC viDisableEvent (ViSession vi, ViEventType eventType, ViUInt16 mechanism);
-ViStatus _VI_FUNC viDiscardEvents (ViSession vi, ViEventType eventType, ViUInt16 mechanism);
-ViStatus _VI_FUNC viWaitOnEvent (ViSession vi, ViEventType inEventType, ViUInt32 timeout,
- ViPEventType outEventType, ViPEvent outContext);
-ViStatus _VI_FUNC viInstallHandler(ViSession vi, ViEventType eventType, ViHndlr handler,
- ViAddr userHandle);
-ViStatus _VI_FUNC viUninstallHandler(ViSession vi, ViEventType eventType, ViHndlr handler,
- ViAddr userHandle);
-
-/*- Basic I/O Operations ----------------------------------------------------*/
-
-ViStatus _VI_FUNC viRead (ViSession vi, ViPBuf buf, ViUInt32 cnt, ViPUInt32 retCnt);
-ViStatus _VI_FUNC viReadAsync (ViSession vi, ViPBuf buf, ViUInt32 cnt, ViPJobId jobId);
-ViStatus _VI_FUNC viReadToFile (ViSession vi, ViConstString filename, ViUInt32 cnt,
- ViPUInt32 retCnt);
-ViStatus _VI_FUNC viWrite (ViSession vi, ViBuf buf, ViUInt32 cnt, ViPUInt32 retCnt);
-ViStatus _VI_FUNC viWriteAsync (ViSession vi, ViBuf buf, ViUInt32 cnt, ViPJobId jobId);
-ViStatus _VI_FUNC viWriteFromFile (ViSession vi, ViConstString filename, ViUInt32 cnt,
- ViPUInt32 retCnt);
-ViStatus _VI_FUNC viAssertTrigger (ViSession vi, ViUInt16 protocol);
-ViStatus _VI_FUNC viReadSTB (ViSession vi, ViPUInt16 status);
-ViStatus _VI_FUNC viClear (ViSession vi);
-
-/*- Formatted and Buffered I/O Operations -----------------------------------*/
-
-ViStatus _VI_FUNC viSetBuf (ViSession vi, ViUInt16 mask, ViUInt32 size);
-ViStatus _VI_FUNC viFlush (ViSession vi, ViUInt16 mask);
-
-ViStatus _VI_FUNC viBufWrite (ViSession vi, ViBuf buf, ViUInt32 cnt, ViPUInt32 retCnt);
-ViStatus _VI_FUNC viBufRead (ViSession vi, ViPBuf buf, ViUInt32 cnt, ViPUInt32 retCnt);
-
-ViStatus _VI_FUNCC viPrintf (ViSession vi, ViString writeFmt, ...);
-ViStatus _VI_FUNC viVPrintf (ViSession vi, ViString writeFmt, ViVAList params);
-ViStatus _VI_FUNCC viSPrintf (ViSession vi, ViPBuf buf, ViString writeFmt, ...);
-ViStatus _VI_FUNC viVSPrintf (ViSession vi, ViPBuf buf, ViString writeFmt,
- ViVAList parms);
-
-ViStatus _VI_FUNCC viScanf (ViSession vi, ViString readFmt, ...);
-ViStatus _VI_FUNC viVScanf (ViSession vi, ViString readFmt, ViVAList params);
-ViStatus _VI_FUNCC viSScanf (ViSession vi, ViBuf buf, ViString readFmt, ...);
-ViStatus _VI_FUNC viVSScanf (ViSession vi, ViBuf buf, ViString readFmt,
- ViVAList parms);
-
-ViStatus _VI_FUNCC viQueryf (ViSession vi, ViString writeFmt, ViString readFmt, ...);
-ViStatus _VI_FUNC viVQueryf (ViSession vi, ViString writeFmt, ViString readFmt,
- ViVAList params);
-
-/*- Memory I/O Operations ---------------------------------------------------*/
-
-ViStatus _VI_FUNC viIn8 (ViSession vi, ViUInt16 space,
- ViBusAddress offset, ViPUInt8 val8);
-ViStatus _VI_FUNC viOut8 (ViSession vi, ViUInt16 space,
- ViBusAddress offset, ViUInt8 val8);
-ViStatus _VI_FUNC viIn16 (ViSession vi, ViUInt16 space,
- ViBusAddress offset, ViPUInt16 val16);
-ViStatus _VI_FUNC viOut16 (ViSession vi, ViUInt16 space,
- ViBusAddress offset, ViUInt16 val16);
-ViStatus _VI_FUNC viIn32 (ViSession vi, ViUInt16 space,
- ViBusAddress offset, ViPUInt32 val32);
-ViStatus _VI_FUNC viOut32 (ViSession vi, ViUInt16 space,
- ViBusAddress offset, ViUInt32 val32);
-
-#if defined(_VI_INT64_UINT64_DEFINED)
-ViStatus _VI_FUNC viIn64 (ViSession vi, ViUInt16 space,
- ViBusAddress offset, ViPUInt64 val64);
-ViStatus _VI_FUNC viOut64 (ViSession vi, ViUInt16 space,
- ViBusAddress offset, ViUInt64 val64);
-
-ViStatus _VI_FUNC viIn8Ex (ViSession vi, ViUInt16 space,
- ViBusAddress64 offset, ViPUInt8 val8);
-ViStatus _VI_FUNC viOut8Ex (ViSession vi, ViUInt16 space,
- ViBusAddress64 offset, ViUInt8 val8);
-ViStatus _VI_FUNC viIn16Ex (ViSession vi, ViUInt16 space,
- ViBusAddress64 offset, ViPUInt16 val16);
-ViStatus _VI_FUNC viOut16Ex (ViSession vi, ViUInt16 space,
- ViBusAddress64 offset, ViUInt16 val16);
-ViStatus _VI_FUNC viIn32Ex (ViSession vi, ViUInt16 space,
- ViBusAddress64 offset, ViPUInt32 val32);
-ViStatus _VI_FUNC viOut32Ex (ViSession vi, ViUInt16 space,
- ViBusAddress64 offset, ViUInt32 val32);
-ViStatus _VI_FUNC viIn64Ex (ViSession vi, ViUInt16 space,
- ViBusAddress64 offset, ViPUInt64 val64);
-ViStatus _VI_FUNC viOut64Ex (ViSession vi, ViUInt16 space,
- ViBusAddress64 offset, ViUInt64 val64);
-#endif
-
-ViStatus _VI_FUNC viMoveIn8 (ViSession vi, ViUInt16 space, ViBusAddress offset,
- ViBusSize length, ViAUInt8 buf8);
-ViStatus _VI_FUNC viMoveOut8 (ViSession vi, ViUInt16 space, ViBusAddress offset,
- ViBusSize length, ViAUInt8 buf8);
-ViStatus _VI_FUNC viMoveIn16 (ViSession vi, ViUInt16 space, ViBusAddress offset,
- ViBusSize length, ViAUInt16 buf16);
-ViStatus _VI_FUNC viMoveOut16 (ViSession vi, ViUInt16 space, ViBusAddress offset,
- ViBusSize length, ViAUInt16 buf16);
-ViStatus _VI_FUNC viMoveIn32 (ViSession vi, ViUInt16 space, ViBusAddress offset,
- ViBusSize length, ViAUInt32 buf32);
-ViStatus _VI_FUNC viMoveOut32 (ViSession vi, ViUInt16 space, ViBusAddress offset,
- ViBusSize length, ViAUInt32 buf32);
-
-#if defined(_VI_INT64_UINT64_DEFINED)
-ViStatus _VI_FUNC viMoveIn64 (ViSession vi, ViUInt16 space, ViBusAddress offset,
- ViBusSize length, ViAUInt64 buf64);
-ViStatus _VI_FUNC viMoveOut64 (ViSession vi, ViUInt16 space, ViBusAddress offset,
- ViBusSize length, ViAUInt64 buf64);
-
-ViStatus _VI_FUNC viMoveIn8Ex (ViSession vi, ViUInt16 space, ViBusAddress64 offset,
- ViBusSize length, ViAUInt8 buf8);
-ViStatus _VI_FUNC viMoveOut8Ex (ViSession vi, ViUInt16 space, ViBusAddress64 offset,
- ViBusSize length, ViAUInt8 buf8);
-ViStatus _VI_FUNC viMoveIn16Ex (ViSession vi, ViUInt16 space, ViBusAddress64 offset,
- ViBusSize length, ViAUInt16 buf16);
-ViStatus _VI_FUNC viMoveOut16Ex (ViSession vi, ViUInt16 space, ViBusAddress64 offset,
- ViBusSize length, ViAUInt16 buf16);
-ViStatus _VI_FUNC viMoveIn32Ex (ViSession vi, ViUInt16 space, ViBusAddress64 offset,
- ViBusSize length, ViAUInt32 buf32);
-ViStatus _VI_FUNC viMoveOut32Ex (ViSession vi, ViUInt16 space, ViBusAddress64 offset,
- ViBusSize length, ViAUInt32 buf32);
-ViStatus _VI_FUNC viMoveIn64Ex (ViSession vi, ViUInt16 space, ViBusAddress64 offset,
- ViBusSize length, ViAUInt64 buf64);
-ViStatus _VI_FUNC viMoveOut64Ex (ViSession vi, ViUInt16 space, ViBusAddress64 offset,
- ViBusSize length, ViAUInt64 buf64);
-#endif
-
-ViStatus _VI_FUNC viMove (ViSession vi, ViUInt16 srcSpace, ViBusAddress srcOffset,
- ViUInt16 srcWidth, ViUInt16 destSpace,
- ViBusAddress destOffset, ViUInt16 destWidth,
- ViBusSize srcLength);
-ViStatus _VI_FUNC viMoveAsync (ViSession vi, ViUInt16 srcSpace, ViBusAddress srcOffset,
- ViUInt16 srcWidth, ViUInt16 destSpace,
- ViBusAddress destOffset, ViUInt16 destWidth,
- ViBusSize srcLength, ViPJobId jobId);
-
-#if defined(_VI_INT64_UINT64_DEFINED)
-ViStatus _VI_FUNC viMoveEx (ViSession vi, ViUInt16 srcSpace, ViBusAddress64 srcOffset,
- ViUInt16 srcWidth, ViUInt16 destSpace,
- ViBusAddress64 destOffset, ViUInt16 destWidth,
- ViBusSize srcLength);
-ViStatus _VI_FUNC viMoveAsyncEx (ViSession vi, ViUInt16 srcSpace, ViBusAddress64 srcOffset,
- ViUInt16 srcWidth, ViUInt16 destSpace,
- ViBusAddress64 destOffset, ViUInt16 destWidth,
- ViBusSize srcLength, ViPJobId jobId);
-#endif
-
-ViStatus _VI_FUNC viMapAddress (ViSession vi, ViUInt16 mapSpace, ViBusAddress mapOffset,
- ViBusSize mapSize, ViBoolean access,
- ViAddr suggested, ViPAddr address);
-ViStatus _VI_FUNC viUnmapAddress (ViSession vi);
-
-#if defined(_VI_INT64_UINT64_DEFINED)
-ViStatus _VI_FUNC viMapAddressEx (ViSession vi, ViUInt16 mapSpace, ViBusAddress64 mapOffset,
- ViBusSize mapSize, ViBoolean access,
- ViAddr suggested, ViPAddr address);
-#endif
-
-void _VI_FUNC viPeek8 (ViSession vi, ViAddr address, ViPUInt8 val8);
-void _VI_FUNC viPoke8 (ViSession vi, ViAddr address, ViUInt8 val8);
-void _VI_FUNC viPeek16 (ViSession vi, ViAddr address, ViPUInt16 val16);
-void _VI_FUNC viPoke16 (ViSession vi, ViAddr address, ViUInt16 val16);
-void _VI_FUNC viPeek32 (ViSession vi, ViAddr address, ViPUInt32 val32);
-void _VI_FUNC viPoke32 (ViSession vi, ViAddr address, ViUInt32 val32);
-
-#if defined(_VI_INT64_UINT64_DEFINED)
-void _VI_FUNC viPeek64 (ViSession vi, ViAddr address, ViPUInt64 val64);
-void _VI_FUNC viPoke64 (ViSession vi, ViAddr address, ViUInt64 val64);
-#endif
-
-/*- Shared Memory Operations ------------------------------------------------*/
-
-ViStatus _VI_FUNC viMemAlloc (ViSession vi, ViBusSize size, ViPBusAddress offset);
-ViStatus _VI_FUNC viMemFree (ViSession vi, ViBusAddress offset);
-
-#if defined(_VI_INT64_UINT64_DEFINED)
-ViStatus _VI_FUNC viMemAllocEx (ViSession vi, ViBusSize size, ViPBusAddress64 offset);
-ViStatus _VI_FUNC viMemFreeEx (ViSession vi, ViBusAddress64 offset);
-#endif
-
-/*- Interface Specific Operations -------------------------------------------*/
-
-ViStatus _VI_FUNC viGpibControlREN(ViSession vi, ViUInt16 mode);
-ViStatus _VI_FUNC viGpibControlATN(ViSession vi, ViUInt16 mode);
-ViStatus _VI_FUNC viGpibSendIFC (ViSession vi);
-ViStatus _VI_FUNC viGpibCommand (ViSession vi, ViBuf cmd, ViUInt32 cnt, ViPUInt32 retCnt);
-ViStatus _VI_FUNC viGpibPassControl(ViSession vi, ViUInt16 primAddr, ViUInt16 secAddr);
-
-ViStatus _VI_FUNC viVxiCommandQuery(ViSession vi, ViUInt16 mode, ViUInt32 cmd,
- ViPUInt32 response);
-ViStatus _VI_FUNC viAssertUtilSignal(ViSession vi, ViUInt16 line);
-ViStatus _VI_FUNC viAssertIntrSignal(ViSession vi, ViInt16 mode, ViUInt32 statusID);
-ViStatus _VI_FUNC viMapTrigger (ViSession vi, ViInt16 trigSrc, ViInt16 trigDest,
- ViUInt16 mode);
-ViStatus _VI_FUNC viUnmapTrigger (ViSession vi, ViInt16 trigSrc, ViInt16 trigDest);
-ViStatus _VI_FUNC viUsbControlOut (ViSession vi, ViInt16 bmRequestType, ViInt16 bRequest,
- ViUInt16 wValue, ViUInt16 wIndex, ViUInt16 wLength,
- ViBuf buf);
-ViStatus _VI_FUNC viUsbControlIn (ViSession vi, ViInt16 bmRequestType, ViInt16 bRequest,
- ViUInt16 wValue, ViUInt16 wIndex, ViUInt16 wLength,
- ViPBuf buf, ViPUInt16 retCnt);
-
-/*- Attributes (platform independent size) ----------------------------------*/
-
-#define VI_ATTR_RSRC_CLASS (0xBFFF0001UL)
-#define VI_ATTR_RSRC_NAME (0xBFFF0002UL)
-#define VI_ATTR_RSRC_IMPL_VERSION (0x3FFF0003UL)
-#define VI_ATTR_RSRC_LOCK_STATE (0x3FFF0004UL)
-#define VI_ATTR_MAX_QUEUE_LENGTH (0x3FFF0005UL)
-#define VI_ATTR_USER_DATA_32 (0x3FFF0007UL)
-#define VI_ATTR_FDC_CHNL (0x3FFF000DUL)
-#define VI_ATTR_FDC_MODE (0x3FFF000FUL)
-#define VI_ATTR_FDC_GEN_SIGNAL_EN (0x3FFF0011UL)
-#define VI_ATTR_FDC_USE_PAIR (0x3FFF0013UL)
-#define VI_ATTR_SEND_END_EN (0x3FFF0016UL)
-#define VI_ATTR_TERMCHAR (0x3FFF0018UL)
-#define VI_ATTR_TMO_VALUE (0x3FFF001AUL)
-#define VI_ATTR_GPIB_READDR_EN (0x3FFF001BUL)
-#define VI_ATTR_IO_PROT (0x3FFF001CUL)
-#define VI_ATTR_DMA_ALLOW_EN (0x3FFF001EUL)
-#define VI_ATTR_ASRL_BAUD (0x3FFF0021UL)
-#define VI_ATTR_ASRL_DATA_BITS (0x3FFF0022UL)
-#define VI_ATTR_ASRL_PARITY (0x3FFF0023UL)
-#define VI_ATTR_ASRL_STOP_BITS (0x3FFF0024UL)
-#define VI_ATTR_ASRL_FLOW_CNTRL (0x3FFF0025UL)
-#define VI_ATTR_RD_BUF_OPER_MODE (0x3FFF002AUL)
-#define VI_ATTR_RD_BUF_SIZE (0x3FFF002BUL)
-#define VI_ATTR_WR_BUF_OPER_MODE (0x3FFF002DUL)
-#define VI_ATTR_WR_BUF_SIZE (0x3FFF002EUL)
-#define VI_ATTR_SUPPRESS_END_EN (0x3FFF0036UL)
-#define VI_ATTR_TERMCHAR_EN (0x3FFF0038UL)
-#define VI_ATTR_DEST_ACCESS_PRIV (0x3FFF0039UL)
-#define VI_ATTR_DEST_BYTE_ORDER (0x3FFF003AUL)
-#define VI_ATTR_SRC_ACCESS_PRIV (0x3FFF003CUL)
-#define VI_ATTR_SRC_BYTE_ORDER (0x3FFF003DUL)
-#define VI_ATTR_SRC_INCREMENT (0x3FFF0040UL)
-#define VI_ATTR_DEST_INCREMENT (0x3FFF0041UL)
-#define VI_ATTR_WIN_ACCESS_PRIV (0x3FFF0045UL)
-#define VI_ATTR_WIN_BYTE_ORDER (0x3FFF0047UL)
-#define VI_ATTR_GPIB_ATN_STATE (0x3FFF0057UL)
-#define VI_ATTR_GPIB_ADDR_STATE (0x3FFF005CUL)
-#define VI_ATTR_GPIB_CIC_STATE (0x3FFF005EUL)
-#define VI_ATTR_GPIB_NDAC_STATE (0x3FFF0062UL)
-#define VI_ATTR_GPIB_SRQ_STATE (0x3FFF0067UL)
-#define VI_ATTR_GPIB_SYS_CNTRL_STATE (0x3FFF0068UL)
-#define VI_ATTR_GPIB_HS488_CBL_LEN (0x3FFF0069UL)
-#define VI_ATTR_CMDR_LA (0x3FFF006BUL)
-#define VI_ATTR_VXI_DEV_CLASS (0x3FFF006CUL)
-#define VI_ATTR_MAINFRAME_LA (0x3FFF0070UL)
-#define VI_ATTR_MANF_NAME (0xBFFF0072UL)
-#define VI_ATTR_MODEL_NAME (0xBFFF0077UL)
-#define VI_ATTR_VXI_VME_INTR_STATUS (0x3FFF008BUL)
-#define VI_ATTR_VXI_TRIG_STATUS (0x3FFF008DUL)
-#define VI_ATTR_VXI_VME_SYSFAIL_STATE (0x3FFF0094UL)
-#define VI_ATTR_WIN_BASE_ADDR_32 (0x3FFF0098UL)
-#define VI_ATTR_WIN_SIZE_32 (0x3FFF009AUL)
-#define VI_ATTR_ASRL_AVAIL_NUM (0x3FFF00ACUL)
-#define VI_ATTR_MEM_BASE_32 (0x3FFF00ADUL)
-#define VI_ATTR_ASRL_CTS_STATE (0x3FFF00AEUL)
-#define VI_ATTR_ASRL_DCD_STATE (0x3FFF00AFUL)
-#define VI_ATTR_ASRL_DSR_STATE (0x3FFF00B1UL)
-#define VI_ATTR_ASRL_DTR_STATE (0x3FFF00B2UL)
-#define VI_ATTR_ASRL_END_IN (0x3FFF00B3UL)
-#define VI_ATTR_ASRL_END_OUT (0x3FFF00B4UL)
-#define VI_ATTR_ASRL_REPLACE_CHAR (0x3FFF00BEUL)
-#define VI_ATTR_ASRL_RI_STATE (0x3FFF00BFUL)
-#define VI_ATTR_ASRL_RTS_STATE (0x3FFF00C0UL)
-#define VI_ATTR_ASRL_XON_CHAR (0x3FFF00C1UL)
-#define VI_ATTR_ASRL_XOFF_CHAR (0x3FFF00C2UL)
-#define VI_ATTR_WIN_ACCESS (0x3FFF00C3UL)
-#define VI_ATTR_RM_SESSION (0x3FFF00C4UL)
-#define VI_ATTR_VXI_LA (0x3FFF00D5UL)
-#define VI_ATTR_MANF_ID (0x3FFF00D9UL)
-#define VI_ATTR_MEM_SIZE_32 (0x3FFF00DDUL)
-#define VI_ATTR_MEM_SPACE (0x3FFF00DEUL)
-#define VI_ATTR_MODEL_CODE (0x3FFF00DFUL)
-#define VI_ATTR_SLOT (0x3FFF00E8UL)
-#define VI_ATTR_INTF_INST_NAME (0xBFFF00E9UL)
-#define VI_ATTR_IMMEDIATE_SERV (0x3FFF0100UL)
-#define VI_ATTR_INTF_PARENT_NUM (0x3FFF0101UL)
-#define VI_ATTR_RSRC_SPEC_VERSION (0x3FFF0170UL)
-#define VI_ATTR_INTF_TYPE (0x3FFF0171UL)
-#define VI_ATTR_GPIB_PRIMARY_ADDR (0x3FFF0172UL)
-#define VI_ATTR_GPIB_SECONDARY_ADDR (0x3FFF0173UL)
-#define VI_ATTR_RSRC_MANF_NAME (0xBFFF0174UL)
-#define VI_ATTR_RSRC_MANF_ID (0x3FFF0175UL)
-#define VI_ATTR_INTF_NUM (0x3FFF0176UL)
-#define VI_ATTR_TRIG_ID (0x3FFF0177UL)
-#define VI_ATTR_GPIB_REN_STATE (0x3FFF0181UL)
-#define VI_ATTR_GPIB_UNADDR_EN (0x3FFF0184UL)
-#define VI_ATTR_DEV_STATUS_BYTE (0x3FFF0189UL)
-#define VI_ATTR_FILE_APPEND_EN (0x3FFF0192UL)
-#define VI_ATTR_VXI_TRIG_SUPPORT (0x3FFF0194UL)
-#define VI_ATTR_TCPIP_ADDR (0xBFFF0195UL)
-#define VI_ATTR_TCPIP_HOSTNAME (0xBFFF0196UL)
-#define VI_ATTR_TCPIP_PORT (0x3FFF0197UL)
-#define VI_ATTR_TCPIP_DEVICE_NAME (0xBFFF0199UL)
-#define VI_ATTR_TCPIP_NODELAY (0x3FFF019AUL)
-#define VI_ATTR_TCPIP_KEEPALIVE (0x3FFF019BUL)
-#define VI_ATTR_4882_COMPLIANT (0x3FFF019FUL)
-#define VI_ATTR_USB_SERIAL_NUM (0xBFFF01A0UL)
-#define VI_ATTR_USB_INTFC_NUM (0x3FFF01A1UL)
-#define VI_ATTR_USB_PROTOCOL (0x3FFF01A7UL)
-#define VI_ATTR_USB_MAX_INTR_SIZE (0x3FFF01AFUL)
-#define VI_ATTR_PXI_DEV_NUM (0x3FFF0201UL)
-#define VI_ATTR_PXI_FUNC_NUM (0x3FFF0202UL)
-#define VI_ATTR_PXI_BUS_NUM (0x3FFF0205UL)
-#define VI_ATTR_PXI_CHASSIS (0x3FFF0206UL)
-#define VI_ATTR_PXI_SLOTPATH (0xBFFF0207UL)
-#define VI_ATTR_PXI_SLOT_LBUS_LEFT (0x3FFF0208UL)
-#define VI_ATTR_PXI_SLOT_LBUS_RIGHT (0x3FFF0209UL)
-#define VI_ATTR_PXI_TRIG_BUS (0x3FFF020AUL)
-#define VI_ATTR_PXI_STAR_TRIG_BUS (0x3FFF020BUL)
-#define VI_ATTR_PXI_STAR_TRIG_LINE (0x3FFF020CUL)
-#define VI_ATTR_PXI_MEM_TYPE_BAR0 (0x3FFF0211UL)
-#define VI_ATTR_PXI_MEM_TYPE_BAR1 (0x3FFF0212UL)
-#define VI_ATTR_PXI_MEM_TYPE_BAR2 (0x3FFF0213UL)
-#define VI_ATTR_PXI_MEM_TYPE_BAR3 (0x3FFF0214UL)
-#define VI_ATTR_PXI_MEM_TYPE_BAR4 (0x3FFF0215UL)
-#define VI_ATTR_PXI_MEM_TYPE_BAR5 (0x3FFF0216UL)
-#define VI_ATTR_PXI_MEM_BASE_BAR0 (0x3FFF0221UL)
-#define VI_ATTR_PXI_MEM_BASE_BAR1 (0x3FFF0222UL)
-#define VI_ATTR_PXI_MEM_BASE_BAR2 (0x3FFF0223UL)
-#define VI_ATTR_PXI_MEM_BASE_BAR3 (0x3FFF0224UL)
-#define VI_ATTR_PXI_MEM_BASE_BAR4 (0x3FFF0225UL)
-#define VI_ATTR_PXI_MEM_BASE_BAR5 (0x3FFF0226UL)
-#define VI_ATTR_PXI_MEM_SIZE_BAR0 (0x3FFF0231UL)
-#define VI_ATTR_PXI_MEM_SIZE_BAR1 (0x3FFF0232UL)
-#define VI_ATTR_PXI_MEM_SIZE_BAR2 (0x3FFF0233UL)
-#define VI_ATTR_PXI_MEM_SIZE_BAR3 (0x3FFF0234UL)
-#define VI_ATTR_PXI_MEM_SIZE_BAR4 (0x3FFF0235UL)
-#define VI_ATTR_PXI_MEM_SIZE_BAR5 (0x3FFF0236UL)
-#define VI_ATTR_PXI_IS_EXPRESS (0x3FFF0240UL)
-#define VI_ATTR_PXI_SLOT_LWIDTH (0x3FFF0241UL)
-#define VI_ATTR_PXI_MAX_LWIDTH (0x3FFF0242UL)
-#define VI_ATTR_PXI_ACTUAL_LWIDTH (0x3FFF0243UL)
-#define VI_ATTR_PXI_DSTAR_BUS (0x3FFF0244UL)
-#define VI_ATTR_PXI_DSTAR_SET (0x3FFF0245UL)
-
-#define VI_ATTR_JOB_ID (0x3FFF4006UL)
-#define VI_ATTR_EVENT_TYPE (0x3FFF4010UL)
-#define VI_ATTR_SIGP_STATUS_ID (0x3FFF4011UL)
-#define VI_ATTR_RECV_TRIG_ID (0x3FFF4012UL)
-#define VI_ATTR_INTR_STATUS_ID (0x3FFF4023UL)
-#define VI_ATTR_STATUS (0x3FFF4025UL)
-#define VI_ATTR_RET_COUNT_32 (0x3FFF4026UL)
-#define VI_ATTR_BUFFER (0x3FFF4027UL)
-#define VI_ATTR_RECV_INTR_LEVEL (0x3FFF4041UL)
-#define VI_ATTR_OPER_NAME (0xBFFF4042UL)
-#define VI_ATTR_GPIB_RECV_CIC_STATE (0x3FFF4193UL)
-#define VI_ATTR_RECV_TCPIP_ADDR (0xBFFF4198UL)
-#define VI_ATTR_USB_RECV_INTR_SIZE (0x3FFF41B0UL)
-#define VI_ATTR_USB_RECV_INTR_DATA (0xBFFF41B1UL)
-
-/*- Attributes (platform dependent size) ------------------------------------*/
-
-#if defined(_VI_INT64_UINT64_DEFINED) && defined(_VISA_ENV_IS_64_BIT)
-#define VI_ATTR_USER_DATA_64 (0x3FFF000AUL)
-#define VI_ATTR_RET_COUNT_64 (0x3FFF4028UL)
-#define VI_ATTR_USER_DATA (VI_ATTR_USER_DATA_64)
-#define VI_ATTR_RET_COUNT (VI_ATTR_RET_COUNT_64)
-#else
-#define VI_ATTR_USER_DATA (VI_ATTR_USER_DATA_32)
-#define VI_ATTR_RET_COUNT (VI_ATTR_RET_COUNT_32)
-#endif
-
-#if defined(_VI_INT64_UINT64_DEFINED)
-#define VI_ATTR_WIN_BASE_ADDR_64 (0x3FFF009BUL)
-#define VI_ATTR_WIN_SIZE_64 (0x3FFF009CUL)
-#define VI_ATTR_MEM_BASE_64 (0x3FFF00D0UL)
-#define VI_ATTR_MEM_SIZE_64 (0x3FFF00D1UL)
-#endif
-#if defined(_VI_INT64_UINT64_DEFINED) && defined(_VISA_ENV_IS_64_BIT)
-#define VI_ATTR_WIN_BASE_ADDR (VI_ATTR_WIN_BASE_ADDR_64)
-#define VI_ATTR_WIN_SIZE (VI_ATTR_WIN_SIZE_64)
-#define VI_ATTR_MEM_BASE (VI_ATTR_MEM_BASE_64)
-#define VI_ATTR_MEM_SIZE (VI_ATTR_MEM_SIZE_64)
-#else
-#define VI_ATTR_WIN_BASE_ADDR (VI_ATTR_WIN_BASE_ADDR_32)
-#define VI_ATTR_WIN_SIZE (VI_ATTR_WIN_SIZE_32)
-#define VI_ATTR_MEM_BASE (VI_ATTR_MEM_BASE_32)
-#define VI_ATTR_MEM_SIZE (VI_ATTR_MEM_SIZE_32)
-#endif
-
-/*- Event Types -------------------------------------------------------------*/
-
-#define VI_EVENT_IO_COMPLETION (0x3FFF2009UL)
-#define VI_EVENT_TRIG (0xBFFF200AUL)
-#define VI_EVENT_SERVICE_REQ (0x3FFF200BUL)
-#define VI_EVENT_CLEAR (0x3FFF200DUL)
-#define VI_EVENT_EXCEPTION (0xBFFF200EUL)
-#define VI_EVENT_GPIB_CIC (0x3FFF2012UL)
-#define VI_EVENT_GPIB_TALK (0x3FFF2013UL)
-#define VI_EVENT_GPIB_LISTEN (0x3FFF2014UL)
-#define VI_EVENT_VXI_VME_SYSFAIL (0x3FFF201DUL)
-#define VI_EVENT_VXI_VME_SYSRESET (0x3FFF201EUL)
-#define VI_EVENT_VXI_SIGP (0x3FFF2020UL)
-#define VI_EVENT_VXI_VME_INTR (0xBFFF2021UL)
-#define VI_EVENT_PXI_INTR (0x3FFF2022UL)
-#define VI_EVENT_TCPIP_CONNECT (0x3FFF2036UL)
-#define VI_EVENT_USB_INTR (0x3FFF2037UL)
-
-#define VI_ALL_ENABLED_EVENTS (0x3FFF7FFFUL)
-
-/*- Completion and Error Codes ----------------------------------------------*/
-
-#define VI_SUCCESS_EVENT_EN (0x3FFF0002L) /* 3FFF0002, 1073676290 */
-#define VI_SUCCESS_EVENT_DIS (0x3FFF0003L) /* 3FFF0003, 1073676291 */
-#define VI_SUCCESS_QUEUE_EMPTY (0x3FFF0004L) /* 3FFF0004, 1073676292 */
-#define VI_SUCCESS_TERM_CHAR (0x3FFF0005L) /* 3FFF0005, 1073676293 */
-#define VI_SUCCESS_MAX_CNT (0x3FFF0006L) /* 3FFF0006, 1073676294 */
-#define VI_SUCCESS_DEV_NPRESENT (0x3FFF007DL) /* 3FFF007D, 1073676413 */
-#define VI_SUCCESS_TRIG_MAPPED (0x3FFF007EL) /* 3FFF007E, 1073676414 */
-#define VI_SUCCESS_QUEUE_NEMPTY (0x3FFF0080L) /* 3FFF0080, 1073676416 */
-#define VI_SUCCESS_NCHAIN (0x3FFF0098L) /* 3FFF0098, 1073676440 */
-#define VI_SUCCESS_NESTED_SHARED (0x3FFF0099L) /* 3FFF0099, 1073676441 */
-#define VI_SUCCESS_NESTED_EXCLUSIVE (0x3FFF009AL) /* 3FFF009A, 1073676442 */
-#define VI_SUCCESS_SYNC (0x3FFF009BL) /* 3FFF009B, 1073676443 */
-
-#define VI_WARN_QUEUE_OVERFLOW (0x3FFF000CL) /* 3FFF000C, 1073676300 */
-#define VI_WARN_CONFIG_NLOADED (0x3FFF0077L) /* 3FFF0077, 1073676407 */
-#define VI_WARN_NULL_OBJECT (0x3FFF0082L) /* 3FFF0082, 1073676418 */
-#define VI_WARN_NSUP_ATTR_STATE (0x3FFF0084L) /* 3FFF0084, 1073676420 */
-#define VI_WARN_UNKNOWN_STATUS (0x3FFF0085L) /* 3FFF0085, 1073676421 */
-#define VI_WARN_NSUP_BUF (0x3FFF0088L) /* 3FFF0088, 1073676424 */
-#define VI_WARN_EXT_FUNC_NIMPL (0x3FFF00A9L) /* 3FFF00A9, 1073676457 */
-
-#define VI_ERROR_SYSTEM_ERROR (_VI_ERROR+0x3FFF0000L) /* BFFF0000, -1073807360 */
-#define VI_ERROR_INV_OBJECT (_VI_ERROR+0x3FFF000EL) /* BFFF000E, -1073807346 */
-#define VI_ERROR_RSRC_LOCKED (_VI_ERROR+0x3FFF000FL) /* BFFF000F, -1073807345 */
-#define VI_ERROR_INV_EXPR (_VI_ERROR+0x3FFF0010L) /* BFFF0010, -1073807344 */
-#define VI_ERROR_RSRC_NFOUND (_VI_ERROR+0x3FFF0011L) /* BFFF0011, -1073807343 */
-#define VI_ERROR_INV_RSRC_NAME (_VI_ERROR+0x3FFF0012L) /* BFFF0012, -1073807342 */
-#define VI_ERROR_INV_ACC_MODE (_VI_ERROR+0x3FFF0013L) /* BFFF0013, -1073807341 */
-#define VI_ERROR_TMO (_VI_ERROR+0x3FFF0015L) /* BFFF0015, -1073807339 */
-#define VI_ERROR_CLOSING_FAILED (_VI_ERROR+0x3FFF0016L) /* BFFF0016, -1073807338 */
-#define VI_ERROR_INV_DEGREE (_VI_ERROR+0x3FFF001BL) /* BFFF001B, -1073807333 */
-#define VI_ERROR_INV_JOB_ID (_VI_ERROR+0x3FFF001CL) /* BFFF001C, -1073807332 */
-#define VI_ERROR_NSUP_ATTR (_VI_ERROR+0x3FFF001DL) /* BFFF001D, -1073807331 */
-#define VI_ERROR_NSUP_ATTR_STATE (_VI_ERROR+0x3FFF001EL) /* BFFF001E, -1073807330 */
-#define VI_ERROR_ATTR_READONLY (_VI_ERROR+0x3FFF001FL) /* BFFF001F, -1073807329 */
-#define VI_ERROR_INV_LOCK_TYPE (_VI_ERROR+0x3FFF0020L) /* BFFF0020, -1073807328 */
-#define VI_ERROR_INV_ACCESS_KEY (_VI_ERROR+0x3FFF0021L) /* BFFF0021, -1073807327 */
-#define VI_ERROR_INV_EVENT (_VI_ERROR+0x3FFF0026L) /* BFFF0026, -1073807322 */
-#define VI_ERROR_INV_MECH (_VI_ERROR+0x3FFF0027L) /* BFFF0027, -1073807321 */
-#define VI_ERROR_HNDLR_NINSTALLED (_VI_ERROR+0x3FFF0028L) /* BFFF0028, -1073807320 */
-#define VI_ERROR_INV_HNDLR_REF (_VI_ERROR+0x3FFF0029L) /* BFFF0029, -1073807319 */
-#define VI_ERROR_INV_CONTEXT (_VI_ERROR+0x3FFF002AL) /* BFFF002A, -1073807318 */
-#define VI_ERROR_QUEUE_OVERFLOW (_VI_ERROR+0x3FFF002DL) /* BFFF002D, -1073807315 */
-#define VI_ERROR_NENABLED (_VI_ERROR+0x3FFF002FL) /* BFFF002F, -1073807313 */
-#define VI_ERROR_ABORT (_VI_ERROR+0x3FFF0030L) /* BFFF0030, -1073807312 */
-#define VI_ERROR_RAW_WR_PROT_VIOL (_VI_ERROR+0x3FFF0034L) /* BFFF0034, -1073807308 */
-#define VI_ERROR_RAW_RD_PROT_VIOL (_VI_ERROR+0x3FFF0035L) /* BFFF0035, -1073807307 */
-#define VI_ERROR_OUTP_PROT_VIOL (_VI_ERROR+0x3FFF0036L) /* BFFF0036, -1073807306 */
-#define VI_ERROR_INP_PROT_VIOL (_VI_ERROR+0x3FFF0037L) /* BFFF0037, -1073807305 */
-#define VI_ERROR_BERR (_VI_ERROR+0x3FFF0038L) /* BFFF0038, -1073807304 */
-#define VI_ERROR_IN_PROGRESS (_VI_ERROR+0x3FFF0039L) /* BFFF0039, -1073807303 */
-#define VI_ERROR_INV_SETUP (_VI_ERROR+0x3FFF003AL) /* BFFF003A, -1073807302 */
-#define VI_ERROR_QUEUE_ERROR (_VI_ERROR+0x3FFF003BL) /* BFFF003B, -1073807301 */
-#define VI_ERROR_ALLOC (_VI_ERROR+0x3FFF003CL) /* BFFF003C, -1073807300 */
-#define VI_ERROR_INV_MASK (_VI_ERROR+0x3FFF003DL) /* BFFF003D, -1073807299 */
-#define VI_ERROR_IO (_VI_ERROR+0x3FFF003EL) /* BFFF003E, -1073807298 */
-#define VI_ERROR_INV_FMT (_VI_ERROR+0x3FFF003FL) /* BFFF003F, -1073807297 */
-#define VI_ERROR_NSUP_FMT (_VI_ERROR+0x3FFF0041L) /* BFFF0041, -1073807295 */
-#define VI_ERROR_LINE_IN_USE (_VI_ERROR+0x3FFF0042L) /* BFFF0042, -1073807294 */
-#define VI_ERROR_NSUP_MODE (_VI_ERROR+0x3FFF0046L) /* BFFF0046, -1073807290 */
-#define VI_ERROR_SRQ_NOCCURRED (_VI_ERROR+0x3FFF004AL) /* BFFF004A, -1073807286 */
-#define VI_ERROR_INV_SPACE (_VI_ERROR+0x3FFF004EL) /* BFFF004E, -1073807282 */
-#define VI_ERROR_INV_OFFSET (_VI_ERROR+0x3FFF0051L) /* BFFF0051, -1073807279 */
-#define VI_ERROR_INV_WIDTH (_VI_ERROR+0x3FFF0052L) /* BFFF0052, -1073807278 */
-#define VI_ERROR_NSUP_OFFSET (_VI_ERROR+0x3FFF0054L) /* BFFF0054, -1073807276 */
-#define VI_ERROR_NSUP_VAR_WIDTH (_VI_ERROR+0x3FFF0055L) /* BFFF0055, -1073807275 */
-#define VI_ERROR_WINDOW_NMAPPED (_VI_ERROR+0x3FFF0057L) /* BFFF0057, -1073807273 */
-#define VI_ERROR_RESP_PENDING (_VI_ERROR+0x3FFF0059L) /* BFFF0059, -1073807271 */
-#define VI_ERROR_NLISTENERS (_VI_ERROR+0x3FFF005FL) /* BFFF005F, -1073807265 */
-#define VI_ERROR_NCIC (_VI_ERROR+0x3FFF0060L) /* BFFF0060, -1073807264 */
-#define VI_ERROR_NSYS_CNTLR (_VI_ERROR+0x3FFF0061L) /* BFFF0061, -1073807263 */
-#define VI_ERROR_NSUP_OPER (_VI_ERROR+0x3FFF0067L) /* BFFF0067, -1073807257 */
-#define VI_ERROR_INTR_PENDING (_VI_ERROR+0x3FFF0068L) /* BFFF0068, -1073807256 */
-#define VI_ERROR_ASRL_PARITY (_VI_ERROR+0x3FFF006AL) /* BFFF006A, -1073807254 */
-#define VI_ERROR_ASRL_FRAMING (_VI_ERROR+0x3FFF006BL) /* BFFF006B, -1073807253 */
-#define VI_ERROR_ASRL_OVERRUN (_VI_ERROR+0x3FFF006CL) /* BFFF006C, -1073807252 */
-#define VI_ERROR_TRIG_NMAPPED (_VI_ERROR+0x3FFF006EL) /* BFFF006E, -1073807250 */
-#define VI_ERROR_NSUP_ALIGN_OFFSET (_VI_ERROR+0x3FFF0070L) /* BFFF0070, -1073807248 */
-#define VI_ERROR_USER_BUF (_VI_ERROR+0x3FFF0071L) /* BFFF0071, -1073807247 */
-#define VI_ERROR_RSRC_BUSY (_VI_ERROR+0x3FFF0072L) /* BFFF0072, -1073807246 */
-#define VI_ERROR_NSUP_WIDTH (_VI_ERROR+0x3FFF0076L) /* BFFF0076, -1073807242 */
-#define VI_ERROR_INV_PARAMETER (_VI_ERROR+0x3FFF0078L) /* BFFF0078, -1073807240 */
-#define VI_ERROR_INV_PROT (_VI_ERROR+0x3FFF0079L) /* BFFF0079, -1073807239 */
-#define VI_ERROR_INV_SIZE (_VI_ERROR+0x3FFF007BL) /* BFFF007B, -1073807237 */
-#define VI_ERROR_WINDOW_MAPPED (_VI_ERROR+0x3FFF0080L) /* BFFF0080, -1073807232 */
-#define VI_ERROR_NIMPL_OPER (_VI_ERROR+0x3FFF0081L) /* BFFF0081, -1073807231 */
-#define VI_ERROR_INV_LENGTH (_VI_ERROR+0x3FFF0083L) /* BFFF0083, -1073807229 */
-#define VI_ERROR_INV_MODE (_VI_ERROR+0x3FFF0091L) /* BFFF0091, -1073807215 */
-#define VI_ERROR_SESN_NLOCKED (_VI_ERROR+0x3FFF009CL) /* BFFF009C, -1073807204 */
-#define VI_ERROR_MEM_NSHARED (_VI_ERROR+0x3FFF009DL) /* BFFF009D, -1073807203 */
-#define VI_ERROR_LIBRARY_NFOUND (_VI_ERROR+0x3FFF009EL) /* BFFF009E, -1073807202 */
-#define VI_ERROR_NSUP_INTR (_VI_ERROR+0x3FFF009FL) /* BFFF009F, -1073807201 */
-#define VI_ERROR_INV_LINE (_VI_ERROR+0x3FFF00A0L) /* BFFF00A0, -1073807200 */
-#define VI_ERROR_FILE_ACCESS (_VI_ERROR+0x3FFF00A1L) /* BFFF00A1, -1073807199 */
-#define VI_ERROR_FILE_IO (_VI_ERROR+0x3FFF00A2L) /* BFFF00A2, -1073807198 */
-#define VI_ERROR_NSUP_LINE (_VI_ERROR+0x3FFF00A3L) /* BFFF00A3, -1073807197 */
-#define VI_ERROR_NSUP_MECH (_VI_ERROR+0x3FFF00A4L) /* BFFF00A4, -1073807196 */
-#define VI_ERROR_INTF_NUM_NCONFIG (_VI_ERROR+0x3FFF00A5L) /* BFFF00A5, -1073807195 */
-#define VI_ERROR_CONN_LOST (_VI_ERROR+0x3FFF00A6L) /* BFFF00A6, -1073807194 */
-#define VI_ERROR_MACHINE_NAVAIL (_VI_ERROR+0x3FFF00A7L) /* BFFF00A7, -1073807193 */
-#define VI_ERROR_NPERMISSION (_VI_ERROR+0x3FFF00A8L) /* BFFF00A8, -1073807192 */
-
-/*- Other VISA Definitions --------------------------------------------------*/
-
-#define VI_VERSION_MAJOR(ver) ((((ViVersion)ver) & 0xFFF00000UL) >> 20)
-#define VI_VERSION_MINOR(ver) ((((ViVersion)ver) & 0x000FFF00UL) >> 8)
-#define VI_VERSION_SUBMINOR(ver) ((((ViVersion)ver) & 0x000000FFUL) )
-
-#define VI_FIND_BUFLEN (256)
-
-#define VI_INTF_GPIB (1)
-#define VI_INTF_VXI (2)
-#define VI_INTF_GPIB_VXI (3)
-#define VI_INTF_ASRL (4)
-#define VI_INTF_PXI (5)
-#define VI_INTF_TCPIP (6)
-#define VI_INTF_USB (7)
-
-#define VI_PROT_NORMAL (1)
-#define VI_PROT_FDC (2)
-#define VI_PROT_HS488 (3)
-#define VI_PROT_4882_STRS (4)
-#define VI_PROT_USBTMC_VENDOR (5)
-
-#define VI_FDC_NORMAL (1)
-#define VI_FDC_STREAM (2)
-
-#define VI_LOCAL_SPACE (0)
-#define VI_A16_SPACE (1)
-#define VI_A24_SPACE (2)
-#define VI_A32_SPACE (3)
-#define VI_A64_SPACE (4)
-#define VI_PXI_ALLOC_SPACE (9)
-#define VI_PXI_CFG_SPACE (10)
-#define VI_PXI_BAR0_SPACE (11)
-#define VI_PXI_BAR1_SPACE (12)
-#define VI_PXI_BAR2_SPACE (13)
-#define VI_PXI_BAR3_SPACE (14)
-#define VI_PXI_BAR4_SPACE (15)
-#define VI_PXI_BAR5_SPACE (16)
-#define VI_OPAQUE_SPACE (0xFFFF)
-
-#define VI_UNKNOWN_LA (-1)
-#define VI_UNKNOWN_SLOT (-1)
-#define VI_UNKNOWN_LEVEL (-1)
-#define VI_UNKNOWN_CHASSIS (-1)
-
-#define VI_QUEUE (1)
-#define VI_HNDLR (2)
-#define VI_SUSPEND_HNDLR (4)
-#define VI_ALL_MECH (0xFFFF)
-
-#define VI_ANY_HNDLR (0)
-
-#define VI_TRIG_ALL (-2)
-#define VI_TRIG_SW (-1)
-#define VI_TRIG_TTL0 (0)
-#define VI_TRIG_TTL1 (1)
-#define VI_TRIG_TTL2 (2)
-#define VI_TRIG_TTL3 (3)
-#define VI_TRIG_TTL4 (4)
-#define VI_TRIG_TTL5 (5)
-#define VI_TRIG_TTL6 (6)
-#define VI_TRIG_TTL7 (7)
-#define VI_TRIG_ECL0 (8)
-#define VI_TRIG_ECL1 (9)
-#define VI_TRIG_PANEL_IN (27)
-#define VI_TRIG_PANEL_OUT (28)
-
-#define VI_TRIG_PROT_DEFAULT (0)
-#define VI_TRIG_PROT_ON (1)
-#define VI_TRIG_PROT_OFF (2)
-#define VI_TRIG_PROT_SYNC (5)
-#define VI_TRIG_PROT_RESERVE (6)
-#define VI_TRIG_PROT_UNRESERVE (7)
-
-#define VI_READ_BUF (1)
-#define VI_WRITE_BUF (2)
-#define VI_READ_BUF_DISCARD (4)
-#define VI_WRITE_BUF_DISCARD (8)
-#define VI_IO_IN_BUF (16)
-#define VI_IO_OUT_BUF (32)
-#define VI_IO_IN_BUF_DISCARD (64)
-#define VI_IO_OUT_BUF_DISCARD (128)
-
-#define VI_FLUSH_ON_ACCESS (1)
-#define VI_FLUSH_WHEN_FULL (2)
-#define VI_FLUSH_DISABLE (3)
-
-#define VI_NMAPPED (1)
-#define VI_USE_OPERS (2)
-#define VI_DEREF_ADDR (3)
-#define VI_DEREF_ADDR_BYTE_SWAP (4)
-
-#define VI_TMO_IMMEDIATE (0L)
-#define VI_TMO_INFINITE (0xFFFFFFFFUL)
-
-#define VI_NO_LOCK (0)
-#define VI_EXCLUSIVE_LOCK (1)
-#define VI_SHARED_LOCK (2)
-#define VI_LOAD_CONFIG (4)
-
-#define VI_NO_SEC_ADDR (0xFFFF)
-
-#define VI_ASRL_PAR_NONE (0)
-#define VI_ASRL_PAR_ODD (1)
-#define VI_ASRL_PAR_EVEN (2)
-#define VI_ASRL_PAR_MARK (3)
-#define VI_ASRL_PAR_SPACE (4)
-
-#define VI_ASRL_STOP_ONE (10)
-#define VI_ASRL_STOP_ONE5 (15)
-#define VI_ASRL_STOP_TWO (20)
-
-#define VI_ASRL_FLOW_NONE (0)
-#define VI_ASRL_FLOW_XON_XOFF (1)
-#define VI_ASRL_FLOW_RTS_CTS (2)
-#define VI_ASRL_FLOW_DTR_DSR (4)
-
-#define VI_ASRL_END_NONE (0)
-#define VI_ASRL_END_LAST_BIT (1)
-#define VI_ASRL_END_TERMCHAR (2)
-#define VI_ASRL_END_BREAK (3)
-
-#define VI_STATE_ASSERTED (1)
-#define VI_STATE_UNASSERTED (0)
-#define VI_STATE_UNKNOWN (-1)
-
-#define VI_BIG_ENDIAN (0)
-#define VI_LITTLE_ENDIAN (1)
-
-#define VI_DATA_PRIV (0)
-#define VI_DATA_NPRIV (1)
-#define VI_PROG_PRIV (2)
-#define VI_PROG_NPRIV (3)
-#define VI_BLCK_PRIV (4)
-#define VI_BLCK_NPRIV (5)
-#define VI_D64_PRIV (6)
-#define VI_D64_NPRIV (7)
-
-#define VI_WIDTH_8 (1)
-#define VI_WIDTH_16 (2)
-#define VI_WIDTH_32 (4)
-#define VI_WIDTH_64 (8)
-
-#define VI_GPIB_REN_DEASSERT (0)
-#define VI_GPIB_REN_ASSERT (1)
-#define VI_GPIB_REN_DEASSERT_GTL (2)
-#define VI_GPIB_REN_ASSERT_ADDRESS (3)
-#define VI_GPIB_REN_ASSERT_LLO (4)
-#define VI_GPIB_REN_ASSERT_ADDRESS_LLO (5)
-#define VI_GPIB_REN_ADDRESS_GTL (6)
-
-#define VI_GPIB_ATN_DEASSERT (0)
-#define VI_GPIB_ATN_ASSERT (1)
-#define VI_GPIB_ATN_DEASSERT_HANDSHAKE (2)
-#define VI_GPIB_ATN_ASSERT_IMMEDIATE (3)
-
-#define VI_GPIB_HS488_DISABLED (0)
-#define VI_GPIB_HS488_NIMPL (-1)
-
-#define VI_GPIB_UNADDRESSED (0)
-#define VI_GPIB_TALKER (1)
-#define VI_GPIB_LISTENER (2)
-
-#define VI_VXI_CMD16 (0x0200)
-#define VI_VXI_CMD16_RESP16 (0x0202)
-#define VI_VXI_RESP16 (0x0002)
-#define VI_VXI_CMD32 (0x0400)
-#define VI_VXI_CMD32_RESP16 (0x0402)
-#define VI_VXI_CMD32_RESP32 (0x0404)
-#define VI_VXI_RESP32 (0x0004)
-
-#define VI_ASSERT_SIGNAL (-1)
-#define VI_ASSERT_USE_ASSIGNED (0)
-#define VI_ASSERT_IRQ1 (1)
-#define VI_ASSERT_IRQ2 (2)
-#define VI_ASSERT_IRQ3 (3)
-#define VI_ASSERT_IRQ4 (4)
-#define VI_ASSERT_IRQ5 (5)
-#define VI_ASSERT_IRQ6 (6)
-#define VI_ASSERT_IRQ7 (7)
-
-#define VI_UTIL_ASSERT_SYSRESET (1)
-#define VI_UTIL_ASSERT_SYSFAIL (2)
-#define VI_UTIL_DEASSERT_SYSFAIL (3)
-
-#define VI_VXI_CLASS_MEMORY (0)
-#define VI_VXI_CLASS_EXTENDED (1)
-#define VI_VXI_CLASS_MESSAGE (2)
-#define VI_VXI_CLASS_REGISTER (3)
-#define VI_VXI_CLASS_OTHER (4)
-
-#define VI_PXI_ADDR_NONE (0)
-#define VI_PXI_ADDR_MEM (1)
-#define VI_PXI_ADDR_IO (2)
-#define VI_PXI_ADDR_CFG (3)
-
-#define VI_TRIG_UNKNOWN (-1)
-
-#define VI_PXI_LBUS_UNKNOWN (-1)
-#define VI_PXI_LBUS_NONE (0)
-#define VI_PXI_LBUS_STAR_TRIG_BUS_0 (1000)
-#define VI_PXI_LBUS_STAR_TRIG_BUS_1 (1001)
-#define VI_PXI_LBUS_STAR_TRIG_BUS_2 (1002)
-#define VI_PXI_LBUS_STAR_TRIG_BUS_3 (1003)
-#define VI_PXI_LBUS_STAR_TRIG_BUS_4 (1004)
-#define VI_PXI_LBUS_STAR_TRIG_BUS_5 (1005)
-#define VI_PXI_LBUS_STAR_TRIG_BUS_6 (1006)
-#define VI_PXI_LBUS_STAR_TRIG_BUS_7 (1007)
-#define VI_PXI_LBUS_STAR_TRIG_BUS_8 (1008)
-#define VI_PXI_LBUS_STAR_TRIG_BUS_9 (1009)
-#define VI_PXI_STAR_TRIG_CONTROLLER (1413)
-
-/*- Backward Compatibility Macros -------------------------------------------*/
-
-#define viGetDefaultRM(vi) viOpenDefaultRM(vi)
-#define VI_ERROR_INV_SESSION (VI_ERROR_INV_OBJECT)
-#define VI_INFINITE (VI_TMO_INFINITE)
-#define VI_NORMAL (VI_PROT_NORMAL)
-#define VI_FDC (VI_PROT_FDC)
-#define VI_HS488 (VI_PROT_HS488)
-#define VI_ASRL488 (VI_PROT_4882_STRS)
-#define VI_ASRL_IN_BUF (VI_IO_IN_BUF)
-#define VI_ASRL_OUT_BUF (VI_IO_OUT_BUF)
-#define VI_ASRL_IN_BUF_DISCARD (VI_IO_IN_BUF_DISCARD)
-#define VI_ASRL_OUT_BUF_DISCARD (VI_IO_OUT_BUF_DISCARD)
-
-/*- National Instruments ----------------------------------------------------*/
-
-#define VI_INTF_RIO (8)
-#define VI_INTF_FIREWIRE (9)
-
-#define VI_ATTR_SYNC_MXI_ALLOW_EN (0x3FFF0161UL) /* ViBoolean, read/write */
-
-/* This is for VXI SERVANT resources */
-
-#define VI_EVENT_VXI_DEV_CMD (0xBFFF200FUL)
-#define VI_ATTR_VXI_DEV_CMD_TYPE (0x3FFF4037UL) /* ViInt16, read-only */
-#define VI_ATTR_VXI_DEV_CMD_VALUE (0x3FFF4038UL) /* ViUInt32, read-only */
-
-#define VI_VXI_DEV_CMD_TYPE_16 (16)
-#define VI_VXI_DEV_CMD_TYPE_32 (32)
-
-ViStatus _VI_FUNC viVxiServantResponse(ViSession vi, ViInt16 mode, ViUInt32 resp);
-/* mode values include VI_VXI_RESP16, VI_VXI_RESP32, and the next 2 values */
-#define VI_VXI_RESP_NONE (0)
-#define VI_VXI_RESP_PROT_ERROR (-1)
-
-/* This allows extended Serial support on Win32 and on NI ENET Serial products */
-
-#define VI_ATTR_ASRL_DISCARD_NULL (0x3FFF00B0UL)
-#define VI_ATTR_ASRL_CONNECTED (0x3FFF01BBUL)
-#define VI_ATTR_ASRL_BREAK_STATE (0x3FFF01BCUL)
-#define VI_ATTR_ASRL_BREAK_LEN (0x3FFF01BDUL)
-#define VI_ATTR_ASRL_ALLOW_TRANSMIT (0x3FFF01BEUL)
-#define VI_ATTR_ASRL_WIRE_MODE (0x3FFF01BFUL)
-
-#define VI_ASRL_WIRE_485_4 (0)
-#define VI_ASRL_WIRE_485_2_DTR_ECHO (1)
-#define VI_ASRL_WIRE_485_2_DTR_CTRL (2)
-#define VI_ASRL_WIRE_485_2_AUTO (3)
-#define VI_ASRL_WIRE_232_DTE (128)
-#define VI_ASRL_WIRE_232_DCE (129)
-#define VI_ASRL_WIRE_232_AUTO (130)
-
-#define VI_EVENT_ASRL_BREAK (0x3FFF2023UL)
-#define VI_EVENT_ASRL_CTS (0x3FFF2029UL)
-#define VI_EVENT_ASRL_DSR (0x3FFF202AUL)
-#define VI_EVENT_ASRL_DCD (0x3FFF202CUL)
-#define VI_EVENT_ASRL_RI (0x3FFF202EUL)
-#define VI_EVENT_ASRL_CHAR (0x3FFF2035UL)
-#define VI_EVENT_ASRL_TERMCHAR (0x3FFF2024UL)
-
-/* This is for fast viPeek/viPoke macros */
-
-#if defined(NIVISA_PEEKPOKE)
-
-#if defined(NIVISA_PEEKPOKE_SUPP)
-#undef NIVISA_PEEKPOKE_SUPP
-#endif
-
-#if (defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__)) && !defined(_NI_mswin16_)
-/* This macro is supported for all Win32 compilers, including CVI. */
-#define NIVISA_PEEKPOKE_SUPP
-#elif (defined(_WINDOWS) || defined(_Windows)) && !defined(_CVI_) && !defined(_NI_mswin16_)
-/* This macro is supported for Borland and Microsoft compilers on Win16, but not CVI. */
-#define NIVISA_PEEKPOKE_SUPP
-#elif defined(_CVI_) && defined(_NI_sparc_)
-/* This macro is supported for Solaris 1 and 2, from CVI only. */
-#define NIVISA_PEEKPOKE_SUPP
-#else
-/* This macro is not supported on other platforms. */
-#endif
-
-#if defined(NIVISA_PEEKPOKE_SUPP)
-
-extern ViBoolean NI_viImplVISA1;
-ViStatus _VI_FUNC NI_viOpenDefaultRM (ViPSession vi);
-#define viOpenDefaultRM(vi) NI_viOpenDefaultRM(vi)
-
-#define viPeek8(vi,addr,val) \
- { \
- if ((NI_viImplVISA1) && (*((ViPUInt32)(vi)))) \
- { \
- do (*((ViPUInt8)(val)) = *((volatile ViUInt8 _VI_PTR)(addr))); \
- while (**((volatile ViUInt8 _VI_PTR _VI_PTR)(vi)) & 0x10); \
- } \
- else \
- { \
- (viPeek8)((vi),(addr),(val)); \
- } \
- }
-
-#define viPoke8(vi,addr,val) \
- { \
- if ((NI_viImplVISA1) && (*((ViPUInt32)(vi)))) \
- { \
- do (*((volatile ViUInt8 _VI_PTR)(addr)) = ((ViUInt8)(val))); \
- while (**((volatile ViUInt8 _VI_PTR _VI_PTR)(vi)) & 0x10); \
- } \
- else \
- { \
- (viPoke8)((vi),(addr),(val)); \
- } \
- }
-
-#define viPeek16(vi,addr,val) \
- { \
- if ((NI_viImplVISA1) && (*((ViPUInt32)(vi)))) \
- { \
- do (*((ViPUInt16)(val)) = *((volatile ViUInt16 _VI_PTR)(addr))); \
- while (**((volatile ViUInt8 _VI_PTR _VI_PTR)(vi)) & 0x10); \
- } \
- else \
- { \
- (viPeek16)((vi),(addr),(val)); \
- } \
- }
-
-#define viPoke16(vi,addr,val) \
- { \
- if ((NI_viImplVISA1) && (*((ViPUInt32)(vi)))) \
- { \
- do (*((volatile ViUInt16 _VI_PTR)(addr)) = ((ViUInt16)(val))); \
- while (**((volatile ViUInt8 _VI_PTR _VI_PTR)(vi)) & 0x10); \
- } \
- else \
- { \
- (viPoke16)((vi),(addr),(val)); \
- } \
- }
-
-#define viPeek32(vi,addr,val) \
- { \
- if ((NI_viImplVISA1) && (*((ViPUInt32)(vi)))) \
- { \
- do (*((ViPUInt32)(val)) = *((volatile ViUInt32 _VI_PTR)(addr))); \
- while (**((volatile ViUInt8 _VI_PTR _VI_PTR)(vi)) & 0x10); \
- } \
- else \
- { \
- (viPeek32)((vi),(addr),(val)); \
- } \
- }
-
-#define viPoke32(vi,addr,val) \
- { \
- if ((NI_viImplVISA1) && (*((ViPUInt32)(vi)))) \
- { \
- do (*((volatile ViUInt32 _VI_PTR)(addr)) = ((ViUInt32)(val))); \
- while (**((volatile ViUInt8 _VI_PTR _VI_PTR)(vi)) & 0x10); \
- } \
- else \
- { \
- (viPoke32)((vi),(addr),(val)); \
- } \
- }
-
-#endif
-
-#endif
-
-#if defined(NIVISA_PXI) || defined(PXISAVISA_PXI)
-
-#if 0
-/* The following 2 attributes were incorrectly implemented in earlier
- versions of NI-VISA. You should now query VI_ATTR_MANF_ID or
- VI_ATTR_MODEL_CODE. Those attributes contain sub-vendor information
- when it exists. To get both the actual primary and subvendor codes
- from the device, you should call viIn16 using VI_PXI_CFG_SPACE. */
-#define VI_ATTR_PXI_SUB_MANF_ID (0x3FFF0203UL)
-#define VI_ATTR_PXI_SUB_MODEL_CODE (0x3FFF0204UL)
-#endif
-
-#define VI_ATTR_PXI_SRC_TRIG_BUS (0x3FFF020DUL)
-#define VI_ATTR_PXI_DEST_TRIG_BUS (0x3FFF020EUL)
-
-#define VI_ATTR_PXI_RECV_INTR_SEQ (0x3FFF4240UL)
-#define VI_ATTR_PXI_RECV_INTR_DATA (0x3FFF4241UL)
-
-#endif
-
-#if defined(NIVISA_USB)
-
-#define VI_ATTR_USB_BULK_OUT_PIPE (0x3FFF01A2UL)
-#define VI_ATTR_USB_BULK_IN_PIPE (0x3FFF01A3UL)
-#define VI_ATTR_USB_INTR_IN_PIPE (0x3FFF01A4UL)
-#define VI_ATTR_USB_CLASS (0x3FFF01A5UL)
-#define VI_ATTR_USB_SUBCLASS (0x3FFF01A6UL)
-#define VI_ATTR_USB_ALT_SETTING (0x3FFF01A8UL)
-#define VI_ATTR_USB_END_IN (0x3FFF01A9UL)
-#define VI_ATTR_USB_NUM_INTFCS (0x3FFF01AAUL)
-#define VI_ATTR_USB_NUM_PIPES (0x3FFF01ABUL)
-#define VI_ATTR_USB_BULK_OUT_STATUS (0x3FFF01ACUL)
-#define VI_ATTR_USB_BULK_IN_STATUS (0x3FFF01ADUL)
-#define VI_ATTR_USB_INTR_IN_STATUS (0x3FFF01AEUL)
-#define VI_ATTR_USB_CTRL_PIPE (0x3FFF01B0UL)
-
-#define VI_USB_PIPE_STATE_UNKNOWN (-1)
-#define VI_USB_PIPE_READY (0)
-#define VI_USB_PIPE_STALLED (1)
-
-#define VI_USB_END_NONE (0)
-#define VI_USB_END_SHORT (4)
-#define VI_USB_END_SHORT_OR_COUNT (5)
-
-#endif
-
-#define VI_ATTR_FIREWIRE_DEST_UPPER_OFFSET (0x3FFF01F0UL)
-#define VI_ATTR_FIREWIRE_SRC_UPPER_OFFSET (0x3FFF01F1UL)
-#define VI_ATTR_FIREWIRE_WIN_UPPER_OFFSET (0x3FFF01F2UL)
-#define VI_ATTR_FIREWIRE_VENDOR_ID (0x3FFF01F3UL)
-#define VI_ATTR_FIREWIRE_LOWER_CHIP_ID (0x3FFF01F4UL)
-#define VI_ATTR_FIREWIRE_UPPER_CHIP_ID (0x3FFF01F5UL)
-
-#define VI_FIREWIRE_DFLT_SPACE (5)
-
-#if defined(__cplusplus) || defined(__cplusplus__)
- }
-#endif
-
-#endif
-
-/*- The End -----------------------------------------------------------------*/
diff --git a/third_party/allwpilib_2019/hal/src/main/native/athena/visa/visatype.h b/third_party/allwpilib_2019/hal/src/main/native/athena/visa/visatype.h
deleted file mode 100644
index ef089dd..0000000
--- a/third_party/allwpilib_2019/hal/src/main/native/athena/visa/visatype.h
+++ /dev/null
@@ -1,201 +0,0 @@
-/*---------------------------------------------------------------------------*/
-/* Distributed by IVI Foundation Inc. */
-/* */
-/* Do not modify the contents of this file. */
-/*---------------------------------------------------------------------------*/
-/* */
-/* Title : VISATYPE.H */
-/* Date : 04-14-2006 */
-/* Purpose : Fundamental VISA data types and macro definitions */
-/* */
-/*---------------------------------------------------------------------------*/
-
-#ifndef __VISATYPE_HEADER__
-#define __VISATYPE_HEADER__
-
-#if defined(_WIN64)
-#define _VI_FAR
-#define _VI_FUNC __fastcall
-#define _VI_FUNCC __fastcall
-#define _VI_FUNCH __fastcall
-#define _VI_SIGNED signed
-#elif (defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__)) && !defined(_NI_mswin16_)
-#define _VI_FAR
-#define _VI_FUNC __stdcall
-#define _VI_FUNCC __cdecl
-#define _VI_FUNCH __stdcall
-#define _VI_SIGNED signed
-#elif defined(_CVI_) && defined(_NI_i386_)
-#define _VI_FAR
-#define _VI_FUNC _pascal
-#define _VI_FUNCC
-#define _VI_FUNCH _pascal
-#define _VI_SIGNED signed
-#elif (defined(_WINDOWS) || defined(_Windows)) && !defined(_NI_mswin16_)
-#define _VI_FAR _far
-#define _VI_FUNC _far _pascal _export
-#define _VI_FUNCC _far _cdecl _export
-#define _VI_FUNCH _far _pascal
-#define _VI_SIGNED signed
-#elif (defined(hpux) || defined(__hpux)) && (defined(__cplusplus) || defined(__cplusplus__))
-#define _VI_FAR
-#define _VI_FUNC
-#define _VI_FUNCC
-#define _VI_FUNCH
-#define _VI_SIGNED
-#else
-#define _VI_FAR
-#define _VI_FUNC
-#define _VI_FUNCC
-#define _VI_FUNCH
-#define _VI_SIGNED signed
-#endif
-
-#define _VI_ERROR (-2147483647L-1) /* 0x80000000 */
-#define _VI_PTR _VI_FAR *
-
-/*- VISA Types --------------------------------------------------------------*/
-
-#ifndef _VI_INT64_UINT64_DEFINED
-#if defined(_WIN64) || ((defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__)) && !defined(_NI_mswin16_))
-#if (defined(_MSC_VER) && (_MSC_VER >= 1200)) || (defined(_CVI_) && (_CVI_ >= 700)) || (defined(__BORLANDC__) && (__BORLANDC__ >= 0x0520))
-typedef unsigned __int64 ViUInt64;
-typedef _VI_SIGNED __int64 ViInt64;
-#define _VI_INT64_UINT64_DEFINED
-#if defined(_WIN64)
-#define _VISA_ENV_IS_64_BIT
-#else
-/* This is a 32-bit OS, not a 64-bit OS */
-#endif
-#endif
-#elif defined(__GNUC__) && (__GNUC__ >= 3)
-#include <limits.h>
-#include <sys/types.h>
-typedef u_int64_t ViUInt64;
-typedef int64_t ViInt64;
-#define _VI_INT64_UINT64_DEFINED
-#if defined(LONG_MAX) && (LONG_MAX > 0x7FFFFFFFL)
-#define _VISA_ENV_IS_64_BIT
-#else
-/* This is a 32-bit OS, not a 64-bit OS */
-#endif
-#else
-/* This platform does not support 64-bit types */
-#endif
-#endif
-
-#if defined(_VI_INT64_UINT64_DEFINED)
-typedef ViUInt64 _VI_PTR ViPUInt64;
-typedef ViUInt64 _VI_PTR ViAUInt64;
-typedef ViInt64 _VI_PTR ViPInt64;
-typedef ViInt64 _VI_PTR ViAInt64;
-#endif
-
-#if defined(LONG_MAX) && (LONG_MAX > 0x7FFFFFFFL)
-typedef unsigned int ViUInt32;
-typedef _VI_SIGNED int ViInt32;
-#else
-typedef unsigned long ViUInt32;
-typedef _VI_SIGNED long ViInt32;
-#endif
-
-typedef ViUInt32 _VI_PTR ViPUInt32;
-typedef ViUInt32 _VI_PTR ViAUInt32;
-typedef ViInt32 _VI_PTR ViPInt32;
-typedef ViInt32 _VI_PTR ViAInt32;
-
-typedef unsigned short ViUInt16;
-typedef ViUInt16 _VI_PTR ViPUInt16;
-typedef ViUInt16 _VI_PTR ViAUInt16;
-
-typedef _VI_SIGNED short ViInt16;
-typedef ViInt16 _VI_PTR ViPInt16;
-typedef ViInt16 _VI_PTR ViAInt16;
-
-typedef unsigned char ViUInt8;
-typedef ViUInt8 _VI_PTR ViPUInt8;
-typedef ViUInt8 _VI_PTR ViAUInt8;
-
-typedef _VI_SIGNED char ViInt8;
-typedef ViInt8 _VI_PTR ViPInt8;
-typedef ViInt8 _VI_PTR ViAInt8;
-
-typedef char ViChar;
-typedef ViChar _VI_PTR ViPChar;
-typedef ViChar _VI_PTR ViAChar;
-
-typedef unsigned char ViByte;
-typedef ViByte _VI_PTR ViPByte;
-typedef ViByte _VI_PTR ViAByte;
-
-typedef void _VI_PTR ViAddr;
-typedef ViAddr _VI_PTR ViPAddr;
-typedef ViAddr _VI_PTR ViAAddr;
-
-typedef float ViReal32;
-typedef ViReal32 _VI_PTR ViPReal32;
-typedef ViReal32 _VI_PTR ViAReal32;
-
-typedef double ViReal64;
-typedef ViReal64 _VI_PTR ViPReal64;
-typedef ViReal64 _VI_PTR ViAReal64;
-
-typedef ViPByte ViBuf;
-typedef ViPByte ViPBuf;
-typedef ViPByte _VI_PTR ViABuf;
-
-typedef ViPChar ViString;
-typedef ViPChar ViPString;
-typedef ViPChar _VI_PTR ViAString;
-
-typedef ViString ViRsrc;
-typedef ViString ViPRsrc;
-typedef ViString _VI_PTR ViARsrc;
-
-typedef ViUInt16 ViBoolean;
-typedef ViBoolean _VI_PTR ViPBoolean;
-typedef ViBoolean _VI_PTR ViABoolean;
-
-typedef ViInt32 ViStatus;
-typedef ViStatus _VI_PTR ViPStatus;
-typedef ViStatus _VI_PTR ViAStatus;
-
-typedef ViUInt32 ViVersion;
-typedef ViVersion _VI_PTR ViPVersion;
-typedef ViVersion _VI_PTR ViAVersion;
-
-typedef ViUInt32 ViObject;
-typedef ViObject _VI_PTR ViPObject;
-typedef ViObject _VI_PTR ViAObject;
-
-typedef ViObject ViSession;
-typedef ViSession _VI_PTR ViPSession;
-typedef ViSession _VI_PTR ViASession;
-
-typedef ViUInt32 ViAttr;
-
-#ifndef _VI_CONST_STRING_DEFINED
-typedef const ViChar * ViConstString;
-#define _VI_CONST_STRING_DEFINED
-#endif
-
-/*- Completion and Error Codes ----------------------------------------------*/
-
-#define VI_SUCCESS (0L)
-
-/*- Other VISA Definitions --------------------------------------------------*/
-
-#define VI_NULL (0)
-
-#define VI_TRUE (1)
-#define VI_FALSE (0)
-
-/*- Backward Compatibility Macros -------------------------------------------*/
-
-#define VISAFN _VI_FUNC
-#define ViPtr _VI_PTR
-
-#endif
-
-/*- The End -----------------------------------------------------------------*/
-
diff --git a/third_party/allwpilib_2019/hal/src/main/native/cpp/Main.cpp b/third_party/allwpilib_2019/hal/src/main/native/cpp/Main.cpp
new file mode 100644
index 0000000..a37c2b0
--- /dev/null
+++ b/third_party/allwpilib_2019/hal/src/main/native/cpp/Main.cpp
@@ -0,0 +1,64 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "hal/Main.h"
+
+#include <wpi/condition_variable.h>
+#include <wpi/mutex.h>
+
+static void DefaultMain(void*);
+static void DefaultExit(void*);
+
+static bool gHasMain = false;
+static void* gMainParam = nullptr;
+static void (*gMainFunc)(void*) = DefaultMain;
+static void (*gExitFunc)(void*) = DefaultExit;
+static bool gExited = false;
+struct MainObj {
+ wpi::mutex gExitMutex;
+ wpi::condition_variable gExitCv;
+};
+
+static MainObj* mainObj;
+
+static void DefaultMain(void*) {
+ std::unique_lock lock{mainObj->gExitMutex};
+ mainObj->gExitCv.wait(lock, [] { return gExited; });
+}
+
+static void DefaultExit(void*) {
+ std::lock_guard lock{mainObj->gExitMutex};
+ gExited = true;
+ mainObj->gExitCv.notify_all();
+}
+
+namespace hal {
+namespace init {
+void InitializeMain() {
+ static MainObj mO;
+ mainObj = &mO;
+}
+} // namespace init
+} // namespace hal
+
+extern "C" {
+
+void HAL_SetMain(void* param, void (*mainFunc)(void*),
+ void (*exitFunc)(void*)) {
+ gHasMain = true;
+ gMainParam = param;
+ gMainFunc = mainFunc;
+ gExitFunc = exitFunc;
+}
+
+HAL_Bool HAL_HasMain(void) { return gHasMain; }
+
+void HAL_RunMain(void) { gMainFunc(gMainParam); }
+
+void HAL_ExitMain(void) { gExitFunc(gMainParam); }
+
+} // extern "C"
diff --git a/third_party/allwpilib_2019/hal/src/main/native/cpp/cpp/fpga_clock.cpp b/third_party/allwpilib_2019/hal/src/main/native/cpp/cpp/fpga_clock.cpp
index 751eae1..bcec155 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/cpp/cpp/fpga_clock.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/cpp/cpp/fpga_clock.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -21,8 +21,9 @@
uint64_t currentTime = HAL_GetFPGATime(&status);
if (status != 0) {
wpi::errs()
- << "Call to HAL_GetFPGATime failed."
- << "Initialization might have failed. Time will not be correct\n";
+ << "Call to HAL_GetFPGATime failed in fpga_clock::now() with status "
+ << status
+ << ". Initialization might have failed. Time will not be correct\n";
wpi::errs().flush();
return epoch();
}
diff --git a/third_party/allwpilib_2019/hal/src/main/native/cpp/handles/HandlesInternal.cpp b/third_party/allwpilib_2019/hal/src/main/native/cpp/handles/HandlesInternal.cpp
index 45ffb31..5e66ce1 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/cpp/handles/HandlesInternal.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/cpp/handles/HandlesInternal.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -17,7 +17,7 @@
static wpi::mutex globalHandleMutex;
HandleBase::HandleBase() {
static wpi::SmallVector<HandleBase*, 32> gH;
- std::lock_guard<wpi::mutex> lock(globalHandleMutex);
+ std::scoped_lock lock(globalHandleMutex);
if (!globalHandles) {
globalHandles = &gH;
}
@@ -30,7 +30,7 @@
}
}
HandleBase::~HandleBase() {
- std::lock_guard<wpi::mutex> lock(globalHandleMutex);
+ std::scoped_lock lock(globalHandleMutex);
auto index = std::find(globalHandles->begin(), globalHandles->end(), this);
if (index != globalHandles->end()) {
*index = nullptr;
@@ -43,7 +43,7 @@
}
}
void HandleBase::ResetGlobalHandles() {
- std::unique_lock<wpi::mutex> lock(globalHandleMutex);
+ std::unique_lock lock(globalHandleMutex);
for (auto&& i : *globalHandles) {
if (i != nullptr) {
lock.unlock();
diff --git a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/AnalogGyroJNI.cpp b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/AnalogGyroJNI.cpp
index 74c1b49..35b7414 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/AnalogGyroJNI.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/AnalogGyroJNI.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,20 +12,10 @@
#include "HALUtil.h"
#include "edu_wpi_first_hal_AnalogGyroJNI.h"
#include "hal/AnalogGyro.h"
-#include "hal/cpp/Log.h"
#include "hal/handles/HandlesInternal.h"
using namespace frc;
-// set the logging level
-TLogLevel analogGyroJNILogLevel = logWARNING;
-
-#define ANALOGGYROJNI_LOG(level) \
- if (level > analogGyroJNILogLevel) \
- ; \
- else \
- Log().Get(level)
-
extern "C" {
/*
* Class: edu_wpi_first_hal_AnalogGyroJNI
@@ -36,14 +26,9 @@
Java_edu_wpi_first_hal_AnalogGyroJNI_initializeAnalogGyro
(JNIEnv* env, jclass, jint id)
{
- ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI initializeAnalogGyro";
- ANALOGGYROJNI_LOG(logDEBUG)
- << "Analog Input Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
HAL_GyroHandle handle =
HAL_InitializeAnalogGyro((HAL_AnalogInputHandle)id, &status);
- ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
- ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << handle;
// Analog input does range checking, so we don't need to do so.
CheckStatusForceThrow(env, status);
return (jint)handle;
@@ -58,11 +43,8 @@
Java_edu_wpi_first_hal_AnalogGyroJNI_setupAnalogGyro
(JNIEnv* env, jclass, jint id)
{
- ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI setupAnalogGyro";
- ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
int32_t status = 0;
HAL_SetupAnalogGyro((HAL_GyroHandle)id, &status);
- ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -75,8 +57,6 @@
Java_edu_wpi_first_hal_AnalogGyroJNI_freeAnalogGyro
(JNIEnv* env, jclass, jint id)
{
- ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI freeAnalogGyro";
- ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
HAL_FreeAnalogGyro((HAL_GyroHandle)id);
}
@@ -89,13 +69,9 @@
Java_edu_wpi_first_hal_AnalogGyroJNI_setAnalogGyroParameters
(JNIEnv* env, jclass, jint id, jdouble vPDPS, jdouble offset, jint center)
{
- ANALOGGYROJNI_LOG(logDEBUG)
- << "Calling ANALOGGYROJNI setAnalogGyroParameters";
- ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
int32_t status = 0;
HAL_SetAnalogGyroParameters((HAL_GyroHandle)id, vPDPS, offset, center,
&status);
- ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -108,13 +84,8 @@
Java_edu_wpi_first_hal_AnalogGyroJNI_setAnalogGyroVoltsPerDegreePerSecond
(JNIEnv* env, jclass, jint id, jdouble vPDPS)
{
- ANALOGGYROJNI_LOG(logDEBUG)
- << "Calling ANALOGGYROJNI setAnalogGyroVoltsPerDegreePerSecond";
- ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
- ANALOGGYROJNI_LOG(logDEBUG) << "vPDPS = " << vPDPS;
int32_t status = 0;
HAL_SetAnalogGyroVoltsPerDegreePerSecond((HAL_GyroHandle)id, vPDPS, &status);
- ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -127,11 +98,8 @@
Java_edu_wpi_first_hal_AnalogGyroJNI_resetAnalogGyro
(JNIEnv* env, jclass, jint id)
{
- ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI resetAnalogGyro";
- ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
int32_t status = 0;
HAL_ResetAnalogGyro((HAL_GyroHandle)id, &status);
- ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -144,11 +112,8 @@
Java_edu_wpi_first_hal_AnalogGyroJNI_calibrateAnalogGyro
(JNIEnv* env, jclass, jint id)
{
- ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI calibrateAnalogGyro";
- ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
int32_t status = 0;
HAL_CalibrateAnalogGyro((HAL_GyroHandle)id, &status);
- ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -161,11 +126,8 @@
Java_edu_wpi_first_hal_AnalogGyroJNI_setAnalogGyroDeadband
(JNIEnv* env, jclass, jint id, jdouble deadband)
{
- ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI setAnalogGyroDeadband";
- ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
int32_t status = 0;
HAL_SetAnalogGyroDeadband((HAL_GyroHandle)id, deadband, &status);
- ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -178,12 +140,8 @@
Java_edu_wpi_first_hal_AnalogGyroJNI_getAnalogGyroAngle
(JNIEnv* env, jclass, jint id)
{
- ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI getAnalogGyroAngle";
- ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
int32_t status = 0;
jdouble value = HAL_GetAnalogGyroAngle((HAL_GyroHandle)id, &status);
- ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
- ANALOGGYROJNI_LOG(logDEBUG) << "Result = " << value;
CheckStatus(env, status);
return value;
}
@@ -197,12 +155,8 @@
Java_edu_wpi_first_hal_AnalogGyroJNI_getAnalogGyroRate
(JNIEnv* env, jclass, jint id)
{
- ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI getAnalogGyroRate";
- ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
int32_t status = 0;
jdouble value = HAL_GetAnalogGyroRate((HAL_GyroHandle)id, &status);
- ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
- ANALOGGYROJNI_LOG(logDEBUG) << "Result = " << value;
CheckStatus(env, status);
return value;
}
@@ -216,12 +170,8 @@
Java_edu_wpi_first_hal_AnalogGyroJNI_getAnalogGyroOffset
(JNIEnv* env, jclass, jint id)
{
- ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI getAnalogGyroOffset";
- ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
int32_t status = 0;
jdouble value = HAL_GetAnalogGyroOffset((HAL_GyroHandle)id, &status);
- ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
- ANALOGGYROJNI_LOG(logDEBUG) << "Result = " << value;
CheckStatus(env, status);
return value;
}
@@ -235,12 +185,8 @@
Java_edu_wpi_first_hal_AnalogGyroJNI_getAnalogGyroCenter
(JNIEnv* env, jclass, jint id)
{
- ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI getAnalogGyroCenter";
- ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
int32_t status = 0;
jint value = HAL_GetAnalogGyroCenter((HAL_GyroHandle)id, &status);
- ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
- ANALOGGYROJNI_LOG(logDEBUG) << "Result = " << value;
CheckStatus(env, status);
return value;
}
diff --git a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/AnalogJNI.cpp b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/AnalogJNI.cpp
index 3b2aa2d..abd614f 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/AnalogJNI.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/AnalogJNI.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -16,20 +16,10 @@
#include "hal/AnalogOutput.h"
#include "hal/AnalogTrigger.h"
#include "hal/Ports.h"
-#include "hal/cpp/Log.h"
#include "hal/handles/HandlesInternal.h"
using namespace frc;
-// set the logging level
-TLogLevel analogJNILogLevel = logWARNING;
-
-#define ANALOGJNI_LOG(level) \
- if (level > analogJNILogLevel) \
- ; \
- else \
- Log().Get(level)
-
extern "C" {
/*
@@ -41,11 +31,8 @@
Java_edu_wpi_first_hal_AnalogJNI_initializeAnalogInputPort
(JNIEnv* env, jclass, jint id)
{
- ANALOGJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_PortHandle)id;
int32_t status = 0;
auto analog = HAL_InitializeAnalogInputPort((HAL_PortHandle)id, &status);
- ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
- ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << analog;
CheckStatusRange(env, status, 0, HAL_GetNumAnalogInputs(),
hal::getPortHandleChannel((HAL_PortHandle)id));
return (jint)analog;
@@ -60,7 +47,6 @@
Java_edu_wpi_first_hal_AnalogJNI_freeAnalogInputPort
(JNIEnv* env, jclass, jint id)
{
- ANALOGJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_AnalogInputHandle)id;
HAL_FreeAnalogInputPort((HAL_AnalogInputHandle)id);
}
@@ -73,12 +59,9 @@
Java_edu_wpi_first_hal_AnalogJNI_initializeAnalogOutputPort
(JNIEnv* env, jclass, jint id)
{
- ANALOGJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_PortHandle)id;
int32_t status = 0;
HAL_AnalogOutputHandle analog =
HAL_InitializeAnalogOutputPort((HAL_PortHandle)id, &status);
- ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
- ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << analog;
CheckStatusRange(env, status, 0, HAL_GetNumAnalogOutputs(),
hal::getPortHandleChannel((HAL_PortHandle)id));
return (jlong)analog;
@@ -93,7 +76,6 @@
Java_edu_wpi_first_hal_AnalogJNI_freeAnalogOutputPort
(JNIEnv* env, jclass, jint id)
{
- ANALOGJNI_LOG(logDEBUG) << "Port Handle = " << id;
HAL_FreeAnalogOutputPort((HAL_AnalogOutputHandle)id);
}
@@ -106,10 +88,7 @@
Java_edu_wpi_first_hal_AnalogJNI_checkAnalogModule
(JNIEnv*, jclass, jbyte value)
{
- // ANALOGJNI_LOG(logDEBUG) << "Module = " << (jint)value;
jboolean returnValue = HAL_CheckAnalogModule(value);
- // ANALOGJNI_LOG(logDEBUG) << "checkAnalogModuleResult = " <<
- // (jint)returnValue;
return returnValue;
}
@@ -122,10 +101,7 @@
Java_edu_wpi_first_hal_AnalogJNI_checkAnalogInputChannel
(JNIEnv*, jclass, jint value)
{
- // ANALOGJNI_LOG(logDEBUG) << "Channel = " << value;
jboolean returnValue = HAL_CheckAnalogInputChannel(value);
- // ANALOGJNI_LOG(logDEBUG) << "checkAnalogChannelResult = " <<
- // (jint)returnValue;
return returnValue;
}
@@ -138,15 +114,25 @@
Java_edu_wpi_first_hal_AnalogJNI_checkAnalogOutputChannel
(JNIEnv*, jclass, jint value)
{
- // ANALOGJNI_LOG(logDEBUG) << "Channel = " << value;
jboolean returnValue = HAL_CheckAnalogOutputChannel(value);
- // ANALOGJNI_LOG(logDEBUG) << "checkAnalogChannelResult = " <<
- // (jint)returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_hal_AnalogJNI
+ * Method: setAnalogInputSimDevice
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_AnalogJNI_setAnalogInputSimDevice
+ (JNIEnv* env, jclass, jint handle, jint device)
+{
+ HAL_SetAnalogInputSimDevice((HAL_AnalogInputHandle)handle,
+ (HAL_SimDeviceHandle)device);
+}
+
+/*
+ * Class: edu_wpi_first_hal_AnalogJNI
* Method: setAnalogOutput
* Signature: (ID)V
*/
@@ -154,9 +140,6 @@
Java_edu_wpi_first_hal_AnalogJNI_setAnalogOutput
(JNIEnv* env, jclass, jint id, jdouble voltage)
{
- ANALOGJNI_LOG(logDEBUG) << "Calling setAnalogOutput";
- ANALOGJNI_LOG(logDEBUG) << "Voltage = " << voltage;
- ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << id;
int32_t status = 0;
HAL_SetAnalogOutput((HAL_AnalogOutputHandle)id, voltage, &status);
CheckStatus(env, status);
@@ -186,10 +169,8 @@
Java_edu_wpi_first_hal_AnalogJNI_setAnalogSampleRate
(JNIEnv* env, jclass, jdouble value)
{
- ANALOGJNI_LOG(logDEBUG) << "SampleRate = " << value;
int32_t status = 0;
HAL_SetAnalogSampleRate(value, &status);
- ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -204,8 +185,6 @@
{
int32_t status = 0;
double returnValue = HAL_GetAnalogSampleRate(&status);
- ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
- ANALOGJNI_LOG(logDEBUG) << "SampleRate = " << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -219,11 +198,8 @@
Java_edu_wpi_first_hal_AnalogJNI_setAnalogAverageBits
(JNIEnv* env, jclass, jint id, jint value)
{
- ANALOGJNI_LOG(logDEBUG) << "AverageBits = " << value;
- ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
HAL_SetAnalogAverageBits((HAL_AnalogInputHandle)id, value, &status);
- ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -236,12 +212,9 @@
Java_edu_wpi_first_hal_AnalogJNI_getAnalogAverageBits
(JNIEnv* env, jclass, jint id)
{
- ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
jint returnValue =
HAL_GetAnalogAverageBits((HAL_AnalogInputHandle)id, &status);
- ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
- ANALOGJNI_LOG(logDEBUG) << "AverageBits = " << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -255,11 +228,8 @@
Java_edu_wpi_first_hal_AnalogJNI_setAnalogOversampleBits
(JNIEnv* env, jclass, jint id, jint value)
{
- ANALOGJNI_LOG(logDEBUG) << "OversampleBits = " << value;
- ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
HAL_SetAnalogOversampleBits((HAL_AnalogInputHandle)id, value, &status);
- ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -272,12 +242,9 @@
Java_edu_wpi_first_hal_AnalogJNI_getAnalogOversampleBits
(JNIEnv* env, jclass, jint id)
{
- ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
jint returnValue =
HAL_GetAnalogOversampleBits((HAL_AnalogInputHandle)id, &status);
- ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
- ANALOGJNI_LOG(logDEBUG) << "OversampleBits = " << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -291,11 +258,8 @@
Java_edu_wpi_first_hal_AnalogJNI_getAnalogValue
(JNIEnv* env, jclass, jint id)
{
- // ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (void*)id;
int32_t status = 0;
jshort returnValue = HAL_GetAnalogValue((HAL_AnalogInputHandle)id, &status);
- // ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
- // ANALOGJNI_LOG(logDEBUG) << "Value = " << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -309,12 +273,9 @@
Java_edu_wpi_first_hal_AnalogJNI_getAnalogAverageValue
(JNIEnv* env, jclass, jint id)
{
- ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
jint returnValue =
HAL_GetAnalogAverageValue((HAL_AnalogInputHandle)id, &status);
- ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
- ANALOGJNI_LOG(logDEBUG) << "AverageValue = " << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -328,13 +289,9 @@
Java_edu_wpi_first_hal_AnalogJNI_getAnalogVoltsToValue
(JNIEnv* env, jclass, jint id, jdouble voltageValue)
{
- ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
- ANALOGJNI_LOG(logDEBUG) << "VoltageValue = " << voltageValue;
int32_t status = 0;
jint returnValue = HAL_GetAnalogVoltsToValue((HAL_AnalogInputHandle)id,
voltageValue, &status);
- ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
- ANALOGJNI_LOG(logDEBUG) << "Value = " << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -348,12 +305,9 @@
Java_edu_wpi_first_hal_AnalogJNI_getAnalogVoltage
(JNIEnv* env, jclass, jint id)
{
- // ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (void*)id;
int32_t status = 0;
jdouble returnValue =
HAL_GetAnalogVoltage((HAL_AnalogInputHandle)id, &status);
- // ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
- // ANALOGJNI_LOG(logDEBUG) << "Voltage = " << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -367,12 +321,9 @@
Java_edu_wpi_first_hal_AnalogJNI_getAnalogAverageVoltage
(JNIEnv* env, jclass, jint id)
{
- ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
jdouble returnValue =
HAL_GetAnalogAverageVoltage((HAL_AnalogInputHandle)id, &status);
- ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
- ANALOGJNI_LOG(logDEBUG) << "AverageVoltage = " << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -386,12 +337,9 @@
Java_edu_wpi_first_hal_AnalogJNI_getAnalogLSBWeight
(JNIEnv* env, jclass, jint id)
{
- ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
jint returnValue = HAL_GetAnalogLSBWeight((HAL_AnalogInputHandle)id, &status);
- ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
- ANALOGJNI_LOG(logDEBUG) << "AnalogLSBWeight = " << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -405,12 +353,9 @@
Java_edu_wpi_first_hal_AnalogJNI_getAnalogOffset
(JNIEnv* env, jclass, jint id)
{
- ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
jint returnValue = HAL_GetAnalogOffset((HAL_AnalogInputHandle)id, &status);
- ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
- ANALOGJNI_LOG(logDEBUG) << "AnalogOffset = " << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -424,14 +369,10 @@
Java_edu_wpi_first_hal_AnalogJNI_isAccumulatorChannel
(JNIEnv* env, jclass, jint id)
{
- ANALOGJNI_LOG(logDEBUG) << "isAccumulatorChannel";
- ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
jboolean returnValue =
HAL_IsAccumulatorChannel((HAL_AnalogInputHandle)id, &status);
- ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
- ANALOGJNI_LOG(logDEBUG) << "AnalogOffset = " << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -445,10 +386,8 @@
Java_edu_wpi_first_hal_AnalogJNI_initAccumulator
(JNIEnv* env, jclass, jint id)
{
- ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
HAL_InitAccumulator((HAL_AnalogInputHandle)id, &status);
- ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -461,10 +400,8 @@
Java_edu_wpi_first_hal_AnalogJNI_resetAccumulator
(JNIEnv* env, jclass, jint id)
{
- ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
HAL_ResetAccumulator((HAL_AnalogInputHandle)id, &status);
- ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -477,10 +414,8 @@
Java_edu_wpi_first_hal_AnalogJNI_setAccumulatorCenter
(JNIEnv* env, jclass, jint id, jint center)
{
- ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
HAL_SetAccumulatorCenter((HAL_AnalogInputHandle)id, center, &status);
- ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -493,10 +428,8 @@
Java_edu_wpi_first_hal_AnalogJNI_setAccumulatorDeadband
(JNIEnv* env, jclass, jint id, jint deadband)
{
- ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
HAL_SetAccumulatorDeadband((HAL_AnalogInputHandle)id, deadband, &status);
- ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -509,12 +442,9 @@
Java_edu_wpi_first_hal_AnalogJNI_getAccumulatorValue
(JNIEnv* env, jclass, jint id)
{
- ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
jlong returnValue =
HAL_GetAccumulatorValue((HAL_AnalogInputHandle)id, &status);
- ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
- ANALOGJNI_LOG(logDEBUG) << "AccumulatorValue = " << returnValue;
CheckStatus(env, status);
return returnValue;
@@ -529,12 +459,9 @@
Java_edu_wpi_first_hal_AnalogJNI_getAccumulatorCount
(JNIEnv* env, jclass, jint id)
{
- ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
jint returnValue =
HAL_GetAccumulatorCount((HAL_AnalogInputHandle)id, &status);
- ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
- ANALOGJNI_LOG(logDEBUG) << "AccumulatorCount = " << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -548,15 +475,11 @@
Java_edu_wpi_first_hal_AnalogJNI_getAccumulatorOutput
(JNIEnv* env, jclass, jint id, jobject accumulatorResult)
{
- ANALOGJNI_LOG(logDEBUG) << "Analog Handle = " << (HAL_AnalogInputHandle)id;
int32_t status = 0;
int64_t value = 0;
int64_t count = 0;
HAL_GetAccumulatorOutput((HAL_AnalogInputHandle)id, &value, &count, &status);
SetAccumulatorResultObject(env, accumulatorResult, value, count);
- ANALOGJNI_LOG(logDEBUG) << "Value = " << value;
- ANALOGJNI_LOG(logDEBUG) << "Count = " << count;
- ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -569,16 +492,12 @@
Java_edu_wpi_first_hal_AnalogJNI_initializeAnalogTrigger
(JNIEnv* env, jclass, jint id, jobject index)
{
- ANALOGJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_AnalogInputHandle)id;
jint* indexHandle =
reinterpret_cast<jint*>(env->GetDirectBufferAddress(index));
- ANALOGJNI_LOG(logDEBUG) << "Index Ptr = " << indexHandle;
int32_t status = 0;
HAL_AnalogTriggerHandle analogTrigger = HAL_InitializeAnalogTrigger(
(HAL_AnalogInputHandle)id, reinterpret_cast<int32_t*>(indexHandle),
&status);
- ANALOGJNI_LOG(logDEBUG) << "Status = " << status;
- ANALOGJNI_LOG(logDEBUG) << "AnalogTrigger Handle = " << analogTrigger;
CheckStatus(env, status);
return (jint)analogTrigger;
}
@@ -592,8 +511,6 @@
Java_edu_wpi_first_hal_AnalogJNI_cleanAnalogTrigger
(JNIEnv* env, jclass, jint id)
{
- ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = "
- << (HAL_AnalogTriggerHandle)id;
int32_t status = 0;
HAL_CleanAnalogTrigger((HAL_AnalogTriggerHandle)id, &status);
CheckStatus(env, status);
@@ -608,8 +525,6 @@
Java_edu_wpi_first_hal_AnalogJNI_setAnalogTriggerLimitsRaw
(JNIEnv* env, jclass, jint id, jint lower, jint upper)
{
- ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = "
- << (HAL_AnalogTriggerHandle)id;
int32_t status = 0;
HAL_SetAnalogTriggerLimitsRaw((HAL_AnalogTriggerHandle)id, lower, upper,
&status);
@@ -625,8 +540,6 @@
Java_edu_wpi_first_hal_AnalogJNI_setAnalogTriggerLimitsVoltage
(JNIEnv* env, jclass, jint id, jdouble lower, jdouble upper)
{
- ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = "
- << (HAL_AnalogTriggerHandle)id;
int32_t status = 0;
HAL_SetAnalogTriggerLimitsVoltage((HAL_AnalogTriggerHandle)id, lower, upper,
&status);
@@ -642,8 +555,6 @@
Java_edu_wpi_first_hal_AnalogJNI_setAnalogTriggerAveraged
(JNIEnv* env, jclass, jint id, jboolean averaged)
{
- ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = "
- << (HAL_AnalogTriggerHandle)id;
int32_t status = 0;
HAL_SetAnalogTriggerAveraged((HAL_AnalogTriggerHandle)id, averaged, &status);
CheckStatus(env, status);
@@ -658,8 +569,6 @@
Java_edu_wpi_first_hal_AnalogJNI_setAnalogTriggerFiltered
(JNIEnv* env, jclass, jint id, jboolean filtered)
{
- ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = "
- << (HAL_AnalogTriggerHandle)id;
int32_t status = 0;
HAL_SetAnalogTriggerFiltered((HAL_AnalogTriggerHandle)id, filtered, &status);
CheckStatus(env, status);
@@ -674,8 +583,6 @@
Java_edu_wpi_first_hal_AnalogJNI_getAnalogTriggerInWindow
(JNIEnv* env, jclass, jint id)
{
- ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = "
- << (HAL_AnalogTriggerHandle)id;
int32_t status = 0;
jboolean val =
HAL_GetAnalogTriggerInWindow((HAL_AnalogTriggerHandle)id, &status);
@@ -692,8 +599,6 @@
Java_edu_wpi_first_hal_AnalogJNI_getAnalogTriggerTriggerState
(JNIEnv* env, jclass, jint id)
{
- ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = "
- << (HAL_AnalogTriggerHandle)id;
int32_t status = 0;
jboolean val =
HAL_GetAnalogTriggerTriggerState((HAL_AnalogTriggerHandle)id, &status);
@@ -710,8 +615,6 @@
Java_edu_wpi_first_hal_AnalogJNI_getAnalogTriggerOutput
(JNIEnv* env, jclass, jint id, jint type)
{
- ANALOGJNI_LOG(logDEBUG) << "Analog Trigger Handle = "
- << (HAL_AnalogTriggerHandle)id;
int32_t status = 0;
jboolean val = HAL_GetAnalogTriggerOutput(
(HAL_AnalogTriggerHandle)id, (HAL_AnalogTriggerType)type, &status);
diff --git a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/CANAPIJNI.cpp b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/CANAPIJNI.cpp
index bcb285c..7ac7cf6 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/CANAPIJNI.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/CANAPIJNI.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -18,7 +18,6 @@
#include "hal/CAN.h"
#include "hal/CANAPI.h"
#include "hal/Errors.h"
-#include "hal/cpp/Log.h"
using namespace frc;
using namespace wpi::java;
@@ -95,6 +94,21 @@
/*
* Class: edu_wpi_first_hal_CANAPIJNI
+ * Method: writeCANRTRFrame
+ * Signature: (III)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_CANAPIJNI_writeCANRTRFrame
+ (JNIEnv* env, jclass, jint handle, jint length, jint apiId)
+{
+ auto halHandle = static_cast<HAL_CANHandle>(handle);
+ int32_t status = 0;
+ HAL_WriteCANRTRFrame(halHandle, static_cast<int32_t>(length), apiId, &status);
+ CheckStatus(env, status);
+}
+
+/*
+ * Class: edu_wpi_first_hal_CANAPIJNI
* Method: stopCANPacketRepeating
* Signature: (II)V
*/
@@ -204,38 +218,4 @@
reinterpret_cast<jbyte*>(dataTemp));
return true;
}
-
-/*
- * Class: edu_wpi_first_hal_CANAPIJNI
- * Method: readCANPeriodicPacket
- * Signature: (IIIILjava/lang/Object;)Z
- */
-JNIEXPORT jboolean JNICALL
-Java_edu_wpi_first_hal_CANAPIJNI_readCANPeriodicPacket
- (JNIEnv* env, jclass, jint handle, jint apiId, jint timeoutMs, jint periodMs,
- jobject data)
-{
- auto halHandle = static_cast<HAL_CANHandle>(handle);
- uint8_t dataTemp[8];
- int32_t dataLength = 0;
- uint64_t timestamp = 0;
- int32_t status = 0;
- HAL_ReadCANPeriodicPacket(halHandle, apiId, dataTemp, &dataLength, ×tamp,
- timeoutMs, periodMs, &status);
- if (status == HAL_CAN_TIMEOUT ||
- status == HAL_ERR_CANSessionMux_MessageNotFound) {
- return false;
- }
- if (!CheckStatus(env, status)) {
- return false;
- }
- if (dataLength > 8) dataLength = 8;
-
- jbyteArray toSetArray = SetCANDataObject(env, data, dataLength, timestamp);
- auto javaLen = env->GetArrayLength(toSetArray);
- if (javaLen < dataLength) dataLength = javaLen;
- env->SetByteArrayRegion(toSetArray, 0, dataLength,
- reinterpret_cast<jbyte*>(dataTemp));
- return true;
-}
} // extern "C"
diff --git a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/CANJNI.cpp b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/CANJNI.cpp
index 0f46d15..9278c24 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/CANJNI.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/CANJNI.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -16,21 +16,10 @@
#include "HALUtil.h"
#include "edu_wpi_first_hal_can_CANJNI.h"
#include "hal/CAN.h"
-#include "hal/cpp/Log.h"
using namespace frc;
using namespace wpi::java;
-// set the logging level
-// TLogLevel canJNILogLevel = logDEBUG;
-TLogLevel canJNILogLevel = logERROR;
-
-#define CANJNI_LOG(level) \
- if (level > canJNILogLevel) \
- ; \
- else \
- Log().Get(level)
-
extern "C" {
/*
@@ -42,37 +31,14 @@
Java_edu_wpi_first_hal_can_CANJNI_FRCNetCommCANSessionMuxSendMessage
(JNIEnv* env, jclass, jint messageID, jbyteArray data, jint periodMs)
{
- CANJNI_LOG(logDEBUG) << "Calling CANJNI FRCNetCommCANSessionMuxSendMessage";
-
JByteArrayRef dataArray{env, data};
const uint8_t* dataBuffer =
reinterpret_cast<const uint8_t*>(dataArray.array().data());
uint8_t dataSize = dataArray.array().size();
- CANJNI_LOG(logDEBUG) << "Message ID ";
- CANJNI_LOG(logDEBUG).write_hex(messageID);
-
- if (logDEBUG <= canJNILogLevel) {
- if (dataBuffer) {
- wpi::SmallString<128> buf;
- wpi::raw_svector_ostream str(buf);
- for (int32_t i = 0; i < dataSize; i++) {
- str.write_hex(dataBuffer[i]) << ' ';
- }
-
- Log().Get(logDEBUG) << "Data: " << str.str();
- } else {
- CANJNI_LOG(logDEBUG) << "Data: null";
- }
- }
-
- CANJNI_LOG(logDEBUG) << "Period: " << periodMs;
-
int32_t status = 0;
HAL_CAN_SendMessage(messageID, dataBuffer, dataSize, periodMs, &status);
-
- CANJNI_LOG(logDEBUG) << "Status: " << status;
CheckCANStatus(env, status, messageID);
}
@@ -86,9 +52,6 @@
(JNIEnv* env, jclass, jobject messageID, jint messageIDMask,
jobject timeStamp)
{
- CANJNI_LOG(logDEBUG)
- << "Calling CANJNI FRCNetCommCANSessionMuxReceiveMessage";
-
uint32_t* messageIDPtr =
reinterpret_cast<uint32_t*>(env->GetDirectBufferAddress(messageID));
uint32_t* timeStampPtr =
@@ -101,28 +64,6 @@
HAL_CAN_ReceiveMessage(messageIDPtr, messageIDMask, buffer, &dataSize,
timeStampPtr, &status);
- CANJNI_LOG(logDEBUG) << "Message ID ";
- CANJNI_LOG(logDEBUG).write_hex(*messageIDPtr);
-
- if (logDEBUG <= canJNILogLevel) {
- wpi::SmallString<128> buf;
- wpi::raw_svector_ostream str(buf);
-
- for (int32_t i = 0; i < dataSize; i++) {
- // Pad one-digit data with a zero
- if (buffer[i] <= 16) {
- str << '0';
- }
-
- str.write_hex(buffer[i]) << ' ';
- }
-
- Log().Get(logDEBUG) << "Data: " << str.str();
- }
-
- CANJNI_LOG(logDEBUG) << "Timestamp: " << *timeStampPtr;
- CANJNI_LOG(logDEBUG) << "Status: " << status;
-
if (!CheckCANStatus(env, status, *messageIDPtr)) return nullptr;
return MakeJByteArray(env,
wpi::StringRef{reinterpret_cast<const char*>(buffer),
@@ -138,8 +79,6 @@
Java_edu_wpi_first_hal_can_CANJNI_GetCANStatus
(JNIEnv* env, jclass, jobject canStatus)
{
- CANJNI_LOG(logDEBUG) << "Calling CANJNI HAL_CAN_GetCANStatus";
-
float percentBusUtilization = 0;
uint32_t busOffCount = 0;
uint32_t txFullCount = 0;
diff --git a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/CompressorJNI.cpp b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/CompressorJNI.cpp
index e38abb5..75a5e0a 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/CompressorJNI.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/CompressorJNI.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,7 +10,6 @@
#include "hal/Compressor.h"
#include "hal/Ports.h"
#include "hal/Solenoid.h"
-#include "hal/cpp/Log.h"
using namespace frc;
diff --git a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/ConstantsJNI.cpp b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/ConstantsJNI.cpp
index 3db8f5a..fb1ae0b 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/ConstantsJNI.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/ConstantsJNI.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,19 +12,9 @@
#include "HALUtil.h"
#include "edu_wpi_first_hal_ConstantsJNI.h"
#include "hal/Constants.h"
-#include "hal/cpp/Log.h"
using namespace frc;
-// set the logging level
-TLogLevel constantsJNILogLevel = logWARNING;
-
-#define CONSTANTSJNI_LOG(level) \
- if (level > constantsJNILogLevel) \
- ; \
- else \
- Log().Get(level)
-
extern "C" {
/*
* Class: edu_wpi_first_hal_ConstantsJNI
@@ -35,10 +25,7 @@
Java_edu_wpi_first_hal_ConstantsJNI_getSystemClockTicksPerMicrosecond
(JNIEnv* env, jclass)
{
- CONSTANTSJNI_LOG(logDEBUG)
- << "Calling ConstantsJNI getSystemClockTicksPerMicrosecond";
jint value = HAL_GetSystemClockTicksPerMicrosecond();
- CONSTANTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
} // extern "C"
diff --git a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/CounterJNI.cpp b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/CounterJNI.cpp
index 70ec5be..41dedab 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/CounterJNI.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/CounterJNI.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -13,19 +13,9 @@
#include "edu_wpi_first_hal_CounterJNI.h"
#include "hal/Counter.h"
#include "hal/Errors.h"
-#include "hal/cpp/Log.h"
using namespace frc;
-// set the logging level
-TLogLevel counterJNILogLevel = logWARNING;
-
-#define COUNTERJNI_LOG(level) \
- if (level > counterJNILogLevel) \
- ; \
- else \
- Log().Get(level)
-
extern "C" {
/*
@@ -37,17 +27,10 @@
Java_edu_wpi_first_hal_CounterJNI_initializeCounter
(JNIEnv* env, jclass, jint mode, jobject index)
{
- COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI initializeCounter";
- COUNTERJNI_LOG(logDEBUG) << "Mode = " << mode;
jint* indexPtr = reinterpret_cast<jint*>(env->GetDirectBufferAddress(index));
- COUNTERJNI_LOG(logDEBUG) << "Index Ptr = "
- << reinterpret_cast<int32_t*>(indexPtr);
int32_t status = 0;
auto counter = HAL_InitializeCounter(
(HAL_Counter_Mode)mode, reinterpret_cast<int32_t*>(indexPtr), &status);
- COUNTERJNI_LOG(logDEBUG) << "Index = " << *indexPtr;
- COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
- COUNTERJNI_LOG(logDEBUG) << "COUNTER Handle = " << counter;
CheckStatusForceThrow(env, status);
return (jint)counter;
}
@@ -61,11 +44,8 @@
Java_edu_wpi_first_hal_CounterJNI_freeCounter
(JNIEnv* env, jclass, jint id)
{
- COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI freeCounter";
- COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
int32_t status = 0;
HAL_FreeCounter((HAL_CounterHandle)id, &status);
- COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -78,12 +58,8 @@
Java_edu_wpi_first_hal_CounterJNI_setCounterAverageSize
(JNIEnv* env, jclass, jint id, jint value)
{
- COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterAverageSize";
- COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
- COUNTERJNI_LOG(logDEBUG) << "AverageSize = " << value;
int32_t status = 0;
HAL_SetCounterAverageSize((HAL_CounterHandle)id, value, &status);
- COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -97,14 +73,9 @@
(JNIEnv* env, jclass, jint id, jint digitalSourceHandle,
jint analogTriggerType)
{
- COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterUpSource";
- COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
- COUNTERJNI_LOG(logDEBUG) << "digitalSourceHandle = " << digitalSourceHandle;
- COUNTERJNI_LOG(logDEBUG) << "analogTriggerType = " << analogTriggerType;
int32_t status = 0;
HAL_SetCounterUpSource((HAL_CounterHandle)id, (HAL_Handle)digitalSourceHandle,
(HAL_AnalogTriggerType)analogTriggerType, &status);
- COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -117,14 +88,9 @@
Java_edu_wpi_first_hal_CounterJNI_setCounterUpSourceEdge
(JNIEnv* env, jclass, jint id, jboolean valueRise, jboolean valueFall)
{
- COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterUpSourceEdge";
- COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
- COUNTERJNI_LOG(logDEBUG) << "Rise = " << (jint)valueRise;
- COUNTERJNI_LOG(logDEBUG) << "Fall = " << (jint)valueFall;
int32_t status = 0;
HAL_SetCounterUpSourceEdge((HAL_CounterHandle)id, valueRise, valueFall,
&status);
- COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -137,11 +103,8 @@
Java_edu_wpi_first_hal_CounterJNI_clearCounterUpSource
(JNIEnv* env, jclass, jint id)
{
- COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI clearCounterUpSource";
- COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
int32_t status = 0;
HAL_ClearCounterUpSource((HAL_CounterHandle)id, &status);
- COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -155,15 +118,10 @@
(JNIEnv* env, jclass, jint id, jint digitalSourceHandle,
jint analogTriggerType)
{
- COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterDownSource";
- COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
- COUNTERJNI_LOG(logDEBUG) << "digitalSourceHandle = " << digitalSourceHandle;
- COUNTERJNI_LOG(logDEBUG) << "analogTriggerType = " << analogTriggerType;
int32_t status = 0;
HAL_SetCounterDownSource((HAL_CounterHandle)id,
(HAL_Handle)digitalSourceHandle,
(HAL_AnalogTriggerType)analogTriggerType, &status);
- COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
if (status == PARAMETER_OUT_OF_RANGE) {
ThrowIllegalArgumentException(env,
"Counter only supports DownSource in "
@@ -182,14 +140,9 @@
Java_edu_wpi_first_hal_CounterJNI_setCounterDownSourceEdge
(JNIEnv* env, jclass, jint id, jboolean valueRise, jboolean valueFall)
{
- COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterDownSourceEdge";
- COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
- COUNTERJNI_LOG(logDEBUG) << "Rise = " << (jint)valueRise;
- COUNTERJNI_LOG(logDEBUG) << "Fall = " << (jint)valueFall;
int32_t status = 0;
HAL_SetCounterDownSourceEdge((HAL_CounterHandle)id, valueRise, valueFall,
&status);
- COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -202,11 +155,8 @@
Java_edu_wpi_first_hal_CounterJNI_clearCounterDownSource
(JNIEnv* env, jclass, jint id)
{
- COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI clearCounterDownSource";
- COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
int32_t status = 0;
HAL_ClearCounterDownSource((HAL_CounterHandle)id, &status);
- COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -219,11 +169,8 @@
Java_edu_wpi_first_hal_CounterJNI_setCounterUpDownMode
(JNIEnv* env, jclass, jint id)
{
- COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterUpDownMode";
- COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
int32_t status = 0;
HAL_SetCounterUpDownMode((HAL_CounterHandle)id, &status);
- COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -236,12 +183,8 @@
Java_edu_wpi_first_hal_CounterJNI_setCounterExternalDirectionMode
(JNIEnv* env, jclass, jint id)
{
- COUNTERJNI_LOG(logDEBUG)
- << "Calling COUNTERJNI setCounterExternalDirectionMode";
- COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
int32_t status = 0;
HAL_SetCounterExternalDirectionMode((HAL_CounterHandle)id, &status);
- COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -254,12 +197,8 @@
Java_edu_wpi_first_hal_CounterJNI_setCounterSemiPeriodMode
(JNIEnv* env, jclass, jint id, jboolean value)
{
- COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterSemiPeriodMode";
- COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
- COUNTERJNI_LOG(logDEBUG) << "SemiPeriodMode = " << (jint)value;
int32_t status = 0;
HAL_SetCounterSemiPeriodMode((HAL_CounterHandle)id, value, &status);
- COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -272,12 +211,8 @@
Java_edu_wpi_first_hal_CounterJNI_setCounterPulseLengthMode
(JNIEnv* env, jclass, jint id, jdouble value)
{
- COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterPulseLengthMode";
- COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
- COUNTERJNI_LOG(logDEBUG) << "PulseLengthMode = " << value;
int32_t status = 0;
HAL_SetCounterPulseLengthMode((HAL_CounterHandle)id, value, &status);
- COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -290,14 +225,9 @@
Java_edu_wpi_first_hal_CounterJNI_getCounterSamplesToAverage
(JNIEnv* env, jclass, jint id)
{
- COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounterSamplesToAverage";
- COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
int32_t status = 0;
jint returnValue =
HAL_GetCounterSamplesToAverage((HAL_CounterHandle)id, &status);
- COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
- COUNTERJNI_LOG(logDEBUG) << "getCounterSamplesToAverageResult = "
- << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -311,12 +241,8 @@
Java_edu_wpi_first_hal_CounterJNI_setCounterSamplesToAverage
(JNIEnv* env, jclass, jint id, jint value)
{
- COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterSamplesToAverage";
- COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
- COUNTERJNI_LOG(logDEBUG) << "SamplesToAverage = " << value;
int32_t status = 0;
HAL_SetCounterSamplesToAverage((HAL_CounterHandle)id, value, &status);
- COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
if (status == PARAMETER_OUT_OF_RANGE) {
ThrowBoundaryException(env, value, 1, 127);
return;
@@ -333,11 +259,8 @@
Java_edu_wpi_first_hal_CounterJNI_resetCounter
(JNIEnv* env, jclass, jint id)
{
- COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI resetCounter";
- COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
int32_t status = 0;
HAL_ResetCounter((HAL_CounterHandle)id, &status);
- COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -350,12 +273,8 @@
Java_edu_wpi_first_hal_CounterJNI_getCounter
(JNIEnv* env, jclass, jint id)
{
- // COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounter";
- // COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
int32_t status = 0;
jint returnValue = HAL_GetCounter((HAL_CounterHandle)id, &status);
- // COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
- // COUNTERJNI_LOG(logDEBUG) << "getCounterResult = " << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -369,12 +288,8 @@
Java_edu_wpi_first_hal_CounterJNI_getCounterPeriod
(JNIEnv* env, jclass, jint id)
{
- COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounterPeriod";
- COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
int32_t status = 0;
jdouble returnValue = HAL_GetCounterPeriod((HAL_CounterHandle)id, &status);
- COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
- COUNTERJNI_LOG(logDEBUG) << "getCounterPeriodResult = " << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -388,12 +303,8 @@
Java_edu_wpi_first_hal_CounterJNI_setCounterMaxPeriod
(JNIEnv* env, jclass, jint id, jdouble value)
{
- COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterMaxPeriod";
- COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
- COUNTERJNI_LOG(logDEBUG) << "MaxPeriod = " << value;
int32_t status = 0;
HAL_SetCounterMaxPeriod((HAL_CounterHandle)id, value, &status);
- COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -406,12 +317,8 @@
Java_edu_wpi_first_hal_CounterJNI_setCounterUpdateWhenEmpty
(JNIEnv* env, jclass, jint id, jboolean value)
{
- COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterMaxPeriod";
- COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
- COUNTERJNI_LOG(logDEBUG) << "UpdateWhenEmpty = " << (jint)value;
int32_t status = 0;
HAL_SetCounterUpdateWhenEmpty((HAL_CounterHandle)id, value, &status);
- COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -424,12 +331,8 @@
Java_edu_wpi_first_hal_CounterJNI_getCounterStopped
(JNIEnv* env, jclass, jint id)
{
- COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounterStopped";
- COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
int32_t status = 0;
jboolean returnValue = HAL_GetCounterStopped((HAL_CounterHandle)id, &status);
- COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
- COUNTERJNI_LOG(logDEBUG) << "getCounterStoppedResult = " << (jint)returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -443,14 +346,9 @@
Java_edu_wpi_first_hal_CounterJNI_getCounterDirection
(JNIEnv* env, jclass, jint id)
{
- COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI getCounterDirection";
- COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
int32_t status = 0;
jboolean returnValue =
HAL_GetCounterDirection((HAL_CounterHandle)id, &status);
- COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
- COUNTERJNI_LOG(logDEBUG) << "getCounterDirectionResult = "
- << (jint)returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -464,12 +362,8 @@
Java_edu_wpi_first_hal_CounterJNI_setCounterReverseDirection
(JNIEnv* env, jclass, jint id, jboolean value)
{
- COUNTERJNI_LOG(logDEBUG) << "Calling COUNTERJNI setCounterReverseDirection";
- COUNTERJNI_LOG(logDEBUG) << "Counter Handle = " << (HAL_CounterHandle)id;
- COUNTERJNI_LOG(logDEBUG) << "ReverseDirection = " << (jint)value;
int32_t status = 0;
HAL_SetCounterReverseDirection((HAL_CounterHandle)id, value, &status);
- COUNTERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
diff --git a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/DIOJNI.cpp b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/DIOJNI.cpp
index e21edcf..9c44b4c 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/DIOJNI.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/DIOJNI.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -14,20 +14,10 @@
#include "hal/DIO.h"
#include "hal/PWM.h"
#include "hal/Ports.h"
-#include "hal/cpp/Log.h"
#include "hal/handles/HandlesInternal.h"
using namespace frc;
-// set the logging level
-TLogLevel dioJNILogLevel = logWARNING;
-
-#define DIOJNI_LOG(level) \
- if (level > dioJNILogLevel) \
- ; \
- else \
- Log().Get(level)
-
extern "C" {
/*
@@ -39,14 +29,9 @@
Java_edu_wpi_first_hal_DIOJNI_initializeDIOPort
(JNIEnv* env, jclass, jint id, jboolean input)
{
- DIOJNI_LOG(logDEBUG) << "Calling DIOJNI initializeDIOPort";
- DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_PortHandle)id;
- DIOJNI_LOG(logDEBUG) << "Input = " << (jint)input;
int32_t status = 0;
auto dio = HAL_InitializeDIOPort((HAL_PortHandle)id,
static_cast<uint8_t>(input), &status);
- DIOJNI_LOG(logDEBUG) << "Status = " << status;
- DIOJNI_LOG(logDEBUG) << "DIO Handle = " << dio;
CheckStatusRange(env, status, 0, HAL_GetNumDigitalChannels(),
hal::getPortHandleChannel((HAL_PortHandle)id));
return (jint)dio;
@@ -61,8 +46,6 @@
Java_edu_wpi_first_hal_DIOJNI_checkDIOChannel
(JNIEnv* env, jclass, jint channel)
{
- DIOJNI_LOG(logDEBUG) << "Calling DIOJNI checkDIOChannel";
- DIOJNI_LOG(logDEBUG) << "Channel = " << channel;
return HAL_CheckDIOChannel(channel);
}
@@ -75,13 +58,23 @@
Java_edu_wpi_first_hal_DIOJNI_freeDIOPort
(JNIEnv* env, jclass, jint id)
{
- DIOJNI_LOG(logDEBUG) << "Calling DIOJNI freeDIOPort";
- DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
HAL_FreeDIOPort((HAL_DigitalHandle)id);
}
/*
* Class: edu_wpi_first_hal_DIOJNI
+ * Method: setDIOSimDevice
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_DIOJNI_setDIOSimDevice
+ (JNIEnv* env, jclass, jint handle, jint device)
+{
+ HAL_SetDIOSimDevice((HAL_DigitalHandle)handle, (HAL_SimDeviceHandle)device);
+}
+
+/*
+ * Class: edu_wpi_first_hal_DIOJNI
* Method: setDIO
* Signature: (IS)V
*/
@@ -89,12 +82,8 @@
Java_edu_wpi_first_hal_DIOJNI_setDIO
(JNIEnv* env, jclass, jint id, jshort value)
{
- // DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDIO";
- // DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
- // DIOJNI_LOG(logDEBUG) << "Value = " << value;
int32_t status = 0;
HAL_SetDIO((HAL_DigitalHandle)id, value, &status);
- // DIOJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -107,12 +96,8 @@
Java_edu_wpi_first_hal_DIOJNI_setDIODirection
(JNIEnv* env, jclass, jint id, jboolean input)
{
- // DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDIO";
- // DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
- // DIOJNI_LOG(logDEBUG) << "IsInput = " << input;
int32_t status = 0;
HAL_SetDIODirection((HAL_DigitalHandle)id, input, &status);
- // DIOJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -125,12 +110,8 @@
Java_edu_wpi_first_hal_DIOJNI_getDIO
(JNIEnv* env, jclass, jint id)
{
- // DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getDIO";
- // DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
int32_t status = 0;
jboolean returnValue = HAL_GetDIO((HAL_DigitalHandle)id, &status);
- // DIOJNI_LOG(logDEBUG) << "Status = " << status;
- // DIOJNI_LOG(logDEBUG) << "getDIOResult = " << (jint)returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -144,12 +125,8 @@
Java_edu_wpi_first_hal_DIOJNI_getDIODirection
(JNIEnv* env, jclass, jint id)
{
- DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getDIODirection (RR upd)";
- // DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
int32_t status = 0;
jboolean returnValue = HAL_GetDIODirection((HAL_DigitalHandle)id, &status);
- // DIOJNI_LOG(logDEBUG) << "Status = " << status;
- DIOJNI_LOG(logDEBUG) << "getDIODirectionResult = " << (jint)returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -163,12 +140,8 @@
Java_edu_wpi_first_hal_DIOJNI_pulse
(JNIEnv* env, jclass, jint id, jdouble value)
{
- DIOJNI_LOG(logDEBUG) << "Calling DIOJNI pulse (RR upd)";
- // DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
- // DIOJNI_LOG(logDEBUG) << "Value = " << value;
int32_t status = 0;
HAL_Pulse((HAL_DigitalHandle)id, value, &status);
- DIOJNI_LOG(logDEBUG) << "Did it work? Status = " << status;
CheckStatus(env, status);
}
@@ -181,12 +154,8 @@
Java_edu_wpi_first_hal_DIOJNI_isPulsing
(JNIEnv* env, jclass, jint id)
{
- DIOJNI_LOG(logDEBUG) << "Calling DIOJNI isPulsing (RR upd)";
- // DIOJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
int32_t status = 0;
jboolean returnValue = HAL_IsPulsing((HAL_DigitalHandle)id, &status);
- // DIOJNI_LOG(logDEBUG) << "Status = " << status;
- DIOJNI_LOG(logDEBUG) << "isPulsingResult = " << (jint)returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -200,11 +169,8 @@
Java_edu_wpi_first_hal_DIOJNI_isAnyPulsing
(JNIEnv* env, jclass)
{
- DIOJNI_LOG(logDEBUG) << "Calling DIOJNI isAnyPulsing (RR upd)";
int32_t status = 0;
jboolean returnValue = HAL_IsAnyPulsing(&status);
- // DIOJNI_LOG(logDEBUG) << "Status = " << status;
- DIOJNI_LOG(logDEBUG) << "isAnyPulsingResult = " << (jint)returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -218,11 +184,8 @@
Java_edu_wpi_first_hal_DIOJNI_getLoopTiming
(JNIEnv* env, jclass)
{
- DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getLoopTimeing";
int32_t status = 0;
jshort returnValue = HAL_GetPWMLoopTiming(&status);
- DIOJNI_LOG(logDEBUG) << "Status = " << status;
- DIOJNI_LOG(logDEBUG) << "LoopTiming = " << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -236,11 +199,8 @@
Java_edu_wpi_first_hal_DIOJNI_allocateDigitalPWM
(JNIEnv* env, jclass)
{
- DIOJNI_LOG(logDEBUG) << "Calling DIOJNI allocateDigitalPWM";
int32_t status = 0;
auto pwm = HAL_AllocateDigitalPWM(&status);
- DIOJNI_LOG(logDEBUG) << "Status = " << status;
- DIOJNI_LOG(logDEBUG) << "PWM Handle = " << pwm;
CheckStatus(env, status);
return (jint)pwm;
}
@@ -254,11 +214,8 @@
Java_edu_wpi_first_hal_DIOJNI_freeDigitalPWM
(JNIEnv* env, jclass, jint id)
{
- DIOJNI_LOG(logDEBUG) << "Calling DIOJNI freeDigitalPWM";
- DIOJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalPWMHandle)id;
int32_t status = 0;
HAL_FreeDigitalPWM((HAL_DigitalPWMHandle)id, &status);
- DIOJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -271,11 +228,8 @@
Java_edu_wpi_first_hal_DIOJNI_setDigitalPWMRate
(JNIEnv* env, jclass, jdouble value)
{
- DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDigitalPWMRate";
- DIOJNI_LOG(logDEBUG) << "Rate= " << value;
int32_t status = 0;
HAL_SetDigitalPWMRate(value, &status);
- DIOJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -288,12 +242,8 @@
Java_edu_wpi_first_hal_DIOJNI_setDigitalPWMDutyCycle
(JNIEnv* env, jclass, jint id, jdouble value)
{
- DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDigitalPWMDutyCycle";
- DIOJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalPWMHandle)id;
- DIOJNI_LOG(logDEBUG) << "DutyCycle= " << value;
int32_t status = 0;
HAL_SetDigitalPWMDutyCycle((HAL_DigitalPWMHandle)id, value, &status);
- DIOJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -306,13 +256,9 @@
Java_edu_wpi_first_hal_DIOJNI_setDigitalPWMOutputChannel
(JNIEnv* env, jclass, jint id, jint value)
{
- DIOJNI_LOG(logDEBUG) << "Calling DIOJNI setDigitalPWMOutputChannel";
- DIOJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalPWMHandle)id;
- DIOJNI_LOG(logDEBUG) << "Channel= " << value;
int32_t status = 0;
HAL_SetDigitalPWMOutputChannel((HAL_DigitalPWMHandle)id,
static_cast<uint32_t>(value), &status);
- DIOJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
diff --git a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/EncoderJNI.cpp b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/EncoderJNI.cpp
index 10c4332..e5aa7e8 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/EncoderJNI.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/EncoderJNI.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -13,19 +13,9 @@
#include "edu_wpi_first_hal_EncoderJNI.h"
#include "hal/Encoder.h"
#include "hal/Errors.h"
-#include "hal/cpp/Log.h"
using namespace frc;
-// set the logging level
-TLogLevel encoderJNILogLevel = logWARNING;
-
-#define ENCODERJNI_LOG(level) \
- if (level > encoderJNILogLevel) \
- ; \
- else \
- Log().Get(level)
-
extern "C" {
/*
@@ -39,13 +29,6 @@
jint digitalSourceHandleB, jint analogTriggerTypeB,
jboolean reverseDirection, jint encodingType)
{
- ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI initializeEncoder";
- ENCODERJNI_LOG(logDEBUG) << "Source Handle A = " << digitalSourceHandleA;
- ENCODERJNI_LOG(logDEBUG) << "Analog Trigger Type A = " << analogTriggerTypeA;
- ENCODERJNI_LOG(logDEBUG) << "Source Handle B = " << digitalSourceHandleB;
- ENCODERJNI_LOG(logDEBUG) << "Analog Trigger Type B = " << analogTriggerTypeB;
- ENCODERJNI_LOG(logDEBUG) << "Reverse direction = " << (jint)reverseDirection;
- ENCODERJNI_LOG(logDEBUG) << "EncodingType = " << encodingType;
int32_t status = 0;
auto encoder = HAL_InitializeEncoder(
(HAL_Handle)digitalSourceHandleA,
@@ -53,9 +36,6 @@
(HAL_Handle)digitalSourceHandleB,
(HAL_AnalogTriggerType)analogTriggerTypeB, reverseDirection,
(HAL_EncoderEncodingType)encodingType, &status);
-
- ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
- ENCODERJNI_LOG(logDEBUG) << "ENCODER Handle = " << encoder;
CheckStatusForceThrow(env, status);
return (jint)encoder;
}
@@ -69,16 +49,26 @@
Java_edu_wpi_first_hal_EncoderJNI_freeEncoder
(JNIEnv* env, jclass, jint id)
{
- ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI freeEncoder";
- ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
HAL_FreeEncoder((HAL_EncoderHandle)id, &status);
- ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_EncoderJNI
+ * Method: setEncoderSimDevice
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_EncoderJNI_setEncoderSimDevice
+ (JNIEnv* env, jclass, jint handle, jint device)
+{
+ HAL_SetEncoderSimDevice((HAL_EncoderHandle)handle,
+ (HAL_SimDeviceHandle)device);
+}
+
+/*
+ * Class: edu_wpi_first_hal_EncoderJNI
* Method: getEncoder
* Signature: (I)I
*/
@@ -86,12 +76,8 @@
Java_edu_wpi_first_hal_EncoderJNI_getEncoder
(JNIEnv* env, jclass, jint id)
{
- ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoder";
- ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
jint returnValue = HAL_GetEncoder((HAL_EncoderHandle)id, &status);
- ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
- ENCODERJNI_LOG(logDEBUG) << "getEncoderResult = " << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -105,12 +91,8 @@
Java_edu_wpi_first_hal_EncoderJNI_getEncoderRaw
(JNIEnv* env, jclass, jint id)
{
- ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderRaw";
- ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
jint returnValue = HAL_GetEncoderRaw((HAL_EncoderHandle)id, &status);
- ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
- ENCODERJNI_LOG(logDEBUG) << "getRawEncoderResult = " << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -124,13 +106,9 @@
Java_edu_wpi_first_hal_EncoderJNI_getEncodingScaleFactor
(JNIEnv* env, jclass, jint id)
{
- ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncodingScaleFactor";
- ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
jint returnValue =
HAL_GetEncoderEncodingScale((HAL_EncoderHandle)id, &status);
- ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
- ENCODERJNI_LOG(logDEBUG) << "getEncodingScaleFactorResult = " << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -144,11 +122,8 @@
Java_edu_wpi_first_hal_EncoderJNI_resetEncoder
(JNIEnv* env, jclass, jint id)
{
- ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI resetEncoder";
- ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
HAL_ResetEncoder((HAL_EncoderHandle)id, &status);
- ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -161,12 +136,8 @@
Java_edu_wpi_first_hal_EncoderJNI_getEncoderPeriod
(JNIEnv* env, jclass, jint id)
{
- ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderPeriod";
- ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
double returnValue = HAL_GetEncoderPeriod((HAL_EncoderHandle)id, &status);
- ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
- ENCODERJNI_LOG(logDEBUG) << "getEncoderPeriodEncoderResult = " << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -180,11 +151,8 @@
Java_edu_wpi_first_hal_EncoderJNI_setEncoderMaxPeriod
(JNIEnv* env, jclass, jint id, jdouble value)
{
- ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderMaxPeriod";
- ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
HAL_SetEncoderMaxPeriod((HAL_EncoderHandle)id, value, &status);
- ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -197,12 +165,8 @@
Java_edu_wpi_first_hal_EncoderJNI_getEncoderStopped
(JNIEnv* env, jclass, jint id)
{
- ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderStopped";
- ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
jboolean returnValue = HAL_GetEncoderStopped((HAL_EncoderHandle)id, &status);
- ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
- ENCODERJNI_LOG(logDEBUG) << "getStoppedEncoderResult = " << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -216,13 +180,9 @@
Java_edu_wpi_first_hal_EncoderJNI_getEncoderDirection
(JNIEnv* env, jclass, jint id)
{
- ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderDirection";
- ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
jboolean returnValue =
HAL_GetEncoderDirection((HAL_EncoderHandle)id, &status);
- ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
- ENCODERJNI_LOG(logDEBUG) << "getDirectionEncoderResult = " << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -236,12 +196,8 @@
Java_edu_wpi_first_hal_EncoderJNI_getEncoderDistance
(JNIEnv* env, jclass, jint id)
{
- ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderDistance";
- ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
jdouble returnValue = HAL_GetEncoderDistance((HAL_EncoderHandle)id, &status);
- ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
- ENCODERJNI_LOG(logDEBUG) << "getDistanceEncoderResult = " << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -255,12 +211,8 @@
Java_edu_wpi_first_hal_EncoderJNI_getEncoderRate
(JNIEnv* env, jclass, jint id)
{
- ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderRate";
- ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
jdouble returnValue = HAL_GetEncoderRate((HAL_EncoderHandle)id, &status);
- ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
- ENCODERJNI_LOG(logDEBUG) << "getRateEncoderResult = " << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -274,11 +226,8 @@
Java_edu_wpi_first_hal_EncoderJNI_setEncoderMinRate
(JNIEnv* env, jclass, jint id, jdouble value)
{
- ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderMinRate";
- ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
HAL_SetEncoderMinRate((HAL_EncoderHandle)id, value, &status);
- ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -291,11 +240,8 @@
Java_edu_wpi_first_hal_EncoderJNI_setEncoderDistancePerPulse
(JNIEnv* env, jclass, jint id, jdouble value)
{
- ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderDistancePerPulse";
- ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
HAL_SetEncoderDistancePerPulse((HAL_EncoderHandle)id, value, &status);
- ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -308,11 +254,8 @@
Java_edu_wpi_first_hal_EncoderJNI_setEncoderReverseDirection
(JNIEnv* env, jclass, jint id, jboolean value)
{
- ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderReverseDirection";
- ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
HAL_SetEncoderReverseDirection((HAL_EncoderHandle)id, value, &status);
- ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -325,11 +268,8 @@
Java_edu_wpi_first_hal_EncoderJNI_setEncoderSamplesToAverage
(JNIEnv* env, jclass, jint id, jint value)
{
- ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderSamplesToAverage";
- ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
HAL_SetEncoderSamplesToAverage((HAL_EncoderHandle)id, value, &status);
- ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
if (status == PARAMETER_OUT_OF_RANGE) {
ThrowBoundaryException(env, value, 1, 127);
return;
@@ -346,14 +286,9 @@
Java_edu_wpi_first_hal_EncoderJNI_getEncoderSamplesToAverage
(JNIEnv* env, jclass, jint id)
{
- ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage";
- ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
jint returnValue =
HAL_GetEncoderSamplesToAverage((HAL_EncoderHandle)id, &status);
- ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
- ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = "
- << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -368,17 +303,11 @@
(JNIEnv* env, jclass, jint id, jint digitalSourceHandle,
jint analogTriggerType, jint type)
{
- ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI setEncoderIndexSource";
- ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
- ENCODERJNI_LOG(logDEBUG) << "Source Handle = " << digitalSourceHandle;
- ENCODERJNI_LOG(logDEBUG) << "Analog Trigger Type = " << analogTriggerType;
- ENCODERJNI_LOG(logDEBUG) << "IndexingType = " << type;
int32_t status = 0;
HAL_SetEncoderIndexSource((HAL_EncoderHandle)id,
(HAL_Handle)digitalSourceHandle,
(HAL_AnalogTriggerType)analogTriggerType,
(HAL_EncoderIndexingType)type, &status);
- ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -391,13 +320,8 @@
Java_edu_wpi_first_hal_EncoderJNI_getEncoderFPGAIndex
(JNIEnv* env, jclass, jint id)
{
- ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage";
- ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
jint returnValue = HAL_GetEncoderFPGAIndex((HAL_EncoderHandle)id, &status);
- ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
- ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = "
- << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -411,14 +335,9 @@
Java_edu_wpi_first_hal_EncoderJNI_getEncoderEncodingScale
(JNIEnv* env, jclass, jint id)
{
- ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage";
- ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
jint returnValue =
HAL_GetEncoderEncodingScale((HAL_EncoderHandle)id, &status);
- ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
- ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = "
- << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -432,14 +351,9 @@
Java_edu_wpi_first_hal_EncoderJNI_getEncoderDecodingScaleFactor
(JNIEnv* env, jclass, jint id)
{
- ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage";
- ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
jdouble returnValue =
HAL_GetEncoderDecodingScaleFactor((HAL_EncoderHandle)id, &status);
- ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
- ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = "
- << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -453,14 +367,9 @@
Java_edu_wpi_first_hal_EncoderJNI_getEncoderDistancePerPulse
(JNIEnv* env, jclass, jint id)
{
- ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage";
- ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
jdouble returnValue =
HAL_GetEncoderDistancePerPulse((HAL_EncoderHandle)id, &status);
- ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
- ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = "
- << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -474,13 +383,8 @@
Java_edu_wpi_first_hal_EncoderJNI_getEncoderEncodingType
(JNIEnv* env, jclass, jint id)
{
- ENCODERJNI_LOG(logDEBUG) << "Calling ENCODERJNI getEncoderSamplesToAverage";
- ENCODERJNI_LOG(logDEBUG) << "Encoder Handle = " << (HAL_EncoderHandle)id;
int32_t status = 0;
jint returnValue = HAL_GetEncoderEncodingType((HAL_EncoderHandle)id, &status);
- ENCODERJNI_LOG(logDEBUG) << "Status = " << status;
- ENCODERJNI_LOG(logDEBUG) << "getEncoderSamplesToAverageResult = "
- << returnValue;
CheckStatus(env, status);
return returnValue;
}
diff --git a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/HAL.cpp b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/HAL.cpp
index cc5f7cf..393b0b4 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/HAL.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/HAL.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -17,20 +17,11 @@
#include "HALUtil.h"
#include "edu_wpi_first_hal_HAL.h"
#include "hal/DriverStation.h"
-#include "hal/cpp/Log.h"
+#include "hal/Main.h"
using namespace frc;
using namespace wpi::java;
-// set the logging level
-static TLogLevel netCommLogLevel = logWARNING;
-
-#define NETCOMM_LOG(level) \
- if (level > netCommLogLevel) \
- ; \
- else \
- Log().Get(level)
-
extern "C" {
/*
@@ -47,6 +38,42 @@
/*
* Class: edu_wpi_first_hal_HAL
+ * Method: hasMain
+ * Signature: ()Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_HAL_hasMain
+ (JNIEnv*, jclass)
+{
+ return HAL_HasMain();
+}
+
+/*
+ * Class: edu_wpi_first_hal_HAL
+ * Method: runMain
+ * Signature: ()V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_HAL_runMain
+ (JNIEnv*, jclass)
+{
+ HAL_RunMain();
+}
+
+/*
+ * Class: edu_wpi_first_hal_HAL
+ * Method: exitMain
+ * Signature: ()V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_HAL_exitMain
+ (JNIEnv*, jclass)
+{
+ HAL_ExitMain();
+}
+
+/*
+ * Class: edu_wpi_first_hal_HAL
* Method: observeUserProgramStarting
* Signature: ()V
*/
@@ -116,11 +143,6 @@
jint paramContext, jstring paramFeature)
{
JStringRef featureStr{paramEnv, paramFeature};
- NETCOMM_LOG(logDEBUG) << "Calling HAL report "
- << "res:" << paramResource
- << " instance:" << paramInstanceNumber
- << " context:" << paramContext
- << " feature:" << featureStr.c_str();
jint returnValue = HAL_Report(paramResource, paramInstanceNumber,
paramContext, featureStr.c_str());
return returnValue;
@@ -135,7 +157,6 @@
Java_edu_wpi_first_hal_HAL_nativeGetControlWord
(JNIEnv*, jclass)
{
- NETCOMM_LOG(logDEBUG) << "Calling HAL Control Word";
static_assert(sizeof(HAL_ControlWord) == sizeof(jint),
"Java int must match the size of control word");
HAL_ControlWord controlWord;
@@ -155,7 +176,6 @@
Java_edu_wpi_first_hal_HAL_nativeGetAllianceStation
(JNIEnv*, jclass)
{
- NETCOMM_LOG(logDEBUG) << "Calling HAL Alliance Station";
int32_t status = 0;
auto allianceStation = HAL_GetAllianceStation(&status);
return static_cast<jint>(allianceStation);
@@ -170,7 +190,6 @@
Java_edu_wpi_first_hal_HAL_getJoystickAxes
(JNIEnv* env, jclass, jbyte joystickNum, jfloatArray axesArray)
{
- NETCOMM_LOG(logDEBUG) << "Calling HALJoystickAxes";
HAL_JoystickAxes axes;
HAL_GetJoystickAxes(joystickNum, &axes);
@@ -200,7 +219,6 @@
Java_edu_wpi_first_hal_HAL_getJoystickPOVs
(JNIEnv* env, jclass, jbyte joystickNum, jshortArray povsArray)
{
- NETCOMM_LOG(logDEBUG) << "Calling HALJoystickPOVs";
HAL_JoystickPOVs povs;
HAL_GetJoystickPOVs(joystickNum, &povs);
@@ -230,15 +248,11 @@
Java_edu_wpi_first_hal_HAL_getJoystickButtons
(JNIEnv* env, jclass, jbyte joystickNum, jobject count)
{
- NETCOMM_LOG(logDEBUG) << "Calling HALJoystickButtons";
HAL_JoystickButtons joystickButtons;
HAL_GetJoystickButtons(joystickNum, &joystickButtons);
jbyte* countPtr =
reinterpret_cast<jbyte*>(env->GetDirectBufferAddress(count));
- NETCOMM_LOG(logDEBUG) << "Buttons = " << joystickButtons.buttons;
- NETCOMM_LOG(logDEBUG) << "Count = " << (jint)joystickButtons.count;
*countPtr = joystickButtons.count;
- NETCOMM_LOG(logDEBUG) << "CountBuffer = " << (jint)*countPtr;
return joystickButtons.buttons;
}
@@ -252,10 +266,6 @@
(JNIEnv*, jclass, jbyte port, jint outputs, jshort leftRumble,
jshort rightRumble)
{
- NETCOMM_LOG(logDEBUG) << "Calling HAL_SetJoystickOutputs on port " << port;
- NETCOMM_LOG(logDEBUG) << "Outputs: " << outputs;
- NETCOMM_LOG(logDEBUG) << "Left Rumble: " << leftRumble
- << " Right Rumble: " << rightRumble;
return HAL_SetJoystickOutputs(port, outputs, leftRumble, rightRumble);
}
@@ -268,7 +278,6 @@
Java_edu_wpi_first_hal_HAL_getJoystickIsXbox
(JNIEnv*, jclass, jbyte port)
{
- NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickIsXbox";
return HAL_GetJoystickIsXbox(port);
}
@@ -281,7 +290,6 @@
Java_edu_wpi_first_hal_HAL_getJoystickType
(JNIEnv*, jclass, jbyte port)
{
- NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickType";
return HAL_GetJoystickType(port);
}
@@ -294,7 +302,6 @@
Java_edu_wpi_first_hal_HAL_getJoystickName
(JNIEnv* env, jclass, jbyte port)
{
- NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickName";
char* joystickName = HAL_GetJoystickName(port);
jstring str = MakeJString(env, joystickName);
HAL_FreeJoystickName(joystickName);
@@ -310,7 +317,6 @@
Java_edu_wpi_first_hal_HAL_getJoystickAxisType
(JNIEnv*, jclass, jbyte joystickNum, jbyte axis)
{
- NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickAxisType";
return HAL_GetJoystickAxisType(joystickNum, axis);
}
@@ -436,9 +442,6 @@
JStringRef locationStr{env, location};
JStringRef callStackStr{env, callStack};
- NETCOMM_LOG(logDEBUG) << "Send Error: " << detailsStr.c_str();
- NETCOMM_LOG(logDEBUG) << "Location: " << locationStr.c_str();
- NETCOMM_LOG(logDEBUG) << "Call Stack: " << callStackStr.c_str();
jint returnValue =
HAL_SendError(isError, errorCode, isLVCode, detailsStr.c_str(),
locationStr.c_str(), callStackStr.c_str(), printMsg);
@@ -454,11 +457,7 @@
Java_edu_wpi_first_hal_HAL_getPortWithModule
(JNIEnv* env, jclass, jbyte module, jbyte channel)
{
- // FILE_LOG(logDEBUG) << "Calling HAL getPortWithModlue";
- // FILE_LOG(logDEBUG) << "Module = " << (jint)module;
- // FILE_LOG(logDEBUG) << "Channel = " << (jint)channel;
HAL_PortHandle port = HAL_GetPortWithModule(module, channel);
- // FILE_LOG(logDEBUG) << "Port Handle = " << port;
return (jint)port;
}
@@ -471,11 +470,7 @@
Java_edu_wpi_first_hal_HAL_getPort
(JNIEnv* env, jclass, jbyte channel)
{
- // FILE_LOG(logDEBUG) << "Calling HAL getPortWithModlue";
- // FILE_LOG(logDEBUG) << "Module = " << (jint)module;
- // FILE_LOG(logDEBUG) << "Channel = " << (jint)channel;
HAL_PortHandle port = HAL_GetPort(channel);
- // FILE_LOG(logDEBUG) << "Port Handle = " << port;
return (jint)port;
}
diff --git a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/HALUtil.cpp b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/HALUtil.cpp
index 92d09b4..26b7919 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/HALUtil.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/HALUtil.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -24,19 +24,9 @@
#include "hal/DriverStation.h"
#include "hal/Errors.h"
#include "hal/HAL.h"
-#include "hal/cpp/Log.h"
using namespace wpi::java;
-// set the logging level
-TLogLevel halUtilLogLevel = logWARNING;
-
-#define HALUTIL_LOG(level) \
- if (level > halUtilLogLevel) \
- ; \
- else \
- Log().Get(level)
-
#define kRioStatusOffset -63000
#define kRioStatusSuccess 0
#define kRIOStatusBufferInvalidSize (kRioStatusOffset - 80)
@@ -59,13 +49,15 @@
static JClass matchInfoDataCls;
static JClass accumulatorResultCls;
static JClass canDataCls;
+static JClass halValueCls;
static const JClassInit classes[] = {
{"edu/wpi/first/hal/PWMConfigDataResult", &pwmConfigDataResultCls},
{"edu/wpi/first/hal/can/CANStatus", &canStatusCls},
{"edu/wpi/first/hal/MatchInfoData", &matchInfoDataCls},
{"edu/wpi/first/hal/AccumulatorResult", &accumulatorResultCls},
- {"edu/wpi/first/hal/CANData", &canDataCls}};
+ {"edu/wpi/first/hal/CANData", &canDataCls},
+ {"edu/wpi/first/hal/HALValue", &halValueCls}};
static const JExceptionInit exceptions[] = {
{"java/lang/IllegalArgumentException", &illegalArgExCls},
@@ -234,8 +226,9 @@
int32_t deadbandMinPwm, int32_t minPwm) {
static jmethodID constructor =
env->GetMethodID(pwmConfigDataResultCls, "<init>", "(IIIII)V");
- return env->NewObject(pwmConfigDataResultCls, constructor, maxPwm,
- deadbandMaxPwm, centerPwm, deadbandMinPwm, minPwm);
+ return env->NewObject(pwmConfigDataResultCls, constructor, (jint)maxPwm,
+ (jint)deadbandMaxPwm, (jint)centerPwm,
+ (jint)deadbandMinPwm, (jint)minPwm);
}
void SetCanStatusObject(JNIEnv* env, jobject canStatus,
@@ -281,6 +274,34 @@
return retVal;
}
+jobject CreateHALValue(JNIEnv* env, const HAL_Value& value) {
+ static jmethodID fromNative = env->GetStaticMethodID(
+ halValueCls, "fromNative", "(IJD)Ledu/wpi/first/hal/HALValue;");
+ jlong value1 = 0;
+ jdouble value2 = 0.0;
+ switch (value.type) {
+ case HAL_BOOLEAN:
+ value1 = value.data.v_boolean;
+ break;
+ case HAL_DOUBLE:
+ value2 = value.data.v_double;
+ break;
+ case HAL_ENUM:
+ value1 = value.data.v_enum;
+ break;
+ case HAL_INT:
+ value1 = value.data.v_int;
+ break;
+ case HAL_LONG:
+ value1 = value.data.v_long;
+ break;
+ default:
+ break;
+ }
+ return env->CallStaticObjectMethod(halValueCls, fromNative, (jint)value.type,
+ value1, value2);
+}
+
JavaVM* GetJVM() { return jvm; }
} // namespace frc
@@ -300,9 +321,6 @@
JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM* vm, void* reserved) {
jvm = vm;
- // set our logging level
- Log::ReportingLevel() = logDEBUG;
-
JNIEnv* env;
if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK)
return JNI_ERR;
@@ -346,11 +364,8 @@
Java_edu_wpi_first_hal_HALUtil_getFPGAVersion
(JNIEnv* env, jclass)
{
- HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGAVersion";
int32_t status = 0;
jshort returnValue = HAL_GetFPGAVersion(&status);
- HALUTIL_LOG(logDEBUG) << "Status = " << status;
- HALUTIL_LOG(logDEBUG) << "FPGAVersion = " << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -364,11 +379,8 @@
Java_edu_wpi_first_hal_HALUtil_getFPGARevision
(JNIEnv* env, jclass)
{
- HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGARevision";
int32_t status = 0;
jint returnValue = HAL_GetFPGARevision(&status);
- HALUTIL_LOG(logDEBUG) << "Status = " << status;
- HALUTIL_LOG(logDEBUG) << "FPGARevision = " << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -382,11 +394,8 @@
Java_edu_wpi_first_hal_HALUtil_getFPGATime
(JNIEnv* env, jclass)
{
- // HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGATime";
int32_t status = 0;
jlong returnValue = HAL_GetFPGATime(&status);
- // HALUTIL_LOG(logDEBUG) << "Status = " << status;
- // HALUTIL_LOG(logDEBUG) << "FPGATime = " << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -400,9 +409,7 @@
Java_edu_wpi_first_hal_HALUtil_getHALRuntimeType
(JNIEnv* env, jclass)
{
- // HALUTIL_LOG(logDEBUG) << "Calling HALUtil getHALRuntimeType";
jint returnValue = HAL_GetRuntimeType();
- // HALUTIL_LOG(logDEBUG) << "RuntimeType = " << returnValue;
return returnValue;
}
@@ -415,11 +422,8 @@
Java_edu_wpi_first_hal_HALUtil_getFPGAButton
(JNIEnv* env, jclass)
{
- // HALUTIL_LOG(logDEBUG) << "Calling HALUtil getFPGATime";
int32_t status = 0;
jboolean returnValue = HAL_GetFPGAButton(&status);
- // HALUTIL_LOG(logDEBUG) << "Status = " << status;
- // HALUTIL_LOG(logDEBUG) << "FPGATime = " << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -434,8 +438,6 @@
(JNIEnv* paramEnv, jclass, jint paramId)
{
const char* msg = HAL_GetErrorMessage(paramId);
- HALUTIL_LOG(logDEBUG) << "Calling HALUtil HAL_GetErrorMessage id=" << paramId
- << " msg=" << msg;
return MakeJString(paramEnv, msg);
}
@@ -461,8 +463,6 @@
(JNIEnv* env, jclass, jint errorCode)
{
const char* msg = std::strerror(errno);
- HALUTIL_LOG(logDEBUG) << "Calling HALUtil getHALstrerror errorCode="
- << errorCode << " msg=" << msg;
return MakeJString(env, msg);
}
diff --git a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/HALUtil.h b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/HALUtil.h
index 8197e1a..c035f75 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/HALUtil.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/HALUtil.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -14,6 +14,7 @@
#include <wpi/StringRef.h>
struct HAL_MatchInfo;
+struct HAL_Value;
namespace frc {
@@ -67,6 +68,8 @@
jbyteArray SetCANDataObject(JNIEnv* env, jobject canData, int32_t length,
uint64_t timestamp);
+jobject CreateHALValue(JNIEnv* env, const HAL_Value& value);
+
JavaVM* GetJVM();
} // namespace frc
diff --git a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/I2CJNI.cpp b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/I2CJNI.cpp
index 9dafd4a..7812bdb 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/I2CJNI.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/I2CJNI.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -14,20 +14,10 @@
#include "HALUtil.h"
#include "edu_wpi_first_hal_I2CJNI.h"
#include "hal/I2C.h"
-#include "hal/cpp/Log.h"
using namespace frc;
using namespace wpi::java;
-// set the logging level
-TLogLevel i2cJNILogLevel = logWARNING;
-
-#define I2CJNI_LOG(level) \
- if (level > i2cJNILogLevel) \
- ; \
- else \
- Log().Get(level)
-
extern "C" {
/*
@@ -39,11 +29,8 @@
Java_edu_wpi_first_hal_I2CJNI_i2CInitialize
(JNIEnv* env, jclass, jint port)
{
- I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CInititalize";
- I2CJNI_LOG(logDEBUG) << "Port: " << port;
int32_t status = 0;
HAL_InitializeI2C(static_cast<HAL_I2CPort>(port), &status);
- I2CJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatusForceThrow(env, status);
}
@@ -57,26 +44,16 @@
(JNIEnv* env, jclass, jint port, jbyte address, jobject dataToSend,
jbyte sendSize, jobject dataReceived, jbyte receiveSize)
{
- I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CTransaction";
- I2CJNI_LOG(logDEBUG) << "Port = " << port;
- I2CJNI_LOG(logDEBUG) << "Address = " << (jint)address;
uint8_t* dataToSendPtr = nullptr;
if (dataToSend != 0) {
dataToSendPtr =
reinterpret_cast<uint8_t*>(env->GetDirectBufferAddress(dataToSend));
}
- I2CJNI_LOG(logDEBUG) << "DataToSendPtr = "
- << reinterpret_cast<jint*>(dataToSendPtr);
- I2CJNI_LOG(logDEBUG) << "SendSize = " << (jint)sendSize;
uint8_t* dataReceivedPtr =
reinterpret_cast<uint8_t*>(env->GetDirectBufferAddress(dataReceived));
- I2CJNI_LOG(logDEBUG) << "DataReceivedPtr = "
- << reinterpret_cast<jint*>(dataReceivedPtr);
- I2CJNI_LOG(logDEBUG) << "ReceiveSize = " << (jint)receiveSize;
jint returnValue =
HAL_TransactionI2C(static_cast<HAL_I2CPort>(port), address, dataToSendPtr,
sendSize, dataReceivedPtr, receiveSize);
- I2CJNI_LOG(logDEBUG) << "ReturnValue = " << returnValue;
return returnValue;
}
@@ -90,13 +67,8 @@
(JNIEnv* env, jclass, jint port, jbyte address, jbyteArray dataToSend,
jbyte sendSize, jbyteArray dataReceived, jbyte receiveSize)
{
- I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CTransactionB";
- I2CJNI_LOG(logDEBUG) << "Port = " << port;
- I2CJNI_LOG(logDEBUG) << "Address = " << (jint)address;
- I2CJNI_LOG(logDEBUG) << "SendSize = " << (jint)sendSize;
wpi::SmallVector<uint8_t, 128> recvBuf;
recvBuf.resize(receiveSize);
- I2CJNI_LOG(logDEBUG) << "ReceiveSize = " << (jint)receiveSize;
jint returnValue =
HAL_TransactionI2C(static_cast<HAL_I2CPort>(port), address,
reinterpret_cast<const uint8_t*>(
@@ -104,7 +76,6 @@
sendSize, recvBuf.data(), receiveSize);
env->SetByteArrayRegion(dataReceived, 0, receiveSize,
reinterpret_cast<const jbyte*>(recvBuf.data()));
- I2CJNI_LOG(logDEBUG) << "ReturnValue = " << returnValue;
return returnValue;
}
@@ -118,20 +89,14 @@
(JNIEnv* env, jclass, jint port, jbyte address, jobject dataToSend,
jbyte sendSize)
{
- I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CWrite";
- I2CJNI_LOG(logDEBUG) << "Port = " << port;
- I2CJNI_LOG(logDEBUG) << "Address = " << (jint)address;
uint8_t* dataToSendPtr = nullptr;
if (dataToSend != 0) {
dataToSendPtr =
reinterpret_cast<uint8_t*>(env->GetDirectBufferAddress(dataToSend));
}
- I2CJNI_LOG(logDEBUG) << "DataToSendPtr = " << dataToSendPtr;
- I2CJNI_LOG(logDEBUG) << "SendSize = " << (jint)sendSize;
jint returnValue = HAL_WriteI2C(static_cast<HAL_I2CPort>(port), address,
dataToSendPtr, sendSize);
- I2CJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)returnValue;
return returnValue;
}
@@ -145,16 +110,11 @@
(JNIEnv* env, jclass, jint port, jbyte address, jbyteArray dataToSend,
jbyte sendSize)
{
- I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CWrite";
- I2CJNI_LOG(logDEBUG) << "Port = " << port;
- I2CJNI_LOG(logDEBUG) << "Address = " << (jint)address;
- I2CJNI_LOG(logDEBUG) << "SendSize = " << (jint)sendSize;
jint returnValue =
HAL_WriteI2C(static_cast<HAL_I2CPort>(port), address,
reinterpret_cast<const uint8_t*>(
JByteArrayRef(env, dataToSend).array().data()),
sendSize);
- I2CJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)returnValue;
return returnValue;
}
@@ -168,16 +128,10 @@
(JNIEnv* env, jclass, jint port, jbyte address, jobject dataReceived,
jbyte receiveSize)
{
- I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CRead";
- I2CJNI_LOG(logDEBUG) << "Port = " << port;
- I2CJNI_LOG(logDEBUG) << "Address = " << address;
uint8_t* dataReceivedPtr =
reinterpret_cast<uint8_t*>(env->GetDirectBufferAddress(dataReceived));
- I2CJNI_LOG(logDEBUG) << "DataReceivedPtr = " << dataReceivedPtr;
- I2CJNI_LOG(logDEBUG) << "ReceiveSize = " << receiveSize;
jint returnValue = HAL_ReadI2C(static_cast<HAL_I2CPort>(port), address,
dataReceivedPtr, receiveSize);
- I2CJNI_LOG(logDEBUG) << "ReturnValue = " << returnValue;
return returnValue;
}
@@ -191,17 +145,12 @@
(JNIEnv* env, jclass, jint port, jbyte address, jbyteArray dataReceived,
jbyte receiveSize)
{
- I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CRead";
- I2CJNI_LOG(logDEBUG) << "Port = " << port;
- I2CJNI_LOG(logDEBUG) << "Address = " << address;
- I2CJNI_LOG(logDEBUG) << "ReceiveSize = " << receiveSize;
wpi::SmallVector<uint8_t, 128> recvBuf;
recvBuf.resize(receiveSize);
jint returnValue = HAL_ReadI2C(static_cast<HAL_I2CPort>(port), address,
recvBuf.data(), receiveSize);
env->SetByteArrayRegion(dataReceived, 0, receiveSize,
reinterpret_cast<const jbyte*>(recvBuf.data()));
- I2CJNI_LOG(logDEBUG) << "ReturnValue = " << returnValue;
return returnValue;
}
@@ -214,7 +163,6 @@
Java_edu_wpi_first_hal_I2CJNI_i2CClose
(JNIEnv*, jclass, jint port)
{
- I2CJNI_LOG(logDEBUG) << "Calling I2CJNI i2CClose";
HAL_CloseI2C(static_cast<HAL_I2CPort>(port));
}
diff --git a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/InterruptJNI.cpp b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/InterruptJNI.cpp
index 2dd4abf..e3a783d 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/InterruptJNI.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/InterruptJNI.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -17,18 +17,9 @@
#include "HALUtil.h"
#include "edu_wpi_first_hal_InterruptJNI.h"
#include "hal/Interrupts.h"
-#include "hal/cpp/Log.h"
using namespace frc;
-TLogLevel interruptJNILogLevel = logERROR;
-
-#define INTERRUPTJNI_LOG(level) \
- if (level > interruptJNILogLevel) \
- ; \
- else \
- Log().Get(level)
-
// Thread where callbacks are actually performed.
//
// JNI's AttachCurrentThread() creates a Java Thread object on every
@@ -88,7 +79,7 @@
reinterpret_cast<void**>(&env), &args);
if (rs != JNI_OK) return;
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
while (m_active) {
m_cond.wait(lock, [&] { return !m_active || m_notify; });
if (!m_active) break;
@@ -129,15 +120,9 @@
Java_edu_wpi_first_hal_InterruptJNI_initializeInterrupts
(JNIEnv* env, jclass, jboolean watcher)
{
- INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI initializeInterrupts";
- INTERRUPTJNI_LOG(logDEBUG) << "watcher = " << static_cast<bool>(watcher);
-
int32_t status = 0;
HAL_InterruptHandle interrupt = HAL_InitializeInterrupts(watcher, &status);
- INTERRUPTJNI_LOG(logDEBUG) << "Interrupt Handle = " << interrupt;
- INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
-
CheckStatusForceThrow(env, status);
return (jint)interrupt;
}
@@ -151,10 +136,6 @@
Java_edu_wpi_first_hal_InterruptJNI_cleanInterrupts
(JNIEnv* env, jclass, jint interruptHandle)
{
- INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI cleanInterrupts";
- INTERRUPTJNI_LOG(logDEBUG)
- << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
-
int32_t status = 0;
auto param =
HAL_CleanInterrupts((HAL_InterruptHandle)interruptHandle, &status);
@@ -162,8 +143,6 @@
delete static_cast<InterruptJNI*>(param);
}
- INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
-
// ignore status, as an invalid handle just needs to be ignored.
}
@@ -177,16 +156,10 @@
(JNIEnv* env, jclass, jint interruptHandle, jdouble timeout,
jboolean ignorePrevious)
{
- INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI waitForInterrupt";
- INTERRUPTJNI_LOG(logDEBUG)
- << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
-
int32_t status = 0;
int32_t result = HAL_WaitForInterrupt((HAL_InterruptHandle)interruptHandle,
timeout, ignorePrevious, &status);
- INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
-
CheckStatus(env, status);
return result;
}
@@ -200,15 +173,9 @@
Java_edu_wpi_first_hal_InterruptJNI_enableInterrupts
(JNIEnv* env, jclass, jint interruptHandle)
{
- INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI enableInterrupts";
- INTERRUPTJNI_LOG(logDEBUG)
- << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
-
int32_t status = 0;
HAL_EnableInterrupts((HAL_InterruptHandle)interruptHandle, &status);
- INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
-
CheckStatus(env, status);
}
@@ -221,15 +188,9 @@
Java_edu_wpi_first_hal_InterruptJNI_disableInterrupts
(JNIEnv* env, jclass, jint interruptHandle)
{
- INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI disableInterrupts";
- INTERRUPTJNI_LOG(logDEBUG)
- << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
-
int32_t status = 0;
HAL_DisableInterrupts((HAL_InterruptHandle)interruptHandle, &status);
- INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
-
CheckStatus(env, status);
}
@@ -242,16 +203,10 @@
Java_edu_wpi_first_hal_InterruptJNI_readInterruptRisingTimestamp
(JNIEnv* env, jclass, jint interruptHandle)
{
- INTERRUPTJNI_LOG(logDEBUG)
- << "Calling INTERRUPTJNI readInterruptRisingTimestamp";
- INTERRUPTJNI_LOG(logDEBUG)
- << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
-
int32_t status = 0;
jlong timeStamp = HAL_ReadInterruptRisingTimestamp(
(HAL_InterruptHandle)interruptHandle, &status);
- INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
return timeStamp;
}
@@ -265,16 +220,10 @@
Java_edu_wpi_first_hal_InterruptJNI_readInterruptFallingTimestamp
(JNIEnv* env, jclass, jint interruptHandle)
{
- INTERRUPTJNI_LOG(logDEBUG)
- << "Calling INTERRUPTJNI readInterruptFallingTimestamp";
- INTERRUPTJNI_LOG(logDEBUG)
- << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
-
int32_t status = 0;
jlong timeStamp = HAL_ReadInterruptFallingTimestamp(
(HAL_InterruptHandle)interruptHandle, &status);
- INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
return timeStamp;
}
@@ -289,18 +238,11 @@
(JNIEnv* env, jclass, jint interruptHandle, jint digitalSourceHandle,
jint analogTriggerType)
{
- INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI requestInterrupts";
- INTERRUPTJNI_LOG(logDEBUG)
- << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
- INTERRUPTJNI_LOG(logDEBUG) << "digitalSourceHandle = " << digitalSourceHandle;
- INTERRUPTJNI_LOG(logDEBUG) << "analogTriggerType = " << analogTriggerType;
-
int32_t status = 0;
HAL_RequestInterrupts((HAL_InterruptHandle)interruptHandle,
(HAL_Handle)digitalSourceHandle,
(HAL_AnalogTriggerType)analogTriggerType, &status);
- INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -313,21 +255,13 @@
Java_edu_wpi_first_hal_InterruptJNI_attachInterruptHandler
(JNIEnv* env, jclass, jint interruptHandle, jobject handler, jobject param)
{
- INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI attachInterruptHandler";
- INTERRUPTJNI_LOG(logDEBUG)
- << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
-
jclass cls = env->GetObjectClass(handler);
- INTERRUPTJNI_LOG(logDEBUG) << "class = " << cls;
if (cls == 0) {
- INTERRUPTJNI_LOG(logERROR) << "Error getting java class";
assert(false);
return;
}
jmethodID mid = env->GetMethodID(cls, "apply", "(ILjava/lang/Object;)V");
- INTERRUPTJNI_LOG(logDEBUG) << "method = " << mid;
if (mid == 0) {
- INTERRUPTJNI_LOG(logERROR) << "Error getting java method ID";
assert(false);
return;
}
@@ -336,13 +270,10 @@
intr->Start();
intr->SetFunc(env, handler, mid, param);
- INTERRUPTJNI_LOG(logDEBUG) << "InterruptThreadJNI Ptr = " << intr;
-
int32_t status = 0;
HAL_AttachInterruptHandler((HAL_InterruptHandle)interruptHandle,
interruptHandler, intr, &status);
- INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -356,19 +287,10 @@
(JNIEnv* env, jclass, jint interruptHandle, jboolean risingEdge,
jboolean fallingEdge)
{
- INTERRUPTJNI_LOG(logDEBUG) << "Calling INTERRUPTJNI setInterruptUpSourceEdge";
- INTERRUPTJNI_LOG(logDEBUG)
- << "Interrupt Handle = " << (HAL_InterruptHandle)interruptHandle;
- INTERRUPTJNI_LOG(logDEBUG)
- << "Rising Edge = " << static_cast<bool>(risingEdge);
- INTERRUPTJNI_LOG(logDEBUG)
- << "Falling Edge = " << static_cast<bool>(fallingEdge);
-
int32_t status = 0;
HAL_SetInterruptUpSourceEdge((HAL_InterruptHandle)interruptHandle, risingEdge,
fallingEdge, &status);
- INTERRUPTJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
diff --git a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/NotifierJNI.cpp b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/NotifierJNI.cpp
index 61fe32f..588614e 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/NotifierJNI.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/NotifierJNI.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -13,19 +13,9 @@
#include "HALUtil.h"
#include "edu_wpi_first_hal_NotifierJNI.h"
#include "hal/Notifier.h"
-#include "hal/cpp/Log.h"
using namespace frc;
-// set the logging level
-TLogLevel notifierJNILogLevel = logWARNING;
-
-#define NOTIFIERJNI_LOG(level) \
- if (level > notifierJNILogLevel) \
- ; \
- else \
- Log().Get(level)
-
extern "C" {
/*
@@ -37,14 +27,9 @@
Java_edu_wpi_first_hal_NotifierJNI_initializeNotifier
(JNIEnv* env, jclass)
{
- NOTIFIERJNI_LOG(logDEBUG) << "Calling NOTIFIERJNI initializeNotifier";
-
int32_t status = 0;
HAL_NotifierHandle notifierHandle = HAL_InitializeNotifier(&status);
- NOTIFIERJNI_LOG(logDEBUG) << "Notifier Handle = " << notifierHandle;
- NOTIFIERJNI_LOG(logDEBUG) << "Status = " << status;
-
if (notifierHandle <= 0 || !CheckStatusForceThrow(env, status)) {
return 0; // something went wrong in HAL
}
@@ -61,13 +46,8 @@
Java_edu_wpi_first_hal_NotifierJNI_stopNotifier
(JNIEnv* env, jclass cls, jint notifierHandle)
{
- NOTIFIERJNI_LOG(logDEBUG) << "Calling NOTIFIERJNI stopNotifier";
-
- NOTIFIERJNI_LOG(logDEBUG) << "Notifier Handle = " << notifierHandle;
-
int32_t status = 0;
HAL_StopNotifier((HAL_NotifierHandle)notifierHandle, &status);
- NOTIFIERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -80,13 +60,8 @@
Java_edu_wpi_first_hal_NotifierJNI_cleanNotifier
(JNIEnv* env, jclass, jint notifierHandle)
{
- NOTIFIERJNI_LOG(logDEBUG) << "Calling NOTIFIERJNI cleanNotifier";
-
- NOTIFIERJNI_LOG(logDEBUG) << "Notifier Handle = " << notifierHandle;
-
int32_t status = 0;
HAL_CleanNotifier((HAL_NotifierHandle)notifierHandle, &status);
- NOTIFIERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -99,16 +74,9 @@
Java_edu_wpi_first_hal_NotifierJNI_updateNotifierAlarm
(JNIEnv* env, jclass cls, jint notifierHandle, jlong triggerTime)
{
- NOTIFIERJNI_LOG(logDEBUG) << "Calling NOTIFIERJNI updateNotifierAlarm";
-
- NOTIFIERJNI_LOG(logDEBUG) << "Notifier Handle = " << notifierHandle;
-
- NOTIFIERJNI_LOG(logDEBUG) << "triggerTime = " << triggerTime;
-
int32_t status = 0;
HAL_UpdateNotifierAlarm((HAL_NotifierHandle)notifierHandle,
static_cast<uint64_t>(triggerTime), &status);
- NOTIFIERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -121,13 +89,8 @@
Java_edu_wpi_first_hal_NotifierJNI_cancelNotifierAlarm
(JNIEnv* env, jclass cls, jint notifierHandle)
{
- NOTIFIERJNI_LOG(logDEBUG) << "Calling NOTIFIERJNI cancelNotifierAlarm";
-
- NOTIFIERJNI_LOG(logDEBUG) << "Notifier Handle = " << notifierHandle;
-
int32_t status = 0;
HAL_CancelNotifierAlarm((HAL_NotifierHandle)notifierHandle, &status);
- NOTIFIERJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -140,15 +103,10 @@
Java_edu_wpi_first_hal_NotifierJNI_waitForNotifierAlarm
(JNIEnv* env, jclass cls, jint notifierHandle)
{
- NOTIFIERJNI_LOG(logDEBUG) << "Calling NOTIFIERJNI waitForNotifierAlarm";
-
- NOTIFIERJNI_LOG(logDEBUG) << "Notifier Handle = " << notifierHandle;
-
int32_t status = 0;
uint64_t time =
HAL_WaitForNotifierAlarm((HAL_NotifierHandle)notifierHandle, &status);
- NOTIFIERJNI_LOG(logDEBUG) << "Status = " << status;
- NOTIFIERJNI_LOG(logDEBUG) << "Time = " << time;
+
CheckStatus(env, status);
return (jlong)time;
diff --git a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/PWMJNI.cpp b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/PWMJNI.cpp
index 1509f94..80293c4 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/PWMJNI.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/PWMJNI.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -14,20 +14,10 @@
#include "hal/DIO.h"
#include "hal/PWM.h"
#include "hal/Ports.h"
-#include "hal/cpp/Log.h"
#include "hal/handles/HandlesInternal.h"
using namespace frc;
-// set the logging level
-TLogLevel pwmJNILogLevel = logWARNING;
-
-#define PWMJNI_LOG(level) \
- if (level > pwmJNILogLevel) \
- ; \
- else \
- Log().Get(level)
-
extern "C" {
/*
@@ -39,12 +29,8 @@
Java_edu_wpi_first_hal_PWMJNI_initializePWMPort
(JNIEnv* env, jclass, jint id)
{
- PWMJNI_LOG(logDEBUG) << "Calling PWMJNI initializePWMPort";
- PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_PortHandle)id;
int32_t status = 0;
auto pwm = HAL_InitializePWMPort((HAL_PortHandle)id, &status);
- PWMJNI_LOG(logDEBUG) << "Status = " << status;
- PWMJNI_LOG(logDEBUG) << "PWM Handle = " << pwm;
CheckStatusRange(env, status, 0, HAL_GetNumPWMChannels(),
hal::getPortHandleChannel((HAL_PortHandle)id));
return (jint)pwm;
@@ -59,8 +45,6 @@
Java_edu_wpi_first_hal_PWMJNI_checkPWMChannel
(JNIEnv* env, jclass, jint channel)
{
- PWMJNI_LOG(logDEBUG) << "Calling PWMJNI checkPWMChannel";
- PWMJNI_LOG(logDEBUG) << "Channel = " << channel;
return HAL_CheckPWMChannel(channel);
}
@@ -73,8 +57,6 @@
Java_edu_wpi_first_hal_PWMJNI_freePWMPort
(JNIEnv* env, jclass, jint id)
{
- PWMJNI_LOG(logDEBUG) << "Calling PWMJNI freePWMPort";
- PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
int32_t status = 0;
HAL_FreePWMPort((HAL_DigitalHandle)id, &status);
CheckStatus(env, status);
@@ -90,8 +72,6 @@
(JNIEnv* env, jclass, jint id, jint maxPwm, jint deadbandMaxPwm,
jint centerPwm, jint deadbandMinPwm, jint minPwm)
{
- PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMConfigRaw";
- PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
int32_t status = 0;
HAL_SetPWMConfigRaw((HAL_DigitalHandle)id, maxPwm, deadbandMaxPwm, centerPwm,
deadbandMinPwm, minPwm, &status);
@@ -108,8 +88,6 @@
(JNIEnv* env, jclass, jint id, jdouble maxPwm, jdouble deadbandMaxPwm,
jdouble centerPwm, jdouble deadbandMinPwm, jdouble minPwm)
{
- PWMJNI_LOG(logDEBUG) << "Calling PWMJNI setPWMConfig";
- PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
int32_t status = 0;
HAL_SetPWMConfig((HAL_DigitalHandle)id, maxPwm, deadbandMaxPwm, centerPwm,
deadbandMinPwm, minPwm, &status);
@@ -125,8 +103,6 @@
Java_edu_wpi_first_hal_PWMJNI_getPWMConfigRaw
(JNIEnv* env, jclass, jint id)
{
- PWMJNI_LOG(logDEBUG) << "Calling PWMJNI getPWMConfigRaw";
- PWMJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_DigitalHandle)id;
int32_t status = 0;
int32_t maxPwm = 0;
int32_t deadbandMaxPwm = 0;
@@ -149,10 +125,8 @@
Java_edu_wpi_first_hal_PWMJNI_setPWMEliminateDeadband
(JNIEnv* env, jclass, jint id, jboolean value)
{
- PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
int32_t status = 0;
HAL_SetPWMEliminateDeadband((HAL_DigitalHandle)id, value, &status);
- PWMJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -165,10 +139,8 @@
Java_edu_wpi_first_hal_PWMJNI_getPWMEliminateDeadband
(JNIEnv* env, jclass, jint id)
{
- PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
int32_t status = 0;
auto val = HAL_GetPWMEliminateDeadband((HAL_DigitalHandle)id, &status);
- PWMJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
return (jboolean)val;
}
@@ -182,11 +154,8 @@
Java_edu_wpi_first_hal_PWMJNI_setPWMRaw
(JNIEnv* env, jclass, jint id, jshort value)
{
- PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
- PWMJNI_LOG(logDEBUG) << "PWM Value = " << value;
int32_t status = 0;
HAL_SetPWMRaw((HAL_DigitalHandle)id, value, &status);
- PWMJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -199,11 +168,8 @@
Java_edu_wpi_first_hal_PWMJNI_setPWMSpeed
(JNIEnv* env, jclass, jint id, jdouble value)
{
- PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
- PWMJNI_LOG(logDEBUG) << "PWM Value = " << value;
int32_t status = 0;
HAL_SetPWMSpeed((HAL_DigitalHandle)id, value, &status);
- PWMJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -216,11 +182,8 @@
Java_edu_wpi_first_hal_PWMJNI_setPWMPosition
(JNIEnv* env, jclass, jint id, jdouble value)
{
- PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
- PWMJNI_LOG(logDEBUG) << "PWM Value = " << value;
int32_t status = 0;
HAL_SetPWMPosition((HAL_DigitalHandle)id, value, &status);
- PWMJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -233,11 +196,8 @@
Java_edu_wpi_first_hal_PWMJNI_getPWMRaw
(JNIEnv* env, jclass, jint id)
{
- PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
int32_t status = 0;
jshort returnValue = HAL_GetPWMRaw((HAL_DigitalHandle)id, &status);
- PWMJNI_LOG(logDEBUG) << "Status = " << status;
- PWMJNI_LOG(logDEBUG) << "Value = " << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -251,11 +211,8 @@
Java_edu_wpi_first_hal_PWMJNI_getPWMSpeed
(JNIEnv* env, jclass, jint id)
{
- PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
int32_t status = 0;
jdouble returnValue = HAL_GetPWMSpeed((HAL_DigitalHandle)id, &status);
- PWMJNI_LOG(logDEBUG) << "Status = " << status;
- PWMJNI_LOG(logDEBUG) << "Value = " << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -269,11 +226,8 @@
Java_edu_wpi_first_hal_PWMJNI_getPWMPosition
(JNIEnv* env, jclass, jint id)
{
- PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
int32_t status = 0;
jdouble returnValue = HAL_GetPWMPosition((HAL_DigitalHandle)id, &status);
- PWMJNI_LOG(logDEBUG) << "Status = " << status;
- PWMJNI_LOG(logDEBUG) << "Value = " << returnValue;
CheckStatus(env, status);
return returnValue;
}
@@ -287,10 +241,8 @@
Java_edu_wpi_first_hal_PWMJNI_setPWMDisabled
(JNIEnv* env, jclass, jint id)
{
- PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
int32_t status = 0;
HAL_SetPWMDisabled((HAL_DigitalHandle)id, &status);
- PWMJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -303,10 +255,8 @@
Java_edu_wpi_first_hal_PWMJNI_latchPWMZero
(JNIEnv* env, jclass, jint id)
{
- PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
int32_t status = 0;
HAL_LatchPWMZero((HAL_DigitalHandle)id, &status);
- PWMJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -319,11 +269,8 @@
Java_edu_wpi_first_hal_PWMJNI_setPWMPeriodScale
(JNIEnv* env, jclass, jint id, jint value)
{
- PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
- PWMJNI_LOG(logDEBUG) << "PeriodScale Value = " << value;
int32_t status = 0;
HAL_SetPWMPeriodScale((HAL_DigitalHandle)id, value, &status);
- PWMJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
diff --git a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/PortsJNI.cpp b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/PortsJNI.cpp
index 4e14984..1adb7fb 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/PortsJNI.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/PortsJNI.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,19 +12,9 @@
#include "HALUtil.h"
#include "edu_wpi_first_hal_PortsJNI.h"
#include "hal/Ports.h"
-#include "hal/cpp/Log.h"
using namespace frc;
-// set the logging level
-TLogLevel portsJNILogLevel = logWARNING;
-
-#define PORTSJNI_LOG(level) \
- if (level > portsJNILogLevel) \
- ; \
- else \
- Log().Get(level)
-
extern "C" {
/*
* Class: edu_wpi_first_hal_PortsJNI
@@ -35,9 +25,7 @@
Java_edu_wpi_first_hal_PortsJNI_getNumAccumulators
(JNIEnv* env, jclass)
{
- PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumAccumulators";
jint value = HAL_GetNumAccumulators();
- PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
@@ -50,9 +38,7 @@
Java_edu_wpi_first_hal_PortsJNI_getNumAnalogTriggers
(JNIEnv* env, jclass)
{
- PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumAnalogTriggers";
jint value = HAL_GetNumAnalogTriggers();
- PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
@@ -65,9 +51,7 @@
Java_edu_wpi_first_hal_PortsJNI_getNumAnalogInputs
(JNIEnv* env, jclass)
{
- PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumAnalogInputs";
jint value = HAL_GetNumAnalogInputs();
- PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
@@ -80,9 +64,7 @@
Java_edu_wpi_first_hal_PortsJNI_getNumAnalogOutputs
(JNIEnv* env, jclass)
{
- PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumAnalogOutputs";
jint value = HAL_GetNumAnalogOutputs();
- PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
@@ -95,9 +77,7 @@
Java_edu_wpi_first_hal_PortsJNI_getNumCounters
(JNIEnv* env, jclass)
{
- PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumCounters";
jint value = HAL_GetNumCounters();
- PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
@@ -110,9 +90,7 @@
Java_edu_wpi_first_hal_PortsJNI_getNumDigitalHeaders
(JNIEnv* env, jclass)
{
- PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumDigitalHeaders";
jint value = HAL_GetNumDigitalHeaders();
- PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
@@ -125,9 +103,7 @@
Java_edu_wpi_first_hal_PortsJNI_getNumPWMHeaders
(JNIEnv* env, jclass)
{
- PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumPWMHeaders";
jint value = HAL_GetNumPWMHeaders();
- PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
@@ -140,9 +116,7 @@
Java_edu_wpi_first_hal_PortsJNI_getNumDigitalChannels
(JNIEnv* env, jclass)
{
- PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumDigitalChannels";
jint value = HAL_GetNumDigitalChannels();
- PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
@@ -155,9 +129,7 @@
Java_edu_wpi_first_hal_PortsJNI_getNumPWMChannels
(JNIEnv* env, jclass)
{
- PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumPWMChannels";
jint value = HAL_GetNumPWMChannels();
- PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
@@ -170,9 +142,7 @@
Java_edu_wpi_first_hal_PortsJNI_getNumDigitalPWMOutputs
(JNIEnv* env, jclass)
{
- PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumDigitalPWMOutputs";
jint value = HAL_GetNumDigitalPWMOutputs();
- PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
@@ -185,9 +155,7 @@
Java_edu_wpi_first_hal_PortsJNI_getNumEncoders
(JNIEnv* env, jclass)
{
- PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumEncoders";
jint value = HAL_GetNumEncoders();
- PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
@@ -200,9 +168,7 @@
Java_edu_wpi_first_hal_PortsJNI_getNumInterrupts
(JNIEnv* env, jclass)
{
- PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumInterrupts";
jint value = HAL_GetNumInterrupts();
- PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
@@ -215,9 +181,7 @@
Java_edu_wpi_first_hal_PortsJNI_getNumRelayChannels
(JNIEnv* env, jclass)
{
- PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumRelayChannels";
jint value = HAL_GetNumRelayChannels();
- PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
@@ -230,9 +194,7 @@
Java_edu_wpi_first_hal_PortsJNI_getNumRelayHeaders
(JNIEnv* env, jclass)
{
- PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumRelayHeaders";
jint value = HAL_GetNumRelayHeaders();
- PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
@@ -245,9 +207,7 @@
Java_edu_wpi_first_hal_PortsJNI_getNumPCMModules
(JNIEnv* env, jclass)
{
- PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumPCMModules";
jint value = HAL_GetNumPCMModules();
- PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
@@ -260,9 +220,7 @@
Java_edu_wpi_first_hal_PortsJNI_getNumSolenoidChannels
(JNIEnv* env, jclass)
{
- PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumSolenoidChannels";
jint value = HAL_GetNumSolenoidChannels();
- PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
@@ -275,9 +233,7 @@
Java_edu_wpi_first_hal_PortsJNI_getNumPDPModules
(JNIEnv* env, jclass)
{
- PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumPDPModules";
jint value = HAL_GetNumPDPModules();
- PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
@@ -290,9 +246,7 @@
Java_edu_wpi_first_hal_PortsJNI_getNumPDPChannels
(JNIEnv* env, jclass)
{
- PORTSJNI_LOG(logDEBUG) << "Calling PortsJNI getNumPDPChannels";
jint value = HAL_GetNumPDPChannels();
- PORTSJNI_LOG(logDEBUG) << "Value = " << value;
return value;
}
} // extern "C"
diff --git a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/RelayJNI.cpp b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/RelayJNI.cpp
index 0cc70fb..c058435 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/RelayJNI.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/RelayJNI.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -13,20 +13,10 @@
#include "edu_wpi_first_hal_RelayJNI.h"
#include "hal/Ports.h"
#include "hal/Relay.h"
-#include "hal/cpp/Log.h"
#include "hal/handles/HandlesInternal.h"
using namespace frc;
-// set the logging level
-TLogLevel relayJNILogLevel = logWARNING;
-
-#define RELAYJNI_LOG(level) \
- if (level > relayJNILogLevel) \
- ; \
- else \
- Log().Get(level)
-
extern "C" {
/*
@@ -38,14 +28,9 @@
Java_edu_wpi_first_hal_RelayJNI_initializeRelayPort
(JNIEnv* env, jclass, jint id, jboolean fwd)
{
- RELAYJNI_LOG(logDEBUG) << "Calling RELAYJNI initializeRelayPort";
- RELAYJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_PortHandle)id;
- RELAYJNI_LOG(logDEBUG) << "Forward = " << (jint)fwd;
int32_t status = 0;
HAL_RelayHandle handle = HAL_InitializeRelayPort(
(HAL_PortHandle)id, static_cast<uint8_t>(fwd), &status);
- RELAYJNI_LOG(logDEBUG) << "Status = " << status;
- RELAYJNI_LOG(logDEBUG) << "Relay Handle = " << handle;
CheckStatusRange(env, status, 0, HAL_GetNumRelayChannels(),
hal::getPortHandleChannel((HAL_PortHandle)id));
return (jint)handle;
@@ -60,8 +45,6 @@
Java_edu_wpi_first_hal_RelayJNI_freeRelayPort
(JNIEnv* env, jclass, jint id)
{
- RELAYJNI_LOG(logDEBUG) << "Calling RELAYJNI freeRelayPort";
- RELAYJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_RelayHandle)id;
HAL_FreeRelayPort((HAL_RelayHandle)id);
}
@@ -74,8 +57,6 @@
Java_edu_wpi_first_hal_RelayJNI_checkRelayChannel
(JNIEnv* env, jclass, jint channel)
{
- RELAYJNI_LOG(logDEBUG) << "Calling RELAYJNI checkRelayChannel";
- RELAYJNI_LOG(logDEBUG) << "Channel = " << channel;
return (jboolean)HAL_CheckRelayChannel(static_cast<uint8_t>(channel));
}
@@ -88,12 +69,8 @@
Java_edu_wpi_first_hal_RelayJNI_setRelay
(JNIEnv* env, jclass, jint id, jboolean value)
{
- RELAYJNI_LOG(logDEBUG) << "Calling RELAYJNI setRelay";
- RELAYJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_RelayHandle)id;
- RELAYJNI_LOG(logDEBUG) << "Flag = " << (jint)value;
int32_t status = 0;
HAL_SetRelay((HAL_RelayHandle)id, value, &status);
- RELAYJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -106,12 +83,8 @@
Java_edu_wpi_first_hal_RelayJNI_getRelay
(JNIEnv* env, jclass, jint id)
{
- RELAYJNI_LOG(logDEBUG) << "Calling RELAYJNI getRelay";
- RELAYJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_RelayHandle)id;
int32_t status = 0;
jboolean returnValue = HAL_GetRelay((HAL_RelayHandle)id, &status);
- RELAYJNI_LOG(logDEBUG) << "Status = " << status;
- RELAYJNI_LOG(logDEBUG) << "getRelayResult = " << (jint)returnValue;
CheckStatus(env, status);
return returnValue;
}
diff --git a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/SPIJNI.cpp b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/SPIJNI.cpp
index d594058..27078fd 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/SPIJNI.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/SPIJNI.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -14,20 +14,10 @@
#include "HALUtil.h"
#include "edu_wpi_first_hal_SPIJNI.h"
#include "hal/SPI.h"
-#include "hal/cpp/Log.h"
using namespace frc;
using namespace wpi::java;
-// set the logging level
-TLogLevel spiJNILogLevel = logWARNING;
-
-#define SPIJNI_LOG(level) \
- if (level > spiJNILogLevel) \
- ; \
- else \
- Log().Get(level)
-
extern "C" {
/*
@@ -39,11 +29,8 @@
Java_edu_wpi_first_hal_SPIJNI_spiInitialize
(JNIEnv* env, jclass, jint port)
{
- SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiInitialize";
- SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
int32_t status = 0;
HAL_InitializeSPI(static_cast<HAL_SPIPort>(port), &status);
- SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatusForceThrow(env, status);
}
@@ -57,8 +44,6 @@
(JNIEnv* env, jclass, jint port, jobject dataToSend, jobject dataReceived,
jbyte size)
{
- SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiTransaction";
- SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
uint8_t* dataToSendPtr = nullptr;
if (dataToSend != 0) {
dataToSendPtr =
@@ -66,12 +51,8 @@
}
uint8_t* dataReceivedPtr =
reinterpret_cast<uint8_t*>(env->GetDirectBufferAddress(dataReceived));
- SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
- SPIJNI_LOG(logDEBUG) << "DataToSendPtr = " << dataToSendPtr;
- SPIJNI_LOG(logDEBUG) << "DataReceivedPtr = " << dataReceivedPtr;
jint retVal = HAL_TransactionSPI(static_cast<HAL_SPIPort>(port),
dataToSendPtr, dataReceivedPtr, size);
- SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
return retVal;
}
@@ -85,9 +66,6 @@
(JNIEnv* env, jclass, jint port, jbyteArray dataToSend,
jbyteArray dataReceived, jbyte size)
{
- SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiTransactionB";
- SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
- SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
wpi::SmallVector<uint8_t, 128> recvBuf;
recvBuf.resize(size);
jint retVal =
@@ -97,7 +75,6 @@
recvBuf.data(), size);
env->SetByteArrayRegion(dataReceived, 0, size,
reinterpret_cast<const jbyte*>(recvBuf.data()));
- SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
return retVal;
}
@@ -110,18 +87,13 @@
Java_edu_wpi_first_hal_SPIJNI_spiWrite
(JNIEnv* env, jclass, jint port, jobject dataToSend, jbyte size)
{
- SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiWrite";
- SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
uint8_t* dataToSendPtr = nullptr;
if (dataToSend != 0) {
dataToSendPtr =
reinterpret_cast<uint8_t*>(env->GetDirectBufferAddress(dataToSend));
}
- SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
- SPIJNI_LOG(logDEBUG) << "DataToSendPtr = " << dataToSendPtr;
jint retVal =
HAL_WriteSPI(static_cast<HAL_SPIPort>(port), dataToSendPtr, size);
- SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
return retVal;
}
@@ -134,14 +106,10 @@
Java_edu_wpi_first_hal_SPIJNI_spiWriteB
(JNIEnv* env, jclass, jint port, jbyteArray dataToSend, jbyte size)
{
- SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiWriteB";
- SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
- SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
jint retVal = HAL_WriteSPI(static_cast<HAL_SPIPort>(port),
reinterpret_cast<const uint8_t*>(
JByteArrayRef(env, dataToSend).array().data()),
size);
- SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
return retVal;
}
@@ -155,13 +123,8 @@
(JNIEnv* env, jclass, jint port, jboolean initiate, jobject dataReceived,
jbyte size)
{
- SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiRead";
- SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
- SPIJNI_LOG(logDEBUG) << "Initiate = " << (jboolean)initiate;
uint8_t* dataReceivedPtr =
reinterpret_cast<uint8_t*>(env->GetDirectBufferAddress(dataReceived));
- SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
- SPIJNI_LOG(logDEBUG) << "DataReceivedPtr = " << dataReceivedPtr;
jint retVal;
if (initiate) {
wpi::SmallVector<uint8_t, 128> sendBuf;
@@ -172,7 +135,6 @@
retVal = HAL_ReadSPI(static_cast<HAL_SPIPort>(port),
reinterpret_cast<uint8_t*>(dataReceivedPtr), size);
}
- SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
return retVal;
}
@@ -186,10 +148,6 @@
(JNIEnv* env, jclass, jint port, jboolean initiate, jbyteArray dataReceived,
jbyte size)
{
- SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiReadB";
- SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
- SPIJNI_LOG(logDEBUG) << "Initiate = " << (jboolean)initiate;
- SPIJNI_LOG(logDEBUG) << "Size = " << (jint)size;
jint retVal;
wpi::SmallVector<uint8_t, 128> recvBuf;
recvBuf.resize(size);
@@ -203,7 +161,6 @@
}
env->SetByteArrayRegion(dataReceived, 0, size,
reinterpret_cast<const jbyte*>(recvBuf.data()));
- SPIJNI_LOG(logDEBUG) << "ReturnValue = " << (jint)retVal;
return retVal;
}
@@ -216,8 +173,6 @@
Java_edu_wpi_first_hal_SPIJNI_spiClose
(JNIEnv*, jclass, jint port)
{
- SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiClose";
- SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
HAL_CloseSPI(static_cast<HAL_SPIPort>(port));
}
@@ -230,9 +185,6 @@
Java_edu_wpi_first_hal_SPIJNI_spiSetSpeed
(JNIEnv*, jclass, jint port, jint speed)
{
- SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetSpeed";
- SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
- SPIJNI_LOG(logDEBUG) << "Speed = " << (jint)speed;
HAL_SetSPISpeed(static_cast<HAL_SPIPort>(port), speed);
}
@@ -246,11 +198,6 @@
(JNIEnv*, jclass, jint port, jint msb_first, jint sample_on_trailing,
jint clk_idle_high)
{
- SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetOpts";
- SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
- SPIJNI_LOG(logDEBUG) << "msb_first = " << msb_first;
- SPIJNI_LOG(logDEBUG) << "sample_on_trailing = " << sample_on_trailing;
- SPIJNI_LOG(logDEBUG) << "clk_idle_high = " << clk_idle_high;
HAL_SetSPIOpts(static_cast<HAL_SPIPort>(port), msb_first, sample_on_trailing,
clk_idle_high);
}
@@ -264,11 +211,8 @@
Java_edu_wpi_first_hal_SPIJNI_spiSetChipSelectActiveHigh
(JNIEnv* env, jclass, jint port)
{
- SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetCSActiveHigh";
- SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
int32_t status = 0;
HAL_SetSPIChipSelectActiveHigh(static_cast<HAL_SPIPort>(port), &status);
- SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -281,11 +225,8 @@
Java_edu_wpi_first_hal_SPIJNI_spiSetChipSelectActiveLow
(JNIEnv* env, jclass, jint port)
{
- SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetCSActiveLow";
- SPIJNI_LOG(logDEBUG) << "Port = " << (jint)port;
int32_t status = 0;
HAL_SetSPIChipSelectActiveLow(static_cast<HAL_SPIPort>(port), &status);
- SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -298,12 +239,8 @@
Java_edu_wpi_first_hal_SPIJNI_spiInitAuto
(JNIEnv* env, jclass, jint port, jint bufferSize)
{
- SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiInitAuto";
- SPIJNI_LOG(logDEBUG) << "Port = " << port;
- SPIJNI_LOG(logDEBUG) << "BufferSize = " << bufferSize;
int32_t status = 0;
HAL_InitSPIAuto(static_cast<HAL_SPIPort>(port), bufferSize, &status);
- SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -316,11 +253,8 @@
Java_edu_wpi_first_hal_SPIJNI_spiFreeAuto
(JNIEnv* env, jclass, jint port)
{
- SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiFreeAuto";
- SPIJNI_LOG(logDEBUG) << "Port = " << port;
int32_t status = 0;
HAL_FreeSPIAuto(static_cast<HAL_SPIPort>(port), &status);
- SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -333,12 +267,8 @@
Java_edu_wpi_first_hal_SPIJNI_spiStartAutoRate
(JNIEnv* env, jclass, jint port, jdouble period)
{
- SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiStartAutoRate";
- SPIJNI_LOG(logDEBUG) << "Port = " << port;
- SPIJNI_LOG(logDEBUG) << "Period = " << period;
int32_t status = 0;
HAL_StartSPIAutoRate(static_cast<HAL_SPIPort>(port), period, &status);
- SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -352,17 +282,10 @@
(JNIEnv* env, jclass, jint port, jint digitalSourceHandle,
jint analogTriggerType, jboolean triggerRising, jboolean triggerFalling)
{
- SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiStartAutoTrigger";
- SPIJNI_LOG(logDEBUG) << "Port = " << port;
- SPIJNI_LOG(logDEBUG) << "DigitalSourceHandle = " << digitalSourceHandle;
- SPIJNI_LOG(logDEBUG) << "AnalogTriggerType = " << analogTriggerType;
- SPIJNI_LOG(logDEBUG) << "TriggerRising = " << (jint)triggerRising;
- SPIJNI_LOG(logDEBUG) << "TriggerFalling = " << (jint)triggerFalling;
int32_t status = 0;
HAL_StartSPIAutoTrigger(static_cast<HAL_SPIPort>(port), digitalSourceHandle,
static_cast<HAL_AnalogTriggerType>(analogTriggerType),
triggerRising, triggerFalling, &status);
- SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -375,11 +298,8 @@
Java_edu_wpi_first_hal_SPIJNI_spiStopAuto
(JNIEnv* env, jclass, jint port)
{
- SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiStopAuto";
- SPIJNI_LOG(logDEBUG) << "Port = " << port;
int32_t status = 0;
HAL_StopSPIAuto(static_cast<HAL_SPIPort>(port), &status);
- SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -392,16 +312,12 @@
Java_edu_wpi_first_hal_SPIJNI_spiSetAutoTransmitData
(JNIEnv* env, jclass, jint port, jbyteArray dataToSend, jint zeroSize)
{
- SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiSetAutoTransmitData";
- SPIJNI_LOG(logDEBUG) << "Port = " << port;
- SPIJNI_LOG(logDEBUG) << "ZeroSize = " << zeroSize;
JByteArrayRef jarr(env, dataToSend);
int32_t status = 0;
HAL_SetSPIAutoTransmitData(
static_cast<HAL_SPIPort>(port),
reinterpret_cast<const uint8_t*>(jarr.array().data()),
jarr.array().size(), zeroSize, &status);
- SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -414,11 +330,8 @@
Java_edu_wpi_first_hal_SPIJNI_spiForceAutoRead
(JNIEnv* env, jclass, jint port)
{
- SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiForceAutoRead";
- SPIJNI_LOG(logDEBUG) << "Port = " << port;
int32_t status = 0;
HAL_ForceSPIAutoRead(static_cast<HAL_SPIPort>(port), &status);
- SPIJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
@@ -432,17 +345,11 @@
(JNIEnv* env, jclass, jint port, jobject buffer, jint numToRead,
jdouble timeout)
{
- SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiReadAutoReceivedData";
- SPIJNI_LOG(logDEBUG) << "Port = " << port;
- SPIJNI_LOG(logDEBUG) << "NumToRead = " << numToRead;
- SPIJNI_LOG(logDEBUG) << "Timeout = " << timeout;
uint32_t* recvBuf =
reinterpret_cast<uint32_t*>(env->GetDirectBufferAddress(buffer));
int32_t status = 0;
jint retval = HAL_ReadSPIAutoReceivedData(
static_cast<HAL_SPIPort>(port), recvBuf, numToRead, timeout, &status);
- SPIJNI_LOG(logDEBUG) << "Status = " << status;
- SPIJNI_LOG(logDEBUG) << "Return = " << retval;
CheckStatus(env, status);
return retval;
}
@@ -457,18 +364,12 @@
(JNIEnv* env, jclass, jint port, jintArray buffer, jint numToRead,
jdouble timeout)
{
- SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiReadAutoReceivedData";
- SPIJNI_LOG(logDEBUG) << "Port = " << port;
- SPIJNI_LOG(logDEBUG) << "NumToRead = " << numToRead;
- SPIJNI_LOG(logDEBUG) << "Timeout = " << timeout;
wpi::SmallVector<uint32_t, 128> recvBuf;
recvBuf.resize(numToRead);
int32_t status = 0;
jint retval =
HAL_ReadSPIAutoReceivedData(static_cast<HAL_SPIPort>(port),
recvBuf.data(), numToRead, timeout, &status);
- SPIJNI_LOG(logDEBUG) << "Status = " << status;
- SPIJNI_LOG(logDEBUG) << "Return = " << retval;
if (!CheckStatus(env, status)) return retval;
if (numToRead > 0) {
env->SetIntArrayRegion(buffer, 0, numToRead,
@@ -486,13 +387,9 @@
Java_edu_wpi_first_hal_SPIJNI_spiGetAutoDroppedCount
(JNIEnv* env, jclass, jint port)
{
- SPIJNI_LOG(logDEBUG) << "Calling SPIJNI spiGetAutoDroppedCount";
- SPIJNI_LOG(logDEBUG) << "Port = " << port;
int32_t status = 0;
auto retval =
HAL_GetSPIAutoDroppedCount(static_cast<HAL_SPIPort>(port), &status);
- SPIJNI_LOG(logDEBUG) << "Status = " << status;
- SPIJNI_LOG(logDEBUG) << "Return = " << retval;
CheckStatus(env, status);
return retval;
}
diff --git a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/SerialPortJNI.cpp b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/SerialPortJNI.cpp
index 4524fe6..9fe9d92 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/SerialPortJNI.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/SerialPortJNI.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -14,261 +14,222 @@
#include "HALUtil.h"
#include "edu_wpi_first_hal_SerialPortJNI.h"
#include "hal/SerialPort.h"
-#include "hal/cpp/Log.h"
using namespace frc;
using namespace wpi::java;
-// set the logging level
-TLogLevel serialJNILogLevel = logWARNING;
-
-#define SERIALJNI_LOG(level) \
- if (level > serialJNILogLevel) \
- ; \
- else \
- Log().Get(level)
-
extern "C" {
/*
* Class: edu_wpi_first_hal_SerialPortJNI
* Method: serialInitializePort
- * Signature: (B)V
+ * Signature: (B)I
*/
-JNIEXPORT void JNICALL
+JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_SerialPortJNI_serialInitializePort
(JNIEnv* env, jclass, jbyte port)
{
- SERIALJNI_LOG(logDEBUG) << "Calling Serial Initialize";
- SERIALJNI_LOG(logDEBUG) << "Port = " << (jint)port;
int32_t status = 0;
- HAL_InitializeSerialPort(static_cast<HAL_SerialPort>(port), &status);
- SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+ auto handle =
+ HAL_InitializeSerialPort(static_cast<HAL_SerialPort>(port), &status);
CheckStatusForceThrow(env, status);
+ return static_cast<jint>(handle);
}
/*
* Class: edu_wpi_first_hal_SerialPortJNI
* Method: serialInitializePortDirect
- * Signature: (BLjava/lang/String;)V
+ * Signature: (BLjava/lang/String;)I
*/
-JNIEXPORT void JNICALL
+JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_SerialPortJNI_serialInitializePortDirect
(JNIEnv* env, jclass, jbyte port, jstring portName)
{
- SERIALJNI_LOG(logDEBUG) << "Calling Serial Initialize Direct";
- SERIALJNI_LOG(logDEBUG) << "Port = " << (jint)port;
JStringRef portNameRef{env, portName};
- SERIALJNI_LOG(logDEBUG) << "PortName = " << portNameRef.c_str();
int32_t status = 0;
- HAL_InitializeSerialPortDirect(static_cast<HAL_SerialPort>(port),
- portNameRef.c_str(), &status);
- SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+ auto handle = HAL_InitializeSerialPortDirect(
+ static_cast<HAL_SerialPort>(port), portNameRef.c_str(), &status);
CheckStatusForceThrow(env, status);
+ return static_cast<jint>(handle);
}
/*
* Class: edu_wpi_first_hal_SerialPortJNI
* Method: serialSetBaudRate
- * Signature: (BI)V
+ * Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_SerialPortJNI_serialSetBaudRate
- (JNIEnv* env, jclass, jbyte port, jint rate)
+ (JNIEnv* env, jclass, jint handle, jint rate)
{
- SERIALJNI_LOG(logDEBUG) << "Setting Serial Baud Rate";
- SERIALJNI_LOG(logDEBUG) << "Baud: " << rate;
int32_t status = 0;
- HAL_SetSerialBaudRate(static_cast<HAL_SerialPort>(port), rate, &status);
- SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+ HAL_SetSerialBaudRate(static_cast<HAL_SerialPortHandle>(handle), rate,
+ &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_SerialPortJNI
* Method: serialSetDataBits
- * Signature: (BB)V
+ * Signature: (IB)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_SerialPortJNI_serialSetDataBits
- (JNIEnv* env, jclass, jbyte port, jbyte bits)
+ (JNIEnv* env, jclass, jint handle, jbyte bits)
{
- SERIALJNI_LOG(logDEBUG) << "Setting Serial Data Bits";
- SERIALJNI_LOG(logDEBUG) << "Data Bits: " << bits;
int32_t status = 0;
- HAL_SetSerialDataBits(static_cast<HAL_SerialPort>(port), bits, &status);
- SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+ HAL_SetSerialDataBits(static_cast<HAL_SerialPortHandle>(handle), bits,
+ &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_SerialPortJNI
* Method: serialSetParity
- * Signature: (BB)V
+ * Signature: (IB)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_SerialPortJNI_serialSetParity
- (JNIEnv* env, jclass, jbyte port, jbyte parity)
+ (JNIEnv* env, jclass, jint handle, jbyte parity)
{
- SERIALJNI_LOG(logDEBUG) << "Setting Serial Parity";
- SERIALJNI_LOG(logDEBUG) << "Parity: " << parity;
int32_t status = 0;
- HAL_SetSerialParity(static_cast<HAL_SerialPort>(port), parity, &status);
- SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+ HAL_SetSerialParity(static_cast<HAL_SerialPortHandle>(handle), parity,
+ &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_SerialPortJNI
* Method: serialSetStopBits
- * Signature: (BB)V
+ * Signature: (IB)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_SerialPortJNI_serialSetStopBits
- (JNIEnv* env, jclass, jbyte port, jbyte bits)
+ (JNIEnv* env, jclass, jint handle, jbyte bits)
{
- SERIALJNI_LOG(logDEBUG) << "Setting Serial Stop Bits";
- SERIALJNI_LOG(logDEBUG) << "Stop Bits: " << bits;
int32_t status = 0;
- HAL_SetSerialStopBits(static_cast<HAL_SerialPort>(port), bits, &status);
- SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+ HAL_SetSerialStopBits(static_cast<HAL_SerialPortHandle>(handle), bits,
+ &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_SerialPortJNI
* Method: serialSetWriteMode
- * Signature: (BB)V
+ * Signature: (IB)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_SerialPortJNI_serialSetWriteMode
- (JNIEnv* env, jclass, jbyte port, jbyte mode)
+ (JNIEnv* env, jclass, jint handle, jbyte mode)
{
- SERIALJNI_LOG(logDEBUG) << "Setting Serial Write Mode";
- SERIALJNI_LOG(logDEBUG) << "Write mode: " << mode;
int32_t status = 0;
- HAL_SetSerialWriteMode(static_cast<HAL_SerialPort>(port), mode, &status);
- SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+ HAL_SetSerialWriteMode(static_cast<HAL_SerialPortHandle>(handle), mode,
+ &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_SerialPortJNI
* Method: serialSetFlowControl
- * Signature: (BB)V
+ * Signature: (IB)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_SerialPortJNI_serialSetFlowControl
- (JNIEnv* env, jclass, jbyte port, jbyte flow)
+ (JNIEnv* env, jclass, jint handle, jbyte flow)
{
- SERIALJNI_LOG(logDEBUG) << "Setting Serial Flow Control";
- SERIALJNI_LOG(logDEBUG) << "Flow Control: " << flow;
int32_t status = 0;
- HAL_SetSerialFlowControl(static_cast<HAL_SerialPort>(port), flow, &status);
- SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+ HAL_SetSerialFlowControl(static_cast<HAL_SerialPortHandle>(handle), flow,
+ &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_SerialPortJNI
* Method: serialSetTimeout
- * Signature: (BD)V
+ * Signature: (ID)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_SerialPortJNI_serialSetTimeout
- (JNIEnv* env, jclass, jbyte port, jdouble timeout)
+ (JNIEnv* env, jclass, jint handle, jdouble timeout)
{
- SERIALJNI_LOG(logDEBUG) << "Setting Serial Timeout";
- SERIALJNI_LOG(logDEBUG) << "Timeout: " << timeout;
int32_t status = 0;
- HAL_SetSerialTimeout(static_cast<HAL_SerialPort>(port), timeout, &status);
- SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+ HAL_SetSerialTimeout(static_cast<HAL_SerialPortHandle>(handle), timeout,
+ &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_SerialPortJNI
* Method: serialEnableTermination
- * Signature: (BC)V
+ * Signature: (IC)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_SerialPortJNI_serialEnableTermination
- (JNIEnv* env, jclass, jbyte port, jchar terminator)
+ (JNIEnv* env, jclass, jint handle, jchar terminator)
{
- SERIALJNI_LOG(logDEBUG) << "Setting Serial Enable Termination";
- SERIALJNI_LOG(logDEBUG) << "Terminator: " << terminator;
int32_t status = 0;
- HAL_EnableSerialTermination(static_cast<HAL_SerialPort>(port), terminator,
- &status);
- SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+ HAL_EnableSerialTermination(static_cast<HAL_SerialPortHandle>(handle),
+ terminator, &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_SerialPortJNI
* Method: serialDisableTermination
- * Signature: (B)V
+ * Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_SerialPortJNI_serialDisableTermination
- (JNIEnv* env, jclass, jbyte port)
+ (JNIEnv* env, jclass, jint handle)
{
- SERIALJNI_LOG(logDEBUG) << "Setting Serial Disable termination";
int32_t status = 0;
- HAL_DisableSerialTermination(static_cast<HAL_SerialPort>(port), &status);
- SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+ HAL_DisableSerialTermination(static_cast<HAL_SerialPortHandle>(handle),
+ &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_SerialPortJNI
* Method: serialSetReadBufferSize
- * Signature: (BI)V
+ * Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_SerialPortJNI_serialSetReadBufferSize
- (JNIEnv* env, jclass, jbyte port, jint size)
+ (JNIEnv* env, jclass, jint handle, jint size)
{
- SERIALJNI_LOG(logDEBUG) << "Setting Serial Read Buffer Size";
- SERIALJNI_LOG(logDEBUG) << "Size: " << size;
int32_t status = 0;
- HAL_SetSerialReadBufferSize(static_cast<HAL_SerialPort>(port), size, &status);
- SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+ HAL_SetSerialReadBufferSize(static_cast<HAL_SerialPortHandle>(handle), size,
+ &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_SerialPortJNI
* Method: serialSetWriteBufferSize
- * Signature: (BI)V
+ * Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_SerialPortJNI_serialSetWriteBufferSize
- (JNIEnv* env, jclass, jbyte port, jint size)
+ (JNIEnv* env, jclass, jint handle, jint size)
{
- SERIALJNI_LOG(logDEBUG) << "Setting Serial Write Buffer Size";
- SERIALJNI_LOG(logDEBUG) << "Size: " << size;
int32_t status = 0;
- HAL_SetSerialWriteBufferSize(static_cast<HAL_SerialPort>(port), size,
+ HAL_SetSerialWriteBufferSize(static_cast<HAL_SerialPortHandle>(handle), size,
&status);
- SERIALJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_SerialPortJNI
* Method: serialGetBytesReceived
- * Signature: (B)I
+ * Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_SerialPortJNI_serialGetBytesReceived
- (JNIEnv* env, jclass, jbyte port)
+ (JNIEnv* env, jclass, jint handle)
{
- SERIALJNI_LOG(logDEBUG) << "Serial Get Bytes Received";
int32_t status = 0;
- jint retVal =
- HAL_GetSerialBytesReceived(static_cast<HAL_SerialPort>(port), &status);
- SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+ jint retVal = HAL_GetSerialBytesReceived(
+ static_cast<HAL_SerialPortHandle>(handle), &status);
CheckStatus(env, status);
return retVal;
}
@@ -276,22 +237,19 @@
/*
* Class: edu_wpi_first_hal_SerialPortJNI
* Method: serialRead
- * Signature: (B[BI)I
+ * Signature: (I[BI)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_SerialPortJNI_serialRead
- (JNIEnv* env, jclass, jbyte port, jbyteArray dataReceived, jint size)
+ (JNIEnv* env, jclass, jint handle, jbyteArray dataReceived, jint size)
{
- SERIALJNI_LOG(logDEBUG) << "Serial Read";
wpi::SmallVector<char, 128> recvBuf;
recvBuf.resize(size);
int32_t status = 0;
- jint retVal = HAL_ReadSerial(static_cast<HAL_SerialPort>(port),
+ jint retVal = HAL_ReadSerial(static_cast<HAL_SerialPortHandle>(handle),
recvBuf.data(), size, &status);
env->SetByteArrayRegion(dataReceived, 0, size,
reinterpret_cast<const jbyte*>(recvBuf.data()));
- SERIALJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
- SERIALJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
return retVal;
}
@@ -299,21 +257,18 @@
/*
* Class: edu_wpi_first_hal_SerialPortJNI
* Method: serialWrite
- * Signature: (B[BI)I
+ * Signature: (I[BI)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_SerialPortJNI_serialWrite
- (JNIEnv* env, jclass, jbyte port, jbyteArray dataToSend, jint size)
+ (JNIEnv* env, jclass, jint handle, jbyteArray dataToSend, jint size)
{
- SERIALJNI_LOG(logDEBUG) << "Serial Write";
int32_t status = 0;
jint retVal =
- HAL_WriteSerial(static_cast<HAL_SerialPort>(port),
+ HAL_WriteSerial(static_cast<HAL_SerialPortHandle>(handle),
reinterpret_cast<const char*>(
JByteArrayRef(env, dataToSend).array().data()),
size, &status);
- SERIALJNI_LOG(logDEBUG) << "ReturnValue = " << retVal;
- SERIALJNI_LOG(logDEBUG) << "Status = " << status;
CheckStatus(env, status);
return retVal;
}
@@ -321,48 +276,42 @@
/*
* Class: edu_wpi_first_hal_SerialPortJNI
* Method: serialFlush
- * Signature: (B)V
+ * Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_SerialPortJNI_serialFlush
- (JNIEnv* env, jclass, jbyte port)
+ (JNIEnv* env, jclass, jint handle)
{
- SERIALJNI_LOG(logDEBUG) << "Serial Flush";
int32_t status = 0;
- HAL_FlushSerial(static_cast<HAL_SerialPort>(port), &status);
- SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+ HAL_FlushSerial(static_cast<HAL_SerialPortHandle>(handle), &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_SerialPortJNI
* Method: serialClear
- * Signature: (B)V
+ * Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_SerialPortJNI_serialClear
- (JNIEnv* env, jclass, jbyte port)
+ (JNIEnv* env, jclass, jint handle)
{
- SERIALJNI_LOG(logDEBUG) << "Serial Clear";
int32_t status = 0;
- HAL_ClearSerial(static_cast<HAL_SerialPort>(port), &status);
- SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+ HAL_ClearSerial(static_cast<HAL_SerialPortHandle>(handle), &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_SerialPortJNI
* Method: serialClose
- * Signature: (B)V
+ * Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_SerialPortJNI_serialClose
- (JNIEnv* env, jclass, jbyte port)
+ (JNIEnv* env, jclass, jint handle)
{
- SERIALJNI_LOG(logDEBUG) << "Serial Close";
int32_t status = 0;
- HAL_CloseSerial(static_cast<HAL_SerialPort>(port), &status);
- SERIALJNI_LOG(logDEBUG) << "Status = " << status;
+ HAL_CloseSerial(static_cast<HAL_SerialPortHandle>(handle), &status);
CheckStatus(env, status);
}
diff --git a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/SimDeviceJNI.cpp b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/SimDeviceJNI.cpp
new file mode 100644
index 0000000..d9652cc
--- /dev/null
+++ b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/SimDeviceJNI.cpp
@@ -0,0 +1,168 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <jni.h>
+
+#include <wpi/jni_util.h>
+
+#include "HALUtil.h"
+#include "edu_wpi_first_hal_SimDeviceJNI.h"
+#include "hal/SimDevice.h"
+
+using namespace wpi::java;
+
+static HAL_Value ValueFromJava(jint type, jlong value1, jdouble value2) {
+ HAL_Value value;
+ value.type = static_cast<HAL_Type>(type);
+ switch (value.type) {
+ case HAL_BOOLEAN:
+ value.data.v_boolean = value1;
+ break;
+ case HAL_DOUBLE:
+ value.data.v_double = value2;
+ break;
+ case HAL_ENUM:
+ value.data.v_enum = value1;
+ break;
+ case HAL_INT:
+ value.data.v_int = value1;
+ break;
+ case HAL_LONG:
+ value.data.v_long = value1;
+ break;
+ default:
+ break;
+ }
+ return value;
+}
+
+extern "C" {
+
+/*
+ * Class: edu_wpi_first_hal_SimDeviceJNI
+ * Method: createSimDevice
+ * Signature: (Ljava/lang/String;)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_SimDeviceJNI_createSimDevice
+ (JNIEnv* env, jclass, jstring name)
+{
+ return HAL_CreateSimDevice(JStringRef{env, name}.c_str());
+}
+
+/*
+ * Class: edu_wpi_first_hal_SimDeviceJNI
+ * Method: freeSimDevice
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_SimDeviceJNI_freeSimDevice
+ (JNIEnv*, jclass, jint handle)
+{
+ HAL_FreeSimDevice(handle);
+}
+
+/*
+ * Class: edu_wpi_first_hal_SimDeviceJNI
+ * Method: createSimValueNative
+ * Signature: (ILjava/lang/String;ZIJD)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_SimDeviceJNI_createSimValueNative
+ (JNIEnv* env, jclass, jint device, jstring name, jboolean readonly, jint type,
+ jlong value1, jdouble value2)
+{
+ return HAL_CreateSimValue(device, JStringRef{env, name}.c_str(), readonly,
+ ValueFromJava(type, value1, value2));
+}
+
+/*
+ * Class: edu_wpi_first_hal_SimDeviceJNI
+ * Method: createSimValueEnum
+ * Signature: (ILjava/lang/String;Z[Ljava/lang/Object;I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_SimDeviceJNI_createSimValueEnum
+ (JNIEnv* env, jclass, jint device, jstring name, jboolean readonly,
+ jobjectArray options, jint initialValue)
+{
+ size_t len = env->GetArrayLength(options);
+ std::vector<std::string> arr;
+ arr.reserve(len);
+ for (size_t i = 0; i < len; ++i) {
+ JLocal<jstring> elem{
+ env, static_cast<jstring>(env->GetObjectArrayElement(options, i))};
+ if (!elem) return 0;
+ arr.push_back(JStringRef{env, elem}.str());
+ }
+ wpi::SmallVector<const char*, 8> carr;
+ for (auto&& val : arr) carr.push_back(val.c_str());
+ return HAL_CreateSimValueEnum(device, JStringRef{env, name}.c_str(), readonly,
+ len, carr.data(), initialValue);
+}
+
+/*
+ * Class: edu_wpi_first_hal_SimDeviceJNI
+ * Method: getSimValue
+ * Signature: (I)Ljava/lang/Object;
+ */
+JNIEXPORT jobject JNICALL
+Java_edu_wpi_first_hal_SimDeviceJNI_getSimValue
+ (JNIEnv* env, jclass, jint handle)
+{
+ return frc::CreateHALValue(env, HAL_GetSimValue(handle));
+}
+
+/*
+ * Class: edu_wpi_first_hal_SimDeviceJNI
+ * Method: getSimValueDouble
+ * Signature: (I)D
+ */
+JNIEXPORT jdouble JNICALL
+Java_edu_wpi_first_hal_SimDeviceJNI_getSimValueDouble
+ (JNIEnv*, jclass, jint handle)
+{
+ return HAL_GetSimValueDouble(handle);
+}
+
+/*
+ * Class: edu_wpi_first_hal_SimDeviceJNI
+ * Method: getSimValueEnum
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_SimDeviceJNI_getSimValueEnum
+ (JNIEnv*, jclass, jint handle)
+{
+ return HAL_GetSimValueEnum(handle);
+}
+
+/*
+ * Class: edu_wpi_first_hal_SimDeviceJNI
+ * Method: getSimValueBoolean
+ * Signature: (I)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_hal_SimDeviceJNI_getSimValueBoolean
+ (JNIEnv*, jclass, jint handle)
+{
+ return HAL_GetSimValueBoolean(handle);
+}
+
+/*
+ * Class: edu_wpi_first_hal_SimDeviceJNI
+ * Method: setSimValueNative
+ * Signature: (IIJD)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_SimDeviceJNI_setSimValueNative
+ (JNIEnv*, jclass, jint handle, jint type, jlong value1, jdouble value2)
+{
+ HAL_SetSimValue(handle, ValueFromJava(type, value1, value2));
+}
+
+} // extern "C"
diff --git a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/SolenoidJNI.cpp b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/SolenoidJNI.cpp
index 524b70e..4e6f139 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/SolenoidJNI.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/SolenoidJNI.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -11,19 +11,10 @@
#include "edu_wpi_first_hal_SolenoidJNI.h"
#include "hal/Ports.h"
#include "hal/Solenoid.h"
-#include "hal/cpp/Log.h"
#include "hal/handles/HandlesInternal.h"
using namespace frc;
-TLogLevel solenoidJNILogLevel = logERROR;
-
-#define SOLENOIDJNI_LOG(level) \
- if (level > solenoidJNILogLevel) \
- ; \
- else \
- Log().Get(level)
-
extern "C" {
/*
@@ -35,17 +26,10 @@
Java_edu_wpi_first_hal_SolenoidJNI_initializeSolenoidPort
(JNIEnv* env, jclass, jint id)
{
- SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI initializeSolenoidPort";
-
- SOLENOIDJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_PortHandle)id;
-
int32_t status = 0;
HAL_SolenoidHandle handle =
HAL_InitializeSolenoidPort((HAL_PortHandle)id, &status);
- SOLENOIDJNI_LOG(logDEBUG) << "Status = " << status;
- SOLENOIDJNI_LOG(logDEBUG) << "Solenoid Port Handle = " << handle;
-
// Use solenoid channels, as we have to pick one.
CheckStatusRange(env, status, 0, HAL_GetNumSolenoidChannels(),
hal::getPortHandleChannel((HAL_PortHandle)id));
@@ -61,8 +45,6 @@
Java_edu_wpi_first_hal_SolenoidJNI_checkSolenoidChannel
(JNIEnv* env, jclass, jint channel)
{
- SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI checkSolenoidChannel";
- SOLENOIDJNI_LOG(logDEBUG) << "Channel = " << channel;
return HAL_CheckSolenoidChannel(channel);
}
@@ -75,8 +57,6 @@
Java_edu_wpi_first_hal_SolenoidJNI_checkSolenoidModule
(JNIEnv* env, jclass, jint module)
{
- SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI checkSolenoidModule";
- SOLENOIDJNI_LOG(logDEBUG) << "Module = " << module;
return HAL_CheckSolenoidModule(module);
}
@@ -89,9 +69,6 @@
Java_edu_wpi_first_hal_SolenoidJNI_freeSolenoidPort
(JNIEnv* env, jclass, jint id)
{
- SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI initializeSolenoidPort";
-
- SOLENOIDJNI_LOG(logDEBUG) << "Port Handle = " << (HAL_SolenoidHandle)id;
HAL_FreeSolenoidPort((HAL_SolenoidHandle)id);
}
@@ -104,11 +81,6 @@
Java_edu_wpi_first_hal_SolenoidJNI_setSolenoid
(JNIEnv* env, jclass, jint solenoid_port, jboolean value)
{
- SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI SetSolenoid";
-
- SOLENOIDJNI_LOG(logDEBUG)
- << "Solenoid Port Handle = " << (HAL_SolenoidHandle)solenoid_port;
-
int32_t status = 0;
HAL_SetSolenoid((HAL_SolenoidHandle)solenoid_port, value, &status);
CheckStatus(env, status);
@@ -209,12 +181,6 @@
Java_edu_wpi_first_hal_SolenoidJNI_setOneShotDuration
(JNIEnv* env, jclass, jint solenoid_port, jlong durationMS)
{
- SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI SetOneShotDuration";
-
- SOLENOIDJNI_LOG(logDEBUG)
- << "Solenoid Port Handle = " << (HAL_SolenoidHandle)solenoid_port;
- SOLENOIDJNI_LOG(logDEBUG) << "Duration (MS) = " << durationMS;
-
int32_t status = 0;
HAL_SetOneShotDuration((HAL_SolenoidHandle)solenoid_port, durationMS,
&status);
@@ -230,11 +196,6 @@
Java_edu_wpi_first_hal_SolenoidJNI_fireOneShot
(JNIEnv* env, jclass, jint solenoid_port)
{
- SOLENOIDJNI_LOG(logDEBUG) << "Calling SolenoidJNI fireOneShot";
-
- SOLENOIDJNI_LOG(logDEBUG)
- << "Solenoid Port Handle = " << (HAL_SolenoidHandle)solenoid_port;
-
int32_t status = 0;
HAL_FireOneShot((HAL_SolenoidHandle)solenoid_port, &status);
CheckStatus(env, status);
diff --git a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/ThreadsJNI.cpp b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/ThreadsJNI.cpp
index ea3cac6..d4620e2 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/ThreadsJNI.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/cpp/jni/ThreadsJNI.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,19 +12,9 @@
#include "HALUtil.h"
#include "edu_wpi_first_hal_ThreadsJNI.h"
#include "hal/Threads.h"
-#include "hal/cpp/Log.h"
using namespace frc;
-// set the logging level
-TLogLevel threadsJNILogLevel = logWARNING;
-
-#define THREADSJNI_LOG(level) \
- if (level > threadsJNILogLevel) \
- ; \
- else \
- Log().Get(level)
-
extern "C" {
/*
* Class: edu_wpi_first_hal_ThreadsJNI
@@ -35,7 +25,6 @@
Java_edu_wpi_first_hal_ThreadsJNI_getCurrentThreadPriority
(JNIEnv* env, jclass)
{
- THREADSJNI_LOG(logDEBUG) << "Callling GetCurrentThreadPriority";
int32_t status = 0;
HAL_Bool isRT = false;
auto ret = HAL_GetCurrentThreadPriority(&isRT, &status);
@@ -52,7 +41,6 @@
Java_edu_wpi_first_hal_ThreadsJNI_getCurrentThreadIsRealTime
(JNIEnv* env, jclass)
{
- THREADSJNI_LOG(logDEBUG) << "Callling GetCurrentThreadIsRealTime";
int32_t status = 0;
HAL_Bool isRT = false;
HAL_GetCurrentThreadPriority(&isRT, &status);
@@ -69,7 +57,6 @@
Java_edu_wpi_first_hal_ThreadsJNI_setCurrentThreadPriority
(JNIEnv* env, jclass, jboolean realTime, jint priority)
{
- THREADSJNI_LOG(logDEBUG) << "Callling SetCurrentThreadPriority";
int32_t status = 0;
auto ret = HAL_SetCurrentThreadPriority(
(HAL_Bool)realTime, static_cast<int32_t>(priority), &status);
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/hal/AnalogInput.h b/third_party/allwpilib_2019/hal/src/main/native/include/hal/AnalogInput.h
index 45e6662..c0e45b3 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/hal/AnalogInput.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/hal/AnalogInput.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -56,6 +56,15 @@
HAL_Bool HAL_CheckAnalogInputChannel(int32_t channel);
/**
+ * Indicates the analog input is used by a simulated device.
+ *
+ * @param handle the analog input handle
+ * @param device simulated device handle
+ */
+void HAL_SetAnalogInputSimDevice(HAL_AnalogInputHandle handle,
+ HAL_SimDeviceHandle device);
+
+/**
* Sets the sample rate.
*
* This is a global setting for the Athena and effects all channels.
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/hal/CANAPI.h b/third_party/allwpilib_2019/hal/src/main/native/include/hal/CANAPI.h
index 48c254d..7a6bd88 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/hal/CANAPI.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/hal/CANAPI.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -74,6 +74,20 @@
int32_t repeatMs, int32_t* status);
/**
+ * Writes an RTR frame of the specified length to the CAN device with the
+ * specific ID.
+ *
+ * By spec, the length must be equal to the length sent by the other device,
+ * otherwise behavior is unspecified.
+ *
+ * @param handle the CAN handle
+ * @param length the length of data to request (0-8)
+ * @param apiId the ID to write (0-1023)
+ */
+void HAL_WriteCANRTRFrame(HAL_CANHandle handle, int32_t length, int32_t apiId,
+ int32_t* status);
+
+/**
* Stops a repeating packet with a specific ID.
*
* This ID is 10 bits.
@@ -134,28 +148,6 @@
uint64_t* receivedTimestamp, int32_t timeoutMs,
int32_t* status);
-/**
- * Reads a CAN packet. The will return the last packet received until the
- * packet is older then the requested timeout. Then it will return an error
- * code. The period parameter is used when you know the packet is sent at
- * specific intervals, so calls will not attempt to read a new packet from the
- * network until that period has passed. We do not recommend users use this
- * API unless they know the implications.
- *
- * @param handle the CAN handle
- * @param apiId the ID to read (0-1023)
- * @param data the packet data (8 bytes)
- * @param length the received length (0-8 bytes)
- * @param receivedTimestamp the packet received timestamp (based off of
- * CLOCK_MONOTONIC)
- * @param timeoutMs the timeout time for the packet
- * @param periodMs the standard period for the packet
- */
-void HAL_ReadCANPeriodicPacket(HAL_CANHandle handle, int32_t apiId,
- uint8_t* data, int32_t* length,
- uint64_t* receivedTimestamp, int32_t timeoutMs,
- int32_t periodMs, int32_t* status);
-
#ifdef __cplusplus
} // extern "C"
#endif
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/hal/CANAPITypes.h b/third_party/allwpilib_2019/hal/src/main/native/include/hal/CANAPITypes.h
index 4bf98bd..31a64ab 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/hal/CANAPITypes.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/hal/CANAPITypes.h
@@ -1,56 +1,61 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include <stdint.h>
-
-#include "hal/Types.h"
-
-/**
- * @defgroup hal_canapi CAN API Functions
- * @ingroup hal_capi
- * @{
- */
-
-// clang-format off
-/**
- * The CAN device type.
- *
- * Teams should use HAL_CAN_Dev_kMiscellaneous
- */
-HAL_ENUM(HAL_CANDeviceType) {
- HAL_CAN_Dev_kBroadcast = 0,
- HAL_CAN_Dev_kRobotController = 1,
- HAL_CAN_Dev_kMotorController = 2,
- HAL_CAN_Dev_kRelayController = 3,
- HAL_CAN_Dev_kGyroSensor = 4,
- HAL_CAN_Dev_kAccelerometer = 5,
- HAL_CAN_Dev_kUltrasonicSensor = 6,
- HAL_CAN_Dev_kGearToothSensor = 7,
- HAL_CAN_Dev_kPowerDistribution = 8,
- HAL_CAN_Dev_kPneumatics = 9,
- HAL_CAN_Dev_kMiscellaneous = 10,
- HAL_CAN_Dev_kFirmwareUpdate = 31
-};
-
-/**
- * The CAN manufacturer ID.
- *
- * Teams should use HAL_CAN_Man_kTeamUse.
- */
-HAL_ENUM(HAL_CANManufacturer) {
- HAL_CAN_Man_kBroadcast = 0,
- HAL_CAN_Man_kNI = 1,
- HAL_CAN_Man_kLM = 2,
- HAL_CAN_Man_kDEKA = 3,
- HAL_CAN_Man_kCTRE = 4,
- HAL_CAN_Man_kMS = 7,
- HAL_CAN_Man_kTeamUse = 8,
-};
-// clang-format on
-/** @} */
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <stdint.h>
+
+#include "hal/Types.h"
+
+/**
+ * @defgroup hal_canapi CAN API Functions
+ * @ingroup hal_capi
+ * @{
+ */
+
+// clang-format off
+/**
+ * The CAN device type.
+ *
+ * Teams should use HAL_CAN_Dev_kMiscellaneous
+ */
+HAL_ENUM(HAL_CANDeviceType) {
+ HAL_CAN_Dev_kBroadcast = 0,
+ HAL_CAN_Dev_kRobotController = 1,
+ HAL_CAN_Dev_kMotorController = 2,
+ HAL_CAN_Dev_kRelayController = 3,
+ HAL_CAN_Dev_kGyroSensor = 4,
+ HAL_CAN_Dev_kAccelerometer = 5,
+ HAL_CAN_Dev_kUltrasonicSensor = 6,
+ HAL_CAN_Dev_kGearToothSensor = 7,
+ HAL_CAN_Dev_kPowerDistribution = 8,
+ HAL_CAN_Dev_kPneumatics = 9,
+ HAL_CAN_Dev_kMiscellaneous = 10,
+ HAL_CAN_Dev_kFirmwareUpdate = 31
+};
+
+/**
+ * The CAN manufacturer ID.
+ *
+ * Teams should use HAL_CAN_Man_kTeamUse.
+ */
+HAL_ENUM(HAL_CANManufacturer) {
+ HAL_CAN_Man_kBroadcast = 0,
+ HAL_CAN_Man_kNI = 1,
+ HAL_CAN_Man_kLM = 2,
+ HAL_CAN_Man_kDEKA = 3,
+ HAL_CAN_Man_kCTRE = 4,
+ HAL_CAN_Man_kREV = 5,
+ HAL_CAN_Man_kGrapple = 6,
+ HAL_CAN_Man_kMS = 7,
+ HAL_CAN_Man_kTeamUse = 8,
+ HAL_CAN_Man_kKauaiLabs = 9,
+ HAL_CAN_Man_kCopperforge = 10,
+ HAL_CAN_Man_kPWF = 11
+};
+// clang-format on
+/** @} */
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/hal/DIO.h b/third_party/allwpilib_2019/hal/src/main/native/include/hal/DIO.h
index 7812306..6ffc71f 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/hal/DIO.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/hal/DIO.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -42,6 +42,14 @@
void HAL_FreeDIOPort(HAL_DigitalHandle dioPortHandle);
/**
+ * Indicates the DIO channel is used by a simulated device.
+ *
+ * @param handle the DIO channel handle
+ * @param device simulated device handle
+ */
+void HAL_SetDIOSimDevice(HAL_DigitalHandle handle, HAL_SimDeviceHandle device);
+
+/**
* Allocates a DO PWM Generator.
*
* @return the allocated digital PWM handle
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/hal/DriverStation.h b/third_party/allwpilib_2019/hal/src/main/native/include/hal/DriverStation.h
index 1c18681..db98698 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/hal/DriverStation.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/hal/DriverStation.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2013-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2013-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -187,8 +187,6 @@
*/
int32_t HAL_GetMatchInfo(HAL_MatchInfo* info);
-#ifndef HAL_USE_LABVIEW
-
/**
* Releases the DS Mutex to allow proper shutdown of any threads that are
* waiting on it.
@@ -268,8 +266,6 @@
*/
void HAL_ObserveUserProgramTest(void);
-#endif // HAL_USE_LABVIEW
-
#ifdef __cplusplus
} // extern "C"
#endif
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/hal/Encoder.h b/third_party/allwpilib_2019/hal/src/main/native/include/hal/Encoder.h
index 449b814..9d2b5d0 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/hal/Encoder.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/hal/Encoder.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -73,6 +73,15 @@
void HAL_FreeEncoder(HAL_EncoderHandle encoderHandle, int32_t* status);
/**
+ * Indicates the encoder is used by a simulated device.
+ *
+ * @param handle the encoder handle
+ * @param device simulated device handle
+ */
+void HAL_SetEncoderSimDevice(HAL_EncoderHandle handle,
+ HAL_SimDeviceHandle device);
+
+/**
* Gets the current counts of the encoder after encoding type scaling.
*
* This is scaled by the value passed duing initialization to encodingType.
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/hal/HAL.h b/third_party/allwpilib_2019/hal/src/main/native/include/hal/HAL.h
index 0236adf..c73e65f 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/hal/HAL.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/hal/HAL.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2013-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2013-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,22 +9,24 @@
#include <stdint.h>
-#ifndef HAL_USE_LABVIEW
-
#include "hal/Accelerometer.h"
#include "hal/AnalogAccumulator.h"
#include "hal/AnalogInput.h"
#include "hal/AnalogOutput.h"
#include "hal/AnalogTrigger.h"
#include "hal/CAN.h"
+#include "hal/CANAPI.h"
#include "hal/Compressor.h"
#include "hal/Constants.h"
#include "hal/Counter.h"
#include "hal/DIO.h"
#include "hal/DriverStation.h"
+#include "hal/Encoder.h"
#include "hal/Errors.h"
+#include "hal/HALBase.h"
#include "hal/I2C.h"
#include "hal/Interrupts.h"
+#include "hal/Main.h"
#include "hal/Notifier.h"
#include "hal/PDP.h"
#include "hal/PWM.h"
@@ -32,12 +34,11 @@
#include "hal/Power.h"
#include "hal/Relay.h"
#include "hal/SPI.h"
+#include "hal/SimDevice.h"
#include "hal/Solenoid.h"
-
-#endif // HAL_USE_LABVIEW
-
+#include "hal/Threads.h"
#include "hal/Types.h"
-#include "hal/HALBase.h"
+#include "hal/Value.h"
#ifdef __cplusplus
#include "hal/FRCUsageReporting.h"
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/hal/HALBase.h b/third_party/allwpilib_2019/hal/src/main/native/include/hal/HALBase.h
index fd22c0c..a958f2b 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/hal/HALBase.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/hal/HALBase.h
@@ -1,182 +1,169 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include <stdint.h>
-
-#include "hal/Types.h"
-
-/**
- * @defgroup hal_capi WPILib HAL API
- * Hardware Abstraction Layer to hardware or simulator
- * @{
- */
-
-// clang-format off
-HAL_ENUM(HAL_RuntimeType) { HAL_Athena, HAL_Mock };
-// clang-format on
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/**
- * Gets the error message for a specific status code.
- *
- * @param code the status code
- * @return the error message for the code. This does not need to be freed.
- */
-const char* HAL_GetErrorMessage(int32_t code);
-
-/**
- * Returns the FPGA Version number.
- *
- * For now, expect this to be competition year.
- *
- * @return FPGA Version number.
- */
-int32_t HAL_GetFPGAVersion(int32_t* status);
-
-/**
- * Returns the FPGA Revision number.
- *
- * The format of the revision is 3 numbers.
- * The 12 most significant bits are the Major Revision.
- * the next 8 bits are the Minor Revision.
- * The 12 least significant bits are the Build Number.
- *
- * @return FPGA Revision number.
- */
-int64_t HAL_GetFPGARevision(int32_t* status);
-
-HAL_RuntimeType HAL_GetRuntimeType(void);
-
-/**
- * Gets the state of the "USER" button on the roboRIO.
- *
- * @return true if the button is currently pressed down
- */
-HAL_Bool HAL_GetFPGAButton(int32_t* status);
-
-/**
- * Gets if the system outputs are currently active
- *
- * @return true if the system outputs are active, false if disabled
- */
-HAL_Bool HAL_GetSystemActive(int32_t* status);
-
-/**
- * Gets if the system is in a browned out state.
- *
- * @return true if the system is in a low voltage brown out, false otherwise
- */
-HAL_Bool HAL_GetBrownedOut(int32_t* status);
-
-/**
- * The base HAL initialize function. Useful if you need to ensure the DS and
- * base HAL functions (the ones above this declaration in HAL.h) are properly
- * initialized. For normal programs and executables, please use HAL_Initialize.
- *
- * This is mainly expected to be use from libraries that are expected to be used
- * from LabVIEW, as it handles its own initialization for objects.
- */
-void HAL_BaseInitialize(int32_t* status);
-
-#ifndef HAL_USE_LABVIEW
-
-/**
- * Gets a port handle for a specific channel.
- *
- * The created handle does not need to be freed.
- *
- * @param channel the channel number
- * @return the created port
- */
-HAL_PortHandle HAL_GetPort(int32_t channel);
-
-/**
- * Gets a port handle for a specific channel and module.
- *
- * This is expected to be used for PCMs, as the roboRIO does not work with
- * modules anymore.
- *
- * The created handle does not need to be freed.
- *
- * @param module the module number
- * @param channel the channel number
- * @return the created port
- */
-HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t channel);
-
-/**
- * Reads the microsecond-resolution timer on the FPGA.
- *
- * @return The current time in microseconds according to the FPGA (since FPGA
- * reset).
- */
-uint64_t HAL_GetFPGATime(int32_t* status);
-
-/**
- * Call this to start up HAL. This is required for robot programs.
- *
- * This must be called before any other HAL functions. Failure to do so will
- * result in undefined behavior, and likely segmentation faults. This means that
- * any statically initialized variables in a program MUST call this function in
- * their constructors if they want to use other HAL calls.
- *
- * The common parameters are 500 for timeout and 0 for mode.
- *
- * This function is safe to call from any thread, and as many times as you wish.
- * It internally guards from any reentrancy.
- *
- * The applicable modes are:
- * 0: Try to kill an existing HAL from another program, if not successful,
- * error.
- * 1: Force kill a HAL from another program.
- * 2: Just warn if another hal exists and cannot be killed. Will likely result
- * in undefined behavior.
- *
- * @param timeout the initialization timeout (ms)
- * @param mode the initialization mode (see remarks)
- * @return true if initialization was successful, otherwise false.
- */
-HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode);
-
-// ifdef's definition is to allow for default parameters in C++.
-#ifdef __cplusplus
-/**
- * Reports a hardware usage to the HAL.
- *
- * @param resource the used resource
- * @param instanceNumber the instance of the resource
- * @param context a user specified context index
- * @param feature a user specified feature string
- * @return the index of the added value in NetComm
- */
-int64_t HAL_Report(int32_t resource, int32_t instanceNumber,
- int32_t context = 0, const char* feature = nullptr);
-#else
-
-/**
- * Reports a hardware usage to the HAL.
- *
- * @param resource the used resource
- * @param instanceNumber the instance of the resource
- * @param context a user specified context index
- * @param feature a user specified feature string
- * @return the index of the added value in NetComm
- */
-int64_t HAL_Report(int32_t resource, int32_t instanceNumber, int32_t context,
- const char* feature);
-#endif
-
-#endif // HAL_USE_LABVIEW
-#ifdef __cplusplus
-} // extern "C"
-#endif
-/** @} */
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <stdint.h>
+
+#include "hal/Types.h"
+
+/**
+ * @defgroup hal_capi WPILib HAL API
+ * Hardware Abstraction Layer to hardware or simulator
+ * @{
+ */
+
+// clang-format off
+HAL_ENUM(HAL_RuntimeType) { HAL_Athena, HAL_Mock };
+// clang-format on
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Gets the error message for a specific status code.
+ *
+ * @param code the status code
+ * @return the error message for the code. This does not need to be freed.
+ */
+const char* HAL_GetErrorMessage(int32_t code);
+
+/**
+ * Returns the FPGA Version number.
+ *
+ * For now, expect this to be competition year.
+ *
+ * @return FPGA Version number.
+ */
+int32_t HAL_GetFPGAVersion(int32_t* status);
+
+/**
+ * Returns the FPGA Revision number.
+ *
+ * The format of the revision is 3 numbers.
+ * The 12 most significant bits are the Major Revision.
+ * the next 8 bits are the Minor Revision.
+ * The 12 least significant bits are the Build Number.
+ *
+ * @return FPGA Revision number.
+ */
+int64_t HAL_GetFPGARevision(int32_t* status);
+
+HAL_RuntimeType HAL_GetRuntimeType(void);
+
+/**
+ * Gets the state of the "USER" button on the roboRIO.
+ *
+ * @return true if the button is currently pressed down
+ */
+HAL_Bool HAL_GetFPGAButton(int32_t* status);
+
+/**
+ * Gets if the system outputs are currently active
+ *
+ * @return true if the system outputs are active, false if disabled
+ */
+HAL_Bool HAL_GetSystemActive(int32_t* status);
+
+/**
+ * Gets if the system is in a browned out state.
+ *
+ * @return true if the system is in a low voltage brown out, false otherwise
+ */
+HAL_Bool HAL_GetBrownedOut(int32_t* status);
+
+/**
+ * Gets a port handle for a specific channel.
+ *
+ * The created handle does not need to be freed.
+ *
+ * @param channel the channel number
+ * @return the created port
+ */
+HAL_PortHandle HAL_GetPort(int32_t channel);
+
+/**
+ * Gets a port handle for a specific channel and module.
+ *
+ * This is expected to be used for PCMs, as the roboRIO does not work with
+ * modules anymore.
+ *
+ * The created handle does not need to be freed.
+ *
+ * @param module the module number
+ * @param channel the channel number
+ * @return the created port
+ */
+HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t channel);
+
+/**
+ * Reads the microsecond-resolution timer on the FPGA.
+ *
+ * @return The current time in microseconds according to the FPGA (since FPGA
+ * reset).
+ */
+uint64_t HAL_GetFPGATime(int32_t* status);
+
+/**
+ * Call this to start up HAL. This is required for robot programs.
+ *
+ * This must be called before any other HAL functions. Failure to do so will
+ * result in undefined behavior, and likely segmentation faults. This means that
+ * any statically initialized variables in a program MUST call this function in
+ * their constructors if they want to use other HAL calls.
+ *
+ * The common parameters are 500 for timeout and 0 for mode.
+ *
+ * This function is safe to call from any thread, and as many times as you wish.
+ * It internally guards from any reentrancy.
+ *
+ * The applicable modes are:
+ * 0: Try to kill an existing HAL from another program, if not successful,
+ * error.
+ * 1: Force kill a HAL from another program.
+ * 2: Just warn if another hal exists and cannot be killed. Will likely result
+ * in undefined behavior.
+ *
+ * @param timeout the initialization timeout (ms)
+ * @param mode the initialization mode (see remarks)
+ * @return true if initialization was successful, otherwise false.
+ */
+HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode);
+
+// ifdef's definition is to allow for default parameters in C++.
+#ifdef __cplusplus
+/**
+ * Reports a hardware usage to the HAL.
+ *
+ * @param resource the used resource
+ * @param instanceNumber the instance of the resource
+ * @param context a user specified context index
+ * @param feature a user specified feature string
+ * @return the index of the added value in NetComm
+ */
+int64_t HAL_Report(int32_t resource, int32_t instanceNumber,
+ int32_t context = 0, const char* feature = nullptr);
+#else
+
+/**
+ * Reports a hardware usage to the HAL.
+ *
+ * @param resource the used resource
+ * @param instanceNumber the instance of the resource
+ * @param context a user specified context index
+ * @param feature a user specified feature string
+ * @return the index of the added value in NetComm
+ */
+int64_t HAL_Report(int32_t resource, int32_t instanceNumber, int32_t context,
+ const char* feature);
+#endif
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+/** @} */
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/hal/I2CTypes.h b/third_party/allwpilib_2019/hal/src/main/native/include/hal/I2CTypes.h
index d0b269f..b5e8235 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/hal/I2CTypes.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/hal/I2CTypes.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -21,4 +21,15 @@
HAL_ENUM(HAL_I2CPort) { HAL_I2C_kInvalid = -1, HAL_I2C_kOnboard, HAL_I2C_kMXP };
// clang-format on
+#ifdef __cplusplus
+namespace hal {
+
+/**
+ * A move-only C++ wrapper around HAL_I2CPort.
+ * Does not ensure destruction.
+ */
+using I2CPort = Handle<HAL_I2CPort, HAL_I2C_kInvalid>;
+
+} // namespace hal
+#endif
/** @} */
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/hal/Main.h b/third_party/allwpilib_2019/hal/src/main/native/include/hal/Main.h
new file mode 100644
index 0000000..866e274
--- /dev/null
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/hal/Main.h
@@ -0,0 +1,67 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <stdint.h>
+
+#include "hal/Types.h"
+
+/**
+ * @defgroup hal_relay Main loop functions
+ * @ingroup hal_capi
+ * @{
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Sets up the system to run the provided main loop in the main thread (e.g.
+ * the thread in which main() starts execution) and run the robot code in a
+ * separate thread.
+ *
+ * Normally the robot code runs in the main thread, but some GUI systems
+ * require the GUI be run in the main thread.
+ *
+ * To be effective, this function must be called before the robot code starts
+ * the main loop (e.g. by frc::StartRobot()).
+ *
+ * @param param parameter data to pass to mainFunc and exitFunc
+ * @param mainFunc the function to be run when HAL_RunMain() is called.
+ * @param exitFunc the function to be run when HAL_ExitMain() is called.
+ */
+void HAL_SetMain(void* param, void (*mainFunc)(void*), void (*exitFunc)(void*));
+
+/**
+ * Returns true if HAL_SetMain() has been called.
+ *
+ * @return True if HAL_SetMain() has been called, false otherwise.
+ */
+HAL_Bool HAL_HasMain(void);
+
+/**
+ * Runs the main function provided to HAL_SetMain().
+ *
+ * If HAL_SetMain() has not been called, simply sleeps until HAL_ExitMain()
+ * is called.
+ */
+void HAL_RunMain(void);
+
+/**
+ * Causes HAL_RunMain() to exit.
+ *
+ * If HAL_SetMain() has been called, this calls the exit function provided
+ * to that function.
+ */
+void HAL_ExitMain(void);
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+/** @} */
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/hal/SPITypes.h b/third_party/allwpilib_2019/hal/src/main/native/include/hal/SPITypes.h
index 907623c..170bd27 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/hal/SPITypes.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/hal/SPITypes.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -27,4 +27,16 @@
HAL_SPI_kMXP
};
// clang-format on
+
+#ifdef __cplusplus
+namespace hal {
+
+/**
+ * A move-only C++ wrapper around HAL_SPIPort.
+ * Does not ensure destruction.
+ */
+using SPIPort = Handle<HAL_SPIPort, HAL_SPI_kInvalid>;
+
+} // namespace hal
+#endif
/** @} */
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/hal/SerialPort.h b/third_party/allwpilib_2019/hal/src/main/native/include/hal/SerialPort.h
index c2fd105..226a2cb 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/hal/SerialPort.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/hal/SerialPort.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -38,39 +38,51 @@
*
* @param port the serial port to initialize
*/
-void HAL_InitializeSerialPort(HAL_SerialPort port, int32_t* status);
+HAL_SerialPortHandle HAL_InitializeSerialPort(HAL_SerialPort port,
+ int32_t* status);
/**
* Initializes a serial port with a direct name.
*
- * This name is the VISA name for a specific port (find this in the web dash).
+ * This name is the /dev name for a specific port.
* Note these are not always consistent between roboRIO reboots.
*
* @param port the serial port to initialize
- * @param portName the VISA port name
+ * @param portName the dev port name
*/
-void HAL_InitializeSerialPortDirect(HAL_SerialPort port, const char* portName,
- int32_t* status);
+HAL_SerialPortHandle HAL_InitializeSerialPortDirect(HAL_SerialPort port,
+ const char* portName,
+ int32_t* status);
+
+/**
+ * Gets the raw serial port file descriptor from a handle.
+ *
+ * @param handle the serial port handle
+ * @return the raw port descriptor
+ */
+int HAL_GetSerialFD(HAL_SerialPortHandle handle, int32_t* status);
/**
* Sets the baud rate of a serial port.
*
* Any value between 0 and 0xFFFFFFFF may be used. Default is 9600.
*
- * @param port the serial port
- * @param baud the baud rate to set
+ * @param handle the serial port handle
+ * @param baud the baud rate to set
*/
-void HAL_SetSerialBaudRate(HAL_SerialPort port, int32_t baud, int32_t* status);
+void HAL_SetSerialBaudRate(HAL_SerialPortHandle handle, int32_t baud,
+ int32_t* status);
/**
* Sets the number of data bits on a serial port.
*
* Defaults to 8.
*
- * @param port the serial port
- * @param bits the number of data bits (5-8)
+ * @param handle the serial port handle
+ * @param bits the number of data bits (5-8)
*/
-void HAL_SetSerialDataBits(HAL_SerialPort port, int32_t bits, int32_t* status);
+void HAL_SetSerialDataBits(HAL_SerialPortHandle handle, int32_t bits,
+ int32_t* status);
/**
* Sets the number of parity bits on a serial port.
@@ -82,10 +94,11 @@
* 3: Mark - Means exists and always 1
* 4: Space - Means exists and always 0
*
- * @param port the serial port
+ * @param handle the serial port handle
* @param parity the parity bit mode (see remarks for valid values)
*/
-void HAL_SetSerialParity(HAL_SerialPort port, int32_t parity, int32_t* status);
+void HAL_SetSerialParity(HAL_SerialPortHandle handle, int32_t parity,
+ int32_t* status);
/**
* Sets the number of stop bits on a serial port.
@@ -95,10 +108,10 @@
* 15: One and a half stop bits
* 20: Two stop bits
*
- * @param port the serial port
+ * @param handle the serial port handle
* @param stopBits the stop bit value (see remarks for valid values)
*/
-void HAL_SetSerialStopBits(HAL_SerialPort port, int32_t stopBits,
+void HAL_SetSerialStopBits(HAL_SerialPortHandle handle, int32_t stopBits,
int32_t* status);
/**
@@ -108,10 +121,11 @@
* 1: Flush on access
* 2: Flush when full (default)
*
- * @param port the serial port
- * @param mode the mode to set (see remarks for valid values)
+ * @param handle the serial port handle
+ * @param mode the mode to set (see remarks for valid values)
*/
-void HAL_SetSerialWriteMode(HAL_SerialPort port, int32_t mode, int32_t* status);
+void HAL_SetSerialWriteMode(HAL_SerialPortHandle handle, int32_t mode,
+ int32_t* status);
/**
* Sets the flow control mode of a serial port.
@@ -122,63 +136,65 @@
* 2: RTS-CTS
* 3: DTR-DSR
*
- * @param port the serial port
- * @param flow the mode to set (see remarks for valid values)
+ * @param handle the serial port handle
+ * @param flow the mode to set (see remarks for valid values)
*/
-void HAL_SetSerialFlowControl(HAL_SerialPort port, int32_t flow,
+void HAL_SetSerialFlowControl(HAL_SerialPortHandle handle, int32_t flow,
int32_t* status);
/**
* Sets the minimum serial read timeout of a port.
*
- * @param port the serial port
+ * @param handle the serial port handle
* @param timeout the timeout in milliseconds
*/
-void HAL_SetSerialTimeout(HAL_SerialPort port, double timeout, int32_t* status);
+void HAL_SetSerialTimeout(HAL_SerialPortHandle handle, double timeout,
+ int32_t* status);
/**
* Sets the termination character that terminates a read.
*
* By default this is disabled.
*
- * @param port the serial port
+ * @param handle the serial port handle
* @param terminator the termination character to set
*/
-void HAL_EnableSerialTermination(HAL_SerialPort port, char terminator,
+void HAL_EnableSerialTermination(HAL_SerialPortHandle handle, char terminator,
int32_t* status);
/**
* Disables a termination character for reads.
*
- * @param port the serial port
+ * @param handle the serial port handle
*/
-void HAL_DisableSerialTermination(HAL_SerialPort port, int32_t* status);
+void HAL_DisableSerialTermination(HAL_SerialPortHandle handle, int32_t* status);
/**
* Sets the size of the read buffer.
*
- * @param port the serial port
- * @param size the read buffer size
+ * @param handle the serial port handle
+ * @param size the read buffer size
*/
-void HAL_SetSerialReadBufferSize(HAL_SerialPort port, int32_t size,
+void HAL_SetSerialReadBufferSize(HAL_SerialPortHandle handle, int32_t size,
int32_t* status);
/**
* Sets the size of the write buffer.
*
- * @param port the serial port
- * @param size the write buffer size
+ * @param handle the serial port handle
+ * @param size the write buffer size
*/
-void HAL_SetSerialWriteBufferSize(HAL_SerialPort port, int32_t size,
+void HAL_SetSerialWriteBufferSize(HAL_SerialPortHandle handle, int32_t size,
int32_t* status);
/**
* Gets the number of bytes currently in the read buffer.
*
- * @param port the serial port
- * @return the number of bytes in the read buffer
+ * @param handle the serial port handle
+ * @return the number of bytes in the read buffer
*/
-int32_t HAL_GetSerialBytesReceived(HAL_SerialPort port, int32_t* status);
+int32_t HAL_GetSerialBytesReceived(HAL_SerialPortHandle handle,
+ int32_t* status);
/**
* Reads data from the serial port.
@@ -186,44 +202,44 @@
* Will wait for either timeout (if set), the termination char (if set), or the
* count to be full. Whichever one comes first.
*
- * @param port the serial port
- * @param count the number of bytes maximum to read
- * @return the number of bytes actually read
+ * @param handle the serial port handle
+ * @param count the number of bytes maximum to read
+ * @return the number of bytes actually read
*/
-int32_t HAL_ReadSerial(HAL_SerialPort port, char* buffer, int32_t count,
+int32_t HAL_ReadSerial(HAL_SerialPortHandle handle, char* buffer, int32_t count,
int32_t* status);
/**
* Writes data to the serial port.
*
- * @param port the serial port
+ * @param handle the serial port handle
* @param buffer the buffer to write
* @param count the number of bytes to write from the buffer
* @return the number of bytes actually written
*/
-int32_t HAL_WriteSerial(HAL_SerialPort port, const char* buffer, int32_t count,
- int32_t* status);
+int32_t HAL_WriteSerial(HAL_SerialPortHandle handle, const char* buffer,
+ int32_t count, int32_t* status);
/**
* Flushes the serial write buffer out to the port.
*
- * @param port the serial port
+ * @param handle the serial port handle
*/
-void HAL_FlushSerial(HAL_SerialPort port, int32_t* status);
+void HAL_FlushSerial(HAL_SerialPortHandle handle, int32_t* status);
/**
* Clears the receive buffer of the serial port.
*
- * @param port the serial port
+ * @param handle the serial port handle
*/
-void HAL_ClearSerial(HAL_SerialPort port, int32_t* status);
+void HAL_ClearSerial(HAL_SerialPortHandle handle, int32_t* status);
/**
* Closes a serial port.
*
- * @param port the serial port to close
+ * @param handle the serial port handle to close
*/
-void HAL_CloseSerial(HAL_SerialPort port, int32_t* status);
+void HAL_CloseSerial(HAL_SerialPortHandle handle, int32_t* status);
#ifdef __cplusplus
} // extern "C"
#endif
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/hal/SimDevice.h b/third_party/allwpilib_2019/hal/src/main/native/include/hal/SimDevice.h
new file mode 100644
index 0000000..b05021e
--- /dev/null
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/hal/SimDevice.h
@@ -0,0 +1,610 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+#include <initializer_list>
+
+#include <wpi/ArrayRef.h>
+#endif
+
+#include "hal/Types.h"
+#include "hal/Value.h"
+
+/**
+ * @defgroup hal_simdevice Simulator Device Framework
+ * @ingroup hal_capi
+ * HAL Simulator Device Framework. This enables creating simulation-only
+ * variables for higher level device access. For example, a device such as
+ * a SPI gyro can expose angle and rate variables to enable direct access
+ * from simulation extensions or user test code instead of requiring that
+ * the SPI bit-level protocol be implemented in simulation code.
+ *
+ * @{
+ */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Creates a simulated device.
+ *
+ * The device name must be unique. 0 is returned if the device name already
+ * exists. If multiple instances of the same device are desired, recommend
+ * appending the instance/unique identifer in brackets to the base name,
+ * e.g. "device[1]".
+ *
+ * 0 is returned if not in simulation.
+ *
+ * @param name device name
+ * @return simulated device handle
+ */
+HAL_SimDeviceHandle HAL_CreateSimDevice(const char* name);
+
+/**
+ * Frees a simulated device.
+ *
+ * This also allows the same device name to be used again.
+ * This also frees all the simulated values created on the device.
+ *
+ * @param handle simulated device handle
+ */
+void HAL_FreeSimDevice(HAL_SimDeviceHandle handle);
+
+/**
+ * Creates a value on a simulated device.
+ *
+ * Returns 0 if not in simulation; this can be used to avoid calls
+ * to Set/Get functions.
+ *
+ * @param device simulated device handle
+ * @param name value name
+ * @param readonly if the value should not be written from simulation side
+ * @param initialValue initial value
+ * @return simulated value handle
+ */
+HAL_SimValueHandle HAL_CreateSimValue(HAL_SimDeviceHandle device,
+ const char* name, HAL_Bool readonly,
+ const struct HAL_Value* initialValue);
+
+#ifdef __cplusplus
+extern "C++" {
+inline HAL_SimValueHandle HAL_CreateSimValue(HAL_SimDeviceHandle device,
+ const char* name,
+ HAL_Bool readonly,
+ const HAL_Value& initialValue) {
+ return HAL_CreateSimValue(device, name, readonly, &initialValue);
+}
+} // extern "C++"
+#endif
+
+/**
+ * Creates a double value on a simulated device.
+ *
+ * Returns 0 if not in simulation; this can be used to avoid calls
+ * to Set/Get functions.
+ *
+ * @param device simulated device handle
+ * @param name value name
+ * @param readonly if the value should not be written from simulation side
+ * @param initialValue initial value
+ * @return simulated value handle
+ */
+inline HAL_SimValueHandle HAL_CreateSimValueDouble(HAL_SimDeviceHandle device,
+ const char* name,
+ HAL_Bool readonly,
+ double initialValue) {
+ struct HAL_Value v = HAL_MakeDouble(initialValue);
+ return HAL_CreateSimValue(device, name, readonly, &v);
+}
+
+/**
+ * Creates an enumerated value on a simulated device.
+ *
+ * Enumerated values are always in the range 0 to numOptions-1.
+ *
+ * Returns 0 if not in simulation; this can be used to avoid calls
+ * to Set/Get functions.
+ *
+ * @param device simulated device handle
+ * @param name value name
+ * @param readonly if the value should not be written from simulation side
+ * @param numOptions number of enumerated value options (length of options)
+ * @param options array of option descriptions
+ * @param initialValue initial value (selection)
+ * @return simulated value handle
+ */
+HAL_SimValueHandle HAL_CreateSimValueEnum(HAL_SimDeviceHandle device,
+ const char* name, HAL_Bool readonly,
+ int32_t numOptions,
+ const char** options,
+ int32_t initialValue);
+
+/**
+ * Creates a boolean value on a simulated device.
+ *
+ * Returns 0 if not in simulation; this can be used to avoid calls
+ * to Set/Get functions.
+ *
+ * @param device simulated device handle
+ * @param name value name
+ * @param readonly if the value should not be written from simulation side
+ * @param initialValue initial value
+ * @return simulated value handle
+ */
+inline HAL_SimValueHandle HAL_CreateSimValueBoolean(HAL_SimDeviceHandle device,
+ const char* name,
+ HAL_Bool readonly,
+ HAL_Bool initialValue) {
+ struct HAL_Value v = HAL_MakeBoolean(initialValue);
+ return HAL_CreateSimValue(device, name, readonly, &v);
+}
+
+/**
+ * Gets a simulated value.
+ *
+ * @param handle simulated value handle
+ * @param value value (output parameter)
+ */
+void HAL_GetSimValue(HAL_SimValueHandle handle, struct HAL_Value* value);
+
+#ifdef __cplusplus
+extern "C++" {
+inline HAL_Value HAL_GetSimValue(HAL_SimValueHandle handle) {
+ HAL_Value v;
+ HAL_GetSimValue(handle, &v);
+ return v;
+}
+} // extern "C++"
+#endif
+
+/**
+ * Gets a simulated value (double).
+ *
+ * @param handle simulated value handle
+ * @return The current value
+ */
+inline double HAL_GetSimValueDouble(HAL_SimValueHandle handle) {
+ struct HAL_Value v;
+ HAL_GetSimValue(handle, &v);
+ return v.type == HAL_DOUBLE ? v.data.v_double : 0.0;
+}
+
+/**
+ * Gets a simulated value (enum).
+ *
+ * @param handle simulated value handle
+ * @return The current value
+ */
+inline int32_t HAL_GetSimValueEnum(HAL_SimValueHandle handle) {
+ struct HAL_Value v;
+ HAL_GetSimValue(handle, &v);
+ return v.type == HAL_ENUM ? v.data.v_enum : 0;
+}
+
+/**
+ * Gets a simulated value (boolean).
+ *
+ * @param handle simulated value handle
+ * @return The current value
+ */
+inline HAL_Bool HAL_GetSimValueBoolean(HAL_SimValueHandle handle) {
+ struct HAL_Value v;
+ HAL_GetSimValue(handle, &v);
+ return v.type == HAL_BOOLEAN ? v.data.v_boolean : 0;
+}
+
+/**
+ * Sets a simulated value.
+ *
+ * @param handle simulated value handle
+ * @param value the value to set
+ */
+void HAL_SetSimValue(HAL_SimValueHandle handle, const struct HAL_Value* value);
+
+#ifdef __cplusplus
+extern "C++" {
+inline void HAL_SetSimValue(HAL_SimValueHandle handle, const HAL_Value& value) {
+ HAL_SetSimValue(handle, &value);
+}
+} // extern "C++"
+#endif
+
+/**
+ * Sets a simulated value (double).
+ *
+ * @param handle simulated value handle
+ * @param value the value to set
+ */
+inline void HAL_SetSimValueDouble(HAL_SimValueHandle handle, double value) {
+ struct HAL_Value v = HAL_MakeDouble(value);
+ HAL_SetSimValue(handle, &v);
+}
+
+/**
+ * Sets a simulated value (enum).
+ *
+ * @param handle simulated value handle
+ * @param value the value to set
+ */
+inline void HAL_SetSimValueEnum(HAL_SimValueHandle handle, int32_t value) {
+ struct HAL_Value v = HAL_MakeEnum(value);
+ HAL_SetSimValue(handle, &v);
+}
+
+/**
+ * Sets a simulated value (boolean).
+ *
+ * @param handle simulated value handle
+ * @param value the value to set
+ */
+inline void HAL_SetSimValueBoolean(HAL_SimValueHandle handle, HAL_Bool value) {
+ struct HAL_Value v = HAL_MakeBoolean(value);
+ HAL_SetSimValue(handle, &v);
+}
+
+/** @} */
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+#ifdef __cplusplus
+namespace hal {
+
+/**
+ * C++ wrapper around a HAL simulator value handle.
+ */
+class SimValue {
+ public:
+ /**
+ * Default constructor that results in an "empty" object that is false in
+ * a boolean context.
+ */
+ SimValue() = default;
+
+ /**
+ * Wraps a simulated value handle as returned by HAL_CreateSimValue().
+ *
+ * @param handle simulated value handle
+ */
+ /*implicit*/ SimValue(HAL_SimValueHandle val) // NOLINT(runtime/explicit)
+ : m_handle(val) {}
+
+ /**
+ * Determine if handle is empty. Should be used to optimize out code paths
+ * that are taken/not taken in simulation.
+ *
+ * @return False if handle is empty, true if handle is valid.
+ */
+ explicit operator bool() const { return m_handle != HAL_kInvalidHandle; }
+
+ /**
+ * Get the internal device handle.
+ *
+ * @return internal handle
+ */
+ operator HAL_SimValueHandle() const { return m_handle; }
+
+ /**
+ * Gets the simulated value.
+ *
+ * @return The current value
+ */
+ HAL_Value GetValue() const { return HAL_GetSimValue(m_handle); }
+
+ /**
+ * Sets the simulated value.
+ *
+ * @param value the value to set
+ */
+ void SetValue(const HAL_Value& value) { HAL_SetSimValue(m_handle, value); }
+
+ protected:
+ HAL_SimValueHandle m_handle = HAL_kInvalidHandle;
+};
+
+/**
+ * C++ wrapper around a HAL simulator double value handle.
+ */
+class SimDouble : public SimValue {
+ public:
+ /**
+ * Default constructor that results in an "empty" object that is false in
+ * a boolean context.
+ */
+ SimDouble() = default;
+
+ /**
+ * Wraps a simulated value handle as returned by HAL_CreateSimValueDouble().
+ *
+ * @param handle simulated value handle
+ */
+ /*implicit*/ SimDouble(HAL_SimValueHandle val) // NOLINT(runtime/explicit)
+ : SimValue(val) {}
+
+ /**
+ * Gets the simulated value.
+ *
+ * @return The current value
+ */
+ double Get() const { return HAL_GetSimValueDouble(m_handle); }
+
+ /**
+ * Sets the simulated value.
+ *
+ * @param value the value to set
+ */
+ void Set(double value) { HAL_SetSimValueDouble(m_handle, value); }
+};
+
+/**
+ * C++ wrapper around a HAL simulator enum value handle.
+ */
+class SimEnum : public SimValue {
+ public:
+ /**
+ * Default constructor that results in an "empty" object that is false in
+ * a boolean context.
+ */
+ SimEnum() = default;
+
+ /**
+ * Wraps a simulated value handle as returned by HAL_CreateSimValueEnum().
+ *
+ * @param handle simulated value handle
+ */
+ /*implicit*/ SimEnum(HAL_SimValueHandle val) // NOLINT(runtime/explicit)
+ : SimValue(val) {}
+
+ /**
+ * Gets the simulated value.
+ *
+ * @return The current value
+ */
+ int32_t Get() const { return HAL_GetSimValueEnum(m_handle); }
+
+ /**
+ * Sets the simulated value.
+ *
+ * @param value the value to set
+ */
+ void Set(int32_t value) { HAL_SetSimValueEnum(m_handle, value); }
+};
+
+/**
+ * C++ wrapper around a HAL simulator boolean value handle.
+ */
+class SimBoolean : public SimValue {
+ public:
+ /**
+ * Default constructor that results in an "empty" object that is false in
+ * a boolean context.
+ */
+ SimBoolean() = default;
+
+ /**
+ * Wraps a simulated value handle as returned by HAL_CreateSimValueBoolean().
+ *
+ * @param handle simulated value handle
+ */
+ /*implicit*/ SimBoolean(HAL_SimValueHandle val) // NOLINT(runtime/explicit)
+ : SimValue(val) {}
+
+ /**
+ * Gets the simulated value.
+ *
+ * @return The current value
+ */
+ bool Get() const { return HAL_GetSimValueBoolean(m_handle); }
+
+ /**
+ * Sets the simulated value.
+ *
+ * @param value the value to set
+ */
+ void Set(bool value) { HAL_SetSimValueBoolean(m_handle, value); }
+};
+
+/**
+ * A move-only C++ wrapper around a HAL simulator device handle.
+ */
+class SimDevice {
+ public:
+ /**
+ * Default constructor that results in an "empty" object that is false in
+ * a boolean context.
+ */
+ SimDevice() = default;
+
+ /**
+ * Creates a simulated device.
+ *
+ * The device name must be unique. Returns null if the device name
+ * already exists. If multiple instances of the same device are desired,
+ * recommend appending the instance/unique identifer in brackets to the base
+ * name, e.g. "device[1]".
+ *
+ * If not in simulation, results in an "empty" object that evaluates to false
+ * in a boolean context.
+ *
+ * @param name device name
+ */
+ explicit SimDevice(const char* name) : m_handle(HAL_CreateSimDevice(name)) {}
+
+ /**
+ * Creates a simulated device.
+ *
+ * The device name must be unique. Returns null if the device name
+ * already exists. This is a convenience method that appends index in
+ * brackets to the device name, e.g. passing index=1 results in "device[1]"
+ * for the device name.
+ *
+ * If not in simulation, results in an "empty" object that evaluates to false
+ * in a boolean context.
+ *
+ * @param name device name
+ * @param index device index number to append to name
+ */
+ SimDevice(const char* name, int index);
+
+ /**
+ * Creates a simulated device.
+ *
+ * The device name must be unique. Returns null if the device name
+ * already exists. This is a convenience method that appends index and
+ * channel in brackets to the device name, e.g. passing index=1 and channel=2
+ * results in "device[1,2]" for the device name.
+ *
+ * If not in simulation, results in an "empty" object that evaluates to false
+ * in a boolean context.
+ *
+ * @param name device name
+ * @param index device index number to append to name
+ * @param channel device channel number to append to name
+ */
+ SimDevice(const char* name, int index, int channel);
+
+ /**
+ * Wraps a simulated device handle as returned by HAL_CreateSimDevice().
+ *
+ * @param handle simulated device handle
+ */
+ /*implicit*/ SimDevice(HAL_SimDeviceHandle val) // NOLINT(runtime/explicit)
+ : m_handle(val) {}
+
+ ~SimDevice() {
+ if (m_handle != HAL_kInvalidHandle) HAL_FreeSimDevice(m_handle);
+ }
+
+ SimDevice(const SimDevice&) = delete;
+ SimDevice& operator=(const SimDevice&) = delete;
+
+ SimDevice(SimDevice&& rhs) : m_handle(rhs.m_handle) {
+ rhs.m_handle = HAL_kInvalidHandle;
+ }
+
+ SimDevice& operator=(SimDevice&& rhs) {
+ m_handle = rhs.m_handle;
+ rhs.m_handle = HAL_kInvalidHandle;
+ return *this;
+ }
+
+ /**
+ * Determine if handle is empty. Should be used to optimize out code paths
+ * that are taken/not taken in simulation.
+ *
+ * @return False if handle is empty, true if handle is valid.
+ */
+ explicit operator bool() const { return m_handle != HAL_kInvalidHandle; }
+
+ /**
+ * Get the internal device handle.
+ *
+ * @return internal handle
+ */
+ operator HAL_SimDeviceHandle() const { return m_handle; }
+
+ /**
+ * Creates a value on the simulated device.
+ *
+ * If not in simulation, results in an "empty" object that evaluates to false
+ * in a boolean context.
+ *
+ * @param name value name
+ * @param readonly if the value should not be written from simulation side
+ * @param initialValue initial value
+ * @return simulated value object
+ */
+ SimValue CreateValue(const char* name, bool readonly,
+ const HAL_Value& initialValue) {
+ return HAL_CreateSimValue(m_handle, name, readonly, &initialValue);
+ }
+
+ /**
+ * Creates a double value on the simulated device.
+ *
+ * If not in simulation, results in an "empty" object that evaluates to false
+ * in a boolean context.
+ *
+ * @param name value name
+ * @param readonly if the value should not be written from simulation side
+ * @param initialValue initial value
+ * @return simulated double value object
+ */
+ SimDouble CreateDouble(const char* name, bool readonly, double initialValue) {
+ return HAL_CreateSimValueDouble(m_handle, name, readonly, initialValue);
+ }
+
+ /**
+ * Creates an enumerated value on the simulated device.
+ *
+ * Enumerated values are always in the range 0 to numOptions-1.
+ *
+ * If not in simulation, results in an "empty" object that evaluates to false
+ * in a boolean context.
+ *
+ * @param name value name
+ * @param readonly if the value should not be written from simulation side
+ * @param options array of option descriptions
+ * @param initialValue initial value (selection)
+ * @return simulated enum value object
+ */
+ SimEnum CreateEnum(const char* name, bool readonly,
+ std::initializer_list<const char*> options,
+ int32_t initialValue) {
+ return HAL_CreateSimValueEnum(m_handle, name, readonly, options.size(),
+ const_cast<const char**>(options.begin()),
+ initialValue);
+ }
+
+ /**
+ * Creates an enumerated value on the simulated device.
+ *
+ * Enumerated values are always in the range 0 to numOptions-1.
+ *
+ * If not in simulation, results in an "empty" object that evaluates to false
+ * in a boolean context.
+ *
+ * @param name value name
+ * @param readonly if the value should not be written from simulation side
+ * @param options array of option descriptions
+ * @param initialValue initial value (selection)
+ * @return simulated enum value object
+ */
+ SimEnum CreateEnum(const char* name, bool readonly,
+ wpi::ArrayRef<const char*> options, int32_t initialValue) {
+ return HAL_CreateSimValueEnum(m_handle, name, readonly, options.size(),
+ const_cast<const char**>(options.data()),
+ initialValue);
+ }
+
+ /**
+ * Creates a boolean value on the simulated device.
+ *
+ * If not in simulation, results in an "empty" object that evaluates to false
+ * in a boolean context.
+ *
+ * @param name value name
+ * @param readonly if the value should not be written from simulation side
+ * @param initialValue initial value
+ * @return simulated boolean value object
+ */
+ SimBoolean CreateBoolean(const char* name, bool readonly, bool initialValue) {
+ return HAL_CreateSimValueBoolean(m_handle, name, readonly, initialValue);
+ }
+
+ protected:
+ HAL_SimDeviceHandle m_handle = HAL_kInvalidHandle;
+};
+
+} // namespace hal
+#endif // __cplusplus
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/hal/Threads.h b/third_party/allwpilib_2019/hal/src/main/native/include/hal/Threads.h
index 4908c9c..aea4399 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/hal/Threads.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/hal/Threads.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#define NativeThreadHandle const void*
-
#include "hal/Types.h"
/**
@@ -17,7 +15,12 @@
* @{
*/
+typedef const void* NativeThreadHandle;
+
+#ifdef __cplusplus
extern "C" {
+#endif
+
/**
* Gets the thread priority for the specified thread.
*
@@ -68,5 +71,8 @@
*/
HAL_Bool HAL_SetCurrentThreadPriority(HAL_Bool realTime, int32_t priority,
int32_t* status);
+
+#ifdef __cplusplus
} // extern "C"
+#endif
/** @} */
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/hal/Types.h b/third_party/allwpilib_2019/hal/src/main/native/include/hal/Types.h
index 6180439..5ce6009 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/hal/Types.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/hal/Types.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -49,8 +49,14 @@
typedef HAL_Handle HAL_SolenoidHandle;
+typedef HAL_Handle HAL_SerialPortHandle;
+
typedef HAL_Handle HAL_CANHandle;
+typedef HAL_Handle HAL_SimDeviceHandle;
+
+typedef HAL_Handle HAL_SimValueHandle;
+
typedef HAL_CANHandle HAL_PDPHandle;
typedef int32_t HAL_Bool;
@@ -62,4 +68,37 @@
typedef int32_t name; \
enum name
#endif
+
+#ifdef __cplusplus
+namespace hal {
+
+/**
+ * A move-only C++ wrapper around a HAL handle.
+ * Does not ensure destruction.
+ */
+template <typename CType, int32_t CInvalid = HAL_kInvalidHandle>
+class Handle {
+ public:
+ Handle() = default;
+ /*implicit*/ Handle(CType val) : m_handle(val) {} // NOLINT(runtime/explicit)
+
+ Handle(const Handle&) = delete;
+ Handle& operator=(const Handle&) = delete;
+
+ Handle(Handle&& rhs) : m_handle(rhs.m_handle) { rhs.m_handle = CInvalid; }
+
+ Handle& operator=(Handle&& rhs) {
+ m_handle = rhs.m_handle;
+ rhs.m_handle = CInvalid;
+ return *this;
+ }
+
+ operator CType() const { return m_handle; }
+
+ private:
+ CType m_handle = CInvalid;
+};
+
+} // namespace hal
+#endif
/** @} */
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/hal/Value.h b/third_party/allwpilib_2019/hal/src/main/native/include/hal/Value.h
new file mode 100644
index 0000000..578d989
--- /dev/null
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/hal/Value.h
@@ -0,0 +1,75 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "hal/Types.h"
+
+/** HAL data types. */
+enum HAL_Type {
+ HAL_UNASSIGNED = 0,
+ HAL_BOOLEAN = 0x01,
+ HAL_DOUBLE = 0x02,
+ HAL_ENUM = 0x04,
+ HAL_INT = 0x08,
+ HAL_LONG = 0x10,
+};
+
+/** HAL Entry Value. Note this is a typed union. */
+struct HAL_Value {
+ union {
+ HAL_Bool v_boolean;
+ int32_t v_enum;
+ int32_t v_int;
+ int64_t v_long;
+ double v_double;
+ } data;
+ enum HAL_Type type;
+};
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+inline struct HAL_Value HAL_MakeBoolean(HAL_Bool v) {
+ struct HAL_Value value;
+ value.type = HAL_BOOLEAN;
+ value.data.v_boolean = v;
+ return value;
+}
+
+inline struct HAL_Value HAL_MakeEnum(int v) {
+ struct HAL_Value value;
+ value.type = HAL_ENUM;
+ value.data.v_enum = v;
+ return value;
+}
+
+inline struct HAL_Value HAL_MakeInt(int v) {
+ struct HAL_Value value;
+ value.type = HAL_INT;
+ value.data.v_int = v;
+ return value;
+}
+
+inline struct HAL_Value HAL_MakeLong(int64_t v) {
+ struct HAL_Value value;
+ value.type = HAL_LONG;
+ value.data.v_long = v;
+ return value;
+}
+
+inline struct HAL_Value HAL_MakeDouble(double v) {
+ struct HAL_Value value;
+ value.type = HAL_DOUBLE;
+ value.data.v_double = v;
+ return value;
+}
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/hal/cpp/Log.h b/third_party/allwpilib_2019/hal/src/main/native/include/hal/cpp/Log.h
deleted file mode 100644
index bcc3995..0000000
--- a/third_party/allwpilib_2019/hal/src/main/native/include/hal/cpp/Log.h
+++ /dev/null
@@ -1,128 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include <chrono>
-#include <string>
-
-#include <wpi/SmallString.h>
-#include <wpi/raw_ostream.h>
-
-inline std::string NowTime();
-
-enum TLogLevel {
- logNONE,
- logERROR,
- logWARNING,
- logINFO,
- logDEBUG,
- logDEBUG1,
- logDEBUG2,
- logDEBUG3,
- logDEBUG4
-};
-
-class Log {
- public:
- Log();
- virtual ~Log();
- wpi::raw_ostream& Get(TLogLevel level = logINFO);
-
- public:
- static TLogLevel& ReportingLevel();
- static std::string ToString(TLogLevel level);
- static TLogLevel FromString(const std::string& level);
-
- protected:
- wpi::SmallString<128> buf;
- wpi::raw_svector_ostream oss{buf};
-
- private:
- Log(const Log&);
- Log& operator=(const Log&);
-};
-
-inline Log::Log() {}
-
-inline wpi::raw_ostream& Log::Get(TLogLevel level) {
- oss << "- " << NowTime();
- oss << " " << ToString(level) << ": ";
- if (level > logDEBUG) {
- oss << std::string(level - logDEBUG, '\t');
- }
- return oss;
-}
-
-inline Log::~Log() {
- oss << "\n";
- wpi::errs() << oss.str();
-}
-
-inline TLogLevel& Log::ReportingLevel() {
- static TLogLevel reportingLevel = logDEBUG4;
- return reportingLevel;
-}
-
-inline std::string Log::ToString(TLogLevel level) {
- static const char* const buffer[] = {"NONE", "ERROR", "WARNING",
- "INFO", "DEBUG", "DEBUG1",
- "DEBUG2", "DEBUG3", "DEBUG4"};
- return buffer[level];
-}
-
-inline TLogLevel Log::FromString(const std::string& level) {
- if (level == "DEBUG4") return logDEBUG4;
- if (level == "DEBUG3") return logDEBUG3;
- if (level == "DEBUG2") return logDEBUG2;
- if (level == "DEBUG1") return logDEBUG1;
- if (level == "DEBUG") return logDEBUG;
- if (level == "INFO") return logINFO;
- if (level == "WARNING") return logWARNING;
- if (level == "ERROR") return logERROR;
- if (level == "NONE") return logNONE;
- Log().Get(logWARNING) << "Unknown logging level '" << level
- << "'. Using INFO level as default.";
- return logINFO;
-}
-
-using FILELog = Log; // NOLINT
-
-#define FILE_LOG(level) \
- if (level > FILELog::ReportingLevel()) \
- ; \
- else \
- Log().Get(level)
-
-inline std::string NowTime() {
- wpi::SmallString<128> buf;
- wpi::raw_svector_ostream oss(buf);
-
- using std::chrono::duration_cast;
-
- auto now = std::chrono::system_clock::now().time_since_epoch();
-
- // Hours
- auto count = duration_cast<std::chrono::hours>(now).count() % 24;
- if (count < 10) oss << "0";
- oss << count << ":";
-
- // Minutes
- count = duration_cast<std::chrono::minutes>(now).count() % 60;
- if (count < 10) oss << "0";
- oss << count << ":";
-
- // Seconds
- count = duration_cast<std::chrono::seconds>(now).count() % 60;
- if (count < 10) oss << "0";
- oss << count << ".";
-
- // Milliseconds
- oss << duration_cast<std::chrono::milliseconds>(now).count() % 1000;
-
- return oss.str();
-}
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/hal/cpp/UnsafeDIO.h b/third_party/allwpilib_2019/hal/src/main/native/include/hal/cpp/UnsafeDIO.h
index ceb41c3..dad5eb7 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/hal/cpp/UnsafeDIO.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/hal/cpp/UnsafeDIO.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -77,7 +77,7 @@
tDIO* dSys = detail::UnsafeGetDigialSystem();
auto mask = detail::ComputeDigitalMask(handle, status);
if (status != 0) return;
- std::lock_guard<wpi::mutex> lock(dioMutex);
+ std::scoped_lock lock(dioMutex);
tDIO::tOutputEnable enableOE = dSys->readOutputEnable(status);
enableOE.value |= mask;
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/hal/handles/DigitalHandleResource.h b/third_party/allwpilib_2019/hal/src/main/native/include/hal/handles/DigitalHandleResource.h
index 23fb676..dcd4b97 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/hal/handles/DigitalHandleResource.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/hal/handles/DigitalHandleResource.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -59,7 +59,7 @@
*status = RESOURCE_OUT_OF_RANGE;
return HAL_kInvalidHandle;
}
- std::lock_guard<wpi::mutex> lock(m_handleMutexes[index]);
+ std::scoped_lock lock(m_handleMutexes[index]);
// check for allocation, otherwise allocate and return a valid handle
if (m_structures[index] != nullptr) {
*status = RESOURCE_IS_ALLOCATED;
@@ -77,7 +77,7 @@
if (index < 0 || index >= size) {
return nullptr;
}
- std::lock_guard<wpi::mutex> lock(m_handleMutexes[index]);
+ std::scoped_lock lock(m_handleMutexes[index]);
// return structure. Null will propogate correctly, so no need to manually
// check.
return m_structures[index];
@@ -90,14 +90,14 @@
int16_t index = getHandleTypedIndex(handle, enumValue, m_version);
if (index < 0 || index >= size) return;
// lock and deallocated handle
- std::lock_guard<wpi::mutex> lock(m_handleMutexes[index]);
+ std::scoped_lock lock(m_handleMutexes[index]);
m_structures[index].reset();
}
template <typename THandle, typename TStruct, int16_t size>
void DigitalHandleResource<THandle, TStruct, size>::ResetHandles() {
for (int i = 0; i < size; i++) {
- std::lock_guard<wpi::mutex> lock(m_handleMutexes[i]);
+ std::scoped_lock lock(m_handleMutexes[i]);
m_structures[i].reset();
}
HandleBase::ResetHandles();
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/hal/handles/HandlesInternal.h b/third_party/allwpilib_2019/hal/src/main/native/include/hal/handles/HandlesInternal.h
index 85b3493..5340d82 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/hal/handles/HandlesInternal.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/hal/handles/HandlesInternal.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -65,6 +65,7 @@
Vendor = 17,
SimulationJni = 18,
CAN = 19,
+ SerialPort = 20,
};
/**
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/hal/handles/IndexedClassedHandleResource.h b/third_party/allwpilib_2019/hal/src/main/native/include/hal/handles/IndexedClassedHandleResource.h
index a038e04..2725573 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/hal/handles/IndexedClassedHandleResource.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/hal/handles/IndexedClassedHandleResource.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -66,7 +66,7 @@
*status = RESOURCE_OUT_OF_RANGE;
return HAL_kInvalidHandle;
}
- std::lock_guard<wpi::mutex> lock(m_handleMutexes[index]);
+ std::scoped_lock lock(m_handleMutexes[index]);
// check for allocation, otherwise allocate and return a valid handle
if (m_structures[index] != nullptr) {
*status = RESOURCE_IS_ALLOCATED;
@@ -86,7 +86,7 @@
if (index < 0 || index >= size) {
return nullptr;
}
- std::lock_guard<wpi::mutex> lock(m_handleMutexes[index]);
+ std::scoped_lock lock(m_handleMutexes[index]);
// return structure. Null will propogate correctly, so no need to manually
// check.
return m_structures[index];
@@ -100,7 +100,7 @@
int16_t index = getHandleTypedIndex(handle, enumValue, m_version);
if (index < 0 || index >= size) return;
// lock and deallocated handle
- std::lock_guard<wpi::mutex> lock(m_handleMutexes[index]);
+ std::scoped_lock lock(m_handleMutexes[index]);
m_structures[index].reset();
}
@@ -109,7 +109,7 @@
void IndexedClassedHandleResource<THandle, TStruct, size,
enumValue>::ResetHandles() {
for (int i = 0; i < size; i++) {
- std::lock_guard<wpi::mutex> lock(m_handleMutexes[i]);
+ std::scoped_lock lock(m_handleMutexes[i]);
m_structures[i].reset();
}
HandleBase::ResetHandles();
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/hal/handles/IndexedHandleResource.h b/third_party/allwpilib_2019/hal/src/main/native/include/hal/handles/IndexedHandleResource.h
index 39abf58..2bca4ce 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/hal/handles/IndexedHandleResource.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/hal/handles/IndexedHandleResource.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -61,7 +61,7 @@
*status = RESOURCE_OUT_OF_RANGE;
return HAL_kInvalidHandle;
}
- std::lock_guard<wpi::mutex> lock(m_handleMutexes[index]);
+ std::scoped_lock lock(m_handleMutexes[index]);
// check for allocation, otherwise allocate and return a valid handle
if (m_structures[index] != nullptr) {
*status = RESOURCE_IS_ALLOCATED;
@@ -80,7 +80,7 @@
if (index < 0 || index >= size) {
return nullptr;
}
- std::lock_guard<wpi::mutex> lock(m_handleMutexes[index]);
+ std::scoped_lock lock(m_handleMutexes[index]);
// return structure. Null will propogate correctly, so no need to manually
// check.
return m_structures[index];
@@ -94,7 +94,7 @@
int16_t index = getHandleTypedIndex(handle, enumValue, m_version);
if (index < 0 || index >= size) return;
// lock and deallocated handle
- std::lock_guard<wpi::mutex> lock(m_handleMutexes[index]);
+ std::scoped_lock lock(m_handleMutexes[index]);
m_structures[index].reset();
}
@@ -102,7 +102,7 @@
HAL_HandleEnum enumValue>
void IndexedHandleResource<THandle, TStruct, size, enumValue>::ResetHandles() {
for (int i = 0; i < size; i++) {
- std::lock_guard<wpi::mutex> lock(m_handleMutexes[i]);
+ std::scoped_lock lock(m_handleMutexes[i]);
m_structures[i].reset();
}
HandleBase::ResetHandles();
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/hal/handles/LimitedClassedHandleResource.h b/third_party/allwpilib_2019/hal/src/main/native/include/hal/handles/LimitedClassedHandleResource.h
index 2723129..a991fc3 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/hal/handles/LimitedClassedHandleResource.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/hal/handles/LimitedClassedHandleResource.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -58,12 +58,12 @@
LimitedClassedHandleResource<THandle, TStruct, size, enumValue>::Allocate(
std::shared_ptr<TStruct> toSet) {
// globally lock to loop through indices
- std::lock_guard<wpi::mutex> lock(m_allocateMutex);
+ std::scoped_lock lock(m_allocateMutex);
for (int16_t i = 0; i < size; i++) {
if (m_structures[i] == nullptr) {
// if a false index is found, grab its specific mutex
// and allocate it.
- std::lock_guard<wpi::mutex> lock(m_handleMutexes[i]);
+ std::scoped_lock lock(m_handleMutexes[i]);
m_structures[i] = toSet;
return static_cast<THandle>(createHandle(i, enumValue, m_version));
}
@@ -81,7 +81,7 @@
if (index < 0 || index >= size) {
return nullptr;
}
- std::lock_guard<wpi::mutex> lock(m_handleMutexes[index]);
+ std::scoped_lock lock(m_handleMutexes[index]);
// return structure. Null will propogate correctly, so no need to manually
// check.
return m_structures[index];
@@ -95,8 +95,8 @@
int16_t index = getHandleTypedIndex(handle, enumValue, m_version);
if (index < 0 || index >= size) return;
// lock and deallocated handle
- std::lock_guard<wpi::mutex> allocateLock(m_allocateMutex);
- std::lock_guard<wpi::mutex> handleLock(m_handleMutexes[index]);
+ std::scoped_lock allocateLock(m_allocateMutex);
+ std::scoped_lock handleLock(m_handleMutexes[index]);
m_structures[index].reset();
}
@@ -105,9 +105,9 @@
void LimitedClassedHandleResource<THandle, TStruct, size,
enumValue>::ResetHandles() {
{
- std::lock_guard<wpi::mutex> allocateLock(m_allocateMutex);
+ std::scoped_lock allocateLock(m_allocateMutex);
for (int i = 0; i < size; i++) {
- std::lock_guard<wpi::mutex> handleLock(m_handleMutexes[i]);
+ std::scoped_lock handleLock(m_handleMutexes[i]);
m_structures[i].reset();
}
}
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/hal/handles/LimitedHandleResource.h b/third_party/allwpilib_2019/hal/src/main/native/include/hal/handles/LimitedHandleResource.h
index a535829..0756634 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/hal/handles/LimitedHandleResource.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/hal/handles/LimitedHandleResource.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -54,12 +54,12 @@
HAL_HandleEnum enumValue>
THandle LimitedHandleResource<THandle, TStruct, size, enumValue>::Allocate() {
// globally lock to loop through indices
- std::lock_guard<wpi::mutex> lock(m_allocateMutex);
+ std::scoped_lock lock(m_allocateMutex);
for (int16_t i = 0; i < size; i++) {
if (m_structures[i] == nullptr) {
// if a false index is found, grab its specific mutex
// and allocate it.
- std::lock_guard<wpi::mutex> lock(m_handleMutexes[i]);
+ std::scoped_lock lock(m_handleMutexes[i]);
m_structures[i] = std::make_shared<TStruct>();
return static_cast<THandle>(createHandle(i, enumValue, m_version));
}
@@ -76,7 +76,7 @@
if (index < 0 || index >= size) {
return nullptr;
}
- std::lock_guard<wpi::mutex> lock(m_handleMutexes[index]);
+ std::scoped_lock lock(m_handleMutexes[index]);
// return structure. Null will propogate correctly, so no need to manually
// check.
return m_structures[index];
@@ -90,8 +90,8 @@
int16_t index = getHandleTypedIndex(handle, enumValue, m_version);
if (index < 0 || index >= size) return;
// lock and deallocated handle
- std::lock_guard<wpi::mutex> allocateLock(m_allocateMutex);
- std::lock_guard<wpi::mutex> handleLock(m_handleMutexes[index]);
+ std::scoped_lock allocateLock(m_allocateMutex);
+ std::scoped_lock handleLock(m_handleMutexes[index]);
m_structures[index].reset();
}
@@ -99,9 +99,9 @@
HAL_HandleEnum enumValue>
void LimitedHandleResource<THandle, TStruct, size, enumValue>::ResetHandles() {
{
- std::lock_guard<wpi::mutex> allocateLock(m_allocateMutex);
+ std::scoped_lock allocateLock(m_allocateMutex);
for (int i = 0; i < size; i++) {
- std::lock_guard<wpi::mutex> handleLock(m_handleMutexes[i]);
+ std::scoped_lock handleLock(m_handleMutexes[i]);
m_structures[i].reset();
}
}
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/hal/handles/UnlimitedHandleResource.h b/third_party/allwpilib_2019/hal/src/main/native/include/hal/handles/UnlimitedHandleResource.h
index 7df8061..96a91f8 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/hal/handles/UnlimitedHandleResource.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/hal/handles/UnlimitedHandleResource.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -63,7 +63,7 @@
template <typename THandle, typename TStruct, HAL_HandleEnum enumValue>
THandle UnlimitedHandleResource<THandle, TStruct, enumValue>::Allocate(
std::shared_ptr<TStruct> structure) {
- std::lock_guard<wpi::mutex> lock(m_handleMutex);
+ std::scoped_lock lock(m_handleMutex);
size_t i;
for (i = 0; i < m_structures.size(); i++) {
if (m_structures[i] == nullptr) {
@@ -82,7 +82,7 @@
std::shared_ptr<TStruct>
UnlimitedHandleResource<THandle, TStruct, enumValue>::Get(THandle handle) {
int16_t index = getHandleTypedIndex(handle, enumValue, m_version);
- std::lock_guard<wpi::mutex> lock(m_handleMutex);
+ std::scoped_lock lock(m_handleMutex);
if (index < 0 || index >= static_cast<int16_t>(m_structures.size()))
return nullptr;
return m_structures[index];
@@ -92,7 +92,7 @@
std::shared_ptr<TStruct>
UnlimitedHandleResource<THandle, TStruct, enumValue>::Free(THandle handle) {
int16_t index = getHandleTypedIndex(handle, enumValue, m_version);
- std::lock_guard<wpi::mutex> lock(m_handleMutex);
+ std::scoped_lock lock(m_handleMutex);
if (index < 0 || index >= static_cast<int16_t>(m_structures.size()))
return nullptr;
return std::move(m_structures[index]);
@@ -101,7 +101,7 @@
template <typename THandle, typename TStruct, HAL_HandleEnum enumValue>
void UnlimitedHandleResource<THandle, TStruct, enumValue>::ResetHandles() {
{
- std::lock_guard<wpi::mutex> lock(m_handleMutex);
+ std::scoped_lock lock(m_handleMutex);
for (size_t i = 0; i < m_structures.size(); i++) {
m_structures[i].reset();
}
@@ -113,7 +113,7 @@
template <typename Functor>
void UnlimitedHandleResource<THandle, TStruct, enumValue>::ForEach(
Functor func) {
- std::lock_guard<wpi::mutex> lock(m_handleMutex);
+ std::scoped_lock lock(m_handleMutex);
size_t i;
for (i = 0; i < m_structures.size(); i++) {
if (m_structures[i] != nullptr) {
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/hal/labview/HAL.h b/third_party/allwpilib_2019/hal/src/main/native/include/hal/labview/HAL.h
deleted file mode 100644
index db9f20f..0000000
--- a/third_party/allwpilib_2019/hal/src/main/native/include/hal/labview/HAL.h
+++ /dev/null
@@ -1,14 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#define HAL_USE_LABVIEW
-
-#include "hal/DriverStation.h"
-#include "hal/HAL.h"
-#include "hal/Types.h"
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/AccelerometerData.h b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/AccelerometerData.h
index 79f151d..aa89f6e 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/AccelerometerData.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/AccelerometerData.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include "NotifyListener.h"
#include "hal/Accelerometer.h"
#include "hal/Types.h"
@@ -66,5 +64,3 @@
#ifdef __cplusplus
} // extern "C"
#endif
-
-#endif
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/AnalogGyroData.h b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/AnalogGyroData.h
index 5b648ee..56c739d 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/AnalogGyroData.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/AnalogGyroData.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include "NotifyListener.h"
#include "hal/Types.h"
@@ -47,5 +45,3 @@
#ifdef __cplusplus
} // extern "C"
#endif
-
-#endif
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/AnalogInData.h b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/AnalogInData.h
index 7a95164..e571563 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/AnalogInData.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/AnalogInData.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include "NotifyListener.h"
#include "hal/Types.h"
@@ -25,6 +23,8 @@
HAL_Bool HALSIM_GetAnalogInInitialized(int32_t index);
void HALSIM_SetAnalogInInitialized(int32_t index, HAL_Bool initialized);
+HAL_SimDeviceHandle HALSIM_GetAnalogInSimDevice(int32_t index);
+
int32_t HALSIM_RegisterAnalogInAverageBitsCallback(int32_t index,
HAL_NotifyCallback callback,
void* param,
@@ -97,5 +97,3 @@
#ifdef __cplusplus
} // extern "C"
#endif
-
-#endif
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/AnalogOutData.h b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/AnalogOutData.h
index 48046ec..e8f55f6 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/AnalogOutData.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/AnalogOutData.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include "NotifyListener.h"
#include "hal/Types.h"
@@ -40,5 +38,3 @@
#ifdef __cplusplus
} // extern "C"
#endif
-
-#endif
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/AnalogTriggerData.h b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/AnalogTriggerData.h
index 8146b8f..7f06c2e 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/AnalogTriggerData.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/AnalogTriggerData.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include "NotifyListener.h"
#include "hal/Types.h"
@@ -64,5 +62,3 @@
#ifdef __cplusplus
} // extern "C"
#endif
-
-#endif
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/CanData.h b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/CanData.h
index 4d76dca..0d48290 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/CanData.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/CanData.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,11 +7,9 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
-#include "HAL_Value.h"
#include "NotifyListener.h"
#include "hal/Types.h"
+#include "hal/Value.h"
typedef void (*HAL_CAN_SendMessageCallback)(const char* name, void* param,
uint32_t messageID,
@@ -74,5 +72,3 @@
#ifdef __cplusplus
} // extern "C"
#endif
-
-#endif
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/DIOData.h b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/DIOData.h
index b3bd9f2..d13eee1 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/DIOData.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/DIOData.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include "NotifyListener.h"
#include "hal/Types.h"
@@ -25,6 +23,8 @@
HAL_Bool HALSIM_GetDIOInitialized(int32_t index);
void HALSIM_SetDIOInitialized(int32_t index, HAL_Bool initialized);
+HAL_SimDeviceHandle HALSIM_GetDIOSimDevice(int32_t index);
+
int32_t HALSIM_RegisterDIOValueCallback(int32_t index,
HAL_NotifyCallback callback,
void* param, HAL_Bool initialNotify);
@@ -61,5 +61,3 @@
#ifdef __cplusplus
} // extern "C"
#endif
-
-#endif
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/DigitalPWMData.h b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/DigitalPWMData.h
index d35e313..5af17e3 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/DigitalPWMData.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/DigitalPWMData.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include "NotifyListener.h"
#include "hal/Types.h"
@@ -47,5 +45,3 @@
#ifdef __cplusplus
} // extern "C"
#endif
-
-#endif
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/DriverStationData.h b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/DriverStationData.h
index 57ca4e0..1f69664 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/DriverStationData.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/DriverStationData.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include "NotifyListener.h"
#include "hal/DriverStationTypes.h"
#include "hal/Types.h"
@@ -91,5 +89,3 @@
#ifdef __cplusplus
} // extern "C"
#endif
-
-#endif
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/EncoderData.h b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/EncoderData.h
index bcd00a7..d5d12be 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/EncoderData.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/EncoderData.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include "NotifyListener.h"
#include "hal/Types.h"
@@ -17,7 +15,8 @@
#endif
void HALSIM_ResetEncoderData(int32_t index);
-int16_t HALSIM_GetDigitalChannelA(int32_t index);
+int32_t HALSIM_GetEncoderDigitalChannelA(int32_t index);
+int32_t HALSIM_GetEncoderDigitalChannelB(int32_t index);
int32_t HALSIM_RegisterEncoderInitializedCallback(int32_t index,
HAL_NotifyCallback callback,
void* param,
@@ -26,6 +25,8 @@
HAL_Bool HALSIM_GetEncoderInitialized(int32_t index);
void HALSIM_SetEncoderInitialized(int32_t index, HAL_Bool initialized);
+HAL_SimDeviceHandle HALSIM_GetEncoderSimDevice(int32_t index);
+
int32_t HALSIM_RegisterEncoderCountCallback(int32_t index,
HAL_NotifyCallback callback,
void* param,
@@ -95,5 +96,3 @@
#ifdef __cplusplus
} // extern "C"
#endif
-
-#endif
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/HAL_Value.h b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/HAL_Value.h
deleted file mode 100644
index ee348b9..0000000
--- a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/HAL_Value.h
+++ /dev/null
@@ -1,71 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#ifndef __FRC_ROBORIO__
-
-#include "hal/Types.h"
-
-/** HAL data types. */
-enum HAL_Type {
- HAL_UNASSIGNED = 0,
- HAL_BOOLEAN = 0x01,
- HAL_DOUBLE = 0x02,
- HAL_ENUM = 0x16,
- HAL_INT = 0x32,
- HAL_LONG = 0x64,
-};
-
-/** HAL Entry Value. Note this is a typed union. */
-struct HAL_Value {
- union {
- HAL_Bool v_boolean;
- int32_t v_enum;
- int32_t v_int;
- int64_t v_long;
- double v_double;
- } data;
- enum HAL_Type type;
-};
-
-inline HAL_Value MakeBoolean(HAL_Bool v) {
- HAL_Value value;
- value.type = HAL_BOOLEAN;
- value.data.v_boolean = v;
- return value;
-}
-
-inline HAL_Value MakeEnum(int v) {
- HAL_Value value;
- value.type = HAL_ENUM;
- value.data.v_enum = v;
- return value;
-}
-
-inline HAL_Value MakeInt(int v) {
- HAL_Value value;
- value.type = HAL_INT;
- value.data.v_int = v;
- return value;
-}
-
-inline HAL_Value MakeLong(int64_t v) {
- HAL_Value value;
- value.type = HAL_LONG;
- value.data.v_long = v;
- return value;
-}
-
-inline HAL_Value MakeDouble(double v) {
- HAL_Value value;
- value.type = HAL_DOUBLE;
- value.data.v_double = v;
- return value;
-}
-
-#endif
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/I2CData.h b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/I2CData.h
index 8565fdb..32ae3a8 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/I2CData.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/I2CData.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include "NotifyListener.h"
#include "hal/Types.h"
@@ -39,5 +37,3 @@
#ifdef __cplusplus
} // extern "C"
#endif
-
-#endif
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/MockHooks.h b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/MockHooks.h
index 37eb0e7..02401b0 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/MockHooks.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/MockHooks.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include "hal/Types.h"
extern "C" {
@@ -16,6 +14,10 @@
void HALSIM_SetProgramStarted(void);
HAL_Bool HALSIM_GetProgramStarted(void);
void HALSIM_RestartTiming(void);
-} // extern "C"
-#endif
+typedef int32_t (*HALSIM_SendErrorHandler)(
+ HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode, const char* details,
+ const char* location, const char* callStack, HAL_Bool printMsg);
+void HALSIM_SetSendError(HALSIM_SendErrorHandler handler);
+
+} // extern "C"
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/NotifyListener.h b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/NotifyListener.h
index 8d7e199..a455803 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/NotifyListener.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/NotifyListener.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,9 +7,7 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
-#include "HAL_Value.h"
+#include "hal/Value.h"
typedef void (*HAL_NotifyCallback)(const char* name, void* param,
const struct HAL_Value* value);
@@ -21,6 +19,8 @@
const unsigned char* buffer,
unsigned int count);
+#ifdef __cplusplus
+
namespace hal {
template <typename CallbackFunction>
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/PCMData.h b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/PCMData.h
index d919cc9..74a591a 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/PCMData.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/PCMData.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include "NotifyListener.h"
#include "hal/Types.h"
@@ -89,5 +87,3 @@
#ifdef __cplusplus
} // extern "C"
#endif
-
-#endif
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/PDPData.h b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/PDPData.h
index be24da8..a25b66d 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/PDPData.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/PDPData.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include "NotifyListener.h"
#include "hal/Types.h"
@@ -56,5 +54,3 @@
#ifdef __cplusplus
} // extern "C"
#endif
-
-#endif
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/PWMData.h b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/PWMData.h
index 08ba357..2a8c63d 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/PWMData.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/PWMData.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include "NotifyListener.h"
#include "hal/Types.h"
@@ -68,5 +66,3 @@
#ifdef __cplusplus
} // extern "C"
#endif
-
-#endif
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/RelayData.h b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/RelayData.h
index 6fdac7f..c0b853d 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/RelayData.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/RelayData.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include "NotifyListener.h"
#include "hal/Types.h"
@@ -56,5 +54,3 @@
#ifdef __cplusplus
} // extern "C"
#endif
-
-#endif
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/RoboRioData.h b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/RoboRioData.h
index 88b6ece..3acb0ec 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/RoboRioData.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/RoboRioData.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include "NotifyListener.h"
#include "hal/Types.h"
@@ -142,5 +140,3 @@
#ifdef __cplusplus
} // extern "C"
#endif
-
-#endif
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/SPIAccelerometerData.h b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/SPIAccelerometerData.h
index 6e37f40..c68da45 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/SPIAccelerometerData.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/SPIAccelerometerData.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include "NotifyListener.h"
#include "hal/Types.h"
@@ -63,5 +61,3 @@
#ifdef __cplusplus
} // extern "C"
#endif
-
-#endif
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/SPIData.h b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/SPIData.h
index 54a2ec9..da21643 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/SPIData.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/SPIData.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include "NotifyListener.h"
#include "hal/Types.h"
@@ -49,5 +47,3 @@
#ifdef __cplusplus
} // extern "C"
#endif
-
-#endif
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/SimCallbackRegistry.h b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/SimCallbackRegistry.h
index da3f0f9..7190dcf 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/SimCallbackRegistry.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/SimCallbackRegistry.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -29,12 +29,12 @@
public:
void Cancel(int32_t uid) {
- std::lock_guard<wpi::recursive_spinlock> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
if (m_callbacks) m_callbacks->erase(uid - 1);
}
void Reset() {
- std::lock_guard<wpi::recursive_spinlock> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
DoReset();
}
@@ -68,13 +68,13 @@
class SimCallbackRegistry : public impl::SimCallbackRegistryBase {
public:
int32_t Register(CallbackFunction callback, void* param) {
- std::lock_guard<wpi::recursive_spinlock> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
return DoRegister(reinterpret_cast<RawFunctor>(callback), param);
}
template <typename... U>
void Invoke(U&&... u) const {
- std::lock_guard<wpi::recursive_spinlock> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
if (m_callbacks) {
const char* name = GetName();
for (auto&& cb : *m_callbacks)
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/SimDataValue.h b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/SimDataValue.h
index 3b518b9..b6723bb 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/SimDataValue.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/SimDataValue.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -27,14 +27,14 @@
LLVM_ATTRIBUTE_ALWAYS_INLINE void CancelCallback(int32_t uid) { Cancel(uid); }
T Get() const {
- std::lock_guard<wpi::recursive_spinlock> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
return m_value;
}
LLVM_ATTRIBUTE_ALWAYS_INLINE operator T() const { return Get(); }
void Reset(T value) {
- std::lock_guard<wpi::recursive_spinlock> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
DoReset();
m_value = value;
}
@@ -44,7 +44,7 @@
protected:
int32_t DoRegisterCallback(HAL_NotifyCallback callback, void* param,
HAL_Bool initialNotify, const char* name) {
- std::unique_lock<wpi::recursive_spinlock> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
int32_t newUid = DoRegister(reinterpret_cast<RawFunctor>(callback), param);
if (newUid == -1) return -1;
if (initialNotify) {
@@ -57,7 +57,7 @@
}
void DoSet(T value, const char* name) {
- std::lock_guard<wpi::recursive_spinlock> lock(this->m_mutex);
+ std::scoped_lock lock(this->m_mutex);
if (m_value != value) {
m_value = value;
if (m_callbacks) {
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/SimDeviceData.h b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/SimDeviceData.h
new file mode 100644
index 0000000..44398d7
--- /dev/null
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/mockdata/SimDeviceData.h
@@ -0,0 +1,73 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "NotifyListener.h"
+#include "hal/Types.h"
+#include "hal/Value.h"
+
+typedef void (*HALSIM_SimDeviceCallback)(const char* name, void* param,
+ HAL_SimDeviceHandle handle);
+
+typedef void (*HALSIM_SimValueCallback)(const char* name, void* param,
+ HAL_SimValueHandle handle,
+ HAL_Bool readonly,
+ const struct HAL_Value* value);
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int32_t HALSIM_RegisterSimDeviceCreatedCallback(
+ const char* prefix, void* param, HALSIM_SimDeviceCallback callback,
+ HAL_Bool initialNotify);
+
+void HALSIM_CancelSimDeviceCreatedCallback(int32_t uid);
+
+int32_t HALSIM_RegisterSimDeviceFreedCallback(
+ const char* prefix, void* param, HALSIM_SimDeviceCallback callback);
+
+void HALSIM_CancelSimDeviceFreedCallback(int32_t uid);
+
+HAL_SimDeviceHandle HALSIM_GetSimDeviceHandle(const char* name);
+
+const char* HALSIM_GetSimDeviceName(HAL_SimDeviceHandle handle);
+
+HAL_SimDeviceHandle HALSIM_GetSimValueDeviceHandle(HAL_SimValueHandle handle);
+
+void HALSIM_EnumerateSimDevices(const char* prefix, void* param,
+ HALSIM_SimDeviceCallback callback);
+
+int32_t HALSIM_RegisterSimValueCreatedCallback(HAL_SimDeviceHandle device,
+ void* param,
+ HALSIM_SimValueCallback callback,
+ HAL_Bool initialNotify);
+
+void HALSIM_CancelSimValueCreatedCallback(int32_t uid);
+
+int32_t HALSIM_RegisterSimValueChangedCallback(HAL_SimValueHandle handle,
+ void* param,
+ HALSIM_SimValueCallback callback,
+ HAL_Bool initialNotify);
+
+void HALSIM_CancelSimValueChangedCallback(int32_t uid);
+
+HAL_SimValueHandle HALSIM_GetSimValueHandle(HAL_SimDeviceHandle device,
+ const char* name);
+
+void HALSIM_EnumerateSimValues(HAL_SimDeviceHandle device, void* param,
+ HALSIM_SimValueCallback callback);
+
+const char** HALSIM_GetSimValueEnumOptions(HAL_SimValueHandle handle,
+ int32_t* numOptions);
+
+void HALSIM_ResetSimDeviceData(void);
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/simulation/AccelerometerSim.h b/third_party/allwpilib_2019/hal/src/main/native/include/simulation/AccelerometerSim.h
index ea873c7..07860f0 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/simulation/AccelerometerSim.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/simulation/AccelerometerSim.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include <memory>
#include <utility>
@@ -99,4 +97,3 @@
};
} // namespace sim
} // namespace frc
-#endif // __FRC_ROBORIO__
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/simulation/AnalogGyroSim.h b/third_party/allwpilib_2019/hal/src/main/native/include/simulation/AnalogGyroSim.h
index b4c48ca..b2cdb85 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/simulation/AnalogGyroSim.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/simulation/AnalogGyroSim.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include <memory>
#include <utility>
@@ -71,4 +69,3 @@
};
} // namespace sim
} // namespace frc
-#endif // __FRC_ROBORIO__
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/simulation/AnalogInSim.h b/third_party/allwpilib_2019/hal/src/main/native/include/simulation/AnalogInSim.h
index a513c33..2a1bbea 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/simulation/AnalogInSim.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/simulation/AnalogInSim.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include <memory>
#include <utility>
@@ -177,4 +175,3 @@
};
} // namespace sim
} // namespace frc
-#endif // __FRC_ROBORIO__
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/simulation/AnalogOutSim.h b/third_party/allwpilib_2019/hal/src/main/native/include/simulation/AnalogOutSim.h
index 3617a66..6bb6e5a 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/simulation/AnalogOutSim.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/simulation/AnalogOutSim.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include <memory>
#include <utility>
@@ -60,4 +58,3 @@
};
} // namespace sim
} // namespace frc
-#endif // __FRC_ROBORIO__
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/simulation/AnalogTriggerSim.h b/third_party/allwpilib_2019/hal/src/main/native/include/simulation/AnalogTriggerSim.h
index 04faf05..2c41be1 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/simulation/AnalogTriggerSim.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/simulation/AnalogTriggerSim.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include <memory>
#include <utility>
@@ -81,4 +79,3 @@
};
} // namespace sim
} // namespace frc
-#endif // __FRC_ROBORIO__
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/simulation/CallbackStore.h b/third_party/allwpilib_2019/hal/src/main/native/include/simulation/CallbackStore.h
index 967e963..b2d4bdf 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/simulation/CallbackStore.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/simulation/CallbackStore.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,13 +7,11 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include <functional>
#include <wpi/StringRef.h>
-#include "mockdata/HAL_Value.h"
+#include "hal/Value.h"
namespace frc {
namespace sim {
@@ -89,5 +87,3 @@
};
} // namespace sim
} // namespace frc
-
-#endif
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/simulation/DIOSim.h b/third_party/allwpilib_2019/hal/src/main/native/include/simulation/DIOSim.h
index b4fe947..57079b9 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/simulation/DIOSim.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/simulation/DIOSim.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include <memory>
#include <utility>
@@ -99,4 +97,3 @@
};
} // namespace sim
} // namespace frc
-#endif // __FRC_ROBORIO__
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/simulation/DigitalPWMSim.h b/third_party/allwpilib_2019/hal/src/main/native/include/simulation/DigitalPWMSim.h
index ecfc56d..5f5769d 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/simulation/DigitalPWMSim.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/simulation/DigitalPWMSim.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include <memory>
#include <utility>
@@ -73,4 +71,3 @@
};
} // namespace sim
} // namespace frc
-#endif // __FRC_ROBORIO__
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/simulation/DriverStationSim.h b/third_party/allwpilib_2019/hal/src/main/native/include/simulation/DriverStationSim.h
index 55c38a9..e5071cc 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/simulation/DriverStationSim.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/simulation/DriverStationSim.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include <memory>
#include <utility>
@@ -109,4 +107,3 @@
};
} // namespace sim
} // namespace frc
-#endif // __FRC_ROBORIO__
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/simulation/EncoderSim.h b/third_party/allwpilib_2019/hal/src/main/native/include/simulation/EncoderSim.h
index 493f338..f80e8a8 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/simulation/EncoderSim.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/simulation/EncoderSim.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include <memory>
#include <utility>
@@ -163,4 +161,3 @@
};
} // namespace sim
} // namespace frc
-#endif // __FRC_ROBORIO__
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/simulation/PCMSim.h b/third_party/allwpilib_2019/hal/src/main/native/include/simulation/PCMSim.h
index bfefa6e..3f3ca9b 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/simulation/PCMSim.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/simulation/PCMSim.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include <memory>
#include <utility>
@@ -147,4 +145,3 @@
};
} // namespace sim
} // namespace frc
-#endif // __FRC_ROBORIO__
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/simulation/PDPSim.h b/third_party/allwpilib_2019/hal/src/main/native/include/simulation/PDPSim.h
index 7677ec2..e3ffd4b 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/simulation/PDPSim.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/simulation/PDPSim.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include <memory>
#include <utility>
@@ -88,4 +86,3 @@
};
} // namespace sim
} // namespace frc
-#endif // __FRC_ROBORIO__
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/simulation/PWMSim.h b/third_party/allwpilib_2019/hal/src/main/native/include/simulation/PWMSim.h
index b90b76f..7aba360 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/simulation/PWMSim.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/simulation/PWMSim.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include <memory>
#include <utility>
@@ -114,4 +112,3 @@
};
} // namespace sim
} // namespace frc
-#endif // __FRC_ROBORIO__
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/simulation/RelaySim.h b/third_party/allwpilib_2019/hal/src/main/native/include/simulation/RelaySim.h
index b21a047..6958a40 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/simulation/RelaySim.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/simulation/RelaySim.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include <memory>
#include <utility>
@@ -88,4 +86,3 @@
};
} // namespace sim
} // namespace frc
-#endif // __FRC_ROBORIO__
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/simulation/RoboRioSim.h b/third_party/allwpilib_2019/hal/src/main/native/include/simulation/RoboRioSim.h
index 0d7c31c..9b020ae 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/simulation/RoboRioSim.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/simulation/RoboRioSim.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include <memory>
#include <utility>
@@ -273,4 +271,3 @@
};
} // namespace sim
} // namespace frc
-#endif // __FRC_ROBORIO__
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/simulation/SPIAccelerometerSim.h b/third_party/allwpilib_2019/hal/src/main/native/include/simulation/SPIAccelerometerSim.h
index 4369938..d7795ee 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/simulation/SPIAccelerometerSim.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/simulation/SPIAccelerometerSim.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include <memory>
#include <utility>
@@ -95,4 +93,3 @@
};
} // namespace sim
} // namespace frc
-#endif // __FRC_ROBORIO__
diff --git a/third_party/allwpilib_2019/hal/src/main/native/include/simulation/SimHooks.h b/third_party/allwpilib_2019/hal/src/main/native/include/simulation/SimHooks.h
index 6f03952..537cef3 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/include/simulation/SimHooks.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/include/simulation/SimHooks.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,6 @@
#pragma once
-#ifndef __FRC_ROBORIO__
-
#include "mockdata/MockHooks.h"
namespace frc {
@@ -24,5 +22,3 @@
} // namespace sim
} // namespace frc
-
-#endif
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/AnalogInput.cpp b/third_party/allwpilib_2019/hal/src/main/native/sim/AnalogInput.cpp
index a0f44a7..dc56403 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/AnalogInput.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/AnalogInput.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -53,6 +53,7 @@
SimAnalogInData[channel].initialized = true;
SimAnalogInData[channel].accumulatorInitialized = false;
+ SimAnalogInData[channel].simDevice = 0;
return handle;
}
@@ -71,6 +72,13 @@
return channel < kNumAnalogInputs && channel >= 0;
}
+void HAL_SetAnalogInputSimDevice(HAL_AnalogInputHandle handle,
+ HAL_SimDeviceHandle device) {
+ auto port = analogInputHandles->Get(handle);
+ if (port == nullptr) return;
+ SimAnalogInData[port->channel].simDevice = device;
+}
+
void HAL_SetAnalogSampleRate(double samplesPerSecond, int32_t* status) {
// No op
}
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/CANAPI.cpp b/third_party/allwpilib_2019/hal/src/main/native/sim/CANAPI.cpp
index a54f06f..08b0989 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/CANAPI.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/CANAPI.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -100,12 +100,12 @@
void HAL_CleanCAN(HAL_CANHandle handle) {
auto data = canHandles->Free(handle);
- std::lock_guard<wpi::mutex> lock(data->mapMutex);
+ std::scoped_lock lock(data->mapMutex);
for (auto&& i : data->periodicSends) {
int32_t s = 0;
- HAL_CAN_SendMessage(i.first, nullptr, 0, HAL_CAN_SEND_PERIOD_STOP_REPEATING,
- &s);
+ auto id = CreateCANId(data.get(), i.first);
+ HAL_CAN_SendMessage(id, nullptr, 0, HAL_CAN_SEND_PERIOD_STOP_REPEATING, &s);
i.second = -1;
}
}
@@ -124,7 +124,7 @@
if (*status != 0) {
return;
}
- std::lock_guard<wpi::mutex> lock(can->mapMutex);
+ std::scoped_lock lock(can->mapMutex);
can->periodicSends[apiId] = -1;
}
@@ -143,10 +143,31 @@
if (*status != 0) {
return;
}
- std::lock_guard<wpi::mutex> lock(can->mapMutex);
+ std::scoped_lock lock(can->mapMutex);
can->periodicSends[apiId] = repeatMs;
}
+void HAL_WriteCANRTRFrame(HAL_CANHandle handle, int32_t length, int32_t apiId,
+ int32_t* status) {
+ auto can = canHandles->Get(handle);
+ if (!can) {
+ *status = HAL_HANDLE_ERROR;
+ return;
+ }
+ auto id = CreateCANId(can.get(), apiId);
+ id |= HAL_CAN_IS_FRAME_REMOTE;
+ uint8_t data[8];
+ std::memset(data, 0, sizeof(data));
+
+ HAL_CAN_SendMessage(id, data, length, HAL_CAN_SEND_PERIOD_NO_REPEAT, status);
+
+ if (*status != 0) {
+ return;
+ }
+ std::scoped_lock lock(can->mapMutex);
+ can->periodicSends[apiId] = -1;
+}
+
void HAL_StopCANPacketRepeating(HAL_CANHandle handle, int32_t apiId,
int32_t* status) {
auto can = canHandles->Get(handle);
@@ -162,7 +183,7 @@
if (*status != 0) {
return;
}
- std::lock_guard<wpi::mutex> lock(can->mapMutex);
+ std::scoped_lock lock(can->mapMutex);
can->periodicSends[apiId] = -1;
}
@@ -181,7 +202,7 @@
HAL_CAN_ReceiveMessage(&messageId, 0x1FFFFFFF, data, &dataSize, &ts, status);
if (*status == 0) {
- std::lock_guard<wpi::mutex> lock(can->mapMutex);
+ std::scoped_lock lock(can->mapMutex);
auto& msg = can->receives[messageId];
msg.length = dataSize;
msg.lastTimeStamp = ts;
@@ -206,7 +227,7 @@
uint32_t ts = 0;
HAL_CAN_ReceiveMessage(&messageId, 0x1FFFFFFF, data, &dataSize, &ts, status);
- std::lock_guard<wpi::mutex> lock(can->mapMutex);
+ std::scoped_lock lock(can->mapMutex);
if (*status == 0) {
// fresh update
auto& msg = can->receives[messageId];
@@ -243,7 +264,7 @@
uint32_t ts = 0;
HAL_CAN_ReceiveMessage(&messageId, 0x1FFFFFFF, data, &dataSize, &ts, status);
- std::lock_guard<wpi::mutex> lock(can->mapMutex);
+ std::scoped_lock lock(can->mapMutex);
if (*status == 0) {
// fresh update
auto& msg = can->receives[messageId];
@@ -285,7 +306,7 @@
uint32_t messageId = CreateCANId(can.get(), apiId);
{
- std::lock_guard<wpi::mutex> lock(can->mapMutex);
+ std::scoped_lock lock(can->mapMutex);
auto i = can->receives.find(messageId);
if (i != can->receives.end()) {
// Found, check if new enough
@@ -305,7 +326,7 @@
uint32_t ts = 0;
HAL_CAN_ReceiveMessage(&messageId, 0x1FFFFFFF, data, &dataSize, &ts, status);
- std::lock_guard<wpi::mutex> lock(can->mapMutex);
+ std::scoped_lock lock(can->mapMutex);
if (*status == 0) {
// fresh update
auto& msg = can->receives[messageId];
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/DIO.cpp b/third_party/allwpilib_2019/hal/src/main/native/sim/DIO.cpp
index e67b756..2158136 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/DIO.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/DIO.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -63,8 +63,8 @@
port->channel = static_cast<uint8_t>(channel);
SimDIOData[channel].initialized = true;
-
SimDIOData[channel].isInput = input;
+ SimDIOData[channel].simDevice = 0;
return handle;
}
@@ -78,7 +78,13 @@
// no status, so no need to check for a proper free.
digitalChannelHandles->Free(dioPortHandle, HAL_HandleEnum::DIO);
if (port == nullptr) return;
- SimDIOData[port->channel].initialized = true;
+ SimDIOData[port->channel].initialized = false;
+}
+
+void HAL_SetDIOSimDevice(HAL_DigitalHandle handle, HAL_SimDeviceHandle device) {
+ auto port = digitalChannelHandles->Get(handle, HAL_HandleEnum::DIO);
+ if (port == nullptr) return;
+ SimDIOData[port->channel].simDevice = device;
}
HAL_DigitalPWMHandle HAL_AllocateDigitalPWM(int32_t* status) {
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/DigitalInternal.h b/third_party/allwpilib_2019/hal/src/main/native/sim/DigitalInternal.h
index 89644a1..9df4c51 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/DigitalInternal.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/DigitalInternal.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -44,11 +44,11 @@
* scaling is implemented as an output squelch to get longer periods for old
* devices.
*/
-constexpr float kDefaultPwmPeriod = 5.05;
+constexpr float kDefaultPwmPeriod = 5.05f;
/**
* kDefaultPwmCenter is the PWM range center in ms
*/
-constexpr float kDefaultPwmCenter = 1.5;
+constexpr float kDefaultPwmCenter = 1.5f;
/**
* kDefaultPWMStepsDown is the number of PWM steps below the centerpoint
*/
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/DriverStation.cpp b/third_party/allwpilib_2019/hal/src/main/native/sim/DriverStation.cpp
index 0c9c028..a17994e 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/DriverStation.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/DriverStation.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -28,6 +28,7 @@
static wpi::mutex newDSDataAvailableMutex;
static int newDSDataAvailableCounter{0};
static std::atomic_bool isFinalized{false};
+static std::atomic<HALSIM_SendErrorHandler> sendErrorHandler{nullptr};
namespace hal {
namespace init {
@@ -41,13 +42,22 @@
using namespace hal;
extern "C" {
+
+void HALSIM_SetSendError(HALSIM_SendErrorHandler handler) {
+ sendErrorHandler.store(handler);
+}
+
int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
const char* details, const char* location,
const char* callStack, HAL_Bool printMsg) {
+ auto errorHandler = sendErrorHandler.load();
+ if (errorHandler)
+ return errorHandler(isError, errorCode, isLVCode, details, location,
+ callStack, printMsg);
// Avoid flooding console by keeping track of previous 5 error
// messages and only printing again if they're longer than 1 second old.
static constexpr int KEEP_MSGS = 5;
- std::lock_guard<wpi::mutex> lock(msgMutex);
+ std::scoped_lock lock(msgMutex);
static std::string prevMsg[KEEP_MSGS];
static std::chrono::time_point<std::chrono::steady_clock>
prevMsgTime[KEEP_MSGS];
@@ -219,7 +229,7 @@
// worth the cycles to check.
int currentCount = 0;
{
- std::unique_lock<wpi::mutex> lock(newDSDataAvailableMutex);
+ std::unique_lock lock(newDSDataAvailableMutex);
currentCount = newDSDataAvailableCounter;
}
if (lastCount == currentCount) return false;
@@ -236,7 +246,7 @@
auto timeoutTime =
std::chrono::steady_clock::now() + std::chrono::duration<double>(timeout);
- std::unique_lock<wpi::mutex> lock(newDSDataAvailableMutex);
+ std::unique_lock lock(newDSDataAvailableMutex);
int currentCount = newDSDataAvailableCounter;
while (newDSDataAvailableCounter == currentCount) {
if (timeout > 0) {
@@ -258,7 +268,7 @@
// Since we could get other values, require our specific handle
// to signal our threads
if (refNum != refNumber) return 0;
- std::lock_guard<wpi::mutex> lock(newDSDataAvailableMutex);
+ std::scoped_lock lock(newDSDataAvailableMutex);
// Nofify all threads
newDSDataAvailableCounter++;
newDSDataAvailableCond->notify_all();
@@ -272,7 +282,7 @@
// Initial check, as if it's true initialization has finished
if (initialized) return;
- std::lock_guard<wpi::mutex> lock(initializeMutex);
+ std::scoped_lock lock(initializeMutex);
// Second check in case another thread was waiting
if (initialized) return;
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/Encoder.cpp b/third_party/allwpilib_2019/hal/src/main/native/sim/Encoder.cpp
index 3f197a2..36122bf 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/Encoder.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/Encoder.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -82,8 +82,10 @@
}
int16_t index = getHandleIndex(handle);
SimEncoderData[index].digitalChannelA = getHandleIndex(digitalSourceHandleA);
+ SimEncoderData[index].digitalChannelB = getHandleIndex(digitalSourceHandleB);
SimEncoderData[index].initialized = true;
SimEncoderData[index].reverseDirection = reverseDirection;
+ SimEncoderData[index].simDevice = 0;
// TODO: Add encoding type to Sim data
encoder->index = index;
encoder->nativeHandle = nativeHandle;
@@ -104,6 +106,13 @@
SimEncoderData[encoder->index].initialized = false;
}
+void HAL_SetEncoderSimDevice(HAL_EncoderHandle handle,
+ HAL_SimDeviceHandle device) {
+ auto encoder = encoderHandles->Get(handle);
+ if (encoder == nullptr) return;
+ SimEncoderData[encoder->index].simDevice = device;
+}
+
static inline int EncodingScaleFactor(Encoder* encoder) {
switch (encoder->encodingType) {
case HAL_Encoder_k1X:
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/Extensions.cpp b/third_party/allwpilib_2019/hal/src/main/native/sim/Extensions.cpp
index 6ef7903..e84c354 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/Extensions.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/Extensions.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,8 +7,10 @@
#include "hal/Extensions.h"
+#include <wpi/Path.h>
#include <wpi/SmallString.h>
#include <wpi/StringRef.h>
+#include <wpi/raw_ostream.h>
#include "hal/HAL.h"
@@ -43,6 +45,9 @@
int HAL_LoadOneExtension(const char* library) {
int rc = 1; // It is expected and reasonable not to find an extra simulation
+ wpi::outs() << "HAL Extensions: Attempting to load: "
+ << wpi::sys::path::stem(library) << "\n";
+ wpi::outs().flush();
HTYPE handle = DLOPEN(library);
#if !defined(WIN32) && !defined(_WIN32)
if (!handle) {
@@ -53,17 +58,31 @@
#else
libraryName += ".so";
#endif
+ wpi::outs() << "HAL Extensions: Trying modified name: "
+ << wpi::sys::path::stem(libraryName);
+ wpi::outs().flush();
handle = DLOPEN(libraryName.c_str());
}
#endif
- if (!handle) return rc;
+ if (!handle) {
+ wpi::outs() << "HAL Extensions: Failed to load library\n";
+ wpi::outs().flush();
+ return rc;
+ }
auto init = reinterpret_cast<halsim_extension_init_func_t*>(
DLSYM(handle, "HALSIM_InitExtension"));
if (init) rc = (*init)();
- if (rc != 0) DLCLOSE(handle);
+ if (rc != 0) {
+ wpi::outs() << "HAL Extensions: Failed to load extension\n";
+ wpi::outs().flush();
+ DLCLOSE(handle);
+ } else {
+ wpi::outs() << "HAL Extensions: Successfully loaded extension\n";
+ wpi::outs().flush();
+ }
return rc;
}
@@ -71,7 +90,11 @@
int rc = 1;
wpi::SmallVector<wpi::StringRef, 2> libraries;
const char* e = std::getenv("HALSIM_EXTENSIONS");
- if (!e) return rc;
+ if (!e) {
+ wpi::outs() << "HAL Extensions: No extensions found\n";
+ wpi::outs().flush();
+ return rc;
+ }
wpi::StringRef env{e};
env.split(libraries, DELIM, -1, false);
for (auto& libref : libraries) {
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/HAL.cpp b/third_party/allwpilib_2019/hal/src/main/native/sim/HAL.cpp
index d058c1a..cf019cf 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/HAL.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/HAL.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -41,6 +41,7 @@
InitializePWMData();
InitializeRelayData();
InitializeRoboRioData();
+ InitializeSimDeviceData();
InitializeSPIAccelerometerData();
InitializeSPIData();
InitializeAccelerometer();
@@ -60,6 +61,7 @@
InitializeExtensions();
InitializeI2C();
InitializeInterrupts();
+ InitializeMain();
InitializeMockHooks();
InitializeNotifier();
InitializePDP();
@@ -68,6 +70,7 @@
InitializePWM();
InitializeRelay();
InitializeSerialPort();
+ InitializeSimDevice();
InitializeSolenoid();
InitializeSPI();
InitializeThreads();
@@ -231,7 +234,7 @@
// Initial check, as if it's true initialization has finished
if (initialized) return true;
- std::lock_guard<wpi::mutex> lock(initializeMutex);
+ std::scoped_lock lock(initializeMutex);
// Second check in case another thread was waiting
if (initialized) return true;
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/HALInitializer.h b/third_party/allwpilib_2019/hal/src/main/native/sim/HALInitializer.h
index d369a3b..4c91b40 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/HALInitializer.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/HALInitializer.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -35,6 +35,7 @@
extern void InitializePWMData();
extern void InitializeRelayData();
extern void InitializeRoboRioData();
+extern void InitializeSimDeviceData();
extern void InitializeSPIAccelerometerData();
extern void InitializeSPIData();
extern void InitializeAccelerometer();
@@ -55,6 +56,7 @@
extern void InitializeHAL();
extern void InitializeI2C();
extern void InitializeInterrupts();
+extern void InitializeMain();
extern void InitializeMockHooks();
extern void InitializeNotifier();
extern void InitializePDP();
@@ -63,6 +65,7 @@
extern void InitializePWM();
extern void InitializeRelay();
extern void InitializeSerialPort();
+extern void InitializeSimDevice();
extern void InitializeSolenoid();
extern void InitializeSPI();
extern void InitializeThreads();
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/Interrupts.cpp b/third_party/allwpilib_2019/hal/src/main/native/sim/Interrupts.cpp
index 75247ca..a7dd285 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/Interrupts.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/Interrupts.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -19,12 +19,16 @@
#include "PortsInternal.h"
#include "hal/AnalogTrigger.h"
#include "hal/Errors.h"
+#include "hal/Value.h"
#include "hal/handles/HandlesInternal.h"
#include "hal/handles/LimitedHandleResource.h"
#include "hal/handles/UnlimitedHandleResource.h"
#include "mockdata/AnalogInDataInternal.h"
#include "mockdata/DIODataInternal.h"
-#include "mockdata/HAL_Value.h"
+
+#ifdef _WIN32
+#pragma warning(disable : 4996 4018 6297 26451 4334)
+#endif
using namespace hal;
@@ -54,9 +58,9 @@
};
struct SynchronousWaitData {
- HAL_InterruptHandle interruptHandle;
+ HAL_InterruptHandle interruptHandle{HAL_kInvalidHandle};
wpi::condition_variable waitCond;
- HAL_Bool waitPredicate;
+ HAL_Bool waitPredicate{false};
};
} // namespace
@@ -219,7 +223,7 @@
std::chrono::steady_clock::now() + std::chrono::duration<double>(timeout);
{
- std::unique_lock<wpi::mutex> lock(waitMutex);
+ std::unique_lock lock(waitMutex);
while (!data->waitPredicate) {
if (data->waitCond.wait_until(lock, timeoutTime) ==
std::cv_status::timeout) {
@@ -231,7 +235,7 @@
// Cancel our callback
SimDIOData[digitalIndex].value.CancelCallback(uid);
- synchronousInterruptHandles->Free(dataHandle);
+ (void)synchronousInterruptHandles->Free(dataHandle);
// Check for what to return
if (timedOut) return WaitResult::Timeout;
@@ -283,7 +287,7 @@
std::chrono::steady_clock::now() + std::chrono::duration<double>(timeout);
{
- std::unique_lock<wpi::mutex> lock(waitMutex);
+ std::unique_lock lock(waitMutex);
while (!data->waitPredicate) {
if (data->waitCond.wait_until(lock, timeoutTime) ==
std::cv_status::timeout) {
@@ -295,7 +299,7 @@
// Cancel our callback
SimAnalogInData[analogIndex].voltage.CancelCallback(uid);
- synchronousInterruptHandles->Free(dataHandle);
+ (void)synchronousInterruptHandles->Free(dataHandle);
// Check for what to return
if (timedOut) return WaitResult::Timeout;
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/Notifier.cpp b/third_party/allwpilib_2019/hal/src/main/native/sim/Notifier.cpp
index 9f549d5..579540c 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/Notifier.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/Notifier.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -38,7 +38,7 @@
~NotifierHandleContainer() {
ForEach([](HAL_NotifierHandle handle, Notifier* notifier) {
{
- std::lock_guard<wpi::mutex> lock(notifier->mutex);
+ std::scoped_lock lock(notifier->mutex);
notifier->active = false;
notifier->running = false;
}
@@ -76,7 +76,7 @@
if (!notifier) return;
{
- std::lock_guard<wpi::mutex> lock(notifier->mutex);
+ std::scoped_lock lock(notifier->mutex);
notifier->active = false;
notifier->running = false;
}
@@ -89,7 +89,7 @@
// Just in case HAL_StopNotifier() wasn't called...
{
- std::lock_guard<wpi::mutex> lock(notifier->mutex);
+ std::scoped_lock lock(notifier->mutex);
notifier->active = false;
notifier->running = false;
}
@@ -102,7 +102,7 @@
if (!notifier) return;
{
- std::lock_guard<wpi::mutex> lock(notifier->mutex);
+ std::scoped_lock lock(notifier->mutex);
notifier->waitTime = triggerTime;
notifier->running = true;
notifier->updatedAlarm = true;
@@ -118,7 +118,7 @@
if (!notifier) return;
{
- std::lock_guard<wpi::mutex> lock(notifier->mutex);
+ std::scoped_lock lock(notifier->mutex);
notifier->running = false;
}
}
@@ -128,7 +128,7 @@
auto notifier = notifierHandles->Get(notifierHandle);
if (!notifier) return 0;
- std::unique_lock<wpi::mutex> lock(notifier->mutex);
+ std::unique_lock lock(notifier->mutex);
while (notifier->active) {
double waitTime;
if (!notifier->running) {
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/SerialPort.cpp b/third_party/allwpilib_2019/hal/src/main/native/sim/SerialPort.cpp
index bc08566..2df2ebe 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/SerialPort.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/SerialPort.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -16,62 +16,72 @@
} // namespace hal
extern "C" {
-void HAL_InitializeSerialPort(HAL_SerialPort port, int32_t* status) {
+HAL_SerialPortHandle HAL_InitializeSerialPort(HAL_SerialPort port,
+ int32_t* status) {
hal::init::CheckInit();
+ return HAL_kInvalidHandle;
}
-void HAL_InitializeSerialPortDirect(HAL_SerialPort port, const char* portName,
- int32_t* status) {}
-
-void HAL_SetSerialBaudRate(HAL_SerialPort port, int32_t baud, int32_t* status) {
+HAL_SerialPortHandle HAL_InitializeSerialPortDirect(HAL_SerialPort port,
+ const char* portName,
+ int32_t* status) {
+ hal::init::CheckInit();
+ return HAL_kInvalidHandle;
}
-void HAL_SetSerialDataBits(HAL_SerialPort port, int32_t bits, int32_t* status) {
-}
+int HAL_GetSerialFD(HAL_SerialPortHandle handle, int32_t* status) { return -1; }
-void HAL_SetSerialParity(HAL_SerialPort port, int32_t parity, int32_t* status) {
-}
-
-void HAL_SetSerialStopBits(HAL_SerialPort port, int32_t stopBits,
+void HAL_SetSerialBaudRate(HAL_SerialPortHandle handle, int32_t baud,
int32_t* status) {}
-void HAL_SetSerialWriteMode(HAL_SerialPort port, int32_t mode,
+void HAL_SetSerialDataBits(HAL_SerialPortHandle handle, int32_t bits,
+ int32_t* status) {}
+
+void HAL_SetSerialParity(HAL_SerialPortHandle handle, int32_t parity,
+ int32_t* status) {}
+
+void HAL_SetSerialStopBits(HAL_SerialPortHandle handle, int32_t stopBits,
+ int32_t* status) {}
+
+void HAL_SetSerialWriteMode(HAL_SerialPortHandle handle, int32_t mode,
int32_t* status) {}
-void HAL_SetSerialFlowControl(HAL_SerialPort port, int32_t flow,
+void HAL_SetSerialFlowControl(HAL_SerialPortHandle handle, int32_t flow,
int32_t* status) {}
-void HAL_SetSerialTimeout(HAL_SerialPort port, double timeout,
+void HAL_SetSerialTimeout(HAL_SerialPortHandle handle, double timeout,
int32_t* status) {}
-void HAL_EnableSerialTermination(HAL_SerialPort port, char terminator,
+void HAL_EnableSerialTermination(HAL_SerialPortHandle handle, char terminator,
int32_t* status) {}
-void HAL_DisableSerialTermination(HAL_SerialPort port, int32_t* status) {}
-
-void HAL_SetSerialReadBufferSize(HAL_SerialPort port, int32_t size,
- int32_t* status) {}
-
-void HAL_SetSerialWriteBufferSize(HAL_SerialPort port, int32_t size,
+void HAL_DisableSerialTermination(HAL_SerialPortHandle handle,
int32_t* status) {}
-int32_t HAL_GetSerialBytesReceived(HAL_SerialPort port, int32_t* status) {
+void HAL_SetSerialReadBufferSize(HAL_SerialPortHandle handle, int32_t size,
+ int32_t* status) {}
+
+void HAL_SetSerialWriteBufferSize(HAL_SerialPortHandle handle, int32_t size,
+ int32_t* status) {}
+
+int32_t HAL_GetSerialBytesReceived(HAL_SerialPortHandle handle,
+ int32_t* status) {
return 0;
}
-int32_t HAL_ReadSerial(HAL_SerialPort port, char* buffer, int32_t count,
+int32_t HAL_ReadSerial(HAL_SerialPortHandle handle, char* buffer, int32_t count,
int32_t* status) {
return 0;
}
-int32_t HAL_WriteSerial(HAL_SerialPort port, const char* buffer, int32_t count,
- int32_t* status) {
+int32_t HAL_WriteSerial(HAL_SerialPortHandle handle, const char* buffer,
+ int32_t count, int32_t* status) {
return 0;
}
-void HAL_FlushSerial(HAL_SerialPort port, int32_t* status) {}
+void HAL_FlushSerial(HAL_SerialPortHandle handle, int32_t* status) {}
-void HAL_ClearSerial(HAL_SerialPort port, int32_t* status) {}
+void HAL_ClearSerial(HAL_SerialPortHandle handle, int32_t* status) {}
-void HAL_CloseSerial(HAL_SerialPort port, int32_t* status) {}
+void HAL_CloseSerial(HAL_SerialPortHandle handle, int32_t* status) {}
} // extern "C"
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/SimDevice.cpp b/third_party/allwpilib_2019/hal/src/main/native/sim/SimDevice.cpp
new file mode 100644
index 0000000..a8f8f80
--- /dev/null
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/SimDevice.cpp
@@ -0,0 +1,75 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "hal/SimDevice.h"
+
+#include <wpi/SmallString.h>
+#include <wpi/raw_ostream.h>
+
+#include "HALInitializer.h"
+#include "mockdata/SimDeviceDataInternal.h"
+
+using namespace hal;
+
+namespace hal {
+namespace init {
+void InitializeSimDevice() {}
+} // namespace init
+} // namespace hal
+
+extern "C" {
+
+HAL_SimDeviceHandle HAL_CreateSimDevice(const char* name) {
+ hal::init::CheckInit();
+ return SimSimDeviceData->CreateDevice(name);
+}
+
+void HAL_FreeSimDevice(HAL_SimDeviceHandle handle) {
+ SimSimDeviceData->FreeDevice(handle);
+}
+
+HAL_SimValueHandle HAL_CreateSimValue(HAL_SimDeviceHandle device,
+ const char* name, HAL_Bool readonly,
+ const struct HAL_Value* initialValue) {
+ return SimSimDeviceData->CreateValue(device, name, readonly, 0, nullptr,
+ *initialValue);
+}
+
+HAL_SimValueHandle HAL_CreateSimValueEnum(HAL_SimDeviceHandle device,
+ const char* name, HAL_Bool readonly,
+ int32_t numOptions,
+ const char** options,
+ int32_t initialValue) {
+ return SimSimDeviceData->CreateValue(device, name, readonly, numOptions,
+ options, HAL_MakeEnum(initialValue));
+}
+
+void HAL_GetSimValue(HAL_SimValueHandle handle, struct HAL_Value* value) {
+ *value = SimSimDeviceData->GetValue(handle);
+}
+
+void HAL_SetSimValue(HAL_SimValueHandle handle, const struct HAL_Value* value) {
+ SimSimDeviceData->SetValue(handle, *value);
+}
+
+hal::SimDevice::SimDevice(const char* name, int index) {
+ wpi::SmallString<128> fullname;
+ wpi::raw_svector_ostream os(fullname);
+ os << name << '[' << index << ']';
+
+ m_handle = HAL_CreateSimDevice(fullname.c_str());
+}
+
+hal::SimDevice::SimDevice(const char* name, int index, int channel) {
+ wpi::SmallString<128> fullname;
+ wpi::raw_svector_ostream os(fullname);
+ os << name << '[' << index << ',' << channel << ']';
+
+ m_handle = HAL_CreateSimDevice(fullname.c_str());
+}
+
+} // extern "C"
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/jni/BufferCallbackStore.cpp b/third_party/allwpilib_2019/hal/src/main/native/sim/jni/BufferCallbackStore.cpp
index fbf3adc..3c9941e 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/jni/BufferCallbackStore.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/jni/BufferCallbackStore.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -13,8 +13,8 @@
#include "SimulatorJNI.h"
#include "hal/Types.h"
+#include "hal/Value.h"
#include "hal/handles/UnlimitedHandleResource.h"
-#include "mockdata/HAL_Value.h"
#include "mockdata/NotifyListener.h"
using namespace wpi::java;
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/jni/BufferCallbackStore.h b/third_party/allwpilib_2019/hal/src/main/native/sim/jni/BufferCallbackStore.h
index b9d49ac..6b472ac 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/jni/BufferCallbackStore.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/jni/BufferCallbackStore.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -13,8 +13,8 @@
#include "SimulatorJNI.h"
#include "hal/Types.h"
+#include "hal/Value.h"
#include "hal/handles/UnlimitedHandleResource.h"
-#include "mockdata/HAL_Value.h"
#include "mockdata/NotifyListener.h"
namespace sim {
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/jni/CallbackStore.cpp b/third_party/allwpilib_2019/hal/src/main/native/sim/jni/CallbackStore.cpp
index abef9b0..318ab1e 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/jni/CallbackStore.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/jni/CallbackStore.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -13,8 +13,8 @@
#include "SimulatorJNI.h"
#include "hal/Types.h"
+#include "hal/Value.h"
#include "hal/handles/UnlimitedHandleResource.h"
-#include "mockdata/HAL_Value.h"
#include "mockdata/NotifyListener.h"
using namespace wpi::java;
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/jni/CallbackStore.h b/third_party/allwpilib_2019/hal/src/main/native/sim/jni/CallbackStore.h
index 94454b0..eacf314 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/jni/CallbackStore.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/jni/CallbackStore.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -13,8 +13,8 @@
#include "SimulatorJNI.h"
#include "hal/Types.h"
+#include "hal/Value.h"
#include "hal/handles/UnlimitedHandleResource.h"
-#include "mockdata/HAL_Value.h"
#include "mockdata/NotifyListener.h"
namespace sim {
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/jni/ConstBufferCallbackStore.cpp b/third_party/allwpilib_2019/hal/src/main/native/sim/jni/ConstBufferCallbackStore.cpp
index 781725b..d681983 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/jni/ConstBufferCallbackStore.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/jni/ConstBufferCallbackStore.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -13,8 +13,8 @@
#include "SimulatorJNI.h"
#include "hal/Types.h"
+#include "hal/Value.h"
#include "hal/handles/UnlimitedHandleResource.h"
-#include "mockdata/HAL_Value.h"
#include "mockdata/NotifyListener.h"
using namespace wpi::java;
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/jni/ConstBufferCallbackStore.h b/third_party/allwpilib_2019/hal/src/main/native/sim/jni/ConstBufferCallbackStore.h
index 1b0f54e..2164a74 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/jni/ConstBufferCallbackStore.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/jni/ConstBufferCallbackStore.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -13,8 +13,8 @@
#include "SimulatorJNI.h"
#include "hal/Types.h"
+#include "hal/Value.h"
#include "hal/handles/UnlimitedHandleResource.h"
-#include "mockdata/HAL_Value.h"
#include "mockdata/NotifyListener.h"
namespace sim {
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/jni/SimDeviceDataJNI.cpp b/third_party/allwpilib_2019/hal/src/main/native/sim/jni/SimDeviceDataJNI.cpp
new file mode 100644
index 0000000..f6cd05e
--- /dev/null
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/jni/SimDeviceDataJNI.cpp
@@ -0,0 +1,573 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "SimDeviceDataJNI.h"
+
+#include <jni.h>
+
+#include <functional>
+#include <string>
+#include <utility>
+
+#include <wpi/UidVector.h>
+#include <wpi/jni_util.h>
+
+#include "SimulatorJNI.h"
+#include "edu_wpi_first_hal_sim_mockdata_SimDeviceDataJNI.h"
+#include "mockdata/SimDeviceData.h"
+
+using namespace wpi::java;
+
+static JClass simDeviceInfoCls;
+static JClass simValueInfoCls;
+static JClass simDeviceCallbackCls;
+static JClass simValueCallbackCls;
+static jmethodID simDeviceCallbackCallback;
+static jmethodID simValueCallbackCallback;
+
+namespace {
+
+struct DeviceInfo {
+ DeviceInfo(const char* name_, HAL_SimDeviceHandle handle_)
+ : name{name_}, handle{handle_} {}
+ std::string name;
+ HAL_SimValueHandle handle;
+
+ jobject MakeJava(JNIEnv* env) const;
+ void CallJava(JNIEnv* env, jobject callobj) const;
+};
+
+struct ValueInfo {
+ ValueInfo(const char* name_, HAL_SimValueHandle handle_, bool readonly_,
+ const HAL_Value& value_)
+ : name{name_}, handle{handle_}, readonly{readonly_}, value{value_} {}
+ std::string name;
+ HAL_SimValueHandle handle;
+ bool readonly;
+ HAL_Value value;
+
+ jobject MakeJava(JNIEnv* env) const;
+ void CallJava(JNIEnv* env, jobject callobj) const;
+
+ private:
+ std::pair<jlong, jdouble> ToValue12() const;
+};
+
+} // namespace
+
+jobject DeviceInfo::MakeJava(JNIEnv* env) const {
+ static jmethodID func =
+ env->GetMethodID(simDeviceInfoCls, "<init>", "(Ljava/lang/String;I)V");
+ return env->NewObject(simDeviceInfoCls, func, MakeJString(env, name),
+ (jint)handle);
+}
+
+void DeviceInfo::CallJava(JNIEnv* env, jobject callobj) const {
+ env->CallVoidMethod(callobj, simDeviceCallbackCallback,
+ MakeJString(env, name), (jint)handle);
+}
+
+std::pair<jlong, jdouble> ValueInfo::ToValue12() const {
+ jlong value1 = 0;
+ jdouble value2 = 0.0;
+ switch (value.type) {
+ case HAL_BOOLEAN:
+ value1 = value.data.v_boolean;
+ break;
+ case HAL_DOUBLE:
+ value2 = value.data.v_double;
+ break;
+ case HAL_ENUM:
+ value1 = value.data.v_enum;
+ break;
+ case HAL_INT:
+ value1 = value.data.v_int;
+ break;
+ case HAL_LONG:
+ value1 = value.data.v_long;
+ break;
+ default:
+ break;
+ }
+ return std::pair(value1, value2);
+}
+
+jobject ValueInfo::MakeJava(JNIEnv* env) const {
+ static jmethodID func =
+ env->GetMethodID(simValueInfoCls, "<init>", "(Ljava/lang/String;IZIJD)V");
+ auto [value1, value2] = ToValue12();
+ return env->NewObject(simValueInfoCls, func, MakeJString(env, name),
+ (jint)handle, (jboolean)readonly, (jint)value.type,
+ value1, value2);
+}
+
+void ValueInfo::CallJava(JNIEnv* env, jobject callobj) const {
+ auto [value1, value2] = ToValue12();
+ env->CallVoidMethod(callobj, simValueCallbackCallback, MakeJString(env, name),
+ (jint)handle, (jboolean)readonly, (jint)value.type,
+ value1, value2);
+}
+
+namespace {
+
+class CallbackStore {
+ public:
+ explicit CallbackStore(JNIEnv* env, jobject obj) : m_call{env, obj} {}
+ ~CallbackStore() {
+ if (m_cancelCallback) m_cancelCallback();
+ }
+
+ void SetCancel(std::function<void()> cancelCallback) {
+ m_cancelCallback = std::move(cancelCallback);
+ }
+ void Free(JNIEnv* env) { m_call.free(env); }
+ jobject Get() const { return m_call; }
+
+ private:
+ wpi::java::JGlobal<jobject> m_call;
+ std::function<void()> m_cancelCallback;
+};
+
+class CallbackThreadJNI : public wpi::SafeThread {
+ public:
+ void Main();
+
+ using DeviceCalls =
+ std::vector<std::pair<std::weak_ptr<CallbackStore>, DeviceInfo>>;
+ DeviceCalls m_deviceCalls;
+ using ValueCalls =
+ std::vector<std::pair<std::weak_ptr<CallbackStore>, ValueInfo>>;
+ ValueCalls m_valueCalls;
+
+ wpi::UidVector<std::shared_ptr<CallbackStore>, 4> m_callbacks;
+};
+
+class CallbackJNI {
+ public:
+ static CallbackJNI& GetInstance() {
+ static CallbackJNI inst;
+ return inst;
+ }
+ void SendDevice(int32_t callback, DeviceInfo info);
+ void SendValue(int32_t callback, ValueInfo info);
+
+ std::pair<int32_t, std::shared_ptr<CallbackStore>> AllocateCallback(
+ JNIEnv* env, jobject obj);
+
+ void FreeCallback(JNIEnv* env, int32_t uid);
+
+ private:
+ CallbackJNI() { m_owner.Start(); }
+
+ wpi::SafeThreadOwner<CallbackThreadJNI> m_owner;
+};
+
+} // namespace
+
+void CallbackThreadJNI::Main() {
+ JNIEnv* env;
+ JavaVMAttachArgs args;
+ args.version = JNI_VERSION_1_2;
+ args.name = const_cast<char*>("SimDeviceCallback");
+ args.group = nullptr;
+ jint rs = sim::GetJVM()->AttachCurrentThreadAsDaemon(
+ reinterpret_cast<void**>(&env), &args);
+ if (rs != JNI_OK) return;
+
+ DeviceCalls deviceCalls;
+ ValueCalls valueCalls;
+
+ std::unique_lock lock(m_mutex);
+ while (m_active) {
+ m_cond.wait(lock, [&] { return !m_active; });
+ if (!m_active) break;
+
+ deviceCalls.swap(m_deviceCalls);
+ valueCalls.swap(m_valueCalls);
+
+ lock.unlock(); // don't hold mutex during callback execution
+
+ for (auto&& call : deviceCalls) {
+ if (auto store = call.first.lock()) {
+ if (jobject callobj = store->Get()) {
+ call.second.CallJava(env, callobj);
+ if (env->ExceptionCheck()) {
+ env->ExceptionDescribe();
+ env->ExceptionClear();
+ }
+ }
+ }
+ }
+
+ for (auto&& call : valueCalls) {
+ if (auto store = call.first.lock()) {
+ if (jobject callobj = store->Get()) {
+ call.second.CallJava(env, callobj);
+ if (env->ExceptionCheck()) {
+ env->ExceptionDescribe();
+ env->ExceptionClear();
+ }
+ }
+ }
+ }
+
+ deviceCalls.clear();
+ valueCalls.clear();
+
+ lock.lock();
+ }
+
+ // free global references
+ for (auto&& callback : m_callbacks) callback->Free(env);
+
+ sim::GetJVM()->DetachCurrentThread();
+}
+
+void CallbackJNI::SendDevice(int32_t callback, DeviceInfo info) {
+ auto thr = m_owner.GetThread();
+ if (!thr) return;
+ thr->m_deviceCalls.emplace_back(thr->m_callbacks[callback], std::move(info));
+ thr->m_cond.notify_one();
+}
+
+void CallbackJNI::SendValue(int32_t callback, ValueInfo info) {
+ auto thr = m_owner.GetThread();
+ if (!thr) return;
+ thr->m_valueCalls.emplace_back(thr->m_callbacks[callback], std::move(info));
+ thr->m_cond.notify_one();
+}
+
+std::pair<int32_t, std::shared_ptr<CallbackStore>>
+CallbackJNI::AllocateCallback(JNIEnv* env, jobject obj) {
+ auto thr = m_owner.GetThread();
+ if (!thr) return std::pair(0, nullptr);
+ auto store = std::make_shared<CallbackStore>(env, obj);
+ return std::pair(thr->m_callbacks.emplace_back(store) + 1, store);
+}
+
+void CallbackJNI::FreeCallback(JNIEnv* env, int32_t uid) {
+ auto thr = m_owner.GetThread();
+ if (!thr) return;
+ if (uid <= 0 || static_cast<uint32_t>(uid) >= thr->m_callbacks.size()) return;
+ --uid;
+ auto store = std::move(thr->m_callbacks[uid]);
+ thr->m_callbacks.erase(uid);
+ store->Free(env);
+}
+
+namespace sim {
+
+bool InitializeSimDeviceDataJNI(JNIEnv* env) {
+ simDeviceInfoCls = JClass(
+ env, "edu/wpi/first/hal/sim/mockdata/SimDeviceDataJNI$SimDeviceInfo");
+ if (!simDeviceInfoCls) return false;
+
+ simValueInfoCls = JClass(
+ env, "edu/wpi/first/hal/sim/mockdata/SimDeviceDataJNI$SimValueInfo");
+ if (!simValueInfoCls) return false;
+
+ simDeviceCallbackCls = JClass(env, "edu/wpi/first/hal/sim/SimDeviceCallback");
+ if (!simDeviceCallbackCls) return false;
+
+ simDeviceCallbackCallback = env->GetMethodID(simDeviceCallbackCls, "callback",
+ "(Ljava/lang/String;I)V");
+ if (!simDeviceCallbackCallback) return false;
+
+ simValueCallbackCls = JClass(env, "edu/wpi/first/hal/sim/SimValueCallback");
+ if (!simValueCallbackCls) return false;
+
+ simValueCallbackCallback = env->GetMethodID(
+ simValueCallbackCls, "callbackNative", "(Ljava/lang/String;IZIJD)V");
+ if (!simValueCallbackCallback) return false;
+
+ return true;
+}
+
+void FreeSimDeviceDataJNI(JNIEnv* env) {
+ simDeviceInfoCls.free(env);
+ simValueInfoCls.free(env);
+ simDeviceCallbackCls.free(env);
+ simValueCallbackCls.free(env);
+}
+
+} // namespace sim
+
+extern "C" {
+
+/*
+ * Class: edu_wpi_first_hal_sim_mockdata_SimDeviceDataJNI
+ * Method: registerSimDeviceCreatedCallback
+ * Signature: (Ljava/lang/String;Ljava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_SimDeviceDataJNI_registerSimDeviceCreatedCallback
+ (JNIEnv* env, jclass, jstring prefix, jobject callback,
+ jboolean initialNotify)
+{
+ auto [uid, store] =
+ CallbackJNI::GetInstance().AllocateCallback(env, callback);
+ int32_t cuid = HALSIM_RegisterSimDeviceCreatedCallback(
+ JStringRef{env, prefix}.c_str(),
+ reinterpret_cast<void*>(static_cast<intptr_t>(uid)),
+ [](const char* name, void* param, HAL_SimDeviceHandle handle) {
+ int32_t uid = reinterpret_cast<intptr_t>(param);
+ CallbackJNI::GetInstance().SendDevice(uid, DeviceInfo{name, handle});
+ },
+ initialNotify);
+ store->SetCancel([cuid] { HALSIM_CancelSimDeviceCreatedCallback(cuid); });
+ return uid;
+}
+
+/*
+ * Class: edu_wpi_first_hal_sim_mockdata_SimDeviceDataJNI
+ * Method: cancelSimDeviceCreatedCallback
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_SimDeviceDataJNI_cancelSimDeviceCreatedCallback
+ (JNIEnv* env, jclass, jint uid)
+{
+ CallbackJNI::GetInstance().FreeCallback(env, uid);
+}
+
+/*
+ * Class: edu_wpi_first_hal_sim_mockdata_SimDeviceDataJNI
+ * Method: registerSimDeviceFreedCallback
+ * Signature: (Ljava/lang/String;Ljava/lang/Object;)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_SimDeviceDataJNI_registerSimDeviceFreedCallback
+ (JNIEnv* env, jclass, jstring prefix, jobject callback)
+{
+ auto [uid, store] =
+ CallbackJNI::GetInstance().AllocateCallback(env, callback);
+ int32_t cuid = HALSIM_RegisterSimDeviceFreedCallback(
+ JStringRef{env, prefix}.c_str(),
+ reinterpret_cast<void*>(static_cast<intptr_t>(uid)),
+ [](const char* name, void* param, HAL_SimDeviceHandle handle) {
+ int32_t uid = reinterpret_cast<intptr_t>(param);
+ CallbackJNI::GetInstance().SendDevice(uid, DeviceInfo{name, handle});
+ });
+ store->SetCancel([cuid] { HALSIM_CancelSimDeviceFreedCallback(cuid); });
+ return uid;
+}
+
+/*
+ * Class: edu_wpi_first_hal_sim_mockdata_SimDeviceDataJNI
+ * Method: cancelSimDeviceFreedCallback
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_SimDeviceDataJNI_cancelSimDeviceFreedCallback
+ (JNIEnv* env, jclass, jint uid)
+{
+ CallbackJNI::GetInstance().FreeCallback(env, uid);
+}
+
+/*
+ * Class: edu_wpi_first_hal_sim_mockdata_SimDeviceDataJNI
+ * Method: getSimDeviceHandle
+ * Signature: (Ljava/lang/String;)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_SimDeviceDataJNI_getSimDeviceHandle
+ (JNIEnv* env, jclass, jstring name)
+{
+ return HALSIM_GetSimDeviceHandle(JStringRef{env, name}.c_str());
+}
+
+/*
+ * Class: edu_wpi_first_hal_sim_mockdata_SimDeviceDataJNI
+ * Method: getSimValueDeviceHandle
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_SimDeviceDataJNI_getSimValueDeviceHandle
+ (JNIEnv*, jclass, jint handle)
+{
+ return HALSIM_GetSimValueDeviceHandle(handle);
+}
+
+/*
+ * Class: edu_wpi_first_hal_sim_mockdata_SimDeviceDataJNI
+ * Method: enumerateSimDevices
+ * Signature: (Ljava/lang/String;)[Ljava/lang/Object;
+ */
+JNIEXPORT jobjectArray JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_SimDeviceDataJNI_enumerateSimDevices
+ (JNIEnv* env, jclass, jstring prefix)
+{
+ // get values
+ std::vector<DeviceInfo> arr;
+ HALSIM_EnumerateSimDevices(
+ JStringRef{env, prefix}.c_str(), &arr,
+ [](const char* name, void* param, HAL_SimDeviceHandle handle) {
+ auto arr = static_cast<std::vector<DeviceInfo>*>(param);
+ arr->emplace_back(name, handle);
+ });
+
+ // convert to java
+ size_t numElems = arr.size();
+ jobjectArray jarr =
+ env->NewObjectArray(arr.size(), simDeviceInfoCls, nullptr);
+ if (!jarr) return nullptr;
+ for (size_t i = 0; i < numElems; ++i) {
+ JLocal<jobject> elem{env, arr[i].MakeJava(env)};
+ env->SetObjectArrayElement(jarr, i, elem.obj());
+ }
+ return jarr;
+}
+
+/*
+ * Class: edu_wpi_first_hal_sim_mockdata_SimDeviceDataJNI
+ * Method: registerSimValueCreatedCallback
+ * Signature: (ILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_SimDeviceDataJNI_registerSimValueCreatedCallback
+ (JNIEnv* env, jclass, jint device, jobject callback, jboolean initialNotify)
+{
+ auto [uid, store] =
+ CallbackJNI::GetInstance().AllocateCallback(env, callback);
+ int32_t cuid = HALSIM_RegisterSimValueCreatedCallback(
+ device, reinterpret_cast<void*>(static_cast<intptr_t>(uid)),
+ [](const char* name, void* param, HAL_SimValueHandle handle,
+ HAL_Bool readonly, const HAL_Value* value) {
+ int32_t uid = reinterpret_cast<intptr_t>(param);
+ CallbackJNI::GetInstance().SendValue(
+ uid, ValueInfo{name, handle, static_cast<bool>(readonly), *value});
+ },
+ initialNotify);
+ store->SetCancel([cuid] { HALSIM_CancelSimValueCreatedCallback(cuid); });
+ return uid;
+}
+
+/*
+ * Class: edu_wpi_first_hal_sim_mockdata_SimDeviceDataJNI
+ * Method: cancelSimValueCreatedCallback
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_SimDeviceDataJNI_cancelSimValueCreatedCallback
+ (JNIEnv* env, jclass, jint uid)
+{
+ CallbackJNI::GetInstance().FreeCallback(env, uid);
+}
+
+/*
+ * Class: edu_wpi_first_hal_sim_mockdata_SimDeviceDataJNI
+ * Method: registerSimValueChangedCallback
+ * Signature: (ILjava/lang/Object;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_SimDeviceDataJNI_registerSimValueChangedCallback
+ (JNIEnv* env, jclass, jint handle, jobject callback, jboolean initialNotify)
+{
+ auto [uid, store] =
+ CallbackJNI::GetInstance().AllocateCallback(env, callback);
+ int32_t cuid = HALSIM_RegisterSimValueChangedCallback(
+ handle, reinterpret_cast<void*>(static_cast<intptr_t>(uid)),
+ [](const char* name, void* param, HAL_SimValueHandle handle,
+ HAL_Bool readonly, const HAL_Value* value) {
+ int32_t uid = reinterpret_cast<intptr_t>(param);
+ CallbackJNI::GetInstance().SendValue(
+ uid, ValueInfo{name, handle, static_cast<bool>(readonly), *value});
+ },
+ initialNotify);
+ store->SetCancel([cuid] { HALSIM_CancelSimValueChangedCallback(cuid); });
+ return uid;
+}
+
+/*
+ * Class: edu_wpi_first_hal_sim_mockdata_SimDeviceDataJNI
+ * Method: cancelSimValueChangedCallback
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_SimDeviceDataJNI_cancelSimValueChangedCallback
+ (JNIEnv* env, jclass, jint uid)
+{
+ CallbackJNI::GetInstance().FreeCallback(env, uid);
+}
+
+/*
+ * Class: edu_wpi_first_hal_sim_mockdata_SimDeviceDataJNI
+ * Method: getSimValueHandle
+ * Signature: (ILjava/lang/String;)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_SimDeviceDataJNI_getSimValueHandle
+ (JNIEnv* env, jclass, jint device, jstring name)
+{
+ return HALSIM_GetSimValueHandle(device, JStringRef{env, name}.c_str());
+}
+
+/*
+ * Class: edu_wpi_first_hal_sim_mockdata_SimDeviceDataJNI
+ * Method: enumerateSimValues
+ * Signature: (I)[Ljava/lang/Object;
+ */
+JNIEXPORT jobjectArray JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_SimDeviceDataJNI_enumerateSimValues
+ (JNIEnv* env, jclass, jint device)
+{
+ // get values
+ std::vector<ValueInfo> arr;
+ HALSIM_EnumerateSimValues(
+ device, &arr,
+ [](const char* name, void* param, HAL_SimValueHandle handle,
+ HAL_Bool readonly, const HAL_Value* value) {
+ auto arr = static_cast<std::vector<ValueInfo>*>(param);
+ arr->emplace_back(name, handle, readonly, *value);
+ });
+
+ // convert to java
+ size_t numElems = arr.size();
+ jobjectArray jarr = env->NewObjectArray(arr.size(), simValueInfoCls, nullptr);
+ if (!jarr) return nullptr;
+ for (size_t i = 0; i < numElems; ++i) {
+ JLocal<jobject> elem{env, arr[i].MakeJava(env)};
+ env->SetObjectArrayElement(jarr, i, elem.obj());
+ }
+ return jarr;
+}
+
+/*
+ * Class: edu_wpi_first_hal_sim_mockdata_SimDeviceDataJNI
+ * Method: getSimValueEnumOptions
+ * Signature: (I)[Ljava/lang/Object;
+ */
+JNIEXPORT jobjectArray JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_SimDeviceDataJNI_getSimValueEnumOptions
+ (JNIEnv* env, jclass, jint handle)
+{
+ static JClass stringCls{env, "java/lang/String"};
+ if (!stringCls) return nullptr;
+ int32_t numElems = 0;
+ const char** elems = HALSIM_GetSimValueEnumOptions(handle, &numElems);
+ jobjectArray jarr = env->NewObjectArray(numElems, stringCls, nullptr);
+ if (!jarr) return nullptr;
+ for (int32_t i = 0; i < numElems; ++i) {
+ JLocal<jstring> elem{env, MakeJString(env, elems[i])};
+ env->SetObjectArrayElement(jarr, i, elem.obj());
+ }
+ return jarr;
+}
+
+/*
+ * Class: edu_wpi_first_hal_sim_mockdata_SimDeviceDataJNI
+ * Method: resetSimDeviceData
+ * Signature: ()V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_SimDeviceDataJNI_resetSimDeviceData
+ (JNIEnv*, jclass)
+{
+ HALSIM_ResetSimDeviceData();
+}
+
+} // extern "C"
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/jni/SimDeviceDataJNI.h b/third_party/allwpilib_2019/hal/src/main/native/sim/jni/SimDeviceDataJNI.h
new file mode 100644
index 0000000..56f6d9b
--- /dev/null
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/jni/SimDeviceDataJNI.h
@@ -0,0 +1,15 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <jni.h>
+
+namespace sim {
+bool InitializeSimDeviceDataJNI(JNIEnv* env);
+void FreeSimDeviceDataJNI(JNIEnv* env);
+} // namespace sim
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/jni/SimulatorJNI.cpp b/third_party/allwpilib_2019/hal/src/main/native/sim/jni/SimulatorJNI.cpp
index d1e0f7d..bba8f01 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/jni/SimulatorJNI.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/jni/SimulatorJNI.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,20 +7,21 @@
#include "SimulatorJNI.h"
+#include <wpi/jni_util.h>
+
#include "BufferCallbackStore.h"
#include "CallbackStore.h"
#include "ConstBufferCallbackStore.h"
+#include "SimDeviceDataJNI.h"
#include "SpiReadAutoReceiveBufferCallbackStore.h"
#include "edu_wpi_first_hal_sim_mockdata_SimulatorJNI.h"
#include "hal/HAL.h"
-#include "hal/cpp/Log.h"
#include "hal/handles/HandlesInternal.h"
#include "mockdata/MockHooks.h"
using namespace wpi::java;
static JavaVM* jvm = nullptr;
-static JClass simValueCls;
static JClass notifyCallbackCls;
static JClass bufferCallbackCls;
static JClass constBufferCallbackCls;
@@ -38,9 +39,6 @@
if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK)
return JNI_ERR;
- simValueCls = JClass(env, "edu/wpi/first/hal/sim/SimValue");
- if (!simValueCls) return JNI_ERR;
-
notifyCallbackCls = JClass(env, "edu/wpi/first/hal/sim/NotifyCallback");
if (!notifyCallbackCls) return JNI_ERR;
@@ -76,6 +74,7 @@
InitializeBufferStore();
InitializeConstBufferStore();
InitializeSpiBufferStore();
+ if (!InitializeSimDeviceDataJNI(env)) return JNI_ERR;
return JNI_VERSION_1_6;
}
@@ -85,11 +84,11 @@
if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK)
return;
- simValueCls.free(env);
notifyCallbackCls.free(env);
bufferCallbackCls.free(env);
constBufferCallbackCls.free(env);
spiReadAutoReceiveBufferCallbackCls.free(env);
+ FreeSimDeviceDataJNI(env);
jvm = nullptr;
}
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/jni/SimulatorJNI.h b/third_party/allwpilib_2019/hal/src/main/native/sim/jni/SimulatorJNI.h
index 60d0ca3..8680396 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/jni/SimulatorJNI.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/jni/SimulatorJNI.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,11 +7,8 @@
#pragma once
-#include <wpi/jni_util.h>
-
#include "hal/Types.h"
#include "jni.h"
-#include "mockdata/HAL_Value.h"
typedef HAL_Handle SIM_JniHandle;
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/jni/SpiReadAutoReceiveBufferCallbackStore.cpp b/third_party/allwpilib_2019/hal/src/main/native/sim/jni/SpiReadAutoReceiveBufferCallbackStore.cpp
index 935c8bf..b75bb1e 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/jni/SpiReadAutoReceiveBufferCallbackStore.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/jni/SpiReadAutoReceiveBufferCallbackStore.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -13,8 +13,8 @@
#include "SimulatorJNI.h"
#include "hal/Types.h"
+#include "hal/Value.h"
#include "hal/handles/UnlimitedHandleResource.h"
-#include "mockdata/HAL_Value.h"
#include "mockdata/NotifyListener.h"
using namespace wpi::java;
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/jni/SpiReadAutoReceiveBufferCallbackStore.h b/third_party/allwpilib_2019/hal/src/main/native/sim/jni/SpiReadAutoReceiveBufferCallbackStore.h
index 643a874..1a03f59 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/jni/SpiReadAutoReceiveBufferCallbackStore.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/jni/SpiReadAutoReceiveBufferCallbackStore.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -13,8 +13,8 @@
#include "SimulatorJNI.h"
#include "hal/Types.h"
+#include "hal/Value.h"
#include "hal/handles/UnlimitedHandleResource.h"
-#include "mockdata/HAL_Value.h"
#include "mockdata/NotifyListener.h"
#include "mockdata/SPIData.h"
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/AccelerometerDataInternal.h b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/AccelerometerDataInternal.h
index 15e55ac..9db0875 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/AccelerometerDataInternal.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/AccelerometerDataInternal.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -19,16 +19,16 @@
HAL_SIMDATAVALUE_DEFINE_NAME(Z)
static inline HAL_Value MakeRangeValue(HAL_AccelerometerRange value) {
- return MakeEnum(value);
+ return HAL_MakeEnum(value);
}
public:
- SimDataValue<HAL_Bool, MakeBoolean, GetActiveName> active{false};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetActiveName> active{false};
SimDataValue<HAL_AccelerometerRange, MakeRangeValue, GetRangeName> range{
static_cast<HAL_AccelerometerRange>(0)};
- SimDataValue<double, MakeDouble, GetXName> x{0.0};
- SimDataValue<double, MakeDouble, GetYName> y{0.0};
- SimDataValue<double, MakeDouble, GetZName> z{0.0};
+ SimDataValue<double, HAL_MakeDouble, GetXName> x{0.0};
+ SimDataValue<double, HAL_MakeDouble, GetYName> y{0.0};
+ SimDataValue<double, HAL_MakeDouble, GetZName> z{0.0};
virtual void ResetData();
};
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/AnalogGyroDataInternal.h b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/AnalogGyroDataInternal.h
index 8dfcb52..427d2fb 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/AnalogGyroDataInternal.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/AnalogGyroDataInternal.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -17,9 +17,10 @@
HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
public:
- SimDataValue<double, MakeDouble, GetAngleName> angle{0.0};
- SimDataValue<double, MakeDouble, GetRateName> rate{0.0};
- SimDataValue<HAL_Bool, MakeBoolean, GetInitializedName> initialized{false};
+ SimDataValue<double, HAL_MakeDouble, GetAngleName> angle{0.0};
+ SimDataValue<double, HAL_MakeDouble, GetRateName> rate{0.0};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetInitializedName> initialized{
+ false};
virtual void ResetData();
};
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/AnalogInData.cpp b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/AnalogInData.cpp
index 1efdf50..a2a871c 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/AnalogInData.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/AnalogInData.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -22,6 +22,7 @@
AnalogInData* hal::SimAnalogInData;
void AnalogInData::ResetData() {
initialized.Reset(false);
+ simDevice = 0;
averageBits.Reset(7);
oversampleBits.Reset(0);
voltage.Reset(0.0);
@@ -37,6 +38,10 @@
SimAnalogInData[index].ResetData();
}
+HAL_SimDeviceHandle HALSIM_GetAnalogInSimDevice(int32_t index) {
+ return SimAnalogInData[index].simDevice;
+}
+
#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
HAL_SIMDATAVALUE_DEFINE_CAPI(TYPE, HALSIM, AnalogIn##CAPINAME, \
SimAnalogInData, LOWERNAME)
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/AnalogInDataInternal.h b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/AnalogInDataInternal.h
index 94121ca..cd8348d 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/AnalogInDataInternal.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/AnalogInDataInternal.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -23,16 +23,21 @@
HAL_SIMDATAVALUE_DEFINE_NAME(AccumulatorDeadband)
public:
- SimDataValue<HAL_Bool, MakeBoolean, GetInitializedName> initialized{false};
- SimDataValue<int32_t, MakeInt, GetAverageBitsName> averageBits{7};
- SimDataValue<int32_t, MakeInt, GetOversampleBitsName> oversampleBits{0};
- SimDataValue<double, MakeDouble, GetVoltageName> voltage{0.0};
- SimDataValue<HAL_Bool, MakeBoolean, GetAccumulatorInitializedName>
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetInitializedName> initialized{
+ false};
+ std::atomic<HAL_SimDeviceHandle> simDevice;
+ SimDataValue<int32_t, HAL_MakeInt, GetAverageBitsName> averageBits{7};
+ SimDataValue<int32_t, HAL_MakeInt, GetOversampleBitsName> oversampleBits{0};
+ SimDataValue<double, HAL_MakeDouble, GetVoltageName> voltage{0.0};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetAccumulatorInitializedName>
accumulatorInitialized{false};
- SimDataValue<int64_t, MakeLong, GetAccumulatorValueName> accumulatorValue{0};
- SimDataValue<int64_t, MakeLong, GetAccumulatorCountName> accumulatorCount{0};
- SimDataValue<int32_t, MakeInt, GetAccumulatorCenterName> accumulatorCenter{0};
- SimDataValue<int32_t, MakeInt, GetAccumulatorDeadbandName>
+ SimDataValue<int64_t, HAL_MakeLong, GetAccumulatorValueName> accumulatorValue{
+ 0};
+ SimDataValue<int64_t, HAL_MakeLong, GetAccumulatorCountName> accumulatorCount{
+ 0};
+ SimDataValue<int32_t, HAL_MakeInt, GetAccumulatorCenterName>
+ accumulatorCenter{0};
+ SimDataValue<int32_t, HAL_MakeInt, GetAccumulatorDeadbandName>
accumulatorDeadband{0};
virtual void ResetData();
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/AnalogOutDataInternal.h b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/AnalogOutDataInternal.h
index 84af837..da7d49f 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/AnalogOutDataInternal.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/AnalogOutDataInternal.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -16,8 +16,8 @@
HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
public:
- SimDataValue<double, MakeDouble, GetVoltageName> voltage{0.0};
- SimDataValue<HAL_Bool, MakeBoolean, GetInitializedName> initialized{0};
+ SimDataValue<double, HAL_MakeDouble, GetVoltageName> voltage{0.0};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetInitializedName> initialized{0};
virtual void ResetData();
};
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/AnalogTriggerDataInternal.h b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/AnalogTriggerDataInternal.h
index 131ba7a..61b3c19 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/AnalogTriggerDataInternal.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/AnalogTriggerDataInternal.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -19,15 +19,15 @@
static LLVM_ATTRIBUTE_ALWAYS_INLINE HAL_Value
MakeTriggerModeValue(HALSIM_AnalogTriggerMode value) {
- return MakeEnum(value);
+ return HAL_MakeEnum(value);
}
public:
- SimDataValue<HAL_Bool, MakeBoolean, GetInitializedName> initialized{0};
- SimDataValue<double, MakeDouble, GetTriggerLowerBoundName> triggerLowerBound{
- 0};
- SimDataValue<double, MakeDouble, GetTriggerUpperBoundName> triggerUpperBound{
- 0};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetInitializedName> initialized{0};
+ SimDataValue<double, HAL_MakeDouble, GetTriggerLowerBoundName>
+ triggerLowerBound{0};
+ SimDataValue<double, HAL_MakeDouble, GetTriggerUpperBoundName>
+ triggerUpperBound{0};
SimDataValue<HALSIM_AnalogTriggerMode, MakeTriggerModeValue,
GetTriggerModeName>
triggerMode{static_cast<HALSIM_AnalogTriggerMode>(0)};
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/DIOData.cpp b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/DIOData.cpp
index ea66de3..a9c61fd 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/DIOData.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/DIOData.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -22,6 +22,7 @@
DIOData* hal::SimDIOData;
void DIOData::ResetData() {
initialized.Reset(false);
+ simDevice = 0;
value.Reset(true);
pulseLength.Reset(0.0);
isInput.Reset(true);
@@ -31,6 +32,10 @@
extern "C" {
void HALSIM_ResetDIOData(int32_t index) { SimDIOData[index].ResetData(); }
+HAL_SimDeviceHandle HALSIM_GetDIOSimDevice(int32_t index) {
+ return SimDIOData[index].simDevice;
+}
+
#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
HAL_SIMDATAVALUE_DEFINE_CAPI(TYPE, HALSIM, DIO##CAPINAME, SimDIOData, \
LOWERNAME)
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/DIODataInternal.h b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/DIODataInternal.h
index 0b022f9..49e0f75 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/DIODataInternal.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/DIODataInternal.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -19,11 +19,13 @@
HAL_SIMDATAVALUE_DEFINE_NAME(FilterIndex)
public:
- SimDataValue<HAL_Bool, MakeBoolean, GetInitializedName> initialized{false};
- SimDataValue<HAL_Bool, MakeBoolean, GetValueName> value{true};
- SimDataValue<double, MakeDouble, GetPulseLengthName> pulseLength{0.0};
- SimDataValue<HAL_Bool, MakeBoolean, GetIsInputName> isInput{true};
- SimDataValue<int32_t, MakeInt, GetFilterIndexName> filterIndex{-1};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetInitializedName> initialized{
+ false};
+ std::atomic<HAL_SimDeviceHandle> simDevice;
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetValueName> value{true};
+ SimDataValue<double, HAL_MakeDouble, GetPulseLengthName> pulseLength{0.0};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetIsInputName> isInput{true};
+ SimDataValue<int32_t, HAL_MakeInt, GetFilterIndexName> filterIndex{-1};
virtual void ResetData();
};
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/DigitalPWMDataInternal.h b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/DigitalPWMDataInternal.h
index 00d8b4a..09d5903 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/DigitalPWMDataInternal.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/DigitalPWMDataInternal.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -17,9 +17,10 @@
HAL_SIMDATAVALUE_DEFINE_NAME(Pin)
public:
- SimDataValue<HAL_Bool, MakeBoolean, GetInitializedName> initialized{false};
- SimDataValue<double, MakeDouble, GetDutyCycleName> dutyCycle{0.0};
- SimDataValue<int32_t, MakeInt, GetPinName> pin{0};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetInitializedName> initialized{
+ false};
+ SimDataValue<double, HAL_MakeDouble, GetDutyCycleName> dutyCycle{0.0};
+ SimDataValue<int32_t, HAL_MakeInt, GetPinName> pin{0};
virtual void ResetData();
};
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/DriverStationData.cpp b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/DriverStationData.cpp
index d72d6b3..ece98c8 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/DriverStationData.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/DriverStationData.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -46,7 +46,7 @@
matchTime.Reset(0.0);
{
- std::lock_guard<wpi::spinlock> lock(m_joystickDataMutex);
+ std::scoped_lock lock(m_joystickDataMutex);
m_joystickAxes = std::make_unique<HAL_JoystickAxes[]>(6);
m_joystickPOVs = std::make_unique<HAL_JoystickPOVs[]>(6);
m_joystickButtons = std::make_unique<HAL_JoystickButtons[]>(6);
@@ -63,7 +63,7 @@
}
}
{
- std::lock_guard<wpi::spinlock> lock(m_matchInfoMutex);
+ std::scoped_lock lock(m_matchInfoMutex);
m_matchInfo = std::make_unique<HAL_MatchInfo>();
}
@@ -71,22 +71,22 @@
void DriverStationData::GetJoystickAxes(int32_t joystickNum,
HAL_JoystickAxes* axes) {
- std::lock_guard<wpi::spinlock> lock(m_joystickDataMutex);
+ std::scoped_lock lock(m_joystickDataMutex);
*axes = m_joystickAxes[joystickNum];
}
void DriverStationData::GetJoystickPOVs(int32_t joystickNum,
HAL_JoystickPOVs* povs) {
- std::lock_guard<wpi::spinlock> lock(m_joystickDataMutex);
+ std::scoped_lock lock(m_joystickDataMutex);
*povs = m_joystickPOVs[joystickNum];
}
void DriverStationData::GetJoystickButtons(int32_t joystickNum,
HAL_JoystickButtons* buttons) {
- std::lock_guard<wpi::spinlock> lock(m_joystickDataMutex);
+ std::scoped_lock lock(m_joystickDataMutex);
*buttons = m_joystickButtons[joystickNum];
}
void DriverStationData::GetJoystickDescriptor(
int32_t joystickNum, HAL_JoystickDescriptor* descriptor) {
- std::lock_guard<wpi::spinlock> lock(m_joystickDataMutex);
+ std::scoped_lock lock(m_joystickDataMutex);
*descriptor = m_joystickDescriptor[joystickNum];
// Always ensure name is null terminated
descriptor->name[255] = '\0';
@@ -95,49 +95,49 @@
int64_t* outputs,
int32_t* leftRumble,
int32_t* rightRumble) {
- std::lock_guard<wpi::spinlock> lock(m_joystickDataMutex);
+ std::scoped_lock lock(m_joystickDataMutex);
*leftRumble = m_joystickOutputs[joystickNum].leftRumble;
*outputs = m_joystickOutputs[joystickNum].outputs;
*rightRumble = m_joystickOutputs[joystickNum].rightRumble;
}
void DriverStationData::GetMatchInfo(HAL_MatchInfo* info) {
- std::lock_guard<wpi::spinlock> lock(m_matchInfoMutex);
+ std::scoped_lock lock(m_matchInfoMutex);
*info = *m_matchInfo;
}
void DriverStationData::SetJoystickAxes(int32_t joystickNum,
const HAL_JoystickAxes* axes) {
- std::lock_guard<wpi::spinlock> lock(m_joystickDataMutex);
+ std::scoped_lock lock(m_joystickDataMutex);
m_joystickAxes[joystickNum] = *axes;
}
void DriverStationData::SetJoystickPOVs(int32_t joystickNum,
const HAL_JoystickPOVs* povs) {
- std::lock_guard<wpi::spinlock> lock(m_joystickDataMutex);
+ std::scoped_lock lock(m_joystickDataMutex);
m_joystickPOVs[joystickNum] = *povs;
}
void DriverStationData::SetJoystickButtons(int32_t joystickNum,
const HAL_JoystickButtons* buttons) {
- std::lock_guard<wpi::spinlock> lock(m_joystickDataMutex);
+ std::scoped_lock lock(m_joystickDataMutex);
m_joystickButtons[joystickNum] = *buttons;
}
void DriverStationData::SetJoystickDescriptor(
int32_t joystickNum, const HAL_JoystickDescriptor* descriptor) {
- std::lock_guard<wpi::spinlock> lock(m_joystickDataMutex);
+ std::scoped_lock lock(m_joystickDataMutex);
m_joystickDescriptor[joystickNum] = *descriptor;
}
void DriverStationData::SetJoystickOutputs(int32_t joystickNum, int64_t outputs,
int32_t leftRumble,
int32_t rightRumble) {
- std::lock_guard<wpi::spinlock> lock(m_joystickDataMutex);
+ std::scoped_lock lock(m_joystickDataMutex);
m_joystickOutputs[joystickNum].leftRumble = leftRumble;
m_joystickOutputs[joystickNum].outputs = outputs;
m_joystickOutputs[joystickNum].rightRumble = rightRumble;
}
void DriverStationData::SetMatchInfo(const HAL_MatchInfo* info) {
- std::lock_guard<wpi::spinlock> lock(m_matchInfoMutex);
+ std::scoped_lock lock(m_matchInfoMutex);
*m_matchInfo = *info;
*(std::end(m_matchInfo->eventName) - 1) = '\0';
}
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/DriverStationDataInternal.h b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/DriverStationDataInternal.h
index f7eb132..fdeb3c6 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/DriverStationDataInternal.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/DriverStationDataInternal.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -29,7 +29,7 @@
static LLVM_ATTRIBUTE_ALWAYS_INLINE HAL_Value
MakeAllianceStationIdValue(HAL_AllianceStationID value) {
- return MakeEnum(value);
+ return HAL_MakeEnum(value);
}
public:
@@ -58,16 +58,17 @@
void NotifyNewData();
- SimDataValue<HAL_Bool, MakeBoolean, GetEnabledName> enabled{false};
- SimDataValue<HAL_Bool, MakeBoolean, GetAutonomousName> autonomous{false};
- SimDataValue<HAL_Bool, MakeBoolean, GetTestName> test{false};
- SimDataValue<HAL_Bool, MakeBoolean, GetEStopName> eStop{false};
- SimDataValue<HAL_Bool, MakeBoolean, GetFmsAttachedName> fmsAttached{false};
- SimDataValue<HAL_Bool, MakeBoolean, GetDsAttachedName> dsAttached{true};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetEnabledName> enabled{false};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetAutonomousName> autonomous{false};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetTestName> test{false};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetEStopName> eStop{false};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetFmsAttachedName> fmsAttached{
+ false};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetDsAttachedName> dsAttached{true};
SimDataValue<HAL_AllianceStationID, MakeAllianceStationIdValue,
GetAllianceStationIdName>
allianceStationId{static_cast<HAL_AllianceStationID>(0)};
- SimDataValue<double, MakeDouble, GetMatchTimeName> matchTime{0.0};
+ SimDataValue<double, HAL_MakeDouble, GetMatchTimeName> matchTime{0.0};
private:
wpi::spinlock m_joystickDataMutex;
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/EncoderData.cpp b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/EncoderData.cpp
index 59ba48f..33bd073 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/EncoderData.cpp
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/EncoderData.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -22,7 +22,9 @@
EncoderData* hal::SimEncoderData;
void EncoderData::ResetData() {
digitalChannelA = 0;
+ digitalChannelB = 0;
initialized.Reset(false);
+ simDevice = 0;
count.Reset(0);
period.Reset(std::numeric_limits<double>::max());
reset.Reset(false);
@@ -38,10 +40,18 @@
SimEncoderData[index].ResetData();
}
-int16_t HALSIM_GetDigitalChannelA(int32_t index) {
+int32_t HALSIM_GetEncoderDigitalChannelA(int32_t index) {
return SimEncoderData[index].digitalChannelA;
}
+int32_t HALSIM_GetEncoderDigitalChannelB(int32_t index) {
+ return SimEncoderData[index].digitalChannelB;
+}
+
+HAL_SimDeviceHandle HALSIM_GetEncoderSimDevice(int32_t index) {
+ return SimEncoderData[index].simDevice;
+}
+
#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
HAL_SIMDATAVALUE_DEFINE_CAPI(TYPE, HALSIM, Encoder##CAPINAME, \
SimEncoderData, LOWERNAME)
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/EncoderDataInternal.h b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/EncoderDataInternal.h
index 657d977..389289c 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/EncoderDataInternal.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/EncoderDataInternal.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -26,18 +26,23 @@
HAL_SIMDATAVALUE_DEFINE_NAME(DistancePerPulse)
public:
- std::atomic<int16_t> digitalChannelA{0};
- SimDataValue<HAL_Bool, MakeBoolean, GetInitializedName> initialized{false};
- SimDataValue<int32_t, MakeInt, GetCountName> count{0};
- SimDataValue<double, MakeDouble, GetPeriodName> period{
- std::numeric_limits<double>::max()};
- SimDataValue<HAL_Bool, MakeBoolean, GetResetName> reset{false};
- SimDataValue<double, MakeDouble, GetMaxPeriodName> maxPeriod{0};
- SimDataValue<HAL_Bool, MakeBoolean, GetDirectionName> direction{false};
- SimDataValue<HAL_Bool, MakeBoolean, GetReverseDirectionName> reverseDirection{
+ std::atomic<int32_t> digitalChannelA{0};
+ std::atomic<int32_t> digitalChannelB{0};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetInitializedName> initialized{
false};
- SimDataValue<int32_t, MakeInt, GetSamplesToAverageName> samplesToAverage{0};
- SimDataValue<double, MakeDouble, GetDistancePerPulseName> distancePerPulse{1};
+ std::atomic<HAL_SimDeviceHandle> simDevice;
+ SimDataValue<int32_t, HAL_MakeInt, GetCountName> count{0};
+ SimDataValue<double, HAL_MakeDouble, GetPeriodName> period{
+ (std::numeric_limits<double>::max)()};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetResetName> reset{false};
+ SimDataValue<double, HAL_MakeDouble, GetMaxPeriodName> maxPeriod{0};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetDirectionName> direction{false};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetReverseDirectionName>
+ reverseDirection{false};
+ SimDataValue<int32_t, HAL_MakeInt, GetSamplesToAverageName> samplesToAverage{
+ 0};
+ SimDataValue<double, HAL_MakeDouble, GetDistancePerPulseName>
+ distancePerPulse{1};
virtual void ResetData();
};
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/HALValueInternal.h b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/HALValueInternal.h
deleted file mode 100644
index f659403..0000000
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/HALValueInternal.h
+++ /dev/null
@@ -1,27 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include <memory>
-#include <string>
-
-#include "mockdata/HALValue.h"
-#include "mockdata/wpi/StringRef.h"
-
-namespace hal {
-
-class Value;
-
-void ConvertToC(const Value& in, HAL_Value* out);
-std::shared_ptr<Value> ConvertFromC(const HAL_Value& value);
-void ConvertToC(wpi::StringRef in, HALString* out);
-inline wpi::StringRef ConvertFromC(const HALString& str) {
- return wpi::StringRef(str.str, str.len);
-}
-
-} // namespace hal
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/I2CDataInternal.h b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/I2CDataInternal.h
index 1c2df0e..c799bb7 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/I2CDataInternal.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/I2CDataInternal.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -22,7 +22,8 @@
int32_t sendSize);
void Read(int32_t deviceAddress, uint8_t* buffer, int32_t count);
- SimDataValue<HAL_Bool, MakeBoolean, GetInitializedName> initialized{false};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetInitializedName> initialized{
+ false};
SimCallbackRegistry<HAL_BufferCallback, GetReadName> read;
SimCallbackRegistry<HAL_ConstBufferCallback, GetWriteName> write;
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/PCMDataInternal.h b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/PCMDataInternal.h
index 4144987..0c7b99b 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/PCMDataInternal.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/PCMDataInternal.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -31,21 +31,22 @@
}
public:
- SimDataValue<HAL_Bool, MakeBoolean, GetSolenoidInitializedName,
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetSolenoidInitializedName,
GetSolenoidInitializedDefault>
solenoidInitialized[kNumSolenoidChannels];
- SimDataValue<HAL_Bool, MakeBoolean, GetSolenoidOutputName,
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetSolenoidOutputName,
GetSolenoidOutputDefault>
solenoidOutput[kNumSolenoidChannels];
- SimDataValue<HAL_Bool, MakeBoolean, GetCompressorInitializedName>
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetCompressorInitializedName>
compressorInitialized{false};
- SimDataValue<HAL_Bool, MakeBoolean, GetCompressorOnName> compressorOn{false};
- SimDataValue<HAL_Bool, MakeBoolean, GetClosedLoopEnabledName>
- closedLoopEnabled{true};
- SimDataValue<HAL_Bool, MakeBoolean, GetPressureSwitchName> pressureSwitch{
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetCompressorOnName> compressorOn{
false};
- SimDataValue<double, MakeDouble, GetCompressorCurrentName> compressorCurrent{
- 0.0};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetClosedLoopEnabledName>
+ closedLoopEnabled{true};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetPressureSwitchName> pressureSwitch{
+ false};
+ SimDataValue<double, HAL_MakeDouble, GetCompressorCurrentName>
+ compressorCurrent{0.0};
virtual void ResetData();
};
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/PDPDataInternal.h b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/PDPDataInternal.h
index a7170c7..8d45416 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/PDPDataInternal.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/PDPDataInternal.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -23,10 +23,11 @@
}
public:
- SimDataValue<HAL_Bool, MakeBoolean, GetInitializedName> initialized{false};
- SimDataValue<double, MakeDouble, GetTemperatureName> temperature{0.0};
- SimDataValue<double, MakeDouble, GetVoltageName> voltage{12.0};
- SimDataValue<double, MakeDouble, GetCurrentName, GetCurrentDefault>
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetInitializedName> initialized{
+ false};
+ SimDataValue<double, HAL_MakeDouble, GetTemperatureName> temperature{0.0};
+ SimDataValue<double, HAL_MakeDouble, GetVoltageName> voltage{12.0};
+ SimDataValue<double, HAL_MakeDouble, GetCurrentName, GetCurrentDefault>
current[kNumPDPChannels];
virtual void ResetData();
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/PWMDataInternal.h b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/PWMDataInternal.h
index 85eae44..248b7b3 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/PWMDataInternal.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/PWMDataInternal.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -20,12 +20,13 @@
HAL_SIMDATAVALUE_DEFINE_NAME(ZeroLatch)
public:
- SimDataValue<HAL_Bool, MakeBoolean, GetInitializedName> initialized{false};
- SimDataValue<int32_t, MakeInt, GetRawValueName> rawValue{0};
- SimDataValue<double, MakeDouble, GetSpeedName> speed{0};
- SimDataValue<double, MakeDouble, GetPositionName> position{0};
- SimDataValue<int32_t, MakeInt, GetPeriodScaleName> periodScale{0};
- SimDataValue<HAL_Bool, MakeBoolean, GetZeroLatchName> zeroLatch{false};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetInitializedName> initialized{
+ false};
+ SimDataValue<int32_t, HAL_MakeInt, GetRawValueName> rawValue{0};
+ SimDataValue<double, HAL_MakeDouble, GetSpeedName> speed{0};
+ SimDataValue<double, HAL_MakeDouble, GetPositionName> position{0};
+ SimDataValue<int32_t, HAL_MakeInt, GetPeriodScaleName> periodScale{0};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetZeroLatchName> zeroLatch{false};
virtual void ResetData();
};
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/RelayDataInternal.h b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/RelayDataInternal.h
index 88e79ff..cb38388 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/RelayDataInternal.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/RelayDataInternal.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -18,12 +18,12 @@
HAL_SIMDATAVALUE_DEFINE_NAME(Reverse)
public:
- SimDataValue<HAL_Bool, MakeBoolean, GetInitializedForwardName>
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetInitializedForwardName>
initializedForward{false};
- SimDataValue<HAL_Bool, MakeBoolean, GetInitializedReverseName>
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetInitializedReverseName>
initializedReverse{false};
- SimDataValue<HAL_Bool, MakeBoolean, GetForwardName> forward{false};
- SimDataValue<HAL_Bool, MakeBoolean, GetReverseName> reverse{false};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetForwardName> forward{false};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetReverseName> reverse{false};
virtual void ResetData();
};
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/RoboRioDataInternal.h b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/RoboRioDataInternal.h
index 92aa0c8..cc74fa2 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/RoboRioDataInternal.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/RoboRioDataInternal.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -29,22 +29,26 @@
HAL_SIMDATAVALUE_DEFINE_NAME(UserFaults3V3)
public:
- SimDataValue<HAL_Bool, MakeBoolean, GetFPGAButtonName> fpgaButton{false};
- SimDataValue<double, MakeDouble, GetVInVoltageName> vInVoltage{0.0};
- SimDataValue<double, MakeDouble, GetVInCurrentName> vInCurrent{0.0};
- SimDataValue<double, MakeDouble, GetUserVoltage6VName> userVoltage6V{6.0};
- SimDataValue<double, MakeDouble, GetUserCurrent6VName> userCurrent6V{0.0};
- SimDataValue<HAL_Bool, MakeBoolean, GetUserActive6VName> userActive6V{false};
- SimDataValue<double, MakeDouble, GetUserVoltage5VName> userVoltage5V{5.0};
- SimDataValue<double, MakeDouble, GetUserCurrent5VName> userCurrent5V{0.0};
- SimDataValue<HAL_Bool, MakeBoolean, GetUserActive5VName> userActive5V{false};
- SimDataValue<double, MakeDouble, GetUserVoltage3V3Name> userVoltage3V3{3.3};
- SimDataValue<double, MakeDouble, GetUserCurrent3V3Name> userCurrent3V3{0.0};
- SimDataValue<HAL_Bool, MakeBoolean, GetUserActive3V3Name> userActive3V3{
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetFPGAButtonName> fpgaButton{false};
+ SimDataValue<double, HAL_MakeDouble, GetVInVoltageName> vInVoltage{0.0};
+ SimDataValue<double, HAL_MakeDouble, GetVInCurrentName> vInCurrent{0.0};
+ SimDataValue<double, HAL_MakeDouble, GetUserVoltage6VName> userVoltage6V{6.0};
+ SimDataValue<double, HAL_MakeDouble, GetUserCurrent6VName> userCurrent6V{0.0};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetUserActive6VName> userActive6V{
false};
- SimDataValue<int32_t, MakeInt, GetUserFaults6VName> userFaults6V{0};
- SimDataValue<int32_t, MakeInt, GetUserFaults5VName> userFaults5V{0};
- SimDataValue<int32_t, MakeInt, GetUserFaults3V3Name> userFaults3V3{0};
+ SimDataValue<double, HAL_MakeDouble, GetUserVoltage5VName> userVoltage5V{5.0};
+ SimDataValue<double, HAL_MakeDouble, GetUserCurrent5VName> userCurrent5V{0.0};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetUserActive5VName> userActive5V{
+ false};
+ SimDataValue<double, HAL_MakeDouble, GetUserVoltage3V3Name> userVoltage3V3{
+ 3.3};
+ SimDataValue<double, HAL_MakeDouble, GetUserCurrent3V3Name> userCurrent3V3{
+ 0.0};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetUserActive3V3Name> userActive3V3{
+ false};
+ SimDataValue<int32_t, HAL_MakeInt, GetUserFaults6VName> userFaults6V{0};
+ SimDataValue<int32_t, HAL_MakeInt, GetUserFaults5VName> userFaults5V{0};
+ SimDataValue<int32_t, HAL_MakeInt, GetUserFaults3V3Name> userFaults3V3{0};
virtual void ResetData();
};
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/SPIAccelerometerDataInternal.h b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/SPIAccelerometerDataInternal.h
index ee9f79d..661e01b 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/SPIAccelerometerDataInternal.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/SPIAccelerometerDataInternal.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -19,11 +19,11 @@
HAL_SIMDATAVALUE_DEFINE_NAME(Z)
public:
- SimDataValue<HAL_Bool, MakeBoolean, GetActiveName> active{false};
- SimDataValue<int32_t, MakeInt, GetRangeName> range{0};
- SimDataValue<double, MakeDouble, GetXName> x{0.0};
- SimDataValue<double, MakeDouble, GetYName> y{0.0};
- SimDataValue<double, MakeDouble, GetZName> z{0.0};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetActiveName> active{false};
+ SimDataValue<int32_t, HAL_MakeInt, GetRangeName> range{0};
+ SimDataValue<double, HAL_MakeDouble, GetXName> x{0.0};
+ SimDataValue<double, HAL_MakeDouble, GetYName> y{0.0};
+ SimDataValue<double, HAL_MakeDouble, GetZName> z{0.0};
virtual void ResetData();
};
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/SPIDataInternal.h b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/SPIDataInternal.h
index b10e741..44868d2 100644
--- a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/SPIDataInternal.h
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/SPIDataInternal.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -27,7 +27,8 @@
int32_t ReadAutoReceivedData(uint32_t* buffer, int32_t numToRead,
double timeout, int32_t* status);
- SimDataValue<HAL_Bool, MakeBoolean, GetInitializedName> initialized{false};
+ SimDataValue<HAL_Bool, HAL_MakeBoolean, GetInitializedName> initialized{
+ false};
SimCallbackRegistry<HAL_BufferCallback, GetReadName> read;
SimCallbackRegistry<HAL_ConstBufferCallback, GetWriteName> write;
SimCallbackRegistry<HAL_SpiReadAutoReceiveBufferCallback, GetAutoReceiveName>
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/SimDeviceData.cpp b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/SimDeviceData.cpp
new file mode 100644
index 0000000..a703257
--- /dev/null
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/SimDeviceData.cpp
@@ -0,0 +1,414 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "mockdata/SimDeviceData.h" // NOLINT(build/include_order)
+
+#include <algorithm>
+
+#include "SimDeviceDataInternal.h"
+
+using namespace hal;
+
+namespace hal {
+namespace init {
+void InitializeSimDeviceData() {
+ static SimDeviceData sdd;
+ ::hal::SimSimDeviceData = &sdd;
+}
+} // namespace init
+} // namespace hal
+
+SimDeviceData* hal::SimSimDeviceData;
+
+SimDeviceData::Device* SimDeviceData::LookupDevice(HAL_SimDeviceHandle handle) {
+ if (handle <= 0) return nullptr;
+ --handle;
+ if (static_cast<uint32_t>(handle) >= m_devices.size() || !m_devices[handle])
+ return nullptr;
+ return m_devices[handle].get();
+}
+
+SimDeviceData::Value* SimDeviceData::LookupValue(HAL_SimValueHandle handle) {
+ if (handle <= 0) return nullptr;
+
+ // look up device
+ Device* deviceImpl = LookupDevice(handle >> 16);
+ if (!deviceImpl) return nullptr;
+
+ // look up value
+ handle &= 0xffff;
+ --handle;
+ if (static_cast<uint32_t>(handle) >= deviceImpl->values.size() ||
+ !deviceImpl->values[handle])
+ return nullptr;
+
+ return deviceImpl->values[handle].get();
+}
+
+HAL_SimDeviceHandle SimDeviceData::CreateDevice(const char* name) {
+ std::scoped_lock lock(m_mutex);
+
+ // check for duplicates and don't overwrite them
+ auto it = m_deviceMap.find(name);
+ if (it != m_deviceMap.end()) return 0;
+
+ // don't allow more than 4096 devices (limit driven by 12-bit allocation in
+ // value changed callback uid)
+ if (m_devices.size() >= 4095) return 0;
+
+ // create and save
+ auto deviceImpl = std::make_shared<Device>(name);
+ HAL_SimDeviceHandle deviceHandle = m_devices.emplace_back(deviceImpl) + 1;
+ deviceImpl->handle = deviceHandle;
+ m_deviceMap[name] = deviceImpl;
+
+ // notify callbacks
+ m_deviceCreated(name, deviceHandle);
+
+ return deviceHandle;
+}
+
+void SimDeviceData::FreeDevice(HAL_SimDeviceHandle handle) {
+ std::scoped_lock lock(m_mutex);
+ --handle;
+
+ // see if it exists
+ if (handle < 0 || static_cast<uint32_t>(handle) >= m_devices.size()) return;
+ auto deviceImpl = std::move(m_devices[handle]);
+ if (!deviceImpl) return;
+
+ // remove from map
+ m_deviceMap.erase(deviceImpl->name);
+
+ // remove from vector
+ m_devices.erase(handle);
+
+ // notify callbacks
+ m_deviceFreed(deviceImpl->name.c_str(), handle + 1);
+}
+
+HAL_SimValueHandle SimDeviceData::CreateValue(HAL_SimDeviceHandle device,
+ const char* name, bool readonly,
+ int32_t numOptions,
+ const char** options,
+ const HAL_Value& initialValue) {
+ std::scoped_lock lock(m_mutex);
+
+ // look up device
+ Device* deviceImpl = LookupDevice(device);
+ if (!deviceImpl) return 0;
+
+ // check for duplicates and don't overwrite them
+ auto it = deviceImpl->valueMap.find(name);
+ if (it != deviceImpl->valueMap.end()) return 0;
+
+ // don't allow more than 4096 values per device (limit driven by 12-bit
+ // allocation in value changed callback uid)
+ if (deviceImpl->values.size() >= 4095) return 0;
+
+ // create and save; encode device into handle
+ auto valueImplPtr = std::make_unique<Value>(name, readonly, initialValue);
+ Value* valueImpl = valueImplPtr.get();
+ HAL_SimValueHandle valueHandle =
+ (device << 16) |
+ (deviceImpl->values.emplace_back(std::move(valueImplPtr)) + 1);
+ valueImpl->handle = valueHandle;
+ // copy options (if any provided)
+ if (numOptions > 0 && options) {
+ valueImpl->enumOptions.reserve(numOptions);
+ valueImpl->cstrEnumOptions.reserve(numOptions);
+ for (int32_t i = 0; i < numOptions; ++i) {
+ valueImpl->enumOptions.emplace_back(options[i]);
+ // point to our copy of the string, not the passed-in one
+ valueImpl->cstrEnumOptions.emplace_back(
+ valueImpl->enumOptions.back().c_str());
+ }
+ }
+ deviceImpl->valueMap[name] = valueImpl;
+
+ // notify callbacks
+ deviceImpl->valueCreated(name, valueHandle, readonly, &initialValue);
+
+ return valueHandle;
+}
+
+HAL_Value SimDeviceData::GetValue(HAL_SimValueHandle handle) {
+ std::scoped_lock lock(m_mutex);
+ Value* valueImpl = LookupValue(handle);
+
+ if (!valueImpl) {
+ HAL_Value value;
+ value.data.v_int = 0;
+ value.type = HAL_UNASSIGNED;
+ return value;
+ }
+
+ return valueImpl->value;
+}
+
+void SimDeviceData::SetValue(HAL_SimValueHandle handle,
+ const HAL_Value& value) {
+ std::scoped_lock lock(m_mutex);
+ Value* valueImpl = LookupValue(handle);
+ if (!valueImpl) return;
+
+ valueImpl->value = value;
+
+ // notify callbacks
+ valueImpl->changed(valueImpl->name.c_str(), valueImpl->handle,
+ valueImpl->readonly, &value);
+}
+
+int32_t SimDeviceData::RegisterDeviceCreatedCallback(
+ const char* prefix, void* param, HALSIM_SimDeviceCallback callback,
+ bool initialNotify) {
+ std::scoped_lock lock(m_mutex);
+
+ // register callback
+ int32_t index = m_deviceCreated.Register(prefix, param, callback);
+
+ // initial notifications
+ if (initialNotify) {
+ for (auto&& device : m_devices)
+ callback(device->name.c_str(), param, device->handle);
+ }
+
+ return index;
+}
+
+void SimDeviceData::CancelDeviceCreatedCallback(int32_t uid) {
+ if (uid <= 0) return;
+ std::scoped_lock lock(m_mutex);
+ m_deviceCreated.Cancel(uid);
+}
+
+int32_t SimDeviceData::RegisterDeviceFreedCallback(
+ const char* prefix, void* param, HALSIM_SimDeviceCallback callback) {
+ std::scoped_lock lock(m_mutex);
+ return m_deviceFreed.Register(prefix, param, callback);
+}
+
+void SimDeviceData::CancelDeviceFreedCallback(int32_t uid) {
+ if (uid <= 0) return;
+ std::scoped_lock lock(m_mutex);
+ m_deviceFreed.Cancel(uid);
+}
+
+HAL_SimDeviceHandle SimDeviceData::GetDeviceHandle(const char* name) {
+ std::scoped_lock lock(m_mutex);
+ auto it = m_deviceMap.find(name);
+ if (it == m_deviceMap.end()) return 0;
+ if (auto deviceImpl = it->getValue().lock())
+ return deviceImpl->handle;
+ else
+ return 0;
+}
+
+const char* SimDeviceData::GetDeviceName(HAL_SimDeviceHandle handle) {
+ std::scoped_lock lock(m_mutex);
+
+ // look up device
+ Device* deviceImpl = LookupDevice(handle);
+ if (!deviceImpl) return nullptr;
+
+ return deviceImpl->name.c_str();
+}
+
+void SimDeviceData::EnumerateDevices(const char* prefix, void* param,
+ HALSIM_SimDeviceCallback callback) {
+ std::scoped_lock lock(m_mutex);
+ for (auto&& device : m_devices) {
+ if (wpi::StringRef{device->name}.startswith(prefix))
+ callback(device->name.c_str(), param, device->handle);
+ }
+}
+
+int32_t SimDeviceData::RegisterValueCreatedCallback(
+ HAL_SimDeviceHandle device, void* param, HALSIM_SimValueCallback callback,
+ bool initialNotify) {
+ std::scoped_lock lock(m_mutex);
+ Device* deviceImpl = LookupDevice(device);
+ if (!deviceImpl) return -1;
+
+ // register callback
+ int32_t index = deviceImpl->valueCreated.Register(callback, param);
+
+ // initial notifications
+ if (initialNotify) {
+ for (auto&& value : deviceImpl->values)
+ callback(value->name.c_str(), param, value->handle, value->readonly,
+ &value->value);
+ }
+
+ // encode device into uid
+ return (device << 16) | (index & 0xffff);
+}
+
+void SimDeviceData::CancelValueCreatedCallback(int32_t uid) {
+ if (uid <= 0) return;
+ std::scoped_lock lock(m_mutex);
+ Device* deviceImpl = LookupDevice(uid >> 16);
+ if (!deviceImpl) return;
+ deviceImpl->valueCreated.Cancel(uid & 0xffff);
+}
+
+int32_t SimDeviceData::RegisterValueChangedCallback(
+ HAL_SimValueHandle handle, void* param, HALSIM_SimValueCallback callback,
+ bool initialNotify) {
+ std::scoped_lock lock(m_mutex);
+ Value* valueImpl = LookupValue(handle);
+ if (!valueImpl) return -1;
+
+ // register callback
+ int32_t index = valueImpl->changed.Register(callback, param);
+
+ // initial notification
+ if (initialNotify)
+ callback(valueImpl->name.c_str(), param, valueImpl->handle,
+ valueImpl->readonly, &valueImpl->value);
+
+ // encode device and value into uid
+ return (((handle >> 16) & 0xfff) << 19) | ((handle & 0xfff) << 7) |
+ (index & 0x7f);
+}
+
+void SimDeviceData::CancelValueChangedCallback(int32_t uid) {
+ if (uid <= 0) return;
+ std::scoped_lock lock(m_mutex);
+ Value* valueImpl = LookupValue(((uid >> 19) << 16) | ((uid >> 7) & 0xfff));
+ if (!valueImpl) return;
+ valueImpl->changed.Cancel(uid & 0x7f);
+}
+
+HAL_SimValueHandle SimDeviceData::GetValueHandle(HAL_SimDeviceHandle device,
+ const char* name) {
+ std::scoped_lock lock(m_mutex);
+ Device* deviceImpl = LookupDevice(device);
+ if (!deviceImpl) return 0;
+
+ // lookup value
+ auto it = deviceImpl->valueMap.find(name);
+ if (it == deviceImpl->valueMap.end()) return 0;
+ if (!it->getValue()) return 0;
+ return it->getValue()->handle;
+}
+
+void SimDeviceData::EnumerateValues(HAL_SimDeviceHandle device, void* param,
+ HALSIM_SimValueCallback callback) {
+ std::scoped_lock lock(m_mutex);
+ Device* deviceImpl = LookupDevice(device);
+ if (!deviceImpl) return;
+
+ for (auto&& value : deviceImpl->values)
+ callback(value->name.c_str(), param, value->handle, value->readonly,
+ &value->value);
+}
+
+const char** SimDeviceData::GetValueEnumOptions(HAL_SimValueHandle handle,
+ int32_t* numOptions) {
+ *numOptions = 0;
+
+ std::scoped_lock lock(m_mutex);
+ Value* valueImpl = LookupValue(handle);
+ if (!valueImpl) return nullptr;
+
+ // get list of options (safe to return as they never change)
+ auto& options = valueImpl->cstrEnumOptions;
+ *numOptions = options.size();
+ return options.data();
+}
+
+void SimDeviceData::ResetData() {
+ std::scoped_lock lock(m_mutex);
+ m_devices.clear();
+ m_deviceMap.clear();
+ m_deviceCreated.Reset();
+ m_deviceFreed.Reset();
+}
+
+extern "C" {
+
+int32_t HALSIM_RegisterSimDeviceCreatedCallback(
+ const char* prefix, void* param, HALSIM_SimDeviceCallback callback,
+ HAL_Bool initialNotify) {
+ return SimSimDeviceData->RegisterDeviceCreatedCallback(
+ prefix, param, callback, initialNotify);
+}
+
+void HALSIM_CancelSimDeviceCreatedCallback(int32_t uid) {
+ SimSimDeviceData->CancelDeviceCreatedCallback(uid);
+}
+
+int32_t HALSIM_RegisterSimDeviceFreedCallback(
+ const char* prefix, void* param, HALSIM_SimDeviceCallback callback) {
+ return SimSimDeviceData->RegisterDeviceFreedCallback(prefix, param, callback);
+}
+
+void HALSIM_CancelSimDeviceFreedCallback(int32_t uid) {
+ SimSimDeviceData->CancelDeviceFreedCallback(uid);
+}
+
+HAL_SimDeviceHandle HALSIM_GetSimDeviceHandle(const char* name) {
+ return SimSimDeviceData->GetDeviceHandle(name);
+}
+
+const char* HALSIM_GetSimDeviceName(HAL_SimDeviceHandle handle) {
+ return SimSimDeviceData->GetDeviceName(handle);
+}
+
+HAL_SimDeviceHandle HALSIM_GetSimValueDeviceHandle(HAL_SimValueHandle handle) {
+ if (handle <= 0) return 0;
+ return handle >> 16;
+}
+
+void HALSIM_EnumerateSimDevices(const char* prefix, void* param,
+ HALSIM_SimDeviceCallback callback) {
+ SimSimDeviceData->EnumerateDevices(prefix, param, callback);
+}
+
+int32_t HALSIM_RegisterSimValueCreatedCallback(HAL_SimDeviceHandle device,
+ void* param,
+ HALSIM_SimValueCallback callback,
+ HAL_Bool initialNotify) {
+ return SimSimDeviceData->RegisterValueCreatedCallback(device, param, callback,
+ initialNotify);
+}
+
+void HALSIM_CancelSimValueCreatedCallback(int32_t uid) {
+ SimSimDeviceData->CancelValueCreatedCallback(uid);
+}
+
+int32_t HALSIM_RegisterSimValueChangedCallback(HAL_SimValueHandle handle,
+ void* param,
+ HALSIM_SimValueCallback callback,
+ HAL_Bool initialNotify) {
+ return SimSimDeviceData->RegisterValueChangedCallback(handle, param, callback,
+ initialNotify);
+}
+
+void HALSIM_CancelSimValueChangedCallback(int32_t uid) {
+ SimSimDeviceData->CancelValueChangedCallback(uid);
+}
+
+HAL_SimValueHandle HALSIM_GetSimValueHandle(HAL_SimDeviceHandle device,
+ const char* name) {
+ return SimSimDeviceData->GetValueHandle(device, name);
+}
+
+void HALSIM_EnumerateSimValues(HAL_SimDeviceHandle device, void* param,
+ HALSIM_SimValueCallback callback) {
+ SimSimDeviceData->EnumerateValues(device, param, callback);
+}
+
+const char** HALSIM_GetSimValueEnumOptions(HAL_SimValueHandle handle,
+ int32_t* numOptions) {
+ return SimSimDeviceData->GetValueEnumOptions(handle, numOptions);
+}
+
+void HALSIM_ResetSimDeviceData(void) { SimSimDeviceData->ResetData(); }
+
+} // extern "C"
diff --git a/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/SimDeviceDataInternal.h b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/SimDeviceDataInternal.h
new file mode 100644
index 0000000..2582eca
--- /dev/null
+++ b/third_party/allwpilib_2019/hal/src/main/native/sim/mockdata/SimDeviceDataInternal.h
@@ -0,0 +1,214 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <stdint.h>
+
+#include <memory>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include <wpi/StringMap.h>
+#include <wpi/UidVector.h>
+#include <wpi/spinlock.h>
+
+#include "hal/Value.h"
+#include "mockdata/SimCallbackRegistry.h"
+#include "mockdata/SimDeviceData.h"
+
+namespace hal {
+
+namespace impl {
+
+template <typename CallbackFunction>
+class SimUnnamedCallbackRegistry {
+ public:
+ using RawFunctor = void (*)();
+
+ protected:
+ using CallbackVector = wpi::UidVector<HalCallbackListener<RawFunctor>, 4>;
+
+ public:
+ void Cancel(int32_t uid) {
+ if (m_callbacks) m_callbacks->erase(uid - 1);
+ }
+
+ void Reset() {
+ if (m_callbacks) m_callbacks->clear();
+ }
+
+ int32_t Register(CallbackFunction callback, void* param) {
+ // Must return -1 on a null callback for error handling
+ if (callback == nullptr) return -1;
+ if (!m_callbacks) m_callbacks = std::make_unique<CallbackVector>();
+ return m_callbacks->emplace_back(param,
+ reinterpret_cast<RawFunctor>(callback)) +
+ 1;
+ }
+
+ template <typename... U>
+ void Invoke(const char* name, U&&... u) const {
+ if (m_callbacks) {
+ for (auto&& cb : *m_callbacks) {
+ reinterpret_cast<CallbackFunction>(cb.callback)(name, cb.param,
+ std::forward<U>(u)...);
+ }
+ }
+ }
+
+ template <typename... U>
+ LLVM_ATTRIBUTE_ALWAYS_INLINE void operator()(U&&... u) const {
+ return Invoke(std::forward<U>(u)...);
+ }
+
+ private:
+ std::unique_ptr<CallbackVector> m_callbacks;
+};
+
+template <typename CallbackFunction>
+class SimPrefixCallbackRegistry {
+ struct CallbackData {
+ CallbackData() = default;
+ CallbackData(const char* prefix_, void* param_, CallbackFunction callback_)
+ : prefix{prefix_}, callback{callback_}, param{param_} {}
+ std::string prefix;
+ CallbackFunction callback;
+ void* param;
+
+ explicit operator bool() const { return callback != nullptr; }
+ };
+ using CallbackVector = wpi::UidVector<CallbackData, 4>;
+
+ public:
+ void Cancel(int32_t uid) {
+ if (m_callbacks) m_callbacks->erase(uid - 1);
+ }
+
+ void Reset() {
+ if (m_callbacks) m_callbacks->clear();
+ }
+
+ int32_t Register(const char* prefix, void* param, CallbackFunction callback) {
+ // Must return -1 on a null callback for error handling
+ if (callback == nullptr) return -1;
+ if (!m_callbacks) m_callbacks = std::make_unique<CallbackVector>();
+ return m_callbacks->emplace_back(prefix, param, callback) + 1;
+ }
+
+ template <typename... U>
+ void Invoke(const char* name, U&&... u) const {
+ if (m_callbacks) {
+ for (auto&& cb : *m_callbacks) {
+ if (wpi::StringRef{name}.startswith(cb.prefix)) {
+ cb.callback(name, cb.param, std::forward<U>(u)...);
+ }
+ }
+ }
+ }
+
+ template <typename... U>
+ LLVM_ATTRIBUTE_ALWAYS_INLINE void operator()(U&&... u) const {
+ return Invoke(std::forward<U>(u)...);
+ }
+
+ private:
+ std::unique_ptr<CallbackVector> m_callbacks;
+};
+
+} // namespace impl
+
+class SimDeviceData {
+ private:
+ struct Value {
+ Value(const char* name_, bool readonly_, const HAL_Value& value_)
+ : name{name_}, readonly{readonly_}, value{value_} {}
+
+ HAL_SimValueHandle handle{0};
+ std::string name;
+ bool readonly;
+ HAL_Value value;
+ std::vector<std::string> enumOptions;
+ std::vector<const char*> cstrEnumOptions;
+ impl::SimUnnamedCallbackRegistry<HALSIM_SimValueCallback> changed;
+ };
+
+ struct Device {
+ explicit Device(const char* name_) : name{name_} {}
+
+ HAL_SimDeviceHandle handle{0};
+ std::string name;
+ wpi::UidVector<std::unique_ptr<Value>, 16> values;
+ wpi::StringMap<Value*> valueMap;
+ impl::SimUnnamedCallbackRegistry<HALSIM_SimValueCallback> valueCreated;
+ };
+
+ wpi::UidVector<std::shared_ptr<Device>, 4> m_devices;
+ wpi::StringMap<std::weak_ptr<Device>> m_deviceMap;
+
+ wpi::recursive_spinlock m_mutex;
+
+ impl::SimPrefixCallbackRegistry<HALSIM_SimDeviceCallback> m_deviceCreated;
+ impl::SimPrefixCallbackRegistry<HALSIM_SimDeviceCallback> m_deviceFreed;
+
+ // call with lock held, returns null if does not exist
+ Device* LookupDevice(HAL_SimDeviceHandle handle);
+ Value* LookupValue(HAL_SimValueHandle handle);
+
+ public:
+ HAL_SimDeviceHandle CreateDevice(const char* name);
+ void FreeDevice(HAL_SimDeviceHandle handle);
+ HAL_SimValueHandle CreateValue(HAL_SimDeviceHandle device, const char* name,
+ bool readonly, int32_t numOptions,
+ const char** options,
+ const HAL_Value& initialValue);
+ HAL_Value GetValue(HAL_SimValueHandle handle);
+ void SetValue(HAL_SimValueHandle handle, const HAL_Value& value);
+
+ int32_t RegisterDeviceCreatedCallback(const char* prefix, void* param,
+ HALSIM_SimDeviceCallback callback,
+ bool initialNotify);
+
+ void CancelDeviceCreatedCallback(int32_t uid);
+
+ int32_t RegisterDeviceFreedCallback(const char* prefix, void* param,
+ HALSIM_SimDeviceCallback callback);
+
+ void CancelDeviceFreedCallback(int32_t uid);
+
+ HAL_SimDeviceHandle GetDeviceHandle(const char* name);
+ const char* GetDeviceName(HAL_SimDeviceHandle handle);
+
+ void EnumerateDevices(const char* prefix, void* param,
+ HALSIM_SimDeviceCallback callback);
+
+ int32_t RegisterValueCreatedCallback(HAL_SimDeviceHandle device, void* param,
+ HALSIM_SimValueCallback callback,
+ bool initialNotify);
+
+ void CancelValueCreatedCallback(int32_t uid);
+
+ int32_t RegisterValueChangedCallback(HAL_SimValueHandle handle, void* param,
+ HALSIM_SimValueCallback callback,
+ bool initialNotify);
+
+ void CancelValueChangedCallback(int32_t uid);
+
+ HAL_SimValueHandle GetValueHandle(HAL_SimDeviceHandle device,
+ const char* name);
+
+ void EnumerateValues(HAL_SimDeviceHandle device, void* param,
+ HALSIM_SimValueCallback callback);
+
+ const char** GetValueEnumOptions(HAL_SimValueHandle handle,
+ int32_t* numOptions);
+
+ void ResetData();
+};
+extern SimDeviceData* SimSimDeviceData;
+} // namespace hal
diff --git a/third_party/allwpilib_2019/imgui/CMakeLists.txt b/third_party/allwpilib_2019/imgui/CMakeLists.txt
new file mode 100644
index 0000000..664c045
--- /dev/null
+++ b/third_party/allwpilib_2019/imgui/CMakeLists.txt
@@ -0,0 +1,53 @@
+# Download and unpack imgui at configure time
+configure_file(CMakeLists.txt.in imgui-download/CMakeLists.txt)
+
+execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" .
+ RESULT_VARIABLE result
+ WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/imgui-download )
+if(result)
+ message(FATAL_ERROR "CMake step for imgui failed: ${result}")
+endif()
+execute_process(COMMAND ${CMAKE_COMMAND} --build .
+ RESULT_VARIABLE result
+ WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/imgui-download )
+if(result)
+ message(FATAL_ERROR "Build step for imgui failed: ${result}")
+endif()
+
+# Build font
+add_executable(imgui_font_bin2c ${CMAKE_CURRENT_BINARY_DIR}/imgui-src/misc/fonts/binary_to_compressed_c.cpp)
+add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/ProggyDotted.inc
+ COMMAND imgui_font_bin2c
+ ARGS "${CMAKE_CURRENT_BINARY_DIR}/proggyfonts-src/ProggyDotted/ProggyDotted Regular.ttf" ProggyDotted > ${CMAKE_CURRENT_BINARY_DIR}/ProggyDotted.inc
+ WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+ MAIN_DEPENDENCY "${CMAKE_CURRENT_BINARY_DIR}/proggyfonts-src/ProggyDotted/ProggyDotted Regular.ttf"
+ VERBATIM
+)
+file(GENERATE OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/imgui_ProggyDotted.cpp
+ CONTENT "#include \"imgui_ProggyDotted.h\"\n#include \"ProggyDotted.inc\"\nImFont* ImGui::AddFontProggyDotted(ImGuiIO& io, float size_pixels, const ImFontConfig* font_cfg, const ImWchar* glyph_ranges) {\n return io.Fonts->AddFontFromMemoryCompressedTTF(ProggyDotted_compressed_data, ProggyDotted_compressed_size, size_pixels, font_cfg, glyph_ranges);\n}\n"
+)
+file(GENERATE OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/imgui_ProggyDotted.h
+ CONTENT "#pragma once\n#include \"imgui.h\"\nnamespace ImGui {\nImFont* AddFontProggyDotted(ImGuiIO& io, float size_pixels, const ImFontConfig* font_cfg = nullptr, const ImWchar* glyph_ranges = nullptr);\n}\n"
+)
+set_source_files_properties(${CMAKE_CURRENT_BINARY_DIR}/imgui_ProggyDotted.cpp
+ PROPERTIES OBJECT_DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/ProggyDotted.inc)
+
+# Add imgui directly to our build.
+set(SAVE_BUILD_SHARED_LIBS ${BUILD_SHARED_LIBS})
+set(BUILD_SHARED_LIBS OFF)
+add_subdirectory(${CMAKE_CURRENT_BINARY_DIR}/glfw-src
+ ${CMAKE_CURRENT_BINARY_DIR}/glfw-build
+ EXCLUDE_FROM_ALL)
+set_property(TARGET glfw PROPERTY POSITION_INDEPENDENT_CODE ON)
+set(BUILD_SHARED_LIBS ${SAVE_BUILD_SHARED_LIBS})
+add_subdirectory(${CMAKE_CURRENT_BINARY_DIR}/gl3w-src
+ ${CMAKE_CURRENT_BINARY_DIR}/gl3w-build
+ EXCLUDE_FROM_ALL)
+
+set(imgui_srcdir ${CMAKE_CURRENT_BINARY_DIR}/imgui-src)
+file(GLOB imgui_sources ${imgui_srcdir}/*.cpp)
+add_library(imgui STATIC ${imgui_sources} ${imgui_srcdir}/examples/imgui_impl_glfw.cpp ${imgui_srcdir}/examples/imgui_impl_opengl3.cpp ${CMAKE_CURRENT_BINARY_DIR}/imgui_ProggyDotted.cpp)
+target_link_libraries(imgui PUBLIC gl3w glfw)
+target_include_directories(imgui PUBLIC "$<BUILD_INTERFACE:${imgui_srcdir}>" "$<BUILD_INTERFACE:${imgui_srcdir}/examples>" "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>")
+
+set_property(TARGET imgui PROPERTY POSITION_INDEPENDENT_CODE ON)
diff --git a/third_party/allwpilib_2019/imgui/CMakeLists.txt.in b/third_party/allwpilib_2019/imgui/CMakeLists.txt.in
new file mode 100644
index 0000000..a5c6091
--- /dev/null
+++ b/third_party/allwpilib_2019/imgui/CMakeLists.txt.in
@@ -0,0 +1,43 @@
+cmake_minimum_required(VERSION 2.8.2)
+
+project(imgui-download NONE)
+
+include(ExternalProject)
+ExternalProject_Add(glfw3
+ GIT_REPOSITORY https://github.com/glfw/glfw.git
+ GIT_TAG 7105ff2dfd004a46bd732c1d0c9f461bae6d51b3
+ SOURCE_DIR "${CMAKE_CURRENT_BINARY_DIR}/glfw-src"
+ BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}/glfw-build"
+ CONFIGURE_COMMAND ""
+ BUILD_COMMAND ""
+ INSTALL_COMMAND ""
+ TEST_COMMAND ""
+)
+ExternalProject_Add(gl3w
+ GIT_REPOSITORY https://github.com/skaslev/gl3w
+ GIT_TAG 7729692af8a2322cddb636b90393a42c130b1c85
+ SOURCE_DIR "${CMAKE_CURRENT_BINARY_DIR}/gl3w-src"
+ BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}/gl3w-build"
+ INSTALL_COMMAND ""
+ TEST_COMMAND ""
+)
+ExternalProject_Add(imgui
+ GIT_REPOSITORY https://github.com/ocornut/imgui.git
+ GIT_TAG v1.72b
+ SOURCE_DIR "${CMAKE_CURRENT_BINARY_DIR}/imgui-src"
+ BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}/imgui-build"
+ CONFIGURE_COMMAND ""
+ BUILD_COMMAND ""
+ INSTALL_COMMAND ""
+ TEST_COMMAND ""
+)
+ExternalProject_Add(proggyfonts
+ GIT_REPOSITORY https://github.com/bluescan/proggyfonts.git
+ GIT_TAG v1.1.5
+ SOURCE_DIR "${CMAKE_CURRENT_BINARY_DIR}/proggyfonts-src"
+ BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}/proggyfonts-build"
+ CONFIGURE_COMMAND ""
+ BUILD_COMMAND ""
+ INSTALL_COMMAND ""
+ TEST_COMMAND ""
+)
diff --git a/third_party/allwpilib_2019/myRobot/CMakeLists.txt b/third_party/allwpilib_2019/myRobot/CMakeLists.txt
new file mode 100644
index 0000000..fd9fba6
--- /dev/null
+++ b/third_party/allwpilib_2019/myRobot/CMakeLists.txt
@@ -0,0 +1,8 @@
+project(myRobot)
+
+include(CompileWarnings)
+
+file(GLOB myRobotCpp_src src/main/native/cpp/*.cpp)
+
+add_executable(myRobotCpp ${myRobotCpp_src})
+target_link_libraries(myRobotCpp wpilibc)
diff --git a/third_party/allwpilib_2019/myRobot/build.gradle b/third_party/allwpilib_2019/myRobot/build.gradle
index 0c047e8..51dcbdd 100644
--- a/third_party/allwpilib_2019/myRobot/build.gradle
+++ b/third_party/allwpilib_2019/myRobot/build.gradle
@@ -69,7 +69,10 @@
lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
lib project: ':ntcore', library: 'ntcore', linkage: 'shared'
lib project: ':cscore', library: 'cscore', linkage: 'shared'
+ lib project: ':ntcore', library: 'ntcoreJNIShared', linkage: 'shared'
+ lib project: ':cscore', library: 'cscoreJNIShared', linkage: 'shared'
project(':hal').addHalDependency(binary, 'shared')
+ project(':hal').addHalJniDependency(binary)
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
lib project: ':cameraserver', library: 'cameraserver', linkage: 'shared'
}
@@ -110,7 +113,7 @@
if (it in NativeExecutableSpec && it.name == "myRobotCpp") {
it.binaries.each {
if (!found) {
- def arch = it.targetPlatform.architecture.name
+ def arch = it.targetPlatform.name
if (arch == systemArch) {
dependsOn it.tasks.install
commandLine it.tasks.install.runScriptFile.get().asFile.toString()
@@ -129,14 +132,14 @@
}
installAthena(Task) {
$.binaries.each {
- if (it in NativeExecutableBinarySpec && it.targetPlatform.architecture.name == 'athena' && it.component.name == 'myRobotCpp') {
+ if (it in NativeExecutableBinarySpec && it.targetPlatform.name == nativeUtils.wpi.platforms.roborio && it.component.name == 'myRobotCpp') {
dependsOn it.tasks.install
}
}
}
installAthenaStatic(Task) {
$.binaries.each {
- if (it in NativeExecutableBinarySpec && it.targetPlatform.architecture.name == 'athena' && it.component.name == 'myRobotCppStatic') {
+ if (it in NativeExecutableBinarySpec && it.targetPlatform.name == nativeUtils.wpi.platforms.roborio && it.component.name == 'myRobotCppStatic') {
dependsOn it.tasks.install
}
}
diff --git a/third_party/allwpilib_2019/ntcore/CMakeLists.txt b/third_party/allwpilib_2019/ntcore/CMakeLists.txt
index 47e2264..1852702 100644
--- a/third_party/allwpilib_2019/ntcore/CMakeLists.txt
+++ b/third_party/allwpilib_2019/ntcore/CMakeLists.txt
@@ -1,5 +1,8 @@
project(ntcore)
+include(CompileWarnings)
+include(AddTest)
+
file(GLOB
ntcore_native_src src/main/native/cpp/*.cpp
ntcore_native_src src/main/native/cpp/networktables/*.cpp
@@ -9,6 +12,7 @@
target_include_directories(ntcore PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
$<INSTALL_INTERFACE:${include_dest}/ntcore>)
+wpilib_target_warnings(ntcore)
target_link_libraries(ntcore PUBLIC wpiutil)
set_property(TARGET ntcore PROPERTY FOLDER "libraries")
@@ -16,13 +20,14 @@
install(TARGETS ntcore EXPORT ntcore DESTINATION "${main_lib_dest}")
install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/ntcore")
-if (MSVC)
+if (MSVC OR FLAT_INSTALL_WPILIB)
set (ntcore_config_dir ${wpilib_dest})
else()
set (ntcore_config_dir share/ntcore)
endif()
-install(FILES ntcore-config.cmake DESTINATION ${ntcore_config_dir})
+configure_file(ntcore-config.cmake.in ${CMAKE_BINARY_DIR}/ntcore-config.cmake )
+install(FILES ${CMAKE_BINARY_DIR}/ntcore-config.cmake DESTINATION ${ntcore_config_dir})
install(EXPORT ntcore DESTINATION ${ntcore_config_dir})
# Java bindings
@@ -51,6 +56,7 @@
set_property(TARGET ntcore_jar PROPERTY FOLDER "java")
add_library(ntcorejni ${ntcore_jni_src})
+ wpilib_target_warnings(ntcorejni)
target_link_libraries(ntcorejni PUBLIC ntcore wpiutil)
set_property(TARGET ntcorejni PROPERTY FOLDER "libraries")
@@ -70,3 +76,9 @@
install(TARGETS ntcorejni EXPORT ntcorejni DESTINATION "${main_lib_dest}")
endif()
+
+if (WITH_TESTS)
+ wpilib_add_test(ntcore src/test/native/cpp)
+ target_include_directories(ntcore_test PRIVATE src/main/native/cpp)
+ target_link_libraries(ntcore_test ntcore gmock_main)
+endif()
diff --git a/third_party/allwpilib_2019/ntcore/build.gradle b/third_party/allwpilib_2019/ntcore/build.gradle
index 659b0f9..5739b71 100644
--- a/third_party/allwpilib_2019/ntcore/build.gradle
+++ b/third_party/allwpilib_2019/ntcore/build.gradle
@@ -5,45 +5,29 @@
apply from: "${rootDir}/shared/jni/setupBuild.gradle"
-model {
- // Exports config is a utility to enable exporting all symbols in a C++ library on windows to a DLL.
- // This removes the need for DllExport on a library. However, the gradle C++ builder has a bug
- // where some extra symbols are added that cannot be resolved at link time. This configuration
- // lets you specify specific symbols to exlude from exporting.
- exportsConfigs {
- ntcore(ExportsConfig) {
- x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
- '_CT??_R0?AVbad_cast',
- '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
- '_TI5?AVfailure']
- x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
- '_CT??_R0?AVbad_cast',
- '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
- '_TI5?AVfailure']
+nativeUtils.exportsConfigs {
+ ntcore {
+ x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+ '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+ '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
+ '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
+ x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+ '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+ '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
+ '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
+ }
+ ntcoreJNI {
+ x86SymbolFilter = { symbols ->
+ symbols.removeIf({ !it.startsWith('NT_') })
}
- ntcoreJNI(ExportsConfig) {
- x86SymbolFilter = { symbols ->
- def retList = []
- symbols.each { symbol ->
- if (symbol.startsWith('NT_')) {
- retList << symbol
- }
- }
- return retList
- }
- x64SymbolFilter = { symbols ->
- def retList = []
- symbols.each { symbol ->
- if (symbol.startsWith('NT_')) {
- retList << symbol
- }
- }
- return retList
- }
+ x64SymbolFilter = { symbols ->
+ symbols.removeIf({ !it.startsWith('NT_') })
}
}
}
-pmdMain {
- pmdMain.enabled = false
+if (!project.hasProperty('skipPMD')) {
+ pmdMain {
+ pmdMain.enabled = false
+ }
}
diff --git a/third_party/allwpilib_2019/ntcore/ntcore-config.cmake b/third_party/allwpilib_2019/ntcore/ntcore-config.cmake
deleted file mode 100644
index 6be1dda..0000000
--- a/third_party/allwpilib_2019/ntcore/ntcore-config.cmake
+++ /dev/null
@@ -1,5 +0,0 @@
-include(CMakeFindDependencyMacro)
-find_dependency(wpiutil)
-
-get_filename_component(SELF_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
-include(${SELF_DIR}/ntcore.cmake)
diff --git a/third_party/allwpilib_2019/ntcore/ntcore-config.cmake.in b/third_party/allwpilib_2019/ntcore/ntcore-config.cmake.in
new file mode 100644
index 0000000..fb677b3
--- /dev/null
+++ b/third_party/allwpilib_2019/ntcore/ntcore-config.cmake.in
@@ -0,0 +1,5 @@
+include(CMakeFindDependencyMacro)
+@FILENAME_DEP_REPLACE@
+@WPIUTIL_DEP_REPLACE@
+
+include(${SELF_DIR}/ntcore.cmake)
diff --git a/third_party/allwpilib_2019/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTable.java b/third_party/allwpilib_2019/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTable.java
index 1cd21bf..ad25f23 100644
--- a/third_party/allwpilib_2019/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTable.java
+++ b/third_party/allwpilib_2019/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTable.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -218,7 +218,7 @@
final int prefixLen = m_path.length() + 1;
final NetworkTable parent = this;
- return m_inst.addEntryListener(m_pathWithSep, new Consumer<EntryNotification>() {
+ return m_inst.addEntryListener(m_pathWithSep, new Consumer<>() {
final Set<String> m_notifiedTables = new HashSet<>();
@Override
@@ -358,7 +358,7 @@
*
* @param key the key
* @param defaultValue the default value to set if key doesn't exist.
- * @returns False if the table key exists with a different type
+ * @return False if the table key exists with a different type
*/
boolean setDefaultValue(String key, NetworkTableValue defaultValue) {
return getEntry(key).setDefaultValue(defaultValue);
diff --git a/third_party/allwpilib_2019/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableEntry.java b/third_party/allwpilib_2019/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableEntry.java
index 63ed984..6eea5ca 100644
--- a/third_party/allwpilib_2019/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableEntry.java
+++ b/third_party/allwpilib_2019/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableEntry.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -280,7 +280,7 @@
switch (((NetworkTableValue) defaultValue).getType()) {
case kBoolean:
return NetworkTablesJNI.setDefaultBoolean(m_handle, time,
- ((Boolean) otherValue).booleanValue());
+ (Boolean) otherValue);
case kDouble:
return NetworkTablesJNI.setDefaultDouble(m_handle, time,
((Number) otherValue).doubleValue());
@@ -438,7 +438,7 @@
Object otherValue = ((NetworkTableValue) value).getValue();
switch (((NetworkTableValue) value).getType()) {
case kBoolean:
- return NetworkTablesJNI.setBoolean(m_handle, time, ((Boolean) otherValue).booleanValue(),
+ return NetworkTablesJNI.setBoolean(m_handle, time, (Boolean) otherValue,
false);
case kDouble:
return NetworkTablesJNI.setDouble(m_handle, time, ((Number) otherValue).doubleValue(),
@@ -612,7 +612,7 @@
Object otherValue = ((NetworkTableValue) value).getValue();
switch (((NetworkTableValue) value).getType()) {
case kBoolean:
- NetworkTablesJNI.setBoolean(m_handle, time, ((Boolean) otherValue).booleanValue(), true);
+ NetworkTablesJNI.setBoolean(m_handle, time, (Boolean) otherValue, true);
return;
case kDouble:
NetworkTablesJNI.setDouble(m_handle, time, ((Number) otherValue).doubleValue(), true);
diff --git a/third_party/allwpilib_2019/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableInstance.java b/third_party/allwpilib_2019/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableInstance.java
index 2564f70..29813a5 100644
--- a/third_party/allwpilib_2019/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableInstance.java
+++ b/third_party/allwpilib_2019/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableInstance.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -60,11 +60,6 @@
m_handle = handle;
}
- @Deprecated
- public void free() {
- close();
- }
-
/**
* Destroys the instance (if created by {@link #create()}).
*/
diff --git a/third_party/allwpilib_2019/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableValue.java b/third_party/allwpilib_2019/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableValue.java
index e1179ea..eb7e2c2 100644
--- a/third_party/allwpilib_2019/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableValue.java
+++ b/third_party/allwpilib_2019/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableValue.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -153,7 +153,7 @@
if (m_type != NetworkTableType.kBoolean) {
throw new ClassCastException("cannot convert " + m_type + " to boolean");
}
- return ((Boolean) m_value).booleanValue();
+ return (Boolean) m_value;
}
/**
diff --git a/third_party/allwpilib_2019/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTablesJNI.java b/third_party/allwpilib_2019/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTablesJNI.java
index 1d736fc..d24f066 100644
--- a/third_party/allwpilib_2019/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTablesJNI.java
+++ b/third_party/allwpilib_2019/ntcore/src/main/java/edu/wpi/first/networktables/NetworkTablesJNI.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,7 @@
import java.io.IOException;
import java.nio.ByteBuffer;
+import java.util.concurrent.atomic.AtomicBoolean;
import edu.wpi.first.wpiutil.RuntimeLoader;
@@ -16,8 +17,20 @@
static boolean libraryLoaded = false;
static RuntimeLoader<NetworkTablesJNI> loader = null;
+ public static class Helper {
+ private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
+
+ public static boolean getExtractOnStaticLoad() {
+ return extractOnStaticLoad.get();
+ }
+
+ public static void setExtractOnStaticLoad(boolean load) {
+ extractOnStaticLoad.set(load);
+ }
+ }
+
static {
- if (!libraryLoaded) {
+ if (Helper.getExtractOnStaticLoad()) {
try {
loader = new RuntimeLoader<>("ntcorejni", RuntimeLoader.getDefaultExtractionRoot(), NetworkTablesJNI.class);
loader.loadLibrary();
@@ -29,6 +42,18 @@
}
}
+ /**
+ * Force load the library.
+ */
+ public static synchronized void forceLoad() throws IOException {
+ if (libraryLoaded) {
+ return;
+ }
+ loader = new RuntimeLoader<>("ntcorejni", RuntimeLoader.getDefaultExtractionRoot(), NetworkTablesJNI.class);
+ loader.loadLibrary();
+ libraryLoaded = true;
+ }
+
public static native int getDefaultInstance();
public static native int createInstance();
public static native void destroyInstance(int inst);
diff --git a/third_party/allwpilib_2019/ntcore/src/main/java/edu/wpi/first/networktables/RpcCall.java b/third_party/allwpilib_2019/ntcore/src/main/java/edu/wpi/first/networktables/RpcCall.java
index 1b377f6..b9148c9 100644
--- a/third_party/allwpilib_2019/ntcore/src/main/java/edu/wpi/first/networktables/RpcCall.java
+++ b/third_party/allwpilib_2019/ntcore/src/main/java/edu/wpi/first/networktables/RpcCall.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -22,11 +22,6 @@
m_call = call;
}
- @Deprecated
- public void free() {
- close();
- }
-
/**
* Cancels the result if no other action taken.
*/
diff --git a/third_party/allwpilib_2019/ntcore/src/main/native/cpp/CallbackManager.h b/third_party/allwpilib_2019/ntcore/src/main/native/cpp/CallbackManager.h
index 0fd9617..2d9b11d 100644
--- a/third_party/allwpilib_2019/ntcore/src/main/native/cpp/CallbackManager.h
+++ b/third_party/allwpilib_2019/ntcore/src/main/native/cpp/CallbackManager.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -74,7 +74,7 @@
struct Poller {
void Terminate() {
{
- std::lock_guard<wpi::mutex> lock(poll_mutex);
+ std::scoped_lock lock(poll_mutex);
terminating = true;
}
poll_cond.notify_all();
@@ -94,7 +94,7 @@
auto poller = m_pollers[poller_uid];
if (!poller) return;
{
- std::lock_guard<wpi::mutex> lock(poller->poll_mutex);
+ std::scoped_lock lock(poller->poll_mutex);
poller->poll_queue.emplace(std::forward<Args>(args)...);
}
poller->poll_cond.notify_one();
@@ -104,7 +104,7 @@
template <typename Derived, typename TUserInfo, typename TListenerData,
typename TNotifierData>
void CallbackThread<Derived, TUserInfo, TListenerData, TNotifierData>::Main() {
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
while (m_active) {
while (m_queue.empty()) {
m_cond.wait(lock);
@@ -138,7 +138,8 @@
if (!listener) continue;
if (!static_cast<Derived*>(this)->Matches(listener, item.second))
continue;
- static_cast<Derived*>(this)->SetListener(&item.second, i);
+ static_cast<Derived*>(this)->SetListener(&item.second,
+ static_cast<unsigned>(i));
if (listener.callback) {
lock.unlock();
static_cast<Derived*>(this)->DoCallback(listener.callback,
@@ -240,7 +241,7 @@
if (!poller) return infos;
}
- std::unique_lock<wpi::mutex> lock(poller->poll_mutex);
+ std::unique_lock lock(poller->poll_mutex);
auto timeout_time = std::chrono::steady_clock::now() +
std::chrono::duration<double>(timeout);
*timed_out = false;
@@ -285,7 +286,7 @@
}
{
- std::lock_guard<wpi::mutex> lock(poller->poll_mutex);
+ std::scoped_lock lock(poller->poll_mutex);
poller->cancelling = true;
}
poller->poll_cond.notify_one();
diff --git a/third_party/allwpilib_2019/ntcore/src/main/native/cpp/Dispatcher.cpp b/third_party/allwpilib_2019/ntcore/src/main/native/cpp/Dispatcher.cpp
index ea54fe4..8164f45 100644
--- a/third_party/allwpilib_2019/ntcore/src/main/native/cpp/Dispatcher.cpp
+++ b/third_party/allwpilib_2019/ntcore/src/main/native/cpp/Dispatcher.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -119,7 +119,7 @@
const Twine& persist_filename,
std::unique_ptr<wpi::NetworkAcceptor> acceptor) {
{
- std::lock_guard<wpi::mutex> lock(m_user_mutex);
+ std::scoped_lock lock(m_user_mutex);
if (m_active) return;
m_active = true;
}
@@ -151,7 +151,7 @@
void DispatcherBase::StartClient() {
{
- std::lock_guard<wpi::mutex> lock(m_user_mutex);
+ std::scoped_lock lock(m_user_mutex);
if (m_active) return;
m_active = true;
}
@@ -170,7 +170,7 @@
// wake up client thread with a reconnect
{
- std::lock_guard<wpi::mutex> lock(m_user_mutex);
+ std::scoped_lock lock(m_user_mutex);
m_client_connector = nullptr;
}
ClientReconnect();
@@ -184,7 +184,7 @@
std::vector<std::shared_ptr<INetworkConnection>> conns;
{
- std::lock_guard<wpi::mutex> lock(m_user_mutex);
+ std::scoped_lock lock(m_user_mutex);
conns.swap(m_connections);
}
@@ -202,14 +202,14 @@
}
void DispatcherBase::SetIdentity(const Twine& name) {
- std::lock_guard<wpi::mutex> lock(m_user_mutex);
+ std::scoped_lock lock(m_user_mutex);
m_identity = name.str();
}
void DispatcherBase::Flush() {
auto now = std::chrono::steady_clock::now();
{
- std::lock_guard<wpi::mutex> lock(m_flush_mutex);
+ std::scoped_lock lock(m_flush_mutex);
// don't allow flushes more often than every 10 ms
if ((now - m_last_flush) < std::chrono::milliseconds(10)) return;
m_last_flush = now;
@@ -222,7 +222,7 @@
std::vector<ConnectionInfo> conns;
if (!m_active) return conns;
- std::lock_guard<wpi::mutex> lock(m_user_mutex);
+ std::scoped_lock lock(m_user_mutex);
for (auto& conn : m_connections) {
if (conn->state() != NetworkConnection::kActive) continue;
conns.emplace_back(conn->info());
@@ -234,7 +234,7 @@
bool DispatcherBase::IsConnected() const {
if (!m_active) return false;
- std::lock_guard<wpi::mutex> lock(m_user_mutex);
+ std::scoped_lock lock(m_user_mutex);
for (auto& conn : m_connections) {
if (conn->state() == NetworkConnection::kActive) return true;
}
@@ -245,7 +245,7 @@
unsigned int DispatcherBase::AddListener(
std::function<void(const ConnectionNotification& event)> callback,
bool immediate_notify) const {
- std::lock_guard<wpi::mutex> lock(m_user_mutex);
+ std::scoped_lock lock(m_user_mutex);
unsigned int uid = m_notifier.Add(callback);
// perform immediate notifications
if (immediate_notify) {
@@ -259,7 +259,7 @@
unsigned int DispatcherBase::AddPolledListener(unsigned int poller_uid,
bool immediate_notify) const {
- std::lock_guard<wpi::mutex> lock(m_user_mutex);
+ std::scoped_lock lock(m_user_mutex);
unsigned int uid = m_notifier.AddPolled(poller_uid);
// perform immediate notifications
if (immediate_notify) {
@@ -272,17 +272,17 @@
}
void DispatcherBase::SetConnector(Connector connector) {
- std::lock_guard<wpi::mutex> lock(m_user_mutex);
+ std::scoped_lock lock(m_user_mutex);
m_client_connector = std::move(connector);
}
void DispatcherBase::SetConnectorOverride(Connector connector) {
- std::lock_guard<wpi::mutex> lock(m_user_mutex);
+ std::scoped_lock lock(m_user_mutex);
m_client_connector_override = std::move(connector);
}
void DispatcherBase::ClearConnectorOverride() {
- std::lock_guard<wpi::mutex> lock(m_user_mutex);
+ std::scoped_lock lock(m_user_mutex);
m_client_connector_override = nullptr;
}
@@ -319,11 +319,11 @@
}
{
- std::lock_guard<wpi::mutex> user_lock(m_user_mutex);
+ std::scoped_lock user_lock(m_user_mutex);
bool reconnect = false;
if (++count > 10) {
- DEBUG("dispatch running " << m_connections.size() << " connections");
+ DEBUG0("dispatch running " << m_connections.size() << " connections");
count = 0;
}
@@ -350,7 +350,7 @@
void DispatcherBase::QueueOutgoing(std::shared_ptr<Message> msg,
INetworkConnection* only,
INetworkConnection* except) {
- std::lock_guard<wpi::mutex> user_lock(m_user_mutex);
+ std::scoped_lock user_lock(m_user_mutex);
for (auto& conn : m_connections) {
if (conn.get() == except) continue;
if (only && conn.get() != only) continue;
@@ -379,8 +379,8 @@
m_networkMode = NT_NET_MODE_NONE;
return;
}
- DEBUG("server: client connection from " << stream->getPeerIP() << " port "
- << stream->getPeerPort());
+ DEBUG0("server: client connection from " << stream->getPeerIP() << " port "
+ << stream->getPeerPort());
// add to connections list
using namespace std::placeholders;
@@ -392,7 +392,7 @@
std::bind(&IStorage::ProcessIncoming, &m_storage, _1, _2,
std::weak_ptr<NetworkConnection>(conn)));
{
- std::lock_guard<wpi::mutex> lock(m_user_mutex);
+ std::scoped_lock lock(m_user_mutex);
// reuse dead connection slots
bool placed = false;
for (auto& c : m_connections) {
@@ -417,7 +417,7 @@
// get next server to connect to
{
- std::lock_guard<wpi::mutex> lock(m_user_mutex);
+ std::scoped_lock lock(m_user_mutex);
if (m_client_connector_override) {
connect = m_client_connector_override;
} else {
@@ -430,16 +430,16 @@
}
// try to connect (with timeout)
- DEBUG("client trying to connect");
+ DEBUG0("client trying to connect");
auto stream = connect();
if (!stream) {
m_networkMode = NT_NET_MODE_CLIENT | NT_NET_MODE_FAILURE;
continue; // keep retrying
}
- DEBUG("client connected");
+ DEBUG0("client connected");
m_networkMode = NT_NET_MODE_CLIENT;
- std::unique_lock<wpi::mutex> lock(m_user_mutex);
+ std::unique_lock lock(m_user_mutex);
using namespace std::placeholders;
auto conn = std::make_shared<NetworkConnection>(
++m_connections_uid, std::move(stream), m_notifier, m_logger,
@@ -469,19 +469,19 @@
// get identity
std::string self_id;
{
- std::lock_guard<wpi::mutex> lock(m_user_mutex);
+ std::scoped_lock lock(m_user_mutex);
self_id = m_identity;
}
// send client hello
- DEBUG("client: sending hello");
+ DEBUG0("client: sending hello");
send_msgs(Message::ClientHello(self_id));
// wait for response
auto msg = get_msg();
if (!msg) {
// disconnected, retry
- DEBUG("client: server disconnected before first response");
+ DEBUG0("client: server disconnected before first response");
return false;
}
@@ -505,7 +505,7 @@
for (;;) {
if (!msg) {
// disconnected, retry
- DEBUG("client: server disconnected during initial entries");
+ DEBUG0("client: server disconnected during initial entries");
return false;
}
DEBUG4("received init str=" << msg->str() << " id=" << msg->id()
@@ -518,9 +518,9 @@
}
if (!msg->Is(Message::kEntryAssign)) {
// unexpected message
- DEBUG("client: received message ("
- << msg->type()
- << ") other than entry assignment during initial handshake");
+ DEBUG0("client: received message ("
+ << msg->type()
+ << ") other than entry assignment during initial handshake");
return false;
}
incoming.emplace_back(std::move(msg));
@@ -549,18 +549,18 @@
// Wait for the client to send us a hello.
auto msg = get_msg();
if (!msg) {
- DEBUG("server: client disconnected before sending hello");
+ DEBUG0("server: client disconnected before sending hello");
return false;
}
if (!msg->Is(Message::kClientHello)) {
- DEBUG("server: client initial message was not client hello");
+ DEBUG0("server: client initial message was not client hello");
return false;
}
// Check that the client requested version is not too high.
unsigned int proto_rev = msg->id();
if (proto_rev > 0x0300) {
- DEBUG("server: client requested proto > 0x0300");
+ DEBUG0("server: client requested proto > 0x0300");
send_msgs(Message::ProtoUnsup());
return false;
}
@@ -568,7 +568,7 @@
if (proto_rev >= 0x0300) conn.set_remote_id(msg->str());
// Set the proto version to the client requested version
- DEBUG("server: client protocol " << proto_rev);
+ DEBUG0("server: client protocol " << proto_rev);
conn.set_proto_rev(proto_rev);
// Send initial set of assignments
@@ -576,7 +576,7 @@
// Start with server hello. TODO: initial connection flag
if (proto_rev >= 0x0300) {
- std::lock_guard<wpi::mutex> lock(m_user_mutex);
+ std::scoped_lock lock(m_user_mutex);
outgoing.emplace_back(Message::ServerHello(0u, m_identity));
}
@@ -587,7 +587,7 @@
outgoing.emplace_back(Message::ServerHelloDone());
// Batch transmit
- DEBUG("server: sending initial assignments");
+ DEBUG0("server: sending initial assignments");
send_msgs(outgoing);
// In proto rev 3.0 and later, the handshake concludes with a client hello
@@ -601,7 +601,7 @@
for (;;) {
if (!msg) {
// disconnected, retry
- DEBUG("server: disconnected waiting for initial entries");
+ DEBUG0("server: disconnected waiting for initial entries");
return false;
}
if (msg->Is(Message::kClientHelloDone)) break;
@@ -612,9 +612,9 @@
}
if (!msg->Is(Message::kEntryAssign)) {
// unexpected message
- DEBUG("server: received message ("
- << msg->type()
- << ") other than entry assignment during initial handshake");
+ DEBUG0("server: received message ("
+ << msg->type()
+ << ") other than entry assignment during initial handshake");
return false;
}
incoming.push_back(msg);
@@ -633,7 +633,7 @@
void DispatcherBase::ClientReconnect(unsigned int proto_rev) {
if ((m_networkMode & NT_NET_MODE_SERVER) != 0) return;
{
- std::lock_guard<wpi::mutex> lock(m_user_mutex);
+ std::scoped_lock lock(m_user_mutex);
m_reconnect_proto_rev = proto_rev;
m_do_reconnect = true;
}
diff --git a/third_party/allwpilib_2019/ntcore/src/main/native/cpp/DsClient.cpp b/third_party/allwpilib_2019/ntcore/src/main/native/cpp/DsClient.cpp
index 8b97be7..32a756f 100644
--- a/third_party/allwpilib_2019/ntcore/src/main/native/cpp/DsClient.cpp
+++ b/third_party/allwpilib_2019/ntcore/src/main/native/cpp/DsClient.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -63,7 +63,7 @@
std::chrono::steady_clock::now() + std::chrono::milliseconds(500);
unsigned int port;
{
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
m_cond.wait_until(lock, timeout_time, [&] { return !m_active; });
port = m_port;
}
diff --git a/third_party/allwpilib_2019/ntcore/src/main/native/cpp/EntryNotifier.cpp b/third_party/allwpilib_2019/ntcore/src/main/native/cpp/EntryNotifier.cpp
index 5fde687..c8f8d76 100644
--- a/third_party/allwpilib_2019/ntcore/src/main/native/cpp/EntryNotifier.cpp
+++ b/third_party/allwpilib_2019/ntcore/src/main/native/cpp/EntryNotifier.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -82,8 +82,8 @@
// optimization: don't generate needless local queue entries if we have
// no local listeners (as this is a common case on the server side)
if ((flags & NT_NOTIFY_LOCAL) != 0 && !m_local_notifiers) return;
- DEBUG("notifying '" << name << "' (local=" << local_id
- << "), flags=" << flags);
+ DEBUG0("notifying '" << name << "' (local=" << local_id
+ << "), flags=" << flags);
Send(only_listener, 0, Handle(m_inst, local_id, Handle::kEntry).handle(),
name, value, flags);
}
diff --git a/third_party/allwpilib_2019/ntcore/src/main/native/cpp/InstanceImpl.cpp b/third_party/allwpilib_2019/ntcore/src/main/native/cpp/InstanceImpl.cpp
index 3b34292..cd35fb0 100644
--- a/third_party/allwpilib_2019/ntcore/src/main/native/cpp/InstanceImpl.cpp
+++ b/third_party/allwpilib_2019/ntcore/src/main/native/cpp/InstanceImpl.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -43,7 +43,7 @@
}
// slow path
- std::lock_guard<wpi::mutex> lock(s_mutex);
+ std::scoped_lock lock(s_mutex);
// static fast-path block
if (static_cast<unsigned int>(inst) <
@@ -66,7 +66,7 @@
if (inst >= 0) return inst;
// slow path
- std::lock_guard<wpi::mutex> lock(s_mutex);
+ std::scoped_lock lock(s_mutex);
// double-check
inst = s_default;
@@ -79,7 +79,7 @@
}
int InstanceImpl::Alloc() {
- std::lock_guard<wpi::mutex> lock(s_mutex);
+ std::scoped_lock lock(s_mutex);
return AllocImpl();
}
@@ -96,7 +96,7 @@
}
void InstanceImpl::Destroy(int inst) {
- std::lock_guard<wpi::mutex> lock(s_mutex);
+ std::scoped_lock lock(s_mutex);
if (inst < 0 || static_cast<unsigned int>(inst) >= s_instances.size()) return;
if (static_cast<unsigned int>(inst) <
diff --git a/third_party/allwpilib_2019/ntcore/src/main/native/cpp/Log.h b/third_party/allwpilib_2019/ntcore/src/main/native/cpp/Log.h
index b8a3daf..eba8f04 100644
--- a/third_party/allwpilib_2019/ntcore/src/main/native/cpp/Log.h
+++ b/third_party/allwpilib_2019/ntcore/src/main/native/cpp/Log.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -17,7 +17,7 @@
#define WARNING(x) WPI_WARNING(m_logger, x)
#define INFO(x) WPI_INFO(m_logger, x)
-#define DEBUG(x) WPI_DEBUG(m_logger, x)
+#define DEBUG0(x) WPI_DEBUG(m_logger, x)
#define DEBUG1(x) WPI_DEBUG1(m_logger, x)
#define DEBUG2(x) WPI_DEBUG2(m_logger, x)
#define DEBUG3(x) WPI_DEBUG3(m_logger, x)
diff --git a/third_party/allwpilib_2019/ntcore/src/main/native/cpp/NetworkConnection.cpp b/third_party/allwpilib_2019/ntcore/src/main/native/cpp/NetworkConnection.cpp
index cb1e333..8cc8312 100644
--- a/third_party/allwpilib_2019/ntcore/src/main/native/cpp/NetworkConnection.cpp
+++ b/third_party/allwpilib_2019/ntcore/src/main/native/cpp/NetworkConnection.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -49,7 +49,7 @@
while (!m_outgoing.empty()) m_outgoing.pop();
// reset shutdown flags
{
- std::lock_guard<wpi::mutex> lock(m_shutdown_mutex);
+ std::scoped_lock lock(m_shutdown_mutex);
m_read_shutdown = false;
m_write_shutdown = false;
}
@@ -68,7 +68,7 @@
m_outgoing.push(Outgoing());
// wait for threads to terminate, with timeout
if (m_write_thread.joinable()) {
- std::unique_lock<wpi::mutex> lock(m_shutdown_mutex);
+ std::unique_lock lock(m_shutdown_mutex);
auto timeout_time =
std::chrono::steady_clock::now() + std::chrono::milliseconds(200);
if (m_write_shutdown_cv.wait_until(lock, timeout_time,
@@ -78,7 +78,7 @@
m_write_thread.detach(); // timed out, detach it
}
if (m_read_thread.joinable()) {
- std::unique_lock<wpi::mutex> lock(m_shutdown_mutex);
+ std::unique_lock lock(m_shutdown_mutex);
auto timeout_time =
std::chrono::steady_clock::now() + std::chrono::milliseconds(200);
if (m_read_shutdown_cv.wait_until(lock, timeout_time,
@@ -104,12 +104,12 @@
}
NetworkConnection::State NetworkConnection::state() const {
- std::lock_guard<wpi::mutex> lock(m_state_mutex);
+ std::scoped_lock lock(m_state_mutex);
return m_state;
}
void NetworkConnection::set_state(State state) {
- std::lock_guard<wpi::mutex> lock(m_state_mutex);
+ std::scoped_lock lock(m_state_mutex);
// Don't update state any more once we've died
if (m_state == kDead) return;
// One-shot notify state changes
@@ -121,12 +121,12 @@
}
std::string NetworkConnection::remote_id() const {
- std::lock_guard<wpi::mutex> lock(m_remote_id_mutex);
+ std::scoped_lock lock(m_remote_id_mutex);
return m_remote_id;
}
void NetworkConnection::set_remote_id(StringRef remote_id) {
- std::lock_guard<wpi::mutex> lock(m_remote_id_mutex);
+ std::scoped_lock lock(m_remote_id_mutex);
m_remote_id = remote_id;
}
@@ -140,7 +140,8 @@
decoder.set_proto_rev(m_proto_rev);
auto msg = Message::Read(decoder, m_get_entry_type);
if (!msg && decoder.error())
- DEBUG("error reading in handshake: " << decoder.error());
+ DEBUG0(
+ "error reading in handshake: " << decoder.error());
return msg;
},
[&](wpi::ArrayRef<std::shared_ptr<Message>> msgs) {
@@ -177,7 +178,7 @@
done:
// use condition variable to signal thread shutdown
{
- std::lock_guard<wpi::mutex> lock(m_shutdown_mutex);
+ std::scoped_lock lock(m_shutdown_mutex);
m_read_shutdown = true;
m_read_shutdown_cv.notify_one();
}
@@ -214,14 +215,14 @@
// use condition variable to signal thread shutdown
{
- std::lock_guard<wpi::mutex> lock(m_shutdown_mutex);
+ std::scoped_lock lock(m_shutdown_mutex);
m_write_shutdown = true;
m_write_shutdown_cv.notify_one();
}
}
void NetworkConnection::QueueOutgoing(std::shared_ptr<Message> msg) {
- std::lock_guard<wpi::mutex> lock(m_pending_mutex);
+ std::scoped_lock lock(m_pending_mutex);
// Merge with previous. One case we don't combine: delete/assign loop.
switch (msg->type()) {
@@ -317,7 +318,7 @@
}
void NetworkConnection::PostOutgoing(bool keep_alive) {
- std::lock_guard<wpi::mutex> lock(m_pending_mutex);
+ std::scoped_lock lock(m_pending_mutex);
auto now = std::chrono::steady_clock::now();
if (m_pending_outgoing.empty()) {
if (!keep_alive) return;
diff --git a/third_party/allwpilib_2019/ntcore/src/main/native/cpp/RpcServer.h b/third_party/allwpilib_2019/ntcore/src/main/native/cpp/RpcServer.h
index 5afe62a..cca490f 100644
--- a/third_party/allwpilib_2019/ntcore/src/main/native/cpp/RpcServer.h
+++ b/third_party/allwpilib_2019/ntcore/src/main/native/cpp/RpcServer.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -64,7 +64,7 @@
RpcIdPair lookup_uid{local_id, call_uid};
callback(data);
{
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
auto i = m_response_map.find(lookup_uid);
if (i != m_response_map.end()) {
// post an empty response and erase it
diff --git a/third_party/allwpilib_2019/ntcore/src/main/native/cpp/Storage.cpp b/third_party/allwpilib_2019/ntcore/src/main/native/cpp/Storage.cpp
index 0d8d467..cf0d26c 100644
--- a/third_party/allwpilib_2019/ntcore/src/main/native/cpp/Storage.cpp
+++ b/third_party/allwpilib_2019/ntcore/src/main/native/cpp/Storage.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -30,7 +30,7 @@
}
void Storage::SetDispatcher(IDispatcher* dispatcher, bool server) {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
m_dispatcher = dispatcher;
m_server = server;
}
@@ -38,7 +38,7 @@
void Storage::ClearDispatcher() { m_dispatcher = nullptr; }
NT_Type Storage::GetMessageEntryType(unsigned int id) const {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
if (id >= m_idmap.size()) return NT_UNASSIGNED;
Entry* entry = m_idmap[id];
if (!entry || !entry->value) return NT_UNASSIGNED;
@@ -86,7 +86,7 @@
void Storage::ProcessIncomingEntryAssign(std::shared_ptr<Message> msg,
INetworkConnection* conn) {
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
unsigned int id = msg->id();
StringRef name = msg->str();
Entry* entry;
@@ -110,7 +110,7 @@
// ignore arbitrary entry assignments
// this can happen due to e.g. assignment to deleted entry
lock.unlock();
- DEBUG("server: received assignment to unknown entry");
+ DEBUG0("server: received assignment to unknown entry");
return;
}
entry = m_idmap[id];
@@ -118,7 +118,7 @@
// clients simply accept new assignments
if (id == 0xffff) {
lock.unlock();
- DEBUG("client: received entry assignment request?");
+ DEBUG0("client: received entry assignment request?");
return;
}
if (id >= m_idmap.size()) m_idmap.resize(id + 1);
@@ -171,7 +171,7 @@
// sanity check: name should match id
if (msg->str() != entry->name) {
lock.unlock();
- DEBUG("entry assignment for same id with different name?");
+ DEBUG0("entry assignment for same id with different name?");
return;
}
@@ -211,13 +211,13 @@
void Storage::ProcessIncomingEntryUpdate(std::shared_ptr<Message> msg,
INetworkConnection* conn) {
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
unsigned int id = msg->id();
if (id >= m_idmap.size() || !m_idmap[id]) {
// ignore arbitrary entry updates;
// this can happen due to deleted entries
lock.unlock();
- DEBUG("received update to unknown entry");
+ DEBUG0("received update to unknown entry");
return;
}
Entry* entry = m_idmap[id];
@@ -248,13 +248,13 @@
void Storage::ProcessIncomingFlagsUpdate(std::shared_ptr<Message> msg,
INetworkConnection* conn) {
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
unsigned int id = msg->id();
if (id >= m_idmap.size() || !m_idmap[id]) {
// ignore arbitrary entry updates;
// this can happen due to deleted entries
lock.unlock();
- DEBUG("received flags update to unknown entry");
+ DEBUG0("received flags update to unknown entry");
return;
}
@@ -272,13 +272,13 @@
void Storage::ProcessIncomingEntryDelete(std::shared_ptr<Message> msg,
INetworkConnection* conn) {
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
unsigned int id = msg->id();
if (id >= m_idmap.size() || !m_idmap[id]) {
// ignore arbitrary entry updates;
// this can happen due to deleted entries
lock.unlock();
- DEBUG("received delete to unknown entry");
+ DEBUG0("received delete to unknown entry");
return;
}
@@ -296,7 +296,7 @@
void Storage::ProcessIncomingClearEntries(std::shared_ptr<Message> msg,
INetworkConnection* conn) {
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
// update local
DeleteAllEntriesImpl(false);
@@ -312,20 +312,20 @@
void Storage::ProcessIncomingExecuteRpc(
std::shared_ptr<Message> msg, INetworkConnection* /*conn*/,
std::weak_ptr<INetworkConnection> conn_weak) {
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
if (!m_server) return; // only process on server
unsigned int id = msg->id();
if (id >= m_idmap.size() || !m_idmap[id]) {
// ignore call to non-existent RPC
// this can happen due to deleted entries
lock.unlock();
- DEBUG("received RPC call to unknown entry");
+ DEBUG0("received RPC call to unknown entry");
return;
}
Entry* entry = m_idmap[id];
if (!entry->value || !entry->value->IsRpc()) {
lock.unlock();
- DEBUG("received RPC call to non-RPC entry");
+ DEBUG0("received RPC call to non-RPC entry");
return;
}
ConnectionInfo conn_info;
@@ -351,20 +351,20 @@
void Storage::ProcessIncomingRpcResponse(std::shared_ptr<Message> msg,
INetworkConnection* /*conn*/) {
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
if (m_server) return; // only process on client
unsigned int id = msg->id();
if (id >= m_idmap.size() || !m_idmap[id]) {
// ignore response to non-existent RPC
// this can happen due to deleted entries
lock.unlock();
- DEBUG("received rpc response to unknown entry");
+ DEBUG0("received rpc response to unknown entry");
return;
}
Entry* entry = m_idmap[id];
if (!entry->value || !entry->value->IsRpc()) {
lock.unlock();
- DEBUG("received RPC response to non-RPC entry");
+ DEBUG0("received RPC response to non-RPC entry");
return;
}
m_rpc_results.insert(std::make_pair(
@@ -374,7 +374,7 @@
void Storage::GetInitialAssignments(
INetworkConnection& conn, std::vector<std::shared_ptr<Message>>* msgs) {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
conn.set_state(INetworkConnection::kSynchronized);
for (auto& i : m_entries) {
Entry* entry = i.getValue();
@@ -388,7 +388,7 @@
void Storage::ApplyInitialAssignments(
INetworkConnection& conn, wpi::ArrayRef<std::shared_ptr<Message>> msgs,
bool /*new_server*/, std::vector<std::shared_ptr<Message>>* out_msgs) {
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
if (m_server) return; // should not do this on server
conn.set_state(INetworkConnection::kSynchronized);
@@ -404,13 +404,13 @@
// apply assignments
for (auto& msg : msgs) {
if (!msg->Is(Message::kEntryAssign)) {
- DEBUG("client: received non-entry assignment request?");
+ DEBUG0("client: received non-entry assignment request?");
continue;
}
unsigned int id = msg->id();
if (id == 0xffff) {
- DEBUG("client: received entry assignment request?");
+ DEBUG0("client: received entry assignment request?");
continue;
}
@@ -476,14 +476,14 @@
}
std::shared_ptr<Value> Storage::GetEntryValue(StringRef name) const {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
auto i = m_entries.find(name);
if (i == m_entries.end()) return nullptr;
return i->getValue()->value;
}
std::shared_ptr<Value> Storage::GetEntryValue(unsigned int local_id) const {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
if (local_id >= m_localmap.size()) return nullptr;
return m_localmap[local_id]->value;
}
@@ -492,7 +492,7 @@
std::shared_ptr<Value> value) {
if (name.empty()) return false;
if (!value) return false;
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
Entry* entry = GetOrNew(name);
// we return early if value already exists; if types match return true
@@ -505,7 +505,7 @@
bool Storage::SetDefaultEntryValue(unsigned int local_id,
std::shared_ptr<Value> value) {
if (!value) return false;
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
if (local_id >= m_localmap.size()) return false;
Entry* entry = m_localmap[local_id].get();
@@ -519,7 +519,7 @@
bool Storage::SetEntryValue(StringRef name, std::shared_ptr<Value> value) {
if (name.empty()) return true;
if (!value) return true;
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
Entry* entry = GetOrNew(name);
if (entry->value && entry->value->type() != value->type())
@@ -532,7 +532,7 @@
bool Storage::SetEntryValue(unsigned int local_id,
std::shared_ptr<Value> value) {
if (!value) return true;
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
if (local_id >= m_localmap.size()) return true;
Entry* entry = m_localmap[local_id].get();
@@ -595,7 +595,7 @@
void Storage::SetEntryTypeValue(StringRef name, std::shared_ptr<Value> value) {
if (name.empty()) return;
if (!value) return;
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
Entry* entry = GetOrNew(name);
SetEntryValueImpl(entry, value, lock, true);
@@ -604,7 +604,7 @@
void Storage::SetEntryTypeValue(unsigned int local_id,
std::shared_ptr<Value> value) {
if (!value) return;
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
if (local_id >= m_localmap.size()) return;
Entry* entry = m_localmap[local_id].get();
if (!entry) return;
@@ -614,14 +614,14 @@
void Storage::SetEntryFlags(StringRef name, unsigned int flags) {
if (name.empty()) return;
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
auto i = m_entries.find(name);
if (i == m_entries.end()) return;
SetEntryFlagsImpl(i->getValue(), flags, lock, true);
}
void Storage::SetEntryFlags(unsigned int id_local, unsigned int flags) {
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
if (id_local >= m_localmap.size()) return;
SetEntryFlagsImpl(m_localmap[id_local].get(), flags, lock, true);
}
@@ -654,27 +654,27 @@
}
unsigned int Storage::GetEntryFlags(StringRef name) const {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
auto i = m_entries.find(name);
if (i == m_entries.end()) return 0;
return i->getValue()->flags;
}
unsigned int Storage::GetEntryFlags(unsigned int local_id) const {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
if (local_id >= m_localmap.size()) return 0;
return m_localmap[local_id]->flags;
}
void Storage::DeleteEntry(StringRef name) {
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
auto i = m_entries.find(name);
if (i == m_entries.end()) return;
DeleteEntryImpl(i->getValue(), lock, true);
}
void Storage::DeleteEntry(unsigned int local_id) {
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
if (local_id >= m_localmap.size()) return;
DeleteEntryImpl(m_localmap[local_id].get(), lock, true);
}
@@ -745,7 +745,7 @@
}
void Storage::DeleteAllEntries() {
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
if (m_entries.empty()) return;
DeleteAllEntriesImpl(true);
@@ -773,7 +773,7 @@
if (name.isTriviallyEmpty() ||
(name.isSingleStringRef() && name.getSingleStringRef().empty()))
return UINT_MAX;
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
return GetOrNew(name)->local_id;
}
@@ -781,7 +781,7 @@
unsigned int types) {
wpi::SmallString<128> prefixBuf;
StringRef prefixStr = prefix.toStringRef(prefixBuf);
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
std::vector<unsigned int> ids;
for (auto& i : m_entries) {
Entry* entry = i.getValue();
@@ -800,7 +800,7 @@
info.flags = 0;
info.last_change = 0;
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
if (local_id >= m_localmap.size()) return info;
Entry* entry = m_localmap[local_id].get();
if (!entry->value) return info;
@@ -814,13 +814,13 @@
}
std::string Storage::GetEntryName(unsigned int local_id) const {
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
if (local_id >= m_localmap.size()) return std::string{};
return m_localmap[local_id]->name;
}
NT_Type Storage::GetEntryType(unsigned int local_id) const {
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
if (local_id >= m_localmap.size()) return NT_UNASSIGNED;
Entry* entry = m_localmap[local_id].get();
if (!entry->value) return NT_UNASSIGNED;
@@ -828,7 +828,7 @@
}
uint64_t Storage::GetEntryLastChange(unsigned int local_id) const {
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
if (local_id >= m_localmap.size()) return 0;
Entry* entry = m_localmap[local_id].get();
if (!entry->value) return 0;
@@ -839,7 +839,7 @@
unsigned int types) {
wpi::SmallString<128> prefixBuf;
StringRef prefixStr = prefix.toStringRef(prefixBuf);
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
std::vector<EntryInfo> infos;
for (auto& i : m_entries) {
Entry* entry = i.getValue();
@@ -863,7 +863,7 @@
unsigned int flags) const {
wpi::SmallString<128> prefixBuf;
StringRef prefixStr = prefix.toStringRef(prefixBuf);
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
unsigned int uid = m_notifier.Add(callback, prefixStr, flags);
// perform immediate notifications
if ((flags & NT_NOTIFY_IMMEDIATE) != 0 && (flags & NT_NOTIFY_NEW) != 0) {
@@ -881,7 +881,7 @@
unsigned int local_id,
std::function<void(const EntryNotification& event)> callback,
unsigned int flags) const {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
unsigned int uid = m_notifier.Add(callback, local_id, flags);
// perform immediate notifications
if ((flags & NT_NOTIFY_IMMEDIATE) != 0 && (flags & NT_NOTIFY_NEW) != 0 &&
@@ -900,7 +900,7 @@
unsigned int flags) const {
wpi::SmallString<128> prefixBuf;
StringRef prefixStr = prefix.toStringRef(prefixBuf);
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
unsigned int uid = m_notifier.AddPolled(poller, prefixStr, flags);
// perform immediate notifications
if ((flags & NT_NOTIFY_IMMEDIATE) != 0 && (flags & NT_NOTIFY_NEW) != 0) {
@@ -918,7 +918,7 @@
unsigned int Storage::AddPolledListener(unsigned int poller,
unsigned int local_id,
unsigned int flags) const {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
unsigned int uid = m_notifier.AddPolled(poller, local_id, flags);
// perform immediate notifications
if ((flags & NT_NOTIFY_IMMEDIATE) != 0 && (flags & NT_NOTIFY_NEW) != 0 &&
@@ -939,7 +939,7 @@
const {
// copy values out of storage as quickly as possible so lock isn't held
{
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
// for periodic, don't re-save unless something has changed
if (periodic && !m_persistent_dirty) return false;
m_persistent_dirty = false;
@@ -969,7 +969,7 @@
StringRef prefixStr = prefix.toStringRef(prefixBuf);
// copy values out of storage as quickly as possible so lock isn't held
{
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
entries->reserve(m_entries.size());
for (auto& i : m_entries) {
Entry* entry = i.getValue();
@@ -990,7 +990,7 @@
void Storage::CreateRpc(unsigned int local_id, StringRef def,
unsigned int rpc_uid) {
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
if (local_id >= m_localmap.size()) return;
Entry* entry = m_localmap[local_id].get();
@@ -1028,7 +1028,7 @@
}
unsigned int Storage::CallRpc(unsigned int local_id, StringRef params) {
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
if (local_id >= m_localmap.size()) return 0;
Entry* entry = m_localmap[local_id].get();
@@ -1055,7 +1055,7 @@
unsigned int call_uid = msg->seq_num_uid();
m_rpc_server.ProcessRpc(local_id, call_uid, name, msg->str(), conn_info,
[=](StringRef result) {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
m_rpc_results.insert(std::make_pair(
RpcIdPair{local_id, call_uid}, result));
m_rpc_results_cond.notify_all();
@@ -1078,7 +1078,7 @@
bool Storage::GetRpcResult(unsigned int local_id, unsigned int call_uid,
std::string* result, double timeout,
bool* timed_out) {
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
RpcIdPair call_pair{local_id, call_uid};
@@ -1124,7 +1124,7 @@
}
void Storage::CancelRpcResult(unsigned int local_id, unsigned int call_uid) {
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
// safe to erase even if id does not exist
m_rpc_blocking_calls.erase(RpcIdPair{local_id, call_uid});
m_rpc_results_cond.notify_all();
diff --git a/third_party/allwpilib_2019/ntcore/src/main/native/cpp/Storage_load.cpp b/third_party/allwpilib_2019/ntcore/src/main/native/cpp/Storage_load.cpp
index 3716412..69eb173 100644
--- a/third_party/allwpilib_2019/ntcore/src/main/native/cpp/Storage_load.cpp
+++ b/third_party/allwpilib_2019/ntcore/src/main/native/cpp/Storage_load.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -370,7 +370,7 @@
// copy values into storage as quickly as possible so lock isn't held
std::vector<std::shared_ptr<Message>> msgs;
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
for (auto& i : entries) {
Entry* entry = GetOrNew(i.first);
auto old_value = entry->value;
diff --git a/third_party/allwpilib_2019/ntcore/src/main/native/cpp/Storage_save.cpp b/third_party/allwpilib_2019/ntcore/src/main/native/cpp/Storage_save.cpp
index 3f352da..797eb8b 100644
--- a/third_party/allwpilib_2019/ntcore/src/main/native/cpp/Storage_save.cpp
+++ b/third_party/allwpilib_2019/ntcore/src/main/native/cpp/Storage_save.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -203,7 +203,7 @@
err = "could not open file";
goto done;
}
- DEBUG("saving persistent file '" << filename << "'");
+ DEBUG0("saving persistent file '" << filename << "'");
SavePersistentImpl(os).Save(entries);
os.close();
if (os.has_error()) {
@@ -252,7 +252,7 @@
if (ec.value() != 0) {
return "could not open file";
}
- DEBUG("saving file '" << filename << "'");
+ DEBUG0("saving file '" << filename << "'");
SavePersistentImpl(os).Save(entries);
os.close();
if (os.has_error()) {
diff --git a/third_party/allwpilib_2019/ntcore/src/main/native/cpp/Value.cpp b/third_party/allwpilib_2019/ntcore/src/main/native/cpp/Value.cpp
index 61390f0..3f58b73 100644
--- a/third_party/allwpilib_2019/ntcore/src/main/native/cpp/Value.cpp
+++ b/third_party/allwpilib_2019/ntcore/src/main/native/cpp/Value.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,7 +7,7 @@
#include <stdint.h>
-#include <wpi/memory.h>
+#include <wpi/MemAlloc.h>
#include <wpi/timestamp.h>
#include "Value_internal.h"
@@ -123,7 +123,7 @@
case NT_BOOLEAN_ARRAY: {
auto v = in.GetBooleanArray();
out->data.arr_boolean.arr =
- static_cast<int*>(wpi::CheckedMalloc(v.size() * sizeof(int)));
+ static_cast<int*>(wpi::safe_malloc(v.size() * sizeof(int)));
out->data.arr_boolean.size = v.size();
std::copy(v.begin(), v.end(), out->data.arr_boolean.arr);
break;
@@ -131,7 +131,7 @@
case NT_DOUBLE_ARRAY: {
auto v = in.GetDoubleArray();
out->data.arr_double.arr =
- static_cast<double*>(wpi::CheckedMalloc(v.size() * sizeof(double)));
+ static_cast<double*>(wpi::safe_malloc(v.size() * sizeof(double)));
out->data.arr_double.size = v.size();
std::copy(v.begin(), v.end(), out->data.arr_double.arr);
break;
@@ -139,7 +139,7 @@
case NT_STRING_ARRAY: {
auto v = in.GetStringArray();
out->data.arr_string.arr = static_cast<NT_String*>(
- wpi::CheckedMalloc(v.size() * sizeof(NT_String)));
+ wpi::safe_malloc(v.size() * sizeof(NT_String)));
for (size_t i = 0; i < v.size(); ++i)
ConvertToC(v[i], &out->data.arr_string.arr[i]);
out->data.arr_string.size = v.size();
@@ -154,7 +154,7 @@
void nt::ConvertToC(wpi::StringRef in, NT_String* out) {
out->len = in.size();
- out->str = static_cast<char*>(wpi::CheckedMalloc(in.size() + 1));
+ out->str = static_cast<char*>(wpi::safe_malloc(in.size() + 1));
std::memcpy(out->str, in.data(), in.size());
out->str[in.size()] = '\0';
}
diff --git a/third_party/allwpilib_2019/ntcore/src/main/native/cpp/WireDecoder.cpp b/third_party/allwpilib_2019/ntcore/src/main/native/cpp/WireDecoder.cpp
index 132e8a2..07c85d2 100644
--- a/third_party/allwpilib_2019/ntcore/src/main/native/cpp/WireDecoder.cpp
+++ b/third_party/allwpilib_2019/ntcore/src/main/native/cpp/WireDecoder.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -14,8 +14,8 @@
#include <cstring>
#include <wpi/MathExtras.h>
+#include <wpi/MemAlloc.h>
#include <wpi/leb128.h>
-#include <wpi/memory.h>
using namespace nt;
@@ -53,7 +53,7 @@
// Start with a 1K temporary buffer. Use malloc instead of new so we can
// realloc.
m_allocated = 1024;
- m_buf = static_cast<char*>(wpi::CheckedMalloc(m_allocated));
+ m_buf = static_cast<char*>(wpi::safe_malloc(m_allocated));
m_proto_rev = proto_rev;
m_error = nullptr;
}
@@ -72,7 +72,7 @@
if (m_allocated >= len) return;
size_t newlen = m_allocated * 2;
while (newlen < len) newlen *= 2;
- m_buf = static_cast<char*>(wpi::CheckedRealloc(m_buf, newlen));
+ m_buf = static_cast<char*>(wpi::safe_realloc(m_buf, newlen));
m_allocated = newlen;
}
diff --git a/third_party/allwpilib_2019/ntcore/src/main/native/cpp/networktables/NetworkTable.cpp b/third_party/allwpilib_2019/ntcore/src/main/native/cpp/networktables/NetworkTable.cpp
index 1ec0942..6d41976 100644
--- a/third_party/allwpilib_2019/ntcore/src/main/native/cpp/networktables/NetworkTable.cpp
+++ b/third_party/allwpilib_2019/ntcore/src/main/native/cpp/networktables/NetworkTable.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -21,6 +21,8 @@
#ifdef __GNUC__
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#elif _WIN32
+#pragma warning(disable : 4996)
#endif
const char NetworkTable::PATH_SEPARATOR_CHAR = '/';
@@ -204,7 +206,7 @@
NetworkTableEntry NetworkTable::GetEntry(const Twine& key) const {
wpi::SmallString<128> keyBuf;
StringRef keyStr = key.toStringRef(keyBuf);
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
NT_Entry& entry = m_entries[keyStr];
if (entry == 0) {
entry = nt::GetEntry(m_inst, m_path + Twine(PATH_SEPARATOR_CHAR) + keyStr);
@@ -257,7 +259,7 @@
void NetworkTable::AddTableListenerEx(ITableListener* listener,
unsigned int flags) {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
wpi::SmallString<128> path(m_path);
path += PATH_SEPARATOR_CHAR;
size_t prefix_len = path.size();
@@ -281,7 +283,7 @@
void NetworkTable::AddTableListenerEx(StringRef key, ITableListener* listener,
unsigned int flags) {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
size_t prefix_len = m_path.size() + 1;
auto entry = GetEntry(key);
NT_EntryListener id = nt::AddEntryListener(
@@ -334,7 +336,7 @@
void NetworkTable::AddSubTableListener(ITableListener* listener,
bool localNotify) {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
size_t prefix_len = m_path.size() + 1;
// The lambda needs to be copyable, but StringMap is not, so use
@@ -360,7 +362,7 @@
}
void NetworkTable::RemoveTableListener(ITableListener* listener) {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
auto matches_begin =
std::remove_if(m_listeners.begin(), m_listeners.end(),
[=](const Listener& x) { return x.first == listener; });
@@ -395,7 +397,7 @@
std::vector<std::string> keys;
size_t prefix_len = m_path.size() + 1;
auto infos = GetEntryInfo(m_inst, m_path + Twine(PATH_SEPARATOR_CHAR), types);
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
for (auto& info : infos) {
auto relative_key = StringRef(info.name).substr(prefix_len);
if (relative_key.find(PATH_SEPARATOR_CHAR) != StringRef::npos) continue;
diff --git a/third_party/allwpilib_2019/ntcore/src/main/native/cpp/ntcore_c.cpp b/third_party/allwpilib_2019/ntcore/src/main/native/cpp/ntcore_c.cpp
index 6c71e55..7ca68f5 100644
--- a/third_party/allwpilib_2019/ntcore/src/main/native/cpp/ntcore_c.cpp
+++ b/third_party/allwpilib_2019/ntcore/src/main/native/cpp/ntcore_c.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,7 +10,7 @@
#include <cassert>
#include <cstdlib>
-#include <wpi/memory.h>
+#include <wpi/MemAlloc.h>
#include <wpi/timestamp.h>
#include "Value_internal.h"
@@ -21,7 +21,7 @@
// Conversion helpers
static void ConvertToC(wpi::StringRef in, char** out) {
- *out = static_cast<char*>(wpi::CheckedMalloc(in.size() + 1));
+ *out = static_cast<char*>(wpi::safe_malloc(in.size() + 1));
std::memmove(*out, in.data(), in.size());
(*out)[in.size()] = '\0';
}
@@ -58,13 +58,13 @@
out->num_params = in.params.size();
out->params = static_cast<NT_RpcParamDef*>(
- wpi::CheckedMalloc(in.params.size() * sizeof(NT_RpcParamDef)));
+ wpi::safe_malloc(in.params.size() * sizeof(NT_RpcParamDef)));
for (size_t i = 0; i < in.params.size(); ++i)
ConvertToC(in.params[i], &out->params[i]);
out->num_results = in.results.size();
out->results = static_cast<NT_RpcResultDef*>(
- wpi::CheckedMalloc(in.results.size() * sizeof(NT_RpcResultDef)));
+ wpi::safe_malloc(in.results.size() * sizeof(NT_RpcResultDef)));
for (size_t i = 0; i < in.results.size(); ++i)
ConvertToC(in.results[i], &out->results[i]);
}
@@ -105,7 +105,7 @@
if (!out_len) return nullptr;
*out_len = in.size();
if (in.empty()) return nullptr;
- O* out = static_cast<O*>(wpi::CheckedMalloc(sizeof(O) * in.size()));
+ O* out = static_cast<O*>(wpi::safe_malloc(sizeof(O) * in.size()));
for (size_t i = 0; i < in.size(); ++i) ConvertToC(in[i], &out[i]);
return out;
}
@@ -188,7 +188,7 @@
// create array and copy into it
NT_Entry* info = static_cast<NT_Entry*>(
- wpi::CheckedMalloc(info_v.size() * sizeof(NT_Entry)));
+ wpi::safe_malloc(info_v.size() * sizeof(NT_Entry)));
std::memcpy(info, info_v.data(), info_v.size() * sizeof(NT_Entry));
return info;
}
@@ -519,9 +519,9 @@
// create array and copy into it
NT_Value** values = static_cast<NT_Value**>(
- wpi::CheckedMalloc(values_v.size() * sizeof(NT_Value*)));
+ wpi::safe_malloc(values_v.size() * sizeof(NT_Value*)));
for (size_t i = 0; i < values_v.size(); ++i) {
- values[i] = static_cast<NT_Value*>(wpi::CheckedMalloc(sizeof(NT_Value)));
+ values[i] = static_cast<NT_Value*>(wpi::safe_malloc(sizeof(NT_Value)));
ConvertToC(*values_v[i], values[i]);
}
return values;
@@ -802,27 +802,27 @@
/* Allocates a char array of the specified size.*/
char* NT_AllocateCharArray(size_t size) {
- char* retVal = static_cast<char*>(wpi::CheckedMalloc(size * sizeof(char)));
+ char* retVal = static_cast<char*>(wpi::safe_malloc(size * sizeof(char)));
return retVal;
}
/* Allocates an integer or boolean array of the specified size. */
int* NT_AllocateBooleanArray(size_t size) {
- int* retVal = static_cast<int*>(wpi::CheckedMalloc(size * sizeof(int)));
+ int* retVal = static_cast<int*>(wpi::safe_malloc(size * sizeof(int)));
return retVal;
}
/* Allocates a double array of the specified size. */
double* NT_AllocateDoubleArray(size_t size) {
double* retVal =
- static_cast<double*>(wpi::CheckedMalloc(size * sizeof(double)));
+ static_cast<double*>(wpi::safe_malloc(size * sizeof(double)));
return retVal;
}
/* Allocates an NT_String array of the specified size. */
struct NT_String* NT_AllocateStringArray(size_t size) {
NT_String* retVal =
- static_cast<NT_String*>(wpi::CheckedMalloc(size * sizeof(NT_String)));
+ static_cast<NT_String*>(wpi::safe_malloc(size * sizeof(NT_String)));
return retVal;
}
@@ -944,7 +944,7 @@
*last_change = value->last_change;
*str_len = value->data.v_string.len;
char* str =
- static_cast<char*>(wpi::CheckedMalloc(value->data.v_string.len + 1));
+ static_cast<char*>(wpi::safe_malloc(value->data.v_string.len + 1));
std::memcpy(str, value->data.v_string.str, value->data.v_string.len + 1);
return str;
}
@@ -955,7 +955,7 @@
*last_change = value->last_change;
*raw_len = value->data.v_string.len;
char* raw =
- static_cast<char*>(wpi::CheckedMalloc(value->data.v_string.len + 1));
+ static_cast<char*>(wpi::safe_malloc(value->data.v_string.len + 1));
std::memcpy(raw, value->data.v_string.str, value->data.v_string.len + 1);
return raw;
}
@@ -966,7 +966,7 @@
*last_change = value->last_change;
*arr_size = value->data.arr_boolean.size;
NT_Bool* arr = static_cast<int*>(
- wpi::CheckedMalloc(value->data.arr_boolean.size * sizeof(NT_Bool)));
+ wpi::safe_malloc(value->data.arr_boolean.size * sizeof(NT_Bool)));
std::memcpy(arr, value->data.arr_boolean.arr,
value->data.arr_boolean.size * sizeof(NT_Bool));
return arr;
@@ -978,7 +978,7 @@
*last_change = value->last_change;
*arr_size = value->data.arr_double.size;
double* arr = static_cast<double*>(
- wpi::CheckedMalloc(value->data.arr_double.size * sizeof(double)));
+ wpi::safe_malloc(value->data.arr_double.size * sizeof(double)));
std::memcpy(arr, value->data.arr_double.arr,
value->data.arr_double.size * sizeof(double));
return arr;
@@ -990,11 +990,11 @@
*last_change = value->last_change;
*arr_size = value->data.arr_string.size;
NT_String* arr = static_cast<NT_String*>(
- wpi::CheckedMalloc(value->data.arr_string.size * sizeof(NT_String)));
+ wpi::safe_malloc(value->data.arr_string.size * sizeof(NT_String)));
for (size_t i = 0; i < value->data.arr_string.size; ++i) {
size_t len = value->data.arr_string.arr[i].len;
arr[i].len = len;
- arr[i].str = static_cast<char*>(wpi::CheckedMalloc(len + 1));
+ arr[i].str = static_cast<char*>(wpi::safe_malloc(len + 1));
std::memcpy(arr[i].str, value->data.arr_string.arr[i].str, len + 1);
}
return arr;
@@ -1099,7 +1099,7 @@
*last_change = v->last_change();
auto vArr = v->GetBooleanArray();
NT_Bool* arr =
- static_cast<int*>(wpi::CheckedMalloc(vArr.size() * sizeof(NT_Bool)));
+ static_cast<int*>(wpi::safe_malloc(vArr.size() * sizeof(NT_Bool)));
*arr_size = vArr.size();
std::copy(vArr.begin(), vArr.end(), arr);
return arr;
@@ -1112,7 +1112,7 @@
*last_change = v->last_change();
auto vArr = v->GetDoubleArray();
double* arr =
- static_cast<double*>(wpi::CheckedMalloc(vArr.size() * sizeof(double)));
+ static_cast<double*>(wpi::safe_malloc(vArr.size() * sizeof(double)));
*arr_size = vArr.size();
std::copy(vArr.begin(), vArr.end(), arr);
return arr;
@@ -1125,7 +1125,7 @@
*last_change = v->last_change();
auto vArr = v->GetStringArray();
NT_String* arr = static_cast<NT_String*>(
- wpi::CheckedMalloc(vArr.size() * sizeof(NT_String)));
+ wpi::safe_malloc(vArr.size() * sizeof(NT_String)));
for (size_t i = 0; i < vArr.size(); ++i) {
ConvertToC(vArr[i], &arr[i]);
}
diff --git a/third_party/allwpilib_2019/ntcore/src/main/native/cpp/ntcore_cpp.cpp b/third_party/allwpilib_2019/ntcore/src/main/native/cpp/ntcore_cpp.cpp
index 18256f5..5a2b8af 100644
--- a/third_party/allwpilib_2019/ntcore/src/main/native/cpp/ntcore_cpp.cpp
+++ b/third_party/allwpilib_2019/ntcore/src/main/native/cpp/ntcore_cpp.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -959,7 +959,7 @@
auto ii = InstanceImpl::GetDefault();
static wpi::mutex mutex;
static unsigned int logger = 0;
- std::lock_guard<wpi::mutex> lock(mutex);
+ std::scoped_lock lock(mutex);
if (logger != 0) ii->logger_impl.Remove(logger);
logger = ii->logger_impl.Add(
[=](const LogMessage& msg) {
diff --git a/third_party/allwpilib_2019/ntcore/src/main/native/cpp/ntcore_test.cpp b/third_party/allwpilib_2019/ntcore/src/main/native/cpp/ntcore_test.cpp
index f74172e..d633fc5 100644
--- a/third_party/allwpilib_2019/ntcore/src/main/native/cpp/ntcore_test.cpp
+++ b/third_party/allwpilib_2019/ntcore/src/main/native/cpp/ntcore_test.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,14 +7,14 @@
#include "ntcore_test.h"
-#include <wpi/memory.h>
+#include <wpi/MemAlloc.h>
#include "Value_internal.h"
extern "C" {
struct NT_String* NT_GetStringForTesting(const char* string, int* struct_size) {
struct NT_String* str =
- static_cast<NT_String*>(wpi::CheckedCalloc(1, sizeof(NT_String)));
+ static_cast<NT_String*>(wpi::safe_calloc(1, sizeof(NT_String)));
nt::ConvertToC(wpi::StringRef(string), str);
*struct_size = sizeof(NT_String);
return str;
@@ -26,7 +26,7 @@
uint64_t last_change,
int* struct_size) {
struct NT_EntryInfo* entry_info =
- static_cast<NT_EntryInfo*>(wpi::CheckedCalloc(1, sizeof(NT_EntryInfo)));
+ static_cast<NT_EntryInfo*>(wpi::safe_calloc(1, sizeof(NT_EntryInfo)));
nt::ConvertToC(wpi::StringRef(name), &entry_info->name);
entry_info->type = type;
entry_info->flags = flags;
@@ -44,7 +44,7 @@
const char* remote_id, const char* remote_ip, unsigned int remote_port,
uint64_t last_update, unsigned int protocol_version, int* struct_size) {
struct NT_ConnectionInfo* conn_info = static_cast<NT_ConnectionInfo*>(
- wpi::CheckedCalloc(1, sizeof(NT_ConnectionInfo)));
+ wpi::safe_calloc(1, sizeof(NT_ConnectionInfo)));
nt::ConvertToC(wpi::StringRef(remote_id), &conn_info->remote_id);
nt::ConvertToC(wpi::StringRef(remote_ip), &conn_info->remote_ip);
conn_info->remote_port = remote_port;
@@ -63,7 +63,7 @@
struct NT_Value* NT_GetValueBooleanForTesting(uint64_t last_change, int val,
int* struct_size) {
struct NT_Value* value =
- static_cast<NT_Value*>(wpi::CheckedCalloc(1, sizeof(NT_Value)));
+ static_cast<NT_Value*>(wpi::safe_calloc(1, sizeof(NT_Value)));
value->type = NT_BOOLEAN;
value->last_change = last_change;
value->data.v_boolean = val;
@@ -74,7 +74,7 @@
struct NT_Value* NT_GetValueDoubleForTesting(uint64_t last_change, double val,
int* struct_size) {
struct NT_Value* value =
- static_cast<NT_Value*>(wpi::CheckedCalloc(1, sizeof(NT_Value)));
+ static_cast<NT_Value*>(wpi::safe_calloc(1, sizeof(NT_Value)));
value->type = NT_DOUBLE;
value->last_change = last_change;
value->data.v_double = val;
@@ -86,7 +86,7 @@
const char* str,
int* struct_size) {
struct NT_Value* value =
- static_cast<NT_Value*>(wpi::CheckedCalloc(1, sizeof(NT_Value)));
+ static_cast<NT_Value*>(wpi::safe_calloc(1, sizeof(NT_Value)));
value->type = NT_STRING;
value->last_change = last_change;
nt::ConvertToC(wpi::StringRef(str), &value->data.v_string);
@@ -97,7 +97,7 @@
struct NT_Value* NT_GetValueRawForTesting(uint64_t last_change, const char* raw,
int raw_len, int* struct_size) {
struct NT_Value* value =
- static_cast<NT_Value*>(wpi::CheckedCalloc(1, sizeof(NT_Value)));
+ static_cast<NT_Value*>(wpi::safe_calloc(1, sizeof(NT_Value)));
value->type = NT_RAW;
value->last_change = last_change;
nt::ConvertToC(wpi::StringRef(raw, raw_len), &value->data.v_string);
@@ -110,7 +110,7 @@
size_t array_len,
int* struct_size) {
struct NT_Value* value =
- static_cast<NT_Value*>(wpi::CheckedCalloc(1, sizeof(NT_Value)));
+ static_cast<NT_Value*>(wpi::safe_calloc(1, sizeof(NT_Value)));
value->type = NT_BOOLEAN_ARRAY;
value->last_change = last_change;
value->data.arr_boolean.arr = NT_AllocateBooleanArray(array_len);
@@ -126,7 +126,7 @@
size_t array_len,
int* struct_size) {
struct NT_Value* value =
- static_cast<NT_Value*>(wpi::CheckedCalloc(1, sizeof(NT_Value)));
+ static_cast<NT_Value*>(wpi::safe_calloc(1, sizeof(NT_Value)));
value->type = NT_BOOLEAN;
value->last_change = last_change;
value->data.arr_double.arr = NT_AllocateDoubleArray(array_len);
@@ -142,7 +142,7 @@
size_t array_len,
int* struct_size) {
struct NT_Value* value =
- static_cast<NT_Value*>(wpi::CheckedCalloc(1, sizeof(NT_Value)));
+ static_cast<NT_Value*>(wpi::safe_calloc(1, sizeof(NT_Value)));
value->type = NT_BOOLEAN;
value->last_change = last_change;
value->data.arr_string.arr = NT_AllocateStringArray(array_len);
@@ -151,7 +151,7 @@
size_t len = arr[i].len;
value->data.arr_string.arr[i].len = len;
value->data.arr_string.arr[i].str =
- static_cast<char*>(wpi::CheckedMalloc(len + 1));
+ static_cast<char*>(wpi::safe_malloc(len + 1));
std::memcpy(value->data.arr_string.arr[i].str, arr[i].str, len + 1);
}
*struct_size = sizeof(NT_Value);
@@ -173,8 +173,8 @@
struct NT_RpcParamDef* NT_GetRpcParamDefForTesting(const char* name,
const struct NT_Value* val,
int* struct_size) {
- struct NT_RpcParamDef* def = static_cast<NT_RpcParamDef*>(
- wpi::CheckedCalloc(1, sizeof(NT_RpcParamDef)));
+ struct NT_RpcParamDef* def =
+ static_cast<NT_RpcParamDef*>(wpi::safe_calloc(1, sizeof(NT_RpcParamDef)));
nt::ConvertToC(wpi::StringRef(name), &def->name);
CopyNtValue(val, &def->def_value);
*struct_size = sizeof(NT_RpcParamDef);
@@ -191,7 +191,7 @@
enum NT_Type type,
int* struct_size) {
struct NT_RpcResultDef* def = static_cast<NT_RpcResultDef*>(
- wpi::CheckedCalloc(1, sizeof(NT_RpcResultDef)));
+ wpi::safe_calloc(1, sizeof(NT_RpcResultDef)));
nt::ConvertToC(wpi::StringRef(name), &def->name);
def->type = type;
*struct_size = sizeof(NT_RpcResultDef);
@@ -208,19 +208,19 @@
const struct NT_RpcParamDef* params, size_t num_results,
const struct NT_RpcResultDef* results, int* struct_size) {
struct NT_RpcDefinition* def = static_cast<NT_RpcDefinition*>(
- wpi::CheckedCalloc(1, sizeof(NT_RpcDefinition)));
+ wpi::safe_calloc(1, sizeof(NT_RpcDefinition)));
def->version = version;
nt::ConvertToC(wpi::StringRef(name), &def->name);
def->num_params = num_params;
def->params = static_cast<NT_RpcParamDef*>(
- wpi::CheckedMalloc(num_params * sizeof(NT_RpcParamDef)));
+ wpi::safe_malloc(num_params * sizeof(NT_RpcParamDef)));
for (size_t i = 0; i < num_params; ++i) {
CopyNtString(¶ms[i].name, &def->params[i].name);
CopyNtValue(¶ms[i].def_value, &def->params[i].def_value);
}
def->num_results = num_results;
def->results = static_cast<NT_RpcResultDef*>(
- wpi::CheckedMalloc(num_results * sizeof(NT_RpcResultDef)));
+ wpi::safe_malloc(num_results * sizeof(NT_RpcResultDef)));
for (size_t i = 0; i < num_results; ++i) {
CopyNtString(&results[i].name, &def->results[i].name);
def->results[i].type = results[i].type;
@@ -234,7 +234,7 @@
unsigned int rpc_id, unsigned int call_uid, const char* name,
const char* params, size_t params_len, int* struct_size) {
struct NT_RpcAnswer* info =
- static_cast<NT_RpcAnswer*>(wpi::CheckedCalloc(1, sizeof(NT_RpcAnswer)));
+ static_cast<NT_RpcAnswer*>(wpi::safe_calloc(1, sizeof(NT_RpcAnswer)));
info->entry = rpc_id;
info->call = call_uid;
nt::ConvertToC(wpi::StringRef(name), &info->name);
diff --git a/third_party/allwpilib_2019/ntcore/src/main/native/include/networktables/NetworkTable.h b/third_party/allwpilib_2019/ntcore/src/main/native/include/networktables/NetworkTable.h
index 6bc2af6..6504e09 100644
--- a/third_party/allwpilib_2019/ntcore/src/main/native/include/networktables/NetworkTable.h
+++ b/third_party/allwpilib_2019/ntcore/src/main/native/include/networktables/NetworkTable.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -36,6 +36,9 @@
#ifdef __GNUC__
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#elif _WIN32
+#pragma warning(push)
+#pragma warning(disable : 4996)
#endif
/**
@@ -765,6 +768,8 @@
#ifdef __GNUC__
#pragma GCC diagnostic pop
+#elif _WIN32
+#pragma warning(pop)
#endif
} // namespace nt
diff --git a/third_party/allwpilib_2019/ntcore/src/main/native/include/networktables/NetworkTableEntry.h b/third_party/allwpilib_2019/ntcore/src/main/native/include/networktables/NetworkTableEntry.h
index 16b5c61..8fdedc6 100644
--- a/third_party/allwpilib_2019/ntcore/src/main/native/include/networktables/NetworkTableEntry.h
+++ b/third_party/allwpilib_2019/ntcore/src/main/native/include/networktables/NetworkTableEntry.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,6 +10,7 @@
#include <stdint.h>
+#include <initializer_list>
#include <memory>
#include <string>
#include <vector>
@@ -177,6 +178,23 @@
std::vector<int> GetBooleanArray(ArrayRef<int> defaultValue) const;
/**
+ * Gets the entry's value as a boolean array. If the entry does not exist
+ * or is of different type, it will return the default value.
+ *
+ * @param defaultValue the value to be returned if no value is found
+ * @return the entry's value or the given default value
+ *
+ * @note This makes a copy of the array. If the overhead of this is a
+ * concern, use GetValue() instead.
+ *
+ * @note The returned array is std::vector<int> instead of std::vector<bool>
+ * because std::vector<bool> is special-cased in C++. 0 is false, any
+ * non-zero value is true.
+ */
+ std::vector<int> GetBooleanArray(
+ std::initializer_list<int> defaultValue) const;
+
+ /**
* Gets the entry's value as a double array. If the entry does not exist
* or is of different type, it will return the default value.
*
@@ -189,6 +207,19 @@
std::vector<double> GetDoubleArray(ArrayRef<double> defaultValue) const;
/**
+ * Gets the entry's value as a double array. If the entry does not exist
+ * or is of different type, it will return the default value.
+ *
+ * @param defaultValue the value to be returned if no value is found
+ * @return the entry's value or the given default value
+ *
+ * @note This makes a copy of the array. If the overhead of this is a
+ * concern, use GetValue() instead.
+ */
+ std::vector<double> GetDoubleArray(
+ std::initializer_list<double> defaultValue) const;
+
+ /**
* Gets the entry's value as a string array. If the entry does not exist
* or is of different type, it will return the default value.
*
@@ -202,6 +233,19 @@
ArrayRef<std::string> defaultValue) const;
/**
+ * Gets the entry's value as a string array. If the entry does not exist
+ * or is of different type, it will return the default value.
+ *
+ * @param defaultValue the value to be returned if no value is found
+ * @return the entry's value or the given default value
+ *
+ * @note This makes a copy of the array. If the overhead of this is a
+ * concern, use GetValue() instead.
+ */
+ std::vector<std::string> GetStringArray(
+ std::initializer_list<std::string> defaultValue) const;
+
+ /**
* Sets the entry's value if it does not exist.
*
* @param defaultValue the default value to set
@@ -255,6 +299,14 @@
* @param defaultValue the default value to set
* @return False if the entry exists with a different type
*/
+ bool SetDefaultBooleanArray(std::initializer_list<int> defaultValue);
+
+ /**
+ * Sets the entry's value if it does not exist.
+ *
+ * @param defaultValue the default value to set
+ * @return False if the entry exists with a different type
+ */
bool SetDefaultDoubleArray(ArrayRef<double> defaultValue);
/**
@@ -263,9 +315,25 @@
* @param defaultValue the default value to set
* @return False if the entry exists with a different type
*/
+ bool SetDefaultDoubleArray(std::initializer_list<double> defaultValue);
+
+ /**
+ * Sets the entry's value if it does not exist.
+ *
+ * @param defaultValue the default value to set
+ * @return False if the entry exists with a different type
+ */
bool SetDefaultStringArray(ArrayRef<std::string> defaultValue);
/**
+ * Sets the entry's value if it does not exist.
+ *
+ * @param defaultValue the default value to set
+ * @return False if the entry exists with a different type
+ */
+ bool SetDefaultStringArray(std::initializer_list<std::string> defaultValue);
+
+ /**
* Sets the entry's value.
*
* @param value the value to set
@@ -311,6 +379,22 @@
* @param value the value to set
* @return False if the entry exists with a different type
*/
+ bool SetBooleanArray(ArrayRef<bool> value);
+
+ /**
+ * Sets the entry's value.
+ *
+ * @param value the value to set
+ * @return False if the entry exists with a different type
+ */
+ bool SetBooleanArray(std::initializer_list<bool> value);
+
+ /**
+ * Sets the entry's value.
+ *
+ * @param value the value to set
+ * @return False if the entry exists with a different type
+ */
bool SetBooleanArray(ArrayRef<int> value);
/**
@@ -319,6 +403,14 @@
* @param value the value to set
* @return False if the entry exists with a different type
*/
+ bool SetBooleanArray(std::initializer_list<int> value);
+
+ /**
+ * Sets the entry's value.
+ *
+ * @param value the value to set
+ * @return False if the entry exists with a different type
+ */
bool SetDoubleArray(ArrayRef<double> value);
/**
@@ -327,9 +419,25 @@
* @param value the value to set
* @return False if the entry exists with a different type
*/
+ bool SetDoubleArray(std::initializer_list<double> value);
+
+ /**
+ * Sets the entry's value.
+ *
+ * @param value the value to set
+ * @return False if the entry exists with a different type
+ */
bool SetStringArray(ArrayRef<std::string> value);
/**
+ * Sets the entry's value.
+ *
+ * @param value the value to set
+ * @return False if the entry exists with a different type
+ */
+ bool SetStringArray(std::initializer_list<std::string> value);
+
+ /**
* Sets the entry's value. If the value is of different type, the type is
* changed to match the new value.
*
@@ -375,6 +483,22 @@
*
* @param value the value to set
*/
+ void ForceSetBooleanArray(ArrayRef<bool> value);
+
+ /**
+ * Sets the entry's value. If the value is of different type, the type is
+ * changed to match the new value.
+ *
+ * @param value the value to set
+ */
+ void ForceSetBooleanArray(std::initializer_list<bool> value);
+
+ /**
+ * Sets the entry's value. If the value is of different type, the type is
+ * changed to match the new value.
+ *
+ * @param value the value to set
+ */
void ForceSetBooleanArray(ArrayRef<int> value);
/**
@@ -383,6 +507,14 @@
*
* @param value the value to set
*/
+ void ForceSetBooleanArray(std::initializer_list<int> value);
+
+ /**
+ * Sets the entry's value. If the value is of different type, the type is
+ * changed to match the new value.
+ *
+ * @param value the value to set
+ */
void ForceSetDoubleArray(ArrayRef<double> value);
/**
@@ -391,9 +523,25 @@
*
* @param value the value to set
*/
+ void ForceSetDoubleArray(std::initializer_list<double> value);
+
+ /**
+ * Sets the entry's value. If the value is of different type, the type is
+ * changed to match the new value.
+ *
+ * @param value the value to set
+ */
void ForceSetStringArray(ArrayRef<std::string> value);
/**
+ * Sets the entry's value. If the value is of different type, the type is
+ * changed to match the new value.
+ *
+ * @param value the value to set
+ */
+ void ForceSetStringArray(std::initializer_list<std::string> value);
+
+ /**
* Sets flags.
*
* @param flags the flags to set (bitmask)
diff --git a/third_party/allwpilib_2019/ntcore/src/main/native/include/networktables/NetworkTableEntry.inl b/third_party/allwpilib_2019/ntcore/src/main/native/include/networktables/NetworkTableEntry.inl
index f95b1a8..4a46b96 100644
--- a/third_party/allwpilib_2019/ntcore/src/main/native/include/networktables/NetworkTableEntry.inl
+++ b/third_party/allwpilib_2019/ntcore/src/main/native/include/networktables/NetworkTableEntry.inl
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2017. All Rights Reserved. */
+/* Copyright (c) FIRST 2017-2019. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -76,6 +76,12 @@
return value->GetBooleanArray();
}
+inline std::vector<int> NetworkTableEntry::GetBooleanArray(
+ std::initializer_list<int> defaultValue) const {
+ return GetBooleanArray(
+ wpi::makeArrayRef(defaultValue.begin(), defaultValue.end()));
+}
+
inline std::vector<double> NetworkTableEntry::GetDoubleArray(
ArrayRef<double> defaultValue) const {
auto value = GetEntryValue(m_handle);
@@ -83,6 +89,12 @@
return value->GetDoubleArray();
}
+inline std::vector<double> NetworkTableEntry::GetDoubleArray(
+ std::initializer_list<double> defaultValue) const {
+ return GetDoubleArray(
+ wpi::makeArrayRef(defaultValue.begin(), defaultValue.end()));
+}
+
inline std::vector<std::string> NetworkTableEntry::GetStringArray(
ArrayRef<std::string> defaultValue) const {
auto value = GetEntryValue(m_handle);
@@ -90,6 +102,12 @@
return value->GetStringArray();
}
+inline std::vector<std::string> NetworkTableEntry::GetStringArray(
+ std::initializer_list<std::string> defaultValue) const {
+ return GetStringArray(
+ wpi::makeArrayRef(defaultValue.begin(), defaultValue.end()));
+}
+
inline bool NetworkTableEntry::SetDefaultValue(std::shared_ptr<Value> value) {
return SetDefaultEntryValue(m_handle, value);
}
@@ -145,18 +163,42 @@
return SetEntryValue(m_handle, Value::MakeRaw(value));
}
+inline bool NetworkTableEntry::SetBooleanArray(ArrayRef<bool> value) {
+ return SetEntryValue(m_handle, Value::MakeBooleanArray(value));
+}
+
+inline bool NetworkTableEntry::SetBooleanArray(
+ std::initializer_list<bool> value) {
+ return SetEntryValue(m_handle, Value::MakeBooleanArray(value));
+}
+
inline bool NetworkTableEntry::SetBooleanArray(ArrayRef<int> value) {
return SetEntryValue(m_handle, Value::MakeBooleanArray(value));
}
+inline bool NetworkTableEntry::SetBooleanArray(
+ std::initializer_list<int> value) {
+ return SetEntryValue(m_handle, Value::MakeBooleanArray(value));
+}
+
inline bool NetworkTableEntry::SetDoubleArray(ArrayRef<double> value) {
return SetEntryValue(m_handle, Value::MakeDoubleArray(value));
}
+inline bool NetworkTableEntry::SetDoubleArray(
+ std::initializer_list<double> value) {
+ return SetEntryValue(m_handle, Value::MakeDoubleArray(value));
+}
+
inline bool NetworkTableEntry::SetStringArray(ArrayRef<std::string> value) {
return SetEntryValue(m_handle, Value::MakeStringArray(value));
}
+inline bool NetworkTableEntry::SetStringArray(
+ std::initializer_list<std::string> value) {
+ return SetEntryValue(m_handle, Value::MakeStringArray(value));
+}
+
inline void NetworkTableEntry::ForceSetValue(std::shared_ptr<Value> value) {
SetEntryTypeValue(m_handle, value);
}
@@ -177,19 +219,43 @@
SetEntryTypeValue(m_handle, Value::MakeRaw(value));
}
+inline void NetworkTableEntry::ForceSetBooleanArray(ArrayRef<bool> value) {
+ SetEntryTypeValue(m_handle, Value::MakeBooleanArray(value));
+}
+
+inline void NetworkTableEntry::ForceSetBooleanArray(
+ std::initializer_list<bool> value) {
+ SetEntryTypeValue(m_handle, Value::MakeBooleanArray(value));
+}
+
inline void NetworkTableEntry::ForceSetBooleanArray(ArrayRef<int> value) {
SetEntryTypeValue(m_handle, Value::MakeBooleanArray(value));
}
+inline void NetworkTableEntry::ForceSetBooleanArray(
+ std::initializer_list<int> value) {
+ SetEntryTypeValue(m_handle, Value::MakeBooleanArray(value));
+}
+
inline void NetworkTableEntry::ForceSetDoubleArray(ArrayRef<double> value) {
SetEntryTypeValue(m_handle, Value::MakeDoubleArray(value));
}
+inline void NetworkTableEntry::ForceSetDoubleArray(
+ std::initializer_list<double> value) {
+ SetEntryTypeValue(m_handle, Value::MakeDoubleArray(value));
+}
+
inline void NetworkTableEntry::ForceSetStringArray(
ArrayRef<std::string> value) {
SetEntryTypeValue(m_handle, Value::MakeStringArray(value));
}
+inline void NetworkTableEntry::ForceSetStringArray(
+ std::initializer_list<std::string> value) {
+ SetEntryTypeValue(m_handle, Value::MakeStringArray(value));
+}
+
inline void NetworkTableEntry::SetFlags(unsigned int flags) {
SetEntryFlags(m_handle, GetFlags() | flags);
}
diff --git a/third_party/allwpilib_2019/ntcore/src/main/native/include/networktables/NetworkTableValue.h b/third_party/allwpilib_2019/ntcore/src/main/native/include/networktables/NetworkTableValue.h
index 3aa0c01..1b8aabe 100644
--- a/third_party/allwpilib_2019/ntcore/src/main/native/include/networktables/NetworkTableValue.h
+++ b/third_party/allwpilib_2019/ntcore/src/main/native/include/networktables/NetworkTableValue.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -11,6 +11,7 @@
#include <stdint.h>
#include <cassert>
+#include <initializer_list>
#include <memory>
#include <string>
#include <type_traits>
@@ -278,21 +279,16 @@
return val;
}
-/**
- * Creates a string entry value.
- *
- * @param value the value
- * @param time if nonzero, the creation time to use (instead of the current
- * time)
- * @return The entry value
- */
-#ifdef _MSC_VER
- template <typename T,
- typename = std::enable_if_t<std::is_same<T, std::string>>>
-#else
+ /**
+ * Creates a string entry value.
+ *
+ * @param value the value
+ * @param time if nonzero, the creation time to use (instead of the current
+ * time)
+ * @return The entry value
+ */
template <typename T,
typename std::enable_if<std::is_same<T, std::string>::value>::type>
-#endif
static std::shared_ptr<Value> MakeString(T&& value, uint64_t time = 0) {
auto val = std::make_shared<Value>(NT_STRING, time, private_init());
val->m_string = std::move(value);
@@ -317,21 +313,16 @@
return val;
}
-/**
- * Creates a raw entry value.
- *
- * @param value the value
- * @param time if nonzero, the creation time to use (instead of the current
- * time)
- * @return The entry value
- */
-#ifdef _MSC_VER
- template <typename T,
- typename = std::enable_if_t<std::is_same<T, std::string>>>
-#else
+ /**
+ * Creates a raw entry value.
+ *
+ * @param value the value
+ * @param time if nonzero, the creation time to use (instead of the current
+ * time)
+ * @return The entry value
+ */
template <typename T,
typename std::enable_if<std::is_same<T, std::string>::value>::type>
-#endif
static std::shared_ptr<Value> MakeRaw(T&& value, uint64_t time = 0) {
auto val = std::make_shared<Value>(NT_RAW, time, private_init());
val->m_string = std::move(value);
@@ -392,10 +383,38 @@
* time)
* @return The entry value
*/
+ static std::shared_ptr<Value> MakeBooleanArray(
+ std::initializer_list<bool> value, uint64_t time = 0) {
+ return MakeBooleanArray(wpi::makeArrayRef(value.begin(), value.end()),
+ time);
+ }
+
+ /**
+ * Creates a boolean array entry value.
+ *
+ * @param value the value
+ * @param time if nonzero, the creation time to use (instead of the current
+ * time)
+ * @return The entry value
+ */
static std::shared_ptr<Value> MakeBooleanArray(ArrayRef<int> value,
uint64_t time = 0);
/**
+ * Creates a boolean array entry value.
+ *
+ * @param value the value
+ * @param time if nonzero, the creation time to use (instead of the current
+ * time)
+ * @return The entry value
+ */
+ static std::shared_ptr<Value> MakeBooleanArray(
+ std::initializer_list<int> value, uint64_t time = 0) {
+ return MakeBooleanArray(wpi::makeArrayRef(value.begin(), value.end()),
+ time);
+ }
+
+ /**
* Creates a double array entry value.
*
* @param value the value
@@ -407,6 +426,19 @@
uint64_t time = 0);
/**
+ * Creates a double array entry value.
+ *
+ * @param value the value
+ * @param time if nonzero, the creation time to use (instead of the current
+ * time)
+ * @return The entry value
+ */
+ static std::shared_ptr<Value> MakeDoubleArray(
+ std::initializer_list<double> value, uint64_t time = 0) {
+ return MakeDoubleArray(wpi::makeArrayRef(value.begin(), value.end()), time);
+ }
+
+ /**
* Creates a string array entry value.
*
* @param value the value
@@ -424,6 +456,19 @@
* @param time if nonzero, the creation time to use (instead of the current
* time)
* @return The entry value
+ */
+ static std::shared_ptr<Value> MakeStringArray(
+ std::initializer_list<std::string> value, uint64_t time = 0) {
+ return MakeStringArray(wpi::makeArrayRef(value.begin(), value.end()), time);
+ }
+
+ /**
+ * Creates a string array entry value.
+ *
+ * @param value the value
+ * @param time if nonzero, the creation time to use (instead of the current
+ * time)
+ * @return The entry value
*
* @note This function moves the values out of the vector.
*/
diff --git a/third_party/allwpilib_2019/ntcore/src/main/native/include/networktables/RpcCall.h b/third_party/allwpilib_2019/ntcore/src/main/native/include/networktables/RpcCall.h
index 7d83140..fc2e0bf 100644
--- a/third_party/allwpilib_2019/ntcore/src/main/native/include/networktables/RpcCall.h
+++ b/third_party/allwpilib_2019/ntcore/src/main/native/include/networktables/RpcCall.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -36,7 +36,7 @@
*/
RpcCall(NT_Entry entry, NT_RpcCall call) : m_entry(entry), m_call(call) {}
- RpcCall(RpcCall&& other);
+ RpcCall(RpcCall&& other) noexcept;
RpcCall(const RpcCall&) = delete;
RpcCall& operator=(const RpcCall&) = delete;
diff --git a/third_party/allwpilib_2019/ntcore/src/main/native/include/networktables/RpcCall.inl b/third_party/allwpilib_2019/ntcore/src/main/native/include/networktables/RpcCall.inl
index d7dacf5..0e9b522 100644
--- a/third_party/allwpilib_2019/ntcore/src/main/native/include/networktables/RpcCall.inl
+++ b/third_party/allwpilib_2019/ntcore/src/main/native/include/networktables/RpcCall.inl
@@ -12,7 +12,7 @@
namespace nt {
-inline RpcCall::RpcCall(RpcCall&& other) : RpcCall() {
+inline RpcCall::RpcCall(RpcCall&& other) noexcept : RpcCall() {
swap(*this, other);
}
diff --git a/third_party/allwpilib_2019/ntcore/src/main/native/include/ntcore_cpp.h b/third_party/allwpilib_2019/ntcore/src/main/native/include/ntcore_cpp.h
index 56cb5af..d7e91ad 100644
--- a/third_party/allwpilib_2019/ntcore/src/main/native/include/ntcore_cpp.h
+++ b/third_party/allwpilib_2019/ntcore/src/main/native/include/ntcore_cpp.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -79,19 +79,19 @@
std::string remote_ip;
/** The port number of the remote node. */
- unsigned int remote_port;
+ unsigned int remote_port{0};
/**
* The last time any update was received from the remote node (same scale as
* returned by nt::Now()).
*/
- uint64_t last_update;
+ uint64_t last_update{0};
/**
* The protocol version being used for this connection. This in protocol
* layer format, so 0x0200 = 2.0, 0x0300 = 3.0).
*/
- unsigned int protocol_version;
+ unsigned int protocol_version{0};
friend void swap(ConnectionInfo& first, ConnectionInfo& second) {
using std::swap;
@@ -179,7 +179,7 @@
/** NetworkTables Entry Notification */
class EntryNotification {
public:
- EntryNotification() : listener(0), entry(0) {}
+ EntryNotification() : listener(0), entry(0), flags(0) {}
EntryNotification(NT_EntryListener listener_, NT_Entry entry_,
StringRef name_, std::shared_ptr<Value> value_,
unsigned int flags_)
diff --git a/third_party/allwpilib_2019/ntcore/src/main/native/include/tables/ITableListener.h b/third_party/allwpilib_2019/ntcore/src/main/native/include/tables/ITableListener.h
index e836b51..dae6f85 100644
--- a/third_party/allwpilib_2019/ntcore/src/main/native/include/tables/ITableListener.h
+++ b/third_party/allwpilib_2019/ntcore/src/main/native/include/tables/ITableListener.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -18,6 +18,9 @@
#ifdef __GNUC__
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#elif _WIN32
+#pragma warning(push)
+#pragma warning(disable : 4996)
#endif
class ITable;
@@ -58,6 +61,8 @@
#ifdef __GNUC__
#pragma GCC diagnostic pop
+#elif _WIN32
+#pragma warning(pop)
#endif
#endif // NTCORE_TABLES_ITABLELISTENER_H_
diff --git a/third_party/allwpilib_2019/ntcore/src/test/java/edu/wpi/first/networktables/NetworkTableTest.java b/third_party/allwpilib_2019/ntcore/src/test/java/edu/wpi/first/networktables/NetworkTableTest.java
index e45f197..71ce0ae 100644
--- a/third_party/allwpilib_2019/ntcore/src/test/java/edu/wpi/first/networktables/NetworkTableTest.java
+++ b/third_party/allwpilib_2019/ntcore/src/test/java/edu/wpi/first/networktables/NetworkTableTest.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,6 +8,7 @@
package edu.wpi.first.networktables;
import java.util.Arrays;
+import java.util.Collections;
import java.util.List;
import java.util.stream.Stream;
@@ -65,8 +66,8 @@
private static Stream<Arguments> getHierarchyArguments() {
return Stream.of(
- Arguments.of(Arrays.asList("/"), ""),
- Arguments.of(Arrays.asList("/"), "/"),
+ Arguments.of(Collections.singletonList("/"), ""),
+ Arguments.of(Collections.singletonList("/"), "/"),
Arguments.of(Arrays.asList("/", "/foo", "/foo/bar", "/foo/bar/baz"), "/foo/bar/baz"),
Arguments.of(Arrays.asList("/", "/foo", "/foo/bar", "/foo/bar/"), "/foo/bar/")
);
diff --git a/third_party/allwpilib_2019/ntcore/src/test/native/cpp/EntryNotifierTest.cpp b/third_party/allwpilib_2019/ntcore/src/test/native/cpp/EntryNotifierTest.cpp
index 4f1df77..604db3d 100644
--- a/third_party/allwpilib_2019/ntcore/src/test/native/cpp/EntryNotifierTest.cpp
+++ b/third_party/allwpilib_2019/ntcore/src/test/native/cpp/EntryNotifierTest.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,10 +12,10 @@
#include "ValueMatcher.h"
#include "gtest/gtest.h"
+using ::testing::_;
using ::testing::AnyNumber;
using ::testing::IsNull;
using ::testing::Return;
-using ::testing::_;
namespace nt {
diff --git a/third_party/allwpilib_2019/ntcore/src/test/native/cpp/StorageTest.cpp b/third_party/allwpilib_2019/ntcore/src/test/native/cpp/StorageTest.cpp
index 47c1096..f271123 100644
--- a/third_party/allwpilib_2019/ntcore/src/test/native/cpp/StorageTest.cpp
+++ b/third_party/allwpilib_2019/ntcore/src/test/native/cpp/StorageTest.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -18,10 +18,10 @@
#include "gmock/gmock.h"
#include "gtest/gtest.h"
+using ::testing::_;
using ::testing::AnyNumber;
using ::testing::IsNull;
using ::testing::Return;
-using ::testing::_;
namespace nt {
@@ -981,13 +981,13 @@
EXPECT_TRUE(storage.GetEntries("", 0).empty());
}
-INSTANTIATE_TEST_CASE_P(StorageTestsEmpty, StorageTestEmpty,
- ::testing::Bool(), );
-INSTANTIATE_TEST_CASE_P(StorageTestsPopulateOne, StorageTestPopulateOne,
- ::testing::Bool(), );
-INSTANTIATE_TEST_CASE_P(StorageTestsPopulated, StorageTestPopulated,
- ::testing::Bool(), );
-INSTANTIATE_TEST_CASE_P(StorageTestsPersistent, StorageTestPersistent,
- ::testing::Bool(), );
+INSTANTIATE_TEST_SUITE_P(StorageTestsEmpty, StorageTestEmpty,
+ ::testing::Bool());
+INSTANTIATE_TEST_SUITE_P(StorageTestsPopulateOne, StorageTestPopulateOne,
+ ::testing::Bool());
+INSTANTIATE_TEST_SUITE_P(StorageTestsPopulated, StorageTestPopulated,
+ ::testing::Bool());
+INSTANTIATE_TEST_SUITE_P(StorageTestsPersistent, StorageTestPersistent,
+ ::testing::Bool());
} // namespace nt
diff --git a/third_party/allwpilib_2019/ntcore/src/test/native/cpp/WireDecoderTest.cpp b/third_party/allwpilib_2019/ntcore/src/test/native/cpp/WireDecoderTest.cpp
index a13fa7a..e32f909 100644
--- a/third_party/allwpilib_2019/ntcore/src/test/native/cpp/WireDecoderTest.cpp
+++ b/third_party/allwpilib_2019/ntcore/src/test/native/cpp/WireDecoderTest.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
diff --git a/third_party/allwpilib_2019/ntcore/src/test/native/cpp/WireEncoderTest.cpp b/third_party/allwpilib_2019/ntcore/src/test/native/cpp/WireEncoderTest.cpp
index 664344f..fab5a22 100644
--- a/third_party/allwpilib_2019/ntcore/src/test/native/cpp/WireEncoderTest.cpp
+++ b/third_party/allwpilib_2019/ntcore/src/test/native/cpp/WireEncoderTest.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
diff --git a/third_party/allwpilib_2019/settings.gradle b/third_party/allwpilib_2019/settings.gradle
index 553adc9..1c1fa29 100644
--- a/third_party/allwpilib_2019/settings.gradle
+++ b/third_party/allwpilib_2019/settings.gradle
@@ -5,6 +5,13 @@
}
}
+// Set the flag to tell gradle to ignore unresolved headers
+// Libraries like eigen and opencv use macro includes, which
+// Gradle doesn't properly ignore, and completely disables
+// Incremental includes. This flag makes those includes be ignored.
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
+
include 'wpiutil'
include 'ntcore'
include 'hal'
@@ -17,13 +24,13 @@
include 'wpilibj'
include 'simulation:halsim_print'
include 'simulation:halsim_lowfi'
-include 'simulation:halsim_adx_gyro_accelerometer'
include 'simulation:halsim_ds_nt'
include 'simulation:gz_msgs'
include 'simulation:frc_gazebo_plugins'
include 'simulation:halsim_gazebo'
include 'simulation:lowfi_simulation'
include 'simulation:halsim_ds_socket'
+include 'simulation:halsim_gui'
include 'cameraserver'
include 'cameraserver:multiCameraServer'
include 'myRobot'
diff --git a/third_party/allwpilib_2019/shared/config.gradle b/third_party/allwpilib_2019/shared/config.gradle
index 02c2b68..0173097 100644
--- a/third_party/allwpilib_2019/shared/config.gradle
+++ b/third_party/allwpilib_2019/shared/config.gradle
@@ -1,251 +1,39 @@
-import edu.wpi.first.nativeutils.*
import org.gradle.internal.os.OperatingSystem
-def windowsCompilerArgs = ['/EHsc', '/DNOMINMAX', '/Zi', '/FS', '/Zc:inline', '/MP4']
-def windowsCCompilerArgs = ['/Zi', '/FS', '/Zc:inline']
-def windowsReleaseCompilerArgs = ['/O2', '/MD']
-def windowsDebugCompilerArgs = ['/Od', '/MDd']
-def windowsLinkerArgs = ['/DEBUG:FULL']
-def windowsReleaseLinkerArgs = ['/OPT:REF', '/OPT:ICF']
-
-def linuxCrossCompilerArgs = ['-std=c++14', '-Wformat=2', '-Wall', '-Wextra', '-Werror', '-pedantic', '-Wno-psabi', '-g',
- '-Wno-unused-parameter', '-Wno-error=deprecated-declarations', '-fPIC', '-rdynamic',
- '-pthread']
-def linuxCrossCCompilerArgs = ['-Wformat=2', '-Wall', '-Wextra', '-Werror', '-pedantic', '-Wno-psabi', '-g',
- '-Wno-unused-parameter', '-fPIC', '-rdynamic', '-pthread']
-def linuxCrossLinkerArgs = ['-rdynamic', '-pthread', '-ldl']
-def linuxCrossReleaseCompilerArgs = ['-O2']
-def linuxCrossDebugCompilerArgs = ['-Og']
-
-def linuxCompilerArgs = ['-std=c++14', '-Wformat=2', '-Wall', '-Wextra', '-Werror', '-pedantic', '-Wno-psabi', '-g',
- '-Wno-unused-parameter', '-Wno-error=deprecated-declarations', '-fPIC', '-rdynamic',
- '-pthread']
-def linuxCCompilerArgs = ['-Wformat=2', '-Wall', '-Wextra', '-Werror', '-pedantic', '-Wno-psabi', '-g',
- '-Wno-unused-parameter', '-fPIC', '-rdynamic', '-pthread']
-def linuxLinkerArgs = ['-rdynamic', '-pthread', '-ldl']
-def linuxReleaseCompilerArgs = ['-O2']
-def linuxDebugCompilerArgs = ['-O0']
-def linux32BitArg = '-m32'
-
-def macCompilerArgs = ['-std=c++14', '-Wall', '-Wextra', '-Werror', '-pedantic-errors', '-fPIC', '-g',
- '-Wno-unused-parameter', '-Wno-error=deprecated-declarations', '-Wno-missing-field-initializers',
- '-Wno-unused-private-field', '-Wno-unused-const-variable', '-pthread']
-def macCCompilerArgs = ['-Wall', '-Wextra', '-Werror', '-pedantic-errors', '-fPIC', '-g',
- '-Wno-unused-parameter', '-Wno-missing-field-initializers', '-Wno-unused-private-field']
-def macObjCLinkerArgs = ['-std=c++14', '-stdlib=libc++','-fobjc-arc', '-g', '-fPIC', '-Wall', '-Wextra', '-Werror']
-def macReleaseCompilerArgs = ['-O2']
-def macDebugCompilerArgs = ['-O0']
-def macLinkerArgs = ['-framework', 'CoreFoundation', '-framework', 'AVFoundation', '-framework', 'Foundation', '-framework', 'CoreMedia', '-framework', 'CoreVideo']
-def mac32BitArg = '-m32'
-
-def buildAll = project.hasProperty('buildAll')
-
-def windows64PlatformDetect = {
- def arch = System.getProperty("os.arch")
- def isWin = OperatingSystem.current().isWindows()
- if (buildAll) {
- return isWin
- } else {
- return isWin && arch == 'amd64'
+nativeUtils.addWpiNativeUtils()
+nativeUtils.withRoboRIO()
+nativeUtils.withRaspbian()
+nativeUtils.withBionic()
+nativeUtils {
+ wpi {
+ configureDependencies {
+ wpiVersion = "-1"
+ niLibVersion = "2020.5.1"
+ opencvVersion = "3.4.7-2"
+ googleTestVersion = "1.9.0-3-437e100"
+ imguiVersion = "1.72b-2"
}
+ }
}
-def windows32PlatformDetect = {
- def arch = System.getProperty("os.arch")
- def isWin = OperatingSystem.current().isWindows()
- if (buildAll) {
- return isWin
- } else {
- return isWin && arch == 'x86'
- }
-}
+nativeUtils.wpi.addWarnings()
+nativeUtils.wpi.addWarningsAsErrors()
-def linux32IntelPlatformDetect = {
- def arch = System.getProperty("os.arch")
- def isLinux = OperatingSystem.current().isLinux()
- def isIntel = (arch == 'amd64' || arch == 'i386')
- if (buildAll) {
- return isLinux && isIntel
- } else {
- return isLinux && arch == 'i386'
- }
-}
+nativeUtils.setSinglePrintPerPlatform()
-def linux64IntelPlatformDetect = {
- def arch = System.getProperty("os.arch")
- def isLinux = OperatingSystem.current().isLinux()
- def isIntel = (arch == 'amd64' || arch == 'i386')
- if (buildAll) {
- return isLinux && isIntel
- } else {
- return isLinux && arch == 'amd64'
- }
-}
-
-def linuxArmPlatformDetect = {
- def arch = System.getProperty("os.arch")
- def isIntel = (arch == 'amd64' || arch == 'i386')
- return OperatingSystem.current().isLinux() && !isIntel
-}
-
-def mac64PlatformDetect = {
- def arch = System.getProperty("os.arch")
- def isMac = OperatingSystem.current().isMacOsX()
- if (buildAll) {
- return isMac
- } else {
- return isMac && arch == 'x86_64'
- }
-}
-
-def mac32PlatformDetect = {
- def arch = System.getProperty("os.arch")
- def isMac = OperatingSystem.current().isMacOsX()
- if (buildAll) {
- return isMac
- } else {
- return isMac && arch == 'x86'
- }
-}
-
-if (!project.hasProperty('skipAthena') && !project.hasProperty('onlyRaspbian')) {
- model {
- buildConfigs {
- roboRio(CrossBuildConfig) {
- architecture = 'athena'
- operatingSystem = 'linux'
- toolChainPrefix = 'arm-frc2019-linux-gnueabi-'
- compilerArgs = linuxCrossCompilerArgs
- CCompilerArgs = linuxCrossCCompilerArgs
- linkerArgs = linuxCrossLinkerArgs
- debugCompilerArgs = linuxCrossDebugCompilerArgs
- releaseCompilerArgs = linuxCrossReleaseCompilerArgs
- stripBuildTypes = ['debug', 'release']
- compilerFamily = 'Gcc'
- }
+model {
+ components {
+ all {
+ nativeUtils.useAllPlatforms(it)
}
}
-}
-
-if (!project.hasProperty('skipRaspbian') && !project.hasProperty('onlyAthena')) {
- model {
- buildConfigs {
- raspbian(CrossBuildConfig) {
- architecture = 'raspbian'
- operatingSystem = 'linux'
- toolChainPrefix = 'arm-raspbian9-linux-gnueabihf-'
- compilerArgs = linuxCrossCompilerArgs
- CCompilerArgs = linuxCrossCCompilerArgs
- linkerArgs = linuxCrossLinkerArgs
- debugCompilerArgs = linuxCrossDebugCompilerArgs
- releaseCompilerArgs = linuxCrossReleaseCompilerArgs
- stripBuildTypes = ['debug', 'release']
- compilerFamily = 'Gcc'
- }
+ binaries {
+ withType(NativeBinarySpec).all {
+ nativeUtils.usePlatformArguments(it)
}
}
}
-if (!project.hasProperty('onlyAthena') && !hasProperty('onlyRaspbian')) {
- model {
- buildConfigs {
- winX86(BuildConfig) {
- architecture = 'x86'
- operatingSystem = 'windows'
- compilerArgs = windowsCompilerArgs
- CCompilerArgs = windowsCCompilerArgs
- linkerArgs = windowsLinkerArgs
- releaseCompilerArgs = windowsReleaseCompilerArgs
- releaseLinkerArgs = windowsReleaseLinkerArgs
- debugCompilerArgs = windowsDebugCompilerArgs
- compilerFamily = 'VisualCpp'
- detectPlatform = windows32PlatformDetect
- }
- winX64(BuildConfig) {
- architecture = 'x86-64'
- operatingSystem = 'windows'
- compilerArgs = windowsCompilerArgs
- CCompilerArgs = windowsCCompilerArgs
- linkerArgs = windowsLinkerArgs
- releaseCompilerArgs = windowsReleaseCompilerArgs
- releaseLinkerArgs = windowsReleaseLinkerArgs
- debugCompilerArgs = windowsDebugCompilerArgs
- compilerFamily = 'VisualCpp'
- detectPlatform = windows64PlatformDetect
- }
- linuxX64(BuildConfig) {
- architecture = 'x86-64'
- operatingSystem = 'linux'
- compilerArgs = linuxCompilerArgs
- CCompilerArgs = linuxCCompilerArgs
- linkerArgs = linuxLinkerArgs
- debugCompilerArgs = linuxDebugCompilerArgs
- releaseCompilerArgs = linuxReleaseCompilerArgs
- stripBuildTypes = ['debug', 'release']
- compilerFamily = 'Gcc'
- detectPlatform = linux64IntelPlatformDetect
- }
- macX64(BuildConfig) {
- architecture = 'x86-64'
- operatingSystem = 'osx'
- compilerArgs = macCompilerArgs
- CCompilerArgs = macCCompilerArgs
- debugCompilerArgs = macDebugCompilerArgs
- releaseCompilerArgs = macReleaseCompilerArgs
- objCppCompilerArgs = macObjCLinkerArgs
- linkerArgs = macLinkerArgs
- compilerFamily = 'Clang'
- detectPlatform = mac64PlatformDetect
- }
- }
- }
-}
-
-if (project.hasProperty('linuxCross')) {
- model {
- buildConfigs {
- linuxArm(CrossBuildConfig) {
- architecture = 'nativearm'
- operatingSystem = 'linux'
- toolChainPrefix = 'PLEASE_PROVIDE_A_COMPILER_NAME'
- compilerArgs = linuxCompilerArgs
- CCompilerArgs = linuxCCompilerArgs
- linkerArgs = linuxLinkerArgs
- debugCompilerArgs = linuxDebugCompilerArgs
- releaseCompilerArgs = linuxReleaseCompilerArgs
- stripBuildTypes = ['debug', 'release']
- skipByDefault = true
- compilerFamily = 'Gcc'
- }
- }
- }
-} else {
- model {
- buildConfigs {
- linuxArm(BuildConfig) {
- architecture = 'nativearm'
- operatingSystem = 'linux'
- compilerArgs = linuxCompilerArgs
- CCompilerArgs = linuxCCompilerArgs
- linkerArgs = linuxLinkerArgs
- debugCompilerArgs = linuxDebugCompilerArgs
- releaseCompilerArgs = linuxReleaseCompilerArgs
- stripBuildTypes = ['debug', 'release']
- compilerFamily = 'Gcc'
- detectPlatform = linuxArmPlatformDetect
- }
- }
- }
-}
-
-ext.getPublishClassifier = { binary ->
- return NativeUtils.getPublishClassifier(binary)
-}
-
-ext.getPlatformPath = { binary ->
- return NativeUtils.getPlatformPath(binary)
-}
-
ext.appendDebugPathToBinaries = { binaries->
binaries.withType(StaticLibraryBinarySpec) {
if (it.buildType.name.contains('debug')) {
@@ -287,7 +75,7 @@
if (it in NativeLibrarySpec && stringNames.contains(it.name)) {
it.binaries.each {
if (!it.buildable) return
- def target = getPublishClassifier(it)
+ def target = nativeUtils.getPublishClassifier(it)
if (configMap.containsKey(target)) {
configMap.get(target).add(it)
} else {
@@ -325,71 +113,32 @@
return taskList
}
-ext.createAllCombined = { list, name, base, type, project ->
- def outputsFolder = file("$project.buildDir/outputs")
-
- def task = project.tasks.create(base + "-all", type) {
- description = "Creates component archive for all classifiers"
- destinationDir = outputsFolder
- classifier = "all"
- baseName = base
- duplicatesStrategy = 'exclude'
-
- list.each {
- if (it.name.endsWith('debug')) return
- from project.zipTree(it.archivePath)
- dependsOn it
- }
- }
-
- project.build.dependsOn task
-
- project.artifacts {
- task
- }
-
- return task
-
-}
-
ext.includeStandardZipFormat = { task, value ->
value.each { binary ->
if (binary.buildable) {
if (binary instanceof SharedLibraryBinarySpec) {
task.dependsOn binary.tasks.link
task.from(new File(binary.sharedLibraryFile.absolutePath + ".debug")) {
- into getPlatformPath(binary) + '/shared'
+ into nativeUtils.getPlatformPath(binary) + '/shared'
}
def sharedPath = binary.sharedLibraryFile.absolutePath
sharedPath = sharedPath.substring(0, sharedPath.length() - 4)
task.from(new File(sharedPath + '.pdb')) {
- into getPlatformPath(binary) + '/shared'
+ into nativeUtils.getPlatformPath(binary) + '/shared'
}
task.from(binary.sharedLibraryFile) {
- into getPlatformPath(binary) + '/shared'
+ into nativeUtils.getPlatformPath(binary) + '/shared'
}
task.from(binary.sharedLibraryLinkFile) {
- into getPlatformPath(binary) + '/shared'
+ into nativeUtils.getPlatformPath(binary) + '/shared'
}
} else if (binary instanceof StaticLibraryBinarySpec) {
task.dependsOn binary.tasks.createStaticLib
task.from(binary.staticLibraryFile) {
- into getPlatformPath(binary) + '/static'
+ into nativeUtils.getPlatformPath(binary) + '/static'
}
}
}
}
}
-
-ext.getCurrentArch = {
- def arch = System.getProperty('os.arch');
-
- if (arch.equals("x86") || arch.equals("i386")) {
- return 'x86'
- } else if (arch.equals("amd64") || arch.equals("x86_64")) {
- return 'x86-64'
- } else {
- return arch
- }
-}
diff --git a/third_party/allwpilib_2019/shared/googletest.gradle b/third_party/allwpilib_2019/shared/googletest.gradle
index 736d886..ab3b51f 100644
--- a/third_party/allwpilib_2019/shared/googletest.gradle
+++ b/third_party/allwpilib_2019/shared/googletest.gradle
@@ -1,13 +1,7 @@
model {
- dependencyConfigs {
- googletest(DependencyConfig) {
- groupId = 'edu.wpi.first.thirdparty.frc2019'
- artifactId = 'googletest'
- headerClassifier = 'headers'
- ext = 'zip'
- version = '1.8.0-4-4e4df22'
- sharedConfigs = [:]
- staticConfigs = project.staticGtestConfigs
+ binaries {
+ withType(GoogleTestTestSuiteBinarySpec).all {
+ nativeUtils.useRequiredLibrary(it, 'googletest_static')
}
}
}
diff --git a/third_party/allwpilib_2019/shared/java/javacommon.gradle b/third_party/allwpilib_2019/shared/java/javacommon.gradle
index 6595223..4ade369 100644
--- a/third_party/allwpilib_2019/shared/java/javacommon.gradle
+++ b/third_party/allwpilib_2019/shared/java/javacommon.gradle
@@ -1,13 +1,7 @@
apply plugin: 'maven-publish'
apply plugin: 'java'
//apply plugin: 'net.ltgt.errorprone'
-
-def pubVersion
-if (project.hasProperty("publishVersion")) {
- pubVersion = project.publishVersion
-} else {
- pubVersion = WPILibVersion.version
-}
+apply plugin: 'jacoco'
def baseArtifactId = project.baseId
def artifactGroupId = project.groupId
@@ -73,7 +67,7 @@
artifactId = "${baseArtifactId}-java"
groupId artifactGroupId
- version pubVersion
+ version wpilibVersioning.version.get()
}
}
}
@@ -85,9 +79,10 @@
events "failed"
exceptionFormat "full"
}
+ finalizedBy jacocoTestReport
}
-if (project.hasProperty('onlyAthena') || project.hasProperty('onlyRaspbian')) {
+if (project.hasProperty('onlylinuxathena') || project.hasProperty('onlylinuxraspbian') || project.hasProperty('onlylinuxaarch64bionic')) {
test.enabled = false
}
@@ -101,13 +96,13 @@
}
tasks.withType(JavaCompile).configureEach {
- options.compilerArgs = ['--release', '8']
+ options.compilerArgs = ['--release', '11']
}
dependencies {
- testImplementation 'org.junit.jupiter:junit-jupiter-api:5.2.0'
- testImplementation 'org.junit.jupiter:junit-jupiter-params:5.2.0'
- testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.2.0'
+ testImplementation 'org.junit.jupiter:junit-jupiter-api:5.4.2'
+ testImplementation 'org.junit.jupiter:junit-jupiter-params:5.4.2'
+ testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.4.2'
devCompile sourceSets.main.output
@@ -122,3 +117,14 @@
}
build.dependsOn devClasses
+
+jacoco {
+ toolVersion = "0.8.4"
+}
+
+jacocoTestReport {
+ reports {
+ xml.enabled true
+ html.enabled true
+ }
+}
diff --git a/third_party/allwpilib_2019/shared/java/javastyle.gradle b/third_party/allwpilib_2019/shared/java/javastyle.gradle
index e091988..6e4e261 100644
--- a/third_party/allwpilib_2019/shared/java/javastyle.gradle
+++ b/third_party/allwpilib_2019/shared/java/javastyle.gradle
@@ -1,6 +1,5 @@
apply plugin: 'checkstyle'
-apply plugin: 'pmd'
checkstyle {
toolVersion = "8.12"
@@ -8,10 +7,14 @@
config = resources.text.fromFile(new File(configDir, "checkstyle.xml"))
}
-pmd {
- toolVersion = '6.7.0'
- consoleOutput = true
- reportsDir = file("$project.buildDir/reports/pmd")
- ruleSetFiles = files(new File(rootDir, "styleguide/pmd-ruleset.xml"))
- ruleSets = []
+if (!project.hasProperty('skipPMD')) {
+ apply plugin: 'pmd'
+
+ pmd {
+ toolVersion = '6.7.0'
+ consoleOutput = true
+ reportsDir = file("$project.buildDir/reports/pmd")
+ ruleSetFiles = files(new File(rootDir, "styleguide/pmd-ruleset.xml"))
+ ruleSets = []
+ }
}
diff --git a/third_party/allwpilib_2019/shared/javacpp/publish.gradle b/third_party/allwpilib_2019/shared/javacpp/publish.gradle
index 854a996..1dafcbb 100644
--- a/third_party/allwpilib_2019/shared/javacpp/publish.gradle
+++ b/third_party/allwpilib_2019/shared/javacpp/publish.gradle
@@ -1,12 +1,5 @@
apply plugin: 'maven-publish'
-def pubVersion
-if (project.hasProperty("publishVersion")) {
- pubVersion = project.publishVersion
-} else {
- pubVersion = WPILibVersion.version
-}
-
def outputsFolder = file("$buildDir/outputs")
def baseArtifactId = nativeName
@@ -65,7 +58,7 @@
artifactId = "${baseArtifactId}-cpp"
groupId artifactGroupId
- version pubVersion
+ version wpilibVersioning.version.get()
}
}
}
diff --git a/third_party/allwpilib_2019/shared/javacpp/setupBuild.gradle b/third_party/allwpilib_2019/shared/javacpp/setupBuild.gradle
index d2cdd1d..4e6dba7 100644
--- a/third_party/allwpilib_2019/shared/javacpp/setupBuild.gradle
+++ b/third_party/allwpilib_2019/shared/javacpp/setupBuild.gradle
@@ -103,11 +103,7 @@
}
binaries {
withType(GoogleTestTestSuiteBinarySpec) {
- if (!project.hasProperty('onlyAthena') && !project.hasProperty('onlyRaspbian')) {
- lib library: nativeName, linkage: 'shared'
- } else {
- it.buildable = false
- }
+ lib library: nativeName, linkage: 'shared'
}
}
tasks {
@@ -121,7 +117,7 @@
if (it in NativeExecutableSpec && it.name == "${nativeName}Dev") {
it.binaries.each {
if (!found) {
- def arch = it.targetPlatform.architecture.name
+ def arch = it.targetPlatform.name
if (arch == systemArch) {
dependsOn it.tasks.install
commandLine it.tasks.install.runScriptFile.get().asFile.toString()
diff --git a/third_party/allwpilib_2019/shared/jni/publish.gradle b/third_party/allwpilib_2019/shared/jni/publish.gradle
index a6a1abe..e50f87e 100644
--- a/third_party/allwpilib_2019/shared/jni/publish.gradle
+++ b/third_party/allwpilib_2019/shared/jni/publish.gradle
@@ -1,13 +1,6 @@
import java.security.MessageDigest
apply plugin: 'maven-publish'
-def pubVersion
-if (project.hasProperty("publishVersion")) {
- pubVersion = project.publishVersion
-} else {
- pubVersion = WPILibVersion.version
-}
-
def outputsFolder = file("$buildDir/outputs")
def baseArtifactId = nativeName
@@ -82,24 +75,19 @@
task.outputs.file(hashFile)
task.inputs.file(binary.sharedLibraryFile)
task.from(hashFile) {
- into getPlatformPath(binary)
+ into nativeUtils.getPlatformPath(binary)
}
task.doFirst {
hashFile.text = MessageDigest.getInstance("MD5").digest(binary.sharedLibraryFile.bytes).encodeHex().toString()
}
task.from(binary.sharedLibraryFile) {
- into getPlatformPath(binary)
+ into nativeUtils.getPlatformPath(binary)
}
}
}
}
})
- def allJniTask
- if (!project.hasProperty('jenkinsBuild')) {
- allJniTask = createAllCombined(jniTaskList, "${nativeName}JNI", jniBaseName, Jar, project)
- }
-
publications {
cpp(MavenPublication) {
taskList.each {
@@ -110,20 +98,16 @@
artifactId = "${baseArtifactId}-cpp"
groupId artifactGroupId
- version pubVersion
+ version wpilibVersioning.version.get()
}
jni(MavenPublication) {
jniTaskList.each {
artifact it
}
- if (!project.hasProperty('jenkinsBuild')) {
- artifact allJniTask
- }
-
artifactId = "${baseArtifactId}-jni"
groupId artifactGroupId
- version pubVersion
+ version wpilibVersioning.version.get()
}
}
}
diff --git a/third_party/allwpilib_2019/shared/jni/setupBuild.gradle b/third_party/allwpilib_2019/shared/jni/setupBuild.gradle
index a22a67d..35f4cf2 100644
--- a/third_party/allwpilib_2019/shared/jni/setupBuild.gradle
+++ b/third_party/allwpilib_2019/shared/jni/setupBuild.gradle
@@ -16,8 +16,10 @@
apply from: "${rootDir}/shared/java/javacommon.gradle"
dependencies {
- compile project(':wpiutil')
- devCompile project(':wpiutil')
+ if (!project.hasProperty('noWpiutil')) {
+ compile project(':wpiutil')
+ devCompile project(':wpiutil')
+ }
}
project(':').libraryBuild.dependsOn build
@@ -69,7 +71,9 @@
it.buildable = false
return
}
- lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+ if (!project.hasProperty('noWpiutil')) {
+ lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+ }
if (project.hasProperty('splitSetup')) {
splitSetup(it)
}
@@ -93,8 +97,10 @@
}
}
}
- binaries.all {
- lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+ if (!project.hasProperty('noWpiutil')) {
+ binaries.all {
+ lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+ }
}
appendDebugPathToBinaries(binaries)
}
@@ -104,10 +110,12 @@
} else {
baseName = nativeName + 'jni'
}
+
enableCheckTask true
javaCompileTasks << compileJava
- jniCrossCompileOptions << JniCrossCompileOptions('athena')
- jniCrossCompileOptions << JniCrossCompileOptions('raspbian')
+ jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.roborio)
+ jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.raspbian)
+ jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.aarch64bionic)
sources {
cpp {
source {
@@ -130,7 +138,9 @@
return
}
lib library: "${nativeName}", linkage: 'shared'
- lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+ if (!project.hasProperty('noWpiutil')) {
+ lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+ }
if (project.hasProperty('jniSplitSetup')) {
jniSplitSetup(it)
}
@@ -142,10 +152,12 @@
} else {
baseName = nativeName + 'jni'
}
+
enableCheckTask true
javaCompileTasks << compileJava
- jniCrossCompileOptions << JniCrossCompileOptions('athena')
- jniCrossCompileOptions << JniCrossCompileOptions('raspbian')
+ jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.roborio)
+ jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.raspbian)
+ jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.aarch64bionic)
sources {
cpp {
source {
@@ -166,7 +178,9 @@
it.buildable = false
return
}
- lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
+ if (!project.hasProperty('noWpiutil')) {
+ lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
+ }
if (project.hasProperty('jniSplitSetup')) {
jniSplitSetup(it)
}
@@ -194,7 +208,9 @@
binaries.all {
lib library: nativeName, linkage: 'shared'
lib library: "${nativeName}JNIShared", linkage: 'shared'
- lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+ if (!project.hasProperty('noWpiutil')) {
+ lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+ }
}
}
}
@@ -224,11 +240,9 @@
}
binaries {
withType(GoogleTestTestSuiteBinarySpec) {
- if (!project.hasProperty('onlyAthena') && !project.hasProperty('onlyRaspbian')) {
- lib library: nativeName, linkage: 'shared'
+ lib library: nativeName, linkage: 'shared'
+ if (!project.hasProperty('noWpiutil')) {
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
- } else {
- it.buildable = false
}
}
}
@@ -243,7 +257,7 @@
if (it in NativeExecutableSpec && it.name == "${nativeName}Dev") {
it.binaries.each {
if (!found) {
- def arch = it.targetPlatform.architecture.name
+ def arch = it.targetPlatform.name
if (arch == systemArch) {
dependsOn it.tasks.install
commandLine it.tasks.install.runScriptFile.get().asFile.toString()
diff --git a/third_party/allwpilib_2019/shared/nilibraries.gradle b/third_party/allwpilib_2019/shared/nilibraries.gradle
index 937abbf..efb9cfc 100644
--- a/third_party/allwpilib_2019/shared/nilibraries.gradle
+++ b/third_party/allwpilib_2019/shared/nilibraries.gradle
@@ -1,37 +1,10 @@
-def netCommLibConfigs = [:];
-def chipObjectConfigs = [:];
-
-project.chipObjectComponents.each { String s->
- chipObjectConfigs[s] = ['linux:athena']
-}
-
-project.netCommComponents.each { String s->
- netCommLibConfigs[s] = ['linux:athena']
-}
-
-def niLibrariesVersion = '2019.12.1'
-
-model {
- dependencyConfigs {
- chipobject(DependencyConfig) {
- groupId = 'edu.wpi.first.ni-libraries'
- artifactId = 'chipobject'
- headerClassifier = 'headers'
- ext = 'zip'
- version = niLibrariesVersion
- sharedConfigs = chipObjectConfigs
- staticConfigs = [:]
- compileOnlyShared = true
- }
- netcomm(DependencyConfig) {
- groupId = 'edu.wpi.first.ni-libraries'
- artifactId = 'netcomm'
- headerClassifier = 'headers'
- ext = 'zip'
- version = niLibrariesVersion
- sharedConfigs = netCommLibConfigs
- staticConfigs = [:]
- compileOnlyShared = true
- }
- }
-}
+model {
+ binaries {
+ all {
+ if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+ nativeUtils.useRequiredLibrary(it, 'netcomm_shared', 'chipobject_shared')
+ }
+
+ }
+ }
+}
diff --git a/third_party/allwpilib_2019/shared/opencv.gradle b/third_party/allwpilib_2019/shared/opencv.gradle
index ee9403c..7a1dd0f 100644
--- a/third_party/allwpilib_2019/shared/opencv.gradle
+++ b/third_party/allwpilib_2019/shared/opencv.gradle
@@ -1,17 +1,20 @@
-def opencvVersion = '3.4.4-4'
+def opencvVersion = '3.4.7-2'
if (project.hasProperty('useCpp') && project.useCpp) {
model {
- dependencyConfigs {
- opencv(DependencyConfig) {
- groupId = 'edu.wpi.first.thirdparty.frc2019.opencv'
- artifactId = 'opencv-cpp'
- headerClassifier = 'headers'
- ext = 'zip'
- version = opencvVersion
- sharedConfigs = project.sharedCvConfigs
- staticConfigs = project.staticCvConfigs
- linkExcludes = ['**/*java*']
+ binaries {
+ withType(NativeBinarySpec).all {
+ def binary = it
+ project.sharedCvConfigs.each {
+ if (binary.component.name == it.key) {
+ nativeUtils.useRequiredLibrary(binary, 'opencv_shared')
+ }
+ }
+ project.staticCvConfigs.each {
+ if (binary.component.name == it.key) {
+ nativeUtils.useRequiredLibrary(binary, 'opencv_static')
+ }
+ }
}
}
}
@@ -19,12 +22,12 @@
if (project.hasProperty('useJava') && project.useJava) {
dependencies {
- compile "edu.wpi.first.thirdparty.frc2019.opencv:opencv-java:${opencvVersion}"
+ compile "edu.wpi.first.thirdparty.frc2020.opencv:opencv-java:${opencvVersion}"
if (!project.hasProperty('skipDev') || !project.skipDev) {
- devCompile "edu.wpi.first.thirdparty.frc2019.opencv:opencv-java:${opencvVersion}"
+ devCompile "edu.wpi.first.thirdparty.frc2020.opencv:opencv-java:${opencvVersion}"
}
if (project.hasProperty('useDocumentation') && project.useDocumentation) {
- javaSource "edu.wpi.first.thirdparty.frc2019.opencv:opencv-java:${opencvVersion}:sources"
+ javaSource "edu.wpi.first.thirdparty.frc2020.opencv:opencv-java:${opencvVersion}:sources"
}
}
}
diff --git a/third_party/allwpilib_2019/shared/plugins/publish.gradle b/third_party/allwpilib_2019/shared/plugins/publish.gradle
index a9ba538..6f318b7 100644
--- a/third_party/allwpilib_2019/shared/plugins/publish.gradle
+++ b/third_party/allwpilib_2019/shared/plugins/publish.gradle
@@ -1,12 +1,5 @@
apply plugin: 'maven-publish'
-def pubVersion = ''
-if (project.hasProperty("publishVersion")) {
- pubVersion = project.publishVersion
-} else {
- pubVersion = WPILibVersion.version
-}
-
def baseArtifactId = pluginName
def artifactGroupId = 'edu.wpi.first.halsim'
def zipBaseName = "_GROUP_edu_wpi_first_halsim_ID_${pluginName}_CLS"
@@ -56,7 +49,7 @@
if (binary instanceof SharedLibraryBinarySpec) {
task.dependsOn binary.buildTask
task.from(binary.sharedLibraryFile) {
- into getPlatformPath(binary) + '/shared'
+ into nativeUtils.getPlatformPath(binary) + '/shared'
}
}
}
@@ -75,7 +68,7 @@
artifactId = baseArtifactId
groupId artifactGroupId
- version pubVersion
+ version wpilibVersioning.version.get()
}
}
}
diff --git a/third_party/allwpilib_2019/shared/plugins/setupBuild.gradle b/third_party/allwpilib_2019/shared/plugins/setupBuild.gradle
index ba4c6f0..4feb8a9 100644
--- a/third_party/allwpilib_2019/shared/plugins/setupBuild.gradle
+++ b/third_party/allwpilib_2019/shared/plugins/setupBuild.gradle
@@ -10,8 +10,8 @@
apply from: "${rootDir}/shared/nilibraries.gradle"
-if (!project.hasProperty('onlyAthena')) {
- ext.skipAthena = true
+if (!project.hasProperty('onlylinuxathena')) {
+ ext.skiplinuxathena = true
apply from: "${rootDir}/shared/config.gradle"
model {
@@ -57,7 +57,7 @@
}
}
binaries.all {
- if (!project.hasProperty('onlyAthena') && !project.hasProperty('onlyRaspbian')) {
+ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
project(':hal').addHalDependency(it, 'shared')
lib library: pluginName
if (project.hasProperty('includeNtCore')) {
@@ -78,7 +78,7 @@
model {
tasks {
def c = $.components
- if (!project.hasProperty('onlyAthena') && !project.hasProperty('onlyRaspbian')) {
+ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
project.tasks.create('runCpp', Exec) {
group = 'WPILib'
description = "Run the ${pluginName}Dev executable"
@@ -88,7 +88,7 @@
if (it in NativeExecutableSpec && it.name == "${pluginName}Dev") {
it.binaries.each {
if (!found) {
- def arch = it.targetPlatform.architecture.name
+ def arch = it.targetPlatform.name
if (arch == systemArch) {
dependsOn it.tasks.install
commandLine it.tasks.install.runScriptFile.get().asFile.toString()
diff --git a/third_party/allwpilib_2019/simulation/CMakeLists.txt b/third_party/allwpilib_2019/simulation/CMakeLists.txt
new file mode 100644
index 0000000..cd3f0fe
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/CMakeLists.txt
@@ -0,0 +1,9 @@
+add_subdirectory(halsim_gui)
+add_subdirectory(halsim_print)
+add_subdirectory(halsim_lowfi)
+add_subdirectory(halsim_ds_nt)
+#add_subdirectory(gz_msgs)
+#add_subdirectory(frc_gazebo_plugins)
+#add_subdirectory(halsim_gazebo)
+#add_subdirectory(lowfi_simulation)
+add_subdirectory(halsim_ds_socket)
diff --git a/third_party/allwpilib_2019/simulation/frc_gazebo_plugins/build.gradle b/third_party/allwpilib_2019/simulation/frc_gazebo_plugins/build.gradle
index 6d3c908..918094f 100644
--- a/third_party/allwpilib_2019/simulation/frc_gazebo_plugins/build.gradle
+++ b/third_party/allwpilib_2019/simulation/frc_gazebo_plugins/build.gradle
@@ -4,8 +4,8 @@
apply plugin: 'cpp'
apply plugin: "google-test"
-ext.skipAthena = true
-ext.skipRaspbian = true
+ext.skiplinuxathena = true
+ext.skiplinuxraspbian = true
apply from: "${rootDir}/shared/config.gradle"
diff --git a/third_party/allwpilib_2019/simulation/gz_msgs/build.gradle b/third_party/allwpilib_2019/simulation/gz_msgs/build.gradle
index 8264ceb..44f9692 100644
--- a/third_party/allwpilib_2019/simulation/gz_msgs/build.gradle
+++ b/third_party/allwpilib_2019/simulation/gz_msgs/build.gradle
@@ -1,95 +1,95 @@
-plugins {
- id 'cpp'
- id 'java'
- id 'com.google.protobuf' version '0.8.6'
- id 'edu.wpi.first.NativeUtils'
-}
-
-description = "A C++ and Java library to pass FRC Simulation Messages in and out of Gazebo."
-
-/* The simulation does not run on real hardware; so we always skip Athena */
-ext.skipAthena = true
-ext.skipRaspbian = true
-apply from: "${rootDir}/shared/config.gradle"
-
-/* Use a sort of poor man's autoconf to find the protobuf development
- files; on Debian, those are supplied by libprotobuf-dev.
-
- This should get skipped on Windows.
-
- TODO: Add Windows support for the simulation code */
-
-def protobuf_version = ""
-try {
- protobuf_version = "pkg-config --modversion protobuf".execute().text.trim()
- println "Protobuf version is [${protobuf_version}]"
-} catch(Exception ex) {
-}
-
-if (!protobuf_version?.trim()) {
- println "Protobuf is not available. (pkg-config --modversion protobuf failed)"
- protobuf_version = "+"
- if (project.hasProperty("makeSim")) {
- /* Force the build even though we did not find protobuf. */
- println "makeSim set. Forcing build - failure likely."
- }
- else {
- ext.skip_gz_msgs = true
- println "Skipping gz_msgs."
- }
-}
-
-tasks.whenTaskAdded { task ->
- task.onlyIf { !project.hasProperty('skip_gz_msgs') }
-}
-
-dependencies {
- compile "com.google.protobuf:protobuf-java:${protobuf_version}"
- compile "com.google.protobuf:protoc:${protobuf_version}"
-}
-
-/* There is a nice gradle plugin for protobuf, and the protoc tool
- is included; using it simplifies our build process.
- The trick is that we have to use the same version as the system
- copy of libprotobuf-dev */
-protobuf {
- protoc {
- artifact = "com.google.protobuf:protoc:${protobuf_version}"
- }
-
- generatedFilesBaseDir = "$buildDir/generated"
- generateProtoTasks {
- all().each { task ->
- task.builtins {
- cpp {
- outputSubDir = 'simulation/gz_msgs'
- }
- }
- }
- }
-}
-
-model {
- components {
- gz_msgs(NativeLibrarySpec) {
- sources {
- cpp {
- source {
- srcDir "$buildDir/generated/main/simulation/gz_msgs"
- builtBy tasks.generateProto
- }
- exportedHeaders {
- srcDir "src/include"
- srcDir "$buildDir/generated/main"
- }
- }
- }
- /* We must compile with -fPIC to link the static library into an so */
- binaries {
- all {
- cppCompiler.args "-fPIC"
- }
- }
- }
- }
-}
+plugins {
+ id 'cpp'
+ id 'java'
+ id 'com.google.protobuf' version '0.8.8'
+ id 'edu.wpi.first.NativeUtils'
+}
+
+description = "A C++ and Java library to pass FRC Simulation Messages in and out of Gazebo."
+
+/* The simulation does not run on real hardware; so we always skip Athena */
+ext.skiplinuxathena = true
+ext.skiplinuxraspbian = true
+apply from: "${rootDir}/shared/config.gradle"
+
+/* Use a sort of poor man's autoconf to find the protobuf development
+ files; on Debian, those are supplied by libprotobuf-dev.
+
+ This should get skipped on Windows.
+
+ TODO: Add Windows support for the simulation code */
+
+def protobuf_version = ""
+try {
+ protobuf_version = "pkg-config --modversion protobuf".execute().text.trim()
+ println "Protobuf version is [${protobuf_version}]"
+} catch(Exception ex) {
+}
+
+if (!protobuf_version?.trim()) {
+ println "Protobuf is not available. (pkg-config --modversion protobuf failed)"
+ protobuf_version = "+"
+ if (project.hasProperty("makeSim")) {
+ /* Force the build even though we did not find protobuf. */
+ println "makeSim set. Forcing build - failure likely."
+ }
+ else {
+ ext.skip_gz_msgs = true
+ println "Skipping gz_msgs."
+ }
+}
+
+tasks.whenTaskAdded { task ->
+ task.onlyIf { !project.hasProperty('skip_gz_msgs') }
+}
+
+dependencies {
+ compile "com.google.protobuf:protobuf-java:${protobuf_version}"
+ compile "com.google.protobuf:protoc:${protobuf_version}"
+}
+
+/* There is a nice gradle plugin for protobuf, and the protoc tool
+ is included; using it simplifies our build process.
+ The trick is that we have to use the same version as the system
+ copy of libprotobuf-dev */
+protobuf {
+ protoc {
+ artifact = "com.google.protobuf:protoc:${protobuf_version}"
+ }
+
+ generatedFilesBaseDir = "$buildDir/generated"
+ generateProtoTasks {
+ all().each { task ->
+ task.builtins {
+ cpp {
+ outputSubDir = 'simulation/gz_msgs'
+ }
+ }
+ }
+ }
+}
+
+model {
+ components {
+ gz_msgs(NativeLibrarySpec) {
+ sources {
+ cpp {
+ source {
+ srcDir "$buildDir/generated/main/simulation/gz_msgs"
+ builtBy tasks.generateProto
+ }
+ exportedHeaders {
+ srcDir "src/include"
+ srcDir "$buildDir/generated/main"
+ }
+ }
+ }
+ /* We must compile with -fPIC to link the static library into an so */
+ binaries {
+ all {
+ cppCompiler.args "-fPIC"
+ }
+ }
+ }
+ }
+}
diff --git a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/build.gradle b/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/build.gradle
deleted file mode 100644
index c9f754d..0000000
--- a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/build.gradle
+++ /dev/null
@@ -1,198 +0,0 @@
-apply plugin: 'cpp'
-apply plugin: 'google-test-test-suite'
-apply plugin: 'visual-studio'
-apply plugin: 'edu.wpi.first.NativeUtils'
-apply plugin: SingleNativeBuild
-apply plugin: ExtraTasks
-
-ext {
- nativeName = 'halsim_adx_gyro_accelerometer'
-}
-
-apply from: "${rootDir}/shared/config.gradle"
-
-if (!project.hasProperty('onlyAthena')) {
-
- ext {
- sharedCvConfigs = [halsim_adx_gyro_accelerometerTest: []]
- staticCvConfigs = [:]
- useJava = false
- useCpp = true
- }
- apply from: "${rootDir}/shared/opencv.gradle"
-
- ext {
- staticGtestConfigs = [:]
- }
- staticGtestConfigs["${nativeName}Test"] = []
- apply from: "${rootDir}/shared/googletest.gradle"
-
- project(':').libraryBuild.dependsOn build
-
- ext {
- chipObjectComponents = ["$nativeName".toString(), "${nativeName}Base".toString(), "${nativeName}Dev".toString(), "${nativeName}Test".toString()]
- netCommComponents = ["$nativeName".toString(), "${nativeName}Base".toString(), "${nativeName}Dev".toString(), "${nativeName}Test".toString()]
- useNiJava = false
- }
-
- apply from: "${rootDir}/shared/nilibraries.gradle"
-
- model {
- exportsConfigs {
- halsim_adx_gyro_accelerometer(ExportsConfig) {
- x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
- '_CT??_R0?AVbad_cast',
- '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
- '_TI5?AVfailure']
- x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
- '_CT??_R0?AVbad_cast',
- '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
- '_TI5?AVfailure']
- }
- }
- components {
- "${nativeName}Base"(NativeLibrarySpec) {
- sources {
- cpp {
- source {
- srcDirs = ['src/main/native/cpp']
- include '**/*.cpp'
- }
- exportedHeaders {
- srcDirs 'src/main/native/include'
- }
- }
- }
- binaries.all {
- if (it instanceof SharedLibraryBinarySpec) {
- it.buildable = false
- return
- }
- if (it.targetPlatform.architecture.name == 'athena') {
- it.buildable = false
- return
- }
- project(':hal').addHalDependency(it, 'shared')
- lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
- }
- }
- "${nativeName}"(NativeLibrarySpec) {
- sources {
- cpp {
- source {
- srcDirs "${rootDir}/shared/singlelib"
- include '**/*.cpp'
- }
- exportedHeaders {
- srcDirs 'src/main/native/include'
- }
- }
- }
- binaries.all {
- if (it.targetPlatform.architecture.name == 'athena') {
- it.buildable = false
- return
- }
- project(':hal').addHalDependency(it, 'shared')
- lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
- }
- }
- // By default, a development executable will be generated. This is to help the case of
- // testing specific functionality of the library.
- "${nativeName}Dev"(NativeExecutableSpec) {
- targetBuildTypes 'debug'
- sources {
- cpp {
- source {
- srcDirs 'src/dev/native/cpp'
- include '**/*.cpp'
- lib library: "${nativeName}"
- }
- exportedHeaders {
- srcDirs 'src/dev/native/include'
- }
- }
- }
- binaries.all {
- if (it.targetPlatform.architecture.name == 'athena') {
- it.buildable = false
- return
- }
- project(':hal').addHalDependency(it, 'shared')
- lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
- lib library: nativeName, linkage: 'shared'
- }
- }
- }
- binaries {
- withType(GoogleTestTestSuiteBinarySpec) {
- if (!project.hasProperty('onlyAthena') && !project.hasProperty('onlyRaspbian')) {
- lib project: ':ntcore', library: 'ntcore', linkage: 'shared'
- lib project: ':cscore', library: 'cscore', linkage: 'shared'
- project(':hal').addHalDependency(it, 'shared')
- lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
- lib project: ':cameraserver', library: 'cameraserver', linkage: 'shared'
- lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
- lib library: nativeName, linkage: 'shared'
- } else {
- it.buildable = false
- }
- }
- }
- }
-
- apply from: "publish.gradle"
-}
-
-model {
-
- testSuites {
- if (!project.hasProperty('onlyAthena') && !project.hasProperty('onlyRaspbian')) {
- "${nativeName}Test"(GoogleTestTestSuiteSpec) {
- for(NativeComponentSpec c : $.components) {
- if (c.name == nativeName) {
- testing c
- break
- }
- }
- sources {
- cpp {
- source {
- srcDirs 'src/test/native/cpp'
- include '**/*.cpp'
- }
- exportedHeaders {
- srcDirs 'src/test/native/include', 'src/main/native/cpp'
- }
- }
- }
- }
- }
- }
- tasks {
- def c = $.components
- project.tasks.create('runCpp', Exec) {
- def found = false
- c.each {
- if (it in NativeExecutableSpec && it.name == "${nativeName}Dev") {
- it.binaries.each {
- if (!found) {
- def arch = it.targetPlatform.architecture.name
- if (arch == 'x86-64' || arch == 'x86') {
- dependsOn it.tasks.install
- commandLine it.tasks.install.runScriptFile.get().asFile.toString()
-
- found = true
- }
- }
- }
- }
- }
- }
- }
-}
-
-tasks.withType(RunTestExecutable) {
- args "--gtest_output=xml:test_detail.xml"
- outputs.dir outputDir
-}
diff --git a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/publish.gradle b/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/publish.gradle
deleted file mode 100644
index 11feda5..0000000
--- a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/publish.gradle
+++ /dev/null
@@ -1,70 +0,0 @@
-apply plugin: 'maven-publish'
-
-def pubVersion = ''
-if (project.hasProperty("publishVersion")) {
- pubVersion = project.publishVersion
-} else {
- pubVersion = WPILibVersion.version
-}
-
-def baseArtifactId = nativeName
-def artifactGroupId = 'edu.wpi.first.halsim'
-def zipBaseName = "_GROUP_edu_wpi_first_halsim_ID_${nativeName}_CLS"
-
-def outputsFolder = file("$project.buildDir/outputs")
-
-task cppSourcesZip(type: Zip) {
- destinationDir = outputsFolder
- baseName = zipBaseName
- classifier = "sources"
-
- from(licenseFile) {
- into '/'
- }
-
- from('src/main/native/cpp') {
- into '/'
- }
-}
-
-task cppHeadersZip(type: Zip) {
- destinationDir = outputsFolder
- baseName = zipBaseName
- classifier = "headers"
-
- from(licenseFile) {
- into '/'
- }
-
- from('src/main/native/include') {
- into '/'
- }
-}
-
-build.dependsOn cppSourcesZip
-build.dependsOn cppHeadersZip
-
-addTaskToCopyAllOutputs(cppSourcesZip)
-addTaskToCopyAllOutputs(cppHeadersZip)
-
-model {
- publishing {
- def halsim_adx_gyro_accelerometerTaskList = createComponentZipTasks($.components, [nativeName], zipBaseName, Zip, project, includeStandardZipFormat)
-
- publications {
- cpp(MavenPublication) {
- halsim_adx_gyro_accelerometerTaskList.each {
- artifact it
- }
-
- artifact cppHeadersZip
- artifact cppSourcesZip
-
-
- artifactId = baseArtifactId
- groupId artifactGroupId
- version pubVersion
- }
- }
- }
-}
diff --git a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/dev/native/cpp/main.cpp b/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/dev/native/cpp/main.cpp
deleted file mode 100644
index e324b44..0000000
--- a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/dev/native/cpp/main.cpp
+++ /dev/null
@@ -1,8 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-int main() {}
diff --git a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ADXL345_I2CAccelerometerData.cpp b/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ADXL345_I2CAccelerometerData.cpp
deleted file mode 100644
index f0650db..0000000
--- a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ADXL345_I2CAccelerometerData.cpp
+++ /dev/null
@@ -1,73 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#include "ADXL345_I2CAccelerometerData.h"
-
-#include <cstring>
-
-#include <mockdata/I2CData.h>
-
-using namespace hal;
-
-const double ADXL345_I2CData::LSB = 1 / 0.00390625;
-
-static void ADXL345I2C_ReadBufferCallback(const char* name, void* param,
- uint8_t* buffer, uint32_t count) {
- ADXL345_I2CData* sim = static_cast<ADXL345_I2CData*>(param);
- sim->HandleRead(buffer, count);
-}
-
-static void ADXL345I2C_WriteBufferCallback(const char* name, void* param,
- const uint8_t* buffer,
- uint32_t count) {
- ADXL345_I2CData* sim = static_cast<ADXL345_I2CData*>(param);
- sim->HandleWrite(buffer, count);
-}
-
-ADXL345_I2CData::ADXL345_I2CData(int port) : m_port(port) {
- m_readCallbackId =
- HALSIM_RegisterI2CReadCallback(port, ADXL345I2C_ReadBufferCallback, this);
- m_writeCallbackId = HALSIM_RegisterI2CWriteCallback(
- port, ADXL345I2C_WriteBufferCallback, this);
-}
-
-ADXL345_I2CData::~ADXL345_I2CData() {
- HALSIM_CancelI2CReadCallback(m_port, m_readCallbackId);
- HALSIM_CancelI2CWriteCallback(m_port, m_writeCallbackId);
-}
-
-bool ADXL345_I2CData::GetInitialized() const {
- return HALSIM_GetI2CInitialized(m_port);
-}
-
-void ADXL345_I2CData::ADXL345_I2CData::HandleWrite(const uint8_t* buffer,
- uint32_t count) {
- m_lastWriteAddress = buffer[0];
-}
-
-void ADXL345_I2CData::HandleRead(uint8_t* buffer, uint32_t count) {
- bool writeAll = count == 6;
- int byteIndex = 0;
-
- if (writeAll || m_lastWriteAddress == 0x32) {
- int16_t val = static_cast<int16_t>(GetX() * LSB);
- std::memcpy(&buffer[byteIndex], &val, sizeof(val));
- byteIndex += sizeof(val);
- }
-
- if (writeAll || m_lastWriteAddress == 0x34) {
- int16_t val = static_cast<int16_t>(GetY() * LSB);
- std::memcpy(&buffer[byteIndex], &val, sizeof(val));
- byteIndex += sizeof(val);
- }
-
- if (writeAll || m_lastWriteAddress == 0x36) {
- int16_t val = static_cast<int16_t>(GetZ() * LSB);
- std::memcpy(&buffer[byteIndex], &val, sizeof(val));
- byteIndex += sizeof(val);
- }
-}
diff --git a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ADXL345_SpiAccelerometerData.cpp b/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ADXL345_SpiAccelerometerData.cpp
deleted file mode 100644
index e60f4a7..0000000
--- a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ADXL345_SpiAccelerometerData.cpp
+++ /dev/null
@@ -1,73 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#include "ADXL345_SpiAccelerometerData.h"
-
-#include <cstring>
-
-#include <mockdata/SPIData.h>
-
-using namespace hal;
-
-const double ADXL345_SpiAccelerometer::LSB = 1 / 0.00390625;
-
-static void ADXL345SPI_ReadBufferCallback(const char* name, void* param,
- uint8_t* buffer, uint32_t count) {
- ADXL345_SpiAccelerometer* sim = static_cast<ADXL345_SpiAccelerometer*>(param);
- sim->HandleRead(buffer, count);
-}
-
-static void ADXL345SPI_WriteBufferCallback(const char* name, void* param,
- const uint8_t* buffer,
- uint32_t count) {
- ADXL345_SpiAccelerometer* sim = static_cast<ADXL345_SpiAccelerometer*>(param);
- sim->HandleWrite(buffer, count);
-}
-
-ADXL345_SpiAccelerometer::ADXL345_SpiAccelerometer(int port) : m_port(port) {
- m_readCallbackId =
- HALSIM_RegisterSPIReadCallback(port, ADXL345SPI_ReadBufferCallback, this);
- m_writeCallbackId = HALSIM_RegisterSPIWriteCallback(
- port, ADXL345SPI_WriteBufferCallback, this);
-}
-
-ADXL345_SpiAccelerometer::~ADXL345_SpiAccelerometer() {
- HALSIM_CancelSPIReadCallback(m_port, m_readCallbackId);
- HALSIM_CancelSPIWriteCallback(m_port, m_writeCallbackId);
-}
-
-bool ADXL345_SpiAccelerometer::GetInitialized() const {
- return HALSIM_GetSPIInitialized(m_port);
-}
-
-void ADXL345_SpiAccelerometer::HandleWrite(const uint8_t* buffer,
- uint32_t count) {
- m_lastWriteAddress = buffer[0] & 0xF;
-}
-
-void ADXL345_SpiAccelerometer::HandleRead(uint8_t* buffer, uint32_t count) {
- bool writeAll = count == 7;
- int byteIndex = 1;
-
- if (writeAll || m_lastWriteAddress == 0x02) {
- int16_t val = static_cast<int16_t>(GetX() * LSB);
- std::memcpy(&buffer[byteIndex], &val, sizeof(val));
- byteIndex += sizeof(val);
- }
-
- if (writeAll || m_lastWriteAddress == 0x04) {
- int16_t val = static_cast<int16_t>(GetY() * LSB);
- std::memcpy(&buffer[byteIndex], &val, sizeof(val));
- byteIndex += sizeof(val);
- }
-
- if (writeAll || m_lastWriteAddress == 0x06) {
- int16_t val = static_cast<int16_t>(GetZ() * LSB);
- std::memcpy(&buffer[byteIndex], &val, sizeof(val));
- byteIndex += sizeof(val);
- }
-}
diff --git a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ADXL362_SpiAccelerometerData.cpp b/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ADXL362_SpiAccelerometerData.cpp
deleted file mode 100644
index 306be89..0000000
--- a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ADXL362_SpiAccelerometerData.cpp
+++ /dev/null
@@ -1,79 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#include "ADXL362_SpiAccelerometerData.h"
-
-#include <cstring>
-
-#include <mockdata/SPIData.h>
-
-using namespace hal;
-
-const double ADXL362_SpiAccelerometer::LSB = 1 / 0.001;
-
-static void ADXL362SPI_ReadBufferCallback(const char* name, void* param,
- uint8_t* buffer, uint32_t count) {
- ADXL362_SpiAccelerometer* sim = static_cast<ADXL362_SpiAccelerometer*>(param);
- sim->HandleRead(buffer, count);
-}
-
-static void ADXL362SPI_WriteBufferCallback(const char* name, void* param,
- const uint8_t* buffer,
- uint32_t count) {
- ADXL362_SpiAccelerometer* sim = static_cast<ADXL362_SpiAccelerometer*>(param);
- sim->HandleWrite(buffer, count);
-}
-
-ADXL362_SpiAccelerometer::ADXL362_SpiAccelerometer(int port) : m_port(port) {
- m_readCallbackId =
- HALSIM_RegisterSPIReadCallback(port, ADXL362SPI_ReadBufferCallback, this);
- m_writeCallbackId = HALSIM_RegisterSPIWriteCallback(
- port, ADXL362SPI_WriteBufferCallback, this);
-}
-
-ADXL362_SpiAccelerometer::~ADXL362_SpiAccelerometer() {
- HALSIM_CancelSPIReadCallback(m_port, m_readCallbackId);
- HALSIM_CancelSPIWriteCallback(m_port, m_writeCallbackId);
-}
-bool ADXL362_SpiAccelerometer::GetInitialized() const {
- return HALSIM_GetSPIInitialized(m_port);
-}
-
-void ADXL362_SpiAccelerometer::HandleWrite(const uint8_t* buffer,
- uint32_t count) {
- m_lastWriteAddress = buffer[1];
-}
-
-void ADXL362_SpiAccelerometer::HandleRead(uint8_t* buffer, uint32_t count) {
- // Init check
- if (m_lastWriteAddress == 0x02) {
- uint32_t numToPut = 0xF20000;
- std::memcpy(&buffer[0], &numToPut, sizeof(numToPut));
- } else {
- // Get Accelerations
- bool writeAll = count == 8;
- int byteIndex = 2;
-
- if (writeAll || m_lastWriteAddress == 0x0E) {
- int16_t val = static_cast<int16_t>(GetX() * LSB);
- std::memcpy(&buffer[byteIndex], &val, sizeof(val));
- byteIndex += sizeof(val);
- }
-
- if (writeAll || m_lastWriteAddress == 0x10) {
- int16_t val = static_cast<int16_t>(GetY() * LSB);
- std::memcpy(&buffer[byteIndex], &val, sizeof(val));
- byteIndex += sizeof(val);
- }
-
- if (writeAll || m_lastWriteAddress == 0x12) {
- int16_t val = static_cast<int16_t>(GetZ() * LSB);
- std::memcpy(&buffer[byteIndex], &val, sizeof(val));
- byteIndex += sizeof(val);
- }
- }
-}
diff --git a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ADXRS450_SpiGyroWrapperData.cpp b/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ADXRS450_SpiGyroWrapperData.cpp
deleted file mode 100644
index 5658b30..0000000
--- a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ADXRS450_SpiGyroWrapperData.cpp
+++ /dev/null
@@ -1,132 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#include "ADXRS450_SpiGyroWrapperData.h"
-
-#include <algorithm>
-#include <cmath>
-#include <cstring>
-
-#include <hal/HALBase.h>
-#include <mockdata/SPIData.h>
-
-#ifdef _WIN32
-#include "Winsock2.h"
-#pragma comment(lib, "ws2_32.lib")
-#else
-#include <arpa/inet.h>
-#endif
-
-using namespace hal;
-
-static constexpr double kSamplePeriod = 0.0005;
-
-const double ADXRS450_SpiGyroWrapper::kAngleLsb = 1 / 0.0125 / kSamplePeriod;
-const double ADXRS450_SpiGyroWrapper::kMaxAngleDeltaPerMessage = 0.1875;
-const int ADXRS450_SpiGyroWrapper::kPacketSize = 4 + 1; // +1 for timestamp
-
-template <class T>
-constexpr const T& clamp(const T& value, const T& low, const T& high) {
- return std::max(low, std::min(value, high));
-}
-
-static void ADXRS450SPI_ReadBufferCallback(const char* name, void* param,
- uint8_t* buffer, uint32_t count) {
- auto sim = static_cast<ADXRS450_SpiGyroWrapper*>(param);
- sim->HandleRead(buffer, count);
-}
-
-static void ADXRS450SPI_ReadAutoReceivedData(const char* name, void* param,
- uint32_t* buffer,
- int32_t numToRead,
- int32_t* outputCount) {
- auto sim = static_cast<ADXRS450_SpiGyroWrapper*>(param);
- sim->HandleAutoReceiveData(buffer, numToRead, *outputCount);
-}
-
-ADXRS450_SpiGyroWrapper::ADXRS450_SpiGyroWrapper(int port) : m_port(port) {
- m_readCallbackId = HALSIM_RegisterSPIReadCallback(
- port, ADXRS450SPI_ReadBufferCallback, this);
- m_autoReceiveReadCallbackId = HALSIM_RegisterSPIReadAutoReceivedDataCallback(
- port, ADXRS450SPI_ReadAutoReceivedData, this);
-}
-
-ADXRS450_SpiGyroWrapper::~ADXRS450_SpiGyroWrapper() {
- HALSIM_CancelSPIReadCallback(m_port, m_readCallbackId);
- HALSIM_CancelSPIReadAutoReceivedDataCallback(m_port,
- m_autoReceiveReadCallbackId);
-}
-bool ADXRS450_SpiGyroWrapper::GetInitialized() const {
- return HALSIM_GetSPIInitialized(m_port);
-}
-
-void ADXRS450_SpiGyroWrapper::ResetData() {
- std::lock_guard<wpi::recursive_spinlock> lock(m_angle.GetMutex());
- m_angle.Reset(0.0);
- m_angleDiff = 0;
-}
-
-void ADXRS450_SpiGyroWrapper::HandleRead(uint8_t* buffer, uint32_t count) {
- int returnCode = 0x00400AE0;
- std::memcpy(&buffer[0], &returnCode, sizeof(returnCode));
-}
-
-void ADXRS450_SpiGyroWrapper::HandleAutoReceiveData(uint32_t* buffer,
- int32_t numToRead,
- int32_t& outputCount) {
- std::lock_guard<wpi::recursive_spinlock> lock(m_angle.GetMutex());
- int32_t messagesToSend =
- 1 + std::abs(m_angleDiff > 0
- ? std::ceil(m_angleDiff / kMaxAngleDeltaPerMessage)
- : std::floor(m_angleDiff / kMaxAngleDeltaPerMessage));
-
- // Zero gets passed in during the "How much data do I need to read" step.
- // Else it is actually reading the accumulator
- if (numToRead == 0) {
- outputCount = messagesToSend * kPacketSize;
- return;
- }
-
- int valuesToRead = numToRead / kPacketSize;
- std::memset(&buffer[0], 0, numToRead * sizeof(uint32_t));
-
- int32_t status = 0;
- uint32_t timestamp = HAL_GetFPGATime(&status);
-
- for (int msgCtr = 0; msgCtr < valuesToRead; ++msgCtr) {
- // force the first message to be a rate of 0 to init the timestamp
- double cappedDiff = (msgCtr == 0)
- ? 0
- : clamp(m_angleDiff, -kMaxAngleDeltaPerMessage,
- kMaxAngleDeltaPerMessage);
-
- // first word is timestamp
- buffer[msgCtr * kPacketSize] = timestamp;
-
- int32_t valueToSend =
- ((static_cast<int32_t>(cappedDiff * kAngleLsb) << 10) & (~0x0C00000E)) |
- 0x04000000;
-
- // following words have byte in LSB, in big endian order
- for (int i = 4; i >= 1; --i) {
- buffer[msgCtr * kPacketSize + i] =
- static_cast<uint32_t>(valueToSend) & 0xffu;
- valueToSend >>= 8;
- }
-
- m_angleDiff -= cappedDiff;
- timestamp += kSamplePeriod * 1e6; // fpga time is in us
- }
-}
-
-void ADXRS450_SpiGyroWrapper::SetAngle(double angle) {
- std::lock_guard<wpi::recursive_spinlock> lock(m_angle.GetMutex());
- if (m_angle != angle) {
- m_angleDiff += angle - m_angle;
- m_angle = angle;
- }
-}
diff --git a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ThreeAxisAccelerometerData.cpp b/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ThreeAxisAccelerometerData.cpp
deleted file mode 100644
index f2483af..0000000
--- a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ThreeAxisAccelerometerData.cpp
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#include "ThreeAxisAccelerometerData.h"
-
-using namespace hal;
-
-ThreeAxisAccelerometerData::ThreeAxisAccelerometerData() {}
-
-ThreeAxisAccelerometerData::~ThreeAxisAccelerometerData() {}
-void ThreeAxisAccelerometerData::ResetData() {
- x.Reset(0.0);
- y.Reset(0.0);
- z.Reset(0.0);
-}
diff --git a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/main/native/include/ADXL345_I2CAccelerometerData.h b/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/main/native/include/ADXL345_I2CAccelerometerData.h
deleted file mode 100644
index a08e9f2..0000000
--- a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/main/native/include/ADXL345_I2CAccelerometerData.h
+++ /dev/null
@@ -1,32 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include "ThreeAxisAccelerometerData.h"
-
-namespace hal {
-class ADXL345_I2CData : public ThreeAxisAccelerometerData {
- public:
- explicit ADXL345_I2CData(int port);
- virtual ~ADXL345_I2CData();
-
- bool GetInitialized() const override;
-
- void HandleWrite(const uint8_t* buffer, uint32_t count);
- void HandleRead(uint8_t* buffer, uint32_t count);
-
- private:
- int m_port;
- int m_writeCallbackId;
- int m_readCallbackId;
-
- int m_lastWriteAddress;
-
- static const double LSB;
-};
-} // namespace hal
diff --git a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/main/native/include/ADXL345_SpiAccelerometerData.h b/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/main/native/include/ADXL345_SpiAccelerometerData.h
deleted file mode 100644
index 23140cb..0000000
--- a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/main/native/include/ADXL345_SpiAccelerometerData.h
+++ /dev/null
@@ -1,32 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include "ThreeAxisAccelerometerData.h"
-
-namespace hal {
-class ADXL345_SpiAccelerometer : public ThreeAxisAccelerometerData {
- public:
- explicit ADXL345_SpiAccelerometer(int port);
- virtual ~ADXL345_SpiAccelerometer();
-
- bool GetInitialized() const override;
-
- void HandleWrite(const uint8_t* buffer, uint32_t count);
- void HandleRead(uint8_t* buffer, uint32_t count);
-
- private:
- int m_port;
- int m_writeCallbackId;
- int m_readCallbackId;
-
- int m_lastWriteAddress;
-
- static const double LSB;
-};
-} // namespace hal
diff --git a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/main/native/include/ADXL362_SpiAccelerometerData.h b/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/main/native/include/ADXL362_SpiAccelerometerData.h
deleted file mode 100644
index 258efb8..0000000
--- a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/main/native/include/ADXL362_SpiAccelerometerData.h
+++ /dev/null
@@ -1,32 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include "ThreeAxisAccelerometerData.h"
-
-namespace hal {
-class ADXL362_SpiAccelerometer : public ThreeAxisAccelerometerData {
- public:
- explicit ADXL362_SpiAccelerometer(int port);
- virtual ~ADXL362_SpiAccelerometer();
-
- bool GetInitialized() const override;
-
- void HandleWrite(const uint8_t* buffer, uint32_t count);
- void HandleRead(uint8_t* buffer, uint32_t count);
-
- private:
- int m_port;
- int m_writeCallbackId;
- int m_readCallbackId;
-
- int m_lastWriteAddress;
-
- static const double LSB;
-};
-} // namespace hal
diff --git a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/main/native/include/ADXRS450_SpiGyroWrapperData.h b/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/main/native/include/ADXRS450_SpiGyroWrapperData.h
deleted file mode 100644
index 25e8376..0000000
--- a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/main/native/include/ADXRS450_SpiGyroWrapperData.h
+++ /dev/null
@@ -1,50 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include <mockdata/SimDataValue.h>
-
-namespace hal {
-class ADXRS450_SpiGyroWrapper {
- public:
- explicit ADXRS450_SpiGyroWrapper(int port);
- virtual ~ADXRS450_SpiGyroWrapper();
-
- bool GetInitialized() const;
-
- void HandleRead(uint8_t* buffer, uint32_t count);
- void HandleAutoReceiveData(uint32_t* buffer, int32_t numToRead,
- int32_t& outputCount);
-
- int32_t RegisterAngleCallback(HAL_NotifyCallback callback, void* param,
- HAL_Bool initialNotify) {
- return m_angle.RegisterCallback(callback, param, initialNotify);
- }
- void CancelAngleCallback(int32_t uid) { m_angle.CancelCallback(uid); }
- double GetAngle() { return m_angle; }
- void SetAngle(double angle);
-
- virtual void ResetData();
-
- private:
- int m_port;
- int m_readCallbackId;
- int m_autoReceiveReadCallbackId;
-
- HAL_SIMDATAVALUE_DEFINE_NAME(Angle)
-
- SimDataValue<double, MakeDouble, GetAngleName> m_angle{0.0};
- double m_angleDiff = 0.0;
-
- static const double kAngleLsb;
- // The maximum difference that can fit inside of the shifted and masked data
- // field, per transaction
- static const double kMaxAngleDeltaPerMessage;
- static const int kPacketSize;
-};
-} // namespace hal
diff --git a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/main/native/include/ThreeAxisAccelerometerData.h b/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/main/native/include/ThreeAxisAccelerometerData.h
deleted file mode 100644
index 67412e5..0000000
--- a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/main/native/include/ThreeAxisAccelerometerData.h
+++ /dev/null
@@ -1,39 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include <mockdata/SimDataValue.h>
-
-namespace hal {
-class ThreeAxisAccelerometerData {
- HAL_SIMDATAVALUE_DEFINE_NAME(X);
- HAL_SIMDATAVALUE_DEFINE_NAME(Y);
- HAL_SIMDATAVALUE_DEFINE_NAME(Z);
-
- public:
- ThreeAxisAccelerometerData();
- virtual ~ThreeAxisAccelerometerData();
-
- virtual bool GetInitialized() const = 0;
-
- double GetX() { return x; }
- void SetX(double x_) { x = x_; }
-
- double GetY() { return y; }
- void SetY(double y_) { y = y_; }
-
- double GetZ() { return z; }
- void SetZ(double z_) { z = z_; }
-
- SimDataValue<double, MakeDouble, GetXName> x{0.0};
- SimDataValue<double, MakeDouble, GetYName> y{0.0};
- SimDataValue<double, MakeDouble, GetZName> z{0.0};
-
- virtual void ResetData();
-};
-} // namespace hal
diff --git a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL345_I2CAccelerometerTest.cpp b/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL345_I2CAccelerometerTest.cpp
deleted file mode 100644
index aa58861..0000000
--- a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL345_I2CAccelerometerTest.cpp
+++ /dev/null
@@ -1,47 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#include "ADXL345_I2CAccelerometerData.h"
-#include "frc/ADXL345_I2C.h"
-#include "gtest/gtest.h"
-
-class ADXL345_I2CAccelerometerTest
- : public ::testing::TestWithParam<frc::I2C::Port> {};
-
-TEST_P(ADXL345_I2CAccelerometerTest, TestAccelerometer) {
- const double EPSILON = 1 / 256.0;
-
- frc::I2C::Port port = GetParam();
-
- hal::ADXL345_I2CData sim{port};
- frc::ADXL345_I2C accel{port};
-
- EXPECT_NEAR(0, sim.GetX(), EPSILON);
- EXPECT_NEAR(0, sim.GetY(), EPSILON);
- EXPECT_NEAR(0, sim.GetZ(), EPSILON);
-
- EXPECT_NEAR(0, accel.GetX(), EPSILON);
- EXPECT_NEAR(0, accel.GetY(), EPSILON);
- EXPECT_NEAR(0, accel.GetZ(), EPSILON);
-
- sim.SetX(1.56);
- sim.SetY(-.653);
- sim.SetZ(0.11);
-
- EXPECT_NEAR(1.56, sim.GetX(), EPSILON);
- EXPECT_NEAR(-.653, sim.GetY(), EPSILON);
- EXPECT_NEAR(0.11, sim.GetZ(), EPSILON);
-
- EXPECT_NEAR(1.56, accel.GetX(), EPSILON);
- EXPECT_NEAR(-.653, accel.GetY(), EPSILON);
- EXPECT_NEAR(0.11, accel.GetZ(), EPSILON);
-}
-
-INSTANTIATE_TEST_CASE_P(ADXL345_I2CAccelerometerTest,
- ADXL345_I2CAccelerometerTest,
- ::testing::Values(frc::I2C::kOnboard,
- frc::I2C::kMXP), );
diff --git a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL345_SpiAccelerometerTest.cpp b/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL345_SpiAccelerometerTest.cpp
deleted file mode 100644
index 548240d..0000000
--- a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL345_SpiAccelerometerTest.cpp
+++ /dev/null
@@ -1,48 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#include "ADXL345_SpiAccelerometerData.h"
-#include "frc/ADXL345_SPI.h"
-#include "gtest/gtest.h"
-
-class ADXL345_SpiAccelerometerTest
- : public ::testing::TestWithParam<frc::SPI::Port> {};
-
-TEST_P(ADXL345_SpiAccelerometerTest, TestAccelerometer) {
- const double EPSILON = 1 / 256.0;
-
- frc::SPI::Port port = GetParam();
-
- hal::ADXL345_SpiAccelerometer sim{port};
- frc::ADXL345_SPI accel{port};
-
- EXPECT_NEAR(0, sim.GetX(), EPSILON);
- EXPECT_NEAR(0, sim.GetY(), EPSILON);
- EXPECT_NEAR(0, sim.GetZ(), EPSILON);
-
- EXPECT_NEAR(0, accel.GetX(), EPSILON);
- EXPECT_NEAR(0, accel.GetY(), EPSILON);
- EXPECT_NEAR(0, accel.GetZ(), EPSILON);
-
- sim.SetX(1.56);
- sim.SetY(-.653);
- sim.SetZ(0.11);
-
- EXPECT_NEAR(1.56, sim.GetX(), EPSILON);
- EXPECT_NEAR(-.653, sim.GetY(), EPSILON);
- EXPECT_NEAR(0.11, sim.GetZ(), EPSILON);
-
- EXPECT_NEAR(1.56, accel.GetX(), EPSILON);
- EXPECT_NEAR(-.653, accel.GetY(), EPSILON);
- EXPECT_NEAR(0.11, accel.GetZ(), EPSILON);
-}
-
-INSTANTIATE_TEST_CASE_P(
- ADXL345_SpiAccelerometerTest, ADXL345_SpiAccelerometerTest,
- ::testing::Values(frc::SPI::kOnboardCS0, frc::SPI::kOnboardCS1,
- frc::SPI::kOnboardCS2, frc::SPI::kOnboardCS3,
- frc::SPI::kMXP), );
diff --git a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL362_SpiAccelerometerTest.cpp b/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL362_SpiAccelerometerTest.cpp
deleted file mode 100644
index 67efd18..0000000
--- a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL362_SpiAccelerometerTest.cpp
+++ /dev/null
@@ -1,48 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#include "ADXL362_SpiAccelerometerData.h"
-#include "frc/ADXL362.h"
-#include "gtest/gtest.h"
-
-class ADXL362_SpiAccelerometerTest
- : public ::testing::TestWithParam<frc::SPI::Port> {};
-
-TEST_P(ADXL362_SpiAccelerometerTest, TestAccelerometer) {
- const double EPSILON = 1 / 256.0;
-
- frc::SPI::Port port = GetParam();
-
- hal::ADXL362_SpiAccelerometer sim{port};
- frc::ADXL362 accel{port};
-
- EXPECT_NEAR(0, sim.GetX(), EPSILON);
- EXPECT_NEAR(0, sim.GetY(), EPSILON);
- EXPECT_NEAR(0, sim.GetZ(), EPSILON);
-
- EXPECT_NEAR(0, accel.GetX(), EPSILON);
- EXPECT_NEAR(0, accel.GetY(), EPSILON);
- EXPECT_NEAR(0, accel.GetZ(), EPSILON);
-
- sim.SetX(1.56);
- sim.SetY(-.653);
- sim.SetZ(0.11);
-
- EXPECT_NEAR(1.56, sim.GetX(), EPSILON);
- EXPECT_NEAR(-.653, sim.GetY(), EPSILON);
- EXPECT_NEAR(0.11, sim.GetZ(), EPSILON);
-
- EXPECT_NEAR(1.56, accel.GetX(), EPSILON);
- EXPECT_NEAR(-.653, accel.GetY(), EPSILON);
- EXPECT_NEAR(0.11, accel.GetZ(), EPSILON);
-}
-
-INSTANTIATE_TEST_CASE_P(
- ADXL362_SpiAccelerometerTest, ADXL362_SpiAccelerometerTest,
- ::testing::Values(frc::SPI::kOnboardCS0, frc::SPI::kOnboardCS1,
- frc::SPI::kOnboardCS2, frc::SPI::kOnboardCS3,
- frc::SPI::kMXP), );
diff --git a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXRS450_SpiGyroWrapperTest.cpp b/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXRS450_SpiGyroWrapperTest.cpp
deleted file mode 100644
index f1c14ca..0000000
--- a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXRS450_SpiGyroWrapperTest.cpp
+++ /dev/null
@@ -1,41 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#include "ADXRS450_SpiGyroWrapperData.h"
-#include "frc/ADXRS450_Gyro.h"
-#include "gtest/gtest.h"
-
-class ADXRS450_SpiGyroWrapperTest
- : public ::testing::TestWithParam<frc::SPI::Port> {};
-
-TEST_P(ADXRS450_SpiGyroWrapperTest, TestAccelerometer) {
-#ifdef __APPLE__
- // Disable test on mac, because of unknown failures
- // TODO: Finally figure out the isse.
- return;
-#else
- const double EPSILON = .000001;
-
- frc::SPI::Port port = GetParam();
-
- hal::ADXRS450_SpiGyroWrapper sim{port};
- frc::ADXRS450_Gyro gyro{port};
-
- EXPECT_NEAR(0, sim.GetAngle(), EPSILON);
- EXPECT_NEAR(0, gyro.GetAngle(), EPSILON);
-
- sim.SetAngle(32.56);
- EXPECT_NEAR(32.56, sim.GetAngle(), EPSILON);
- EXPECT_NEAR(32.56, gyro.GetAngle(), EPSILON);
-#endif
-}
-
-INSTANTIATE_TEST_CASE_P(
- ADXRS450_SpiGyroWrapperTest, ADXRS450_SpiGyroWrapperTest,
- ::testing::Values(frc::SPI::kOnboardCS0, frc::SPI::kOnboardCS1,
- frc::SPI::kOnboardCS2, frc::SPI::kOnboardCS3,
- frc::SPI::kMXP), );
diff --git a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/main.cpp b/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/main.cpp
deleted file mode 100644
index 0e00efa..0000000
--- a/third_party/allwpilib_2019/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/main.cpp
+++ /dev/null
@@ -1,17 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#include <hal/HAL.h>
-
-#include "gtest/gtest.h"
-
-int main(int argc, char** argv) {
- HAL_Initialize(500, 0);
- ::testing::InitGoogleTest(&argc, argv);
- int ret = RUN_ALL_TESTS();
- return ret;
-}
diff --git a/third_party/allwpilib_2019/simulation/halsim_ds_nt/CMakeLists.txt b/third_party/allwpilib_2019/simulation/halsim_ds_nt/CMakeLists.txt
new file mode 100644
index 0000000..bfed6ff
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_ds_nt/CMakeLists.txt
@@ -0,0 +1,16 @@
+project(halsim_ds_nt)
+
+include(CompileWarnings)
+
+file(GLOB halsim_ds_nt_src src/main/native/cpp/*.cpp)
+
+add_library(halsim_ds_nt MODULE ${halsim_ds_nt_src})
+wpilib_target_warnings(halsim_ds_nt)
+set_target_properties(halsim_ds_nt PROPERTIES DEBUG_POSTFIX "d")
+target_link_libraries(halsim_ds_nt PUBLIC hal ntcore)
+
+target_include_directories(halsim_ds_nt PRIVATE src/main/native/include)
+
+set_property(TARGET halsim_ds_nt PROPERTY FOLDER "libraries")
+
+install(TARGETS halsim_ds_nt EXPORT halsim_ds_nt DESTINATION "${main_lib_dest}")
diff --git a/third_party/allwpilib_2019/simulation/halsim_ds_nt/src/main/native/cpp/HALSimDsNt.cpp b/third_party/allwpilib_2019/simulation/halsim_ds_nt/src/main/native/cpp/HALSimDsNt.cpp
index ef510e4..d694530 100644
--- a/third_party/allwpilib_2019/simulation/halsim_ds_nt/src/main/native/cpp/HALSimDsNt.cpp
+++ b/third_party/allwpilib_2019/simulation/halsim_ds_nt/src/main/native/cpp/HALSimDsNt.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -67,7 +67,7 @@
enabled.AddListener(
[this](const nt::EntryNotification& ev) -> void {
- std::lock_guard<wpi::mutex> lock(modeMutex);
+ std::scoped_lock lock(modeMutex);
if (!this->isEstop) {
this->isEnabled = ev.value->GetBoolean();
} else {
@@ -80,7 +80,7 @@
estop.AddListener(
[this](const nt::EntryNotification& ev) -> void {
- std::lock_guard<wpi::mutex> lock(modeMutex);
+ std::scoped_lock lock(modeMutex);
this->isEstop = ev.value->GetBoolean();
if (this->isEstop) {
this->isEnabled = false;
@@ -136,7 +136,7 @@
void HALSimDSNT::HandleModePress(enum HALSimDSNT_Mode mode, bool isPressed) {
if (isPressed) {
if (mode != currentMode) {
- std::lock_guard<wpi::mutex> lock(modeMutex);
+ std::scoped_lock lock(modeMutex);
currentMode = mode;
isEnabled = false;
this->DoModeUpdate();
diff --git a/third_party/allwpilib_2019/simulation/halsim_ds_socket/CMakeLists.txt b/third_party/allwpilib_2019/simulation/halsim_ds_socket/CMakeLists.txt
new file mode 100644
index 0000000..3e2518c
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_ds_socket/CMakeLists.txt
@@ -0,0 +1,16 @@
+project(halsim_ds_socket)
+
+include(CompileWarnings)
+
+file(GLOB halsim_ds_socket_src src/main/native/cpp/*.cpp)
+
+add_library(halsim_ds_socket MODULE ${halsim_ds_socket_src})
+wpilib_target_warnings(halsim_ds_socket)
+set_target_properties(halsim_ds_socket PROPERTIES DEBUG_POSTFIX "d")
+target_link_libraries(halsim_ds_socket PUBLIC hal)
+
+target_include_directories(halsim_ds_socket PRIVATE src/main/native/include)
+
+set_property(TARGET halsim_ds_socket PROPERTY FOLDER "libraries")
+
+install(TARGETS halsim_ds_socket EXPORT halsim_ds_socket DESTINATION "${main_lib_dest}")
diff --git a/third_party/allwpilib_2019/simulation/halsim_ds_socket/build.gradle b/third_party/allwpilib_2019/simulation/halsim_ds_socket/build.gradle
index 0200980..46e48f4 100644
--- a/third_party/allwpilib_2019/simulation/halsim_ds_socket/build.gradle
+++ b/third_party/allwpilib_2019/simulation/halsim_ds_socket/build.gradle
@@ -21,7 +21,7 @@
model {
testSuites {
def comps = $.components
- if (!project.hasProperty('onlyAthena') && !project.hasProperty('onlyRaspbian')) {
+ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
"${pluginName}Test"(GoogleTestTestSuiteSpec) {
for(NativeComponentSpec c : comps) {
if (c.name == pluginName) {
diff --git a/third_party/allwpilib_2019/simulation/halsim_ds_socket/src/main/native/cpp/DSCommPacket.cpp b/third_party/allwpilib_2019/simulation/halsim_ds_socket/src/main/native/cpp/DSCommPacket.cpp
index ead2534..95f393b 100644
--- a/third_party/allwpilib_2019/simulation/halsim_ds_socket/src/main/native/cpp/DSCommPacket.cpp
+++ b/third_party/allwpilib_2019/simulation/halsim_ds_socket/src/main/native/cpp/DSCommPacket.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
diff --git a/third_party/allwpilib_2019/simulation/halsim_ds_socket/src/main/native/cpp/main.cpp b/third_party/allwpilib_2019/simulation/halsim_ds_socket/src/main/native/cpp/main.cpp
index 12cbf74..7d683b3 100644
--- a/third_party/allwpilib_2019/simulation/halsim_ds_socket/src/main/native/cpp/main.cpp
+++ b/third_party/allwpilib_2019/simulation/halsim_ds_socket/src/main/native/cpp/main.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -40,7 +40,7 @@
namespace {
struct DataStore {
wpi::SmallVector<uint8_t, 128> m_frame;
- size_t m_frameSize = std::numeric_limits<size_t>::max();
+ size_t m_frameSize = (std::numeric_limits<size_t>::max)();
halsim::DSCommPacket* dsPacket;
};
} // namespace
@@ -53,9 +53,9 @@
static void HandleTcpDataStream(Buffer& buf, size_t size, DataStore& store) {
wpi::StringRef data{buf.base, size};
while (!data.empty()) {
- if (store.m_frameSize == std::numeric_limits<size_t>::max()) {
+ if (store.m_frameSize == (std::numeric_limits<size_t>::max)()) {
if (store.m_frame.size() < 2u) {
- size_t toCopy = std::min(2u - store.m_frame.size(), data.size());
+ size_t toCopy = (std::min)(2u - store.m_frame.size(), data.size());
store.m_frame.append(data.bytes_begin(), data.bytes_begin() + toCopy);
data = data.drop_front(toCopy);
if (store.m_frame.size() < 2u) return; // need more data
@@ -63,9 +63,9 @@
store.m_frameSize = (static_cast<uint16_t>(store.m_frame[0]) << 8) |
static_cast<uint16_t>(store.m_frame[1]);
}
- if (store.m_frameSize != std::numeric_limits<size_t>::max()) {
+ if (store.m_frameSize != (std::numeric_limits<size_t>::max)()) {
size_t need = store.m_frameSize - (store.m_frame.size() - 2);
- size_t toCopy = std::min(need, data.size());
+ size_t toCopy = (std::min)(need, data.size());
store.m_frame.append(data.bytes_begin(), data.bytes_begin() + toCopy);
data = data.drop_front(toCopy);
need -= toCopy;
@@ -73,7 +73,7 @@
auto ds = store.dsPacket;
ds->DecodeTCP(store.m_frame);
store.m_frame.clear();
- store.m_frameSize = std::numeric_limits<size_t>::max();
+ store.m_frameSize = (std::numeric_limits<size_t>::max)();
}
}
}
@@ -109,7 +109,7 @@
auto simLoopTimer = Timer::Create(loop);
struct sockaddr_in simAddr;
NameToAddr("127.0.0.1", 1135, &simAddr);
- simLoopTimer->timeout.connect([ udpLocal = udp.get(), simAddr ] {
+ simLoopTimer->timeout.connect([udpLocal = udp.get(), simAddr] {
udpLocal->Send(simAddr, wpi::ArrayRef<Buffer>{singleByte.get(), 1},
[](auto buf, Error err) {
if (err) {
@@ -121,8 +121,9 @@
simLoopTimer->Start(Timer::Time{100}, Timer::Time{100});
// UDP Receive then send
- udp->received.connect([udpLocal = udp.get()](
- Buffer & buf, size_t len, const sockaddr& recSock, unsigned int port) {
+ udp->received.connect([udpLocal = udp.get()](Buffer& buf, size_t len,
+ const sockaddr& recSock,
+ unsigned int port) {
auto ds = udpLocal->GetLoop()->GetData<halsim::DSCommPacket>();
ds->DecodeUDP(
wpi::ArrayRef<uint8_t>{reinterpret_cast<uint8_t*>(buf.base), len});
@@ -133,7 +134,8 @@
outAddr.sin_port = htons(1150);
wpi::SmallVector<wpi::uv::Buffer, 4> sendBufs;
- wpi::raw_uv_ostream stream{sendBufs, GetBufferPool()};
+ wpi::raw_uv_ostream stream{sendBufs,
+ [] { return GetBufferPool().Allocate(); }};
ds->SetupSendBuffer(stream);
udpLocal->Send(outAddr, sendBufs, [](auto bufs, Error err) {
diff --git a/third_party/allwpilib_2019/simulation/halsim_ds_socket/src/test/native/cpp/DSCommPacketTest.cpp b/third_party/allwpilib_2019/simulation/halsim_ds_socket/src/test/native/cpp/DSCommPacketTest.cpp
index c1fc293..08caa2f 100644
--- a/third_party/allwpilib_2019/simulation/halsim_ds_socket/src/test/native/cpp/DSCommPacketTest.cpp
+++ b/third_party/allwpilib_2019/simulation/halsim_ds_socket/src/test/native/cpp/DSCommPacketTest.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
diff --git a/third_party/allwpilib_2019/simulation/halsim_ds_socket/src/test/native/cpp/main.cpp b/third_party/allwpilib_2019/simulation/halsim_ds_socket/src/test/native/cpp/main.cpp
index aa4f4b0..fd8f022 100644
--- a/third_party/allwpilib_2019/simulation/halsim_ds_socket/src/test/native/cpp/main.cpp
+++ b/third_party/allwpilib_2019/simulation/halsim_ds_socket/src/test/native/cpp/main.cpp
@@ -1,17 +1,17 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#include <hal/HAL.h>
-
-#include "gtest/gtest.h"
-
-int main(int argc, char** argv) {
- HAL_Initialize(500, 0);
- ::testing::InitGoogleTest(&argc, argv);
- int ret = RUN_ALL_TESTS();
- return ret;
-}
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <hal/HAL.h>
+
+#include "gtest/gtest.h"
+
+int main(int argc, char** argv) {
+ HAL_Initialize(500, 0);
+ ::testing::InitGoogleTest(&argc, argv);
+ int ret = RUN_ALL_TESTS();
+ return ret;
+}
diff --git a/third_party/allwpilib_2019/simulation/halsim_gazebo/build.gradle b/third_party/allwpilib_2019/simulation/halsim_gazebo/build.gradle
index d9c2217..63e8809 100644
--- a/third_party/allwpilib_2019/simulation/halsim_gazebo/build.gradle
+++ b/third_party/allwpilib_2019/simulation/halsim_gazebo/build.gradle
@@ -3,8 +3,8 @@
apply plugin: 'edu.wpi.first.NativeUtils'
apply plugin: 'cpp'
-ext.skipAthena = true
-ext.skipRaspbian = true
+ext.skiplinuxathena = true
+ext.skiplinuxraspbian = true
ext.pluginName = 'halsim_gazebo'
/* If gz_msgs or gazebo is not available, do not attempt a build */
diff --git a/third_party/allwpilib_2019/simulation/halsim_gazebo/src/main/native/cpp/GazeboAnalogIn.cpp b/third_party/allwpilib_2019/simulation/halsim_gazebo/src/main/native/cpp/GazeboAnalogIn.cpp
index 60700c2..30319c9 100644
--- a/third_party/allwpilib_2019/simulation/halsim_gazebo/src/main/native/cpp/GazeboAnalogIn.cpp
+++ b/third_party/allwpilib_2019/simulation/halsim_gazebo/src/main/native/cpp/GazeboAnalogIn.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,8 +10,8 @@
#include <string>
#include <hal/Power.h>
+#include <hal/Value.h>
#include <mockdata/AnalogInData.h>
-#include <mockdata/HAL_Value.h>
#include <mockdata/NotifyListener.h>
static void init_callback(const char* name, void* param,
diff --git a/third_party/allwpilib_2019/simulation/halsim_gazebo/src/main/native/cpp/GazeboDIO.cpp b/third_party/allwpilib_2019/simulation/halsim_gazebo/src/main/native/cpp/GazeboDIO.cpp
index 02f8387..d0c190e 100644
--- a/third_party/allwpilib_2019/simulation/halsim_gazebo/src/main/native/cpp/GazeboDIO.cpp
+++ b/third_party/allwpilib_2019/simulation/halsim_gazebo/src/main/native/cpp/GazeboDIO.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,8 +9,8 @@
#include <string>
+#include <hal/Value.h>
#include <mockdata/DIOData.h>
-#include <mockdata/HAL_Value.h>
#include <mockdata/NotifyListener.h>
static void init_callback(const char* name, void* param,
diff --git a/third_party/allwpilib_2019/simulation/halsim_gazebo/src/main/native/cpp/GazeboEncoder.cpp b/third_party/allwpilib_2019/simulation/halsim_gazebo/src/main/native/cpp/GazeboEncoder.cpp
index 778df7a..bb5894d 100644
--- a/third_party/allwpilib_2019/simulation/halsim_gazebo/src/main/native/cpp/GazeboEncoder.cpp
+++ b/third_party/allwpilib_2019/simulation/halsim_gazebo/src/main/native/cpp/GazeboEncoder.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,8 +9,8 @@
#include <string>
+#include <hal/Value.h>
#include <mockdata/EncoderData.h>
-#include <mockdata/HAL_Value.h>
#include <mockdata/NotifyListener.h>
static void encoder_init_callback(const char* name, void* param,
@@ -54,7 +54,7 @@
if (!m_pub) {
m_pub = m_halsim->node.Advertise<gazebo::msgs::String>(
"~/simulator/encoder/dio/" +
- std::to_string(HALSIM_GetDigitalChannelA(m_index)) + "/control");
+ std::to_string(HALSIM_GetEncoderDigitalChannelA(m_index)) + "/control");
m_pub->WaitForConnection(gazebo::common::Time(1, 0));
}
gazebo::msgs::String msg;
@@ -66,7 +66,8 @@
if (!m_sub)
m_sub = m_halsim->node.Subscribe<gazebo::msgs::Float64>(
"~/simulator/encoder/dio/" +
- std::to_string(HALSIM_GetDigitalChannelA(m_index)) + "/position",
+ std::to_string(HALSIM_GetEncoderDigitalChannelA(m_index)) +
+ "/position",
&GazeboEncoder::Callback, this);
}
diff --git a/third_party/allwpilib_2019/simulation/halsim_gazebo/src/main/native/cpp/GazeboPCM.cpp b/third_party/allwpilib_2019/simulation/halsim_gazebo/src/main/native/cpp/GazeboPCM.cpp
index de4188c..0f0a44e 100644
--- a/third_party/allwpilib_2019/simulation/halsim_gazebo/src/main/native/cpp/GazeboPCM.cpp
+++ b/third_party/allwpilib_2019/simulation/halsim_gazebo/src/main/native/cpp/GazeboPCM.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,7 +9,7 @@
#include <string>
-#include <mockdata/HAL_Value.h>
+#include <hal/Value.h>
#include <mockdata/NotifyListener.h>
#include <mockdata/PCMData.h>
diff --git a/third_party/allwpilib_2019/simulation/halsim_gazebo/src/main/native/cpp/GazeboPWM.cpp b/third_party/allwpilib_2019/simulation/halsim_gazebo/src/main/native/cpp/GazeboPWM.cpp
index 1d07832..3e01e1d 100644
--- a/third_party/allwpilib_2019/simulation/halsim_gazebo/src/main/native/cpp/GazeboPWM.cpp
+++ b/third_party/allwpilib_2019/simulation/halsim_gazebo/src/main/native/cpp/GazeboPWM.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,7 +9,7 @@
#include <string>
-#include <mockdata/HAL_Value.h>
+#include <hal/Value.h>
#include <mockdata/NotifyListener.h>
#include <mockdata/PWMData.h>
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/CMakeLists.txt b/third_party/allwpilib_2019/simulation/halsim_gui/CMakeLists.txt
new file mode 100644
index 0000000..91af53c
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/CMakeLists.txt
@@ -0,0 +1,16 @@
+project(halsim_gui)
+
+include(CompileWarnings)
+
+file(GLOB halsim_gui_src src/main/native/cpp/*.cpp)
+
+add_library(halsim_gui MODULE ${halsim_gui_src})
+wpilib_target_warnings(halsim_gui)
+set_target_properties(halsim_gui PROPERTIES DEBUG_POSTFIX "d")
+target_link_libraries(halsim_gui PUBLIC hal PRIVATE imgui)
+
+target_include_directories(halsim_gui PRIVATE src/main/native/include)
+
+set_property(TARGET halsim_gui PROPERTY FOLDER "libraries")
+
+install(TARGETS halsim_gui EXPORT halsim_gui DESTINATION "${main_lib_dest}")
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/build.gradle b/third_party/allwpilib_2019/simulation/halsim_gui/build.gradle
new file mode 100644
index 0000000..5ac68ea
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/build.gradle
@@ -0,0 +1,40 @@
+if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
+
+ description = "A plugin that creates a simulation gui"
+
+ ext {
+ includeWpiutil = true
+ pluginName = 'halsim_gui'
+ }
+
+ apply plugin: 'google-test-test-suite'
+
+
+ ext {
+ staticGtestConfigs = [:]
+ }
+
+ staticGtestConfigs["${pluginName}Test"] = []
+ apply from: "${rootDir}/shared/googletest.gradle"
+
+ apply from: "${rootDir}/shared/plugins/setupBuild.gradle"
+
+ model {
+ binaries {
+ all {
+ nativeUtils.useRequiredLibrary(it, 'imgui_static')
+ if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.raspbian || it.targetPlatform.name == nativeUtils.wpi.platforms.aarch64bionic) {
+ it.buildable = false
+ return
+ }
+ if (it.targetPlatform.operatingSystem.isWindows()) {
+ it.linker.args << 'Gdi32.lib' << 'Shell32.lib'
+ } else if (it.targetPlatform.operatingSystem.isMacOsX()) {
+ it.linker.args << '-framework' << 'Cocoa' << '-framework' << 'IOKit' << '-framework' << 'CoreFoundation' << '-framework' << 'CoreVideo'
+ } else {
+ it.linker.args << '-lX11' << '-lvulkan'
+ }
+ }
+ }
+ }
+}
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/dev/native/cpp/main.cpp b/third_party/allwpilib_2019/simulation/halsim_gui/src/dev/native/cpp/main.cpp
new file mode 100644
index 0000000..d23379d
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/dev/native/cpp/main.cpp
@@ -0,0 +1,8 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+int main() {}
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/AccelerometerGui.cpp b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/AccelerometerGui.cpp
new file mode 100644
index 0000000..e993ba2
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/AccelerometerGui.cpp
@@ -0,0 +1,51 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "AccelerometerGui.h"
+
+#include <cstdio>
+
+#include <hal/Value.h>
+#include <imgui.h>
+#include <mockdata/AccelerometerData.h>
+
+#include "SimDeviceGui.h"
+
+using namespace halsimgui;
+
+static void DisplayAccelerometers() {
+ if (!HALSIM_GetAccelerometerActive(0)) return;
+ if (SimDeviceGui::StartDevice("BuiltInAccel")) {
+ HAL_Value value;
+
+ // Range
+ value = HAL_MakeEnum(HALSIM_GetAccelerometerRange(0));
+ static const char* rangeOptions[] = {"2G", "4G", "8G"};
+ SimDeviceGui::DisplayValue("Range", true, &value, rangeOptions, 3);
+
+ // X Accel
+ value = HAL_MakeDouble(HALSIM_GetAccelerometerX(0));
+ if (SimDeviceGui::DisplayValue("X Accel", false, &value))
+ HALSIM_SetAccelerometerX(0, value.data.v_double);
+
+ // Y Accel
+ value = HAL_MakeDouble(HALSIM_GetAccelerometerY(0));
+ if (SimDeviceGui::DisplayValue("Y Accel", false, &value))
+ HALSIM_SetAccelerometerY(0, value.data.v_double);
+
+ // Z Accel
+ value = HAL_MakeDouble(HALSIM_GetAccelerometerZ(0));
+ if (SimDeviceGui::DisplayValue("Z Accel", false, &value))
+ HALSIM_SetAccelerometerZ(0, value.data.v_double);
+
+ SimDeviceGui::FinishDevice();
+ }
+}
+
+void AccelerometerGui::Initialize() {
+ SimDeviceGui::Add(DisplayAccelerometers);
+}
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/AccelerometerGui.h b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/AccelerometerGui.h
new file mode 100644
index 0000000..e1fd81b
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/AccelerometerGui.h
@@ -0,0 +1,17 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+namespace halsimgui {
+
+class AccelerometerGui {
+ public:
+ static void Initialize();
+};
+
+} // namespace halsimgui
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/AnalogGyroGui.cpp b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/AnalogGyroGui.cpp
new file mode 100644
index 0000000..1ae0fae
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/AnalogGyroGui.cpp
@@ -0,0 +1,45 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "AnalogGyroGui.h"
+
+#include <cstdio>
+
+#include <hal/Ports.h>
+#include <hal/Value.h>
+#include <imgui.h>
+#include <mockdata/AnalogGyroData.h>
+
+#include "SimDeviceGui.h"
+
+using namespace halsimgui;
+
+static void DisplayAnalogGyros() {
+ static int numAccum = HAL_GetNumAccumulators();
+ for (int i = 0; i < numAccum; ++i) {
+ if (!HALSIM_GetAnalogGyroInitialized(i)) continue;
+ char name[32];
+ std::snprintf(name, sizeof(name), "AnalogGyro[%d]", i);
+ if (SimDeviceGui::StartDevice(name)) {
+ HAL_Value value;
+
+ // angle
+ value = HAL_MakeDouble(HALSIM_GetAnalogGyroAngle(i));
+ if (SimDeviceGui::DisplayValue("Angle", false, &value))
+ HALSIM_SetAnalogGyroAngle(i, value.data.v_double);
+
+ // rate
+ value = HAL_MakeDouble(HALSIM_GetAnalogGyroRate(i));
+ if (SimDeviceGui::DisplayValue("Rate", false, &value))
+ HALSIM_SetAnalogGyroRate(i, value.data.v_double);
+
+ SimDeviceGui::FinishDevice();
+ }
+ }
+}
+
+void AnalogGyroGui::Initialize() { SimDeviceGui::Add(DisplayAnalogGyros); }
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/AnalogGyroGui.h b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/AnalogGyroGui.h
new file mode 100644
index 0000000..e528279
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/AnalogGyroGui.h
@@ -0,0 +1,17 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+namespace halsimgui {
+
+class AnalogGyroGui {
+ public:
+ static void Initialize();
+};
+
+} // namespace halsimgui
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/AnalogInputGui.cpp b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/AnalogInputGui.cpp
new file mode 100644
index 0000000..8e97bc1
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/AnalogInputGui.cpp
@@ -0,0 +1,54 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "AnalogInputGui.h"
+
+#include <cstdio>
+
+#include <hal/Ports.h>
+#include <imgui.h>
+#include <mockdata/AnalogGyroData.h>
+#include <mockdata/AnalogInData.h>
+#include <mockdata/SimDeviceData.h>
+
+#include "HALSimGui.h"
+
+using namespace halsimgui;
+
+static void DisplayAnalogInputs() {
+ ImGui::Text("(Use Ctrl+Click to edit value)");
+ bool hasInputs = false;
+ static int numAnalog = HAL_GetNumAnalogInputs();
+ static int numAccum = HAL_GetNumAccumulators();
+ for (int i = 0; i < numAnalog; ++i) {
+ if (HALSIM_GetAnalogInInitialized(i)) {
+ hasInputs = true;
+ char name[32];
+ std::snprintf(name, sizeof(name), "In[%d]", i);
+ if (i < numAccum && HALSIM_GetAnalogGyroInitialized(i)) {
+ ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(96, 96, 96, 255));
+ ImGui::LabelText(name, "AnalogGyro[%d]", i);
+ ImGui::PopStyleColor();
+ } else if (auto simDevice = HALSIM_GetAnalogInSimDevice(i)) {
+ ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(96, 96, 96, 255));
+ ImGui::LabelText(name, "%s", HALSIM_GetSimDeviceName(simDevice));
+ ImGui::PopStyleColor();
+ } else {
+ float val = HALSIM_GetAnalogInVoltage(i);
+ if (ImGui::SliderFloat(name, &val, 0.0, 5.0))
+ HALSIM_SetAnalogInVoltage(i, val);
+ }
+ }
+ }
+ if (!hasInputs) ImGui::Text("No analog inputs");
+}
+
+void AnalogInputGui::Initialize() {
+ HALSimGui::AddWindow("Analog Inputs", DisplayAnalogInputs,
+ ImGuiWindowFlags_AlwaysAutoResize);
+ HALSimGui::SetDefaultWindowPos("Analog Inputs", 640, 20);
+}
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/AnalogInputGui.h b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/AnalogInputGui.h
new file mode 100644
index 0000000..74c3e63
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/AnalogInputGui.h
@@ -0,0 +1,17 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+namespace halsimgui {
+
+class AnalogInputGui {
+ public:
+ static void Initialize();
+};
+
+} // namespace halsimgui
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/AnalogOutGui.cpp b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/AnalogOutGui.cpp
new file mode 100644
index 0000000..38b69a9
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/AnalogOutGui.cpp
@@ -0,0 +1,47 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "AnalogOutGui.h"
+
+#include <cstdio>
+#include <cstring>
+#include <memory>
+
+#include <hal/Ports.h>
+#include <imgui.h>
+#include <mockdata/AnalogOutData.h>
+
+#include "SimDeviceGui.h"
+
+using namespace halsimgui;
+
+static void DisplayAnalogOutputs() {
+ static const int numAnalog = HAL_GetNumAnalogOutputs();
+ static auto init = std::make_unique<bool[]>(numAnalog);
+
+ int count = 0;
+ for (int i = 0; i < numAnalog; ++i) {
+ init[i] = HALSIM_GetAnalogOutInitialized(i);
+ if (init[i]) ++count;
+ }
+
+ if (count == 0) return;
+
+ if (SimDeviceGui::StartDevice("Analog Outputs")) {
+ for (int i = 0; i < numAnalog; ++i) {
+ if (!init[i]) continue;
+ char name[32];
+ std::snprintf(name, sizeof(name), "Out[%d]", i);
+ HAL_Value value = HAL_MakeDouble(HALSIM_GetAnalogOutVoltage(i));
+ SimDeviceGui::DisplayValue(name, true, &value);
+ }
+
+ SimDeviceGui::FinishDevice();
+ }
+}
+
+void AnalogOutGui::Initialize() { SimDeviceGui::Add(DisplayAnalogOutputs); }
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/AnalogOutGui.h b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/AnalogOutGui.h
new file mode 100644
index 0000000..dd01699
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/AnalogOutGui.h
@@ -0,0 +1,17 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+namespace halsimgui {
+
+class AnalogOutGui {
+ public:
+ static void Initialize();
+};
+
+} // namespace halsimgui
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/CompressorGui.cpp b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/CompressorGui.cpp
new file mode 100644
index 0000000..737a6f9
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/CompressorGui.cpp
@@ -0,0 +1,63 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "CompressorGui.h"
+
+#include <cstdio>
+
+#include <hal/Ports.h>
+#include <hal/Value.h>
+#include <imgui.h>
+#include <mockdata/PCMData.h>
+
+#include "HALSimGui.h"
+#include "SimDeviceGui.h"
+
+using namespace halsimgui;
+
+static void DisplayCompressors() {
+ static int numPcm = HAL_GetNumPCMModules();
+ for (int i = 0; i < numPcm; ++i) {
+ if (!HALSIM_GetPCMCompressorInitialized(i)) continue;
+ char name[32];
+ std::snprintf(name, sizeof(name), "Compressor[%d]", i);
+ if (SimDeviceGui::StartDevice(name)) {
+ HAL_Value value;
+
+ // enabled
+ if (HALSimGui::AreOutputsDisabled())
+ value = HAL_MakeBoolean(false);
+ else
+ value = HAL_MakeBoolean(HALSIM_GetPCMCompressorOn(i));
+ if (SimDeviceGui::DisplayValue("Running", false, &value))
+ HALSIM_SetPCMCompressorOn(i, value.data.v_boolean);
+
+ // closed loop
+ value = HAL_MakeEnum(HALSIM_GetPCMClosedLoopEnabled(i) ? 1 : 0);
+ static const char* enabledOptions[] = {"disabled", "enabled"};
+ if (SimDeviceGui::DisplayValue("Closed Loop", true, &value,
+ enabledOptions, 2))
+ HALSIM_SetPCMClosedLoopEnabled(i, value.data.v_enum);
+
+ // pressure switch
+ value = HAL_MakeEnum(HALSIM_GetPCMPressureSwitch(i) ? 1 : 0);
+ static const char* switchOptions[] = {"full", "low"};
+ if (SimDeviceGui::DisplayValue("Pressure", false, &value, switchOptions,
+ 2))
+ HALSIM_SetPCMPressureSwitch(i, value.data.v_enum);
+
+ // compressor current
+ value = HAL_MakeDouble(HALSIM_GetPCMCompressorCurrent(i));
+ if (SimDeviceGui::DisplayValue("Current (A)", false, &value))
+ HALSIM_SetPCMCompressorCurrent(i, value.data.v_double);
+
+ SimDeviceGui::FinishDevice();
+ }
+ }
+}
+
+void CompressorGui::Initialize() { SimDeviceGui::Add(DisplayCompressors); }
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/CompressorGui.h b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/CompressorGui.h
new file mode 100644
index 0000000..f403ece
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/CompressorGui.h
@@ -0,0 +1,17 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+namespace halsimgui {
+
+class CompressorGui {
+ public:
+ static void Initialize();
+};
+
+} // namespace halsimgui
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/DIOGui.cpp b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/DIOGui.cpp
new file mode 100644
index 0000000..93a07f9
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/DIOGui.cpp
@@ -0,0 +1,110 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "DIOGui.h"
+
+#include <cstdio>
+#include <cstring>
+#include <memory>
+
+#include <hal/Ports.h>
+#include <imgui.h>
+#include <mockdata/DIOData.h>
+#include <mockdata/DigitalPWMData.h>
+#include <mockdata/EncoderData.h>
+#include <mockdata/SimDeviceData.h>
+
+#include "HALSimGui.h"
+
+using namespace halsimgui;
+
+static void LabelSimDevice(const char* name, HAL_SimDeviceHandle simDevice) {
+ ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(96, 96, 96, 255));
+ ImGui::LabelText(name, "%s", HALSIM_GetSimDeviceName(simDevice));
+ ImGui::PopStyleColor();
+}
+
+static void DisplayDIO() {
+ bool hasAny = false;
+ static int numDIO = HAL_GetNumDigitalChannels();
+ static int numPWM = HAL_GetNumDigitalPWMOutputs();
+ static int numEncoder = HAL_GetNumEncoders();
+ static auto pwmMap = std::make_unique<int[]>(numDIO);
+ static auto encoderMap = std::make_unique<int[]>(numDIO);
+
+ std::memset(pwmMap.get(), 0, numDIO * sizeof(pwmMap[0]));
+ std::memset(encoderMap.get(), 0, numDIO * sizeof(encoderMap[0]));
+
+ for (int i = 0; i < numPWM; ++i) {
+ if (HALSIM_GetDigitalPWMInitialized(i)) {
+ int channel = HALSIM_GetDigitalPWMPin(i);
+ if (channel >= 0 && channel < numDIO) pwmMap[channel] = i + 1;
+ }
+ }
+
+ for (int i = 0; i < numEncoder; ++i) {
+ if (HALSIM_GetEncoderInitialized(i)) {
+ int channel;
+ channel = HALSIM_GetEncoderDigitalChannelA(i);
+ if (channel >= 0 && channel < numDIO) encoderMap[channel] = i + 1;
+ channel = HALSIM_GetEncoderDigitalChannelB(i);
+ if (channel >= 0 && channel < numDIO) encoderMap[channel] = i + 1;
+ }
+ }
+
+ ImGui::PushItemWidth(ImGui::GetFontSize() * 8);
+ for (int i = 0; i < numDIO; ++i) {
+ if (HALSIM_GetDIOInitialized(i)) {
+ hasAny = true;
+ char name[32];
+ if (pwmMap[i] > 0) {
+ std::snprintf(name, sizeof(name), "PWM[%d]", i);
+ if (auto simDevice = HALSIM_GetDIOSimDevice(i)) {
+ LabelSimDevice(name, simDevice);
+ } else {
+ ImGui::LabelText(name, "%0.3f",
+ HALSIM_GetDigitalPWMDutyCycle(pwmMap[i] - 1));
+ }
+ } else if (encoderMap[i] > 0) {
+ std::snprintf(name, sizeof(name), " In[%d]", i);
+ if (auto simDevice = HALSIM_GetEncoderSimDevice(encoderMap[i] - 1)) {
+ LabelSimDevice(name, simDevice);
+ } else {
+ ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(96, 96, 96, 255));
+ ImGui::LabelText(name, "Encoder[%d,%d]",
+ HALSIM_GetEncoderDigitalChannelA(encoderMap[i] - 1),
+ HALSIM_GetEncoderDigitalChannelB(encoderMap[i] - 1));
+ ImGui::PopStyleColor();
+ }
+ } else if (!HALSIM_GetDIOIsInput(i)) {
+ std::snprintf(name, sizeof(name), "Out[%d]", i);
+ if (auto simDevice = HALSIM_GetDIOSimDevice(i)) {
+ LabelSimDevice(name, simDevice);
+ } else {
+ ImGui::LabelText(name, "%s",
+ HALSIM_GetDIOValue(i) ? "1 (high)" : "0 (low)");
+ }
+ } else {
+ std::snprintf(name, sizeof(name), " In[%d]", i);
+ if (auto simDevice = HALSIM_GetDIOSimDevice(i)) {
+ LabelSimDevice(name, simDevice);
+ } else {
+ static const char* options[] = {"0 (low)", "1 (high)"};
+ int val = HALSIM_GetDIOValue(i) ? 1 : 0;
+ if (ImGui::Combo(name, &val, options, 2)) HALSIM_SetDIOValue(i, val);
+ }
+ }
+ }
+ }
+ ImGui::PopItemWidth();
+ if (!hasAny) ImGui::Text("No Digital I/O");
+}
+
+void DIOGui::Initialize() {
+ HALSimGui::AddWindow("DIO", DisplayDIO, ImGuiWindowFlags_AlwaysAutoResize);
+ HALSimGui::SetDefaultWindowPos("DIO", 470, 20);
+}
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/DIOGui.h b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/DIOGui.h
new file mode 100644
index 0000000..70181e3
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/DIOGui.h
@@ -0,0 +1,17 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+namespace halsimgui {
+
+class DIOGui {
+ public:
+ static void Initialize();
+};
+
+} // namespace halsimgui
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp
new file mode 100644
index 0000000..3cca903
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp
@@ -0,0 +1,527 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "DriverStationGui.h"
+
+#include <cstring>
+#include <string>
+
+#include <GLFW/glfw3.h>
+#include <imgui.h>
+#include <imgui_internal.h>
+#include <mockdata/DriverStationData.h>
+#include <wpi/Format.h>
+#include <wpi/SmallString.h>
+#include <wpi/StringRef.h>
+#include <wpi/raw_ostream.h>
+
+#include "ExtraGuiWidgets.h"
+#include "HALSimGui.h"
+
+using namespace halsimgui;
+
+namespace {
+
+struct SystemJoystick {
+ bool present = false;
+ int axisCount = 0;
+ const float* axes = nullptr;
+ int buttonCount = 0;
+ const unsigned char* buttons = nullptr;
+ int hatCount = 0;
+ const unsigned char* hats = nullptr;
+ const char* name = nullptr;
+ bool isGamepad = false;
+ GLFWgamepadstate gamepadState;
+
+ bool anyButtonPressed = false;
+
+ void Update(int i);
+};
+
+struct RobotJoystick {
+ std::string guid;
+ const SystemJoystick* sys = nullptr;
+ bool useGamepad = false;
+
+ HAL_JoystickDescriptor desc;
+ HAL_JoystickAxes axes;
+ HAL_JoystickButtons buttons;
+ HAL_JoystickPOVs povs;
+
+ void Update();
+ void SetHAL(int i);
+ bool IsButtonPressed(int i) { return (buttons.buttons & (1u << i)) != 0; }
+};
+
+} // namespace
+
+// system joysticks
+static SystemJoystick gSystemJoysticks[GLFW_JOYSTICK_LAST + 1];
+static int gNumSystemJoysticks = 0;
+
+// robot joysticks
+static RobotJoystick gRobotJoysticks[HAL_kMaxJoysticks];
+
+static bool gDisableDS = false;
+
+// read/write joystick mapping to ini file
+static void* JoystickReadOpen(ImGuiContext* ctx, ImGuiSettingsHandler* handler,
+ const char* name) {
+ int num;
+ if (wpi::StringRef{name}.getAsInteger(10, num)) return nullptr;
+ if (num < 0 || num >= HAL_kMaxJoysticks) return nullptr;
+ return &gRobotJoysticks[num];
+}
+
+static void JoystickReadLine(ImGuiContext* ctx, ImGuiSettingsHandler* handler,
+ void* entry, const char* lineStr) {
+ RobotJoystick* joy = static_cast<RobotJoystick*>(entry);
+ // format: guid=guid or useGamepad=0/1
+ wpi::StringRef line{lineStr};
+ auto [name, value] = line.split('=');
+ name = name.trim();
+ value = value.trim();
+ if (name == "guid") {
+ joy->guid = value;
+ } else if (name == "useGamepad") {
+ int num;
+ if (value.getAsInteger(10, num)) return;
+ joy->useGamepad = num;
+ }
+}
+
+static void JoystickWriteAll(ImGuiContext* ctx, ImGuiSettingsHandler* handler,
+ ImGuiTextBuffer* out_buf) {
+ for (int i = 0; i < HAL_kMaxJoysticks; ++i) {
+ auto& joy = gRobotJoysticks[i];
+ if (!joy.sys) continue;
+ const char* guid = glfwGetJoystickGUID(joy.sys - gSystemJoysticks);
+ if (!guid) continue;
+ out_buf->appendf("[Joystick][%d]\nguid=%s\nuseGamepad=%d\n\n", i, guid,
+ joy.useGamepad ? 1 : 0);
+ }
+}
+
+// read/write DS settings to ini file
+static void* DriverStationReadOpen(ImGuiContext* ctx,
+ ImGuiSettingsHandler* handler,
+ const char* name) {
+ if (name == wpi::StringRef{"Main"}) return &gDisableDS;
+ return nullptr;
+}
+
+static void DriverStationReadLine(ImGuiContext* ctx,
+ ImGuiSettingsHandler* handler, void* entry,
+ const char* lineStr) {
+ wpi::StringRef line{lineStr};
+ auto [name, value] = line.split('=');
+ name = name.trim();
+ value = value.trim();
+ if (name == "disable") {
+ int num;
+ if (value.getAsInteger(10, num)) return;
+ gDisableDS = num;
+ }
+}
+
+static void DriverStationWriteAll(ImGuiContext* ctx,
+ ImGuiSettingsHandler* handler,
+ ImGuiTextBuffer* out_buf) {
+ out_buf->appendf("[DriverStation][Main]\ndisable=%d\n\n", gDisableDS ? 1 : 0);
+}
+
+void SystemJoystick::Update(int i) {
+ bool wasPresent = present;
+ present = glfwJoystickPresent(i);
+
+ if (!present) return;
+ axes = glfwGetJoystickAxes(i, &axisCount);
+ buttons = glfwGetJoystickButtons(i, &buttonCount);
+ hats = glfwGetJoystickHats(i, &hatCount);
+ isGamepad = glfwGetGamepadState(i, &gamepadState);
+
+ anyButtonPressed = false;
+ for (int j = 0; j < buttonCount; ++j) {
+ if (buttons[j]) {
+ anyButtonPressed = true;
+ break;
+ }
+ }
+ for (int j = 0; j < hatCount; ++j) {
+ if (hats[j] != GLFW_HAT_CENTERED) {
+ anyButtonPressed = true;
+ break;
+ }
+ }
+
+ if (!present || wasPresent) return;
+ name = glfwGetJoystickName(i);
+
+ // try to find matching GUID
+ if (const char* guid = glfwGetJoystickGUID(i)) {
+ for (auto&& joy : gRobotJoysticks) {
+ if (guid == joy.guid) {
+ joy.sys = &gSystemJoysticks[i];
+ joy.guid.clear();
+ break;
+ }
+ }
+ }
+}
+
+static int HatToAngle(unsigned char hat) {
+ switch (hat) {
+ case GLFW_HAT_UP:
+ return 0;
+ case GLFW_HAT_RIGHT:
+ return 90;
+ case GLFW_HAT_DOWN:
+ return 180;
+ case GLFW_HAT_LEFT:
+ return 270;
+ case GLFW_HAT_RIGHT_UP:
+ return 45;
+ case GLFW_HAT_RIGHT_DOWN:
+ return 135;
+ case GLFW_HAT_LEFT_UP:
+ return 315;
+ case GLFW_HAT_LEFT_DOWN:
+ return 225;
+ default:
+ return -1;
+ }
+}
+
+void RobotJoystick::Update() {
+ std::memset(&desc, 0, sizeof(desc));
+ desc.type = -1;
+ std::memset(&axes, 0, sizeof(axes));
+ std::memset(&buttons, 0, sizeof(buttons));
+ std::memset(&povs, 0, sizeof(povs));
+
+ if (!sys || !sys->present) return;
+
+ // use gamepad mappings if present and enabled
+ const float* sysAxes;
+ const unsigned char* sysButtons;
+ if (sys->isGamepad && useGamepad) {
+ sysAxes = sys->gamepadState.axes;
+ // don't remap on windows
+#ifdef _WIN32
+ sysButtons = sys->buttons;
+#else
+ sysButtons = sys->gamepadState.buttons;
+#endif
+ } else {
+ sysAxes = sys->axes;
+ sysButtons = sys->buttons;
+ }
+
+ // copy into HAL structures
+ desc.isXbox = sys->isGamepad ? 1 : 0;
+ desc.type = sys->isGamepad ? 21 : 20;
+ std::strncpy(desc.name, sys->name, 256);
+ desc.axisCount = (std::min)(sys->axisCount, HAL_kMaxJoystickAxes);
+ // desc.axisTypes ???
+ desc.buttonCount = (std::min)(sys->buttonCount, 32);
+ desc.povCount = (std::min)(sys->hatCount, HAL_kMaxJoystickPOVs);
+
+ buttons.count = desc.buttonCount;
+ for (int j = 0; j < buttons.count; ++j)
+ buttons.buttons |= (sysButtons[j] ? 1u : 0u) << j;
+
+ axes.count = desc.axisCount;
+ if (sys->isGamepad && useGamepad) {
+ // the FRC DriverStation maps gamepad (XInput) trigger values to 0-1 range
+ // on axis 2 and 3.
+ axes.axes[0] = sysAxes[0];
+ axes.axes[1] = sysAxes[1];
+ axes.axes[2] = 0.5 + sysAxes[4] / 2.0;
+ axes.axes[3] = 0.5 + sysAxes[5] / 2.0;
+ axes.axes[4] = sysAxes[2];
+ axes.axes[5] = sysAxes[3];
+
+ // the start button for gamepads is not mapped on the FRC DriverStation
+ // platforms, so remove it if present
+ if (buttons.count == 11) {
+ --desc.buttonCount;
+ --buttons.count;
+ buttons.buttons =
+ (buttons.buttons & 0xff) | ((buttons.buttons >> 1) & 0x300);
+ }
+ } else {
+ std::memcpy(axes.axes, sysAxes, axes.count * sizeof(&axes.axes[0]));
+ }
+
+ povs.count = desc.povCount;
+ for (int j = 0; j < povs.count; ++j) povs.povs[j] = HatToAngle(sys->hats[j]);
+}
+
+void RobotJoystick::SetHAL(int i) {
+ // set at HAL level
+ HALSIM_SetJoystickDescriptor(i, &desc);
+ HALSIM_SetJoystickAxes(i, &axes);
+ HALSIM_SetJoystickButtons(i, &buttons);
+ HALSIM_SetJoystickPOVs(i, &povs);
+}
+
+static void DriverStationExecute() {
+ static bool prevDisableDS = false;
+ if (gDisableDS && !prevDisableDS) {
+ HALSimGui::SetWindowVisibility("FMS", HALSimGui::kDisabled);
+ HALSimGui::SetWindowVisibility("System Joysticks", HALSimGui::kDisabled);
+ HALSimGui::SetWindowVisibility("Joysticks", HALSimGui::kDisabled);
+ } else if (!gDisableDS && prevDisableDS) {
+ HALSimGui::SetWindowVisibility("FMS", HALSimGui::kShow);
+ HALSimGui::SetWindowVisibility("System Joysticks", HALSimGui::kShow);
+ HALSimGui::SetWindowVisibility("Joysticks", HALSimGui::kShow);
+ }
+ prevDisableDS = gDisableDS;
+ if (gDisableDS) return;
+
+ double curTime = glfwGetTime();
+
+ // update system joysticks
+ for (int i = 0; i <= GLFW_JOYSTICK_LAST; ++i) {
+ gSystemJoysticks[i].Update(i);
+ if (gSystemJoysticks[i].present) gNumSystemJoysticks = i + 1;
+ }
+
+ // update robot joysticks
+ for (auto&& joy : gRobotJoysticks) joy.Update();
+
+ bool isEnabled = HALSIM_GetDriverStationEnabled();
+ bool isAuto = HALSIM_GetDriverStationAutonomous();
+ bool isTest = HALSIM_GetDriverStationTest();
+
+ // Robot state
+ {
+ ImGui::SetNextWindowPos(ImVec2{5, 20}, ImGuiCond_FirstUseEver);
+ ImGui::Begin("Robot State", nullptr, ImGuiWindowFlags_AlwaysAutoResize);
+ if (ImGui::Selectable("Disabled", !isEnabled))
+ HALSIM_SetDriverStationEnabled(false);
+ if (ImGui::Selectable("Autonomous", isEnabled && isAuto && !isTest)) {
+ HALSIM_SetDriverStationAutonomous(true);
+ HALSIM_SetDriverStationTest(false);
+ HALSIM_SetDriverStationEnabled(true);
+ }
+ if (ImGui::Selectable("Teleoperated", isEnabled && !isAuto && !isTest)) {
+ HALSIM_SetDriverStationAutonomous(false);
+ HALSIM_SetDriverStationTest(false);
+ HALSIM_SetDriverStationEnabled(true);
+ }
+ if (ImGui::Selectable("Test", isEnabled && isTest)) {
+ HALSIM_SetDriverStationAutonomous(false);
+ HALSIM_SetDriverStationTest(true);
+ HALSIM_SetDriverStationEnabled(true);
+ }
+ ImGui::End();
+ }
+
+ // Update HAL
+ for (int i = 0; i < HAL_kMaxJoysticks; ++i) gRobotJoysticks[i].SetHAL(i);
+
+ // Send new data every 20 ms (may be slower depending on GUI refresh rate)
+ static double lastNewDataTime = 0.0;
+ if ((curTime - lastNewDataTime) > 0.02) {
+ lastNewDataTime = curTime;
+ HALSIM_NotifyDriverStationNewData();
+ }
+}
+
+static void DisplayFMS() {
+ double curTime = glfwGetTime();
+
+ // FMS Attached
+ bool fmsAttached = HALSIM_GetDriverStationFmsAttached();
+ if (ImGui::Checkbox("FMS Attached", &fmsAttached))
+ HALSIM_SetDriverStationFmsAttached(fmsAttached);
+
+ // DS Attached
+ bool dsAttached = HALSIM_GetDriverStationDsAttached();
+ if (ImGui::Checkbox("DS Attached", &dsAttached))
+ HALSIM_SetDriverStationDsAttached(dsAttached);
+
+ // Alliance Station
+ static const char* stations[] = {"Red 1", "Red 2", "Red 3",
+ "Blue 1", "Blue 2", "Blue 3"};
+ int allianceStationId = HALSIM_GetDriverStationAllianceStationId();
+ ImGui::SetNextItemWidth(ImGui::GetFontSize() * 8);
+ if (ImGui::Combo("Alliance Station", &allianceStationId, stations, 6))
+ HALSIM_SetDriverStationAllianceStationId(
+ static_cast<HAL_AllianceStationID>(allianceStationId));
+
+ // Match Time
+ static bool matchTimeEnabled = true;
+ ImGui::Checkbox("Match Time Enabled", &matchTimeEnabled);
+
+ static double startMatchTime = 0.0;
+ double matchTime = HALSIM_GetDriverStationMatchTime();
+ ImGui::SetNextItemWidth(ImGui::GetFontSize() * 8);
+ if (ImGui::InputDouble("Match Time", &matchTime, 0, 0, "%.1f",
+ ImGuiInputTextFlags_EnterReturnsTrue)) {
+ HALSIM_SetDriverStationMatchTime(matchTime);
+ startMatchTime = curTime - matchTime;
+ } else if (!HALSIM_GetDriverStationEnabled()) {
+ startMatchTime = curTime - matchTime;
+ } else if (matchTimeEnabled) {
+ HALSIM_SetDriverStationMatchTime(curTime - startMatchTime);
+ }
+ ImGui::SameLine();
+ if (ImGui::Button("Reset")) {
+ HALSIM_SetDriverStationMatchTime(0.0);
+ startMatchTime = curTime;
+ }
+
+ // Game Specific Message
+ static HAL_MatchInfo matchInfo;
+ ImGui::SetNextItemWidth(ImGui::GetFontSize() * 8);
+ if (ImGui::InputText("Game Specific",
+ reinterpret_cast<char*>(matchInfo.gameSpecificMessage),
+ sizeof(matchInfo.gameSpecificMessage),
+ ImGuiInputTextFlags_EnterReturnsTrue)) {
+ matchInfo.gameSpecificMessageSize =
+ std::strlen(reinterpret_cast<char*>(matchInfo.gameSpecificMessage));
+ HALSIM_SetMatchInfo(&matchInfo);
+ }
+}
+
+static void DisplaySystemJoysticks() {
+ ImGui::Text("(Drag and drop to Joysticks)");
+ int numShowJoysticks = gNumSystemJoysticks < 6 ? 6 : gNumSystemJoysticks;
+ for (int i = 0; i < numShowJoysticks; ++i) {
+ auto& joy = gSystemJoysticks[i];
+ wpi::SmallString<128> label;
+ wpi::raw_svector_ostream os(label);
+ os << wpi::format("%d: %s", i, joy.name);
+
+ // highlight if any buttons pressed
+ if (joy.anyButtonPressed)
+ ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(255, 255, 0, 255));
+ ImGui::Selectable(label.c_str(), false,
+ joy.present ? ImGuiSelectableFlags_None
+ : ImGuiSelectableFlags_Disabled);
+ if (joy.anyButtonPressed) ImGui::PopStyleColor();
+
+ // drag and drop sources are the low level joysticks
+ if (ImGui::BeginDragDropSource()) {
+ SystemJoystick* joyPtr = &joy;
+ ImGui::SetDragDropPayload("Joystick", &joyPtr, sizeof(joyPtr));
+ ImGui::Text("%d: %s", i, joy.name);
+ ImGui::EndDragDropSource();
+ }
+ }
+}
+
+static void DisplayJoysticks() {
+ // imgui doesn't size columns properly with autoresize, so force it
+ ImGui::Dummy(ImVec2(ImGui::GetFontSize() * 10 * HAL_kMaxJoysticks, 0));
+
+ ImGui::Columns(HAL_kMaxJoysticks, "Joysticks", false);
+ for (int i = 0; i < HAL_kMaxJoysticks; ++i) {
+ auto& joy = gRobotJoysticks[i];
+ char label[30];
+ std::snprintf(label, sizeof(label), "Joystick %d", i);
+ if (joy.sys) {
+ ImGui::Selectable(label, false);
+ if (ImGui::BeginDragDropSource()) {
+ ImGui::SetDragDropPayload("Joystick", &joy.sys, sizeof(joy.sys));
+ ImGui::Text("%d: %s", static_cast<int>(joy.sys - gSystemJoysticks),
+ joy.sys->name);
+ ImGui::EndDragDropSource();
+ }
+ } else {
+ ImGui::Selectable(label, false, ImGuiSelectableFlags_Disabled);
+ }
+ if (ImGui::BeginDragDropTarget()) {
+ if (const ImGuiPayload* payload =
+ ImGui::AcceptDragDropPayload("Joystick")) {
+ IM_ASSERT(payload->DataSize == sizeof(SystemJoystick*));
+ SystemJoystick* payload_sys =
+ *static_cast<SystemJoystick* const*>(payload->Data);
+ // clear it from the other joysticks
+ for (auto&& joy2 : gRobotJoysticks) {
+ if (joy2.sys == payload_sys) joy2.sys = nullptr;
+ }
+ joy.sys = payload_sys;
+ joy.guid.clear();
+ joy.useGamepad = false;
+ }
+ ImGui::EndDragDropTarget();
+ }
+ ImGui::NextColumn();
+ }
+ ImGui::Separator();
+
+ for (int i = 0; i < HAL_kMaxJoysticks; ++i) {
+ auto& joy = gRobotJoysticks[i];
+
+ if (joy.sys && joy.sys->present) {
+ // update GUI display
+ ImGui::PushID(i);
+ ImGui::Text("%d: %s", static_cast<int>(joy.sys - gSystemJoysticks),
+ joy.sys->name);
+
+ if (joy.sys->isGamepad) ImGui::Checkbox("Map gamepad", &joy.useGamepad);
+
+ for (int j = 0; j < joy.axes.count; ++j)
+ ImGui::Text("Axis[%d]: %.3f", j, joy.axes.axes[j]);
+
+ for (int j = 0; j < joy.povs.count; ++j)
+ ImGui::Text("POVs[%d]: %d", j, joy.povs.povs[j]);
+
+ // show buttons as multiple lines of LED indicators, 8 per line
+ static const ImU32 color = IM_COL32(255, 255, 102, 255);
+ wpi::SmallVector<int, 64> buttons;
+ buttons.resize(joy.buttons.count);
+ for (int j = 0; j < joy.buttons.count; ++j)
+ buttons[j] = joy.IsButtonPressed(j) ? 1 : -1;
+ DrawLEDs(buttons.data(), buttons.size(), 8, &color);
+ ImGui::PopID();
+ } else {
+ ImGui::Text("Unassigned");
+ }
+ ImGui::NextColumn();
+ }
+ ImGui::Columns(1);
+}
+
+static void DriverStationOptionMenu() {
+ ImGui::MenuItem("Turn off DS", nullptr, &gDisableDS);
+}
+
+void DriverStationGui::Initialize() {
+ // hook ini handler to save joystick settings
+ ImGuiSettingsHandler iniHandler;
+ iniHandler.TypeName = "Joystick";
+ iniHandler.TypeHash = ImHashStr(iniHandler.TypeName);
+ iniHandler.ReadOpenFn = JoystickReadOpen;
+ iniHandler.ReadLineFn = JoystickReadLine;
+ iniHandler.WriteAllFn = JoystickWriteAll;
+ ImGui::GetCurrentContext()->SettingsHandlers.push_back(iniHandler);
+
+ // hook ini handler to save DS settings
+ iniHandler.TypeName = "DriverStation";
+ iniHandler.TypeHash = ImHashStr(iniHandler.TypeName);
+ iniHandler.ReadOpenFn = DriverStationReadOpen;
+ iniHandler.ReadLineFn = DriverStationReadLine;
+ iniHandler.WriteAllFn = DriverStationWriteAll;
+ ImGui::GetCurrentContext()->SettingsHandlers.push_back(iniHandler);
+
+ HALSimGui::AddExecute(DriverStationExecute);
+ HALSimGui::AddWindow("FMS", DisplayFMS, ImGuiWindowFlags_AlwaysAutoResize);
+ HALSimGui::AddWindow("System Joysticks", DisplaySystemJoysticks,
+ ImGuiWindowFlags_AlwaysAutoResize);
+ HALSimGui::AddWindow("Joysticks", DisplayJoysticks,
+ ImGuiWindowFlags_AlwaysAutoResize);
+ HALSimGui::AddOptionMenu(DriverStationOptionMenu);
+
+ HALSimGui::SetDefaultWindowPos("FMS", 5, 540);
+ HALSimGui::SetDefaultWindowPos("System Joysticks", 5, 385);
+ HALSimGui::SetDefaultWindowPos("Joysticks", 250, 465);
+}
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.h b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.h
new file mode 100644
index 0000000..571c265
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.h
@@ -0,0 +1,17 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+namespace halsimgui {
+
+class DriverStationGui {
+ public:
+ static void Initialize();
+};
+
+} // namespace halsimgui
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/EncoderGui.cpp b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/EncoderGui.cpp
new file mode 100644
index 0000000..55650fb
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/EncoderGui.cpp
@@ -0,0 +1,129 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "EncoderGui.h"
+
+#include <cstdio>
+
+#include <hal/Ports.h>
+#include <imgui.h>
+#include <imgui_internal.h>
+#include <mockdata/EncoderData.h>
+#include <mockdata/SimDeviceData.h>
+#include <wpi/DenseMap.h>
+#include <wpi/StringRef.h>
+
+#include "HALSimGui.h"
+
+using namespace halsimgui;
+
+static wpi::DenseMap<int, bool> gEncodersOpen; // indexed by channel A
+
+// read/write open state to ini file
+static void* EncodersReadOpen(ImGuiContext* ctx, ImGuiSettingsHandler* handler,
+ const char* name) {
+ int num;
+ if (wpi::StringRef{name}.getAsInteger(10, num)) return nullptr;
+ return &gEncodersOpen[num];
+}
+
+static void EncodersReadLine(ImGuiContext* ctx, ImGuiSettingsHandler* handler,
+ void* entry, const char* lineStr) {
+ bool* element = static_cast<bool*>(entry);
+ wpi::StringRef line{lineStr};
+ auto [name, value] = line.split('=');
+ name = name.trim();
+ value = value.trim();
+ if (name == "open") {
+ int num;
+ if (value.getAsInteger(10, num)) return;
+ *element = num;
+ }
+}
+
+static void EncodersWriteAll(ImGuiContext* ctx, ImGuiSettingsHandler* handler,
+ ImGuiTextBuffer* out_buf) {
+ for (auto it : gEncodersOpen)
+ out_buf->appendf("[Encoder][%d]\nopen=%d\n\n", it.first, it.second ? 1 : 0);
+}
+
+static void DisplayEncoders() {
+ bool hasAny = false;
+ static int numEncoder = HAL_GetNumEncoders();
+ ImGui::PushItemWidth(ImGui::GetFontSize() * 8);
+ for (int i = 0; i < numEncoder; ++i) {
+ if (HALSIM_GetEncoderInitialized(i)) {
+ hasAny = true;
+ char name[32];
+ int chA = HALSIM_GetEncoderDigitalChannelA(i);
+ int chB = HALSIM_GetEncoderDigitalChannelB(i);
+ std::snprintf(name, sizeof(name), "Encoder[%d,%d]", chA, chB);
+ if (auto simDevice = HALSIM_GetEncoderSimDevice(i)) {
+ ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(96, 96, 96, 255));
+ ImGui::Text("%s", HALSIM_GetSimDeviceName(simDevice));
+ ImGui::PopStyleColor();
+ } else if (ImGui::CollapsingHeader(
+ name,
+ gEncodersOpen[chA] ? ImGuiTreeNodeFlags_DefaultOpen : 0)) {
+ gEncodersOpen[chA] = true;
+
+ ImGui::PushID(i);
+
+ // distance per pulse
+ double distancePerPulse = HALSIM_GetEncoderDistancePerPulse(i);
+ ImGui::LabelText("Dist/Count", "%.6f", distancePerPulse);
+
+ // count
+ int count = HALSIM_GetEncoderCount(i);
+ if (ImGui::InputInt("Count", &count)) HALSIM_SetEncoderCount(i, count);
+ ImGui::SameLine();
+ if (ImGui::Button("Reset")) HALSIM_SetEncoderCount(i, 0);
+
+ // max period
+ double maxPeriod = HALSIM_GetEncoderMaxPeriod(i);
+ ImGui::LabelText("Max Period", "%.6f", maxPeriod);
+
+ // period
+ double period = HALSIM_GetEncoderPeriod(i);
+ if (ImGui::InputDouble("Period", &period, 0, 0, "%.6g"))
+ HALSIM_SetEncoderPeriod(i, period);
+
+ // reverse direction
+ ImGui::LabelText(
+ "Reverse Direction", "%s",
+ HALSIM_GetEncoderReverseDirection(i) ? "true" : "false");
+
+ // direction
+ static const char* options[] = {"reverse", "forward"};
+ int direction = HALSIM_GetEncoderDirection(i) ? 1 : 0;
+ if (ImGui::Combo("Direction", &direction, options, 2))
+ HALSIM_SetEncoderDirection(i, direction);
+
+ ImGui::PopID();
+ } else {
+ gEncodersOpen[chA] = false;
+ }
+ }
+ }
+ ImGui::PopItemWidth();
+ if (!hasAny) ImGui::Text("No encoders");
+}
+
+void EncoderGui::Initialize() {
+ // hook ini handler to save settings
+ ImGuiSettingsHandler iniHandler;
+ iniHandler.TypeName = "Encoder";
+ iniHandler.TypeHash = ImHashStr(iniHandler.TypeName);
+ iniHandler.ReadOpenFn = EncodersReadOpen;
+ iniHandler.ReadLineFn = EncodersReadLine;
+ iniHandler.WriteAllFn = EncodersWriteAll;
+ ImGui::GetCurrentContext()->SettingsHandlers.push_back(iniHandler);
+
+ HALSimGui::AddWindow("Encoders", DisplayEncoders,
+ ImGuiWindowFlags_AlwaysAutoResize);
+ HALSimGui::SetDefaultWindowPos("Encoders", 640, 215);
+}
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/EncoderGui.h b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/EncoderGui.h
new file mode 100644
index 0000000..3e8297b
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/EncoderGui.h
@@ -0,0 +1,17 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+namespace halsimgui {
+
+class EncoderGui {
+ public:
+ static void Initialize();
+};
+
+} // namespace halsimgui
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/ExtraGuiWidgets.cpp b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/ExtraGuiWidgets.cpp
new file mode 100644
index 0000000..81a6855
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/ExtraGuiWidgets.cpp
@@ -0,0 +1,39 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "ExtraGuiWidgets.h"
+
+namespace halsimgui {
+
+void DrawLEDs(int* values, int numValues, int cols, const ImU32* colors,
+ float size, float spacing) {
+ if (numValues == 0) return;
+ if (size == 0) size = ImGui::GetFontSize() / 2.0;
+ if (spacing == 0) spacing = ImGui::GetFontSize() / 3.0;
+
+ ImDrawList* drawList = ImGui::GetWindowDrawList();
+ const ImVec2 p = ImGui::GetCursorScreenPos();
+ float x = p.x + size / 2, y = p.y + size / 2;
+ int rows = 1;
+ for (int i = 0; i < numValues; ++i) {
+ if (i >= (rows * cols)) {
+ ++rows;
+ x = p.x + size / 2;
+ y += size + spacing;
+ }
+ if (values[i] > 0)
+ drawList->AddRectFilled(ImVec2(x, y), ImVec2(x + size, y + size),
+ colors[values[i] - 1]);
+ else if (values[i] < 0)
+ drawList->AddRect(ImVec2(x, y), ImVec2(x + size, y + size),
+ colors[-values[i] - 1], 0.0f, 0, 1.0);
+ x += size + spacing;
+ }
+ ImGui::Dummy(ImVec2((size + spacing) * cols, (size + spacing) * rows));
+}
+
+} // namespace halsimgui
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/HALSimGui.cpp b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/HALSimGui.cpp
new file mode 100644
index 0000000..79df3df
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/HALSimGui.cpp
@@ -0,0 +1,598 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "HALSimGui.h"
+
+#include <algorithm>
+#include <atomic>
+
+#include <GL/gl3w.h>
+#include <GLFW/glfw3.h>
+#include <imgui.h>
+#include <imgui_ProggyDotted.h>
+#include <imgui_impl_glfw.h>
+#include <imgui_impl_opengl3.h>
+#include <imgui_internal.h>
+#include <mockdata/DriverStationData.h>
+#include <wpi/StringMap.h>
+#include <wpi/raw_ostream.h>
+
+using namespace halsimgui;
+
+namespace {
+struct WindowInfo {
+ WindowInfo() = default;
+ explicit WindowInfo(const char* name_) : name{name_} {}
+ WindowInfo(const char* name_, std::function<void()> display_,
+ ImGuiWindowFlags flags_)
+ : name{name_}, display{std::move(display_)}, flags{flags_} {}
+
+ std::string name;
+ std::function<void()> display;
+ ImGuiWindowFlags flags = 0;
+ bool visible = true;
+ bool enabled = true;
+ ImGuiCond posCond = 0;
+ ImGuiCond sizeCond = 0;
+ ImVec2 pos;
+ ImVec2 size;
+};
+} // namespace
+
+static std::atomic_bool gExit{false};
+static GLFWwindow* gWindow;
+static bool gWindowLoadedWidthHeight = false;
+static int gWindowWidth = 1280;
+static int gWindowHeight = 720;
+static int gWindowMaximized = 0;
+static int gWindowXPos = -1;
+static int gWindowYPos = -1;
+static std::vector<std::function<void()>> gInitializers;
+static std::vector<std::function<void()>> gExecutors;
+static std::vector<WindowInfo> gWindows;
+static wpi::StringMap<int> gWindowMap; // index into gWindows
+static std::vector<int> gSortedWindows; // index into gWindows
+static std::vector<std::function<void()>> gOptionMenus;
+static std::vector<std::function<void()>> gMenus;
+static int gUserScale = 2;
+static int gStyle = 0;
+static constexpr int kScaledFontLevels = 9;
+static ImFont* gScaledFont[kScaledFontLevels];
+static bool gDisableOutputsOnDSDisable = true;
+
+static void glfw_error_callback(int error, const char* description) {
+ wpi::errs() << "GLFW Error " << error << ": " << description << '\n';
+}
+
+static void glfw_window_size_callback(GLFWwindow*, int width, int height) {
+ if (!gWindowMaximized) {
+ gWindowWidth = width;
+ gWindowHeight = height;
+ }
+}
+
+static void glfw_window_maximize_callback(GLFWwindow* window, int maximized) {
+ gWindowMaximized = maximized;
+}
+
+static void glfw_window_pos_callback(GLFWwindow* window, int xpos, int ypos) {
+ if (!gWindowMaximized) {
+ gWindowXPos = xpos;
+ gWindowYPos = ypos;
+ }
+}
+
+// read/write open state to ini file
+static void* SimWindowsReadOpen(ImGuiContext* ctx,
+ ImGuiSettingsHandler* handler,
+ const char* name) {
+ if (wpi::StringRef{name} == "GLOBAL") return &gWindow;
+
+ int index = gWindowMap.try_emplace(name, gWindows.size()).first->second;
+ if (index == static_cast<int>(gWindows.size())) {
+ gSortedWindows.push_back(index);
+ gWindows.emplace_back(name);
+ std::sort(gSortedWindows.begin(), gSortedWindows.end(),
+ [](int a, int b) { return gWindows[a].name < gWindows[b].name; });
+ }
+ return &gWindows[index];
+}
+
+static void SimWindowsReadLine(ImGuiContext* ctx, ImGuiSettingsHandler* handler,
+ void* entry, const char* lineStr) {
+ wpi::StringRef line{lineStr};
+ auto [name, value] = line.split('=');
+ name = name.trim();
+ value = value.trim();
+
+ if (entry == &gWindow) {
+ int num;
+ if (value.getAsInteger(10, num)) return;
+ if (name == "width") {
+ gWindowWidth = num;
+ gWindowLoadedWidthHeight = true;
+ } else if (name == "height") {
+ gWindowHeight = num;
+ gWindowLoadedWidthHeight = true;
+ } else if (name == "maximized") {
+ gWindowMaximized = num;
+ } else if (name == "xpos") {
+ gWindowXPos = num;
+ } else if (name == "ypos") {
+ gWindowYPos = num;
+ } else if (name == "userScale") {
+ gUserScale = num;
+ } else if (name == "style") {
+ gStyle = num;
+ } else if (name == "disableOutputsOnDS") {
+ gDisableOutputsOnDSDisable = num;
+ }
+ return;
+ }
+
+ auto element = static_cast<WindowInfo*>(entry);
+ if (name == "visible") {
+ int num;
+ if (value.getAsInteger(10, num)) return;
+ element->visible = num;
+ } else if (name == "enabled") {
+ int num;
+ if (value.getAsInteger(10, num)) return;
+ element->enabled = num;
+ }
+}
+
+static void SimWindowsWriteAll(ImGuiContext* ctx, ImGuiSettingsHandler* handler,
+ ImGuiTextBuffer* out_buf) {
+ out_buf->appendf(
+ "[SimWindow][GLOBAL]\nwidth=%d\nheight=%d\nmaximized=%d\n"
+ "xpos=%d\nypos=%d\nuserScale=%d\nstyle=%d\ndisableOutputsOnDS=%d\n",
+ gWindowWidth, gWindowHeight, gWindowMaximized, gWindowXPos, gWindowYPos,
+ gUserScale, gStyle, gDisableOutputsOnDSDisable ? 1 : 0);
+ for (auto&& window : gWindows)
+ out_buf->appendf("[SimWindow][%s]\nvisible=%d\nenabled=%d\n\n",
+ window.name.c_str(), window.visible ? 1 : 0,
+ window.enabled ? 1 : 0);
+}
+
+static void UpdateStyle() {
+ switch (gStyle) {
+ case 0:
+ ImGui::StyleColorsClassic();
+ break;
+ case 1:
+ ImGui::StyleColorsDark();
+ break;
+ case 2:
+ ImGui::StyleColorsLight();
+ break;
+ }
+}
+
+void HALSimGui::Add(std::function<void()> initialize) {
+ if (initialize) gInitializers.emplace_back(std::move(initialize));
+}
+
+void HALSimGui::AddExecute(std::function<void()> execute) {
+ if (execute) gExecutors.emplace_back(std::move(execute));
+}
+
+void HALSimGui::AddWindow(const char* name, std::function<void()> display,
+ int flags) {
+ if (display) {
+ int index = gWindowMap.try_emplace(name, gWindows.size()).first->second;
+ if (index < static_cast<int>(gWindows.size())) {
+ if (gWindows[index].display) {
+ wpi::errs() << "halsim_gui: ignoring duplicate window '" << name
+ << "'\n";
+ } else {
+ gWindows[index].display = display;
+ gWindows[index].flags = flags;
+ }
+ return;
+ }
+ gSortedWindows.push_back(index);
+ gWindows.emplace_back(name, std::move(display),
+ static_cast<ImGuiWindowFlags>(flags));
+ std::sort(gSortedWindows.begin(), gSortedWindows.end(),
+ [](int a, int b) { return gWindows[a].name < gWindows[b].name; });
+ }
+}
+
+void HALSimGui::AddMainMenu(std::function<void()> menu) {
+ if (menu) gMenus.emplace_back(std::move(menu));
+}
+
+void HALSimGui::AddOptionMenu(std::function<void()> menu) {
+ if (menu) gOptionMenus.emplace_back(std::move(menu));
+}
+
+void HALSimGui::SetWindowVisibility(const char* name,
+ WindowVisibility visibility) {
+ auto it = gWindowMap.find(name);
+ if (it == gWindowMap.end()) return;
+ auto& window = gWindows[it->second];
+ switch (visibility) {
+ case kHide:
+ window.visible = false;
+ window.enabled = true;
+ break;
+ case kShow:
+ window.visible = true;
+ window.enabled = true;
+ break;
+ case kDisabled:
+ window.enabled = false;
+ break;
+ }
+}
+
+void HALSimGui::SetDefaultWindowPos(const char* name, float x, float y) {
+ auto it = gWindowMap.find(name);
+ if (it == gWindowMap.end()) return;
+ auto& window = gWindows[it->second];
+ window.posCond = ImGuiCond_FirstUseEver;
+ window.pos = ImVec2{x, y};
+}
+
+void HALSimGui::SetDefaultWindowSize(const char* name, float width,
+ float height) {
+ auto it = gWindowMap.find(name);
+ if (it == gWindowMap.end()) return;
+ auto& window = gWindows[it->second];
+ window.sizeCond = ImGuiCond_FirstUseEver;
+ window.size = ImVec2{width, height};
+}
+
+bool HALSimGui::AreOutputsDisabled() {
+ return gDisableOutputsOnDSDisable && !HALSIM_GetDriverStationEnabled();
+}
+
+bool HALSimGui::Initialize() {
+ // Setup window
+ glfwSetErrorCallback(glfw_error_callback);
+ glfwInitHint(GLFW_JOYSTICK_HAT_BUTTONS, GLFW_FALSE);
+ if (!glfwInit()) return false;
+
+ // Decide GL+GLSL versions
+#if __APPLE__
+ // GL 3.2 + GLSL 150
+ const char* glsl_version = "#version 150";
+ glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
+ glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 2);
+ glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE); // 3.2+ only
+ glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE); // Required on Mac
+ glfwWindowHint(GLFW_COCOA_GRAPHICS_SWITCHING, GLFW_TRUE);
+#else
+ // GL 3.0 + GLSL 130
+ const char* glsl_version = "#version 130";
+ glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
+ glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 0);
+ // glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE); // 3.2+
+ // glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE); // 3.0+
+#endif
+
+ // Setup Dear ImGui context
+ IMGUI_CHECKVERSION();
+ ImGui::CreateContext();
+ ImGuiIO& io = ImGui::GetIO();
+ (void)io;
+
+ // Hook ini handler to save settings
+ ImGuiSettingsHandler iniHandler;
+ iniHandler.TypeName = "SimWindow";
+ iniHandler.TypeHash = ImHashStr(iniHandler.TypeName);
+ iniHandler.ReadOpenFn = SimWindowsReadOpen;
+ iniHandler.ReadLineFn = SimWindowsReadLine;
+ iniHandler.WriteAllFn = SimWindowsWriteAll;
+ ImGui::GetCurrentContext()->SettingsHandlers.push_back(iniHandler);
+
+ for (auto&& initialize : gInitializers) {
+ if (initialize) initialize();
+ }
+
+ // Load INI file
+ ImGui::LoadIniSettingsFromDisk(io.IniFilename);
+
+ // Set initial window settings
+ glfwWindowHint(GLFW_MAXIMIZED, gWindowMaximized ? GLFW_TRUE : GLFW_FALSE);
+
+ float windowScale = 1.0;
+ if (!gWindowLoadedWidthHeight) {
+ glfwWindowHint(GLFW_SCALE_TO_MONITOR, GLFW_TRUE);
+ // get the primary monitor work area to see if we have a reasonable initial
+ // window size; if not, maximize, and default scaling to smaller
+ if (GLFWmonitor* primary = glfwGetPrimaryMonitor()) {
+ int monWidth, monHeight;
+ glfwGetMonitorWorkarea(primary, nullptr, nullptr, &monWidth, &monHeight);
+ if (monWidth < gWindowWidth || monHeight < gWindowHeight) {
+ glfwWindowHint(GLFW_MAXIMIZED, GLFW_TRUE);
+ windowScale = (std::min)(monWidth * 1.0 / gWindowWidth,
+ monHeight * 1.0 / gWindowHeight);
+ }
+ }
+ }
+ if (gWindowXPos != -1 && gWindowYPos != -1)
+ glfwWindowHint(GLFW_VISIBLE, GLFW_FALSE);
+
+ // Create window with graphics context
+ gWindow = glfwCreateWindow(gWindowWidth, gWindowHeight,
+ "Robot Simulation GUI", nullptr, nullptr);
+ if (!gWindow) return false;
+
+ if (!gWindowLoadedWidthHeight) {
+ if (windowScale == 1.0)
+ glfwGetWindowContentScale(gWindow, &windowScale, nullptr);
+ wpi::outs() << "windowScale = " << windowScale;
+ // force user scale if window scale is smaller
+ if (windowScale <= 0.5)
+ gUserScale = 0;
+ else if (windowScale <= 0.75)
+ gUserScale = 1;
+ if (windowScale != 1.0) {
+ // scale default window positions
+ for (auto&& window : gWindows) {
+ if ((window.posCond & ImGuiCond_FirstUseEver) != 0) {
+ window.pos.x *= windowScale;
+ window.pos.y *= windowScale;
+ }
+ }
+ }
+ }
+
+ // Update window settings
+ if (gWindowXPos != -1 && gWindowYPos != -1) {
+ glfwSetWindowPos(gWindow, gWindowXPos, gWindowYPos);
+ glfwShowWindow(gWindow);
+ }
+
+ // Set window callbacks
+ glfwGetWindowSize(gWindow, &gWindowWidth, &gWindowHeight);
+ glfwSetWindowSizeCallback(gWindow, glfw_window_size_callback);
+ glfwSetWindowMaximizeCallback(gWindow, glfw_window_maximize_callback);
+ glfwSetWindowPosCallback(gWindow, glfw_window_pos_callback);
+
+ glfwMakeContextCurrent(gWindow);
+ glfwSwapInterval(1); // Enable vsync
+
+ // Initialize OpenGL loader
+ if (gl3wInit() != 0) {
+ wpi::errs() << "Failed to initialize OpenGL loader!\n";
+ return false;
+ }
+
+ // Setup Dear ImGui style
+ UpdateStyle();
+
+ // Setup Platform/Renderer bindings
+ ImGui_ImplGlfw_InitForOpenGL(gWindow, true);
+ ImGui_ImplOpenGL3_Init(glsl_version);
+
+ // Load Fonts
+ // - If no fonts are loaded, dear imgui will use the default font. You can
+ // also load multiple fonts and use ImGui::PushFont()/PopFont() to select
+ // them.
+ // - AddFontFromFileTTF() will return the ImFont* so you can store it if you
+ // need to select the font among multiple.
+ // - If the file cannot be loaded, the function will return NULL. Please
+ // handle those errors in your application (e.g. use an assertion, or display
+ // an error and quit).
+ // - The fonts will be rasterized at a given size (w/ oversampling) and stored
+ // into a texture when calling ImFontAtlas::Build()/GetTexDataAsXXXX(), which
+ // ImGui_ImplXXXX_NewFrame below will call.
+ // - Read 'misc/fonts/README.txt' for more instructions and details.
+ // - Remember that in C/C++ if you want to include a backslash \ in a string
+ // literal you need to write a double backslash \\ !
+ // io.Fonts->AddFontDefault();
+ // io.Fonts->AddFontFromFileTTF("../../misc/fonts/Roboto-Medium.ttf", 16.0f);
+ // io.Fonts->AddFontFromFileTTF("../../misc/fonts/Cousine-Regular.ttf", 15.0f);
+ // io.Fonts->AddFontFromFileTTF("../../misc/fonts/DroidSans.ttf", 16.0f);
+ // io.Fonts->AddFontFromFileTTF("../../misc/fonts/ProggyTiny.ttf", 10.0f);
+ // ImFont* font =
+ // io.Fonts->AddFontFromFileTTF("c:\\Windows\\Fonts\\ArialUni.ttf", 18.0f,
+ // NULL, io.Fonts->GetGlyphRangesJapanese()); IM_ASSERT(font != NULL);
+
+ // this range is based on 13px being the "nominal" 100% size and going from
+ // ~0.5x (7px) to ~2.0x (25px)
+ for (int i = 0; i < kScaledFontLevels; ++i) {
+ float size = 7.0f + i * 3.0f;
+ ImFontConfig cfg;
+ std::snprintf(cfg.Name, sizeof(cfg.Name), "ProggyDotted-%d",
+ static_cast<int>(size));
+ gScaledFont[i] = ImGui::AddFontProggyDotted(io, size, &cfg);
+ }
+
+ return true;
+}
+
+void HALSimGui::Main(void*) {
+ ImVec4 clear_color = ImVec4(0.45f, 0.55f, 0.60f, 1.00f);
+
+ // Main loop
+ while (!glfwWindowShouldClose(gWindow) && !gExit) {
+ // Poll and handle events (inputs, window resize, etc.)
+ glfwPollEvents();
+
+ // Start the Dear ImGui frame
+ ImGui_ImplOpenGL3_NewFrame();
+ ImGui_ImplGlfw_NewFrame();
+ ImGui::NewFrame();
+
+ // Scale based on OS window content scaling
+ float windowScale = 1.0;
+ glfwGetWindowContentScale(gWindow, &windowScale, nullptr);
+ // map to closest font size: 0 = 0.5x, 1 = 0.75x, 2 = 1.0x, 3 = 1.25x,
+ // 4 = 1.5x, 5 = 1.75x, 6 = 2x
+ int fontScale =
+ std::clamp(gUserScale + static_cast<int>((windowScale - 1.0) * 4), 0,
+ kScaledFontLevels - 1);
+ ImGui::GetIO().FontDefault = gScaledFont[fontScale];
+
+ for (auto&& execute : gExecutors) {
+ if (execute) execute();
+ }
+
+ {
+ ImGui::BeginMainMenuBar();
+
+ if (ImGui::BeginMenu("Options")) {
+ ImGui::MenuItem("Disable outputs on DS disable", nullptr,
+ &gDisableOutputsOnDSDisable, true);
+ for (auto&& menu : gOptionMenus) {
+ if (menu) menu();
+ }
+ ImGui::EndMenu();
+ }
+
+ if (ImGui::BeginMenu("View")) {
+ if (ImGui::BeginMenu("Style")) {
+ bool selected;
+ selected = gStyle == 0;
+ if (ImGui::MenuItem("Classic", nullptr, &selected, true)) {
+ gStyle = 0;
+ UpdateStyle();
+ }
+ selected = gStyle == 1;
+ if (ImGui::MenuItem("Dark", nullptr, &selected, true)) {
+ gStyle = 1;
+ UpdateStyle();
+ }
+ selected = gStyle == 2;
+ if (ImGui::MenuItem("Light", nullptr, &selected, true)) {
+ gStyle = 2;
+ UpdateStyle();
+ }
+ ImGui::EndMenu();
+ }
+
+ if (ImGui::BeginMenu("Zoom")) {
+ for (int i = 0; i < kScaledFontLevels && (25 * (i + 2)) <= 200; ++i) {
+ char label[20];
+ std::snprintf(label, sizeof(label), "%d%%", 25 * (i + 2));
+ bool selected = gUserScale == i;
+ bool enabled = (fontScale - gUserScale + i) >= 0 &&
+ (fontScale - gUserScale + i) < kScaledFontLevels;
+ if (ImGui::MenuItem(label, nullptr, &selected, enabled))
+ gUserScale = i;
+ }
+ ImGui::EndMenu();
+ }
+ ImGui::EndMenu();
+ }
+
+ if (ImGui::BeginMenu("Window")) {
+ for (auto&& windowIndex : gSortedWindows) {
+ auto& window = gWindows[windowIndex];
+ ImGui::MenuItem(window.name.c_str(), nullptr, &window.visible,
+ window.enabled);
+ }
+ ImGui::EndMenu();
+ }
+
+ for (auto&& menu : gMenus) {
+ if (menu) menu();
+ }
+
+#if 0
+ char str[64];
+ std::snprintf(str, sizeof(str), "%.3f ms/frame (%.1f FPS)",
+ 1000.0f / ImGui::GetIO().Framerate,
+ ImGui::GetIO().Framerate);
+ ImGui::SameLine(ImGui::GetWindowWidth() - ImGui::CalcTextSize(str).x -
+ 10);
+ ImGui::Text("%s", str);
+#endif
+ ImGui::EndMainMenuBar();
+ }
+
+ for (auto&& window : gWindows) {
+ if (window.display && window.visible && window.enabled) {
+ if (window.posCond != 0)
+ ImGui::SetNextWindowPos(window.pos, window.posCond);
+ if (window.sizeCond != 0)
+ ImGui::SetNextWindowSize(window.size, window.sizeCond);
+ if (ImGui::Begin(window.name.c_str(), &window.visible, window.flags))
+ window.display();
+ ImGui::End();
+ }
+ }
+
+ // Rendering
+ ImGui::Render();
+ int display_w, display_h;
+ glfwGetFramebufferSize(gWindow, &display_w, &display_h);
+ glViewport(0, 0, display_w, display_h);
+ glClearColor(clear_color.x, clear_color.y, clear_color.z, clear_color.w);
+ glClear(GL_COLOR_BUFFER_BIT);
+ ImGui_ImplOpenGL3_RenderDrawData(ImGui::GetDrawData());
+
+ glfwSwapBuffers(gWindow);
+ }
+
+ // Cleanup
+ ImGui_ImplOpenGL3_Shutdown();
+ ImGui_ImplGlfw_Shutdown();
+ ImGui::DestroyContext();
+
+ glfwDestroyWindow(gWindow);
+ glfwTerminate();
+}
+
+void HALSimGui::Exit(void*) { gExit = true; }
+
+extern "C" {
+
+void HALSIMGUI_Add(void* param, void (*initialize)(void*)) {
+ if (initialize) {
+ HALSimGui::Add([=] { initialize(param); });
+ }
+}
+
+void HALSIMGUI_AddExecute(void* param, void (*execute)(void*)) {
+ if (execute) {
+ HALSimGui::AddExecute([=] { execute(param); });
+ }
+}
+
+void HALSIMGUI_AddWindow(const char* name, void* param, void (*display)(void*),
+ int32_t flags) {
+ if (display) {
+ HALSimGui::AddWindow(name, [=] { display(param); }, flags);
+ }
+}
+
+void HALSIMGUI_AddMainMenu(void* param, void (*menu)(void*)) {
+ if (menu) {
+ HALSimGui::AddMainMenu([=] { menu(param); });
+ }
+}
+
+void HALSIMGUI_AddOptionMenu(void* param, void (*menu)(void*)) {
+ if (menu) {
+ HALSimGui::AddOptionMenu([=] { menu(param); });
+ }
+}
+
+void HALSIMGUI_SetWindowVisibility(const char* name, int32_t visibility) {
+ HALSimGui::SetWindowVisibility(
+ name, static_cast<HALSimGui::WindowVisibility>(visibility));
+}
+
+void HALSIMGUI_SetDefaultWindowPos(const char* name, float x, float y) {
+ HALSimGui::SetDefaultWindowPos(name, x, y);
+}
+
+void HALSIMGUI_SetDefaultWindowSize(const char* name, float width,
+ float height) {
+ HALSimGui::SetDefaultWindowSize(name, width, height);
+}
+
+int HALSIMGUI_AreOutputsDisabled(void) {
+ return HALSimGui::AreOutputsDisabled();
+}
+
+} // extern "C"
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/PDPGui.cpp b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/PDPGui.cpp
new file mode 100644
index 0000000..038046e
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/PDPGui.cpp
@@ -0,0 +1,77 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "PDPGui.h"
+
+#include <cstdio>
+
+#include <hal/Ports.h>
+#include <imgui.h>
+#include <mockdata/PDPData.h>
+
+#include "HALSimGui.h"
+
+using namespace halsimgui;
+
+static void DisplayPDP() {
+ bool hasAny = false;
+ static int numPDP = HAL_GetNumPDPModules();
+ static int numChannels = HAL_GetNumPDPChannels();
+ ImGui::PushItemWidth(ImGui::GetFontSize() * 13);
+ for (int i = 0; i < numPDP; ++i) {
+ if (HALSIM_GetPDPInitialized(i)) {
+ hasAny = true;
+
+ char name[32];
+ std::snprintf(name, sizeof(name), "PDP[%d]", i);
+ if (ImGui::CollapsingHeader(name, ImGuiTreeNodeFlags_DefaultOpen)) {
+ ImGui::PushID(i);
+
+ // temperature
+ double temp = HALSIM_GetPDPTemperature(i);
+ if (ImGui::InputDouble("Temp", &temp))
+ HALSIM_SetPDPTemperature(i, temp);
+
+ // voltage
+ double volts = HALSIM_GetPDPVoltage(i);
+ if (ImGui::InputDouble("Voltage", &volts))
+ HALSIM_SetPDPVoltage(i, volts);
+
+ // channel currents; show as two columns laid out like PDP
+ ImGui::Text("Channel Current (A)");
+ ImGui::Columns(2, "channels", false);
+ for (int left = 0, right = numChannels - 1; left < right;
+ ++left, --right) {
+ double val;
+
+ std::snprintf(name, sizeof(name), "[%d]", left);
+ val = HALSIM_GetPDPCurrent(i, left);
+ if (ImGui::InputDouble(name, &val))
+ HALSIM_SetPDPCurrent(i, left, val);
+ ImGui::NextColumn();
+
+ std::snprintf(name, sizeof(name), "[%d]", right);
+ val = HALSIM_GetPDPCurrent(i, right);
+ if (ImGui::InputDouble(name, &val))
+ HALSIM_SetPDPCurrent(i, right, val);
+ ImGui::NextColumn();
+ }
+ ImGui::Columns(1);
+ ImGui::PopID();
+ }
+ }
+ }
+ ImGui::PopItemWidth();
+ if (!hasAny) ImGui::Text("No PDPs");
+}
+
+void PDPGui::Initialize() {
+ HALSimGui::AddWindow("PDP", DisplayPDP, ImGuiWindowFlags_AlwaysAutoResize);
+ // hide it by default
+ HALSimGui::SetWindowVisibility("PDP", HALSimGui::kHide);
+ HALSimGui::SetDefaultWindowPos("PDP", 245, 155);
+}
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/PDPGui.h b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/PDPGui.h
new file mode 100644
index 0000000..aa53a3c
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/PDPGui.h
@@ -0,0 +1,17 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+namespace halsimgui {
+
+class PDPGui {
+ public:
+ static void Initialize();
+};
+
+} // namespace halsimgui
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/PWMGui.cpp b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/PWMGui.cpp
new file mode 100644
index 0000000..8303f04
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/PWMGui.cpp
@@ -0,0 +1,66 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "PWMGui.h"
+
+#include <cstdio>
+#include <cstring>
+
+#include <hal/Ports.h>
+#include <imgui.h>
+#include <mockdata/PWMData.h>
+
+#include "HALSimGui.h"
+
+using namespace halsimgui;
+
+static void DisplayPWMs() {
+ bool hasOutputs = false;
+ // struct History {
+ // History() { std::memset(data, 0, 90 * sizeof(float)); }
+ // History(const History&) = delete;
+ // History& operator=(const History&) = delete;
+ // float data[90];
+ // int display_offset = 0;
+ // int save_offset = 0;
+ //};
+ // static std::vector<std::unique_ptr<History>> history;
+ bool first = true;
+ static const int numPWM = HAL_GetNumPWMChannels();
+ for (int i = 0; i < numPWM; ++i) {
+ if (HALSIM_GetPWMInitialized(i)) {
+ hasOutputs = true;
+
+ if (!first)
+ ImGui::Separator();
+ else
+ first = false;
+
+ char name[32];
+ std::snprintf(name, sizeof(name), "PWM[%d]", i);
+ float val = HALSimGui::AreOutputsDisabled() ? 0 : HALSIM_GetPWMSpeed(i);
+ ImGui::Value(name, val, "%0.3f");
+
+ // lazily build history storage
+ // if (static_cast<unsigned int>(i) > history.size())
+ // history.resize(i + 1);
+ // if (!history[i]) history[i] = std::make_unique<History>();
+
+ // save history
+
+ // ImGui::PlotLines(labels[i].c_str(), values.data(), values.size(),
+ // );
+ }
+ }
+ if (!hasOutputs) ImGui::Text("No PWM outputs");
+}
+
+void PWMGui::Initialize() {
+ HALSimGui::AddWindow("PWM Outputs", DisplayPWMs,
+ ImGuiWindowFlags_AlwaysAutoResize);
+ HALSimGui::SetDefaultWindowPos("PWM Outputs", 910, 20);
+}
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/PWMGui.h b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/PWMGui.h
new file mode 100644
index 0000000..211eaba
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/PWMGui.h
@@ -0,0 +1,17 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+namespace halsimgui {
+
+class PWMGui {
+ public:
+ static void Initialize();
+};
+
+} // namespace halsimgui
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/RelayGui.cpp b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/RelayGui.cpp
new file mode 100644
index 0000000..a833fff
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/RelayGui.cpp
@@ -0,0 +1,64 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "RelayGui.h"
+
+#include <cstdio>
+#include <cstring>
+
+#include <hal/Ports.h>
+#include <imgui.h>
+#include <mockdata/RelayData.h>
+
+#include "ExtraGuiWidgets.h"
+#include "HALSimGui.h"
+
+using namespace halsimgui;
+
+static void DisplayRelays() {
+ bool hasOutputs = false;
+ bool first = true;
+ static const int numRelay = HAL_GetNumRelayHeaders();
+ for (int i = 0; i < numRelay; ++i) {
+ bool forwardInit = HALSIM_GetRelayInitializedForward(i);
+ bool reverseInit = HALSIM_GetRelayInitializedReverse(i);
+
+ if (forwardInit || reverseInit) {
+ hasOutputs = true;
+
+ if (!first)
+ ImGui::Separator();
+ else
+ first = false;
+
+ bool forward = false;
+ bool reverse = false;
+ if (!HALSimGui::AreOutputsDisabled()) {
+ reverse = HALSIM_GetRelayReverse(i);
+ forward = HALSIM_GetRelayForward(i);
+ }
+
+ ImGui::Text("Relay[%d]", i);
+ ImGui::SameLine();
+
+ // show forward and reverse as LED indicators
+ static const ImU32 colors[] = {IM_COL32(255, 255, 102, 255),
+ IM_COL32(255, 0, 0, 255),
+ IM_COL32(128, 128, 128, 255)};
+ int values[2] = {reverseInit ? (reverse ? 2 : -2) : -3,
+ forwardInit ? (forward ? 1 : -1) : -3};
+ DrawLEDs(values, 2, 2, colors);
+ }
+ }
+ if (!hasOutputs) ImGui::Text("No relays");
+}
+
+void RelayGui::Initialize() {
+ HALSimGui::AddWindow("Relays", DisplayRelays,
+ ImGuiWindowFlags_AlwaysAutoResize);
+ HALSimGui::SetDefaultWindowPos("Relays", 180, 20);
+}
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/RelayGui.h b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/RelayGui.h
new file mode 100644
index 0000000..ccc2fb6
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/RelayGui.h
@@ -0,0 +1,17 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+namespace halsimgui {
+
+class RelayGui {
+ public:
+ static void Initialize();
+};
+
+} // namespace halsimgui
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/RoboRioGui.cpp b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/RoboRioGui.cpp
new file mode 100644
index 0000000..e4d6650
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/RoboRioGui.cpp
@@ -0,0 +1,127 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "RoboRioGui.h"
+
+#include <imgui.h>
+#include <mockdata/RoboRioData.h>
+
+#include "HALSimGui.h"
+
+using namespace halsimgui;
+
+static void DisplayRoboRio() {
+ ImGui::Button("User Button");
+ HALSIM_SetRoboRioFPGAButton(0, ImGui::IsItemActive());
+
+ ImGui::PushItemWidth(ImGui::GetFontSize() * 8);
+
+ if (ImGui::CollapsingHeader("RoboRIO Input")) {
+ {
+ double val = HALSIM_GetRoboRioVInVoltage(0);
+ if (ImGui::InputDouble("Voltage (V)", &val))
+ HALSIM_SetRoboRioVInVoltage(0, val);
+ }
+
+ {
+ double val = HALSIM_GetRoboRioVInCurrent(0);
+ if (ImGui::InputDouble("Current (A)", &val))
+ HALSIM_SetRoboRioVInCurrent(0, val);
+ }
+ }
+
+ if (ImGui::CollapsingHeader("6V Rail")) {
+ {
+ double val = HALSIM_GetRoboRioUserVoltage6V(0);
+ if (ImGui::InputDouble("Voltage (V)", &val))
+ HALSIM_SetRoboRioUserVoltage6V(0, val);
+ }
+
+ {
+ double val = HALSIM_GetRoboRioUserCurrent6V(0);
+ if (ImGui::InputDouble("Current (A)", &val))
+ HALSIM_SetRoboRioUserCurrent6V(0, val);
+ }
+
+ {
+ static const char* options[] = {"inactive", "active"};
+ int val = HALSIM_GetRoboRioUserActive6V(0) ? 1 : 0;
+ if (ImGui::Combo("Active", &val, options, 2))
+ HALSIM_SetRoboRioUserActive6V(0, val);
+ }
+
+ {
+ int val = HALSIM_GetRoboRioUserFaults6V(0);
+ if (ImGui::InputInt("Faults", &val))
+ HALSIM_SetRoboRioUserFaults6V(0, val);
+ }
+ }
+
+ if (ImGui::CollapsingHeader("5V Rail")) {
+ {
+ double val = HALSIM_GetRoboRioUserVoltage5V(0);
+ if (ImGui::InputDouble("Voltage (V)", &val))
+ HALSIM_SetRoboRioUserVoltage5V(0, val);
+ }
+
+ {
+ double val = HALSIM_GetRoboRioUserCurrent5V(0);
+ if (ImGui::InputDouble("Current (A)", &val))
+ HALSIM_SetRoboRioUserCurrent5V(0, val);
+ }
+
+ {
+ static const char* options[] = {"inactive", "active"};
+ int val = HALSIM_GetRoboRioUserActive5V(0) ? 1 : 0;
+ if (ImGui::Combo("Active", &val, options, 2))
+ HALSIM_SetRoboRioUserActive5V(0, val);
+ }
+
+ {
+ int val = HALSIM_GetRoboRioUserFaults5V(0);
+ if (ImGui::InputInt("Faults", &val))
+ HALSIM_SetRoboRioUserFaults5V(0, val);
+ }
+ }
+
+ if (ImGui::CollapsingHeader("3.3V Rail")) {
+ {
+ double val = HALSIM_GetRoboRioUserVoltage3V3(0);
+ if (ImGui::InputDouble("Voltage (V)", &val))
+ HALSIM_SetRoboRioUserVoltage3V3(0, val);
+ }
+
+ {
+ double val = HALSIM_GetRoboRioUserCurrent3V3(0);
+ if (ImGui::InputDouble("Current (A)", &val))
+ HALSIM_SetRoboRioUserCurrent3V3(0, val);
+ }
+
+ {
+ static const char* options[] = {"inactive", "active"};
+ int val = HALSIM_GetRoboRioUserActive3V3(0) ? 1 : 0;
+ if (ImGui::Combo("Active", &val, options, 2))
+ HALSIM_SetRoboRioUserActive3V3(0, val);
+ }
+
+ {
+ int val = HALSIM_GetRoboRioUserFaults3V3(0);
+ if (ImGui::InputInt("Faults", &val))
+ HALSIM_SetRoboRioUserFaults3V3(0, val);
+ }
+ }
+
+ ImGui::PopItemWidth();
+}
+
+void RoboRioGui::Initialize() {
+ HALSimGui::AddWindow("RoboRIO", DisplayRoboRio,
+ ImGuiWindowFlags_AlwaysAutoResize);
+ // hide it by default
+ HALSimGui::SetWindowVisibility("RoboRIO", HALSimGui::kHide);
+ HALSimGui::SetDefaultWindowPos("RoboRIO", 5, 125);
+}
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/RoboRioGui.h b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/RoboRioGui.h
new file mode 100644
index 0000000..603abf0
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/RoboRioGui.h
@@ -0,0 +1,17 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+namespace halsimgui {
+
+class RoboRioGui {
+ public:
+ static void Initialize();
+};
+
+} // namespace halsimgui
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/SimDeviceGui.cpp b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/SimDeviceGui.cpp
new file mode 100644
index 0000000..2063007
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/SimDeviceGui.cpp
@@ -0,0 +1,239 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "SimDeviceGui.h"
+
+#include <stdint.h>
+
+#include <vector>
+
+#include <hal/SimDevice.h>
+#include <imgui.h>
+#include <imgui_internal.h>
+#include <mockdata/SimDeviceData.h>
+#include <wpi/StringMap.h>
+
+#include "HALSimGui.h"
+
+using namespace halsimgui;
+
+namespace {
+struct ElementInfo {
+ bool open = false;
+ bool visible = true;
+};
+} // namespace
+
+static std::vector<std::function<void()>> gDeviceExecutors;
+static wpi::StringMap<ElementInfo> gElements;
+
+// read/write open state to ini file
+static void* DevicesReadOpen(ImGuiContext* ctx, ImGuiSettingsHandler* handler,
+ const char* name) {
+ return &gElements[name];
+}
+
+static void DevicesReadLine(ImGuiContext* ctx, ImGuiSettingsHandler* handler,
+ void* entry, const char* lineStr) {
+ ElementInfo* element = static_cast<ElementInfo*>(entry);
+ wpi::StringRef line{lineStr};
+ auto [name, value] = line.split('=');
+ name = name.trim();
+ value = value.trim();
+ if (name == "open") {
+ int num;
+ if (value.getAsInteger(10, num)) return;
+ element->open = num;
+ }
+}
+
+static void DevicesWriteAll(ImGuiContext* ctx, ImGuiSettingsHandler* handler,
+ ImGuiTextBuffer* out_buf) {
+ for (auto&& entry : gElements) {
+ out_buf->appendf("[Device][%s]\nopen=%d\n\n", entry.getKey().data(),
+ entry.getValue().open ? 1 : 0);
+ }
+}
+
+void SimDeviceGui::Hide(const char* name) { gElements[name].visible = false; }
+
+void SimDeviceGui::Add(std::function<void()> execute) {
+ if (execute) gDeviceExecutors.emplace_back(std::move(execute));
+}
+
+bool SimDeviceGui::StartDevice(const char* label, ImGuiTreeNodeFlags flags) {
+ auto& element = gElements[label];
+ if (!element.visible) return false;
+
+ if (ImGui::CollapsingHeader(
+ label, flags | (element.open ? ImGuiTreeNodeFlags_DefaultOpen : 0))) {
+ ImGui::PushID(label);
+ element.open = true;
+ return true;
+ }
+ element.open = false;
+ return false;
+}
+
+void SimDeviceGui::FinishDevice() { ImGui::PopID(); }
+
+bool DisplayValueImpl(const char* name, bool readonly, HAL_Value* value,
+ const char** options, int32_t numOptions) {
+ // read-only
+ if (readonly) {
+ switch (value->type) {
+ case HAL_BOOLEAN:
+ ImGui::LabelText(name, "%s", value->data.v_boolean ? "true" : "false");
+ break;
+ case HAL_DOUBLE:
+ ImGui::LabelText(name, "%.6f", value->data.v_double);
+ break;
+ case HAL_ENUM: {
+ int current = value->data.v_enum;
+ if (current < 0 || current >= numOptions)
+ ImGui::LabelText(name, "%d (unknown)", current);
+ else
+ ImGui::LabelText(name, "%s", options[current]);
+ break;
+ }
+ case HAL_INT:
+ ImGui::LabelText(name, "%d", static_cast<int>(value->data.v_int));
+ break;
+ case HAL_LONG:
+ ImGui::LabelText(name, "%lld",
+ static_cast<long long int>( // NOLINT(runtime/int)
+ value->data.v_long));
+ break;
+ default:
+ break;
+ }
+ return false;
+ }
+
+ // writable
+ switch (value->type) {
+ case HAL_BOOLEAN: {
+ static const char* boolOptions[] = {"false", "true"};
+ int val = value->data.v_boolean ? 1 : 0;
+ if (ImGui::Combo(name, &val, boolOptions, 2)) {
+ value->data.v_boolean = val;
+ return true;
+ }
+ break;
+ }
+ case HAL_DOUBLE: {
+ if (ImGui::InputDouble(name, &value->data.v_double, 0, 0, "%.6f",
+ ImGuiInputTextFlags_EnterReturnsTrue))
+ return true;
+ break;
+ }
+ case HAL_ENUM: {
+ int current = value->data.v_enum;
+ if (ImGui::Combo(name, ¤t, options, numOptions)) {
+ value->data.v_enum = current;
+ return true;
+ }
+ break;
+ }
+ case HAL_INT: {
+ if (ImGui::InputScalar(name, ImGuiDataType_S32, &value->data.v_int,
+ nullptr, nullptr, nullptr,
+ ImGuiInputTextFlags_EnterReturnsTrue))
+ return true;
+ break;
+ }
+ case HAL_LONG: {
+ if (ImGui::InputScalar(name, ImGuiDataType_S64, &value->data.v_long,
+ nullptr, nullptr, nullptr,
+ ImGuiInputTextFlags_EnterReturnsTrue))
+ return true;
+ break;
+ }
+ default:
+ break;
+ }
+ return false;
+}
+
+bool SimDeviceGui::DisplayValue(const char* name, bool readonly,
+ HAL_Value* value, const char** options,
+ int32_t numOptions) {
+ ImGui::SetNextItemWidth(ImGui::GetWindowWidth() * 0.5f);
+ return DisplayValueImpl(name, readonly, value, options, numOptions);
+}
+
+static void SimDeviceDisplayValue(const char* name, void*,
+ HAL_SimValueHandle handle, HAL_Bool readonly,
+ const HAL_Value* value) {
+ int32_t numOptions = 0;
+ const char** options = nullptr;
+
+ if (value->type == HAL_ENUM)
+ options = HALSIM_GetSimValueEnumOptions(handle, &numOptions);
+
+ HAL_Value valueCopy = *value;
+ if (DisplayValueImpl(name, readonly, &valueCopy, options, numOptions))
+ HAL_SetSimValue(handle, valueCopy);
+}
+
+static void SimDeviceDisplayDevice(const char* name, void*,
+ HAL_SimDeviceHandle handle) {
+ auto it = gElements.find(name);
+ if (it != gElements.end() && !it->second.visible) return;
+
+ if (SimDeviceGui::StartDevice(name)) {
+ ImGui::PushItemWidth(ImGui::GetWindowWidth() * 0.5f);
+ HALSIM_EnumerateSimValues(handle, nullptr, SimDeviceDisplayValue);
+ ImGui::PopItemWidth();
+ SimDeviceGui::FinishDevice();
+ }
+}
+
+static void DisplayDeviceTree() {
+ for (auto&& execute : gDeviceExecutors) {
+ if (execute) execute();
+ }
+ HALSIM_EnumerateSimDevices("", nullptr, SimDeviceDisplayDevice);
+}
+
+void SimDeviceGui::Initialize() {
+ // hook ini handler to save device settings
+ ImGuiSettingsHandler iniHandler;
+ iniHandler.TypeName = "Device";
+ iniHandler.TypeHash = ImHashStr(iniHandler.TypeName);
+ iniHandler.ReadOpenFn = DevicesReadOpen;
+ iniHandler.ReadLineFn = DevicesReadLine;
+ iniHandler.WriteAllFn = DevicesWriteAll;
+ ImGui::GetCurrentContext()->SettingsHandlers.push_back(iniHandler);
+
+ HALSimGui::AddWindow("Other Devices", DisplayDeviceTree);
+ HALSimGui::SetDefaultWindowPos("Other Devices", 1025, 20);
+ HALSimGui::SetDefaultWindowSize("Other Devices", 250, 695);
+}
+
+extern "C" {
+
+void HALSIMGUI_DeviceTreeAdd(void* param, void (*execute)(void*)) {
+ if (execute) SimDeviceGui::Add([=] { execute(param); });
+}
+
+void HALSIMGUI_DeviceTreeHide(const char* name) { SimDeviceGui::Hide(name); }
+
+HAL_Bool HALSIMGUI_DeviceTreeDisplayValue(const char* name, HAL_Bool readonly,
+ struct HAL_Value* value,
+ const char** options,
+ int32_t numOptions) {
+ return SimDeviceGui::DisplayValue(name, readonly, value, options, numOptions);
+}
+
+HAL_Bool HALSIMGUI_DeviceTreeStartDevice(const char* label, int32_t flags) {
+ return SimDeviceGui::StartDevice(label, flags);
+}
+
+void HALSIMGUI_DeviceTreeFinishDevice(void) { SimDeviceGui::FinishDevice(); }
+
+} // extern "C"
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/SolenoidGui.cpp b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/SolenoidGui.cpp
new file mode 100644
index 0000000..75712c6
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/SolenoidGui.cpp
@@ -0,0 +1,61 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "SolenoidGui.h"
+
+#include <cstdio>
+#include <cstring>
+
+#include <hal/Ports.h>
+#include <imgui.h>
+#include <mockdata/PCMData.h>
+#include <wpi/SmallVector.h>
+
+#include "ExtraGuiWidgets.h"
+#include "HALSimGui.h"
+
+using namespace halsimgui;
+
+static void DisplaySolenoids() {
+ bool hasOutputs = false;
+ static const int numPCM = HAL_GetNumPCMModules();
+ static const int numChannels = HAL_GetNumSolenoidChannels();
+ for (int i = 0; i < numPCM; ++i) {
+ bool anyInit = false;
+ wpi::SmallVector<int, 16> channels;
+ channels.resize(numChannels);
+ for (int j = 0; j < numChannels; ++j) {
+ if (HALSIM_GetPCMSolenoidInitialized(i, j)) {
+ anyInit = true;
+ channels[j] = (!HALSimGui::AreOutputsDisabled() &&
+ HALSIM_GetPCMSolenoidOutput(i, j))
+ ? 1
+ : -1;
+ } else {
+ channels[j] = -2;
+ }
+ }
+
+ if (!anyInit) continue;
+ hasOutputs = true;
+
+ ImGui::Text("PCM[%d]", i);
+ ImGui::SameLine();
+
+ // show channels as LED indicators
+ static const ImU32 colors[] = {IM_COL32(255, 255, 102, 255),
+ IM_COL32(128, 128, 128, 255)};
+ DrawLEDs(channels.data(), channels.size(), channels.size(), colors);
+ }
+ if (!hasOutputs) ImGui::Text("No solenoids");
+}
+
+void SolenoidGui::Initialize() {
+ HALSimGui::AddWindow("Solenoids", DisplaySolenoids,
+ ImGuiWindowFlags_AlwaysAutoResize);
+ HALSimGui::SetDefaultWindowPos("Solenoids", 290, 20);
+}
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/SolenoidGui.h b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/SolenoidGui.h
new file mode 100644
index 0000000..35905cf
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/SolenoidGui.h
@@ -0,0 +1,17 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+namespace halsimgui {
+
+class SolenoidGui {
+ public:
+ static void Initialize();
+};
+
+} // namespace halsimgui
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/main.cpp b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/main.cpp
new file mode 100644
index 0000000..c049d1c
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/cpp/main.cpp
@@ -0,0 +1,56 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <hal/Main.h>
+#include <wpi/raw_ostream.h>
+
+#include "AccelerometerGui.h"
+#include "AnalogGyroGui.h"
+#include "AnalogInputGui.h"
+#include "AnalogOutGui.h"
+#include "CompressorGui.h"
+#include "DIOGui.h"
+#include "DriverStationGui.h"
+#include "EncoderGui.h"
+#include "HALSimGui.h"
+#include "PDPGui.h"
+#include "PWMGui.h"
+#include "RelayGui.h"
+#include "RoboRioGui.h"
+#include "SimDeviceGui.h"
+#include "SolenoidGui.h"
+
+using namespace halsimgui;
+
+extern "C" {
+#if defined(WIN32) || defined(_WIN32)
+__declspec(dllexport)
+#endif
+ int HALSIM_InitExtension(void) {
+ HALSimGui::Add(AccelerometerGui::Initialize);
+ HALSimGui::Add(AnalogGyroGui::Initialize);
+ HALSimGui::Add(AnalogInputGui::Initialize);
+ HALSimGui::Add(AnalogOutGui::Initialize);
+ HALSimGui::Add(CompressorGui::Initialize);
+ HALSimGui::Add(DriverStationGui::Initialize);
+ HALSimGui::Add(DIOGui::Initialize);
+ HALSimGui::Add(EncoderGui::Initialize);
+ HALSimGui::Add(PDPGui::Initialize);
+ HALSimGui::Add(PWMGui::Initialize);
+ HALSimGui::Add(RelayGui::Initialize);
+ HALSimGui::Add(RoboRioGui::Initialize);
+ HALSimGui::Add(SimDeviceGui::Initialize);
+ HALSimGui::Add(SolenoidGui::Initialize);
+
+ wpi::outs() << "Simulator GUI Initializing.\n";
+ if (!HALSimGui::Initialize()) return 0;
+ HAL_SetMain(nullptr, HALSimGui::Main, HALSimGui::Exit);
+ wpi::outs() << "Simulator GUI Initialized!\n";
+
+ return 0;
+}
+} // extern "C"
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/include/ExtraGuiWidgets.h b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/include/ExtraGuiWidgets.h
new file mode 100644
index 0000000..11d83ba
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/include/ExtraGuiWidgets.h
@@ -0,0 +1,34 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <imgui.h>
+
+namespace halsimgui {
+
+/**
+ * Draw a 2D array of LEDs.
+ *
+ * Values are indices into colors array. Positive values are filled (lit),
+ * negative values are unfilled (dark / border only). The actual color index
+ * is the absolute value of the value - 1. 0 values are not drawn at all
+ * (an empty space is left).
+ *
+ * @param values values array
+ * @param numValues size of values array
+ * @param cols number of columns
+ * @param colors colors array
+ * @param size size of each LED (both horizontal and vertical);
+ * if 0, defaults to 1/2 of font size
+ * @param spacing spacing between each LED (both horizontal and vertical);
+ * if 0, defaults to 1/3 of font size
+ */
+void DrawLEDs(int* values, int numValues, int cols, const ImU32* colors,
+ float size = 0.0f, float spacing = 0.0f);
+
+} // namespace halsimgui
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/include/HALSimGui.h b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/include/HALSimGui.h
new file mode 100644
index 0000000..fd71cbe
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/include/HALSimGui.h
@@ -0,0 +1,140 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#ifdef __cplusplus
+#include <functional>
+#endif
+
+extern "C" {
+
+void HALSIMGUI_Add(void* param, void (*initialize)(void*));
+void HALSIMGUI_AddExecute(void* param, void (*execute)(void*));
+void HALSIMGUI_AddWindow(const char* name, void* param, void (*display)(void*),
+ int32_t flags);
+void HALSIMGUI_AddMainMenu(void* param, void (*menu)(void*));
+void HALSIMGUI_AddOptionMenu(void* param, void (*menu)(void*));
+void HALSIMGUI_SetWindowVisibility(const char* name, int32_t visibility);
+void HALSIMGUI_SetDefaultWindowPos(const char* name, float x, float y);
+void HALSIMGUI_SetDefaultWindowSize(const char* name, float width,
+ float height);
+int HALSIMGUI_AreOutputsDisabled(void);
+
+} // extern "C"
+
+#ifdef __cplusplus
+
+namespace halsimgui {
+
+class HALSimGui {
+ public:
+ static bool Initialize();
+ static void Main(void*);
+ static void Exit(void*);
+
+ /**
+ * Adds feature to GUI. The initialize function is called once, immediately
+ * after the GUI (both GLFW and Dear ImGui) are initialized.
+ *
+ * @param initialize initialization function
+ * @param execute frame execution function
+ */
+ static void Add(std::function<void()> initialize);
+
+ /**
+ * Adds per-frame executor to GUI. The passed function is called on each
+ * Dear ImGui frame prior to window and menu functions.
+ *
+ * @param execute frame execution function
+ */
+ static void AddExecute(std::function<void()> execute);
+
+ /**
+ * Adds window to GUI. The display function is called from within a
+ * ImGui::Begin()/End() block. While windows can be created within the
+ * execute function passed to AddExecute(), using this function ensures the
+ * windows are consistently integrated with the rest of the GUI.
+ *
+ * On each Dear ImGui frame, AddExecute() functions are always called prior
+ * to AddWindow display functions. Note that windows may be shaded or
+ * completely hidden, in which case this function will not be called.
+ * It's important to perform any processing steps that must be performed
+ * every frame in the AddExecute() function.
+ *
+ * @param name name of the window (title bar)
+ * @param display window contents display function
+ * @param flags Dear ImGui window flags
+ */
+ static void AddWindow(const char* name, std::function<void()> display,
+ int flags = 0);
+
+ /**
+ * Adds to GUI's main menu bar. The menu function is called from within a
+ * ImGui::BeginMainMenuBar()/EndMainMenuBar() block. Usually it's only
+ * appropriate to create a menu with ImGui::BeginMenu()/EndMenu() inside of
+ * this function.
+ *
+ * On each Dear ImGui frame, AddExecute() functions are always called prior
+ * to AddMainMenu menu functions.
+ *
+ * @param menu menu display function
+ */
+ static void AddMainMenu(std::function<void()> menu);
+
+ /**
+ * Adds to GUI's option menu. The menu function is called from within a
+ * ImGui::BeginMenu()/EndMenu() block. Usually it's only appropriate to
+ * create menu items inside of this function.
+ *
+ * On each Dear ImGui frame, AddExecute() functions are always called prior
+ * to AddMainMenu menu functions.
+ *
+ * @param menu menu display function
+ */
+ static void AddOptionMenu(std::function<void()> menu);
+
+ enum WindowVisibility { kHide = 0, kShow, kDisabled };
+
+ /**
+ * Sets visibility of window added with AddWindow().
+ *
+ * @param name window name (same as name passed to AddWindow())
+ * @param visibility 0=hide, 1=show, 2=disabled (force-hide)
+ */
+ static void SetWindowVisibility(const char* name,
+ WindowVisibility visibility);
+
+ /**
+ * Sets default position of window added with AddWindow().
+ *
+ * @param name window name (same as name passed to AddWindow())
+ * @param x x location of upper left corner
+ * @param y y location of upper left corner
+ */
+ static void SetDefaultWindowPos(const char* name, float x, float y);
+
+ /**
+ * Sets default size of window added with AddWindow().
+ *
+ * @param name window name (same as name passed to AddWindow())
+ * @param width width
+ * @param height height
+ */
+ static void SetDefaultWindowSize(const char* name, float width, float height);
+
+ /**
+ * Returns true if outputs are disabled.
+ *
+ * @return true if outputs are disabled, false otherwise.
+ */
+ static bool AreOutputsDisabled();
+};
+
+} // namespace halsimgui
+
+#endif // __cplusplus
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/include/SimDeviceGui.h b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/include/SimDeviceGui.h
new file mode 100644
index 0000000..22f29b2
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/main/native/include/SimDeviceGui.h
@@ -0,0 +1,91 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <stdint.h>
+
+#include <hal/Types.h>
+#include <hal/Value.h>
+
+#ifdef __cplusplus
+#include <functional>
+
+#include <imgui.h>
+#endif
+
+extern "C" {
+
+void HALSIMGUI_DeviceTreeHide(const char* name);
+void HALSIMGUI_DeviceTreeAdd(void* param, void (*execute)(void*));
+HAL_Bool HALSIMGUI_DeviceTreeDisplayValue(const char* name, HAL_Bool readonly,
+ struct HAL_Value* value,
+ const char** options,
+ int32_t numOptions);
+HAL_Bool HALSIMGUI_DeviceTreeStartDevice(const char* label, int32_t flags);
+void HALSIMGUI_DeviceTreeFinishDevice(void);
+
+} // extern "C"
+
+#ifdef __cplusplus
+
+namespace halsimgui {
+
+class SimDeviceGui {
+ public:
+ static void Initialize();
+
+ /**
+ * Hides device on tree.
+ *
+ * @param name device name
+ */
+ static void Hide(const char* name);
+
+ /**
+ * Adds device to tree. The execute function is called from within the
+ * device tree window context on every frame, so it should implement an
+ * TreeNodeEx() block for each device to display.
+ *
+ * @param execute execute function
+ */
+ static void Add(std::function<void()> execute);
+
+ /**
+ * Displays device value formatted the same way as SimDevice device values.
+ *
+ * @param name value name
+ * @param readonly prevent value from being modified by the user
+ * @param value value contents (modified in place)
+ * @param options options array for enum values
+ * @param numOptions size of options array for enum values
+ * @return True if value was modified by the user
+ */
+ static bool DisplayValue(const char* name, bool readonly, HAL_Value* value,
+ const char** options = nullptr,
+ int32_t numOptions = 0);
+
+ /**
+ * Wraps ImGui::CollapsingHeader() to provide consistency and open
+ * persistence. As with the ImGui function, returns true if the tree node
+ * is expanded. If returns true, call StopDevice() to finish the block.
+ *
+ * @param label label
+ * @param flags ImGuiTreeNodeFlags flags
+ * @return True if expanded
+ */
+ static bool StartDevice(const char* label, ImGuiTreeNodeFlags flags = 0);
+
+ /**
+ * Finish a device block started with StartDevice().
+ */
+ static void FinishDevice();
+};
+
+} // namespace halsimgui
+
+#endif // __cplusplus
diff --git a/third_party/allwpilib_2019/simulation/halsim_gui/src/test/native/cpp/main.cpp b/third_party/allwpilib_2019/simulation/halsim_gui/src/test/native/cpp/main.cpp
new file mode 100644
index 0000000..ba0d9b0
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_gui/src/test/native/cpp/main.cpp
@@ -0,0 +1,17 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <hal/HAL.h>
+
+#include "gtest/gtest.h"
+
+int main(int argc, char** argv) {
+ HAL_Initialize(500, 0);
+ ::testing::InitGoogleTest(&argc, argv);
+ int ret = RUN_ALL_TESTS();
+ return ret;
+}
diff --git a/third_party/allwpilib_2019/simulation/halsim_lowfi/CMakeLists.txt b/third_party/allwpilib_2019/simulation/halsim_lowfi/CMakeLists.txt
new file mode 100644
index 0000000..b4ce561
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_lowfi/CMakeLists.txt
@@ -0,0 +1,16 @@
+project(halsim_lowfi)
+
+include(CompileWarnings)
+
+file(GLOB halsim_lowfi_src src/main/native/cpp/*.cpp)
+
+add_library(halsim_lowfi MODULE ${halsim_lowfi_src})
+wpilib_target_warnings(halsim_lowfi)
+set_target_properties(halsim_lowfi PROPERTIES DEBUG_POSTFIX "d")
+target_link_libraries(halsim_lowfi PUBLIC hal ntcore)
+
+target_include_directories(halsim_lowfi PRIVATE src/main/native/include)
+
+set_property(TARGET halsim_lowfi PROPERTY FOLDER "libraries")
+
+install(TARGETS halsim_lowfi EXPORT halsim_lowfi DESTINATION "${main_lib_dest}")
diff --git a/third_party/allwpilib_2019/simulation/halsim_print/CMakeLists.txt b/third_party/allwpilib_2019/simulation/halsim_print/CMakeLists.txt
new file mode 100644
index 0000000..f168cab
--- /dev/null
+++ b/third_party/allwpilib_2019/simulation/halsim_print/CMakeLists.txt
@@ -0,0 +1,16 @@
+project(halsim_print)
+
+include(CompileWarnings)
+
+file(GLOB halsim_print_src src/main/native/cpp/*.cpp)
+
+add_library(halsim_print MODULE ${halsim_print_src})
+wpilib_target_warnings(halsim_print)
+set_target_properties(halsim_print PROPERTIES DEBUG_POSTFIX "d")
+target_link_libraries(halsim_print PUBLIC hal)
+
+target_include_directories(halsim_print PRIVATE src/main/native/include)
+
+set_property(TARGET halsim_print PROPERTY FOLDER "libraries")
+
+install(TARGETS halsim_print EXPORT halsim_print DESTINATION "${main_lib_dest}")
diff --git a/third_party/allwpilib_2019/simulation/halsim_print/src/main/native/cpp/PrintPWM.cpp b/third_party/allwpilib_2019/simulation/halsim_print/src/main/native/cpp/PrintPWM.cpp
index fe82ccd..d271ef1 100644
--- a/third_party/allwpilib_2019/simulation/halsim_print/src/main/native/cpp/PrintPWM.cpp
+++ b/third_party/allwpilib_2019/simulation/halsim_print/src/main/native/cpp/PrintPWM.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,7 +9,7 @@
#include <iostream>
-#include <mockdata/HAL_Value.h>
+#include <hal/Value.h>
#include <mockdata/NotifyListener.h>
#include <mockdata/PWMData.h>
diff --git a/third_party/allwpilib_2019/simulation/lowfi_simulation/build.gradle b/third_party/allwpilib_2019/simulation/lowfi_simulation/build.gradle
index 2b97416..d86e4d6 100644
--- a/third_party/allwpilib_2019/simulation/lowfi_simulation/build.gradle
+++ b/third_party/allwpilib_2019/simulation/lowfi_simulation/build.gradle
@@ -12,8 +12,8 @@
apply from: "${rootDir}/shared/config.gradle"
-if (!project.hasProperty('onlyAthena')) {
-
+if (!project.hasProperty('onlylinuxathena')) {
+ ext.skiplinuxathena = true
ext {
sharedCvConfigs = [lowfi_simTest: []]
staticCvConfigs = [:]
@@ -40,19 +40,20 @@
apply from: "${rootDir}/shared/nilibraries.gradle"
- model {
- exportsConfigs {
- lowfi_sim(ExportsConfig) {
- x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
- '_CT??_R0?AVbad_cast',
- '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
- '_TI5?AVfailure']
- x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
- '_CT??_R0?AVbad_cast',
- '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
- '_TI5?AVfailure']
- }
+ nativeUtils.exportsConfigs {
+ lowfi_sim {
+ x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+ '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+ '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
+ '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
+ x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+ '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+ '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
+ '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
}
+ }
+
+ model {
components {
"${nativeName}Base"(NativeLibrarySpec) {
sources {
@@ -71,13 +72,12 @@
it.buildable = false
return
}
- if (it.targetPlatform.architecture.name == 'athena') {
+ if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
it.buildable = false
return
}
project(':hal').addHalDependency(it, 'shared')
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
- lib project: ':simulation:halsim_adx_gyro_accelerometer', library: 'halsim_adx_gyro_accelerometer', linkage: 'shared'
}
}
"${nativeName}"(NativeLibrarySpec) {
@@ -93,13 +93,12 @@
}
}
binaries.all {
- if (it.targetPlatform.architecture.name == 'athena') {
+ if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
it.buildable = false
return
}
project(':hal').addHalDependency(it, 'shared')
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
- lib project: ':simulation:halsim_adx_gyro_accelerometer', library: 'halsim_adx_gyro_accelerometer', linkage: 'shared'
}
}
// By default, a development executable will be generated. This is to help the case of
@@ -119,13 +118,12 @@
}
}
binaries.all {
- if (it.targetPlatform.architecture.name == 'athena') {
+ if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
it.buildable = false
return
}
project(':hal').addHalDependency(it, 'shared')
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
- lib project: ':simulation:halsim_adx_gyro_accelerometer', library: 'halsim_adx_gyro_accelerometer', linkage: 'shared'
lib library: nativeName, linkage: 'shared'
}
}
@@ -138,7 +136,6 @@
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
lib project: ':cameraserver', library: 'cameraserver', linkage: 'shared'
lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
- lib project: ':simulation:halsim_adx_gyro_accelerometer', library: 'halsim_adx_gyro_accelerometer', linkage: 'shared'
lib library: nativeName, linkage: 'shared'
}
}
@@ -150,7 +147,7 @@
model {
testSuites {
- if (!project.hasProperty('onlyAthena') && !project.hasProperty('onlyRaspbian')) {
+ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
"${nativeName}Test"(GoogleTestTestSuiteSpec) {
for(NativeComponentSpec c : $.components) {
if (c.name == nativeName) {
diff --git a/third_party/allwpilib_2019/simulation/lowfi_simulation/publish.gradle b/third_party/allwpilib_2019/simulation/lowfi_simulation/publish.gradle
index 4143cd2..9a3204e 100644
--- a/third_party/allwpilib_2019/simulation/lowfi_simulation/publish.gradle
+++ b/third_party/allwpilib_2019/simulation/lowfi_simulation/publish.gradle
@@ -1,12 +1,5 @@
apply plugin: 'maven-publish'
-def pubVersion = ''
-if (project.hasProperty("publishVersion")) {
- pubVersion = project.publishVersion
-} else {
- pubVersion = WPILibVersion.version
-}
-
def baseArtifactId = nativeName
def artifactGroupId = 'edu.wpi.first.halsim'
def zipBaseName = "_GROUP_edu_wpi_first_halsim_ID_${nativeName}_CLS"
@@ -64,7 +57,7 @@
artifactId = baseArtifactId
groupId artifactGroupId
- version pubVersion
+ version wpilibVersioning.version.get()
}
}
}
diff --git a/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/ADXLThreeAxisAccelerometerSim.cpp b/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/ADXLThreeAxisAccelerometerSim.cpp
deleted file mode 100644
index 915d838..0000000
--- a/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/ADXLThreeAxisAccelerometerSim.cpp
+++ /dev/null
@@ -1,46 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#include "lowfisim/wpisimulators/ADXLThreeAxisAccelerometerSim.h"
-
-namespace frc {
-namespace sim {
-namespace lowfi {
-
-ADXLThreeAxisAccelerometerSim::ADXLThreeAxisAccelerometerSim(
- hal::ThreeAxisAccelerometerData& accelerometerWrapper)
- : m_accelerometerWrapper(accelerometerWrapper),
- m_xWrapper(
- [data = &m_accelerometerWrapper] { return data->GetInitialized(); },
- [data = &m_accelerometerWrapper](double x) { data->x = x; },
- [data = &m_accelerometerWrapper] { return data->GetX(); }),
-
- m_yWrapper(
- [data = &m_accelerometerWrapper] { return data->GetInitialized(); },
- [data = &m_accelerometerWrapper](double y) { data->y = y; },
- [data = &m_accelerometerWrapper] { return data->GetY(); }),
-
- m_zWrapper(
- [data = &m_accelerometerWrapper] { return data->GetInitialized(); },
- [data = &m_accelerometerWrapper](double z) { data->z = z; },
- [data = &m_accelerometerWrapper] { return data->GetZ(); }) {}
-
-AccelerometerSim& ADXLThreeAxisAccelerometerSim::GetXWrapper() {
- return m_xWrapper;
-}
-
-AccelerometerSim& ADXLThreeAxisAccelerometerSim::GetYWrapper() {
- return m_yWrapper;
-}
-
-AccelerometerSim& ADXLThreeAxisAccelerometerSim::GetZWrapper() {
- return m_zWrapper;
-}
-
-} // namespace lowfi
-} // namespace sim
-} // namespace frc
diff --git a/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/ADXRS450_SpiGyroSim.cpp b/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/ADXRS450_SpiGyroSim.cpp
deleted file mode 100644
index b1daf17..0000000
--- a/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/ADXRS450_SpiGyroSim.cpp
+++ /dev/null
@@ -1,29 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#include "lowfisim/wpisimulators/ADXRS450_SpiGyroSim.h"
-
-namespace frc {
-namespace sim {
-namespace lowfi {
-
-ADXRS450_SpiGyroSim::ADXRS450_SpiGyroSim(int spiPort)
- : m_gyroWrapper(spiPort) {}
-
-bool ADXRS450_SpiGyroSim::IsWrapperInitialized() const {
- return m_gyroWrapper.GetInitialized();
-}
-
-void ADXRS450_SpiGyroSim::SetAngle(double angle) {
- m_gyroWrapper.SetAngle(angle);
-}
-
-double ADXRS450_SpiGyroSim::GetAngle() { return m_gyroWrapper.GetAngle(); }
-
-} // namespace lowfi
-} // namespace sim
-} // namespace frc
diff --git a/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/AccelerometerSim.h b/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/AccelerometerSim.h
index fc9a456..041f257 100644
--- a/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/AccelerometerSim.h
+++ b/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/AccelerometerSim.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,13 +7,13 @@
#pragma once
-#include "lowfisim/SimulatorComponent.h"
+#include "lowfisim/SimulatorComponentBase.h"
namespace frc {
namespace sim {
namespace lowfi {
-class AccelerometerSim : public virtual SimulatorComponent {
+class AccelerometerSim : public SimulatorComponentBase {
public:
virtual double GetAcceleration() = 0;
virtual void SetAcceleration(double acceleration) = 0;
diff --git a/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/EncoderSim.h b/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/EncoderSim.h
index a16f94c..2e14755 100644
--- a/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/EncoderSim.h
+++ b/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/EncoderSim.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,13 +7,13 @@
#pragma once
-#include "lowfisim/SimulatorComponent.h"
+#include "lowfisim/SimulatorComponentBase.h"
namespace frc {
namespace sim {
namespace lowfi {
-class EncoderSim : public virtual SimulatorComponent {
+class EncoderSim : public SimulatorComponentBase {
public:
virtual void SetPosition(double position) = 0;
virtual void SetVelocity(double velocity) = 0;
diff --git a/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/GyroSim.h b/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/GyroSim.h
index dcaa28f..bc80598 100644
--- a/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/GyroSim.h
+++ b/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/GyroSim.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,13 +7,13 @@
#pragma once
-#include "lowfisim/SimulatorComponent.h"
+#include "lowfisim/SimulatorComponentBase.h"
namespace frc {
namespace sim {
namespace lowfi {
-class GyroSim : public virtual SimulatorComponent {
+class GyroSim : public SimulatorComponentBase {
public:
virtual void SetAngle(double angle) = 0;
virtual double GetAngle() = 0;
diff --git a/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/MotorSim.h b/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/MotorSim.h
index e880048..77532a6 100644
--- a/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/MotorSim.h
+++ b/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/MotorSim.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,13 +7,13 @@
#pragma once
-#include "lowfisim/SimulatorComponent.h"
+#include "lowfisim/SimulatorComponentBase.h"
namespace frc {
namespace sim {
namespace lowfi {
-class MotorSim : public virtual SimulatorComponent {
+class MotorSim : public SimulatorComponentBase {
public:
virtual double GetPosition() const = 0;
virtual double GetVelocity() const = 0;
diff --git a/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/SimpleAccelerometerSim.h b/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/SimpleAccelerometerSim.h
index 4c10cfe..482ac11 100644
--- a/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/SimpleAccelerometerSim.h
+++ b/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/SimpleAccelerometerSim.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,17 +10,13 @@
#include <functional>
#include "lowfisim/AccelerometerSim.h"
-#include "lowfisim/SimulatorComponentBase.h"
namespace frc {
namespace sim {
namespace lowfi {
-class SimpleAccelerometerSim : public SimulatorComponentBase,
- public AccelerometerSim {
+class SimpleAccelerometerSim : public AccelerometerSim {
public:
- using SimulatorComponentBase::GetDisplayName;
-
SimpleAccelerometerSim(const std::function<bool(void)>& initializedFunction,
const std::function<void(double)>& setterFunction,
const std::function<double(void)>& getterFunction)
diff --git a/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/ADXLThreeAxisAccelerometerSim.h b/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/ADXLThreeAxisAccelerometerSim.h
deleted file mode 100644
index 0b63f2e..0000000
--- a/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/ADXLThreeAxisAccelerometerSim.h
+++ /dev/null
@@ -1,35 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include "ThreeAxisAccelerometerData.h"
-#include "lowfisim/SimpleAccelerometerSim.h"
-
-namespace frc {
-namespace sim {
-namespace lowfi {
-
-class ADXLThreeAxisAccelerometerSim {
- public:
- ADXLThreeAxisAccelerometerSim(
- hal::ThreeAxisAccelerometerData& accelerometerWrapper);
-
- AccelerometerSim& GetXWrapper();
- AccelerometerSim& GetYWrapper();
- AccelerometerSim& GetZWrapper();
-
- protected:
- hal::ThreeAxisAccelerometerData& m_accelerometerWrapper;
- SimpleAccelerometerSim m_xWrapper;
- SimpleAccelerometerSim m_yWrapper;
- SimpleAccelerometerSim m_zWrapper;
-};
-
-} // namespace lowfi
-} // namespace sim
-} // namespace frc
diff --git a/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/ADXRS450_SpiGyroSim.h b/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/ADXRS450_SpiGyroSim.h
deleted file mode 100644
index 9b23320..0000000
--- a/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/ADXRS450_SpiGyroSim.h
+++ /dev/null
@@ -1,33 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include "ADXRS450_SpiGyroWrapperData.h"
-#include "lowfisim/GyroSim.h"
-#include "lowfisim/SimulatorComponentBase.h"
-
-namespace frc {
-namespace sim {
-namespace lowfi {
-
-class ADXRS450_SpiGyroSim : public SimulatorComponentBase, public GyroSim {
- public:
- explicit ADXRS450_SpiGyroSim(int spiPort);
-
- bool IsWrapperInitialized() const override;
-
- void SetAngle(double angle) override;
- double GetAngle() override;
-
- protected:
- hal::ADXRS450_SpiGyroWrapper m_gyroWrapper;
-};
-
-} // namespace lowfi
-} // namespace sim
-} // namespace frc
diff --git a/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiAnalogGyroSim.h b/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiAnalogGyroSim.h
index 8741cb2..a5957ef 100644
--- a/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiAnalogGyroSim.h
+++ b/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiAnalogGyroSim.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,14 +8,13 @@
#pragma once
#include "lowfisim/GyroSim.h"
-#include "lowfisim/SimulatorComponentBase.h"
#include "simulation/AnalogGyroSim.h"
namespace frc {
namespace sim {
namespace lowfi {
-class WpiAnalogGyroSim : public SimulatorComponentBase, public GyroSim {
+class WpiAnalogGyroSim : public GyroSim {
public:
explicit WpiAnalogGyroSim(int index);
diff --git a/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiEncoderSim.h b/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiEncoderSim.h
index 6460d8b..0c936e5 100644
--- a/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiEncoderSim.h
+++ b/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiEncoderSim.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,14 +8,13 @@
#pragma once
#include "lowfisim/EncoderSim.h"
-#include "lowfisim/SimulatorComponentBase.h"
#include "simulation/EncoderSim.h"
namespace frc {
namespace sim {
namespace lowfi {
-class WpiEncoderSim : public SimulatorComponentBase, public EncoderSim {
+class WpiEncoderSim : public EncoderSim {
public:
explicit WpiEncoderSim(int index);
bool IsWrapperInitialized() const override;
diff --git a/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiMotorSim.h b/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiMotorSim.h
index d24e831..9323aec 100644
--- a/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiMotorSim.h
+++ b/third_party/allwpilib_2019/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiMotorSim.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,7 +8,6 @@
#pragma once
#include "lowfisim/MotorSim.h"
-#include "lowfisim/SimulatorComponentBase.h"
#include "lowfisim/motormodel/MotorModel.h"
#include "simulation/PWMSim.h"
@@ -16,7 +15,7 @@
namespace sim {
namespace lowfi {
-class WpiMotorSim : public SimulatorComponentBase, public MotorSim {
+class WpiMotorSim : public MotorSim {
public:
explicit WpiMotorSim(int index, MotorModel& motorModelSimulator);
bool IsWrapperInitialized() const override;
diff --git a/third_party/allwpilib_2019/simulation/lowfi_simulation/src/test/native/cpp/lowfisim/AccelerometerSimulatorTest.cpp b/third_party/allwpilib_2019/simulation/lowfi_simulation/src/test/native/cpp/lowfisim/AccelerometerSimulatorTest.cpp
deleted file mode 100644
index b51a63a..0000000
--- a/third_party/allwpilib_2019/simulation/lowfi_simulation/src/test/native/cpp/lowfisim/AccelerometerSimulatorTest.cpp
+++ /dev/null
@@ -1,58 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#include "ADXL345_I2CAccelerometerData.h"
-#include "frc/ADXL345_I2C.h"
-#include "gtest/gtest.h"
-#include "lowfisim/wpisimulators/ADXLThreeAxisAccelerometerSim.h"
-
-TEST(AccelerometerTests, TestADXL345_I2CAccelerometerWrapper) {
- const double EPSILON = 1 / 256.0;
-
- frc::I2C::Port port = frc::I2C::kOnboard;
-
- hal::ADXL345_I2CData rawAdxSim(port);
- frc::sim::lowfi::ADXLThreeAxisAccelerometerSim accelerometerSim(rawAdxSim);
- frc::sim::lowfi::AccelerometerSim& xWrapper = accelerometerSim.GetXWrapper();
- frc::sim::lowfi::AccelerometerSim& yWrapper = accelerometerSim.GetYWrapper();
- frc::sim::lowfi::AccelerometerSim& zWrapper = accelerometerSim.GetZWrapper();
- EXPECT_FALSE(xWrapper.IsWrapperInitialized());
- EXPECT_FALSE(yWrapper.IsWrapperInitialized());
- EXPECT_FALSE(zWrapper.IsWrapperInitialized());
-
- frc::ADXL345_I2C accel{port};
- EXPECT_NEAR(0, accel.GetX(), EPSILON);
- EXPECT_NEAR(0, accel.GetY(), EPSILON);
- EXPECT_NEAR(0, accel.GetZ(), EPSILON);
- EXPECT_TRUE(xWrapper.IsWrapperInitialized());
- EXPECT_TRUE(yWrapper.IsWrapperInitialized());
- EXPECT_TRUE(zWrapper.IsWrapperInitialized());
-
- xWrapper.SetAcceleration(1.45);
- EXPECT_NEAR(1.45, accel.GetX(), EPSILON);
- EXPECT_NEAR(0, accel.GetY(), EPSILON);
- EXPECT_NEAR(0, accel.GetZ(), EPSILON);
- EXPECT_NEAR(1.45, xWrapper.GetAcceleration(), EPSILON);
- EXPECT_NEAR(0, yWrapper.GetAcceleration(), EPSILON);
- EXPECT_NEAR(0, zWrapper.GetAcceleration(), EPSILON);
-
- yWrapper.SetAcceleration(-.67);
- EXPECT_NEAR(1.45, accel.GetX(), EPSILON);
- EXPECT_NEAR(-.67, accel.GetY(), EPSILON);
- EXPECT_NEAR(0, accel.GetZ(), EPSILON);
- EXPECT_NEAR(1.45, xWrapper.GetAcceleration(), EPSILON);
- EXPECT_NEAR(-.67, yWrapper.GetAcceleration(), EPSILON);
- EXPECT_NEAR(0, zWrapper.GetAcceleration(), EPSILON);
-
- zWrapper.SetAcceleration(2.42);
- EXPECT_NEAR(1.45, accel.GetX(), EPSILON);
- EXPECT_NEAR(-.67, accel.GetY(), EPSILON);
- EXPECT_NEAR(2.42, accel.GetZ(), EPSILON);
- EXPECT_NEAR(1.45, xWrapper.GetAcceleration(), EPSILON);
- EXPECT_NEAR(-.67, yWrapper.GetAcceleration(), EPSILON);
- EXPECT_NEAR(2.42, zWrapper.GetAcceleration(), EPSILON);
-}
diff --git a/third_party/allwpilib_2019/simulation/lowfi_simulation/src/test/native/cpp/lowfisim/GyroSimulatorTest.cpp b/third_party/allwpilib_2019/simulation/lowfi_simulation/src/test/native/cpp/lowfisim/GyroSimulatorTest.cpp
deleted file mode 100644
index 6cd0b2b..0000000
--- a/third_party/allwpilib_2019/simulation/lowfi_simulation/src/test/native/cpp/lowfisim/GyroSimulatorTest.cpp
+++ /dev/null
@@ -1,47 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#include "ADXRS450_SpiGyroWrapperData.h"
-#include "frc/ADXRS450_Gyro.h"
-#include "frc/AnalogGyro.h"
-#include "gtest/gtest.h"
-#include "lowfisim/wpisimulators/ADXRS450_SpiGyroSim.h"
-#include "lowfisim/wpisimulators/WpiAnalogGyroSim.h"
-
-void TestGyro(frc::sim::lowfi::GyroSim& sim, frc::Gyro& gyro) {
- const double EPSILON = .00001;
-
- EXPECT_NEAR(0, gyro.GetAngle(), EPSILON);
- EXPECT_NEAR(0, sim.GetAngle(), EPSILON);
-
- sim.SetAngle(45.13);
- EXPECT_NEAR(45.13, gyro.GetAngle(), EPSILON);
- EXPECT_NEAR(45.13, sim.GetAngle(), EPSILON);
-}
-
-TEST(GyroSimulatorTests, TestAnalogGyro) {
- int port = 1;
- frc::sim::lowfi::WpiAnalogGyroSim sim{port};
- EXPECT_FALSE(sim.IsWrapperInitialized());
-
- frc::AnalogGyro gyro{port};
- EXPECT_TRUE(sim.IsWrapperInitialized());
-
- TestGyro(sim, gyro);
-}
-
-TEST(GyroSimulatorTests, TestSpiGyro) {
- frc::SPI::Port port = frc::SPI::kOnboardCS0;
-
- frc::sim::lowfi::ADXRS450_SpiGyroSim sim{port};
- EXPECT_FALSE(sim.IsWrapperInitialized());
-
- frc::ADXRS450_Gyro gyro{port};
- EXPECT_TRUE(sim.IsWrapperInitialized());
-
- TestGyro(sim, gyro);
-}
diff --git a/third_party/allwpilib_2019/styleguide/checkstyle.xml b/third_party/allwpilib_2019/styleguide/checkstyle.xml
index 0a690b6..7bc388e 100644
--- a/third_party/allwpilib_2019/styleguide/checkstyle.xml
+++ b/third_party/allwpilib_2019/styleguide/checkstyle.xml
@@ -36,6 +36,11 @@
</module>
<module name="SuppressWarningsFilter" />
<module name="TreeWalker">
+ <module name="SuppressionCommentFilter">
+ <property name="offCommentFormat" value="CHECKSTYLE.OFF\: ([\w\|]+)"/>
+ <property name="onCommentFormat" value="CHECKSTYLE.ON\: ([\w\|]+)"/>
+ <property name="checkFormat" value="$1"/>
+ </module>
<module name="SuppressWarningsHolder" />
<module name="OuterTypeFilename" />
<module name="IllegalTokenText">
diff --git a/third_party/allwpilib_2019/test-scripts/config.sh b/third_party/allwpilib_2019/test-scripts/config.sh
index 48eeda4..2232b8d 100755
--- a/third_party/allwpilib_2019/test-scripts/config.sh
+++ b/third_party/allwpilib_2019/test-scripts/config.sh
@@ -31,7 +31,7 @@
DEFAULT_JAVA_TEST_NAME=FRCUserProgram.jar
DEFAULT_JAVA_TEST_ARGS=""
-DEFAULT_LOCAL_JAVA_TEST_FILE=../build/integrationTestFiles/java/wpilibjIntegrationTests-all.jar
+DEFAULT_LOCAL_JAVA_TEST_FILE=../build/integrationTestFiles/java/wpilibjIntegrationTests.jar
JAVA_REPORT=javareport.xml
DEFAULT_LIBRARY_NATIVE_FILES=../build/integrationTestFiles/libs
diff --git a/third_party/allwpilib_2019/wpilib-config.cmake.in b/third_party/allwpilib_2019/wpilib-config.cmake.in
index 445db82..50feffc 100644
--- a/third_party/allwpilib_2019/wpilib-config.cmake.in
+++ b/third_party/allwpilib_2019/wpilib-config.cmake.in
@@ -1,9 +1,12 @@
-include(CMakeFindDependencyMacro)
-set(THREADS_PREFER_PTHREAD_FLAG ON)
-find_dependency(Threads)
-find_dependency(wpiutil)
-find_dependency(ntcore)
-@CSCORE_DEP_REPLACE@
-@CAMERASERVER_DEP_REPLACE@
-@HAL_DEP_REPLACE@
-@WPILIBC_DEP_REPLACE@
+include(CMakeFindDependencyMacro)
+@FILENAME_DEP_REPLACE@
+set(THREADS_PREFER_PTHREAD_FLAG ON)
+find_dependency(Threads)
+@LIBUV_VCPKG_REPLACE@
+@EIGEN_VCPKG_REPLACE@
+@WPIUTIL_DEP_REPLACE@
+@NTCORE_DEP_REPLACE@
+@CSCORE_DEP_REPLACE@
+@CAMERASERVER_DEP_REPLACE@
+@HAL_DEP_REPLACE@
+@WPILIBC_DEP_REPLACE@
diff --git a/third_party/allwpilib_2019/wpilibc/CMakeLists.txt b/third_party/allwpilib_2019/wpilibc/CMakeLists.txt
index da35871..977200a 100644
--- a/third_party/allwpilib_2019/wpilibc/CMakeLists.txt
+++ b/third_party/allwpilib_2019/wpilibc/CMakeLists.txt
@@ -1,11 +1,14 @@
project(wpilibc)
+include(CompileWarnings)
+include(AddTest)
+
find_package( OpenCV REQUIRED )
configure_file(src/generate/WPILibVersion.cpp.in WPILibVersion.cpp)
file(GLOB_RECURSE
- wpilibc_native_src src/main/native/cpp/*.cpp)
+ wpilibc_native_src src/main/native/cpp/*.cpp src/main/native/cppcs/*.cpp)
add_library(wpilibc ${wpilibc_native_src} ${CMAKE_CURRENT_BINARY_DIR}/WPILibVersion.cpp)
set_target_properties(wpilibc PROPERTIES DEBUG_POSTFIX "d")
@@ -13,6 +16,7 @@
target_include_directories(wpilibc PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
$<INSTALL_INTERFACE:${include_dest}/wpilibc>)
+wpilib_target_warnings(wpilibc)
target_link_libraries(wpilibc PUBLIC cameraserver hal ntcore cscore wpiutil ${OpenCV_LIBS})
set_property(TARGET wpilibc PROPERTY FOLDER "libraries")
@@ -20,11 +24,23 @@
install(TARGETS wpilibc EXPORT wpilibc DESTINATION "${main_lib_dest}")
install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/wpilibc")
-if (MSVC)
+if (MSVC OR FLAT_INSTALL_WPILIB)
set (wpilibc_config_dir ${wpilib_dest})
else()
set (wpilibc_config_dir share/wpilibc)
endif()
-install(FILES wpilibc-config.cmake DESTINATION ${wpilibc_config_dir})
+configure_file(wpilibc-config.cmake.in ${CMAKE_BINARY_DIR}/wpilibc-config.cmake )
+install(FILES ${CMAKE_BINARY_DIR}/wpilibc-config.cmake DESTINATION ${wpilibc_config_dir})
install(EXPORT wpilibc DESTINATION ${wpilibc_config_dir})
+
+if (WITH_TESTS)
+ wpilib_add_test(wpilibc src/test/native/cpp)
+ target_include_directories(wpilibc_test PRIVATE src/test/native/include)
+ target_link_libraries(wpilibc_test wpilibc gmock_main)
+ if (NOT MSVC)
+ target_compile_options(wpilibc_test PRIVATE -Wno-error)
+ else()
+ target_compile_options(wpilibc_test PRIVATE /WX-)
+ endif()
+endif()
diff --git a/third_party/allwpilib_2019/wpilibc/build.gradle b/third_party/allwpilib_2019/wpilibc/build.gradle
index 37ff6bd..5f93f7e 100644
--- a/third_party/allwpilib_2019/wpilibc/build.gradle
+++ b/third_party/allwpilib_2019/wpilibc/build.gradle
@@ -22,22 +22,23 @@
outputs.file wpilibVersionFileOutput
inputs.file wpilibVersionFileInput
- if (WPILibVersion.releaseType.toString().equalsIgnoreCase('official')) {
+ if (wpilibVersioning.releaseMode) {
outputs.upToDateWhen { false }
}
// We follow a simple set of checks to determine whether we should generate a new version file:
- // 1. If the release type is not development, we generate a new verison file
+ // 1. If the release type is not development, we generate a new version file
// 2. If there is no generated version number, we generate a new version file
// 3. If there is a generated build number, and the release type is development, then we will
// only generate if the publish task is run.
doLast {
- println "Writing version ${WPILibVersion.version} to $wpilibVersionFileOutput"
+ def version = wpilibVersioning.version.get()
+ println "Writing version ${version} to $wpilibVersionFileOutput"
if (wpilibVersionFileOutput.exists()) {
wpilibVersionFileOutput.delete()
}
- def read = wpilibVersionFileInput.text.replace('${wpilib_version}', WPILibVersion.version)
+ def read = wpilibVersionFileInput.text.replace('${wpilib_version}', version)
wpilibVersionFileOutput.write(read)
}
}
@@ -81,19 +82,22 @@
apply from: "${rootDir}/shared/nilibraries.gradle"
-model {
- exportsConfigs {
- wpilibc(ExportsConfig) {
- x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
- '_CT??_R0?AVbad_cast',
- '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
- '_TI5?AVfailure']
- x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
- '_CT??_R0?AVbad_cast',
- '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
- '_TI5?AVfailure']
- }
+apply plugin: DisableBuildingGTest
+
+nativeUtils.exportsConfigs {
+ wpilibc {
+ x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+ '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+ '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
+ '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
+ x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+ '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+ '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
+ '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
}
+}
+
+model {
components {
"${nativeName}Base"(NativeLibrarySpec) {
sources {
@@ -112,31 +116,39 @@
it.buildable = false
return
}
+ cppCompiler.define 'DYNAMIC_CAMERA_SERVER'
lib project: ':ntcore', library: 'ntcore', linkage: 'shared'
- lib project: ':cscore', library: 'cscore', linkage: 'shared'
project(':hal').addHalDependency(it, 'shared')
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
- lib project: ':cameraserver', library: 'cameraserver', linkage: 'shared'
}
}
"${nativeName}"(NativeLibrarySpec) {
sources {
cpp {
source {
- srcDirs "${rootDir}/shared/singlelib"
+ srcDirs "src/main/native/cppcs"
include '**/*.cpp'
}
exportedHeaders {
- srcDirs 'src/main/native/include'
+ srcDirs 'src/main/native/include', '../cameraserver/src/main/native/include'
}
}
}
binaries.all {
lib project: ':ntcore', library: 'ntcore', linkage: 'shared'
- lib project: ':cscore', library: 'cscore', linkage: 'shared'
project(':hal').addHalDependency(it, 'shared')
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
- lib project: ':cameraserver', library: 'cameraserver', linkage: 'shared'
+
+ if (it instanceof SharedLibraryBinarySpec) {
+ cppCompiler.define 'DYNAMIC_CAMERA_SERVER'
+ if (buildType == buildTypes.debug) {
+ cppCompiler.define 'DYNAMIC_CAMERA_SERVER_DEBUG'
+ }
+ } else {
+ lib project: ':cscore', library: 'cscore', linkage: 'shared'
+ lib project: ':cameraserver', library: 'cameraserver', linkage: 'shared'
+ }
+
}
appendDebugPathToBinaries(binaries)
}
@@ -202,16 +214,12 @@
}
}
withType(GoogleTestTestSuiteBinarySpec) {
- if (!project.hasProperty('onlyAthena') && !project.hasProperty('onlyRaspbian')) {
- lib project: ':ntcore', library: 'ntcore', linkage: 'shared'
- lib project: ':cscore', library: 'cscore', linkage: 'shared'
- project(':hal').addHalDependency(it, 'shared')
- lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
- lib project: ':cameraserver', library: 'cameraserver', linkage: 'shared'
- lib library: nativeName, linkage: 'shared'
- } else {
- it.buildable = false
- }
+ lib project: ':ntcore', library: 'ntcore', linkage: 'shared'
+ lib project: ':cscore', library: 'cscore', linkage: 'shared'
+ project(':hal').addHalDependency(it, 'shared')
+ lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+ lib project: ':cameraserver', library: 'cameraserver', linkage: 'shared'
+ lib library: nativeName, linkage: 'shared'
}
}
tasks {
diff --git a/third_party/allwpilib_2019/wpilibc/publish.gradle b/third_party/allwpilib_2019/wpilibc/publish.gradle
index 06f88df..dd7601e 100644
--- a/third_party/allwpilib_2019/wpilibc/publish.gradle
+++ b/third_party/allwpilib_2019/wpilibc/publish.gradle
@@ -1,12 +1,5 @@
apply plugin: 'maven-publish'
-def pubVersion = ''
-if (project.hasProperty("publishVersion")) {
- pubVersion = project.publishVersion
-} else {
- pubVersion = WPILibVersion.version
-}
-
def baseArtifactId = 'wpilibc-cpp'
def artifactGroupId = 'edu.wpi.first.wpilibc'
def zipBaseName = '_GROUP_edu_wpi_first_wpilibc_ID_wpilibc-cpp_CLS'
@@ -67,7 +60,7 @@
artifactId = baseArtifactId
groupId artifactGroupId
- version pubVersion
+ version wpilibVersioning.version.get()
}
}
}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/ADXL345_I2C.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/ADXL345_I2C.cpp
index 71407da..5b5762a 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/ADXL345_I2C.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/ADXL345_I2C.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,11 +10,20 @@
#include <hal/HAL.h>
#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
ADXL345_I2C::ADXL345_I2C(I2C::Port port, Range range, int deviceAddress)
- : m_i2c(port, deviceAddress) {
+ : m_i2c(port, deviceAddress),
+ m_simDevice("ADXL345_I2C", port, deviceAddress) {
+ if (m_simDevice) {
+ m_simRange =
+ m_simDevice.CreateEnum("Range", true, {"2G", "4G", "8G", "16G"}, 0);
+ m_simX = m_simDevice.CreateDouble("X Accel", false, 0.0);
+ m_simX = m_simDevice.CreateDouble("Y Accel", false, 0.0);
+ m_simZ = m_simDevice.CreateDouble("Z Accel", false, 0.0);
+ }
// Turn on the measurements
m_i2c.Write(kPowerCtlRegister, kPowerCtl_Measure);
// Specify the data format to read
@@ -22,7 +31,8 @@
HAL_Report(HALUsageReporting::kResourceType_ADXL345,
HALUsageReporting::kADXL345_I2C, 0);
- SetName("ADXL345_I2C", port);
+
+ SendableRegistry::GetInstance().AddLW(this, "ADXL345_I2C", port);
}
void ADXL345_I2C::SetRange(Range range) {
@@ -37,6 +47,9 @@
double ADXL345_I2C::GetZ() { return GetAcceleration(kAxis_Z); }
double ADXL345_I2C::GetAcceleration(ADXL345_I2C::Axes axis) {
+ if (axis == kAxis_X && m_simX) return m_simX.Get();
+ if (axis == kAxis_Y && m_simY) return m_simY.Get();
+ if (axis == kAxis_Z && m_simZ) return m_simZ.Get();
int16_t rawAccel = 0;
m_i2c.Read(kDataRegister + static_cast<int>(axis), sizeof(rawAccel),
reinterpret_cast<uint8_t*>(&rawAccel));
@@ -44,7 +57,13 @@
}
ADXL345_I2C::AllAxes ADXL345_I2C::GetAccelerations() {
- AllAxes data = AllAxes();
+ AllAxes data;
+ if (m_simX && m_simY && m_simZ) {
+ data.XAxis = m_simX.Get();
+ data.YAxis = m_simY.Get();
+ data.ZAxis = m_simZ.Get();
+ return data;
+ }
int16_t rawData[3];
m_i2c.Read(kDataRegister, sizeof(rawData),
reinterpret_cast<uint8_t*>(rawData));
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/ADXL345_SPI.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/ADXL345_SPI.cpp
index 738bc3e..bb9275a 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/ADXL345_SPI.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/ADXL345_SPI.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,11 +10,19 @@
#include <hal/HAL.h>
#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::Range range)
- : m_spi(port) {
+ : m_spi(port), m_simDevice("ADXL345_SPI", port) {
+ if (m_simDevice) {
+ m_simRange =
+ m_simDevice.CreateEnum("Range", true, {"2G", "4G", "8G", "16G"}, 0);
+ m_simX = m_simDevice.CreateDouble("X Accel", false, 0.0);
+ m_simX = m_simDevice.CreateDouble("Y Accel", false, 0.0);
+ m_simZ = m_simDevice.CreateDouble("Z Accel", false, 0.0);
+ }
m_spi.SetClockRate(500000);
m_spi.SetMSBFirst();
m_spi.SetSampleDataOnTrailingEdge();
@@ -32,7 +40,7 @@
HAL_Report(HALUsageReporting::kResourceType_ADXL345,
HALUsageReporting::kADXL345_SPI);
- SetName("ADXL345_SPI", port);
+ SendableRegistry::GetInstance().AddLW(this, "ADXL345_SPI", port);
}
void ADXL345_SPI::SetRange(Range range) {
@@ -42,6 +50,8 @@
commands[0] = kDataFormatRegister;
commands[1] = kDataFormat_FullRes | static_cast<uint8_t>(range & 0x03);
m_spi.Transaction(commands, commands, 2);
+
+ if (m_simRange) m_simRange.Set(range);
}
double ADXL345_SPI::GetX() { return GetAcceleration(kAxis_X); }
@@ -51,6 +61,9 @@
double ADXL345_SPI::GetZ() { return GetAcceleration(kAxis_Z); }
double ADXL345_SPI::GetAcceleration(ADXL345_SPI::Axes axis) {
+ if (axis == kAxis_X && m_simX) return m_simX.Get();
+ if (axis == kAxis_Y && m_simY) return m_simY.Get();
+ if (axis == kAxis_Z && m_simZ) return m_simZ.Get();
uint8_t buffer[3];
uint8_t command[3] = {0, 0, 0};
command[0] = (kAddress_Read | kAddress_MultiByte | kDataRegister) +
@@ -63,7 +76,14 @@
}
ADXL345_SPI::AllAxes ADXL345_SPI::GetAccelerations() {
- AllAxes data = AllAxes();
+ AllAxes data;
+ if (m_simX && m_simY && m_simZ) {
+ data.XAxis = m_simX.Get();
+ data.YAxis = m_simY.Get();
+ data.ZAxis = m_simZ.Get();
+ return data;
+ }
+
uint8_t dataBuffer[7] = {0, 0, 0, 0, 0, 0, 0};
int16_t rawData[3];
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/ADXL362.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/ADXL362.cpp
index d709ae4..2f97f1b 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/ADXL362.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/ADXL362.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -11,6 +11,7 @@
#include "frc/DriverStation.h"
#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -33,23 +34,34 @@
ADXL362::ADXL362(Range range) : ADXL362(SPI::Port::kOnboardCS1, range) {}
-ADXL362::ADXL362(SPI::Port port, Range range) : m_spi(port) {
+ADXL362::ADXL362(SPI::Port port, Range range)
+ : m_spi(port), m_simDevice("ADXL362", port) {
+ if (m_simDevice) {
+ m_simRange =
+ m_simDevice.CreateEnum("Range", true, {"2G", "4G", "8G", "16G"}, 0);
+ m_simX = m_simDevice.CreateDouble("X Accel", false, 0.0);
+ m_simX = m_simDevice.CreateDouble("Y Accel", false, 0.0);
+ m_simZ = m_simDevice.CreateDouble("Z Accel", false, 0.0);
+ }
+
m_spi.SetClockRate(3000000);
m_spi.SetMSBFirst();
m_spi.SetSampleDataOnTrailingEdge();
m_spi.SetClockActiveLow();
m_spi.SetChipSelectActiveLow();
- // Validate the part ID
uint8_t commands[3];
- commands[0] = kRegRead;
- commands[1] = kPartIdRegister;
- commands[2] = 0;
- m_spi.Transaction(commands, commands, 3);
- if (commands[2] != 0xF2) {
- DriverStation::ReportError("could not find ADXL362");
- m_gsPerLSB = 0.0;
- return;
+ if (!m_simDevice) {
+ // Validate the part ID
+ commands[0] = kRegRead;
+ commands[1] = kPartIdRegister;
+ commands[2] = 0;
+ m_spi.Transaction(commands, commands, 3);
+ if (commands[2] != 0xF2) {
+ DriverStation::ReportError("could not find ADXL362");
+ m_gsPerLSB = 0.0;
+ return;
+ }
}
SetRange(range);
@@ -62,7 +74,7 @@
HAL_Report(HALUsageReporting::kResourceType_ADXL362, port);
- SetName("ADXL362", port);
+ SendableRegistry::GetInstance().AddLW(this, "ADXL362", port);
}
void ADXL362::SetRange(Range range) {
@@ -89,6 +101,8 @@
commands[2] =
kFilterCtl_ODR_100Hz | static_cast<uint8_t>((range & 0x03) << 6);
m_spi.Write(commands, 3);
+
+ if (m_simRange) m_simRange.Set(range);
}
double ADXL362::GetX() { return GetAcceleration(kAxis_X); }
@@ -100,6 +114,10 @@
double ADXL362::GetAcceleration(ADXL362::Axes axis) {
if (m_gsPerLSB == 0.0) return 0.0;
+ if (axis == kAxis_X && m_simX) return m_simX.Get();
+ if (axis == kAxis_Y && m_simY) return m_simY.Get();
+ if (axis == kAxis_Z && m_simZ) return m_simZ.Get();
+
uint8_t buffer[4];
uint8_t command[4] = {0, 0, 0, 0};
command[0] = kRegRead;
@@ -112,11 +130,17 @@
}
ADXL362::AllAxes ADXL362::GetAccelerations() {
- AllAxes data = AllAxes();
+ AllAxes data;
if (m_gsPerLSB == 0.0) {
data.XAxis = data.YAxis = data.ZAxis = 0.0;
return data;
}
+ if (m_simX && m_simY && m_simZ) {
+ data.XAxis = m_simX.Get();
+ data.YAxis = m_simY.Get();
+ data.ZAxis = m_simZ.Get();
+ return data;
+ }
uint8_t dataBuffer[8] = {0, 0, 0, 0, 0, 0, 0, 0};
int16_t rawData[3];
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp
index 875f403..3dde234 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -11,45 +11,55 @@
#include "frc/DriverStation.h"
#include "frc/Timer.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
-static constexpr double kSamplePeriod = 0.0005;
+static constexpr auto kSamplePeriod = 0.0005_s;
static constexpr double kCalibrationSampleTime = 5.0;
static constexpr double kDegreePerSecondPerLSB = 0.0125;
-static constexpr int kRateRegister = 0x00;
-static constexpr int kTemRegister = 0x02;
-static constexpr int kLoCSTRegister = 0x04;
-static constexpr int kHiCSTRegister = 0x06;
-static constexpr int kQuadRegister = 0x08;
-static constexpr int kFaultRegister = 0x0A;
+// static constexpr int kRateRegister = 0x00;
+// static constexpr int kTemRegister = 0x02;
+// static constexpr int kLoCSTRegister = 0x04;
+// static constexpr int kHiCSTRegister = 0x06;
+// static constexpr int kQuadRegister = 0x08;
+// static constexpr int kFaultRegister = 0x0A;
static constexpr int kPIDRegister = 0x0C;
-static constexpr int kSNHighRegister = 0x0E;
-static constexpr int kSNLowRegister = 0x10;
+// static constexpr int kSNHighRegister = 0x0E;
+// static constexpr int kSNLowRegister = 0x10;
ADXRS450_Gyro::ADXRS450_Gyro() : ADXRS450_Gyro(SPI::kOnboardCS0) {}
-ADXRS450_Gyro::ADXRS450_Gyro(SPI::Port port) : m_spi(port) {
+ADXRS450_Gyro::ADXRS450_Gyro(SPI::Port port)
+ : m_spi(port), m_simDevice("ADXRS450_Gyro", port) {
+ if (m_simDevice) {
+ m_simAngle = m_simDevice.CreateDouble("Angle", false, 0.0);
+ m_simRate = m_simDevice.CreateDouble("Rate", false, 0.0);
+ }
+
m_spi.SetClockRate(3000000);
m_spi.SetMSBFirst();
m_spi.SetSampleDataOnLeadingEdge();
m_spi.SetClockActiveHigh();
m_spi.SetChipSelectActiveLow();
- // Validate the part ID
- if ((ReadRegister(kPIDRegister) & 0xff00) != 0x5200) {
- DriverStation::ReportError("could not find ADXRS450 gyro");
- return;
+ if (!m_simDevice) {
+ // Validate the part ID
+ if ((ReadRegister(kPIDRegister) & 0xff00) != 0x5200) {
+ DriverStation::ReportError("could not find ADXRS450 gyro");
+ return;
+ }
+
+ m_spi.InitAccumulator(kSamplePeriod, 0x20000000u, 4, 0x0c00000eu,
+ 0x04000000u, 10u, 16u, true, true);
+
+ Calibrate();
}
- m_spi.InitAccumulator(kSamplePeriod, 0x20000000u, 4, 0x0c00000eu, 0x04000000u,
- 10u, 16u, true, true);
-
- Calibrate();
-
HAL_Report(HALUsageReporting::kResourceType_ADXRS450, port);
- SetName("ADXRS450_Gyro", port);
+
+ SendableRegistry::GetInstance().AddLW(this, "ADXRS450_Gyro", port);
}
static bool CalcParity(int v) {
@@ -86,15 +96,21 @@
}
double ADXRS450_Gyro::GetAngle() const {
+ if (m_simAngle) return m_simAngle.Get();
return m_spi.GetAccumulatorIntegratedValue() * kDegreePerSecondPerLSB;
}
double ADXRS450_Gyro::GetRate() const {
+ if (m_simRate) return m_simRate.Get();
return static_cast<double>(m_spi.GetAccumulatorLastValue()) *
kDegreePerSecondPerLSB;
}
-void ADXRS450_Gyro::Reset() { m_spi.ResetAccumulator(); }
+void ADXRS450_Gyro::Reset() {
+ if (m_simAngle) m_simAngle.Set(0.0);
+ if (m_simRate) m_simRate.Set(0.0);
+ m_spi.ResetAccumulator();
+}
void ADXRS450_Gyro::Calibrate() {
Wait(0.1);
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/AnalogAccelerometer.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/AnalogAccelerometer.cpp
index 3ae8e48..4436bcf 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/AnalogAccelerometer.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/AnalogAccelerometer.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -11,12 +11,13 @@
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
AnalogAccelerometer::AnalogAccelerometer(int channel)
: AnalogAccelerometer(std::make_shared<AnalogInput>(channel)) {
- AddChild(m_analogInput);
+ SendableRegistry::GetInstance().AddChild(this, m_analogInput.get());
}
AnalogAccelerometer::AnalogAccelerometer(AnalogInput* channel)
@@ -58,5 +59,7 @@
void AnalogAccelerometer::InitAccelerometer() {
HAL_Report(HALUsageReporting::kResourceType_Accelerometer,
m_analogInput->GetChannel());
- SetName("Accelerometer", m_analogInput->GetChannel());
+
+ SendableRegistry::GetInstance().AddLW(this, "Accelerometer",
+ m_analogInput->GetChannel());
}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/AnalogGyro.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/AnalogGyro.cpp
index 5efe7b3..36cde8a 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/AnalogGyro.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/AnalogGyro.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -17,12 +17,13 @@
#include "frc/AnalogInput.h"
#include "frc/Timer.h"
#include "frc/WPIErrors.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
AnalogGyro::AnalogGyro(int channel)
: AnalogGyro(std::make_shared<AnalogInput>(channel)) {
- AddChild(m_analog);
+ SendableRegistry::GetInstance().AddChild(this, m_analog.get());
}
AnalogGyro::AnalogGyro(AnalogInput* channel)
@@ -41,7 +42,7 @@
AnalogGyro::AnalogGyro(int channel, int center, double offset)
: AnalogGyro(std::make_shared<AnalogInput>(channel), center, offset) {
- AddChild(m_analog);
+ SendableRegistry::GetInstance().AddChild(this, m_analog.get());
}
AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel, int center,
@@ -65,20 +66,6 @@
AnalogGyro::~AnalogGyro() { HAL_FreeAnalogGyro(m_gyroHandle); }
-AnalogGyro::AnalogGyro(AnalogGyro&& rhs)
- : GyroBase(std::move(rhs)), m_analog(std::move(rhs.m_analog)) {
- std::swap(m_gyroHandle, rhs.m_gyroHandle);
-}
-
-AnalogGyro& AnalogGyro::operator=(AnalogGyro&& rhs) {
- GyroBase::operator=(std::move(rhs));
-
- m_analog = std::move(rhs.m_analog);
- std::swap(m_gyroHandle, rhs.m_gyroHandle);
-
- return *this;
-}
-
double AnalogGyro::GetAngle() const {
if (StatusIsFatal()) return 0.0;
int32_t status = 0;
@@ -162,7 +149,9 @@
}
HAL_Report(HALUsageReporting::kResourceType_Gyro, m_analog->GetChannel());
- SetName("AnalogGyro", m_analog->GetChannel());
+
+ SendableRegistry::GetInstance().AddLW(this, "AnalogGyro",
+ m_analog->GetChannel());
}
void AnalogGyro::Calibrate() {
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/AnalogInput.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/AnalogInput.cpp
index 52a55d3..a200f4d 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/AnalogInput.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/AnalogInput.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -18,6 +18,7 @@
#include "frc/Timer.h"
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -42,32 +43,12 @@
}
HAL_Report(HALUsageReporting::kResourceType_AnalogChannel, channel);
- SetName("AnalogInput", channel);
+
+ SendableRegistry::GetInstance().AddLW(this, "AnalogInput", channel);
}
AnalogInput::~AnalogInput() { HAL_FreeAnalogInputPort(m_port); }
-AnalogInput::AnalogInput(AnalogInput&& rhs)
- : ErrorBase(std::move(rhs)),
- SendableBase(std::move(rhs)),
- PIDSource(std::move(rhs)),
- m_channel(std::move(rhs.m_channel)),
- m_accumulatorOffset(std::move(rhs.m_accumulatorOffset)) {
- std::swap(m_port, rhs.m_port);
-}
-
-AnalogInput& AnalogInput::operator=(AnalogInput&& rhs) {
- ErrorBase::operator=(std::move(rhs));
- SendableBase::operator=(std::move(rhs));
- PIDSource::operator=(std::move(rhs));
-
- m_channel = std::move(rhs.m_channel);
- std::swap(m_port, rhs.m_port);
- m_accumulatorOffset = std::move(rhs.m_accumulatorOffset);
-
- return *this;
-}
-
int AnalogInput::GetValue() const {
if (StatusIsFatal()) return 0;
int32_t status = 0;
@@ -243,6 +224,10 @@
return GetAverageVoltage();
}
+void AnalogInput::SetSimDevice(HAL_SimDeviceHandle device) {
+ HAL_SetAnalogInputSimDevice(m_port, device);
+}
+
void AnalogInput::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Analog Input");
builder.AddDoubleProperty("Value", [=]() { return GetAverageVoltage(); },
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/AnalogOutput.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/AnalogOutput.cpp
index b18af5b..5e56efc 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/AnalogOutput.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/AnalogOutput.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -16,6 +16,7 @@
#include "frc/SensorUtil.h"
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -42,28 +43,11 @@
}
HAL_Report(HALUsageReporting::kResourceType_AnalogOutput, m_channel);
- SetName("AnalogOutput", m_channel);
+ SendableRegistry::GetInstance().AddLW(this, "AnalogOutput", m_channel);
}
AnalogOutput::~AnalogOutput() { HAL_FreeAnalogOutputPort(m_port); }
-AnalogOutput::AnalogOutput(AnalogOutput&& rhs)
- : ErrorBase(std::move(rhs)),
- SendableBase(std::move(rhs)),
- m_channel(std::move(rhs.m_channel)) {
- std::swap(m_port, rhs.m_port);
-}
-
-AnalogOutput& AnalogOutput::operator=(AnalogOutput&& rhs) {
- ErrorBase::operator=(std::move(rhs));
- SendableBase::operator=(std::move(rhs));
-
- m_channel = std::move(rhs.m_channel);
- std::swap(m_port, rhs.m_port);
-
- return *this;
-}
-
void AnalogOutput::SetVoltage(double voltage) {
int32_t status = 0;
HAL_SetAnalogOutput(m_port, voltage, &status);
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/AnalogPotentiometer.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/AnalogPotentiometer.cpp
index 6c42ff9..b650ec7 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/AnalogPotentiometer.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/AnalogPotentiometer.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,26 +9,29 @@
#include "frc/RobotController.h"
#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
AnalogPotentiometer::AnalogPotentiometer(int channel, double fullRange,
double offset)
- : m_analog_input(std::make_shared<AnalogInput>(channel)),
- m_fullRange(fullRange),
- m_offset(offset) {
- AddChild(m_analog_input);
+ : AnalogPotentiometer(std::make_shared<AnalogInput>(channel), fullRange,
+ offset) {
+ SendableRegistry::GetInstance().AddChild(this, m_analog_input.get());
}
AnalogPotentiometer::AnalogPotentiometer(AnalogInput* input, double fullRange,
double offset)
- : m_analog_input(input, NullDeleter<AnalogInput>()),
- m_fullRange(fullRange),
- m_offset(offset) {}
+ : AnalogPotentiometer(
+ std::shared_ptr<AnalogInput>(input, NullDeleter<AnalogInput>()),
+ fullRange, offset) {}
AnalogPotentiometer::AnalogPotentiometer(std::shared_ptr<AnalogInput> input,
double fullRange, double offset)
- : m_analog_input(input), m_fullRange(fullRange), m_offset(offset) {}
+ : m_analog_input(input), m_fullRange(fullRange), m_offset(offset) {
+ SendableRegistry::GetInstance().AddLW(this, "AnalogPotentiometer",
+ m_analog_input->GetChannel());
+}
double AnalogPotentiometer::Get() const {
return (m_analog_input->GetVoltage() / RobotController::GetVoltage5V()) *
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/AnalogTrigger.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/AnalogTrigger.cpp
index aeb58df..60ce04a 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/AnalogTrigger.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/AnalogTrigger.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -13,13 +13,14 @@
#include "frc/AnalogInput.h"
#include "frc/WPIErrors.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
AnalogTrigger::AnalogTrigger(int channel)
: AnalogTrigger(new AnalogInput(channel)) {
m_ownsAnalog = true;
- AddChild(m_analogInput);
+ SendableRegistry::GetInstance().AddChild(this, m_analogInput);
}
AnalogTrigger::AnalogTrigger(AnalogInput* input) {
@@ -36,7 +37,8 @@
m_index = index;
HAL_Report(HALUsageReporting::kResourceType_AnalogTrigger, input->m_channel);
- SetName("AnalogTrigger", input->GetChannel());
+ SendableRegistry::GetInstance().AddLW(this, "AnalogTrigger",
+ input->GetChannel());
}
AnalogTrigger::~AnalogTrigger() {
@@ -50,19 +52,19 @@
AnalogTrigger::AnalogTrigger(AnalogTrigger&& rhs)
: ErrorBase(std::move(rhs)),
- SendableBase(std::move(rhs)),
- m_index(std::move(rhs.m_index)) {
- std::swap(m_trigger, rhs.m_trigger);
+ SendableHelper(std::move(rhs)),
+ m_index(std::move(rhs.m_index)),
+ m_trigger(std::move(rhs.m_trigger)) {
std::swap(m_analogInput, rhs.m_analogInput);
std::swap(m_ownsAnalog, rhs.m_ownsAnalog);
}
AnalogTrigger& AnalogTrigger::operator=(AnalogTrigger&& rhs) {
ErrorBase::operator=(std::move(rhs));
- SendableBase::operator=(std::move(rhs));
+ SendableHelper::operator=(std::move(rhs));
m_index = std::move(rhs.m_index);
- std::swap(m_trigger, rhs.m_trigger);
+ m_trigger = std::move(rhs.m_trigger);
std::swap(m_analogInput, rhs.m_analogInput);
std::swap(m_ownsAnalog, rhs.m_ownsAnalog);
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/AnalogTriggerOutput.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/AnalogTriggerOutput.cpp
index b2a8cd5..c2c7265 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/AnalogTriggerOutput.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/AnalogTriggerOutput.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -14,26 +14,17 @@
using namespace frc;
-AnalogTriggerOutput::~AnalogTriggerOutput() {
- if (m_interrupt != HAL_kInvalidHandle) {
- int32_t status = 0;
- HAL_CleanInterrupts(m_interrupt, &status);
- // ignore status, as an invalid handle just needs to be ignored.
- m_interrupt = HAL_kInvalidHandle;
- }
-}
-
bool AnalogTriggerOutput::Get() const {
int32_t status = 0;
bool result = HAL_GetAnalogTriggerOutput(
- m_trigger.m_trigger, static_cast<HAL_AnalogTriggerType>(m_outputType),
+ m_trigger->m_trigger, static_cast<HAL_AnalogTriggerType>(m_outputType),
&status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
return result;
}
HAL_Handle AnalogTriggerOutput::GetPortHandleForRouting() const {
- return m_trigger.m_trigger;
+ return m_trigger->m_trigger;
}
AnalogTriggerType AnalogTriggerOutput::GetAnalogTriggerTypeForRouting() const {
@@ -42,13 +33,13 @@
bool AnalogTriggerOutput::IsAnalogTrigger() const { return true; }
-int AnalogTriggerOutput::GetChannel() const { return m_trigger.m_index; }
+int AnalogTriggerOutput::GetChannel() const { return m_trigger->m_index; }
void AnalogTriggerOutput::InitSendable(SendableBuilder&) {}
AnalogTriggerOutput::AnalogTriggerOutput(const AnalogTrigger& trigger,
AnalogTriggerType outputType)
- : m_trigger(trigger), m_outputType(outputType) {
+ : m_trigger(&trigger), m_outputType(outputType) {
HAL_Report(HALUsageReporting::kResourceType_AnalogTriggerOutput,
trigger.GetIndex(), static_cast<uint8_t>(outputType));
}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp
index 8452e38..71c8e89 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,6 +12,7 @@
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -20,7 +21,7 @@
HAL_Report(HALUsageReporting::kResourceType_Accelerometer, 0, 0,
"Built-in accelerometer");
- SetName("BuiltInAccel", 0);
+ SendableRegistry::GetInstance().AddLW(this, "BuiltInAccel");
}
void BuiltInAccelerometer::SetRange(Range range) {
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/CAN.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/CAN.cpp
index f01eb3f..35a926a 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/CAN.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/CAN.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -52,18 +52,6 @@
}
}
-CAN::CAN(CAN&& rhs) : ErrorBase(std::move(rhs)) {
- std::swap(m_handle, rhs.m_handle);
-}
-
-CAN& CAN::operator=(CAN&& rhs) {
- ErrorBase::operator=(std::move(rhs));
-
- std::swap(m_handle, rhs.m_handle);
-
- return *this;
-}
-
void CAN::WritePacket(const uint8_t* data, int length, int apiId) {
int32_t status = 0;
HAL_WriteCANPacket(m_handle, data, length, apiId, &status);
@@ -77,6 +65,12 @@
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
+void CAN::WriteRTRFrame(int length, int apiId) {
+ int32_t status = 0;
+ HAL_WriteCANRTRFrame(m_handle, length, apiId, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
void CAN::StopPacketRepeating(int apiId) {
int32_t status = 0;
HAL_StopCANPacketRepeating(m_handle, apiId, &status);
@@ -128,20 +122,3 @@
return true;
}
}
-
-bool CAN::ReadPeriodicPacket(int apiId, int timeoutMs, int periodMs,
- CANData* data) {
- int32_t status = 0;
- HAL_ReadCANPeriodicPacket(m_handle, apiId, data->data, &data->length,
- &data->timestamp, timeoutMs, periodMs, &status);
- if (status == HAL_CAN_TIMEOUT ||
- status == HAL_ERR_CANSessionMux_MessageNotFound) {
- return false;
- }
- if (status != 0) {
- wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
- return false;
- } else {
- return true;
- }
-}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Compressor.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Compressor.cpp
index 48e1ed6..10d75f1 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Compressor.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Compressor.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -14,6 +14,7 @@
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -28,7 +29,7 @@
SetClosedLoopControl(true);
HAL_Report(HALUsageReporting::kResourceType_Compressor, pcmID);
- SetName("Compressor", pcmID);
+ SendableRegistry::GetInstance().AddLW(this, "Compressor", pcmID);
}
void Compressor::Start() {
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/ControllerPower.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/ControllerPower.cpp
deleted file mode 100644
index d3012ea..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/ControllerPower.cpp
+++ /dev/null
@@ -1,115 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#include "frc/ControllerPower.h"
-
-#include <stdint.h>
-
-#include <hal/HAL.h>
-#include <hal/Power.h>
-
-#include "frc/ErrorBase.h"
-
-using namespace frc;
-
-double ControllerPower::GetInputVoltage() {
- int32_t status = 0;
- double retVal = HAL_GetVinVoltage(&status);
- wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
- return retVal;
-}
-
-double ControllerPower::GetInputCurrent() {
- int32_t status = 0;
- double retVal = HAL_GetVinCurrent(&status);
- wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
- return retVal;
-}
-
-double ControllerPower::GetVoltage3V3() {
- int32_t status = 0;
- double retVal = HAL_GetUserVoltage3V3(&status);
- wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
- return retVal;
-}
-
-double ControllerPower::GetCurrent3V3() {
- int32_t status = 0;
- double retVal = HAL_GetUserCurrent3V3(&status);
- wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
- return retVal;
-}
-
-bool ControllerPower::GetEnabled3V3() {
- int32_t status = 0;
- bool retVal = HAL_GetUserActive3V3(&status);
- wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
- return retVal;
-}
-
-int ControllerPower::GetFaultCount3V3() {
- int32_t status = 0;
- int retVal = HAL_GetUserCurrentFaults3V3(&status);
- wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
- return retVal;
-}
-
-double ControllerPower::GetVoltage5V() {
- int32_t status = 0;
- double retVal = HAL_GetUserVoltage5V(&status);
- wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
- return retVal;
-}
-
-double ControllerPower::GetCurrent5V() {
- int32_t status = 0;
- double retVal = HAL_GetUserCurrent5V(&status);
- wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
- return retVal;
-}
-
-bool ControllerPower::GetEnabled5V() {
- int32_t status = 0;
- bool retVal = HAL_GetUserActive5V(&status);
- wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
- return retVal;
-}
-
-int ControllerPower::GetFaultCount5V() {
- int32_t status = 0;
- int retVal = HAL_GetUserCurrentFaults5V(&status);
- wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
- return retVal;
-}
-
-double ControllerPower::GetVoltage6V() {
- int32_t status = 0;
- double retVal = HAL_GetUserVoltage6V(&status);
- wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
- return retVal;
-}
-
-double ControllerPower::GetCurrent6V() {
- int32_t status = 0;
- double retVal = HAL_GetUserCurrent6V(&status);
- wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
- return retVal;
-}
-
-bool ControllerPower::GetEnabled6V() {
- int32_t status = 0;
- bool retVal = HAL_GetUserActive6V(&status);
- wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
- return retVal;
-}
-
-int ControllerPower::GetFaultCount6V() {
- int32_t status = 0;
- int retVal = HAL_GetUserCurrentFaults6V(&status);
- wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
- return retVal;
-}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Counter.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Counter.cpp
index c97bbc5..1ef40fd 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Counter.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Counter.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -15,6 +15,7 @@
#include "frc/DigitalInput.h"
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -26,7 +27,7 @@
SetMaxPeriod(.5);
HAL_Report(HALUsageReporting::kResourceType_Counter, m_index, mode);
- SetName("Counter", m_index);
+ SendableRegistry::GetInstance().AddLW(this, "Counter", m_index);
}
Counter::Counter(int channel) : Counter(kTwoPulse) {
@@ -90,36 +91,12 @@
int32_t status = 0;
HAL_FreeCounter(m_counter, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
- m_counter = HAL_kInvalidHandle;
-}
-
-Counter::Counter(Counter&& rhs)
- : ErrorBase(std::move(rhs)),
- SendableBase(std::move(rhs)),
- CounterBase(std::move(rhs)),
- m_upSource(std::move(rhs.m_upSource)),
- m_downSource(std::move(rhs.m_downSource)),
- m_index(std::move(rhs.m_index)) {
- std::swap(m_counter, rhs.m_counter);
-}
-
-Counter& Counter::operator=(Counter&& rhs) {
- ErrorBase::operator=(std::move(rhs));
- SendableBase::operator=(std::move(rhs));
- CounterBase::operator=(std::move(rhs));
-
- m_upSource = std::move(rhs.m_upSource);
- m_downSource = std::move(rhs.m_downSource);
- std::swap(m_counter, rhs.m_counter);
- m_index = std::move(rhs.m_index);
-
- return *this;
}
void Counter::SetUpSource(int channel) {
if (StatusIsFatal()) return;
SetUpSource(std::make_shared<DigitalInput>(channel));
- AddChild(m_upSource);
+ SendableRegistry::GetInstance().AddChild(this, m_upSource.get());
}
void Counter::SetUpSource(AnalogTrigger* analogTrigger,
@@ -183,7 +160,7 @@
void Counter::SetDownSource(int channel) {
if (StatusIsFatal()) return;
SetDownSource(std::make_shared<DigitalInput>(channel));
- AddChild(m_downSource);
+ SendableRegistry::GetInstance().AddChild(this, m_downSource.get());
}
void Counter::SetDownSource(AnalogTrigger* analogTrigger,
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/DMC60.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/DMC60.cpp
index 7dc2d8d..d61bd40 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/DMC60.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/DMC60.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,8 @@
#include <hal/HAL.h>
+#include "frc/smartdashboard/SendableRegistry.h"
+
using namespace frc;
DMC60::DMC60(int channel) : PWMSpeedController(channel) {
@@ -32,5 +34,5 @@
SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_DigilentDMC60, GetChannel());
- SetName("DMC60", GetChannel());
+ SendableRegistry::GetInstance().SetName(this, "DMC60", GetChannel());
}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/DigitalGlitchFilter.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/DigitalGlitchFilter.cpp
index 71211b3..9e92da8 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/DigitalGlitchFilter.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/DigitalGlitchFilter.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -20,6 +20,7 @@
#include "frc/SensorUtil.h"
#include "frc/Utility.h"
#include "frc/WPIErrors.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -28,7 +29,7 @@
wpi::mutex DigitalGlitchFilter::m_mutex;
DigitalGlitchFilter::DigitalGlitchFilter() {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
auto index =
std::find(m_filterAllocated.begin(), m_filterAllocated.end(), false);
wpi_assert(index != m_filterAllocated.end());
@@ -38,24 +39,25 @@
HAL_Report(HALUsageReporting::kResourceType_DigitalGlitchFilter,
m_channelIndex);
- SetName("DigitalGlitchFilter", m_channelIndex);
+ SendableRegistry::GetInstance().AddLW(this, "DigitalGlitchFilter",
+ m_channelIndex);
}
DigitalGlitchFilter::~DigitalGlitchFilter() {
if (m_channelIndex >= 0) {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
m_filterAllocated[m_channelIndex] = false;
}
}
DigitalGlitchFilter::DigitalGlitchFilter(DigitalGlitchFilter&& rhs)
- : ErrorBase(std::move(rhs)), SendableBase(std::move(rhs)) {
+ : ErrorBase(std::move(rhs)), SendableHelper(std::move(rhs)) {
std::swap(m_channelIndex, rhs.m_channelIndex);
}
DigitalGlitchFilter& DigitalGlitchFilter::operator=(DigitalGlitchFilter&& rhs) {
ErrorBase::operator=(std::move(rhs));
- SendableBase::operator=(std::move(rhs));
+ SendableHelper::operator=(std::move(rhs));
std::swap(m_channelIndex, rhs.m_channelIndex);
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/DigitalInput.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/DigitalInput.cpp
index 273e9b6..d0fa41b 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/DigitalInput.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/DigitalInput.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -17,6 +17,7 @@
#include "frc/SensorUtil.h"
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -40,35 +41,14 @@
}
HAL_Report(HALUsageReporting::kResourceType_DigitalInput, channel);
- SetName("DigitalInput", channel);
+ SendableRegistry::GetInstance().AddLW(this, "DigitalInput", channel);
}
DigitalInput::~DigitalInput() {
if (StatusIsFatal()) return;
- if (m_interrupt != HAL_kInvalidHandle) {
- int32_t status = 0;
- HAL_CleanInterrupts(m_interrupt, &status);
- // Ignore status, as an invalid handle just needs to be ignored.
- m_interrupt = HAL_kInvalidHandle;
- }
-
HAL_FreeDIOPort(m_handle);
}
-DigitalInput::DigitalInput(DigitalInput&& rhs)
- : DigitalSource(std::move(rhs)), m_channel(std::move(rhs.m_channel)) {
- std::swap(m_handle, rhs.m_handle);
-}
-
-DigitalInput& DigitalInput::operator=(DigitalInput&& rhs) {
- DigitalSource::operator=(std::move(rhs));
-
- m_channel = std::move(rhs.m_channel);
- std::swap(m_handle, rhs.m_handle);
-
- return *this;
-}
-
bool DigitalInput::Get() const {
if (StatusIsFatal()) return false;
int32_t status = 0;
@@ -85,6 +65,10 @@
bool DigitalInput::IsAnalogTrigger() const { return false; }
+void DigitalInput::SetSimDevice(HAL_SimDeviceHandle device) {
+ HAL_SetDIOSimDevice(m_handle, device);
+}
+
int DigitalInput::GetChannel() const { return m_channel; }
void DigitalInput::InitSendable(SendableBuilder& builder) {
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/DigitalOutput.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/DigitalOutput.cpp
index b05c6b1..2068b5d 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/DigitalOutput.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/DigitalOutput.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -17,6 +17,7 @@
#include "frc/SensorUtil.h"
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -41,7 +42,7 @@
}
HAL_Report(HALUsageReporting::kResourceType_DigitalOutput, channel);
- SetName("DigitalOutput", channel);
+ SendableRegistry::GetInstance().AddLW(this, "DigitalOutput", channel);
}
DigitalOutput::~DigitalOutput() {
@@ -52,25 +53,6 @@
HAL_FreeDIOPort(m_handle);
}
-DigitalOutput::DigitalOutput(DigitalOutput&& rhs)
- : ErrorBase(std::move(rhs)),
- SendableBase(std::move(rhs)),
- m_channel(std::move(rhs.m_channel)),
- m_pwmGenerator(std::move(rhs.m_pwmGenerator)) {
- std::swap(m_handle, rhs.m_handle);
-}
-
-DigitalOutput& DigitalOutput::operator=(DigitalOutput&& rhs) {
- ErrorBase::operator=(std::move(rhs));
- SendableBase::operator=(std::move(rhs));
-
- m_channel = std::move(rhs.m_channel);
- std::swap(m_handle, rhs.m_handle);
- m_pwmGenerator = std::move(rhs.m_pwmGenerator);
-
- return *this;
-}
-
void DigitalOutput::Set(bool value) {
if (StatusIsFatal()) return;
@@ -158,6 +140,10 @@
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
+void DigitalOutput::SetSimDevice(HAL_SimDeviceHandle device) {
+ HAL_SetDIOSimDevice(m_handle, device);
+}
+
void DigitalOutput::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Digital Output");
builder.AddBooleanProperty("Value", [=]() { return Get(); },
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/DoubleSolenoid.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/DoubleSolenoid.cpp
index 86678aa..0b35ff5 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/DoubleSolenoid.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/DoubleSolenoid.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -16,6 +16,7 @@
#include "frc/SensorUtil.h"
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -75,7 +76,9 @@
m_moduleNumber);
HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_reverseChannel,
m_moduleNumber);
- SetName("DoubleSolenoid", m_moduleNumber, m_forwardChannel);
+
+ SendableRegistry::GetInstance().AddLW(this, "DoubleSolenoid", m_moduleNumber,
+ m_forwardChannel);
}
DoubleSolenoid::~DoubleSolenoid() {
@@ -83,29 +86,6 @@
HAL_FreeSolenoidPort(m_reverseHandle);
}
-DoubleSolenoid::DoubleSolenoid(DoubleSolenoid&& rhs)
- : SolenoidBase(std::move(rhs)),
- m_forwardChannel(std::move(rhs.m_forwardChannel)),
- m_reverseChannel(std::move(rhs.m_reverseChannel)),
- m_forwardMask(std::move(rhs.m_forwardMask)),
- m_reverseMask(std::move(rhs.m_reverseMask)) {
- std::swap(m_forwardHandle, rhs.m_forwardHandle);
- std::swap(m_reverseHandle, rhs.m_reverseHandle);
-}
-
-DoubleSolenoid& DoubleSolenoid::operator=(DoubleSolenoid&& rhs) {
- SolenoidBase::operator=(std::move(rhs));
-
- m_forwardChannel = std::move(rhs.m_forwardChannel);
- m_reverseChannel = std::move(rhs.m_reverseChannel);
- m_forwardMask = std::move(rhs.m_forwardMask);
- m_reverseMask = std::move(rhs.m_reverseMask);
- std::swap(m_forwardHandle, rhs.m_forwardHandle);
- std::swap(m_reverseHandle, rhs.m_reverseHandle);
-
- return *this;
-}
-
void DoubleSolenoid::Set(Value value) {
if (StatusIsFatal()) return;
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/DriverStation.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/DriverStation.cpp
index 3c274c6..d268de7 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/DriverStation.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/DriverStation.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -11,7 +11,6 @@
#include <hal/HAL.h>
#include <hal/Power.h>
-#include <hal/cpp/Log.h>
#include <networktables/NetworkTable.h>
#include <networktables/NetworkTableEntry.h>
#include <networktables/NetworkTableInstance.h>
@@ -146,7 +145,7 @@
"Joystick Button missing, check if all controllers are plugged in");
return false;
}
- std::unique_lock<wpi::mutex> lock(m_buttonEdgeMutex);
+ std::unique_lock lock(m_buttonEdgeMutex);
// If button was pressed, clear flag and return true
if (m_joystickButtonsPressed[stick] & 1 << (button - 1)) {
m_joystickButtonsPressed[stick] &= ~(1 << (button - 1));
@@ -175,7 +174,7 @@
"Joystick Button missing, check if all controllers are plugged in");
return false;
}
- std::unique_lock<wpi::mutex> lock(m_buttonEdgeMutex);
+ std::unique_lock lock(m_buttonEdgeMutex);
// If button was released, clear flag and return true
if (m_joystickButtonsReleased[stick] & 1 << (button - 1)) {
m_joystickButtonsReleased[stick] &= ~(1 << (button - 1));
@@ -336,6 +335,12 @@
return !(controlWord.enabled && controlWord.dsAttached);
}
+bool DriverStation::IsEStopped() const {
+ HAL_ControlWord controlWord;
+ HAL_GetControlWord(&controlWord);
+ return controlWord.eStop;
+}
+
bool DriverStation::IsAutonomous() const {
HAL_ControlWord controlWord;
HAL_GetControlWord(&controlWord);
@@ -368,20 +373,6 @@
return controlWord.fmsAttached;
}
-bool DriverStation::IsSysActive() const {
- int32_t status = 0;
- bool retVal = HAL_GetSystemActive(&status);
- wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
- return retVal;
-}
-
-bool DriverStation::IsBrownedOut() const {
- int32_t status = 0;
- bool retVal = HAL_GetBrownedOut(&status);
- wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
- return retVal;
-}
-
std::string DriverStation::GetGameSpecificMessage() const {
HAL_MatchInfo info;
HAL_GetMatchInfo(&info);
@@ -454,7 +445,7 @@
auto timeoutTime =
std::chrono::steady_clock::now() + std::chrono::duration<double>(timeout);
- std::unique_lock<wpi::mutex> lock(m_waitForDataMutex);
+ std::unique_lock lock(m_waitForDataMutex);
int currentCount = m_waitForDataCounter;
while (m_waitForDataCounter == currentCount) {
if (timeout > 0) {
@@ -486,7 +477,7 @@
{
// Compute the pressed and released buttons
HAL_JoystickButtons currentButtons;
- std::unique_lock<wpi::mutex> lock(m_buttonEdgeMutex);
+ std::unique_lock lock(m_buttonEdgeMutex);
for (int32_t i = 0; i < kJoystickPorts; i++) {
HAL_GetJoystickButtons(i, ¤tButtons);
@@ -504,7 +495,7 @@
}
{
- std::lock_guard<wpi::mutex> waitLock(m_waitForDataMutex);
+ std::scoped_lock waitLock(m_waitForDataMutex);
// Nofify all threads
m_waitForDataCounter++;
m_waitForDataCond.notify_all();
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Encoder.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Encoder.cpp
index 77e7a2a..fb043cc 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Encoder.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Encoder.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -16,6 +16,7 @@
#include "frc/DigitalInput.h"
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -24,8 +25,9 @@
m_aSource = std::make_shared<DigitalInput>(aChannel);
m_bSource = std::make_shared<DigitalInput>(bChannel);
InitEncoder(reverseDirection, encodingType);
- AddChild(m_aSource);
- AddChild(m_bSource);
+ auto& registry = SendableRegistry::GetInstance();
+ registry.AddChild(this, m_aSource.get());
+ registry.AddChild(this, m_bSource.get());
}
Encoder::Encoder(DigitalSource* aSource, DigitalSource* bSource,
@@ -61,31 +63,6 @@
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
-Encoder::Encoder(Encoder&& rhs)
- : ErrorBase(std::move(rhs)),
- SendableBase(std::move(rhs)),
- CounterBase(std::move(rhs)),
- PIDSource(std::move(rhs)),
- m_aSource(std::move(rhs.m_aSource)),
- m_bSource(std::move(rhs.m_bSource)),
- m_indexSource(std::move(rhs.m_indexSource)) {
- std::swap(m_encoder, rhs.m_encoder);
-}
-
-Encoder& Encoder::operator=(Encoder&& rhs) {
- ErrorBase::operator=(std::move(rhs));
- SendableBase::operator=(std::move(rhs));
- CounterBase::operator=(std::move(rhs));
- PIDSource::operator=(std::move(rhs));
-
- m_aSource = std::move(rhs.m_aSource);
- m_bSource = std::move(rhs.m_bSource);
- m_indexSource = std::move(rhs.m_indexSource);
- std::swap(m_encoder, rhs.m_encoder);
-
- return *this;
-}
-
int Encoder::Get() const {
if (StatusIsFatal()) return 0;
int32_t status = 0;
@@ -226,7 +203,7 @@
void Encoder::SetIndexSource(int channel, Encoder::IndexingType type) {
// Force digital input if just given an index
m_indexSource = std::make_shared<DigitalInput>(channel);
- AddChild(m_indexSource);
+ SendableRegistry::GetInstance().AddChild(this, m_indexSource.get());
SetIndexSource(*m_indexSource.get(), type);
}
@@ -240,6 +217,10 @@
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
+void Encoder::SetSimDevice(HAL_SimDeviceHandle device) {
+ HAL_SetEncoderSimDevice(m_encoder, device);
+}
+
int Encoder::GetFPGAIndex() const {
int32_t status = 0;
int val = HAL_GetEncoderFPGAIndex(m_encoder, &status);
@@ -275,7 +256,8 @@
HAL_Report(HALUsageReporting::kResourceType_Encoder, GetFPGAIndex(),
encodingType);
- SetName("Encoder", m_aSource->GetChannel());
+ SendableRegistry::GetInstance().AddLW(this, "Encoder",
+ m_aSource->GetChannel());
}
double Encoder::DecodingScaleFactor() const {
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Error.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Error.cpp
index f758032..ee7dcbd 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Error.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Error.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,6 +8,7 @@
#include "frc/Error.h"
#include <wpi/Path.h>
+#include <wpi/StackTrace.h>
#include "frc/DriverStation.h"
#include "frc/Timer.h"
@@ -84,7 +85,7 @@
true, m_code, m_message,
m_function + wpi::Twine(" [") + wpi::sys::path::filename(m_filename) +
wpi::Twine(':') + wpi::Twine(m_lineNumber) + wpi::Twine(']'),
- GetStackTrace(4));
+ wpi::GetStackTrace(4));
}
void Error::Clear() {
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/ErrorBase.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/ErrorBase.cpp
index 947e53b..8e70e61 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/ErrorBase.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/ErrorBase.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -17,13 +17,38 @@
#include <wpi/SmallString.h>
#include <wpi/raw_ostream.h>
-#define WPI_ERRORS_DEFINE_STRINGS
#include "frc/WPIErrors.h"
using namespace frc;
-static wpi::mutex globalErrorsMutex;
-static std::set<Error> globalErrors;
+namespace {
+struct GlobalErrors {
+ wpi::mutex mutex;
+ std::set<Error> errors;
+ const Error* lastError{nullptr};
+
+ static GlobalErrors& GetInstance();
+ static void Insert(const Error& error);
+ static void Insert(Error&& error);
+};
+} // namespace
+
+GlobalErrors& GlobalErrors::GetInstance() {
+ static GlobalErrors inst;
+ return inst;
+}
+
+void GlobalErrors::Insert(const Error& error) {
+ GlobalErrors& inst = GetInstance();
+ std::scoped_lock lock(inst.mutex);
+ inst.lastError = &(*inst.errors.insert(error).first);
+}
+
+void GlobalErrors::Insert(Error&& error) {
+ GlobalErrors& inst = GetInstance();
+ std::scoped_lock lock(inst.mutex);
+ inst.lastError = &(*inst.errors.insert(std::move(error)).first);
+}
ErrorBase::ErrorBase() { HAL_Initialize(500, 0); }
@@ -51,8 +76,7 @@
this);
// Update the global error if there is not one already set.
- std::lock_guard<wpi::mutex> mutex(globalErrorsMutex);
- globalErrors.insert(m_error);
+ GlobalErrors::Insert(m_error);
}
void ErrorBase::SetImaqError(int success, const wpi::Twine& contextMessage,
@@ -65,8 +89,7 @@
function, lineNumber, this);
// Update the global error if there is not one already set.
- std::lock_guard<wpi::mutex> mutex(globalErrorsMutex);
- globalErrors.insert(m_error);
+ GlobalErrors::Insert(m_error);
}
}
@@ -79,8 +102,7 @@
m_error.Set(code, contextMessage, filename, function, lineNumber, this);
// Update the global error if there is not one already set.
- std::lock_guard<wpi::mutex> mutex(globalErrorsMutex);
- globalErrors.insert(m_error);
+ GlobalErrors::Insert(m_error);
}
}
@@ -99,8 +121,7 @@
filename, function, lineNumber, this);
// Update the global error if there is not one already set.
- std::lock_guard<wpi::mutex> mutex(globalErrorsMutex);
- globalErrors.insert(m_error);
+ GlobalErrors::Insert(m_error);
}
}
@@ -113,8 +134,7 @@
lineNumber, this);
// Update the global error if there is not one already set.
- std::lock_guard<wpi::mutex> mutex(globalErrorsMutex);
- globalErrors.insert(m_error);
+ GlobalErrors::Insert(m_error);
}
void ErrorBase::CloneError(const ErrorBase& rhs) const {
@@ -129,11 +149,9 @@
int lineNumber) {
// If there was an error
if (code != 0) {
- std::lock_guard<wpi::mutex> mutex(globalErrorsMutex);
-
// Set the current error information for this object.
- globalErrors.emplace(code, contextMessage, filename, function, lineNumber,
- nullptr);
+ GlobalErrors::Insert(
+ Error(code, contextMessage, filename, function, lineNumber, nullptr));
}
}
@@ -141,12 +159,28 @@
const wpi::Twine& contextMessage,
wpi::StringRef filename,
wpi::StringRef function, int lineNumber) {
- std::lock_guard<wpi::mutex> mutex(globalErrorsMutex);
- globalErrors.emplace(-1, errorMessage + ": " + contextMessage, filename,
- function, lineNumber, nullptr);
+ GlobalErrors::Insert(Error(-1, errorMessage + ": " + contextMessage, filename,
+ function, lineNumber, nullptr));
}
-const Error& ErrorBase::GetGlobalError() {
- std::lock_guard<wpi::mutex> mutex(globalErrorsMutex);
- return *globalErrors.begin();
+Error ErrorBase::GetGlobalError() {
+ auto& inst = GlobalErrors::GetInstance();
+ std::scoped_lock mutex(inst.mutex);
+ if (!inst.lastError) return Error{};
+ return *inst.lastError;
+}
+
+std::vector<Error> ErrorBase::GetGlobalErrors() {
+ auto& inst = GlobalErrors::GetInstance();
+ std::scoped_lock mutex(inst.mutex);
+ std::vector<Error> rv;
+ for (auto&& error : inst.errors) rv.push_back(error);
+ return rv;
+}
+
+void ErrorBase::ClearGlobalErrors() {
+ auto& inst = GlobalErrors::GetInstance();
+ std::scoped_lock mutex(inst.mutex);
+ inst.errors.clear();
+ inst.lastError = nullptr;
}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/GamepadBase.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/GamepadBase.cpp
deleted file mode 100644
index 4eeb744..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/GamepadBase.cpp
+++ /dev/null
@@ -1,12 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#include "frc/GamepadBase.h"
-
-using namespace frc;
-
-GamepadBase::GamepadBase(int port) : GenericHID(port) {}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/GearTooth.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/GearTooth.cpp
index fba5a24..5fb5021 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/GearTooth.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/GearTooth.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,6 +8,7 @@
#include "frc/GearTooth.h"
#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -15,20 +16,22 @@
GearTooth::GearTooth(int channel, bool directionSensitive) : Counter(channel) {
EnableDirectionSensing(directionSensitive);
- SetName("GearTooth", channel);
+ SendableRegistry::GetInstance().SetName(this, "GearTooth", channel);
}
GearTooth::GearTooth(DigitalSource* source, bool directionSensitive)
: Counter(source) {
EnableDirectionSensing(directionSensitive);
- SetName("GearTooth", source->GetChannel());
+ SendableRegistry::GetInstance().SetName(this, "GearTooth",
+ source->GetChannel());
}
GearTooth::GearTooth(std::shared_ptr<DigitalSource> source,
bool directionSensitive)
: Counter(source) {
EnableDirectionSensing(directionSensitive);
- SetName("GearTooth", source->GetChannel());
+ SendableRegistry::GetInstance().SetName(this, "GearTooth",
+ source->GetChannel());
}
void GearTooth::EnableDirectionSensing(bool directionSensitive) {
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/GenericHID.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/GenericHID.cpp
index d1a3112..504d669 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/GenericHID.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/GenericHID.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -14,7 +14,7 @@
using namespace frc;
-GenericHID::GenericHID(int port) : m_ds(DriverStation::GetInstance()) {
+GenericHID::GenericHID(int port) : m_ds(&DriverStation::GetInstance()) {
if (port >= DriverStation::kJoystickPorts) {
wpi_setWPIError(BadJoystickIndex);
}
@@ -22,39 +22,41 @@
}
bool GenericHID::GetRawButton(int button) const {
- return m_ds.GetStickButton(m_port, button);
+ return m_ds->GetStickButton(m_port, button);
}
bool GenericHID::GetRawButtonPressed(int button) {
- return m_ds.GetStickButtonPressed(m_port, button);
+ return m_ds->GetStickButtonPressed(m_port, button);
}
bool GenericHID::GetRawButtonReleased(int button) {
- return m_ds.GetStickButtonReleased(m_port, button);
+ return m_ds->GetStickButtonReleased(m_port, button);
}
double GenericHID::GetRawAxis(int axis) const {
- return m_ds.GetStickAxis(m_port, axis);
+ return m_ds->GetStickAxis(m_port, axis);
}
-int GenericHID::GetPOV(int pov) const { return m_ds.GetStickPOV(m_port, pov); }
+int GenericHID::GetPOV(int pov) const { return m_ds->GetStickPOV(m_port, pov); }
-int GenericHID::GetAxisCount() const { return m_ds.GetStickAxisCount(m_port); }
+int GenericHID::GetAxisCount() const { return m_ds->GetStickAxisCount(m_port); }
-int GenericHID::GetPOVCount() const { return m_ds.GetStickPOVCount(m_port); }
+int GenericHID::GetPOVCount() const { return m_ds->GetStickPOVCount(m_port); }
int GenericHID::GetButtonCount() const {
- return m_ds.GetStickButtonCount(m_port);
+ return m_ds->GetStickButtonCount(m_port);
}
GenericHID::HIDType GenericHID::GetType() const {
- return static_cast<HIDType>(m_ds.GetJoystickType(m_port));
+ return static_cast<HIDType>(m_ds->GetJoystickType(m_port));
}
-std::string GenericHID::GetName() const { return m_ds.GetJoystickName(m_port); }
+std::string GenericHID::GetName() const {
+ return m_ds->GetJoystickName(m_port);
+}
int GenericHID::GetAxisType(int axis) const {
- return m_ds.GetJoystickAxisType(m_port, axis);
+ return m_ds->GetJoystickAxisType(m_port, axis);
}
int GenericHID::GetPort() const { return m_port; }
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/I2C.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/I2C.cpp
index 4b18f73..44b71af 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/I2C.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/I2C.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -27,21 +27,6 @@
I2C::~I2C() { HAL_CloseI2C(m_port); }
-I2C::I2C(I2C&& rhs)
- : ErrorBase(std::move(rhs)),
- m_deviceAddress(std::move(rhs.m_deviceAddress)) {
- std::swap(m_port, rhs.m_port);
-}
-
-I2C& I2C::operator=(I2C&& rhs) {
- ErrorBase::operator=(std::move(rhs));
-
- std::swap(m_port, rhs.m_port);
- m_deviceAddress = std::move(rhs.m_deviceAddress);
-
- return *this;
-}
-
bool I2C::Transaction(uint8_t* dataToSend, int sendSize, uint8_t* dataReceived,
int receiveSize) {
int32_t status = 0;
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/InterruptableSensorBase.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/InterruptableSensorBase.cpp
index 220043f..36150d4 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/InterruptableSensorBase.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/InterruptableSensorBase.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -14,6 +14,13 @@
using namespace frc;
+InterruptableSensorBase::~InterruptableSensorBase() {
+ if (m_interrupt == HAL_kInvalidHandle) return;
+ int32_t status = 0;
+ HAL_CleanInterrupts(m_interrupt, &status);
+ // Ignore status, as an invalid handle just needs to be ignored.
+}
+
void InterruptableSensorBase::RequestInterrupts(
HAL_InterruptHandlerFunction handler, void* param) {
if (StatusIsFatal()) return;
@@ -32,6 +39,39 @@
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
+void InterruptableSensorBase::RequestInterrupts(InterruptEventHandler handler) {
+ if (StatusIsFatal()) return;
+
+ wpi_assert(m_interrupt == HAL_kInvalidHandle);
+ AllocateInterrupts(false);
+ if (StatusIsFatal()) return; // if allocate failed, out of interrupts
+
+ m_interruptHandler =
+ std::make_unique<InterruptEventHandler>(std::move(handler));
+
+ int32_t status = 0;
+ HAL_RequestInterrupts(
+ m_interrupt, GetPortHandleForRouting(),
+ static_cast<HAL_AnalogTriggerType>(GetAnalogTriggerTypeForRouting()),
+ &status);
+ SetUpSourceEdge(true, false);
+ HAL_AttachInterruptHandler(
+ m_interrupt,
+ [](uint32_t mask, void* param) {
+ auto self = reinterpret_cast<InterruptEventHandler*>(param);
+ // Rising edge result is the interrupt bit set in the byte 0xFF
+ // Falling edge result is the interrupt bit set in the byte 0xFF00
+ // Set any bit set to be true for that edge, and AND the 2 results
+ // together to match the existing enum for all interrupts
+ int32_t rising = (mask & 0xFF) ? 0x1 : 0x0;
+ int32_t falling = ((mask & 0xFF00) ? 0x0100 : 0x0);
+ WaitResult res = static_cast<WaitResult>(falling | rising);
+ (*self)(res);
+ },
+ m_interruptHandler.get(), &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
void InterruptableSensorBase::RequestInterrupts() {
if (StatusIsFatal()) return;
@@ -55,6 +95,7 @@
HAL_CleanInterrupts(m_interrupt, &status);
// Ignore status, as an invalid handle just needs to be ignored.
m_interrupt = HAL_kInvalidHandle;
+ m_interruptHandler = nullptr;
}
InterruptableSensorBase::WaitResult InterruptableSensorBase::WaitForInterrupt(
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/IterativeRobot.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/IterativeRobot.cpp
index 0f3add3..950b239 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/IterativeRobot.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/IterativeRobot.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -13,7 +13,7 @@
using namespace frc;
-static constexpr double kPacketPeriod = 0.02;
+static constexpr auto kPacketPeriod = 0.02_s;
IterativeRobot::IterativeRobot() : IterativeRobotBase(kPacketPeriod) {
HAL_Report(HALUsageReporting::kResourceType_Framework,
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
index 0de2004..90dc54b 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,6 +10,7 @@
#include <cstdio>
#include <hal/HAL.h>
+#include <wpi/Format.h>
#include <wpi/SmallString.h>
#include <wpi/raw_ostream.h>
@@ -17,11 +18,15 @@
#include "frc/Timer.h"
#include "frc/commands/Scheduler.h"
#include "frc/livewindow/LiveWindow.h"
+#include "frc/shuffleboard/Shuffleboard.h"
#include "frc/smartdashboard/SmartDashboard.h"
using namespace frc;
IterativeRobotBase::IterativeRobotBase(double period)
+ : IterativeRobotBase(units::second_t(period)) {}
+
+IterativeRobotBase::IterativeRobotBase(units::second_t period)
: m_period(period),
m_watchdog(period, [this] { PrintLoopOverrunMessage(); }) {}
@@ -94,6 +99,7 @@
// either a different mode or from power-on.
if (m_lastMode != Mode::kDisabled) {
LiveWindow::GetInstance()->SetEnabled(false);
+ Shuffleboard::DisableActuatorWidgets();
DisabledInit();
m_watchdog.AddEpoch("DisabledInit()");
m_lastMode = Mode::kDisabled;
@@ -107,6 +113,7 @@
// either a different mode or from power-on.
if (m_lastMode != Mode::kAutonomous) {
LiveWindow::GetInstance()->SetEnabled(false);
+ Shuffleboard::DisableActuatorWidgets();
AutonomousInit();
m_watchdog.AddEpoch("AutonomousInit()");
m_lastMode = Mode::kAutonomous;
@@ -120,6 +127,7 @@
// either a different mode or from power-on.
if (m_lastMode != Mode::kTeleop) {
LiveWindow::GetInstance()->SetEnabled(false);
+ Shuffleboard::DisableActuatorWidgets();
TeleopInit();
m_watchdog.AddEpoch("TeleopInit()");
m_lastMode = Mode::kTeleop;
@@ -134,6 +142,7 @@
// either a different mode or from power-on.
if (m_lastMode != Mode::kTest) {
LiveWindow::GetInstance()->SetEnabled(true);
+ Shuffleboard::EnableActuatorWidgets();
TestInit();
m_watchdog.AddEpoch("TestInit()");
m_lastMode = Mode::kTest;
@@ -146,10 +155,14 @@
RobotPeriodic();
m_watchdog.AddEpoch("RobotPeriodic()");
- m_watchdog.Disable();
- SmartDashboard::UpdateValues();
+ SmartDashboard::UpdateValues();
+ m_watchdog.AddEpoch("SmartDashboard::UpdateValues()");
LiveWindow::GetInstance()->UpdateValues();
+ m_watchdog.AddEpoch("LiveWindow::UpdateValues()");
+ Shuffleboard::Update();
+ m_watchdog.AddEpoch("Shuffleboard::Update()");
+ m_watchdog.Disable();
// Warn on loop time overruns
if (m_watchdog.IsExpired()) {
@@ -161,7 +174,8 @@
wpi::SmallString<128> str;
wpi::raw_svector_ostream buf(str);
- buf << "Loop time of " << m_period << "s overrun\n";
+ buf << "Loop time of " << wpi::format("%.6f", m_period.to<double>())
+ << "s overrun\n";
DriverStation::ReportWarning(str);
}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Jaguar.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Jaguar.cpp
index 7bde6ba..487d489 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Jaguar.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Jaguar.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,8 @@
#include <hal/HAL.h>
+#include "frc/smartdashboard/SendableRegistry.h"
+
using namespace frc;
Jaguar::Jaguar(int channel) : PWMSpeedController(channel) {
@@ -26,5 +28,5 @@
SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_Jaguar, GetChannel());
- SetName("Jaguar", GetChannel());
+ SendableRegistry::GetInstance().SetName(this, "Jaguar", GetChannel());
}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Joystick.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Joystick.cpp
index da77d94..34afd0a 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Joystick.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Joystick.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,14 +10,13 @@
#include <cmath>
#include <hal/HAL.h>
+#include <wpi/math>
#include "frc/DriverStation.h"
#include "frc/WPIErrors.h"
using namespace frc;
-constexpr double kPi = 3.14159265358979323846;
-
Joystick::Joystick(int port) : GenericHID(port) {
m_axes[Axis::kX] = kDefaultXChannel;
m_axes[Axis::kY] = kDefaultYChannel;
@@ -40,10 +39,6 @@
m_axes[Axis::kThrottle] = channel;
}
-void Joystick::SetAxisChannel(AxisType axis, int channel) {
- m_axes[axis] = channel;
-}
-
int Joystick::GetXChannel() const { return m_axes[Axis::kX]; }
int Joystick::GetYChannel() const { return m_axes[Axis::kY]; }
@@ -70,24 +65,6 @@
return GetRawAxis(m_axes[Axis::kThrottle]);
}
-double Joystick::GetAxis(AxisType axis) const {
- switch (axis) {
- case kXAxis:
- return GetX();
- case kYAxis:
- return GetY();
- case kZAxis:
- return GetZ();
- case kTwistAxis:
- return GetTwist();
- case kThrottleAxis:
- return GetThrottle();
- default:
- wpi_setWPIError(BadJoystickAxis);
- return 0.0;
- }
-}
-
bool Joystick::GetTrigger() const { return GetRawButton(Button::kTrigger); }
bool Joystick::GetTriggerPressed() {
@@ -104,22 +81,6 @@
bool Joystick::GetTopReleased() { return GetRawButtonReleased(Button::kTop); }
-Joystick* Joystick::GetStickForPort(int port) {
- static std::array<std::unique_ptr<Joystick>, DriverStation::kJoystickPorts>
- joysticks{};
- auto stick = joysticks[port].get();
- if (stick == nullptr) {
- joysticks[port] = std::make_unique<Joystick>(port);
- stick = joysticks[port].get();
- }
- return stick;
-}
-
-bool Joystick::GetButton(ButtonType button) const {
- int temp = button;
- return GetRawButton(static_cast<Button>(temp));
-}
-
double Joystick::GetMagnitude() const {
return std::sqrt(std::pow(GetX(), 2) + std::pow(GetY(), 2));
}
@@ -129,5 +90,5 @@
}
double Joystick::GetDirectionDegrees() const {
- return (180 / kPi) * GetDirectionRadians();
+ return (180 / wpi::math::pi) * GetDirectionRadians();
}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/JoystickBase.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/JoystickBase.cpp
deleted file mode 100644
index 8e6858c..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/JoystickBase.cpp
+++ /dev/null
@@ -1,12 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#include "frc/JoystickBase.h"
-
-using namespace frc;
-
-JoystickBase::JoystickBase(int port) : GenericHID(port) {}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/LinearFilter.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/LinearFilter.cpp
new file mode 100644
index 0000000..95df127
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/LinearFilter.cpp
@@ -0,0 +1,70 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/LinearFilter.h"
+
+#include <cassert>
+#include <cmath>
+
+#include <hal/HAL.h>
+
+using namespace frc;
+
+LinearFilter::LinearFilter(wpi::ArrayRef<double> ffGains,
+ wpi::ArrayRef<double> fbGains)
+ : m_inputs(ffGains.size()),
+ m_outputs(fbGains.size()),
+ m_inputGains(ffGains),
+ m_outputGains(fbGains) {
+ static int instances = 0;
+ instances++;
+ HAL_Report(HALUsageReporting::kResourceType_LinearFilter, instances);
+}
+
+LinearFilter LinearFilter::SinglePoleIIR(double timeConstant,
+ units::second_t period) {
+ double gain = std::exp(-period.to<double>() / timeConstant);
+ return LinearFilter(1.0 - gain, -gain);
+}
+
+LinearFilter LinearFilter::HighPass(double timeConstant,
+ units::second_t period) {
+ double gain = std::exp(-period.to<double>() / timeConstant);
+ return LinearFilter({gain, -gain}, {-gain});
+}
+
+LinearFilter LinearFilter::MovingAverage(int taps) {
+ assert(taps > 0);
+
+ std::vector<double> gains(taps, 1.0 / taps);
+ return LinearFilter(gains, {});
+}
+
+void LinearFilter::Reset() {
+ m_inputs.reset();
+ m_outputs.reset();
+}
+
+double LinearFilter::Calculate(double input) {
+ double retVal = 0.0;
+
+ // Rotate the inputs
+ m_inputs.push_front(input);
+
+ // Calculate the new value
+ for (size_t i = 0; i < m_inputGains.size(); i++) {
+ retVal += m_inputs[i] * m_inputGains[i];
+ }
+ for (size_t i = 0; i < m_outputGains.size(); i++) {
+ retVal -= m_outputs[i] * m_outputGains[i];
+ }
+
+ // Rotate the outputs
+ m_outputs.push_front(retVal);
+
+ return retVal;
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/MotorSafety.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/MotorSafety.cpp
index aff85d8..1806e86 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/MotorSafety.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/MotorSafety.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -23,12 +23,12 @@
static wpi::mutex listMutex;
MotorSafety::MotorSafety() {
- std::lock_guard<wpi::mutex> lock(listMutex);
+ std::scoped_lock lock(listMutex);
instanceList.insert(this);
}
MotorSafety::~MotorSafety() {
- std::lock_guard<wpi::mutex> lock(listMutex);
+ std::scoped_lock lock(listMutex);
instanceList.erase(this);
}
@@ -39,6 +39,8 @@
m_stopTime(std::move(rhs.m_stopTime)) {}
MotorSafety& MotorSafety::operator=(MotorSafety&& rhs) {
+ std::scoped_lock lock(m_thisMutex, rhs.m_thisMutex);
+
ErrorBase::operator=(std::move(rhs));
m_expiration = std::move(rhs.m_expiration);
@@ -49,32 +51,32 @@
}
void MotorSafety::Feed() {
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
m_stopTime = Timer::GetFPGATimestamp() + m_expiration;
}
void MotorSafety::SetExpiration(double expirationTime) {
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
m_expiration = expirationTime;
}
double MotorSafety::GetExpiration() const {
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
return m_expiration;
}
bool MotorSafety::IsAlive() const {
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
return !m_enabled || m_stopTime > Timer::GetFPGATimestamp();
}
void MotorSafety::SetSafetyEnabled(bool enabled) {
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
m_enabled = enabled;
}
bool MotorSafety::IsSafetyEnabled() const {
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
return m_enabled;
}
@@ -83,7 +85,7 @@
double stopTime;
{
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
enabled = m_enabled;
stopTime = m_stopTime;
}
@@ -104,7 +106,7 @@
}
void MotorSafety::CheckMotors() {
- std::lock_guard<wpi::mutex> lock(listMutex);
+ std::scoped_lock lock(listMutex);
for (auto elem : instanceList) {
elem->Check();
}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/NidecBrushless.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/NidecBrushless.cpp
index 0ccc7c7..90ce43e 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/NidecBrushless.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/NidecBrushless.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,13 +10,15 @@
#include <hal/HAL.h>
#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
NidecBrushless::NidecBrushless(int pwmChannel, int dioChannel)
: m_dio(dioChannel), m_pwm(pwmChannel) {
- AddChild(&m_dio);
- AddChild(&m_pwm);
+ auto& registry = SendableRegistry::GetInstance();
+ registry.AddChild(this, &m_dio);
+ registry.AddChild(this, &m_pwm);
SetExpiration(0.0);
SetSafetyEnabled(false);
@@ -25,7 +27,7 @@
m_dio.EnablePWM(0.5);
HAL_Report(HALUsageReporting::kResourceType_NidecBrushless, pwmChannel);
- SetName("Nidec Brushless", pwmChannel);
+ registry.AddLW(this, "Nidec Brushless", pwmChannel);
}
void NidecBrushless::Set(double speed) {
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Notifier.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Notifier.cpp
index 69a9f4e..a2f93f9 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Notifier.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Notifier.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -17,7 +17,7 @@
using namespace frc;
-Notifier::Notifier(TimerEventHandler handler) {
+Notifier::Notifier(std::function<void()> handler) {
if (handler == nullptr)
wpi_setWPIErrorWithContext(NullParameter, "handler must not be nullptr");
m_handler = handler;
@@ -33,9 +33,9 @@
uint64_t curTime = HAL_WaitForNotifierAlarm(notifier, &status);
if (curTime == 0 || status != 0) break;
- TimerEventHandler handler;
+ std::function<void()> handler;
{
- std::lock_guard<wpi::mutex> lock(m_processMutex);
+ std::scoped_lock lock(m_processMutex);
handler = m_handler;
if (m_periodic) {
m_expirationTime += m_period;
@@ -90,23 +90,31 @@
return *this;
}
-void Notifier::SetHandler(TimerEventHandler handler) {
- std::lock_guard<wpi::mutex> lock(m_processMutex);
+void Notifier::SetHandler(std::function<void()> handler) {
+ std::scoped_lock lock(m_processMutex);
m_handler = handler;
}
void Notifier::StartSingle(double delay) {
- std::lock_guard<wpi::mutex> lock(m_processMutex);
+ StartSingle(units::second_t(delay));
+}
+
+void Notifier::StartSingle(units::second_t delay) {
+ std::scoped_lock lock(m_processMutex);
m_periodic = false;
- m_period = delay;
+ m_period = delay.to<double>();
m_expirationTime = Timer::GetFPGATimestamp() + m_period;
UpdateAlarm();
}
void Notifier::StartPeriodic(double period) {
- std::lock_guard<wpi::mutex> lock(m_processMutex);
+ StartPeriodic(units::second_t(period));
+}
+
+void Notifier::StartPeriodic(units::second_t period) {
+ std::scoped_lock lock(m_processMutex);
m_periodic = true;
- m_period = period;
+ m_period = period.to<double>();
m_expirationTime = Timer::GetFPGATimestamp() + m_period;
UpdateAlarm();
}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/PIDBase.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/PIDBase.cpp
index 872a45a..a2efe0f 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/PIDBase.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/PIDBase.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -14,6 +14,7 @@
#include "frc/PIDOutput.h"
#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -27,19 +28,14 @@
: PIDBase(Kp, Ki, Kd, 0.0, source, output) {}
PIDBase::PIDBase(double Kp, double Ki, double Kd, double Kf, PIDSource& source,
- PIDOutput& output)
- : SendableBase(false) {
+ PIDOutput& output) {
m_P = Kp;
m_I = Ki;
m_D = Kd;
m_F = Kf;
- // Save original source
- m_origSource = std::shared_ptr<PIDSource>(&source, NullDeleter<PIDSource>());
-
- // Create LinearDigitalFilter with original source as its source argument
- m_filter = LinearDigitalFilter::MovingAverage(m_origSource, 1);
- m_pidInput = &m_filter;
+ m_pidInput = &source;
+ m_filter = LinearFilter::MovingAverage(1);
m_pidOutput = &output;
@@ -48,22 +44,22 @@
static int instances = 0;
instances++;
HAL_Report(HALUsageReporting::kResourceType_PIDController, instances);
- SetName("PIDController", instances);
+ SendableRegistry::GetInstance().Add(this, "PIDController", instances);
}
double PIDBase::Get() const {
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
return m_result;
}
void PIDBase::SetContinuous(bool continuous) {
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
m_continuous = continuous;
}
void PIDBase::SetInputRange(double minimumInput, double maximumInput) {
{
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
m_minimumInput = minimumInput;
m_maximumInput = maximumInput;
m_inputRange = maximumInput - minimumInput;
@@ -73,14 +69,14 @@
}
void PIDBase::SetOutputRange(double minimumOutput, double maximumOutput) {
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
m_minimumOutput = minimumOutput;
m_maximumOutput = maximumOutput;
}
void PIDBase::SetPID(double p, double i, double d) {
{
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
m_P = p;
m_I = i;
m_D = d;
@@ -88,7 +84,7 @@
}
void PIDBase::SetPID(double p, double i, double d, double f) {
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
m_P = p;
m_I = i;
m_D = d;
@@ -96,48 +92,48 @@
}
void PIDBase::SetP(double p) {
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
m_P = p;
}
void PIDBase::SetI(double i) {
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
m_I = i;
}
void PIDBase::SetD(double d) {
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
m_D = d;
}
void PIDBase::SetF(double f) {
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
m_F = f;
}
double PIDBase::GetP() const {
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
return m_P;
}
double PIDBase::GetI() const {
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
return m_I;
}
double PIDBase::GetD() const {
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
return m_D;
}
double PIDBase::GetF() const {
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
return m_F;
}
void PIDBase::SetSetpoint(double setpoint) {
{
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
if (m_maximumInput > m_minimumInput) {
if (setpoint > m_maximumInput)
@@ -153,19 +149,19 @@
}
double PIDBase::GetSetpoint() const {
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
return m_setpoint;
}
double PIDBase::GetDeltaSetpoint() const {
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
return (m_setpoint - m_prevSetpoint) / m_setpointTimer.Get();
}
double PIDBase::GetError() const {
double setpoint = GetSetpoint();
{
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
return GetContinuousError(setpoint - m_pidInput->PIDGet());
}
}
@@ -181,35 +177,32 @@
}
void PIDBase::SetTolerance(double percent) {
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
m_toleranceType = kPercentTolerance;
m_tolerance = percent;
}
void PIDBase::SetAbsoluteTolerance(double absTolerance) {
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
m_toleranceType = kAbsoluteTolerance;
m_tolerance = absTolerance;
}
void PIDBase::SetPercentTolerance(double percent) {
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
m_toleranceType = kPercentTolerance;
m_tolerance = percent;
}
void PIDBase::SetToleranceBuffer(int bufLength) {
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
-
- // Create LinearDigitalFilter with original source as its source argument
- m_filter = LinearDigitalFilter::MovingAverage(m_origSource, bufLength);
- m_pidInput = &m_filter;
+ std::scoped_lock lock(m_thisMutex);
+ m_filter = LinearFilter::MovingAverage(bufLength);
}
bool PIDBase::OnTarget() const {
double error = GetError();
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
switch (m_toleranceType) {
case kPercentTolerance:
return std::fabs(error) < m_tolerance / 100 * m_inputRange;
@@ -225,7 +218,7 @@
}
void PIDBase::Reset() {
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
m_prevError = 0;
m_totalError = 0;
m_result = 0;
@@ -249,11 +242,11 @@
}
void PIDBase::Calculate() {
- if (m_origSource == nullptr || m_pidOutput == nullptr) return;
+ if (m_pidInput == nullptr || m_pidOutput == nullptr) return;
bool enabled;
{
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
enabled = m_enabled;
}
@@ -275,9 +268,9 @@
double totalError;
{
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
- input = m_pidInput->PIDGet();
+ input = m_filter.Calculate(m_pidInput->PIDGet());
pidSourceType = m_pidInput->GetPIDSourceType();
P = m_P;
@@ -315,8 +308,8 @@
{
// Ensures m_enabled check and PIDWrite() call occur atomically
- std::lock_guard<wpi::mutex> pidWriteLock(m_pidWriteMutex);
- std::unique_lock<wpi::mutex> mainLock(m_thisMutex);
+ std::scoped_lock pidWriteLock(m_pidWriteMutex);
+ std::unique_lock mainLock(m_thisMutex);
if (m_enabled) {
// Don't block other PIDBase operations on PIDWrite()
mainLock.unlock();
@@ -325,7 +318,7 @@
}
}
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
m_prevError = m_error;
m_error = error;
m_totalError = totalError;
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/PIDController.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/PIDController.cpp
index b1c51c6..0c86f55 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/PIDController.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/PIDController.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -31,7 +31,7 @@
double period)
: PIDBase(Kp, Ki, Kd, Kf, source, output) {
m_controlLoop = std::make_unique<Notifier>(&PIDController::Calculate, this);
- m_controlLoop->StartPeriodic(period);
+ m_controlLoop->StartPeriodic(units::second_t(period));
}
PIDController::~PIDController() {
@@ -41,7 +41,7 @@
void PIDController::Enable() {
{
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
m_enabled = true;
}
}
@@ -49,9 +49,9 @@
void PIDController::Disable() {
{
// Ensures m_enabled modification and PIDWrite() call occur atomically
- std::lock_guard<wpi::mutex> pidWriteLock(m_pidWriteMutex);
+ std::scoped_lock pidWriteLock(m_pidWriteMutex);
{
- std::lock_guard<wpi::mutex> mainLock(m_thisMutex);
+ std::scoped_lock mainLock(m_thisMutex);
m_enabled = false;
}
@@ -68,7 +68,7 @@
}
bool PIDController::IsEnabled() const {
- std::lock_guard<wpi::mutex> lock(m_thisMutex);
+ std::scoped_lock lock(m_thisMutex);
return m_enabled;
}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/PWM.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/PWM.cpp
index 603c94b..c6b398f 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/PWM.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/PWM.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -17,6 +17,7 @@
#include "frc/Utility.h"
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -46,7 +47,7 @@
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
HAL_Report(HALUsageReporting::kResourceType_PWM, channel);
- SetName("PWM", channel);
+ SendableRegistry::GetInstance().AddLW(this, "PWM", channel);
SetSafetyEnabled(false);
}
@@ -61,23 +62,6 @@
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
-PWM::PWM(PWM&& rhs)
- : MotorSafety(std::move(rhs)),
- SendableBase(std::move(rhs)),
- m_channel(std::move(rhs.m_channel)) {
- std::swap(m_handle, rhs.m_handle);
-}
-
-PWM& PWM::operator=(PWM&& rhs) {
- ErrorBase::operator=(std::move(rhs));
- SendableBase::operator=(std::move(rhs));
-
- m_channel = std::move(rhs.m_channel);
- std::swap(m_handle, rhs.m_handle);
-
- return *this;
-}
-
void PWM::StopMotor() { SetDisabled(); }
void PWM::GetDescription(wpi::raw_ostream& desc) const {
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/PWMSparkMax.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/PWMSparkMax.cpp
new file mode 100644
index 0000000..d8d3b2a
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/PWMSparkMax.cpp
@@ -0,0 +1,32 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/PWMSparkMax.h"
+
+#include <hal/HAL.h>
+
+#include "frc/smartdashboard/SendableRegistry.h"
+
+using namespace frc;
+
+PWMSparkMax::PWMSparkMax(int channel) : PWMSpeedController(channel) {
+ /* Note that the SparkMax uses the following bounds for PWM values.
+ *
+ * 2.003ms = full "forward"
+ * 1.55ms = the "high end" of the deadband range
+ * 1.50ms = center of the deadband range (off)
+ * 1.46ms = the "low end" of the deadband range
+ * 0.999ms = full "reverse"
+ */
+ SetBounds(2.003, 1.55, 1.50, 1.46, .999);
+ SetPeriodMultiplier(kPeriodMultiplier_1X);
+ SetSpeed(0.0);
+ SetZeroLatch();
+
+ HAL_Report(HALUsageReporting::kResourceType_RevSparkMaxPWM, GetChannel());
+ SendableRegistry::GetInstance().SetName(this, "PWMSparkMax", GetChannel());
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/PWMTalonSRX.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/PWMTalonSRX.cpp
index ccb50b6..0bbc5b9 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/PWMTalonSRX.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/PWMTalonSRX.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,8 @@
#include <hal/HAL.h>
+#include "frc/smartdashboard/SendableRegistry.h"
+
using namespace frc;
PWMTalonSRX::PWMTalonSRX(int channel) : PWMSpeedController(channel) {
@@ -30,5 +32,5 @@
SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_PWMTalonSRX, GetChannel());
- SetName("PWMTalonSRX", GetChannel());
+ SendableRegistry::GetInstance().SetName(this, "PWMTalonSRX", GetChannel());
}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/PWMVictorSPX.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/PWMVictorSPX.cpp
index b4f1fd2..122d219 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/PWMVictorSPX.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/PWMVictorSPX.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,8 @@
#include <hal/HAL.h>
+#include "frc/smartdashboard/SendableRegistry.h"
+
using namespace frc;
PWMVictorSPX::PWMVictorSPX(int channel) : PWMSpeedController(channel) {
@@ -30,5 +32,5 @@
SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_PWMVictorSPX, GetChannel());
- SetName("PWMVictorSPX", GetChannel());
+ SendableRegistry::GetInstance().SetName(this, "PWMVictorSPX", GetChannel());
}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/PowerDistributionPanel.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/PowerDistributionPanel.cpp
index 8872028..b3297ea 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/PowerDistributionPanel.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/PowerDistributionPanel.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -16,6 +16,7 @@
#include "frc/SensorUtil.h"
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -34,7 +35,7 @@
}
HAL_Report(HALUsageReporting::kResourceType_PDP, module);
- SetName("PowerDistributionPanel", module);
+ SendableRegistry::GetInstance().AddLW(this, "PowerDistributionPanel", module);
}
double PowerDistributionPanel::GetVoltage() const {
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Relay.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Relay.cpp
index 9128d20..3a3e772 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Relay.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Relay.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -17,6 +17,7 @@
#include "frc/SensorUtil.h"
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -76,7 +77,7 @@
}
}
- SetName("Relay", m_channel);
+ SendableRegistry::GetInstance().AddLW(this, "Relay", m_channel);
}
Relay::~Relay() {
@@ -88,27 +89,6 @@
if (m_reverseHandle != HAL_kInvalidHandle) HAL_FreeRelayPort(m_reverseHandle);
}
-Relay::Relay(Relay&& rhs)
- : MotorSafety(std::move(rhs)),
- SendableBase(std::move(rhs)),
- m_channel(std::move(rhs.m_channel)),
- m_direction(std::move(rhs.m_direction)) {
- std::swap(m_forwardHandle, rhs.m_forwardHandle);
- std::swap(m_reverseHandle, rhs.m_reverseHandle);
-}
-
-Relay& Relay::operator=(Relay&& rhs) {
- MotorSafety::operator=(std::move(rhs));
- SendableBase::operator=(std::move(rhs));
-
- m_channel = std::move(rhs.m_channel);
- m_direction = std::move(rhs.m_direction);
- std::swap(m_forwardHandle, rhs.m_forwardHandle);
- std::swap(m_reverseHandle, rhs.m_reverseHandle);
-
- return *this;
-}
-
void Relay::Set(Relay::Value value) {
if (StatusIsFatal()) return;
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Resource.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Resource.cpp
index e2c53d4..d546461 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Resource.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Resource.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -16,7 +16,7 @@
void Resource::CreateResourceObject(std::unique_ptr<Resource>& r,
uint32_t elements) {
- std::lock_guard<wpi::mutex> lock(m_createMutex);
+ std::scoped_lock lock(m_createMutex);
if (!r) {
r = std::make_unique<Resource>(elements);
}
@@ -27,7 +27,7 @@
}
uint32_t Resource::Allocate(const std::string& resourceDesc) {
- std::lock_guard<wpi::mutex> lock(m_allocateMutex);
+ std::scoped_lock lock(m_allocateMutex);
for (uint32_t i = 0; i < m_isAllocated.size(); i++) {
if (!m_isAllocated[i]) {
m_isAllocated[i] = true;
@@ -39,7 +39,7 @@
}
uint32_t Resource::Allocate(uint32_t index, const std::string& resourceDesc) {
- std::lock_guard<wpi::mutex> lock(m_allocateMutex);
+ std::scoped_lock lock(m_allocateMutex);
if (index >= m_isAllocated.size()) {
wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, resourceDesc);
return std::numeric_limits<uint32_t>::max();
@@ -53,7 +53,7 @@
}
void Resource::Free(uint32_t index) {
- std::unique_lock<wpi::mutex> lock(m_allocateMutex);
+ std::unique_lock lock(m_allocateMutex);
if (index == std::numeric_limits<uint32_t>::max()) return;
if (index >= m_isAllocated.size()) {
wpi_setWPIError(NotAllocated);
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/RobotBase.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/RobotBase.cpp
deleted file mode 100644
index bc316f4..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/RobotBase.cpp
+++ /dev/null
@@ -1,125 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#include "frc/RobotBase.h"
-
-#include <cstdio>
-
-#include <cameraserver/CameraServerShared.h>
-#include <cscore.h>
-#include <hal/HAL.h>
-#include <networktables/NetworkTableInstance.h>
-
-#include "WPILibVersion.h"
-#include "frc/DriverStation.h"
-#include "frc/RobotState.h"
-#include "frc/Utility.h"
-#include "frc/WPIErrors.h"
-#include "frc/livewindow/LiveWindow.h"
-#include "frc/smartdashboard/SmartDashboard.h"
-
-using namespace frc;
-
-int frc::RunHALInitialization() {
- if (!HAL_Initialize(500, 0)) {
- wpi::errs() << "FATAL ERROR: HAL could not be initialized\n";
- return -1;
- }
- HAL_Report(HALUsageReporting::kResourceType_Language,
- HALUsageReporting::kLanguage_CPlusPlus);
- wpi::outs() << "\n********** Robot program starting **********\n";
- return 0;
-}
-
-std::thread::id RobotBase::m_threadId;
-
-namespace {
-class WPILibCameraServerShared : public frc::CameraServerShared {
- public:
- void ReportUsbCamera(int id) override {
- HAL_Report(HALUsageReporting::kResourceType_UsbCamera, id);
- }
- void ReportAxisCamera(int id) override {
- HAL_Report(HALUsageReporting::kResourceType_AxisCamera, id);
- }
- void ReportVideoServer(int id) override {
- HAL_Report(HALUsageReporting::kResourceType_PCVideoServer, id);
- }
- void SetCameraServerError(const wpi::Twine& error) override {
- wpi_setGlobalWPIErrorWithContext(CameraServerError, error);
- }
- void SetVisionRunnerError(const wpi::Twine& error) override {
- wpi_setGlobalErrorWithContext(-1, error);
- }
- void ReportDriverStationError(const wpi::Twine& error) override {
- DriverStation::ReportError(error);
- }
- std::pair<std::thread::id, bool> GetRobotMainThreadId() const override {
- return std::make_pair(RobotBase::GetThreadId(), true);
- }
-};
-} // namespace
-
-static void SetupCameraServerShared() {
- SetCameraServerShared(std::make_unique<WPILibCameraServerShared>());
-}
-
-bool RobotBase::IsEnabled() const { return m_ds.IsEnabled(); }
-
-bool RobotBase::IsDisabled() const { return m_ds.IsDisabled(); }
-
-bool RobotBase::IsAutonomous() const { return m_ds.IsAutonomous(); }
-
-bool RobotBase::IsOperatorControl() const { return m_ds.IsOperatorControl(); }
-
-bool RobotBase::IsTest() const { return m_ds.IsTest(); }
-
-bool RobotBase::IsNewDataAvailable() const { return m_ds.IsNewControlData(); }
-
-std::thread::id RobotBase::GetThreadId() { return m_threadId; }
-
-RobotBase::RobotBase() : m_ds(DriverStation::GetInstance()) {
- if (!HAL_Initialize(500, 0)) {
- wpi::errs() << "FATAL ERROR: HAL could not be initialized\n";
- wpi::errs().flush();
- std::terminate();
- }
- m_threadId = std::this_thread::get_id();
-
- SetupCameraServerShared();
-
- auto inst = nt::NetworkTableInstance::GetDefault();
- inst.SetNetworkIdentity("Robot");
- inst.StartServer("/home/lvuser/networktables.ini");
-
- SmartDashboard::init();
-
- if (IsReal()) {
- std::FILE* file = nullptr;
- file = std::fopen("/tmp/frc_versions/FRC_Lib_Version.ini", "w");
-
- if (file != nullptr) {
- std::fputs("C++ ", file);
- std::fputs(GetWPILibVersion(), file);
- std::fclose(file);
- }
- }
-
- // First and one-time initialization
- inst.GetTable("LiveWindow")
- ->GetSubTable(".status")
- ->GetEntry("LW Enabled")
- .SetBoolean(false);
-
- LiveWindow::GetInstance()->SetEnabled(false);
-}
-
-RobotBase::RobotBase(RobotBase&&) : m_ds(DriverStation::GetInstance()) {}
-
-RobotBase::~RobotBase() { cs::Shutdown(); }
-
-RobotBase& RobotBase::operator=(RobotBase&&) { return *this; }
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/RobotDrive.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/RobotDrive.cpp
index a20eb65..fd43c96 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/RobotDrive.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/RobotDrive.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -120,8 +120,8 @@
double leftOutput, rightOutput;
static bool reported = false;
if (!reported) {
- HAL_Report(HALUsageReporting::kResourceType_RobotDrive, GetNumMotors(),
- HALUsageReporting::kRobotDrive_ArcadeRatioCurve);
+ HAL_Report(HALUsageReporting::kResourceType_RobotDrive,
+ HALUsageReporting::kRobotDrive_ArcadeRatioCurve, GetNumMotors());
reported = true;
}
@@ -180,8 +180,8 @@
bool squaredInputs) {
static bool reported = false;
if (!reported) {
- HAL_Report(HALUsageReporting::kResourceType_RobotDrive, GetNumMotors(),
- HALUsageReporting::kRobotDrive_Tank);
+ HAL_Report(HALUsageReporting::kResourceType_RobotDrive,
+ HALUsageReporting::kRobotDrive_Tank, GetNumMotors());
reported = true;
}
@@ -230,8 +230,8 @@
bool squaredInputs) {
static bool reported = false;
if (!reported) {
- HAL_Report(HALUsageReporting::kResourceType_RobotDrive, GetNumMotors(),
- HALUsageReporting::kRobotDrive_ArcadeStandard);
+ HAL_Report(HALUsageReporting::kResourceType_RobotDrive,
+ HALUsageReporting::kRobotDrive_ArcadeStandard, GetNumMotors());
reported = true;
}
@@ -273,8 +273,8 @@
double gyroAngle) {
static bool reported = false;
if (!reported) {
- HAL_Report(HALUsageReporting::kResourceType_RobotDrive, GetNumMotors(),
- HALUsageReporting::kRobotDrive_MecanumCartesian);
+ HAL_Report(HALUsageReporting::kResourceType_RobotDrive,
+ HALUsageReporting::kRobotDrive_MecanumCartesian, GetNumMotors());
reported = true;
}
@@ -305,8 +305,8 @@
double rotation) {
static bool reported = false;
if (!reported) {
- HAL_Report(HALUsageReporting::kResourceType_RobotDrive, GetNumMotors(),
- HALUsageReporting::kRobotDrive_MecanumPolar);
+ HAL_Report(HALUsageReporting::kResourceType_RobotDrive,
+ HALUsageReporting::kRobotDrive_MecanumPolar, GetNumMotors());
reported = true;
}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/RobotState.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/RobotState.cpp
index f5da5c1..530cee3 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/RobotState.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/RobotState.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -19,6 +19,10 @@
return DriverStation::GetInstance().IsEnabled();
}
+bool RobotState::IsEStopped() {
+ return DriverStation::GetInstance().IsEStopped();
+}
+
bool RobotState::IsOperatorControl() {
return DriverStation::GetInstance().IsOperatorControl();
}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/SD540.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/SD540.cpp
index 977ae7b..93733b2 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/SD540.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/SD540.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,8 @@
#include <hal/HAL.h>
+#include "frc/smartdashboard/SendableRegistry.h"
+
using namespace frc;
SD540::SD540(int channel) : PWMSpeedController(channel) {
@@ -31,5 +33,5 @@
SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_MindsensorsSD540, GetChannel());
- SetName("SD540", GetChannel());
+ SendableRegistry::GetInstance().SetName(this, "SD540", GetChannel());
}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/SPI.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/SPI.cpp
index 6b41adb..54cf82b 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/SPI.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/SPI.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -28,7 +28,7 @@
Accumulator(HAL_SPIPort port, int xferSize, int validMask, int validValue,
int dataShift, int dataSize, bool isSigned, bool bigEndian)
: m_notifier([=]() {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
Update();
}),
m_buf(new uint32_t[(xferSize + 1) * kAccumulateDepth]),
@@ -157,35 +157,12 @@
HAL_InitializeSPI(m_port, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
- static int instances = 0;
- instances++;
- HAL_Report(HALUsageReporting::kResourceType_SPI, instances);
+ HAL_Report(HALUsageReporting::kResourceType_SPI, port);
}
SPI::~SPI() { HAL_CloseSPI(m_port); }
-SPI::SPI(SPI&& rhs)
- : ErrorBase(std::move(rhs)),
- m_msbFirst(std::move(rhs.m_msbFirst)),
- m_sampleOnTrailing(std::move(rhs.m_sampleOnTrailing)),
- m_clockIdleHigh(std::move(rhs.m_clockIdleHigh)),
- m_accum(std::move(rhs.m_accum)) {
- std::swap(m_port, rhs.m_port);
-}
-
-SPI& SPI::operator=(SPI&& rhs) {
- ErrorBase::operator=(std::move(rhs));
-
- std::swap(m_port, rhs.m_port);
- m_msbFirst = std::move(rhs.m_msbFirst);
- m_sampleOnTrailing = std::move(rhs.m_sampleOnTrailing);
- m_clockIdleHigh = std::move(rhs.m_clockIdleHigh);
- m_accum = std::move(rhs.m_accum);
-
- return *this;
-}
-
-void SPI::SetClockRate(double hz) { HAL_SetSPISpeed(m_port, hz); }
+void SPI::SetClockRate(int hz) { HAL_SetSPISpeed(m_port, hz); }
void SPI::SetMSBFirst() {
m_msbFirst = true;
@@ -282,12 +259,16 @@
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
-void SPI::StartAutoRate(double period) {
+void SPI::StartAutoRate(units::second_t period) {
int32_t status = 0;
- HAL_StartSPIAutoRate(m_port, period, &status);
+ HAL_StartSPIAutoRate(m_port, period.to<double>(), &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
+void SPI::StartAutoRate(double period) {
+ StartAutoRate(units::second_t(period));
+}
+
void SPI::StartAutoTrigger(DigitalSource& source, bool rising, bool falling) {
int32_t status = 0;
HAL_StartSPIAutoTrigger(
@@ -309,14 +290,19 @@
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
-int SPI::ReadAutoReceivedData(uint32_t* buffer, int numToRead, double timeout) {
+int SPI::ReadAutoReceivedData(uint32_t* buffer, int numToRead,
+ units::second_t timeout) {
int32_t status = 0;
- int32_t val =
- HAL_ReadSPIAutoReceivedData(m_port, buffer, numToRead, timeout, &status);
+ int32_t val = HAL_ReadSPIAutoReceivedData(m_port, buffer, numToRead,
+ timeout.to<double>(), &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
return val;
}
+int SPI::ReadAutoReceivedData(uint32_t* buffer, int numToRead, double timeout) {
+ return ReadAutoReceivedData(buffer, numToRead, units::second_t(timeout));
+}
+
int SPI::GetAutoDroppedCount() {
int32_t status = 0;
int32_t val = HAL_GetSPIAutoDroppedCount(m_port, &status);
@@ -324,9 +310,9 @@
return val;
}
-void SPI::InitAccumulator(double period, int cmd, int xferSize, int validMask,
- int validValue, int dataShift, int dataSize,
- bool isSigned, bool bigEndian) {
+void SPI::InitAccumulator(units::second_t period, int cmd, int xferSize,
+ int validMask, int validValue, int dataShift,
+ int dataSize, bool isSigned, bool bigEndian) {
InitAuto(xferSize * kAccumulateDepth);
uint8_t cmdBytes[4] = {0, 0, 0, 0};
if (bigEndian) {
@@ -351,6 +337,13 @@
m_accum->m_notifier.StartPeriodic(period * kAccumulateDepth / 2);
}
+void SPI::InitAccumulator(double period, int cmd, int xferSize, int validMask,
+ int validValue, int dataShift, int dataSize,
+ bool isSigned, bool bigEndian) {
+ InitAccumulator(units::second_t(period), cmd, xferSize, validMask, validValue,
+ dataShift, dataSize, isSigned, bigEndian);
+}
+
void SPI::FreeAccumulator() {
m_accum.reset(nullptr);
FreeAuto();
@@ -358,7 +351,7 @@
void SPI::ResetAccumulator() {
if (!m_accum) return;
- std::lock_guard<wpi::mutex> lock(m_accum->m_mutex);
+ std::scoped_lock lock(m_accum->m_mutex);
m_accum->m_value = 0;
m_accum->m_count = 0;
m_accum->m_lastValue = 0;
@@ -368,40 +361,40 @@
void SPI::SetAccumulatorCenter(int center) {
if (!m_accum) return;
- std::lock_guard<wpi::mutex> lock(m_accum->m_mutex);
+ std::scoped_lock lock(m_accum->m_mutex);
m_accum->m_center = center;
}
void SPI::SetAccumulatorDeadband(int deadband) {
if (!m_accum) return;
- std::lock_guard<wpi::mutex> lock(m_accum->m_mutex);
+ std::scoped_lock lock(m_accum->m_mutex);
m_accum->m_deadband = deadband;
}
int SPI::GetAccumulatorLastValue() const {
if (!m_accum) return 0;
- std::lock_guard<wpi::mutex> lock(m_accum->m_mutex);
+ std::scoped_lock lock(m_accum->m_mutex);
m_accum->Update();
return m_accum->m_lastValue;
}
int64_t SPI::GetAccumulatorValue() const {
if (!m_accum) return 0;
- std::lock_guard<wpi::mutex> lock(m_accum->m_mutex);
+ std::scoped_lock lock(m_accum->m_mutex);
m_accum->Update();
return m_accum->m_value;
}
int64_t SPI::GetAccumulatorCount() const {
if (!m_accum) return 0;
- std::lock_guard<wpi::mutex> lock(m_accum->m_mutex);
+ std::scoped_lock lock(m_accum->m_mutex);
m_accum->Update();
return m_accum->m_count;
}
double SPI::GetAccumulatorAverage() const {
if (!m_accum) return 0;
- std::lock_guard<wpi::mutex> lock(m_accum->m_mutex);
+ std::scoped_lock lock(m_accum->m_mutex);
m_accum->Update();
if (m_accum->m_count == 0) return 0.0;
return static_cast<double>(m_accum->m_value) / m_accum->m_count;
@@ -413,7 +406,7 @@
count = 0;
return;
}
- std::lock_guard<wpi::mutex> lock(m_accum->m_mutex);
+ std::scoped_lock lock(m_accum->m_mutex);
m_accum->Update();
value = m_accum->m_value;
count = m_accum->m_count;
@@ -421,20 +414,20 @@
void SPI::SetAccumulatorIntegratedCenter(double center) {
if (!m_accum) return;
- std::lock_guard<wpi::mutex> lock(m_accum->m_mutex);
+ std::scoped_lock lock(m_accum->m_mutex);
m_accum->m_integratedCenter = center;
}
double SPI::GetAccumulatorIntegratedValue() const {
if (!m_accum) return 0;
- std::lock_guard<wpi::mutex> lock(m_accum->m_mutex);
+ std::scoped_lock lock(m_accum->m_mutex);
m_accum->Update();
return m_accum->m_integratedValue;
}
double SPI::GetAccumulatorIntegratedAverage() const {
if (!m_accum) return 0;
- std::lock_guard<wpi::mutex> lock(m_accum->m_mutex);
+ std::scoped_lock lock(m_accum->m_mutex);
m_accum->Update();
if (m_accum->m_count <= 1) return 0.0;
// count-1 due to not integrating the first value received
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/SampleRobot.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/SampleRobot.cpp
deleted file mode 100644
index 190f5d8..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/SampleRobot.cpp
+++ /dev/null
@@ -1,86 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#include "frc/SampleRobot.h"
-
-#include <hal/DriverStation.h>
-#include <hal/FRCUsageReporting.h>
-#include <hal/HALBase.h>
-#include <networktables/NetworkTable.h>
-#include <wpi/raw_ostream.h>
-
-#include "frc/DriverStation.h"
-#include "frc/Timer.h"
-#include "frc/livewindow/LiveWindow.h"
-
-using namespace frc;
-
-void SampleRobot::StartCompetition() {
- LiveWindow* lw = LiveWindow::GetInstance();
-
- RobotInit();
-
- // Tell the DS that the robot is ready to be enabled
- HAL_ObserveUserProgramStarting();
-
- RobotMain();
-
- if (!m_robotMainOverridden) {
- while (true) {
- if (IsDisabled()) {
- m_ds.InDisabled(true);
- Disabled();
- m_ds.InDisabled(false);
- while (IsDisabled()) m_ds.WaitForData();
- } else if (IsAutonomous()) {
- m_ds.InAutonomous(true);
- Autonomous();
- m_ds.InAutonomous(false);
- while (IsAutonomous() && IsEnabled()) m_ds.WaitForData();
- } else if (IsTest()) {
- lw->SetEnabled(true);
- m_ds.InTest(true);
- Test();
- m_ds.InTest(false);
- while (IsTest() && IsEnabled()) m_ds.WaitForData();
- lw->SetEnabled(false);
- } else {
- m_ds.InOperatorControl(true);
- OperatorControl();
- m_ds.InOperatorControl(false);
- while (IsOperatorControl() && IsEnabled()) m_ds.WaitForData();
- }
- }
- }
-}
-
-void SampleRobot::RobotInit() {
- wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
-}
-
-void SampleRobot::Disabled() {
- wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
-}
-
-void SampleRobot::Autonomous() {
- wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
-}
-
-void SampleRobot::OperatorControl() {
- wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
-}
-
-void SampleRobot::Test() {
- wpi::outs() << "Default " << __FUNCTION__ << "() method... Override me!\n";
-}
-
-void SampleRobot::RobotMain() { m_robotMainOverridden = false; }
-
-SampleRobot::SampleRobot() {
- HAL_Report(HALUsageReporting::kResourceType_Framework,
- HALUsageReporting::kFramework_Simple);
-}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/SerialPort.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/SerialPort.cpp
index a399f4d..46e02c8 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/SerialPort.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/SerialPort.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,9 +12,6 @@
#include <hal/HAL.h>
#include <hal/SerialPort.h>
-// static ViStatus _VI_FUNCH ioCompleteHandler (ViSession vi, ViEventType
-// eventType, ViEvent event, ViAddr userHandle);
-
using namespace frc;
SerialPort::SerialPort(int baudRate, Port port, int dataBits,
@@ -22,19 +19,18 @@
SerialPort::StopBits stopBits) {
int32_t status = 0;
- m_port = port;
-
- HAL_InitializeSerialPort(static_cast<HAL_SerialPort>(port), &status);
+ m_portHandle =
+ HAL_InitializeSerialPort(static_cast<HAL_SerialPort>(port), &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
// Don't continue if initialization failed
if (status < 0) return;
- HAL_SetSerialBaudRate(static_cast<HAL_SerialPort>(port), baudRate, &status);
+ HAL_SetSerialBaudRate(m_portHandle, baudRate, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
- HAL_SetSerialDataBits(static_cast<HAL_SerialPort>(port), dataBits, &status);
+ HAL_SetSerialDataBits(m_portHandle, dataBits, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
- HAL_SetSerialParity(static_cast<HAL_SerialPort>(port), parity, &status);
+ HAL_SetSerialParity(m_portHandle, parity, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
- HAL_SetSerialStopBits(static_cast<HAL_SerialPort>(port), stopBits, &status);
+ HAL_SetSerialStopBits(m_portHandle, stopBits, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
// Set the default timeout to 5 seconds.
@@ -43,11 +39,7 @@
// Don't wait until the buffer is full to transmit.
SetWriteBufferMode(kFlushOnAccess);
- EnableTermination();
-
- // viInstallHandler(m_portHandle, VI_EVENT_IO_COMPLETION, ioCompleteHandler,
- // this);
- // viEnableEvent(m_portHandle, VI_EVENT_IO_COMPLETION, VI_HNDLR, VI_NULL);
+ DisableTermination();
HAL_Report(HALUsageReporting::kResourceType_SerialPort, 0);
}
@@ -57,23 +49,21 @@
SerialPort::StopBits stopBits) {
int32_t status = 0;
- m_port = port;
-
wpi::SmallVector<char, 64> buf;
const char* portNameC = portName.toNullTerminatedStringRef(buf).data();
- HAL_InitializeSerialPortDirect(static_cast<HAL_SerialPort>(port), portNameC,
- &status);
+ m_portHandle = HAL_InitializeSerialPortDirect(
+ static_cast<HAL_SerialPort>(port), portNameC, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
// Don't continue if initialization failed
if (status < 0) return;
- HAL_SetSerialBaudRate(static_cast<HAL_SerialPort>(port), baudRate, &status);
+ HAL_SetSerialBaudRate(m_portHandle, baudRate, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
- HAL_SetSerialDataBits(static_cast<HAL_SerialPort>(port), dataBits, &status);
+ HAL_SetSerialDataBits(m_portHandle, dataBits, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
- HAL_SetSerialParity(static_cast<HAL_SerialPort>(port), parity, &status);
+ HAL_SetSerialParity(m_portHandle, parity, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
- HAL_SetSerialStopBits(static_cast<HAL_SerialPort>(port), stopBits, &status);
+ HAL_SetSerialStopBits(m_portHandle, stopBits, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
// Set the default timeout to 5 seconds.
@@ -82,72 +72,45 @@
// Don't wait until the buffer is full to transmit.
SetWriteBufferMode(kFlushOnAccess);
- EnableTermination();
-
- // viInstallHandler(m_portHandle, VI_EVENT_IO_COMPLETION, ioCompleteHandler,
- // this);
- // viEnableEvent(m_portHandle, VI_EVENT_IO_COMPLETION, VI_HNDLR, VI_NULL);
+ DisableTermination();
HAL_Report(HALUsageReporting::kResourceType_SerialPort, 0);
}
SerialPort::~SerialPort() {
int32_t status = 0;
- HAL_CloseSerial(static_cast<HAL_SerialPort>(m_port), &status);
+ HAL_CloseSerial(m_portHandle, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
-SerialPort::SerialPort(SerialPort&& rhs)
- : ErrorBase(std::move(rhs)),
- m_resourceManagerHandle(std::move(rhs.m_resourceManagerHandle)),
- m_portHandle(std::move(rhs.m_portHandle)),
- m_consoleModeEnabled(std::move(rhs.m_consoleModeEnabled)) {
- std::swap(m_port, rhs.m_port);
-}
-
-SerialPort& SerialPort::operator=(SerialPort&& rhs) {
- ErrorBase::operator=(std::move(rhs));
-
- m_resourceManagerHandle = std::move(rhs.m_resourceManagerHandle);
- m_portHandle = std::move(rhs.m_portHandle);
- m_consoleModeEnabled = std::move(rhs.m_consoleModeEnabled);
- std::swap(m_port, rhs.m_port);
-
- return *this;
-}
-
void SerialPort::SetFlowControl(SerialPort::FlowControl flowControl) {
int32_t status = 0;
- HAL_SetSerialFlowControl(static_cast<HAL_SerialPort>(m_port), flowControl,
- &status);
+ HAL_SetSerialFlowControl(m_portHandle, flowControl, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
void SerialPort::EnableTermination(char terminator) {
int32_t status = 0;
- HAL_EnableSerialTermination(static_cast<HAL_SerialPort>(m_port), terminator,
- &status);
+ HAL_EnableSerialTermination(m_portHandle, terminator, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
void SerialPort::DisableTermination() {
int32_t status = 0;
- HAL_DisableSerialTermination(static_cast<HAL_SerialPort>(m_port), &status);
+ HAL_DisableSerialTermination(m_portHandle, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
int SerialPort::GetBytesReceived() {
int32_t status = 0;
- int retVal =
- HAL_GetSerialBytesReceived(static_cast<HAL_SerialPort>(m_port), &status);
+ int retVal = HAL_GetSerialBytesReceived(m_portHandle, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
return retVal;
}
int SerialPort::Read(char* buffer, int count) {
int32_t status = 0;
- int retVal = HAL_ReadSerial(static_cast<HAL_SerialPort>(m_port), buffer,
- count, &status);
+ int retVal = HAL_ReadSerial(m_portHandle, buffer, count, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
return retVal;
}
@@ -158,46 +121,44 @@
int SerialPort::Write(wpi::StringRef buffer) {
int32_t status = 0;
- int retVal = HAL_WriteSerial(static_cast<HAL_SerialPort>(m_port),
- buffer.data(), buffer.size(), &status);
+ int retVal =
+ HAL_WriteSerial(m_portHandle, buffer.data(), buffer.size(), &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
return retVal;
}
void SerialPort::SetTimeout(double timeout) {
int32_t status = 0;
- HAL_SetSerialTimeout(static_cast<HAL_SerialPort>(m_port), timeout, &status);
+ HAL_SetSerialTimeout(m_portHandle, timeout, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
void SerialPort::SetReadBufferSize(int size) {
int32_t status = 0;
- HAL_SetSerialReadBufferSize(static_cast<HAL_SerialPort>(m_port), size,
- &status);
+ HAL_SetSerialReadBufferSize(m_portHandle, size, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
void SerialPort::SetWriteBufferSize(int size) {
int32_t status = 0;
- HAL_SetSerialWriteBufferSize(static_cast<HAL_SerialPort>(m_port), size,
- &status);
+ HAL_SetSerialWriteBufferSize(m_portHandle, size, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
void SerialPort::SetWriteBufferMode(SerialPort::WriteBufferMode mode) {
int32_t status = 0;
- HAL_SetSerialWriteMode(static_cast<HAL_SerialPort>(m_port), mode, &status);
+ HAL_SetSerialWriteMode(m_portHandle, mode, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
void SerialPort::Flush() {
int32_t status = 0;
- HAL_FlushSerial(static_cast<HAL_SerialPort>(m_port), &status);
+ HAL_FlushSerial(m_portHandle, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
void SerialPort::Reset() {
int32_t status = 0;
- HAL_ClearSerial(static_cast<HAL_SerialPort>(m_port), &status);
+ HAL_ClearSerial(m_portHandle, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Servo.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Servo.cpp
index b4c9eb5..09e482b 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Servo.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Servo.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,6 +10,7 @@
#include <hal/HAL.h>
#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -27,7 +28,7 @@
SetPeriodMultiplier(kPeriodMultiplier_4X);
HAL_Report(HALUsageReporting::kResourceType_Servo, channel);
- SetName("Servo", channel);
+ SendableRegistry::GetInstance().SetName(this, "Servo", channel);
}
void Servo::Set(double value) { SetPosition(value); }
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Solenoid.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Solenoid.cpp
index 3445f5d..c860c44 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Solenoid.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Solenoid.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -16,6 +16,7 @@
#include "frc/SensorUtil.h"
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -47,25 +48,12 @@
HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_channel,
m_moduleNumber);
- SetName("Solenoid", m_moduleNumber, m_channel);
+ SendableRegistry::GetInstance().AddLW(this, "Solenoid", m_moduleNumber,
+ m_channel);
}
Solenoid::~Solenoid() { HAL_FreeSolenoidPort(m_solenoidHandle); }
-Solenoid::Solenoid(Solenoid&& rhs)
- : SolenoidBase(std::move(rhs)), m_channel(std::move(rhs.m_channel)) {
- std::swap(m_solenoidHandle, rhs.m_solenoidHandle);
-}
-
-Solenoid& Solenoid::operator=(Solenoid&& rhs) {
- SolenoidBase::operator=(std::move(rhs));
-
- std::swap(m_solenoidHandle, rhs.m_solenoidHandle);
- m_channel = std::move(rhs.m_channel);
-
- return *this;
-}
-
void Solenoid::Set(bool on) {
if (StatusIsFatal()) return;
int32_t status = 0;
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Spark.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Spark.cpp
index fcfcb96..18f8ee6 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Spark.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Spark.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,8 @@
#include <hal/HAL.h>
+#include "frc/smartdashboard/SendableRegistry.h"
+
using namespace frc;
Spark::Spark(int channel) : PWMSpeedController(channel) {
@@ -31,5 +33,5 @@
SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_RevSPARK, GetChannel());
- SetName("Spark", GetChannel());
+ SendableRegistry::GetInstance().SetName(this, "Spark", GetChannel());
}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Talon.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Talon.cpp
index 34f659a..8dc1928 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Talon.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Talon.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,8 @@
#include <hal/HAL.h>
+#include "frc/smartdashboard/SendableRegistry.h"
+
using namespace frc;
Talon::Talon(int channel) : PWMSpeedController(channel) {
@@ -31,5 +33,5 @@
SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_Talon, GetChannel());
- SetName("Talon", GetChannel());
+ SendableRegistry::GetInstance().SetName(this, "Talon", GetChannel());
}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Threads.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Threads.cpp
index 7713f66..798e86a 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Threads.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Threads.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,7 +12,7 @@
#include "frc/ErrorBase.h"
-using namespace frc;
+namespace frc {
int GetThreadPriority(std::thread& thread, bool* isRealTime) {
int32_t status = 0;
@@ -47,3 +47,5 @@
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
return ret;
}
+
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/TimedRobot.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/TimedRobot.cpp
index 24ab668..ffff2dd 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/TimedRobot.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/TimedRobot.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -25,7 +25,7 @@
// Tell the DS that the robot is ready to be enabled
HAL_ObserveUserProgramStarting();
- m_expirationTime = Timer::GetFPGATimestamp() + m_period;
+ m_expirationTime = units::second_t{Timer::GetFPGATimestamp()} + m_period;
UpdateAlarm();
// Loop forever, calling the appropriate mode-dependent function
@@ -43,9 +43,13 @@
}
}
-double TimedRobot::GetPeriod() const { return m_period; }
+units::second_t TimedRobot::GetPeriod() const {
+ return units::second_t(m_period);
+}
-TimedRobot::TimedRobot(double period) : IterativeRobotBase(period) {
+TimedRobot::TimedRobot(double period) : TimedRobot(units::second_t(period)) {}
+
+TimedRobot::TimedRobot(units::second_t period) : IterativeRobotBase(period) {
int32_t status = 0;
m_notifier = HAL_InitializeNotifier(&status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
@@ -63,22 +67,6 @@
HAL_CleanNotifier(m_notifier, &status);
}
-TimedRobot::TimedRobot(TimedRobot&& rhs)
- : IterativeRobotBase(std::move(rhs)),
- m_expirationTime(std::move(rhs.m_expirationTime)) {
- std::swap(m_notifier, rhs.m_notifier);
-}
-
-TimedRobot& TimedRobot::operator=(TimedRobot&& rhs) {
- IterativeRobotBase::operator=(std::move(rhs));
- ErrorBase::operator=(std::move(rhs));
-
- std::swap(m_notifier, rhs.m_notifier);
- m_expirationTime = std::move(rhs.m_expirationTime);
-
- return *this;
-}
-
void TimedRobot::UpdateAlarm() {
int32_t status = 0;
HAL_UpdateNotifierAlarm(
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Timer.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Timer.cpp
index ae4a66e..cdfa9ab 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Timer.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Timer.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -17,91 +17,34 @@
namespace frc {
-void Wait(double seconds) {
- std::this_thread::sleep_for(std::chrono::duration<double>(seconds));
-}
+void Wait(double seconds) { frc2::Wait(units::second_t(seconds)); }
-double GetClock() { return Timer::GetFPGATimestamp(); }
-
-double GetTime() {
- using std::chrono::duration;
- using std::chrono::duration_cast;
- using std::chrono::system_clock;
-
- return duration_cast<duration<double>>(system_clock::now().time_since_epoch())
- .count();
-}
+double GetTime() { return frc2::GetTime().to<double>(); }
} // namespace frc
using namespace frc;
-// for compatibility with msvc12--see C2864
-const double Timer::kRolloverTime = (1ll << 32) / 1e6;
+const double Timer::kRolloverTime = frc2::Timer::kRolloverTime.to<double>();
Timer::Timer() { Reset(); }
-double Timer::Get() const {
- double result;
- double currentTime = GetFPGATimestamp();
+double Timer::Get() const { return m_timer.Get().to<double>(); }
- std::lock_guard<wpi::mutex> lock(m_mutex);
- if (m_running) {
- // If the current time is before the start time, then the FPGA clock rolled
- // over. Compensate by adding the ~71 minutes that it takes to roll over to
- // the current time.
- if (currentTime < m_startTime) {
- currentTime += kRolloverTime;
- }
+void Timer::Reset() { m_timer.Reset(); }
- result = (currentTime - m_startTime) + m_accumulatedTime;
- } else {
- result = m_accumulatedTime;
- }
+void Timer::Start() { m_timer.Start(); }
- return result;
-}
-
-void Timer::Reset() {
- std::lock_guard<wpi::mutex> lock(m_mutex);
- m_accumulatedTime = 0;
- m_startTime = GetFPGATimestamp();
-}
-
-void Timer::Start() {
- std::lock_guard<wpi::mutex> lock(m_mutex);
- if (!m_running) {
- m_startTime = GetFPGATimestamp();
- m_running = true;
- }
-}
-
-void Timer::Stop() {
- double temp = Get();
-
- std::lock_guard<wpi::mutex> lock(m_mutex);
- if (m_running) {
- m_accumulatedTime = temp;
- m_running = false;
- }
-}
+void Timer::Stop() { m_timer.Stop(); }
bool Timer::HasPeriodPassed(double period) {
- if (Get() > period) {
- std::lock_guard<wpi::mutex> lock(m_mutex);
- // Advance the start time by the period.
- m_startTime += period;
- // Don't set it to the current time... we want to avoid drift.
- return true;
- }
- return false;
+ return m_timer.HasPeriodPassed(units::second_t(period));
}
double Timer::GetFPGATimestamp() {
- // FPGA returns the timestamp in microseconds
- return RobotController::GetFPGATime() * 1.0e-6;
+ return frc2::Timer::GetFPGATimestamp().to<double>();
}
double Timer::GetMatchTime() {
- return DriverStation::GetInstance().GetMatchTime();
+ return frc2::Timer::GetMatchTime().to<double>();
}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Ultrasonic.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Ultrasonic.cpp
index ee4f5cc..35320de 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Ultrasonic.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Ultrasonic.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -16,6 +16,7 @@
#include "frc/Utility.h"
#include "frc/WPIErrors.h"
#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -31,8 +32,9 @@
m_counter(m_echoChannel) {
m_units = units;
Initialize();
- AddChild(m_pingChannel);
- AddChild(m_echoChannel);
+ auto& registry = SendableRegistry::GetInstance();
+ registry.AddChild(this, m_pingChannel.get());
+ registry.AddChild(this, m_echoChannel.get());
}
Ultrasonic::Ultrasonic(DigitalOutput* pingChannel, DigitalInput* echoChannel,
@@ -96,7 +98,10 @@
m_pingChannel->Pulse(kPingTime);
}
-bool Ultrasonic::IsRangeValid() const { return m_counter.Get() > 1; }
+bool Ultrasonic::IsRangeValid() const {
+ if (m_simRangeValid) return m_simRangeValid.Get();
+ return m_counter.Get() > 1;
+}
void Ultrasonic::SetAutomaticMode(bool enabling) {
if (enabling == m_automaticEnabled) return; // ignore the case of no change
@@ -133,10 +138,12 @@
}
double Ultrasonic::GetRangeInches() const {
- if (IsRangeValid())
+ if (IsRangeValid()) {
+ if (m_simRange) return m_simRange.Get();
return m_counter.GetPeriod() * kSpeedOfSoundInchesPerSec / 2.0;
- else
+ } else {
return 0;
+ }
}
double Ultrasonic::GetRangeMM() const { return GetRangeInches() * 25.4; }
@@ -175,6 +182,14 @@
}
void Ultrasonic::Initialize() {
+ m_simDevice = hal::SimDevice("Ultrasonic", m_echoChannel->GetChannel());
+ if (m_simDevice) {
+ m_simRangeValid = m_simDevice.CreateBoolean("Range Valid", false, true);
+ m_simRange = m_simDevice.CreateDouble("Range (in)", false, 0.0);
+ m_pingChannel->SetSimDevice(m_simDevice);
+ m_echoChannel->SetSimDevice(m_simDevice);
+ }
+
bool originalMode = m_automaticEnabled;
SetAutomaticMode(false); // Kill task when adding a new sensor
// Link this instance on the list
@@ -189,7 +204,8 @@
static int instances = 0;
instances++;
HAL_Report(HALUsageReporting::kResourceType_Ultrasonic, instances);
- SetName("Ultrasonic", m_echoChannel->GetChannel());
+ SendableRegistry::GetInstance().AddLW(this, "Ultrasonic",
+ m_echoChannel->GetChannel());
}
void Ultrasonic::UltrasonicChecker() {
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Utility.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Utility.cpp
index 503b6d0..499f9b4 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Utility.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Utility.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -20,6 +20,7 @@
#include <hal/HAL.h>
#include <wpi/Path.h>
#include <wpi/SmallString.h>
+#include <wpi/StackTrace.h>
#include <wpi/raw_ostream.h>
#include "frc/ErrorBase.h"
@@ -47,7 +48,7 @@
errorStream << "failed: " << message << "\n";
}
- std::string stack = GetStackTrace(2);
+ std::string stack = wpi::GetStackTrace(2);
// Print the error and send it to the DriverStation
HAL_SendError(1, 1, 0, errorBuf.c_str(), locBuf.c_str(), stack.c_str(), 1);
@@ -86,7 +87,7 @@
errorStream << "failed: " << message << "\n";
}
- std::string trace = GetStackTrace(3);
+ std::string trace = wpi::GetStackTrace(3);
// Print the error and send it to the DriverStation
HAL_SendError(1, 1, 0, errorBuf.c_str(), locBuf.c_str(), trace.c_str(), 1);
@@ -115,89 +116,3 @@
}
return valueA != valueB;
}
-
-namespace frc {
-
-int GetFPGAVersion() {
- int32_t status = 0;
- int version = HAL_GetFPGAVersion(&status);
- wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
- return version;
-}
-
-int64_t GetFPGARevision() {
- int32_t status = 0;
- int64_t revision = HAL_GetFPGARevision(&status);
- wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
- return revision;
-}
-
-uint64_t GetFPGATime() {
- int32_t status = 0;
- uint64_t time = HAL_GetFPGATime(&status);
- wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
- return time;
-}
-
-bool GetUserButton() {
- int32_t status = 0;
-
- bool value = HAL_GetFPGAButton(&status);
- wpi_setGlobalError(status);
-
- return value;
-}
-
-#ifndef _WIN32
-
-/**
- * Demangle a C++ symbol, used for printing stack traces.
- */
-static std::string demangle(char const* mangledSymbol) {
- char buffer[256];
- size_t length;
- int32_t status;
-
- if (std::sscanf(mangledSymbol, "%*[^(]%*[(]%255[^)+]", buffer)) {
- char* symbol = abi::__cxa_demangle(buffer, nullptr, &length, &status);
- if (status == 0) {
- return symbol;
- } else {
- // If the symbol couldn't be demangled, it's probably a C function,
- // so just return it as-is.
- return buffer;
- }
- }
-
- // If everything else failed, just return the mangled symbol
- return mangledSymbol;
-}
-
-std::string GetStackTrace(int offset) {
- void* stackTrace[128];
- int stackSize = backtrace(stackTrace, 128);
- char** mangledSymbols = backtrace_symbols(stackTrace, stackSize);
- wpi::SmallString<1024> buf;
- wpi::raw_svector_ostream trace(buf);
-
- for (int i = offset; i < stackSize; i++) {
- // Only print recursive functions once in a row.
- if (i == 0 || stackTrace[i] != stackTrace[i - 1]) {
- trace << "\tat " << demangle(mangledSymbols[i]) << "\n";
- }
- }
-
- std::free(mangledSymbols);
-
- return trace.str();
-}
-
-#else
-static std::string demangle(char const* mangledSymbol) {
- return "no demangling on windows";
-}
-
-std::string GetStackTrace(int offset) { return "no stack trace on windows"; }
-#endif
-
-} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Victor.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Victor.cpp
index 2c29ece..49dcd57 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Victor.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Victor.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,8 @@
#include <hal/HAL.h>
+#include "frc/smartdashboard/SendableRegistry.h"
+
using namespace frc;
Victor::Victor(int channel) : PWMSpeedController(channel) {
@@ -32,5 +34,5 @@
SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_Victor, GetChannel());
- SetName("Victor", GetChannel());
+ SendableRegistry::GetInstance().SetName(this, "Victor", GetChannel());
}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/VictorSP.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/VictorSP.cpp
index 5e2b6b9..82e966f 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/VictorSP.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/VictorSP.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,8 @@
#include <hal/HAL.h>
+#include "frc/smartdashboard/SendableRegistry.h"
+
using namespace frc;
VictorSP::VictorSP(int channel) : PWMSpeedController(channel) {
@@ -31,5 +33,5 @@
SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_VictorSP, GetChannel());
- SetName("VictorSP", GetChannel());
+ SendableRegistry::GetInstance().SetName(this, "VictorSP", GetChannel());
}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Watchdog.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Watchdog.cpp
index f7c1778..e5be4fa 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Watchdog.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/Watchdog.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -32,7 +32,7 @@
};
void Watchdog::Thread::Main() {
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
while (m_active) {
if (m_watchdogs.size() > 0) {
@@ -54,7 +54,7 @@
if (!watchdog->m_suppressTimeoutMessage) {
wpi::outs() << "Watchdog not fed within "
<< wpi::format("%.6f",
- watchdog->m_timeout.count() / 1.0e6)
+ watchdog->m_timeout.count() / 1.0e9)
<< "s\n";
}
}
@@ -78,9 +78,10 @@
}
Watchdog::Watchdog(double timeout, std::function<void()> callback)
- : m_timeout(static_cast<int64_t>(timeout * 1.0e6)),
- m_callback(callback),
- m_owner(&GetThreadOwner()) {}
+ : Watchdog(units::second_t{timeout}, callback) {}
+
+Watchdog::Watchdog(units::second_t timeout, std::function<void()> callback)
+ : m_timeout(timeout), m_callback(callback), m_owner(&GetThreadOwner()) {}
Watchdog::~Watchdog() { Disable(); }
@@ -89,6 +90,13 @@
}
void Watchdog::SetTimeout(double timeout) {
+ SetTimeout(units::second_t{timeout});
+}
+
+void Watchdog::SetTimeout(units::second_t timeout) {
+ using std::chrono::duration_cast;
+ using std::chrono::microseconds;
+
m_startTime = hal::fpga_clock::now();
m_epochs.clear();
@@ -96,11 +104,11 @@
auto thr = m_owner->GetThread();
if (!thr) return;
- m_timeout = std::chrono::microseconds(static_cast<int64_t>(timeout * 1.0e6));
+ m_timeout = timeout;
m_isExpired = false;
thr->m_watchdogs.remove(this);
- m_expirationTime = m_startTime + m_timeout;
+ m_expirationTime = m_startTime + duration_cast<microseconds>(m_timeout);
thr->m_watchdogs.emplace(this);
thr->m_cond.notify_all();
}
@@ -109,7 +117,7 @@
// Locks mutex
auto thr = m_owner->GetThread();
- return m_timeout.count() / 1.0e6;
+ return m_timeout.count() / 1.0e9;
}
bool Watchdog::IsExpired() const {
@@ -140,6 +148,9 @@
void Watchdog::Reset() { Enable(); }
void Watchdog::Enable() {
+ using std::chrono::duration_cast;
+ using std::chrono::microseconds;
+
m_startTime = hal::fpga_clock::now();
m_epochs.clear();
@@ -150,7 +161,7 @@
m_isExpired = false;
thr->m_watchdogs.remove(this);
- m_expirationTime = m_startTime + m_timeout;
+ m_expirationTime = m_startTime + duration_cast<microseconds>(m_timeout);
thr->m_watchdogs.emplace(this);
thr->m_cond.notify_all();
}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/buttons/Trigger.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/buttons/Trigger.cpp
index 2ccaaf2..f215083 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/buttons/Trigger.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/buttons/Trigger.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -15,6 +15,27 @@
using namespace frc;
+Trigger::Trigger(const Trigger& rhs) : SendableHelper(rhs) {}
+
+Trigger& Trigger::operator=(const Trigger& rhs) {
+ SendableHelper::operator=(rhs);
+ m_sendablePressed = false;
+ return *this;
+}
+
+Trigger::Trigger(Trigger&& rhs)
+ : SendableHelper(std::move(rhs)),
+ m_sendablePressed(rhs.m_sendablePressed.load()) {
+ rhs.m_sendablePressed = false;
+}
+
+Trigger& Trigger::operator=(Trigger&& rhs) {
+ SendableHelper::operator=(std::move(rhs));
+ m_sendablePressed = rhs.m_sendablePressed.load();
+ rhs.m_sendablePressed = false;
+ return *this;
+}
+
bool Trigger::Grab() { return Get() || m_sendablePressed; }
void Trigger::WhenActive(Command* command) {
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/commands/Command.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/commands/Command.cpp
index ad7824a..a7154c0 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/commands/Command.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/commands/Command.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -16,6 +16,7 @@
#include "frc/commands/Scheduler.h"
#include "frc/livewindow/LiveWindow.h"
#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -31,7 +32,7 @@
Requires(&subsystem);
}
-Command::Command(const wpi::Twine& name, double timeout) : SendableBase(false) {
+Command::Command(const wpi::Twine& name, double timeout) {
// We use -1.0 to indicate no timeout.
if (timeout < 0.0 && timeout != -1.0)
wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0");
@@ -41,9 +42,10 @@
// If name contains an empty string
if (name.isTriviallyEmpty() ||
(name.isSingleStringRef() && name.getSingleStringRef().empty())) {
- SetName("Command_" + wpi::Twine(typeid(*this).name()));
+ SendableRegistry::GetInstance().Add(
+ this, "Command_" + wpi::Twine(typeid(*this).name()));
} else {
- SetName(name);
+ SendableRegistry::GetInstance().Add(this, name);
}
}
@@ -228,9 +230,27 @@
void Command::StartTiming() { m_startTime = Timer::GetFPGATimestamp(); }
+std::string Command::GetName() const {
+ return SendableRegistry::GetInstance().GetName(this);
+}
+
+void Command::SetName(const wpi::Twine& name) {
+ SendableRegistry::GetInstance().SetName(this, name);
+}
+
+std::string Command::GetSubsystem() const {
+ return SendableRegistry::GetInstance().GetSubsystem(this);
+}
+
+void Command::SetSubsystem(const wpi::Twine& name) {
+ SendableRegistry::GetInstance().SetSubsystem(this, name);
+}
+
void Command::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Command");
- builder.AddStringProperty(".name", [=]() { return GetName(); }, nullptr);
+ builder.AddStringProperty(
+ ".name", [=]() { return SendableRegistry::GetInstance().GetName(this); },
+ nullptr);
builder.AddBooleanProperty("running", [=]() { return IsRunning(); },
[=](bool value) {
if (value) {
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/commands/Scheduler.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/commands/Scheduler.cpp
index 8a7af76..f406d74 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/commands/Scheduler.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/commands/Scheduler.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -21,6 +21,7 @@
#include "frc/commands/Command.h"
#include "frc/commands/Subsystem.h"
#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -51,7 +52,7 @@
}
void Scheduler::AddCommand(Command* command) {
- std::lock_guard<wpi::mutex> lock(m_impl->additionsMutex);
+ std::scoped_lock lock(m_impl->additionsMutex);
if (std::find(m_impl->additions.begin(), m_impl->additions.end(), command) !=
m_impl->additions.end())
return;
@@ -59,7 +60,7 @@
}
void Scheduler::AddButton(ButtonScheduler* button) {
- std::lock_guard<wpi::mutex> lock(m_impl->buttonsMutex);
+ std::scoped_lock lock(m_impl->buttonsMutex);
m_impl->buttons.emplace_back(button);
}
@@ -76,7 +77,7 @@
{
if (!m_impl->enabled) return;
- std::lock_guard<wpi::mutex> lock(m_impl->buttonsMutex);
+ std::scoped_lock lock(m_impl->buttonsMutex);
for (auto& button : m_impl->buttons) {
button->Execute();
}
@@ -103,7 +104,7 @@
// Add the new things
{
- std::lock_guard<wpi::mutex> lock(m_impl->additionsMutex);
+ std::scoped_lock lock(m_impl->additionsMutex);
for (auto& addition : m_impl->additions) {
// Check to make sure no adding during adding
if (m_impl->adding) {
@@ -182,8 +183,9 @@
if (m_impl->runningCommandsChanged) {
m_impl->commandsBuf.resize(0);
m_impl->idsBuf.resize(0);
+ auto& registry = SendableRegistry::GetInstance();
for (const auto& command : m_impl->commands) {
- m_impl->commandsBuf.emplace_back(command->GetName());
+ m_impl->commandsBuf.emplace_back(registry.GetName(command));
m_impl->idsBuf.emplace_back(command->GetID());
}
nt::NetworkTableEntry(namesEntry).SetStringArray(m_impl->commandsBuf);
@@ -195,7 +197,7 @@
Scheduler::Scheduler() : m_impl(new Impl) {
HAL_Report(HALUsageReporting::kResourceType_Command,
HALUsageReporting::kCommand_Scheduler);
- SetName("Scheduler");
+ SendableRegistry::GetInstance().AddLW(this, "Scheduler");
}
Scheduler::~Scheduler() {}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/commands/Subsystem.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/commands/Subsystem.cpp
index 308642f..6e665ea 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/commands/Subsystem.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/commands/Subsystem.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,11 +12,12 @@
#include "frc/commands/Scheduler.h"
#include "frc/livewindow/LiveWindow.h"
#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
Subsystem::Subsystem(const wpi::Twine& name) {
- SetName(name, name);
+ SendableRegistry::GetInstance().AddLW(this, name, name);
Scheduler::GetInstance()->RegisterSubsystem(this);
}
@@ -46,7 +47,7 @@
wpi::StringRef Subsystem::GetDefaultCommandName() {
Command* defaultCommand = GetDefaultCommand();
if (defaultCommand) {
- return defaultCommand->GetName();
+ return SendableRegistry::GetInstance().GetName(defaultCommand);
} else {
return wpi::StringRef();
}
@@ -62,7 +63,7 @@
wpi::StringRef Subsystem::GetCurrentCommandName() const {
Command* currentCommand = GetCurrentCommand();
if (currentCommand) {
- return currentCommand->GetName();
+ return SendableRegistry::GetInstance().GetName(currentCommand);
} else {
return wpi::StringRef();
}
@@ -72,6 +73,22 @@
void Subsystem::InitDefaultCommand() {}
+std::string Subsystem::GetName() const {
+ return SendableRegistry::GetInstance().GetName(this);
+}
+
+void Subsystem::SetName(const wpi::Twine& name) {
+ SendableRegistry::GetInstance().SetName(this, name);
+}
+
+std::string Subsystem::GetSubsystem() const {
+ return SendableRegistry::GetInstance().GetSubsystem(this);
+}
+
+void Subsystem::SetSubsystem(const wpi::Twine& name) {
+ SendableRegistry::GetInstance().SetSubsystem(this, name);
+}
+
void Subsystem::AddChild(const wpi::Twine& name,
std::shared_ptr<Sendable> child) {
AddChild(name, *child);
@@ -82,8 +99,9 @@
}
void Subsystem::AddChild(const wpi::Twine& name, Sendable& child) {
- child.SetName(GetSubsystem(), name);
- LiveWindow::GetInstance()->Add(&child);
+ auto& registry = SendableRegistry::GetInstance();
+ registry.AddLW(&child, registry.GetSubsystem(this), name);
+ registry.AddChild(this, &child);
}
void Subsystem::AddChild(std::shared_ptr<Sendable> child) { AddChild(*child); }
@@ -91,8 +109,10 @@
void Subsystem::AddChild(Sendable* child) { AddChild(*child); }
void Subsystem::AddChild(Sendable& child) {
- child.SetSubsystem(GetSubsystem());
- LiveWindow::GetInstance()->Add(&child);
+ auto& registry = SendableRegistry::GetInstance();
+ registry.SetSubsystem(&child, registry.GetSubsystem(this));
+ registry.EnableLiveWindow(&child);
+ registry.AddChild(this, &child);
}
void Subsystem::ConfirmCommand() {
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/controller/PIDController.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/controller/PIDController.cpp
new file mode 100644
index 0000000..2202d93
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/controller/PIDController.cpp
@@ -0,0 +1,147 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/controller/PIDController.h"
+
+#include <algorithm>
+#include <cmath>
+
+#include <hal/HAL.h>
+
+#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
+
+using namespace frc2;
+
+PIDController::PIDController(double Kp, double Ki, double Kd,
+ units::second_t period)
+ : m_Kp(Kp), m_Ki(Ki), m_Kd(Kd), m_period(period) {
+ static int instances = 0;
+ instances++;
+ HAL_Report(HALUsageReporting::kResourceType_PIDController, instances);
+ frc::SendableRegistry::GetInstance().Add(this, "PIDController", instances);
+}
+
+void PIDController::SetP(double Kp) { m_Kp = Kp; }
+
+void PIDController::SetI(double Ki) { m_Ki = Ki; }
+
+void PIDController::SetD(double Kd) { m_Kd = Kd; }
+
+double PIDController::GetP() const { return m_Kp; }
+
+double PIDController::GetI() const { return m_Ki; }
+
+double PIDController::GetD() const { return m_Kd; }
+
+units::second_t PIDController::GetPeriod() const {
+ return units::second_t(m_period);
+}
+
+void PIDController::SetSetpoint(double setpoint) {
+ if (m_maximumInput > m_minimumInput) {
+ m_setpoint = std::clamp(setpoint, m_minimumInput, m_maximumInput);
+ } else {
+ m_setpoint = setpoint;
+ }
+}
+
+double PIDController::GetSetpoint() const { return m_setpoint; }
+
+bool PIDController::AtSetpoint() const {
+ return std::abs(m_positionError) < m_positionTolerance &&
+ std::abs(m_velocityError) < m_velocityTolerance;
+}
+
+void PIDController::EnableContinuousInput(double minimumInput,
+ double maximumInput) {
+ m_continuous = true;
+ SetInputRange(minimumInput, maximumInput);
+}
+
+void PIDController::DisableContinuousInput() { m_continuous = false; }
+
+void PIDController::SetIntegratorRange(double minimumIntegral,
+ double maximumIntegral) {
+ m_minimumIntegral = minimumIntegral;
+ m_maximumIntegral = maximumIntegral;
+}
+
+void PIDController::SetTolerance(double positionTolerance,
+ double velocityTolerance) {
+ m_positionTolerance = positionTolerance;
+ m_velocityTolerance = velocityTolerance;
+}
+
+double PIDController::GetPositionError() const {
+ return GetContinuousError(m_positionError);
+}
+
+double PIDController::GetVelocityError() const { return m_velocityError; }
+
+double PIDController::Calculate(double measurement) {
+ m_prevError = m_positionError;
+ m_positionError = GetContinuousError(m_setpoint - measurement);
+ m_velocityError = (m_positionError - m_prevError) / m_period.to<double>();
+
+ if (m_Ki != 0) {
+ m_totalError =
+ std::clamp(m_totalError + m_positionError * m_period.to<double>(),
+ m_minimumIntegral / m_Ki, m_maximumIntegral / m_Ki);
+ }
+
+ return m_Kp * m_positionError + m_Ki * m_totalError + m_Kd * m_velocityError;
+}
+
+double PIDController::Calculate(double measurement, double setpoint) {
+ // Set setpoint to provided value
+ SetSetpoint(setpoint);
+ return Calculate(measurement);
+}
+
+void PIDController::Reset() {
+ m_prevError = 0;
+ m_totalError = 0;
+}
+
+void PIDController::InitSendable(frc::SendableBuilder& builder) {
+ builder.SetSmartDashboardType("PIDController");
+ builder.AddDoubleProperty("p", [this] { return GetP(); },
+ [this](double value) { SetP(value); });
+ builder.AddDoubleProperty("i", [this] { return GetI(); },
+ [this](double value) { SetI(value); });
+ builder.AddDoubleProperty("d", [this] { return GetD(); },
+ [this](double value) { SetD(value); });
+ builder.AddDoubleProperty("setpoint", [this] { return GetSetpoint(); },
+ [this](double value) { SetSetpoint(value); });
+}
+
+double PIDController::GetContinuousError(double error) const {
+ if (m_continuous && m_inputRange > 0) {
+ error = std::fmod(error, m_inputRange);
+ if (std::abs(error) > m_inputRange / 2) {
+ if (error > 0) {
+ return error - m_inputRange;
+ } else {
+ return error + m_inputRange;
+ }
+ }
+ }
+
+ return error;
+}
+
+void PIDController::SetInputRange(double minimumInput, double maximumInput) {
+ m_minimumInput = minimumInput;
+ m_maximumInput = maximumInput;
+ m_inputRange = maximumInput - minimumInput;
+
+ // Clamp setpoint to new input range
+ if (m_maximumInput > m_minimumInput) {
+ m_setpoint = std::clamp(m_setpoint, m_minimumInput, m_maximumInput);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/controller/ProfiledPIDController.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/controller/ProfiledPIDController.cpp
new file mode 100644
index 0000000..4ef3bf9
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/controller/ProfiledPIDController.cpp
@@ -0,0 +1,133 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/controller/ProfiledPIDController.h"
+
+#include <algorithm>
+#include <cmath>
+
+#include "frc/smartdashboard/SendableBuilder.h"
+
+using namespace frc;
+
+ProfiledPIDController::ProfiledPIDController(
+ double Kp, double Ki, double Kd,
+ frc::TrapezoidProfile::Constraints constraints, units::second_t period)
+ : m_controller(Kp, Ki, Kd, period), m_constraints(constraints) {}
+
+void ProfiledPIDController::SetP(double Kp) { m_controller.SetP(Kp); }
+
+void ProfiledPIDController::SetI(double Ki) { m_controller.SetI(Ki); }
+
+void ProfiledPIDController::SetD(double Kd) { m_controller.SetD(Kd); }
+
+double ProfiledPIDController::GetP() const { return m_controller.GetP(); }
+
+double ProfiledPIDController::GetI() const { return m_controller.GetI(); }
+
+double ProfiledPIDController::GetD() const { return m_controller.GetD(); }
+
+units::second_t ProfiledPIDController::GetPeriod() const {
+ return m_controller.GetPeriod();
+}
+
+void ProfiledPIDController::SetGoal(TrapezoidProfile::State goal) {
+ m_goal = goal;
+}
+
+void ProfiledPIDController::SetGoal(units::meter_t goal) {
+ m_goal = {goal, 0_mps};
+}
+
+TrapezoidProfile::State ProfiledPIDController::GetGoal() const {
+ return m_goal;
+}
+
+bool ProfiledPIDController::AtGoal() const {
+ return AtSetpoint() && m_goal == m_setpoint;
+}
+
+void ProfiledPIDController::SetConstraints(
+ frc::TrapezoidProfile::Constraints constraints) {
+ m_constraints = constraints;
+}
+
+TrapezoidProfile::State ProfiledPIDController::GetSetpoint() const {
+ return m_setpoint;
+}
+
+bool ProfiledPIDController::AtSetpoint() const {
+ return m_controller.AtSetpoint();
+}
+
+void ProfiledPIDController::EnableContinuousInput(double minimumInput,
+ double maximumInput) {
+ m_controller.EnableContinuousInput(minimumInput, maximumInput);
+}
+
+void ProfiledPIDController::DisableContinuousInput() {
+ m_controller.DisableContinuousInput();
+}
+
+void ProfiledPIDController::SetIntegratorRange(double minimumIntegral,
+ double maximumIntegral) {
+ m_controller.SetIntegratorRange(minimumIntegral, maximumIntegral);
+}
+
+void ProfiledPIDController::SetTolerance(double positionTolerance,
+ double velocityTolerance) {
+ m_controller.SetTolerance(positionTolerance, velocityTolerance);
+}
+
+double ProfiledPIDController::GetPositionError() const {
+ return m_controller.GetPositionError();
+}
+
+double ProfiledPIDController::GetVelocityError() const {
+ return m_controller.GetVelocityError();
+}
+
+double ProfiledPIDController::Calculate(units::meter_t measurement) {
+ frc::TrapezoidProfile profile{m_constraints, m_goal, m_setpoint};
+ m_setpoint = profile.Calculate(GetPeriod());
+ return m_controller.Calculate(measurement.to<double>(),
+ m_setpoint.position.to<double>());
+}
+
+double ProfiledPIDController::Calculate(units::meter_t measurement,
+ TrapezoidProfile::State goal) {
+ SetGoal(goal);
+ return Calculate(measurement);
+}
+
+double ProfiledPIDController::Calculate(units::meter_t measurement,
+ units::meter_t goal) {
+ SetGoal(goal);
+ return Calculate(measurement);
+}
+
+double ProfiledPIDController::Calculate(
+ units::meter_t measurement, units::meter_t goal,
+ frc::TrapezoidProfile::Constraints constraints) {
+ SetConstraints(constraints);
+ return Calculate(measurement, goal);
+}
+
+void ProfiledPIDController::Reset() { m_controller.Reset(); }
+
+void ProfiledPIDController::InitSendable(frc::SendableBuilder& builder) {
+ builder.SetSmartDashboardType("ProfiledPIDController");
+ builder.AddDoubleProperty("p", [this] { return GetP(); },
+ [this](double value) { SetP(value); });
+ builder.AddDoubleProperty("i", [this] { return GetI(); },
+ [this](double value) { SetI(value); });
+ builder.AddDoubleProperty("d", [this] { return GetD(); },
+ [this](double value) { SetD(value); });
+ builder.AddDoubleProperty(
+ "goal", [this] { return GetGoal().position.to<double>(); },
+ [this](double value) { SetGoal(units::meter_t{value}); });
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/controller/RamseteController.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/controller/RamseteController.cpp
new file mode 100644
index 0000000..c55c2e8
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/controller/RamseteController.cpp
@@ -0,0 +1,70 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/controller/RamseteController.h"
+
+#include <cmath>
+
+using namespace frc;
+
+/**
+ * Returns sin(x) / x.
+ *
+ * @param x Value of which to take sinc(x).
+ */
+static double Sinc(double x) {
+ if (std::abs(x) < 1e-9) {
+ return 1.0 - 1.0 / 6.0 * x * x;
+ } else {
+ return std::sin(x) / x;
+ }
+}
+
+RamseteController::RamseteController(double b, double zeta)
+ : m_b{b}, m_zeta{zeta} {}
+
+bool RamseteController::AtReference() const {
+ const auto& eTranslate = m_poseError.Translation();
+ const auto& eRotate = m_poseError.Rotation();
+ const auto& tolTranslate = m_poseTolerance.Translation();
+ const auto& tolRotate = m_poseTolerance.Rotation();
+ return units::math::abs(eTranslate.X()) < tolTranslate.X() &&
+ units::math::abs(eTranslate.Y()) < tolTranslate.Y() &&
+ units::math::abs(eRotate.Radians()) < tolRotate.Radians();
+}
+
+void RamseteController::SetTolerance(const Pose2d& poseTolerance) {
+ m_poseTolerance = poseTolerance;
+}
+
+ChassisSpeeds RamseteController::Calculate(
+ const Pose2d& currentPose, const Pose2d& poseRef,
+ units::meters_per_second_t linearVelocityRef,
+ units::radians_per_second_t angularVelocityRef) {
+ m_poseError = poseRef.RelativeTo(currentPose);
+
+ // Aliases for equation readability
+ double eX = m_poseError.Translation().X().to<double>();
+ double eY = m_poseError.Translation().Y().to<double>();
+ double eTheta = m_poseError.Rotation().Radians().to<double>();
+ double vRef = linearVelocityRef.to<double>();
+ double omegaRef = angularVelocityRef.to<double>();
+
+ double k =
+ 2.0 * m_zeta * std::sqrt(std::pow(omegaRef, 2) + m_b * std::pow(vRef, 2));
+
+ units::meters_per_second_t v{vRef * m_poseError.Rotation().Cos() + k * eX};
+ units::radians_per_second_t omega{omegaRef + k * eTheta +
+ m_b * vRef * Sinc(eTheta) * eY};
+ return ChassisSpeeds{v, 0_mps, omega};
+}
+
+ChassisSpeeds RamseteController::Calculate(
+ const Pose2d& currentPose, const Trajectory::State& desiredState) {
+ return Calculate(currentPose, desiredState.pose, desiredState.velocity,
+ desiredState.velocity * desiredState.curvature);
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
index 5ad65b8..ee23a5e 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -14,32 +14,34 @@
#include "frc/SpeedController.h"
#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
DifferentialDrive::DifferentialDrive(SpeedController& leftMotor,
SpeedController& rightMotor)
- : m_leftMotor(leftMotor), m_rightMotor(rightMotor) {
- AddChild(&m_leftMotor);
- AddChild(&m_rightMotor);
+ : m_leftMotor(&leftMotor), m_rightMotor(&rightMotor) {
+ auto& registry = SendableRegistry::GetInstance();
+ registry.AddChild(this, m_leftMotor);
+ registry.AddChild(this, m_rightMotor);
static int instances = 0;
++instances;
- SetName("DifferentialDrive", instances);
+ registry.AddLW(this, "DifferentialDrive", instances);
}
void DifferentialDrive::ArcadeDrive(double xSpeed, double zRotation,
bool squareInputs) {
static bool reported = false;
if (!reported) {
- HAL_Report(HALUsageReporting::kResourceType_RobotDrive, 2,
- HALUsageReporting::kRobotDrive2_DifferentialArcade);
+ HAL_Report(HALUsageReporting::kResourceType_RobotDrive,
+ HALUsageReporting::kRobotDrive2_DifferentialArcade, 2);
reported = true;
}
- xSpeed = Limit(xSpeed);
+ xSpeed = std::clamp(xSpeed, -1.0, 1.0);
xSpeed = ApplyDeadband(xSpeed, m_deadband);
- zRotation = Limit(zRotation);
+ zRotation = std::clamp(zRotation, -1.0, 1.0);
zRotation = ApplyDeadband(zRotation, m_deadband);
// Square the inputs (while preserving the sign) to increase fine control
@@ -75,9 +77,9 @@
}
}
- m_leftMotor.Set(Limit(leftMotorOutput) * m_maxOutput);
- m_rightMotor.Set(Limit(rightMotorOutput) * m_maxOutput *
- m_rightSideInvertMultiplier);
+ m_leftMotor->Set(std::clamp(leftMotorOutput, -1.0, 1.0) * m_maxOutput);
+ double maxOutput = m_maxOutput * m_rightSideInvertMultiplier;
+ m_rightMotor->Set(std::clamp(rightMotorOutput, -1.0, 1.0) * maxOutput);
Feed();
}
@@ -86,15 +88,15 @@
bool isQuickTurn) {
static bool reported = false;
if (!reported) {
- HAL_Report(HALUsageReporting::kResourceType_RobotDrive, 2,
- HALUsageReporting::kRobotDrive2_DifferentialCurvature);
+ HAL_Report(HALUsageReporting::kResourceType_RobotDrive,
+ HALUsageReporting::kRobotDrive2_DifferentialCurvature, 2);
reported = true;
}
- xSpeed = Limit(xSpeed);
+ xSpeed = std::clamp(xSpeed, -1.0, 1.0);
xSpeed = ApplyDeadband(xSpeed, m_deadband);
- zRotation = Limit(zRotation);
+ zRotation = std::clamp(zRotation, -1.0, 1.0);
zRotation = ApplyDeadband(zRotation, m_deadband);
double angularPower;
@@ -102,8 +104,9 @@
if (isQuickTurn) {
if (std::abs(xSpeed) < m_quickStopThreshold) {
- m_quickStopAccumulator = (1 - m_quickStopAlpha) * m_quickStopAccumulator +
- m_quickStopAlpha * Limit(zRotation) * 2;
+ m_quickStopAccumulator =
+ (1 - m_quickStopAlpha) * m_quickStopAccumulator +
+ m_quickStopAlpha * std::clamp(zRotation, -1.0, 1.0) * 2;
}
overPower = true;
angularPower = zRotation;
@@ -148,9 +151,9 @@
rightMotorOutput /= maxMagnitude;
}
- m_leftMotor.Set(leftMotorOutput * m_maxOutput);
- m_rightMotor.Set(rightMotorOutput * m_maxOutput *
- m_rightSideInvertMultiplier);
+ m_leftMotor->Set(leftMotorOutput * m_maxOutput);
+ m_rightMotor->Set(rightMotorOutput * m_maxOutput *
+ m_rightSideInvertMultiplier);
Feed();
}
@@ -159,15 +162,15 @@
bool squareInputs) {
static bool reported = false;
if (!reported) {
- HAL_Report(HALUsageReporting::kResourceType_RobotDrive, 2,
- HALUsageReporting::kRobotDrive2_DifferentialTank);
+ HAL_Report(HALUsageReporting::kResourceType_RobotDrive,
+ HALUsageReporting::kRobotDrive2_DifferentialTank, 2);
reported = true;
}
- leftSpeed = Limit(leftSpeed);
+ leftSpeed = std::clamp(leftSpeed, -1.0, 1.0);
leftSpeed = ApplyDeadband(leftSpeed, m_deadband);
- rightSpeed = Limit(rightSpeed);
+ rightSpeed = std::clamp(rightSpeed, -1.0, 1.0);
rightSpeed = ApplyDeadband(rightSpeed, m_deadband);
// Square the inputs (while preserving the sign) to increase fine control
@@ -177,8 +180,8 @@
rightSpeed = std::copysign(rightSpeed * rightSpeed, rightSpeed);
}
- m_leftMotor.Set(leftSpeed * m_maxOutput);
- m_rightMotor.Set(rightSpeed * m_maxOutput * m_rightSideInvertMultiplier);
+ m_leftMotor->Set(leftSpeed * m_maxOutput);
+ m_rightMotor->Set(rightSpeed * m_maxOutput * m_rightSideInvertMultiplier);
Feed();
}
@@ -200,8 +203,8 @@
}
void DifferentialDrive::StopMotor() {
- m_leftMotor.StopMotor();
- m_rightMotor.StopMotor();
+ m_leftMotor->StopMotor();
+ m_rightMotor->StopMotor();
Feed();
}
@@ -214,12 +217,12 @@
builder.SetActuator(true);
builder.SetSafeState([=] { StopMotor(); });
builder.AddDoubleProperty("Left Motor Speed",
- [=]() { return m_leftMotor.Get(); },
- [=](double value) { m_leftMotor.Set(value); });
+ [=]() { return m_leftMotor->Get(); },
+ [=](double value) { m_leftMotor->Set(value); });
builder.AddDoubleProperty(
"Right Motor Speed",
- [=]() { return m_rightMotor.Get() * m_rightSideInvertMultiplier; },
+ [=]() { return m_rightMotor->Get() * m_rightSideInvertMultiplier; },
[=](double value) {
- m_rightMotor.Set(value * m_rightSideInvertMultiplier);
+ m_rightMotor->Set(value * m_rightSideInvertMultiplier);
});
}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
index b1af5de..4c15de8 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -11,14 +11,14 @@
#include <cmath>
#include <hal/HAL.h>
+#include <wpi/math>
#include "frc/SpeedController.h"
#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
-constexpr double kPi = 3.14159265358979323846;
-
KilloughDrive::KilloughDrive(SpeedController& leftMotor,
SpeedController& rightMotor,
SpeedController& backMotor)
@@ -29,33 +29,36 @@
SpeedController& rightMotor,
SpeedController& backMotor, double leftMotorAngle,
double rightMotorAngle, double backMotorAngle)
- : m_leftMotor(leftMotor), m_rightMotor(rightMotor), m_backMotor(backMotor) {
- m_leftVec = {std::cos(leftMotorAngle * (kPi / 180.0)),
- std::sin(leftMotorAngle * (kPi / 180.0))};
- m_rightVec = {std::cos(rightMotorAngle * (kPi / 180.0)),
- std::sin(rightMotorAngle * (kPi / 180.0))};
- m_backVec = {std::cos(backMotorAngle * (kPi / 180.0)),
- std::sin(backMotorAngle * (kPi / 180.0))};
- AddChild(&m_leftMotor);
- AddChild(&m_rightMotor);
- AddChild(&m_backMotor);
+ : m_leftMotor(&leftMotor),
+ m_rightMotor(&rightMotor),
+ m_backMotor(&backMotor) {
+ m_leftVec = {std::cos(leftMotorAngle * (wpi::math::pi / 180.0)),
+ std::sin(leftMotorAngle * (wpi::math::pi / 180.0))};
+ m_rightVec = {std::cos(rightMotorAngle * (wpi::math::pi / 180.0)),
+ std::sin(rightMotorAngle * (wpi::math::pi / 180.0))};
+ m_backVec = {std::cos(backMotorAngle * (wpi::math::pi / 180.0)),
+ std::sin(backMotorAngle * (wpi::math::pi / 180.0))};
+ auto& registry = SendableRegistry::GetInstance();
+ registry.AddChild(this, m_leftMotor);
+ registry.AddChild(this, m_rightMotor);
+ registry.AddChild(this, m_backMotor);
static int instances = 0;
++instances;
- SetName("KilloughDrive", instances);
+ registry.AddLW(this, "KilloughDrive", instances);
}
void KilloughDrive::DriveCartesian(double ySpeed, double xSpeed,
double zRotation, double gyroAngle) {
if (!reported) {
- HAL_Report(HALUsageReporting::kResourceType_RobotDrive, 3,
- HALUsageReporting::kRobotDrive2_KilloughCartesian);
+ HAL_Report(HALUsageReporting::kResourceType_RobotDrive,
+ HALUsageReporting::kRobotDrive2_KilloughCartesian, 3);
reported = true;
}
- ySpeed = Limit(ySpeed);
+ ySpeed = std::clamp(ySpeed, -1.0, 1.0);
ySpeed = ApplyDeadband(ySpeed, m_deadband);
- xSpeed = Limit(xSpeed);
+ xSpeed = std::clamp(xSpeed, -1.0, 1.0);
xSpeed = ApplyDeadband(xSpeed, m_deadband);
// Compensate for gyro angle.
@@ -69,9 +72,9 @@
Normalize(wheelSpeeds);
- m_leftMotor.Set(wheelSpeeds[kLeft] * m_maxOutput);
- m_rightMotor.Set(wheelSpeeds[kRight] * m_maxOutput);
- m_backMotor.Set(wheelSpeeds[kBack] * m_maxOutput);
+ m_leftMotor->Set(wheelSpeeds[kLeft] * m_maxOutput);
+ m_rightMotor->Set(wheelSpeeds[kRight] * m_maxOutput);
+ m_backMotor->Set(wheelSpeeds[kBack] * m_maxOutput);
Feed();
}
@@ -79,19 +82,20 @@
void KilloughDrive::DrivePolar(double magnitude, double angle,
double zRotation) {
if (!reported) {
- HAL_Report(HALUsageReporting::kResourceType_RobotDrive, 3,
- HALUsageReporting::kRobotDrive2_KilloughPolar);
+ HAL_Report(HALUsageReporting::kResourceType_RobotDrive,
+ HALUsageReporting::kRobotDrive2_KilloughPolar, 3);
reported = true;
}
- DriveCartesian(magnitude * std::sin(angle * (kPi / 180.0)),
- magnitude * std::cos(angle * (kPi / 180.0)), zRotation, 0.0);
+ DriveCartesian(magnitude * std::sin(angle * (wpi::math::pi / 180.0)),
+ magnitude * std::cos(angle * (wpi::math::pi / 180.0)),
+ zRotation, 0.0);
}
void KilloughDrive::StopMotor() {
- m_leftMotor.StopMotor();
- m_rightMotor.StopMotor();
- m_backMotor.StopMotor();
+ m_leftMotor->StopMotor();
+ m_rightMotor->StopMotor();
+ m_backMotor->StopMotor();
Feed();
}
@@ -104,12 +108,12 @@
builder.SetActuator(true);
builder.SetSafeState([=] { StopMotor(); });
builder.AddDoubleProperty("Left Motor Speed",
- [=]() { return m_leftMotor.Get(); },
- [=](double value) { m_leftMotor.Set(value); });
+ [=]() { return m_leftMotor->Get(); },
+ [=](double value) { m_leftMotor->Set(value); });
builder.AddDoubleProperty("Right Motor Speed",
- [=]() { return m_rightMotor.Get(); },
- [=](double value) { m_rightMotor.Set(value); });
+ [=]() { return m_rightMotor->Get(); },
+ [=](double value) { m_rightMotor->Set(value); });
builder.AddDoubleProperty("Back Motor Speed",
- [=]() { return m_backMotor.Get(); },
- [=](double value) { m_backMotor.Set(value); });
+ [=]() { return m_backMotor->Get(); },
+ [=](double value) { m_backMotor->Set(value); });
}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
index c74ba19..473e033 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -11,44 +11,45 @@
#include <cmath>
#include <hal/HAL.h>
+#include <wpi/math>
#include "frc/SpeedController.h"
#include "frc/drive/Vector2d.h"
#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
-constexpr double kPi = 3.14159265358979323846;
-
MecanumDrive::MecanumDrive(SpeedController& frontLeftMotor,
SpeedController& rearLeftMotor,
SpeedController& frontRightMotor,
SpeedController& rearRightMotor)
- : m_frontLeftMotor(frontLeftMotor),
- m_rearLeftMotor(rearLeftMotor),
- m_frontRightMotor(frontRightMotor),
- m_rearRightMotor(rearRightMotor) {
- AddChild(&m_frontLeftMotor);
- AddChild(&m_rearLeftMotor);
- AddChild(&m_frontRightMotor);
- AddChild(&m_rearRightMotor);
+ : m_frontLeftMotor(&frontLeftMotor),
+ m_rearLeftMotor(&rearLeftMotor),
+ m_frontRightMotor(&frontRightMotor),
+ m_rearRightMotor(&rearRightMotor) {
+ auto& registry = SendableRegistry::GetInstance();
+ registry.AddChild(this, m_frontLeftMotor);
+ registry.AddChild(this, m_rearLeftMotor);
+ registry.AddChild(this, m_frontRightMotor);
+ registry.AddChild(this, m_rearRightMotor);
static int instances = 0;
++instances;
- SetName("MecanumDrive", instances);
+ registry.AddLW(this, "MecanumDrive", instances);
}
void MecanumDrive::DriveCartesian(double ySpeed, double xSpeed,
double zRotation, double gyroAngle) {
if (!reported) {
- HAL_Report(HALUsageReporting::kResourceType_RobotDrive, 4,
- HALUsageReporting::kRobotDrive2_MecanumCartesian);
+ HAL_Report(HALUsageReporting::kResourceType_RobotDrive,
+ HALUsageReporting::kRobotDrive2_MecanumCartesian, 4);
reported = true;
}
- ySpeed = Limit(ySpeed);
+ ySpeed = std::clamp(ySpeed, -1.0, 1.0);
ySpeed = ApplyDeadband(ySpeed, m_deadband);
- xSpeed = Limit(xSpeed);
+ xSpeed = std::clamp(xSpeed, -1.0, 1.0);
xSpeed = ApplyDeadband(xSpeed, m_deadband);
// Compensate for gyro angle.
@@ -63,12 +64,12 @@
Normalize(wheelSpeeds);
- m_frontLeftMotor.Set(wheelSpeeds[kFrontLeft] * m_maxOutput);
- m_frontRightMotor.Set(wheelSpeeds[kFrontRight] * m_maxOutput *
+ m_frontLeftMotor->Set(wheelSpeeds[kFrontLeft] * m_maxOutput);
+ m_frontRightMotor->Set(wheelSpeeds[kFrontRight] * m_maxOutput *
+ m_rightSideInvertMultiplier);
+ m_rearLeftMotor->Set(wheelSpeeds[kRearLeft] * m_maxOutput);
+ m_rearRightMotor->Set(wheelSpeeds[kRearRight] * m_maxOutput *
m_rightSideInvertMultiplier);
- m_rearLeftMotor.Set(wheelSpeeds[kRearLeft] * m_maxOutput);
- m_rearRightMotor.Set(wheelSpeeds[kRearRight] * m_maxOutput *
- m_rightSideInvertMultiplier);
Feed();
}
@@ -76,13 +77,14 @@
void MecanumDrive::DrivePolar(double magnitude, double angle,
double zRotation) {
if (!reported) {
- HAL_Report(HALUsageReporting::kResourceType_RobotDrive, 4,
- HALUsageReporting::kRobotDrive2_MecanumPolar);
+ HAL_Report(HALUsageReporting::kResourceType_RobotDrive,
+ HALUsageReporting::kRobotDrive2_MecanumPolar, 4);
reported = true;
}
- DriveCartesian(magnitude * std::sin(angle * (kPi / 180.0)),
- magnitude * std::cos(angle * (kPi / 180.0)), zRotation, 0.0);
+ DriveCartesian(magnitude * std::sin(angle * (wpi::math::pi / 180.0)),
+ magnitude * std::cos(angle * (wpi::math::pi / 180.0)),
+ zRotation, 0.0);
}
bool MecanumDrive::IsRightSideInverted() const {
@@ -94,10 +96,10 @@
}
void MecanumDrive::StopMotor() {
- m_frontLeftMotor.StopMotor();
- m_frontRightMotor.StopMotor();
- m_rearLeftMotor.StopMotor();
- m_rearRightMotor.StopMotor();
+ m_frontLeftMotor->StopMotor();
+ m_frontRightMotor->StopMotor();
+ m_rearLeftMotor->StopMotor();
+ m_rearRightMotor->StopMotor();
Feed();
}
@@ -109,22 +111,22 @@
builder.SetSmartDashboardType("MecanumDrive");
builder.SetActuator(true);
builder.SetSafeState([=] { StopMotor(); });
- builder.AddDoubleProperty("Front Left Motor Speed",
- [=]() { return m_frontLeftMotor.Get(); },
- [=](double value) { m_frontLeftMotor.Set(value); });
+ builder.AddDoubleProperty(
+ "Front Left Motor Speed", [=]() { return m_frontLeftMotor->Get(); },
+ [=](double value) { m_frontLeftMotor->Set(value); });
builder.AddDoubleProperty(
"Front Right Motor Speed",
- [=]() { return m_frontRightMotor.Get() * m_rightSideInvertMultiplier; },
+ [=]() { return m_frontRightMotor->Get() * m_rightSideInvertMultiplier; },
[=](double value) {
- m_frontRightMotor.Set(value * m_rightSideInvertMultiplier);
+ m_frontRightMotor->Set(value * m_rightSideInvertMultiplier);
});
builder.AddDoubleProperty("Rear Left Motor Speed",
- [=]() { return m_rearLeftMotor.Get(); },
- [=](double value) { m_rearLeftMotor.Set(value); });
+ [=]() { return m_rearLeftMotor->Get(); },
+ [=](double value) { m_rearLeftMotor->Set(value); });
builder.AddDoubleProperty(
"Rear Right Motor Speed",
- [=]() { return m_rearRightMotor.Get() * m_rightSideInvertMultiplier; },
+ [=]() { return m_rearRightMotor->Get() * m_rightSideInvertMultiplier; },
[=](double value) {
- m_rearRightMotor.Set(value * m_rightSideInvertMultiplier);
+ m_rearRightMotor->Set(value * m_rightSideInvertMultiplier);
});
}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp
index c22cb2a..bae8868 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -26,16 +26,6 @@
void RobotDriveBase::FeedWatchdog() { Feed(); }
-double RobotDriveBase::Limit(double value) {
- if (value > 1.0) {
- return 1.0;
- }
- if (value < -1.0) {
- return -1.0;
- }
- return value;
-}
-
double RobotDriveBase::ApplyDeadband(double value, double deadband) {
if (std::abs(value) > deadband) {
if (value > 0.0) {
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/drive/Vector2d.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/drive/Vector2d.cpp
index 3d4b689..a6e68a6 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/drive/Vector2d.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/drive/Vector2d.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,9 +9,9 @@
#include <cmath>
-using namespace frc;
+#include <wpi/math>
-constexpr double kPi = 3.14159265358979323846;
+using namespace frc;
Vector2d::Vector2d(double x, double y) {
this->x = x;
@@ -19,8 +19,8 @@
}
void Vector2d::Rotate(double angle) {
- double cosA = std::cos(angle * (kPi / 180.0));
- double sinA = std::sin(angle * (kPi / 180.0));
+ double cosA = std::cos(angle * (wpi::math::pi / 180.0));
+ double sinA = std::sin(angle * (wpi::math::pi / 180.0));
double out[2];
out[0] = x * cosA - y * sinA;
out[1] = x * sinA + y * cosA;
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/filters/LinearDigitalFilter.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/filters/LinearDigitalFilter.cpp
index db4cebe..7dfc8f0 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/filters/LinearDigitalFilter.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/filters/LinearDigitalFilter.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -27,6 +27,13 @@
HAL_Report(HALUsageReporting::kResourceType_LinearFilter, instances);
}
+LinearDigitalFilter::LinearDigitalFilter(PIDSource& source,
+ std::initializer_list<double> ffGains,
+ std::initializer_list<double> fbGains)
+ : LinearDigitalFilter(source,
+ wpi::makeArrayRef(ffGains.begin(), ffGains.end()),
+ wpi::makeArrayRef(fbGains.begin(), fbGains.end())) {}
+
LinearDigitalFilter::LinearDigitalFilter(std::shared_ptr<PIDSource> source,
wpi::ArrayRef<double> ffGains,
wpi::ArrayRef<double> fbGains)
@@ -40,6 +47,13 @@
HAL_Report(HALUsageReporting::kResourceType_LinearFilter, instances);
}
+LinearDigitalFilter::LinearDigitalFilter(std::shared_ptr<PIDSource> source,
+ std::initializer_list<double> ffGains,
+ std::initializer_list<double> fbGains)
+ : LinearDigitalFilter(source,
+ wpi::makeArrayRef(ffGains.begin(), ffGains.end()),
+ wpi::makeArrayRef(fbGains.begin(), fbGains.end())) {}
+
LinearDigitalFilter LinearDigitalFilter::SinglePoleIIR(PIDSource& source,
double timeConstant,
double period) {
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/Timer.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/Timer.cpp
new file mode 100644
index 0000000..126cfdd
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/Timer.cpp
@@ -0,0 +1,137 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc2/Timer.h"
+
+#include <chrono>
+#include <thread>
+
+#include <hal/HAL.h>
+
+#include "frc/DriverStation.h"
+#include "frc/RobotController.h"
+
+namespace frc2 {
+
+void Wait(units::second_t seconds) {
+ std::this_thread::sleep_for(
+ std::chrono::duration<double>(seconds.to<double>()));
+}
+
+units::second_t GetTime() {
+ using std::chrono::duration;
+ using std::chrono::duration_cast;
+ using std::chrono::system_clock;
+
+ return units::second_t(
+ duration_cast<duration<double>>(system_clock::now().time_since_epoch())
+ .count());
+}
+
+} // namespace frc2
+
+using namespace frc2;
+
+// for compatibility with msvc12--see C2864
+const units::second_t Timer::kRolloverTime = units::second_t((1ll << 32) / 1e6);
+
+Timer::Timer() { Reset(); }
+
+Timer::Timer(const Timer& rhs)
+ : m_startTime(rhs.m_startTime),
+ m_accumulatedTime(rhs.m_accumulatedTime),
+ m_running(rhs.m_running) {}
+
+Timer& Timer::operator=(const Timer& rhs) {
+ std::scoped_lock lock(m_mutex, rhs.m_mutex);
+
+ m_startTime = rhs.m_startTime;
+ m_accumulatedTime = rhs.m_accumulatedTime;
+ m_running = rhs.m_running;
+
+ return *this;
+}
+
+Timer::Timer(Timer&& rhs)
+ : m_startTime(std::move(rhs.m_startTime)),
+ m_accumulatedTime(std::move(rhs.m_accumulatedTime)),
+ m_running(std::move(rhs.m_running)) {}
+
+Timer& Timer::operator=(Timer&& rhs) {
+ std::scoped_lock lock(m_mutex, rhs.m_mutex);
+
+ m_startTime = std::move(rhs.m_startTime);
+ m_accumulatedTime = std::move(rhs.m_accumulatedTime);
+ m_running = std::move(rhs.m_running);
+
+ return *this;
+}
+
+units::second_t Timer::Get() const {
+ units::second_t result;
+ units::second_t currentTime = GetFPGATimestamp();
+
+ std::scoped_lock lock(m_mutex);
+ if (m_running) {
+ // If the current time is before the start time, then the FPGA clock rolled
+ // over. Compensate by adding the ~71 minutes that it takes to roll over to
+ // the current time.
+ if (currentTime < m_startTime) {
+ currentTime += kRolloverTime;
+ }
+
+ result = (currentTime - m_startTime) + m_accumulatedTime;
+ } else {
+ result = m_accumulatedTime;
+ }
+
+ return result;
+}
+
+void Timer::Reset() {
+ std::scoped_lock lock(m_mutex);
+ m_accumulatedTime = 0_s;
+ m_startTime = GetFPGATimestamp();
+}
+
+void Timer::Start() {
+ std::scoped_lock lock(m_mutex);
+ if (!m_running) {
+ m_startTime = GetFPGATimestamp();
+ m_running = true;
+ }
+}
+
+void Timer::Stop() {
+ units::second_t temp = Get();
+
+ std::scoped_lock lock(m_mutex);
+ if (m_running) {
+ m_accumulatedTime = temp;
+ m_running = false;
+ }
+}
+
+bool Timer::HasPeriodPassed(units::second_t period) {
+ if (Get() > period) {
+ std::scoped_lock lock(m_mutex);
+ // Advance the start time by the period.
+ m_startTime += period;
+ // Don't set it to the current time... we want to avoid drift.
+ return true;
+ }
+ return false;
+}
+
+units::second_t Timer::GetFPGATimestamp() {
+ // FPGA returns the timestamp in microseconds
+ return units::second_t(frc::RobotController::GetFPGATime()) * 1.0e-6;
+}
+
+units::second_t Timer::GetMatchTime() {
+ return units::second_t(frc::DriverStation::GetInstance().GetMatchTime());
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/Command.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/Command.cpp
new file mode 100644
index 0000000..692879c
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/Command.cpp
@@ -0,0 +1,108 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc2/command/Command.h"
+
+#include <iostream>
+
+#include "frc2/command/CommandScheduler.h"
+#include "frc2/command/InstantCommand.h"
+#include "frc2/command/ParallelCommandGroup.h"
+#include "frc2/command/ParallelDeadlineGroup.h"
+#include "frc2/command/ParallelRaceGroup.h"
+#include "frc2/command/PerpetualCommand.h"
+#include "frc2/command/ProxyScheduleCommand.h"
+#include "frc2/command/SequentialCommandGroup.h"
+#include "frc2/command/WaitCommand.h"
+#include "frc2/command/WaitUntilCommand.h"
+
+using namespace frc2;
+
+Command::~Command() { CommandScheduler::GetInstance().Cancel(this); }
+
+Command::Command(const Command& rhs) : ErrorBase(rhs) {}
+
+Command& Command::operator=(const Command& rhs) {
+ ErrorBase::operator=(rhs);
+ m_isGrouped = false;
+ return *this;
+}
+
+void Command::Initialize() {}
+void Command::Execute() {}
+void Command::End(bool interrupted) {}
+
+ParallelRaceGroup Command::WithTimeout(units::second_t duration) && {
+ std::vector<std::unique_ptr<Command>> temp;
+ temp.emplace_back(std::make_unique<WaitCommand>(duration));
+ temp.emplace_back(std::move(*this).TransferOwnership());
+ return ParallelRaceGroup(std::move(temp));
+}
+
+ParallelRaceGroup Command::WithInterrupt(std::function<bool()> condition) && {
+ std::vector<std::unique_ptr<Command>> temp;
+ temp.emplace_back(std::make_unique<WaitUntilCommand>(std::move(condition)));
+ temp.emplace_back(std::move(*this).TransferOwnership());
+ return ParallelRaceGroup(std::move(temp));
+}
+
+SequentialCommandGroup Command::BeforeStarting(std::function<void()> toRun) && {
+ std::vector<std::unique_ptr<Command>> temp;
+ temp.emplace_back(std::make_unique<InstantCommand>(
+ std::move(toRun), std::initializer_list<Subsystem*>{}));
+ temp.emplace_back(std::move(*this).TransferOwnership());
+ return SequentialCommandGroup(std::move(temp));
+}
+
+SequentialCommandGroup Command::AndThen(std::function<void()> toRun) && {
+ std::vector<std::unique_ptr<Command>> temp;
+ temp.emplace_back(std::move(*this).TransferOwnership());
+ temp.emplace_back(std::make_unique<InstantCommand>(
+ std::move(toRun), std::initializer_list<Subsystem*>{}));
+ return SequentialCommandGroup(std::move(temp));
+}
+
+PerpetualCommand Command::Perpetually() && {
+ return PerpetualCommand(std::move(*this).TransferOwnership());
+}
+
+ProxyScheduleCommand Command::AsProxy() { return ProxyScheduleCommand(this); }
+
+void Command::Schedule(bool interruptible) {
+ CommandScheduler::GetInstance().Schedule(interruptible, this);
+}
+
+void Command::Cancel() { CommandScheduler::GetInstance().Cancel(this); }
+
+bool Command::IsScheduled() const {
+ return CommandScheduler::GetInstance().IsScheduled(this);
+}
+
+bool Command::HasRequirement(Subsystem* requirement) const {
+ bool hasRequirement = false;
+ for (auto&& subsystem : GetRequirements()) {
+ hasRequirement |= requirement == subsystem;
+ }
+ return hasRequirement;
+}
+
+std::string Command::GetName() const { return GetTypeName(*this); }
+
+bool Command::IsGrouped() const { return m_isGrouped; }
+
+void Command::SetGrouped(bool grouped) { m_isGrouped = grouped; }
+
+namespace frc2 {
+bool RequirementsDisjoint(Command* first, Command* second) {
+ bool disjoint = true;
+ auto&& requirements = second->GetRequirements();
+ for (auto&& requirement : first->GetRequirements()) {
+ disjoint &= requirements.find(requirement) == requirements.end();
+ }
+ return disjoint;
+}
+} // namespace frc2
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/CommandBase.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/CommandBase.cpp
new file mode 100644
index 0000000..aeba26b
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/CommandBase.cpp
@@ -0,0 +1,62 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc2/command/CommandBase.h"
+
+#include <frc/smartdashboard/SendableBuilder.h>
+#include <frc/smartdashboard/SendableRegistry.h>
+#include <frc2/command/CommandScheduler.h>
+#include <frc2/command/SetUtilities.h>
+
+using namespace frc2;
+
+CommandBase::CommandBase() {
+ frc::SendableRegistry::GetInstance().AddLW(this, GetTypeName(*this));
+}
+
+void CommandBase::AddRequirements(
+ std::initializer_list<Subsystem*> requirements) {
+ m_requirements.insert(requirements.begin(), requirements.end());
+}
+
+void CommandBase::AddRequirements(wpi::SmallSet<Subsystem*, 4> requirements) {
+ m_requirements.insert(requirements.begin(), requirements.end());
+}
+
+wpi::SmallSet<Subsystem*, 4> CommandBase::GetRequirements() const {
+ return m_requirements;
+}
+
+void CommandBase::SetName(const wpi::Twine& name) {
+ frc::SendableRegistry::GetInstance().SetName(this, name);
+}
+
+std::string CommandBase::GetName() const {
+ return frc::SendableRegistry::GetInstance().GetName(this);
+}
+
+std::string CommandBase::GetSubsystem() const {
+ return frc::SendableRegistry::GetInstance().GetSubsystem(this);
+}
+
+void CommandBase::SetSubsystem(const wpi::Twine& subsystem) {
+ frc::SendableRegistry::GetInstance().SetSubsystem(this, subsystem);
+}
+
+void CommandBase::InitSendable(frc::SendableBuilder& builder) {
+ builder.SetSmartDashboardType("Command");
+ builder.AddStringProperty(".name", [this] { return GetName(); }, nullptr);
+ builder.AddBooleanProperty("running", [this] { return IsScheduled(); },
+ [this](bool value) {
+ bool isScheduled = IsScheduled();
+ if (value && !isScheduled) {
+ Schedule();
+ } else if (!value && isScheduled) {
+ Cancel();
+ }
+ });
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/CommandGroupBase.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/CommandGroupBase.cpp
new file mode 100644
index 0000000..ba53397
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/CommandGroupBase.cpp
@@ -0,0 +1,60 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc2/command/CommandGroupBase.h"
+
+#include <set>
+
+#include "frc/WPIErrors.h"
+#include "frc2/command/ParallelCommandGroup.h"
+#include "frc2/command/ParallelDeadlineGroup.h"
+#include "frc2/command/ParallelRaceGroup.h"
+#include "frc2/command/SequentialCommandGroup.h"
+
+using namespace frc2;
+template <typename TMap, typename TKey>
+static bool ContainsKey(const TMap& map, TKey keyToCheck) {
+ return map.find(keyToCheck) != map.end();
+}
+bool CommandGroupBase::RequireUngrouped(Command& command) {
+ if (command.IsGrouped()) {
+ wpi_setGlobalWPIErrorWithContext(
+ CommandIllegalUse,
+ "Commands cannot be added to more than one CommandGroup");
+ return false;
+ } else {
+ return true;
+ }
+}
+
+bool CommandGroupBase::RequireUngrouped(
+ wpi::ArrayRef<std::unique_ptr<Command>> commands) {
+ bool allUngrouped = true;
+ for (auto&& command : commands) {
+ allUngrouped &= !command.get()->IsGrouped();
+ }
+ if (!allUngrouped) {
+ wpi_setGlobalWPIErrorWithContext(
+ CommandIllegalUse,
+ "Commands cannot be added to more than one CommandGroup");
+ }
+ return allUngrouped;
+}
+
+bool CommandGroupBase::RequireUngrouped(
+ std::initializer_list<Command*> commands) {
+ bool allUngrouped = true;
+ for (auto&& command : commands) {
+ allUngrouped &= !command->IsGrouped();
+ }
+ if (!allUngrouped) {
+ wpi_setGlobalWPIErrorWithContext(
+ CommandIllegalUse,
+ "Commands cannot be added to more than one CommandGroup");
+ }
+ return allUngrouped;
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/CommandScheduler.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/CommandScheduler.cpp
new file mode 100644
index 0000000..464a4a6
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/CommandScheduler.cpp
@@ -0,0 +1,346 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc2/command/CommandScheduler.h"
+
+#include <frc/RobotState.h>
+#include <frc/WPIErrors.h>
+#include <frc/commands/Scheduler.h>
+#include <frc/smartdashboard/SendableBuilder.h>
+#include <frc/smartdashboard/SendableRegistry.h>
+#include <frc2/command/CommandGroupBase.h>
+#include <frc2/command/Subsystem.h>
+
+#include <hal/HAL.h>
+
+using namespace frc2;
+template <typename TMap, typename TKey>
+static bool ContainsKey(const TMap& map, TKey keyToCheck) {
+ return map.find(keyToCheck) != map.end();
+}
+
+CommandScheduler::CommandScheduler() {
+ frc::SendableRegistry::GetInstance().AddLW(this, "Scheduler");
+}
+
+CommandScheduler& CommandScheduler::GetInstance() {
+ static CommandScheduler scheduler;
+ return scheduler;
+}
+
+void CommandScheduler::AddButton(wpi::unique_function<void()> button) {
+ m_buttons.emplace_back(std::move(button));
+}
+
+void CommandScheduler::ClearButtons() { m_buttons.clear(); }
+
+void CommandScheduler::Schedule(bool interruptible, Command* command) {
+ if (m_inRunLoop) {
+ m_toSchedule.try_emplace(command, interruptible);
+ return;
+ }
+
+ if (command->IsGrouped()) {
+ wpi_setWPIErrorWithContext(CommandIllegalUse,
+ "A command that is part of a command group "
+ "cannot be independently scheduled");
+ return;
+ }
+ if (m_disabled ||
+ (frc::RobotState::IsDisabled() && !command->RunsWhenDisabled()) ||
+ ContainsKey(m_scheduledCommands, command)) {
+ return;
+ }
+
+ const auto& requirements = command->GetRequirements();
+
+ wpi::SmallVector<Command*, 8> intersection;
+
+ bool isDisjoint = true;
+ bool allInterruptible = true;
+ for (auto&& i1 : m_requirements) {
+ if (requirements.find(i1.first) != requirements.end()) {
+ isDisjoint = false;
+ allInterruptible &= m_scheduledCommands[i1.second].IsInterruptible();
+ intersection.emplace_back(i1.second);
+ }
+ }
+
+ if (isDisjoint || allInterruptible) {
+ if (allInterruptible) {
+ for (auto&& cmdToCancel : intersection) {
+ Cancel(cmdToCancel);
+ }
+ }
+ command->Initialize();
+ m_scheduledCommands[command] = CommandState{interruptible};
+ for (auto&& action : m_initActions) {
+ action(*command);
+ }
+ for (auto&& requirement : requirements) {
+ m_requirements[requirement] = command;
+ }
+ }
+}
+
+void CommandScheduler::Schedule(Command* command) { Schedule(true, command); }
+
+void CommandScheduler::Schedule(bool interruptible,
+ wpi::ArrayRef<Command*> commands) {
+ for (auto command : commands) {
+ Schedule(interruptible, command);
+ }
+}
+
+void CommandScheduler::Schedule(bool interruptible,
+ std::initializer_list<Command*> commands) {
+ for (auto command : commands) {
+ Schedule(interruptible, command);
+ }
+}
+
+void CommandScheduler::Schedule(wpi::ArrayRef<Command*> commands) {
+ for (auto command : commands) {
+ Schedule(true, command);
+ }
+}
+
+void CommandScheduler::Schedule(std::initializer_list<Command*> commands) {
+ for (auto command : commands) {
+ Schedule(true, command);
+ }
+}
+
+void CommandScheduler::Run() {
+ if (m_disabled) {
+ return;
+ }
+
+ // Run the periodic method of all registered subsystems.
+ for (auto&& subsystem : m_subsystems) {
+ subsystem.getFirst()->Periodic();
+ }
+
+ // Poll buttons for new commands to add.
+ for (auto&& button : m_buttons) {
+ button();
+ }
+
+ m_inRunLoop = true;
+ // Run scheduled commands, remove finished commands.
+ for (auto iterator = m_scheduledCommands.begin();
+ iterator != m_scheduledCommands.end(); iterator++) {
+ Command* command = iterator->getFirst();
+
+ if (!command->RunsWhenDisabled() && frc::RobotState::IsDisabled()) {
+ Cancel(command);
+ continue;
+ }
+
+ command->Execute();
+ for (auto&& action : m_executeActions) {
+ action(*command);
+ }
+
+ if (command->IsFinished()) {
+ command->End(false);
+ for (auto&& action : m_finishActions) {
+ action(*command);
+ }
+
+ for (auto&& requirement : command->GetRequirements()) {
+ m_requirements.erase(requirement);
+ }
+
+ m_scheduledCommands.erase(iterator);
+ }
+ }
+ m_inRunLoop = false;
+
+ for (auto&& commandInterruptible : m_toSchedule) {
+ Schedule(commandInterruptible.second, commandInterruptible.first);
+ }
+
+ for (auto&& command : m_toCancel) {
+ Cancel(command);
+ }
+
+ m_toSchedule.clear();
+ m_toCancel.clear();
+
+ // Add default commands for un-required registered subsystems.
+ for (auto&& subsystem : m_subsystems) {
+ auto s = m_requirements.find(subsystem.getFirst());
+ if (s == m_requirements.end()) {
+ Schedule({subsystem.getSecond().get()});
+ }
+ }
+}
+
+void CommandScheduler::RegisterSubsystem(Subsystem* subsystem) {
+ m_subsystems[subsystem] = nullptr;
+}
+
+void CommandScheduler::UnregisterSubsystem(Subsystem* subsystem) {
+ auto s = m_subsystems.find(subsystem);
+ if (s != m_subsystems.end()) {
+ m_subsystems.erase(s);
+ }
+}
+
+void CommandScheduler::RegisterSubsystem(
+ std::initializer_list<Subsystem*> subsystems) {
+ for (auto* subsystem : subsystems) {
+ RegisterSubsystem(subsystem);
+ }
+}
+
+void CommandScheduler::UnregisterSubsystem(
+ std::initializer_list<Subsystem*> subsystems) {
+ for (auto* subsystem : subsystems) {
+ UnregisterSubsystem(subsystem);
+ }
+}
+
+Command* CommandScheduler::GetDefaultCommand(const Subsystem* subsystem) const {
+ auto&& find = m_subsystems.find(subsystem);
+ if (find != m_subsystems.end()) {
+ return find->second.get();
+ } else {
+ return nullptr;
+ }
+}
+
+void CommandScheduler::Cancel(Command* command) {
+ if (m_inRunLoop) {
+ m_toCancel.emplace_back(command);
+ return;
+ }
+
+ auto find = m_scheduledCommands.find(command);
+ if (find == m_scheduledCommands.end()) return;
+ command->End(true);
+ for (auto&& action : m_interruptActions) {
+ action(*command);
+ }
+ m_scheduledCommands.erase(find);
+ for (auto&& requirement : m_requirements) {
+ if (requirement.second == command) {
+ m_requirements.erase(requirement.first);
+ }
+ }
+}
+
+void CommandScheduler::Cancel(wpi::ArrayRef<Command*> commands) {
+ for (auto command : commands) {
+ Cancel(command);
+ }
+}
+
+void CommandScheduler::Cancel(std::initializer_list<Command*> commands) {
+ for (auto command : commands) {
+ Cancel(command);
+ }
+}
+
+void CommandScheduler::CancelAll() {
+ for (auto&& command : m_scheduledCommands) {
+ Cancel(command.first);
+ }
+}
+
+double CommandScheduler::TimeSinceScheduled(const Command* command) const {
+ auto find = m_scheduledCommands.find(command);
+ if (find != m_scheduledCommands.end()) {
+ return find->second.TimeSinceInitialized();
+ } else {
+ return -1;
+ }
+}
+bool CommandScheduler::IsScheduled(
+ wpi::ArrayRef<const Command*> commands) const {
+ for (auto command : commands) {
+ if (!IsScheduled(command)) {
+ return false;
+ }
+ }
+ return true;
+}
+
+bool CommandScheduler::IsScheduled(
+ std::initializer_list<const Command*> commands) const {
+ for (auto command : commands) {
+ if (!IsScheduled(command)) {
+ return false;
+ }
+ }
+ return true;
+}
+
+bool CommandScheduler::IsScheduled(const Command* command) const {
+ return m_scheduledCommands.find(command) != m_scheduledCommands.end();
+}
+
+Command* CommandScheduler::Requiring(const Subsystem* subsystem) const {
+ auto find = m_requirements.find(subsystem);
+ if (find != m_requirements.end()) {
+ return find->second;
+ } else {
+ return nullptr;
+ }
+}
+
+void CommandScheduler::Disable() { m_disabled = true; }
+
+void CommandScheduler::Enable() { m_disabled = false; }
+
+void CommandScheduler::OnCommandInitialize(Action action) {
+ m_initActions.emplace_back(std::move(action));
+}
+
+void CommandScheduler::OnCommandExecute(Action action) {
+ m_executeActions.emplace_back(std::move(action));
+}
+
+void CommandScheduler::OnCommandInterrupt(Action action) {
+ m_interruptActions.emplace_back(std::move(action));
+}
+
+void CommandScheduler::OnCommandFinish(Action action) {
+ m_finishActions.emplace_back(std::move(action));
+}
+
+void CommandScheduler::InitSendable(frc::SendableBuilder& builder) {
+ builder.SetSmartDashboardType("Scheduler");
+ m_namesEntry = builder.GetEntry("Names");
+ m_idsEntry = builder.GetEntry("Ids");
+ m_cancelEntry = builder.GetEntry("Cancel");
+
+ builder.SetUpdateTable([this] {
+ double tmp[1];
+ tmp[0] = 0;
+ auto toCancel = m_cancelEntry.GetDoubleArray(tmp);
+ for (auto cancel : toCancel) {
+ uintptr_t ptrTmp = static_cast<uintptr_t>(cancel);
+ Command* command = reinterpret_cast<Command*>(ptrTmp);
+ if (m_scheduledCommands.find(command) != m_scheduledCommands.end()) {
+ Cancel(command);
+ }
+ m_cancelEntry.SetDoubleArray(wpi::ArrayRef<double>{});
+ }
+
+ wpi::SmallVector<std::string, 8> names;
+ wpi::SmallVector<double, 8> ids;
+ for (auto&& command : m_scheduledCommands) {
+ names.emplace_back(command.first->GetName());
+ uintptr_t ptrTmp = reinterpret_cast<uintptr_t>(command.first);
+ ids.emplace_back(static_cast<double>(ptrTmp));
+ }
+ m_namesEntry.SetStringArray(names);
+ m_idsEntry.SetDoubleArray(ids);
+ });
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/CommandState.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/CommandState.cpp
new file mode 100644
index 0000000..78ae006
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/CommandState.cpp
@@ -0,0 +1,25 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc2/command/CommandState.h"
+
+#include "frc/Timer.h"
+
+using namespace frc2;
+CommandState::CommandState(bool interruptible)
+ : m_interruptible{interruptible} {
+ StartTiming();
+ StartRunning();
+}
+
+void CommandState::StartTiming() {
+ m_startTime = frc::Timer::GetFPGATimestamp();
+}
+void CommandState::StartRunning() { m_startTime = -1; }
+double CommandState::TimeSinceInitialized() const {
+ return m_startTime != -1 ? frc::Timer::GetFPGATimestamp() - m_startTime : -1;
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/ConditionalCommand.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/ConditionalCommand.cpp
new file mode 100644
index 0000000..2344513
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/ConditionalCommand.cpp
@@ -0,0 +1,52 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc2/command/ConditionalCommand.h"
+
+using namespace frc2;
+
+ConditionalCommand::ConditionalCommand(std::unique_ptr<Command>&& onTrue,
+ std::unique_ptr<Command>&& onFalse,
+ std::function<bool()> condition)
+ : m_condition{std::move(condition)} {
+ if (!CommandGroupBase::RequireUngrouped({onTrue.get(), onFalse.get()})) {
+ return;
+ }
+
+ m_onTrue = std::move(onTrue);
+ m_onFalse = std::move(onFalse);
+
+ m_onTrue->SetGrouped(true);
+ m_onFalse->SetGrouped(true);
+
+ m_runsWhenDisabled &= m_onTrue->RunsWhenDisabled();
+ m_runsWhenDisabled &= m_onFalse->RunsWhenDisabled();
+
+ AddRequirements(m_onTrue->GetRequirements());
+ AddRequirements(m_onFalse->GetRequirements());
+}
+
+void ConditionalCommand::Initialize() {
+ if (m_condition()) {
+ m_selectedCommand = m_onTrue.get();
+ } else {
+ m_selectedCommand = m_onFalse.get();
+ }
+ m_selectedCommand->Initialize();
+}
+
+void ConditionalCommand::Execute() { m_selectedCommand->Execute(); }
+
+void ConditionalCommand::End(bool interrupted) {
+ m_selectedCommand->End(interrupted);
+}
+
+bool ConditionalCommand::IsFinished() {
+ return m_selectedCommand->IsFinished();
+}
+
+bool ConditionalCommand::RunsWhenDisabled() const { return m_runsWhenDisabled; }
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/FunctionalCommand.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/FunctionalCommand.cpp
new file mode 100644
index 0000000..63c3179
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/FunctionalCommand.cpp
@@ -0,0 +1,27 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc2/command/FunctionalCommand.h"
+
+using namespace frc2;
+
+FunctionalCommand::FunctionalCommand(std::function<void()> onInit,
+ std::function<void()> onExecute,
+ std::function<void(bool)> onEnd,
+ std::function<bool()> isFinished)
+ : m_onInit{std::move(onInit)},
+ m_onExecute{std::move(onExecute)},
+ m_onEnd{std::move(onEnd)},
+ m_isFinished{std::move(isFinished)} {}
+
+void FunctionalCommand::Initialize() { m_onInit(); }
+
+void FunctionalCommand::Execute() { m_onExecute(); }
+
+void FunctionalCommand::End(bool interrupted) { m_onEnd(interrupted); }
+
+bool FunctionalCommand::IsFinished() { return m_isFinished(); }
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/InstantCommand.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/InstantCommand.cpp
new file mode 100644
index 0000000..b199074
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/InstantCommand.cpp
@@ -0,0 +1,22 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc2/command/InstantCommand.h"
+
+using namespace frc2;
+
+InstantCommand::InstantCommand(std::function<void()> toRun,
+ std::initializer_list<Subsystem*> requirements)
+ : m_toRun{std::move(toRun)} {
+ AddRequirements(requirements);
+}
+
+InstantCommand::InstantCommand() : m_toRun{[] {}} {}
+
+void InstantCommand::Initialize() { m_toRun(); }
+
+bool InstantCommand::IsFinished() { return true; }
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/NotifierCommand.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/NotifierCommand.cpp
new file mode 100644
index 0000000..c4eac81
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/NotifierCommand.cpp
@@ -0,0 +1,33 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc2/command/NotifierCommand.h"
+
+using namespace frc2;
+
+NotifierCommand::NotifierCommand(std::function<void()> toRun,
+ units::second_t period,
+ std::initializer_list<Subsystem*> requirements)
+ : m_toRun(toRun), m_notifier{std::move(toRun)}, m_period{period} {
+ AddRequirements(requirements);
+}
+
+NotifierCommand::NotifierCommand(NotifierCommand&& other)
+ : CommandHelper(std::move(other)),
+ m_toRun(other.m_toRun),
+ m_notifier(other.m_toRun),
+ m_period(other.m_period) {}
+
+NotifierCommand::NotifierCommand(const NotifierCommand& other)
+ : CommandHelper(other),
+ m_toRun(other.m_toRun),
+ m_notifier(frc::Notifier(other.m_toRun)),
+ m_period(other.m_period) {}
+
+void NotifierCommand::Initialize() { m_notifier.StartPeriodic(m_period); }
+
+void NotifierCommand::End(bool interrupted) { m_notifier.Stop(); }
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/PIDCommand.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/PIDCommand.cpp
new file mode 100644
index 0000000..4391e60
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/PIDCommand.cpp
@@ -0,0 +1,59 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc2/command/PIDCommand.h"
+
+using namespace frc2;
+
+PIDCommand::PIDCommand(PIDController controller,
+ std::function<double()> measurementSource,
+ std::function<double()> setpointSource,
+ std::function<void(double)> useOutput,
+ std::initializer_list<Subsystem*> requirements)
+ : m_controller{controller},
+ m_measurement{std::move(measurementSource)},
+ m_setpoint{std::move(setpointSource)},
+ m_useOutput{std::move(useOutput)} {
+ AddRequirements(requirements);
+}
+
+PIDCommand::PIDCommand(PIDController controller,
+ std::function<double()> measurementSource,
+ double setpoint, std::function<void(double)> useOutput,
+ std::initializer_list<Subsystem*> requirements)
+ : PIDCommand(controller, measurementSource, [setpoint] { return setpoint; },
+ useOutput, requirements) {}
+
+void PIDCommand::Initialize() { m_controller.Reset(); }
+
+void PIDCommand::Execute() {
+ UseOutput(m_controller.Calculate(GetMeasurement(), m_setpoint()));
+}
+
+void PIDCommand::End(bool interrupted) { UseOutput(0); }
+
+void PIDCommand::SetOutput(std::function<void(double)> useOutput) {
+ m_useOutput = useOutput;
+}
+
+void PIDCommand::SetSetpoint(std::function<double()> setpointSource) {
+ m_setpoint = setpointSource;
+}
+
+void PIDCommand::SetSetpoint(double setpoint) {
+ m_setpoint = [setpoint] { return setpoint; };
+}
+
+void PIDCommand::SetSetpointRelative(double relativeSetpoint) {
+ SetSetpoint(m_setpoint() + relativeSetpoint);
+}
+
+double PIDCommand::GetMeasurement() { return m_measurement(); }
+
+void PIDCommand::UseOutput(double output) { m_useOutput(output); }
+
+PIDController& PIDCommand::getController() { return m_controller; }
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/PIDSubsystem.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/PIDSubsystem.cpp
new file mode 100644
index 0000000..b81f6f6
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/PIDSubsystem.cpp
@@ -0,0 +1,31 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc2/command/PIDSubsystem.h"
+
+using namespace frc2;
+
+PIDSubsystem::PIDSubsystem(PIDController controller)
+ : m_controller{controller} {}
+
+void PIDSubsystem::Periodic() {
+ if (m_enabled) {
+ UseOutput(m_controller.Calculate(GetMeasurement(), GetSetpoint()));
+ }
+}
+
+void PIDSubsystem::Enable() {
+ m_controller.Reset();
+ m_enabled = true;
+}
+
+void PIDSubsystem::Disable() {
+ UseOutput(0);
+ m_enabled = false;
+}
+
+PIDController& PIDSubsystem::GetController() { return m_controller; }
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/ParallelCommandGroup.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/ParallelCommandGroup.cpp
new file mode 100644
index 0000000..d8a4159
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/ParallelCommandGroup.cpp
@@ -0,0 +1,83 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc2/command/ParallelCommandGroup.h"
+
+using namespace frc2;
+
+ParallelCommandGroup::ParallelCommandGroup(
+ std::vector<std::unique_ptr<Command>>&& commands) {
+ AddCommands(std::move(commands));
+}
+
+void ParallelCommandGroup::Initialize() {
+ for (auto& commandRunning : m_commands) {
+ commandRunning.first->Initialize();
+ commandRunning.second = true;
+ }
+ isRunning = true;
+}
+
+void ParallelCommandGroup::Execute() {
+ for (auto& commandRunning : m_commands) {
+ if (!commandRunning.second) continue;
+ commandRunning.first->Execute();
+ if (commandRunning.first->IsFinished()) {
+ commandRunning.first->End(false);
+ commandRunning.second = false;
+ }
+ }
+}
+
+void ParallelCommandGroup::End(bool interrupted) {
+ if (interrupted) {
+ for (auto& commandRunning : m_commands) {
+ if (commandRunning.second) {
+ commandRunning.first->End(true);
+ }
+ }
+ }
+ isRunning = false;
+}
+
+bool ParallelCommandGroup::IsFinished() {
+ for (auto& command : m_commands) {
+ if (command.second) return false;
+ }
+ return true;
+}
+
+bool ParallelCommandGroup::RunsWhenDisabled() const {
+ return m_runWhenDisabled;
+}
+
+void ParallelCommandGroup::AddCommands(
+ std::vector<std::unique_ptr<Command>>&& commands) {
+ for (auto&& command : commands) {
+ if (!RequireUngrouped(*command)) return;
+ }
+
+ if (isRunning) {
+ wpi_setWPIErrorWithContext(CommandIllegalUse,
+ "Commands cannot be added to a CommandGroup "
+ "while the group is running");
+ }
+
+ for (auto&& command : commands) {
+ if (RequirementsDisjoint(this, command.get())) {
+ command->SetGrouped(true);
+ AddRequirements(command->GetRequirements());
+ m_runWhenDisabled &= command->RunsWhenDisabled();
+ m_commands[std::move(command)] = false;
+ } else {
+ wpi_setWPIErrorWithContext(CommandIllegalUse,
+ "Multiple commands in a parallel group cannot "
+ "require the same subsystems");
+ return;
+ }
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp
new file mode 100644
index 0000000..d967e67
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp
@@ -0,0 +1,86 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc2/command/ParallelDeadlineGroup.h"
+
+using namespace frc2;
+
+ParallelDeadlineGroup::ParallelDeadlineGroup(
+ std::unique_ptr<Command>&& deadline,
+ std::vector<std::unique_ptr<Command>>&& commands) {
+ SetDeadline(std::move(deadline));
+ AddCommands(std::move(commands));
+}
+
+void ParallelDeadlineGroup::Initialize() {
+ for (auto& commandRunning : m_commands) {
+ commandRunning.first->Initialize();
+ commandRunning.second = true;
+ }
+ isRunning = true;
+}
+
+void ParallelDeadlineGroup::Execute() {
+ for (auto& commandRunning : m_commands) {
+ if (!commandRunning.second) continue;
+ commandRunning.first->Execute();
+ if (commandRunning.first->IsFinished()) {
+ commandRunning.first->End(false);
+ commandRunning.second = false;
+ }
+ }
+}
+
+void ParallelDeadlineGroup::End(bool interrupted) {
+ for (auto& commandRunning : m_commands) {
+ if (commandRunning.second) {
+ commandRunning.first->End(true);
+ }
+ }
+ isRunning = false;
+}
+
+bool ParallelDeadlineGroup::IsFinished() { return m_deadline->IsFinished(); }
+
+bool ParallelDeadlineGroup::RunsWhenDisabled() const {
+ return m_runWhenDisabled;
+}
+
+void ParallelDeadlineGroup::AddCommands(
+ std::vector<std::unique_ptr<Command>>&& commands) {
+ if (!RequireUngrouped(commands)) {
+ return;
+ }
+
+ if (isRunning) {
+ wpi_setWPIErrorWithContext(CommandIllegalUse,
+ "Commands cannot be added to a CommandGroup "
+ "while the group is running");
+ }
+
+ for (auto&& command : commands) {
+ if (RequirementsDisjoint(this, command.get())) {
+ command->SetGrouped(true);
+ AddRequirements(command->GetRequirements());
+ m_runWhenDisabled &= command->RunsWhenDisabled();
+ m_commands[std::move(command)] = false;
+ } else {
+ wpi_setWPIErrorWithContext(CommandIllegalUse,
+ "Multiple commands in a parallel group cannot "
+ "require the same subsystems");
+ return;
+ }
+ }
+}
+
+void ParallelDeadlineGroup::SetDeadline(std::unique_ptr<Command>&& deadline) {
+ m_deadline = deadline.get();
+ m_deadline->SetGrouped(true);
+ m_commands[std::move(deadline)] = false;
+ AddRequirements(m_deadline->GetRequirements());
+ m_runWhenDisabled &= m_deadline->RunsWhenDisabled();
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp
new file mode 100644
index 0000000..8a02717
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp
@@ -0,0 +1,69 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc2/command/ParallelRaceGroup.h"
+
+using namespace frc2;
+
+ParallelRaceGroup::ParallelRaceGroup(
+ std::vector<std::unique_ptr<Command>>&& commands) {
+ AddCommands(std::move(commands));
+}
+
+void ParallelRaceGroup::Initialize() {
+ for (auto& commandRunning : m_commands) {
+ commandRunning->Initialize();
+ }
+ isRunning = true;
+}
+
+void ParallelRaceGroup::Execute() {
+ for (auto& commandRunning : m_commands) {
+ commandRunning->Execute();
+ if (commandRunning->IsFinished()) {
+ m_finished = true;
+ }
+ }
+}
+
+void ParallelRaceGroup::End(bool interrupted) {
+ for (auto& commandRunning : m_commands) {
+ commandRunning->End(!commandRunning->IsFinished());
+ }
+ isRunning = false;
+}
+
+bool ParallelRaceGroup::IsFinished() { return m_finished; }
+
+bool ParallelRaceGroup::RunsWhenDisabled() const { return m_runWhenDisabled; }
+
+void ParallelRaceGroup::AddCommands(
+ std::vector<std::unique_ptr<Command>>&& commands) {
+ if (!RequireUngrouped(commands)) {
+ return;
+ }
+
+ if (isRunning) {
+ wpi_setWPIErrorWithContext(CommandIllegalUse,
+ "Commands cannot be added to a CommandGroup "
+ "while the group is running");
+ }
+
+ for (auto&& command : commands) {
+ if (RequirementsDisjoint(this, command.get())) {
+ command->SetGrouped(true);
+ AddRequirements(command->GetRequirements());
+ m_runWhenDisabled &= command->RunsWhenDisabled();
+ m_commands.emplace(std::move(command));
+ } else {
+ wpi_setWPIErrorWithContext(CommandIllegalUse,
+ "Multiple commands in a parallel group cannot "
+ "require the same subsystems");
+ return;
+ }
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/PerpetualCommand.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/PerpetualCommand.cpp
new file mode 100644
index 0000000..f29850b
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/PerpetualCommand.cpp
@@ -0,0 +1,25 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc2/command/PerpetualCommand.h"
+
+using namespace frc2;
+
+PerpetualCommand::PerpetualCommand(std::unique_ptr<Command>&& command) {
+ if (!CommandGroupBase::RequireUngrouped(command)) {
+ return;
+ }
+ m_command = std::move(command);
+ m_command->SetGrouped(true);
+ AddRequirements(m_command->GetRequirements());
+}
+
+void PerpetualCommand::Initialize() { m_command->Initialize(); }
+
+void PerpetualCommand::Execute() { m_command->Execute(); }
+
+void PerpetualCommand::End(bool interrupted) { m_command->End(interrupted); }
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/PrintCommand.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/PrintCommand.cpp
new file mode 100644
index 0000000..8bd62ea
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/PrintCommand.cpp
@@ -0,0 +1,16 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc2/command/PrintCommand.h"
+
+using namespace frc2;
+
+PrintCommand::PrintCommand(const wpi::Twine& message)
+ : CommandHelper{[str = message.str()] { wpi::outs() << str << "\n"; }, {}} {
+}
+
+bool PrintCommand::RunsWhenDisabled() const { return true; }
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/ProfiledPIDCommand.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/ProfiledPIDCommand.cpp
new file mode 100644
index 0000000..c0cc19b
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/ProfiledPIDCommand.cpp
@@ -0,0 +1,73 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc2/command/ProfiledPIDCommand.h"
+
+using namespace frc2;
+using State = frc::TrapezoidProfile::State;
+
+ProfiledPIDCommand::ProfiledPIDCommand(
+ frc::ProfiledPIDController controller,
+ std::function<units::meter_t()> measurementSource,
+ std::function<State()> goalSource,
+ std::function<void(double, State)> useOutput,
+ std::initializer_list<Subsystem*> requirements)
+ : m_controller{controller},
+ m_measurement{std::move(measurementSource)},
+ m_goal{std::move(goalSource)},
+ m_useOutput{std::move(useOutput)} {
+ AddRequirements(requirements);
+}
+
+ProfiledPIDCommand::ProfiledPIDCommand(
+ frc::ProfiledPIDController controller,
+ std::function<units::meter_t()> measurementSource,
+ std::function<units::meter_t()> goalSource,
+ std::function<void(double, State)> useOutput,
+ std::initializer_list<Subsystem*> requirements)
+ : ProfiledPIDCommand(controller, measurementSource,
+ [&goalSource]() {
+ return State{goalSource(), 0_mps};
+ },
+ useOutput, requirements) {}
+
+ProfiledPIDCommand::ProfiledPIDCommand(
+ frc::ProfiledPIDController controller,
+ std::function<units::meter_t()> measurementSource, State goal,
+ std::function<void(double, State)> useOutput,
+ std::initializer_list<Subsystem*> requirements)
+ : ProfiledPIDCommand(controller, measurementSource, [goal] { return goal; },
+ useOutput, requirements) {}
+
+ProfiledPIDCommand::ProfiledPIDCommand(
+ frc::ProfiledPIDController controller,
+ std::function<units::meter_t()> measurementSource, units::meter_t goal,
+ std::function<void(double, State)> useOutput,
+ std::initializer_list<Subsystem*> requirements)
+ : ProfiledPIDCommand(controller, measurementSource, [goal] { return goal; },
+ useOutput, requirements) {}
+
+void ProfiledPIDCommand::Initialize() { m_controller.Reset(); }
+
+void ProfiledPIDCommand::Execute() {
+ UseOutput(m_controller.Calculate(GetMeasurement(), m_goal()),
+ m_controller.GetSetpoint());
+}
+
+void ProfiledPIDCommand::End(bool interrupted) {
+ UseOutput(0, State{0_m, 0_mps});
+}
+
+units::meter_t ProfiledPIDCommand::GetMeasurement() { return m_measurement(); }
+
+void ProfiledPIDCommand::UseOutput(double output, State state) {
+ m_useOutput(output, state);
+}
+
+frc::ProfiledPIDController& ProfiledPIDCommand::GetController() {
+ return m_controller;
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/ProfiledPIDSubsystem.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/ProfiledPIDSubsystem.cpp
new file mode 100644
index 0000000..469e153
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/ProfiledPIDSubsystem.cpp
@@ -0,0 +1,36 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc2/command/ProfiledPIDSubsystem.h"
+
+using namespace frc2;
+using State = frc::TrapezoidProfile::State;
+
+ProfiledPIDSubsystem::ProfiledPIDSubsystem(
+ frc::ProfiledPIDController controller)
+ : m_controller{controller} {}
+
+void ProfiledPIDSubsystem::Periodic() {
+ if (m_enabled) {
+ UseOutput(m_controller.Calculate(GetMeasurement(), GetGoal()),
+ m_controller.GetSetpoint());
+ }
+}
+
+void ProfiledPIDSubsystem::Enable() {
+ m_controller.Reset();
+ m_enabled = true;
+}
+
+void ProfiledPIDSubsystem::Disable() {
+ UseOutput(0, State{0_m, 0_mps});
+ m_enabled = false;
+}
+
+frc::ProfiledPIDController& ProfiledPIDSubsystem::GetController() {
+ return m_controller;
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/ProxyScheduleCommand.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/ProxyScheduleCommand.cpp
new file mode 100644
index 0000000..6f96315
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/ProxyScheduleCommand.cpp
@@ -0,0 +1,37 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc2/command/ProxyScheduleCommand.h"
+
+using namespace frc2;
+
+ProxyScheduleCommand::ProxyScheduleCommand(wpi::ArrayRef<Command*> toSchedule) {
+ SetInsert(m_toSchedule, toSchedule);
+}
+
+void ProxyScheduleCommand::Initialize() {
+ for (auto* command : m_toSchedule) {
+ command->Schedule();
+ }
+}
+
+void ProxyScheduleCommand::End(bool interrupted) {
+ if (interrupted) {
+ for (auto* command : m_toSchedule) {
+ command->Cancel();
+ }
+ }
+}
+
+void ProxyScheduleCommand::Execute() {
+ m_finished = true;
+ for (auto* command : m_toSchedule) {
+ m_finished &= !command->IsScheduled();
+ }
+}
+
+bool ProxyScheduleCommand::IsFinished() { return m_finished; }
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/RamseteCommand.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/RamseteCommand.cpp
new file mode 100644
index 0000000..0de739e
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/RamseteCommand.cpp
@@ -0,0 +1,113 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc2/command/RamseteCommand.h"
+
+using namespace frc2;
+using namespace units;
+
+template <typename T>
+int sgn(T val) {
+ return (T(0) < val) - (val < T(0));
+}
+
+RamseteCommand::RamseteCommand(
+ frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
+ frc::RamseteController controller, volt_t ks,
+ units::unit_t<voltsecondspermeter> kv,
+ units::unit_t<voltsecondssquaredpermeter> ka,
+ frc::DifferentialDriveKinematics kinematics,
+ std::function<units::meters_per_second_t()> leftSpeed,
+ std::function<units::meters_per_second_t()> rightSpeed,
+ frc2::PIDController leftController, frc2::PIDController rightController,
+ std::function<void(volt_t, volt_t)> output,
+ std::initializer_list<Subsystem*> requirements)
+ : m_trajectory(trajectory),
+ m_pose(pose),
+ m_controller(controller),
+ m_ks(ks),
+ m_kv(kv),
+ m_ka(ka),
+ m_kinematics(kinematics),
+ m_leftSpeed(leftSpeed),
+ m_rightSpeed(rightSpeed),
+ m_leftController(std::make_unique<frc2::PIDController>(leftController)),
+ m_rightController(std::make_unique<frc2::PIDController>(rightController)),
+ m_outputVolts(output) {
+ AddRequirements(requirements);
+}
+
+RamseteCommand::RamseteCommand(
+ frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
+ frc::RamseteController controller,
+ frc::DifferentialDriveKinematics kinematics,
+ std::function<void(units::meters_per_second_t, units::meters_per_second_t)>
+ output,
+ std::initializer_list<Subsystem*> requirements)
+ : m_trajectory(trajectory),
+ m_pose(pose),
+ m_controller(controller),
+ m_ks(0),
+ m_kv(0),
+ m_ka(0),
+ m_kinematics(kinematics),
+ m_outputVel(output) {
+ AddRequirements(requirements);
+}
+
+void RamseteCommand::Initialize() {
+ m_prevTime = 0_s;
+ auto initialState = m_trajectory.Sample(0_s);
+ m_prevSpeeds = m_kinematics.ToWheelSpeeds(
+ frc::ChassisSpeeds{initialState.velocity, 0_mps,
+ initialState.velocity * initialState.curvature});
+ m_timer.Reset();
+ m_timer.Start();
+ m_leftController->Reset();
+ m_rightController->Reset();
+}
+
+void RamseteCommand::Execute() {
+ auto curTime = m_timer.Get();
+ auto dt = curTime - m_prevTime;
+
+ auto targetWheelSpeeds = m_kinematics.ToWheelSpeeds(
+ m_controller.Calculate(m_pose(), m_trajectory.Sample(curTime)));
+
+ if (m_leftController.get() != nullptr) {
+ auto leftFeedforward =
+ m_ks * sgn(targetWheelSpeeds.left) + m_kv * targetWheelSpeeds.left +
+ m_ka * (targetWheelSpeeds.left - m_prevSpeeds.left) / dt;
+
+ auto rightFeedforward =
+ m_ks * sgn(targetWheelSpeeds.right) + m_kv * targetWheelSpeeds.right +
+ m_ka * (targetWheelSpeeds.right - m_prevSpeeds.right) / dt;
+
+ auto leftOutput =
+ volt_t(m_leftController->Calculate(
+ m_leftSpeed().to<double>(), targetWheelSpeeds.left.to<double>())) +
+ leftFeedforward;
+
+ auto rightOutput = volt_t(m_rightController->Calculate(
+ m_rightSpeed().to<double>(),
+ targetWheelSpeeds.right.to<double>())) +
+ rightFeedforward;
+
+ m_outputVolts(leftOutput, rightOutput);
+ } else {
+ m_outputVel(targetWheelSpeeds.left, targetWheelSpeeds.right);
+ }
+
+ m_prevTime = curTime;
+ m_prevSpeeds = targetWheelSpeeds;
+}
+
+void RamseteCommand::End(bool interrupted) { m_timer.Stop(); }
+
+bool RamseteCommand::IsFinished() {
+ return m_timer.HasPeriodPassed(m_trajectory.TotalTime());
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/RunCommand.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/RunCommand.cpp
new file mode 100644
index 0000000..5c2c755
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/RunCommand.cpp
@@ -0,0 +1,18 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc2/command/RunCommand.h"
+
+using namespace frc2;
+
+RunCommand::RunCommand(std::function<void()> toRun,
+ std::initializer_list<Subsystem*> requirements)
+ : m_toRun{std::move(toRun)} {
+ AddRequirements(requirements);
+}
+
+void RunCommand::Execute() { m_toRun(); }
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/ScheduleCommand.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/ScheduleCommand.cpp
new file mode 100644
index 0000000..ea1ea8d
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/ScheduleCommand.cpp
@@ -0,0 +1,24 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc2/command/ScheduleCommand.h"
+
+using namespace frc2;
+
+ScheduleCommand::ScheduleCommand(wpi::ArrayRef<Command*> toSchedule) {
+ SetInsert(m_toSchedule, toSchedule);
+}
+
+void ScheduleCommand::Initialize() {
+ for (auto command : m_toSchedule) {
+ command->Schedule();
+ }
+}
+
+bool ScheduleCommand::IsFinished() { return true; }
+
+bool ScheduleCommand::RunsWhenDisabled() const { return true; }
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp
new file mode 100644
index 0000000..1aa19e4
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp
@@ -0,0 +1,75 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc2/command/SequentialCommandGroup.h"
+
+using namespace frc2;
+
+SequentialCommandGroup::SequentialCommandGroup(
+ std::vector<std::unique_ptr<Command>>&& commands) {
+ AddCommands(std::move(commands));
+}
+
+void SequentialCommandGroup::Initialize() {
+ m_currentCommandIndex = 0;
+
+ if (!m_commands.empty()) {
+ m_commands[0]->Initialize();
+ }
+}
+
+void SequentialCommandGroup::Execute() {
+ if (m_commands.empty()) return;
+
+ auto& currentCommand = m_commands[m_currentCommandIndex];
+
+ currentCommand->Execute();
+ if (currentCommand->IsFinished()) {
+ currentCommand->End(false);
+ m_currentCommandIndex++;
+ if (m_currentCommandIndex < m_commands.size()) {
+ m_commands[m_currentCommandIndex]->Initialize();
+ }
+ }
+}
+
+void SequentialCommandGroup::End(bool interrupted) {
+ if (interrupted && !m_commands.empty() &&
+ m_currentCommandIndex != invalid_index &&
+ m_currentCommandIndex < m_commands.size()) {
+ m_commands[m_currentCommandIndex]->End(interrupted);
+ }
+ m_currentCommandIndex = invalid_index;
+}
+
+bool SequentialCommandGroup::IsFinished() {
+ return m_currentCommandIndex == m_commands.size();
+}
+
+bool SequentialCommandGroup::RunsWhenDisabled() const {
+ return m_runWhenDisabled;
+}
+
+void SequentialCommandGroup::AddCommands(
+ std::vector<std::unique_ptr<Command>>&& commands) {
+ if (!RequireUngrouped(commands)) {
+ return;
+ }
+
+ if (m_currentCommandIndex != invalid_index) {
+ wpi_setWPIErrorWithContext(CommandIllegalUse,
+ "Commands cannot be added to a CommandGroup "
+ "while the group is running");
+ }
+
+ for (auto&& command : commands) {
+ command->SetGrouped(true);
+ AddRequirements(command->GetRequirements());
+ m_runWhenDisabled &= command->RunsWhenDisabled();
+ m_commands.emplace_back(std::move(command));
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/StartEndCommand.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/StartEndCommand.cpp
new file mode 100644
index 0000000..33407bf
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/StartEndCommand.cpp
@@ -0,0 +1,27 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc2/command/StartEndCommand.h"
+
+using namespace frc2;
+
+StartEndCommand::StartEndCommand(std::function<void()> onInit,
+ std::function<void()> onEnd,
+ std::initializer_list<Subsystem*> requirements)
+ : m_onInit{std::move(onInit)}, m_onEnd{std::move(onEnd)} {
+ AddRequirements(requirements);
+}
+
+StartEndCommand::StartEndCommand(const StartEndCommand& other)
+ : CommandHelper(other) {
+ m_onInit = other.m_onInit;
+ m_onEnd = other.m_onEnd;
+}
+
+void StartEndCommand::Initialize() { m_onInit(); }
+
+void StartEndCommand::End(bool interrupted) { m_onEnd(); }
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/Subsystem.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/Subsystem.cpp
new file mode 100644
index 0000000..cccb55b
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/Subsystem.cpp
@@ -0,0 +1,27 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc2/command/Subsystem.h"
+
+using namespace frc2;
+Subsystem::~Subsystem() {
+ CommandScheduler::GetInstance().UnregisterSubsystem(this);
+}
+
+void Subsystem::Periodic() {}
+
+Command* Subsystem::GetDefaultCommand() const {
+ return CommandScheduler::GetInstance().GetDefaultCommand(this);
+}
+
+Command* Subsystem::GetCurrentCommand() const {
+ return CommandScheduler::GetInstance().Requiring(this);
+}
+
+void Subsystem::Register() {
+ return CommandScheduler::GetInstance().RegisterSubsystem(this);
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/SubsystemBase.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/SubsystemBase.cpp
new file mode 100644
index 0000000..226f080
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/SubsystemBase.cpp
@@ -0,0 +1,66 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc2/command/SubsystemBase.h"
+
+#include <frc/smartdashboard/SendableBuilder.h>
+#include <frc/smartdashboard/SendableRegistry.h>
+#include <frc2/command/Command.h>
+#include <frc2/command/CommandScheduler.h>
+
+using namespace frc2;
+
+SubsystemBase::SubsystemBase() {
+ frc::SendableRegistry::GetInstance().AddLW(this, GetTypeName(*this));
+ CommandScheduler::GetInstance().RegisterSubsystem({this});
+}
+
+void SubsystemBase::InitSendable(frc::SendableBuilder& builder) {
+ builder.SetSmartDashboardType("Subsystem");
+ builder.AddBooleanProperty(".hasDefault",
+ [this] { return GetDefaultCommand() != nullptr; },
+ nullptr);
+ builder.AddStringProperty(".default",
+ [this]() -> std::string {
+ auto command = GetDefaultCommand();
+ if (command == nullptr) return "none";
+ return command->GetName();
+ },
+ nullptr);
+ builder.AddBooleanProperty(".hasCommand",
+ [this] { return GetCurrentCommand() != nullptr; },
+ nullptr);
+ builder.AddStringProperty(".command",
+ [this]() -> std::string {
+ auto command = GetCurrentCommand();
+ if (command == nullptr) return "none";
+ return command->GetName();
+ },
+ nullptr);
+}
+
+std::string SubsystemBase::GetName() const {
+ return frc::SendableRegistry::GetInstance().GetName(this);
+}
+
+void SubsystemBase::SetName(const wpi::Twine& name) {
+ frc::SendableRegistry::GetInstance().SetName(this, name);
+}
+
+std::string SubsystemBase::GetSubsystem() const {
+ return frc::SendableRegistry::GetInstance().GetSubsystem(this);
+}
+
+void SubsystemBase::SetSubsystem(const wpi::Twine& name) {
+ frc::SendableRegistry::GetInstance().SetSubsystem(this, name);
+}
+
+void SubsystemBase::AddChild(std::string name, frc::Sendable* child) {
+ auto& registry = frc::SendableRegistry::GetInstance();
+ registry.AddLW(child, GetSubsystem(), name);
+ registry.AddChild(this, child);
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/TrapezoidProfileCommand.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/TrapezoidProfileCommand.cpp
new file mode 100644
index 0000000..bb17edc
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/TrapezoidProfileCommand.cpp
@@ -0,0 +1,35 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc2/command/TrapezoidProfileCommand.h"
+
+#include <units/units.h>
+
+using namespace frc2;
+
+TrapezoidProfileCommand::TrapezoidProfileCommand(
+ frc::TrapezoidProfile profile,
+ std::function<void(frc::TrapezoidProfile::State)> output,
+ std::initializer_list<Subsystem*> requirements)
+ : m_profile(profile), m_output(output) {
+ AddRequirements(requirements);
+}
+
+void TrapezoidProfileCommand::Initialize() {
+ m_timer.Reset();
+ m_timer.Start();
+}
+
+void TrapezoidProfileCommand::Execute() {
+ m_output(m_profile.Calculate(m_timer.Get()));
+}
+
+void TrapezoidProfileCommand::End(bool interrupted) { m_timer.Stop(); }
+
+bool TrapezoidProfileCommand::IsFinished() {
+ return m_timer.HasPeriodPassed(m_profile.TotalTime());
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/WaitCommand.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/WaitCommand.cpp
new file mode 100644
index 0000000..1279d66
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/WaitCommand.cpp
@@ -0,0 +1,26 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc2/command/WaitCommand.h"
+
+using namespace frc2;
+
+WaitCommand::WaitCommand(units::second_t duration) : m_duration{duration} {
+ auto durationStr = std::to_string(duration.to<double>());
+ SetName(wpi::Twine(GetName()) + ": " + wpi::Twine(durationStr) + " seconds");
+}
+
+void WaitCommand::Initialize() {
+ m_timer.Reset();
+ m_timer.Start();
+}
+
+void WaitCommand::End(bool interrupted) { m_timer.Stop(); }
+
+bool WaitCommand::IsFinished() { return m_timer.HasPeriodPassed(m_duration); }
+
+bool WaitCommand::RunsWhenDisabled() const { return true; }
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/WaitUntilCommand.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/WaitUntilCommand.cpp
new file mode 100644
index 0000000..d7a0daf
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/WaitUntilCommand.cpp
@@ -0,0 +1,20 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc2/command/WaitUntilCommand.h"
+
+using namespace frc2;
+
+WaitUntilCommand::WaitUntilCommand(std::function<bool()> condition)
+ : m_condition{std::move(condition)} {}
+
+WaitUntilCommand::WaitUntilCommand(double time)
+ : m_condition{[=] { return frc::Timer::GetMatchTime() - time > 0; }} {}
+
+bool WaitUntilCommand::IsFinished() { return m_condition(); }
+
+bool WaitUntilCommand::RunsWhenDisabled() const { return true; }
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/button/Button.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/button/Button.cpp
new file mode 100644
index 0000000..e519a9f
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/button/Button.cpp
@@ -0,0 +1,57 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc2/command/button/Button.h"
+
+using namespace frc2;
+
+Button::Button(std::function<bool()> isPressed) : Trigger(isPressed) {}
+
+Button Button::WhenPressed(Command* command, bool interruptible) {
+ WhenActive(command, interruptible);
+ return *this;
+}
+
+Button Button::WhenPressed(std::function<void()> toRun) {
+ WhenActive(std::move(toRun));
+ return *this;
+}
+
+Button Button::WhileHeld(Command* command, bool interruptible) {
+ WhileActiveContinous(command, interruptible);
+ return *this;
+}
+
+Button Button::WhileHeld(std::function<void()> toRun) {
+ WhileActiveContinous(std::move(toRun));
+ return *this;
+}
+
+Button Button::WhenHeld(Command* command, bool interruptible) {
+ WhileActiveOnce(command, interruptible);
+ return *this;
+}
+
+Button Button::WhenReleased(Command* command, bool interruptible) {
+ WhenInactive(command, interruptible);
+ return *this;
+}
+
+Button Button::WhenReleased(std::function<void()> toRun) {
+ WhenInactive(std::move(toRun));
+ return *this;
+}
+
+Button Button::ToggleWhenPressed(Command* command, bool interruptible) {
+ ToggleWhenActive(command, interruptible);
+ return *this;
+}
+
+Button Button::CancelWhenPressed(Command* command) {
+ CancelWhenActive(command);
+ return *this;
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/button/Trigger.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/button/Trigger.cpp
new file mode 100644
index 0000000..304bf98
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/frc2/command/button/Trigger.cpp
@@ -0,0 +1,119 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc2/command/button/Trigger.h"
+
+#include <frc2/command/InstantCommand.h>
+
+using namespace frc2;
+
+Trigger::Trigger(const Trigger& other) : m_isActive(other.m_isActive) {}
+
+Trigger Trigger::WhenActive(Command* command, bool interruptible) {
+ CommandScheduler::GetInstance().AddButton(
+ [pressedLast = Get(), *this, command, interruptible]() mutable {
+ bool pressed = Get();
+
+ if (!pressedLast && pressed) {
+ command->Schedule(interruptible);
+ }
+
+ pressedLast = pressed;
+ });
+
+ return *this;
+}
+
+Trigger Trigger::WhenActive(std::function<void()> toRun) {
+ return WhenActive(InstantCommand(std::move(toRun), {}));
+}
+
+Trigger Trigger::WhileActiveContinous(Command* command, bool interruptible) {
+ CommandScheduler::GetInstance().AddButton(
+ [pressedLast = Get(), *this, command, interruptible]() mutable {
+ bool pressed = Get();
+
+ if (pressed) {
+ command->Schedule(interruptible);
+ } else if (pressedLast && !pressed) {
+ command->Cancel();
+ }
+
+ pressedLast = pressed;
+ });
+ return *this;
+}
+
+Trigger Trigger::WhileActiveContinous(std::function<void()> toRun) {
+ return WhileActiveContinous(InstantCommand(std::move(toRun), {}));
+}
+
+Trigger Trigger::WhileActiveOnce(Command* command, bool interruptible) {
+ CommandScheduler::GetInstance().AddButton(
+ [pressedLast = Get(), *this, command, interruptible]() mutable {
+ bool pressed = Get();
+
+ if (!pressedLast && pressed) {
+ command->Schedule(interruptible);
+ } else if (pressedLast && !pressed) {
+ command->Cancel();
+ }
+
+ pressedLast = pressed;
+ });
+ return *this;
+}
+
+Trigger Trigger::WhenInactive(Command* command, bool interruptible) {
+ CommandScheduler::GetInstance().AddButton(
+ [pressedLast = Get(), *this, command, interruptible]() mutable {
+ bool pressed = Get();
+
+ if (pressedLast && !pressed) {
+ command->Schedule(interruptible);
+ }
+
+ pressedLast = pressed;
+ });
+ return *this;
+}
+
+Trigger Trigger::WhenInactive(std::function<void()> toRun) {
+ return WhenInactive(InstantCommand(std::move(toRun), {}));
+}
+
+Trigger Trigger::ToggleWhenActive(Command* command, bool interruptible) {
+ CommandScheduler::GetInstance().AddButton(
+ [pressedLast = Get(), *this, command, interruptible]() mutable {
+ bool pressed = Get();
+
+ if (!pressedLast && pressed) {
+ if (command->IsScheduled()) {
+ command->Cancel();
+ } else {
+ command->Schedule(interruptible);
+ }
+ }
+
+ pressedLast = pressed;
+ });
+ return *this;
+}
+
+Trigger Trigger::CancelWhenActive(Command* command) {
+ CommandScheduler::GetInstance().AddButton(
+ [pressedLast = Get(), *this, command]() mutable {
+ bool pressed = Get();
+
+ if (!pressedLast && pressed) {
+ command->Cancel();
+ }
+
+ pressedLast = pressed;
+ });
+ return *this;
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/geometry/Pose2d.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/geometry/Pose2d.cpp
new file mode 100644
index 0000000..42d20f7
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/geometry/Pose2d.cpp
@@ -0,0 +1,98 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/geometry/Pose2d.h"
+
+#include <cmath>
+
+using namespace frc;
+
+Pose2d::Pose2d(Translation2d translation, Rotation2d rotation)
+ : m_translation(translation), m_rotation(rotation) {}
+
+Pose2d::Pose2d(units::meter_t x, units::meter_t y, Rotation2d rotation)
+ : m_translation(x, y), m_rotation(rotation) {}
+
+Pose2d Pose2d::operator+(const Transform2d& other) const {
+ return TransformBy(other);
+}
+
+Pose2d& Pose2d::operator+=(const Transform2d& other) {
+ m_translation += other.Translation().RotateBy(m_rotation);
+ m_rotation += other.Rotation();
+ return *this;
+}
+
+Transform2d Pose2d::operator-(const Pose2d& other) const {
+ const auto pose = this->RelativeTo(other);
+ return Transform2d(pose.Translation(), pose.Rotation());
+}
+
+bool Pose2d::operator==(const Pose2d& other) const {
+ return m_translation == other.m_translation && m_rotation == other.m_rotation;
+}
+
+bool Pose2d::operator!=(const Pose2d& other) const {
+ return !operator==(other);
+}
+
+Pose2d Pose2d::TransformBy(const Transform2d& other) const {
+ return {m_translation + (other.Translation().RotateBy(m_rotation)),
+ m_rotation + other.Rotation()};
+}
+
+Pose2d Pose2d::RelativeTo(const Pose2d& other) const {
+ const Transform2d transform{other, *this};
+ return {transform.Translation(), transform.Rotation()};
+}
+
+Pose2d Pose2d::Exp(const Twist2d& twist) const {
+ const auto dx = twist.dx;
+ const auto dy = twist.dy;
+ const auto dtheta = twist.dtheta.to<double>();
+
+ const auto sinTheta = std::sin(dtheta);
+ const auto cosTheta = std::cos(dtheta);
+
+ double s, c;
+ if (std::abs(dtheta) < 1E-9) {
+ s = 1.0 - 1.0 / 6.0 * dtheta * dtheta;
+ c = 0.5 * dtheta;
+ } else {
+ s = sinTheta / dtheta;
+ c = (1 - cosTheta) / dtheta;
+ }
+
+ const Transform2d transform{Translation2d{dx * s - dy * c, dx * c + dy * s},
+ Rotation2d{cosTheta, sinTheta}};
+
+ return *this + transform;
+}
+
+Twist2d Pose2d::Log(const Pose2d& end) const {
+ const auto transform = end.RelativeTo(*this);
+ const auto dtheta = transform.Rotation().Radians().to<double>();
+ const auto halfDtheta = dtheta / 2.0;
+
+ const auto cosMinusOne = transform.Rotation().Cos() - 1;
+
+ double halfThetaByTanOfHalfDtheta;
+
+ if (std::abs(cosMinusOne) < 1E-9) {
+ halfThetaByTanOfHalfDtheta = 1.0 - 1.0 / 12.0 * dtheta * dtheta;
+ } else {
+ halfThetaByTanOfHalfDtheta =
+ -(halfDtheta * transform.Rotation().Sin()) / cosMinusOne;
+ }
+
+ const Translation2d translationPart =
+ transform.Translation().RotateBy(
+ {halfThetaByTanOfHalfDtheta, -halfDtheta}) *
+ std::hypot(halfThetaByTanOfHalfDtheta, halfDtheta);
+
+ return {translationPart.X(), translationPart.Y(), units::radian_t(dtheta)};
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/geometry/Rotation2d.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/geometry/Rotation2d.cpp
new file mode 100644
index 0000000..2723442
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/geometry/Rotation2d.cpp
@@ -0,0 +1,70 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/geometry/Rotation2d.h"
+
+#include <cmath>
+
+using namespace frc;
+
+Rotation2d::Rotation2d(units::radian_t value)
+ : m_value(value),
+ m_cos(units::math::cos(value)),
+ m_sin(units::math::sin(value)) {}
+
+Rotation2d::Rotation2d(double x, double y) {
+ const auto magnitude = std::hypot(x, y);
+ if (magnitude > 1e-6) {
+ m_sin = y / magnitude;
+ m_cos = x / magnitude;
+ } else {
+ m_sin = 0.0;
+ m_cos = 1.0;
+ }
+ m_value = units::radian_t(std::atan2(m_sin, m_cos));
+}
+
+Rotation2d Rotation2d::operator+(const Rotation2d& other) const {
+ return RotateBy(other);
+}
+
+Rotation2d& Rotation2d::operator+=(const Rotation2d& other) {
+ double cos = Cos() * other.Cos() - Sin() * other.Sin();
+ double sin = Cos() * other.Sin() + Sin() * other.Cos();
+ m_cos = cos;
+ m_sin = sin;
+ m_value = units::radian_t(std::atan2(m_sin, m_cos));
+ return *this;
+}
+
+Rotation2d Rotation2d::operator-(const Rotation2d& other) const {
+ return *this + -other;
+}
+
+Rotation2d& Rotation2d::operator-=(const Rotation2d& other) {
+ *this += -other;
+ return *this;
+}
+
+Rotation2d Rotation2d::operator-() const { return Rotation2d(-m_value); }
+
+Rotation2d Rotation2d::operator*(double scalar) const {
+ return Rotation2d(m_value * scalar);
+}
+
+bool Rotation2d::operator==(const Rotation2d& other) const {
+ return units::math::abs(m_value - other.m_value) < 1E-9_rad;
+}
+
+bool Rotation2d::operator!=(const Rotation2d& other) const {
+ return !operator==(other);
+}
+
+Rotation2d Rotation2d::RotateBy(const Rotation2d& other) const {
+ return {Cos() * other.Cos() - Sin() * other.Sin(),
+ Cos() * other.Sin() + Sin() * other.Cos()};
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/geometry/Transform2d.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/geometry/Transform2d.cpp
new file mode 100644
index 0000000..04f0419
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/geometry/Transform2d.cpp
@@ -0,0 +1,33 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/geometry/Transform2d.h"
+
+#include "frc/geometry/Pose2d.h"
+
+using namespace frc;
+
+Transform2d::Transform2d(Pose2d initial, Pose2d final) {
+ // We are rotating the difference between the translations
+ // using a clockwise rotation matrix. This transforms the global
+ // delta into a local delta (relative to the initial pose).
+ m_translation = (final.Translation() - initial.Translation())
+ .RotateBy(-initial.Rotation());
+
+ m_rotation = final.Rotation() - initial.Rotation();
+}
+
+Transform2d::Transform2d(Translation2d translation, Rotation2d rotation)
+ : m_translation(translation), m_rotation(rotation) {}
+
+bool Transform2d::operator==(const Transform2d& other) const {
+ return m_translation == other.m_translation && m_rotation == other.m_rotation;
+}
+
+bool Transform2d::operator!=(const Transform2d& other) const {
+ return !operator==(other);
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/geometry/Translation2d.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/geometry/Translation2d.cpp
new file mode 100644
index 0000000..ca287d1
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/geometry/Translation2d.cpp
@@ -0,0 +1,75 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/geometry/Translation2d.h"
+
+using namespace frc;
+
+Translation2d::Translation2d(units::meter_t x, units::meter_t y)
+ : m_x(x), m_y(y) {}
+
+units::meter_t Translation2d::Distance(const Translation2d& other) const {
+ return units::math::hypot(other.m_x - m_x, other.m_y - m_y);
+}
+
+units::meter_t Translation2d::Norm() const {
+ return units::math::hypot(m_x, m_y);
+}
+
+Translation2d Translation2d::RotateBy(const Rotation2d& other) const {
+ return {m_x * other.Cos() - m_y * other.Sin(),
+ m_x * other.Sin() + m_y * other.Cos()};
+}
+
+Translation2d Translation2d::operator+(const Translation2d& other) const {
+ return {X() + other.X(), Y() + other.Y()};
+}
+
+Translation2d& Translation2d::operator+=(const Translation2d& other) {
+ m_x += other.m_x;
+ m_y += other.m_y;
+ return *this;
+}
+
+Translation2d Translation2d::operator-(const Translation2d& other) const {
+ return *this + -other;
+}
+
+Translation2d& Translation2d::operator-=(const Translation2d& other) {
+ *this += -other;
+ return *this;
+}
+
+Translation2d Translation2d::operator-() const { return {-m_x, -m_y}; }
+
+Translation2d Translation2d::operator*(double scalar) const {
+ return {scalar * m_x, scalar * m_y};
+}
+
+Translation2d& Translation2d::operator*=(double scalar) {
+ m_x *= scalar;
+ m_y *= scalar;
+ return *this;
+}
+
+Translation2d Translation2d::operator/(double scalar) const {
+ return *this * (1.0 / scalar);
+}
+
+bool Translation2d::operator==(const Translation2d& other) const {
+ return units::math::abs(m_x - other.m_x) < 1E-9_m &&
+ units::math::abs(m_y - other.m_y) < 1E-9_m;
+}
+
+bool Translation2d::operator!=(const Translation2d& other) const {
+ return !operator==(other);
+}
+
+Translation2d& Translation2d::operator/=(double scalar) {
+ *this *= (1.0 / scalar);
+ return *this;
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/kinematics/DifferentialDriveKinematics.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/kinematics/DifferentialDriveKinematics.cpp
new file mode 100644
index 0000000..8301481
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/kinematics/DifferentialDriveKinematics.cpp
@@ -0,0 +1,26 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/kinematics/DifferentialDriveKinematics.h"
+
+using namespace frc;
+
+DifferentialDriveKinematics::DifferentialDriveKinematics(
+ units::meter_t trackWidth)
+ : m_trackWidth(trackWidth) {}
+
+ChassisSpeeds DifferentialDriveKinematics::ToChassisSpeeds(
+ const DifferentialDriveWheelSpeeds& wheelSpeeds) const {
+ return {(wheelSpeeds.left + wheelSpeeds.right) / 2.0, 0_mps,
+ (wheelSpeeds.right - wheelSpeeds.left) / m_trackWidth * 1_rad};
+}
+
+DifferentialDriveWheelSpeeds DifferentialDriveKinematics::ToWheelSpeeds(
+ const ChassisSpeeds& chassisSpeeds) const {
+ return {chassisSpeeds.vx - m_trackWidth / 2 * chassisSpeeds.omega / 1_rad,
+ chassisSpeeds.vx + m_trackWidth / 2 * chassisSpeeds.omega / 1_rad};
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/kinematics/DifferentialDriveOdometry.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/kinematics/DifferentialDriveOdometry.cpp
new file mode 100644
index 0000000..418dd0f
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/kinematics/DifferentialDriveOdometry.cpp
@@ -0,0 +1,35 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/kinematics/DifferentialDriveOdometry.h"
+
+using namespace frc;
+
+DifferentialDriveOdometry::DifferentialDriveOdometry(
+ DifferentialDriveKinematics kinematics, const Pose2d& initialPose)
+ : m_kinematics(kinematics), m_pose(initialPose) {
+ m_previousAngle = m_pose.Rotation();
+}
+
+const Pose2d& DifferentialDriveOdometry::UpdateWithTime(
+ units::second_t currentTime, const Rotation2d& angle,
+ const DifferentialDriveWheelSpeeds& wheelSpeeds) {
+ units::second_t deltaTime =
+ (m_previousTime >= 0_s) ? currentTime - m_previousTime : 0_s;
+ m_previousTime = currentTime;
+
+ auto [dx, dy, dtheta] = m_kinematics.ToChassisSpeeds(wheelSpeeds);
+ static_cast<void>(dtheta);
+
+ auto newPose = m_pose.Exp(
+ {dx * deltaTime, dy * deltaTime, (angle - m_previousAngle).Radians()});
+
+ m_previousAngle = angle;
+ m_pose = {newPose.Translation(), angle};
+
+ return m_pose;
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/kinematics/DifferentialDriveWheelSpeeds.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/kinematics/DifferentialDriveWheelSpeeds.cpp
new file mode 100644
index 0000000..5b13f0e
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/kinematics/DifferentialDriveWheelSpeeds.cpp
@@ -0,0 +1,21 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/kinematics/DifferentialDriveWheelSpeeds.h"
+
+using namespace frc;
+
+void DifferentialDriveWheelSpeeds::Normalize(
+ units::meters_per_second_t attainableMaxSpeed) {
+ auto realMaxSpeed =
+ units::math::max(units::math::abs(left), units::math::abs(right));
+
+ if (realMaxSpeed > attainableMaxSpeed) {
+ left = left / realMaxSpeed * attainableMaxSpeed;
+ right = right / realMaxSpeed * attainableMaxSpeed;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/kinematics/MecanumDriveKinematics.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/kinematics/MecanumDriveKinematics.cpp
new file mode 100644
index 0000000..cf6ebb5
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/kinematics/MecanumDriveKinematics.cpp
@@ -0,0 +1,68 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/kinematics/MecanumDriveKinematics.h"
+
+using namespace frc;
+
+MecanumDriveWheelSpeeds MecanumDriveKinematics::ToWheelSpeeds(
+ const ChassisSpeeds& chassisSpeeds, const Translation2d& centerOfRotation) {
+ // We have a new center of rotation. We need to compute the matrix again.
+ if (centerOfRotation != m_previousCoR) {
+ auto fl = m_frontLeftWheel - centerOfRotation;
+ auto fr = m_frontRightWheel - centerOfRotation;
+ auto rl = m_rearLeftWheel - centerOfRotation;
+ auto rr = m_rearRightWheel - centerOfRotation;
+
+ SetInverseKinematics(fl, fr, rl, rr);
+
+ m_previousCoR = centerOfRotation;
+ }
+
+ Eigen::Vector3d chassisSpeedsVector;
+ chassisSpeedsVector << chassisSpeeds.vx.to<double>(),
+ chassisSpeeds.vy.to<double>(), chassisSpeeds.omega.to<double>();
+
+ Eigen::Matrix<double, 4, 1> wheelsMatrix =
+ m_inverseKinematics * chassisSpeedsVector;
+
+ MecanumDriveWheelSpeeds wheelSpeeds;
+ wheelSpeeds.frontLeft = units::meters_per_second_t{wheelsMatrix(0, 0)};
+ wheelSpeeds.frontRight = units::meters_per_second_t{wheelsMatrix(1, 0)};
+ wheelSpeeds.rearLeft = units::meters_per_second_t{wheelsMatrix(2, 0)};
+ wheelSpeeds.rearRight = units::meters_per_second_t{wheelsMatrix(3, 0)};
+ return wheelSpeeds;
+}
+
+ChassisSpeeds MecanumDriveKinematics::ToChassisSpeeds(
+ const MecanumDriveWheelSpeeds& wheelSpeeds) {
+ Eigen::Matrix<double, 4, 1> wheelSpeedsMatrix;
+ // clang-format off
+ wheelSpeedsMatrix << wheelSpeeds.frontLeft.to<double>(), wheelSpeeds.frontRight.to<double>(),
+ wheelSpeeds.rearLeft.to<double>(), wheelSpeeds.rearRight.to<double>();
+ // clang-format on
+
+ Eigen::Vector3d chassisSpeedsVector =
+ m_forwardKinematics.solve(wheelSpeedsMatrix);
+
+ return {units::meters_per_second_t{chassisSpeedsVector(0)},
+ units::meters_per_second_t{chassisSpeedsVector(1)},
+ units::radians_per_second_t{chassisSpeedsVector(2)}};
+}
+
+void MecanumDriveKinematics::SetInverseKinematics(Translation2d fl,
+ Translation2d fr,
+ Translation2d rl,
+ Translation2d rr) {
+ // clang-format off
+ m_inverseKinematics << 1, -1, (-(fl.X() + fl.Y())).template to<double>(),
+ 1, 1, (fr.X() - fr.Y()).template to<double>(),
+ 1, 1, (rl.X() - rl.Y()).template to<double>(),
+ 1, -1, (-(rr.X() + rr.Y())).template to<double>();
+ // clang-format on
+ m_inverseKinematics /= std::sqrt(2);
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/kinematics/MecanumDriveOdometry.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/kinematics/MecanumDriveOdometry.cpp
new file mode 100644
index 0000000..18e5635
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/kinematics/MecanumDriveOdometry.cpp
@@ -0,0 +1,35 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/kinematics/MecanumDriveOdometry.h"
+
+using namespace frc;
+
+MecanumDriveOdometry::MecanumDriveOdometry(MecanumDriveKinematics kinematics,
+ const Pose2d& initialPose)
+ : m_kinematics(kinematics), m_pose(initialPose) {
+ m_previousAngle = m_pose.Rotation();
+}
+
+const Pose2d& MecanumDriveOdometry::UpdateWithTime(
+ units::second_t currentTime, const Rotation2d& angle,
+ MecanumDriveWheelSpeeds wheelSpeeds) {
+ units::second_t deltaTime =
+ (m_previousTime >= 0_s) ? currentTime - m_previousTime : 0_s;
+ m_previousTime = currentTime;
+
+ auto [dx, dy, dtheta] = m_kinematics.ToChassisSpeeds(wheelSpeeds);
+ static_cast<void>(dtheta);
+
+ auto newPose = m_pose.Exp(
+ {dx * deltaTime, dy * deltaTime, (angle - m_previousAngle).Radians()});
+
+ m_previousAngle = angle;
+ m_pose = {newPose.Translation(), angle};
+
+ return m_pose;
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/kinematics/MecanumDriveWheelSpeeds.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/kinematics/MecanumDriveWheelSpeeds.cpp
new file mode 100644
index 0000000..1641ba8
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/kinematics/MecanumDriveWheelSpeeds.cpp
@@ -0,0 +1,34 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/kinematics/MecanumDriveWheelSpeeds.h"
+
+#include <algorithm>
+#include <array>
+#include <cmath>
+
+using namespace frc;
+
+void MecanumDriveWheelSpeeds::Normalize(
+ units::meters_per_second_t attainableMaxSpeed) {
+ std::array<units::meters_per_second_t, 4> wheelSpeeds{frontLeft, frontRight,
+ rearLeft, rearRight};
+ units::meters_per_second_t realMaxSpeed = *std::max_element(
+ wheelSpeeds.begin(), wheelSpeeds.end(), [](const auto& a, const auto& b) {
+ return units::math::abs(a) < units::math::abs(b);
+ });
+
+ if (realMaxSpeed > attainableMaxSpeed) {
+ for (int i = 0; i < 4; ++i) {
+ wheelSpeeds[i] = wheelSpeeds[i] / realMaxSpeed * attainableMaxSpeed;
+ }
+ frontLeft = wheelSpeeds[0];
+ frontRight = wheelSpeeds[1];
+ rearLeft = wheelSpeeds[2];
+ rearRight = wheelSpeeds[3];
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/livewindow/LiveWindow.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/livewindow/LiveWindow.cpp
index 135d044..1f011f5 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/livewindow/LiveWindow.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/livewindow/LiveWindow.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2012-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2012-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,18 +7,14 @@
#include "frc/livewindow/LiveWindow.h"
-#include <algorithm>
-
#include <networktables/NetworkTable.h>
#include <networktables/NetworkTableEntry.h>
#include <networktables/NetworkTableInstance.h>
-#include <wpi/DenseMap.h>
-#include <wpi/SmallString.h>
#include <wpi/mutex.h>
-#include <wpi/raw_ostream.h>
#include "frc/commands/Scheduler.h"
#include "frc/smartdashboard/SendableBuilderImpl.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -28,16 +24,14 @@
Impl();
struct Component {
- std::shared_ptr<Sendable> sendable;
- Sendable* parent = nullptr;
- SendableBuilderImpl builder;
bool firstTime = true;
bool telemetryEnabled = true;
};
wpi::mutex mutex;
- wpi::DenseMap<void*, Component> components;
+ SendableRegistry& registry;
+ int dataHandle;
std::shared_ptr<nt::NetworkTable> liveWindowTable;
std::shared_ptr<nt::NetworkTable> statusTable;
@@ -46,133 +40,64 @@
bool startLiveWindow = false;
bool liveWindowEnabled = false;
bool telemetryEnabled = true;
+
+ std::shared_ptr<Component> GetOrAdd(Sendable* sendable);
};
LiveWindow::Impl::Impl()
- : liveWindowTable(
+ : registry(SendableRegistry::GetInstance()),
+ dataHandle(registry.GetDataHandle()),
+ liveWindowTable(
nt::NetworkTableInstance::GetDefault().GetTable("LiveWindow")) {
statusTable = liveWindowTable->GetSubTable(".status");
enabledEntry = statusTable->GetEntry("LW Enabled");
}
+std::shared_ptr<LiveWindow::Impl::Component> LiveWindow::Impl::GetOrAdd(
+ Sendable* sendable) {
+ auto data = std::static_pointer_cast<Component>(
+ registry.GetData(sendable, dataHandle));
+ if (!data) {
+ data = std::make_shared<Component>();
+ registry.SetData(sendable, dataHandle, data);
+ }
+ return data;
+}
+
LiveWindow* LiveWindow::GetInstance() {
static LiveWindow instance;
return &instance;
}
-void LiveWindow::Run() { UpdateValues(); }
-
-void LiveWindow::AddSensor(const wpi::Twine& subsystem, const wpi::Twine& name,
- Sendable* component) {
- Add(component);
- component->SetName(subsystem, name);
-}
-
-void LiveWindow::AddSensor(const wpi::Twine& subsystem, const wpi::Twine& name,
- Sendable& component) {
- Add(&component);
- component.SetName(subsystem, name);
-}
-
-void LiveWindow::AddSensor(const wpi::Twine& subsystem, const wpi::Twine& name,
- std::shared_ptr<Sendable> component) {
- Add(component);
- component->SetName(subsystem, name);
-}
-
-void LiveWindow::AddActuator(const wpi::Twine& subsystem,
- const wpi::Twine& name, Sendable* component) {
- Add(component);
- component->SetName(subsystem, name);
-}
-
-void LiveWindow::AddActuator(const wpi::Twine& subsystem,
- const wpi::Twine& name, Sendable& component) {
- Add(&component);
- component.SetName(subsystem, name);
-}
-
-void LiveWindow::AddActuator(const wpi::Twine& subsystem,
- const wpi::Twine& name,
- std::shared_ptr<Sendable> component) {
- Add(component);
- component->SetName(subsystem, name);
-}
-
-void LiveWindow::AddSensor(const wpi::Twine& type, int channel,
- Sendable* component) {
- Add(component);
- component->SetName("Ungrouped",
- type + Twine('[') + Twine(channel) + Twine(']'));
-}
-
-void LiveWindow::AddActuator(const wpi::Twine& type, int channel,
- Sendable* component) {
- Add(component);
- component->SetName("Ungrouped",
- type + Twine('[') + Twine(channel) + Twine(']'));
-}
-
-void LiveWindow::AddActuator(const wpi::Twine& type, int module, int channel,
- Sendable* component) {
- Add(component);
- component->SetName("Ungrouped", type + Twine('[') + Twine(module) +
- Twine(',') + Twine(channel) + Twine(']'));
-}
-
-void LiveWindow::Add(std::shared_ptr<Sendable> sendable) {
- std::lock_guard<wpi::mutex> lock(m_impl->mutex);
- auto& comp = m_impl->components[sendable.get()];
- comp.sendable = sendable;
-}
-
-void LiveWindow::Add(Sendable* sendable) {
- Add(std::shared_ptr<Sendable>(sendable, NullDeleter<Sendable>()));
-}
-
-void LiveWindow::AddChild(Sendable* parent, std::shared_ptr<Sendable> child) {
- AddChild(parent, child.get());
-}
-
-void LiveWindow::AddChild(Sendable* parent, void* child) {
- std::lock_guard<wpi::mutex> lock(m_impl->mutex);
- auto& comp = m_impl->components[child];
- comp.parent = parent;
- comp.telemetryEnabled = false;
-}
-
-void LiveWindow::Remove(Sendable* sendable) {
- std::lock_guard<wpi::mutex> lock(m_impl->mutex);
- m_impl->components.erase(sendable);
-}
-
void LiveWindow::EnableTelemetry(Sendable* sendable) {
- std::lock_guard<wpi::mutex> lock(m_impl->mutex);
+ std::scoped_lock lock(m_impl->mutex);
// Re-enable global setting in case DisableAllTelemetry() was called.
m_impl->telemetryEnabled = true;
- auto i = m_impl->components.find(sendable);
- if (i != m_impl->components.end()) i->getSecond().telemetryEnabled = true;
+ m_impl->GetOrAdd(sendable)->telemetryEnabled = true;
}
void LiveWindow::DisableTelemetry(Sendable* sendable) {
- std::lock_guard<wpi::mutex> lock(m_impl->mutex);
- auto i = m_impl->components.find(sendable);
- if (i != m_impl->components.end()) i->getSecond().telemetryEnabled = false;
+ std::scoped_lock lock(m_impl->mutex);
+ m_impl->GetOrAdd(sendable)->telemetryEnabled = false;
}
void LiveWindow::DisableAllTelemetry() {
- std::lock_guard<wpi::mutex> lock(m_impl->mutex);
+ std::scoped_lock lock(m_impl->mutex);
m_impl->telemetryEnabled = false;
- for (auto& i : m_impl->components) i.getSecond().telemetryEnabled = false;
+ m_impl->registry.ForeachLiveWindow(m_impl->dataHandle, [&](auto& cbdata) {
+ if (!cbdata.data) cbdata.data = std::make_shared<Impl::Component>();
+ std::static_pointer_cast<Impl::Component>(cbdata.data)->telemetryEnabled =
+ false;
+ });
}
bool LiveWindow::IsEnabled() const {
- std::lock_guard<wpi::mutex> lock(m_impl->mutex);
+ std::scoped_lock lock(m_impl->mutex);
return m_impl->liveWindowEnabled;
}
void LiveWindow::SetEnabled(bool enabled) {
- std::lock_guard<wpi::mutex> lock(m_impl->mutex);
+ std::scoped_lock lock(m_impl->mutex);
if (m_impl->liveWindowEnabled == enabled) return;
Scheduler* scheduler = Scheduler::GetInstance();
m_impl->startLiveWindow = enabled;
@@ -183,16 +108,16 @@
scheduler->SetEnabled(false);
scheduler->RemoveAll();
} else {
- for (auto& i : m_impl->components) {
- i.getSecond().builder.StopLiveWindowMode();
- }
+ m_impl->registry.ForeachLiveWindow(m_impl->dataHandle, [&](auto& cbdata) {
+ cbdata.builder.StopLiveWindowMode();
+ });
scheduler->SetEnabled(true);
}
m_impl->enabledEntry.SetBoolean(enabled);
}
void LiveWindow::UpdateValues() {
- std::lock_guard<wpi::mutex> lock(m_impl->mutex);
+ std::scoped_lock lock(m_impl->mutex);
UpdateValuesUnsafe();
}
@@ -200,37 +125,39 @@
// Only do this if either LiveWindow mode or telemetry is enabled.
if (!m_impl->liveWindowEnabled && !m_impl->telemetryEnabled) return;
- for (auto& i : m_impl->components) {
- auto& comp = i.getSecond();
- if (comp.sendable && !comp.parent &&
- (m_impl->liveWindowEnabled || comp.telemetryEnabled)) {
- if (comp.firstTime) {
- // By holding off creating the NetworkTable entries, it allows the
- // components to be redefined. This allows default sensor and actuator
- // values to be created that are replaced with the custom names from
- // users calling setName.
- auto name = comp.sendable->GetName();
- if (name.empty()) continue;
- auto subsystem = comp.sendable->GetSubsystem();
- auto ssTable = m_impl->liveWindowTable->GetSubTable(subsystem);
- std::shared_ptr<NetworkTable> table;
- // Treat name==subsystem as top level of subsystem
- if (name == subsystem)
- table = ssTable;
- else
- table = ssTable->GetSubTable(name);
- table->GetEntry(".name").SetString(name);
- comp.builder.SetTable(table);
- comp.sendable->InitSendable(comp.builder);
- ssTable->GetEntry(".type").SetString("LW Subsystem");
+ m_impl->registry.ForeachLiveWindow(m_impl->dataHandle, [&](auto& cbdata) {
+ if (!cbdata.sendable || cbdata.parent) return;
- comp.firstTime = false;
- }
+ if (!cbdata.data) cbdata.data = std::make_shared<Impl::Component>();
- if (m_impl->startLiveWindow) comp.builder.StartLiveWindowMode();
- comp.builder.UpdateTable();
+ auto& comp = *std::static_pointer_cast<Impl::Component>(cbdata.data);
+
+ if (!m_impl->liveWindowEnabled && !comp.telemetryEnabled) return;
+
+ if (comp.firstTime) {
+ // By holding off creating the NetworkTable entries, it allows the
+ // components to be redefined. This allows default sensor and actuator
+ // values to be created that are replaced with the custom names from
+ // users calling setName.
+ if (cbdata.name.empty()) return;
+ auto ssTable = m_impl->liveWindowTable->GetSubTable(cbdata.subsystem);
+ std::shared_ptr<NetworkTable> table;
+ // Treat name==subsystem as top level of subsystem
+ if (cbdata.name == cbdata.subsystem)
+ table = ssTable;
+ else
+ table = ssTable->GetSubTable(cbdata.name);
+ table->GetEntry(".name").SetString(cbdata.name);
+ cbdata.builder.SetTable(table);
+ cbdata.sendable->InitSendable(cbdata.builder);
+ ssTable->GetEntry(".type").SetString("LW Subsystem");
+
+ comp.firstTime = false;
}
- }
+
+ if (m_impl->startLiveWindow) cbdata.builder.StartLiveWindowMode();
+ cbdata.builder.UpdateTable();
+ });
m_impl->startLiveWindow = false;
}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/livewindow/LiveWindowSendable.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/livewindow/LiveWindowSendable.cpp
deleted file mode 100644
index 7f03f52..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/livewindow/LiveWindowSendable.cpp
+++ /dev/null
@@ -1,24 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#include "frc/livewindow/LiveWindowSendable.h"
-
-#include "frc/smartdashboard/SendableBuilder.h"
-
-using namespace frc;
-
-std::string LiveWindowSendable::GetName() const { return std::string(); }
-
-void LiveWindowSendable::SetName(const wpi::Twine&) {}
-
-std::string LiveWindowSendable::GetSubsystem() const { return std::string(); }
-
-void LiveWindowSendable::SetSubsystem(const wpi::Twine&) {}
-
-void LiveWindowSendable::InitSendable(SendableBuilder& builder) {
- builder.SetUpdateTable([=]() { UpdateTable(); });
-}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/shuffleboard/RecordingController.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/shuffleboard/RecordingController.cpp
index 294be79..d80001e 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/shuffleboard/RecordingController.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/shuffleboard/RecordingController.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -44,7 +44,6 @@
DriverStation::ReportError("Shuffleboard event name was not specified");
return;
}
- auto arr = wpi::ArrayRef<std::string>{
- description, ShuffleboardEventImportanceName(importance)};
- m_eventsTable->GetSubTable(name)->GetEntry("Info").SetStringArray(arr);
+ m_eventsTable->GetSubTable(name)->GetEntry("Info").SetStringArray(
+ {description, ShuffleboardEventImportanceName(importance)});
}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/shuffleboard/SendableCameraWrapper.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/shuffleboard/SendableCameraWrapper.cpp
index 87d7e9d..b6f8ce9 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/shuffleboard/SendableCameraWrapper.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/shuffleboard/SendableCameraWrapper.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,40 +7,30 @@
#include "frc/shuffleboard/SendableCameraWrapper.h"
-#include <cscore_oo.h>
+#include <functional>
+#include <memory>
+#include <string>
+
#include <wpi/DenseMap.h>
#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableRegistry.h"
-using namespace frc;
-
-namespace {
-constexpr const char* kProtocol = "camera_server://";
-wpi::DenseMap<int, std::unique_ptr<SendableCameraWrapper>> wrappers;
-} // namespace
-
-SendableCameraWrapper& SendableCameraWrapper::Wrap(
- const cs::VideoSource& source) {
- return Wrap(source.GetHandle());
+namespace frc {
+namespace detail {
+std::shared_ptr<SendableCameraWrapper>& GetSendableCameraWrapper(
+ CS_Source source) {
+ static wpi::DenseMap<int, std::shared_ptr<SendableCameraWrapper>> wrappers;
+ return wrappers[static_cast<int>(source)];
}
-SendableCameraWrapper& SendableCameraWrapper::Wrap(CS_Source source) {
- auto& wrapper = wrappers[static_cast<int>(source)];
- if (!wrapper)
- wrapper = std::make_unique<SendableCameraWrapper>(source, private_init{});
- return *wrapper;
+void AddToSendableRegistry(frc::Sendable* sendable, std::string name) {
+ SendableRegistry::GetInstance().Add(sendable, name);
}
-
-SendableCameraWrapper::SendableCameraWrapper(CS_Source source,
- const private_init&)
- : SendableBase(false), m_uri(kProtocol) {
- CS_Status status = 0;
- auto name = cs::GetSourceName(source, &status);
- SetName(name);
- m_uri += name;
-}
+} // namespace detail
void SendableCameraWrapper::InitSendable(SendableBuilder& builder) {
builder.AddStringProperty(".ShuffleboardURI", [this] { return m_uri; },
nullptr);
}
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardContainer.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardContainer.cpp
index f13116d..bb9dc9e 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardContainer.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardContainer.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -11,10 +11,10 @@
#include <wpi/raw_ostream.h>
#include "frc/shuffleboard/ComplexWidget.h"
-#include "frc/shuffleboard/SendableCameraWrapper.h"
#include "frc/shuffleboard/ShuffleboardComponent.h"
#include "frc/shuffleboard/ShuffleboardLayout.h"
#include "frc/shuffleboard/SimpleWidget.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
@@ -74,20 +74,12 @@
return *ptr;
}
-ComplexWidget& ShuffleboardContainer::Add(const wpi::Twine& title,
- const cs::VideoSource& video) {
- return Add(title, SendableCameraWrapper::Wrap(video));
-}
-
ComplexWidget& ShuffleboardContainer::Add(Sendable& sendable) {
- if (sendable.GetName().empty()) {
+ auto name = SendableRegistry::GetInstance().GetName(&sendable);
+ if (name.empty()) {
wpi::outs() << "Sendable must have a name\n";
}
- return Add(sendable.GetName(), sendable);
-}
-
-ComplexWidget& ShuffleboardContainer::Add(const cs::VideoSource& video) {
- return Add(SendableCameraWrapper::Wrap(video));
+ return Add(name, sendable);
}
SimpleWidget& ShuffleboardContainer::Add(
@@ -141,6 +133,108 @@
return Add(title, nt::Value::MakeStringArray(defaultValue));
}
+SuppliedValueWidget<std::string>& ShuffleboardContainer::AddString(
+ const wpi::Twine& title, std::function<std::string()> supplier) {
+ static auto setter = [](nt::NetworkTableEntry entry, std::string value) {
+ entry.SetString(value);
+ };
+
+ CheckTitle(title);
+ auto widget = std::make_unique<SuppliedValueWidget<std::string>>(
+ *this, title, supplier, setter);
+ auto ptr = widget.get();
+ m_components.emplace_back(std::move(widget));
+ return *ptr;
+}
+
+SuppliedValueWidget<double>& ShuffleboardContainer::AddNumber(
+ const wpi::Twine& title, std::function<double()> supplier) {
+ static auto setter = [](nt::NetworkTableEntry entry, double value) {
+ entry.SetDouble(value);
+ };
+
+ CheckTitle(title);
+ auto widget = std::make_unique<SuppliedValueWidget<double>>(*this, title,
+ supplier, setter);
+ auto ptr = widget.get();
+ m_components.emplace_back(std::move(widget));
+ return *ptr;
+}
+
+SuppliedValueWidget<bool>& ShuffleboardContainer::AddBoolean(
+ const wpi::Twine& title, std::function<bool()> supplier) {
+ static auto setter = [](nt::NetworkTableEntry entry, bool value) {
+ entry.SetBoolean(value);
+ };
+
+ CheckTitle(title);
+ auto widget = std::make_unique<SuppliedValueWidget<bool>>(*this, title,
+ supplier, setter);
+ auto ptr = widget.get();
+ m_components.emplace_back(std::move(widget));
+ return *ptr;
+}
+
+SuppliedValueWidget<std::vector<std::string>>&
+ShuffleboardContainer::AddStringArray(
+ const wpi::Twine& title,
+ std::function<std::vector<std::string>()> supplier) {
+ static auto setter = [](nt::NetworkTableEntry entry,
+ std::vector<std::string> value) {
+ entry.SetStringArray(value);
+ };
+
+ CheckTitle(title);
+ auto widget = std::make_unique<SuppliedValueWidget<std::vector<std::string>>>(
+ *this, title, supplier, setter);
+ auto ptr = widget.get();
+ m_components.emplace_back(std::move(widget));
+ return *ptr;
+}
+
+SuppliedValueWidget<std::vector<double>>& ShuffleboardContainer::AddNumberArray(
+ const wpi::Twine& title, std::function<std::vector<double>()> supplier) {
+ static auto setter = [](nt::NetworkTableEntry entry,
+ std::vector<double> value) {
+ entry.SetDoubleArray(value);
+ };
+
+ CheckTitle(title);
+ auto widget = std::make_unique<SuppliedValueWidget<std::vector<double>>>(
+ *this, title, supplier, setter);
+ auto ptr = widget.get();
+ m_components.emplace_back(std::move(widget));
+ return *ptr;
+}
+
+SuppliedValueWidget<std::vector<int>>& ShuffleboardContainer::AddBooleanArray(
+ const wpi::Twine& title, std::function<std::vector<int>()> supplier) {
+ static auto setter = [](nt::NetworkTableEntry entry, std::vector<int> value) {
+ entry.SetBooleanArray(value);
+ };
+
+ CheckTitle(title);
+ auto widget = std::make_unique<SuppliedValueWidget<std::vector<int>>>(
+ *this, title, supplier, setter);
+ auto ptr = widget.get();
+ m_components.emplace_back(std::move(widget));
+ return *ptr;
+}
+
+SuppliedValueWidget<wpi::StringRef>& ShuffleboardContainer::AddRaw(
+ const wpi::Twine& title, std::function<wpi::StringRef()> supplier) {
+ static auto setter = [](nt::NetworkTableEntry entry, wpi::StringRef value) {
+ entry.SetRaw(value);
+ };
+
+ CheckTitle(title);
+ auto widget = std::make_unique<SuppliedValueWidget<wpi::StringRef>>(
+ *this, title, supplier, setter);
+ auto ptr = widget.get();
+ m_components.emplace_back(std::move(widget));
+ return *ptr;
+}
+
SimpleWidget& ShuffleboardContainer::AddPersistent(
const wpi::Twine& title, std::shared_ptr<nt::Value> defaultValue) {
auto& widget = Add(title, defaultValue);
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardInstance.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardInstance.cpp
index 39e5778..a50b77f 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardInstance.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardInstance.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,6 +7,7 @@
#include "frc/shuffleboard/ShuffleboardInstance.h"
+#include <hal/HAL.h>
#include <networktables/NetworkTable.h>
#include <networktables/NetworkTableInstance.h>
#include <wpi/StringMap.h>
@@ -27,6 +28,7 @@
: m_impl(new Impl) {
m_impl->rootTable = ntInstance.GetTable(Shuffleboard::kBaseTableName);
m_impl->rootMetaTable = m_impl->rootTable->GetSubTable(".metadata");
+ HAL_Report(HALUsageReporting::kResourceType_Shuffleboard, 0);
}
ShuffleboardInstance::~ShuffleboardInstance() {}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardWidget.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardWidget.cpp
index 4573516..3b79a9c 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardWidget.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardWidget.cpp
@@ -1,41 +1,41 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#include "frc/shuffleboard/ShuffleboardWidget.h"
-
-using namespace frc;
-
-static constexpr const char* widgetStrings[] = {
- "Text View",
- "Number Slider",
- "Number Bar",
- "Simple Dial",
- "Graph",
- "Boolean Box",
- "Toggle Button",
- "Toggle Switch",
- "Voltage View",
- "PDP",
- "ComboBox Chooser",
- "Split Button Chooser",
- "Encoder",
- "Speed Controller",
- "Command",
- "PID Command",
- "PID Controller",
- "Accelerometer",
- "3-Axis Accelerometer",
- "Gyro",
- "Relay",
- "Differential Drivebase",
- "Mecanum Drivebase",
- "Camera Stream",
-};
-
-const char* detail::GetStringForWidgetType(BuiltInWidgets type) {
- return widgetStrings[static_cast<int>(type)];
-}
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/shuffleboard/ShuffleboardWidget.h"
+
+using namespace frc;
+
+static constexpr const char* widgetStrings[] = {
+ "Text View",
+ "Number Slider",
+ "Number Bar",
+ "Simple Dial",
+ "Graph",
+ "Boolean Box",
+ "Toggle Button",
+ "Toggle Switch",
+ "Voltage View",
+ "PDP",
+ "ComboBox Chooser",
+ "Split Button Chooser",
+ "Encoder",
+ "Speed Controller",
+ "Command",
+ "PID Command",
+ "PID Controller",
+ "Accelerometer",
+ "3-Axis Accelerometer",
+ "Gyro",
+ "Relay",
+ "Differential Drivebase",
+ "Mecanum Drivebase",
+ "Camera Stream",
+};
+
+const char* detail::GetStringForWidgetType(BuiltInWidgets type) {
+ return widgetStrings[static_cast<int>(type)];
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/smartdashboard/ListenerExecutor.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/smartdashboard/ListenerExecutor.cpp
new file mode 100644
index 0000000..75b373a
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/smartdashboard/ListenerExecutor.cpp
@@ -0,0 +1,28 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/smartdashboard/ListenerExecutor.h"
+
+using namespace frc::detail;
+
+void ListenerExecutor::Execute(std::function<void()> task) {
+ std::scoped_lock lock(m_lock);
+ m_tasks.emplace_back(task);
+}
+
+void ListenerExecutor::RunListenerTasks() {
+ // Locally copy tasks from internal list; minimizes blocking time
+ {
+ std::scoped_lock lock(m_lock);
+ std::swap(m_tasks, m_runningTasks);
+ }
+
+ for (auto&& task : m_runningTasks) {
+ task();
+ }
+ m_runningTasks.clear();
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/smartdashboard/NamedSendable.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/smartdashboard/NamedSendable.cpp
deleted file mode 100644
index 61028b3..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/smartdashboard/NamedSendable.cpp
+++ /dev/null
@@ -1,18 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#include "frc/smartdashboard/NamedSendable.h"
-
-using namespace frc;
-
-void NamedSendable::SetName(const wpi::Twine&) {}
-
-std::string NamedSendable::GetSubsystem() const { return std::string(); }
-
-void NamedSendable::SetSubsystem(const wpi::Twine&) {}
-
-void NamedSendable::InitSendable(SendableBuilder&) {}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/smartdashboard/SendableBase.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/smartdashboard/SendableBase.cpp
index 28bd7fd..7fc8635 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/smartdashboard/SendableBase.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/smartdashboard/SendableBase.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,66 +7,13 @@
#include "frc/smartdashboard/SendableBase.h"
-#include <utility>
-
-#include "frc/livewindow/LiveWindow.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
SendableBase::SendableBase(bool addLiveWindow) {
- if (addLiveWindow) LiveWindow::GetInstance()->Add(this);
-}
-
-SendableBase::~SendableBase() { LiveWindow::GetInstance()->Remove(this); }
-
-SendableBase::SendableBase(SendableBase&& rhs) {
- m_name = std::move(rhs.m_name);
- m_subsystem = std::move(rhs.m_subsystem);
-}
-
-SendableBase& SendableBase::operator=(SendableBase&& rhs) {
- Sendable::operator=(std::move(rhs));
-
- m_name = std::move(rhs.m_name);
- m_subsystem = std::move(rhs.m_subsystem);
-
- return *this;
-}
-
-std::string SendableBase::GetName() const {
- std::lock_guard<wpi::mutex> lock(m_mutex);
- return m_name;
-}
-
-void SendableBase::SetName(const wpi::Twine& name) {
- std::lock_guard<wpi::mutex> lock(m_mutex);
- m_name = name.str();
-}
-
-std::string SendableBase::GetSubsystem() const {
- std::lock_guard<wpi::mutex> lock(m_mutex);
- return m_subsystem;
-}
-
-void SendableBase::SetSubsystem(const wpi::Twine& subsystem) {
- std::lock_guard<wpi::mutex> lock(m_mutex);
- m_subsystem = subsystem.str();
-}
-
-void SendableBase::AddChild(std::shared_ptr<Sendable> child) {
- LiveWindow::GetInstance()->AddChild(this, child);
-}
-
-void SendableBase::AddChild(void* child) {
- LiveWindow::GetInstance()->AddChild(this, child);
-}
-
-void SendableBase::SetName(const wpi::Twine& moduleType, int channel) {
- SetName(moduleType + wpi::Twine('[') + wpi::Twine(channel) + wpi::Twine(']'));
-}
-
-void SendableBase::SetName(const wpi::Twine& moduleType, int moduleNumber,
- int channel) {
- SetName(moduleType + wpi::Twine('[') + wpi::Twine(moduleNumber) +
- wpi::Twine(',') + wpi::Twine(channel) + wpi::Twine(']'));
+ if (addLiveWindow)
+ SendableRegistry::GetInstance().AddLW(this, "");
+ else
+ SendableRegistry::GetInstance().Add(this, "");
}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp
index bce03b5..d075deb 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,6 +10,8 @@
#include <ntcore_cpp.h>
#include <wpi/SmallString.h>
+#include "frc/smartdashboard/SmartDashboard.h"
+
using namespace frc;
void SendableBuilderImpl::SetTable(std::shared_ptr<nt::NetworkTable> table) {
@@ -21,6 +23,8 @@
return m_table;
}
+bool SendableBuilderImpl::HasTable() const { return m_table != nullptr; }
+
bool SendableBuilderImpl::IsActuator() const { return m_actuator; }
void SendableBuilderImpl::UpdateTable() {
@@ -51,6 +55,8 @@
if (m_safeState) m_safeState();
}
+void SendableBuilderImpl::ClearProperties() { m_properties.clear(); }
+
void SendableBuilderImpl::SetSmartDashboardType(const wpi::Twine& type) {
m_table->GetEntry(".type").SetString(type);
}
@@ -88,7 +94,8 @@
return entry.AddListener(
[=](const nt::EntryNotification& event) {
if (!event.value->IsBoolean()) return;
- setter(event.value->GetBoolean());
+ SmartDashboard::PostListenerTask(
+ [=] { setter(event.value->GetBoolean()); });
},
NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
};
@@ -111,7 +118,8 @@
return entry.AddListener(
[=](const nt::EntryNotification& event) {
if (!event.value->IsDouble()) return;
- setter(event.value->GetDouble());
+ SmartDashboard::PostListenerTask(
+ [=] { setter(event.value->GetDouble()); });
},
NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
};
@@ -134,7 +142,8 @@
return entry.AddListener(
[=](const nt::EntryNotification& event) {
if (!event.value->IsString()) return;
- setter(event.value->GetString());
+ SmartDashboard::PostListenerTask(
+ [=] { setter(event.value->GetString()); });
},
NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
};
@@ -157,7 +166,8 @@
return entry.AddListener(
[=](const nt::EntryNotification& event) {
if (!event.value->IsBooleanArray()) return;
- setter(event.value->GetBooleanArray());
+ SmartDashboard::PostListenerTask(
+ [=] { setter(event.value->GetBooleanArray()); });
},
NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
};
@@ -180,7 +190,8 @@
return entry.AddListener(
[=](const nt::EntryNotification& event) {
if (!event.value->IsDoubleArray()) return;
- setter(event.value->GetDoubleArray());
+ SmartDashboard::PostListenerTask(
+ [=] { setter(event.value->GetDoubleArray()); });
},
NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
};
@@ -203,7 +214,8 @@
return entry.AddListener(
[=](const nt::EntryNotification& event) {
if (!event.value->IsStringArray()) return;
- setter(event.value->GetStringArray());
+ SmartDashboard::PostListenerTask(
+ [=] { setter(event.value->GetStringArray()); });
},
NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
};
@@ -226,7 +238,8 @@
return entry.AddListener(
[=](const nt::EntryNotification& event) {
if (!event.value->IsRaw()) return;
- setter(event.value->GetRaw());
+ SmartDashboard::PostListenerTask(
+ [=] { setter(event.value->GetRaw()); });
},
NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
};
@@ -247,7 +260,9 @@
m_properties.back().createListener =
[=](nt::NetworkTableEntry entry) -> NT_EntryListener {
return entry.AddListener(
- [=](const nt::EntryNotification& event) { setter(event.value); },
+ [=](const nt::EntryNotification& event) {
+ SmartDashboard::PostListenerTask([=] { setter(event.value); });
+ },
NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
};
}
@@ -271,7 +286,8 @@
return entry.AddListener(
[=](const nt::EntryNotification& event) {
if (!event.value->IsString()) return;
- setter(event.value->GetString());
+ SmartDashboard::PostListenerTask(
+ [=] { setter(event.value->GetString()); });
},
NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
};
@@ -296,7 +312,8 @@
return entry.AddListener(
[=](const nt::EntryNotification& event) {
if (!event.value->IsBooleanArray()) return;
- setter(event.value->GetBooleanArray());
+ SmartDashboard::PostListenerTask(
+ [=] { setter(event.value->GetBooleanArray()); });
},
NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
};
@@ -322,7 +339,8 @@
return entry.AddListener(
[=](const nt::EntryNotification& event) {
if (!event.value->IsDoubleArray()) return;
- setter(event.value->GetDoubleArray());
+ SmartDashboard::PostListenerTask(
+ [=] { setter(event.value->GetDoubleArray()); });
},
NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
};
@@ -349,7 +367,8 @@
return entry.AddListener(
[=](const nt::EntryNotification& event) {
if (!event.value->IsStringArray()) return;
- setter(event.value->GetStringArray());
+ SmartDashboard::PostListenerTask(
+ [=] { setter(event.value->GetStringArray()); });
},
NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
};
@@ -374,7 +393,8 @@
return entry.AddListener(
[=](const nt::EntryNotification& event) {
if (!event.value->IsRaw()) return;
- setter(event.value->GetRaw());
+ SmartDashboard::PostListenerTask(
+ [=] { setter(event.value->GetRaw()); });
},
NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
};
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/smartdashboard/SendableChooserBase.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/smartdashboard/SendableChooserBase.cpp
index 2cdf92c..2f7af9c 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/smartdashboard/SendableChooserBase.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/smartdashboard/SendableChooserBase.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,9 +7,31 @@
#include "frc/smartdashboard/SendableChooserBase.h"
+#include "frc/smartdashboard/SendableRegistry.h"
+
using namespace frc;
std::atomic_int SendableChooserBase::s_instances{0};
-SendableChooserBase::SendableChooserBase()
- : SendableBase(false), m_instance{s_instances++} {}
+SendableChooserBase::SendableChooserBase() : m_instance{s_instances++} {
+ SendableRegistry::GetInstance().Add(this, "SendableChooser", m_instance);
+}
+
+SendableChooserBase::SendableChooserBase(SendableChooserBase&& oth)
+ : SendableHelper(std::move(oth)),
+ m_defaultChoice(std::move(oth.m_defaultChoice)),
+ m_selected(std::move(oth.m_selected)),
+ m_haveSelected(std::move(oth.m_haveSelected)),
+ m_activeEntries(std::move(oth.m_activeEntries)),
+ m_instance(std::move(oth.m_instance)) {}
+
+SendableChooserBase& SendableChooserBase::operator=(SendableChooserBase&& oth) {
+ SendableHelper::operator=(oth);
+ std::scoped_lock lock(m_mutex, oth.m_mutex);
+ m_defaultChoice = std::move(oth.m_defaultChoice);
+ m_selected = std::move(oth.m_selected);
+ m_haveSelected = std::move(oth.m_haveSelected);
+ m_activeEntries = std::move(oth.m_activeEntries);
+ m_instance = std::move(oth.m_instance);
+ return *this;
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/smartdashboard/SendableRegistry.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/smartdashboard/SendableRegistry.cpp
new file mode 100644
index 0000000..56a27dc
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/smartdashboard/SendableRegistry.cpp
@@ -0,0 +1,325 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/smartdashboard/SendableRegistry.h"
+
+#include <memory>
+
+#include <wpi/DenseMap.h>
+#include <wpi/SmallVector.h>
+#include <wpi/UidVector.h>
+#include <wpi/mutex.h>
+
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableBuilderImpl.h"
+
+using namespace frc;
+
+struct SendableRegistry::Impl {
+ struct Component {
+ Sendable* sendable = nullptr;
+ SendableBuilderImpl builder;
+ std::string name;
+ std::string subsystem = "Ungrouped";
+ Sendable* parent = nullptr;
+ bool liveWindow = false;
+ wpi::SmallVector<std::shared_ptr<void>, 2> data;
+
+ void SetName(const wpi::Twine& moduleType, int channel) {
+ name =
+ (moduleType + wpi::Twine('[') + wpi::Twine(channel) + wpi::Twine(']'))
+ .str();
+ }
+
+ void SetName(const wpi::Twine& moduleType, int moduleNumber, int channel) {
+ name = (moduleType + wpi::Twine('[') + wpi::Twine(moduleNumber) +
+ wpi::Twine(',') + wpi::Twine(channel) + wpi::Twine(']'))
+ .str();
+ }
+ };
+
+ wpi::mutex mutex;
+
+ wpi::UidVector<std::unique_ptr<Component>, 32> components;
+ wpi::DenseMap<void*, UID> componentMap;
+ int nextDataHandle = 0;
+
+ Component& GetOrAdd(void* sendable, UID* uid = nullptr);
+};
+
+SendableRegistry::Impl::Component& SendableRegistry::Impl::GetOrAdd(
+ void* sendable, UID* uid) {
+ UID& compUid = componentMap[sendable];
+ if (compUid == 0)
+ compUid = components.emplace_back(std::make_unique<Component>()) + 1;
+ if (uid) *uid = compUid;
+
+ return *components[compUid - 1];
+}
+
+SendableRegistry& SendableRegistry::GetInstance() {
+ static SendableRegistry instance;
+ return instance;
+}
+
+void SendableRegistry::Add(Sendable* sendable, const wpi::Twine& name) {
+ std::scoped_lock lock(m_impl->mutex);
+ auto& comp = m_impl->GetOrAdd(sendable);
+ comp.sendable = sendable;
+ comp.name = name.str();
+}
+
+void SendableRegistry::Add(Sendable* sendable, const wpi::Twine& moduleType,
+ int channel) {
+ std::scoped_lock lock(m_impl->mutex);
+ auto& comp = m_impl->GetOrAdd(sendable);
+ comp.sendable = sendable;
+ comp.SetName(moduleType, channel);
+}
+
+void SendableRegistry::Add(Sendable* sendable, const wpi::Twine& moduleType,
+ int moduleNumber, int channel) {
+ std::scoped_lock lock(m_impl->mutex);
+ auto& comp = m_impl->GetOrAdd(sendable);
+ comp.sendable = sendable;
+ comp.SetName(moduleType, moduleNumber, channel);
+}
+
+void SendableRegistry::Add(Sendable* sendable, const wpi::Twine& subsystem,
+ const wpi::Twine& name) {
+ std::scoped_lock lock(m_impl->mutex);
+ auto& comp = m_impl->GetOrAdd(sendable);
+ comp.sendable = sendable;
+ comp.name = name.str();
+ comp.subsystem = subsystem.str();
+}
+
+void SendableRegistry::AddLW(Sendable* sendable, const wpi::Twine& name) {
+ std::scoped_lock lock(m_impl->mutex);
+ auto& comp = m_impl->GetOrAdd(sendable);
+ comp.sendable = sendable;
+ comp.liveWindow = true;
+ comp.name = name.str();
+}
+
+void SendableRegistry::AddLW(Sendable* sendable, const wpi::Twine& moduleType,
+ int channel) {
+ std::scoped_lock lock(m_impl->mutex);
+ auto& comp = m_impl->GetOrAdd(sendable);
+ comp.sendable = sendable;
+ comp.liveWindow = true;
+ comp.SetName(moduleType, channel);
+}
+
+void SendableRegistry::AddLW(Sendable* sendable, const wpi::Twine& moduleType,
+ int moduleNumber, int channel) {
+ std::scoped_lock lock(m_impl->mutex);
+ auto& comp = m_impl->GetOrAdd(sendable);
+ comp.sendable = sendable;
+ comp.liveWindow = true;
+ comp.SetName(moduleType, moduleNumber, channel);
+}
+
+void SendableRegistry::AddLW(Sendable* sendable, const wpi::Twine& subsystem,
+ const wpi::Twine& name) {
+ std::scoped_lock lock(m_impl->mutex);
+ auto& comp = m_impl->GetOrAdd(sendable);
+ comp.sendable = sendable;
+ comp.liveWindow = true;
+ comp.name = name.str();
+ comp.subsystem = subsystem.str();
+}
+
+void SendableRegistry::AddChild(Sendable* parent, void* child) {
+ std::scoped_lock lock(m_impl->mutex);
+ auto& comp = m_impl->GetOrAdd(child);
+ comp.parent = parent;
+}
+
+bool SendableRegistry::Remove(Sendable* sendable) {
+ std::scoped_lock lock(m_impl->mutex);
+ auto it = m_impl->componentMap.find(sendable);
+ if (it == m_impl->componentMap.end()) return false;
+ UID compUid = it->getSecond();
+ m_impl->components.erase(compUid - 1);
+ m_impl->componentMap.erase(it);
+ return true;
+}
+
+void SendableRegistry::Move(Sendable* to, Sendable* from) {
+ std::scoped_lock lock(m_impl->mutex);
+ auto it = m_impl->componentMap.find(from);
+ if (it == m_impl->componentMap.end()) return;
+ UID compUid = it->getSecond();
+ m_impl->componentMap.erase(it);
+ m_impl->componentMap[to] = compUid;
+ auto& comp = *m_impl->components[compUid - 1];
+ comp.sendable = to;
+ if (comp.builder.HasTable()) {
+ // rebuild builder, as lambda captures can point to "from"
+ comp.builder.ClearProperties();
+ to->InitSendable(comp.builder);
+ }
+}
+
+bool SendableRegistry::Contains(const Sendable* sendable) const {
+ std::scoped_lock lock(m_impl->mutex);
+ return m_impl->componentMap.count(sendable) != 0;
+}
+
+std::string SendableRegistry::GetName(const Sendable* sendable) const {
+ std::scoped_lock lock(m_impl->mutex);
+ auto it = m_impl->componentMap.find(sendable);
+ if (it == m_impl->componentMap.end()) return std::string{};
+ return m_impl->components[it->getSecond() - 1]->name;
+}
+
+void SendableRegistry::SetName(Sendable* sendable, const wpi::Twine& name) {
+ std::scoped_lock lock(m_impl->mutex);
+ auto it = m_impl->componentMap.find(sendable);
+ if (it == m_impl->componentMap.end()) return;
+ m_impl->components[it->getSecond() - 1]->name = name.str();
+}
+
+void SendableRegistry::SetName(Sendable* sendable, const wpi::Twine& moduleType,
+ int channel) {
+ std::scoped_lock lock(m_impl->mutex);
+ auto it = m_impl->componentMap.find(sendable);
+ if (it == m_impl->componentMap.end()) return;
+ m_impl->components[it->getSecond() - 1]->SetName(moduleType, channel);
+}
+
+void SendableRegistry::SetName(Sendable* sendable, const wpi::Twine& moduleType,
+ int moduleNumber, int channel) {
+ std::scoped_lock lock(m_impl->mutex);
+ auto it = m_impl->componentMap.find(sendable);
+ if (it == m_impl->componentMap.end()) return;
+ m_impl->components[it->getSecond() - 1]->SetName(moduleType, moduleNumber,
+ channel);
+}
+
+void SendableRegistry::SetName(Sendable* sendable, const wpi::Twine& subsystem,
+ const wpi::Twine& name) {
+ std::scoped_lock lock(m_impl->mutex);
+ auto it = m_impl->componentMap.find(sendable);
+ if (it == m_impl->componentMap.end()) return;
+ auto& comp = *m_impl->components[it->getSecond() - 1];
+ comp.name = name.str();
+ comp.subsystem = subsystem.str();
+}
+
+std::string SendableRegistry::GetSubsystem(const Sendable* sendable) const {
+ std::scoped_lock lock(m_impl->mutex);
+ auto it = m_impl->componentMap.find(sendable);
+ if (it == m_impl->componentMap.end()) return std::string{};
+ return m_impl->components[it->getSecond() - 1]->subsystem;
+}
+
+void SendableRegistry::SetSubsystem(Sendable* sendable,
+ const wpi::Twine& subsystem) {
+ std::scoped_lock lock(m_impl->mutex);
+ auto it = m_impl->componentMap.find(sendable);
+ if (it == m_impl->componentMap.end()) return;
+ m_impl->components[it->getSecond() - 1]->subsystem = subsystem.str();
+}
+
+int SendableRegistry::GetDataHandle() {
+ std::scoped_lock lock(m_impl->mutex);
+ return m_impl->nextDataHandle++;
+}
+
+std::shared_ptr<void> SendableRegistry::SetData(Sendable* sendable, int handle,
+ std::shared_ptr<void> data) {
+ assert(handle >= 0);
+ std::scoped_lock lock(m_impl->mutex);
+ auto it = m_impl->componentMap.find(sendable);
+ if (it == m_impl->componentMap.end()) return nullptr;
+ auto& comp = *m_impl->components[it->getSecond() - 1];
+ std::shared_ptr<void> rv;
+ if (static_cast<size_t>(handle) < comp.data.size())
+ rv = std::move(comp.data[handle]);
+ else
+ comp.data.resize(handle + 1);
+ comp.data[handle] = std::move(data);
+ return rv;
+}
+
+std::shared_ptr<void> SendableRegistry::GetData(Sendable* sendable,
+ int handle) {
+ assert(handle >= 0);
+ std::scoped_lock lock(m_impl->mutex);
+ auto it = m_impl->componentMap.find(sendable);
+ if (it == m_impl->componentMap.end()) return nullptr;
+ auto& comp = *m_impl->components[it->getSecond() - 1];
+ if (static_cast<size_t>(handle) >= comp.data.size()) return nullptr;
+ return comp.data[handle];
+}
+
+void SendableRegistry::EnableLiveWindow(Sendable* sendable) {
+ std::scoped_lock lock(m_impl->mutex);
+ auto it = m_impl->componentMap.find(sendable);
+ if (it == m_impl->componentMap.end()) return;
+ m_impl->components[it->getSecond() - 1]->liveWindow = true;
+}
+
+void SendableRegistry::DisableLiveWindow(Sendable* sendable) {
+ std::scoped_lock lock(m_impl->mutex);
+ auto it = m_impl->componentMap.find(sendable);
+ if (it == m_impl->componentMap.end()) return;
+ m_impl->components[it->getSecond() - 1]->liveWindow = false;
+}
+
+SendableRegistry::UID SendableRegistry::GetUniqueId(Sendable* sendable) {
+ std::scoped_lock lock(m_impl->mutex);
+ UID uid;
+ auto& comp = m_impl->GetOrAdd(sendable, &uid);
+ comp.sendable = sendable;
+ return uid;
+}
+
+Sendable* SendableRegistry::GetSendable(UID uid) {
+ if (uid == 0) return nullptr;
+ std::scoped_lock lock(m_impl->mutex);
+ return m_impl->components[uid - 1]->sendable;
+}
+
+void SendableRegistry::Publish(UID sendableUid,
+ std::shared_ptr<NetworkTable> table) {
+ std::scoped_lock lock(m_impl->mutex);
+ if (sendableUid == 0) return;
+ auto& comp = *m_impl->components[sendableUid - 1];
+ comp.builder = SendableBuilderImpl{}; // clear any current builder
+ comp.builder.SetTable(table);
+ comp.sendable->InitSendable(comp.builder);
+ comp.builder.UpdateTable();
+ comp.builder.StartListeners();
+}
+
+void SendableRegistry::Update(UID sendableUid) {
+ if (sendableUid == 0) return;
+ std::scoped_lock lock(m_impl->mutex);
+ m_impl->components[sendableUid - 1]->builder.UpdateTable();
+}
+
+void SendableRegistry::ForeachLiveWindow(
+ int dataHandle,
+ wpi::function_ref<void(CallbackData& data)> callback) const {
+ assert(dataHandle >= 0);
+ std::scoped_lock lock(m_impl->mutex);
+ for (auto&& comp : m_impl->components) {
+ if (comp->sendable && comp->liveWindow) {
+ if (static_cast<size_t>(dataHandle) >= comp->data.size())
+ comp->data.resize(dataHandle + 1);
+ CallbackData cbdata{comp->sendable, comp->name,
+ comp->subsystem, comp->parent,
+ comp->data[dataHandle], comp->builder};
+ callback(cbdata);
+ }
+ }
+}
+
+SendableRegistry::SendableRegistry() : m_impl(new Impl) {}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp
index 98e5568..e8c9700 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -14,27 +14,17 @@
#include <wpi/mutex.h>
#include "frc/WPIErrors.h"
-#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableBuilderImpl.h"
+#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
namespace {
-class SmartDashboardData {
- public:
- SmartDashboardData() = default;
- explicit SmartDashboardData(Sendable* sendable_) : sendable(sendable_) {}
-
- Sendable* sendable = nullptr;
- SendableBuilderImpl builder;
-};
-
class Singleton {
public:
static Singleton& GetInstance();
std::shared_ptr<nt::NetworkTable> table;
- wpi::StringMap<SmartDashboardData> tablesToData;
+ wpi::StringMap<SendableRegistry::UID> tablesToData;
wpi::mutex tablesToDataMutex;
private:
@@ -97,15 +87,14 @@
return;
}
auto& inst = Singleton::GetInstance();
- std::lock_guard<wpi::mutex> lock(inst.tablesToDataMutex);
- auto& sddata = inst.tablesToData[key];
- if (!sddata.sendable || sddata.sendable != data) {
- sddata = SmartDashboardData(data);
+ std::scoped_lock lock(inst.tablesToDataMutex);
+ auto& uid = inst.tablesToData[key];
+ auto& registry = SendableRegistry::GetInstance();
+ Sendable* sddata = registry.GetSendable(uid);
+ if (sddata != data) {
+ uid = registry.GetUniqueId(data);
auto dataTable = inst.table->GetSubTable(key);
- sddata.builder.SetTable(dataTable);
- data->InitSendable(sddata.builder);
- sddata.builder.UpdateTable();
- sddata.builder.StartListeners();
+ registry.Publish(uid, dataTable);
dataTable->GetEntry(".name").SetString(key);
}
}
@@ -115,18 +104,19 @@
wpi_setGlobalWPIErrorWithContext(NullParameter, "value");
return;
}
- PutData(value->GetName(), value);
+ auto name = SendableRegistry::GetInstance().GetName(value);
+ if (!name.empty()) PutData(name, value);
}
Sendable* SmartDashboard::GetData(wpi::StringRef key) {
auto& inst = Singleton::GetInstance();
- std::lock_guard<wpi::mutex> lock(inst.tablesToDataMutex);
- auto data = inst.tablesToData.find(key);
- if (data == inst.tablesToData.end()) {
+ std::scoped_lock lock(inst.tablesToDataMutex);
+ auto it = inst.tablesToData.find(key);
+ if (it == inst.tablesToData.end()) {
wpi_setGlobalWPIErrorWithContext(SmartDashboardMissingKey, key);
return nullptr;
}
- return data->getValue().sendable;
+ return SendableRegistry::GetInstance().GetSendable(it->getValue());
}
bool SmartDashboard::PutBoolean(wpi::StringRef keyName, bool value) {
@@ -254,10 +244,16 @@
return Singleton::GetInstance().table->GetEntry(keyName).GetValue();
}
+detail::ListenerExecutor SmartDashboard::listenerExecutor;
+
+void SmartDashboard::PostListenerTask(std::function<void()> task) {
+ listenerExecutor.Execute(task);
+}
+
void SmartDashboard::UpdateValues() {
+ auto& registry = SendableRegistry::GetInstance();
auto& inst = Singleton::GetInstance();
- std::lock_guard<wpi::mutex> lock(inst.tablesToDataMutex);
- for (auto& i : inst.tablesToData) {
- i.getValue().builder.UpdateTable();
- }
+ std::scoped_lock lock(inst.tablesToDataMutex);
+ for (auto& i : inst.tablesToData) registry.Update(i.getValue());
+ listenerExecutor.RunListenerTasks();
}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/spline/CubicHermiteSpline.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/spline/CubicHermiteSpline.cpp
new file mode 100644
index 0000000..3578b1d
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/spline/CubicHermiteSpline.cpp
@@ -0,0 +1,36 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/spline/CubicHermiteSpline.h"
+
+using namespace frc;
+
+CubicHermiteSpline::CubicHermiteSpline(
+ std::array<double, 2> xInitialControlVector,
+ std::array<double, 2> xFinalControlVector,
+ std::array<double, 2> yInitialControlVector,
+ std::array<double, 2> yFinalControlVector) {
+ const auto hermite = MakeHermiteBasis();
+ const auto x =
+ ControlVectorFromArrays(xInitialControlVector, xFinalControlVector);
+ const auto y =
+ ControlVectorFromArrays(yInitialControlVector, yFinalControlVector);
+
+ // Populate first two rows with coefficients.
+ m_coefficients.template block<1, 4>(0, 0) = hermite * x;
+ m_coefficients.template block<1, 4>(1, 0) = hermite * y;
+
+ // Populate Row 2 and Row 3 with the derivatives of the equations above.
+ // Then populate row 4 and 5 with the second derivatives.
+ for (int i = 0; i < 4; i++) {
+ m_coefficients.template block<2, 1>(2, i) =
+ m_coefficients.template block<2, 1>(0, i) * (3 - i);
+
+ m_coefficients.template block<2, 1>(4, i) =
+ m_coefficients.template block<2, 1>(2, i) * (3 - i);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/spline/QuinticHermiteSpline.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/spline/QuinticHermiteSpline.cpp
new file mode 100644
index 0000000..f714c6f
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/spline/QuinticHermiteSpline.cpp
@@ -0,0 +1,36 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/spline/QuinticHermiteSpline.h"
+
+using namespace frc;
+
+QuinticHermiteSpline::QuinticHermiteSpline(
+ std::array<double, 3> xInitialControlVector,
+ std::array<double, 3> xFinalControlVector,
+ std::array<double, 3> yInitialControlVector,
+ std::array<double, 3> yFinalControlVector) {
+ const auto hermite = MakeHermiteBasis();
+ const auto x =
+ ControlVectorFromArrays(xInitialControlVector, xFinalControlVector);
+ const auto y =
+ ControlVectorFromArrays(yInitialControlVector, yFinalControlVector);
+
+ // Populate first two rows with coefficients.
+ m_coefficients.template block<1, 6>(0, 0) = (hermite * x).transpose();
+ m_coefficients.template block<1, 6>(1, 0) = (hermite * y).transpose();
+
+ // Populate Row 2 and Row 3 with the derivatives of the equations above.
+ // Then populate row 4 and 5 with the second derivatives.
+ for (int i = 0; i < 6; i++) {
+ m_coefficients.template block<2, 1>(2, i) =
+ m_coefficients.template block<2, 1>(0, i) * (5 - i);
+
+ m_coefficients.template block<2, 1>(4, i) =
+ m_coefficients.template block<2, 1>(2, i) * (5 - i);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/spline/SplineHelper.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/spline/SplineHelper.cpp
new file mode 100644
index 0000000..7c3fdc1
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/spline/SplineHelper.cpp
@@ -0,0 +1,194 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/spline/SplineHelper.h"
+
+#include <cstddef>
+
+using namespace frc;
+
+std::vector<CubicHermiteSpline> SplineHelper::CubicSplinesFromControlVectors(
+ const Spline<3>::ControlVector& start, std::vector<Translation2d> waypoints,
+ const Spline<3>::ControlVector& end) {
+ std::vector<CubicHermiteSpline> splines;
+
+ std::array<double, 2> xInitial = start.x;
+ std::array<double, 2> yInitial = start.y;
+ std::array<double, 2> xFinal = end.x;
+ std::array<double, 2> yFinal = end.y;
+
+ if (waypoints.size() > 1) {
+ waypoints.emplace(waypoints.begin(),
+ Translation2d{units::meter_t(xInitial[0]),
+ units::meter_t(yInitial[0])});
+ waypoints.emplace_back(
+ Translation2d{units::meter_t(xFinal[0]), units::meter_t(yFinal[0])});
+
+ std::vector<double> a;
+ std::vector<double> b(waypoints.size() - 2, 4.0);
+ std::vector<double> c;
+ std::vector<double> dx, dy;
+ std::vector<double> fx(waypoints.size() - 2, 0.0),
+ fy(waypoints.size() - 2, 0.0);
+
+ a.emplace_back(0);
+ for (size_t i = 0; i < waypoints.size() - 3; ++i) {
+ a.emplace_back(1);
+ c.emplace_back(1);
+ }
+ c.emplace_back(0);
+
+ dx.emplace_back(
+ 3 * (waypoints[2].X().to<double>() - waypoints[0].X().to<double>()) -
+ xInitial[1]);
+ dy.emplace_back(
+ 3 * (waypoints[2].Y().to<double>() - waypoints[0].Y().to<double>()) -
+ yInitial[1]);
+ if (waypoints.size() > 4) {
+ for (size_t i = 1; i <= waypoints.size() - 4; ++i) {
+ dx.emplace_back(3 * (waypoints[i + 1].X().to<double>() -
+ waypoints[i - 1].X().to<double>()));
+ dy.emplace_back(3 * (waypoints[i + 1].Y().to<double>() -
+ waypoints[i - 1].Y().to<double>()));
+ }
+ }
+ dx.emplace_back(3 * (waypoints[waypoints.size() - 1].X().to<double>() -
+ waypoints[waypoints.size() - 3].X().to<double>()) -
+ xFinal[1]);
+ dy.emplace_back(3 * (waypoints[waypoints.size() - 1].Y().to<double>() -
+ waypoints[waypoints.size() - 3].Y().to<double>()) -
+ yFinal[1]);
+
+ ThomasAlgorithm(a, b, c, dx, &fx);
+ ThomasAlgorithm(a, b, c, dy, &fy);
+
+ fx.emplace(fx.begin(), xInitial[1]);
+ fx.emplace_back(xFinal[1]);
+ fy.emplace(fy.begin(), yInitial[1]);
+ fy.emplace_back(yFinal[1]);
+
+ for (size_t i = 0; i < fx.size() - 1; ++i) {
+ // Create the spline.
+ const CubicHermiteSpline spline{
+ {waypoints[i].X().to<double>(), fx[i]},
+ {waypoints[i + 1].X().to<double>(), fx[i + 1]},
+ {waypoints[i].Y().to<double>(), fy[i]},
+ {waypoints[i + 1].Y().to<double>(), fy[i + 1]}};
+
+ splines.push_back(spline);
+ }
+ } else if (waypoints.size() == 1) {
+ const double xDeriv =
+ (3 * (xFinal[0] - xInitial[0]) - xFinal[1] - xInitial[1]) / 4.0;
+ const double yDeriv =
+ (3 * (yFinal[0] - yInitial[0]) - yFinal[1] - yInitial[1]) / 4.0;
+
+ std::array<double, 2> midXControlVector{waypoints[0].X().to<double>(),
+ xDeriv};
+ std::array<double, 2> midYControlVector{waypoints[0].Y().to<double>(),
+ yDeriv};
+
+ splines.emplace_back(xInitial, midXControlVector, yInitial,
+ midYControlVector);
+ splines.emplace_back(midXControlVector, xFinal, midYControlVector, yFinal);
+
+ } else {
+ // Create the spline.
+ const CubicHermiteSpline spline{xInitial, xFinal, yInitial, yFinal};
+ splines.push_back(spline);
+ }
+
+ return splines;
+}
+
+std::vector<QuinticHermiteSpline>
+SplineHelper::QuinticSplinesFromControlVectors(
+ const std::vector<Spline<5>::ControlVector>& controlVectors) {
+ std::vector<QuinticHermiteSpline> splines;
+ for (size_t i = 0; i < controlVectors.size() - 1; ++i) {
+ auto& xInitial = controlVectors[i].x;
+ auto& yInitial = controlVectors[i].y;
+ auto& xFinal = controlVectors[i + 1].x;
+ auto& yFinal = controlVectors[i + 1].y;
+ splines.emplace_back(xInitial, xFinal, yInitial, yFinal);
+ }
+ return splines;
+}
+
+std::array<Spline<3>::ControlVector, 2>
+SplineHelper::CubicControlVectorsFromWaypoints(
+ const Pose2d& start, const std::vector<Translation2d>& interiorWaypoints,
+ const Pose2d& end) {
+ double scalar;
+ if (interiorWaypoints.empty()) {
+ scalar = 1.2 * start.Translation().Distance(end.Translation()).to<double>();
+ } else {
+ scalar =
+ 1.2 *
+ start.Translation().Distance(interiorWaypoints.front()).to<double>();
+ }
+ const auto initialCV = CubicControlVector(scalar, start);
+ if (!interiorWaypoints.empty()) {
+ scalar =
+ 1.2 * end.Translation().Distance(interiorWaypoints.back()).to<double>();
+ }
+ const auto finalCV = CubicControlVector(scalar, end);
+ return {initialCV, finalCV};
+}
+
+std::vector<Spline<5>::ControlVector>
+SplineHelper::QuinticControlVectorsFromWaypoints(
+ const std::vector<Pose2d>& waypoints) {
+ std::vector<Spline<5>::ControlVector> vectors;
+ for (size_t i = 0; i < waypoints.size() - 1; ++i) {
+ auto& p0 = waypoints[i];
+ auto& p1 = waypoints[i + 1];
+
+ // This just makes the splines look better.
+ const auto scalar =
+ 1.2 * p0.Translation().Distance(p1.Translation()).to<double>();
+
+ vectors.push_back(QuinticControlVector(scalar, p0));
+ vectors.push_back(QuinticControlVector(scalar, p1));
+ }
+ return vectors;
+}
+
+void SplineHelper::ThomasAlgorithm(const std::vector<double>& a,
+ const std::vector<double>& b,
+ const std::vector<double>& c,
+ const std::vector<double>& d,
+ std::vector<double>* solutionVector) {
+ auto& f = *solutionVector;
+ size_t N = d.size();
+
+ // Create the temporary vectors
+ // Note that this is inefficient as it is possible to call
+ // this function many times. A better implementation would
+ // pass these temporary matrices by non-const reference to
+ // save excess allocation and deallocation
+ std::vector<double> c_star(N, 0.0);
+ std::vector<double> d_star(N, 0.0);
+
+ // This updates the coefficients in the first row
+ // Note that we should be checking for division by zero here
+ c_star[0] = c[0] / b[0];
+ d_star[0] = d[0] / b[0];
+
+ // Create the c_star and d_star coefficients in the forward sweep
+ for (size_t i = 1; i < N; ++i) {
+ double m = 1.0 / (b[i] - a[i] * c_star[i - 1]);
+ c_star[i] = c[i] * m;
+ d_star[i] = (d[i] - a[i] * d_star[i - 1]) * m;
+ }
+
+ f[N - 1] = d_star[N - 1];
+ // This is the reverse sweep, used to update the solution vector f
+ for (int i = N - 2; i >= 0; i--) {
+ f[i] = d_star[i] - c_star[i] * f[i + 1];
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/spline/SplineParameterizer.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/spline/SplineParameterizer.cpp
new file mode 100644
index 0000000..f3c42c6
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/spline/SplineParameterizer.cpp
@@ -0,0 +1,12 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/spline/SplineParameterizer.h"
+
+constexpr units::meter_t frc::SplineParameterizer::kMaxDx;
+constexpr units::meter_t frc::SplineParameterizer::kMaxDy;
+constexpr units::radian_t frc::SplineParameterizer::kMaxDtheta;
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/trajectory/Trajectory.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/trajectory/Trajectory.cpp
new file mode 100644
index 0000000..9b4b4f5
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/trajectory/Trajectory.cpp
@@ -0,0 +1,96 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/trajectory/Trajectory.h"
+
+using namespace frc;
+
+Trajectory::State Trajectory::State::Interpolate(State endValue,
+ double i) const {
+ // Find the new [t] value.
+ const auto newT = Lerp(t, endValue.t, i);
+
+ // Find the delta time between the current state and the interpolated state.
+ const auto deltaT = newT - t;
+
+ // If delta time is negative, flip the order of interpolation.
+ if (deltaT < 0_s) return endValue.Interpolate(*this, 1.0 - i);
+
+ // Check whether the robot is reversing at this stage.
+ const auto reversing =
+ velocity < 0_mps ||
+ (units::math::abs(velocity) < 1E-9_mps && acceleration < 0_mps_sq);
+
+ // Calculate the new velocity.
+ // v = v_0 + at
+ const units::meters_per_second_t newV = velocity + (acceleration * deltaT);
+
+ // Calculate the change in position.
+ // delta_s = v_0 t + 0.5 at^2
+ const units::meter_t newS =
+ (velocity * deltaT + 0.5 * acceleration * deltaT * deltaT) *
+ (reversing ? -1.0 : 1.0);
+
+ // Return the new state. To find the new position for the new state, we need
+ // to interpolate between the two endpoint poses. The fraction for
+ // interpolation is the change in position (delta s) divided by the total
+ // distance between the two endpoints.
+ const double interpolationFrac =
+ newS / endValue.pose.Translation().Distance(pose.Translation());
+
+ return {newT, newV, acceleration,
+ Lerp(pose, endValue.pose, interpolationFrac),
+ Lerp(curvature, endValue.curvature, interpolationFrac)};
+}
+
+Trajectory::Trajectory(const std::vector<State>& states) : m_states(states) {
+ m_totalTime = states.back().t;
+}
+
+Trajectory::State Trajectory::Sample(units::second_t t) const {
+ if (t <= m_states.front().t) return m_states.front();
+ if (t >= m_totalTime) return m_states.back();
+
+ // To get the element that we want, we will use a binary search algorithm
+ // instead of iterating over a for-loop. A binary search is O(std::log(n))
+ // whereas searching using a loop is O(n).
+
+ // This starts at 1 because we use the previous state later on for
+ // interpolation.
+ int low = 1;
+ int high = m_states.size() - 1;
+
+ while (low != high) {
+ int mid = (low + high) / 2;
+ if (m_states[mid].t < t) {
+ // This index and everything under it are less than the requested
+ // timestamp. Therefore, we can discard them.
+ low = mid + 1;
+ } else {
+ // t is at least as large as the element at this index. This means that
+ // anything after it cannot be what we are looking for.
+ high = mid;
+ }
+ }
+
+ // High and Low should be the same.
+
+ // The sample's timestamp is now greater than or equal to the requested
+ // timestamp. If it is greater, we need to interpolate between the
+ // previous state and the current state to get the exact state that we
+ // want.
+ const auto sample = m_states[low];
+ const auto prevSample = m_states[low - 1];
+
+ // If the difference in states is negligible, then we are spot on!
+ if (units::math::abs(sample.t - prevSample.t) < 1E-9_s) {
+ return sample;
+ }
+ // Interpolate between the two states for the state that we want.
+ return prevSample.Interpolate(sample,
+ (t - prevSample.t) / (sample.t - prevSample.t));
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/trajectory/TrajectoryGenerator.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/trajectory/TrajectoryGenerator.cpp
new file mode 100644
index 0000000..92c21f6
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/trajectory/TrajectoryGenerator.cpp
@@ -0,0 +1,92 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/trajectory/TrajectoryGenerator.h"
+
+#include <utility>
+
+#include "frc/spline/SplineHelper.h"
+#include "frc/trajectory/TrajectoryParameterizer.h"
+
+using namespace frc;
+
+Trajectory TrajectoryGenerator::GenerateTrajectory(
+ Spline<3>::ControlVector initial,
+ const std::vector<Translation2d>& interiorWaypoints,
+ Spline<3>::ControlVector end, const TrajectoryConfig& config) {
+ const Transform2d flip{Translation2d(), Rotation2d(180_deg)};
+
+ // Make theta normal for trajectory generation if path is reversed.
+ // Flip the headings.
+ if (config.IsReversed()) {
+ initial.x[1] *= -1;
+ initial.y[1] *= -1;
+ end.x[1] *= -1;
+ end.y[1] *= -1;
+ }
+
+ auto points =
+ SplinePointsFromSplines(SplineHelper::CubicSplinesFromControlVectors(
+ initial, interiorWaypoints, end));
+
+ // After trajectory generation, flip theta back so it's relative to the
+ // field. Also fix curvature.
+ if (config.IsReversed()) {
+ for (auto& point : points) {
+ point = {point.first + flip, -point.second};
+ }
+ }
+
+ return TrajectoryParameterizer::TimeParameterizeTrajectory(
+ points, config.Constraints(), config.StartVelocity(),
+ config.EndVelocity(), config.MaxVelocity(), config.MaxAcceleration(),
+ config.IsReversed());
+}
+
+Trajectory TrajectoryGenerator::GenerateTrajectory(
+ const Pose2d& start, const std::vector<Translation2d>& interiorWaypoints,
+ const Pose2d& end, const TrajectoryConfig& config) {
+ auto [startCV, endCV] = SplineHelper::CubicControlVectorsFromWaypoints(
+ start, interiorWaypoints, end);
+ return GenerateTrajectory(startCV, interiorWaypoints, endCV, config);
+}
+
+Trajectory TrajectoryGenerator::GenerateTrajectory(
+ std::vector<Spline<5>::ControlVector> controlVectors,
+ const TrajectoryConfig& config) {
+ const Transform2d flip{Translation2d(), Rotation2d(180_deg)};
+ // Make theta normal for trajectory generation if path is reversed.
+ if (config.IsReversed()) {
+ for (auto& vector : controlVectors) {
+ // Flip the headings.
+ vector.x[1] *= -1;
+ vector.y[1] *= -1;
+ }
+ }
+
+ auto points = SplinePointsFromSplines(
+ SplineHelper::QuinticSplinesFromControlVectors(controlVectors));
+
+ // After trajectory generation, flip theta back so it's relative to the
+ // field. Also fix curvature.
+ if (config.IsReversed()) {
+ for (auto& point : points) {
+ point = {point.first + flip, -point.second};
+ }
+ }
+
+ return TrajectoryParameterizer::TimeParameterizeTrajectory(
+ points, config.Constraints(), config.StartVelocity(),
+ config.EndVelocity(), config.MaxVelocity(), config.MaxAcceleration(),
+ config.IsReversed());
+}
+
+Trajectory TrajectoryGenerator::GenerateTrajectory(
+ const std::vector<Pose2d>& waypoints, const TrajectoryConfig& config) {
+ return GenerateTrajectory(
+ SplineHelper::QuinticControlVectorsFromWaypoints(waypoints), config);
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
new file mode 100644
index 0000000..131ae8a
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
@@ -0,0 +1,224 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+/*
+ * MIT License
+ *
+ * Copyright (c) 2018 Team 254
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include "frc/trajectory/TrajectoryParameterizer.h"
+
+using namespace frc;
+
+Trajectory TrajectoryParameterizer::TimeParameterizeTrajectory(
+ const std::vector<PoseWithCurvature>& points,
+ const std::vector<std::unique_ptr<TrajectoryConstraint>>& constraints,
+ units::meters_per_second_t startVelocity,
+ units::meters_per_second_t endVelocity,
+ units::meters_per_second_t maxVelocity,
+ units::meters_per_second_squared_t maxAcceleration, bool reversed) {
+ std::vector<ConstrainedState> constrainedStates(points.size());
+
+ ConstrainedState predecessor{points.front(), 0_m, startVelocity,
+ -maxAcceleration, maxAcceleration};
+
+ constrainedStates[0] = predecessor;
+
+ // Forward pass
+ for (unsigned int i = 0; i < points.size(); i++) {
+ auto& constrainedState = constrainedStates[i];
+ constrainedState.pose = points[i];
+
+ // Begin constraining based on predecessor
+ units::meter_t ds = constrainedState.pose.first.Translation().Distance(
+ predecessor.pose.first.Translation());
+ constrainedState.distance = ds + predecessor.distance;
+
+ // We may need to iterate to find the maximum end velocity and common
+ // acceleration, since acceleration limits may be a function of velocity.
+ while (true) {
+ // Enforce global max velocity and max reachable velocity by global
+ // acceleration limit. vf = std::sqrt(vi^2 + 2*a*d).
+
+ constrainedState.maxVelocity = units::math::min(
+ maxVelocity,
+ units::math::sqrt(predecessor.maxVelocity * predecessor.maxVelocity +
+ predecessor.maxAcceleration * ds * 2.0));
+
+ constrainedState.minAcceleration = -maxAcceleration;
+ constrainedState.maxAcceleration = maxAcceleration;
+
+ // At this point, the constrained state is fully constructed apart from
+ // all the custom-defined user constraints.
+ for (const auto& constraint : constraints) {
+ constrainedState.maxVelocity = units::math::min(
+ constrainedState.maxVelocity,
+ constraint->MaxVelocity(constrainedState.pose.first,
+ constrainedState.pose.second,
+ constrainedState.maxVelocity));
+ }
+
+ // Now enforce all acceleration limits.
+ EnforceAccelerationLimits(reversed, constraints, &constrainedState);
+
+ if (ds.to<double>() < kEpsilon) break;
+
+ // If the actual acceleration for this state is higher than the max
+ // acceleration that we applied, then we need to reduce the max
+ // acceleration of the predecessor and try again.
+ units::meters_per_second_squared_t actualAcceleration =
+ (constrainedState.maxVelocity * constrainedState.maxVelocity -
+ predecessor.maxVelocity * predecessor.maxVelocity) /
+ (ds * 2.0);
+
+ // If we violate the max acceleration constraint, let's modify the
+ // predecessor.
+ if (constrainedState.maxAcceleration < actualAcceleration - 1E-6_mps_sq) {
+ predecessor.maxAcceleration = constrainedState.maxAcceleration;
+ } else {
+ // Constrain the predecessor's max acceleration to the current
+ // acceleration.
+ if (actualAcceleration > predecessor.minAcceleration + 1E-6_mps_sq) {
+ predecessor.maxAcceleration = actualAcceleration;
+ }
+ // If the actual acceleration is less than the predecessor's min
+ // acceleration, it will be repaired in the backward pass.
+ break;
+ }
+ }
+ predecessor = constrainedState;
+ }
+
+ ConstrainedState successor{points.back(), constrainedStates.back().distance,
+ endVelocity, -maxAcceleration, maxAcceleration};
+
+ // Backward pass
+ for (int i = points.size() - 1; i >= 0; i--) {
+ auto& constrainedState = constrainedStates[i];
+ units::meter_t ds =
+ constrainedState.distance - successor.distance; // negative
+
+ while (true) {
+ // Enforce max velocity limit (reverse)
+ // vf = std::sqrt(vi^2 + 2*a*d), where vi = successor.
+ units::meters_per_second_t newMaxVelocity =
+ units::math::sqrt(successor.maxVelocity * successor.maxVelocity +
+ successor.minAcceleration * ds * 2.0);
+
+ // No more limits to impose! This state can be finalized.
+ if (newMaxVelocity >= constrainedState.maxVelocity) break;
+
+ constrainedState.maxVelocity = newMaxVelocity;
+
+ // Check all acceleration constraints with the new max velocity.
+ EnforceAccelerationLimits(reversed, constraints, &constrainedState);
+
+ if (ds.to<double>() > -kEpsilon) break;
+
+ // If the actual acceleration for this state is lower than the min
+ // acceleration, then we need to lower the min acceleration of the
+ // successor and try again.
+ units::meters_per_second_squared_t actualAcceleration =
+ (constrainedState.maxVelocity * constrainedState.maxVelocity -
+ successor.maxVelocity * successor.maxVelocity) /
+ (ds * 2.0);
+ if (constrainedState.minAcceleration > actualAcceleration + 1E-6_mps_sq) {
+ successor.minAcceleration = constrainedState.minAcceleration;
+ } else {
+ successor.minAcceleration = actualAcceleration;
+ break;
+ }
+ }
+ successor = constrainedState;
+ }
+
+ // Now we can integrate the constrained states forward in time to obtain our
+ // trajectory states.
+
+ std::vector<Trajectory::State> states(points.size());
+ units::second_t t = 0_s;
+ units::meter_t s = 0_m;
+ units::meters_per_second_t v = 0_mps;
+
+ for (unsigned int i = 0; i < constrainedStates.size(); i++) {
+ auto state = constrainedStates[i];
+
+ // Calculate the change in position between the current state and the
+ // previous state.
+ units::meter_t ds = state.distance - s;
+
+ // Calculate the acceleration between the current state and the previous
+ // state.
+ units::meters_per_second_squared_t accel =
+ (state.maxVelocity * state.maxVelocity - v * v) / (ds * 2);
+
+ // Calculate dt.
+ units::second_t dt = 0_s;
+ if (i > 0) {
+ states.at(i - 1).acceleration = reversed ? -accel : accel;
+ if (units::math::abs(accel) > 1E-6_mps_sq) {
+ // v_f = v_0 + a * t
+ dt = (state.maxVelocity - v) / accel;
+ } else if (units::math::abs(v) > 1E-6_mps) {
+ // delta_x = v * t
+ dt = ds / v;
+ } else {
+ throw std::runtime_error(
+ "Something went wrong during trajectory generation.");
+ }
+ }
+
+ v = state.maxVelocity;
+ s = state.distance;
+
+ t += dt;
+
+ states[i] = {t, reversed ? -v : v, reversed ? -accel : accel,
+ state.pose.first, state.pose.second};
+ }
+
+ return Trajectory(states);
+}
+
+void TrajectoryParameterizer::EnforceAccelerationLimits(
+ bool reverse,
+ const std::vector<std::unique_ptr<TrajectoryConstraint>>& constraints,
+ ConstrainedState* state) {
+ for (auto&& constraint : constraints) {
+ double factor = reverse ? -1.0 : 1.0;
+
+ auto minMaxAccel = constraint->MinMaxAcceleration(
+ state->pose.first, state->pose.second, state->maxVelocity * factor);
+
+ state->minAcceleration = units::math::max(
+ state->minAcceleration,
+ reverse ? -minMaxAccel.maxAcceleration : minMaxAccel.minAcceleration);
+
+ state->maxAcceleration = units::math::min(
+ state->maxAcceleration,
+ reverse ? -minMaxAccel.minAcceleration : minMaxAccel.maxAcceleration);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/trajectory/TrapezoidProfile.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/trajectory/TrapezoidProfile.cpp
new file mode 100644
index 0000000..6026aa5
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/trajectory/TrapezoidProfile.cpp
@@ -0,0 +1,158 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/trajectory/TrapezoidProfile.h"
+
+using namespace frc;
+
+TrapezoidProfile::TrapezoidProfile(Constraints constraints, State goal,
+ State initial)
+ : m_direction{ShouldFlipAcceleration(initial, goal) ? -1 : 1},
+ m_constraints(constraints),
+ m_initial(Direct(initial)),
+ m_goal(Direct(goal)) {
+ if (m_initial.velocity > m_constraints.maxVelocity) {
+ m_initial.velocity = m_constraints.maxVelocity;
+ }
+
+ // Deal with a possibly truncated motion profile (with nonzero initial or
+ // final velocity) by calculating the parameters as if the profile began and
+ // ended at zero velocity
+ units::second_t cutoffBegin =
+ m_initial.velocity / m_constraints.maxAcceleration;
+ units::meter_t cutoffDistBegin =
+ cutoffBegin * cutoffBegin * m_constraints.maxAcceleration / 2.0;
+
+ units::second_t cutoffEnd = m_goal.velocity / m_constraints.maxAcceleration;
+ units::meter_t cutoffDistEnd =
+ cutoffEnd * cutoffEnd * m_constraints.maxAcceleration / 2.0;
+
+ // Now we can calculate the parameters as if it was a full trapezoid instead
+ // of a truncated one
+
+ units::meter_t fullTrapezoidDist =
+ cutoffDistBegin + (m_goal.position - m_initial.position) + cutoffDistEnd;
+ units::second_t accelerationTime =
+ m_constraints.maxVelocity / m_constraints.maxAcceleration;
+
+ units::meter_t fullSpeedDist =
+ fullTrapezoidDist -
+ accelerationTime * accelerationTime * m_constraints.maxAcceleration;
+
+ // Handle the case where the profile never reaches full speed
+ if (fullSpeedDist < 0_m) {
+ accelerationTime =
+ units::math::sqrt(fullTrapezoidDist / m_constraints.maxAcceleration);
+ fullSpeedDist = 0_m;
+ }
+
+ m_endAccel = accelerationTime - cutoffBegin;
+ m_endFullSpeed = m_endAccel + fullSpeedDist / m_constraints.maxVelocity;
+ m_endDeccel = m_endFullSpeed + accelerationTime - cutoffEnd;
+}
+
+TrapezoidProfile::State TrapezoidProfile::Calculate(units::second_t t) const {
+ State result = m_initial;
+
+ if (t < m_endAccel) {
+ result.velocity += t * m_constraints.maxAcceleration;
+ result.position +=
+ (m_initial.velocity + t * m_constraints.maxAcceleration / 2.0) * t;
+ } else if (t < m_endFullSpeed) {
+ result.velocity = m_constraints.maxVelocity;
+ result.position += (m_initial.velocity +
+ m_endAccel * m_constraints.maxAcceleration / 2.0) *
+ m_endAccel +
+ m_constraints.maxVelocity * (t - m_endAccel);
+ } else if (t <= m_endDeccel) {
+ result.velocity =
+ m_goal.velocity + (m_endDeccel - t) * m_constraints.maxAcceleration;
+ units::second_t timeLeft = m_endDeccel - t;
+ result.position =
+ m_goal.position -
+ (m_goal.velocity + timeLeft * m_constraints.maxAcceleration / 2.0) *
+ timeLeft;
+ } else {
+ result = m_goal;
+ }
+
+ return Direct(result);
+}
+
+units::second_t TrapezoidProfile::TimeLeftUntil(units::meter_t target) const {
+ units::meter_t position = m_initial.position * m_direction;
+ units::meters_per_second_t velocity = m_initial.velocity * m_direction;
+
+ units::second_t endAccel = m_endAccel * m_direction;
+ units::second_t endFullSpeed = m_endFullSpeed * m_direction - endAccel;
+
+ if (target < position) {
+ endAccel *= -1.0;
+ endFullSpeed *= -1.0;
+ velocity *= -1.0;
+ }
+
+ endAccel = units::math::max(endAccel, 0_s);
+ endFullSpeed = units::math::max(endFullSpeed, 0_s);
+ units::second_t endDeccel = m_endDeccel - endAccel - endFullSpeed;
+ endDeccel = units::math::max(endDeccel, 0_s);
+
+ const units::meters_per_second_squared_t acceleration =
+ m_constraints.maxAcceleration;
+ const units::meters_per_second_squared_t decceleration =
+ -m_constraints.maxAcceleration;
+
+ units::meter_t distToTarget = units::math::abs(target - position);
+
+ if (distToTarget < 1e-6_m) {
+ return 0_s;
+ }
+
+ units::meter_t accelDist =
+ velocity * endAccel + 0.5 * acceleration * endAccel * endAccel;
+
+ units::meters_per_second_t deccelVelocity;
+ if (endAccel > 0_s) {
+ deccelVelocity = units::math::sqrt(
+ units::math::abs(velocity * velocity + 2 * acceleration * accelDist));
+ } else {
+ deccelVelocity = velocity;
+ }
+
+ units::meter_t deccelDist =
+ deccelVelocity * endDeccel + 0.5 * decceleration * endDeccel * endDeccel;
+
+ deccelDist = units::math::max(deccelDist, 0_m);
+
+ units::meter_t fullSpeedDist = m_constraints.maxVelocity * endFullSpeed;
+
+ if (accelDist > distToTarget) {
+ accelDist = distToTarget;
+ fullSpeedDist = 0_m;
+ deccelDist = 0_m;
+ } else if (accelDist + fullSpeedDist > distToTarget) {
+ fullSpeedDist = distToTarget - accelDist;
+ deccelDist = 0_m;
+ } else {
+ deccelDist = distToTarget - fullSpeedDist - accelDist;
+ }
+
+ units::second_t accelTime =
+ (-velocity + units::math::sqrt(units::math::abs(
+ velocity * velocity + 2 * acceleration * accelDist))) /
+ acceleration;
+
+ units::second_t deccelTime =
+ (-deccelVelocity +
+ units::math::sqrt(units::math::abs(deccelVelocity * deccelVelocity +
+ 2 * decceleration * deccelDist))) /
+ decceleration;
+
+ units::second_t fullSpeedTime = fullSpeedDist / m_constraints.maxVelocity;
+
+ return accelTime + fullSpeedTime + deccelTime;
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/trajectory/constraint/CentripetalAccelerationConstraint.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/trajectory/constraint/CentripetalAccelerationConstraint.cpp
new file mode 100644
index 0000000..bf45c34
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/trajectory/constraint/CentripetalAccelerationConstraint.cpp
@@ -0,0 +1,40 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/trajectory/constraint/CentripetalAccelerationConstraint.h"
+
+using namespace frc;
+
+CentripetalAccelerationConstraint::CentripetalAccelerationConstraint(
+ units::meters_per_second_squared_t maxCentripetalAcceleration)
+ : m_maxCentripetalAcceleration(maxCentripetalAcceleration) {}
+
+units::meters_per_second_t CentripetalAccelerationConstraint::MaxVelocity(
+ const Pose2d& pose, curvature_t curvature,
+ units::meters_per_second_t velocity) {
+ // ac = v^2 / r
+ // k (curvature) = 1 / r
+
+ // therefore, ac = v^2 * k
+ // ac / k = v^2
+ // v = std::sqrt(ac / k)
+
+ // We have to multiply by 1_rad here to get the units to cancel out nicely.
+ // The units library defines a unit for radians although it is technically
+ // unitless.
+ return units::math::sqrt(m_maxCentripetalAcceleration /
+ units::math::abs(curvature) * 1_rad);
+}
+
+TrajectoryConstraint::MinMax
+CentripetalAccelerationConstraint::MinMaxAcceleration(
+ const Pose2d& pose, curvature_t curvature,
+ units::meters_per_second_t speed) {
+ // The acceleration of the robot has no impact on the centripetal acceleration
+ // of the robot.
+ return {};
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/trajectory/constraint/DifferentialDriveKinematicsConstraint.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/trajectory/constraint/DifferentialDriveKinematicsConstraint.cpp
new file mode 100644
index 0000000..8b88bf4
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cpp/trajectory/constraint/DifferentialDriveKinematicsConstraint.cpp
@@ -0,0 +1,31 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h"
+
+using namespace frc;
+
+DifferentialDriveKinematicsConstraint::DifferentialDriveKinematicsConstraint(
+ DifferentialDriveKinematics kinematics, units::meters_per_second_t maxSpeed)
+ : m_kinematics(kinematics), m_maxSpeed(maxSpeed) {}
+
+units::meters_per_second_t DifferentialDriveKinematicsConstraint::MaxVelocity(
+ const Pose2d& pose, curvature_t curvature,
+ units::meters_per_second_t velocity) {
+ auto wheelSpeeds =
+ m_kinematics.ToWheelSpeeds({velocity, 0_mps, velocity * curvature});
+ wheelSpeeds.Normalize(m_maxSpeed);
+
+ return m_kinematics.ToChassisSpeeds(wheelSpeeds).vx;
+}
+
+TrajectoryConstraint::MinMax
+DifferentialDriveKinematicsConstraint::MinMaxAcceleration(
+ const Pose2d& pose, curvature_t curvature,
+ units::meters_per_second_t speed) {
+ return {};
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/cppcs/RobotBase.cpp b/third_party/allwpilib_2019/wpilibc/src/main/native/cppcs/RobotBase.cpp
new file mode 100644
index 0000000..65c072d
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/cppcs/RobotBase.cpp
@@ -0,0 +1,160 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/RobotBase.h"
+
+#ifdef __FRC_ROBORIO__
+#include <dlfcn.h>
+#endif
+
+#include <cstdio>
+
+#include <cameraserver/CameraServerShared.h>
+#include <hal/HAL.h>
+#include <networktables/NetworkTableInstance.h>
+
+#include "WPILibVersion.h"
+#include "frc/DriverStation.h"
+#include "frc/RobotState.h"
+#include "frc/Utility.h"
+#include "frc/WPIErrors.h"
+#include "frc/livewindow/LiveWindow.h"
+#include "frc/smartdashboard/SmartDashboard.h"
+
+typedef void (*SetCameraServerSharedFP)(frc::CameraServerShared* shared);
+
+using namespace frc;
+
+int frc::RunHALInitialization() {
+ if (!HAL_Initialize(500, 0)) {
+ wpi::errs() << "FATAL ERROR: HAL could not be initialized\n";
+ return -1;
+ }
+ HAL_Report(HALUsageReporting::kResourceType_Language,
+ HALUsageReporting::kLanguage_CPlusPlus);
+ wpi::outs() << "\n********** Robot program starting **********\n";
+ return 0;
+}
+
+std::thread::id RobotBase::m_threadId;
+
+namespace {
+class WPILibCameraServerShared : public frc::CameraServerShared {
+ public:
+ void ReportUsbCamera(int id) override {
+ HAL_Report(HALUsageReporting::kResourceType_UsbCamera, id);
+ }
+ void ReportAxisCamera(int id) override {
+ HAL_Report(HALUsageReporting::kResourceType_AxisCamera, id);
+ }
+ void ReportVideoServer(int id) override {
+ HAL_Report(HALUsageReporting::kResourceType_PCVideoServer, id);
+ }
+ void SetCameraServerError(const wpi::Twine& error) override {
+ wpi_setGlobalWPIErrorWithContext(CameraServerError, error);
+ }
+ void SetVisionRunnerError(const wpi::Twine& error) override {
+ wpi_setGlobalErrorWithContext(-1, error);
+ }
+ void ReportDriverStationError(const wpi::Twine& error) override {
+ DriverStation::ReportError(error);
+ }
+ std::pair<std::thread::id, bool> GetRobotMainThreadId() const override {
+ return std::make_pair(RobotBase::GetThreadId(), true);
+ }
+};
+} // namespace
+
+static void SetupCameraServerShared() {
+#ifdef __FRC_ROBORIO__
+#ifdef DYNAMIC_CAMERA_SERVER
+#ifdef DYNAMIC_CAMERA_SERVER_DEBUG
+ auto cameraServerLib = dlopen("libcameraserverd.so", RTLD_NOW);
+#else
+ auto cameraServerLib = dlopen("libcameraserver.so", RTLD_NOW);
+#endif
+
+ if (!cameraServerLib) {
+ wpi::outs() << "Camera Server Library Not Found\n";
+ wpi::outs().flush();
+ return;
+ }
+ auto symbol = dlsym(cameraServerLib, "CameraServer_SetCameraServerShared");
+ if (symbol) {
+ auto setCameraServerShared = (SetCameraServerSharedFP)symbol;
+ setCameraServerShared(new WPILibCameraServerShared{});
+ wpi::outs() << "Set Camera Server Shared\n";
+ wpi::outs().flush();
+ } else {
+ wpi::outs() << "Camera Server Shared Symbol Missing\n";
+ wpi::outs().flush();
+ }
+#else
+ CameraServer_SetCameraServerShared(new WPILibCameraServerShared{});
+#endif
+#else
+ wpi::outs() << "Not loading CameraServerShared\n";
+ wpi::outs().flush();
+#endif
+}
+
+bool RobotBase::IsEnabled() const { return m_ds.IsEnabled(); }
+
+bool RobotBase::IsDisabled() const { return m_ds.IsDisabled(); }
+
+bool RobotBase::IsAutonomous() const { return m_ds.IsAutonomous(); }
+
+bool RobotBase::IsOperatorControl() const { return m_ds.IsOperatorControl(); }
+
+bool RobotBase::IsTest() const { return m_ds.IsTest(); }
+
+bool RobotBase::IsNewDataAvailable() const { return m_ds.IsNewControlData(); }
+
+std::thread::id RobotBase::GetThreadId() { return m_threadId; }
+
+RobotBase::RobotBase() : m_ds(DriverStation::GetInstance()) {
+ if (!HAL_Initialize(500, 0)) {
+ wpi::errs() << "FATAL ERROR: HAL could not be initialized\n";
+ wpi::errs().flush();
+ std::terminate();
+ }
+ m_threadId = std::this_thread::get_id();
+
+ SetupCameraServerShared();
+
+ auto inst = nt::NetworkTableInstance::GetDefault();
+ inst.SetNetworkIdentity("Robot");
+ inst.StartServer("/home/lvuser/networktables.ini");
+
+ SmartDashboard::init();
+
+ if (IsReal()) {
+ std::FILE* file = nullptr;
+ file = std::fopen("/tmp/frc_versions/FRC_Lib_Version.ini", "w");
+
+ if (file != nullptr) {
+ std::fputs("C++ ", file);
+ std::fputs(GetWPILibVersion(), file);
+ std::fclose(file);
+ }
+ }
+
+ // First and one-time initialization
+ inst.GetTable("LiveWindow")
+ ->GetSubTable(".status")
+ ->GetEntry("LW Enabled")
+ .SetBoolean(false);
+
+ LiveWindow::GetInstance()->SetEnabled(false);
+}
+
+RobotBase::RobotBase(RobotBase&&) noexcept
+ : m_ds(DriverStation::GetInstance()) {}
+
+RobotBase::~RobotBase() {}
+
+RobotBase& RobotBase::operator=(RobotBase&&) noexcept { return *this; }
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/ADXL345_I2C.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/ADXL345_I2C.h
deleted file mode 100644
index a155d6c0..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/ADXL345_I2C.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: ADXL345_I2C.h is deprecated; include frc/ADXL345_I2C.h instead"
-#else
-#warning "ADXL345_I2C.h is deprecated; include frc/ADXL345_I2C.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/ADXL345_I2C.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/ADXL345_SPI.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/ADXL345_SPI.h
deleted file mode 100644
index 490594c..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/ADXL345_SPI.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: ADXL345_SPI.h is deprecated; include frc/ADXL345_SPI.h instead"
-#else
-#warning "ADXL345_SPI.h is deprecated; include frc/ADXL345_SPI.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/ADXL345_SPI.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/ADXL362.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/ADXL362.h
deleted file mode 100644
index 238ee10..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/ADXL362.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: ADXL362.h is deprecated; include frc/ADXL362.h instead"
-#else
-#warning "ADXL362.h is deprecated; include frc/ADXL362.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/ADXL362.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/ADXRS450_Gyro.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/ADXRS450_Gyro.h
deleted file mode 100644
index 46b337f..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/ADXRS450_Gyro.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: ADXRS450_Gyro.h is deprecated; include frc/ADXRS450_Gyro.h instead"
-#else
-#warning "ADXRS450_Gyro.h is deprecated; include frc/ADXRS450_Gyro.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/ADXRS450_Gyro.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/AnalogAccelerometer.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/AnalogAccelerometer.h
deleted file mode 100644
index 926005e..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/AnalogAccelerometer.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: AnalogAccelerometer.h is deprecated; include frc/AnalogAccelerometer.h instead"
-#else
-#warning "AnalogAccelerometer.h is deprecated; include frc/AnalogAccelerometer.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/AnalogAccelerometer.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/AnalogGyro.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/AnalogGyro.h
deleted file mode 100644
index 287bf46..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/AnalogGyro.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: AnalogGyro.h is deprecated; include frc/AnalogGyro.h instead"
-#else
-#warning "AnalogGyro.h is deprecated; include frc/AnalogGyro.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/AnalogGyro.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/AnalogInput.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/AnalogInput.h
deleted file mode 100644
index 64bacdf..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/AnalogInput.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: AnalogInput.h is deprecated; include frc/AnalogInput.h instead"
-#else
-#warning "AnalogInput.h is deprecated; include frc/AnalogInput.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/AnalogInput.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/AnalogOutput.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/AnalogOutput.h
deleted file mode 100644
index b08d3ee..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/AnalogOutput.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: AnalogOutput.h is deprecated; include frc/AnalogOutput.h instead"
-#else
-#warning "AnalogOutput.h is deprecated; include frc/AnalogOutput.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/AnalogOutput.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/AnalogPotentiometer.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/AnalogPotentiometer.h
deleted file mode 100644
index 5b01b97..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/AnalogPotentiometer.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: AnalogPotentiometer.h is deprecated; include frc/AnalogPotentiometer.h instead"
-#else
-#warning "AnalogPotentiometer.h is deprecated; include frc/AnalogPotentiometer.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/AnalogPotentiometer.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/AnalogTrigger.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/AnalogTrigger.h
deleted file mode 100644
index e88547d..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/AnalogTrigger.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: AnalogTrigger.h is deprecated; include frc/AnalogTrigger.h instead"
-#else
-#warning "AnalogTrigger.h is deprecated; include frc/AnalogTrigger.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/AnalogTrigger.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/AnalogTriggerOutput.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/AnalogTriggerOutput.h
deleted file mode 100644
index d8754a0..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/AnalogTriggerOutput.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: AnalogTriggerOutput.h is deprecated; include frc/AnalogTriggerOutput.h instead"
-#else
-#warning "AnalogTriggerOutput.h is deprecated; include frc/AnalogTriggerOutput.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/AnalogTriggerOutput.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/AnalogTriggerType.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/AnalogTriggerType.h
deleted file mode 100644
index 6f55772..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/AnalogTriggerType.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: AnalogTriggerType.h is deprecated; include frc/AnalogTriggerType.h instead"
-#else
-#warning "AnalogTriggerType.h is deprecated; include frc/AnalogTriggerType.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/AnalogTriggerType.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Base.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Base.h
deleted file mode 100644
index c6fc91a..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Base.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Base.h is deprecated; include frc/Base.h instead"
-#else
-#warning "Base.h is deprecated; include frc/Base.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/Base.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/BuiltInAccelerometer.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/BuiltInAccelerometer.h
deleted file mode 100644
index e394037..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/BuiltInAccelerometer.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: BuiltInAccelerometer.h is deprecated; include frc/BuiltInAccelerometer.h instead"
-#else
-#warning "BuiltInAccelerometer.h is deprecated; include frc/BuiltInAccelerometer.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/BuiltInAccelerometer.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Buttons/Button.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Buttons/Button.h
deleted file mode 100644
index f71bee2..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Buttons/Button.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Buttons/Button.h is deprecated; include frc/buttons/Button.h instead"
-#else
-#warning "Buttons/Button.h is deprecated; include frc/buttons/Button.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/buttons/Button.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Buttons/ButtonScheduler.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Buttons/ButtonScheduler.h
deleted file mode 100644
index 48392c7..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Buttons/ButtonScheduler.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: buttons/ButtonScheduler.h is deprecated; include frc/buttons/ButtonScheduler.h instead"
-#else
-#warning "buttons/ButtonScheduler.h is deprecated; include frc/buttons/ButtonScheduler.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/buttons/ButtonScheduler.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Buttons/CancelButtonScheduler.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Buttons/CancelButtonScheduler.h
deleted file mode 100644
index 201d024..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Buttons/CancelButtonScheduler.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: buttons/CancelButtonScheduler.h is deprecated; include frc/buttons/CancelButtonScheduler.h instead"
-#else
-#warning "buttons/CancelButtonScheduler.h is deprecated; include frc/buttons/CancelButtonScheduler.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/buttons/CancelButtonScheduler.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Buttons/HeldButtonScheduler.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Buttons/HeldButtonScheduler.h
deleted file mode 100644
index 4886832..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Buttons/HeldButtonScheduler.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: buttons/HeldButtonScheduler.h is deprecated; include frc/buttons/HeldButtonScheduler.h instead"
-#else
-#warning "buttons/HeldButtonScheduler.h is deprecated; include frc/buttons/HeldButtonScheduler.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/buttons/HeldButtonScheduler.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Buttons/InternalButton.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Buttons/InternalButton.h
deleted file mode 100644
index 4cde15a..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Buttons/InternalButton.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: buttons/InternalButton.h is deprecated; include frc/buttons/InternalButton.h instead"
-#else
-#warning "buttons/InternalButton.h is deprecated; include frc/buttons/InternalButton.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/buttons/InternalButton.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Buttons/JoystickButton.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Buttons/JoystickButton.h
deleted file mode 100644
index 6ad611e..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Buttons/JoystickButton.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: buttons/JoystickButton.h is deprecated; include frc/buttons/JoystickButton.h instead"
-#else
-#warning "buttons/JoystickButton.h is deprecated; include frc/buttons/JoystickButton.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/buttons/JoystickButton.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Buttons/NetworkButton.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Buttons/NetworkButton.h
deleted file mode 100644
index 8d23810..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Buttons/NetworkButton.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: buttons/NetworkButton.h is deprecated; include frc/buttons/NetworkButton.h instead"
-#else
-#warning "buttons/NetworkButton.h is deprecated; include frc/buttons/NetworkButton.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/buttons/NetworkButton.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Buttons/PressedButtonScheduler.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Buttons/PressedButtonScheduler.h
deleted file mode 100644
index 323d9e2..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Buttons/PressedButtonScheduler.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: buttons/PressedButtonScheduler.h is deprecated; include frc/buttons/PressedButtonScheduler.h instead"
-#else
-#warning "buttons/PressedButtonScheduler.h is deprecated; include frc/buttons/PressedButtonScheduler.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/buttons/PressedButtonScheduler.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Buttons/ReleasedButtonScheduler.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Buttons/ReleasedButtonScheduler.h
deleted file mode 100644
index 88ef25c..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Buttons/ReleasedButtonScheduler.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: buttons/ReleasedButtonScheduler.h is deprecated; include frc/buttons/ReleasedButtonScheduler.h instead"
-#else
-#warning "buttons/ReleasedButtonScheduler.h is deprecated; include frc/buttons/ReleasedButtonScheduler.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/buttons/ReleasedButtonScheduler.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Buttons/ToggleButtonScheduler.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Buttons/ToggleButtonScheduler.h
deleted file mode 100644
index 7848f91..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Buttons/ToggleButtonScheduler.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: buttons/ToggleButtonScheduler.h is deprecated; include frc/buttons/ToggleButtonScheduler.h instead"
-#else
-#warning "buttons/ToggleButtonScheduler.h is deprecated; include frc/buttons/ToggleButtonScheduler.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/buttons/ToggleButtonScheduler.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Buttons/Trigger.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Buttons/Trigger.h
deleted file mode 100644
index 7fb8889..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Buttons/Trigger.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: buttons/Trigger.h is deprecated; include frc/buttons/Trigger.h instead"
-#else
-#warning "buttons/Trigger.h is deprecated; include frc/buttons/Trigger.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/buttons/Trigger.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/CAN.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/CAN.h
deleted file mode 100644
index 28d49b8..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/CAN.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: CAN.h is deprecated; include frc/CAN.h instead"
-#else
-#warning "CAN.h is deprecated; include frc/CAN.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/CAN.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/Command.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/Command.h
deleted file mode 100644
index f170ced..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/Command.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Commands/Command.h is deprecated; include frc/commands/Command.h instead"
-#else
-#warning "Commands/Command.h is deprecated; include frc/commands/Command.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/commands/Command.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/CommandGroup.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/CommandGroup.h
deleted file mode 100644
index 0e124f2..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/CommandGroup.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Commands/CommandGroup.h is deprecated; include frc/commands/CommandGroup.h instead"
-#else
-#warning "Commands/CommandGroup.h is deprecated; include frc/commands/CommandGroup.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/commands/CommandGroup.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/CommandGroupEntry.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/CommandGroupEntry.h
deleted file mode 100644
index 1f5ee67..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/CommandGroupEntry.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Commands/CommandGroupEntry.h is deprecated; include frc/commands/CommandGroupEntry.h instead"
-#else
-#warning "Commands/CommandGroupEntry.h is deprecated; include frc/commands/CommandGroupEntry.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/commands/CommandGroupEntry.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/ConditionalCommand.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/ConditionalCommand.h
deleted file mode 100644
index a0d3df8..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/ConditionalCommand.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Commands/ConditionalCommand.h is deprecated; include frc/commands/ConditionalCommand.h instead"
-#else
-#warning "Commands/ConditionalCommand.h is deprecated; include frc/commands/ConditionalCommand.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/commands/ConditionalCommand.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/InstantCommand.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/InstantCommand.h
deleted file mode 100644
index c097c1a..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/InstantCommand.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Commands/InstantCommand.h is deprecated; include frc/commands/InstantCommand.h instead"
-#else
-#warning "Commands/InstantCommand.h is deprecated; include frc/commands/InstantCommand.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/commands/InstantCommand.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/PIDCommand.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/PIDCommand.h
deleted file mode 100644
index 462e807..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/PIDCommand.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Commands/PIDCommand.h is deprecated; include frc/commands/PIDCommand.h instead"
-#else
-#warning "Commands/PIDCommand.h is deprecated; include frc/commands/PIDCommand.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/commands/PIDCommand.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/PIDSubsystem.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/PIDSubsystem.h
deleted file mode 100644
index d4bc1ee..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/PIDSubsystem.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Commands/PIDSubsystem.h is deprecated; include frc/commands/PIDSubsystem.h instead"
-#else
-#warning "Commands/PIDSubsystem.h is deprecated; include frc/commands/PIDSubsystem.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/commands/PIDSubsystem.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/PrintCommand.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/PrintCommand.h
deleted file mode 100644
index 801a539..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/PrintCommand.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Commands/PrintCommand.h is deprecated; include frc/commands/PrintCommand.h instead"
-#else
-#warning "Commands/PrintCommand.h is deprecated; include frc/commands/PrintCommand.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/commands/PrintCommand.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/Scheduler.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/Scheduler.h
deleted file mode 100644
index df7591c..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/Scheduler.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Commands/Scheduler.h is deprecated; include frc/commands/Scheduler.h instead"
-#else
-#warning "Commands/Scheduler.h is deprecated; include frc/commands/Scheduler.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/commands/Scheduler.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/StartCommand.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/StartCommand.h
deleted file mode 100644
index 7ae1603..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/StartCommand.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Commands/StartCommand.h is deprecated; include frc/commands/StartCommand.h instead"
-#else
-#warning "Commands/StartCommand.h is deprecated; include frc/commands/StartCommand.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/commands/StartCommand.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/Subsystem.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/Subsystem.h
deleted file mode 100644
index ffd0697..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/Subsystem.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Commands/Subsystem.h is deprecated; include frc/commands/Subsystem.h instead"
-#else
-#warning "Commands/Subsystem.h is deprecated; include frc/commands/Subsystem.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/commands/Subsystem.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/TimedCommand.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/TimedCommand.h
deleted file mode 100644
index 848f4b6..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/TimedCommand.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Commands/TimedCommand.h is deprecated; include frc/commands/TimedCommand.h instead"
-#else
-#warning "Commands/TimedCommand.h is deprecated; include frc/commands/TimedCommand.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/commands/TimedCommand.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/WaitCommand.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/WaitCommand.h
deleted file mode 100644
index 1901fba..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/WaitCommand.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Commands/WaitCommand.h is deprecated; include frc/commands/WaitCommand.h instead"
-#else
-#warning "Commands/WaitCommand.h is deprecated; include frc/commands/WaitCommand.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/commands/WaitCommand.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/WaitForChildren.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/WaitForChildren.h
deleted file mode 100644
index 178c835..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/WaitForChildren.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Commands/WaitForChildren.h is deprecated; include frc/commands/WaitForChildren.h instead"
-#else
-#warning "Commands/WaitForChildren.h is deprecated; include frc/commands/WaitForChildren.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/commands/WaitForChildren.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/WaitUntilCommand.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/WaitUntilCommand.h
deleted file mode 100644
index b338d5f..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Commands/WaitUntilCommand.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Commands/WaitUntilCommand.h is deprecated; include frc/commands/WaitUntilCommand.h instead"
-#else
-#warning "Commands/WaitUntilCommand.h is deprecated; include frc/commands/WaitUntilCommand.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/commands/WaitUntilCommand.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Compressor.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Compressor.h
deleted file mode 100644
index bfb018e..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Compressor.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Compressor.h is deprecated; include frc/Compressor.h instead"
-#else
-#warning "Compressor.h is deprecated; include frc/Compressor.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/Compressor.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Controller.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Controller.h
deleted file mode 100644
index b869373..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Controller.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Controller.h is deprecated; include frc/Controller.h instead"
-#else
-#warning "Controller.h is deprecated; include frc/Controller.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/Controller.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/ControllerPower.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/ControllerPower.h
deleted file mode 100644
index 1469d19..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/ControllerPower.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: ControllerPower.h is deprecated; include frc/ControllerPower.h instead"
-#else
-#warning "ControllerPower.h is deprecated; include frc/ControllerPower.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/ControllerPower.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Counter.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Counter.h
deleted file mode 100644
index e088897..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Counter.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Counter.h is deprecated; include frc/Counter.h instead"
-#else
-#warning "Counter.h is deprecated; include frc/Counter.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/Counter.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/CounterBase.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/CounterBase.h
deleted file mode 100644
index 736577f..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/CounterBase.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: CounterBase.h is deprecated; include frc/CounterBase.h instead"
-#else
-#warning "CounterBase.h is deprecated; include frc/CounterBase.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/CounterBase.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/DMC60.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/DMC60.h
deleted file mode 100644
index 0fe0415..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/DMC60.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: DMC60.h is deprecated; include frc/DMC60.h instead"
-#else
-#warning "DMC60.h is deprecated; include frc/DMC60.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/DMC60.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/DigitalGlitchFilter.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/DigitalGlitchFilter.h
deleted file mode 100644
index d35c82a..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/DigitalGlitchFilter.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: DigitalGlitchFilter.h is deprecated; include frc/DigitalGlitchFilter.h instead"
-#else
-#warning "DigitalGlitchFilter.h is deprecated; include frc/DigitalGlitchFilter.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/DigitalGlitchFilter.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/DigitalInput.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/DigitalInput.h
deleted file mode 100644
index 2b2a9b1..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/DigitalInput.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: DigitalInput.h is deprecated; include frc/DigitalInput.h instead"
-#else
-#warning "DigitalInput.h is deprecated; include frc/DigitalInput.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/DigitalInput.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/DigitalOutput.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/DigitalOutput.h
deleted file mode 100644
index 56983c6..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/DigitalOutput.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: DigitalOutput.h is deprecated; include frc/DigitalOutput.h instead"
-#else
-#warning "DigitalOutput.h is deprecated; include frc/DigitalOutput.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/DigitalOutput.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/DigitalSource.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/DigitalSource.h
deleted file mode 100644
index 9eae461..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/DigitalSource.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: DigitalSource.h is deprecated; include frc/DigitalSource.h instead"
-#else
-#warning "DigitalSource.h is deprecated; include frc/DigitalSource.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/DigitalSource.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/DoubleSolenoid.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/DoubleSolenoid.h
deleted file mode 100644
index 3c1bf96..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/DoubleSolenoid.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: DoubleSolenoid.h is deprecated; include frc/DoubleSolenoid.h instead"
-#else
-#warning "DoubleSolenoid.h is deprecated; include frc/DoubleSolenoid.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/DoubleSolenoid.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Drive/DifferentialDrive.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Drive/DifferentialDrive.h
deleted file mode 100644
index 4071d60..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Drive/DifferentialDrive.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Drive/DifferentialDrive.h is deprecated; include frc/drive/DifferentialDrive.h instead"
-#else
-#warning "Drive/DifferentialDrive.h is deprecated; include frc/drive/DifferentialDrive.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/drive/DifferentialDrive.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Drive/KilloughDrive.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Drive/KilloughDrive.h
deleted file mode 100644
index fbe54a4..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Drive/KilloughDrive.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Drive/KilloughDrive.h is deprecated; include frc/drive/KilloughDrive.h instead"
-#else
-#warning "Drive/KilloughDrive.h is deprecated; include frc/drive/KilloughDrive.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/drive/KilloughDrive.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Drive/MecanumDrive.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Drive/MecanumDrive.h
deleted file mode 100644
index b5a22aa..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Drive/MecanumDrive.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Drive/MecanumDrive.h is deprecated; include frc/drive/MecanumDrive.h instead"
-#else
-#warning "Drive/MecanumDrive.h is deprecated; include frc/drive/MecanumDrive.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/drive/MecanumDrive.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Drive/RobotDriveBase.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Drive/RobotDriveBase.h
deleted file mode 100644
index f37ec0c..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Drive/RobotDriveBase.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Drive/RobotDriveBase.h is deprecated; include frc/drive/RobotDriveBase.h instead"
-#else
-#warning "Drive/RobotDriveBase.h is deprecated; include frc/drive/RobotDriveBase.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/drive/RobotDriveBase.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Drive/Vector2d.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Drive/Vector2d.h
deleted file mode 100644
index 01516ed..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Drive/Vector2d.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Drive/Vector2d.h is deprecated; include frc/drive/Vector2d.h instead"
-#else
-#warning "Drive/Vector2d.h is deprecated; include frc/drive/Vector2d.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/drive/Vector2d.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/DriverStation.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/DriverStation.h
deleted file mode 100644
index c00adbc..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/DriverStation.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: DriverStation.h is deprecated; include frc/DriverStation.h instead"
-#else
-#warning "DriverStation.h is deprecated; include frc/DriverStation.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/DriverStation.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Encoder.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Encoder.h
deleted file mode 100644
index 214100d..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Encoder.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Encoder.h is deprecated; include frc/Encoder.h instead"
-#else
-#warning "Encoder.h is deprecated; include frc/Encoder.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/Encoder.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Error.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Error.h
deleted file mode 100644
index f3fb5de..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Error.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Error.h is deprecated; include frc/Error.h instead"
-#else
-#warning "Error.h is deprecated; include frc/Error.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/Error.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/ErrorBase.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/ErrorBase.h
deleted file mode 100644
index eb300d9..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/ErrorBase.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: ErrorBase.h is deprecated; include frc/ErrorBase.h instead"
-#else
-#warning "ErrorBase.h is deprecated; include frc/ErrorBase.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/ErrorBase.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Filters/Filter.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Filters/Filter.h
deleted file mode 100644
index 4fd382f..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Filters/Filter.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Filters/Filter.h is deprecated; include frc/filters/Filter.h instead"
-#else
-#warning "Filters/Filter.h is deprecated; include frc/filters/Filter.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/filters/Filter.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Filters/LinearDigitalFilter.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Filters/LinearDigitalFilter.h
deleted file mode 100644
index b0da22c..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Filters/LinearDigitalFilter.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Filters/LinearDigitalFilter.h is deprecated; include frc/filters/LinearDigitalFilter.h instead"
-#else
-#warning "Filters/LinearDigitalFilter.h is deprecated; include frc/filters/LinearDigitalFilter.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/filters/LinearDigitalFilter.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/GamepadBase.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/GamepadBase.h
deleted file mode 100644
index bc8d809..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/GamepadBase.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: GamepadBase.h is deprecated; include frc/GamepadBase.h instead"
-#else
-#warning "GamepadBase.h is deprecated; include frc/GamepadBase.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/GamepadBase.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/GearTooth.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/GearTooth.h
deleted file mode 100644
index 2c56f95..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/GearTooth.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: GearTooth.h is deprecated; include frc/GearTooth.h instead"
-#else
-#warning "GearTooth.h is deprecated; include frc/GearTooth.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/GearTooth.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/GenericHID.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/GenericHID.h
deleted file mode 100644
index d305692..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/GenericHID.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: GenericHID.h is deprecated; include frc/GenericHID.h instead"
-#else
-#warning "GenericHID.h is deprecated; include frc/GenericHID.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/GenericHID.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/GyroBase.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/GyroBase.h
deleted file mode 100644
index f2b9097..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/GyroBase.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: GyroBase.h is deprecated; include frc/GyroBase.h instead"
-#else
-#warning "GyroBase.h is deprecated; include frc/GyroBase.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/GyroBase.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/I2C.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/I2C.h
deleted file mode 100644
index 594fdaf..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/I2C.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: I2C.h is deprecated; include frc/I2C.h instead"
-#else
-#warning "I2C.h is deprecated; include frc/I2C.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/I2C.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/InterruptableSensorBase.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/InterruptableSensorBase.h
deleted file mode 100644
index 43e4f74..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/InterruptableSensorBase.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: InterruptableSensorBase.h is deprecated; include frc/InterruptableSensorBase.h instead"
-#else
-#warning "InterruptableSensorBase.h is deprecated; include frc/InterruptableSensorBase.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/InterruptableSensorBase.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/IterativeRobot.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/IterativeRobot.h
deleted file mode 100644
index 7ad7973..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/IterativeRobot.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: IterativeRobot.h is deprecated; include frc/IterativeRobot.h instead"
-#else
-#warning "IterativeRobot.h is deprecated; include frc/IterativeRobot.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/IterativeRobot.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/IterativeRobotBase.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/IterativeRobotBase.h
deleted file mode 100644
index e87c547..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/IterativeRobotBase.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: IterativeRobotBase.h is deprecated; include frc/IterativeRobotBase.h instead"
-#else
-#warning "IterativeRobotBase.h is deprecated; include frc/IterativeRobotBase.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/IterativeRobotBase.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Jaguar.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Jaguar.h
deleted file mode 100644
index 7eea49d..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Jaguar.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Jaguar.h is deprecated; include frc/Jaguar.h instead"
-#else
-#warning "Jaguar.h is deprecated; include frc/Jaguar.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/Jaguar.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Joystick.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Joystick.h
deleted file mode 100644
index febc148..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Joystick.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Joystick.h is deprecated; include frc/Joystick.h instead"
-#else
-#warning "Joystick.h is deprecated; include frc/Joystick.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/Joystick.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/JoystickBase.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/JoystickBase.h
deleted file mode 100644
index 4aa2a59..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/JoystickBase.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: JoystickBase.h is deprecated; include frc/JoystickBase.h instead"
-#else
-#warning "JoystickBase.h is deprecated; include frc/JoystickBase.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/JoystickBase.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/LiveWindow/LiveWindow.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/LiveWindow/LiveWindow.h
deleted file mode 100644
index 99e7628..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/LiveWindow/LiveWindow.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: LiveWindow/LiveWindow.h is deprecated; include frc/livewindow/LiveWindow.h instead"
-#else
-#warning "LiveWindow/LiveWindow.h is deprecated; include frc/livewindow/LiveWindow.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/livewindow/LiveWindow.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/LiveWindow/LiveWindowSendable.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/LiveWindow/LiveWindowSendable.h
deleted file mode 100644
index cc8082b..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/LiveWindow/LiveWindowSendable.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: LiveWindow/LiveWindowSendable.h is deprecated; include frc/livewindow/LiveWindowSendable.h instead"
-#else
-#warning "LiveWindow/LiveWindowSendable.h is deprecated; include frc/livewindow/LiveWindowSendable.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/livewindow/LiveWindowSendable.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/MotorSafety.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/MotorSafety.h
deleted file mode 100644
index a33fd0b..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/MotorSafety.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: MotorSafety.h is deprecated; include frc/MotorSafety.h instead"
-#else
-#warning "MotorSafety.h is deprecated; include frc/MotorSafety.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/MotorSafety.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/NidecBrushless.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/NidecBrushless.h
deleted file mode 100644
index 0937787..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/NidecBrushless.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: NidecBrushless.h is deprecated; include frc/NidecBrushless.h instead"
-#else
-#warning "NidecBrushless.h is deprecated; include frc/NidecBrushless.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/NidecBrushless.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Notifier.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Notifier.h
deleted file mode 100644
index 28e6a20..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Notifier.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Notifier.h is deprecated; include frc/Notifier.h instead"
-#else
-#warning "Notifier.h is deprecated; include frc/Notifier.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/Notifier.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/PIDBase.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/PIDBase.h
deleted file mode 100644
index b9e2d50..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/PIDBase.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: PIDBase.h is deprecated; include frc/PIDBase.h instead"
-#else
-#warning "PIDBase.h is deprecated; include frc/PIDBase.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/PIDBase.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/PIDController.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/PIDController.h
deleted file mode 100644
index 38777ea..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/PIDController.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: PIDController.h is deprecated; include frc/PIDController.h instead"
-#else
-#warning "PIDController.h is deprecated; include frc/PIDController.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/PIDController.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/PIDInterface.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/PIDInterface.h
deleted file mode 100644
index 8e0f10e..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/PIDInterface.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: PIDInterface.h is deprecated; include frc/PIDInterface.h instead"
-#else
-#warning "PIDInterface.h is deprecated; include frc/PIDInterface.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/PIDInterface.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/PIDOutput.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/PIDOutput.h
deleted file mode 100644
index 857ce0f..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/PIDOutput.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: PIDOutput.h is deprecated; include frc/PIDOutput.h instead"
-#else
-#warning "PIDOutput.h is deprecated; include frc/PIDOutput.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/PIDOutput.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/PIDSource.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/PIDSource.h
deleted file mode 100644
index 29b8469..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/PIDSource.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: PIDSource.h is deprecated; include frc/PIDSource.h instead"
-#else
-#warning "PIDSource.h is deprecated; include frc/PIDSource.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/PIDSource.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/PWM.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/PWM.h
deleted file mode 100644
index 989c4f7..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/PWM.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: PWM.h is deprecated; include frc/PWM.h instead"
-#else
-#warning "PWM.h is deprecated; include frc/PWM.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/PWM.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/PWMSpeedController.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/PWMSpeedController.h
deleted file mode 100644
index f15f384..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/PWMSpeedController.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: PWMSpeedController.h is deprecated; include frc/PWMSpeedController.h instead"
-#else
-#warning "PWMSpeedController.h is deprecated; include frc/PWMSpeedController.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/PWMSpeedController.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/PWMTalonSRX.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/PWMTalonSRX.h
deleted file mode 100644
index 43a132a..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/PWMTalonSRX.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: PWMTalonSRX.h is deprecated; include frc/PWMTalonSRX.h instead"
-#else
-#warning "PWMTalonSRX.h is deprecated; include frc/PWMTalonSRX.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/PWMTalonSRX.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/PWMVictorSPX.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/PWMVictorSPX.h
deleted file mode 100644
index 0fd6a1e..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/PWMVictorSPX.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: PWMVictorSPX.h is deprecated; include frc/PWMVictorSPX.h instead"
-#else
-#warning "PWMVictorSPX.h is deprecated; include frc/PWMVictorSPX.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/PWMVictorSPX.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/PowerDistributionPanel.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/PowerDistributionPanel.h
deleted file mode 100644
index fa4cae5..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/PowerDistributionPanel.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: PowerDistributionPanel.h is deprecated; include frc/PowerDistributionPanel.h instead"
-#else
-#warning "PowerDistributionPanel.h is deprecated; include frc/PowerDistributionPanel.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/PowerDistributionPanel.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Preferences.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Preferences.h
deleted file mode 100644
index 3a857f3..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Preferences.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Preferences.h is deprecated; include frc/Preferences.h instead"
-#else
-#warning "Preferences.h is deprecated; include frc/Preferences.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/Preferences.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Relay.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Relay.h
deleted file mode 100644
index 22896fe..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Relay.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Relay.h is deprecated; include frc/Relay.h instead"
-#else
-#warning "Relay.h is deprecated; include frc/Relay.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/Relay.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Resource.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Resource.h
deleted file mode 100644
index c314eb3..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Resource.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Resource.h is deprecated; include frc/Resource.h instead"
-#else
-#warning "Resource.h is deprecated; include frc/Resource.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/Resource.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/RobotBase.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/RobotBase.h
deleted file mode 100644
index f6faa81..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/RobotBase.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: RobotBase.h is deprecated; include frc/RobotBase.h instead"
-#else
-#warning "RobotBase.h is deprecated; include frc/RobotBase.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/RobotBase.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/RobotController.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/RobotController.h
deleted file mode 100644
index 0cf64b2..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/RobotController.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: RobotController.h is deprecated; include frc/RobotController.h instead"
-#else
-#warning "RobotController.h is deprecated; include frc/RobotController.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/RobotController.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/RobotDrive.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/RobotDrive.h
deleted file mode 100644
index 7b34cc4..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/RobotDrive.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: RobotDrive.h is deprecated; include frc/RobotDrive.h instead"
-#else
-#warning "RobotDrive.h is deprecated; include frc/RobotDrive.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/RobotDrive.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/RobotState.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/RobotState.h
deleted file mode 100644
index 329b8ed..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/RobotState.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: RobotState.h is deprecated; include frc/RobotState.h instead"
-#else
-#warning "RobotState.h is deprecated; include frc/RobotState.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/RobotState.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SD540.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/SD540.h
deleted file mode 100644
index 8518703..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SD540.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: SD540.h is deprecated; include frc/SD540.h instead"
-#else
-#warning "SD540.h is deprecated; include frc/SD540.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/SD540.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SPI.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/SPI.h
deleted file mode 100644
index 827a10c..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SPI.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: SPI.h is deprecated; include frc/SPI.h instead"
-#else
-#warning "SPI.h is deprecated; include frc/SPI.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/SPI.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SampleRobot.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/SampleRobot.h
deleted file mode 100644
index 16ca36a..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SampleRobot.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: SampleRobot.h is deprecated; include frc/SampleRobot.h instead"
-#else
-#warning "SampleRobot.h is deprecated; include frc/SampleRobot.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/SampleRobot.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SensorUtil.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/SensorUtil.h
deleted file mode 100644
index 8fd7b36..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SensorUtil.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: SensorUtil.h is deprecated; include frc/SensorUtil.h instead"
-#else
-#warning "SensorUtil.h is deprecated; include frc/SensorUtil.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/SensorUtil.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SerialPort.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/SerialPort.h
deleted file mode 100644
index 4df02ca..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SerialPort.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: SerialPort.h is deprecated; include frc/SerialPort.h instead"
-#else
-#warning "SerialPort.h is deprecated; include frc/SerialPort.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/SerialPort.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Servo.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Servo.h
deleted file mode 100644
index 99cf2f2..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Servo.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Servo.h is deprecated; include frc/Servo.h instead"
-#else
-#warning "Servo.h is deprecated; include frc/Servo.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/Servo.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SmartDashboard/NamedSendable.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/SmartDashboard/NamedSendable.h
deleted file mode 100644
index 7cbcbe7..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SmartDashboard/NamedSendable.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: SmartDashboard/NamedSendable.h is deprecated; include frc/smartdashboard/NamedSendable.h instead"
-#else
-#warning "SmartDashboard/NamedSendable.h is deprecated; include frc/smartdashboard/NamedSendable.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/smartdashboard/NamedSendable.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SmartDashboard/Sendable.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/SmartDashboard/Sendable.h
deleted file mode 100644
index 187c1ea..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SmartDashboard/Sendable.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: smartdashboard/Sendable.h is deprecated; include frc/smartdashboard/Sendable.h instead"
-#else
-#warning "smartdashboard/Sendable.h is deprecated; include frc/smartdashboard/Sendable.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/smartdashboard/Sendable.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SmartDashboard/SendableBase.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/SmartDashboard/SendableBase.h
deleted file mode 100644
index d898040..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SmartDashboard/SendableBase.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: smartdashboard/SendableBase.h is deprecated; include frc/smartdashboard/SendableBase.h instead"
-#else
-#warning "smartdashboard/SendableBase.h is deprecated; include frc/smartdashboard/SendableBase.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/smartdashboard/SendableBase.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SmartDashboard/SendableBuilder.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/SmartDashboard/SendableBuilder.h
deleted file mode 100644
index 7102c35..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SmartDashboard/SendableBuilder.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: smartdashboard/SendableBuilder.h is deprecated; include frc/smartdashboard/SendableBuilder.h instead"
-#else
-#warning "smartdashboard/SendableBuilder.h is deprecated; include frc/smartdashboard/SendableBuilder.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/smartdashboard/SendableBuilder.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SmartDashboard/SendableBuilderImpl.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/SmartDashboard/SendableBuilderImpl.h
deleted file mode 100644
index b956309..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SmartDashboard/SendableBuilderImpl.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: smartdashboard/SendableBuilderImpl.h is deprecated; include frc/smartdashboard/SendableBuilderImpl.h instead"
-#else
-#warning "smartdashboard/SendableBuilderImpl.h is deprecated; include frc/smartdashboard/SendableBuilderImpl.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/smartdashboard/SendableBuilderImpl.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SmartDashboard/SendableChooser.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/SmartDashboard/SendableChooser.h
deleted file mode 100644
index 5e4683f..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SmartDashboard/SendableChooser.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: smartdashboard/SendableChooser.h is deprecated; include frc/smartdashboard/SendableChooser.h instead"
-#else
-#warning "smartdashboard/SendableChooser.h is deprecated; include frc/smartdashboard/SendableChooser.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/smartdashboard/SendableChooser.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SmartDashboard/SendableChooser.inc b/third_party/allwpilib_2019/wpilibc/src/main/native/include/SmartDashboard/SendableChooser.inc
deleted file mode 100644
index 79e8b16..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SmartDashboard/SendableChooser.inc
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: smartdashboard/SendableChooser.inc is deprecated; include frc/smartdashboard/SendableChooser.inc instead"
-#else
-#warning "smartdashboard/SendableChooser.inc is deprecated; include frc/smartdashboard/SendableChooser.inc instead"
-#endif
-
-// clang-format on
-
-#include "frc/smartdashboard/SendableChooser.inc"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SmartDashboard/SendableChooserBase.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/SmartDashboard/SendableChooserBase.h
deleted file mode 100644
index 436675c..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SmartDashboard/SendableChooserBase.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: smartdashboard/SendableChooserBase.h is deprecated; include frc/smartdashboard/SendableChooserBase.h instead"
-#else
-#warning "smartdashboard/SendableChooserBase.h is deprecated; include frc/smartdashboard/SendableChooserBase.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/smartdashboard/SendableChooserBase.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SmartDashboard/SmartDashboard.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/SmartDashboard/SmartDashboard.h
deleted file mode 100644
index cc7c75f..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SmartDashboard/SmartDashboard.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: smartdashboard/SmartDashboard.h is deprecated; include frc/smartdashboard/SmartDashboard.h instead"
-#else
-#warning "smartdashboard/SmartDashboard.h is deprecated; include frc/smartdashboard/SmartDashboard.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/smartdashboard/SmartDashboard.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Solenoid.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Solenoid.h
deleted file mode 100644
index b565188..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Solenoid.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Solenoid.h is deprecated; include frc/Solenoid.h instead"
-#else
-#warning "Solenoid.h is deprecated; include frc/Solenoid.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/Solenoid.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SolenoidBase.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/SolenoidBase.h
deleted file mode 100644
index 9678200..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SolenoidBase.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: SolenoidBase.h is deprecated; include frc/SolenoidBase.h instead"
-#else
-#warning "SolenoidBase.h is deprecated; include frc/SolenoidBase.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/SolenoidBase.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Spark.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Spark.h
deleted file mode 100644
index b01c2c9..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Spark.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Spark.h is deprecated; include frc/Spark.h instead"
-#else
-#warning "Spark.h is deprecated; include frc/Spark.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/Spark.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SpeedController.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/SpeedController.h
deleted file mode 100644
index 27f0c9d..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SpeedController.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: SpeedController.h is deprecated; include frc/SpeedController.h instead"
-#else
-#warning "SpeedController.h is deprecated; include frc/SpeedController.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/SpeedController.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SpeedControllerGroup.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/SpeedControllerGroup.h
deleted file mode 100644
index ae387b6..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SpeedControllerGroup.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: SpeedControllerGroup.h is deprecated; include frc/SpeedControllerGroup.h instead"
-#else
-#warning "SpeedControllerGroup.h is deprecated; include frc/SpeedControllerGroup.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/SpeedControllerGroup.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SpeedControllerGroup.inc b/third_party/allwpilib_2019/wpilibc/src/main/native/include/SpeedControllerGroup.inc
deleted file mode 100644
index f1f6271..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SpeedControllerGroup.inc
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: SpeedControllerGroup.inc is deprecated; include frc/SpeedControllerGroup.inc instead"
-#else
-#warning "SpeedControllerGroup.inc is deprecated; include frc/SpeedControllerGroup.inc instead"
-#endif
-
-// clang-format on
-
-#include "frc/SpeedControllerGroup.inc"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SynchronousPID.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/SynchronousPID.h
deleted file mode 100644
index f2a9c53..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/SynchronousPID.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: SynchronousPID.h is deprecated; include frc/SynchronousPID.h instead"
-#else
-#warning "SynchronousPID.h is deprecated; include frc/SynchronousPID.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/SynchronousPID.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Talon.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Talon.h
deleted file mode 100644
index 59c431c..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Talon.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Talon.h is deprecated; include frc/Talon.h instead"
-#else
-#warning "Talon.h is deprecated; include frc/Talon.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/Talon.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Threads.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Threads.h
deleted file mode 100644
index 3a9561f..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Threads.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Threads.h is deprecated; include frc/Threads.h instead"
-#else
-#warning "Threads.h is deprecated; include frc/Threads.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/Threads.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/TimedRobot.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/TimedRobot.h
deleted file mode 100644
index 3c5f393..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/TimedRobot.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: TimedRobot.h is deprecated; include frc/TimedRobot.h instead"
-#else
-#warning "TimedRobot.h is deprecated; include frc/TimedRobot.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/TimedRobot.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Timer.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Timer.h
deleted file mode 100644
index 2df6097..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Timer.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Timer.h is deprecated; include frc/Timer.h instead"
-#else
-#warning "Timer.h is deprecated; include frc/Timer.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/Timer.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Ultrasonic.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Ultrasonic.h
deleted file mode 100644
index 8c32ad8..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Ultrasonic.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Ultrasonic.h is deprecated; include frc/Ultrasonic.h instead"
-#else
-#warning "Ultrasonic.h is deprecated; include frc/Ultrasonic.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/Ultrasonic.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Utility.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Utility.h
deleted file mode 100644
index 2294238..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Utility.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Utility.h is deprecated; include frc/Utility.h instead"
-#else
-#warning "Utility.h is deprecated; include frc/Utility.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/Utility.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Victor.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Victor.h
deleted file mode 100644
index d17df6d..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Victor.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Victor.h is deprecated; include frc/Victor.h instead"
-#else
-#warning "Victor.h is deprecated; include frc/Victor.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/Victor.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/VictorSP.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/VictorSP.h
deleted file mode 100644
index a0c8616..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/VictorSP.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: VictorSP.h is deprecated; include frc/VictorSP.h instead"
-#else
-#warning "VictorSP.h is deprecated; include frc/VictorSP.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/VictorSP.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/WPIErrors.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/WPIErrors.h
deleted file mode 100644
index 6893bce..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/WPIErrors.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: WPIErrors.h is deprecated; include frc/WPIErrors.h instead"
-#else
-#warning "WPIErrors.h is deprecated; include frc/WPIErrors.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/WPIErrors.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/WPILib.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/WPILib.h
deleted file mode 100644
index ab3e608..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/WPILib.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: WPILib.h is deprecated; include frc/WPILib.h instead"
-#else
-#warning "WPILib.h is deprecated; include frc/WPILib.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/WPILib.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Watchdog.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/Watchdog.h
deleted file mode 100644
index 7ba2bf8..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/Watchdog.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: Watchdog.h is deprecated; include frc/Watchdog.h instead"
-#else
-#warning "Watchdog.h is deprecated; include frc/Watchdog.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/Watchdog.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/XboxController.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/XboxController.h
deleted file mode 100644
index b0abca9..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/XboxController.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: XboxController.h is deprecated; include frc/XboxController.h instead"
-#else
-#warning "XboxController.h is deprecated; include frc/XboxController.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/XboxController.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/circular_buffer.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/circular_buffer.h
deleted file mode 100644
index a150058..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/circular_buffer.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: circular_buffer.h is deprecated; include frc/circular_buffer.h instead"
-#else
-#warning "circular_buffer.h is deprecated; include frc/circular_buffer.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/circular_buffer.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/circular_buffer.inc b/third_party/allwpilib_2019/wpilibc/src/main/native/include/circular_buffer.inc
deleted file mode 100644
index 417286a..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/circular_buffer.inc
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: circular_buffer.inc is deprecated; include frc/circular_buffer.inc instead"
-#else
-#warning "circular_buffer.inc is deprecated; include frc/circular_buffer.inc instead"
-#endif
-
-// clang-format on
-
-#include "frc/circular_buffer.inc"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/ADXL345_I2C.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/ADXL345_I2C.h
index 5d5fed4..202acbb 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/ADXL345_I2C.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/ADXL345_I2C.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,13 +7,18 @@
#pragma once
+#include <hal/SimDevice.h>
+
#include "frc/ErrorBase.h"
#include "frc/I2C.h"
#include "frc/interfaces/Accelerometer.h"
-#include "frc/smartdashboard/SendableBase.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
+class SendableBuilder;
+
/**
* ADXL345 Accelerometer on I2C.
*
@@ -22,8 +27,9 @@
* 0x1D (7-bit address).
*/
class ADXL345_I2C : public ErrorBase,
- public SendableBase,
- public Accelerometer {
+ public Accelerometer,
+ public Sendable,
+ public SendableHelper<ADXL345_I2C> {
public:
enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
@@ -74,6 +80,12 @@
protected:
I2C m_i2c;
+ hal::SimDevice m_simDevice;
+ hal::SimEnum m_simRange;
+ hal::SimDouble m_simX;
+ hal::SimDouble m_simY;
+ hal::SimDouble m_simZ;
+
static constexpr int kAddress = 0x1D;
static constexpr int kPowerCtlRegister = 0x2D;
static constexpr int kDataFormatRegister = 0x31;
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/ADXL345_SPI.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/ADXL345_SPI.h
index ac5d6d9..90454c0 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/ADXL345_SPI.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/ADXL345_SPI.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,10 +7,13 @@
#pragma once
+#include <hal/SimDevice.h>
+
#include "frc/ErrorBase.h"
#include "frc/SPI.h"
#include "frc/interfaces/Accelerometer.h"
-#include "frc/smartdashboard/SendableBase.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
@@ -21,8 +24,9 @@
* via SPI. This class assumes the sensor is wired in 4-wire SPI mode.
*/
class ADXL345_SPI : public ErrorBase,
- public SendableBase,
- public Accelerometer {
+ public Accelerometer,
+ public Sendable,
+ public SendableHelper<ADXL345_SPI> {
public:
enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
@@ -72,6 +76,12 @@
protected:
SPI m_spi;
+ hal::SimDevice m_simDevice;
+ hal::SimEnum m_simRange;
+ hal::SimDouble m_simX;
+ hal::SimDouble m_simY;
+ hal::SimDouble m_simZ;
+
static constexpr int kPowerCtlRegister = 0x2D;
static constexpr int kDataFormatRegister = 0x31;
static constexpr int kDataRegister = 0x32;
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/ADXL362.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/ADXL362.h
index 896af15..e1d659b 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/ADXL362.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/ADXL362.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,19 +7,27 @@
#pragma once
+#include <hal/SimDevice.h>
+
#include "frc/ErrorBase.h"
#include "frc/SPI.h"
#include "frc/interfaces/Accelerometer.h"
-#include "frc/smartdashboard/SendableBase.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
+class SendableBuilder;
+
/**
* ADXL362 SPI Accelerometer.
*
* This class allows access to an Analog Devices ADXL362 3-axis accelerometer.
*/
-class ADXL362 : public ErrorBase, public SendableBase, public Accelerometer {
+class ADXL362 : public ErrorBase,
+ public Accelerometer,
+ public Sendable,
+ public SendableHelper<ADXL362> {
public:
enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
struct AllAxes {
@@ -44,7 +52,7 @@
*/
explicit ADXL362(SPI::Port port, Range range = kRange_2G);
- virtual ~ADXL362() = default;
+ ~ADXL362() override = default;
ADXL362(ADXL362&&) = default;
ADXL362& operator=(ADXL362&&) = default;
@@ -75,6 +83,11 @@
private:
SPI m_spi;
+ hal::SimDevice m_simDevice;
+ hal::SimEnum m_simRange;
+ hal::SimDouble m_simX;
+ hal::SimDouble m_simY;
+ hal::SimDouble m_simZ;
double m_gsPerLSB = 0.001;
};
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/ADXRS450_Gyro.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/ADXRS450_Gyro.h
index e1b70e2..ccdb75c 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/ADXRS450_Gyro.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/ADXRS450_Gyro.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,8 @@
#include <stdint.h>
+#include <hal/SimDevice.h>
+
#include "frc/GyroBase.h"
#include "frc/SPI.h"
@@ -40,7 +42,7 @@
*/
explicit ADXRS450_Gyro(SPI::Port port);
- virtual ~ADXRS450_Gyro() = default;
+ ~ADXRS450_Gyro() override = default;
ADXRS450_Gyro(ADXRS450_Gyro&&) = default;
ADXRS450_Gyro& operator=(ADXRS450_Gyro&&) = default;
@@ -94,6 +96,10 @@
private:
SPI m_spi;
+ hal::SimDevice m_simDevice;
+ hal::SimDouble m_simAngle;
+ hal::SimDouble m_simRate;
+
uint16_t ReadRegister(int reg);
};
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/AnalogAccelerometer.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/AnalogAccelerometer.h
index 80dc98e..27015e4 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/AnalogAccelerometer.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/AnalogAccelerometer.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,10 +12,13 @@
#include "frc/AnalogInput.h"
#include "frc/ErrorBase.h"
#include "frc/PIDSource.h"
-#include "frc/smartdashboard/SendableBase.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
+class SendableBuilder;
+
/**
* Handle operation of an analog accelerometer.
*
@@ -24,8 +27,9 @@
* calibrated by finding the center value over a period of time.
*/
class AnalogAccelerometer : public ErrorBase,
- public SendableBase,
- public PIDSource {
+ public PIDSource,
+ public Sendable,
+ public SendableHelper<AnalogAccelerometer> {
public:
/**
* Create a new instance of an accelerometer.
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/AnalogGyro.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/AnalogGyro.h
index 9e18d89..bcc67c9 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/AnalogGyro.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/AnalogGyro.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,6 +12,8 @@
#include <hal/Types.h>
#include "frc/GyroBase.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
@@ -100,7 +102,7 @@
*/
AnalogGyro(std::shared_ptr<AnalogInput> channel, int center, double offset);
- virtual ~AnalogGyro();
+ ~AnalogGyro() override;
AnalogGyro(AnalogGyro&& rhs);
AnalogGyro& operator=(AnalogGyro&& rhs);
@@ -188,7 +190,7 @@
std::shared_ptr<AnalogInput> m_analog;
private:
- HAL_GyroHandle m_gyroHandle = HAL_kInvalidHandle;
+ hal::Handle<HAL_GyroHandle> m_gyroHandle;
};
} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/AnalogInput.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/AnalogInput.h
index 97ce2a8..6567542 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/AnalogInput.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/AnalogInput.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -13,10 +13,13 @@
#include "frc/ErrorBase.h"
#include "frc/PIDSource.h"
-#include "frc/smartdashboard/SendableBase.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
+class SendableBuilder;
+
/**
* Analog input class.
*
@@ -29,7 +32,10 @@
* are divided by the number of samples to retain the resolution, but get more
* stable values.
*/
-class AnalogInput : public ErrorBase, public SendableBase, public PIDSource {
+class AnalogInput : public ErrorBase,
+ public PIDSource,
+ public Sendable,
+ public SendableHelper<AnalogInput> {
friend class AnalogTrigger;
friend class AnalogGyro;
@@ -48,8 +54,8 @@
~AnalogInput() override;
- AnalogInput(AnalogInput&& rhs);
- AnalogInput& operator=(AnalogInput&& rhs);
+ AnalogInput(AnalogInput&&) = default;
+ AnalogInput& operator=(AnalogInput&&) = default;
/**
* Get a sample straight from this channel.
@@ -280,11 +286,18 @@
*/
double PIDGet() override;
+ /**
+ * Indicates this input is used by a simulated device.
+ *
+ * @param device simulated device handle
+ */
+ void SetSimDevice(HAL_SimDeviceHandle device);
+
void InitSendable(SendableBuilder& builder) override;
private:
int m_channel;
- HAL_AnalogInputHandle m_port = HAL_kInvalidHandle;
+ hal::Handle<HAL_AnalogInputHandle> m_port;
int64_t m_accumulatorOffset;
};
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/AnalogOutput.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/AnalogOutput.h
index 3c7b44e..1cecd70 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/AnalogOutput.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/AnalogOutput.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,14 +10,19 @@
#include <hal/Types.h>
#include "frc/ErrorBase.h"
-#include "frc/smartdashboard/SendableBase.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
+class SendableBuilder;
+
/**
* MXP analog output class.
*/
-class AnalogOutput : public ErrorBase, public SendableBase {
+class AnalogOutput : public ErrorBase,
+ public Sendable,
+ public SendableHelper<AnalogOutput> {
public:
/**
* Construct an analog output on the given channel.
@@ -30,8 +35,8 @@
~AnalogOutput() override;
- AnalogOutput(AnalogOutput&& rhs);
- AnalogOutput& operator=(AnalogOutput&& rhs);
+ AnalogOutput(AnalogOutput&&) = default;
+ AnalogOutput& operator=(AnalogOutput&&) = default;
/**
* Set the value of the analog output.
@@ -56,7 +61,7 @@
protected:
int m_channel;
- HAL_AnalogOutputHandle m_port = HAL_kInvalidHandle;
+ hal::Handle<HAL_AnalogOutputHandle> m_port;
};
} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/AnalogPotentiometer.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/AnalogPotentiometer.h
index a937c69..446a920 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/AnalogPotentiometer.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/AnalogPotentiometer.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,10 +12,13 @@
#include "frc/AnalogInput.h"
#include "frc/ErrorBase.h"
#include "frc/interfaces/Potentiometer.h"
-#include "frc/smartdashboard/SendableBase.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
+class SendableBuilder;
+
/**
* Class for reading analog potentiometers. Analog potentiometers read in an
* analog voltage that corresponds to a position. The position is in whichever
@@ -23,8 +26,9 @@
* constructor.
*/
class AnalogPotentiometer : public ErrorBase,
- public SendableBase,
- public Potentiometer {
+ public Potentiometer,
+ public Sendable,
+ public SendableHelper<AnalogPotentiometer> {
public:
/**
* Construct an Analog Potentiometer object from a channel number.
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/AnalogTrigger.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/AnalogTrigger.h
index beb48fc..6a57f8a 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/AnalogTrigger.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/AnalogTrigger.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -13,13 +13,17 @@
#include "frc/AnalogTriggerOutput.h"
#include "frc/ErrorBase.h"
-#include "frc/smartdashboard/SendableBase.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
class AnalogInput;
+class SendableBuilder;
-class AnalogTrigger : public ErrorBase, public SendableBase {
+class AnalogTrigger : public ErrorBase,
+ public Sendable,
+ public SendableHelper<AnalogTrigger> {
friend class AnalogTriggerOutput;
public:
@@ -136,7 +140,7 @@
private:
int m_index;
- HAL_AnalogTriggerHandle m_trigger = HAL_kInvalidHandle;
+ hal::Handle<HAL_AnalogTriggerHandle> m_trigger;
AnalogInput* m_analogInput = nullptr;
bool m_ownsAnalog = false;
};
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/AnalogTriggerOutput.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/AnalogTriggerOutput.h
index fc3d8f2..989a93f 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/AnalogTriggerOutput.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/AnalogTriggerOutput.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,6 +8,8 @@
#pragma once
#include "frc/DigitalSource.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
@@ -44,15 +46,12 @@
* rollover transition is not sharp / clean enough. Using the averaging engine
* may help with this, but rotational speeds of the sensor will then be limited.
*/
-class AnalogTriggerOutput : public DigitalSource {
+class AnalogTriggerOutput : public DigitalSource,
+ public Sendable,
+ public SendableHelper<AnalogTriggerOutput> {
friend class AnalogTrigger;
public:
- ~AnalogTriggerOutput() override;
-
- AnalogTriggerOutput(AnalogTriggerOutput&&) = default;
- AnalogTriggerOutput& operator=(AnalogTriggerOutput&&) = default;
-
/**
* Get the state of the analog trigger output.
*
@@ -99,10 +98,10 @@
AnalogTriggerType outputType);
private:
- // Uses reference rather than smart pointer because a user can not construct
+ // Uses pointer rather than smart pointer because a user can not construct
// an AnalogTriggerOutput themselves and because the AnalogTriggerOutput
// should always be in scope at the same time as an AnalogTrigger.
- const AnalogTrigger& m_trigger;
+ const AnalogTrigger* m_trigger;
AnalogTriggerType m_outputType;
};
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/BuiltInAccelerometer.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/BuiltInAccelerometer.h
index 3c9fc4a..8148e72 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/BuiltInAccelerometer.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/BuiltInAccelerometer.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,18 +9,22 @@
#include "frc/ErrorBase.h"
#include "frc/interfaces/Accelerometer.h"
-#include "frc/smartdashboard/SendableBase.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
+class SendableBuilder;
+
/**
* Built-in accelerometer.
*
* This class allows access to the roboRIO's internal accelerometer.
*/
class BuiltInAccelerometer : public ErrorBase,
- public SendableBase,
- public Accelerometer {
+ public Accelerometer,
+ public Sendable,
+ public SendableHelper<BuiltInAccelerometer> {
public:
/**
* Constructor.
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/CAN.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/CAN.h
index 4cd06e9..ed861fb 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/CAN.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/CAN.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -58,8 +58,8 @@
*/
~CAN() override;
- CAN(CAN&& rhs);
- CAN& operator=(CAN&& rhs);
+ CAN(CAN&&) = default;
+ CAN& operator=(CAN&&) = default;
/**
* Write a packet to the CAN device with a specific ID. This ID is 10 bits.
@@ -84,6 +84,16 @@
int repeatMs);
/**
+ * Write an RTR frame to the CAN device with a specific ID. This ID is 10
+ * bits. The length by spec must match what is returned by the responding
+ * device
+ *
+ * @param length The length to request (0 to 8)
+ * @param apiId The API ID to write.
+ */
+ void WriteRTRFrame(int length, int apiId);
+
+ /**
* Stop a repeating packet with a specific ID. This ID is 10 bits.
*
* @param apiId The API ID to stop repeating
@@ -122,28 +132,11 @@
*/
bool ReadPacketTimeout(int apiId, int timeoutMs, CANData* data);
- /**
- * Read a CAN packet. The will return the last packet received until the
- * packet is older then the requested timeout. Then it will return false. The
- * period parameter is used when you know the packet is sent at specific
- * intervals, so calls will not attempt to read a new packet from the network
- * until that period has passed. We do not recommend users use this API unless
- * they know the implications.
- *
- * @param apiId The API ID to read.
- * @param timeoutMs The timeout time for the packet
- * @param periodMs The usual period for the packet
- * @param data Storage for the received data.
- * @return True if the data is valid, otherwise false.
- */
- bool ReadPeriodicPacket(int apiId, int timeoutMs, int periodMs,
- CANData* data);
-
static constexpr HAL_CANManufacturer kTeamManufacturer = HAL_CAN_Man_kTeamUse;
static constexpr HAL_CANDeviceType kTeamDeviceType =
HAL_CAN_Dev_kMiscellaneous;
private:
- HAL_CANHandle m_handle = HAL_kInvalidHandle;
+ hal::Handle<HAL_CANHandle> m_handle;
};
} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Compressor.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Compressor.h
index 97f64d1..a5e512c 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Compressor.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Compressor.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -11,10 +11,13 @@
#include "frc/ErrorBase.h"
#include "frc/SensorUtil.h"
-#include "frc/smartdashboard/SendableBase.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
+class SendableBuilder;
+
/**
* Class for operating a compressor connected to a %PCM (Pneumatic Control
* Module).
@@ -30,7 +33,9 @@
* loop control. You can only turn off closed loop control, thereby stopping
* the compressor from operating.
*/
-class Compressor : public ErrorBase, public SendableBase {
+class Compressor : public ErrorBase,
+ public Sendable,
+ public SendableHelper<Compressor> {
public:
/**
* Constructor. The default PCM ID is 0.
@@ -169,7 +174,7 @@
void InitSendable(SendableBuilder& builder) override;
protected:
- HAL_CompressorHandle m_compressorHandle = HAL_kInvalidHandle;
+ hal::Handle<HAL_CompressorHandle> m_compressorHandle;
private:
void SetCompressor(bool on);
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Controller.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Controller.h
index b327723..4124046 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Controller.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Controller.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,6 +7,8 @@
#pragma once
+#include <wpi/deprecated.h>
+
namespace frc {
/**
@@ -18,6 +20,7 @@
*/
class Controller {
public:
+ WPI_DEPRECATED("None of the 2020 FRC controllers use this.")
Controller() = default;
virtual ~Controller() = default;
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/ControllerPower.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/ControllerPower.h
deleted file mode 100644
index 1359961..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/ControllerPower.h
+++ /dev/null
@@ -1,152 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include <wpi/deprecated.h>
-
-namespace frc {
-
-class ControllerPower {
- public:
- /**
- * Get the input voltage to the robot controller.
- *
- * @return The controller input voltage value in Volts
- * @deprecated Use RobotController static class method
- */
- WPI_DEPRECATED("Use RobotController static class method")
- static double GetInputVoltage();
-
- /**
- * Get the input current to the robot controller.
- *
- * @return The controller input current value in Amps
- * @deprecated Use RobotController static class method
- */
- WPI_DEPRECATED("Use RobotController static class method")
- static double GetInputCurrent();
-
- /**
- * Get the voltage of the 3.3V rail.
- *
- * @return The controller 3.3V rail voltage value in Volts
- * @deprecated Use RobotController static class method
- */
- WPI_DEPRECATED("Use RobotController static class method")
- static double GetVoltage3V3();
-
- /**
- * Get the current output of the 3.3V rail.
- *
- * @return The controller 3.3V rail output current value in Amps
- * @deprecated Use RobotController static class method
- */
- WPI_DEPRECATED("Use RobotController static class method")
- static double GetCurrent3V3();
-
- /**
- * Get the enabled state of the 3.3V rail. The rail may be disabled due to a
- * controller brownout, a short circuit on the rail, or controller
- * over-voltage.
- *
- * @return The controller 3.3V rail enabled value. True for enabled.
- * @deprecated Use RobotController static class method
- */
- WPI_DEPRECATED("Use RobotController static class method")
- static bool GetEnabled3V3();
-
- /**
- * Get the count of the total current faults on the 3.3V rail since the
- * controller has booted.
- *
- * @return The number of faults
- * @deprecated Use RobotController static class method
- */
- WPI_DEPRECATED("Use RobotController static class method")
- static int GetFaultCount3V3();
-
- /**
- * Get the voltage of the 5V rail.
- *
- * @return The controller 5V rail voltage value in Volts
- * @deprecated Use RobotController static class method
- */
- WPI_DEPRECATED("Use RobotController static class method")
- static double GetVoltage5V();
-
- /**
- * Get the current output of the 5V rail.
- *
- * @return The controller 5V rail output current value in Amps
- * @deprecated Use RobotController static class method
- */
- WPI_DEPRECATED("Use RobotController static class method")
- static double GetCurrent5V();
-
- /**
- * Get the enabled state of the 5V rail. The rail may be disabled due to a
- * controller brownout, a short circuit on the rail, or controller
- * over-voltage.
- *
- * @return The controller 5V rail enabled value. True for enabled.
- * @deprecated Use RobotController static class method
- */
- WPI_DEPRECATED("Use RobotController static class method")
- static bool GetEnabled5V();
-
- /**
- * Get the count of the total current faults on the 5V rail since the
- * controller has booted.
- *
- * @return The number of faults
- * @deprecated Use RobotController static class method
- */
- WPI_DEPRECATED("Use RobotController static class method")
- static int GetFaultCount5V();
-
- /**
- * Get the voltage of the 6V rail.
- *
- * @return The controller 6V rail voltage value in Volts
- * @deprecated Use RobotController static class method
- */
- WPI_DEPRECATED("Use RobotController static class method")
- static double GetVoltage6V();
-
- /**
- * Get the current output of the 6V rail.
- *
- * @return The controller 6V rail output current value in Amps
- * @deprecated Use RobotController static class method
- */
- WPI_DEPRECATED("Use RobotController static class method")
- static double GetCurrent6V();
-
- /**
- * Get the enabled state of the 6V rail. The rail may be disabled due to a
- * controller brownout, a short circuit on the rail, or controller
- * over-voltage.
- *
- * @return The controller 6V rail enabled value. True for enabled.
- * @deprecated Use RobotController static class method
- */
- WPI_DEPRECATED("Use RobotController static class method")
- static bool GetEnabled6V();
-
- /**
- * Get the count of the total current faults on the 6V rail since the
- * controller has booted.
- *
- * @return The number of faults.
- * @deprecated Use RobotController static class method
- */
- WPI_DEPRECATED("Use RobotController static class method")
- static int GetFaultCount6V();
-};
-
-} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Counter.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Counter.h
index 2705a39..50e3948 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Counter.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Counter.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -14,11 +14,13 @@
#include "frc/AnalogTrigger.h"
#include "frc/CounterBase.h"
#include "frc/ErrorBase.h"
-#include "frc/smartdashboard/SendableBase.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
class DigitalGlitchFilter;
+class SendableBuilder;
/**
* Class for counting the number of ticks on a digital input channel.
@@ -30,7 +32,10 @@
* All counters will immediately start counting - Reset() them if you need them
* to be zeroed before use.
*/
-class Counter : public ErrorBase, public SendableBase, public CounterBase {
+class Counter : public ErrorBase,
+ public CounterBase,
+ public Sendable,
+ public SendableHelper<Counter> {
public:
enum Mode {
kTwoPulse = 0,
@@ -139,8 +144,8 @@
~Counter() override;
- Counter(Counter&& rhs);
- Counter& operator=(Counter&& rhs);
+ Counter(Counter&&) = default;
+ Counter& operator=(Counter&&) = default;
/**
* Set the upsource for the counter as a digital input channel.
@@ -425,7 +430,7 @@
std::shared_ptr<DigitalSource> m_downSource;
// The FPGA counter object
- HAL_CounterHandle m_counter = HAL_kInvalidHandle;
+ hal::Handle<HAL_CounterHandle> m_counter;
private:
int m_index = 0; // The index of this counter.
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/DigitalGlitchFilter.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/DigitalGlitchFilter.h
index f33955e..0690e53 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/DigitalGlitchFilter.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/DigitalGlitchFilter.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -15,7 +15,8 @@
#include "frc/DigitalSource.h"
#include "frc/ErrorBase.h"
-#include "frc/smartdashboard/SendableBase.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
@@ -29,7 +30,9 @@
* filter. The filter lets the user configure the time that an input must remain
* high or low before it is classified as high or low.
*/
-class DigitalGlitchFilter : public ErrorBase, public SendableBase {
+class DigitalGlitchFilter : public ErrorBase,
+ public Sendable,
+ public SendableHelper<DigitalGlitchFilter> {
public:
DigitalGlitchFilter();
~DigitalGlitchFilter() override;
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/DigitalInput.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/DigitalInput.h
index af191aa..33aa716 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/DigitalInput.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/DigitalInput.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,10 +8,13 @@
#pragma once
#include "frc/DigitalSource.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
class DigitalGlitchFilter;
+class SendableBuilder;
/**
* Class to read a digital input.
@@ -22,7 +25,9 @@
* as required. This class is only for devices like switches etc. that aren't
* implemented anywhere else.
*/
-class DigitalInput : public DigitalSource {
+class DigitalInput : public DigitalSource,
+ public Sendable,
+ public SendableHelper<DigitalInput> {
public:
/**
* Create an instance of a Digital Input class.
@@ -35,8 +40,8 @@
~DigitalInput() override;
- DigitalInput(DigitalInput&& rhs);
- DigitalInput& operator=(DigitalInput&& rhs);
+ DigitalInput(DigitalInput&&) = default;
+ DigitalInput& operator=(DigitalInput&&) = default;
/**
* Get the value from a digital input channel.
@@ -66,11 +71,18 @@
*/
int GetChannel() const override;
+ /**
+ * Indicates this input is used by a simulated device.
+ *
+ * @param device simulated device handle
+ */
+ void SetSimDevice(HAL_SimDeviceHandle device);
+
void InitSendable(SendableBuilder& builder) override;
private:
int m_channel;
- HAL_DigitalHandle m_handle = HAL_kInvalidHandle;
+ hal::Handle<HAL_DigitalHandle> m_handle;
friend class DigitalGlitchFilter;
};
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/DigitalOutput.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/DigitalOutput.h
index 49cb67d..45727a4 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/DigitalOutput.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/DigitalOutput.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,10 +10,13 @@
#include <hal/Types.h>
#include "frc/ErrorBase.h"
-#include "frc/smartdashboard/SendableBase.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
+class SendableBuilder;
+
/**
* Class to write to digital outputs.
*
@@ -21,7 +24,9 @@
* elsewhere will allocate channels automatically so for those devices it
* shouldn't be done here.
*/
-class DigitalOutput : public ErrorBase, public SendableBase {
+class DigitalOutput : public ErrorBase,
+ public Sendable,
+ public SendableHelper<DigitalOutput> {
public:
/**
* Create an instance of a digital output.
@@ -35,8 +40,8 @@
~DigitalOutput() override;
- DigitalOutput(DigitalOutput&& rhs);
- DigitalOutput& operator=(DigitalOutput&& rhs);
+ DigitalOutput(DigitalOutput&&) = default;
+ DigitalOutput& operator=(DigitalOutput&&) = default;
/**
* Set the value of a digital output.
@@ -120,12 +125,19 @@
*/
void UpdateDutyCycle(double dutyCycle);
+ /**
+ * Indicates this output is used by a simulated device.
+ *
+ * @param device simulated device handle
+ */
+ void SetSimDevice(HAL_SimDeviceHandle device);
+
void InitSendable(SendableBuilder& builder) override;
private:
int m_channel;
- HAL_DigitalHandle m_handle = HAL_kInvalidHandle;
- HAL_DigitalPWMHandle m_pwmGenerator = HAL_kInvalidHandle;
+ hal::Handle<HAL_DigitalHandle> m_handle;
+ hal::Handle<HAL_DigitalPWMHandle> m_pwmGenerator;
};
} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/DoubleSolenoid.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/DoubleSolenoid.h
index 87c0c85..6722976 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/DoubleSolenoid.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/DoubleSolenoid.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,9 +10,13 @@
#include <hal/Types.h>
#include "frc/SolenoidBase.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
+class SendableBuilder;
+
/**
* DoubleSolenoid class for running 2 channels of high voltage Digital Output
* (PCM).
@@ -20,7 +24,9 @@
* The DoubleSolenoid class is typically used for pneumatics solenoids that
* have two positions controlled by two separate channels.
*/
-class DoubleSolenoid : public SolenoidBase {
+class DoubleSolenoid : public SolenoidBase,
+ public Sendable,
+ public SendableHelper<DoubleSolenoid> {
public:
enum Value { kOff, kForward, kReverse };
@@ -45,8 +51,8 @@
~DoubleSolenoid() override;
- DoubleSolenoid(DoubleSolenoid&& rhs);
- DoubleSolenoid& operator=(DoubleSolenoid&& rhs);
+ DoubleSolenoid(DoubleSolenoid&&) = default;
+ DoubleSolenoid& operator=(DoubleSolenoid&&) = default;
/**
* Set the value of a solenoid.
@@ -91,8 +97,8 @@
int m_reverseChannel; // The reverse channel on the module to control.
int m_forwardMask; // The mask for the forward channel.
int m_reverseMask; // The mask for the reverse channel.
- HAL_SolenoidHandle m_forwardHandle = HAL_kInvalidHandle;
- HAL_SolenoidHandle m_reverseHandle = HAL_kInvalidHandle;
+ hal::Handle<HAL_SolenoidHandle> m_forwardHandle;
+ hal::Handle<HAL_SolenoidHandle> m_reverseHandle;
};
} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/DriverStation.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/DriverStation.h
index ddbe27a..8abffde 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/DriverStation.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/DriverStation.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -198,6 +198,13 @@
bool IsDisabled() const;
/**
+ * Check if the robot is e-stopped.
+ *
+ * @return True if the robot is e-stopped
+ */
+ bool IsEStopped() const;
+
+ /**
* Check if the DS is commanding autonomous mode.
*
* @return True if the robot is being commanded to be in autonomous mode
@@ -245,27 +252,6 @@
bool IsFMSAttached() const;
/**
- * Check if the FPGA outputs are enabled.
- *
- * The outputs may be disabled if the robot is disabled or e-stopped, the
- * watchdog has expired, or if the roboRIO browns out.
- *
- * @return True if the FPGA outputs are enabled.
- * @deprecated Use RobotController static class method
- */
- WPI_DEPRECATED("Use RobotController static class method")
- bool IsSysActive() const;
-
- /**
- * Check if the system is browned out.
- *
- * @return True if the system is browned out
- * @deprecated Use RobotController static class method
- */
- WPI_DEPRECATED("Use RobotController static class method")
- bool IsBrownedOut() const;
-
- /**
* Returns the game specific message provided by the FMS.
*
* @return A string containing the game specific message.
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Encoder.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Encoder.h
index 7096eeb..074cc5e 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Encoder.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Encoder.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -15,12 +15,14 @@
#include "frc/CounterBase.h"
#include "frc/ErrorBase.h"
#include "frc/PIDSource.h"
-#include "frc/smartdashboard/SendableBase.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
class DigitalSource;
class DigitalGlitchFilter;
+class SendableBuilder;
/**
* Class to read quad encoders.
@@ -38,9 +40,10 @@
* to be zeroed before use.
*/
class Encoder : public ErrorBase,
- public SendableBase,
public CounterBase,
- public PIDSource {
+ public PIDSource,
+ public Sendable,
+ public SendableHelper<Encoder> {
public:
enum IndexingType {
kResetWhileHigh,
@@ -133,8 +136,8 @@
~Encoder() override;
- Encoder(Encoder&& rhs);
- Encoder& operator=(Encoder&& rhs);
+ Encoder(Encoder&&) = default;
+ Encoder& operator=(Encoder&&) = default;
// CounterBase interface
/**
@@ -329,6 +332,13 @@
void SetIndexSource(const DigitalSource& source,
IndexingType type = kResetOnRisingEdge);
+ /**
+ * Indicates this encoder is used by a simulated device.
+ *
+ * @param device simulated device handle
+ */
+ void SetSimDevice(HAL_SimDeviceHandle device);
+
int GetFPGAIndex() const;
void InitSendable(SendableBuilder& builder) override;
@@ -362,7 +372,7 @@
std::shared_ptr<DigitalSource> m_aSource; // The A phase of the quad encoder
std::shared_ptr<DigitalSource> m_bSource; // The B phase of the quad encoder
std::shared_ptr<DigitalSource> m_indexSource = nullptr;
- HAL_EncoderHandle m_encoder = HAL_kInvalidHandle;
+ hal::Handle<HAL_EncoderHandle> m_encoder;
friend class DigitalGlitchFilter;
};
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/ErrorBase.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/ErrorBase.h
index 3be9765..7235352 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/ErrorBase.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/ErrorBase.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,6 +7,8 @@
#pragma once
+#include <vector>
+
#include <wpi/StringRef.h>
#include <wpi/Twine.h>
#include <wpi/mutex.h>
@@ -49,16 +51,16 @@
} while (0)
#define wpi_setGlobalError(code) wpi_setGlobalErrorWithContext(code, "")
#define wpi_setWPIErrorWithContext(error, context) \
- this->SetWPIError((wpi_error_s_##error), (wpi_error_value_##error), \
+ this->SetWPIError(wpi_error_s_##error(), wpi_error_value_##error(), \
(context), __FILE__, __FUNCTION__, __LINE__)
#define wpi_setWPIError(error) (wpi_setWPIErrorWithContext(error, ""))
#define wpi_setStaticWPIErrorWithContext(object, error, context) \
- object->SetWPIError((wpi_error_s_##error), (context), __FILE__, \
+ object->SetWPIError(wpi_error_s_##error(), (context), __FILE__, \
__FUNCTION__, __LINE__)
#define wpi_setStaticWPIError(object, error) \
wpi_setStaticWPIErrorWithContext(object, error, "")
#define wpi_setGlobalWPIErrorWithContext(error, context) \
- ::frc::ErrorBase::SetGlobalWPIError((wpi_error_s_##error), (context), \
+ ::frc::ErrorBase::SetGlobalWPIError(wpi_error_s_##error(), (context), \
__FILE__, __FUNCTION__, __LINE__)
#define wpi_setGlobalWPIError(error) wpi_setGlobalWPIErrorWithContext(error, "")
@@ -77,6 +79,8 @@
ErrorBase();
virtual ~ErrorBase() = default;
+ ErrorBase(const ErrorBase&) = default;
+ ErrorBase& operator=(const ErrorBase&) = default;
ErrorBase(ErrorBase&&) = default;
ErrorBase& operator=(ErrorBase&&) = default;
@@ -191,9 +195,19 @@
wpi::StringRef function, int lineNumber);
/**
- * Retrieve the current global error.
+ * Retrieve the last global error.
*/
- static const Error& GetGlobalError();
+ static Error GetGlobalError();
+
+ /**
+ * Retrieve all global errors.
+ */
+ static std::vector<Error> GetGlobalErrors();
+
+ /**
+ * Clear global errors.
+ */
+ void ClearGlobalErrors();
protected:
mutable Error m_error;
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Filesystem.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Filesystem.h
index d7675d6..b7ef3f1 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Filesystem.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Filesystem.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,8 +9,6 @@
#include <wpi/SmallVector.h>
-#include "frc/RobotBase.h"
-
namespace frc {
/** WPILib FileSystem namespace */
namespace filesystem {
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/GamepadBase.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/GamepadBase.h
deleted file mode 100644
index 9681c84..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/GamepadBase.h
+++ /dev/null
@@ -1,32 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include <wpi/deprecated.h>
-
-#include "frc/GenericHID.h"
-
-namespace frc {
-
-/**
- * Gamepad Interface.
- */
-class GamepadBase : public GenericHID {
- public:
- WPI_DEPRECATED("Inherit directly from GenericHID instead.")
- explicit GamepadBase(int port);
- virtual ~GamepadBase() = default;
-
- GamepadBase(GamepadBase&&) = default;
- GamepadBase& operator=(GamepadBase&&) = default;
-
- virtual bool GetBumper(JoystickHand hand = kRightHand) const = 0;
- virtual bool GetStickButton(JoystickHand hand) const = 0;
-};
-
-} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/GearTooth.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/GearTooth.h
index 230f6d1..1c3df5b 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/GearTooth.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/GearTooth.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,6 +10,8 @@
#include <memory>
#include <string>
+#include <wpi/deprecated.h>
+
#include "frc/Counter.h"
namespace frc {
@@ -34,6 +36,9 @@
* @param directionSensitive True to enable the pulse length decoding in
* hardware to specify count direction.
*/
+ WPI_DEPRECATED(
+ "The only sensor this works with is no longer available and no teams use "
+ "it according to FMS usage reporting.")
explicit GearTooth(int channel, bool directionSensitive = false);
/**
@@ -46,6 +51,9 @@
* @param directionSensitive True to enable the pulse length decoding in
* hardware to specify count direction.
*/
+ WPI_DEPRECATED(
+ "The only sensor this works with is no longer available and no teams use "
+ "it according to FMS usage reporting.")
explicit GearTooth(DigitalSource* source, bool directionSensitive = false);
/**
@@ -58,6 +66,9 @@
* @param directionSensitive True to enable the pulse length decoding in
* hardware to specify count direction.
*/
+ WPI_DEPRECATED(
+ "The only sensor this works with is no longer available and no teams use "
+ "it according to FMS usage reporting.")
explicit GearTooth(std::shared_ptr<DigitalSource> source,
bool directionSensitive = false);
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/GenericHID.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/GenericHID.h
index 74e5271..aae10cf 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/GenericHID.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/GenericHID.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -179,7 +179,7 @@
void SetRumble(RumbleType type, double value);
private:
- DriverStation& m_ds;
+ DriverStation* m_ds;
int m_port;
int m_outputs = 0;
uint16_t m_leftRumble = 0;
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/GyroBase.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/GyroBase.h
index d27c7d9..037686f 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/GyroBase.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/GyroBase.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,7 +10,8 @@
#include "frc/ErrorBase.h"
#include "frc/PIDSource.h"
#include "frc/interfaces/Gyro.h"
-#include "frc/smartdashboard/SendableBase.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
@@ -20,8 +21,9 @@
*/
class GyroBase : public Gyro,
public ErrorBase,
- public SendableBase,
- public PIDSource {
+ public PIDSource,
+ public Sendable,
+ public SendableHelper<GyroBase> {
public:
GyroBase() = default;
GyroBase(GyroBase&&) = default;
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/I2C.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/I2C.h
index 4623c44..2f12615 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/I2C.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/I2C.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -35,14 +35,16 @@
~I2C() override;
- I2C(I2C&& rhs);
- I2C& operator=(I2C&& rhs);
+ I2C(I2C&&) = default;
+ I2C& operator=(I2C&&) = default;
/**
* Generic transaction.
*
* This is a lower-level interface to the I2C hardware giving you more control
- * over each transaction.
+ * over each transaction. If you intend to write multiple bytes in the same
+ * transaction and do not plan to receive anything back, use writeBulk()
+ * instead. Calling this with a receiveSize of 0 will result in an error.
*
* @param dataToSend Buffer of data to send as part of the transaction.
* @param sendSize Number of bytes to send as part of the transaction.
@@ -135,7 +137,7 @@
bool VerifySensor(int registerAddress, int count, const uint8_t* expected);
private:
- HAL_I2CPort m_port = HAL_I2C_kInvalid;
+ hal::I2CPort m_port;
int m_deviceAddress;
};
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/InterruptableSensorBase.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/InterruptableSensorBase.h
index 7c9e364..8c2a564 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/InterruptableSensorBase.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/InterruptableSensorBase.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,15 +7,17 @@
#pragma once
+#include <functional>
+#include <memory>
+
#include <hal/Interrupts.h>
#include "frc/AnalogTriggerType.h"
#include "frc/ErrorBase.h"
-#include "frc/smartdashboard/SendableBase.h"
namespace frc {
-class InterruptableSensorBase : public ErrorBase, public SendableBase {
+class InterruptableSensorBase : public ErrorBase {
public:
enum WaitResult {
kTimeout = 0x0,
@@ -24,8 +26,20 @@
kBoth = 0x101,
};
+ /**
+ * Handler for interrupts.
+ *
+ * First parameter is if rising, 2nd is if falling.
+ */
+ using InterruptEventHandler = std::function<void(WaitResult)>;
+
InterruptableSensorBase() = default;
+ /**
+ * Free the resources for an interrupt event.
+ */
+ virtual ~InterruptableSensorBase();
+
InterruptableSensorBase(InterruptableSensorBase&&) = default;
InterruptableSensorBase& operator=(InterruptableSensorBase&&) = default;
@@ -44,6 +58,16 @@
void* param);
/**
+ * Request one of the 8 interrupts asynchronously on this digital input.
+ *
+ * Request interrupts in asynchronous mode where the user's interrupt handler
+ * will be called when the interrupt fires. Users that want control over the
+ * thread priority should use the synchronous method with their own spawned
+ * thread. The default is interrupt on rising edges only.
+ */
+ virtual void RequestInterrupts(InterruptEventHandler handler);
+
+ /**
* Request one of the 8 interrupts synchronously on this digital input.
*
* Request interrupts in synchronous mode where the user program will have to
@@ -119,7 +143,8 @@
virtual void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
protected:
- HAL_InterruptHandle m_interrupt = HAL_kInvalidHandle;
+ hal::Handle<HAL_InterruptHandle> m_interrupt;
+ std::unique_ptr<InterruptEventHandler> m_interruptHandler{nullptr};
void AllocateInterrupts(bool watcher);
};
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/IterativeRobotBase.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/IterativeRobotBase.h
index 6ff5816..b78765a 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/IterativeRobotBase.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/IterativeRobotBase.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,6 +7,9 @@
#pragma once
+#include <units/units.h>
+#include <wpi/deprecated.h>
+
#include "frc/RobotBase.h"
#include "frc/Watchdog.h"
@@ -141,8 +144,16 @@
*
* @param period Period in seconds.
*/
+ WPI_DEPRECATED("Use ctor with unit-safety instead.")
explicit IterativeRobotBase(double period);
+ /**
+ * Constructor for IterativeRobotBase.
+ *
+ * @param period Period.
+ */
+ explicit IterativeRobotBase(units::second_t period);
+
virtual ~IterativeRobotBase() = default;
IterativeRobotBase(IterativeRobotBase&&) = default;
@@ -150,7 +161,7 @@
void LoopFunc();
- double m_period;
+ units::second_t m_period;
private:
enum class Mode { kNone, kDisabled, kAutonomous, kTeleop, kTest };
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Joystick.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Joystick.h
index 4c17589..4ae398c 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Joystick.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Joystick.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -31,17 +31,6 @@
static constexpr int kDefaultTwistChannel = 2;
static constexpr int kDefaultThrottleChannel = 3;
- WPI_DEPRECATED("Use kDefaultXChannel instead.")
- static constexpr int kDefaultXAxis = 0;
- WPI_DEPRECATED("Use kDefaultYChannel instead.")
- static constexpr int kDefaultYAxis = 1;
- WPI_DEPRECATED("Use kDefaultZChannel instead.")
- static constexpr int kDefaultZAxis = 2;
- WPI_DEPRECATED("Use kDefaultTwistChannel instead.")
- static constexpr int kDefaultTwistAxis = 2;
- WPI_DEPRECATED("Use kDefaultThrottleChannel instead.")
- static constexpr int kDefaultThrottleAxis = 3;
-
enum AxisType { kXAxis, kYAxis, kZAxis, kTwistAxis, kThrottleAxis };
enum ButtonType { kTriggerButton, kTopButton };
@@ -100,15 +89,6 @@
void SetThrottleChannel(int channel);
/**
- * Set the channel associated with a specified axis.
- *
- * @param axis The axis to set the channel for.
- * @param channel The channel to set the axis to.
- */
- WPI_DEPRECATED("Use the more specific axis channel setter functions.")
- void SetAxisChannel(AxisType axis, int channel);
-
- /**
* Get the channel currently associated with the X axis.
*
* @return The channel for the axis.
@@ -185,19 +165,6 @@
double GetThrottle() const;
/**
- * For the current joystick, return the axis determined by the argument.
- *
- * This is for cases where the joystick axis is returned programatically,
- * otherwise one of the previous functions would be preferable (for example
- * GetX()).
- *
- * @param axis The axis to read.
- * @return The value of the axis.
- */
- WPI_DEPRECATED("Use the more specific axis channel getter functions.")
- double GetAxis(AxisType axis) const;
-
- /**
* Read the state of the trigger on the joystick.
*
* Look up which button has been assigned to the trigger and read its state.
@@ -243,20 +210,6 @@
*/
bool GetTopReleased();
- WPI_DEPRECATED("Use Joystick instances instead.")
- static Joystick* GetStickForPort(int port);
-
- /**
- * Get buttons based on an enumerated type.
- *
- * The button type will be looked up in the list of buttons and then read.
- *
- * @param button The type of button to read.
- * @return The state of the button.
- */
- WPI_DEPRECATED("Use the more specific button getter functions.")
- bool GetButton(ButtonType button) const;
-
/**
* Get the magnitude of the direction vector formed by the joystick's
* current position relative to its origin.
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/JoystickBase.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/JoystickBase.h
deleted file mode 100644
index cba5a7e..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/JoystickBase.h
+++ /dev/null
@@ -1,33 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include <wpi/deprecated.h>
-
-#include "frc/GenericHID.h"
-
-namespace frc {
-
-/**
- * Joystick Interface.
- */
-class JoystickBase : public GenericHID {
- public:
- WPI_DEPRECATED("Inherit directly from GenericHID instead.")
- explicit JoystickBase(int port);
- virtual ~JoystickBase() = default;
-
- JoystickBase(JoystickBase&&) = default;
- JoystickBase& operator=(JoystickBase&&) = default;
-
- virtual double GetZ(JoystickHand hand = kRightHand) const = 0;
- virtual double GetTwist() const = 0;
- virtual double GetThrottle() const = 0;
-};
-
-} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/LinearFilter.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/LinearFilter.h
new file mode 100644
index 0000000..de52003
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/LinearFilter.h
@@ -0,0 +1,150 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <initializer_list>
+#include <vector>
+
+#include <units/units.h>
+#include <wpi/ArrayRef.h>
+#include <wpi/circular_buffer.h>
+
+namespace frc {
+
+/**
+ * This class implements a linear, digital filter. All types of FIR and IIR
+ * filters are supported. Static factory methods are provided to create commonly
+ * used types of filters.
+ *
+ * Filters are of the form:<br>
+ * y[n] = (b0 * x[n] + b1 * x[n-1] + … + bP * x[n-P]) -
+ * (a0 * y[n-1] + a2 * y[n-2] + … + aQ * y[n-Q])
+ *
+ * Where:<br>
+ * y[n] is the output at time "n"<br>
+ * x[n] is the input at time "n"<br>
+ * y[n-1] is the output from the LAST time step ("n-1")<br>
+ * x[n-1] is the input from the LAST time step ("n-1")<br>
+ * b0 … bP are the "feedforward" (FIR) gains<br>
+ * a0 … aQ are the "feedback" (IIR) gains<br>
+ * IMPORTANT! Note the "-" sign in front of the feedback term! This is a common
+ * convention in signal processing.
+ *
+ * What can linear filters do? Basically, they can filter, or diminish, the
+ * effects of undesirable input frequencies. High frequencies, or rapid changes,
+ * can be indicative of sensor noise or be otherwise undesirable. A "low pass"
+ * filter smooths out the signal, reducing the impact of these high frequency
+ * components. Likewise, a "high pass" filter gets rid of slow-moving signal
+ * components, letting you detect large changes more easily.
+ *
+ * Example FRC applications of filters:
+ * - Getting rid of noise from an analog sensor input (note: the roboRIO's FPGA
+ * can do this faster in hardware)
+ * - Smoothing out joystick input to prevent the wheels from slipping or the
+ * robot from tipping
+ * - Smoothing motor commands so that unnecessary strain isn't put on
+ * electrical or mechanical components
+ * - If you use clever gains, you can make a PID controller out of this class!
+ *
+ * For more on filters, we highly recommend the following articles:<br>
+ * https://en.wikipedia.org/wiki/Linear_filter<br>
+ * https://en.wikipedia.org/wiki/Iir_filter<br>
+ * https://en.wikipedia.org/wiki/Fir_filter<br>
+ *
+ * Note 1: Calculate() should be called by the user on a known, regular period.
+ * You can use a Notifier for this or do it "inline" with code in a
+ * periodic function.
+ *
+ * Note 2: For ALL filters, gains are necessarily a function of frequency. If
+ * you make a filter that works well for you at, say, 100Hz, you will most
+ * definitely need to adjust the gains if you then want to run it at 200Hz!
+ * Combining this with Note 1 - the impetus is on YOU as a developer to make
+ * sure Calculate() gets called at the desired, constant frequency!
+ */
+class LinearFilter {
+ public:
+ /**
+ * Create a linear FIR or IIR filter.
+ *
+ * @param ffGains The "feed forward" or FIR gains.
+ * @param fbGains The "feed back" or IIR gains.
+ */
+ LinearFilter(wpi::ArrayRef<double> ffGains, wpi::ArrayRef<double> fbGains);
+
+ /**
+ * Create a linear FIR or IIR filter.
+ *
+ * @param ffGains The "feed forward" or FIR gains.
+ * @param fbGains The "feed back" or IIR gains.
+ */
+ LinearFilter(std::initializer_list<double> ffGains,
+ std::initializer_list<double> fbGains)
+ : LinearFilter(wpi::makeArrayRef(ffGains.begin(), ffGains.end()),
+ wpi::makeArrayRef(fbGains.begin(), fbGains.end())) {}
+
+ // Static methods to create commonly used filters
+ /**
+ * Creates a one-pole IIR low-pass filter of the form:<br>
+ * y[n] = (1 - gain) * x[n] + gain * y[n-1]<br>
+ * where gain = e<sup>-dt / T</sup>, T is the time constant in seconds
+ *
+ * This filter is stable for time constants greater than zero.
+ *
+ * @param timeConstant The discrete-time time constant in seconds.
+ * @param period The period in seconds between samples taken by the
+ * user.
+ */
+ static LinearFilter SinglePoleIIR(double timeConstant,
+ units::second_t period);
+
+ /**
+ * Creates a first-order high-pass filter of the form:<br>
+ * y[n] = gain * x[n] + (-gain) * x[n-1] + gain * y[n-1]<br>
+ * where gain = e<sup>-dt / T</sup>, T is the time constant in seconds
+ *
+ * This filter is stable for time constants greater than zero.
+ *
+ * @param timeConstant The discrete-time time constant in seconds.
+ * @param period The period in seconds between samples taken by the
+ * user.
+ */
+ static LinearFilter HighPass(double timeConstant, units::second_t period);
+
+ /**
+ * Creates a K-tap FIR moving average filter of the form:<br>
+ * y[n] = 1/k * (x[k] + x[k-1] + … + x[0])
+ *
+ * This filter is always stable.
+ *
+ * @param taps The number of samples to average over. Higher = smoother but
+ * slower
+ */
+ static LinearFilter MovingAverage(int taps);
+
+ /**
+ * Reset the filter state.
+ */
+ void Reset();
+
+ /**
+ * Calculates the next value of the filter.
+ *
+ * @param input Current input value.
+ *
+ * @return The filtered value at this step
+ */
+ double Calculate(double input);
+
+ private:
+ wpi::circular_buffer<double> m_inputs{0};
+ wpi::circular_buffer<double> m_outputs{0};
+ std::vector<double> m_inputGains;
+ std::vector<double> m_outputGains;
+};
+
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/NidecBrushless.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/NidecBrushless.h
index 1d63c31..fa77e28 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/NidecBrushless.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/NidecBrushless.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,23 +7,25 @@
#pragma once
-#include <atomic>
-
#include "frc/DigitalOutput.h"
#include "frc/ErrorBase.h"
#include "frc/MotorSafety.h"
#include "frc/PWM.h"
#include "frc/SpeedController.h"
-#include "frc/smartdashboard/SendableBase.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
+class SendableBuilder;
+
/**
* Nidec Brushless Motor.
*/
-class NidecBrushless : public SendableBase,
- public SpeedController,
- public MotorSafety {
+class NidecBrushless : public SpeedController,
+ public MotorSafety,
+ public Sendable,
+ public SendableHelper<NidecBrushless> {
public:
/**
* Constructor.
@@ -98,7 +100,7 @@
private:
bool m_isInverted = false;
- std::atomic_bool m_disabled{false};
+ bool m_disabled = false;
DigitalOutput m_dio;
PWM m_pwm;
double m_speed = 0.0;
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Notifier.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Notifier.h
index 47380bc..f2f37f1 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Notifier.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Notifier.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -15,14 +15,14 @@
#include <utility>
#include <hal/Types.h>
+#include <units/units.h>
+#include <wpi/deprecated.h>
#include <wpi/mutex.h>
#include "frc/ErrorBase.h"
namespace frc {
-using TimerEventHandler = std::function<void()>;
-
class Notifier : public ErrorBase {
public:
/**
@@ -31,7 +31,7 @@
* @param handler The handler is called at the notification time which is set
* using StartSingle or StartPeriodic.
*/
- explicit Notifier(TimerEventHandler handler);
+ explicit Notifier(std::function<void()> handler);
template <typename Callable, typename Arg, typename... Args>
Notifier(Callable&& f, Arg&& arg, Args&&... args)
@@ -51,7 +51,7 @@
*
* @param handler Handler
*/
- void SetHandler(TimerEventHandler handler);
+ void SetHandler(std::function<void()> handler);
/**
* Register for single event notification.
@@ -60,9 +60,19 @@
*
* @param delay Seconds to wait before the handler is called.
*/
+ WPI_DEPRECATED("Use unit-safe StartSingle method instead.")
void StartSingle(double delay);
/**
+ * Register for single event notification.
+ *
+ * A timer event is queued for a single event after the specified delay.
+ *
+ * @param delay Amount of time to wait before the handler is called.
+ */
+ void StartSingle(units::second_t delay);
+
+ /**
* Register for periodic event notification.
*
* A timer event is queued for periodic event notification. Each time the
@@ -72,9 +82,22 @@
* @param period Period in seconds to call the handler starting one period
* after the call to this method.
*/
+ WPI_DEPRECATED("Use unit-safe StartPeriodic method instead.")
void StartPeriodic(double period);
/**
+ * Register for periodic event notification.
+ *
+ * A timer event is queued for periodic event notification. Each time the
+ * interrupt occurs, the event will be immediately requeued for the same time
+ * interval.
+ *
+ * @param period Period to call the handler starting one period
+ * after the call to this method.
+ */
+ void StartPeriodic(units::second_t period);
+
+ /**
* Stop timer events from occuring.
*
* Stop any repeating timer events from occuring. This will also remove any
@@ -108,7 +131,7 @@
std::atomic<HAL_NotifierHandle> m_notifier{0};
// Address of the handler
- TimerEventHandler m_handler;
+ std::function<void()> m_handler;
// The absolute expiration time
double m_expirationTime = 0;
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/PIDBase.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/PIDBase.h
index f29b56e..098718f 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/PIDBase.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/PIDBase.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -14,15 +14,18 @@
#include <wpi/mutex.h>
#include "frc/Base.h"
+#include "frc/LinearFilter.h"
#include "frc/PIDInterface.h"
#include "frc/PIDOutput.h"
#include "frc/PIDSource.h"
#include "frc/Timer.h"
-#include "frc/filters/LinearDigitalFilter.h"
-#include "frc/smartdashboard/SendableBase.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
+class SendableBuilder;
+
/**
* Class implements a PID Control Loop.
*
@@ -33,7 +36,10 @@
* in the integral and derivative calculations. Therefore, the sample rate
* affects the controller's behavior for a given set of PID constants.
*/
-class PIDBase : public SendableBase, public PIDInterface, public PIDOutput {
+class PIDBase : public PIDInterface,
+ public PIDOutput,
+ public Sendable,
+ public SendableHelper<PIDBase> {
public:
/**
* Allocate a PID object with the given constants for P, I, D.
@@ -44,6 +50,7 @@
* @param source The PIDSource object that is used to get values
* @param output The PIDOutput object that is set to the output value
*/
+ WPI_DEPRECATED("All APIs which use this have been deprecated.")
PIDBase(double p, double i, double d, PIDSource& source, PIDOutput& output);
/**
@@ -55,13 +62,11 @@
* @param source The PIDSource object that is used to get values
* @param output The PIDOutput object that is set to the output value
*/
+ WPI_DEPRECATED("All APIs which use this have been deprecated.")
PIDBase(double p, double i, double d, double f, PIDSource& source,
PIDOutput& output);
- ~PIDBase() override = default;
-
- PIDBase(PIDBase&&) = default;
- PIDBase& operator=(PIDBase&&) = default;
+ virtual ~PIDBase() = default;
/**
* Return the current PID result.
@@ -215,7 +220,7 @@
*
* @return the average error
*/
- WPI_DEPRECATED("Use a LinearDigitalFilter as the input and GetError().")
+ WPI_DEPRECATED("Use a LinearFilter as the input and GetError().")
virtual double GetAvgError() const;
/**
@@ -397,8 +402,7 @@
double m_error = 0;
double m_result = 0;
- std::shared_ptr<PIDSource> m_origSource;
- LinearDigitalFilter m_filter{nullptr, {}, {}};
+ LinearFilter m_filter{{}, {}};
};
} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/PIDController.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/PIDController.h
index e9eea8b..88b0786 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/PIDController.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/PIDController.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -19,7 +19,6 @@
#include "frc/PIDBase.h"
#include "frc/PIDSource.h"
#include "frc/Timer.h"
-#include "frc/filters/LinearDigitalFilter.h"
namespace frc {
@@ -49,6 +48,7 @@
* particularly affects calculations of the integral and
* differental terms. The default is 0.05 (50ms).
*/
+ WPI_DEPRECATED("Use frc2::PIDController class instead.")
PIDController(double p, double i, double d, PIDSource* source,
PIDOutput* output, double period = 0.05);
@@ -64,6 +64,7 @@
* particularly affects calculations of the integral and
* differental terms. The default is 0.05 (50ms).
*/
+ WPI_DEPRECATED("Use frc2::PIDController class instead.")
PIDController(double p, double i, double d, double f, PIDSource* source,
PIDOutput* output, double period = 0.05);
@@ -79,6 +80,7 @@
* particularly affects calculations of the integral and
* differental terms. The default is 0.05 (50ms).
*/
+ WPI_DEPRECATED("Use frc2::PIDController class instead.")
PIDController(double p, double i, double d, PIDSource& source,
PIDOutput& output, double period = 0.05);
@@ -94,14 +96,12 @@
* particularly affects calculations of the integral and
* differental terms. The default is 0.05 (50ms).
*/
+ WPI_DEPRECATED("Use frc2::PIDController class instead.")
PIDController(double p, double i, double d, double f, PIDSource& source,
PIDOutput& output, double period = 0.05);
~PIDController() override;
- PIDController(PIDController&&) = default;
- PIDController& operator=(PIDController&&) = default;
-
/**
* Begin running the PIDController.
*/
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/PIDInterface.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/PIDInterface.h
index 72d8beb..8162aa5 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/PIDInterface.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/PIDInterface.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,10 +7,13 @@
#pragma once
+#include <wpi/deprecated.h>
+
namespace frc {
class PIDInterface {
public:
+ WPI_DEPRECATED("All APIs which use this have been deprecated.")
PIDInterface() = default;
PIDInterface(PIDInterface&&) = default;
PIDInterface& operator=(PIDInterface&&) = default;
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/PWM.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/PWM.h
index 99f213e..58e18d2 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/PWM.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/PWM.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -13,10 +13,13 @@
#include <wpi/raw_ostream.h>
#include "frc/MotorSafety.h"
-#include "frc/smartdashboard/SendableBase.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
+class SendableBuilder;
+
/**
* Class implements the PWM generation in the FPGA.
*
@@ -34,7 +37,7 @@
* - 1 = minimum pulse width (currently .5ms)
* - 0 = disabled (i.e. PWM output is held low)
*/
-class PWM : public MotorSafety, public SendableBase {
+class PWM : public MotorSafety, public Sendable, public SendableHelper<PWM> {
public:
/**
* Represents the amount to multiply the minimum servo-pulse pwm period by.
@@ -73,8 +76,8 @@
*/
~PWM() override;
- PWM(PWM&& rhs);
- PWM& operator=(PWM&& rhs);
+ PWM(PWM&&) = default;
+ PWM& operator=(PWM&&) = default;
// MotorSafety interface
void StopMotor() override;
@@ -231,7 +234,7 @@
private:
int m_channel;
- HAL_DigitalHandle m_handle = HAL_kInvalidHandle;
+ hal::Handle<HAL_DigitalHandle> m_handle;
};
} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/PWMSparkMax.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/PWMSparkMax.h
new file mode 100644
index 0000000..c8b22d7
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/PWMSparkMax.h
@@ -0,0 +1,31 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "frc/PWMSpeedController.h"
+
+namespace frc {
+
+/**
+ * REV Robotics SparkMax Speed Controller.
+ */
+class PWMSparkMax : public PWMSpeedController {
+ public:
+ /**
+ * Constructor for a SparkMax.
+ *
+ * @param channel The PWM channel that the Spark is attached to. 0-9 are
+ * on-board, 10-19 are on the MXP port
+ */
+ explicit PWMSparkMax(int channel);
+
+ PWMSparkMax(PWMSparkMax&&) = default;
+ PWMSparkMax& operator=(PWMSparkMax&&) = default;
+};
+
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/PWMSpeedController.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/PWMSpeedController.h
index 5222559..b827d30 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/PWMSpeedController.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/PWMSpeedController.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/PowerDistributionPanel.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/PowerDistributionPanel.h
index 2d7f65c..433874b 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/PowerDistributionPanel.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/PowerDistributionPanel.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,15 +10,20 @@
#include <hal/Types.h>
#include "frc/ErrorBase.h"
-#include "frc/smartdashboard/SendableBase.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
+class SendableBuilder;
+
/**
* Class for getting voltage, current, temperature, power and energy from the
* CAN PDP.
*/
-class PowerDistributionPanel : public ErrorBase, public SendableBase {
+class PowerDistributionPanel : public ErrorBase,
+ public Sendable,
+ public SendableHelper<PowerDistributionPanel> {
public:
PowerDistributionPanel();
explicit PowerDistributionPanel(int module);
@@ -83,7 +88,7 @@
void InitSendable(SendableBuilder& builder) override;
private:
- HAL_PDPHandle m_handle = HAL_kInvalidHandle;
+ hal::Handle<HAL_PDPHandle> m_handle;
};
} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Relay.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Relay.h
index 6fb21b5..c903fc0 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Relay.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Relay.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -14,10 +14,13 @@
#include "frc/ErrorBase.h"
#include "frc/MotorSafety.h"
-#include "frc/smartdashboard/SendableBase.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
+class SendableBuilder;
+
/**
* Class for Spike style relay outputs.
*
@@ -30,7 +33,9 @@
* independently for something that does not care about voltage polarity (like
* a solenoid).
*/
-class Relay : public MotorSafety, public SendableBase {
+class Relay : public MotorSafety,
+ public Sendable,
+ public SendableHelper<Relay> {
public:
enum Value { kOff, kOn, kForward, kReverse };
enum Direction { kBothDirections, kForwardOnly, kReverseOnly };
@@ -53,8 +58,8 @@
*/
~Relay() override;
- Relay(Relay&& rhs);
- Relay& operator=(Relay&& rhs);
+ Relay(Relay&&) = default;
+ Relay& operator=(Relay&&) = default;
/**
* Set the relay state.
@@ -98,8 +103,8 @@
int m_channel;
Direction m_direction;
- HAL_RelayHandle m_forwardHandle = HAL_kInvalidHandle;
- HAL_RelayHandle m_reverseHandle = HAL_kInvalidHandle;
+ hal::Handle<HAL_RelayHandle> m_forwardHandle;
+ hal::Handle<HAL_RelayHandle> m_reverseHandle;
};
} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Resource.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Resource.h
index 9df2196..e9759d5 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Resource.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Resource.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -33,9 +33,6 @@
public:
virtual ~Resource() = default;
- Resource(Resource&&) = default;
- Resource& operator=(Resource&&) = default;
-
/**
* Factory method to create a Resource allocation-tracker *if* needed.
*
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/RobotBase.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/RobotBase.h
index eee07d6..85a9d12 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/RobotBase.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/RobotBase.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,7 @@
#include <thread>
+#include <hal/Main.h>
#include <wpi/raw_ostream.h>
#include "frc/Base.h"
@@ -19,14 +20,37 @@
int RunHALInitialization();
+namespace impl {
+
+template <class Robot>
+void RunRobot() {
+ static Robot robot;
+ robot.StartCompetition();
+}
+
+} // namespace impl
+
template <class Robot>
int StartRobot() {
int halInit = RunHALInitialization();
if (halInit != 0) {
return halInit;
}
- static Robot robot;
- robot.StartCompetition();
+ if (HAL_HasMain()) {
+ std::thread([] {
+ try {
+ impl::RunRobot<Robot>();
+ } catch (...) {
+ HAL_ExitMain();
+ throw;
+ }
+ HAL_ExitMain();
+ })
+ .detach();
+ HAL_RunMain();
+ } else {
+ impl::RunRobot<Robot>();
+ }
return 0;
}
@@ -131,8 +155,8 @@
// m_ds isn't moved in these because DriverStation is a singleton; every
// instance of RobotBase has a reference to the same object.
- RobotBase(RobotBase&&);
- RobotBase& operator=(RobotBase&&);
+ RobotBase(RobotBase&&) noexcept;
+ RobotBase& operator=(RobotBase&&) noexcept;
DriverStation& m_ds;
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/RobotState.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/RobotState.h
index 6b91692..60e608a 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/RobotState.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/RobotState.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -13,8 +13,11 @@
class RobotState {
public:
+ RobotState() = delete;
+
static bool IsDisabled();
static bool IsEnabled();
+ static bool IsEStopped();
static bool IsOperatorControl();
static bool IsAutonomous();
static bool IsTest();
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/SPI.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/SPI.h
index 88cd4d9..fb4835e 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/SPI.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/SPI.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,6 +12,7 @@
#include <memory>
#include <hal/SPITypes.h>
+#include <units/units.h>
#include <wpi/ArrayRef.h>
#include <wpi/deprecated.h>
@@ -41,8 +42,8 @@
~SPI() override;
- SPI(SPI&& rhs);
- SPI& operator=(SPI&& rhs);
+ SPI(SPI&&) = default;
+ SPI& operator=(SPI&&) = default;
/**
* Configure the rate of the generated clock signal.
@@ -52,7 +53,7 @@
*
* @param hz The clock rate in Hertz.
*/
- void SetClockRate(double hz);
+ void SetClockRate(int hz);
/**
* Configure the order that bits are sent and received on the wire
@@ -179,8 +180,19 @@
* InitAuto() and SetAutoTransmitData() must be called before calling this
* function.
*
+ * @param period period between transfers (us resolution)
+ */
+ void StartAutoRate(units::second_t period);
+
+ /**
+ * Start running the automatic SPI transfer engine at a periodic rate.
+ *
+ * InitAuto() and SetAutoTransmitData() must be called before calling this
+ * function.
+ *
* @param period period between transfers, in seconds (us resolution)
*/
+ WPI_DEPRECATED("Use StartAutoRate with unit-safety instead")
void StartAutoRate(double period);
/**
@@ -221,9 +233,32 @@
*
* @param buffer buffer where read words are stored
* @param numToRead number of words to read
+ * @param timeout timeout (ms resolution)
+ * @return Number of words remaining to be read
+ */
+ int ReadAutoReceivedData(uint32_t* buffer, int numToRead,
+ units::second_t timeout);
+
+ /**
+ * Read data that has been transferred by the automatic SPI transfer engine.
+ *
+ * Transfers may be made a byte at a time, so it's necessary for the caller
+ * to handle cases where an entire transfer has not been completed.
+ *
+ * Each received data sequence consists of a timestamp followed by the
+ * received data bytes, one byte per word (in the least significant byte).
+ * The length of each received data sequence is the same as the combined
+ * size of the data and zeroSize set in SetAutoTransmitData().
+ *
+ * Blocks until numToRead words have been read or timeout expires.
+ * May be called with numToRead=0 to retrieve how many words are available.
+ *
+ * @param buffer buffer where read words are stored
+ * @param numToRead number of words to read
* @param timeout timeout in seconds (ms resolution)
* @return Number of words remaining to be read
*/
+ WPI_DEPRECATED("Use ReadAutoReceivedData with unit-safety instead")
int ReadAutoReceivedData(uint32_t* buffer, int numToRead, double timeout);
/**
@@ -249,6 +284,26 @@
* @param isSigned Is data field signed?
* @param bigEndian Is device big endian?
*/
+ void InitAccumulator(units::second_t period, int cmd, int xferSize,
+ int validMask, int validValue, int dataShift,
+ int dataSize, bool isSigned, bool bigEndian);
+
+ /**
+ * Initialize the accumulator.
+ *
+ * @param period Time between reads
+ * @param cmd SPI command to send to request data
+ * @param xferSize SPI transfer size, in bytes
+ * @param validMask Mask to apply to received data for validity checking
+ * @param validData After valid_mask is applied, required matching value for
+ * validity checking
+ * @param dataShift Bit shift to apply to received data to get actual data
+ * value
+ * @param dataSize Size (in bits) of data field
+ * @param isSigned Is data field signed?
+ * @param bigEndian Is device big endian?
+ */
+ WPI_DEPRECATED("Use InitAccumulator with unit-safety instead")
void InitAccumulator(double period, int cmd, int xferSize, int validMask,
int validValue, int dataShift, int dataSize,
bool isSigned, bool bigEndian);
@@ -345,7 +400,7 @@
double GetAccumulatorIntegratedAverage() const;
protected:
- HAL_SPIPort m_port = HAL_SPI_kInvalid;
+ hal::SPIPort m_port;
bool m_msbFirst = false; // Default little-endian
bool m_sampleOnTrailing = false; // Default data updated on falling edge
bool m_clockIdleHigh = false; // Default clock active high
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/SampleRobot.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/SampleRobot.h
deleted file mode 100644
index 4bce0f3..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/SampleRobot.h
+++ /dev/null
@@ -1,109 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include <wpi/deprecated.h>
-
-#include "frc/RobotBase.h"
-
-namespace frc {
-
-class SampleRobot : public RobotBase {
- public:
- /**
- * Start a competition.
- *
- * This code needs to track the order of the field starting to ensure that
- * everything happens in the right order. Repeatedly run the correct method,
- * either Autonomous or OperatorControl or Test when the robot is enabled.
- * After running the correct method, wait for some state to change, either the
- * other mode starts or the robot is disabled. Then go back and wait for the
- * robot to be enabled again.
- */
- void StartCompetition() override;
-
- /**
- * Robot-wide initialization code should go here.
- *
- * Users should override this method for default Robot-wide initialization
- * which will be called when the robot is first powered on. It will be called
- * exactly one time.
- *
- * Warning: the Driver Station "Robot Code" light and FMS "Robot Ready"
- * indicators will be off until RobotInit() exits. Code in RobotInit() that
- * waits for enable will cause the robot to never indicate that the code is
- * ready, causing the robot to be bypassed in a match.
- */
- virtual void RobotInit();
-
- /**
- * Disabled should go here.
- *
- * Programmers should override this method to run code that should run while
- * the field is disabled.
- */
- virtual void Disabled();
-
- /**
- * Autonomous should go here.
- *
- * Programmers should override this method to run code that should run while
- * the field is in the autonomous period. This will be called once each time
- * the robot enters the autonomous state.
- */
- virtual void Autonomous();
-
- /**
- * Operator control (tele-operated) code should go here.
- *
- * Programmers should override this method to run code that should run while
- * the field is in the Operator Control (tele-operated) period. This is called
- * once each time the robot enters the teleop state.
- */
- virtual void OperatorControl();
-
- /**
- * Test program should go here.
- *
- * Programmers should override this method to run code that executes while the
- * robot is in test mode. This will be called once whenever the robot enters
- * test mode
- */
- virtual void Test();
-
- /**
- * Robot main program for free-form programs.
- *
- * This should be overridden by user subclasses if the intent is to not use
- * the Autonomous() and OperatorControl() methods. In that case, the program
- * is responsible for sensing when to run the autonomous and operator control
- * functions in their program.
- *
- * This method will be called immediately after the constructor is called. If
- * it has not been overridden by a user subclass (i.e. the default version
- * runs), then the Autonomous() and OperatorControl() methods will be called.
- */
- virtual void RobotMain();
-
- protected:
- WPI_DEPRECATED(
- "WARNING: While it may look like a good choice to use for your code if "
- "you're inexperienced, don't. Unless you know what you are doing, "
- "complex code will be much more difficult under this system. Use "
- "TimedRobot or Command-Based instead.")
- SampleRobot();
- virtual ~SampleRobot() = default;
-
- SampleRobot(SampleRobot&&) = default;
- SampleRobot& operator=(SampleRobot&&) = default;
-
- private:
- bool m_robotMainOverridden = true;
-};
-
-} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/SensorUtil.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/SensorUtil.h
index a38b542..ab471b1 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/SensorUtil.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/SensorUtil.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -15,6 +15,8 @@
*/
class SensorUtil final {
public:
+ SensorUtil() = delete;
+
/**
* Get the number of the default solenoid module.
*
@@ -109,9 +111,6 @@
static const int kPwmChannels;
static const int kRelayChannels;
static const int kPDPChannels;
-
- private:
- SensorUtil() = default;
};
} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/SerialPort.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/SerialPort.h
index e9e38ef..f9edb84 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/SerialPort.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/SerialPort.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,7 @@
#include <string>
+#include <hal/Types.h>
#include <wpi/StringRef.h>
#include <wpi/Twine.h>
#include <wpi/deprecated.h>
@@ -73,6 +74,9 @@
/**
* Create an instance of a Serial Port class.
*
+ * Prefer to use the constructor that doesn't take a port name, but in some
+ * cases the automatic detection might not work correctly.
+ *
* @param baudRate The baud rate to configure the serial port.
* @param port The physical port to use
* @param portName The direct port name to use
@@ -82,15 +86,14 @@
* @param stopBits The number of stop bits to use as defined by the enum
* StopBits.
*/
- WPI_DEPRECATED("Will be removed for 2020")
SerialPort(int baudRate, const wpi::Twine& portName, Port port = kOnboard,
int dataBits = 8, Parity parity = kParity_None,
StopBits stopBits = kStopBits_One);
~SerialPort();
- SerialPort(SerialPort&& rhs);
- SerialPort& operator=(SerialPort&& rhs);
+ SerialPort(SerialPort&& rhs) = default;
+ SerialPort& operator=(SerialPort&& rhs) = default;
/**
* Set the type of flow control to enable on this port.
@@ -214,10 +217,7 @@
void Reset();
private:
- int m_resourceManagerHandle = 0;
- int m_portHandle = 0;
- bool m_consoleModeEnabled = false;
- Port m_port = kOnboard;
+ hal::Handle<HAL_SerialPortHandle> m_portHandle;
};
} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Solenoid.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Solenoid.h
index 8a90b26..86a2839 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Solenoid.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Solenoid.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,16 +10,22 @@
#include <hal/Types.h>
#include "frc/SolenoidBase.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
+class SendableBuilder;
+
/**
* Solenoid class for running high voltage Digital Output (PCM).
*
* The Solenoid class is typically used for pneumatics solenoids, but could be
* used for any device within the current spec of the PCM.
*/
-class Solenoid : public SolenoidBase {
+class Solenoid : public SolenoidBase,
+ public Sendable,
+ public SendableHelper<Solenoid> {
public:
/**
* Constructor using the default PCM ID (0).
@@ -38,8 +44,8 @@
~Solenoid() override;
- Solenoid(Solenoid&& rhs);
- Solenoid& operator=(Solenoid&& rhs);
+ Solenoid(Solenoid&&) = default;
+ Solenoid& operator=(Solenoid&&) = default;
/**
* Set the value of a solenoid.
@@ -90,7 +96,7 @@
void InitSendable(SendableBuilder& builder) override;
private:
- HAL_SolenoidHandle m_solenoidHandle = HAL_kInvalidHandle;
+ hal::Handle<HAL_SolenoidHandle> m_solenoidHandle;
int m_channel; // The channel on the module to control
};
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/SolenoidBase.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/SolenoidBase.h
index fe9f32e..314df5c 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/SolenoidBase.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/SolenoidBase.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,7 +8,6 @@
#pragma once
#include "frc/ErrorBase.h"
-#include "frc/smartdashboard/SendableBase.h"
namespace frc {
@@ -16,7 +15,7 @@
* SolenoidBase class is the common base class for the Solenoid and
* DoubleSolenoid classes.
*/
-class SolenoidBase : public ErrorBase, public SendableBase {
+class SolenoidBase : public ErrorBase {
public:
/**
* Read all 8 solenoids as a single byte
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/SpeedControllerGroup.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/SpeedControllerGroup.h
index 3f0c699..80adf1c 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/SpeedControllerGroup.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/SpeedControllerGroup.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -11,11 +11,14 @@
#include <vector>
#include "frc/SpeedController.h"
-#include "frc/smartdashboard/SendableBase.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
-class SpeedControllerGroup : public SendableBase, public SpeedController {
+class SpeedControllerGroup : public Sendable,
+ public SpeedController,
+ public SendableHelper<SpeedControllerGroup> {
public:
template <class... SpeedControllers>
explicit SpeedControllerGroup(SpeedController& speedController,
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/SpeedControllerGroup.inc b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/SpeedControllerGroup.inc
index ba4b766..5848746 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/SpeedControllerGroup.inc
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/SpeedControllerGroup.inc
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,6 +7,8 @@
#pragma once
+#include "frc/smartdashboard/SendableRegistry.h"
+
namespace frc {
template <class... SpeedControllers>
@@ -14,10 +16,10 @@
SpeedController& speedController, SpeedControllers&... speedControllers)
: m_speedControllers{speedController, speedControllers...} {
for (auto& speedController : m_speedControllers)
- AddChild(&speedController.get());
+ SendableRegistry::GetInstance().AddChild(this, &speedController.get());
static int instances = 0;
++instances;
- SetName("SpeedControllerGroup", instances);
+ SendableRegistry::GetInstance().Add(this, "SpeedControllerGroup", instances);
}
} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/TimedRobot.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/TimedRobot.h
index a6da5ee..1c8ff80 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/TimedRobot.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/TimedRobot.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,6 +8,8 @@
#pragma once
#include <hal/Types.h>
+#include <units/units.h>
+#include <wpi/deprecated.h>
#include "frc/ErrorBase.h"
#include "frc/IterativeRobotBase.h"
@@ -25,7 +27,7 @@
*/
class TimedRobot : public IterativeRobotBase, public ErrorBase {
public:
- static constexpr double kDefaultPeriod = 0.02;
+ static constexpr units::second_t kDefaultPeriod = 20_ms;
/**
* Provide an alternate "main loop" via StartCompetition().
@@ -35,25 +37,33 @@
/**
* Get the time period between calls to Periodic() functions.
*/
- double GetPeriod() const;
+ units::second_t GetPeriod() const;
/**
* Constructor for TimedRobot.
*
* @param period Period in seconds.
*/
- explicit TimedRobot(double period = kDefaultPeriod);
+ WPI_DEPRECATED("Use constructor with unit-safety instead.")
+ explicit TimedRobot(double period);
+
+ /**
+ * Constructor for TimedRobot.
+ *
+ * @param period Period.
+ */
+ explicit TimedRobot(units::second_t period = kDefaultPeriod);
~TimedRobot() override;
- TimedRobot(TimedRobot&& rhs);
- TimedRobot& operator=(TimedRobot&& rhs);
+ TimedRobot(TimedRobot&&) = default;
+ TimedRobot& operator=(TimedRobot&&) = default;
private:
- HAL_NotifierHandle m_notifier{0};
+ hal::Handle<HAL_NotifierHandle> m_notifier;
// The absolute expiration time
- double m_expirationTime = 0;
+ units::second_t m_expirationTime{0};
/**
* Update the HAL alarm time.
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Timer.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Timer.h
index f665c83..99caa47 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Timer.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Timer.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,15 +7,15 @@
#pragma once
+#include <units/units.h>
#include <wpi/deprecated.h>
#include <wpi/mutex.h>
#include "frc/Base.h"
+#include "frc2/Timer.h"
namespace frc {
-using TimerInterruptHandler = void (*)(void* param);
-
/**
* Pause the task for a specified time.
*
@@ -29,16 +29,6 @@
void Wait(double seconds);
/**
- * Return the FPGA system clock time in seconds.
- *
- * This is deprecated and just forwards to Timer::GetFPGATimestamp().
- *
- * @return Robot running time in seconds.
- */
-WPI_DEPRECATED("Use Timer::GetFPGATimestamp() instead.")
-double GetClock();
-
-/**
* @brief Gives real-time clock system time with nanosecond resolution
* @return The time, just in case you want the robot to start autonomous at 8pm
* on Saturday.
@@ -66,8 +56,10 @@
virtual ~Timer() = default;
- Timer(Timer&&) = default;
- Timer& operator=(Timer&&) = default;
+ Timer(const Timer& rhs) = default;
+ Timer& operator=(const Timer& rhs) = default;
+ Timer(Timer&& rhs) = default;
+ Timer& operator=(Timer&& rhs) = default;
/**
* Get the current time from the timer. If the clock is running it is derived
@@ -144,10 +136,7 @@
static const double kRolloverTime;
private:
- double m_startTime = 0.0;
- double m_accumulatedTime = 0.0;
- bool m_running = false;
- mutable wpi::mutex m_mutex;
+ frc2::Timer m_timer;
};
} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Ultrasonic.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Ultrasonic.h
index 82ae6ca..637c6fc 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Ultrasonic.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Ultrasonic.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,10 +12,13 @@
#include <thread>
#include <vector>
+#include <hal/SimDevice.h>
+
#include "frc/Counter.h"
#include "frc/ErrorBase.h"
#include "frc/PIDSource.h"
-#include "frc/smartdashboard/SendableBase.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
@@ -34,7 +37,10 @@
* received. The time that the line is high determines the round trip distance
* (time of flight).
*/
-class Ultrasonic : public ErrorBase, public SendableBase, public PIDSource {
+class Ultrasonic : public ErrorBase,
+ public Sendable,
+ public PIDSource,
+ public SendableHelper<Ultrasonic> {
public:
enum DistanceUnit { kInches = 0, kMilliMeters = 1 };
@@ -226,6 +232,10 @@
bool m_enabled = false;
Counter m_counter;
DistanceUnit m_units;
+
+ hal::SimDevice m_simDevice;
+ hal::SimBoolean m_simRangeValid;
+ hal::SimDouble m_simRange;
};
} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Utility.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Utility.h
index 9cb7abb..3caaf84 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Utility.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Utility.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -71,57 +71,3 @@
const wpi::Twine& valueBString,
const wpi::Twine& message, wpi::StringRef fileName,
int lineNumber, wpi::StringRef funcName);
-
-namespace frc {
-
-/**
- * Return the FPGA Version number.
- *
- * For now, expect this to be competition year.
- *
- * @return FPGA Version number.
- * @deprecated Use RobotController static class method
- */
-WPI_DEPRECATED("Use RobotController static class method")
-int GetFPGAVersion();
-
-/**
- * Return the FPGA Revision number.
- *
- * The format of the revision is 3 numbers. The 12 most significant bits are the
- * Major Revision. The next 8 bits are the Minor Revision. The 12 least
- * significant bits are the Build Number.
- *
- * @return FPGA Revision number.
- * @deprecated Use RobotController static class method
- */
-WPI_DEPRECATED("Use RobotController static class method")
-int64_t GetFPGARevision();
-
-/**
- * Read the microsecond-resolution timer on the FPGA.
- *
- * @return The current time in microseconds according to the FPGA (since FPGA
- * reset).
- * @deprecated Use RobotController static class method
- */
-WPI_DEPRECATED("Use RobotController static class method")
-uint64_t GetFPGATime();
-
-/**
- * Get the state of the "USER" button on the roboRIO.
- *
- * @return True if the button is currently pressed down
- * @deprecated Use RobotController static class method
- */
-WPI_DEPRECATED("Use RobotController static class method")
-bool GetUserButton();
-
-/**
- * Get a stack trace, ignoring the first "offset" symbols.
- *
- * @param offset The number of symbols at the top of the stack to ignore
- */
-std::string GetStackTrace(int offset);
-
-} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/WPIErrors.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/WPIErrors.h
index a7c4f16..8325c92 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/WPIErrors.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/WPIErrors.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,93 +9,87 @@
#include <stdint.h>
-#ifdef WPI_ERRORS_DEFINE_STRINGS
-#define S(label, offset, message) \
- const char* wpi_error_s_##label = message; \
- constexpr int wpi_error_value_##label = offset
-#else
-#define S(label, offset, message) \
- extern const char* wpi_error_s_##label; \
- constexpr int wpi_error_value_##label = offset
-#endif
+#define S(label, offset, message) \
+ constexpr inline const char* wpi_error_s_##label() { return message; } \
+ constexpr inline int wpi_error_value_##label() { return offset; }
// Fatal errors
S(ModuleIndexOutOfRange, -1,
- "Allocating module that is out of range or not found");
-S(ChannelIndexOutOfRange, -1, "Allocating channel that is out of range");
-S(NotAllocated, -2, "Attempting to free unallocated resource");
-S(ResourceAlreadyAllocated, -3, "Attempted to reuse an allocated resource");
-S(NoAvailableResources, -4, "No available resources to allocate");
-S(NullParameter, -5, "A pointer parameter to a method is nullptr");
-S(Timeout, -6, "A timeout has been exceeded");
-S(CompassManufacturerError, -7, "Compass manufacturer doesn't match HiTechnic");
+ "Allocating module that is out of range or not found")
+S(ChannelIndexOutOfRange, -1, "Allocating channel that is out of range")
+S(NotAllocated, -2, "Attempting to free unallocated resource")
+S(ResourceAlreadyAllocated, -3, "Attempted to reuse an allocated resource")
+S(NoAvailableResources, -4, "No available resources to allocate")
+S(NullParameter, -5, "A pointer parameter to a method is nullptr")
+S(Timeout, -6, "A timeout has been exceeded")
+S(CompassManufacturerError, -7, "Compass manufacturer doesn't match HiTechnic")
S(CompassTypeError, -8,
- "Compass type doesn't match expected type for HiTechnic compass");
-S(IncompatibleMode, -9, "The object is in an incompatible mode");
+ "Compass type doesn't match expected type for HiTechnic compass")
+S(IncompatibleMode, -9, "The object is in an incompatible mode")
S(AnalogTriggerLimitOrderError, -10,
- "AnalogTrigger limits error. Lower limit > Upper Limit");
+ "AnalogTrigger limits error. Lower limit > Upper Limit")
S(AnalogTriggerPulseOutputError, -11,
- "Attempted to read AnalogTrigger pulse output.");
-S(TaskError, -12, "Task can't be started");
-S(TaskIDError, -13, "Task error: Invalid ID.");
-S(TaskDeletedError, -14, "Task error: Task already deleted.");
-S(TaskOptionsError, -15, "Task error: Invalid options.");
-S(TaskMemoryError, -16, "Task can't be started due to insufficient memory.");
-S(TaskPriorityError, -17, "Task error: Invalid priority [1-255].");
-S(DriveUninitialized, -18, "RobotDrive not initialized for the C interface");
+ "Attempted to read AnalogTrigger pulse output.")
+S(TaskError, -12, "Task can't be started")
+S(TaskIDError, -13, "Task error: Invalid ID.")
+S(TaskDeletedError, -14, "Task error: Task already deleted.")
+S(TaskOptionsError, -15, "Task error: Invalid options.")
+S(TaskMemoryError, -16, "Task can't be started due to insufficient memory.")
+S(TaskPriorityError, -17, "Task error: Invalid priority [1-255].")
+S(DriveUninitialized, -18, "RobotDrive not initialized for the C interface")
S(CompressorNonMatching, -19,
- "Compressor slot/channel doesn't match previous instance");
-S(CompressorAlreadyDefined, -20, "Creating a second compressor instance");
+ "Compressor slot/channel doesn't match previous instance")
+S(CompressorAlreadyDefined, -20, "Creating a second compressor instance")
S(CompressorUndefined, -21,
- "Using compressor functions without defining compressor");
+ "Using compressor functions without defining compressor")
S(InconsistentArrayValueAdded, -22,
"When packing data into an array to the dashboard, not all values added were "
- "of the same type.");
+ "of the same type.")
S(MismatchedComplexTypeClose, -23,
"When packing data to the dashboard, a Close for a complex type was called "
- "without a matching Open.");
+ "without a matching Open.")
S(DashboardDataOverflow, -24,
"When packing data to the dashboard, too much data was packed and the buffer "
- "overflowed.");
+ "overflowed.")
S(DashboardDataCollision, -25,
- "The same buffer was used for packing data and for printing.");
-S(EnhancedIOMissing, -26, "IO is not attached or Enhanced IO is not enabled.");
+ "The same buffer was used for packing data and for printing.")
+S(EnhancedIOMissing, -26, "IO is not attached or Enhanced IO is not enabled.")
S(LineNotOutput, -27,
- "Cannot SetDigitalOutput for a line not configured for output.");
-S(ParameterOutOfRange, -28, "A parameter is out of range.");
-S(SPIClockRateTooLow, -29, "SPI clock rate was below the minimum supported");
-S(JaguarVersionError, -30, "Jaguar firmware version error");
-S(JaguarMessageNotFound, -31, "Jaguar message not found");
-S(NetworkTablesReadError, -40, "Error reading NetworkTables socket");
-S(NetworkTablesBufferFull, -41, "Buffer full writing to NetworkTables socket");
+ "Cannot SetDigitalOutput for a line not configured for output.")
+S(ParameterOutOfRange, -28, "A parameter is out of range.")
+S(SPIClockRateTooLow, -29, "SPI clock rate was below the minimum supported")
+S(JaguarVersionError, -30, "Jaguar firmware version error")
+S(JaguarMessageNotFound, -31, "Jaguar message not found")
+S(NetworkTablesReadError, -40, "Error reading NetworkTables socket")
+S(NetworkTablesBufferFull, -41, "Buffer full writing to NetworkTables socket")
S(NetworkTablesWrongType, -42,
- "The wrong type was read from the NetworkTables entry");
-S(NetworkTablesCorrupt, -43, "NetworkTables data stream is corrupt");
-S(SmartDashboardMissingKey, -43, "SmartDashboard data does not exist");
-S(CommandIllegalUse, -50, "Illegal use of Command");
-S(UnsupportedInSimulation, -80, "Unsupported in simulation");
-S(CameraServerError, -90, "CameraServer error");
-S(InvalidParameter, -100, "Invalid parameter value");
+ "The wrong type was read from the NetworkTables entry")
+S(NetworkTablesCorrupt, -43, "NetworkTables data stream is corrupt")
+S(SmartDashboardMissingKey, -43, "SmartDashboard data does not exist")
+S(CommandIllegalUse, -50, "Illegal use of Command")
+S(UnsupportedInSimulation, -80, "Unsupported in simulation")
+S(CameraServerError, -90, "CameraServer error")
+S(InvalidParameter, -100, "Invalid parameter value")
// Warnings
-S(SampleRateTooHigh, 1, "Analog module sample rate is too high");
+S(SampleRateTooHigh, 1, "Analog module sample rate is too high")
S(VoltageOutOfRange, 2,
- "Voltage to convert to raw value is out of range [-10; 10]");
-S(CompressorTaskError, 3, "Compressor task won't start");
-S(LoopTimingError, 4, "Digital module loop timing is not the expected value");
-S(NonBinaryDigitalValue, 5, "Digital output value is not 0 or 1");
+ "Voltage to convert to raw value is out of range [-10; 10]")
+S(CompressorTaskError, 3, "Compressor task won't start")
+S(LoopTimingError, 4, "Digital module loop timing is not the expected value")
+S(NonBinaryDigitalValue, 5, "Digital output value is not 0 or 1")
S(IncorrectBatteryChannel, 6,
- "Battery measurement channel is not correct value");
-S(BadJoystickIndex, 7, "Joystick index is out of range, should be 0-3");
-S(BadJoystickAxis, 8, "Joystick axis or POV is out of range");
-S(InvalidMotorIndex, 9, "Motor index is out of range, should be 0-3");
-S(DriverStationTaskError, 10, "Driver Station task won't start");
+ "Battery measurement channel is not correct value")
+S(BadJoystickIndex, 7, "Joystick index is out of range, should be 0-3")
+S(BadJoystickAxis, 8, "Joystick axis or POV is out of range")
+S(InvalidMotorIndex, 9, "Motor index is out of range, should be 0-3")
+S(DriverStationTaskError, 10, "Driver Station task won't start")
S(EnhancedIOPWMPeriodOutOfRange, 11,
- "Driver Station Enhanced IO PWM Output period out of range.");
-S(SPIWriteNoMOSI, 12, "Cannot write to SPI port with no MOSI output");
-S(SPIReadNoMISO, 13, "Cannot read from SPI port with no MISO input");
-S(SPIReadNoData, 14, "No data available to read from SPI");
+ "Driver Station Enhanced IO PWM Output period out of range.")
+S(SPIWriteNoMOSI, 12, "Cannot write to SPI port with no MOSI output")
+S(SPIReadNoMISO, 13, "Cannot read from SPI port with no MISO input")
+S(SPIReadNoData, 14, "No data available to read from SPI")
S(IncompatibleState, 15,
- "Incompatible State: The operation cannot be completed");
+ "Incompatible State: The operation cannot be completed")
#undef S
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/WPILib.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/WPILib.h
index 27c7b69..69fa061 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/WPILib.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/WPILib.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,6 +7,15 @@
#pragma once
+// clang-format off
+#ifdef _MSC_VER
+#pragma message "warning: Including this header drastically increases compilation times and is bad style. Include only what you use instead."
+#else
+#warning "Including this header drastically increases compilation times and is bad style. Include only what you use instead."
+#endif
+
+// clang-format on
+
#include <cameraserver/CameraServer.h>
#include <vision/VisionRunner.h>
@@ -23,7 +32,6 @@
#include "frc/AnalogTriggerOutput.h"
#include "frc/BuiltInAccelerometer.h"
#include "frc/Compressor.h"
-#include "frc/ControllerPower.h"
#include "frc/Counter.h"
#include "frc/DMC60.h"
#include "frc/DigitalInput.h"
@@ -57,7 +65,6 @@
#include "frc/RobotDrive.h"
#include "frc/SD540.h"
#include "frc/SPI.h"
-#include "frc/SampleRobot.h"
#include "frc/SensorUtil.h"
#include "frc/SerialPort.h"
#include "frc/Servo.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Watchdog.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Watchdog.h
index e15da1f..b36cf23 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Watchdog.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/Watchdog.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,9 +12,11 @@
#include <utility>
#include <hal/cpp/fpga_clock.h>
+#include <units/units.h>
#include <wpi/SafeThread.h>
#include <wpi/StringMap.h>
#include <wpi/StringRef.h>
+#include <wpi/deprecated.h>
namespace frc {
@@ -36,10 +38,25 @@
* resolution.
* @param callback This function is called when the timeout expires.
*/
+ WPI_DEPRECATED("Use unit-safe version instead")
Watchdog(double timeout, std::function<void()> callback);
+ /**
+ * Watchdog constructor.
+ *
+ * @param timeout The watchdog's timeout in seconds with microsecond
+ * resolution.
+ * @param callback This function is called when the timeout expires.
+ */
+ Watchdog(units::second_t timeout, std::function<void()> callback);
+
template <typename Callable, typename Arg, typename... Args>
+ WPI_DEPRECATED("Use unit-safe version instead")
Watchdog(double timeout, Callable&& f, Arg&& arg, Args&&... args)
+ : Watchdog(units::second_t{timeout}, arg, args...) {}
+
+ template <typename Callable, typename Arg, typename... Args>
+ Watchdog(units::second_t timeout, Callable&& f, Arg&& arg, Args&&... args)
: Watchdog(timeout,
std::bind(std::forward<Callable>(f), std::forward<Arg>(arg),
std::forward<Args>(args)...)) {}
@@ -60,9 +77,18 @@
* @param timeout The watchdog's timeout in seconds with microsecond
* resolution.
*/
+ WPI_DEPRECATED("Use unit-safe version instead")
void SetTimeout(double timeout);
/**
+ * Sets the watchdog's timeout.
+ *
+ * @param timeout The watchdog's timeout in seconds with microsecond
+ * resolution.
+ */
+ void SetTimeout(units::second_t timeout);
+
+ /**
* Returns the watchdog's timeout in seconds.
*/
double GetTimeout() const;
@@ -119,13 +145,13 @@
static constexpr std::chrono::milliseconds kMinPrintPeriod{1000};
hal::fpga_clock::time_point m_startTime;
- std::chrono::microseconds m_timeout;
+ std::chrono::nanoseconds m_timeout;
hal::fpga_clock::time_point m_expirationTime;
std::function<void()> m_callback;
hal::fpga_clock::time_point m_lastTimeoutPrintTime = hal::fpga_clock::epoch();
hal::fpga_clock::time_point m_lastEpochsPrintTime = hal::fpga_clock::epoch();
- wpi::StringMap<std::chrono::microseconds> m_epochs;
+ wpi::StringMap<std::chrono::nanoseconds> m_epochs;
bool m_isExpired = false;
bool m_suppressTimeoutMessage = false;
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/XboxController.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/XboxController.h
index 8aa2d5b..3ca2f4b 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/XboxController.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/XboxController.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -232,7 +232,6 @@
*/
bool GetStartButtonReleased();
- private:
enum class Button {
kBumperLeft = 5,
kBumperRight = 6,
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/buttons/Trigger.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/buttons/Trigger.h
index 8f8c477..56700e9 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/buttons/Trigger.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/buttons/Trigger.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,7 +9,8 @@
#include <atomic>
-#include "frc/smartdashboard/SendableBase.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
@@ -28,13 +29,15 @@
* only have to write the {@link Trigger#Get()} method to get the full
* functionality of the Trigger class.
*/
-class Trigger : public SendableBase {
+class Trigger : public Sendable, public SendableHelper<Trigger> {
public:
Trigger() = default;
~Trigger() override = default;
- Trigger(Trigger&&) = default;
- Trigger& operator=(Trigger&&) = default;
+ Trigger(const Trigger& rhs);
+ Trigger& operator=(const Trigger& rhs);
+ Trigger(Trigger&& rhs);
+ Trigger& operator=(Trigger&& rhs);
bool Grab();
virtual bool Get() = 0;
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/circular_buffer.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/circular_buffer.h
deleted file mode 100644
index b5ebd16..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/circular_buffer.h
+++ /dev/null
@@ -1,62 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include <cstddef>
-#include <vector>
-
-namespace frc {
-
-/**
- * This is a simple circular buffer so we don't need to "bucket brigade" copy
- * old values.
- */
-template <class T>
-class circular_buffer {
- public:
- explicit circular_buffer(size_t size);
-
- using value_type = T;
- using reference = value_type&;
- using const_reference = const value_type&;
- using pointer = value_type*;
- using size_type = size_t;
- using iterator_category = std::forward_iterator_tag;
- using difference_type = std::ptrdiff_t;
-
- size_type size() const;
- T& front();
- const T& front() const;
- T& back();
- const T& back() const;
- void push_front(T value);
- void push_back(T value);
- T pop_front();
- T pop_back();
- void resize(size_t size);
- void reset();
-
- T& operator[](size_t index);
- const T& operator[](size_t index) const;
-
- private:
- std::vector<T> m_data;
-
- // Index of element at front of buffer
- size_t m_front = 0;
-
- // Number of elements used in buffer
- size_t m_length = 0;
-
- size_t ModuloInc(size_t index);
- size_t ModuloDec(size_t index);
-};
-
-} // namespace frc
-
-#include "frc/circular_buffer.inc"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/circular_buffer.inc b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/circular_buffer.inc
deleted file mode 100644
index 4af5040..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/circular_buffer.inc
+++ /dev/null
@@ -1,239 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include <algorithm>
-
-namespace frc {
-
-template <class T>
-circular_buffer<T>::circular_buffer(size_t size) : m_data(size, 0) {}
-
-/**
- * Returns number of elements in buffer
- */
-template <class T>
-typename circular_buffer<T>::size_type circular_buffer<T>::size() const {
- return m_length;
-}
-
-/**
- * Returns value at front of buffer
- */
-template <class T>
-T& circular_buffer<T>::front() {
- return (*this)[0];
-}
-
-/**
- * Returns value at front of buffer
- */
-template <class T>
-const T& circular_buffer<T>::front() const {
- return (*this)[0];
-}
-
-/**
- * Returns value at back of buffer
- */
-template <class T>
-T& circular_buffer<T>::back() {
- // If there are no elements in the buffer, do nothing
- if (m_length == 0) {
- return 0;
- }
-
- return m_data[(m_front + m_length - 1) % m_data.size()];
-}
-
-/**
- * Returns value at back of buffer
- */
-template <class T>
-const T& circular_buffer<T>::back() const {
- // If there are no elements in the buffer, do nothing
- if (m_length == 0) {
- return 0;
- }
-
- return m_data[(m_front + m_length - 1) % m_data.size()];
-}
-
-/**
- * Push new value onto front of the buffer. The value at the back is overwritten
- * if the buffer is full.
- */
-template <class T>
-void circular_buffer<T>::push_front(T value) {
- if (m_data.size() == 0) {
- return;
- }
-
- m_front = ModuloDec(m_front);
-
- m_data[m_front] = value;
-
- if (m_length < m_data.size()) {
- m_length++;
- }
-}
-
-/**
- * Push new value onto back of the buffer. The value at the front is overwritten
- * if the buffer is full.
- */
-template <class T>
-void circular_buffer<T>::push_back(T value) {
- if (m_data.size() == 0) {
- return;
- }
-
- m_data[(m_front + m_length) % m_data.size()] = value;
-
- if (m_length < m_data.size()) {
- m_length++;
- } else {
- // Increment front if buffer is full to maintain size
- m_front = ModuloInc(m_front);
- }
-}
-
-/**
- * Pop value at front of buffer.
- */
-template <class T>
-T circular_buffer<T>::pop_front() {
- // If there are no elements in the buffer, do nothing
- if (m_length == 0) {
- return 0;
- }
-
- T& temp = m_data[m_front];
- m_front = ModuloInc(m_front);
- m_length--;
- return temp;
-}
-
-/**
- * Pop value at back of buffer.
- */
-template <class T>
-T circular_buffer<T>::pop_back() {
- // If there are no elements in the buffer, do nothing
- if (m_length == 0) {
- return 0;
- }
-
- m_length--;
- return m_data[(m_front + m_length) % m_data.size()];
-}
-
-/**
- * Resizes internal buffer to given size.
- */
-template <class T>
-void circular_buffer<T>::resize(size_t size) {
- if (size > m_data.size()) {
- // Find end of buffer
- size_t insertLocation = (m_front + m_length) % m_data.size();
-
- // If insertion location precedes front of buffer, push front index back
- if (insertLocation <= m_front) {
- m_front += size - m_data.size();
- }
-
- // Add elements to end of buffer
- m_data.insert(m_data.begin() + insertLocation, size - m_data.size(), 0);
- } else if (size < m_data.size()) {
- /* 1) Shift element block start at "front" left as many blocks as were
- * removed up to but not exceeding buffer[0]
- * 2) Shrink buffer, which will remove even more elements automatically if
- * necessary
- */
- size_t elemsToRemove = m_data.size() - size;
- auto frontIter = m_data.begin() + m_front;
- if (m_front < elemsToRemove) {
- /* Remove elements from end of buffer before shifting start of element
- * block. Doing so saves a few copies.
- */
- m_data.erase(frontIter + size, m_data.end());
-
- // Shift start of element block to left
- m_data.erase(m_data.begin(), frontIter);
-
- // Update metadata
- m_front = 0;
- } else {
- // Shift start of element block to left
- m_data.erase(frontIter - elemsToRemove, frontIter);
-
- // Update metadata
- m_front -= elemsToRemove;
- }
-
- /* Length only changes during a shrink if all unused spaces have been
- * removed. Length decreases as used spaces are removed to meet the
- * required size.
- */
- if (m_length > size) {
- m_length = size;
- }
- }
-}
-
-/**
- * Sets internal buffer contents to zero.
- */
-template <class T>
-void circular_buffer<T>::reset() {
- std::fill(m_data.begin(), m_data.end(), 0);
- m_front = 0;
- m_length = 0;
-}
-
-/**
- * @return Element at index starting from front of buffer.
- */
-template <class T>
-T& circular_buffer<T>::operator[](size_t index) {
- return m_data[(m_front + index) % m_data.size()];
-}
-
-/**
- * @return Element at index starting from front of buffer.
- */
-template <class T>
-const T& circular_buffer<T>::operator[](size_t index) const {
- return m_data[(m_front + index) % m_data.size()];
-}
-
-/**
- * Increment an index modulo the length of the buffer.
- *
- * @return The result of the modulo operation.
- */
-template <class T>
-size_t circular_buffer<T>::ModuloInc(size_t index) {
- return (index + 1) % m_data.size();
-}
-
-/**
- * Decrement an index modulo the length of the buffer.
- *
- * @return The result of the modulo operation.
- */
-template <class T>
-size_t circular_buffer<T>::ModuloDec(size_t index) {
- if (index == 0) {
- return m_data.size() - 1;
- } else {
- return index - 1;
- }
-}
-
-} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/commands/Command.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/commands/Command.h
index f1990c7..d40bb00 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/commands/Command.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/commands/Command.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -15,7 +15,8 @@
#include "frc/ErrorBase.h"
#include "frc/commands/Subsystem.h"
-#include "frc/smartdashboard/SendableBase.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
@@ -45,7 +46,9 @@
* @see CommandGroup
* @see Subsystem
*/
-class Command : public ErrorBase, public SendableBase {
+class Command : public ErrorBase,
+ public Sendable,
+ public SendableHelper<Command> {
friend class CommandGroup;
friend class Scheduler;
@@ -385,6 +388,34 @@
friend class ConditionalCommand;
+ /**
+ * Gets the name of this Command.
+ *
+ * @return Name
+ */
+ std::string GetName() const;
+
+ /**
+ * Sets the name of this Command.
+ *
+ * @param name name
+ */
+ void SetName(const wpi::Twine& name);
+
+ /**
+ * Gets the subsystem name of this Command.
+ *
+ * @return Subsystem name
+ */
+ std::string GetSubsystem() const;
+
+ /**
+ * Sets the subsystem name of this Command.
+ *
+ * @param subsystem subsystem name
+ */
+ void SetSubsystem(const wpi::Twine& subsystem);
+
private:
/**
* Prevents further changes from being made.
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/commands/ConditionalCommand.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/commands/ConditionalCommand.h
index 142c5b0..f5cd738 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/commands/ConditionalCommand.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/commands/ConditionalCommand.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -26,7 +26,7 @@
* If no Command is specified for onFalse, the occurrence of that condition
* will be a no-op.
*
- * A CondtionalCommand will require the superset of subsystems of the onTrue
+ * A ConditionalCommand will require the superset of subsystems of the onTrue
* and onFalse commands.
*
* @see Command
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/commands/Scheduler.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/commands/Scheduler.h
index c5c97ba..d15ea39 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/commands/Scheduler.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/commands/Scheduler.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,7 +10,8 @@
#include <memory>
#include "frc/ErrorBase.h"
-#include "frc/smartdashboard/SendableBase.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
@@ -18,7 +19,9 @@
class Command;
class Subsystem;
-class Scheduler : public ErrorBase, public SendableBase {
+class Scheduler : public ErrorBase,
+ public Sendable,
+ public SendableHelper<Scheduler> {
public:
/**
* Returns the Scheduler, creating it if one does not exist.
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/commands/Subsystem.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/commands/Subsystem.h
index bb6d166..2637dd0 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/commands/Subsystem.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/commands/Subsystem.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,19 +8,22 @@
#pragma once
#include <memory>
+#include <string>
#include <wpi/StringRef.h>
#include <wpi/Twine.h>
#include "frc/ErrorBase.h"
#include "frc/smartdashboard/Sendable.h"
-#include "frc/smartdashboard/SendableBase.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
class Command;
-class Subsystem : public ErrorBase, public SendableBase {
+class Subsystem : public ErrorBase,
+ public Sendable,
+ public SendableHelper<Subsystem> {
friend class Scheduler;
public:
@@ -98,6 +101,34 @@
virtual void InitDefaultCommand();
/**
+ * Gets the name of this Subsystem.
+ *
+ * @return Name
+ */
+ std::string GetName() const;
+
+ /**
+ * Sets the name of this Subsystem.
+ *
+ * @param name name
+ */
+ void SetName(const wpi::Twine& name);
+
+ /**
+ * Gets the subsystem name of this Subsystem.
+ *
+ * @return Subsystem name
+ */
+ std::string GetSubsystem() const;
+
+ /**
+ * Sets the subsystem name of this Subsystem.
+ *
+ * @param subsystem subsystem name
+ */
+ void SetSubsystem(const wpi::Twine& subsystem);
+
+ /**
* Associate a Sendable with this Subsystem.
* Also update the child's name.
*
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/controller/PIDController.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/controller/PIDController.h
new file mode 100644
index 0000000..66a36fb
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/controller/PIDController.h
@@ -0,0 +1,261 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <functional>
+#include <limits>
+
+#include <units/units.h>
+
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
+
+namespace frc2 {
+
+/**
+ * Implements a PID control loop.
+ */
+class PIDController : public frc::Sendable,
+ public frc::SendableHelper<PIDController> {
+ public:
+ /**
+ * Allocates a PIDController with the given constants for Kp, Ki, and Kd.
+ *
+ * @param Kp The proportional coefficient.
+ * @param Ki The integral coefficient.
+ * @param Kd The derivative coefficient.
+ * @param period The period between controller updates in seconds. The
+ * default is 20 milliseconds.
+ */
+ PIDController(double Kp, double Ki, double Kd,
+ units::second_t period = 20_ms);
+
+ ~PIDController() override = default;
+
+ PIDController(const PIDController&) = default;
+ PIDController& operator=(const PIDController&) = default;
+ PIDController(PIDController&&) = default;
+ PIDController& operator=(PIDController&&) = default;
+
+ /**
+ * Sets the PID Controller gain parameters.
+ *
+ * Sets the proportional, integral, and differential coefficients.
+ *
+ * @param Kp Proportional coefficient
+ * @param Ki Integral coefficient
+ * @param Kd Differential coefficient
+ */
+ void SetPID(double Kp, double Ki, double Kd);
+
+ /**
+ * Sets the proportional coefficient of the PID controller gain.
+ *
+ * @param Kp proportional coefficient
+ */
+ void SetP(double Kp);
+
+ /**
+ * Sets the integral coefficient of the PID controller gain.
+ *
+ * @param Ki integral coefficient
+ */
+ void SetI(double Ki);
+
+ /**
+ * Sets the differential coefficient of the PID controller gain.
+ *
+ * @param Kd differential coefficient
+ */
+ void SetD(double Kd);
+
+ /**
+ * Gets the proportional coefficient.
+ *
+ * @return proportional coefficient
+ */
+ double GetP() const;
+
+ /**
+ * Gets the integral coefficient.
+ *
+ * @return integral coefficient
+ */
+ double GetI() const;
+
+ /**
+ * Gets the differential coefficient.
+ *
+ * @return differential coefficient
+ */
+ double GetD() const;
+
+ /**
+ * Gets the period of this controller.
+ *
+ * @return The period of the controller.
+ */
+ units::second_t GetPeriod() const;
+
+ /**
+ * Sets the setpoint for the PIDController.
+ *
+ * @param setpoint The desired setpoint.
+ */
+ void SetSetpoint(double setpoint);
+
+ /**
+ * Returns the current setpoint of the PIDController.
+ *
+ * @return The current setpoint.
+ */
+ double GetSetpoint() const;
+
+ /**
+ * Returns true if the error is within the tolerance of the error.
+ *
+ * This will return false until at least one input value has been computed.
+ */
+ bool AtSetpoint() const;
+
+ /**
+ * Enables continuous input.
+ *
+ * Rather then using the max and min input range as constraints, it considers
+ * them to be the same point and automatically calculates the shortest route
+ * to the setpoint.
+ *
+ * @param minimumInput The minimum value expected from the input.
+ * @param maximumInput The maximum value expected from the input.
+ */
+ void EnableContinuousInput(double minimumInput, double maximumInput);
+
+ /**
+ * Disables continuous input.
+ */
+ void DisableContinuousInput();
+
+ /**
+ * Sets the minimum and maximum values for the integrator.
+ *
+ * When the cap is reached, the integrator value is added to the controller
+ * output rather than the integrator value times the integral gain.
+ *
+ * @param minimumIntegral The minimum value of the integrator.
+ * @param maximumIntegral The maximum value of the integrator.
+ */
+ void SetIntegratorRange(double minimumIntegral, double maximumIntegral);
+
+ /**
+ * Sets the error which is considered tolerable for use with AtSetpoint().
+ *
+ * @param positionTolerance Position error which is tolerable.
+ * @param velociytTolerance Velocity error which is tolerable.
+ */
+ void SetTolerance(
+ double positionTolerance,
+ double velocityTolerance = std::numeric_limits<double>::infinity());
+
+ /**
+ * Returns the difference between the setpoint and the measurement.
+ */
+ double GetPositionError() const;
+
+ /**
+ * Returns the velocity error.
+ */
+ double GetVelocityError() const;
+
+ /**
+ * Returns the next output of the PID controller.
+ *
+ * @param measurement The current measurement of the process variable.
+ */
+ double Calculate(double measurement);
+
+ /**
+ * Returns the next output of the PID controller.
+ *
+ * @param measurement The current measurement of the process variable.
+ * @param setpoint The new setpoint of the controller.
+ */
+ double Calculate(double measurement, double setpoint);
+
+ /**
+ * Reset the previous error, the integral term, and disable the controller.
+ */
+ void Reset();
+
+ void InitSendable(frc::SendableBuilder& builder) override;
+
+ protected:
+ /**
+ * Wraps error around for continuous inputs. The original error is returned if
+ * continuous mode is disabled.
+ *
+ * @param error The current error of the PID controller.
+ * @return Error for continuous inputs.
+ */
+ double GetContinuousError(double error) const;
+
+ private:
+ // Factor for "proportional" control
+ double m_Kp;
+
+ // Factor for "integral" control
+ double m_Ki;
+
+ // Factor for "derivative" control
+ double m_Kd;
+
+ // The period (in seconds) of the control loop running this controller
+ units::second_t m_period;
+
+ double m_maximumIntegral = 1.0;
+
+ double m_minimumIntegral = -1.0;
+
+ // Maximum input - limit setpoint to this
+ double m_maximumInput = 0;
+
+ // Minimum input - limit setpoint to this
+ double m_minimumInput = 0;
+
+ // Input range - difference between maximum and minimum
+ double m_inputRange = 0;
+
+ // Do the endpoints wrap around? eg. Absolute encoder
+ bool m_continuous = false;
+
+ // The error at the time of the most recent call to Calculate()
+ double m_positionError = 0;
+ double m_velocityError = 0;
+
+ // The error at the time of the second-most-recent call to Calculate() (used
+ // to compute velocity)
+ double m_prevError = 0;
+
+ // The sum of the errors for use in the integral calc
+ double m_totalError = 0;
+
+ // The error that is considered at setpoint.
+ double m_positionTolerance = 0.05;
+ double m_velocityTolerance = std::numeric_limits<double>::infinity();
+
+ double m_setpoint = 0;
+
+ /**
+ * Sets the minimum and maximum values expected from the input.
+ *
+ * @param minimumInput The minimum value expected from the input.
+ * @param maximumInput The maximum value expected from the input.
+ */
+ void SetInputRange(double minimumInput, double maximumInput);
+};
+
+} // namespace frc2
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/controller/ProfiledPIDController.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/controller/ProfiledPIDController.h
new file mode 100644
index 0000000..64da9eb
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/controller/ProfiledPIDController.h
@@ -0,0 +1,260 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <functional>
+#include <limits>
+
+#include <units/units.h>
+
+#include "frc/controller/PIDController.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
+#include "frc/trajectory/TrapezoidProfile.h"
+
+namespace frc {
+
+/**
+ * Implements a PID control loop whose setpoint is constrained by a trapezoid
+ * profile.
+ */
+class ProfiledPIDController : public Sendable,
+ public SendableHelper<ProfiledPIDController> {
+ public:
+ /**
+ * Allocates a ProfiledPIDController with the given constants for Kp, Ki, and
+ * Kd.
+ *
+ * @param Kp The proportional coefficient.
+ * @param Ki The integral coefficient.
+ * @param Kd The derivative coefficient.
+ * @param constraints Velocity and acceleration constraints for goal.
+ * @param period The period between controller updates in seconds. The
+ * default is 20 milliseconds.
+ */
+ ProfiledPIDController(double Kp, double Ki, double Kd,
+ frc::TrapezoidProfile::Constraints constraints,
+ units::second_t period = 20_ms);
+
+ ~ProfiledPIDController() override = default;
+
+ ProfiledPIDController(const ProfiledPIDController&) = default;
+ ProfiledPIDController& operator=(const ProfiledPIDController&) = default;
+ ProfiledPIDController(ProfiledPIDController&&) = default;
+ ProfiledPIDController& operator=(ProfiledPIDController&&) = default;
+
+ /**
+ * Sets the PID Controller gain parameters.
+ *
+ * Sets the proportional, integral, and differential coefficients.
+ *
+ * @param Kp Proportional coefficient
+ * @param Ki Integral coefficient
+ * @param Kd Differential coefficient
+ */
+ void SetPID(double Kp, double Ki, double Kd);
+
+ /**
+ * Sets the proportional coefficient of the PID controller gain.
+ *
+ * @param Kp proportional coefficient
+ */
+ void SetP(double Kp);
+
+ /**
+ * Sets the integral coefficient of the PID controller gain.
+ *
+ * @param Ki integral coefficient
+ */
+ void SetI(double Ki);
+
+ /**
+ * Sets the differential coefficient of the PID controller gain.
+ *
+ * @param Kd differential coefficient
+ */
+ void SetD(double Kd);
+
+ /**
+ * Gets the proportional coefficient.
+ *
+ * @return proportional coefficient
+ */
+ double GetP() const;
+
+ /**
+ * Gets the integral coefficient.
+ *
+ * @return integral coefficient
+ */
+ double GetI() const;
+
+ /**
+ * Gets the differential coefficient.
+ *
+ * @return differential coefficient
+ */
+ double GetD() const;
+
+ /**
+ * Gets the period of this controller.
+ *
+ * @return The period of the controller.
+ */
+ units::second_t GetPeriod() const;
+
+ /**
+ * Sets the goal for the ProfiledPIDController.
+ *
+ * @param goal The desired unprofiled setpoint.
+ */
+ void SetGoal(TrapezoidProfile::State goal);
+
+ /**
+ * Sets the goal for the ProfiledPIDController.
+ *
+ * @param goal The desired unprofiled setpoint.
+ */
+ void SetGoal(units::meter_t goal);
+
+ /**
+ * Gets the goal for the ProfiledPIDController.
+ */
+ TrapezoidProfile::State GetGoal() const;
+
+ /**
+ * Returns true if the error is within the tolerance of the error.
+ *
+ * This will return false until at least one input value has been computed.
+ */
+ bool AtGoal() const;
+
+ /**
+ * Set velocity and acceleration constraints for goal.
+ *
+ * @param constraints Velocity and acceleration constraints for goal.
+ */
+ void SetConstraints(frc::TrapezoidProfile::Constraints constraints);
+
+ /**
+ * Returns the current setpoint of the ProfiledPIDController.
+ *
+ * @return The current setpoint.
+ */
+ TrapezoidProfile::State GetSetpoint() const;
+
+ /**
+ * Returns true if the error is within the tolerance of the error.
+ *
+ * Currently this just reports on target as the actual value passes through
+ * the setpoint. Ideally it should be based on being within the tolerance for
+ * some period of time.
+ *
+ * This will return false until at least one input value has been computed.
+ */
+ bool AtSetpoint() const;
+
+ /**
+ * Enables continuous input.
+ *
+ * Rather then using the max and min input range as constraints, it considers
+ * them to be the same point and automatically calculates the shortest route
+ * to the setpoint.
+ *
+ * @param minimumInput The minimum value expected from the input.
+ * @param maximumInput The maximum value expected from the input.
+ */
+ void EnableContinuousInput(double minimumInput, double maximumInput);
+
+ /**
+ * Disables continuous input.
+ */
+ void DisableContinuousInput();
+
+ /**
+ * Sets the minimum and maximum values for the integrator.
+ *
+ * When the cap is reached, the integrator value is added to the controller
+ * output rather than the integrator value times the integral gain.
+ *
+ * @param minimumIntegral The minimum value of the integrator.
+ * @param maximumIntegral The maximum value of the integrator.
+ */
+ void SetIntegratorRange(double minimumIntegral, double maximumIntegral);
+
+ /**
+ * Sets the error which is considered tolerable for use with
+ * AtSetpoint().
+ *
+ * @param positionTolerance Position error which is tolerable.
+ * @param velocityTolerance Velocity error which is tolerable.
+ */
+ void SetTolerance(
+ double positionTolerance,
+ double velocityTolerance = std::numeric_limits<double>::infinity());
+
+ /**
+ * Returns the difference between the setpoint and the measurement.
+ *
+ * @return The error.
+ */
+ double GetPositionError() const;
+
+ /**
+ * Returns the change in error per second.
+ */
+ double GetVelocityError() const;
+
+ /**
+ * Returns the next output of the PID controller.
+ *
+ * @param measurement The current measurement of the process variable.
+ */
+ double Calculate(units::meter_t measurement);
+
+ /**
+ * Returns the next output of the PID controller.
+ *
+ * @param measurement The current measurement of the process variable.
+ * @param goal The new goal of the controller.
+ */
+ double Calculate(units::meter_t measurement, TrapezoidProfile::State goal);
+
+ /**
+ * Returns the next output of the PID controller.
+ *
+ * @param measurement The current measurement of the process variable.
+ * @param goal The new goal of the controller.
+ */
+ double Calculate(units::meter_t measurement, units::meter_t goal);
+
+ /**
+ * Returns the next output of the PID controller.
+ *
+ * @param measurement The current measurement of the process variable.
+ * @param goal The new goal of the controller.
+ * @param constraints Velocity and acceleration constraints for goal.
+ */
+ double Calculate(units::meter_t measurement, units::meter_t goal,
+ frc::TrapezoidProfile::Constraints constraints);
+
+ /**
+ * Reset the previous error, the integral term, and disable the controller.
+ */
+ void Reset();
+
+ void InitSendable(frc::SendableBuilder& builder) override;
+
+ private:
+ frc2::PIDController m_controller;
+ frc::TrapezoidProfile::State m_goal;
+ frc::TrapezoidProfile::State m_setpoint;
+ frc::TrapezoidProfile::Constraints m_constraints;
+};
+
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/controller/RamseteController.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/controller/RamseteController.h
new file mode 100644
index 0000000..3a564aa
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/controller/RamseteController.h
@@ -0,0 +1,106 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <units/units.h>
+
+#include "frc/geometry/Pose2d.h"
+#include "frc/kinematics/ChassisSpeeds.h"
+#include "frc/trajectory/Trajectory.h"
+
+namespace frc {
+
+/**
+ * Ramsete is a nonlinear time-varying feedback controller for unicycle models
+ * that drives the model to a desired pose along a two-dimensional trajectory.
+ * Why would we need a nonlinear control law in addition to the linear ones we
+ * have used so far like PID? If we use the original approach with PID
+ * controllers for left and right position and velocity states, the controllers
+ * only deal with the local pose. If the robot deviates from the path, there is
+ * no way for the controllers to correct and the robot may not reach the desired
+ * global pose. This is due to multiple endpoints existing for the robot which
+ * have the same encoder path arc lengths.
+ *
+ * Instead of using wheel path arc lengths (which are in the robot's local
+ * coordinate frame), nonlinear controllers like pure pursuit and Ramsete use
+ * global pose. The controller uses this extra information to guide a linear
+ * reference tracker like the PID controllers back in by adjusting the
+ * references of the PID controllers.
+ *
+ * The paper "Control of Wheeled Mobile Robots: An Experimental Overview"
+ * describes a nonlinear controller for a wheeled vehicle with unicycle-like
+ * kinematics; a global pose consisting of x, y, and theta; and a desired pose
+ * consisting of x_d, y_d, and theta_d. We call it Ramsete because that's the
+ * acronym for the title of the book it came from in Italian ("Robotica
+ * Articolata e Mobile per i SErvizi e le TEcnologie").
+ *
+ * See <https://file.tavsys.net/control/controls-engineering-in-frc.pdf> section
+ * on Ramsete unicycle controller for a derivation and analysis.
+ */
+class RamseteController {
+ public:
+ /**
+ * Construct a Ramsete unicycle controller.
+ *
+ * @param b Tuning parameter (b > 0) for which larger values make
+ * convergence more aggressive like a proportional term.
+ * @param zeta Tuning parameter (0 < zeta < 1) for which larger values provide
+ * more damping in response.
+ */
+ RamseteController(double b, double zeta);
+
+ /**
+ * Returns true if the pose error is within tolerance of the reference.
+ */
+ bool AtReference() const;
+
+ /**
+ * Sets the pose error which is considered tolerable for use with
+ * AtReference().
+ *
+ * @param poseTolerance Pose error which is tolerable.
+ */
+ void SetTolerance(const Pose2d& poseTolerance);
+
+ /**
+ * Returns the next output of the Ramsete controller.
+ *
+ * The reference pose, linear velocity, and angular velocity should come from
+ * a drivetrain trajectory.
+ *
+ * @param currentPose The current pose.
+ * @param poseRef The desired pose.
+ * @param linearVelocityRef The desired linear velocity.
+ * @param angularVelocityRef The desired angular velocity.
+ */
+ ChassisSpeeds Calculate(const Pose2d& currentPose, const Pose2d& poseRef,
+ units::meters_per_second_t linearVelocityRef,
+ units::radians_per_second_t angularVelocityRef);
+
+ /**
+ * Returns the next output of the Ramsete controller.
+ *
+ * The reference pose, linear velocity, and angular velocity should come from
+ * a drivetrain trajectory.
+ *
+ * @param currentPose The current pose.
+ * @param desiredState The desired pose, linear velocity, and angular velocity
+ * from a trajectory.
+ */
+ ChassisSpeeds Calculate(const Pose2d& currentPose,
+ const Trajectory::State& desiredState);
+
+ private:
+ double m_b;
+ double m_zeta;
+
+ Pose2d m_poseError;
+ Pose2d m_poseTolerance;
+};
+
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h
index 1120659..192d21b 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,6 +10,8 @@
#include <wpi/raw_ostream.h>
#include "frc/drive/RobotDriveBase.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
@@ -96,7 +98,9 @@
* RobotDrive#Drive(double, double) with the addition of a quick turn
* mode. However, it is not designed to give exactly the same response.
*/
-class DifferentialDrive : public RobotDriveBase {
+class DifferentialDrive : public RobotDriveBase,
+ public Sendable,
+ public SendableHelper<DifferentialDrive> {
public:
static constexpr double kDefaultQuickStopThreshold = 0.2;
static constexpr double kDefaultQuickStopAlpha = 0.1;
@@ -121,7 +125,7 @@
* by negating the value passed for rotation.
*
* @param xSpeed The speed at which the robot should drive along the X
- * axis [-1.0..1.0]. Forward is negative.
+ * axis [-1.0..1.0]. Forward is positive.
* @param zRotation The rotation rate of the robot around the Z axis
* [-1.0..1.0]. Clockwise is positive.
* @param squareInputs If set, decreases the input sensitivity at low speeds.
@@ -208,8 +212,8 @@
void InitSendable(SendableBuilder& builder) override;
private:
- SpeedController& m_leftMotor;
- SpeedController& m_rightMotor;
+ SpeedController* m_leftMotor;
+ SpeedController* m_rightMotor;
double m_quickStopThreshold = kDefaultQuickStopThreshold;
double m_quickStopAlpha = kDefaultQuickStopAlpha;
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/drive/KilloughDrive.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/drive/KilloughDrive.h
index 2fa356d..2cc1c91 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/drive/KilloughDrive.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/drive/KilloughDrive.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -13,6 +13,8 @@
#include "frc/drive/RobotDriveBase.h"
#include "frc/drive/Vector2d.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
@@ -44,7 +46,9 @@
* and the positive Z axis points down. Rotations follow the right-hand rule, so
* clockwise rotation around the Z axis is positive.
*/
-class KilloughDrive : public RobotDriveBase {
+class KilloughDrive : public RobotDriveBase,
+ public Sendable,
+ public SendableHelper<KilloughDrive> {
public:
static constexpr double kDefaultLeftMotorAngle = 60.0;
static constexpr double kDefaultRightMotorAngle = 120.0;
@@ -128,9 +132,9 @@
void InitSendable(SendableBuilder& builder) override;
private:
- SpeedController& m_leftMotor;
- SpeedController& m_rightMotor;
- SpeedController& m_backMotor;
+ SpeedController* m_leftMotor;
+ SpeedController* m_rightMotor;
+ SpeedController* m_backMotor;
Vector2d m_leftVec;
Vector2d m_rightVec;
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/drive/MecanumDrive.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/drive/MecanumDrive.h
index e0acaca..9ddb57e 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/drive/MecanumDrive.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/drive/MecanumDrive.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,6 +12,8 @@
#include <wpi/raw_ostream.h>
#include "frc/drive/RobotDriveBase.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
@@ -62,7 +64,9 @@
* RobotDrive#MecanumDrive_Polar(double, double, double) if a
* deadband of 0 is used.
*/
-class MecanumDrive : public RobotDriveBase {
+class MecanumDrive : public RobotDriveBase,
+ public Sendable,
+ public SendableHelper<MecanumDrive> {
public:
/**
* Construct a MecanumDrive.
@@ -133,10 +137,10 @@
void InitSendable(SendableBuilder& builder) override;
private:
- SpeedController& m_frontLeftMotor;
- SpeedController& m_rearLeftMotor;
- SpeedController& m_frontRightMotor;
- SpeedController& m_rearRightMotor;
+ SpeedController* m_frontLeftMotor;
+ SpeedController* m_rearLeftMotor;
+ SpeedController* m_frontRightMotor;
+ SpeedController* m_rearRightMotor;
double m_rightSideInvertMultiplier = -1.0;
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/drive/RobotDriveBase.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/drive/RobotDriveBase.h
index 206434e..ce9cbc5 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/drive/RobotDriveBase.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/drive/RobotDriveBase.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -13,7 +13,6 @@
#include <wpi/raw_ostream.h>
#include "frc/MotorSafety.h"
-#include "frc/smartdashboard/SendableBase.h"
namespace frc {
@@ -22,7 +21,7 @@
/**
* Common base class for drive platforms.
*/
-class RobotDriveBase : public MotorSafety, public SendableBase {
+class RobotDriveBase : public MotorSafety {
public:
/**
* The location of a motor on the robot for the purpose of driving.
@@ -76,11 +75,6 @@
protected:
/**
- * Limit motor values to the -1.0 to +1.0 range.
- */
- double Limit(double number);
-
- /**
* Returns 0.0 if the given value is within the specified range around zero.
* The remaining range between the deadband and 1.0 is scaled from 0.0 to 1.0.
*
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/filters/Filter.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/filters/Filter.h
index b0c0c11..b200407 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/filters/Filter.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/filters/Filter.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,8 @@
#include <memory>
+#include <wpi/deprecated.h>
+
#include "frc/PIDSource.h"
namespace frc {
@@ -18,7 +20,9 @@
*/
class Filter : public PIDSource {
public:
+ WPI_DEPRECATED("This class is no longer used.")
explicit Filter(PIDSource& source);
+ WPI_DEPRECATED("This class is no longer used.")
explicit Filter(std::shared_ptr<PIDSource> source);
virtual ~Filter() = default;
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/filters/LinearDigitalFilter.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/filters/LinearDigitalFilter.h
index 472d53b..0a2afd2 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/filters/LinearDigitalFilter.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/filters/LinearDigitalFilter.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,12 +7,14 @@
#pragma once
+#include <initializer_list>
#include <memory>
#include <vector>
#include <wpi/ArrayRef.h>
+#include <wpi/circular_buffer.h>
+#include <wpi/deprecated.h>
-#include "frc/circular_buffer.h"
#include "frc/filters/Filter.h"
namespace frc {
@@ -76,6 +78,7 @@
* @param ffGains The "feed forward" or FIR gains
* @param fbGains The "feed back" or IIR gains
*/
+ WPI_DEPRECATED("Use LinearFilter class instead.")
LinearDigitalFilter(PIDSource& source, wpi::ArrayRef<double> ffGains,
wpi::ArrayRef<double> fbGains);
@@ -86,10 +89,34 @@
* @param ffGains The "feed forward" or FIR gains
* @param fbGains The "feed back" or IIR gains
*/
+ WPI_DEPRECATED("Use LinearFilter class instead.")
+ LinearDigitalFilter(PIDSource& source, std::initializer_list<double> ffGains,
+ std::initializer_list<double> fbGains);
+
+ /**
+ * Create a linear FIR or IIR filter.
+ *
+ * @param source The PIDSource object that is used to get values
+ * @param ffGains The "feed forward" or FIR gains
+ * @param fbGains The "feed back" or IIR gains
+ */
+ WPI_DEPRECATED("Use LinearFilter class instead.")
LinearDigitalFilter(std::shared_ptr<PIDSource> source,
wpi::ArrayRef<double> ffGains,
wpi::ArrayRef<double> fbGains);
+ /**
+ * Create a linear FIR or IIR filter.
+ *
+ * @param source The PIDSource object that is used to get values
+ * @param ffGains The "feed forward" or FIR gains
+ * @param fbGains The "feed back" or IIR gains
+ */
+ WPI_DEPRECATED("Use LinearFilter class instead.")
+ LinearDigitalFilter(std::shared_ptr<PIDSource> source,
+ std::initializer_list<double> ffGains,
+ std::initializer_list<double> fbGains);
+
LinearDigitalFilter(LinearDigitalFilter&&) = default;
LinearDigitalFilter& operator=(LinearDigitalFilter&&) = default;
@@ -188,8 +215,8 @@
double PIDGet() override;
private:
- circular_buffer<double> m_inputs;
- circular_buffer<double> m_outputs;
+ wpi::circular_buffer<double> m_inputs;
+ wpi::circular_buffer<double> m_outputs;
std::vector<double> m_inputGains;
std::vector<double> m_outputGains;
};
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/geometry/Pose2d.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/geometry/Pose2d.h
new file mode 100644
index 0000000..2161e82
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/geometry/Pose2d.h
@@ -0,0 +1,170 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "Transform2d.h"
+#include "Translation2d.h"
+#include "Twist2d.h"
+
+namespace frc {
+
+/**
+ * Represents a 2d pose containing translational and rotational elements.
+ */
+class Pose2d {
+ public:
+ /**
+ * Constructs a pose at the origin facing toward the positive X axis.
+ * (Translation2d{0, 0} and Rotation{0})
+ */
+ constexpr Pose2d() = default;
+
+ /**
+ * Constructs a pose with the specified translation and rotation.
+ *
+ * @param translation The translational component of the pose.
+ * @param rotation The rotational component of the pose.
+ */
+ Pose2d(Translation2d translation, Rotation2d rotation);
+
+ /**
+ * Convenience constructors that takes in x and y values directly instead of
+ * having to construct a Translation2d.
+ *
+ * @param x The x component of the translational component of the pose.
+ * @param y The y component of the translational component of the pose.
+ * @param rotation The rotational component of the pose.
+ */
+ Pose2d(units::meter_t x, units::meter_t y, Rotation2d rotation);
+
+ /**
+ * Transforms the pose by the given transformation and returns the new
+ * transformed pose.
+ *
+ * [x_new] [cos, -sin, 0][transform.x]
+ * [y_new] += [sin, cos, 0][transform.y]
+ * [t_new] [0, 0, 1][transform.t]
+ *
+ * @param other The transform to transform the pose by.
+ *
+ * @return The transformed pose.
+ */
+ Pose2d operator+(const Transform2d& other) const;
+
+ /**
+ * Transforms the current pose by the transformation.
+ *
+ * This is similar to the + operator, except that it mutates the current
+ * object.
+ *
+ * @param other The transform to transform the pose by.
+ *
+ * @return Reference to the new mutated object.
+ */
+ Pose2d& operator+=(const Transform2d& other);
+
+ /**
+ * Returns the Transform2d that maps the one pose to another.
+ *
+ * @param other The initial pose of the transformation.
+ * @return The transform that maps the other pose to the current pose.
+ */
+ Transform2d operator-(const Pose2d& other) const;
+
+ /**
+ * Checks equality between this Pose2d and another object.
+ *
+ * @param other The other object.
+ * @return Whether the two objects are equal.
+ */
+ bool operator==(const Pose2d& other) const;
+
+ /**
+ * Checks inequality between this Pose2d and another object.
+ *
+ * @param other The other object.
+ * @return Whether the two objects are not equal.
+ */
+ bool operator!=(const Pose2d& other) const;
+
+ /**
+ * Returns the underlying translation.
+ *
+ * @return Reference to the translational component of the pose.
+ */
+ const Translation2d& Translation() const { return m_translation; }
+
+ /**
+ * Returns the underlying rotation.
+ *
+ * @return Reference to the rotational component of the pose.
+ */
+ const Rotation2d& Rotation() const { return m_rotation; }
+
+ /**
+ * Transforms the pose by the given transformation and returns the new pose.
+ * See + operator for the matrix multiplication performed.
+ *
+ * @param other The transform to transform the pose by.
+ *
+ * @return The transformed pose.
+ */
+ Pose2d TransformBy(const Transform2d& other) const;
+
+ /**
+ * Returns the other pose relative to the current pose.
+ *
+ * This function can often be used for trajectory tracking or pose
+ * stabilization algorithms to get the error between the reference and the
+ * current pose.
+ *
+ * @param other The pose that is the origin of the new coordinate frame that
+ * the current pose will be converted into.
+ *
+ * @return The current pose relative to the new origin pose.
+ */
+ Pose2d RelativeTo(const Pose2d& other) const;
+
+ /**
+ * Obtain a new Pose2d from a (constant curvature) velocity.
+ *
+ * See <https://file.tavsys.net/control/state-space-guide.pdf> section on
+ * nonlinear pose estimation for derivation.
+ *
+ * The twist is a change in pose in the robot's coordinate frame since the
+ * previous pose update. When the user runs exp() on the previous known
+ * field-relative pose with the argument being the twist, the user will
+ * receive the new field-relative pose.
+ *
+ * "Exp" represents the pose exponential, which is solving a differential
+ * equation moving the pose forward in time.
+ *
+ * @param twist The change in pose in the robot's coordinate frame since the
+ * previous pose update. For example, if a non-holonomic robot moves forward
+ * 0.01 meters and changes angle by .5 degrees since the previous pose update,
+ * the twist would be Twist2d{0.01, 0.0, toRadians(0.5)}
+ *
+ * @return The new pose of the robot.
+ */
+ Pose2d Exp(const Twist2d& twist) const;
+
+ /**
+ * Returns a Twist2d that maps this pose to the end pose. If c is the output
+ * of a.Log(b), then a.Exp(c) would yield b.
+ *
+ * @param end The end pose for the transformation.
+ *
+ * @return The twist that maps this to end.
+ */
+ Twist2d Log(const Pose2d& end) const;
+
+ private:
+ Translation2d m_translation;
+ Rotation2d m_rotation;
+};
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/geometry/Rotation2d.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/geometry/Rotation2d.h
new file mode 100644
index 0000000..9453e0c
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/geometry/Rotation2d.h
@@ -0,0 +1,178 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <units/units.h>
+#include <wpi/math>
+
+namespace frc {
+
+/**
+ * A rotation in a 2d coordinate frame represented a point on the unit circle
+ * (cosine and sine).
+ */
+class Rotation2d {
+ public:
+ /**
+ * Constructs a Rotation2d with a default angle of 0 degrees.
+ */
+ constexpr Rotation2d() = default;
+
+ /**
+ * Constructs a Rotation2d with the given radian value.
+ *
+ * @param value The value of the angle in radians.
+ */
+ Rotation2d(units::radian_t value); // NOLINT(runtime/explicit)
+
+ /**
+ * Constructs a Rotation2d with the given x and y (cosine and sine)
+ * components. The x and y don't have to be normalized.
+ *
+ * @param x The x component or cosine of the rotation.
+ * @param y The y component or sine of the rotation.
+ */
+ Rotation2d(double x, double y);
+
+ /**
+ * Adds two rotations together, with the result being bounded between -pi and
+ * pi.
+ *
+ * For example, Rotation2d.FromDegrees(30) + Rotation2d.FromDegrees(60) =
+ * Rotation2d{-pi/2}
+ *
+ * @param other The rotation to add.
+ *
+ * @return The sum of the two rotations.
+ */
+ Rotation2d operator+(const Rotation2d& other) const;
+
+ /**
+ * Adds a rotation to the current rotation.
+ *
+ * This is similar to the + operator except that it mutates the current
+ * object.
+ *
+ * @param other The rotation to add.
+ *
+ * @return The reference to the new mutated object.
+ */
+ Rotation2d& operator+=(const Rotation2d& other);
+
+ /**
+ * Subtracts the new rotation from the current rotation and returns the new
+ * rotation.
+ *
+ * For example, Rotation2d.FromDegrees(10) - Rotation2d.FromDegrees(100) =
+ * Rotation2d{-pi/2}
+ *
+ * @param other The rotation to subtract.
+ *
+ * @return The difference between the two rotations.
+ */
+ Rotation2d operator-(const Rotation2d& other) const;
+
+ /**
+ * Subtracts the new rotation from the current rotation.
+ *
+ * This is similar to the - operator except that it mutates the current
+ * object.
+ *
+ * @param other The rotation to subtract.
+ *
+ * @return The reference to the new mutated object.
+ */
+ Rotation2d& operator-=(const Rotation2d& other);
+
+ /**
+ * Takes the inverse of the current rotation. This is simply the negative of
+ * the current angular value.
+ *
+ * @return The inverse of the current rotation.
+ */
+ Rotation2d operator-() const;
+
+ /**
+ * Multiplies the current rotation by a scalar.
+ * @param scalar The scalar.
+ *
+ * @return The new scaled Rotation2d.
+ */
+ Rotation2d operator*(double scalar) const;
+
+ /**
+ * Checks equality between this Rotation2d and another object.
+ *
+ * @param other The other object.
+ * @return Whether the two objects are equal.
+ */
+ bool operator==(const Rotation2d& other) const;
+
+ /**
+ * Checks inequality between this Rotation2d and another object.
+ *
+ * @param other The other object.
+ * @return Whether the two objects are not equal.
+ */
+ bool operator!=(const Rotation2d& other) const;
+
+ /**
+ * Adds the new rotation to the current rotation using a rotation matrix.
+ *
+ * [cos_new] [other.cos, -other.sin][cos]
+ * [sin_new] = [other.sin, other.cos][sin]
+ *
+ * value_new = std::atan2(cos_new, sin_new)
+ *
+ * @param other The rotation to rotate by.
+ *
+ * @return The new rotated Rotation2d.
+ */
+ Rotation2d RotateBy(const Rotation2d& other) const;
+
+ /**
+ * Returns the radian value of the rotation.
+ *
+ * @return The radian value of the rotation.
+ */
+ units::radian_t Radians() const { return m_value; }
+
+ /**
+ * Returns the degree value of the rotation.
+ *
+ * @return The degree value of the rotation.
+ */
+ units::degree_t Degrees() const { return m_value; }
+
+ /**
+ * Returns the cosine of the rotation.
+ *
+ * @return The cosine of the rotation.
+ */
+ double Cos() const { return m_cos; }
+
+ /**
+ * Returns the sine of the rotation.
+ *
+ * @return The sine of the rotation.
+ */
+ double Sin() const { return m_sin; }
+
+ /**
+ * Returns the tangent of the rotation.
+ *
+ * @return The tangent of the rotation.
+ */
+ double Tan() const { return m_sin / m_cos; }
+
+ private:
+ units::radian_t m_value = 0_deg;
+ double m_cos = 1;
+ double m_sin = 0;
+};
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/geometry/Transform2d.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/geometry/Transform2d.h
new file mode 100644
index 0000000..c75fbeb
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/geometry/Transform2d.h
@@ -0,0 +1,86 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "Translation2d.h"
+
+namespace frc {
+
+class Pose2d;
+
+/**
+ * Represents a transformation for a Pose2d.
+ */
+class Transform2d {
+ public:
+ /**
+ * Constructs the transform that maps the initial pose to the final pose.
+ *
+ * @param initial The initial pose for the transformation.
+ * @param final The final pose for the transformation.
+ */
+ Transform2d(Pose2d initial, Pose2d final);
+
+ /**
+ * Constructs a transform with the given translation and rotation components.
+ *
+ * @param translation Translational component of the transform.
+ * @param rotation Rotational component of the transform.
+ */
+ Transform2d(Translation2d translation, Rotation2d rotation);
+
+ /**
+ * Constructs the identity transform -- maps an initial pose to itself.
+ */
+ constexpr Transform2d() = default;
+
+ /**
+ * Returns the translation component of the transformation.
+ *
+ * @return Reference to the translational component of the transform.
+ */
+ const Translation2d& Translation() const { return m_translation; }
+
+ /**
+ * Returns the rotational component of the transformation.
+ *
+ * @return Reference to the rotational component of the transform.
+ */
+ const Rotation2d& Rotation() const { return m_rotation; }
+
+ /**
+ * Scales the transform by the scalar.
+ *
+ * @param scalar The scalar.
+ * @return The scaled Transform2d.
+ */
+ Transform2d operator*(double scalar) const {
+ return Transform2d(m_translation * scalar, m_rotation * scalar);
+ }
+
+ /**
+ * Checks equality between this Transform2d and another object.
+ *
+ * @param other The other object.
+ * @return Whether the two objects are equal.
+ */
+ bool operator==(const Transform2d& other) const;
+
+ /**
+ * Checks inequality between this Transform2d and another object.
+ *
+ * @param other The other object.
+ * @return Whether the two objects are not equal.
+ */
+ bool operator!=(const Transform2d& other) const;
+
+ private:
+ Translation2d m_translation;
+ Rotation2d m_rotation;
+};
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/geometry/Translation2d.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/geometry/Translation2d.h
new file mode 100644
index 0000000..a53abf1
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/geometry/Translation2d.h
@@ -0,0 +1,214 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <units/units.h>
+
+#include "Rotation2d.h"
+
+namespace frc {
+
+/**
+ * Represents a translation in 2d space.
+ * This object can be used to represent a point or a vector.
+ *
+ * This assumes that you are using conventional mathematical axes.
+ * When the robot is placed on the origin, facing toward the X direction,
+ * moving forward increases the X, whereas moving to the left increases the Y.
+ */
+class Translation2d {
+ public:
+ /**
+ * Constructs a Translation2d with X and Y components equal to zero.
+ */
+ constexpr Translation2d() = default;
+
+ /**
+ * Constructs a Translation2d with the X and Y components equal to the
+ * provided values.
+ *
+ * @param x The x component of the translation.
+ * @param y The y component of the translation.
+ */
+ Translation2d(units::meter_t x, units::meter_t y);
+
+ /**
+ * Calculates the distance between two translations in 2d space.
+ *
+ * This function uses the pythagorean theorem to calculate the distance.
+ * distance = std::sqrt((x2 - x1)^2 + (y2 - y1)^2)
+ *
+ * @param other The translation to compute the distance to.
+ *
+ * @return The distance between the two translations.
+ */
+ units::meter_t Distance(const Translation2d& other) const;
+
+ /**
+ * Returns the X component of the translation.
+ *
+ * @return The x component of the translation.
+ */
+ units::meter_t X() const { return m_x; }
+
+ /**
+ * Returns the Y component of the translation.
+ *
+ * @return The y component of the translation.
+ */
+ units::meter_t Y() const { return m_y; }
+
+ /**
+ * Returns the norm, or distance from the origin to the translation.
+ *
+ * @return The norm of the translation.
+ */
+ units::meter_t Norm() const;
+
+ /**
+ * Applies a rotation to the translation in 2d space.
+ *
+ * This multiplies the translation vector by a counterclockwise rotation
+ * matrix of the given angle.
+ *
+ * [x_new] [other.cos, -other.sin][x]
+ * [y_new] = [other.sin, other.cos][y]
+ *
+ * For example, rotating a Translation2d of {2, 0} by 90 degrees will return a
+ * Translation2d of {0, 2}.
+ *
+ * @param other The rotation to rotate the translation by.
+ *
+ * @return The new rotated translation.
+ */
+ Translation2d RotateBy(const Rotation2d& other) const;
+
+ /**
+ * Adds two translations in 2d space and returns the sum. This is similar to
+ * vector addition.
+ *
+ * For example, Translation2d{1.0, 2.5} + Translation2d{2.0, 5.5} =
+ * Translation2d{3.0, 8.0}
+ *
+ * @param other The translation to add.
+ *
+ * @return The sum of the translations.
+ */
+ Translation2d operator+(const Translation2d& other) const;
+
+ /**
+ * Adds the new translation to the current translation.
+ *
+ * This is similar to the + operator, except that the current object is
+ * mutated.
+ *
+ * @param other The translation to add.
+ *
+ * @return The reference to the new mutated object.
+ */
+ Translation2d& operator+=(const Translation2d& other);
+
+ /**
+ * Subtracts the other translation from the other translation and returns the
+ * difference.
+ *
+ * For example, Translation2d{5.0, 4.0} - Translation2d{1.0, 2.0} =
+ * Translation2d{4.0, 2.0}
+ *
+ * @param other The translation to subtract.
+ *
+ * @return The difference between the two translations.
+ */
+ Translation2d operator-(const Translation2d& other) const;
+
+ /**
+ * Subtracts the new translation from the current translation.
+ *
+ * This is similar to the - operator, except that the current object is
+ * mutated.
+ *
+ * @param other The translation to subtract.
+ *
+ * @return The reference to the new mutated object.
+ */
+ Translation2d& operator-=(const Translation2d& other);
+
+ /**
+ * Returns the inverse of the current translation. This is equivalent to
+ * rotating by 180 degrees, flipping the point over both axes, or simply
+ * negating both components of the translation.
+ *
+ * @return The inverse of the current translation.
+ */
+ Translation2d operator-() const;
+
+ /**
+ * Multiplies the translation by a scalar and returns the new translation.
+ *
+ * For example, Translation2d{2.0, 2.5} * 2 = Translation2d{4.0, 5.0}
+ *
+ * @param scalar The scalar to multiply by.
+ *
+ * @return The scaled translation.
+ */
+ Translation2d operator*(double scalar) const;
+
+ /**
+ * Multiplies the current translation by a scalar.
+ *
+ * This is similar to the * operator, except that current object is mutated.
+ *
+ * @param scalar The scalar to multiply by.
+ *
+ * @return The reference to the new mutated object.
+ */
+ Translation2d& operator*=(double scalar);
+
+ /**
+ * Divides the translation by a scalar and returns the new translation.
+ *
+ * For example, Translation2d{2.0, 2.5} / 2 = Translation2d{1.0, 1.25}
+ *
+ * @param scalar The scalar to divide by.
+ *
+ * @return The scaled translation.
+ */
+ Translation2d operator/(double scalar) const;
+
+ /**
+ * Checks equality between this Translation2d and another object.
+ *
+ * @param other The other object.
+ * @return Whether the two objects are equal.
+ */
+ bool operator==(const Translation2d& other) const;
+
+ /**
+ * Checks inequality between this Translation2d and another object.
+ *
+ * @param other The other object.
+ * @return Whether the two objects are not equal.
+ */
+ bool operator!=(const Translation2d& other) const;
+
+ /*
+ * Divides the current translation by a scalar.
+ *
+ * This is similar to the / operator, except that current object is mutated.
+ *
+ * @param scalar The scalar to divide by.
+ *
+ * @return The reference to the new mutated object.
+ */
+ Translation2d& operator/=(double scalar);
+
+ private:
+ units::meter_t m_x = 0_m;
+ units::meter_t m_y = 0_m;
+};
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/geometry/Twist2d.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/geometry/Twist2d.h
new file mode 100644
index 0000000..ab246a0
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/geometry/Twist2d.h
@@ -0,0 +1,55 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+#include <units/units.h>
+
+namespace frc {
+/**
+ * A change in distance along arc since the last pose update. We can use ideas
+ * from differential calculus to create new Pose2ds from a Twist2d and vise
+ * versa.
+ *
+ * A Twist can be used to represent a difference between two poses.
+ */
+struct Twist2d {
+ /**
+ * Linear "dx" component
+ */
+ units::meter_t dx = 0_m;
+
+ /**
+ * Linear "dy" component
+ */
+ units::meter_t dy = 0_m;
+
+ /**
+ * Angular "dtheta" component (radians)
+ */
+ units::radian_t dtheta = 0_rad;
+
+ /**
+ * Checks equality between this Twist2d and another object.
+ *
+ * @param other The other object.
+ * @return Whether the two objects are equal.
+ */
+ bool operator==(const Twist2d& other) const {
+ return units::math::abs(dx - other.dx) < 1E-9_m &&
+ units::math::abs(dy - other.dy) < 1E-9_m &&
+ units::math::abs(dtheta - other.dtheta) < 1E-9_rad;
+ }
+
+ /**
+ * Checks inequality between this Twist2d and another object.
+ *
+ * @param other The other object.
+ * @return Whether the two objects are not equal.
+ */
+ bool operator!=(const Twist2d& other) const { return !operator==(other); }
+};
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/ChassisSpeeds.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/ChassisSpeeds.h
new file mode 100644
index 0000000..8c772c0
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/ChassisSpeeds.h
@@ -0,0 +1,65 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <units/units.h>
+
+#include "frc/geometry/Rotation2d.h"
+
+namespace frc {
+/**
+ * Represents the speed of a robot chassis. Although this struct contains
+ * similar members compared to a Twist2d, they do NOT represent the same thing.
+ * Whereas a Twist2d represents a change in pose w.r.t to the robot frame of
+ * reference, this ChassisSpeeds struct represents a velocity w.r.t to the robot
+ * frame of reference.
+ *
+ * A strictly non-holonomic drivetrain, such as a differential drive, should
+ * never have a dy component because it can never move sideways. Holonomic
+ * drivetrains such as swerve and mecanum will often have all three components.
+ */
+struct ChassisSpeeds {
+ /**
+ * Represents forward velocity w.r.t the robot frame of reference. (Fwd is +)
+ */
+ units::meters_per_second_t vx = 0_mps;
+
+ /**
+ * Represents strafe velocity w.r.t the robot frame of reference. (Left is +)
+ */
+ units::meters_per_second_t vy = 0_mps;
+
+ /**
+ * Represents the angular velocity of the robot frame. (CCW is +)
+ */
+ units::radians_per_second_t omega = 0_rad_per_s;
+
+ /**
+ * Converts a user provided field-relative set of speeds into a robot-relative
+ * ChassisSpeeds object.
+ *
+ * @param vx The component of speed in the x direction relative to the field.
+ * Positive x is away from your alliance wall.
+ * @param vy The component of speed in the y direction relative to the field.
+ * Positive y is to your left when standing behind the alliance wall.
+ * @param omega The angular rate of the robot.
+ * @param robotAngle The angle of the robot as measured by a gyroscope. The
+ * robot's angle is considered to be zero when it is facing directly away from
+ * your alliance station wall. Remember that this should be CCW positive.
+ *
+ * @return ChassisSpeeds object representing the speeds in the robot's frame
+ * of reference.
+ */
+ static ChassisSpeeds FromFieldRelativeSpeeds(
+ units::meters_per_second_t vx, units::meters_per_second_t vy,
+ units::radians_per_second_t omega, const Rotation2d& robotAngle) {
+ return {vx * robotAngle.Cos() + vy * robotAngle.Sin(),
+ -vx * robotAngle.Sin() + vy * robotAngle.Cos(), omega};
+ }
+};
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
new file mode 100644
index 0000000..34407b9
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
@@ -0,0 +1,60 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <units/units.h>
+
+#include "frc/kinematics/ChassisSpeeds.h"
+#include "frc/kinematics/DifferentialDriveWheelSpeeds.h"
+
+namespace frc {
+/**
+ * Helper class that converts a chassis velocity (dx and dtheta components) to
+ * left and right wheel velocities for a differential drive.
+ *
+ * Inverse kinematics converts a desired chassis speed into left and right
+ * velocity components whereas forward kinematics converts left and right
+ * component velocities into a linear and angular chassis speed.
+ */
+class DifferentialDriveKinematics {
+ public:
+ /**
+ * Constructs a differential drive kinematics object.
+ *
+ * @param trackWidth The track width of the drivetrain. Theoretically, this is
+ * the distance between the left wheels and right wheels. However, the
+ * empirical value may be larger than the physical measured value due to
+ * scrubbing effects.
+ */
+ explicit DifferentialDriveKinematics(units::meter_t trackWidth);
+
+ /**
+ * Returns a chassis speed from left and right component velocities using
+ * forward kinematics.
+ *
+ * @param wheelSpeeds The left and right velocities.
+ * @return The chassis speed.
+ */
+ ChassisSpeeds ToChassisSpeeds(
+ const DifferentialDriveWheelSpeeds& wheelSpeeds) const;
+
+ /**
+ * Returns left and right component velocities from a chassis speed using
+ * inverse kinematics.
+ *
+ * @param chassisSpeeds The linear and angular (dx and dtheta) components that
+ * represent the chassis' speed.
+ * @return The left and right velocities.
+ */
+ DifferentialDriveWheelSpeeds ToWheelSpeeds(
+ const ChassisSpeeds& chassisSpeeds) const;
+
+ private:
+ units::meter_t m_trackWidth;
+};
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveOdometry.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveOdometry.h
new file mode 100644
index 0000000..fd41d15
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveOdometry.h
@@ -0,0 +1,100 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <units/units.h>
+
+#include "DifferentialDriveKinematics.h"
+#include "frc/geometry/Pose2d.h"
+#include "frc2/Timer.h"
+
+namespace frc {
+/**
+ * Class for differential drive odometry. Odometry allows you to track the
+ * robot's position on the field over the course of a match using readings from
+ * 2 encoders and a gyroscope.
+ *
+ * Teams can use odometry during the autonomous period for complex tasks like
+ * path following. Furthermore, odometry can be used for latency compensation
+ * when using computer-vision systems.
+ *
+ * Note: It is important to reset both your encoders to zero before you start
+ * using this class. Only reset your encoders ONCE. You should not reset your
+ * encoders even if you want to reset your robot's pose.
+ */
+class DifferentialDriveOdometry {
+ public:
+ /**
+ * Constructs a DifferentialDriveOdometry object.
+ *
+ * @param kinematics The differential drive kinematics for your drivetrain.
+ * @param initialPose The starting position of the robot on the field.
+ */
+ explicit DifferentialDriveOdometry(DifferentialDriveKinematics kinematics,
+ const Pose2d& initialPose = Pose2d());
+
+ /**
+ * Resets the robot's position on the field.
+ *
+ * @param pose The position on the field that your robot is at.
+ */
+ void ResetPosition(const Pose2d& pose) {
+ m_pose = pose;
+ m_previousAngle = pose.Rotation();
+ }
+
+ /**
+ * Returns the position of the robot on the field.
+ * @return The pose of the robot.
+ */
+ const Pose2d& GetPose() const { return m_pose; }
+
+ /**
+ * Updates the robot's position on the field using forward kinematics and
+ * integration of the pose over time. This method takes in the current time as
+ * a parameter to calculate period (difference between two timestamps). The
+ * period is used to calculate the change in distance from a velocity. This
+ * also takes in an angle parameter which is used instead of the
+ * angular rate that is calculated from forward kinematics.
+ *
+ * @param currentTime The current time.
+ * @param angle The angle of the robot.
+ * @param wheelSpeeds The current wheel speeds.
+ *
+ * @return The new pose of the robot.
+ */
+ const Pose2d& UpdateWithTime(units::second_t currentTime,
+ const Rotation2d& angle,
+ const DifferentialDriveWheelSpeeds& wheelSpeeds);
+
+ /**
+ * Updates the robot's position on the field using forward kinematics and
+ * integration of the pose over time. This method automatically calculates
+ * the current time to calculate period (difference between two timestamps).
+ * The period is used to calculate the change in distance from a velocity.
+ * This also takes in an angle parameter which is used instead of the
+ * angular rate that is calculated from forward kinematics.
+ *
+ * @param angle The angle of the robot.
+ * @param wheelSpeeds The current wheel speeds.
+ *
+ * @return The new pose of the robot.
+ */
+ const Pose2d& Update(const Rotation2d& angle,
+ const DifferentialDriveWheelSpeeds& wheelSpeeds) {
+ return UpdateWithTime(frc2::Timer::GetFPGATimestamp(), angle, wheelSpeeds);
+ }
+
+ private:
+ DifferentialDriveKinematics m_kinematics;
+ Pose2d m_pose;
+
+ units::second_t m_previousTime = -1_s;
+ Rotation2d m_previousAngle;
+};
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveWheelSpeeds.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveWheelSpeeds.h
new file mode 100644
index 0000000..66bd84e
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveWheelSpeeds.h
@@ -0,0 +1,39 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <units/units.h>
+
+namespace frc {
+/**
+ * Represents the wheel speeds for a differential drive drivetrain.
+ */
+struct DifferentialDriveWheelSpeeds {
+ /**
+ * Speed of the left side of the robot.
+ */
+ units::meters_per_second_t left = 0_mps;
+
+ /**
+ * Speed of the right side of the robot.
+ */
+ units::meters_per_second_t right = 0_mps;
+
+ /**
+ * Normalizes the wheel speeds using some max attainable speed. Sometimes,
+ * after inverse kinematics, the requested speed from a/several modules may be
+ * above the max attainable speed for the driving motor on that module. To fix
+ * this issue, one can "normalize" all the wheel speeds to make sure that all
+ * requested module speeds are below the absolute threshold, while maintaining
+ * the ratio of speeds between modules.
+ *
+ * @param attainableMaxSpeed The absolute max speed that a wheel can reach.
+ */
+ void Normalize(units::meters_per_second_t attainableMaxSpeed);
+};
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/MecanumDriveKinematics.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/MecanumDriveKinematics.h
new file mode 100644
index 0000000..6b0329d
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/MecanumDriveKinematics.h
@@ -0,0 +1,141 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <Eigen/Core>
+#include <Eigen/QR>
+
+#include "frc/geometry/Translation2d.h"
+#include "frc/kinematics/ChassisSpeeds.h"
+#include "frc/kinematics/MecanumDriveWheelSpeeds.h"
+
+namespace frc {
+
+/**
+ * Helper class that converts a chassis velocity (dx, dy, and dtheta components)
+ * into individual wheel speeds.
+ *
+ * The inverse kinematics (converting from a desired chassis velocity to
+ * individual wheel speeds) uses the relative locations of the wheels with
+ * respect to the center of rotation. The center of rotation for inverse
+ * kinematics is also variable. This means that you can set your set your center
+ * of rotation in a corner of the robot to perform special evasion manuevers.
+ *
+ * Forward kinematics (converting an array of wheel speeds into the overall
+ * chassis motion) is performs the exact opposite of what inverse kinematics
+ * does. Since this is an overdetermined system (more equations than variables),
+ * we use a least-squares approximation.
+ *
+ * The inverse kinematics: [wheelSpeeds] = [wheelLocations] * [chassisSpeeds]
+ * We take the Moore-Penrose pseudoinverse of [wheelLocations] and then
+ * multiply by [wheelSpeeds] to get our chassis speeds.
+ *
+ * Forward kinematics is also used for odometry -- determining the position of
+ * the robot on the field using encoders and a gyro.
+ */
+class MecanumDriveKinematics {
+ public:
+ /**
+ * Constructs a mecanum drive kinematics object.
+ *
+ * @param frontLeftWheel The location of the front-left wheel relative to the
+ * physical center of the robot.
+ * @param frontRightWheel The location of the front-right wheel relative to
+ * the physical center of the robot.
+ * @param rearLeftWheel The location of the rear-left wheel relative to the
+ * physical center of the robot.
+ * @param rearRightWheel The location of the rear-right wheel relative to the
+ * physical center of the robot.
+ */
+ explicit MecanumDriveKinematics(Translation2d frontLeftWheel,
+ Translation2d frontRightWheel,
+ Translation2d rearLeftWheel,
+ Translation2d rearRightWheel)
+ : m_frontLeftWheel{frontLeftWheel},
+ m_frontRightWheel{frontRightWheel},
+ m_rearLeftWheel{rearLeftWheel},
+ m_rearRightWheel{rearRightWheel} {
+ SetInverseKinematics(frontLeftWheel, frontRightWheel, rearLeftWheel,
+ rearRightWheel);
+ m_forwardKinematics = m_inverseKinematics.householderQr();
+ }
+
+ MecanumDriveKinematics(const MecanumDriveKinematics&) = default;
+
+ /**
+ * Performs inverse kinematics to return the wheel speeds from a desired
+ * chassis velocity. This method is often used to convert joystick values into
+ * wheel speeds.
+ *
+ * This function also supports variable centers of rotation. During normal
+ * operations, the center of rotation is usually the same as the physical
+ * center of the robot; therefore, the argument is defaulted to that use case.
+ * However, if you wish to change the center of rotation for evasive
+ * manuevers, vision alignment, or for any other use case, you can do so.
+ *
+ * @param chassisSpeeds The desired chassis speed.
+ * @param centerOfRotation The center of rotation. For example, if you set the
+ * center of rotation at one corner of the robot and
+ * provide a chassis speed that only has a dtheta
+ * component, the robot will rotate around that
+ * corner.
+ *
+ * @return The wheel speeds. Use caution because they are not normalized.
+ * Sometimes, a user input may cause one of the wheel speeds to go
+ * above the attainable max velocity. Use the
+ * MecanumDriveWheelSpeeds::Normalize() function to rectify this
+ * issue. In addition, you can leverage the power of C++17 to directly
+ * assign the wheel speeds to variables:
+ *
+ * @code{.cpp}
+ * auto [fl, fr, bl, br] = kinematics.ToWheelSpeeds(chassisSpeeds);
+ * @endcode
+ */
+ MecanumDriveWheelSpeeds ToWheelSpeeds(
+ const ChassisSpeeds& chassisSpeeds,
+ const Translation2d& centerOfRotation = Translation2d());
+
+ /**
+ * Performs forward kinematics to return the resulting chassis state from the
+ * given wheel speeds. This method is often used for odometry -- determining
+ * the robot's position on the field using data from the real-world speed of
+ * each wheel on the robot.
+ *
+ * @param wheelSpeeds The current mecanum drive wheel speeds.
+ *
+ * @return The resulting chassis speed.
+ */
+ ChassisSpeeds ToChassisSpeeds(const MecanumDriveWheelSpeeds& wheelSpeeds);
+
+ private:
+ Eigen::Matrix<double, 4, 3> m_inverseKinematics;
+ Eigen::HouseholderQR<Eigen::Matrix<double, 4, 3>> m_forwardKinematics;
+ Translation2d m_frontLeftWheel;
+ Translation2d m_frontRightWheel;
+ Translation2d m_rearLeftWheel;
+ Translation2d m_rearRightWheel;
+
+ Translation2d m_previousCoR;
+
+ /**
+ * Construct inverse kinematics matrix from wheel locations.
+ *
+ * @param fl The location of the front-left wheel relative to the physical
+ * center of the robot.
+ * @param fr The location of the front-right wheel relative to the physical
+ * center of the robot.
+ * @param rl The location of the rear-left wheel relative to the physical
+ * center of the robot.
+ * @param rr The location of the rear-right wheel relative to the physical
+ * center of the robot.
+ */
+ void SetInverseKinematics(Translation2d fl, Translation2d fr,
+ Translation2d rl, Translation2d rr);
+};
+
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/MecanumDriveOdometry.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/MecanumDriveOdometry.h
new file mode 100644
index 0000000..e8816e1
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/MecanumDriveOdometry.h
@@ -0,0 +1,99 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <units/units.h>
+
+#include "frc/geometry/Pose2d.h"
+#include "frc/kinematics/MecanumDriveKinematics.h"
+#include "frc/kinematics/MecanumDriveWheelSpeeds.h"
+#include "frc2/Timer.h"
+
+namespace frc {
+
+/**
+ * Class for mecanum drive odometry. Odometry allows you to track the robot's
+ * position on the field over a course of a match using readings from your
+ * mecanum wheel encoders.
+ *
+ * Teams can use odometry during the autonomous period for complex tasks like
+ * path following. Furthermore, odometry can be used for latency compensation
+ * when using computer-vision systems.
+ */
+class MecanumDriveOdometry {
+ public:
+ /**
+ * Constructs a MecanumDriveOdometry object.
+ *
+ * @param kinematics The mecanum drive kinematics for your drivetrain.
+ * @param initialPose The starting position of the robot on the field.
+ */
+ explicit MecanumDriveOdometry(MecanumDriveKinematics kinematics,
+ const Pose2d& initialPose = Pose2d());
+
+ /**
+ * Resets the robot's position on the field.
+ *
+ * @param pose The position on the field that your robot is at.
+ */
+ void ResetPosition(const Pose2d& pose) {
+ m_pose = pose;
+ m_previousAngle = pose.Rotation();
+ }
+
+ /**
+ * Returns the position of the robot on the field.
+ * @return The pose of the robot.
+ */
+ const Pose2d& GetPose() const { return m_pose; }
+
+ /**
+ * Updates the robot's position on the field using forward kinematics and
+ * integration of the pose over time. This method takes in the current time as
+ * a parameter to calculate period (difference between two timestamps). The
+ * period is used to calculate the change in distance from a velocity. This
+ * also takes in an angle parameter which is used instead of the
+ * angular rate that is calculated from forward kinematics.
+ *
+ * @param currentTime The current time.
+ * @param angle The angle of the robot.
+ * @param wheelSpeeds The current wheel speeds.
+ *
+ * @return The new pose of the robot.
+ */
+ const Pose2d& UpdateWithTime(units::second_t currentTime,
+ const Rotation2d& angle,
+ MecanumDriveWheelSpeeds wheelSpeeds);
+
+ /**
+ * Updates the robot's position on the field using forward kinematics and
+ * integration of the pose over time. This method automatically calculates
+ * the current time to calculate period (difference between two timestamps).
+ * The period is used to calculate the change in distance from a velocity.
+ * This also takes in an angle parameter which is used instead of the
+ * angular rate that is calculated from forward kinematics.
+ *
+ * @param angle The angle of the robot.
+ * @param wheelSpeeds The current wheel speeds.
+ *
+ * @return The new pose of the robot.
+ */
+ const Pose2d& Update(const Rotation2d& angle,
+ MecanumDriveWheelSpeeds wheelSpeeds) {
+ return UpdateWithTime(frc2::Timer::GetFPGATimestamp(), angle, wheelSpeeds);
+ }
+
+ private:
+ MecanumDriveKinematics m_kinematics;
+ Pose2d m_pose;
+
+ units::second_t m_previousTime = -1_s;
+ Rotation2d m_previousAngle;
+};
+
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/MecanumDriveWheelSpeeds.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/MecanumDriveWheelSpeeds.h
new file mode 100644
index 0000000..159f7f0
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/MecanumDriveWheelSpeeds.h
@@ -0,0 +1,49 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <units/units.h>
+
+namespace frc {
+/**
+ * Represents the wheel speeds for a mecanum drive drivetrain.
+ */
+struct MecanumDriveWheelSpeeds {
+ /**
+ * Speed of the front-left wheel.
+ */
+ units::meters_per_second_t frontLeft = 0_mps;
+
+ /**
+ * Speed of the front-right wheel.
+ */
+ units::meters_per_second_t frontRight = 0_mps;
+
+ /**
+ * Speed of the rear-left wheel.
+ */
+ units::meters_per_second_t rearLeft = 0_mps;
+
+ /**
+ * Speed of the rear-right wheel.
+ */
+ units::meters_per_second_t rearRight = 0_mps;
+
+ /**
+ * Normalizes the wheel speeds using some max attainable speed. Sometimes,
+ * after inverse kinematics, the requested speed from a/several modules may be
+ * above the max attainable speed for the driving motor on that module. To fix
+ * this issue, one can "normalize" all the wheel speeds to make sure that all
+ * requested module speeds are below the absolute threshold, while maintaining
+ * the ratio of speeds between modules.
+ *
+ * @param attainableMaxSpeed The absolute max speed that a wheel can reach.
+ */
+ void Normalize(units::meters_per_second_t attainableMaxSpeed);
+};
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
new file mode 100644
index 0000000..fcd8087
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
@@ -0,0 +1,150 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <array>
+#include <cstddef>
+
+#include <Eigen/Core>
+#include <Eigen/QR>
+#include <units/units.h>
+
+#include "frc/geometry/Rotation2d.h"
+#include "frc/geometry/Translation2d.h"
+#include "frc/kinematics/ChassisSpeeds.h"
+#include "frc/kinematics/SwerveModuleState.h"
+
+namespace frc {
+/**
+ * Helper class that converts a chassis velocity (dx, dy, and dtheta components)
+ * into individual module states (speed and angle).
+ *
+ * The inverse kinematics (converting from a desired chassis velocity to
+ * individual module states) uses the relative locations of the modules with
+ * respect to the center of rotation. The center of rotation for inverse
+ * kinematics is also variable. This means that you can set your set your center
+ * of rotation in a corner of the robot to perform special evasion manuevers.
+ *
+ * Forward kinematics (converting an array of module states into the overall
+ * chassis motion) is performs the exact opposite of what inverse kinematics
+ * does. Since this is an overdetermined system (more equations than variables),
+ * we use a least-squares approximation.
+ *
+ * The inverse kinematics: [moduleStates] = [moduleLocations] * [chassisSpeeds]
+ * We take the Moore-Penrose pseudoinverse of [moduleLocations] and then
+ * multiply by [moduleStates] to get our chassis speeds.
+ *
+ * Forward kinematics is also used for odometry -- determining the position of
+ * the robot on the field using encoders and a gyro.
+ */
+template <size_t NumModules>
+class SwerveDriveKinematics {
+ public:
+ /**
+ * Constructs a swerve drive kinematics object. This takes in a variable
+ * number of wheel locations as Translation2ds. The order in which you pass in
+ * the wheel locations is the same order that you will recieve the module
+ * states when performing inverse kinematics. It is also expected that you
+ * pass in the module states in the same order when calling the forward
+ * kinematics methods.
+ *
+ * @param wheels The locations of the wheels relative to the physical center
+ * of the robot.
+ */
+ template <typename... Wheels>
+ explicit SwerveDriveKinematics(Translation2d wheel, Wheels&&... wheels)
+ : m_modules{wheel, wheels...} {
+ static_assert(sizeof...(wheels) >= 1,
+ "A swerve drive requires at least two modules");
+
+ for (size_t i = 0; i < NumModules; i++) {
+ // clang-format off
+ m_inverseKinematics.template block<2, 3>(i * 2, 0) <<
+ 1, 0, (-m_modules[i].Y()).template to<double>(),
+ 0, 1, (+m_modules[i].X()).template to<double>();
+ // clang-format on
+ }
+
+ m_forwardKinematics = m_inverseKinematics.householderQr();
+ }
+
+ SwerveDriveKinematics(const SwerveDriveKinematics&) = default;
+
+ /**
+ * Performs inverse kinematics to return the module states from a desired
+ * chassis velocity. This method is often used to convert joystick values into
+ * module speeds and angles.
+ *
+ * This function also supports variable centers of rotation. During normal
+ * operations, the center of rotation is usually the same as the physical
+ * center of the robot; therefore, the argument is defaulted to that use case.
+ * However, if you wish to change the center of rotation for evasive
+ * manuevers, vision alignment, or for any other use case, you can do so.
+ *
+ * @param chassisSpeeds The desired chassis speed.
+ * @param centerOfRotation The center of rotation. For example, if you set the
+ * center of rotation at one corner of the robot and provide a chassis speed
+ * that only has a dtheta component, the robot will rotate around that corner.
+ *
+ * @return An array containing the module states. Use caution because these
+ * module states are not normalized. Sometimes, a user input may cause one of
+ * the module speeds to go above the attainable max velocity. Use the
+ * <NormalizeWheelSpeeds> function to rectify this issue. In addition, you can
+ * leverage the power of C++17 to directly assign the module states to
+ * variables:
+ *
+ * @code{.cpp}
+ * auto [fl, fr, bl, br] = kinematics.ToSwerveModuleStates(chassisSpeeds);
+ * @endcode
+ */
+ std::array<SwerveModuleState, NumModules> ToSwerveModuleStates(
+ const ChassisSpeeds& chassisSpeeds,
+ const Translation2d& centerOfRotation = Translation2d());
+
+ /**
+ * Performs forward kinematics to return the resulting chassis state from the
+ * given module states. This method is often used for odometry -- determining
+ * the robot's position on the field using data from the real-world speed and
+ * angle of each module on the robot.
+ *
+ * @param wheelStates The state of the modules (as a SwerveModuleState type)
+ * as measured from respective encoders and gyros. The order of the swerve
+ * module states should be same as passed into the constructor of this class.
+ *
+ * @return The resulting chassis speed.
+ */
+ template <typename... ModuleStates>
+ ChassisSpeeds ToChassisSpeeds(ModuleStates&&... wheelStates);
+
+ /**
+ * Normalizes the wheel speeds using some max attainable speed. Sometimes,
+ * after inverse kinematics, the requested speed from a/several modules may be
+ * above the max attainable speed for the driving motor on that module. To fix
+ * this issue, one can "normalize" all the wheel speeds to make sure that all
+ * requested module speeds are below the absolute threshold, while maintaining
+ * the ratio of speeds between modules.
+ *
+ * @param moduleStates Reference to array of module states. The array will be
+ * mutated with the normalized speeds!
+ * @param attainableMaxSpeed The absolute max speed that a module can reach.
+ */
+ static void NormalizeWheelSpeeds(
+ std::array<SwerveModuleState, NumModules>* moduleStates,
+ units::meters_per_second_t attainableMaxSpeed);
+
+ private:
+ Eigen::Matrix<double, NumModules * 2, 3> m_inverseKinematics;
+ Eigen::HouseholderQR<Eigen::Matrix<double, NumModules * 2, 3>>
+ m_forwardKinematics;
+ std::array<Translation2d, NumModules> m_modules;
+
+ Translation2d m_previousCoR;
+};
+} // namespace frc
+
+#include "SwerveDriveKinematics.inc"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/SwerveDriveKinematics.inc b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/SwerveDriveKinematics.inc
new file mode 100644
index 0000000..138954d
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/SwerveDriveKinematics.inc
@@ -0,0 +1,103 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <algorithm>
+
+namespace frc {
+
+template <class... Wheels>
+SwerveDriveKinematics(Translation2d, Wheels...)
+ ->SwerveDriveKinematics<1 + sizeof...(Wheels)>;
+
+template <size_t NumModules>
+std::array<SwerveModuleState, NumModules>
+SwerveDriveKinematics<NumModules>::ToSwerveModuleStates(
+ const ChassisSpeeds& chassisSpeeds, const Translation2d& centerOfRotation) {
+ // We have a new center of rotation. We need to compute the matrix again.
+ if (centerOfRotation != m_previousCoR) {
+ for (size_t i = 0; i < NumModules; i++) {
+ // clang-format off
+ m_inverseKinematics.template block<2, 3>(i * 2, 0) <<
+ 1, 0, (-m_modules[i].Y() + centerOfRotation.Y()).template to<double>(),
+ 0, 1, (+m_modules[i].X() - centerOfRotation.X()).template to<double>();
+ // clang-format on
+ }
+ m_previousCoR = centerOfRotation;
+ }
+
+ Eigen::Vector3d chassisSpeedsVector;
+ chassisSpeedsVector << chassisSpeeds.vx.to<double>(),
+ chassisSpeeds.vy.to<double>(), chassisSpeeds.omega.to<double>();
+
+ Eigen::Matrix<double, NumModules * 2, 1> moduleStatesMatrix =
+ m_inverseKinematics * chassisSpeedsVector;
+ std::array<SwerveModuleState, NumModules> moduleStates;
+
+ for (size_t i = 0; i < NumModules; i++) {
+ units::meters_per_second_t x =
+ units::meters_per_second_t{moduleStatesMatrix(i * 2, 0)};
+ units::meters_per_second_t y =
+ units::meters_per_second_t{moduleStatesMatrix(i * 2 + 1, 0)};
+
+ auto speed = units::math::hypot(x, y);
+ Rotation2d rotation{x.to<double>(), y.to<double>()};
+
+ moduleStates[i] = {speed, rotation};
+ }
+
+ return moduleStates;
+}
+
+template <size_t NumModules>
+template <typename... ModuleStates>
+ChassisSpeeds SwerveDriveKinematics<NumModules>::ToChassisSpeeds(
+ ModuleStates&&... wheelStates) {
+ static_assert(sizeof...(wheelStates) == NumModules,
+ "Number of modules is not consistent with number of wheel "
+ "locations provided in constructor.");
+
+ std::array<SwerveModuleState, NumModules> moduleStates{wheelStates...};
+ Eigen::Matrix<double, NumModules * 2, 1> moduleStatesMatrix;
+
+ for (size_t i = 0; i < NumModules; i++) {
+ SwerveModuleState module = moduleStates[i];
+ moduleStatesMatrix.row(i * 2)
+ << module.speed.to<double>() * module.angle.Cos();
+ moduleStatesMatrix.row(i * 2 + 1)
+ << module.speed.to<double>() * module.angle.Sin();
+ }
+
+ Eigen::Vector3d chassisSpeedsVector =
+ m_forwardKinematics.solve(moduleStatesMatrix);
+
+ return {units::meters_per_second_t{chassisSpeedsVector(0)},
+ units::meters_per_second_t{chassisSpeedsVector(1)},
+ units::radians_per_second_t{chassisSpeedsVector(2)}};
+}
+
+template <size_t NumModules>
+void SwerveDriveKinematics<NumModules>::NormalizeWheelSpeeds(
+ std::array<SwerveModuleState, NumModules>* moduleStates,
+ units::meters_per_second_t attainableMaxSpeed) {
+ auto& states = *moduleStates;
+ auto realMaxSpeed = std::max_element(states.begin(), states.end(),
+ [](const auto& a, const auto& b) {
+ return units::math::abs(a.speed) <
+ units::math::abs(b.speed);
+ })
+ ->speed;
+
+ if (realMaxSpeed > attainableMaxSpeed) {
+ for (auto& module : states) {
+ module.speed = module.speed / realMaxSpeed * attainableMaxSpeed;
+ }
+ }
+}
+
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/SwerveDriveOdometry.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/SwerveDriveOdometry.h
new file mode 100644
index 0000000..1dbe178
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/SwerveDriveOdometry.h
@@ -0,0 +1,113 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <chrono>
+#include <cstddef>
+#include <ctime>
+
+#include <units/units.h>
+
+#include "SwerveDriveKinematics.h"
+#include "SwerveModuleState.h"
+#include "frc/geometry/Pose2d.h"
+#include "frc2/Timer.h"
+
+namespace frc {
+
+/**
+ * Class for swerve drive odometry. Odometry allows you to track the robot's
+ * position on the field over a course of a match using readings from your
+ * swerve drive encoders and swerve azimuth encoders.
+ *
+ * Teams can use odometry during the autonomous period for complex tasks like
+ * path following. Furthermore, odometry can be used for latency compensation
+ * when using computer-vision systems.
+ */
+template <size_t NumModules>
+class SwerveDriveOdometry {
+ public:
+ /**
+ * Constructs a SwerveDriveOdometry object.
+ *
+ * @param kinematics The swerve drive kinematics for your drivetrain.
+ * @param initialPose The starting position of the robot on the field.
+ */
+ SwerveDriveOdometry(SwerveDriveKinematics<NumModules> kinematics,
+ const Pose2d& initialPose = Pose2d());
+
+ /**
+ * Resets the robot's position on the field.
+ *
+ * @param pose The position on the field that your robot is at.
+ */
+ void ResetPosition(const Pose2d& pose) {
+ m_pose = pose;
+ m_previousAngle = pose.Rotation();
+ }
+
+ /**
+ * Returns the position of the robot on the field.
+ * @return The pose of the robot.
+ */
+ const Pose2d& GetPose() const { return m_pose; }
+
+ /**
+ * Updates the robot's position on the field using forward kinematics and
+ * integration of the pose over time. This method takes in the current time as
+ * a parameter to calculate period (difference between two timestamps). The
+ * period is used to calculate the change in distance from a velocity. This
+ * also takes in an angle parameter which is used instead of the
+ * angular rate that is calculated from forward kinematics.
+ *
+ * @param currentTime The current time.
+ * @param angle The angle of the robot.
+ * @param moduleStates The current state of all swerve modules. Please provide
+ * the states in the same order in which you instantiated
+ * your SwerveDriveKinematics.
+ *
+ * @return The new pose of the robot.
+ */
+ template <typename... ModuleStates>
+ const Pose2d& UpdateWithTime(units::second_t currentTime,
+ const Rotation2d& angle,
+ ModuleStates&&... moduleStates);
+
+ /**
+ * Updates the robot's position on the field using forward kinematics and
+ * integration of the pose over time. This method automatically calculates
+ * the current time to calculate period (difference between two timestamps).
+ * The period is used to calculate the change in distance from a velocity.
+ * This also takes in an angle parameter which is used instead of the
+ * angular rate that is calculated from forward kinematics.
+ *
+ * @param angle The angle of the robot.
+ * @param moduleStates The current state of all swerve modules. Please provide
+ * the states in the same order in which you instantiated
+ * your SwerveDriveKinematics.
+ *
+ * @return The new pose of the robot.
+ */
+ template <typename... ModuleStates>
+ const Pose2d& Update(const Rotation2d& angle,
+ ModuleStates&&... moduleStates) {
+ return UpdateWithTime(frc2::Timer::GetFPGATimestamp(), angle,
+ moduleStates...);
+ }
+
+ private:
+ SwerveDriveKinematics<NumModules> m_kinematics;
+ Pose2d m_pose;
+
+ units::second_t m_previousTime = -1_s;
+ Rotation2d m_previousAngle;
+};
+
+} // namespace frc
+
+#include "SwerveDriveOdometry.inc"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/SwerveDriveOdometry.inc b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/SwerveDriveOdometry.inc
new file mode 100644
index 0000000..1ff75ac
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/SwerveDriveOdometry.inc
@@ -0,0 +1,38 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+namespace frc {
+template <size_t NumModules>
+SwerveDriveOdometry<NumModules>::SwerveDriveOdometry(
+ SwerveDriveKinematics<NumModules> kinematics, const Pose2d& initialPose)
+ : m_kinematics(kinematics), m_pose(initialPose) {
+ m_previousAngle = m_pose.Rotation();
+}
+
+template <size_t NumModules>
+template <typename... ModuleStates>
+const Pose2d& frc::SwerveDriveOdometry<NumModules>::UpdateWithTime(
+ units::second_t currentTime, const Rotation2d& angle,
+ ModuleStates&&... moduleStates) {
+ units::second_t deltaTime =
+ (m_previousTime >= 0_s) ? currentTime - m_previousTime : 0_s;
+ m_previousTime = currentTime;
+
+ auto [dx, dy, dtheta] = m_kinematics.ToChassisSpeeds(moduleStates...);
+ static_cast<void>(dtheta);
+
+ auto newPose = m_pose.Exp(
+ {dx * deltaTime, dy * deltaTime, (angle - m_previousAngle).Radians()});
+
+ m_previousAngle = angle;
+ m_pose = {newPose.Translation(), angle};
+
+ return m_pose;
+}
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/SwerveModuleState.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/SwerveModuleState.h
new file mode 100644
index 0000000..fbfe0d1
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/kinematics/SwerveModuleState.h
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <units/units.h>
+
+#include "frc/geometry/Rotation2d.h"
+
+namespace frc {
+/**
+ * Represents the state of one swerve module.
+ */
+struct SwerveModuleState {
+ /**
+ * Speed of the wheel of the module.
+ */
+ units::meters_per_second_t speed = 0_mps;
+
+ /**
+ * Angle of the module.
+ */
+ Rotation2d angle;
+};
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/livewindow/LiveWindow.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/livewindow/LiveWindow.h
index 465a4bb..c7e0ec2 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/livewindow/LiveWindow.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/livewindow/LiveWindow.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2012-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2012-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,13 +9,10 @@
#include <memory>
-#include <wpi/Twine.h>
-#include <wpi/deprecated.h>
-
-#include "frc/smartdashboard/Sendable.h"
-
namespace frc {
+class Sendable;
+
/**
* The LiveWindow class is the public interface for putting sensors and
* actuators on the LiveWindow.
@@ -33,140 +30,6 @@
*/
static LiveWindow* GetInstance();
- WPI_DEPRECATED("no longer required")
- void Run();
-
- /**
- * Add a Sensor associated with the subsystem and call it by the given name.
- *
- * @param subsystem The subsystem this component is part of.
- * @param name The name of this component.
- * @param component A Sendable component that represents a sensor.
- */
- WPI_DEPRECATED("use Sendable::SetName() instead")
- void AddSensor(const wpi::Twine& subsystem, const wpi::Twine& name,
- Sendable* component);
-
- /**
- * Add a Sensor associated with the subsystem and call it by the given name.
- *
- * @param subsystem The subsystem this component is part of.
- * @param name The name of this component.
- * @param component A Sendable component that represents a sensor.
- */
- WPI_DEPRECATED("use Sendable::SetName() instead")
- void AddSensor(const wpi::Twine& subsystem, const wpi::Twine& name,
- Sendable& component);
-
- /**
- * Add a Sensor associated with the subsystem and call it by the given name.
- *
- * @param subsystem The subsystem this component is part of.
- * @param name The name of this component.
- * @param component A Sendable component that represents a sensor.
- */
- WPI_DEPRECATED("use Sendable::SetName() instead")
- void AddSensor(const wpi::Twine& subsystem, const wpi::Twine& name,
- std::shared_ptr<Sendable> component);
-
- /**
- * Add an Actuator associated with the subsystem and call it by the given
- * name.
- *
- * @param subsystem The subsystem this component is part of.
- * @param name The name of this component.
- * @param component A Sendable component that represents a actuator.
- */
- WPI_DEPRECATED("use Sendable::SetName() instead")
- void AddActuator(const wpi::Twine& subsystem, const wpi::Twine& name,
- Sendable* component);
-
- /**
- * Add an Actuator associated with the subsystem and call it by the given
- * name.
- *
- * @param subsystem The subsystem this component is part of.
- * @param name The name of this component.
- * @param component A Sendable component that represents a actuator.
- */
- WPI_DEPRECATED("use Sendable::SetName() instead")
- void AddActuator(const wpi::Twine& subsystem, const wpi::Twine& name,
- Sendable& component);
-
- /**
- * Add an Actuator associated with the subsystem and call it by the given
- * name.
- *
- * @param subsystem The subsystem this component is part of.
- * @param name The name of this component.
- * @param component A Sendable component that represents a actuator.
- */
- WPI_DEPRECATED("use Sendable::SetName() instead")
- void AddActuator(const wpi::Twine& subsystem, const wpi::Twine& name,
- std::shared_ptr<Sendable> component);
-
- /**
- * Meant for internal use in other WPILib classes.
- *
- * @deprecated Use SendableBase::SetName() instead.
- */
- WPI_DEPRECATED("use SensorUtil::SetName() instead")
- void AddSensor(const wpi::Twine& type, int channel, Sendable* component);
-
- /**
- * Meant for internal use in other WPILib classes.
- *
- * @deprecated Use SendableBase::SetName() instead.
- */
- WPI_DEPRECATED("use SensorUtil::SetName() instead")
- void AddActuator(const wpi::Twine& type, int channel, Sendable* component);
-
- /**
- * Meant for internal use in other WPILib classes.
- *
- * @deprecated Use SendableBase::SetName() instead.
- */
- WPI_DEPRECATED("use SensorUtil::SetName() instead")
- void AddActuator(const wpi::Twine& type, int module, int channel,
- Sendable* component);
-
- /**
- * Add a component to the LiveWindow.
- *
- * @param sendable component to add
- */
- void Add(std::shared_ptr<Sendable> component);
-
- /**
- * Add a component to the LiveWindow.
- *
- * @param sendable component to add
- */
- void Add(Sendable* component);
-
- /**
- * Add a child component to a component.
- *
- * @param parent parent component
- * @param child child component
- */
- void AddChild(Sendable* parent, std::shared_ptr<Sendable> component);
-
- /**
- * Add a child component to a component.
- *
- * @param parent parent component
- * @param child child component
- */
- void AddChild(Sendable* parent, void* component);
-
- /**
- * Remove the component from the LiveWindow.
- *
- * @param sendable component to remove
- */
- void Remove(Sendable* component);
-
/**
* Enable telemetry for a single component.
*
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/livewindow/LiveWindowSendable.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/livewindow/LiveWindowSendable.h
deleted file mode 100644
index 172e0cb..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/livewindow/LiveWindowSendable.h
+++ /dev/null
@@ -1,52 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2012-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include <string>
-
-#include <wpi/deprecated.h>
-
-#include "frc/smartdashboard/Sendable.h"
-
-namespace frc {
-
-/**
- * Live Window Sendable is a special type of object sendable to the live window.
- * @deprecated Use Sendable directly instead
- */
-class LiveWindowSendable : public Sendable {
- public:
- WPI_DEPRECATED("use Sendable directly instead")
- LiveWindowSendable() = default;
- LiveWindowSendable(LiveWindowSendable&&) = default;
- LiveWindowSendable& operator=(LiveWindowSendable&&) = default;
-
- /**
- * Update the table for this sendable object with the latest values.
- */
- virtual void UpdateTable() = 0;
-
- /**
- * Start having this sendable object automatically respond to value changes
- * reflect the value on the table.
- */
- virtual void StartLiveWindowMode() = 0;
-
- /**
- * Stop having this sendable object automatically respond to value changes.
- */
- virtual void StopLiveWindowMode() = 0;
-
- std::string GetName() const override;
- void SetName(const wpi::Twine& name) override;
- std::string GetSubsystem() const override;
- void SetSubsystem(const wpi::Twine& subsystem) override;
- void InitSendable(SendableBuilder& builder) override;
-};
-
-} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/BuiltInLayouts.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/BuiltInLayouts.h
index c958baa..1d1ea5f 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/BuiltInLayouts.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/BuiltInLayouts.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/BuiltInWidgets.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/BuiltInWidgets.h
index bdd2011..8e666b7 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/BuiltInWidgets.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/BuiltInWidgets.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/LayoutType.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/LayoutType.h
index 50e448b..00a5e36 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/LayoutType.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/LayoutType.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/SendableCameraWrapper.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/SendableCameraWrapper.h
index 291e64d..5610cf8 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/SendableCameraWrapper.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/SendableCameraWrapper.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,22 +7,39 @@
#pragma once
+#include <functional>
+#include <memory>
#include <string>
-#include <cscore_c.h>
-
-#include "frc/smartdashboard/SendableBase.h"
-
+#ifndef DYNAMIC_CAMERA_SERVER
+#include <cscore_oo.h>
+#else
namespace cs {
class VideoSource;
} // namespace cs
+typedef int CS_Handle;
+typedef CS_Handle CS_Source;
+#endif
+
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
+class SendableCameraWrapper;
+
+namespace detail {
+constexpr const char* kProtocol = "camera_server://";
+std::shared_ptr<SendableCameraWrapper>& GetSendableCameraWrapper(
+ CS_Source source);
+void AddToSendableRegistry(Sendable* sendable, std::string name);
+} // namespace detail
+
/**
* A wrapper to make video sources sendable and usable from Shuffleboard.
*/
-class SendableCameraWrapper : public SendableBase {
+class SendableCameraWrapper : public Sendable,
+ public SendableHelper<SendableCameraWrapper> {
private:
struct private_init {};
@@ -52,4 +69,27 @@
std::string m_uri;
};
+#ifndef DYNAMIC_CAMERA_SERVER
+inline SendableCameraWrapper::SendableCameraWrapper(CS_Source source,
+ const private_init&)
+ : m_uri(detail::kProtocol) {
+ CS_Status status = 0;
+ auto name = cs::GetSourceName(source, &status);
+ detail::AddToSendableRegistry(this, name);
+ m_uri += name;
+}
+
+inline SendableCameraWrapper& SendableCameraWrapper::Wrap(
+ const cs::VideoSource& source) {
+ return Wrap(source.GetHandle());
+}
+
+inline SendableCameraWrapper& SendableCameraWrapper::Wrap(CS_Source source) {
+ auto& wrapper = detail::GetSendableCameraWrapper(source);
+ if (!wrapper)
+ wrapper = std::make_shared<SendableCameraWrapper>(source, private_init{});
+ return *wrapper;
+}
+#endif
+
} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardContainer.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardContainer.h
index ab03099..7b8b49d 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardContainer.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardContainer.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,6 +7,7 @@
#pragma once
+#include <functional>
#include <memory>
#include <string>
#include <vector>
@@ -24,6 +25,7 @@
#include "frc/shuffleboard/LayoutType.h"
#include "frc/shuffleboard/ShuffleboardComponentBase.h"
#include "frc/shuffleboard/ShuffleboardValue.h"
+#include "frc/shuffleboard/SuppliedValueWidget.h"
namespace cs {
class VideoSource;
@@ -263,6 +265,98 @@
wpi::ArrayRef<std::string> defaultValue);
/**
+ * Adds a widget to this container. The widget will display the data provided
+ * by the value supplier. Changes made on the dashboard will not propagate to
+ * the widget object, and will be overridden by values from the value
+ * supplier.
+ *
+ * @param title the title of the widget
+ * @param valueSupplier the supplier for values
+ * @return a widget to display data
+ */
+ SuppliedValueWidget<std::string>& AddString(
+ const wpi::Twine& title, std::function<std::string()> supplier);
+
+ /**
+ * Adds a widget to this container. The widget will display the data provided
+ * by the value supplier. Changes made on the dashboard will not propagate to
+ * the widget object, and will be overridden by values from the value
+ * supplier.
+ *
+ * @param title the title of the widget
+ * @param valueSupplier the supplier for values
+ * @return a widget to display data
+ */
+ SuppliedValueWidget<double>& AddNumber(const wpi::Twine& title,
+ std::function<double()> supplier);
+
+ /**
+ * Adds a widget to this container. The widget will display the data provided
+ * by the value supplier. Changes made on the dashboard will not propagate to
+ * the widget object, and will be overridden by values from the value
+ * supplier.
+ *
+ * @param title the title of the widget
+ * @param valueSupplier the supplier for values
+ * @return a widget to display data
+ */
+ SuppliedValueWidget<bool>& AddBoolean(const wpi::Twine& title,
+ std::function<bool()> supplier);
+
+ /**
+ * Adds a widget to this container. The widget will display the data provided
+ * by the value supplier. Changes made on the dashboard will not propagate to
+ * the widget object, and will be overridden by values from the value
+ * supplier.
+ *
+ * @param title the title of the widget
+ * @param valueSupplier the supplier for values
+ * @return a widget to display data
+ */
+ SuppliedValueWidget<std::vector<std::string>>& AddStringArray(
+ const wpi::Twine& title,
+ std::function<std::vector<std::string>()> supplier);
+
+ /**
+ * Adds a widget to this container. The widget will display the data provided
+ * by the value supplier. Changes made on the dashboard will not propagate to
+ * the widget object, and will be overridden by values from the value
+ * supplier.
+ *
+ * @param title the title of the widget
+ * @param valueSupplier the supplier for values
+ * @return a widget to display data
+ */
+ SuppliedValueWidget<std::vector<double>>& AddNumberArray(
+ const wpi::Twine& title, std::function<std::vector<double>()> supplier);
+
+ /**
+ * Adds a widget to this container. The widget will display the data provided
+ * by the value supplier. Changes made on the dashboard will not propagate to
+ * the widget object, and will be overridden by values from the value
+ * supplier.
+ *
+ * @param title the title of the widget
+ * @param valueSupplier the supplier for values
+ * @return a widget to display data
+ */
+ SuppliedValueWidget<std::vector<int>>& AddBooleanArray(
+ const wpi::Twine& title, std::function<std::vector<int>()> supplier);
+
+ /**
+ * Adds a widget to this container. The widget will display the data provided
+ * by the value supplier. Changes made on the dashboard will not propagate to
+ * the widget object, and will be overridden by values from the value
+ * supplier.
+ *
+ * @param title the title of the widget
+ * @param valueSupplier the supplier for values
+ * @return a widget to display data
+ */
+ SuppliedValueWidget<wpi::StringRef>& AddRaw(
+ const wpi::Twine& title, std::function<wpi::StringRef()> supplier);
+
+ /**
* Adds a widget to this container to display a simple piece of data.
*
* Unlike {@link #add(String, Object)}, the value in the widget will be saved
@@ -407,3 +501,17 @@
#include "frc/shuffleboard/ComplexWidget.h"
#include "frc/shuffleboard/ShuffleboardLayout.h"
#include "frc/shuffleboard/SimpleWidget.h"
+
+#ifndef DYNAMIC_CAMERA_SERVER
+#include "frc/shuffleboard/SendableCameraWrapper.h"
+
+inline frc::ComplexWidget& frc::ShuffleboardContainer::Add(
+ const cs::VideoSource& video) {
+ return Add(frc::SendableCameraWrapper::Wrap(video));
+}
+
+inline frc::ComplexWidget& frc::ShuffleboardContainer::Add(
+ const wpi::Twine& title, const cs::VideoSource& video) {
+ return Add(title, frc::SendableCameraWrapper::Wrap(video));
+}
+#endif
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardLayout.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardLayout.h
index 0b5d459..effa3da 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardLayout.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardLayout.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -14,7 +14,11 @@
#include "frc/shuffleboard/ShuffleboardComponent.h"
#include "frc/shuffleboard/ShuffleboardContainer.h"
-#include "frc/smartdashboard/Sendable.h"
+
+#ifdef _WIN32
+#pragma warning(push)
+#pragma warning(disable : 4250)
+#endif
namespace frc {
@@ -33,3 +37,7 @@
};
} // namespace frc
+
+#ifdef _WIN32
+#pragma warning(pop)
+#endif
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardTab.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardTab.h
index 16e6f92..75896ae 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardTab.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardTab.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -13,7 +13,6 @@
#include <wpi/StringRef.h>
#include "frc/shuffleboard/ShuffleboardContainer.h"
-#include "frc/smartdashboard/Sendable.h"
namespace frc {
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardWidget.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardWidget.h
index 3b1b0a8..ea92b93 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardWidget.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardWidget.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/SuppliedValueWidget.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/SuppliedValueWidget.h
new file mode 100644
index 0000000..c806db4
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/SuppliedValueWidget.h
@@ -0,0 +1,48 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <functional>
+#include <memory>
+
+#include <networktables/NetworkTable.h>
+#include <networktables/NetworkTableEntry.h>
+#include <wpi/Twine.h>
+
+#include "frc/shuffleboard/ShuffleboardComponent.h"
+#include "frc/shuffleboard/ShuffleboardComponent.inc"
+#include "frc/shuffleboard/ShuffleboardComponentBase.h"
+#include "frc/shuffleboard/ShuffleboardContainer.h"
+#include "frc/shuffleboard/ShuffleboardWidget.h"
+
+namespace frc {
+template <typename T>
+class SuppliedValueWidget : public ShuffleboardWidget<SuppliedValueWidget<T> > {
+ public:
+ SuppliedValueWidget(ShuffleboardContainer& parent, const wpi::Twine& title,
+ std::function<T()> supplier,
+ std::function<void(nt::NetworkTableEntry, T)> setter)
+ : ShuffleboardValue(title),
+ ShuffleboardWidget<SuppliedValueWidget<T> >(parent, title),
+ m_supplier(supplier),
+ m_setter(setter) {}
+
+ void BuildInto(std::shared_ptr<nt::NetworkTable> parentTable,
+ std::shared_ptr<nt::NetworkTable> metaTable) override {
+ this->BuildMetadata(metaTable);
+ metaTable->GetEntry("Controllable").SetBoolean(false);
+
+ auto entry = parentTable->GetEntry(this->GetTitle());
+ m_setter(entry, m_supplier());
+ }
+
+ private:
+ std::function<T()> m_supplier;
+ std::function<void(nt::NetworkTableEntry, T)> m_setter;
+};
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/WidgetType.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/WidgetType.h
index 057d594..ff92fe7 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/WidgetType.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/shuffleboard/WidgetType.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/ListenerExecutor.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/ListenerExecutor.h
new file mode 100644
index 0000000..9500278
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/ListenerExecutor.h
@@ -0,0 +1,41 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <functional>
+#include <vector>
+
+#include <wpi/mutex.h>
+
+namespace frc::detail {
+/**
+ * An executor for running listener tasks posted by Sendable listeners
+ * synchronously from the main application thread.
+ *
+ * @see Sendable
+ */
+class ListenerExecutor {
+ public:
+ /**
+ * Posts a task to the executor to be run synchronously from the main thread.
+ *
+ * @param task The task to run synchronously from the main thread.
+ */
+ void Execute(std::function<void()> task);
+
+ /**
+ * Runs all posted tasks. Called periodically from main thread.
+ */
+ void RunListenerTasks();
+
+ private:
+ std::vector<std::function<void()>> m_tasks;
+ std::vector<std::function<void()>> m_runningTasks;
+ wpi::mutex m_lock;
+};
+} // namespace frc::detail
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/NamedSendable.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/NamedSendable.h
deleted file mode 100644
index 604d2e0..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/NamedSendable.h
+++ /dev/null
@@ -1,34 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2012-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include <string>
-
-#include <wpi/deprecated.h>
-
-#include "frc/smartdashboard/Sendable.h"
-
-namespace frc {
-
-/**
- * The interface for sendable objects that gives the sendable a default name in
- * the Smart Dashboard.
- * @deprecated Use Sendable directly instead
- */
-class NamedSendable : public Sendable {
- public:
- WPI_DEPRECATED("use Sendable directly instead")
- NamedSendable() = default;
-
- void SetName(const wpi::Twine& name) override;
- std::string GetSubsystem() const override;
- void SetSubsystem(const wpi::Twine& subsystem) override;
- void InitSendable(SendableBuilder& builder) override;
-};
-
-} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/Sendable.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/Sendable.h
index 383c169..5000855 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/Sendable.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/Sendable.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,61 +7,17 @@
#pragma once
-#include <string>
-
-#include <wpi/Twine.h>
-
namespace frc {
class SendableBuilder;
+/**
+ * Interface for Sendable objects.
+ */
class Sendable {
public:
- Sendable() = default;
virtual ~Sendable() = default;
- Sendable(Sendable&&) = default;
- Sendable& operator=(Sendable&&) = default;
-
- /**
- * Gets the name of this Sendable object.
- *
- * @return Name
- */
- virtual std::string GetName() const = 0;
-
- /**
- * Sets the name of this Sendable object.
- *
- * @param name name
- */
- virtual void SetName(const wpi::Twine& name) = 0;
-
- /**
- * Sets both the subsystem name and device name of this Sendable object.
- *
- * @param subsystem subsystem name
- * @param name device name
- */
- void SetName(const wpi::Twine& subsystem, const wpi::Twine& name) {
- SetSubsystem(subsystem);
- SetName(name);
- }
-
- /**
- * Gets the subsystem name of this Sendable object.
- *
- * @return Subsystem name
- */
- virtual std::string GetSubsystem() const = 0;
-
- /**
- * Sets the subsystem name of this Sendable object.
- *
- * @param subsystem subsystem name
- */
- virtual void SetSubsystem(const wpi::Twine& subsystem) = 0;
-
/**
* Initializes this Sendable object.
*
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/SendableBase.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/SendableBase.h
index 6d2fbbe..a0ea0f9 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/SendableBase.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/SendableBase.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,75 +7,22 @@
#pragma once
-#include <memory>
-#include <string>
-
-#include <wpi/mutex.h>
+#include <wpi/deprecated.h>
#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
-class SendableBase : public Sendable {
+class SendableBase : public Sendable, public SendableHelper<SendableBase> {
public:
/**
* Creates an instance of the sensor base.
*
* @param addLiveWindow if true, add this Sendable to LiveWindow
*/
+ WPI_DEPRECATED("use Sendable and SendableHelper")
explicit SendableBase(bool addLiveWindow = true);
-
- ~SendableBase() override;
-
- SendableBase(SendableBase&& rhs);
- SendableBase& operator=(SendableBase&& rhs);
-
- using Sendable::SetName;
-
- std::string GetName() const final;
- void SetName(const wpi::Twine& name) final;
- std::string GetSubsystem() const final;
- void SetSubsystem(const wpi::Twine& subsystem) final;
-
- protected:
- /**
- * Add a child component.
- *
- * @param child child component
- */
- void AddChild(std::shared_ptr<Sendable> child);
-
- /**
- * Add a child component.
- *
- * @param child child component
- */
- void AddChild(void* child);
-
- /**
- * Sets the name of the sensor with a channel number.
- *
- * @param moduleType A string that defines the module name in the label for
- * the value
- * @param channel The channel number the device is plugged into
- */
- void SetName(const wpi::Twine& moduleType, int channel);
-
- /**
- * Sets the name of the sensor with a module and channel number.
- *
- * @param moduleType A string that defines the module name in the label for
- * the value
- * @param moduleNumber The number of the particular module type
- * @param channel The channel number the device is plugged into (usually
- * PWM)
- */
- void SetName(const wpi::Twine& moduleType, int moduleNumber, int channel);
-
- private:
- mutable wpi::mutex m_mutex;
- std::string m_name;
- std::string m_subsystem = "Ungrouped";
};
} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/SendableBuilderImpl.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/SendableBuilderImpl.h
index e10f085..eb69dcd 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/SendableBuilderImpl.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/SendableBuilderImpl.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -46,6 +46,12 @@
std::shared_ptr<nt::NetworkTable> GetTable();
/**
+ * Return whether this sendable has an associated table.
+ * @return True if it has a table, false if not.
+ */
+ bool HasTable() const;
+
+ /**
* Return whether this sendable should be treated as an actuator.
* @return True if actuator, false if not.
*/
@@ -78,6 +84,11 @@
*/
void StopLiveWindowMode();
+ /**
+ * Clear properties.
+ */
+ void ClearProperties();
+
void SetSmartDashboardType(const wpi::Twine& type) override;
void SetActuator(bool value) override;
void SetSafeState(std::function<void()> func) override;
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.inc b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.inc
index 42b4a65..295d263 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.inc
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.inc
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -62,7 +62,7 @@
-> decltype(_unwrap_smart_ptr(m_choices[""])) {
std::string selected = m_defaultChoice;
{
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
if (m_haveSelected) selected = m_selected;
}
if (selected.empty()) {
@@ -99,7 +99,7 @@
builder.AddSmallStringProperty(
kActive,
[=](wpi::SmallVectorImpl<char>& buf) -> wpi::StringRef {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
if (m_haveSelected) {
buf.assign(m_selected.begin(), m_selected.end());
return wpi::StringRef(buf.data(), buf.size());
@@ -109,11 +109,11 @@
},
nullptr);
{
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
m_activeEntries.emplace_back(builder.GetEntry(kActive));
}
builder.AddStringProperty(kSelected, nullptr, [=](wpi::StringRef val) {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
m_haveSelected = true;
m_selected = val;
for (auto& entry : m_activeEntries) entry.SetString(val);
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooserBase.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooserBase.h
index ae7908e..2a5f5ab 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooserBase.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooserBase.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -14,7 +14,8 @@
#include <wpi/SmallVector.h>
#include <wpi/mutex.h>
-#include "frc/smartdashboard/SendableBase.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
@@ -24,13 +25,14 @@
* It contains static, non-templated variables to avoid their duplication in the
* template class.
*/
-class SendableChooserBase : public SendableBase {
+class SendableChooserBase : public Sendable,
+ public SendableHelper<SendableChooserBase> {
public:
SendableChooserBase();
~SendableChooserBase() override = default;
- SendableChooserBase(SendableChooserBase&&) = default;
- SendableChooserBase& operator=(SendableChooserBase&&) = default;
+ SendableChooserBase(SendableChooserBase&& oth);
+ SendableChooserBase& operator=(SendableChooserBase&& oth);
protected:
static constexpr const char* kDefault = "default";
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/SendableHelper.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/SendableHelper.h
new file mode 100644
index 0000000..6b0b28b
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/SendableHelper.h
@@ -0,0 +1,161 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <string>
+
+#include <wpi/Twine.h>
+#include <wpi/deprecated.h>
+
+#include "frc/smartdashboard/SendableRegistry.h"
+
+namespace frc {
+
+/**
+ * A helper class for use with objects that add themselves to SendableRegistry.
+ * It takes care of properly calling Move() and Remove() on move and
+ * destruction. No action is taken if the object is copied.
+ * Use public inheritance with CRTP when using this class.
+ * @tparam CRTP derived class
+ */
+template <typename Derived>
+class SendableHelper {
+ public:
+ SendableHelper(const SendableHelper& rhs) = default;
+ SendableHelper& operator=(const SendableHelper& rhs) = default;
+
+ SendableHelper(SendableHelper&& rhs) {
+ // it is safe to call Move() multiple times with the same rhs
+ SendableRegistry::GetInstance().Move(static_cast<Derived*>(this),
+ static_cast<Derived*>(&rhs));
+ }
+
+ SendableHelper& operator=(SendableHelper&& rhs) {
+ // it is safe to call Move() multiple times with the same rhs
+ SendableRegistry::GetInstance().Move(static_cast<Derived*>(this),
+ static_cast<Derived*>(&rhs));
+ return *this;
+ }
+
+ /**
+ * Gets the name of this Sendable object.
+ *
+ * @return Name
+ */
+ WPI_DEPRECATED("use SendableRegistry::GetName()")
+ std::string GetName() const {
+ return SendableRegistry::GetInstance().GetName(
+ static_cast<const Derived*>(this));
+ }
+
+ /**
+ * Sets the name of this Sendable object.
+ *
+ * @param name name
+ */
+ WPI_DEPRECATED("use SendableRegistry::SetName()")
+ void SetName(const wpi::Twine& name) {
+ SendableRegistry::GetInstance().SetName(static_cast<Derived*>(this), name);
+ }
+
+ /**
+ * Sets both the subsystem name and device name of this Sendable object.
+ *
+ * @param subsystem subsystem name
+ * @param name device name
+ */
+ WPI_DEPRECATED("use SendableRegistry::SetName()")
+ void SetName(const wpi::Twine& subsystem, const wpi::Twine& name) {
+ SendableRegistry::GetInstance().SetName(static_cast<Derived*>(this),
+ subsystem, name);
+ }
+
+ /**
+ * Gets the subsystem name of this Sendable object.
+ *
+ * @return Subsystem name
+ */
+ WPI_DEPRECATED("use SendableRegistry::GetSubsystem()")
+ std::string GetSubsystem() const {
+ return SendableRegistry::GetInstance().GetSubsystem(
+ static_cast<const Derived*>(this));
+ }
+
+ /**
+ * Sets the subsystem name of this Sendable object.
+ *
+ * @param subsystem subsystem name
+ */
+ WPI_DEPRECATED("use SendableRegistry::SetSubsystem()")
+ void SetSubsystem(const wpi::Twine& subsystem) {
+ SendableRegistry::GetInstance().SetSubsystem(static_cast<Derived*>(this),
+ subsystem);
+ }
+
+ protected:
+ /**
+ * Add a child component.
+ *
+ * @param child child component
+ */
+ WPI_DEPRECATED("use SendableRegistry::AddChild()")
+ void AddChild(std::shared_ptr<Sendable> child) {
+ SendableRegistry::GetInstance().AddChild(static_cast<Derived*>(this),
+ child.get());
+ }
+
+ /**
+ * Add a child component.
+ *
+ * @param child child component
+ */
+ WPI_DEPRECATED("use SendableRegistry::AddChild()")
+ void AddChild(void* child) {
+ SendableRegistry::GetInstance().AddChild(static_cast<Derived*>(this),
+ child);
+ }
+
+ /**
+ * Sets the name of the sensor with a channel number.
+ *
+ * @param moduleType A string that defines the module name in the label for
+ * the value
+ * @param channel The channel number the device is plugged into
+ */
+ WPI_DEPRECATED("use SendableRegistry::SetName()")
+ void SetName(const wpi::Twine& moduleType, int channel) {
+ SendableRegistry::GetInstance().SetName(static_cast<Derived*>(this),
+ moduleType, channel);
+ }
+
+ /**
+ * Sets the name of the sensor with a module and channel number.
+ *
+ * @param moduleType A string that defines the module name in the label for
+ * the value
+ * @param moduleNumber The number of the particular module type
+ * @param channel The channel number the device is plugged into (usually
+ * PWM)
+ */
+ WPI_DEPRECATED("use SendableRegistry::SetName()")
+ void SetName(const wpi::Twine& moduleType, int moduleNumber, int channel) {
+ SendableRegistry::GetInstance().SetName(static_cast<Derived*>(this),
+ moduleType, moduleNumber, channel);
+ }
+
+ protected:
+ SendableHelper() = default;
+
+ ~SendableHelper() {
+ // it is safe to call Remove() multiple times with the same object
+ SendableRegistry::GetInstance().Remove(static_cast<Derived*>(this));
+ }
+};
+
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/SendableRegistry.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/SendableRegistry.h
new file mode 100644
index 0000000..53dbba3
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/SendableRegistry.h
@@ -0,0 +1,332 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <string>
+
+#include <networktables/NetworkTable.h>
+#include <wpi/STLExtras.h>
+#include <wpi/Twine.h>
+
+namespace frc {
+
+class Sendable;
+class SendableBuilderImpl;
+
+/**
+ * The SendableRegistry class is the public interface for registering sensors
+ * and actuators for use on dashboards and LiveWindow.
+ */
+class SendableRegistry {
+ public:
+ SendableRegistry(const SendableRegistry&) = delete;
+ SendableRegistry& operator=(const SendableRegistry&) = delete;
+
+ using UID = size_t;
+
+ /**
+ * Gets an instance of the SendableRegistry class.
+ *
+ * This is a singleton to guarantee that there is only a single instance
+ * regardless of how many times GetInstance is called.
+ */
+ static SendableRegistry& GetInstance();
+
+ /**
+ * Adds an object to the registry.
+ *
+ * @param sendable object to add
+ * @param name component name
+ */
+ void Add(Sendable* sendable, const wpi::Twine& name);
+
+ /**
+ * Adds an object to the registry.
+ *
+ * @param sendable object to add
+ * @param moduleType A string that defines the module name in the label for
+ * the value
+ * @param channel The channel number the device is plugged into
+ */
+ void Add(Sendable* sendable, const wpi::Twine& moduleType, int channel);
+
+ /**
+ * Adds an object to the registry.
+ *
+ * @param sendable object to add
+ * @param moduleType A string that defines the module name in the label for
+ * the value
+ * @param moduleNumber The number of the particular module type
+ * @param channel The channel number the device is plugged into
+ */
+ void Add(Sendable* sendable, const wpi::Twine& moduleType, int moduleNumber,
+ int channel);
+
+ /**
+ * Adds an object to the registry.
+ *
+ * @param sendable object to add
+ * @param subsystem subsystem name
+ * @param name component name
+ */
+ void Add(Sendable* sendable, const wpi::Twine& subsystem,
+ const wpi::Twine& name);
+
+ /**
+ * Adds an object to the registry and LiveWindow.
+ *
+ * @param sendable object to add
+ * @param name component name
+ */
+ void AddLW(Sendable* sendable, const wpi::Twine& name);
+
+ /**
+ * Adds an object to the registry and LiveWindow.
+ *
+ * @param sendable object to add
+ * @param moduleType A string that defines the module name in the label for
+ * the value
+ * @param channel The channel number the device is plugged into
+ */
+ void AddLW(Sendable* sendable, const wpi::Twine& moduleType, int channel);
+
+ /**
+ * Adds an object to the registry and LiveWindow.
+ *
+ * @param sendable object to add
+ * @param moduleType A string that defines the module name in the label for
+ * the value
+ * @param moduleNumber The number of the particular module type
+ * @param channel The channel number the device is plugged into
+ */
+ void AddLW(Sendable* sendable, const wpi::Twine& moduleType, int moduleNumber,
+ int channel);
+
+ /**
+ * Adds an object to the registry and LiveWindow.
+ *
+ * @param sendable object to add
+ * @param subsystem subsystem name
+ * @param name component name
+ */
+ void AddLW(Sendable* sendable, const wpi::Twine& subsystem,
+ const wpi::Twine& name);
+
+ /**
+ * Adds a child object to an object. Adds the child object to the registry
+ * if it's not already present.
+ *
+ * @param parent parent object
+ * @param child child object
+ */
+ void AddChild(Sendable* parent, void* child);
+
+ /**
+ * Removes an object from the registry.
+ *
+ * @param sendable object to remove
+ * @return true if the object was removed; false if it was not present
+ */
+ bool Remove(Sendable* sendable);
+
+ /**
+ * Moves an object in the registry (for use in move constructors/assignments).
+ *
+ * @param to new object
+ * @param from old object
+ */
+ void Move(Sendable* to, Sendable* from);
+
+ /**
+ * Determines if an object is in the registry.
+ *
+ * @param sendable object to check
+ * @return True if in registry, false if not.
+ */
+ bool Contains(const Sendable* sendable) const;
+
+ /**
+ * Gets the name of an object.
+ *
+ * @param sendable object
+ * @return Name (empty if object is not in registry)
+ */
+ std::string GetName(const Sendable* sendable) const;
+
+ /**
+ * Sets the name of an object.
+ *
+ * @param sendable object
+ * @param name name
+ */
+ void SetName(Sendable* sendable, const wpi::Twine& name);
+
+ /**
+ * Sets the name of an object with a channel number.
+ *
+ * @param sendable object
+ * @param moduleType A string that defines the module name in the label for
+ * the value
+ * @param channel The channel number the device is plugged into
+ */
+ void SetName(Sendable* sendable, const wpi::Twine& moduleType, int channel);
+
+ /**
+ * Sets the name of an object with a module and channel number.
+ *
+ * @param sendable object
+ * @param moduleType A string that defines the module name in the label for
+ * the value
+ * @param moduleNumber The number of the particular module type
+ * @param channel The channel number the device is plugged into
+ */
+ void SetName(Sendable* sendable, const wpi::Twine& moduleType,
+ int moduleNumber, int channel);
+
+ /**
+ * Sets both the subsystem name and device name of an object.
+ *
+ * @param sendable object
+ * @param subsystem subsystem name
+ * @param name device name
+ */
+ void SetName(Sendable* sendable, const wpi::Twine& subsystem,
+ const wpi::Twine& name);
+
+ /**
+ * Gets the subsystem name of an object.
+ *
+ * @param sendable object
+ * @return Subsystem name (empty if object is not in registry)
+ */
+ std::string GetSubsystem(const Sendable* sendable) const;
+
+ /**
+ * Sets the subsystem name of an object.
+ *
+ * @param sendable object
+ * @param subsystem subsystem name
+ */
+ void SetSubsystem(Sendable* sendable, const wpi::Twine& subsystem);
+
+ /**
+ * Gets a unique handle for setting/getting data with SetData() and GetData().
+ *
+ * @return Handle
+ */
+ int GetDataHandle();
+
+ /**
+ * Associates arbitrary data with an object in the registry.
+ *
+ * @param sendable object
+ * @param handle data handle returned by GetDataHandle()
+ * @param data data to set
+ * @return Previous data (may be null)
+ */
+ std::shared_ptr<void> SetData(Sendable* sendable, int handle,
+ std::shared_ptr<void> data);
+
+ /**
+ * Gets arbitrary data associated with an object in the registry.
+ *
+ * @param sendable object
+ * @param handle data handle returned by GetDataHandle()
+ * @return data (may be null if none associated)
+ */
+ std::shared_ptr<void> GetData(Sendable* sendable, int handle);
+
+ /**
+ * Enables LiveWindow for an object.
+ *
+ * @param sendable object
+ */
+ void EnableLiveWindow(Sendable* sendable);
+
+ /**
+ * Disables LiveWindow for an object.
+ *
+ * @param sendable object
+ */
+ void DisableLiveWindow(Sendable* sendable);
+
+ /**
+ * Get unique id for an object. Since objects can move, use this instead
+ * of storing Sendable* directly if ownership is in question.
+ *
+ * @param sendable object
+ * @return unique id
+ */
+ UID GetUniqueId(Sendable* sendable);
+
+ /**
+ * Get sendable object for a given unique id.
+ *
+ * @param uid unique id
+ * @return sendable object (may be null)
+ */
+ Sendable* GetSendable(UID uid);
+
+ /**
+ * Publishes an object in the registry to a network table.
+ *
+ * @param sendableUid sendable unique id
+ * @param table network table
+ */
+ void Publish(UID sendableUid, std::shared_ptr<NetworkTable> table);
+
+ /**
+ * Updates network table information from an object.
+ *
+ * @param sendableUid sendable unique id
+ */
+ void Update(UID sendableUid);
+
+ /**
+ * Data passed to ForeachLiveWindow() callback function
+ */
+ struct CallbackData {
+ CallbackData(Sendable* sendable_, wpi::StringRef name_,
+ wpi::StringRef subsystem_, Sendable* parent_,
+ std::shared_ptr<void>& data_, SendableBuilderImpl& builder_)
+ : sendable(sendable_),
+ name(name_),
+ subsystem(subsystem_),
+ parent(parent_),
+ data(data_),
+ builder(builder_) {}
+
+ Sendable* sendable;
+ wpi::StringRef name;
+ wpi::StringRef subsystem;
+ Sendable* parent;
+ std::shared_ptr<void>& data;
+ SendableBuilderImpl& builder;
+ };
+
+ /**
+ * Iterates over LiveWindow-enabled objects in the registry.
+ * It is *not* safe to call other SendableRegistry functions from the
+ * callback (this will likely deadlock).
+ *
+ * @param dataHandle data handle to get data pointer passed to callback
+ * @param callback function to call for each object
+ */
+ void ForeachLiveWindow(
+ int dataHandle,
+ wpi::function_ref<void(CallbackData& cbdata)> callback) const;
+
+ private:
+ SendableRegistry();
+
+ struct Impl;
+ std::unique_ptr<Impl> m_impl;
+};
+
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/SmartDashboard.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/SmartDashboard.h
index 903fb8b..97805ba 100644
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/SmartDashboard.h
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/smartdashboard/SmartDashboard.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2011-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -14,13 +14,15 @@
#include <networktables/NetworkTableValue.h>
#include "frc/ErrorBase.h"
-#include "frc/smartdashboard/SendableBase.h"
+#include "frc/smartdashboard/ListenerExecutor.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
-class Sendable;
-
-class SmartDashboard : public ErrorBase, public SendableBase {
+class SmartDashboard : public ErrorBase,
+ public Sendable,
+ public SendableHelper<SmartDashboard> {
public:
static void init();
@@ -100,6 +102,9 @@
* The value can be retrieved by calling the get method with a key that is
* equal to the original key.
*
+ * In order for the value to appear in the dashboard, it must be registered
+ * with SendableRegistry. WPILib components do this automatically.
+ *
* @param keyName the key
* @param value the value
*/
@@ -112,6 +117,9 @@
* The value can be retrieved by calling the get method with a key that is
* equal to the original key.
*
+ * In order for the value to appear in the dashboard, it must be registered
+ * with SendableRegistry. WPILib components do this automatically.
+ *
* @param value the value
*/
static void PutData(Sendable* value);
@@ -402,12 +410,23 @@
static std::shared_ptr<nt::Value> GetValue(wpi::StringRef keyName);
/**
+ * Posts a task from a listener to the ListenerExecutor, so that it can be run
+ * synchronously from the main loop on the next call to {@link
+ * SmartDashboard#updateValues()}.
+ *
+ * @param task The task to run synchronously from the main thread.
+ */
+ static void PostListenerTask(std::function<void()> task);
+
+ /**
* Puts all sendable data to the dashboard.
*/
static void UpdateValues();
private:
virtual ~SmartDashboard() = default;
+
+ static detail::ListenerExecutor listenerExecutor;
};
} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/spline/CubicHermiteSpline.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/spline/CubicHermiteSpline.h
new file mode 100644
index 0000000..a8979c1
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/spline/CubicHermiteSpline.h
@@ -0,0 +1,84 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <array>
+
+#include <Eigen/Core>
+
+#include "frc/spline/Spline.h"
+
+namespace frc {
+/**
+ * Represents a hermite spline of degree 3.
+ */
+class CubicHermiteSpline : public Spline<3> {
+ public:
+ /**
+ * Constructs a cubic hermite spline with the specified control vectors. Each
+ * control vector contains info about the location of the point and its first
+ * derivative.
+ *
+ * @param xInitialControlVector The control vector for the initial point in
+ * the x dimension.
+ * @param xFinalControlVector The control vector for the final point in
+ * the x dimension.
+ * @param yInitialControlVector The control vector for the initial point in
+ * the y dimension.
+ * @param yFinalControlVector The control vector for the final point in
+ * the y dimension.
+ */
+ CubicHermiteSpline(std::array<double, 2> xInitialControlVector,
+ std::array<double, 2> xFinalControlVector,
+ std::array<double, 2> yInitialControlVector,
+ std::array<double, 2> yFinalControlVector);
+
+ protected:
+ /**
+ * Returns the coefficients matrix.
+ * @return The coefficients matrix.
+ */
+ Eigen::Matrix<double, 6, 3 + 1> Coefficients() const override {
+ return m_coefficients;
+ }
+
+ private:
+ Eigen::Matrix<double, 6, 4> m_coefficients;
+
+ /**
+ * Returns the hermite basis matrix for cubic hermite spline interpolation.
+ * @return The hermite basis matrix for cubic hermite spline interpolation.
+ */
+ static Eigen::Matrix<double, 4, 4> MakeHermiteBasis() {
+ // clang-format off
+ static auto basis = (Eigen::Matrix<double, 4, 4>() <<
+ +2.0, +1.0, -2.0, +1.0,
+ -3.0, -2.0, +3.0, -1.0,
+ +0.0, +1.0, +0.0, +0.0,
+ +1.0, +0.0, +0.0, +0.0).finished();
+ // clang-format on
+ return basis;
+ }
+
+ /**
+ * Returns the control vector for each dimension as a matrix from the
+ * user-provided arrays in the constructor.
+ *
+ * @param initialVector The control vector for the initial point.
+ * @param finalVector The control vector for the final point.
+ *
+ * @return The control vector matrix for a dimension.
+ */
+ static Eigen::Vector4d ControlVectorFromArrays(
+ std::array<double, 2> initialVector, std::array<double, 2> finalVector) {
+ return (Eigen::Vector4d() << initialVector[0], initialVector[1],
+ finalVector[0], finalVector[1])
+ .finished();
+ }
+};
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/spline/QuinticHermiteSpline.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/spline/QuinticHermiteSpline.h
new file mode 100644
index 0000000..730eab4
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/spline/QuinticHermiteSpline.h
@@ -0,0 +1,86 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <array>
+
+#include <Eigen/Core>
+
+#include "frc/spline/Spline.h"
+
+namespace frc {
+/**
+ * Represents a hermite spline of degree 5.
+ */
+class QuinticHermiteSpline : public Spline<5> {
+ public:
+ /**
+ * Constructs a quintic hermite spline with the specified control vectors.
+ * Each control vector contains into about the location of the point, its
+ * first derivative, and its second derivative.
+ *
+ * @param xInitialControlVector The control vector for the initial point in
+ * the x dimension.
+ * @param xFinalControlVector The control vector for the final point in
+ * the x dimension.
+ * @param yInitialControlVector The control vector for the initial point in
+ * the y dimension.
+ * @param yFinalControlVector The control vector for the final point in
+ * the y dimension.
+ */
+ QuinticHermiteSpline(std::array<double, 3> xInitialControlVector,
+ std::array<double, 3> xFinalControlVector,
+ std::array<double, 3> yInitialControlVector,
+ std::array<double, 3> yFinalControlVector);
+
+ protected:
+ /**
+ * Returns the coefficients matrix.
+ * @return The coefficients matrix.
+ */
+ Eigen::Matrix<double, 6, 6> Coefficients() const override {
+ return m_coefficients;
+ }
+
+ private:
+ Eigen::Matrix<double, 6, 6> m_coefficients;
+
+ /**
+ * Returns the hermite basis matrix for quintic hermite spline interpolation.
+ * @return The hermite basis matrix for quintic hermite spline interpolation.
+ */
+ static Eigen::Matrix<double, 6, 6> MakeHermiteBasis() {
+ // clang-format off
+ static const auto basis = (Eigen::Matrix<double, 6, 6>() <<
+ -06.0, -03.0, -00.5, +06.0, -03.0, +00.5,
+ +15.0, +08.0, +01.5, -15.0, +07.0, +01.0,
+ -10.0, -06.0, -01.5, +10.0, -04.0, +00.5,
+ +00.0, +00.0, +00.5, +00.0, +00.0, +00.0,
+ +00.0, +01.0, +00.0, +00.0, +00.0, +00.0,
+ +01.0, +00.0, +00.0, +00.0, +00.0, +00.0).finished();
+ // clang-format on
+ return basis;
+ }
+
+ /**
+ * Returns the control vector for each dimension as a matrix from the
+ * user-provided arrays in the constructor.
+ *
+ * @param initialVector The control vector for the initial point.
+ * @param finalVector The control vector for the final point.
+ *
+ * @return The control vector matrix for a dimension.
+ */
+ static Eigen::Matrix<double, 6, 1> ControlVectorFromArrays(
+ std::array<double, 3> initialVector, std::array<double, 3> finalVector) {
+ return (Eigen::Matrix<double, 6, 1>() << initialVector[0], initialVector[1],
+ initialVector[2], finalVector[0], finalVector[1], finalVector[2])
+ .finished();
+ }
+};
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/spline/Spline.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/spline/Spline.h
new file mode 100644
index 0000000..e8f2372
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/spline/Spline.h
@@ -0,0 +1,135 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <array>
+#include <utility>
+#include <vector>
+
+#include <Eigen/Core>
+
+#include "frc/geometry/Pose2d.h"
+
+namespace frc {
+
+/**
+ * Define a unit for curvature.
+ */
+using curvature_t = units::unit_t<
+ units::compound_unit<units::radian, units::inverse<units::meter>>>;
+
+/**
+ * Represents a two-dimensional parametric spline that interpolates between two
+ * points.
+ *
+ * @tparam Degree The degree of the spline.
+ */
+template <int Degree>
+class Spline {
+ public:
+ using PoseWithCurvature = std::pair<Pose2d, curvature_t>;
+
+ Spline() = default;
+
+ Spline(const Spline&) = default;
+ Spline& operator=(const Spline&) = default;
+
+ Spline(Spline&&) = default;
+ Spline& operator=(Spline&&) = default;
+
+ virtual ~Spline() = default;
+
+ /**
+ * Represents a control vector for a spline.
+ *
+ * Each element in each array represents the value of the derivative at the
+ * index. For example, the value of x[2] is the second derivative in the x
+ * dimension.
+ */
+ struct ControlVector {
+ std::array<double, (Degree + 1) / 2> x;
+ std::array<double, (Degree + 1) / 2> y;
+ };
+
+ /**
+ * Gets the pose and curvature at some point t on the spline.
+ *
+ * @param t The point t
+ * @return The pose and curvature at that point.
+ */
+ PoseWithCurvature GetPoint(double t) const {
+ Eigen::Matrix<double, Degree + 1, 1> polynomialBases;
+
+ // Populate the polynomial bases
+ for (int i = 0; i <= Degree; i++) {
+ polynomialBases(i) = std::pow(t, Degree - i);
+ }
+
+ // This simply multiplies by the coefficients. We need to divide out t some
+ // n number of times where n is the derivative we want to take.
+ Eigen::Matrix<double, 6, 1> combined = Coefficients() * polynomialBases;
+
+ double dx, dy, ddx, ddy;
+
+ // If t = 0, all other terms in the equation cancel out to zero. We can use
+ // the last x^0 term in the equation.
+ if (t == 0.0) {
+ dx = Coefficients()(2, Degree - 1);
+ dy = Coefficients()(3, Degree - 1);
+ ddx = Coefficients()(4, Degree - 2);
+ ddy = Coefficients()(5, Degree - 2);
+ } else {
+ // Divide out t for first derivative.
+ dx = combined(2) / t;
+ dy = combined(3) / t;
+
+ // Divide out t for second derivative.
+ ddx = combined(4) / t / t;
+ ddy = combined(5) / t / t;
+ }
+
+ // Find the curvature.
+ const auto curvature =
+ (dx * ddy - ddx * dy) / ((dx * dx + dy * dy) * std::hypot(dx, dy));
+
+ return {
+ {FromVector(combined.template block<2, 1>(0, 0)), Rotation2d(dx, dy)},
+ curvature_t(curvature)};
+ }
+
+ protected:
+ /**
+ * Returns the coefficients of the spline.
+ *
+ * @return The coefficients of the spline.
+ */
+ virtual Eigen::Matrix<double, 6, Degree + 1> Coefficients() const = 0;
+
+ /**
+ * Converts a Translation2d into a vector that is compatible with Eigen.
+ *
+ * @param translation The Translation2d to convert.
+ * @return The vector.
+ */
+ static Eigen::Vector2d ToVector(const Translation2d& translation) {
+ return (Eigen::Vector2d() << translation.X().to<double>(),
+ translation.Y().to<double>())
+ .finished();
+ }
+
+ /**
+ * Converts an Eigen vector into a Translation2d.
+ *
+ * @param vector The vector to convert.
+ * @return The Translation2d.
+ */
+ static Translation2d FromVector(const Eigen::Vector2d& vector) {
+ return Translation2d(units::meter_t(vector(0)), units::meter_t(vector(1)));
+ }
+};
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/spline/SplineHelper.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/spline/SplineHelper.h
new file mode 100644
index 0000000..4ed1cf5
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/spline/SplineHelper.h
@@ -0,0 +1,113 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <array>
+#include <utility>
+#include <vector>
+
+#include "frc/spline/CubicHermiteSpline.h"
+#include "frc/spline/QuinticHermiteSpline.h"
+
+namespace frc {
+/**
+ * Helper class that is used to generate cubic and quintic splines from user
+ * provided waypoints.
+ */
+class SplineHelper {
+ public:
+ /**
+ * Returns 2 cubic control vectors from a set of exterior waypoints and
+ * interior translations.
+ *
+ * @param start The starting pose.
+ * @param interiorWaypoints The interior waypoints.
+ * @param end The ending pose.
+ * @return 2 cubic control vectors.
+ */
+ static std::array<Spline<3>::ControlVector, 2>
+ CubicControlVectorsFromWaypoints(
+ const Pose2d& start, const std::vector<Translation2d>& interiorWaypoints,
+ const Pose2d& end);
+
+ /**
+ * Returns quintic control vectors from a set of waypoints.
+ *
+ * @param waypoints The waypoints
+ * @return List of control vectors
+ */
+ static std::vector<Spline<5>::ControlVector>
+ QuinticControlVectorsFromWaypoints(const std::vector<Pose2d>& waypoints);
+
+ /**
+ * Returns a set of cubic splines corresponding to the provided control
+ * vectors. The user is free to set the direction of the start and end
+ * point. The directions for the middle waypoints are determined
+ * automatically to ensure continuous curvature throughout the path.
+ *
+ * The derivation for the algorithm used can be found here:
+ * <https://www.uio.no/studier/emner/matnat/ifi/nedlagte-emner/INF-MAT4350/h08/undervisningsmateriale/chap7alecture.pdf>
+ *
+ * @param start The starting control vector.
+ * @param waypoints The middle waypoints. This can be left blank if you
+ * only wish to create a path with two waypoints.
+ * @param end The ending control vector.
+ *
+ * @return A vector of cubic hermite splines that interpolate through the
+ * provided waypoints.
+ */
+ static std::vector<CubicHermiteSpline> CubicSplinesFromControlVectors(
+ const Spline<3>::ControlVector& start,
+ std::vector<Translation2d> waypoints,
+ const Spline<3>::ControlVector& end);
+
+ /**
+ * Returns a set of quintic splines corresponding to the provided control
+ * vectors. The user is free to set the direction of all waypoints. Continuous
+ * curvature is guaranteed throughout the path.
+ *
+ * @param controlVectors The control vectors.
+ * @return A vector of quintic hermite splines that interpolate through the
+ * provided waypoints.
+ */
+ static std::vector<QuinticHermiteSpline> QuinticSplinesFromControlVectors(
+ const std::vector<Spline<5>::ControlVector>& controlVectors);
+
+ private:
+ static Spline<3>::ControlVector CubicControlVector(double scalar,
+ const Pose2d& point) {
+ return {
+ {point.Translation().X().to<double>(), scalar * point.Rotation().Cos()},
+ {point.Translation().Y().to<double>(),
+ scalar * point.Rotation().Sin()}};
+ }
+
+ static Spline<5>::ControlVector QuinticControlVector(double scalar,
+ const Pose2d& point) {
+ return {{point.Translation().X().to<double>(),
+ scalar * point.Rotation().Cos(), 0.0},
+ {point.Translation().Y().to<double>(),
+ scalar * point.Rotation().Sin(), 0.0}};
+ }
+
+ /**
+ * Thomas algorithm for solving tridiagonal systems Af = d.
+ *
+ * @param a the values of A above the diagonal
+ * @param b the values of A on the diagonal
+ * @param c the values of A below the diagonal
+ * @param d the vector on the rhs
+ * @param solutionVector the unknown (solution) vector, modified in-place
+ */
+ static void ThomasAlgorithm(const std::vector<double>& a,
+ const std::vector<double>& b,
+ const std::vector<double>& c,
+ const std::vector<double>& d,
+ std::vector<double>* solutionVector);
+};
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/spline/SplineParameterizer.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/spline/SplineParameterizer.h
new file mode 100644
index 0000000..34cf026
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/spline/SplineParameterizer.h
@@ -0,0 +1,114 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+/*
+ * MIT License
+ *
+ * Copyright (c) 2018 Team 254
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#pragma once
+
+#include <frc/spline/Spline.h>
+
+#include <utility>
+#include <vector>
+
+#include <units/units.h>
+
+namespace frc {
+
+/**
+ * Class used to parameterize a spline by its arc length.
+ */
+class SplineParameterizer {
+ public:
+ using PoseWithCurvature = std::pair<Pose2d, curvature_t>;
+
+ /**
+ * Parameterizes the spline. This method breaks up the spline into various
+ * arcs until their dx, dy, and dtheta are within specific tolerances.
+ *
+ * @param spline The spline to parameterize.
+ * @param t0 Starting internal spline parameter. It is recommended to leave
+ * this as default.
+ * @param t1 Ending internal spline parameter. It is recommended to leave this
+ * as default.
+ *
+ * @return A vector of poses and curvatures that represents various points on
+ * the spline.
+ */
+ template <int Dim>
+ static std::vector<PoseWithCurvature> Parameterize(const Spline<Dim>& spline,
+ double t0 = 0.0,
+ double t1 = 1.0) {
+ std::vector<PoseWithCurvature> arr;
+
+ // The parameterization does not add the first initial point. Let's add
+ // that.
+ arr.push_back(spline.GetPoint(t0));
+
+ GetSegmentArc(spline, &arr, t0, t1);
+ return arr;
+ }
+
+ private:
+ // Constraints for spline parameterization.
+ static constexpr units::meter_t kMaxDx = 5_in;
+ static constexpr units::meter_t kMaxDy = 0.05_in;
+ static constexpr units::radian_t kMaxDtheta = 0.0872_rad;
+
+ /**
+ * Breaks up the spline into arcs until the dx, dy, and theta of each arc is
+ * within tolerance.
+ *
+ * @param spline The spline to parameterize.
+ * @param vector Pointer to vector of poses.
+ * @param t0 Starting point for arc.
+ * @param t1 Ending point for arc.
+ */
+ template <int Dim>
+ static void GetSegmentArc(const Spline<Dim>& spline,
+ std::vector<PoseWithCurvature>* vector, double t0,
+ double t1) {
+ const auto start = spline.GetPoint(t0);
+ const auto end = spline.GetPoint(t1);
+
+ const auto twist = start.first.Log(end.first);
+
+ if (units::math::abs(twist.dy) > kMaxDy ||
+ units::math::abs(twist.dx) > kMaxDx ||
+ units::math::abs(twist.dtheta) > kMaxDtheta) {
+ GetSegmentArc(spline, vector, t0, (t0 + t1) / 2);
+ GetSegmentArc(spline, vector, (t0 + t1) / 2, t1);
+ } else {
+ vector->push_back(spline.GetPoint(t1));
+ }
+ }
+
+ friend class CubicHermiteSplineTest;
+ friend class QuinticHermiteSplineTest;
+};
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/trajectory/Trajectory.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/trajectory/Trajectory.h
new file mode 100644
index 0000000..0a384fb
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/trajectory/Trajectory.h
@@ -0,0 +1,106 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <vector>
+
+#include <units/units.h>
+
+#include "frc/geometry/Pose2d.h"
+
+namespace frc {
+
+/**
+ * Define a unit for curvature.
+ */
+using curvature_t = units::unit_t<
+ units::compound_unit<units::radian, units::inverse<units::meter>>>;
+
+/**
+ * Represents a time-parameterized trajectory. The trajectory contains of
+ * various States that represent the pose, curvature, time elapsed, velocity,
+ * and acceleration at that point.
+ */
+class Trajectory {
+ public:
+ /**
+ * Represents one point on the trajectory.
+ */
+ struct State {
+ // The time elapsed since the beginning of the trajectory.
+ units::second_t t = 0_s;
+
+ // The speed at that point of the trajectory.
+ units::meters_per_second_t velocity = 0_mps;
+
+ // The acceleration at that point of the trajectory.
+ units::meters_per_second_squared_t acceleration = 0_mps_sq;
+
+ // The pose at that point of the trajectory.
+ Pose2d pose;
+
+ // The curvature at that point of the trajectory.
+ curvature_t curvature{0.0};
+
+ /**
+ * Interpolates between two States.
+ *
+ * @param endValue The end value for the interpolation.
+ * @param i The interpolant (fraction).
+ *
+ * @return The interpolated state.
+ */
+ State Interpolate(State endValue, double i) const;
+ };
+
+ Trajectory() = default;
+
+ /**
+ * Constructs a trajectory from a vector of states.
+ */
+ explicit Trajectory(const std::vector<State>& states);
+
+ /**
+ * Returns the overall duration of the trajectory.
+ * @return The duration of the trajectory.
+ */
+ units::second_t TotalTime() const { return m_totalTime; }
+
+ /**
+ * Return the states of the trajectory.
+ * @return The states of the trajectory.
+ */
+ const std::vector<State>& States() const { return m_states; }
+
+ /**
+ * Sample the trajectory at a point in time.
+ *
+ * @param t The point in time since the beginning of the trajectory to sample.
+ * @return The state at that point in time.
+ */
+ State Sample(units::second_t t) const;
+
+ private:
+ std::vector<State> m_states;
+ units::second_t m_totalTime;
+
+ /**
+ * Linearly interpolates between two values.
+ *
+ * @param startValue The start value.
+ * @param endValue The end value.
+ * @param t The fraction for interpolation.
+ *
+ * @return The interpolated value.
+ */
+ template <typename T>
+ static T Lerp(const T& startValue, const T& endValue, const double t) {
+ return startValue + (endValue - startValue) * t;
+ }
+};
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/trajectory/TrajectoryConfig.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/trajectory/TrajectoryConfig.h
new file mode 100644
index 0000000..a739070
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/trajectory/TrajectoryConfig.h
@@ -0,0 +1,140 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <utility>
+#include <vector>
+
+#include <units/units.h>
+
+#include "frc/kinematics/DifferentialDriveKinematics.h"
+#include "frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h"
+#include "frc/trajectory/constraint/TrajectoryConstraint.h"
+
+namespace frc {
+/**
+ * Represents the configuration for generating a trajectory. This class stores
+ * the start velocity, end velocity, max velocity, max acceleration, custom
+ * constraints, and the reversed flag.
+ *
+ * The class must be constructed with a max velocity and max acceleration.
+ * The other parameters (start velocity, end velocity, constraints, reversed)
+ * have been defaulted to reasonable values (0, 0, {}, false). These values can
+ * be changed via the SetXXX methods.
+ */
+class TrajectoryConfig {
+ public:
+ /**
+ * Constructs a config object.
+ * @param maxVelocity The max velocity of the trajectory.
+ * @param maxAcceleration The max acceleration of the trajectory.
+ */
+ TrajectoryConfig(units::meters_per_second_t maxVelocity,
+ units::meters_per_second_squared_t maxAcceleration)
+ : m_maxVelocity(maxVelocity), m_maxAcceleration(maxAcceleration) {}
+
+ TrajectoryConfig(const TrajectoryConfig&) = delete;
+ TrajectoryConfig& operator=(const TrajectoryConfig&) = delete;
+
+ TrajectoryConfig(TrajectoryConfig&&) = default;
+ TrajectoryConfig& operator=(TrajectoryConfig&&) = default;
+
+ /**
+ * Sets the start velocity of the trajectory.
+ * @param startVelocity The start velocity of the trajectory.
+ */
+ void SetStartVelocity(units::meters_per_second_t startVelocity) {
+ m_startVelocity = startVelocity;
+ }
+
+ /**
+ * Sets the end velocity of the trajectory.
+ * @param endVelocity The end velocity of the trajectory.
+ */
+ void SetEndVelocity(units::meters_per_second_t endVelocity) {
+ m_endVelocity = endVelocity;
+ }
+
+ /**
+ * Sets the reversed flag of the trajectory.
+ * @param reversed Whether the trajectory should be reversed or not.
+ */
+ void SetReversed(bool reversed) { m_reversed = reversed; }
+
+ /**
+ * Adds a user-defined constraint to the trajectory.
+ * @param constraint The user-defined constraint.
+ */
+ template <typename Constraint, typename = std::enable_if_t<std::is_base_of_v<
+ TrajectoryConstraint, Constraint>>>
+ void AddConstraint(Constraint constraint) {
+ m_constraints.emplace_back(std::make_unique<Constraint>(constraint));
+ }
+
+ /**
+ * Adds a differential drive kinematics constraint to ensure that
+ * no wheel velocity of a differential drive goes above the max velocity.
+ *
+ * @param kinematics The differential drive kinematics.
+ */
+ void SetKinematics(const DifferentialDriveKinematics& kinematics) {
+ AddConstraint(
+ DifferentialDriveKinematicsConstraint(kinematics, m_maxVelocity));
+ }
+
+ /**
+ * Returns the starting velocity of the trajectory.
+ * @return The starting velocity of the trajectory.
+ */
+ units::meters_per_second_t StartVelocity() const { return m_startVelocity; }
+
+ /**
+ * Returns the ending velocity of the trajectory.
+ * @return The ending velocity of the trajectory.
+ */
+ units::meters_per_second_t EndVelocity() const { return m_endVelocity; }
+
+ /**
+ * Returns the maximum velocity of the trajectory.
+ * @return The maximum velocity of the trajectory.
+ */
+ units::meters_per_second_t MaxVelocity() const { return m_maxVelocity; }
+
+ /**
+ * Returns the maximum acceleration of the trajectory.
+ * @return The maximum acceleration of the trajectory.
+ */
+ units::meters_per_second_squared_t MaxAcceleration() const {
+ return m_maxAcceleration;
+ }
+
+ /**
+ * Returns the user-defined constraints of the trajectory.
+ * @return The user-defined constraints of the trajectory.
+ */
+ const std::vector<std::unique_ptr<TrajectoryConstraint>>& Constraints()
+ const {
+ return m_constraints;
+ }
+
+ /**
+ * Returns whether the trajectory is reversed or not.
+ * @return whether the trajectory is reversed or not.
+ */
+ bool IsReversed() const { return m_reversed; }
+
+ private:
+ units::meters_per_second_t m_startVelocity = 0_mps;
+ units::meters_per_second_t m_endVelocity = 0_mps;
+ units::meters_per_second_t m_maxVelocity;
+ units::meters_per_second_squared_t m_maxAcceleration;
+ std::vector<std::unique_ptr<TrajectoryConstraint>> m_constraints;
+ bool m_reversed = false;
+};
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/trajectory/TrajectoryGenerator.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/trajectory/TrajectoryGenerator.h
new file mode 100644
index 0000000..4d6eff6
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/trajectory/TrajectoryGenerator.h
@@ -0,0 +1,117 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <utility>
+#include <vector>
+
+#include "frc/spline/SplineParameterizer.h"
+#include "frc/trajectory/Trajectory.h"
+#include "frc/trajectory/TrajectoryConfig.h"
+#include "frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h"
+#include "frc/trajectory/constraint/TrajectoryConstraint.h"
+
+namespace frc {
+/**
+ * Helper class used to generate trajectories with various constraints.
+ */
+class TrajectoryGenerator {
+ public:
+ using PoseWithCurvature = std::pair<Pose2d, curvature_t>;
+
+ /**
+ * Generates a trajectory from the given control vectors and config. This
+ * method uses clamped cubic splines -- a method in which the exterior control
+ * vectors and interior waypoints are provided. The headings are automatically
+ * determined at the interior points to ensure continuous curvature.
+ *
+ * @param initial The initial control vector.
+ * @param interiorWaypoints The interior waypoints.
+ * @param end The ending control vector.
+ * @param config The configuration for the trajectory.
+ * @return The generated trajectory.
+ */
+ static Trajectory GenerateTrajectory(
+ Spline<3>::ControlVector initial,
+ const std::vector<Translation2d>& interiorWaypoints,
+ Spline<3>::ControlVector end, const TrajectoryConfig& config);
+
+ /**
+ * Generates a trajectory from the given waypoints and config. This method
+ * uses clamped cubic splines -- a method in which the initial pose, final
+ * pose, and interior waypoints are provided. The headings are automatically
+ * determined at the interior points to ensure continuous curvature.
+ *
+ * @param start The starting pose.
+ * @param interiorWaypoints The interior waypoints.
+ * @param end The ending pose.
+ * @param config The configuration for the trajectory.
+ * @return The generated trajectory.
+ */
+ static Trajectory GenerateTrajectory(
+ const Pose2d& start, const std::vector<Translation2d>& interiorWaypoints,
+ const Pose2d& end, const TrajectoryConfig& config);
+
+ /**
+ * Generates a trajectory from the given quintic control vectors and config.
+ * This method uses quintic hermite splines -- therefore, all points must be
+ * represented by control vectors. Continuous curvature is guaranteed in this
+ * method.
+ *
+ * @param controlVectors List of quintic control vectors.
+ * @param config The configuration for the trajectory.
+ * @return The generated trajectory.
+ */
+ static Trajectory GenerateTrajectory(
+ std::vector<Spline<5>::ControlVector> controlVectors,
+ const TrajectoryConfig& config);
+
+ /**
+ * Generates a trajectory from the given waypoints and config. This method
+ * uses quintic hermite splines -- therefore, all points must be represented
+ * by Pose2d objects. Continuous curvature is guaranteed in this method.
+ *
+ * @param waypoints List of waypoints..
+ * @param config The configuration for the trajectory.
+ * @return The generated trajectory.
+ */
+ static Trajectory GenerateTrajectory(const std::vector<Pose2d>& waypoints,
+ const TrajectoryConfig& config);
+
+ /**
+ * Generate spline points from a vector of splines by parameterizing the
+ * splines.
+ *
+ * @param splines The splines to parameterize.
+ *
+ * @return The spline points for use in time parameterization of a trajectory.
+ */
+ template <typename Spline>
+ static std::vector<PoseWithCurvature> SplinePointsFromSplines(
+ const std::vector<Spline>& splines) {
+ // Create the vector of spline points.
+ std::vector<PoseWithCurvature> splinePoints;
+
+ // Add the first point to the vector.
+ splinePoints.push_back(splines.front().GetPoint(0.0));
+
+ // Iterate through the vector and parameterize each spline, adding the
+ // parameterized points to the final vector.
+ for (auto&& spline : splines) {
+ auto points = SplineParameterizer::Parameterize(spline);
+ // Append the array of poses to the vector. We are removing the first
+ // point because it's a duplicate of the last point from the previous
+ // spline.
+ splinePoints.insert(std::end(splinePoints), std::begin(points) + 1,
+ std::end(points));
+ }
+ return splinePoints;
+ }
+};
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/trajectory/TrajectoryParameterizer.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/trajectory/TrajectoryParameterizer.h
new file mode 100644
index 0000000..b8ea8da
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/trajectory/TrajectoryParameterizer.h
@@ -0,0 +1,107 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+/*
+ * MIT License
+ *
+ * Copyright (c) 2018 Team 254
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#pragma once
+
+#include <memory>
+#include <utility>
+#include <vector>
+
+#include "frc/trajectory/Trajectory.h"
+#include "frc/trajectory/constraint/TrajectoryConstraint.h"
+
+namespace frc {
+/**
+ * Class used to parameterize a trajectory by time.
+ */
+class TrajectoryParameterizer {
+ public:
+ using PoseWithCurvature = std::pair<Pose2d, curvature_t>;
+
+ /**
+ * Parameterize the trajectory by time. This is where the velocity profile is
+ * generated.
+ *
+ * The derivation of the algorithm used can be found here:
+ * <http://www2.informatik.uni-freiburg.de/~lau/students/Sprunk2008.pdf>
+ *
+ * @param points Reference to the spline points.
+ * @param constraints A vector of various velocity and acceleration
+ * constraints.
+ * @param startVelocity The start velocity for the trajectory.
+ * @param endVelocity The end velocity for the trajectory.
+ * @param maxVelocity The max velocity for the trajectory.
+ * @param maxAcceleration The max acceleration for the trajectory.
+ * @param reversed Whether the robot should move backwards. Note that the
+ * robot will still move from a -> b -> ... -> z as defined in the waypoints.
+ *
+ * @return The trajectory.
+ */
+ static Trajectory TimeParameterizeTrajectory(
+ const std::vector<PoseWithCurvature>& points,
+ const std::vector<std::unique_ptr<TrajectoryConstraint>>& constraints,
+ units::meters_per_second_t startVelocity,
+ units::meters_per_second_t endVelocity,
+ units::meters_per_second_t maxVelocity,
+ units::meters_per_second_squared_t maxAcceleration, bool reversed);
+
+ private:
+ constexpr static double kEpsilon = 1E-6;
+
+ /**
+ * Represents a constrained state that is used when time parameterizing a
+ * trajectory. Each state has the pose, curvature, distance from the start of
+ * the trajectory, max velocity, min acceleration and max acceleration.
+ */
+ struct ConstrainedState {
+ PoseWithCurvature pose = {Pose2d(), curvature_t(0.0)};
+ units::meter_t distance = 0_m;
+ units::meters_per_second_t maxVelocity = 0_mps;
+ units::meters_per_second_squared_t minAcceleration = 0_mps_sq;
+ units::meters_per_second_squared_t maxAcceleration = 0_mps_sq;
+ };
+
+ /**
+ * Enforces acceleration limits as defined by the constraints. This function
+ * is used when time parameterizing a trajectory.
+ *
+ * @param reverse Whether the robot is traveling backwards.
+ * @param constraints A vector of the user-defined velocity and acceleration
+ * constraints.
+ * @param state Pointer to the constrained state that we are operating on.
+ * This is mutated in place.
+ */
+ static void EnforceAccelerationLimits(
+ bool reverse,
+ const std::vector<std::unique_ptr<TrajectoryConstraint>>& constraints,
+ ConstrainedState* state);
+};
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/trajectory/TrapezoidProfile.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/trajectory/TrapezoidProfile.h
new file mode 100644
index 0000000..c528c9e
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/trajectory/TrapezoidProfile.h
@@ -0,0 +1,139 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <units/units.h>
+
+namespace frc {
+
+/**
+ * A trapezoid-shaped velocity profile.
+ *
+ * While this class can be used for a profiled movement from start to finish,
+ * the intended usage is to filter a reference's dynamics based on trapezoidal
+ * velocity constraints. To compute the reference obeying this constraint, do
+ * the following.
+ *
+ * Initialization:
+ * @code{.cpp}
+ * TrapezoidalMotionProfile::Constraints constraints{kMaxV, kMaxA};
+ * double previousProfiledReference = initialReference;
+ * @endcode
+ *
+ * Run on update:
+ * @code{.cpp}
+ * TrapezoidalMotionProfile profile{constraints, unprofiledReference,
+ * previousProfiledReference};
+ * previousProfiledReference = profile.Calculate(timeSincePreviousUpdate);
+ * @endcode
+ *
+ * where `unprofiledReference` is free to change between calls. Note that when
+ * the unprofiled reference is within the constraints, `Calculate()` returns the
+ * unprofiled reference unchanged.
+ *
+ * Otherwise, a timer can be started to provide monotonic values for
+ * `Calculate()` and to determine when the profile has completed via
+ * `IsFinished()`.
+ */
+class TrapezoidProfile {
+ public:
+ class Constraints {
+ public:
+ units::meters_per_second_t maxVelocity = 0_mps;
+ units::meters_per_second_squared_t maxAcceleration = 0_mps_sq;
+ };
+
+ class State {
+ public:
+ units::meter_t position = 0_m;
+ units::meters_per_second_t velocity = 0_mps;
+ bool operator==(const State& rhs) const {
+ return position == rhs.position && velocity == rhs.velocity;
+ }
+ bool operator!=(const State& rhs) const { return !(*this == rhs); }
+ };
+
+ /**
+ * Construct a TrapezoidProfile.
+ *
+ * @param constraints The constraints on the profile, like maximum velocity.
+ * @param goal The desired state when the profile is complete.
+ * @param initial The initial state (usually the current state).
+ */
+ TrapezoidProfile(Constraints constraints, State goal,
+ State initial = State{0_m, 0_mps});
+
+ TrapezoidProfile(const TrapezoidProfile&) = default;
+ TrapezoidProfile& operator=(const TrapezoidProfile&) = default;
+ TrapezoidProfile(TrapezoidProfile&&) = default;
+ TrapezoidProfile& operator=(TrapezoidProfile&&) = default;
+
+ /**
+ * Calculate the correct position and velocity for the profile at a time t
+ * where the beginning of the profile was at time t = 0.
+ *
+ * @param t The time since the beginning of the profile.
+ */
+ State Calculate(units::second_t t) const;
+
+ /**
+ * Returns the time left until a target distance in the profile is reached.
+ *
+ * @param target The target distance.
+ */
+ units::second_t TimeLeftUntil(units::meter_t target) const;
+
+ /**
+ * Returns the total time the profile takes to reach the goal.
+ */
+ units::second_t TotalTime() const { return m_endDeccel; }
+
+ /**
+ * Returns true if the profile has reached the goal.
+ *
+ * The profile has reached the goal if the time since the profile started
+ * has exceeded the profile's total time.
+ *
+ * @param t The time since the beginning of the profile.
+ */
+ bool IsFinished(units::second_t t) const { return t >= TotalTime(); }
+
+ private:
+ /**
+ * Returns true if the profile inverted.
+ *
+ * The profile is inverted if goal position is less than the initial position.
+ *
+ * @param initial The initial state (usually the current state).
+ * @param goal The desired state when the profile is complete.
+ */
+ static bool ShouldFlipAcceleration(const State& initial, const State& goal) {
+ return initial.position > goal.position;
+ }
+
+ // Flip the sign of the velocity and position if the profile is inverted
+ State Direct(const State& in) const {
+ State result = in;
+ result.position *= m_direction;
+ result.velocity *= m_direction;
+ return result;
+ }
+
+ // The direction of the profile, either 1 for forwards or -1 for inverted
+ int m_direction;
+
+ Constraints m_constraints;
+ State m_initial;
+ State m_goal;
+
+ units::second_t m_endAccel;
+ units::second_t m_endFullSpeed;
+ units::second_t m_endDeccel;
+};
+
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/trajectory/constraint/CentripetalAccelerationConstraint.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/trajectory/constraint/CentripetalAccelerationConstraint.h
new file mode 100644
index 0000000..de25738
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/trajectory/constraint/CentripetalAccelerationConstraint.h
@@ -0,0 +1,40 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <units/units.h>
+
+#include "frc/trajectory/constraint/TrajectoryConstraint.h"
+
+namespace frc {
+
+/**
+ * A constraint on the maximum absolute centripetal acceleration allowed when
+ * traversing a trajectory. The centripetal acceleration of a robot is defined
+ * as the velocity squared divided by the radius of curvature.
+ *
+ * Effectively, limiting the maximum centripetal acceleration will cause the
+ * robot to slow down around tight turns, making it easier to track trajectories
+ * with sharp turns.
+ */
+class CentripetalAccelerationConstraint : public TrajectoryConstraint {
+ public:
+ explicit CentripetalAccelerationConstraint(
+ units::meters_per_second_squared_t maxCentripetalAcceleration);
+
+ units::meters_per_second_t MaxVelocity(
+ const Pose2d& pose, curvature_t curvature,
+ units::meters_per_second_t velocity) override;
+
+ MinMax MinMaxAcceleration(const Pose2d& pose, curvature_t curvature,
+ units::meters_per_second_t speed) override;
+
+ private:
+ units::meters_per_second_squared_t m_maxCentripetalAcceleration;
+};
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h
new file mode 100644
index 0000000..6259c96
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h
@@ -0,0 +1,38 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <units/units.h>
+
+#include "frc/kinematics/DifferentialDriveKinematics.h"
+#include "frc/trajectory/constraint/TrajectoryConstraint.h"
+
+/**
+ * A class that enforces constraints on the differential drive kinematics.
+ * This can be used to ensure that the trajectory is constructed so that the
+ * commanded velocities for both sides of the drivetrain stay below a certain
+ * limit.
+ */
+namespace frc {
+class DifferentialDriveKinematicsConstraint : public TrajectoryConstraint {
+ public:
+ DifferentialDriveKinematicsConstraint(DifferentialDriveKinematics kinematics,
+ units::meters_per_second_t maxSpeed);
+
+ units::meters_per_second_t MaxVelocity(
+ const Pose2d& pose, curvature_t curvature,
+ units::meters_per_second_t velocity) override;
+
+ MinMax MinMaxAcceleration(const Pose2d& pose, curvature_t curvature,
+ units::meters_per_second_t speed) override;
+
+ private:
+ DifferentialDriveKinematics m_kinematics;
+ units::meters_per_second_t m_maxSpeed;
+};
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/trajectory/constraint/TrajectoryConstraint.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/trajectory/constraint/TrajectoryConstraint.h
new file mode 100644
index 0000000..dcde8c4
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc/trajectory/constraint/TrajectoryConstraint.h
@@ -0,0 +1,78 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <limits>
+
+#include <units/units.h>
+
+#include "frc/geometry/Pose2d.h"
+#include "frc/spline/Spline.h"
+
+namespace frc {
+/**
+ * An interface for defining user-defined velocity and acceleration constraints
+ * while generating trajectories.
+ */
+class TrajectoryConstraint {
+ public:
+ TrajectoryConstraint() = default;
+
+ TrajectoryConstraint(const TrajectoryConstraint&) = default;
+ TrajectoryConstraint& operator=(const TrajectoryConstraint&) = default;
+
+ TrajectoryConstraint(TrajectoryConstraint&&) = default;
+ TrajectoryConstraint& operator=(TrajectoryConstraint&&) = default;
+
+ virtual ~TrajectoryConstraint() = default;
+
+ /**
+ * Represents a minimum and maximum acceleration.
+ */
+ struct MinMax {
+ /**
+ * The minimum acceleration.
+ */
+ units::meters_per_second_squared_t minAcceleration{
+ -std::numeric_limits<double>::max()};
+
+ /**
+ * The maximum acceleration.
+ */
+ units::meters_per_second_squared_t maxAcceleration{
+ std::numeric_limits<double>::max()};
+ };
+
+ /**
+ * Returns the max velocity given the current pose and curvature.
+ *
+ * @param pose The pose at the current point in the trajectory.
+ * @param curvature The curvature at the current point in the trajectory.
+ * @param velocity The velocity at the current point in the trajectory before
+ * constraints are applied.
+ *
+ * @return The absolute maximum velocity.
+ */
+ virtual units::meters_per_second_t MaxVelocity(
+ const Pose2d& pose, curvature_t curvature,
+ units::meters_per_second_t velocity) = 0;
+
+ /**
+ * Returns the minimum and maximum allowable acceleration for the trajectory
+ * given pose, curvature, and speed.
+ *
+ * @param pose The pose at the current point in the trajectory.
+ * @param curvature The curvature at the current point in the trajectory.
+ * @param speed The speed at the current point in the trajectory.
+ *
+ * @return The min and max acceleration bounds.
+ */
+ virtual MinMax MinMaxAcceleration(const Pose2d& pose, curvature_t curvature,
+ units::meters_per_second_t speed) = 0;
+};
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/Timer.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/Timer.h
new file mode 100644
index 0000000..c1eeb16
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/Timer.h
@@ -0,0 +1,138 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <units/units.h>
+#include <wpi/deprecated.h>
+#include <wpi/mutex.h>
+
+#include "frc/Base.h"
+
+namespace frc2 {
+
+/**
+ * Pause the task for a specified time.
+ *
+ * Pause the execution of the program for a specified period of time given in
+ * seconds. Motors will continue to run at their last assigned values, and
+ * sensors will continue to update. Only the task containing the wait will pause
+ * until the wait time is expired.
+ *
+ * @param seconds Length of time to pause, in seconds.
+ */
+void Wait(units::second_t seconds);
+
+/**
+ * @brief Gives real-time clock system time with nanosecond resolution
+ * @return The time, just in case you want the robot to start autonomous at 8pm
+ * on Saturday.
+ */
+units::second_t GetTime();
+
+/**
+ * A wrapper for the frc::Timer class that returns unit-typed values.
+ */
+class Timer {
+ public:
+ /**
+ * Create a new timer object.
+ *
+ * Create a new timer object and reset the time to zero. The timer is
+ * initially not running and must be started.
+ */
+ Timer();
+
+ virtual ~Timer() = default;
+
+ Timer(const Timer& rhs);
+ Timer& operator=(const Timer& rhs);
+ Timer(Timer&& rhs);
+ Timer& operator=(Timer&& rhs);
+
+ /**
+ * Get the current time from the timer. If the clock is running it is derived
+ * from the current system clock the start time stored in the timer class. If
+ * the clock is not running, then return the time when it was last stopped.
+ *
+ * @return Current time value for this timer in seconds
+ */
+ units::second_t Get() const;
+
+ /**
+ * Reset the timer by setting the time to 0.
+ *
+ * Make the timer startTime the current time so new requests will be relative
+ * to now.
+ */
+ void Reset();
+
+ /**
+ * Start the timer running.
+ *
+ * Just set the running flag to true indicating that all time requests should
+ * be relative to the system clock.
+ */
+ void Start();
+
+ /**
+ * Stop the timer.
+ *
+ * This computes the time as of now and clears the running flag, causing all
+ * subsequent time requests to be read from the accumulated time rather than
+ * looking at the system clock.
+ */
+ void Stop();
+
+ /**
+ * Check if the period specified has passed and if it has, advance the start
+ * time by that period. This is useful to decide if it's time to do periodic
+ * work without drifting later by the time it took to get around to checking.
+ *
+ * @param period The period to check for.
+ * @return True if the period has passed.
+ */
+ bool HasPeriodPassed(units::second_t period);
+
+ /**
+ * Return the FPGA system clock time in seconds.
+ *
+ * Return the time from the FPGA hardware clock in seconds since the FPGA
+ * started. Rolls over after 71 minutes.
+ *
+ * @returns Robot running time in seconds.
+ */
+ static units::second_t GetFPGATimestamp();
+
+ /**
+ * Return the approximate match time.
+ *
+ * The FMS does not send an official match time to the robots, but does send
+ * an approximate match time. The value will count down the time remaining in
+ * the current period (auto or teleop).
+ *
+ * Warning: This is not an official time (so it cannot be used to dispute ref
+ * calls or guarantee that a function will trigger before the match ends).
+ *
+ * The Practice Match function of the DS approximates the behavior seen on the
+ * field.
+ *
+ * @return Time remaining in current match period (auto or teleop)
+ */
+ static units::second_t GetMatchTime();
+
+ // The time, in seconds, at which the 32-bit FPGA timestamp rolls over to 0
+ static const units::second_t kRolloverTime;
+
+ private:
+ units::second_t m_startTime = 0_s;
+ units::second_t m_accumulatedTime = 0_s;
+ bool m_running = false;
+ mutable wpi::mutex m_mutex;
+};
+
+} // namespace frc2
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/Command.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/Command.h
new file mode 100644
index 0000000..49e904e
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/Command.h
@@ -0,0 +1,242 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc/ErrorBase.h>
+#include <frc/WPIErrors.h>
+#include <frc2/command/Subsystem.h>
+
+#include <memory>
+#include <string>
+
+#include <units/units.h>
+#include <wpi/ArrayRef.h>
+#include <wpi/Demangle.h>
+#include <wpi/SmallSet.h>
+#include <wpi/Twine.h>
+
+namespace frc2 {
+
+template <typename T>
+std::string GetTypeName(const T& type) {
+ return wpi::Demangle(typeid(type).name());
+}
+
+class ParallelCommandGroup;
+class ParallelRaceGroup;
+class ParallelDeadlineGroup;
+class SequentialCommandGroup;
+class PerpetualCommand;
+class ProxyScheduleCommand;
+
+/**
+ * A state machine representing a complete action to be performed by the robot.
+ * Commands are run by the CommandScheduler, and can be composed into
+ * CommandGroups to allow users to build complicated multi-step actions without
+ * the need to roll the state machine logic themselves.
+ *
+ * <p>Commands are run synchronously from the main robot loop; no multithreading
+ * is used, unless specified explicitly from the command implementation.
+ *
+ * <p>Note: ALWAYS create a subclass by extending CommandHelper<Base, Subclass>,
+ * or decorators will not function!
+ *
+ * @see CommandScheduler
+ * @see CommandHelper
+ */
+class Command : public frc::ErrorBase {
+ public:
+ Command() = default;
+ virtual ~Command();
+
+ Command(const Command&);
+ Command& operator=(const Command&);
+ Command(Command&&) = default;
+ Command& operator=(Command&&) = default;
+
+ /**
+ * The initial subroutine of a command. Called once when the command is
+ * initially scheduled.
+ */
+ virtual void Initialize();
+
+ /**
+ * The main body of a command. Called repeatedly while the command is
+ * scheduled.
+ */
+ virtual void Execute();
+
+ /**
+ * The action to take when the command ends. Called when either the command
+ * finishes normally, or when it interrupted/canceled.
+ *
+ * @param interrupted whether the command was interrupted/canceled
+ */
+ virtual void End(bool interrupted);
+
+ /**
+ * Whether the command has finished. Once a command finishes, the scheduler
+ * will call its end() method and un-schedule it.
+ *
+ * @return whether the command has finished.
+ */
+ virtual bool IsFinished() { return false; }
+
+ /**
+ * Specifies the set of subsystems used by this command. Two commands cannot
+ * use the same subsystem at the same time. If the command is scheduled as
+ * interruptible and another command is scheduled that shares a requirement,
+ * the command will be interrupted. Else, the command will not be scheduled.
+ * If no subsystems are required, return an empty set.
+ *
+ * <p>Note: it is recommended that user implementations contain the
+ * requirements as a field, and return that field here, rather than allocating
+ * a new set every time this is called.
+ *
+ * @return the set of subsystems that are required
+ */
+ virtual wpi::SmallSet<Subsystem*, 4> GetRequirements() const = 0;
+
+ /**
+ * Decorates this command with a timeout. If the specified timeout is
+ * exceeded before the command finishes normally, the command will be
+ * interrupted and un-scheduled. Note that the timeout only applies to the
+ * command returned by this method; the calling command is not itself changed.
+ *
+ * @param duration the timeout duration
+ * @return the command with the timeout added
+ */
+ ParallelRaceGroup WithTimeout(units::second_t duration) &&;
+
+ /**
+ * Decorates this command with an interrupt condition. If the specified
+ * condition becomes true before the command finishes normally, the command
+ * will be interrupted and un-scheduled. Note that this only applies to the
+ * command returned by this method; the calling command is not itself changed.
+ *
+ * @param condition the interrupt condition
+ * @return the command with the interrupt condition added
+ */
+ ParallelRaceGroup WithInterrupt(std::function<bool()> condition) &&;
+
+ /**
+ * Decorates this command with a runnable to run before this command starts.
+ *
+ * @param toRun the Runnable to run
+ * @return the decorated command
+ */
+ SequentialCommandGroup BeforeStarting(std::function<void()> toRun) &&;
+
+ /**
+ * Decorates this command with a runnable to run after the command finishes.
+ *
+ * @param toRun the Runnable to run
+ * @return the decorated command
+ */
+ SequentialCommandGroup AndThen(std::function<void()> toRun) &&;
+
+ /**
+ * Decorates this command to run perpetually, ignoring its ordinary end
+ * conditions. The decorated command can still be interrupted or canceled.
+ *
+ * @return the decorated command
+ */
+ PerpetualCommand Perpetually() &&;
+
+ /**
+ * Decorates this command to run "by proxy" by wrapping it in a {@link
+ * ProxyScheduleCommand}. This is useful for "forking off" from command groups
+ * when the user does not wish to extend the command's requirements to the
+ * entire command group.
+ *
+ * @return the decorated command
+ */
+ ProxyScheduleCommand AsProxy();
+
+ /**
+ * Schedules this command.
+ *
+ * @param interruptible whether this command can be interrupted by another
+ * command that shares one of its requirements
+ */
+ void Schedule(bool interruptible);
+
+ /**
+ * Schedules this command, defaulting to interruptible.
+ */
+ void Schedule() { Schedule(true); }
+
+ /**
+ * Cancels this command. Will call the command's interrupted() method.
+ * Commands will be canceled even if they are not marked as interruptible.
+ */
+ void Cancel();
+
+ /**
+ * Whether or not the command is currently scheduled. Note that this does not
+ * detect whether the command is being run by a CommandGroup, only whether it
+ * is directly being run by the scheduler.
+ *
+ * @return Whether the command is scheduled.
+ */
+ bool IsScheduled() const;
+
+ /**
+ * Whether the command requires a given subsystem. Named "hasRequirement"
+ * rather than "requires" to avoid confusion with
+ * {@link
+ * edu.wpi.first.wpilibj.command.Command#requires(edu.wpi.first.wpilibj.command.Subsystem)}
+ * - this may be able to be changed in a few years.
+ *
+ * @param requirement the subsystem to inquire about
+ * @return whether the subsystem is required
+ */
+ bool HasRequirement(Subsystem* requirement) const;
+
+ /**
+ * Whether the command is currently grouped in a command group. Used as extra
+ * insurance to prevent accidental independent use of grouped commands.
+ */
+ bool IsGrouped() const;
+
+ /**
+ * Sets whether the command is currently grouped in a command group. Can be
+ * used to "reclaim" a command if a group is no longer going to use it. NOT
+ * ADVISED!
+ */
+ void SetGrouped(bool grouped);
+
+ /**
+ * Whether the given command should run when the robot is disabled. Override
+ * to return true if the command should run when disabled.
+ *
+ * @return whether the command should run when the robot is disabled
+ */
+ virtual bool RunsWhenDisabled() const { return false; }
+
+ virtual std::string GetName() const;
+
+ protected:
+ /**
+ * Transfers ownership of this command to a unique pointer. Used for
+ * decorator methods.
+ */
+ virtual std::unique_ptr<Command> TransferOwnership() && = 0;
+
+ bool m_isGrouped = false;
+};
+
+/**
+ * Checks if two commands have disjoint requirement sets.
+ *
+ * @param first The first command to check.
+ * @param second The second command to check.
+ * @return False if first and second share a requirement.
+ */
+bool RequirementsDisjoint(Command* first, Command* second);
+} // namespace frc2
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/CommandBase.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/CommandBase.h
new file mode 100644
index 0000000..3b1698f
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/CommandBase.h
@@ -0,0 +1,73 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc/smartdashboard/Sendable.h>
+#include <frc/smartdashboard/SendableHelper.h>
+
+#include <string>
+
+#include <wpi/SmallSet.h>
+#include <wpi/Twine.h>
+
+#include "Command.h"
+
+namespace frc2 {
+/**
+ * A Sendable base class for Commands.
+ */
+class CommandBase : public Command,
+ public frc::Sendable,
+ public frc::SendableHelper<CommandBase> {
+ public:
+ /**
+ * Adds the specified requirements to the command.
+ *
+ * @param requirements the requirements to add
+ */
+ void AddRequirements(std::initializer_list<Subsystem*> requirements);
+
+ void AddRequirements(wpi::SmallSet<Subsystem*, 4> requirements);
+
+ wpi::SmallSet<Subsystem*, 4> GetRequirements() const override;
+
+ /**
+ * Sets the name of this Command.
+ *
+ * @param name name
+ */
+ void SetName(const wpi::Twine& name);
+
+ /**
+ * Gets the name of this Command.
+ *
+ * @return Name
+ */
+ std::string GetName() const override;
+
+ /**
+ * Gets the subsystem name of this Command.
+ *
+ * @return Subsystem name
+ */
+ std::string GetSubsystem() const;
+
+ /**
+ * Sets the subsystem name of this Command.
+ *
+ * @param subsystem subsystem name
+ */
+ void SetSubsystem(const wpi::Twine& subsystem);
+
+ void InitSendable(frc::SendableBuilder& builder) override;
+
+ protected:
+ CommandBase();
+ wpi::SmallSet<Subsystem*, 4> m_requirements;
+};
+} // namespace frc2
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/CommandGroupBase.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/CommandGroupBase.h
new file mode 100644
index 0000000..9d265b4
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/CommandGroupBase.h
@@ -0,0 +1,62 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc/ErrorBase.h>
+
+#include <memory>
+#include <set>
+#include <vector>
+
+#include "CommandBase.h"
+
+namespace frc2 {
+
+/**
+ * A base for CommandGroups. Statically tracks commands that have been
+ * allocated to groups to ensure those commands are not also used independently,
+ * which can result in inconsistent command state and unpredictable execution.
+ */
+class CommandGroupBase : public CommandBase {
+ public:
+ /**
+ * Requires that the specified command not have been already allocated to a
+ * CommandGroup. Reports an error if the command is already grouped.
+ *
+ * @param commands The command to check
+ * @return True if all the command is ungrouped.
+ */
+ static bool RequireUngrouped(Command& command);
+
+ /**
+ * Requires that the specified commands not have been already allocated to a
+ * CommandGroup. Reports an error if any of the commands are already grouped.
+ *
+ * @param commands The commands to check
+ * @return True if all the commands are ungrouped.
+ */
+ static bool RequireUngrouped(wpi::ArrayRef<std::unique_ptr<Command>>);
+
+ /**
+ * Requires that the specified commands not have been already allocated to a
+ * CommandGroup. Reports an error if any of the commands are already grouped.
+ *
+ * @param commands The commands to check
+ * @return True if all the commands are ungrouped.
+ */
+ static bool RequireUngrouped(std::initializer_list<Command*>);
+
+ /**
+ * Adds the given commands to the command group.
+ *
+ * @param commands The commands to add.
+ */
+ virtual void AddCommands(
+ std::vector<std::unique_ptr<Command>>&& commands) = 0;
+};
+} // namespace frc2
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/CommandHelper.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/CommandHelper.h
new file mode 100644
index 0000000..ec15f88
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/CommandHelper.h
@@ -0,0 +1,37 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <type_traits>
+#include <utility>
+
+#include "Command.h"
+
+namespace frc2 {
+
+/**
+ * CRTP implementation to allow polymorphic decorator functions in Command.
+ *
+ * <p>Note: ALWAYS create a subclass by extending CommandHelper<Base, Subclass>,
+ * or decorators will not function!
+ */
+template <typename Base, typename CRTP,
+ typename = std::enable_if_t<std::is_base_of_v<Command, Base>>>
+class CommandHelper : public Base {
+ using Base::Base;
+
+ public:
+ CommandHelper() = default;
+
+ protected:
+ std::unique_ptr<Command> TransferOwnership() && override {
+ return std::make_unique<CRTP>(std::move(*static_cast<CRTP*>(this)));
+ }
+};
+} // namespace frc2
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/CommandScheduler.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/CommandScheduler.h
new file mode 100644
index 0000000..2e9cdd5
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/CommandScheduler.h
@@ -0,0 +1,372 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc/ErrorBase.h>
+#include <frc/RobotState.h>
+#include <frc/WPIErrors.h>
+#include <frc/smartdashboard/Sendable.h>
+#include <frc/smartdashboard/SendableHelper.h>
+
+#include <memory>
+#include <unordered_map>
+#include <utility>
+
+#include <networktables/NetworkTableEntry.h>
+#include <wpi/DenseMap.h>
+#include <wpi/FunctionExtras.h>
+#include <wpi/SmallSet.h>
+
+#include "CommandState.h"
+
+namespace frc2 {
+class Command;
+class Subsystem;
+
+/**
+ * The scheduler responsible for running Commands. A Command-based robot should
+ * call Run() on the singleton instance in its periodic block in order to run
+ * commands synchronously from the main loop. Subsystems should be registered
+ * with the scheduler using RegisterSubsystem() in order for their Periodic()
+ * methods to be called and for their default commands to be scheduled.
+ */
+class CommandScheduler final : public frc::Sendable,
+ public frc::ErrorBase,
+ public frc::SendableHelper<CommandScheduler> {
+ public:
+ /**
+ * Returns the Scheduler instance.
+ *
+ * @return the instance
+ */
+ static CommandScheduler& GetInstance();
+
+ using Action = std::function<void(const Command&)>;
+
+ /**
+ * Adds a button binding to the scheduler, which will be polled to schedule
+ * commands.
+ *
+ * @param button The button to add
+ */
+ void AddButton(wpi::unique_function<void()> button);
+
+ /**
+ * Removes all button bindings from the scheduler.
+ */
+ void ClearButtons();
+
+ /**
+ * Schedules a command for execution. Does nothing if the command is already
+ * scheduled. If a command's requirements are not available, it will only be
+ * started if all the commands currently using those requirements have been
+ * scheduled as interruptible. If this is the case, they will be interrupted
+ * and the command will be scheduled.
+ *
+ * @param interruptible whether this command can be interrupted
+ * @param command the command to schedule
+ */
+ void Schedule(bool interruptible, Command* command);
+
+ /**
+ * Schedules a command for execution, with interruptible defaulted to true.
+ * Does nothing if the command is already scheduled.
+ *
+ * @param command the command to schedule
+ */
+ void Schedule(Command* command);
+
+ /**
+ * Schedules multiple commands for execution. Does nothing if the command is
+ * already scheduled. If a command's requirements are not available, it will
+ * only be started if all the commands currently using those requirements have
+ * been scheduled as interruptible. If this is the case, they will be
+ * interrupted and the command will be scheduled.
+ *
+ * @param interruptible whether the commands should be interruptible
+ * @param commands the commands to schedule
+ */
+ void Schedule(bool interruptible, wpi::ArrayRef<Command*> commands);
+
+ /**
+ * Schedules multiple commands for execution. Does nothing if the command is
+ * already scheduled. If a command's requirements are not available, it will
+ * only be started if all the commands currently using those requirements have
+ * been scheduled as interruptible. If this is the case, they will be
+ * interrupted and the command will be scheduled.
+ *
+ * @param interruptible whether the commands should be interruptible
+ * @param commands the commands to schedule
+ */
+ void Schedule(bool interruptible, std::initializer_list<Command*> commands);
+
+ /**
+ * Schedules multiple commands for execution, with interruptible defaulted to
+ * true. Does nothing if the command is already scheduled.
+ *
+ * @param commands the commands to schedule
+ */
+ void Schedule(wpi::ArrayRef<Command*> commands);
+
+ /**
+ * Schedules multiple commands for execution, with interruptible defaulted to
+ * true. Does nothing if the command is already scheduled.
+ *
+ * @param commands the commands to schedule
+ */
+ void Schedule(std::initializer_list<Command*> commands);
+
+ /**
+ * Runs a single iteration of the scheduler. The execution occurs in the
+ * following order:
+ *
+ * <p>Subsystem periodic methods are called.
+ *
+ * <p>Button bindings are polled, and new commands are scheduled from them.
+ *
+ * <p>Currently-scheduled commands are executed.
+ *
+ * <p>End conditions are checked on currently-scheduled commands, and commands
+ * that are finished have their end methods called and are removed.
+ *
+ * <p>Any subsystems not being used as requirements have their default methods
+ * started.
+ */
+ void Run();
+
+ /**
+ * Registers subsystems with the scheduler. This must be called for the
+ * subsystem's periodic block to run when the scheduler is run, and for the
+ * subsystem's default command to be scheduled. It is recommended to call
+ * this from the constructor of your subsystem implementations.
+ *
+ * @param subsystem the subsystem to register
+ */
+ void RegisterSubsystem(Subsystem* subsystem);
+
+ /**
+ * Un-registers subsystems with the scheduler. The subsystem will no longer
+ * have its periodic block called, and will not have its default command
+ * scheduled.
+ *
+ * @param subsystem the subsystem to un-register
+ */
+ void UnregisterSubsystem(Subsystem* subsystem);
+
+ void RegisterSubsystem(std::initializer_list<Subsystem*> subsystems);
+
+ void UnregisterSubsystem(std::initializer_list<Subsystem*> subsystems);
+
+ /**
+ * Sets the default command for a subsystem. Registers that subsystem if it
+ * is not already registered. Default commands will run whenever there is no
+ * other command currently scheduled that requires the subsystem. Default
+ * commands should be written to never end (i.e. their IsFinished() method
+ * should return false), as they would simply be re-scheduled if they do.
+ * Default commands must also require their subsystem.
+ *
+ * @param subsystem the subsystem whose default command will be set
+ * @param defaultCommand the default command to associate with the subsystem
+ */
+ template <class T, typename = std::enable_if_t<std::is_base_of_v<
+ Command, std::remove_reference_t<T>>>>
+ void SetDefaultCommand(Subsystem* subsystem, T&& defaultCommand) {
+ if (!defaultCommand.HasRequirement(subsystem)) {
+ wpi_setWPIErrorWithContext(
+ CommandIllegalUse, "Default commands must require their subsystem!");
+ return;
+ }
+ if (defaultCommand.IsFinished()) {
+ wpi_setWPIErrorWithContext(CommandIllegalUse,
+ "Default commands should not end!");
+ return;
+ }
+ m_subsystems[subsystem] = std::make_unique<std::remove_reference_t<T>>(
+ std::forward<T>(defaultCommand));
+ }
+
+ /**
+ * Gets the default command associated with this subsystem. Null if this
+ * subsystem has no default command associated with it.
+ *
+ * @param subsystem the subsystem to inquire about
+ * @return the default command associated with the subsystem
+ */
+ Command* GetDefaultCommand(const Subsystem* subsystem) const;
+
+ /**
+ * Cancels a command. The scheduler will only call the interrupted method of
+ * a canceled command, not the end method (though the interrupted method may
+ * itself call the end method). Commands will be canceled even if they are
+ * not scheduled as interruptible.
+ *
+ * @param command the command to cancel
+ */
+ void Cancel(Command* command);
+
+ /**
+ * Cancels commands. The scheduler will only call the interrupted method of a
+ * canceled command, not the end method (though the interrupted method may
+ * itself call the end method). Commands will be canceled even if they are
+ * not scheduled as interruptible.
+ *
+ * @param commands the commands to cancel
+ */
+ void Cancel(wpi::ArrayRef<Command*> commands);
+
+ /**
+ * Cancels commands. The scheduler will only call the interrupted method of a
+ * canceled command, not the end method (though the interrupted method may
+ * itself call the end method). Commands will be canceled even if they are
+ * not scheduled as interruptible.
+ *
+ * @param commands the commands to cancel
+ */
+ void Cancel(std::initializer_list<Command*> commands);
+
+ /**
+ * Cancels all commands that are currently scheduled.
+ */
+ void CancelAll();
+
+ /**
+ * Returns the time since a given command was scheduled. Note that this only
+ * works on commands that are directly scheduled by the scheduler; it will not
+ * work on commands inside of commandgroups, as the scheduler does not see
+ * them.
+ *
+ * @param command the command to query
+ * @return the time since the command was scheduled, in seconds
+ */
+ double TimeSinceScheduled(const Command* command) const;
+
+ /**
+ * Whether the given commands are running. Note that this only works on
+ * commands that are directly scheduled by the scheduler; it will not work on
+ * commands inside of CommandGroups, as the scheduler does not see them.
+ *
+ * @param commands the command to query
+ * @return whether the command is currently scheduled
+ */
+ bool IsScheduled(wpi::ArrayRef<const Command*> commands) const;
+
+ /**
+ * Whether the given commands are running. Note that this only works on
+ * commands that are directly scheduled by the scheduler; it will not work on
+ * commands inside of CommandGroups, as the scheduler does not see them.
+ *
+ * @param commands the command to query
+ * @return whether the command is currently scheduled
+ */
+ bool IsScheduled(std::initializer_list<const Command*> commands) const;
+
+ /**
+ * Whether a given command is running. Note that this only works on commands
+ * that are directly scheduled by the scheduler; it will not work on commands
+ * inside of CommandGroups, as the scheduler does not see them.
+ *
+ * @param commands the command to query
+ * @return whether the command is currently scheduled
+ */
+ bool IsScheduled(const Command* command) const;
+
+ /**
+ * Returns the command currently requiring a given subsystem. Null if no
+ * command is currently requiring the subsystem
+ *
+ * @param subsystem the subsystem to be inquired about
+ * @return the command currently requiring the subsystem
+ */
+ Command* Requiring(const Subsystem* subsystem) const;
+
+ /**
+ * Disables the command scheduler.
+ */
+ void Disable();
+
+ /**
+ * Enables the command scheduler.
+ */
+ void Enable();
+
+ /**
+ * Adds an action to perform on the initialization of any command by the
+ * scheduler.
+ *
+ * @param action the action to perform
+ */
+ void OnCommandInitialize(Action action);
+
+ /**
+ * Adds an action to perform on the execution of any command by the scheduler.
+ *
+ * @param action the action to perform
+ */
+ void OnCommandExecute(Action action);
+
+ /**
+ * Adds an action to perform on the interruption of any command by the
+ * scheduler.
+ *
+ * @param action the action to perform
+ */
+ void OnCommandInterrupt(Action action);
+
+ /**
+ * Adds an action to perform on the finishing of any command by the scheduler.
+ *
+ * @param action the action to perform
+ */
+ void OnCommandFinish(Action action);
+
+ void InitSendable(frc::SendableBuilder& builder) override;
+
+ private:
+ // Constructor; private as this is a singleton
+ CommandScheduler();
+
+ // A map from commands to their scheduling state. Also used as a set of the
+ // currently-running commands.
+ wpi::DenseMap<Command*, CommandState> m_scheduledCommands;
+
+ // A map from required subsystems to their requiring commands. Also used as a
+ // set of the currently-required subsystems.
+ wpi::DenseMap<Subsystem*, Command*> m_requirements;
+
+ // A map from subsystems registered with the scheduler to their default
+ // commands. Also used as a list of currently-registered subsystems.
+ wpi::DenseMap<Subsystem*, std::unique_ptr<Command>> m_subsystems;
+
+ // The set of currently-registered buttons that will be polled every
+ // iteration.
+ wpi::SmallVector<wpi::unique_function<void()>, 4> m_buttons;
+
+ bool m_disabled{false};
+
+ // NetworkTable entries for use in Sendable impl
+ nt::NetworkTableEntry m_namesEntry;
+ nt::NetworkTableEntry m_idsEntry;
+ nt::NetworkTableEntry m_cancelEntry;
+
+ // Lists of user-supplied actions to be executed on scheduling events for
+ // every command.
+ wpi::SmallVector<Action, 4> m_initActions;
+ wpi::SmallVector<Action, 4> m_executeActions;
+ wpi::SmallVector<Action, 4> m_interruptActions;
+ wpi::SmallVector<Action, 4> m_finishActions;
+
+ // Flag and queues for avoiding concurrent modification if commands are
+ // scheduled/canceled during run
+
+ bool m_inRunLoop = false;
+ wpi::DenseMap<Command*, bool> m_toSchedule;
+ wpi::SmallVector<Command*, 4> m_toCancel;
+
+ friend class CommandTestBase;
+};
+} // namespace frc2
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/CommandState.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/CommandState.h
new file mode 100644
index 0000000..41fc5d0
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/CommandState.h
@@ -0,0 +1,33 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+namespace frc2 {
+/**
+ * Class that holds scheduling state for a command. Used internally by the
+ * CommandScheduler
+ */
+class CommandState final {
+ public:
+ CommandState() = default;
+
+ explicit CommandState(bool interruptible);
+
+ bool IsInterruptible() const { return m_interruptible; }
+
+ // The time since this command was initialized.
+ double TimeSinceInitialized() const;
+
+ private:
+ double m_startTime = -1;
+ bool m_interruptible;
+
+ void StartTiming();
+ void StartRunning();
+};
+} // namespace frc2
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/ConditionalCommand.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/ConditionalCommand.h
new file mode 100644
index 0000000..0419cf9
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/ConditionalCommand.h
@@ -0,0 +1,92 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <iostream>
+#include <memory>
+#include <utility>
+
+#include "CommandBase.h"
+#include "CommandGroupBase.h"
+#include "CommandHelper.h"
+
+namespace frc2 {
+/**
+ * Runs one of two commands, depending on the value of the given condition when
+ * this command is initialized. Does not actually schedule the selected command
+ * - rather, the command is run through this command; this ensures that the
+ * command will behave as expected if used as part of a CommandGroup. Requires
+ * the requirements of both commands, again to ensure proper functioning when
+ * used in a CommandGroup. If this is undesired, consider using
+ * ScheduleCommand.
+ *
+ * <p>As this command contains multiple component commands within it, it is
+ * technically a command group; the command instances that are passed to it
+ * cannot be added to any other groups, or scheduled individually.
+ *
+ * <p>As a rule, CommandGroups require the union of the requirements of their
+ * component commands.
+ *
+ * @see ScheduleCommand
+ */
+class ConditionalCommand
+ : public CommandHelper<CommandBase, ConditionalCommand> {
+ public:
+ /**
+ * Creates a new ConditionalCommand.
+ *
+ * @param onTrue the command to run if the condition is true
+ * @param onFalse the command to run if the condition is false
+ * @param condition the condition to determine which command to run
+ */
+ template <class T1, class T2,
+ typename = std::enable_if_t<
+ std::is_base_of_v<Command, std::remove_reference_t<T1>>>,
+ typename = std::enable_if_t<
+ std::is_base_of_v<Command, std::remove_reference_t<T2>>>>
+ ConditionalCommand(T1&& onTrue, T2&& onFalse, std::function<bool()> condition)
+ : ConditionalCommand(std::make_unique<std::remove_reference_t<T1>>(
+ std::forward<T1>(onTrue)),
+ std::make_unique<std::remove_reference_t<T2>>(
+ std::forward<T2>(onFalse)),
+ condition) {}
+
+ /**
+ * Creates a new ConditionalCommand.
+ *
+ * @param onTrue the command to run if the condition is true
+ * @param onFalse the command to run if the condition is false
+ * @param condition the condition to determine which command to run
+ */
+ ConditionalCommand(std::unique_ptr<Command>&& onTrue,
+ std::unique_ptr<Command>&& onFalse,
+ std::function<bool()> condition);
+
+ ConditionalCommand(ConditionalCommand&& other) = default;
+
+ // No copy constructors for command groups
+ ConditionalCommand(const ConditionalCommand& other) = delete;
+
+ void Initialize() override;
+
+ void Execute() override;
+
+ void End(bool interrupted) override;
+
+ bool IsFinished() override;
+
+ bool RunsWhenDisabled() const override;
+
+ private:
+ std::unique_ptr<Command> m_onTrue;
+ std::unique_ptr<Command> m_onFalse;
+ std::function<bool()> m_condition;
+ Command* m_selectedCommand{nullptr};
+ bool m_runsWhenDisabled = true;
+};
+} // namespace frc2
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/FunctionalCommand.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/FunctionalCommand.h
new file mode 100644
index 0000000..b47135c
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/FunctionalCommand.h
@@ -0,0 +1,56 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "CommandBase.h"
+#include "CommandHelper.h"
+
+namespace frc2 {
+/**
+ * A command that allows the user to pass in functions for each of the basic
+ * command methods through the constructor. Useful for inline definitions of
+ * complex commands - note, however, that if a command is beyond a certain
+ * complexity it is usually better practice to write a proper class for it than
+ * to inline it.
+ */
+class FunctionalCommand : public CommandHelper<CommandBase, FunctionalCommand> {
+ public:
+ /**
+ * Creates a new FunctionalCommand.
+ *
+ * @param onInit the function to run on command initialization
+ * @param onExecute the function to run on command execution
+ * @param onEnd the function to run on command end
+ * @param isFinished the function that determines whether the command has
+ * finished
+ * @param requirements the subsystems required by this command
+ */
+ FunctionalCommand(std::function<void()> onInit,
+ std::function<void()> onExecute,
+ std::function<void(bool)> onEnd,
+ std::function<bool()> isFinished);
+
+ FunctionalCommand(FunctionalCommand&& other) = default;
+
+ FunctionalCommand(const FunctionalCommand& other) = default;
+
+ void Initialize() override;
+
+ void Execute() override;
+
+ void End(bool interrupted) override;
+
+ bool IsFinished() override;
+
+ private:
+ std::function<void()> m_onInit;
+ std::function<void()> m_onExecute;
+ std::function<void(bool)> m_onEnd;
+ std::function<bool()> m_isFinished;
+};
+} // namespace frc2
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/InstantCommand.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/InstantCommand.h
new file mode 100644
index 0000000..ec28a11
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/InstantCommand.h
@@ -0,0 +1,48 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "CommandBase.h"
+#include "CommandHelper.h"
+
+namespace frc2 {
+/**
+ * A Command that runs instantly; it will initialize, execute once, and end on
+ * the same iteration of the scheduler. Users can either pass in a Runnable and
+ * a set of requirements, or else subclass this command if desired.
+ */
+class InstantCommand : public CommandHelper<CommandBase, InstantCommand> {
+ public:
+ /**
+ * Creates a new InstantCommand that runs the given Runnable with the given
+ * requirements.
+ *
+ * @param toRun the Runnable to run
+ * @param requirements the subsystems required by this command
+ */
+ InstantCommand(std::function<void()> toRun,
+ std::initializer_list<Subsystem*> requirements);
+
+ InstantCommand(InstantCommand&& other) = default;
+
+ InstantCommand(const InstantCommand& other) = default;
+
+ /**
+ * Creates a new InstantCommand with a Runnable that does nothing. Useful
+ * only as a no-arg constructor to call implicitly from subclass constructors.
+ */
+ InstantCommand();
+
+ void Initialize() override;
+
+ bool IsFinished() final;
+
+ private:
+ std::function<void()> m_toRun;
+};
+} // namespace frc2
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/NotifierCommand.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/NotifierCommand.h
new file mode 100644
index 0000000..3365c04
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/NotifierCommand.h
@@ -0,0 +1,53 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc/Notifier.h>
+
+#include <units/units.h>
+
+#include "CommandBase.h"
+#include "CommandHelper.h"
+
+namespace frc2 {
+/**
+ * A command that starts a notifier to run the given runnable periodically in a
+ * separate thread. Has no end condition as-is; either subclass it or use {@link
+ * Command#withTimeout(double)} or
+ * {@link Command#withInterrupt(BooleanSupplier)} to give it one.
+ *
+ * <p>WARNING: Do not use this class unless you are confident in your ability to
+ * make the executed code thread-safe. If you do not know what "thread-safe"
+ * means, that is a good sign that you should not use this class.
+ */
+class NotifierCommand : public CommandHelper<CommandBase, NotifierCommand> {
+ public:
+ /**
+ * Creates a new NotifierCommand.
+ *
+ * @param toRun the runnable for the notifier to run
+ * @param period the period at which the notifier should run
+ * @param requirements the subsystems required by this command
+ */
+ NotifierCommand(std::function<void()> toRun, units::second_t period,
+ std::initializer_list<Subsystem*> requirements);
+
+ NotifierCommand(NotifierCommand&& other);
+
+ NotifierCommand(const NotifierCommand& other);
+
+ void Initialize() override;
+
+ void End(bool interrupted) override;
+
+ private:
+ std::function<void()> m_toRun;
+ frc::Notifier m_notifier;
+ units::second_t m_period;
+};
+} // namespace frc2
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/PIDCommand.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/PIDCommand.h
new file mode 100644
index 0000000..6e553ff
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/PIDCommand.h
@@ -0,0 +1,124 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "frc/controller/PIDController.h"
+#include "frc2/command/CommandBase.h"
+#include "frc2/command/CommandHelper.h"
+
+namespace frc2 {
+/**
+ * A command that controls an output with a PIDController. Runs forever by
+ * default - to add exit conditions and/or other behavior, subclass this class.
+ * The controller calculation and output are performed synchronously in the
+ * command's execute() method.
+ *
+ * @see PIDController
+ */
+class PIDCommand : public CommandHelper<CommandBase, PIDCommand> {
+ public:
+ /**
+ * Creates a new PIDCommand, which controls the given output with a
+ * PIDController.
+ *
+ * @param controller the controller that controls the output.
+ * @param measurementSource the measurement of the process variable
+ * @param setpointSource the controller's reference (aka setpoint)
+ * @param useOutput the controller's output
+ * @param requirements the subsystems required by this command
+ */
+ PIDCommand(PIDController controller,
+ std::function<double()> measurementSource,
+ std::function<double()> setpointSource,
+ std::function<void(double)> useOutput,
+ std::initializer_list<Subsystem*> requirements);
+
+ /**
+ * Creates a new PIDCommand, which controls the given output with a
+ * PIDController with a constant setpoint.
+ *
+ * @param controller the controller that controls the output.
+ * @param measurementSource the measurement of the process variable
+ * @param setpoint the controller's setpoint (aka setpoint)
+ * @param useOutput the controller's output
+ * @param requirements the subsystems required by this command
+ */
+ PIDCommand(PIDController controller,
+ std::function<double()> measurementSource, double setpoint,
+ std::function<void(double)> useOutput,
+ std::initializer_list<Subsystem*> requirements);
+
+ PIDCommand(PIDCommand&& other) = default;
+
+ PIDCommand(const PIDCommand& other) = default;
+
+ void Initialize() override;
+
+ void Execute() override;
+
+ void End(bool interrupted) override;
+
+ /**
+ * Sets the function that uses the output of the PIDController.
+ *
+ * @param useOutput The function that uses the output.
+ */
+ void SetOutput(std::function<void(double)> useOutput);
+
+ /**
+ * Sets the setpoint for the controller to track the given source.
+ *
+ * @param setpointSource The setpoint source
+ */
+ void SetSetpoint(std::function<double()> setpointSource);
+
+ /**
+ * Sets the setpoint for the controller to a constant value.
+ *
+ * @param setpoint The setpoint
+ */
+ void SetSetpoint(double setpoint);
+
+ /**
+ * Sets the setpoint for the controller to a constant value relative (i.e.
+ * added to) the current setpoint.
+ *
+ * @param relativeReference The change in setpoint
+ */
+ void SetSetpointRelative(double relativeSetpoint);
+
+ /**
+ * Gets the measurement of the process variable. Wraps the passed-in function
+ * for readability.
+ *
+ * @return The measurement of the process variable
+ */
+ virtual double GetMeasurement();
+
+ /**
+ * Gets the measurement of the process variable. Wraps the passed-in function
+ * for readability.
+ *
+ * @return The measurement of the process variable
+ */
+ virtual void UseOutput(double output);
+
+ /**
+ * Returns the PIDController used by the command.
+ *
+ * @return The PIDController
+ */
+ PIDController& getController();
+
+ protected:
+ PIDController m_controller;
+ std::function<double()> m_measurement;
+ std::function<double()> m_setpoint;
+ std::function<void(double)> m_useOutput;
+};
+} // namespace frc2
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/PIDSubsystem.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/PIDSubsystem.h
new file mode 100644
index 0000000..7aa21c0
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/PIDSubsystem.h
@@ -0,0 +1,73 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "frc/controller/PIDController.h"
+#include "frc2/command/SubsystemBase.h"
+
+namespace frc2 {
+/**
+ * A subsystem that uses a PIDController to control an output. The controller
+ * is run synchronously from the subsystem's periodic() method.
+ *
+ * @see PIDController
+ */
+class PIDSubsystem : public SubsystemBase {
+ public:
+ /**
+ * Creates a new PIDSubsystem.
+ *
+ * @param controller the PIDController to use
+ */
+ explicit PIDSubsystem(PIDController controller);
+
+ void Periodic() override;
+
+ /**
+ * Uses the output from the PIDController.
+ *
+ * @param output the output of the PIDController
+ */
+ virtual void UseOutput(double output) = 0;
+
+ /**
+ * Returns the reference (setpoint) used by the PIDController.
+ *
+ * @return the reference (setpoint) to be used by the controller
+ */
+ virtual double GetSetpoint() = 0;
+
+ /**
+ * Returns the measurement of the process variable used by the PIDController.
+ *
+ * @return the measurement of the process variable
+ */
+ virtual double GetMeasurement() = 0;
+
+ /**
+ * Enables the PID control. Resets the controller.
+ */
+ virtual void Enable();
+
+ /**
+ * Disables the PID control. Sets output to zero.
+ */
+ virtual void Disable();
+
+ /**
+ * Returns the PIDController.
+ *
+ * @return The controller.
+ */
+ PIDController& GetController();
+
+ protected:
+ PIDController m_controller;
+ bool m_enabled;
+};
+} // namespace frc2
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/ParallelCommandGroup.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/ParallelCommandGroup.h
new file mode 100644
index 0000000..322e7b1
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/ParallelCommandGroup.h
@@ -0,0 +1,100 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#ifdef _WIN32
+#pragma warning(push)
+#pragma warning(disable : 4521)
+#endif
+
+#include <memory>
+#include <unordered_map>
+#include <utility>
+#include <vector>
+
+#include "CommandGroupBase.h"
+#include "CommandHelper.h"
+
+namespace frc2 {
+/**
+ * A CommandGroup that runs a set of commands in parallel, ending when the last
+ * command ends.
+ *
+ * <p>As a rule, CommandGroups require the union of the requirements of their
+ * component commands.
+ */
+class ParallelCommandGroup
+ : public CommandHelper<CommandGroupBase, ParallelCommandGroup> {
+ public:
+ /**
+ * Creates a new ParallelCommandGroup. The given commands will be executed
+ * simultaneously. The command group will finish when the last command
+ * finishes. If the CommandGroup is interrupted, only the commands that are
+ * still running will be interrupted.
+ *
+ * @param commands the commands to include in this group.
+ */
+ explicit ParallelCommandGroup(
+ std::vector<std::unique_ptr<Command>>&& commands);
+
+ /**
+ * Creates a new ParallelCommandGroup. The given commands will be executed
+ * simultaneously. The command group will finish when the last command
+ * finishes. If the CommandGroup is interrupted, only the commands that are
+ * still running will be interrupted.
+ *
+ * @param commands the commands to include in this group.
+ */
+ template <class... Types,
+ typename = std::enable_if_t<std::conjunction_v<
+ std::is_base_of<Command, std::remove_reference_t<Types>>...>>>
+ explicit ParallelCommandGroup(Types&&... commands) {
+ AddCommands(std::forward<Types>(commands)...);
+ }
+
+ ParallelCommandGroup(ParallelCommandGroup&& other) = default;
+
+ // No copy constructors for commandgroups
+ ParallelCommandGroup(const ParallelCommandGroup&) = delete;
+
+ // Prevent template expansion from emulating copy ctor
+ ParallelCommandGroup(ParallelCommandGroup&) = delete;
+
+ template <class... Types,
+ typename = std::enable_if_t<std::conjunction_v<
+ std::is_base_of<Command, std::remove_reference_t<Types>>...>>>
+ void AddCommands(Types&&... commands) {
+ std::vector<std::unique_ptr<Command>> foo;
+ ((void)foo.emplace_back(std::make_unique<std::remove_reference_t<Types>>(
+ std::forward<Types>(commands))),
+ ...);
+ AddCommands(std::move(foo));
+ }
+
+ void Initialize() override;
+
+ void Execute() override;
+
+ void End(bool interrupted) override;
+
+ bool IsFinished() override;
+
+ bool RunsWhenDisabled() const override;
+
+ private:
+ void AddCommands(std::vector<std::unique_ptr<Command>>&& commands) override;
+
+ std::unordered_map<std::unique_ptr<Command>, bool> m_commands;
+ bool m_runWhenDisabled{true};
+ bool isRunning = false;
+};
+} // namespace frc2
+
+#ifdef _WIN32
+#pragma warning(pop)
+#endif
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/ParallelDeadlineGroup.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/ParallelDeadlineGroup.h
new file mode 100644
index 0000000..168d0f8
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/ParallelDeadlineGroup.h
@@ -0,0 +1,111 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#ifdef _WIN32
+#pragma warning(push)
+#pragma warning(disable : 4521)
+#endif
+
+#include <memory>
+#include <unordered_map>
+#include <utility>
+#include <vector>
+
+#include "CommandGroupBase.h"
+#include "CommandHelper.h"
+
+namespace frc2 {
+/**
+ * A CommandGroup that runs a set of commands in parallel, ending only when a
+ * specific command (the "deadline") ends, interrupting all other commands that
+ * are still running at that point.
+ *
+ * <p>As a rule, CommandGroups require the union of the requirements of their
+ * component commands.
+ */
+class ParallelDeadlineGroup
+ : public CommandHelper<CommandGroupBase, ParallelDeadlineGroup> {
+ public:
+ /**
+ * Creates a new ParallelDeadlineGroup. The given commands (including the
+ * deadline) will be executed simultaneously. The CommandGroup will finish
+ * when the deadline finishes, interrupting all other still-running commands.
+ * If the CommandGroup is interrupted, only the commands still running will be
+ * interrupted.
+ *
+ * @param deadline the command that determines when the group ends
+ * @param commands the commands to be executed
+ */
+ ParallelDeadlineGroup(std::unique_ptr<Command>&& deadline,
+ std::vector<std::unique_ptr<Command>>&& commands);
+ /**
+ * Creates a new ParallelDeadlineGroup. The given commands (including the
+ * deadline) will be executed simultaneously. The CommandGroup will finish
+ * when the deadline finishes, interrupting all other still-running commands.
+ * If the CommandGroup is interrupted, only the commands still running will be
+ * interrupted.
+ *
+ * @param deadline the command that determines when the group ends
+ * @param commands the commands to be executed
+ */
+ template <class T, class... Types,
+ typename = std::enable_if_t<
+ std::is_base_of_v<Command, std::remove_reference_t<T>>>,
+ typename = std::enable_if_t<std::conjunction_v<
+ std::is_base_of<Command, std::remove_reference_t<Types>>...>>>
+ explicit ParallelDeadlineGroup(T&& deadline, Types&&... commands) {
+ SetDeadline(std::make_unique<std::remove_reference_t<T>>(
+ std::forward<T>(deadline)));
+ AddCommands(std::forward<Types>(commands)...);
+ }
+
+ ParallelDeadlineGroup(ParallelDeadlineGroup&& other) = default;
+
+ // No copy constructors for command groups
+ ParallelDeadlineGroup(const ParallelDeadlineGroup&) = delete;
+
+ // Prevent template expansion from emulating copy ctor
+ ParallelDeadlineGroup(ParallelDeadlineGroup&) = delete;
+
+ template <class... Types,
+ typename = std::enable_if_t<std::conjunction_v<
+ std::is_base_of<Command, std::remove_reference_t<Types>>...>>>
+ void AddCommands(Types&&... commands) {
+ std::vector<std::unique_ptr<Command>> foo;
+ ((void)foo.emplace_back(std::make_unique<std::remove_reference_t<Types>>(
+ std::forward<Types>(commands))),
+ ...);
+ AddCommands(std::move(foo));
+ }
+
+ void Initialize() override;
+
+ void Execute() override;
+
+ void End(bool interrupted) override;
+
+ bool IsFinished() override;
+
+ bool RunsWhenDisabled() const override;
+
+ private:
+ void AddCommands(std::vector<std::unique_ptr<Command>>&& commands) override;
+
+ void SetDeadline(std::unique_ptr<Command>&& deadline);
+
+ std::unordered_map<std::unique_ptr<Command>, bool> m_commands;
+ Command* m_deadline;
+ bool m_runWhenDisabled{true};
+ bool isRunning = false;
+};
+} // namespace frc2
+
+#ifdef _WIN32
+#pragma warning(pop)
+#endif
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/ParallelRaceGroup.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/ParallelRaceGroup.h
new file mode 100644
index 0000000..d7411e9
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/ParallelRaceGroup.h
@@ -0,0 +1,90 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#ifdef _WIN32
+#pragma warning(push)
+#pragma warning(disable : 4521)
+#endif
+
+#include <memory>
+#include <set>
+#include <unordered_map>
+#include <utility>
+#include <vector>
+
+#include "CommandGroupBase.h"
+#include "CommandHelper.h"
+
+namespace frc2 {
+/**
+ * A CommandGroup that runs a set of commands in parallel, ending when any one
+ * of the commands ends and interrupting all the others.
+ *
+ * <p>As a rule, CommandGroups require the union of the requirements of their
+ * component commands.
+ */
+class ParallelRaceGroup
+ : public CommandHelper<CommandGroupBase, ParallelRaceGroup> {
+ public:
+ /**
+ * Creates a new ParallelCommandRace. The given commands will be executed
+ * simultaneously, and will "race to the finish" - the first command to finish
+ * ends the entire command, with all other commands being interrupted.
+ *
+ * @param commands the commands to include in this group.
+ */
+ explicit ParallelRaceGroup(std::vector<std::unique_ptr<Command>>&& commands);
+
+ template <class... Types,
+ typename = std::enable_if_t<std::conjunction_v<
+ std::is_base_of<Command, std::remove_reference_t<Types>>...>>>
+ explicit ParallelRaceGroup(Types&&... commands) {
+ AddCommands(std::forward<Types>(commands)...);
+ }
+
+ ParallelRaceGroup(ParallelRaceGroup&& other) = default;
+
+ // No copy constructors for command groups
+ ParallelRaceGroup(const ParallelRaceGroup&) = delete;
+
+ // Prevent template expansion from emulating copy ctor
+ ParallelRaceGroup(ParallelRaceGroup&) = delete;
+
+ template <class... Types>
+ void AddCommands(Types&&... commands) {
+ std::vector<std::unique_ptr<Command>> foo;
+ ((void)foo.emplace_back(std::make_unique<std::remove_reference_t<Types>>(
+ std::forward<Types>(commands))),
+ ...);
+ AddCommands(std::move(foo));
+ }
+
+ void Initialize() override;
+
+ void Execute() override;
+
+ void End(bool interrupted) override;
+
+ bool IsFinished() override;
+
+ bool RunsWhenDisabled() const override;
+
+ private:
+ void AddCommands(std::vector<std::unique_ptr<Command>>&& commands) override;
+
+ std::set<std::unique_ptr<Command>> m_commands;
+ bool m_runWhenDisabled{true};
+ bool m_finished{false};
+ bool isRunning = false;
+};
+} // namespace frc2
+
+#ifdef _WIN32
+#pragma warning(pop)
+#endif
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/PerpetualCommand.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/PerpetualCommand.h
new file mode 100644
index 0000000..3f3c9e7
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/PerpetualCommand.h
@@ -0,0 +1,78 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#ifdef _WIN32
+#pragma warning(push)
+#pragma warning(disable : 4521)
+#endif
+
+#include <memory>
+#include <utility>
+
+#include "CommandBase.h"
+#include "CommandGroupBase.h"
+#include "CommandHelper.h"
+
+namespace frc2 {
+/**
+ * A command that runs another command in perpetuity, ignoring that command's
+ * end conditions. While this class does not extend {@link CommandGroupBase},
+ * it is still considered a CommandGroup, as it allows one to compose another
+ * command within it; the command instances that are passed to it cannot be
+ * added to any other groups, or scheduled individually.
+ *
+ * <p>As a rule, CommandGroups require the union of the requirements of their
+ * component commands.
+ */
+class PerpetualCommand : public CommandHelper<CommandBase, PerpetualCommand> {
+ public:
+ /**
+ * Creates a new PerpetualCommand. Will run another command in perpetuity,
+ * ignoring that command's end conditions, unless this command itself is
+ * interrupted.
+ *
+ * @param command the command to run perpetually
+ */
+ explicit PerpetualCommand(std::unique_ptr<Command>&& command);
+
+ /**
+ * Creates a new PerpetualCommand. Will run another command in perpetuity,
+ * ignoring that command's end conditions, unless this command itself is
+ * interrupted.
+ *
+ * @param command the command to run perpetually
+ */
+ template <class T, typename = std::enable_if_t<std::is_base_of_v<
+ Command, std::remove_reference_t<T>>>>
+ explicit PerpetualCommand(T&& command)
+ : PerpetualCommand(std::make_unique<std::remove_reference_t<T>>(
+ std::forward<T>(command))) {}
+
+ PerpetualCommand(PerpetualCommand&& other) = default;
+
+ // No copy constructors for command groups
+ PerpetualCommand(const PerpetualCommand& other) = delete;
+
+ // Prevent template expansion from emulating copy ctor
+ PerpetualCommand(PerpetualCommand&) = delete;
+
+ void Initialize() override;
+
+ void Execute() override;
+
+ void End(bool interrupted) override;
+
+ private:
+ std::unique_ptr<Command> m_command;
+};
+} // namespace frc2
+
+#ifdef _WIN32
+#pragma warning(pop)
+#endif
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/PrintCommand.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/PrintCommand.h
new file mode 100644
index 0000000..fb420cb
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/PrintCommand.h
@@ -0,0 +1,35 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <wpi/Twine.h>
+#include <wpi/raw_ostream.h>
+
+#include "CommandHelper.h"
+#include "InstantCommand.h"
+
+namespace frc2 {
+/**
+ * A command that prints a string when initialized.
+ */
+class PrintCommand : public CommandHelper<InstantCommand, PrintCommand> {
+ public:
+ /**
+ * Creates a new a PrintCommand.
+ *
+ * @param message the message to print
+ */
+ explicit PrintCommand(const wpi::Twine& message);
+
+ PrintCommand(PrintCommand&& other) = default;
+
+ PrintCommand(const PrintCommand& other) = default;
+
+ bool RunsWhenDisabled() const override;
+};
+} // namespace frc2
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/ProfiledPIDCommand.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/ProfiledPIDCommand.h
new file mode 100644
index 0000000..b1ff9e6
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/ProfiledPIDCommand.h
@@ -0,0 +1,132 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <units/units.h>
+
+#include "frc/controller/ProfiledPIDController.h"
+#include "frc2/command/CommandBase.h"
+#include "frc2/command/CommandHelper.h"
+
+namespace frc2 {
+/**
+ * A command that controls an output with a ProfiledPIDController. Runs forever
+ * by default - to add exit conditions and/or other behavior, subclass this
+ * class. The controller calculation and output are performed synchronously in
+ * the command's execute() method.
+ *
+ * @see ProfiledPIDController
+ */
+class ProfiledPIDCommand
+ : public CommandHelper<CommandBase, ProfiledPIDCommand> {
+ using State = frc::TrapezoidProfile::State;
+
+ public:
+ /**
+ * Creates a new PIDCommand, which controls the given output with a
+ * ProfiledPIDController.
+ *
+ * @param controller the controller that controls the output.
+ * @param measurementSource the measurement of the process variable
+ * @param goalSource the controller's goal
+ * @param useOutput the controller's output
+ * @param requirements the subsystems required by this command
+ */
+ ProfiledPIDCommand(frc::ProfiledPIDController controller,
+ std::function<units::meter_t()> measurementSource,
+ std::function<State()> goalSource,
+ std::function<void(double, State)> useOutput,
+ std::initializer_list<Subsystem*> requirements);
+
+ /**
+ * Creates a new PIDCommand, which controls the given output with a
+ * ProfiledPIDController.
+ *
+ * @param controller the controller that controls the output.
+ * @param measurementSource the measurement of the process variable
+ * @param goalSource the controller's goal
+ * @param useOutput the controller's output
+ * @param requirements the subsystems required by this command
+ */
+ ProfiledPIDCommand(frc::ProfiledPIDController controller,
+ std::function<units::meter_t()> measurementSource,
+ std::function<units::meter_t()> goalSource,
+ std::function<void(double, State)> useOutput,
+ std::initializer_list<Subsystem*> requirements);
+
+ /**
+ * Creates a new PIDCommand, which controls the given output with a
+ * ProfiledPIDController with a constant goal.
+ *
+ * @param controller the controller that controls the output.
+ * @param measurementSource the measurement of the process variable
+ * @param goal the controller's goal
+ * @param useOutput the controller's output
+ * @param requirements the subsystems required by this command
+ */
+ ProfiledPIDCommand(frc::ProfiledPIDController controller,
+ std::function<units::meter_t()> measurementSource,
+ State goal, std::function<void(double, State)> useOutput,
+ std::initializer_list<Subsystem*> requirements);
+
+ /**
+ * Creates a new PIDCommand, which controls the given output with a
+ * ProfiledPIDController with a constant goal.
+ *
+ * @param controller the controller that controls the output.
+ * @param measurementSource the measurement of the process variable
+ * @param goal the controller's goal
+ * @param useOutput the controller's output
+ * @param requirements the subsystems required by this command
+ */
+ ProfiledPIDCommand(frc::ProfiledPIDController controller,
+ std::function<units::meter_t()> measurementSource,
+ units::meter_t goal,
+ std::function<void(double, State)> useOutput,
+ std::initializer_list<Subsystem*> requirements);
+
+ ProfiledPIDCommand(ProfiledPIDCommand&& other) = default;
+
+ ProfiledPIDCommand(const ProfiledPIDCommand& other) = default;
+
+ void Initialize() override;
+
+ void Execute() override;
+
+ void End(bool interrupted) override;
+
+ /**
+ * Gets the measurement of the process variable. Wraps the passed-in function
+ * for readability.
+ *
+ * @return The measurement of the process variable
+ */
+ virtual units::meter_t GetMeasurement();
+
+ /**
+ * Gets the measurement of the process variable. Wraps the passed-in function
+ * for readability.
+ *
+ * @return The measurement of the process variable
+ */
+ virtual void UseOutput(double output, State state);
+
+ /**
+ * Returns the ProfiledPIDController used by the command.
+ *
+ * @return The ProfiledPIDController
+ */
+ frc::ProfiledPIDController& GetController();
+
+ protected:
+ frc::ProfiledPIDController m_controller;
+ std::function<units::meter_t()> m_measurement;
+ std::function<State()> m_goal;
+ std::function<void(double, State)> m_useOutput;
+};
+} // namespace frc2
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h
new file mode 100644
index 0000000..4fa47b2
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h
@@ -0,0 +1,78 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <units/units.h>
+
+#include "frc/controller/ProfiledPIDController.h"
+#include "frc2/command/SubsystemBase.h"
+
+namespace frc2 {
+/**
+ * A subsystem that uses a ProfiledPIDController to control an output. The
+ * controller is run synchronously from the subsystem's periodic() method.
+ *
+ * @see ProfiledPIDController
+ */
+class ProfiledPIDSubsystem : public SubsystemBase {
+ using State = frc::TrapezoidProfile::State;
+
+ public:
+ /**
+ * Creates a new ProfiledPIDSubsystem.
+ *
+ * @param controller the ProfiledPIDController to use
+ */
+ explicit ProfiledPIDSubsystem(frc::ProfiledPIDController controller);
+
+ void Periodic() override;
+
+ /**
+ * Uses the output from the ProfiledPIDController.
+ *
+ * @param output the output of the ProfiledPIDController
+ */
+ virtual void UseOutput(double output, State state) = 0;
+
+ /**
+ * Returns the goal used by the ProfiledPIDController.
+ *
+ * @return the goal to be used by the controller
+ */
+ virtual State GetGoal() = 0;
+
+ /**
+ * Returns the measurement of the process variable used by the
+ * ProfiledPIDController.
+ *
+ * @return the measurement of the process variable
+ */
+ virtual units::meter_t GetMeasurement() = 0;
+
+ /**
+ * Enables the PID control. Resets the controller.
+ */
+ virtual void Enable();
+
+ /**
+ * Disables the PID control. Sets output to zero.
+ */
+ virtual void Disable();
+
+ /**
+ * Returns the ProfiledPIDController.
+ *
+ * @return The controller.
+ */
+ frc::ProfiledPIDController& GetController();
+
+ protected:
+ frc::ProfiledPIDController m_controller;
+ bool m_enabled;
+};
+} // namespace frc2
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/ProxyScheduleCommand.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/ProxyScheduleCommand.h
new file mode 100644
index 0000000..8906424
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/ProxyScheduleCommand.h
@@ -0,0 +1,50 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <wpi/SmallVector.h>
+
+#include "CommandBase.h"
+#include "CommandHelper.h"
+#include "SetUtilities.h"
+
+namespace frc2 {
+/**
+ * Schedules the given commands when this command is initialized, and ends when
+ * all the commands are no longer scheduled. Useful for forking off from
+ * CommandGroups. If this command is interrupted, it will cancel all of the
+ * commands.
+ */
+class ProxyScheduleCommand
+ : public CommandHelper<CommandBase, ProxyScheduleCommand> {
+ public:
+ /**
+ * Creates a new ProxyScheduleCommand that schedules the given commands when
+ * initialized, and ends when they are all no longer scheduled.
+ *
+ * @param toSchedule the commands to schedule
+ */
+ explicit ProxyScheduleCommand(wpi::ArrayRef<Command*> toSchedule);
+
+ ProxyScheduleCommand(ProxyScheduleCommand&& other) = default;
+
+ ProxyScheduleCommand(const ProxyScheduleCommand& other) = default;
+
+ void Initialize() override;
+
+ void End(bool interrupted) override;
+
+ void Execute() override;
+
+ bool IsFinished() override;
+
+ private:
+ wpi::SmallVector<Command*, 4> m_toSchedule;
+ bool m_finished{false};
+};
+} // namespace frc2
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/RamseteCommand.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/RamseteCommand.h
new file mode 100644
index 0000000..592f194
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/RamseteCommand.h
@@ -0,0 +1,147 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <functional>
+#include <memory>
+
+#include <units/units.h>
+
+#include "CommandBase.h"
+#include "CommandHelper.h"
+#include "frc/controller/PIDController.h"
+#include "frc/controller/RamseteController.h"
+#include "frc/geometry/Pose2d.h"
+#include "frc/kinematics/DifferentialDriveKinematics.h"
+#include "frc/trajectory/Trajectory.h"
+#include "frc2/Timer.h"
+
+#pragma once
+
+namespace frc2 {
+/**
+ * A command that uses a RAMSETE controller to follow a trajectory
+ * with a differential drive.
+ *
+ * <p>The command handles trajectory-following, PID calculations, and
+ * feedforwards internally. This is intended to be a more-or-less "complete
+ * solution" that can be used by teams without a great deal of controls
+ * expertise.
+ *
+ * <p>Advanced teams seeking more flexibility (for example, those who wish to
+ * use the onboard PID functionality of a "smart" motor controller) may use the
+ * secondary constructor that omits the PID and feedforward functionality,
+ * returning only the raw wheel speeds from the RAMSETE controller.
+ *
+ * @see RamseteController
+ * @see Trajectory
+ */
+class RamseteCommand : public CommandHelper<CommandBase, RamseteCommand> {
+ using voltsecondspermeter =
+ units::compound_unit<units::volt, units::second,
+ units::inverse<units::meter>>;
+ using voltsecondssquaredpermeter =
+ units::compound_unit<units::volt, units::squared<units::second>,
+ units::inverse<units::meter>>;
+
+ public:
+ /**
+ * Constructs a new RamseteCommand that, when executed, will follow the
+ * provided trajectory. PID control and feedforward are handled internally,
+ * and outputs are scaled -1 to 1 for easy consumption by speed controllers.
+ *
+ * <p>Note: The controller will *not* set the outputVolts to zero upon
+ * completion of the path - this is left to the user, since it is not
+ * appropriate for paths with nonstationary endstates.
+ *
+ * @param trajectory The trajectory to follow.
+ * @param pose A function that supplies the robot pose - use one of
+ * the odometry classes to provide this.
+ * @param controller The RAMSETE controller used to follow the
+ * trajectory.
+ * @param ks Constant feedforward term for the robot drive.
+ * @param kv Velocity-proportional feedforward term for the robot
+ * drive.
+ * @param ka Acceleration-proportional feedforward term for the
+ * robot drive.
+ * @param kinematics The kinematics for the robot drivetrain.
+ * @param leftSpeed A function that supplies the speed of the left side
+ * of the robot drive.
+ * @param rightSpeed A function that supplies the speed of the right side
+ * of the robot drive.
+ * @param leftController The PIDController for the left side of the robot
+ * drive.
+ * @param rightController The PIDController for the right side of the robot
+ * drive.
+ * @param output A function that consumes the computed left and right
+ * outputs (in volts) for the robot drive.
+ * @param requirements The subsystems to require.
+ */
+ RamseteCommand(frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
+ frc::RamseteController controller, units::volt_t ks,
+ units::unit_t<voltsecondspermeter> kv,
+ units::unit_t<voltsecondssquaredpermeter> ka,
+ frc::DifferentialDriveKinematics kinematics,
+ std::function<units::meters_per_second_t()> leftSpeed,
+ std::function<units::meters_per_second_t()> rightSpeed,
+ frc2::PIDController leftController,
+ frc2::PIDController rightController,
+ std::function<void(units::volt_t, units::volt_t)> output,
+ std::initializer_list<Subsystem*> requirements);
+
+ /**
+ * Constructs a new RamseteCommand that, when executed, will follow the
+ * provided trajectory. Performs no PID control and calculates no
+ * feedforwards; outputs are the raw wheel speeds from the RAMSETE controller,
+ * and will need to be converted into a usable form by the user.
+ *
+ * @param trajectory The trajectory to follow.
+ * @param pose A function that supplies the robot pose - use one of
+ * the odometry classes to provide this.
+ * @param controller The RAMSETE controller used to follow the
+ * trajectory.
+ * @param kinematics The kinematics for the robot drivetrain.
+ * @param output A function that consumes the computed left and right
+ * outputs (in volts) for the robot drive.
+ * @param requirements The subsystems to require.
+ */
+ RamseteCommand(frc::Trajectory trajectory, std::function<frc::Pose2d()> pose,
+ frc::RamseteController controller,
+ frc::DifferentialDriveKinematics kinematics,
+ std::function<void(units::meters_per_second_t,
+ units::meters_per_second_t)>
+ output,
+ std::initializer_list<Subsystem*> requirements);
+
+ void Initialize() override;
+
+ void Execute() override;
+
+ void End(bool interrupted) override;
+
+ bool IsFinished() override;
+
+ private:
+ frc::Trajectory m_trajectory;
+ std::function<frc::Pose2d()> m_pose;
+ frc::RamseteController m_controller;
+ const units::volt_t m_ks;
+ const units::unit_t<voltsecondspermeter> m_kv;
+ const units::unit_t<voltsecondssquaredpermeter> m_ka;
+ frc::DifferentialDriveKinematics m_kinematics;
+ std::function<units::meters_per_second_t()> m_leftSpeed;
+ std::function<units::meters_per_second_t()> m_rightSpeed;
+ std::unique_ptr<frc2::PIDController> m_leftController;
+ std::unique_ptr<frc2::PIDController> m_rightController;
+ std::function<void(units::volt_t, units::volt_t)> m_outputVolts;
+ std::function<void(units::meters_per_second_t, units::meters_per_second_t)>
+ m_outputVel;
+
+ Timer m_timer;
+ units::second_t m_prevTime;
+ frc::DifferentialDriveWheelSpeeds m_prevSpeeds;
+};
+} // namespace frc2
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/RunCommand.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/RunCommand.h
new file mode 100644
index 0000000..5a0524a
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/RunCommand.h
@@ -0,0 +1,41 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "CommandBase.h"
+#include "CommandHelper.h"
+
+namespace frc2 {
+/**
+ * A command that runs a Runnable continuously. Has no end condition as-is;
+ * either subclass it or use Command.WithTimeout() or
+ * Command.WithInterrupt() to give it one. If you only wish
+ * to execute a Runnable once, use InstantCommand.
+ */
+class RunCommand : public CommandHelper<CommandBase, RunCommand> {
+ public:
+ /**
+ * Creates a new RunCommand. The Runnable will be run continuously until the
+ * command ends. Does not run when disabled.
+ *
+ * @param toRun the Runnable to run
+ * @param requirements the subsystems to require
+ */
+ RunCommand(std::function<void()> toRun,
+ std::initializer_list<Subsystem*> requirements);
+
+ RunCommand(RunCommand&& other) = default;
+
+ RunCommand(const RunCommand& other) = default;
+
+ void Execute();
+
+ protected:
+ std::function<void()> m_toRun;
+};
+} // namespace frc2
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/ScheduleCommand.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/ScheduleCommand.h
new file mode 100644
index 0000000..422823b
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/ScheduleCommand.h
@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <wpi/SmallVector.h>
+
+#include "CommandBase.h"
+#include "CommandHelper.h"
+#include "SetUtilities.h"
+
+namespace frc2 {
+/**
+ * Schedules the given commands when this command is initialized. Useful for
+ * forking off from CommandGroups. Note that if run from a CommandGroup, the
+ * group will not know about the status of the scheduled commands, and will
+ * treat this command as finishing instantly.
+ */
+class ScheduleCommand : public CommandHelper<CommandBase, ScheduleCommand> {
+ public:
+ /**
+ * Creates a new ScheduleCommand that schedules the given commands when
+ * initialized.
+ *
+ * @param toSchedule the commands to schedule
+ */
+ explicit ScheduleCommand(wpi::ArrayRef<Command*> toSchedule);
+
+ ScheduleCommand(ScheduleCommand&& other) = default;
+
+ ScheduleCommand(const ScheduleCommand& other) = default;
+
+ void Initialize() override;
+
+ bool IsFinished() override;
+
+ bool RunsWhenDisabled() const override;
+
+ private:
+ wpi::SmallVector<Command*, 4> m_toSchedule;
+};
+} // namespace frc2
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/SelectCommand.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/SelectCommand.h
new file mode 100644
index 0000000..8dba378
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/SelectCommand.h
@@ -0,0 +1,153 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#ifdef _WIN32
+#pragma warning(push)
+#pragma warning(disable : 4521)
+#endif
+
+#include <memory>
+#include <unordered_map>
+#include <utility>
+#include <vector>
+
+#include "CommandBase.h"
+#include "CommandGroupBase.h"
+#include "PrintCommand.h"
+
+namespace frc2 {
+template <typename Key>
+/**
+ * Runs one of a selection of commands, either using a selector and a key to
+ * command mapping, or a supplier that returns the command directly at runtime.
+ * Does not actually schedule the selected command - rather, the command is run
+ * through this command; this ensures that the command will behave as expected
+ * if used as part of a CommandGroup. Requires the requirements of all included
+ * commands, again to ensure proper functioning when used in a CommandGroup. If
+ * this is undesired, consider using ScheduleCommand.
+ *
+ * <p>As this command contains multiple component commands within it, it is
+ * technically a command group; the command instances that are passed to it
+ * cannot be added to any other groups, or scheduled individually.
+ *
+ * <p>As a rule, CommandGroups require the union of the requirements of their
+ * component commands.
+ */
+class SelectCommand : public CommandHelper<CommandBase, SelectCommand<Key>> {
+ public:
+ /**
+ * Creates a new selectcommand.
+ *
+ * @param commands the map of commands to choose from
+ * @param selector the selector to determine which command to run
+ */
+ template <class... Types,
+ typename = std::enable_if_t<std::conjunction_v<
+ std::is_base_of<Command, std::remove_reference_t<Types>>...>>>
+ SelectCommand(std::function<Key()> selector,
+ std::pair<Key, Types>... commands)
+ : m_selector{std::move(selector)} {
+ std::vector<std::pair<Key, std::unique_ptr<Command>>> foo;
+
+ ((void)foo.emplace_back(commands.first,
+ std::make_unique<std::remove_reference_t<Types>>(
+ std::move(commands.second))),
+ ...);
+
+ for (auto&& command : foo) {
+ if (!CommandGroupBase::RequireUngrouped(command.second)) {
+ return;
+ }
+ }
+
+ for (auto&& command : foo) {
+ this->AddRequirements(command.second->GetRequirements());
+ m_runsWhenDisabled &= command.second->RunsWhenDisabled();
+ m_commands.emplace(std::move(command.first), std::move(command.second));
+ }
+ }
+
+ SelectCommand(
+ std::function<Key()> selector,
+ std::vector<std::pair<Key, std::unique_ptr<Command>>>&& commands)
+ : m_selector{std::move(selector)} {
+ for (auto&& command : commands) {
+ if (!CommandGroupBase::RequireUngrouped(command.second)) {
+ return;
+ }
+ }
+
+ for (auto&& command : commands) {
+ this->AddRequirements(command.second->GetRequirements());
+ m_runsWhenDisabled &= command.second->RunsWhenDisabled();
+ m_commands.emplace(std::move(command.first), std::move(command.second));
+ }
+ }
+
+ // No copy constructors for command groups
+ SelectCommand(const SelectCommand& other) = delete;
+
+ // Prevent template expansion from emulating copy ctor
+ SelectCommand(SelectCommand&) = delete;
+
+ /**
+ * Creates a new selectcommand.
+ *
+ * @param toRun a supplier providing the command to run
+ */
+ explicit SelectCommand(std::function<Command*()> toRun) : m_toRun{toRun} {}
+
+ SelectCommand(SelectCommand&& other) = default;
+
+ void Initialize() override;
+
+ void Execute() override { m_selectedCommand->Execute(); }
+
+ void End(bool interrupted) override {
+ return m_selectedCommand->End(interrupted);
+ }
+
+ bool IsFinished() override { return m_selectedCommand->IsFinished(); }
+
+ bool RunsWhenDisabled() const override { return m_runsWhenDisabled; }
+
+ protected:
+ std::unique_ptr<Command> TransferOwnership() && override {
+ return std::make_unique<SelectCommand>(std::move(*this));
+ }
+
+ private:
+ std::unordered_map<Key, std::unique_ptr<Command>> m_commands;
+ std::function<Key()> m_selector;
+ std::function<Command*()> m_toRun;
+ Command* m_selectedCommand;
+ bool m_runsWhenDisabled = true;
+};
+
+template <typename T>
+void SelectCommand<T>::Initialize() {
+ if (m_selector) {
+ auto find = m_commands.find(m_selector());
+ if (find == m_commands.end()) {
+ m_selectedCommand = new PrintCommand(
+ "SelectCommand selector value does not correspond to any command!");
+ return;
+ }
+ m_selectedCommand = find->second.get();
+ } else {
+ m_selectedCommand = m_toRun();
+ }
+ m_selectedCommand->Initialize();
+}
+
+} // namespace frc2
+
+#ifdef _WIN32
+#pragma warning(pop)
+#endif
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/SequentialCommandGroup.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/SequentialCommandGroup.h
new file mode 100644
index 0000000..dd1f2ce
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/SequentialCommandGroup.h
@@ -0,0 +1,104 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#ifdef _WIN32
+#pragma warning(push)
+#pragma warning(disable : 4521)
+#endif
+
+#include <limits>
+#include <memory>
+#include <utility>
+#include <vector>
+
+#include <wpi/ArrayRef.h>
+
+#include "CommandGroupBase.h"
+#include "CommandHelper.h"
+#include "frc/ErrorBase.h"
+#include "frc/WPIErrors.h"
+
+namespace frc2 {
+
+const size_t invalid_index = std::numeric_limits<size_t>::max();
+
+/**
+ * A CommandGroups that runs a list of commands in sequence.
+ *
+ * <p>As a rule, CommandGroups require the union of the requirements of their
+ * component commands.
+ */
+class SequentialCommandGroup
+ : public CommandHelper<CommandGroupBase, SequentialCommandGroup> {
+ public:
+ /**
+ * Creates a new SequentialCommandGroup. The given commands will be run
+ * sequentially, with the CommandGroup finishing when the last command
+ * finishes.
+ *
+ * @param commands the commands to include in this group.
+ */
+ explicit SequentialCommandGroup(
+ std::vector<std::unique_ptr<Command>>&& commands);
+
+ /**
+ * Creates a new SequentialCommandGroup. The given commands will be run
+ * sequentially, with the CommandGroup finishing when the last command
+ * finishes.
+ *
+ * @param commands the commands to include in this group.
+ */
+ template <class... Types,
+ typename = std::enable_if_t<std::conjunction_v<
+ std::is_base_of<Command, std::remove_reference_t<Types>>...>>>
+ explicit SequentialCommandGroup(Types&&... commands) {
+ AddCommands(std::forward<Types>(commands)...);
+ }
+
+ SequentialCommandGroup(SequentialCommandGroup&& other) = default;
+
+ // No copy constructors for command groups
+ SequentialCommandGroup(const SequentialCommandGroup&) = delete;
+
+ // Prevent template expansion from emulating copy ctor
+ SequentialCommandGroup(SequentialCommandGroup&) = delete;
+
+ template <class... Types,
+ typename = std::enable_if_t<std::conjunction_v<
+ std::is_base_of<Command, std::remove_reference_t<Types>>...>>>
+ void AddCommands(Types&&... commands) {
+ std::vector<std::unique_ptr<Command>> foo;
+ ((void)foo.emplace_back(std::make_unique<std::remove_reference_t<Types>>(
+ std::forward<Types>(commands))),
+ ...);
+ AddCommands(std::move(foo));
+ }
+
+ void Initialize() override;
+
+ void Execute() override;
+
+ void End(bool interrupted) override;
+
+ bool IsFinished() override;
+
+ bool RunsWhenDisabled() const override;
+
+ private:
+ void AddCommands(std::vector<std::unique_ptr<Command>>&& commands) final;
+
+ wpi::SmallVector<std::unique_ptr<Command>, 4> m_commands;
+ size_t m_currentCommandIndex{invalid_index};
+ bool m_runWhenDisabled{true};
+};
+} // namespace frc2
+
+#ifdef _WIN32
+#pragma warning(pop)
+#endif
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/SetUtilities.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/SetUtilities.h
new file mode 100644
index 0000000..d21f572
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/SetUtilities.h
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <wpi/ArrayRef.h>
+#include <wpi/SmallVector.h>
+
+namespace frc2 {
+template <typename T>
+void SetInsert(wpi::SmallVectorImpl<T*>& vector, wpi::ArrayRef<T*> toAdd) {
+ for (auto addCommand : toAdd) {
+ bool exists = false;
+ for (auto existingCommand : vector) {
+ if (addCommand == existingCommand) {
+ exists = true;
+ break;
+ }
+ }
+ if (!exists) {
+ vector.emplace_back(addCommand);
+ }
+ }
+}
+} // namespace frc2
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/StartEndCommand.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/StartEndCommand.h
new file mode 100644
index 0000000..987b9db
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/StartEndCommand.h
@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "CommandBase.h"
+#include "CommandHelper.h"
+
+namespace frc2 {
+/**
+ * A command that runs a given runnable when it is initalized, and another
+ * runnable when it ends. Useful for running and then stopping a motor, or
+ * extending and then retracting a solenoid. Has no end condition as-is; either
+ * subclass it or use Command.WithTimeout() or Command.WithInterrupt() to give
+ * it one.
+ */
+class StartEndCommand : public CommandHelper<CommandBase, StartEndCommand> {
+ public:
+ /**
+ * Creates a new StartEndCommand. Will run the given runnables when the
+ * command starts and when it ends.
+ *
+ * @param onInit the Runnable to run on command init
+ * @param onEnd the Runnable to run on command end
+ * @param requirements the subsystems required by this command
+ */
+ StartEndCommand(std::function<void()> onInit, std::function<void()> onEnd,
+ std::initializer_list<Subsystem*> requirements);
+
+ StartEndCommand(StartEndCommand&& other) = default;
+
+ StartEndCommand(const StartEndCommand& other);
+
+ void Initialize() override;
+
+ void End(bool interrupted) override;
+
+ protected:
+ std::function<void()> m_onInit;
+ std::function<void()> m_onEnd;
+};
+} // namespace frc2
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/Subsystem.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/Subsystem.h
new file mode 100644
index 0000000..5eb10bc
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/Subsystem.h
@@ -0,0 +1,88 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc2/command/CommandScheduler.h>
+
+#include <utility>
+
+namespace frc2 {
+class Command;
+/**
+ * A robot subsystem. Subsystems are the basic unit of robot organization in
+ * the Command-based framework; they encapsulate low-level hardware objects
+ * (motor controllers, sensors, etc) and provide methods through which they can
+ * be used by Commands. Subsystems are used by the CommandScheduler's resource
+ * management system to ensure multiple robot actions are not "fighting" over
+ * the same hardware; Commands that use a subsystem should include that
+ * subsystem in their GetRequirements() method, and resources used within a
+ * subsystem should generally remain encapsulated and not be shared by other
+ * parts of the robot.
+ *
+ * <p>Subsystems must be registered with the scheduler with the
+ * CommandScheduler.RegisterSubsystem() method in order for the
+ * Periodic() method to be called. It is recommended that this method be called
+ * from the constructor of users' Subsystem implementations. The
+ * SubsystemBase class offers a simple base for user implementations
+ * that handles this.
+ *
+ * @see Command
+ * @see CommandScheduler
+ * @see SubsystemBase
+ */
+class Subsystem {
+ public:
+ ~Subsystem();
+ /**
+ * This method is called periodically by the CommandScheduler. Useful for
+ * updating subsystem-specific state that you don't want to offload to a
+ * Command. Teams should try to be consistent within their own codebases
+ * about which responsibilities will be handled by Commands, and which will be
+ * handled here.
+ */
+ virtual void Periodic();
+
+ /**
+ * Sets the default Command of the subsystem. The default command will be
+ * automatically scheduled when no other commands are scheduled that require
+ * the subsystem. Default commands should generally not end on their own, i.e.
+ * their IsFinished() method should always return false. Will automatically
+ * register this subsystem with the CommandScheduler.
+ *
+ * @param defaultCommand the default command to associate with this subsystem
+ */
+ template <class T, typename = std::enable_if_t<std::is_base_of_v<
+ Command, std::remove_reference_t<T>>>>
+ void SetDefaultCommand(T&& defaultCommand) {
+ CommandScheduler::GetInstance().SetDefaultCommand(
+ this, std::forward<T>(defaultCommand));
+ }
+
+ /**
+ * Gets the default command for this subsystem. Returns null if no default
+ * command is currently associated with the subsystem.
+ *
+ * @return the default command associated with this subsystem
+ */
+ Command* GetDefaultCommand() const;
+
+ /**
+ * Returns the command currently running on this subsystem. Returns null if
+ * no command is currently scheduled that requires this subsystem.
+ *
+ * @return the scheduled command currently requiring this subsystem
+ */
+ Command* GetCurrentCommand() const;
+
+ /**
+ * Registers this subsystem with the CommandScheduler, allowing its
+ * Periodic() method to be called when the scheduler runs.
+ */
+ void Register();
+};
+} // namespace frc2
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/SubsystemBase.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/SubsystemBase.h
new file mode 100644
index 0000000..e7dffc7
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/SubsystemBase.h
@@ -0,0 +1,68 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc/smartdashboard/Sendable.h>
+#include <frc/smartdashboard/SendableHelper.h>
+
+#include <string>
+
+#include "Subsystem.h"
+
+namespace frc2 {
+/**
+ * A base for subsystems that handles registration in the constructor, and
+ * provides a more intuitive method for setting the default command.
+ */
+class SubsystemBase : public Subsystem,
+ public frc::Sendable,
+ public frc::SendableHelper<SubsystemBase> {
+ public:
+ void InitSendable(frc::SendableBuilder& builder) override;
+
+ /**
+ * Gets the name of this Subsystem.
+ *
+ * @return Name
+ */
+ std::string GetName() const;
+
+ /**
+ * Sets the name of this Subsystem.
+ *
+ * @param name name
+ */
+ void SetName(const wpi::Twine& name);
+
+ /**
+ * Gets the subsystem name of this Subsystem.
+ *
+ * @return Subsystem name
+ */
+ std::string GetSubsystem() const;
+
+ /**
+ * Sets the subsystem name of this Subsystem.
+ *
+ * @param subsystem subsystem name
+ */
+ void SetSubsystem(const wpi::Twine& name);
+
+ /**
+ * Associate a Sendable with this Subsystem.
+ * Also update the child's name.
+ *
+ * @param name name to give child
+ * @param child sendable
+ */
+ void AddChild(std::string name, frc::Sendable* child);
+
+ protected:
+ SubsystemBase();
+};
+} // namespace frc2
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/TrapezoidProfileCommand.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/TrapezoidProfileCommand.h
new file mode 100644
index 0000000..6864f53
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/TrapezoidProfileCommand.h
@@ -0,0 +1,55 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <frc/trajectory/TrapezoidProfile.h>
+#include <frc2/Timer.h>
+
+#include <functional>
+
+#include "CommandBase.h"
+#include "CommandHelper.h"
+
+#pragma once
+
+namespace frc2 {
+/**
+ * A command that runs a TrapezoidProfile. Useful for smoothly controlling
+ * mechanism motion.
+ *
+ * @see TrapezoidProfile
+ */
+class TrapezoidProfileCommand
+ : public CommandHelper<CommandBase, TrapezoidProfileCommand> {
+ public:
+ /**
+ * Creates a new TrapezoidProfileCommand that will execute the given
+ * TrapezoidalProfile. Output will be piped to the provided consumer function.
+ *
+ * @param profile The motion profile to execute.
+ * @param output The consumer for the profile output.
+ */
+ TrapezoidProfileCommand(
+ frc::TrapezoidProfile profile,
+ std::function<void(frc::TrapezoidProfile::State)> output,
+ std::initializer_list<Subsystem*> requirements);
+
+ void Initialize() override;
+
+ void Execute() override;
+
+ void End(bool interrupted) override;
+
+ bool IsFinished() override;
+
+ private:
+ frc::TrapezoidProfile m_profile;
+ std::function<void(frc::TrapezoidProfile::State)> m_output;
+
+ Timer m_timer;
+};
+
+} // namespace frc2
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/WaitCommand.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/WaitCommand.h
new file mode 100644
index 0000000..1544592
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/WaitCommand.h
@@ -0,0 +1,51 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <units/units.h>
+#include <wpi/Twine.h>
+
+#include "CommandBase.h"
+#include "CommandHelper.h"
+#include "frc2/Timer.h"
+
+namespace frc2 {
+/**
+ * A command that does nothing but takes a specified amount of time to finish.
+ * Useful for CommandGroups. Can also be subclassed to make a command with an
+ * internal timer.
+ */
+class WaitCommand : public CommandHelper<CommandBase, WaitCommand> {
+ public:
+ /**
+ * Creates a new WaitCommand. This command will do nothing, and end after the
+ * specified duration.
+ *
+ * @param duration the time to wait
+ */
+ explicit WaitCommand(units::second_t duration);
+
+ WaitCommand(WaitCommand&& other) = default;
+
+ WaitCommand(const WaitCommand& other) = default;
+
+ void Initialize() override;
+
+ void End(bool interrupted) override;
+
+ bool IsFinished() override;
+
+ bool RunsWhenDisabled() const override;
+
+ protected:
+ Timer m_timer;
+
+ private:
+ units::second_t m_duration;
+};
+} // namespace frc2
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/WaitUntilCommand.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/WaitUntilCommand.h
new file mode 100644
index 0000000..8da18e8
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/WaitUntilCommand.h
@@ -0,0 +1,52 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "CommandBase.h"
+#include "frc/Timer.h"
+#include "frc2/command/CommandHelper.h"
+
+namespace frc2 {
+/**
+ * A command that does nothing but ends after a specified match time or
+ * condition. Useful for CommandGroups.
+ */
+class WaitUntilCommand : public CommandHelper<CommandBase, WaitUntilCommand> {
+ public:
+ /**
+ * Creates a new WaitUntilCommand that ends after a given condition becomes
+ * true.
+ *
+ * @param condition the condition to determine when to end
+ */
+ explicit WaitUntilCommand(std::function<bool()> condition);
+
+ /**
+ * Creates a new WaitUntilCommand that ends after a given match time.
+ *
+ * <p>NOTE: The match timer used for this command is UNOFFICIAL. Using this
+ * command does NOT guarantee that the time at which the action is performed
+ * will be judged to be legal by the referees. When in doubt, add a safety
+ * factor or time the action manually.
+ *
+ * @param time the match time after which to end, in seconds
+ */
+ explicit WaitUntilCommand(double time);
+
+ WaitUntilCommand(WaitUntilCommand&& other) = default;
+
+ WaitUntilCommand(const WaitUntilCommand& other) = default;
+
+ bool IsFinished() override;
+
+ bool RunsWhenDisabled() const override;
+
+ private:
+ std::function<bool()> m_condition;
+};
+} // namespace frc2
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/button/Button.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/button/Button.h
new file mode 100644
index 0000000..3e0f7fe
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/button/Button.h
@@ -0,0 +1,207 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+#include <utility>
+
+#include "Trigger.h"
+
+namespace frc2 {
+class Command;
+/**
+ * A class used to bind command scheduling to button presses. Can be composed
+ * with other buttons with the operators in Trigger.
+ *
+ * @see Trigger
+ */
+class Button : public Trigger {
+ public:
+ /**
+ * Create a new button that is pressed when the given condition is true.
+ *
+ * @param isActive Whether the button is pressed.
+ */
+ explicit Button(std::function<bool()> isPressed);
+
+ /**
+ * Create a new button that is pressed active (default constructor) - activity
+ * can be further determined by subclass code.
+ */
+ Button() = default;
+
+ /**
+ * Binds a command to start when the button is pressed. Takes a
+ * raw pointer, and so is non-owning; users are responsible for the lifespan
+ * of the command.
+ *
+ * @param command The command to bind.
+ * @param interruptible Whether the command should be interruptible.
+ * @return The trigger, for chained calls.
+ */
+ Button WhenPressed(Command* command, bool interruptible = true);
+
+ /**
+ * Binds a command to start when the button is pressed. Transfers
+ * command ownership to the button scheduler, so the user does not have to
+ * worry about lifespan - rvalue refs will be *moved*, lvalue refs will be
+ * *copied.*
+ *
+ * @param command The command to bind.
+ * @param interruptible Whether the command should be interruptible.
+ * @return The trigger, for chained calls.
+ */
+ template <class T, typename = std::enable_if_t<std::is_base_of_v<
+ Command, std::remove_reference_t<T>>>>
+ Button WhenPressed(T&& command, bool interruptible = true) {
+ WhenActive(std::forward<T>(command), interruptible);
+ return *this;
+ }
+
+ /**
+ * Binds a runnable to execute when the button is pressed.
+ *
+ * @param toRun the runnable to execute.
+ */
+ Button WhenPressed(std::function<void()> toRun);
+
+ /**
+ * Binds a command to be started repeatedly while the button is pressed, and
+ * cancelled when it is released. Takes a raw pointer, and so is non-owning;
+ * users are responsible for the lifespan of the command.
+ *
+ * @param command The command to bind.
+ * @param interruptible Whether the command should be interruptible.
+ * @return The button, for chained calls.
+ */
+ Button WhileHeld(Command* command, bool interruptible = true);
+
+ /**
+ * Binds a command to be started repeatedly while the button is pressed, and
+ * cancelled when it is released. Transfers command ownership to the button
+ * scheduler, so the user does not have to worry about lifespan - rvalue refs
+ * will be *moved*, lvalue refs will be *copied.*
+ *
+ * @param command The command to bind.
+ * @param interruptible Whether the command should be interruptible.
+ * @return The button, for chained calls.
+ */
+ template <class T, typename = std::enable_if_t<std::is_base_of_v<
+ Command, std::remove_reference_t<T>>>>
+ Button WhileHeld(T&& command, bool interruptible = true) {
+ WhileActiveContinous(std::forward<T>(command), interruptible);
+ return *this;
+ }
+
+ /**
+ * Binds a runnable to execute repeatedly while the button is pressed.
+ *
+ * @param toRun the runnable to execute.
+ */
+ Button WhileHeld(std::function<void()> toRun);
+
+ /**
+ * Binds a command to be started when the button is pressed, and cancelled
+ * when it is released. Takes a raw pointer, and so is non-owning; users are
+ * responsible for the lifespan of the command.
+ *
+ * @param command The command to bind.
+ * @param interruptible Whether the command should be interruptible.
+ * @return The button, for chained calls.
+ */
+ Button WhenHeld(Command* command, bool interruptible = true);
+
+ /**
+ * Binds a command to be started when the button is pressed, and cancelled
+ * when it is released. Transfers command ownership to the button scheduler,
+ * so the user does not have to worry about lifespan - rvalue refs will be
+ * *moved*, lvalue refs will be *copied.*
+ *
+ * @param command The command to bind.
+ * @param interruptible Whether the command should be interruptible.
+ * @return The button, for chained calls.
+ */
+ template <class T, typename = std::enable_if_t<std::is_base_of_v<
+ Command, std::remove_reference_t<T>>>>
+ Button WhenHeld(T&& command, bool interruptible = true) {
+ WhileActiveOnce(std::forward<T>(command), interruptible);
+ return *this;
+ }
+
+ /**
+ * Binds a command to start when the button is released. Takes a
+ * raw pointer, and so is non-owning; users are responsible for the lifespan
+ * of the command.
+ *
+ * @param command The command to bind.
+ * @param interruptible Whether the command should be interruptible.
+ * @return The button, for chained calls.
+ */
+ Button WhenReleased(Command* command, bool interruptible = true);
+
+ /**
+ * Binds a command to start when the button is pressed. Transfers
+ * command ownership to the button scheduler, so the user does not have to
+ * worry about lifespan - rvalue refs will be *moved*, lvalue refs will be
+ * *copied.*
+ *
+ * @param command The command to bind.
+ * @param interruptible Whether the command should be interruptible.
+ * @return The button, for chained calls.
+ */
+ template <class T, typename = std::enable_if_t<std::is_base_of_v<
+ Command, std::remove_reference_t<T>>>>
+ Button WhenReleased(T&& command, bool interruptible = true) {
+ WhenInactive(std::forward<T>(command), interruptible);
+ return *this;
+ }
+
+ /**
+ * Binds a runnable to execute when the button is released.
+ *
+ * @param toRun the runnable to execute.
+ */
+ Button WhenReleased(std::function<void()> toRun);
+
+ /**
+ * Binds a command to start when the button is pressed, and be cancelled when
+ * it is pressed again. Takes a raw pointer, and so is non-owning; users are
+ * responsible for the lifespan of the command.
+ *
+ * @param command The command to bind.
+ * @param interruptible Whether the command should be interruptible.
+ * @return The button, for chained calls.
+ */
+ Button ToggleWhenPressed(Command* command, bool interruptible = true);
+
+ /**
+ * Binds a command to start when the button is pressed, and be cancelled when
+ * it is pessed again. Transfers command ownership to the button scheduler,
+ * so the user does not have to worry about lifespan - rvalue refs will be
+ * *moved*, lvalue refs will be *copied.*
+ *
+ * @param command The command to bind.
+ * @param interruptible Whether the command should be interruptible.
+ * @return The button, for chained calls.
+ */
+ template <class T, typename = std::enable_if_t<std::is_base_of_v<
+ Command, std::remove_reference_t<T>>>>
+ Button ToggleWhenPressed(T&& command, bool interruptible = true) {
+ ToggleWhenActive(std::forward<T>(command), interruptible);
+ return *this;
+ }
+
+ /**
+ * Binds a command to be cancelled when the button is pressed. Takes a
+ * raw pointer, and so is non-owning; users are responsible for the lifespan
+ * and scheduling of the command.
+ *
+ * @param command The command to bind.
+ * @return The button, for chained calls.
+ */
+ Button CancelWhenPressed(Command* command);
+};
+} // namespace frc2
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/button/JoystickButton.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/button/JoystickButton.h
new file mode 100644
index 0000000..a23738b
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/button/JoystickButton.h
@@ -0,0 +1,37 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+#include <frc/GenericHID.h>
+
+#include "Button.h"
+
+namespace frc2 {
+/**
+ * A class used to bind command scheduling to joystick button presses. Can be
+ * composed with other buttons with the operators in Trigger.
+ *
+ * @see Trigger
+ */
+class JoystickButton : public Button {
+ public:
+ /**
+ * Creates a JoystickButton that commands can be bound to.
+ *
+ * @param joystick The joystick on which the button is located.
+ * @param buttonNumber The number of the button on the joystic.
+ */
+ explicit JoystickButton(frc::GenericHID* joystick, int buttonNumber)
+ : m_joystick{joystick}, m_buttonNumber{buttonNumber} {}
+
+ bool Get() const override { return m_joystick->GetRawButton(m_buttonNumber); }
+
+ private:
+ frc::GenericHID* m_joystick;
+ int m_buttonNumber;
+};
+} // namespace frc2
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/button/POVButton.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/button/POVButton.h
new file mode 100644
index 0000000..758cab2
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/button/POVButton.h
@@ -0,0 +1,41 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+#include <frc/GenericHID.h>
+
+#include "Button.h"
+
+namespace frc2 {
+/**
+ * A class used to bind command scheduling to joystick POV presses. Can be
+ * composed with other buttons with the operators in Trigger.
+ *
+ * @see Trigger
+ */
+class POVButton : public Button {
+ public:
+ /**
+ * Creates a POVButton that commands can be bound to.
+ *
+ * @param joystick The joystick on which the button is located.
+ * @param angle The angle of the POV corresponding to a button press.
+ * @param povNumber The number of the POV on the joystick.
+ */
+ POVButton(frc::GenericHID* joystick, int angle, int povNumber = 0)
+ : m_joystick{joystick}, m_angle{angle}, m_povNumber{povNumber} {}
+
+ bool Get() const override {
+ return m_joystick->GetPOV(m_povNumber) == m_angle;
+ }
+
+ private:
+ frc::GenericHID* m_joystick;
+ int m_angle;
+ int m_povNumber;
+};
+} // namespace frc2
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/button/Trigger.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/button/Trigger.h
new file mode 100644
index 0000000..1a65ff6
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/main/native/include/frc2/command/button/Trigger.h
@@ -0,0 +1,325 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc2/command/Command.h>
+#include <frc2/command/CommandScheduler.h>
+
+#include <atomic>
+#include <memory>
+#include <utility>
+
+namespace frc2 {
+class Command;
+/**
+ * A class used to bind command scheduling to events. The
+ * Trigger class is a base for all command-event-binding classes, and so the
+ * methods are named fairly abstractly; for purpose-specific wrappers, see
+ * Button.
+ *
+ * @see Button
+ */
+class Trigger {
+ public:
+ /**
+ * Create a new trigger that is active when the given condition is true.
+ *
+ * @param isActive Whether the trigger is active.
+ */
+ explicit Trigger(std::function<bool()> isActive)
+ : m_isActive{std::move(isActive)} {}
+
+ /**
+ * Create a new trigger that is never active (default constructor) - activity
+ * can be further determined by subclass code.
+ */
+ Trigger() {
+ m_isActive = [] { return false; };
+ }
+
+ Trigger(const Trigger& other);
+
+ /**
+ * Returns whether the trigger is active. Can be overridden by a subclass.
+ *
+ * @return Whether the trigger is active.
+ */
+ virtual bool Get() const { return m_isActive(); }
+
+ /**
+ * Binds a command to start when the trigger becomes active. Takes a
+ * raw pointer, and so is non-owning; users are responsible for the lifespan
+ * of the command.
+ *
+ * @param command The command to bind.
+ * @param interruptible Whether the command should be interruptible.
+ * @return The trigger, for chained calls.
+ */
+ Trigger WhenActive(Command* command, bool interruptible = true);
+
+ /**
+ * Binds a command to start when the trigger becomes active. Transfers
+ * command ownership to the button scheduler, so the user does not have to
+ * worry about lifespan - rvalue refs will be *moved*, lvalue refs will be
+ * *copied.*
+ *
+ * @param command The command to bind.
+ * @param interruptible Whether the command should be interruptible.
+ * @return The trigger, for chained calls.
+ */
+ template <class T, typename = std::enable_if_t<std::is_base_of_v<
+ Command, std::remove_reference_t<T>>>>
+ Trigger WhenActive(T&& command, bool interruptible = true) {
+ CommandScheduler::GetInstance().AddButton(
+ [pressedLast = Get(), *this,
+ command = std::make_unique<std::remove_reference_t<T>>(
+ std::forward<T>(command)),
+ interruptible]() mutable {
+ bool pressed = Get();
+
+ if (!pressedLast && pressed) {
+ command->Schedule(interruptible);
+ }
+
+ pressedLast = pressed;
+ });
+
+ return *this;
+ }
+
+ /**
+ * Binds a runnable to execute when the trigger becomes active.
+ *
+ * @param toRun the runnable to execute.
+ */
+ Trigger WhenActive(std::function<void()> toRun);
+
+ /**
+ * Binds a command to be started repeatedly while the trigger is active, and
+ * cancelled when it becomes inactive. Takes a raw pointer, and so is
+ * non-owning; users are responsible for the lifespan of the command.
+ *
+ * @param command The command to bind.
+ * @param interruptible Whether the command should be interruptible.
+ * @return The trigger, for chained calls.
+ */
+ Trigger WhileActiveContinous(Command* command, bool interruptible = true);
+
+ /**
+ * Binds a command to be started repeatedly while the trigger is active, and
+ * cancelled when it becomes inactive. Transfers command ownership to the
+ * button scheduler, so the user does not have to worry about lifespan -
+ * rvalue refs will be *moved*, lvalue refs will be *copied.*
+ *
+ * @param command The command to bind.
+ * @param interruptible Whether the command should be interruptible.
+ * @return The trigger, for chained calls.
+ */
+ template <class T, typename = std::enable_if_t<std::is_base_of_v<
+ Command, std::remove_reference_t<T>>>>
+ Trigger WhileActiveContinous(T&& command, bool interruptible = true) {
+ CommandScheduler::GetInstance().AddButton(
+ [pressedLast = Get(), *this,
+ command = std::make_unique<std::remove_reference_t<T>>(
+ std::forward<T>(command)),
+ interruptible]() mutable {
+ bool pressed = Get();
+
+ if (pressed) {
+ command->Schedule(interruptible);
+ } else if (pressedLast && !pressed) {
+ command->Cancel();
+ }
+
+ pressedLast = pressed;
+ });
+ return *this;
+ }
+
+ /**
+ * Binds a runnable to execute repeatedly while the trigger is active.
+ *
+ * @param toRun the runnable to execute.
+ */
+ Trigger WhileActiveContinous(std::function<void()> toRun);
+
+ /**
+ * Binds a command to be started when the trigger becomes active, and
+ * cancelled when it becomes inactive. Takes a raw pointer, and so is
+ * non-owning; users are responsible for the lifespan of the command.
+ *
+ * @param command The command to bind.
+ * @param interruptible Whether the command should be interruptible.
+ * @return The trigger, for chained calls.
+ */
+ Trigger WhileActiveOnce(Command* command, bool interruptible = true);
+
+ /**
+ * Binds a command to be started when the trigger becomes active, and
+ * cancelled when it becomes inactive. Transfers command ownership to the
+ * button scheduler, so the user does not have to worry about lifespan -
+ * rvalue refs will be *moved*, lvalue refs will be *copied.*
+ *
+ * @param command The command to bind.
+ * @param interruptible Whether the command should be interruptible.
+ * @return The trigger, for chained calls.
+ */
+ template <class T, typename = std::enable_if_t<std::is_base_of_v<
+ Command, std::remove_reference_t<T>>>>
+ Trigger WhileActiveOnce(T&& command, bool interruptible = true) {
+ CommandScheduler::GetInstance().AddButton(
+ [pressedLast = Get(), *this,
+ command = std::make_unique<std::remove_reference_t<T>>(
+ std::forward<T>(command)),
+ interruptible]() mutable {
+ bool pressed = Get();
+
+ if (!pressedLast && pressed) {
+ command->Schedule(interruptible);
+ } else if (pressedLast && !pressed) {
+ command->Cancel();
+ }
+
+ pressedLast = pressed;
+ });
+ return *this;
+ }
+
+ /**
+ * Binds a command to start when the trigger becomes inactive. Takes a
+ * raw pointer, and so is non-owning; users are responsible for the lifespan
+ * of the command.
+ *
+ * @param command The command to bind.
+ * @param interruptible Whether the command should be interruptible.
+ * @return The trigger, for chained calls.
+ */
+ Trigger WhenInactive(Command* command, bool interruptible = true);
+
+ /**
+ * Binds a command to start when the trigger becomes inactive. Transfers
+ * command ownership to the button scheduler, so the user does not have to
+ * worry about lifespan - rvalue refs will be *moved*, lvalue refs will be
+ * *copied.*
+ *
+ * @param command The command to bind.
+ * @param interruptible Whether the command should be interruptible.
+ * @return The trigger, for chained calls.
+ */
+ template <class T, typename = std::enable_if_t<std::is_base_of_v<
+ Command, std::remove_reference_t<T>>>>
+ Trigger WhenInactive(T&& command, bool interruptible = true) {
+ CommandScheduler::GetInstance().AddButton(
+ [pressedLast = Get(), *this,
+ command = std::make_unique<std::remove_reference_t<T>>(
+ std::forward<T>(command)),
+ interruptible]() mutable {
+ bool pressed = Get();
+
+ if (pressedLast && !pressed) {
+ command->Schedule(interruptible);
+ }
+
+ pressedLast = pressed;
+ });
+ return *this;
+ }
+
+ /**
+ * Binds a runnable to execute when the trigger becomes inactive.
+ *
+ * @param toRun the runnable to execute.
+ */
+ Trigger WhenInactive(std::function<void()> toRun);
+
+ /**
+ * Binds a command to start when the trigger becomes active, and be cancelled
+ * when it again becomes active. Takes a raw pointer, and so is non-owning;
+ * users are responsible for the lifespan of the command.
+ *
+ * @param command The command to bind.
+ * @param interruptible Whether the command should be interruptible.
+ * @return The trigger, for chained calls.
+ */
+ Trigger ToggleWhenActive(Command* command, bool interruptible = true);
+
+ /**
+ * Binds a command to start when the trigger becomes active, and be cancelled
+ * when it again becomes active. Transfers command ownership to the button
+ * scheduler, so the user does not have to worry about lifespan - rvalue refs
+ * will be *moved*, lvalue refs will be *copied.*
+ *
+ * @param command The command to bind.
+ * @param interruptible Whether the command should be interruptible.
+ * @return The trigger, for chained calls.
+ */
+ template <class T, typename = std::enable_if_t<std::is_base_of_v<
+ Command, std::remove_reference_t<T>>>>
+ Trigger ToggleWhenActive(T&& command, bool interruptible = true) {
+ CommandScheduler::GetInstance().AddButton(
+ [pressedLast = Get(), *this,
+ command = std::make_unique<std::remove_reference_t<T>>(
+ std::forward<T>(command)),
+ interruptible]() mutable {
+ bool pressed = Get();
+
+ if (!pressedLast && pressed) {
+ if (command->IsScheduled()) {
+ command->Cancel();
+ } else {
+ command->Schedule(interruptible);
+ }
+ }
+
+ pressedLast = pressed;
+ });
+ return *this;
+ }
+
+ /**
+ * Binds a command to be cancelled when the trigger becomes active. Takes a
+ * raw pointer, and so is non-owning; users are responsible for the lifespan
+ * and scheduling of the command.
+ *
+ * @param command The command to bind.
+ * @return The trigger, for chained calls.
+ */
+ Trigger CancelWhenActive(Command* command);
+
+ /**
+ * Composes two triggers with logical AND.
+ *
+ * @return A trigger which is active when both component triggers are active.
+ */
+ Trigger operator&&(Trigger rhs) {
+ return Trigger([*this, rhs] { return Get() && rhs.Get(); });
+ }
+
+ /**
+ * Composes two triggers with logical OR.
+ *
+ * @return A trigger which is active when either component trigger is active.
+ */
+ Trigger operator||(Trigger rhs) {
+ return Trigger([*this, rhs] { return Get() || rhs.Get(); });
+ }
+
+ /**
+ * Composes a trigger with logical NOT.
+ *
+ * @return A trigger which is active when the component trigger is inactive,
+ * and vice-versa.
+ */
+ Trigger operator!() {
+ return Trigger([*this] { return !Get(); });
+ }
+
+ private:
+ std::function<bool()> m_isActive;
+};
+} // namespace frc2
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/interfaces/Accelerometer.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/interfaces/Accelerometer.h
deleted file mode 100644
index 74b3c38..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/interfaces/Accelerometer.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: interfaces/Accelerometer.h is deprecated; include frc/interfaces/Accelerometer.h instead"
-#else
-#warning "interfaces/Accelerometer.h is deprecated; include frc/interfaces/Accelerometer.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/interfaces/Accelerometer.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/interfaces/Gyro.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/interfaces/Gyro.h
deleted file mode 100644
index f88ec5d..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/interfaces/Gyro.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: interfaces/Gyro.h is deprecated; include frc/interfaces/Gyro.h instead"
-#else
-#warning "interfaces/Gyro.h is deprecated; include frc/interfaces/Gyro.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/interfaces/Gyro.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/main/native/include/interfaces/Potentiometer.h b/third_party/allwpilib_2019/wpilibc/src/main/native/include/interfaces/Potentiometer.h
deleted file mode 100644
index d73d3db..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/main/native/include/interfaces/Potentiometer.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: interfaces/Potentiometer.h is deprecated; include frc/interfaces/Potentiometer.h instead"
-#else
-#warning "interfaces/Potentiometer.h is deprecated; include frc/interfaces/Potentiometer.h instead"
-#endif
-
-// clang-format on
-
-#include "frc/interfaces/Potentiometer.h"
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/CircularBufferTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/CircularBufferTest.cpp
deleted file mode 100644
index ada4f9a..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/CircularBufferTest.cpp
+++ /dev/null
@@ -1,211 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#include "frc/circular_buffer.h" // NOLINT(build/include_order)
-
-#include <array>
-
-#include "gtest/gtest.h"
-
-using namespace frc;
-
-static const std::array<double, 10> values = {
- {751.848, 766.366, 342.657, 234.252, 716.126, 132.344, 445.697, 22.727,
- 421.125, 799.913}};
-
-static const std::array<double, 8> pushFrontOut = {
- {799.913, 421.125, 22.727, 445.697, 132.344, 716.126, 234.252, 342.657}};
-
-static const std::array<double, 8> pushBackOut = {
- {342.657, 234.252, 716.126, 132.344, 445.697, 22.727, 421.125, 799.913}};
-
-TEST(CircularBufferTest, PushFrontTest) {
- circular_buffer<double> queue(8);
-
- for (auto& value : values) {
- queue.push_front(value);
- }
-
- for (size_t i = 0; i < pushFrontOut.size(); i++) {
- EXPECT_EQ(pushFrontOut[i], queue[i]);
- }
-}
-
-TEST(CircularBufferTest, PushBackTest) {
- circular_buffer<double> queue(8);
-
- for (auto& value : values) {
- queue.push_back(value);
- }
-
- for (size_t i = 0; i < pushBackOut.size(); i++) {
- EXPECT_EQ(pushBackOut[i], queue[i]);
- }
-}
-
-TEST(CircularBufferTest, PushPopTest) {
- circular_buffer<double> queue(3);
-
- // Insert three elements into the buffer
- queue.push_back(1.0);
- queue.push_back(2.0);
- queue.push_back(3.0);
-
- EXPECT_EQ(1.0, queue[0]);
- EXPECT_EQ(2.0, queue[1]);
- EXPECT_EQ(3.0, queue[2]);
-
- /*
- * The buffer is full now, so pushing subsequent elements will overwrite the
- * front-most elements.
- */
-
- queue.push_back(4.0); // Overwrite 1 with 4
-
- // The buffer now contains 2, 3 and 4
- EXPECT_EQ(2.0, queue[0]);
- EXPECT_EQ(3.0, queue[1]);
- EXPECT_EQ(4.0, queue[2]);
-
- queue.push_back(5.0); // Overwrite 2 with 5
-
- // The buffer now contains 3, 4 and 5
- EXPECT_EQ(3.0, queue[0]);
- EXPECT_EQ(4.0, queue[1]);
- EXPECT_EQ(5.0, queue[2]);
-
- EXPECT_EQ(5.0, queue.pop_back()); // 5 is removed
-
- // The buffer now contains 3 and 4
- EXPECT_EQ(3.0, queue[0]);
- EXPECT_EQ(4.0, queue[1]);
-
- EXPECT_EQ(3.0, queue.pop_front()); // 3 is removed
-
- // Leaving only one element with value == 4
- EXPECT_EQ(4.0, queue[0]);
-}
-
-TEST(CircularBufferTest, ResetTest) {
- circular_buffer<double> queue(5);
-
- for (size_t i = 1; i < 6; i++) {
- queue.push_back(i);
- }
-
- queue.reset();
-
- for (size_t i = 0; i < 5; i++) {
- EXPECT_EQ(0.0, queue[i]);
- }
-}
-
-TEST(CircularBufferTest, ResizeTest) {
- circular_buffer<double> queue(5);
-
- /* Buffer contains {1, 2, 3, _, _}
- * ^ front
- */
- queue.push_back(1.0);
- queue.push_back(2.0);
- queue.push_back(3.0);
-
- queue.resize(2);
- EXPECT_EQ(1.0, queue[0]);
- EXPECT_EQ(2.0, queue[1]);
-
- queue.resize(5);
- EXPECT_EQ(1.0, queue[0]);
- EXPECT_EQ(2.0, queue[1]);
-
- queue.reset();
-
- /* Buffer contains {_, 1, 2, 3, _}
- * ^ front
- */
- queue.push_back(0.0);
- queue.push_back(1.0);
- queue.push_back(2.0);
- queue.push_back(3.0);
- queue.pop_front();
-
- queue.resize(2);
- EXPECT_EQ(1.0, queue[0]);
- EXPECT_EQ(2.0, queue[1]);
-
- queue.resize(5);
- EXPECT_EQ(1.0, queue[0]);
- EXPECT_EQ(2.0, queue[1]);
-
- queue.reset();
-
- /* Buffer contains {_, _, 1, 2, 3}
- * ^ front
- */
- queue.push_back(0.0);
- queue.push_back(0.0);
- queue.push_back(1.0);
- queue.push_back(2.0);
- queue.push_back(3.0);
- queue.pop_front();
- queue.pop_front();
-
- queue.resize(2);
- EXPECT_EQ(1.0, queue[0]);
- EXPECT_EQ(2.0, queue[1]);
-
- queue.resize(5);
- EXPECT_EQ(1.0, queue[0]);
- EXPECT_EQ(2.0, queue[1]);
-
- queue.reset();
-
- /* Buffer contains {3, _, _, 1, 2}
- * ^ front
- */
- queue.push_back(3.0);
- queue.push_front(2.0);
- queue.push_front(1.0);
-
- queue.resize(2);
- EXPECT_EQ(1.0, queue[0]);
- EXPECT_EQ(2.0, queue[1]);
-
- queue.resize(5);
- EXPECT_EQ(1.0, queue[0]);
- EXPECT_EQ(2.0, queue[1]);
-
- queue.reset();
-
- /* Buffer contains {2, 3, _, _, 1}
- * ^ front
- */
- queue.push_back(2.0);
- queue.push_back(3.0);
- queue.push_front(1.0);
-
- queue.resize(2);
- EXPECT_EQ(1.0, queue[0]);
- EXPECT_EQ(2.0, queue[1]);
-
- queue.resize(5);
- EXPECT_EQ(1.0, queue[0]);
- EXPECT_EQ(2.0, queue[1]);
-
- // Test push_back() after resize
- queue.push_back(3.0);
- EXPECT_EQ(1.0, queue[0]);
- EXPECT_EQ(2.0, queue[1]);
- EXPECT_EQ(3.0, queue[2]);
-
- // Test push_front() after resize
- queue.push_front(4.0);
- EXPECT_EQ(4.0, queue[0]);
- EXPECT_EQ(1.0, queue[1]);
- EXPECT_EQ(2.0, queue[2]);
- EXPECT_EQ(3.0, queue[3]);
-}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/FilterNoiseTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/FilterNoiseTest.cpp
deleted file mode 100644
index ea14f32..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/FilterNoiseTest.cpp
+++ /dev/null
@@ -1,137 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#include "frc/filters/LinearDigitalFilter.h" // NOLINT(build/include_order)
-
-#include <cmath>
-#include <functional>
-#include <memory>
-#include <random>
-#include <thread>
-
-#include "frc/Base.h"
-#include "gtest/gtest.h"
-
-/* Filter constants */
-static constexpr double kFilterStep = 0.005;
-static constexpr double kFilterTime = 2.0;
-static constexpr double kSinglePoleIIRTimeConstant = 0.015915;
-static constexpr double kSinglePoleIIRExpectedOutput = -3.2172003;
-static constexpr double kHighPassTimeConstant = 0.006631;
-static constexpr double kHighPassExpectedOutput = 10.074717;
-static constexpr int32_t kMovAvgTaps = 6;
-static constexpr double kMovAvgExpectedOutput = -10.191644;
-static constexpr double kPi = 3.14159265358979323846;
-
-using namespace frc;
-
-enum FilterNoiseTestType { TEST_SINGLE_POLE_IIR, TEST_MOVAVG };
-
-std::ostream& operator<<(std::ostream& os, const FilterNoiseTestType& type) {
- switch (type) {
- case TEST_SINGLE_POLE_IIR:
- os << "LinearDigitalFilter SinglePoleIIR";
- break;
- case TEST_MOVAVG:
- os << "LinearDigitalFilter MovingAverage";
- break;
- }
-
- return os;
-}
-
-constexpr double kStdDev = 10.0;
-
-/**
- * Adds Gaussian white noise to a function returning data. The noise will have
- * the standard deviation provided in the constructor.
- */
-class NoiseGenerator : public PIDSource {
- public:
- NoiseGenerator(double (*dataFunc)(double), double stdDev)
- : m_distr(0.0, stdDev) {
- m_dataFunc = dataFunc;
- }
-
- void SetPIDSourceType(PIDSourceType pidSource) override {}
-
- double Get() { return m_dataFunc(m_count) + m_noise; }
-
- double PIDGet() override {
- m_noise = m_distr(m_gen);
- m_count += kFilterStep;
- return m_dataFunc(m_count) + m_noise;
- }
-
- void Reset() { m_count = -kFilterStep; }
-
- private:
- std::function<double(double)> m_dataFunc;
- double m_noise = 0.0;
-
- // Make sure first call to PIDGet() uses m_count == 0
- double m_count = -kFilterStep;
-
- std::random_device m_rd;
- std::mt19937 m_gen{m_rd()};
- std::normal_distribution<double> m_distr;
-};
-
-/**
- * A fixture that includes a noise generator wrapped in a filter
- */
-class FilterNoiseTest : public testing::TestWithParam<FilterNoiseTestType> {
- protected:
- std::unique_ptr<PIDSource> m_filter;
- std::shared_ptr<NoiseGenerator> m_noise;
-
- static double GetData(double t) { return 100.0 * std::sin(2.0 * kPi * t); }
-
- void SetUp() override {
- m_noise = std::make_shared<NoiseGenerator>(GetData, kStdDev);
-
- switch (GetParam()) {
- case TEST_SINGLE_POLE_IIR: {
- m_filter = std::make_unique<LinearDigitalFilter>(
- LinearDigitalFilter::SinglePoleIIR(
- m_noise, kSinglePoleIIRTimeConstant, kFilterStep));
- break;
- }
-
- case TEST_MOVAVG: {
- m_filter = std::make_unique<LinearDigitalFilter>(
- LinearDigitalFilter::MovingAverage(m_noise, kMovAvgTaps));
- break;
- }
- }
- }
-};
-
-/**
- * Test if the filter reduces the noise produced by a signal generator
- */
-TEST_P(FilterNoiseTest, NoiseReduce) {
- double theoryData = 0.0;
- double noiseGenError = 0.0;
- double filterError = 0.0;
-
- m_noise->Reset();
- for (double t = 0; t < kFilterTime; t += kFilterStep) {
- theoryData = GetData(t);
- filterError += std::abs(m_filter->PIDGet() - theoryData);
- noiseGenError += std::abs(m_noise->Get() - theoryData);
- }
-
- RecordProperty("FilterError", filterError);
-
- // The filter should have produced values closer to the theory
- EXPECT_GT(noiseGenError, filterError)
- << "Filter should have reduced noise accumulation but failed";
-}
-
-INSTANTIATE_TEST_CASE_P(Test, FilterNoiseTest,
- testing::Values(TEST_SINGLE_POLE_IIR, TEST_MOVAVG), );
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/FilterOutputTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/FilterOutputTest.cpp
deleted file mode 100644
index ec71760..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/FilterOutputTest.cpp
+++ /dev/null
@@ -1,157 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#include "frc/filters/LinearDigitalFilter.h" // NOLINT(build/include_order)
-
-#include <cmath>
-#include <functional>
-#include <memory>
-#include <random>
-#include <thread>
-
-#include "frc/Base.h"
-#include "gtest/gtest.h"
-
-/* Filter constants */
-static constexpr double kFilterStep = 0.005;
-static constexpr double kFilterTime = 2.0;
-static constexpr double kSinglePoleIIRTimeConstant = 0.015915;
-static constexpr double kSinglePoleIIRExpectedOutput = -3.2172003;
-static constexpr double kHighPassTimeConstant = 0.006631;
-static constexpr double kHighPassExpectedOutput = 10.074717;
-static constexpr int32_t kMovAvgTaps = 6;
-static constexpr double kMovAvgExpectedOutput = -10.191644;
-static constexpr double kPi = 3.14159265358979323846;
-
-using namespace frc;
-
-enum FilterOutputTestType {
- TEST_SINGLE_POLE_IIR,
- TEST_HIGH_PASS,
- TEST_MOVAVG,
- TEST_PULSE
-};
-
-std::ostream& operator<<(std::ostream& os, const FilterOutputTestType& type) {
- switch (type) {
- case TEST_SINGLE_POLE_IIR:
- os << "LinearDigitalFilter SinglePoleIIR";
- break;
- case TEST_HIGH_PASS:
- os << "LinearDigitalFilter HighPass";
- break;
- case TEST_MOVAVG:
- os << "LinearDigitalFilter MovingAverage";
- break;
- case TEST_PULSE:
- os << "LinearDigitalFilter Pulse";
- break;
- }
-
- return os;
-}
-
-class DataWrapper : public PIDSource {
- public:
- explicit DataWrapper(double (*dataFunc)(double)) { m_dataFunc = dataFunc; }
-
- virtual void SetPIDSourceType(PIDSourceType pidSource) {}
-
- virtual double PIDGet() {
- m_count += kFilterStep;
- return m_dataFunc(m_count);
- }
-
- void Reset() { m_count = -kFilterStep; }
-
- private:
- std::function<double(double)> m_dataFunc;
-
- // Make sure first call to PIDGet() uses m_count == 0
- double m_count = -kFilterStep;
-};
-
-/**
- * A fixture that includes a consistent data source wrapped in a filter
- */
-class FilterOutputTest : public testing::TestWithParam<FilterOutputTestType> {
- protected:
- std::unique_ptr<PIDSource> m_filter;
- std::shared_ptr<DataWrapper> m_data;
- double m_expectedOutput = 0.0;
-
- static double GetData(double t) {
- return 100.0 * std::sin(2.0 * kPi * t) + 20.0 * std::cos(50.0 * kPi * t);
- }
-
- static double GetPulseData(double t) {
- if (std::abs(t - 1.0) < 0.001) {
- return 1.0;
- } else {
- return 0.0;
- }
- }
-
- void SetUp() override {
- switch (GetParam()) {
- case TEST_SINGLE_POLE_IIR: {
- m_data = std::make_shared<DataWrapper>(GetData);
- m_filter = std::make_unique<LinearDigitalFilter>(
- LinearDigitalFilter::SinglePoleIIR(
- m_data, kSinglePoleIIRTimeConstant, kFilterStep));
- m_expectedOutput = kSinglePoleIIRExpectedOutput;
- break;
- }
-
- case TEST_HIGH_PASS: {
- m_data = std::make_shared<DataWrapper>(GetData);
- m_filter =
- std::make_unique<LinearDigitalFilter>(LinearDigitalFilter::HighPass(
- m_data, kHighPassTimeConstant, kFilterStep));
- m_expectedOutput = kHighPassExpectedOutput;
- break;
- }
-
- case TEST_MOVAVG: {
- m_data = std::make_shared<DataWrapper>(GetData);
- m_filter = std::make_unique<LinearDigitalFilter>(
- LinearDigitalFilter::MovingAverage(m_data, kMovAvgTaps));
- m_expectedOutput = kMovAvgExpectedOutput;
- break;
- }
-
- case TEST_PULSE: {
- m_data = std::make_shared<DataWrapper>(GetPulseData);
- m_filter = std::make_unique<LinearDigitalFilter>(
- LinearDigitalFilter::MovingAverage(m_data, kMovAvgTaps));
- m_expectedOutput = 0.0;
- break;
- }
- }
- }
-};
-
-/**
- * Test if the linear digital filters produce consistent output
- */
-TEST_P(FilterOutputTest, FilterOutput) {
- m_data->Reset();
-
- double filterOutput = 0.0;
- for (double t = 0.0; t < kFilterTime; t += kFilterStep) {
- filterOutput = m_filter->PIDGet();
- }
-
- RecordProperty("FilterOutput", filterOutput);
-
- EXPECT_FLOAT_EQ(m_expectedOutput, filterOutput)
- << "Filter output didn't match expected value";
-}
-
-INSTANTIATE_TEST_CASE_P(Test, FilterOutputTest,
- testing::Values(TEST_SINGLE_POLE_IIR, TEST_HIGH_PASS,
- TEST_MOVAVG, TEST_PULSE), );
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/LinearFilterNoiseTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/LinearFilterNoiseTest.cpp
new file mode 100644
index 0000000..888d183
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/LinearFilterNoiseTest.cpp
@@ -0,0 +1,94 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/LinearFilter.h" // NOLINT(build/include_order)
+
+#include <cmath>
+#include <memory>
+#include <random>
+
+#include <units/units.h>
+#include <wpi/math>
+
+#include "gtest/gtest.h"
+
+// Filter constants
+static constexpr units::second_t kFilterStep = 0.005_s;
+static constexpr units::second_t kFilterTime = 2.0_s;
+static constexpr double kSinglePoleIIRTimeConstant = 0.015915;
+static constexpr int32_t kMovAvgTaps = 6;
+
+enum LinearFilterNoiseTestType { TEST_SINGLE_POLE_IIR, TEST_MOVAVG };
+
+std::ostream& operator<<(std::ostream& os,
+ const LinearFilterNoiseTestType& type) {
+ switch (type) {
+ case TEST_SINGLE_POLE_IIR:
+ os << "LinearFilter SinglePoleIIR";
+ break;
+ case TEST_MOVAVG:
+ os << "LinearFilter MovingAverage";
+ break;
+ }
+
+ return os;
+}
+
+static double GetData(double t) {
+ return 100.0 * std::sin(2.0 * wpi::math::pi * t);
+}
+
+class LinearFilterNoiseTest
+ : public testing::TestWithParam<LinearFilterNoiseTestType> {
+ protected:
+ std::unique_ptr<frc::LinearFilter> m_filter;
+
+ void SetUp() override {
+ switch (GetParam()) {
+ case TEST_SINGLE_POLE_IIR: {
+ m_filter = std::make_unique<frc::LinearFilter>(
+ frc::LinearFilter::SinglePoleIIR(kSinglePoleIIRTimeConstant,
+ kFilterStep));
+ break;
+ }
+
+ case TEST_MOVAVG: {
+ m_filter = std::make_unique<frc::LinearFilter>(
+ frc::LinearFilter::MovingAverage(kMovAvgTaps));
+ break;
+ }
+ }
+ }
+};
+
+/**
+ * Test if the filter reduces the noise produced by a signal generator
+ */
+TEST_P(LinearFilterNoiseTest, NoiseReduce) {
+ double noiseGenError = 0.0;
+ double filterError = 0.0;
+
+ std::random_device rd;
+ std::mt19937 gen{rd()};
+ std::normal_distribution<double> distr{0.0, 10.0};
+
+ for (auto t = 0_s; t < kFilterTime; t += kFilterStep) {
+ double theory = GetData(t.to<double>());
+ double noise = distr(gen);
+ filterError += std::abs(m_filter->Calculate(theory + noise) - theory);
+ noiseGenError += std::abs(noise - theory);
+ }
+
+ RecordProperty("FilterError", filterError);
+
+ // The filter should have produced values closer to the theory
+ EXPECT_GT(noiseGenError, filterError)
+ << "Filter should have reduced noise accumulation but failed";
+}
+
+INSTANTIATE_TEST_SUITE_P(Test, LinearFilterNoiseTest,
+ testing::Values(TEST_SINGLE_POLE_IIR, TEST_MOVAVG));
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/LinearFilterOutputTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/LinearFilterOutputTest.cpp
new file mode 100644
index 0000000..1f1476c
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/LinearFilterOutputTest.cpp
@@ -0,0 +1,135 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/LinearFilter.h" // NOLINT(build/include_order)
+
+#include <cmath>
+#include <functional>
+#include <memory>
+#include <random>
+
+#include <units/units.h>
+#include <wpi/math>
+
+#include "gtest/gtest.h"
+
+// Filter constants
+static constexpr units::second_t kFilterStep = 0.005_s;
+static constexpr units::second_t kFilterTime = 2.0_s;
+static constexpr double kSinglePoleIIRTimeConstant = 0.015915;
+static constexpr double kSinglePoleIIRExpectedOutput = -3.2172003;
+static constexpr double kHighPassTimeConstant = 0.006631;
+static constexpr double kHighPassExpectedOutput = 10.074717;
+static constexpr int32_t kMovAvgTaps = 6;
+static constexpr double kMovAvgExpectedOutput = -10.191644;
+
+enum LinearFilterOutputTestType {
+ TEST_SINGLE_POLE_IIR,
+ TEST_HIGH_PASS,
+ TEST_MOVAVG,
+ TEST_PULSE
+};
+
+std::ostream& operator<<(std::ostream& os,
+ const LinearFilterOutputTestType& type) {
+ switch (type) {
+ case TEST_SINGLE_POLE_IIR:
+ os << "LinearFilter SinglePoleIIR";
+ break;
+ case TEST_HIGH_PASS:
+ os << "LinearFilter HighPass";
+ break;
+ case TEST_MOVAVG:
+ os << "LinearFilter MovingAverage";
+ break;
+ case TEST_PULSE:
+ os << "LinearFilter Pulse";
+ break;
+ }
+
+ return os;
+}
+
+static double GetData(double t) {
+ return 100.0 * std::sin(2.0 * wpi::math::pi * t) +
+ 20.0 * std::cos(50.0 * wpi::math::pi * t);
+}
+
+static double GetPulseData(double t) {
+ if (std::abs(t - 1.0) < 0.001) {
+ return 1.0;
+ } else {
+ return 0.0;
+ }
+}
+
+/**
+ * A fixture that includes a consistent data source wrapped in a filter
+ */
+class LinearFilterOutputTest
+ : public testing::TestWithParam<LinearFilterOutputTestType> {
+ protected:
+ std::unique_ptr<frc::LinearFilter> m_filter;
+ std::function<double(double)> m_data;
+ double m_expectedOutput = 0.0;
+
+ void SetUp() override {
+ switch (GetParam()) {
+ case TEST_SINGLE_POLE_IIR: {
+ m_filter = std::make_unique<frc::LinearFilter>(
+ frc::LinearFilter::SinglePoleIIR(kSinglePoleIIRTimeConstant,
+ kFilterStep));
+ m_data = GetData;
+ m_expectedOutput = kSinglePoleIIRExpectedOutput;
+ break;
+ }
+
+ case TEST_HIGH_PASS: {
+ m_filter = std::make_unique<frc::LinearFilter>(
+ frc::LinearFilter::HighPass(kHighPassTimeConstant, kFilterStep));
+ m_data = GetData;
+ m_expectedOutput = kHighPassExpectedOutput;
+ break;
+ }
+
+ case TEST_MOVAVG: {
+ m_filter = std::make_unique<frc::LinearFilter>(
+ frc::LinearFilter::MovingAverage(kMovAvgTaps));
+ m_data = GetData;
+ m_expectedOutput = kMovAvgExpectedOutput;
+ break;
+ }
+
+ case TEST_PULSE: {
+ m_filter = std::make_unique<frc::LinearFilter>(
+ frc::LinearFilter::MovingAverage(kMovAvgTaps));
+ m_data = GetPulseData;
+ m_expectedOutput = 0.0;
+ break;
+ }
+ }
+ }
+};
+
+/**
+ * Test if the linear filters produce consistent output for a given data set.
+ */
+TEST_P(LinearFilterOutputTest, Output) {
+ double filterOutput = 0.0;
+ for (auto t = 0_s; t < kFilterTime; t += kFilterStep) {
+ filterOutput = m_filter->Calculate(m_data(t.to<double>()));
+ }
+
+ RecordProperty("LinearFilterOutput", filterOutput);
+
+ EXPECT_FLOAT_EQ(m_expectedOutput, filterOutput)
+ << "Filter output didn't match expected value";
+}
+
+INSTANTIATE_TEST_SUITE_P(Test, LinearFilterOutputTest,
+ testing::Values(TEST_SINGLE_POLE_IIR, TEST_HIGH_PASS,
+ TEST_MOVAVG, TEST_PULSE));
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/RobotDriveTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/RobotDriveTest.cpp
deleted file mode 100644
index 464a707..0000000
--- a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/RobotDriveTest.cpp
+++ /dev/null
@@ -1,190 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#include "MockSpeedController.h"
-#include "frc/RobotDrive.h"
-#include "frc/drive/DifferentialDrive.h"
-#include "frc/drive/MecanumDrive.h"
-#include "gtest/gtest.h"
-
-using namespace frc;
-
-class RobotDriveTest : public testing::Test {
- protected:
- MockSpeedController m_rdFrontLeft;
- MockSpeedController m_rdRearLeft;
- MockSpeedController m_rdFrontRight;
- MockSpeedController m_rdRearRight;
- MockSpeedController m_frontLeft;
- MockSpeedController m_rearLeft;
- MockSpeedController m_frontRight;
- MockSpeedController m_rearRight;
- frc::RobotDrive m_robotDrive{m_rdFrontLeft, m_rdRearLeft, m_rdFrontRight,
- m_rdRearRight};
- frc::DifferentialDrive m_differentialDrive{m_frontLeft, m_frontRight};
- frc::MecanumDrive m_mecanumDrive{m_frontLeft, m_rearLeft, m_frontRight,
- m_rearRight};
-
- double m_testJoystickValues[9] = {-1.0, -0.9, -0.5, -0.01, 0.0,
- 0.01, 0.5, 0.9, 1.0};
- double m_testGyroValues[19] = {0, 45, 90, 135, 180, 225, 270,
- 305, 360, 540, -45, -90, -135, -180,
- -225, -270, -305, -360, -540};
-};
-
-TEST_F(RobotDriveTest, TankDrive) {
- int joystickSize = sizeof(m_testJoystickValues) / sizeof(double);
- double leftJoystick, rightJoystick;
- m_differentialDrive.SetDeadband(0.0);
- m_differentialDrive.SetSafetyEnabled(false);
- m_mecanumDrive.SetSafetyEnabled(false);
- m_robotDrive.SetSafetyEnabled(false);
- for (int i = 0; i < joystickSize; i++) {
- for (int j = 0; j < joystickSize; j++) {
- leftJoystick = m_testJoystickValues[i];
- rightJoystick = m_testJoystickValues[j];
- m_robotDrive.TankDrive(leftJoystick, rightJoystick, false);
- m_differentialDrive.TankDrive(leftJoystick, rightJoystick, false);
- ASSERT_NEAR(m_rdFrontLeft.Get(), m_frontLeft.Get(), 0.01);
- ASSERT_NEAR(m_rdFrontRight.Get(), m_frontRight.Get(), 0.01);
- }
- }
-}
-
-TEST_F(RobotDriveTest, TankDriveSquared) {
- int joystickSize = sizeof(m_testJoystickValues) / sizeof(double);
- double leftJoystick, rightJoystick;
- m_differentialDrive.SetDeadband(0.0);
- m_differentialDrive.SetSafetyEnabled(false);
- m_mecanumDrive.SetSafetyEnabled(false);
- m_robotDrive.SetSafetyEnabled(false);
- for (int i = 0; i < joystickSize; i++) {
- for (int j = 0; j < joystickSize; j++) {
- leftJoystick = m_testJoystickValues[i];
- rightJoystick = m_testJoystickValues[j];
- m_robotDrive.TankDrive(leftJoystick, rightJoystick, true);
- m_differentialDrive.TankDrive(leftJoystick, rightJoystick, true);
- ASSERT_NEAR(m_rdFrontLeft.Get(), m_frontLeft.Get(), 0.01);
- ASSERT_NEAR(m_rdFrontRight.Get(), m_frontRight.Get(), 0.01);
- }
- }
-}
-
-TEST_F(RobotDriveTest, ArcadeDriveSquared) {
- int joystickSize = sizeof(m_testJoystickValues) / sizeof(double);
- double moveJoystick, rotateJoystick;
- m_differentialDrive.SetDeadband(0.0);
- m_differentialDrive.SetSafetyEnabled(false);
- m_mecanumDrive.SetSafetyEnabled(false);
- m_robotDrive.SetSafetyEnabled(false);
- for (int i = 0; i < joystickSize; i++) {
- for (int j = 0; j < joystickSize; j++) {
- moveJoystick = m_testJoystickValues[i];
- rotateJoystick = m_testJoystickValues[j];
- m_robotDrive.ArcadeDrive(moveJoystick, rotateJoystick, true);
- m_differentialDrive.ArcadeDrive(moveJoystick, -rotateJoystick, true);
- ASSERT_NEAR(m_rdFrontLeft.Get(), m_frontLeft.Get(), 0.01);
- ASSERT_NEAR(m_rdFrontRight.Get(), m_frontRight.Get(), 0.01);
- }
- }
-}
-
-TEST_F(RobotDriveTest, ArcadeDrive) {
- int joystickSize = sizeof(m_testJoystickValues) / sizeof(double);
- double moveJoystick, rotateJoystick;
- m_differentialDrive.SetDeadband(0.0);
- m_differentialDrive.SetSafetyEnabled(false);
- m_mecanumDrive.SetSafetyEnabled(false);
- m_robotDrive.SetSafetyEnabled(false);
- for (int i = 0; i < joystickSize; i++) {
- for (int j = 0; j < joystickSize; j++) {
- moveJoystick = m_testJoystickValues[i];
- rotateJoystick = m_testJoystickValues[j];
- m_robotDrive.ArcadeDrive(moveJoystick, rotateJoystick, false);
- m_differentialDrive.ArcadeDrive(moveJoystick, -rotateJoystick, false);
- ASSERT_NEAR(m_rdFrontLeft.Get(), m_frontLeft.Get(), 0.01);
- ASSERT_NEAR(m_rdFrontRight.Get(), m_frontRight.Get(), 0.01);
- }
- }
-}
-
-TEST_F(RobotDriveTest, MecanumCartesian) {
- int joystickSize = sizeof(m_testJoystickValues) / sizeof(double);
- int gyroSize = sizeof(m_testGyroValues) / sizeof(double);
- double xJoystick, yJoystick, rotateJoystick, gyroValue;
- m_mecanumDrive.SetDeadband(0.0);
- m_mecanumDrive.SetSafetyEnabled(false);
- m_differentialDrive.SetSafetyEnabled(false);
- m_robotDrive.SetSafetyEnabled(false);
- for (int i = 0; i < joystickSize; i++) {
- for (int j = 0; j < joystickSize; j++) {
- for (int k = 0; k < joystickSize; k++) {
- for (int l = 0; l < gyroSize; l++) {
- xJoystick = m_testJoystickValues[i];
- yJoystick = m_testJoystickValues[j];
- rotateJoystick = m_testJoystickValues[k];
- gyroValue = m_testGyroValues[l];
- m_robotDrive.MecanumDrive_Cartesian(xJoystick, yJoystick,
- rotateJoystick, gyroValue);
- m_mecanumDrive.DriveCartesian(xJoystick, -yJoystick, rotateJoystick,
- -gyroValue);
- ASSERT_NEAR(m_rdFrontLeft.Get(), m_frontLeft.Get(), 0.01)
- << "X: " << xJoystick << " Y: " << yJoystick
- << " Rotate: " << rotateJoystick << " Gyro: " << gyroValue;
- ASSERT_NEAR(m_rdFrontRight.Get(), -m_frontRight.Get(), 0.01)
- << "X: " << xJoystick << " Y: " << yJoystick
- << " Rotate: " << rotateJoystick << " Gyro: " << gyroValue;
- ASSERT_NEAR(m_rdRearLeft.Get(), m_rearLeft.Get(), 0.01)
- << "X: " << xJoystick << " Y: " << yJoystick
- << " Rotate: " << rotateJoystick << " Gyro: " << gyroValue;
- ASSERT_NEAR(m_rdRearRight.Get(), -m_rearRight.Get(), 0.01)
- << "X: " << xJoystick << " Y: " << yJoystick
- << " Rotate: " << rotateJoystick << " Gyro: " << gyroValue;
- }
- }
- }
- }
-}
-
-TEST_F(RobotDriveTest, MecanumPolar) {
- int joystickSize = sizeof(m_testJoystickValues) / sizeof(double);
- int gyroSize = sizeof(m_testGyroValues) / sizeof(double);
- double magnitudeJoystick, directionJoystick, rotateJoystick;
- m_mecanumDrive.SetDeadband(0.0);
- m_mecanumDrive.SetSafetyEnabled(false);
- m_differentialDrive.SetSafetyEnabled(false);
- m_robotDrive.SetSafetyEnabled(false);
- for (int i = 0; i < joystickSize; i++) {
- for (int j = 0; j < gyroSize; j++) {
- for (int k = 0; k < joystickSize; k++) {
- magnitudeJoystick = m_testJoystickValues[i];
- directionJoystick = m_testGyroValues[j];
- rotateJoystick = m_testJoystickValues[k];
- m_robotDrive.MecanumDrive_Polar(magnitudeJoystick, directionJoystick,
- rotateJoystick);
- m_mecanumDrive.DrivePolar(magnitudeJoystick, directionJoystick,
- rotateJoystick);
- ASSERT_NEAR(m_rdFrontLeft.Get(), m_frontLeft.Get(), 0.01)
- << "Magnitude: " << magnitudeJoystick
- << " Direction: " << directionJoystick
- << " Rotate: " << rotateJoystick;
- ASSERT_NEAR(m_rdFrontRight.Get(), -m_frontRight.Get(), 0.01)
- << "Magnitude: " << magnitudeJoystick
- << " Direction: " << directionJoystick
- << " Rotate: " << rotateJoystick;
- ASSERT_NEAR(m_rdRearLeft.Get(), m_rearLeft.Get(), 0.01)
- << "Magnitude: " << magnitudeJoystick
- << " Direction: " << directionJoystick
- << " Rotate: " << rotateJoystick;
- ASSERT_NEAR(m_rdRearRight.Get(), -m_rearRight.Get(), 0.01)
- << "Magnitude: " << magnitudeJoystick
- << " Direction: " << directionJoystick
- << " Rotate: " << rotateJoystick;
- }
- }
- }
-}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/SpeedControllerGroupTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/SpeedControllerGroupTest.cpp
index a6f5028..cb81fc9 100644
--- a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/SpeedControllerGroupTest.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/SpeedControllerGroupTest.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -132,5 +132,5 @@
}
}
-INSTANTIATE_TEST_CASE_P(Test, SpeedControllerGroupTest,
- testing::Values(TEST_ONE, TEST_TWO, TEST_THREE), );
+INSTANTIATE_TEST_SUITE_P(Test, SpeedControllerGroupTest,
+ testing::Values(TEST_ONE, TEST_TWO, TEST_THREE));
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/WatchdogTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/WatchdogTest.cpp
index c796116..10ff996 100644
--- a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/WatchdogTest.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/WatchdogTest.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -17,10 +17,14 @@
using namespace frc;
+#ifdef __APPLE__
+TEST(WatchdogTest, DISABLED_EnableDisable) {
+#else
TEST(WatchdogTest, EnableDisable) {
+#endif
uint32_t watchdogCounter = 0;
- Watchdog watchdog(0.4, [&] { watchdogCounter++; });
+ Watchdog watchdog(0.4_s, [&] { watchdogCounter++; });
wpi::outs() << "Run 1\n";
watchdog.Enable();
@@ -48,10 +52,14 @@
<< "Watchdog either didn't trigger or triggered more than once";
}
+#ifdef __APPLE__
+TEST(WatchdogTest, DISABLED_Reset) {
+#else
TEST(WatchdogTest, Reset) {
+#endif
uint32_t watchdogCounter = 0;
- Watchdog watchdog(0.4, [&] { watchdogCounter++; });
+ Watchdog watchdog(0.4_s, [&] { watchdogCounter++; });
watchdog.Enable();
std::this_thread::sleep_for(std::chrono::milliseconds(200));
@@ -62,14 +70,18 @@
EXPECT_EQ(0u, watchdogCounter) << "Watchdog triggered early";
}
+#ifdef __APPLE__
+TEST(WatchdogTest, DISABLED_SetTimeout) {
+#else
TEST(WatchdogTest, SetTimeout) {
+#endif
uint32_t watchdogCounter = 0;
- Watchdog watchdog(1.0, [&] { watchdogCounter++; });
+ Watchdog watchdog(1.0_s, [&] { watchdogCounter++; });
watchdog.Enable();
std::this_thread::sleep_for(std::chrono::milliseconds(200));
- watchdog.SetTimeout(0.2);
+ watchdog.SetTimeout(0.2_s);
EXPECT_EQ(0.2, watchdog.GetTimeout());
EXPECT_EQ(0u, watchdogCounter) << "Watchdog triggered early";
@@ -81,8 +93,12 @@
<< "Watchdog either didn't trigger or triggered more than once";
}
+#ifdef __APPLE__
+TEST(WatchdogTest, DISABLED_IsExpired) {
+#else
TEST(WatchdogTest, IsExpired) {
- Watchdog watchdog(0.2, [] {});
+#endif
+ Watchdog watchdog(0.2_s, [] {});
EXPECT_FALSE(watchdog.IsExpired());
watchdog.Enable();
@@ -97,10 +113,14 @@
EXPECT_FALSE(watchdog.IsExpired());
}
+#ifdef __APPLE__
+TEST(WatchdogTest, DISABLED_Epochs) {
+#else
TEST(WatchdogTest, Epochs) {
+#endif
uint32_t watchdogCounter = 0;
- Watchdog watchdog(0.4, [&] { watchdogCounter++; });
+ Watchdog watchdog(0.4_s, [&] { watchdogCounter++; });
wpi::outs() << "Run 1\n";
watchdog.Enable();
@@ -133,8 +153,8 @@
uint32_t watchdogCounter1 = 0;
uint32_t watchdogCounter2 = 0;
- Watchdog watchdog1(0.2, [&] { watchdogCounter1++; });
- Watchdog watchdog2(0.6, [&] { watchdogCounter2++; });
+ Watchdog watchdog1(0.2_s, [&] { watchdogCounter1++; });
+ Watchdog watchdog2(0.6_s, [&] { watchdogCounter2++; });
watchdog2.Enable();
std::this_thread::sleep_for(std::chrono::milliseconds(200));
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/controller/PIDInputOutputTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/controller/PIDInputOutputTest.cpp
new file mode 100644
index 0000000..7bdac2e
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/controller/PIDInputOutputTest.cpp
@@ -0,0 +1,52 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/controller/PIDController.h"
+#include "gtest/gtest.h"
+
+class PIDInputOutputTest : public testing::Test {
+ protected:
+ frc2::PIDController* controller;
+
+ void SetUp() override { controller = new frc2::PIDController(0, 0, 0); }
+
+ void TearDown() override { delete controller; }
+};
+
+TEST_F(PIDInputOutputTest, ContinuousInputTest) {
+ controller->SetP(1);
+ controller->EnableContinuousInput(-180, 180);
+
+ EXPECT_TRUE(controller->Calculate(-179, 179) < 0);
+}
+
+TEST_F(PIDInputOutputTest, ProportionalGainOutputTest) {
+ controller->SetP(4);
+
+ EXPECT_DOUBLE_EQ(-.1, controller->Calculate(.025, 0));
+}
+
+TEST_F(PIDInputOutputTest, IntegralGainOutputTest) {
+ controller->SetI(4);
+
+ double out = 0;
+
+ for (int i = 0; i < 5; i++) {
+ out = controller->Calculate(.025, 0);
+ }
+
+ EXPECT_DOUBLE_EQ(-.5 * controller->GetPeriod().to<double>(), out);
+}
+
+TEST_F(PIDInputOutputTest, DerivativeGainOutputTest) {
+ controller->SetD(4);
+
+ controller->Calculate(0, 0);
+
+ EXPECT_DOUBLE_EQ(-.01_s / controller->GetPeriod(),
+ controller->Calculate(.0025, 0));
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/controller/PIDToleranceTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/controller/PIDToleranceTest.cpp
new file mode 100644
index 0000000..3251098
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/controller/PIDToleranceTest.cpp
@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/controller/PIDController.h"
+#include "gtest/gtest.h"
+
+static constexpr double kSetpoint = 50.0;
+static constexpr double kRange = 200;
+static constexpr double kTolerance = 10.0;
+
+TEST(PIDToleranceTest, InitialTolerance) {
+ frc2::PIDController controller{0.5, 0.0, 0.0};
+ controller.EnableContinuousInput(-kRange / 2, kRange / 2);
+
+ EXPECT_TRUE(controller.AtSetpoint());
+}
+
+TEST(PIDToleranceTest, AbsoluteTolerance) {
+ frc2::PIDController controller{0.5, 0.0, 0.0};
+ controller.EnableContinuousInput(-kRange / 2, kRange / 2);
+
+ controller.SetTolerance(kTolerance);
+ controller.SetSetpoint(kSetpoint);
+
+ controller.Calculate(0.0);
+
+ EXPECT_FALSE(controller.AtSetpoint())
+ << "Error was in tolerance when it should not have been. Error was "
+ << controller.GetPositionError();
+
+ controller.Calculate(kSetpoint + kTolerance / 2);
+
+ EXPECT_TRUE(controller.AtSetpoint())
+ << "Error was not in tolerance when it should have been. Error was "
+ << controller.GetPositionError();
+
+ controller.Calculate(kSetpoint + 10 * kTolerance);
+
+ EXPECT_FALSE(controller.AtSetpoint())
+ << "Error was in tolerance when it should not have been. Error was "
+ << controller.GetPositionError();
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/controller/RamseteControllerTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/controller/RamseteControllerTest.cpp
new file mode 100644
index 0000000..a600054
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/controller/RamseteControllerTest.cpp
@@ -0,0 +1,57 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <wpi/math>
+
+#include "frc/controller/RamseteController.h"
+#include "frc/trajectory/TrajectoryGenerator.h"
+#include "gtest/gtest.h"
+
+#define EXPECT_NEAR_UNITS(val1, val2, eps) \
+ EXPECT_LE(units::math::abs(val1 - val2), eps)
+
+static constexpr units::meter_t kTolerance{1 / 12.0};
+static constexpr units::radian_t kAngularTolerance{2.0 * wpi::math::pi / 180.0};
+
+units::radian_t boundRadians(units::radian_t value) {
+ while (value > units::radian_t{wpi::math::pi}) {
+ value -= units::radian_t{wpi::math::pi * 2};
+ }
+ while (value <= units::radian_t{-wpi::math::pi}) {
+ value += units::radian_t{wpi::math::pi * 2};
+ }
+ return value;
+}
+
+TEST(RamseteControllerTest, ReachesReference) {
+ frc::RamseteController controller{2.0, 0.7};
+ frc::Pose2d robotPose{2.7_m, 23_m, frc::Rotation2d{0_deg}};
+
+ auto waypoints = std::vector{frc::Pose2d{2.75_m, 22.521_m, 0_rad},
+ frc::Pose2d{24.73_m, 19.68_m, 5.846_rad}};
+ auto trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
+ waypoints, {8.8_mps, 0.1_mps_sq});
+
+ constexpr auto kDt = 0.02_s;
+ auto totalTime = trajectory.TotalTime();
+ for (size_t i = 0; i < (totalTime / kDt).to<double>(); ++i) {
+ auto state = trajectory.Sample(kDt * i);
+ auto [vx, vy, omega] = controller.Calculate(robotPose, state);
+ static_cast<void>(vy);
+
+ robotPose = robotPose.Exp(frc::Twist2d{vx * kDt, 0_m, omega * kDt});
+ }
+
+ auto& endPose = trajectory.States().back().pose;
+ EXPECT_NEAR_UNITS(endPose.Translation().X(), robotPose.Translation().X(),
+ kTolerance);
+ EXPECT_NEAR_UNITS(endPose.Translation().Y(), robotPose.Translation().Y(),
+ kTolerance);
+ EXPECT_NEAR_UNITS(boundRadians(endPose.Rotation().Radians() -
+ robotPose.Rotation().Radians()),
+ 0_rad, kAngularTolerance);
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/drive/DriveTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/drive/DriveTest.cpp
new file mode 100644
index 0000000..1ebb6b3
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/drive/DriveTest.cpp
@@ -0,0 +1,190 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "MockSpeedController.h"
+#include "frc/RobotDrive.h"
+#include "frc/drive/DifferentialDrive.h"
+#include "frc/drive/MecanumDrive.h"
+#include "gtest/gtest.h"
+
+using namespace frc;
+
+class DriveTest : public testing::Test {
+ protected:
+ MockSpeedController m_rdFrontLeft;
+ MockSpeedController m_rdRearLeft;
+ MockSpeedController m_rdFrontRight;
+ MockSpeedController m_rdRearRight;
+ MockSpeedController m_frontLeft;
+ MockSpeedController m_rearLeft;
+ MockSpeedController m_frontRight;
+ MockSpeedController m_rearRight;
+ frc::RobotDrive m_robotDrive{m_rdFrontLeft, m_rdRearLeft, m_rdFrontRight,
+ m_rdRearRight};
+ frc::DifferentialDrive m_differentialDrive{m_frontLeft, m_frontRight};
+ frc::MecanumDrive m_mecanumDrive{m_frontLeft, m_rearLeft, m_frontRight,
+ m_rearRight};
+
+ double m_testJoystickValues[9] = {-1.0, -0.9, -0.5, -0.01, 0.0,
+ 0.01, 0.5, 0.9, 1.0};
+ double m_testGyroValues[19] = {0, 45, 90, 135, 180, 225, 270,
+ 305, 360, 540, -45, -90, -135, -180,
+ -225, -270, -305, -360, -540};
+};
+
+TEST_F(DriveTest, TankDrive) {
+ int joystickSize = sizeof(m_testJoystickValues) / sizeof(double);
+ double leftJoystick, rightJoystick;
+ m_differentialDrive.SetDeadband(0.0);
+ m_differentialDrive.SetSafetyEnabled(false);
+ m_mecanumDrive.SetSafetyEnabled(false);
+ m_robotDrive.SetSafetyEnabled(false);
+ for (int i = 0; i < joystickSize; i++) {
+ for (int j = 0; j < joystickSize; j++) {
+ leftJoystick = m_testJoystickValues[i];
+ rightJoystick = m_testJoystickValues[j];
+ m_robotDrive.TankDrive(leftJoystick, rightJoystick, false);
+ m_differentialDrive.TankDrive(leftJoystick, rightJoystick, false);
+ ASSERT_NEAR(m_rdFrontLeft.Get(), m_frontLeft.Get(), 0.01);
+ ASSERT_NEAR(m_rdFrontRight.Get(), m_frontRight.Get(), 0.01);
+ }
+ }
+}
+
+TEST_F(DriveTest, TankDriveSquared) {
+ int joystickSize = sizeof(m_testJoystickValues) / sizeof(double);
+ double leftJoystick, rightJoystick;
+ m_differentialDrive.SetDeadband(0.0);
+ m_differentialDrive.SetSafetyEnabled(false);
+ m_mecanumDrive.SetSafetyEnabled(false);
+ m_robotDrive.SetSafetyEnabled(false);
+ for (int i = 0; i < joystickSize; i++) {
+ for (int j = 0; j < joystickSize; j++) {
+ leftJoystick = m_testJoystickValues[i];
+ rightJoystick = m_testJoystickValues[j];
+ m_robotDrive.TankDrive(leftJoystick, rightJoystick, true);
+ m_differentialDrive.TankDrive(leftJoystick, rightJoystick, true);
+ ASSERT_NEAR(m_rdFrontLeft.Get(), m_frontLeft.Get(), 0.01);
+ ASSERT_NEAR(m_rdFrontRight.Get(), m_frontRight.Get(), 0.01);
+ }
+ }
+}
+
+TEST_F(DriveTest, ArcadeDriveSquared) {
+ int joystickSize = sizeof(m_testJoystickValues) / sizeof(double);
+ double moveJoystick, rotateJoystick;
+ m_differentialDrive.SetDeadband(0.0);
+ m_differentialDrive.SetSafetyEnabled(false);
+ m_mecanumDrive.SetSafetyEnabled(false);
+ m_robotDrive.SetSafetyEnabled(false);
+ for (int i = 0; i < joystickSize; i++) {
+ for (int j = 0; j < joystickSize; j++) {
+ moveJoystick = m_testJoystickValues[i];
+ rotateJoystick = m_testJoystickValues[j];
+ m_robotDrive.ArcadeDrive(moveJoystick, rotateJoystick, true);
+ m_differentialDrive.ArcadeDrive(moveJoystick, -rotateJoystick, true);
+ ASSERT_NEAR(m_rdFrontLeft.Get(), m_frontLeft.Get(), 0.01);
+ ASSERT_NEAR(m_rdFrontRight.Get(), m_frontRight.Get(), 0.01);
+ }
+ }
+}
+
+TEST_F(DriveTest, ArcadeDrive) {
+ int joystickSize = sizeof(m_testJoystickValues) / sizeof(double);
+ double moveJoystick, rotateJoystick;
+ m_differentialDrive.SetDeadband(0.0);
+ m_differentialDrive.SetSafetyEnabled(false);
+ m_mecanumDrive.SetSafetyEnabled(false);
+ m_robotDrive.SetSafetyEnabled(false);
+ for (int i = 0; i < joystickSize; i++) {
+ for (int j = 0; j < joystickSize; j++) {
+ moveJoystick = m_testJoystickValues[i];
+ rotateJoystick = m_testJoystickValues[j];
+ m_robotDrive.ArcadeDrive(moveJoystick, rotateJoystick, false);
+ m_differentialDrive.ArcadeDrive(moveJoystick, -rotateJoystick, false);
+ ASSERT_NEAR(m_rdFrontLeft.Get(), m_frontLeft.Get(), 0.01);
+ ASSERT_NEAR(m_rdFrontRight.Get(), m_frontRight.Get(), 0.01);
+ }
+ }
+}
+
+TEST_F(DriveTest, MecanumCartesian) {
+ int joystickSize = sizeof(m_testJoystickValues) / sizeof(double);
+ int gyroSize = sizeof(m_testGyroValues) / sizeof(double);
+ double xJoystick, yJoystick, rotateJoystick, gyroValue;
+ m_mecanumDrive.SetDeadband(0.0);
+ m_mecanumDrive.SetSafetyEnabled(false);
+ m_differentialDrive.SetSafetyEnabled(false);
+ m_robotDrive.SetSafetyEnabled(false);
+ for (int i = 0; i < joystickSize; i++) {
+ for (int j = 0; j < joystickSize; j++) {
+ for (int k = 0; k < joystickSize; k++) {
+ for (int l = 0; l < gyroSize; l++) {
+ xJoystick = m_testJoystickValues[i];
+ yJoystick = m_testJoystickValues[j];
+ rotateJoystick = m_testJoystickValues[k];
+ gyroValue = m_testGyroValues[l];
+ m_robotDrive.MecanumDrive_Cartesian(xJoystick, yJoystick,
+ rotateJoystick, gyroValue);
+ m_mecanumDrive.DriveCartesian(xJoystick, -yJoystick, rotateJoystick,
+ -gyroValue);
+ ASSERT_NEAR(m_rdFrontLeft.Get(), m_frontLeft.Get(), 0.01)
+ << "X: " << xJoystick << " Y: " << yJoystick
+ << " Rotate: " << rotateJoystick << " Gyro: " << gyroValue;
+ ASSERT_NEAR(m_rdFrontRight.Get(), -m_frontRight.Get(), 0.01)
+ << "X: " << xJoystick << " Y: " << yJoystick
+ << " Rotate: " << rotateJoystick << " Gyro: " << gyroValue;
+ ASSERT_NEAR(m_rdRearLeft.Get(), m_rearLeft.Get(), 0.01)
+ << "X: " << xJoystick << " Y: " << yJoystick
+ << " Rotate: " << rotateJoystick << " Gyro: " << gyroValue;
+ ASSERT_NEAR(m_rdRearRight.Get(), -m_rearRight.Get(), 0.01)
+ << "X: " << xJoystick << " Y: " << yJoystick
+ << " Rotate: " << rotateJoystick << " Gyro: " << gyroValue;
+ }
+ }
+ }
+ }
+}
+
+TEST_F(DriveTest, MecanumPolar) {
+ int joystickSize = sizeof(m_testJoystickValues) / sizeof(double);
+ int gyroSize = sizeof(m_testGyroValues) / sizeof(double);
+ double magnitudeJoystick, directionJoystick, rotateJoystick;
+ m_mecanumDrive.SetDeadband(0.0);
+ m_mecanumDrive.SetSafetyEnabled(false);
+ m_differentialDrive.SetSafetyEnabled(false);
+ m_robotDrive.SetSafetyEnabled(false);
+ for (int i = 0; i < joystickSize; i++) {
+ for (int j = 0; j < gyroSize; j++) {
+ for (int k = 0; k < joystickSize; k++) {
+ magnitudeJoystick = m_testJoystickValues[i];
+ directionJoystick = m_testGyroValues[j];
+ rotateJoystick = m_testJoystickValues[k];
+ m_robotDrive.MecanumDrive_Polar(magnitudeJoystick, directionJoystick,
+ rotateJoystick);
+ m_mecanumDrive.DrivePolar(magnitudeJoystick, directionJoystick,
+ rotateJoystick);
+ ASSERT_NEAR(m_rdFrontLeft.Get(), m_frontLeft.Get(), 0.01)
+ << "Magnitude: " << magnitudeJoystick
+ << " Direction: " << directionJoystick
+ << " Rotate: " << rotateJoystick;
+ ASSERT_NEAR(m_rdFrontRight.Get(), -m_frontRight.Get(), 0.01)
+ << "Magnitude: " << magnitudeJoystick
+ << " Direction: " << directionJoystick
+ << " Rotate: " << rotateJoystick;
+ ASSERT_NEAR(m_rdRearLeft.Get(), m_rearLeft.Get(), 0.01)
+ << "Magnitude: " << magnitudeJoystick
+ << " Direction: " << directionJoystick
+ << " Rotate: " << rotateJoystick;
+ ASSERT_NEAR(m_rdRearRight.Get(), -m_rearRight.Get(), 0.01)
+ << "Magnitude: " << magnitudeJoystick
+ << " Direction: " << directionJoystick
+ << " Rotate: " << rotateJoystick;
+ }
+ }
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/ButtonTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/ButtonTest.cpp
new file mode 100644
index 0000000..829f0d2
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/ButtonTest.cpp
@@ -0,0 +1,195 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "CommandTestBase.h"
+#include "frc2/command/CommandScheduler.h"
+#include "frc2/command/RunCommand.h"
+#include "frc2/command/WaitUntilCommand.h"
+#include "frc2/command/button/Trigger.h"
+#include "gtest/gtest.h"
+
+using namespace frc2;
+class ButtonTest : public CommandTestBase {};
+
+TEST_F(ButtonTest, WhenPressedTest) {
+ auto& scheduler = CommandScheduler::GetInstance();
+ bool finished = false;
+ bool pressed = false;
+
+ WaitUntilCommand command([&finished] { return finished; });
+
+ Trigger([&pressed] { return pressed; }).WhenActive(&command);
+ scheduler.Run();
+ EXPECT_FALSE(scheduler.IsScheduled(&command));
+ pressed = true;
+ scheduler.Run();
+ EXPECT_TRUE(scheduler.IsScheduled(&command));
+ finished = true;
+ scheduler.Run();
+ EXPECT_FALSE(scheduler.IsScheduled(&command));
+}
+
+TEST_F(ButtonTest, WhenReleasedTest) {
+ auto& scheduler = CommandScheduler::GetInstance();
+ bool finished = false;
+ bool pressed = false;
+ WaitUntilCommand command([&finished] { return finished; });
+
+ pressed = true;
+ Trigger([&pressed] { return pressed; }).WhenInactive(&command);
+ scheduler.Run();
+ EXPECT_FALSE(scheduler.IsScheduled(&command));
+ pressed = false;
+ scheduler.Run();
+ EXPECT_TRUE(scheduler.IsScheduled(&command));
+ finished = true;
+ scheduler.Run();
+ EXPECT_FALSE(scheduler.IsScheduled(&command));
+}
+
+TEST_F(ButtonTest, WhileHeldTest) {
+ auto& scheduler = CommandScheduler::GetInstance();
+ bool finished = false;
+ bool pressed = false;
+ WaitUntilCommand command([&finished] { return finished; });
+
+ pressed = false;
+ Trigger([&pressed] { return pressed; }).WhileActiveContinous(&command);
+ scheduler.Run();
+ EXPECT_FALSE(scheduler.IsScheduled(&command));
+ pressed = true;
+ scheduler.Run();
+ EXPECT_TRUE(scheduler.IsScheduled(&command));
+ finished = true;
+ scheduler.Run();
+ finished = false;
+ scheduler.Run();
+ EXPECT_TRUE(scheduler.IsScheduled(&command));
+ pressed = false;
+ scheduler.Run();
+ EXPECT_FALSE(scheduler.IsScheduled(&command));
+}
+
+TEST_F(ButtonTest, WhenHeldTest) {
+ auto& scheduler = CommandScheduler::GetInstance();
+ bool finished = false;
+ bool pressed = false;
+ WaitUntilCommand command([&finished] { return finished; });
+
+ pressed = false;
+ Trigger([&pressed] { return pressed; }).WhileActiveOnce(&command);
+ scheduler.Run();
+ EXPECT_FALSE(scheduler.IsScheduled(&command));
+ pressed = true;
+ scheduler.Run();
+ EXPECT_TRUE(scheduler.IsScheduled(&command));
+ finished = true;
+ scheduler.Run();
+ finished = false;
+ scheduler.Run();
+ EXPECT_FALSE(scheduler.IsScheduled(&command));
+
+ pressed = false;
+ Trigger([&pressed] { return pressed; }).WhileActiveOnce(&command);
+ pressed = true;
+ scheduler.Run();
+ pressed = false;
+ scheduler.Run();
+ EXPECT_FALSE(scheduler.IsScheduled(&command));
+}
+
+TEST_F(ButtonTest, ToggleWhenPressedTest) {
+ auto& scheduler = CommandScheduler::GetInstance();
+ bool finished = false;
+ bool pressed = false;
+ WaitUntilCommand command([&finished] { return finished; });
+
+ pressed = false;
+ Trigger([&pressed] { return pressed; }).ToggleWhenActive(&command);
+ scheduler.Run();
+ EXPECT_FALSE(scheduler.IsScheduled(&command));
+ pressed = true;
+ scheduler.Run();
+ EXPECT_TRUE(scheduler.IsScheduled(&command));
+ pressed = false;
+ scheduler.Run();
+ pressed = true;
+ scheduler.Run();
+ EXPECT_FALSE(scheduler.IsScheduled(&command));
+}
+
+TEST_F(ButtonTest, AndTest) {
+ auto& scheduler = CommandScheduler::GetInstance();
+ bool finished = false;
+ bool pressed1 = false;
+ bool pressed2 = false;
+ WaitUntilCommand command([&finished] { return finished; });
+
+ (Trigger([&pressed1] { return pressed1; }) &&
+ Trigger([&pressed2] { return pressed2; }))
+ .WhenActive(&command);
+ pressed1 = true;
+ scheduler.Run();
+ EXPECT_FALSE(scheduler.IsScheduled(&command));
+ pressed2 = true;
+ scheduler.Run();
+ EXPECT_TRUE(scheduler.IsScheduled(&command));
+}
+
+TEST_F(ButtonTest, OrTest) {
+ auto& scheduler = CommandScheduler::GetInstance();
+ bool finished = false;
+ bool pressed1 = false;
+ bool pressed2 = false;
+ WaitUntilCommand command1([&finished] { return finished; });
+ WaitUntilCommand command2([&finished] { return finished; });
+
+ (Trigger([&pressed1] { return pressed1; }) ||
+ Trigger([&pressed2] { return pressed2; }))
+ .WhenActive(&command1);
+ pressed1 = true;
+ scheduler.Run();
+ EXPECT_TRUE(scheduler.IsScheduled(&command1));
+
+ pressed1 = false;
+
+ (Trigger([&pressed1] { return pressed1; }) ||
+ Trigger([&pressed2] { return pressed2; }))
+ .WhenActive(&command2);
+ pressed2 = true;
+ scheduler.Run();
+ EXPECT_TRUE(scheduler.IsScheduled(&command2));
+}
+
+TEST_F(ButtonTest, NegateTest) {
+ auto& scheduler = CommandScheduler::GetInstance();
+ bool finished = false;
+ bool pressed = true;
+ WaitUntilCommand command([&finished] { return finished; });
+
+ (!Trigger([&pressed] { return pressed; })).WhenActive(&command);
+ scheduler.Run();
+ EXPECT_FALSE(scheduler.IsScheduled(&command));
+ pressed = false;
+ scheduler.Run();
+ EXPECT_TRUE(scheduler.IsScheduled(&command));
+}
+
+TEST_F(ButtonTest, RValueButtonTest) {
+ auto& scheduler = CommandScheduler::GetInstance();
+ int counter = 0;
+ bool pressed = false;
+
+ RunCommand command([&counter] { counter++; }, {});
+
+ Trigger([&pressed] { return pressed; }).WhenActive(std::move(command));
+ scheduler.Run();
+ EXPECT_EQ(counter, 0);
+ pressed = true;
+ scheduler.Run();
+ EXPECT_EQ(counter, 1);
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp
new file mode 100644
index 0000000..0fe0b5b
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp
@@ -0,0 +1,101 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "CommandTestBase.h"
+#include "frc2/command/InstantCommand.h"
+#include "frc2/command/ParallelRaceGroup.h"
+#include "frc2/command/PerpetualCommand.h"
+#include "frc2/command/RunCommand.h"
+#include "frc2/command/SequentialCommandGroup.h"
+
+using namespace frc2;
+class CommandDecoratorTest : public CommandTestBase {};
+
+TEST_F(CommandDecoratorTest, WithTimeoutTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ auto command = RunCommand([] {}, {}).WithTimeout(.1_s);
+
+ scheduler.Schedule(&command);
+
+ scheduler.Run();
+ EXPECT_TRUE(scheduler.IsScheduled(&command));
+
+ std::this_thread::sleep_for(std::chrono::milliseconds(150));
+
+ scheduler.Run();
+ EXPECT_FALSE(scheduler.IsScheduled(&command));
+}
+
+TEST_F(CommandDecoratorTest, WithInterruptTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ bool finished = false;
+
+ auto command =
+ RunCommand([] {}, {}).WithInterrupt([&finished] { return finished; });
+
+ scheduler.Schedule(&command);
+
+ scheduler.Run();
+ EXPECT_TRUE(scheduler.IsScheduled(&command));
+
+ finished = true;
+
+ scheduler.Run();
+ EXPECT_FALSE(scheduler.IsScheduled(&command));
+}
+
+TEST_F(CommandDecoratorTest, BeforeStartingTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ bool finished = false;
+
+ auto command = InstantCommand([] {}, {}).BeforeStarting(
+ [&finished] { finished = true; });
+
+ scheduler.Schedule(&command);
+
+ EXPECT_TRUE(finished);
+
+ scheduler.Run();
+ scheduler.Run();
+
+ EXPECT_FALSE(scheduler.IsScheduled(&command));
+}
+
+TEST_F(CommandDecoratorTest, AndThenTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ bool finished = false;
+
+ auto command =
+ InstantCommand([] {}, {}).AndThen([&finished] { finished = true; });
+
+ scheduler.Schedule(&command);
+
+ EXPECT_FALSE(finished);
+
+ scheduler.Run();
+ scheduler.Run();
+
+ EXPECT_FALSE(scheduler.IsScheduled(&command));
+ EXPECT_TRUE(finished);
+}
+
+TEST_F(CommandDecoratorTest, PerpetuallyTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ auto command = InstantCommand([] {}, {}).Perpetually();
+
+ scheduler.Schedule(&command);
+
+ scheduler.Run();
+ scheduler.Run();
+
+ EXPECT_TRUE(scheduler.IsScheduled(&command));
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/CommandRequirementsTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/CommandRequirementsTest.cpp
new file mode 100644
index 0000000..2600430
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/CommandRequirementsTest.cpp
@@ -0,0 +1,84 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "CommandTestBase.h"
+#include "frc2/command/CommandScheduler.h"
+#include "frc2/command/ConditionalCommand.h"
+#include "frc2/command/InstantCommand.h"
+#include "frc2/command/ParallelCommandGroup.h"
+#include "frc2/command/ParallelDeadlineGroup.h"
+#include "frc2/command/ParallelRaceGroup.h"
+#include "frc2/command/SelectCommand.h"
+#include "frc2/command/SequentialCommandGroup.h"
+
+using namespace frc2;
+class CommandRequirementsTest : public CommandTestBase {};
+
+TEST_F(CommandRequirementsTest, RequirementInterruptTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ TestSubsystem requirement;
+
+ MockCommand command1({&requirement});
+ MockCommand command2({&requirement});
+
+ EXPECT_CALL(command1, Initialize());
+ EXPECT_CALL(command1, Execute());
+ EXPECT_CALL(command1, End(true));
+ EXPECT_CALL(command1, End(false)).Times(0);
+
+ EXPECT_CALL(command2, Initialize());
+ EXPECT_CALL(command2, Execute());
+ EXPECT_CALL(command2, End(true)).Times(0);
+ EXPECT_CALL(command2, End(false)).Times(0);
+
+ scheduler.Schedule(&command1);
+ scheduler.Run();
+ EXPECT_TRUE(scheduler.IsScheduled(&command1));
+ scheduler.Schedule(&command2);
+ EXPECT_FALSE(scheduler.IsScheduled(&command1));
+ EXPECT_TRUE(scheduler.IsScheduled(&command2));
+ scheduler.Run();
+}
+
+TEST_F(CommandRequirementsTest, RequirementUninterruptibleTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ TestSubsystem requirement;
+
+ MockCommand command1({&requirement});
+ MockCommand command2({&requirement});
+
+ EXPECT_CALL(command1, Initialize());
+ EXPECT_CALL(command1, Execute()).Times(2);
+ EXPECT_CALL(command1, End(true)).Times(0);
+ EXPECT_CALL(command1, End(false)).Times(0);
+
+ EXPECT_CALL(command2, Initialize()).Times(0);
+ EXPECT_CALL(command2, Execute()).Times(0);
+ EXPECT_CALL(command2, End(true)).Times(0);
+ EXPECT_CALL(command2, End(false)).Times(0);
+
+ scheduler.Schedule(false, &command1);
+ scheduler.Run();
+ EXPECT_TRUE(scheduler.IsScheduled(&command1));
+ scheduler.Schedule(&command2);
+ EXPECT_TRUE(scheduler.IsScheduled(&command1));
+ EXPECT_FALSE(scheduler.IsScheduled(&command2));
+ scheduler.Run();
+}
+
+TEST_F(CommandRequirementsTest, DefaultCommandRequirementErrorTest) {
+ TestSubsystem requirement1;
+ ErrorConfirmer confirmer("require");
+
+ MockCommand command1;
+
+ requirement1.SetDefaultCommand(std::move(command1));
+
+ EXPECT_TRUE(requirement1.GetDefaultCommand() == NULL);
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/CommandScheduleTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/CommandScheduleTest.cpp
new file mode 100644
index 0000000..6572a98
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/CommandScheduleTest.cpp
@@ -0,0 +1,103 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "CommandTestBase.h"
+
+using namespace frc2;
+class CommandScheduleTest : public CommandTestBase {};
+
+TEST_F(CommandScheduleTest, InstantScheduleTest) {
+ CommandScheduler scheduler = GetScheduler();
+ MockCommand command;
+
+ EXPECT_CALL(command, Initialize());
+ EXPECT_CALL(command, Execute());
+ EXPECT_CALL(command, End(false));
+
+ command.SetFinished(true);
+ scheduler.Schedule(&command);
+ EXPECT_TRUE(scheduler.IsScheduled(&command));
+ scheduler.Run();
+ EXPECT_FALSE(scheduler.IsScheduled(&command));
+}
+
+TEST_F(CommandScheduleTest, SingleIterationScheduleTest) {
+ CommandScheduler scheduler = GetScheduler();
+ MockCommand command;
+
+ EXPECT_CALL(command, Initialize());
+ EXPECT_CALL(command, Execute()).Times(2);
+ EXPECT_CALL(command, End(false));
+
+ scheduler.Schedule(&command);
+ EXPECT_TRUE(scheduler.IsScheduled(&command));
+ scheduler.Run();
+ command.SetFinished(true);
+ scheduler.Run();
+ EXPECT_FALSE(scheduler.IsScheduled(&command));
+}
+
+TEST_F(CommandScheduleTest, MultiScheduleTest) {
+ CommandScheduler scheduler = GetScheduler();
+ MockCommand command1;
+ MockCommand command2;
+ MockCommand command3;
+
+ EXPECT_CALL(command1, Initialize());
+ EXPECT_CALL(command1, Execute()).Times(2);
+ EXPECT_CALL(command1, End(false));
+
+ EXPECT_CALL(command2, Initialize());
+ EXPECT_CALL(command2, Execute()).Times(3);
+ EXPECT_CALL(command2, End(false));
+
+ EXPECT_CALL(command3, Initialize());
+ EXPECT_CALL(command3, Execute()).Times(4);
+ EXPECT_CALL(command3, End(false));
+
+ scheduler.Schedule(&command1);
+ scheduler.Schedule(&command2);
+ scheduler.Schedule(&command3);
+ EXPECT_TRUE(scheduler.IsScheduled({&command1, &command2, &command3}));
+ scheduler.Run();
+ EXPECT_TRUE(scheduler.IsScheduled({&command1, &command2, &command3}));
+ command1.SetFinished(true);
+ scheduler.Run();
+ EXPECT_TRUE(scheduler.IsScheduled({&command2, &command3}));
+ EXPECT_FALSE(scheduler.IsScheduled(&command1));
+ command2.SetFinished(true);
+ scheduler.Run();
+ EXPECT_TRUE(scheduler.IsScheduled(&command3));
+ EXPECT_FALSE(scheduler.IsScheduled({&command1, &command2}));
+ command3.SetFinished(true);
+ scheduler.Run();
+ EXPECT_FALSE(scheduler.IsScheduled({&command1, &command2, &command3}));
+}
+
+TEST_F(CommandScheduleTest, SchedulerCancelTest) {
+ CommandScheduler scheduler = GetScheduler();
+ MockCommand command;
+
+ EXPECT_CALL(command, Initialize());
+ EXPECT_CALL(command, Execute());
+ EXPECT_CALL(command, End(false)).Times(0);
+ EXPECT_CALL(command, End(true));
+
+ scheduler.Schedule(&command);
+ scheduler.Run();
+ EXPECT_TRUE(scheduler.IsScheduled(&command));
+ scheduler.Cancel(&command);
+ scheduler.Run();
+ EXPECT_FALSE(scheduler.IsScheduled(&command));
+}
+
+TEST_F(CommandScheduleTest, NotScheduledCancelTest) {
+ CommandScheduler scheduler = GetScheduler();
+ MockCommand command;
+
+ EXPECT_NO_FATAL_FAILURE(scheduler.Cancel(&command));
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/CommandTestBase.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/CommandTestBase.cpp
new file mode 100644
index 0000000..0429c62
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/CommandTestBase.cpp
@@ -0,0 +1,37 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "CommandTestBase.h"
+
+using namespace frc2;
+
+CommandTestBase::CommandTestBase() {
+ auto& scheduler = CommandScheduler::GetInstance();
+ scheduler.CancelAll();
+ scheduler.Enable();
+ scheduler.ClearButtons();
+}
+
+CommandScheduler CommandTestBase::GetScheduler() { return CommandScheduler(); }
+
+void CommandTestBase::SetUp() {
+ HALSIM_SetDriverStationEnabled(true);
+ while (!HALSIM_GetDriverStationEnabled()) {
+ std::this_thread::sleep_for(std::chrono::milliseconds(1));
+ }
+}
+
+void CommandTestBase::TearDown() {
+ CommandScheduler::GetInstance().ClearButtons();
+}
+
+void CommandTestBase::SetDSEnabled(bool enabled) {
+ HALSIM_SetDriverStationEnabled(enabled);
+ while (HALSIM_GetDriverStationEnabled() != static_cast<int>(enabled)) {
+ std::this_thread::sleep_for(std::chrono::milliseconds(1));
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/CommandTestBase.h b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/CommandTestBase.h
new file mode 100644
index 0000000..8b22844
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/CommandTestBase.h
@@ -0,0 +1,102 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <regex>
+#include <utility>
+
+#include <mockdata/MockHooks.h>
+
+#include "ErrorConfirmer.h"
+#include "frc2/command/CommandGroupBase.h"
+#include "frc2/command/CommandScheduler.h"
+#include "frc2/command/SetUtilities.h"
+#include "frc2/command/SubsystemBase.h"
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
+#include "make_vector.h"
+#include "simulation/DriverStationSim.h"
+
+namespace frc2 {
+class CommandTestBase : public ::testing::Test {
+ public:
+ CommandTestBase();
+
+ class TestSubsystem : public SubsystemBase {};
+
+ protected:
+ class MockCommand : public Command {
+ public:
+ MOCK_CONST_METHOD0(GetRequirements, wpi::SmallSet<Subsystem*, 4>());
+ MOCK_METHOD0(IsFinished, bool());
+ MOCK_CONST_METHOD0(RunsWhenDisabled, bool());
+ MOCK_METHOD0(Initialize, void());
+ MOCK_METHOD0(Execute, void());
+ MOCK_METHOD1(End, void(bool interrupted));
+
+ MockCommand() {
+ m_requirements = {};
+ EXPECT_CALL(*this, GetRequirements())
+ .WillRepeatedly(::testing::Return(m_requirements));
+ EXPECT_CALL(*this, IsFinished()).WillRepeatedly(::testing::Return(false));
+ EXPECT_CALL(*this, RunsWhenDisabled())
+ .WillRepeatedly(::testing::Return(true));
+ }
+
+ MockCommand(std::initializer_list<Subsystem*> requirements,
+ bool finished = false, bool runWhenDisabled = true) {
+ m_requirements.insert(requirements.begin(), requirements.end());
+ EXPECT_CALL(*this, GetRequirements())
+ .WillRepeatedly(::testing::Return(m_requirements));
+ EXPECT_CALL(*this, IsFinished())
+ .WillRepeatedly(::testing::Return(finished));
+ EXPECT_CALL(*this, RunsWhenDisabled())
+ .WillRepeatedly(::testing::Return(runWhenDisabled));
+ }
+
+ MockCommand(MockCommand&& other) {
+ EXPECT_CALL(*this, IsFinished())
+ .WillRepeatedly(::testing::Return(other.IsFinished()));
+ EXPECT_CALL(*this, RunsWhenDisabled())
+ .WillRepeatedly(::testing::Return(other.RunsWhenDisabled()));
+ std::swap(m_requirements, other.m_requirements);
+ EXPECT_CALL(*this, GetRequirements())
+ .WillRepeatedly(::testing::Return(m_requirements));
+ }
+
+ MockCommand(const MockCommand& other) : Command{} {}
+
+ void SetFinished(bool finished) {
+ EXPECT_CALL(*this, IsFinished())
+ .WillRepeatedly(::testing::Return(finished));
+ }
+
+ ~MockCommand() {
+ auto& scheduler = CommandScheduler::GetInstance();
+ scheduler.Cancel(this);
+ }
+
+ protected:
+ std::unique_ptr<Command> TransferOwnership() && {
+ return std::make_unique<MockCommand>(std::move(*this));
+ }
+
+ private:
+ wpi::SmallSet<Subsystem*, 4> m_requirements;
+ };
+
+ CommandScheduler GetScheduler();
+
+ void SetUp() override;
+
+ void TearDown() override;
+
+ void SetDSEnabled(bool enabled);
+};
+} // namespace frc2
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/ConditionalCommandTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/ConditionalCommandTest.cpp
new file mode 100644
index 0000000..927721a
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/ConditionalCommandTest.cpp
@@ -0,0 +1,56 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "CommandTestBase.h"
+#include "frc2/command/ConditionalCommand.h"
+#include "frc2/command/InstantCommand.h"
+#include "frc2/command/SelectCommand.h"
+
+using namespace frc2;
+class ConditionalCommandTest : public CommandTestBase {};
+
+TEST_F(ConditionalCommandTest, ConditionalCommandScheduleTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ std::unique_ptr<MockCommand> mock = std::make_unique<MockCommand>();
+ MockCommand* mockptr = mock.get();
+
+ EXPECT_CALL(*mock, Initialize());
+ EXPECT_CALL(*mock, Execute()).Times(2);
+ EXPECT_CALL(*mock, End(false));
+
+ ConditionalCommand conditional(
+ std::move(mock), std::make_unique<InstantCommand>(), [] { return true; });
+
+ scheduler.Schedule(&conditional);
+ scheduler.Run();
+ mockptr->SetFinished(true);
+ scheduler.Run();
+
+ EXPECT_FALSE(scheduler.IsScheduled(&conditional));
+}
+
+TEST_F(ConditionalCommandTest, ConditionalCommandRequirementTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ TestSubsystem requirement1;
+ TestSubsystem requirement2;
+ TestSubsystem requirement3;
+ TestSubsystem requirement4;
+
+ InstantCommand command1([] {}, {&requirement1, &requirement2});
+ InstantCommand command2([] {}, {&requirement3});
+ InstantCommand command3([] {}, {&requirement3, &requirement4});
+
+ ConditionalCommand conditional(std::move(command1), std::move(command2),
+ [] { return true; });
+ scheduler.Schedule(&conditional);
+ scheduler.Schedule(&command3);
+
+ EXPECT_TRUE(scheduler.IsScheduled(&command3));
+ EXPECT_FALSE(scheduler.IsScheduled(&conditional));
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/DefaultCommandTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/DefaultCommandTest.cpp
new file mode 100644
index 0000000..b97cbb6
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/DefaultCommandTest.cpp
@@ -0,0 +1,48 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "CommandTestBase.h"
+#include "frc2/command/RunCommand.h"
+
+using namespace frc2;
+class DefaultCommandTest : public CommandTestBase {};
+
+TEST_F(DefaultCommandTest, DefaultCommandScheduleTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ TestSubsystem subsystem;
+
+ RunCommand command1([] {}, {&subsystem});
+
+ scheduler.SetDefaultCommand(&subsystem, std::move(command1));
+ auto handle = scheduler.GetDefaultCommand(&subsystem);
+ scheduler.Run();
+
+ EXPECT_TRUE(scheduler.IsScheduled(handle));
+}
+
+TEST_F(DefaultCommandTest, DefaultCommandInterruptResumeTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ TestSubsystem subsystem;
+
+ RunCommand command1([] {}, {&subsystem});
+ RunCommand command2([] {}, {&subsystem});
+
+ scheduler.SetDefaultCommand(&subsystem, std::move(command1));
+ auto handle = scheduler.GetDefaultCommand(&subsystem);
+ scheduler.Run();
+ scheduler.Schedule(&command2);
+
+ EXPECT_TRUE(scheduler.IsScheduled(&command2));
+ EXPECT_FALSE(scheduler.IsScheduled(handle));
+
+ scheduler.Cancel(&command2);
+ scheduler.Run();
+
+ EXPECT_TRUE(scheduler.IsScheduled(handle));
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/ErrorConfirmer.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/ErrorConfirmer.cpp
new file mode 100644
index 0000000..2565a94
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/ErrorConfirmer.cpp
@@ -0,0 +1,20 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "ErrorConfirmer.h"
+
+ErrorConfirmer* ErrorConfirmer::instance;
+
+int32_t ErrorConfirmer::HandleError(HAL_Bool isError, int32_t errorCode,
+ HAL_Bool isLVCode, const char* details,
+ const char* location, const char* callStack,
+ HAL_Bool printMsg) {
+ if (std::regex_search(details, std::regex(instance->m_msg))) {
+ instance->ConfirmError();
+ }
+ return 1;
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/ErrorConfirmer.h b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/ErrorConfirmer.h
new file mode 100644
index 0000000..011158c
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/ErrorConfirmer.h
@@ -0,0 +1,42 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <regex>
+
+#include <mockdata/MockHooks.h>
+
+#include "gmock/gmock.h"
+#include "simulation/DriverStationSim.h"
+
+class ErrorConfirmer {
+ public:
+ explicit ErrorConfirmer(const char* msg) : m_msg(msg) {
+ if (instance != nullptr) return;
+ HALSIM_SetSendError(HandleError);
+ EXPECT_CALL(*this, ConfirmError());
+ instance = this;
+ }
+
+ ~ErrorConfirmer() {
+ HALSIM_SetSendError(nullptr);
+ instance = nullptr;
+ }
+
+ MOCK_METHOD0(ConfirmError, void());
+
+ const char* m_msg;
+
+ static int32_t HandleError(HAL_Bool isError, int32_t errorCode,
+ HAL_Bool isLVCode, const char* details,
+ const char* location, const char* callStack,
+ HAL_Bool printMsg);
+
+ private:
+ static ErrorConfirmer* instance;
+};
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/FunctionalCommandTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/FunctionalCommandTest.cpp
new file mode 100644
index 0000000..140d4fb
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/FunctionalCommandTest.cpp
@@ -0,0 +1,31 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "CommandTestBase.h"
+#include "frc2/command/FunctionalCommand.h"
+
+using namespace frc2;
+class FunctionalCommandTest : public CommandTestBase {};
+
+TEST_F(FunctionalCommandTest, FunctionalCommandScheduleTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ int counter = 0;
+ bool finished = false;
+
+ FunctionalCommand command(
+ [&counter] { counter++; }, [&counter] { counter++; },
+ [&counter](bool) { counter++; }, [&finished] { return finished; });
+
+ scheduler.Schedule(&command);
+ scheduler.Run();
+ EXPECT_TRUE(scheduler.IsScheduled(&command));
+ finished = true;
+ scheduler.Run();
+ EXPECT_FALSE(scheduler.IsScheduled(&command));
+ EXPECT_EQ(4, counter);
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/InstantCommandTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/InstantCommandTest.cpp
new file mode 100644
index 0000000..e91f677
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/InstantCommandTest.cpp
@@ -0,0 +1,25 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "CommandTestBase.h"
+#include "frc2/command/InstantCommand.h"
+
+using namespace frc2;
+class InstantCommandTest : public CommandTestBase {};
+
+TEST_F(InstantCommandTest, InstantCommandScheduleTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ int counter = 0;
+
+ InstantCommand command([&counter] { counter++; }, {});
+
+ scheduler.Schedule(&command);
+ scheduler.Run();
+ EXPECT_FALSE(scheduler.IsScheduled(&command));
+ EXPECT_EQ(counter, 1);
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/NotifierCommandTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/NotifierCommandTest.cpp
new file mode 100644
index 0000000..695ccc3
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/NotifierCommandTest.cpp
@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "CommandTestBase.h"
+#include "frc2/command/NotifierCommand.h"
+
+using namespace frc2;
+class NotifierCommandTest : public CommandTestBase {};
+
+#ifdef __APPLE__
+TEST_F(NotifierCommandTest, DISABLED_NotifierCommandScheduleTest) {
+#else
+TEST_F(NotifierCommandTest, NotifierCommandScheduleTest) {
+#endif
+ CommandScheduler scheduler = GetScheduler();
+
+ int counter = 0;
+
+ NotifierCommand command([&counter] { counter++; }, 0.01_s, {});
+
+ scheduler.Schedule(&command);
+ std::this_thread::sleep_for(std::chrono::milliseconds(250));
+ scheduler.Cancel(&command);
+
+ EXPECT_NEAR(.01 * counter, .25, .025);
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/ParallelCommandGroupTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/ParallelCommandGroupTest.cpp
new file mode 100644
index 0000000..55c7b98
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/ParallelCommandGroupTest.cpp
@@ -0,0 +1,120 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "CommandTestBase.h"
+#include "frc2/command/InstantCommand.h"
+#include "frc2/command/ParallelCommandGroup.h"
+#include "frc2/command/WaitUntilCommand.h"
+
+using namespace frc2;
+class ParallelCommandGroupTest : public CommandTestBase {};
+
+TEST_F(ParallelCommandGroupTest, ParallelGroupScheduleTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ std::unique_ptr<MockCommand> command1Holder = std::make_unique<MockCommand>();
+ std::unique_ptr<MockCommand> command2Holder = std::make_unique<MockCommand>();
+
+ MockCommand* command1 = command1Holder.get();
+ MockCommand* command2 = command2Holder.get();
+
+ ParallelCommandGroup group(tcb::make_vector<std::unique_ptr<Command>>(
+ std::move(command1Holder), std::move(command2Holder)));
+
+ EXPECT_CALL(*command1, Initialize());
+ EXPECT_CALL(*command1, Execute()).Times(1);
+ EXPECT_CALL(*command1, End(false));
+
+ EXPECT_CALL(*command2, Initialize());
+ EXPECT_CALL(*command2, Execute()).Times(2);
+ EXPECT_CALL(*command2, End(false));
+
+ scheduler.Schedule(&group);
+
+ command1->SetFinished(true);
+ scheduler.Run();
+ command2->SetFinished(true);
+ scheduler.Run();
+
+ EXPECT_FALSE(scheduler.IsScheduled(&group));
+}
+
+TEST_F(ParallelCommandGroupTest, ParallelGroupInterruptTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ std::unique_ptr<MockCommand> command1Holder = std::make_unique<MockCommand>();
+ std::unique_ptr<MockCommand> command2Holder = std::make_unique<MockCommand>();
+
+ MockCommand* command1 = command1Holder.get();
+ MockCommand* command2 = command2Holder.get();
+
+ ParallelCommandGroup group(tcb::make_vector<std::unique_ptr<Command>>(
+ std::move(command1Holder), std::move(command2Holder)));
+
+ EXPECT_CALL(*command1, Initialize());
+ EXPECT_CALL(*command1, Execute()).Times(1);
+ EXPECT_CALL(*command1, End(false));
+
+ EXPECT_CALL(*command2, Initialize());
+ EXPECT_CALL(*command2, Execute()).Times(2);
+ EXPECT_CALL(*command2, End(false)).Times(0);
+ EXPECT_CALL(*command2, End(true));
+
+ scheduler.Schedule(&group);
+
+ command1->SetFinished(true);
+ scheduler.Run();
+ scheduler.Run();
+ scheduler.Cancel(&group);
+
+ EXPECT_FALSE(scheduler.IsScheduled(&group));
+}
+
+TEST_F(ParallelCommandGroupTest, ParallelGroupNotScheduledCancelTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ ParallelCommandGroup group((InstantCommand(), InstantCommand()));
+
+ EXPECT_NO_FATAL_FAILURE(scheduler.Cancel(&group));
+}
+
+TEST_F(ParallelCommandGroupTest, ParallelGroupCopyTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ bool finished = false;
+
+ WaitUntilCommand command([&finished] { return finished; });
+
+ ParallelCommandGroup group(command);
+ scheduler.Schedule(&group);
+ scheduler.Run();
+ EXPECT_TRUE(scheduler.IsScheduled(&group));
+ finished = true;
+ scheduler.Run();
+ EXPECT_FALSE(scheduler.IsScheduled(&group));
+}
+
+TEST_F(ParallelCommandGroupTest, ParallelGroupRequirementTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ TestSubsystem requirement1;
+ TestSubsystem requirement2;
+ TestSubsystem requirement3;
+ TestSubsystem requirement4;
+
+ InstantCommand command1([] {}, {&requirement1, &requirement2});
+ InstantCommand command2([] {}, {&requirement3});
+ InstantCommand command3([] {}, {&requirement3, &requirement4});
+
+ ParallelCommandGroup group(std::move(command1), std::move(command2));
+
+ scheduler.Schedule(&group);
+ scheduler.Schedule(&command3);
+
+ EXPECT_TRUE(scheduler.IsScheduled(&command3));
+ EXPECT_FALSE(scheduler.IsScheduled(&group));
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/ParallelDeadlineGroupTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/ParallelDeadlineGroupTest.cpp
new file mode 100644
index 0000000..6e3246f
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/ParallelDeadlineGroupTest.cpp
@@ -0,0 +1,136 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "CommandTestBase.h"
+#include "frc2/command/InstantCommand.h"
+#include "frc2/command/ParallelDeadlineGroup.h"
+#include "frc2/command/WaitUntilCommand.h"
+
+using namespace frc2;
+class ParallelDeadlineGroupTest : public CommandTestBase {};
+
+TEST_F(ParallelDeadlineGroupTest, DeadlineGroupScheduleTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ std::unique_ptr<MockCommand> command1Holder = std::make_unique<MockCommand>();
+ std::unique_ptr<MockCommand> command2Holder = std::make_unique<MockCommand>();
+ std::unique_ptr<MockCommand> command3Holder = std::make_unique<MockCommand>();
+
+ MockCommand* command1 = command1Holder.get();
+ MockCommand* command2 = command2Holder.get();
+ MockCommand* command3 = command3Holder.get();
+
+ ParallelDeadlineGroup group(
+ std::move(command1Holder),
+ tcb::make_vector<std::unique_ptr<Command>>(std::move(command2Holder),
+ std::move(command3Holder)));
+
+ EXPECT_CALL(*command1, Initialize());
+ EXPECT_CALL(*command1, Execute()).Times(2);
+ EXPECT_CALL(*command1, End(false));
+
+ EXPECT_CALL(*command2, Initialize());
+ EXPECT_CALL(*command2, Execute()).Times(1);
+ EXPECT_CALL(*command2, End(false));
+
+ EXPECT_CALL(*command3, Initialize());
+ EXPECT_CALL(*command3, Execute()).Times(2);
+ EXPECT_CALL(*command3, End(true));
+
+ scheduler.Schedule(&group);
+
+ command2->SetFinished(true);
+ scheduler.Run();
+ command1->SetFinished(true);
+ scheduler.Run();
+
+ EXPECT_FALSE(scheduler.IsScheduled(&group));
+}
+
+TEST_F(ParallelDeadlineGroupTest, SequentialGroupInterruptTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ TestSubsystem subsystem;
+
+ std::unique_ptr<MockCommand> command1Holder = std::make_unique<MockCommand>();
+ std::unique_ptr<MockCommand> command2Holder = std::make_unique<MockCommand>();
+ std::unique_ptr<MockCommand> command3Holder = std::make_unique<MockCommand>();
+
+ MockCommand* command1 = command1Holder.get();
+ MockCommand* command2 = command2Holder.get();
+ MockCommand* command3 = command3Holder.get();
+
+ ParallelDeadlineGroup group(
+ std::move(command1Holder),
+ tcb::make_vector<std::unique_ptr<Command>>(std::move(command2Holder),
+ std::move(command3Holder)));
+
+ EXPECT_CALL(*command1, Initialize());
+ EXPECT_CALL(*command1, Execute()).Times(1);
+ EXPECT_CALL(*command1, End(true));
+
+ EXPECT_CALL(*command2, Initialize());
+ EXPECT_CALL(*command2, Execute()).Times(1);
+ EXPECT_CALL(*command2, End(true));
+
+ EXPECT_CALL(*command3, Initialize());
+ EXPECT_CALL(*command3, Execute()).Times(1);
+ EXPECT_CALL(*command3, End(true));
+
+ scheduler.Schedule(&group);
+
+ scheduler.Run();
+ scheduler.Cancel(&group);
+ scheduler.Run();
+
+ EXPECT_FALSE(scheduler.IsScheduled(&group));
+}
+
+TEST_F(ParallelDeadlineGroupTest, DeadlineGroupNotScheduledCancelTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ ParallelDeadlineGroup group{InstantCommand(), InstantCommand()};
+
+ EXPECT_NO_FATAL_FAILURE(scheduler.Cancel(&group));
+}
+
+TEST_F(ParallelDeadlineGroupTest, ParallelDeadlineCopyTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ bool finished = false;
+
+ WaitUntilCommand command([&finished] { return finished; });
+
+ ParallelDeadlineGroup group(command);
+ scheduler.Schedule(&group);
+ scheduler.Run();
+ EXPECT_TRUE(scheduler.IsScheduled(&group));
+ finished = true;
+ scheduler.Run();
+ EXPECT_FALSE(scheduler.IsScheduled(&group));
+}
+
+TEST_F(ParallelDeadlineGroupTest, ParallelDeadlineRequirementTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ TestSubsystem requirement1;
+ TestSubsystem requirement2;
+ TestSubsystem requirement3;
+ TestSubsystem requirement4;
+
+ InstantCommand command1([] {}, {&requirement1, &requirement2});
+ InstantCommand command2([] {}, {&requirement3});
+ InstantCommand command3([] {}, {&requirement3, &requirement4});
+
+ ParallelDeadlineGroup group(std::move(command1), std::move(command2));
+
+ scheduler.Schedule(&group);
+ scheduler.Schedule(&command3);
+
+ EXPECT_TRUE(scheduler.IsScheduled(&command3));
+ EXPECT_FALSE(scheduler.IsScheduled(&group));
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/ParallelRaceGroupTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/ParallelRaceGroupTest.cpp
new file mode 100644
index 0000000..54762ca
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/ParallelRaceGroupTest.cpp
@@ -0,0 +1,156 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "CommandTestBase.h"
+#include "frc2/command/InstantCommand.h"
+#include "frc2/command/ParallelRaceGroup.h"
+#include "frc2/command/SequentialCommandGroup.h"
+#include "frc2/command/WaitUntilCommand.h"
+
+using namespace frc2;
+class ParallelRaceGroupTest : public CommandTestBase {};
+
+TEST_F(ParallelRaceGroupTest, ParallelRaceScheduleTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ std::unique_ptr<MockCommand> command1Holder = std::make_unique<MockCommand>();
+ std::unique_ptr<MockCommand> command2Holder = std::make_unique<MockCommand>();
+ std::unique_ptr<MockCommand> command3Holder = std::make_unique<MockCommand>();
+
+ MockCommand* command1 = command1Holder.get();
+ MockCommand* command2 = command2Holder.get();
+ MockCommand* command3 = command3Holder.get();
+
+ ParallelRaceGroup group{tcb::make_vector<std::unique_ptr<Command>>(
+ std::move(command1Holder), std::move(command2Holder),
+ std::move(command3Holder))};
+
+ EXPECT_CALL(*command1, Initialize());
+ EXPECT_CALL(*command1, Execute()).Times(2);
+ EXPECT_CALL(*command1, End(true));
+
+ EXPECT_CALL(*command2, Initialize());
+ EXPECT_CALL(*command2, Execute()).Times(2);
+ EXPECT_CALL(*command2, End(false));
+
+ EXPECT_CALL(*command3, Initialize());
+ EXPECT_CALL(*command3, Execute()).Times(2);
+ EXPECT_CALL(*command3, End(true));
+
+ scheduler.Schedule(&group);
+
+ scheduler.Run();
+ command2->SetFinished(true);
+ scheduler.Run();
+
+ EXPECT_FALSE(scheduler.IsScheduled(&group));
+}
+
+TEST_F(ParallelRaceGroupTest, ParallelRaceInterruptTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ std::unique_ptr<MockCommand> command1Holder = std::make_unique<MockCommand>();
+ std::unique_ptr<MockCommand> command2Holder = std::make_unique<MockCommand>();
+ std::unique_ptr<MockCommand> command3Holder = std::make_unique<MockCommand>();
+
+ MockCommand* command1 = command1Holder.get();
+ MockCommand* command2 = command2Holder.get();
+ MockCommand* command3 = command3Holder.get();
+
+ ParallelRaceGroup group{tcb::make_vector<std::unique_ptr<Command>>(
+ std::move(command1Holder), std::move(command2Holder),
+ std::move(command3Holder))};
+
+ EXPECT_CALL(*command1, Initialize());
+ EXPECT_CALL(*command1, Execute()).Times(1);
+ EXPECT_CALL(*command1, End(true));
+
+ EXPECT_CALL(*command2, Initialize());
+ EXPECT_CALL(*command2, Execute()).Times(1);
+ EXPECT_CALL(*command2, End(true));
+
+ EXPECT_CALL(*command3, Initialize());
+ EXPECT_CALL(*command3, Execute()).Times(1);
+ EXPECT_CALL(*command3, End(true));
+
+ scheduler.Schedule(&group);
+
+ scheduler.Run();
+ scheduler.Cancel(&group);
+ scheduler.Run();
+
+ EXPECT_FALSE(scheduler.IsScheduled(&group));
+}
+
+TEST_F(ParallelRaceGroupTest, ParallelRaceNotScheduledCancelTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ ParallelRaceGroup group{InstantCommand(), InstantCommand()};
+
+ EXPECT_NO_FATAL_FAILURE(scheduler.Cancel(&group));
+}
+
+TEST_F(ParallelRaceGroupTest, ParallelRaceCopyTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ bool finished = false;
+
+ WaitUntilCommand command([&finished] { return finished; });
+
+ ParallelRaceGroup group(command);
+ scheduler.Schedule(&group);
+ scheduler.Run();
+ EXPECT_TRUE(scheduler.IsScheduled(&group));
+ finished = true;
+ scheduler.Run();
+ EXPECT_FALSE(scheduler.IsScheduled(&group));
+}
+
+TEST_F(ParallelRaceGroupTest, RaceGroupRequirementTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ TestSubsystem requirement1;
+ TestSubsystem requirement2;
+ TestSubsystem requirement3;
+ TestSubsystem requirement4;
+
+ InstantCommand command1([] {}, {&requirement1, &requirement2});
+ InstantCommand command2([] {}, {&requirement3});
+ InstantCommand command3([] {}, {&requirement3, &requirement4});
+
+ ParallelRaceGroup group(std::move(command1), std::move(command2));
+
+ scheduler.Schedule(&group);
+ scheduler.Schedule(&command3);
+
+ EXPECT_TRUE(scheduler.IsScheduled(&command3));
+ EXPECT_FALSE(scheduler.IsScheduled(&group));
+}
+
+TEST_F(ParallelRaceGroupTest, ParallelRaceOnlyCallsEndOnceTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ bool finished1 = false;
+ bool finished2 = false;
+ bool finished3 = false;
+
+ WaitUntilCommand command1([&finished1] { return finished1; });
+ WaitUntilCommand command2([&finished2] { return finished2; });
+ WaitUntilCommand command3([&finished3] { return finished3; });
+
+ SequentialCommandGroup group1(command1, command2);
+ ParallelRaceGroup group2(std::move(group1), command3);
+
+ scheduler.Schedule(&group2);
+ scheduler.Run();
+ EXPECT_TRUE(scheduler.IsScheduled(&group2));
+ finished1 = true;
+ scheduler.Run();
+ finished2 = true;
+ EXPECT_NO_FATAL_FAILURE(scheduler.Run());
+ EXPECT_FALSE(scheduler.IsScheduled(&group2));
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/PerpetualCommandTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/PerpetualCommandTest.cpp
new file mode 100644
index 0000000..b3ef861
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/PerpetualCommandTest.cpp
@@ -0,0 +1,26 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "CommandTestBase.h"
+#include "frc2/command/InstantCommand.h"
+#include "frc2/command/PerpetualCommand.h"
+
+using namespace frc2;
+class PerpetualCommandTest : public CommandTestBase {};
+
+TEST_F(PerpetualCommandTest, PerpetualCommandScheduleTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ bool check = false;
+
+ PerpetualCommand command{InstantCommand([&check] { check = true; }, {})};
+
+ scheduler.Schedule(&command);
+ scheduler.Run();
+ EXPECT_TRUE(scheduler.IsScheduled(&command));
+ EXPECT_TRUE(check);
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/PrintCommandTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/PrintCommandTest.cpp
new file mode 100644
index 0000000..b940566
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/PrintCommandTest.cpp
@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <regex>
+
+#include "CommandTestBase.h"
+#include "frc2/command/PrintCommand.h"
+
+using namespace frc2;
+class PrintCommandTest : public CommandTestBase {};
+
+TEST_F(PrintCommandTest, PrintCommandScheduleTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ PrintCommand command("Test!");
+
+ testing::internal::CaptureStdout();
+
+ scheduler.Schedule(&command);
+ scheduler.Run();
+
+ EXPECT_TRUE(std::regex_search(testing::internal::GetCapturedStdout(),
+ std::regex("Test!")));
+
+ EXPECT_FALSE(scheduler.IsScheduled(&command));
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/ProxyScheduleCommandTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/ProxyScheduleCommandTest.cpp
new file mode 100644
index 0000000..09a569f
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/ProxyScheduleCommandTest.cpp
@@ -0,0 +1,50 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <regex>
+
+#include "CommandTestBase.h"
+#include "frc2/command/InstantCommand.h"
+#include "frc2/command/ProxyScheduleCommand.h"
+#include "frc2/command/WaitUntilCommand.h"
+
+using namespace frc2;
+class ProxyScheduleCommandTest : public CommandTestBase {};
+
+TEST_F(ProxyScheduleCommandTest, ProxyScheduleCommandScheduleTest) {
+ CommandScheduler& scheduler = CommandScheduler::GetInstance();
+
+ bool scheduled = false;
+
+ InstantCommand toSchedule([&scheduled] { scheduled = true; }, {});
+
+ ProxyScheduleCommand command(&toSchedule);
+
+ scheduler.Schedule(&command);
+ scheduler.Run();
+
+ EXPECT_TRUE(scheduled);
+}
+
+TEST_F(ProxyScheduleCommandTest, ProxyScheduleCommandEndTest) {
+ CommandScheduler& scheduler = CommandScheduler::GetInstance();
+
+ bool finished = false;
+
+ WaitUntilCommand toSchedule([&finished] { return finished; });
+
+ ProxyScheduleCommand command(&toSchedule);
+
+ scheduler.Schedule(&command);
+ scheduler.Run();
+
+ EXPECT_TRUE(scheduler.IsScheduled(&command));
+ finished = true;
+ scheduler.Run();
+ scheduler.Run();
+ EXPECT_FALSE(scheduler.IsScheduled(&command));
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/RobotDisabledCommandTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/RobotDisabledCommandTest.cpp
new file mode 100644
index 0000000..bac40d5
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/RobotDisabledCommandTest.cpp
@@ -0,0 +1,156 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "CommandTestBase.h"
+#include "frc2/command/ConditionalCommand.h"
+#include "frc2/command/ParallelCommandGroup.h"
+#include "frc2/command/ParallelDeadlineGroup.h"
+#include "frc2/command/ParallelRaceGroup.h"
+#include "frc2/command/SelectCommand.h"
+#include "frc2/command/SequentialCommandGroup.h"
+
+using namespace frc2;
+class RobotDisabledCommandTest : public CommandTestBase {};
+
+TEST_F(RobotDisabledCommandTest, RobotDisabledCommandCancelTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ MockCommand command({}, false, false);
+
+ EXPECT_CALL(command, End(true));
+
+ SetDSEnabled(true);
+
+ scheduler.Schedule(&command);
+ scheduler.Run();
+
+ EXPECT_TRUE(scheduler.IsScheduled(&command));
+
+ SetDSEnabled(false);
+
+ scheduler.Run();
+
+ EXPECT_FALSE(scheduler.IsScheduled(&command));
+}
+
+TEST_F(RobotDisabledCommandTest, RunWhenDisabledTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ MockCommand command1;
+ MockCommand command2;
+
+ scheduler.Schedule(&command1);
+
+ SetDSEnabled(false);
+
+ scheduler.Run();
+
+ scheduler.Schedule(&command2);
+
+ EXPECT_TRUE(scheduler.IsScheduled(&command1));
+ EXPECT_TRUE(scheduler.IsScheduled(&command2));
+}
+
+TEST_F(RobotDisabledCommandTest, SequentialGroupRunWhenDisabledTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ SequentialCommandGroup runWhenDisabled{MockCommand(), MockCommand()};
+ SequentialCommandGroup dontRunWhenDisabled{MockCommand(),
+ MockCommand({}, false, false)};
+
+ SetDSEnabled(false);
+
+ scheduler.Schedule(&runWhenDisabled);
+ scheduler.Schedule(&dontRunWhenDisabled);
+
+ EXPECT_TRUE(scheduler.IsScheduled(&runWhenDisabled));
+ EXPECT_FALSE(scheduler.IsScheduled(&dontRunWhenDisabled));
+}
+
+TEST_F(RobotDisabledCommandTest, ParallelGroupRunWhenDisabledTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ ParallelCommandGroup runWhenDisabled{MockCommand(), MockCommand()};
+ ParallelCommandGroup dontRunWhenDisabled{MockCommand(),
+ MockCommand({}, false, false)};
+
+ SetDSEnabled(false);
+
+ scheduler.Schedule(&runWhenDisabled);
+ scheduler.Schedule(&dontRunWhenDisabled);
+
+ EXPECT_TRUE(scheduler.IsScheduled(&runWhenDisabled));
+ EXPECT_FALSE(scheduler.IsScheduled(&dontRunWhenDisabled));
+}
+
+TEST_F(RobotDisabledCommandTest, ParallelRaceRunWhenDisabledTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ ParallelRaceGroup runWhenDisabled{MockCommand(), MockCommand()};
+ ParallelRaceGroup dontRunWhenDisabled{MockCommand(),
+ MockCommand({}, false, false)};
+
+ SetDSEnabled(false);
+
+ scheduler.Schedule(&runWhenDisabled);
+ scheduler.Schedule(&dontRunWhenDisabled);
+
+ EXPECT_TRUE(scheduler.IsScheduled(&runWhenDisabled));
+ EXPECT_FALSE(scheduler.IsScheduled(&dontRunWhenDisabled));
+}
+
+TEST_F(RobotDisabledCommandTest, ParallelDeadlineRunWhenDisabledTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ ParallelDeadlineGroup runWhenDisabled{MockCommand(), MockCommand()};
+ ParallelDeadlineGroup dontRunWhenDisabled{MockCommand(),
+ MockCommand({}, false, false)};
+
+ SetDSEnabled(false);
+
+ scheduler.Schedule(&runWhenDisabled);
+ scheduler.Schedule(&dontRunWhenDisabled);
+
+ EXPECT_TRUE(scheduler.IsScheduled(&runWhenDisabled));
+ EXPECT_FALSE(scheduler.IsScheduled(&dontRunWhenDisabled));
+}
+
+TEST_F(RobotDisabledCommandTest, ConditionalCommandRunWhenDisabledTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ ConditionalCommand runWhenDisabled{MockCommand(), MockCommand(),
+ [] { return true; }};
+ ConditionalCommand dontRunWhenDisabled{
+ MockCommand(), MockCommand({}, false, false), [] { return true; }};
+
+ SetDSEnabled(false);
+
+ scheduler.Schedule(&runWhenDisabled);
+ scheduler.Schedule(&dontRunWhenDisabled);
+
+ EXPECT_TRUE(scheduler.IsScheduled(&runWhenDisabled));
+ EXPECT_FALSE(scheduler.IsScheduled(&dontRunWhenDisabled));
+}
+
+TEST_F(RobotDisabledCommandTest, SelectCommandRunWhenDisabledTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ SelectCommand<int> runWhenDisabled{[] { return 1; },
+ std::pair(1, MockCommand()),
+ std::pair(1, MockCommand())};
+ SelectCommand<int> dontRunWhenDisabled{
+ [] { return 1; }, std::pair(1, MockCommand()),
+ std::pair(1, MockCommand({}, false, false))};
+
+ SetDSEnabled(false);
+
+ scheduler.Schedule(&runWhenDisabled);
+ scheduler.Schedule(&dontRunWhenDisabled);
+
+ EXPECT_TRUE(scheduler.IsScheduled(&runWhenDisabled));
+ EXPECT_FALSE(scheduler.IsScheduled(&dontRunWhenDisabled));
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/RunCommandTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/RunCommandTest.cpp
new file mode 100644
index 0000000..07eecb3
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/RunCommandTest.cpp
@@ -0,0 +1,27 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "CommandTestBase.h"
+#include "frc2/command/RunCommand.h"
+
+using namespace frc2;
+class RunCommandTest : public CommandTestBase {};
+
+TEST_F(RunCommandTest, RunCommandScheduleTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ int counter = 0;
+
+ RunCommand command([&counter] { counter++; }, {});
+
+ scheduler.Schedule(&command);
+ scheduler.Run();
+ scheduler.Run();
+ scheduler.Run();
+
+ EXPECT_EQ(3, counter);
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/ScheduleCommandTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/ScheduleCommandTest.cpp
new file mode 100644
index 0000000..29e8dc5
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/ScheduleCommandTest.cpp
@@ -0,0 +1,32 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <regex>
+
+#include "CommandTestBase.h"
+#include "frc2/command/InstantCommand.h"
+#include "frc2/command/ScheduleCommand.h"
+#include "frc2/command/SequentialCommandGroup.h"
+
+using namespace frc2;
+class ScheduleCommandTest : public CommandTestBase {};
+
+TEST_F(ScheduleCommandTest, ScheduleCommandScheduleTest) {
+ CommandScheduler& scheduler = CommandScheduler::GetInstance();
+
+ bool scheduled = false;
+
+ InstantCommand toSchedule([&scheduled] { scheduled = true; }, {});
+
+ ScheduleCommand command(&toSchedule);
+
+ scheduler.Schedule(&command);
+ scheduler.Run();
+
+ EXPECT_TRUE(scheduled);
+ EXPECT_FALSE(scheduler.IsScheduled(&command));
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/SchedulerTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/SchedulerTest.cpp
new file mode 100644
index 0000000..f0198c9
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/SchedulerTest.cpp
@@ -0,0 +1,56 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "CommandTestBase.h"
+#include "frc2/command/InstantCommand.h"
+#include "frc2/command/RunCommand.h"
+
+using namespace frc2;
+class SchedulerTest : public CommandTestBase {};
+
+TEST_F(SchedulerTest, SchedulerLambdaTestNoInterrupt) {
+ CommandScheduler scheduler = GetScheduler();
+
+ InstantCommand command;
+
+ int counter = 0;
+
+ scheduler.OnCommandInitialize([&counter](const Command&) { counter++; });
+ scheduler.OnCommandExecute([&counter](const Command&) { counter++; });
+ scheduler.OnCommandFinish([&counter](const Command&) { counter++; });
+
+ scheduler.Schedule(&command);
+ scheduler.Run();
+
+ EXPECT_EQ(counter, 3);
+}
+
+TEST_F(SchedulerTest, SchedulerLambdaInterruptTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ RunCommand command([] {}, {});
+
+ int counter = 0;
+
+ scheduler.OnCommandInterrupt([&counter](const Command&) { counter++; });
+
+ scheduler.Schedule(&command);
+ scheduler.Run();
+ scheduler.Cancel(&command);
+
+ EXPECT_EQ(counter, 1);
+}
+
+TEST_F(SchedulerTest, UnregisterSubsystemTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ TestSubsystem system;
+
+ scheduler.RegisterSubsystem(&system);
+
+ EXPECT_NO_FATAL_FAILURE(scheduler.UnregisterSubsystem(&system));
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/SelectCommandTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/SelectCommandTest.cpp
new file mode 100644
index 0000000..6be14ef
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/SelectCommandTest.cpp
@@ -0,0 +1,62 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "CommandTestBase.h"
+#include "frc2/command/ConditionalCommand.h"
+#include "frc2/command/InstantCommand.h"
+#include "frc2/command/SelectCommand.h"
+
+using namespace frc2;
+class SelectCommandTest : public CommandTestBase {};
+
+TEST_F(SelectCommandTest, SelectCommandTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ std::unique_ptr<MockCommand> mock = std::make_unique<MockCommand>();
+ MockCommand* mockptr = mock.get();
+
+ EXPECT_CALL(*mock, Initialize());
+ EXPECT_CALL(*mock, Execute()).Times(2);
+ EXPECT_CALL(*mock, End(false));
+
+ std::vector<std::pair<int, std::unique_ptr<Command>>> temp;
+
+ temp.emplace_back(std::pair(1, std::move(mock)));
+ temp.emplace_back(std::pair(2, std::make_unique<InstantCommand>()));
+ temp.emplace_back(std::pair(3, std::make_unique<InstantCommand>()));
+
+ SelectCommand<int> select([] { return 1; }, std::move(temp));
+
+ scheduler.Schedule(&select);
+ scheduler.Run();
+ mockptr->SetFinished(true);
+ scheduler.Run();
+
+ EXPECT_FALSE(scheduler.IsScheduled(&select));
+}
+
+TEST_F(SelectCommandTest, SelectCommandRequirementTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ TestSubsystem requirement1;
+ TestSubsystem requirement2;
+ TestSubsystem requirement3;
+ TestSubsystem requirement4;
+
+ InstantCommand command1([] {}, {&requirement1, &requirement2});
+ InstantCommand command2([] {}, {&requirement3});
+ InstantCommand command3([] {}, {&requirement3, &requirement4});
+
+ SelectCommand<int> select([] { return 1; }, std::pair(1, std::move(command1)),
+ std::pair(2, std::move(command2)));
+
+ scheduler.Schedule(&select);
+ scheduler.Schedule(&command3);
+
+ EXPECT_TRUE(scheduler.IsScheduled(&command3));
+ EXPECT_FALSE(scheduler.IsScheduled(&select));
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/SequentialCommandGroupTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/SequentialCommandGroupTest.cpp
new file mode 100644
index 0000000..3a6f8d8
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/SequentialCommandGroupTest.cpp
@@ -0,0 +1,137 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "CommandTestBase.h"
+#include "frc2/command/InstantCommand.h"
+#include "frc2/command/SequentialCommandGroup.h"
+#include "frc2/command/WaitUntilCommand.h"
+
+using namespace frc2;
+class SequentialCommandGroupTest : public CommandTestBase {};
+
+TEST_F(SequentialCommandGroupTest, SequentialGroupScheduleTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ std::unique_ptr<MockCommand> command1Holder = std::make_unique<MockCommand>();
+ std::unique_ptr<MockCommand> command2Holder = std::make_unique<MockCommand>();
+ std::unique_ptr<MockCommand> command3Holder = std::make_unique<MockCommand>();
+
+ MockCommand* command1 = command1Holder.get();
+ MockCommand* command2 = command2Holder.get();
+ MockCommand* command3 = command3Holder.get();
+
+ SequentialCommandGroup group{tcb::make_vector<std::unique_ptr<Command>>(
+ std::move(command1Holder), std::move(command2Holder),
+ std::move(command3Holder))};
+
+ EXPECT_CALL(*command1, Initialize());
+ EXPECT_CALL(*command1, Execute()).Times(1);
+ EXPECT_CALL(*command1, End(false));
+
+ EXPECT_CALL(*command2, Initialize());
+ EXPECT_CALL(*command2, Execute()).Times(1);
+ EXPECT_CALL(*command2, End(false));
+
+ EXPECT_CALL(*command3, Initialize());
+ EXPECT_CALL(*command3, Execute()).Times(1);
+ EXPECT_CALL(*command3, End(false));
+
+ scheduler.Schedule(&group);
+
+ command1->SetFinished(true);
+ scheduler.Run();
+ command2->SetFinished(true);
+ scheduler.Run();
+ command3->SetFinished(true);
+ scheduler.Run();
+
+ EXPECT_FALSE(scheduler.IsScheduled(&group));
+}
+
+TEST_F(SequentialCommandGroupTest, SequentialGroupInterruptTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ std::unique_ptr<MockCommand> command1Holder = std::make_unique<MockCommand>();
+ std::unique_ptr<MockCommand> command2Holder = std::make_unique<MockCommand>();
+ std::unique_ptr<MockCommand> command3Holder = std::make_unique<MockCommand>();
+
+ MockCommand* command1 = command1Holder.get();
+ MockCommand* command2 = command2Holder.get();
+ MockCommand* command3 = command3Holder.get();
+
+ SequentialCommandGroup group{tcb::make_vector<std::unique_ptr<Command>>(
+ std::move(command1Holder), std::move(command2Holder),
+ std::move(command3Holder))};
+
+ EXPECT_CALL(*command1, Initialize());
+ EXPECT_CALL(*command1, Execute()).Times(1);
+ EXPECT_CALL(*command1, End(false));
+
+ EXPECT_CALL(*command2, Initialize());
+ EXPECT_CALL(*command2, Execute()).Times(0);
+ EXPECT_CALL(*command2, End(false)).Times(0);
+ EXPECT_CALL(*command2, End(true));
+
+ EXPECT_CALL(*command3, Initialize()).Times(0);
+ EXPECT_CALL(*command3, Execute()).Times(0);
+ EXPECT_CALL(*command3, End(false)).Times(0);
+ EXPECT_CALL(*command3, End(true)).Times(0);
+
+ scheduler.Schedule(&group);
+
+ command1->SetFinished(true);
+ scheduler.Run();
+ scheduler.Cancel(&group);
+ scheduler.Run();
+
+ EXPECT_FALSE(scheduler.IsScheduled(&group));
+}
+
+TEST_F(SequentialCommandGroupTest, SequentialGroupNotScheduledCancelTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ SequentialCommandGroup group{InstantCommand(), InstantCommand()};
+
+ EXPECT_NO_FATAL_FAILURE(scheduler.Cancel(&group));
+}
+
+TEST_F(SequentialCommandGroupTest, SequentialGroupCopyTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ bool finished = false;
+
+ WaitUntilCommand command([&finished] { return finished; });
+
+ SequentialCommandGroup group(command);
+ scheduler.Schedule(&group);
+ scheduler.Run();
+ EXPECT_TRUE(scheduler.IsScheduled(&group));
+ finished = true;
+ scheduler.Run();
+ EXPECT_FALSE(scheduler.IsScheduled(&group));
+}
+
+TEST_F(SequentialCommandGroupTest, SequentialGroupRequirementTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ TestSubsystem requirement1;
+ TestSubsystem requirement2;
+ TestSubsystem requirement3;
+ TestSubsystem requirement4;
+
+ InstantCommand command1([] {}, {&requirement1, &requirement2});
+ InstantCommand command2([] {}, {&requirement3});
+ InstantCommand command3([] {}, {&requirement3, &requirement4});
+
+ SequentialCommandGroup group(std::move(command1), std::move(command2));
+
+ scheduler.Schedule(&group);
+ scheduler.Schedule(&command3);
+
+ EXPECT_TRUE(scheduler.IsScheduled(&command3));
+ EXPECT_FALSE(scheduler.IsScheduled(&group));
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/StartEndCommandTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/StartEndCommandTest.cpp
new file mode 100644
index 0000000..3f25792
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/StartEndCommandTest.cpp
@@ -0,0 +1,28 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "CommandTestBase.h"
+#include "frc2/command/StartEndCommand.h"
+
+using namespace frc2;
+class StartEndCommandTest : public CommandTestBase {};
+
+TEST_F(StartEndCommandTest, StartEndCommandScheduleTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ int counter = 0;
+
+ StartEndCommand command([&counter] { counter++; }, [&counter] { counter++; },
+ {});
+
+ scheduler.Schedule(&command);
+ scheduler.Run();
+ scheduler.Run();
+ scheduler.Cancel(&command);
+
+ EXPECT_EQ(2, counter);
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/WaitCommandTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/WaitCommandTest.cpp
new file mode 100644
index 0000000..3363975
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/WaitCommandTest.cpp
@@ -0,0 +1,26 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "CommandTestBase.h"
+#include "frc2/command/WaitCommand.h"
+#include "frc2/command/WaitUntilCommand.h"
+
+using namespace frc2;
+class WaitCommandTest : public CommandTestBase {};
+
+TEST_F(WaitCommandTest, WaitCommandScheduleTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ WaitCommand command(.1_s);
+
+ scheduler.Schedule(&command);
+ scheduler.Run();
+ EXPECT_TRUE(scheduler.IsScheduled(&command));
+ std::this_thread::sleep_for(std::chrono::milliseconds(110));
+ scheduler.Run();
+ EXPECT_FALSE(scheduler.IsScheduled(&command));
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/WaitUntilCommandTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/WaitUntilCommandTest.cpp
new file mode 100644
index 0000000..e9728db
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/WaitUntilCommandTest.cpp
@@ -0,0 +1,27 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "CommandTestBase.h"
+#include "frc2/command/WaitUntilCommand.h"
+
+using namespace frc2;
+class WaitUntilCommandTest : public CommandTestBase {};
+
+TEST_F(WaitUntilCommandTest, WaitUntilCommandScheduleTest) {
+ CommandScheduler scheduler = GetScheduler();
+
+ bool finished = false;
+
+ WaitUntilCommand command([&finished] { return finished; });
+
+ scheduler.Schedule(&command);
+ scheduler.Run();
+ EXPECT_TRUE(scheduler.IsScheduled(&command));
+ finished = true;
+ scheduler.Run();
+ EXPECT_FALSE(scheduler.IsScheduled(&command));
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/make_vector.h b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/make_vector.h
new file mode 100644
index 0000000..89d55b6
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/frc2/command/make_vector.h
@@ -0,0 +1,67 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <type_traits>
+#include <utility>
+#include <vector>
+
+namespace tcb {
+
+namespace detail {
+
+template <typename T, typename...>
+struct vec_type_helper {
+ using type = T;
+};
+
+template <typename... Args>
+struct vec_type_helper<void, Args...> {
+ using type = typename std::common_type_t<Args...>;
+};
+
+template <typename T, typename... Args>
+using vec_type_helper_t = typename vec_type_helper<T, Args...>::type;
+
+template <typename, typename...>
+struct all_constructible_and_convertible : std::true_type {};
+
+template <typename T, typename First, typename... Rest>
+struct all_constructible_and_convertible<T, First, Rest...>
+ : std::conditional_t<
+ std::is_constructible_v<T, First> && std::is_convertible_v<First, T>,
+ all_constructible_and_convertible<T, Rest...>, std::false_type> {};
+
+template <typename T, typename... Args,
+ typename std::enable_if_t<!std::is_trivially_copyable_v<T>, int> = 0>
+std::vector<T> make_vector_impl(Args&&... args) {
+ std::vector<T> vec;
+ vec.reserve(sizeof...(Args));
+ using arr_t = int[];
+ (void)arr_t{0, (vec.emplace_back(std::forward<Args>(args)), 0)...};
+ return vec;
+}
+
+template <typename T, typename... Args,
+ typename std::enable_if_t<std::is_trivially_copyable_v<T>, int> = 0>
+std::vector<T> make_vector_impl(Args&&... args) {
+ return std::vector<T>{std::forward<Args>(args)...};
+}
+
+} // namespace detail
+
+template <
+ typename T = void, typename... Args,
+ typename V = detail::vec_type_helper_t<T, Args...>,
+ typename std::enable_if_t<
+ detail::all_constructible_and_convertible<V, Args...>::value, int> = 0>
+std::vector<V> make_vector(Args&&... args) {
+ return detail::make_vector_impl<V>(std::forward<Args>(args)...);
+}
+
+} // namespace tcb
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/geometry/Pose2dTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/geometry/Pose2dTest.cpp
new file mode 100644
index 0000000..8b5f674
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/geometry/Pose2dTest.cpp
@@ -0,0 +1,66 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <cmath>
+
+#include "frc/geometry/Pose2d.h"
+#include "gtest/gtest.h"
+
+using namespace frc;
+
+static constexpr double kEpsilon = 1E-9;
+
+TEST(Pose2dTest, TransformBy) {
+ const Pose2d initial{1_m, 2_m, Rotation2d(45.0_deg)};
+ const Transform2d transform{Translation2d{5.0_m, 0.0_m}, Rotation2d(5.0_deg)};
+
+ const auto transformed = initial + transform;
+
+ EXPECT_NEAR(transformed.Translation().X().to<double>(),
+ 1 + 5 / std::sqrt(2.0), kEpsilon);
+ EXPECT_NEAR(transformed.Translation().Y().to<double>(),
+ 2 + 5 / std::sqrt(2.0), kEpsilon);
+ EXPECT_NEAR(transformed.Rotation().Degrees().to<double>(), 50.0, kEpsilon);
+}
+
+TEST(Pose2dTest, RelativeTo) {
+ const Pose2d initial{0_m, 0_m, Rotation2d(45.0_deg)};
+ const Pose2d final{5_m, 5_m, Rotation2d(45.0_deg)};
+
+ const auto finalRelativeToInitial = final.RelativeTo(initial);
+
+ EXPECT_NEAR(finalRelativeToInitial.Translation().X().to<double>(),
+ 5.0 * std::sqrt(2.0), kEpsilon);
+ EXPECT_NEAR(finalRelativeToInitial.Translation().Y().to<double>(), 0.0,
+ kEpsilon);
+ EXPECT_NEAR(finalRelativeToInitial.Rotation().Degrees().to<double>(), 0.0,
+ kEpsilon);
+}
+
+TEST(Pose2dTest, Equality) {
+ const Pose2d a{0_m, 5_m, Rotation2d(43_deg)};
+ const Pose2d b{0_m, 5_m, Rotation2d(43_deg)};
+ EXPECT_TRUE(a == b);
+}
+
+TEST(Pose2dTest, Inequality) {
+ const Pose2d a{0_m, 5_m, Rotation2d(43_deg)};
+ const Pose2d b{0_m, 5_ft, Rotation2d(43_deg)};
+ EXPECT_TRUE(a != b);
+}
+
+TEST(Pose2dTest, Minus) {
+ const Pose2d initial{0_m, 0_m, Rotation2d(45.0_deg)};
+ const Pose2d final{5_m, 5_m, Rotation2d(45.0_deg)};
+
+ const auto transform = final - initial;
+
+ EXPECT_NEAR(transform.Translation().X().to<double>(), 5.0 * std::sqrt(2.0),
+ kEpsilon);
+ EXPECT_NEAR(transform.Translation().Y().to<double>(), 0.0, kEpsilon);
+ EXPECT_NEAR(transform.Rotation().Degrees().to<double>(), 0.0, kEpsilon);
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/geometry/Rotation2dTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/geometry/Rotation2dTest.cpp
new file mode 100644
index 0000000..ba80787
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/geometry/Rotation2dTest.cpp
@@ -0,0 +1,67 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <cmath>
+
+#include <wpi/math>
+
+#include "frc/geometry/Rotation2d.h"
+#include "gtest/gtest.h"
+
+using namespace frc;
+
+static constexpr double kEpsilon = 1E-9;
+
+TEST(Rotation2dTest, RadiansToDegrees) {
+ const Rotation2d one{units::radian_t(wpi::math::pi / 3)};
+ const Rotation2d two{units::radian_t(wpi::math::pi / 4)};
+
+ EXPECT_NEAR(one.Degrees().to<double>(), 60.0, kEpsilon);
+ EXPECT_NEAR(two.Degrees().to<double>(), 45.0, kEpsilon);
+}
+
+TEST(Rotation2dTest, DegreesToRadians) {
+ const auto one = Rotation2d(45.0_deg);
+ const auto two = Rotation2d(30.0_deg);
+
+ EXPECT_NEAR(one.Radians().to<double>(), wpi::math::pi / 4.0, kEpsilon);
+ EXPECT_NEAR(two.Radians().to<double>(), wpi::math::pi / 6.0, kEpsilon);
+}
+
+TEST(Rotation2dTest, RotateByFromZero) {
+ const Rotation2d zero;
+ auto sum = zero + Rotation2d(90.0_deg);
+
+ EXPECT_NEAR(sum.Radians().to<double>(), wpi::math::pi / 2.0, kEpsilon);
+ EXPECT_NEAR(sum.Degrees().to<double>(), 90.0, kEpsilon);
+}
+
+TEST(Rotation2dTest, RotateByNonZero) {
+ auto rot = Rotation2d(90.0_deg);
+ rot += Rotation2d(30.0_deg);
+
+ EXPECT_NEAR(rot.Degrees().to<double>(), 120.0, kEpsilon);
+}
+
+TEST(Rotation2dTest, Minus) {
+ const auto one = Rotation2d(70.0_deg);
+ const auto two = Rotation2d(30.0_deg);
+
+ EXPECT_NEAR((one - two).Degrees().to<double>(), 40.0, kEpsilon);
+}
+
+TEST(Rotation2dTest, Equality) {
+ const auto one = Rotation2d(43_deg);
+ const auto two = Rotation2d(43_deg);
+ EXPECT_TRUE(one == two);
+}
+
+TEST(Rotation2dTest, Inequality) {
+ const auto one = Rotation2d(43_deg);
+ const auto two = Rotation2d(43.5_deg);
+ EXPECT_TRUE(one != two);
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/geometry/Translation2dTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/geometry/Translation2dTest.cpp
new file mode 100644
index 0000000..99fced7
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/geometry/Translation2dTest.cpp
@@ -0,0 +1,90 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <cmath>
+
+#include "frc/geometry/Translation2d.h"
+#include "gtest/gtest.h"
+
+using namespace frc;
+
+static constexpr double kEpsilon = 1E-9;
+
+TEST(Translation2dTest, Sum) {
+ const Translation2d one{1.0_m, 3.0_m};
+ const Translation2d two{2.0_m, 5.0_m};
+
+ const auto sum = one + two;
+
+ EXPECT_NEAR(sum.X().to<double>(), 3.0, kEpsilon);
+ EXPECT_NEAR(sum.Y().to<double>(), 8.0, kEpsilon);
+}
+
+TEST(Translation2dTest, Difference) {
+ const Translation2d one{1.0_m, 3.0_m};
+ const Translation2d two{2.0_m, 5.0_m};
+
+ const auto difference = one - two;
+
+ EXPECT_NEAR(difference.X().to<double>(), -1.0, kEpsilon);
+ EXPECT_NEAR(difference.Y().to<double>(), -2.0, kEpsilon);
+}
+
+TEST(Translation2dTest, RotateBy) {
+ const Translation2d another{3.0_m, 0.0_m};
+ const auto rotated = another.RotateBy(Rotation2d(90.0_deg));
+
+ EXPECT_NEAR(rotated.X().to<double>(), 0.0, kEpsilon);
+ EXPECT_NEAR(rotated.Y().to<double>(), 3.0, kEpsilon);
+}
+
+TEST(Translation2dTest, Multiplication) {
+ const Translation2d original{3.0_m, 5.0_m};
+ const auto mult = original * 3;
+
+ EXPECT_NEAR(mult.X().to<double>(), 9.0, kEpsilon);
+ EXPECT_NEAR(mult.Y().to<double>(), 15.0, kEpsilon);
+}
+
+TEST(Translation2d, Division) {
+ const Translation2d original{3.0_m, 5.0_m};
+ const auto div = original / 2;
+
+ EXPECT_NEAR(div.X().to<double>(), 1.5, kEpsilon);
+ EXPECT_NEAR(div.Y().to<double>(), 2.5, kEpsilon);
+}
+
+TEST(Translation2dTest, Norm) {
+ const Translation2d one{3.0_m, 5.0_m};
+ EXPECT_NEAR(one.Norm().to<double>(), std::hypot(3, 5), kEpsilon);
+}
+
+TEST(Translation2dTest, Distance) {
+ const Translation2d one{1_m, 1_m};
+ const Translation2d two{6_m, 6_m};
+ EXPECT_NEAR(one.Distance(two).to<double>(), 5 * std::sqrt(2), kEpsilon);
+}
+
+TEST(Translation2dTest, UnaryMinus) {
+ const Translation2d original{-4.5_m, 7_m};
+ const auto inverted = -original;
+
+ EXPECT_NEAR(inverted.X().to<double>(), 4.5, kEpsilon);
+ EXPECT_NEAR(inverted.Y().to<double>(), -7, kEpsilon);
+}
+
+TEST(Translation2dTest, Equality) {
+ const Translation2d one{9_m, 5.5_m};
+ const Translation2d two{9_m, 5.5_m};
+ EXPECT_TRUE(one == two);
+}
+
+TEST(Translation2dTest, Inequality) {
+ const Translation2d one{9_m, 5.5_m};
+ const Translation2d two{9_m, 5.7_m};
+ EXPECT_TRUE(one != two);
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/geometry/Twist2dTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/geometry/Twist2dTest.cpp
new file mode 100644
index 0000000..faf36d9
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/geometry/Twist2dTest.cpp
@@ -0,0 +1,69 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <cmath>
+
+#include <wpi/math>
+
+#include "frc/geometry/Pose2d.h"
+#include "gtest/gtest.h"
+
+using namespace frc;
+
+static constexpr double kEpsilon = 1E-9;
+
+TEST(Twist2dTest, Straight) {
+ const Twist2d straight{5.0_m, 0.0_m, 0.0_rad};
+ const auto straightPose = Pose2d().Exp(straight);
+
+ EXPECT_NEAR(straightPose.Translation().X().to<double>(), 5.0, kEpsilon);
+ EXPECT_NEAR(straightPose.Translation().Y().to<double>(), 0.0, kEpsilon);
+ EXPECT_NEAR(straightPose.Rotation().Radians().to<double>(), 0.0, kEpsilon);
+}
+
+TEST(Twist2dTest, QuarterCircle) {
+ const Twist2d quarterCircle{5.0_m / 2.0 * wpi::math::pi, 0_m,
+ units::radian_t(wpi::math::pi / 2.0)};
+ const auto quarterCirclePose = Pose2d().Exp(quarterCircle);
+
+ EXPECT_NEAR(quarterCirclePose.Translation().X().to<double>(), 5.0, kEpsilon);
+ EXPECT_NEAR(quarterCirclePose.Translation().Y().to<double>(), 5.0, kEpsilon);
+ EXPECT_NEAR(quarterCirclePose.Rotation().Degrees().to<double>(), 90.0,
+ kEpsilon);
+}
+
+TEST(Twist2dTest, DiagonalNoDtheta) {
+ const Twist2d diagonal{2.0_m, 2.0_m, 0.0_deg};
+ const auto diagonalPose = Pose2d().Exp(diagonal);
+
+ EXPECT_NEAR(diagonalPose.Translation().X().to<double>(), 2.0, kEpsilon);
+ EXPECT_NEAR(diagonalPose.Translation().Y().to<double>(), 2.0, kEpsilon);
+ EXPECT_NEAR(diagonalPose.Rotation().Degrees().to<double>(), 0.0, kEpsilon);
+}
+
+TEST(Twist2dTest, Equality) {
+ const Twist2d one{5.0_m, 1.0_m, 3.0_rad};
+ const Twist2d two{5.0_m, 1.0_m, 3.0_rad};
+ EXPECT_TRUE(one == two);
+}
+
+TEST(Twist2dTest, Inequality) {
+ const Twist2d one{5.0_m, 1.0_m, 3.0_rad};
+ const Twist2d two{5.0_m, 1.2_m, 3.0_rad};
+ EXPECT_TRUE(one != two);
+}
+
+TEST(Twist2dTest, Pose2dLog) {
+ const Pose2d end{5_m, 5_m, Rotation2d(90_deg)};
+ const Pose2d start{};
+
+ const auto twist = start.Log(end);
+
+ EXPECT_NEAR(twist.dx.to<double>(), 5 / 2.0 * wpi::math::pi, kEpsilon);
+ EXPECT_NEAR(twist.dy.to<double>(), 0.0, kEpsilon);
+ EXPECT_NEAR(twist.dtheta.to<double>(), wpi::math::pi / 2.0, kEpsilon);
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/kinematics/ChassisSpeedsTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/kinematics/ChassisSpeedsTest.cpp
new file mode 100644
index 0000000..3fb63fb
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/kinematics/ChassisSpeedsTest.cpp
@@ -0,0 +1,20 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/kinematics/ChassisSpeeds.h"
+#include "gtest/gtest.h"
+
+static constexpr double kEpsilon = 1E-9;
+
+TEST(ChassisSpeeds, FieldRelativeConstruction) {
+ const auto chassisSpeeds = frc::ChassisSpeeds::FromFieldRelativeSpeeds(
+ 1.0_mps, 0.0_mps, 0.5_rad_per_s, frc::Rotation2d(-90.0_deg));
+
+ EXPECT_NEAR(0.0, chassisSpeeds.vx.to<double>(), kEpsilon);
+ EXPECT_NEAR(1.0, chassisSpeeds.vy.to<double>(), kEpsilon);
+ EXPECT_NEAR(0.5, chassisSpeeds.omega.to<double>(), kEpsilon);
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/kinematics/DifferentialDriveKinematicsTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/kinematics/DifferentialDriveKinematicsTest.cpp
new file mode 100644
index 0000000..ad0d3c7
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/kinematics/DifferentialDriveKinematicsTest.cpp
@@ -0,0 +1,77 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <units/units.h>
+#include <wpi/math>
+
+#include "frc/kinematics/ChassisSpeeds.h"
+#include "frc/kinematics/DifferentialDriveKinematics.h"
+#include "gtest/gtest.h"
+
+using namespace frc;
+
+static constexpr double kEpsilon = 1E-9;
+
+TEST(DifferentialDriveKinematics, InverseKinematicsFromZero) {
+ const DifferentialDriveKinematics kinematics{0.381_m * 2};
+ const ChassisSpeeds chassisSpeeds;
+ const auto wheelSpeeds = kinematics.ToWheelSpeeds(chassisSpeeds);
+
+ EXPECT_NEAR(wheelSpeeds.left.to<double>(), 0, kEpsilon);
+ EXPECT_NEAR(wheelSpeeds.right.to<double>(), 0, kEpsilon);
+}
+
+TEST(DifferentialDriveKinematics, ForwardKinematicsFromZero) {
+ const DifferentialDriveKinematics kinematics{0.381_m * 2};
+ const DifferentialDriveWheelSpeeds wheelSpeeds;
+ const auto chassisSpeeds = kinematics.ToChassisSpeeds(wheelSpeeds);
+
+ EXPECT_NEAR(chassisSpeeds.vx.to<double>(), 0, kEpsilon);
+ EXPECT_NEAR(chassisSpeeds.vy.to<double>(), 0, kEpsilon);
+ EXPECT_NEAR(chassisSpeeds.omega.to<double>(), 0, kEpsilon);
+}
+
+TEST(DifferentialDriveKinematics, InverseKinematicsForStraightLine) {
+ const DifferentialDriveKinematics kinematics{0.381_m * 2};
+ const ChassisSpeeds chassisSpeeds{3.0_mps, 0_mps, 0_rad_per_s};
+ const auto wheelSpeeds = kinematics.ToWheelSpeeds(chassisSpeeds);
+
+ EXPECT_NEAR(wheelSpeeds.left.to<double>(), 3, kEpsilon);
+ EXPECT_NEAR(wheelSpeeds.right.to<double>(), 3, kEpsilon);
+}
+
+TEST(DifferentialDriveKinematics, ForwardKinematicsForStraightLine) {
+ const DifferentialDriveKinematics kinematics{0.381_m * 2};
+ const DifferentialDriveWheelSpeeds wheelSpeeds{3.0_mps, 3.0_mps};
+ const auto chassisSpeeds = kinematics.ToChassisSpeeds(wheelSpeeds);
+
+ EXPECT_NEAR(chassisSpeeds.vx.to<double>(), 3, kEpsilon);
+ EXPECT_NEAR(chassisSpeeds.vy.to<double>(), 0, kEpsilon);
+ EXPECT_NEAR(chassisSpeeds.omega.to<double>(), 0, kEpsilon);
+}
+
+TEST(DifferentialDriveKinematics, InverseKinematicsForRotateInPlace) {
+ const DifferentialDriveKinematics kinematics{0.381_m * 2};
+ const ChassisSpeeds chassisSpeeds{0.0_mps, 0.0_mps,
+ units::radians_per_second_t{wpi::math::pi}};
+ const auto wheelSpeeds = kinematics.ToWheelSpeeds(chassisSpeeds);
+
+ EXPECT_NEAR(wheelSpeeds.left.to<double>(), -0.381 * wpi::math::pi, kEpsilon);
+ EXPECT_NEAR(wheelSpeeds.right.to<double>(), +0.381 * wpi::math::pi, kEpsilon);
+}
+
+TEST(DifferentialDriveKinematics, ForwardKinematicsForRotateInPlace) {
+ const DifferentialDriveKinematics kinematics{0.381_m * 2};
+ const DifferentialDriveWheelSpeeds wheelSpeeds{
+ units::meters_per_second_t(+0.381 * wpi::math::pi),
+ units::meters_per_second_t(-0.381 * wpi::math::pi)};
+ const auto chassisSpeeds = kinematics.ToChassisSpeeds(wheelSpeeds);
+
+ EXPECT_NEAR(chassisSpeeds.vx.to<double>(), 0, kEpsilon);
+ EXPECT_NEAR(chassisSpeeds.vy.to<double>(), 0, kEpsilon);
+ EXPECT_NEAR(chassisSpeeds.omega.to<double>(), -wpi::math::pi, kEpsilon);
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/kinematics/DifferentialDriveOdometryTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/kinematics/DifferentialDriveOdometryTest.cpp
new file mode 100644
index 0000000..2647252
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/kinematics/DifferentialDriveOdometryTest.cpp
@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <wpi/math>
+
+#include "frc/kinematics/DifferentialDriveKinematics.h"
+#include "frc/kinematics/DifferentialDriveOdometry.h"
+#include "gtest/gtest.h"
+
+static constexpr double kEpsilon = 1E-9;
+
+using namespace frc;
+
+TEST(DifferentialDriveOdometry, OneIteration) {
+ DifferentialDriveKinematics kinematics{0.381_m * 2};
+ DifferentialDriveOdometry odometry{kinematics};
+
+ odometry.ResetPosition(Pose2d());
+ DifferentialDriveWheelSpeeds wheelSpeeds{0.02_mps, 0.02_mps};
+ odometry.UpdateWithTime(0_s, Rotation2d(), DifferentialDriveWheelSpeeds());
+ const auto& pose = odometry.UpdateWithTime(1_s, Rotation2d(), wheelSpeeds);
+
+ EXPECT_NEAR(pose.Translation().X().to<double>(), 0.02, kEpsilon);
+ EXPECT_NEAR(pose.Translation().Y().to<double>(), 0.0, kEpsilon);
+ EXPECT_NEAR(pose.Rotation().Radians().to<double>(), 0.0, kEpsilon);
+}
+
+TEST(DifferentialDriveOdometry, QuarterCircle) {
+ DifferentialDriveKinematics kinematics{0.381_m * 2};
+ DifferentialDriveOdometry odometry{kinematics};
+
+ odometry.ResetPosition(Pose2d());
+ DifferentialDriveWheelSpeeds wheelSpeeds{
+ 0.0_mps, units::meters_per_second_t(5 * wpi::math::pi)};
+ odometry.UpdateWithTime(0_s, Rotation2d(), DifferentialDriveWheelSpeeds());
+ const auto& pose =
+ odometry.UpdateWithTime(1_s, Rotation2d(90_deg), wheelSpeeds);
+
+ EXPECT_NEAR(pose.Translation().X().to<double>(), 5.0, kEpsilon);
+ EXPECT_NEAR(pose.Translation().Y().to<double>(), 5.0, kEpsilon);
+ EXPECT_NEAR(pose.Rotation().Degrees().to<double>(), 90.0, kEpsilon);
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/kinematics/MecanumDriveKinematicsTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/kinematics/MecanumDriveKinematicsTest.cpp
new file mode 100644
index 0000000..75f395d
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/kinematics/MecanumDriveKinematicsTest.cpp
@@ -0,0 +1,230 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <units/units.h>
+#include <wpi/math>
+
+#include "frc/geometry/Translation2d.h"
+#include "frc/kinematics/MecanumDriveKinematics.h"
+#include "gtest/gtest.h"
+
+using namespace frc;
+
+class MecanumDriveKinematicsTest : public ::testing::Test {
+ protected:
+ Translation2d m_fl{12_m, 12_m};
+ Translation2d m_fr{12_m, -12_m};
+ Translation2d m_bl{-12_m, 12_m};
+ Translation2d m_br{-12_m, -12_m};
+
+ MecanumDriveKinematics kinematics{m_fl, m_fr, m_bl, m_br};
+};
+
+TEST_F(MecanumDriveKinematicsTest, StraightLineInverseKinematics) {
+ ChassisSpeeds speeds{5_mps, 0_mps, 0_rad_per_s};
+ auto moduleStates = kinematics.ToWheelSpeeds(speeds);
+
+ /*
+ By equation (13.12) of the state-space-guide, the wheel speeds should
+ be as follows:
+ velocities: fl 3.535534 fr 3.535534 rl 3.535534 rr 3.535534
+ */
+
+ EXPECT_NEAR(3.536, moduleStates.frontLeft.to<double>(), 0.1);
+ EXPECT_NEAR(3.536, moduleStates.frontRight.to<double>(), 0.1);
+ EXPECT_NEAR(3.536, moduleStates.rearLeft.to<double>(), 0.1);
+ EXPECT_NEAR(3.536, moduleStates.rearRight.to<double>(), 0.1);
+}
+
+TEST_F(MecanumDriveKinematicsTest, StraightLineForwardKinematics) {
+ MecanumDriveWheelSpeeds wheelSpeeds{3.536_mps, 3.536_mps, 3.536_mps,
+ 3.536_mps};
+ auto chassisSpeeds = kinematics.ToChassisSpeeds(wheelSpeeds);
+
+ /*
+ By equation (13.13) of the state-space-guide, the chassis motion from wheel
+ velocities: fl 3.535534 fr 3.535534 rl 3.535534 rr 3.535534 will be
+ [[5][0][0]]
+ */
+
+ EXPECT_NEAR(5.0, chassisSpeeds.vx.to<double>(), 0.1);
+ EXPECT_NEAR(0.0, chassisSpeeds.vy.to<double>(), 0.1);
+ EXPECT_NEAR(0.0, chassisSpeeds.omega.to<double>(), 0.1);
+}
+
+TEST_F(MecanumDriveKinematicsTest, StrafeInverseKinematics) {
+ ChassisSpeeds speeds{0_mps, 4_mps, 0_rad_per_s};
+ auto moduleStates = kinematics.ToWheelSpeeds(speeds);
+
+ /*
+ By equation (13.12) of the state-space-guide, the wheel speeds should
+ be as follows:
+ velocities: fl -2.828427 fr 2.828427 rl 2.828427 rr -2.828427
+ */
+
+ EXPECT_NEAR(-2.828427, moduleStates.frontLeft.to<double>(), 0.1);
+ EXPECT_NEAR(2.828427, moduleStates.frontRight.to<double>(), 0.1);
+ EXPECT_NEAR(2.828427, moduleStates.rearLeft.to<double>(), 0.1);
+ EXPECT_NEAR(-2.828427, moduleStates.rearRight.to<double>(), 0.1);
+}
+
+TEST_F(MecanumDriveKinematicsTest, StrafeForwardKinematics) {
+ MecanumDriveWheelSpeeds wheelSpeeds{-2.828427_mps, 2.828427_mps, 2.828427_mps,
+ -2.828427_mps};
+ auto chassisSpeeds = kinematics.ToChassisSpeeds(wheelSpeeds);
+
+ /*
+ By equation (13.13) of the state-space-guide, the chassis motion from wheel
+ velocities: fl 3.535534 fr 3.535534 rl 3.535534 rr 3.535534 will be
+ [[5][0][0]]
+ */
+
+ EXPECT_NEAR(0.0, chassisSpeeds.vx.to<double>(), 0.1);
+ EXPECT_NEAR(4.0, chassisSpeeds.vy.to<double>(), 0.1);
+ EXPECT_NEAR(0.0, chassisSpeeds.omega.to<double>(), 0.1);
+}
+
+TEST_F(MecanumDriveKinematicsTest, RotationInverseKinematics) {
+ ChassisSpeeds speeds{0_mps, 0_mps,
+ units::radians_per_second_t(2 * wpi::math::pi)};
+ auto moduleStates = kinematics.ToWheelSpeeds(speeds);
+
+ /*
+ By equation (13.12) of the state-space-guide, the wheel speeds should
+ be as follows:
+ velocities: fl -106.629191 fr 106.629191 rl -106.629191 rr 106.629191
+ */
+
+ EXPECT_NEAR(-106.62919, moduleStates.frontLeft.to<double>(), 0.1);
+ EXPECT_NEAR(106.62919, moduleStates.frontRight.to<double>(), 0.1);
+ EXPECT_NEAR(-106.62919, moduleStates.rearLeft.to<double>(), 0.1);
+ EXPECT_NEAR(106.62919, moduleStates.rearRight.to<double>(), 0.1);
+}
+
+TEST_F(MecanumDriveKinematicsTest, RotationForwardKinematics) {
+ MecanumDriveWheelSpeeds wheelSpeeds{-106.62919_mps, 106.62919_mps,
+ -106.62919_mps, 106.62919_mps};
+ auto chassisSpeeds = kinematics.ToChassisSpeeds(wheelSpeeds);
+
+ /*
+ By equation (13.13) of the state-space-guide, the chassis motion from wheel
+ velocities: fl -106.629191 fr 106.629191 rl -106.629191 rr 106.629191 should
+ be [[0][0][2pi]]
+ */
+
+ EXPECT_NEAR(0.0, chassisSpeeds.vx.to<double>(), 0.1);
+ EXPECT_NEAR(0.0, chassisSpeeds.vy.to<double>(), 0.1);
+ EXPECT_NEAR(2 * wpi::math::pi, chassisSpeeds.omega.to<double>(), 0.1);
+}
+
+TEST_F(MecanumDriveKinematicsTest, MixedRotationTranslationInverseKinematics) {
+ ChassisSpeeds speeds{2_mps, 3_mps, 1_rad_per_s};
+ auto moduleStates = kinematics.ToWheelSpeeds(speeds);
+
+ /*
+ By equation (13.12) of the state-space-guide, the wheel speeds should
+ be as follows:
+ velocities: fl -17.677670 fr 20.506097 rl -13.435029 rr 16.263456
+ */
+
+ EXPECT_NEAR(-17.677670, moduleStates.frontLeft.to<double>(), 0.1);
+ EXPECT_NEAR(20.506097, moduleStates.frontRight.to<double>(), 0.1);
+ EXPECT_NEAR(-13.435, moduleStates.rearLeft.to<double>(), 0.1);
+ EXPECT_NEAR(16.26, moduleStates.rearRight.to<double>(), 0.1);
+}
+
+TEST_F(MecanumDriveKinematicsTest, MixedRotationTranslationForwardKinematics) {
+ MecanumDriveWheelSpeeds wheelSpeeds{-17.677670_mps, 20.506097_mps,
+ -13.435_mps, 16.26_mps};
+
+ auto chassisSpeeds = kinematics.ToChassisSpeeds(wheelSpeeds);
+
+ /*
+ By equation (13.13) of the state-space-guide, the chassis motion from wheel
+ velocities: fl -17.677670 fr 20.506097 rl -13.435029 rr 16.263456 should be
+ [[2][3][1]]
+ */
+
+ EXPECT_NEAR(2.0, chassisSpeeds.vx.to<double>(), 0.1);
+ EXPECT_NEAR(3.0, chassisSpeeds.vy.to<double>(), 0.1);
+ EXPECT_NEAR(1.0, chassisSpeeds.omega.to<double>(), 0.1);
+}
+
+TEST_F(MecanumDriveKinematicsTest, OffCenterRotationInverseKinematics) {
+ ChassisSpeeds speeds{0_mps, 0_mps, 1_rad_per_s};
+ auto moduleStates = kinematics.ToWheelSpeeds(speeds, m_fl);
+
+ /*
+ By equation (13.12) of the state-space-guide, the wheel speeds should
+ be as follows:
+ velocities: fl 0.000000 fr 16.970563 rl -16.970563 rr 33.941125
+ */
+
+ EXPECT_NEAR(0, moduleStates.frontLeft.to<double>(), 0.1);
+ EXPECT_NEAR(16.971, moduleStates.frontRight.to<double>(), 0.1);
+ EXPECT_NEAR(-16.971, moduleStates.rearLeft.to<double>(), 0.1);
+ EXPECT_NEAR(33.941, moduleStates.rearRight.to<double>(), 0.1);
+}
+
+TEST_F(MecanumDriveKinematicsTest, OffCenterRotationForwardKinematics) {
+ MecanumDriveWheelSpeeds wheelSpeeds{0_mps, 16.971_mps, -16.971_mps,
+ 33.941_mps};
+ auto chassisSpeeds = kinematics.ToChassisSpeeds(wheelSpeeds);
+
+ /*
+ By equation (13.13) of the state-space-guide, the chassis motion from the
+ wheel velocities should be [[12][-12][1]]
+ */
+
+ EXPECT_NEAR(12.0, chassisSpeeds.vx.to<double>(), 0.1);
+ EXPECT_NEAR(-12, chassisSpeeds.vy.to<double>(), 0.1);
+ EXPECT_NEAR(1.0, chassisSpeeds.omega.to<double>(), 0.1);
+}
+
+TEST_F(MecanumDriveKinematicsTest,
+ OffCenterTranslationRotationInverseKinematics) {
+ ChassisSpeeds speeds{5_mps, 2_mps, 1_rad_per_s};
+ auto moduleStates = kinematics.ToWheelSpeeds(speeds, m_fl);
+
+ /*
+ By equation (13.12) of the state-space-guide, the wheel speeds should
+ be as follows:
+ velocities: fl 2.121320 fr 21.920310 rl -12.020815 rr 36.062446
+ */
+ EXPECT_NEAR(2.12, moduleStates.frontLeft.to<double>(), 0.1);
+ EXPECT_NEAR(21.92, moduleStates.frontRight.to<double>(), 0.1);
+ EXPECT_NEAR(-12.02, moduleStates.rearLeft.to<double>(), 0.1);
+ EXPECT_NEAR(36.06, moduleStates.rearRight.to<double>(), 0.1);
+}
+
+TEST_F(MecanumDriveKinematicsTest,
+ OffCenterTranslationRotationForwardKinematics) {
+ MecanumDriveWheelSpeeds wheelSpeeds{2.12_mps, 21.92_mps, -12.02_mps,
+ 36.06_mps};
+ auto chassisSpeeds = kinematics.ToChassisSpeeds(wheelSpeeds);
+
+ /*
+ By equation (13.13) of the state-space-guide, the chassis motion from the
+ wheel velocities should be [[17][-10][1]]
+ */
+
+ EXPECT_NEAR(17.0, chassisSpeeds.vx.to<double>(), 0.1);
+ EXPECT_NEAR(-10, chassisSpeeds.vy.to<double>(), 0.1);
+ EXPECT_NEAR(1.0, chassisSpeeds.omega.to<double>(), 0.1);
+}
+
+TEST_F(MecanumDriveKinematicsTest, NormalizeTest) {
+ MecanumDriveWheelSpeeds wheelSpeeds{5_mps, 6_mps, 4_mps, 7_mps};
+ wheelSpeeds.Normalize(5.5_mps);
+
+ double kFactor = 5.5 / 7.0;
+
+ EXPECT_NEAR(wheelSpeeds.frontLeft.to<double>(), 5.0 * kFactor, 1E-9);
+ EXPECT_NEAR(wheelSpeeds.frontRight.to<double>(), 6.0 * kFactor, 1E-9);
+ EXPECT_NEAR(wheelSpeeds.rearLeft.to<double>(), 4.0 * kFactor, 1E-9);
+ EXPECT_NEAR(wheelSpeeds.rearRight.to<double>(), 7.0 * kFactor, 1E-9);
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/kinematics/MecanumDriveOdometryTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/kinematics/MecanumDriveOdometryTest.cpp
new file mode 100644
index 0000000..0a6894d
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/kinematics/MecanumDriveOdometryTest.cpp
@@ -0,0 +1,59 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/kinematics/MecanumDriveOdometry.h"
+#include "gtest/gtest.h"
+
+using namespace frc;
+
+class MecanumDriveOdometryTest : public ::testing::Test {
+ protected:
+ Translation2d m_fl{12_m, 12_m};
+ Translation2d m_fr{12_m, -12_m};
+ Translation2d m_bl{-12_m, 12_m};
+ Translation2d m_br{-12_m, -12_m};
+
+ MecanumDriveKinematics kinematics{m_fl, m_fr, m_bl, m_br};
+ MecanumDriveOdometry odometry{kinematics};
+};
+
+TEST_F(MecanumDriveOdometryTest, MultipleConsecutiveUpdates) {
+ odometry.ResetPosition(Pose2d());
+ MecanumDriveWheelSpeeds wheelSpeeds{3.536_mps, 3.536_mps, 3.536_mps,
+ 3.536_mps};
+
+ odometry.UpdateWithTime(0_s, Rotation2d(), wheelSpeeds);
+ auto secondPose = odometry.UpdateWithTime(0.0_s, Rotation2d(), wheelSpeeds);
+
+ EXPECT_NEAR(secondPose.Translation().X().to<double>(), 0.0, 0.01);
+ EXPECT_NEAR(secondPose.Translation().Y().to<double>(), 0.0, 0.01);
+ EXPECT_NEAR(secondPose.Rotation().Radians().to<double>(), 0.0, 0.01);
+}
+
+TEST_F(MecanumDriveOdometryTest, TwoIterations) {
+ odometry.ResetPosition(Pose2d());
+ MecanumDriveWheelSpeeds speeds{3.536_mps, 3.536_mps, 3.536_mps, 3.536_mps};
+
+ odometry.UpdateWithTime(0_s, Rotation2d(), MecanumDriveWheelSpeeds{});
+ auto pose = odometry.UpdateWithTime(0.10_s, Rotation2d(), speeds);
+
+ EXPECT_NEAR(pose.Translation().X().to<double>(), 0.5, 0.01);
+ EXPECT_NEAR(pose.Translation().Y().to<double>(), 0.0, 0.01);
+ EXPECT_NEAR(pose.Rotation().Radians().to<double>(), 0.0, 0.01);
+}
+
+TEST_F(MecanumDriveOdometryTest, Test90DegreeTurn) {
+ odometry.ResetPosition(Pose2d());
+ MecanumDriveWheelSpeeds speeds{-13.328_mps, 39.986_mps, -13.329_mps,
+ 39.986_mps};
+ odometry.UpdateWithTime(0_s, Rotation2d(), MecanumDriveWheelSpeeds{});
+ auto pose = odometry.UpdateWithTime(1_s, Rotation2d(90_deg), speeds);
+
+ EXPECT_NEAR(pose.Translation().X().to<double>(), 12, 0.01);
+ EXPECT_NEAR(pose.Translation().Y().to<double>(), 12, 0.01);
+ EXPECT_NEAR(pose.Rotation().Degrees().to<double>(), 90.0, 0.01);
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/kinematics/SwerveDriveKinematicsTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/kinematics/SwerveDriveKinematicsTest.cpp
new file mode 100644
index 0000000..8fd67ea
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/kinematics/SwerveDriveKinematicsTest.cpp
@@ -0,0 +1,183 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <units/units.h>
+#include <wpi/math>
+
+#include "frc/geometry/Translation2d.h"
+#include "frc/kinematics/SwerveDriveKinematics.h"
+#include "gtest/gtest.h"
+
+using namespace frc;
+
+static constexpr double kEpsilon = 0.1;
+
+class SwerveDriveKinematicsTest : public ::testing::Test {
+ protected:
+ Translation2d m_fl{12_m, 12_m};
+ Translation2d m_fr{12_m, -12_m};
+ Translation2d m_bl{-12_m, 12_m};
+ Translation2d m_br{-12_m, -12_m};
+
+ SwerveDriveKinematics<4> m_kinematics{m_fl, m_fr, m_bl, m_br};
+};
+
+TEST_F(SwerveDriveKinematicsTest, StraightLineInverseKinematics) {
+ ChassisSpeeds speeds{5.0_mps, 0.0_mps, 0.0_rad_per_s};
+
+ auto [fl, fr, bl, br] = m_kinematics.ToSwerveModuleStates(speeds);
+
+ EXPECT_NEAR(fl.speed.to<double>(), 5.0, kEpsilon);
+ EXPECT_NEAR(fr.speed.to<double>(), 5.0, kEpsilon);
+ EXPECT_NEAR(bl.speed.to<double>(), 5.0, kEpsilon);
+ EXPECT_NEAR(br.speed.to<double>(), 5.0, kEpsilon);
+
+ EXPECT_NEAR(fl.angle.Radians().to<double>(), 0.0, kEpsilon);
+ EXPECT_NEAR(fr.angle.Radians().to<double>(), 0.0, kEpsilon);
+ EXPECT_NEAR(bl.angle.Radians().to<double>(), 0.0, kEpsilon);
+ EXPECT_NEAR(br.angle.Radians().to<double>(), 0.0, kEpsilon);
+}
+
+TEST_F(SwerveDriveKinematicsTest, StraightLineForwardKinematics) {
+ SwerveModuleState state{5.0_mps, Rotation2d()};
+
+ auto chassisSpeeds = m_kinematics.ToChassisSpeeds(state, state, state, state);
+
+ EXPECT_NEAR(chassisSpeeds.vx.to<double>(), 5.0, kEpsilon);
+ EXPECT_NEAR(chassisSpeeds.vy.to<double>(), 0.0, kEpsilon);
+ EXPECT_NEAR(chassisSpeeds.omega.to<double>(), 0.0, kEpsilon);
+}
+
+TEST_F(SwerveDriveKinematicsTest, StraightStrafeInverseKinematics) {
+ ChassisSpeeds speeds{0_mps, 5_mps, 0_rad_per_s};
+ auto [fl, fr, bl, br] = m_kinematics.ToSwerveModuleStates(speeds);
+
+ EXPECT_NEAR(fl.speed.to<double>(), 5.0, kEpsilon);
+ EXPECT_NEAR(fr.speed.to<double>(), 5.0, kEpsilon);
+ EXPECT_NEAR(bl.speed.to<double>(), 5.0, kEpsilon);
+ EXPECT_NEAR(br.speed.to<double>(), 5.0, kEpsilon);
+
+ EXPECT_NEAR(fl.angle.Degrees().to<double>(), 90.0, kEpsilon);
+ EXPECT_NEAR(fr.angle.Degrees().to<double>(), 90.0, kEpsilon);
+ EXPECT_NEAR(bl.angle.Degrees().to<double>(), 90.0, kEpsilon);
+ EXPECT_NEAR(br.angle.Degrees().to<double>(), 90.0, kEpsilon);
+}
+
+TEST_F(SwerveDriveKinematicsTest, StraightStrafeForwardKinematics) {
+ SwerveModuleState state{5_mps, Rotation2d(90_deg)};
+ auto chassisSpeeds = m_kinematics.ToChassisSpeeds(state, state, state, state);
+
+ EXPECT_NEAR(chassisSpeeds.vx.to<double>(), 0.0, kEpsilon);
+ EXPECT_NEAR(chassisSpeeds.vy.to<double>(), 5.0, kEpsilon);
+ EXPECT_NEAR(chassisSpeeds.omega.to<double>(), 0.0, kEpsilon);
+}
+
+TEST_F(SwerveDriveKinematicsTest, TurnInPlaceInverseKinematics) {
+ ChassisSpeeds speeds{0_mps, 0_mps,
+ units::radians_per_second_t(2 * wpi::math::pi)};
+ auto [fl, fr, bl, br] = m_kinematics.ToSwerveModuleStates(speeds);
+
+ EXPECT_NEAR(fl.speed.to<double>(), 106.63, kEpsilon);
+ EXPECT_NEAR(fr.speed.to<double>(), 106.63, kEpsilon);
+ EXPECT_NEAR(bl.speed.to<double>(), 106.63, kEpsilon);
+ EXPECT_NEAR(br.speed.to<double>(), 106.63, kEpsilon);
+
+ EXPECT_NEAR(fl.angle.Degrees().to<double>(), 135.0, kEpsilon);
+ EXPECT_NEAR(fr.angle.Degrees().to<double>(), 45.0, kEpsilon);
+ EXPECT_NEAR(bl.angle.Degrees().to<double>(), -135.0, kEpsilon);
+ EXPECT_NEAR(br.angle.Degrees().to<double>(), -45.0, kEpsilon);
+}
+
+TEST_F(SwerveDriveKinematicsTest, TurnInPlaceForwardKinematics) {
+ SwerveModuleState fl{106.629_mps, Rotation2d(135_deg)};
+ SwerveModuleState fr{106.629_mps, Rotation2d(45_deg)};
+ SwerveModuleState bl{106.629_mps, Rotation2d(-135_deg)};
+ SwerveModuleState br{106.629_mps, Rotation2d(-45_deg)};
+
+ auto chassisSpeeds = m_kinematics.ToChassisSpeeds(fl, fr, bl, br);
+
+ EXPECT_NEAR(chassisSpeeds.vx.to<double>(), 0.0, kEpsilon);
+ EXPECT_NEAR(chassisSpeeds.vy.to<double>(), 0.0, kEpsilon);
+ EXPECT_NEAR(chassisSpeeds.omega.to<double>(), 2 * wpi::math::pi, kEpsilon);
+}
+
+TEST_F(SwerveDriveKinematicsTest, OffCenterCORRotationInverseKinematics) {
+ ChassisSpeeds speeds{0_mps, 0_mps,
+ units::radians_per_second_t(2 * wpi::math::pi)};
+ auto [fl, fr, bl, br] = m_kinematics.ToSwerveModuleStates(speeds, m_fl);
+
+ EXPECT_NEAR(fl.speed.to<double>(), 0.0, kEpsilon);
+ EXPECT_NEAR(fr.speed.to<double>(), 150.796, kEpsilon);
+ EXPECT_NEAR(bl.speed.to<double>(), 150.796, kEpsilon);
+ EXPECT_NEAR(br.speed.to<double>(), 213.258, kEpsilon);
+
+ EXPECT_NEAR(fl.angle.Degrees().to<double>(), 0.0, kEpsilon);
+ EXPECT_NEAR(fr.angle.Degrees().to<double>(), 0.0, kEpsilon);
+ EXPECT_NEAR(bl.angle.Degrees().to<double>(), -90.0, kEpsilon);
+ EXPECT_NEAR(br.angle.Degrees().to<double>(), -45.0, kEpsilon);
+}
+
+TEST_F(SwerveDriveKinematicsTest, OffCenterCORRotationForwardKinematics) {
+ SwerveModuleState fl{0.0_mps, Rotation2d(0_deg)};
+ SwerveModuleState fr{150.796_mps, Rotation2d(0_deg)};
+ SwerveModuleState bl{150.796_mps, Rotation2d(-90_deg)};
+ SwerveModuleState br{213.258_mps, Rotation2d(-45_deg)};
+
+ auto chassisSpeeds = m_kinematics.ToChassisSpeeds(fl, fr, bl, br);
+
+ EXPECT_NEAR(chassisSpeeds.vx.to<double>(), 75.398, kEpsilon);
+ EXPECT_NEAR(chassisSpeeds.vy.to<double>(), -75.398, kEpsilon);
+ EXPECT_NEAR(chassisSpeeds.omega.to<double>(), 2 * wpi::math::pi, kEpsilon);
+}
+
+TEST_F(SwerveDriveKinematicsTest,
+ OffCenterCORRotationAndTranslationInverseKinematics) {
+ ChassisSpeeds speeds{0_mps, 3.0_mps, 1.5_rad_per_s};
+ auto [fl, fr, bl, br] =
+ m_kinematics.ToSwerveModuleStates(speeds, Translation2d(24_m, 0_m));
+
+ EXPECT_NEAR(fl.speed.to<double>(), 23.43, kEpsilon);
+ EXPECT_NEAR(fr.speed.to<double>(), 23.43, kEpsilon);
+ EXPECT_NEAR(bl.speed.to<double>(), 54.08, kEpsilon);
+ EXPECT_NEAR(br.speed.to<double>(), 54.08, kEpsilon);
+
+ EXPECT_NEAR(fl.angle.Degrees().to<double>(), -140.19, kEpsilon);
+ EXPECT_NEAR(fr.angle.Degrees().to<double>(), -39.81, kEpsilon);
+ EXPECT_NEAR(bl.angle.Degrees().to<double>(), -109.44, kEpsilon);
+ EXPECT_NEAR(br.angle.Degrees().to<double>(), -70.56, kEpsilon);
+}
+
+TEST_F(SwerveDriveKinematicsTest,
+ OffCenterCORRotationAndTranslationForwardKinematics) {
+ SwerveModuleState fl{23.43_mps, Rotation2d(-140.19_deg)};
+ SwerveModuleState fr{23.43_mps, Rotation2d(-39.81_deg)};
+ SwerveModuleState bl{54.08_mps, Rotation2d(-109.44_deg)};
+ SwerveModuleState br{54.08_mps, Rotation2d(-70.56_deg)};
+
+ auto chassisSpeeds = m_kinematics.ToChassisSpeeds(fl, fr, bl, br);
+
+ EXPECT_NEAR(chassisSpeeds.vx.to<double>(), 0.0, kEpsilon);
+ EXPECT_NEAR(chassisSpeeds.vy.to<double>(), -33.0, kEpsilon);
+ EXPECT_NEAR(chassisSpeeds.omega.to<double>(), 1.5, kEpsilon);
+}
+
+TEST_F(SwerveDriveKinematicsTest, NormalizeTest) {
+ SwerveModuleState state1{5.0_mps, Rotation2d()};
+ SwerveModuleState state2{6.0_mps, Rotation2d()};
+ SwerveModuleState state3{4.0_mps, Rotation2d()};
+ SwerveModuleState state4{7.0_mps, Rotation2d()};
+
+ std::array<SwerveModuleState, 4> arr{state1, state2, state3, state4};
+ SwerveDriveKinematics<4>::NormalizeWheelSpeeds(&arr, 5.5_mps);
+
+ double kFactor = 5.5 / 7.0;
+
+ EXPECT_NEAR(arr[0].speed.to<double>(), 5.0 * kFactor, kEpsilon);
+ EXPECT_NEAR(arr[1].speed.to<double>(), 6.0 * kFactor, kEpsilon);
+ EXPECT_NEAR(arr[2].speed.to<double>(), 4.0 * kFactor, kEpsilon);
+ EXPECT_NEAR(arr[3].speed.to<double>(), 7.0 * kFactor, kEpsilon);
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/kinematics/SwerveDriveOdometryTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/kinematics/SwerveDriveOdometryTest.cpp
new file mode 100644
index 0000000..ab81017
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/kinematics/SwerveDriveOdometryTest.cpp
@@ -0,0 +1,58 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/kinematics/SwerveDriveKinematics.h"
+#include "frc/kinematics/SwerveDriveOdometry.h"
+#include "gtest/gtest.h"
+
+using namespace frc;
+
+static constexpr double kEpsilon = 0.01;
+
+class SwerveDriveOdometryTest : public ::testing::Test {
+ protected:
+ Translation2d m_fl{12_m, 12_m};
+ Translation2d m_fr{12_m, -12_m};
+ Translation2d m_bl{-12_m, 12_m};
+ Translation2d m_br{-12_m, -12_m};
+
+ SwerveDriveKinematics<4> m_kinematics{m_fl, m_fr, m_bl, m_br};
+ SwerveDriveOdometry<4> m_odometry{m_kinematics};
+};
+
+TEST_F(SwerveDriveOdometryTest, TwoIterations) {
+ SwerveModuleState state{5_mps, Rotation2d()};
+
+ m_odometry.ResetPosition(Pose2d());
+ m_odometry.UpdateWithTime(0_s, Rotation2d(), SwerveModuleState(),
+ SwerveModuleState(), SwerveModuleState(),
+ SwerveModuleState());
+ auto pose = m_odometry.UpdateWithTime(0.1_s, Rotation2d(), state, state,
+ state, state);
+
+ EXPECT_NEAR(0.5, pose.Translation().X().to<double>(), kEpsilon);
+ EXPECT_NEAR(0.0, pose.Translation().Y().to<double>(), kEpsilon);
+ EXPECT_NEAR(0.0, pose.Rotation().Degrees().to<double>(), kEpsilon);
+}
+
+TEST_F(SwerveDriveOdometryTest, 90DegreeTurn) {
+ SwerveModuleState fl{18.85_mps, Rotation2d(90_deg)};
+ SwerveModuleState fr{42.15_mps, Rotation2d(26.565_deg)};
+ SwerveModuleState bl{18.85_mps, Rotation2d(-90_deg)};
+ SwerveModuleState br{42.15_mps, Rotation2d(-26.565_deg)};
+
+ SwerveModuleState zero{0_mps, Rotation2d()};
+
+ m_odometry.ResetPosition(Pose2d());
+ m_odometry.UpdateWithTime(0_s, Rotation2d(), zero, zero, zero, zero);
+ auto pose =
+ m_odometry.UpdateWithTime(1_s, Rotation2d(90_deg), fl, fr, bl, br);
+
+ EXPECT_NEAR(12.0, pose.Translation().X().to<double>(), kEpsilon);
+ EXPECT_NEAR(12.0, pose.Translation().Y().to<double>(), kEpsilon);
+ EXPECT_NEAR(90.0, pose.Rotation().Degrees().to<double>(), kEpsilon);
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/shuffleboard/MockActuatorSendable.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/shuffleboard/MockActuatorSendable.cpp
index 3c9e411..172d7c6 100644
--- a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/shuffleboard/MockActuatorSendable.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/shuffleboard/MockActuatorSendable.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,11 +7,12 @@
#include "shuffleboard/MockActuatorSendable.h"
+#include "frc/smartdashboard/SendableRegistry.h"
+
using namespace frc;
-MockActuatorSendable::MockActuatorSendable(wpi::StringRef name)
- : SendableBase(false) {
- SetName(name);
+MockActuatorSendable::MockActuatorSendable(wpi::StringRef name) {
+ SendableRegistry::GetInstance().Add(this, name);
}
void MockActuatorSendable::InitSendable(SendableBuilder& builder) {
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/shuffleboard/ShuffleboardWidgetTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/shuffleboard/ShuffleboardWidgetTest.cpp
index 3dd9dbf..0b06d7f 100644
--- a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/shuffleboard/ShuffleboardWidgetTest.cpp
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/shuffleboard/ShuffleboardWidgetTest.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/shuffleboard/SuppliedValueWidgetTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/shuffleboard/SuppliedValueWidgetTest.cpp
new file mode 100644
index 0000000..8e39915
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/shuffleboard/SuppliedValueWidgetTest.cpp
@@ -0,0 +1,107 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <networktables/NetworkTableEntry.h>
+#include <networktables/NetworkTableInstance.h>
+
+#include "frc/shuffleboard/ShuffleboardInstance.h"
+#include "frc/shuffleboard/ShuffleboardTab.h"
+#include "gtest/gtest.h"
+
+using namespace frc;
+
+class SuppliedValueWidgetTest : public testing::Test {
+ void SetUp() override {
+ m_ntInstance = nt::NetworkTableInstance::Create();
+ m_instance = std::make_unique<detail::ShuffleboardInstance>(m_ntInstance);
+ m_tab = &(m_instance->GetTab("Tab"));
+ }
+
+ protected:
+ nt::NetworkTableInstance m_ntInstance;
+ ShuffleboardTab* m_tab;
+ std::unique_ptr<detail::ShuffleboardInstance> m_instance;
+};
+
+TEST_F(SuppliedValueWidgetTest, AddString) {
+ std::string str = "foo";
+ m_tab->AddString("String", [&str]() { return str; });
+ auto entry = m_ntInstance.GetEntry("/Shuffleboard/Tab/String");
+
+ m_instance->Update();
+ EXPECT_EQ("foo", entry.GetValue()->GetString());
+}
+
+TEST_F(SuppliedValueWidgetTest, AddNumber) {
+ int num = 0;
+ m_tab->AddNumber("Num", [&num]() { return ++num; });
+ auto entry = m_ntInstance.GetEntry("/Shuffleboard/Tab/Num");
+
+ m_instance->Update();
+ EXPECT_FLOAT_EQ(1.0, entry.GetValue()->GetDouble());
+}
+
+TEST_F(SuppliedValueWidgetTest, AddBoolean) {
+ bool value = true;
+ m_tab->AddBoolean("Bool", [&value]() { return value; });
+ auto entry = m_ntInstance.GetEntry("/Shuffleboard/Tab/Bool");
+
+ m_instance->Update();
+ EXPECT_EQ(true, entry.GetValue()->GetBoolean());
+}
+
+TEST_F(SuppliedValueWidgetTest, AddStringArray) {
+ std::vector<std::string> strings = {"foo", "bar"};
+ m_tab->AddStringArray("Strings", [&strings]() { return strings; });
+ auto entry = m_ntInstance.GetEntry("/Shuffleboard/Tab/Strings");
+
+ m_instance->Update();
+ auto actual = entry.GetValue()->GetStringArray();
+
+ EXPECT_EQ(strings.size(), actual.size());
+ for (size_t i = 0; i < strings.size(); i++) {
+ EXPECT_EQ(strings[i], actual[i]);
+ }
+}
+
+TEST_F(SuppliedValueWidgetTest, AddNumberArray) {
+ std::vector<double> nums = {0, 1, 2, 3};
+ m_tab->AddNumberArray("Numbers", [&nums]() { return nums; });
+ auto entry = m_ntInstance.GetEntry("/Shuffleboard/Tab/Numbers");
+
+ m_instance->Update();
+ auto actual = entry.GetValue()->GetDoubleArray();
+
+ EXPECT_EQ(nums.size(), actual.size());
+ for (size_t i = 0; i < nums.size(); i++) {
+ EXPECT_FLOAT_EQ(nums[i], actual[i]);
+ }
+}
+
+TEST_F(SuppliedValueWidgetTest, AddBooleanArray) {
+ std::vector<int> bools = {true, false};
+ m_tab->AddBooleanArray("Booleans", [&bools]() { return bools; });
+ auto entry = m_ntInstance.GetEntry("/Shuffleboard/Tab/Booleans");
+
+ m_instance->Update();
+ auto actual = entry.GetValue()->GetBooleanArray();
+
+ EXPECT_EQ(bools.size(), actual.size());
+ for (size_t i = 0; i < bools.size(); i++) {
+ EXPECT_FLOAT_EQ(bools[i], actual[i]);
+ }
+}
+
+TEST_F(SuppliedValueWidgetTest, AddRaw) {
+ wpi::StringRef bytes = "\1\2\3";
+ m_tab->AddRaw("Raw", [&bytes]() { return bytes; });
+ auto entry = m_ntInstance.GetEntry("/Shuffleboard/Tab/Raw");
+
+ m_instance->Update();
+ auto actual = entry.GetValue()->GetRaw();
+ EXPECT_EQ(bytes, actual);
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/spline/CubicHermiteSplineTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/spline/CubicHermiteSplineTest.cpp
new file mode 100644
index 0000000..8254dd4
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/spline/CubicHermiteSplineTest.cpp
@@ -0,0 +1,99 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <chrono>
+#include <iostream>
+#include <vector>
+
+#include <units/units.h>
+
+#include "frc/geometry/Pose2d.h"
+#include "frc/geometry/Rotation2d.h"
+#include "frc/spline/QuinticHermiteSpline.h"
+#include "frc/spline/SplineHelper.h"
+#include "frc/spline/SplineParameterizer.h"
+#include "gtest/gtest.h"
+
+using namespace frc;
+
+namespace frc {
+class CubicHermiteSplineTest : public ::testing::Test {
+ protected:
+ static void Run(const Pose2d& a, const std::vector<Translation2d>& waypoints,
+ const Pose2d& b) {
+ // Start the timer.
+ const auto start = std::chrono::high_resolution_clock::now();
+
+ // Generate and parameterize the spline.
+
+ const auto [startCV, endCV] =
+ SplineHelper::CubicControlVectorsFromWaypoints(a, waypoints, b);
+
+ const auto splines =
+ SplineHelper::CubicSplinesFromControlVectors(startCV, waypoints, endCV);
+ std::vector<Spline<3>::PoseWithCurvature> poses;
+
+ poses.push_back(splines[0].GetPoint(0.0));
+
+ for (auto&& spline : splines) {
+ auto x = SplineParameterizer::Parameterize(spline);
+ poses.insert(std::end(poses), std::begin(x) + 1, std::end(x));
+ }
+
+ // End timer.
+ const auto finish = std::chrono::high_resolution_clock::now();
+
+ // Calculate the duration (used when benchmarking)
+ const auto duration =
+ std::chrono::duration_cast<std::chrono::microseconds>(finish - start);
+
+ for (unsigned int i = 0; i < poses.size() - 1; i++) {
+ auto& p0 = poses[i];
+ auto& p1 = poses[i + 1];
+
+ // Make sure the twist is under the tolerance defined by the Spline class.
+ auto twist = p0.first.Log(p1.first);
+ EXPECT_LT(std::abs(twist.dx.to<double>()),
+ SplineParameterizer::kMaxDx.to<double>());
+ EXPECT_LT(std::abs(twist.dy.to<double>()),
+ SplineParameterizer::kMaxDy.to<double>());
+ EXPECT_LT(std::abs(twist.dtheta.to<double>()),
+ SplineParameterizer::kMaxDtheta.to<double>());
+ }
+
+ // Check first point.
+ EXPECT_NEAR(poses.front().first.Translation().X().to<double>(),
+ a.Translation().X().to<double>(), 1E-9);
+ EXPECT_NEAR(poses.front().first.Translation().Y().to<double>(),
+ a.Translation().Y().to<double>(), 1E-9);
+ EXPECT_NEAR(poses.front().first.Rotation().Radians().to<double>(),
+ a.Rotation().Radians().to<double>(), 1E-9);
+
+ // Check last point.
+ EXPECT_NEAR(poses.back().first.Translation().X().to<double>(),
+ b.Translation().X().to<double>(), 1E-9);
+ EXPECT_NEAR(poses.back().first.Translation().Y().to<double>(),
+ b.Translation().Y().to<double>(), 1E-9);
+ EXPECT_NEAR(poses.back().first.Rotation().Radians().to<double>(),
+ b.Rotation().Radians().to<double>(), 1E-9);
+
+ static_cast<void>(duration);
+ }
+};
+} // namespace frc
+
+TEST_F(CubicHermiteSplineTest, StraightLine) {
+ Run(Pose2d(), std::vector<Translation2d>(), Pose2d(3_m, 0_m, Rotation2d()));
+}
+
+TEST_F(CubicHermiteSplineTest, SCurve) {
+ Pose2d start{0_m, 0_m, Rotation2d(90_deg)};
+ std::vector<Translation2d> waypoints{Translation2d(1_m, 1_m),
+ Translation2d(2_m, -1_m)};
+ Pose2d end{3_m, 0_m, Rotation2d{90_deg}};
+ Run(start, waypoints, end);
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/spline/QuinticHermiteSplineTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/spline/QuinticHermiteSplineTest.cpp
new file mode 100644
index 0000000..cc10c6c
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/spline/QuinticHermiteSplineTest.cpp
@@ -0,0 +1,87 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <chrono>
+#include <iostream>
+
+#include <units/units.h>
+
+#include "frc/geometry/Pose2d.h"
+#include "frc/geometry/Rotation2d.h"
+#include "frc/spline/QuinticHermiteSpline.h"
+#include "frc/spline/SplineHelper.h"
+#include "frc/spline/SplineParameterizer.h"
+#include "gtest/gtest.h"
+
+using namespace frc;
+
+namespace frc {
+class QuinticHermiteSplineTest : public ::testing::Test {
+ protected:
+ static void Run(const Pose2d& a, const Pose2d& b) {
+ // Start the timer.
+ const auto start = std::chrono::high_resolution_clock::now();
+
+ // Generate and parameterize the spline.
+ const auto spline = SplineHelper::QuinticSplinesFromControlVectors(
+ SplineHelper::QuinticControlVectorsFromWaypoints({a, b}))[0];
+ const auto poses = SplineParameterizer::Parameterize(spline);
+
+ // End timer.
+ const auto finish = std::chrono::high_resolution_clock::now();
+
+ // Calculate the duration (used when benchmarking)
+ const auto duration =
+ std::chrono::duration_cast<std::chrono::microseconds>(finish - start);
+
+ for (unsigned int i = 0; i < poses.size() - 1; i++) {
+ auto& p0 = poses[i];
+ auto& p1 = poses[i + 1];
+
+ // Make sure the twist is under the tolerance defined by the Spline class.
+ auto twist = p0.first.Log(p1.first);
+ EXPECT_LT(std::abs(twist.dx.to<double>()),
+ SplineParameterizer::kMaxDx.to<double>());
+ EXPECT_LT(std::abs(twist.dy.to<double>()),
+ SplineParameterizer::kMaxDy.to<double>());
+ EXPECT_LT(std::abs(twist.dtheta.to<double>()),
+ SplineParameterizer::kMaxDtheta.to<double>());
+ }
+
+ // Check first point.
+ EXPECT_NEAR(poses.front().first.Translation().X().to<double>(),
+ a.Translation().X().to<double>(), 1E-9);
+ EXPECT_NEAR(poses.front().first.Translation().Y().to<double>(),
+ a.Translation().Y().to<double>(), 1E-9);
+ EXPECT_NEAR(poses.front().first.Rotation().Radians().to<double>(),
+ a.Rotation().Radians().to<double>(), 1E-9);
+
+ // Check last point.
+ EXPECT_NEAR(poses.back().first.Translation().X().to<double>(),
+ b.Translation().X().to<double>(), 1E-9);
+ EXPECT_NEAR(poses.back().first.Translation().Y().to<double>(),
+ b.Translation().Y().to<double>(), 1E-9);
+ EXPECT_NEAR(poses.back().first.Rotation().Radians().to<double>(),
+ b.Rotation().Radians().to<double>(), 1E-9);
+
+ static_cast<void>(duration);
+ }
+};
+} // namespace frc
+
+TEST_F(QuinticHermiteSplineTest, StraightLine) {
+ Run(Pose2d(), Pose2d(3_m, 0_m, Rotation2d()));
+}
+
+TEST_F(QuinticHermiteSplineTest, SimpleSCurve) {
+ Run(Pose2d(), Pose2d(1_m, 1_m, Rotation2d()));
+}
+
+TEST_F(QuinticHermiteSplineTest, SquigglyCurve) {
+ Run(Pose2d(0_m, 0_m, Rotation2d(90_deg)),
+ Pose2d(-1_m, 0_m, Rotation2d(90_deg)));
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/trajectory/CentripetalAccelerationConstraintTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/trajectory/CentripetalAccelerationConstraintTest.cpp
new file mode 100644
index 0000000..37f471a
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/trajectory/CentripetalAccelerationConstraintTest.cpp
@@ -0,0 +1,43 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <memory>
+#include <vector>
+
+#include <units/units.h>
+
+#include "frc/trajectory/constraint/CentripetalAccelerationConstraint.h"
+#include "frc/trajectory/constraint/TrajectoryConstraint.h"
+#include "gtest/gtest.h"
+#include "trajectory/TestTrajectory.h"
+
+using namespace frc;
+
+TEST(CentripetalAccelerationConstraintTest, Constraint) {
+ const auto maxCentripetalAcceleration = 7_fps_sq;
+
+ auto config = TrajectoryConfig(12_fps, 12_fps_sq);
+ config.AddConstraint(
+ CentripetalAccelerationConstraint(maxCentripetalAcceleration));
+
+ auto trajectory = TestTrajectory::GetTrajectory(config);
+
+ units::second_t time = 0_s;
+ units::second_t dt = 20_ms;
+ units::second_t duration = trajectory.TotalTime();
+
+ while (time < duration) {
+ const Trajectory::State point = trajectory.Sample(time);
+ time += dt;
+
+ auto centripetalAcceleration =
+ units::math::pow<2>(point.velocity) * point.curvature / 1_rad;
+
+ EXPECT_TRUE(centripetalAcceleration <
+ maxCentripetalAcceleration + 0.05_mps_sq);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/trajectory/DifferentialDriveKinematicsTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/trajectory/DifferentialDriveKinematicsTest.cpp
new file mode 100644
index 0000000..df5ddbd
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/trajectory/DifferentialDriveKinematicsTest.cpp
@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <memory>
+#include <vector>
+
+#include <units/units.h>
+
+#include "frc/kinematics/DifferentialDriveKinematics.h"
+#include "frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h"
+#include "gtest/gtest.h"
+#include "trajectory/TestTrajectory.h"
+
+using namespace frc;
+
+TEST(DifferentialDriveKinematicsConstraintTest, Constraint) {
+ const auto maxVelocity = 12_fps;
+ const DifferentialDriveKinematics kinematics{27_in};
+
+ auto config = TrajectoryConfig(12_fps, 12_fps_sq);
+ config.AddConstraint(
+ DifferentialDriveKinematicsConstraint(kinematics, maxVelocity));
+
+ auto trajectory = TestTrajectory::GetTrajectory(config);
+
+ units::second_t time = 0_s;
+ units::second_t dt = 20_ms;
+ units::second_t duration = trajectory.TotalTime();
+
+ while (time < duration) {
+ const Trajectory::State point = trajectory.Sample(time);
+ time += dt;
+
+ const ChassisSpeeds chassisSpeeds{point.velocity, 0_mps,
+ point.velocity * point.curvature};
+
+ auto [left, right] = kinematics.ToWheelSpeeds(chassisSpeeds);
+
+ EXPECT_TRUE(left < maxVelocity + 0.05_mps);
+ EXPECT_TRUE(right < maxVelocity + 0.05_mps);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/trajectory/TrajectoryGeneratorTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/trajectory/TrajectoryGeneratorTest.cpp
new file mode 100644
index 0000000..7e47e11
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/trajectory/TrajectoryGeneratorTest.cpp
@@ -0,0 +1,35 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <vector>
+
+#include "frc/trajectory/Trajectory.h"
+#include "frc/trajectory/TrajectoryGenerator.h"
+#include "frc/trajectory/constraint/CentripetalAccelerationConstraint.h"
+#include "frc/trajectory/constraint/TrajectoryConstraint.h"
+#include "gtest/gtest.h"
+#include "trajectory/TestTrajectory.h"
+
+using namespace frc;
+
+TEST(TrajectoryGenerationTest, ObeysConstraints) {
+ TrajectoryConfig config{12_fps, 12_fps_sq};
+ auto trajectory = TestTrajectory::GetTrajectory(config);
+
+ units::second_t time = 0_s;
+ units::second_t dt = 20_ms;
+ units::second_t duration = trajectory.TotalTime();
+
+ while (time < duration) {
+ const Trajectory::State point = trajectory.Sample(time);
+ time += dt;
+
+ EXPECT_TRUE(units::math::abs(point.velocity) <= 12_fps + 0.01_fps);
+ EXPECT_TRUE(units::math::abs(point.acceleration) <=
+ 12_fps_sq + 0.01_fps_sq);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/trajectory/TrapezoidProfileTest.cpp b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/trajectory/TrapezoidProfileTest.cpp
new file mode 100644
index 0000000..ddd6a70
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/cpp/trajectory/TrapezoidProfileTest.cpp
@@ -0,0 +1,223 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/trajectory/TrapezoidProfile.h" // NOLINT(build/include_order)
+
+#include <chrono>
+#include <cmath>
+
+#include "gtest/gtest.h"
+
+static constexpr auto kDt = 10_ms;
+
+#define EXPECT_NEAR_UNITS(val1, val2, eps) \
+ EXPECT_LE(units::math::abs(val1 - val2), eps)
+
+#define EXPECT_LT_OR_NEAR_UNITS(val1, val2, eps) \
+ if (val1 <= val2) { \
+ EXPECT_LE(val1, val2); \
+ } else { \
+ EXPECT_NEAR_UNITS(val1, val2, eps); \
+ }
+
+TEST(TrapezoidProfileTest, ReachesGoal) {
+ frc::TrapezoidProfile::Constraints constraints{1.75_mps, 0.75_mps_sq};
+ frc::TrapezoidProfile::State goal{3_m, 0_mps};
+ frc::TrapezoidProfile::State state;
+
+ for (int i = 0; i < 450; ++i) {
+ frc::TrapezoidProfile profile{constraints, goal, state};
+ state = profile.Calculate(kDt);
+ }
+ EXPECT_EQ(state, goal);
+}
+
+// Tests that decreasing the maximum velocity in the middle when it is already
+// moving faster than the new max is handled correctly
+TEST(TrapezoidProfileTest, PosContinousUnderVelChange) {
+ frc::TrapezoidProfile::Constraints constraints{1.75_mps, 0.75_mps_sq};
+ frc::TrapezoidProfile::State goal{12_m, 0_mps};
+
+ frc::TrapezoidProfile profile{constraints, goal};
+ auto state = profile.Calculate(kDt);
+
+ auto lastPos = state.position;
+ for (int i = 0; i < 1600; ++i) {
+ if (i == 400) {
+ constraints.maxVelocity = 0.75_mps;
+ }
+
+ profile = frc::TrapezoidProfile{constraints, goal, state};
+ state = profile.Calculate(kDt);
+ auto estimatedVel = (state.position - lastPos) / kDt;
+
+ if (i >= 400) {
+ // Since estimatedVel can have floating point rounding errors, we check
+ // whether value is less than or within an error delta of the new
+ // constraint.
+ EXPECT_LT_OR_NEAR_UNITS(estimatedVel, constraints.maxVelocity, 1e-4_mps);
+
+ EXPECT_LE(state.velocity, constraints.maxVelocity);
+ }
+
+ lastPos = state.position;
+ }
+ EXPECT_EQ(state, goal);
+}
+
+// There is some somewhat tricky code for dealing with going backwards
+TEST(TrapezoidProfileTest, Backwards) {
+ frc::TrapezoidProfile::Constraints constraints{0.75_mps, 0.75_mps_sq};
+ frc::TrapezoidProfile::State goal{-2_m, 0_mps};
+ frc::TrapezoidProfile::State state;
+
+ for (int i = 0; i < 400; ++i) {
+ frc::TrapezoidProfile profile{constraints, goal, state};
+ state = profile.Calculate(kDt);
+ }
+ EXPECT_EQ(state, goal);
+}
+
+TEST(TrapezoidProfileTest, SwitchGoalInMiddle) {
+ frc::TrapezoidProfile::Constraints constraints{0.75_mps, 0.75_mps_sq};
+ frc::TrapezoidProfile::State goal{-2_m, 0_mps};
+ frc::TrapezoidProfile::State state;
+
+ for (int i = 0; i < 200; ++i) {
+ frc::TrapezoidProfile profile{constraints, goal, state};
+ state = profile.Calculate(kDt);
+ }
+ EXPECT_NE(state, goal);
+
+ goal = {0.0_m, 0.0_mps};
+ for (int i = 0; i < 550; ++i) {
+ frc::TrapezoidProfile profile{constraints, goal, state};
+ state = profile.Calculate(kDt);
+ }
+ EXPECT_EQ(state, goal);
+}
+
+// Checks to make sure that it hits top speed
+TEST(TrapezoidProfileTest, TopSpeed) {
+ frc::TrapezoidProfile::Constraints constraints{0.75_mps, 0.75_mps_sq};
+ frc::TrapezoidProfile::State goal{4_m, 0_mps};
+ frc::TrapezoidProfile::State state;
+
+ for (int i = 0; i < 200; ++i) {
+ frc::TrapezoidProfile profile{constraints, goal, state};
+ state = profile.Calculate(kDt);
+ }
+ EXPECT_NEAR_UNITS(constraints.maxVelocity, state.velocity, 10e-5_mps);
+
+ for (int i = 0; i < 2000; ++i) {
+ frc::TrapezoidProfile profile{constraints, goal, state};
+ state = profile.Calculate(kDt);
+ }
+ EXPECT_EQ(state, goal);
+}
+
+TEST(TrapezoidProfileTest, TimingToCurrent) {
+ frc::TrapezoidProfile::Constraints constraints{0.75_mps, 0.75_mps_sq};
+ frc::TrapezoidProfile::State goal{2_m, 0_mps};
+ frc::TrapezoidProfile::State state;
+
+ for (int i = 0; i < 400; i++) {
+ frc::TrapezoidProfile profile{constraints, goal, state};
+ state = profile.Calculate(kDt);
+ EXPECT_NEAR_UNITS(profile.TimeLeftUntil(state.position), 0_s, 2e-2_s);
+ }
+}
+
+TEST(TrapezoidProfileTest, TimingToGoal) {
+ using units::unit_cast;
+
+ frc::TrapezoidProfile::Constraints constraints{0.75_mps, 0.75_mps_sq};
+ frc::TrapezoidProfile::State goal{2_m, 0_mps};
+
+ frc::TrapezoidProfile profile{constraints, goal};
+ auto state = profile.Calculate(kDt);
+
+ auto predictedTimeLeft = profile.TimeLeftUntil(goal.position);
+ bool reachedGoal = false;
+ for (int i = 0; i < 400; i++) {
+ profile = frc::TrapezoidProfile(constraints, goal, state);
+ state = profile.Calculate(kDt);
+ if (!reachedGoal && state == goal) {
+ // Expected value using for loop index is just an approximation since the
+ // time left in the profile doesn't increase linearly at the endpoints
+ EXPECT_NEAR(unit_cast<double>(predictedTimeLeft), i / 100.0, 0.25);
+ reachedGoal = true;
+ }
+ }
+}
+
+TEST(TrapezoidProfileTest, TimingBeforeGoal) {
+ using units::unit_cast;
+
+ frc::TrapezoidProfile::Constraints constraints{0.75_mps, 0.75_mps_sq};
+ frc::TrapezoidProfile::State goal{2_m, 0_mps};
+
+ frc::TrapezoidProfile profile{constraints, goal};
+ auto state = profile.Calculate(kDt);
+
+ auto predictedTimeLeft = profile.TimeLeftUntil(1_m);
+ bool reachedGoal = false;
+ for (int i = 0; i < 400; i++) {
+ profile = frc::TrapezoidProfile(constraints, goal, state);
+ state = profile.Calculate(kDt);
+ if (!reachedGoal &&
+ (units::math::abs(state.velocity - 1_mps) < 10e-5_mps)) {
+ EXPECT_NEAR(unit_cast<double>(predictedTimeLeft), i / 100.0, 2e-2);
+ reachedGoal = true;
+ }
+ }
+}
+
+TEST(TrapezoidProfileTest, TimingToNegativeGoal) {
+ using units::unit_cast;
+
+ frc::TrapezoidProfile::Constraints constraints{0.75_mps, 0.75_mps_sq};
+ frc::TrapezoidProfile::State goal{-2_m, 0_mps};
+
+ frc::TrapezoidProfile profile{constraints, goal};
+ auto state = profile.Calculate(kDt);
+
+ auto predictedTimeLeft = profile.TimeLeftUntil(goal.position);
+ bool reachedGoal = false;
+ for (int i = 0; i < 400; i++) {
+ profile = frc::TrapezoidProfile(constraints, goal, state);
+ state = profile.Calculate(kDt);
+ if (!reachedGoal && state == goal) {
+ // Expected value using for loop index is just an approximation since the
+ // time left in the profile doesn't increase linearly at the endpoints
+ EXPECT_NEAR(unit_cast<double>(predictedTimeLeft), i / 100.0, 0.25);
+ reachedGoal = true;
+ }
+ }
+}
+
+TEST(TrapezoidProfileTest, TimingBeforeNegativeGoal) {
+ using units::unit_cast;
+
+ frc::TrapezoidProfile::Constraints constraints{0.75_mps, 0.75_mps_sq};
+ frc::TrapezoidProfile::State goal{-2_m, 0_mps};
+
+ frc::TrapezoidProfile profile{constraints, goal};
+ auto state = profile.Calculate(kDt);
+
+ auto predictedTimeLeft = profile.TimeLeftUntil(-1_m);
+ bool reachedGoal = false;
+ for (int i = 0; i < 400; i++) {
+ profile = frc::TrapezoidProfile(constraints, goal, state);
+ state = profile.Calculate(kDt);
+ if (!reachedGoal &&
+ (units::math::abs(state.velocity + 1_mps) < 10e-5_mps)) {
+ EXPECT_NEAR(unit_cast<double>(predictedTimeLeft), i / 100.0, 2e-2);
+ reachedGoal = true;
+ }
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/include/shuffleboard/MockActuatorSendable.h b/third_party/allwpilib_2019/wpilibc/src/test/native/include/shuffleboard/MockActuatorSendable.h
index f56215c..1cba8e3 100644
--- a/third_party/allwpilib_2019/wpilibc/src/test/native/include/shuffleboard/MockActuatorSendable.h
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/include/shuffleboard/MockActuatorSendable.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,15 +9,17 @@
#include <wpi/StringRef.h>
-#include "frc/smartdashboard/SendableBase.h"
+#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
/**
* A mock sendable that marks itself as an actuator.
*/
-class MockActuatorSendable : public SendableBase {
+class MockActuatorSendable : public Sendable,
+ public SendableHelper<MockActuatorSendable> {
public:
explicit MockActuatorSendable(wpi::StringRef name);
diff --git a/third_party/allwpilib_2019/wpilibc/src/test/native/include/trajectory/TestTrajectory.h b/third_party/allwpilib_2019/wpilibc/src/test/native/include/trajectory/TestTrajectory.h
new file mode 100644
index 0000000..4a496d7
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/src/test/native/include/trajectory/TestTrajectory.h
@@ -0,0 +1,40 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <utility>
+#include <vector>
+
+#include "frc/trajectory/Trajectory.h"
+#include "frc/trajectory/TrajectoryGenerator.h"
+#include "frc/trajectory/constraint/TrajectoryConstraint.h"
+
+namespace frc {
+class TestTrajectory {
+ public:
+ static Trajectory GetTrajectory(TrajectoryConfig& config) {
+ // 2018 cross scale auto waypoints
+ const Pose2d sideStart{1.54_ft, 23.23_ft, Rotation2d(180_deg)};
+ const Pose2d crossScale{23.7_ft, 6.8_ft, Rotation2d(-160_deg)};
+
+ config.SetReversed(true);
+
+ auto vector = std::vector<Translation2d>{
+ (sideStart + Transform2d{Translation2d(-13_ft, 0_ft), Rotation2d()})
+ .Translation(),
+ (sideStart +
+ Transform2d{Translation2d(-19.5_ft, 5.0_ft), Rotation2d(-90_deg)})
+ .Translation()};
+
+ return TrajectoryGenerator::GenerateTrajectory(sideStart, vector,
+ crossScale, config);
+ }
+};
+
+} // namespace frc
diff --git a/third_party/allwpilib_2019/wpilibc/wpilibc-config.cmake b/third_party/allwpilib_2019/wpilibc/wpilibc-config.cmake
deleted file mode 100644
index 86f077c..0000000
--- a/third_party/allwpilib_2019/wpilibc/wpilibc-config.cmake
+++ /dev/null
@@ -1,10 +0,0 @@
-include(CMakeFindDependencyMacro)
-find_dependency(wpiutil)
-find_dependency(ntcore)
-find_dependency(cscore)
-find_dependency(cameraserver)
-find_dependency(hal)
-find_dependency(OpenCV)
-
-get_filename_component(SELF_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
-include(${SELF_DIR}/wpilibc.cmake)
diff --git a/third_party/allwpilib_2019/wpilibc/wpilibc-config.cmake.in b/third_party/allwpilib_2019/wpilibc/wpilibc-config.cmake.in
new file mode 100644
index 0000000..4332c55
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibc/wpilibc-config.cmake.in
@@ -0,0 +1,9 @@
+include(CMakeFindDependencyMacro)
+@FILENAME_DEP_REPLACE@
+@WPIUTIL_DEP_REPLACE@
+@NTCORE_DEP_REPLACE@
+@CSCORE_DEP_REPLACE@
+@CAMERASERVER_DEP_REPLACE@
+@HAL_DEP_REPLACE@
+
+include(${SELF_DIR}/wpilibc.cmake)
diff --git a/third_party/allwpilib_2019/wpilibcExamples/.styleguide b/third_party/allwpilib_2019/wpilibcExamples/.styleguide
index d39dee7..d9369fa 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/.styleguide
+++ b/third_party/allwpilib_2019/wpilibcExamples/.styleguide
@@ -13,6 +13,7 @@
^cameraserver/
^cscore
^frc/
+ ^frc2/
^networktables/
^ntcore
^opencv2/
diff --git a/third_party/allwpilib_2019/wpilibcExamples/build.gradle b/third_party/allwpilib_2019/wpilibcExamples/build.gradle
index 3c87203..04a74bd 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/build.gradle
+++ b/third_party/allwpilib_2019/wpilibcExamples/build.gradle
@@ -30,6 +30,10 @@
templatesMap.put(it, [])
}
+nativeUtils.platformConfigs.named(nativeUtils.wpi.platforms.roborio).configure {
+ cppCompiler.args.remove('-Wno-error=deprecated-declarations')
+ cppCompiler.args.add('-Werror=deprecated-declarations')
+}
ext {
sharedCvConfigs = examplesMap + templatesMap + [commands: []]
@@ -94,9 +98,8 @@
project(':hal').addHalDependency(binary, 'shared')
lib project: ':cameraserver', library: 'cameraserver', linkage: 'shared'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
- if (binary.targetPlatform.architecture.name != 'athena') {
+ if (binary.targetPlatform.name != nativeUtils.wpi.platforms.roborio) {
lib project: ':simulation:halsim_lowfi', library: 'halsim_lowfi', linkage: 'shared'
- lib project: ':simulation:halsim_adx_gyro_accelerometer', library: 'halsim_adx_gyro_accelerometer', linkage: 'shared'
lib project: ':simulation:halsim_print', library: 'halsim_print', linkage: 'shared'
lib project: ':simulation:halsim_ds_nt', library: 'halsim_ds_nt', linkage: 'shared'
}
@@ -140,11 +143,12 @@
binary.tasks.withType(CppCompile) {
if (!(binary.toolChain in VisualCpp)) {
cppCompiler.args "-Wno-error=deprecated-declarations"
+ } else {
+ cppCompiler.args "/wd4996"
}
}
- if (binary.targetPlatform.architecture.name != 'athena') {
+ if (binary.targetPlatform.name != nativeUtils.wpi.platforms.roborio) {
lib project: ':simulation:halsim_lowfi', library: 'halsim_lowfi', linkage: 'shared'
- lib project: ':simulation:halsim_adx_gyro_accelerometer', library: 'halsim_adx_gyro_accelerometer', linkage: 'shared'
lib project: ':simulation:halsim_print', library: 'halsim_print', linkage: 'shared'
lib project: ':simulation:halsim_ds_nt', library: 'halsim_ds_nt', linkage: 'shared'
}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/publish.gradle b/third_party/allwpilib_2019/wpilibcExamples/publish.gradle
index ec645ae..927d88e 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/publish.gradle
+++ b/third_party/allwpilib_2019/wpilibcExamples/publish.gradle
@@ -1,12 +1,5 @@
apply plugin: 'maven-publish'
-def pubVersion
-if (project.hasProperty("publishVersion")) {
- pubVersion = project.publishVersion
-} else {
- pubVersion = WPILibVersion.version
-}
-
def baseExamplesArtifactId = 'examples'
def baseTemplatesArtifactId = 'templates'
def baseCommandsArtifactId = 'commands'
@@ -72,7 +65,7 @@
artifactId = baseExamplesArtifactId
groupId artifactGroupId
- version pubVersion
+ version wpilibVersioning.version.get()
}
templates(MavenPublication) {
@@ -80,7 +73,7 @@
artifactId = baseTemplatesArtifactId
groupId artifactGroupId
- version pubVersion
+ version wpilibVersioning.version.get()
}
commands(MavenPublication) {
@@ -88,7 +81,7 @@
artifactId = baseCommandsArtifactId
groupId artifactGroupId
- version pubVersion
+ version wpilibVersioning.version.get()
}
}
}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Drivetrain.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Drivetrain.cpp
new file mode 100644
index 0000000..8dcc1ea
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Drivetrain.cpp
@@ -0,0 +1,32 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "Drivetrain.h"
+
+frc::DifferentialDriveWheelSpeeds Drivetrain::GetSpeeds() const {
+ return {units::meters_per_second_t(m_leftEncoder.GetRate()),
+ units::meters_per_second_t(m_rightEncoder.GetRate())};
+}
+
+void Drivetrain::SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds) {
+ const auto leftOutput = m_leftPIDController.Calculate(
+ m_leftEncoder.GetRate(), speeds.left.to<double>());
+ const auto rightOutput = m_rightPIDController.Calculate(
+ m_rightEncoder.GetRate(), speeds.right.to<double>());
+
+ m_leftGroup.Set(leftOutput);
+ m_rightGroup.Set(rightOutput);
+}
+
+void Drivetrain::Drive(units::meters_per_second_t xSpeed,
+ units::radians_per_second_t rot) {
+ SetSpeeds(m_kinematics.ToWheelSpeeds({xSpeed, 0_mps, rot}));
+}
+
+void Drivetrain::UpdateOdometry() {
+ m_odometry.Update(GetAngle(), GetSpeeds());
+}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Robot.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Robot.cpp
new file mode 100644
index 0000000..b1e858e
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Robot.cpp
@@ -0,0 +1,43 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <frc/TimedRobot.h>
+#include <frc/XboxController.h>
+
+#include "Drivetrain.h"
+
+class Robot : public frc::TimedRobot {
+ public:
+ void AutonomousPeriodic() override {
+ TeleopPeriodic();
+ m_drive.UpdateOdometry();
+ }
+
+ void TeleopPeriodic() override {
+ // Get the x speed. We are inverting this because Xbox controllers return
+ // negative values when we push forward.
+ const auto xSpeed =
+ -m_controller.GetY(frc::GenericHID::kLeftHand) * Drivetrain::kMaxSpeed;
+
+ // Get the rate of angular rotation. We are inverting this because we want a
+ // positive value when we pull to the left (remember, CCW is positive in
+ // mathematics). Xbox controllers return positive values when you pull to
+ // the right by default.
+ const auto rot = -m_controller.GetX(frc::GenericHID::kRightHand) *
+ Drivetrain::kMaxAngularSpeed;
+
+ m_drive.Drive(xSpeed, rot);
+ }
+
+ private:
+ frc::XboxController m_controller{0};
+ Drivetrain m_drive;
+};
+
+#ifndef RUNNING_FRC_TESTS
+int main() { return frc::StartRobot<Robot>(); }
+#endif
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
new file mode 100644
index 0000000..bf2ad98
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
@@ -0,0 +1,79 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <units/units.h>
+
+#include <frc/AnalogGyro.h>
+#include <frc/Encoder.h>
+#include <frc/Spark.h>
+#include <frc/SpeedControllerGroup.h>
+#include <frc/controller/PIDController.h>
+#include <frc/kinematics/DifferentialDriveKinematics.h>
+#include <frc/kinematics/DifferentialDriveOdometry.h>
+#include <wpi/math>
+
+/**
+ * Represents a differential drive style drivetrain.
+ */
+class Drivetrain {
+ public:
+ Drivetrain() {
+ m_gyro.Reset();
+ // Set the distance per pulse for the drive encoders. We can simply use the
+ // distance traveled for one rotation of the wheel divided by the encoder
+ // resolution.
+ m_leftEncoder.SetDistancePerPulse(2 * wpi::math::pi * kWheelRadius /
+ kEncoderResolution);
+ m_rightEncoder.SetDistancePerPulse(2 * wpi::math::pi * kWheelRadius /
+ kEncoderResolution);
+ }
+
+ /**
+ * Get the robot angle as a Rotation2d.
+ */
+ frc::Rotation2d GetAngle() const {
+ // Negating the angle because WPILib Gyros are CW positive.
+ return frc::Rotation2d(units::degree_t(-m_gyro.GetAngle()));
+ }
+
+ static constexpr units::meters_per_second_t kMaxSpeed =
+ 3.0_mps; // 3 meters per second
+ static constexpr units::radians_per_second_t kMaxAngularSpeed{
+ wpi::math::pi}; // 1/2 rotation per second
+
+ frc::DifferentialDriveWheelSpeeds GetSpeeds() const;
+ void SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds);
+ void Drive(units::meters_per_second_t xSpeed,
+ units::radians_per_second_t rot);
+ void UpdateOdometry();
+
+ private:
+ static constexpr units::meter_t kTrackWidth = 0.381_m * 2;
+ static constexpr double kWheelRadius = 0.0508; // meters
+ static constexpr int kEncoderResolution = 4096;
+
+ frc::Spark m_leftMaster{1};
+ frc::Spark m_leftFollower{2};
+ frc::Spark m_rightMaster{3};
+ frc::Spark m_rightFollower{4};
+
+ frc::SpeedControllerGroup m_leftGroup{m_leftMaster, m_leftFollower};
+ frc::SpeedControllerGroup m_rightGroup{m_rightMaster, m_rightFollower};
+
+ frc::Encoder m_leftEncoder{0, 1};
+ frc::Encoder m_rightEncoder{0, 1};
+
+ frc2::PIDController m_leftPIDController{1.0, 0.0, 0.0};
+ frc2::PIDController m_rightPIDController{1.0, 0.0, 0.0};
+
+ frc::AnalogGyro m_gyro{0};
+
+ frc::DifferentialDriveKinematics m_kinematics{kTrackWidth};
+ frc::DifferentialDriveOdometry m_odometry{m_kinematics};
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
new file mode 100644
index 0000000..95aac42
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/ElevatorProfiledPID/cpp/Robot.cpp
@@ -0,0 +1,48 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <units/units.h>
+
+#include <frc/Encoder.h>
+#include <frc/Joystick.h>
+#include <frc/PWMVictorSPX.h>
+#include <frc/TimedRobot.h>
+#include <frc/controller/ProfiledPIDController.h>
+#include <frc/trajectory/TrapezoidProfile.h>
+
+class Robot : public frc::TimedRobot {
+ public:
+ static constexpr units::second_t kDt = 20_ms;
+
+ Robot() { m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * 3.1415 * 1.5); }
+
+ void TeleopPeriodic() override {
+ if (m_joystick.GetRawButtonPressed(2)) {
+ m_controller.SetGoal(5_m);
+ } else if (m_joystick.GetRawButtonPressed(3)) {
+ m_controller.SetGoal(0_m);
+ }
+
+ // Run controller and update motor output
+ m_motor.Set(
+ m_controller.Calculate(units::meter_t(m_encoder.GetDistance())));
+ }
+
+ private:
+ frc::Joystick m_joystick{1};
+ frc::Encoder m_encoder{1, 2};
+ frc::PWMVictorSPX m_motor{1};
+
+ // Create a PID controller whose setpoint's change is subject to maximum
+ // velocity and acceleration constraints.
+ frc::TrapezoidProfile::Constraints m_constraints{1.75_mps, 0.75_mps_sq};
+ frc::ProfiledPIDController m_controller{1.3, 0.0, 0.7, m_constraints, kDt};
+};
+
+#ifndef RUNNING_FRC_TESTS
+int main() { return frc::StartRobot<Robot>(); }
+#endif
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
new file mode 100644
index 0000000..9a15f31
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp
@@ -0,0 +1,56 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <frc/Encoder.h>
+#include <frc/Joystick.h>
+#include <frc/PWMVictorSPX.h>
+#include <frc/TimedRobot.h>
+#include <frc/controller/PIDController.h>
+#include <frc/trajectory/TrapezoidProfile.h>
+
+class Robot : public frc::TimedRobot {
+ public:
+ static constexpr units::second_t kDt = 20_ms;
+
+ Robot() { m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * 3.1415 * 1.5); }
+
+ void TeleopPeriodic() override {
+ if (m_joystick.GetRawButtonPressed(2)) {
+ m_goal = {5_m, 0_mps};
+ } else if (m_joystick.GetRawButtonPressed(3)) {
+ m_goal = {0_m, 0_mps};
+ }
+
+ // Create a motion profile with the given maximum velocity and maximum
+ // acceleration constraints for the next setpoint, the desired goal, and the
+ // current setpoint.
+ frc::TrapezoidProfile profile{m_constraints, m_goal, m_setpoint};
+
+ // Retrieve the profiled setpoint for the next timestep. This setpoint moves
+ // toward the goal while obeying the constraints.
+ m_setpoint = profile.Calculate(kDt);
+
+ // Run controller with profiled setpoint and update motor output
+ double output = m_controller.Calculate(m_encoder.GetDistance(),
+ m_setpoint.position.to<double>());
+ m_motor.Set(output);
+ }
+
+ private:
+ frc::Joystick m_joystick{1};
+ frc::Encoder m_encoder{1, 2};
+ frc::PWMVictorSPX m_motor{1};
+ frc2::PIDController m_controller{1.3, 0.0, 0.7, kDt};
+
+ frc::TrapezoidProfile::Constraints m_constraints{1.75_mps, 0.75_mps_sq};
+ frc::TrapezoidProfile::State m_goal;
+ frc::TrapezoidProfile::State m_setpoint;
+};
+
+#ifndef RUNNING_FRC_TESTS
+int main() { return frc::StartRobot<Robot>(); }
+#endif
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/Robot.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/Robot.cpp
new file mode 100644
index 0000000..cd19aeb
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/Robot.cpp
@@ -0,0 +1,71 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "Robot.h"
+
+#include <frc/smartdashboard/SmartDashboard.h>
+#include <frc2/command/CommandScheduler.h>
+
+void Robot::RobotInit() {}
+
+/**
+ * This function is called every robot packet, no matter the mode. Use
+ * this for items like diagnostics that you want to run during disabled,
+ * autonomous, teleoperated and test.
+ *
+ * <p> This runs after the mode specific periodic functions, but before
+ * LiveWindow and SmartDashboard integrated updating.
+ */
+void Robot::RobotPeriodic() { frc2::CommandScheduler::GetInstance().Run(); }
+
+/**
+ * This function is called once each time the robot enters Disabled mode. You
+ * can use it to reset any subsystem information you want to clear when the
+ * robot is disabled.
+ */
+void Robot::DisabledInit() {}
+
+void Robot::DisabledPeriodic() {}
+
+/**
+ * This autonomous runs the autonomous command selected by your {@link
+ * RobotContainer} class.
+ */
+void Robot::AutonomousInit() {
+ m_autonomousCommand = m_container.GetAutonomousCommand();
+
+ if (m_autonomousCommand != nullptr) {
+ m_autonomousCommand->Schedule();
+ }
+}
+
+void Robot::AutonomousPeriodic() {}
+
+void Robot::TeleopInit() {
+ // This makes sure that the autonomous stops running when
+ // teleop starts running. If you want the autonomous to
+ // continue until interrupted by another command, remove
+ // this line or comment it out.
+ if (m_autonomousCommand != nullptr) {
+ m_autonomousCommand->Cancel();
+ m_autonomousCommand = nullptr;
+ }
+}
+
+/**
+ * This function is called periodically during operator control.
+ */
+void Robot::TeleopPeriodic() {}
+
+/**
+ * This function is called periodically during test mode.
+ */
+void Robot::TestPeriodic() {}
+
+#ifndef RUNNING_FRC_TESTS
+int main() { return frc::StartRobot<Robot>(); }
+#endif
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/RobotContainer.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/RobotContainer.cpp
new file mode 100644
index 0000000..729a6c6
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/RobotContainer.cpp
@@ -0,0 +1,52 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "RobotContainer.h"
+
+#include <frc/shuffleboard/Shuffleboard.h>
+#include <frc2/command/button/JoystickButton.h>
+
+RobotContainer::RobotContainer() {
+ // Initialize all of your commands and subsystems here
+
+ // Configure the button bindings
+ ConfigureButtonBindings();
+
+ // Set up default drive command
+ m_drive.SetDefaultCommand(frc2::RunCommand(
+ [this] {
+ m_drive.ArcadeDrive(
+ m_driverController.GetY(frc::GenericHID::kLeftHand),
+ m_driverController.GetX(frc::GenericHID::kRightHand));
+ },
+ {&m_drive}));
+}
+
+void RobotContainer::ConfigureButtonBindings() {
+ // Configure your button bindings here
+
+ // Spin up the shooter when the 'A' button is pressed
+ frc2::JoystickButton(&m_driverController, 1).WhenPressed(&m_spinUpShooter);
+
+ // Turn off the shooter when the 'B' button is pressed
+ frc2::JoystickButton(&m_driverController, 2).WhenPressed(&m_stopShooter);
+
+ // Shoot when the 'X' button is held
+ frc2::JoystickButton(&m_driverController, 3)
+ .WhenPressed(&m_shoot)
+ .WhenReleased(&m_stopFeeder);
+
+ // While holding the shoulder button, drive at half speed
+ frc2::JoystickButton(&m_driverController, 6)
+ .WhenPressed(&m_driveHalfSpeed)
+ .WhenReleased(&m_driveFullSpeed);
+}
+
+frc2::Command* RobotContainer::GetAutonomousCommand() {
+ // Runs the chosen command in autonomous
+ return &m_autonomousCommand;
+}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/subsystems/DriveSubsystem.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/subsystems/DriveSubsystem.cpp
new file mode 100644
index 0000000..64be1b8
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/subsystems/DriveSubsystem.cpp
@@ -0,0 +1,47 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "subsystems/DriveSubsystem.h"
+
+using namespace DriveConstants;
+
+DriveSubsystem::DriveSubsystem()
+ : m_left1{kLeftMotor1Port},
+ m_left2{kLeftMotor2Port},
+ m_right1{kRightMotor1Port},
+ m_right2{kRightMotor2Port},
+ m_leftEncoder{kLeftEncoderPorts[0], kLeftEncoderPorts[1]},
+ m_rightEncoder{kRightEncoderPorts[0], kRightEncoderPorts[1]} {
+ // Set the distance per pulse for the encoders
+ m_leftEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
+ m_rightEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
+}
+
+void DriveSubsystem::Periodic() {
+ // Implementation of subsystem periodic method goes here.
+}
+
+void DriveSubsystem::ArcadeDrive(double fwd, double rot) {
+ m_drive.ArcadeDrive(fwd, rot);
+}
+
+void DriveSubsystem::ResetEncoders() {
+ m_leftEncoder.Reset();
+ m_rightEncoder.Reset();
+}
+
+double DriveSubsystem::GetAverageEncoderDistance() {
+ return (m_leftEncoder.GetDistance() + m_rightEncoder.GetDistance()) / 2.;
+}
+
+frc::Encoder& DriveSubsystem::GetLeftEncoder() { return m_leftEncoder; }
+
+frc::Encoder& DriveSubsystem::GetRightEncoder() { return m_rightEncoder; }
+
+void DriveSubsystem::SetMaxOutput(double maxOutput) {
+ m_drive.SetMaxOutput(maxOutput);
+}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/subsystems/ShooterSubsystem.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/subsystems/ShooterSubsystem.cpp
new file mode 100644
index 0000000..d3633b6
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/subsystems/ShooterSubsystem.cpp
@@ -0,0 +1,45 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "subsystems/ShooterSubsystem.h"
+
+#include <frc/controller/PIDController.h>
+
+#include "Constants.h"
+
+using namespace ShooterConstants;
+
+ShooterSubsystem::ShooterSubsystem()
+ : PIDSubsystem(frc2::PIDController(kP, kI, kD)),
+ m_shooterMotor(kShooterMotorPort),
+ m_feederMotor(kFeederMotorPort),
+ m_shooterEncoder(kEncoderPorts[0], kEncoderPorts[1]) {
+ m_controller.SetTolerance(kShooterToleranceRPS);
+ m_shooterEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
+}
+
+void ShooterSubsystem::UseOutput(double output) {
+ // Use a feedforward of the form kS + kV * velocity
+ m_shooterMotor.Set(output + kSFractional + kVFractional * kShooterTargetRPS);
+}
+
+void ShooterSubsystem::Disable() {
+ // Turn off motor when we disable, since useOutput(0) doesn't stop the motor
+ // due to our feedforward
+ frc2::PIDSubsystem::Disable();
+ m_shooterMotor.Set(0);
+}
+
+bool ShooterSubsystem::AtSetpoint() { return m_controller.AtSetpoint(); }
+
+double ShooterSubsystem::GetMeasurement() { return m_shooterEncoder.GetRate(); }
+
+double ShooterSubsystem::GetSetpoint() { return kShooterTargetRPS; }
+
+void ShooterSubsystem::RunFeeder() { m_feederMotor.Set(kFeederSpeed); }
+
+void ShooterSubsystem::StopFeeder() { m_feederMotor.Set(0); }
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Constants.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Constants.h
new file mode 100644
index 0000000..9fbcb27
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Constants.h
@@ -0,0 +1,75 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <units/units.h>
+
+/**
+ * The Constants header provides a convenient place for teams to hold robot-wide
+ * numerical or bool constants. This should not be used for any other purpose.
+ *
+ * It is generally a good idea to place constants into subsystem- or
+ * command-specific namespaces within this header, which can then be used where
+ * they are needed.
+ */
+
+namespace DriveConstants {
+const int kLeftMotor1Port = 0;
+const int kLeftMotor2Port = 1;
+const int kRightMotor1Port = 2;
+const int kRightMotor2Port = 3;
+
+const int kLeftEncoderPorts[]{0, 1};
+const int kRightEncoderPorts[]{2, 3};
+const bool kLeftEncoderReversed = false;
+const bool kRightEncoderReversed = true;
+
+const int kEncoderCPR = 1024;
+const double kWheelDiameterInches = 6;
+const double kEncoderDistancePerPulse =
+ // Assumes the encoders are directly mounted on the wheel shafts
+ (kWheelDiameterInches * 3.142) / static_cast<double>(kEncoderCPR);
+} // namespace DriveConstants
+
+namespace ShooterConstants {
+const int kEncoderPorts[]{4, 5};
+const bool kEncoderReversed = false;
+const int kEncoderCPR = 1024;
+const double kEncoderDistancePerPulse =
+ // Distance units will be rotations
+ 1. / static_cast<double>(kEncoderCPR);
+
+const int kShooterMotorPort = 4;
+const int kFeederMotorPort = 5;
+
+const double kShooterFreeRPS = 5300;
+const double kShooterTargetRPS = 4000;
+const double kShooterToleranceRPS = 50;
+
+const double kP = 1;
+const double kI = 0;
+const double kD = 0;
+
+// On a real robot the feedforward constants should be empirically determined;
+// these are reasonable guesses.
+const double kSFractional = .05;
+const double kVFractional =
+ // Should have value 1 at free speed...
+ 1. / kShooterFreeRPS;
+
+const double kFeederSpeed = .5;
+} // namespace ShooterConstants
+
+namespace AutoConstants {
+constexpr auto kAutoTimeoutSeconds = 12_s;
+constexpr auto kAutoShootTimeSeconds = 7_s;
+} // namespace AutoConstants
+
+namespace OIConstants {
+const int kDriverControllerPort = 1;
+} // namespace OIConstants
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Robot.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Robot.h
new file mode 100644
index 0000000..fa173d3
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Robot.h
@@ -0,0 +1,33 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc/TimedRobot.h>
+#include <frc2/command/Command.h>
+
+#include "RobotContainer.h"
+
+class Robot : public frc::TimedRobot {
+ public:
+ void RobotInit() override;
+ void RobotPeriodic() override;
+ void DisabledInit() override;
+ void DisabledPeriodic() override;
+ void AutonomousInit() override;
+ void AutonomousPeriodic() override;
+ void TeleopInit() override;
+ void TeleopPeriodic() override;
+ void TestPeriodic() override;
+
+ private:
+ // Have it null by default so that if testing teleop it
+ // doesn't have undefined behavior and potentially crash.
+ frc2::Command* m_autonomousCommand = nullptr;
+
+ RobotContainer m_container;
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/RobotContainer.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/RobotContainer.h
new file mode 100644
index 0000000..2ce1e1c
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/RobotContainer.h
@@ -0,0 +1,101 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc/XboxController.h>
+#include <frc/smartdashboard/SendableChooser.h>
+#include <frc2/command/Command.h>
+#include <frc2/command/ConditionalCommand.h>
+#include <frc2/command/InstantCommand.h>
+#include <frc2/command/ParallelRaceGroup.h>
+#include <frc2/command/RunCommand.h>
+#include <frc2/command/SequentialCommandGroup.h>
+#include <frc2/command/WaitCommand.h>
+#include <frc2/command/WaitUntilCommand.h>
+
+#include "Constants.h"
+#include "subsystems/DriveSubsystem.h"
+#include "subsystems/ShooterSubsystem.h"
+
+namespace ac = AutoConstants;
+
+/**
+ * This class is where the bulk of the robot should be declared. Since
+ * Command-based is a "declarative" paradigm, very little robot logic should
+ * actually be handled in the {@link Robot} periodic methods (other than the
+ * scheduler calls). Instead, the structure of the robot (including subsystems,
+ * commands, and button mappings) should be declared here.
+ */
+class RobotContainer {
+ public:
+ RobotContainer();
+
+ frc2::Command* GetAutonomousCommand();
+
+ private:
+ // The driver's controller
+ frc::XboxController m_driverController{OIConstants::kDriverControllerPort};
+
+ // The robot's subsystems and commands are defined here...
+
+ // The robot's subsystems
+ DriveSubsystem m_drive;
+ ShooterSubsystem m_shooter;
+
+ // A simple autonomous routine that shoots the loaded frisbees
+ frc2::SequentialCommandGroup m_autonomousCommand =
+ frc2::SequentialCommandGroup{
+ // Start the command by spinning up the shooter...
+ frc2::InstantCommand([this] { m_shooter.Enable(); }, {&m_shooter}),
+ // Wait until the shooter is at speed before feeding the frisbees
+ frc2::WaitUntilCommand([this] { return m_shooter.AtSetpoint(); }),
+ // Start running the feeder
+ frc2::InstantCommand([this] { m_shooter.RunFeeder(); }, {&m_shooter}),
+ // Shoot for the specified time
+ frc2::WaitCommand(ac::kAutoShootTimeSeconds)}
+ // Add a timeout (will end the command if, for instance, the shooter
+ // never gets up to
+ // speed)
+ .WithTimeout(ac::kAutoTimeoutSeconds)
+ // When the command ends, turn off the shooter and the feeder
+ .AndThen([this] {
+ m_shooter.Disable();
+ m_shooter.StopFeeder();
+ });
+
+ // Assorted commands to be bound to buttons
+
+ frc2::InstantCommand m_spinUpShooter{[this] { m_shooter.Enable(); },
+ {&m_shooter}};
+
+ frc2::InstantCommand m_stopShooter{[this] { m_shooter.Disable(); },
+ {&m_shooter}};
+
+ // Shoots if the shooter wheen has reached the target speed
+ frc2::ConditionalCommand m_shoot{
+ // Run the feeder
+ frc2::InstantCommand{[this] { m_shooter.RunFeeder(); }, {&m_shooter}},
+ // Do nothing
+ frc2::InstantCommand(),
+ // Determine which of the above to do based on whether the shooter has
+ // reached the
+ // desired speed
+ [this] { return m_shooter.AtSetpoint(); }};
+
+ frc2::InstantCommand m_stopFeeder{[this] { m_shooter.StopFeeder(); },
+ {&m_shooter}};
+
+ frc2::InstantCommand m_driveHalfSpeed{[this] { m_drive.SetMaxOutput(.5); },
+ {}};
+ frc2::InstantCommand m_driveFullSpeed{[this] { m_drive.SetMaxOutput(1); },
+ {}};
+
+ // The chooser for the autonomous routines
+
+ void ConfigureButtonBindings();
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/DriveSubsystem.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/DriveSubsystem.h
new file mode 100644
index 0000000..3ed1357
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/DriveSubsystem.h
@@ -0,0 +1,95 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc/Encoder.h>
+#include <frc/PWMVictorSPX.h>
+#include <frc/SpeedControllerGroup.h>
+#include <frc/drive/DifferentialDrive.h>
+#include <frc2/command/SubsystemBase.h>
+
+#include "Constants.h"
+
+class DriveSubsystem : public frc2::SubsystemBase {
+ public:
+ DriveSubsystem();
+
+ /**
+ * Will be called periodically whenever the CommandScheduler runs.
+ */
+ void Periodic() override;
+
+ // Subsystem methods go here.
+
+ /**
+ * Drives the robot using arcade controls.
+ *
+ * @param fwd the commanded forward movement
+ * @param rot the commanded rotation
+ */
+ void ArcadeDrive(double fwd, double rot);
+
+ /**
+ * Resets the drive encoders to currently read a position of 0.
+ */
+ void ResetEncoders();
+
+ /**
+ * Gets the average distance of the TWO encoders.
+ *
+ * @return the average of the TWO encoder readings
+ */
+ double GetAverageEncoderDistance();
+
+ /**
+ * Gets the left drive encoder.
+ *
+ * @return the left drive encoder
+ */
+ frc::Encoder& GetLeftEncoder();
+
+ /**
+ * Gets the right drive encoder.
+ *
+ * @return the right drive encoder
+ */
+ frc::Encoder& GetRightEncoder();
+
+ /**
+ * Sets the max output of the drive. Useful for scaling the drive to drive
+ * more slowly.
+ *
+ * @param maxOutput the maximum output to which the drive will be constrained
+ */
+ void SetMaxOutput(double maxOutput);
+
+ private:
+ // Components (e.g. motor controllers and sensors) should generally be
+ // declared private and exposed only through public methods.
+
+ // The motor controllers
+ frc::PWMVictorSPX m_left1;
+ frc::PWMVictorSPX m_left2;
+ frc::PWMVictorSPX m_right1;
+ frc::PWMVictorSPX m_right2;
+
+ // The motors on the left side of the drive
+ frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};
+
+ // The motors on the right side of the drive
+ frc::SpeedControllerGroup m_rightMotors{m_right1, m_right2};
+
+ // The robot's drive
+ frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors};
+
+ // The left-side drive encoder
+ frc::Encoder m_leftEncoder;
+
+ // The right-side drive encoder
+ frc::Encoder m_rightEncoder;
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/ShooterSubsystem.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/ShooterSubsystem.h
new file mode 100644
index 0000000..4d30d53
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/ShooterSubsystem.h
@@ -0,0 +1,36 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc/Encoder.h>
+#include <frc/PWMVictorSPX.h>
+#include <frc2/command/PIDSubsystem.h>
+
+class ShooterSubsystem : public frc2::PIDSubsystem {
+ public:
+ ShooterSubsystem();
+
+ void UseOutput(double output) override;
+
+ double GetSetpoint() override;
+
+ double GetMeasurement() override;
+
+ void Disable() override;
+
+ bool AtSetpoint();
+
+ void RunFeeder();
+
+ void StopFeeder();
+
+ private:
+ frc::PWMVictorSPX m_shooterMotor;
+ frc::PWMVictorSPX m_feederMotor;
+ frc::Encoder m_shooterEncoder;
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/OI.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/OI.cpp
deleted file mode 100644
index bd0e922..0000000
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/OI.cpp
+++ /dev/null
@@ -1,36 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#include "OI.h"
-
-#include <frc/smartdashboard/SmartDashboard.h>
-
-#include "commands/Autonomous.h"
-#include "commands/CloseClaw.h"
-#include "commands/OpenClaw.h"
-#include "commands/Pickup.h"
-#include "commands/Place.h"
-#include "commands/PrepareToPickup.h"
-#include "commands/SetElevatorSetpoint.h"
-
-OI::OI() {
- frc::SmartDashboard::PutData("Open Claw", new OpenClaw());
- frc::SmartDashboard::PutData("Close Claw", new CloseClaw());
-
- // Connect the buttons to commands
- m_dUp.WhenPressed(new SetElevatorSetpoint(0.2));
- m_dDown.WhenPressed(new SetElevatorSetpoint(-0.2));
- m_dRight.WhenPressed(new CloseClaw());
- m_dLeft.WhenPressed(new OpenClaw());
-
- m_r1.WhenPressed(new PrepareToPickup());
- m_r2.WhenPressed(new Pickup());
- m_l1.WhenPressed(new Place());
- m_l2.WhenPressed(new Autonomous());
-}
-
-frc::Joystick& OI::GetJoystick() { return m_joy; }
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/Robot.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/Robot.cpp
index ca2f9d6..cd19aeb 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/Robot.cpp
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/Robot.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,39 +7,63 @@
#include "Robot.h"
-#include <iostream>
+#include <frc/smartdashboard/SmartDashboard.h>
+#include <frc2/command/CommandScheduler.h>
-DriveTrain Robot::drivetrain;
-Elevator Robot::elevator;
-Wrist Robot::wrist;
-Claw Robot::claw;
-OI Robot::oi;
+void Robot::RobotInit() {}
-void Robot::RobotInit() {
- // Show what command your subsystem is running on the SmartDashboard
- frc::SmartDashboard::PutData(&drivetrain);
- frc::SmartDashboard::PutData(&elevator);
- frc::SmartDashboard::PutData(&wrist);
- frc::SmartDashboard::PutData(&claw);
-}
+/**
+ * This function is called every robot packet, no matter the mode. Use
+ * this for items like diagnostics that you want to run during disabled,
+ * autonomous, teleoperated and test.
+ *
+ * <p> This runs after the mode specific periodic functions, but before
+ * LiveWindow and SmartDashboard integrated updating.
+ */
+void Robot::RobotPeriodic() { frc2::CommandScheduler::GetInstance().Run(); }
+/**
+ * This function is called once each time the robot enters Disabled mode. You
+ * can use it to reset any subsystem information you want to clear when the
+ * robot is disabled.
+ */
+void Robot::DisabledInit() {}
+
+void Robot::DisabledPeriodic() {}
+
+/**
+ * This autonomous runs the autonomous command selected by your {@link
+ * RobotContainer} class.
+ */
void Robot::AutonomousInit() {
- m_autonomousCommand.Start();
- std::cout << "Starting Auto" << std::endl;
+ m_autonomousCommand = m_container.GetAutonomousCommand();
+
+ if (m_autonomousCommand != nullptr) {
+ m_autonomousCommand->Schedule();
+ }
}
-void Robot::AutonomousPeriodic() { frc::Scheduler::GetInstance()->Run(); }
+void Robot::AutonomousPeriodic() {}
void Robot::TeleopInit() {
- // This makes sure that the autonomous stops running when teleop starts
- // running. If you want the autonomous to continue until interrupted by
- // another command, remove this line or comment it out.
- m_autonomousCommand.Cancel();
- std::cout << "Starting Teleop" << std::endl;
+ // This makes sure that the autonomous stops running when
+ // teleop starts running. If you want the autonomous to
+ // continue until interrupted by another command, remove
+ // this line or comment it out.
+ if (m_autonomousCommand != nullptr) {
+ m_autonomousCommand->Cancel();
+ m_autonomousCommand = nullptr;
+ }
}
-void Robot::TeleopPeriodic() { frc::Scheduler::GetInstance()->Run(); }
+/**
+ * This function is called periodically during operator control.
+ */
+void Robot::TeleopPeriodic() {}
+/**
+ * This function is called periodically during test mode.
+ */
void Robot::TestPeriodic() {}
#ifndef RUNNING_FRC_TESTS
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/RobotContainer.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/RobotContainer.cpp
new file mode 100644
index 0000000..f79b3fc
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/RobotContainer.cpp
@@ -0,0 +1,67 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "RobotContainer.h"
+
+#include <frc/smartdashboard/SmartDashboard.h>
+#include <frc2/command/button/JoystickButton.h>
+
+#include "commands/CloseClaw.h"
+#include "commands/OpenClaw.h"
+#include "commands/Pickup.h"
+#include "commands/Place.h"
+#include "commands/PrepareToPickup.h"
+#include "commands/SetElevatorSetpoint.h"
+#include "commands/TankDrive.h"
+
+RobotContainer::RobotContainer()
+ : m_autonomousCommand(&m_claw, &m_wrist, &m_elevator, &m_drivetrain) {
+ frc::SmartDashboard::PutData(&m_drivetrain);
+ frc::SmartDashboard::PutData(&m_elevator);
+ frc::SmartDashboard::PutData(&m_wrist);
+ frc::SmartDashboard::PutData(&m_claw);
+
+ m_claw.Log();
+ m_wrist.Log();
+ m_elevator.Log();
+ m_drivetrain.Log();
+
+ m_drivetrain.SetDefaultCommand(TankDrive(
+ [this] { return m_joy.GetY(frc::GenericHID::JoystickHand::kLeftHand); },
+ [this] { return m_joy.GetY(frc::GenericHID::JoystickHand::kRightHand); },
+ &m_drivetrain));
+
+ // Configure the button bindings
+ ConfigureButtonBindings();
+}
+
+void RobotContainer::ConfigureButtonBindings() {
+ // Configure your button bindings here
+ frc2::JoystickButton m_dUp{&m_joy, 5};
+ frc2::JoystickButton m_dRight{&m_joy, 6};
+ frc2::JoystickButton m_dDown{&m_joy, 7};
+ frc2::JoystickButton m_dLeft{&m_joy, 8};
+ frc2::JoystickButton m_l2{&m_joy, 9};
+ frc2::JoystickButton m_r2{&m_joy, 10};
+ frc2::JoystickButton m_l1{&m_joy, 11};
+ frc2::JoystickButton m_r1{&m_joy, 12};
+
+ m_dUp.WhenPressed(SetElevatorSetpoint(0.2, &m_elevator));
+ m_dDown.WhenPressed(SetElevatorSetpoint(-0.2, &m_elevator));
+ m_dRight.WhenPressed(CloseClaw(&m_claw));
+ m_dLeft.WhenPressed(OpenClaw(&m_claw));
+
+ m_r1.WhenPressed(PrepareToPickup(&m_claw, &m_wrist, &m_elevator));
+ m_r2.WhenPressed(Pickup(&m_claw, &m_wrist, &m_elevator));
+ m_l1.WhenPressed(Place(&m_claw, &m_wrist, &m_elevator));
+ m_l2.WhenPressed(Autonomous(&m_claw, &m_wrist, &m_elevator, &m_drivetrain));
+}
+
+frc2::Command* RobotContainer::GetAutonomousCommand() {
+ // An example command will be run in autonomous
+ return &m_autonomousCommand;
+}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/Autonomous.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/Autonomous.cpp
index 30ce002..5db0cdb 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/Autonomous.cpp
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/Autonomous.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,6 +7,8 @@
#include "commands/Autonomous.h"
+#include <frc2/command/ParallelCommandGroup.h>
+
#include "commands/CloseClaw.h"
#include "commands/DriveStraight.h"
#include "commands/Pickup.h"
@@ -15,16 +17,19 @@
#include "commands/SetDistanceToBox.h"
#include "commands/SetWristSetpoint.h"
-Autonomous::Autonomous() : frc::CommandGroup("Autonomous") {
- AddSequential(new PrepareToPickup());
- AddSequential(new Pickup());
- AddSequential(new SetDistanceToBox(0.10));
- // AddSequential(new DriveStraight(4)); // Use Encoders if ultrasonic
- // is broken
- AddSequential(new Place());
- AddSequential(new SetDistanceToBox(0.60));
- // AddSequential(new DriveStraight(-2)); // Use Encoders if ultrasonic
- // is broken
- AddParallel(new SetWristSetpoint(-45));
- AddSequential(new CloseClaw());
+Autonomous::Autonomous(Claw* claw, Wrist* wrist, Elevator* elevator,
+ DriveTrain* drivetrain) {
+ SetName("Autonomous");
+ AddCommands(
+ // clang-format off
+ PrepareToPickup(claw, wrist, elevator),
+ Pickup(claw, wrist, elevator),
+ SetDistanceToBox(0.10, drivetrain),
+ // DriveStraight(4, drivetrain) // Use encoders if ultrasonic is broken
+ Place(claw, wrist, elevator),
+ SetDistanceToBox(0.6, drivetrain),
+ // DriveStraight(-2, drivetrain) // Use encoders if ultrasonic is broken
+ frc2::ParallelCommandGroup(SetWristSetpoint(-45, wrist),
+ CloseClaw(claw)));
+ // clang-format on
}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/CloseClaw.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/CloseClaw.cpp
index e1a2f6e..97a9ccf 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/CloseClaw.cpp
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/CloseClaw.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,20 +9,23 @@
#include "Robot.h"
-CloseClaw::CloseClaw() : frc::Command("CloseClaw") { Requires(&Robot::claw); }
+CloseClaw::CloseClaw(Claw* claw) : m_claw(claw) {
+ SetName("CloseClaw");
+ AddRequirements({m_claw});
+}
// Called just before this Command runs the first time
-void CloseClaw::Initialize() { Robot::claw.Close(); }
+void CloseClaw::Initialize() { m_claw->Close(); }
// Make this return true when this Command no longer needs to run execute()
-bool CloseClaw::IsFinished() { return Robot::claw.IsGripping(); }
+bool CloseClaw::IsFinished() { return m_claw->IsGripping(); }
// Called once after isFinished returns true
-void CloseClaw::End() {
+void CloseClaw::End(bool) {
// NOTE: Doesn't stop in simulation due to lower friction causing the can to
// fall out
// + there is no need to worry about stalling the motor or crushing the can.
#ifndef SIMULATION
- Robot::claw.Stop();
+ m_claw->Stop();
#endif
}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/DriveStraight.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/DriveStraight.cpp
index dfd1744..d84951c 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/DriveStraight.cpp
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/DriveStraight.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,36 +7,25 @@
#include "commands/DriveStraight.h"
+#include <frc/controller/PIDController.h>
+
#include "Robot.h"
-DriveStraight::DriveStraight(double distance) {
- Requires(&Robot::drivetrain);
- m_pid.SetAbsoluteTolerance(0.01);
- m_pid.SetSetpoint(distance);
+DriveStraight::DriveStraight(double distance, DriveTrain* drivetrain)
+ : frc2::CommandHelper<frc2::PIDCommand, DriveStraight>(
+ frc2::PIDController(4, 0, 0),
+ [this]() { return m_drivetrain->GetDistance(); }, distance,
+ [this](double output) { m_drivetrain->Drive(output, output); },
+ {drivetrain}),
+ m_drivetrain(drivetrain) {
+ m_controller.SetTolerance(0.01);
}
// Called just before this Command runs the first time
void DriveStraight::Initialize() {
// Get everything in a safe starting state.
- Robot::drivetrain.Reset();
- m_pid.Reset();
- m_pid.Enable();
+ m_drivetrain->Reset();
+ frc2::PIDCommand::Initialize();
}
-// Make this return true when this Command no longer needs to run execute()
-bool DriveStraight::IsFinished() { return m_pid.OnTarget(); }
-
-// Called once after isFinished returns true
-void DriveStraight::End() {
- // Stop PID and the wheels
- m_pid.Disable();
- Robot::drivetrain.Drive(0, 0);
-}
-
-double DriveStraight::DriveStraightPIDSource::PIDGet() {
- return Robot::drivetrain.GetDistance();
-}
-
-void DriveStraight::DriveStraightPIDOutput::PIDWrite(double d) {
- Robot::drivetrain.Drive(d, d);
-}
+bool DriveStraight::IsFinished() { return m_controller.AtSetpoint(); }
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/OpenClaw.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/OpenClaw.cpp
index 175f3c1..bd1414a 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/OpenClaw.cpp
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/OpenClaw.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,16 +9,17 @@
#include "Robot.h"
-OpenClaw::OpenClaw() : frc::Command("OpenClaw") {
- Requires(&Robot::claw);
- SetTimeout(1);
+OpenClaw::OpenClaw(Claw* claw)
+ : frc2::CommandHelper<frc2::WaitCommand, OpenClaw>(1_s), m_claw(claw) {
+ SetName("OpenClaw");
+ AddRequirements({m_claw});
}
// Called just before this Command runs the first time
-void OpenClaw::Initialize() { Robot::claw.Open(); }
-
-// Make this return true when this Command no longer needs to run execute()
-bool OpenClaw::IsFinished() { return IsTimedOut(); }
+void OpenClaw::Initialize() {
+ m_claw->Open();
+ frc2::WaitCommand::Initialize();
+}
// Called once after isFinished returns true
-void OpenClaw::End() { Robot::claw.Stop(); }
+void OpenClaw::End(bool) { m_claw->Stop(); }
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/Pickup.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/Pickup.cpp
index b5d8dd1..996414f 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/Pickup.cpp
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/Pickup.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,12 +7,15 @@
#include "commands/Pickup.h"
+#include <frc2/command/ParallelCommandGroup.h>
+
#include "commands/CloseClaw.h"
#include "commands/SetElevatorSetpoint.h"
#include "commands/SetWristSetpoint.h"
-Pickup::Pickup() : frc::CommandGroup("Pickup") {
- AddSequential(new CloseClaw());
- AddParallel(new SetWristSetpoint(-45));
- AddSequential(new SetElevatorSetpoint(0.25));
+Pickup::Pickup(Claw* claw, Wrist* wrist, Elevator* elevator) {
+ SetName("Pickup");
+ AddCommands(CloseClaw(claw),
+ frc2::ParallelCommandGroup(SetWristSetpoint(-45, wrist),
+ SetElevatorSetpoint(0.25, elevator)));
}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/Place.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/Place.cpp
index cf31d3c..764ab0e 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/Place.cpp
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/Place.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -11,8 +11,11 @@
#include "commands/SetElevatorSetpoint.h"
#include "commands/SetWristSetpoint.h"
-Place::Place() : frc::CommandGroup("Place") {
- AddSequential(new SetElevatorSetpoint(0.25));
- AddSequential(new SetWristSetpoint(0));
- AddSequential(new OpenClaw());
+Place::Place(Claw* claw, Wrist* wrist, Elevator* elevator) {
+ SetName("Place");
+ // clang-format off
+ AddCommands(SetElevatorSetpoint(0.25, elevator),
+ SetWristSetpoint(0, wrist),
+ OpenClaw(claw));
+ // clang-format on
}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/PrepareToPickup.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/PrepareToPickup.cpp
index af8f0c7..f1399d0 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/PrepareToPickup.cpp
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/PrepareToPickup.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,12 +7,15 @@
#include "commands/PrepareToPickup.h"
+#include <frc2/command/ParallelCommandGroup.h>
+
#include "commands/OpenClaw.h"
#include "commands/SetElevatorSetpoint.h"
#include "commands/SetWristSetpoint.h"
-PrepareToPickup::PrepareToPickup() : frc::CommandGroup("PrepareToPickup") {
- AddParallel(new OpenClaw());
- AddParallel(new SetWristSetpoint(0));
- AddSequential(new SetElevatorSetpoint(0));
+PrepareToPickup::PrepareToPickup(Claw* claw, Wrist* wrist, Elevator* elevator) {
+ SetName("PrepareToPickup");
+ AddCommands(OpenClaw(claw),
+ frc2::ParallelCommandGroup(SetElevatorSetpoint(0, elevator),
+ SetWristSetpoint(0, wrist)));
}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetDistanceToBox.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetDistanceToBox.cpp
index a0921e8..5da3045 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetDistanceToBox.cpp
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetDistanceToBox.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,38 +7,25 @@
#include "commands/SetDistanceToBox.h"
-#include <frc/PIDController.h>
+#include <frc/controller/PIDController.h>
#include "Robot.h"
-SetDistanceToBox::SetDistanceToBox(double distance) {
- Requires(&Robot::drivetrain);
- m_pid.SetAbsoluteTolerance(0.01);
- m_pid.SetSetpoint(distance);
+SetDistanceToBox::SetDistanceToBox(double distance, DriveTrain* drivetrain)
+ : frc2::CommandHelper<frc2::PIDCommand, SetDistanceToBox>(
+ frc2::PIDController(-2, 0, 0),
+ [this]() { return m_drivetrain->GetDistanceToObstacle(); }, distance,
+ [this](double output) { m_drivetrain->Drive(output, output); },
+ {drivetrain}),
+ m_drivetrain(drivetrain) {
+ m_controller.SetTolerance(0.01);
}
// Called just before this Command runs the first time
void SetDistanceToBox::Initialize() {
// Get everything in a safe starting state.
- Robot::drivetrain.Reset();
- m_pid.Reset();
- m_pid.Enable();
+ m_drivetrain->Reset();
+ frc2::PIDCommand::Initialize();
}
-// Make this return true when this Command no longer needs to run execute()
-bool SetDistanceToBox::IsFinished() { return m_pid.OnTarget(); }
-
-// Called once after isFinished returns true
-void SetDistanceToBox::End() {
- // Stop PID and the wheels
- m_pid.Disable();
- Robot::drivetrain.Drive(0, 0);
-}
-
-double SetDistanceToBox::SetDistanceToBoxPIDSource::PIDGet() {
- return Robot::drivetrain.GetDistanceToObstacle();
-}
-
-void SetDistanceToBox::SetDistanceToBoxPIDOutput::PIDWrite(double d) {
- Robot::drivetrain.Drive(d, d);
-}
+bool SetDistanceToBox::IsFinished() { return m_controller.AtSetpoint(); }
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetElevatorSetpoint.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetElevatorSetpoint.cpp
index afe85e5..161c1ee 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetElevatorSetpoint.cpp
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetElevatorSetpoint.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -11,17 +11,19 @@
#include "Robot.h"
-SetElevatorSetpoint::SetElevatorSetpoint(double setpoint)
- : frc::Command("SetElevatorSetpoint") {
- m_setpoint = setpoint;
- Requires(&Robot::elevator);
+SetElevatorSetpoint::SetElevatorSetpoint(double setpoint, Elevator* elevator)
+ : m_setpoint(setpoint), m_elevator(elevator) {
+ SetName("SetElevatorSetpoint");
+ AddRequirements({m_elevator});
}
// Called just before this Command runs the first time
void SetElevatorSetpoint::Initialize() {
- Robot::elevator.SetSetpoint(m_setpoint);
- Robot::elevator.Enable();
+ m_elevator->SetSetpoint(m_setpoint);
+ m_elevator->Enable();
}
// Make this return true when this Command no longer needs to run execute()
-bool SetElevatorSetpoint::IsFinished() { return Robot::elevator.OnTarget(); }
+bool SetElevatorSetpoint::IsFinished() {
+ return m_elevator->GetController().AtSetpoint();
+}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetWristSetpoint.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetWristSetpoint.cpp
index e9dc2af..50c9d0a 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetWristSetpoint.cpp
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetWristSetpoint.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,17 +9,19 @@
#include "Robot.h"
-SetWristSetpoint::SetWristSetpoint(double setpoint)
- : frc::Command("SetWristSetpoint") {
- m_setpoint = setpoint;
- Requires(&Robot::wrist);
+SetWristSetpoint::SetWristSetpoint(double setpoint, Wrist* wrist)
+ : m_setpoint(setpoint), m_wrist(wrist) {
+ SetName("SetWristSetpoint");
+ AddRequirements({m_wrist});
}
// Called just before this Command runs the first time
void SetWristSetpoint::Initialize() {
- Robot::wrist.SetSetpoint(m_setpoint);
- Robot::wrist.Enable();
+ m_wrist->SetSetpoint(m_setpoint);
+ m_wrist->Enable();
}
// Make this return true when this Command no longer needs to run execute()
-bool SetWristSetpoint::IsFinished() { return Robot::wrist.OnTarget(); }
+bool SetWristSetpoint::IsFinished() {
+ return m_wrist->GetController().AtSetpoint();
+}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/TankDrive.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/TankDrive.cpp
new file mode 100644
index 0000000..58b1cfe
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/TankDrive.cpp
@@ -0,0 +1,26 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "commands/TankDrive.h"
+
+#include "Robot.h"
+
+TankDrive::TankDrive(std::function<double()> left,
+ std::function<double()> right, DriveTrain* drivetrain)
+ : m_left(left), m_right(right), m_drivetrain(drivetrain) {
+ SetName("TankDrive");
+ AddRequirements({m_drivetrain});
+}
+
+// Called repeatedly when this Command is scheduled to run
+void TankDrive::Execute() { m_drivetrain->Drive(m_left(), m_right()); }
+
+// Make this return true when this Command no longer needs to run execute()
+bool TankDrive::IsFinished() { return false; }
+
+// Called once after isFinished returns true
+void TankDrive::End(bool) { m_drivetrain->Drive(0, 0); }
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/TankDriveWithJoystick.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/TankDriveWithJoystick.cpp
deleted file mode 100644
index a1be9a3..0000000
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/TankDriveWithJoystick.cpp
+++ /dev/null
@@ -1,27 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#include "commands/TankDriveWithJoystick.h"
-
-#include "Robot.h"
-
-TankDriveWithJoystick::TankDriveWithJoystick()
- : frc::Command("TankDriveWithJoystick") {
- Requires(&Robot::drivetrain);
-}
-
-// Called repeatedly when this Command is scheduled to run
-void TankDriveWithJoystick::Execute() {
- auto& joystick = Robot::oi.GetJoystick();
- Robot::drivetrain.Drive(-joystick.GetY(), -joystick.GetRawAxis(4));
-}
-
-// Make this return true when this Command no longer needs to run execute()
-bool TankDriveWithJoystick::IsFinished() { return false; }
-
-// Called once after isFinished returns true
-void TankDriveWithJoystick::End() { Robot::drivetrain.Drive(0, 0); }
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Claw.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Claw.cpp
index 8bad17f..7f2a60f 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Claw.cpp
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Claw.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,13 +7,12 @@
#include "subsystems/Claw.h"
-Claw::Claw() : frc::Subsystem("Claw") {
+Claw::Claw() {
// Let's show everything on the LiveWindow
- AddChild("Motor", m_motor);
+ SetName("Claw");
+ AddChild("Motor", &m_motor);
}
-void Claw::InitDefaultCommand() {}
-
void Claw::Open() { m_motor.Set(-1); }
void Claw::Close() { m_motor.Set(1); }
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/DriveTrain.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/DriveTrain.cpp
index 4110485..8eec077 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/DriveTrain.cpp
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/DriveTrain.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,9 +10,7 @@
#include <frc/Joystick.h>
#include <frc/smartdashboard/SmartDashboard.h>
-#include "commands/TankDriveWithJoystick.h"
-
-DriveTrain::DriveTrain() : frc::Subsystem("DriveTrain") {
+DriveTrain::DriveTrain() {
// Encoders may measure differently in the real world and in
// simulation. In this example the robot moves 0.042 barleycorns
// per tick in the real world, but the simulated encoders
@@ -28,20 +26,16 @@
m_rightEncoder.SetDistancePerPulse(static_cast<double>(4.0 / 12.0 * M_PI) /
360.0);
#endif
-
+ SetName("DriveTrain");
// Let's show everything on the LiveWindow
- // AddChild("Front_Left Motor", m_frontLeft);
- // AddChild("Rear Left Motor", m_rearLeft);
- // AddChild("Front Right Motor", m_frontRight);
- // AddChild("Rear Right Motor", m_rearRight);
- AddChild("Left Encoder", m_leftEncoder);
- AddChild("Right Encoder", m_rightEncoder);
- AddChild("Rangefinder", m_rangefinder);
- AddChild("Gyro", m_gyro);
-}
-
-void DriveTrain::InitDefaultCommand() {
- SetDefaultCommand(new TankDriveWithJoystick());
+ AddChild("Front_Left Motor", &m_frontLeft);
+ AddChild("Rear Left Motor", &m_rearLeft);
+ AddChild("Front Right Motor", &m_frontRight);
+ AddChild("Rear Right Motor", &m_rearRight);
+ AddChild("Left Encoder", &m_leftEncoder);
+ AddChild("Right Encoder", &m_rightEncoder);
+ AddChild("Rangefinder", &m_rangefinder);
+ AddChild("Gyro", &m_gyro);
}
void DriveTrain::Log() {
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Elevator.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Elevator.cpp
index 5318481..a34c395 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Elevator.cpp
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Elevator.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,26 +7,29 @@
#include "subsystems/Elevator.h"
+#include <frc/controller/PIDController.h>
#include <frc/livewindow/LiveWindow.h>
#include <frc/smartdashboard/SmartDashboard.h>
-Elevator::Elevator() : frc::PIDSubsystem("Elevator", kP_real, kI_real, 0.0) {
+Elevator::Elevator()
+ : frc2::PIDSubsystem(frc2::PIDController(kP_real, kI_real, 0)) {
#ifdef SIMULATION // Check for simulation and update PID values
GetPIDController()->SetPID(kP_simulation, kI_simulation, 0, 0);
#endif
- SetAbsoluteTolerance(0.005);
+ m_controller.SetTolerance(0.005);
+ SetName("Elevator");
// Let's show everything on the LiveWindow
- AddChild("Motor", m_motor);
+ AddChild("Motor", &m_motor);
AddChild("Pot", &m_pot);
}
-void Elevator::InitDefaultCommand() {}
+void Elevator::Log() { frc::SmartDashboard::PutData("Wrist Pot", &m_pot); }
-void Elevator::Log() {
- // frc::SmartDashboard::PutData("Wrist Pot", &m_pot);
-}
+double Elevator::GetMeasurement() { return m_pot.Get(); }
-double Elevator::ReturnPIDInput() { return m_pot.Get(); }
+void Elevator::UseOutput(double d) { m_motor.Set(d); }
-void Elevator::UsePIDOutput(double d) { m_motor.Set(d); }
+double Elevator::GetSetpoint() { return m_setpoint; }
+
+void Elevator::SetSetpoint(double setpoint) { m_setpoint = setpoint; }
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Wrist.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Wrist.cpp
index 9bab812..7f2dedc 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Wrist.cpp
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Wrist.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,25 +7,29 @@
#include "subsystems/Wrist.h"
+#include <frc/controller/PIDController.h>
#include <frc/smartdashboard/SmartDashboard.h>
-Wrist::Wrist() : frc::PIDSubsystem("Wrist", kP_real, 0.0, 0.0) {
+Wrist::Wrist() : frc2::PIDSubsystem(frc2::PIDController(kP_real, 0, 0)) {
#ifdef SIMULATION // Check for simulation and update PID values
GetPIDController()->SetPID(kP_simulation, 0, 0, 0);
#endif
- SetAbsoluteTolerance(2.5);
+ m_controller.SetTolerance(2.5);
+ SetName("Wrist");
// Let's show everything on the LiveWindow
- AddChild("Motor", m_motor);
- AddChild("Pot", m_pot);
+ AddChild("Motor", &m_motor);
+ AddChild("Pot", &m_pot);
}
-void Wrist::InitDefaultCommand() {}
-
void Wrist::Log() {
// frc::SmartDashboard::PutData("Wrist Angle", &m_pot);
}
-double Wrist::ReturnPIDInput() { return m_pot.Get(); }
+double Wrist::GetSetpoint() { return m_setpoint; }
-void Wrist::UsePIDOutput(double d) { m_motor.Set(d); }
+void Wrist::SetSetpoint(double setpoint) { m_setpoint = setpoint; }
+
+double Wrist::GetMeasurement() { return m_pot.Get(); }
+
+void Wrist::UseOutput(double d) { m_motor.Set(d); }
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/OI.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/OI.h
deleted file mode 100644
index 77e50b9..0000000
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/OI.h
+++ /dev/null
@@ -1,30 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include <frc/Joystick.h>
-#include <frc/buttons/JoystickButton.h>
-
-class OI {
- public:
- OI();
- frc::Joystick& GetJoystick();
-
- private:
- frc::Joystick m_joy{0};
-
- // Create some buttons
- frc::JoystickButton m_dUp{&m_joy, 5};
- frc::JoystickButton m_dRight{&m_joy, 6};
- frc::JoystickButton m_dDown{&m_joy, 7};
- frc::JoystickButton m_dLeft{&m_joy, 8};
- frc::JoystickButton m_l2{&m_joy, 9};
- frc::JoystickButton m_r2{&m_joy, 10};
- frc::JoystickButton m_l1{&m_joy, 11};
- frc::JoystickButton m_r1{&m_joy, 12};
-};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/Robot.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/Robot.h
index 015bbc0..fa173d3 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/Robot.h
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/Robot.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,34 +8,26 @@
#pragma once
#include <frc/TimedRobot.h>
-#include <frc/commands/Command.h>
-#include <frc/commands/Scheduler.h>
-#include <frc/livewindow/LiveWindow.h>
-#include <frc/smartdashboard/SmartDashboard.h>
+#include <frc2/command/Command.h>
-#include "OI.h"
-#include "commands/Autonomous.h"
-#include "subsystems/Claw.h"
-#include "subsystems/DriveTrain.h"
-#include "subsystems/Elevator.h"
-#include "subsystems/Wrist.h"
+#include "RobotContainer.h"
class Robot : public frc::TimedRobot {
public:
- static DriveTrain drivetrain;
- static Elevator elevator;
- static Wrist wrist;
- static Claw claw;
- static OI oi;
-
- private:
- Autonomous m_autonomousCommand;
- frc::LiveWindow& m_lw = *frc::LiveWindow::GetInstance();
-
void RobotInit() override;
+ void RobotPeriodic() override;
+ void DisabledInit() override;
+ void DisabledPeriodic() override;
void AutonomousInit() override;
void AutonomousPeriodic() override;
void TeleopInit() override;
void TeleopPeriodic() override;
void TestPeriodic() override;
+
+ private:
+ // Have it null by default so that if testing teleop it
+ // doesn't have undefined behavior and potentially crash.
+ frc2::Command* m_autonomousCommand = nullptr;
+
+ RobotContainer m_container;
};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/RobotContainer.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/RobotContainer.h
new file mode 100644
index 0000000..50fc7d6
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/RobotContainer.h
@@ -0,0 +1,44 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc/Joystick.h>
+#include <frc2/command/Command.h>
+
+#include "commands/Autonomous.h"
+#include "subsystems/Claw.h"
+#include "subsystems/DriveTrain.h"
+#include "subsystems/Elevator.h"
+#include "subsystems/Wrist.h"
+
+/**
+ * This class is where the bulk of the robot should be declared. Since
+ * Command-based is a "declarative" paradigm, very little robot logic should
+ * actually be handled in the {@link Robot} periodic methods (other than the
+ * scheduler calls). Instead, the structure of the robot (including subsystems,
+ * commands, and button mappings) should be declared here.
+ */
+class RobotContainer {
+ public:
+ RobotContainer();
+
+ frc2::Command* GetAutonomousCommand();
+
+ private:
+ // The robot's subsystems and commands are defined here...
+ frc::Joystick m_joy{0};
+
+ Claw m_claw;
+ Wrist m_wrist;
+ Elevator m_elevator;
+ DriveTrain m_drivetrain;
+
+ Autonomous m_autonomousCommand;
+
+ void ConfigureButtonBindings();
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Autonomous.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Autonomous.h
index e90098e..c0d429c 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Autonomous.h
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Autonomous.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,12 +7,20 @@
#pragma once
-#include <frc/commands/CommandGroup.h>
+#include <frc2/command/CommandHelper.h>
+#include <frc2/command/SequentialCommandGroup.h>
+
+#include "subsystems/Claw.h"
+#include "subsystems/DriveTrain.h"
+#include "subsystems/Elevator.h"
+#include "subsystems/Wrist.h"
/**
* The main autonomous command to pickup and deliver the soda to the box.
*/
-class Autonomous : public frc::CommandGroup {
+class Autonomous
+ : public frc2::CommandHelper<frc2::SequentialCommandGroup, Autonomous> {
public:
- Autonomous();
+ Autonomous(Claw* claw, Wrist* wrist, Elevator* elevator,
+ DriveTrain* drivetrain);
};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/CloseClaw.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/CloseClaw.h
index bda8a5f..a5e6c0b 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/CloseClaw.h
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/CloseClaw.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,16 +7,22 @@
#pragma once
-#include <frc/commands/Command.h>
+#include <frc2/command/CommandBase.h>
+#include <frc2/command/CommandHelper.h>
+
+#include "subsystems/Claw.h"
/**
* Opens the claw for one second. Real robots should use sensors, stalling
* motors is BAD!
*/
-class CloseClaw : public frc::Command {
+class CloseClaw : public frc2::CommandHelper<frc2::CommandBase, CloseClaw> {
public:
- CloseClaw();
+ explicit CloseClaw(Claw* claw);
void Initialize() override;
bool IsFinished() override;
- void End() override;
+ void End(bool interrupted) override;
+
+ private:
+ Claw* m_claw;
};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/DriveStraight.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/DriveStraight.h
index f03e46c..1955169 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/DriveStraight.h
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/DriveStraight.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,10 +7,10 @@
#pragma once
-#include <frc/PIDController.h>
-#include <frc/PIDOutput.h>
-#include <frc/PIDSource.h>
-#include <frc/commands/Command.h>
+#include <frc2/command/CommandHelper.h>
+#include <frc2/command/PIDCommand.h>
+
+#include "subsystems/DriveTrain.h"
/**
* Drive the given distance straight (negative values go backwards).
@@ -18,27 +18,13 @@
* enabled while this command is running. The input is the averaged
* values of the left and right encoders.
*/
-class DriveStraight : public frc::Command {
+class DriveStraight
+ : public frc2::CommandHelper<frc2::PIDCommand, DriveStraight> {
public:
- explicit DriveStraight(double distance);
+ explicit DriveStraight(double distance, DriveTrain* drivetrain);
void Initialize() override;
bool IsFinished() override;
- void End() override;
-
- class DriveStraightPIDSource : public frc::PIDSource {
- public:
- virtual ~DriveStraightPIDSource() = default;
- double PIDGet() override;
- };
-
- class DriveStraightPIDOutput : public frc::PIDOutput {
- public:
- virtual ~DriveStraightPIDOutput() = default;
- void PIDWrite(double d) override;
- };
private:
- DriveStraightPIDSource m_source;
- DriveStraightPIDOutput m_output;
- frc::PIDController m_pid{4, 0, 0, &m_source, &m_output};
+ DriveTrain* m_drivetrain;
};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/OpenClaw.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/OpenClaw.h
index c2a7cfb..486f86b 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/OpenClaw.h
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/OpenClaw.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,16 +7,21 @@
#pragma once
-#include <frc/commands/Command.h>
+#include <frc2/command/CommandHelper.h>
+#include <frc2/command/WaitCommand.h>
+
+#include "subsystems/Claw.h"
/**
* Opens the claw for one second. Real robots should use sensors, stalling
* motors is BAD!
*/
-class OpenClaw : public frc::Command {
+class OpenClaw : public frc2::CommandHelper<frc2::WaitCommand, OpenClaw> {
public:
- OpenClaw();
+ explicit OpenClaw(Claw* claw);
void Initialize() override;
- bool IsFinished() override;
- void End() override;
+ void End(bool interrupted) override;
+
+ private:
+ Claw* m_claw;
};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Pickup.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Pickup.h
index ed68990..4d74588 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Pickup.h
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Pickup.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,13 +7,19 @@
#pragma once
-#include <frc/commands/CommandGroup.h>
+#include <frc2/command/CommandHelper.h>
+#include <frc2/command/SequentialCommandGroup.h>
+
+#include "subsystems/Claw.h"
+#include "subsystems/Elevator.h"
+#include "subsystems/Wrist.h"
/**
* Pickup a soda can (if one is between the open claws) and
* get it in a safe state to drive around.
*/
-class Pickup : public frc::CommandGroup {
+class Pickup
+ : public frc2::CommandHelper<frc2::SequentialCommandGroup, Pickup> {
public:
- Pickup();
+ Pickup(Claw* claw, Wrist* wrist, Elevator* elevator);
};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Place.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Place.h
index 7695393..85945c3 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Place.h
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/Place.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,12 +7,17 @@
#pragma once
-#include <frc/commands/CommandGroup.h>
+#include <frc2/command/CommandHelper.h>
+#include <frc2/command/SequentialCommandGroup.h>
+
+#include "subsystems/Claw.h"
+#include "subsystems/Elevator.h"
+#include "subsystems/Wrist.h"
/**
* Place a held soda can onto the platform.
*/
-class Place : public frc::CommandGroup {
+class Place : public frc2::CommandHelper<frc2::SequentialCommandGroup, Place> {
public:
- Place();
+ Place(Claw* claw, Wrist* wrist, Elevator* elevator);
};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/PrepareToPickup.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/PrepareToPickup.h
index c58035d..b2aa4d1 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/PrepareToPickup.h
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/PrepareToPickup.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,12 +7,18 @@
#pragma once
-#include <frc/commands/CommandGroup.h>
+#include <frc2/command/CommandHelper.h>
+#include <frc2/command/SequentialCommandGroup.h>
+
+#include "subsystems/Claw.h"
+#include "subsystems/Elevator.h"
+#include "subsystems/Wrist.h"
/**
* Make sure the robot is in a state to pickup soda cans.
*/
-class PrepareToPickup : public frc::CommandGroup {
+class PrepareToPickup : public frc2::CommandHelper<frc2::SequentialCommandGroup,
+ PrepareToPickup> {
public:
- PrepareToPickup();
+ PrepareToPickup(Claw* claw, Wrist* wrist, Elevator* elevator);
};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetDistanceToBox.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetDistanceToBox.h
index 884a09b..b5b7b13 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetDistanceToBox.h
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetDistanceToBox.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,10 +7,10 @@
#pragma once
-#include <frc/PIDController.h>
-#include <frc/PIDOutput.h>
-#include <frc/PIDSource.h>
-#include <frc/commands/Command.h>
+#include <frc2/command/CommandHelper.h>
+#include <frc2/command/PIDCommand.h>
+
+#include "subsystems/DriveTrain.h"
/**
* Drive until the robot is the given distance away from the box. Uses a local
@@ -18,27 +18,13 @@
* command is running. The input is the averaged values of the left and right
* encoders.
*/
-class SetDistanceToBox : public frc::Command {
+class SetDistanceToBox
+ : public frc2::CommandHelper<frc2::PIDCommand, SetDistanceToBox> {
public:
- explicit SetDistanceToBox(double distance);
+ explicit SetDistanceToBox(double distance, DriveTrain* drivetrain);
void Initialize() override;
bool IsFinished() override;
- void End() override;
-
- class SetDistanceToBoxPIDSource : public frc::PIDSource {
- public:
- virtual ~SetDistanceToBoxPIDSource() = default;
- double PIDGet() override;
- };
-
- class SetDistanceToBoxPIDOutput : public frc::PIDOutput {
- public:
- virtual ~SetDistanceToBoxPIDOutput() = default;
- void PIDWrite(double d) override;
- };
private:
- SetDistanceToBoxPIDSource m_source;
- SetDistanceToBoxPIDOutput m_output;
- frc::PIDController m_pid{-2, 0, 0, &m_source, &m_output};
+ DriveTrain* m_drivetrain;
};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetElevatorSetpoint.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetElevatorSetpoint.h
index 388ac0e..c3bcf6f 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetElevatorSetpoint.h
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetElevatorSetpoint.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,7 +7,10 @@
#pragma once
-#include <frc/commands/Command.h>
+#include <frc2/command/CommandBase.h>
+#include <frc2/command/CommandHelper.h>
+
+#include "subsystems/Elevator.h"
/**
* Move the elevator to a given location. This command finishes when it is
@@ -16,12 +19,14 @@
* Other
* commands using the elevator should make sure they disable PID!
*/
-class SetElevatorSetpoint : public frc::Command {
+class SetElevatorSetpoint
+ : public frc2::CommandHelper<frc2::CommandBase, SetElevatorSetpoint> {
public:
- explicit SetElevatorSetpoint(double setpoint);
+ explicit SetElevatorSetpoint(double setpoint, Elevator* elevator);
void Initialize() override;
bool IsFinished() override;
private:
double m_setpoint;
+ Elevator* m_elevator;
};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetWristSetpoint.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetWristSetpoint.h
index effb173..96c01fa 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetWristSetpoint.h
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetWristSetpoint.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,19 +7,24 @@
#pragma once
-#include <frc/commands/Command.h>
+#include <frc2/command/CommandBase.h>
+#include <frc2/command/CommandHelper.h>
+
+#include "subsystems/Wrist.h"
/**
* Move the wrist to a given angle. This command finishes when it is within
* the tolerance, but leaves the PID loop running to maintain the position.
* Other commands using the wrist should make sure they disable PID!
*/
-class SetWristSetpoint : public frc::Command {
+class SetWristSetpoint
+ : public frc2::CommandHelper<frc2::CommandBase, SetWristSetpoint> {
public:
- explicit SetWristSetpoint(double setpoint);
+ explicit SetWristSetpoint(double setpoint, Wrist* wrist);
void Initialize() override;
bool IsFinished() override;
private:
double m_setpoint;
+ Wrist* m_wrist;
};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/TankDrive.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/TankDrive.h
new file mode 100644
index 0000000..bdfd592
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/TankDrive.h
@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc2/command/CommandBase.h>
+#include <frc2/command/CommandHelper.h>
+
+#include "subsystems/DriveTrain.h"
+
+/**
+ * Have the robot drive tank style using the PS3 Joystick until interrupted.
+ */
+class TankDrive : public frc2::CommandHelper<frc2::CommandBase, TankDrive> {
+ public:
+ TankDrive(std::function<double()> left, std::function<double()> right,
+ DriveTrain* drivetrain);
+ void Execute() override;
+ bool IsFinished() override;
+ void End(bool interrupted) override;
+
+ private:
+ std::function<double()> m_left;
+ std::function<double()> m_right;
+ DriveTrain* m_drivetrain;
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/TankDriveWithJoystick.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/TankDriveWithJoystick.h
deleted file mode 100644
index 9337025..0000000
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/TankDriveWithJoystick.h
+++ /dev/null
@@ -1,21 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include <frc/commands/Command.h>
-
-/**
- * Have the robot drive tank style using the PS3 Joystick until interrupted.
- */
-class TankDriveWithJoystick : public frc::Command {
- public:
- TankDriveWithJoystick();
- void Execute() override;
- bool IsFinished() override;
- void End() override;
-};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Claw.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Claw.h
index 96a436a..063ca43 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Claw.h
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Claw.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,19 +9,17 @@
#include <frc/DigitalInput.h>
#include <frc/PWMVictorSPX.h>
-#include <frc/commands/Subsystem.h>
+#include <frc2/command/SubsystemBase.h>
/**
* The claw subsystem is a simple system with a motor for opening and closing.
* If using stronger motors, you should probably use a sensor so that the
* motors don't stall.
*/
-class Claw : public frc::Subsystem {
+class Claw : public frc2::SubsystemBase {
public:
Claw();
- void InitDefaultCommand() override;
-
/**
* Set the claw motor to move in the open direction.
*/
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/DriveTrain.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/DriveTrain.h
index dce4d9c..a80429d 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/DriveTrain.h
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/DriveTrain.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,8 +12,8 @@
#include <frc/Encoder.h>
#include <frc/PWMVictorSPX.h>
#include <frc/SpeedControllerGroup.h>
-#include <frc/commands/Subsystem.h>
#include <frc/drive/DifferentialDrive.h>
+#include <frc2/command/SubsystemBase.h>
namespace frc {
class Joystick;
@@ -24,17 +24,11 @@
* the robots chassis. These include four drive motors, a left and right encoder
* and a gyro.
*/
-class DriveTrain : public frc::Subsystem {
+class DriveTrain : public frc2::SubsystemBase {
public:
DriveTrain();
/**
- * When no other command is running let the operator drive around
- * using the PS3 joystick.
- */
- void InitDefaultCommand() override;
-
- /**
* The log method puts interesting information to the SmartDashboard.
*/
void Log();
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Elevator.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Elevator.h
index 53f6057..a2c1e87 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Elevator.h
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Elevator.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,7 +9,7 @@
#include <frc/AnalogPotentiometer.h>
#include <frc/PWMVictorSPX.h>
-#include <frc/commands/PIDSubsystem.h>
+#include <frc2/command/PIDSubsystem.h>
/**
* The elevator subsystem uses PID to go to a given height. Unfortunately, in
@@ -17,12 +17,10 @@
* state PID values for simulation are different than in the real world do to
* minor differences.
*/
-class Elevator : public frc::PIDSubsystem {
+class Elevator : public frc2::PIDSubsystem {
public:
Elevator();
- void InitDefaultCommand() override;
-
/**
* The log method puts interesting information to the SmartDashboard.
*/
@@ -32,17 +30,25 @@
* Use the potentiometer as the PID sensor. This method is automatically
* called by the subsystem.
*/
- double ReturnPIDInput() override;
+ double GetMeasurement() override;
/**
* Use the motor as the PID output. This method is automatically called
* by
* the subsystem.
*/
- void UsePIDOutput(double d) override;
+ void UseOutput(double d) override;
+
+ double GetSetpoint() override;
+
+ /**
+ * Sets the setpoint for the subsystem.
+ */
+ void SetSetpoint(double setpoint);
private:
frc::PWMVictorSPX m_motor{5};
+ double m_setpoint = 0;
// Conversion value of potentiometer varies between the real world and
// simulation
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Wrist.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Wrist.h
index 26fc74b..e3ecc69 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Wrist.h
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Wrist.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,18 +9,16 @@
#include <frc/AnalogPotentiometer.h>
#include <frc/PWMVictorSPX.h>
-#include <frc/commands/PIDSubsystem.h>
+#include <frc2/command/PIDSubsystem.h>
/**
* The wrist subsystem is like the elevator, but with a rotational joint instead
* of a linear joint.
*/
-class Wrist : public frc::PIDSubsystem {
+class Wrist : public frc2::PIDSubsystem {
public:
Wrist();
- void InitDefaultCommand() override;
-
/**
* The log method puts interesting information to the SmartDashboard.
*/
@@ -30,17 +28,25 @@
* Use the potentiometer as the PID sensor. This method is automatically
* called by the subsystem.
*/
- double ReturnPIDInput() override;
+ double GetMeasurement() override;
/**
* Use the motor as the PID output. This method is automatically called
* by
* the subsystem.
*/
- void UsePIDOutput(double d) override;
+ void UseOutput(double d) override;
+
+ double GetSetpoint() override;
+
+ /**
+ * Sets the setpoint for the subsystem.
+ */
+ void SetSetpoint(double setpoint);
private:
frc::PWMVictorSPX m_motor{6};
+ double m_setpoint = 0;
// Conversion value of potentiometer varies between the real world and
// simulation
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/Robot.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/Robot.cpp
new file mode 100644
index 0000000..cd19aeb
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/Robot.cpp
@@ -0,0 +1,71 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "Robot.h"
+
+#include <frc/smartdashboard/SmartDashboard.h>
+#include <frc2/command/CommandScheduler.h>
+
+void Robot::RobotInit() {}
+
+/**
+ * This function is called every robot packet, no matter the mode. Use
+ * this for items like diagnostics that you want to run during disabled,
+ * autonomous, teleoperated and test.
+ *
+ * <p> This runs after the mode specific periodic functions, but before
+ * LiveWindow and SmartDashboard integrated updating.
+ */
+void Robot::RobotPeriodic() { frc2::CommandScheduler::GetInstance().Run(); }
+
+/**
+ * This function is called once each time the robot enters Disabled mode. You
+ * can use it to reset any subsystem information you want to clear when the
+ * robot is disabled.
+ */
+void Robot::DisabledInit() {}
+
+void Robot::DisabledPeriodic() {}
+
+/**
+ * This autonomous runs the autonomous command selected by your {@link
+ * RobotContainer} class.
+ */
+void Robot::AutonomousInit() {
+ m_autonomousCommand = m_container.GetAutonomousCommand();
+
+ if (m_autonomousCommand != nullptr) {
+ m_autonomousCommand->Schedule();
+ }
+}
+
+void Robot::AutonomousPeriodic() {}
+
+void Robot::TeleopInit() {
+ // This makes sure that the autonomous stops running when
+ // teleop starts running. If you want the autonomous to
+ // continue until interrupted by another command, remove
+ // this line or comment it out.
+ if (m_autonomousCommand != nullptr) {
+ m_autonomousCommand->Cancel();
+ m_autonomousCommand = nullptr;
+ }
+}
+
+/**
+ * This function is called periodically during operator control.
+ */
+void Robot::TeleopPeriodic() {}
+
+/**
+ * This function is called periodically during test mode.
+ */
+void Robot::TestPeriodic() {}
+
+#ifndef RUNNING_FRC_TESTS
+int main() { return frc::StartRobot<Robot>(); }
+#endif
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/RobotContainer.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/RobotContainer.cpp
new file mode 100644
index 0000000..aa1117a
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/RobotContainer.cpp
@@ -0,0 +1,47 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "RobotContainer.h"
+
+#include <frc/shuffleboard/Shuffleboard.h>
+#include <frc2/command/button/JoystickButton.h>
+
+RobotContainer::RobotContainer() {
+ // Initialize all of your commands and subsystems here
+
+ // Configure the button bindings
+ ConfigureButtonBindings();
+
+ // Set up default drive command
+ m_drive.SetDefaultCommand(frc2::RunCommand(
+ [this] {
+ m_drive.ArcadeDrive(
+ m_driverController.GetY(frc::GenericHID::kLeftHand),
+ m_driverController.GetX(frc::GenericHID::kRightHand));
+ },
+ {&m_drive}));
+}
+
+void RobotContainer::ConfigureButtonBindings() {
+ // Configure your button bindings here
+
+ // Stabilize robot to drive straight with gyro when left bumper is held
+ frc2::JoystickButton(&m_driverController, 5).WhenHeld(&m_stabilizeDriving);
+
+ // Turn to 90 degrees when the 'X' button is pressed
+ frc2::JoystickButton(&m_driverController, 3).WhenPressed(&m_turnTo90);
+
+ // While holding the shoulder button, drive at half speed
+ frc2::JoystickButton(&m_driverController, 6)
+ .WhenPressed(&m_driveHalfSpeed)
+ .WhenReleased(&m_driveFullSpeed);
+}
+
+frc2::Command* RobotContainer::GetAutonomousCommand() {
+ // no auto
+ return nullptr;
+}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/commands/TurnToAngle.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/commands/TurnToAngle.cpp
new file mode 100644
index 0000000..cadb7f9
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/commands/TurnToAngle.cpp
@@ -0,0 +1,34 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "commands/TurnToAngle.h"
+
+#include <frc/controller/PIDController.h>
+
+using namespace DriveConstants;
+
+TurnToAngle::TurnToAngle(double targetAngleDegrees, DriveSubsystem* drive)
+ : CommandHelper(frc2::PIDController(kTurnP, kTurnI, kTurnD),
+ // Close loop on heading
+ [drive] { return drive->GetHeading(); },
+ // Set reference to target
+ targetAngleDegrees,
+ // Pipe output to turn robot
+ [drive](double output) { drive->ArcadeDrive(0, output); },
+ // Require the drive
+ {drive}) {
+ // Set the controller to be continuous (because it is an angle controller)
+ m_controller.EnableContinuousInput(-180, 180);
+ // Set the controller tolerance - the delta tolerance ensures the robot is
+ // stationary at the setpoint before it is considered as having reached the
+ // reference
+ m_controller.SetTolerance(kTurnToleranceDeg, kTurnRateToleranceDegPerS);
+
+ AddRequirements({drive});
+}
+
+bool TurnToAngle::IsFinished() { return m_controller.AtSetpoint(); }
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/subsystems/DriveSubsystem.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/subsystems/DriveSubsystem.cpp
new file mode 100644
index 0000000..7e5ef96
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/subsystems/DriveSubsystem.cpp
@@ -0,0 +1,55 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "subsystems/DriveSubsystem.h"
+
+using namespace DriveConstants;
+
+DriveSubsystem::DriveSubsystem()
+ : m_left1{kLeftMotor1Port},
+ m_left2{kLeftMotor2Port},
+ m_right1{kRightMotor1Port},
+ m_right2{kRightMotor2Port},
+ m_leftEncoder{kLeftEncoderPorts[0], kLeftEncoderPorts[1]},
+ m_rightEncoder{kRightEncoderPorts[0], kRightEncoderPorts[1]} {
+ // Set the distance per pulse for the encoders
+ m_leftEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
+ m_rightEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
+}
+
+void DriveSubsystem::Periodic() {
+ // Implementation of subsystem periodic method goes here.
+}
+
+void DriveSubsystem::ArcadeDrive(double fwd, double rot) {
+ m_drive.ArcadeDrive(fwd, rot);
+}
+
+void DriveSubsystem::ResetEncoders() {
+ m_leftEncoder.Reset();
+ m_rightEncoder.Reset();
+}
+
+double DriveSubsystem::GetAverageEncoderDistance() {
+ return (m_leftEncoder.GetDistance() + m_rightEncoder.GetDistance()) / 2.;
+}
+
+frc::Encoder& DriveSubsystem::GetLeftEncoder() { return m_leftEncoder; }
+
+frc::Encoder& DriveSubsystem::GetRightEncoder() { return m_rightEncoder; }
+
+void DriveSubsystem::SetMaxOutput(double maxOutput) {
+ m_drive.SetMaxOutput(maxOutput);
+}
+
+double DriveSubsystem::GetHeading() {
+ return std::remainder(m_gyro.GetAngle(), 360) * (kGyroReversed ? -1. : 1.);
+}
+
+double DriveSubsystem::GetTurnRate() {
+ return m_gyro.GetRate() * (kGyroReversed ? -1. : 1.);
+}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Constants.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Constants.h
new file mode 100644
index 0000000..0349c71
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Constants.h
@@ -0,0 +1,58 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+/**
+ * The Constants header provides a convenient place for teams to hold robot-wide
+ * numerical or bool constants. This should not be used for any other purpose.
+ *
+ * It is generally a good idea to place constants into subsystem- or
+ * command-specific namespaces within this header, which can then be used where
+ * they are needed.
+ */
+
+namespace DriveConstants {
+const int kLeftMotor1Port = 0;
+const int kLeftMotor2Port = 1;
+const int kRightMotor1Port = 2;
+const int kRightMotor2Port = 3;
+
+const int kLeftEncoderPorts[]{0, 1};
+const int kRightEncoderPorts[]{2, 3};
+const bool kLeftEncoderReversed = false;
+const bool kRightEncoderReversed = true;
+
+const int kEncoderCPR = 1024;
+const double kWheelDiameterInches = 6;
+const double kEncoderDistancePerPulse =
+ // Assumes the encoders are directly mounted on the wheel shafts
+ (kWheelDiameterInches * 3.142) / static_cast<double>(kEncoderCPR);
+
+const bool kGyroReversed = true;
+
+const double kStabilizationP = 1;
+const double kStabilizationI = .5;
+const double kStabilizationD = 0;
+
+const double kTurnP = 1;
+const double kTurnI = 0;
+const double kTurnD = 0;
+
+const double kTurnToleranceDeg = 5;
+const double kTurnRateToleranceDegPerS = 10; // degrees per second
+} // namespace DriveConstants
+
+namespace AutoConstants {
+const double kAutoDriveDistanceInches = 60;
+const double kAutoBackupDistanceInches = 20;
+const double kAutoDriveSpeed = .5;
+} // namespace AutoConstants
+
+namespace OIConstants {
+const int kDriverControllerPort = 1;
+} // namespace OIConstants
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Robot.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Robot.h
new file mode 100644
index 0000000..fa173d3
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Robot.h
@@ -0,0 +1,33 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc/TimedRobot.h>
+#include <frc2/command/Command.h>
+
+#include "RobotContainer.h"
+
+class Robot : public frc::TimedRobot {
+ public:
+ void RobotInit() override;
+ void RobotPeriodic() override;
+ void DisabledInit() override;
+ void DisabledPeriodic() override;
+ void AutonomousInit() override;
+ void AutonomousPeriodic() override;
+ void TeleopInit() override;
+ void TeleopPeriodic() override;
+ void TestPeriodic() override;
+
+ private:
+ // Have it null by default so that if testing teleop it
+ // doesn't have undefined behavior and potentially crash.
+ frc2::Command* m_autonomousCommand = nullptr;
+
+ RobotContainer m_container;
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/RobotContainer.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/RobotContainer.h
new file mode 100644
index 0000000..f480536
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/RobotContainer.h
@@ -0,0 +1,80 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc/XboxController.h>
+#include <frc/controller/PIDController.h>
+#include <frc/smartdashboard/SendableChooser.h>
+#include <frc2/command/Command.h>
+#include <frc2/command/InstantCommand.h>
+#include <frc2/command/PIDCommand.h>
+#include <frc2/command/ParallelRaceGroup.h>
+#include <frc2/command/RunCommand.h>
+
+#include "Constants.h"
+#include "commands/TurnToAngle.h"
+#include "subsystems/DriveSubsystem.h"
+
+namespace ac = AutoConstants;
+namespace dc = DriveConstants;
+
+/**
+ * This class is where the bulk of the robot should be declared. Since
+ * Command-based is a "declarative" paradigm, very little robot logic should
+ * actually be handled in the {@link Robot} periodic methods (other than the
+ * scheduler calls). Instead, the structure of the robot (including subsystems,
+ * commands, and button mappings) should be declared here.
+ */
+class RobotContainer {
+ public:
+ RobotContainer();
+
+ frc2::Command* GetAutonomousCommand();
+
+ private:
+ // The driver's controller
+ frc::XboxController m_driverController{OIConstants::kDriverControllerPort};
+
+ // The robot's subsystems and commands are defined here...
+
+ // The robot's subsystems
+ DriveSubsystem m_drive;
+
+ // Assorted commands to be bound to buttons
+
+ // Turn to 90 degrees, with a 5 second timeout
+ frc2::ParallelRaceGroup m_turnTo90 =
+ TurnToAngle{90, &m_drive}.WithTimeout(5_s);
+
+ // Stabilize the robot while driving
+ frc2::PIDCommand m_stabilizeDriving{
+ frc2::PIDController{dc::kStabilizationP, dc::kStabilizationI,
+ dc::kStabilizationD},
+ // Close the loop on the turn rate
+ [this] { return m_drive.GetTurnRate(); },
+ // Setpoint is 0
+ 0,
+ // Pipe the output to the turning controls
+ [this](double output) {
+ m_drive.ArcadeDrive(
+ m_driverController.GetY(frc::GenericHID::JoystickHand::kLeftHand),
+ output);
+ },
+ // Require the robot drive
+ {&m_drive}};
+
+ frc2::InstantCommand m_driveHalfSpeed{[this] { m_drive.SetMaxOutput(.5); },
+ {}};
+ frc2::InstantCommand m_driveFullSpeed{[this] { m_drive.SetMaxOutput(1); },
+ {}};
+
+ // The chooser for the autonomous routines
+ frc::SendableChooser<frc2::Command*> m_chooser;
+
+ void ConfigureButtonBindings();
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/commands/TurnToAngle.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/commands/TurnToAngle.h
new file mode 100644
index 0000000..c7e875e
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/commands/TurnToAngle.h
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc2/command/CommandHelper.h>
+#include <frc2/command/PIDCommand.h>
+
+#include "subsystems/DriveSubsystem.h"
+
+/**
+ * A command that will turn the robot to the specified angle.
+ */
+class TurnToAngle : public frc2::CommandHelper<frc2::PIDCommand, TurnToAngle> {
+ public:
+ /**
+ * Turns to robot to the specified angle.
+ *
+ * @param targetAngleDegrees The angle to turn to
+ * @param drive The drive subsystem to use
+ */
+ TurnToAngle(double targetAngleDegrees, DriveSubsystem* drive);
+
+ bool IsFinished() override;
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/subsystems/DriveSubsystem.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/subsystems/DriveSubsystem.h
new file mode 100644
index 0000000..cada816
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/subsystems/DriveSubsystem.h
@@ -0,0 +1,113 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc/ADXRS450_Gyro.h>
+#include <frc/Encoder.h>
+#include <frc/PWMVictorSPX.h>
+#include <frc/SpeedControllerGroup.h>
+#include <frc/drive/DifferentialDrive.h>
+#include <frc2/command/SubsystemBase.h>
+
+#include "Constants.h"
+
+class DriveSubsystem : public frc2::SubsystemBase {
+ public:
+ DriveSubsystem();
+
+ /**
+ * Will be called periodically whenever the CommandScheduler runs.
+ */
+ void Periodic() override;
+
+ // Subsystem methods go here.
+
+ /**
+ * Drives the robot using arcade controls.
+ *
+ * @param fwd the commanded forward movement
+ * @param rot the commanded rotation
+ */
+ void ArcadeDrive(double fwd, double rot);
+
+ /**
+ * Resets the drive encoders to currently read a position of 0.
+ */
+ void ResetEncoders();
+
+ /**
+ * Gets the average distance of the TWO encoders.
+ *
+ * @return the average of the TWO encoder readings
+ */
+ double GetAverageEncoderDistance();
+
+ /**
+ * Gets the left drive encoder.
+ *
+ * @return the left drive encoder
+ */
+ frc::Encoder& GetLeftEncoder();
+
+ /**
+ * Gets the right drive encoder.
+ *
+ * @return the right drive encoder
+ */
+ frc::Encoder& GetRightEncoder();
+
+ /**
+ * Sets the max output of the drive. Useful for scaling the drive to drive
+ * more slowly.
+ *
+ * @param maxOutput the maximum output to which the drive will be constrained
+ */
+ void SetMaxOutput(double maxOutput);
+
+ /**
+ * Returns the heading of the robot.
+ *
+ * @return the robot's heading in degrees, from 180 to 180
+ */
+ double GetHeading();
+
+ /**
+ * Returns the turn rate of the robot.
+ *
+ * @return The turn rate of the robot, in degrees per second
+ */
+ double GetTurnRate();
+
+ private:
+ // Components (e.g. motor controllers and sensors) should generally be
+ // declared private and exposed only through public methods.
+
+ // The motor controllers
+ frc::PWMVictorSPX m_left1;
+ frc::PWMVictorSPX m_left2;
+ frc::PWMVictorSPX m_right1;
+ frc::PWMVictorSPX m_right2;
+
+ // The motors on the left side of the drive
+ frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};
+
+ // The motors on the right side of the drive
+ frc::SpeedControllerGroup m_rightMotors{m_right1, m_right2};
+
+ // The robot's drive
+ frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors};
+
+ // The left-side drive encoder
+ frc::Encoder m_leftEncoder;
+
+ // The right-side drive encoder
+ frc::Encoder m_rightEncoder;
+
+ // The gyro sensor
+ frc::ADXRS450_Gyro m_gyro;
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/Robot.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/Robot.cpp
new file mode 100644
index 0000000..cd19aeb
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/Robot.cpp
@@ -0,0 +1,71 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "Robot.h"
+
+#include <frc/smartdashboard/SmartDashboard.h>
+#include <frc2/command/CommandScheduler.h>
+
+void Robot::RobotInit() {}
+
+/**
+ * This function is called every robot packet, no matter the mode. Use
+ * this for items like diagnostics that you want to run during disabled,
+ * autonomous, teleoperated and test.
+ *
+ * <p> This runs after the mode specific periodic functions, but before
+ * LiveWindow and SmartDashboard integrated updating.
+ */
+void Robot::RobotPeriodic() { frc2::CommandScheduler::GetInstance().Run(); }
+
+/**
+ * This function is called once each time the robot enters Disabled mode. You
+ * can use it to reset any subsystem information you want to clear when the
+ * robot is disabled.
+ */
+void Robot::DisabledInit() {}
+
+void Robot::DisabledPeriodic() {}
+
+/**
+ * This autonomous runs the autonomous command selected by your {@link
+ * RobotContainer} class.
+ */
+void Robot::AutonomousInit() {
+ m_autonomousCommand = m_container.GetAutonomousCommand();
+
+ if (m_autonomousCommand != nullptr) {
+ m_autonomousCommand->Schedule();
+ }
+}
+
+void Robot::AutonomousPeriodic() {}
+
+void Robot::TeleopInit() {
+ // This makes sure that the autonomous stops running when
+ // teleop starts running. If you want the autonomous to
+ // continue until interrupted by another command, remove
+ // this line or comment it out.
+ if (m_autonomousCommand != nullptr) {
+ m_autonomousCommand->Cancel();
+ m_autonomousCommand = nullptr;
+ }
+}
+
+/**
+ * This function is called periodically during operator control.
+ */
+void Robot::TeleopPeriodic() {}
+
+/**
+ * This function is called periodically during test mode.
+ */
+void Robot::TestPeriodic() {}
+
+#ifndef RUNNING_FRC_TESTS
+int main() { return frc::StartRobot<Robot>(); }
+#endif
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
new file mode 100644
index 0000000..f8719c4
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
@@ -0,0 +1,52 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "RobotContainer.h"
+
+#include <frc/shuffleboard/Shuffleboard.h>
+#include <frc2/command/button/JoystickButton.h>
+
+RobotContainer::RobotContainer() {
+ // Initialize all of your commands and subsystems here
+
+ // Add commands to the autonomous command chooser
+ m_chooser.AddOption("Simple Auto", &m_simpleAuto);
+ m_chooser.AddOption("Complex Auto", &m_complexAuto);
+
+ // Put the chooser on the dashboard
+ frc::Shuffleboard::GetTab("Autonomous").Add(m_chooser);
+
+ // Configure the button bindings
+ ConfigureButtonBindings();
+
+ // Set up default drive command
+ m_drive.SetDefaultCommand(frc2::RunCommand(
+ [this] {
+ m_drive.ArcadeDrive(
+ m_driverController.GetY(frc::GenericHID::kLeftHand),
+ m_driverController.GetX(frc::GenericHID::kRightHand));
+ },
+ {&m_drive}));
+}
+
+void RobotContainer::ConfigureButtonBindings() {
+ // Configure your button bindings here
+
+ // Grab the hatch when the 'A' button is pressed.
+ frc2::JoystickButton(&m_driverController, 1).WhenPressed(&m_grabHatch);
+ // Release the hatch when the 'B' button is pressed.
+ frc2::JoystickButton(&m_driverController, 2).WhenPressed(&m_releaseHatch);
+ // While holding the shoulder button, drive at half speed
+ frc2::JoystickButton(&m_driverController, 6)
+ .WhenPressed(&m_driveHalfSpeed)
+ .WhenReleased(&m_driveFullSpeed);
+}
+
+frc2::Command* RobotContainer::GetAutonomousCommand() {
+ // Runs the chosen command in autonomous
+ return m_chooser.GetSelected();
+}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/commands/ComplexAuto.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/commands/ComplexAuto.cpp
new file mode 100644
index 0000000..c5f928b
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/commands/ComplexAuto.cpp
@@ -0,0 +1,37 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "commands/ComplexAuto.h"
+
+#include <frc2/command/InstantCommand.h>
+#include <frc2/command/ParallelRaceGroup.h>
+#include <frc2/command/StartEndCommand.h>
+
+using namespace AutoConstants;
+
+ComplexAuto::ComplexAuto(DriveSubsystem* drive, HatchSubsystem* hatch) {
+ AddCommands(
+ // Drive forward the specified distance
+ frc2::StartEndCommand([drive] { drive->ArcadeDrive(kAutoDriveSpeed, 0); },
+ [drive] { drive->ArcadeDrive(0, 0); }, {drive})
+ .BeforeStarting([drive] { drive->ResetEncoders(); })
+ .WithInterrupt([drive] {
+ return drive->GetAverageEncoderDistance() >=
+ kAutoDriveDistanceInches;
+ }),
+ // Release the hatch
+ frc2::InstantCommand([hatch] { hatch->ReleaseHatch(); }, {hatch}),
+ // Drive backward the specified distance
+ frc2::StartEndCommand(
+ [drive] { drive->ArcadeDrive(-kAutoDriveSpeed, 0); },
+ [drive] { drive->ArcadeDrive(0, 0); }, {drive})
+ .BeforeStarting([drive] { drive->ResetEncoders(); })
+ .WithInterrupt([drive] {
+ return drive->GetAverageEncoderDistance() <=
+ kAutoBackupDistanceInches;
+ }));
+}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/DriveSubsystem.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/DriveSubsystem.cpp
new file mode 100644
index 0000000..64be1b8
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/DriveSubsystem.cpp
@@ -0,0 +1,47 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "subsystems/DriveSubsystem.h"
+
+using namespace DriveConstants;
+
+DriveSubsystem::DriveSubsystem()
+ : m_left1{kLeftMotor1Port},
+ m_left2{kLeftMotor2Port},
+ m_right1{kRightMotor1Port},
+ m_right2{kRightMotor2Port},
+ m_leftEncoder{kLeftEncoderPorts[0], kLeftEncoderPorts[1]},
+ m_rightEncoder{kRightEncoderPorts[0], kRightEncoderPorts[1]} {
+ // Set the distance per pulse for the encoders
+ m_leftEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
+ m_rightEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
+}
+
+void DriveSubsystem::Periodic() {
+ // Implementation of subsystem periodic method goes here.
+}
+
+void DriveSubsystem::ArcadeDrive(double fwd, double rot) {
+ m_drive.ArcadeDrive(fwd, rot);
+}
+
+void DriveSubsystem::ResetEncoders() {
+ m_leftEncoder.Reset();
+ m_rightEncoder.Reset();
+}
+
+double DriveSubsystem::GetAverageEncoderDistance() {
+ return (m_leftEncoder.GetDistance() + m_rightEncoder.GetDistance()) / 2.;
+}
+
+frc::Encoder& DriveSubsystem::GetLeftEncoder() { return m_leftEncoder; }
+
+frc::Encoder& DriveSubsystem::GetRightEncoder() { return m_rightEncoder; }
+
+void DriveSubsystem::SetMaxOutput(double maxOutput) {
+ m_drive.SetMaxOutput(maxOutput);
+}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp
new file mode 100644
index 0000000..ea7b796
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp
@@ -0,0 +1,21 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "subsystems/HatchSubsystem.h"
+
+using namespace HatchConstants;
+
+HatchSubsystem::HatchSubsystem()
+ : m_hatchSolenoid{kHatchSolenoidPorts[0], kHatchSolenoidPorts[1]} {}
+
+void HatchSubsystem::GrabHatch() {
+ m_hatchSolenoid.Set(frc::DoubleSolenoid::kForward);
+}
+
+void HatchSubsystem::ReleaseHatch() {
+ m_hatchSolenoid.Set(frc::DoubleSolenoid::kReverse);
+}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Constants.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Constants.h
new file mode 100644
index 0000000..b09572e
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Constants.h
@@ -0,0 +1,50 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+/**
+ * The Constants header provides a convenient place for teams to hold robot-wide
+ * numerical or bool constants. This should not be used for any other purpose.
+ *
+ * It is generally a good idea to place constants into subsystem- or
+ * command-specific namespaces within this header, which can then be used where
+ * they are needed.
+ */
+
+namespace DriveConstants {
+const int kLeftMotor1Port = 0;
+const int kLeftMotor2Port = 1;
+const int kRightMotor1Port = 2;
+const int kRightMotor2Port = 3;
+
+const int kLeftEncoderPorts[]{0, 1};
+const int kRightEncoderPorts[]{2, 3};
+const bool kLeftEncoderReversed = false;
+const bool kRightEncoderReversed = true;
+
+const int kEncoderCPR = 1024;
+const double kWheelDiameterInches = 6;
+const double kEncoderDistancePerPulse =
+ // Assumes the encoders are directly mounted on the wheel shafts
+ (kWheelDiameterInches * 3.142) / static_cast<double>(kEncoderCPR);
+} // namespace DriveConstants
+
+namespace HatchConstants {
+const int kHatchSolenoidModule = 0;
+const int kHatchSolenoidPorts[]{0, 1};
+} // namespace HatchConstants
+
+namespace AutoConstants {
+const double kAutoDriveDistanceInches = 60;
+const double kAutoBackupDistanceInches = 20;
+const double kAutoDriveSpeed = .5;
+} // namespace AutoConstants
+
+namespace OIConstants {
+const int kDriverControllerPort = 1;
+} // namespace OIConstants
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Robot.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Robot.h
new file mode 100644
index 0000000..fa173d3
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/Robot.h
@@ -0,0 +1,33 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc/TimedRobot.h>
+#include <frc2/command/Command.h>
+
+#include "RobotContainer.h"
+
+class Robot : public frc::TimedRobot {
+ public:
+ void RobotInit() override;
+ void RobotPeriodic() override;
+ void DisabledInit() override;
+ void DisabledPeriodic() override;
+ void AutonomousInit() override;
+ void AutonomousPeriodic() override;
+ void TeleopInit() override;
+ void TeleopPeriodic() override;
+ void TestPeriodic() override;
+
+ private:
+ // Have it null by default so that if testing teleop it
+ // doesn't have undefined behavior and potentially crash.
+ frc2::Command* m_autonomousCommand = nullptr;
+
+ RobotContainer m_container;
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/RobotContainer.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/RobotContainer.h
new file mode 100644
index 0000000..b7c57a3
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/RobotContainer.h
@@ -0,0 +1,75 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc/XboxController.h>
+#include <frc/smartdashboard/SendableChooser.h>
+#include <frc2/command/Command.h>
+#include <frc2/command/InstantCommand.h>
+#include <frc2/command/ParallelRaceGroup.h>
+#include <frc2/command/RunCommand.h>
+#include <frc2/command/SequentialCommandGroup.h>
+#include <frc2/command/StartEndCommand.h>
+
+#include "Constants.h"
+#include "commands/ComplexAuto.h"
+#include "subsystems/DriveSubsystem.h"
+#include "subsystems/HatchSubsystem.h"
+
+namespace ac = AutoConstants;
+
+/**
+ * This class is where the bulk of the robot should be declared. Since
+ * Command-based is a "declarative" paradigm, very little robot logic should
+ * actually be handled in the {@link Robot} periodic methods (other than the
+ * scheduler calls). Instead, the structure of the robot (including subsystems,
+ * commands, and button mappings) should be declared here.
+ */
+class RobotContainer {
+ public:
+ RobotContainer();
+
+ frc2::Command* GetAutonomousCommand();
+
+ private:
+ // The driver's controller
+ frc::XboxController m_driverController{OIConstants::kDriverControllerPort};
+
+ // The robot's subsystems and commands are defined here...
+
+ // The robot's subsystems
+ DriveSubsystem m_drive;
+ HatchSubsystem m_hatch;
+
+ // The autonomous routines
+ frc2::ParallelRaceGroup m_simpleAuto =
+ frc2::StartEndCommand(
+ [this] { m_drive.ArcadeDrive(ac::kAutoDriveSpeed, 0); },
+ [this] { m_drive.ArcadeDrive(0, 0); }, {&m_drive})
+ .BeforeStarting([this] { m_drive.ResetEncoders(); })
+ .WithInterrupt([this] {
+ return m_drive.GetAverageEncoderDistance() >=
+ ac::kAutoDriveDistanceInches;
+ });
+ ComplexAuto m_complexAuto{&m_drive, &m_hatch};
+
+ // Assorted commands to be bound to buttons
+
+ frc2::InstantCommand m_grabHatch{[this] { m_hatch.GrabHatch(); }, {&m_hatch}};
+ frc2::InstantCommand m_releaseHatch{[this] { m_hatch.ReleaseHatch(); },
+ {&m_hatch}};
+ frc2::InstantCommand m_driveHalfSpeed{[this] { m_drive.SetMaxOutput(.5); },
+ {}};
+ frc2::InstantCommand m_driveFullSpeed{[this] { m_drive.SetMaxOutput(1); },
+ {}};
+
+ // The chooser for the autonomous routines
+ frc::SendableChooser<frc2::Command*> m_chooser;
+
+ void ConfigureButtonBindings();
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/commands/ComplexAuto.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/commands/ComplexAuto.h
new file mode 100644
index 0000000..b767f3b
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/commands/ComplexAuto.h
@@ -0,0 +1,31 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc2/command/CommandHelper.h>
+#include <frc2/command/SequentialCommandGroup.h>
+
+#include "Constants.h"
+#include "subsystems/DriveSubsystem.h"
+#include "subsystems/HatchSubsystem.h"
+
+/**
+ * A complex auto command that drives forward, releases a hatch, and then drives
+ * backward.
+ */
+class ComplexAuto
+ : public frc2::CommandHelper<frc2::SequentialCommandGroup, ComplexAuto> {
+ public:
+ /**
+ * Creates a new ComplexAuto.
+ *
+ * @param drive The drive subsystem this command will run on
+ * @param hatch The hatch subsystem this command will run on
+ */
+ ComplexAuto(DriveSubsystem* drive, HatchSubsystem* hatch);
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/DriveSubsystem.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/DriveSubsystem.h
new file mode 100644
index 0000000..3ed1357
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/DriveSubsystem.h
@@ -0,0 +1,95 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc/Encoder.h>
+#include <frc/PWMVictorSPX.h>
+#include <frc/SpeedControllerGroup.h>
+#include <frc/drive/DifferentialDrive.h>
+#include <frc2/command/SubsystemBase.h>
+
+#include "Constants.h"
+
+class DriveSubsystem : public frc2::SubsystemBase {
+ public:
+ DriveSubsystem();
+
+ /**
+ * Will be called periodically whenever the CommandScheduler runs.
+ */
+ void Periodic() override;
+
+ // Subsystem methods go here.
+
+ /**
+ * Drives the robot using arcade controls.
+ *
+ * @param fwd the commanded forward movement
+ * @param rot the commanded rotation
+ */
+ void ArcadeDrive(double fwd, double rot);
+
+ /**
+ * Resets the drive encoders to currently read a position of 0.
+ */
+ void ResetEncoders();
+
+ /**
+ * Gets the average distance of the TWO encoders.
+ *
+ * @return the average of the TWO encoder readings
+ */
+ double GetAverageEncoderDistance();
+
+ /**
+ * Gets the left drive encoder.
+ *
+ * @return the left drive encoder
+ */
+ frc::Encoder& GetLeftEncoder();
+
+ /**
+ * Gets the right drive encoder.
+ *
+ * @return the right drive encoder
+ */
+ frc::Encoder& GetRightEncoder();
+
+ /**
+ * Sets the max output of the drive. Useful for scaling the drive to drive
+ * more slowly.
+ *
+ * @param maxOutput the maximum output to which the drive will be constrained
+ */
+ void SetMaxOutput(double maxOutput);
+
+ private:
+ // Components (e.g. motor controllers and sensors) should generally be
+ // declared private and exposed only through public methods.
+
+ // The motor controllers
+ frc::PWMVictorSPX m_left1;
+ frc::PWMVictorSPX m_left2;
+ frc::PWMVictorSPX m_right1;
+ frc::PWMVictorSPX m_right2;
+
+ // The motors on the left side of the drive
+ frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};
+
+ // The motors on the right side of the drive
+ frc::SpeedControllerGroup m_rightMotors{m_right1, m_right2};
+
+ // The robot's drive
+ frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors};
+
+ // The left-side drive encoder
+ frc::Encoder m_leftEncoder;
+
+ // The right-side drive encoder
+ frc::Encoder m_rightEncoder;
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/HatchSubsystem.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/HatchSubsystem.h
new file mode 100644
index 0000000..681aea8
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/HatchSubsystem.h
@@ -0,0 +1,35 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc/DoubleSolenoid.h>
+#include <frc2/command/SubsystemBase.h>
+
+#include "Constants.h"
+
+class HatchSubsystem : public frc2::SubsystemBase {
+ public:
+ HatchSubsystem();
+
+ // Subsystem methods go here.
+
+ /**
+ * Grabs the hatch.
+ */
+ void GrabHatch();
+
+ /**
+ * Releases the hatch.
+ */
+ void ReleaseHatch();
+
+ private:
+ // Components (e.g. motor controllers and sensors) should generally be
+ // declared private and exposed only through public methods.
+ frc::DoubleSolenoid m_hatchSolenoid;
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp
new file mode 100644
index 0000000..cd19aeb
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp
@@ -0,0 +1,71 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "Robot.h"
+
+#include <frc/smartdashboard/SmartDashboard.h>
+#include <frc2/command/CommandScheduler.h>
+
+void Robot::RobotInit() {}
+
+/**
+ * This function is called every robot packet, no matter the mode. Use
+ * this for items like diagnostics that you want to run during disabled,
+ * autonomous, teleoperated and test.
+ *
+ * <p> This runs after the mode specific periodic functions, but before
+ * LiveWindow and SmartDashboard integrated updating.
+ */
+void Robot::RobotPeriodic() { frc2::CommandScheduler::GetInstance().Run(); }
+
+/**
+ * This function is called once each time the robot enters Disabled mode. You
+ * can use it to reset any subsystem information you want to clear when the
+ * robot is disabled.
+ */
+void Robot::DisabledInit() {}
+
+void Robot::DisabledPeriodic() {}
+
+/**
+ * This autonomous runs the autonomous command selected by your {@link
+ * RobotContainer} class.
+ */
+void Robot::AutonomousInit() {
+ m_autonomousCommand = m_container.GetAutonomousCommand();
+
+ if (m_autonomousCommand != nullptr) {
+ m_autonomousCommand->Schedule();
+ }
+}
+
+void Robot::AutonomousPeriodic() {}
+
+void Robot::TeleopInit() {
+ // This makes sure that the autonomous stops running when
+ // teleop starts running. If you want the autonomous to
+ // continue until interrupted by another command, remove
+ // this line or comment it out.
+ if (m_autonomousCommand != nullptr) {
+ m_autonomousCommand->Cancel();
+ m_autonomousCommand = nullptr;
+ }
+}
+
+/**
+ * This function is called periodically during operator control.
+ */
+void Robot::TeleopPeriodic() {}
+
+/**
+ * This function is called periodically during test mode.
+ */
+void Robot::TestPeriodic() {}
+
+#ifndef RUNNING_FRC_TESTS
+int main() { return frc::StartRobot<Robot>(); }
+#endif
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
new file mode 100644
index 0000000..9eb9178
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
@@ -0,0 +1,60 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "RobotContainer.h"
+
+#include <frc/shuffleboard/Shuffleboard.h>
+#include <frc2/command/button/JoystickButton.h>
+
+#include "commands/DefaultDrive.h"
+#include "commands/GrabHatch.h"
+#include "commands/HalveDriveSpeed.h"
+#include "commands/ReleaseHatch.h"
+
+RobotContainer::RobotContainer() {
+ // Initialize all of your commands and subsystems here
+
+ // Add commands to the autonomous command chooser
+ m_chooser.AddOption("Simple Auto", &m_simpleAuto);
+ m_chooser.AddOption("Complex Auto", &m_complexAuto);
+
+ // Put the chooser on the dashboard
+ frc::Shuffleboard::GetTab("Autonomous").Add(m_chooser);
+
+ // Configure the button bindings
+ ConfigureButtonBindings();
+
+ // Set up default drive command
+ m_drive.SetDefaultCommand(DefaultDrive(
+ &m_drive,
+ [this] { return m_driverController.GetY(frc::GenericHID::kLeftHand); },
+ [this] { return m_driverController.GetX(frc::GenericHID::kRightHand); }));
+}
+
+void RobotContainer::ConfigureButtonBindings() {
+ // Configure your button bindings here
+
+ // NOTE: Using `new` here will leak these commands if they are ever no longer
+ // needed. This is usually a non-issue as button-bindings tend to be permanent
+ // - however, if you wish to avoid this, the commands should be
+ // stack-allocated and declared as members of RobotContainer.
+
+ // Grab the hatch when the 'A' button is pressed.
+ frc2::JoystickButton(&m_driverController, 1)
+ .WhenPressed(new GrabHatch(&m_hatch));
+ // Release the hatch when the 'B' button is pressed.
+ frc2::JoystickButton(&m_driverController, 2)
+ .WhenPressed(new ReleaseHatch(&m_hatch));
+ // While holding the shoulder button, drive at half speed
+ frc2::JoystickButton(&m_driverController, 6)
+ .WhenHeld(new HalveDriveSpeed(&m_drive));
+}
+
+frc2::Command* RobotContainer::GetAutonomousCommand() {
+ // Runs the chosen command in autonomous
+ return m_chooser.GetSelected();
+}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/ComplexAuto.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/ComplexAuto.cpp
new file mode 100644
index 0000000..cb41de6
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/ComplexAuto.cpp
@@ -0,0 +1,20 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "commands/ComplexAuto.h"
+
+using namespace AutoConstants;
+
+ComplexAuto::ComplexAuto(DriveSubsystem* drive, HatchSubsystem* hatch) {
+ AddCommands(
+ // Drive forward the specified distance
+ DriveDistance(kAutoDriveDistanceInches, kAutoDriveSpeed, drive),
+ // Release the hatch
+ ReleaseHatch(hatch),
+ // Drive backward the specified distance
+ DriveDistance(kAutoBackupDistanceInches, -kAutoDriveSpeed, drive));
+}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/DefaultDrive.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/DefaultDrive.cpp
new file mode 100644
index 0000000..3bdee6e
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/DefaultDrive.cpp
@@ -0,0 +1,19 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "commands/DefaultDrive.h"
+
+DefaultDrive::DefaultDrive(DriveSubsystem* subsystem,
+ std::function<double()> forward,
+ std::function<double()> rotation)
+ : m_drive{subsystem}, m_forward{forward}, m_rotation{rotation} {
+ AddRequirements({subsystem});
+}
+
+void DefaultDrive::Execute() {
+ m_drive->ArcadeDrive(m_forward(), m_rotation());
+}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/DriveDistance.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/DriveDistance.cpp
new file mode 100644
index 0000000..6c7ef40
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/DriveDistance.cpp
@@ -0,0 +1,27 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "commands/DriveDistance.h"
+
+#include <cmath>
+
+DriveDistance::DriveDistance(double inches, double speed,
+ DriveSubsystem* subsystem)
+ : m_drive(subsystem), m_distance(inches), m_speed(speed) {
+ AddRequirements({subsystem});
+}
+
+void DriveDistance::Initialize() {
+ m_drive->ResetEncoders();
+ m_drive->ArcadeDrive(m_speed, 0);
+}
+
+void DriveDistance::End(bool interrupted) { m_drive->ArcadeDrive(0, 0); }
+
+bool DriveDistance::IsFinished() {
+ return std::abs(m_drive->GetAverageEncoderDistance()) >= m_distance;
+}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/GrabHatch.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/GrabHatch.cpp
new file mode 100644
index 0000000..f665761
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/GrabHatch.cpp
@@ -0,0 +1,16 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "commands/GrabHatch.h"
+
+GrabHatch::GrabHatch(HatchSubsystem* subsystem) : m_hatch(subsystem) {
+ AddRequirements({subsystem});
+}
+
+void GrabHatch::Initialize() { m_hatch->GrabHatch(); }
+
+bool GrabHatch::IsFinished() { return true; }
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/HalveDriveSpeed.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/HalveDriveSpeed.cpp
new file mode 100644
index 0000000..839bb87
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/HalveDriveSpeed.cpp
@@ -0,0 +1,15 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "commands/HalveDriveSpeed.h"
+
+HalveDriveSpeed::HalveDriveSpeed(DriveSubsystem* subsystem)
+ : m_drive(subsystem) {}
+
+void HalveDriveSpeed::Initialize() { m_drive->SetMaxOutput(.5); }
+
+void HalveDriveSpeed::End(bool interrupted) { m_drive->SetMaxOutput(1); }
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/ReleaseHatch.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/ReleaseHatch.cpp
new file mode 100644
index 0000000..e8fbd61
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/commands/ReleaseHatch.cpp
@@ -0,0 +1,16 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "commands/ReleaseHatch.h"
+
+ReleaseHatch::ReleaseHatch(HatchSubsystem* subsystem) : m_hatch(subsystem) {
+ AddRequirements({subsystem});
+}
+
+void ReleaseHatch::Initialize() { m_hatch->ReleaseHatch(); }
+
+bool ReleaseHatch::IsFinished() { return true; }
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/DriveSubsystem.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/DriveSubsystem.cpp
new file mode 100644
index 0000000..64be1b8
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/DriveSubsystem.cpp
@@ -0,0 +1,47 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "subsystems/DriveSubsystem.h"
+
+using namespace DriveConstants;
+
+DriveSubsystem::DriveSubsystem()
+ : m_left1{kLeftMotor1Port},
+ m_left2{kLeftMotor2Port},
+ m_right1{kRightMotor1Port},
+ m_right2{kRightMotor2Port},
+ m_leftEncoder{kLeftEncoderPorts[0], kLeftEncoderPorts[1]},
+ m_rightEncoder{kRightEncoderPorts[0], kRightEncoderPorts[1]} {
+ // Set the distance per pulse for the encoders
+ m_leftEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
+ m_rightEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
+}
+
+void DriveSubsystem::Periodic() {
+ // Implementation of subsystem periodic method goes here.
+}
+
+void DriveSubsystem::ArcadeDrive(double fwd, double rot) {
+ m_drive.ArcadeDrive(fwd, rot);
+}
+
+void DriveSubsystem::ResetEncoders() {
+ m_leftEncoder.Reset();
+ m_rightEncoder.Reset();
+}
+
+double DriveSubsystem::GetAverageEncoderDistance() {
+ return (m_leftEncoder.GetDistance() + m_rightEncoder.GetDistance()) / 2.;
+}
+
+frc::Encoder& DriveSubsystem::GetLeftEncoder() { return m_leftEncoder; }
+
+frc::Encoder& DriveSubsystem::GetRightEncoder() { return m_rightEncoder; }
+
+void DriveSubsystem::SetMaxOutput(double maxOutput) {
+ m_drive.SetMaxOutput(maxOutput);
+}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/HatchSubsystem.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/HatchSubsystem.cpp
new file mode 100644
index 0000000..ea7b796
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/HatchSubsystem.cpp
@@ -0,0 +1,21 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "subsystems/HatchSubsystem.h"
+
+using namespace HatchConstants;
+
+HatchSubsystem::HatchSubsystem()
+ : m_hatchSolenoid{kHatchSolenoidPorts[0], kHatchSolenoidPorts[1]} {}
+
+void HatchSubsystem::GrabHatch() {
+ m_hatchSolenoid.Set(frc::DoubleSolenoid::kForward);
+}
+
+void HatchSubsystem::ReleaseHatch() {
+ m_hatchSolenoid.Set(frc::DoubleSolenoid::kReverse);
+}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Constants.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Constants.h
new file mode 100644
index 0000000..b09572e
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Constants.h
@@ -0,0 +1,50 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+/**
+ * The Constants header provides a convenient place for teams to hold robot-wide
+ * numerical or bool constants. This should not be used for any other purpose.
+ *
+ * It is generally a good idea to place constants into subsystem- or
+ * command-specific namespaces within this header, which can then be used where
+ * they are needed.
+ */
+
+namespace DriveConstants {
+const int kLeftMotor1Port = 0;
+const int kLeftMotor2Port = 1;
+const int kRightMotor1Port = 2;
+const int kRightMotor2Port = 3;
+
+const int kLeftEncoderPorts[]{0, 1};
+const int kRightEncoderPorts[]{2, 3};
+const bool kLeftEncoderReversed = false;
+const bool kRightEncoderReversed = true;
+
+const int kEncoderCPR = 1024;
+const double kWheelDiameterInches = 6;
+const double kEncoderDistancePerPulse =
+ // Assumes the encoders are directly mounted on the wheel shafts
+ (kWheelDiameterInches * 3.142) / static_cast<double>(kEncoderCPR);
+} // namespace DriveConstants
+
+namespace HatchConstants {
+const int kHatchSolenoidModule = 0;
+const int kHatchSolenoidPorts[]{0, 1};
+} // namespace HatchConstants
+
+namespace AutoConstants {
+const double kAutoDriveDistanceInches = 60;
+const double kAutoBackupDistanceInches = 20;
+const double kAutoDriveSpeed = .5;
+} // namespace AutoConstants
+
+namespace OIConstants {
+const int kDriverControllerPort = 1;
+} // namespace OIConstants
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Robot.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Robot.h
new file mode 100644
index 0000000..fa173d3
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/Robot.h
@@ -0,0 +1,33 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc/TimedRobot.h>
+#include <frc2/command/Command.h>
+
+#include "RobotContainer.h"
+
+class Robot : public frc::TimedRobot {
+ public:
+ void RobotInit() override;
+ void RobotPeriodic() override;
+ void DisabledInit() override;
+ void DisabledPeriodic() override;
+ void AutonomousInit() override;
+ void AutonomousPeriodic() override;
+ void TeleopInit() override;
+ void TeleopPeriodic() override;
+ void TestPeriodic() override;
+
+ private:
+ // Have it null by default so that if testing teleop it
+ // doesn't have undefined behavior and potentially crash.
+ frc2::Command* m_autonomousCommand = nullptr;
+
+ RobotContainer m_container;
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/RobotContainer.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/RobotContainer.h
new file mode 100644
index 0000000..881d2f5
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/RobotContainer.h
@@ -0,0 +1,53 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc/XboxController.h>
+#include <frc/smartdashboard/SendableChooser.h>
+#include <frc2/command/Command.h>
+
+#include "Constants.h"
+#include "commands/ComplexAuto.h"
+#include "commands/DefaultDrive.h"
+#include "commands/DriveDistance.h"
+#include "subsystems/DriveSubsystem.h"
+#include "subsystems/HatchSubsystem.h"
+
+/**
+ * This class is where the bulk of the robot should be declared. Since
+ * Command-based is a "declarative" paradigm, very little robot logic should
+ * actually be handled in the {@link Robot} periodic methods (other than the
+ * scheduler calls). Instead, the structure of the robot (including subsystems,
+ * commands, and button mappings) should be declared here.
+ */
+class RobotContainer {
+ public:
+ RobotContainer();
+
+ frc2::Command* GetAutonomousCommand();
+
+ private:
+ // The robot's subsystems and commands are defined here...
+
+ // The robot's subsystems
+ DriveSubsystem m_drive;
+ HatchSubsystem m_hatch;
+
+ // The autonomous routines
+ DriveDistance m_simpleAuto{AutoConstants::kAutoDriveDistanceInches,
+ AutoConstants::kAutoDriveSpeed, &m_drive};
+ ComplexAuto m_complexAuto{&m_drive, &m_hatch};
+
+ // The chooser for the autonomous routines
+ frc::SendableChooser<frc2::Command*> m_chooser;
+
+ // The driver's controller
+ frc::XboxController m_driverController{OIConstants::kDriverControllerPort};
+
+ void ConfigureButtonBindings();
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/ComplexAuto.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/ComplexAuto.h
new file mode 100644
index 0000000..88a2460
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/ComplexAuto.h
@@ -0,0 +1,31 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc2/command/CommandHelper.h>
+#include <frc2/command/SequentialCommandGroup.h>
+
+#include "Constants.h"
+#include "commands/DriveDistance.h"
+#include "commands/ReleaseHatch.h"
+
+/**
+ * A complex auto command that drives forward, releases a hatch, and then drives
+ * backward.
+ */
+class ComplexAuto
+ : public frc2::CommandHelper<frc2::SequentialCommandGroup, ComplexAuto> {
+ public:
+ /**
+ * Creates a new ComplexAuto.
+ *
+ * @param drive The drive subsystem this command will run on
+ * @param hatch The hatch subsystem this command will run on
+ */
+ ComplexAuto(DriveSubsystem* drive, HatchSubsystem* hatch);
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DefaultDrive.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DefaultDrive.h
new file mode 100644
index 0000000..d42d133
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DefaultDrive.h
@@ -0,0 +1,41 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc2/command/CommandBase.h>
+#include <frc2/command/CommandHelper.h>
+
+#include "subsystems/DriveSubsystem.h"
+
+/**
+ * A command to drive the robot with joystick input passed in through lambdas.
+ * Written explicitly for pedagogical purposes - actual code should inline a
+ * command this simple with RunCommand.
+ *
+ * @see RunCommand
+ */
+class DefaultDrive
+ : public frc2::CommandHelper<frc2::CommandBase, DefaultDrive> {
+ public:
+ /**
+ * Creates a new DefaultDrive.
+ *
+ * @param subsystem The drive subsystem this command wil run on.
+ * @param forward The control input for driving forwards/backwards
+ * @param rotation The control input for turning
+ */
+ DefaultDrive(DriveSubsystem* subsystem, std::function<double()> forward,
+ std::function<double()> rotation);
+
+ void Execute() override;
+
+ private:
+ DriveSubsystem* m_drive;
+ std::function<double()> m_forward;
+ std::function<double()> m_rotation;
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DriveDistance.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DriveDistance.h
new file mode 100644
index 0000000..6f350a9
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DriveDistance.h
@@ -0,0 +1,37 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc2/command/CommandBase.h>
+#include <frc2/command/CommandHelper.h>
+
+#include "subsystems/DriveSubsystem.h"
+
+class DriveDistance
+ : public frc2::CommandHelper<frc2::CommandBase, DriveDistance> {
+ public:
+ /**
+ * Creates a new DriveDistance.
+ *
+ * @param inches The number of inches the robot will drive
+ * @param speed The speed at which the robot will drive
+ * @param drive The drive subsystem on which this command will run
+ */
+ DriveDistance(double inches, double speed, DriveSubsystem* subsystem);
+
+ void Initialize() override;
+
+ void End(bool interrupted) override;
+
+ bool IsFinished() override;
+
+ private:
+ DriveSubsystem* m_drive;
+ double m_distance;
+ double m_speed;
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/GrabHatch.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/GrabHatch.h
new file mode 100644
index 0000000..0ab0c13
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/GrabHatch.h
@@ -0,0 +1,32 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc2/command/CommandBase.h>
+#include <frc2/command/CommandHelper.h>
+
+#include "subsystems/HatchSubsystem.h"
+
+/**
+ * A simple command that grabs a hatch with the HatchSubsystem. Written
+ * explicitly for pedagogical purposes. Actual code should inline a command
+ * this simple with InstantCommand.
+ *
+ * @see InstantCommand
+ */
+class GrabHatch : public frc2::CommandHelper<frc2::CommandBase, GrabHatch> {
+ public:
+ explicit GrabHatch(HatchSubsystem* subsystem);
+
+ void Initialize() override;
+
+ bool IsFinished() override;
+
+ private:
+ HatchSubsystem* m_hatch;
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/HalveDriveSpeed.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/HalveDriveSpeed.h
new file mode 100644
index 0000000..0b5d7c7
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/HalveDriveSpeed.h
@@ -0,0 +1,26 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc2/command/CommandBase.h>
+#include <frc2/command/CommandHelper.h>
+
+#include "subsystems/DriveSubsystem.h"
+
+class HalveDriveSpeed
+ : public frc2::CommandHelper<frc2::CommandBase, HalveDriveSpeed> {
+ public:
+ explicit HalveDriveSpeed(DriveSubsystem* subsystem);
+
+ void Initialize() override;
+
+ void End(bool interrupted) override;
+
+ private:
+ DriveSubsystem* m_drive;
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/ReleaseHatch.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/ReleaseHatch.h
new file mode 100644
index 0000000..b98866f
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/ReleaseHatch.h
@@ -0,0 +1,33 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc2/command/CommandBase.h>
+#include <frc2/command/CommandHelper.h>
+
+#include "subsystems/HatchSubsystem.h"
+
+/**
+ * A simple command that releases a hatch with the HatchSubsystem. Written
+ * explicitly for pedagogical purposes. Actual code should inline a command
+ * this simple with InstantCommand.
+ *
+ * @see InstantCommand
+ */
+class ReleaseHatch
+ : public frc2::CommandHelper<frc2::CommandBase, ReleaseHatch> {
+ public:
+ explicit ReleaseHatch(HatchSubsystem* subsystem);
+
+ void Initialize() override;
+
+ bool IsFinished() override;
+
+ private:
+ HatchSubsystem* m_hatch;
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/DriveSubsystem.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/DriveSubsystem.h
new file mode 100644
index 0000000..3ed1357
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/DriveSubsystem.h
@@ -0,0 +1,95 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc/Encoder.h>
+#include <frc/PWMVictorSPX.h>
+#include <frc/SpeedControllerGroup.h>
+#include <frc/drive/DifferentialDrive.h>
+#include <frc2/command/SubsystemBase.h>
+
+#include "Constants.h"
+
+class DriveSubsystem : public frc2::SubsystemBase {
+ public:
+ DriveSubsystem();
+
+ /**
+ * Will be called periodically whenever the CommandScheduler runs.
+ */
+ void Periodic() override;
+
+ // Subsystem methods go here.
+
+ /**
+ * Drives the robot using arcade controls.
+ *
+ * @param fwd the commanded forward movement
+ * @param rot the commanded rotation
+ */
+ void ArcadeDrive(double fwd, double rot);
+
+ /**
+ * Resets the drive encoders to currently read a position of 0.
+ */
+ void ResetEncoders();
+
+ /**
+ * Gets the average distance of the TWO encoders.
+ *
+ * @return the average of the TWO encoder readings
+ */
+ double GetAverageEncoderDistance();
+
+ /**
+ * Gets the left drive encoder.
+ *
+ * @return the left drive encoder
+ */
+ frc::Encoder& GetLeftEncoder();
+
+ /**
+ * Gets the right drive encoder.
+ *
+ * @return the right drive encoder
+ */
+ frc::Encoder& GetRightEncoder();
+
+ /**
+ * Sets the max output of the drive. Useful for scaling the drive to drive
+ * more slowly.
+ *
+ * @param maxOutput the maximum output to which the drive will be constrained
+ */
+ void SetMaxOutput(double maxOutput);
+
+ private:
+ // Components (e.g. motor controllers and sensors) should generally be
+ // declared private and exposed only through public methods.
+
+ // The motor controllers
+ frc::PWMVictorSPX m_left1;
+ frc::PWMVictorSPX m_left2;
+ frc::PWMVictorSPX m_right1;
+ frc::PWMVictorSPX m_right2;
+
+ // The motors on the left side of the drive
+ frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};
+
+ // The motors on the right side of the drive
+ frc::SpeedControllerGroup m_rightMotors{m_right1, m_right2};
+
+ // The robot's drive
+ frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors};
+
+ // The left-side drive encoder
+ frc::Encoder m_leftEncoder;
+
+ // The right-side drive encoder
+ frc::Encoder m_rightEncoder;
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/HatchSubsystem.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/HatchSubsystem.h
new file mode 100644
index 0000000..681aea8
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/HatchSubsystem.h
@@ -0,0 +1,35 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc/DoubleSolenoid.h>
+#include <frc2/command/SubsystemBase.h>
+
+#include "Constants.h"
+
+class HatchSubsystem : public frc2::SubsystemBase {
+ public:
+ HatchSubsystem();
+
+ // Subsystem methods go here.
+
+ /**
+ * Grabs the hatch.
+ */
+ void GrabHatch();
+
+ /**
+ * Releases the hatch.
+ */
+ void ReleaseHatch();
+
+ private:
+ // Components (e.g. motor controllers and sensors) should generally be
+ // declared private and exposed only through public methods.
+ frc::DoubleSolenoid m_hatchSolenoid;
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/IntermediateVision/cpp/Robot.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/IntermediateVision/cpp/Robot.cpp
index ae2ac83..01a9d04 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/IntermediateVision/cpp/Robot.cpp
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/IntermediateVision/cpp/Robot.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -61,8 +61,8 @@
#endif
void RobotInit() override {
- // We need to run our vision program in a separate thread. If not, our robot
- // program will not run.
+ // We need to run our vision program in a separate thread. If not, our robot
+ // program will not run.
#if defined(__linux__)
std::thread visionThread(VisionThread);
visionThread.detach();
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Drivetrain.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Drivetrain.cpp
new file mode 100644
index 0000000..5e4fc8c
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Drivetrain.cpp
@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "Drivetrain.h"
+
+frc::MecanumDriveWheelSpeeds Drivetrain::GetCurrentState() const {
+ return {units::meters_per_second_t(m_frontLeftEncoder.GetRate()),
+ units::meters_per_second_t(m_frontRightEncoder.GetRate()),
+ units::meters_per_second_t(m_backLeftEncoder.GetRate()),
+ units::meters_per_second_t(m_backRightEncoder.GetRate())};
+}
+
+void Drivetrain::SetSpeeds(const frc::MecanumDriveWheelSpeeds& wheelSpeeds) {
+ const auto frontLeftOutput = m_frontLeftPIDController.Calculate(
+ m_frontLeftEncoder.GetRate(), wheelSpeeds.frontLeft.to<double>());
+ const auto frontRightOutput = m_frontRightPIDController.Calculate(
+ m_frontRightEncoder.GetRate(), wheelSpeeds.frontRight.to<double>());
+ const auto backLeftOutput = m_backLeftPIDController.Calculate(
+ m_backLeftEncoder.GetRate(), wheelSpeeds.rearLeft.to<double>());
+ const auto backRightOutput = m_backRightPIDController.Calculate(
+ m_backRightEncoder.GetRate(), wheelSpeeds.rearRight.to<double>());
+
+ m_frontLeftMotor.Set(frontLeftOutput);
+ m_frontRightMotor.Set(frontRightOutput);
+ m_backLeftMotor.Set(backLeftOutput);
+ m_backRightMotor.Set(backRightOutput);
+}
+
+void Drivetrain::Drive(units::meters_per_second_t xSpeed,
+ units::meters_per_second_t ySpeed,
+ units::radians_per_second_t rot, bool fieldRelative) {
+ auto wheelSpeeds = m_kinematics.ToWheelSpeeds(
+ fieldRelative ? frc::ChassisSpeeds::FromFieldRelativeSpeeds(
+ xSpeed, ySpeed, rot, GetAngle())
+ : frc::ChassisSpeeds{xSpeed, ySpeed, rot});
+ wheelSpeeds.Normalize(kMaxSpeed);
+ SetSpeeds(wheelSpeeds);
+}
+
+void Drivetrain::UpdateOdometry() {
+ m_odometry.Update(GetAngle(), GetCurrentState());
+}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Robot.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Robot.cpp
new file mode 100644
index 0000000..5ff14d1
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Robot.cpp
@@ -0,0 +1,51 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <frc/TimedRobot.h>
+#include <frc/XboxController.h>
+
+#include "Drivetrain.h"
+
+class Robot : public frc::TimedRobot {
+ public:
+ void AutonomousPeriodic() override {
+ DriveWithJoystick(false);
+ m_mecanum.UpdateOdometry();
+ }
+
+ void TeleopPeriodic() override { DriveWithJoystick(true); }
+
+ private:
+ frc::XboxController m_controller{0};
+ Drivetrain m_mecanum;
+
+ void DriveWithJoystick(bool fieldRelative) {
+ // Get the x speed. We are inverting this because Xbox controllers return
+ // negative values when we push forward.
+ const auto xSpeed =
+ -m_controller.GetY(frc::GenericHID::kLeftHand) * Drivetrain::kMaxSpeed;
+
+ // Get the y speed or sideways/strafe speed. We are inverting this because
+ // we want a positive value when we pull to the left. Xbox controllers
+ // return positive values when you pull to the right by default.
+ const auto ySpeed =
+ -m_controller.GetX(frc::GenericHID::kLeftHand) * Drivetrain::kMaxSpeed;
+
+ // Get the rate of angular rotation. We are inverting this because we want a
+ // positive value when we pull to the left (remember, CCW is positive in
+ // mathematics). Xbox controllers return positive values when you pull to
+ // the right by default.
+ const auto rot = -m_controller.GetX(frc::GenericHID::kRightHand) *
+ Drivetrain::kMaxAngularSpeed;
+
+ m_mecanum.Drive(xSpeed, ySpeed, rot, fieldRelative);
+ }
+};
+
+#ifndef RUNNING_FRC_TESTS
+int main() { return frc::StartRobot<Robot>(); }
+#endif
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h
new file mode 100644
index 0000000..3d44730
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h
@@ -0,0 +1,75 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc/AnalogGyro.h>
+#include <frc/Encoder.h>
+#include <frc/Spark.h>
+#include <frc/controller/PIDController.h>
+#include <frc/geometry/Translation2d.h>
+#include <frc/kinematics/MecanumDriveKinematics.h>
+#include <frc/kinematics/MecanumDriveOdometry.h>
+#include <frc/kinematics/MecanumDriveWheelSpeeds.h>
+#include <wpi/math>
+
+/**
+ * Represents a mecanum drive style drivetrain.
+ */
+class Drivetrain {
+ public:
+ Drivetrain() { m_gyro.Reset(); }
+
+ /**
+ * Get the robot angle as a Rotation2d
+ */
+ frc::Rotation2d GetAngle() const {
+ // Negating the angle because WPILib Gyros are CW positive.
+ return frc::Rotation2d(units::degree_t(-m_gyro.GetAngle()));
+ }
+
+ frc::MecanumDriveWheelSpeeds GetCurrentState() const;
+ void SetSpeeds(const frc::MecanumDriveWheelSpeeds& wheelSpeeds);
+ void Drive(units::meters_per_second_t xSpeed,
+ units::meters_per_second_t ySpeed, units::radians_per_second_t rot,
+ bool fieldRelative);
+ void UpdateOdometry();
+
+ static constexpr units::meters_per_second_t kMaxSpeed =
+ 3.0_mps; // 3 meters per second
+ static constexpr units::radians_per_second_t kMaxAngularSpeed{
+ wpi::math::pi}; // 1/2 rotation per second
+
+ private:
+ frc::Spark m_frontLeftMotor{1};
+ frc::Spark m_frontRightMotor{2};
+ frc::Spark m_backLeftMotor{3};
+ frc::Spark m_backRightMotor{4};
+
+ frc::Encoder m_frontLeftEncoder{0, 1};
+ frc::Encoder m_frontRightEncoder{0, 1};
+ frc::Encoder m_backLeftEncoder{0, 1};
+ frc::Encoder m_backRightEncoder{0, 1};
+
+ frc::Translation2d m_frontLeftLocation{0.381_m, 0.381_m};
+ frc::Translation2d m_frontRightLocation{0.381_m, -0.381_m};
+ frc::Translation2d m_backLeftLocation{-0.381_m, 0.381_m};
+ frc::Translation2d m_backRightLocation{-0.381_m, -0.381_m};
+
+ frc2::PIDController m_frontLeftPIDController{1.0, 0.0, 0.0};
+ frc2::PIDController m_frontRightPIDController{1.0, 0.0, 0.0};
+ frc2::PIDController m_backLeftPIDController{1.0, 0.0, 0.0};
+ frc2::PIDController m_backRightPIDController{1.0, 0.0, 0.0};
+
+ frc::AnalogGyro m_gyro{0};
+
+ frc::MecanumDriveKinematics m_kinematics{
+ m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
+ m_backRightLocation};
+
+ frc::MecanumDriveOdometry m_odometry{m_kinematics};
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/MotorControlEncoder/cpp/Robot.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/MotorControlEncoder/cpp/Robot.cpp
index 78e1e96..8e0a14a 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/MotorControlEncoder/cpp/Robot.cpp
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/MotorControlEncoder/cpp/Robot.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,8 +10,7 @@
#include <frc/PWMVictorSPX.h>
#include <frc/TimedRobot.h>
#include <frc/smartdashboard/SmartDashboard.h>
-
-constexpr double kPi = 3.14159265358979;
+#include <wpi/math>
/**
* This sample program shows how to control a motor using a joystick. In the
@@ -39,7 +38,7 @@
void RobotInit() override {
// Use SetDistancePerPulse to set the multiplier for GetDistance
// This is set up assuming a 6 inch wheel with a 360 CPR encoder.
- m_encoder.SetDistancePerPulse((kPi * 6) / 360.0);
+ m_encoder.SetDistancePerPulse((wpi::math::pi * 6) / 360.0);
}
private:
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/cpp/Robot.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/cpp/Robot.cpp
index e01a04f..afc10a3 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/cpp/Robot.cpp
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/PotentiometerPID/cpp/Robot.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,9 +9,9 @@
#include <frc/AnalogInput.h>
#include <frc/Joystick.h>
-#include <frc/PIDController.h>
#include <frc/PWMVictorSPX.h>
#include <frc/TimedRobot.h>
+#include <frc/controller/PIDController.h>
/**
* This is a sample program to demonstrate how to use a soft potentiometer and a
@@ -20,10 +20,6 @@
*/
class Robot : public frc::TimedRobot {
public:
- void RobotInit() override { m_pidController.SetInputRange(0, 5); }
-
- void TeleopInit() override { m_pidController.Enable(); }
-
void TeleopPeriodic() override {
// When the button is pressed once, the selected elevator setpoint is
// incremented.
@@ -35,6 +31,9 @@
m_previousButtonValue = currentButtonValue;
m_pidController.SetSetpoint(kSetPoints[m_index]);
+ double output =
+ m_pidController.Calculate(m_potentiometer.GetAverageVoltage());
+ m_elevatorMotor.Set(output);
}
private:
@@ -64,11 +63,7 @@
frc::Joystick m_joystick{kJoystickChannel};
frc::PWMVictorSPX m_elevatorMotor{kMotorChannel};
- /* Potentiometer (AnalogInput) and elevatorMotor (Victor) can be used as a
- * PIDSource and PIDOutput respectively.
- */
- frc::PIDController m_pidController{kP, kI, kD, m_potentiometer,
- m_elevatorMotor};
+ frc2::PIDController m_pidController{kP, kI, kD};
};
constexpr std::array<double, 3> Robot::kSetPoints;
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/Robot.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/Robot.cpp
new file mode 100644
index 0000000..cd19aeb
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/Robot.cpp
@@ -0,0 +1,71 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "Robot.h"
+
+#include <frc/smartdashboard/SmartDashboard.h>
+#include <frc2/command/CommandScheduler.h>
+
+void Robot::RobotInit() {}
+
+/**
+ * This function is called every robot packet, no matter the mode. Use
+ * this for items like diagnostics that you want to run during disabled,
+ * autonomous, teleoperated and test.
+ *
+ * <p> This runs after the mode specific periodic functions, but before
+ * LiveWindow and SmartDashboard integrated updating.
+ */
+void Robot::RobotPeriodic() { frc2::CommandScheduler::GetInstance().Run(); }
+
+/**
+ * This function is called once each time the robot enters Disabled mode. You
+ * can use it to reset any subsystem information you want to clear when the
+ * robot is disabled.
+ */
+void Robot::DisabledInit() {}
+
+void Robot::DisabledPeriodic() {}
+
+/**
+ * This autonomous runs the autonomous command selected by your {@link
+ * RobotContainer} class.
+ */
+void Robot::AutonomousInit() {
+ m_autonomousCommand = m_container.GetAutonomousCommand();
+
+ if (m_autonomousCommand != nullptr) {
+ m_autonomousCommand->Schedule();
+ }
+}
+
+void Robot::AutonomousPeriodic() {}
+
+void Robot::TeleopInit() {
+ // This makes sure that the autonomous stops running when
+ // teleop starts running. If you want the autonomous to
+ // continue until interrupted by another command, remove
+ // this line or comment it out.
+ if (m_autonomousCommand != nullptr) {
+ m_autonomousCommand->Cancel();
+ m_autonomousCommand = nullptr;
+ }
+}
+
+/**
+ * This function is called periodically during operator control.
+ */
+void Robot::TeleopPeriodic() {}
+
+/**
+ * This function is called periodically during test mode.
+ */
+void Robot::TestPeriodic() {}
+
+#ifndef RUNNING_FRC_TESTS
+int main() { return frc::StartRobot<Robot>(); }
+#endif
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
new file mode 100644
index 0000000..c5d22d0
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
@@ -0,0 +1,87 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "RobotContainer.h"
+
+#include <frc/controller/PIDController.h>
+#include <frc/controller/RamseteController.h>
+#include <frc/shuffleboard/Shuffleboard.h>
+#include <frc/trajectory/Trajectory.h>
+#include <frc/trajectory/TrajectoryGenerator.h>
+#include <frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h>
+#include <frc2/command/InstantCommand.h>
+#include <frc2/command/RamseteCommand.h>
+#include <frc2/command/SequentialCommandGroup.h>
+#include <frc2/command/button/JoystickButton.h>
+
+RobotContainer::RobotContainer() {
+ // Initialize all of your commands and subsystems here
+
+ // Configure the button bindings
+ ConfigureButtonBindings();
+
+ // Set up default drive command
+ m_drive.SetDefaultCommand(frc2::RunCommand(
+ [this] {
+ m_drive.ArcadeDrive(
+ m_driverController.GetY(frc::GenericHID::kLeftHand),
+ m_driverController.GetX(frc::GenericHID::kRightHand));
+ },
+ {&m_drive}));
+}
+
+void RobotContainer::ConfigureButtonBindings() {
+ // Configure your button bindings here
+
+ // While holding the shoulder button, drive at half speed
+ frc2::JoystickButton(&m_driverController, 6)
+ .WhenPressed(&m_driveHalfSpeed)
+ .WhenReleased(&m_driveFullSpeed);
+}
+
+frc2::Command* RobotContainer::GetAutonomousCommand() {
+ // Set up config for trajectory
+ frc::TrajectoryConfig config(AutoConstants::kMaxSpeed,
+ AutoConstants::kMaxAcceleration);
+ // Add kinematics to ensure max speed is actually obeyed
+ config.SetKinematics(DriveConstants::kDriveKinematics);
+
+ // An example trajectory to follow. All units in meters.
+ auto exampleTrajectory = frc::TrajectoryGenerator::GenerateTrajectory(
+ // Start at the origin facing the +X direction
+ frc::Pose2d(0_m, 0_m, frc::Rotation2d(0_deg)),
+ // Pass through these two interior waypoints, making an 's' curve path
+ {frc::Translation2d(1_m, 1_m), frc::Translation2d(2_m, -1_m)},
+ // End 3 meters straight ahead of where we started, facing forward
+ frc::Pose2d(3_m, 0_m, frc::Rotation2d(0_deg)),
+ // Pass the config
+ config);
+
+ frc2::RamseteCommand ramseteCommand(
+ exampleTrajectory, [this]() { return m_drive.GetPose(); },
+ frc::RamseteController(AutoConstants::kRamseteB,
+ AutoConstants::kRamseteZeta),
+ DriveConstants::ks, DriveConstants::kv, DriveConstants::ka,
+ DriveConstants::kDriveKinematics,
+ [this] {
+ return units::meters_per_second_t(m_drive.GetLeftEncoder().GetRate());
+ },
+ [this] {
+ return units::meters_per_second_t(m_drive.GetRightEncoder().GetRate());
+ },
+ frc2::PIDController(DriveConstants::kPDriveVel, 0, 0),
+ frc2::PIDController(DriveConstants::kPDriveVel, 0, 0),
+ [this](auto left, auto right) {
+ m_drive.TankDrive(left / 12_V, right / 12_V);
+ },
+ {&m_drive});
+
+ // no auto
+ return new frc2::SequentialCommandGroup(
+ std::move(ramseteCommand),
+ frc2::InstantCommand([this] { m_drive.TankDrive(0, 0); }, {}));
+}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
new file mode 100644
index 0000000..3d5307f
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
@@ -0,0 +1,75 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "subsystems/DriveSubsystem.h"
+
+#include <units/units.h>
+
+#include <frc/geometry/Rotation2d.h>
+#include <frc/kinematics/DifferentialDriveWheelSpeeds.h>
+
+using namespace DriveConstants;
+
+DriveSubsystem::DriveSubsystem()
+ : m_left1{kLeftMotor1Port},
+ m_left2{kLeftMotor2Port},
+ m_right1{kRightMotor1Port},
+ m_right2{kRightMotor2Port},
+ m_leftEncoder{kLeftEncoderPorts[0], kLeftEncoderPorts[1]},
+ m_rightEncoder{kRightEncoderPorts[0], kRightEncoderPorts[1]},
+ m_odometry{kDriveKinematics, frc::Pose2d()} {
+ // Set the distance per pulse for the encoders
+ m_leftEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
+ m_rightEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
+}
+
+void DriveSubsystem::Periodic() {
+ // Implementation of subsystem periodic method goes here.
+ m_odometry.Update(frc::Rotation2d(units::degree_t(GetHeading())),
+ frc::DifferentialDriveWheelSpeeds{
+ units::meters_per_second_t(m_leftEncoder.GetRate()),
+ units::meters_per_second_t(m_rightEncoder.GetRate())});
+}
+
+void DriveSubsystem::ArcadeDrive(double fwd, double rot) {
+ m_drive.ArcadeDrive(fwd, rot);
+}
+
+void DriveSubsystem::TankDrive(double left, double right) {
+ m_drive.TankDrive(left, right, false);
+}
+
+void DriveSubsystem::ResetEncoders() {
+ m_leftEncoder.Reset();
+ m_rightEncoder.Reset();
+}
+
+double DriveSubsystem::GetAverageEncoderDistance() {
+ return (m_leftEncoder.GetDistance() + m_rightEncoder.GetDistance()) / 2.;
+}
+
+frc::Encoder& DriveSubsystem::GetLeftEncoder() { return m_leftEncoder; }
+
+frc::Encoder& DriveSubsystem::GetRightEncoder() { return m_rightEncoder; }
+
+void DriveSubsystem::SetMaxOutput(double maxOutput) {
+ m_drive.SetMaxOutput(maxOutput);
+}
+
+double DriveSubsystem::GetHeading() {
+ return std::remainder(m_gyro.GetAngle(), 360) * (kGyroReversed ? -1. : 1.);
+}
+
+double DriveSubsystem::GetTurnRate() {
+ return m_gyro.GetRate() * (kGyroReversed ? -1. : 1.);
+}
+
+frc::Pose2d DriveSubsystem::GetPose() { return m_odometry.GetPose(); }
+
+void DriveSubsystem::ResetOdometry(frc::Pose2d pose) {
+ m_odometry.ResetPosition(pose);
+}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
new file mode 100644
index 0000000..801e479
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Constants.h
@@ -0,0 +1,71 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <units/units.h>
+
+#include <frc/kinematics/DifferentialDriveKinematics.h>
+#include <frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h>
+
+#pragma once
+
+/**
+ * The Constants header provides a convenient place for teams to hold robot-wide
+ * numerical or bool constants. This should not be used for any other purpose.
+ *
+ * It is generally a good idea to place constants into subsystem- or
+ * command-specific namespaces within this header, which can then be used where
+ * they are needed.
+ */
+
+namespace DriveConstants {
+const int kLeftMotor1Port = 0;
+const int kLeftMotor2Port = 1;
+const int kRightMotor1Port = 2;
+const int kRightMotor2Port = 3;
+
+const int kLeftEncoderPorts[]{0, 1};
+const int kRightEncoderPorts[]{2, 3};
+const bool kLeftEncoderReversed = false;
+const bool kRightEncoderReversed = true;
+
+const auto kTrackwidth = .6_m;
+const frc::DifferentialDriveKinematics kDriveKinematics(kTrackwidth);
+
+const int kEncoderCPR = 1024;
+const double kWheelDiameterInches = 6;
+const double kEncoderDistancePerPulse =
+ // Assumes the encoders are directly mounted on the wheel shafts
+ (kWheelDiameterInches * 3.142) / static_cast<double>(kEncoderCPR);
+
+const bool kGyroReversed = true;
+
+// These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
+// These characterization values MUST be determined either experimentally or
+// theoretically for *your* robot's drive. The RobotPy Characterization
+// Toolsuite provides a convenient tool for obtaining these values for your
+// robot.
+const auto ks = 1_V;
+const auto kv = .8 * 1_V * 1_s / 1_m;
+const auto ka = .15 * 1_V * 1_s * 1_s / 1_m;
+
+// Example value only - as above, this must be tuned for your drive!
+const double kPDriveVel = .5;
+} // namespace DriveConstants
+
+namespace AutoConstants {
+const auto kMaxSpeed = 3_mps;
+const auto kMaxAcceleration = 3_mps_sq;
+
+// Reasonable baseline values for a RAMSETE follower in units of meters and
+// seconds
+const double kRamseteB = 2;
+const double kRamseteZeta = .7;
+} // namespace AutoConstants
+
+namespace OIConstants {
+const int kDriverControllerPort = 1;
+} // namespace OIConstants
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Robot.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Robot.h
new file mode 100644
index 0000000..fa173d3
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/Robot.h
@@ -0,0 +1,33 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc/TimedRobot.h>
+#include <frc2/command/Command.h>
+
+#include "RobotContainer.h"
+
+class Robot : public frc::TimedRobot {
+ public:
+ void RobotInit() override;
+ void RobotPeriodic() override;
+ void DisabledInit() override;
+ void DisabledPeriodic() override;
+ void AutonomousInit() override;
+ void AutonomousPeriodic() override;
+ void TeleopInit() override;
+ void TeleopPeriodic() override;
+ void TestPeriodic() override;
+
+ private:
+ // Have it null by default so that if testing teleop it
+ // doesn't have undefined behavior and potentially crash.
+ frc2::Command* m_autonomousCommand = nullptr;
+
+ RobotContainer m_container;
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/RobotContainer.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/RobotContainer.h
new file mode 100644
index 0000000..cc91e0d
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/RobotContainer.h
@@ -0,0 +1,53 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc/XboxController.h>
+#include <frc/controller/PIDController.h>
+#include <frc/smartdashboard/SendableChooser.h>
+#include <frc2/command/Command.h>
+#include <frc2/command/InstantCommand.h>
+#include <frc2/command/PIDCommand.h>
+#include <frc2/command/ParallelRaceGroup.h>
+#include <frc2/command/RunCommand.h>
+
+#include "Constants.h"
+#include "subsystems/DriveSubsystem.h"
+
+/**
+ * This class is where the bulk of the robot should be declared. Since
+ * Command-based is a "declarative" paradigm, very little robot logic should
+ * actually be handled in the {@link Robot} periodic methods (other than the
+ * scheduler calls). Instead, the structure of the robot (including subsystems,
+ * commands, and button mappings) should be declared here.
+ */
+class RobotContainer {
+ public:
+ RobotContainer();
+
+ frc2::Command* GetAutonomousCommand();
+
+ private:
+ // The driver's controller
+ frc::XboxController m_driverController{OIConstants::kDriverControllerPort};
+
+ // The robot's subsystems and commands are defined here...
+
+ // The robot's subsystems
+ DriveSubsystem m_drive;
+
+ frc2::InstantCommand m_driveHalfSpeed{[this] { m_drive.SetMaxOutput(.5); },
+ {}};
+ frc2::InstantCommand m_driveFullSpeed{[this] { m_drive.SetMaxOutput(1); },
+ {}};
+
+ // The chooser for the autonomous routines
+ frc::SendableChooser<frc2::Command*> m_chooser;
+
+ void ConfigureButtonBindings();
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h
new file mode 100644
index 0000000..620cfd8
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h
@@ -0,0 +1,141 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc/ADXRS450_Gyro.h>
+#include <frc/Encoder.h>
+#include <frc/PWMVictorSPX.h>
+#include <frc/SpeedControllerGroup.h>
+#include <frc/drive/DifferentialDrive.h>
+#include <frc/geometry/Pose2d.h>
+#include <frc/kinematics/DifferentialDriveOdometry.h>
+#include <frc2/command/SubsystemBase.h>
+
+#include "Constants.h"
+
+class DriveSubsystem : public frc2::SubsystemBase {
+ public:
+ DriveSubsystem();
+
+ /**
+ * Will be called periodically whenever the CommandScheduler runs.
+ */
+ void Periodic() override;
+
+ // Subsystem methods go here.
+
+ /**
+ * Drives the robot using arcade controls.
+ *
+ * @param fwd the commanded forward movement
+ * @param rot the commanded rotation
+ */
+ void ArcadeDrive(double fwd, double rot);
+
+ /**
+ * Drives the robot using tank controls. Does not square inputs to enable
+ * composition with external controllers.
+ *
+ * @param left the commanded left output
+ * @param right the commanded right output
+ */
+ void TankDrive(double left, double right);
+
+ /**
+ * Resets the drive encoders to currently read a position of 0.
+ */
+ void ResetEncoders();
+
+ /**
+ * Gets the average distance of the TWO encoders.
+ *
+ * @return the average of the TWO encoder readings
+ */
+ double GetAverageEncoderDistance();
+
+ /**
+ * Gets the left drive encoder.
+ *
+ * @return the left drive encoder
+ */
+ frc::Encoder& GetLeftEncoder();
+
+ /**
+ * Gets the right drive encoder.
+ *
+ * @return the right drive encoder
+ */
+ frc::Encoder& GetRightEncoder();
+
+ /**
+ * Sets the max output of the drive. Useful for scaling the drive to drive
+ * more slowly.
+ *
+ * @param maxOutput the maximum output to which the drive will be constrained
+ */
+ void SetMaxOutput(double maxOutput);
+
+ /**
+ * Returns the heading of the robot.
+ *
+ * @return the robot's heading in degrees, from 180 to 180
+ */
+ double GetHeading();
+
+ /**
+ * Returns the turn rate of the robot.
+ *
+ * @return The turn rate of the robot, in degrees per second
+ */
+ double GetTurnRate();
+
+ /**
+ * Returns the currently-estimated pose of the robot.
+ *
+ * @return The pose.
+ */
+ frc::Pose2d GetPose();
+
+ /**
+ * Resets the odometry to the specified pose.
+ *
+ * @param pose The pose to which to set the odometry.
+ */
+ void ResetOdometry(frc::Pose2d pose);
+
+ private:
+ // Components (e.g. motor controllers and sensors) should generally be
+ // declared private and exposed only through public methods.
+
+ // The motor controllers
+ frc::PWMVictorSPX m_left1;
+ frc::PWMVictorSPX m_left2;
+ frc::PWMVictorSPX m_right1;
+ frc::PWMVictorSPX m_right2;
+
+ // The motors on the left side of the drive
+ frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};
+
+ // The motors on the right side of the drive
+ frc::SpeedControllerGroup m_rightMotors{m_right1, m_right2};
+
+ // The robot's drive
+ frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors};
+
+ // The left-side drive encoder
+ frc::Encoder m_leftEncoder;
+
+ // The right-side drive encoder
+ frc::Encoder m_rightEncoder;
+
+ // The gyro sensor
+ frc::ADXRS450_Gyro m_gyro;
+
+ // Odometry class for tracking robot pose
+ frc::DifferentialDriveOdometry m_odometry;
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/cpp/Robot.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/cpp/Robot.cpp
new file mode 100644
index 0000000..cd19aeb
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/cpp/Robot.cpp
@@ -0,0 +1,71 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "Robot.h"
+
+#include <frc/smartdashboard/SmartDashboard.h>
+#include <frc2/command/CommandScheduler.h>
+
+void Robot::RobotInit() {}
+
+/**
+ * This function is called every robot packet, no matter the mode. Use
+ * this for items like diagnostics that you want to run during disabled,
+ * autonomous, teleoperated and test.
+ *
+ * <p> This runs after the mode specific periodic functions, but before
+ * LiveWindow and SmartDashboard integrated updating.
+ */
+void Robot::RobotPeriodic() { frc2::CommandScheduler::GetInstance().Run(); }
+
+/**
+ * This function is called once each time the robot enters Disabled mode. You
+ * can use it to reset any subsystem information you want to clear when the
+ * robot is disabled.
+ */
+void Robot::DisabledInit() {}
+
+void Robot::DisabledPeriodic() {}
+
+/**
+ * This autonomous runs the autonomous command selected by your {@link
+ * RobotContainer} class.
+ */
+void Robot::AutonomousInit() {
+ m_autonomousCommand = m_container.GetAutonomousCommand();
+
+ if (m_autonomousCommand != nullptr) {
+ m_autonomousCommand->Schedule();
+ }
+}
+
+void Robot::AutonomousPeriodic() {}
+
+void Robot::TeleopInit() {
+ // This makes sure that the autonomous stops running when
+ // teleop starts running. If you want the autonomous to
+ // continue until interrupted by another command, remove
+ // this line or comment it out.
+ if (m_autonomousCommand != nullptr) {
+ m_autonomousCommand->Cancel();
+ m_autonomousCommand = nullptr;
+ }
+}
+
+/**
+ * This function is called periodically during operator control.
+ */
+void Robot::TeleopPeriodic() {}
+
+/**
+ * This function is called periodically during test mode.
+ */
+void Robot::TestPeriodic() {}
+
+#ifndef RUNNING_FRC_TESTS
+int main() { return frc::StartRobot<Robot>(); }
+#endif
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/cpp/RobotContainer.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/cpp/RobotContainer.cpp
new file mode 100644
index 0000000..dbc9d2a
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/cpp/RobotContainer.cpp
@@ -0,0 +1,62 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "RobotContainer.h"
+
+#include <frc/shuffleboard/Shuffleboard.h>
+#include <frc2/command/CommandScheduler.h>
+#include <frc2/command/button/JoystickButton.h>
+
+RobotContainer::RobotContainer() {
+ // Initialize all of your commands and subsystems here
+
+ // Set names of commands
+ m_instantCommand1.SetName("Instant Command 1");
+ m_instantCommand2.SetName("Instant Command 2");
+ m_waitCommand.SetName("Wait 5 Seconds Command");
+
+ // Set the scheduler to log Shuffleboard events for command initialize,
+ // interrupt, finish
+ frc2::CommandScheduler::GetInstance().OnCommandInitialize(
+ [](const frc2::Command& command) {
+ frc::Shuffleboard::AddEventMarker(
+ "Command Initialized", command.GetName(),
+ frc::ShuffleboardEventImportance::kNormal);
+ });
+ frc2::CommandScheduler::GetInstance().OnCommandInterrupt(
+ [](const frc2::Command& command) {
+ frc::Shuffleboard::AddEventMarker(
+ "Command Interrupted", command.GetName(),
+ frc::ShuffleboardEventImportance::kNormal);
+ });
+ frc2::CommandScheduler::GetInstance().OnCommandFinish(
+ [](const frc2::Command& command) {
+ frc::Shuffleboard::AddEventMarker(
+ "Command Finished", command.GetName(),
+ frc::ShuffleboardEventImportance::kNormal);
+ });
+
+ // Configure the button bindings
+ ConfigureButtonBindings();
+}
+
+void RobotContainer::ConfigureButtonBindings() {
+ // Configure your button bindings here
+
+ // Run instant command 1 when the 'A' button is pressed
+ frc2::JoystickButton(&m_driverController, 0).WhenPressed(&m_instantCommand1);
+ // Run instant command 2 when the 'X' button is pressed
+ frc2::JoystickButton(&m_driverController, 3).WhenPressed(&m_instantCommand2);
+ // Run instant command 3 when the 'Y' button is held; release early to
+ // interrupt
+ frc2::JoystickButton(&m_driverController, 4).WhenHeld(&m_waitCommand);
+}
+
+frc2::Command* RobotContainer::GetAutonomousCommand() {
+ // no auto
+ return nullptr;
+}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/include/Constants.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/include/Constants.h
new file mode 100644
index 0000000..0a5f832
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/include/Constants.h
@@ -0,0 +1,22 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+/**
+ * The Constants header provides a convenient place for teams to hold robot-wide
+ * numerical or boolean constants. This should not be used for any other
+ * purpose.
+ *
+ * It is generally a good idea to place constants into subsystem- or
+ * command-specific namespaces within this header, which can then be used where
+ * they are needed.
+ */
+
+namespace OIConstants {
+const int kDriverControllerPort = 1;
+} // namespace OIConstants
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/include/Robot.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/include/Robot.h
new file mode 100644
index 0000000..fa173d3
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/include/Robot.h
@@ -0,0 +1,33 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc/TimedRobot.h>
+#include <frc2/command/Command.h>
+
+#include "RobotContainer.h"
+
+class Robot : public frc::TimedRobot {
+ public:
+ void RobotInit() override;
+ void RobotPeriodic() override;
+ void DisabledInit() override;
+ void DisabledPeriodic() override;
+ void AutonomousInit() override;
+ void AutonomousPeriodic() override;
+ void TeleopInit() override;
+ void TeleopPeriodic() override;
+ void TestPeriodic() override;
+
+ private:
+ // Have it null by default so that if testing teleop it
+ // doesn't have undefined behavior and potentially crash.
+ frc2::Command* m_autonomousCommand = nullptr;
+
+ RobotContainer m_container;
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/include/RobotContainer.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/include/RobotContainer.h
new file mode 100644
index 0000000..6e3f321
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/include/RobotContainer.h
@@ -0,0 +1,42 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc/XboxController.h>
+#include <frc2/command/Command.h>
+#include <frc2/command/InstantCommand.h>
+#include <frc2/command/WaitCommand.h>
+
+#include "Constants.h"
+
+/**
+ * This class is where the bulk of the robot should be declared. Since
+ * Command-based is a "declarative" paradigm, very little robot logic should
+ * actually be handled in the {@link Robot} periodic methods (other than the
+ * scheduler calls). Instead, the structure of the robot (including subsystems,
+ * commands, and button mappings) should be declared here.
+ */
+class RobotContainer {
+ public:
+ RobotContainer();
+
+ frc2::Command* GetAutonomousCommand();
+
+ private:
+ // The robot's subsystems and commands are defined here...
+
+ // The driver's controller
+ frc::XboxController m_driverController{OIConstants::kDriverControllerPort};
+
+ // Three commands that do nothing; for demonstration purposes.
+ frc2::InstantCommand m_instantCommand1;
+ frc2::InstantCommand m_instantCommand2;
+ frc2::WaitCommand m_waitCommand{5_s};
+
+ void ConfigureButtonBindings();
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/Robot.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/Robot.cpp
new file mode 100644
index 0000000..cd19aeb
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/Robot.cpp
@@ -0,0 +1,71 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "Robot.h"
+
+#include <frc/smartdashboard/SmartDashboard.h>
+#include <frc2/command/CommandScheduler.h>
+
+void Robot::RobotInit() {}
+
+/**
+ * This function is called every robot packet, no matter the mode. Use
+ * this for items like diagnostics that you want to run during disabled,
+ * autonomous, teleoperated and test.
+ *
+ * <p> This runs after the mode specific periodic functions, but before
+ * LiveWindow and SmartDashboard integrated updating.
+ */
+void Robot::RobotPeriodic() { frc2::CommandScheduler::GetInstance().Run(); }
+
+/**
+ * This function is called once each time the robot enters Disabled mode. You
+ * can use it to reset any subsystem information you want to clear when the
+ * robot is disabled.
+ */
+void Robot::DisabledInit() {}
+
+void Robot::DisabledPeriodic() {}
+
+/**
+ * This autonomous runs the autonomous command selected by your {@link
+ * RobotContainer} class.
+ */
+void Robot::AutonomousInit() {
+ m_autonomousCommand = m_container.GetAutonomousCommand();
+
+ if (m_autonomousCommand != nullptr) {
+ m_autonomousCommand->Schedule();
+ }
+}
+
+void Robot::AutonomousPeriodic() {}
+
+void Robot::TeleopInit() {
+ // This makes sure that the autonomous stops running when
+ // teleop starts running. If you want the autonomous to
+ // continue until interrupted by another command, remove
+ // this line or comment it out.
+ if (m_autonomousCommand != nullptr) {
+ m_autonomousCommand->Cancel();
+ m_autonomousCommand = nullptr;
+ }
+}
+
+/**
+ * This function is called periodically during operator control.
+ */
+void Robot::TeleopPeriodic() {}
+
+/**
+ * This function is called periodically during test mode.
+ */
+void Robot::TestPeriodic() {}
+
+#ifndef RUNNING_FRC_TESTS
+int main() { return frc::StartRobot<Robot>(); }
+#endif
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/RobotContainer.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/RobotContainer.cpp
new file mode 100644
index 0000000..b06845e
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/RobotContainer.cpp
@@ -0,0 +1,24 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "RobotContainer.h"
+
+RobotContainer::RobotContainer() {
+ // Initialize all of your commands and subsystems here
+
+ // Configure the button bindings
+ ConfigureButtonBindings();
+}
+
+void RobotContainer::ConfigureButtonBindings() {
+ // Configure your button bindings here
+}
+
+frc2::Command* RobotContainer::GetAutonomousCommand() {
+ // Run the select command in autonomous
+ return &m_exampleSelectCommand;
+}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/Constants.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/Constants.h
new file mode 100644
index 0000000..0a5f832
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/Constants.h
@@ -0,0 +1,22 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+/**
+ * The Constants header provides a convenient place for teams to hold robot-wide
+ * numerical or boolean constants. This should not be used for any other
+ * purpose.
+ *
+ * It is generally a good idea to place constants into subsystem- or
+ * command-specific namespaces within this header, which can then be used where
+ * they are needed.
+ */
+
+namespace OIConstants {
+const int kDriverControllerPort = 1;
+} // namespace OIConstants
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/Robot.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/Robot.h
new file mode 100644
index 0000000..fa173d3
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/Robot.h
@@ -0,0 +1,33 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc/TimedRobot.h>
+#include <frc2/command/Command.h>
+
+#include "RobotContainer.h"
+
+class Robot : public frc::TimedRobot {
+ public:
+ void RobotInit() override;
+ void RobotPeriodic() override;
+ void DisabledInit() override;
+ void DisabledPeriodic() override;
+ void AutonomousInit() override;
+ void AutonomousPeriodic() override;
+ void TeleopInit() override;
+ void TeleopPeriodic() override;
+ void TestPeriodic() override;
+
+ private:
+ // Have it null by default so that if testing teleop it
+ // doesn't have undefined behavior and potentially crash.
+ frc2::Command* m_autonomousCommand = nullptr;
+
+ RobotContainer m_container;
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/RobotContainer.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/RobotContainer.h
new file mode 100644
index 0000000..c93e320
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/RobotContainer.h
@@ -0,0 +1,50 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc2/command/Command.h>
+#include <frc2/command/PrintCommand.h>
+#include <frc2/command/SelectCommand.h>
+
+/**
+ * This class is where the bulk of the robot should be declared. Since
+ * Command-based is a "declarative" paradigm, very little robot logic should
+ * actually be handled in the {@link Robot} periodic methods (other than the
+ * scheduler calls). Instead, the structure of the robot (including subsystems,
+ * commands, and button mappings) should be declared here.
+ */
+class RobotContainer {
+ public:
+ RobotContainer();
+
+ frc2::Command* GetAutonomousCommand();
+
+ private:
+ // The enum used as keys for selecting the command to run.
+ enum CommandSelector { ONE, TWO, THREE };
+
+ // An example selector method for the selectcommand. Returns the selector
+ // that will select which command to run. Can base this choice on logical
+ // conditions evaluated at runtime.
+ CommandSelector Select() { return ONE; }
+
+ // The robot's subsystems and commands are defined here...
+
+ // An example selectcommand. Will select from the three commands based on the
+ // value returned by the selector method at runtime. Note that selectcommand
+ // takes a generic type, so the selector does not have to be an enum; it could
+ // be any desired type (string, integer, boolean, double...)
+ frc2::SelectCommand<CommandSelector> m_exampleSelectCommand{
+ [this] { return Select(); },
+ // Maps selector values to commands
+ std::pair{ONE, frc2::PrintCommand{"Command one was selected!"}},
+ std::pair{TWO, frc2::PrintCommand{"Command two was selected!"}},
+ std::pair{THREE, frc2::PrintCommand{"Command three was selected!"}}};
+
+ void ConfigureButtonBindings();
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Drivetrain.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Drivetrain.cpp
new file mode 100644
index 0000000..416d303
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Drivetrain.cpp
@@ -0,0 +1,31 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "Drivetrain.h"
+
+void Drivetrain::Drive(units::meters_per_second_t xSpeed,
+ units::meters_per_second_t ySpeed,
+ units::radians_per_second_t rot, bool fieldRelative) {
+ auto states = m_kinematics.ToSwerveModuleStates(
+ fieldRelative ? frc::ChassisSpeeds::FromFieldRelativeSpeeds(
+ xSpeed, ySpeed, rot, GetAngle())
+ : frc::ChassisSpeeds{xSpeed, ySpeed, rot});
+
+ m_kinematics.NormalizeWheelSpeeds(&states, kMaxSpeed);
+
+ auto [fl, fr, bl, br] = states;
+
+ m_frontLeft.SetDesiredState(fl);
+ m_frontRight.SetDesiredState(fr);
+ m_backLeft.SetDesiredState(bl);
+ m_backRight.SetDesiredState(br);
+}
+
+void Drivetrain::UpdateOdometry() {
+ m_odometry.Update(GetAngle(), m_frontLeft.GetState(), m_frontRight.GetState(),
+ m_backLeft.GetState(), m_backRight.GetState());
+}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Robot.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Robot.cpp
new file mode 100644
index 0000000..7376e9e
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Robot.cpp
@@ -0,0 +1,51 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <frc/TimedRobot.h>
+#include <frc/XboxController.h>
+
+#include "Drivetrain.h"
+
+class Robot : public frc::TimedRobot {
+ public:
+ void AutonomousPeriodic() override {
+ DriveWithJoystick(false);
+ m_swerve.UpdateOdometry();
+ }
+
+ void TeleopPeriodic() override { DriveWithJoystick(true); }
+
+ private:
+ frc::XboxController m_controller{0};
+ Drivetrain m_swerve;
+
+ void DriveWithJoystick(bool fieldRelative) {
+ // Get the x speed. We are inverting this because Xbox controllers return
+ // negative values when we push forward.
+ const auto xSpeed =
+ -m_controller.GetY(frc::GenericHID::kLeftHand) * Drivetrain::kMaxSpeed;
+
+ // Get the y speed or sideways/strafe speed. We are inverting this because
+ // we want a positive value when we pull to the left. Xbox controllers
+ // return positive values when you pull to the right by default.
+ const auto ySpeed =
+ -m_controller.GetX(frc::GenericHID::kLeftHand) * Drivetrain::kMaxSpeed;
+
+ // Get the rate of angular rotation. We are inverting this because we want a
+ // positive value when we pull to the left (remember, CCW is positive in
+ // mathematics). Xbox controllers return positive values when you pull to
+ // the right by default.
+ const auto rot = -m_controller.GetX(frc::GenericHID::kRightHand) *
+ Drivetrain::kMaxAngularSpeed;
+
+ m_swerve.Drive(xSpeed, ySpeed, rot, fieldRelative);
+ }
+};
+
+#ifndef RUNNING_FRC_TESTS
+int main() { return frc::StartRobot<Robot>(); }
+#endif
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp
new file mode 100644
index 0000000..697984c
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp
@@ -0,0 +1,52 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "SwerveModule.h"
+
+#include <frc/geometry/Rotation2d.h>
+#include <wpi/math>
+
+SwerveModule::SwerveModule(const int driveMotorChannel,
+ const int turningMotorChannel)
+ : m_driveMotor(driveMotorChannel), m_turningMotor(turningMotorChannel) {
+ // Set the distance per pulse for the drive encoder. We can simply use the
+ // distance traveled for one rotation of the wheel divided by the encoder
+ // resolution.
+ m_driveEncoder.SetDistancePerPulse(2 * wpi::math::pi * kWheelRadius /
+ kEncoderResolution);
+
+ // Set the distance (in this case, angle) per pulse for the turning encoder.
+ // This is the the angle through an entire rotation (2 * wpi::math::pi)
+ // divided by the encoder resolution.
+ m_turningEncoder.SetDistancePerPulse(2 * wpi::math::pi / kEncoderResolution);
+
+ // Limit the PID Controller's input range between -pi and pi and set the input
+ // to be continuous.
+ m_turningPIDController.EnableContinuousInput(-wpi::math::pi, wpi::math::pi);
+}
+
+frc::SwerveModuleState SwerveModule::GetState() const {
+ return {units::meters_per_second_t{m_driveEncoder.GetRate()},
+ frc::Rotation2d(units::radian_t(m_turningEncoder.Get()))};
+}
+
+void SwerveModule::SetDesiredState(const frc::SwerveModuleState& state) {
+ // Calculate the drive output from the drive PID controller.
+ const auto driveOutput = m_drivePIDController.Calculate(
+ m_driveEncoder.GetRate(), state.speed.to<double>());
+
+ // Calculate the turning motor output from the turning PID controller.
+ const auto turnOutput = m_turningPIDController.Calculate(
+ units::meter_t(m_turningEncoder.Get()),
+ // We have to convert to the meters type here because that's what
+ // ProfiledPIDController wants.
+ units::meter_t(state.angle.Radians().to<double>()));
+
+ // Set the motor outputs.
+ m_driveMotor.Set(driveOutput);
+ m_turningMotor.Set(turnOutput);
+}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.h
new file mode 100644
index 0000000..745581a
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.h
@@ -0,0 +1,61 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc/AnalogGyro.h>
+#include <frc/geometry/Translation2d.h>
+#include <frc/kinematics/SwerveDriveKinematics.h>
+#include <frc/kinematics/SwerveDriveOdometry.h>
+#include <wpi/math>
+
+#include "SwerveModule.h"
+
+/**
+ * Represents a swerve drive style drivetrain.
+ */
+class Drivetrain {
+ public:
+ Drivetrain() { m_gyro.Reset(); }
+
+ /**
+ * Get the robot angle as a Rotation2d.
+ */
+ frc::Rotation2d GetAngle() const {
+ // Negating the angle because WPILib Gyros are CW positive.
+ return frc::Rotation2d(units::degree_t(-m_gyro.GetAngle()));
+ }
+
+ void Drive(units::meters_per_second_t xSpeed,
+ units::meters_per_second_t ySpeed, units::radians_per_second_t rot,
+ bool fieldRelative);
+ void UpdateOdometry();
+
+ static constexpr units::meters_per_second_t kMaxSpeed =
+ 3.0_mps; // 3 meters per second
+ static constexpr units::radians_per_second_t kMaxAngularSpeed{
+ wpi::math::pi}; // 1/2 rotation per second
+
+ private:
+ frc::Translation2d m_frontLeftLocation{+0.381_m, +0.381_m};
+ frc::Translation2d m_frontRightLocation{+0.381_m, -0.381_m};
+ frc::Translation2d m_backLeftLocation{-0.381_m, +0.381_m};
+ frc::Translation2d m_backRightLocation{-0.381_m, -0.381_m};
+
+ SwerveModule m_frontLeft{1, 2};
+ SwerveModule m_frontRight{2, 3};
+ SwerveModule m_backLeft{5, 6};
+ SwerveModule m_backRight{7, 8};
+
+ frc::AnalogGyro m_gyro{0};
+
+ frc::SwerveDriveKinematics<4> m_kinematics{
+ m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
+ m_backRightLocation};
+
+ frc::SwerveDriveOdometry<4> m_odometry{m_kinematics};
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h
new file mode 100644
index 0000000..0eaa69e
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h
@@ -0,0 +1,49 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc/Encoder.h>
+#include <frc/Spark.h>
+#include <frc/controller/PIDController.h>
+#include <frc/controller/ProfiledPIDController.h>
+#include <frc/kinematics/SwerveModuleState.h>
+#include <wpi/math>
+
+class SwerveModule {
+ public:
+ SwerveModule(int driveMotorChannel, int turningMotorChannel);
+ frc::SwerveModuleState GetState() const;
+ void SetDesiredState(const frc::SwerveModuleState& state);
+
+ private:
+ static constexpr double kWheelRadius = 0.0508;
+ static constexpr int kEncoderResolution = 4096;
+
+ // We have to use meters here instead of radians because of the fact that
+ // ProfiledPIDController's constraints only take in meters per second and
+ // meters per second squared.
+
+ static constexpr units::meters_per_second_t kModuleMaxAngularVelocity =
+ units::meters_per_second_t(wpi::math::pi); // radians per second
+ static constexpr units::meters_per_second_squared_t
+ kModuleMaxAngularAcceleration = units::meters_per_second_squared_t(
+ wpi::math::pi * 2.0); // radians per second squared
+
+ frc::Spark m_driveMotor;
+ frc::Spark m_turningMotor;
+
+ frc::Encoder m_driveEncoder{0, 1};
+ frc::Encoder m_turningEncoder{0, 1};
+
+ frc2::PIDController m_drivePIDController{1.0, 0, 0};
+ frc::ProfiledPIDController m_turningPIDController{
+ 1.0,
+ 0.0,
+ 0.0,
+ {kModuleMaxAngularVelocity, kModuleMaxAngularAcceleration}};
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/UltrasonicPID/cpp/Robot.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/UltrasonicPID/cpp/Robot.cpp
index 67aec78..745fc10 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/UltrasonicPID/cpp/Robot.cpp
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/UltrasonicPID/cpp/Robot.cpp
@@ -1,15 +1,14 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <frc/AnalogInput.h>
-#include <frc/PIDController.h>
-#include <frc/PIDOutput.h>
#include <frc/PWMVictorSPX.h>
#include <frc/TimedRobot.h>
+#include <frc/controller/PIDController.h>
#include <frc/drive/DifferentialDrive.h>
/**
@@ -23,34 +22,16 @@
* ultrasonic sensor.
*/
void TeleopInit() override {
- // Set expected range to 0-24 inches; e.g. at 24 inches from object go full
- // forward, at 0 inches from object go full backward.
- m_pidController.SetInputRange(0, 24 * kValueToInches);
-
// Set setpoint of the PID Controller
m_pidController.SetSetpoint(kHoldDistance * kValueToInches);
+ }
- // Begin PID control
- m_pidController.Enable();
+ void TeleopPeriodic() override {
+ double output = m_pidController.Calculate(m_ultrasonic.GetAverageVoltage());
+ m_robotDrive.ArcadeDrive(output, 0);
}
private:
- // Internal class to write to robot drive using a PIDOutput
- class MyPIDOutput : public frc::PIDOutput {
- public:
- explicit MyPIDOutput(frc::DifferentialDrive& r) : m_rd(r) {
- m_rd.SetSafetyEnabled(false);
- }
-
- void PIDWrite(double output) override {
- // Write to robot drive by reference
- m_rd.ArcadeDrive(output, 0);
- }
-
- private:
- frc::DifferentialDrive& m_rd;
- };
-
// Distance in inches the robot wants to stay from an object
static constexpr int kHoldDistance = 12;
@@ -75,9 +56,8 @@
frc::PWMVictorSPX m_left{kLeftMotorPort};
frc::PWMVictorSPX m_right{kRightMotorPort};
frc::DifferentialDrive m_robotDrive{m_left, m_right};
- MyPIDOutput m_pidOutput{m_robotDrive};
- frc::PIDController m_pidController{kP, kI, kD, m_ultrasonic, m_pidOutput};
+ frc2::PIDController m_pidController{kP, kI, kD};
};
#ifndef RUNNING_FRC_TESTS
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/examples.json b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/examples.json
index 8859134..864ea1d 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/examples.json
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/examples/examples.json
@@ -167,6 +167,30 @@
"gradlebase": "cpp"
},
{
+ "name": "Elevator with trapezoid profiled PID",
+ "description": "An example to demonstrate the use of an encoder and trapezoid profiled PID control to reach elevator position setpoints.",
+ "tags": [
+ "Digital",
+ "Sensors",
+ "Actuators",
+ "Joystick"
+ ],
+ "foldername": "ElevatorTrapezoidProfile",
+ "gradlebase": "cpp"
+ },
+ {
+ "name": "Elevator with profiled PID controller",
+ "description": "An example to demonstrate the use of an encoder and trapezoid profiled PID control to reach elevator position setpoints.",
+ "tags": [
+ "Digital",
+ "Sensors",
+ "Actuators",
+ "Joystick"
+ ],
+ "foldername": "ElevatorProfiledPID",
+ "gradlebase": "cpp"
+ },
+ {
"name": "Getting Started",
"description": "An example program which demonstrates the simplest autonomous and teleoperated routines.",
"tags": [
@@ -208,7 +232,7 @@
},
{
"name": "GearsBot",
- "description": "A fully functional example CommandBased program for WPIs GearsBot robot. This code can run on your computer if it supports simulation.",
+ "description": "A fully functional example CommandBased program for WPIs GearsBot robot, using the new command-based framework. This code can run on your computer if it supports simulation.",
"tags": [
"CommandBased Robot",
"Complete List"
@@ -243,5 +267,106 @@
],
"foldername": "ShuffleBoard",
"gradlebase": "cpp"
+ },
+ {
+ "name": "'Traditional' Hatchbot",
+ "description": "A fully-functional command-based hatchbot for the 2019 game using the new experimental command API. Written in the 'traditional' style, i.e. commands are given their own classes.",
+ "tags": [
+ "Complete robot",
+ "Command-based"
+ ],
+ "foldername": "HatchbotTraditional",
+ "gradlebase": "cpp"
+ },
+ {
+ "name": "'Inlined' Hatchbot",
+ "description": "A fully-functional command-based hatchbot for the 2019 game using the new experimental command API. Written in the 'inlined' style, i.e. many commands are defined inline with lambdas.",
+ "tags": [
+ "Complete robot",
+ "Command-based",
+ "Lambdas"
+ ],
+ "foldername": "HatchbotInlined",
+ "gradlebase": "cpp"
+ },
+ {
+ "name": "Select Command Example",
+ "description": "An example showing how to use the SelectCommand class from the experimental command framework rewrite.",
+ "tags": [
+ "Command-based"
+ ],
+ "foldername": "SelectCommand",
+ "gradlebase": "cpp"
+ },
+ {
+ "name": "Scheduler Event Logging",
+ "description": "An example showing how to use Shuffleboard to log Command events from the CommandScheduler in the experimental command framework rewrite",
+ "tags": [
+ "Command-based",
+ "Shuffleboard"
+ ],
+ "foldername": "SchedulerEventLogging",
+ "gradlebase": "cpp"
+ },
+ {
+ "name": "Frisbeebot",
+ "description": "An example robot project for a simple frisbee shooter for the 2013 FRC game, Ultimate Ascent, demonstrating use of PID functionality in the command framework",
+ "tags": [
+ "Command-based",
+ "PID"
+ ],
+ "foldername": "Frisbeebot",
+ "gradlebase": "cpp"
+ },
+ {
+ "name": "Gyro Drive Commands",
+ "description": "An example command-based robot project demonstrating simple PID functionality utilizing a gyroscope to keep a robot driving straight and to turn to specified angles.",
+ "tags": [
+ "Command-based",
+ "PID",
+ "Gyro"
+ ],
+ "foldername": "GyroDriveCommands",
+ "gradlebase": "cpp"
+ },
+ {
+ "name": "SwerveBot",
+ "description": "An example program for a swerve drive that uses swerve drive kinematics and odometry.",
+ "tags": [
+ "SwerveBot"
+ ],
+ "foldername": "SwerveBot",
+ "gradlebase": "cpp"
+ },
+ {
+ "name": "MecanumBot",
+ "description": "An example program for a mecanum drive that uses mecanum drive kinematics and odometry.",
+ "tags": [
+ "MecanumBot"
+ ],
+ "foldername": "MecanumBot",
+ "gradlebase": "cpp"
+ },
+ {
+ "name": "DifferentialDriveBot",
+ "description": "An example program for a differential drive that uses differential drive kinematics and odometry.",
+ "tags": [
+ "DifferentialDriveBot"
+ ],
+ "foldername": "DifferentialDriveBot",
+ "gradlebase": "cpp"
+ },
+ {
+ "name:": "RamseteCommand",
+ "description": "An example command-based robot demonstrating the use of a RamseteCommand to follow a pregenerated trajectory.",
+ "tags": [
+ "RamseteCommand",
+ "PID",
+ "Ramsete",
+ "Trajectory",
+ "Path following"
+ ],
+ "foldername": "RamseteCommand",
+ "gradlebase": "cpp"
}
]
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/OI.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/OI.cpp
deleted file mode 100644
index 5974f1f..0000000
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/OI.cpp
+++ /dev/null
@@ -1,14 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#include "OI.h"
-
-#include <frc/WPILib.h>
-
-OI::OI() {
- // Process operator interface input here.
-}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
index df2a9cc..cd19aeb 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,27 +7,20 @@
#include "Robot.h"
-#include <frc/commands/Scheduler.h>
#include <frc/smartdashboard/SmartDashboard.h>
+#include <frc2/command/CommandScheduler.h>
-ExampleSubsystem Robot::m_subsystem;
-OI Robot::m_oi;
-
-void Robot::RobotInit() {
- m_chooser.SetDefaultOption("Default Auto", &m_defaultAuto);
- m_chooser.AddOption("My Auto", &m_myAuto);
- frc::SmartDashboard::PutData("Auto Modes", &m_chooser);
-}
+void Robot::RobotInit() {}
/**
* This function is called every robot packet, no matter the mode. Use
- * this for items like diagnostics that you want ran during disabled,
+ * this for items like diagnostics that you want to run during disabled,
* autonomous, teleoperated and test.
*
* <p> This runs after the mode specific periodic functions, but before
* LiveWindow and SmartDashboard integrated updating.
*/
-void Robot::RobotPeriodic() {}
+void Robot::RobotPeriodic() { frc2::CommandScheduler::GetInstance().Run(); }
/**
* This function is called once each time the robot enters Disabled mode. You
@@ -36,36 +29,21 @@
*/
void Robot::DisabledInit() {}
-void Robot::DisabledPeriodic() { frc::Scheduler::GetInstance()->Run(); }
+void Robot::DisabledPeriodic() {}
/**
- * This autonomous (along with the chooser code above) shows how to select
- * between different autonomous modes using the dashboard. The sendable chooser
- * code works with the Java SmartDashboard. If you prefer the LabVIEW Dashboard,
- * remove all of the chooser code and uncomment the GetString code to get the
- * auto name from the text box below the Gyro.
- *
- * You can add additional auto modes by adding additional commands to the
- * chooser code above (like the commented example) or additional comparisons to
- * the if-else structure below with additional strings & commands.
+ * This autonomous runs the autonomous command selected by your {@link
+ * RobotContainer} class.
*/
void Robot::AutonomousInit() {
- // std::string autoSelected = frc::SmartDashboard::GetString(
- // "Auto Selector", "Default");
- // if (autoSelected == "My Auto") {
- // m_autonomousCommand = &m_myAuto;
- // } else {
- // m_autonomousCommand = &m_defaultAuto;
- // }
-
- m_autonomousCommand = m_chooser.GetSelected();
+ m_autonomousCommand = m_container.GetAutonomousCommand();
if (m_autonomousCommand != nullptr) {
- m_autonomousCommand->Start();
+ m_autonomousCommand->Schedule();
}
}
-void Robot::AutonomousPeriodic() { frc::Scheduler::GetInstance()->Run(); }
+void Robot::AutonomousPeriodic() {}
void Robot::TeleopInit() {
// This makes sure that the autonomous stops running when
@@ -78,8 +56,14 @@
}
}
-void Robot::TeleopPeriodic() { frc::Scheduler::GetInstance()->Run(); }
+/**
+ * This function is called periodically during operator control.
+ */
+void Robot::TeleopPeriodic() {}
+/**
+ * This function is called periodically during test mode.
+ */
void Robot::TestPeriodic() {}
#ifndef RUNNING_FRC_TESTS
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp
new file mode 100644
index 0000000..8210645
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp
@@ -0,0 +1,24 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "RobotContainer.h"
+
+RobotContainer::RobotContainer() : m_autonomousCommand(&m_subsystem) {
+ // Initialize all of your commands and subsystems here
+
+ // Configure the button bindings
+ ConfigureButtonBindings();
+}
+
+void RobotContainer::ConfigureButtonBindings() {
+ // Configure your button bindings here
+}
+
+frc2::Command* RobotContainer::GetAutonomousCommand() {
+ // An example command will be run in autonomous
+ return &m_autonomousCommand;
+}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/commands/ExampleCommand.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/commands/ExampleCommand.cpp
index fa83682..0e709aa 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/commands/ExampleCommand.cpp
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/commands/ExampleCommand.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,25 +7,5 @@
#include "commands/ExampleCommand.h"
-#include "Robot.h"
-
-ExampleCommand::ExampleCommand() {
- // Use Requires() here to declare subsystem dependencies
- Requires(&Robot::m_subsystem);
-}
-
-// Called just before this Command runs the first time
-void ExampleCommand::Initialize() {}
-
-// Called repeatedly when this Command is scheduled to run
-void ExampleCommand::Execute() {}
-
-// Make this return true when this Command no longer needs to run execute()
-bool ExampleCommand::IsFinished() { return false; }
-
-// Called once after isFinished returns true
-void ExampleCommand::End() {}
-
-// Called when another command which requires one or more of the same
-// subsystems is scheduled to run
-void ExampleCommand::Interrupted() {}
+ExampleCommand::ExampleCommand(ExampleSubsystem* subsystem)
+ : m_subsystem{subsystem} {}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/commands/MyAutoCommand.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/commands/MyAutoCommand.cpp
deleted file mode 100644
index a8e9406..0000000
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/commands/MyAutoCommand.cpp
+++ /dev/null
@@ -1,31 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#include "commands/MyAutoCommand.h"
-
-#include "Robot.h"
-
-MyAutoCommand::MyAutoCommand() {
- // Use Requires() here to declare subsystem dependencies
- Requires(&Robot::m_subsystem);
-}
-
-// Called just before this Command runs the first time
-void MyAutoCommand::Initialize() {}
-
-// Called repeatedly when this Command is scheduled to run
-void MyAutoCommand::Execute() {}
-
-// Make this return true when this Command no longer needs to run execute()
-bool MyAutoCommand::IsFinished() { return false; }
-
-// Called once after isFinished returns true
-void MyAutoCommand::End() {}
-
-// Called when another command which requires one or more of the same
-// subsystems is scheduled to run
-void MyAutoCommand::Interrupted() {}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/subsystems/ExampleSubsystem.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/subsystems/ExampleSubsystem.cpp
index cdde203..2e720c9 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/subsystems/ExampleSubsystem.cpp
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/subsystems/ExampleSubsystem.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,14 +7,10 @@
#include "subsystems/ExampleSubsystem.h"
-#include "RobotMap.h"
-
-ExampleSubsystem::ExampleSubsystem() : frc::Subsystem("ExampleSubsystem") {}
-
-void ExampleSubsystem::InitDefaultCommand() {
- // Set the default command for a subsystem here.
- // SetDefaultCommand(new MySpecialCommand());
+ExampleSubsystem::ExampleSubsystem() {
+ // Implementation of subsystem constructor goes here.
}
-// Put methods for controlling this subsystem
-// here. Call these from Commands.
+void ExampleSubsystem::Periodic() {
+ // Implementation of subsystem periodic method goes here.
+}
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/include/Constants.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/include/Constants.h
new file mode 100644
index 0000000..5ac2de0
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/include/Constants.h
@@ -0,0 +1,18 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+/**
+ * The Constants header provides a convenient place for teams to hold robot-wide
+ * numerical or boolean constants. This should not be used for any other
+ * purpose.
+ *
+ * It is generally a good idea to place constants into subsystem- or
+ * command-specific namespaces within this header, which can then be used where
+ * they are needed.
+ */
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/include/OI.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/include/OI.h
deleted file mode 100644
index 0b7713e..0000000
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/include/OI.h
+++ /dev/null
@@ -1,13 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-class OI {
- public:
- OI();
-};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.h
index 7dd5093..fa173d3 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.h
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,19 +8,12 @@
#pragma once
#include <frc/TimedRobot.h>
-#include <frc/commands/Command.h>
-#include <frc/smartdashboard/SendableChooser.h>
+#include <frc2/command/Command.h>
-#include "OI.h"
-#include "commands/ExampleCommand.h"
-#include "commands/MyAutoCommand.h"
-#include "subsystems/ExampleSubsystem.h"
+#include "RobotContainer.h"
class Robot : public frc::TimedRobot {
public:
- static ExampleSubsystem m_subsystem;
- static OI m_oi;
-
void RobotInit() override;
void RobotPeriodic() override;
void DisabledInit() override;
@@ -34,8 +27,7 @@
private:
// Have it null by default so that if testing teleop it
// doesn't have undefined behavior and potentially crash.
- frc::Command* m_autonomousCommand = nullptr;
- ExampleCommand m_defaultAuto;
- MyAutoCommand m_myAuto;
- frc::SendableChooser<frc::Command*> m_chooser;
+ frc2::Command* m_autonomousCommand = nullptr;
+
+ RobotContainer m_container;
};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/include/RobotContainer.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/include/RobotContainer.h
new file mode 100644
index 0000000..46609ac
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/include/RobotContainer.h
@@ -0,0 +1,34 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc2/command/Command.h>
+
+#include "commands/ExampleCommand.h"
+#include "subsystems/ExampleSubsystem.h"
+
+/**
+ * This class is where the bulk of the robot should be declared. Since
+ * Command-based is a "declarative" paradigm, very little robot logic should
+ * actually be handled in the {@link Robot} periodic methods (other than the
+ * scheduler calls). Instead, the structure of the robot (including subsystems,
+ * commands, and button mappings) should be declared here.
+ */
+class RobotContainer {
+ public:
+ RobotContainer();
+
+ frc2::Command* GetAutonomousCommand();
+
+ private:
+ // The robot's subsystems and commands are defined here...
+ ExampleSubsystem m_subsystem;
+ ExampleCommand m_autonomousCommand;
+
+ void ConfigureButtonBindings();
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/include/RobotMap.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/include/RobotMap.h
deleted file mode 100644
index dd78a21..0000000
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/include/RobotMap.h
+++ /dev/null
@@ -1,25 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-/**
- * The RobotMap is a mapping from the ports sensors and actuators are wired into
- * to a variable name. This provides flexibility changing wiring, makes checking
- * the wiring easier and significantly reduces the number of magic numbers
- * floating around.
- */
-
-// For example to map the left and right motors, you could define the
-// following variables to use with your drivetrain subsystem.
-// constexpr int kLeftMotor = 1;
-// constexpr int kRightMotor = 2;
-
-// If you are using multiple modules, make sure to define both the port
-// number and the module. For example you with a rangefinder:
-// constexpr int kRangeFinderPort = 1;
-// constexpr int kRangeFinderModule = 1;
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/ExampleCommand.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/ExampleCommand.h
index 1d11728..c36477f 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/ExampleCommand.h
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/ExampleCommand.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,14 +7,28 @@
#pragma once
-#include <frc/commands/Command.h>
+#include <frc2/command/CommandBase.h>
+#include <frc2/command/CommandHelper.h>
-class ExampleCommand : public frc::Command {
+#include "subsystems/ExampleSubsystem.h"
+
+/**
+ * An example command that uses an example subsystem.
+ *
+ * <p>Note that this extends CommandHelper, rather extending CommandBase
+ * directly; this is crucially important, or else the decorator functions in
+ * Command will *not* work!
+ */
+class ExampleCommand
+ : public frc2::CommandHelper<frc2::CommandBase, ExampleCommand> {
public:
- ExampleCommand();
- void Initialize() override;
- void Execute() override;
- bool IsFinished() override;
- void End() override;
- void Interrupted() override;
+ /**
+ * Creates a new ExampleCommand.
+ *
+ * @param subsystem The subsystem used by this command.
+ */
+ explicit ExampleCommand(ExampleSubsystem* subsystem);
+
+ private:
+ ExampleSubsystem* m_subsystem;
};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/MyAutoCommand.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/MyAutoCommand.h
deleted file mode 100644
index ce25e76..0000000
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/MyAutoCommand.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include <frc/commands/Command.h>
-
-class MyAutoCommand : public frc::Command {
- public:
- MyAutoCommand();
- void Initialize() override;
- void Execute() override;
- bool IsFinished() override;
- void End() override;
- void Interrupted() override;
-};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/include/subsystems/ExampleSubsystem.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/include/subsystems/ExampleSubsystem.h
index 66bc329..763eafd 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/include/subsystems/ExampleSubsystem.h
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/commandbased/include/subsystems/ExampleSubsystem.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,14 +7,20 @@
#pragma once
-#include <frc/commands/Subsystem.h>
+#include <frc2/command/SubsystemBase.h>
-class ExampleSubsystem : public frc::Subsystem {
+class ExampleSubsystem : public frc2::SubsystemBase {
public:
ExampleSubsystem();
- void InitDefaultCommand() override;
+
+ /**
+ * Will be called periodically whenever the CommandScheduler runs.
+ */
+ void Periodic() override;
+
+ // Subsystem methods go here.
private:
- // It's desirable that everything possible under private except
- // for methods that implement subsystem capabilities
+ // Components (e.g. motor controllers and sensors) should generally be
+ // declared private and exposed only through public methods.
};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp
new file mode 100644
index 0000000..8495b63
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp
@@ -0,0 +1,66 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "Robot.h"
+
+#include <hal/DriverStation.h>
+
+#include <frc/DriverStation.h>
+#include <frc/livewindow/LiveWindow.h>
+#include <frc/shuffleboard/Shuffleboard.h>
+#include <networktables/NetworkTable.h>
+
+void Robot::RobotInit() {}
+
+void Robot::Disabled() {}
+
+void Robot::Autonomous() {}
+
+void Robot::Teleop() {}
+
+void Robot::Test() {}
+
+void Robot::StartCompetition() {
+ auto& lw = *frc::LiveWindow::GetInstance();
+
+ RobotInit();
+
+ // Tell the DS that the robot is ready to be enabled
+ HAL_ObserveUserProgramStarting();
+
+ while (true) {
+ if (IsDisabled()) {
+ m_ds.InDisabled(true);
+ Disabled();
+ m_ds.InDisabled(false);
+ while (IsDisabled()) m_ds.WaitForData();
+ } else if (IsAutonomous()) {
+ m_ds.InAutonomous(true);
+ Autonomous();
+ m_ds.InAutonomous(false);
+ while (IsAutonomous() && IsEnabled()) m_ds.WaitForData();
+ } else if (IsTest()) {
+ lw.SetEnabled(true);
+ frc::Shuffleboard::EnableActuatorWidgets();
+ m_ds.InTest(true);
+ Test();
+ m_ds.InTest(false);
+ while (IsTest() && IsEnabled()) m_ds.WaitForData();
+ lw.SetEnabled(false);
+ frc::Shuffleboard::DisableActuatorWidgets();
+ } else {
+ m_ds.InOperatorControl(true);
+ Teleop();
+ m_ds.InOperatorControl(false);
+ while (IsOperatorControl() && IsEnabled()) m_ds.WaitForData();
+ }
+ }
+}
+
+#ifndef RUNNING_FRC_TESTS
+int main() { return frc::StartRobot<Robot>(); }
+#endif
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/include/Robot.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/include/Robot.h
new file mode 100644
index 0000000..4efc087
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/include/Robot.h
@@ -0,0 +1,21 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <frc/RobotBase.h>
+
+class Robot : public frc::RobotBase {
+ public:
+ void RobotInit();
+ void Disabled();
+ void Autonomous();
+ void Teleop();
+ void Test();
+
+ void StartCompetition() override;
+};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/sample/cpp/Robot.cpp b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/sample/cpp/Robot.cpp
deleted file mode 100644
index 06352ea..0000000
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/sample/cpp/Robot.cpp
+++ /dev/null
@@ -1,92 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#include "Robot.h"
-
-#include <iostream>
-
-#include <frc/Timer.h>
-#include <frc/smartdashboard/SmartDashboard.h>
-
-Robot::Robot() {
- // Note SmartDashboard is not initialized here, wait until RobotInit() to make
- // SmartDashboard calls
- m_robotDrive.SetExpiration(0.1);
-}
-
-void Robot::RobotInit() {
- m_chooser.SetDefaultOption(kAutoNameDefault, kAutoNameDefault);
- m_chooser.AddOption(kAutoNameCustom, kAutoNameCustom);
- frc::SmartDashboard::PutData("Auto Modes", &m_chooser);
-}
-
-/**
- * This autonomous (along with the chooser code above) shows how to select
- * between different autonomous modes using the dashboard. The sendable chooser
- * code works with the Java SmartDashboard. If you prefer the LabVIEW Dashboard,
- * remove all of the chooser code and uncomment the GetString line to get the
- * auto name from the text box below the Gyro.
- *
- * You can add additional auto modes by adding additional comparisons to the
- * if-else structure below with additional strings. If using the SendableChooser
- * make sure to add them to the chooser code above as well.
- */
-void Robot::Autonomous() {
- std::string autoSelected = m_chooser.GetSelected();
- // std::string autoSelected = frc::SmartDashboard::GetString(
- // "Auto Selector", kAutoNameDefault);
- std::cout << "Auto selected: " << autoSelected << std::endl;
-
- // MotorSafety improves safety when motors are updated in loops but is
- // disabled here because motor updates are not looped in this autonomous mode.
- m_robotDrive.SetSafetyEnabled(false);
-
- if (autoSelected == kAutoNameCustom) {
- // Custom Auto goes here
- std::cout << "Running custom Autonomous" << std::endl;
-
- // Spin at half speed for two seconds
- m_robotDrive.ArcadeDrive(0.0, 0.5);
- frc::Wait(2.0);
-
- // Stop robot
- m_robotDrive.ArcadeDrive(0.0, 0.0);
- } else {
- // Default Auto goes here
- std::cout << "Running default Autonomous" << std::endl;
-
- // Drive forwards at half speed for two seconds
- m_robotDrive.ArcadeDrive(-0.5, 0.0);
- frc::Wait(2.0);
-
- // Stop robot
- m_robotDrive.ArcadeDrive(0.0, 0.0);
- }
-}
-
-/**
- * Runs the motors with arcade steering.
- */
-void Robot::OperatorControl() {
- m_robotDrive.SetSafetyEnabled(true);
- while (IsOperatorControl() && IsEnabled()) {
- // Drive with arcade style (use right stick)
- m_robotDrive.ArcadeDrive(-m_stick.GetY(), m_stick.GetX());
-
- // The motors will be updated every 5ms
- frc::Wait(0.005);
- }
-}
-
-/**
- * Runs during test mode
- */
-void Robot::Test() {}
-
-#ifndef RUNNING_FRC_TESTS
-int main() { return frc::StartRobot<Robot>(); }
-#endif
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/sample/include/Robot.h b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/sample/include/Robot.h
deleted file mode 100644
index d568111..0000000
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/sample/include/Robot.h
+++ /dev/null
@@ -1,49 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-#include <string>
-
-#include <frc/Joystick.h>
-#include <frc/PWMVictorSPX.h>
-#include <frc/SampleRobot.h>
-#include <frc/drive/DifferentialDrive.h>
-#include <frc/smartdashboard/SendableChooser.h>
-
-/**
- * This is a demo program showing the use of the DifferentialDrive class. The
- * SampleRobot class is the base of a robot application that will automatically
- * call your Autonomous and OperatorControl methods at the right time as
- * controlled by the switches on the driver station or the field controls.
- *
- * WARNING: While it may look like a good choice to use for your code if you're
- * inexperienced, don't. Unless you know what you are doing, complex code will
- * be much more difficult under this system. Use TimedRobot or Command-Based
- * instead if you're new.
- */
-class Robot : public frc::SampleRobot {
- public:
- Robot();
-
- void RobotInit() override;
- void Autonomous() override;
- void OperatorControl() override;
- void Test() override;
-
- private:
- // Robot drive system
- frc::PWMVictorSPX m_leftMotor{0};
- frc::PWMVictorSPX m_rightMotor{1};
- frc::DifferentialDrive m_robotDrive{m_leftMotor, m_rightMotor};
-
- frc::Joystick m_stick{0};
-
- frc::SendableChooser<std::string> m_chooser;
- const std::string kAutoNameDefault = "Default";
- const std::string kAutoNameCustom = "My Auto";
-};
diff --git a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/templates.json b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/templates.json
index 089ea16..71798c9 100644
--- a/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/templates.json
+++ b/third_party/allwpilib_2019/wpilibcExamples/src/main/cpp/templates/templates.json
@@ -27,6 +27,15 @@
"gradlebase": "cpp"
},
{
+ "name": "RobotBase Skeleton (Advanced)",
+ "description": "Skeleton (stub) code for RobotBase",
+ "tags": [
+ "RobotBase", "Skeleton"
+ ],
+ "foldername": "robotbaseskeleton",
+ "gradlebase": "cpp"
+ },
+ {
"name": "Command Robot",
"description": "Command style",
"tags": [
@@ -34,14 +43,5 @@
],
"foldername": "commandbased",
"gradlebase": "cpp"
- },
- {
- "name": "Sample Robot",
- "description": "Sample style",
- "tags": [
- "Sample"
- ],
- "foldername": "sample",
- "gradlebase": "cpp"
}
]
diff --git a/third_party/allwpilib_2019/wpilibcIntegrationTests/build.gradle b/third_party/allwpilib_2019/wpilibcIntegrationTests/build.gradle
index 0dea400..8a3797b 100644
--- a/third_party/allwpilib_2019/wpilibcIntegrationTests/build.gradle
+++ b/third_party/allwpilib_2019/wpilibcIntegrationTests/build.gradle
@@ -32,8 +32,9 @@
wpilibcIntegrationTests(NativeExecutableSpec) {
targetBuildTypes 'debug'
baseName = 'FRCUserProgram'
+ nativeUtils.useRequiredLibrary(it, 'googletest_static')
binaries.all { binary ->
- if (binary.targetPlatform.architecture.name == 'athena') {
+ if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
binary.sources {
athenaCpp(CppSourceSet) {
source {
@@ -82,7 +83,7 @@
copyWpilibCTestLibrariesToOutput(Copy) {
def task = it
$.binaries.each {
- if (it in NativeExecutableBinarySpec && it.targetPlatform.architecture.name == 'athena') {
+ if (it in NativeExecutableBinarySpec && it.targetPlatform.name == nativeUtils.wpi.platforms.roborio && it.buildable) {
def installTask = it.tasks.install
task.dependsOn installTask
task.from(installTask.executableFile) {
@@ -99,7 +100,7 @@
}
// This is in a separate if statement because of what I would assume is a bug in grade.
// Will file an issue on their side.
- if (!project.hasProperty('skipAthena')) {
+ if (!project.hasProperty('skiponlyathena')) {
build.dependsOn copyWpilibCTestLibrariesToOutput
}
}
diff --git a/third_party/allwpilib_2019/wpilibcIntegrationTests/src/main/native/cpp/MotorEncoderTest.cpp b/third_party/allwpilib_2019/wpilibcIntegrationTests/src/main/native/cpp/MotorEncoderTest.cpp
index e750f88..74242df 100644
--- a/third_party/allwpilib_2019/wpilibcIntegrationTests/src/main/native/cpp/MotorEncoderTest.cpp
+++ b/third_party/allwpilib_2019/wpilibcIntegrationTests/src/main/native/cpp/MotorEncoderTest.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,11 +8,12 @@
#include "TestBench.h"
#include "frc/Encoder.h"
#include "frc/Jaguar.h"
-#include "frc/PIDController.h"
+#include "frc/LinearFilter.h"
+#include "frc/Notifier.h"
#include "frc/Talon.h"
#include "frc/Timer.h"
#include "frc/Victor.h"
-#include "frc/filters/LinearDigitalFilter.h"
+#include "frc/controller/PIDController.h"
#include "gtest/gtest.h"
using namespace frc;
@@ -45,7 +46,7 @@
protected:
SpeedController* m_speedController;
Encoder* m_encoder;
- LinearDigitalFilter* m_filter;
+ LinearFilter* m_filter;
void SetUp() override {
switch (GetParam()) {
@@ -67,8 +68,7 @@
TestBench::kTalonEncoderChannelB);
break;
}
- m_filter = new LinearDigitalFilter(
- LinearDigitalFilter::MovingAverage(*m_encoder, 50));
+ m_filter = new LinearFilter(LinearFilter::MovingAverage(50));
}
void TearDown() override {
@@ -139,22 +139,24 @@
TEST_P(MotorEncoderTest, PositionPIDController) {
Reset();
double goal = 1000;
- m_encoder->SetPIDSourceType(PIDSourceType::kDisplacement);
- PIDController pid(0.001, 0.0005, 0.0, m_encoder, m_speedController);
- pid.SetAbsoluteTolerance(50.0);
- pid.SetOutputRange(-0.2, 0.2);
- pid.SetSetpoint(goal);
+ frc2::PIDController pidController(0.001, 0.01, 0.0);
+ pidController.SetTolerance(50.0);
+ pidController.SetIntegratorRange(-0.2, 0.2);
+ pidController.SetSetpoint(goal);
- /* 10 seconds should be plenty time to get to the setpoint */
- pid.Enable();
+ /* 10 seconds should be plenty time to get to the reference */
+ frc::Notifier pidRunner{[this, &pidController] {
+ m_speedController->Set(pidController.Calculate(m_encoder->GetDistance()));
+ }};
+ pidRunner.StartPeriodic(pidController.GetPeriod());
Wait(10.0);
- pid.Disable();
+ pidRunner.Stop();
- RecordProperty("PIDError", pid.GetError());
+ RecordProperty("PIDError", pidController.GetPositionError());
- EXPECT_TRUE(pid.OnTarget())
+ EXPECT_TRUE(pidController.AtSetpoint())
<< "PID loop did not converge within 10 seconds. Goal was: " << goal
- << " Error was: " << pid.GetError();
+ << " Error was: " << pidController.GetPositionError();
}
/**
@@ -163,21 +165,24 @@
TEST_P(MotorEncoderTest, VelocityPIDController) {
Reset();
- m_encoder->SetPIDSourceType(PIDSourceType::kRate);
- PIDController pid(1e-5, 0.0, 3e-5, 8e-5, m_filter, m_speedController);
- pid.SetAbsoluteTolerance(200.0);
- pid.SetOutputRange(-0.3, 0.3);
- pid.SetSetpoint(600);
+ frc2::PIDController pidController(1e-5, 0.0, 0.0006);
+ pidController.SetTolerance(200.0);
+ pidController.SetSetpoint(600);
- /* 10 seconds should be plenty time to get to the setpoint */
- pid.Enable();
+ /* 10 seconds should be plenty time to get to the reference */
+ frc::Notifier pidRunner{[this, &pidController] {
+ m_speedController->Set(
+ pidController.Calculate(m_filter->Calculate(m_encoder->GetRate())) +
+ 8e-5);
+ }};
+ pidRunner.StartPeriodic(pidController.GetPeriod());
Wait(10.0);
- pid.Disable();
- RecordProperty("PIDError", pid.GetError());
+ pidRunner.Stop();
+ RecordProperty("PIDError", pidController.GetPositionError());
- EXPECT_TRUE(pid.OnTarget())
+ EXPECT_TRUE(pidController.AtSetpoint())
<< "PID loop did not converge within 10 seconds. Goal was: " << 600
- << " Error was: " << pid.GetError();
+ << " Error was: " << pidController.GetPositionError();
}
/**
@@ -189,6 +194,5 @@
EXPECT_EQ(0, m_encoder->Get()) << "Encoder did not reset to 0";
}
-INSTANTIATE_TEST_CASE_P(Test, MotorEncoderTest,
- testing::Values(TEST_VICTOR, TEST_JAGUAR,
- TEST_TALON), );
+INSTANTIATE_TEST_SUITE_P(Test, MotorEncoderTest,
+ testing::Values(TEST_VICTOR, TEST_JAGUAR, TEST_TALON));
diff --git a/third_party/allwpilib_2019/wpilibcIntegrationTests/src/main/native/cpp/MotorInvertingTest.cpp b/third_party/allwpilib_2019/wpilibcIntegrationTests/src/main/native/cpp/MotorInvertingTest.cpp
index 1e73d97..ed1821b 100644
--- a/third_party/allwpilib_2019/wpilibcIntegrationTests/src/main/native/cpp/MotorInvertingTest.cpp
+++ b/third_party/allwpilib_2019/wpilibcIntegrationTests/src/main/native/cpp/MotorInvertingTest.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -152,6 +152,5 @@
Reset();
}
-INSTANTIATE_TEST_CASE_P(Test, MotorInvertingTest,
- testing::Values(TEST_VICTOR, TEST_JAGUAR,
- TEST_TALON), );
+INSTANTIATE_TEST_SUITE_P(Test, MotorInvertingTest,
+ testing::Values(TEST_VICTOR, TEST_JAGUAR, TEST_TALON));
diff --git a/third_party/allwpilib_2019/wpilibcIntegrationTests/src/main/native/cpp/PIDToleranceTest.cpp b/third_party/allwpilib_2019/wpilibcIntegrationTests/src/main/native/cpp/PIDToleranceTest.cpp
deleted file mode 100644
index ec3b85a..0000000
--- a/third_party/allwpilib_2019/wpilibcIntegrationTests/src/main/native/cpp/PIDToleranceTest.cpp
+++ /dev/null
@@ -1,107 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#include "TestBench.h"
-#include "frc/PIDController.h"
-#include "frc/PIDOutput.h"
-#include "frc/PIDSource.h"
-#include "frc/Timer.h"
-#include "gtest/gtest.h"
-
-using namespace frc;
-
-class PIDToleranceTest : public testing::Test {
- protected:
- const double setpoint = 50.0;
- const double range = 200;
- const double tolerance = 10.0;
-
- class FakeInput : public PIDSource {
- public:
- double val = 0;
-
- void SetPIDSourceType(PIDSourceType pidSource) {}
-
- PIDSourceType GetPIDSourceType() { return PIDSourceType::kDisplacement; }
-
- double PIDGet() { return val; }
- };
-
- class FakeOutput : public PIDOutput {
- void PIDWrite(double output) {}
- };
-
- FakeInput inp;
- FakeOutput out;
- PIDController* pid;
-
- void SetUp() override {
- pid = new PIDController(0.5, 0.0, 0.0, &inp, &out);
- pid->SetInputRange(-range / 2, range / 2);
- }
-
- void TearDown() override { delete pid; }
-
- void Reset() { inp.val = 0; }
-};
-
-TEST_F(PIDToleranceTest, Absolute) {
- Reset();
-
- pid->SetAbsoluteTolerance(tolerance);
- pid->SetSetpoint(setpoint);
- pid->Enable();
-
- EXPECT_FALSE(pid->OnTarget())
- << "Error was in tolerance when it should not have been. Error was "
- << pid->GetError();
-
- inp.val = setpoint + tolerance / 2;
- Wait(1.0);
-
- EXPECT_TRUE(pid->OnTarget())
- << "Error was not in tolerance when it should have been. Error was "
- << pid->GetError();
-
- inp.val = setpoint + 10 * tolerance;
- Wait(1.0);
-
- EXPECT_FALSE(pid->OnTarget())
- << "Error was in tolerance when it should not have been. Error was "
- << pid->GetError();
-}
-
-TEST_F(PIDToleranceTest, Percent) {
- Reset();
-
- pid->SetPercentTolerance(tolerance);
- pid->SetSetpoint(setpoint);
- pid->Enable();
-
- EXPECT_FALSE(pid->OnTarget())
- << "Error was in tolerance when it should not have been. Error was "
- << pid->GetError();
-
- inp.val =
- setpoint + (tolerance) / 200 *
- range; // half of percent tolerance away from setpoint
- Wait(1.0);
-
- EXPECT_TRUE(pid->OnTarget())
- << "Error was not in tolerance when it should have been. Error was "
- << pid->GetError();
-
- inp.val =
- setpoint +
- (tolerance) / 50 * range; // double percent tolerance away from setPoint
-
- Wait(1.0);
-
- EXPECT_FALSE(pid->OnTarget())
- << "Error was in tolerance when it should not have been. Error was "
- << pid->GetError();
-}
diff --git a/third_party/allwpilib_2019/wpilibcIntegrationTests/src/main/native/cpp/shuffleboard/MockActuatorSendable.cpp b/third_party/allwpilib_2019/wpilibcIntegrationTests/src/main/native/cpp/shuffleboard/MockActuatorSendable.cpp
index 3c9e411..172d7c6 100644
--- a/third_party/allwpilib_2019/wpilibcIntegrationTests/src/main/native/cpp/shuffleboard/MockActuatorSendable.cpp
+++ b/third_party/allwpilib_2019/wpilibcIntegrationTests/src/main/native/cpp/shuffleboard/MockActuatorSendable.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,11 +7,12 @@
#include "shuffleboard/MockActuatorSendable.h"
+#include "frc/smartdashboard/SendableRegistry.h"
+
using namespace frc;
-MockActuatorSendable::MockActuatorSendable(wpi::StringRef name)
- : SendableBase(false) {
- SetName(name);
+MockActuatorSendable::MockActuatorSendable(wpi::StringRef name) {
+ SendableRegistry::GetInstance().Add(this, name);
}
void MockActuatorSendable::InitSendable(SendableBuilder& builder) {
diff --git a/third_party/allwpilib_2019/wpilibj/CMakeLists.txt b/third_party/allwpilib_2019/wpilibj/CMakeLists.txt
index 61fb558..ad554c7 100644
--- a/third_party/allwpilib_2019/wpilibj/CMakeLists.txt
+++ b/third_party/allwpilib_2019/wpilibj/CMakeLists.txt
@@ -15,15 +15,16 @@
configure_file(src/generate/WPILibVersion.java.in WPILibVersion.java)
file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
+ file(GLOB EJML_JARS "${CMAKE_BINARY_DIR}/wpiutil/thirdparty/*.jar")
- add_jar(wpilibj_jar ${JAVA_SOURCES} ${CMAKE_CURRENT_BINARY_DIR}/WPILibVersion.java INCLUDE_JARS hal_jar ntcore_jar ${OPENCV_JAR_FILE} cscore_jar cameraserver_jar wpiutil_jar OUTPUT_NAME wpilibj)
+ add_jar(wpilibj_jar ${JAVA_SOURCES} ${CMAKE_CURRENT_BINARY_DIR}/WPILibVersion.java INCLUDE_JARS hal_jar ntcore_jar ${EJML_JARS} ${OPENCV_JAR_FILE} cscore_jar cameraserver_jar wpiutil_jar OUTPUT_NAME wpilibj)
get_property(WPILIBJ_JAR_FILE TARGET wpilibj_jar PROPERTY JAR_FILE)
install(FILES ${WPILIBJ_JAR_FILE} DESTINATION "${java_lib_dest}")
set_property(TARGET wpilibj_jar PROPERTY FOLDER "java")
- if (MSVC)
+ if (MSVC OR FLAT_INSTALL_WPILIB)
set (wpilibj_config_dir ${wpilib_dest})
else()
set (wpilibj_config_dir share/wpilibj)
diff --git a/third_party/allwpilib_2019/wpilibj/build.gradle b/third_party/allwpilib_2019/wpilibj/build.gradle
index b86d04e..83a6e55 100644
--- a/third_party/allwpilib_2019/wpilibj/build.gradle
+++ b/third_party/allwpilib_2019/wpilibj/build.gradle
@@ -21,22 +21,23 @@
outputs.file wpilibVersionFileOutput
inputs.file wpilibVersionFileInput
- if (WPILibVersion.releaseType.toString().equalsIgnoreCase('official')) {
+ if (wpilibVersioning.releaseMode) {
outputs.upToDateWhen { false }
}
// We follow a simple set of checks to determine whether we should generate a new version file:
- // 1. If the release type is not development, we generate a new verison file
+ // 1. If the release type is not development, we generate a new version file
// 2. If there is no generated version number, we generate a new version file
// 3. If there is a generated build number, and the release type is development, then we will
// only generate if the publish task is run.
doLast {
- println "Writing version ${WPILibVersion.version} to $wpilibVersionFileOutput"
+ def version = wpilibVersioning.version.get()
+ println "Writing version ${version} to $wpilibVersionFileOutput"
if (wpilibVersionFileOutput.exists()) {
wpilibVersionFileOutput.delete()
}
- def read = wpilibVersionFileInput.text.replace('${wpilib_version}', WPILibVersion.version)
+ def read = wpilibVersionFileInput.text.replace('${wpilib_version}', version)
wpilibVersionFileOutput.write(read)
}
}
@@ -54,6 +55,10 @@
dependsOn generateJavaVersion
}
+repositories {
+ jcenter()
+}
+
dependencies {
compile project(':hal')
compile project(':wpiutil')
@@ -61,6 +66,7 @@
compile project(':cscore')
compile project(':cameraserver')
testCompile 'com.google.guava:guava:19.0'
+ testCompile 'org.mockito:mockito-core:2.27.0'
devCompile project(':hal')
devCompile project(':wpiutil')
devCompile project(':ntcore')
@@ -133,7 +139,7 @@
if (it in NativeExecutableSpec && it.name == "wpilibjDev") {
it.binaries.each {
if (!found) {
- def arch = it.targetPlatform.architecture.name
+ def arch = it.targetPlatform.name
if (arch == systemArch) {
dependsOn it.tasks.install
commandLine it.tasks.install.runScriptFile.get().asFile.toString()
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
index e91b8d2..d901462 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -13,15 +13,19 @@
import edu.wpi.first.hal.FRCNetComm.tInstances;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
+import edu.wpi.first.hal.SimDevice;
+import edu.wpi.first.hal.SimDouble;
+import edu.wpi.first.hal.SimEnum;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.wpilibj.interfaces.Accelerometer;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* ADXL345 I2C Accelerometer.
*/
@SuppressWarnings({"TypeName", "PMD.UnusedPrivateField"})
-public class ADXL345_I2C extends SendableBase implements Accelerometer {
+public class ADXL345_I2C implements Accelerometer, Sendable, AutoCloseable {
private static final byte kAddress = 0x1D;
private static final byte kPowerCtlRegister = 0x2D;
private static final byte kDataFormatRegister = 0x31;
@@ -63,6 +67,12 @@
protected I2C m_i2c;
+ protected SimDevice m_simDevice;
+ protected SimEnum m_simRange;
+ protected SimDouble m_simX;
+ protected SimDouble m_simY;
+ protected SimDouble m_simZ;
+
/**
* Constructs the ADXL345 Accelerometer with I2C address 0x1D.
*
@@ -83,19 +93,35 @@
public ADXL345_I2C(I2C.Port port, Range range, int deviceAddress) {
m_i2c = new I2C(port, deviceAddress);
+ // simulation
+ m_simDevice = SimDevice.create("ADXL345_I2C", port.value, deviceAddress);
+ if (m_simDevice != null) {
+ m_simRange = m_simDevice.createEnum("Range", true, new String[] {"2G", "4G", "8G", "16G"}, 0);
+ m_simX = m_simDevice.createDouble("X Accel", false, 0.0);
+ m_simX = m_simDevice.createDouble("Y Accel", false, 0.0);
+ m_simZ = m_simDevice.createDouble("Z Accel", false, 0.0);
+ }
+
// Turn on the measurements
m_i2c.write(kPowerCtlRegister, kPowerCtl_Measure);
setRange(range);
HAL.report(tResourceType.kResourceType_ADXL345, tInstances.kADXL345_I2C);
- setName("ADXL345_I2C", port.value);
+ SendableRegistry.addLW(this, "ADXL345_I2C", port.value);
}
@Override
public void close() {
- super.close();
- m_i2c.close();
+ SendableRegistry.remove(this);
+ if (m_i2c != null) {
+ m_i2c.close();
+ m_i2c = null;
+ }
+ if (m_simDevice != null) {
+ m_simDevice.close();
+ m_simDevice = null;
+ }
}
@Override
@@ -121,6 +147,10 @@
// Specify the data format to read
m_i2c.write(kDataFormatRegister, kDataFormat_FullRes | value);
+
+ if (m_simRange != null) {
+ m_simRange.set(value);
+ }
}
@Override
@@ -145,6 +175,15 @@
* @return Acceleration of the ADXL345 in Gs.
*/
public double getAcceleration(Axes axis) {
+ if (axis == Axes.kX && m_simX != null) {
+ return m_simX.get();
+ }
+ if (axis == Axes.kY && m_simY != null) {
+ return m_simY.get();
+ }
+ if (axis == Axes.kZ && m_simZ != null) {
+ return m_simZ.get();
+ }
ByteBuffer rawAccel = ByteBuffer.allocate(2);
m_i2c.read(kDataRegister + axis.value, 2, rawAccel);
@@ -160,6 +199,12 @@
*/
public AllAxes getAccelerations() {
AllAxes data = new AllAxes();
+ if (m_simX != null && m_simY != null && m_simZ != null) {
+ data.XAxis = m_simX.get();
+ data.YAxis = m_simY.get();
+ data.ZAxis = m_simZ.get();
+ return data;
+ }
ByteBuffer rawData = ByteBuffer.allocate(6);
m_i2c.read(kDataRegister, 6, rawData);
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java
index b5d3618..6aed40e 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -13,15 +13,19 @@
import edu.wpi.first.hal.FRCNetComm.tInstances;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
+import edu.wpi.first.hal.SimDevice;
+import edu.wpi.first.hal.SimDouble;
+import edu.wpi.first.hal.SimEnum;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.wpilibj.interfaces.Accelerometer;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* ADXL345 SPI Accelerometer.
*/
@SuppressWarnings({"TypeName", "PMD.UnusedPrivateField"})
-public class ADXL345_SPI extends SendableBase implements Accelerometer {
+public class ADXL345_SPI implements Accelerometer, Sendable, AutoCloseable {
private static final int kPowerCtlRegister = 0x2D;
private static final int kDataFormatRegister = 0x31;
private static final int kDataRegister = 0x32;
@@ -66,6 +70,12 @@
protected SPI m_spi;
+ protected SimDevice m_simDevice;
+ protected SimEnum m_simRange;
+ protected SimDouble m_simX;
+ protected SimDouble m_simY;
+ protected SimDouble m_simZ;
+
/**
* Constructor.
*
@@ -74,14 +84,29 @@
*/
public ADXL345_SPI(SPI.Port port, Range range) {
m_spi = new SPI(port);
+ // simulation
+ m_simDevice = SimDevice.create("ADXL345_SPI", port.value);
+ if (m_simDevice != null) {
+ m_simRange = m_simDevice.createEnum("Range", true, new String[] {"2G", "4G", "8G", "16G"}, 0);
+ m_simX = m_simDevice.createDouble("X Accel", false, 0.0);
+ m_simX = m_simDevice.createDouble("Y Accel", false, 0.0);
+ m_simZ = m_simDevice.createDouble("Z Accel", false, 0.0);
+ }
init(range);
- setName("ADXL345_SPI", port.value);
+ SendableRegistry.addLW(this, "ADXL345_SPI", port.value);
}
@Override
public void close() {
- super.close();
- m_spi.close();
+ SendableRegistry.remove(this);
+ if (m_spi != null) {
+ m_spi.close();
+ m_spi = null;
+ }
+ if (m_simDevice != null) {
+ m_simDevice.close();
+ m_simDevice = null;
+ }
}
/**
@@ -131,6 +156,10 @@
// Specify the data format to read
byte[] commands = new byte[]{kDataFormatRegister, (byte) (kDataFormat_FullRes | value)};
m_spi.write(commands, commands.length);
+
+ if (m_simRange != null) {
+ m_simRange.set(value);
+ }
}
@Override
@@ -155,6 +184,15 @@
* @return Acceleration of the ADXL345 in Gs.
*/
public double getAcceleration(ADXL345_SPI.Axes axis) {
+ if (axis == Axes.kX && m_simX != null) {
+ return m_simX.get();
+ }
+ if (axis == Axes.kY && m_simY != null) {
+ return m_simY.get();
+ }
+ if (axis == Axes.kZ && m_simZ != null) {
+ return m_simZ.get();
+ }
ByteBuffer transferBuffer = ByteBuffer.allocate(3);
transferBuffer.put(0,
(byte) ((kAddress_Read | kAddress_MultiByte | kDataRegister) + axis.value));
@@ -172,6 +210,12 @@
*/
public ADXL345_SPI.AllAxes getAccelerations() {
ADXL345_SPI.AllAxes data = new ADXL345_SPI.AllAxes();
+ if (m_simX != null && m_simY != null && m_simZ != null) {
+ data.XAxis = m_simX.get();
+ data.YAxis = m_simY.get();
+ data.ZAxis = m_simZ.get();
+ return data;
+ }
if (m_spi != null) {
ByteBuffer dataBuffer = ByteBuffer.allocate(7);
// Select the data address.
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL362.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL362.java
index 5324b63..06daf85 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL362.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL362.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,9 +12,13 @@
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
+import edu.wpi.first.hal.SimDevice;
+import edu.wpi.first.hal.SimDouble;
+import edu.wpi.first.hal.SimEnum;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.wpilibj.interfaces.Accelerometer;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* ADXL362 SPI Accelerometer.
@@ -22,7 +26,7 @@
* <p>This class allows access to an Analog Devices ADXL362 3-axis accelerometer.
*/
@SuppressWarnings("PMD.UnusedPrivateField")
-public class ADXL362 extends SendableBase implements Accelerometer {
+public class ADXL362 implements Accelerometer, Sendable, AutoCloseable {
private static final byte kRegWrite = 0x0A;
private static final byte kRegRead = 0x0B;
@@ -61,6 +65,13 @@
}
private SPI m_spi;
+
+ private SimDevice m_simDevice;
+ private SimEnum m_simRange;
+ private SimDouble m_simX;
+ private SimDouble m_simY;
+ private SimDouble m_simZ;
+
private double m_gsPerLSB;
/**
@@ -81,22 +92,33 @@
public ADXL362(SPI.Port port, Range range) {
m_spi = new SPI(port);
+ // simulation
+ m_simDevice = SimDevice.create("ADXL362", port.value);
+ if (m_simDevice != null) {
+ m_simRange = m_simDevice.createEnum("Range", true, new String[] {"2G", "4G", "8G", "16G"}, 0);
+ m_simX = m_simDevice.createDouble("X Accel", false, 0.0);
+ m_simX = m_simDevice.createDouble("Y Accel", false, 0.0);
+ m_simZ = m_simDevice.createDouble("Z Accel", false, 0.0);
+ }
+
m_spi.setClockRate(3000000);
m_spi.setMSBFirst();
m_spi.setSampleDataOnTrailingEdge();
m_spi.setClockActiveLow();
m_spi.setChipSelectActiveLow();
- // Validate the part ID
ByteBuffer transferBuffer = ByteBuffer.allocate(3);
- transferBuffer.put(0, kRegRead);
- transferBuffer.put(1, kPartIdRegister);
- m_spi.transaction(transferBuffer, transferBuffer, 3);
- if (transferBuffer.get(2) != (byte) 0xF2) {
- m_spi.close();
- m_spi = null;
- DriverStation.reportError("could not find ADXL362 on SPI port " + port.value, false);
- return;
+ if (m_simDevice == null) {
+ // Validate the part ID
+ transferBuffer.put(0, kRegRead);
+ transferBuffer.put(1, kPartIdRegister);
+ m_spi.transaction(transferBuffer, transferBuffer, 3);
+ if (transferBuffer.get(2) != (byte) 0xF2) {
+ m_spi.close();
+ m_spi = null;
+ DriverStation.reportError("could not find ADXL362 on SPI port " + port.value, false);
+ return;
+ }
}
setRange(range);
@@ -108,16 +130,20 @@
m_spi.write(transferBuffer, 3);
HAL.report(tResourceType.kResourceType_ADXL362, port.value);
- setName("ADXL362", port.value);
+ SendableRegistry.addLW(this, "ADXL362", port.value);
}
@Override
public void close() {
- super.close();
+ SendableRegistry.remove(this);
if (m_spi != null) {
m_spi.close();
m_spi = null;
}
+ if (m_simDevice != null) {
+ m_simDevice.close();
+ m_simDevice = null;
+ }
}
@Override
@@ -150,6 +176,10 @@
byte[] commands = new byte[]{kRegWrite, kFilterCtlRegister, (byte) (kFilterCtl_ODR_100Hz
| value)};
m_spi.write(commands, commands.length);
+
+ if (m_simRange != null) {
+ m_simRange.set(value);
+ }
}
@@ -175,6 +205,15 @@
* @return Acceleration of the ADXL362 in Gs.
*/
public double getAcceleration(ADXL362.Axes axis) {
+ if (axis == Axes.kX && m_simX != null) {
+ return m_simX.get();
+ }
+ if (axis == Axes.kY && m_simY != null) {
+ return m_simY.get();
+ }
+ if (axis == Axes.kZ && m_simZ != null) {
+ return m_simZ.get();
+ }
if (m_spi == null) {
return 0.0;
}
@@ -195,6 +234,12 @@
*/
public ADXL362.AllAxes getAccelerations() {
ADXL362.AllAxes data = new ADXL362.AllAxes();
+ if (m_simX != null && m_simY != null && m_simZ != null) {
+ data.XAxis = m_simX.get();
+ data.YAxis = m_simY.get();
+ data.ZAxis = m_simZ.get();
+ return data;
+ }
if (m_spi != null) {
ByteBuffer dataBuffer = ByteBuffer.allocate(8);
// Select the data address.
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java
index a34b373..7658072 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,7 +12,11 @@
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
+import edu.wpi.first.hal.SimBoolean;
+import edu.wpi.first.hal.SimDevice;
+import edu.wpi.first.hal.SimDouble;
import edu.wpi.first.wpilibj.interfaces.Gyro;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Use a rate gyro to return the robots heading relative to a starting position. The Gyro class
@@ -24,7 +28,7 @@
* <p>This class is for the digital ADXRS450 gyro sensor that connects via SPI.
*/
@SuppressWarnings({"TypeName", "AbbreviationAsWordInName", "PMD.UnusedPrivateField"})
-public class ADXRS450_Gyro extends GyroBase implements Gyro, PIDSource, Sendable {
+public class ADXRS450_Gyro extends GyroBase implements Gyro, PIDSource, Sendable, AutoCloseable {
private static final double kSamplePeriod = 0.0005;
private static final double kCalibrationSampleTime = 5.0;
private static final double kDegreePerSecondPerLSB = 0.0125;
@@ -41,6 +45,11 @@
private SPI m_spi;
+ private SimDevice m_simDevice;
+ private SimBoolean m_simConnected;
+ private SimDouble m_simAngle;
+ private SimDouble m_simRate;
+
/**
* Constructor. Uses the onboard CS0.
*/
@@ -56,31 +65,49 @@
public ADXRS450_Gyro(SPI.Port port) {
m_spi = new SPI(port);
+ // simulation
+ m_simDevice = SimDevice.create("ADXRS450_Gyro", port.value);
+ if (m_simDevice != null) {
+ m_simConnected = m_simDevice.createBoolean("Connected", false, true);
+ m_simAngle = m_simDevice.createDouble("Angle", false, 0.0);
+ m_simRate = m_simDevice.createDouble("Rate", false, 0.0);
+ }
+
m_spi.setClockRate(3000000);
m_spi.setMSBFirst();
m_spi.setSampleDataOnLeadingEdge();
m_spi.setClockActiveHigh();
m_spi.setChipSelectActiveLow();
- // Validate the part ID
- if ((readRegister(kPIDRegister) & 0xff00) != 0x5200) {
- m_spi.close();
- m_spi = null;
- DriverStation.reportError("could not find ADXRS450 gyro on SPI port " + port.value,
- false);
- return;
+ if (m_simDevice == null) {
+ // Validate the part ID
+ if ((readRegister(kPIDRegister) & 0xff00) != 0x5200) {
+ m_spi.close();
+ m_spi = null;
+ DriverStation.reportError("could not find ADXRS450 gyro on SPI port " + port.value,
+ false);
+ return;
+ }
+
+ m_spi.initAccumulator(kSamplePeriod, 0x20000000, 4, 0x0c00000e, 0x04000000, 10, 16,
+ true, true);
+
+ calibrate();
}
- m_spi.initAccumulator(kSamplePeriod, 0x20000000, 4, 0x0c00000e, 0x04000000, 10, 16,
- true, true);
-
- calibrate();
-
HAL.report(tResourceType.kResourceType_ADXRS450, port.value);
- setName("ADXRS450_Gyro", port.value);
+ SendableRegistry.addLW(this, "ADXRS450_Gyro", port.value);
}
+ /**
+ * Determine if the gyro is connected.
+ *
+ * @return true if it is connected, false otherwise.
+ */
public boolean isConnected() {
+ if (m_simConnected != null) {
+ return m_simConnected.get();
+ }
return m_spi != null;
}
@@ -132,6 +159,12 @@
@Override
public void reset() {
+ if (m_simAngle != null) {
+ m_simAngle.set(0.0);
+ }
+ if (m_simRate != null) {
+ m_simRate.set(0.0);
+ }
if (m_spi != null) {
m_spi.resetAccumulator();
}
@@ -142,15 +175,22 @@
*/
@Override
public void close() {
- super.close();
+ SendableRegistry.remove(this);
if (m_spi != null) {
m_spi.close();
m_spi = null;
}
+ if (m_simDevice != null) {
+ m_simDevice.close();
+ m_simDevice = null;
+ }
}
@Override
public double getAngle() {
+ if (m_simAngle != null) {
+ return m_simAngle.get();
+ }
if (m_spi == null) {
return 0.0;
}
@@ -159,6 +199,9 @@
@Override
public double getRate() {
+ if (m_simRate != null) {
+ return m_simRate.get();
+ }
if (m_spi == null) {
return 0.0;
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java
index cd64dc8..4a4c675 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,15 +10,16 @@
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
-import static java.util.Objects.requireNonNull;
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
/**
* Handle operation of an analog accelerometer. The accelerometer reads acceleration directly
* through the sensor. Many sensors have multiple axis and can be treated as multiple devices. Each
* is calibrated by finding the center value over a period of time.
*/
-public class AnalogAccelerometer extends SendableBase implements PIDSource {
+public class AnalogAccelerometer implements PIDSource, Sendable, AutoCloseable {
private AnalogInput m_analogChannel;
private double m_voltsPerG = 1.0;
private double m_zeroGVoltage = 2.5;
@@ -31,7 +32,7 @@
private void initAccelerometer() {
HAL.report(tResourceType.kResourceType_Accelerometer,
m_analogChannel.getChannel());
- setName("Accelerometer", m_analogChannel.getChannel());
+ SendableRegistry.addLW(this, "Accelerometer", m_analogChannel.getChannel());
}
/**
@@ -43,7 +44,7 @@
*/
public AnalogAccelerometer(final int channel) {
this(new AnalogInput(channel), true);
- addChild(m_analogChannel);
+ SendableRegistry.addChild(this, m_analogChannel);
}
/**
@@ -59,7 +60,7 @@
}
private AnalogAccelerometer(final AnalogInput channel, final boolean allocatedChannel) {
- requireNonNull(channel, "Analog Channel given was null");
+ requireNonNullParam(channel, "channel", "AnalogAccelerometer");
m_allocatedChannel = allocatedChannel;
m_analogChannel = channel;
initAccelerometer();
@@ -70,7 +71,7 @@
*/
@Override
public void close() {
- super.close();
+ SendableRegistry.remove(this);
if (m_analogChannel != null && m_allocatedChannel) {
m_analogChannel.close();
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogGyro.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogGyro.java
index 4283aa0..f7e3f2f 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogGyro.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogGyro.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -11,8 +11,9 @@
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.interfaces.Gyro;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
-import static java.util.Objects.requireNonNull;
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
/**
* Use a rate gyro to return the robots heading relative to a starting position. The Gyro class
@@ -23,7 +24,7 @@
*
* <p>This class is for gyro sensors that connect to an analog input.
*/
-public class AnalogGyro extends GyroBase implements Gyro, PIDSource, Sendable {
+public class AnalogGyro extends GyroBase implements Gyro, PIDSource, Sendable, AutoCloseable {
private static final double kDefaultVoltsPerDegreePerSecond = 0.007;
protected AnalogInput m_analog;
private boolean m_channelAllocated;
@@ -41,7 +42,7 @@
AnalogGyroJNI.setupAnalogGyro(m_gyroHandle);
HAL.report(tResourceType.kResourceType_Gyro, m_analog.getChannel());
- setName("AnalogGyro", m_analog.getChannel());
+ SendableRegistry.addLW(this, "AnalogGyro", m_analog.getChannel());
}
@Override
@@ -58,7 +59,7 @@
public AnalogGyro(int channel) {
this(new AnalogInput(channel));
m_channelAllocated = true;
- addChild(m_analog);
+ SendableRegistry.addChild(this, m_analog);
}
/**
@@ -69,7 +70,7 @@
* on-board channels 0-1.
*/
public AnalogGyro(AnalogInput channel) {
- requireNonNull(channel, "AnalogInput supplied to Gyro constructor is null");
+ requireNonNullParam(channel, "channel", "AnalogGyro");
m_analog = channel;
initGyro();
@@ -88,7 +89,7 @@
public AnalogGyro(int channel, int center, double offset) {
this(new AnalogInput(channel), center, offset);
m_channelAllocated = true;
- addChild(m_analog);
+ SendableRegistry.addChild(this, m_analog);
}
/**
@@ -101,7 +102,7 @@
* @param offset Preset uncalibrated value to use as the gyro offset.
*/
public AnalogGyro(AnalogInput channel, int center, double offset) {
- requireNonNull(channel, "AnalogInput supplied to Gyro constructor is null");
+ requireNonNullParam(channel, "channel", "AnalogGyro");
m_analog = channel;
initGyro();
@@ -120,7 +121,7 @@
*/
@Override
public void close() {
- super.close();
+ SendableRegistry.remove(this);
if (m_analog != null && m_channelAllocated) {
m_analog.close();
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java
index 74eb866..0e1260e 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -11,9 +11,11 @@
import edu.wpi.first.hal.AnalogJNI;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
+import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.sim.AnalogInSim;
import edu.wpi.first.hal.util.AllocationException;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Analog channel class.
@@ -27,7 +29,7 @@
* accumulated effectively increasing the resolution, while the averaged samples are divided by the
* number of samples to retain the resolution, but get more stable values.
*/
-public class AnalogInput extends SendableBase implements PIDSource {
+public class AnalogInput implements PIDSource, Sendable, AutoCloseable {
private static final int kAccumulatorSlot = 1;
int m_port; // explicit no modifier, private and package accessible.
private int m_channel;
@@ -48,12 +50,12 @@
m_port = AnalogJNI.initializeAnalogInputPort(portHandle);
HAL.report(tResourceType.kResourceType_AnalogChannel, channel);
- setName("AnalogInput", channel);
+ SendableRegistry.addLW(this, "AnalogInput", channel);
}
@Override
public void close() {
- super.close();
+ SendableRegistry.remove(this);
AnalogJNI.freeAnalogInputPort(m_port);
m_port = 0;
m_channel = 0;
@@ -344,6 +346,15 @@
return getAverageVoltage();
}
+ /**
+ * Indicates this input is used by a simulated device.
+ *
+ * @param device simulated device handle
+ */
+ public void setSimDevice(SimDevice device) {
+ AnalogJNI.setAnalogInputSimDevice(m_port, device.getNativeHandle());
+ }
+
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Analog Input");
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogOutput.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogOutput.java
index ff81e9e..902bec6 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogOutput.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogOutput.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,11 +12,12 @@
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.sim.AnalogOutSim;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Analog output class.
*/
-public class AnalogOutput extends SendableBase {
+public class AnalogOutput implements Sendable, AutoCloseable {
private int m_port;
private int m_channel;
@@ -33,12 +34,12 @@
m_port = AnalogJNI.initializeAnalogOutputPort(portHandle);
HAL.report(tResourceType.kResourceType_AnalogOutput, channel);
- setName("AnalogOutput", channel);
+ SendableRegistry.addLW(this, "AnalogOutput", channel);
}
@Override
public void close() {
- super.close();
+ SendableRegistry.remove(this);
AnalogJNI.freeAnalogOutputPort(m_port);
m_port = 0;
m_channel = 0;
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java
index d1a9018..3a6f338 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,13 +9,14 @@
import edu.wpi.first.wpilibj.interfaces.Potentiometer;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Class for reading analog potentiometers. Analog potentiometers read in an analog voltage that
* corresponds to a position. The position is in whichever units you choose, by way of the scaling
* and offset constants passed to the constructor.
*/
-public class AnalogPotentiometer extends SendableBase implements Potentiometer {
+public class AnalogPotentiometer implements Potentiometer, Sendable, AutoCloseable {
private AnalogInput m_analogInput;
private boolean m_initAnalogInput;
private double m_fullRange;
@@ -38,7 +39,7 @@
public AnalogPotentiometer(final int channel, double fullRange, double offset) {
this(new AnalogInput(channel), fullRange, offset);
m_initAnalogInput = true;
- addChild(m_analogInput);
+ SendableRegistry.addChild(this, m_analogInput);
}
/**
@@ -55,7 +56,7 @@
* @param offset The offset to add to the scaled value for controlling the zero value
*/
public AnalogPotentiometer(final AnalogInput input, double fullRange, double offset) {
- setName("AnalogPotentiometer", input.getChannel());
+ SendableRegistry.addLW(this, "AnalogPotentiometer", input.getChannel());
m_analogInput = input;
m_initAnalogInput = false;
@@ -156,7 +157,7 @@
@Override
public void close() {
- super.close();
+ SendableRegistry.remove(this);
if (m_initAnalogInput) {
m_analogInput.close();
m_analogInput = null;
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java
index e429246..5bff3ea 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -16,12 +16,13 @@
import edu.wpi.first.hal.util.BoundaryException;
import edu.wpi.first.wpilibj.AnalogTriggerOutput.AnalogTriggerType;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Class for creating and configuring Analog Triggers.
*/
-public class AnalogTrigger extends SendableBase {
+public class AnalogTrigger implements Sendable, AutoCloseable {
/**
* Exceptions dealing with improper operation of the Analog trigger.
*/
@@ -53,7 +54,7 @@
public AnalogTrigger(final int channel) {
this(new AnalogInput(channel));
m_ownsAnalog = true;
- addChild(m_analogInput);
+ SendableRegistry.addChild(this, m_analogInput);
}
/**
@@ -72,12 +73,12 @@
m_index = index.asIntBuffer().get(0);
HAL.report(tResourceType.kResourceType_AnalogTrigger, channel.getChannel());
- setName("AnalogTrigger", channel.getChannel());
+ SendableRegistry.addLW(this, "AnalogTrigger", channel.getChannel());
}
@Override
public void close() {
- super.close();
+ SendableRegistry.remove(this);
AnalogJNI.cleanAnalogTrigger(m_port);
m_port = 0;
if (m_ownsAnalog && m_analogInput != null) {
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java
index 04971c8..049beb3 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,7 +12,7 @@
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-import static java.util.Objects.requireNonNull;
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
/**
* Class to represent a specific output from an analog trigger. This class is used to get the
@@ -40,7 +40,7 @@
* the averaging engine may help with this, but rotational speeds of the sensor will then be
* limited.
*/
-public class AnalogTriggerOutput extends DigitalSource {
+public class AnalogTriggerOutput extends DigitalSource implements Sendable {
/**
* Exceptions dealing with improper operation of the Analog trigger output.
*/
@@ -68,8 +68,8 @@
* @param outputType An enum that specifies the output on the trigger to represent.
*/
public AnalogTriggerOutput(AnalogTrigger trigger, final AnalogTriggerType outputType) {
- requireNonNull(trigger, "Analog Trigger given was null");
- requireNonNull(outputType, "Analog Trigger Type given was null");
+ requireNonNullParam(trigger, "trigger", "AnalogTriggerOutput");
+ requireNonNullParam(outputType, "outputType", "AnalogTriggerOutput");
m_trigger = trigger;
m_outputType = outputType;
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java
index d8dbafe..f6811c0 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -13,13 +13,14 @@
import edu.wpi.first.hal.sim.AccelerometerSim;
import edu.wpi.first.wpilibj.interfaces.Accelerometer;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Built-in accelerometer.
*
* <p>This class allows access to the roboRIO's internal accelerometer.
*/
-public class BuiltInAccelerometer extends SendableBase implements Accelerometer {
+public class BuiltInAccelerometer implements Accelerometer, Sendable, AutoCloseable {
/**
* Constructor.
*
@@ -28,7 +29,7 @@
public BuiltInAccelerometer(Range range) {
setRange(range);
HAL.report(tResourceType.kResourceType_Accelerometer, 0, 0, "Built-in accelerometer");
- setName("BuiltInAccel", 0);
+ SendableRegistry.addLW(this, "BuiltInAccel", 0);
}
/**
@@ -39,6 +40,11 @@
}
@Override
+ public void close() {
+ SendableRegistry.remove(this);
+ }
+
+ @Override
public void setRange(Range range) {
AccelerometerJNI.setAccelerometerActive(false);
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/CAN.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/CAN.java
index c6eac3a..759056f 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/CAN.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/CAN.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -90,6 +90,17 @@
}
/**
+ * Write an RTR frame to the CAN device with a specific ID. This ID is 10 bits.
+ * The length by spec must match what is returned by the responding device
+ *
+ * @param length The length to request (0 to 8)
+ * @param apiId The API ID to write.
+ */
+ public void writeRTRFrame(int length, int apiId) {
+ CANAPIJNI.writeCANRTRFrame(m_handle, length, apiId);
+ }
+
+ /**
* Stop a repeating packet with a specific ID. This ID is 10 bits.
*
* @param apiId The API ID to stop repeating
@@ -134,22 +145,4 @@
public boolean readPacketTimeout(int apiId, int timeoutMs, CANData data) {
return CANAPIJNI.readCANPacketTimeout(m_handle, apiId, timeoutMs, data);
}
-
- /**
- * Read a CAN packet. The will return the last packet received until the
- * packet is older then the requested timeout. Then it will return false.
- * The period parameter is used when you know the packet is sent at specific
- * intervals, so calls will not attempt to read a new packet from the
- * network until that period has passed. We do not recommend users use this
- * API unless they know the implications.
- *
- * @param apiId The API ID to read.
- * @param timeoutMs The timeout time for the packet
- * @param periodMs The usual period for the packet
- * @param data Storage for the received data.
- * @return True if the data is valid, otherwise false.
- */
- public boolean readPeriodicPacket(int apiId, int timeoutMs, int periodMs, CANData data) {
- return CANAPIJNI.readCANPeriodicPacket(m_handle, apiId, timeoutMs, periodMs, data);
- }
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/CameraServer.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/CameraServer.java
index a25ab2e..178d5ee 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/CameraServer.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/CameraServer.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -146,17 +146,21 @@
values[j] = "mjpg:" + values[j];
}
- // Look to see if we have a passthrough server for this source
- for (VideoSink i : m_sinks.values()) {
- int sink = i.getHandle();
- int sinkSource = CameraServerJNI.getSinkSource(sink);
- if (source == sinkSource
- && VideoSink.getKindFromInt(CameraServerJNI.getSinkKind(sink)) == VideoSink.Kind.kMjpeg) {
- // Add USB-only passthrough
- String[] finalValues = Arrays.copyOf(values, values.length + 1);
- int port = CameraServerJNI.getMjpegServerPort(sink);
- finalValues[values.length] = makeStreamValue("172.22.11.2", port);
- return finalValues;
+ if (CameraServerSharedStore.getCameraServerShared().isRoboRIO()) {
+ // Look to see if we have a passthrough server for this source
+ // Only do this on the roboRIO
+ for (VideoSink i : m_sinks.values()) {
+ int sink = i.getHandle();
+ int sinkSource = CameraServerJNI.getSinkSource(sink);
+ if (source == sinkSource
+ && VideoSink.getKindFromInt(CameraServerJNI.getSinkKind(sink))
+ == VideoSink.Kind.kMjpeg) {
+ // Add USB-only passthrough
+ String[] finalValues = Arrays.copyOf(values, values.length + 1);
+ int port = CameraServerJNI.getMjpegServerPort(sink);
+ finalValues[values.length] = makeStreamValue("172.22.11.2", port);
+ return finalValues;
+ }
}
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/CircularBuffer.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/CircularBuffer.java
deleted file mode 100644
index 7e8ecc4..0000000
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/CircularBuffer.java
+++ /dev/null
@@ -1,186 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.wpilibj;
-
-/**
- * This is a simple circular buffer so we don't need to "bucket brigade" copy old values.
- */
-public class CircularBuffer {
- private double[] m_data;
-
- // Index of element at front of buffer
- private int m_front;
-
- // Number of elements used in buffer
- private int m_length;
-
- /**
- * Create a CircularBuffer with the provided size.
- *
- * @param size The size of the circular buffer.
- */
- public CircularBuffer(int size) {
- m_data = new double[size];
- for (int i = 0; i < m_data.length; i++) {
- m_data[i] = 0.0;
- }
- }
-
- /**
- * Returns number of elements in buffer.
- *
- * @return number of elements in buffer
- */
- double size() {
- return m_length;
- }
-
- /**
- * Get value at front of buffer.
- *
- * @return value at front of buffer
- */
- double getFirst() {
- return m_data[m_front];
- }
-
- /**
- * Get value at back of buffer.
- *
- * @return value at back of buffer
- */
- double getLast() {
- // If there are no elements in the buffer, do nothing
- if (m_length == 0) {
- return 0.0;
- }
-
- return m_data[(m_front + m_length - 1) % m_data.length];
- }
-
- /**
- * Push new value onto front of the buffer. The value at the back is overwritten if the buffer is
- * full.
- */
- public void addFirst(double value) {
- if (m_data.length == 0) {
- return;
- }
-
- m_front = moduloDec(m_front);
-
- m_data[m_front] = value;
-
- if (m_length < m_data.length) {
- m_length++;
- }
- }
-
- /**
- * Push new value onto back of the buffer. The value at the front is overwritten if the buffer is
- * full.
- */
- public void addLast(double value) {
- if (m_data.length == 0) {
- return;
- }
-
- m_data[(m_front + m_length) % m_data.length] = value;
-
- if (m_length < m_data.length) {
- m_length++;
- } else {
- // Increment front if buffer is full to maintain size
- m_front = moduloInc(m_front);
- }
- }
-
- /**
- * Pop value at front of buffer.
- *
- * @return value at front of buffer
- */
- public double removeFirst() {
- // If there are no elements in the buffer, do nothing
- if (m_length == 0) {
- return 0.0;
- }
-
- double temp = m_data[m_front];
- m_front = moduloInc(m_front);
- m_length--;
- return temp;
- }
-
-
- /**
- * Pop value at back of buffer.
- */
- public double removeLast() {
- // If there are no elements in the buffer, do nothing
- if (m_length == 0) {
- return 0.0;
- }
-
- m_length--;
- return m_data[(m_front + m_length) % m_data.length];
- }
-
- /**
- * Resizes internal buffer to given size.
- *
- * <p>A new buffer is allocated because arrays are not resizable.
- */
- void resize(int size) {
- double[] newBuffer = new double[size];
- m_length = Math.min(m_length, size);
- for (int i = 0; i < m_length; i++) {
- newBuffer[i] = m_data[(m_front + i) % m_data.length];
- }
- m_data = newBuffer;
- m_front = 0;
- }
-
- /**
- * Sets internal buffer contents to zero.
- */
- public void clear() {
- for (int i = 0; i < m_data.length; i++) {
- m_data[i] = 0.0;
- }
- m_front = 0;
- m_length = 0;
- }
-
- /**
- * Get the element at the provided index relative to the start of the buffer.
- *
- * @return Element at index starting from front of buffer.
- */
- public double get(int index) {
- return m_data[(m_front + index) % m_data.length];
- }
-
- /**
- * Increment an index modulo the length of the m_data buffer.
- */
- private int moduloInc(int index) {
- return (index + 1) % m_data.length;
- }
-
- /**
- * Decrement an index modulo the length of the m_data buffer.
- */
- private int moduloDec(int index) {
- if (index == 0) {
- return m_data.length - 1;
- } else {
- return index - 1;
- }
- }
-}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Compressor.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Compressor.java
index e95e8a7..cddf2ef 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Compressor.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Compressor.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -11,6 +11,7 @@
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Class for operating a compressor connected to a PCM (Pneumatic Control Module). The PCM will
@@ -23,7 +24,7 @@
* the safety provided by using the pressure switch and closed loop control. You can only turn off
* closed loop control, thereby stopping the compressor from operating.
*/
-public class Compressor extends SendableBase {
+public class Compressor implements Sendable, AutoCloseable {
private int m_compressorHandle;
private byte m_module;
@@ -39,7 +40,7 @@
m_compressorHandle = CompressorJNI.initializeCompressor((byte) module);
HAL.report(tResourceType.kResourceType_Compressor, module);
- setName("Compressor", module);
+ SendableRegistry.addLW(this, "Compressor", module);
}
/**
@@ -52,6 +53,11 @@
this(SensorUtil.getDefaultSolenoidModule());
}
+ @Override
+ public void close() {
+ SendableRegistry.remove(this);
+ }
+
/**
* Start the compressor running in closed loop control mode.
*
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Controller.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Controller.java
index 32fc7c3..31d50d8 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Controller.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Controller.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -11,7 +11,10 @@
* An interface for controllers. Controllers run control loops, the most command are PID controllers
* and there variants, but this includes anything that is controlling an actuator in a separate
* thread.
+ *
+ * @deprecated None of the 2020 FRC controllers use this.
*/
+@Deprecated(since = "2020", forRemoval = true)
public interface Controller {
/**
* Allows the control loop to run.
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/ControllerPower.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/ControllerPower.java
deleted file mode 100644
index 3a03c60..0000000
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/ControllerPower.java
+++ /dev/null
@@ -1,163 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.wpilibj;
-
-import edu.wpi.first.hal.PowerJNI;
-
-/**
- * Old Controller PR class.
- * @deprecated Use RobotController class instead
- */
-@Deprecated
-public final class ControllerPower {
- /**
- * Get the input voltage to the robot controller.
- *
- * @return The controller input voltage value in Volts
- */
- @Deprecated
- public static double getInputVoltage() {
- return PowerJNI.getVinVoltage();
- }
-
- /**
- * Get the input current to the robot controller.
- *
- * @return The controller input current value in Amps
- */
- @Deprecated
- public static double getInputCurrent() {
- return PowerJNI.getVinCurrent();
- }
-
- /**
- * Get the voltage of the 3.3V rail.
- *
- * @return The controller 3.3V rail voltage value in Volts
- */
- @Deprecated
- public static double getVoltage3V3() {
- return PowerJNI.getUserVoltage3V3();
- }
-
- /**
- * Get the current output of the 3.3V rail.
- *
- * @return The controller 3.3V rail output current value in Volts
- */
- @Deprecated
- public static double getCurrent3V3() {
- return PowerJNI.getUserCurrent3V3();
- }
-
- /**
- * Get the enabled state of the 3.3V rail. The rail may be disabled due to a controller brownout,
- * a short circuit on the rail, or controller over-voltage.
- *
- * @return The controller 3.3V rail enabled value
- */
- @Deprecated
- public static boolean getEnabled3V3() {
- return PowerJNI.getUserActive3V3();
- }
-
- /**
- * Get the count of the total current faults on the 3.3V rail since the controller has booted.
- *
- * @return The number of faults
- */
- @Deprecated
- public static int getFaultCount3V3() {
- return PowerJNI.getUserCurrentFaults3V3();
- }
-
- /**
- * Get the voltage of the 5V rail.
- *
- * @return The controller 5V rail voltage value in Volts
- */
- @Deprecated
- public static double getVoltage5V() {
- return PowerJNI.getUserVoltage5V();
- }
-
- /**
- * Get the current output of the 5V rail.
- *
- * @return The controller 5V rail output current value in Amps
- */
- @Deprecated
- public static double getCurrent5V() {
- return PowerJNI.getUserCurrent5V();
- }
-
- /**
- * Get the enabled state of the 5V rail. The rail may be disabled due to a controller brownout, a
- * short circuit on the rail, or controller over-voltage.
- *
- * @return The controller 5V rail enabled value
- */
- @Deprecated
- public static boolean getEnabled5V() {
- return PowerJNI.getUserActive5V();
- }
-
- /**
- * Get the count of the total current faults on the 5V rail since the controller has booted.
- *
- * @return The number of faults
- */
- @Deprecated
- public static int getFaultCount5V() {
- return PowerJNI.getUserCurrentFaults5V();
- }
-
- /**
- * Get the voltage of the 6V rail.
- *
- * @return The controller 6V rail voltage value in Volts
- */
- @Deprecated
- public static double getVoltage6V() {
- return PowerJNI.getUserVoltage6V();
- }
-
- /**
- * Get the current output of the 6V rail.
- *
- * @return The controller 6V rail output current value in Amps
- */
- @Deprecated
- public static double getCurrent6V() {
- return PowerJNI.getUserCurrent6V();
- }
-
- /**
- * Get the enabled state of the 6V rail. The rail may be disabled due to a controller brownout, a
- * short circuit on the rail, or controller over-voltage.
- *
- * @return The controller 6V rail enabled value
- */
- @Deprecated
- public static boolean getEnabled6V() {
- return PowerJNI.getUserActive6V();
- }
-
- /**
- * Get the count of the total current faults on the 6V rail since the controller has booted.
- *
- * @return The number of faults
- */
- @Deprecated
- public static int getFaultCount6V() {
- return PowerJNI.getUserCurrentFaults6V();
- }
-
- private ControllerPower() {
- }
-}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Counter.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Counter.java
index dca332a..bdb81fd 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Counter.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Counter.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -15,7 +15,9 @@
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.AnalogTriggerOutput.AnalogTriggerType;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
import static java.util.Objects.requireNonNull;
/**
@@ -28,7 +30,7 @@
* <p>All counters will immediately start counting - reset() them if you need them to be zeroed
* before use.
*/
-public class Counter extends SendableBase implements CounterBase, PIDSource {
+public class Counter implements CounterBase, PIDSource, Sendable, AutoCloseable {
/**
* Mode determines how and what the counter counts.
*/
@@ -85,7 +87,7 @@
setMaxPeriod(.5);
HAL.report(tResourceType.kResourceType_Counter, m_index, mode.value);
- setName("Counter", m_index);
+ SendableRegistry.addLW(this, "Counter", m_index);
}
/**
@@ -110,7 +112,7 @@
public Counter(DigitalSource source) {
this();
- requireNonNull(source, "Digital Source given was null");
+ requireNonNullParam(source, "source", "Counter");
setUpSource(source);
}
@@ -141,9 +143,9 @@
boolean inverted) {
this(Mode.kExternalDirection);
- requireNonNull(encodingType, "Encoding type given was null");
- requireNonNull(upSource, "Up Source given was null");
- requireNonNull(downSource, "Down Source given was null");
+ requireNonNullParam(encodingType, "encodingType", "Counter");
+ requireNonNullParam(upSource, "upSource", "Counter");
+ requireNonNullParam(downSource, "downSource", "Counter");
if (encodingType != EncodingType.k1X && encodingType != EncodingType.k2X) {
throw new IllegalArgumentException("Counters only support 1X and 2X quadrature decoding!");
@@ -174,14 +176,15 @@
public Counter(AnalogTrigger trigger) {
this();
- requireNonNull(trigger, "The Analog Trigger given was null");
+ requireNonNullParam(trigger, "trigger", "Counter");
setUpSource(trigger.createOutput(AnalogTriggerType.kState));
}
@Override
public void close() {
- super.close();
+ SendableRegistry.remove(this);
+
setUpdateWhenEmpty(true);
clearUpSource();
@@ -212,7 +215,7 @@
public void setUpSource(int channel) {
setUpSource(new DigitalInput(channel));
m_allocatedUpSource = true;
- addChild(m_upSource);
+ SendableRegistry.addChild(this, m_upSource);
}
/**
@@ -237,8 +240,8 @@
* @param triggerType The analog trigger output that will trigger the counter.
*/
public void setUpSource(AnalogTrigger analogTrigger, AnalogTriggerType triggerType) {
- requireNonNull(analogTrigger, "Analog Trigger given was null");
- requireNonNull(triggerType, "Analog Trigger Type given was null");
+ requireNonNullParam(analogTrigger, "analogTrigger", "setUpSource");
+ requireNonNullParam(triggerType, "triggerType", "setUpSource");
setUpSource(analogTrigger.createOutput(triggerType));
m_allocatedUpSource = true;
@@ -279,7 +282,7 @@
public void setDownSource(int channel) {
setDownSource(new DigitalInput(channel));
m_allocatedDownSource = true;
- addChild(m_downSource);
+ SendableRegistry.addChild(this, m_downSource);
}
/**
@@ -307,8 +310,8 @@
* @param triggerType The analog trigger output that will trigger the counter.
*/
public void setDownSource(AnalogTrigger analogTrigger, AnalogTriggerType triggerType) {
- requireNonNull(analogTrigger, "Analog Trigger given was null");
- requireNonNull(triggerType, "Analog Trigger Type given was null");
+ requireNonNullParam(analogTrigger, "analogTrigger", "setDownSource");
+ requireNonNullParam(triggerType, "analogTrigger", "setDownSource");
setDownSource(analogTrigger.createOutput(triggerType));
m_allocatedDownSource = true;
@@ -530,7 +533,7 @@
*/
@Override
public void setPIDSourceType(PIDSourceType pidSource) {
- requireNonNull(pidSource, "PID Source Parameter given was null");
+ requireNonNullParam(pidSource, "pidSource", "setPIDSourceType");
if (pidSource != PIDSourceType.kDisplacement && pidSource != PIDSourceType.kRate) {
throw new IllegalArgumentException("PID Source parameter was not valid type: " + pidSource);
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/DMC60.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/DMC60.java
index c2f4c9c..f414773 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/DMC60.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/DMC60.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,7 @@
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Digilent DMC 60 Speed Controller.
@@ -39,6 +40,6 @@
setZeroLatch();
HAL.report(tResourceType.kResourceType_DigilentDMC60, getChannel());
- setName("DMC60", getChannel());
+ SendableRegistry.setName(this, "DMC60", getChannel());
}
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java
index ad92f48..777f2f9 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -14,13 +14,14 @@
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Class to enable glitch filtering on a set of digital inputs. This class will manage adding and
* removing digital inputs from a FPGA glitch filter. The filter lets the user configure the time
* that an input must remain high or low before it is classified as high or low.
*/
-public class DigitalGlitchFilter extends SendableBase {
+public class DigitalGlitchFilter implements Sendable, AutoCloseable {
/**
* Configures the Digital Glitch Filter to its default settings.
*/
@@ -35,14 +36,14 @@
m_filterAllocated[index] = true;
HAL.report(tResourceType.kResourceType_DigitalGlitchFilter,
m_channelIndex, 0);
- setName("DigitalGlitchFilter", index);
+ SendableRegistry.addLW(this, "DigitalGlitchFilter", index);
}
}
}
@Override
public void close() {
- super.close();
+ SendableRegistry.remove(this);
if (m_channelIndex >= 0) {
synchronized (m_mutex) {
m_filterAllocated[m_channelIndex] = false;
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalInput.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalInput.java
index 03a0f21..433e3fd 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalInput.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalInput.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,7 +10,9 @@
import edu.wpi.first.hal.DIOJNI;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
+import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Class to read a digital input. This class will read digital inputs and return the current value
@@ -18,7 +20,7 @@
* elsewhere will automatically allocate digital inputs and outputs as required. This class is only
* for devices like switches etc. that aren't implemented anywhere else.
*/
-public class DigitalInput extends DigitalSource {
+public class DigitalInput extends DigitalSource implements Sendable, AutoCloseable {
private final int m_channel;
private int m_handle;
@@ -34,12 +36,13 @@
m_handle = DIOJNI.initializeDIOPort(HAL.getPort((byte) channel), true);
HAL.report(tResourceType.kResourceType_DigitalInput, channel);
- setName("DigitalInput", channel);
+ SendableRegistry.addLW(this, "DigitalInput", channel);
}
@Override
public void close() {
super.close();
+ SendableRegistry.remove(this);
if (m_interrupt != 0) {
cancelInterrupts();
}
@@ -97,6 +100,15 @@
return m_handle;
}
+ /**
+ * Indicates this input is used by a simulated device.
+ *
+ * @param device simulated device handle
+ */
+ public void setSimDevice(SimDevice device) {
+ DIOJNI.setDIOSimDevice(m_handle, device.getNativeHandle());
+ }
+
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Digital Input");
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java
index f375ccb..ede25f2 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,13 +10,15 @@
import edu.wpi.first.hal.DIOJNI;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
+import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Class to write digital outputs. This class will write digital outputs. Other devices that are
* implemented elsewhere will automatically allocate digital inputs and outputs as required.
*/
-public class DigitalOutput extends SendableBase {
+public class DigitalOutput implements Sendable, AutoCloseable {
private static final int invalidPwmGenerator = 0;
private int m_pwmGenerator = invalidPwmGenerator;
@@ -37,12 +39,12 @@
m_handle = DIOJNI.initializeDIOPort(HAL.getPort((byte) channel), false);
HAL.report(tResourceType.kResourceType_DigitalOutput, channel);
- setName("DigitalOutput", channel);
+ SendableRegistry.addLW(this, "DigitalOutput", channel);
}
@Override
public void close() {
- super.close();
+ SendableRegistry.remove(this);
// Disable the pwm only if we have allocated it
if (m_pwmGenerator != invalidPwmGenerator) {
disablePWM();
@@ -161,6 +163,15 @@
DIOJNI.setDigitalPWMDutyCycle(m_pwmGenerator, dutyCycle);
}
+ /**
+ * Indicates this input is used by a simulated device.
+ *
+ * @param device simulated device handle
+ */
+ public void setSimDevice(SimDevice device) {
+ DIOJNI.setDIOSimDevice(m_handle, device.getNativeHandle());
+ }
+
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Digital Output");
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/DoubleSolenoid.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/DoubleSolenoid.java
index 8cd60ec..1002945 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/DoubleSolenoid.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/DoubleSolenoid.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,6 +12,7 @@
import edu.wpi.first.hal.SolenoidJNI;
import edu.wpi.first.hal.util.UncleanStatusException;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* DoubleSolenoid class for running 2 channels of high voltage Digital Output on the PCM.
@@ -19,7 +20,7 @@
* <p>The DoubleSolenoid class is typically used for pneumatics solenoids that have two positions
* controlled by two separate channels.
*/
-public class DoubleSolenoid extends SolenoidBase {
+public class DoubleSolenoid extends SolenoidBase implements Sendable, AutoCloseable {
/**
* Possible values for a DoubleSolenoid.
*/
@@ -80,12 +81,12 @@
m_moduleNumber);
HAL.report(tResourceType.kResourceType_Solenoid, reverseChannel,
m_moduleNumber);
- setName("DoubleSolenoid", m_moduleNumber, forwardChannel);
+ SendableRegistry.addLW(this, "DoubleSolenoid", m_moduleNumber, forwardChannel);
}
@Override
public synchronized void close() {
- super.close();
+ SendableRegistry.remove(this);
SolenoidJNI.freeSolenoidPort(m_forwardHandle);
SolenoidJNI.freeSolenoidPort(m_reverseHandle);
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
index b5c46c9..5955201 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -17,7 +17,6 @@
import edu.wpi.first.hal.ControlWord;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.MatchInfoData;
-import edu.wpi.first.hal.PowerJNI;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
@@ -54,6 +53,9 @@
HALJoystickPOVs(int count) {
m_povs = new short[count];
+ for (int i = 0; i < count; i++) {
+ m_povs[i] = -1;
+ }
}
}
@@ -283,7 +285,7 @@
} else {
locString = "";
}
- StringBuilder traceString = new StringBuilder("");
+ StringBuilder traceString = new StringBuilder();
if (printTrace) {
boolean haveLoc = false;
for (int i = stackTraceFirst; i < stackTrace.length; i++) {
@@ -462,6 +464,7 @@
m_cacheDataMutex.unlock();
reportJoystickUnpluggedWarning("Joystick POV " + pov + " on port " + stick
+ " not available, check if controller is plugged in");
+ return -1;
}
} finally {
if (m_cacheDataMutex.isHeldByCurrentThread()) {
@@ -627,6 +630,18 @@
}
/**
+ * Gets a value indicating whether the Robot is e-stopped.
+ *
+ * @return True if the robot is e-stopped, false otherwise.
+ */
+ public boolean isEStopped() {
+ synchronized (m_controlWordMutex) {
+ updateControlWord(false);
+ return m_controlWordCache.getEStop();
+ }
+ }
+
+ /**
* Gets a value indicating whether the Driver Station requires the robot to be running in
* autonomous mode.
*
@@ -697,29 +712,6 @@
}
/**
- * Gets a value indicating whether the FPGA outputs are enabled. The outputs may be disabled if
- * the robot is disabled or e-stopped, the watchdog has expired, or if the roboRIO browns out.
- *
- * @return True if the FPGA outputs are enabled.
- * @deprecated Use RobotController.isSysActive()
- */
- @Deprecated
- public boolean isSysActive() {
- return HAL.getSystemActive();
- }
-
- /**
- * Check if the system is browned out.
- *
- * @return True if the system is browned out
- * @deprecated Use RobotController.isBrownedOut()
- */
- @Deprecated
- public boolean isBrownedOut() {
- return HAL.getBrownedOut();
- }
-
- /**
* Get the game specific message.
*
* @return the game specific message
@@ -918,17 +910,6 @@
}
/**
- * Read the battery voltage.
- *
- * @return The battery voltage in Volts.
- * @deprecated Use RobotController.getBatteryVoltage
- */
- @Deprecated
- public double getBatteryVoltage() {
- return PowerJNI.getVinVoltage();
- }
-
- /**
* Only to be used to tell the Driver Station what code you claim to be executing for diagnostic
* purposes only.
*
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Encoder.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Encoder.java
index 594fe0a..a6ea302 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Encoder.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Encoder.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,10 +10,12 @@
import edu.wpi.first.hal.EncoderJNI;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
+import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.util.AllocationException;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
-import static java.util.Objects.requireNonNull;
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
/**
* Class to read quadrature encoders.
@@ -28,7 +30,7 @@
* <p>All encoders will immediately start counting - reset() them if you need them to be zeroed
* before use.
*/
-public class Encoder extends SendableBase implements CounterBase, PIDSource {
+public class Encoder implements CounterBase, PIDSource, Sendable, AutoCloseable {
public enum IndexingType {
kResetWhileHigh(0), kResetWhileLow(1), kResetOnFallingEdge(2), kResetOnRisingEdge(3);
@@ -79,7 +81,7 @@
int fpgaIndex = getFPGAIndex();
HAL.report(tResourceType.kResourceType_Encoder, fpgaIndex, type.value);
- setName("Encoder", fpgaIndex);
+ SendableRegistry.addLW(this, "Encoder", fpgaIndex);
}
/**
@@ -126,15 +128,15 @@
*/
public Encoder(final int channelA, final int channelB, boolean reverseDirection,
final EncodingType encodingType) {
- requireNonNull(encodingType, "Given encoding type was null");
+ requireNonNullParam(encodingType, "encodingType", "Encoder");
m_allocatedA = true;
m_allocatedB = true;
m_allocatedI = false;
m_aSource = new DigitalInput(channelA);
m_bSource = new DigitalInput(channelB);
- addChild(m_aSource);
- addChild(m_bSource);
+ SendableRegistry.addChild(this, m_aSource);
+ SendableRegistry.addChild(this, m_bSource);
initEncoder(reverseDirection, encodingType);
}
@@ -155,7 +157,7 @@
this(channelA, channelB, reverseDirection);
m_allocatedI = true;
m_indexSource = new DigitalInput(indexChannel);
- addChild(m_indexSource);
+ SendableRegistry.addChild(this, m_indexSource);
setIndexSource(m_indexSource);
}
@@ -223,9 +225,9 @@
*/
public Encoder(DigitalSource sourceA, DigitalSource sourceB, boolean reverseDirection,
final EncodingType encodingType) {
- requireNonNull(sourceA, "Digital Source A was null");
- requireNonNull(sourceB, "Digital Source B was null");
- requireNonNull(encodingType, "Given encoding type was null");
+ requireNonNullParam(sourceA, "sourceA", "Encoder");
+ requireNonNullParam(sourceB, "sourceB", "Encoder");
+ requireNonNullParam(encodingType, "encodingType", "Encoder");
m_allocatedA = false;
m_allocatedB = false;
@@ -292,7 +294,7 @@
@Override
public void close() {
- super.close();
+ SendableRegistry.remove(this);
if (m_aSource != null && m_allocatedA) {
m_aSource.close();
m_allocatedA = false;
@@ -544,7 +546,7 @@
}
m_indexSource = new DigitalInput(channel);
m_allocatedI = true;
- addChild(m_indexSource);
+ SendableRegistry.addChild(this, m_indexSource);
setIndexSource(m_indexSource, type);
}
@@ -560,6 +562,15 @@
source.getAnalogTriggerTypeForRouting(), type.value);
}
+ /**
+ * Indicates this input is used by a simulated device.
+ *
+ * @param device simulated device handle
+ */
+ public void setSimDevice(SimDevice device) {
+ EncoderJNI.setEncoderSimDevice(m_encoder, device.getNativeHandle());
+ }
+
@Override
public void initSendable(SendableBuilder builder) {
if (EncoderJNI.getEncoderEncodingType(m_encoder) == EncodingType.k4X.value) {
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/GamepadBase.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/GamepadBase.java
deleted file mode 100644
index 8e878ea..0000000
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/GamepadBase.java
+++ /dev/null
@@ -1,70 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.wpilibj;
-
-/**
- * Gamepad Interface.
- *
- * @deprecated Inherit directly from GenericHID instead.
- */
-@Deprecated
-public abstract class GamepadBase extends GenericHID {
- public GamepadBase(int port) {
- super(port);
- }
-
- @Override
- public abstract double getRawAxis(int axis);
-
- /**
- * Is the bumper pressed.
- *
- * @param hand which hand
- * @return true if the bumper is pressed
- */
- public abstract boolean getBumper(Hand hand);
-
- /**
- * Is the bumper pressed.
- *
- * @return true if the bumper is pressed
- */
- public boolean getBumper() {
- return getBumper(Hand.kRight);
- }
-
- public abstract boolean getStickButton(Hand hand);
-
- public boolean getStickButton() {
- return getStickButton(Hand.kRight);
- }
-
- @Override
- public abstract boolean getRawButton(int button);
-
- @Override
- public abstract int getPOV(int pov);
-
- @Override
- public abstract int getPOVCount();
-
- @Override
- public abstract HIDType getType();
-
- @Override
- public abstract String getName();
-
- @Override
- public abstract void setOutput(int outputNumber, boolean value);
-
- @Override
- public abstract void setOutputs(int value);
-
- @Override
- public abstract void setRumble(RumbleType type, double value);
-}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/GearTooth.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/GearTooth.java
index e937c26..80b5804 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/GearTooth.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/GearTooth.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,12 +10,17 @@
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Alias for counter class. Implement the gear tooth sensor supplied by FIRST. Currently there is no
* reverse sensing on the gear tooth sensor, but in future versions we might implement the necessary
* timing in the FPGA to sense direction.
+ *
+ * @deprecated The only sensor this works with is no longer available and no teams use it according
+ * to FMS usage reporting.
*/
+@Deprecated(since = "2020", forRemoval = true)
public class GearTooth extends Counter {
private static final double kGearToothThreshold = 55e-6;
@@ -55,7 +60,7 @@
} else {
HAL.report(tResourceType.kResourceType_GearTooth, channel, 0);
}
- setName("GearTooth", channel);
+ SendableRegistry.setName(this, "GearTooth", channel);
}
/**
@@ -74,7 +79,7 @@
} else {
HAL.report(tResourceType.kResourceType_GearTooth, source.getChannel(), 0);
}
- setName("GearTooth", source.getChannel());
+ SendableRegistry.setName(this, "GearTooth", source.getChannel());
}
/**
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/GyroBase.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/GyroBase.java
index 4bd47e8..21330ce 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/GyroBase.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/GyroBase.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -13,7 +13,7 @@
/**
* GyroBase is the common base class for Gyro implementations such as AnalogGyro.
*/
-public abstract class GyroBase extends SendableBase implements Gyro, PIDSource {
+public abstract class GyroBase implements Gyro, PIDSource, Sendable {
private PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
/**
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/I2C.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/I2C.java
index 67a171c..ca8374a 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/I2C.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/I2C.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -14,7 +14,7 @@
import edu.wpi.first.hal.I2CJNI;
import edu.wpi.first.hal.util.BoundaryException;
-import static java.util.Objects.requireNonNull;
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
/**
* I2C bus interface class.
@@ -53,11 +53,6 @@
HAL.report(tResourceType.kResourceType_I2C, deviceAddress);
}
- @Deprecated
- public void free() {
- close();
- }
-
@Override
public void close() {
I2CJNI.i2CClose(m_port);
@@ -67,7 +62,9 @@
* Generic transaction.
*
* <p>This is a lower-level interface to the I2C hardware giving you more control over each
- * transaction.
+ * transaction. If you intend to write multiple bytes in the same transaction and do not
+ * plan to receive anything back, use writeBulk() instead. Calling this with a receiveSize
+ * of 0 will result in an error.
*
* @param dataToSend Buffer of data to send as part of the transaction.
* @param sendSize Number of bytes to send as part of the transaction.
@@ -219,7 +216,7 @@
* @return Transfer Aborted... false for success, true for aborted.
*/
public boolean read(int registerAddress, int count, byte[] buffer) {
- requireNonNull(buffer, "Null return buffer was given");
+ requireNonNullParam(buffer, "buffer", "read");
if (count < 1) {
throw new BoundaryException("Value must be at least 1, " + count + " given");
@@ -284,7 +281,7 @@
* @return Transfer Aborted... false for success, true for aborted.
*/
public boolean readOnly(byte[] buffer, int count) {
- requireNonNull(buffer, "Null return buffer was given");
+ requireNonNullParam(buffer, "buffer", "readOnly");
if (count < 1) {
throw new BoundaryException("Value must be at least 1, " + count + " given");
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/InterruptableSensorBase.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/InterruptableSensorBase.java
index cc10fe1..bd21d24 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/InterruptableSensorBase.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/InterruptableSensorBase.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,6 +7,8 @@
package edu.wpi.first.wpilibj;
+import java.util.function.Consumer;
+
import edu.wpi.first.hal.InterruptJNI;
import edu.wpi.first.hal.util.AllocationException;
@@ -15,7 +17,7 @@
* Base for sensors to be used with interrupts.
*/
@SuppressWarnings("PMD.TooManyMethods")
-public abstract class InterruptableSensorBase extends SendableBase {
+public abstract class InterruptableSensorBase implements AutoCloseable {
@SuppressWarnings("JavadocMethod")
public enum WaitResult {
kTimeout(0x0), kRisingEdge(0x1), kFallingEdge(0x100), kBoth(0x101);
@@ -26,6 +28,18 @@
WaitResult(int value) {
this.value = value;
}
+
+ public static WaitResult getValue(boolean rising, boolean falling) {
+ if (rising && falling) {
+ return kBoth;
+ } else if (rising) {
+ return kRisingEdge;
+ } else if (falling) {
+ return kFallingEdge;
+ } else {
+ return kTimeout;
+ }
+ }
}
/**
@@ -47,7 +61,6 @@
@Override
public void close() {
- super.close();
if (m_interrupt != 0) {
cancelInterrupts();
}
@@ -70,6 +83,35 @@
/**
* Request one of the 8 interrupts asynchronously on this digital input.
*
+ * @param handler The {@link Consumer} that will be called whenever there is an interrupt on this
+ * device. Request interrupts in synchronous mode where the user program interrupt
+ * handler will be called when an interrupt occurs. The default is interrupt on
+ * rising edges only.
+ */
+ public void requestInterrupts(Consumer<WaitResult> handler) {
+ if (m_interrupt != 0) {
+ throw new AllocationException("The interrupt has already been allocated");
+ }
+
+ allocateInterrupts(false);
+
+ assert m_interrupt != 0;
+
+ InterruptJNI.requestInterrupts(m_interrupt, getPortHandleForRouting(),
+ getAnalogTriggerTypeForRouting());
+ setUpSourceEdge(true, false);
+ InterruptJNI.attachInterruptHandler(m_interrupt, (mask, obj) -> {
+ // Rising edge result is the interrupt bit set in the byte 0xFF
+ // Falling edge result is the interrupt bit set in the byte 0xFF00
+ boolean rising = (mask & 0xFF) != 0;
+ boolean falling = (mask & 0xFF00) != 0;
+ handler.accept(WaitResult.getValue(rising, falling));
+ }, null);
+ }
+
+ /**
+ * Request one of the 8 interrupts asynchronously on this digital input.
+ *
* @param handler The {@link InterruptHandlerFunction} that contains the method {@link
* InterruptHandlerFunction#interruptFired(int, Object)} that will be called
* whenever there is an interrupt on this device. Request interrupts in synchronous
@@ -154,16 +196,9 @@
// Falling edge result is the interrupt bit set in the byte 0xFF00
// Set any bit set to be true for that edge, and AND the 2 results
// together to match the existing enum for all interrupts
- int rising = ((result & 0xFF) != 0) ? 0x1 : 0x0;
- int falling = ((result & 0xFF00) != 0) ? 0x0100 : 0x0;
- result = rising | falling;
-
- for (WaitResult mode : WaitResult.values()) {
- if (mode.value == result) {
- return mode;
- }
- }
- return null;
+ boolean rising = (result & 0xFF) != 0;
+ boolean falling = (result & 0xFF00) != 0;
+ return WaitResult.getValue(rising, falling);
}
/**
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobot.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobot.java
index e72033e..01fa26a 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobot.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobot.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -46,7 +46,7 @@
HAL.observeUserProgramStarting();
// Loop forever, calling the appropriate mode-dependent function
- while (true) {
+ while (!Thread.currentThread().isInterrupted()) {
// Wait for new data to arrive
m_ds.waitForData();
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
index 9dfcb64..b9a7a6a 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -257,11 +257,14 @@
robotPeriodic();
m_watchdog.addEpoch("robotPeriodic()");
- m_watchdog.disable();
- SmartDashboard.updateValues();
+ SmartDashboard.updateValues();
+ m_watchdog.addEpoch("SmartDashboard.updateValues()");
LiveWindow.updateValues();
+ m_watchdog.addEpoch("LiveWindow.updateValues()");
Shuffleboard.update();
+ m_watchdog.addEpoch("Shuffleboard.update()");
+ m_watchdog.disable();
// Warn on loop time overruns
if (m_watchdog.isExpired()) {
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Jaguar.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Jaguar.java
index 934e70b..b863f2e 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Jaguar.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Jaguar.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,7 @@
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Texas Instruments / Vex Robotics Jaguar Speed Controller as a PWM device.
@@ -37,6 +38,6 @@
setZeroLatch();
HAL.report(tResourceType.kResourceType_Jaguar, getChannel());
- setName("Jaguar", getChannel());
+ SendableRegistry.setName(this, "Jaguar", getChannel());
}
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Joystick.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Joystick.java
index bb7ef81..06a4cdc 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Joystick.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Joystick.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -24,17 +24,6 @@
static final byte kDefaultTwistChannel = 2;
static final byte kDefaultThrottleChannel = 3;
- @Deprecated
- static final byte kDefaultXAxis = 0;
- @Deprecated
- static final byte kDefaultYAxis = 1;
- @Deprecated
- static final byte kDefaultZAxis = 2;
- @Deprecated
- static final byte kDefaultTwistAxis = 2;
- @Deprecated
- static final byte kDefaultThrottleAxis = 3;
-
/**
* Represents an analog axis on a joystick.
*/
@@ -157,18 +146,6 @@
}
/**
- * Set the channel associated with a specified axis.
- *
- * @deprecated Use the more specific axis channel setter functions.
- * @param axis The axis to set the channel for.
- * @param channel The channel to set the axis to.
- */
- @Deprecated
- public void setAxisChannel(AxisType axis, int channel) {
- m_axes[axis.value] = (byte) channel;
- }
-
- /**
* Get the channel currently associated with the X axis.
*
* @return The channel for the axis.
@@ -214,18 +191,6 @@
}
/**
- * Get the channel currently associated with the specified axis.
- *
- * @deprecated Use the more specific axis channel getter functions.
- * @param axis The axis to look up the channel for.
- * @return The channel for the axis.
- */
- @Deprecated
- public int getAxisChannel(AxisType axis) {
- return m_axes[axis.value];
- }
-
- /**
* Get the X value of the joystick. This depends on the mapping of the joystick connected to the
* current port.
*
@@ -279,34 +244,6 @@
}
/**
- * For the current joystick, return the axis determined by the argument.
- *
- * <p>This is for cases where the joystick axis is returned programmatically, otherwise one of the
- * previous functions would be preferable (for example getX()).
- *
- * @deprecated Use the more specific axis getter functions.
- * @param axis The axis to read.
- * @return The value of the axis.
- */
- @Deprecated
- public double getAxis(final AxisType axis) {
- switch (axis) {
- case kX:
- return getX();
- case kY:
- return getY();
- case kZ:
- return getZ();
- case kTwist:
- return getTwist();
- case kThrottle:
- return getThrottle();
- default:
- return 0.0;
- }
- }
-
- /**
* Read the state of the trigger on the joystick.
*
* @return The state of the trigger.
@@ -361,20 +298,6 @@
}
/**
- * Get buttons based on an enumerated type.
- *
- * <p>The button type will be looked up in the list of buttons and then read.
- *
- * @deprecated Use Button enum values instead of ButtonType.
- * @param button The type of button to read.
- * @return The state of the button.
- */
- @Deprecated
- public boolean getButton(ButtonType button) {
- return getRawButton(button.value);
- }
-
- /**
* Get the magnitude of the direction vector formed by the joystick's current position relative to
* its origin.
*
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/JoystickBase.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/JoystickBase.java
deleted file mode 100644
index 56d4eba..0000000
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/JoystickBase.java
+++ /dev/null
@@ -1,46 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.wpilibj;
-
-/**
- * JoystickBase Interface.
- *
- * @deprecated Inherit directly from GenericHID instead.
- */
-@Deprecated
-public abstract class JoystickBase extends GenericHID {
- public JoystickBase(int port) {
- super(port);
- }
-
- /**
- * Get the z position of the HID.
- *
- * @param hand which hand, left or right
- * @return the z position
- */
- public abstract double getZ(Hand hand);
-
- public double getZ() {
- return getZ(Hand.kRight);
- }
-
- /**
- * Get the twist value.
- *
- * @return the twist value
- */
- public abstract double getTwist();
-
- /**
- * Get the throttle.
- *
- * @return the throttle value
- */
- public abstract double getThrottle();
-}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/LinearFilter.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/LinearFilter.java
new file mode 100644
index 0000000..94bcb31
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/LinearFilter.java
@@ -0,0 +1,171 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj;
+
+import java.util.Arrays;
+
+import edu.wpi.first.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpiutil.CircularBuffer;
+
+/**
+ * This class implements a linear, digital filter. All types of FIR and IIR filters are supported.
+ * Static factory methods are provided to create commonly used types of filters.
+ *
+ * <p>Filters are of the form: y[n] = (b0*x[n] + b1*x[n-1] + ... + bP*x[n-P]) - (a0*y[n-1] +
+ * a2*y[n-2] + ... + aQ*y[n-Q])
+ *
+ * <p>Where: y[n] is the output at time "n" x[n] is the input at time "n" y[n-1] is the output from
+ * the LAST time step ("n-1") x[n-1] is the input from the LAST time step ("n-1") b0...bP are the
+ * "feedforward" (FIR) gains a0...aQ are the "feedback" (IIR) gains IMPORTANT! Note the "-" sign in
+ * front of the feedback term! This is a common convention in signal processing.
+ *
+ * <p>What can linear filters do? Basically, they can filter, or diminish, the effects of
+ * undesirable input frequencies. High frequencies, or rapid changes, can be indicative of sensor
+ * noise or be otherwise undesirable. A "low pass" filter smooths out the signal, reducing the
+ * impact of these high frequency components. Likewise, a "high pass" filter gets rid of
+ * slow-moving signal components, letting you detect large changes more easily.
+ *
+ * <p>Example FRC applications of filters: - Getting rid of noise from an analog sensor input (note:
+ * the roboRIO's FPGA can do this faster in hardware) - Smoothing out joystick input to prevent the
+ * wheels from slipping or the robot from tipping - Smoothing motor commands so that unnecessary
+ * strain isn't put on electrical or mechanical components - If you use clever gains, you can make a
+ * PID controller out of this class!
+ *
+ * <p>For more on filters, we highly recommend the following articles:<br>
+ * https://en.wikipedia.org/wiki/Linear_filter<br>
+ * https://en.wikipedia.org/wiki/Iir_filter<br>
+ * https://en.wikipedia.org/wiki/Fir_filter<br>
+ *
+ * <p>Note 1: calculate() should be called by the user on a known, regular period. You can use a
+ * Notifier for this or do it "inline" with code in a periodic function.
+ *
+ * <p>Note 2: For ALL filters, gains are necessarily a function of frequency. If you make a filter
+ * that works well for you at, say, 100Hz, you will most definitely need to adjust the gains if you
+ * then want to run it at 200Hz! Combining this with Note 1 - the impetus is on YOU as a developer
+ * to make sure calculate() gets called at the desired, constant frequency!
+ */
+public class LinearFilter {
+ private final CircularBuffer m_inputs;
+ private final CircularBuffer m_outputs;
+ private final double[] m_inputGains;
+ private final double[] m_outputGains;
+
+ private static int instances;
+
+ /**
+ * Create a linear FIR or IIR filter.
+ *
+ * @param ffGains The "feed forward" or FIR gains.
+ * @param fbGains The "feed back" or IIR gains.
+ */
+ public LinearFilter(double[] ffGains, double[] fbGains) {
+ m_inputs = new CircularBuffer(ffGains.length);
+ m_outputs = new CircularBuffer(fbGains.length);
+ m_inputGains = Arrays.copyOf(ffGains, ffGains.length);
+ m_outputGains = Arrays.copyOf(fbGains, fbGains.length);
+
+ instances++;
+ HAL.report(tResourceType.kResourceType_LinearFilter, instances);
+ }
+
+ /**
+ * Creates a one-pole IIR low-pass filter of the form: y[n] = (1-gain)*x[n] + gain*y[n-1] where
+ * gain = e^(-dt / T), T is the time constant in seconds.
+ *
+ * <p>This filter is stable for time constants greater than zero.
+ *
+ * @param timeConstant The discrete-time time constant in seconds.
+ * @param period The period in seconds between samples taken by the user.
+ */
+ public static LinearFilter singlePoleIIR(double timeConstant,
+ double period) {
+ double gain = Math.exp(-period / timeConstant);
+ double[] ffGains = {1.0 - gain};
+ double[] fbGains = {-gain};
+
+ return new LinearFilter(ffGains, fbGains);
+ }
+
+ /**
+ * Creates a first-order high-pass filter of the form: y[n] = gain*x[n] + (-gain)*x[n-1] +
+ * gain*y[n-1] where gain = e^(-dt / T), T is the time constant in seconds.
+ *
+ * <p>This filter is stable for time constants greater than zero.
+ *
+ * @param timeConstant The discrete-time time constant in seconds.
+ * @param period The period in seconds between samples taken by the user.
+ */
+ public static LinearFilter highPass(double timeConstant,
+ double period) {
+ double gain = Math.exp(-period / timeConstant);
+ double[] ffGains = {gain, -gain};
+ double[] fbGains = {-gain};
+
+ return new LinearFilter(ffGains, fbGains);
+ }
+
+ /**
+ * Creates a K-tap FIR moving average filter of the form: y[n] = 1/k * (x[k] + x[k-1] + ... +
+ * x[0]).
+ *
+ * <p>This filter is always stable.
+ *
+ * @param taps The number of samples to average over. Higher = smoother but slower.
+ * @throws IllegalArgumentException if number of taps is less than 1.
+ */
+ public static LinearFilter movingAverage(int taps) {
+ if (taps <= 0) {
+ throw new IllegalArgumentException("Number of taps was not at least 1");
+ }
+
+ double[] ffGains = new double[taps];
+ for (int i = 0; i < ffGains.length; i++) {
+ ffGains[i] = 1.0 / taps;
+ }
+
+ double[] fbGains = new double[0];
+
+ return new LinearFilter(ffGains, fbGains);
+ }
+
+ /**
+ * Reset the filter state.
+ */
+ public void reset() {
+ m_inputs.clear();
+ m_outputs.clear();
+ }
+
+ /**
+ * Calculates the next value of the filter.
+ *
+ * @param input Current input value.
+ *
+ * @return The filtered value at this step
+ */
+ public double calculate(double input) {
+ double retVal = 0.0;
+
+ // Rotate the inputs
+ m_inputs.addFirst(input);
+
+ // Calculate the new value
+ for (int i = 0; i < m_inputGains.length; i++) {
+ retVal += m_inputs.get(i) * m_inputGains[i];
+ }
+ for (int i = 0; i < m_outputGains.length; i++) {
+ retVal -= m_outputs.get(i) * m_outputGains[i];
+ }
+
+ // Rotate the outputs
+ m_outputs.addFirst(retVal);
+
+ return retVal;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/NamedSendable.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/NamedSendable.java
deleted file mode 100644
index bf972c9..0000000
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/NamedSendable.java
+++ /dev/null
@@ -1,43 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.wpilibj;
-
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-
-/**
- * The interface for sendable objects that gives the sendable a default name in the Smart
- * Dashboard.
- * @deprecated Use Sendable directly instead
- */
-@Deprecated
-public interface NamedSendable extends Sendable {
- /**
- * The name of the subtable.
- *
- * @return the name of the subtable of SmartDashboard that the Sendable object will use.
- */
- @Override
- String getName();
-
- @Override
- default void setName(String name) {
- }
-
- @Override
- default String getSubsystem() {
- return "";
- }
-
- @Override
- default void setSubsystem(String subsystem) {
- }
-
- @Override
- default void initSendable(SendableBuilder builder) {
- }
-}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/NidecBrushless.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/NidecBrushless.java
index f166b46..4bfee48 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/NidecBrushless.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/NidecBrushless.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,6 +10,7 @@
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Nidec Brushless Motor.
@@ -22,8 +23,6 @@
private volatile double m_speed;
private volatile boolean m_disabled;
- private final SendableImpl m_sendableImpl;
-
/**
* Constructor.
*
@@ -33,81 +32,29 @@
* 0-9 are on-board, 10-25 are on the MXP port
*/
public NidecBrushless(final int pwmChannel, final int dioChannel) {
- m_sendableImpl = new SendableImpl(true);
-
setSafetyEnabled(false);
// the dio controls the output (in PWM mode)
m_dio = new DigitalOutput(dioChannel);
- addChild(m_dio);
+ SendableRegistry.addChild(this, m_dio);
m_dio.setPWMRate(15625);
m_dio.enablePWM(0.5);
// the pwm enables the controller
m_pwm = new PWM(pwmChannel);
- addChild(m_pwm);
+ SendableRegistry.addChild(this, m_pwm);
HAL.report(tResourceType.kResourceType_NidecBrushless, pwmChannel);
- setName("Nidec Brushless", pwmChannel);
+ SendableRegistry.addLW(this, "Nidec Brushless", pwmChannel);
}
@Override
public void close() {
- m_sendableImpl.close();
+ SendableRegistry.remove(this);
m_dio.close();
m_pwm.close();
}
- @Override
- public final synchronized String getName() {
- return m_sendableImpl.getName();
- }
-
- @Override
- public final synchronized void setName(String name) {
- m_sendableImpl.setName(name);
- }
-
- /**
- * Sets the name of the sensor with a channel number.
- *
- * @param moduleType A string that defines the module name in the label for the value
- * @param channel The channel number the device is plugged into
- */
- protected final void setName(String moduleType, int channel) {
- m_sendableImpl.setName(moduleType, channel);
- }
-
- /**
- * Sets the name of the sensor with a module and channel number.
- *
- * @param moduleType A string that defines the module name in the label for the value
- * @param moduleNumber The number of the particular module type
- * @param channel The channel number the device is plugged into (usually PWM)
- */
- protected final void setName(String moduleType, int moduleNumber, int channel) {
- m_sendableImpl.setName(moduleType, moduleNumber, channel);
- }
-
- @Override
- public final synchronized String getSubsystem() {
- return m_sendableImpl.getSubsystem();
- }
-
- @Override
- public final synchronized void setSubsystem(String subsystem) {
- m_sendableImpl.setSubsystem(subsystem);
- }
-
- /**
- * Add a child component.
- *
- * @param child child component
- */
- protected final void addChild(Object child) {
- m_sendableImpl.addChild(child);
- }
-
/**
* Set the PWM value.
*
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Notifier.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Notifier.java
index 45b7d94..e1d6bb6 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Notifier.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Notifier.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,6 +12,8 @@
import edu.wpi.first.hal.NotifierJNI;
+import static java.util.Objects.requireNonNull;
+
public class Notifier implements AutoCloseable {
// The thread waiting on the HAL alarm.
private Thread m_thread;
@@ -85,6 +87,8 @@
* using StartSingle or StartPeriodic.
*/
public Notifier(Runnable run) {
+ requireNonNull(run);
+
m_handler = run;
m_notifier.set(NotifierJNI.initializeNotifier());
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDBase.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDBase.java
index 5b70cd9..40eb42f 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDBase.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDBase.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,10 +12,10 @@
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.util.BoundaryException;
-import edu.wpi.first.wpilibj.filters.LinearDigitalFilter;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
-import static java.util.Objects.requireNonNull;
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
/**
* Class implements a PID Control Loop.
@@ -26,9 +26,12 @@
* <p>This feedback controller runs in discrete time, so time deltas are not used in the integral
* and derivative calculations. Therefore, the sample rate affects the controller's behavior for a
* given set of PID constants.
+ *
+ * @deprecated All APIs which use this have been deprecated.
*/
+@Deprecated(since = "2020", forRemoval = true)
@SuppressWarnings("PMD.TooManyFields")
-public class PIDBase extends SendableBase implements PIDInterface, PIDOutput {
+public class PIDBase implements PIDInterface, PIDOutput, Sendable, AutoCloseable {
public static final double kDefaultPeriod = 0.05;
private static int instances;
@@ -84,8 +87,7 @@
private double m_error;
private double m_result;
- private PIDSource m_origSource;
- private LinearDigitalFilter m_filter;
+ private LinearFilter m_filter;
protected ReentrantLock m_thisMutex = new ReentrantLock();
@@ -156,9 +158,8 @@
@SuppressWarnings("ParameterName")
public PIDBase(double Kp, double Ki, double Kd, double Kf, PIDSource source,
PIDOutput output) {
- super(false);
- requireNonNull(source, "Null PIDSource was given");
- requireNonNull(output, "Null PIDOutput was given");
+ requireNonNullParam(source, "PIDSource", "PIDBase");
+ requireNonNullParam(output, "output", "PIDBase");
m_setpointTimer = new Timer();
m_setpointTimer.start();
@@ -168,19 +169,15 @@
m_D = Kd;
m_F = Kf;
- // Save original source
- m_origSource = source;
-
- // Create LinearDigitalFilter with original source as its source argument
- m_filter = LinearDigitalFilter.movingAverage(m_origSource, 1);
- m_pidInput = m_filter;
+ m_pidInput = source;
+ m_filter = LinearFilter.movingAverage(1);
m_pidOutput = output;
instances++;
HAL.report(tResourceType.kResourceType_PIDController, instances);
m_tolerance = new NullTolerance();
- setName("PIDController", instances);
+ SendableRegistry.add(this, "PIDController", instances);
}
/**
@@ -197,13 +194,18 @@
this(Kp, Ki, Kd, 0.0, source, output);
}
+ @Override
+ public void close() {
+ SendableRegistry.remove(this);
+ }
+
/**
* Read the input, calculate the output accordingly, and write to the output. This should only be
* called by the PIDTask and is created during initialization.
*/
@SuppressWarnings({"LocalVariableName", "PMD.ExcessiveMethodLength", "PMD.NPathComplexity"})
protected void calculate() {
- if (m_origSource == null || m_pidOutput == null) {
+ if (m_pidInput == null || m_pidOutput == null) {
return;
}
@@ -235,7 +237,7 @@
m_thisMutex.lock();
try {
- input = m_pidInput.pidGet();
+ input = m_filter.calculate(m_pidInput.pidGet());
pidSourceType = m_pidInput.getPIDSourceType();
P = m_P;
@@ -638,7 +640,7 @@
public double getError() {
m_thisMutex.lock();
try {
- return getContinuousError(getSetpoint() - m_pidInput.pidGet());
+ return getContinuousError(getSetpoint() - m_filter.calculate(m_pidInput.pidGet()));
} finally {
m_thisMutex.unlock();
}
@@ -731,15 +733,14 @@
* erroneous measurements when the mechanism is on target. However, the mechanism will not
* register as on target for at least the specified bufLength cycles.
*
- * @deprecated Use a LinearDigitalFilter as the input.
+ * @deprecated Use a LinearFilter as the input.
* @param bufLength Number of previous cycles to average.
*/
@Deprecated
public void setToleranceBuffer(int bufLength) {
m_thisMutex.lock();
try {
- m_filter = LinearDigitalFilter.movingAverage(m_origSource, bufLength);
- m_pidInput = m_filter;
+ m_filter = LinearFilter.movingAverage(bufLength);
} finally {
m_thisMutex.unlock();
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDController.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDController.java
index da4118f..881723e 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDController.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDController.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -18,8 +18,11 @@
* <p>This feedback controller runs in discrete time, so time deltas are not used in the integral
* and derivative calculations. Therefore, the sample rate affects the controller's behavior for a
* given set of PID constants.
+ *
+ * @deprecated Use {@link edu.wpi.first.wpilibj.controller.PIDController} instead.
*/
-public class PIDController extends PIDBase implements Controller {
+@Deprecated(since = "2020", forRemoval = true)
+public class PIDController extends PIDBase implements Controller, AutoCloseable {
Notifier m_controlLoop = new Notifier(this::calculate);
/**
@@ -94,7 +97,6 @@
@Override
public void close() {
- super.close();
m_controlLoop.close();
m_thisMutex.lock();
try {
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDInterface.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDInterface.java
index fd91ec8..10e60d3 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDInterface.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDInterface.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,6 +7,7 @@
package edu.wpi.first.wpilibj;
+@Deprecated(since = "2020", forRemoval = true)
@SuppressWarnings("SummaryJavadoc")
public interface PIDInterface {
@SuppressWarnings("ParameterName")
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDOutput.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDOutput.java
index 0ef9403..e9af2ff 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDOutput.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDOutput.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,8 +9,11 @@
/**
* This interface allows PIDController to write it's results to its output.
+ *
+ * @deprecated Use DoubleConsumer and new PIDController class.
*/
@FunctionalInterface
+@Deprecated(since = "2020", forRemoval = true)
public interface PIDOutput {
/**
* Set the output to the value calculated by PIDController.
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDSource.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDSource.java
index 841a232..3c4f1f5 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDSource.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDSource.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,7 +9,10 @@
/**
* This interface allows for PIDController to automatically read from this object.
+ *
+ * @deprecated Use DoubleSupplier and new PIDController class.
*/
+@Deprecated(since = "2020", forRemoval = true)
public interface PIDSource {
/**
* Set which parameter of the device you are using as a process control variable.
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDSourceType.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDSourceType.java
index 31aa79a..7508be5 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDSourceType.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDSourceType.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,6 +10,7 @@
/**
* A description for the type of output value to provide to a PIDController.
*/
+@Deprecated(since = "2020", forRemoval = true)
public enum PIDSourceType {
kDisplacement,
kRate
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java
index d59a413..0647291 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,6 +12,7 @@
import edu.wpi.first.hal.PWMConfigDataResult;
import edu.wpi.first.hal.PWMJNI;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Class implements the PWM generation in the FPGA.
@@ -47,16 +48,12 @@
private final int m_channel;
private int m_handle;
- private final SendableImpl m_sendableImpl;
-
/**
* Allocate a PWM given a channel.
*
* @param channel The PWM channel number. 0-9 are on-board, 10-19 are on the MXP port
*/
public PWM(final int channel) {
- m_sendableImpl = new SendableImpl(true);
-
SensorUtil.checkPWMChannel(channel);
m_channel = channel;
@@ -67,7 +64,7 @@
PWMJNI.setPWMEliminateDeadband(m_handle, false);
HAL.report(tResourceType.kResourceType_PWM, channel);
- setName("PWM", channel);
+ SendableRegistry.addLW(this, "PWM", channel);
setSafetyEnabled(false);
}
@@ -77,8 +74,7 @@
*/
@Override
public void close() {
- m_sendableImpl.close();
-
+ SendableRegistry.remove(this);
if (m_handle == 0) {
return;
}
@@ -88,56 +84,6 @@
}
@Override
- public final synchronized String getName() {
- return m_sendableImpl.getName();
- }
-
- @Override
- public final synchronized void setName(String name) {
- m_sendableImpl.setName(name);
- }
-
- /**
- * Sets the name of the sensor with a channel number.
- *
- * @param moduleType A string that defines the module name in the label for the value
- * @param channel The channel number the device is plugged into
- */
- protected final void setName(String moduleType, int channel) {
- m_sendableImpl.setName(moduleType, channel);
- }
-
- /**
- * Sets the name of the sensor with a module and channel number.
- *
- * @param moduleType A string that defines the module name in the label for the value
- * @param moduleNumber The number of the particular module type
- * @param channel The channel number the device is plugged into (usually PWM)
- */
- protected final void setName(String moduleType, int moduleNumber, int channel) {
- m_sendableImpl.setName(moduleType, moduleNumber, channel);
- }
-
- @Override
- public final synchronized String getSubsystem() {
- return m_sendableImpl.getSubsystem();
- }
-
- @Override
- public final synchronized void setSubsystem(String subsystem) {
- m_sendableImpl.setSubsystem(subsystem);
- }
-
- /**
- * Add a child component.
- *
- * @param child child component
- */
- protected final void addChild(Object child) {
- m_sendableImpl.addChild(child);
- }
-
- @Override
public void stopMotor() {
setDisabled();
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSparkMax.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSparkMax.java
new file mode 100644
index 0000000..29b28f2
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSparkMax.java
@@ -0,0 +1,42 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj;
+
+import edu.wpi.first.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+
+/**
+ * REV Robotics SparkMax Speed Controller.
+ */
+public class PWMSparkMax extends PWMSpeedController {
+ /**
+ * Common initialization code called by all constructors.
+ *
+ * <p>Note that the SPARK uses the following bounds for PWM values. These values should work
+ * reasonably well for most controllers, but if users experience issues such as asymmetric
+ * behavior around the deadband or inability to saturate the controller in either direction,
+ * calibration is recommended. The calibration procedure can be found in the Spark User Manual
+ * available from REV Robotics.
+ *
+ * <p>- 2.003ms = full "forward" - 1.55ms = the "high end" of the deadband range - 1.50ms =
+ * center of the deadband range (off) - 1.46ms = the "low end" of the deadband range - .999ms =
+ * full "reverse"
+ */
+ public PWMSparkMax(final int channel) {
+ super(channel);
+
+ setBounds(2.003, 1.55, 1.50, 1.46, .999);
+ setPeriodMultiplier(PeriodMultiplier.k1X);
+ setSpeed(0.0);
+ setZeroLatch();
+
+ HAL.report(tResourceType.kResourceType_RevSparkMaxPWM, getChannel());
+ SendableRegistry.setName(this, "PWMSparkMax", getChannel());
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMTalonSRX.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMTalonSRX.java
index 2b42ed4..691210e 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMTalonSRX.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMTalonSRX.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,7 @@
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Cross the Road Electronics (CTRE) Talon SRX Speed Controller with PWM control.
@@ -40,6 +41,6 @@
setZeroLatch();
HAL.report(tResourceType.kResourceType_PWMTalonSRX, getChannel());
- setName("PWMTalonSRX", getChannel());
+ SendableRegistry.setName(this, "PWMTalonSRX", getChannel());
}
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMVictorSPX.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMVictorSPX.java
index f1acb43..0607630 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMVictorSPX.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMVictorSPX.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,7 @@
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Cross the Road Electronics (CTRE) Victor SPX Speed Controller with PWM control.
@@ -40,6 +41,6 @@
setZeroLatch();
HAL.report(tResourceType.kResourceType_PWMVictorSPX, getChannel());
- setName("PWMVictorSPX", getChannel());
+ SendableRegistry.setName(this, "PWMVictorSPX", getChannel());
}
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PowerDistributionPanel.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PowerDistributionPanel.java
index dd175eb..8030daa 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PowerDistributionPanel.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/PowerDistributionPanel.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -11,12 +11,13 @@
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.PDPJNI;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Class for getting voltage, current, temperature, power and energy from the Power Distribution
* Panel over CAN.
*/
-public class PowerDistributionPanel extends SendableBase {
+public class PowerDistributionPanel implements Sendable, AutoCloseable {
private final int m_handle;
/**
@@ -29,7 +30,7 @@
m_handle = PDPJNI.initializePDP(module);
HAL.report(tResourceType.kResourceType_PDP, module);
- setName("PowerDistributionPanel", module);
+ SendableRegistry.addLW(this, "PowerDistributionPanel", module);
}
/**
@@ -39,6 +40,11 @@
this(0);
}
+ @Override
+ public void close() {
+ SendableRegistry.remove(this);
+ }
+
/**
* Query the input voltage of the PDP.
*
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Preferences.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Preferences.java
index 45d9e0e..b25d907 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Preferences.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Preferences.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,7 +7,7 @@
package edu.wpi.first.wpilibj;
-import java.util.Vector;
+import java.util.Collection;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
@@ -16,7 +16,7 @@
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
-import static java.util.Objects.requireNonNull;
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
/**
* The preferences class provides a relatively simple way to save important values to the roboRIO to
@@ -72,12 +72,11 @@
}
/**
- * Gets the vector of keys.
- * @return a vector of the keys
+ * Gets the preferences keys.
+ * @return a collection of the keys
*/
- @SuppressWarnings({"PMD.LooseCoupling", "PMD.UseArrayListInsteadOfVector"})
- public Vector<String> getKeys() {
- return new Vector<>(m_table.getKeys());
+ public Collection<String> getKeys() {
+ return m_table.getKeys();
}
/**
@@ -88,7 +87,7 @@
* @throws NullPointerException if value is null
*/
public void putString(String key, String value) {
- requireNonNull(value, "Provided value was null");
+ requireNonNullParam(value, "value", "putString");
NetworkTableEntry entry = m_table.getEntry(key);
entry.setString(value);
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Relay.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Relay.java
index 549a681..bea2491 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Relay.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Relay.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -15,8 +15,9 @@
import edu.wpi.first.hal.RelayJNI;
import edu.wpi.first.hal.util.UncleanStatusException;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
-import static java.util.Objects.requireNonNull;
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
/**
* Class for VEX Robotics Spike style relay outputs. Relays are intended to be connected to Spikes
@@ -93,8 +94,6 @@
private Direction m_direction;
- private final SendableImpl m_sendableImpl;
-
/**
* Common relay initialization method. This code is common to all Relay constructors and
* initializes the relay and reserves all resources that need to be locked. Initially the relay is
@@ -115,7 +114,7 @@
setSafetyEnabled(false);
- setName("Relay", m_channel);
+ SendableRegistry.addLW(this, "Relay", m_channel);
}
/**
@@ -125,10 +124,8 @@
* @param direction The direction that the Relay object will control.
*/
public Relay(final int channel, Direction direction) {
- m_sendableImpl = new SendableImpl(true);
-
m_channel = channel;
- m_direction = requireNonNull(direction, "Null Direction was given");
+ m_direction = requireNonNullParam(direction, "direction", "Relay");
initRelay();
set(Value.kOff);
}
@@ -144,7 +141,7 @@
@Override
public void close() {
- m_sendableImpl.close();
+ SendableRegistry.remove(this);
freeRelay();
}
@@ -167,56 +164,6 @@
m_reverseHandle = 0;
}
- @Override
- public final synchronized String getName() {
- return m_sendableImpl.getName();
- }
-
- @Override
- public final synchronized void setName(String name) {
- m_sendableImpl.setName(name);
- }
-
- /**
- * Sets the name of the sensor with a channel number.
- *
- * @param moduleType A string that defines the module name in the label for the value
- * @param channel The channel number the device is plugged into
- */
- protected final void setName(String moduleType, int channel) {
- m_sendableImpl.setName(moduleType, channel);
- }
-
- /**
- * Sets the name of the sensor with a module and channel number.
- *
- * @param moduleType A string that defines the module name in the label for the value
- * @param moduleNumber The number of the particular module type
- * @param channel The channel number the device is plugged into (usually PWM)
- */
- protected final void setName(String moduleType, int moduleNumber, int channel) {
- m_sendableImpl.setName(moduleType, moduleNumber, channel);
- }
-
- @Override
- public final synchronized String getSubsystem() {
- return m_sendableImpl.getSubsystem();
- }
-
- @Override
- public final synchronized void setSubsystem(String subsystem) {
- m_sendableImpl.setSubsystem(subsystem);
- }
-
- /**
- * Add a child component.
- *
- * @param child child component
- */
- protected final void addChild(Object child) {
- m_sendableImpl.addChild(child);
- }
-
/**
* Set the relay state.
*
@@ -347,7 +294,7 @@
* @param direction The direction for the relay to operate in
*/
public void setDirection(Direction direction) {
- requireNonNull(direction, "Null Direction was given");
+ requireNonNullParam(direction, "direction", "setDirection");
if (m_direction == direction) {
return;
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
index 44c03a3..fa6263a 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -38,7 +38,7 @@
* The ID of the main Java thread.
*/
// This is usually 1, but it is best to make sure
- public static final long MAIN_THREAD_ID = Thread.currentThread().getId();
+ private static long m_threadId = -1;
private static void setupCameraServerShared() {
CameraServerShared shared = new CameraServerShared() {
@@ -65,7 +65,12 @@
@Override
public Long getRobotMainThreadId() {
- return MAIN_THREAD_ID;
+ return RobotBase.getMainThreadId();
+ }
+
+ @Override
+ public boolean isRoboRIO() {
+ return RobotBase.isReal();
}
};
@@ -85,6 +90,7 @@
*/
protected RobotBase() {
NetworkTableInstance inst = NetworkTableInstance.getDefault();
+ m_threadId = Thread.currentThread().getId();
setupCameraServerShared();
inst.setNetworkIdentity("Robot");
inst.startServer("/home/lvuser/networktables.ini");
@@ -95,8 +101,8 @@
Shuffleboard.disableActuatorWidgets();
}
- @Deprecated
- public void free() {
+ public static long getMainThreadId() {
+ return m_threadId;
}
@Override
@@ -199,21 +205,11 @@
}
/**
- * Starting point for the applications.
+ * Run the robot main loop.
*/
@SuppressWarnings({"PMD.AvoidInstantiatingObjectsInLoops", "PMD.AvoidCatchingThrowable",
"PMD.CyclomaticComplexity", "PMD.NPathComplexity"})
- public static <T extends RobotBase> void startRobot(Supplier<T> robotSupplier) {
- if (!HAL.initialize(500, 0)) {
- throw new IllegalStateException("Failed to initialize. Terminating");
- }
-
- // Call a CameraServer JNI function to force OpenCV native library loading
- // Needed because all the OpenCV JNI functions don't have built in loading
- CameraServerJNI.enumerateSinks();
-
- HAL.report(tResourceType.kResourceType_Language, tInstances.kLanguage_Java);
-
+ private static <T extends RobotBase> void runRobot(Supplier<T> robotSupplier) {
System.out.println("********** Robot program starting **********");
T robot;
@@ -233,7 +229,6 @@
+ throwable.toString(), elements);
DriverStation.reportWarning("Robots should not quit, but yours did!", false);
DriverStation.reportError("Could not instantiate robot " + robotName + "!", false);
- System.exit(1);
return;
}
@@ -280,6 +275,34 @@
DriverStation.reportError("Unexpected return from startCompetition() method.", false);
}
}
+ }
+
+ /**
+ * Starting point for the applications.
+ */
+ public static <T extends RobotBase> void startRobot(Supplier<T> robotSupplier) {
+ if (!HAL.initialize(500, 0)) {
+ throw new IllegalStateException("Failed to initialize. Terminating");
+ }
+
+ // Call a CameraServer JNI function to force OpenCV native library loading
+ // Needed because all the OpenCV JNI functions don't have built in loading
+ CameraServerJNI.enumerateSinks();
+
+ HAL.report(tResourceType.kResourceType_Language, tInstances.kLanguage_Java);
+
+ if (HAL.hasMain()) {
+ Thread thread = new Thread(() -> {
+ runRobot(robotSupplier);
+ HAL.exitMain();
+ }, "robot main");
+ thread.setDaemon(true);
+ thread.start();
+ HAL.runMain();
+ } else {
+ runRobot(robotSupplier);
+ }
+
System.exit(1);
}
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotDrive.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotDrive.java
index 6f020fd..7a17273 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotDrive.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotDrive.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -11,7 +11,7 @@
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
-import static java.util.Objects.requireNonNull;
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
/**
* Utility class for handling Robot drive based on a definition of the motor configuration. The
@@ -111,8 +111,8 @@
* @param rightMotor the right SpeedController object used to drive the robot.
*/
public RobotDrive(SpeedController leftMotor, SpeedController rightMotor) {
- requireNonNull(leftMotor, "Provided left motor was null");
- requireNonNull(rightMotor, "Provided right motor was null");
+ requireNonNullParam(leftMotor, "leftMotor", "RobotDrive");
+ requireNonNullParam(rightMotor, "rightMotor", "RobotDrive");
m_frontLeftMotor = null;
m_rearLeftMotor = leftMotor;
@@ -136,10 +136,10 @@
*/
public RobotDrive(SpeedController frontLeftMotor, SpeedController rearLeftMotor,
SpeedController frontRightMotor, SpeedController rearRightMotor) {
- m_frontLeftMotor = requireNonNull(frontLeftMotor, "frontLeftMotor cannot be null");
- m_rearLeftMotor = requireNonNull(rearLeftMotor, "rearLeftMotor cannot be null");
- m_frontRightMotor = requireNonNull(frontRightMotor, "frontRightMotor cannot be null");
- m_rearRightMotor = requireNonNull(rearRightMotor, "rearRightMotor cannot be null");
+ m_frontLeftMotor = requireNonNullParam(frontLeftMotor, "frontLeftMotor", "RobotDrive");
+ m_rearLeftMotor = requireNonNullParam(rearLeftMotor, "rearLeftMotor", "RobotDrive");
+ m_frontRightMotor = requireNonNullParam(frontRightMotor, "frontRightMotor", "RobotDrive");
+ m_rearRightMotor = requireNonNullParam(rearRightMotor, "rearRightMotor", "RobotDrive");
m_sensitivity = kDefaultSensitivity;
m_maxOutput = kDefaultMaxOutput;
m_allocatedSpeedControllers = false;
@@ -170,8 +170,8 @@
final double rightOutput;
if (!kArcadeRatioCurve_Reported) {
- HAL.report(tResourceType.kResourceType_RobotDrive, getNumMotors(),
- tInstances.kRobotDrive_ArcadeRatioCurve);
+ HAL.report(tResourceType.kResourceType_RobotDrive, tInstances.kRobotDrive_ArcadeRatioCurve,
+ getNumMotors());
kArcadeRatioCurve_Reported = true;
}
if (curve < 0) {
@@ -206,8 +206,8 @@
* @param rightStick The joystick to control the right side of the robot.
*/
public void tankDrive(GenericHID leftStick, GenericHID rightStick) {
- requireNonNull(leftStick, "Provided left stick was null");
- requireNonNull(rightStick, "Provided right stick was null");
+ requireNonNullParam(leftStick, "leftStick", "tankDrive");
+ requireNonNullParam(rightStick, "rightStick", "tankDrive");
tankDrive(leftStick.getY(), rightStick.getY(), true);
}
@@ -221,8 +221,8 @@
* @param squaredInputs Setting this parameter to true decreases the sensitivity at lower speeds
*/
public void tankDrive(GenericHID leftStick, GenericHID rightStick, boolean squaredInputs) {
- requireNonNull(leftStick, "Provided left stick was null");
- requireNonNull(rightStick, "Provided right stick was null");
+ requireNonNullParam(leftStick, "leftStick", "tankDrive");
+ requireNonNullParam(rightStick, "rightStick", "tankDrive");
tankDrive(leftStick.getY(), rightStick.getY(), squaredInputs);
}
@@ -239,8 +239,8 @@
*/
public void tankDrive(GenericHID leftStick, final int leftAxis, GenericHID rightStick,
final int rightAxis) {
- requireNonNull(leftStick, "Provided left stick was null");
- requireNonNull(rightStick, "Provided right stick was null");
+ requireNonNullParam(leftStick, "leftStick", "tankDrive");
+ requireNonNullParam(rightStick, "rightStick", "tankDrive");
tankDrive(leftStick.getRawAxis(leftAxis), rightStick.getRawAxis(rightAxis), true);
}
@@ -257,8 +257,8 @@
*/
public void tankDrive(GenericHID leftStick, final int leftAxis, GenericHID rightStick,
final int rightAxis, boolean squaredInputs) {
- requireNonNull(leftStick, "Provided left stick was null");
- requireNonNull(rightStick, "Provided right stick was null");
+ requireNonNullParam(leftStick, "leftStick", "tankDrive");
+ requireNonNullParam(rightStick, "rightStick", "tankDrive");
tankDrive(leftStick.getRawAxis(leftAxis), rightStick.getRawAxis(rightAxis), squaredInputs);
}
@@ -273,8 +273,8 @@
*/
public void tankDrive(double leftValue, double rightValue, boolean squaredInputs) {
if (!kTank_Reported) {
- HAL.report(tResourceType.kResourceType_RobotDrive, getNumMotors(),
- tInstances.kRobotDrive_Tank);
+ HAL.report(tResourceType.kResourceType_RobotDrive, tInstances.kRobotDrive_Tank,
+ getNumMotors());
kTank_Reported = true;
}
@@ -378,8 +378,8 @@
public void arcadeDrive(double moveValue, double rotateValue, boolean squaredInputs) {
// local variables to hold the computed PWM values for the motors
if (!kArcadeStandard_Reported) {
- HAL.report(tResourceType.kResourceType_RobotDrive, getNumMotors(),
- tInstances.kRobotDrive_ArcadeStandard);
+ HAL.report(tResourceType.kResourceType_RobotDrive, tInstances.kRobotDrive_ArcadeStandard,
+ getNumMotors());
kArcadeStandard_Reported = true;
}
@@ -451,8 +451,8 @@
@SuppressWarnings("ParameterName")
public void mecanumDrive_Cartesian(double x, double y, double rotation, double gyroAngle) {
if (!kMecanumCartesian_Reported) {
- HAL.report(tResourceType.kResourceType_RobotDrive, getNumMotors(),
- tInstances.kRobotDrive_MecanumCartesian);
+ HAL.report(tResourceType.kResourceType_RobotDrive, tInstances.kRobotDrive_MecanumCartesian,
+ getNumMotors());
kMecanumCartesian_Reported = true;
}
@SuppressWarnings("LocalVariableName")
@@ -496,8 +496,8 @@
*/
public void mecanumDrive_Polar(double magnitude, double direction, double rotation) {
if (!kMecanumPolar_Reported) {
- HAL.report(tResourceType.kResourceType_RobotDrive, getNumMotors(),
- tInstances.kRobotDrive_MecanumPolar);
+ HAL.report(tResourceType.kResourceType_RobotDrive, tInstances.kRobotDrive_MecanumPolar,
+ getNumMotors());
kMecanumPolar_Reported = true;
}
// Normalized for full power along the Cartesian axes.
@@ -547,8 +547,6 @@
* @param rightOutput The speed to send to the right side of the robot.
*/
public void setLeftRightMotorOutputs(double leftOutput, double rightOutput) {
- requireNonNull(m_rearLeftMotor, "Provided left motor was null");
- requireNonNull(m_rearRightMotor, "Provided right motor was null");
if (m_frontLeftMotor != null) {
m_frontLeftMotor.set(limit(leftOutput) * m_maxOutput);
@@ -655,11 +653,6 @@
m_maxOutput = maxOutput;
}
- @Deprecated
- public void free() {
- close();
- }
-
/**
* Free the speed controllers if they were allocated locally.
*/
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotState.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotState.java
index 0f384ee..58004d5 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotState.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotState.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -17,6 +17,10 @@
return DriverStation.getInstance().isEnabled();
}
+ public static boolean isEStopped() {
+ return DriverStation.getInstance().isEStopped();
+ }
+
public static boolean isOperatorControl() {
return DriverStation.getInstance().isOperatorControl();
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/SD540.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/SD540.java
index 8f9ce0d..cf81df6 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/SD540.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/SD540.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,7 @@
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Mindsensors SD540 Speed Controller.
@@ -34,7 +35,7 @@
setZeroLatch();
HAL.report(tResourceType.kResourceType_MindsensorsSD540, getChannel());
- setName("SD540", getChannel());
+ SendableRegistry.setName(this, "SD540", getChannel());
}
/**
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/SPI.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/SPI.java
index 70b9d82..a76ebb1 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/SPI.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/SPI.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -32,8 +32,6 @@
}
}
- private static int devices;
-
private int m_port;
private int m_msbFirst;
private int m_clockIdleHigh;
@@ -46,17 +44,10 @@
*/
public SPI(Port port) {
m_port = (byte) port.value;
- devices++;
SPIJNI.spiInitialize(m_port);
- HAL.report(tResourceType.kResourceType_SPI, devices);
- }
-
-
- @Deprecated
- public void free() {
- close();
+ HAL.report(tResourceType.kResourceType_SPI, port.value);
}
@Override
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/SampleRobot.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/SampleRobot.java
deleted file mode 100644
index aac7cad..0000000
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/SampleRobot.java
+++ /dev/null
@@ -1,166 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.wpilibj;
-
-import edu.wpi.first.hal.FRCNetComm.tInstances;
-import edu.wpi.first.hal.FRCNetComm.tResourceType;
-import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.livewindow.LiveWindow;
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
-
-/**
- * A simple robot base class that knows the standard FRC competition states (disabled, autonomous,
- * or operator controlled).
- *
- * <p>You can build a simple robot program off of this by overriding the robotinit(), disabled(),
- * autonomous() and operatorControl() methods. The startCompetition() method will calls these
- * methods (sometimes repeatedly). depending on the state of the competition.
- *
- * <p>Alternatively you can override the robotMain() method and manage all aspects of the robot
- * yourself.
- *
- * @deprecated WARNING: While it may look like a good choice to use for your code if you're
- * inexperienced, don't. Unless you know what you are doing, complex code will
- * be much more difficult under this system. Use TimedRobot or Command-Based
- * instead.
- */
-@Deprecated
-public class SampleRobot extends RobotBase {
- private boolean m_robotMainOverridden = true;
-
- /**
- * Create a new SampleRobot.
- */
- public SampleRobot() {
- HAL.report(tResourceType.kResourceType_Framework, tInstances.kFramework_Simple);
- }
-
- /**
- * Robot-wide initialization code should go here.
- *
- * <p>Users should override this method for default Robot-wide initialization which will be called
- * when the robot is first powered on. It will be called exactly one time.
- *
- * <p>Warning: the Driver Station "Robot Code" light and FMS "Robot Ready" indicators will be off
- * until RobotInit() exits. Code in RobotInit() that waits for enable will cause the robot to
- * never indicate that the code is ready, causing the robot to be bypassed in a match.
- */
- protected void robotInit() {
- System.out.println("Default robotInit() method running, consider providing your own");
- }
-
- /**
- * Disabled should go here. Users should override this method to run code that should run while
- * the field is disabled.
- *
- * <p>Called once each time the robot enters the disabled state.
- */
- protected void disabled() {
- System.out.println("Default disabled() method running, consider providing your own");
- }
-
- /**
- * Autonomous should go here. Users should add autonomous code to this method that should run
- * while the field is in the autonomous period.
- *
- * <p>Called once each time the robot enters the autonomous state.
- */
- public void autonomous() {
- System.out.println("Default autonomous() method running, consider providing your own");
- }
-
- /**
- * Operator control (tele-operated) code should go here. Users should add Operator Control code to
- * this method that should run while the field is in the Operator Control (tele-operated) period.
- *
- * <p>Called once each time the robot enters the operator-controlled state.
- */
- public void operatorControl() {
- System.out.println("Default operatorControl() method running, consider providing your own");
- }
-
- /**
- * Test code should go here. Users should add test code to this method that should run while the
- * robot is in test mode.
- */
- @SuppressWarnings("PMD.JUnit4TestShouldUseTestAnnotation")
- public void test() {
- System.out.println("Default test() method running, consider providing your own");
- }
-
- /**
- * Robot main program for free-form programs.
- *
- * <p>This should be overridden by user subclasses if the intent is to not use the autonomous()
- * and operatorControl() methods. In that case, the program is responsible for sensing when to run
- * the autonomous and operator control functions in their program.
- *
- * <p>This method will be called immediately after the constructor is called. If it has not been
- * overridden by a user subclass (i.e. the default version runs), then the robotInit(),
- * disabled(), autonomous() and operatorControl() methods will be called.
- */
- public void robotMain() {
- m_robotMainOverridden = false;
- }
-
- /**
- * Start a competition. This code tracks the order of the field starting to ensure that everything
- * happens in the right order. Repeatedly run the correct method, either Autonomous or
- * OperatorControl when the robot is enabled. After running the correct method, wait for some
- * state to change, either the other mode starts or the robot is disabled. Then go back and wait
- * for the robot to be enabled again.
- */
- @SuppressWarnings("PMD.CyclomaticComplexity")
- @Override
- public void startCompetition() {
- robotInit();
-
- // Tell the DS that the robot is ready to be enabled
- HAL.observeUserProgramStarting();
-
- robotMain();
-
- if (!m_robotMainOverridden) {
- while (true) {
- if (isDisabled()) {
- m_ds.InDisabled(true);
- disabled();
- m_ds.InDisabled(false);
- while (isDisabled()) {
- Timer.delay(0.01);
- }
- } else if (isAutonomous()) {
- m_ds.InAutonomous(true);
- autonomous();
- m_ds.InAutonomous(false);
- while (isAutonomous() && !isDisabled()) {
- Timer.delay(0.01);
- }
- } else if (isTest()) {
- LiveWindow.setEnabled(true);
- Shuffleboard.enableActuatorWidgets();
- m_ds.InTest(true);
- test();
- m_ds.InTest(false);
- while (isTest() && isEnabled()) {
- Timer.delay(0.01);
- }
- LiveWindow.setEnabled(false);
- Shuffleboard.disableActuatorWidgets();
- } else {
- m_ds.InOperatorControl(true);
- operatorControl();
- m_ds.InOperatorControl(false);
- while (isOperatorControl() && !isDisabled()) {
- Timer.delay(0.01);
- }
- }
- } /* while loop */
- }
- }
-}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Sendable.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Sendable.java
index 76eb03c..138f7f4 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Sendable.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Sendable.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,6 +8,7 @@
package edu.wpi.first.wpilibj;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
@@ -18,40 +19,93 @@
* Gets the name of this {@link Sendable} object.
*
* @return Name
+ * @deprecated Use SendableRegistry.getName()
*/
- String getName();
+ @Deprecated(since = "2020", forRemoval = true)
+ default String getName() {
+ return SendableRegistry.getName(this);
+ }
/**
* Sets the name of this {@link Sendable} object.
*
* @param name name
+ * @deprecated Use SendableRegistry.setName()
*/
- void setName(String name);
+ @Deprecated(since = "2020", forRemoval = true)
+ default void setName(String name) {
+ SendableRegistry.setName(this, name);
+ }
/**
* Sets both the subsystem name and device name of this {@link Sendable} object.
*
* @param subsystem subsystem name
* @param name device name
+ * @deprecated Use SendableRegistry.setName()
*/
+ @Deprecated(since = "2020", forRemoval = true)
default void setName(String subsystem, String name) {
- setSubsystem(subsystem);
- setName(name);
+ SendableRegistry.setName(this, subsystem, name);
+ }
+
+ /**
+ * Sets the name of the sensor with a channel number.
+ *
+ * @param moduleType A string that defines the module name in the label for the value
+ * @param channel The channel number the device is plugged into
+ * @deprecated Use SendableRegistry.setName()
+ */
+ @Deprecated(since = "2020", forRemoval = true)
+ default void setName(String moduleType, int channel) {
+ SendableRegistry.setName(this, moduleType, channel);
+ }
+
+ /**
+ * Sets the name of the sensor with a module and channel number.
+ *
+ * @param moduleType A string that defines the module name in the label for the value
+ * @param moduleNumber The number of the particular module type
+ * @param channel The channel number the device is plugged into (usually PWM)
+ * @deprecated Use SendableRegistry.setName()
+ */
+ @Deprecated(since = "2020", forRemoval = true)
+ default void setName(String moduleType, int moduleNumber, int channel) {
+ SendableRegistry.setName(this, moduleType, moduleNumber, channel);
}
/**
* Gets the subsystem name of this {@link Sendable} object.
*
* @return Subsystem name
+ * @deprecated Use SendableRegistry.getSubsystem()
*/
- String getSubsystem();
+ @Deprecated(since = "2020", forRemoval = true)
+ default String getSubsystem() {
+ return SendableRegistry.getSubsystem(this);
+ }
/**
* Sets the subsystem name of this {@link Sendable} object.
*
* @param subsystem subsystem name
+ * @deprecated Use SendableRegistry.setSubsystem()
*/
- void setSubsystem(String subsystem);
+ @Deprecated(since = "2020", forRemoval = true)
+ default void setSubsystem(String subsystem) {
+ SendableRegistry.setSubsystem(this, subsystem);
+ }
+
+ /**
+ * Add a child component.
+ *
+ * @param child child component
+ * @deprecated Use SendableRegistry.addChild()
+ */
+ @Deprecated(since = "2020", forRemoval = true)
+ default void addChild(Object child) {
+ SendableRegistry.addChild(this, child);
+ }
/**
* Initializes this {@link Sendable} object.
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/SendableBase.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/SendableBase.java
index b663ed5..4e2116c 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/SendableBase.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/SendableBase.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,16 +7,15 @@
package edu.wpi.first.wpilibj;
-import edu.wpi.first.wpilibj.livewindow.LiveWindow;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Base class for all sensors. Stores most recent status information as well as containing utility
* functions for checking channels and error processing.
+ * @deprecated Use Sendable and SendableRegistry
*/
+@Deprecated(since = "2020", forRemoval = true)
public abstract class SendableBase implements Sendable, AutoCloseable {
- private String m_name = "";
- private String m_subsystem = "Ungrouped";
-
/**
* Creates an instance of the sensor base.
*/
@@ -31,67 +30,14 @@
*/
public SendableBase(boolean addLiveWindow) {
if (addLiveWindow) {
- LiveWindow.add(this);
+ SendableRegistry.addLW(this, "");
+ } else {
+ SendableRegistry.add(this, "");
}
}
- @Deprecated
- public void free() {
- close();
- }
-
@Override
public void close() {
- LiveWindow.remove(this);
- }
-
- @Override
- public final synchronized String getName() {
- return m_name;
- }
-
- @Override
- public final synchronized void setName(String name) {
- m_name = name;
- }
-
- /**
- * Sets the name of the sensor with a channel number.
- *
- * @param moduleType A string that defines the module name in the label for the value
- * @param channel The channel number the device is plugged into
- */
- protected final void setName(String moduleType, int channel) {
- setName(moduleType + "[" + channel + "]");
- }
-
- /**
- * Sets the name of the sensor with a module and channel number.
- *
- * @param moduleType A string that defines the module name in the label for the value
- * @param moduleNumber The number of the particular module type
- * @param channel The channel number the device is plugged into (usually PWM)
- */
- protected final void setName(String moduleType, int moduleNumber, int channel) {
- setName(moduleType + "[" + moduleNumber + "," + channel + "]");
- }
-
- @Override
- public final synchronized String getSubsystem() {
- return m_subsystem;
- }
-
- @Override
- public final synchronized void setSubsystem(String subsystem) {
- m_subsystem = subsystem;
- }
-
- /**
- * Add a child component.
- *
- * @param child child component
- */
- protected final void addChild(Object child) {
- LiveWindow.addChild(this, child);
+ SendableRegistry.remove(this);
}
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/SendableImpl.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/SendableImpl.java
deleted file mode 100644
index 0fa2e74..0000000
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/SendableImpl.java
+++ /dev/null
@@ -1,101 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.wpilibj;
-
-import edu.wpi.first.wpilibj.livewindow.LiveWindow;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-
-/**
- * The base interface for objects that can be sent over the network through network tables.
- */
-public class SendableImpl implements Sendable, AutoCloseable {
- private String m_name = "";
- private String m_subsystem = "Ungrouped";
-
- /**
- * Creates an instance of the sensor base.
- */
- public SendableImpl() {
- this(true);
- }
-
- /**
- * Creates an instance of the sensor base.
- *
- * @param addLiveWindow if true, add this Sendable to LiveWindow
- */
- public SendableImpl(boolean addLiveWindow) {
- if (addLiveWindow) {
- LiveWindow.add(this);
- }
- }
-
- @Deprecated
- public void free() {
- close();
- }
-
- @Override
- public void close() {
- LiveWindow.remove(this);
- }
-
- @Override
- public synchronized String getName() {
- return m_name;
- }
-
- @Override
- public synchronized void setName(String name) {
- m_name = name;
- }
-
- /**
- * Sets the name of the sensor with a channel number.
- *
- * @param moduleType A string that defines the module name in the label for the value
- * @param channel The channel number the device is plugged into
- */
- public void setName(String moduleType, int channel) {
- setName(moduleType + "[" + channel + "]");
- }
-
- /**
- * Sets the name of the sensor with a module and channel number.
- *
- * @param moduleType A string that defines the module name in the label for the value
- * @param moduleNumber The number of the particular module type
- * @param channel The channel number the device is plugged into (usually PWM)
- */
- public void setName(String moduleType, int moduleNumber, int channel) {
- setName(moduleType + "[" + moduleNumber + "," + channel + "]");
- }
-
- @Override
- public synchronized String getSubsystem() {
- return m_subsystem;
- }
-
- @Override
- public synchronized void setSubsystem(String subsystem) {
- m_subsystem = subsystem;
- }
-
- @Override
- public void initSendable(SendableBuilder builder) {
- }
-
- /**
- * Add a child component.
- *
- * @param child child component
- */
- public void addChild(Object child) {
- LiveWindow.addChild(this, child);
- }
-}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/SerialPort.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/SerialPort.java
index 019a490..9cf0dcb 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/SerialPort.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/SerialPort.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,7 +7,6 @@
package edu.wpi.first.wpilibj;
-import java.io.UnsupportedEncodingException;
import java.nio.charset.StandardCharsets;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
@@ -15,19 +14,11 @@
import edu.wpi.first.hal.SerialPortJNI;
/**
- * Driver for the RS-232 serial port on the roboRIO.
- *
- * <p>The current implementation uses the VISA formatted I/O mode. This means that all traffic goes
- * through the formatted buffers. This allows the intermingled use of print(), readString(), and the
- * raw buffer accessors read() and write().
- *
- * <p>More information can be found in the NI-VISA User Manual here: http://www.ni
- * .com/pdf/manuals/370423a.pdf and the NI-VISA Programmer's Reference Manual here:
- * http://www.ni.com/pdf/manuals/370132c.pdf
+ * Driver for the serial ports (USB, MXP, Onboard) on the roboRIO.
*/
@SuppressWarnings("PMD.TooManyMethods")
public class SerialPort implements AutoCloseable {
- private byte m_port;
+ private int m_portHandle;
public enum Port {
kOnboard(0), kMXP(1), kUSB(2), kUSB1(2), kUSB2(3);
@@ -83,7 +74,7 @@
}
/**
- * Represents which type of buffer mode to use when writing to a serial m_port.
+ * Represents which type of buffer mode to use when writing to a serial port.
*/
public enum WriteBufferMode {
kFlushOnAccess(1), kFlushWhenFull(2);
@@ -99,6 +90,9 @@
/**
* Create an instance of a Serial Port class.
*
+ * <p>Prefer to use the constructor that doesn't take a port name, but in some
+ * cases the automatic detection might not work correctly.
+ *
* @param baudRate The baud rate to configure the serial port.
* @param port The Serial port to use
* @param portName The direct portName to use
@@ -107,16 +101,13 @@
* @param stopBits The number of stop bits to use as defined by the enum StopBits.
* @deprecated Will be removed for 2019
*/
- @Deprecated
public SerialPort(final int baudRate, String portName, Port port, final int dataBits,
Parity parity, StopBits stopBits) {
- m_port = (byte) port.value;
-
- SerialPortJNI.serialInitializePortDirect(m_port, portName);
- SerialPortJNI.serialSetBaudRate(m_port, baudRate);
- SerialPortJNI.serialSetDataBits(m_port, (byte) dataBits);
- SerialPortJNI.serialSetParity(m_port, (byte) parity.value);
- SerialPortJNI.serialSetStopBits(m_port, (byte) stopBits.value);
+ m_portHandle = SerialPortJNI.serialInitializePortDirect((byte) port.value, portName);
+ SerialPortJNI.serialSetBaudRate(m_portHandle, baudRate);
+ SerialPortJNI.serialSetDataBits(m_portHandle, (byte) dataBits);
+ SerialPortJNI.serialSetParity(m_portHandle, (byte) parity.value);
+ SerialPortJNI.serialSetStopBits(m_portHandle, (byte) stopBits.value);
// Set the default read buffer size to 1 to return bytes immediately
setReadBufferSize(1);
@@ -143,13 +134,11 @@
*/
public SerialPort(final int baudRate, Port port, final int dataBits, Parity parity,
StopBits stopBits) {
- m_port = (byte) port.value;
-
- SerialPortJNI.serialInitializePort(m_port);
- SerialPortJNI.serialSetBaudRate(m_port, baudRate);
- SerialPortJNI.serialSetDataBits(m_port, (byte) dataBits);
- SerialPortJNI.serialSetParity(m_port, (byte) parity.value);
- SerialPortJNI.serialSetStopBits(m_port, (byte) stopBits.value);
+ m_portHandle = SerialPortJNI.serialInitializePort((byte) port.value);
+ SerialPortJNI.serialSetBaudRate(m_portHandle, baudRate);
+ SerialPortJNI.serialSetDataBits(m_portHandle, (byte) dataBits);
+ SerialPortJNI.serialSetParity(m_portHandle, (byte) parity.value);
+ SerialPortJNI.serialSetStopBits(m_portHandle, (byte) stopBits.value);
// Set the default read buffer size to 1 to return bytes immediately
setReadBufferSize(1);
@@ -198,7 +187,7 @@
@Override
public void close() {
- SerialPortJNI.serialClose(m_port);
+ SerialPortJNI.serialClose(m_portHandle);
}
/**
@@ -209,7 +198,7 @@
* @param flowControl the FlowControl m_value to use
*/
public void setFlowControl(FlowControl flowControl) {
- SerialPortJNI.serialSetFlowControl(m_port, (byte) flowControl.value);
+ SerialPortJNI.serialSetFlowControl(m_portHandle, (byte) flowControl.value);
}
/**
@@ -222,7 +211,7 @@
* @param terminator The character to use for termination.
*/
public void enableTermination(char terminator) {
- SerialPortJNI.serialEnableTermination(m_port, terminator);
+ SerialPortJNI.serialEnableTermination(m_portHandle, terminator);
}
/**
@@ -242,7 +231,7 @@
* Disable termination behavior.
*/
public void disableTermination() {
- SerialPortJNI.serialDisableTermination(m_port);
+ SerialPortJNI.serialDisableTermination(m_portHandle);
}
/**
@@ -251,7 +240,7 @@
* @return The number of bytes available to read.
*/
public int getBytesReceived() {
- return SerialPortJNI.serialGetBytesReceived(m_port);
+ return SerialPortJNI.serialGetBytesReceived(m_portHandle);
}
/**
@@ -271,12 +260,7 @@
*/
public String readString(int count) {
byte[] out = read(count);
- try {
- return new String(out, 0, out.length, "US-ASCII");
- } catch (UnsupportedEncodingException ex) {
- ex.printStackTrace();
- return "";
- }
+ return new String(out, 0, out.length, StandardCharsets.US_ASCII);
}
/**
@@ -287,7 +271,7 @@
*/
public byte[] read(final int count) {
byte[] dataReceivedBuffer = new byte[count];
- int gotten = SerialPortJNI.serialRead(m_port, dataReceivedBuffer, count);
+ int gotten = SerialPortJNI.serialRead(m_portHandle, dataReceivedBuffer, count);
if (gotten == count) {
return dataReceivedBuffer;
}
@@ -307,7 +291,7 @@
if (buffer.length < count) {
throw new IllegalArgumentException("buffer is too small, must be at least " + count);
}
- return SerialPortJNI.serialWrite(m_port, buffer, count);
+ return SerialPortJNI.serialWrite(m_portHandle, buffer, count);
}
/**
@@ -329,7 +313,7 @@
* @param timeout The number of seconds to to wait for I/O.
*/
public void setTimeout(double timeout) {
- SerialPortJNI.serialSetTimeout(m_port, timeout);
+ SerialPortJNI.serialSetTimeout(m_portHandle, timeout);
}
/**
@@ -344,7 +328,7 @@
* @param size The read buffer size.
*/
public void setReadBufferSize(int size) {
- SerialPortJNI.serialSetReadBufferSize(m_port, size);
+ SerialPortJNI.serialSetReadBufferSize(m_portHandle, size);
}
/**
@@ -355,7 +339,7 @@
* @param size The write buffer size.
*/
public void setWriteBufferSize(int size) {
- SerialPortJNI.serialSetWriteBufferSize(m_port, size);
+ SerialPortJNI.serialSetWriteBufferSize(m_portHandle, size);
}
/**
@@ -370,7 +354,7 @@
* @param mode The write buffer mode.
*/
public void setWriteBufferMode(WriteBufferMode mode) {
- SerialPortJNI.serialSetWriteMode(m_port, (byte) mode.value);
+ SerialPortJNI.serialSetWriteMode(m_portHandle, (byte) mode.value);
}
/**
@@ -380,7 +364,7 @@
* buffer is full.
*/
public void flush() {
- SerialPortJNI.serialFlush(m_port);
+ SerialPortJNI.serialFlush(m_portHandle);
}
/**
@@ -389,6 +373,6 @@
* <p>Empty the transmit and receive buffers in the device and formatted I/O.
*/
public void reset() {
- SerialPortJNI.serialClear(m_port);
+ SerialPortJNI.serialClear(m_portHandle);
}
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Servo.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Servo.java
index 1abe6bb..dee7051 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Servo.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Servo.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,6 +10,7 @@
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Standard hobby style servo.
@@ -39,7 +40,7 @@
setPeriodMultiplier(PeriodMultiplier.k4X);
HAL.report(tResourceType.kResourceType_Servo, getChannel());
- setName("Servo", getChannel());
+ SendableRegistry.setName(this, "Servo", getChannel());
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Solenoid.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Solenoid.java
index 014ec10..dc9b920 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Solenoid.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Solenoid.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -11,6 +11,7 @@
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.SolenoidJNI;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Solenoid class for running high voltage Digital Output on the PCM.
@@ -18,7 +19,7 @@
* <p>The Solenoid class is typically used for pneumatic solenoids, but could be used for any
* device within the current spec of the PCM.
*/
-public class Solenoid extends SolenoidBase {
+public class Solenoid extends SolenoidBase implements Sendable, AutoCloseable {
private final int m_channel; // The channel to control.
private int m_solenoidHandle;
@@ -48,12 +49,12 @@
m_solenoidHandle = SolenoidJNI.initializeSolenoidPort(portHandle);
HAL.report(tResourceType.kResourceType_Solenoid, m_channel, m_moduleNumber);
- setName("Solenoid", m_moduleNumber, m_channel);
+ SendableRegistry.addLW(this, "Solenoid", m_moduleNumber, m_channel);
}
@Override
public void close() {
- super.close();
+ SendableRegistry.remove(this);
SolenoidJNI.freeSolenoidPort(m_solenoidHandle);
m_solenoidHandle = 0;
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/SolenoidBase.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/SolenoidBase.java
index 59c6c3d..a778d8c 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/SolenoidBase.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/SolenoidBase.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -13,7 +13,7 @@
* SolenoidBase class is the common base class for the {@link Solenoid} and {@link DoubleSolenoid}
* classes.
*/
-public abstract class SolenoidBase extends SendableBase {
+public class SolenoidBase {
protected final int m_moduleNumber; // The number of the solenoid module being used.
/**
@@ -21,7 +21,7 @@
*
* @param moduleNumber The PCM CAN ID
*/
- public SolenoidBase(final int moduleNumber) {
+ protected SolenoidBase(final int moduleNumber) {
m_moduleNumber = moduleNumber;
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Spark.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Spark.java
index aa7953a..ea2a8a7 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Spark.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Spark.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,7 @@
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* REV Robotics SPARK Speed Controller.
@@ -34,7 +35,7 @@
setZeroLatch();
HAL.report(tResourceType.kResourceType_RevSPARK, getChannel());
- setName("Spark", getChannel());
+ SendableRegistry.setName(this, "Spark", getChannel());
}
/**
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedControllerGroup.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedControllerGroup.java
index 9158bb3..7dd3f76 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedControllerGroup.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedControllerGroup.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,11 +8,12 @@
package edu.wpi.first.wpilibj;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Allows multiple {@link SpeedController} objects to be linked together.
*/
-public class SpeedControllerGroup extends SendableBase implements SpeedController {
+public class SpeedControllerGroup implements SpeedController, Sendable, AutoCloseable {
private boolean m_isInverted;
private final SpeedController[] m_speedControllers;
private static int instances;
@@ -27,13 +28,18 @@
SpeedController... speedControllers) {
m_speedControllers = new SpeedController[speedControllers.length + 1];
m_speedControllers[0] = speedController;
- addChild(speedController);
+ SendableRegistry.addChild(this, speedController);
for (int i = 0; i < speedControllers.length; i++) {
m_speedControllers[i + 1] = speedControllers[i];
- addChild(speedControllers[i]);
+ SendableRegistry.addChild(this, speedControllers[i]);
}
instances++;
- setName("SpeedControllerGroup", instances);
+ SendableRegistry.addLW(this, "tSpeedControllerGroup", instances);
+ }
+
+ @Override
+ public void close() {
+ SendableRegistry.remove(this);
}
@Override
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Talon.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Talon.java
index 334d9e3..861fca6 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Talon.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Talon.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,7 @@
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Cross the Road Electronics (CTRE) Talon and Talon SR Speed Controller.
@@ -39,6 +40,6 @@
setZeroLatch();
HAL.report(tResourceType.kResourceType_Talon, getChannel());
- setName("Talon", getChannel());
+ SendableRegistry.setName(this, "Talon", getChannel());
}
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java
index a4c553e..e1e312f 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -100,8 +100,7 @@
* clock.
*/
public synchronized void stop() {
- final double temp = get();
- m_accumulatedTime = temp;
+ m_accumulatedTime = get();
m_running = false;
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Ultrasonic.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Ultrasonic.java
index 8e0b177..db7454a 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Ultrasonic.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Ultrasonic.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,7 +12,11 @@
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
+import edu.wpi.first.hal.SimBoolean;
+import edu.wpi.first.hal.SimDevice;
+import edu.wpi.first.hal.SimDouble;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
import static java.util.Objects.requireNonNull;
@@ -25,7 +29,7 @@
* echo is received. The time that the line is high determines the round trip distance (time of
* flight).
*/
-public class Ultrasonic extends SendableBase implements PIDSource {
+public class Ultrasonic implements PIDSource, Sendable, AutoCloseable {
/**
* The units to return when PIDGet is called.
*/
@@ -58,6 +62,10 @@
private static int m_instances;
protected PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
+ private SimDevice m_simDevice;
+ private SimBoolean m_simRangeValid;
+ private SimDouble m_simRange;
+
/**
* Background task that goes through the list of ultrasonic sensors and pings each one in turn.
* The counter is configured to read the timing of the returned echo pulse.
@@ -93,6 +101,13 @@
* then automatic mode is restored.
*/
private synchronized void initialize() {
+ m_simDevice = SimDevice.create("Ultrasonic", m_echoChannel.getChannel());
+ if (m_simDevice != null) {
+ m_simRangeValid = m_simDevice.createBoolean("Range Valid", false, true);
+ m_simRange = m_simDevice.createDouble("Range (in)", false, 0.0);
+ m_pingChannel.setSimDevice(m_simDevice);
+ m_echoChannel.setSimDevice(m_simDevice);
+ }
if (m_task == null) {
m_task = new UltrasonicChecker();
}
@@ -101,7 +116,7 @@
m_sensors.add(this);
m_counter = new Counter(m_echoChannel); // set up counter for this
- addChild(m_counter);
+ SendableRegistry.addChild(this, m_counter);
// sensor
m_counter.setMaxPeriod(1.0);
m_counter.setSemiPeriodMode(true);
@@ -111,7 +126,7 @@
m_instances++;
HAL.report(tResourceType.kResourceType_Ultrasonic, m_instances);
- setName("Ultrasonic", m_echoChannel.getChannel());
+ SendableRegistry.addLW(this, "Ultrasonic", m_echoChannel.getChannel());
}
/**
@@ -128,8 +143,8 @@
public Ultrasonic(final int pingChannel, final int echoChannel, Unit units) {
m_pingChannel = new DigitalOutput(pingChannel);
m_echoChannel = new DigitalInput(echoChannel);
- addChild(m_pingChannel);
- addChild(m_echoChannel);
+ SendableRegistry.addChild(this, m_pingChannel);
+ SendableRegistry.addChild(this, m_echoChannel);
m_allocatedChannels = true;
m_units = units;
initialize();
@@ -191,7 +206,7 @@
*/
@Override
public synchronized void close() {
- super.close();
+ SendableRegistry.remove(this);
final boolean wasAutomaticMode = m_automaticEnabled;
setAutomaticMode(false);
if (m_allocatedChannels) {
@@ -216,6 +231,11 @@
if (!m_sensors.isEmpty() && wasAutomaticMode) {
setAutomaticMode(true);
}
+
+ if (m_simDevice != null) {
+ m_simDevice.close();
+ m_simDevice = null;
+ }
}
/**
@@ -285,6 +305,9 @@
* @return true if the range is valid
*/
public boolean isRangeValid() {
+ if (m_simRangeValid != null) {
+ return m_simRangeValid.get();
+ }
return m_counter.get() > 1;
}
@@ -296,6 +319,9 @@
*/
public double getRangeInches() {
if (isRangeValid()) {
+ if (m_simRange != null) {
+ return m_simRange.get();
+ }
return m_counter.getPeriod() * kSpeedOfSoundInchesPerSec / 2.0;
} else {
return 0;
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Utility.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Utility.java
deleted file mode 100644
index 47035b4..0000000
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Utility.java
+++ /dev/null
@@ -1,69 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.wpilibj;
-
-import edu.wpi.first.hal.HALUtil;
-
-/**
- * Contains global utility functions.
- * @deprecated Use RobotController class instead
- */
-@Deprecated
-public final class Utility {
- private Utility() {
- }
-
- /**
- * Return the FPGA Version number. For now, expect this to be 2009.
- *
- * @return FPGA Version number.
- * @deprecated Use RobotController.getFPGAVersion()
- */
- @SuppressWarnings("AbbreviationAsWordInName")
- @Deprecated
- int getFPGAVersion() {
- return HALUtil.getFPGAVersion();
- }
-
- /**
- * Return the FPGA Revision number. The format of the revision is 3 numbers. The 12 most
- * significant bits are the Major Revision. the next 8 bits are the Minor Revision. The 12 least
- * significant bits are the Build Number.
- *
- * @return FPGA Revision number.
- * @deprecated Use RobotController.getFPGARevision()
- */
- @SuppressWarnings("AbbreviationAsWordInName")
- @Deprecated
- long getFPGARevision() {
- return (long) HALUtil.getFPGARevision();
- }
-
- /**
- * Read the microsecond timer from the FPGA.
- *
- * @return The current time in microseconds according to the FPGA.
- * @deprecated Use RobotController.getFPGATime()
- */
- @Deprecated
- @SuppressWarnings("AbbreviationAsWordInName")
- public static long getFPGATime() {
- return HALUtil.getFPGATime();
- }
-
- /**
- * Get the state of the "USER" button on the roboRIO.
- *
- * @return true if the button is currently pressed down
- * @deprecated Use RobotController.getUserButton()
- */
- @Deprecated
- public static boolean getUserButton() {
- return HALUtil.getFPGAButton();
- }
-}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Victor.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Victor.java
index b1aeeab..fa9dc17 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Victor.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Victor.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,7 @@
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* VEX Robotics Victor 888 Speed Controller The Vex Robotics Victor 884 Speed Controller can also
@@ -41,6 +42,6 @@
setZeroLatch();
HAL.report(tResourceType.kResourceType_Victor, getChannel());
- setName("Victor", getChannel());
+ SendableRegistry.setName(this, "Victor", getChannel());
}
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/VictorSP.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/VictorSP.java
index 3de2a0a..019153e 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/VictorSP.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/VictorSP.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,7 @@
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* VEX Robotics Victor SP Speed Controller.
@@ -39,6 +40,6 @@
setZeroLatch();
HAL.report(tResourceType.kResourceType_VictorSP, getChannel());
- setName("VictorSP", getChannel());
+ SendableRegistry.setName(this, "VictorSP", getChannel());
}
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java
index bc6a844..223e992 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -42,7 +42,7 @@
boolean m_suppressTimeoutMessage;
static {
- startDaemonThread(() -> schedulerFunc());
+ startDaemonThread(Watchdog::schedulerFunc);
}
private static final PriorityQueue<Watchdog> m_watchdogs = new PriorityQueue<>();
@@ -69,13 +69,7 @@
public int compareTo(Watchdog rhs) {
// Elements with sooner expiration times are sorted as lesser. The head of
// Java's PriorityQueue is the least element.
- if (m_expirationTime < rhs.m_expirationTime) {
- return -1;
- } else if (m_expirationTime > rhs.m_expirationTime) {
- return 1;
- } else {
- return 0;
- }
+ return Long.compare(m_expirationTime, rhs.m_expirationTime);
}
/**
@@ -154,9 +148,7 @@
long now = RobotController.getFPGATime();
if (now - m_lastEpochsPrintTime > kMinPrintPeriod) {
m_lastEpochsPrintTime = now;
- m_epochs.forEach((key, value) -> {
- System.out.format("\t%s: %.6fs\n", key, value / 1.0e6);
- });
+ m_epochs.forEach((key, value) -> System.out.format("\t%s: %.6fs\n", key, value / 1.0e6));
}
}
@@ -221,11 +213,12 @@
}
+ @SuppressWarnings("PMD.AvoidDeeplyNestedIfStmts")
private static void schedulerFunc() {
m_queueMutex.lock();
try {
- while (true) {
+ while (!Thread.currentThread().isInterrupted()) {
if (m_watchdogs.size() > 0) {
boolean timedOut = !awaitUntil(m_schedulerWaiter, m_watchdogs.peek().m_expirationTime);
if (timedOut) {
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/XboxController.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/XboxController.java
index 79d80e6..7f8dc63 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/XboxController.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/XboxController.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -21,7 +21,7 @@
/**
* Represents a digital button on an XboxController.
*/
- private enum Button {
+ public enum Button {
kBumperLeft(5),
kBumperRight(6),
kStickLeft(9),
@@ -34,7 +34,7 @@
kStart(8);
@SuppressWarnings({"MemberName", "PMD.SingularField"})
- private final int value;
+ public final int value;
Button(int value) {
this.value = value;
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/buttons/Trigger.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/buttons/Trigger.java
index c20e62e..f051776 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/buttons/Trigger.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/buttons/Trigger.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,7 +7,7 @@
package edu.wpi.first.wpilibj.buttons;
-import edu.wpi.first.wpilibj.SendableBase;
+import edu.wpi.first.wpilibj.Sendable;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
@@ -23,7 +23,7 @@
* certain sensor input). For this, they only have to write the {@link Trigger#get()} method to get
* the full functionality of the Trigger class.
*/
-public abstract class Trigger extends SendableBase {
+public abstract class Trigger implements Sendable {
private volatile boolean m_sendablePressed;
/**
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/command/Command.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/command/Command.java
index 0033f58..da135ca 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/command/Command.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/command/Command.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,9 +10,10 @@
import java.util.Enumeration;
import edu.wpi.first.wpilibj.RobotState;
-import edu.wpi.first.wpilibj.SendableBase;
+import edu.wpi.first.wpilibj.Sendable;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* The Command class is at the very core of the entire command framework. Every command can be
@@ -40,7 +41,7 @@
* @see IllegalUseOfCommandException
*/
@SuppressWarnings("PMD.TooManyMethods")
-public abstract class Command extends SendableBase {
+public abstract class Command implements Sendable, AutoCloseable {
/**
* The time since this command was initialized.
*/
@@ -100,9 +101,8 @@
* Creates a new command. The name of this command will be set to its class name.
*/
public Command() {
- super(false);
String name = getClass().getName();
- setName(name.substring(name.lastIndexOf('.') + 1));
+ SendableRegistry.add(this, name.substring(name.lastIndexOf('.') + 1));
}
/**
@@ -112,11 +112,10 @@
* @throws IllegalArgumentException if name is null
*/
public Command(String name) {
- super(false);
if (name == null) {
throw new IllegalArgumentException("Name must not be null.");
}
- setName(name);
+ SendableRegistry.add(this, name);
}
/**
@@ -205,6 +204,11 @@
requires(subsystem);
}
+ @Override
+ public void close() {
+ SendableRegistry.remove(this);
+ }
+
/**
* Sets the timeout of this command.
*
@@ -597,6 +601,46 @@
}
/**
+ * Gets the name of this Command.
+ *
+ * @return Name
+ */
+ @Override
+ public String getName() {
+ return SendableRegistry.getName(this);
+ }
+
+ /**
+ * Sets the name of this Command.
+ *
+ * @param name name
+ */
+ @Override
+ public void setName(String name) {
+ SendableRegistry.setName(this, name);
+ }
+
+ /**
+ * Gets the subsystem name of this Command.
+ *
+ * @return Subsystem name
+ */
+ @Override
+ public String getSubsystem() {
+ return SendableRegistry.getSubsystem(this);
+ }
+
+ /**
+ * Sets the subsystem name of this Command.
+ *
+ * @param subsystem subsystem name
+ */
+ @Override
+ public void setSubsystem(String subsystem) {
+ SendableRegistry.setSubsystem(this, subsystem);
+ }
+
+ /**
* The string representation for a {@link Command} is by default its name.
*
* @return the string representation of this object
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/command/ConditionalCommand.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/command/ConditionalCommand.java
index 626f744..2dc6f66 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/command/ConditionalCommand.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/command/ConditionalCommand.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -28,6 +28,11 @@
* no-op.
* </p>
*
+ * <p>
+ * A ConditionalCommand will require the superset of subsystems of the onTrue
+ * and onFalse commands.
+ * </p>
+ *
* @see Command
* @see Scheduler
*/
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/command/Scheduler.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/command/Scheduler.java
index 8302e22..e25a5a7 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/command/Scheduler.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/command/Scheduler.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -15,9 +15,10 @@
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.networktables.NetworkTableEntry;
-import edu.wpi.first.wpilibj.SendableBase;
+import edu.wpi.first.wpilibj.Sendable;
import edu.wpi.first.wpilibj.buttons.Trigger.ButtonScheduler;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* The {@link Scheduler} is a singleton which holds the top-level running commands. It is in charge
@@ -31,7 +32,8 @@
*
* @see Command
*/
-public final class Scheduler extends SendableBase {
+@SuppressWarnings("PMD.TooManyMethods")
+public final class Scheduler implements Sendable, AutoCloseable {
/**
* The Singleton Instance.
*/
@@ -95,7 +97,12 @@
*/
private Scheduler() {
HAL.report(tResourceType.kResourceType_Command, tInstances.kCommand_Scheduler);
- setName("Scheduler");
+ SendableRegistry.addLW(this, "Scheduler");
+ }
+
+ @Override
+ public void close() {
+ SendableRegistry.remove(this);
}
/**
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/command/Subsystem.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/command/Subsystem.java
index 0da80c2..3c2858f 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/command/Subsystem.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/command/Subsystem.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,9 +10,8 @@
import java.util.Collections;
import edu.wpi.first.wpilibj.Sendable;
-import edu.wpi.first.wpilibj.SendableBase;
-import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* This class defines a major component of the robot.
@@ -28,7 +27,7 @@
*
* @see Command
*/
-public abstract class Subsystem extends SendableBase {
+public abstract class Subsystem implements Sendable, AutoCloseable {
/**
* Whether or not getDefaultCommand() was called.
*/
@@ -50,7 +49,7 @@
* @param name the name of the subsystem
*/
public Subsystem(String name) {
- setName(name, name);
+ SendableRegistry.addLW(this, name, name);
Scheduler.getInstance().registerSubsystem(this);
}
@@ -60,11 +59,16 @@
public Subsystem() {
String name = getClass().getName();
name = name.substring(name.lastIndexOf('.') + 1);
- setName(name, name);
+ SendableRegistry.addLW(this, name, name);
Scheduler.getInstance().registerSubsystem(this);
m_currentCommandChanged = true;
}
+ @Override
+ public void close() {
+ SendableRegistry.remove(this);
+ }
+
/**
* Initialize the default command for a subsystem By default subsystems have no default command,
* but if they do, the default command is set with this method. It is called on all Subsystems by
@@ -179,8 +183,8 @@
* @param child sendable
*/
public void addChild(String name, Sendable child) {
- child.setName(getSubsystem(), name);
- LiveWindow.add(child);
+ SendableRegistry.addLW(child, getSubsystem(), name);
+ SendableRegistry.addChild(this, child);
}
/**
@@ -189,8 +193,49 @@
* @param child sendable
*/
public void addChild(Sendable child) {
- child.setSubsystem(getSubsystem());
- LiveWindow.add(child);
+ SendableRegistry.setSubsystem(child, getSubsystem());
+ SendableRegistry.enableLiveWindow(child);
+ SendableRegistry.addChild(this, child);
+ }
+
+ /**
+ * Gets the name of this Subsystem.
+ *
+ * @return Name
+ */
+ @Override
+ public String getName() {
+ return SendableRegistry.getName(this);
+ }
+
+ /**
+ * Sets the name of this Subsystem.
+ *
+ * @param name name
+ */
+ @Override
+ public void setName(String name) {
+ SendableRegistry.setName(this, name);
+ }
+
+ /**
+ * Gets the subsystem name of this Subsystem.
+ *
+ * @return Subsystem name
+ */
+ @Override
+ public String getSubsystem() {
+ return SendableRegistry.getSubsystem(this);
+ }
+
+ /**
+ * Sets the subsystem name of this Subsystem.
+ *
+ * @param subsystem subsystem name
+ */
+ @Override
+ public void setSubsystem(String subsystem) {
+ SendableRegistry.setSubsystem(this, subsystem);
}
@Override
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/PIDController.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/PIDController.java
new file mode 100644
index 0000000..c7bdb25
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/PIDController.java
@@ -0,0 +1,384 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.controller;
+
+import edu.wpi.first.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.Sendable;
+import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import edu.wpi.first.wpiutil.math.MathUtils;
+
+/**
+ * Implements a PID control loop.
+ */
+@SuppressWarnings("PMD.TooManyFields")
+public class PIDController implements Sendable, AutoCloseable {
+ private static int instances;
+
+ // Factor for "proportional" control
+ @SuppressWarnings("MemberName")
+ private double m_Kp;
+
+ // Factor for "integral" control
+ @SuppressWarnings("MemberName")
+ private double m_Ki;
+
+ // Factor for "derivative" control
+ @SuppressWarnings("MemberName")
+ private double m_Kd;
+
+ // The period (in seconds) of the loop that calls the controller
+ private final double m_period;
+
+ private double m_maximumIntegral = 1.0;
+
+ private double m_minimumIntegral = -1.0;
+
+ // Maximum input - limit setpoint to this
+ private double m_maximumInput;
+
+ // Minimum input - limit setpoint to this
+ private double m_minimumInput;
+
+ // Input range - difference between maximum and minimum
+ private double m_inputRange;
+
+ // Do the endpoints wrap around? eg. Absolute encoder
+ private boolean m_continuous;
+
+ // The error at the time of the most recent call to calculate()
+ private double m_positionError;
+ private double m_velocityError;
+
+ // The error at the time of the second-most-recent call to calculate() (used to compute velocity)
+ private double m_prevError;
+
+ // The sum of the errors for use in the integral calc
+ private double m_totalError;
+
+ // The percentage or absolute error that is considered at setpoint.
+ private double m_positionTolerance = 0.05;
+ private double m_velocityTolerance = Double.POSITIVE_INFINITY;
+
+ private double m_setpoint;
+
+ /**
+ * Allocates a PIDController with the given constants for Kp, Ki, and Kd and a default period of
+ * 0.02 seconds.
+ *
+ * @param Kp The proportional coefficient.
+ * @param Ki The integral coefficient.
+ * @param Kd The derivative coefficient.
+ */
+ @SuppressWarnings("ParameterName")
+ public PIDController(double Kp, double Ki, double Kd) {
+ this(Kp, Ki, Kd, 0.02);
+ }
+
+ /**
+ * Allocates a PIDController with the given constants for Kp, Ki, and Kd.
+ *
+ * @param Kp The proportional coefficient.
+ * @param Ki The integral coefficient.
+ * @param Kd The derivative coefficient.
+ * @param period The period between controller updates in seconds.
+ */
+ @SuppressWarnings("ParameterName")
+ public PIDController(double Kp, double Ki, double Kd, double period) {
+ m_Kp = Kp;
+ m_Ki = Ki;
+ m_Kd = Kd;
+
+ m_period = period;
+
+ instances++;
+ SendableRegistry.addLW(this, "PIDController", instances);
+
+ HAL.report(tResourceType.kResourceType_PIDController, instances);
+ }
+
+ @Override
+ public void close() {
+ SendableRegistry.remove(this);
+ }
+
+ /**
+ * Sets the PID Controller gain parameters.
+ *
+ * <p>Set the proportional, integral, and differential coefficients.
+ *
+ * @param Kp The proportional coefficient.
+ * @param Ki The integral coefficient.
+ * @param Kd The derivative coefficient.
+ */
+ @SuppressWarnings("ParameterName")
+ public void setPID(double Kp, double Ki, double Kd) {
+ m_Kp = Kp;
+ m_Ki = Ki;
+ m_Kd = Kd;
+ }
+
+ /**
+ * Sets the Proportional coefficient of the PID controller gain.
+ *
+ * @param Kp proportional coefficient
+ */
+ @SuppressWarnings("ParameterName")
+ public void setP(double Kp) {
+ m_Kp = Kp;
+ }
+
+ /**
+ * Sets the Integral coefficient of the PID controller gain.
+ *
+ * @param Ki integral coefficient
+ */
+ @SuppressWarnings("ParameterName")
+ public void setI(double Ki) {
+ m_Ki = Ki;
+ }
+
+ /**
+ * Sets the Differential coefficient of the PID controller gain.
+ *
+ * @param Kd differential coefficient
+ */
+ @SuppressWarnings("ParameterName")
+ public void setD(double Kd) {
+ m_Kd = Kd;
+ }
+
+ /**
+ * Get the Proportional coefficient.
+ *
+ * @return proportional coefficient
+ */
+ public double getP() {
+ return m_Kp;
+ }
+
+ /**
+ * Get the Integral coefficient.
+ *
+ * @return integral coefficient
+ */
+ public double getI() {
+ return m_Ki;
+ }
+
+ /**
+ * Get the Differential coefficient.
+ *
+ * @return differential coefficient
+ */
+ public double getD() {
+ return m_Kd;
+ }
+
+ /**
+ * Returns the period of this controller.
+ *
+ * @return the period of the controller.
+ */
+ public double getPeriod() {
+ return m_period;
+ }
+
+ /**
+ * Sets the setpoint for the PIDController.
+ *
+ * @param setpoint The desired setpoint.
+ */
+ public void setSetpoint(double setpoint) {
+ if (m_maximumInput > m_minimumInput) {
+ m_setpoint = MathUtils.clamp(setpoint, m_minimumInput, m_maximumInput);
+ } else {
+ m_setpoint = setpoint;
+ }
+ }
+
+ /**
+ * Returns the current setpoint of the PIDController.
+ *
+ * @return The current setpoint.
+ */
+ public double getSetpoint() {
+ return m_setpoint;
+ }
+
+ /**
+ * Returns true if the error is within the percentage of the total input range, determined by
+ * SetTolerance. This asssumes that the maximum and minimum input were set using SetInput.
+ *
+ * <p>This will return false until at least one input value has been computed.
+ *
+ * @return Whether the error is within the acceptable bounds.
+ */
+ public boolean atSetpoint() {
+ return Math.abs(m_positionError) < m_positionTolerance
+ && Math.abs(m_velocityError) < m_velocityTolerance;
+ }
+
+ /**
+ * Enables continuous input.
+ *
+ * <p>Rather then using the max and min input range as constraints, it considers
+ * them to be the same point and automatically calculates the shortest route
+ * to the setpoint.
+ *
+ * @param minimumInput The minimum value expected from the input.
+ * @param maximumInput The maximum value expected from the input.
+ */
+ public void enableContinuousInput(double minimumInput, double maximumInput) {
+ m_continuous = true;
+ setInputRange(minimumInput, maximumInput);
+ }
+
+ /**
+ * Disables continuous input.
+ */
+ public void disableContinuousInput() {
+ m_continuous = false;
+ }
+
+ /**
+ * Sets the minimum and maximum values for the integrator.
+ *
+ * <p>When the cap is reached, the integrator value is added to the controller
+ * output rather than the integrator value times the integral gain.
+ *
+ * @param minimumIntegral The minimum value of the integrator.
+ * @param maximumIntegral The maximum value of the integrator.
+ */
+ public void setIntegratorRange(double minimumIntegral, double maximumIntegral) {
+ m_minimumIntegral = minimumIntegral;
+ m_maximumIntegral = maximumIntegral;
+ }
+
+ /**
+ * Sets the error which is considered tolerable for use with atSetpoint().
+ *
+ * @param positionTolerance Position error which is tolerable.
+ */
+ public void setTolerance(double positionTolerance) {
+ setTolerance(positionTolerance, Double.POSITIVE_INFINITY);
+ }
+
+ /**
+ * Sets the error which is considered tolerable for use with atSetpoint().
+ *
+ * @param positionTolerance Position error which is tolerable.
+ * @param velocityTolerance Velocity error which is tolerable.
+ */
+ public void setTolerance(double positionTolerance, double velocityTolerance) {
+ m_positionTolerance = positionTolerance;
+ m_velocityTolerance = velocityTolerance;
+ }
+
+ /**
+ * Returns the difference between the setpoint and the measurement.
+ *
+ * @return The error.
+ */
+ public double getPositionError() {
+ return getContinuousError(m_positionError);
+ }
+
+ /**
+ * Returns the velocity error.
+ */
+ public double getVelocityError() {
+ return m_velocityError;
+ }
+
+ /**
+ * Returns the next output of the PID controller.
+ *
+ * @param measurement The current measurement of the process variable.
+ * @param setpoint The new setpoint of the controller.
+ */
+ public double calculate(double measurement, double setpoint) {
+ // Set setpoint to provided value
+ setSetpoint(setpoint);
+ return calculate(measurement);
+ }
+
+ /**
+ * Returns the next output of the PID controller.
+ *
+ * @param measurement The current measurement of the process variable.
+ */
+ public double calculate(double measurement) {
+ m_prevError = m_positionError;
+ m_positionError = getContinuousError(m_setpoint - measurement);
+ m_velocityError = (m_positionError - m_prevError) / m_period;
+
+ if (m_Ki != 0) {
+ m_totalError = MathUtils.clamp(m_totalError + m_positionError * m_period,
+ m_minimumIntegral / m_Ki, m_maximumIntegral / m_Ki);
+ }
+
+ return m_Kp * m_positionError + m_Ki * m_totalError + m_Kd * m_velocityError;
+ }
+
+ /**
+ * Resets the previous error and the integral term. Also disables the controller.
+ */
+ public void reset() {
+ m_prevError = 0;
+ m_totalError = 0;
+ }
+
+ @Override
+ public void initSendable(SendableBuilder builder) {
+ builder.setSmartDashboardType("PIDController");
+ builder.addDoubleProperty("p", this::getP, this::setP);
+ builder.addDoubleProperty("i", this::getI, this::setI);
+ builder.addDoubleProperty("d", this::getD, this::setD);
+ builder.addDoubleProperty("setpoint", this::getSetpoint, this::setSetpoint);
+ }
+
+ /**
+ * Wraps error around for continuous inputs. The original error is returned if continuous mode is
+ * disabled.
+ *
+ * @param error The current error of the PID controller.
+ * @return Error for continuous inputs.
+ */
+ protected double getContinuousError(double error) {
+ if (m_continuous && m_inputRange > 0) {
+ error %= m_inputRange;
+ if (Math.abs(error) > m_inputRange / 2) {
+ if (error > 0) {
+ return error - m_inputRange;
+ } else {
+ return error + m_inputRange;
+ }
+ }
+ }
+ return error;
+ }
+
+ /**
+ * Sets the minimum and maximum values expected from the input.
+ *
+ * @param minimumInput The minimum value expected from the input.
+ * @param maximumInput The maximum value expected from the input.
+ */
+ private void setInputRange(double minimumInput, double maximumInput) {
+ m_minimumInput = minimumInput;
+ m_maximumInput = maximumInput;
+ m_inputRange = maximumInput - minimumInput;
+
+ // Clamp setpoint to new input
+ if (m_maximumInput > m_minimumInput) {
+ m_setpoint = MathUtils.clamp(m_setpoint, m_minimumInput, m_maximumInput);
+ }
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/ProfiledPIDController.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/ProfiledPIDController.java
new file mode 100644
index 0000000..cc2f29d
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/ProfiledPIDController.java
@@ -0,0 +1,330 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.controller;
+
+import edu.wpi.first.wpilibj.Sendable;
+import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
+
+/**
+ * Implements a PID control loop whose setpoint is constrained by a trapezoid
+ * profile.
+ */
+@SuppressWarnings("PMD.TooManyMethods")
+public class ProfiledPIDController implements Sendable {
+ private PIDController m_controller;
+ private TrapezoidProfile.State m_goal = new TrapezoidProfile.State();
+ private TrapezoidProfile.State m_setpoint = new TrapezoidProfile.State();
+ private TrapezoidProfile.Constraints m_constraints;
+
+ /**
+ * Allocates a ProfiledPIDController with the given constants for Kp, Ki, and
+ * Kd.
+ *
+ * @param Kp The proportional coefficient.
+ * @param Ki The integral coefficient.
+ * @param Kd The derivative coefficient.
+ * @param constraints Velocity and acceleration constraints for goal.
+ */
+ @SuppressWarnings("ParameterName")
+ public ProfiledPIDController(double Kp, double Ki, double Kd,
+ TrapezoidProfile.Constraints constraints) {
+ this(Kp, Ki, Kd, constraints, 0.02);
+ }
+
+ /**
+ * Allocates a ProfiledPIDController with the given constants for Kp, Ki, and
+ * Kd.
+ *
+ * @param Kp The proportional coefficient.
+ * @param Ki The integral coefficient.
+ * @param Kd The derivative coefficient.
+ * @param constraints Velocity and acceleration constraints for goal.
+ * @param period The period between controller updates in seconds. The
+ * default is 0.02 seconds.
+ */
+ @SuppressWarnings("ParameterName")
+ public ProfiledPIDController(double Kp, double Ki, double Kd,
+ TrapezoidProfile.Constraints constraints,
+ double period) {
+ m_controller = new PIDController(Kp, Ki, Kd, period);
+ m_constraints = constraints;
+ }
+
+ /**
+ * Sets the PID Controller gain parameters.
+ *
+ * <p>Sets the proportional, integral, and differential coefficients.
+ *
+ * @param Kp Proportional coefficient
+ * @param Ki Integral coefficient
+ * @param Kd Differential coefficient
+ */
+ @SuppressWarnings("ParameterName")
+ public void setPID(double Kp, double Ki, double Kd) {
+ m_controller.setPID(Kp, Ki, Kd);
+ }
+
+ /**
+ * Sets the proportional coefficient of the PID controller gain.
+ *
+ * @param Kp proportional coefficient
+ */
+ @SuppressWarnings("ParameterName")
+ public void setP(double Kp) {
+ m_controller.setP(Kp);
+ }
+
+ /**
+ * Sets the integral coefficient of the PID controller gain.
+ *
+ * @param Ki integral coefficient
+ */
+ @SuppressWarnings("ParameterName")
+ public void setI(double Ki) {
+ m_controller.setI(Ki);
+ }
+
+ /**
+ * Sets the differential coefficient of the PID controller gain.
+ *
+ * @param Kd differential coefficient
+ */
+ @SuppressWarnings("ParameterName")
+ public void setD(double Kd) {
+ m_controller.setD(Kd);
+ }
+
+ /**
+ * Gets the proportional coefficient.
+ *
+ * @return proportional coefficient
+ */
+ public double getP() {
+ return m_controller.getP();
+ }
+
+ /**
+ * Gets the integral coefficient.
+ *
+ * @return integral coefficient
+ */
+ public double getI() {
+ return m_controller.getI();
+ }
+
+ /**
+ * Gets the differential coefficient.
+ *
+ * @return differential coefficient
+ */
+ public double getD() {
+ return m_controller.getD();
+ }
+
+ /**
+ * Gets the period of this controller.
+ *
+ * @return The period of the controller.
+ */
+ public double getPeriod() {
+ return m_controller.getPeriod();
+ }
+
+ /**
+ * Sets the goal for the ProfiledPIDController.
+ *
+ * @param goal The desired goal state.
+ */
+ public void setGoal(TrapezoidProfile.State goal) {
+ m_goal = goal;
+ }
+
+ /**
+ * Sets the goal for the ProfiledPIDController.
+ *
+ * @param goal The desired goal position.
+ */
+ public void setGoal(double goal) {
+ m_goal = new TrapezoidProfile.State(goal, 0);
+ }
+
+ /**
+ * Gets the goal for the ProfiledPIDController.
+ */
+ public TrapezoidProfile.State getGoal() {
+ return m_goal;
+ }
+
+ /**
+ * Returns true if the error is within the tolerance of the error.
+ *
+ * <p>This will return false until at least one input value has been computed.
+ */
+ public boolean atGoal() {
+ return atSetpoint() && m_goal.equals(m_setpoint);
+ }
+
+ /**
+ * Set velocity and acceleration constraints for goal.
+ *
+ * @param constraints Velocity and acceleration constraints for goal.
+ */
+ public void setConstraints(TrapezoidProfile.Constraints constraints) {
+ m_constraints = constraints;
+ }
+
+ /**
+ * Returns the current setpoint of the ProfiledPIDController.
+ *
+ * @return The current setpoint.
+ */
+ public TrapezoidProfile.State getSetpoint() {
+ return m_setpoint;
+ }
+
+ /**
+ * Returns true if the error is within the tolerance of the error.
+ *
+ * <p>This will return false until at least one input value has been computed.
+ */
+ public boolean atSetpoint() {
+ return m_controller.atSetpoint();
+ }
+
+ /**
+ * Enables continuous input.
+ *
+ * <p>Rather then using the max and min input range as constraints, it considers
+ * them to be the same point and automatically calculates the shortest route
+ * to the setpoint.
+ *
+ * @param minimumInput The minimum value expected from the input.
+ * @param maximumInput The maximum value expected from the input.
+ */
+ public void enableContinuousInput(double minimumInput, double maximumInput) {
+ m_controller.enableContinuousInput(minimumInput, maximumInput);
+ }
+
+ /**
+ * Disables continuous input.
+ */
+ public void disableContinuousInput() {
+ m_controller.disableContinuousInput();
+ }
+
+ /**
+ * Sets the minimum and maximum values for the integrator.
+ *
+ * <p>When the cap is reached, the integrator value is added to the controller
+ * output rather than the integrator value times the integral gain.
+ *
+ * @param minimumIntegral The minimum value of the integrator.
+ * @param maximumIntegral The maximum value of the integrator.
+ */
+ public void setIntegratorRange(double minimumIntegral, double maximumIntegral) {
+ m_controller.setIntegratorRange(minimumIntegral, maximumIntegral);
+ }
+
+ /**
+ * Sets the error which is considered tolerable for use with atSetpoint().
+ *
+ * @param positionTolerance Position error which is tolerable.
+ */
+ public void setTolerance(double positionTolerance) {
+ setTolerance(positionTolerance, Double.POSITIVE_INFINITY);
+ }
+
+ /**
+ * Sets the error which is considered tolerable for use with atSetpoint().
+ *
+ * @param positionTolerance Position error which is tolerable.
+ * @param velocityTolerance Velocity error which is tolerable.
+ */
+ public void setTolerance(double positionTolerance, double velocityTolerance) {
+ m_controller.setTolerance(positionTolerance, velocityTolerance);
+ }
+
+ /**
+ * Returns the difference between the setpoint and the measurement.
+ *
+ * @return The error.
+ */
+ public double getPositionError() {
+ return m_controller.getPositionError();
+ }
+
+ /**
+ * Returns the change in error per second.
+ */
+ public double getVelocityError() {
+ return m_controller.getVelocityError();
+ }
+
+ /**
+ * Returns the next output of the PID controller.
+ *
+ * @param measurement The current measurement of the process variable.
+ */
+ public double calculate(double measurement) {
+ var profile = new TrapezoidProfile(m_constraints, m_goal, m_setpoint);
+ m_setpoint = profile.calculate(getPeriod());
+ return m_controller.calculate(measurement, m_setpoint.position);
+ }
+
+ /**
+ * Returns the next output of the PID controller.
+ *
+ * @param measurement The current measurement of the process variable.
+ * @param goal The new goal of the controller.
+ */
+ public double calculate(double measurement, TrapezoidProfile.State goal) {
+ setGoal(goal);
+ return calculate(measurement);
+ }
+
+ /**
+ * Returns the next output of the PIDController.
+ *
+ * @param measurement The current measurement of the process variable.
+ * @param goal The new goal of the controller.
+ */
+ public double calculate(double measurement, double goal) {
+ setGoal(goal);
+ return calculate(measurement);
+ }
+
+ /**
+ * Returns the next output of the PID controller.
+ *
+ * @param measurement The current measurement of the process variable.
+ * @param goal The new goal of the controller.
+ * @param constraints Velocity and acceleration constraints for goal.
+ */
+ public double calculate(double measurement, TrapezoidProfile.State goal,
+ TrapezoidProfile.Constraints constraints) {
+ setConstraints(constraints);
+ return calculate(measurement, goal);
+ }
+
+ /**
+ * Reset the previous error, the integral term, and disable the controller.
+ */
+ public void reset() {
+ m_controller.reset();
+ }
+
+ @Override
+ public void initSendable(SendableBuilder builder) {
+ builder.setSmartDashboardType("ProfiledPIDController");
+ builder.addDoubleProperty("p", this::getP, this::setP);
+ builder.addDoubleProperty("i", this::getI, this::setI);
+ builder.addDoubleProperty("d", this::getD, this::setD);
+ builder.addDoubleProperty("goal", () -> getGoal().position, this::setGoal);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/RamseteController.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/RamseteController.java
new file mode 100644
index 0000000..77b7688
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/RamseteController.java
@@ -0,0 +1,150 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.controller;
+
+import edu.wpi.first.wpilibj.geometry.Pose2d;
+import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
+import edu.wpi.first.wpilibj.trajectory.Trajectory;
+
+/**
+ * Ramsete is a nonlinear time-varying feedback controller for unicycle models
+ * that drives the model to a desired pose along a two-dimensional trajectory.
+ * Why would we need a nonlinear control law in addition to the linear ones we
+ * have used so far like PID? If we use the original approach with PID
+ * controllers for left and right position and velocity states, the controllers
+ * only deal with the local pose. If the robot deviates from the path, there is
+ * no way for the controllers to correct and the robot may not reach the desired
+ * global pose. This is due to multiple endpoints existing for the robot which
+ * have the same encoder path arc lengths.
+ *
+ * <p>Instead of using wheel path arc lengths (which are in the robot's local
+ * coordinate frame), nonlinear controllers like pure pursuit and Ramsete use
+ * global pose. The controller uses this extra information to guide a linear
+ * reference tracker like the PID controllers back in by adjusting the
+ * references of the PID controllers.
+ *
+ * <p>The paper "Control of Wheeled Mobile Robots: An Experimental Overview"
+ * describes a nonlinear controller for a wheeled vehicle with unicycle-like
+ * kinematics; a global pose consisting of x, y, and theta; and a desired pose
+ * consisting of x_d, y_d, and theta_d. We call it Ramsete because that's the
+ * acronym for the title of the book it came from in Italian ("Robotica
+ * Articolata e Mobile per i SErvizi e le TEcnologie").
+ *
+ * <p>See
+ * <a href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">
+ * Controls Engineering in the FIRST Robotics Competition</a> section on Ramsete
+ * unicycle controller for a derivation and analysis.
+ */
+public class RamseteController {
+ @SuppressWarnings("MemberName")
+ private final double m_b;
+ @SuppressWarnings("MemberName")
+ private final double m_zeta;
+
+ private Pose2d m_poseError = new Pose2d();
+ private Pose2d m_poseTolerance = new Pose2d();
+
+ /**
+ * Construct a Ramsete unicycle controller.
+ *
+ * @param b Tuning parameter (b > 0) for which larger values make convergence more
+ * aggressive like a proportional term.
+ * @param zeta Tuning parameter (0 < zeta < 1) for which larger values provide more damping
+ * in response.
+ */
+ @SuppressWarnings("ParameterName")
+ public RamseteController(double b, double zeta) {
+ m_b = b;
+ m_zeta = zeta;
+ }
+
+ /**
+ * Returns true if the pose error is within tolerance of the reference.
+ */
+ public boolean atReference() {
+ final var eTranslate = m_poseError.getTranslation();
+ final var eRotate = m_poseError.getRotation();
+ final var tolTranslate = m_poseTolerance.getTranslation();
+ final var tolRotate = m_poseTolerance.getRotation();
+ return Math.abs(eTranslate.getX()) < tolTranslate.getX()
+ && Math.abs(eTranslate.getY()) < tolTranslate.getY()
+ && Math.abs(eRotate.getRadians()) < tolRotate.getRadians();
+ }
+
+ /**
+ * Sets the pose error which is considered tolerable for use with
+ * atReference().
+ *
+ * @param poseTolerance Pose error which is tolerable.
+ */
+ public void setTolerance(Pose2d poseTolerance) {
+ m_poseTolerance = poseTolerance;
+ }
+
+ /**
+ * Returns the next output of the Ramsete controller.
+ *
+ * <p>The reference pose, linear velocity, and angular velocity should come
+ * from a drivetrain trajectory.
+ *
+ * @param currentPose The current pose.
+ * @param poseRef The desired pose.
+ * @param linearVelocityRefMeters The desired linear velocity in meters.
+ * @param angularVelocityRefRadiansPerSecond The desired angular velocity in meters.
+ */
+ @SuppressWarnings("LocalVariableName")
+ public ChassisSpeeds calculate(Pose2d currentPose,
+ Pose2d poseRef,
+ double linearVelocityRefMeters,
+ double angularVelocityRefRadiansPerSecond) {
+ m_poseError = poseRef.relativeTo(currentPose);
+
+ // Aliases for equation readability
+ final double eX = m_poseError.getTranslation().getX();
+ final double eY = m_poseError.getTranslation().getY();
+ final double eTheta = m_poseError.getRotation().getRadians();
+ final double vRef = linearVelocityRefMeters;
+ final double omegaRef = angularVelocityRefRadiansPerSecond;
+
+ double k = 2.0 * m_zeta * Math.sqrt(Math.pow(omegaRef, 2) + m_b * Math.pow(vRef, 2));
+
+ return new ChassisSpeeds(vRef * m_poseError.getRotation().getCos() + k * eX,
+ 0.0,
+ omegaRef + k * eTheta + m_b * vRef * sinc(eTheta) * eY);
+ }
+
+ /**
+ * Returns the next output of the Ramsete controller.
+ *
+ * <p>The reference pose, linear velocity, and angular velocity should come
+ * from a drivetrain trajectory.
+ *
+ * @param currentPose The current pose.
+ * @param desiredState The desired pose, linear velocity, and angular velocity
+ * from a trajectory.
+ */
+ @SuppressWarnings("LocalVariableName")
+ public ChassisSpeeds calculate(Pose2d currentPose, Trajectory.State desiredState) {
+ return calculate(currentPose, desiredState.poseMeters, desiredState.velocityMetersPerSecond,
+ desiredState.velocityMetersPerSecond * desiredState.curvatureRadPerMeter);
+ }
+
+ /**
+ * Returns sin(x) / x.
+ *
+ * @param x Value of which to take sinc(x).
+ */
+ @SuppressWarnings("ParameterName")
+ private static double sinc(double x) {
+ if (Math.abs(x) < 1e-9) {
+ return 1.0 - 1.0 / 6.0 * x * x;
+ } else {
+ return Math.sin(x) / x;
+ }
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java
index 9355adc..1301629 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,9 +12,12 @@
import edu.wpi.first.hal.FRCNetComm.tInstances;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.Sendable;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import edu.wpi.first.wpiutil.math.MathUtils;
/**
* A class for driving differential drive/skid-steer drive platforms such as the Kit of Parts drive
@@ -93,7 +96,7 @@
* {@link edu.wpi.first.wpilibj.RobotDrive#drive(double, double)} with the addition of a quick turn
* mode. However, it is not designed to give exactly the same response.
*/
-public class DifferentialDrive extends RobotDriveBase {
+public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoCloseable {
public static final double kDefaultQuickStopThreshold = 0.2;
public static final double kDefaultQuickStopAlpha = 0.1;
@@ -118,10 +121,15 @@
verify(leftMotor, rightMotor);
m_leftMotor = leftMotor;
m_rightMotor = rightMotor;
- addChild(m_leftMotor);
- addChild(m_rightMotor);
+ SendableRegistry.addChild(this, m_leftMotor);
+ SendableRegistry.addChild(this, m_rightMotor);
instances++;
- setName("DifferentialDrive", instances);
+ SendableRegistry.addLW(this, "DifferentialDrive", instances);
+ }
+
+ @Override
+ public void close() {
+ SendableRegistry.remove(this);
}
/**
@@ -171,15 +179,15 @@
@SuppressWarnings("ParameterName")
public void arcadeDrive(double xSpeed, double zRotation, boolean squareInputs) {
if (!m_reported) {
- HAL.report(tResourceType.kResourceType_RobotDrive, 2,
- tInstances.kRobotDrive2_DifferentialArcade);
+ HAL.report(tResourceType.kResourceType_RobotDrive,
+ tInstances.kRobotDrive2_DifferentialArcade, 2);
m_reported = true;
}
- xSpeed = limit(xSpeed);
+ xSpeed = MathUtils.clamp(xSpeed, -1.0, 1.0);
xSpeed = applyDeadband(xSpeed, m_deadband);
- zRotation = limit(zRotation);
+ zRotation = MathUtils.clamp(zRotation, -1.0, 1.0);
zRotation = applyDeadband(zRotation, m_deadband);
// Square the inputs (while preserving the sign) to increase fine control
@@ -214,8 +222,9 @@
}
}
- m_leftMotor.set(limit(leftMotorOutput) * m_maxOutput);
- m_rightMotor.set(limit(rightMotorOutput) * m_maxOutput * m_rightSideInvertMultiplier);
+ m_leftMotor.set(MathUtils.clamp(leftMotorOutput, -1.0, 1.0) * m_maxOutput);
+ double maxOutput = m_maxOutput * m_rightSideInvertMultiplier;
+ m_rightMotor.set(MathUtils.clamp(rightMotorOutput, -1.0, 1.0) * maxOutput);
feed();
}
@@ -237,15 +246,15 @@
@SuppressWarnings({"ParameterName", "PMD.CyclomaticComplexity"})
public void curvatureDrive(double xSpeed, double zRotation, boolean isQuickTurn) {
if (!m_reported) {
- HAL.report(tResourceType.kResourceType_RobotDrive, 2,
- tInstances.kRobotDrive2_DifferentialCurvature);
+ HAL.report(tResourceType.kResourceType_RobotDrive,
+ tInstances.kRobotDrive2_DifferentialCurvature, 2);
m_reported = true;
}
- xSpeed = limit(xSpeed);
+ xSpeed = MathUtils.clamp(xSpeed, -1.0, 1.0);
xSpeed = applyDeadband(xSpeed, m_deadband);
- zRotation = limit(zRotation);
+ zRotation = MathUtils.clamp(zRotation, -1.0, 1.0);
zRotation = applyDeadband(zRotation, m_deadband);
double angularPower;
@@ -254,7 +263,7 @@
if (isQuickTurn) {
if (Math.abs(xSpeed) < m_quickStopThreshold) {
m_quickStopAccumulator = (1 - m_quickStopAlpha) * m_quickStopAccumulator
- + m_quickStopAlpha * limit(zRotation) * 2;
+ + m_quickStopAlpha * MathUtils.clamp(zRotation, -1.0, 1.0) * 2;
}
overPower = true;
angularPower = zRotation;
@@ -328,15 +337,15 @@
*/
public void tankDrive(double leftSpeed, double rightSpeed, boolean squareInputs) {
if (!m_reported) {
- HAL.report(tResourceType.kResourceType_RobotDrive, 2,
- tInstances.kRobotDrive2_DifferentialTank);
+ HAL.report(tResourceType.kResourceType_RobotDrive,
+ tInstances.kRobotDrive2_DifferentialTank, 2);
m_reported = true;
}
- leftSpeed = limit(leftSpeed);
+ leftSpeed = MathUtils.clamp(leftSpeed, -1.0, 1.0);
leftSpeed = applyDeadband(leftSpeed, m_deadband);
- rightSpeed = limit(rightSpeed);
+ rightSpeed = MathUtils.clamp(rightSpeed, -1.0, 1.0);
rightSpeed = applyDeadband(rightSpeed, m_deadband);
// Square the inputs (while preserving the sign) to increase fine control
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java
index 165ba70..d1270bd 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,8 +12,11 @@
import edu.wpi.first.hal.FRCNetComm.tInstances;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.Sendable;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import edu.wpi.first.wpiutil.math.MathUtils;
/**
* A class for driving Killough drive platforms.
@@ -39,7 +42,7 @@
* points down. Rotations follow the right-hand rule, so clockwise rotation around the Z axis is
* positive.
*/
-public class KilloughDrive extends RobotDriveBase {
+public class KilloughDrive extends RobotDriveBase implements Sendable, AutoCloseable {
public static final double kDefaultLeftMotorAngle = 60.0;
public static final double kDefaultRightMotorAngle = 120.0;
public static final double kDefaultBackMotorAngle = 270.0;
@@ -99,11 +102,16 @@
Math.sin(rightMotorAngle * (Math.PI / 180.0)));
m_backVec = new Vector2d(Math.cos(backMotorAngle * (Math.PI / 180.0)),
Math.sin(backMotorAngle * (Math.PI / 180.0)));
- addChild(m_leftMotor);
- addChild(m_rightMotor);
- addChild(m_backMotor);
+ SendableRegistry.addChild(this, m_leftMotor);
+ SendableRegistry.addChild(this, m_rightMotor);
+ SendableRegistry.addChild(this, m_backMotor);
instances++;
- setName("KilloughDrive", instances);
+ SendableRegistry.addLW(this, "KilloughDrive", instances);
+ }
+
+ @Override
+ public void close() {
+ SendableRegistry.remove(this);
}
/**
@@ -166,15 +174,15 @@
public void driveCartesian(double ySpeed, double xSpeed, double zRotation,
double gyroAngle) {
if (!m_reported) {
- HAL.report(tResourceType.kResourceType_RobotDrive, 3,
- tInstances.kRobotDrive2_KilloughCartesian);
+ HAL.report(tResourceType.kResourceType_RobotDrive,
+ tInstances.kRobotDrive2_KilloughCartesian, 3);
m_reported = true;
}
- ySpeed = limit(ySpeed);
+ ySpeed = MathUtils.clamp(ySpeed, -1.0, 1.0);
ySpeed = applyDeadband(ySpeed, m_deadband);
- xSpeed = limit(xSpeed);
+ xSpeed = MathUtils.clamp(xSpeed, -1.0, 1.0);
xSpeed = applyDeadband(xSpeed, m_deadband);
// Compensate for gyro angle.
@@ -209,8 +217,8 @@
@SuppressWarnings("ParameterName")
public void drivePolar(double magnitude, double angle, double zRotation) {
if (!m_reported) {
- HAL.report(tResourceType.kResourceType_RobotDrive, 3,
- tInstances.kRobotDrive2_KilloughPolar);
+ HAL.report(tResourceType.kResourceType_RobotDrive,
+ tInstances.kRobotDrive2_KilloughPolar, 3);
m_reported = true;
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
index acdc4d7..1d3a878 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,8 +12,11 @@
import edu.wpi.first.hal.FRCNetComm.tInstances;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.Sendable;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+import edu.wpi.first.wpiutil.math.MathUtils;
/**
* A class for driving Mecanum drive platforms.
@@ -58,7 +61,7 @@
* {@link edu.wpi.first.wpilibj.RobotDrive#mecanumDrive_Polar(double, double, double)} if a
* deadband of 0 is used.
*/
-public class MecanumDrive extends RobotDriveBase {
+public class MecanumDrive extends RobotDriveBase implements Sendable, AutoCloseable {
private static int instances;
private final SpeedController m_frontLeftMotor;
@@ -81,12 +84,17 @@
m_rearLeftMotor = rearLeftMotor;
m_frontRightMotor = frontRightMotor;
m_rearRightMotor = rearRightMotor;
- addChild(m_frontLeftMotor);
- addChild(m_rearLeftMotor);
- addChild(m_frontRightMotor);
- addChild(m_rearRightMotor);
+ SendableRegistry.addChild(this, m_frontLeftMotor);
+ SendableRegistry.addChild(this, m_rearLeftMotor);
+ SendableRegistry.addChild(this, m_frontRightMotor);
+ SendableRegistry.addChild(this, m_rearRightMotor);
instances++;
- setName("MecanumDrive", instances);
+ SendableRegistry.addLW(this, "MecanumDrive", instances);
+ }
+
+ @Override
+ public void close() {
+ SendableRegistry.remove(this);
}
/**
@@ -151,15 +159,15 @@
@SuppressWarnings("ParameterName")
public void driveCartesian(double ySpeed, double xSpeed, double zRotation, double gyroAngle) {
if (!m_reported) {
- HAL.report(tResourceType.kResourceType_RobotDrive, 4,
- tInstances.kRobotDrive2_MecanumCartesian);
+ HAL.report(tResourceType.kResourceType_RobotDrive,
+ tInstances.kRobotDrive2_MecanumCartesian, 4);
m_reported = true;
}
- ySpeed = limit(ySpeed);
+ ySpeed = MathUtils.clamp(ySpeed, -1.0, 1.0);
ySpeed = applyDeadband(ySpeed, m_deadband);
- xSpeed = limit(xSpeed);
+ xSpeed = MathUtils.clamp(xSpeed, -1.0, 1.0);
xSpeed = applyDeadband(xSpeed, m_deadband);
// Compensate for gyro angle.
@@ -198,7 +206,7 @@
@SuppressWarnings("ParameterName")
public void drivePolar(double magnitude, double angle, double zRotation) {
if (!m_reported) {
- HAL.report(tResourceType.kResourceType_RobotDrive, 4, tInstances.kRobotDrive2_MecanumPolar);
+ HAL.report(tResourceType.kResourceType_RobotDrive, tInstances.kRobotDrive2_MecanumPolar, 4);
m_reported = true;
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/RobotDriveBase.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/RobotDriveBase.java
index 2e47434..785a0c5 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/RobotDriveBase.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/RobotDriveBase.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,21 +8,17 @@
package edu.wpi.first.wpilibj.drive;
import edu.wpi.first.wpilibj.MotorSafety;
-import edu.wpi.first.wpilibj.Sendable;
-import edu.wpi.first.wpilibj.SendableImpl;
/**
* Common base class for drive platforms.
*/
-public abstract class RobotDriveBase extends MotorSafety implements Sendable, AutoCloseable {
+public abstract class RobotDriveBase extends MotorSafety {
public static final double kDefaultDeadband = 0.02;
public static final double kDefaultMaxOutput = 1.0;
protected double m_deadband = kDefaultDeadband;
protected double m_maxOutput = kDefaultMaxOutput;
- private final SendableImpl m_sendableImpl;
-
/**
* The location of a motor on the robot for the purpose of driving.
*/
@@ -42,65 +38,7 @@
* RobotDriveBase constructor.
*/
public RobotDriveBase() {
- m_sendableImpl = new SendableImpl(true);
-
setSafetyEnabled(true);
- setName("RobotDriveBase");
- }
-
- @Override
- public void close() {
- m_sendableImpl.close();
- }
-
- @Override
- public final synchronized String getName() {
- return m_sendableImpl.getName();
- }
-
- @Override
- public final synchronized void setName(String name) {
- m_sendableImpl.setName(name);
- }
-
- /**
- * Sets the name of the sensor with a channel number.
- *
- * @param moduleType A string that defines the module name in the label for the value
- * @param channel The channel number the device is plugged into
- */
- protected final void setName(String moduleType, int channel) {
- m_sendableImpl.setName(moduleType, channel);
- }
-
- /**
- * Sets the name of the sensor with a module and channel number.
- *
- * @param moduleType A string that defines the module name in the label for the value
- * @param moduleNumber The number of the particular module type
- * @param channel The channel number the device is plugged into (usually PWM)
- */
- protected final void setName(String moduleType, int moduleNumber, int channel) {
- m_sendableImpl.setName(moduleType, moduleNumber, channel);
- }
-
- @Override
- public final synchronized String getSubsystem() {
- return m_sendableImpl.getSubsystem();
- }
-
- @Override
- public final synchronized void setSubsystem(String subsystem) {
- m_sendableImpl.setSubsystem(subsystem);
- }
-
- /**
- * Add a child component.
- *
- * @param child child component
- */
- protected final void addChild(Object child) {
- m_sendableImpl.addChild(child);
}
/**
@@ -144,19 +82,6 @@
public abstract String getDescription();
/**
- * Limit motor values to the -1.0 to +1.0 range.
- */
- protected double limit(double value) {
- if (value > 1.0) {
- return 1.0;
- }
- if (value < -1.0) {
- return -1.0;
- }
- return value;
- }
-
- /**
* Returns 0.0 if the given value is within the specified range around zero. The remaining range
* between the deadband and 1.0 is scaled from 0.0 to 1.0.
*
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/filters/Filter.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/filters/Filter.java
index 26312f8..257d36a 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/filters/Filter.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/filters/Filter.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,7 +12,10 @@
/**
* Superclass for filters.
+ *
+ * @deprecated This class is no longer used.
*/
+@Deprecated(since = "2020", forRemoval = true)
public abstract class Filter implements PIDSource {
private final PIDSource m_source;
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/filters/LinearDigitalFilter.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/filters/LinearDigitalFilter.java
index 65e84b5..cbeb4aa 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/filters/LinearDigitalFilter.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/filters/LinearDigitalFilter.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -11,8 +11,8 @@
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
-import edu.wpi.first.wpilibj.CircularBuffer;
import edu.wpi.first.wpilibj.PIDSource;
+import edu.wpi.first.wpiutil.CircularBuffer;
/**
* This class implements a linear, digital filter. All types of FIR and IIR filters are supported.
@@ -50,7 +50,10 @@
* that works well for you at, say, 100Hz, you will most definitely need to adjust the gains if you
* then want to run it at 200Hz! Combining this with Note 1 - the impetus is on YOU as a developer
* to make sure PIDGet() gets called at the desired, constant frequency!
+ *
+ * @deprecated Use LinearFilter class instead.
*/
+@Deprecated
public class LinearDigitalFilter extends Filter {
private static int instances;
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/geometry/Pose2d.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/geometry/Pose2d.java
new file mode 100644
index 0000000..f3f76a7
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/geometry/Pose2d.java
@@ -0,0 +1,223 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.geometry;
+
+import java.util.Objects;
+
+/**
+ * Represents a 2d pose containing translational and rotational elements.
+ */
+public class Pose2d {
+ private final Translation2d m_translation;
+ private final Rotation2d m_rotation;
+
+ /**
+ * Constructs a pose at the origin facing toward the positive X axis.
+ * (Translation2d{0, 0} and Rotation{0})
+ */
+ public Pose2d() {
+ m_translation = new Translation2d();
+ m_rotation = new Rotation2d();
+ }
+
+ /**
+ * Constructs a pose with the specified translation and rotation.
+ *
+ * @param translation The translational component of the pose.
+ * @param rotation The rotational component of the pose.
+ */
+ public Pose2d(Translation2d translation, Rotation2d rotation) {
+ m_translation = translation;
+ m_rotation = rotation;
+ }
+
+ /**
+ * Convenience constructors that takes in x and y values directly instead of
+ * having to construct a Translation2d.
+ *
+ * @param x The x component of the translational component of the pose.
+ * @param y The y component of the translational component of the pose.
+ * @param rotation The rotational component of the pose.
+ */
+ @SuppressWarnings("ParameterName")
+ public Pose2d(double x, double y, Rotation2d rotation) {
+ m_translation = new Translation2d(x, y);
+ m_rotation = rotation;
+ }
+
+ /**
+ * Transforms the pose by the given transformation and returns the new
+ * transformed pose.
+ *
+ * <p>The matrix multiplication is as follows
+ * [x_new] [cos, -sin, 0][transform.x]
+ * [y_new] += [sin, cos, 0][transform.y]
+ * [t_new] [0, 0, 1][transform.t]
+ *
+ * @param other The transform to transform the pose by.
+ * @return The transformed pose.
+ */
+ public Pose2d plus(Transform2d other) {
+ return transformBy(other);
+ }
+
+ /**
+ * Returns the Transform2d that maps the one pose to another.
+ *
+ * @param other The initial pose of the transformation.
+ * @return The transform that maps the other pose to the current pose.
+ */
+ public Transform2d minus(Pose2d other) {
+ final var pose = this.relativeTo(other);
+ return new Transform2d(pose.getTranslation(), pose.getRotation());
+ }
+
+ /**
+ * Returns the translation component of the transformation.
+ *
+ * @return The translational component of the pose.
+ */
+ public Translation2d getTranslation() {
+ return m_translation;
+ }
+
+ /**
+ * Returns the rotational component of the transformation.
+ *
+ * @return The rotational component of the pose.
+ */
+ public Rotation2d getRotation() {
+ return m_rotation;
+ }
+
+ /**
+ * Transforms the pose by the given transformation and returns the new pose.
+ * See + operator for the matrix multiplication performed.
+ *
+ * @param other The transform to transform the pose by.
+ * @return The transformed pose.
+ */
+ public Pose2d transformBy(Transform2d other) {
+ return new Pose2d(m_translation.plus(other.getTranslation().rotateBy(m_rotation)),
+ m_rotation.plus(other.getRotation()));
+ }
+
+ /**
+ * Returns the other pose relative to the current pose.
+ *
+ * <p>This function can often be used for trajectory tracking or pose
+ * stabilization algorithms to get the error between the reference and the
+ * current pose.
+ *
+ * @param other The pose that is the origin of the new coordinate frame that
+ * the current pose will be converted into.
+ * @return The current pose relative to the new origin pose.
+ */
+ public Pose2d relativeTo(Pose2d other) {
+ var transform = new Transform2d(other, this);
+ return new Pose2d(transform.getTranslation(), transform.getRotation());
+ }
+
+ /**
+ * Obtain a new Pose2d from a (constant curvature) velocity.
+ *
+ * <p>See <a href="https://file.tavsys.net/control/state-space-guide.pdf">
+ * Controls Engineering in the FIRST Robotics Competition</a>
+ * section on nonlinear pose estimation for derivation.
+ *
+ * <p>The twist is a change in pose in the robot's coordinate frame since the
+ * previous pose update. When the user runs exp() on the previous known
+ * field-relative pose with the argument being the twist, the user will
+ * receive the new field-relative pose.
+ *
+ * <p>"Exp" represents the pose exponential, which is solving a differential
+ * equation moving the pose forward in time.
+ *
+ * @param twist The change in pose in the robot's coordinate frame since the
+ * previous pose update. For example, if a non-holonomic robot moves forward
+ * 0.01 meters and changes angle by .5 degrees since the previous pose update,
+ * the twist would be Twist2d{0.01, 0.0, toRadians(0.5)}
+ * @return The new pose of the robot.
+ */
+ @SuppressWarnings("LocalVariableName")
+ public Pose2d exp(Twist2d twist) {
+ double dx = twist.dx;
+ double dy = twist.dy;
+ double dtheta = twist.dtheta;
+
+ double sinTheta = Math.sin(dtheta);
+ double cosTheta = Math.cos(dtheta);
+
+ double s;
+ double c;
+ if (Math.abs(dtheta) < 1E-9) {
+ s = 1.0 - 1.0 / 6.0 * dtheta * dtheta;
+ c = 0.5 * dtheta;
+ } else {
+ s = sinTheta / dtheta;
+ c = (1 - cosTheta) / dtheta;
+ }
+ var transform = new Transform2d(new Translation2d(dx * s - dy * c, dx * c + dy * s),
+ new Rotation2d(cosTheta, sinTheta));
+
+ return this.plus(transform);
+ }
+
+ /**
+ * Returns a Twist2d that maps this pose to the end pose. If c is the output
+ * of a.Log(b), then a.Exp(c) would yield b.
+ *
+ * @param end The end pose for the transformation.
+ * @return The twist that maps this to end.
+ */
+ public Twist2d log(Pose2d end) {
+ final var transform = end.relativeTo(this);
+ final var dtheta = transform.getRotation().getRadians();
+ final var halfDtheta = dtheta / 2.0;
+
+ final var cosMinusOne = transform.getRotation().getCos() - 1;
+
+ double halfThetaByTanOfHalfDtheta;
+ if (Math.abs(cosMinusOne) < 1E-9) {
+ halfThetaByTanOfHalfDtheta = 1.0 - 1.0 / 12.0 * dtheta * dtheta;
+ } else {
+ halfThetaByTanOfHalfDtheta = -(halfDtheta * transform.getRotation().getSin()) / cosMinusOne;
+ }
+
+ Translation2d translationPart = transform.getTranslation().rotateBy(
+ new Rotation2d(halfThetaByTanOfHalfDtheta, -halfDtheta)
+ ).times(Math.hypot(halfThetaByTanOfHalfDtheta, halfDtheta));
+
+ return new Twist2d(translationPart.getX(), translationPart.getY(), dtheta);
+ }
+
+ @Override
+ public String toString() {
+ return String.format("Pose2d(%s, %s)", m_translation, m_rotation);
+ }
+
+ /**
+ * Checks equality between this Pose2d and another object.
+ *
+ * @param obj The other object.
+ * @return Whether the two objects are equal or not.
+ */
+ @Override
+ public boolean equals(Object obj) {
+ if (obj instanceof Pose2d) {
+ return ((Pose2d) obj).m_translation.equals(m_translation)
+ && ((Pose2d) obj).m_rotation.equals(m_rotation);
+ }
+ return false;
+ }
+
+ @Override
+ public int hashCode() {
+ return Objects.hash(m_translation, m_rotation);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/geometry/Rotation2d.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/geometry/Rotation2d.java
new file mode 100644
index 0000000..f697a63
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/geometry/Rotation2d.java
@@ -0,0 +1,206 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.geometry;
+
+import java.util.Objects;
+
+/**
+ * A rotation in a 2d coordinate frame represented a point on the unit circle
+ * (cosine and sine).
+ */
+public class Rotation2d {
+ private final double m_value;
+ private final double m_cos;
+ private final double m_sin;
+
+ /**
+ * Constructs a Rotation2d with a default angle of 0 degrees.
+ */
+ public Rotation2d() {
+ m_value = 0.0;
+ m_cos = 1.0;
+ m_sin = 0.0;
+ }
+
+ /**
+ * Constructs a Rotation2d with the given radian value.
+ * The x and y don't have to be normalized.
+ *
+ * @param value The value of the angle in radians.
+ */
+ public Rotation2d(double value) {
+ m_value = value;
+ m_cos = Math.cos(value);
+ m_sin = Math.sin(value);
+ }
+
+ /**
+ * Constructs a Rotation2d with the given x and y (cosine and sine)
+ * components.
+ *
+ * @param x The x component or cosine of the rotation.
+ * @param y The y component or sine of the rotation.
+ */
+ @SuppressWarnings("ParameterName")
+ public Rotation2d(double x, double y) {
+ double magnitude = Math.hypot(x, y);
+ if (magnitude > 1e-6) {
+ m_sin = y / magnitude;
+ m_cos = x / magnitude;
+ } else {
+ m_sin = 0.0;
+ m_cos = 1.0;
+ }
+ m_value = Math.atan2(m_sin, m_cos);
+ }
+
+ /**
+ * Constructs and returns a Rotation2d with the given degree value.
+ *
+ * @param degrees The value of the angle in degrees.
+ * @return The rotation object with the desired angle value.
+ */
+ public static Rotation2d fromDegrees(double degrees) {
+ return new Rotation2d(Math.toRadians(degrees));
+ }
+
+ /**
+ * Adds two rotations together, with the result being bounded between -pi and
+ * pi.
+ *
+ * <p>For example, Rotation2d.fromDegrees(30) + Rotation2d.fromDegrees(60) =
+ * Rotation2d{-pi/2}
+ *
+ * @param other The rotation to add.
+ * @return The sum of the two rotations.
+ */
+ public Rotation2d plus(Rotation2d other) {
+ return rotateBy(other);
+ }
+
+ /**
+ * Subtracts the new rotation from the current rotation and returns the new
+ * rotation.
+ *
+ * <p>For example, Rotation2d.fromDegrees(10) - Rotation2d.fromDegrees(100) =
+ * Rotation2d{-pi/2}
+ *
+ * @param other The rotation to subtract.
+ * @return The difference between the two rotations.
+ */
+ public Rotation2d minus(Rotation2d other) {
+ return rotateBy(other.unaryMinus());
+ }
+
+ /**
+ * Takes the inverse of the current rotation. This is simply the negative of
+ * the current angular value.
+ *
+ * @return The inverse of the current rotation.
+ */
+ public Rotation2d unaryMinus() {
+ return new Rotation2d(-m_value);
+ }
+
+ /**
+ * Multiplies the current rotation by a scalar.
+ *
+ * @param scalar The scalar.
+ * @return The new scaled Rotation2d.
+ */
+ public Rotation2d times(double scalar) {
+ return new Rotation2d(m_value * scalar);
+ }
+
+ /**
+ * Adds the new rotation to the current rotation using a rotation matrix.
+ *
+ * <p>The matrix multiplication is as follows:
+ * [cos_new] [other.cos, -other.sin][cos]
+ * [sin_new] = [other.sin, other.cos][sin]
+ * value_new = atan2(cos_new, sin_new)
+ *
+ * @param other The rotation to rotate by.
+ * @return The new rotated Rotation2d.
+ */
+ public Rotation2d rotateBy(Rotation2d other) {
+ return new Rotation2d(
+ m_cos * other.m_cos - m_sin * other.m_sin,
+ m_cos * other.m_sin + m_sin * other.m_cos
+ );
+ }
+
+ /*
+ * Returns the radian value of the rotation.
+ *
+ * @return The radian value of the rotation.
+ */
+ public double getRadians() {
+ return m_value;
+ }
+
+ /**
+ * Returns the degree value of the rotation.
+ *
+ * @return The degree value of the rotation.
+ */
+ public double getDegrees() {
+ return Math.toDegrees(m_value);
+ }
+
+ /**
+ * Returns the cosine of the rotation.
+ *
+ * @return The cosine of the rotation.
+ */
+ public double getCos() {
+ return m_cos;
+ }
+
+ /**
+ * Returns the sine of the rotation.
+ *
+ * @return The sine of the rotation.
+ */
+ public double getSin() {
+ return m_sin;
+ }
+
+ /**
+ * Returns the tangent of the rotation.
+ *
+ * @return The tangent of the rotation.
+ */
+ public double getTan() {
+ return m_sin / m_cos;
+ }
+
+ @Override
+ public String toString() {
+ return String.format("Rotation2d(Rads: %.2f, Deg: %.2f)", m_value, Math.toDegrees(m_value));
+ }
+
+ /**
+ * Checks equality between this Rotation2d and another object.
+ *
+ * @param obj The other object.
+ * @return Whether the two objects are equal or not.
+ */
+ @Override
+ public boolean equals(Object obj) {
+ if (obj instanceof Rotation2d) {
+ return Math.abs(((Rotation2d) obj).m_value - m_value) < 1E-9;
+ }
+ return false;
+ }
+
+ @Override
+ public int hashCode() {
+ return Objects.hash(m_value);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/geometry/Transform2d.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/geometry/Transform2d.java
new file mode 100644
index 0000000..507ebfe
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/geometry/Transform2d.java
@@ -0,0 +1,106 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.geometry;
+
+import java.util.Objects;
+
+/**
+ * Represents a transformation for a Pose2d.
+ */
+public class Transform2d {
+ private final Translation2d m_translation;
+ private final Rotation2d m_rotation;
+
+ /**
+ * Constructs the transform that maps the initial pose to the final pose.
+ *
+ * @param initial The initial pose for the transformation.
+ * @param last The final pose for the transformation.
+ */
+ public Transform2d(Pose2d initial, Pose2d last) {
+ // We are rotating the difference between the translations
+ // using a clockwise rotation matrix. This transforms the global
+ // delta into a local delta (relative to the initial pose).
+ m_translation = last.getTranslation().minus(initial.getTranslation())
+ .rotateBy(initial.getRotation().unaryMinus());
+
+ m_rotation = last.getRotation().minus(initial.getRotation());
+ }
+
+ /**
+ * Constructs a transform with the given translation and rotation components.
+ *
+ * @param translation Translational component of the transform.
+ * @param rotation Rotational component of the transform.
+ */
+ public Transform2d(Translation2d translation, Rotation2d rotation) {
+ m_translation = translation;
+ m_rotation = rotation;
+ }
+
+ /**
+ * Constructs the identity transform -- maps an initial pose to itself.
+ */
+ public Transform2d() {
+ m_translation = new Translation2d();
+ m_rotation = new Rotation2d();
+ }
+
+ /**
+ * Scales the transform by the scalar.
+ *
+ * @param scalar The scalar.
+ * @return The scaled Transform2d.
+ */
+ public Transform2d times(double scalar) {
+ return new Transform2d(m_translation.times(scalar), m_rotation.times(scalar));
+ }
+
+ /**
+ * Returns the translation component of the transformation.
+ *
+ * @return The translational component of the transform.
+ */
+ public Translation2d getTranslation() {
+ return m_translation;
+ }
+
+ /**
+ * Returns the rotational component of the transformation.
+ *
+ * @return Reference to the rotational component of the transform.
+ */
+ public Rotation2d getRotation() {
+ return m_rotation;
+ }
+
+ @Override
+ public String toString() {
+ return String.format("Transform2d(%s, %s)", m_translation, m_rotation);
+ }
+
+ /**
+ * Checks equality between this Transform2d and another object.
+ *
+ * @param obj The other object.
+ * @return Whether the two objects are equal or not.
+ */
+ @Override
+ public boolean equals(Object obj) {
+ if (obj instanceof Transform2d) {
+ return ((Transform2d) obj).m_translation.equals(m_translation)
+ && ((Transform2d) obj).m_rotation.equals(m_rotation);
+ }
+ return false;
+ }
+
+ @Override
+ public int hashCode() {
+ return Objects.hash(m_translation, m_rotation);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/geometry/Translation2d.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/geometry/Translation2d.java
new file mode 100644
index 0000000..49bd3f5
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/geometry/Translation2d.java
@@ -0,0 +1,192 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.geometry;
+
+import java.util.Objects;
+
+/**
+ * Represents a translation in 2d space.
+ * This object can be used to represent a point or a vector.
+ *
+ * <p>This assumes that you are using conventional mathematical axes.
+ * When the robot is placed on the origin, facing toward the X direction,
+ * moving forward increases the X, whereas moving to the left increases the Y.
+ */
+@SuppressWarnings({"ParameterName", "MemberName"})
+public class Translation2d {
+ private final double m_x;
+ private final double m_y;
+
+ /**
+ * Constructs a Translation2d with X and Y components equal to zero.
+ */
+ public Translation2d() {
+ this(0.0, 0.0);
+ }
+
+ /**
+ * Constructs a Translation2d with the X and Y components equal to the
+ * provided values.
+ *
+ * @param x The x component of the translation.
+ * @param y The y component of the translation.
+ */
+ public Translation2d(double x, double y) {
+ m_x = x;
+ m_y = y;
+ }
+
+ /**
+ * Calculates the distance between two translations in 2d space.
+ *
+ * <p>This function uses the pythagorean theorem to calculate the distance.
+ * distance = sqrt((x2 - x1)^2 + (y2 - y1)^2)
+ *
+ * @param other The translation to compute the distance to.
+ * @return The distance between the two translations.
+ */
+ public double getDistance(Translation2d other) {
+ return Math.hypot(other.m_x - m_x, other.m_y - m_y);
+ }
+
+ /**
+ * Returns the X component of the translation.
+ *
+ * @return The x component of the translation.
+ */
+ public double getX() {
+ return m_x;
+ }
+
+ /**
+ * Returns the Y component of the translation.
+ *
+ * @return The y component of the translation.
+ */
+ public double getY() {
+ return m_y;
+ }
+
+ /**
+ * Returns the norm, or distance from the origin to the translation.
+ *
+ * @return The norm of the translation.
+ */
+ public double getNorm() {
+ return Math.hypot(m_x, m_y);
+ }
+
+ /**
+ * Applies a rotation to the translation in 2d space.
+ *
+ * <p>This multiplies the translation vector by a counterclockwise rotation
+ * matrix of the given angle.
+ * [x_new] [other.cos, -other.sin][x]
+ * [y_new] = [other.sin, other.cos][y]
+ *
+ * <p>For example, rotating a Translation2d of {2, 0} by 90 degrees will return a
+ * Translation2d of {0, 2}.
+ *
+ * @param other The rotation to rotate the translation by.
+ * @return The new rotated translation.
+ */
+ public Translation2d rotateBy(Rotation2d other) {
+ return new Translation2d(
+ m_x * other.getCos() - m_y * other.getSin(),
+ m_x * other.getSin() + m_y * other.getCos()
+ );
+ }
+
+ /**
+ * Adds two translations in 2d space and returns the sum. This is similar to
+ * vector addition.
+ *
+ * <p>For example, Translation2d{1.0, 2.5} + Translation2d{2.0, 5.5} =
+ * Translation2d{3.0, 8.0}
+ *
+ * @param other The translation to add.
+ * @return The sum of the translations.
+ */
+ public Translation2d plus(Translation2d other) {
+ return new Translation2d(m_x + other.m_x, m_y + other.m_y);
+ }
+
+ /**
+ * Subtracts the other translation from the other translation and returns the
+ * difference.
+ *
+ * <p>For example, Translation2d{5.0, 4.0} - Translation2d{1.0, 2.0} =
+ * Translation2d{4.0, 2.0}
+ *
+ * @param other The translation to subtract.
+ * @return The difference between the two translations.
+ */
+ public Translation2d minus(Translation2d other) {
+ return new Translation2d(m_x - other.m_x, m_y - other.m_y);
+ }
+
+ /**
+ * Returns the inverse of the current translation. This is equivalent to
+ * rotating by 180 degrees, flipping the point over both axes, or simply
+ * negating both components of the translation.
+ *
+ * @return The inverse of the current translation.
+ */
+ public Translation2d unaryMinus() {
+ return new Translation2d(-m_x, -m_y);
+ }
+
+ /**
+ * Multiplies the translation by a scalar and returns the new translation.
+ *
+ * <p>For example, Translation2d{2.0, 2.5} * 2 = Translation2d{4.0, 5.0}
+ *
+ * @param scalar The scalar to multiply by.
+ * @return The scaled translation.
+ */
+ public Translation2d times(double scalar) {
+ return new Translation2d(m_x * scalar, m_y * scalar);
+ }
+
+ /**
+ * Divides the translation by a scalar and returns the new translation.
+ *
+ * <p>For example, Translation2d{2.0, 2.5} / 2 = Translation2d{1.0, 1.25}
+ *
+ * @param scalar The scalar to multiply by.
+ * @return The reference to the new mutated object.
+ */
+ public Translation2d div(double scalar) {
+ return new Translation2d(m_x / scalar, m_y / scalar);
+ }
+
+ @Override
+ public String toString() {
+ return String.format("Translation2d(X: %.2f, Y: %.2f)", m_x, m_y);
+ }
+
+ /**
+ * Checks equality between this Translation2d and another object.
+ *
+ * @param obj The other object.
+ * @return Whether the two objects are equal or not.
+ */
+ @Override
+ public boolean equals(Object obj) {
+ if (obj instanceof Translation2d) {
+ return Math.abs(((Translation2d) obj).m_x - m_x) < 1E-9
+ && Math.abs(((Translation2d) obj).m_y - m_y) < 1E-9;
+ }
+ return false;
+ }
+
+ @Override
+ public int hashCode() {
+ return Objects.hash(m_x, m_y);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/geometry/Twist2d.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/geometry/Twist2d.java
new file mode 100644
index 0000000..f2def81
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/geometry/Twist2d.java
@@ -0,0 +1,76 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.geometry;
+
+import java.util.Objects;
+
+/**
+ * A change in distance along arc since the last pose update. We can use ideas
+ * from differential calculus to create new Pose2ds from a Twist2d and vise
+ * versa.
+ *
+ * <p>A Twist can be used to represent a difference between two poses.
+ */
+@SuppressWarnings("MemberName")
+public class Twist2d {
+ /**
+ * Linear "dx" component.
+ */
+ public double dx;
+
+ /**
+ * Linear "dy" component.
+ */
+ public double dy;
+
+ /**
+ * Angular "dtheta" component (radians).
+ */
+ public double dtheta;
+
+ public Twist2d() {
+ }
+
+ /**
+ * Constructs a Twist2d with the given values.
+ * @param dx Change in x direction relative to robot.
+ * @param dy Change in y direction relative to robot.
+ * @param dtheta Change in angle relative to robot.
+ */
+ public Twist2d(double dx, double dy, double dtheta) {
+ this.dx = dx;
+ this.dy = dy;
+ this.dtheta = dtheta;
+ }
+
+ @Override
+ public String toString() {
+ return String.format("Twist2d(dX: %.2f, dY: %.2f, dTheta: %.2f)", dx, dy, dtheta);
+ }
+
+ /**
+ * Checks equality between this Twist2d and another object.
+ *
+ * @param obj The other object.
+ * @return Whether the two objects are equal or not.
+ */
+ @Override
+ public boolean equals(Object obj) {
+ if (obj instanceof Twist2d) {
+ return Math.abs(((Twist2d) obj).dx - dx) < 1E-9
+ && Math.abs(((Twist2d) obj).dy - dy) < 1E-9
+ && Math.abs(((Twist2d) obj).dtheta - dtheta) < 1E-9;
+ }
+ return false;
+ }
+
+ @Override
+ public int hashCode() {
+ return Objects.hash(dx, dy, dtheta);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Gyro.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Gyro.java
index 4a5b2de..a21e6d5 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Gyro.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Gyro.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -56,10 +56,4 @@
* @return the current rate in degrees per second
*/
double getRate();
-
- /**
- * Free the resources used by the gyro.
- */
- @Deprecated
- void free();
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/ChassisSpeeds.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/ChassisSpeeds.java
new file mode 100644
index 0000000..e16f0a0
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/ChassisSpeeds.java
@@ -0,0 +1,85 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.kinematics;
+
+
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
+
+/**
+ * Represents the speed of a robot chassis. Although this struct contains
+ * similar members compared to a Twist2d, they do NOT represent the same thing.
+ * Whereas a Twist2d represents a change in pose w.r.t to the robot frame of reference,
+ * this ChassisSpeeds struct represents a velocity w.r.t to the robot frame of
+ * reference.
+ *
+ * <p>A strictly non-holonomic drivetrain, such as a differential drive, should
+ * never have a dy component because it can never move sideways. Holonomic
+ * drivetrains such as swerve and mecanum will often have all three components.
+ */
+@SuppressWarnings("MemberName")
+public class ChassisSpeeds {
+ /**
+ * Represents forward velocity w.r.t the robot frame of reference. (Fwd is +)
+ */
+ public double vxMetersPerSecond;
+
+ /**
+ * Represents sideways velocity w.r.t the robot frame of reference. (Left is +)
+ */
+ public double vyMetersPerSecond;
+
+ /**
+ * Represents the angular velocity of the robot frame. (CCW is +)
+ */
+ public double omegaRadiansPerSecond;
+
+ /**
+ * Constructs a ChassisSpeeds with zeros for dx, dy, and theta.
+ */
+ public ChassisSpeeds() {
+ }
+
+ /**
+ * Constructs a ChassisSpeeds object.
+ *
+ * @param vxMetersPerSecond Forward velocity.
+ * @param vyMetersPerSecond Sideways velocity.
+ * @param omegaRadiansPerSecond Angular velocity.
+ */
+ public ChassisSpeeds(double vxMetersPerSecond, double vyMetersPerSecond,
+ double omegaRadiansPerSecond) {
+ this.vxMetersPerSecond = vxMetersPerSecond;
+ this.vyMetersPerSecond = vyMetersPerSecond;
+ this.omegaRadiansPerSecond = omegaRadiansPerSecond;
+ }
+
+ /**
+ * Converts a user provided field-relative set of speeds into a robot-relative
+ * ChassisSpeeds object.
+ *
+ * @param vxMetersPerSecond The component of speed in the x direction relative to the field.
+ * Positive x is away from your alliance wall.
+ * @param vyMetersPerSecond The component of speed in the y direction relative to the field.
+ * Positive y is to your left when standing behind the alliance wall.
+ * @param omegaRadiansPerSecond The angular rate of the robot.
+ * @param robotAngle The angle of the robot as measured by a gyroscope. The robot's
+ * angle is considered to be zero when it is facing directly away
+ * from your alliance station wall. Remember that this should
+ * be CCW positive.
+ * @return ChassisSpeeds object representing the speeds in the robot's frame of reference.
+ */
+ public static ChassisSpeeds fromFieldRelativeSpeeds(
+ double vxMetersPerSecond, double vyMetersPerSecond,
+ double omegaRadiansPerSecond, Rotation2d robotAngle) {
+ return new ChassisSpeeds(
+ vxMetersPerSecond * robotAngle.getCos() + vyMetersPerSecond * robotAngle.getSin(),
+ -vxMetersPerSecond * robotAngle.getSin() + vyMetersPerSecond * robotAngle.getCos(),
+ omegaRadiansPerSecond
+ );
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveKinematics.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveKinematics.java
new file mode 100644
index 0000000..249cea7
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveKinematics.java
@@ -0,0 +1,64 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.kinematics;
+
+/**
+ * Helper class that converts a chassis velocity (dx and dtheta components) to
+ * left and right wheel velocities for a differential drive.
+ *
+ * <p>Inverse kinematics converts a desired chassis speed into left and right
+ * velocity components whereas forward kinematics converts left and right
+ * component velocities into a linear and angular chassis speed.
+ */
+public class DifferentialDriveKinematics {
+ private final double m_trackWidthMeters;
+
+ /**
+ * Constructs a differential drive kinematics object.
+ *
+ * @param trackWidthMeters The track width of the drivetrain. Theoretically, this is
+ * the distance between the left wheels and right wheels.
+ * However, the empirical value may be larger than the physical
+ * measured value due to scrubbing effects.
+ */
+ public DifferentialDriveKinematics(double trackWidthMeters) {
+ m_trackWidthMeters = trackWidthMeters;
+ }
+
+ /**
+ * Returns a chassis speed from left and right component velocities using
+ * forward kinematics.
+ *
+ * @param wheelSpeeds The left and right velocities.
+ * @return The chassis speed.
+ */
+ public ChassisSpeeds toChassisSpeeds(DifferentialDriveWheelSpeeds wheelSpeeds) {
+ return new ChassisSpeeds(
+ (wheelSpeeds.leftMetersPerSecond + wheelSpeeds.rightMetersPerSecond) / 2, 0,
+ (wheelSpeeds.rightMetersPerSecond - wheelSpeeds.leftMetersPerSecond)
+ / m_trackWidthMeters
+ );
+ }
+
+ /**
+ * Returns left and right component velocities from a chassis speed using
+ * inverse kinematics.
+ *
+ * @param chassisSpeeds The linear and angular (dx and dtheta) components that
+ * represent the chassis' speed.
+ * @return The left and right velocities.
+ */
+ public DifferentialDriveWheelSpeeds toWheelSpeeds(ChassisSpeeds chassisSpeeds) {
+ return new DifferentialDriveWheelSpeeds(
+ chassisSpeeds.vxMetersPerSecond - m_trackWidthMeters / 2
+ * chassisSpeeds.omegaRadiansPerSecond,
+ chassisSpeeds.vxMetersPerSecond + m_trackWidthMeters / 2
+ * chassisSpeeds.omegaRadiansPerSecond
+ );
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveOdometry.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveOdometry.java
new file mode 100644
index 0000000..0f411ca
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveOdometry.java
@@ -0,0 +1,123 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.kinematics;
+
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.geometry.Pose2d;
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.geometry.Twist2d;
+
+/**
+ * Class for differential drive odometry. Odometry allows you to track the
+ * robot's position on the field over the course of a match using readings from
+ * 2 encoders and a gyroscope.
+ *
+ * <p>Teams can use odometry during the autonomous period for complex tasks like
+ * path following. Furthermore, odometry can be used for latency compensation
+ * when using computer-vision systems.
+ *
+ * <p>Note: It is important to reset both your encoders to zero before you start
+ * using this class. Only reset your encoders ONCE. You should not reset your
+ * encoders even if you want to reset your robot's pose.
+ */
+public class DifferentialDriveOdometry {
+ private final DifferentialDriveKinematics m_kinematics;
+ private Pose2d m_poseMeters;
+ private double m_prevTimeSeconds = -1;
+
+ private Rotation2d m_previousAngle;
+
+ /**
+ * Constructs a DifferentialDriveOdometry object.
+ *
+ * @param kinematics The differential drive kinematics for your drivetrain.
+ * @param initialPoseMeters The starting position of the robot on the field.
+ */
+ public DifferentialDriveOdometry(DifferentialDriveKinematics kinematics,
+ Pose2d initialPoseMeters) {
+ m_kinematics = kinematics;
+ m_poseMeters = initialPoseMeters;
+ m_previousAngle = initialPoseMeters.getRotation();
+ }
+
+ /**
+ * Constructs a DifferentialDriveOdometry object with the default pose at the origin.
+ *
+ * @param kinematics The differential drive kinematics for your drivetrain.
+ */
+ public DifferentialDriveOdometry(DifferentialDriveKinematics kinematics) {
+ this(kinematics, new Pose2d());
+ }
+
+ /**
+ * Resets the robot's position on the field. Do NOT zero your encoders if you
+ * call this function at any other time except initialization.
+ *
+ * @param poseMeters The position on the field that your robot is at.
+ */
+ public void resetPosition(Pose2d poseMeters) {
+ m_poseMeters = poseMeters;
+ m_previousAngle = poseMeters.getRotation();
+ }
+
+ /**
+ * Returns the position of the robot on the field.
+ * @return The pose of the robot (x and y are in meters).
+ */
+ public Pose2d getPoseMeters() {
+ return m_poseMeters;
+ }
+
+ /**
+ * Updates the robot's position on the field using forward kinematics and
+ * integration of the pose over time. This method takes in the current time as
+ * a parameter to calculate period (difference between two timestamps). The
+ * period is used to calculate the change in distance from a velocity. This
+ * also takes in an angle parameter which is used instead of the
+ * angular rate that is calculated from forward kinematics.
+ *
+ * @param currentTimeSeconds The current time in seconds.
+ * @param angle The current robot angle.
+ * @param wheelSpeeds The current wheel speeds.
+ * @return The new pose of the robot.
+ */
+ public Pose2d updateWithTime(double currentTimeSeconds, Rotation2d angle,
+ DifferentialDriveWheelSpeeds wheelSpeeds) {
+ double period = m_prevTimeSeconds >= 0 ? currentTimeSeconds - m_prevTimeSeconds : 0.0;
+ m_prevTimeSeconds = currentTimeSeconds;
+
+ var chassisState = m_kinematics.toChassisSpeeds(wheelSpeeds);
+ var newPose = m_poseMeters.exp(
+ new Twist2d(chassisState.vxMetersPerSecond * period,
+ chassisState.vyMetersPerSecond * period,
+ angle.minus(m_previousAngle).getRadians()));
+
+ m_previousAngle = angle;
+
+ m_poseMeters = new Pose2d(newPose.getTranslation(), angle);
+ return m_poseMeters;
+ }
+
+ /**
+ * Updates the robot's position on the field using forward kinematics and
+ * integration of the pose over time. This method automatically calculates the
+ * current time to calculate period (difference between two timestamps). The
+ * period is used to calculate the change in distance from a velocity. This
+ * also takes in an angle parameter which is used instead of the
+ * angular rate that is calculated from forward kinematics.
+ *
+ * @param angle The angle of the robot.
+ * @param wheelSpeeds The current wheel speeds.
+ * @return The new pose of the robot.
+ */
+ public Pose2d update(Rotation2d angle,
+ DifferentialDriveWheelSpeeds wheelSpeeds) {
+ return updateWithTime(Timer.getFPGATimestamp(),
+ angle, wheelSpeeds);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveWheelSpeeds.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveWheelSpeeds.java
new file mode 100644
index 0000000..32c5ade
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveWheelSpeeds.java
@@ -0,0 +1,62 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.kinematics;
+
+/**
+ * Represents the wheel speeds for a differential drive drivetrain.
+ */
+@SuppressWarnings("MemberName")
+public class DifferentialDriveWheelSpeeds {
+ /**
+ * Speed of the left side of the robot.
+ */
+ public double leftMetersPerSecond;
+
+ /**
+ * Speed of the right side of the robot.
+ */
+ public double rightMetersPerSecond;
+
+ /**
+ * Constructs a DifferentialDriveWheelSpeeds with zeros for left and right speeds.
+ */
+ public DifferentialDriveWheelSpeeds() {
+ }
+
+ /**
+ * Constructs a DifferentialDriveWheelSpeeds.
+ *
+ * @param leftMetersPerSecond The left speed.
+ * @param rightMetersPerSecond The right speed.
+ */
+ public DifferentialDriveWheelSpeeds(double leftMetersPerSecond, double rightMetersPerSecond) {
+ this.leftMetersPerSecond = leftMetersPerSecond;
+ this.rightMetersPerSecond = rightMetersPerSecond;
+ }
+
+ /**
+ * Normalizes the wheel speeds using some max attainable speed. Sometimes,
+ * after inverse kinematics, the requested speed from a/several modules may be
+ * above the max attainable speed for the driving motor on that module. To fix
+ * this issue, one can "normalize" all the wheel speeds to make sure that all
+ * requested module speeds are below the absolute threshold, while maintaining
+ * the ratio of speeds between modules.
+ *
+ * @param attainableMaxSpeedMetersPerSecond The absolute max speed that a wheel can reach.
+ */
+ public void normalize(double attainableMaxSpeedMetersPerSecond) {
+ double realMaxSpeed = Math.max(Math.abs(leftMetersPerSecond), Math.abs(rightMetersPerSecond));
+
+ if (realMaxSpeed > attainableMaxSpeedMetersPerSecond) {
+ leftMetersPerSecond = leftMetersPerSecond / realMaxSpeed
+ * attainableMaxSpeedMetersPerSecond;
+ rightMetersPerSecond = rightMetersPerSecond / realMaxSpeed
+ * attainableMaxSpeedMetersPerSecond;
+ }
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveKinematics.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveKinematics.java
new file mode 100644
index 0000000..9caad59
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveKinematics.java
@@ -0,0 +1,168 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.kinematics;
+
+import org.ejml.simple.SimpleMatrix;
+
+import edu.wpi.first.wpilibj.geometry.Translation2d;
+
+/**
+ * Helper class that converts a chassis velocity (dx, dy, and dtheta components)
+ * into individual wheel speeds.
+ *
+ * <p>The inverse kinematics (converting from a desired chassis velocity to
+ * individual wheel speeds) uses the relative locations of the wheels with
+ * respect to the center of rotation. The center of rotation for inverse
+ * kinematics is also variable. This means that you can set your set your center
+ * of rotation in a corner of the robot to perform special evasion manuevers.
+ *
+ * <p>Forward kinematics (converting an array of wheel speeds into the overall
+ * chassis motion) is performs the exact opposite of what inverse kinematics
+ * does. Since this is an overdetermined system (more equations than variables),
+ * we use a least-squares approximation.
+ *
+ * <p>The inverse kinematics: [wheelSpeeds] = [wheelLocations] * [chassisSpeeds]
+ * We take the Moore-Penrose pseudoinverse of [wheelLocations] and then
+ * multiply by [wheelSpeeds] to get our chassis speeds.
+ *
+ * <p>Forward kinematics is also used for odometry -- determining the position of
+ * the robot on the field using encoders and a gyro.
+ */
+public class MecanumDriveKinematics {
+ private SimpleMatrix m_inverseKinematics;
+ private final SimpleMatrix m_forwardKinematics;
+
+ private final Translation2d m_frontLeftWheelMeters;
+ private final Translation2d m_frontRightWheelMeters;
+ private final Translation2d m_rearLeftWheelMeters;
+ private final Translation2d m_rearRightWheelMeters;
+
+ private Translation2d m_prevCoR = new Translation2d();
+
+ /**
+ * Constructs a mecanum drive kinematics object.
+ *
+ * @param frontLeftWheelMeters The location of the front-left wheel relative to the
+ * physical center of the robot.
+ * @param frontRightWheelMeters The location of the front-right wheel relative to
+ * the physical center of the robot.
+ * @param rearLeftWheelMeters The location of the rear-left wheel relative to the
+ * physical center of the robot.
+ * @param rearRightWheelMeters The location of the rear-right wheel relative to the
+ * physical center of the robot.
+ */
+ public MecanumDriveKinematics(Translation2d frontLeftWheelMeters,
+ Translation2d frontRightWheelMeters,
+ Translation2d rearLeftWheelMeters,
+ Translation2d rearRightWheelMeters) {
+ m_frontLeftWheelMeters = frontLeftWheelMeters;
+ m_frontRightWheelMeters = frontRightWheelMeters;
+ m_rearLeftWheelMeters = rearLeftWheelMeters;
+ m_rearRightWheelMeters = rearRightWheelMeters;
+
+ m_inverseKinematics = new SimpleMatrix(4, 3);
+
+ setInverseKinematics(frontLeftWheelMeters, frontRightWheelMeters,
+ rearLeftWheelMeters, rearRightWheelMeters);
+ m_forwardKinematics = m_inverseKinematics.pseudoInverse();
+ }
+
+ /**
+ * Performs inverse kinematics to return the wheel speeds from a desired chassis velocity. This
+ * method is often used to convert joystick values into wheel speeds.
+ *
+ * <p>This function also supports variable centers of rotation. During normal
+ * operations, the center of rotation is usually the same as the physical
+ * center of the robot; therefore, the argument is defaulted to that use case.
+ * However, if you wish to change the center of rotation for evasive
+ * manuevers, vision alignment, or for any other use case, you can do so.
+ *
+ * @param chassisSpeeds The desired chassis speed.
+ * @param centerOfRotationMeters The center of rotation. For example, if you set the
+ * center of rotation at one corner of the robot and provide
+ * a chassis speed that only has a dtheta component, the robot
+ * will rotate around that corner.
+ * @return The wheel speeds. Use caution because they are not normalized. Sometimes, a user
+ * input may cause one of the wheel speeds to go above the attainable max velocity. Use
+ * the {@link MecanumDriveWheelSpeeds#normalize(double)} function to rectify this issue.
+ */
+ public MecanumDriveWheelSpeeds toWheelSpeeds(ChassisSpeeds chassisSpeeds,
+ Translation2d centerOfRotationMeters) {
+ // We have a new center of rotation. We need to compute the matrix again.
+ if (!centerOfRotationMeters.equals(m_prevCoR)) {
+ var fl = m_frontLeftWheelMeters.minus(centerOfRotationMeters);
+ var fr = m_frontRightWheelMeters.minus(centerOfRotationMeters);
+ var rl = m_rearLeftWheelMeters.minus(centerOfRotationMeters);
+ var rr = m_rearRightWheelMeters.minus(centerOfRotationMeters);
+
+ setInverseKinematics(fl, fr, rl, rr);
+ m_prevCoR = centerOfRotationMeters;
+ }
+
+ var chassisSpeedsVector = new SimpleMatrix(3, 1);
+ chassisSpeedsVector.setColumn(0, 0,
+ chassisSpeeds.vxMetersPerSecond, chassisSpeeds.vyMetersPerSecond,
+ chassisSpeeds.omegaRadiansPerSecond);
+
+ var wheelsMatrix = m_inverseKinematics.mult(chassisSpeedsVector);
+ return new MecanumDriveWheelSpeeds(
+ wheelsMatrix.get(0, 0),
+ wheelsMatrix.get(1, 0),
+ wheelsMatrix.get(2, 0),
+ wheelsMatrix.get(3, 0)
+ );
+ }
+
+ /**
+ * Performs inverse kinematics. See {@link #toWheelSpeeds(ChassisSpeeds, Translation2d)} for more
+ * information.
+ *
+ * @param chassisSpeeds The desired chassis speed.
+ * @return The wheel speeds.
+ */
+ public MecanumDriveWheelSpeeds toWheelSpeeds(ChassisSpeeds chassisSpeeds) {
+ return toWheelSpeeds(chassisSpeeds, new Translation2d());
+ }
+
+ /**
+ * Performs forward kinematics to return the resulting chassis state from the given wheel speeds.
+ * This method is often used for odometry -- determining the robot's position on the field using
+ * data from the real-world speed of each wheel on the robot.
+ *
+ * @param wheelSpeeds The current mecanum drive wheel speeds.
+ * @return The resulting chassis speed.
+ */
+ public ChassisSpeeds toChassisSpeeds(MecanumDriveWheelSpeeds wheelSpeeds) {
+ var wheelSpeedsMatrix = new SimpleMatrix(4, 1);
+ wheelSpeedsMatrix.setColumn(0, 0,
+ wheelSpeeds.frontLeftMetersPerSecond, wheelSpeeds.frontRightMetersPerSecond,
+ wheelSpeeds.rearLeftMetersPerSecond, wheelSpeeds.rearRightMetersPerSecond
+ );
+ var chassisSpeedsVector = m_forwardKinematics.mult(wheelSpeedsMatrix);
+
+ return new ChassisSpeeds(chassisSpeedsVector.get(0, 0), chassisSpeedsVector.get(1, 0),
+ chassisSpeedsVector.get(2, 0));
+ }
+
+ /**
+ * Construct inverse kinematics matrix from wheel locations.
+ *
+ * @param fl The location of the front-left wheel relative to the physical center of the robot.
+ * @param fr The location of the front-right wheel relative to the physical center of the robot.
+ * @param rl The location of the rear-left wheel relative to the physical center of the robot.
+ * @param rr The location of the rear-right wheel relative to the physical center of the robot.
+ */
+ private void setInverseKinematics(Translation2d fl, Translation2d fr,
+ Translation2d rl, Translation2d rr) {
+ m_inverseKinematics.setRow(0, 0, 1, -1, -(fl.getX() + fl.getY()));
+ m_inverseKinematics.setRow(1, 0, 1, 1, fr.getX() - fr.getY());
+ m_inverseKinematics.setRow(2, 0, 1, 1, rl.getX() - rl.getY());
+ m_inverseKinematics.setRow(3, 0, 1, -1, -(rr.getX() + rr.getY()));
+ m_inverseKinematics = m_inverseKinematics.scale(1.0 / Math.sqrt(2));
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveOdometry.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveOdometry.java
new file mode 100644
index 0000000..3ea8fff
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveOdometry.java
@@ -0,0 +1,116 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.kinematics;
+
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.geometry.Pose2d;
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.geometry.Twist2d;
+
+/**
+ * Class for mecnaum drive odometry. Odometry allows you to track the robot's
+ * position on the field over a course of a match using readings from your
+ * mecanum wheel encoders.
+ *
+ * <p>Teams can use odometry during the autonomous period for complex tasks like
+ * path following. Furthermore, odometry can be used for latency compensation
+ * when using computer-vision systems.
+ */
+public class MecanumDriveOdometry {
+ private final MecanumDriveKinematics m_kinematics;
+ private Pose2d m_poseMeters;
+ private double m_prevTimeSeconds = -1;
+
+ private Rotation2d m_previousAngle;
+
+ /**
+ * Constructs a MecanumDriveOdometry object.
+ *
+ * @param kinematics The mecanum drive kinematics for your drivetrain.
+ * @param initialPoseMeters The starting position of the robot on the field.
+ */
+ public MecanumDriveOdometry(MecanumDriveKinematics kinematics, Pose2d initialPoseMeters) {
+ m_kinematics = kinematics;
+ m_poseMeters = initialPoseMeters;
+ m_previousAngle = initialPoseMeters.getRotation();
+ }
+
+ /**
+ * Constructs a MecanumDriveOdometry object with the default pose at the origin.
+ *
+ * @param kinematics The mecanum drive kinematics for your drivetrain.
+ */
+ public MecanumDriveOdometry(MecanumDriveKinematics kinematics) {
+ this(kinematics, new Pose2d());
+ }
+
+ /**
+ * Resets the robot's position on the field.
+ *
+ * @param poseMeters The position on the field that your robot is at.
+ */
+ public void resetPosition(Pose2d poseMeters) {
+ m_poseMeters = poseMeters;
+ m_previousAngle = poseMeters.getRotation();
+ }
+
+ /**
+ * Returns the position of the robot on the field.
+ * @return The pose of the robot (x and y are in meters).
+ */
+ public Pose2d getPoseMeters() {
+ return m_poseMeters;
+ }
+
+ /**
+ * Updates the robot's position on the field using forward kinematics and
+ * integration of the pose over time. This method takes in the current time as
+ * a parameter to calculate period (difference between two timestamps). The
+ * period is used to calculate the change in distance from a velocity. This
+ * also takes in an angle parameter which is used instead of the
+ * angular rate that is calculated from forward kinematics.
+ *
+ * @param currentTimeSeconds The current time in seconds.
+ * @param angle The angle of the robot.
+ * @param wheelSpeeds The current wheel speeds.
+ * @return The new pose of the robot.
+ */
+ public Pose2d updateWithTime(double currentTimeSeconds, Rotation2d angle,
+ MecanumDriveWheelSpeeds wheelSpeeds) {
+ double period = m_prevTimeSeconds >= 0 ? currentTimeSeconds - m_prevTimeSeconds : 0.0;
+ m_prevTimeSeconds = currentTimeSeconds;
+
+ var chassisState = m_kinematics.toChassisSpeeds(wheelSpeeds);
+ var newPose = m_poseMeters.exp(
+ new Twist2d(chassisState.vxMetersPerSecond * period,
+ chassisState.vyMetersPerSecond * period,
+ angle.minus(m_previousAngle).getRadians()));
+
+ m_previousAngle = angle;
+ m_poseMeters = new Pose2d(newPose.getTranslation(), angle);
+ return m_poseMeters;
+ }
+
+ /**
+ * Updates the robot's position on the field using forward kinematics and
+ * integration of the pose over time. This method automatically calculates the
+ * current time to calculate period (difference between two timestamps). The
+ * period is used to calculate the change in distance from a velocity. This
+ * also takes in an angle parameter which is used instead of the
+ * angular rate that is calculated from forward kinematics.
+ *
+ * @param angle THe angle of the robot.
+ * @param wheelSpeeds The current wheel speeds.
+ * @return The new pose of the robot.
+ */
+ public Pose2d update(Rotation2d angle,
+ MecanumDriveWheelSpeeds wheelSpeeds) {
+ return updateWithTime(Timer.getFPGATimestamp(), angle,
+ wheelSpeeds);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveWheelSpeeds.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveWheelSpeeds.java
new file mode 100644
index 0000000..54ae521
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveWheelSpeeds.java
@@ -0,0 +1,84 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.kinematics;
+
+import java.util.stream.DoubleStream;
+
+@SuppressWarnings("MemberName")
+public class MecanumDriveWheelSpeeds {
+ /**
+ * Speed of the front left wheel.
+ */
+ public double frontLeftMetersPerSecond;
+
+ /**
+ * Speed of the front right wheel.
+ */
+ public double frontRightMetersPerSecond;
+
+ /**
+ * Speed of the rear left wheel.
+ */
+ public double rearLeftMetersPerSecond;
+
+ /**
+ * Speed of the rear right wheel.
+ */
+ public double rearRightMetersPerSecond;
+
+ /**
+ * Constructs a MecanumDriveWheelSpeeds with zeros for all member fields.
+ */
+ public MecanumDriveWheelSpeeds() {
+ }
+
+ /**
+ * Constructs a MecanumDriveWheelSpeeds.
+ *
+ * @param frontLeftMetersPerSecond Speed of the front left wheel.
+ * @param frontRightMetersPerSecond Speed of the front right wheel.
+ * @param rearLeftMetersPerSecond Speed of the rear left wheel.
+ * @param rearRightMetersPerSecond Speed of the rear right wheel.
+ */
+ public MecanumDriveWheelSpeeds(double frontLeftMetersPerSecond,
+ double frontRightMetersPerSecond,
+ double rearLeftMetersPerSecond,
+ double rearRightMetersPerSecond) {
+ this.frontLeftMetersPerSecond = frontLeftMetersPerSecond;
+ this.frontRightMetersPerSecond = frontRightMetersPerSecond;
+ this.rearLeftMetersPerSecond = rearLeftMetersPerSecond;
+ this.rearRightMetersPerSecond = rearRightMetersPerSecond;
+ }
+
+ /**
+ * Normalizes the wheel speeds using some max attainable speed. Sometimes,
+ * after inverse kinematics, the requested speed from a/several modules may be
+ * above the max attainable speed for the driving motor on that module. To fix
+ * this issue, one can "normalize" all the wheel speeds to make sure that all
+ * requested module speeds are below the absolute threshold, while maintaining
+ * the ratio of speeds between modules.
+ *
+ * @param attainableMaxSpeedMetersPerSecond The absolute max speed that a wheel can reach.
+ */
+ public void normalize(double attainableMaxSpeedMetersPerSecond) {
+ double realMaxSpeed = DoubleStream.of(frontLeftMetersPerSecond,
+ frontRightMetersPerSecond, rearLeftMetersPerSecond, rearRightMetersPerSecond)
+ .max().getAsDouble();
+
+ if (realMaxSpeed > attainableMaxSpeedMetersPerSecond) {
+ frontLeftMetersPerSecond = frontLeftMetersPerSecond / realMaxSpeed
+ * attainableMaxSpeedMetersPerSecond;
+ frontRightMetersPerSecond = frontRightMetersPerSecond / realMaxSpeed
+ * attainableMaxSpeedMetersPerSecond;
+ rearLeftMetersPerSecond = rearLeftMetersPerSecond / realMaxSpeed
+ * attainableMaxSpeedMetersPerSecond;
+ rearRightMetersPerSecond = rearRightMetersPerSecond / realMaxSpeed
+ * attainableMaxSpeedMetersPerSecond;
+ }
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveKinematics.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveKinematics.java
new file mode 100644
index 0000000..0da2018
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveKinematics.java
@@ -0,0 +1,195 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.kinematics;
+
+import java.util.Arrays;
+import java.util.Collections;
+
+import org.ejml.simple.SimpleMatrix;
+
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.geometry.Translation2d;
+
+/**
+ * Helper class that converts a chassis velocity (dx, dy, and dtheta components)
+ * into individual module states (speed and angle).
+ *
+ * <p>The inverse kinematics (converting from a desired chassis velocity to
+ * individual module states) uses the relative locations of the modules with
+ * respect to the center of rotation. The center of rotation for inverse
+ * kinematics is also variable. This means that you can set your set your center
+ * of rotation in a corner of the robot to perform special evasion manuevers.
+ *
+ * <p>Forward kinematics (converting an array of module states into the overall
+ * chassis motion) is performs the exact opposite of what inverse kinematics
+ * does. Since this is an overdetermined system (more equations than variables),
+ * we use a least-squares approximation.
+ *
+ * <p>The inverse kinematics: [moduleStates] = [moduleLocations] * [chassisSpeeds]
+ * We take the Moore-Penrose pseudoinverse of [moduleLocations] and then
+ * multiply by [moduleStates] to get our chassis speeds.
+ *
+ * <p>Forward kinematics is also used for odometry -- determining the position of
+ * the robot on the field using encoders and a gyro.
+ */
+public class SwerveDriveKinematics {
+ private final SimpleMatrix m_inverseKinematics;
+ private final SimpleMatrix m_forwardKinematics;
+
+ private final int m_numModules;
+ private final Translation2d[] m_modules;
+ private Translation2d m_prevCoR = new Translation2d();
+
+ /**
+ * Constructs a swerve drive kinematics object. This takes in a variable
+ * number of wheel locations as Translation2ds. The order in which you pass in
+ * the wheel locations is the same order that you will recieve the module
+ * states when performing inverse kinematics. It is also expected that you
+ * pass in the module states in the same order when calling the forward
+ * kinematics methods.
+ *
+ * @param wheelsMeters The locations of the wheels relative to the physical center
+ * of the robot.
+ */
+ public SwerveDriveKinematics(Translation2d... wheelsMeters) {
+ if (wheelsMeters.length < 2) {
+ throw new IllegalArgumentException("A swerve drive requires at least two modules");
+ }
+ m_numModules = wheelsMeters.length;
+ m_modules = Arrays.copyOf(wheelsMeters, m_numModules);
+ m_inverseKinematics = new SimpleMatrix(m_numModules * 2, 3);
+
+ for (int i = 0; i < m_numModules; i++) {
+ m_inverseKinematics.setRow(i * 2 + 0, 0, /* Start Data */ 1, 0, -m_modules[i].getY());
+ m_inverseKinematics.setRow(i * 2 + 1, 0, /* Start Data */ 0, 1, +m_modules[i].getX());
+ }
+ m_forwardKinematics = m_inverseKinematics.pseudoInverse();
+ }
+
+ /**
+ * Performs inverse kinematics to return the module states from a desired
+ * chassis velocity. This method is often used to convert joystick values into
+ * module speeds and angles.
+ *
+ * <p>This function also supports variable centers of rotation. During normal
+ * operations, the center of rotation is usually the same as the physical
+ * center of the robot; therefore, the argument is defaulted to that use case.
+ * However, if you wish to change the center of rotation for evasive
+ * manuevers, vision alignment, or for any other use case, you can do so.
+ *
+ * @param chassisSpeeds The desired chassis speed.
+ * @param centerOfRotationMeters The center of rotation. For example, if you set the
+ * center of rotation at one corner of the robot and provide
+ * a chassis speed that only has a dtheta component, the robot
+ * will rotate around that corner.
+ * @return An array containing the module states. Use caution because these
+ * module states are not normalized. Sometimes, a user input may cause one of
+ * the module speeds to go above the attainable max velocity. Use the
+ * {@link #normalizeWheelSpeeds(SwerveModuleState[], double) normalizeWheelSpeeds}
+ * function to rectify this issue.
+ */
+ @SuppressWarnings({"LocalVariableName", "PMD.AvoidInstantiatingObjectsInLoops"})
+ public SwerveModuleState[] toSwerveModuleStates(ChassisSpeeds chassisSpeeds,
+ Translation2d centerOfRotationMeters) {
+ if (!centerOfRotationMeters.equals(m_prevCoR)) {
+ for (int i = 0; i < m_numModules; i++) {
+ m_inverseKinematics.setRow(i * 2 + 0, 0, /* Start Data */ 1, 0,
+ -m_modules[i].getY() + centerOfRotationMeters.getY());
+ m_inverseKinematics.setRow(i * 2 + 1, 0, /* Start Data */ 0, 1,
+ +m_modules[i].getX() - centerOfRotationMeters.getX());
+ }
+ m_prevCoR = centerOfRotationMeters;
+ }
+
+ var chassisSpeedsVector = new SimpleMatrix(3, 1);
+ chassisSpeedsVector.setColumn(0, 0,
+ chassisSpeeds.vxMetersPerSecond, chassisSpeeds.vyMetersPerSecond,
+ chassisSpeeds.omegaRadiansPerSecond);
+
+ var moduleStatesMatrix = m_inverseKinematics.mult(chassisSpeedsVector);
+ SwerveModuleState[] moduleStates = new SwerveModuleState[m_numModules];
+
+ for (int i = 0; i < m_numModules; i++) {
+ double x = moduleStatesMatrix.get(i * 2, 0);
+ double y = moduleStatesMatrix.get(i * 2 + 1, 0);
+
+ double speed = Math.hypot(x, y);
+ Rotation2d angle = new Rotation2d(x, y);
+
+ moduleStates[i] = new SwerveModuleState(speed, angle);
+ }
+
+ return moduleStates;
+ }
+
+ /**
+ * Performs inverse kinematics. See {@link #toSwerveModuleStates(ChassisSpeeds, Translation2d)}
+ * toSwerveModuleStates for more information.
+ *
+ * @param chassisSpeeds The desired chassis speed.
+ * @return An array containing the module states.
+ */
+ public SwerveModuleState[] toSwerveModuleStates(ChassisSpeeds chassisSpeeds) {
+ return toSwerveModuleStates(chassisSpeeds, new Translation2d());
+ }
+
+ /**
+ * Performs forward kinematics to return the resulting chassis state from the
+ * given module states. This method is often used for odometry -- determining
+ * the robot's position on the field using data from the real-world speed and
+ * angle of each module on the robot.
+ *
+ * @param wheelStates The state of the modules (as a SwerveModuleState type)
+ * as measured from respective encoders and gyros. The order of the swerve
+ * module states should be same as passed into the constructor of this class.
+ * @return The resulting chassis speed.
+ */
+ public ChassisSpeeds toChassisSpeeds(SwerveModuleState... wheelStates) {
+ if (wheelStates.length != m_numModules) {
+ throw new IllegalArgumentException(
+ "Number of modules is not consistent with number of wheel locations provided in "
+ + "constructor"
+ );
+ }
+ var moduleStatesMatrix = new SimpleMatrix(m_numModules * 2, 1);
+
+ for (int i = 0; i < m_numModules; i++) {
+ var module = wheelStates[i];
+ moduleStatesMatrix.set(i * 2, 0, module.speedMetersPerSecond * module.angle.getCos());
+ moduleStatesMatrix.set(i * 2 + 1, module.speedMetersPerSecond * module.angle.getSin());
+ }
+
+ var chassisSpeedsVector = m_forwardKinematics.mult(moduleStatesMatrix);
+ return new ChassisSpeeds(chassisSpeedsVector.get(0, 0), chassisSpeedsVector.get(1, 0),
+ chassisSpeedsVector.get(2, 0));
+
+ }
+
+ /**
+ * Normalizes the wheel speeds using some max attainable speed. Sometimes,
+ * after inverse kinematics, the requested speed from a/several modules may be
+ * above the max attainable speed for the driving motor on that module. To fix
+ * this issue, one can "normalize" all the wheel speeds to make sure that all
+ * requested module speeds are below the absolute threshold, while maintaining
+ * the ratio of speeds between modules.
+ *
+ * @param moduleStates Reference to array of module states. The array will be
+ * mutated with the normalized speeds!
+ * @param attainableMaxSpeedMetersPerSecond The absolute max speed that a module can reach.
+ */
+ public static void normalizeWheelSpeeds(SwerveModuleState[] moduleStates,
+ double attainableMaxSpeedMetersPerSecond) {
+ double realMaxSpeed = Collections.max(Arrays.asList(moduleStates)).speedMetersPerSecond;
+ if (realMaxSpeed > attainableMaxSpeedMetersPerSecond) {
+ for (SwerveModuleState moduleState : moduleStates) {
+ moduleState.speedMetersPerSecond = moduleState.speedMetersPerSecond / realMaxSpeed
+ * attainableMaxSpeedMetersPerSecond;
+ }
+ }
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveOdometry.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveOdometry.java
new file mode 100644
index 0000000..2cfea4e
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveOdometry.java
@@ -0,0 +1,119 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.kinematics;
+
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.geometry.Pose2d;
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.geometry.Twist2d;
+
+/**
+ * Class for swerve drive odometry. Odometry allows you to track the robot's
+ * position on the field over a course of a match using readings from your
+ * swerve drive encoders and swerve azimuth encoders.
+ *
+ * <p>Teams can use odometry during the autonomous period for complex tasks like
+ * path following. Furthermore, odometry can be used for latency compensation
+ * when using computer-vision systems.
+ */
+public class SwerveDriveOdometry {
+ private final SwerveDriveKinematics m_kinematics;
+ private Pose2d m_poseMeters;
+ private double m_prevTimeSeconds = -1;
+
+ private Rotation2d m_previousAngle;
+
+ /**
+ * Constructs a SwerveDriveOdometry object.
+ *
+ * @param kinematics The swerve drive kinematics for your drivetrain.
+ * @param initialPose The starting position of the robot on the field.
+ */
+ public SwerveDriveOdometry(SwerveDriveKinematics kinematics, Pose2d initialPose) {
+ m_kinematics = kinematics;
+ m_poseMeters = initialPose;
+ m_previousAngle = initialPose.getRotation();
+ }
+
+ /**
+ * Constructs a SwerveDriveOdometry object with the default pose at the origin.
+ *
+ * @param kinematics The swerve drive kinematics for your drivetrain.
+ */
+ public SwerveDriveOdometry(SwerveDriveKinematics kinematics) {
+ this(kinematics, new Pose2d());
+ }
+
+ /**
+ * Resets the robot's position on the field.
+ *
+ * @param pose The position on the field that your robot is at.
+ */
+ public void resetPosition(Pose2d pose) {
+ m_poseMeters = pose;
+ m_previousAngle = pose.getRotation();
+ }
+
+ /**
+ * Returns the position of the robot on the field.
+ * @return The pose of the robot (x and y are in meters).
+ */
+ public Pose2d getPoseMeters() {
+ return m_poseMeters;
+ }
+
+ /**
+ * Updates the robot's position on the field using forward kinematics and
+ * integration of the pose over time. This method takes in the current time as
+ * a parameter to calculate period (difference between two timestamps). The
+ * period is used to calculate the change in distance from a velocity. This
+ * also takes in an angle parameter which is used instead of the
+ * angular rate that is calculated from forward kinematics.
+ *
+ * @param currentTimeSeconds The current time in seconds.
+ * @param angle The angle of the robot.
+ * @param moduleStates The current state of all swerve modules. Please provide
+ * the states in the same order in which you instantiated your
+ * SwerveDriveKinematics.
+ * @return The new pose of the robot.
+ */
+ public Pose2d updateWithTime(double currentTimeSeconds, Rotation2d angle,
+ SwerveModuleState... moduleStates) {
+ double period = m_prevTimeSeconds >= 0 ? currentTimeSeconds - m_prevTimeSeconds : 0.0;
+ m_prevTimeSeconds = currentTimeSeconds;
+
+ var chassisState = m_kinematics.toChassisSpeeds(moduleStates);
+ var newPose = m_poseMeters.exp(
+ new Twist2d(chassisState.vxMetersPerSecond * period,
+ chassisState.vyMetersPerSecond * period,
+ angle.minus(m_previousAngle).getRadians()));
+
+ m_previousAngle = angle;
+ m_poseMeters = new Pose2d(newPose.getTranslation(), angle);
+
+ return m_poseMeters;
+ }
+
+ /**
+ * Updates the robot's position on the field using forward kinematics and
+ * integration of the pose over time. This method automatically calculates the
+ * current time to calculate period (difference between two timestamps). The
+ * period is used to calculate the change in distance from a velocity. This
+ * also takes in an angle parameter which is used instead of the angular
+ * rate that is calculated from forward kinematics.
+ *
+ * @param angle The angle of the robot.
+ * @param moduleStates The current state of all swerve modules. Please provide
+ * the states in the same order in which you instantiated your
+ * SwerveDriveKinematics.
+ * @return The new pose of the robot.
+ */
+ public Pose2d update(Rotation2d angle, SwerveModuleState... moduleStates) {
+ return updateWithTime(Timer.getFPGATimestamp(), angle, moduleStates);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveModuleState.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveModuleState.java
new file mode 100644
index 0000000..528776f
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveModuleState.java
@@ -0,0 +1,57 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.kinematics;
+
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
+
+/**
+ * Represents the state of one swerve module.
+ */
+@SuppressWarnings("MemberName")
+public class SwerveModuleState implements Comparable<SwerveModuleState> {
+
+ /**
+ * Speed of the wheel of the module.
+ */
+ public double speedMetersPerSecond;
+
+ /**
+ * Angle of the module.
+ */
+ public Rotation2d angle = Rotation2d.fromDegrees(0);
+
+ /**
+ * Constructs a SwerveModuleState with zeros for speed and angle.
+ */
+ public SwerveModuleState() {
+ }
+
+ /**
+ * Constructs a SwerveModuleState.
+ *
+ * @param speedMetersPerSecond The speed of the wheel of the module.
+ * @param angle The angle of the module.
+ */
+ public SwerveModuleState(double speedMetersPerSecond, Rotation2d angle) {
+ this.speedMetersPerSecond = speedMetersPerSecond;
+ this.angle = angle;
+ }
+
+ /**
+ * Compares two swerve module states. One swerve module is "greater" than the other if its speed
+ * is higher than the other.
+ *
+ * @param o The other swerve module.
+ * @return 1 if this is greater, 0 if both are equal, -1 if other is greater.
+ */
+ @Override
+ @SuppressWarnings("ParameterName")
+ public int compareTo(SwerveModuleState o) {
+ return Double.compare(this.speedMetersPerSecond, o.speedMetersPerSecond);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindow.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindow.java
index 1cdb4ab..f545b7d 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindow.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindow.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,38 +7,25 @@
package edu.wpi.first.wpilibj.livewindow;
-import java.util.HashMap;
-import java.util.Map;
-
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.Sendable;
import edu.wpi.first.wpilibj.command.Scheduler;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* The LiveWindow class is the public interface for putting sensors and actuators on the
* LiveWindow.
*/
-@SuppressWarnings("PMD.TooManyMethods")
public class LiveWindow {
private static class Component {
- Component(Sendable sendable, Sendable parent) {
- m_sendable = sendable;
- m_parent = parent;
- }
-
- final Sendable m_sendable;
- Sendable m_parent;
- final SendableBuilderImpl m_builder = new SendableBuilderImpl();
boolean m_firstTime = true;
boolean m_telemetryEnabled = true;
}
- @SuppressWarnings("PMD.UseConcurrentHashMap")
- private static final Map<Object, Component> components = new HashMap<>();
+ private static final int dataHandle = SendableRegistry.getDataHandle();
private static final NetworkTable liveWindowTable =
NetworkTableInstance.getDefault().getTable("LiveWindow");
private static final NetworkTable statusTable = liveWindowTable.getSubTable(".status");
@@ -47,6 +34,15 @@
private static boolean liveWindowEnabled;
private static boolean telemetryEnabled = true;
+ private static Component getOrAdd(Sendable sendable) {
+ Component data = (Component) SendableRegistry.getData(sendable, dataHandle);
+ if (data == null) {
+ data = new Component();
+ SendableRegistry.setData(sendable, dataHandle, data);
+ }
+ return data;
+ }
+
private LiveWindow() {
throw new UnsupportedOperationException("This is a utility class!");
}
@@ -75,9 +71,9 @@
scheduler.removeAll();
} else {
System.out.println("stopping live window mode.");
- for (Component component : components.values()) {
- component.m_builder.stopLiveWindowMode();
- }
+ SendableRegistry.foreachLiveWindow(dataHandle, cbdata -> {
+ cbdata.builder.stopLiveWindowMode();
+ });
scheduler.enable();
}
enabledEntry.setBoolean(enabled);
@@ -85,128 +81,6 @@
}
/**
- * The run method is called repeatedly to keep the values refreshed on the screen in test mode.
- * @deprecated No longer required
- */
- @Deprecated
- public static void run() {
- updateValues();
- }
-
- /**
- * Add a Sensor associated with the subsystem and with call it by the given name.
- *
- * @param subsystem The subsystem this component is part of.
- * @param name The name of this component.
- * @param component A LiveWindowSendable component that represents a sensor.
- * @deprecated Use {@link Sendable#setName(String, String)} instead.
- */
- @Deprecated
- public static synchronized void addSensor(String subsystem, String name, Sendable component) {
- add(component);
- component.setName(subsystem, name);
- }
-
- /**
- * Add Sensor to LiveWindow. The components are shown with the type and channel like this: Gyro[1]
- * for a gyro object connected to the first analog channel.
- *
- * @param moduleType A string indicating the type of the module used in the naming (above)
- * @param channel The channel number the device is connected to
- * @param component A reference to the object being added
- * @deprecated Use {@link edu.wpi.first.wpilibj.SendableBase#setName(String, int)} instead.
- */
- @Deprecated
- public static void addSensor(String moduleType, int channel, Sendable component) {
- add(component);
- component.setName("Ungrouped", moduleType + "[" + channel + "]");
- }
-
- /**
- * Add an Actuator associated with the subsystem and with call it by the given name.
- *
- * @param subsystem The subsystem this component is part of.
- * @param name The name of this component.
- * @param component A LiveWindowSendable component that represents a actuator.
- * @deprecated Use {@link Sendable#setName(String, String)} instead.
- */
- @Deprecated
- public static synchronized void addActuator(String subsystem, String name, Sendable component) {
- add(component);
- component.setName(subsystem, name);
- }
-
- /**
- * Add Actuator to LiveWindow. The components are shown with the module type, slot and channel
- * like this: Servo[1,2] for a servo object connected to the first digital module and PWM port 2.
- *
- * @param moduleType A string that defines the module name in the label for the value
- * @param channel The channel number the device is plugged into (usually PWM)
- * @param component The reference to the object being added
- * @deprecated Use {@link edu.wpi.first.wpilibj.SendableBase#setName(String, int)} instead.
- */
- @Deprecated
- public static void addActuator(String moduleType, int channel, Sendable component) {
- add(component);
- component.setName("Ungrouped", moduleType + "[" + channel + "]");
- }
-
- /**
- * Add Actuator to LiveWindow. The components are shown with the module type, slot and channel
- * like this: Servo[1,2] for a servo object connected to the first digital module and PWM port 2.
- *
- * @param moduleType A string that defines the module name in the label for the value
- * @param moduleNumber The number of the particular module type
- * @param channel The channel number the device is plugged into (usually PWM)
- * @param component The reference to the object being added
- * @deprecated Use {@link edu.wpi.first.wpilibj.SendableBase#setName(String, int, int)} instead.
- */
- @Deprecated
- public static void addActuator(String moduleType, int moduleNumber, int channel,
- Sendable component) {
- add(component);
- component.setName("Ungrouped", moduleType + "[" + moduleNumber + "," + channel + "]");
- }
-
- /**
- * Add a component to the LiveWindow.
- *
- * @param sendable component to add
- */
- public static synchronized void add(Sendable sendable) {
- components.putIfAbsent(sendable, new Component(sendable, null));
- }
-
- /**
- * Add a child component to a component.
- *
- * @param parent parent component
- * @param child child component
- */
- public static synchronized void addChild(Sendable parent, Object child) {
- Component component = components.get(child);
- if (component == null) {
- component = new Component(null, parent);
- components.put(child, component);
- } else {
- component.m_parent = parent;
- }
- component.m_telemetryEnabled = false;
- }
-
- /**
- * Remove a component from the LiveWindow.
- *
- * @param sendable component to remove
- */
- public static synchronized void remove(Sendable sendable) {
- Component component = components.remove(sendable);
- if (component != null && isEnabled()) {
- component.m_builder.stopLiveWindowMode();
- }
- }
-
- /**
* Enable telemetry for a single component.
*
* @param sendable component
@@ -214,10 +88,7 @@
public static synchronized void enableTelemetry(Sendable sendable) {
// Re-enable global setting in case disableAllTelemetry() was called.
telemetryEnabled = true;
- Component component = components.get(sendable);
- if (component != null) {
- component.m_telemetryEnabled = true;
- }
+ getOrAdd(sendable).m_telemetryEnabled = true;
}
/**
@@ -226,10 +97,7 @@
* @param sendable component
*/
public static synchronized void disableTelemetry(Sendable sendable) {
- Component component = components.get(sendable);
- if (component != null) {
- component.m_telemetryEnabled = false;
- }
+ getOrAdd(sendable).m_telemetryEnabled = false;
}
/**
@@ -237,9 +105,12 @@
*/
public static synchronized void disableAllTelemetry() {
telemetryEnabled = false;
- for (Component component : components.values()) {
- component.m_telemetryEnabled = false;
- }
+ SendableRegistry.foreachLiveWindow(dataHandle, cbdata -> {
+ if (cbdata.data == null) {
+ cbdata.data = new Component();
+ }
+ ((Component) cbdata.data).m_telemetryEnabled = false;
+ });
}
/**
@@ -248,48 +119,57 @@
* <p>Actuators are handled through callbacks on their value changing from the
* SmartDashboard widgets.
*/
- @SuppressWarnings("PMD.CyclomaticComplexity")
+ @SuppressWarnings({"PMD.CyclomaticComplexity", "PMD.NPathComplexity"})
public static synchronized void updateValues() {
// Only do this if either LiveWindow mode or telemetry is enabled.
if (!liveWindowEnabled && !telemetryEnabled) {
return;
}
- for (Component component : components.values()) {
- if (component.m_sendable != null && component.m_parent == null
- && (liveWindowEnabled || component.m_telemetryEnabled)) {
- if (component.m_firstTime) {
- // By holding off creating the NetworkTable entries, it allows the
- // components to be redefined. This allows default sensor and actuator
- // values to be created that are replaced with the custom names from
- // users calling setName.
- String name = component.m_sendable.getName();
- if (name.isEmpty()) {
- continue;
- }
- String subsystem = component.m_sendable.getSubsystem();
- NetworkTable ssTable = liveWindowTable.getSubTable(subsystem);
- NetworkTable table;
- // Treat name==subsystem as top level of subsystem
- if (name.equals(subsystem)) {
- table = ssTable;
- } else {
- table = ssTable.getSubTable(name);
- }
- table.getEntry(".name").setString(name);
- component.m_builder.setTable(table);
- component.m_sendable.initSendable(component.m_builder);
- ssTable.getEntry(".type").setString("LW Subsystem");
-
- component.m_firstTime = false;
- }
-
- if (startLiveWindow) {
- component.m_builder.startLiveWindowMode();
- }
- component.m_builder.updateTable();
+ SendableRegistry.foreachLiveWindow(dataHandle, cbdata -> {
+ if (cbdata.sendable == null || cbdata.parent != null) {
+ return;
}
- }
+
+ if (cbdata.data == null) {
+ cbdata.data = new Component();
+ }
+
+ Component component = (Component) cbdata.data;
+
+ if (!liveWindowEnabled && !component.m_telemetryEnabled) {
+ return;
+ }
+
+ if (component.m_firstTime) {
+ // By holding off creating the NetworkTable entries, it allows the
+ // components to be redefined. This allows default sensor and actuator
+ // values to be created that are replaced with the custom names from
+ // users calling setName.
+ if (cbdata.name.isEmpty()) {
+ return;
+ }
+ NetworkTable ssTable = liveWindowTable.getSubTable(cbdata.subsystem);
+ NetworkTable table;
+ // Treat name==subsystem as top level of subsystem
+ if (cbdata.name.equals(cbdata.subsystem)) {
+ table = ssTable;
+ } else {
+ table = ssTable.getSubTable(cbdata.name);
+ }
+ table.getEntry(".name").setString(cbdata.name);
+ cbdata.builder.setTable(table);
+ cbdata.sendable.initSendable(cbdata.builder);
+ ssTable.getEntry(".type").setString("LW Subsystem");
+
+ component.m_firstTime = false;
+ }
+
+ if (startLiveWindow) {
+ cbdata.builder.startLiveWindowMode();
+ }
+ cbdata.builder.updateTable();
+ });
startLiveWindow = false;
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindowSendable.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindowSendable.java
deleted file mode 100644
index 85d88c3..0000000
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindowSendable.java
+++ /dev/null
@@ -1,57 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.wpilibj.livewindow;
-
-import edu.wpi.first.wpilibj.Sendable;
-import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
-
-/**
- * Live Window Sendable is a special type of object sendable to the live window.
- * @deprecated Use Sendable directly instead
- */
-@Deprecated
-public interface LiveWindowSendable extends Sendable {
- /**
- * Update the table for this sendable object with the latest values.
- */
- void updateTable();
-
- /**
- * Start having this sendable object automatically respond to value changes reflect the value on
- * the table.
- */
- void startLiveWindowMode();
-
- /**
- * Stop having this sendable object automatically respond to value changes.
- */
- void stopLiveWindowMode();
-
- @Override
- default String getName() {
- return "";
- }
-
- @Override
- default void setName(String name) {
- }
-
- @Override
- default String getSubsystem() {
- return "";
- }
-
- @Override
- default void setSubsystem(String subsystem) {
- }
-
- @Override
- default void initSendable(SendableBuilder builder) {
- builder.setUpdateTable(this::updateTable);
- }
-}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ContainerHelper.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ContainerHelper.java
index 9cb63a0..a18e4c8 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ContainerHelper.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ContainerHelper.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -15,13 +15,19 @@
import java.util.NoSuchElementException;
import java.util.Objects;
import java.util.Set;
+import java.util.function.BiConsumer;
+import java.util.function.BooleanSupplier;
+import java.util.function.DoubleSupplier;
+import java.util.function.Supplier;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.wpilibj.Sendable;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* A helper class for Shuffleboard containers to handle common child operations.
*/
+@SuppressWarnings("PMD.TooManyMethods")
final class ContainerHelper {
private final ShuffleboardContainer m_container;
private final Set<String> m_usedTitles = new HashSet<>();
@@ -61,10 +67,11 @@
}
ComplexWidget add(Sendable sendable) throws IllegalArgumentException {
- if (sendable.getName() == null || sendable.getName().isEmpty()) {
+ String name = SendableRegistry.getName(sendable);
+ if (name.isEmpty()) {
throw new IllegalArgumentException("Sendable must have a name");
}
- return add(sendable.getName(), sendable);
+ return add(name, sendable);
}
SimpleWidget add(String title, Object defaultValue) {
@@ -79,6 +86,55 @@
return widget;
}
+ SuppliedValueWidget<String> addString(String title, Supplier<String> valueSupplier) {
+ precheck(title, valueSupplier);
+ return addSupplied(title, valueSupplier, NetworkTableEntry::setString);
+ }
+
+ SuppliedValueWidget<Double> addNumber(String title, DoubleSupplier valueSupplier) {
+ precheck(title, valueSupplier);
+ return addSupplied(title, valueSupplier::getAsDouble, NetworkTableEntry::setDouble);
+ }
+
+ SuppliedValueWidget<Boolean> addBoolean(String title, BooleanSupplier valueSupplier) {
+ precheck(title, valueSupplier);
+ return addSupplied(title, valueSupplier::getAsBoolean, NetworkTableEntry::setBoolean);
+ }
+
+ SuppliedValueWidget<String[]> addStringArray(String title, Supplier<String[]> valueSupplier) {
+ precheck(title, valueSupplier);
+ return addSupplied(title, valueSupplier, NetworkTableEntry::setStringArray);
+ }
+
+ SuppliedValueWidget<double[]> addDoubleArray(String title, Supplier<double[]> valueSupplier) {
+ precheck(title, valueSupplier);
+ return addSupplied(title, valueSupplier, NetworkTableEntry::setDoubleArray);
+ }
+
+ SuppliedValueWidget<boolean[]> addBooleanArray(String title, Supplier<boolean[]> valueSupplier) {
+ precheck(title, valueSupplier);
+ return addSupplied(title, valueSupplier, NetworkTableEntry::setBooleanArray);
+ }
+
+ SuppliedValueWidget<byte[]> addRaw(String title, Supplier<byte[]> valueSupplier) {
+ precheck(title, valueSupplier);
+ return addSupplied(title, valueSupplier, NetworkTableEntry::setRaw);
+ }
+
+ private void precheck(String title, Object valueSupplier) {
+ Objects.requireNonNull(title, "Title cannot be null");
+ Objects.requireNonNull(valueSupplier, "Value supplier cannot be null");
+ checkTitle(title);
+ }
+
+ private <T> SuppliedValueWidget<T> addSupplied(String title,
+ Supplier<T> supplier,
+ BiConsumer<NetworkTableEntry, T> setter) {
+ SuppliedValueWidget<T> widget = new SuppliedValueWidget<>(m_container, title, supplier, setter);
+ m_components.add(widget);
+ return widget;
+ }
+
private static void checkNtType(Object data) {
if (!NetworkTableEntry.isValidDataType(data)) {
throw new IllegalArgumentException(
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/SendableCameraWrapper.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/SendableCameraWrapper.java
index 7aa93ee..bb7738f 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/SendableCameraWrapper.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/SendableCameraWrapper.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,13 +12,13 @@
import edu.wpi.cscore.VideoSource;
import edu.wpi.first.wpilibj.Sendable;
-import edu.wpi.first.wpilibj.SendableBase;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* A wrapper to make video sources sendable and usable from Shuffleboard.
*/
-public final class SendableCameraWrapper extends SendableBase {
+public final class SendableCameraWrapper implements Sendable, AutoCloseable {
private static final String kProtocol = "camera_server://";
private static Map<VideoSource, SendableCameraWrapper> m_wrappers = new WeakHashMap<>();
@@ -32,12 +32,16 @@
* @param source the source to wrap
*/
private SendableCameraWrapper(VideoSource source) {
- super(false);
String name = source.getName();
- setName(name);
+ SendableRegistry.add(this, name);
m_uri = kProtocol + name;
}
+ @Override
+ public void close() {
+ SendableRegistry.remove(this);
+ }
+
/**
* Gets a sendable wrapper object for the given video source, creating the wrapper if one does
* not already exist for the source.
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/Shuffleboard.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/Shuffleboard.java
index fbce24a..c16ee99 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/Shuffleboard.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/Shuffleboard.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -57,8 +57,6 @@
private static final RecordingController recordingController =
new RecordingController(NetworkTableInstance.getDefault());
- // TODO usage reporting
-
private Shuffleboard() {
throw new UnsupportedOperationException("This is a utility class and cannot be instantiated");
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardComponent.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardComponent.java
index ba87d82..5d90396 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardComponent.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardComponent.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,10 +8,11 @@
package edu.wpi.first.wpilibj.shuffleboard;
import java.util.Map;
-import java.util.Objects;
import edu.wpi.first.networktables.NetworkTable;
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
/**
* A generic component in Shuffleboard.
*
@@ -30,8 +31,8 @@
private int m_height = -1;
protected ShuffleboardComponent(ShuffleboardContainer parent, String title, String type) {
- m_parent = Objects.requireNonNull(parent, "Parent cannot be null");
- m_title = Objects.requireNonNull(title, "Title cannot be null");
+ m_parent = requireNonNullParam(parent, "parent", "ShuffleboardComponent");
+ m_title = requireNonNullParam(title, "title", "ShuffleboardComponent");
m_type = type;
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardContainer.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardContainer.java
index a322af1..331b7f1 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardContainer.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardContainer.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,9 @@
import java.util.List;
import java.util.NoSuchElementException;
+import java.util.function.BooleanSupplier;
+import java.util.function.DoubleSupplier;
+import java.util.function.Supplier;
import edu.wpi.cscore.VideoSource;
import edu.wpi.first.wpilibj.Sendable;
@@ -16,6 +19,7 @@
/**
* Common interface for objects that can contain shuffleboard components.
*/
+@SuppressWarnings("PMD.TooManyMethods")
public interface ShuffleboardContainer extends ShuffleboardValue {
/**
@@ -80,8 +84,8 @@
/**
* Adds a widget to this container to display the given video stream.
*
- * @param title the title of the widget
- * @param video the video stream to display
+ * @param title the title of the widget
+ * @param video the video stream to display
* @return a widget to display the sendable data
* @throws IllegalArgumentException if a widget already exists in this container with the given
* title
@@ -125,6 +129,104 @@
SimpleWidget add(String title, Object defaultValue) throws IllegalArgumentException;
/**
+ * Adds a widget to this container. The widget will display the data provided by the value
+ * supplier. Changes made on the dashboard will not propagate to the widget object, and will be
+ * overridden by values from the value supplier.
+ *
+ * @param title the title of the widget
+ * @param valueSupplier the supplier for values
+ * @return a widget to display data
+ * @throws IllegalArgumentException if a widget already exists in this container with the given
+ * title
+ */
+ SuppliedValueWidget<String> addString(String title, Supplier<String> valueSupplier)
+ throws IllegalArgumentException;
+
+ /**
+ * Adds a widget to this container. The widget will display the data provided by the value
+ * supplier. Changes made on the dashboard will not propagate to the widget object, and will be
+ * overridden by values from the value supplier.
+ *
+ * @param title the title of the widget
+ * @param valueSupplier the supplier for values
+ * @return a widget to display data
+ * @throws IllegalArgumentException if a widget already exists in this container with the given
+ * title
+ */
+ SuppliedValueWidget<Double> addNumber(String title, DoubleSupplier valueSupplier)
+ throws IllegalArgumentException;
+
+ /**
+ * Adds a widget to this container. The widget will display the data provided by the value
+ * supplier. Changes made on the dashboard will not propagate to the widget object, and will be
+ * overridden by values from the value supplier.
+ *
+ * @param title the title of the widget
+ * @param valueSupplier the supplier for values
+ * @return a widget to display data
+ * @throws IllegalArgumentException if a widget already exists in this container with the given
+ * title
+ */
+ SuppliedValueWidget<Boolean> addBoolean(String title, BooleanSupplier valueSupplier)
+ throws IllegalArgumentException;
+
+ /**
+ * Adds a widget to this container. The widget will display the data provided by the value
+ * supplier. Changes made on the dashboard will not propagate to the widget object, and will be
+ * overridden by values from the value supplier.
+ *
+ * @param title the title of the widget
+ * @param valueSupplier the supplier for values
+ * @return a widget to display data
+ * @throws IllegalArgumentException if a widget already exists in this container with the given
+ * title
+ */
+ SuppliedValueWidget<String[]> addStringArray(String title, Supplier<String[]> valueSupplier)
+ throws IllegalArgumentException;
+
+ /**
+ * Adds a widget to this container. The widget will display the data provided by the value
+ * supplier. Changes made on the dashboard will not propagate to the widget object, and will be
+ * overridden by values from the value supplier.
+ *
+ * @param title the title of the widget
+ * @param valueSupplier the supplier for values
+ * @return a widget to display data
+ * @throws IllegalArgumentException if a widget already exists in this container with the given
+ * title
+ */
+ SuppliedValueWidget<double[]> addDoubleArray(String title, Supplier<double[]> valueSupplier)
+ throws IllegalArgumentException;
+
+ /**
+ * Adds a widget to this container. The widget will display the data provided by the value
+ * supplier. Changes made on the dashboard will not propagate to the widget object, and will be
+ * overridden by values from the value supplier.
+ *
+ * @param title the title of the widget
+ * @param valueSupplier the supplier for values
+ * @return a widget to display data
+ * @throws IllegalArgumentException if a widget already exists in this container with the given
+ * title
+ */
+ SuppliedValueWidget<boolean[]> addBooleanArray(String title, Supplier<boolean[]> valueSupplier)
+ throws IllegalArgumentException;
+
+ /**
+ * Adds a widget to this container. The widget will display the data provided by the value
+ * supplier. Changes made on the dashboard will not propagate to the widget object, and will be
+ * overridden by values from the value supplier.
+ *
+ * @param title the title of the widget
+ * @param valueSupplier the supplier for values
+ * @return a widget to display data
+ * @throws IllegalArgumentException if a widget already exists in this container with the given
+ * title
+ */
+ SuppliedValueWidget<byte[]> addRaw(String title, Supplier<byte[]> valueSupplier)
+ throws IllegalArgumentException;
+
+ /**
* Adds a widget to this container to display a simple piece of data. Unlike
* {@link #add(String, Object)}, the value in the widget will be saved on the robot and will be
* used when the robot program next starts rather than {@code defaultValue}.
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardInstance.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardInstance.java
index 7018da0..8af1d78 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardInstance.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardInstance.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,13 +9,16 @@
import java.util.LinkedHashMap;
import java.util.Map;
-import java.util.Objects;
import java.util.function.Consumer;
+import edu.wpi.first.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.hal.HAL;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
final class ShuffleboardInstance implements ShuffleboardRoot {
private final Map<String, ShuffleboardTab> m_tabs = new LinkedHashMap<>();
@@ -24,16 +27,22 @@
private final NetworkTable m_rootMetaTable;
private final NetworkTableEntry m_selectedTabEntry;
+ /**
+ * Creates a new Shuffleboard instance.
+ *
+ * @param ntInstance the NetworkTables instance to use
+ */
ShuffleboardInstance(NetworkTableInstance ntInstance) {
- Objects.requireNonNull(ntInstance, "NetworkTable instance cannot be null");
+ requireNonNullParam(ntInstance, "ntInstance", "ShuffleboardInstance");
m_rootTable = ntInstance.getTable(Shuffleboard.kBaseTableName);
m_rootMetaTable = m_rootTable.getSubTable(".metadata");
m_selectedTabEntry = m_rootMetaTable.getEntry("Selected");
+ HAL.report(tResourceType.kResourceType_Shuffleboard, 0);
}
@Override
public ShuffleboardTab getTab(String title) {
- Objects.requireNonNull(title, "Tab title cannot be null");
+ requireNonNullParam(title, "title", "getTab");
if (!m_tabs.containsKey(title)) {
m_tabs.put(title, new ShuffleboardTab(this, title));
m_tabsChanged = true;
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardLayout.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardLayout.java
index 2a9d425..8f3014a 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardLayout.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardLayout.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,20 +9,25 @@
import java.util.List;
import java.util.NoSuchElementException;
-import java.util.Objects;
+import java.util.function.BooleanSupplier;
+import java.util.function.DoubleSupplier;
+import java.util.function.Supplier;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.wpilibj.Sendable;
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
/**
* A layout in a Shuffleboard tab. Layouts can contain widgets and other layouts.
*/
+@SuppressWarnings("PMD.TooManyMethods")
public class ShuffleboardLayout extends ShuffleboardComponent<ShuffleboardLayout>
implements ShuffleboardContainer {
private final ContainerHelper m_helper = new ContainerHelper(this);
ShuffleboardLayout(ShuffleboardContainer parent, String name, String type) {
- super(parent, Objects.requireNonNull(type, "Layout type must be specified"), name);
+ super(parent, requireNonNullParam(type, "type", "ShuffleboardLayout"), name);
}
@Override
@@ -56,6 +61,55 @@
}
@Override
+ public SuppliedValueWidget<String> addString(String title,
+ Supplier<String> valueSupplier)
+ throws IllegalArgumentException {
+ return m_helper.addString(title, valueSupplier);
+ }
+
+ @Override
+ public SuppliedValueWidget<Double> addNumber(String title,
+ DoubleSupplier valueSupplier)
+ throws IllegalArgumentException {
+ return m_helper.addNumber(title, valueSupplier);
+ }
+
+ @Override
+ public SuppliedValueWidget<Boolean> addBoolean(String title,
+ BooleanSupplier valueSupplier)
+ throws IllegalArgumentException {
+ return m_helper.addBoolean(title, valueSupplier);
+ }
+
+ @Override
+ public SuppliedValueWidget<String[]> addStringArray(String title,
+ Supplier<String[]> valueSupplier)
+ throws IllegalArgumentException {
+ return m_helper.addStringArray(title, valueSupplier);
+ }
+
+ @Override
+ public SuppliedValueWidget<double[]> addDoubleArray(String title,
+ Supplier<double[]> valueSupplier)
+ throws IllegalArgumentException {
+ return m_helper.addDoubleArray(title, valueSupplier);
+ }
+
+ @Override
+ public SuppliedValueWidget<boolean[]> addBooleanArray(String title,
+ Supplier<boolean[]> valueSupplier)
+ throws IllegalArgumentException {
+ return m_helper.addBooleanArray(title, valueSupplier);
+ }
+
+ @Override
+ public SuppliedValueWidget<byte[]> addRaw(String title,
+ Supplier<byte[]> valueSupplier)
+ throws IllegalArgumentException {
+ return m_helper.addRaw(title, valueSupplier);
+ }
+
+ @Override
public void buildInto(NetworkTable parentTable, NetworkTable metaTable) {
buildMetadata(metaTable);
NetworkTable table = parentTable.getSubTable(getTitle());
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTab.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTab.java
index aec70e2..b46c6d2 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTab.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTab.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,9 @@
import java.util.List;
import java.util.NoSuchElementException;
+import java.util.function.BooleanSupplier;
+import java.util.function.DoubleSupplier;
+import java.util.function.Supplier;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.wpilibj.Sendable;
@@ -19,6 +22,7 @@
* can also be added to layouts with {@link #getLayout(String, String)}; layouts can be nested
* arbitrarily deep (note that too many levels may make deeper components unusable).
*/
+@SuppressWarnings("PMD.TooManyMethods")
public final class ShuffleboardTab implements ShuffleboardContainer {
private final ContainerHelper m_helper = new ContainerHelper(this);
private final ShuffleboardRoot m_root;
@@ -69,6 +73,55 @@
}
@Override
+ public SuppliedValueWidget<String> addString(String title,
+ Supplier<String> valueSupplier)
+ throws IllegalArgumentException {
+ return m_helper.addString(title, valueSupplier);
+ }
+
+ @Override
+ public SuppliedValueWidget<Double> addNumber(String title,
+ DoubleSupplier valueSupplier)
+ throws IllegalArgumentException {
+ return m_helper.addNumber(title, valueSupplier);
+ }
+
+ @Override
+ public SuppliedValueWidget<Boolean> addBoolean(String title,
+ BooleanSupplier valueSupplier)
+ throws IllegalArgumentException {
+ return m_helper.addBoolean(title, valueSupplier);
+ }
+
+ @Override
+ public SuppliedValueWidget<String[]> addStringArray(String title,
+ Supplier<String[]> valueSupplier)
+ throws IllegalArgumentException {
+ return m_helper.addStringArray(title, valueSupplier);
+ }
+
+ @Override
+ public SuppliedValueWidget<double[]> addDoubleArray(String title,
+ Supplier<double[]> valueSupplier)
+ throws IllegalArgumentException {
+ return m_helper.addDoubleArray(title, valueSupplier);
+ }
+
+ @Override
+ public SuppliedValueWidget<boolean[]> addBooleanArray(String title,
+ Supplier<boolean[]> valueSupplier)
+ throws IllegalArgumentException {
+ return m_helper.addBooleanArray(title, valueSupplier);
+ }
+
+ @Override
+ public SuppliedValueWidget<byte[]> addRaw(String title,
+ Supplier<byte[]> valueSupplier)
+ throws IllegalArgumentException {
+ return m_helper.addRaw(title, valueSupplier);
+ }
+
+ @Override
public void buildInto(NetworkTable parentTable, NetworkTable metaTable) {
NetworkTable tabTable = parentTable.getSubTable(m_title);
tabTable.getEntry(".type").setString("ShuffleboardTab");
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/SuppliedValueWidget.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/SuppliedValueWidget.java
new file mode 100644
index 0000000..c7c9e8b
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/SuppliedValueWidget.java
@@ -0,0 +1,50 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.shuffleboard;
+
+import java.util.function.BiConsumer;
+import java.util.function.Supplier;
+
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+
+/**
+ * A Shuffleboard widget whose value is provided by user code.
+ *
+ * @param <T> the type of values in the widget
+ */
+public final class SuppliedValueWidget<T> extends ShuffleboardWidget<SuppliedValueWidget<T>> {
+ private final Supplier<T> m_supplier;
+ private final BiConsumer<NetworkTableEntry, T> m_setter;
+
+ /**
+ * Package-private constructor for use by the Shuffleboard API.
+ *
+ * @param parent the parent container for the widget
+ * @param title the title of the widget
+ * @param supplier the supplier for values to place in the NetworkTable entry
+ * @param setter the function for placing values in the NetworkTable entry
+ */
+ SuppliedValueWidget(ShuffleboardContainer parent,
+ String title,
+ Supplier<T> supplier,
+ BiConsumer<NetworkTableEntry, T> setter) {
+ super(parent, title);
+ this.m_supplier = supplier;
+ this.m_setter = setter;
+ }
+
+ @Override
+ public void buildInto(NetworkTable parentTable, NetworkTable metaTable) {
+ buildMetadata(metaTable);
+ metaTable.getEntry("Controllable").setBoolean(false);
+
+ NetworkTableEntry entry = parentTable.getEntry(getTitle());
+ m_setter.accept(entry, m_supplier.get());
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/ListenerExecutor.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/ListenerExecutor.java
new file mode 100644
index 0000000..274c7a8
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/ListenerExecutor.java
@@ -0,0 +1,50 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.smartdashboard;
+
+import java.util.ArrayList;
+import java.util.Collection;
+import java.util.concurrent.Executor;
+
+/**
+ * An executor for running listener tasks posted by {@link edu.wpi.first.wpilibj.Sendable} listeners
+ * synchronously from the main application thread.
+ */
+class ListenerExecutor implements Executor {
+ private final Collection<Runnable> m_tasks = new ArrayList<>();
+ private final Object m_lock = new Object();
+
+ /**
+ * Posts a task to the executor to be run synchronously from the main thread.
+ *
+ * @param task The task to run synchronously from the main thread.
+ */
+ @Override
+ public void execute(Runnable task) {
+ synchronized (m_lock) {
+ m_tasks.add(task);
+ }
+ }
+
+ /**
+ * Runs all posted tasks. Called periodically from main thread.
+ */
+ public void runListenerTasks() {
+ // Locally copy tasks from internal list; minimizes blocking time
+ Collection<Runnable> tasks = new ArrayList<>();
+ synchronized (m_lock) {
+ tasks.addAll(m_tasks);
+ m_tasks.clear();
+ }
+
+ // Run all tasks
+ for (Runnable task : tasks) {
+ task.run();
+ }
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableBuilderImpl.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableBuilderImpl.java
index aec5a27..e0bb4f9 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableBuilderImpl.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableBuilderImpl.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -61,8 +61,8 @@
private boolean m_actuator;
/**
- * Set the network table. Must be called prior to any Add* functions being
- * called.
+ * Set the network table. Must be called prior to any Add* functions being called.
+ *
* @param table Network table
*/
public void setTable(NetworkTable table) {
@@ -72,6 +72,7 @@
/**
* Get the network table.
+ *
* @return The network table
*/
public NetworkTable getTable() {
@@ -79,7 +80,16 @@
}
/**
+ * Return whether this sendable has an associated table.
+ * @return True if it has a table, false if not.
+ */
+ public boolean hasTable() {
+ return m_table != null;
+ }
+
+ /**
* Return whether this sendable should be treated as an actuator.
+ *
* @return True if actuator, false if not.
*/
public boolean isActuator() {
@@ -125,8 +135,8 @@
}
/**
- * Start LiveWindow mode by hooking the setters for all properties. Also
- * calls the safeState function if one was provided.
+ * Start LiveWindow mode by hooking the setters for all properties. Also calls the safeState
+ * function if one was provided.
*/
public void startLiveWindowMode() {
if (m_safeState != null) {
@@ -136,8 +146,8 @@
}
/**
- * Stop LiveWindow mode by unhooking the setters for all properties. Also
- * calls the safeState function if one was provided.
+ * Stop LiveWindow mode by unhooking the setters for all properties. Also calls the safeState
+ * function if one was provided.
*/
public void stopLiveWindowMode() {
stopListeners();
@@ -147,10 +157,18 @@
}
/**
- * Set the string representation of the named data type that will be used
- * by the smart dashboard for this sendable.
+ * Clear properties.
+ */
+ public void clearProperties() {
+ stopListeners();
+ m_properties.clear();
+ }
+
+ /**
+ * Set the string representation of the named data type that will be used by the smart dashboard
+ * for this sendable.
*
- * @param type data type
+ * @param type data type
*/
@Override
public void setSmartDashboardType(String type) {
@@ -158,10 +176,10 @@
}
/**
- * Set a flag indicating if this sendable should be treated as an actuator.
- * By default this flag is false.
+ * Set a flag indicating if this sendable should be treated as an actuator. By default this flag
+ * is false.
*
- * @param value true if actuator, false if not
+ * @param value true if actuator, false if not
*/
@Override
public void setActuator(boolean value) {
@@ -170,10 +188,10 @@
}
/**
- * Set the function that should be called to set the Sendable into a safe
- * state. This is called when entering and exiting Live Window mode.
+ * Set the function that should be called to set the Sendable into a safe state. This is called
+ * when entering and exiting Live Window mode.
*
- * @param func function
+ * @param func function
*/
@Override
public void setSafeState(Runnable func) {
@@ -181,12 +199,11 @@
}
/**
- * Set the function that should be called to update the network table
- * for things other than properties. Note this function is not passed
- * the network table object; instead it should use the entry handles
- * returned by getEntry().
+ * Set the function that should be called to update the network table for things other than
+ * properties. Note this function is not passed the network table object; instead it should use
+ * the entry handles returned by getEntry().
*
- * @param func function
+ * @param func function
*/
@Override
public void setUpdateTable(Runnable func) {
@@ -194,10 +211,10 @@
}
/**
- * Add a property without getters or setters. This can be used to get
- * entry handles for the function called by setUpdateTable().
+ * Add a property without getters or setters. This can be used to get entry handles for the
+ * function called by setUpdateTable().
*
- * @param key property name
+ * @param key property name
* @return Network table entry
*/
@Override
@@ -208,9 +225,9 @@
/**
* Add a boolean property.
*
- * @param key property name
- * @param getter getter function (returns current value)
- * @param setter setter function (sets new value)
+ * @param key property name
+ * @param getter getter function (returns current value)
+ * @param setter setter function (sets new value)
*/
@Override
public void addBooleanProperty(String key, BooleanSupplier getter, BooleanConsumer setter) {
@@ -221,7 +238,7 @@
if (setter != null) {
property.m_createListener = entry -> entry.addListener(event -> {
if (event.value.isBoolean()) {
- setter.accept(event.value.getBoolean());
+ SmartDashboard.postListenerTask(() -> setter.accept(event.value.getBoolean()));
}
}, EntryListenerFlags.kImmediate | EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
}
@@ -231,9 +248,9 @@
/**
* Add a double property.
*
- * @param key property name
- * @param getter getter function (returns current value)
- * @param setter setter function (sets new value)
+ * @param key property name
+ * @param getter getter function (returns current value)
+ * @param setter setter function (sets new value)
*/
@Override
public void addDoubleProperty(String key, DoubleSupplier getter, DoubleConsumer setter) {
@@ -244,7 +261,7 @@
if (setter != null) {
property.m_createListener = entry -> entry.addListener(event -> {
if (event.value.isDouble()) {
- setter.accept(event.value.getDouble());
+ SmartDashboard.postListenerTask(() -> setter.accept(event.value.getDouble()));
}
}, EntryListenerFlags.kImmediate | EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
}
@@ -254,9 +271,9 @@
/**
* Add a string property.
*
- * @param key property name
- * @param getter getter function (returns current value)
- * @param setter setter function (sets new value)
+ * @param key property name
+ * @param getter getter function (returns current value)
+ * @param setter setter function (sets new value)
*/
@Override
public void addStringProperty(String key, Supplier<String> getter, Consumer<String> setter) {
@@ -267,7 +284,7 @@
if (setter != null) {
property.m_createListener = entry -> entry.addListener(event -> {
if (event.value.isString()) {
- setter.accept(event.value.getString());
+ SmartDashboard.postListenerTask(() -> setter.accept(event.value.getString()));
}
}, EntryListenerFlags.kImmediate | EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
}
@@ -277,9 +294,9 @@
/**
* Add a boolean array property.
*
- * @param key property name
- * @param getter getter function (returns current value)
- * @param setter setter function (sets new value)
+ * @param key property name
+ * @param getter getter function (returns current value)
+ * @param setter setter function (sets new value)
*/
@Override
public void addBooleanArrayProperty(String key, Supplier<boolean[]> getter,
@@ -291,7 +308,7 @@
if (setter != null) {
property.m_createListener = entry -> entry.addListener(event -> {
if (event.value.isBooleanArray()) {
- setter.accept(event.value.getBooleanArray());
+ SmartDashboard.postListenerTask(() -> setter.accept(event.value.getBooleanArray()));
}
}, EntryListenerFlags.kImmediate | EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
}
@@ -301,9 +318,9 @@
/**
* Add a double array property.
*
- * @param key property name
- * @param getter getter function (returns current value)
- * @param setter setter function (sets new value)
+ * @param key property name
+ * @param getter getter function (returns current value)
+ * @param setter setter function (sets new value)
*/
@Override
public void addDoubleArrayProperty(String key, Supplier<double[]> getter,
@@ -315,7 +332,7 @@
if (setter != null) {
property.m_createListener = entry -> entry.addListener(event -> {
if (event.value.isDoubleArray()) {
- setter.accept(event.value.getDoubleArray());
+ SmartDashboard.postListenerTask(() -> setter.accept(event.value.getDoubleArray()));
}
}, EntryListenerFlags.kImmediate | EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
}
@@ -325,9 +342,9 @@
/**
* Add a string array property.
*
- * @param key property name
- * @param getter getter function (returns current value)
- * @param setter setter function (sets new value)
+ * @param key property name
+ * @param getter getter function (returns current value)
+ * @param setter setter function (sets new value)
*/
@Override
public void addStringArrayProperty(String key, Supplier<String[]> getter,
@@ -339,7 +356,7 @@
if (setter != null) {
property.m_createListener = entry -> entry.addListener(event -> {
if (event.value.isStringArray()) {
- setter.accept(event.value.getStringArray());
+ SmartDashboard.postListenerTask(() -> setter.accept(event.value.getStringArray()));
}
}, EntryListenerFlags.kImmediate | EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
}
@@ -349,9 +366,9 @@
/**
* Add a raw property.
*
- * @param key property name
- * @param getter getter function (returns current value)
- * @param setter setter function (sets new value)
+ * @param key property name
+ * @param getter getter function (returns current value)
+ * @param setter setter function (sets new value)
*/
@Override
public void addRawProperty(String key, Supplier<byte[]> getter, Consumer<byte[]> setter) {
@@ -362,7 +379,7 @@
if (setter != null) {
property.m_createListener = entry -> entry.addListener(event -> {
if (event.value.isRaw()) {
- setter.accept(event.value.getRaw());
+ SmartDashboard.postListenerTask(() -> setter.accept(event.value.getRaw()));
}
}, EntryListenerFlags.kImmediate | EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
}
@@ -372,9 +389,9 @@
/**
* Add a NetworkTableValue property.
*
- * @param key property name
- * @param getter getter function (returns current value)
- * @param setter setter function (sets new value)
+ * @param key property name
+ * @param getter getter function (returns current value)
+ * @param setter setter function (sets new value)
*/
@Override
public void addValueProperty(String key, Supplier<NetworkTableValue> getter,
@@ -385,7 +402,7 @@
}
if (setter != null) {
property.m_createListener = entry -> entry.addListener(event -> {
- setter.accept(event.value);
+ SmartDashboard.postListenerTask(() -> setter.accept(event.value));
}, EntryListenerFlags.kImmediate | EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
}
m_properties.add(property);
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java
index 5859705..57435b4 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,14 +10,15 @@
import java.util.ArrayList;
import java.util.LinkedHashMap;
import java.util.List;
+import java.util.Map;
import java.util.concurrent.atomic.AtomicInteger;
import java.util.concurrent.locks.ReentrantLock;
import edu.wpi.first.networktables.NetworkTableEntry;
-import edu.wpi.first.wpilibj.SendableBase;
+import edu.wpi.first.wpilibj.Sendable;
import edu.wpi.first.wpilibj.command.Command;
-import static java.util.Objects.requireNonNull;
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
/**
* The {@link SendableChooser} class is a useful tool for presenting a selection of options to the
@@ -31,7 +32,7 @@
*
* @param <V> The type of the values to be stored
*/
-public class SendableChooser<V> extends SendableBase {
+public class SendableChooser<V> implements Sendable, AutoCloseable {
/**
* The key for the default value.
*/
@@ -55,8 +56,7 @@
/**
* A map linking strings to the objects the represent.
*/
- @SuppressWarnings("PMD.LooseCoupling")
- private final LinkedHashMap<String, V> m_map = new LinkedHashMap<>();
+ private final Map<String, V> m_map = new LinkedHashMap<>();
private String m_defaultChoice = "";
private final int m_instance;
private static final AtomicInteger s_instances = new AtomicInteger();
@@ -65,8 +65,13 @@
* Instantiates a {@link SendableChooser}.
*/
public SendableChooser() {
- super(false);
m_instance = s_instances.getAndIncrement();
+ SendableRegistry.add(this, "SendableChooser", m_instance);
+ }
+
+ @Override
+ public void close() {
+ SendableRegistry.remove(this);
}
/**
@@ -102,7 +107,7 @@
* @param object the option
*/
public void setDefaultOption(String name, V object) {
- requireNonNull(name, "Provided name was null");
+ requireNonNullParam(name, "name", "setDefaultOption");
m_defaultChoice = name;
addOption(name, object);
@@ -148,12 +153,8 @@
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("String Chooser");
builder.getEntry(INSTANCE).setDouble(m_instance);
- builder.addStringProperty(DEFAULT, () -> {
- return m_defaultChoice;
- }, null);
- builder.addStringArrayProperty(OPTIONS, () -> {
- return m_map.keySet().toArray(new String[0]);
- }, null);
+ builder.addStringProperty(DEFAULT, () -> m_defaultChoice, null);
+ builder.addStringArrayProperty(OPTIONS, () -> m_map.keySet().toArray(new String[0]), null);
builder.addStringProperty(ACTIVE, () -> {
m_mutex.lock();
try {
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableRegistry.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableRegistry.java
new file mode 100644
index 0000000..79b9b2a
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableRegistry.java
@@ -0,0 +1,512 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.smartdashboard;
+
+import java.lang.ref.WeakReference;
+import java.util.Arrays;
+import java.util.Map;
+import java.util.WeakHashMap;
+import java.util.function.Consumer;
+
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.Sendable;
+
+
+/**
+ * The SendableRegistry class is the public interface for registering sensors
+ * and actuators for use on dashboards and LiveWindow.
+ */
+@SuppressWarnings("PMD.TooManyMethods")
+public class SendableRegistry {
+ private static class Component {
+ Component() {}
+
+ Component(Sendable sendable) {
+ m_sendable = new WeakReference<>(sendable);
+ }
+
+ WeakReference<Sendable> m_sendable;
+ SendableBuilderImpl m_builder = new SendableBuilderImpl();
+ String m_name;
+ String m_subsystem = "Ungrouped";
+ WeakReference<Sendable> m_parent;
+ boolean m_liveWindow;
+ Object[] m_data;
+
+ void setName(String moduleType, int channel) {
+ m_name = moduleType + "[" + channel + "]";
+ }
+
+ void setName(String moduleType, int moduleNumber, int channel) {
+ m_name = moduleType + "[" + moduleNumber + "," + channel + "]";
+ }
+ }
+
+ private static final Map<Object, Component> components = new WeakHashMap<>();
+ private static int nextDataHandle;
+
+ private static Component getOrAdd(Sendable sendable) {
+ Component comp = components.get(sendable);
+ if (comp == null) {
+ comp = new Component(sendable);
+ components.put(sendable, comp);
+ } else {
+ if (comp.m_sendable == null) {
+ comp.m_sendable = new WeakReference<>(sendable);
+ }
+ }
+ return comp;
+ }
+
+ private SendableRegistry() {
+ throw new UnsupportedOperationException("This is a utility class!");
+ }
+
+ /**
+ * Adds an object to the registry.
+ *
+ * @param sendable object to add
+ * @param name component name
+ */
+ public static synchronized void add(Sendable sendable, String name) {
+ Component comp = getOrAdd(sendable);
+ comp.m_name = name;
+ }
+
+ /**
+ * Adds an object to the registry.
+ *
+ * @param sendable object to add
+ * @param moduleType A string that defines the module name in the label for
+ * the value
+ * @param channel The channel number the device is plugged into
+ */
+ public static synchronized void add(Sendable sendable, String moduleType, int channel) {
+ Component comp = getOrAdd(sendable);
+ comp.setName(moduleType, channel);
+ }
+
+ /**
+ * Adds an object to the registry.
+ *
+ * @param sendable object to add
+ * @param moduleType A string that defines the module name in the label for
+ * the value
+ * @param moduleNumber The number of the particular module type
+ * @param channel The channel number the device is plugged into
+ */
+ public static synchronized void add(Sendable sendable, String moduleType, int moduleNumber,
+ int channel) {
+ Component comp = getOrAdd(sendable);
+ comp.setName(moduleType, moduleNumber, channel);
+ }
+
+ /**
+ * Adds an object to the registry.
+ *
+ * @param sendable object to add
+ * @param subsystem subsystem name
+ * @param name component name
+ */
+ public static synchronized void add(Sendable sendable, String subsystem, String name) {
+ Component comp = getOrAdd(sendable);
+ comp.m_name = name;
+ comp.m_subsystem = subsystem;
+ }
+
+ /**
+ * Adds an object to the registry and LiveWindow.
+ *
+ * @param sendable object to add
+ * @param name component name
+ */
+ public static synchronized void addLW(Sendable sendable, String name) {
+ Component comp = getOrAdd(sendable);
+ comp.m_liveWindow = true;
+ comp.m_name = name;
+ }
+
+ /**
+ * Adds an object to the registry and LiveWindow.
+ *
+ * @param sendable object to add
+ * @param moduleType A string that defines the module name in the label for
+ * the value
+ * @param channel The channel number the device is plugged into
+ */
+ public static synchronized void addLW(Sendable sendable, String moduleType, int channel) {
+ Component comp = getOrAdd(sendable);
+ comp.m_liveWindow = true;
+ comp.setName(moduleType, channel);
+ }
+
+ /**
+ * Adds an object to the registry and LiveWindow.
+ *
+ * @param sendable object to add
+ * @param moduleType A string that defines the module name in the label for
+ * the value
+ * @param moduleNumber The number of the particular module type
+ * @param channel The channel number the device is plugged into
+ */
+ public static synchronized void addLW(Sendable sendable, String moduleType, int moduleNumber,
+ int channel) {
+ Component comp = getOrAdd(sendable);
+ comp.m_liveWindow = true;
+ comp.setName(moduleType, moduleNumber, channel);
+ }
+
+ /**
+ * Adds an object to the registry and LiveWindow.
+ *
+ * @param sendable object to add
+ * @param subsystem subsystem name
+ * @param name component name
+ */
+ public static synchronized void addLW(Sendable sendable, String subsystem, String name) {
+ Component comp = getOrAdd(sendable);
+ comp.m_liveWindow = true;
+ comp.m_name = name;
+ comp.m_subsystem = subsystem;
+ }
+
+ /**
+ * Adds a child object to an object. Adds the child object to the registry
+ * if it's not already present.
+ *
+ * @param parent parent object
+ * @param child child object
+ */
+ public static synchronized void addChild(Sendable parent, Object child) {
+ Component comp = components.get(child);
+ if (comp == null) {
+ comp = new Component();
+ components.put(child, comp);
+ }
+ comp.m_parent = new WeakReference<>(parent);
+ }
+
+ /**
+ * Removes an object from the registry.
+ *
+ * @param sendable object to remove
+ * @return true if the object was removed; false if it was not present
+ */
+ public static synchronized boolean remove(Sendable sendable) {
+ return components.remove(sendable) != null;
+ }
+
+ /**
+ * Determines if an object is in the registry.
+ *
+ * @param sendable object to check
+ * @return True if in registry, false if not.
+ */
+ public static synchronized boolean contains(Sendable sendable) {
+ return components.containsKey(sendable);
+ }
+
+ /**
+ * Gets the name of an object.
+ *
+ * @param sendable object
+ * @return Name (empty if object is not in registry)
+ */
+ public static synchronized String getName(Sendable sendable) {
+ Component comp = components.get(sendable);
+ if (comp == null) {
+ return "";
+ }
+ return comp.m_name;
+ }
+
+ /**
+ * Sets the name of an object.
+ *
+ * @param sendable object
+ * @param name name
+ */
+ public static synchronized void setName(Sendable sendable, String name) {
+ Component comp = components.get(sendable);
+ if (comp != null) {
+ comp.m_name = name;
+ }
+ }
+
+ /**
+ * Sets the name of an object with a channel number.
+ *
+ * @param sendable object
+ * @param moduleType A string that defines the module name in the label for
+ * the value
+ * @param channel The channel number the device is plugged into
+ */
+ public static synchronized void setName(Sendable sendable, String moduleType, int channel) {
+ Component comp = components.get(sendable);
+ if (comp != null) {
+ comp.setName(moduleType, channel);
+ }
+ }
+
+ /**
+ * Sets the name of an object with a module and channel number.
+ *
+ * @param sendable object
+ * @param moduleType A string that defines the module name in the label for
+ * the value
+ * @param moduleNumber The number of the particular module type
+ * @param channel The channel number the device is plugged into
+ */
+ public static synchronized void setName(Sendable sendable, String moduleType, int moduleNumber,
+ int channel) {
+ Component comp = components.get(sendable);
+ if (comp != null) {
+ comp.setName(moduleType, moduleNumber, channel);
+ }
+ }
+
+ /**
+ * Sets both the subsystem name and device name of an object.
+ *
+ * @param sendable object
+ * @param subsystem subsystem name
+ * @param name device name
+ */
+ public static synchronized void setName(Sendable sendable, String subsystem, String name) {
+ Component comp = components.get(sendable);
+ if (comp != null) {
+ comp.m_name = name;
+ comp.m_subsystem = subsystem;
+ }
+ }
+
+ /**
+ * Gets the subsystem name of an object.
+ *
+ * @param sendable object
+ * @return Subsystem name (empty if object is not in registry)
+ */
+ public static synchronized String getSubsystem(Sendable sendable) {
+ Component comp = components.get(sendable);
+ if (comp == null) {
+ return "";
+ }
+ return comp.m_subsystem;
+ }
+
+ /**
+ * Sets the subsystem name of an object.
+ *
+ * @param sendable object
+ * @param subsystem subsystem name
+ */
+ public static synchronized void setSubsystem(Sendable sendable, String subsystem) {
+ Component comp = components.get(sendable);
+ if (comp != null) {
+ comp.m_subsystem = subsystem;
+ }
+ }
+
+ /**
+ * Gets a unique handle for setting/getting data with setData() and getData().
+ *
+ * @return Handle
+ */
+ public static synchronized int getDataHandle() {
+ return nextDataHandle++;
+ }
+
+ /**
+ * Associates arbitrary data with an object in the registry.
+ *
+ * @param sendable object
+ * @param handle data handle returned by getDataHandle()
+ * @param data data to set
+ * @return Previous data (may be null)
+ */
+ public static synchronized Object setData(Sendable sendable, int handle, Object data) {
+ Component comp = components.get(sendable);
+ if (comp == null) {
+ return null;
+ }
+ Object rv = null;
+ if (handle < comp.m_data.length) {
+ rv = comp.m_data[handle];
+ } else if (comp.m_data == null) {
+ comp.m_data = new Object[handle + 1];
+ } else {
+ comp.m_data = Arrays.copyOf(comp.m_data, handle + 1);
+ }
+ comp.m_data[handle] = data;
+ return rv;
+ }
+
+ /**
+ * Gets arbitrary data associated with an object in the registry.
+ *
+ * @param sendable object
+ * @param handle data handle returned by getDataHandle()
+ * @return data (may be null if none associated)
+ */
+ public static synchronized Object getData(Sendable sendable, int handle) {
+ Component comp = components.get(sendable);
+ if (comp == null || comp.m_data == null || handle >= comp.m_data.length) {
+ return null;
+ }
+ return comp.m_data[handle];
+ }
+
+ /**
+ * Enables LiveWindow for an object.
+ *
+ * @param sendable object
+ */
+ public static synchronized void enableLiveWindow(Sendable sendable) {
+ Component comp = components.get(sendable);
+ if (comp != null) {
+ comp.m_liveWindow = true;
+ }
+ }
+
+ /**
+ * Disables LiveWindow for an object.
+ *
+ * @param sendable object
+ */
+ public static synchronized void disableLiveWindow(Sendable sendable) {
+ Component comp = components.get(sendable);
+ if (comp != null) {
+ comp.m_liveWindow = false;
+ }
+ }
+
+ /**
+ * Publishes an object in the registry to a network table.
+ *
+ * @param sendable object
+ * @param table network table
+ */
+ public static synchronized void publish(Sendable sendable, NetworkTable table) {
+ Component comp = getOrAdd(sendable);
+ comp.m_builder.clearProperties();
+ comp.m_builder.setTable(table);
+ sendable.initSendable(comp.m_builder);
+ comp.m_builder.updateTable();
+ comp.m_builder.startListeners();
+ }
+
+ /**
+ * Updates network table information from an object.
+ *
+ * @param sendable object
+ */
+ public static synchronized void update(Sendable sendable) {
+ Component comp = components.get(sendable);
+ if (comp != null) {
+ comp.m_builder.updateTable();
+ }
+ }
+
+ /**
+ * Data passed to foreachLiveWindow() callback function.
+ */
+ public static class CallbackData {
+ /**
+ * Sendable object.
+ */
+ @SuppressWarnings("MemberName")
+ public Sendable sendable;
+
+ /**
+ * Name.
+ */
+ @SuppressWarnings("MemberName")
+ public String name;
+
+ /**
+ * Subsystem.
+ */
+ @SuppressWarnings("MemberName")
+ public String subsystem;
+
+ /**
+ * Parent sendable object.
+ */
+ @SuppressWarnings("MemberName")
+ public Sendable parent;
+
+ /**
+ * Data stored in object with setData(). Update this to change the data.
+ */
+ @SuppressWarnings("MemberName")
+ public Object data;
+
+ /**
+ * Sendable builder for the sendable.
+ */
+ @SuppressWarnings("MemberName")
+ public SendableBuilderImpl builder;
+ }
+
+ /**
+ * Iterates over LiveWindow-enabled objects in the registry.
+ * It is *not* safe to call other SendableRegistry functions from the
+ * callback.
+ *
+ * @param dataHandle data handle to get data object passed to callback
+ * @param callback function to call for each object
+ */
+ @SuppressWarnings({"PMD.CyclomaticComplexity", "PMD.AvoidInstantiatingObjectsInLoops",
+ "PMD.AvoidCatchingThrowable"})
+ public static synchronized void foreachLiveWindow(int dataHandle,
+ Consumer<CallbackData> callback) {
+ CallbackData cbdata = new CallbackData();
+ for (Component comp : components.values()) {
+ if (comp.m_sendable == null) {
+ continue;
+ }
+ cbdata.sendable = comp.m_sendable.get();
+ if (cbdata.sendable != null && comp.m_liveWindow) {
+ cbdata.name = comp.m_name;
+ cbdata.subsystem = comp.m_subsystem;
+ if (comp.m_parent != null) {
+ cbdata.parent = comp.m_parent.get();
+ } else {
+ cbdata.parent = null;
+ }
+ if (comp.m_data != null && dataHandle < comp.m_data.length) {
+ cbdata.data = comp.m_data[dataHandle];
+ } else {
+ cbdata.data = null;
+ }
+ cbdata.builder = comp.m_builder;
+ try {
+ callback.accept(cbdata);
+ } catch (Throwable throwable) {
+ Throwable cause = throwable.getCause();
+ if (cause != null) {
+ throwable = cause;
+ }
+ DriverStation.reportError(
+ "Unhandled exception calling LiveWindow for " + comp.m_name + ": "
+ + throwable.toString(), false);
+ comp.m_liveWindow = false;
+ }
+ if (cbdata.data != null) {
+ if (comp.m_data == null) {
+ comp.m_data = new Object[dataHandle + 1];
+ } else if (dataHandle >= comp.m_data.length) {
+ comp.m_data = Arrays.copyOf(comp.m_data, dataHandle + 1);
+ }
+ comp.m_data[dataHandle] = cbdata.data;
+ }
+ }
+ }
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboard.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboard.java
index 290fe33..457ae46 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboard.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboard.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -17,7 +17,6 @@
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
-import edu.wpi.first.wpilibj.NamedSendable;
import edu.wpi.first.wpilibj.Sendable;
/**
@@ -28,28 +27,24 @@
* laptop. Users can put values into and get values from the SmartDashboard.
*/
@SuppressWarnings({"PMD.GodClass", "PMD.TooManyMethods"})
-public class SmartDashboard {
+public final class SmartDashboard {
/**
* The {@link NetworkTable} used by {@link SmartDashboard}.
*/
private static final NetworkTable table =
NetworkTableInstance.getDefault().getTable("SmartDashboard");
- private static class Data {
- Data(Sendable sendable) {
- m_sendable = sendable;
- }
-
- final Sendable m_sendable;
- final SendableBuilderImpl m_builder = new SendableBuilderImpl();
- }
-
/**
* A table linking tables in the SmartDashboard to the {@link Sendable} objects they
* came from.
*/
@SuppressWarnings("PMD.UseConcurrentHashMap")
- private static final Map<String, Data> tablesToData = new HashMap<>();
+ private static final Map<String, Sendable> tablesToData = new HashMap<>();
+
+ /**
+ * The executor for listener tasks; calls listener tasks synchronously from main thread.
+ */
+ private static final ListenerExecutor listenerExecutor = new ListenerExecutor();
static {
HAL.report(tResourceType.kResourceType_SmartDashboard, 0);
@@ -67,25 +62,19 @@
* @param data the value
* @throws IllegalArgumentException If key is null
*/
+ @SuppressWarnings("PMD.CompareObjectsWithEquals")
public static synchronized void putData(String key, Sendable data) {
- Data sddata = tablesToData.get(key);
- if (sddata == null || sddata.m_sendable != data) {
- if (sddata != null) {
- sddata.m_builder.stopListeners();
- }
- sddata = new Data(data);
- tablesToData.put(key, sddata);
+ Sendable sddata = tablesToData.get(key);
+ if (sddata == null || sddata != data) {
+ tablesToData.put(key, data);
NetworkTable dataTable = table.getSubTable(key);
- sddata.m_builder.setTable(dataTable);
- data.initSendable(sddata.m_builder);
- sddata.m_builder.updateTable();
- sddata.m_builder.startListeners();
+ SendableRegistry.publish(data, dataTable);
dataTable.getEntry(".name").setString(key);
}
}
/**
- * Maps the specified key (where the key is the name of the {@link NamedSendable}
+ * Maps the specified key (where the key is the name of the {@link Sendable}
* to the specified value in this table. The value can be retrieved by
* calling the get method with a key that is equal to the original key.
*
@@ -93,7 +82,10 @@
* @throws IllegalArgumentException If key is null
*/
public static void putData(Sendable value) {
- putData(value.getName(), value);
+ String name = SendableRegistry.getName(value);
+ if (!name.isEmpty()) {
+ putData(name, value);
+ }
}
/**
@@ -104,11 +96,11 @@
* @throws IllegalArgumentException if the key is null
*/
public static synchronized Sendable getData(String key) {
- Data data = tablesToData.get(key);
+ Sendable data = tablesToData.get(key);
if (data == null) {
throw new IllegalArgumentException("SmartDashboard data does not exist: " + key);
} else {
- return data.m_sendable;
+ return data;
}
}
@@ -523,11 +515,23 @@
}
/**
+ * Posts a task from a listener to the ListenerExecutor, so that it can be run synchronously
+ * from the main loop on the next call to {@link SmartDashboard#updateValues()}.
+ *
+ * @param task The task to run synchronously from the main thread.
+ */
+ public static void postListenerTask(Runnable task) {
+ listenerExecutor.execute(task);
+ }
+
+ /**
* Puts all sendable data to the dashboard.
*/
public static synchronized void updateValues() {
- for (Data data : tablesToData.values()) {
- data.m_builder.updateTable();
+ for (Sendable data : tablesToData.values()) {
+ SendableRegistry.update(data);
}
+ // Execute posted listener tasks
+ listenerExecutor.runListenerTasks();
}
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/CubicHermiteSpline.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/CubicHermiteSpline.java
new file mode 100644
index 0000000..5674231
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/CubicHermiteSpline.java
@@ -0,0 +1,104 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.spline;
+
+import org.ejml.simple.SimpleMatrix;
+
+public class CubicHermiteSpline extends Spline {
+ private static SimpleMatrix hermiteBasis;
+ private final SimpleMatrix m_coefficients;
+
+ /**
+ * Constructs a cubic hermite spline with the specified control vectors. Each
+ * control vector contains info about the location of the point and its first
+ * derivative.
+ *
+ * @param xInitialControlVector The control vector for the initial point in
+ * the x dimension.
+ * @param xFinalControlVector The control vector for the final point in
+ * the x dimension.
+ * @param yInitialControlVector The control vector for the initial point in
+ * the y dimension.
+ * @param yFinalControlVector The control vector for the final point in
+ * the y dimension.
+ */
+ @SuppressWarnings("ParameterName")
+ public CubicHermiteSpline(double[] xInitialControlVector, double[] xFinalControlVector,
+ double[] yInitialControlVector, double[] yFinalControlVector) {
+ super(3);
+
+ // Populate the coefficients for the actual spline equations.
+ // Row 0 is x coefficients
+ // Row 1 is y coefficients
+ final var hermite = makeHermiteBasis();
+ final var x = getControlVectorFromArrays(xInitialControlVector, xFinalControlVector);
+ final var y = getControlVectorFromArrays(yInitialControlVector, yFinalControlVector);
+
+ final var xCoeffs = (hermite.mult(x)).transpose();
+ final var yCoeffs = (hermite.mult(y)).transpose();
+
+ m_coefficients = new SimpleMatrix(6, 4);
+
+ for (int i = 0; i < 4; i++) {
+ m_coefficients.set(0, i, xCoeffs.get(0, i));
+ m_coefficients.set(1, i, yCoeffs.get(0, i));
+
+ // Populate Row 2 and Row 3 with the derivatives of the equations above.
+ // Then populate row 4 and 5 with the second derivatives.
+ m_coefficients.set(2, i, m_coefficients.get(0, i) * (3 - i));
+ m_coefficients.set(3, i, m_coefficients.get(1, i) * (3 - i));
+ m_coefficients.set(4, i, m_coefficients.get(2, i) * (3 - i));
+ m_coefficients.set(5, i, m_coefficients.get(3, i) * (3 - i));
+ }
+
+ }
+
+ /**
+ * Returns the coefficients matrix.
+ *
+ * @return The coefficients matrix.
+ */
+ @Override
+ protected SimpleMatrix getCoefficients() {
+ return m_coefficients;
+ }
+
+ /**
+ * Returns the hermite basis matrix for cubic hermite spline interpolation.
+ *
+ * @return The hermite basis matrix for cubic hermite spline interpolation.
+ */
+ private SimpleMatrix makeHermiteBasis() {
+ if (hermiteBasis == null) {
+ hermiteBasis = new SimpleMatrix(4, 4, true, new double[]{
+ +2.0, +1.0, -2.0, +1.0,
+ -3.0, -2.0, +3.0, -1.0,
+ +0.0, +1.0, +0.0, +0.0,
+ +1.0, +0.0, +0.0, +0.0
+ });
+ }
+ return hermiteBasis;
+ }
+
+ /**
+ * Returns the control vector for each dimension as a matrix from the
+ * user-provided arrays in the constructor.
+ *
+ * @param initialVector The control vector for the initial point.
+ * @param finalVector The control vector for the final point.
+ * @return The control vector matrix for a dimension.
+ */
+ private SimpleMatrix getControlVectorFromArrays(double[] initialVector, double[] finalVector) {
+ if (initialVector.length != 2 || finalVector.length != 2) {
+ throw new IllegalArgumentException("Size of vectors must be 2");
+ }
+ return new SimpleMatrix(4, 1, true, new double[]{
+ initialVector[0], initialVector[1],
+ finalVector[0], finalVector[1]});
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/PoseWithCurvature.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/PoseWithCurvature.java
new file mode 100644
index 0000000..62c1e5a
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/PoseWithCurvature.java
@@ -0,0 +1,40 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.spline;
+
+import edu.wpi.first.wpilibj.geometry.Pose2d;
+
+/**
+ * Represents a pair of a pose and a curvature.
+ */
+@SuppressWarnings("MemberName")
+public class PoseWithCurvature {
+ // Represents the pose.
+ public Pose2d poseMeters;
+
+ // Represents the curvature.
+ public double curvatureRadPerMeter;
+
+ /**
+ * Constructs a PoseWithCurvature.
+ *
+ * @param poseMeters The pose.
+ * @param curvatureRadPerMeter The curvature.
+ */
+ public PoseWithCurvature(Pose2d poseMeters, double curvatureRadPerMeter) {
+ this.poseMeters = poseMeters;
+ this.curvatureRadPerMeter = curvatureRadPerMeter;
+ }
+
+ /**
+ * Constructs a PoseWithCurvature with default values.
+ */
+ public PoseWithCurvature() {
+ poseMeters = new Pose2d();
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSpline.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSpline.java
new file mode 100644
index 0000000..5621341
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSpline.java
@@ -0,0 +1,105 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.spline;
+
+import org.ejml.simple.SimpleMatrix;
+
+public class QuinticHermiteSpline extends Spline {
+ private static SimpleMatrix hermiteBasis;
+ private final SimpleMatrix m_coefficients;
+
+ /**
+ * Constructs a quintic hermite spline with the specified control vectors.
+ * Each control vector contains into about the location of the point, its
+ * first derivative, and its second derivative.
+ *
+ * @param xInitialControlVector The control vector for the initial point in
+ * the x dimension.
+ * @param xFinalControlVector The control vector for the final point in
+ * the x dimension.
+ * @param yInitialControlVector The control vector for the initial point in
+ * the y dimension.
+ * @param yFinalControlVector The control vector for the final point in
+ * the y dimension.
+ */
+ @SuppressWarnings("ParameterName")
+ public QuinticHermiteSpline(double[] xInitialControlVector, double[] xFinalControlVector,
+ double[] yInitialControlVector, double[] yFinalControlVector) {
+ super(5);
+
+ // Populate the coefficients for the actual spline equations.
+ // Row 0 is x coefficients
+ // Row 1 is y coefficients
+ final var hermite = makeHermiteBasis();
+ final var x = getControlVectorFromArrays(xInitialControlVector, xFinalControlVector);
+ final var y = getControlVectorFromArrays(yInitialControlVector, yFinalControlVector);
+
+ final var xCoeffs = (hermite.mult(x)).transpose();
+ final var yCoeffs = (hermite.mult(y)).transpose();
+
+ m_coefficients = new SimpleMatrix(6, 6);
+
+ for (int i = 0; i < 6; i++) {
+ m_coefficients.set(0, i, xCoeffs.get(0, i));
+ m_coefficients.set(1, i, yCoeffs.get(0, i));
+
+ // Populate Row 2 and Row 3 with the derivatives of the equations above.
+ // Then populate row 4 and 5 with the second derivatives.
+ m_coefficients.set(2, i, m_coefficients.get(0, i) * (5 - i));
+ m_coefficients.set(3, i, m_coefficients.get(1, i) * (5 - i));
+ m_coefficients.set(4, i, m_coefficients.get(2, i) * (5 - i));
+ m_coefficients.set(5, i, m_coefficients.get(3, i) * (5 - i));
+ }
+ }
+
+ /**
+ * Returns the coefficients matrix.
+ *
+ * @return The coefficients matrix.
+ */
+ @Override
+ protected SimpleMatrix getCoefficients() {
+ return m_coefficients;
+ }
+
+ /**
+ * Returns the hermite basis matrix for quintic hermite spline interpolation.
+ *
+ * @return The hermite basis matrix for quintic hermite spline interpolation.
+ */
+ private SimpleMatrix makeHermiteBasis() {
+ if (hermiteBasis == null) {
+ hermiteBasis = new SimpleMatrix(6, 6, true, new double[]{
+ -06.0, -03.0, -00.5, +06.0, -03.0, +00.5,
+ +15.0, +08.0, +01.5, -15.0, +07.0, +01.0,
+ -10.0, -06.0, -01.5, +10.0, -04.0, +00.5,
+ +00.0, +00.0, +00.5, +00.0, +00.0, +00.0,
+ +00.0, +01.0, +00.0, +00.0, +00.0, +00.0,
+ +01.0, +00.0, +00.0, +00.0, +00.0, +00.0
+ });
+ }
+ return hermiteBasis;
+ }
+
+ /**
+ * Returns the control vector for each dimension as a matrix from the
+ * user-provided arrays in the constructor.
+ *
+ * @param initialVector The control vector for the initial point.
+ * @param finalVector The control vector for the final point.
+ * @return The control vector matrix for a dimension.
+ */
+ private SimpleMatrix getControlVectorFromArrays(double[] initialVector, double[] finalVector) {
+ if (initialVector.length != 3 || finalVector.length != 3) {
+ throw new IllegalArgumentException("Size of vectors must be 3");
+ }
+ return new SimpleMatrix(6, 1, true, new double[]{
+ initialVector[0], initialVector[1], initialVector[2],
+ finalVector[0], finalVector[1], finalVector[2]});
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/Spline.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/Spline.java
new file mode 100644
index 0000000..a0dfd19
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/Spline.java
@@ -0,0 +1,116 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.spline;
+
+import java.util.Arrays;
+
+import org.ejml.simple.SimpleMatrix;
+
+import edu.wpi.first.wpilibj.geometry.Pose2d;
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
+
+/**
+ * Represents a two-dimensional parametric spline that interpolates between two
+ * points.
+ */
+public abstract class Spline {
+ private final int m_degree;
+
+ /**
+ * Constructs a spline with the given degree.
+ *
+ * @param degree The degree of the spline.
+ */
+ Spline(int degree) {
+ m_degree = degree;
+ }
+
+ /**
+ * Returns the coefficients of the spline.
+ *
+ * @return The coefficients of the spline.
+ */
+ protected abstract SimpleMatrix getCoefficients();
+
+ /**
+ * Gets the pose and curvature at some point t on the spline.
+ *
+ * @param t The point t
+ * @return The pose and curvature at that point.
+ */
+ @SuppressWarnings("ParameterName")
+ public PoseWithCurvature getPoint(double t) {
+ SimpleMatrix polynomialBases = new SimpleMatrix(m_degree + 1, 1);
+ final var coefficients = getCoefficients();
+
+ // Populate the polynomial bases.
+ for (int i = 0; i <= m_degree; i++) {
+ polynomialBases.set(i, 0, Math.pow(t, m_degree - i));
+ }
+
+ // This simply multiplies by the coefficients. We need to divide out t some
+ // n number of times where n is the derivative we want to take.
+ SimpleMatrix combined = coefficients.mult(polynomialBases);
+
+ // Get x and y
+ final double x = combined.get(0, 0);
+ final double y = combined.get(1, 0);
+
+ double dx;
+ double dy;
+ double ddx;
+ double ddy;
+
+ if (t == 0) {
+ dx = coefficients.get(2, m_degree - 1);
+ dy = coefficients.get(3, m_degree - 1);
+ ddx = coefficients.get(4, m_degree - 2);
+ ddy = coefficients.get(5, m_degree - 2);
+ } else {
+ // Divide out t once for first derivative.
+ dx = combined.get(2, 0) / t;
+ dy = combined.get(3, 0) / t;
+
+ // Divide out t twice for second derivative.
+ ddx = combined.get(4, 0) / t / t;
+ ddy = combined.get(5, 0) / t / t;
+ }
+
+ // Find the curvature.
+ final double curvature =
+ (dx * ddy - ddx * dy) / ((dx * dx + dy * dy) * Math.hypot(dx, dy));
+
+ return new PoseWithCurvature(
+ new Pose2d(x, y, new Rotation2d(dx, dy)),
+ curvature
+ );
+ }
+
+ /**
+ * Represents a control vector for a spline.
+ *
+ * <p>Each element in each array represents the value of the derivative at the index. For
+ * example, the value of x[2] is the second derivative in the x dimension.
+ */
+ @SuppressWarnings("MemberName")
+ public static class ControlVector {
+ public double[] x;
+ public double[] y;
+
+ /**
+ * Instantiates a control vector.
+ * @param x The x dimension of the control vector.
+ * @param y The y dimension of the control vector.
+ */
+ @SuppressWarnings("ParameterName")
+ public ControlVector(double[] x, double[] y) {
+ this.x = Arrays.copyOf(x, x.length);
+ this.y = Arrays.copyOf(y, y.length);
+ }
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/SplineHelper.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/SplineHelper.java
new file mode 100644
index 0000000..1c71229
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/SplineHelper.java
@@ -0,0 +1,263 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.spline;
+
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.List;
+
+import edu.wpi.first.wpilibj.geometry.Pose2d;
+import edu.wpi.first.wpilibj.geometry.Translation2d;
+
+public final class SplineHelper {
+ /**
+ * Private constructor because this is a utility class.
+ */
+ private SplineHelper() {
+ }
+
+ /**
+ * Returns 2 cubic control vectors from a set of exterior waypoints and
+ * interior translations.
+ *
+ * @param start The starting pose.
+ * @param interiorWaypoints The interior waypoints.
+ * @param end The ending pose.
+ * @return 2 cubic control vectors.
+ */
+ public static Spline.ControlVector[] getCubicControlVectorsFromWaypoints(
+ Pose2d start, Translation2d[] interiorWaypoints, Pose2d end
+ ) {
+ // Generate control vectors from poses.
+ Spline.ControlVector initialCV;
+ Spline.ControlVector endCV;
+
+ // Chooses a magnitude automatically that makes the splines look better.
+ if (interiorWaypoints.length < 1) {
+ double scalar = start.getTranslation().getDistance(end.getTranslation()) * 1.2;
+ initialCV = getCubicControlVector(scalar, start);
+ endCV = getCubicControlVector(scalar, end);
+ } else {
+ double scalar = start.getTranslation().getDistance(interiorWaypoints[0]) * 1.2;
+ initialCV = getCubicControlVector(scalar, start);
+ scalar = end.getTranslation().getDistance(interiorWaypoints[interiorWaypoints.length - 1])
+ * 1.2;
+ endCV = getCubicControlVector(scalar, end);
+ }
+ return new Spline.ControlVector[]{initialCV, endCV};
+ }
+
+ /**
+ * Returns quintic control vectors from a set of waypoints.
+ *
+ * @param waypoints The waypoints
+ * @return List of control vectors
+ */
+ public static List<Spline.ControlVector> getQuinticControlVectorsFromWaypoints(
+ List<Pose2d> waypoints
+ ) {
+ List<Spline.ControlVector> vectors = new ArrayList<>();
+ for (int i = 0; i < waypoints.size() - 1; i++) {
+ var p0 = waypoints.get(i);
+ var p1 = waypoints.get(i + 1);
+
+ // This just makes the splines look better.
+ final var scalar = 1.2 * p0.getTranslation().getDistance(p1.getTranslation());
+
+ vectors.add(getQuinticControlVector(scalar, p0));
+ vectors.add(getQuinticControlVector(scalar, p1));
+ }
+ return vectors;
+ }
+
+ /**
+ * Returns a set of cubic splines corresponding to the provided control vectors. The
+ * user is free to set the direction of the start and end point. The
+ * directions for the middle waypoints are determined automatically to ensure
+ * continuous curvature throughout the path.
+ *
+ * @param start The starting control vector.
+ * @param waypoints The middle waypoints. This can be left blank if you only
+ * wish to create a path with two waypoints.
+ * @param end The ending control vector.
+ * @return A vector of cubic hermite splines that interpolate through the
+ * provided waypoints and control vectors.
+ */
+ @SuppressWarnings({"LocalVariableName", "PMD.ExcessiveMethodLength",
+ "PMD.AvoidInstantiatingObjectsInLoops"})
+ public static CubicHermiteSpline[] getCubicSplinesFromControlVectors(
+ Spline.ControlVector start, Translation2d[] waypoints, Spline.ControlVector end) {
+
+ CubicHermiteSpline[] splines = new CubicHermiteSpline[waypoints.length + 1];
+
+ double[] xInitial = start.x;
+ double[] yInitial = start.y;
+ double[] xFinal = end.x;
+ double[] yFinal = end.y;
+
+ if (waypoints.length > 1) {
+ Translation2d[] newWaypts = new Translation2d[waypoints.length + 2];
+
+ // Create an array of all waypoints, including the start and end.
+ newWaypts[0] = new Translation2d(xInitial[0], yInitial[0]);
+ System.arraycopy(waypoints, 0, newWaypts, 1, waypoints.length);
+ newWaypts[newWaypts.length - 1] = new Translation2d(xFinal[0], yFinal[0]);
+
+ final double[] a = new double[1 + newWaypts.length - 3];
+
+ final double[] b = new double[newWaypts.length - 2];
+ Arrays.fill(b, 4.0);
+
+ final double[] c = new double[1 + newWaypts.length - 3];
+
+ final double[] dx = new double[2 + newWaypts.length - 4];
+ final double[] dy = new double[2 + newWaypts.length - 4];
+
+ final double[] fx = new double[newWaypts.length - 2];
+ final double[] fy = new double[newWaypts.length - 2];
+
+ a[0] = 0.0;
+ for (int i = 0; i < newWaypts.length - 3; i++) {
+ a[i + 1] = 1;
+ c[i] = 1;
+ }
+ c[c.length - 1] = 0.0;
+
+ dx[0] = 3 * (newWaypts[2].getX() - newWaypts[0].getX()) - xInitial[1];
+ dy[0] = 3 * (newWaypts[2].getY() - newWaypts[0].getY()) - yInitial[1];
+
+ if (newWaypts.length > 4) {
+ for (int i = 1; i <= newWaypts.length; i++) {
+ dx[i] = newWaypts[i + 1].getX() - newWaypts[i - 1].getX();
+ dy[i] = newWaypts[i + 1].getY() - newWaypts[i - 1].getY();
+ }
+ }
+
+ dx[dx.length - 1] = 3 * (newWaypts[newWaypts.length - 1].getX()
+ - newWaypts[newWaypts.length - 3].getX()) - xFinal[1];
+ dy[dy.length - 1] = 3 * (newWaypts[newWaypts.length - 1].getY()
+ - newWaypts[newWaypts.length - 3].getY()) - yFinal[1];
+
+ thomasAlgorithm(a, b, c, dx, fx);
+ thomasAlgorithm(a, b, c, dy, fy);
+
+ double[] newFx = new double[fx.length + 2];
+ double[] newFy = new double[fy.length + 2];
+
+ newFx[0] = xInitial[1];
+ newFy[0] = yInitial[1];
+ System.arraycopy(fx, 0, newFx, 1, fx.length);
+ System.arraycopy(fy, 0, newFy, 1, fy.length);
+ newFx[newFx.length - 1] = xFinal[1];
+ newFy[newFy.length - 1] = yFinal[1];
+
+ for (int i = 0; i < newFx.length - 1; i++) {
+ splines[i] = new CubicHermiteSpline(
+ new double[]{newWaypts[i].getX(), newFx[i]},
+ new double[]{newWaypts[i + 1].getX(), newFx[i + 1]},
+ new double[]{newWaypts[i].getY(), newFy[i]},
+ new double[]{newWaypts[i + 1].getY(), newFy[i + 1]}
+ );
+ }
+ } else if (waypoints.length == 1) {
+ final var xDeriv = (3 * (xFinal[0]
+ - xInitial[0])
+ - xFinal[1] - xInitial[1])
+ / 4.0;
+ final var yDeriv = (3 * (yFinal[0]
+ - yInitial[0])
+ - yFinal[1] - yInitial[1])
+ / 4.0;
+
+ double[] midXControlVector = {waypoints[0].getX(), xDeriv};
+ double[] midYControlVector = {waypoints[0].getX(), yDeriv};
+
+ splines[0] = new CubicHermiteSpline(xInitial, midXControlVector,
+ yInitial, midYControlVector);
+ splines[1] = new CubicHermiteSpline(midXControlVector, xFinal,
+ midYControlVector, yFinal);
+ } else {
+ splines[0] = new CubicHermiteSpline(xInitial, xFinal,
+ yInitial, yFinal);
+ }
+ return splines;
+ }
+
+ /**
+ * Returns a set of quintic splines corresponding to the provided control vectors.
+ * The user is free to set the direction of all control vectors. Continuous
+ * curvature is guaranteed throughout the path.
+ *
+ * @param controlVectors The control vectors.
+ * @return A vector of quintic hermite splines that interpolate through the
+ * provided waypoints.
+ */
+ @SuppressWarnings({"LocalVariableName", "PMD.AvoidInstantiatingObjectsInLoops"})
+ public static QuinticHermiteSpline[] getQuinticSplinesFromControlVectors(
+ Spline.ControlVector[] controlVectors) {
+ QuinticHermiteSpline[] splines = new QuinticHermiteSpline[controlVectors.length - 1];
+ for (int i = 0; i < controlVectors.length - 1; i++) {
+ var xInitial = controlVectors[i].x;
+ var xFinal = controlVectors[i + 1].x;
+ var yInitial = controlVectors[i].y;
+ var yFinal = controlVectors[i + 1].y;
+ splines[i] = new QuinticHermiteSpline(xInitial, xFinal,
+ yInitial, yFinal);
+ }
+ return splines;
+ }
+
+ /**
+ * Thomas algorithm for solving tridiagonal systems Af = d.
+ *
+ * @param a the values of A above the diagonal
+ * @param b the values of A on the diagonal
+ * @param c the values of A below the diagonal
+ * @param d the vector on the rhs
+ * @param solutionVector the unknown (solution) vector, modified in-place
+ */
+ @SuppressWarnings({"ParameterName", "LocalVariableName"})
+ private static void thomasAlgorithm(double[] a, double[] b,
+ double[] c, double[] d, double[] solutionVector) {
+ int N = d.length;
+
+ double[] cStar = new double[N];
+ double[] dStar = new double[N];
+
+ // This updates the coefficients in the first row
+ // Note that we should be checking for division by zero here
+ cStar[0] = c[0] / b[0];
+ dStar[0] = d[0] / b[0];
+
+ // Create the c_star and d_star coefficients in the forward sweep
+ for (int i = 1; i < N; i++) {
+ double m = 1.0 / (b[i] - a[i] * cStar[i - 1]);
+ cStar[i] = c[i] * m;
+ dStar[i] = (d[i] - a[i] * dStar[i - 1]) * m;
+ }
+ solutionVector[N - 1] = dStar[N - 1];
+ // This is the reverse sweep, used to update the solution vector f
+ for (int i = N - 2; i >= 0; i--) {
+ solutionVector[i] = dStar[i] - cStar[i] * solutionVector[i + 1];
+ }
+ }
+
+ private static Spline.ControlVector getCubicControlVector(double scalar, Pose2d point) {
+ return new Spline.ControlVector(
+ new double[]{point.getTranslation().getX(), scalar * point.getRotation().getCos()},
+ new double[]{point.getTranslation().getY(), scalar * point.getRotation().getSin()}
+ );
+ }
+
+ private static Spline.ControlVector getQuinticControlVector(double scalar, Pose2d point) {
+ return new Spline.ControlVector(
+ new double[]{point.getTranslation().getX(), scalar * point.getRotation().getCos(), 0.0},
+ new double[]{point.getTranslation().getY(), scalar * point.getRotation().getSin(), 0.0}
+ );
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/SplineParameterizer.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/SplineParameterizer.java
new file mode 100644
index 0000000..b78227d
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/SplineParameterizer.java
@@ -0,0 +1,106 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+/*
+ * MIT License
+ *
+ * Copyright (c) 2018 Team 254
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+package edu.wpi.first.wpilibj.spline;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * Class used to parameterize a spline by its arc length.
+ */
+public final class SplineParameterizer {
+ private static final double kMaxDx = 0.127;
+ private static final double kMaxDy = 0.00127;
+ private static final double kMaxDtheta = 0.0872;
+
+ /**
+ * Private constructor because this is a utility class.
+ */
+ private SplineParameterizer() {
+ }
+
+ /**
+ * Parameterizes the spline. This method breaks up the spline into various
+ * arcs until their dx, dy, and dtheta are within specific tolerances.
+ *
+ * @param spline The spline to parameterize.
+ * @return A vector of poses and curvatures that represents various points on the spline.
+ */
+ public static List<PoseWithCurvature> parameterize(Spline spline) {
+ return parameterize(spline, 0.0, 1.0);
+ }
+
+ /**
+ * Parameterizes the spline. This method breaks up the spline into various
+ * arcs until their dx, dy, and dtheta are within specific tolerances.
+ *
+ * @param spline The spline to parameterize.
+ * @param t0 Starting internal spline parameter. It is recommended to use 0.0.
+ * @param t1 Ending internal spline parameter. It is recommended to use 1.0.
+ * @return A vector of poses and curvatures that represents various points on the spline.
+ */
+ public static List<PoseWithCurvature> parameterize(Spline spline, double t0, double t1) {
+ var arr = new ArrayList<PoseWithCurvature>();
+
+ // The parameterization does not add the first initial point. Let's add
+ // that.
+ arr.add(spline.getPoint(t0));
+
+ getSegmentArc(spline, arr, t0, t1);
+ return arr;
+ }
+
+ /**
+ * Breaks up the spline into arcs until the dx, dy, and theta of each arc is
+ * within tolerance.
+ *
+ * @param spline The spline to parameterize.
+ * @param vector Pointer to vector of poses.
+ * @param t0 Starting point for arc.
+ * @param t1 Ending point for arc.
+ */
+ private static void getSegmentArc(Spline spline, List<PoseWithCurvature> vector,
+ double t0, double t1) {
+ final var start = spline.getPoint(t0);
+ final var end = spline.getPoint(t1);
+
+ final var twist = start.poseMeters.log(end.poseMeters);
+
+ if (Math.abs(twist.dy) > kMaxDy || Math.abs(twist.dx) > kMaxDx
+ || Math.abs(twist.dtheta) > kMaxDtheta) {
+ getSegmentArc(spline, vector, t0, (t0 + t1) / 2);
+ getSegmentArc(spline, vector, (t0 + t1) / 2, t1);
+ } else {
+ vector.add(spline.getPoint(t1));
+ }
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/Trajectory.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/Trajectory.java
new file mode 100644
index 0000000..934602a
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/Trajectory.java
@@ -0,0 +1,238 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.trajectory;
+
+import java.util.List;
+import java.util.stream.Collectors;
+
+import edu.wpi.first.wpilibj.geometry.Pose2d;
+
+/**
+ * Represents a time-parameterized trajectory. The trajectory contains of
+ * various States that represent the pose, curvature, time elapsed, velocity,
+ * and acceleration at that point.
+ */
+public class Trajectory {
+ private final double m_totalTimeSeconds;
+ private final List<State> m_states;
+
+ /**
+ * Constructs a trajectory from a vector of states.
+ *
+ * @param states A vector of states.
+ */
+ public Trajectory(final List<State> states) {
+ m_states = states;
+ m_totalTimeSeconds = m_states.get(m_states.size() - 1).timeSeconds;
+ }
+
+ /**
+ * Linearly interpolates between two values.
+ *
+ * @param startValue The start value.
+ * @param endValue The end value.
+ * @param t The fraction for interpolation.
+ * @return The interpolated value.
+ */
+ @SuppressWarnings("ParameterName")
+ private static double lerp(double startValue, double endValue, double t) {
+ return startValue + (endValue - startValue) * t;
+ }
+
+ /**
+ * Linearly interpolates between two poses.
+ *
+ * @param startValue The start pose.
+ * @param endValue The end pose.
+ * @param t The fraction for interpolation.
+ * @return The interpolated pose.
+ */
+ @SuppressWarnings("ParameterName")
+ private static Pose2d lerp(Pose2d startValue, Pose2d endValue, double t) {
+ return startValue.plus((endValue.minus(startValue)).times(t));
+ }
+
+ /**
+ * Returns the overall duration of the trajectory.
+ *
+ * @return The duration of the trajectory.
+ */
+ public double getTotalTimeSeconds() {
+ return m_totalTimeSeconds;
+ }
+
+ /**
+ * Return the states of the trajectory.
+ *
+ * @return The states of the trajectory.
+ */
+ public List<State> getStates() {
+ return m_states;
+ }
+
+ /**
+ * Sample the trajectory at a point in time.
+ *
+ * @param timeSeconds The point in time since the beginning of the trajectory to sample.
+ * @return The state at that point in time.
+ */
+ public State sample(double timeSeconds) {
+ if (timeSeconds <= m_states.get(0).timeSeconds) {
+ return m_states.get(0);
+ }
+ if (timeSeconds >= m_totalTimeSeconds) {
+ return m_states.get(m_states.size() - 1);
+ }
+
+ // To get the element that we want, we will use a binary search algorithm
+ // instead of iterating over a for-loop. A binary search is O(std::log(n))
+ // whereas searching using a loop is O(n).
+
+ // This starts at 1 because we use the previous state later on for
+ // interpolation.
+ int low = 1;
+ int high = m_states.size() - 1;
+
+ while (low != high) {
+ int mid = (low + high) / 2;
+ if (m_states.get(mid).timeSeconds < timeSeconds) {
+ // This index and everything under it are less than the requested
+ // timestamp. Therefore, we can discard them.
+ low = mid + 1;
+ } else {
+ // t is at least as large as the element at this index. This means that
+ // anything after it cannot be what we are looking for.
+ high = mid;
+ }
+ }
+
+ // High and Low should be the same.
+
+ // The sample's timestamp is now greater than or equal to the requested
+ // timestamp. If it is greater, we need to interpolate between the
+ // previous state and the current state to get the exact state that we
+ // want.
+ final State sample = m_states.get(low);
+ final State prevSample = m_states.get(low - 1);
+
+ // If the difference in states is negligible, then we are spot on!
+ if (Math.abs(sample.timeSeconds - prevSample.timeSeconds) < 1E-9) {
+ return sample;
+ }
+ // Interpolate between the two states for the state that we want.
+ return prevSample.interpolate(sample,
+ (timeSeconds - prevSample.timeSeconds) / (sample.timeSeconds - prevSample.timeSeconds));
+ }
+
+ /**
+ * Represents a time-parameterized trajectory. The trajectory contains of
+ * various States that represent the pose, curvature, time elapsed, velocity,
+ * and acceleration at that point.
+ */
+ @SuppressWarnings("MemberName")
+ public static class State {
+ // The time elapsed since the beginning of the trajectory.
+ public double timeSeconds;
+
+ // The speed at that point of the trajectory.
+ public double velocityMetersPerSecond;
+
+ // The acceleration at that point of the trajectory.
+ public double accelerationMetersPerSecondSq;
+
+ // The pose at that point of the trajectory.
+ public Pose2d poseMeters;
+
+ // The curvature at that point of the trajectory.
+ public double curvatureRadPerMeter;
+
+ public State() {
+ poseMeters = new Pose2d();
+ }
+
+ /**
+ * Constructs a State with the specified parameters.
+ *
+ * @param timeSeconds The time elapsed since the beginning of the trajectory.
+ * @param velocityMetersPerSecond The speed at that point of the trajectory.
+ * @param accelerationMetersPerSecondSq The acceleration at that point of the trajectory.
+ * @param poseMeters The pose at that point of the trajectory.
+ * @param curvatureRadPerMeter The curvature at that point of the trajectory.
+ */
+ public State(double timeSeconds, double velocityMetersPerSecond,
+ double accelerationMetersPerSecondSq, Pose2d poseMeters,
+ double curvatureRadPerMeter) {
+ this.timeSeconds = timeSeconds;
+ this.velocityMetersPerSecond = velocityMetersPerSecond;
+ this.accelerationMetersPerSecondSq = accelerationMetersPerSecondSq;
+ this.poseMeters = poseMeters;
+ this.curvatureRadPerMeter = curvatureRadPerMeter;
+ }
+
+ /**
+ * Interpolates between two States.
+ *
+ * @param endValue The end value for the interpolation.
+ * @param i The interpolant (fraction).
+ * @return The interpolated state.
+ */
+ @SuppressWarnings("ParameterName")
+ State interpolate(State endValue, double i) {
+ // Find the new t value.
+ final double newT = lerp(timeSeconds, endValue.timeSeconds, i);
+
+ // Find the delta time between the current state and the interpolated state.
+ final double deltaT = newT - timeSeconds;
+
+ // If delta time is negative, flip the order of interpolation.
+ if (deltaT < 0) {
+ return endValue.interpolate(this, 1 - i);
+ }
+
+ // Check whether the robot is reversing at this stage.
+ final boolean reversing = velocityMetersPerSecond < 0
+ || Math.abs(velocityMetersPerSecond) < 1E-9 && accelerationMetersPerSecondSq < 0;
+
+ // Calculate the new velocity
+ // v_f = v_0 + at
+ final double newV = velocityMetersPerSecond + (accelerationMetersPerSecondSq * deltaT);
+
+ // Calculate the change in position.
+ // delta_s = v_0 t + 0.5 at^2
+ final double newS = (velocityMetersPerSecond * deltaT
+ + 0.5 * accelerationMetersPerSecondSq * Math.pow(deltaT, 2)) * (reversing ? -1.0 : 1.0);
+
+ // Return the new state. To find the new position for the new state, we need
+ // to interpolate between the two endpoint poses. The fraction for
+ // interpolation is the change in position (delta s) divided by the total
+ // distance between the two endpoints.
+ final double interpolationFrac = newS
+ / endValue.poseMeters.getTranslation().getDistance(poseMeters.getTranslation());
+
+ return new State(
+ newT, newV, accelerationMetersPerSecondSq,
+ lerp(poseMeters, endValue.poseMeters, interpolationFrac),
+ lerp(curvatureRadPerMeter, endValue.curvatureRadPerMeter, interpolationFrac)
+ );
+ }
+
+ @Override
+ public String toString() {
+ return String.format(
+ "State(Sec: %.2f, Vel m/s: %.2f, Accel m/s/s: %.2f, Pose: %s, Curvature: %.2f)",
+ timeSeconds, velocityMetersPerSecond, accelerationMetersPerSecondSq,
+ poseMeters, curvatureRadPerMeter);
+ }
+ }
+
+ @Override
+ public String toString() {
+ String stateList = m_states.stream().map(State::toString).collect(Collectors.joining(", \n"));
+ return String.format("Trajectory - Seconds: %.2f, States:\n%s", m_totalTimeSeconds, stateList);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryConfig.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryConfig.java
new file mode 100644
index 0000000..7bff2cc
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryConfig.java
@@ -0,0 +1,165 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.trajectory;
+
+import java.util.ArrayList;
+import java.util.List;
+
+import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
+import edu.wpi.first.wpilibj.trajectory.constraint.DifferentialDriveKinematicsConstraint;
+import edu.wpi.first.wpilibj.trajectory.constraint.TrajectoryConstraint;
+
+/**
+ * Represents the configuration for generating a trajectory. This class stores the start velocity,
+ * end velocity, max velocity, max acceleration, custom constraints, and the reversed flag.
+ *
+ * <p>The class must be constructed with a max velocity and max acceleration. The other parameters
+ * (start velocity, end velocity, constraints, reversed) have been defaulted to reasonable
+ * values (0, 0, {}, false). These values can be changed via the setXXX methods.
+ */
+public class TrajectoryConfig {
+ private final double m_maxVelocity;
+ private final double m_maxAcceleration;
+ private final List<TrajectoryConstraint> m_constraints;
+ private double m_startVelocity;
+ private double m_endVelocity;
+ private boolean m_reversed;
+
+ /**
+ * Constructs the trajectory configuration class.
+ *
+ * @param maxVelocityMetersPerSecond The max velocity for the trajectory.
+ * @param maxAccelerationMetersPerSecondSq The max acceleration for the trajectory.
+ */
+ public TrajectoryConfig(double maxVelocityMetersPerSecond,
+ double maxAccelerationMetersPerSecondSq) {
+ m_maxVelocity = maxVelocityMetersPerSecond;
+ m_maxAcceleration = maxAccelerationMetersPerSecondSq;
+ m_constraints = new ArrayList<>();
+ }
+
+ /**
+ * Adds a user-defined constraint to the trajectory.
+ *
+ * @param constraint The user-defined constraint.
+ * @return Instance of the current config object.
+ */
+ public TrajectoryConfig addConstraint(TrajectoryConstraint constraint) {
+ m_constraints.add(constraint);
+ return this;
+ }
+
+ /**
+ * Adds all user-defined constraints from a list to the trajectory.
+ * @param constraints List of user-defined constraints.
+ * @return Instance of the current config object.
+ */
+ public TrajectoryConfig addConstraints(List<TrajectoryConstraint> constraints) {
+ m_constraints.addAll(constraints);
+ return this;
+ }
+
+ /**
+ * Adds a differential drive kinematics constraint to ensure that
+ * no wheel velocity of a differential drive goes above the max velocity.
+ *
+ * @param kinematics The differential drive kinematics.
+ * @return Instance of the current config object.
+ */
+ public TrajectoryConfig setKinematics(DifferentialDriveKinematics kinematics) {
+ addConstraint(new DifferentialDriveKinematicsConstraint(kinematics, m_maxVelocity));
+ return this;
+ }
+
+ /**
+ * Returns the starting velocity of the trajectory.
+ *
+ * @return The starting velocity of the trajectory.
+ */
+ public double getStartVelocity() {
+ return m_startVelocity;
+ }
+
+ /**
+ * Sets the start velocity of the trajectory.
+ *
+ * @param startVelocityMetersPerSecond The start velocity of the trajectory.
+ * @return Instance of the current config object.
+ */
+ public TrajectoryConfig setStartVelocity(double startVelocityMetersPerSecond) {
+ m_startVelocity = startVelocityMetersPerSecond;
+ return this;
+ }
+
+ /**
+ * Returns the starting velocity of the trajectory.
+ *
+ * @return The starting velocity of the trajectory.
+ */
+ public double getEndVelocity() {
+ return m_endVelocity;
+ }
+
+ /**
+ * Sets the end velocity of the trajectory.
+ *
+ * @param endVelocityMetersPerSecond The end velocity of the trajectory.
+ * @return Instance of the current config object.
+ */
+ public TrajectoryConfig setEndVelocity(double endVelocityMetersPerSecond) {
+ m_endVelocity = endVelocityMetersPerSecond;
+ return this;
+ }
+
+ /**
+ * Returns the maximum velocity of the trajectory.
+ *
+ * @return The maximum velocity of the trajectory.
+ */
+ public double getMaxVelocity() {
+ return m_maxVelocity;
+ }
+
+ /**
+ * Returns the maximum acceleration of the trajectory.
+ *
+ * @return The maximum acceleration of the trajectory.
+ */
+ public double getMaxAcceleration() {
+ return m_maxAcceleration;
+ }
+
+ /**
+ * Returns the user-defined constraints of the trajectory.
+ *
+ * @return The user-defined constraints of the trajectory.
+ */
+ public List<TrajectoryConstraint> getConstraints() {
+ return m_constraints;
+ }
+
+ /**
+ * Returns whether the trajectory is reversed or not.
+ *
+ * @return whether the trajectory is reversed or not.
+ */
+ public boolean isReversed() {
+ return m_reversed;
+ }
+
+ /**
+ * Sets the reversed flag of the trajectory.
+ *
+ * @param reversed Whether the trajectory should be reversed or not.
+ * @return Instance of the current config object.
+ */
+ public TrajectoryConfig setReversed(boolean reversed) {
+ m_reversed = reversed;
+ return this;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryGenerator.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryGenerator.java
new file mode 100644
index 0000000..aa3840a
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryGenerator.java
@@ -0,0 +1,199 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.trajectory;
+
+import java.util.ArrayList;
+import java.util.List;
+
+import edu.wpi.first.wpilibj.geometry.Pose2d;
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.geometry.Transform2d;
+import edu.wpi.first.wpilibj.geometry.Translation2d;
+import edu.wpi.first.wpilibj.spline.PoseWithCurvature;
+import edu.wpi.first.wpilibj.spline.Spline;
+import edu.wpi.first.wpilibj.spline.SplineHelper;
+import edu.wpi.first.wpilibj.spline.SplineParameterizer;
+
+public final class TrajectoryGenerator {
+ /**
+ * Private constructor because this is a utility class.
+ */
+ private TrajectoryGenerator() {
+ }
+
+ /**
+ * Generates a trajectory from the given control vectors and config. This method uses clamped
+ * cubic splines -- a method in which the exterior control vectors and interior waypoints
+ * are provided. The headings are automatically determined at the interior points to
+ * ensure continuous curvature.
+ *
+ * @param initial The initial control vector.
+ * @param interiorWaypoints The interior waypoints.
+ * @param end The ending control vector.
+ * @param config The configuration for the trajectory.
+ * @return The generated trajectory.
+ */
+ public static Trajectory generateTrajectory(
+ Spline.ControlVector initial,
+ List<Translation2d> interiorWaypoints,
+ Spline.ControlVector end,
+ TrajectoryConfig config
+ ) {
+ final var flip = new Transform2d(new Translation2d(), Rotation2d.fromDegrees(180.0));
+
+ // Clone the control vectors.
+ var newInitial = new Spline.ControlVector(initial.x, initial.y);
+ var newEnd = new Spline.ControlVector(end.x, end.y);
+
+ // Change the orientation if reversed.
+ if (config.isReversed()) {
+ newInitial.x[1] *= -1;
+ newInitial.y[1] *= -1;
+ newEnd.x[1] *= -1;
+ newEnd.y[1] *= -1;
+ }
+
+ // Get the spline points
+ var points = splinePointsFromSplines(SplineHelper.getCubicSplinesFromControlVectors(
+ newInitial, interiorWaypoints.toArray(new Translation2d[0]), newEnd
+ ));
+
+ // Change the points back to their original orientation.
+ if (config.isReversed()) {
+ for (var point : points) {
+ point.poseMeters = point.poseMeters.plus(flip);
+ point.curvatureRadPerMeter *= -1;
+ }
+ }
+
+ // Generate and return trajectory.
+ return TrajectoryParameterizer.timeParameterizeTrajectory(points, config.getConstraints(),
+ config.getStartVelocity(), config.getEndVelocity(), config.getMaxVelocity(),
+ config.getMaxAcceleration(), config.isReversed());
+ }
+
+ /**
+ * Generates a trajectory from the given waypoints and config. This method uses clamped
+ * cubic splines -- a method in which the initial pose, final pose, and interior waypoints
+ * are provided. The headings are automatically determined at the interior points to
+ * ensure continuous curvature.
+ *
+ * @param start The starting pose.
+ * @param interiorWaypoints The interior waypoints.
+ * @param end The ending pose.
+ * @param config The configuration for the trajectory.
+ * @return The generated trajectory.
+ */
+ public static Trajectory generateTrajectory(
+ Pose2d start, List<Translation2d> interiorWaypoints, Pose2d end,
+ TrajectoryConfig config
+ ) {
+ var controlVectors = SplineHelper.getCubicControlVectorsFromWaypoints(
+ start, interiorWaypoints.toArray(new Translation2d[0]), end
+ );
+
+ // Return the generated trajectory.
+ return generateTrajectory(controlVectors[0], interiorWaypoints, controlVectors[1], config);
+ }
+
+ /**
+ * Generates a trajectory from the given quintic control vectors and config. This method
+ * uses quintic hermite splines -- therefore, all points must be represented by control
+ * vectors. Continuous curvature is guaranteed in this method.
+ *
+ * @param controlVectors List of quintic control vectors.
+ * @param config The configuration for the trajectory.
+ * @return The generated trajectory.
+ */
+ @SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
+ public static Trajectory generateTrajectory(
+ ControlVectorList controlVectors,
+ TrajectoryConfig config
+ ) {
+ final var flip = new Transform2d(new Translation2d(), Rotation2d.fromDegrees(180.0));
+ final var newControlVectors = new ArrayList<Spline.ControlVector>(controlVectors.size());
+
+ // Create a new control vector list, flipping the orientation if reversed.
+ for (final var vector : controlVectors) {
+ var newVector = new Spline.ControlVector(vector.x, vector.y);
+ if (config.isReversed()) {
+ newVector.x[1] *= -1;
+ newVector.y[1] *= -1;
+ }
+ newControlVectors.add(newVector);
+ }
+
+ // Get the spline points
+ var points = splinePointsFromSplines(SplineHelper.getQuinticSplinesFromControlVectors(
+ newControlVectors.toArray(new Spline.ControlVector[]{})
+ ));
+
+ // Change the points back to their original orientation.
+ if (config.isReversed()) {
+ for (var point : points) {
+ point.poseMeters = point.poseMeters.plus(flip);
+ point.curvatureRadPerMeter *= -1;
+ }
+ }
+
+ // Generate and return trajectory.
+ return TrajectoryParameterizer.timeParameterizeTrajectory(points, config.getConstraints(),
+ config.getStartVelocity(), config.getEndVelocity(), config.getMaxVelocity(),
+ config.getMaxAcceleration(), config.isReversed());
+
+ }
+
+ /**
+ * Generates a trajectory from the given waypoints and config. This method
+ * uses quintic hermite splines -- therefore, all points must be represented by Pose2d
+ * objects. Continuous curvature is guaranteed in this method.
+ *
+ * @param waypoints List of waypoints..
+ * @param config The configuration for the trajectory.
+ * @return The generated trajectory.
+ */
+ @SuppressWarnings("LocalVariableName")
+ public static Trajectory generateTrajectory(List<Pose2d> waypoints, TrajectoryConfig config) {
+ var originalList = SplineHelper.getQuinticControlVectorsFromWaypoints(waypoints);
+ var newList = new ControlVectorList();
+ newList.addAll(originalList);
+ return generateTrajectory(newList, config);
+ }
+
+ /**
+ * Generate spline points from a vector of splines by parameterizing the
+ * splines.
+ *
+ * @param splines The splines to parameterize.
+ * @return The spline points for use in time parameterization of a trajectory.
+ */
+ public static List<PoseWithCurvature> splinePointsFromSplines(
+ Spline[] splines) {
+ // Create the vector of spline points.
+ var splinePoints = new ArrayList<PoseWithCurvature>();
+
+ // Add the first point to the vector.
+ splinePoints.add(splines[0].getPoint(0.0));
+
+ // Iterate through the vector and parameterize each spline, adding the
+ // parameterized points to the final vector.
+ for (final var spline : splines) {
+ var points = SplineParameterizer.parameterize(spline);
+
+ // Append the array of poses to the vector. We are removing the first
+ // point because it's a duplicate of the last point from the previous
+ // spline.
+ splinePoints.addAll(points.subList(1, points.size()));
+ }
+ return splinePoints;
+ }
+
+ // Work around type erasure signatures
+ private static class ControlVectorList extends ArrayList<Spline.ControlVector> {
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryParameterizer.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryParameterizer.java
new file mode 100644
index 0000000..9459dd0
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryParameterizer.java
@@ -0,0 +1,303 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+/*
+ * MIT License
+ *
+ * Copyright (c) 2018 Team 254
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+package edu.wpi.first.wpilibj.trajectory;
+
+import java.util.ArrayList;
+import java.util.List;
+
+import edu.wpi.first.wpilibj.spline.PoseWithCurvature;
+import edu.wpi.first.wpilibj.trajectory.constraint.TrajectoryConstraint;
+
+/**
+ * Class used to parameterize a trajectory by time.
+ */
+public final class TrajectoryParameterizer {
+ /**
+ * Private constructor because this is a utility class.
+ */
+ private TrajectoryParameterizer() {
+ }
+
+ /**
+ * Parameterize the trajectory by time. This is where the velocity profile is
+ * generated.
+ *
+ * <p>The derivation of the algorithm used can be found
+ * <a href="http://www2.informatik.uni-freiburg.de/~lau/students/Sprunk2008.pdf">
+ * here</a>.
+ *
+ * @param points Reference to the spline points.
+ * @param constraints A vector of various velocity and acceleration.
+ * constraints.
+ * @param startVelocityMetersPerSecond The start velocity for the trajectory.
+ * @param endVelocityMetersPerSecond The end velocity for the trajectory.
+ * @param maxVelocityMetersPerSecond The max velocity for the trajectory.
+ * @param maxAccelerationMetersPerSecondSq The max acceleration for the trajectory.
+ * @param reversed Whether the robot should move backwards.
+ * Note that the robot will still move from
+ * a -> b -> ... -> z as defined in the
+ * waypoints.
+ * @return The trajectory.
+ */
+ @SuppressWarnings({"PMD.ExcessiveMethodLength", "PMD.CyclomaticComplexity",
+ "PMD.NPathComplexity", "PMD.AvoidInstantiatingObjectsInLoops",
+ "PMD.AvoidThrowingRawExceptionTypes"})
+ public static Trajectory timeParameterizeTrajectory(
+ List<PoseWithCurvature> points,
+ List<TrajectoryConstraint> constraints,
+ double startVelocityMetersPerSecond,
+ double endVelocityMetersPerSecond,
+ double maxVelocityMetersPerSecond,
+ double maxAccelerationMetersPerSecondSq,
+ boolean reversed
+ ) {
+ var constrainedStates = new ArrayList<ConstrainedState>(points.size());
+ var predecessor = new ConstrainedState(points.get(0), 0, startVelocityMetersPerSecond,
+ -maxAccelerationMetersPerSecondSq, maxAccelerationMetersPerSecondSq);
+
+ // Forward pass
+ for (int i = 0; i < points.size(); i++) {
+ constrainedStates.add(new ConstrainedState());
+ var constrainedState = constrainedStates.get(i);
+ constrainedState.pose = points.get(i);
+
+ // Begin constraining based on predecessor.
+ double ds = constrainedState.pose.poseMeters.getTranslation().getDistance(
+ predecessor.pose.poseMeters.getTranslation());
+ constrainedState.distanceMeters = predecessor.distanceMeters + ds;
+
+ // We may need to iterate to find the maximum end velocity and common
+ // acceleration, since acceleration limits may be a function of velocity.
+ while (true) {
+ // Enforce global max velocity and max reachable velocity by global
+ // acceleration limit. vf = std::sqrt(vi^2 + 2*a*d).
+ constrainedState.maxVelocityMetersPerSecond = Math.min(
+ maxVelocityMetersPerSecond,
+ Math.sqrt(predecessor.maxVelocityMetersPerSecond
+ * predecessor.maxVelocityMetersPerSecond
+ + predecessor.maxAccelerationMetersPerSecondSq * ds * 2.0)
+ );
+
+ constrainedState.minAccelerationMetersPerSecondSq = -maxAccelerationMetersPerSecondSq;
+ constrainedState.maxAccelerationMetersPerSecondSq = maxAccelerationMetersPerSecondSq;
+
+ // At this point, the constrained state is fully constructed apart from
+ // all the custom-defined user constraints.
+ for (final var constraint : constraints) {
+ constrainedState.maxVelocityMetersPerSecond = Math.min(
+ constrainedState.maxVelocityMetersPerSecond,
+ constraint.getMaxVelocityMetersPerSecond(
+ constrainedState.pose.poseMeters, constrainedState.pose.curvatureRadPerMeter,
+ constrainedState.maxVelocityMetersPerSecond)
+ );
+ }
+
+ // Now enforce all acceleration limits.
+ enforceAccelerationLimits(reversed, constraints, constrainedState);
+
+ if (ds < 1E-6) {
+ break;
+ }
+
+ // If the actual acceleration for this state is higher than the max
+ // acceleration that we applied, then we need to reduce the max
+ // acceleration of the predecessor and try again.
+ double actualAcceleration = (constrainedState.maxVelocityMetersPerSecond
+ * constrainedState.maxVelocityMetersPerSecond
+ - predecessor.maxVelocityMetersPerSecond * predecessor.maxVelocityMetersPerSecond)
+ / (ds * 2.0);
+
+ // If we violate the max acceleration constraint, let's modify the
+ // predecessor.
+ if (constrainedState.maxAccelerationMetersPerSecondSq < actualAcceleration - 1E-6) {
+ predecessor.maxAccelerationMetersPerSecondSq
+ = constrainedState.maxAccelerationMetersPerSecondSq;
+ } else {
+ // Constrain the predecessor's max acceleration to the current
+ // acceleration.
+ if (actualAcceleration > predecessor.minAccelerationMetersPerSecondSq) {
+ predecessor.maxAccelerationMetersPerSecondSq = actualAcceleration;
+ }
+ // If the actual acceleration is less than the predecessor's min
+ // acceleration, it will be repaired in the backward pass.
+ break;
+ }
+ }
+ predecessor = constrainedState;
+ }
+
+ var successor = new ConstrainedState(points.get(points.size() - 1),
+ constrainedStates.get(constrainedStates.size() - 1).distanceMeters,
+ endVelocityMetersPerSecond,
+ -maxAccelerationMetersPerSecondSq, maxAccelerationMetersPerSecondSq);
+
+ // Backward pass
+ for (int i = points.size() - 1; i >= 0; i--) {
+ var constrainedState = constrainedStates.get(i);
+ double ds = constrainedState.distanceMeters - successor.distanceMeters; // negative
+
+ while (true) {
+ // Enforce max velocity limit (reverse)
+ // vf = std::sqrt(vi^2 + 2*a*d), where vi = successor.
+ double newMaxVelocity = Math.sqrt(
+ successor.maxVelocityMetersPerSecond * successor.maxVelocityMetersPerSecond
+ + successor.minAccelerationMetersPerSecondSq * ds * 2.0
+ );
+
+ // No more limits to impose! This state can be finalized.
+ if (newMaxVelocity >= constrainedState.maxVelocityMetersPerSecond) {
+ break;
+ }
+
+ constrainedState.maxVelocityMetersPerSecond = newMaxVelocity;
+
+ // Check all acceleration constraints with the new max velocity.
+ enforceAccelerationLimits(reversed, constraints, constrainedState);
+
+ if (ds > -1E-6) {
+ break;
+ }
+
+ // If the actual acceleration for this state is lower than the min
+ // acceleration, then we need to lower the min acceleration of the
+ // successor and try again.
+ double actualAcceleration = (constrainedState.maxVelocityMetersPerSecond
+ * constrainedState.maxVelocityMetersPerSecond
+ - successor.maxVelocityMetersPerSecond * successor.maxVelocityMetersPerSecond)
+ / (ds * 2.0);
+
+ if (constrainedState.minAccelerationMetersPerSecondSq > actualAcceleration + 1E-6) {
+ successor.minAccelerationMetersPerSecondSq
+ = constrainedState.minAccelerationMetersPerSecondSq;
+ } else {
+ successor.minAccelerationMetersPerSecondSq = actualAcceleration;
+ break;
+ }
+ }
+ successor = constrainedState;
+ }
+
+ // Now we can integrate the constrained states forward in time to obtain our
+ // trajectory states.
+ var states = new ArrayList<Trajectory.State>(points.size());
+ double timeSeconds = 0.0;
+ double distanceMeters = 0.0;
+ double velocityMetersPerSecond = 0.0;
+
+ for (int i = 0; i < constrainedStates.size(); i++) {
+ final var state = constrainedStates.get(i);
+
+ // Calculate the change in position between the current state and the previous
+ // state.
+ double ds = state.distanceMeters - distanceMeters;
+
+ // Calculate the acceleration between the current state and the previous
+ // state.
+ double accel = (state.maxVelocityMetersPerSecond * state.maxVelocityMetersPerSecond
+ - velocityMetersPerSecond * velocityMetersPerSecond) / (ds * 2);
+
+ // Calculate dt
+ double dt = 0.0;
+ if (i > 0) {
+ states.get(i - 1).accelerationMetersPerSecondSq = reversed ? -accel : accel;
+ if (Math.abs(accel) > 1E-6) {
+ // v_f = v_0 + a * t
+ dt = (state.maxVelocityMetersPerSecond - velocityMetersPerSecond) / accel;
+ } else if (Math.abs(velocityMetersPerSecond) > 1E-6) {
+ // delta_x = v * t
+ dt = ds / velocityMetersPerSecond;
+ } else {
+ throw new RuntimeException("Something went wrong");
+ }
+ }
+
+ velocityMetersPerSecond = state.maxVelocityMetersPerSecond;
+ distanceMeters = state.distanceMeters;
+
+ timeSeconds += dt;
+
+ states.add(new Trajectory.State(
+ timeSeconds,
+ reversed ? -velocityMetersPerSecond : velocityMetersPerSecond,
+ reversed ? -accel : accel,
+ state.pose.poseMeters, state.pose.curvatureRadPerMeter
+ ));
+ }
+
+ return new Trajectory(states);
+ }
+
+ private static void enforceAccelerationLimits(boolean reverse,
+ List<TrajectoryConstraint> constraints,
+ ConstrainedState state) {
+
+ for (final var constraint : constraints) {
+ double factor = reverse ? -1.0 : 1.0;
+ final var minMaxAccel = constraint.getMinMaxAccelerationMetersPerSecondSq(
+ state.pose.poseMeters, state.pose.curvatureRadPerMeter,
+ state.maxVelocityMetersPerSecond * factor);
+
+ state.minAccelerationMetersPerSecondSq = Math.max(state.minAccelerationMetersPerSecondSq,
+ reverse ? -minMaxAccel.maxAccelerationMetersPerSecondSq
+ : minMaxAccel.minAccelerationMetersPerSecondSq);
+
+ state.maxAccelerationMetersPerSecondSq = Math.min(state.maxAccelerationMetersPerSecondSq,
+ reverse ? -minMaxAccel.minAccelerationMetersPerSecondSq
+ : minMaxAccel.maxAccelerationMetersPerSecondSq);
+ }
+
+ }
+
+ @SuppressWarnings("MemberName")
+ private static class ConstrainedState {
+ PoseWithCurvature pose;
+ double distanceMeters;
+ double maxVelocityMetersPerSecond;
+ double minAccelerationMetersPerSecondSq;
+ double maxAccelerationMetersPerSecondSq;
+
+ ConstrainedState(PoseWithCurvature pose, double distanceMeters,
+ double maxVelocityMetersPerSecond,
+ double minAccelerationMetersPerSecondSq,
+ double maxAccelerationMetersPerSecondSq) {
+ this.pose = pose;
+ this.distanceMeters = distanceMeters;
+ this.maxVelocityMetersPerSecond = maxVelocityMetersPerSecond;
+ this.minAccelerationMetersPerSecondSq = minAccelerationMetersPerSecondSq;
+ this.maxAccelerationMetersPerSecondSq = maxAccelerationMetersPerSecondSq;
+ }
+
+ ConstrainedState() {
+ pose = new PoseWithCurvature();
+ }
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/TrapezoidProfile.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/TrapezoidProfile.java
new file mode 100644
index 0000000..74ee846
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/TrapezoidProfile.java
@@ -0,0 +1,293 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.trajectory;
+
+import java.util.Objects;
+
+/**
+ * A trapezoid-shaped velocity profile.
+ *
+ * <p>While this class can be used for a profiled movement from start to finish,
+ * the intended usage is to filter a reference's dynamics based on trapezoidal
+ * velocity constraints. To compute the reference obeying this constraint, do
+ * the following.
+ *
+ * <p>Initialization:
+ * <pre><code>
+ * TrapezoidProfile.Constraints constraints =
+ * new TrapezoidProfile.Constraints(kMaxV, kMaxA);
+ * TrapezoidProfile.State previousProfiledReference =
+ * new TrapezoidProfile.State(initialReference, 0.0);
+ * </code></pre>
+ *
+ * <p>Run on update:
+ * <pre><code>
+ * TrapezoidProfile profile =
+ * new TrapezoidProfile(constraints, unprofiledReference, previousProfiledReference);
+ * previousProfiledReference = profile.calculate(timeSincePreviousUpdate);
+ * </code></pre>
+ *
+ * <p>where `unprofiledReference` is free to change between calls. Note that when
+ * the unprofiled reference is within the constraints, `calculate()` returns the
+ * unprofiled reference unchanged.
+ *
+ * <p>Otherwise, a timer can be started to provide monotonic values for
+ * `calculate()` and to determine when the profile has completed via
+ * `isFinished()`.
+ */
+public class TrapezoidProfile {
+ // The direction of the profile, either 1 for forwards or -1 for inverted
+ private int m_direction;
+
+ private Constraints m_constraints;
+ private State m_initial;
+ private State m_goal;
+
+ private double m_endAccel;
+ private double m_endFullSpeed;
+ private double m_endDeccel;
+
+ public static class Constraints {
+ @SuppressWarnings("MemberName")
+ public double maxVelocity;
+ @SuppressWarnings("MemberName")
+ public double maxAcceleration;
+
+ public Constraints() {
+ }
+
+ public Constraints(double maxVelocity, double maxAcceleration) {
+ this.maxVelocity = maxVelocity;
+ this.maxAcceleration = maxAcceleration;
+ }
+ }
+
+ public static class State {
+ @SuppressWarnings("MemberName")
+ public double position;
+ @SuppressWarnings("MemberName")
+ public double velocity;
+
+ public State() {
+ }
+
+ public State(double position, double velocity) {
+ this.position = position;
+ this.velocity = velocity;
+ }
+
+ @Override
+ public boolean equals(Object other) {
+ if (other instanceof State) {
+ State rhs = (State) other;
+ return this.position == rhs.position && this.velocity == rhs.velocity;
+ } else {
+ return false;
+ }
+ }
+
+ @Override
+ public int hashCode() {
+ return Objects.hash(position, velocity);
+ }
+ }
+
+ /**
+ * Construct a TrapezoidProfile.
+ *
+ * @param constraints The constraints on the profile, like maximum velocity.
+ * @param goal The desired state when the profile is complete.
+ * @param initial The initial state (usually the current state).
+ */
+ public TrapezoidProfile(Constraints constraints, State goal, State initial) {
+ m_direction = shouldFlipAcceleration(initial, goal) ? -1 : 1;
+ m_constraints = constraints;
+ m_initial = direct(initial);
+ m_goal = direct(goal);
+
+ if (m_initial.velocity > m_constraints.maxVelocity) {
+ m_initial.velocity = m_constraints.maxVelocity;
+ }
+
+ // Deal with a possibly truncated motion profile (with nonzero initial or
+ // final velocity) by calculating the parameters as if the profile began and
+ // ended at zero velocity
+ double cutoffBegin = m_initial.velocity / m_constraints.maxAcceleration;
+ double cutoffDistBegin = cutoffBegin * cutoffBegin * m_constraints.maxAcceleration / 2.0;
+
+ double cutoffEnd = m_goal.velocity / m_constraints.maxAcceleration;
+ double cutoffDistEnd = cutoffEnd * cutoffEnd * m_constraints.maxAcceleration / 2.0;
+
+ // Now we can calculate the parameters as if it was a full trapezoid instead
+ // of a truncated one
+
+ double fullTrapezoidDist = cutoffDistBegin + (m_goal.position - m_initial.position)
+ + cutoffDistEnd;
+ double accelerationTime = m_constraints.maxVelocity / m_constraints.maxAcceleration;
+
+ double fullSpeedDist = fullTrapezoidDist - accelerationTime * accelerationTime
+ * m_constraints.maxAcceleration;
+
+ // Handle the case where the profile never reaches full speed
+ if (fullSpeedDist < 0) {
+ accelerationTime = Math.sqrt(fullTrapezoidDist / m_constraints.maxAcceleration);
+ fullSpeedDist = 0;
+ }
+
+ m_endAccel = accelerationTime - cutoffBegin;
+ m_endFullSpeed = m_endAccel + fullSpeedDist / m_constraints.maxVelocity;
+ m_endDeccel = m_endFullSpeed + accelerationTime - cutoffEnd;
+ }
+
+ /**
+ * Construct a TrapezoidProfile.
+ *
+ * @param constraints The constraints on the profile, like maximum velocity.
+ * @param goal The desired state when the profile is complete.
+ */
+ public TrapezoidProfile(Constraints constraints, State goal) {
+ this(constraints, goal, new State(0, 0));
+ }
+
+ /**
+ * Calculate the correct position and velocity for the profile at a time t
+ * where the beginning of the profile was at time t = 0.
+ *
+ * @param t The time since the beginning of the profile.
+ */
+ @SuppressWarnings("ParameterName")
+ public State calculate(double t) {
+ State result = m_initial;
+
+ if (t < m_endAccel) {
+ result.velocity += t * m_constraints.maxAcceleration;
+ result.position += (m_initial.velocity + t * m_constraints.maxAcceleration / 2.0) * t;
+ } else if (t < m_endFullSpeed) {
+ result.velocity = m_constraints.maxVelocity;
+ result.position += (m_initial.velocity + m_endAccel * m_constraints.maxAcceleration
+ / 2.0) * m_endAccel + m_constraints.maxVelocity * (t - m_endAccel);
+ } else if (t <= m_endDeccel) {
+ result.velocity = m_goal.velocity + (m_endDeccel - t) * m_constraints.maxAcceleration;
+ double timeLeft = m_endDeccel - t;
+ result.position = m_goal.position - (m_goal.velocity + timeLeft
+ * m_constraints.maxAcceleration / 2.0) * timeLeft;
+ } else {
+ result = m_goal;
+ }
+
+ return direct(result);
+ }
+
+ /**
+ * Returns the time left until a target distance in the profile is reached.
+ *
+ * @param target The target distance.
+ */
+ public double timeLeftUntil(double target) {
+ double position = m_initial.position * m_direction;
+ double velocity = m_initial.velocity * m_direction;
+
+ double endAccel = m_endAccel * m_direction;
+ double endFullSpeed = m_endFullSpeed * m_direction - endAccel;
+
+ if (target < position) {
+ endAccel = -endAccel;
+ endFullSpeed = -endFullSpeed;
+ velocity = -velocity;
+ }
+
+ endAccel = Math.max(endAccel, 0);
+ endFullSpeed = Math.max(endFullSpeed, 0);
+ double endDeccel = m_endDeccel - endAccel - endFullSpeed;
+ endDeccel = Math.max(endDeccel, 0);
+
+ final double acceleration = m_constraints.maxAcceleration;
+ final double decceleration = -m_constraints.maxAcceleration;
+
+ double distToTarget = Math.abs(target - position);
+ if (distToTarget < 1e-6) {
+ return 0;
+ }
+
+ double accelDist = velocity * endAccel + 0.5 * acceleration * endAccel * endAccel;
+
+ double deccelVelocity;
+ if (endAccel > 0) {
+ deccelVelocity = Math.sqrt(Math.abs(velocity * velocity + 2 * acceleration * accelDist));
+ } else {
+ deccelVelocity = velocity;
+ }
+
+ double deccelDist = deccelVelocity * endDeccel + 0.5 * decceleration * endDeccel * endDeccel;
+
+ deccelDist = Math.max(deccelDist, 0);
+
+ double fullSpeedDist = m_constraints.maxVelocity * endFullSpeed;
+
+ if (accelDist > distToTarget) {
+ accelDist = distToTarget;
+ fullSpeedDist = 0;
+ deccelDist = 0;
+ } else if (accelDist + fullSpeedDist > distToTarget) {
+ fullSpeedDist = distToTarget - accelDist;
+ deccelDist = 0;
+ } else {
+ deccelDist = distToTarget - fullSpeedDist - accelDist;
+ }
+
+ double accelTime = (-velocity + Math.sqrt(Math.abs(velocity * velocity + 2 * acceleration
+ * accelDist))) / acceleration;
+
+ double deccelTime = (-deccelVelocity + Math.sqrt(Math.abs(deccelVelocity * deccelVelocity
+ + 2 * decceleration * deccelDist))) / decceleration;
+
+ double fullSpeedTime = fullSpeedDist / m_constraints.maxVelocity;
+
+ return accelTime + fullSpeedTime + deccelTime;
+ }
+
+ /**
+ * Returns the total time the profile takes to reach the goal.
+ */
+ public double totalTime() {
+ return m_endDeccel;
+ }
+
+ /**
+ * Returns true if the profile has reached the goal.
+ *
+ * <p>The profile has reached the goal if the time since the profile started
+ * has exceeded the profile's total time.
+ *
+ * @param t The time since the beginning of the profile.
+ */
+ @SuppressWarnings("ParameterName")
+ public boolean isFinished(double t) {
+ return t >= totalTime();
+ }
+
+ /**
+ * Returns true if the profile inverted.
+ *
+ * <p>The profile is inverted if goal position is less than the initial position.
+ *
+ * @param initial The initial state (usually the current state).
+ * @param goal The desired state when the profile is complete.
+ */
+ private static boolean shouldFlipAcceleration(State initial, State goal) {
+ return initial.position > goal.position;
+ }
+
+ // Flip the sign of the velocity and position if the profile is inverted
+ private State direct(State in) {
+ State result = new State(in.position, in.velocity);
+ result.position = result.position * m_direction;
+ result.velocity = result.velocity * m_direction;
+ return result;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/CentripetalAccelerationConstraint.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/CentripetalAccelerationConstraint.java
new file mode 100644
index 0000000..f74e7b4
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/CentripetalAccelerationConstraint.java
@@ -0,0 +1,73 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.trajectory.constraint;
+
+import edu.wpi.first.wpilibj.geometry.Pose2d;
+
+/**
+ * A constraint on the maximum absolute centripetal acceleration allowed when
+ * traversing a trajectory. The centripetal acceleration of a robot is defined
+ * as the velocity squared divided by the radius of curvature.
+ *
+ * <p>Effectively, limiting the maximum centripetal acceleration will cause the
+ * robot to slow down around tight turns, making it easier to track trajectories
+ * with sharp turns.
+ */
+public class CentripetalAccelerationConstraint implements TrajectoryConstraint {
+ private final double m_maxCentripetalAccelerationMetersPerSecondSq;
+
+ /**
+ * Constructs a centripetal acceleration constraint.
+ *
+ * @param maxCentripetalAccelerationMetersPerSecondSq The max centripetal acceleration.
+ */
+ public CentripetalAccelerationConstraint(double maxCentripetalAccelerationMetersPerSecondSq) {
+ m_maxCentripetalAccelerationMetersPerSecondSq = maxCentripetalAccelerationMetersPerSecondSq;
+ }
+
+ /**
+ * Returns the max velocity given the current pose and curvature.
+ *
+ * @param poseMeters The pose at the current point in the trajectory.
+ * @param curvatureRadPerMeter The curvature at the current point in the trajectory.
+ * @param velocityMetersPerSecond The velocity at the current point in the trajectory before
+ * constraints are applied.
+ * @return The absolute maximum velocity.
+ */
+ @Override
+ public double getMaxVelocityMetersPerSecond(Pose2d poseMeters, double curvatureRadPerMeter,
+ double velocityMetersPerSecond) {
+ // ac = v^2 / r
+ // k (curvature) = 1 / r
+
+ // therefore, ac = v^2 * k
+ // ac / k = v^2
+ // v = std::sqrt(ac / k)
+
+ return Math.sqrt(m_maxCentripetalAccelerationMetersPerSecondSq
+ / Math.abs(curvatureRadPerMeter));
+ }
+
+ /**
+ * Returns the minimum and maximum allowable acceleration for the trajectory
+ * given pose, curvature, and speed.
+ *
+ * @param poseMeters The pose at the current point in the trajectory.
+ * @param curvatureRadPerMeter The curvature at the current point in the trajectory.
+ * @param velocityMetersPerSecond The speed at the current point in the trajectory.
+ * @return The min and max acceleration bounds.
+ */
+ @Override
+ public MinMax getMinMaxAccelerationMetersPerSecondSq(Pose2d poseMeters,
+ double curvatureRadPerMeter,
+ double velocityMetersPerSecond) {
+ // The acceleration of the robot has no impact on the centripetal acceleration
+ // of the robot.
+ return new MinMax();
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/DifferentialDriveKinematicsConstraint.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/DifferentialDriveKinematicsConstraint.java
new file mode 100644
index 0000000..274bdfb
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/DifferentialDriveKinematicsConstraint.java
@@ -0,0 +1,75 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.trajectory.constraint;
+
+import edu.wpi.first.wpilibj.geometry.Pose2d;
+import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
+import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
+
+/**
+ * A class that enforces constraints on the differential drive kinematics.
+ * This can be used to ensure that the trajectory is constructed so that the
+ * commanded velocities for both sides of the drivetrain stay below a certain
+ * limit.
+ */
+public class DifferentialDriveKinematicsConstraint implements TrajectoryConstraint {
+ private final double m_maxSpeedMetersPerSecond;
+ private final DifferentialDriveKinematics m_kinematics;
+
+ /**
+ * Constructs a differential drive dynamics constraint.
+ *
+ * @param maxSpeedMetersPerSecond The max speed that a side of the robot can travel at.
+ */
+ public DifferentialDriveKinematicsConstraint(final DifferentialDriveKinematics kinematics,
+ double maxSpeedMetersPerSecond) {
+ m_maxSpeedMetersPerSecond = maxSpeedMetersPerSecond;
+ m_kinematics = kinematics;
+ }
+
+
+ /**
+ * Returns the max velocity given the current pose and curvature.
+ *
+ * @param poseMeters The pose at the current point in the trajectory.
+ * @param curvatureRadPerMeter The curvature at the current point in the trajectory.
+ * @param velocityMetersPerSecond The velocity at the current point in the trajectory before
+ * constraints are applied.
+ * @return The absolute maximum velocity.
+ */
+ @Override
+ public double getMaxVelocityMetersPerSecond(Pose2d poseMeters, double curvatureRadPerMeter,
+ double velocityMetersPerSecond) {
+ // Create an object to represent the current chassis speeds.
+ var chassisSpeeds = new ChassisSpeeds(velocityMetersPerSecond,
+ 0, velocityMetersPerSecond * curvatureRadPerMeter);
+
+ // Get the wheel speeds and normalize them to within the max velocity.
+ var wheelSpeeds = m_kinematics.toWheelSpeeds(chassisSpeeds);
+ wheelSpeeds.normalize(m_maxSpeedMetersPerSecond);
+
+ // Return the new linear chassis speed.
+ return m_kinematics.toChassisSpeeds(wheelSpeeds).vxMetersPerSecond;
+ }
+
+ /**
+ * Returns the minimum and maximum allowable acceleration for the trajectory
+ * given pose, curvature, and speed.
+ *
+ * @param poseMeters The pose at the current point in the trajectory.
+ * @param curvatureRadPerMeter The curvature at the current point in the trajectory.
+ * @param velocityMetersPerSecond The speed at the current point in the trajectory.
+ * @return The min and max acceleration bounds.
+ */
+ @Override
+ public MinMax getMinMaxAccelerationMetersPerSecondSq(Pose2d poseMeters,
+ double curvatureRadPerMeter,
+ double velocityMetersPerSecond) {
+ return new MinMax();
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/TrajectoryConstraint.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/TrajectoryConstraint.java
new file mode 100644
index 0000000..b338c3f
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/constraint/TrajectoryConstraint.java
@@ -0,0 +1,68 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.trajectory.constraint;
+
+import edu.wpi.first.wpilibj.geometry.Pose2d;
+
+/**
+ * An interface for defining user-defined velocity and acceleration constraints
+ * while generating trajectories.
+ */
+public interface TrajectoryConstraint {
+
+ /**
+ * Returns the max velocity given the current pose and curvature.
+ *
+ * @param poseMeters The pose at the current point in the trajectory.
+ * @param curvatureRadPerMeter The curvature at the current point in the trajectory.
+ * @param velocityMetersPerSecond The velocity at the current point in the trajectory before
+ * constraints are applied.
+ * @return The absolute maximum velocity.
+ */
+ double getMaxVelocityMetersPerSecond(Pose2d poseMeters, double curvatureRadPerMeter,
+ double velocityMetersPerSecond);
+
+ /**
+ * Returns the minimum and maximum allowable acceleration for the trajectory
+ * given pose, curvature, and speed.
+ *
+ * @param poseMeters The pose at the current point in the trajectory.
+ * @param curvatureRadPerMeter The curvature at the current point in the trajectory.
+ * @param velocityMetersPerSecond The speed at the current point in the trajectory.
+ * @return The min and max acceleration bounds.
+ */
+ MinMax getMinMaxAccelerationMetersPerSecondSq(Pose2d poseMeters, double curvatureRadPerMeter,
+ double velocityMetersPerSecond);
+
+ /**
+ * Represents a minimum and maximum acceleration.
+ */
+ @SuppressWarnings("MemberName")
+ class MinMax {
+ public double minAccelerationMetersPerSecondSq = -Double.MAX_VALUE;
+ public double maxAccelerationMetersPerSecondSq = +Double.MAX_VALUE;
+
+ /**
+ * Constructs a MinMax.
+ *
+ * @param minAccelerationMetersPerSecondSq The minimum acceleration.
+ * @param maxAccelerationMetersPerSecondSq The maximum acceleration.
+ */
+ public MinMax(double minAccelerationMetersPerSecondSq,
+ double maxAccelerationMetersPerSecondSq) {
+ this.minAccelerationMetersPerSecondSq = minAccelerationMetersPerSecondSq;
+ this.maxAccelerationMetersPerSecondSq = maxAccelerationMetersPerSecondSq;
+ }
+
+ /**
+ * Constructs a MinMax with default values.
+ */
+ public MinMax() {
+ }
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/ErrorMessages.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/ErrorMessages.java
new file mode 100644
index 0000000..8bc86b2
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/ErrorMessages.java
@@ -0,0 +1,41 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.util;
+
+import static java.util.Objects.requireNonNull;
+
+/**
+ * Utility class for common WPILib error messages.
+ */
+public final class ErrorMessages {
+ /**
+ * Utility class, so constructor is private.
+ */
+ private ErrorMessages() {
+ throw new UnsupportedOperationException("This is a utility class!");
+ }
+
+ /**
+ * Requires that a parameter of a method not be null; prints an error message with
+ * helpful debugging instructions if the parameter is null.
+ *
+ * @param obj The parameter that must not be null.
+ * @param paramName The name of the parameter.
+ * @param methodName The name of the method.
+ */
+ public static <T> T requireNonNullParam(T obj, String paramName, String methodName) {
+ return requireNonNull(obj,
+ "Parameter " + paramName + " in method " + methodName + " was null when it"
+ + " should not have been! Check the stacktrace to find the responsible line of code - "
+ + "usually, it is the first line of user-written code indicated in the stacktrace. "
+ + "Make sure all objects passed to the method in question were properly initialized -"
+ + " note that this may not be obvious if it is being called under "
+ + "dynamically-changing conditions! Please do not seek additional technical assistance"
+ + " without doing this first!");
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/SortedVector.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/SortedVector.java
deleted file mode 100644
index f17d073..0000000
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/SortedVector.java
+++ /dev/null
@@ -1,81 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.wpilibj.util;
-
-import java.util.Vector;
-
-/**
- * A vector that is sorted.
- */
-public class SortedVector<E> extends Vector<E> {
- /**
- * Interface used to determine the order to place sorted objects.
- */
- public interface Comparator {
- /**
- * Compare the given two objects.
- *
- * <p>Should return -1, 0, or 1 if the first object is less than, equal to, or greater than the
- * second, respectively.
- *
- * @param object1 First object to compare
- * @param object2 Second object to compare
- * @return -1, 0, or 1.
- */
- int compare(Object object1, Object object2);
- }
-
- private final Comparator m_comparator;
-
- /**
- * Create a new sorted vector and use the given comparator to determine order.
- *
- * @param comparator The comparator to use to determine what order to place the elements in this
- * vector.
- */
- public SortedVector(Comparator comparator) {
- m_comparator = comparator;
- }
-
- /**
- * Adds an element in the Vector, sorted from greatest to least.
- *
- * @param element The element to add to the Vector
- */
- @Override
- public synchronized void addElement(E element) {
- int highBound = size();
- int lowBound = 0;
- while (highBound - lowBound > 0) {
- int index = (highBound + lowBound) / 2;
- int result = m_comparator.compare(element, elementAt(index));
- if (result < 0) {
- lowBound = index + 1;
- } else if (result > 0) {
- highBound = index;
- } else {
- lowBound = index;
- highBound = index;
- }
- }
- insertElementAt(element, lowBound);
- }
-
- /**
- * Sort the vector.
- */
- @SuppressWarnings("unchecked")
- public synchronized void sort() {
- Object[] array = new Object[size()];
- copyInto(array);
- removeAllElements();
- for (Object o : array) {
- addElement((E) o);
- }
- }
-}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Units.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Units.java
new file mode 100644
index 0000000..1df7d33
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Units.java
@@ -0,0 +1,104 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.util;
+
+/**
+ * Utility class that converts between commonly used units in FRC.
+ */
+public final class Units {
+ private static final double kInchesPerFoot = 12.0;
+ private static final double kMetersPerInch = 0.0254;
+ private static final double kSecondsPerMinute = 60;
+
+ /**
+ * Utility class, so constructor is private.
+ */
+ private Units() {
+ throw new UnsupportedOperationException("This is a utility class!");
+ }
+
+ /**
+ * Converts given meters to feet.
+ *
+ * @param meters The meters to convert to feet.
+ * @return Feet converted from meters.
+ */
+ public static double metersToFeet(double meters) {
+ return metersToInches(meters) / kInchesPerFoot;
+ }
+
+ /**
+ * Converts given feet to meters.
+ *
+ * @param feet The feet to convert to meters.
+ * @return Meters converted from feet.
+ */
+ public static double feetToMeters(double feet) {
+ return inchesToMeters(feet * kInchesPerFoot);
+ }
+
+ /**
+ * Converts given meters to inches.
+ *
+ * @param meters The meters to convert to inches.
+ * @return Inches converted from meters.
+ */
+ public static double metersToInches(double meters) {
+ return meters / kMetersPerInch;
+ }
+
+ /**
+ * Converts given inches to meters.
+ *
+ * @param inches The inches to convert to meters.
+ * @return Meters converted from inches.
+ */
+ public static double inchesToMeters(double inches) {
+ return inches * kMetersPerInch;
+ }
+
+ /**
+ * Converts given degrees to radians.
+ *
+ * @param degrees The degrees to convert to radians.
+ * @return Radians converted from degrees.
+ */
+ public static double degreesToRadians(double degrees) {
+ return Math.toRadians(degrees);
+ }
+
+ /**
+ * Converts given radians to degrees.
+ *
+ * @param radians The radians to convert to degrees.
+ * @return Degrees converted from radians.
+ */
+ public static double radiansToDegrees(double radians) {
+ return Math.toDegrees(radians);
+ }
+
+ /**
+ * Converts rotations per minute to radians per second.
+ *
+ * @param rpm The rotations per minute to convert to radians per second.
+ * @return Radians per second converted from rotations per minute.
+ */
+ public static double rotationsPerMinuteToRadiansPerSecond(double rpm) {
+ return rpm * Math.PI / (kSecondsPerMinute / 2);
+ }
+
+ /**
+ * Converts radians per second to rotations per minute.
+ *
+ * @param radiansPerSecond The radians per second to convert to from rotations per minute.
+ * @return Rotations per minute converted from radians per second.
+ */
+ public static double radiansPerSecondToRotationsPerMinute(double radiansPerSecond) {
+ return radiansPerSecond * (kSecondsPerMinute / 2) / Math.PI;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/VisionRunner.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/VisionRunner.java
index 701b86e..328686a 100644
--- a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/VisionRunner.java
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj/vision/VisionRunner.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -80,7 +80,7 @@
public void runOnce() {
Long id = CameraServerSharedStore.getCameraServerShared().getRobotMainThreadId();
- if (id != null && Thread.currentThread().getId() == id.longValue()) {
+ if (id != null && Thread.currentThread().getId() == id) {
throw new IllegalStateException(
"VisionRunner.runOnce() cannot be called from the main robot thread");
}
@@ -113,7 +113,7 @@
public void runForever() {
Long id = CameraServerSharedStore.getCameraServerShared().getRobotMainThreadId();
- if (id != null && Thread.currentThread().getId() == id.longValue()) {
+ if (id != null && Thread.currentThread().getId() == id) {
throw new IllegalStateException(
"VisionRunner.runForever() cannot be called from the main robot thread");
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/Command.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
new file mode 100644
index 0000000..0aa9345
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
@@ -0,0 +1,309 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import java.util.Set;
+import java.util.function.BooleanSupplier;
+
+/**
+ * A state machine representing a complete action to be performed by the robot. Commands are
+ * run by the {@link CommandScheduler}, and can be composed into CommandGroups to allow users to
+ * build complicated multi-step actions without the need to roll the state machine logic themselves.
+ *
+ * <p>Commands are run synchronously from the main robot loop; no multithreading is used, unless
+ * specified explicitly from the command implementation.
+ */
+@SuppressWarnings("PMD.TooManyMethods")
+public interface Command {
+
+ /**
+ * The initial subroutine of a command. Called once when the command is initially scheduled.
+ */
+ default void initialize() {
+ }
+
+ /**
+ * The main body of a command. Called repeatedly while the command is scheduled.
+ */
+ default void execute() {
+ }
+
+ /**
+ * The action to take when the command ends. Called when either the command finishes normally,
+ * or when it interrupted/canceled.
+ *
+ * @param interrupted whether the command was interrupted/canceled
+ */
+ default void end(boolean interrupted) {
+ }
+
+ /**
+ * Whether the command has finished. Once a command finishes, the scheduler will call its
+ * end() method and un-schedule it.
+ *
+ * @return whether the command has finished.
+ */
+ default boolean isFinished() {
+ return false;
+ }
+
+ /**
+ * Specifies the set of subsystems used by this command. Two commands cannot use the same
+ * subsystem at the same time. If the command is scheduled as interruptible and another
+ * command is scheduled that shares a requirement, the command will be interrupted. Else,
+ * the command will not be scheduled. If no subsystems are required, return an empty set.
+ *
+ * <p>Note: it is recommended that user implementations contain the requirements as a field,
+ * and return that field here, rather than allocating a new set every time this is called.
+ *
+ * @return the set of subsystems that are required
+ */
+ Set<Subsystem> getRequirements();
+
+ /**
+ * Decorates this command with a timeout. If the specified timeout is exceeded before the command
+ * finishes normally, the command will be interrupted and un-scheduled. Note that the
+ * timeout only applies to the command returned by this method; the calling command is
+ * not itself changed.
+ *
+ * <p>Note: This decorator works by composing this command within a CommandGroup. The command
+ * cannot be used independently after being decorated, or be re-decorated with a different
+ * decorator, unless it is manually cleared from the list of grouped commands with
+ * {@link CommandGroupBase#clearGroupedCommand(Command)}. The decorated command can, however, be
+ * further decorated without issue.
+ *
+ * @param seconds the timeout duration
+ * @return the command with the timeout added
+ */
+ default Command withTimeout(double seconds) {
+ return new ParallelRaceGroup(this, new WaitCommand(seconds));
+ }
+
+ /**
+ * Decorates this command with an interrupt condition. If the specified condition becomes true
+ * before the command finishes normally, the command will be interrupted and un-scheduled.
+ * Note that this only applies to the command returned by this method; the calling command
+ * is not itself changed.
+ *
+ * <p>Note: This decorator works by composing this command within a CommandGroup. The command
+ * cannot be used independently after being decorated, or be re-decorated with a different
+ * decorator, unless it is manually cleared from the list of grouped commands with
+ * {@link CommandGroupBase#clearGroupedCommand(Command)}. The decorated command can, however, be
+ * further decorated without issue.
+ *
+ * @param condition the interrupt condition
+ * @return the command with the interrupt condition added
+ */
+ default Command withInterrupt(BooleanSupplier condition) {
+ return new ParallelRaceGroup(this, new WaitUntilCommand(condition));
+ }
+
+ /**
+ * Decorates this command with a runnable to run before this command starts.
+ *
+ * <p>Note: This decorator works by composing this command within a CommandGroup. The command
+ * cannot be used independently after being decorated, or be re-decorated with a different
+ * decorator, unless it is manually cleared from the list of grouped commands with
+ * {@link CommandGroupBase#clearGroupedCommand(Command)}. The decorated command can, however, be
+ * further decorated without issue.
+ *
+ * @param toRun the Runnable to run
+ * @return the decorated command
+ */
+ default Command beforeStarting(Runnable toRun) {
+ return new SequentialCommandGroup(new InstantCommand(toRun), this);
+ }
+
+ /**
+ * Decorates this command with a runnable to run after the command finishes.
+ *
+ * <p>Note: This decorator works by composing this command within a CommandGroup. The command
+ * cannot be used independently after being decorated, or be re-decorated with a different
+ * decorator, unless it is manually cleared from the list of grouped commands with
+ * {@link CommandGroupBase#clearGroupedCommand(Command)}. The decorated command can, however, be
+ * further decorated without issue.
+ *
+ * @param toRun the Runnable to run
+ * @return the decorated command
+ */
+ default Command andThen(Runnable toRun) {
+ return new SequentialCommandGroup(this, new InstantCommand(toRun));
+ }
+
+ /**
+ * Decorates this command with a set of commands to run after it in sequence. Often more
+ * convenient/less-verbose than constructing a new {@link SequentialCommandGroup} explicitly.
+ *
+ * <p>Note: This decorator works by composing this command within a CommandGroup. The command
+ * cannot be used independently after being decorated, or be re-decorated with a different
+ * decorator, unless it is manually cleared from the list of grouped commands with
+ * {@link CommandGroupBase#clearGroupedCommand(Command)}. The decorated command can, however, be
+ * further decorated without issue.
+ *
+ * @param next the commands to run next
+ * @return the decorated command
+ */
+ default Command andThen(Command... next) {
+ SequentialCommandGroup group = new SequentialCommandGroup(this);
+ group.addCommands(next);
+ return group;
+ }
+
+ /**
+ * Decorates this command with a set of commands to run parallel to it, ending when the calling
+ * command ends and interrupting all the others. Often more convenient/less-verbose than
+ * constructing a new {@link ParallelDeadlineGroup} explicitly.
+ *
+ * <p>Note: This decorator works by composing this command within a CommandGroup. The command
+ * cannot be used independently after being decorated, or be re-decorated with a different
+ * decorator, unless it is manually cleared from the list of grouped commands with
+ * {@link CommandGroupBase#clearGroupedCommand(Command)}. The decorated command can, however, be
+ * further decorated without issue.
+ *
+ * @param parallel the commands to run in parallel
+ * @return the decorated command
+ */
+ default Command deadlineWith(Command... parallel) {
+ return new ParallelDeadlineGroup(this, parallel);
+ }
+
+ /**
+ * Decorates this command with a set of commands to run parallel to it, ending when the last
+ * command ends. Often more convenient/less-verbose than constructing a new
+ * {@link ParallelCommandGroup} explicitly.
+ *
+ * <p>Note: This decorator works by composing this command within a CommandGroup. The command
+ * cannot be used independently after being decorated, or be re-decorated with a different
+ * decorator, unless it is manually cleared from the list of grouped commands with
+ * {@link CommandGroupBase#clearGroupedCommand(Command)}. The decorated command can, however, be
+ * further decorated without issue.
+ *
+ * @param parallel the commands to run in parallel
+ * @return the decorated command
+ */
+ default Command alongWith(Command... parallel) {
+ ParallelCommandGroup group = new ParallelCommandGroup(this);
+ group.addCommands(parallel);
+ return group;
+ }
+
+ /**
+ * Decorates this command with a set of commands to run parallel to it, ending when the first
+ * command ends. Often more convenient/less-verbose than constructing a new
+ * {@link ParallelRaceGroup} explicitly.
+ *
+ * <p>Note: This decorator works by composing this command within a CommandGroup. The command
+ * cannot be used independently after being decorated, or be re-decorated with a different
+ * decorator, unless it is manually cleared from the list of grouped commands with
+ * {@link CommandGroupBase#clearGroupedCommand(Command)}. The decorated command can, however, be
+ * further decorated without issue.
+ *
+ * @param parallel the commands to run in parallel
+ * @return the decorated command
+ */
+ default Command raceWith(Command... parallel) {
+ ParallelRaceGroup group = new ParallelRaceGroup(this);
+ group.addCommands(parallel);
+ return group;
+ }
+
+ /**
+ * Decorates this command to run perpetually, ignoring its ordinary end conditions. The decorated
+ * command can still be interrupted or canceled.
+ *
+ * <p>Note: This decorator works by composing this command within a CommandGroup. The command
+ * cannot be used independently after being decorated, or be re-decorated with a different
+ * decorator, unless it is manually cleared from the list of grouped commands with
+ * {@link CommandGroupBase#clearGroupedCommand(Command)}. The decorated command can, however, be
+ * further decorated without issue.
+ *
+ * @return the decorated command
+ */
+ default Command perpetually() {
+ return new PerpetualCommand(this);
+ }
+
+ /**
+ * Decorates this command to run "by proxy" by wrapping it in a {@link ProxyScheduleCommand}.
+ * This is useful for "forking off" from command groups when the user does not wish to extend
+ * the command's requirements to the entire command group.
+ *
+ * @return the decorated command
+ */
+ default Command asProxy() {
+ return new ProxyScheduleCommand(this);
+ }
+
+ /**
+ * Schedules this command.
+ *
+ * @param interruptible whether this command can be interrupted by another command that
+ * shares one of its requirements
+ */
+ default void schedule(boolean interruptible) {
+ CommandScheduler.getInstance().schedule(interruptible, this);
+ }
+
+ /**
+ * Schedules this command, defaulting to interruptible.
+ */
+ default void schedule() {
+ schedule(true);
+ }
+
+ /**
+ * Cancels this command. Will call the command's interrupted() method.
+ * Commands will be canceled even if they are not marked as interruptible.
+ */
+ default void cancel() {
+ CommandScheduler.getInstance().cancel(this);
+ }
+
+ /**
+ * Whether or not the command is currently scheduled. Note that this does not detect whether
+ * the command is being run by a CommandGroup, only whether it is directly being run by
+ * the scheduler.
+ *
+ * @return Whether the command is scheduled.
+ */
+ default boolean isScheduled() {
+ return CommandScheduler.getInstance().isScheduled(this);
+ }
+
+ /**
+ * Whether the command requires a given subsystem. Named "hasRequirement" rather than "requires"
+ * to avoid confusion with
+ * {@link edu.wpi.first.wpilibj.command.Command#requires(edu.wpi.first.wpilibj.command.Subsystem)}
+ * - this may be able to be changed in a few years.
+ *
+ * @param requirement the subsystem to inquire about
+ * @return whether the subsystem is required
+ */
+ default boolean hasRequirement(Subsystem requirement) {
+ return getRequirements().contains(requirement);
+ }
+
+ /**
+ * Whether the given command should run when the robot is disabled. Override to return true
+ * if the command should run when disabled.
+ *
+ * @return whether the command should run when the robot is disabled
+ */
+ default boolean runsWhenDisabled() {
+ return false;
+ }
+
+ /**
+ * Gets the name of this Command.
+ *
+ * @return Name
+ */
+ default String getName() {
+ return this.getClass().getSimpleName();
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/CommandBase.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/CommandBase.java
new file mode 100644
index 0000000..ba2c68f
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/CommandBase.java
@@ -0,0 +1,102 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import java.util.HashSet;
+import java.util.Set;
+
+import edu.wpi.first.wpilibj.Sendable;
+import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+
+/**
+ * A {@link Sendable} base class for {@link Command}s.
+ */
+@SuppressWarnings("PMD.AbstractClassWithoutAbstractMethod")
+public abstract class CommandBase implements Sendable, Command {
+
+ protected Set<Subsystem> m_requirements = new HashSet<>();
+
+ protected CommandBase() {
+ String name = getClass().getName();
+ SendableRegistry.add(this, name.substring(name.lastIndexOf('.') + 1));
+ }
+
+ /**
+ * Adds the specified requirements to the command.
+ *
+ * @param requirements the requirements to add
+ */
+ public final void addRequirements(Subsystem... requirements) {
+ m_requirements.addAll(Set.of(requirements));
+ }
+
+ @Override
+ public Set<Subsystem> getRequirements() {
+ return m_requirements;
+ }
+
+ @Override
+ public String getName() {
+ return SendableRegistry.getName(this);
+ }
+
+ /**
+ * Sets the name of this Command.
+ *
+ * @param name name
+ */
+ @Override
+ public void setName(String name) {
+ SendableRegistry.setName(this, name);
+ }
+
+ /**
+ * Gets the subsystem name of this Command.
+ *
+ * @return Subsystem name
+ */
+ @Override
+ public String getSubsystem() {
+ return SendableRegistry.getSubsystem(this);
+ }
+
+ /**
+ * Sets the subsystem name of this Command.
+ *
+ * @param subsystem subsystem name
+ */
+ @Override
+ public void setSubsystem(String subsystem) {
+ SendableRegistry.setSubsystem(this, subsystem);
+ }
+
+ /**
+ * Initializes this sendable. Useful for allowing implementations to easily extend SendableBase.
+ *
+ * @param builder the builder used to construct this sendable
+ */
+ @Override
+ public void initSendable(SendableBuilder builder) {
+ builder.setSmartDashboardType("Command");
+ builder.addStringProperty(".name", this::getName, null);
+ builder.addBooleanProperty("running", this::isScheduled, value -> {
+ if (value) {
+ if (!isScheduled()) {
+ schedule();
+ }
+ } else {
+ if (isScheduled()) {
+ cancel();
+ }
+ }
+ });
+ builder.addBooleanProperty(".isParented",
+ () -> CommandGroupBase.getGroupedCommands().contains(this), null);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/CommandGroupBase.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/CommandGroupBase.java
new file mode 100644
index 0000000..6ac0667
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/CommandGroupBase.java
@@ -0,0 +1,124 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import java.util.Collection;
+import java.util.Collections;
+import java.util.Set;
+import java.util.WeakHashMap;
+
+/**
+ * A base for CommandGroups. Statically tracks commands that have been allocated to groups to
+ * ensure those commands are not also used independently, which can result in inconsistent command
+ * state and unpredictable execution.
+ */
+public abstract class CommandGroupBase extends CommandBase implements Command {
+ private static final Set<Command> m_groupedCommands =
+ Collections.newSetFromMap(new WeakHashMap<>());
+
+ static void registerGroupedCommands(Command... commands) {
+ m_groupedCommands.addAll(Set.of(commands));
+ }
+
+ /**
+ * Clears the list of grouped commands, allowing all commands to be freely used again.
+ *
+ * <p>WARNING: Using this haphazardly can result in unexpected/undesirable behavior. Do not
+ * use this unless you fully understand what you are doing.
+ */
+ public static void clearGroupedCommands() {
+ m_groupedCommands.clear();
+ }
+
+ /**
+ * Removes a single command from the list of grouped commands, allowing it to be freely used
+ * again.
+ *
+ * <p>WARNING: Using this haphazardly can result in unexpected/undesirable behavior. Do not
+ * use this unless you fully understand what you are doing.
+ *
+ * @param command the command to remove from the list of grouped commands
+ */
+ public static void clearGroupedCommand(Command command) {
+ m_groupedCommands.remove(command);
+ }
+
+ /**
+ * Requires that the specified commands not have been already allocated to a CommandGroup. Throws
+ * an {@link IllegalArgumentException} if commands have been allocated.
+ *
+ * @param commands The commands to check
+ */
+ public static void requireUngrouped(Command... commands) {
+ requireUngrouped(Set.of(commands));
+ }
+
+ /**
+ * Requires that the specified commands not have been already allocated to a CommandGroup. Throws
+ * an {@link IllegalArgumentException} if commands have been allocated.
+ *
+ * @param commands The commands to check
+ */
+ public static void requireUngrouped(Collection<Command> commands) {
+ if (!Collections.disjoint(commands, getGroupedCommands())) {
+ throw new IllegalArgumentException("Commands cannot be added to more than one CommandGroup");
+ }
+ }
+
+ static Set<Command> getGroupedCommands() {
+ return m_groupedCommands;
+ }
+
+ /**
+ * Adds the given commands to the command group.
+ *
+ * @param commands The commands to add.
+ */
+ public abstract void addCommands(Command... commands);
+
+ /**
+ * Factory method for {@link SequentialCommandGroup}, included for brevity/convenience.
+ *
+ * @param commands the commands to include
+ * @return the command group
+ */
+ public static CommandGroupBase sequence(Command... commands) {
+ return new SequentialCommandGroup(commands);
+ }
+
+ /**
+ * Factory method for {@link ParallelCommandGroup}, included for brevity/convenience.
+ *
+ * @param commands the commands to include
+ * @return the command group
+ */
+ public static CommandGroupBase parallel(Command... commands) {
+ return new ParallelCommandGroup(commands);
+ }
+
+ /**
+ * Factory method for {@link ParallelRaceGroup}, included for brevity/convenience.
+ *
+ * @param commands the commands to include
+ * @return the command group
+ */
+ public static CommandGroupBase race(Command... commands) {
+ return new ParallelRaceGroup(commands);
+ }
+
+ /**
+ * Factory method for {@link ParallelDeadlineGroup}, included for brevity/convenience.
+ *
+ * @param deadline the deadline command
+ * @param commands the commands to include
+ * @return the command group
+ */
+ public static CommandGroupBase deadline(Command deadline, Command... commands) {
+ return new ParallelDeadlineGroup(deadline, commands);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
new file mode 100644
index 0000000..b34f20e
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
@@ -0,0 +1,509 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import java.util.ArrayList;
+import java.util.Collection;
+import java.util.Collections;
+import java.util.Iterator;
+import java.util.LinkedHashMap;
+import java.util.LinkedHashSet;
+import java.util.List;
+import java.util.Map;
+import java.util.Set;
+import java.util.function.Consumer;
+
+import edu.wpi.first.hal.FRCNetComm.tInstances;
+import edu.wpi.first.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.wpilibj.RobotState;
+import edu.wpi.first.wpilibj.Sendable;
+import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+
+/**
+ * The scheduler responsible for running {@link Command}s. A Command-based robot should call {@link
+ * CommandScheduler#run()} on the singleton instance in its periodic block in order to run commands
+ * synchronously from the main loop. Subsystems should be registered with the scheduler using
+ * {@link CommandScheduler#registerSubsystem(Subsystem...)} in order for their {@link
+ * Subsystem#periodic()} methods to be called and for their default commands to be scheduled.
+ */
+@SuppressWarnings({"PMD.GodClass", "PMD.TooManyMethods", "PMD.TooManyFields"})
+public final class CommandScheduler implements Sendable {
+ /**
+ * The Singleton Instance.
+ */
+ private static CommandScheduler instance;
+
+ /**
+ * Returns the Scheduler instance.
+ *
+ * @return the instance
+ */
+ public static synchronized CommandScheduler getInstance() {
+ if (instance == null) {
+ instance = new CommandScheduler();
+ }
+ return instance;
+ }
+
+ //A map from commands to their scheduling state. Also used as a set of the currently-running
+ //commands.
+ private final Map<Command, CommandState> m_scheduledCommands = new LinkedHashMap<>();
+
+ //A map from required subsystems to their requiring commands. Also used as a set of the
+ //currently-required subsystems.
+ private final Map<Subsystem, Command> m_requirements = new LinkedHashMap<>();
+
+ //A map from subsystems registered with the scheduler to their default commands. Also used
+ //as a list of currently-registered subsystems.
+ private final Map<Subsystem, Command> m_subsystems = new LinkedHashMap<>();
+
+ //The set of currently-registered buttons that will be polled every iteration.
+ private final Collection<Runnable> m_buttons = new LinkedHashSet<>();
+
+ private boolean m_disabled;
+
+ //NetworkTable entries for use in Sendable impl
+ private NetworkTableEntry m_namesEntry;
+ private NetworkTableEntry m_idsEntry;
+ private NetworkTableEntry m_cancelEntry;
+
+ //Lists of user-supplied actions to be executed on scheduling events for every command.
+ private final List<Consumer<Command>> m_initActions = new ArrayList<>();
+ private final List<Consumer<Command>> m_executeActions = new ArrayList<>();
+ private final List<Consumer<Command>> m_interruptActions = new ArrayList<>();
+ private final List<Consumer<Command>> m_finishActions = new ArrayList<>();
+
+ // Flag and queues for avoiding ConcurrentModificationException if commands are
+ // scheduled/canceled during run
+ private boolean m_inRunLoop;
+ private final Map<Command, Boolean> m_toSchedule = new LinkedHashMap<>();
+ private final List<Command> m_toCancel = new ArrayList<>();
+
+
+ CommandScheduler() {
+ HAL.report(tResourceType.kResourceType_Command, tInstances.kCommand_Scheduler);
+ SendableRegistry.addLW(this, "Scheduler");
+ }
+
+ /**
+ * Adds a button binding to the scheduler, which will be polled to schedule commands.
+ *
+ * @param button The button to add
+ */
+ public void addButton(Runnable button) {
+ m_buttons.add(button);
+ }
+
+ /**
+ * Removes all button bindings from the scheduler.
+ */
+ public void clearButtons() {
+ m_buttons.clear();
+ }
+
+ /**
+ * Initializes a given command, adds its requirements to the list, and performs the init actions.
+ *
+ * @param command The command to initialize
+ * @param interruptible Whether the command is interruptible
+ * @param requirements The command requirements
+ */
+ private void initCommand(Command command, boolean interruptible, Set<Subsystem> requirements) {
+ command.initialize();
+ CommandState scheduledCommand = new CommandState(interruptible);
+ m_scheduledCommands.put(command, scheduledCommand);
+ for (Consumer<Command> action : m_initActions) {
+ action.accept(command);
+ }
+ for (Subsystem requirement : requirements) {
+ m_requirements.put(requirement, command);
+ }
+ }
+
+ /**
+ * Schedules a command for execution. Does nothing if the command is already scheduled. If a
+ * command's requirements are not available, it will only be started if all the commands currently
+ * using those requirements have been scheduled as interruptible. If this is the case, they will
+ * be interrupted and the command will be scheduled.
+ *
+ * @param interruptible whether this command can be interrupted
+ * @param command the command to schedule
+ */
+ @SuppressWarnings({"PMD.CyclomaticComplexity", "PMD.NPathComplexity"})
+ private void schedule(boolean interruptible, Command command) {
+ if (m_inRunLoop) {
+ m_toSchedule.put(command, interruptible);
+ return;
+ }
+
+ if (CommandGroupBase.getGroupedCommands().contains(command)) {
+ throw new IllegalArgumentException(
+ "A command that is part of a command group cannot be independently scheduled");
+ }
+
+ //Do nothing if the scheduler is disabled, the robot is disabled and the command doesn't
+ //run when disabled, or the command is already scheduled.
+ if (m_disabled || (RobotState.isDisabled() && !command.runsWhenDisabled())
+ || m_scheduledCommands.containsKey(command)) {
+ return;
+ }
+
+ Set<Subsystem> requirements = command.getRequirements();
+
+ //Schedule the command if the requirements are not currently in-use.
+ if (Collections.disjoint(m_requirements.keySet(), requirements)) {
+ initCommand(command, interruptible, requirements);
+ } else {
+ //Else check if the requirements that are in use have all have interruptible commands,
+ //and if so, interrupt those commands and schedule the new command.
+ for (Subsystem requirement : requirements) {
+ if (m_requirements.containsKey(requirement)
+ && !m_scheduledCommands.get(m_requirements.get(requirement)).isInterruptible()) {
+ return;
+ }
+ }
+ for (Subsystem requirement : requirements) {
+ if (m_requirements.containsKey(requirement)) {
+ cancel(m_requirements.get(requirement));
+ }
+ }
+ initCommand(command, interruptible, requirements);
+ }
+ }
+
+ /**
+ * Schedules multiple commands for execution. Does nothing if the command is already scheduled.
+ * If a command's requirements are not available, it will only be started if all the commands
+ * currently using those requirements have been scheduled as interruptible. If this is the case,
+ * they will be interrupted and the command will be scheduled.
+ *
+ * @param interruptible whether the commands should be interruptible
+ * @param commands the commands to schedule
+ */
+ public void schedule(boolean interruptible, Command... commands) {
+ for (Command command : commands) {
+ schedule(interruptible, command);
+ }
+ }
+
+ /**
+ * Schedules multiple commands for execution, with interruptible defaulted to true. Does nothing
+ * if the command is already scheduled.
+ *
+ * @param commands the commands to schedule
+ */
+ public void schedule(Command... commands) {
+ schedule(true, commands);
+ }
+
+ /**
+ * Runs a single iteration of the scheduler. The execution occurs in the following order:
+ *
+ * <p>Subsystem periodic methods are called.
+ *
+ * <p>Button bindings are polled, and new commands are scheduled from them.
+ *
+ * <p>Currently-scheduled commands are executed.
+ *
+ * <p>End conditions are checked on currently-scheduled commands, and commands that are finished
+ * have their end methods called and are removed.
+ *
+ * <p>Any subsystems not being used as requirements have their default methods started.
+ */
+ @SuppressWarnings({"PMD.CyclomaticComplexity", "PMD.NPathComplexity"})
+ public void run() {
+ if (m_disabled) {
+ return;
+ }
+
+ //Run the periodic method of all registered subsystems.
+ for (Subsystem subsystem : m_subsystems.keySet()) {
+ subsystem.periodic();
+ }
+
+ //Poll buttons for new commands to add.
+ for (Runnable button : m_buttons) {
+ button.run();
+ }
+
+ m_inRunLoop = true;
+ //Run scheduled commands, remove finished commands.
+ for (Iterator<Command> iterator = m_scheduledCommands.keySet().iterator();
+ iterator.hasNext(); ) {
+ Command command = iterator.next();
+
+ if (!command.runsWhenDisabled() && RobotState.isDisabled()) {
+ command.end(true);
+ for (Consumer<Command> action : m_interruptActions) {
+ action.accept(command);
+ }
+ m_requirements.keySet().removeAll(command.getRequirements());
+ iterator.remove();
+ continue;
+ }
+
+ command.execute();
+ for (Consumer<Command> action : m_executeActions) {
+ action.accept(command);
+ }
+ if (command.isFinished()) {
+ command.end(false);
+ for (Consumer<Command> action : m_finishActions) {
+ action.accept(command);
+ }
+ iterator.remove();
+
+ m_requirements.keySet().removeAll(command.getRequirements());
+ }
+ }
+ m_inRunLoop = false;
+
+ //Schedule/cancel commands from queues populated during loop
+ for (Map.Entry<Command, Boolean> commandInterruptible : m_toSchedule.entrySet()) {
+ schedule(commandInterruptible.getValue(), commandInterruptible.getKey());
+ }
+
+ for (Command command : m_toCancel) {
+ cancel(command);
+ }
+
+ m_toSchedule.clear();
+ m_toCancel.clear();
+
+ //Add default commands for un-required registered subsystems.
+ for (Map.Entry<Subsystem, Command> subsystemCommand : m_subsystems.entrySet()) {
+ if (!m_requirements.containsKey(subsystemCommand.getKey())
+ && subsystemCommand.getValue() != null) {
+ schedule(subsystemCommand.getValue());
+ }
+ }
+ }
+
+ /**
+ * Registers subsystems with the scheduler. This must be called for the subsystem's periodic
+ * block to run when the scheduler is run, and for the subsystem's default command to be
+ * scheduled. It is recommended to call this from the constructor of your subsystem
+ * implementations.
+ *
+ * @param subsystems the subsystem to register
+ */
+ public void registerSubsystem(Subsystem... subsystems) {
+ for (Subsystem subsystem : subsystems) {
+ m_subsystems.put(subsystem, null);
+ }
+ }
+
+ /**
+ * Un-registers subsystems with the scheduler. The subsystem will no longer have its periodic
+ * block called, and will not have its default command scheduled.
+ *
+ * @param subsystems the subsystem to un-register
+ */
+ public void unregisterSubsystem(Subsystem... subsystems) {
+ m_subsystems.keySet().removeAll(Set.of(subsystems));
+ }
+
+ /**
+ * Sets the default command for a subsystem. Registers that subsystem if it is not already
+ * registered. Default commands will run whenever there is no other command currently scheduled
+ * that requires the subsystem. Default commands should be written to never end (i.e. their
+ * {@link Command#isFinished()} method should return false), as they would simply be re-scheduled
+ * if they do. Default commands must also require their subsystem.
+ *
+ * @param subsystem the subsystem whose default command will be set
+ * @param defaultCommand the default command to associate with the subsystem
+ */
+ public void setDefaultCommand(Subsystem subsystem, Command defaultCommand) {
+ if (!defaultCommand.getRequirements().contains(subsystem)) {
+ throw new IllegalArgumentException("Default commands must require their subsystem!");
+ }
+
+ if (defaultCommand.isFinished()) {
+ throw new IllegalArgumentException("Default commands should not end!");
+ }
+
+ m_subsystems.put(subsystem, defaultCommand);
+ }
+
+ /**
+ * Gets the default command associated with this subsystem. Null if this subsystem has no default
+ * command associated with it.
+ *
+ * @param subsystem the subsystem to inquire about
+ * @return the default command associated with the subsystem
+ */
+ public Command getDefaultCommand(Subsystem subsystem) {
+ return m_subsystems.get(subsystem);
+ }
+
+ /**
+ * Cancels commands. The scheduler will only call the interrupted method of a canceled command,
+ * not the end method (though the interrupted method may itself call the end method). Commands
+ * will be canceled even if they are not scheduled as interruptible.
+ *
+ * @param commands the commands to cancel
+ */
+ public void cancel(Command... commands) {
+ if (m_inRunLoop) {
+ m_toCancel.addAll(List.of(commands));
+ return;
+ }
+
+ for (Command command : commands) {
+ if (!m_scheduledCommands.containsKey(command)) {
+ continue;
+ }
+
+ command.end(true);
+ for (Consumer<Command> action : m_interruptActions) {
+ action.accept(command);
+ }
+ m_scheduledCommands.remove(command);
+ m_requirements.keySet().removeAll(command.getRequirements());
+ }
+ }
+
+ /**
+ * Cancels all commands that are currently scheduled.
+ */
+ public void cancelAll() {
+ for (Command command : m_scheduledCommands.keySet()) {
+ cancel(command);
+ }
+ }
+
+ /**
+ * Returns the time since a given command was scheduled. Note that this only works on commands
+ * that are directly scheduled by the scheduler; it will not work on commands inside of
+ * commandgroups, as the scheduler does not see them.
+ *
+ * @param command the command to query
+ * @return the time since the command was scheduled, in seconds
+ */
+ public double timeSinceScheduled(Command command) {
+ CommandState commandState = m_scheduledCommands.get(command);
+ if (commandState != null) {
+ return commandState.timeSinceInitialized();
+ } else {
+ return -1;
+ }
+ }
+
+ /**
+ * Whether the given commands are running. Note that this only works on commands that are
+ * directly scheduled by the scheduler; it will not work on commands inside of CommandGroups, as
+ * the scheduler does not see them.
+ *
+ * @param commands the command to query
+ * @return whether the command is currently scheduled
+ */
+ public boolean isScheduled(Command... commands) {
+ return m_scheduledCommands.keySet().containsAll(Set.of(commands));
+ }
+
+ /**
+ * Returns the command currently requiring a given subsystem. Null if no command is currently
+ * requiring the subsystem
+ *
+ * @param subsystem the subsystem to be inquired about
+ * @return the command currently requiring the subsystem
+ */
+ public Command requiring(Subsystem subsystem) {
+ return m_requirements.get(subsystem);
+ }
+
+ /**
+ * Disables the command scheduler.
+ */
+ public void disable() {
+ m_disabled = true;
+ }
+
+ /**
+ * Enables the command scheduler.
+ */
+ public void enable() {
+ m_disabled = false;
+ }
+
+ /**
+ * Adds an action to perform on the initialization of any command by the scheduler.
+ *
+ * @param action the action to perform
+ */
+ public void onCommandInitialize(Consumer<Command> action) {
+ m_initActions.add(action);
+ }
+
+ /**
+ * Adds an action to perform on the execution of any command by the scheduler.
+ *
+ * @param action the action to perform
+ */
+ public void onCommandExecute(Consumer<Command> action) {
+ m_executeActions.add(action);
+ }
+
+ /**
+ * Adds an action to perform on the interruption of any command by the scheduler.
+ *
+ * @param action the action to perform
+ */
+ public void onCommandInterrupt(Consumer<Command> action) {
+ m_interruptActions.add(action);
+ }
+
+ /**
+ * Adds an action to perform on the finishing of any command by the scheduler.
+ *
+ * @param action the action to perform
+ */
+ public void onCommandFinish(Consumer<Command> action) {
+ m_finishActions.add(action);
+ }
+
+ @Override
+ public void initSendable(SendableBuilder builder) {
+ builder.setSmartDashboardType("Scheduler");
+ m_namesEntry = builder.getEntry("Names");
+ m_idsEntry = builder.getEntry("Ids");
+ m_cancelEntry = builder.getEntry("Cancel");
+ builder.setUpdateTable(() -> {
+
+ if (m_namesEntry == null || m_idsEntry == null || m_cancelEntry == null) {
+ return;
+ }
+
+ Map<Double, Command> ids = new LinkedHashMap<>();
+
+
+ for (Command command : m_scheduledCommands.keySet()) {
+ ids.put((double) command.hashCode(), command);
+ }
+
+ double[] toCancel = m_cancelEntry.getDoubleArray(new double[0]);
+ if (toCancel.length > 0) {
+ for (double hash : toCancel) {
+ cancel(ids.get(hash));
+ ids.remove(hash);
+ }
+ m_cancelEntry.setDoubleArray(new double[0]);
+ }
+
+ List<String> names = new ArrayList<>();
+
+ ids.values().forEach(command -> names.add(command.getName()));
+
+ m_namesEntry.setStringArray(names.toArray(new String[0]));
+ m_idsEntry.setNumberArray(ids.keySet().toArray(new Double[0]));
+ });
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/CommandState.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/CommandState.java
new file mode 100644
index 0000000..2e2dc7e
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/CommandState.java
@@ -0,0 +1,44 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import edu.wpi.first.wpilibj.Timer;
+
+/**
+ * Class that holds scheduling state for a command. Used internally by the
+ * {@link CommandScheduler}.
+ */
+class CommandState {
+ //The time since this command was initialized.
+ private double m_startTime = -1;
+
+ //Whether or not it is interruptible.
+ private final boolean m_interruptible;
+
+ CommandState(boolean interruptible) {
+ m_interruptible = interruptible;
+ startTiming();
+ startRunning();
+ }
+
+ private void startTiming() {
+ m_startTime = Timer.getFPGATimestamp();
+ }
+
+ synchronized void startRunning() {
+ m_startTime = -1;
+ }
+
+ boolean isInterruptible() {
+ return m_interruptible;
+ }
+
+ double timeSinceInitialized() {
+ return m_startTime != -1 ? Timer.getFPGATimestamp() - m_startTime : -1;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/ConditionalCommand.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/ConditionalCommand.java
new file mode 100644
index 0000000..8e3239c
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/ConditionalCommand.java
@@ -0,0 +1,82 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import java.util.function.BooleanSupplier;
+
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+import static edu.wpi.first.wpilibj2.command.CommandGroupBase.requireUngrouped;
+
+/**
+ * Runs one of two commands, depending on the value of the given condition when this command is
+ * initialized. Does not actually schedule the selected command - rather, the command is run
+ * through this command; this ensures that the command will behave as expected if used as part of a
+ * CommandGroup. Requires the requirements of both commands, again to ensure proper functioning
+ * when used in a CommandGroup. If this is undesired, consider using {@link ScheduleCommand}.
+ *
+ * <p>As this command contains multiple component commands within it, it is technically a command
+ * group; the command instances that are passed to it cannot be added to any other groups, or
+ * scheduled individually.
+ *
+ * <p>As a rule, CommandGroups require the union of the requirements of their component commands.
+ */
+public class ConditionalCommand extends CommandBase {
+ private final Command m_onTrue;
+ private final Command m_onFalse;
+ private final BooleanSupplier m_condition;
+ private Command m_selectedCommand;
+
+ /**
+ * Creates a new ConditionalCommand.
+ *
+ * @param onTrue the command to run if the condition is true
+ * @param onFalse the command to run if the condition is false
+ * @param condition the condition to determine which command to run
+ */
+ public ConditionalCommand(Command onTrue, Command onFalse, BooleanSupplier condition) {
+ requireUngrouped(onTrue, onFalse);
+
+ CommandGroupBase.registerGroupedCommands(onTrue, onFalse);
+
+ m_onTrue = onTrue;
+ m_onFalse = onFalse;
+ m_condition = requireNonNullParam(condition, "condition", "ConditionalCommand");
+ m_requirements.addAll(m_onTrue.getRequirements());
+ m_requirements.addAll(m_onFalse.getRequirements());
+ }
+
+ @Override
+ public void initialize() {
+ if (m_condition.getAsBoolean()) {
+ m_selectedCommand = m_onTrue;
+ } else {
+ m_selectedCommand = m_onFalse;
+ }
+ m_selectedCommand.initialize();
+ }
+
+ @Override
+ public void execute() {
+ m_selectedCommand.execute();
+ }
+
+ @Override
+ public void end(boolean interrupted) {
+ m_selectedCommand.end(interrupted);
+ }
+
+ @Override
+ public boolean isFinished() {
+ return m_selectedCommand.isFinished();
+ }
+
+ @Override
+ public boolean runsWhenDisabled() {
+ return m_onTrue.runsWhenDisabled() && m_onFalse.runsWhenDisabled();
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/FunctionalCommand.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/FunctionalCommand.java
new file mode 100644
index 0000000..b9dd6db
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/FunctionalCommand.java
@@ -0,0 +1,65 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import java.util.function.BooleanSupplier;
+import java.util.function.Consumer;
+
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
+/**
+ * A command that allows the user to pass in functions for each of the basic command methods through
+ * the constructor. Useful for inline definitions of complex commands - note, however, that if a
+ * command is beyond a certain complexity it is usually better practice to write a proper class for
+ * it than to inline it.
+ */
+public class FunctionalCommand extends CommandBase {
+ protected final Runnable m_onInit;
+ protected final Runnable m_onExecute;
+ protected final Consumer<Boolean> m_onEnd;
+ protected final BooleanSupplier m_isFinished;
+
+ /**
+ * Creates a new FunctionalCommand.
+ *
+ * @param onInit the function to run on command initialization
+ * @param onExecute the function to run on command execution
+ * @param onEnd the function to run on command end
+ * @param isFinished the function that determines whether the command has finished
+ * @param requirements the subsystems required by this command
+ */
+ public FunctionalCommand(Runnable onInit, Runnable onExecute, Consumer<Boolean> onEnd,
+ BooleanSupplier isFinished, Subsystem... requirements) {
+ m_onInit = requireNonNullParam(onInit, "onInit", "FunctionalCommand");
+ m_onExecute = requireNonNullParam(onExecute, "onExecute", "FunctionalCommand");
+ m_onEnd = requireNonNullParam(onEnd, "onEnd", "FunctionalCommand");
+ m_isFinished = requireNonNullParam(isFinished, "isFinished", "FunctionalCommand");
+
+ addRequirements(requirements);
+ }
+
+ @Override
+ public void initialize() {
+ m_onInit.run();
+ }
+
+ @Override
+ public void execute() {
+ m_onExecute.run();
+ }
+
+ @Override
+ public void end(boolean interrupted) {
+ m_onEnd.accept(interrupted);
+ }
+
+ @Override
+ public boolean isFinished() {
+ return m_isFinished.getAsBoolean();
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/InstantCommand.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/InstantCommand.java
new file mode 100644
index 0000000..8518890
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/InstantCommand.java
@@ -0,0 +1,50 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
+/**
+ * A Command that runs instantly; it will initialize, execute once, and end on the same
+ * iteration of the scheduler. Users can either pass in a Runnable and a set of requirements,
+ * or else subclass this command if desired.
+ */
+public class InstantCommand extends CommandBase {
+ private final Runnable m_toRun;
+
+ /**
+ * Creates a new InstantCommand that runs the given Runnable with the given requirements.
+ *
+ * @param toRun the Runnable to run
+ * @param requirements the subsystems required by this command
+ */
+ public InstantCommand(Runnable toRun, Subsystem... requirements) {
+ m_toRun = requireNonNullParam(toRun, "toRun", "InstantCommand");
+
+ addRequirements(requirements);
+ }
+
+ /**
+ * Creates a new InstantCommand with a Runnable that does nothing. Useful only as a no-arg
+ * constructor to call implicitly from subclass constructors.
+ */
+ public InstantCommand() {
+ m_toRun = () -> {
+ };
+ }
+
+ @Override
+ public void initialize() {
+ m_toRun.run();
+ }
+
+ @Override
+ public final boolean isFinished() {
+ return true;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/NotifierCommand.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/NotifierCommand.java
new file mode 100644
index 0000000..e63fcc5
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/NotifierCommand.java
@@ -0,0 +1,49 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import java.util.function.BooleanSupplier;
+
+import edu.wpi.first.wpilibj.Notifier;
+
+/**
+ * A command that starts a notifier to run the given runnable periodically in a separate thread.
+ * Has no end condition as-is; either subclass it or use {@link Command#withTimeout(double)} or
+ * {@link Command#withInterrupt(BooleanSupplier)} to give it one.
+ *
+ * <p>WARNING: Do not use this class unless you are confident in your ability to make the executed
+ * code thread-safe. If you do not know what "thread-safe" means, that is a good sign that
+ * you should not use this class.
+ */
+public class NotifierCommand extends CommandBase {
+ protected final Notifier m_notifier;
+ protected final double m_period;
+
+ /**
+ * Creates a new NotifierCommand.
+ *
+ * @param toRun the runnable for the notifier to run
+ * @param period the period at which the notifier should run, in seconds
+ * @param requirements the subsystems required by this command
+ */
+ public NotifierCommand(Runnable toRun, double period, Subsystem... requirements) {
+ m_notifier = new Notifier(toRun);
+ m_period = period;
+ addRequirements(requirements);
+ }
+
+ @Override
+ public void initialize() {
+ m_notifier.startPeriodic(m_period);
+ }
+
+ @Override
+ public void end(boolean interrupted) {
+ m_notifier.stop();
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/PIDCommand.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/PIDCommand.java
new file mode 100644
index 0000000..8bd8767
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/PIDCommand.java
@@ -0,0 +1,118 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import java.util.Set;
+import java.util.function.DoubleConsumer;
+import java.util.function.DoubleSupplier;
+
+import edu.wpi.first.wpilibj.controller.PIDController;
+
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
+/**
+ * A command that controls an output with a {@link PIDController}. Runs forever by default - to add
+ * exit conditions and/or other behavior, subclass this class. The controller calculation and
+ * output are performed synchronously in the command's execute() method.
+ */
+public class PIDCommand extends CommandBase {
+ protected final PIDController m_controller;
+ protected DoubleSupplier m_measurement;
+ protected DoubleSupplier m_setpoint;
+ protected DoubleConsumer m_useOutput;
+
+ /**
+ * Creates a new PIDCommand, which controls the given output with a PIDController.
+ *
+ * @param controller the controller that controls the output.
+ * @param measurementSource the measurement of the process variable
+ * @param setpointSource the controller's setpoint
+ * @param useOutput the controller's output
+ * @param requirements the subsystems required by this command
+ */
+ public PIDCommand(PIDController controller, DoubleSupplier measurementSource,
+ DoubleSupplier setpointSource, DoubleConsumer useOutput,
+ Subsystem... requirements) {
+ requireNonNullParam(controller, "controller", "SynchronousPIDCommand");
+ requireNonNullParam(measurementSource, "measurementSource", "SynchronousPIDCommand");
+ requireNonNullParam(setpointSource, "setpointSource", "SynchronousPIDCommand");
+ requireNonNullParam(useOutput, "useOutput", "SynchronousPIDCommand");
+
+ m_controller = controller;
+ m_useOutput = useOutput;
+ m_measurement = measurementSource;
+ m_setpoint = setpointSource;
+ m_requirements.addAll(Set.of(requirements));
+ }
+
+ /**
+ * Creates a new PIDCommand, which controls the given output with a PIDController.
+ *
+ * @param controller the controller that controls the output.
+ * @param measurementSource the measurement of the process variable
+ * @param setpoint the controller's setpoint
+ * @param useOutput the controller's output
+ * @param requirements the subsystems required by this command
+ */
+ public PIDCommand(PIDController controller, DoubleSupplier measurementSource,
+ double setpoint, DoubleConsumer useOutput,
+ Subsystem... requirements) {
+ this(controller, measurementSource, () -> setpoint, useOutput, requirements);
+ }
+
+ @Override
+ public void initialize() {
+ m_controller.reset();
+ }
+
+ @Override
+ public void execute() {
+ useOutput(m_controller.calculate(getMeasurement(), getSetpoint()));
+ }
+
+ @Override
+ public void end(boolean interrupted) {
+ useOutput(0);
+ }
+
+ /**
+ * Returns the PIDController used by the command.
+ *
+ * @return The PIDController
+ */
+ public PIDController getController() {
+ return m_controller;
+ }
+
+ /**
+ * Gets the setpoint for the controller. Wraps the passed-in function for readability.
+ *
+ * @return The setpoint for the controller
+ */
+ private double getSetpoint() {
+ return m_setpoint.getAsDouble();
+ }
+
+ /**
+ * Gets the measurement of the process variable. Wraps the passed-in function for readability.
+ *
+ * @return The measurement of the process variable
+ */
+ private double getMeasurement() {
+ return m_measurement.getAsDouble();
+ }
+
+ /**
+ * Uses the output of the controller. Wraps the passed-in function for readability.
+ *
+ * @param output The output value to use
+ */
+ private void useOutput(double output) {
+ m_useOutput.accept(output);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java
new file mode 100644
index 0000000..f853f25
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java
@@ -0,0 +1,79 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import edu.wpi.first.wpilibj.controller.PIDController;
+
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
+/**
+ * A subsystem that uses a {@link PIDController} to control an output. The controller is run
+ * synchronously from the subsystem's periodic() method.
+ */
+public abstract class PIDSubsystem extends SubsystemBase {
+ protected final PIDController m_controller;
+ protected boolean m_enabled;
+
+ /**
+ * Creates a new PIDSubsystem.
+ *
+ * @param controller the PIDController to use
+ */
+ public PIDSubsystem(PIDController controller) {
+ requireNonNullParam(controller, "controller", "PIDSubsystem");
+ m_controller = controller;
+ }
+
+ @Override
+ public void periodic() {
+ if (m_enabled) {
+ useOutput(m_controller.calculate(getMeasurement(), getSetpoint()));
+ }
+ }
+
+ public PIDController getController() {
+ return m_controller;
+ }
+
+ /**
+ * Uses the output from the PIDController.
+ *
+ * @param output the output of the PIDController
+ */
+ public abstract void useOutput(double output);
+
+ /**
+ * Returns the reference (setpoint) used by the PIDController.
+ *
+ * @return the reference (setpoint) to be used by the controller
+ */
+ public abstract double getSetpoint();
+
+ /**
+ * Returns the measurement of the process variable used by the PIDController.
+ *
+ * @return the measurement of the process variable
+ */
+ public abstract double getMeasurement();
+
+ /**
+ * Enables the PID control. Resets the controller.
+ */
+ public void enable() {
+ m_enabled = true;
+ m_controller.reset();
+ }
+
+ /**
+ * Disables the PID control. Sets output to zero.
+ */
+ public void disable() {
+ m_enabled = false;
+ useOutput(0);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroup.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroup.java
new file mode 100644
index 0000000..38cc3c1
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroup.java
@@ -0,0 +1,99 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import java.util.Collections;
+import java.util.HashMap;
+import java.util.Map;
+
+/**
+ * A CommandGroup that runs a set of commands in parallel, ending when the last command ends.
+ *
+ * <p>As a rule, CommandGroups require the union of the requirements of their component commands.
+ */
+public class ParallelCommandGroup extends CommandGroupBase {
+ //maps commands in this group to whether they are still running
+ private final Map<Command, Boolean> m_commands = new HashMap<>();
+ private boolean m_runWhenDisabled = true;
+
+ /**
+ * Creates a new ParallelCommandGroup. The given commands will be executed simultaneously.
+ * The command group will finish when the last command finishes. If the CommandGroup is
+ * interrupted, only the commands that are still running will be interrupted.
+ *
+ * @param commands the commands to include in this group.
+ */
+ public ParallelCommandGroup(Command... commands) {
+ addCommands(commands);
+ }
+
+ @Override
+ public final void addCommands(Command... commands) {
+ requireUngrouped(commands);
+
+ if (m_commands.containsValue(true)) {
+ throw new IllegalStateException(
+ "Commands cannot be added to a CommandGroup while the group is running");
+ }
+
+ registerGroupedCommands(commands);
+
+ for (Command command : commands) {
+ if (!Collections.disjoint(command.getRequirements(), m_requirements)) {
+ throw new IllegalArgumentException("Multiple commands in a parallel group cannot"
+ + "require the same subsystems");
+ }
+ m_commands.put(command, false);
+ m_requirements.addAll(command.getRequirements());
+ m_runWhenDisabled &= command.runsWhenDisabled();
+ }
+ }
+
+ @Override
+ public void initialize() {
+ for (Map.Entry<Command, Boolean> commandRunning : m_commands.entrySet()) {
+ commandRunning.getKey().initialize();
+ commandRunning.setValue(true);
+ }
+ }
+
+ @Override
+ public void execute() {
+ for (Map.Entry<Command, Boolean> commandRunning : m_commands.entrySet()) {
+ if (!commandRunning.getValue()) {
+ continue;
+ }
+ commandRunning.getKey().execute();
+ if (commandRunning.getKey().isFinished()) {
+ commandRunning.getKey().end(false);
+ commandRunning.setValue(false);
+ }
+ }
+ }
+
+ @Override
+ public void end(boolean interrupted) {
+ if (interrupted) {
+ for (Map.Entry<Command, Boolean> commandRunning : m_commands.entrySet()) {
+ if (commandRunning.getValue()) {
+ commandRunning.getKey().end(true);
+ }
+ }
+ }
+ }
+
+ @Override
+ public boolean isFinished() {
+ return !m_commands.values().contains(true);
+ }
+
+ @Override
+ public boolean runsWhenDisabled() {
+ return m_runWhenDisabled;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java
new file mode 100644
index 0000000..61517ef
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java
@@ -0,0 +1,118 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import java.util.Collections;
+import java.util.HashMap;
+import java.util.Map;
+
+/**
+ * A CommandGroup that runs a set of commands in parallel, ending only when a specific command
+ * (the "deadline") ends, interrupting all other commands that are still running at that point.
+ *
+ * <p>As a rule, CommandGroups require the union of the requirements of their component commands.
+ */
+public class ParallelDeadlineGroup extends CommandGroupBase {
+ //maps commands in this group to whether they are still running
+ private final Map<Command, Boolean> m_commands = new HashMap<>();
+ private boolean m_runWhenDisabled = true;
+ private Command m_deadline;
+
+ /**
+ * Creates a new ParallelDeadlineGroup. The given commands (including the deadline) will be
+ * executed simultaneously. The CommandGroup will finish when the deadline finishes,
+ * interrupting all other still-running commands. If the CommandGroup is interrupted, only
+ * the commands still running will be interrupted.
+ *
+ * @param deadline the command that determines when the group ends
+ * @param commands the commands to be executed
+ */
+ public ParallelDeadlineGroup(Command deadline, Command... commands) {
+ m_deadline = deadline;
+ addCommands(commands);
+ if (!m_commands.containsKey(deadline)) {
+ addCommands(deadline);
+ }
+ }
+
+ /**
+ * Sets the deadline to the given command. The deadline is added to the group if it is not
+ * already contained.
+ *
+ * @param deadline the command that determines when the group ends
+ */
+ public void setDeadline(Command deadline) {
+ if (!m_commands.containsKey(deadline)) {
+ addCommands(deadline);
+ }
+ m_deadline = deadline;
+ }
+
+ @Override
+ public final void addCommands(Command... commands) {
+ requireUngrouped(commands);
+
+ if (m_commands.containsValue(true)) {
+ throw new IllegalStateException(
+ "Commands cannot be added to a CommandGroup while the group is running");
+ }
+
+ registerGroupedCommands(commands);
+
+ for (Command command : commands) {
+ if (!Collections.disjoint(command.getRequirements(), m_requirements)) {
+ throw new IllegalArgumentException("Multiple commands in a parallel group cannot"
+ + "require the same subsystems");
+ }
+ m_commands.put(command, false);
+ m_requirements.addAll(command.getRequirements());
+ m_runWhenDisabled &= command.runsWhenDisabled();
+ }
+ }
+
+ @Override
+ public void initialize() {
+ for (Map.Entry<Command, Boolean> commandRunning : m_commands.entrySet()) {
+ commandRunning.getKey().initialize();
+ commandRunning.setValue(true);
+ }
+ }
+
+ @Override
+ public void execute() {
+ for (Map.Entry<Command, Boolean> commandRunning : m_commands.entrySet()) {
+ if (!commandRunning.getValue()) {
+ continue;
+ }
+ commandRunning.getKey().execute();
+ if (commandRunning.getKey().isFinished()) {
+ commandRunning.getKey().end(false);
+ commandRunning.setValue(false);
+ }
+ }
+ }
+
+ @Override
+ public void end(boolean interrupted) {
+ for (Map.Entry<Command, Boolean> commandRunning : m_commands.entrySet()) {
+ if (commandRunning.getValue()) {
+ commandRunning.getKey().end(true);
+ }
+ }
+ }
+
+ @Override
+ public boolean isFinished() {
+ return m_deadline.isFinished();
+ }
+
+ @Override
+ public boolean runsWhenDisabled() {
+ return m_runWhenDisabled;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.java
new file mode 100644
index 0000000..dcaf5f5
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.java
@@ -0,0 +1,92 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import java.util.Collections;
+import java.util.HashSet;
+import java.util.Set;
+
+/**
+ * A CommandGroup that runs a set of commands in parallel, ending when any one of the commands ends
+ * and interrupting all the others.
+ *
+ * <p>As a rule, CommandGroups require the union of the requirements of their component commands.
+ */
+public class ParallelRaceGroup extends CommandGroupBase {
+ private final Set<Command> m_commands = new HashSet<>();
+ private boolean m_runWhenDisabled = true;
+ private boolean m_finished = true;
+
+ /**
+ * Creates a new ParallelCommandRace. The given commands will be executed simultaneously, and
+ * will "race to the finish" - the first command to finish ends the entire command, with all other
+ * commands being interrupted.
+ *
+ * @param commands the commands to include in this group.
+ */
+ public ParallelRaceGroup(Command... commands) {
+ addCommands(commands);
+ }
+
+ @Override
+ public final void addCommands(Command... commands) {
+ requireUngrouped(commands);
+
+ if (!m_finished) {
+ throw new IllegalStateException(
+ "Commands cannot be added to a CommandGroup while the group is running");
+ }
+
+ registerGroupedCommands(commands);
+
+ for (Command command : commands) {
+ if (!Collections.disjoint(command.getRequirements(), m_requirements)) {
+ throw new IllegalArgumentException("Multiple commands in a parallel group cannot"
+ + " require the same subsystems");
+ }
+ m_commands.add(command);
+ m_requirements.addAll(command.getRequirements());
+ m_runWhenDisabled &= command.runsWhenDisabled();
+ }
+ }
+
+ @Override
+ public void initialize() {
+ m_finished = false;
+ for (Command command : m_commands) {
+ command.initialize();
+ }
+ }
+
+ @Override
+ public void execute() {
+ for (Command command : m_commands) {
+ command.execute();
+ if (command.isFinished()) {
+ m_finished = true;
+ }
+ }
+ }
+
+ @Override
+ public void end(boolean interrupted) {
+ for (Command command : m_commands) {
+ command.end(!command.isFinished());
+ }
+ }
+
+ @Override
+ public boolean isFinished() {
+ return m_finished;
+ }
+
+ @Override
+ public boolean runsWhenDisabled() {
+ return m_runWhenDisabled;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/PerpetualCommand.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/PerpetualCommand.java
new file mode 100644
index 0000000..6ebb376
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/PerpetualCommand.java
@@ -0,0 +1,56 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import static edu.wpi.first.wpilibj2.command.CommandGroupBase.registerGroupedCommands;
+import static edu.wpi.first.wpilibj2.command.CommandGroupBase.requireUngrouped;
+
+/**
+ * A command that runs another command in perpetuity, ignoring that command's end conditions. While
+ * this class does not extend {@link CommandGroupBase}, it is still considered a CommandGroup, as it
+ * allows one to compose another command within it; the command instances that are passed to it
+ * cannot be added to any other groups, or scheduled individually.
+ *
+ * <p>As a rule, CommandGroups require the union of the requirements of their component commands.
+ */
+public class PerpetualCommand extends CommandBase {
+ protected final Command m_command;
+
+ /**
+ * Creates a new PerpetualCommand. Will run another command in perpetuity, ignoring that
+ * command's end conditions, unless this command itself is interrupted.
+ *
+ * @param command the command to run perpetually
+ */
+ public PerpetualCommand(Command command) {
+ requireUngrouped(command);
+ registerGroupedCommands(command);
+ m_command = command;
+ m_requirements.addAll(command.getRequirements());
+ }
+
+ @Override
+ public void initialize() {
+ m_command.initialize();
+ }
+
+ @Override
+ public void execute() {
+ m_command.execute();
+ }
+
+ @Override
+ public void end(boolean interrupted) {
+ m_command.end(interrupted);
+ }
+
+ @Override
+ public boolean runsWhenDisabled() {
+ return m_command.runsWhenDisabled();
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/PrintCommand.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/PrintCommand.java
new file mode 100644
index 0000000..4fb4126
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/PrintCommand.java
@@ -0,0 +1,27 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+/**
+ * A command that prints a string when initialized.
+ */
+public class PrintCommand extends InstantCommand {
+ /**
+ * Creates a new a PrintCommand.
+ *
+ * @param message the message to print
+ */
+ public PrintCommand(String message) {
+ super(() -> System.out.println(message));
+ }
+
+ @Override
+ public boolean runsWhenDisabled() {
+ return true;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java
new file mode 100644
index 0000000..fcdb36b
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java
@@ -0,0 +1,164 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import java.util.Set;
+import java.util.function.BiConsumer;
+import java.util.function.DoubleSupplier;
+import java.util.function.Supplier;
+
+import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
+
+import static edu.wpi.first.wpilibj.trajectory.TrapezoidProfile.State;
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
+/**
+ * A command that controls an output with a {@link ProfiledPIDController}. Runs forever by
+ * default - to add
+ * exit conditions and/or other behavior, subclass this class. The controller calculation and
+ * output are performed synchronously in the command's execute() method.
+ */
+public class ProfiledPIDCommand extends CommandBase {
+ protected final ProfiledPIDController m_controller;
+ protected DoubleSupplier m_measurement;
+ protected Supplier<State> m_goal;
+ protected BiConsumer<Double, State> m_useOutput;
+
+ /**
+ * Creates a new PIDCommand, which controls the given output with a ProfiledPIDController.
+ * Goal velocity is specified.
+ *
+ * @param controller the controller that controls the output.
+ * @param measurementSource the measurement of the process variable
+ * @param goalSource the controller's goal
+ * @param useOutput the controller's output
+ * @param requirements the subsystems required by this command
+ */
+ public ProfiledPIDCommand(ProfiledPIDController controller, DoubleSupplier measurementSource,
+ Supplier<State> goalSource, BiConsumer<Double, State> useOutput,
+ Subsystem... requirements) {
+ requireNonNullParam(controller, "controller", "SynchronousPIDCommand");
+ requireNonNullParam(measurementSource, "measurementSource", "SynchronousPIDCommand");
+ requireNonNullParam(goalSource, "goalSource", "SynchronousPIDCommand");
+ requireNonNullParam(useOutput, "useOutput", "SynchronousPIDCommand");
+
+ m_controller = controller;
+ m_useOutput = useOutput;
+ m_measurement = measurementSource;
+ m_goal = goalSource;
+ m_requirements.addAll(Set.of(requirements));
+ }
+
+ /**
+ * Creates a new PIDCommand, which controls the given output with a ProfiledPIDController.
+ * Goal velocity is implicitly zero.
+ *
+ * @param controller the controller that controls the output.
+ * @param measurementSource the measurement of the process variable
+ * @param goalSource the controller's goal
+ * @param useOutput the controller's output
+ * @param requirements the subsystems required by this command
+ */
+ public ProfiledPIDCommand(ProfiledPIDController controller, DoubleSupplier measurementSource,
+ DoubleSupplier goalSource, BiConsumer<Double, State> useOutput,
+ Subsystem... requirements) {
+ requireNonNullParam(controller, "controller", "SynchronousPIDCommand");
+ requireNonNullParam(measurementSource, "measurementSource", "SynchronousPIDCommand");
+ requireNonNullParam(goalSource, "goalSource", "SynchronousPIDCommand");
+ requireNonNullParam(useOutput, "useOutput", "SynchronousPIDCommand");
+
+ m_controller = controller;
+ m_useOutput = useOutput;
+ m_measurement = measurementSource;
+ m_goal = () -> new State(goalSource.getAsDouble(), 0);
+ m_requirements.addAll(Set.of(requirements));
+ }
+
+ /**
+ * Creates a new PIDCommand, which controls the given output with a ProfiledPIDController. Goal
+ * velocity is specified.
+ *
+ * @param controller the controller that controls the output.
+ * @param measurementSource the measurement of the process variable
+ * @param goal the controller's goal
+ * @param useOutput the controller's output
+ * @param requirements the subsystems required by this command
+ */
+ public ProfiledPIDCommand(ProfiledPIDController controller, DoubleSupplier measurementSource,
+ State goal, BiConsumer<Double, State> useOutput,
+ Subsystem... requirements) {
+ this(controller, measurementSource, () -> goal, useOutput, requirements);
+ }
+
+ /**
+ * Creates a new PIDCommand, which controls the given output with a ProfiledPIDController. Goal
+ * velocity is implicitly zero.
+ *
+ * @param controller the controller that controls the output.
+ * @param measurementSource the measurement of the process variable
+ * @param goal the controller's goal
+ * @param useOutput the controller's output
+ * @param requirements the subsystems required by this command
+ */
+ public ProfiledPIDCommand(ProfiledPIDController controller, DoubleSupplier measurementSource,
+ double goal, BiConsumer<Double, State> useOutput,
+ Subsystem... requirements) {
+ this(controller, measurementSource, () -> goal, useOutput, requirements);
+ }
+
+ @Override
+ public void initialize() {
+ m_controller.reset();
+ }
+
+ @Override
+ public void execute() {
+ useOutput(m_controller.calculate(getMeasurement(), getGoal()), m_controller.getSetpoint());
+ }
+
+ @Override
+ public void end(boolean interrupted) {
+ useOutput(0, new State());
+ }
+
+ /**
+ * Returns the ProfiledPIDController used by the command.
+ *
+ * @return The ProfiledPIDController
+ */
+ public ProfiledPIDController getController() {
+ return m_controller;
+ }
+
+ /**
+ * Gets the goal for the controller. Wraps the passed-in function for readability.
+ *
+ * @return The goal for the controller
+ */
+ private State getGoal() {
+ return m_goal.get();
+ }
+
+ /**
+ * Gets the measurement of the process variable. Wraps the passed-in function for readability.
+ *
+ * @return The measurement of the process variable
+ */
+ private double getMeasurement() {
+ return m_measurement.getAsDouble();
+ }
+
+ /**
+ * Uses the output of the controller. Wraps the passed-in function for readability.
+ *
+ * @param output The output value to use
+ */
+ private void useOutput(double output, State state) {
+ m_useOutput.accept(output, state);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java
new file mode 100644
index 0000000..ecd3371
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java
@@ -0,0 +1,81 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
+
+import static edu.wpi.first.wpilibj.trajectory.TrapezoidProfile.State;
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
+/**
+ * A subsystem that uses a {@link ProfiledPIDController} to control an output. The controller is
+ * run synchronously from the subsystem's periodic() method.
+ */
+public abstract class ProfiledPIDSubsystem extends SubsystemBase {
+ protected final ProfiledPIDController m_controller;
+ protected boolean m_enabled;
+
+ /**
+ * Creates a new ProfiledPIDSubsystem.
+ *
+ * @param controller the ProfiledPIDController to use
+ */
+ public ProfiledPIDSubsystem(ProfiledPIDController controller) {
+ requireNonNullParam(controller, "controller", "ProfiledPIDSubsystem");
+ m_controller = controller;
+ }
+
+ @Override
+ public void periodic() {
+ if (m_enabled) {
+ useOutput(m_controller.calculate(getMeasurement(), getGoal()), m_controller.getSetpoint());
+ }
+ }
+
+ public ProfiledPIDController getController() {
+ return m_controller;
+ }
+
+ /**
+ * Uses the output from the ProfiledPIDController.
+ *
+ * @param output the output of the ProfiledPIDController
+ * @param goal the goal state of the ProfiledPIDController, for feedforward
+ */
+ public abstract void useOutput(double output, State goal);
+
+ /**
+ * Returns the goal used by the ProfiledPIDController.
+ *
+ * @return the goal to be used by the controller
+ */
+ public abstract State getGoal();
+
+ /**
+ * Returns the measurement of the process variable used by the ProfiledPIDController.
+ *
+ * @return the measurement of the process variable
+ */
+ public abstract double getMeasurement();
+
+ /**
+ * Enables the PID control. Resets the controller.
+ */
+ public void enable() {
+ m_enabled = true;
+ m_controller.reset();
+ }
+
+ /**
+ * Disables the PID control. Sets output to zero.
+ */
+ public void disable() {
+ m_enabled = false;
+ useOutput(0, new State());
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommand.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommand.java
new file mode 100644
index 0000000..27d67bc
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommand.java
@@ -0,0 +1,59 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import java.util.Set;
+
+/**
+ * Schedules the given commands when this command is initialized, and ends when all the commands are
+ * no longer scheduled. Useful for forking off from CommandGroups. If this command is interrupted,
+ * it will cancel all of the commands.
+ */
+public class ProxyScheduleCommand extends CommandBase {
+ private final Set<Command> m_toSchedule;
+ private boolean m_finished;
+
+ /**
+ * Creates a new ProxyScheduleCommand that schedules the given commands when initialized,
+ * and ends when they are all no longer scheduled.
+ *
+ * @param toSchedule the commands to schedule
+ */
+ public ProxyScheduleCommand(Command... toSchedule) {
+ m_toSchedule = Set.of(toSchedule);
+ }
+
+ @Override
+ public void initialize() {
+ for (Command command : m_toSchedule) {
+ command.schedule();
+ }
+ }
+
+ @Override
+ public void end(boolean interrupted) {
+ if (interrupted) {
+ for (Command command : m_toSchedule) {
+ command.cancel();
+ }
+ }
+ }
+
+ @Override
+ public void execute() {
+ m_finished = true;
+ for (Command command : m_toSchedule) {
+ m_finished &= !command.isScheduled();
+ }
+ }
+
+ @Override
+ public boolean isFinished() {
+ return m_finished;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
new file mode 100644
index 0000000..754660c
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
@@ -0,0 +1,223 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import java.util.function.BiConsumer;
+import java.util.function.DoubleSupplier;
+import java.util.function.Supplier;
+
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.wpilibj.controller.RamseteController;
+import edu.wpi.first.wpilibj.geometry.Pose2d;
+import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
+import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
+import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
+import edu.wpi.first.wpilibj.trajectory.Trajectory;
+
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
+/**
+ * A command that uses a RAMSETE controller ({@link RamseteController}) to follow a trajectory
+ * {@link Trajectory} with a differential drive.
+ *
+ * <p>The command handles trajectory-following, PID calculations, and feedforwards internally. This
+ * is intended to be a more-or-less "complete solution" that can be used by teams without a great
+ * deal of controls expertise.
+ *
+ * <p>Advanced teams seeking more flexibility (for example, those who wish to use the onboard
+ * PID functionality of a "smart" motor controller) may use the secondary constructor that omits
+ * the PID and feedforward functionality, returning only the raw wheel speeds from the RAMSETE
+ * controller.
+ */
+public class RamseteCommand extends CommandBase {
+ private final Timer m_timer = new Timer();
+ private DifferentialDriveWheelSpeeds m_prevSpeeds;
+ private double m_prevTime;
+
+ private final Trajectory m_trajectory;
+ private final Supplier<Pose2d> m_pose;
+ private final RamseteController m_follower;
+ private final double m_ks;
+ private final double m_kv;
+ private final double m_ka;
+ private final DifferentialDriveKinematics m_kinematics;
+ private final DoubleSupplier m_leftSpeed;
+ private final DoubleSupplier m_rightSpeed;
+ private final PIDController m_leftController;
+ private final PIDController m_rightController;
+ private final BiConsumer<Double, Double> m_output;
+
+ /**
+ * Constructs a new RamseteCommand that, when executed, will follow the provided trajectory.
+ * PID control and feedforward are handled internally, and outputs are scaled -1 to 1 for easy
+ * consumption by speed controllers.
+ *
+ * <p>Note: The controller will *not* set the outputVolts to zero upon completion of the path -
+ * this
+ * is left to the user, since it is not appropriate for paths with nonstationary endstates.
+ *
+ * @param trajectory The trajectory to follow.
+ * @param pose A function that supplies the robot pose - use one of
+ * the odometry classes to provide this.
+ * @param controller The RAMSETE controller used to follow the trajectory.
+ * @param ksVolts Constant feedforward term for the robot drive.
+ * @param kvVoltSecondsPerMeter Velocity-proportional feedforward term for the robot
+ * drive.
+ * @param kaVoltSecondsSquaredPerMeter Acceleration-proportional feedforward term for the robot
+ * drive.
+ * @param kinematics The kinematics for the robot drivetrain.
+ * @param leftWheelSpeedMetersPerSecond A function that supplies the speed of the left side of
+ * the robot drive.
+ * @param rightWheelSpeedMetersPerSecond A function that supplies the speed of the right side of
+ * the robot drive.
+ * @param leftController The PIDController for the left side of the robot drive.
+ * @param rightController The PIDController for the right side of the robot drive.
+ * @param outputVolts A function that consumes the computed left and right
+ * outputs (in volts) for the robot drive.
+ * @param requirements The subsystems to require.
+ */
+ @SuppressWarnings("PMD.ExcessiveParameterList")
+ public RamseteCommand(Trajectory trajectory,
+ Supplier<Pose2d> pose,
+ RamseteController controller,
+ double ksVolts,
+ double kvVoltSecondsPerMeter,
+ double kaVoltSecondsSquaredPerMeter,
+ DifferentialDriveKinematics kinematics,
+ DoubleSupplier leftWheelSpeedMetersPerSecond,
+ DoubleSupplier rightWheelSpeedMetersPerSecond,
+ PIDController leftController,
+ PIDController rightController,
+ BiConsumer<Double, Double> outputVolts,
+ Subsystem... requirements) {
+ m_trajectory = requireNonNullParam(trajectory, "trajectory", "RamseteCommand");
+ m_pose = requireNonNullParam(pose, "pose", "RamseteCommand");
+ m_follower = requireNonNullParam(controller, "controller", "RamseteCommand");
+ m_ks = ksVolts;
+ m_kv = kvVoltSecondsPerMeter;
+ m_ka = kaVoltSecondsSquaredPerMeter;
+ m_kinematics = requireNonNullParam(kinematics, "kinematics", "RamseteCommand");
+ m_leftSpeed = requireNonNullParam(leftWheelSpeedMetersPerSecond,
+ "leftWheelSpeedMetersPerSecond",
+ "RamseteCommand");
+ m_rightSpeed = requireNonNullParam(rightWheelSpeedMetersPerSecond,
+ "rightWheelSpeedMetersPerSecond",
+ "RamseteCommand");
+ m_leftController = requireNonNullParam(leftController, "leftController", "RamseteCommand");
+ m_rightController = requireNonNullParam(rightController, "rightController", "RamseteCommand");
+ m_output = requireNonNullParam(outputVolts, "outputVolts", "RamseteCommand");
+
+ addRequirements(requirements);
+ }
+
+ /**
+ * Constructs a new RamseteCommand that, when executed, will follow the provided trajectory.
+ * Performs no PID control and calculates no feedforwards; outputs are the raw wheel speeds
+ * from the RAMSETE controller, and will need to be converted into a usable form by the user.
+ *
+ * @param trajectory The trajectory to follow.
+ * @param pose A function that supplies the robot pose - use one of
+ * the odometry classes to provide this.
+ * @param follower The RAMSETE follower used to follow the trajectory.
+ * @param kinematics The kinematics for the robot drivetrain.
+ * @param outputMetersPerSecond A function that consumes the computed left and right
+ * wheel speeds.
+ * @param requirements The subsystems to require.
+ */
+ public RamseteCommand(Trajectory trajectory,
+ Supplier<Pose2d> pose,
+ RamseteController follower,
+ DifferentialDriveKinematics kinematics,
+ BiConsumer<Double, Double> outputMetersPerSecond,
+ Subsystem... requirements) {
+ m_trajectory = requireNonNullParam(trajectory, "trajectory", "RamseteCommand");
+ m_pose = requireNonNullParam(pose, "pose", "RamseteCommand");
+ m_follower = requireNonNullParam(follower, "follower", "RamseteCommand");
+ m_kinematics = requireNonNullParam(kinematics, "kinematics", "RamseteCommand");
+ m_output = requireNonNullParam(outputMetersPerSecond, "output", "RamseteCommand");
+
+ m_ks = 0;
+ m_kv = 0;
+ m_ka = 0;
+ m_leftSpeed = null;
+ m_rightSpeed = null;
+ m_leftController = null;
+ m_rightController = null;
+
+ addRequirements(requirements);
+ }
+
+ @Override
+ public void initialize() {
+ m_prevTime = 0;
+ var initialState = m_trajectory.sample(0);
+ m_prevSpeeds = m_kinematics.toWheelSpeeds(
+ new ChassisSpeeds(initialState.velocityMetersPerSecond,
+ 0,
+ initialState.curvatureRadPerMeter
+ * initialState.velocityMetersPerSecond));
+ m_timer.reset();
+ m_timer.start();
+ m_leftController.reset();
+ m_rightController.reset();
+ }
+
+ @Override
+ public void execute() {
+ double curTime = m_timer.get();
+ double dt = curTime - m_prevTime;
+
+ var targetWheelSpeeds = m_kinematics.toWheelSpeeds(
+ m_follower.calculate(m_pose.get(), m_trajectory.sample(curTime)));
+
+ var leftSpeedSetpoint = targetWheelSpeeds.leftMetersPerSecond;
+ var rightSpeedSetpoint = targetWheelSpeeds.rightMetersPerSecond;
+
+ double leftOutput;
+ double rightOutput;
+
+ if (m_leftController != null) {
+ double leftFeedforward =
+ m_ks * Math.signum(leftSpeedSetpoint)
+ + m_kv * leftSpeedSetpoint
+ + m_ka * (leftSpeedSetpoint - m_prevSpeeds.leftMetersPerSecond) / dt;
+
+ double rightFeedforward =
+ m_ks * Math.signum(rightSpeedSetpoint)
+ + m_kv * rightSpeedSetpoint
+ + m_ka * (rightSpeedSetpoint - m_prevSpeeds.rightMetersPerSecond) / dt;
+
+ leftOutput = leftFeedforward
+ + m_leftController.calculate(m_leftSpeed.getAsDouble(),
+ leftSpeedSetpoint);
+
+ rightOutput = rightFeedforward
+ + m_rightController.calculate(m_rightSpeed.getAsDouble(),
+ rightSpeedSetpoint);
+ } else {
+ leftOutput = leftSpeedSetpoint;
+ rightOutput = rightSpeedSetpoint;
+ }
+
+ m_output.accept(leftOutput, rightOutput);
+
+ m_prevTime = curTime;
+ m_prevSpeeds = targetWheelSpeeds;
+ }
+
+ @Override
+ public void end(boolean interrupted) {
+ m_timer.stop();
+ }
+
+ @Override
+ public boolean isFinished() {
+ return m_timer.hasPeriodPassed(m_trajectory.getTotalTimeSeconds());
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/RunCommand.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/RunCommand.java
new file mode 100644
index 0000000..9099be0
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/RunCommand.java
@@ -0,0 +1,39 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import java.util.function.BooleanSupplier;
+
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
+/**
+ * A command that runs a Runnable continuously. Has no end condition as-is;
+ * either subclass it or use {@link Command#withTimeout(double)} or
+ * {@link Command#withInterrupt(BooleanSupplier)} to give it one. If you only wish
+ * to execute a Runnable once, use {@link InstantCommand}.
+ */
+public class RunCommand extends CommandBase {
+ protected final Runnable m_toRun;
+
+ /**
+ * Creates a new RunCommand. The Runnable will be run continuously until the command
+ * ends. Does not run when disabled.
+ *
+ * @param toRun the Runnable to run
+ * @param requirements the subsystems to require
+ */
+ public RunCommand(Runnable toRun, Subsystem... requirements) {
+ m_toRun = requireNonNullParam(toRun, "toRun", "RunCommand");
+ addRequirements(requirements);
+ }
+
+ @Override
+ public void execute() {
+ m_toRun.run();
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/ScheduleCommand.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/ScheduleCommand.java
new file mode 100644
index 0000000..700925b
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/ScheduleCommand.java
@@ -0,0 +1,45 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import java.util.Set;
+
+/**
+ * Schedules the given commands when this command is initialized. Useful for forking off from
+ * CommandGroups. Note that if run from a CommandGroup, the group will not know about the status
+ * of the scheduled commands, and will treat this command as finishing instantly.
+ */
+public class ScheduleCommand extends CommandBase {
+ private final Set<Command> m_toSchedule;
+
+ /**
+ * Creates a new ScheduleCommand that schedules the given commands when initialized.
+ *
+ * @param toSchedule the commands to schedule
+ */
+ public ScheduleCommand(Command... toSchedule) {
+ m_toSchedule = Set.of(toSchedule);
+ }
+
+ @Override
+ public void initialize() {
+ for (Command command : m_toSchedule) {
+ command.schedule();
+ }
+ }
+
+ @Override
+ public boolean isFinished() {
+ return true;
+ }
+
+ @Override
+ public boolean runsWhenDisabled() {
+ return true;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/SelectCommand.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/SelectCommand.java
new file mode 100644
index 0000000..92fe07f
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/SelectCommand.java
@@ -0,0 +1,110 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import java.util.Map;
+import java.util.function.Supplier;
+
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+import static edu.wpi.first.wpilibj2.command.CommandGroupBase.requireUngrouped;
+
+/**
+ * Runs one of a selection of commands, either using a selector and a key to command mapping, or a
+ * supplier that returns the command directly at runtime. Does not actually schedule the selected
+ * command - rather, the command is run through this command; this ensures that the command will
+ * behave as expected if used as part of a CommandGroup. Requires the requirements of all included
+ * commands, again to ensure proper functioning when used in a CommandGroup. If this is undesired,
+ * consider using {@link ScheduleCommand}.
+ *
+ * <p>As this command contains multiple component commands within it, it is technically a command
+ * group; the command instances that are passed to it cannot be added to any other groups, or
+ * scheduled individually.
+ *
+ * <p>As a rule, CommandGroups require the union of the requirements of their component commands.
+ */
+public class SelectCommand extends CommandBase {
+ private final Map<Object, Command> m_commands;
+ private final Supplier<Object> m_selector;
+ private final Supplier<Command> m_toRun;
+ private Command m_selectedCommand;
+
+ /**
+ * Creates a new selectcommand.
+ *
+ * @param commands the map of commands to choose from
+ * @param selector the selector to determine which command to run
+ */
+ public SelectCommand(Map<Object, Command> commands, Supplier<Object> selector) {
+ requireUngrouped(commands.values());
+
+ CommandGroupBase.registerGroupedCommands(commands.values().toArray(new Command[]{}));
+
+ m_commands = requireNonNullParam(commands, "commands", "SelectCommand");
+ m_selector = requireNonNullParam(selector, "selector", "SelectCommand");
+
+ m_toRun = null;
+
+ for (Command command : m_commands.values()) {
+ m_requirements.addAll(command.getRequirements());
+ }
+ }
+
+ /**
+ * Creates a new selectcommand.
+ *
+ * @param toRun a supplier providing the command to run
+ */
+ public SelectCommand(Supplier<Command> toRun) {
+ m_commands = null;
+ m_selector = null;
+ m_toRun = requireNonNullParam(toRun, "toRun", "SelectCommand");
+ }
+
+ @Override
+ public void initialize() {
+ if (m_selector != null) {
+ if (!m_commands.keySet().contains(m_selector.get())) {
+ m_selectedCommand = new PrintCommand(
+ "SelectCommand selector value does not correspond to" + " any command!");
+ return;
+ }
+ m_selectedCommand = m_commands.get(m_selector.get());
+ } else {
+ m_selectedCommand = m_toRun.get();
+ }
+ m_selectedCommand.initialize();
+ }
+
+ @Override
+ public void execute() {
+ m_selectedCommand.execute();
+ }
+
+ @Override
+ public void end(boolean interrupted) {
+ m_selectedCommand.end(interrupted);
+ }
+
+ @Override
+ public boolean isFinished() {
+ return m_selectedCommand.isFinished();
+ }
+
+ @Override
+ public boolean runsWhenDisabled() {
+ if (m_commands != null) {
+ boolean runsWhenDisabled = true;
+ for (Command command : m_commands.values()) {
+ runsWhenDisabled &= command.runsWhenDisabled();
+ }
+ return runsWhenDisabled;
+ } else {
+ return m_toRun.get().runsWhenDisabled();
+ }
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.java
new file mode 100644
index 0000000..0d01f11
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.java
@@ -0,0 +1,97 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * A CommandGroups that runs a list of commands in sequence.
+ *
+ * <p>As a rule, CommandGroups require the union of the requirements of their component commands.
+ */
+public class SequentialCommandGroup extends CommandGroupBase {
+ private final List<Command> m_commands = new ArrayList<>();
+ private int m_currentCommandIndex = -1;
+ private boolean m_runWhenDisabled = true;
+
+ /**
+ * Creates a new SequentialCommandGroup. The given commands will be run sequentially, with
+ * the CommandGroup finishing when the last command finishes.
+ *
+ * @param commands the commands to include in this group.
+ */
+ public SequentialCommandGroup(Command... commands) {
+ addCommands(commands);
+ }
+
+ @Override
+ public final void addCommands(Command... commands) {
+ requireUngrouped(commands);
+
+ if (m_currentCommandIndex != -1) {
+ throw new IllegalStateException(
+ "Commands cannot be added to a CommandGroup while the group is running");
+ }
+
+ registerGroupedCommands(commands);
+
+ for (Command command : commands) {
+ m_commands.add(command);
+ m_requirements.addAll(command.getRequirements());
+ m_runWhenDisabled &= command.runsWhenDisabled();
+ }
+ }
+
+ @Override
+ public void initialize() {
+ m_currentCommandIndex = 0;
+
+ if (!m_commands.isEmpty()) {
+ m_commands.get(0).initialize();
+ }
+ }
+
+ @Override
+ public void execute() {
+ if (m_commands.isEmpty()) {
+ return;
+ }
+
+ Command currentCommand = m_commands.get(m_currentCommandIndex);
+
+ currentCommand.execute();
+ if (currentCommand.isFinished()) {
+ currentCommand.end(false);
+ m_currentCommandIndex++;
+ if (m_currentCommandIndex < m_commands.size()) {
+ m_commands.get(m_currentCommandIndex).initialize();
+ }
+ }
+ }
+
+ @Override
+ public void end(boolean interrupted) {
+ if (interrupted && !m_commands.isEmpty() && m_currentCommandIndex > -1
+ && m_currentCommandIndex < m_commands.size()
+ ) {
+ m_commands.get(m_currentCommandIndex).end(true);
+ }
+ m_currentCommandIndex = -1;
+ }
+
+ @Override
+ public boolean isFinished() {
+ return m_currentCommandIndex == m_commands.size();
+ }
+
+ @Override
+ public boolean runsWhenDisabled() {
+ return m_runWhenDisabled;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/StartEndCommand.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/StartEndCommand.java
new file mode 100644
index 0000000..3139465
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/StartEndCommand.java
@@ -0,0 +1,48 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import java.util.function.BooleanSupplier;
+
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
+/**
+ * A command that runs a given runnable when it is initalized, and another runnable when it ends.
+ * Useful for running and then stopping a motor, or extending and then retracting a solenoid.
+ * Has no end condition as-is; either subclass it or use {@link Command#withTimeout(double)} or
+ * {@link Command#withInterrupt(BooleanSupplier)} to give it one.
+ */
+public class StartEndCommand extends CommandBase {
+ protected final Runnable m_onInit;
+ protected final Runnable m_onEnd;
+
+ /**
+ * Creates a new StartEndCommand. Will run the given runnables when the command starts and when
+ * it ends.
+ *
+ * @param onInit the Runnable to run on command init
+ * @param onEnd the Runnable to run on command end
+ * @param requirements the subsystems required by this command
+ */
+ public StartEndCommand(Runnable onInit, Runnable onEnd, Subsystem... requirements) {
+ m_onInit = requireNonNullParam(onInit, "onInit", "StartEndCommand");
+ m_onEnd = requireNonNullParam(onEnd, "onEnd", "StartEndCommand");
+
+ addRequirements(requirements);
+ }
+
+ @Override
+ public void initialize() {
+ m_onInit.run();
+ }
+
+ @Override
+ public void end(boolean interrupted) {
+ m_onEnd.run();
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/Subsystem.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/Subsystem.java
new file mode 100644
index 0000000..7dc917b
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/Subsystem.java
@@ -0,0 +1,76 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+/**
+ * A robot subsystem. Subsystems are the basic unit of robot organization in the Command-based
+ * framework; they encapsulate low-level hardware objects (motor controllers, sensors, etc) and
+ * provide methods through which they can be used by {@link Command}s. Subsystems are used by the
+ * {@link CommandScheduler}'s resource management system to ensure multiple robot actions are not
+ * "fighting" over the same hardware; Commands that use a subsystem should include that subsystem
+ * in their {@link Command#getRequirements()} method, and resources used within a subsystem should
+ * generally remain encapsulated and not be shared by other parts of the robot.
+ *
+ * <p>Subsystems must be registered with the scheduler with the
+ * {@link CommandScheduler#registerSubsystem(Subsystem...)} method in order for the
+ * {@link Subsystem#periodic()} method to be called. It is recommended that this method be called
+ * from the constructor of users' Subsystem implementations. The {@link SubsystemBase}
+ * class offers a simple base for user implementations that handles this.
+ */
+public interface Subsystem {
+
+ /**
+ * This method is called periodically by the {@link CommandScheduler}. Useful for updating
+ * subsystem-specific state that you don't want to offload to a {@link Command}. Teams should
+ * try to be consistent within their own codebases about which responsibilities will be handled
+ * by Commands, and which will be handled here.
+ */
+ default void periodic() {
+ }
+
+ /**
+ * Sets the default {@link Command} of the subsystem. The default command will be
+ * automatically scheduled when no other commands are scheduled that require the subsystem.
+ * Default commands should generally not end on their own, i.e. their {@link Command#isFinished()}
+ * method should always return false. Will automatically register this subsystem with the
+ * {@link CommandScheduler}.
+ *
+ * @param defaultCommand the default command to associate with this subsystem
+ */
+ default void setDefaultCommand(Command defaultCommand) {
+ CommandScheduler.getInstance().setDefaultCommand(this, defaultCommand);
+ }
+
+ /**
+ * Gets the default command for this subsystem. Returns null if no default command is
+ * currently associated with the subsystem.
+ *
+ * @return the default command associated with this subsystem
+ */
+ default Command getDefaultCommand() {
+ return CommandScheduler.getInstance().getDefaultCommand(this);
+ }
+
+ /**
+ * Returns the command currently running on this subsystem. Returns null if no command is
+ * currently scheduled that requires this subsystem.
+ *
+ * @return the scheduled command currently requiring this subsystem
+ */
+ default Command getCurrentCommand() {
+ return CommandScheduler.getInstance().requiring(this);
+ }
+
+ /**
+ * Registers this subsystem with the {@link CommandScheduler}, allowing its
+ * {@link Subsystem#periodic()} method to be called when the scheduler runs.
+ */
+ default void register() {
+ CommandScheduler.getInstance().registerSubsystem(this);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/SubsystemBase.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/SubsystemBase.java
new file mode 100644
index 0000000..9ae8ae2
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/SubsystemBase.java
@@ -0,0 +1,93 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import edu.wpi.first.wpilibj.Sendable;
+import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+
+/**
+ * A base for subsystems that handles registration in the constructor, and provides a more intuitive
+ * method for setting the default command.
+ */
+public abstract class SubsystemBase implements Subsystem, Sendable {
+
+ /**
+ * Constructor.
+ */
+ public SubsystemBase() {
+ String name = this.getClass().getSimpleName();
+ name = name.substring(name.lastIndexOf('.') + 1);
+ SendableRegistry.addLW(this, name, name);
+ CommandScheduler.getInstance().registerSubsystem(this);
+ }
+
+ /**
+ * Gets the name of this Subsystem.
+ *
+ * @return Name
+ */
+ @Override
+ public String getName() {
+ return SendableRegistry.getName(this);
+ }
+
+ /**
+ * Sets the name of this Subsystem.
+ *
+ * @param name name
+ */
+ @Override
+ public void setName(String name) {
+ SendableRegistry.setName(this, name);
+ }
+
+ /**
+ * Gets the subsystem name of this Subsystem.
+ *
+ * @return Subsystem name
+ */
+ @Override
+ public String getSubsystem() {
+ return SendableRegistry.getSubsystem(this);
+ }
+
+ /**
+ * Sets the subsystem name of this Subsystem.
+ *
+ * @param subsystem subsystem name
+ */
+ @Override
+ public void setSubsystem(String subsystem) {
+ SendableRegistry.setSubsystem(this, subsystem);
+ }
+
+ /**
+ * Associates a {@link Sendable} with this Subsystem.
+ * Also update the child's name.
+ *
+ * @param name name to give child
+ * @param child sendable
+ */
+ public void addChild(String name, Sendable child) {
+ SendableRegistry.addLW(child, getSubsystem(), name);
+ SendableRegistry.addChild(this, child);
+ }
+
+ @Override
+ public void initSendable(SendableBuilder builder) {
+ builder.setSmartDashboardType("Subsystem");
+
+ builder.addBooleanProperty(".hasDefault", () -> getDefaultCommand() != null, null);
+ builder.addStringProperty(".default",
+ () -> getDefaultCommand() != null ? getDefaultCommand().getName() : "none", null);
+ builder.addBooleanProperty(".hasCommand", () -> getCurrentCommand() != null, null);
+ builder.addStringProperty(".command",
+ () -> getCurrentCommand() != null ? getCurrentCommand().getName() : "none", null);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java
new file mode 100644
index 0000000..85ddd03
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java
@@ -0,0 +1,64 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import java.util.function.Consumer;
+
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
+
+import static edu.wpi.first.wpilibj.trajectory.TrapezoidProfile.State;
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
+/**
+ * A command that runs a {@link TrapezoidProfile}. Useful for smoothly controlling mechanism
+ * motion.
+ */
+public class TrapezoidProfileCommand extends CommandBase {
+ private final TrapezoidProfile m_profile;
+ private final Consumer<State> m_output;
+
+ private final Timer m_timer = new Timer();
+
+ /**
+ * Creates a new TrapezoidProfileCommand that will execute the given {@link TrapezoidProfile}.
+ * Output will be piped to the provided consumer function.
+ *
+ * @param profile The motion profile to execute.
+ * @param output The consumer for the profile output.
+ * @param requirements The subsystems required by this command.
+ */
+ public TrapezoidProfileCommand(TrapezoidProfile profile,
+ Consumer<State> output,
+ Subsystem... requirements) {
+ m_profile = requireNonNullParam(profile, "profile", "TrapezoidProfileCommand");
+ m_output = requireNonNullParam(output, "output", "TrapezoidProfileCommand");
+ addRequirements(requirements);
+ }
+
+ @Override
+ public void initialize() {
+ m_timer.reset();
+ m_timer.start();
+ }
+
+ @Override
+ public void execute() {
+ m_output.accept(m_profile.calculate(m_timer.get()));
+ }
+
+ @Override
+ public void end(boolean interrupted) {
+ m_timer.stop();
+ }
+
+ @Override
+ public boolean isFinished() {
+ return m_timer.hasPeriodPassed(m_profile.totalTime());
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java
new file mode 100644
index 0000000..5e8ebc3
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java
@@ -0,0 +1,51 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+
+/**
+ * A command that does nothing but takes a specified amount of time to finish. Useful for
+ * CommandGroups. Can also be subclassed to make a command with an internal timer.
+ */
+public class WaitCommand extends CommandBase {
+ protected Timer m_timer = new Timer();
+ private final double m_duration;
+
+ /**
+ * Creates a new WaitCommand. This command will do nothing, and end after the specified duration.
+ *
+ * @param seconds the time to wait, in seconds
+ */
+ public WaitCommand(double seconds) {
+ m_duration = seconds;
+ SendableRegistry.setName(this, getName() + ": " + seconds + " seconds");
+ }
+
+ @Override
+ public void initialize() {
+ m_timer.reset();
+ m_timer.start();
+ }
+
+ @Override
+ public void end(boolean interrupted) {
+ m_timer.stop();
+ }
+
+ @Override
+ public boolean isFinished() {
+ return m_timer.hasPeriodPassed(m_duration);
+ }
+
+ @Override
+ public boolean runsWhenDisabled() {
+ return true;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/WaitUntilCommand.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/WaitUntilCommand.java
new file mode 100644
index 0000000..5c55fff
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/WaitUntilCommand.java
@@ -0,0 +1,55 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+
+import java.util.function.BooleanSupplier;
+
+import edu.wpi.first.wpilibj.Timer;
+
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
+/**
+ * A command that does nothing but ends after a specified match time or condition. Useful for
+ * CommandGroups.
+ */
+public class WaitUntilCommand extends CommandBase {
+ private final BooleanSupplier m_condition;
+
+ /**
+ * Creates a new WaitUntilCommand that ends after a given condition becomes true.
+ *
+ * @param condition the condition to determine when to end
+ */
+ public WaitUntilCommand(BooleanSupplier condition) {
+ m_condition = requireNonNullParam(condition, "condition", "WaitUntilCommand");
+ }
+
+ /**
+ * Creates a new WaitUntilCommand that ends after a given match time.
+ *
+ * <p>NOTE: The match timer used for this command is UNOFFICIAL. Using this command does NOT
+ * guarantee that the time at which the action is performed will be judged to be legal by the
+ * referees. When in doubt, add a safety factor or time the action manually.
+ *
+ * @param time the match time after which to end, in seconds
+ */
+ public WaitUntilCommand(double time) {
+ this(() -> Timer.getMatchTime() - time > 0);
+ }
+
+ @Override
+ public boolean isFinished() {
+ return m_condition.getAsBoolean();
+ }
+
+ @Override
+ public boolean runsWhenDisabled() {
+ return true;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/button/Button.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/button/Button.java
new file mode 100644
index 0000000..d4ff657
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/button/Button.java
@@ -0,0 +1,211 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command.button;
+
+import java.util.function.BooleanSupplier;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+/**
+ * This class provides an easy way to link commands to OI inputs.
+ *
+ * <p>It is very easy to link a button to a command. For instance, you could link the trigger
+ * button of a joystick to a "score" command.
+ *
+ * <p>This class represents a subclass of Trigger that is specifically aimed at buttons on an
+ * operator interface as a common use case of the more generalized Trigger objects. This is a simple
+ * wrapper around Trigger with the method names renamed to fit the Button object use.
+ */
+@SuppressWarnings("PMD.TooManyMethods")
+public abstract class Button extends Trigger {
+ /**
+ * Default constructor; creates a button that is never pressed (unless {@link Button#get()} is
+ * overridden).
+ */
+ public Button() {
+ }
+
+ /**
+ * Creates a new button with the given condition determining whether it is pressed.
+ *
+ * @param isPressed returns whether or not the trigger should be active
+ */
+ public Button(BooleanSupplier isPressed) {
+ super(isPressed);
+ }
+
+ /**
+ * Starts the given command whenever the button is newly pressed.
+ *
+ * @param command the command to start
+ * @param interruptible whether the command is interruptible
+ * @return this button, so calls can be chained
+ */
+ public Button whenPressed(final Command command, boolean interruptible) {
+ whenActive(command, interruptible);
+ return this;
+ }
+
+ /**
+ * Starts the given command whenever the button is newly pressed. The command is set to be
+ * interruptible.
+ *
+ * @param command the command to start
+ * @return this button, so calls can be chained
+ */
+ public Button whenPressed(final Command command) {
+ whenActive(command);
+ return this;
+ }
+
+ /**
+ * Runs the given runnable whenever the button is newly pressed.
+ *
+ * @param toRun the runnable to run
+ * @return this button, so calls can be chained
+ */
+ public Button whenPressed(final Runnable toRun) {
+ whenActive(toRun);
+ return this;
+ }
+
+ /**
+ * Constantly starts the given command while the button is held.
+ *
+ * {@link Command#schedule(boolean)} will be called repeatedly while the button is held, and will
+ * be canceled when the button is released.
+ *
+ * @param command the command to start
+ * @param interruptible whether the command is interruptible
+ * @return this button, so calls can be chained
+ */
+ public Button whileHeld(final Command command, boolean interruptible) {
+ whileActiveContinuous(command, interruptible);
+ return this;
+ }
+
+ /**
+ * Constantly starts the given command while the button is held.
+ *
+ * {@link Command#schedule(boolean)} will be called repeatedly while the button is held, and will
+ * be canceled when the button is released. The command is set to be interruptible.
+ *
+ * @param command the command to start
+ * @return this button, so calls can be chained
+ */
+ public Button whileHeld(final Command command) {
+ whileActiveContinuous(command);
+ return this;
+ }
+
+ /**
+ * Constantly runs the given runnable while the button is held.
+ *
+ * @param toRun the runnable to run
+ * @return this button, so calls can be chained
+ */
+ public Button whileHeld(final Runnable toRun) {
+ whileActiveContinuous(toRun);
+ return this;
+ }
+
+ /**
+ * Starts the given command when the button is first pressed, and cancels it when it is released,
+ * but does not start it again if it ends or is otherwise interrupted.
+ *
+ * @param command the command to start
+ * @param interruptible whether the command is interruptible
+ * @return this button, so calls can be chained
+ */
+ public Button whenHeld(final Command command, boolean interruptible) {
+ whileActiveOnce(command, interruptible);
+ return this;
+ }
+
+ /**
+ * Starts the given command when the button is first pressed, and cancels it when it is released,
+ * but does not start it again if it ends or is otherwise interrupted. The command is set to be
+ * interruptible.
+ *
+ * @param command the command to start
+ * @return this button, so calls can be chained
+ */
+ public Button whenHeld(final Command command) {
+ whileActiveOnce(command, true);
+ return this;
+ }
+
+
+ /**
+ * Starts the command when the button is released.
+ *
+ * @param command the command to start
+ * @param interruptible whether the command is interruptible
+ * @return this button, so calls can be chained
+ */
+ public Button whenReleased(final Command command, boolean interruptible) {
+ whenInactive(command, interruptible);
+ return this;
+ }
+
+ /**
+ * Starts the command when the button is released. The command is set to be interruptible.
+ *
+ * @param command the command to start
+ * @return this button, so calls can be chained
+ */
+ public Button whenReleased(final Command command) {
+ whenInactive(command);
+ return this;
+ }
+
+ /**
+ * Runs the given runnable when the button is released.
+ *
+ * @param toRun the runnable to run
+ * @return this button, so calls can be chained
+ */
+ public Button whenReleased(final Runnable toRun) {
+ whenInactive(toRun);
+ return this;
+ }
+
+ /**
+ * Toggles the command whenever the button is pressed (on then off then on).
+ *
+ * @param command the command to start
+ * @param interruptible whether the command is interruptible
+ */
+ public Button toggleWhenPressed(final Command command, boolean interruptible) {
+ toggleWhenActive(command, interruptible);
+ return this;
+ }
+
+ /**
+ * Toggles the command whenever the button is pressed (on then off then on). The command is set
+ * to be interruptible.
+ *
+ * @param command the command to start
+ * @return this button, so calls can be chained
+ */
+ public Button toggleWhenPressed(final Command command) {
+ toggleWhenActive(command);
+ return this;
+ }
+
+ /**
+ * Cancels the command when the button is pressed.
+ *
+ * @param command the command to start
+ * @return this button, so calls can be chained
+ */
+ public Button cancelWhenPressed(final Command command) {
+ cancelWhenActive(command);
+ return this;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/button/InternalButton.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/button/InternalButton.java
new file mode 100644
index 0000000..3f74f48
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/button/InternalButton.java
@@ -0,0 +1,47 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command.button;
+
+/**
+ * This class is intended to be used within a program. The programmer can manually set its value.
+ * Also includes a setting for whether or not it should invert its value.
+ */
+public class InternalButton extends Button {
+ private boolean m_pressed;
+ private boolean m_inverted;
+
+ /**
+ * Creates an InternalButton that is not inverted.
+ */
+ public InternalButton() {
+ this(false);
+ }
+
+ /**
+ * Creates an InternalButton which is inverted depending on the input.
+ *
+ * @param inverted if false, then this button is pressed when set to true, otherwise it is pressed
+ * when set to false.
+ */
+ public InternalButton(boolean inverted) {
+ m_pressed = m_inverted = inverted;
+ }
+
+ public void setInverted(boolean inverted) {
+ m_inverted = inverted;
+ }
+
+ public void setPressed(boolean pressed) {
+ m_pressed = pressed;
+ }
+
+ @Override
+ public boolean get() {
+ return m_pressed ^ m_inverted;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/button/JoystickButton.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/button/JoystickButton.java
new file mode 100644
index 0000000..918bb6a
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/button/JoystickButton.java
@@ -0,0 +1,44 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command.button;
+
+import edu.wpi.first.wpilibj.GenericHID;
+
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
+/**
+ * A {@link Button} that gets its state from a {@link GenericHID}.
+ */
+public class JoystickButton extends Button {
+ private final GenericHID m_joystick;
+ private final int m_buttonNumber;
+
+ /**
+ * Creates a joystick button for triggering commands.
+ *
+ * @param joystick The GenericHID object that has the button (e.g. Joystick, KinectStick,
+ * etc)
+ * @param buttonNumber The button number (see {@link GenericHID#getRawButton(int) }
+ */
+ public JoystickButton(GenericHID joystick, int buttonNumber) {
+ requireNonNullParam(joystick, "joystick", "JoystickButton");
+
+ m_joystick = joystick;
+ m_buttonNumber = buttonNumber;
+ }
+
+ /**
+ * Gets the value of the joystick button.
+ *
+ * @return The value of the joystick button
+ */
+ @Override
+ public boolean get() {
+ return m_joystick.getRawButton(m_buttonNumber);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/button/POVButton.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/button/POVButton.java
new file mode 100644
index 0000000..823b756
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/button/POVButton.java
@@ -0,0 +1,57 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command.button;
+
+import edu.wpi.first.wpilibj.GenericHID;
+
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
+/**
+ * A {@link Button} that gets its state from a POV on a {@link GenericHID}.
+ */
+public class POVButton extends Button {
+ private final GenericHID m_joystick;
+ private final int m_angle;
+ private final int m_povNumber;
+
+ /**
+ * Creates a POV button for triggering commands.
+ *
+ * @param joystick The GenericHID object that has the POV
+ * @param angle The desired angle in degrees (e.g. 90, 270)
+ * @param povNumber The POV number (see {@link GenericHID#getPOV(int)})
+ */
+ public POVButton(GenericHID joystick, int angle, int povNumber) {
+ requireNonNullParam(joystick, "joystick", "POVButton");
+
+ m_joystick = joystick;
+ m_angle = angle;
+ m_povNumber = povNumber;
+ }
+
+ /**
+ * Creates a POV button for triggering commands.
+ * By default, acts on POV 0
+ *
+ * @param joystick The GenericHID object that has the POV
+ * @param angle The desired angle (e.g. 90, 270)
+ */
+ public POVButton(GenericHID joystick, int angle) {
+ this(joystick, angle, 0);
+ }
+
+ /**
+ * Checks whether the current value of the POV is the target angle.
+ *
+ * @return Whether the value of the POV matches the target angle
+ */
+ @Override
+ public boolean get() {
+ return m_joystick.getPOV(m_povNumber) == m_angle;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java
new file mode 100644
index 0000000..9a12def
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java
@@ -0,0 +1,351 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command.button;
+
+import java.util.function.BooleanSupplier;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+
+/**
+ * This class provides an easy way to link commands to inputs.
+ *
+ * <p>It is very easy to link a button to a command. For instance, you could link the trigger
+ * button of a joystick to a "score" command.
+ *
+ * <p>It is encouraged that teams write a subclass of Trigger if they want to have something
+ * unusual (for instance, if they want to react to the user holding a button while the robot is
+ * reading a certain sensor input). For this, they only have to write the {@link Trigger#get()}
+ * method to get the full functionality of the Trigger class.
+ */
+@SuppressWarnings("PMD.TooManyMethods")
+public class Trigger {
+ private final BooleanSupplier m_isActive;
+
+ /**
+ * Creates a new trigger with the given condition determining whether it is active.
+ *
+ * @param isActive returns whether or not the trigger should be active
+ */
+ public Trigger(BooleanSupplier isActive) {
+ m_isActive = isActive;
+ }
+
+ /**
+ * Creates a new trigger that is always inactive. Useful only as a no-arg constructor for
+ * subclasses that will be overriding {@link Trigger#get()} anyway.
+ */
+ public Trigger() {
+ m_isActive = () -> false;
+ }
+
+ /**
+ * Returns whether or not the trigger is active.
+ *
+ * <p>This method will be called repeatedly a command is linked to the Trigger.
+ *
+ * @return whether or not the trigger condition is active.
+ */
+ public boolean get() {
+ return m_isActive.getAsBoolean();
+ }
+
+ /**
+ * Starts the given command whenever the trigger just becomes active.
+ *
+ * @param command the command to start
+ * @param interruptible whether the command is interruptible
+ * @return this trigger, so calls can be chained
+ */
+ public Trigger whenActive(final Command command, boolean interruptible) {
+ requireNonNullParam(command, "command", "whenActive");
+
+ CommandScheduler.getInstance().addButton(new Runnable() {
+ private boolean m_pressedLast = get();
+
+ @Override
+ public void run() {
+ boolean pressed = get();
+
+ if (!m_pressedLast && pressed) {
+ command.schedule(interruptible);
+ }
+
+ m_pressedLast = pressed;
+ }
+ });
+
+ return this;
+ }
+
+ /**
+ * Starts the given command whenever the trigger just becomes active. The command is set to be
+ * interruptible.
+ *
+ * @param command the command to start
+ * @return this trigger, so calls can be chained
+ */
+ public Trigger whenActive(final Command command) {
+ return whenActive(command, true);
+ }
+
+ /**
+ * Runs the given runnable whenever the trigger just becomes active.
+ *
+ * @param toRun the runnable to run
+ * @return this trigger, so calls can be chained
+ */
+ public Trigger whenActive(final Runnable toRun) {
+ return whenActive(new InstantCommand(toRun));
+ }
+
+ /**
+ * Constantly starts the given command while the button is held.
+ *
+ * {@link Command#schedule(boolean)} will be called repeatedly while the trigger is active, and
+ * will be canceled when the trigger becomes inactive.
+ *
+ * @param command the command to start
+ * @param interruptible whether the command is interruptible
+ * @return this trigger, so calls can be chained
+ */
+ public Trigger whileActiveContinuous(final Command command, boolean interruptible) {
+ requireNonNullParam(command, "command", "whileActiveContinuous");
+
+ CommandScheduler.getInstance().addButton(new Runnable() {
+ private boolean m_pressedLast = get();
+
+ @Override
+ public void run() {
+ boolean pressed = get();
+
+ if (pressed) {
+ command.schedule(interruptible);
+ } else if (m_pressedLast) {
+ command.cancel();
+ }
+
+ m_pressedLast = pressed;
+ }
+ });
+ return this;
+ }
+
+ /**
+ * Constantly starts the given command while the button is held.
+ *
+ * {@link Command#schedule(boolean)} will be called repeatedly while the trigger is active, and
+ * will be canceled when the trigger becomes inactive. The command is set to be interruptible.
+ *
+ * @param command the command to start
+ * @return this trigger, so calls can be chained
+ */
+ public Trigger whileActiveContinuous(final Command command) {
+ return whileActiveContinuous(command, true);
+ }
+
+ /**
+ * Constantly runs the given runnable while the button is held.
+ *
+ * @param toRun the runnable to run
+ * @return this trigger, so calls can be chained
+ */
+ public Trigger whileActiveContinuous(final Runnable toRun) {
+ return whileActiveContinuous(new InstantCommand(toRun));
+ }
+
+ /**
+ * Starts the given command when the trigger initially becomes active, and ends it when it becomes
+ * inactive, but does not re-start it in-between.
+ *
+ * @param command the command to start
+ * @param interruptible whether the command is interruptible
+ * @return this trigger, so calls can be chained
+ */
+ public Trigger whileActiveOnce(final Command command, boolean interruptible) {
+ requireNonNullParam(command, "command", "whileActiveOnce");
+
+ CommandScheduler.getInstance().addButton(new Runnable() {
+ private boolean m_pressedLast = get();
+
+ @Override
+ public void run() {
+ boolean pressed = get();
+
+ if (!m_pressedLast && pressed) {
+ command.schedule(interruptible);
+ } else if (m_pressedLast && !pressed) {
+ command.cancel();
+ }
+
+ m_pressedLast = pressed;
+ }
+ });
+ return this;
+ }
+
+ /**
+ * Starts the given command when the trigger initially becomes active, and ends it when it becomes
+ * inactive, but does not re-start it in-between. The command is set to be interruptible.
+ *
+ * @param command the command to start
+ * @return this trigger, so calls can be chained
+ */
+ public Trigger whileActiveOnce(final Command command) {
+ return whileActiveOnce(command, true);
+ }
+
+ /**
+ * Starts the command when the trigger becomes inactive.
+ *
+ * @param command the command to start
+ * @param interruptible whether the command is interruptible
+ * @return this trigger, so calls can be chained
+ */
+ public Trigger whenInactive(final Command command, boolean interruptible) {
+ requireNonNullParam(command, "command", "whenInactive");
+
+ CommandScheduler.getInstance().addButton(new Runnable() {
+ private boolean m_pressedLast = get();
+
+ @Override
+ public void run() {
+ boolean pressed = get();
+
+ if (m_pressedLast && !pressed) {
+ command.schedule(interruptible);
+ }
+
+ m_pressedLast = pressed;
+ }
+ });
+ return this;
+ }
+
+ /**
+ * Starts the command when the trigger becomes inactive. The command is set to be interruptible.
+ *
+ * @param command the command to start
+ * @return this trigger, so calls can be chained
+ */
+ public Trigger whenInactive(final Command command) {
+ return whenInactive(command, true);
+ }
+
+ /**
+ * Runs the given runnable when the trigger becomes inactive.
+ *
+ * @param toRun the runnable to run
+ * @return this trigger, so calls can be chained
+ */
+ public Trigger whenInactive(final Runnable toRun) {
+ return whenInactive(new InstantCommand(toRun));
+ }
+
+ /**
+ * Toggles a command when the trigger becomes active.
+ *
+ * @param command the command to toggle
+ * @param interruptible whether the command is interruptible
+ * @return this trigger, so calls can be chained
+ */
+ public Trigger toggleWhenActive(final Command command, boolean interruptible) {
+ requireNonNullParam(command, "command", "toggleWhenActive");
+
+ CommandScheduler.getInstance().addButton(new Runnable() {
+ private boolean m_pressedLast = get();
+
+ @Override
+ public void run() {
+ boolean pressed = get();
+
+ if (!m_pressedLast && pressed) {
+ if (command.isScheduled()) {
+ command.cancel();
+ } else {
+ command.schedule(interruptible);
+ }
+ }
+
+ m_pressedLast = pressed;
+ }
+ });
+ return this;
+ }
+
+ /**
+ * Toggles a command when the trigger becomes active. The command is set to be interruptible.
+ *
+ * @param command the command to toggle
+ * @return this trigger, so calls can be chained
+ */
+ public Trigger toggleWhenActive(final Command command) {
+ return toggleWhenActive(command, true);
+ }
+
+ /**
+ * Cancels a command when the trigger becomes active.
+ *
+ * @param command the command to cancel
+ * @return this trigger, so calls can be chained
+ */
+ public Trigger cancelWhenActive(final Command command) {
+ requireNonNullParam(command, "command", "cancelWhenActive");
+
+ CommandScheduler.getInstance().addButton(new Runnable() {
+ private boolean m_pressedLast = get();
+
+ @Override
+ public void run() {
+ boolean pressed = get();
+
+ if (!m_pressedLast && pressed) {
+ command.cancel();
+ }
+
+ m_pressedLast = pressed;
+ }
+ });
+ return this;
+ }
+
+ /**
+ * Composes this trigger with another trigger, returning a new trigger that is active when both
+ * triggers are active.
+ *
+ * @param trigger the trigger to compose with
+ * @return the trigger that is active when both triggers are active
+ */
+ public Trigger and(Trigger trigger) {
+ return new Trigger(() -> get() && trigger.get());
+ }
+
+ /**
+ * Composes this trigger with another trigger, returning a new trigger that is active when either
+ * trigger is active.
+ *
+ * @param trigger the trigger to compose with
+ * @return the trigger that is active when either trigger is active
+ */
+ public Trigger or(Trigger trigger) {
+ return new Trigger(() -> get() || trigger.get());
+ }
+
+ /**
+ * Creates a new trigger that is active when this trigger is inactive, i.e. that acts as the
+ * negation of this trigger.
+ *
+ * @return the negated trigger
+ */
+ public Trigger negate() {
+ return new Trigger(() -> !get());
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/CircularBufferTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/CircularBufferTest.java
deleted file mode 100644
index 608361a..0000000
--- a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/CircularBufferTest.java
+++ /dev/null
@@ -1,214 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.wpilibj;
-
-import org.junit.jupiter.api.Test;
-
-import static org.junit.jupiter.api.Assertions.assertEquals;
-
-class CircularBufferTest {
- private final double[] m_values = {751.848, 766.366, 342.657, 234.252, 716.126,
- 132.344, 445.697, 22.727, 421.125, 799.913};
- private final double[] m_addFirstOut = {799.913, 421.125, 22.727, 445.697, 132.344,
- 716.126, 234.252, 342.657};
- private final double[] m_addLastOut = {342.657, 234.252, 716.126, 132.344, 445.697,
- 22.727, 421.125, 799.913};
-
- @Test
- void addFirstTest() {
- CircularBuffer queue = new CircularBuffer(8);
-
- for (double value : m_values) {
- queue.addFirst(value);
- }
-
- for (int i = 0; i < m_addFirstOut.length; i++) {
- assertEquals(m_addFirstOut[i], queue.get(i), 0.00005);
- }
- }
-
- @Test
- void addLastTest() {
- CircularBuffer queue = new CircularBuffer(8);
-
- for (double value : m_values) {
- queue.addLast(value);
- }
-
- for (int i = 0; i < m_addLastOut.length; i++) {
- assertEquals(m_addLastOut[i], queue.get(i), 0.00005);
- }
- }
-
- @Test
- void pushPopTest() {
- CircularBuffer queue = new CircularBuffer(3);
-
- // Insert three elements into the buffer
- queue.addLast(1.0);
- queue.addLast(2.0);
- queue.addLast(3.0);
-
- assertEquals(1.0, queue.get(0), 0.00005);
- assertEquals(2.0, queue.get(1), 0.00005);
- assertEquals(3.0, queue.get(2), 0.00005);
-
- /*
- * The buffer is full now, so pushing subsequent elements will overwrite the
- * front-most elements.
- */
-
- queue.addLast(4.0); // Overwrite 1 with 4
-
- // The buffer now contains 2, 3, and 4
- assertEquals(2.0, queue.get(0), 0.00005);
- assertEquals(3.0, queue.get(1), 0.00005);
- assertEquals(4.0, queue.get(2), 0.00005);
-
- queue.addLast(5.0); // Overwrite 2 with 5
-
- // The buffer now contains 3, 4, and 5
- assertEquals(3.0, queue.get(0), 0.00005);
- assertEquals(4.0, queue.get(1), 0.00005);
- assertEquals(5.0, queue.get(2), 0.00005);
-
- assertEquals(5.0, queue.removeLast(), 0.00005); // 5 is removed
-
- // The buffer now contains 3 and 4
- assertEquals(3.0, queue.get(0), 0.00005);
- assertEquals(4.0, queue.get(1), 0.00005);
-
- assertEquals(3.0, queue.removeFirst(), 0.00005); // 3 is removed
-
- // Leaving only one element with value == 4
- assertEquals(4.0, queue.get(0), 0.00005);
- }
-
- @Test
- void resetTest() {
- CircularBuffer queue = new CircularBuffer(5);
-
- for (int i = 0; i < 6; i++) {
- queue.addLast(i);
- }
-
- queue.clear();
-
- for (int i = 0; i < 5; i++) {
- assertEquals(0.0, queue.get(i), 0.00005);
- }
- }
-
- @Test
- @SuppressWarnings("PMD.ExcessiveMethodLength")
- void resizeTest() {
- CircularBuffer queue = new CircularBuffer(5);
-
- /* Buffer contains {1, 2, 3, _, _}
- * ^ front
- */
- queue.addLast(1.0);
- queue.addLast(2.0);
- queue.addLast(3.0);
-
- queue.resize(2);
- assertEquals(1.0, queue.get(0), 0.00005);
- assertEquals(2.0, queue.get(1), 0.00005);
-
- queue.resize(5);
- assertEquals(1.0, queue.get(0), 0.00005);
- assertEquals(2.0, queue.get(1), 0.00005);
-
- queue.clear();
-
- /* Buffer contains {_, 1, 2, 3, _}
- * ^ front
- */
- queue.addLast(0.0);
- queue.addLast(1.0);
- queue.addLast(2.0);
- queue.addLast(3.0);
- queue.removeFirst();
-
- queue.resize(2);
- assertEquals(1.0, queue.get(0), 0.00005);
- assertEquals(2.0, queue.get(1), 0.00005);
-
- queue.resize(5);
- assertEquals(1.0, queue.get(0), 0.00005);
- assertEquals(2.0, queue.get(1), 0.00005);
-
- queue.clear();
-
- /* Buffer contains {_, _, 1, 2, 3}
- * ^ front
- */
- queue.addLast(0.0);
- queue.addLast(0.0);
- queue.addLast(1.0);
- queue.addLast(2.0);
- queue.addLast(3.0);
- queue.removeFirst();
- queue.removeFirst();
-
- queue.resize(2);
- assertEquals(1.0, queue.get(0), 0.00005);
- assertEquals(2.0, queue.get(1), 0.00005);
-
- queue.resize(5);
- assertEquals(1.0, queue.get(0), 0.00005);
- assertEquals(2.0, queue.get(1), 0.00005);
-
- queue.clear();
-
- /* Buffer contains {3, _, _, 1, 2}
- * ^ front
- */
- queue.addLast(3.0);
- queue.addFirst(2.0);
- queue.addFirst(1.0);
-
- queue.resize(2);
- assertEquals(1.0, queue.get(0), 0.00005);
- assertEquals(2.0, queue.get(1), 0.00005);
-
- queue.resize(5);
- assertEquals(1.0, queue.get(0), 0.00005);
- assertEquals(2.0, queue.get(1), 0.00005);
-
- queue.clear();
-
- /* Buffer contains {2, 3, _, _, 1}
- * ^ front
- */
- queue.addLast(2.0);
- queue.addLast(3.0);
- queue.addFirst(1.0);
-
- queue.resize(2);
- assertEquals(1.0, queue.get(0), 0.00005);
- assertEquals(2.0, queue.get(1), 0.00005);
-
- queue.resize(5);
- assertEquals(1.0, queue.get(0), 0.00005);
- assertEquals(2.0, queue.get(1), 0.00005);
-
- // Test addLast() after resize
- queue.addLast(3.0);
- assertEquals(1.0, queue.get(0), 0.00005);
- assertEquals(2.0, queue.get(1), 0.00005);
- assertEquals(3.0, queue.get(2), 0.00005);
-
- // Test addFirst() after resize
- queue.addFirst(4.0);
- assertEquals(4.0, queue.get(0), 0.00005);
- assertEquals(1.0, queue.get(1), 0.00005);
- assertEquals(2.0, queue.get(2), 0.00005);
- assertEquals(3.0, queue.get(3), 0.00005);
- }
-}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/LinearFilterTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/LinearFilterTest.java
new file mode 100644
index 0000000..3953c4c
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/LinearFilterTest.java
@@ -0,0 +1,116 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj;
+
+import java.util.Random;
+import java.util.function.DoubleFunction;
+import java.util.stream.Stream;
+
+import org.junit.jupiter.api.Test;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.Arguments;
+import org.junit.jupiter.params.provider.MethodSource;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertThrows;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+import static org.junit.jupiter.params.provider.Arguments.arguments;
+
+class LinearFilterTest {
+ private static final double kFilterStep = 0.005;
+ private static final double kFilterTime = 2.0;
+ private static final double kSinglePoleIIRTimeConstant = 0.015915;
+ private static final double kHighPassTimeConstant = 0.006631;
+ private static final int kMovAvgTaps = 6;
+
+ private static final double kSinglePoleIIRExpectedOutput = -3.2172003;
+ private static final double kHighPassExpectedOutput = 10.074717;
+ private static final double kMovAvgExpectedOutput = -10.191644;
+
+ @SuppressWarnings("ParameterName")
+ private static double getData(double t) {
+ return 100.0 * Math.sin(2.0 * Math.PI * t) + 20.0 * Math.cos(50.0 * Math.PI * t);
+ }
+
+ @SuppressWarnings("ParameterName")
+ private static double getPulseData(double t) {
+ if (Math.abs(t - 1.0) < 0.001) {
+ return 1.0;
+ } else {
+ return 0.0;
+ }
+ }
+
+ @Test
+ void illegalTapNumberTest() {
+ assertThrows(IllegalArgumentException.class, () -> LinearFilter.movingAverage(0));
+ }
+
+ /**
+ * Test if the filter reduces the noise produced by a signal generator.
+ */
+ @ParameterizedTest
+ @MethodSource("noiseFilterProvider")
+ void noiseReduceTest(final LinearFilter filter) {
+ double noiseGenError = 0.0;
+ double filterError = 0.0;
+
+ final Random gen = new Random();
+ final double kStdDev = 10.0;
+
+ for (double t = 0; t < kFilterTime; t += kFilterStep) {
+ final double theory = getData(t);
+ final double noise = gen.nextGaussian() * kStdDev;
+ filterError += Math.abs(filter.calculate(theory + noise) - theory);
+ noiseGenError += Math.abs(noise - theory);
+ }
+
+ assertTrue(noiseGenError > filterError,
+ "Filter should have reduced noise accumulation from " + noiseGenError
+ + " but failed. The filter error was " + filterError);
+ }
+
+ static Stream<LinearFilter> noiseFilterProvider() {
+ return Stream.of(
+ LinearFilter.singlePoleIIR(kSinglePoleIIRTimeConstant, kFilterStep),
+ LinearFilter.movingAverage(kMovAvgTaps)
+ );
+ }
+
+ /**
+ * Test if the linear filters produce consistent output for a given data set.
+ */
+ @ParameterizedTest
+ @MethodSource("outputFilterProvider")
+ void outputTest(final LinearFilter filter, final DoubleFunction<Double> data,
+ final double expectedOutput) {
+ double filterOutput = 0.0;
+ for (double t = 0.0; t < kFilterTime; t += kFilterStep) {
+ filterOutput = filter.calculate(data.apply(t));
+ }
+
+ assertEquals(expectedOutput, filterOutput, 5e-5, "Filter output was incorrect.");
+ }
+
+ static Stream<Arguments> outputFilterProvider() {
+ return Stream.of(
+ arguments(LinearFilter.singlePoleIIR(kSinglePoleIIRTimeConstant, kFilterStep),
+ (DoubleFunction<Double>) LinearFilterTest::getData,
+ kSinglePoleIIRExpectedOutput),
+ arguments(LinearFilter.highPass(kHighPassTimeConstant, kFilterStep),
+ (DoubleFunction<Double>) LinearFilterTest::getData,
+ kHighPassExpectedOutput),
+ arguments(LinearFilter.movingAverage(kMovAvgTaps),
+ (DoubleFunction<Double>) LinearFilterTest::getData,
+ kMovAvgExpectedOutput),
+ arguments(LinearFilter.movingAverage(kMovAvgTaps),
+ (DoubleFunction<Double>) LinearFilterTest::getPulseData,
+ 0.0)
+ );
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/MockHardwareExtension.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/MockHardwareExtension.java
index 6990b50..d97b352 100644
--- a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/MockHardwareExtension.java
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/MockHardwareExtension.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -20,7 +20,7 @@
}
@Override
- public void beforeAll(ExtensionContext context) throws Exception {
+ public void beforeAll(ExtensionContext context) {
getRoot(context).getStore(Namespace.GLOBAL).getOrComputeIfAbsent("HAL Initalized", key -> {
initializeHardware();
return true;
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/PIDToleranceTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/PIDToleranceTest.java
deleted file mode 100644
index cbf3f99..0000000
--- a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/PIDToleranceTest.java
+++ /dev/null
@@ -1,103 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.wpilibj;
-
-import org.junit.jupiter.api.AfterEach;
-import org.junit.jupiter.api.BeforeEach;
-import org.junit.jupiter.api.Test;
-
-import static org.junit.jupiter.api.Assertions.assertFalse;
-import static org.junit.jupiter.api.Assertions.assertTrue;
-
-class PIDToleranceTest {
- private PIDController m_pid;
- private static final double m_setPoint = 50.0;
- private static final double m_tolerance = 10.0;
- private static final double m_range = 200;
-
- private class FakeInput implements PIDSource {
- public double m_val;
-
- FakeInput() {
- m_val = 0;
- }
-
- @Override
- public PIDSourceType getPIDSourceType() {
- return PIDSourceType.kDisplacement;
- }
-
- @Override
- public double pidGet() {
- return m_val;
- }
-
- @Override
- public void setPIDSourceType(PIDSourceType arg0) {
- }
- }
-
- private FakeInput m_inp;
- private final PIDOutput m_out = new PIDOutput() {
- @Override
- public void pidWrite(double out) {
- }
-
- };
-
-
- @BeforeEach
- void setUp() {
- m_inp = new FakeInput();
- m_pid = new PIDController(0.05, 0.0, 0.0, m_inp, m_out);
- m_pid.setInputRange(-m_range / 2, m_range / 2);
- }
-
- @AfterEach
- void tearDown() {
- m_pid.close();
- m_pid = null;
- }
-
- @Test
- void absoluteToleranceTest() {
- m_pid.setAbsoluteTolerance(m_tolerance);
- m_pid.setSetpoint(m_setPoint);
- m_pid.enable();
- Timer.delay(1);
- assertFalse(m_pid.onTarget(), "Error was in tolerance when it should not have been. Error was "
- + m_pid.getError());
- m_inp.m_val = m_setPoint + m_tolerance / 2;
- Timer.delay(1.0);
- assertTrue(m_pid.onTarget(), "Error was not in tolerance when it should have been. Error was "
- + m_pid.getError());
- m_inp.m_val = m_setPoint + 10 * m_tolerance;
- Timer.delay(1.0);
- assertFalse(m_pid.onTarget(), "Error was in tolerance when it should not have been. Error was "
- + m_pid.getError());
- }
-
- @Test
- void percentToleranceTest() {
- m_pid.setPercentTolerance(m_tolerance);
- m_pid.setSetpoint(m_setPoint);
- m_pid.enable();
- assertFalse(m_pid.onTarget(), "Error was in tolerance when it should not have been. Error was "
- + m_pid.getError());
- //half of percent tolerance away from setPoint
- m_inp.m_val = m_setPoint + m_tolerance / 200 * m_range;
- Timer.delay(1.0);
- assertTrue(m_pid.onTarget(), "Error was not in tolerance when it should have been. Error was "
- + m_pid.getError());
- //double percent tolerance away from setPoint
- m_inp.m_val = m_setPoint + m_tolerance / 50 * m_range;
- Timer.delay(1.0);
- assertFalse(m_pid.onTarget(), "Error was in tolerance when it should not have been. Error was "
- + m_pid.getError());
- }
-}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/PreferencesTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/PreferencesTest.java
new file mode 100644
index 0000000..7b3735f
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/PreferencesTest.java
@@ -0,0 +1,212 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj;
+
+import java.io.IOException;
+import java.io.InputStream;
+import java.nio.file.Files;
+import java.nio.file.Path;
+import java.util.Arrays;
+import java.util.Set;
+import java.util.stream.Stream;
+
+import org.junit.jupiter.api.AfterAll;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeAll;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Nested;
+import org.junit.jupiter.api.Test;
+import org.junit.jupiter.api.io.TempDir;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.MethodSource;
+
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+
+import static org.junit.jupiter.api.Assertions.assertAll;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+import static org.junit.jupiter.api.Assertions.fail;
+
+class PreferencesTest {
+ private final Preferences m_prefs = Preferences.getInstance();
+ private final NetworkTable m_table = NetworkTableInstance.getDefault().getTable("Preferences");
+
+ private static final String kFilename = "networktables.ini";
+
+ @BeforeAll
+ static void setupAll() {
+ NetworkTableInstance.getDefault().stopServer();
+ }
+
+ @BeforeEach
+ void setup(@TempDir Path tempDir) {
+ m_table.getKeys().forEach(m_table::delete);
+
+ Path filepath = tempDir.resolve(kFilename);
+ try (InputStream is = getClass().getResource("PreferencesTestDefault.ini").openStream()) {
+ Files.copy(is, filepath);
+ } catch (IOException ex) {
+ fail(ex);
+ }
+
+ NetworkTableInstance.getDefault().startServer(filepath.toString());
+ }
+
+ @AfterEach
+ void cleanup() {
+ NetworkTableInstance.getDefault().stopServer();
+ }
+
+ @AfterAll
+ static void cleanupAll() {
+ NetworkTableInstance.getDefault().startServer();
+ }
+
+ @Test
+ void removeAllTest() {
+ m_prefs.removeAll();
+
+ Set<String> keys = m_table.getKeys();
+ keys.remove(".type");
+
+ assertTrue(keys.isEmpty(), "Preferences was not empty! Preferences in table: "
+ + Arrays.toString(keys.toArray()));
+ }
+
+ @ParameterizedTest
+ @MethodSource("defaultKeyProvider")
+ void defaultKeysTest(String key) {
+ assertTrue(m_prefs.containsKey(key));
+ }
+
+ @ParameterizedTest
+ @MethodSource("defaultKeyProvider")
+ void defaultKeysAllTest(String key) {
+ assertTrue(m_prefs.getKeys().contains(key));
+ }
+
+ @Test
+ void defaultValueTest() {
+ assertAll(
+ () -> assertEquals(172L, m_prefs.getLong("checkedValueLong", 0)),
+ () -> assertEquals(0.2, m_prefs.getDouble("checkedValueDouble", 0), 1e-6),
+ () -> assertEquals("Hello. How are you?", m_prefs.getString("checkedValueString", "")),
+ () -> assertEquals(2, m_prefs.getInt("checkedValueInt", 0)),
+ () -> assertEquals(3.14, m_prefs.getFloat("checkedValueFloat", 0), 1e-6),
+ () -> assertFalse(m_prefs.getBoolean("checkedValueBoolean", true))
+ );
+ }
+
+ @Test
+ void backupTest() {
+ m_prefs.removeAll();
+
+ assertAll(
+ () -> assertEquals(0, m_prefs.getLong("checkedValueLong", 0)),
+ () -> assertEquals(0, m_prefs.getDouble("checkedValueDouble", 0), 1e-6),
+ () -> assertEquals("", m_prefs.getString("checkedValueString", "")),
+ () -> assertEquals(0, m_prefs.getInt("checkedValueInt", 0)),
+ () -> assertEquals(0, m_prefs.getFloat("checkedValueFloat", 0), 1e-6),
+ () -> assertTrue(m_prefs.getBoolean("checkedValueBoolean", true))
+ );
+ }
+
+ @Nested
+ class PutGetTests {
+ @Test
+ void intTest() {
+ final String key = "test";
+ final int value = 123;
+
+ m_prefs.putInt(key, value);
+
+ assertAll(
+ () -> assertEquals(value, m_prefs.getInt(key, -1)),
+ () -> assertEquals(value, m_table.getEntry(key).getNumber(-1).intValue())
+ );
+ }
+
+ @Test
+ void longTest() {
+ final String key = "test";
+ final long value = 190L;
+
+ m_prefs.putLong(key, value);
+
+ assertAll(
+ () -> assertEquals(value, m_prefs.getLong(key, -1)),
+ () -> assertEquals(value, m_table.getEntry(key).getNumber(-1).longValue())
+ );
+ }
+
+ @Test
+ void floatTest() {
+ final String key = "test";
+ final float value = 9.42f;
+
+ m_prefs.putFloat(key, value);
+
+ assertAll(
+ () -> assertEquals(value, m_prefs.getFloat(key, -1), 1e-6),
+ () -> assertEquals(value, m_table.getEntry(key).getNumber(-1).floatValue(), 1e-6)
+ );
+ }
+
+ @Test
+ void doubleTest() {
+ final String key = "test";
+ final double value = 6.28;
+
+ m_prefs.putDouble(key, value);
+
+ assertAll(
+ () -> assertEquals(value, m_prefs.getDouble(key, -1), 1e-6),
+ () -> assertEquals(value, m_table.getEntry(key).getNumber(-1).doubleValue(), 1e-6)
+ );
+ }
+
+ @Test
+ void stringTest() {
+ final String key = "test";
+ final String value = "value";
+
+ m_prefs.putString(key, value);
+
+ assertAll(
+ () -> assertEquals(value, m_prefs.getString(key, "")),
+ () -> assertEquals(value, m_table.getEntry(key).getString(""))
+ );
+ }
+
+ @Test
+ void booleanTest() {
+ final String key = "test";
+ final boolean value = true;
+
+ m_prefs.putBoolean(key, value);
+
+ assertAll(
+ () -> assertEquals(value, m_prefs.getBoolean(key, false)),
+ () -> assertEquals(value, m_table.getEntry(key).getBoolean(false))
+ );
+ }
+ }
+
+ static Stream<String> defaultKeyProvider() {
+ return Stream.of(
+ "checkedValueLong",
+ "checkedValueDouble",
+ "checkedValueString",
+ "checkedValueInt",
+ "checkedValueFloat",
+ "checkedValueBoolean"
+ );
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/RobotControllerTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/RobotControllerTest.java
index 576eb8b..4bce18f 100644
--- a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/RobotControllerTest.java
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/RobotControllerTest.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,7 +7,7 @@
package edu.wpi.first.wpilibj;
-class RobotControllerTest extends UtilityClassTest {
+class RobotControllerTest extends UtilityClassTest<RobotController> {
RobotControllerTest() {
super(RobotController.class);
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/UtilityClassTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/UtilityClassTest.java
index 1265429..a66cd13 100644
--- a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/UtilityClassTest.java
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/UtilityClassTest.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -24,10 +24,10 @@
import static org.junit.jupiter.api.DynamicTest.dynamicTest;
@SuppressWarnings("PMD.AbstractClassWithoutAbstractMethod")
-public abstract class UtilityClassTest {
- private final Class m_clazz;
+public abstract class UtilityClassTest<T> {
+ private final Class<T> m_clazz;
- protected UtilityClassTest(Class clazz) {
+ protected UtilityClassTest(Class<T> clazz) {
m_clazz = clazz;
}
@@ -39,16 +39,16 @@
@Test
public void constructorPrivateTest() {
- Constructor constructor = m_clazz.getDeclaredConstructors()[0];
+ Constructor<?> constructor = m_clazz.getDeclaredConstructors()[0];
- assertFalse(constructor.isAccessible(), "Constructor is not private");
+ assertFalse(constructor.canAccess(null), "Constructor is not private");
}
@Test
public void constructorReflectionTest() {
- Constructor constructor = m_clazz.getDeclaredConstructors()[0];
+ Constructor<?> constructor = m_clazz.getDeclaredConstructors()[0];
constructor.setAccessible(true);
- assertThrows(InvocationTargetException.class, () -> constructor.newInstance());
+ assertThrows(InvocationTargetException.class, constructor::newInstance);
}
@TestFactory
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/WatchdogTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/WatchdogTest.java
index 09414cf..b956446 100644
--- a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/WatchdogTest.java
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/WatchdogTest.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,19 +10,20 @@
import java.util.concurrent.atomic.AtomicInteger;
import org.junit.jupiter.api.Test;
+import org.junit.jupiter.api.condition.DisabledOnOs;
+import org.junit.jupiter.api.condition.OS;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
+@DisabledOnOs(OS.MAC)
class WatchdogTest {
@Test
void enableDisableTest() {
final AtomicInteger watchdogCounter = new AtomicInteger(0);
- final Watchdog watchdog = new Watchdog(0.4, () -> {
- watchdogCounter.addAndGet(1);
- });
+ final Watchdog watchdog = new Watchdog(0.4, () -> watchdogCounter.addAndGet(1));
System.out.println("Run 1");
watchdog.enable();
@@ -60,15 +61,15 @@
assertEquals(1, watchdogCounter.get(),
"Watchdog either didn't trigger or triggered more than once");
+
+ watchdog.close();
}
@Test
void resetTest() {
final AtomicInteger watchdogCounter = new AtomicInteger(0);
- final Watchdog watchdog = new Watchdog(0.4, () -> {
- watchdogCounter.addAndGet(1);
- });
+ final Watchdog watchdog = new Watchdog(0.4, () -> watchdogCounter.addAndGet(1));
watchdog.enable();
try {
@@ -85,15 +86,15 @@
watchdog.disable();
assertEquals(0, watchdogCounter.get(), "Watchdog triggered early");
+
+ watchdog.close();
}
@Test
void setTimeoutTest() {
final AtomicInteger watchdogCounter = new AtomicInteger(0);
- final Watchdog watchdog = new Watchdog(1.0, () -> {
- watchdogCounter.addAndGet(1);
- });
+ final Watchdog watchdog = new Watchdog(1.0, () -> watchdogCounter.addAndGet(1));
watchdog.enable();
try {
@@ -115,6 +116,8 @@
assertEquals(1, watchdogCounter.get(),
"Watchdog either didn't trigger or triggered more than once");
+
+ watchdog.close();
}
@Test
@@ -137,15 +140,15 @@
watchdog.reset();
assertFalse(watchdog.isExpired());
+
+ watchdog.close();
}
@Test
void epochsTest() {
final AtomicInteger watchdogCounter = new AtomicInteger(0);
- final Watchdog watchdog = new Watchdog(0.4, () -> {
- watchdogCounter.addAndGet(1);
- });
+ final Watchdog watchdog = new Watchdog(0.4, () -> watchdogCounter.addAndGet(1));
System.out.println("Run 1");
watchdog.enable();
@@ -184,6 +187,8 @@
watchdog.disable();
assertEquals(0, watchdogCounter.get(), "Watchdog triggered early");
+
+ watchdog.close();
}
@Test
@@ -191,12 +196,8 @@
final AtomicInteger watchdogCounter1 = new AtomicInteger(0);
final AtomicInteger watchdogCounter2 = new AtomicInteger(0);
- final Watchdog watchdog1 = new Watchdog(0.2, () -> {
- watchdogCounter1.addAndGet(1);
- });
- final Watchdog watchdog2 = new Watchdog(0.6, () -> {
- watchdogCounter2.addAndGet(1);
- });
+ final Watchdog watchdog1 = new Watchdog(0.2, () -> watchdogCounter1.addAndGet(1));
+ final Watchdog watchdog2 = new Watchdog(0.6, () -> watchdogCounter2.addAndGet(1));
watchdog2.enable();
try {
@@ -220,5 +221,8 @@
assertEquals(1, watchdogCounter1.get(),
"Watchdog either didn't trigger or triggered more than once");
assertEquals(0, watchdogCounter2.get(), "Watchdog triggered early");
+
+ watchdog1.close();
+ watchdog2.close();
}
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/command/CommandParallelGroupTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/command/CommandParallelGroupTest.java
index b3b7ad9..5bc1949 100644
--- a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/command/CommandParallelGroupTest.java
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/command/CommandParallelGroupTest.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -50,7 +50,6 @@
Scheduler.getInstance().run();
assertCommandState(command1, 1, 3, 3, 1, 0);
assertCommandState(command2, 1, 5, 5, 1, 0);
-
}
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/command/CommandSequentialGroupTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/command/CommandSequentialGroupTest.java
index 5667b05..680a55d 100644
--- a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/command/CommandSequentialGroupTest.java
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/command/CommandSequentialGroupTest.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/PIDInputOutputTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/PIDInputOutputTest.java
new file mode 100644
index 0000000..67222d3
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/PIDInputOutputTest.java
@@ -0,0 +1,60 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.controller;
+
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+class PIDInputOutputTest {
+ private PIDController m_controller;
+
+ @BeforeEach
+ void setUp() {
+ m_controller = new PIDController(0, 0, 0);
+ }
+
+ @Test
+ void continuousInputTest() {
+ m_controller.setP(1);
+ m_controller.enableContinuousInput(-180, 180);
+
+ assertTrue(m_controller.calculate(-179, 179) < 0.0);
+ }
+
+ @Test
+ void proportionalGainOutputTest() {
+ m_controller.setP(4);
+
+ assertEquals(-0.1, m_controller.calculate(0.025, 0), 1e-5);
+ }
+
+ @Test
+ void integralGainOutputTest() {
+ m_controller.setI(4);
+
+ double out = 0;
+
+ for (int i = 0; i < 5; i++) {
+ out = m_controller.calculate(.025, 0);
+ }
+
+ assertEquals(-0.5 * m_controller.getPeriod(), out, 1e-5);
+ }
+
+ @Test
+ void derivativeGainOutputTest() {
+ m_controller.setD(4);
+
+ m_controller.calculate(0, 0);
+
+ assertEquals(-0.01 / m_controller.getPeriod(), m_controller.calculate(0.0025, 0), 1e-5);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/PIDToleranceTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/PIDToleranceTest.java
new file mode 100644
index 0000000..cd2aba4
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/PIDToleranceTest.java
@@ -0,0 +1,54 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.controller;
+
+import org.junit.jupiter.api.Test;
+
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+class PIDToleranceTest {
+ private static final double kSetpoint = 50.0;
+ private static final double kTolerance = 10.0;
+ private static final double kRange = 200;
+
+ @Test
+ void initialToleranceTest() {
+ var controller = new PIDController(0.05, 0.0, 0.0);
+ controller.enableContinuousInput(-kRange / 2, kRange / 2);
+
+ assertTrue(controller.atSetpoint());
+ }
+
+ @Test
+ void absoluteToleranceTest() {
+ var controller = new PIDController(0.05, 0.0, 0.0);
+ controller.enableContinuousInput(-kRange / 2, kRange / 2);
+
+ controller.setTolerance(kTolerance);
+ controller.setSetpoint(kSetpoint);
+
+ controller.calculate(0.0);
+
+ assertFalse(controller.atSetpoint(),
+ "Error was in tolerance when it should not have been. Error was " + controller
+ .getPositionError());
+
+ controller.calculate(kSetpoint + kTolerance / 2);
+
+ assertTrue(controller.atSetpoint(),
+ "Error was not in tolerance when it should have been. Error was " + controller
+ .getPositionError());
+
+ controller.calculate(kSetpoint + 10 * kTolerance);
+
+ assertFalse(controller.atSetpoint(),
+ "Error was in tolerance when it should not have been. Error was " + controller
+ .getPositionError());
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/RamseteControllerTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/RamseteControllerTest.java
new file mode 100644
index 0000000..2bef50d
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/controller/RamseteControllerTest.java
@@ -0,0 +1,76 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.controller;
+
+import java.util.ArrayList;
+
+import org.junit.jupiter.api.Test;
+
+import edu.wpi.first.wpilibj.geometry.Pose2d;
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.geometry.Twist2d;
+import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
+import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
+
+import static org.junit.jupiter.api.Assertions.assertAll;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+class RamseteControllerTest {
+ private static final double kTolerance = 1 / 12.0;
+ private static final double kAngularTolerance = Math.toRadians(2);
+
+ private static double boundRadians(double value) {
+ while (value > Math.PI) {
+ value -= Math.PI * 2;
+ }
+ while (value <= -Math.PI) {
+ value += Math.PI * 2;
+ }
+ return value;
+ }
+
+ @Test
+ @SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
+ void testReachesReference() {
+ final var controller = new RamseteController(2.0, 0.7);
+ var robotPose = new Pose2d(2.7, 23.0, Rotation2d.fromDegrees(0.0));
+
+ final var waypoints = new ArrayList<Pose2d>();
+ waypoints.add(new Pose2d(2.75, 22.521, new Rotation2d(0)));
+ waypoints.add(new Pose2d(24.73, 19.68, new Rotation2d(5.846)));
+ var config = new TrajectoryConfig(8.8, 0.1);
+ final var trajectory = TrajectoryGenerator.generateTrajectory(waypoints, config);
+
+ final double kDt = 0.02;
+ final var totalTime = trajectory.getTotalTimeSeconds();
+ for (int i = 0; i < (totalTime / kDt); ++i) {
+ var state = trajectory.sample(kDt * i);
+
+ var output = controller.calculate(robotPose, state);
+ robotPose = robotPose.exp(new Twist2d(output.vxMetersPerSecond * kDt, 0,
+ output.omegaRadiansPerSecond * kDt));
+ }
+
+ final var states = trajectory.getStates();
+ final var endPose = states.get(states.size() - 1).poseMeters;
+
+ // Java lambdas require local variables referenced from a lambda expression
+ // must be final or effectively final.
+ final var finalRobotPose = robotPose;
+ assertAll(
+ () -> assertEquals(endPose.getTranslation().getX(), finalRobotPose.getTranslation().getX(),
+ kTolerance),
+ () -> assertEquals(endPose.getTranslation().getY(), finalRobotPose.getTranslation().getY(),
+ kTolerance),
+ () -> assertEquals(0.0,
+ boundRadians(endPose.getRotation().getRadians()
+ - finalRobotPose.getRotation().getRadians()),
+ kAngularTolerance)
+ );
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/drive/DriveTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/drive/DriveTest.java
new file mode 100644
index 0000000..14e9401
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/drive/DriveTest.java
@@ -0,0 +1,170 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.drive;
+
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+
+import edu.wpi.first.wpilibj.MockSpeedController;
+import edu.wpi.first.wpilibj.RobotDrive;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+/**
+ * Tests DifferentialDrive and MecanumDrive.
+ */
+public class DriveTest {
+ private final MockSpeedController m_rdFrontLeft = new MockSpeedController();
+ private final MockSpeedController m_rdRearLeft = new MockSpeedController();
+ private final MockSpeedController m_rdFrontRight = new MockSpeedController();
+ private final MockSpeedController m_rdRearRight = new MockSpeedController();
+ private final MockSpeedController m_frontLeft = new MockSpeedController();
+ private final MockSpeedController m_rearLeft = new MockSpeedController();
+ private final MockSpeedController m_frontRight = new MockSpeedController();
+ private final MockSpeedController m_rearRight = new MockSpeedController();
+ private final RobotDrive m_robotDrive =
+ new RobotDrive(m_rdFrontLeft, m_rdRearLeft, m_rdFrontRight, m_rdRearRight);
+ private final DifferentialDrive m_differentialDrive =
+ new DifferentialDrive(m_frontLeft, m_frontRight);
+ private final MecanumDrive m_mecanumDrive =
+ new MecanumDrive(m_frontLeft, m_rearLeft, m_frontRight, m_rearRight);
+
+ private final double[] m_testJoystickValues = {1.0, 0.9, 0.5, 0.01, 0.0, -0.01, -0.5, -0.9,
+ -1.0};
+ private final double[] m_testGyroValues = {0, 30, 45, 90, 135, 180, 225, 270, 305, 360, 540,
+ -45, -90, -135, -180, -225, -270, -305, -360, -540};
+
+ @BeforeEach
+ void setUp() {
+ m_differentialDrive.setDeadband(0.0);
+ m_differentialDrive.setSafetyEnabled(false);
+ m_mecanumDrive.setDeadband(0.0);
+ m_mecanumDrive.setSafetyEnabled(false);
+ m_robotDrive.setSafetyEnabled(false);
+ }
+
+ @Test
+ public void testTankDriveSquared() {
+ for (double leftJoystick : m_testJoystickValues) {
+ for (double rightJoystick : m_testJoystickValues) {
+ m_robotDrive.tankDrive(leftJoystick, rightJoystick);
+ m_differentialDrive.tankDrive(leftJoystick, rightJoystick);
+ assertEquals(m_rdFrontLeft.get(), m_frontLeft.get(), 0.01,
+ "Left Motor squared didn't match. Left Joystick: " + leftJoystick + " Right Joystick: "
+ + rightJoystick);
+ assertEquals(m_rdFrontRight.get(), m_frontRight.get(), 0.01,
+ "Right Motor squared didn't match. Left Joystick: " + leftJoystick + " Right Joystick: "
+ + rightJoystick);
+ }
+ }
+ }
+
+ @Test
+ void testTankDrive() {
+ for (double leftJoystick : m_testJoystickValues) {
+ for (double rightJoystick : m_testJoystickValues) {
+ m_robotDrive.tankDrive(leftJoystick, rightJoystick, false);
+ m_differentialDrive.tankDrive(leftJoystick, rightJoystick, false);
+ assertEquals(m_rdFrontLeft.get(), m_frontLeft.get(), 0.01,
+ "Left Motor didn't match. Left Joystick: " + leftJoystick + " Right Joystick: "
+ + rightJoystick);
+ assertEquals(m_rdFrontRight.get(), m_frontRight.get(), 0.01,
+ "Right Motor didn't match. Left Joystick: " + leftJoystick + " Right Joystick: "
+ + rightJoystick);
+ }
+ }
+ }
+
+ @Test
+ void testArcadeDriveSquared() {
+ for (double moveJoystick : m_testJoystickValues) {
+ for (double rotateJoystick : m_testJoystickValues) {
+ m_robotDrive.arcadeDrive(moveJoystick, rotateJoystick);
+ m_differentialDrive.arcadeDrive(moveJoystick, -rotateJoystick);
+ assertEquals(m_rdFrontLeft.get(), m_frontLeft.get(), 0.01,
+ "Left Motor squared didn't match. Move Joystick: " + moveJoystick + " Rotate Joystick: "
+ + rotateJoystick);
+ assertEquals(m_rdFrontRight.get(), m_frontRight.get(), 0.01,
+ "Right Motor squared didn't match. Move Joystick: " + moveJoystick
+ + " Rotate Joystick: " + rotateJoystick);
+ }
+ }
+ }
+
+ @Test
+ void testArcadeDrive() {
+ for (double moveJoystick : m_testJoystickValues) {
+ for (double rotateJoystick : m_testJoystickValues) {
+ m_robotDrive.arcadeDrive(moveJoystick, rotateJoystick, false);
+ m_differentialDrive.arcadeDrive(moveJoystick, -rotateJoystick, false);
+ assertEquals(m_rdFrontLeft.get(), m_frontLeft.get(), 0.01,
+ "Left Motor didn't match. Move Joystick: " + moveJoystick + " Rotate Joystick: "
+ + rotateJoystick);
+ assertEquals(m_rdFrontRight.get(), m_frontRight.get(), 0.01,
+ "Right Motor didn't match. Move Joystick: " + moveJoystick + " Rotate Joystick: "
+ + rotateJoystick);
+ }
+ }
+ }
+
+ @Test
+ void testMecanumPolar() {
+ for (double magnitudeJoystick : m_testJoystickValues) {
+ for (double directionJoystick : m_testGyroValues) {
+ for (double rotationJoystick : m_testJoystickValues) {
+ m_robotDrive.mecanumDrive_Polar(magnitudeJoystick, directionJoystick, rotationJoystick);
+ m_mecanumDrive.drivePolar(magnitudeJoystick, directionJoystick, rotationJoystick);
+ assertEquals(m_rdFrontLeft.get(), m_frontLeft.get(), 0.01,
+ "Left Front Motor didn't match. Magnitude Joystick: " + magnitudeJoystick
+ + " Direction Joystick: " + directionJoystick + " RotationJoystick: "
+ + rotationJoystick);
+ assertEquals(m_rdFrontRight.get(), -m_frontRight.get(), 0.01,
+ "Right Front Motor didn't match. Magnitude Joystick: " + magnitudeJoystick
+ + " Direction Joystick: " + directionJoystick + " RotationJoystick: "
+ + rotationJoystick);
+ assertEquals(m_rdRearLeft.get(), m_rearLeft.get(), 0.01,
+ "Left Rear Motor didn't match. Magnitude Joystick: " + magnitudeJoystick
+ + " Direction Joystick: " + directionJoystick + " RotationJoystick: "
+ + rotationJoystick);
+ assertEquals(m_rdRearRight.get(), -m_rearRight.get(), 0.01,
+ "Right Rear Motor didn't match. Magnitude Joystick: " + magnitudeJoystick
+ + " Direction Joystick: " + directionJoystick + " RotationJoystick: "
+ + rotationJoystick);
+ }
+ }
+ }
+ }
+
+ @Test
+ @SuppressWarnings("checkstyle:LocalVariableName")
+ void testMecanumCartesian() {
+ for (double x_Joystick : m_testJoystickValues) {
+ for (double y_Joystick : m_testJoystickValues) {
+ for (double rotationJoystick : m_testJoystickValues) {
+ for (double gyroValue : m_testGyroValues) {
+ m_robotDrive.mecanumDrive_Cartesian(x_Joystick, y_Joystick, rotationJoystick,
+ gyroValue);
+ m_mecanumDrive.driveCartesian(x_Joystick, -y_Joystick, rotationJoystick, -gyroValue);
+ assertEquals(m_rdFrontLeft.get(), m_frontLeft.get(), 0.01,
+ "Left Front Motor didn't match. X Joystick: " + x_Joystick + " Y Joystick: "
+ + y_Joystick + " RotationJoystick: " + rotationJoystick + " Gyro: " + gyroValue);
+ assertEquals(m_rdFrontRight.get(), -m_frontRight.get(), 0.01,
+ "Right Front Motor didn't match. X Joystick: " + x_Joystick + " Y Joystick: "
+ + y_Joystick + " RotationJoystick: " + rotationJoystick + " Gyro: " + gyroValue);
+ assertEquals(m_rdRearLeft.get(), m_rearLeft.get(), 0.01,
+ "Left Rear Motor didn't match. X Joystick: " + x_Joystick + " Y Joystick: "
+ + y_Joystick + " RotationJoystick: " + rotationJoystick + " Gyro: " + gyroValue);
+ assertEquals(m_rdRearRight.get(), -m_rearRight.get(), 0.01,
+ "Right Rear Motor didn't match. X Joystick: " + x_Joystick + " Y Joystick: "
+ + y_Joystick + " RotationJoystick: " + rotationJoystick + " Gyro: " + gyroValue);
+ }
+ }
+ }
+ }
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/geometry/Pose2dTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/geometry/Pose2dTest.java
new file mode 100644
index 0000000..066716e
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/geometry/Pose2dTest.java
@@ -0,0 +1,75 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.geometry;
+
+import org.junit.jupiter.api.Test;
+
+import static org.junit.jupiter.api.Assertions.assertAll;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertNotEquals;
+
+class Pose2dTest {
+ private static final double kEpsilon = 1E-9;
+
+ @Test
+ void testTransformBy() {
+ var initial = new Pose2d(new Translation2d(1.0, 2.0), Rotation2d.fromDegrees(45.0));
+ var transformation = new Transform2d(new Translation2d(5.0, 0.0),
+ Rotation2d.fromDegrees(5.0));
+
+ var transformed = initial.plus(transformation);
+
+ assertAll(
+ () -> assertEquals(transformed.getTranslation().getX(), 1 + 5.0 / Math.sqrt(2.0), kEpsilon),
+ () -> assertEquals(transformed.getTranslation().getY(), 2 + 5.0 / Math.sqrt(2.0), kEpsilon),
+ () -> assertEquals(transformed.getRotation().getDegrees(), 50.0, kEpsilon)
+ );
+ }
+
+ @Test
+ void testRelativeTo() {
+ var initial = new Pose2d(0.0, 0.0, Rotation2d.fromDegrees(45.0));
+ var last = new Pose2d(5.0, 5.0, Rotation2d.fromDegrees(45.0));
+
+ var finalRelativeToInitial = last.relativeTo(initial);
+
+ assertAll(
+ () -> assertEquals(finalRelativeToInitial.getTranslation().getX(), 5.0 * Math.sqrt(2.0),
+ kEpsilon),
+ () -> assertEquals(finalRelativeToInitial.getTranslation().getY(), 0.0, kEpsilon),
+ () -> assertEquals(finalRelativeToInitial.getRotation().getDegrees(), 0.0, kEpsilon)
+ );
+ }
+
+ @Test
+ void testEquality() {
+ var one = new Pose2d(0.0, 5.0, Rotation2d.fromDegrees(43.0));
+ var two = new Pose2d(0.0, 5.0, Rotation2d.fromDegrees(43.0));
+ assertEquals(one, two);
+ }
+
+ @Test
+ void testInequality() {
+ var one = new Pose2d(0.0, 5.0, Rotation2d.fromDegrees(43.0));
+ var two = new Pose2d(0.0, 1.524, Rotation2d.fromDegrees(43.0));
+ assertNotEquals(one, two);
+ }
+
+ void testMinus() {
+ var initial = new Pose2d(0.0, 0.0, Rotation2d.fromDegrees(45.0));
+ var last = new Pose2d(5.0, 5.0, Rotation2d.fromDegrees(45.0));
+
+ final var transform = last.minus(initial);
+
+ assertAll(
+ () -> assertEquals(transform.getTranslation().getX(), 5.0 * Math.sqrt(2.0), kEpsilon),
+ () -> assertEquals(transform.getTranslation().getY(), 0.0, kEpsilon),
+ () -> assertEquals(transform.getRotation().getDegrees(), 0.0, kEpsilon)
+ );
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/geometry/Rotation2dTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/geometry/Rotation2dTest.java
new file mode 100644
index 0000000..6c4b1b3
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/geometry/Rotation2dTest.java
@@ -0,0 +1,81 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.geometry;
+
+import org.junit.jupiter.api.Test;
+
+import static org.junit.jupiter.api.Assertions.assertAll;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertNotEquals;
+
+class Rotation2dTest {
+ private static final double kEpsilon = 1E-9;
+
+ @Test
+ void testRadiansToDegrees() {
+ var one = new Rotation2d(Math.PI / 3);
+ var two = new Rotation2d(Math.PI / 4);
+
+ assertAll(
+ () -> assertEquals(one.getDegrees(), 60.0, kEpsilon),
+ () -> assertEquals(two.getDegrees(), 45.0, kEpsilon)
+ );
+ }
+
+ @Test
+ void testRadiansAndDegrees() {
+ var one = Rotation2d.fromDegrees(45.0);
+ var two = Rotation2d.fromDegrees(30.0);
+
+ assertAll(
+ () -> assertEquals(one.getRadians(), Math.PI / 4, kEpsilon),
+ () -> assertEquals(two.getRadians(), Math.PI / 6, kEpsilon)
+ );
+ }
+
+ @Test
+ void testRotateByFromZero() {
+ var zero = new Rotation2d();
+ var rotated = zero.rotateBy(Rotation2d.fromDegrees(90.0));
+
+ assertAll(
+ () -> assertEquals(rotated.getRadians(), Math.PI / 2.0, kEpsilon),
+ () -> assertEquals(rotated.getDegrees(), 90.0, kEpsilon)
+ );
+ }
+
+ @Test
+ void testRotateByNonZero() {
+ var rot = Rotation2d.fromDegrees(90.0);
+ rot = rot.plus(Rotation2d.fromDegrees(30.0));
+
+ assertEquals(rot.getDegrees(), 120.0, kEpsilon);
+ }
+
+ @Test
+ void testMinus() {
+ var one = Rotation2d.fromDegrees(70.0);
+ var two = Rotation2d.fromDegrees(30.0);
+
+ assertEquals(one.minus(two).getDegrees(), 40.0, kEpsilon);
+ }
+
+ @Test
+ void testEquality() {
+ var one = Rotation2d.fromDegrees(43.0);
+ var two = Rotation2d.fromDegrees(43.0);
+ assertEquals(one, two);
+ }
+
+ @Test
+ void testInequality() {
+ var one = Rotation2d.fromDegrees(43.0);
+ var two = Rotation2d.fromDegrees(43.5);
+ assertNotEquals(one, two);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/geometry/Translation2dTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/geometry/Translation2dTest.java
new file mode 100644
index 0000000..b4e2947
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/geometry/Translation2dTest.java
@@ -0,0 +1,115 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.geometry;
+
+import org.junit.jupiter.api.Test;
+
+import static org.junit.jupiter.api.Assertions.assertAll;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertNotEquals;
+
+class Translation2dTest {
+ private static final double kEpsilon = 1E-9;
+
+ @Test
+ void testSum() {
+ var one = new Translation2d(1.0, 3.0);
+ var two = new Translation2d(2.0, 5.0);
+
+ var sum = one.plus(two);
+
+ assertAll(
+ () -> assertEquals(sum.getX(), 3.0, kEpsilon),
+ () -> assertEquals(sum.getY(), 8.0, kEpsilon)
+ );
+ }
+
+ @Test
+ void testDifference() {
+ var one = new Translation2d(1.0, 3.0);
+ var two = new Translation2d(2.0, 5.0);
+
+ var difference = one.minus(two);
+
+ assertAll(
+ () -> assertEquals(difference.getX(), -1.0, kEpsilon),
+ () -> assertEquals(difference.getY(), -2.0, kEpsilon)
+ );
+ }
+
+ @Test
+ void testRotateBy() {
+ var another = new Translation2d(3.0, 0.0);
+ var rotated = another.rotateBy(Rotation2d.fromDegrees(90.0));
+
+ assertAll(
+ () -> assertEquals(rotated.getX(), 0.0, kEpsilon),
+ () -> assertEquals(rotated.getY(), 3.0, kEpsilon)
+ );
+ }
+
+ @Test
+ void testMultiplication() {
+ var original = new Translation2d(3.0, 5.0);
+ var mult = original.times(3);
+
+ assertAll(
+ () -> assertEquals(mult.getX(), 9.0, kEpsilon),
+ () -> assertEquals(mult.getY(), 15.0, kEpsilon)
+ );
+ }
+
+ @Test
+ void testDivision() {
+ var original = new Translation2d(3.0, 5.0);
+ var div = original.div(2);
+
+ assertAll(
+ () -> assertEquals(div.getX(), 1.5, kEpsilon),
+ () -> assertEquals(div.getY(), 2.5, kEpsilon)
+ );
+ }
+
+ @Test
+ void testNorm() {
+ var one = new Translation2d(3.0, 5.0);
+ assertEquals(one.getNorm(), Math.hypot(3.0, 5.0), kEpsilon);
+ }
+
+ @Test
+ void testDistance() {
+ var one = new Translation2d(1, 1);
+ var two = new Translation2d(6, 6);
+ assertEquals(one.getDistance(two), 5 * Math.sqrt(2), kEpsilon);
+ }
+
+ @Test
+ void testUnaryMinus() {
+ var original = new Translation2d(-4.5, 7);
+ var inverted = original.unaryMinus();
+
+ assertAll(
+ () -> assertEquals(inverted.getX(), 4.5, kEpsilon),
+ () -> assertEquals(inverted.getY(), -7, kEpsilon)
+ );
+ }
+
+ @Test
+ void testEquality() {
+ var one = new Translation2d(9, 5.5);
+ var two = new Translation2d(9, 5.5);
+ assertEquals(one, two);
+ }
+
+ @Test
+ void testInequality() {
+ var one = new Translation2d(9, 5.5);
+ var two = new Translation2d(9, 5.7);
+ assertNotEquals(one, two);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/geometry/Twist2dTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/geometry/Twist2dTest.java
new file mode 100644
index 0000000..903c436
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/geometry/Twist2dTest.java
@@ -0,0 +1,81 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.geometry;
+
+import org.junit.jupiter.api.Test;
+
+import static org.junit.jupiter.api.Assertions.assertAll;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertNotEquals;
+
+class Twist2dTest {
+ private static final double kEpsilon = 1E-9;
+
+ @Test
+ void testStraightLineTwist() {
+ var straight = new Twist2d(5.0, 0.0, 0.0);
+ var straightPose = new Pose2d().exp(straight);
+
+ assertAll(
+ () -> assertEquals(straightPose.getTranslation().getX(), 5.0, kEpsilon),
+ () -> assertEquals(straightPose.getTranslation().getY(), 0.0, kEpsilon),
+ () -> assertEquals(straightPose.getRotation().getRadians(), 0.0, kEpsilon)
+ );
+ }
+
+ @Test
+ void testQuarterCirleTwist() {
+ var quarterCircle = new Twist2d(5.0 / 2.0 * Math.PI, 0, Math.PI / 2.0);
+ var quarterCirclePose = new Pose2d().exp(quarterCircle);
+
+ assertAll(
+ () -> assertEquals(quarterCirclePose.getTranslation().getX(), 5.0, kEpsilon),
+ () -> assertEquals(quarterCirclePose.getTranslation().getY(), 5.0, kEpsilon),
+ () -> assertEquals(quarterCirclePose.getRotation().getDegrees(), 90.0, kEpsilon)
+ );
+ }
+
+ @Test
+ void testDiagonalNoDtheta() {
+ var diagonal = new Twist2d(2.0, 2.0, 0.0);
+ var diagonalPose = new Pose2d().exp(diagonal);
+
+ assertAll(
+ () -> assertEquals(diagonalPose.getTranslation().getX(), 2.0, kEpsilon),
+ () -> assertEquals(diagonalPose.getTranslation().getY(), 2.0, kEpsilon),
+ () -> assertEquals(diagonalPose.getRotation().getDegrees(), 0.0, kEpsilon)
+ );
+ }
+
+ @Test
+ void testEquality() {
+ var one = new Twist2d(5, 1, 3);
+ var two = new Twist2d(5, 1, 3);
+ assertEquals(one, two);
+ }
+
+ @Test
+ void testInequality() {
+ var one = new Twist2d(5, 1, 3);
+ var two = new Twist2d(5, 1.2, 3);
+ assertNotEquals(one, two);
+ }
+
+ void testPose2dLog() {
+ final var start = new Pose2d();
+ final var end = new Pose2d(5.0, 5.0, Rotation2d.fromDegrees(90.0));
+
+ final var twist = start.log(end);
+
+ assertAll(
+ () -> assertEquals(twist.dx, 5.0 / 2.0 * Math.PI, kEpsilon),
+ () -> assertEquals(twist.dy, 0.0, kEpsilon),
+ () -> assertEquals(twist.dtheta, Math.PI / 2.0, kEpsilon)
+ );
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/kinematics/ChassisSpeedsTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/kinematics/ChassisSpeedsTest.java
new file mode 100644
index 0000000..729d7b8
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/kinematics/ChassisSpeedsTest.java
@@ -0,0 +1,32 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.kinematics;
+
+import org.junit.jupiter.api.Test;
+
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
+
+import static org.junit.jupiter.api.Assertions.assertAll;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+class ChassisSpeedsTest {
+ private static final double kEpsilon = 1E-9;
+
+ @Test
+ void testFieldRelativeConstruction() {
+ final var chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(
+ 1.0, 0.0, 0.5, Rotation2d.fromDegrees(-90.0)
+ );
+
+ assertAll(
+ () -> assertEquals(0.0, chassisSpeeds.vxMetersPerSecond, kEpsilon),
+ () -> assertEquals(1.0, chassisSpeeds.vyMetersPerSecond, kEpsilon),
+ () -> assertEquals(0.5, chassisSpeeds.omegaRadiansPerSecond, kEpsilon)
+ );
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveKinematicsTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveKinematicsTest.java
new file mode 100644
index 0000000..e484eab
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveKinematicsTest.java
@@ -0,0 +1,88 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.kinematics;
+
+import org.junit.jupiter.api.Test;
+
+import static org.junit.jupiter.api.Assertions.assertAll;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+class DifferentialDriveKinematicsTest {
+ private static final double kEpsilon = 1E-9;
+ private final DifferentialDriveKinematics m_kinematics
+ = new DifferentialDriveKinematics(0.381 * 2);
+
+ @Test
+ void testInverseKinematicsForZeros() {
+ var chassisSpeeds = new ChassisSpeeds();
+ var wheelSpeeds = m_kinematics.toWheelSpeeds(chassisSpeeds);
+
+ assertAll(
+ () -> assertEquals(0.0, wheelSpeeds.leftMetersPerSecond, kEpsilon),
+ () -> assertEquals(0.0, wheelSpeeds.rightMetersPerSecond, kEpsilon)
+ );
+ }
+
+ @Test
+ void testForwardKinematicsForZeros() {
+ var wheelSpeeds = new DifferentialDriveWheelSpeeds();
+ var chassisSpeeds = m_kinematics.toChassisSpeeds(wheelSpeeds);
+
+ assertAll(
+ () -> assertEquals(0.0, chassisSpeeds.vxMetersPerSecond, kEpsilon),
+ () -> assertEquals(0.0, chassisSpeeds.vyMetersPerSecond, kEpsilon),
+ () -> assertEquals(0.0, chassisSpeeds.omegaRadiansPerSecond, kEpsilon)
+ );
+ }
+
+ @Test
+ void testInverseKinematicsForStraightLine() {
+ var chassisSpeeds = new ChassisSpeeds(3, 0, 0);
+ var wheelSpeeds = m_kinematics.toWheelSpeeds(chassisSpeeds);
+
+ assertAll(
+ () -> assertEquals(3.0, wheelSpeeds.leftMetersPerSecond, kEpsilon),
+ () -> assertEquals(3.0, wheelSpeeds.rightMetersPerSecond, kEpsilon)
+ );
+ }
+
+ @Test
+ void testForwardKinematicsForStraightLine() {
+ var wheelSpeeds = new DifferentialDriveWheelSpeeds(3, 3);
+ var chassisSpeeds = m_kinematics.toChassisSpeeds(wheelSpeeds);
+
+ assertAll(
+ () -> assertEquals(3.0, chassisSpeeds.vxMetersPerSecond, kEpsilon),
+ () -> assertEquals(0.0, chassisSpeeds.vyMetersPerSecond, kEpsilon),
+ () -> assertEquals(0.0, chassisSpeeds.omegaRadiansPerSecond, kEpsilon)
+ );
+ }
+
+ @Test
+ void testInverseKinematicsForRotateInPlace() {
+ var chassisSpeeds = new ChassisSpeeds(0, 0, Math.PI);
+ var wheelSpeeds = m_kinematics.toWheelSpeeds(chassisSpeeds);
+
+ assertAll(
+ () -> assertEquals(-0.381 * Math.PI, wheelSpeeds.leftMetersPerSecond, kEpsilon),
+ () -> assertEquals(+0.381 * Math.PI, wheelSpeeds.rightMetersPerSecond, kEpsilon)
+ );
+ }
+
+ @Test
+ void testForwardKinematicsForRotateInPlace() {
+ var wheelSpeeds = new DifferentialDriveWheelSpeeds(+0.381 * Math.PI, -0.381 * Math.PI);
+ var chassisSpeeds = m_kinematics.toChassisSpeeds(wheelSpeeds);
+
+ assertAll(
+ () -> assertEquals(0.0, chassisSpeeds.vxMetersPerSecond, kEpsilon),
+ () -> assertEquals(0.0, chassisSpeeds.vyMetersPerSecond, kEpsilon),
+ () -> assertEquals(-Math.PI, chassisSpeeds.omegaRadiansPerSecond, kEpsilon)
+ );
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveOdometryTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveOdometryTest.java
new file mode 100644
index 0000000..4562ed2
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveOdometryTest.java
@@ -0,0 +1,51 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.kinematics;
+
+import org.junit.jupiter.api.Test;
+
+import edu.wpi.first.wpilibj.geometry.Pose2d;
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
+
+import static org.junit.jupiter.api.Assertions.assertAll;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+class DifferentialDriveOdometryTest {
+ private static final double kEpsilon = 1E-9;
+ private final DifferentialDriveKinematics m_kinematics
+ = new DifferentialDriveKinematics(0.381 * 2);
+ private final DifferentialDriveOdometry m_odometry = new DifferentialDriveOdometry(m_kinematics);
+
+ @Test
+ void testOneIteration() {
+ m_odometry.resetPosition(new Pose2d());
+ var speeds = new DifferentialDriveWheelSpeeds(0.02, 0.02);
+ m_odometry.updateWithTime(0.0, new Rotation2d(), new DifferentialDriveWheelSpeeds());
+ var pose = m_odometry.updateWithTime(1.0, new Rotation2d(), speeds);
+
+ assertAll(
+ () -> assertEquals(0.02, pose.getTranslation().getX(), kEpsilon),
+ () -> assertEquals(0.00, pose.getTranslation().getY(), kEpsilon),
+ () -> assertEquals(0.00, pose.getRotation().getRadians(), kEpsilon)
+ );
+ }
+
+ @Test
+ void testQuarterCircle() {
+ m_odometry.resetPosition(new Pose2d());
+ var speeds = new DifferentialDriveWheelSpeeds(0.0, 5 * Math.PI);
+ m_odometry.updateWithTime(0.0, new Rotation2d(), new DifferentialDriveWheelSpeeds());
+ var pose = m_odometry.updateWithTime(1.0, Rotation2d.fromDegrees(90.0), speeds);
+
+ assertAll(
+ () -> assertEquals(pose.getTranslation().getX(), 5.0, kEpsilon),
+ () -> assertEquals(pose.getTranslation().getY(), 5.0, kEpsilon),
+ () -> assertEquals(pose.getRotation().getDegrees(), 90.0, kEpsilon)
+ );
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveKinematicsTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveKinematicsTest.java
new file mode 100644
index 0000000..75b6f44
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveKinematicsTest.java
@@ -0,0 +1,263 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.kinematics;
+
+import org.junit.jupiter.api.Test;
+
+import edu.wpi.first.wpilibj.geometry.Translation2d;
+
+import static org.junit.jupiter.api.Assertions.assertAll;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+@SuppressWarnings("PMD.TooManyMethods")
+class MecanumDriveKinematicsTest {
+ private static final double kEpsilon = 1E-9;
+
+ private final Translation2d m_fl = new Translation2d(12, 12);
+ private final Translation2d m_fr = new Translation2d(12, -12);
+ private final Translation2d m_bl = new Translation2d(-12, 12);
+ private final Translation2d m_br = new Translation2d(-12, -12);
+
+ private final MecanumDriveKinematics m_kinematics =
+ new MecanumDriveKinematics(m_fl, m_fr, m_bl, m_br);
+
+ @Test
+ void testStraightLineInverseKinematics() {
+ ChassisSpeeds speeds = new ChassisSpeeds(5, 0, 0);
+ var moduleStates = m_kinematics.toWheelSpeeds(speeds);
+
+ /*
+ By equation (13.12) of the state-space-guide, the wheel speeds should
+ be as follows:
+ velocities: fl 3.535534 fr 3.535534 rl 3.535534 rr 3.535534
+ */
+
+ assertAll(
+ () -> assertEquals(3.536, moduleStates.frontLeftMetersPerSecond, 0.1),
+ () -> assertEquals(3.536, moduleStates.frontRightMetersPerSecond, 0.1),
+ () -> assertEquals(3.536, moduleStates.rearLeftMetersPerSecond, 0.1),
+ () -> assertEquals(3.536, moduleStates.rearRightMetersPerSecond, 0.1)
+ );
+ }
+
+ @Test
+ void testStraightLineForwardKinematicsKinematics() {
+
+ var wheelSpeeds = new MecanumDriveWheelSpeeds(3.536, 3.536, 3.536, 3.536);
+ var moduleStates = m_kinematics.toChassisSpeeds(wheelSpeeds);
+
+ /*
+ By equation (13.13) of the state-space-guide, the chassis motion from wheel
+ velocities: fl 3.535534 fr 3.535534 rl 3.535534 rr 3.535534 will be [[5][0][0]]
+ */
+
+ assertAll(
+ () -> assertEquals(5, moduleStates.vxMetersPerSecond, 0.1),
+ () -> assertEquals(0, moduleStates.vyMetersPerSecond, 0.1),
+ () -> assertEquals(0, moduleStates.omegaRadiansPerSecond, 0.1)
+ );
+ }
+
+ @Test
+ void testStrafeInverseKinematics() {
+ ChassisSpeeds speeds = new ChassisSpeeds(0, 4, 0);
+ var moduleStates = m_kinematics.toWheelSpeeds(speeds);
+
+ /*
+ By equation (13.12) of the state-space-guide, the wheel speeds should
+ be as follows:
+ velocities: fl -2.828427 fr 2.828427 rl 2.828427 rr -2.828427
+ */
+
+ assertAll(
+ () -> assertEquals(-2.828427, moduleStates.frontLeftMetersPerSecond, 0.1),
+ () -> assertEquals(2.828427, moduleStates.frontRightMetersPerSecond, 0.1),
+ () -> assertEquals(2.828427, moduleStates.rearLeftMetersPerSecond, 0.1),
+ () -> assertEquals(-2.828427, moduleStates.rearRightMetersPerSecond, 0.1)
+ );
+ }
+
+ @Test
+ void testStrafeForwardKinematicsKinematics() {
+
+ var wheelSpeeds = new MecanumDriveWheelSpeeds(-2.828427, 2.828427, 2.828427, -2.828427);
+ var moduleStates = m_kinematics.toChassisSpeeds(wheelSpeeds);
+
+ /*
+ By equation (13.13) of the state-space-guide, the chassis motion from wheel
+ velocities: fl 3.535534 fr 3.535534 rl 3.535534 rr 3.535534 will be [[5][0][0]]
+ */
+
+ assertAll(
+ () -> assertEquals(0, moduleStates.vxMetersPerSecond, 0.1),
+ () -> assertEquals(4, moduleStates.vyMetersPerSecond, 0.1),
+ () -> assertEquals(0, moduleStates.omegaRadiansPerSecond, 0.1)
+ );
+ }
+
+ @Test
+ void testRotationInverseKinematics() {
+ ChassisSpeeds speeds = new ChassisSpeeds(0, 0, 2 * Math.PI);
+ var moduleStates = m_kinematics.toWheelSpeeds(speeds);
+
+ /*
+ By equation (13.12) of the state-space-guide, the wheel speeds should
+ be as follows:
+ velocities: fl -106.629191 fr 106.629191 rl -106.629191 rr 106.629191
+ */
+
+ assertAll(
+ () -> assertEquals(-106.629191, moduleStates.frontLeftMetersPerSecond, 0.1),
+ () -> assertEquals(106.629191, moduleStates.frontRightMetersPerSecond, 0.1),
+ () -> assertEquals(-106.629191, moduleStates.rearLeftMetersPerSecond, 0.1),
+ () -> assertEquals(106.629191, moduleStates.rearRightMetersPerSecond, 0.1)
+ );
+ }
+
+ @Test
+ void testRotationForwardKinematicsKinematics() {
+ var wheelSpeeds = new MecanumDriveWheelSpeeds(-106.629191, 106.629191, -106.629191, 106.629191);
+ var moduleStates = m_kinematics.toChassisSpeeds(wheelSpeeds);
+
+ /*
+ By equation (13.13) of the state-space-guide, the chassis motion from wheel
+ velocities: fl -106.629191 fr 106.629191 rl -106.629191 rr 106.629191 should be [[0][0][2pi]]
+ */
+
+ assertAll(
+ () -> assertEquals(0, moduleStates.vxMetersPerSecond, 0.1),
+ () -> assertEquals(0, moduleStates.vyMetersPerSecond, 0.1),
+ () -> assertEquals(2 * Math.PI, moduleStates.omegaRadiansPerSecond, 0.1)
+ );
+ }
+
+ @Test
+ void testMixedTranslationRotationInverseKinematics() {
+ ChassisSpeeds speeds = new ChassisSpeeds(2, 3, 1);
+ var moduleStates = m_kinematics.toWheelSpeeds(speeds);
+
+ /*
+ By equation (13.12) of the state-space-guide, the wheel speeds should
+ be as follows:
+ velocities: fl -17.677670 fr 20.506097 rl -13.435029 rr 16.263456
+ */
+
+ assertAll(
+ () -> assertEquals(-17.677670, moduleStates.frontLeftMetersPerSecond, 0.1),
+ () -> assertEquals(20.506097, moduleStates.frontRightMetersPerSecond, 0.1),
+ () -> assertEquals(-13.435, moduleStates.rearLeftMetersPerSecond, 0.1),
+ () -> assertEquals(16.26, moduleStates.rearRightMetersPerSecond, 0.1)
+ );
+ }
+
+ @Test
+ void testMixedTranslationRotationForwardKinematicsKinematics() {
+ var wheelSpeeds = new MecanumDriveWheelSpeeds(-17.677670, 20.51, -13.44, 16.26);
+ var moduleStates = m_kinematics.toChassisSpeeds(wheelSpeeds);
+
+ /*
+ By equation (13.13) of the state-space-guide, the chassis motion from wheel
+ velocities: fl -17.677670 fr 20.506097 rl -13.435029 rr 16.263456 should be [[2][3][1]]
+ */
+
+ assertAll(
+ () -> assertEquals(2, moduleStates.vxMetersPerSecond, 0.1),
+ () -> assertEquals(3, moduleStates.vyMetersPerSecond, 0.1),
+ () -> assertEquals(1, moduleStates.omegaRadiansPerSecond, 0.1)
+ );
+ }
+
+ @Test
+ void testOffCenterRotationInverseKinematics() {
+ ChassisSpeeds speeds = new ChassisSpeeds(0, 0, 1);
+ var moduleStates = m_kinematics.toWheelSpeeds(speeds, m_fl);
+
+ /*
+ By equation (13.12) of the state-space-guide, the wheel speeds should
+ be as follows:
+ velocities: fl 0.000000 fr 16.970563 rl -16.970563 rr 33.941125
+ */
+
+ assertAll(
+ () -> assertEquals(0, moduleStates.frontLeftMetersPerSecond, 0.1),
+ () -> assertEquals(16.971, moduleStates.frontRightMetersPerSecond, 0.1),
+ () -> assertEquals(-16.971, moduleStates.rearLeftMetersPerSecond, 0.1),
+ () -> assertEquals(33.941, moduleStates.rearRightMetersPerSecond, 0.1)
+ );
+ }
+
+ @Test
+ void testOffCenterRotationForwardKinematicsKinematics() {
+ var wheelSpeeds = new MecanumDriveWheelSpeeds(0, 16.971, -16.971, 33.941);
+ var moduleStates = m_kinematics.toChassisSpeeds(wheelSpeeds);
+
+ /*
+ By equation (13.13) of the state-space-guide, the chassis motion from the wheel
+ velocities should be [[12][-12][1]]
+ */
+
+ assertAll(
+ () -> assertEquals(12, moduleStates.vxMetersPerSecond, 0.1),
+ () -> assertEquals(-12, moduleStates.vyMetersPerSecond, 0.1),
+ () -> assertEquals(1, moduleStates.omegaRadiansPerSecond, 0.1)
+ );
+ }
+
+ @Test
+ void testOffCenterTranslationRotationInverseKinematics() {
+ ChassisSpeeds speeds = new ChassisSpeeds(5, 2, 1);
+ var moduleStates = m_kinematics.toWheelSpeeds(speeds, m_fl);
+
+ /*
+ By equation (13.12) of the state-space-guide, the wheel speeds should
+ be as follows:
+ velocities: fl 2.121320 fr 21.920310 rl -12.020815 rr 36.062446
+ */
+
+ assertAll(
+ () -> assertEquals(2.12, moduleStates.frontLeftMetersPerSecond, 0.1),
+ () -> assertEquals(21.92, moduleStates.frontRightMetersPerSecond, 0.1),
+ () -> assertEquals(-12.02, moduleStates.rearLeftMetersPerSecond, 0.1),
+ () -> assertEquals(36.06, moduleStates.rearRightMetersPerSecond, 0.1)
+ );
+ }
+
+ @Test
+ void testOffCenterRotationTranslationForwardKinematicsKinematics() {
+
+ var wheelSpeeds = new MecanumDriveWheelSpeeds(2.12, 21.92, -12.02, 36.06);
+ var moduleStates = m_kinematics.toChassisSpeeds(wheelSpeeds);
+
+ /*
+ By equation (13.13) of the state-space-guide, the chassis motion from the wheel
+ velocities should be [[17][-10][1]]
+ */
+
+ assertAll(
+ () -> assertEquals(17, moduleStates.vxMetersPerSecond, 0.1),
+ () -> assertEquals(-10, moduleStates.vyMetersPerSecond, 0.1),
+ () -> assertEquals(1, moduleStates.omegaRadiansPerSecond, 0.1)
+ );
+ }
+
+ @Test
+ void testNormalize() {
+ var wheelSpeeds = new MecanumDriveWheelSpeeds(5, 6, 4, 7);
+ wheelSpeeds.normalize(5.5);
+
+ double factor = 5.5 / 7.0;
+
+ assertAll(
+ () -> assertEquals(5.0 * factor, wheelSpeeds.frontLeftMetersPerSecond, kEpsilon),
+ () -> assertEquals(6.0 * factor, wheelSpeeds.frontRightMetersPerSecond, kEpsilon),
+ () -> assertEquals(4.0 * factor, wheelSpeeds.rearLeftMetersPerSecond, kEpsilon),
+ () -> assertEquals(7.0 * factor, wheelSpeeds.rearRightMetersPerSecond, kEpsilon)
+ );
+ }
+
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveOdometryTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveOdometryTest.java
new file mode 100644
index 0000000..04acceb
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveOdometryTest.java
@@ -0,0 +1,74 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.kinematics;
+
+import org.junit.jupiter.api.Test;
+
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.geometry.Translation2d;
+
+import static org.junit.jupiter.api.Assertions.assertAll;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+class MecanumDriveOdometryTest {
+ private final Translation2d m_fl = new Translation2d(12, 12);
+ private final Translation2d m_fr = new Translation2d(12, -12);
+ private final Translation2d m_bl = new Translation2d(-12, 12);
+ private final Translation2d m_br = new Translation2d(-12, -12);
+
+ private final MecanumDriveKinematics m_kinematics =
+ new MecanumDriveKinematics(m_fl, m_fr, m_bl, m_br);
+
+ private final MecanumDriveOdometry m_odometry = new MecanumDriveOdometry(m_kinematics);
+
+ @Test
+ void testMultipleConsecutiveUpdates() {
+ var wheelSpeeds = new MecanumDriveWheelSpeeds(3.536, 3.536, 3.536, 3.536);
+
+ m_odometry.updateWithTime(0.0, new Rotation2d(), wheelSpeeds);
+ var secondPose = m_odometry.updateWithTime(0.0, new Rotation2d(), wheelSpeeds);
+
+ assertAll(
+ () -> assertEquals(secondPose.getTranslation().getX(), 0.0, 0.01),
+ () -> assertEquals(secondPose.getTranslation().getY(), 0.0, 0.01),
+ () -> assertEquals(secondPose.getRotation().getDegrees(), 0.0, 0.01)
+ );
+ }
+
+ @Test
+ void testTwoIterations() {
+ // 5 units/sec in the x axis (forward)
+ final var wheelSpeeds = new MecanumDriveWheelSpeeds(3.536, 3.536, 3.536, 3.536);
+
+ m_odometry.updateWithTime(0.0, new Rotation2d(), new MecanumDriveWheelSpeeds());
+ var pose = m_odometry.updateWithTime(0.10, new Rotation2d(), wheelSpeeds);
+
+ assertAll(
+ () -> assertEquals(5.0 / 10.0, pose.getTranslation().getX(), 0.01),
+ () -> assertEquals(0, pose.getTranslation().getY(), 0.01),
+ () -> assertEquals(0.0, pose.getRotation().getDegrees(), 0.01)
+ );
+ }
+
+ @Test
+ void test90degreeTurn() {
+ // This is a 90 degree turn about the point between front left and rear left wheels
+ // fl -13.328649 fr 39.985946 rl -13.328649 rr 39.985946
+ final var wheelSpeeds = new MecanumDriveWheelSpeeds(-13.328, 39.986, -13.329, 39.986);
+
+ m_odometry.updateWithTime(0.0, new Rotation2d(), new MecanumDriveWheelSpeeds());
+ final var pose = m_odometry.updateWithTime(1.0, Rotation2d.fromDegrees(90.0), wheelSpeeds);
+
+ assertAll(
+ () -> assertEquals(12.0, pose.getTranslation().getX(), 0.01),
+ () -> assertEquals(12.0, pose.getTranslation().getY(), 0.01),
+ () -> assertEquals(90.0, pose.getRotation().getDegrees(), 0.01)
+ );
+ }
+
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveKinematicsTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveKinematicsTest.java
new file mode 100644
index 0000000..f506436
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveKinematicsTest.java
@@ -0,0 +1,263 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.kinematics;
+
+import org.junit.jupiter.api.Test;
+
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.geometry.Translation2d;
+
+import static org.junit.jupiter.api.Assertions.assertAll;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+@SuppressWarnings("PMD.TooManyMethods")
+class SwerveDriveKinematicsTest {
+ private static final double kEpsilon = 1E-9;
+
+ private final Translation2d m_fl = new Translation2d(12, 12);
+ private final Translation2d m_fr = new Translation2d(12, -12);
+ private final Translation2d m_bl = new Translation2d(-12, 12);
+ private final Translation2d m_br = new Translation2d(-12, -12);
+
+ private final SwerveDriveKinematics m_kinematics =
+ new SwerveDriveKinematics(m_fl, m_fr, m_bl, m_br);
+
+ @Test
+ void testStraightLineInverseKinematics() { // test inverse kinematics going in a straight line
+
+ ChassisSpeeds speeds = new ChassisSpeeds(5, 0, 0);
+ var moduleStates = m_kinematics.toSwerveModuleStates(speeds);
+
+ assertAll(
+ () -> assertEquals(5.0, moduleStates[0].speedMetersPerSecond, kEpsilon),
+ () -> assertEquals(5.0, moduleStates[1].speedMetersPerSecond, kEpsilon),
+ () -> assertEquals(5.0, moduleStates[2].speedMetersPerSecond, kEpsilon),
+ () -> assertEquals(5.0, moduleStates[3].speedMetersPerSecond, kEpsilon),
+ () -> assertEquals(0.0, moduleStates[0].angle.getRadians(), kEpsilon),
+ () -> assertEquals(0.0, moduleStates[1].angle.getRadians(), kEpsilon),
+ () -> assertEquals(0.0, moduleStates[2].angle.getRadians(), kEpsilon),
+ () -> assertEquals(0.0, moduleStates[3].angle.getRadians(), kEpsilon)
+ );
+ }
+
+ @Test
+ void testStraightLineForwardKinematics() { // test forward kinematics going in a straight line
+ SwerveModuleState state = new SwerveModuleState(5.0, Rotation2d.fromDegrees(90.0));
+ var chassisSpeeds = m_kinematics.toChassisSpeeds(state, state, state, state);
+
+ assertAll(
+ () -> assertEquals(0.0, chassisSpeeds.vxMetersPerSecond, kEpsilon),
+ () -> assertEquals(5.0, chassisSpeeds.vyMetersPerSecond, kEpsilon),
+ () -> assertEquals(0.0, chassisSpeeds.omegaRadiansPerSecond, kEpsilon)
+ );
+ }
+
+ @Test
+ void testStraightStrafeInverseKinematics() {
+
+ ChassisSpeeds speeds = new ChassisSpeeds(0, 5, 0);
+ var moduleStates = m_kinematics.toSwerveModuleStates(speeds);
+
+ assertAll(
+ () -> assertEquals(5.0, moduleStates[0].speedMetersPerSecond, kEpsilon),
+ () -> assertEquals(5.0, moduleStates[1].speedMetersPerSecond, kEpsilon),
+ () -> assertEquals(5.0, moduleStates[2].speedMetersPerSecond, kEpsilon),
+ () -> assertEquals(5.0, moduleStates[3].speedMetersPerSecond, kEpsilon),
+ () -> assertEquals(90.0, moduleStates[0].angle.getDegrees(), kEpsilon),
+ () -> assertEquals(90.0, moduleStates[1].angle.getDegrees(), kEpsilon),
+ () -> assertEquals(90.0, moduleStates[2].angle.getDegrees(), kEpsilon),
+ () -> assertEquals(90.0, moduleStates[3].angle.getDegrees(), kEpsilon)
+ );
+ }
+
+ @Test
+ void testStraightStrafeForwardKinematics() {
+ SwerveModuleState state = new SwerveModuleState(5.0, Rotation2d.fromDegrees(90.0));
+ var chassisSpeeds = m_kinematics.toChassisSpeeds(state, state, state, state);
+
+ assertAll(
+ () -> assertEquals(0.0, chassisSpeeds.vxMetersPerSecond, kEpsilon),
+ () -> assertEquals(5.0, chassisSpeeds.vyMetersPerSecond, kEpsilon),
+ () -> assertEquals(0.0, chassisSpeeds.omegaRadiansPerSecond, kEpsilon)
+ );
+ }
+
+ @Test
+ void testTurnInPlaceInverseKinematics() {
+
+ ChassisSpeeds speeds = new ChassisSpeeds(0, 0, 2 * Math.PI);
+ var moduleStates = m_kinematics.toSwerveModuleStates(speeds);
+
+ /*
+ The circumference of the wheels about the COR is pi * diameter, or 2 * pi * radius
+ the radius is the sqrt(12^2in + 12^2in), or 16.9706in, so the circumference the wheels
+ trace out is 106.629190516in. since we want our robot to rotate at 1 rotation per second,
+ our wheels must trace out 1 rotation (or 106.63 inches) per second.
+ */
+
+ assertAll(
+ () -> assertEquals(106.63, moduleStates[0].speedMetersPerSecond, 0.1),
+ () -> assertEquals(106.63, moduleStates[1].speedMetersPerSecond, 0.1),
+ () -> assertEquals(106.63, moduleStates[2].speedMetersPerSecond, 0.1),
+ () -> assertEquals(106.63, moduleStates[3].speedMetersPerSecond, 0.1),
+ () -> assertEquals(135.0, moduleStates[0].angle.getDegrees(), kEpsilon),
+ () -> assertEquals(45.0, moduleStates[1].angle.getDegrees(), kEpsilon),
+ () -> assertEquals(-135.0, moduleStates[2].angle.getDegrees(), kEpsilon),
+ () -> assertEquals(-45.0, moduleStates[3].angle.getDegrees(), kEpsilon)
+ );
+ }
+
+ @Test
+ void testTurnInPlaceForwardKinematics() {
+ SwerveModuleState flState = new SwerveModuleState(106.629, Rotation2d.fromDegrees(135));
+ SwerveModuleState frState = new SwerveModuleState(106.629, Rotation2d.fromDegrees(45));
+ SwerveModuleState blState = new SwerveModuleState(106.629, Rotation2d.fromDegrees(-135));
+ SwerveModuleState brState = new SwerveModuleState(106.629, Rotation2d.fromDegrees(-45));
+
+ var chassisSpeeds = m_kinematics.toChassisSpeeds(flState, frState, blState, brState);
+
+ assertAll(
+ () -> assertEquals(0.0, chassisSpeeds.vxMetersPerSecond, kEpsilon),
+ () -> assertEquals(0.0, chassisSpeeds.vyMetersPerSecond, kEpsilon),
+ () -> assertEquals(2 * Math.PI, chassisSpeeds.omegaRadiansPerSecond, 0.1)
+ );
+ }
+
+ @Test
+ void testOffCenterCORRotationInverseKinematics() {
+
+ ChassisSpeeds speeds = new ChassisSpeeds(0, 0, 2 * Math.PI);
+ var moduleStates = m_kinematics.toSwerveModuleStates(speeds, m_fl);
+
+ /*
+ This one is a bit trickier. Because we are rotating about the front-left wheel,
+ it should be parked at 0 degrees and 0 speed. The front-right and back-left wheels both travel
+ an arc with radius 24 (and circumference 150.796), and the back-right wheel travels an arc with
+ radius sqrt(24^2 + 24^2) and circumference 213.2584. As for angles, the front-right wheel
+ should be pointing straight forward, the back-left wheel should be pointing straight right,
+ and the back-right wheel should be at a -45 degree angle
+ */
+
+ assertAll(
+ () -> assertEquals(0.0, moduleStates[0].speedMetersPerSecond, 0.1),
+ () -> assertEquals(150.796, moduleStates[1].speedMetersPerSecond, 0.1),
+ () -> assertEquals(150.796, moduleStates[2].speedMetersPerSecond, 0.1),
+ () -> assertEquals(213.258, moduleStates[3].speedMetersPerSecond, 0.1),
+ () -> assertEquals(0.0, moduleStates[0].angle.getDegrees(), kEpsilon),
+ () -> assertEquals(0.0, moduleStates[1].angle.getDegrees(), kEpsilon),
+ () -> assertEquals(-90.0, moduleStates[2].angle.getDegrees(), kEpsilon),
+ () -> assertEquals(-45.0, moduleStates[3].angle.getDegrees(), kEpsilon)
+ );
+ }
+
+ @Test
+ void testOffCenterCORRotationForwardKinematics() {
+ SwerveModuleState flState = new SwerveModuleState(0.0, Rotation2d.fromDegrees(0.0));
+ SwerveModuleState frState = new SwerveModuleState(150.796, Rotation2d.fromDegrees(0.0));
+ SwerveModuleState blState = new SwerveModuleState(150.796, Rotation2d.fromDegrees(-90));
+ SwerveModuleState brState = new SwerveModuleState(213.258, Rotation2d.fromDegrees(-45));
+
+ var chassisSpeeds = m_kinematics.toChassisSpeeds(flState, frState, blState, brState);
+
+ /*
+ We already know that our omega should be 2pi from the previous test. Next, we need to determine
+ the vx and vy of our chassis center. Because our COR is at a 45 degree angle from the center,
+ we know that vx and vy must be the same. Furthermore, we know that the center of mass makes
+ a full revolution about the center of revolution once every second. Therefore, the center of
+ mass must be moving at 106.629in/sec. Recalling that the ratios of a 45/45/90 triagle are
+ 1:sqrt(2)/2:sqrt(2)/2, we find that the COM vx is -75.398, and vy is 75.398.
+ */
+
+ assertAll(
+ () -> assertEquals(75.398, chassisSpeeds.vxMetersPerSecond, 0.1),
+ () -> assertEquals(-75.398, chassisSpeeds.vyMetersPerSecond, 0.1),
+ () -> assertEquals(2 * Math.PI, chassisSpeeds.omegaRadiansPerSecond, 0.1)
+ );
+ }
+
+ private void assertModuleState(SwerveModuleState expected, SwerveModuleState actual,
+ SwerveModuleState tolerance) {
+ assertAll(
+ () -> assertEquals(expected.speedMetersPerSecond, actual.speedMetersPerSecond,
+ tolerance.speedMetersPerSecond),
+ () -> assertEquals(expected.angle.getDegrees(), actual.angle.getDegrees(),
+ tolerance.angle.getDegrees())
+ );
+ }
+
+ /**
+ * Test the rotation of the robot about a non-central point with
+ * both linear and angular velocities.
+ */
+ @Test
+ void testOffCenterCORRotationAndTranslationInverseKinematics() {
+
+ ChassisSpeeds speeds = new ChassisSpeeds(0.0, 3.0, 1.5);
+ var moduleStates = m_kinematics.toSwerveModuleStates(speeds, new Translation2d(24, 0));
+
+ // By equation (13.14) from state-space guide, our wheels/angles will be as follows,
+ // (+-1 degree or speed):
+ SwerveModuleState[] expectedStates = new SwerveModuleState[]{
+ new SwerveModuleState(23.43, Rotation2d.fromDegrees(-140.19)),
+ new SwerveModuleState(23.43, Rotation2d.fromDegrees(-39.81)),
+ new SwerveModuleState(54.08, Rotation2d.fromDegrees(-109.44)),
+ new SwerveModuleState(54.08, Rotation2d.fromDegrees(-70.56))
+ };
+ var stateTolerance = new SwerveModuleState(0.1, Rotation2d.fromDegrees(0.1));
+
+ for (int i = 0; i < expectedStates.length; i++) {
+ assertModuleState(expectedStates[i], moduleStates[i], stateTolerance);
+ }
+ }
+
+ @Test
+ void testOffCenterCORRotationAndTranslationForwardKinematics() {
+ SwerveModuleState flState = new SwerveModuleState(23.43, Rotation2d.fromDegrees(-140.19));
+ SwerveModuleState frState = new SwerveModuleState(23.43, Rotation2d.fromDegrees(-39.81));
+ SwerveModuleState blState = new SwerveModuleState(54.08, Rotation2d.fromDegrees(-109.44));
+ SwerveModuleState brState = new SwerveModuleState(54.08, Rotation2d.fromDegrees(-70.56));
+
+ var chassisSpeeds = m_kinematics.toChassisSpeeds(flState, frState, blState, brState);
+
+ /*
+ From equation (13.17), we know that chassis motion is th dot product of the
+ pseudoinverse of the inverseKinematics matrix (with the center of rotation at
+ (0,0) -- we don't want the motion of the center of rotation, we want it of
+ the center of the robot). These above SwerveModuleStates are known to be from
+ a velocity of [[0][3][1.5]] about (0, 24), and the expected numbers have been
+ calculated using Numpy's linalg.pinv function.
+ */
+
+ assertAll(
+ () -> assertEquals(0.0, chassisSpeeds.vxMetersPerSecond, 0.1),
+ () -> assertEquals(-33.0, chassisSpeeds.vyMetersPerSecond, 0.1),
+ () -> assertEquals(1.5, chassisSpeeds.omegaRadiansPerSecond, 0.1)
+ );
+ }
+
+ @Test
+ void testNormalize() {
+ SwerveModuleState fl = new SwerveModuleState(5, new Rotation2d());
+ SwerveModuleState fr = new SwerveModuleState(6, new Rotation2d());
+ SwerveModuleState bl = new SwerveModuleState(4, new Rotation2d());
+ SwerveModuleState br = new SwerveModuleState(7, new Rotation2d());
+
+ SwerveModuleState[] arr = {fl, fr, bl, br};
+ SwerveDriveKinematics.normalizeWheelSpeeds(arr, 5.5);
+
+ double factor = 5.5 / 7.0;
+
+ assertAll(
+ () -> assertEquals(5.0 * factor, arr[0].speedMetersPerSecond, kEpsilon),
+ () -> assertEquals(6.0 * factor, arr[1].speedMetersPerSecond, kEpsilon),
+ () -> assertEquals(4.0 * factor, arr[2].speedMetersPerSecond, kEpsilon),
+ () -> assertEquals(7.0 * factor, arr[3].speedMetersPerSecond, kEpsilon)
+ );
+ }
+
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveOdometryTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveOdometryTest.java
new file mode 100644
index 0000000..c945b8b
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveOdometryTest.java
@@ -0,0 +1,76 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.kinematics;
+
+import org.junit.jupiter.api.Test;
+
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.geometry.Translation2d;
+
+import static org.junit.jupiter.api.Assertions.assertAll;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+class SwerveDriveOdometryTest {
+ private final Translation2d m_fl = new Translation2d(12, 12);
+ private final Translation2d m_fr = new Translation2d(12, -12);
+ private final Translation2d m_bl = new Translation2d(-12, 12);
+ private final Translation2d m_br = new Translation2d(-12, -12);
+
+ private final SwerveDriveKinematics m_kinematics =
+ new SwerveDriveKinematics(m_fl, m_fr, m_bl, m_br);
+
+ private final SwerveDriveOdometry m_odometry = new SwerveDriveOdometry(m_kinematics);
+
+ @Test
+ void testTwoIterations() {
+ // 5 units/sec in the x axis (forward)
+ final SwerveModuleState[] wheelSpeeds = {
+ new SwerveModuleState(5, Rotation2d.fromDegrees(0)),
+ new SwerveModuleState(5, Rotation2d.fromDegrees(0)),
+ new SwerveModuleState(5, Rotation2d.fromDegrees(0)),
+ new SwerveModuleState(5, Rotation2d.fromDegrees(0))
+ };
+
+ m_odometry.updateWithTime(0.0, new Rotation2d(),
+ new SwerveModuleState(), new SwerveModuleState(),
+ new SwerveModuleState(), new SwerveModuleState());
+ var pose = m_odometry.updateWithTime(0.10, new Rotation2d(), wheelSpeeds);
+
+ assertAll(
+ () -> assertEquals(5.0 / 10.0, pose.getTranslation().getX(), 0.01),
+ () -> assertEquals(0, pose.getTranslation().getY(), 0.01),
+ () -> assertEquals(0.0, pose.getRotation().getDegrees(), 0.01)
+ );
+ }
+
+ @Test
+ void test90degreeTurn() {
+ // This is a 90 degree turn about the point between front left and rear left wheels
+ // Module 0: speed 18.84955592153876 angle 90.0
+ // Module 1: speed 42.14888838624436 angle 26.565051177077986
+ // Module 2: speed 18.84955592153876 angle -90.0
+ // Module 3: speed 42.14888838624436 angle -26.565051177077986
+
+ final SwerveModuleState[] wheelSpeeds = {
+ new SwerveModuleState(18.85, Rotation2d.fromDegrees(90.0)),
+ new SwerveModuleState(42.15, Rotation2d.fromDegrees(26.565)),
+ new SwerveModuleState(18.85, Rotation2d.fromDegrees(-90)),
+ new SwerveModuleState(42.15, Rotation2d.fromDegrees(-26.565))
+ };
+ final var zero = new SwerveModuleState();
+
+ m_odometry.updateWithTime(0.0, new Rotation2d(), zero, zero, zero, zero);
+ final var pose = m_odometry.updateWithTime(1.0, Rotation2d.fromDegrees(90.0), wheelSpeeds);
+
+ assertAll(
+ () -> assertEquals(12.0, pose.getTranslation().getX(), 0.01),
+ () -> assertEquals(12.0, pose.getTranslation().getY(), 0.01),
+ () -> assertEquals(90.0, pose.getRotation().getDegrees(), 0.01)
+ );
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/livewindow/LiveWindowTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/livewindow/LiveWindowTest.java
index da1757c..dd33945 100644
--- a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/livewindow/LiveWindowTest.java
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/livewindow/LiveWindowTest.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,7 +9,7 @@
import edu.wpi.first.wpilibj.UtilityClassTest;
-class LiveWindowTest extends UtilityClassTest {
+class LiveWindowTest extends UtilityClassTest<LiveWindow> {
LiveWindowTest() {
super(LiveWindow.class);
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/MockActuatorSendable.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/MockActuatorSendable.java
index 6cbeae2..89ca3ec 100644
--- a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/MockActuatorSendable.java
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/MockActuatorSendable.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,16 +7,16 @@
package edu.wpi.first.wpilibj.shuffleboard;
-import edu.wpi.first.wpilibj.SendableBase;
+import edu.wpi.first.wpilibj.Sendable;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* A mock sendable that marks itself as an actuator.
*/
-public class MockActuatorSendable extends SendableBase {
+public class MockActuatorSendable implements Sendable {
public MockActuatorSendable(String name) {
- super(false);
- setName(name);
+ SendableRegistry.add(this, name);
}
@Override
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTest.java
index c4285fb..1469170 100644
--- a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTest.java
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTest.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -13,7 +13,7 @@
import static org.junit.jupiter.api.Assertions.assertSame;
-public class ShuffleboardTest extends UtilityClassTest {
+public class ShuffleboardTest extends UtilityClassTest<Shuffleboard> {
public ShuffleboardTest() {
super(Shuffleboard.class);
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/SuppliedValueWidgetTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/SuppliedValueWidgetTest.java
new file mode 100644
index 0000000..6e0da8e
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/SuppliedValueWidgetTest.java
@@ -0,0 +1,119 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.shuffleboard;
+
+import java.util.concurrent.atomic.AtomicInteger;
+
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
+
+import static org.junit.jupiter.api.Assertions.assertArrayEquals;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+class SuppliedValueWidgetTest {
+ private NetworkTableInstance m_ntInstance;
+ private ShuffleboardInstance m_instance;
+
+ @BeforeEach
+ void setup() {
+ m_ntInstance = NetworkTableInstance.create();
+ m_instance = new ShuffleboardInstance(m_ntInstance);
+ }
+
+ @Test
+ void testAddString() {
+ AtomicInteger count = new AtomicInteger(0);
+ m_instance.getTab("Tab")
+ .addString("Title", () -> Integer.toString(count.incrementAndGet()));
+ NetworkTableEntry entry = m_ntInstance.getEntry("/Shuffleboard/Tab/Title");
+
+ m_instance.update();
+ assertEquals("1", entry.getString(null));
+
+ m_instance.update();
+ assertEquals("2", entry.getString(null));
+ }
+
+ @Test
+ void testAddDouble() {
+ AtomicInteger num = new AtomicInteger(0);
+ m_instance.getTab("Tab")
+ .addNumber("Title", num::incrementAndGet);
+ NetworkTableEntry entry = m_ntInstance.getEntry("/Shuffleboard/Tab/Title");
+
+ m_instance.update();
+ assertEquals(1, entry.getDouble(0));
+
+ m_instance.update();
+ assertEquals(2, entry.getDouble(0));
+ }
+
+ @Test
+ void testAddBoolean() {
+ boolean[] bool = {false};
+ m_instance.getTab("Tab")
+ .addBoolean("Title", () -> bool[0] = !bool[0]);
+ NetworkTableEntry entry = m_ntInstance.getEntry("/Shuffleboard/Tab/Title");
+
+ m_instance.update();
+ assertTrue(entry.getBoolean(false));
+
+ m_instance.update();
+ assertFalse(entry.getBoolean(true));
+ }
+
+ @Test
+ void testAddStringArray() {
+ String[] arr = {"foo", "bar"};
+ m_instance.getTab("Tab")
+ .addStringArray("Title", () -> arr);
+ NetworkTableEntry entry = m_ntInstance.getEntry("/Shuffleboard/Tab/Title");
+
+ m_instance.update();
+ assertArrayEquals(arr, entry.getStringArray(new String[0]));
+ }
+
+ @Test
+ void testAddDoubleArray() {
+ double[] arr = {0, 1};
+ m_instance.getTab("Tab")
+ .addDoubleArray("Title", () -> arr);
+ NetworkTableEntry entry = m_ntInstance.getEntry("/Shuffleboard/Tab/Title");
+
+ m_instance.update();
+ assertArrayEquals(arr, entry.getDoubleArray(new double[0]));
+ }
+
+ @Test
+ void testAddBooleanArray() {
+ boolean[] arr = {true, false};
+ m_instance.getTab("Tab")
+ .addBooleanArray("Title", () -> arr);
+ NetworkTableEntry entry = m_ntInstance.getEntry("/Shuffleboard/Tab/Title");
+
+ m_instance.update();
+ assertArrayEquals(arr, entry.getBooleanArray(new boolean[0]));
+ }
+
+ @Test
+ void testAddRawBytes() {
+ byte[] arr = {0, 1, 2, 3};
+ m_instance.getTab("Tab")
+ .addRaw("Title", () -> arr);
+ NetworkTableEntry entry = m_ntInstance.getEntry("/Shuffleboard/Tab/Title");
+
+ m_instance.update();
+ assertArrayEquals(arr, entry.getRaw(new byte[0]));
+ }
+
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/sim/AnalogInputSimTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/sim/AnalogInputSimTest.java
index b739a92..91210bc 100644
--- a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/sim/AnalogInputSimTest.java
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/sim/AnalogInputSimTest.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -40,7 +40,7 @@
}
-
+ input.close();
}
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/sim/AnalogOutputSimTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/sim/AnalogOutputSimTest.java
index 258b253..7771425 100644
--- a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/sim/AnalogOutputSimTest.java
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/sim/AnalogOutputSimTest.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -67,5 +67,7 @@
}
}
+
+ output.close();
}
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboardTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboardTest.java
index 00dd002..cc92ed0 100644
--- a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboardTest.java
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboardTest.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,10 +7,113 @@
package edu.wpi.first.wpilibj.smartdashboard;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.UtilityClassTest;
-class SmartDashboardTest extends UtilityClassTest {
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertThrows;
+
+class SmartDashboardTest extends UtilityClassTest<SmartDashboard> {
+ private final NetworkTable m_table = NetworkTableInstance.getDefault().getTable("SmartDashboard");
+
SmartDashboardTest() {
super(SmartDashboard.class);
}
+
+ @BeforeEach
+ void beforeEach() {
+ m_table.getKeys().forEach(m_table::delete);
+ }
+
+ @Test
+ void getBadValueTest() {
+ assertEquals("Expected", SmartDashboard.getString("KEY_SHOULD_NOT_BE_FOUND", "Expected"));
+ }
+
+ @Test
+ void putStringTest() {
+ final String key = "putString";
+ final String value = "thisIsAValue";
+
+ SmartDashboard.putString(key, value);
+
+ assertEquals(value, m_table.getEntry(key).getString(""));
+ }
+
+ @Test
+ void getStringTest() {
+ final String key = "getString";
+ final String value = "thisIsAValue";
+
+ m_table.getEntry(key).setString(value);
+
+ assertEquals(value, SmartDashboard.getString(key, ""));
+ }
+
+ @Test
+ void putNumberTest() {
+ final String key = "PutNumber";
+ final int value = 2147483647;
+
+ SmartDashboard.putNumber(key, value);
+
+ assertEquals(value, m_table.getEntry(key).getNumber(0).intValue());
+ }
+
+ @Test
+ void getNumberTest() {
+ final String key = "GetNumber";
+ final int value = 2147483647;
+
+ m_table.getEntry(key).setNumber(value);
+
+ assertEquals(value, SmartDashboard.getNumber(key, 0), 0.01);
+ }
+
+ @Test
+ void putBooleanTest() {
+ final String key = "PutBoolean";
+ final boolean value = true;
+
+ SmartDashboard.putBoolean(key, value);
+
+ assertEquals(value, m_table.getEntry(key).getBoolean(!value));
+ }
+
+ @Test
+ void getBooleanTest() {
+ final String key = "GetBoolean";
+ final boolean value = true;
+
+ m_table.getEntry(key).setBoolean(value);
+
+ assertEquals(value, SmartDashboard.getBoolean(key, !value));
+ }
+
+ @Test
+ void testReplaceString() {
+ final String key = "testReplaceString";
+ final String valueNew = "newValue";
+
+ m_table.getEntry(key).setString("oldValue");
+ SmartDashboard.putString(key, valueNew);
+
+ assertEquals(valueNew, m_table.getEntry(key).getString(""));
+ }
+
+ @Test
+ void putStringNullKeyTest() {
+ assertThrows(NullPointerException.class,
+ () -> SmartDashboard.putString(null, "This should not work"));
+ }
+
+ @Test
+ void putStringNullValueTest() {
+ assertThrows(NullPointerException.class,
+ () -> SmartDashboard.putString("KEY_SHOULD_NOT_BE_STORED", null));
+ }
}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/spline/CubicHermiteSplineTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/spline/CubicHermiteSplineTest.java
new file mode 100644
index 0000000..d7d4558
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/spline/CubicHermiteSplineTest.java
@@ -0,0 +1,107 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.spline;
+
+import java.util.ArrayList;
+import java.util.List;
+
+import org.junit.jupiter.api.Test;
+
+import edu.wpi.first.wpilibj.geometry.Pose2d;
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.geometry.Translation2d;
+
+import static org.junit.jupiter.api.Assertions.assertAll;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+
+class CubicHermiteSplineTest {
+ private static final double kMaxDx = 0.127;
+ private static final double kMaxDy = 0.00127;
+ private static final double kMaxDtheta = 0.0872;
+
+ @SuppressWarnings({"ParameterName", "PMD.UnusedLocalVariable"})
+ private void run(Pose2d a, List<Translation2d> waypoints, Pose2d b) {
+ // Start the timer.
+ var start = System.nanoTime();
+
+ // Generate and parameterize the spline.
+ var controlVectors =
+ SplineHelper.getCubicControlVectorsFromWaypoints(a,
+ waypoints.toArray(new Translation2d[0]), b);
+ var splines
+ = SplineHelper.getCubicSplinesFromControlVectors(
+ controlVectors[0], waypoints.toArray(new Translation2d[0]), controlVectors[1]);
+
+ var poses = new ArrayList<PoseWithCurvature>();
+
+ poses.add(splines[0].getPoint(0.0));
+
+ for (var spline : splines) {
+ poses.addAll(SplineParameterizer.parameterize(spline));
+ }
+
+ // End the timer.
+ var end = System.nanoTime();
+
+ // Calculate the duration (used when benchmarking)
+ var durationMicroseconds = (end - start) / 1000.0;
+
+ for (int i = 0; i < poses.size() - 1; i++) {
+ var p0 = poses.get(i);
+ var p1 = poses.get(i + 1);
+
+ // Make sure the twist is under the tolerance defined by the Spline class.
+ var twist = p0.poseMeters.log(p1.poseMeters);
+ assertAll(
+ () -> assertTrue(Math.abs(twist.dx) < kMaxDx),
+ () -> assertTrue(Math.abs(twist.dy) < kMaxDy),
+ () -> assertTrue(Math.abs(twist.dtheta) < kMaxDtheta)
+ );
+ }
+
+ // Check first point
+ assertAll(
+ () -> assertEquals(a.getTranslation().getX(),
+ poses.get(0).poseMeters.getTranslation().getX(), 1E-9),
+ () -> assertEquals(a.getTranslation().getY(),
+ poses.get(0).poseMeters.getTranslation().getY(), 1E-9),
+ () -> assertEquals(a.getRotation().getRadians(),
+ poses.get(0).poseMeters.getRotation().getRadians(), 1E-9)
+ );
+
+ // Check last point
+ assertAll(
+ () -> assertEquals(b.getTranslation().getX(),
+ poses.get(poses.size() - 1).poseMeters.getTranslation().getX(), 1E-9),
+ () -> assertEquals(b.getTranslation().getY(),
+ poses.get(poses.size() - 1).poseMeters.getTranslation().getY(), 1E-9),
+ () -> assertEquals(b.getRotation().getRadians(),
+ poses.get(poses.size() - 1).poseMeters.getRotation().getRadians(), 1E-9)
+ );
+ }
+
+ @SuppressWarnings("PMD.JUnitTestsShouldIncludeAssert")
+ @Test
+ void testStraightLine() {
+ run(new Pose2d(), new ArrayList<>(), new Pose2d(3, 0, new Rotation2d()));
+ }
+
+ @SuppressWarnings("PMD.JUnitTestsShouldIncludeAssert")
+ @Test
+ void testSCurve() {
+ var start = new Pose2d(0, 0, Rotation2d.fromDegrees(90.0));
+ ArrayList<Translation2d> waypoints = new ArrayList<>();
+ waypoints.add(new Translation2d(1, 1));
+ waypoints.add(new Translation2d(2, -1));
+ var end = new Pose2d(3, 0, Rotation2d.fromDegrees(90.0));
+
+ run(start, waypoints, end);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSplineTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSplineTest.java
new file mode 100644
index 0000000..5eb8437
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSplineTest.java
@@ -0,0 +1,95 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.spline;
+
+import java.util.List;
+
+import org.junit.jupiter.api.Test;
+
+import edu.wpi.first.wpilibj.geometry.Pose2d;
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
+
+import static org.junit.jupiter.api.Assertions.assertAll;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+class QuinticHermiteSplineTest {
+ private static final double kMaxDx = 0.127;
+ private static final double kMaxDy = 0.00127;
+ private static final double kMaxDtheta = 0.0872;
+
+ @SuppressWarnings({"ParameterName", "PMD.UnusedLocalVariable"})
+ private void run(Pose2d a, Pose2d b) {
+ // Start the timer.
+ var start = System.nanoTime();
+
+ // Generate and parameterize the spline.
+ var controlVectors = SplineHelper.getQuinticControlVectorsFromWaypoints(List.of(a, b));
+ var spline = SplineHelper.getQuinticSplinesFromControlVectors(
+ controlVectors.toArray(new Spline.ControlVector[0]))[0];
+ var poses = SplineParameterizer.parameterize(spline);
+
+ // End the timer.
+ var end = System.nanoTime();
+
+ // Calculate the duration (used when benchmarking)
+ var durationMicroseconds = (end - start) / 1000.0;
+
+ for (int i = 0; i < poses.size() - 1; i++) {
+ var p0 = poses.get(i);
+ var p1 = poses.get(i + 1);
+
+ // Make sure the twist is under the tolerance defined by the Spline class.
+ var twist = p0.poseMeters.log(p1.poseMeters);
+ assertAll(
+ () -> assertTrue(Math.abs(twist.dx) < kMaxDx),
+ () -> assertTrue(Math.abs(twist.dy) < kMaxDy),
+ () -> assertTrue(Math.abs(twist.dtheta) < kMaxDtheta)
+ );
+ }
+
+ // Check first point
+ assertAll(
+ () -> assertEquals(a.getTranslation().getX(),
+ poses.get(0).poseMeters.getTranslation().getX(), 1E-9),
+ () -> assertEquals(a.getTranslation().getY(),
+ poses.get(0).poseMeters.getTranslation().getY(), 1E-9),
+ () -> assertEquals(a.getRotation().getRadians(),
+ poses.get(0).poseMeters.getRotation().getRadians(), 1E-9)
+ );
+
+ // Check last point
+ assertAll(
+ () -> assertEquals(b.getTranslation().getX(),
+ poses.get(poses.size() - 1).poseMeters.getTranslation().getX(), 1E-9),
+ () -> assertEquals(b.getTranslation().getY(),
+ poses.get(poses.size() - 1).poseMeters.getTranslation().getY(), 1E-9),
+ () -> assertEquals(b.getRotation().getRadians(),
+ poses.get(poses.size() - 1).poseMeters.getRotation().getRadians(), 1E-9)
+ );
+ }
+
+ @SuppressWarnings("PMD.JUnitTestsShouldIncludeAssert")
+ @Test
+ void testStraightLine() {
+ run(new Pose2d(), new Pose2d(3, 0, new Rotation2d()));
+ }
+
+ @SuppressWarnings("PMD.JUnitTestsShouldIncludeAssert")
+ @Test
+ void testSimpleSCurve() {
+ run(new Pose2d(), new Pose2d(1, 1, new Rotation2d()));
+ }
+
+ @SuppressWarnings("PMD.JUnitTestsShouldIncludeAssert")
+ @Test
+ void testSquiggly() {
+ run(new Pose2d(0, 0, Rotation2d.fromDegrees(90)),
+ new Pose2d(-1, 0, Rotation2d.fromDegrees(90)));
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/trajectory/CentripetalAccelerationConstraintTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/trajectory/CentripetalAccelerationConstraintTest.java
new file mode 100644
index 0000000..977c5ab
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/trajectory/CentripetalAccelerationConstraintTest.java
@@ -0,0 +1,43 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.trajectory;
+
+import java.util.Collections;
+
+import org.junit.jupiter.api.Test;
+
+import edu.wpi.first.wpilibj.trajectory.constraint.CentripetalAccelerationConstraint;
+import edu.wpi.first.wpilibj.util.Units;
+
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+class CentripetalAccelerationConstraintTest {
+ @SuppressWarnings("LocalVariableName")
+ @Test
+ void testCentripetalAccelerationConstraint() {
+ double maxCentripetalAcceleration = Units.feetToMeters(7.0); // 7 feet per second squared
+ var constraint = new CentripetalAccelerationConstraint(maxCentripetalAcceleration);
+
+ Trajectory trajectory = TrajectoryGeneratorTest.getTrajectory(
+ Collections.singletonList(constraint));
+
+ var duration = trajectory.getTotalTimeSeconds();
+ var t = 0.0;
+ var dt = 0.02;
+
+ while (t < duration) {
+ var point = trajectory.sample(t);
+ var centripetalAcceleration
+ = Math.pow(point.velocityMetersPerSecond, 2) * point.curvatureRadPerMeter;
+
+ t += dt;
+ assertTrue(centripetalAcceleration <= maxCentripetalAcceleration + 0.05);
+ }
+ }
+
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/trajectory/DifferentialDriveKinematicsConstraintTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/trajectory/DifferentialDriveKinematicsConstraintTest.java
new file mode 100644
index 0000000..d025860
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/trajectory/DifferentialDriveKinematicsConstraintTest.java
@@ -0,0 +1,53 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.trajectory;
+
+import java.util.Collections;
+
+import org.junit.jupiter.api.Test;
+
+import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
+import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
+import edu.wpi.first.wpilibj.trajectory.constraint.DifferentialDriveKinematicsConstraint;
+import edu.wpi.first.wpilibj.util.Units;
+
+import static org.junit.jupiter.api.Assertions.assertAll;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+class DifferentialDriveKinematicsConstraintTest {
+ @SuppressWarnings({"LocalVariableName", "PMD.AvoidInstantiatingObjectsInLoops"})
+ @Test
+ void testDifferentialDriveKinematicsConstraint() {
+ double maxVelocity = Units.feetToMeters(12.0); // 12 feet per second
+ var kinematics = new DifferentialDriveKinematics(Units.inchesToMeters(27));
+ var constraint = new DifferentialDriveKinematicsConstraint(kinematics, maxVelocity);
+
+ Trajectory trajectory = TrajectoryGeneratorTest.getTrajectory(
+ Collections.singletonList(constraint));
+
+ var duration = trajectory.getTotalTimeSeconds();
+ var t = 0.0;
+ var dt = 0.02;
+
+ while (t < duration) {
+ var point = trajectory.sample(t);
+ var chassisSpeeds = new ChassisSpeeds(
+ point.velocityMetersPerSecond, 0,
+ point.velocityMetersPerSecond * point.curvatureRadPerMeter
+ );
+
+ var wheelSpeeds = kinematics.toWheelSpeeds(chassisSpeeds);
+
+ t += dt;
+ assertAll(
+ () -> assertTrue(wheelSpeeds.leftMetersPerSecond <= maxVelocity + 0.05),
+ () -> assertTrue(wheelSpeeds.rightMetersPerSecond <= maxVelocity + 0.05)
+ );
+ }
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryGeneratorTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryGeneratorTest.java
new file mode 100644
index 0000000..19b9374
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/trajectory/TrajectoryGeneratorTest.java
@@ -0,0 +1,72 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.trajectory;
+
+import java.util.ArrayList;
+import java.util.List;
+
+import org.junit.jupiter.api.Test;
+
+import edu.wpi.first.wpilibj.geometry.Pose2d;
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.geometry.Transform2d;
+import edu.wpi.first.wpilibj.geometry.Translation2d;
+import edu.wpi.first.wpilibj.trajectory.constraint.TrajectoryConstraint;
+
+import static edu.wpi.first.wpilibj.util.Units.feetToMeters;
+import static org.junit.jupiter.api.Assertions.assertAll;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+class TrajectoryGeneratorTest {
+ static Trajectory getTrajectory(List<TrajectoryConstraint> constraints) {
+ final double maxVelocity = feetToMeters(12.0);
+ final double maxAccel = feetToMeters(12);
+
+ // 2018 cross scale auto waypoints.
+ var sideStart = new Pose2d(feetToMeters(1.54), feetToMeters(23.23),
+ Rotation2d.fromDegrees(-180));
+ var crossScale = new Pose2d(feetToMeters(23.7), feetToMeters(6.8),
+ Rotation2d.fromDegrees(-160));
+
+ var waypoints = new ArrayList<Pose2d>();
+ waypoints.add(sideStart);
+ waypoints.add(sideStart.plus(
+ new Transform2d(new Translation2d(feetToMeters(-13), feetToMeters(0)),
+ new Rotation2d())));
+ waypoints.add(sideStart.plus(
+ new Transform2d(new Translation2d(feetToMeters(-19.5), feetToMeters(5)),
+ Rotation2d.fromDegrees(-90))));
+ waypoints.add(crossScale);
+
+ TrajectoryConfig config = new TrajectoryConfig(maxVelocity, maxAccel)
+ .setReversed(true)
+ .addConstraints(constraints);
+
+ return TrajectoryGenerator.generateTrajectory(waypoints, config);
+ }
+
+ @Test
+ @SuppressWarnings("LocalVariableName")
+ void testGenerationAndConstraints() {
+ Trajectory trajectory = getTrajectory(new ArrayList<>());
+
+ double duration = trajectory.getTotalTimeSeconds();
+ double t = 0.0;
+ double dt = 0.02;
+
+ while (t < duration) {
+ var point = trajectory.sample(t);
+ t += dt;
+ assertAll(
+ () -> assertTrue(Math.abs(point.velocityMetersPerSecond) < feetToMeters(12.0) + 0.05),
+ () -> assertTrue(Math.abs(point.accelerationMetersPerSecondSq) < feetToMeters(12.0)
+ + 0.05)
+ );
+ }
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/trajectory/TrapezoidProfileTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/trajectory/TrapezoidProfileTest.java
new file mode 100644
index 0000000..090eacc
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/trajectory/TrapezoidProfileTest.java
@@ -0,0 +1,257 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.trajectory;
+
+import org.junit.jupiter.api.Test;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertNotEquals;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+@SuppressWarnings({"PMD.TooManyMethods", "PMD.AvoidInstantiatingObjectsInLoops"})
+class TrapezoidProfileTest {
+ private static final double kDt = 0.01;
+
+ /**
+ * Asserts "val1" is less than or equal to "val2".
+ *
+ * @param val1 First operand in comparison.
+ * @param val2 Second operand in comparison.
+ */
+ private static void assertLessThanOrEquals(double val1, double val2) {
+ assertTrue(val1 <= val2, val1 + " is greater than " + val2);
+ }
+
+ /**
+ * Asserts "val1" is within "eps" of "val2".
+ *
+ * @param val1 First operand in comparison.
+ * @param val2 Second operand in comparison.
+ * @param eps Tolerance for whether values are near to each other.
+ */
+ private static void assertNear(double val1, double val2, double eps) {
+ assertTrue(Math.abs(val1 - val2) <= eps, "Difference between " + val1 + " and " + val2
+ + " is greater than " + eps);
+ }
+
+ /**
+ * Asserts "val1" is less than or within "eps" of "val2".
+ *
+ * @param val1 First operand in comparison.
+ * @param val2 Second operand in comparison.
+ * @param eps Tolerance for whether values are near to each other.
+ */
+ private static void assertLessThanOrNear(double val1, double val2, double eps) {
+ if (val1 <= val2) {
+ assertLessThanOrEquals(val1, val2);
+ } else {
+ assertNear(val1, val2, eps);
+ }
+ }
+
+ @Test
+ void reachesGoal() {
+ TrapezoidProfile.Constraints constraints =
+ new TrapezoidProfile.Constraints(1.75, 0.75);
+ TrapezoidProfile.State goal = new TrapezoidProfile.State(3, 0);
+ TrapezoidProfile.State state = new TrapezoidProfile.State();
+
+ for (int i = 0; i < 450; ++i) {
+ TrapezoidProfile profile = new TrapezoidProfile(constraints, goal, state);
+ state = profile.calculate(kDt);
+ }
+ assertEquals(state, goal);
+ }
+
+ // Tests that decreasing the maximum velocity in the middle when it is already
+ // moving faster than the new max is handled correctly
+ @Test
+ void posContinousUnderVelChange() {
+ TrapezoidProfile.Constraints constraints = new TrapezoidProfile.Constraints(1.75, 0.75);
+ TrapezoidProfile.State goal = new TrapezoidProfile.State(12, 0);
+
+ TrapezoidProfile profile = new TrapezoidProfile(constraints, goal);
+ TrapezoidProfile.State state = profile.calculate(kDt);
+
+ double lastPos = state.position;
+ for (int i = 0; i < 1600; ++i) {
+ if (i == 400) {
+ constraints.maxVelocity = 0.75;
+ }
+
+ profile = new TrapezoidProfile(constraints, goal, state);
+ state = profile.calculate(kDt);
+ double estimatedVel = (state.position - lastPos) / kDt;
+
+ if (i >= 400) {
+ // Since estimatedVel can have floating point rounding errors, we check
+ // whether value is less than or within an error delta of the new
+ // constraint.
+ assertLessThanOrNear(estimatedVel, constraints.maxVelocity, 1e-4);
+
+ assertLessThanOrEquals(state.velocity, constraints.maxVelocity);
+ }
+
+ lastPos = state.position;
+ }
+ assertEquals(state, goal);
+ }
+
+ // There is some somewhat tricky code for dealing with going backwards
+ @Test
+ void backwards() {
+ TrapezoidProfile.Constraints constraints = new TrapezoidProfile.Constraints(0.75, 0.75);
+ TrapezoidProfile.State goal = new TrapezoidProfile.State(-2, 0);
+ TrapezoidProfile.State state = new TrapezoidProfile.State();
+
+ for (int i = 0; i < 400; ++i) {
+ TrapezoidProfile profile = new TrapezoidProfile(constraints, goal, state);
+ state = profile.calculate(kDt);
+ }
+ assertEquals(state, goal);
+ }
+
+ @Test
+ void switchGoalInMiddle() {
+ TrapezoidProfile.Constraints constraints = new TrapezoidProfile.Constraints(0.75, 0.75);
+ TrapezoidProfile.State goal = new TrapezoidProfile.State(-2, 0);
+ TrapezoidProfile.State state = new TrapezoidProfile.State();
+
+ for (int i = 0; i < 200; ++i) {
+ TrapezoidProfile profile = new TrapezoidProfile(constraints, goal, state);
+ state = profile.calculate(kDt);
+ }
+ assertNotEquals(state, goal);
+
+ goal = new TrapezoidProfile.State(0.0, 0.0);
+ for (int i = 0; i < 550; ++i) {
+ TrapezoidProfile profile = new TrapezoidProfile(constraints, goal, state);
+ state = profile.calculate(kDt);
+ }
+ assertEquals(state, goal);
+ }
+
+ // Checks to make sure that it hits top speed
+ @Test
+ void topSpeed() {
+ TrapezoidProfile.Constraints constraints = new TrapezoidProfile.Constraints(0.75, 0.75);
+ TrapezoidProfile.State goal = new TrapezoidProfile.State(4, 0);
+ TrapezoidProfile.State state = new TrapezoidProfile.State();
+
+ for (int i = 0; i < 200; ++i) {
+ TrapezoidProfile profile = new TrapezoidProfile(constraints, goal, state);
+ state = profile.calculate(kDt);
+ }
+ assertNear(constraints.maxVelocity, state.velocity, 10e-5);
+
+ for (int i = 0; i < 2000; ++i) {
+ TrapezoidProfile profile = new TrapezoidProfile(constraints, goal, state);
+ state = profile.calculate(kDt);
+ }
+ assertEquals(state, goal);
+ }
+
+ @Test
+ void timingToCurrent() {
+ TrapezoidProfile.Constraints constraints = new TrapezoidProfile.Constraints(0.75, 0.75);
+ TrapezoidProfile.State goal = new TrapezoidProfile.State(2, 0);
+ TrapezoidProfile.State state = new TrapezoidProfile.State();
+
+ for (int i = 0; i < 400; i++) {
+ TrapezoidProfile profile = new TrapezoidProfile(constraints, goal, state);
+ state = profile.calculate(kDt);
+ assertNear(profile.timeLeftUntil(state.position), 0, 2e-2);
+ }
+ }
+
+ @Test
+ void timingToGoal() {
+ TrapezoidProfile.Constraints constraints = new TrapezoidProfile.Constraints(0.75, 0.75);
+ TrapezoidProfile.State goal = new TrapezoidProfile.State(2, 0);
+
+ TrapezoidProfile profile = new TrapezoidProfile(constraints, goal);
+ TrapezoidProfile.State state = profile.calculate(kDt);
+
+ double predictedTimeLeft = profile.timeLeftUntil(goal.position);
+ boolean reachedGoal = false;
+ for (int i = 0; i < 400; i++) {
+ profile = new TrapezoidProfile(constraints, goal, state);
+ state = profile.calculate(kDt);
+ if (!reachedGoal && state.equals(goal)) {
+ // Expected value using for loop index is just an approximation since
+ // the time left in the profile doesn't increase linearly at the
+ // endpoints
+ assertNear(predictedTimeLeft, i / 100.0, 0.25);
+ reachedGoal = true;
+ }
+ }
+ }
+
+ @Test
+ void timingBeforeGoal() {
+ TrapezoidProfile.Constraints constraints = new TrapezoidProfile.Constraints(0.75, 0.75);
+ TrapezoidProfile.State goal = new TrapezoidProfile.State(2, 0);
+
+ TrapezoidProfile profile = new TrapezoidProfile(constraints, goal);
+ TrapezoidProfile.State state = profile.calculate(kDt);
+
+ double predictedTimeLeft = profile.timeLeftUntil(1);
+ boolean reachedGoal = false;
+ for (int i = 0; i < 400; i++) {
+ profile = new TrapezoidProfile(constraints, goal, state);
+ state = profile.calculate(kDt);
+ if (!reachedGoal && (Math.abs(state.velocity - 1) < 10e-5)) {
+ assertNear(predictedTimeLeft, i / 100.0, 2e-2);
+ reachedGoal = true;
+ }
+ }
+ }
+
+ @Test
+ void timingToNegativeGoal() {
+ TrapezoidProfile.Constraints constraints = new TrapezoidProfile.Constraints(0.75, 0.75);
+ TrapezoidProfile.State goal = new TrapezoidProfile.State(-2, 0);
+
+ TrapezoidProfile profile = new TrapezoidProfile(constraints, goal);
+ TrapezoidProfile.State state = profile.calculate(kDt);
+
+ double predictedTimeLeft = profile.timeLeftUntil(goal.position);
+ boolean reachedGoal = false;
+ for (int i = 0; i < 400; i++) {
+ profile = new TrapezoidProfile(constraints, goal, state);
+ state = profile.calculate(kDt);
+ if (!reachedGoal && state.equals(goal)) {
+ // Expected value using for loop index is just an approximation since
+ // the time left in the profile doesn't increase linearly at the
+ // endpoints
+ assertNear(predictedTimeLeft, i / 100.0, 0.25);
+ reachedGoal = true;
+ }
+ }
+ }
+
+ @Test
+ void timingBeforeNegativeGoal() {
+ TrapezoidProfile.Constraints constraints = new TrapezoidProfile.Constraints(0.75, 0.75);
+ TrapezoidProfile.State goal = new TrapezoidProfile.State(-2, 0);
+
+ TrapezoidProfile profile = new TrapezoidProfile(constraints, goal);
+ TrapezoidProfile.State state = profile.calculate(kDt);
+
+ double predictedTimeLeft = profile.timeLeftUntil(-1);
+ boolean reachedGoal = false;
+ for (int i = 0; i < 400; i++) {
+ profile = new TrapezoidProfile(constraints, goal, state);
+ state = profile.calculate(kDt);
+ if (!reachedGoal && (Math.abs(state.velocity + 1) < 10e-5)) {
+ assertNear(predictedTimeLeft, i / 100.0, 2e-2);
+ reachedGoal = true;
+ }
+ }
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/util/ErrorMessagesTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/util/ErrorMessagesTest.java
new file mode 100644
index 0000000..839e2e3
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/util/ErrorMessagesTest.java
@@ -0,0 +1,33 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.util;
+
+import org.junit.jupiter.api.Test;
+
+import edu.wpi.first.wpilibj.UtilityClassTest;
+
+import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
+import static org.junit.jupiter.api.Assertions.assertThrows;
+
+class ErrorMessagesTest extends UtilityClassTest<ErrorMessages> {
+ ErrorMessagesTest() {
+ super(ErrorMessages.class);
+ }
+
+ @Test
+ void requireNonNullParamNullTest() {
+ assertThrows(NullPointerException.class, () -> requireNonNullParam(null, "testParam",
+ "testMethod"));
+ }
+
+ @Test
+ void requireNonNullParamNotNullTest() {
+ assertDoesNotThrow(() -> requireNonNullParam("null", "testParam", "testMethod"));
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/util/UnitsTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/util/UnitsTest.java
new file mode 100644
index 0000000..1d00046
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj/util/UnitsTest.java
@@ -0,0 +1,60 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.util;
+
+import org.junit.jupiter.api.Test;
+
+import edu.wpi.first.wpilibj.UtilityClassTest;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+class UnitsTest extends UtilityClassTest<Units> {
+ UnitsTest() {
+ super(Units.class);
+ }
+
+ @Test
+ void metersToFeetTest() {
+ assertEquals(3.28, Units.metersToFeet(1), 1e-2);
+ }
+
+ @Test
+ void feetToMetersTest() {
+ assertEquals(0.30, Units.feetToMeters(1), 1e-2);
+ }
+
+ @Test
+ void metersToInchesTest() {
+ assertEquals(39.37, Units.metersToInches(1), 1e-2);
+ }
+
+ @Test
+ void inchesToMetersTest() {
+ assertEquals(0.0254, Units.inchesToMeters(1), 1e-3);
+ }
+
+ @Test
+ void degreesToRadiansTest() {
+ assertEquals(0.017, Units.degreesToRadians(1), 1e-3);
+ }
+
+ @Test
+ void radiansToDegreesTest() {
+ assertEquals(114.59, Units.radiansToDegrees(2), 1e-2);
+ }
+
+ @Test
+ void rotationsPerMinuteToRadiansPerSecondTest() {
+ assertEquals(6.28, Units.rotationsPerMinuteToRadiansPerSecond(60), 1e-2);
+ }
+
+ @Test
+ void radiansPerSecondToRotationsPerMinute() {
+ assertEquals(76.39, Units.radiansPerSecondToRotationsPerMinute(8), 1e-2);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/ButtonTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/ButtonTest.java
new file mode 100644
index 0000000..64354c3
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/ButtonTest.java
@@ -0,0 +1,179 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import org.junit.jupiter.api.Test;
+
+import edu.wpi.first.wpilibj2.command.button.InternalButton;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+import static org.mockito.Mockito.never;
+import static org.mockito.Mockito.times;
+import static org.mockito.Mockito.verify;
+import static org.mockito.Mockito.when;
+
+
+class ButtonTest extends CommandTestBase {
+ @Test
+ void whenPressedTest() {
+ CommandScheduler scheduler = CommandScheduler.getInstance();
+ MockCommandHolder command1Holder = new MockCommandHolder(true);
+ Command command1 = command1Holder.getMock();
+
+ InternalButton button = new InternalButton();
+ button.setPressed(false);
+ button.whenPressed(command1);
+ scheduler.run();
+ verify(command1, never()).schedule(true);
+ button.setPressed(true);
+ scheduler.run();
+ scheduler.run();
+ verify(command1).schedule(true);
+ }
+
+ @Test
+ void whenReleasedTest() {
+ CommandScheduler scheduler = CommandScheduler.getInstance();
+ MockCommandHolder command1Holder = new MockCommandHolder(true);
+ Command command1 = command1Holder.getMock();
+
+ InternalButton button = new InternalButton();
+ button.setPressed(true);
+ button.whenReleased(command1);
+ scheduler.run();
+ verify(command1, never()).schedule(true);
+ button.setPressed(false);
+ scheduler.run();
+ scheduler.run();
+ verify(command1).schedule(true);
+ }
+
+ @Test
+ void whileHeldTest() {
+ CommandScheduler scheduler = CommandScheduler.getInstance();
+ MockCommandHolder command1Holder = new MockCommandHolder(true);
+ Command command1 = command1Holder.getMock();
+
+ InternalButton button = new InternalButton();
+ button.setPressed(false);
+ button.whileHeld(command1);
+ scheduler.run();
+ verify(command1, never()).schedule(true);
+ button.setPressed(true);
+ scheduler.run();
+ scheduler.run();
+ verify(command1, times(2)).schedule(true);
+ button.setPressed(false);
+ scheduler.run();
+ verify(command1).cancel();
+ }
+
+ @Test
+ void whenHeldTest() {
+ CommandScheduler scheduler = CommandScheduler.getInstance();
+ MockCommandHolder command1Holder = new MockCommandHolder(true);
+ Command command1 = command1Holder.getMock();
+
+ InternalButton button = new InternalButton();
+ button.setPressed(false);
+ button.whenHeld(command1);
+ scheduler.run();
+ verify(command1, never()).schedule(true);
+ button.setPressed(true);
+ scheduler.run();
+ scheduler.run();
+ verify(command1).schedule(true);
+ button.setPressed(false);
+ scheduler.run();
+ verify(command1).cancel();
+ }
+
+ @Test
+ void toggleWhenPressedTest() {
+ CommandScheduler scheduler = CommandScheduler.getInstance();
+ MockCommandHolder command1Holder = new MockCommandHolder(true);
+ Command command1 = command1Holder.getMock();
+
+ InternalButton button = new InternalButton();
+ button.setPressed(false);
+ button.toggleWhenPressed(command1);
+ scheduler.run();
+ verify(command1, never()).schedule(true);
+ button.setPressed(true);
+ scheduler.run();
+ when(command1.isScheduled()).thenReturn(true);
+ scheduler.run();
+ verify(command1).schedule(true);
+ button.setPressed(false);
+ scheduler.run();
+ verify(command1, never()).cancel();
+ button.setPressed(true);
+ scheduler.run();
+ verify(command1).cancel();
+ }
+
+ @Test
+ void cancelWhenPressedTest() {
+ CommandScheduler scheduler = CommandScheduler.getInstance();
+ MockCommandHolder command1Holder = new MockCommandHolder(true);
+ Command command1 = command1Holder.getMock();
+
+ InternalButton button = new InternalButton();
+ button.setPressed(false);
+ button.cancelWhenPressed(command1);
+ scheduler.run();
+ verify(command1, never()).cancel();
+ button.setPressed(true);
+ scheduler.run();
+ scheduler.run();
+ verify(command1).cancel();
+ }
+
+ @Test
+ void runnableBindingTest() {
+
+ InternalButton buttonWhenPressed = new InternalButton();
+ InternalButton buttonWhileHeld = new InternalButton();
+ InternalButton buttonWhenReleased = new InternalButton();
+
+ buttonWhenPressed.setPressed(false);
+ buttonWhileHeld.setPressed(true);
+ buttonWhenReleased.setPressed(true);
+
+ Counter counter = new Counter();
+
+ buttonWhenPressed.whenPressed(counter::increment);
+ buttonWhileHeld.whileHeld(counter::increment);
+ buttonWhenReleased.whenReleased(counter::increment);
+
+ CommandScheduler scheduler = CommandScheduler.getInstance();
+
+ scheduler.run();
+ buttonWhenPressed.setPressed(true);
+ buttonWhenReleased.setPressed(false);
+ scheduler.run();
+
+ assertEquals(counter.m_counter, 4);
+ }
+
+ @Test
+ void buttonCompositionTest() {
+ InternalButton button1 = new InternalButton();
+ InternalButton button2 = new InternalButton();
+
+ button1.setPressed(true);
+ button2.setPressed(false);
+
+ assertFalse(button1.and(button2).get());
+ assertTrue(button1.or(button2).get());
+ assertFalse(button1.negate().get());
+ assertTrue(button1.and(button2.negate()).get());
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java
new file mode 100644
index 0000000..23f63c7
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java
@@ -0,0 +1,182 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import org.junit.jupiter.api.Test;
+
+import edu.wpi.first.wpilibj.Timer;
+
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+class CommandDecoratorTest extends CommandTestBase {
+ @Test
+ void withTimeoutTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ Command command1 = new WaitCommand(10);
+
+ Command timeout = command1.withTimeout(2);
+
+ scheduler.schedule(timeout);
+ scheduler.run();
+
+ assertFalse(scheduler.isScheduled(command1));
+ assertTrue(scheduler.isScheduled(timeout));
+
+ Timer.delay(3);
+ scheduler.run();
+
+ assertFalse(scheduler.isScheduled(timeout));
+ }
+
+ @Test
+ void withInterruptTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ ConditionHolder condition = new ConditionHolder();
+
+ Command command = new WaitCommand(10).withInterrupt(condition::getCondition);
+
+ scheduler.schedule(command);
+ scheduler.run();
+ assertTrue(scheduler.isScheduled(command));
+ condition.setCondition(true);
+ scheduler.run();
+ assertFalse(scheduler.isScheduled(command));
+ }
+
+ @Test
+ void beforeStartingTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ ConditionHolder condition = new ConditionHolder();
+ condition.setCondition(false);
+
+ Command command = new InstantCommand();
+
+ scheduler.schedule(command.beforeStarting(() -> condition.setCondition(true)));
+
+ assertTrue(condition.getCondition());
+ }
+
+ @Test
+ void andThenLambdaTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ ConditionHolder condition = new ConditionHolder();
+ condition.setCondition(false);
+
+ Command command = new InstantCommand();
+
+ scheduler.schedule(command.andThen(() -> condition.setCondition(true)));
+
+ assertFalse(condition.getCondition());
+
+ scheduler.run();
+
+ assertTrue(condition.getCondition());
+ }
+
+ @Test
+ void andThenTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ ConditionHolder condition = new ConditionHolder();
+ condition.setCondition(false);
+
+ Command command1 = new InstantCommand();
+ Command command2 = new InstantCommand(() -> condition.setCondition(true));
+
+ scheduler.schedule(command1.andThen(command2));
+
+ assertFalse(condition.getCondition());
+
+ scheduler.run();
+
+ assertTrue(condition.getCondition());
+ }
+
+ @Test
+ void deadlineWithTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ ConditionHolder condition = new ConditionHolder();
+ condition.setCondition(false);
+
+ Command dictator = new WaitUntilCommand(condition::getCondition);
+ Command endsBefore = new InstantCommand();
+ Command endsAfter = new WaitUntilCommand(() -> false);
+
+ Command group = dictator.deadlineWith(endsBefore, endsAfter);
+
+ scheduler.schedule(group);
+ scheduler.run();
+
+ assertTrue(scheduler.isScheduled(group));
+
+ condition.setCondition(true);
+ scheduler.run();
+
+ assertFalse(scheduler.isScheduled(group));
+ }
+
+ @Test
+ void alongWithTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ ConditionHolder condition = new ConditionHolder();
+ condition.setCondition(false);
+
+ Command command1 = new WaitUntilCommand(condition::getCondition);
+ Command command2 = new InstantCommand();
+
+ Command group = command1.alongWith(command2);
+
+ scheduler.schedule(group);
+ scheduler.run();
+
+ assertTrue(scheduler.isScheduled(group));
+
+ condition.setCondition(true);
+ scheduler.run();
+
+ assertFalse(scheduler.isScheduled(group));
+ }
+
+ @Test
+ void raceWithTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ Command command1 = new WaitUntilCommand(() -> false);
+ Command command2 = new InstantCommand();
+
+ Command group = command1.raceWith(command2);
+
+ scheduler.schedule(group);
+ scheduler.run();
+
+ assertFalse(scheduler.isScheduled(group));
+ }
+
+ @Test
+ void perpetuallyTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ Command command = new InstantCommand();
+
+ Command perpetual = command.perpetually();
+
+ scheduler.schedule(perpetual);
+ scheduler.run();
+ scheduler.run();
+ scheduler.run();
+
+ assertTrue(scheduler.isScheduled(perpetual));
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/CommandGroupErrorTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/CommandGroupErrorTest.java
new file mode 100644
index 0000000..e453d94
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/CommandGroupErrorTest.java
@@ -0,0 +1,55 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import org.junit.jupiter.api.Test;
+
+import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
+import static org.junit.jupiter.api.Assertions.assertThrows;
+
+class CommandGroupErrorTest extends CommandTestBase {
+ @Test
+ void commandInMultipleGroupsTest() {
+
+ MockCommandHolder command1Holder = new MockCommandHolder(true);
+ Command command1 = command1Holder.getMock();
+ MockCommandHolder command2Holder = new MockCommandHolder(true);
+ Command command2 = command2Holder.getMock();
+
+ @SuppressWarnings("PMD.UnusedLocalVariable")
+ Command group = new ParallelCommandGroup(command1, command2);
+ assertThrows(IllegalArgumentException.class,
+ () -> new ParallelCommandGroup(command1, command2));
+ }
+
+ @Test
+ void commandInGroupExternallyScheduledTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ MockCommandHolder command1Holder = new MockCommandHolder(true);
+ Command command1 = command1Holder.getMock();
+ MockCommandHolder command2Holder = new MockCommandHolder(true);
+ Command command2 = command2Holder.getMock();
+
+ @SuppressWarnings("PMD.UnusedLocalVariable")
+ Command group = new ParallelCommandGroup(command1, command2);
+
+ assertThrows(IllegalArgumentException.class,
+ () -> scheduler.schedule(command1));
+ }
+
+ @Test
+ void redecoratedCommandErrorTest() {
+ Command command = new InstantCommand();
+
+ assertDoesNotThrow(() -> command.withTimeout(10).withInterrupt(() -> false));
+ assertThrows(IllegalArgumentException.class, () -> command.withTimeout(10));
+ CommandGroupBase.clearGroupedCommand(command);
+ assertDoesNotThrow(() -> command.withTimeout(10));
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/CommandRequirementsTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/CommandRequirementsTest.java
new file mode 100644
index 0000000..10d3ee0
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/CommandRequirementsTest.java
@@ -0,0 +1,79 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import org.junit.jupiter.api.Test;
+
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertThrows;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+import static org.mockito.Mockito.verify;
+
+@SuppressWarnings("PMD.TooManyMethods")
+class CommandRequirementsTest extends CommandTestBase {
+ @Test
+ void requirementInterruptTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ Subsystem requirement = new TestSubsystem();
+
+ MockCommandHolder interruptedHolder = new MockCommandHolder(true, requirement);
+ Command interrupted = interruptedHolder.getMock();
+ MockCommandHolder interrupterHolder = new MockCommandHolder(true, requirement);
+ Command interrupter = interrupterHolder.getMock();
+
+ scheduler.schedule(interrupted);
+ scheduler.run();
+ scheduler.schedule(interrupter);
+ scheduler.run();
+
+ verify(interrupted).initialize();
+ verify(interrupted).execute();
+ verify(interrupted).end(true);
+
+ verify(interrupter).initialize();
+ verify(interrupter).execute();
+
+ assertFalse(scheduler.isScheduled(interrupted));
+ assertTrue(scheduler.isScheduled(interrupter));
+ }
+
+ @Test
+ void requirementUninterruptibleTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ Subsystem requirement = new TestSubsystem();
+
+ MockCommandHolder interruptedHolder = new MockCommandHolder(true, requirement);
+ Command notInterrupted = interruptedHolder.getMock();
+ MockCommandHolder interrupterHolder = new MockCommandHolder(true, requirement);
+ Command interrupter = interrupterHolder.getMock();
+
+ scheduler.schedule(false, notInterrupted);
+ scheduler.schedule(interrupter);
+
+ assertTrue(scheduler.isScheduled(notInterrupted));
+ assertFalse(scheduler.isScheduled(interrupter));
+ }
+
+ @Test
+ void defaultCommandRequirementErrorTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ Subsystem system = new TestSubsystem();
+
+ Command missingRequirement = new WaitUntilCommand(() -> false);
+ Command ends = new InstantCommand(() -> {
+ }, system);
+
+ assertThrows(IllegalArgumentException.class,
+ () -> scheduler.setDefaultCommand(system, missingRequirement));
+ assertThrows(IllegalArgumentException.class,
+ () -> scheduler.setDefaultCommand(system, ends));
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/CommandScheduleTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/CommandScheduleTest.java
new file mode 100644
index 0000000..aee30db
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/CommandScheduleTest.java
@@ -0,0 +1,122 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import org.junit.jupiter.api.Test;
+
+import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+import static org.mockito.Mockito.never;
+import static org.mockito.Mockito.times;
+import static org.mockito.Mockito.verify;
+
+class CommandScheduleTest extends CommandTestBase {
+ @Test
+ void instantScheduleTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ MockCommandHolder holder = new MockCommandHolder(true);
+ holder.setFinished(true);
+ Command mockCommand = holder.getMock();
+
+ scheduler.schedule(mockCommand);
+ assertTrue(scheduler.isScheduled(mockCommand));
+ verify(mockCommand).initialize();
+
+ scheduler.run();
+
+ verify(mockCommand).execute();
+ verify(mockCommand).end(false);
+
+ assertFalse(scheduler.isScheduled(mockCommand));
+ }
+
+ @Test
+ void singleIterationScheduleTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ MockCommandHolder holder = new MockCommandHolder(true);
+ Command mockCommand = holder.getMock();
+
+ scheduler.schedule(mockCommand);
+
+ assertTrue(scheduler.isScheduled(mockCommand));
+
+ scheduler.run();
+ holder.setFinished(true);
+ scheduler.run();
+
+ verify(mockCommand).initialize();
+ verify(mockCommand, times(2)).execute();
+ verify(mockCommand).end(false);
+
+ assertFalse(scheduler.isScheduled(mockCommand));
+ }
+
+ @Test
+ void multiScheduleTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ MockCommandHolder command1Holder = new MockCommandHolder(true);
+ Command command1 = command1Holder.getMock();
+ MockCommandHolder command2Holder = new MockCommandHolder(true);
+ Command command2 = command2Holder.getMock();
+ MockCommandHolder command3Holder = new MockCommandHolder(true);
+ Command command3 = command3Holder.getMock();
+
+ scheduler.schedule(true, command1, command2, command3);
+ assertTrue(scheduler.isScheduled(command1, command2, command3));
+ scheduler.run();
+ assertTrue(scheduler.isScheduled(command1, command2, command3));
+
+ command1Holder.setFinished(true);
+ scheduler.run();
+ assertTrue(scheduler.isScheduled(command2, command3));
+ assertFalse(scheduler.isScheduled(command1));
+
+ command2Holder.setFinished(true);
+ scheduler.run();
+ assertTrue(scheduler.isScheduled(command3));
+ assertFalse(scheduler.isScheduled(command1, command2));
+
+ command3Holder.setFinished(true);
+ scheduler.run();
+ assertFalse(scheduler.isScheduled(command1, command2, command3));
+ }
+
+ @Test
+ void schedulerCancelTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ MockCommandHolder holder = new MockCommandHolder(true);
+ Command mockCommand = holder.getMock();
+
+ scheduler.schedule(mockCommand);
+
+ scheduler.run();
+ scheduler.cancel(mockCommand);
+ scheduler.run();
+
+ verify(mockCommand).execute();
+ verify(mockCommand).end(true);
+ verify(mockCommand, never()).end(false);
+
+ assertFalse(scheduler.isScheduled(mockCommand));
+ }
+
+ @Test
+ void notScheduledCancelTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ MockCommandHolder holder = new MockCommandHolder(true);
+ Command mockCommand = holder.getMock();
+
+ assertDoesNotThrow(() -> scheduler.cancel(mockCommand));
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/CommandTestBase.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/CommandTestBase.java
new file mode 100644
index 0000000..61aa1a0
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/CommandTestBase.java
@@ -0,0 +1,92 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import java.util.Set;
+
+import org.junit.jupiter.api.BeforeEach;
+
+import edu.wpi.first.hal.sim.DriverStationSim;
+import edu.wpi.first.wpilibj.DriverStation;
+
+import static org.mockito.Mockito.mock;
+import static org.mockito.Mockito.when;
+
+/**
+ * Basic setup for all {@link Command tests}."
+ */
+@SuppressWarnings("PMD.AbstractClassWithoutAbstractMethod")
+abstract class CommandTestBase {
+ @BeforeEach
+ void commandSetup() {
+ CommandScheduler.getInstance().cancelAll();
+ CommandScheduler.getInstance().enable();
+ CommandScheduler.getInstance().clearButtons();
+ CommandGroupBase.clearGroupedCommands();
+
+ setDSEnabled(true);
+ }
+
+ void setDSEnabled(boolean enabled) {
+ DriverStationSim sim = new DriverStationSim();
+ sim.setDsAttached(true);
+
+ sim.setEnabled(enabled);
+ sim.notifyNewData();
+ DriverStation.getInstance().isNewControlData();
+ while (DriverStation.getInstance().isEnabled() != enabled) {
+ try {
+ Thread.sleep(1);
+ } catch (InterruptedException exception) {
+ exception.printStackTrace();
+ }
+ }
+ }
+
+ class TestSubsystem extends SubsystemBase {
+ }
+
+ protected class MockCommandHolder {
+ private final Command m_mockCommand = mock(Command.class);
+
+ MockCommandHolder(boolean runWhenDisabled, Subsystem... requirements) {
+ when(m_mockCommand.getRequirements()).thenReturn(Set.of(requirements));
+ when(m_mockCommand.isFinished()).thenReturn(false);
+ when(m_mockCommand.runsWhenDisabled()).thenReturn(runWhenDisabled);
+ }
+
+ Command getMock() {
+ return m_mockCommand;
+ }
+
+ void setFinished(boolean finished) {
+ when(m_mockCommand.isFinished()).thenReturn(finished);
+ }
+
+ }
+
+ protected class Counter {
+ int m_counter;
+
+ void increment() {
+ m_counter++;
+ }
+ }
+
+ protected class ConditionHolder {
+ private boolean m_condition;
+
+ void setCondition(boolean condition) {
+ m_condition = condition;
+ }
+
+ boolean getCondition() {
+ return m_condition;
+ }
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/ConditionalCommandTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/ConditionalCommandTest.java
new file mode 100644
index 0000000..0740565
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/ConditionalCommandTest.java
@@ -0,0 +1,65 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import org.junit.jupiter.api.Test;
+
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.mockito.Mockito.never;
+import static org.mockito.Mockito.verify;
+
+class ConditionalCommandTest extends CommandTestBase {
+ @Test
+ void conditionalCommandTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ MockCommandHolder command1Holder = new MockCommandHolder(true);
+ Command command1 = command1Holder.getMock();
+ command1Holder.setFinished(true);
+ MockCommandHolder command2Holder = new MockCommandHolder(true);
+ Command command2 = command2Holder.getMock();
+
+ ConditionalCommand conditionalCommand = new ConditionalCommand(command1, command2, () -> true);
+
+ scheduler.schedule(conditionalCommand);
+ scheduler.run();
+
+ verify(command1).initialize();
+ verify(command1).execute();
+ verify(command1).end(false);
+
+ verify(command2, never()).initialize();
+ verify(command2, never()).execute();
+ verify(command2, never()).end(false);
+ }
+
+ @Test
+ void conditionalCommandRequirementTest() {
+ Subsystem system1 = new TestSubsystem();
+ Subsystem system2 = new TestSubsystem();
+ Subsystem system3 = new TestSubsystem();
+
+ CommandScheduler scheduler = new CommandScheduler();
+
+ MockCommandHolder command1Holder = new MockCommandHolder(true, system1, system2);
+ Command command1 = command1Holder.getMock();
+ MockCommandHolder command2Holder = new MockCommandHolder(true, system3);
+ Command command2 = command2Holder.getMock();
+
+ ConditionalCommand conditionalCommand = new ConditionalCommand(command1, command2, () -> true);
+
+ scheduler.schedule(conditionalCommand);
+ scheduler.schedule(new InstantCommand(() -> {
+ }, system3));
+
+ assertFalse(scheduler.isScheduled(conditionalCommand));
+
+ verify(command1).end(true);
+ verify(command2, never()).end(true);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/DefaultCommandTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/DefaultCommandTest.java
new file mode 100644
index 0000000..033dcc5
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/DefaultCommandTest.java
@@ -0,0 +1,83 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import org.junit.jupiter.api.Test;
+
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+import static org.mockito.Mockito.verify;
+
+class DefaultCommandTest extends CommandTestBase {
+ @Test
+ void defaultCommandScheduleTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ TestSubsystem hasDefaultCommand = new TestSubsystem();
+
+ MockCommandHolder defaultHolder = new MockCommandHolder(true, hasDefaultCommand);
+ Command defaultCommand = defaultHolder.getMock();
+
+ scheduler.setDefaultCommand(hasDefaultCommand, defaultCommand);
+ scheduler.run();
+
+ assertTrue(scheduler.isScheduled(defaultCommand));
+ }
+
+ @Test
+ void defaultCommandInterruptResumeTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ TestSubsystem hasDefaultCommand = new TestSubsystem();
+
+ MockCommandHolder defaultHolder = new MockCommandHolder(true, hasDefaultCommand);
+ Command defaultCommand = defaultHolder.getMock();
+ MockCommandHolder interrupterHolder = new MockCommandHolder(true, hasDefaultCommand);
+ Command interrupter = interrupterHolder.getMock();
+
+ scheduler.setDefaultCommand(hasDefaultCommand, defaultCommand);
+ scheduler.run();
+ scheduler.schedule(interrupter);
+
+ assertFalse(scheduler.isScheduled(defaultCommand));
+ assertTrue(scheduler.isScheduled(interrupter));
+
+ scheduler.cancel(interrupter);
+ scheduler.run();
+
+ assertTrue(scheduler.isScheduled(defaultCommand));
+ assertFalse(scheduler.isScheduled(interrupter));
+ }
+
+ @Test
+ void defaultCommandDisableResumeTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ TestSubsystem hasDefaultCommand = new TestSubsystem();
+
+ MockCommandHolder defaultHolder = new MockCommandHolder(false, hasDefaultCommand);
+ Command defaultCommand = defaultHolder.getMock();
+
+ scheduler.setDefaultCommand(hasDefaultCommand, defaultCommand);
+ scheduler.run();
+
+ assertTrue(scheduler.isScheduled(defaultCommand));
+
+ setDSEnabled(false);
+ scheduler.run();
+
+ assertFalse(scheduler.isScheduled(defaultCommand));
+
+ setDSEnabled(true);
+ scheduler.run();
+
+ assertTrue(scheduler.isScheduled(defaultCommand));
+
+ verify(defaultCommand).end(true);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/FunctionalCommandTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/FunctionalCommandTest.java
new file mode 100644
index 0000000..23f508a
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/FunctionalCommandTest.java
@@ -0,0 +1,43 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import org.junit.jupiter.api.Test;
+
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+class FunctionalCommandTest extends CommandTestBase {
+ @Test
+ void functionalCommandScheduleTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ ConditionHolder cond1 = new ConditionHolder();
+ ConditionHolder cond2 = new ConditionHolder();
+ ConditionHolder cond3 = new ConditionHolder();
+ ConditionHolder cond4 = new ConditionHolder();
+
+ FunctionalCommand command =
+ new FunctionalCommand(() -> cond1.setCondition(true), () -> cond2.setCondition(true),
+ interrupted -> cond3.setCondition(true), cond4::getCondition);
+
+ scheduler.schedule(command);
+ scheduler.run();
+
+ assertTrue(scheduler.isScheduled(command));
+
+ cond4.setCondition(true);
+
+ scheduler.run();
+
+ assertFalse(scheduler.isScheduled(command));
+ assertTrue(cond1.getCondition());
+ assertTrue(cond2.getCondition());
+ assertTrue(cond3.getCondition());
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/InstantCommandTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/InstantCommandTest.java
new file mode 100644
index 0000000..a109ed6
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/InstantCommandTest.java
@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import org.junit.jupiter.api.Test;
+
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+class InstantCommandTest extends CommandTestBase {
+ @Test
+ void instantCommandScheduleTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ ConditionHolder cond = new ConditionHolder();
+
+ InstantCommand command = new InstantCommand(() -> cond.setCondition(true));
+
+ scheduler.schedule(command);
+ scheduler.run();
+
+ assertTrue(cond.getCondition());
+ assertFalse(scheduler.isScheduled(command));
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/NotifierCommandTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/NotifierCommandTest.java
new file mode 100644
index 0000000..1bed736
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/NotifierCommandTest.java
@@ -0,0 +1,34 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import org.junit.jupiter.api.Test;
+import org.junit.jupiter.api.condition.DisabledOnOs;
+import org.junit.jupiter.api.condition.OS;
+
+import edu.wpi.first.wpilibj.Timer;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+@DisabledOnOs(OS.MAC)
+class NotifierCommandTest extends CommandTestBase {
+ @Test
+ void notifierCommandScheduleTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ Counter counter = new Counter();
+
+ NotifierCommand command = new NotifierCommand(counter::increment, .01);
+
+ scheduler.schedule(command);
+ Timer.delay(.25);
+ scheduler.cancel(command);
+
+ assertEquals(.25, 0.01 * counter.m_counter, .025);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroupTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroupTest.java
new file mode 100644
index 0000000..d03b4aa
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroupTest.java
@@ -0,0 +1,131 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import org.junit.jupiter.api.Test;
+
+import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertThrows;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+import static org.mockito.Mockito.never;
+import static org.mockito.Mockito.times;
+import static org.mockito.Mockito.verify;
+
+class ParallelCommandGroupTest extends CommandTestBase {
+ @Test
+ void parallelGroupScheduleTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ MockCommandHolder command1Holder = new MockCommandHolder(true);
+ Command command1 = command1Holder.getMock();
+ MockCommandHolder command2Holder = new MockCommandHolder(true);
+ Command command2 = command2Holder.getMock();
+
+ Command group = new ParallelCommandGroup(command1, command2);
+
+ scheduler.schedule(group);
+
+ verify(command1).initialize();
+ verify(command2).initialize();
+
+ command1Holder.setFinished(true);
+ scheduler.run();
+ command2Holder.setFinished(true);
+ scheduler.run();
+
+ verify(command1).execute();
+ verify(command1).end(false);
+ verify(command2, times(2)).execute();
+ verify(command2).end(false);
+
+ assertFalse(scheduler.isScheduled(group));
+ }
+
+ @Test
+ void parallelGroupInterruptTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+ MockCommandHolder command1Holder = new MockCommandHolder(true);
+ Command command1 = command1Holder.getMock();
+ MockCommandHolder command2Holder = new MockCommandHolder(true);
+ Command command2 = command2Holder.getMock();
+
+ Command group = new ParallelCommandGroup(command1, command2);
+
+ scheduler.schedule(group);
+
+ command1Holder.setFinished(true);
+ scheduler.run();
+ scheduler.run();
+ scheduler.cancel(group);
+
+ verify(command1).execute();
+ verify(command1).end(false);
+ verify(command1, never()).end(true);
+
+ verify(command2, times(2)).execute();
+ verify(command2, never()).end(false);
+ verify(command2).end(true);
+
+ assertFalse(scheduler.isScheduled(group));
+ }
+
+ @Test
+ void notScheduledCancelTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ MockCommandHolder command1Holder = new MockCommandHolder(true);
+ Command command1 = command1Holder.getMock();
+ MockCommandHolder command2Holder = new MockCommandHolder(true);
+ Command command2 = command2Holder.getMock();
+
+ Command group = new ParallelCommandGroup(command1, command2);
+
+ assertDoesNotThrow(() -> scheduler.cancel(group));
+ }
+
+ @Test
+ void parallelGroupRequirementTest() {
+ Subsystem system1 = new TestSubsystem();
+ Subsystem system2 = new TestSubsystem();
+ Subsystem system3 = new TestSubsystem();
+ Subsystem system4 = new TestSubsystem();
+
+ CommandScheduler scheduler = new CommandScheduler();
+
+ MockCommandHolder command1Holder = new MockCommandHolder(true, system1, system2);
+ Command command1 = command1Holder.getMock();
+ MockCommandHolder command2Holder = new MockCommandHolder(true, system3);
+ Command command2 = command2Holder.getMock();
+ MockCommandHolder command3Holder = new MockCommandHolder(true, system3, system4);
+ Command command3 = command3Holder.getMock();
+
+ Command group = new ParallelCommandGroup(command1, command2);
+
+ scheduler.schedule(group);
+ scheduler.schedule(command3);
+
+ assertFalse(scheduler.isScheduled(group));
+ assertTrue(scheduler.isScheduled(command3));
+ }
+
+ @Test
+ void parallelGroupRequirementErrorTest() {
+ Subsystem system1 = new TestSubsystem();
+ Subsystem system2 = new TestSubsystem();
+ Subsystem system3 = new TestSubsystem();
+
+ MockCommandHolder command1Holder = new MockCommandHolder(true, system1, system2);
+ Command command1 = command1Holder.getMock();
+ MockCommandHolder command2Holder = new MockCommandHolder(true, system2, system3);
+ Command command2 = command2Holder.getMock();
+
+ assertThrows(IllegalArgumentException.class,
+ () -> new ParallelCommandGroup(command1, command2));
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroupTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroupTest.java
new file mode 100644
index 0000000..c7e3769
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroupTest.java
@@ -0,0 +1,129 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import org.junit.jupiter.api.Test;
+
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertThrows;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+import static org.mockito.Mockito.never;
+import static org.mockito.Mockito.verify;
+import static org.mockito.internal.verification.VerificationModeFactory.times;
+
+class ParallelDeadlineGroupTest extends CommandTestBase {
+ @Test
+ void parallelDeadlineScheduleTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ MockCommandHolder command1Holder = new MockCommandHolder(true);
+ Command command1 = command1Holder.getMock();
+ MockCommandHolder command2Holder = new MockCommandHolder(true);
+ Command command2 = command2Holder.getMock();
+ command2Holder.setFinished(true);
+ MockCommandHolder command3Holder = new MockCommandHolder(true);
+ Command command3 = command3Holder.getMock();
+
+ Command group = new ParallelDeadlineGroup(command1, command2, command3);
+
+ scheduler.schedule(group);
+ scheduler.run();
+
+ assertTrue(scheduler.isScheduled(group));
+
+ command1Holder.setFinished(true);
+ scheduler.run();
+
+ assertFalse(scheduler.isScheduled(group));
+
+ verify(command2).initialize();
+ verify(command2).execute();
+ verify(command2).end(false);
+ verify(command2, never()).end(true);
+
+ verify(command1).initialize();
+ verify(command1, times(2)).execute();
+ verify(command1).end(false);
+ verify(command1, never()).end(true);
+
+ verify(command3).initialize();
+ verify(command3, times(2)).execute();
+ verify(command3, never()).end(false);
+ verify(command3).end(true);
+ }
+
+ @Test
+ void parallelDeadlineInterruptTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ MockCommandHolder command1Holder = new MockCommandHolder(true);
+ Command command1 = command1Holder.getMock();
+ MockCommandHolder command2Holder = new MockCommandHolder(true);
+ Command command2 = command2Holder.getMock();
+ command2Holder.setFinished(true);
+
+ Command group = new ParallelDeadlineGroup(command1, command2);
+
+ scheduler.schedule(group);
+
+ scheduler.run();
+ scheduler.run();
+ scheduler.cancel(group);
+
+ verify(command1, times(2)).execute();
+ verify(command1, never()).end(false);
+ verify(command1).end(true);
+
+ verify(command2).execute();
+ verify(command2).end(false);
+ verify(command2, never()).end(true);
+
+ assertFalse(scheduler.isScheduled(group));
+ }
+
+
+ @Test
+ void parallelDeadlineRequirementTest() {
+ Subsystem system1 = new TestSubsystem();
+ Subsystem system2 = new TestSubsystem();
+ Subsystem system3 = new TestSubsystem();
+ Subsystem system4 = new TestSubsystem();
+
+ CommandScheduler scheduler = new CommandScheduler();
+
+ MockCommandHolder command1Holder = new MockCommandHolder(true, system1, system2);
+ Command command1 = command1Holder.getMock();
+ MockCommandHolder command2Holder = new MockCommandHolder(true, system3);
+ Command command2 = command2Holder.getMock();
+ MockCommandHolder command3Holder = new MockCommandHolder(true, system3, system4);
+ Command command3 = command3Holder.getMock();
+
+ Command group = new ParallelDeadlineGroup(command1, command2);
+
+ scheduler.schedule(group);
+ scheduler.schedule(command3);
+
+ assertFalse(scheduler.isScheduled(group));
+ assertTrue(scheduler.isScheduled(command3));
+ }
+
+ @Test
+ void parallelDeadlineRequirementErrorTest() {
+ Subsystem system1 = new TestSubsystem();
+ Subsystem system2 = new TestSubsystem();
+ Subsystem system3 = new TestSubsystem();
+
+ MockCommandHolder command1Holder = new MockCommandHolder(true, system1, system2);
+ Command command1 = command1Holder.getMock();
+ MockCommandHolder command2Holder = new MockCommandHolder(true, system2, system3);
+ Command command2 = command2Holder.getMock();
+
+ assertThrows(IllegalArgumentException.class,
+ () -> new ParallelDeadlineGroup(command1, command2));
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroupTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroupTest.java
new file mode 100644
index 0000000..8a4781f
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroupTest.java
@@ -0,0 +1,163 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import org.junit.jupiter.api.Test;
+
+import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertNotNull;
+import static org.junit.jupiter.api.Assertions.assertThrows;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+import static org.mockito.Mockito.never;
+import static org.mockito.Mockito.times;
+import static org.mockito.Mockito.verify;
+
+class ParallelRaceGroupTest extends CommandTestBase {
+ @Test
+ void parallelRaceScheduleTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ MockCommandHolder command1Holder = new MockCommandHolder(true);
+ Command command1 = command1Holder.getMock();
+ MockCommandHolder command2Holder = new MockCommandHolder(true);
+ Command command2 = command2Holder.getMock();
+
+ Command group = new ParallelRaceGroup(command1, command2);
+
+ scheduler.schedule(group);
+
+ verify(command1).initialize();
+ verify(command2).initialize();
+
+ command1Holder.setFinished(true);
+ scheduler.run();
+ command2Holder.setFinished(true);
+ scheduler.run();
+
+ verify(command1).execute();
+ verify(command1).end(false);
+ verify(command2).execute();
+ verify(command2).end(true);
+ verify(command2, never()).end(false);
+
+ assertFalse(scheduler.isScheduled(group));
+ }
+
+ @Test
+ void parallelRaceInterruptTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ MockCommandHolder command1Holder = new MockCommandHolder(true);
+ Command command1 = command1Holder.getMock();
+ MockCommandHolder command2Holder = new MockCommandHolder(true);
+ Command command2 = command2Holder.getMock();
+
+ Command group = new ParallelRaceGroup(command1, command2);
+
+ scheduler.schedule(group);
+
+ scheduler.run();
+ scheduler.run();
+ scheduler.cancel(group);
+
+ verify(command1, times(2)).execute();
+ verify(command1, never()).end(false);
+ verify(command1).end(true);
+
+ verify(command2, times(2)).execute();
+ verify(command2, never()).end(false);
+ verify(command2).end(true);
+
+ assertFalse(scheduler.isScheduled(group));
+ }
+
+ @Test
+ void notScheduledCancelTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ MockCommandHolder command1Holder = new MockCommandHolder(true);
+ Command command1 = command1Holder.getMock();
+ MockCommandHolder command2Holder = new MockCommandHolder(true);
+ Command command2 = command2Holder.getMock();
+
+ Command group = new ParallelRaceGroup(command1, command2);
+
+ assertDoesNotThrow(() -> scheduler.cancel(group));
+ }
+
+
+ @Test
+ void parallelRaceRequirementTest() {
+ Subsystem system1 = new TestSubsystem();
+ Subsystem system2 = new TestSubsystem();
+ Subsystem system3 = new TestSubsystem();
+ Subsystem system4 = new TestSubsystem();
+
+ CommandScheduler scheduler = new CommandScheduler();
+
+ MockCommandHolder command1Holder = new MockCommandHolder(true, system1, system2);
+ Command command1 = command1Holder.getMock();
+ MockCommandHolder command2Holder = new MockCommandHolder(true, system3);
+ Command command2 = command2Holder.getMock();
+ MockCommandHolder command3Holder = new MockCommandHolder(true, system3, system4);
+ Command command3 = command3Holder.getMock();
+
+ Command group = new ParallelRaceGroup(command1, command2);
+
+ scheduler.schedule(group);
+ scheduler.schedule(command3);
+
+ assertFalse(scheduler.isScheduled(group));
+ assertTrue(scheduler.isScheduled(command3));
+ }
+
+ @Test
+ void parallelRaceRequirementErrorTest() {
+ Subsystem system1 = new TestSubsystem();
+ Subsystem system2 = new TestSubsystem();
+ Subsystem system3 = new TestSubsystem();
+
+ MockCommandHolder command1Holder = new MockCommandHolder(true, system1, system2);
+ Command command1 = command1Holder.getMock();
+ MockCommandHolder command2Holder = new MockCommandHolder(true, system2, system3);
+ Command command2 = command2Holder.getMock();
+
+ assertThrows(IllegalArgumentException.class, () -> new ParallelRaceGroup(command1, command2));
+ }
+
+ @Test
+ void parallelRaceOnlyCallsEndOnceTest() {
+ Subsystem system1 = new TestSubsystem();
+ Subsystem system2 = new TestSubsystem();
+
+ MockCommandHolder command1Holder = new MockCommandHolder(true, system1);
+ Command command1 = command1Holder.getMock();
+ MockCommandHolder command2Holder = new MockCommandHolder(true, system2);
+ Command command2 = command2Holder.getMock();
+ MockCommandHolder perpetualCommandHolder = new MockCommandHolder(true);
+ Command command3 = new PerpetualCommand(perpetualCommandHolder.getMock());
+
+ Command group1 = new SequentialCommandGroup(command1, command2);
+ assertNotNull(group1);
+ assertNotNull(command3);
+ Command group2 = new ParallelRaceGroup(group1, command3);
+
+ CommandScheduler scheduler = new CommandScheduler();
+
+ scheduler.schedule(group2);
+ scheduler.run();
+ command1Holder.setFinished(true);
+ scheduler.run();
+ command2Holder.setFinished(true);
+ // at this point the sequential group should be done
+ assertDoesNotThrow(() -> scheduler.run());
+
+ }
+
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/PerpetualCommandTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/PerpetualCommandTest.java
new file mode 100644
index 0000000..baf037f
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/PerpetualCommandTest.java
@@ -0,0 +1,26 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import org.junit.jupiter.api.Test;
+
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+class PerpetualCommandTest extends CommandTestBase {
+ @Test
+ void perpetualCommandScheduleTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ PerpetualCommand command = new PerpetualCommand(new InstantCommand());
+
+ scheduler.schedule(command);
+ scheduler.run();
+
+ assertTrue(scheduler.isScheduled(command));
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/PrintCommandTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/PrintCommandTest.java
new file mode 100644
index 0000000..7484396
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/PrintCommandTest.java
@@ -0,0 +1,37 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import java.io.ByteArrayOutputStream;
+import java.io.PrintStream;
+
+import org.junit.jupiter.api.Test;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+
+class PrintCommandTest extends CommandTestBase {
+ @Test
+ void printCommandScheduleTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ final PrintStream originalOut = System.out;
+ ByteArrayOutputStream testOut = new ByteArrayOutputStream();
+ System.setOut(new PrintStream(testOut));
+
+ PrintCommand command = new PrintCommand("Test!");
+
+ scheduler.schedule(command);
+ scheduler.run();
+
+ assertFalse(scheduler.isScheduled(command));
+ assertEquals(testOut.toString(), "Test!" + System.lineSeparator());
+
+ System.setOut(originalOut);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommandTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommandTest.java
new file mode 100644
index 0000000..b566aae
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommandTest.java
@@ -0,0 +1,51 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import org.junit.jupiter.api.Test;
+
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+import static org.mockito.Mockito.verify;
+
+class ProxyScheduleCommandTest extends CommandTestBase {
+ @Test
+ void proxyScheduleCommandScheduleTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ MockCommandHolder command1Holder = new MockCommandHolder(true);
+ Command command1 = command1Holder.getMock();
+
+ ProxyScheduleCommand scheduleCommand = new ProxyScheduleCommand(command1);
+
+ scheduler.schedule(scheduleCommand);
+
+ verify(command1).schedule();
+ }
+
+ @Test
+ void proxyScheduleCommandEndTest() {
+ CommandScheduler scheduler = CommandScheduler.getInstance();
+
+ ConditionHolder cond = new ConditionHolder();
+
+ WaitUntilCommand command = new WaitUntilCommand(cond::getCondition);
+
+ ProxyScheduleCommand scheduleCommand = new ProxyScheduleCommand(command);
+
+ scheduler.schedule(scheduleCommand);
+
+ scheduler.run();
+ assertTrue(scheduler.isScheduled(scheduleCommand));
+
+ cond.setCondition(true);
+ scheduler.run();
+ scheduler.run();
+ assertFalse(scheduler.isScheduled(scheduleCommand));
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/RobotDisabledCommandTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/RobotDisabledCommandTest.java
new file mode 100644
index 0000000..e862216
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/RobotDisabledCommandTest.java
@@ -0,0 +1,183 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import java.util.Map;
+
+import org.junit.jupiter.api.Test;
+
+import static edu.wpi.first.wpilibj2.command.CommandGroupBase.parallel;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+class RobotDisabledCommandTest extends CommandTestBase {
+ @Test
+ void robotDisabledCommandCancelTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ MockCommandHolder holder = new MockCommandHolder(false);
+ Command mockCommand = holder.getMock();
+
+ scheduler.schedule(mockCommand);
+
+ assertTrue(scheduler.isScheduled(mockCommand));
+
+ setDSEnabled(false);
+
+ scheduler.run();
+
+ assertFalse(scheduler.isScheduled(mockCommand));
+
+ setDSEnabled(true);
+ }
+
+ @Test
+ void runWhenDisabledTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ MockCommandHolder holder = new MockCommandHolder(true);
+ Command mockCommand = holder.getMock();
+
+ scheduler.schedule(mockCommand);
+
+ assertTrue(scheduler.isScheduled(mockCommand));
+
+ setDSEnabled(false);
+
+ scheduler.run();
+
+ assertTrue(scheduler.isScheduled(mockCommand));
+ }
+
+ @Test
+ void sequentialGroupRunWhenDisabledTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ MockCommandHolder command1Holder = new MockCommandHolder(true);
+ Command command1 = command1Holder.getMock();
+ MockCommandHolder command2Holder = new MockCommandHolder(true);
+ Command command2 = command2Holder.getMock();
+ MockCommandHolder command3Holder = new MockCommandHolder(true);
+ Command command3 = command3Holder.getMock();
+ MockCommandHolder command4Holder = new MockCommandHolder(false);
+ Command command4 = command4Holder.getMock();
+
+ Command runWhenDisabled = new SequentialCommandGroup(command1, command2);
+ Command dontRunWhenDisabled = new SequentialCommandGroup(command3, command4);
+
+ scheduler.schedule(runWhenDisabled);
+ scheduler.schedule(dontRunWhenDisabled);
+
+ setDSEnabled(false);
+
+ scheduler.run();
+
+ assertTrue(scheduler.isScheduled(runWhenDisabled));
+ assertFalse(scheduler.isScheduled(dontRunWhenDisabled));
+ }
+
+ @Test
+ void parallelGroupRunWhenDisabledTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ MockCommandHolder command1Holder = new MockCommandHolder(true);
+ Command command1 = command1Holder.getMock();
+ MockCommandHolder command2Holder = new MockCommandHolder(true);
+ Command command2 = command2Holder.getMock();
+ MockCommandHolder command3Holder = new MockCommandHolder(true);
+ Command command3 = command3Holder.getMock();
+ MockCommandHolder command4Holder = new MockCommandHolder(false);
+ Command command4 = command4Holder.getMock();
+
+ Command runWhenDisabled = new ParallelCommandGroup(command1, command2);
+ Command dontRunWhenDisabled = new ParallelCommandGroup(command3, command4);
+
+ scheduler.schedule(runWhenDisabled);
+ scheduler.schedule(dontRunWhenDisabled);
+
+ setDSEnabled(false);
+
+ scheduler.run();
+
+ assertTrue(scheduler.isScheduled(runWhenDisabled));
+ assertFalse(scheduler.isScheduled(dontRunWhenDisabled));
+ }
+
+ @Test
+ void conditionalRunWhenDisabledTest() {
+ setDSEnabled(false);
+
+ MockCommandHolder command1Holder = new MockCommandHolder(true);
+ Command command1 = command1Holder.getMock();
+ MockCommandHolder command2Holder = new MockCommandHolder(true);
+ Command command2 = command2Holder.getMock();
+ MockCommandHolder command3Holder = new MockCommandHolder(true);
+ Command command3 = command3Holder.getMock();
+ MockCommandHolder command4Holder = new MockCommandHolder(false);
+ Command command4 = command4Holder.getMock();
+
+ CommandScheduler scheduler = new CommandScheduler();
+
+ Command runWhenDisabled = new ConditionalCommand(command1, command2, () -> true);
+ Command dontRunWhenDisabled = new ConditionalCommand(command3, command4, () -> true);
+
+ scheduler.schedule(runWhenDisabled, dontRunWhenDisabled);
+
+ assertTrue(scheduler.isScheduled(runWhenDisabled));
+ assertFalse(scheduler.isScheduled(dontRunWhenDisabled));
+ }
+
+ @Test
+ void selectRunWhenDisabledTest() {
+ setDSEnabled(false);
+
+ MockCommandHolder command1Holder = new MockCommandHolder(true);
+ Command command1 = command1Holder.getMock();
+ MockCommandHolder command2Holder = new MockCommandHolder(true);
+ Command command2 = command2Holder.getMock();
+ MockCommandHolder command3Holder = new MockCommandHolder(true);
+ Command command3 = command3Holder.getMock();
+ MockCommandHolder command4Holder = new MockCommandHolder(false);
+ Command command4 = command4Holder.getMock();
+
+ Command runWhenDisabled = new SelectCommand(Map.of(1, command1, 2, command2), () -> 1);
+ Command dontRunWhenDisabled = new SelectCommand(Map.of(1, command3, 2, command4), () -> 1);
+
+ CommandScheduler scheduler = new CommandScheduler();
+
+ scheduler.schedule(runWhenDisabled, dontRunWhenDisabled);
+
+ assertTrue(scheduler.isScheduled(runWhenDisabled));
+ assertFalse(scheduler.isScheduled(dontRunWhenDisabled));
+ }
+
+ @Test
+ void parallelConditionalRunWhenDisabledTest() {
+ setDSEnabled(false);
+
+ MockCommandHolder command1Holder = new MockCommandHolder(true);
+ Command command1 = command1Holder.getMock();
+ MockCommandHolder command2Holder = new MockCommandHolder(true);
+ Command command2 = command2Holder.getMock();
+ MockCommandHolder command3Holder = new MockCommandHolder(true);
+ Command command3 = command3Holder.getMock();
+ MockCommandHolder command4Holder = new MockCommandHolder(false);
+ Command command4 = command4Holder.getMock();
+
+ CommandScheduler scheduler = new CommandScheduler();
+
+ Command runWhenDisabled = new ConditionalCommand(command1, command2, () -> true);
+ Command dontRunWhenDisabled = new ConditionalCommand(command3, command4, () -> true);
+
+ Command parallel = parallel(runWhenDisabled, dontRunWhenDisabled);
+
+ scheduler.schedule(parallel);
+
+ assertFalse(scheduler.isScheduled(runWhenDisabled));
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/RunCommandTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/RunCommandTest.java
new file mode 100644
index 0000000..3ff8c3d
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/RunCommandTest.java
@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import org.junit.jupiter.api.Test;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+class RunCommandTest extends CommandTestBase {
+ @Test
+ void runCommandScheduleTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ Counter counter = new Counter();
+
+ RunCommand command = new RunCommand(counter::increment);
+
+ scheduler.schedule(command);
+ scheduler.run();
+ scheduler.run();
+ scheduler.run();
+
+ assertEquals(3, counter.m_counter);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/ScheduleCommandTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/ScheduleCommandTest.java
new file mode 100644
index 0000000..9041627
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/ScheduleCommandTest.java
@@ -0,0 +1,47 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import org.junit.jupiter.api.Test;
+
+import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
+import static org.mockito.Mockito.verify;
+
+class ScheduleCommandTest extends CommandTestBase {
+ @Test
+ void scheduleCommandScheduleTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ MockCommandHolder command1Holder = new MockCommandHolder(true);
+ Command command1 = command1Holder.getMock();
+ MockCommandHolder command2Holder = new MockCommandHolder(true);
+ Command command2 = command2Holder.getMock();
+
+ ScheduleCommand scheduleCommand = new ScheduleCommand(command1, command2);
+
+ scheduler.schedule(scheduleCommand);
+
+ verify(command1).schedule();
+ verify(command2).schedule();
+ }
+
+ @Test
+ void scheduleCommandDuringRunTest() {
+ CommandScheduler scheduler = CommandScheduler.getInstance();
+
+ InstantCommand toSchedule = new InstantCommand();
+ ScheduleCommand scheduleCommand = new ScheduleCommand(toSchedule);
+ SequentialCommandGroup group =
+ new SequentialCommandGroup(new InstantCommand(), scheduleCommand);
+
+ scheduler.schedule(group);
+ scheduler.schedule(new InstantCommand().perpetually());
+ scheduler.run();
+ assertDoesNotThrow(scheduler::run);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/SchedulerTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/SchedulerTest.java
new file mode 100644
index 0000000..1f110b6
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/SchedulerTest.java
@@ -0,0 +1,57 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import org.junit.jupiter.api.Test;
+
+import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+class SchedulerTest extends CommandTestBase {
+ @Test
+ void schedulerLambdaTestNoInterrupt() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ Counter counter = new Counter();
+
+ scheduler.onCommandInitialize(command -> counter.increment());
+ scheduler.onCommandExecute(command -> counter.increment());
+ scheduler.onCommandFinish(command -> counter.increment());
+
+ scheduler.schedule(new InstantCommand());
+ scheduler.run();
+
+ assertEquals(counter.m_counter, 3);
+ }
+
+ @Test
+ void schedulerInterruptLambdaTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ Counter counter = new Counter();
+
+ scheduler.onCommandInterrupt(command -> counter.increment());
+
+ Command command = new WaitCommand(10);
+
+ scheduler.schedule(command);
+ scheduler.cancel(command);
+
+ assertEquals(counter.m_counter, 1);
+ }
+
+ @Test
+ void unregisterSubsystemTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ Subsystem system = new TestSubsystem();
+
+ scheduler.registerSubsystem(system);
+ assertDoesNotThrow(() -> scheduler.unregisterSubsystem(system));
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/SelectCommandTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/SelectCommandTest.java
new file mode 100644
index 0000000..df52855
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/SelectCommandTest.java
@@ -0,0 +1,108 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import java.util.Map;
+
+import org.junit.jupiter.api.Test;
+
+import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.mockito.Mockito.never;
+import static org.mockito.Mockito.verify;
+
+class SelectCommandTest extends CommandTestBase {
+ @Test
+ void selectCommandTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ MockCommandHolder command1Holder = new MockCommandHolder(true);
+ Command command1 = command1Holder.getMock();
+ command1Holder.setFinished(true);
+ MockCommandHolder command2Holder = new MockCommandHolder(true);
+ Command command2 = command2Holder.getMock();
+ MockCommandHolder command3Holder = new MockCommandHolder(true);
+ Command command3 = command3Holder.getMock();
+
+ SelectCommand selectCommand =
+ new SelectCommand(Map.ofEntries(
+ Map.entry("one", command1),
+ Map.entry("two", command2),
+ Map.entry("three", command3)),
+ () -> "one");
+
+ scheduler.schedule(selectCommand);
+ scheduler.run();
+
+ verify(command1).initialize();
+ verify(command1).execute();
+ verify(command1).end(false);
+
+ verify(command2, never()).initialize();
+ verify(command2, never()).execute();
+ verify(command2, never()).end(false);
+
+ verify(command3, never()).initialize();
+ verify(command3, never()).execute();
+ verify(command3, never()).end(false);
+ }
+
+ @Test
+ void selectCommandInvalidKeyTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ MockCommandHolder command1Holder = new MockCommandHolder(true);
+ Command command1 = command1Holder.getMock();
+ command1Holder.setFinished(true);
+ MockCommandHolder command2Holder = new MockCommandHolder(true);
+ Command command2 = command2Holder.getMock();
+ MockCommandHolder command3Holder = new MockCommandHolder(true);
+ Command command3 = command3Holder.getMock();
+
+ SelectCommand selectCommand =
+ new SelectCommand(Map.ofEntries(
+ Map.entry("one", command1),
+ Map.entry("two", command2),
+ Map.entry("three", command3)),
+ () -> "four");
+
+ assertDoesNotThrow(() -> scheduler.schedule(selectCommand));
+ }
+
+
+ @Test
+ void selectCommandRequirementTest() {
+ Subsystem system1 = new TestSubsystem();
+ Subsystem system2 = new TestSubsystem();
+ Subsystem system3 = new TestSubsystem();
+ Subsystem system4 = new TestSubsystem();
+
+ CommandScheduler scheduler = new CommandScheduler();
+
+ MockCommandHolder command1Holder = new MockCommandHolder(true, system1, system2);
+ Command command1 = command1Holder.getMock();
+ MockCommandHolder command2Holder = new MockCommandHolder(true, system3);
+ Command command2 = command2Holder.getMock();
+ MockCommandHolder command3Holder = new MockCommandHolder(true, system3, system4);
+ Command command3 = command3Holder.getMock();
+
+ SelectCommand selectCommand = new SelectCommand(
+ Map.ofEntries(Map.entry("one", command1), Map.entry("two", command2),
+ Map.entry("three", command3)), () -> "one");
+
+ scheduler.schedule(selectCommand);
+ scheduler.schedule(new InstantCommand(() -> {
+ }, system3));
+
+ assertFalse(scheduler.isScheduled(selectCommand));
+
+ verify(command1).end(true);
+ verify(command2, never()).end(true);
+ verify(command3, never()).end(true);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroupTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroupTest.java
new file mode 100644
index 0000000..8582140
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroupTest.java
@@ -0,0 +1,128 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import org.junit.jupiter.api.Test;
+
+import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+import static org.mockito.Mockito.never;
+import static org.mockito.Mockito.verify;
+
+class SequentialCommandGroupTest extends CommandTestBase {
+ @Test
+ void sequentialGroupScheduleTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ MockCommandHolder command1Holder = new MockCommandHolder(true);
+ Command command1 = command1Holder.getMock();
+ MockCommandHolder command2Holder = new MockCommandHolder(true);
+ Command command2 = command2Holder.getMock();
+
+ Command group = new SequentialCommandGroup(command1, command2);
+
+ scheduler.schedule(group);
+
+ verify(command1).initialize();
+ verify(command2, never()).initialize();
+
+ command1Holder.setFinished(true);
+ scheduler.run();
+
+ verify(command1).execute();
+ verify(command1).end(false);
+ verify(command2).initialize();
+ verify(command2, never()).execute();
+ verify(command2, never()).end(false);
+
+ command2Holder.setFinished(true);
+ scheduler.run();
+
+ verify(command1).execute();
+ verify(command1).end(false);
+ verify(command2).execute();
+ verify(command2).end(false);
+
+ assertFalse(scheduler.isScheduled(group));
+ }
+
+ @Test
+ void sequentialGroupInterruptTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ MockCommandHolder command1Holder = new MockCommandHolder(true);
+ Command command1 = command1Holder.getMock();
+ MockCommandHolder command2Holder = new MockCommandHolder(true);
+ Command command2 = command2Holder.getMock();
+ MockCommandHolder command3Holder = new MockCommandHolder(true);
+ Command command3 = command3Holder.getMock();
+
+ Command group = new SequentialCommandGroup(command1, command2, command3);
+
+ scheduler.schedule(group);
+
+ command1Holder.setFinished(true);
+ scheduler.run();
+ scheduler.cancel(group);
+ scheduler.run();
+
+ verify(command1).execute();
+ verify(command1, never()).end(true);
+ verify(command1).end(false);
+ verify(command2, never()).execute();
+ verify(command2).end(true);
+ verify(command2, never()).end(false);
+ verify(command3, never()).initialize();
+ verify(command3, never()).execute();
+ verify(command3, never()).end(true);
+ verify(command3, never()).end(false);
+
+ assertFalse(scheduler.isScheduled(group));
+ }
+
+ @Test
+ void notScheduledCancelTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ MockCommandHolder command1Holder = new MockCommandHolder(true);
+ Command command1 = command1Holder.getMock();
+ MockCommandHolder command2Holder = new MockCommandHolder(true);
+ Command command2 = command2Holder.getMock();
+
+ Command group = new SequentialCommandGroup(command1, command2);
+
+ assertDoesNotThrow(() -> scheduler.cancel(group));
+ }
+
+
+ @Test
+ void sequentialGroupRequirementTest() {
+ Subsystem system1 = new TestSubsystem();
+ Subsystem system2 = new TestSubsystem();
+ Subsystem system3 = new TestSubsystem();
+ Subsystem system4 = new TestSubsystem();
+
+ CommandScheduler scheduler = new CommandScheduler();
+
+ MockCommandHolder command1Holder = new MockCommandHolder(true, system1, system2);
+ Command command1 = command1Holder.getMock();
+ MockCommandHolder command2Holder = new MockCommandHolder(true, system3);
+ Command command2 = command2Holder.getMock();
+ MockCommandHolder command3Holder = new MockCommandHolder(true, system3, system4);
+ Command command3 = command3Holder.getMock();
+
+ Command group = new SequentialCommandGroup(command1, command2);
+
+ scheduler.schedule(group);
+ scheduler.schedule(command3);
+
+ assertFalse(scheduler.isScheduled(group));
+ assertTrue(scheduler.isScheduled(command3));
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/StartEndCommandTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/StartEndCommandTest.java
new file mode 100644
index 0000000..93921e0
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/StartEndCommandTest.java
@@ -0,0 +1,37 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import org.junit.jupiter.api.Test;
+
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+class StartEndCommandTest extends CommandTestBase {
+ @Test
+ void startEndCommandScheduleTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ ConditionHolder cond1 = new ConditionHolder();
+ ConditionHolder cond2 = new ConditionHolder();
+
+ StartEndCommand command =
+ new StartEndCommand(() -> cond1.setCondition(true), () -> cond2.setCondition(true));
+
+ scheduler.schedule(command);
+ scheduler.run();
+
+ assertTrue(scheduler.isScheduled(command));
+
+ scheduler.cancel(command);
+
+ assertFalse(scheduler.isScheduled(command));
+ assertTrue(cond1.getCondition());
+ assertTrue(cond2.getCondition());
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/WaitCommandTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/WaitCommandTest.java
new file mode 100644
index 0000000..5a522af
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/WaitCommandTest.java
@@ -0,0 +1,67 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import org.junit.jupiter.api.Test;
+
+import edu.wpi.first.wpilibj.Timer;
+
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+import static org.mockito.ArgumentMatchers.anyDouble;
+import static org.mockito.Mockito.never;
+import static org.mockito.Mockito.verify;
+import static org.mockito.Mockito.when;
+
+class WaitCommandTest extends CommandTestBase {
+ @Test
+ void waitCommandTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ WaitCommand waitCommand = new WaitCommand(2);
+
+ scheduler.schedule(waitCommand);
+ scheduler.run();
+ Timer.delay(1);
+ scheduler.run();
+
+ assertTrue(scheduler.isScheduled(waitCommand));
+
+ Timer.delay(2);
+
+ scheduler.run();
+
+ assertFalse(scheduler.isScheduled(waitCommand));
+ }
+
+ @Test
+ void withTimeoutTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ MockCommandHolder command1Holder = new MockCommandHolder(true);
+ Command command1 = command1Holder.getMock();
+ when(command1.withTimeout(anyDouble())).thenCallRealMethod();
+
+ Command timeout = command1.withTimeout(2);
+
+ scheduler.schedule(timeout);
+ scheduler.run();
+
+ verify(command1).initialize();
+ verify(command1).execute();
+ assertFalse(scheduler.isScheduled(command1));
+ assertTrue(scheduler.isScheduled(timeout));
+
+ Timer.delay(3);
+ scheduler.run();
+
+ verify(command1).end(true);
+ verify(command1, never()).end(false);
+ assertFalse(scheduler.isScheduled(timeout));
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/WaitUntilCommandTest.java b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/WaitUntilCommandTest.java
new file mode 100644
index 0000000..a99a18c
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/WaitUntilCommandTest.java
@@ -0,0 +1,31 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj2.command;
+
+import org.junit.jupiter.api.Test;
+
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+class WaitUntilCommandTest extends CommandTestBase {
+ @Test
+ void waitUntilTest() {
+ CommandScheduler scheduler = new CommandScheduler();
+
+ ConditionHolder condition = new ConditionHolder();
+
+ Command command = new WaitUntilCommand(condition::getCondition);
+
+ scheduler.schedule(command);
+ scheduler.run();
+ assertTrue(scheduler.isScheduled(command));
+ condition.setCondition(true);
+ scheduler.run();
+ assertFalse(scheduler.isScheduled(command));
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibj/src/test/resources/edu/wpi/first/wpilibj/PreferencesTestDefault.ini b/third_party/allwpilib_2019/wpilibj/src/test/resources/edu/wpi/first/wpilibj/PreferencesTestDefault.ini
new file mode 100644
index 0000000..a685de0
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibj/src/test/resources/edu/wpi/first/wpilibj/PreferencesTestDefault.ini
@@ -0,0 +1,7 @@
+[NetworkTables Storage 3.0]
+double "/Preferences/checkedValueInt"=2
+double "/Preferences/checkedValueDouble"=.2
+double "/Preferences/checkedValueFloat"=3.14
+double "/Preferences/checkedValueLong"=172
+string "/Preferences/checkedValueString"="Hello. How are you?"
+boolean "/Preferences/checkedValueBoolean"=false
diff --git a/third_party/allwpilib_2019/wpilibjExamples/build.gradle b/third_party/allwpilib_2019/wpilibjExamples/build.gradle
index 55087ba..7b65086 100644
--- a/third_party/allwpilib_2019/wpilibjExamples/build.gradle
+++ b/third_party/allwpilib_2019/wpilibjExamples/build.gradle
@@ -1,5 +1,4 @@
apply plugin: 'java'
-apply plugin: 'pmd'
ext {
useJava = true
@@ -21,16 +20,20 @@
compile project(':cameraserver')
}
-pmd {
- consoleOutput = true
- reportsDir = file("$project.buildDir/reports/pmd")
- ruleSetFiles = files(new File(rootDir, "styleguide/pmd-ruleset.xml"))
- ruleSets = []
+if (!project.hasProperty('skipPMD')) {
+ apply plugin: 'pmd'
+
+ pmd {
+ consoleOutput = true
+ reportsDir = file("$project.buildDir/reports/pmd")
+ ruleSetFiles = files(new File(rootDir, "styleguide/pmd-ruleset.xml"))
+ ruleSets = []
+ }
}
gradle.projectsEvaluated {
tasks.withType(JavaCompile) {
- options.compilerArgs << "-Xlint:unchecked" << "-Xlint:deprecation"
+ options.compilerArgs << "-Xlint:unchecked" << "-Xlint:deprecation" << "-Werror"
}
}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/publish.gradle b/third_party/allwpilib_2019/wpilibjExamples/publish.gradle
index b2aa3aa..a2c0746 100644
--- a/third_party/allwpilib_2019/wpilibjExamples/publish.gradle
+++ b/third_party/allwpilib_2019/wpilibjExamples/publish.gradle
@@ -1,12 +1,5 @@
apply plugin: 'maven-publish'
-def pubVersion
-if (project.hasProperty("publishVersion")) {
- pubVersion = project.publishVersion
-} else {
- pubVersion = WPILibVersion.version
-}
-
def baseExamplesArtifactId = 'examples'
def baseTemplatesArtifactId = 'templates'
def baseCommandsArtifactId = 'commands'
@@ -72,7 +65,7 @@
artifactId = baseExamplesArtifactId
groupId artifactGroupId
- version pubVersion
+ version wpilibVersioning.version.get()
}
templates(MavenPublication) {
@@ -80,7 +73,7 @@
artifactId = baseTemplatesArtifactId
groupId artifactGroupId
- version pubVersion
+ version wpilibVersioning.version.get()
}
commands(MavenPublication) {
@@ -88,7 +81,7 @@
artifactId = baseCommandsArtifactId
groupId artifactGroupId
- version pubVersion
+ version wpilibVersioning.version.get()
}
}
}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/emptyclass/ReplaceMeEmptyClass.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/emptyclass/ReplaceMeEmptyClass.java
index 9498348..e2d866e 100644
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/emptyclass/ReplaceMeEmptyClass.java
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/emptyclass/ReplaceMeEmptyClass.java
@@ -1,14 +1,14 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.wpilibj.commands.emptyclass;
-
-/**
- * Add your docs here.
- */
-public class ReplaceMeEmptyClass {
-}
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.commands.emptyclass;
+
+/**
+ * Add your docs here.
+ */
+public class ReplaceMeEmptyClass {
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Main.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Main.java
new file mode 100644
index 0000000..438697e
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.arcadedrive;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java
new file mode 100644
index 0000000..f002618
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java
@@ -0,0 +1,32 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.arcadedrive;
+
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.PWMVictorSPX;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+
+/**
+ * This is a demo program showing the use of the DifferentialDrive class.
+ * Runs the motors with arcade steering.
+ */
+public class Robot extends TimedRobot {
+ private final PWMVictorSPX m_leftMotor = new PWMVictorSPX(0);
+ private final PWMVictorSPX m_rightMotor = new PWMVictorSPX(1);
+ private final DifferentialDrive m_robotDrive = new DifferentialDrive(m_leftMotor, m_rightMotor);
+ private final Joystick m_stick = new Joystick(0);
+
+ @Override
+ public void teleopPeriodic() {
+ // Drive with arcade drive.
+ // That means that the Y axis drives forward
+ // and backward, and the X turns left and right.
+ m_robotDrive.arcadeDrive(m_stick.getY(), m_stick.getX());
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Main.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Main.java
new file mode 100644
index 0000000..ff5c19c
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.canpdp;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Robot.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Robot.java
new file mode 100644
index 0000000..7a0831b
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/canpdp/Robot.java
@@ -0,0 +1,43 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.canpdp;
+
+import edu.wpi.first.wpilibj.PowerDistributionPanel;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+/**
+ * This is a sample program showing how to retrieve information from the Power Distribution Panel
+ * via CAN. The information will be displayed under variables through the SmartDashboard.
+ */
+public class Robot extends TimedRobot {
+ private static final int kPDPId = 0;
+
+ private final PowerDistributionPanel m_pdp = new PowerDistributionPanel(kPDPId);
+
+ @Override
+ public void robotPeriodic() {
+ /*
+ * Get the current going through channel 7, in Amperes. The PDP returns the
+ * current in increments of 0.125A. At low currents
+ * the current readings tend to be less accurate.
+ */
+ SmartDashboard.putNumber("Current Channel 7", m_pdp.getCurrent(7));
+
+ /*
+ * Get the voltage going into the PDP, in Volts.
+ * The PDP returns the voltage in increments of 0.05 Volts.
+ */
+ SmartDashboard.putNumber("Voltage", m_pdp.getVoltage());
+
+ /*
+ * Retrieves the temperature of the PDP, in degrees Celsius.
+ */
+ SmartDashboard.putNumber("Temperature", m_pdp.getTemperature());
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java
new file mode 100644
index 0000000..9f33156
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java
@@ -0,0 +1,121 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.differentialdrivebot;
+
+import edu.wpi.first.wpilibj.AnalogGyro;
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.Spark;
+import edu.wpi.first.wpilibj.SpeedControllerGroup;
+import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
+import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
+import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry;
+import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
+
+/**
+ * Represents a differential drive style drivetrain.
+ */
+public class Drivetrain {
+ public static final double kMaxSpeed = 3.0; // meters per second
+ public static final double kMaxAngularSpeed = 2 * Math.PI; // one rotation per second
+
+ private static final double kTrackWidth = 0.381 * 2; // meters
+ private static final double kWheelRadius = 0.0508; // meters
+ private static final int kEncoderResolution = 4096;
+
+ private final Spark m_leftMaster = new Spark(1);
+ private final Spark m_leftFollower = new Spark(2);
+ private final Spark m_rightMaster = new Spark(3);
+ private final Spark m_rightFollower = new Spark(4);
+
+ private final Encoder m_leftEncoder = new Encoder(0, 1);
+ private final Encoder m_rightEncoder = new Encoder(0, 1);
+
+ private final SpeedControllerGroup m_leftGroup
+ = new SpeedControllerGroup(m_leftMaster, m_leftFollower);
+ private final SpeedControllerGroup m_rightGroup
+ = new SpeedControllerGroup(m_rightMaster, m_rightFollower);
+
+ private final AnalogGyro m_gyro = new AnalogGyro(0);
+
+ private final PIDController m_leftPIDController = new PIDController(1, 0, 0);
+ private final PIDController m_rightPIDController = new PIDController(1, 0, 0);
+
+ private final DifferentialDriveKinematics m_kinematics
+ = new DifferentialDriveKinematics(kTrackWidth);
+
+ private final DifferentialDriveOdometry m_odometry
+ = new DifferentialDriveOdometry(m_kinematics);
+
+ /**
+ * Constructs a differential drive object.
+ * Sets the encoder distance per pulse and resets the gyro.
+ */
+ public Drivetrain() {
+ m_gyro.reset();
+
+ // Set the distance per pulse for the drive encoders. We can simply use the
+ // distance traveled for one rotation of the wheel divided by the encoder
+ // resolution.
+ m_leftEncoder.setDistancePerPulse(2 * Math.PI * kWheelRadius / kEncoderResolution);
+ m_rightEncoder.setDistancePerPulse(2 * Math.PI * kWheelRadius / kEncoderResolution);
+ }
+
+ /**
+ * Returns the angle of the robot as a Rotation2d.
+ *
+ * @return The angle of the robot.
+ */
+ public Rotation2d getAngle() {
+ // Negating the angle because WPILib gyros are CW positive.
+ return Rotation2d.fromDegrees(-m_gyro.getAngle());
+ }
+
+ /**
+ * Returns the current wheel speeds.
+ *
+ * @return The current wheel speeds.
+ */
+ public DifferentialDriveWheelSpeeds getCurrentSpeeds() {
+ return new DifferentialDriveWheelSpeeds(m_leftEncoder.getRate(), m_rightEncoder.getRate());
+ }
+
+ /**
+ * Sets the desired wheel speeds.
+ *
+ * @param speeds The desired wheel speeds.
+ */
+ public void setSpeeds(DifferentialDriveWheelSpeeds speeds) {
+ double leftOutput = m_leftPIDController.calculate(m_leftEncoder.getRate(),
+ speeds.leftMetersPerSecond);
+ double rightOutput = m_rightPIDController.calculate(m_rightEncoder.getRate(),
+ speeds.rightMetersPerSecond);
+ m_leftGroup.set(leftOutput);
+ m_rightGroup.set(rightOutput);
+ }
+
+ /**
+ * Drives the robot with the given linear velocity and angular velocity.
+ *
+ * @param xSpeed Linear velocity in m/s.
+ * @param rot Angular velocity in rad/s.
+ */
+ @SuppressWarnings("ParameterName")
+ public void drive(double xSpeed, double rot) {
+ var wheelSpeeds = m_kinematics.toWheelSpeeds(new ChassisSpeeds(xSpeed, 0.0, rot));
+ setSpeeds(wheelSpeeds);
+ }
+
+ /**
+ * Updates the field-relative position.
+ */
+ public void updateOdometry() {
+ m_odometry.update(getAngle(), getCurrentSpeeds());
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Main.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Main.java
new file mode 100644
index 0000000..1f2b319
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.differentialdrivebot;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Robot.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Robot.java
new file mode 100644
index 0000000..10df8b6
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Robot.java
@@ -0,0 +1,41 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.differentialdrivebot;
+
+import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.XboxController;
+
+import static edu.wpi.first.wpilibj.examples.differentialdrivebot.Drivetrain.kMaxAngularSpeed;
+import static edu.wpi.first.wpilibj.examples.differentialdrivebot.Drivetrain.kMaxSpeed;
+
+public class Robot extends TimedRobot {
+ private final XboxController m_controller = new XboxController(0);
+ private final Drivetrain m_drive = new Drivetrain();
+
+ @Override
+ public void autonomousPeriodic() {
+ teleopPeriodic();
+ m_drive.updateOdometry();
+ }
+
+ @Override
+ public void teleopPeriodic() {
+ // Get the x speed. We are inverting this because Xbox controllers return
+ // negative values when we push forward.
+ final var xSpeed = -m_controller.getY(GenericHID.Hand.kLeft) * kMaxSpeed;
+
+ // Get the rate of angular rotation. We are inverting this because we want a
+ // positive value when we pull to the left (remember, CCW is positive in
+ // mathematics). Xbox controllers return positive values when you pull to
+ // the right by default.
+ final var rot = -m_controller.getX(GenericHID.Hand.kRight) * kMaxAngularSpeed;
+
+ m_drive.drive(xSpeed, rot);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Main.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Main.java
new file mode 100644
index 0000000..5df92a6
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.elevatorprofiledpid;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java
new file mode 100644
index 0000000..a48909f
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorprofiledpid/Robot.java
@@ -0,0 +1,47 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.elevatorprofiledpid;
+
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.Spark;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
+import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
+
+public class Robot extends TimedRobot {
+ private static double kDt = 0.02;
+
+ private final Joystick m_joystick = new Joystick(1);
+ private final Encoder m_encoder = new Encoder(1, 2);
+ private final Spark m_motor = new Spark(1);
+
+ // Create a PID controller whose setpoint's change is subject to maximum
+ // velocity and acceleration constraints.
+ private final TrapezoidProfile.Constraints m_constraints =
+ new TrapezoidProfile.Constraints(1.75, 0.75);
+ private final ProfiledPIDController m_controller =
+ new ProfiledPIDController(1.3, 0.0, 0.7, m_constraints, kDt);
+
+ @Override
+ public void robotInit() {
+ m_encoder.setDistancePerPulse(1.0 / 360.0 * 2.0 * 3.1415 * 1.5);
+ }
+
+ @Override
+ public void teleopPeriodic() {
+ if (m_joystick.getRawButtonPressed(2)) {
+ m_controller.setGoal(5);
+ } else if (m_joystick.getRawButtonPressed(3)) {
+ m_controller.setGoal(0);
+ }
+
+ // Run controller and update motor output
+ m_motor.set(m_controller.calculate(m_encoder.getDistance()));
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Main.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Main.java
new file mode 100644
index 0000000..12255cd
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.elevatortrapezoidprofile;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Robot.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Robot.java
new file mode 100644
index 0000000..fddd417
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatortrapezoidprofile/Robot.java
@@ -0,0 +1,58 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.elevatortrapezoidprofile;
+
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.Spark;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
+
+public class Robot extends TimedRobot {
+ private static double kDt = 0.02;
+
+ private final Joystick m_joystick = new Joystick(1);
+ private final Encoder m_encoder = new Encoder(1, 2);
+ private final Spark m_motor = new Spark(1);
+ private final PIDController m_controller = new PIDController(1.3, 0.0, 0.7, kDt);
+
+ private final TrapezoidProfile.Constraints m_constraints =
+ new TrapezoidProfile.Constraints(1.75, 0.75);
+ private TrapezoidProfile.State m_goal = new TrapezoidProfile.State();
+ private TrapezoidProfile.State m_setpoint = new TrapezoidProfile.State();
+
+ @Override
+ public void robotInit() {
+ m_encoder.setDistancePerPulse(1.0 / 360.0 * 2.0 * 3.1415 * 1.5);
+ }
+
+ @Override
+ public void teleopPeriodic() {
+ if (m_joystick.getRawButtonPressed(2)) {
+ m_goal = new TrapezoidProfile.State(5, 0);
+ } else if (m_joystick.getRawButtonPressed(3)) {
+ m_goal = new TrapezoidProfile.State(0, 0);
+ }
+
+ // Create a motion profile with the given maximum velocity and maximum
+ // acceleration constraints for the next setpoint, the desired goal, and the
+ // current setpoint.
+ var profile = new TrapezoidProfile(m_constraints, m_goal, m_setpoint);
+
+ // Retrieve the profiled setpoint for the next timestep. This setpoint moves
+ // toward the goal while obeying the constraints.
+ m_setpoint = profile.calculate(kDt);
+
+ double output = m_controller.calculate(m_encoder.getDistance(),
+ m_setpoint.position);
+
+ // Run controller with profiled setpoint and update motor output
+ m_motor.set(output);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/encoder/Main.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/encoder/Main.java
new file mode 100644
index 0000000..da0be79
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/encoder/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.encoder;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/encoder/Robot.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/encoder/Robot.java
new file mode 100644
index 0000000..4bb26ea
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/encoder/Robot.java
@@ -0,0 +1,74 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.encoder;
+
+import edu.wpi.first.wpilibj.CounterBase;
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+/**
+ * Sample program displaying the value of a quadrature encoder on the SmartDashboard. Quadrature
+ * Encoders are digital sensors which can detect the amount the encoder has rotated since starting
+ * as well as the direction in which the encoder shaft is rotating. However, encoders can not tell
+ * you the absolute position of the encoder shaft (ie, it considers where it starts to be the zero
+ * position, no matter where it starts), and so can only tell you how much the encoder has rotated
+ * since starting. Depending on the precision of an encoder, it will have fewer or greater ticks per
+ * revolution; the number of ticks per revolution will affect the conversion between ticks and
+ * distance, as specified by DistancePerPulse. One of the most common uses of encoders is in the
+ * drivetrain, so that the distance that the robot drives can be precisely controlled during the
+ * autonomous mode.
+ */
+public class Robot extends TimedRobot {
+ /**
+ * The Encoder object is constructed with 4 parameters, the last two being optional. The first two
+ * parameters (1, 2 in this case) refer to the ports on the roboRIO which the encoder uses.
+ * Because a quadrature encoder has two signal wires, the signal from two DIO ports on the roboRIO
+ * are used. The third (optional) parameter is a boolean which defaults to false. If you set this
+ * parameter to true, the direction of the encoder will be reversed, in case it makes more sense
+ * mechanically. The final (optional) parameter specifies encoding rate (k1X, k2X, or k4X) and
+ * defaults to k4X. Faster (k4X) encoding gives greater positional precision but more noise in the
+ * rate.
+ */
+ private final Encoder m_encoder =
+ new Encoder(1, 2, false, CounterBase.EncodingType.k4X);
+
+ @Override
+ public void robotInit() {
+ /*
+ * Defines the number of samples to average when determining the rate.
+ * On a quadrature encoder, values range from 1-255;
+ * larger values result in smoother but potentially
+ * less accurate rates than lower values.
+ */
+ m_encoder.setSamplesToAverage(5);
+
+ /*
+ * Defines how far the mechanism attached to the encoder moves per pulse. In
+ * this case, we assume that a 360 count encoder is directly
+ * attached to a 3 inch diameter (1.5inch radius) wheel,
+ * and that we want to measure distance in inches.
+ */
+ m_encoder.setDistancePerPulse(1.0 / 360.0 * 2.0 * 3.1415 * 1.5);
+
+ /*
+ * Defines the lowest rate at which the encoder will
+ * not be considered stopped, for the purposes of
+ * the GetStopped() method. Units are in distance / second,
+ * where distance refers to the units of distance
+ * that you are using, in this case inches.
+ */
+ m_encoder.setMinRate(1.0);
+ }
+
+ @Override
+ public void teleopPeriodic() {
+ SmartDashboard.putNumber("Encoder Distance", m_encoder.getDistance());
+ SmartDashboard.putNumber("Encoder Rate", m_encoder.getRate());
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json
index 39a92e5..39840f7 100644
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json
@@ -23,6 +23,16 @@
"mainclass": "Main"
},
{
+ "name": "Arcade Drive",
+ "description": "Demonstrates the use of the DifferentialDrive class to drive a robot with Arcade Drive.",
+ "tags": [
+ "Getting Started with Java"
+ ],
+ "foldername": "arcadedrive",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
"name": "Mecanum Drive",
"description": "Demonstrate the use of the RobotDrive class doing teleop driving with Mecanum steering",
"tags": [
@@ -36,6 +46,55 @@
"mainclass": "Main"
},
{
+ "name": "PDP CAN Monitoring",
+ "description": "Demonstrate using CAN to monitor the voltage, current, and temperature in the Power Distribution Panel.",
+ "tags": [
+ "Complete List",
+ "CAN",
+ "Sensors"
+ ],
+ "foldername": "canpdp",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
+ "name": "Solenoids",
+ "description": "Demonstrate controlling a single and double solenoid from Joystick buttons.",
+ "tags": [
+ "Actuators",
+ "Joystick",
+ "Pneumatics",
+ "Complete List"
+ ],
+ "foldername": "solenoid",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
+ "name": "Encoder",
+ "description": "Demonstrate displaying the value of a quadrature encoder on the SmartDashboard.",
+ "tags": [
+ "Complete List",
+ "Digital",
+ "Sensors"
+ ],
+ "foldername": "encoder",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
+ "name": "Relay",
+ "description": "Demonstrate controlling a Relay from Joystick buttons.",
+ "tags": [
+ "Actuators",
+ "Joystick",
+ "Complete List"
+ ],
+ "foldername": "relay",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
"name": "Ultrasonic",
"description": "Demonstrate maintaining a set distance using an ultrasonic sensor.",
"tags": [
@@ -73,6 +132,32 @@
"mainclass": "Main"
},
{
+ "name": "Elevator with trapezoid profiled PID",
+ "description": "An example to demonstrate the use of an encoder and trapezoid profiled PID control to reach elevator position setpoints.",
+ "tags": [
+ "Digital",
+ "Sensors",
+ "Actuators",
+ "Joystick"
+ ],
+ "foldername": "elevatortrapezoidprofile",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
+ "name": "Elevator with profiled PID controller",
+ "description": "An example to demonstrate the use of an encoder and trapezoid profiled PID control to reach elevator position setpoints.",
+ "tags": [
+ "Digital",
+ "Sensors",
+ "Actuators",
+ "Joystick"
+ ],
+ "foldername": "elevatorprofiledpid",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
"name": "Gyro",
"description": "An example program showing how to drive straight with using a gyro sensor.",
"tags": [
@@ -137,7 +222,7 @@
},
{
"name": "GearsBot",
- "description": "A fully functional example CommandBased program for WPIs GearsBot robot. This code can run on your computer if it supports simulation.",
+ "description": "A fully functional example CommandBased program for WPIs GearsBot robot, ported to the new CommandBased library. This code can run on your computer if it supports simulation.",
"tags": [
"Complete Robot"
],
@@ -197,5 +282,116 @@
"foldername": "shuffleboard",
"gradlebase": "java",
"mainclass": "Main"
+ },
+ {
+ "name": "'Traditional' Hatchbot",
+ "description": "A fully-functional command-based hatchbot for the 2019 game using the new experimental command API. Written in the 'traditional' style, i.e. commands are given their own classes.",
+ "tags": [
+ "Complete robot",
+ "Command-based"
+ ],
+ "foldername": "hatchbottraditional",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
+ "name": "'Inlined' Hatchbot",
+ "description": "A fully-functional command-based hatchbot for the 2019 game using the new experimental command API. Written in the 'inlined' style, i.e. many commands are defined inline with lambdas.",
+ "tags": [
+ "Complete robot",
+ "Command-based",
+ "Lambdas"
+ ],
+ "foldername": "hatchbotinlined",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
+ "name": "Select Command Example",
+ "description": "An example showing how to use the SelectCommand class from the experimental command framework rewrite.",
+ "tags": [
+ "Command-based"
+ ],
+ "foldername": "selectcommand",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
+ "name": "Scheduler Event Logging",
+ "description": "An example showing how to use Shuffleboard to log Command events from the CommandScheduler in the experimental command framework rewrite",
+ "tags": [
+ "Command-based",
+ "Shuffleboard"
+ ],
+ "foldername": "schedulereventlogging",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
+ "name": "Frisbeebot",
+ "description": "An example robot project for a simple frisbee shooter for the 2013 FRC game, Ultimate Ascent, demonstrating use of PID functionality in the command framework",
+ "tags": [
+ "Command-based",
+ "PID"
+ ],
+ "foldername": "frisbeebot",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
+ "name": "Gyro Drive Commands",
+ "description": "An example command-based robot project demonstrating simple PID functionality utilizing a gyroscope to keep a robot driving straight and to turn to specified angles.",
+ "tags": [
+ "Command-based",
+ "PID",
+ "Gyro"
+ ],
+ "foldername": "gyrodrivecommands",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
+ "name": "SwerveBot",
+ "description": "An example program for a swerve drive that uses swerve drive kinematics and odometry.",
+ "tags": [
+ "SwerveBot"
+ ],
+ "foldername": "swervebot",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
+ "name": "MecanumBot",
+ "description": "An example program for a mecanum drive that uses mecanum drive kinematics and odometry.",
+ "tags": [
+ "MecanumBot"
+ ],
+ "foldername": "mecanumbot",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
+ "name": "DifferentialDriveBot",
+ "description": "An example program for a differential drive that uses differential drive kinematics and odometry.",
+ "tags": [
+ "MecanumBot"
+ ],
+ "foldername": "differentialdrivebot",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
+ "name:": "RamseteCommand",
+ "description": "An example command-based robot demonstrating the use of a RamseteCommand to follow a pregenerated trajectory.",
+ "tags": [
+ "RamseteCommand",
+ "PID",
+ "Ramsete",
+ "Trajectory",
+ "Path following"
+ ],
+ "foldername": "ramsetecommand",
+ "gradlebase": "java",
+ "mainclass": "Main"
}
]
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/Constants.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/Constants.java
new file mode 100644
index 0000000..384fb98
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/Constants.java
@@ -0,0 +1,74 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.frisbeebot;
+
+/**
+ * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
+ * constants. This class should not be used for any other purpose. All constants should be
+ * declared globally (i.e. public static). Do not put anything functional in this class.
+ *
+ * <p>It is advised to statically import this class (or one of its inner classes) wherever the
+ * constants are needed, to reduce verbosity.
+ */
+public final class Constants {
+ public static final class DriveConstants {
+ public static final int kLeftMotor1Port = 0;
+ public static final int kLeftMotor2Port = 1;
+ public static final int kRightMotor1Port = 2;
+ public static final int kRightMotor2Port = 3;
+
+ public static final int[] kLeftEncoderPorts = new int[]{0, 1};
+ public static final int[] kRightEncoderPorts = new int[]{2, 3};
+ public static final boolean kLeftEncoderReversed = false;
+ public static final boolean kRightEncoderReversed = true;
+
+ public static final int kEncoderCPR = 1024;
+ public static final double kWheelDiameterInches = 6;
+ public static final double kEncoderDistancePerPulse =
+ // Assumes the encoders are directly mounted on the wheel shafts
+ (kWheelDiameterInches * Math.PI) / (double) kEncoderCPR;
+ }
+
+ public static final class ShooterConstants {
+ public static final int[] kEncoderPorts = new int[]{4, 5};
+ public static final boolean kEncoderReversed = false;
+ public static final int kEncoderCPR = 1024;
+ public static final double kEncoderDistancePerPulse =
+ // Distance units will be rotations
+ 1. / (double) kEncoderCPR;
+
+ public static final int kShooterMotorPort = 4;
+ public static final int kFeederMotorPort = 5;
+
+ public static final double kShooterFreeRPS = 5300;
+ public static final double kShooterTargetRPS = 4000;
+ public static final double kShooterToleranceRPS = 50;
+
+ public static final double kP = 1;
+ public static final double kI = 0;
+ public static final double kD = 0;
+
+ // On a real robot the feedforward constants should be empirically determined; these are
+ // reasonable guesses.
+ public static final double kSFractional = .05;
+ public static final double kVFractional =
+ // Should have value 1 at free speed...
+ 1. / kShooterFreeRPS;
+
+ public static final double kFeederSpeed = .5;
+ }
+
+ public static final class AutoConstants {
+ public static final double kAutoTimeoutSeconds = 12;
+ public static final double kAutoShootTimeSeconds = 7;
+ }
+
+ public static final class OIConstants {
+ public static final int kDriverControllerPort = 1;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/Main.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/Main.java
new file mode 100644
index 0000000..1fdb348
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.frisbeebot;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/Robot.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/Robot.java
new file mode 100644
index 0000000..83a289d
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/Robot.java
@@ -0,0 +1,121 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.frisbeebot;
+
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+
+/**
+ * The VM is configured to automatically run this class, and to call the functions corresponding to
+ * each mode, as described in the TimedRobot documentation. If you change the name of this class or
+ * the package after creating this project, you must also update the build.gradle file in the
+ * project.
+ */
+public class Robot extends TimedRobot {
+ private Command m_autonomousCommand;
+
+ private RobotContainer m_robotContainer;
+
+ /**
+ * This function is run when the robot is first started up and should be used for any
+ * initialization code.
+ */
+ @Override
+ public void robotInit() {
+ // Instantiate our RobotContainer. This will perform all our button bindings, and put our
+ // autonomous chooser on the dashboard.
+ m_robotContainer = new RobotContainer();
+ }
+
+ /**
+ * This function is called every robot packet, no matter the mode. Use this for items like
+ * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
+ *
+ * <p>This runs after the mode specific periodic functions, but before
+ * LiveWindow and SmartDashboard integrated updating.
+ */
+ @Override
+ public void robotPeriodic() {
+ // Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled
+ // commands, running already-scheduled commands, removing finished or interrupted commands,
+ // and running subsystem periodic() methods. This must be called from the robot's periodic
+ // block in order for anything in the Command-based framework to work.
+ CommandScheduler.getInstance().run();
+ }
+
+ /**
+ * This function is called once each time the robot enters Disabled mode.
+ */
+ @Override
+ public void disabledInit() {
+ }
+
+ @Override
+ public void disabledPeriodic() {
+ }
+
+ /**
+ * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
+ */
+ @Override
+ public void autonomousInit() {
+ m_autonomousCommand = m_robotContainer.getAutonomousCommand();
+
+ /*
+ * String autoSelected = SmartDashboard.getString("Auto Selector",
+ * "Default"); switch(autoSelected) { case "My Auto": autonomousCommand
+ * = new MyAutoCommand(); break; case "Default Auto": default:
+ * autonomousCommand = new ExampleCommand(); break; }
+ */
+
+ // schedule the autonomous command (example)
+ if (m_autonomousCommand != null) {
+ m_autonomousCommand.schedule();
+ }
+ }
+
+ /**
+ * This function is called periodically during autonomous.
+ */
+ @Override
+ public void autonomousPeriodic() {
+ }
+
+ @Override
+ public void teleopInit() {
+ // This makes sure that the autonomous stops running when
+ // teleop starts running. If you want the autonomous to
+ // continue until interrupted by another command, remove
+ // this line or comment it out.
+ if (m_autonomousCommand != null) {
+ m_autonomousCommand.cancel();
+ }
+ }
+
+ /**
+ * This function is called periodically during operator control.
+ */
+ @Override
+ public void teleopPeriodic() {
+
+ }
+
+ @Override
+ public void testInit() {
+ // Cancels all running commands at the start of test mode.
+ CommandScheduler.getInstance().cancelAll();
+ }
+
+ /**
+ * This function is called periodically during test mode.
+ */
+ @Override
+ public void testPeriodic() {
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/RobotContainer.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/RobotContainer.java
new file mode 100644
index 0000000..ea6377a
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/RobotContainer.java
@@ -0,0 +1,119 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.frisbeebot;
+
+import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.ConditionalCommand;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
+import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
+import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+
+import edu.wpi.first.wpilibj.examples.frisbeebot.subsystems.DriveSubsystem;
+import edu.wpi.first.wpilibj.examples.frisbeebot.subsystems.ShooterSubsystem;
+
+import static edu.wpi.first.wpilibj.XboxController.Button;
+import static edu.wpi.first.wpilibj.examples.frisbeebot.Constants.AutoConstants.kAutoShootTimeSeconds;
+import static edu.wpi.first.wpilibj.examples.frisbeebot.Constants.AutoConstants.kAutoTimeoutSeconds;
+import static edu.wpi.first.wpilibj.examples.frisbeebot.Constants.OIConstants.kDriverControllerPort;
+
+/**
+ * This class is where the bulk of the robot should be declared. Since Command-based is a
+ * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
+ * periodic methods (other than the scheduler calls). Instead, the structure of the robot
+ * (including subsystems, commands, and button mappings) should be declared here.
+ */
+public class RobotContainer {
+ // The robot's subsystems
+ private final DriveSubsystem m_robotDrive = new DriveSubsystem();
+ private final ShooterSubsystem m_shooter = new ShooterSubsystem();
+
+ // A simple autonomous routine that shoots the loaded frisbees
+ private final Command m_autoCommand =
+ // Start the command by spinning up the shooter...
+ new InstantCommand(m_shooter::enable, m_shooter).andThen(
+ // Wait until the shooter is at speed before feeding the frisbees
+ new WaitUntilCommand(m_shooter::atSetpoint),
+ // Start running the feeder
+ new InstantCommand(m_shooter::runFeeder, m_shooter),
+ // Shoot for the specified time
+ new WaitCommand(kAutoShootTimeSeconds))
+ // Add a timeout (will end the command if, for instance, the shooter never gets up to
+ // speed)
+ .withTimeout(kAutoTimeoutSeconds)
+ // When the command ends, turn off the shooter and the feeder
+ .andThen(() -> {
+ m_shooter.disable();
+ m_shooter.stopFeeder();
+ });
+
+ // The driver's controller
+ XboxController m_driverController = new XboxController(kDriverControllerPort);
+
+ /**
+ * The container for the robot. Contains subsystems, OI devices, and commands.
+ */
+ public RobotContainer() {
+ // Configure the button bindings
+ configureButtonBindings();
+
+ // Configure default commands
+ // Set the default drive command to split-stick arcade drive
+ m_robotDrive.setDefaultCommand(
+ // A split-stick arcade command, with forward/backward controlled by the left
+ // hand, and turning controlled by the right.
+ new RunCommand(() -> m_robotDrive
+ .arcadeDrive(m_driverController.getY(GenericHID.Hand.kLeft),
+ m_driverController.getX(GenericHID.Hand.kRight)), m_robotDrive));
+
+ }
+
+ /**
+ * Use this method to define your button->command mappings. Buttons can be created by
+ * instantiating a {@link GenericHID} or one of its subclasses ({@link
+ * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
+ * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
+ */
+ private void configureButtonBindings() {
+ // Spin up the shooter when the 'A' button is pressed
+ new JoystickButton(m_driverController, Button.kA.value)
+ .whenPressed(new InstantCommand(m_shooter::enable, m_shooter));
+
+ // Turn off the shooter when the 'B' button is pressed
+ new JoystickButton(m_driverController, Button.kB.value)
+ .whenPressed(new InstantCommand(m_shooter::disable, m_shooter));
+
+ // Run the feeder when the 'X' button is held, but only if the shooter is at speed
+ new JoystickButton(m_driverController, Button.kX.value).whenPressed(new ConditionalCommand(
+ // Run the feeder
+ new InstantCommand(m_shooter::runFeeder, m_shooter),
+ // Do nothing
+ new InstantCommand(),
+ // Determine which of the above to do based on whether the shooter has reached the
+ // desired speed
+ m_shooter::atSetpoint)).whenReleased(new InstantCommand(m_shooter::stopFeeder, m_shooter));
+
+ // Drive at half speed when the bumper is held
+ new JoystickButton(m_driverController, Button.kBumperRight.value)
+ .whenPressed(() -> m_robotDrive.setMaxOutput(.5))
+ .whenReleased(() -> m_robotDrive.setMaxOutput(1));
+ }
+
+
+ /**
+ * Use this to pass the autonomous command to the main {@link Robot} class.
+ *
+ * @return the command to run in autonomous
+ */
+ public Command getAutonomousCommand() {
+ return m_autoCommand;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/DriveSubsystem.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/DriveSubsystem.java
new file mode 100644
index 0000000..c9d8729
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/DriveSubsystem.java
@@ -0,0 +1,110 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.frisbeebot.subsystems;
+
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.PWMVictorSPX;
+import edu.wpi.first.wpilibj.SpeedControllerGroup;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+import static edu.wpi.first.wpilibj.examples.frisbeebot.Constants.DriveConstants.kEncoderDistancePerPulse;
+import static edu.wpi.first.wpilibj.examples.frisbeebot.Constants.DriveConstants.kLeftEncoderPorts;
+import static edu.wpi.first.wpilibj.examples.frisbeebot.Constants.DriveConstants.kLeftEncoderReversed;
+import static edu.wpi.first.wpilibj.examples.frisbeebot.Constants.DriveConstants.kLeftMotor1Port;
+import static edu.wpi.first.wpilibj.examples.frisbeebot.Constants.DriveConstants.kLeftMotor2Port;
+import static edu.wpi.first.wpilibj.examples.frisbeebot.Constants.DriveConstants.kRightEncoderPorts;
+import static edu.wpi.first.wpilibj.examples.frisbeebot.Constants.DriveConstants.kRightEncoderReversed;
+import static edu.wpi.first.wpilibj.examples.frisbeebot.Constants.DriveConstants.kRightMotor1Port;
+import static edu.wpi.first.wpilibj.examples.frisbeebot.Constants.DriveConstants.kRightMotor2Port;
+
+public class DriveSubsystem extends SubsystemBase {
+ // The motors on the left side of the drive.
+ private final SpeedControllerGroup m_leftMotors =
+ new SpeedControllerGroup(new PWMVictorSPX(kLeftMotor1Port),
+ new PWMVictorSPX(kLeftMotor2Port));
+
+ // The motors on the right side of the drive.
+ private final SpeedControllerGroup m_rightMotors =
+ new SpeedControllerGroup(new PWMVictorSPX(kRightMotor1Port),
+ new PWMVictorSPX(kRightMotor2Port));
+
+ // The robot's drive
+ private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotors, m_rightMotors);
+
+ // The left-side drive encoder
+ private final Encoder m_leftEncoder =
+ new Encoder(kLeftEncoderPorts[0], kLeftEncoderPorts[1], kLeftEncoderReversed);
+
+ // The right-side drive encoder
+ private final Encoder m_rightEncoder =
+ new Encoder(kRightEncoderPorts[0], kRightEncoderPorts[1], kRightEncoderReversed);
+
+ /**
+ * Creates a new DriveSubsystem.
+ */
+ public DriveSubsystem() {
+ // Sets the distance per pulse for the encoders
+ m_leftEncoder.setDistancePerPulse(kEncoderDistancePerPulse);
+ m_rightEncoder.setDistancePerPulse(kEncoderDistancePerPulse);
+ }
+
+ /**
+ * Drives the robot using arcade controls.
+ *
+ * @param fwd the commanded forward movement
+ * @param rot the commanded rotation
+ */
+ public void arcadeDrive(double fwd, double rot) {
+ m_drive.arcadeDrive(fwd, rot);
+ }
+
+ /**
+ * Resets the drive encoders to currently read a position of 0.
+ */
+ public void resetEncoders() {
+ m_leftEncoder.reset();
+ m_rightEncoder.reset();
+ }
+
+ /**
+ * Gets the average distance of the two encoders.
+ *
+ * @return the average of the two encoder readings
+ */
+ public double getAverageEncoderDistance() {
+ return (m_leftEncoder.getDistance() + m_rightEncoder.getDistance()) / 2.;
+ }
+
+ /**
+ * Gets the left drive encoder.
+ *
+ * @return the left drive encoder
+ */
+ public Encoder getLeftEncoder() {
+ return m_leftEncoder;
+ }
+
+ /**
+ * Gets the right drive encoder.
+ *
+ * @return the right drive encoder
+ */
+ public Encoder getRightEncoder() {
+ return m_rightEncoder;
+ }
+
+ /**
+ * Sets the max output of the drive. Useful for scaling the drive to drive more slowly.
+ *
+ * @param maxOutput the maximum output to which the drive will be constrained
+ */
+ public void setMaxOutput(double maxOutput) {
+ m_drive.setMaxOutput(maxOutput);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/ShooterSubsystem.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/ShooterSubsystem.java
new file mode 100644
index 0000000..5ebfb04
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/subsystems/ShooterSubsystem.java
@@ -0,0 +1,79 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.frisbeebot.subsystems;
+
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.PWMVictorSPX;
+import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.wpilibj2.command.PIDSubsystem;
+
+import static edu.wpi.first.wpilibj.examples.frisbeebot.Constants.ShooterConstants.kD;
+import static edu.wpi.first.wpilibj.examples.frisbeebot.Constants.ShooterConstants.kEncoderDistancePerPulse;
+import static edu.wpi.first.wpilibj.examples.frisbeebot.Constants.ShooterConstants.kEncoderPorts;
+import static edu.wpi.first.wpilibj.examples.frisbeebot.Constants.ShooterConstants.kEncoderReversed;
+import static edu.wpi.first.wpilibj.examples.frisbeebot.Constants.ShooterConstants.kFeederMotorPort;
+import static edu.wpi.first.wpilibj.examples.frisbeebot.Constants.ShooterConstants.kFeederSpeed;
+import static edu.wpi.first.wpilibj.examples.frisbeebot.Constants.ShooterConstants.kI;
+import static edu.wpi.first.wpilibj.examples.frisbeebot.Constants.ShooterConstants.kP;
+import static edu.wpi.first.wpilibj.examples.frisbeebot.Constants.ShooterConstants.kSFractional;
+import static edu.wpi.first.wpilibj.examples.frisbeebot.Constants.ShooterConstants.kShooterMotorPort;
+import static edu.wpi.first.wpilibj.examples.frisbeebot.Constants.ShooterConstants.kShooterTargetRPS;
+import static edu.wpi.first.wpilibj.examples.frisbeebot.Constants.ShooterConstants.kShooterToleranceRPS;
+import static edu.wpi.first.wpilibj.examples.frisbeebot.Constants.ShooterConstants.kVFractional;
+
+public class ShooterSubsystem extends PIDSubsystem {
+ private final PWMVictorSPX m_shooterMotor = new PWMVictorSPX(kShooterMotorPort);
+ private final PWMVictorSPX m_feederMotor = new PWMVictorSPX(kFeederMotorPort);
+ private final Encoder m_shooterEncoder =
+ new Encoder(kEncoderPorts[0], kEncoderPorts[1], kEncoderReversed);
+
+ /**
+ * The shooter subsystem for the robot.
+ */
+ public ShooterSubsystem() {
+ super(new PIDController(kP, kI, kD));
+ getController().setTolerance(kShooterToleranceRPS);
+ m_shooterEncoder.setDistancePerPulse(kEncoderDistancePerPulse);
+ }
+
+ @Override
+ public void useOutput(double output) {
+ // Use a feedforward of the form kS + kV * velocity
+ m_shooterMotor.set(output + kSFractional + kVFractional * kShooterTargetRPS);
+ }
+
+ @Override
+ public double getSetpoint() {
+ return kShooterTargetRPS;
+ }
+
+ @Override
+ public double getMeasurement() {
+ return m_shooterEncoder.getRate();
+ }
+
+ public boolean atSetpoint() {
+ return m_controller.atSetpoint();
+ }
+
+ public void runFeeder() {
+ m_feederMotor.set(kFeederSpeed);
+ }
+
+ public void stopFeeder() {
+ m_feederMotor.set(0);
+ }
+
+ @Override
+ public void disable() {
+ super.disable();
+ // Turn off motor when we disable, since useOutput(0) doesn't stop the motor due to our
+ // feedforward
+ m_shooterMotor.set(0);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/Main.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/Main.java
index 02a1475..60aea50 100644
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/Main.java
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/Main.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,9 +10,9 @@
import edu.wpi.first.wpilibj.RobotBase;
/**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
*/
public final class Main {
private Main() {
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/OI.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/OI.java
deleted file mode 100644
index 2a2469f..0000000
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/OI.java
+++ /dev/null
@@ -1,72 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.wpilibj.examples.gearsbot;
-
-import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.buttons.JoystickButton;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-
-import edu.wpi.first.wpilibj.examples.gearsbot.commands.Autonomous;
-import edu.wpi.first.wpilibj.examples.gearsbot.commands.CloseClaw;
-import edu.wpi.first.wpilibj.examples.gearsbot.commands.OpenClaw;
-import edu.wpi.first.wpilibj.examples.gearsbot.commands.Pickup;
-import edu.wpi.first.wpilibj.examples.gearsbot.commands.Place;
-import edu.wpi.first.wpilibj.examples.gearsbot.commands.PrepareToPickup;
-import edu.wpi.first.wpilibj.examples.gearsbot.commands.SetElevatorSetpoint;
-import edu.wpi.first.wpilibj.examples.gearsbot.commands.SetWristSetpoint;
-
-/**
- * This class is the glue that binds the controls on the physical operator
- * interface to the commands and command groups that allow control of the robot.
- */
-public class OI {
- private final Joystick m_joystick = new Joystick(0);
-
- /**
- * Construct the OI and all of the buttons on it.
- */
- public OI() {
- // Put Some buttons on the SmartDashboard
- SmartDashboard.putData("Elevator Bottom", new SetElevatorSetpoint(0));
- SmartDashboard.putData("Elevator Platform", new SetElevatorSetpoint(0.2));
- SmartDashboard.putData("Elevator Top", new SetElevatorSetpoint(0.3));
-
- SmartDashboard.putData("Wrist Horizontal", new SetWristSetpoint(0));
- SmartDashboard.putData("Raise Wrist", new SetWristSetpoint(-45));
-
- SmartDashboard.putData("Open Claw", new OpenClaw());
- SmartDashboard.putData("Close Claw", new CloseClaw());
-
- SmartDashboard.putData("Deliver Soda", new Autonomous());
-
- // Create some buttons
- final JoystickButton dpadUp = new JoystickButton(m_joystick, 5);
- final JoystickButton dpadRight = new JoystickButton(m_joystick, 6);
- final JoystickButton dpadDown = new JoystickButton(m_joystick, 7);
- final JoystickButton dpadLeft = new JoystickButton(m_joystick, 8);
- final JoystickButton l2 = new JoystickButton(m_joystick, 9);
- final JoystickButton r2 = new JoystickButton(m_joystick, 10);
- final JoystickButton l1 = new JoystickButton(m_joystick, 11);
- final JoystickButton r1 = new JoystickButton(m_joystick, 12);
-
- // Connect the buttons to commands
- dpadUp.whenPressed(new SetElevatorSetpoint(0.2));
- dpadDown.whenPressed(new SetElevatorSetpoint(-0.2));
- dpadRight.whenPressed(new CloseClaw());
- dpadLeft.whenPressed(new OpenClaw());
-
- r1.whenPressed(new PrepareToPickup());
- r2.whenPressed(new Pickup());
- l1.whenPressed(new Place());
- l2.whenPressed(new Autonomous());
- }
-
- public Joystick getJoystick() {
- return m_joystick;
- }
-}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/Robot.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/Robot.java
index d82139f..ea26e28 100644
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/Robot.java
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/Robot.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,58 +8,69 @@
package edu.wpi.first.wpilibj.examples.gearsbot;
import edu.wpi.first.wpilibj.TimedRobot;
-import edu.wpi.first.wpilibj.command.Command;
-import edu.wpi.first.wpilibj.command.Scheduler;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-
-import edu.wpi.first.wpilibj.examples.gearsbot.commands.Autonomous;
-import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Claw;
-import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain;
-import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Elevator;
-import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Wrist;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
/**
- * The VM is configured to automatically run this class, and to call the
- * functions corresponding to each mode, as described in the TimedRobot
- * documentation. If you change the name of this class or the package after
- * creating this project, you must also update the manifest file in the resource
- * directory.
+ * The VM is configured to automatically run this class, and to call the functions corresponding to
+ * each mode, as described in the TimedRobot documentation. If you change the name of this class or
+ * the package after creating this project, you must also update the build.gradle file in the
+ * project.
*/
public class Robot extends TimedRobot {
- Command m_autonomousCommand;
+ private Command m_autonomousCommand;
- public static DriveTrain m_drivetrain;
- public static Elevator m_elevator;
- public static Wrist m_wrist;
- public static Claw m_claw;
- public static OI m_oi;
+ private RobotContainer m_robotContainer;
/**
- * This function is run when the robot is first started up and should be
- * used for any initialization code.
+ * This function is run when the robot is first started up and should be used for any
+ * initialization code.
*/
@Override
public void robotInit() {
- // Initialize all subsystems
- m_drivetrain = new DriveTrain();
- m_elevator = new Elevator();
- m_wrist = new Wrist();
- m_claw = new Claw();
- m_oi = new OI();
+ // Instantiate our RobotContainer. This will perform all our button bindings, and put our
+ // autonomous chooser on the dashboard.
+ m_robotContainer = new RobotContainer();
+ }
- // instantiate the command used for the autonomous period
- m_autonomousCommand = new Autonomous();
+ /**
+ * This function is called every robot packet, no matter the mode. Use this for items like
+ * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
+ *
+ * <p>This runs after the mode specific periodic functions, but before
+ * LiveWindow and SmartDashboard integrated updating.
+ */
+ @Override
+ public void robotPeriodic() {
+ // Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled
+ // commands, running already-scheduled commands, removing finished or interrupted commands,
+ // and running subsystem periodic() methods. This must be called from the robot's periodic
+ // block in order for anything in the Command-based framework to work.
+ CommandScheduler.getInstance().run();
+ }
- // Show what command your subsystem is running on the SmartDashboard
- SmartDashboard.putData(m_drivetrain);
- SmartDashboard.putData(m_elevator);
- SmartDashboard.putData(m_wrist);
- SmartDashboard.putData(m_claw);
+ /**
+ * This function is called once each time the robot enters Disabled mode.
+ */
+ @Override
+ public void disabledInit() {
}
@Override
+ public void disabledPeriodic() {
+ }
+
+ /**
+ * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
+ */
+ @Override
public void autonomousInit() {
- m_autonomousCommand.start(); // schedule the autonomous command (example)
+ m_autonomousCommand = m_robotContainer.getAutonomousCommand();
+
+ // schedule the autonomous command (example)
+ if (m_autonomousCommand != null) {
+ m_autonomousCommand.schedule();
+ }
}
/**
@@ -67,8 +78,6 @@
*/
@Override
public void autonomousPeriodic() {
- Scheduler.getInstance().run();
- log();
}
@Override
@@ -77,16 +86,22 @@
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
// this line or comment it out.
- m_autonomousCommand.cancel();
+ if (m_autonomousCommand != null) {
+ m_autonomousCommand.cancel();
+ }
}
/**
- * This function is called periodically during teleoperated mode.
+ * This function is called periodically during operator control.
*/
@Override
public void teleopPeriodic() {
- Scheduler.getInstance().run();
- log();
+ }
+
+ @Override
+ public void testInit() {
+ // Cancels all running commands at the start of test mode.
+ CommandScheduler.getInstance().cancelAll();
}
/**
@@ -95,14 +110,4 @@
@Override
public void testPeriodic() {
}
-
- /**
- * The log method puts interesting information to the SmartDashboard.
- */
- private void log() {
- m_wrist.log();
- m_elevator.log();
- m_drivetrain.log();
- m_claw.log();
- }
}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/RobotContainer.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/RobotContainer.java
new file mode 100644
index 0000000..69eb8ae
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/RobotContainer.java
@@ -0,0 +1,127 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.gearsbot;
+
+import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj.GenericHID.Hand;
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+
+import edu.wpi.first.wpilibj.examples.gearsbot.commands.Autonomous;
+import edu.wpi.first.wpilibj.examples.gearsbot.commands.CloseClaw;
+import edu.wpi.first.wpilibj.examples.gearsbot.commands.OpenClaw;
+import edu.wpi.first.wpilibj.examples.gearsbot.commands.Pickup;
+import edu.wpi.first.wpilibj.examples.gearsbot.commands.Place;
+import edu.wpi.first.wpilibj.examples.gearsbot.commands.PrepareToPickup;
+import edu.wpi.first.wpilibj.examples.gearsbot.commands.SetElevatorSetpoint;
+import edu.wpi.first.wpilibj.examples.gearsbot.commands.SetWristSetpoint;
+import edu.wpi.first.wpilibj.examples.gearsbot.commands.TankDrive;
+import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Claw;
+import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain;
+import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Elevator;
+import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Wrist;
+
+/**
+ * This class is where the bulk of the robot should be declared. Since Command-based is a
+ * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
+ * periodic methods (other than the scheduler calls). Instead, the structure of the robot
+ * (including subsystems, commands, and button mappings) should be declared here.
+ */
+public class RobotContainer {
+ // The robot's subsystems and commands are defined here...
+ private final DriveTrain m_drivetrain = new DriveTrain();
+ private final Elevator m_elevator = new Elevator();
+ private final Wrist m_wrist = new Wrist();
+ private final Claw m_claw = new Claw();
+
+ private final Joystick m_joystick = new Joystick(0);
+
+ private final CommandBase m_autonomousCommand =
+ new Autonomous(m_drivetrain, m_claw, m_wrist, m_elevator);
+
+ /**
+ * The container for the robot. Contains subsystems, OI devices, and commands.
+ */
+ public RobotContainer() {
+ // Put Some buttons on the SmartDashboard
+ SmartDashboard.putData("Elevator Bottom", new SetElevatorSetpoint(0, m_elevator));
+ SmartDashboard.putData("Elevator Platform", new SetElevatorSetpoint(0.2, m_elevator));
+ SmartDashboard.putData("Elevator Top", new SetElevatorSetpoint(0.3, m_elevator));
+
+ SmartDashboard.putData("Wrist Horizontal", new SetWristSetpoint(0, m_wrist));
+ SmartDashboard.putData("Raise Wrist", new SetWristSetpoint(-45, m_wrist));
+
+ SmartDashboard.putData("Open Claw", new OpenClaw(m_claw));
+ SmartDashboard.putData("Close Claw", new CloseClaw(m_claw));
+
+ SmartDashboard
+ .putData("Deliver Soda", new Autonomous(m_drivetrain, m_claw, m_wrist, m_elevator));
+
+ // Assign default commands
+ m_drivetrain.setDefaultCommand(new TankDrive(() -> m_joystick.getY(Hand.kLeft),
+ () -> m_joystick.getY(Hand.kRight), m_drivetrain));
+
+ // Show what command your subsystem is running on the SmartDashboard
+ SmartDashboard.putData(m_drivetrain);
+ SmartDashboard.putData(m_elevator);
+ SmartDashboard.putData(m_wrist);
+ SmartDashboard.putData(m_claw);
+
+ // Call log method on all subsystems
+ m_wrist.log();
+ m_elevator.log();
+ m_drivetrain.log();
+ m_claw.log();
+
+ // Configure the button bindings
+ configureButtonBindings();
+ }
+
+ /**
+ * Use this method to define your button->command mappings. Buttons can be created by
+ * instantiating a {@link GenericHID} or one of its subclasses ({@link
+ * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
+ * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
+ */
+ private void configureButtonBindings() {
+ // Create some buttons
+ final JoystickButton dpadUp = new JoystickButton(m_joystick, 5);
+ final JoystickButton dpadRight = new JoystickButton(m_joystick, 6);
+ final JoystickButton dpadDown = new JoystickButton(m_joystick, 7);
+ final JoystickButton dpadLeft = new JoystickButton(m_joystick, 8);
+ final JoystickButton l2 = new JoystickButton(m_joystick, 9);
+ final JoystickButton r2 = new JoystickButton(m_joystick, 10);
+ final JoystickButton l1 = new JoystickButton(m_joystick, 11);
+ final JoystickButton r1 = new JoystickButton(m_joystick, 12);
+
+ // Connect the buttons to commands
+ dpadUp.whenPressed(new SetElevatorSetpoint(0.2, m_elevator));
+ dpadDown.whenPressed(new SetElevatorSetpoint(-0.2, m_elevator));
+ dpadRight.whenPressed(new CloseClaw(m_claw));
+ dpadLeft.whenPressed(new OpenClaw(m_claw));
+
+ r1.whenPressed(new PrepareToPickup(m_claw, m_wrist, m_elevator));
+ r2.whenPressed(new Pickup(m_claw, m_wrist, m_elevator));
+ l1.whenPressed(new Place(m_claw, m_wrist, m_elevator));
+ l2.whenPressed(new Autonomous(m_drivetrain, m_claw, m_wrist, m_elevator));
+ }
+
+
+ /**
+ * Use this to pass the autonomous command to the main {@link Robot} class.
+ *
+ * @return the command to run in autonomous
+ */
+ public Command getAutonomousCommand() {
+ return m_autonomousCommand;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Autonomous.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Autonomous.java
index 96a9d85..0f0db70 100644
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Autonomous.java
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Autonomous.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,26 +7,33 @@
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
-import edu.wpi.first.wpilibj.command.CommandGroup;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+
+import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Claw;
+import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain;
+import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Elevator;
+import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Wrist;
/**
* The main autonomous command to pickup and deliver the soda to the box.
*/
-public class Autonomous extends CommandGroup {
+public class Autonomous extends SequentialCommandGroup {
/**
* Create a new autonomous command.
*/
- public Autonomous() {
- addSequential(new PrepareToPickup());
- addSequential(new Pickup());
- addSequential(new SetDistanceToBox(0.10));
- // addSequential(new DriveStraight(4)); // Use Encoders if ultrasonic is
- // broken
- addSequential(new Place());
- addSequential(new SetDistanceToBox(0.60));
- // addSequential(new DriveStraight(-2)); // Use Encoders if ultrasonic
- // is broken
- addParallel(new SetWristSetpoint(-45));
- addSequential(new CloseClaw());
+ public Autonomous(DriveTrain drive, Claw claw, Wrist wrist, Elevator elevator) {
+ addCommands(
+ new PrepareToPickup(claw, wrist, elevator),
+ new Pickup(claw, wrist, elevator),
+ new SetDistanceToBox(0.10, drive),
+ // new DriveStraight(4), // Use encoders if ultrasonic is broken
+ new Place(claw, wrist, elevator),
+ new SetDistanceToBox(0.60, drive),
+ // new DriveStraight(-2), // Use Encoders if ultrasonic is broken
+ parallel(
+ new SetWristSetpoint(-45, wrist),
+ new CloseClaw(claw)
+ )
+ );
}
}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/CloseClaw.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/CloseClaw.java
index cdf4788..0ebce9a 100644
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/CloseClaw.java
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/CloseClaw.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,40 +7,43 @@
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
-import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
+import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Claw;
/**
- * Closes the claw for one second. Real robots should use sensors, stalling
- * motors is BAD!
+ * Closes the claw for one second. Real robots should use sensors, stalling motors is BAD!
*/
-public class CloseClaw extends Command {
- public CloseClaw() {
- requires(Robot.m_claw);
+public class CloseClaw extends CommandBase {
+ private final Claw m_claw;
+
+ public CloseClaw(Claw claw) {
+ m_claw = claw;
+ addRequirements(m_claw);
}
// Called just before this Command runs the first time
@Override
- protected void initialize() {
- Robot.m_claw.close();
+ public void initialize() {
+ m_claw.close();
}
// Make this return true when this Command no longer needs to run execute()
@Override
- protected boolean isFinished() {
- return Robot.m_claw.isGrabbing();
+ public boolean isFinished() {
+ return m_claw.isGrabbing();
}
// Called once after isFinished returns true
@Override
- protected void end() {
+ public void end(boolean interrupted) {
// NOTE: Doesn't stop in simulation due to lower friction causing the
// can to fall out
// + there is no need to worry about stalling the motor or crushing the
// can.
if (!Robot.isSimulation()) {
- Robot.m_claw.stop();
+ m_claw.stop();
}
}
}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/DriveStraight.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/DriveStraight.java
index ba8feeb..afed30d 100644
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/DriveStraight.java
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/DriveStraight.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,12 +7,10 @@
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
-import edu.wpi.first.wpilibj.PIDController;
-import edu.wpi.first.wpilibj.PIDSource;
-import edu.wpi.first.wpilibj.PIDSourceType;
-import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.wpilibj2.command.PIDCommand;
-import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
+import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain;
/**
* Drive the given distance straight (negative values go backwards). Uses a
@@ -20,58 +18,36 @@
* command is running. The input is the averaged values of the left and right
* encoders.
*/
-public class DriveStraight extends Command {
- private final PIDController m_pid;
+public class DriveStraight extends PIDCommand {
+ private final DriveTrain m_drivetrain;
/**
* Create a new DriveStraight command.
* @param distance The distance to drive
*/
- public DriveStraight(double distance) {
- requires(Robot.m_drivetrain);
- m_pid = new PIDController(4, 0, 0, new PIDSource() {
- PIDSourceType m_sourceType = PIDSourceType.kDisplacement;
+ public DriveStraight(double distance, DriveTrain drivetrain) {
+ super(new PIDController(4, 0, 0),
+ drivetrain::getDistance,
+ distance,
+ d -> drivetrain.drive(d, d));
- @Override
- public double pidGet() {
- return Robot.m_drivetrain.getDistance();
- }
+ m_drivetrain = drivetrain;
+ addRequirements(m_drivetrain);
- @Override
- public void setPIDSourceType(PIDSourceType pidSource) {
- m_sourceType = pidSource;
- }
-
- @Override
- public PIDSourceType getPIDSourceType() {
- return m_sourceType;
- }
- }, d -> Robot.m_drivetrain.drive(d, d));
-
- m_pid.setAbsoluteTolerance(0.01);
- m_pid.setSetpoint(distance);
+ getController().setTolerance(0.01);
}
// Called just before this Command runs the first time
@Override
- protected void initialize() {
+ public void initialize() {
// Get everything in a safe starting state.
- Robot.m_drivetrain.reset();
- m_pid.reset();
- m_pid.enable();
+ m_drivetrain.reset();
+ super.initialize();
}
// Make this return true when this Command no longer needs to run execute()
@Override
- protected boolean isFinished() {
- return m_pid.onTarget();
- }
-
- // Called once after isFinished returns true
- @Override
- protected void end() {
- // Stop PID and the wheels
- m_pid.disable();
- Robot.m_drivetrain.drive(0, 0);
+ public boolean isFinished() {
+ return getController().atSetpoint();
}
}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/OpenClaw.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/OpenClaw.java
index 486181d..9d944b4 100644
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/OpenClaw.java
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/OpenClaw.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,29 +7,37 @@
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
-import edu.wpi.first.wpilibj.command.TimedCommand;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
-import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
+import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Claw;
/**
- * Opens the claw for one second. Real robots should use sensors, stalling
- * motors is BAD!
+ * Opens the claw for one second. Real robots should use sensors, stalling motors is BAD!
*/
-public class OpenClaw extends TimedCommand {
- public OpenClaw() {
+public class OpenClaw extends WaitCommand {
+ private final Claw m_claw;
+
+ /**
+ * Creates a new OpenClaw command.
+ *
+ * @param claw The claw to use
+ */
+ public OpenClaw(Claw claw) {
super(1);
- requires(Robot.m_claw);
+ m_claw = claw;
+ addRequirements(m_claw);
}
// Called just before this Command runs the first time
@Override
- protected void initialize() {
- Robot.m_claw.open();
+ public void initialize() {
+ m_claw.open();
+ super.initialize();
}
// Called once after isFinished returns true
@Override
- protected void end() {
- Robot.m_claw.stop();
+ public void end(boolean interrupted) {
+ m_claw.stop();
}
}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Pickup.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Pickup.java
index 304ddf9..b51d106 100644
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Pickup.java
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Pickup.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,19 +7,29 @@
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
-import edu.wpi.first.wpilibj.command.CommandGroup;
+
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+
+import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Claw;
+import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Elevator;
+import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Wrist;
/**
- * Pickup a soda can (if one is between the open claws) and get it in a safe
- * state to drive around.
+ * Pickup a soda can (if one is between the open claws) and get it in a safe state to drive around.
*/
-public class Pickup extends CommandGroup {
+public class Pickup extends SequentialCommandGroup {
/**
* Create a new pickup command.
+ *
+ * @param claw The claw subsystem to use
+ * @param wrist The wrist subsystem to use
+ * @param elevator The elevator subsystem to use
*/
- public Pickup() {
- addSequential(new CloseClaw());
- addParallel(new SetWristSetpoint(-45));
- addSequential(new SetElevatorSetpoint(0.25));
+ public Pickup(Claw claw, Wrist wrist, Elevator elevator) {
+ addCommands(
+ new CloseClaw(claw),
+ parallel(
+ new SetWristSetpoint(-45, wrist),
+ new SetElevatorSetpoint(0.25, elevator)));
}
}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Place.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Place.java
index c1a1841..c57ffe2 100644
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Place.java
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Place.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,18 +7,28 @@
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
-import edu.wpi.first.wpilibj.command.CommandGroup;
+
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+
+import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Claw;
+import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Elevator;
+import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Wrist;
/**
* Place a held soda can onto the platform.
*/
-public class Place extends CommandGroup {
+public class Place extends SequentialCommandGroup {
/**
* Create a new place command.
+ *
+ * @param claw The claw subsystem to use
+ * @param wrist The wrist subsystem to use
+ * @param elevator The elevator subsystem to use
*/
- public Place() {
- addSequential(new SetElevatorSetpoint(0.25));
- addSequential(new SetWristSetpoint(0));
- addSequential(new OpenClaw());
+ public Place(Claw claw, Wrist wrist, Elevator elevator) {
+ addCommands(
+ new SetElevatorSetpoint(0.25, elevator),
+ new SetWristSetpoint(0, wrist),
+ new OpenClaw(claw));
}
}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/PrepareToPickup.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/PrepareToPickup.java
index 911c535..620c184 100644
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/PrepareToPickup.java
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/PrepareToPickup.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,18 +7,28 @@
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
-import edu.wpi.first.wpilibj.command.CommandGroup;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+
+import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Claw;
+import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Elevator;
+import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Wrist;
/**
* Make sure the robot is in a state to pickup soda cans.
*/
-public class PrepareToPickup extends CommandGroup {
+public class PrepareToPickup extends SequentialCommandGroup {
/**
* Create a new prepare to pickup command.
+ *
+ * @param claw The claw subsystem to use
+ * @param wrist The wrist subsystem to use
+ * @param elevator The elevator subsystem to use
*/
- public PrepareToPickup() {
- addParallel(new OpenClaw());
- addParallel(new SetWristSetpoint(0));
- addSequential(new SetElevatorSetpoint(0));
+ public PrepareToPickup(Claw claw, Wrist wrist, Elevator elevator) {
+ addCommands(
+ new OpenClaw(claw),
+ parallel(
+ new SetWristSetpoint(0, wrist),
+ new SetElevatorSetpoint(0, elevator)));
}
}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetDistanceToBox.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetDistanceToBox.java
index 71f03dc..b14ddc9 100644
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetDistanceToBox.java
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetDistanceToBox.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,12 +7,11 @@
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
-import edu.wpi.first.wpilibj.PIDController;
-import edu.wpi.first.wpilibj.PIDSource;
-import edu.wpi.first.wpilibj.PIDSourceType;
-import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.wpilibj2.command.PIDCommand;
-import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
+import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain;
+
/**
* Drive until the robot is the given distance away from the box. Uses a local
@@ -20,58 +19,36 @@
* command is running. The input is the averaged values of the left and right
* encoders.
*/
-public class SetDistanceToBox extends Command {
- private final PIDController m_pid;
+public class SetDistanceToBox extends PIDCommand {
+ private final DriveTrain m_drivetrain;
/**
* Create a new set distance to box command.
+ *
* @param distance The distance away from the box to drive to
*/
- public SetDistanceToBox(double distance) {
- requires(Robot.m_drivetrain);
- m_pid = new PIDController(-2, 0, 0, new PIDSource() {
- PIDSourceType m_sourceType = PIDSourceType.kDisplacement;
+ public SetDistanceToBox(double distance, DriveTrain drivetrain) {
+ super(new PIDController(-2, 0, 0),
+ drivetrain::getDistanceToObstacle, distance,
+ d -> drivetrain.drive(d, d));
- @Override
- public double pidGet() {
- return Robot.m_drivetrain.getDistanceToObstacle();
- }
+ m_drivetrain = drivetrain;
+ addRequirements(m_drivetrain);
- @Override
- public void setPIDSourceType(PIDSourceType pidSource) {
- m_sourceType = pidSource;
- }
-
- @Override
- public PIDSourceType getPIDSourceType() {
- return m_sourceType;
- }
- }, d -> Robot.m_drivetrain.drive(d, d));
-
- m_pid.setAbsoluteTolerance(0.01);
- m_pid.setSetpoint(distance);
+ getController().setTolerance(0.01);
}
// Called just before this Command runs the first time
@Override
- protected void initialize() {
+ public void initialize() {
// Get everything in a safe starting state.
- Robot.m_drivetrain.reset();
- m_pid.reset();
- m_pid.enable();
+ m_drivetrain.reset();
+ super.initialize();
}
// Make this return true when this Command no longer needs to run execute()
@Override
- protected boolean isFinished() {
- return m_pid.onTarget();
- }
-
- // Called once after isFinished returns true
- @Override
- protected void end() {
- // Stop PID and the wheels
- m_pid.disable();
- Robot.m_drivetrain.drive(0, 0);
+ public boolean isFinished() {
+ return getController().atSetpoint();
}
}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetElevatorSetpoint.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetElevatorSetpoint.java
index 0ee5193..44c6677 100644
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetElevatorSetpoint.java
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetElevatorSetpoint.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,34 +7,42 @@
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
-import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandBase;
-import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
+import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Elevator;
+
/**
- * Move the elevator to a given location. This command finishes when it is
- * within the tolerance, but leaves the PID loop running to maintain the
- * position. Other commands using the elevator should make sure they disable
- * PID!
+ * Move the elevator to a given location. This command finishes when it is within the tolerance, but
+ * leaves the PID loop running to maintain the position. Other commands using the elevator should
+ * make sure they disable PID!
*/
-public class SetElevatorSetpoint extends Command {
+public class SetElevatorSetpoint extends CommandBase {
+ private final Elevator m_elevator;
private final double m_setpoint;
- public SetElevatorSetpoint(double setpoint) {
+ /**
+ * Create a new SetElevatorSetpoint command.
+ *
+ * @param setpoint The setpoint to set the elevator to
+ * @param elevator The elevator to use
+ */
+ public SetElevatorSetpoint(double setpoint, Elevator elevator) {
+ m_elevator = elevator;
m_setpoint = setpoint;
- requires(Robot.m_elevator);
+ addRequirements(m_elevator);
}
// Called just before this Command runs the first time
@Override
- protected void initialize() {
- Robot.m_elevator.enable();
- Robot.m_elevator.setSetpoint(m_setpoint);
+ public void initialize() {
+ m_elevator.setSetpoint(m_setpoint);
+ m_elevator.enable();
}
// Make this return true when this Command no longer needs to run execute()
@Override
- protected boolean isFinished() {
- return Robot.m_elevator.onTarget();
+ public boolean isFinished() {
+ return m_elevator.getController().atSetpoint();
}
}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetWristSetpoint.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetWristSetpoint.java
index 62e7a7f..d03211a 100644
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetWristSetpoint.java
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetWristSetpoint.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,33 +7,42 @@
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
-import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandBase;
-import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
+import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Wrist;
+
/**
- * Move the wrist to a given angle. This command finishes when it is within the
- * tolerance, but leaves the PID loop running to maintain the position. Other
- * commands using the wrist should make sure they disable PID!
+ * Move the wrist to a given angle. This command finishes when it is within the tolerance, but
+ * leaves the PID loop running to maintain the position. Other commands using the wrist should make
+ * sure they disable PID!
*/
-public class SetWristSetpoint extends Command {
+public class SetWristSetpoint extends CommandBase {
+ private final Wrist m_wrist;
private final double m_setpoint;
- public SetWristSetpoint(double setpoint) {
+ /**
+ * Create a new SetWristSetpoint command.
+ *
+ * @param setpoint The setpoint to set the wrist to
+ * @param wrist The wrist to use
+ */
+ public SetWristSetpoint(double setpoint, Wrist wrist) {
+ m_wrist = wrist;
m_setpoint = setpoint;
- requires(Robot.m_wrist);
+ addRequirements(m_wrist);
}
// Called just before this Command runs the first time
@Override
- protected void initialize() {
- Robot.m_wrist.enable();
- Robot.m_wrist.setSetpoint(m_setpoint);
+ public void initialize() {
+ m_wrist.enable();
+ m_wrist.setSetpoint(m_setpoint);
}
// Make this return true when this Command no longer needs to run execute()
@Override
- protected boolean isFinished() {
- return Robot.m_wrist.onTarget();
+ public boolean isFinished() {
+ return m_wrist.getController().atSetpoint();
}
}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/TankDrive.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/TankDrive.java
new file mode 100644
index 0000000..b5c24f2
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/TankDrive.java
@@ -0,0 +1,56 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.gearsbot.commands;
+
+
+import java.util.function.DoubleSupplier;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+
+import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain;
+
+/**
+ * Have the robot drive tank style.
+ */
+public class TankDrive extends CommandBase {
+ private final DriveTrain m_drivetrain;
+ private final DoubleSupplier m_left;
+ private final DoubleSupplier m_right;
+
+ /**
+ * Creates a new TankDrive command.
+ *
+ * @param left The control input for the left side of the drive
+ * @param right The control input for the right sight of the drive
+ * @param drivetrain The drivetrain subsystem to drive
+ */
+ public TankDrive(DoubleSupplier left, DoubleSupplier right, DriveTrain drivetrain) {
+ m_drivetrain = drivetrain;
+ m_left = left;
+ m_right = right;
+ addRequirements(m_drivetrain);
+ }
+
+ // Called repeatedly when this Command is scheduled to run
+ @Override
+ public void execute() {
+ m_drivetrain.drive(m_left.getAsDouble(), m_right.getAsDouble());
+ }
+
+ // Make this return true when this Command no longer needs to run execute()
+ @Override
+ public boolean isFinished() {
+ return false; // Runs until interrupted
+ }
+
+ // Called once after isFinished returns true
+ @Override
+ public void end(boolean interrupted) {
+ m_drivetrain.drive(0, 0);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/TankDriveWithJoystick.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/TankDriveWithJoystick.java
deleted file mode 100644
index 642fa5d..0000000
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/TankDriveWithJoystick.java
+++ /dev/null
@@ -1,39 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.wpilibj.examples.gearsbot.commands;
-
-import edu.wpi.first.wpilibj.command.Command;
-
-import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
-
-/**
- * Have the robot drive tank style using the PS3 Joystick until interrupted.
- */
-public class TankDriveWithJoystick extends Command {
- public TankDriveWithJoystick() {
- requires(Robot.m_drivetrain);
- }
-
- // Called repeatedly when this Command is scheduled to run
- @Override
- protected void execute() {
- Robot.m_drivetrain.drive(Robot.m_oi.getJoystick());
- }
-
- // Make this return true when this Command no longer needs to run execute()
- @Override
- protected boolean isFinished() {
- return false; // Runs until interrupted
- }
-
- // Called once after isFinished returns true
- @Override
- protected void end() {
- Robot.m_drivetrain.drive(0, 0);
- }
-}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Claw.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Claw.java
index 550db9a..b0d2515 100644
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Claw.java
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Claw.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,14 +9,14 @@
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Victor;
-import edu.wpi.first.wpilibj.command.Subsystem;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
/**
- * The claw subsystem is a simple system with a motor for opening and closing.
- * If using stronger motors, you should probably use a sensor so that the motors
- * don't stall.
+ * The claw subsystem is a simple system with a motor for opening and closing. If using stronger
+ * motors, you should probably use a sensor so that the motors don't stall.
*/
-public class Claw extends Subsystem {
+public class Claw extends SubsystemBase {
private final Victor m_motor = new Victor(7);
private final DigitalInput m_contact = new DigitalInput(5);
@@ -24,18 +24,13 @@
* Create a new claw subsystem.
*/
public Claw() {
- super();
-
// Let's name everything on the LiveWindow
addChild("Motor", m_motor);
addChild("Limit Switch", m_contact);
}
- @Override
- public void initDefaultCommand() {
- }
-
public void log() {
+ SmartDashboard.putData("Claw switch", m_contact);
}
/**
@@ -48,7 +43,6 @@
/**
* Set the claw motor to move in the close direction.
*/
- @Override
public void close() {
m_motor.set(1);
}
@@ -61,8 +55,7 @@
}
/**
- * Return true when the robot is grabbing an object hard enough to trigger
- * the limit switch.
+ * Return true when the robot is grabbing an object hard enough to trigger the limit switch.
*/
public boolean isGrabbing() {
return m_contact.get();
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java
index 5c55365..a0aaa32 100644
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,30 +10,26 @@
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
-import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
-import edu.wpi.first.wpilibj.examples.gearsbot.commands.TankDriveWithJoystick;
-/**
- * The DriveTrain subsystem incorporates the sensors and actuators attached to
- * the robots chassis. These include four drive motors, a left and right encoder
- * and a gyro.
- */
-public class DriveTrain extends Subsystem {
- private final SpeedController m_leftMotor
- = new SpeedControllerGroup(new PWMVictorSPX(0), new PWMVictorSPX(1));
- private final SpeedController m_rightMotor
- = new SpeedControllerGroup(new PWMVictorSPX(2), new PWMVictorSPX(3));
+public class DriveTrain extends SubsystemBase {
+ /**
+ * The DriveTrain subsystem incorporates the sensors and actuators attached to the robots chassis.
+ * These include four drive motors, a left and right encoder and a gyro.
+ */
+ private final SpeedController m_leftMotor =
+ new SpeedControllerGroup(new PWMVictorSPX(0), new PWMVictorSPX(1));
+ private final SpeedController m_rightMotor =
+ new SpeedControllerGroup(new PWMVictorSPX(2), new PWMVictorSPX(3));
- private final DifferentialDrive m_drive
- = new DifferentialDrive(m_leftMotor, m_rightMotor);
+ private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotor, m_rightMotor);
private final Encoder m_leftEncoder = new Encoder(1, 2);
private final Encoder m_rightEncoder = new Encoder(3, 4);
@@ -69,15 +65,6 @@
}
/**
- * When no other command is running let the operator drive around using the
- * PS3 joystick.
- */
- @Override
- public void initDefaultCommand() {
- setDefaultCommand(new TankDriveWithJoystick());
- }
-
- /**
* The log method puts interesting information to the SmartDashboard.
*/
public void log() {
@@ -91,7 +78,7 @@
/**
* Tank style driving for the DriveTrain.
*
- * @param left Speed in range [-1,1]
+ * @param left Speed in range [-1,1]
* @param right Speed in range [-1,1]
*/
public void drive(double left, double right) {
@@ -99,15 +86,6 @@
}
/**
- * Tank style driving for the DriveTrain.
- *
- * @param joy The ps3 style joystick to use to drive tank style.
- */
- public void drive(Joystick joy) {
- drive(-joy.getY(), -joy.getThrottle());
- }
-
- /**
* Get the robot's heading.
*
* @return The robots heading in degrees.
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Elevator.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Elevator.java
index 02d308c..fffd478 100644
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Elevator.java
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Elevator.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,19 +9,20 @@
import edu.wpi.first.wpilibj.AnalogPotentiometer;
import edu.wpi.first.wpilibj.Victor;
-import edu.wpi.first.wpilibj.command.PIDSubsystem;
+import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.PIDSubsystem;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**
- * The elevator subsystem uses PID to go to a given height. Unfortunately, in
- * it's current state PID values for simulation are different than in the real
- * world do to minor differences.
+ * The elevator subsystem uses PID to go to a given height. Unfortunately, in it's current state PID
+ * values for simulation are different than in the real world do to minor differences.
*/
public class Elevator extends PIDSubsystem {
private final Victor m_motor;
private final AnalogPotentiometer m_pot;
+ private double m_setpoint;
private static final double kP_real = 4;
private static final double kI_real = 0.07;
@@ -32,11 +33,11 @@
* Create a new elevator subsystem.
*/
public Elevator() {
- super(kP_real, kI_real, 0);
+ super(new PIDController(kP_real, kI_real, 0));
if (Robot.isSimulation()) { // Check for simulation and update PID values
- getPIDController().setPID(kP_simulation, kI_simulation, 0, 0);
+ getController().setPID(kP_simulation, kI_simulation, 0);
}
- setAbsoluteTolerance(0.005);
+ getController().setTolerance(0.005);
m_motor = new Victor(5);
@@ -53,32 +54,45 @@
addChild("Pot", m_pot);
}
- @Override
- public void initDefaultCommand() {
- }
-
/**
* The log method puts interesting information to the SmartDashboard.
*/
public void log() {
- SmartDashboard.putData("Elevator Pot", (AnalogPotentiometer) m_pot);
+ SmartDashboard.putData("Elevator Pot", m_pot);
}
/**
- * Use the potentiometer as the PID sensor. This method is automatically
- * called by the subsystem.
+ * Use the potentiometer as the PID sensor. This method is automatically called by the subsystem.
*/
@Override
- protected double returnPIDInput() {
+ public double getMeasurement() {
return m_pot.get();
}
/**
- * Use the motor as the PID output. This method is automatically called by
- * the subsystem.
+ * Use the motor as the PID output. This method is automatically called by the subsystem.
*/
@Override
- protected void usePIDOutput(double power) {
- m_motor.set(power);
+ public void useOutput(double output) {
+ m_motor.set(output);
+ }
+
+ /**
+ * Returns the setpoint used by the PIDController.
+ *
+ * @return The setpoint for the PIDController.
+ */
+ @Override
+ public double getSetpoint() {
+ return m_setpoint;
+ }
+
+ /**
+ * Sets the setpoint used by the PIDController.
+ *
+ * @param setpoint The setpoint for the PIDController.
+ */
+ public void setSetpoint(double setpoint) {
+ m_setpoint = setpoint;
}
}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Wrist.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Wrist.java
index 30fa38e..ae65bed 100644
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Wrist.java
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Wrist.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,18 +9,19 @@
import edu.wpi.first.wpilibj.AnalogPotentiometer;
import edu.wpi.first.wpilibj.Victor;
-import edu.wpi.first.wpilibj.command.PIDSubsystem;
+import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.PIDSubsystem;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**
- * The wrist subsystem is like the elevator, but with a rotational joint instead
- * of a linear joint.
+ * The wrist subsystem is like the elevator, but with a rotational joint instead of a linear joint.
*/
public class Wrist extends PIDSubsystem {
private final Victor m_motor;
private final AnalogPotentiometer m_pot;
+ private double m_setpoint;
private static final double kP_real = 1;
private static final double kP_simulation = 0.05;
@@ -29,11 +30,11 @@
* Create a new wrist subsystem.
*/
public Wrist() {
- super(kP_real, 0, 0);
+ super(new PIDController(kP_real, 0, 0));
if (Robot.isSimulation()) { // Check for simulation and update PID values
- getPIDController().setPID(kP_simulation, 0, 0, 0);
+ getController().setPID(kP_simulation, 0, 0);
}
- setAbsoluteTolerance(2.5);
+ getController().setTolerance(2.5);
m_motor = new Victor(6);
@@ -50,32 +51,45 @@
addChild("Pot", m_pot);
}
- @Override
- public void initDefaultCommand() {
- }
-
/**
* The log method puts interesting information to the SmartDashboard.
*/
public void log() {
- SmartDashboard.putData("Wrist Angle", (AnalogPotentiometer) m_pot);
+ SmartDashboard.putData("Wrist Angle", m_pot);
}
/**
- * Use the potentiometer as the PID sensor. This method is automatically
- * called by the subsystem.
+ * Use the potentiometer as the PID sensor. This method is automatically called by the subsystem.
*/
@Override
- protected double returnPIDInput() {
+ public double getMeasurement() {
return m_pot.get();
}
/**
- * Use the motor as the PID output. This method is automatically called by
- * the subsystem.
+ * Use the motor as the PID output. This method is automatically called by the subsystem.
*/
@Override
- protected void usePIDOutput(double power) {
- m_motor.set(power);
+ public void useOutput(double output) {
+ m_motor.set(output);
+ }
+
+ /**
+ * Returns the setpoint used by the PIDController.
+ *
+ * @return The setpoint for the PIDController.
+ */
+ @Override
+ public double getSetpoint() {
+ return m_setpoint;
+ }
+
+ /**
+ * Sets the setpoint used by the PIDController.
+ *
+ * @param setpoint The setpoint for the PIDController.
+ */
+ public void setSetpoint(double setpoint) {
+ m_setpoint = setpoint;
}
}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/Constants.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/Constants.java
new file mode 100644
index 0000000..50afb7b
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/Constants.java
@@ -0,0 +1,53 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.gyrodrivecommands;
+
+/**
+ * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
+ * constants. This class should not be used for any other purpose. All constants should be
+ * declared globally (i.e. public static). Do not put anything functional in this class.
+ *
+ * <p>It is advised to statically import this class (or one of its inner classes) wherever the
+ * constants are needed, to reduce verbosity.
+ */
+public final class Constants {
+ public static final class DriveConstants {
+ public static final int kLeftMotor1Port = 0;
+ public static final int kLeftMotor2Port = 1;
+ public static final int kRightMotor1Port = 2;
+ public static final int kRightMotor2Port = 3;
+
+ public static final int[] kLeftEncoderPorts = new int[]{0, 1};
+ public static final int[] kRightEncoderPorts = new int[]{2, 3};
+ public static final boolean kLeftEncoderReversed = false;
+ public static final boolean kRightEncoderReversed = true;
+
+ public static final int kEncoderCPR = 1024;
+ public static final double kWheelDiameterInches = 6;
+ public static final double kEncoderDistancePerPulse =
+ // Assumes the encoders are directly mounted on the wheel shafts
+ (kWheelDiameterInches * Math.PI) / (double) kEncoderCPR;
+
+ public static final boolean kGyroReversed = false;
+
+ public static final double kStabilizationP = 1;
+ public static final double kStabilizationI = .5;
+ public static final double kStabilizationD = 0;
+
+ public static final double kTurnP = 1;
+ public static final double kTurnI = 0;
+ public static final double kTurnD = 0;
+
+ public static final double kTurnToleranceDeg = 5;
+ public static final double kTurnRateToleranceDegPerS = 10; // degrees per second
+ }
+
+ public static final class OIConstants {
+ public static final int kDriverControllerPort = 1;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/Main.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/Main.java
new file mode 100644
index 0000000..f18e95c
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.gyrodrivecommands;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/Robot.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/Robot.java
new file mode 100644
index 0000000..40c6db9
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/Robot.java
@@ -0,0 +1,121 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.gyrodrivecommands;
+
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+
+/**
+ * The VM is configured to automatically run this class, and to call the functions corresponding to
+ * each mode, as described in the TimedRobot documentation. If you change the name of this class or
+ * the package after creating this project, you must also update the build.gradle file in the
+ * project.
+ */
+public class Robot extends TimedRobot {
+ private Command m_autonomousCommand;
+
+ private RobotContainer m_robotContainer;
+
+ /**
+ * This function is run when the robot is first started up and should be used for any
+ * initialization code.
+ */
+ @Override
+ public void robotInit() {
+ // Instantiate our RobotContainer. This will perform all our button bindings, and put our
+ // autonomous chooser on the dashboard.
+ m_robotContainer = new RobotContainer();
+ }
+
+ /**
+ * This function is called every robot packet, no matter the mode. Use this for items like
+ * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
+ *
+ * <p>This runs after the mode specific periodic functions, but before
+ * LiveWindow and SmartDashboard integrated updating.
+ */
+ @Override
+ public void robotPeriodic() {
+ // Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled
+ // commands, running already-scheduled commands, removing finished or interrupted commands,
+ // and running subsystem periodic() methods. This must be called from the robot's periodic
+ // block in order for anything in the Command-based framework to work.
+ CommandScheduler.getInstance().run();
+ }
+
+ /**
+ * This function is called once each time the robot enters Disabled mode.
+ */
+ @Override
+ public void disabledInit() {
+ }
+
+ @Override
+ public void disabledPeriodic() {
+ }
+
+ /**
+ * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
+ */
+ @Override
+ public void autonomousInit() {
+ m_autonomousCommand = m_robotContainer.getAutonomousCommand();
+
+ /*
+ * String autoSelected = SmartDashboard.getString("Auto Selector",
+ * "Default"); switch(autoSelected) { case "My Auto": autonomousCommand
+ * = new MyAutoCommand(); break; case "Default Auto": default:
+ * autonomousCommand = new ExampleCommand(); break; }
+ */
+
+ // schedule the autonomous command (example)
+ if (m_autonomousCommand != null) {
+ m_autonomousCommand.schedule();
+ }
+ }
+
+ /**
+ * This function is called periodically during autonomous.
+ */
+ @Override
+ public void autonomousPeriodic() {
+ }
+
+ @Override
+ public void teleopInit() {
+ // This makes sure that the autonomous stops running when
+ // teleop starts running. If you want the autonomous to
+ // continue until interrupted by another command, remove
+ // this line or comment it out.
+ if (m_autonomousCommand != null) {
+ m_autonomousCommand.cancel();
+ }
+ }
+
+ /**
+ * This function is called periodically during operator control.
+ */
+ @Override
+ public void teleopPeriodic() {
+
+ }
+
+ @Override
+ public void testInit() {
+ // Cancels all running commands at the start of test mode.
+ CommandScheduler.getInstance().cancelAll();
+ }
+
+ /**
+ * This function is called periodically during test mode.
+ */
+ @Override
+ public void testPeriodic() {
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/RobotContainer.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/RobotContainer.java
new file mode 100644
index 0000000..5a6d632
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/RobotContainer.java
@@ -0,0 +1,100 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.gyrodrivecommands;
+
+import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.PIDCommand;
+import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+
+import edu.wpi.first.wpilibj.examples.gyrodrivecommands.commands.TurnToAngle;
+import edu.wpi.first.wpilibj.examples.gyrodrivecommands.subsystems.DriveSubsystem;
+
+import static edu.wpi.first.wpilibj.XboxController.Button;
+import static edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants.kStabilizationD;
+import static edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants.kStabilizationI;
+import static edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants.kStabilizationP;
+import static edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.OIConstants.kDriverControllerPort;
+
+/**
+ * This class is where the bulk of the robot should be declared. Since Command-based is a
+ * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
+ * periodic methods (other than the scheduler calls). Instead, the structure of the robot
+ * (including subsystems, commands, and button mappings) should be declared here.
+ */
+public class RobotContainer {
+ // The robot's subsystems
+ private final DriveSubsystem m_robotDrive = new DriveSubsystem();
+
+ // The driver's controller
+ XboxController m_driverController = new XboxController(kDriverControllerPort);
+
+ /**
+ * The container for the robot. Contains subsystems, OI devices, and commands.
+ */
+ public RobotContainer() {
+ // Configure the button bindings
+ configureButtonBindings();
+
+ // Configure default commands
+ // Set the default drive command to split-stick arcade drive
+ m_robotDrive.setDefaultCommand(
+ // A split-stick arcade command, with forward/backward controlled by the left
+ // hand, and turning controlled by the right.
+ new RunCommand(() -> m_robotDrive
+ .arcadeDrive(m_driverController.getY(GenericHID.Hand.kLeft),
+ m_driverController.getX(GenericHID.Hand.kRight)), m_robotDrive));
+
+ }
+
+ /**
+ * Use this method to define your button->command mappings. Buttons can be created by
+ * instantiating a {@link GenericHID} or one of its subclasses ({@link
+ * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
+ * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
+ */
+ private void configureButtonBindings() {
+ // Drive at half speed when the right bumper is held
+ new JoystickButton(m_driverController, Button.kBumperRight.value)
+ .whenPressed(() -> m_robotDrive.setMaxOutput(.5))
+ .whenReleased(() -> m_robotDrive.setMaxOutput(1));
+
+ // Stabilize robot to drive straight with gyro when left bumper is held
+ new JoystickButton(m_driverController, Button.kBumperLeft.value).whenHeld(
+ new PIDCommand(
+ new PIDController(kStabilizationP, kStabilizationI, kStabilizationD),
+ // Close the loop on the turn rate
+ m_robotDrive::getTurnRate,
+ // Setpoint is 0
+ 0,
+ // Pipe the output to the turning controls
+ output -> m_robotDrive
+ .arcadeDrive(m_driverController.getY(GenericHID.Hand.kLeft), output),
+ // Require the robot drive
+ m_robotDrive));
+
+ // Turn to 90 degrees when the 'X' button is pressed, with a 5 second timeout
+ new JoystickButton(m_driverController, Button.kX.value)
+ .whenPressed(new TurnToAngle(90, m_robotDrive).withTimeout(5));
+ }
+
+
+ /**
+ * Use this to pass the autonomous command to the main {@link Robot} class.
+ *
+ * @return the command to run in autonomous
+ */
+ public Command getAutonomousCommand() {
+ // no auto
+ return new InstantCommand();
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/commands/TurnToAngle.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/commands/TurnToAngle.java
new file mode 100644
index 0000000..fe6c725
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/commands/TurnToAngle.java
@@ -0,0 +1,54 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.gyrodrivecommands.commands;
+
+import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.wpilibj2.command.PIDCommand;
+
+import edu.wpi.first.wpilibj.examples.gyrodrivecommands.subsystems.DriveSubsystem;
+
+import static edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants.kTurnD;
+import static edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants.kTurnI;
+import static edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants.kTurnP;
+import static edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants.kTurnRateToleranceDegPerS;
+import static edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants.kTurnToleranceDeg;
+
+/**
+ * A command that will turn the robot to the specified angle.
+ */
+public class TurnToAngle extends PIDCommand {
+ /**
+ * Turns to robot to the specified angle.
+ *
+ * @param targetAngleDegrees The angle to turn to
+ * @param drive The drive subsystem to use
+ */
+ public TurnToAngle(double targetAngleDegrees, DriveSubsystem drive) {
+ super(new PIDController(kTurnP, kTurnI, kTurnD),
+ // Close loop on heading
+ drive::getHeading,
+ // Set reference to target
+ targetAngleDegrees,
+ // Pipe output to turn robot
+ output -> drive.arcadeDrive(0, output),
+ // Require the drive
+ drive);
+
+ // Set the controller to be continuous (because it is an angle controller)
+ getController().enableContinuousInput(-180, 180);
+ // Set the controller tolerance - the delta tolerance ensures the robot is stationary at the
+ // setpoint before it is considered as having reached the reference
+ getController().setTolerance(kTurnToleranceDeg, kTurnRateToleranceDegPerS);
+ }
+
+ @Override
+ public boolean isFinished() {
+ // End when the controller is at the reference.
+ return getController().atSetpoint();
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/subsystems/DriveSubsystem.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/subsystems/DriveSubsystem.java
new file mode 100644
index 0000000..e91b8b3
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/subsystems/DriveSubsystem.java
@@ -0,0 +1,141 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.gyrodrivecommands.subsystems;
+
+import edu.wpi.first.wpilibj.ADXRS450_Gyro;
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.PWMVictorSPX;
+import edu.wpi.first.wpilibj.SpeedControllerGroup;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.interfaces.Gyro;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+import static edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants.kEncoderDistancePerPulse;
+import static edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants.kGyroReversed;
+import static edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants.kLeftEncoderPorts;
+import static edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants.kLeftEncoderReversed;
+import static edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants.kLeftMotor1Port;
+import static edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants.kLeftMotor2Port;
+import static edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants.kRightEncoderPorts;
+import static edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants.kRightEncoderReversed;
+import static edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants.kRightMotor1Port;
+import static edu.wpi.first.wpilibj.examples.gyrodrivecommands.Constants.DriveConstants.kRightMotor2Port;
+
+public class DriveSubsystem extends SubsystemBase {
+ // The motors on the left side of the drive.
+ private final SpeedControllerGroup m_leftMotors =
+ new SpeedControllerGroup(new PWMVictorSPX(kLeftMotor1Port),
+ new PWMVictorSPX(kLeftMotor2Port));
+
+ // The motors on the right side of the drive.
+ private final SpeedControllerGroup m_rightMotors =
+ new SpeedControllerGroup(new PWMVictorSPX(kRightMotor1Port),
+ new PWMVictorSPX(kRightMotor2Port));
+
+ // The robot's drive
+ private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotors, m_rightMotors);
+
+ // The left-side drive encoder
+ private final Encoder m_leftEncoder =
+ new Encoder(kLeftEncoderPorts[0], kLeftEncoderPorts[1], kLeftEncoderReversed);
+
+ // The right-side drive encoder
+ private final Encoder m_rightEncoder =
+ new Encoder(kRightEncoderPorts[0], kRightEncoderPorts[1], kRightEncoderReversed);
+
+ // The gyro sensor
+ private final Gyro m_gyro = new ADXRS450_Gyro();
+
+ /**
+ * Creates a new DriveSubsystem.
+ */
+ public DriveSubsystem() {
+ // Sets the distance per pulse for the encoders
+ m_leftEncoder.setDistancePerPulse(kEncoderDistancePerPulse);
+ m_rightEncoder.setDistancePerPulse(kEncoderDistancePerPulse);
+ }
+
+ /**
+ * Drives the robot using arcade controls.
+ *
+ * @param fwd the commanded forward movement
+ * @param rot the commanded rotation
+ */
+ public void arcadeDrive(double fwd, double rot) {
+ m_drive.arcadeDrive(fwd, rot);
+ }
+
+ /**
+ * Resets the drive encoders to currently read a position of 0.
+ */
+ public void resetEncoders() {
+ m_leftEncoder.reset();
+ m_rightEncoder.reset();
+ }
+
+ /**
+ * Gets the average distance of the two encoders.
+ *
+ * @return the average of the two encoder readings
+ */
+ public double getAverageEncoderDistance() {
+ return (m_leftEncoder.getDistance() + m_rightEncoder.getDistance()) / 2.;
+ }
+
+ /**
+ * Gets the left drive encoder.
+ *
+ * @return the left drive encoder
+ */
+ public Encoder getLeftEncoder() {
+ return m_leftEncoder;
+ }
+
+ /**
+ * Gets the right drive encoder.
+ *
+ * @return the right drive encoder
+ */
+ public Encoder getRightEncoder() {
+ return m_rightEncoder;
+ }
+
+ /**
+ * Sets the max output of the drive. Useful for scaling the drive to drive more slowly.
+ *
+ * @param maxOutput the maximum output to which the drive will be constrained
+ */
+ public void setMaxOutput(double maxOutput) {
+ m_drive.setMaxOutput(maxOutput);
+ }
+
+ /**
+ * Zeroes the heading of the robot.
+ */
+ public void zeroHeading() {
+ m_gyro.reset();
+ }
+
+ /**
+ * Returns the heading of the robot.
+ *
+ * @return the robot's heading in degrees, from 180 to 180
+ */
+ public double getHeading() {
+ return Math.IEEEremainder(m_gyro.getAngle(), 360) * (kGyroReversed ? -1. : 1.);
+ }
+
+ /**
+ * Returns the turn rate of the robot.
+ *
+ * @return The turn rate of the robot, in degrees per second
+ */
+ public double getTurnRate() {
+ return m_gyro.getRate() * (kGyroReversed ? -1. : 1.);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Constants.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Constants.java
new file mode 100644
index 0000000..27cb872
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Constants.java
@@ -0,0 +1,51 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.hatchbotinlined;
+
+/**
+ * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
+ * constants. This class should not be used for any other purpose. All constants should be
+ * declared globally (i.e. public static). Do not put anything functional in this class.
+ *
+ * <p>It is advised to statically import this class (or one of its inner classes) wherever the
+ * constants are needed, to reduce verbosity.
+ */
+public final class Constants {
+ public static final class DriveConstants {
+ public static final int kLeftMotor1Port = 0;
+ public static final int kLeftMotor2Port = 1;
+ public static final int kRightMotor1Port = 2;
+ public static final int kRightMotor2Port = 3;
+
+ public static final int[] kLeftEncoderPorts = new int[]{0, 1};
+ public static final int[] kRightEncoderPorts = new int[]{2, 3};
+ public static final boolean kLeftEncoderReversed = false;
+ public static final boolean kRightEncoderReversed = true;
+
+ public static final int kEncoderCPR = 1024;
+ public static final double kWheelDiameterInches = 6;
+ public static final double kEncoderDistancePerPulse =
+ // Assumes the encoders are directly mounted on the wheel shafts
+ (kWheelDiameterInches * Math.PI) / (double) kEncoderCPR;
+ }
+
+ public static final class HatchConstants {
+ public static final int kHatchSolenoidModule = 0;
+ public static final int[] kHatchSolenoidPorts = new int[]{0, 1};
+ }
+
+ public static final class AutoConstants {
+ public static final double kAutoDriveDistanceInches = 60;
+ public static final double kAutoBackupDistanceInches = 20;
+ public static final double kAutoDriveSpeed = .5;
+ }
+
+ public static final class OIConstants {
+ public static final int kDriverControllerPort = 1;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Main.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Main.java
new file mode 100644
index 0000000..3852d41
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.hatchbotinlined;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Robot.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Robot.java
new file mode 100644
index 0000000..c0c78ac
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Robot.java
@@ -0,0 +1,113 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.hatchbotinlined;
+
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+
+/**
+ * The VM is configured to automatically run this class, and to call the functions corresponding to
+ * each mode, as described in the TimedRobot documentation. If you change the name of this class or
+ * the package after creating this project, you must also update the build.gradle file in the
+ * project.
+ */
+public class Robot extends TimedRobot {
+ private Command m_autonomousCommand;
+
+ private RobotContainer m_robotContainer;
+
+ /**
+ * This function is run when the robot is first started up and should be used for any
+ * initialization code.
+ */
+ @Override
+ public void robotInit() {
+ // Instantiate our RobotContainer. This will perform all our button bindings, and put our
+ // autonomous chooser on the dashboard.
+ m_robotContainer = new RobotContainer();
+ }
+
+ /**
+ * This function is called every robot packet, no matter the mode. Use this for items like
+ * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
+ *
+ * <p>This runs after the mode specific periodic functions, but before
+ * LiveWindow and SmartDashboard integrated updating.
+ */
+ @Override
+ public void robotPeriodic() {
+ // Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled
+ // commands, running already-scheduled commands, removing finished or interrupted commands,
+ // and running subsystem periodic() methods. This must be called from the robot's periodic
+ // block in order for anything in the Command-based framework to work.
+ CommandScheduler.getInstance().run();
+ }
+
+ /**
+ * This function is called once each time the robot enters Disabled mode.
+ */
+ @Override
+ public void disabledInit() {
+ }
+
+ @Override
+ public void disabledPeriodic() {
+ }
+
+ /**
+ * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
+ */
+ @Override
+ public void autonomousInit() {
+ m_autonomousCommand = m_robotContainer.getAutonomousCommand();
+
+ // schedule the autonomous command (example)
+ if (m_autonomousCommand != null) {
+ m_autonomousCommand.schedule();
+ }
+ }
+
+ /**
+ * This function is called periodically during autonomous.
+ */
+ @Override
+ public void autonomousPeriodic() {
+ }
+
+ @Override
+ public void teleopInit() {
+ // This makes sure that the autonomous stops running when
+ // teleop starts running. If you want the autonomous to
+ // continue until interrupted by another command, remove
+ // this line or comment it out.
+ if (m_autonomousCommand != null) {
+ m_autonomousCommand.cancel();
+ }
+ }
+
+ /**
+ * This function is called periodically during operator control.
+ */
+ @Override
+ public void teleopPeriodic() {
+ }
+
+ @Override
+ public void testInit() {
+ // Cancels all running commands at the start of test mode.
+ CommandScheduler.getInstance().cancelAll();
+ }
+
+ /**
+ * This function is called periodically during test mode.
+ */
+ @Override
+ public void testPeriodic() {
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java
new file mode 100644
index 0000000..9310d39
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java
@@ -0,0 +1,121 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.hatchbotinlined;
+
+import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.StartEndCommand;
+import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+
+import edu.wpi.first.wpilibj.examples.hatchbotinlined.commands.ComplexAutoCommand;
+import edu.wpi.first.wpilibj.examples.hatchbotinlined.subsystems.DriveSubsystem;
+import edu.wpi.first.wpilibj.examples.hatchbotinlined.subsystems.HatchSubsystem;
+
+import static edu.wpi.first.wpilibj.XboxController.Button;
+import static edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.AutoConstants.kAutoDriveDistanceInches;
+import static edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.AutoConstants.kAutoDriveSpeed;
+import static edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.OIConstants.kDriverControllerPort;
+
+/**
+ * This class is where the bulk of the robot should be declared. Since Command-based is a
+ * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
+ * periodic methods (other than the scheduler calls). Instead, the structure of the robot
+ * (including subsystems, commands, and button mappings) should be declared here.
+ */
+public class RobotContainer {
+ // The robot's subsystems
+ private final DriveSubsystem m_robotDrive = new DriveSubsystem();
+ private final HatchSubsystem m_hatchSubsystem = new HatchSubsystem();
+
+ // The autonomous routines
+
+ // A simple auto routine that drives forward a specified distance, and then stops.
+ private final Command m_simpleAuto =
+ new StartEndCommand(
+ // Start driving forward at the start of the command
+ () -> m_robotDrive.arcadeDrive(kAutoDriveSpeed, 0),
+ // Stop driving at the end of the command
+ () -> m_robotDrive.arcadeDrive(0, 0),
+ // Requires the drive subsystem
+ m_robotDrive
+ )
+ // Reset the encoders before starting
+ .beforeStarting(m_robotDrive::resetEncoders)
+ // End the command when the robot's driven distance exceeds the desired value
+ .withInterrupt(() -> m_robotDrive.getAverageEncoderDistance()
+ >= kAutoDriveDistanceInches);
+
+ // A complex auto routine that drives forward, drops a hatch, and then drives backward.
+ private final Command m_complexAuto = new ComplexAutoCommand(m_robotDrive, m_hatchSubsystem);
+
+ // A chooser for autonomous commands
+ SendableChooser<Command> m_chooser = new SendableChooser<>();
+
+ // The driver's controller
+ XboxController m_driverController = new XboxController(kDriverControllerPort);
+
+ /**
+ * The container for the robot. Contains subsystems, OI devices, and commands.
+ */
+ public RobotContainer() {
+ // Configure the button bindings
+ configureButtonBindings();
+
+ // Configure default commands
+ // Set the default drive command to split-stick arcade drive
+ m_robotDrive.setDefaultCommand(
+ // A split-stick arcade command, with forward/backward controlled by the left
+ // hand, and turning controlled by the right.
+ new RunCommand(() -> m_robotDrive.arcadeDrive(
+ m_driverController.getY(GenericHID.Hand.kLeft),
+ m_driverController.getX(GenericHID.Hand.kRight)),
+ m_robotDrive)
+ );
+
+ // Add commands to the autonomous command chooser
+ m_chooser.addOption("Simple Auto", m_simpleAuto);
+ m_chooser.addOption("Complex Auto", m_complexAuto);
+
+ // Put the chooser on the dashboard
+ Shuffleboard.getTab("Autonomous").add(m_chooser);
+ }
+
+ /**
+ * Use this method to define your button->command mappings. Buttons can be created by
+ * instantiating a {@link GenericHID} or one of its subclasses ({@link
+ * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
+ * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
+ */
+ private void configureButtonBindings() {
+ // Grab the hatch when the 'A' button is pressed.
+ new JoystickButton(m_driverController, Button.kA.value)
+ .whenPressed(new InstantCommand(m_hatchSubsystem::grabHatch, m_hatchSubsystem));
+ // Release the hatch when the 'B' button is pressed.
+ new JoystickButton(m_driverController, Button.kB.value)
+ .whenPressed(new InstantCommand(m_hatchSubsystem::releaseHatch, m_hatchSubsystem));
+ // While holding the shoulder button, drive at half speed
+ new JoystickButton(m_driverController, Button.kBumperRight.value)
+ .whenPressed(() -> m_robotDrive.setMaxOutput(.5))
+ .whenReleased(() -> m_robotDrive.setMaxOutput(1));
+ }
+
+
+ /**
+ * Use this to pass the autonomous command to the main {@link Robot} class.
+ *
+ * @return the command to run in autonomous
+ */
+ public Command getAutonomousCommand() {
+ return m_chooser.getSelected();
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/commands/ComplexAutoCommand.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/commands/ComplexAutoCommand.java
new file mode 100644
index 0000000..f46bcf2
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/commands/ComplexAutoCommand.java
@@ -0,0 +1,61 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.hatchbotinlined.commands;
+
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import edu.wpi.first.wpilibj2.command.StartEndCommand;
+
+import edu.wpi.first.wpilibj.examples.hatchbotinlined.subsystems.DriveSubsystem;
+import edu.wpi.first.wpilibj.examples.hatchbotinlined.subsystems.HatchSubsystem;
+
+import static edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.AutoConstants.kAutoBackupDistanceInches;
+import static edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.AutoConstants.kAutoDriveDistanceInches;
+import static edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.AutoConstants.kAutoDriveSpeed;
+
+/**
+ * A complex auto command that drives forward, releases a hatch, and then drives backward.
+ */
+public class ComplexAutoCommand extends SequentialCommandGroup {
+ /**
+ * Creates a new ComplexAutoCommand.
+ *
+ * @param driveSubsystem The drive subsystem this command will run on
+ * @param hatchSubsystem The hatch subsystem this command will run on
+ */
+ public ComplexAutoCommand(DriveSubsystem driveSubsystem, HatchSubsystem hatchSubsystem) {
+ addCommands(
+ // Drive forward up to the front of the cargo ship
+ new StartEndCommand(
+ // Start driving forward at the start of the command
+ () -> driveSubsystem.arcadeDrive(kAutoDriveSpeed, 0),
+ // Stop driving at the end of the command
+ () -> driveSubsystem.arcadeDrive(0, 0), driveSubsystem
+ )
+ // Reset the encoders before starting
+ .beforeStarting(driveSubsystem::resetEncoders)
+ // End the command when the robot's driven distance exceeds the desired value
+ .withInterrupt(
+ () -> driveSubsystem.getAverageEncoderDistance() >= kAutoDriveDistanceInches),
+
+ // Release the hatch
+ new InstantCommand(hatchSubsystem::releaseHatch, hatchSubsystem),
+
+ // Drive backward the specified distance
+ new StartEndCommand(
+ () -> driveSubsystem.arcadeDrive(-kAutoDriveSpeed, 0),
+ () -> driveSubsystem.arcadeDrive(0, 0),
+ driveSubsystem
+ )
+ .beforeStarting(driveSubsystem::resetEncoders)
+ .withInterrupt(
+ () -> driveSubsystem.getAverageEncoderDistance() <= -kAutoBackupDistanceInches)
+ );
+ }
+
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/DriveSubsystem.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/DriveSubsystem.java
new file mode 100644
index 0000000..233cb85
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/DriveSubsystem.java
@@ -0,0 +1,110 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.hatchbotinlined.subsystems;
+
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.PWMVictorSPX;
+import edu.wpi.first.wpilibj.SpeedControllerGroup;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+import static edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.DriveConstants.kEncoderDistancePerPulse;
+import static edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.DriveConstants.kLeftEncoderPorts;
+import static edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.DriveConstants.kLeftEncoderReversed;
+import static edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.DriveConstants.kLeftMotor1Port;
+import static edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.DriveConstants.kLeftMotor2Port;
+import static edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.DriveConstants.kRightEncoderPorts;
+import static edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.DriveConstants.kRightEncoderReversed;
+import static edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.DriveConstants.kRightMotor1Port;
+import static edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.DriveConstants.kRightMotor2Port;
+
+public class DriveSubsystem extends SubsystemBase {
+ // The motors on the left side of the drive.
+ private final SpeedControllerGroup m_leftMotors =
+ new SpeedControllerGroup(new PWMVictorSPX(kLeftMotor1Port),
+ new PWMVictorSPX(kLeftMotor2Port));
+
+ // The motors on the right side of the drive.
+ private final SpeedControllerGroup m_rightMotors =
+ new SpeedControllerGroup(new PWMVictorSPX(kRightMotor1Port),
+ new PWMVictorSPX(kRightMotor2Port));
+
+ // The robot's drive
+ private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotors, m_rightMotors);
+
+ // The left-side drive encoder
+ private final Encoder m_leftEncoder =
+ new Encoder(kLeftEncoderPorts[0], kLeftEncoderPorts[1], kLeftEncoderReversed);
+
+ // The right-side drive encoder
+ private final Encoder m_rightEncoder =
+ new Encoder(kRightEncoderPorts[0], kRightEncoderPorts[1], kRightEncoderReversed);
+
+ /**
+ * Creates a new DriveSubsystem.
+ */
+ public DriveSubsystem() {
+ // Sets the distance per pulse for the encoders
+ m_leftEncoder.setDistancePerPulse(kEncoderDistancePerPulse);
+ m_rightEncoder.setDistancePerPulse(kEncoderDistancePerPulse);
+ }
+
+ /**
+ * Drives the robot using arcade controls.
+ *
+ * @param fwd the commanded forward movement
+ * @param rot the commanded rotation
+ */
+ public void arcadeDrive(double fwd, double rot) {
+ m_drive.arcadeDrive(fwd, rot);
+ }
+
+ /**
+ * Resets the drive encoders to currently read a position of 0.
+ */
+ public void resetEncoders() {
+ m_leftEncoder.reset();
+ m_rightEncoder.reset();
+ }
+
+ /**
+ * Gets the average distance of the TWO encoders.
+ *
+ * @return the average of the TWO encoder readings
+ */
+ public double getAverageEncoderDistance() {
+ return (m_leftEncoder.getDistance() + m_rightEncoder.getDistance()) / 2.;
+ }
+
+ /**
+ * Gets the left drive encoder.
+ *
+ * @return the left drive encoder
+ */
+ public Encoder getLeftEncoder() {
+ return m_leftEncoder;
+ }
+
+ /**
+ * Gets the right drive encoder.
+ *
+ * @return the right drive encoder
+ */
+ public Encoder getRightEncoder() {
+ return m_rightEncoder;
+ }
+
+ /**
+ * Sets the max output of the drive. Useful for scaling the drive to drive more slowly.
+ *
+ * @param maxOutput the maximum output to which the drive will be constrained
+ */
+ public void setMaxOutput(double maxOutput) {
+ m_drive.setMaxOutput(maxOutput);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/HatchSubsystem.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/HatchSubsystem.java
new file mode 100644
index 0000000..6dce9e1
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/HatchSubsystem.java
@@ -0,0 +1,38 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.hatchbotinlined.subsystems;
+
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+import static edu.wpi.first.wpilibj.DoubleSolenoid.Value.kForward;
+import static edu.wpi.first.wpilibj.DoubleSolenoid.Value.kReverse;
+import static edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.HatchConstants.kHatchSolenoidModule;
+import static edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.HatchConstants.kHatchSolenoidPorts;
+
+/**
+ * A hatch mechanism actuated by a single {@link edu.wpi.first.wpilibj.DoubleSolenoid}.
+ */
+public class HatchSubsystem extends SubsystemBase {
+ private final DoubleSolenoid m_hatchSolenoid =
+ new DoubleSolenoid(kHatchSolenoidModule, kHatchSolenoidPorts[0], kHatchSolenoidPorts[1]);
+
+ /**
+ * Grabs the hatch.
+ */
+ public void grabHatch() {
+ m_hatchSolenoid.set(kForward);
+ }
+
+ /**
+ * Releases the hatch.
+ */
+ public void releaseHatch() {
+ m_hatchSolenoid.set(kReverse);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Constants.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Constants.java
new file mode 100644
index 0000000..1e9e060
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Constants.java
@@ -0,0 +1,51 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.hatchbottraditional;
+
+/**
+ * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
+ * constants. This class should not be used for any other purpose. All constants should be
+ * declared globally (i.e. public static). Do not put anything functional in this class.
+ *
+ * <p>It is advised to statically import this class (or one of its inner classes) wherever the
+ * constants are needed, to reduce verbosity.
+ */
+public final class Constants {
+ public static final class DriveConstants {
+ public static final int kLeftMotor1Port = 0;
+ public static final int kLeftMotor2Port = 1;
+ public static final int kRightMotor1Port = 2;
+ public static final int kRightMotor2Port = 3;
+
+ public static final int[] kLeftEncoderPorts = new int[]{0, 1};
+ public static final int[] kRightEncoderPorts = new int[]{2, 3};
+ public static final boolean kLeftEncoderReversed = false;
+ public static final boolean kRightEncoderReversed = true;
+
+ public static final int kEncoderCPR = 1024;
+ public static final double kWheelDiameterInches = 6;
+ public static final double kEncoderDistancePerPulse =
+ // Assumes the encoders are directly mounted on the wheel shafts
+ (kWheelDiameterInches * Math.PI) / (double) kEncoderCPR;
+ }
+
+ public static final class HatchConstants {
+ public static final int kHatchSolenoidModule = 0;
+ public static final int[] kHatchSolenoidPorts = new int[]{0, 1};
+ }
+
+ public static final class AutoConstants {
+ public static final double kAutoDriveDistanceInches = 60;
+ public static final double kAutoBackupDistanceInches = 20;
+ public static final double kAutoDriveSpeed = .5;
+ }
+
+ public static final class OIConstants {
+ public static final int kDriverControllerPort = 1;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Main.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Main.java
new file mode 100644
index 0000000..f09858c
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.hatchbottraditional;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Robot.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Robot.java
new file mode 100644
index 0000000..8747f35
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Robot.java
@@ -0,0 +1,120 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.hatchbottraditional;
+
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+
+/**
+ * The VM is configured to automatically run this class, and to call the functions corresponding to
+ * each mode, as described in the TimedRobot documentation. If you change the name of this class or
+ * the package after creating this project, you must also update the build.gradle file in the
+ * project.
+ */
+public class Robot extends TimedRobot {
+ private Command m_autonomousCommand;
+
+ private RobotContainer m_robotContainer;
+
+ /**
+ * This function is run when the robot is first started up and should be used for any
+ * initialization code.
+ */
+ @Override
+ public void robotInit() {
+ // Instantiate our RobotContainer. This will perform all our button bindings, and put our
+ // autonomous chooser on the dashboard.
+ m_robotContainer = new RobotContainer();
+ }
+
+ /**
+ * This function is called every robot packet, no matter the mode. Use this for items like
+ * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
+ *
+ * <p>This runs after the mode specific periodic functions, but before
+ * LiveWindow and SmartDashboard integrated updating.
+ */
+ @Override
+ public void robotPeriodic() {
+ // Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled
+ // commands, running already-scheduled commands, removing finished or interrupted commands,
+ // and running subsystem periodic() methods. This must be called from the robot's periodic
+ // block in order for anything in the Command-based framework to work.
+ CommandScheduler.getInstance().run();
+ }
+
+ /**
+ * This function is called once each time the robot enters Disabled mode.
+ */
+ @Override
+ public void disabledInit() {
+ }
+
+ @Override
+ public void disabledPeriodic() {
+ }
+
+ /**
+ * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
+ */
+ @Override
+ public void autonomousInit() {
+ m_autonomousCommand = m_robotContainer.getAutonomousCommand();
+
+ /*
+ * String autoSelected = SmartDashboard.getString("Auto Selector",
+ * "Default"); switch(autoSelected) { case "My Auto": autonomousCommand
+ * = new MyAutoCommand(); break; case "Default Auto": default:
+ * autonomousCommand = new ExampleCommand(); break; }
+ */
+
+ // schedule the autonomous command (example)
+ if (m_autonomousCommand != null) {
+ m_autonomousCommand.schedule();
+ }
+ }
+
+ /**
+ * This function is called periodically during autonomous.
+ */
+ @Override
+ public void autonomousPeriodic() {
+ }
+
+ @Override
+ public void teleopInit() {
+ // This makes sure that the autonomous stops running when
+ // teleop starts running. If you want the autonomous to
+ // continue until interrupted by another command, remove
+ // this line or comment it out.
+ if (m_autonomousCommand != null) {
+ m_autonomousCommand.cancel();
+ }
+ }
+
+ /**
+ * This function is called periodically during operator control.
+ */
+ @Override
+ public void teleopPeriodic() {
+ }
+
+ @Override
+ public void testInit() {
+ // Cancels all running commands at the start of test mode.
+ CommandScheduler.getInstance().cancelAll();
+ }
+
+ /**
+ * This function is called periodically during test mode.
+ */
+ @Override
+ public void testPeriodic() {
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java
new file mode 100644
index 0000000..f839768
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java
@@ -0,0 +1,110 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.hatchbottraditional;
+
+import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+
+import edu.wpi.first.wpilibj.examples.hatchbottraditional.commands.ComplexAuto;
+import edu.wpi.first.wpilibj.examples.hatchbottraditional.commands.DefaultDrive;
+import edu.wpi.first.wpilibj.examples.hatchbottraditional.commands.DriveDistance;
+import edu.wpi.first.wpilibj.examples.hatchbottraditional.commands.GrabHatch;
+import edu.wpi.first.wpilibj.examples.hatchbottraditional.commands.HalveDriveSpeed;
+import edu.wpi.first.wpilibj.examples.hatchbottraditional.commands.ReleaseHatch;
+import edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems.DriveSubsystem;
+import edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems.HatchSubsystem;
+
+import static edu.wpi.first.wpilibj.XboxController.Button;
+import static edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.AutoConstants.kAutoDriveDistanceInches;
+import static edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.AutoConstants.kAutoDriveSpeed;
+import static edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.OIConstants.kDriverControllerPort;
+
+/**
+ * This class is where the bulk of the robot should be declared. Since Command-based is a
+ * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
+ * periodic methods (other than the scheduler calls). Instead, the structure of the robot
+ * (including subsystems, commands, and button mappings) should be declared here.
+ */
+public class RobotContainer {
+ // The robot's subsystems
+ private final DriveSubsystem m_robotDrive = new DriveSubsystem();
+ private final HatchSubsystem m_hatchSubsystem = new HatchSubsystem();
+
+ // The autonomous routines
+
+ // A simple auto routine that drives forward a specified distance, and then stops.
+ private final Command m_simpleAuto =
+ new DriveDistance(kAutoDriveDistanceInches, kAutoDriveSpeed, m_robotDrive);
+
+ // A complex auto routine that drives forward, drops a hatch, and then drives backward.
+ private final Command m_complexAuto = new ComplexAuto(m_robotDrive, m_hatchSubsystem);
+
+ // A chooser for autonomous commands
+ SendableChooser<Command> m_chooser = new SendableChooser<>();
+
+ // The driver's controller
+ XboxController m_driverController = new XboxController(kDriverControllerPort);
+
+ /**
+ * The container for the robot. Contains subsystems, OI devices, and commands.
+ */
+ public RobotContainer() {
+ // Configure the button bindings
+ configureButtonBindings();
+
+ // Configure default commands
+ // Set the default drive command to split-stick arcade drive
+ m_robotDrive.setDefaultCommand(
+ // A split-stick arcade command, with forward/backward controlled by the left
+ // hand, and turning controlled by the right.
+ new DefaultDrive(
+ m_robotDrive,
+ () -> m_driverController.getY(GenericHID.Hand.kLeft),
+ () -> m_driverController.getX(GenericHID.Hand.kRight))
+ );
+
+ // Add commands to the autonomous command chooser
+ m_chooser.addOption("Simple Auto", m_simpleAuto);
+ m_chooser.addOption("Complex Auto", m_complexAuto);
+
+ // Put the chooser on the dashboard
+ Shuffleboard.getTab("Autonomous").add(m_chooser);
+ }
+
+ /**
+ * Use this method to define your button->command mappings. Buttons can be created by
+ * instantiating a {@link GenericHID} or one of its subclasses ({@link
+ * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
+ * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
+ */
+ private void configureButtonBindings() {
+ // Grab the hatch when the 'A' button is pressed.
+ new JoystickButton(m_driverController, Button.kA.value)
+ .whenPressed(new GrabHatch(m_hatchSubsystem));
+ // Release the hatch when the 'B' button is pressed.
+ new JoystickButton(m_driverController, Button.kB.value)
+ .whenPressed(new ReleaseHatch(m_hatchSubsystem));
+ // While holding the shoulder button, drive at half speed
+ new JoystickButton(m_driverController, Button.kBumperRight.value)
+ .whenHeld(new HalveDriveSpeed(m_robotDrive));
+ }
+
+
+ /**
+ * Use this to pass the autonomous command to the main {@link Robot} class.
+ *
+ * @return the command to run in autonomous
+ */
+ public Command getAutonomousCommand() {
+ return m_chooser.getSelected();
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/ComplexAuto.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/ComplexAuto.java
new file mode 100644
index 0000000..9614922
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/ComplexAuto.java
@@ -0,0 +1,42 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.hatchbottraditional.commands;
+
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+
+import edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems.DriveSubsystem;
+import edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems.HatchSubsystem;
+
+import static edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.AutoConstants.kAutoBackupDistanceInches;
+import static edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.AutoConstants.kAutoDriveDistanceInches;
+import static edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.AutoConstants.kAutoDriveSpeed;
+
+/**
+ * A complex auto command that drives forward, releases a hatch, and then drives backward.
+ */
+public class ComplexAuto extends SequentialCommandGroup {
+ /**
+ * Creates a new ComplexAuto.
+ *
+ * @param drive The drive subsystem this command will run on
+ * @param hatch The hatch subsystem this command will run on
+ */
+ public ComplexAuto(DriveSubsystem drive, HatchSubsystem hatch) {
+ addCommands(
+ // Drive forward the specified distance
+ new DriveDistance(kAutoDriveDistanceInches, kAutoDriveSpeed, drive),
+
+ // Release the hatch
+ new ReleaseHatch(hatch),
+
+ // Drive backward the specified distance
+ new DriveDistance(kAutoBackupDistanceInches, -kAutoDriveSpeed, drive)
+ );
+ }
+
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/DefaultDrive.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/DefaultDrive.java
new file mode 100644
index 0000000..9399c30
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/DefaultDrive.java
@@ -0,0 +1,44 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.hatchbottraditional.commands;
+
+import java.util.function.DoubleSupplier;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+
+import edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems.DriveSubsystem;
+
+/**
+ * A command to drive the robot with joystick input (passed in as {@link DoubleSupplier}s). Written
+ * explicitly for pedagogical purposes - actual code should inline a command this simple with {@link
+ * edu.wpi.first.wpilibj2.command.RunCommand}.
+ */
+public class DefaultDrive extends CommandBase {
+ private final DriveSubsystem m_drive;
+ private final DoubleSupplier m_forward;
+ private final DoubleSupplier m_rotation;
+
+ /**
+ * Creates a new DefaultDrive.
+ *
+ * @param subsystem The drive subsystem this command wil run on.
+ * @param forward The control input for driving forwards/backwards
+ * @param rotation The control input for turning
+ */
+ public DefaultDrive(DriveSubsystem subsystem, DoubleSupplier forward, DoubleSupplier rotation) {
+ m_drive = subsystem;
+ m_forward = forward;
+ m_rotation = rotation;
+ addRequirements(m_drive);
+ }
+
+ @Override
+ public void execute() {
+ m_drive.arcadeDrive(m_forward.getAsDouble(), m_rotation.getAsDouble());
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/DriveDistance.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/DriveDistance.java
new file mode 100644
index 0000000..d4abd71
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/DriveDistance.java
@@ -0,0 +1,47 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.hatchbottraditional.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+
+import edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems.DriveSubsystem;
+
+public class DriveDistance extends CommandBase {
+ private final DriveSubsystem m_drive;
+ private final double m_distance;
+ private final double m_speed;
+
+ /**
+ * Creates a new DriveDistance.
+ *
+ * @param inches The number of inches the robot will drive
+ * @param speed The speed at which the robot will drive
+ * @param drive The drive subsystem on which this command will run
+ */
+ public DriveDistance(double inches, double speed, DriveSubsystem drive) {
+ m_distance = inches;
+ m_speed = speed;
+ m_drive = drive;
+ }
+
+ @Override
+ public void initialize() {
+ m_drive.resetEncoders();
+ m_drive.arcadeDrive(m_speed, 0);
+ }
+
+ @Override
+ public void end(boolean interrupted) {
+ m_drive.arcadeDrive(0, 0);
+ }
+
+ @Override
+ public boolean isFinished() {
+ return Math.abs(m_drive.getAverageEncoderDistance()) >= m_distance;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/GrabHatch.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/GrabHatch.java
new file mode 100644
index 0000000..a30da45
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/GrabHatch.java
@@ -0,0 +1,37 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.hatchbottraditional.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+
+import edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems.HatchSubsystem;
+
+/**
+ * A simple command that grabs a hatch with the {@link HatchSubsystem}. Written explicitly for
+ * pedagogical purposes. Actual code should inline a command this simple with {@link
+ * edu.wpi.first.wpilibj2.command.InstantCommand}.
+ */
+public class GrabHatch extends CommandBase {
+ // The subsystem the command runs on
+ private final HatchSubsystem m_hatchSubsystem;
+
+ public GrabHatch(HatchSubsystem subsystem) {
+ m_hatchSubsystem = subsystem;
+ addRequirements(m_hatchSubsystem);
+ }
+
+ @Override
+ public void initialize() {
+ m_hatchSubsystem.grabHatch();
+ }
+
+ @Override
+ public boolean isFinished() {
+ return true;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/HalveDriveSpeed.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/HalveDriveSpeed.java
new file mode 100644
index 0000000..396d40d
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/HalveDriveSpeed.java
@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.hatchbottraditional.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+
+import edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems.DriveSubsystem;
+
+public class HalveDriveSpeed extends CommandBase {
+ private final DriveSubsystem m_drive;
+
+ public HalveDriveSpeed(DriveSubsystem drive) {
+ m_drive = drive;
+ }
+
+ @Override
+ public void initialize() {
+ m_drive.setMaxOutput(.5);
+ }
+
+ @Override
+ public void end(boolean interrupted) {
+ m_drive.setMaxOutput(1);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/ReleaseHatch.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/ReleaseHatch.java
new file mode 100644
index 0000000..1e6f0a0
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/commands/ReleaseHatch.java
@@ -0,0 +1,21 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.hatchbottraditional.commands;
+
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+
+import edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems.HatchSubsystem;
+
+/**
+ * A command that releases the hatch.
+ */
+public class ReleaseHatch extends InstantCommand {
+ public ReleaseHatch(HatchSubsystem subsystem) {
+ super(subsystem::releaseHatch, subsystem);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/DriveSubsystem.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/DriveSubsystem.java
new file mode 100644
index 0000000..6cadc1f
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/DriveSubsystem.java
@@ -0,0 +1,110 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems;
+
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.PWMVictorSPX;
+import edu.wpi.first.wpilibj.SpeedControllerGroup;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+import static edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.DriveConstants.kEncoderDistancePerPulse;
+import static edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.DriveConstants.kLeftEncoderPorts;
+import static edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.DriveConstants.kLeftEncoderReversed;
+import static edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.DriveConstants.kLeftMotor1Port;
+import static edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.DriveConstants.kLeftMotor2Port;
+import static edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.DriveConstants.kRightEncoderPorts;
+import static edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.DriveConstants.kRightEncoderReversed;
+import static edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.DriveConstants.kRightMotor1Port;
+import static edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.DriveConstants.kRightMotor2Port;
+
+public class DriveSubsystem extends SubsystemBase {
+ // The motors on the left side of the drive.
+ private final SpeedControllerGroup m_leftMotors =
+ new SpeedControllerGroup(new PWMVictorSPX(kLeftMotor1Port),
+ new PWMVictorSPX(kLeftMotor2Port));
+
+ // The motors on the right side of the drive.
+ private final SpeedControllerGroup m_rightMotors =
+ new SpeedControllerGroup(new PWMVictorSPX(kRightMotor1Port),
+ new PWMVictorSPX(kRightMotor2Port));
+
+ // The robot's drive
+ private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotors, m_rightMotors);
+
+ // The left-side drive encoder
+ private final Encoder m_leftEncoder =
+ new Encoder(kLeftEncoderPorts[0], kLeftEncoderPorts[1], kLeftEncoderReversed);
+
+ // The right-side drive encoder
+ private final Encoder m_rightEncoder =
+ new Encoder(kRightEncoderPorts[0], kRightEncoderPorts[1], kRightEncoderReversed);
+
+ /**
+ * Creates a new DriveSubsystem.
+ */
+ public DriveSubsystem() {
+ // Sets the distance per pulse for the encoders
+ m_leftEncoder.setDistancePerPulse(kEncoderDistancePerPulse);
+ m_rightEncoder.setDistancePerPulse(kEncoderDistancePerPulse);
+ }
+
+ /**
+ * Drives the robot using arcade controls.
+ *
+ * @param fwd the commanded forward movement
+ * @param rot the commanded rotation
+ */
+ public void arcadeDrive(double fwd, double rot) {
+ m_drive.arcadeDrive(fwd, rot);
+ }
+
+ /**
+ * Resets the drive encoders to currently read a position of 0.
+ */
+ public void resetEncoders() {
+ m_leftEncoder.reset();
+ m_rightEncoder.reset();
+ }
+
+ /**
+ * Gets the average distance of the TWO encoders.
+ *
+ * @return the average of the TWO encoder readings
+ */
+ public double getAverageEncoderDistance() {
+ return (m_leftEncoder.getDistance() + m_rightEncoder.getDistance()) / 2.;
+ }
+
+ /**
+ * Gets the left drive encoder.
+ *
+ * @return the left drive encoder
+ */
+ public Encoder getLeftEncoder() {
+ return m_leftEncoder;
+ }
+
+ /**
+ * Gets the right drive encoder.
+ *
+ * @return the right drive encoder
+ */
+ public Encoder getRightEncoder() {
+ return m_rightEncoder;
+ }
+
+ /**
+ * Sets the max output of the drive. Useful for scaling the drive to drive more slowly.
+ *
+ * @param maxOutput the maximum output to which the drive will be constrained
+ */
+ public void setMaxOutput(double maxOutput) {
+ m_drive.setMaxOutput(maxOutput);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/HatchSubsystem.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/HatchSubsystem.java
new file mode 100644
index 0000000..e93fea4
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/HatchSubsystem.java
@@ -0,0 +1,38 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems;
+
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+import static edu.wpi.first.wpilibj.DoubleSolenoid.Value.kForward;
+import static edu.wpi.first.wpilibj.DoubleSolenoid.Value.kReverse;
+import static edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.HatchConstants.kHatchSolenoidModule;
+import static edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.HatchConstants.kHatchSolenoidPorts;
+
+/**
+ * A hatch mechanism actuated by a single {@link DoubleSolenoid}.
+ */
+public class HatchSubsystem extends SubsystemBase {
+ private final DoubleSolenoid m_hatchSolenoid =
+ new DoubleSolenoid(kHatchSolenoidModule, kHatchSolenoidPorts[0], kHatchSolenoidPorts[1]);
+
+ /**
+ * Grabs the hatch.
+ */
+ public void grabHatch() {
+ m_hatchSolenoid.set(kForward);
+ }
+
+ /**
+ * Releases the hatch.
+ */
+ public void releaseHatch() {
+ m_hatchSolenoid.set(kReverse);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java
new file mode 100644
index 0000000..29a6f49
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java
@@ -0,0 +1,138 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.mecanumbot;
+
+import edu.wpi.first.wpilibj.AnalogGyro;
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.Spark;
+import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.geometry.Translation2d;
+import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
+import edu.wpi.first.wpilibj.kinematics.MecanumDriveKinematics;
+import edu.wpi.first.wpilibj.kinematics.MecanumDriveOdometry;
+import edu.wpi.first.wpilibj.kinematics.MecanumDriveWheelSpeeds;
+
+/**
+ * Represents a mecanum drive style drivetrain.
+ */
+@SuppressWarnings("PMD.TooManyFields")
+public class Drivetrain {
+ public static final double kMaxSpeed = 3.0; // 3 meters per second
+ public static final double kMaxAngularSpeed = Math.PI; // 1/2 rotation per second
+
+ private final Spark m_frontLeftMotor = new Spark(1);
+ private final Spark m_frontRightMotor = new Spark(2);
+ private final Spark m_backLeftMotor = new Spark(3);
+ private final Spark m_backRightMotor = new Spark(4);
+
+ private final Encoder m_frontLeftEncoder = new Encoder(0, 1);
+ private final Encoder m_frontRightEncoder = new Encoder(0, 1);
+ private final Encoder m_backLeftEncoder = new Encoder(0, 1);
+ private final Encoder m_backRightEncoder = new Encoder(0, 1);
+
+ private final Translation2d m_frontLeftLocation = new Translation2d(0.381, 0.381);
+ private final Translation2d m_frontRightLocation = new Translation2d(0.381, -0.381);
+ private final Translation2d m_backLeftLocation = new Translation2d(-0.381, 0.381);
+ private final Translation2d m_backRightLocation = new Translation2d(-0.381, -0.381);
+
+ private final PIDController m_frontLeftPIDController = new PIDController(1, 0, 0);
+ private final PIDController m_frontRightPIDController = new PIDController(1, 0, 0);
+ private final PIDController m_backLeftPIDController = new PIDController(1, 0, 0);
+ private final PIDController m_backRightPIDController = new PIDController(1, 0, 0);
+
+ private final AnalogGyro m_gyro = new AnalogGyro(0);
+
+ private final MecanumDriveKinematics m_kinematics = new MecanumDriveKinematics(
+ m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation
+ );
+
+ private final MecanumDriveOdometry m_odometry = new MecanumDriveOdometry(m_kinematics);
+
+ /**
+ * Constructs a MecanumDrive and resets the gyro.
+ */
+ public Drivetrain() {
+ m_gyro.reset();
+ }
+
+ /**
+ * Returns the angle of the robot as a Rotation2d.
+ *
+ * @return The angle of the robot.
+ */
+ public Rotation2d getAngle() {
+ // Negating the angle because WPILib gyros are CW positive.
+ return Rotation2d.fromDegrees(-m_gyro.getAngle());
+ }
+
+ /**
+ * Returns the current state of the drivetrain.
+ *
+ * @return The current state of the drivetrain.
+ */
+ public MecanumDriveWheelSpeeds getCurrentState() {
+ return new MecanumDriveWheelSpeeds(
+ m_frontLeftEncoder.getRate(),
+ m_frontRightEncoder.getRate(),
+ m_backLeftEncoder.getRate(),
+ m_backRightEncoder.getRate()
+ );
+ }
+
+ /**
+ * Set the desired speeds for each wheel.
+ *
+ * @param speeds The desired wheel speeds.
+ */
+ public void setSpeeds(MecanumDriveWheelSpeeds speeds) {
+ final var frontLeftOutput = m_frontLeftPIDController.calculate(
+ m_frontLeftEncoder.getRate(), speeds.frontLeftMetersPerSecond
+ );
+ final var frontRightOutput = m_frontRightPIDController.calculate(
+ m_frontRightEncoder.getRate(), speeds.frontRightMetersPerSecond
+ );
+ final var backLeftOutput = m_backLeftPIDController.calculate(
+ m_backLeftEncoder.getRate(), speeds.rearLeftMetersPerSecond
+ );
+ final var backRightOutput = m_backRightPIDController.calculate(
+ m_backRightEncoder.getRate(), speeds.rearRightMetersPerSecond
+ );
+
+ m_frontLeftMotor.set(frontLeftOutput);
+ m_frontRightMotor.set(frontRightOutput);
+ m_backLeftMotor.set(backLeftOutput);
+ m_backRightMotor.set(backRightOutput);
+ }
+
+ /**
+ * Method to drive the robot using joystick info.
+ *
+ * @param xSpeed Speed of the robot in the x direction (forward).
+ * @param ySpeed Speed of the robot in the y direction (sideways).
+ * @param rot Angular rate of the robot.
+ * @param fieldRelative Whether the provided x and y speeds are relative to the field.
+ */
+ @SuppressWarnings("ParameterName")
+ public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelative) {
+ var mecanumDriveWheelSpeeds = m_kinematics.toWheelSpeeds(
+ fieldRelative ? ChassisSpeeds.fromFieldRelativeSpeeds(
+ xSpeed, ySpeed, rot, getAngle()
+ ) : new ChassisSpeeds(xSpeed, ySpeed, rot)
+ );
+ mecanumDriveWheelSpeeds.normalize(kMaxSpeed);
+ setSpeeds(mecanumDriveWheelSpeeds);
+ }
+
+ /**
+ * Updates the field relative position of the robot.
+ */
+ public void updateOdometry() {
+ m_odometry.update(getAngle(), getCurrentState());
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Main.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Main.java
new file mode 100644
index 0000000..27a4b32
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.mecanumbot;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Robot.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Robot.java
new file mode 100644
index 0000000..b7540d3
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Robot.java
@@ -0,0 +1,50 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.mecanumbot;
+
+import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.XboxController;
+
+import static edu.wpi.first.wpilibj.examples.mecanumbot.Drivetrain.kMaxAngularSpeed;
+import static edu.wpi.first.wpilibj.examples.mecanumbot.Drivetrain.kMaxSpeed;
+
+public class Robot extends TimedRobot {
+ private final XboxController m_controller = new XboxController(0);
+ private final Drivetrain m_mecanum = new Drivetrain();
+
+ @Override
+ public void autonomousPeriodic() {
+ driveWithJoystick(false);
+ m_mecanum.updateOdometry();
+ }
+
+ @Override
+ public void teleopPeriodic() {
+ driveWithJoystick(true);
+ }
+
+ private void driveWithJoystick(boolean fieldRelative) {
+ // Get the x speed. We are inverting this because Xbox controllers return
+ // negative values when we push forward.
+ final var xSpeed = -m_controller.getY(GenericHID.Hand.kLeft) * kMaxSpeed;
+
+ // Get the y speed or sideways/strafe speed. We are inverting this because
+ // we want a positive value when we pull to the left. Xbox controllers
+ // return positive values when you pull to the right by default.
+ final var ySpeed = -m_controller.getX(GenericHID.Hand.kLeft) * kMaxSpeed;
+
+ // Get the rate of angular rotation. We are inverting this because we want a
+ // positive value when we pull to the left (remember, CCW is positive in
+ // mathematics). Xbox controllers return positive values when you pull to
+ // the right by default.
+ final var rot = -m_controller.getX(GenericHID.Hand.kRight) * kMaxAngularSpeed;
+
+ m_mecanum.drive(xSpeed, ySpeed, rot, fieldRelative);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/Robot.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/Robot.java
index 3e1c397..0f4da55 100644
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/Robot.java
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/Robot.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -61,7 +61,7 @@
oi = new OI();
// instantiate the command used for the autonomous period
- m_autoChooser = new SendableChooser<Command>();
+ m_autoChooser = new SendableChooser<>();
m_autoChooser.setDefaultOption("Drive and Shoot", new DriveAndShootAutonomous());
m_autoChooser.addOption("Drive Forward", new DriveForward());
SmartDashboard.putData("Auto Mode", m_autoChooser);
@@ -69,7 +69,7 @@
@Override
public void autonomousInit() {
- m_autonomousCommand = (Command) m_autoChooser.getSelected();
+ m_autonomousCommand = m_autoChooser.getSelected();
m_autonomousCommand.start();
}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Collector.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Collector.java
index 6bff9ff..853b51a 100644
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Collector.java
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Collector.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -18,7 +18,7 @@
* ball detection, a piston for opening and closing the claw, and a reed switch
* to check if the piston is open.
*/
-public class Collector extends Subsystem {
+public class Collector extends Subsystem implements AutoCloseable {
// Constants for some useful speeds
public static final double kForward = 1;
public static final double kStop = 0;
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/DriveTrain.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/DriveTrain.java
index d27347d..9b165de 100644
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/DriveTrain.java
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/DriveTrain.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -11,7 +11,6 @@
import edu.wpi.first.wpilibj.CounterBase.EncodingType;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.PIDSourceType;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.Victor;
@@ -58,10 +57,6 @@
m_drive.setExpiration(0.1);
m_drive.setMaxOutput(1.0);
- // Configure encoders
- m_rightEncoder.setPIDSourceType(PIDSourceType.kDisplacement);
- m_leftEncoder.setPIDSourceType(PIDSourceType.kDisplacement);
-
if (Robot.isReal()) { // Converts to feet
m_rightEncoder.setDistancePerPulse(0.0785398);
m_leftEncoder.setDistancePerPulse(0.0785398);
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/triggers/DoubleButton.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/triggers/DoubleButton.java
index e795593..4fc8055 100644
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/triggers/DoubleButton.java
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/triggers/DoubleButton.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -11,7 +11,7 @@
import edu.wpi.first.wpilibj.buttons.Trigger;
/**
- * A custom button that is triggered when two buttons on a Joystick are
+ * A custom button that is triggered when TWO buttons on a Joystick are
* simultaneously pressed.
*/
public class DoubleButton extends Trigger {
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java
index 302ce16..cef0916 100644
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,10 +9,10 @@
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.PIDController;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.controller.PIDController;
/**
* This is a sample program to demonstrate how to use a soft potentiometer and a
@@ -36,9 +36,7 @@
private static final double kD = -2.0;
private PIDController m_pidController;
- @SuppressWarnings("PMD.SingularField")
private AnalogInput m_potentiometer;
- @SuppressWarnings("PMD.SingularField")
private SpeedController m_elevatorMotor;
private Joystick m_joystick;
@@ -51,17 +49,16 @@
m_elevatorMotor = new PWMVictorSPX(kMotorChannel);
m_joystick = new Joystick(kJoystickChannel);
- m_pidController = new PIDController(kP, kI, kD, m_potentiometer, m_elevatorMotor);
- m_pidController.setInputRange(0, 5);
- }
-
- @Override
- public void teleopInit() {
- m_pidController.enable();
+ m_pidController = new PIDController(kP, kI, kD);
}
@Override
public void teleopPeriodic() {
+ // Run the PID Controller
+ double pidOut
+ = m_pidController.calculate(m_potentiometer.getAverageVoltage());
+ m_elevatorMotor.set(pidOut);
+
// when the button is pressed once, the selected elevator setpoint
// is incremented
boolean currentButtonValue = m_joystick.getTrigger();
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java
new file mode 100644
index 0000000..f7aecdd
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java
@@ -0,0 +1,74 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.ramsetecommand;
+
+import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
+import edu.wpi.first.wpilibj.trajectory.constraint.DifferentialDriveKinematicsConstraint;
+
+/**
+ * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
+ * constants. This class should not be used for any other purpose. All constants should be
+ * declared globally (i.e. public static). Do not put anything functional in this class.
+ *
+ * <p>It is advised to statically import this class (or one of its inner classes) wherever the
+ * constants are needed, to reduce verbosity.
+ */
+public final class Constants {
+ public static final class DriveConstants {
+ public static final int kLeftMotor1Port = 0;
+ public static final int kLeftMotor2Port = 1;
+ public static final int kRightMotor1Port = 2;
+ public static final int kRightMotor2Port = 3;
+
+ public static final int[] kLeftEncoderPorts = new int[]{0, 1};
+ public static final int[] kRightEncoderPorts = new int[]{2, 3};
+ public static final boolean kLeftEncoderReversed = false;
+ public static final boolean kRightEncoderReversed = true;
+
+ public static final double kTrackwidthMeters = .6;
+ public static final DifferentialDriveKinematics kDriveKinematics =
+ new DifferentialDriveKinematics(kTrackwidthMeters);
+
+ public static final int kEncoderCPR = 1024;
+ public static final double kWheelDiameterMeters = .15;
+ public static final double kEncoderDistancePerPulse =
+ // Assumes the encoders are directly mounted on the wheel shafts
+ (kWheelDiameterMeters * Math.PI) / (double) kEncoderCPR;
+
+ public static final boolean kGyroReversed = true;
+
+ // These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
+ // These characterization values MUST be determined either experimentally or theoretically
+ // for *your* robot's drive.
+ // The RobotPy Characterization Toolsuite provides a convenient tool for obtaining these
+ // values for your robot.
+ public static final double ksVolts = 1;
+ public static final double kvVoltSecondsPerMeter = .8;
+ public static final double kaVoltSecondsSquaredPerMeter = .15;
+
+ // Example value only - as above, this must be tuned for your drive!
+ public static final double kPDriveVel = .5;
+ }
+
+ public static final class OIConstants {
+ public static final int kDriverControllerPort = 1;
+ }
+
+ public static final class AutoConstants {
+ public static final double kMaxSpeedMetersPerSecond = 3;
+ public static final double kMaxAccelerationMetersPerSecondSquared = 3;
+
+ public static final DifferentialDriveKinematicsConstraint kAutoPathConstraints =
+ new DifferentialDriveKinematicsConstraint(DriveConstants.kDriveKinematics,
+ kMaxSpeedMetersPerSecond);
+
+ // Reasonable baseline values for a RAMSETE follower in units of meters and seconds
+ public static final double kRamseteB = 2;
+ public static final double kRamseteZeta = .7;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Main.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Main.java
new file mode 100644
index 0000000..4cce085
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.ramsetecommand;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Robot.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Robot.java
new file mode 100644
index 0000000..18dc814
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Robot.java
@@ -0,0 +1,121 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.ramsetecommand;
+
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+
+/**
+ * The VM is configured to automatically run this class, and to call the functions corresponding to
+ * each mode, as described in the TimedRobot documentation. If you change the name of this class or
+ * the package after creating this project, you must also update the build.gradle file in the
+ * project.
+ */
+public class Robot extends TimedRobot {
+ private Command m_autonomousCommand;
+
+ private RobotContainer m_robotContainer;
+
+ /**
+ * This function is run when the robot is first started up and should be used for any
+ * initialization code.
+ */
+ @Override
+ public void robotInit() {
+ // Instantiate our RobotContainer. This will perform all our button bindings, and put our
+ // autonomous chooser on the dashboard.
+ m_robotContainer = new RobotContainer();
+ }
+
+ /**
+ * This function is called every robot packet, no matter the mode. Use this for items like
+ * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
+ *
+ * <p>This runs after the mode specific periodic functions, but before
+ * LiveWindow and SmartDashboard integrated updating.
+ */
+ @Override
+ public void robotPeriodic() {
+ // Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled
+ // commands, running already-scheduled commands, removing finished or interrupted commands,
+ // and running subsystem periodic() methods. This must be called from the robot's periodic
+ // block in order for anything in the Command-based framework to work.
+ CommandScheduler.getInstance().run();
+ }
+
+ /**
+ * This function is called once each time the robot enters Disabled mode.
+ */
+ @Override
+ public void disabledInit() {
+ }
+
+ @Override
+ public void disabledPeriodic() {
+ }
+
+ /**
+ * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
+ */
+ @Override
+ public void autonomousInit() {
+ m_autonomousCommand = m_robotContainer.getAutonomousCommand();
+
+ /*
+ * String autoSelected = SmartDashboard.getString("Auto Selector",
+ * "Default"); switch(autoSelected) { case "My Auto": autonomousCommand
+ * = new MyAutoCommand(); break; case "Default Auto": default:
+ * autonomousCommand = new ExampleCommand(); break; }
+ */
+
+ // schedule the autonomous command (example)
+ if (m_autonomousCommand != null) {
+ m_autonomousCommand.schedule();
+ }
+ }
+
+ /**
+ * This function is called periodically during autonomous.
+ */
+ @Override
+ public void autonomousPeriodic() {
+ }
+
+ @Override
+ public void teleopInit() {
+ // This makes sure that the autonomous stops running when
+ // teleop starts running. If you want the autonomous to
+ // continue until interrupted by another command, remove
+ // this line or comment it out.
+ if (m_autonomousCommand != null) {
+ m_autonomousCommand.cancel();
+ }
+ }
+
+ /**
+ * This function is called periodically during operator control.
+ */
+ @Override
+ public void teleopPeriodic() {
+
+ }
+
+ @Override
+ public void testInit() {
+ // Cancels all running commands at the start of test mode.
+ CommandScheduler.getInstance().cancelAll();
+ }
+
+ /**
+ * This function is called periodically during test mode.
+ */
+ @Override
+ public void testPeriodic() {
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
new file mode 100644
index 0000000..f8a3a25
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
@@ -0,0 +1,134 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.ramsetecommand;
+
+import java.util.List;
+
+import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.wpilibj.controller.RamseteController;
+import edu.wpi.first.wpilibj.geometry.Pose2d;
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.geometry.Translation2d;
+import edu.wpi.first.wpilibj.trajectory.Trajectory;
+import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
+import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.RamseteCommand;
+import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+
+import edu.wpi.first.wpilibj.examples.ramsetecommand.subsystems.DriveSubsystem;
+
+import static edu.wpi.first.wpilibj.XboxController.Button;
+import static edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.AutoConstants.kMaxAccelerationMetersPerSecondSquared;
+import static edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.AutoConstants.kMaxSpeedMetersPerSecond;
+import static edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.AutoConstants.kRamseteB;
+import static edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.AutoConstants.kRamseteZeta;
+import static edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants.kDriveKinematics;
+import static edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants.kPDriveVel;
+import static edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants.kaVoltSecondsSquaredPerMeter;
+import static edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants.ksVolts;
+import static edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants.kvVoltSecondsPerMeter;
+import static edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.OIConstants.kDriverControllerPort;
+
+/**
+ * This class is where the bulk of the robot should be declared. Since Command-based is a
+ * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
+ * periodic methods (other than the scheduler calls). Instead, the structure of the robot
+ * (including subsystems, commands, and button mappings) should be declared here.
+ */
+public class RobotContainer {
+ // The robot's subsystems
+ private final DriveSubsystem m_robotDrive = new DriveSubsystem();
+
+ // The driver's controller
+ XboxController m_driverController = new XboxController(kDriverControllerPort);
+
+ /**
+ * The container for the robot. Contains subsystems, OI devices, and commands.
+ */
+ public RobotContainer() {
+ // Configure the button bindings
+ configureButtonBindings();
+
+ // Configure default commands
+ // Set the default drive command to split-stick arcade drive
+ m_robotDrive.setDefaultCommand(
+ // A split-stick arcade command, with forward/backward controlled by the left
+ // hand, and turning controlled by the right.
+ new RunCommand(() -> m_robotDrive
+ .arcadeDrive(m_driverController.getY(GenericHID.Hand.kLeft),
+ m_driverController.getX(GenericHID.Hand.kRight)), m_robotDrive));
+
+ }
+
+ /**
+ * Use this method to define your button->command mappings. Buttons can be created by
+ * instantiating a {@link GenericHID} or one of its subclasses ({@link
+ * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then calling passing it to a
+ * {@link JoystickButton}.
+ */
+ private void configureButtonBindings() {
+ // Drive at half speed when the right bumper is held
+ new JoystickButton(m_driverController, Button.kBumperRight.value)
+ .whenPressed(() -> m_robotDrive.setMaxOutput(.5))
+ .whenReleased(() -> m_robotDrive.setMaxOutput(1));
+
+ }
+
+
+ /**
+ * Use this to pass the autonomous command to the main {@link Robot} class.
+ *
+ * @return the command to run in autonomous
+ */
+ public Command getAutonomousCommand() {
+ // Create config for trajectory
+ TrajectoryConfig config =
+ new TrajectoryConfig(kMaxSpeedMetersPerSecond, kMaxAccelerationMetersPerSecondSquared)
+ // Add kinematics to ensure max speed is actually obeyed
+ .setKinematics(kDriveKinematics);
+
+ // An example trajectory to follow. All units in meters.
+ Trajectory exampleTrajectory = TrajectoryGenerator.generateTrajectory(
+ // Start at the origin facing the +X direction
+ new Pose2d(0, 0, new Rotation2d(0)),
+ // Pass through these two interior waypoints, making an 's' curve path
+ List.of(
+ new Translation2d(1, 1),
+ new Translation2d(2, -1)
+ ),
+ // End 3 meters straight ahead of where we started, facing forward
+ new Pose2d(3, 0, new Rotation2d(0)),
+ // Pass config
+ config
+ );
+
+ RamseteCommand ramseteCommand = new RamseteCommand(
+ exampleTrajectory,
+ m_robotDrive::getPose,
+ new RamseteController(kRamseteB, kRamseteZeta),
+ ksVolts,
+ kvVoltSecondsPerMeter,
+ kaVoltSecondsSquaredPerMeter,
+ kDriveKinematics,
+ m_robotDrive.getLeftEncoder()::getRate,
+ m_robotDrive.getRightEncoder()::getRate,
+ new PIDController(kPDriveVel, 0, 0),
+ new PIDController(kPDriveVel, 0, 0),
+ // RamseteCommand passes volts to the callback, so we have to rescale here
+ (left, right) -> m_robotDrive.tankDrive(left / 12., right / 12.),
+ m_robotDrive
+ );
+
+ // Run path following command, then stop at the end.
+ return ramseteCommand.andThen(() -> m_robotDrive.tankDrive(0, 0));
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
new file mode 100644
index 0000000..053fad9
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
@@ -0,0 +1,188 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.ramsetecommand.subsystems;
+
+import edu.wpi.first.wpilibj.ADXRS450_Gyro;
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.PWMVictorSPX;
+import edu.wpi.first.wpilibj.SpeedControllerGroup;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.geometry.Pose2d;
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.interfaces.Gyro;
+import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry;
+import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+import static edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants.kDriveKinematics;
+import static edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants.kEncoderDistancePerPulse;
+import static edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants.kGyroReversed;
+import static edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants.kLeftEncoderPorts;
+import static edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants.kLeftEncoderReversed;
+import static edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants.kLeftMotor1Port;
+import static edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants.kLeftMotor2Port;
+import static edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants.kRightEncoderPorts;
+import static edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants.kRightEncoderReversed;
+import static edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants.kRightMotor1Port;
+import static edu.wpi.first.wpilibj.examples.ramsetecommand.Constants.DriveConstants.kRightMotor2Port;
+
+public class DriveSubsystem extends SubsystemBase {
+ // The motors on the left side of the drive.
+ private final SpeedControllerGroup m_leftMotors =
+ new SpeedControllerGroup(new PWMVictorSPX(kLeftMotor1Port),
+ new PWMVictorSPX(kLeftMotor2Port));
+
+ // The motors on the right side of the drive.
+ private final SpeedControllerGroup m_rightMotors =
+ new SpeedControllerGroup(new PWMVictorSPX(kRightMotor1Port),
+ new PWMVictorSPX(kRightMotor2Port));
+
+ // The robot's drive
+ private final DifferentialDrive m_drive = new DifferentialDrive(m_leftMotors, m_rightMotors);
+
+ // The left-side drive encoder
+ private final Encoder m_leftEncoder =
+ new Encoder(kLeftEncoderPorts[0], kLeftEncoderPorts[1], kLeftEncoderReversed);
+
+ // The right-side drive encoder
+ private final Encoder m_rightEncoder =
+ new Encoder(kRightEncoderPorts[0], kRightEncoderPorts[1], kRightEncoderReversed);
+
+ // The gyro sensor
+ private final Gyro m_gyro = new ADXRS450_Gyro();
+
+ // Odometry class for tracking robot pose
+ DifferentialDriveOdometry m_odometry = new DifferentialDriveOdometry(kDriveKinematics);
+
+ /**
+ * Creates a new DriveSubsystem.
+ */
+ public DriveSubsystem() {
+ // Sets the distance per pulse for the encoders
+ m_leftEncoder.setDistancePerPulse(kEncoderDistancePerPulse);
+ m_rightEncoder.setDistancePerPulse(kEncoderDistancePerPulse);
+ }
+
+ @Override
+ public void periodic() {
+ // Update the odometry in the periodic block
+ m_odometry.update(new Rotation2d(getHeading()),
+ new DifferentialDriveWheelSpeeds(
+ m_leftEncoder.getRate(),
+ m_rightEncoder.getRate()
+ ));
+ }
+
+ /**
+ * Returns the currently-estimated pose of the robot.
+ *
+ * @return The pose.
+ */
+ public Pose2d getPose() {
+ return m_odometry.getPoseMeters();
+ }
+
+ /**
+ * Resets the odometry to the specified pose.
+ *
+ * @param pose The pose to which to set the odometry.
+ */
+ public void resetOdometry(Pose2d pose) {
+ m_odometry.resetPosition(pose);
+ }
+
+ /**
+ * Drives the robot using arcade controls.
+ *
+ * @param fwd the commanded forward movement
+ * @param rot the commanded rotation
+ */
+ public void arcadeDrive(double fwd, double rot) {
+ m_drive.arcadeDrive(fwd, rot);
+ }
+
+ /**
+ * Drives the robot using tank controls. Does not square inputs to enable composition with
+ * external controllers.
+ *
+ * @param left the commanded left output
+ * @param right the commanded right output
+ */
+ public void tankDrive(double left, double right) {
+ m_drive.tankDrive(left, right, false);
+ }
+
+ /**
+ * Resets the drive encoders to currently read a position of 0.
+ */
+ public void resetEncoders() {
+ m_leftEncoder.reset();
+ m_rightEncoder.reset();
+ }
+
+ /**
+ * Gets the average distance of the two encoders.
+ *
+ * @return the average of the two encoder readings
+ */
+ public double getAverageEncoderDistance() {
+ return (m_leftEncoder.getDistance() + m_rightEncoder.getDistance()) / 2.;
+ }
+
+ /**
+ * Gets the left drive encoder.
+ *
+ * @return the left drive encoder
+ */
+ public Encoder getLeftEncoder() {
+ return m_leftEncoder;
+ }
+
+ /**
+ * Gets the right drive encoder.
+ *
+ * @return the right drive encoder
+ */
+ public Encoder getRightEncoder() {
+ return m_rightEncoder;
+ }
+
+ /**
+ * Sets the max output of the drive. Useful for scaling the drive to drive more slowly.
+ *
+ * @param maxOutput the maximum output to which the drive will be constrained
+ */
+ public void setMaxOutput(double maxOutput) {
+ m_drive.setMaxOutput(maxOutput);
+ }
+
+ /**
+ * Zeroes the heading of the robot.
+ */
+ public void zeroHeading() {
+ m_gyro.reset();
+ }
+
+ /**
+ * Returns the heading of the robot.
+ *
+ * @return the robot's heading in degrees, from 180 to 180
+ */
+ public double getHeading() {
+ return Math.IEEEremainder(m_gyro.getAngle(), 360) * (kGyroReversed ? -1. : 1.);
+ }
+
+ /**
+ * Returns the turn rate of the robot.
+ *
+ * @return The turn rate of the robot, in degrees per second
+ */
+ public double getTurnRate() {
+ return m_gyro.getRate() * (kGyroReversed ? -1. : 1.);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/relay/Main.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/relay/Main.java
new file mode 100644
index 0000000..5cd6a00
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/relay/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.relay;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/relay/Robot.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/relay/Robot.java
new file mode 100644
index 0000000..18da837
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/relay/Robot.java
@@ -0,0 +1,54 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.relay;
+
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.Relay;
+import edu.wpi.first.wpilibj.TimedRobot;
+
+/**
+ * This is a sample program which uses joystick buttons to control a relay. A Relay (generally a
+ * spike) has two outputs, each of which can be at either 0V or 12V and so can be used for actions
+ * such as turning a motor off, full forwards, or full reverse, and is generally used on the
+ * compressor. This program uses two buttons on a joystick and each button corresponds to one
+ * output; pressing the button sets the output to 12V and releasing sets it to 0V.
+ */
+
+public class Robot extends TimedRobot {
+ private final Joystick m_stick = new Joystick(0);
+ private final Relay m_relay = new Relay(0);
+
+ private static final int kRelayForwardButton = 1;
+ private static final int kRelayReverseButton = 2;
+
+ @Override
+ public void teleopPeriodic() {
+ /*
+ * Retrieve the button values. GetRawButton will
+ * return true if the button is pressed and false if not.
+ */
+ boolean forward = m_stick.getRawButton(kRelayForwardButton);
+ boolean reverse = m_stick.getRawButton(kRelayReverseButton);
+
+ /*
+ * Depending on the button values, we want to use one of
+ * kOn, kOff, kForward, or kReverse. kOn sets both outputs to 12V,
+ * kOff sets both to 0V, kForward sets forward to 12V
+ * and reverse to 0V, and kReverse sets reverse to 12V and forward to 0V.
+ */
+ if (forward && reverse) {
+ m_relay.set(Relay.Value.kOn);
+ } else if (forward) {
+ m_relay.set(Relay.Value.kForward);
+ } else if (reverse) {
+ m_relay.set(Relay.Value.kReverse);
+ } else {
+ m_relay.set(Relay.Value.kOff);
+ }
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/Constants.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/Constants.java
new file mode 100644
index 0000000..899d074
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/Constants.java
@@ -0,0 +1,28 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.schedulereventlogging;
+
+/**
+ * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
+ * constants. This class should not be used for any other purpose. All constants should be
+ * declared globally (i.e. public static). Do not put anything functional in this class.
+ *
+ * <p>It is advised to statically import this class (or one of its inner classes) wherever the
+ * constants are needed, to reduce verbosity.
+ */
+public final class Constants {
+ /**
+ * Example of an inner class. One can "import static [...].Constants.OIConstants.*" to gain
+ * access to the constants contained within without having to preface the names with the class,
+ * greatly reducing the amount of text required.
+ */
+ public static final class OIConstants {
+ // Example: the port of the driver's controller
+ public static final int kDriverControllerPort = 1;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/Main.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/Main.java
new file mode 100644
index 0000000..fda3a44
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.schedulereventlogging;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/Robot.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/Robot.java
new file mode 100644
index 0000000..bfdf0d7
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/Robot.java
@@ -0,0 +1,120 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.schedulereventlogging;
+
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+
+/**
+ * The VM is configured to automatically run this class, and to call the functions corresponding to
+ * each mode, as described in the TimedRobot documentation. If you change the name of this class or
+ * the package after creating this project, you must also update the build.gradle file in the
+ * project.
+ */
+public class Robot extends TimedRobot {
+ private Command m_autonomousCommand;
+
+ private RobotContainer m_robotContainer;
+
+ /**
+ * This function is run when the robot is first started up and should be used for any
+ * initialization code.
+ */
+ @Override
+ public void robotInit() {
+ // Instantiate our RobotContainer. This will perform all our button bindings, and put our
+ // autonomous chooser on the dashboard.
+ m_robotContainer = new RobotContainer();
+ }
+
+ /**
+ * This function is called every robot packet, no matter the mode. Use this for items like
+ * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
+ *
+ * <p>This runs after the mode specific periodic functions, but before
+ * LiveWindow and SmartDashboard integrated updating.
+ */
+ @Override
+ public void robotPeriodic() {
+ // Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled
+ // commands, running already-scheduled commands, removing finished or interrupted commands,
+ // and running subsystem periodic() methods. This must be called from the robot's periodic
+ // block in order for anything in the Command-based framework to work.
+ CommandScheduler.getInstance().run();
+ }
+
+ /**
+ * This function is called once each time the robot enters Disabled mode.
+ */
+ @Override
+ public void disabledInit() {
+ }
+
+ @Override
+ public void disabledPeriodic() {
+ }
+
+ /**
+ * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
+ */
+ @Override
+ public void autonomousInit() {
+ m_autonomousCommand = m_robotContainer.getAutonomousCommand();
+
+ /*
+ * String autoSelected = SmartDashboard.getString("Auto Selector",
+ * "Default"); switch(autoSelected) { case "My Auto": autonomousCommand
+ * = new MyAutoCommand(); break; case "Default Auto": default:
+ * autonomousCommand = new ExampleCommand(); break; }
+ */
+
+ // schedule the autonomous command (example)
+ if (m_autonomousCommand != null) {
+ m_autonomousCommand.schedule();
+ }
+ }
+
+ /**
+ * This function is called periodically during autonomous.
+ */
+ @Override
+ public void autonomousPeriodic() {
+ }
+
+ @Override
+ public void teleopInit() {
+ // This makes sure that the autonomous stops running when
+ // teleop starts running. If you want the autonomous to
+ // continue until interrupted by another command, remove
+ // this line or comment it out.
+ if (m_autonomousCommand != null) {
+ m_autonomousCommand.cancel();
+ }
+ }
+
+ /**
+ * This function is called periodically during operator control.
+ */
+ @Override
+ public void teleopPeriodic() {
+ }
+
+ @Override
+ public void testInit() {
+ // Cancels all running commands at the start of test mode.
+ CommandScheduler.getInstance().cancelAll();
+ }
+
+ /**
+ * This function is called periodically during test mode.
+ */
+ @Override
+ public void testPeriodic() {
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/RobotContainer.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/RobotContainer.java
new file mode 100644
index 0000000..922b8ff
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/schedulereventlogging/RobotContainer.java
@@ -0,0 +1,83 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.schedulereventlogging;
+
+import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.shuffleboard.EventImportance;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
+import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+
+import static edu.wpi.first.wpilibj.XboxController.Button;
+import static edu.wpi.first.wpilibj.examples.schedulereventlogging.Constants.OIConstants.kDriverControllerPort;
+
+/**
+ * This class is where the bulk of the robot should be declared. Since Command-based is a
+ * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
+ * periodic methods (other than the scheduler calls). Instead, the structure of the robot
+ * (including subsystems, commands, and button mappings) should be declared here.
+ */
+public class RobotContainer {
+ // The driver's controller
+ private final XboxController m_driverController = new XboxController(kDriverControllerPort);
+
+ // A few commands that do nothing, but will demonstrate the scheduler functionality
+ private final CommandBase m_instantCommand1 = new InstantCommand();
+ private final CommandBase m_instantCommand2 = new InstantCommand();
+ private final CommandBase m_waitCommand = new WaitCommand(5);
+
+ /**
+ * The container for the robot. Contains subsystems, OI devices, and commands.
+ */
+ public RobotContainer() {
+ // Set names of commands
+ m_instantCommand1.setName("Instant Command 1");
+ m_instantCommand2.setName("Instant Command 2");
+ m_waitCommand.setName("Wait 5 Seconds Command");
+
+ // Set the scheduler to log Shuffleboard events for command initialize, interrupt, finish
+ CommandScheduler.getInstance().onCommandInitialize(command -> Shuffleboard.addEventMarker(
+ "Command initialized", command.getName(), EventImportance.kNormal));
+ CommandScheduler.getInstance().onCommandInterrupt(command -> Shuffleboard.addEventMarker(
+ "Command interrupted", command.getName(), EventImportance.kNormal));
+ CommandScheduler.getInstance().onCommandFinish(command -> Shuffleboard.addEventMarker(
+ "Command finished", command.getName(), EventImportance.kNormal));
+
+ // Configure the button bindings
+ configureButtonBindings();
+ }
+
+ /**
+ * Use this method to define your button->command mappings. Buttons can be created by
+ * instantiating a {@link GenericHID} or one of its subclasses ({@link
+ * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
+ * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
+ */
+ private void configureButtonBindings() {
+ // Run instant command 1 when the 'A' button is pressed
+ new JoystickButton(m_driverController, Button.kA.value).whenPressed(m_instantCommand1);
+ // Run instant command 2 when the 'X' button is pressed
+ new JoystickButton(m_driverController, Button.kX.value).whenPressed(m_instantCommand2);
+ // Run instant command 3 when the 'Y' button is held; release early to interrupt
+ new JoystickButton(m_driverController, Button.kY.value).whenHeld(m_waitCommand);
+ }
+
+ /**
+ * Use this to pass the autonomous command to the main {@link Robot} class.
+ *
+ * @return the command to run in autonomous
+ */
+ public Command getAutonomousCommand() {
+ return new InstantCommand();
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Constants.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Constants.java
new file mode 100644
index 0000000..2b73deb
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Constants.java
@@ -0,0 +1,28 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.selectcommand;
+
+/**
+ * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
+ * constants. This class should not be used for any other purpose. All constants should be
+ * declared globally (i.e. public static). Do not put anything functional in this class.
+ *
+ * <p>It is advised to statically import this class (or one of its inner classes) wherever the
+ * constants are needed, to reduce verbosity.
+ */
+public final class Constants {
+ /**
+ * Example of an inner class. One can "import static [...].Constants.OIConstants.*" to gain
+ * access to the constants contained within without having to preface the names with the class,
+ * greatly reducing the amount of text required.
+ */
+ public static final class OIConstants {
+ // Example: the port of the driver's controller
+ public static final int kDriverControllerPort = 1;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Main.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Main.java
new file mode 100644
index 0000000..a1104ac
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.selectcommand;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Robot.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Robot.java
new file mode 100644
index 0000000..8d00173
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/Robot.java
@@ -0,0 +1,120 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.selectcommand;
+
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+
+/**
+ * The VM is configured to automatically run this class, and to call the functions corresponding to
+ * each mode, as described in the TimedRobot documentation. If you change the name of this class or
+ * the package after creating this project, you must also update the build.gradle file in the
+ * project.
+ */
+public class Robot extends TimedRobot {
+ private Command m_autonomousCommand;
+
+ private RobotContainer m_robotContainer;
+
+ /**
+ * This function is run when the robot is first started up and should be used for any
+ * initialization code.
+ */
+ @Override
+ public void robotInit() {
+ // Instantiate our RobotContainer. This will perform all our button bindings, and put our
+ // autonomous chooser on the dashboard.
+ m_robotContainer = new RobotContainer();
+ }
+
+ /**
+ * This function is called every robot packet, no matter the mode. Use this for items like
+ * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
+ *
+ * <p>This runs after the mode specific periodic functions, but before
+ * LiveWindow and SmartDashboard integrated updating.
+ */
+ @Override
+ public void robotPeriodic() {
+ // Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled
+ // commands, running already-scheduled commands, removing finished or interrupted commands,
+ // and running subsystem periodic() methods. This must be called from the robot's periodic
+ // block in order for anything in the Command-based framework to work.
+ CommandScheduler.getInstance().run();
+ }
+
+ /**
+ * This function is called once each time the robot enters Disabled mode.
+ */
+ @Override
+ public void disabledInit() {
+ }
+
+ @Override
+ public void disabledPeriodic() {
+ }
+
+ /**
+ * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
+ */
+ @Override
+ public void autonomousInit() {
+ m_autonomousCommand = m_robotContainer.getAutonomousCommand();
+
+ /*
+ * String autoSelected = SmartDashboard.getString("Auto Selector",
+ * "Default"); switch(autoSelected) { case "My Auto": autonomousCommand
+ * = new MyAutoCommand(); break; case "Default Auto": default:
+ * autonomousCommand = new ExampleCommand(); break; }
+ */
+
+ // schedule the autonomous command (example)
+ if (m_autonomousCommand != null) {
+ m_autonomousCommand.schedule();
+ }
+ }
+
+ /**
+ * This function is called periodically during autonomous.
+ */
+ @Override
+ public void autonomousPeriodic() {
+ }
+
+ @Override
+ public void teleopInit() {
+ // This makes sure that the autonomous stops running when
+ // teleop starts running. If you want the autonomous to
+ // continue until interrupted by another command, remove
+ // this line or comment it out.
+ if (m_autonomousCommand != null) {
+ m_autonomousCommand.cancel();
+ }
+ }
+
+ /**
+ * This function is called periodically during operator control.
+ */
+ @Override
+ public void teleopPeriodic() {
+ }
+
+ @Override
+ public void testInit() {
+ // Cancels all running commands at the start of test mode.
+ CommandScheduler.getInstance().cancelAll();
+ }
+
+ /**
+ * This function is called periodically during test mode.
+ */
+ @Override
+ public void testPeriodic() {
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/RobotContainer.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/RobotContainer.java
new file mode 100644
index 0000000..37142e8
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/selectcommand/RobotContainer.java
@@ -0,0 +1,75 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.selectcommand;
+
+import java.util.Map;
+
+import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.PrintCommand;
+import edu.wpi.first.wpilibj2.command.SelectCommand;
+
+import static java.util.Map.entry;
+
+/**
+ * This class is where the bulk of the robot should be declared. Since Command-based is a
+ * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
+ * periodic methods (other than the scheduler calls). Instead, the structure of the robot
+ * (including subsystems, commands, and button mappings) should be declared here.
+ */
+public class RobotContainer {
+ // The enum used as keys for selecting the command to run.
+ private enum CommandSelector {
+ ONE, TWO, THREE
+ }
+
+ // An example selector method for the selectcommand. Returns the selector that will select
+ // which command to run. Can base this choice on logical conditions evaluated at runtime.
+ private CommandSelector select() {
+ return CommandSelector.ONE;
+ }
+
+ // An example selectcommand. Will select from the three commands based on the value returned
+ // by the selector method at runtime. Note that selectcommand works on Object(), so the
+ // selector does not have to be an enum; it could be any desired type (string, integer,
+ // boolean, double...)
+ private final Command m_exampleSelectCommand =
+ new SelectCommand(
+ // Maps selector values to commands
+ Map.ofEntries(
+ entry(CommandSelector.ONE, new PrintCommand("Command one was selected!")),
+ entry(CommandSelector.TWO, new PrintCommand("Command two was selected!")),
+ entry(CommandSelector.THREE, new PrintCommand("Command three was selected!"))
+ ),
+ this::select
+ );
+
+ public RobotContainer() {
+ // Configure the button bindings
+ configureButtonBindings();
+ }
+
+ /**
+ * Use this method to define your button->command mappings. Buttons can be created by
+ * instantiating a {@link GenericHID} or one of its subclasses ({@link
+ * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then calling passing it to a
+ * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
+ */
+ private void configureButtonBindings() {
+ }
+
+ /**
+ * Use this to pass the autonomous command to the main {@link Robot} class.
+ *
+ * @return the command to run in autonomous
+ */
+ public Command getAutonomousCommand() {
+ return m_exampleSelectCommand;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/shuffleboard/Robot.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/shuffleboard/Robot.java
index 7f59e14..adc713d 100644
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/shuffleboard/Robot.java
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/shuffleboard/Robot.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -30,7 +30,7 @@
@Override
public void robotInit() {
// Add a 'max speed' widget to a tab named 'Configuration', using a number slider
- // The widget will be placed in the second column and row and will be two columns wide
+ // The widget will be placed in the second column and row and will be TWO columns wide
m_maxSpeed = Shuffleboard.getTab("Configuration")
.add("Max Speed", 1)
.withWidget("Number Slider")
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Main.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Main.java
new file mode 100644
index 0000000..c62cb75
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.solenoid;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java
new file mode 100644
index 0000000..8fc49bb
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java
@@ -0,0 +1,60 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.solenoid;
+
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.Solenoid;
+import edu.wpi.first.wpilibj.TimedRobot;
+
+/**
+ * This is a sample program showing the use of the solenoid classes during operator control. Three
+ * buttons from a joystick will be used to control two solenoids: One button to control the position
+ * of a single solenoid and the other two buttons to control a double solenoid. Single solenoids can
+ * either be on or off, such that the air diverted through them goes through either one channel or
+ * the other. Double solenoids have three states: Off, Forward, and Reverse. Forward and Reverse
+ * divert the air through the two channels and correspond to the on and off of a single solenoid,
+ * but a double solenoid can also be "off", where the solenoid will remain in its default power off
+ * state. Additionally, double solenoids take up two channels on your PCM whereas single solenoids
+ * only take a single channel.
+ */
+
+public class Robot extends TimedRobot {
+ private final Joystick m_stick = new Joystick(0);
+
+ // Solenoid corresponds to a single solenoid.
+ private final Solenoid m_solenoid = new Solenoid(0);
+
+ // DoubleSolenoid corresponds to a double solenoid.
+ private final DoubleSolenoid m_doubleSolenoid = new DoubleSolenoid(1, 2);
+
+ private static final int kSolenoidButton = 1;
+ private static final int kDoubleSolenoidForward = 2;
+ private static final int kDoubleSolenoidReverse = 3;
+
+ @Override
+ public void teleopPeriodic() {
+ /*
+ * The output of GetRawButton is true/false depending on whether
+ * the button is pressed; Set takes a boolean for whether
+ * to use the default (false) channel or the other (true).
+ */
+ m_solenoid.set(m_stick.getRawButton(kSolenoidButton));
+
+ /*
+ * In order to set the double solenoid, if just one button
+ * is pressed, set the solenoid to correspond to that button.
+ * If both are pressed, set the solenoid will be set to Forwards.
+ */
+ if (m_stick.getRawButton(kDoubleSolenoidForward)) {
+ m_doubleSolenoid.set(DoubleSolenoid.Value.kForward);
+ } else if (m_stick.getRawButton(kDoubleSolenoidReverse)) {
+ m_doubleSolenoid.set(DoubleSolenoid.Value.kReverse);
+ }
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Drivetrain.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Drivetrain.java
new file mode 100644
index 0000000..0ec09f0
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Drivetrain.java
@@ -0,0 +1,90 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.swervebot;
+
+import edu.wpi.first.wpilibj.AnalogGyro;
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.geometry.Translation2d;
+import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
+import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics;
+import edu.wpi.first.wpilibj.kinematics.SwerveDriveOdometry;
+
+/**
+ * Represents a swerve drive style drivetrain.
+ */
+public class Drivetrain {
+ public static final double kMaxSpeed = 3.0; // 3 meters per second
+ public static final double kMaxAngularSpeed = Math.PI; // 1/2 rotation per second
+
+ private final Translation2d m_frontLeftLocation = new Translation2d(0.381, 0.381);
+ private final Translation2d m_frontRightLocation = new Translation2d(0.381, -0.381);
+ private final Translation2d m_backLeftLocation = new Translation2d(-0.381, 0.381);
+ private final Translation2d m_backRightLocation = new Translation2d(-0.381, -0.381);
+
+ private final SwerveModule m_frontLeft = new SwerveModule(1, 2);
+ private final SwerveModule m_frontRight = new SwerveModule(3, 4);
+ private final SwerveModule m_backLeft = new SwerveModule(5, 6);
+ private final SwerveModule m_backRight = new SwerveModule(7, 8);
+
+ private final AnalogGyro m_gyro = new AnalogGyro(0);
+
+ private final SwerveDriveKinematics m_kinematics = new SwerveDriveKinematics(
+ m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation
+ );
+
+ private final SwerveDriveOdometry m_odometry = new SwerveDriveOdometry(m_kinematics);
+
+ public Drivetrain() {
+ m_gyro.reset();
+ }
+
+ /**
+ * Returns the angle of the robot as a Rotation2d.
+ *
+ * @return The angle of the robot.
+ */
+ public Rotation2d getAngle() {
+ // Negating the angle because WPILib gyros are CW positive.
+ return Rotation2d.fromDegrees(-m_gyro.getAngle());
+ }
+
+ /**
+ * Method to drive the robot using joystick info.
+ *
+ * @param xSpeed Speed of the robot in the x direction (forward).
+ * @param ySpeed Speed of the robot in the y direction (sideways).
+ * @param rot Angular rate of the robot.
+ * @param fieldRelative Whether the provided x and y speeds are relative to the field.
+ */
+ @SuppressWarnings("ParameterName")
+ public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelative) {
+ var swerveModuleStates = m_kinematics.toSwerveModuleStates(
+ fieldRelative ? ChassisSpeeds.fromFieldRelativeSpeeds(
+ xSpeed, ySpeed, rot, getAngle())
+ : new ChassisSpeeds(xSpeed, ySpeed, rot)
+ );
+ SwerveDriveKinematics.normalizeWheelSpeeds(swerveModuleStates, kMaxSpeed);
+ m_frontLeft.setDesiredState(swerveModuleStates[0]);
+ m_frontRight.setDesiredState(swerveModuleStates[1]);
+ m_backLeft.setDesiredState(swerveModuleStates[2]);
+ m_backRight.setDesiredState(swerveModuleStates[3]);
+ }
+
+ /**
+ * Updates the field relative position of the robot.
+ */
+ public void updateOdometry() {
+ m_odometry.update(
+ getAngle(),
+ m_frontLeft.getState(),
+ m_frontRight.getState(),
+ m_backLeft.getState(),
+ m_backRight.getState()
+ );
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Main.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Main.java
new file mode 100644
index 0000000..52400e6
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.swervebot;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Robot.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Robot.java
new file mode 100644
index 0000000..ff9f28b
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Robot.java
@@ -0,0 +1,50 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.swervebot;
+
+import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.XboxController;
+
+import static edu.wpi.first.wpilibj.examples.swervebot.Drivetrain.kMaxAngularSpeed;
+import static edu.wpi.first.wpilibj.examples.swervebot.Drivetrain.kMaxSpeed;
+
+public class Robot extends TimedRobot {
+ private final XboxController m_controller = new XboxController(0);
+ private final Drivetrain m_swerve = new Drivetrain();
+
+ @Override
+ public void autonomousPeriodic() {
+ driveWithJoystick(false);
+ m_swerve.updateOdometry();
+ }
+
+ @Override
+ public void teleopPeriodic() {
+ driveWithJoystick(true);
+ }
+
+ private void driveWithJoystick(boolean fieldRelative) {
+ // Get the x speed. We are inverting this because Xbox controllers return
+ // negative values when we push forward.
+ final var xSpeed = -m_controller.getY(GenericHID.Hand.kLeft) * kMaxSpeed;
+
+ // Get the y speed or sideways/strafe speed. We are inverting this because
+ // we want a positive value when we pull to the left. Xbox controllers
+ // return positive values when you pull to the right by default.
+ final var ySpeed = -m_controller.getX(GenericHID.Hand.kLeft) * kMaxSpeed;
+
+ // Get the rate of angular rotation. We are inverting this because we want a
+ // positive value when we pull to the left (remember, CCW is positive in
+ // mathematics). Xbox controllers return positive values when you pull to
+ // the right by default.
+ final var rot = -m_controller.getX(GenericHID.Hand.kRight) * kMaxAngularSpeed;
+
+ m_swerve.drive(xSpeed, ySpeed, rot, fieldRelative);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
new file mode 100644
index 0000000..58a0c8d
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
@@ -0,0 +1,91 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.swervebot;
+
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.Spark;
+import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.wpilibj.controller.ProfiledPIDController;
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.kinematics.SwerveModuleState;
+import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
+
+public class SwerveModule {
+ private static final double kWheelRadius = 0.0508;
+ private static final int kEncoderResolution = 4096;
+
+ private static final double kModuleMaxAngularVelocity = Drivetrain.kMaxAngularSpeed;
+ private static final double kModuleMaxAngularAcceleration
+ = 2 * Math.PI; // radians per second squared
+
+ private final Spark m_driveMotor;
+ private final Spark m_turningMotor;
+
+ private final Encoder m_driveEncoder = new Encoder(0, 1);
+ private final Encoder m_turningEncoder = new Encoder(0, 1);
+
+ private final PIDController m_drivePIDController = new PIDController(1, 0, 0);
+
+ private final ProfiledPIDController m_turningPIDController
+ = new ProfiledPIDController(1, 0, 0,
+ new TrapezoidProfile.Constraints(kModuleMaxAngularVelocity, kModuleMaxAngularAcceleration));
+
+ /**
+ * Constructs a SwerveModule.
+ *
+ * @param driveMotorChannel ID for the drive motor.
+ * @param turningMotorChannel ID for the turning motor.
+ */
+ public SwerveModule(int driveMotorChannel, int turningMotorChannel) {
+ m_driveMotor = new Spark(driveMotorChannel);
+ m_turningMotor = new Spark(turningMotorChannel);
+
+ // Set the distance per pulse for the drive encoder. We can simply use the
+ // distance traveled for one rotation of the wheel divided by the encoder
+ // resolution.
+ m_driveEncoder.setDistancePerPulse(2 * Math.PI * kWheelRadius / kEncoderResolution);
+
+ // Set the distance (in this case, angle) per pulse for the turning encoder.
+ // This is the the angle through an entire rotation (2 * wpi::math::pi)
+ // divided by the encoder resolution.
+ m_turningEncoder.setDistancePerPulse(2 * Math.PI / kEncoderResolution);
+
+ // Limit the PID Controller's input range between -pi and pi and set the input
+ // to be continuous.
+ m_turningPIDController.enableContinuousInput(-Math.PI, Math.PI);
+ }
+
+ /**
+ * Returns the current state of the module.
+ *
+ * @return The current state of the module.
+ */
+ public SwerveModuleState getState() {
+ return new SwerveModuleState(m_driveEncoder.getRate(), new Rotation2d(m_turningEncoder.get()));
+ }
+
+ /**
+ * Sets the desired state for the module.
+ *
+ * @param state Desired state with speed and angle.
+ */
+ public void setDesiredState(SwerveModuleState state) {
+ // Calculate the drive output from the drive PID controller.
+ final var driveOutput = m_drivePIDController.calculate(
+ m_driveEncoder.getRate(), state.speedMetersPerSecond);
+
+ // Calculate the turning motor output from the turning PID controller.
+ final var turnOutput = m_turningPIDController.calculate(
+ m_turningEncoder.get(), state.angle.getRadians()
+ );
+
+ // Calculate the turning motor output from the turning PID controller.
+ m_driveMotor.set(driveOutput);
+ m_turningMotor.set(turnOutput);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java
index cc80432..225f3ad 100644
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,10 +8,9 @@
package edu.wpi.first.wpilibj.examples.ultrasonicpid;
import edu.wpi.first.wpilibj.AnalogInput;
-import edu.wpi.first.wpilibj.PIDController;
-import edu.wpi.first.wpilibj.PIDOutput;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
/**
@@ -22,9 +21,6 @@
// distance in inches the robot wants to stay from an object
private static final double kHoldDistance = 12.0;
- // maximum distance in inches we expect the robot to see
- private static final double kMaxDistance = 24.0;
-
// factor to convert sensor values to a distance in inches
private static final double kValueToInches = 0.125;
@@ -45,27 +41,19 @@
private final DifferentialDrive m_robotDrive
= new DifferentialDrive(new PWMVictorSPX(kLeftMotorPort),
new PWMVictorSPX(kRightMotorPort));
- private final PIDController m_pidController
- = new PIDController(kP, kI, kD, m_ultrasonic, new MyPidOutput());
+ private final PIDController m_pidController = new PIDController(kP, kI, kD);
- /**
- * Drives the robot a set distance from an object using PID control and the
- * ultrasonic sensor.
- */
@Override
public void teleopInit() {
- // Set expected range to 0-24 inches; e.g. at 24 inches from object go
- // full forward, at 0 inches from object go full backward.
- m_pidController.setInputRange(0, kMaxDistance * kValueToInches);
// Set setpoint of the pid controller
m_pidController.setSetpoint(kHoldDistance * kValueToInches);
- m_pidController.enable(); // begin PID control
}
- private class MyPidOutput implements PIDOutput {
- @Override
- public void pidWrite(double output) {
- m_robotDrive.arcadeDrive(output, 0);
- }
+ @Override
+ public void teleopPeriodic() {
+ double pidOutput
+ = m_pidController.calculate(m_ultrasonic.getAverageVoltage());
+
+ m_robotDrive.arcadeDrive(pidOutput, 0);
}
}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Constants.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Constants.java
new file mode 100644
index 0000000..0184096
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Constants.java
@@ -0,0 +1,19 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.templates.commandbased;
+
+/**
+ * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
+ * constants. This class should not be used for any other purpose. All constants should be
+ * declared globally (i.e. public static). Do not put anything functional in this class.
+ *
+ * <p>It is advised to statically import this class (or one of its inner classes) wherever the
+ * constants are needed, to reduce verbosity.
+ */
+public final class Constants {
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Main.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Main.java
index 84ddea4..b529f34 100644
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Main.java
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Main.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,9 +10,9 @@
import edu.wpi.first.wpilibj.RobotBase;
/**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
*/
public final class Main {
private Main() {
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/OI.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/OI.java
deleted file mode 100644
index 990eb2a..0000000
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/OI.java
+++ /dev/null
@@ -1,42 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.wpilibj.templates.commandbased;
-
-/**
- * This class is the glue that binds the controls on the physical operator
- * interface to the commands and command groups that allow control of the robot.
- */
-public class OI {
- //// CREATING BUTTONS
- // One type of button is a joystick button which is any button on a
- //// joystick.
- // You create one by telling it which joystick it's on and which button
- // number it is.
- // Joystick stick = new Joystick(port);
- // Button button = new JoystickButton(stick, buttonNumber);
-
- // There are a few additional built in buttons you can use. Additionally,
- // by subclassing Button you can create custom triggers and bind those to
- // commands the same as any other Button.
-
- //// TRIGGERING COMMANDS WITH BUTTONS
- // Once you have a button, it's trivial to bind it to a button in one of
- // three ways:
-
- // Start the command when the button is pressed and let it run the command
- // until it is finished as determined by it's isFinished method.
- // button.whenPressed(new ExampleCommand());
-
- // Run the command while the button is being held down and interrupt it once
- // the button is released.
- // button.whileHeld(new ExampleCommand());
-
- // Start the command when the button is released and let it run the command
- // until it is finished as determined by it's isFinished method.
- // button.whenReleased(new ExampleCommand());
-}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
index 7727bff..c0bc795 100644
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,55 +8,49 @@
package edu.wpi.first.wpilibj.templates.commandbased;
import edu.wpi.first.wpilibj.TimedRobot;
-import edu.wpi.first.wpilibj.command.Command;
-import edu.wpi.first.wpilibj.command.Scheduler;
-import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj.templates.commandbased.commands.ExampleCommand;
-import edu.wpi.first.wpilibj.templates.commandbased.subsystems.ExampleSubsystem;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
/**
- * The VM is configured to automatically run this class, and to call the
- * functions corresponding to each mode, as described in the TimedRobot
- * documentation. If you change the name of this class or the package after
- * creating this project, you must also update the build.gradle file in the
+ * The VM is configured to automatically run this class, and to call the functions corresponding to
+ * each mode, as described in the TimedRobot documentation. If you change the name of this class or
+ * the package after creating this project, you must also update the build.gradle file in the
* project.
*/
public class Robot extends TimedRobot {
- public static ExampleSubsystem m_subsystem = new ExampleSubsystem();
- public static OI m_oi;
+ private Command m_autonomousCommand;
- Command m_autonomousCommand;
- SendableChooser<Command> m_chooser = new SendableChooser<>();
+ private RobotContainer m_robotContainer;
/**
- * This function is run when the robot is first started up and should be
- * used for any initialization code.
+ * This function is run when the robot is first started up and should be used for any
+ * initialization code.
*/
@Override
public void robotInit() {
- m_oi = new OI();
- m_chooser.setDefaultOption("Default Auto", new ExampleCommand());
- // chooser.addOption("My Auto", new MyAutoCommand());
- SmartDashboard.putData("Auto mode", m_chooser);
+ // Instantiate our RobotContainer. This will perform all our button bindings, and put our
+ // autonomous chooser on the dashboard.
+ m_robotContainer = new RobotContainer();
}
/**
- * This function is called every robot packet, no matter the mode. Use
- * this for items like diagnostics that you want ran during disabled,
- * autonomous, teleoperated and test.
+ * This function is called every robot packet, no matter the mode. Use this for items like
+ * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
*
* <p>This runs after the mode specific periodic functions, but before
* LiveWindow and SmartDashboard integrated updating.
*/
@Override
public void robotPeriodic() {
+ // Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled
+ // commands, running already-scheduled commands, removing finished or interrupted commands,
+ // and running subsystem periodic() methods. This must be called from the robot's periodic
+ // block in order for anything in the Command-based framework to work.
+ CommandScheduler.getInstance().run();
}
/**
* This function is called once each time the robot enters Disabled mode.
- * You can use it to reset any subsystem information you want to clear when
- * the robot is disabled.
*/
@Override
public void disabledInit() {
@@ -64,34 +58,18 @@
@Override
public void disabledPeriodic() {
- Scheduler.getInstance().run();
}
/**
- * This autonomous (along with the chooser code above) shows how to select
- * between different autonomous modes using the dashboard. The sendable
- * chooser code works with the Java SmartDashboard. If you prefer the
- * LabVIEW Dashboard, remove all of the chooser code and uncomment the
- * getString code to get the auto name from the text box below the Gyro
- *
- * <p>You can add additional auto modes by adding additional commands to the
- * chooser code above (like the commented example) or additional comparisons
- * to the switch structure below with additional strings & commands.
+ * This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
*/
@Override
public void autonomousInit() {
- m_autonomousCommand = m_chooser.getSelected();
-
- /*
- * String autoSelected = SmartDashboard.getString("Auto Selector",
- * "Default"); switch(autoSelected) { case "My Auto": autonomousCommand
- * = new MyAutoCommand(); break; case "Default Auto": default:
- * autonomousCommand = new ExampleCommand(); break; }
- */
+ m_autonomousCommand = m_robotContainer.getAutonomousCommand();
// schedule the autonomous command (example)
if (m_autonomousCommand != null) {
- m_autonomousCommand.start();
+ m_autonomousCommand.schedule();
}
}
@@ -100,7 +78,6 @@
*/
@Override
public void autonomousPeriodic() {
- Scheduler.getInstance().run();
}
@Override
@@ -119,7 +96,12 @@
*/
@Override
public void teleopPeriodic() {
- Scheduler.getInstance().run();
+ }
+
+ @Override
+ public void testInit() {
+ // Cancels all running commands at the start of test mode.
+ CommandScheduler.getInstance().cancelAll();
}
/**
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java
new file mode 100644
index 0000000..4592f2e
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java
@@ -0,0 +1,57 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.templates.commandbased;
+
+import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.templates.commandbased.commands.ExampleCommand;
+import edu.wpi.first.wpilibj.templates.commandbased.subsystems.ExampleSubsystem;
+import edu.wpi.first.wpilibj2.command.Command;
+
+/**
+ * This class is where the bulk of the robot should be declared. Since Command-based is a
+ * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
+ * periodic methods (other than the scheduler calls). Instead, the structure of the robot
+ * (including subsystems, commands, and button mappings) should be declared here.
+ */
+public class RobotContainer {
+ // The robot's subsystems and commands are defined here...
+ private final ExampleSubsystem m_exampleSubsystem = new ExampleSubsystem();
+
+ private final ExampleCommand m_autoCommand = new ExampleCommand(m_exampleSubsystem);
+
+
+
+ /**
+ * The container for the robot. Contains subsystems, OI devices, and commands.
+ */
+ public RobotContainer() {
+ // Configure the button bindings
+ configureButtonBindings();
+ }
+
+ /**
+ * Use this method to define your button->command mappings. Buttons can be created by
+ * instantiating a {@link GenericHID} or one of its subclasses ({@link
+ * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
+ * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
+ */
+ private void configureButtonBindings() {
+ }
+
+
+ /**
+ * Use this to pass the autonomous command to the main {@link Robot} class.
+ *
+ * @return the command to run in autonomous
+ */
+ public Command getAutonomousCommand() {
+ // An ExampleCommand will run in autonomous
+ return m_autoCommand;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotMap.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotMap.java
deleted file mode 100644
index ef213c4..0000000
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotMap.java
+++ /dev/null
@@ -1,26 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.wpilibj.templates.commandbased;
-
-/**
- * The RobotMap is a mapping from the ports sensors and actuators are wired into
- * to a variable name. This provides flexibility changing wiring, makes checking
- * the wiring easier and significantly reduces the number of magic numbers
- * floating around.
- */
-public class RobotMap {
- // For example to map the left and right motors, you could define the
- // following variables to use with your drivetrain subsystem.
- // public static int leftMotor = 1;
- // public static int rightMotor = 2;
-
- // If you are using multiple modules, make sure to define both the port
- // number and the module. For example you with a rangefinder:
- // public static int rangefinderPort = 1;
- // public static int rangefinderModule = 1;
-}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/commands/ExampleCommand.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/commands/ExampleCommand.java
index 10ceb6e..cc79077 100644
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/commands/ExampleCommand.java
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/commands/ExampleCommand.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,42 +7,23 @@
package edu.wpi.first.wpilibj.templates.commandbased.commands;
-import edu.wpi.first.wpilibj.command.Command;
-import edu.wpi.first.wpilibj.templates.commandbased.Robot;
+import edu.wpi.first.wpilibj.templates.commandbased.subsystems.ExampleSubsystem;
+import edu.wpi.first.wpilibj2.command.CommandBase;
/**
- * An example command. You can replace me with your own command.
+ * An example command that uses an example subsystem.
*/
-public class ExampleCommand extends Command {
- public ExampleCommand() {
- // Use requires() here to declare subsystem dependencies
- requires(Robot.m_subsystem);
- }
+public class ExampleCommand extends CommandBase {
+ @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
+ private final ExampleSubsystem m_subsystem;
- // Called just before this Command runs the first time
- @Override
- protected void initialize() {
- }
-
- // Called repeatedly when this Command is scheduled to run
- @Override
- protected void execute() {
- }
-
- // Make this return true when this Command no longer needs to run execute()
- @Override
- protected boolean isFinished() {
- return false;
- }
-
- // Called once after isFinished returns true
- @Override
- protected void end() {
- }
-
- // Called when another command which requires one or more of the same
- // subsystems is scheduled to run
- @Override
- protected void interrupted() {
+ /**
+ * Creates a new ExampleCommand.
+ *
+ * @param subsystem The subsystem used by this command.
+ */
+ public ExampleCommand(ExampleSubsystem subsystem) {
+ m_subsystem = subsystem;
+ addRequirements(subsystem);
}
}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/subsystems/ExampleSubsystem.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/subsystems/ExampleSubsystem.java
index a03b73f..b260c77 100644
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/subsystems/ExampleSubsystem.java
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/subsystems/ExampleSubsystem.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,18 +7,21 @@
package edu.wpi.first.wpilibj.templates.commandbased.subsystems;
-import edu.wpi.first.wpilibj.command.Subsystem;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
-/**
- * An example subsystem. You can replace me with your own Subsystem.
- */
-public class ExampleSubsystem extends Subsystem {
- // Put methods for controlling this subsystem
- // here. Call these from Commands.
+public class ExampleSubsystem extends SubsystemBase {
+ /**
+ * Creates a new ExampleSubsystem.
+ */
+ public ExampleSubsystem() {
+ }
+
+ /**
+ * Will be called periodically whenever the CommandScheduler runs.
+ */
@Override
- public void initDefaultCommand() {
- // Set the default command for a subsystem here.
- // setDefaultCommand(new MySpecialCommand());
+ public void periodic() {
+
}
}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/iterative/Robot.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/iterative/Robot.java
index 7f38b8a..630be9a 100644
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/iterative/Robot.java
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/iterative/Robot.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -18,6 +18,7 @@
* creating this project, you must also update the build.gradle file in the
* project.
*/
+@SuppressWarnings("deprecation")
public class Robot extends IterativeRobot {
private static final String kDefaultAuto = "Default";
private static final String kCustomAuto = "My Auto";
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/robotbaseskeleton/Main.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/robotbaseskeleton/Main.java
new file mode 100644
index 0000000..65c6268
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/robotbaseskeleton/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.templates.robotbaseskeleton;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/robotbaseskeleton/Robot.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/robotbaseskeleton/Robot.java
new file mode 100644
index 0000000..615af87
--- /dev/null
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/robotbaseskeleton/Robot.java
@@ -0,0 +1,80 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.templates.robotbaseskeleton;
+
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.RobotBase;
+import edu.wpi.first.wpilibj.livewindow.LiveWindow;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+
+/**
+ * The VM is configured to automatically run this class. If you change the name
+ * of this class or the package after creating this project, you must also
+ * update the build.gradle file in the project.
+ */
+public class Robot extends RobotBase {
+ public void robotInit() {
+ }
+
+ public void disabled() {
+ }
+
+ public void autonomous() {
+ }
+
+ public void teleop() {
+ }
+
+ public void test() {
+ }
+
+ @SuppressWarnings("PMD.CyclomaticComplexity")
+ @Override
+ public void startCompetition() {
+ robotInit();
+
+ // Tell the DS that the robot is ready to be enabled
+ HAL.observeUserProgramStarting();
+
+ while (!Thread.currentThread().isInterrupted()) {
+ if (isDisabled()) {
+ m_ds.InDisabled(true);
+ disabled();
+ m_ds.InDisabled(false);
+ while (isDisabled()) {
+ m_ds.waitForData();
+ }
+ } else if (isAutonomous()) {
+ m_ds.InAutonomous(true);
+ autonomous();
+ m_ds.InAutonomous(false);
+ while (isAutonomous() && !isDisabled()) {
+ m_ds.waitForData();
+ }
+ } else if (isTest()) {
+ LiveWindow.setEnabled(true);
+ Shuffleboard.enableActuatorWidgets();
+ m_ds.InTest(true);
+ test();
+ m_ds.InTest(false);
+ while (isTest() && isEnabled()) {
+ m_ds.waitForData();
+ }
+ LiveWindow.setEnabled(false);
+ Shuffleboard.disableActuatorWidgets();
+ } else {
+ m_ds.InOperatorControl(true);
+ teleop();
+ m_ds.InOperatorControl(false);
+ while (isOperatorControl() && !isDisabled()) {
+ m_ds.waitForData();
+ }
+ }
+ }
+ }
+}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/sample/Main.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/sample/Main.java
deleted file mode 100644
index 787aff0..0000000
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/sample/Main.java
+++ /dev/null
@@ -1,29 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.wpilibj.templates.sample;
-
-import edu.wpi.first.wpilibj.RobotBase;
-
-/**
- * Do NOT add any static variables to this class, or any initialization at all.
- * Unless you know what you are doing, do not modify this file except to
- * change the parameter class to the startRobot call.
- */
-public final class Main {
- private Main() {
- }
-
- /**
- * Main initialization function. Do not perform any initialization here.
- *
- * <p>If you change your main robot class, change the parameter type.
- */
- public static void main(String... args) {
- RobotBase.startRobot(Robot::new);
- }
-}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/sample/Robot.java b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/sample/Robot.java
deleted file mode 100644
index 9a670f0..0000000
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/sample/Robot.java
+++ /dev/null
@@ -1,155 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.wpilibj.templates.sample;
-
-import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.PWMVictorSPX;
-import edu.wpi.first.wpilibj.SampleRobot;
-import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.drive.DifferentialDrive;
-import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-
-/**
- * This is a demo program showing the use of the RobotDrive class. The
- * SampleRobot class is the base of a robot application that will automatically
- * call your Autonomous and OperatorControl methods at the right time as
- * controlled by the switches on the driver station or the field controls.
- *
- * <p>The VM is configured to automatically run this class, and to call the
- * functions corresponding to each mode, as described in the SampleRobot
- * documentation. If you change the name of this class or the package after
- * creating this project, you must also update the build.properties file in the
- * project.
- *
- * <p>WARNING: While it may look like a good choice to use for your code if
- * you're inexperienced, don't. Unless you know what you are doing, complex code
- * will be much more difficult under this system. Use TimedRobot or
- * Command-Based instead if you're new.
- */
-public class Robot extends SampleRobot {
- private static final String kDefaultAuto = "Default";
- private static final String kCustomAuto = "My Auto";
-
- private final DifferentialDrive m_robotDrive
- = new DifferentialDrive(new PWMVictorSPX(0), new PWMVictorSPX(1));
- private final Joystick m_stick = new Joystick(0);
- private final SendableChooser<String> m_chooser = new SendableChooser<>();
-
- public Robot() {
- m_robotDrive.setExpiration(0.1);
- }
-
- @Override
- public void robotInit() {
- m_chooser.setDefaultOption("Default Auto", kDefaultAuto);
- m_chooser.addOption("My Auto", kCustomAuto);
- SmartDashboard.putData("Auto modes", m_chooser);
- }
-
- /**
- * This autonomous (along with the chooser code above) shows how to select
- * between different autonomous modes using the dashboard. The sendable
- * chooser code works with the Java SmartDashboard. If you prefer the
- * LabVIEW Dashboard, remove all of the chooser code and uncomment the
- * getString line to get the auto name from the text box below the Gyro
- *
- * <p>You can add additional auto modes by adding additional comparisons to
- * the if-else structure below with additional strings. If using the
- * SendableChooser make sure to add them to the chooser code above as well.
- *
- * <p>If you wanted to run a similar autonomous mode with an TimedRobot
- * you would write:
- *
- * <blockquote><pre>{@code
- * Timer timer = new Timer();
- *
- * // This function is run once each time the robot enters autonomous mode
- * public void autonomousInit() {
- * timer.reset();
- * timer.start();
- * }
- *
- * // This function is called periodically during autonomous
- * public void autonomousPeriodic() {
- * // Drive for 2 seconds
- * if (timer.get() < 2.0) {
- * myRobot.drive(-0.5, 0.0); // drive forwards half speed
- * } else if (timer.get() < 5.0) {
- * myRobot.drive(-1.0, 0.0); // drive forwards full speed
- * } else {
- * myRobot.drive(0.0, 0.0); // stop robot
- * }
- * }
- * }</pre></blockquote>
- */
- @Override
- public void autonomous() {
- String autoSelected = m_chooser.getSelected();
- // String autoSelected = SmartDashboard.getString("Auto Selector",
- // defaultAuto);
- System.out.println("Auto selected: " + autoSelected);
-
- // MotorSafety improves safety when motors are updated in loops
- // but is disabled here because motor updates are not looped in
- // this autonomous mode.
- m_robotDrive.setSafetyEnabled(false);
-
- switch (autoSelected) {
- case kCustomAuto:
- // Spin at half speed for two seconds
- m_robotDrive.arcadeDrive(0.0, 0.5);
- Timer.delay(2.0);
-
- // Stop robot
- m_robotDrive.arcadeDrive(0.0, 0.0);
- break;
- case kDefaultAuto:
- default:
- // Drive forwards for two seconds
- m_robotDrive.arcadeDrive(-0.5, 0.0);
- Timer.delay(2.0);
-
- // Stop robot
- m_robotDrive.arcadeDrive(0.0, 0.0);
- break;
- }
- }
-
- /**
- * Runs the motors with arcade steering.
- *
- * <p>If you wanted to run a similar teleoperated mode with an TimedRobot
- * you would write:
- *
- * <blockquote><pre>{@code
- * // This function is called periodically during operator control
- * public void teleopPeriodic() {
- * myRobot.arcadeDrive(stick);
- * }
- * }</pre></blockquote>
- */
- @Override
- public void operatorControl() {
- m_robotDrive.setSafetyEnabled(true);
- while (isOperatorControl() && isEnabled()) {
- // Drive arcade style
- m_robotDrive.arcadeDrive(-m_stick.getY(), m_stick.getX());
-
- // The motors will be updated every 5ms
- Timer.delay(0.005);
- }
- }
-
- /**
- * Runs during test mode.
- */
- @Override
- public void test() {
- }
-}
diff --git a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/templates.json b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/templates.json
index 430da80..e4dbc1d 100644
--- a/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/templates.json
+++ b/third_party/allwpilib_2019/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/templates.json
@@ -30,6 +30,16 @@
"mainclass": "Main"
},
{
+ "name": "RobotBase Skeleton (Advanced)",
+ "description": "Skeleton (stub) code for RobotBase",
+ "tags": [
+ "RobotBase", "Skeleton"
+ ],
+ "foldername": "robotbaseskeleton",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
"name": "Command Robot",
"description": "Command style",
"tags": [
@@ -38,15 +48,5 @@
"foldername": "commandbased",
"gradlebase": "java",
"mainclass": "Main"
- },
- {
- "name": "Sample Robot",
- "description": "Sample style",
- "tags": [
- "Sample"
- ],
- "foldername": "sample",
- "gradlebase": "java",
- "mainclass": "Main"
}
]
diff --git a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AbstractInterruptTest.java b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AbstractInterruptTest.java
index 3e40bd9..0c27ee7 100644
--- a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AbstractInterruptTest.java
+++ b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AbstractInterruptTest.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -161,7 +161,7 @@
}
@Test(timeout = 2000)
- public void testMultipleInterruptsTriggering() throws Exception {
+ public void testMultipleInterruptsTriggering() {
// Given
final InterruptCounter counter = new InterruptCounter();
TestInterruptHandlerFunction function = new TestInterruptHandlerFunction(counter);
diff --git a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AnalogCrossConnectTest.java b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AnalogCrossConnectTest.java
index 796e919..14b7034 100644
--- a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AnalogCrossConnectTest.java
+++ b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AnalogCrossConnectTest.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -39,18 +39,18 @@
@BeforeClass
- public static void setUpBeforeClass() throws Exception {
+ public static void setUpBeforeClass() {
analogIO = TestBench.getAnalogCrossConnectFixture();
}
@AfterClass
- public static void tearDownAfterClass() throws Exception {
+ public static void tearDownAfterClass() {
analogIO.teardown();
analogIO = null;
}
@Before
- public void setUp() throws Exception {
+ public void setUp() {
analogIO.setup();
}
@@ -132,6 +132,8 @@
// Then the counter should be at 50
assertEquals("Analog trigger counter did not count 50 ticks", 50, counter.get());
+
+ counter.close();
}
@Test(expected = RuntimeException.class)
diff --git a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometerTest.java b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometerTest.java
index 8f5ad48..8ac65f6 100644
--- a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometerTest.java
+++ b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometerTest.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -32,7 +32,7 @@
private static final double DOUBLE_COMPARISON_DELTA = 2.0;
@Before
- public void setUp() throws Exception {
+ public void setUp() {
m_analogIO = TestBench.getAnalogCrossConnectFixture();
m_potSource = new FakePotentiometerSource(m_analogIO.getOutput(), 360);
m_pot = new AnalogPotentiometer(m_analogIO.getInput(), 360.0, 0);
@@ -40,7 +40,7 @@
}
@After
- public void tearDown() throws Exception {
+ public void tearDown() {
m_potSource.reset();
m_pot.close();
m_analogIO.teardown();
@@ -60,7 +60,7 @@
public void testRangeValues() {
for (double i = 0.0; i < 360.0; i = i + 1.0) {
m_potSource.setAngle(i);
- m_potSource.setMaxVoltage(ControllerPower.getVoltage5V());
+ m_potSource.setMaxVoltage(RobotController.getVoltage5V());
Timer.delay(.02);
assertEquals(i, m_pot.get(), DOUBLE_COMPARISON_DELTA);
}
diff --git a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/CounterTest.java b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/CounterTest.java
index 3d6bd2e..f6e3326 100644
--- a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/CounterTest.java
+++ b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/CounterTest.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -78,17 +78,17 @@
@BeforeClass
- public static void setUpBeforeClass() throws Exception {
+ public static void setUpBeforeClass() {
}
@AfterClass
- public static void tearDownAfterClass() throws Exception {
+ public static void tearDownAfterClass() {
counter.teardown();
counter = null;
}
@Before
- public void setUp() throws Exception {
+ public void setUp() {
counter.setup();
}
diff --git a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DIOCrossConnectTest.java b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DIOCrossConnectTest.java
index b61b761..5f59b5e 100644
--- a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DIOCrossConnectTest.java
+++ b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DIOCrossConnectTest.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -70,13 +70,13 @@
}
@AfterClass
- public static void tearDownAfterClass() throws Exception {
+ public static void tearDownAfterClass() {
dio.teardown();
dio = null;
}
@After
- public void tearDown() throws Exception {
+ public void tearDown() {
dio.reset();
}
diff --git a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/EncoderTest.java b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/EncoderTest.java
index 9833790..3a639ab 100644
--- a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/EncoderTest.java
+++ b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/EncoderTest.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -79,7 +79,7 @@
}
@AfterClass
- public static void tearDownAfterClass() throws Exception {
+ public static void tearDownAfterClass() {
encoder.teardown();
encoder = null;
}
@@ -88,13 +88,13 @@
* Sets up the test and verifies that the test was reset to the default state.
*/
@Before
- public void setUp() throws Exception {
+ public void setUp() {
encoder.setup();
testDefaultState();
}
@After
- public void tearDown() throws Exception {
+ public void tearDown() {
encoder.reset();
}
diff --git a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/FilterNoiseTest.java b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/FilterNoiseTest.java
deleted file mode 100644
index 2349016..0000000
--- a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/FilterNoiseTest.java
+++ /dev/null
@@ -1,97 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.wpilibj;
-
-import java.util.Arrays;
-import java.util.Collection;
-import java.util.logging.Logger;
-
-import org.junit.After;
-import org.junit.AfterClass;
-import org.junit.Before;
-import org.junit.Test;
-import org.junit.runner.RunWith;
-import org.junit.runners.Parameterized;
-import org.junit.runners.Parameterized.Parameters;
-
-import edu.wpi.first.wpilibj.fixtures.FilterNoiseFixture;
-import edu.wpi.first.wpilibj.test.AbstractComsSetup;
-import edu.wpi.first.wpilibj.test.TestBench;
-
-import static org.junit.Assert.assertTrue;
-
-
-@RunWith(Parameterized.class)
-public class FilterNoiseTest extends AbstractComsSetup {
- private static final Logger logger = Logger.getLogger(FilterNoiseTest.class.getName());
-
- private static FilterNoiseFixture<?> me = null;
-
- @Override
- protected Logger getClassLogger() {
- return logger;
- }
-
- /**
- * Constructs the FilterNoiseTest.
- *
- * @param mef The fixture under test.
- */
- public FilterNoiseTest(FilterNoiseFixture<?> mef) {
- logger.fine("Constructor with: " + mef.getType());
- if (me != null && !me.equals(mef)) {
- me.teardown();
- }
- me = mef;
- }
-
- @Parameters(name = "{index}: {0}")
- public static Collection<FilterNoiseFixture<?>[]> generateData() {
- return Arrays.asList(new FilterNoiseFixture<?>[][]{
- {TestBench.getInstance().getSinglePoleIIRNoiseFixture()},
- {TestBench.getInstance().getMovAvgNoiseFixture()}});
- }
-
- @Before
- public void setUp() {
- me.setup();
- }
-
- @After
- public void tearDown() throws Exception {
- me.reset();
- }
-
- @AfterClass
- public static void tearDownAfterClass() {
- // Clean up the fixture after the test
- me.teardown();
- me = null;
- }
-
- /**
- * Test if the filter reduces the noise produced by a signal generator.
- */
- @Test
- public void testNoiseReduce() {
- double noiseGenError = 0.0;
- double filterError = 0.0;
-
- FilterNoiseFixture.NoiseGenerator noise = me.getNoiseGenerator();
-
- noise.reset();
- for (double t = 0; t < TestBench.kFilterTime; t += TestBench.kFilterStep) {
- final double theoryData = noise.getData(t);
- filterError += Math.abs(me.getFilter().pidGet() - theoryData);
- noiseGenError += Math.abs(noise.get() - theoryData);
- }
-
- assertTrue(me.getType() + " should have reduced noise accumulation from " + noiseGenError
- + " but failed. The filter error was " + filterError, noiseGenError > filterError);
- }
-}
diff --git a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/FilterOutputTest.java b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/FilterOutputTest.java
deleted file mode 100644
index a672f1a..0000000
--- a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/FilterOutputTest.java
+++ /dev/null
@@ -1,96 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.wpilibj;
-
-import java.util.Arrays;
-import java.util.Collection;
-import java.util.logging.Logger;
-
-import org.junit.After;
-import org.junit.AfterClass;
-import org.junit.Before;
-import org.junit.Test;
-import org.junit.runner.RunWith;
-import org.junit.runners.Parameterized;
-import org.junit.runners.Parameterized.Parameters;
-
-import edu.wpi.first.wpilibj.fixtures.FilterOutputFixture;
-import edu.wpi.first.wpilibj.test.AbstractComsSetup;
-import edu.wpi.first.wpilibj.test.TestBench;
-
-import static org.junit.Assert.assertEquals;
-
-
-@RunWith(Parameterized.class)
-public class FilterOutputTest extends AbstractComsSetup {
- private static final Logger logger = Logger.getLogger(FilterOutputTest.class.getName());
-
- private double m_expectedOutput;
-
- private static FilterOutputFixture<?> me = null;
-
- @Override
- protected Logger getClassLogger() {
- return logger;
- }
-
- /**
- * Constructs a filter output test.
- *
- * @param mef The fixture under test.
- */
- public FilterOutputTest(FilterOutputFixture<?> mef) {
- logger.fine("Constructor with: " + mef.getType());
- if (me != null && !me.equals(mef)) {
- me.teardown();
- }
- me = mef;
- m_expectedOutput = me.getExpectedOutput();
- }
-
- @Parameters(name = "{index}: {0}")
- public static Collection<FilterOutputFixture<?>[]> generateData() {
- return Arrays.asList(new FilterOutputFixture<?>[][]{
- {TestBench.getInstance().getSinglePoleIIROutputFixture()},
- {TestBench.getInstance().getHighPassOutputFixture()},
- {TestBench.getInstance().getMovAvgOutputFixture()},
- {TestBench.getInstance().getPulseFixture()}});
- }
-
- @Before
- public void setUp() {
- me.setup();
- }
-
- @After
- public void tearDown() throws Exception {
- me.reset();
- }
-
- @AfterClass
- public static void tearDownAfterClass() {
- // Clean up the fixture after the test
- me.teardown();
- me = null;
- }
-
- /**
- * Test if the filter produces consistent output for a given data set.
- */
- @Test
- public void testOutput() {
- me.reset();
-
- double filterOutput = 0.0;
- for (double t = 0.0; t < TestBench.kFilterTime; t += TestBench.kFilterStep) {
- filterOutput = me.getFilter().pidGet();
- }
-
- assertEquals(me.getType() + " output was incorrect.", m_expectedOutput, filterOutput, 0.00005);
- }
-}
diff --git a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/GyroTest.java b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/GyroTest.java
index aee0514..3a5e1d2 100644
--- a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/GyroTest.java
+++ b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/GyroTest.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -35,14 +35,14 @@
}
@Before
- public void setUp() throws Exception {
+ public void setUp() {
logger.fine("Setup: TiltPan camera");
m_tpcam = TestBench.getInstance().getTiltPanCam();
m_tpcam.setup();
}
@After
- public void tearDown() throws Exception {
+ public void tearDown() {
m_tpcam.teardown();
}
diff --git a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java
index 59400c7..de08259 100644
--- a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java
+++ b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -19,7 +19,7 @@
import org.junit.runners.Parameterized;
import org.junit.runners.Parameterized.Parameters;
-import edu.wpi.first.wpilibj.filters.LinearDigitalFilter;
+import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import edu.wpi.first.wpilibj.test.TestBench;
@@ -67,14 +67,15 @@
@Before
public void setUp() {
double initialSpeed = me.getMotor().get();
- assertTrue(me.getType() + " Did not start with an initial speed of 0 instead got: "
- + initialSpeed, Math.abs(initialSpeed) < 0.001);
+ assertTrue(
+ me.getType() + " Did not start with an initial speed of 0 instead got: " + initialSpeed,
+ Math.abs(initialSpeed) < 0.001);
me.setup();
}
@After
- public void tearDown() throws Exception {
+ public void tearDown() {
me.reset();
encodersResetCheck(me);
}
@@ -175,42 +176,43 @@
@Test
public void testPositionPIDController() {
- me.getEncoder().setPIDSourceType(PIDSourceType.kDisplacement);
- PIDController pid = new PIDController(0.001, 0.0005, 0, me.getEncoder(), me.getMotor());
- pid.setAbsoluteTolerance(50.0);
- pid.setOutputRange(-0.2, 0.2);
- pid.setSetpoint(1000);
+ PIDController pidController = new PIDController(0.001, 0.0005, 0);
+ pidController.setTolerance(50.0);
+ pidController.setIntegratorRange(-0.2, 0.2);
+ pidController.setSetpoint(1000);
- pid.enable();
+ Notifier pidRunner = new Notifier(
+ () -> me.getMotor().set(pidController.calculate(me.getEncoder().getDistance())));
+
+ pidRunner.startPeriodic(pidController.getPeriod());
Timer.delay(10.0);
- pid.disable();
+ pidRunner.stop();
assertTrue(
- "PID loop did not reach setpoint within 10 seconds. The current error was" + pid
- .getError(), pid.onTarget());
+ "PID loop did not reach reference within 10 seconds. The current error was" + pidController
+ .getPositionError(), pidController.atSetpoint());
- pid.close();
+ pidRunner.close();
}
@Test
public void testVelocityPIDController() {
- me.getEncoder().setPIDSourceType(PIDSourceType.kRate);
- LinearDigitalFilter filter = LinearDigitalFilter.movingAverage(me.getEncoder(), 50);
- PIDController pid =
- new PIDController(1e-5, 0.0, 3e-5, 8e-5, filter, me.getMotor());
- pid.setAbsoluteTolerance(200);
- pid.setOutputRange(-0.3, 0.3);
- pid.setSetpoint(600);
+ LinearFilter filter = LinearFilter.movingAverage(50);
+ PIDController pidController = new PIDController(1e-5, 0.0, 0.0006);
+ pidController.setTolerance(200);
+ pidController.setSetpoint(600);
- pid.enable();
+ Notifier pidRunner =
+ new Notifier(() -> me.getMotor().set(filter.calculate(me.getEncoder().getRate()) + 8e-5));
+
+ pidRunner.startPeriodic(pidController.getPeriod());
Timer.delay(10.0);
- pid.disable();
+ pidRunner.stop();
- assertTrue(
- "PID loop did not reach setpoint within 10 seconds. The error was: " + pid.getError(),
- pid.onTarget());
+ assertTrue("PID loop did not reach reference within 10 seconds. The error was: " + pidController
+ .getPositionError(), pidController.atSetpoint());
- pid.close();
+ pidRunner.close();
}
/**
@@ -229,8 +231,8 @@
me.getCounters()[1].get(), 0);
Timer.delay(0.5); // so this doesn't fail with the 0.5 second default
// timeout on the encoders
- assertTrue(me.getType() + " Encoder.getStopped() returned false after the motor was reset.", me
- .getEncoder().getStopped());
+ assertTrue(me.getType() + " Encoder.getStopped() returned false after the motor was reset.",
+ me.getEncoder().getStopped());
}
}
diff --git a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PCMTest.java b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PCMTest.java
index b703138..2c1eac1 100644
--- a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PCMTest.java
+++ b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PCMTest.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2014-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -51,7 +51,7 @@
private static DigitalInput fakeSolenoid2;
@BeforeClass
- public static void setUpBeforeClass() throws Exception {
+ public static void setUpBeforeClass() {
compressor = new Compressor();
fakePressureSwitch = new DigitalOutput(11);
@@ -62,9 +62,7 @@
}
@AfterClass
- public static void tearDownAfterClass() throws Exception {
- compressor.close();
-
+ public static void tearDownAfterClass() {
fakePressureSwitch.close();
fakeCompressor.close();
@@ -73,7 +71,7 @@
}
@Before
- public void reset() throws Exception {
+ public void reset() {
compressor.stop();
fakePressureSwitch.set(false);
}
diff --git a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java
index 7c49f81..bbb034e 100644
--- a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java
+++ b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -41,13 +41,12 @@
private final double m_expectedStoppedCurrentDraw;
@BeforeClass
- public static void setUpBeforeClass() throws Exception {
+ public static void setUpBeforeClass() {
pdp = new PowerDistributionPanel();
}
@AfterClass
- public static void tearDownAfterClass() throws Exception {
- pdp.close();
+ public static void tearDownAfterClass() {
pdp = null;
me.teardown();
me = null;
@@ -70,11 +69,11 @@
public static Collection<Object[]> generateData() {
// logger.fine("Loading the MotorList");
return Arrays.asList(new Object[][]{
- {TestBench.getInstance().getTalonPair(), new Double(0.0)}});
+ {TestBench.getInstance().getTalonPair(), 0.0}});
}
@After
- public void tearDown() throws Exception {
+ public void tearDown() {
me.reset();
}
diff --git a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java
index ad05703..601fff5 100644
--- a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java
+++ b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -23,16 +23,14 @@
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import edu.wpi.first.wpilibj.test.TestBench;
-import static org.hamcrest.CoreMatchers.is;
-import static org.hamcrest.CoreMatchers.not;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertFalse;
-import static org.junit.Assert.assertThat;
import static org.junit.Assert.assertTrue;
@@ -47,10 +45,10 @@
private SendableBuilderImpl m_builder;
private static final double absoluteTolerance = 50;
- private static final double outputRange = 0.25;
+ private static final double integratorRange = 0.25;
private PIDController m_controller = null;
- private static MotorEncoderFixture me = null;
+ private static MotorEncoderFixture<?> me = null;
@SuppressWarnings({"MemberName", "EmptyLineSeparator", "MultipleVariableDeclarations"})
private final Double k_p, k_i, k_d;
@@ -62,7 +60,7 @@
@SuppressWarnings({"ParameterName", "JavadocMethod"})
- public PIDTest(Double p, Double i, Double d, MotorEncoderFixture mef) {
+ public PIDTest(Double p, Double i, Double d, MotorEncoderFixture<?> mef) {
logger.fine("Constructor with: " + mef.getType());
if (PIDTest.me != null && !PIDTest.me.equals(mef)) {
PIDTest.me.teardown();
@@ -82,8 +80,7 @@
double ki = 0.0005;
double kd = 0.0;
for (int i = 0; i < 1; i++) {
- data.addAll(Arrays.asList(new Object[][]{
- {kp, ki, kd, TestBench.getInstance().getTalonPair()},
+ data.addAll(Arrays.asList(new Object[][]{{kp, ki, kd, TestBench.getInstance().getTalonPair()},
{kp, ki, kd, TestBench.getInstance().getVictorPair()},
{kp, ki, kd, TestBench.getInstance().getJaguarPair()}}));
}
@@ -91,105 +88,85 @@
}
@BeforeClass
- public static void setUpBeforeClass() throws Exception {
+ public static void setUpBeforeClass() {
}
@AfterClass
- public static void tearDownAfterClass() throws Exception {
+ public static void tearDownAfterClass() {
logger.fine("TearDownAfterClass: " + me.getType());
me.teardown();
me = null;
}
@Before
- public void setUp() throws Exception {
+ public void setUp() {
logger.fine("Setup: " + me.getType());
me.setup();
m_table = NetworkTableInstance.getDefault().getTable("TEST_PID");
m_builder = new SendableBuilderImpl();
m_builder.setTable(m_table);
- m_controller = new PIDController(k_p, k_i, k_d, me.getEncoder(), me.getMotor());
+ m_controller = new PIDController(k_p, k_i, k_d);
m_controller.initSendable(m_builder);
}
@After
- public void tearDown() throws Exception {
+ public void tearDown() {
logger.fine("Teardown: " + me.getType());
- m_controller.disable();
- m_controller.close();
m_controller = null;
me.reset();
}
- private void setupAbsoluteTolerance() {
- m_controller.setAbsoluteTolerance(absoluteTolerance);
+ private void setupTolerance() {
+ m_controller.setTolerance(absoluteTolerance);
}
- private void setupOutputRange() {
- m_controller.setOutputRange(-outputRange, outputRange);
+ private void setupIntegratorRange() {
+ m_controller.setIntegratorRange(-integratorRange, integratorRange);
}
@Test
public void testInitialSettings() {
- setupAbsoluteTolerance();
- setupOutputRange();
- double setpoint = 2500.0;
- m_controller.setSetpoint(setpoint);
- assertFalse("PID did not begin disabled", m_controller.isEnabled());
- assertEquals("PID.getError() did not start at " + setpoint, setpoint,
- m_controller.getError(), 0);
+ setupTolerance();
+ setupIntegratorRange();
+ double reference = 2500.0;
+ m_controller.setSetpoint(reference);
+ assertEquals("PID.getPositionError() did not start at " + reference,
+ reference, m_controller.getPositionError(), 0);
m_builder.updateTable();
- assertEquals(k_p, m_table.getEntry("p").getDouble(9999999), 0);
- assertEquals(k_i, m_table.getEntry("i").getDouble(9999999), 0);
- assertEquals(k_d, m_table.getEntry("d").getDouble(9999999), 0);
- assertEquals(setpoint, m_table.getEntry("setpoint").getDouble(9999999), 0);
+ assertEquals(k_p, m_table.getEntry("Kp").getDouble(9999999), 0);
+ assertEquals(k_i, m_table.getEntry("Ki").getDouble(9999999), 0);
+ assertEquals(k_d, m_table.getEntry("Kd").getDouble(9999999), 0);
+ assertEquals(reference, m_table.getEntry("reference").getDouble(9999999), 0);
assertFalse(m_table.getEntry("enabled").getBoolean(true));
}
@Test
- public void testRestartAfterEnable() {
- setupAbsoluteTolerance();
- setupOutputRange();
- double setpoint = 2500.0;
- m_controller.setSetpoint(setpoint);
- m_controller.enable();
- m_builder.updateTable();
- assertTrue(m_table.getEntry("enabled").getBoolean(false));
- assertTrue(m_controller.isEnabled());
- assertThat(0.0, is(not(me.getMotor().get())));
- m_controller.reset();
- m_builder.updateTable();
- assertFalse(m_table.getEntry("enabled").getBoolean(true));
- assertFalse(m_controller.isEnabled());
- assertEquals(0, me.getMotor().get(), 0);
- }
-
- @Test
public void testSetSetpoint() {
- setupAbsoluteTolerance();
- setupOutputRange();
- Double setpoint = 2500.0;
- m_controller.disable();
- m_controller.setSetpoint(setpoint);
- m_controller.enable();
- assertEquals("Did not correctly set set-point", setpoint, new Double(m_controller
- .getSetpoint()));
+ setupTolerance();
+ setupIntegratorRange();
+ double reference = 2500.0;
+ m_controller.setSetpoint(reference);
+ assertEquals("Did not correctly set reference", reference, m_controller.getSetpoint(), 1e-3);
}
@Test(timeout = 10000)
public void testRotateToTarget() {
- setupAbsoluteTolerance();
- setupOutputRange();
- double setpoint = 1000.0;
- assertEquals(pidData() + "did not start at 0", 0, m_controller.get(), 0);
- m_controller.setSetpoint(setpoint);
- assertEquals(pidData() + "did not have an error of " + setpoint, setpoint,
- m_controller.getError(), 0);
- m_controller.enable();
+ setupTolerance();
+ setupIntegratorRange();
+ double reference = 1000.0;
+ assertEquals(pidData() + "did not start at 0", 0, me.getMotor().get(), 0);
+ m_controller.setSetpoint(reference);
+ assertEquals(pidData() + "did not have an error of " + reference, reference,
+ m_controller.getPositionError(), 0);
+ Notifier pidRunner = new Notifier(
+ () -> me.getMotor().set(m_controller.calculate(me.getEncoder().getDistance())));
+ pidRunner.startPeriodic(m_controller.getPeriod());
Timer.delay(5);
- m_controller.disable();
- assertTrue(pidData() + "Was not on Target. Controller Error: " + m_controller.getError(),
- m_controller.onTarget());
+ pidRunner.stop();
+ assertTrue(pidData() + "Was not on Target. Controller Error: "
+ + m_controller.getPositionError(), m_controller.atSetpoint());
+
+ pidRunner.close();
}
private String pidData() {
@@ -200,7 +177,7 @@
@Test(expected = RuntimeException.class)
public void testOnTargetNoToleranceSet() {
- setupOutputRange();
- m_controller.onTarget();
+ setupIntegratorRange();
+ m_controller.atSetpoint();
}
}
diff --git a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PreferencesTest.java b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PreferencesTest.java
deleted file mode 100644
index 41633ad..0000000
--- a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PreferencesTest.java
+++ /dev/null
@@ -1,144 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.wpilibj;
-
-import java.io.File;
-import java.io.FileOutputStream;
-import java.io.IOException;
-import java.io.OutputStream;
-import java.util.Arrays;
-import java.util.logging.Logger;
-
-import org.junit.Before;
-import org.junit.Test;
-
-import edu.wpi.first.wpilibj.networktables.NetworkTable;
-import edu.wpi.first.wpilibj.test.AbstractComsSetup;
-
-import static org.junit.Assert.assertEquals;
-import static org.junit.Assert.assertFalse;
-import static org.junit.Assert.assertTrue;
-
-/**
- * Tests the {@link Preferences}.
- */
-public class PreferencesTest extends AbstractComsSetup {
- private static final Logger logger = Logger.getLogger(PreferencesTest.class.getName());
-
- private NetworkTable m_prefTable;
- private Preferences m_pref;
- private long m_check;
-
- @Override
- protected Logger getClassLogger() {
- return logger;
- }
-
-
- @Before
- public void setUp() throws Exception {
- NetworkTable.shutdown();
- try {
- File file = new File("networktables.ini");
- file.mkdirs();
- if (file.exists()) {
- file.delete();
- }
- file.createNewFile();
- OutputStream output = new FileOutputStream(file);
- output
- .write(("[NetworkTables Storage 3.0]\ndouble \"/Preferences/checkedValueInt\"=2\ndouble "
- + "\"/Preferences/checkedValueDouble\"=.2\ndouble "
- + "\"/Preferences/checkedValueFloat\"=3.14\ndouble "
- + "\"/Preferences/checkedValueLong\"=172\nstring "
- + "\"/Preferences/checkedValueString\"=\"hello \\nHow are you ?\"\nboolean "
- + "\"/Preferences/checkedValueBoolean\"=false\n")
- .getBytes());
-
- } catch (IOException ex) {
- ex.printStackTrace();
- }
- NetworkTable.initialize();
-
- m_pref = Preferences.getInstance();
- m_prefTable = NetworkTable.getTable("Preferences");
- m_check = System.currentTimeMillis();
- }
-
-
- protected void remove() {
- m_pref.remove("checkedValueLong");
- m_pref.remove("checkedValueDouble");
- m_pref.remove("checkedValueString");
- m_pref.remove("checkedValueInt");
- m_pref.remove("checkedValueFloat");
- m_pref.remove("checkedValueBoolean");
- }
-
- protected void addCheckedValue() {
- m_pref.putLong("checkedValueLong", m_check);
- m_pref.putDouble("checkedValueDouble", 1);
- m_pref.putString("checkedValueString", "checked");
- m_pref.putInt("checkedValueInt", 1);
- m_pref.putFloat("checkedValueFloat", 1);
- m_pref.putBoolean("checkedValueBoolean", true);
- }
-
- /**
- * Just checking to make sure our helper method works.
- */
- @Test
- public void testRemove() {
- remove();
- assertEquals("Preferences was not empty! Preferences in table: "
- + Arrays.toString(m_pref.getKeys().toArray()),
- 1, m_pref.getKeys().size());
- }
-
- @Test
- public void testRemoveAll() {
- m_pref.removeAll();
- assertEquals("Preferences was not empty! Preferences in table: "
- + Arrays.toString(m_pref.getKeys().toArray()),
- 1, m_pref.getKeys().size());
- }
-
- @Test
- public void testAddRemoveSave() {
- assertEquals(m_pref.getLong("checkedValueLong", 0), 172L);
- assertEquals(m_pref.getDouble("checkedValueDouble", 0), .2, 0);
- assertEquals(m_pref.getString("checkedValueString", ""), "hello \nHow are you ?");
- assertEquals(m_pref.getInt("checkedValueInt", 0), 2);
- assertEquals(m_pref.getFloat("checkedValueFloat", 0), 3.14, .001);
- assertFalse(m_pref.getBoolean("checkedValueBoolean", true));
- remove();
- assertEquals(m_pref.getLong("checkedValueLong", 0), 0);
- assertEquals(m_pref.getDouble("checkedValueDouble", 0), 0, 0);
- assertEquals(m_pref.getString("checkedValueString", ""), "");
- assertEquals(m_pref.getInt("checkedValueInt", 0), 0);
- assertEquals(m_pref.getFloat("checkedValueFloat", 0), 0, 0);
- assertFalse(m_pref.getBoolean("checkedValueBoolean", false));
- addCheckedValue();
- assertEquals(m_check, m_pref.getLong("checkedValueLong", 0));
- assertEquals(m_pref.getDouble("checkedValueDouble", 0), 1, 0);
- assertEquals(m_pref.getString("checkedValueString", ""), "checked");
- assertEquals(m_pref.getInt("checkedValueInt", 0), 1);
- assertEquals(m_pref.getFloat("checkedValueFloat", 0), 1, 0);
- assertTrue(m_pref.getBoolean("checkedValueBoolean", false));
- }
-
- @Test
- public void testPreferencesToNetworkTables() {
- String networkedNumber = "networkCheckedValue";
- int networkNumberValue = 100;
- m_pref.putInt(networkedNumber, networkNumberValue);
- assertEquals(networkNumberValue, (int) (m_prefTable.getNumber(networkedNumber, 9999999)));
- m_pref.remove(networkedNumber);
- }
-
-}
diff --git a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/RelayCrossConnectTest.java b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/RelayCrossConnectTest.java
index a55a816..29fad5f 100644
--- a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/RelayCrossConnectTest.java
+++ b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/RelayCrossConnectTest.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -39,7 +39,7 @@
@Before
- public void setUp() throws Exception {
+ public void setUp() {
m_relayFixture = TestBench.getRelayCrossConnectFixture();
m_relayFixture.setup();
m_builder = new SendableBuilderImpl();
@@ -48,7 +48,7 @@
}
@After
- public void tearDown() throws Exception {
+ public void tearDown() {
m_relayFixture.reset();
m_relayFixture.teardown();
}
diff --git a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/RobotDriveTest.java b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/RobotDriveTest.java
deleted file mode 100644
index 006c723..0000000
--- a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/RobotDriveTest.java
+++ /dev/null
@@ -1,183 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.wpilibj;
-
-import java.util.logging.Logger;
-
-import org.junit.BeforeClass;
-import org.junit.Test;
-
-import edu.wpi.first.wpilibj.drive.DifferentialDrive;
-import edu.wpi.first.wpilibj.drive.MecanumDrive;
-import edu.wpi.first.wpilibj.test.AbstractComsSetup;
-
-import static org.junit.Assert.assertEquals;
-
-/**
- * Tests the eqivilance of RobotDrive and DifferentialDrive/MecanumDrive.
- */
-public class RobotDriveTest extends AbstractComsSetup {
- private static final Logger logger = Logger.getLogger(RobotDriveTest.class.getName());
-
- private static MockSpeedController m_rdFrontLeft = new MockSpeedController();
- private static MockSpeedController m_rdRearLeft = new MockSpeedController();
- private static MockSpeedController m_rdFrontRight = new MockSpeedController();
- private static MockSpeedController m_rdRearRight = new MockSpeedController();
- private static MockSpeedController m_frontLeft = new MockSpeedController();
- private static MockSpeedController m_rearLeft = new MockSpeedController();
- private static MockSpeedController m_frontRight = new MockSpeedController();
- private static MockSpeedController m_rearRight = new MockSpeedController();
- private static RobotDrive m_robotDrive =
- new RobotDrive(m_rdFrontLeft, m_rdRearLeft, m_rdFrontRight, m_rdRearRight);
- private static DifferentialDrive m_differentialDrive =
- new DifferentialDrive(m_frontLeft, m_frontRight);
- private static MecanumDrive m_mecanumDrive =
- new MecanumDrive(m_frontLeft, m_rearLeft, m_frontRight, m_rearRight);
-
- private final double[] m_testJoystickValues = {1.0, 0.9, 0.5, 0.01, 0.0, -0.01, -0.5, -0.9,
- -1.0};
- private final double[] m_testGyroValues = {0, 30, 45, 90, 135, 180, 225, 270, 305, 360, 540,
- -45, -90, -135, -180, -225, -270, -305, -360, -540};
-
- @BeforeClass
- public static void before() {
- m_differentialDrive.setDeadband(0.0);
- m_differentialDrive.setSafetyEnabled(false);
- m_mecanumDrive.setDeadband(0.0);
- m_mecanumDrive.setSafetyEnabled(false);
- m_robotDrive.setSafetyEnabled(false);
- }
-
- @Test
- public void testTankDriveSquared() {
- for (double leftJoystick : m_testJoystickValues) {
- for (double rightJoystick : m_testJoystickValues) {
- m_robotDrive.tankDrive(leftJoystick, rightJoystick);
- m_differentialDrive.tankDrive(leftJoystick, rightJoystick);
- assertEquals("Left Motor squared didn't match. Left Joystick: " + leftJoystick
- + " Right Joystick: " + rightJoystick + " ", m_rdFrontLeft.get(), m_frontLeft.get(),
- 0.01);
- assertEquals("Right Motor squared didn't match. Left Joystick: " + leftJoystick
- + " Right Joystick: " + rightJoystick + " ", m_rdFrontRight.get(), m_frontRight.get(),
- 0.01);
- }
- }
- }
-
- @Test
- public void testTankDrive() {
- for (double leftJoystick : m_testJoystickValues) {
- for (double rightJoystick : m_testJoystickValues) {
- m_robotDrive.tankDrive(leftJoystick, rightJoystick, false);
- m_differentialDrive.tankDrive(leftJoystick, rightJoystick, false);
- assertEquals("Left Motor didn't match. Left Joystick: " + leftJoystick
- + " Right Joystick: " + rightJoystick + " ", m_rdFrontLeft.get(), m_frontLeft.get(),
- 0.01);
- assertEquals("Right Motor didn't match. Left Joystick: " + leftJoystick
- + " Right Joystick: " + rightJoystick + " ", m_rdFrontRight.get(), m_frontRight.get(),
- 0.01);
- }
- }
- }
-
- @Test
- public void testArcadeDriveSquared() {
- for (double moveJoystick : m_testJoystickValues) {
- for (double rotateJoystick : m_testJoystickValues) {
- m_robotDrive.arcadeDrive(moveJoystick, rotateJoystick);
- m_differentialDrive.arcadeDrive(moveJoystick, -rotateJoystick);
- assertEquals("Left Motor squared didn't match. Move Joystick: " + moveJoystick
- + " Rotate Joystick: " + rotateJoystick + " ", m_rdFrontLeft.get(), m_frontLeft.get(),
- 0.01);
- assertEquals("Right Motor squared didn't match. Move Joystick: " + moveJoystick
- + " Rotate Joystick: " + rotateJoystick + " ", m_rdFrontRight.get(),
- m_frontRight.get(), 0.01);
- }
- }
- }
-
- @Test
- public void testArcadeDrive() {
- for (double moveJoystick : m_testJoystickValues) {
- for (double rotateJoystick : m_testJoystickValues) {
- m_robotDrive.arcadeDrive(moveJoystick, rotateJoystick, false);
- m_differentialDrive.arcadeDrive(moveJoystick, -rotateJoystick, false);
- assertEquals("Left Motor didn't match. Move Joystick: " + moveJoystick
- + " Rotate Joystick: " + rotateJoystick + " ", m_rdFrontLeft.get(), m_frontLeft.get(),
- 0.01);
- assertEquals("Right Motor didn't match. Move Joystick: " + moveJoystick
- + " Rotate Joystick: " + rotateJoystick + " ", m_rdFrontRight.get(),
- m_frontRight.get(), 0.01);
- }
- }
- }
-
- @Test
- public void testMecanumPolar() {
- System.out.println("magnitudeJoystick, directionJoystick , rotationJoystick, "
- + "m_rdFrontLeft, m_frontLeft, m_rdFrontRight, m_frontRight, m_rdRearLeft, "
- + "m_rearLeft, m_rdRearRight, m_rearRight");
- for (double magnitudeJoystick : m_testJoystickValues) {
- for (double directionJoystick : m_testGyroValues) {
- for (double rotationJoystick : m_testJoystickValues) {
- m_robotDrive.mecanumDrive_Polar(magnitudeJoystick, directionJoystick, rotationJoystick);
- m_mecanumDrive.drivePolar(magnitudeJoystick, directionJoystick, rotationJoystick);
- assertEquals("Left Front Motor didn't match. Magnitude Joystick: " + magnitudeJoystick
- + " Direction Joystick: " + directionJoystick + " RotationJoystick: "
- + rotationJoystick, m_rdFrontLeft.get(), m_frontLeft.get(), 0.01);
- assertEquals("Right Front Motor didn't match. Magnitude Joystick: " + magnitudeJoystick
- + " Direction Joystick: " + directionJoystick + " RotationJoystick: "
- + rotationJoystick, m_rdFrontRight.get(), -m_frontRight.get(), 0.01);
- assertEquals("Left Rear Motor didn't match. Magnitude Joystick: " + magnitudeJoystick
- + " Direction Joystick: " + directionJoystick + " RotationJoystick: "
- + rotationJoystick, m_rdRearLeft.get(), m_rearLeft.get(), 0.01);
- assertEquals("Right Rear Motor didn't match. Magnitude Joystick: " + magnitudeJoystick
- + " Direction Joystick: " + directionJoystick + " RotationJoystick: "
- + rotationJoystick, m_rdRearRight.get(), -m_rearRight.get(), 0.01);
- }
- }
- }
- }
-
- @Test
- @SuppressWarnings("checkstyle:LocalVariableName")
- public void testMecanumCartesian() {
- for (double x_Joystick : m_testJoystickValues) {
- for (double y_Joystick : m_testJoystickValues) {
- for (double rotationJoystick : m_testJoystickValues) {
- for (double gyroValue : m_testGyroValues) {
- m_robotDrive.mecanumDrive_Cartesian(x_Joystick, y_Joystick, rotationJoystick,
- gyroValue);
- m_mecanumDrive.driveCartesian(x_Joystick, -y_Joystick, rotationJoystick, -gyroValue);
- assertEquals("Left Front Motor didn't match. X Joystick: " + x_Joystick
- + " Y Joystick: " + y_Joystick + " RotationJoystick: "
- + rotationJoystick + " Gyro: " + gyroValue, m_rdFrontLeft.get(),
- m_frontLeft.get(), 0.01);
- assertEquals("Right Front Motor didn't match. X Joystick: " + x_Joystick
- + " Y Joystick: " + y_Joystick + " RotationJoystick: "
- + rotationJoystick + " Gyro: " + gyroValue, m_rdFrontRight.get(),
- -m_frontRight.get(), 0.01);
- assertEquals("Left Rear Motor didn't match. X Joystick: " + x_Joystick
- + " Y Joystick: " + y_Joystick + " RotationJoystick: "
- + rotationJoystick + " Gyro: " + gyroValue, m_rdRearLeft.get(),
- m_rearLeft.get(), 0.01);
- assertEquals("Right Rear Motor didn't match. X Joystick: " + x_Joystick
- + " Y Joystick: " + y_Joystick + " RotationJoystick: "
- + rotationJoystick + " Gyro: " + gyroValue, m_rdRearRight.get(),
- -m_rearRight.get(), 0.01);
- }
- }
- }
- }
- }
-
- @Override
- protected Logger getClassLogger() {
- return logger;
- }
-}
diff --git a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/WpiLibJTestSuite.java b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/WpiLibJTestSuite.java
index 1a1c9f5..9ab6850 100644
--- a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/WpiLibJTestSuite.java
+++ b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/WpiLibJTestSuite.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -20,10 +20,9 @@
@RunWith(Suite.class)
@SuiteClasses({AnalogCrossConnectTest.class, AnalogPotentiometerTest.class,
BuiltInAccelerometerTest.class, ConstantsPortsTest.class, CounterTest.class,
- DigitalGlitchFilterTest.class, DIOCrossConnectTest.class, DriverStationTest.class,
- EncoderTest.class, FilterNoiseTest.class, FilterOutputTest.class, GyroTest.class,
- MotorEncoderTest.class, MotorInvertingTest.class, PCMTest.class, PDPTest.class,
- PIDTest.class, PreferencesTest.class, RelayCrossConnectTest.class,
- RobotDriveTest.class, SampleTest.class, TimerTest.class})
+ DigitalGlitchFilterTest.class, DIOCrossConnectTest.class,
+ DriverStationTest.class, EncoderTest.class, GyroTest.class, MotorEncoderTest.class,
+ MotorInvertingTest.class, PCMTest.class, PDPTest.class, PIDTest.class,
+ RelayCrossConnectTest.class, SampleTest.class, TimerTest.class})
public class WpiLibJTestSuite extends AbstractTestSuite {
}
diff --git a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/FilterNoiseFixture.java b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/FilterNoiseFixture.java
deleted file mode 100644
index ee899b3..0000000
--- a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/FilterNoiseFixture.java
+++ /dev/null
@@ -1,159 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.wpilibj.fixtures;
-
-import java.lang.reflect.ParameterizedType;
-import java.util.Random;
-import java.util.logging.Logger;
-
-import edu.wpi.first.wpilibj.PIDSource;
-import edu.wpi.first.wpilibj.PIDSourceType;
-import edu.wpi.first.wpilibj.test.TestBench;
-
-/**
- * Represents a physically connected Motor and Encoder to allow for unit tests on these different
- * pairs<br> Designed to allow the user to easily setup and tear down the fixture to allow for
- * reuse. This class should be explicitly instantiated in the TestBed class to allow any test to
- * access this fixture. This allows tests to be mailable so that you can easily reconfigure the
- * physical testbed without breaking the tests.
- */
-public abstract class FilterNoiseFixture<T extends PIDSource> implements ITestFixture {
- private static final Logger logger = Logger.getLogger(FilterNoiseFixture.class.getName());
- private boolean m_initialized = false;
- private boolean m_tornDown = false;
- protected T m_filter;
- private NoiseGenerator m_data;
-
- /**
- * Where the implementer of this class should pass the filter constructor.
- */
- protected abstract T giveFilter(PIDSource source);
-
- private void initialize() {
- synchronized (this) {
- if (!m_initialized) {
- m_initialized = true; // This ensures it is only initialized once
-
- m_data = new NoiseGenerator(TestBench.kStdDev) {
- @Override
- @SuppressWarnings("ParameterName")
- public double getData(double t) {
- return 100.0 * Math.sin(2.0 * Math.PI * t);
- }
- };
- m_filter = giveFilter(m_data);
- }
- }
- }
-
- @Override
- public boolean setup() {
- initialize();
- return true;
- }
-
- /**
- * Gets the filter for this Object.
- *
- * @return the filter this object refers too
- */
- public T getFilter() {
- initialize();
- return m_filter;
- }
-
- /**
- * Gets the noise generator for this object.
- *
- * @return the noise generator that this object refers too
- */
- public NoiseGenerator getNoiseGenerator() {
- initialize();
- return m_data;
- }
-
- /**
- * Retrieves the name of the filter that this object refers to.
- *
- * @return The simple name of the filter {@link Class#getSimpleName()}
- */
- public String getType() {
- initialize();
- return m_filter.getClass().getSimpleName();
- }
-
- // test here?
-
- @Override
- public boolean reset() {
- return true;
- }
-
- @Override
- public boolean teardown() {
- return true;
- }
-
- @Override
- public String toString() {
- StringBuilder string = new StringBuilder("FilterNoiseFixture<");
- // Get the generic type as a class
- @SuppressWarnings("unchecked")
- Class<T> class1 =
- (Class<T>) ((ParameterizedType) getClass().getGenericSuperclass())
- .getActualTypeArguments()[0];
- string.append(class1.getSimpleName());
- string.append(">");
- return string.toString();
- }
-
- /**
- * Adds Gaussian white noise to a function returning data. The noise will have the standard
- * deviation provided in the constructor.
- */
- public abstract class NoiseGenerator implements PIDSource {
- private double m_noise = 0.0;
-
- // Make sure first call to pidGet() uses count == 0
- private double m_count = -TestBench.kFilterStep;
-
- private double m_stdDev;
- private Random m_gen = new Random();
-
- NoiseGenerator(double stdDev) {
- m_stdDev = stdDev;
- }
-
- @SuppressWarnings("ParameterName")
- public abstract double getData(double t);
-
- @Override
- public void setPIDSourceType(PIDSourceType pidSource) {
- }
-
- @Override
- public PIDSourceType getPIDSourceType() {
- return PIDSourceType.kDisplacement;
- }
-
- public double get() {
- return getData(m_count) + m_noise;
- }
-
- @Override
- public double pidGet() {
- m_noise = m_gen.nextGaussian() * m_stdDev;
- m_count += TestBench.kFilterStep;
- return getData(m_count) + m_noise;
- }
-
- public void reset() {
- m_count = -TestBench.kFilterStep;
- }
- }
-}
diff --git a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/FilterOutputFixture.java b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/FilterOutputFixture.java
deleted file mode 100644
index 3c31982..0000000
--- a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/FilterOutputFixture.java
+++ /dev/null
@@ -1,159 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.wpilibj.fixtures;
-
-import java.lang.reflect.ParameterizedType;
-import java.util.function.DoubleFunction;
-import java.util.logging.Logger;
-
-import edu.wpi.first.wpilibj.PIDSource;
-import edu.wpi.first.wpilibj.PIDSourceType;
-import edu.wpi.first.wpilibj.test.TestBench;
-
-/**
- * Represents a filter to allow for unit tests on them<br> Designed to allow the user to easily
- * setup and tear down the fixture to allow for reuse. This class should be explicitly instantiated
- * in the TestBed class to allow any test to access this fixture. This allows tests to be mailable
- * so that you can easily reconfigure the physical testbed without breaking the tests.
- */
-public abstract class FilterOutputFixture<T extends PIDSource> implements ITestFixture {
- private static final Logger logger = Logger.getLogger(FilterOutputFixture.class.getName());
- private boolean m_initialized = false;
- private boolean m_tornDown = false;
- protected T m_filter;
- protected DataWrapper m_data;
- private double m_expectedOutput;
-
- public FilterOutputFixture(double expectedOutput) {
- m_expectedOutput = expectedOutput;
- }
-
- /**
- * Get expected output of fixture.
- */
- public double getExpectedOutput() {
- return m_expectedOutput;
- }
-
- public static DoubleFunction<Double> getData = new DoubleFunction<Double>() {
- @Override
- @SuppressWarnings("ParameterName")
- public Double apply(double t) {
- return 100.0 * Math.sin(2.0 * Math.PI * t) + 20.0 * Math.cos(50.0 * Math.PI * t);
- }
- };
-
- public static DoubleFunction<Double> getPulseData = new DoubleFunction<Double>() {
- @Override
- @SuppressWarnings("ParameterName")
- public Double apply(double t) {
- if (Math.abs(t - 1.0) < 0.001) {
- return 1.0;
- } else {
- return 0.0;
- }
- }
- };
-
- /**
- * Where the implementer of this class should pass the filter constructor.
- */
- protected abstract T giveFilter();
-
- private void initialize() {
- synchronized (this) {
- if (!m_initialized) {
- m_initialized = true; // This ensures it is only initialized once
-
- m_filter = giveFilter();
- }
- }
- }
-
- @Override
- public boolean setup() {
- initialize();
- return true;
- }
-
- /**
- * Gets the filter for this Object.
- *
- * @return the filter this object refers too
- */
- public T getFilter() {
- initialize();
- return m_filter;
- }
-
- /**
- * Retrieves the name of the filter that this object refers to.
- *
- * @return The simple name of the filter {@link Class#getSimpleName()}
- */
- public String getType() {
- initialize();
- return m_filter.getClass().getSimpleName();
- }
-
- @Override
- public boolean reset() {
- m_data.reset();
- return true;
- }
-
- @Override
- public boolean teardown() {
- return true;
- }
-
- @Override
- public String toString() {
- StringBuilder string = new StringBuilder("FilterOutputFixture<");
- // Get the generic type as a class
- @SuppressWarnings("unchecked")
- Class<T> class1 =
- (Class<T>) ((ParameterizedType) getClass().getGenericSuperclass())
- .getActualTypeArguments()[0];
- string.append(class1.getSimpleName());
- string.append(">");
- return string.toString();
- }
-
- public class DataWrapper implements PIDSource {
- // Make sure first call to pidGet() uses count == 0
- private double m_count = -TestBench.kFilterStep;
-
- private DoubleFunction<Double> m_func;
-
- public DataWrapper(DoubleFunction<Double> func) {
- m_func = func;
- }
-
- @Override
- public void setPIDSourceType(PIDSourceType pidSource) {
- }
-
-
- @Override
- public PIDSourceType getPIDSourceType() {
- return PIDSourceType.kDisplacement;
- }
-
-
- @Override
- public double pidGet() {
- m_count += TestBench.kFilterStep;
- return m_func.apply(m_count);
- }
-
- public void reset() {
- m_count = -TestBench.kFilterStep;
- }
- }
-}
diff --git a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboardTest.java b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboardTest.java
deleted file mode 100644
index b7e98b1..0000000
--- a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboardTest.java
+++ /dev/null
@@ -1,89 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.wpilibj.smartdashboard;
-
-import java.util.logging.Logger;
-
-import org.junit.Ignore;
-import org.junit.Test;
-
-import edu.wpi.first.wpilibj.networktables.NetworkTable;
-import edu.wpi.first.wpilibj.test.AbstractComsSetup;
-
-import static org.junit.Assert.assertEquals;
-
-/**
- * Test that covers {@link SmartDashboard}.
- */
-public class SmartDashboardTest extends AbstractComsSetup {
- private static final Logger logger = Logger.getLogger(SmartDashboardTest.class.getName());
- private static final NetworkTable table = NetworkTable.getTable("SmartDashboard");
-
- @Override
- protected Logger getClassLogger() {
- return logger;
- }
-
- @Test
- public void testGetBadValue() {
- assertEquals("", SmartDashboard.getString("_404_STRING_KEY_SHOULD_NOT_BE_FOUND_", ""));
- }
-
- @Test
- public void testPutString() {
- String key = "testPutString";
- String value = "thisIsAValue";
- SmartDashboard.putString(key, value);
- assertEquals(value, SmartDashboard.getString(key, ""));
- assertEquals(value, table.getString(key, ""));
- }
-
- @Test
- public void testPutNumber() {
- String key = "testPutNumber";
- int value = 2147483647;
- SmartDashboard.putNumber(key, value);
- assertEquals(value, SmartDashboard.getNumber(key, 0), 0.01);
- assertEquals(value, table.getNumber(key, 0), 0.01);
- }
-
- @Test
- public void testPutBoolean() {
- String key = "testPutBoolean";
- boolean value = true;
- SmartDashboard.putBoolean(key, value);
- assertEquals(value, SmartDashboard.getBoolean(key, !value));
- assertEquals(value, table.getBoolean(key, false));
- }
-
- @Test
- public void testReplaceString() {
- String key = "testReplaceString";
- String valueOld = "oldValue";
- SmartDashboard.putString(key, valueOld);
- assertEquals(valueOld, SmartDashboard.getString(key, ""));
- assertEquals(valueOld, table.getString(key, ""));
-
- String valueNew = "newValue";
- SmartDashboard.putString(key, valueNew);
- assertEquals(valueNew, SmartDashboard.getString(key, ""));
- assertEquals(valueNew, table.getString(key, ""));
- }
-
- @Ignore
- @Test(expected = IllegalArgumentException.class)
- public void testPutStringNullKey() {
- SmartDashboard.putString(null, "This should not work");
- }
-
- @Ignore
- @Test(expected = IllegalArgumentException.class)
- public void testPutStringNullValue() {
- SmartDashboard.putString("KEY_SHOULD_NOT_BE_STORED", null);
- }
-}
diff --git a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboardTestSuite.java b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboardTestSuite.java
deleted file mode 100644
index d3e475e..0000000
--- a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboardTestSuite.java
+++ /dev/null
@@ -1,22 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.wpilibj.smartdashboard;
-
-import org.junit.runner.RunWith;
-import org.junit.runners.Suite;
-import org.junit.runners.Suite.SuiteClasses;
-
-import edu.wpi.first.wpilibj.test.AbstractTestSuite;
-
-/**
- * All tests pertaining to {@link SmartDashboard}.
- */
-@RunWith(Suite.class)
-@SuiteClasses({SmartDashboardTest.class})
-public class SmartDashboardTestSuite extends AbstractTestSuite {
-}
diff --git a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractTestSuite.java b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractTestSuite.java
index b8af56d..e4b2035 100644
--- a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractTestSuite.java
+++ b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractTestSuite.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,9 +7,10 @@
package edu.wpi.first.wpilibj.test;
+import java.lang.reflect.InvocationTargetException;
import java.lang.reflect.Method;
+import java.util.ArrayList;
import java.util.List;
-import java.util.Vector;
import java.util.logging.Level;
import java.util.logging.Logger;
import java.util.regex.Pattern;
@@ -37,7 +38,7 @@
*/
protected List<Class<?>> getAnnotatedTestClasses() {
SuiteClasses annotation = getClass().getAnnotation(SuiteClasses.class);
- List<Class<?>> classes = new Vector<Class<?>>();
+ List<Class<?>> classes = new ArrayList<>();
if (annotation == null) {
throw new RuntimeException(String.format("class '%s' must have a SuiteClasses annotation",
getClass().getName()));
@@ -77,7 +78,7 @@
}
protected List<ClassMethodPair> getMethodMatching(final String regex) {
- List<ClassMethodPair> classMethodPairs = new Vector<ClassMethodPair>();
+ List<ClassMethodPair> classMethodPairs = new ArrayList<>();
// Get all of the test classes
for (Class<?> c : getAllContainedBaseTests()) {
for (Method m : c.getMethods()) {
@@ -107,11 +108,12 @@
if (areAnySuperClassesOfTypeAbstractTestSuite(c)) {
// Create a new instance of this class so that we can retrieve its data
try {
- AbstractTestSuite suite = (AbstractTestSuite) c.newInstance();
+ AbstractTestSuite suite = (AbstractTestSuite) c.getDeclaredConstructor().newInstance();
// Add the tests from this suite that match the regex to the list of
// tests to run
runningList = suite.getAllContainedBaseTests(runningList);
- } catch (InstantiationException | IllegalAccessException ex) {
+ } catch (NoSuchMethodException | InvocationTargetException | InstantiationException
+ | IllegalAccessException ex) {
// This shouldn't happen unless the constructor is changed in some
// way.
logger.log(Level.SEVERE, "Test suites can not take paramaters in their constructors.",
@@ -136,7 +138,7 @@
* @return The list of base test classes.
*/
public List<Class<?>> getAllContainedBaseTests() {
- List<Class<?>> runningBaseTests = new Vector<Class<?>>();
+ List<Class<?>> runningBaseTests = new ArrayList<>();
return getAllContainedBaseTests(runningBaseTests);
}
@@ -167,7 +169,7 @@
* @return The list of classes matching the regex pattern
*/
public List<Class<?>> getAllClassMatching(final String regex) {
- final List<Class<?>> matchingClasses = new Vector<Class<?>>();
+ final List<Class<?>> matchingClasses = new ArrayList<>();
return getAllClassMatching(regex, matchingClasses);
}
@@ -200,13 +202,14 @@
if (areAnySuperClassesOfTypeAbstractTestSuite(c)) {
// Create a new instance of this class so that we can retrieve its
// data.
- suite = (AbstractTestSuite) c.newInstance();
+ suite = (AbstractTestSuite) c.getDeclaredConstructor().newInstance();
// Add the tests from this suite that match the regex to the list of
// tests to run
runningList = suite.getSuiteOrTestMatchingRegex(regex, runningList);
}
- } catch (InstantiationException | IllegalAccessException ex) {
+ } catch (NoSuchMethodException | InvocationTargetException | InstantiationException
+ | IllegalAccessException ex) {
// This shouldn't happen unless the constructor is changed in some
// way.
logger.log(Level.SEVERE, "Test suites can not take paramaters in their constructors.",
@@ -226,7 +229,7 @@
* @return the list of suite and/or test classes matching the regex.
*/
protected List<Class<?>> getSuiteOrTestMatchingRegex(final String regex) {
- final List<Class<?>> matchingClasses = new Vector<Class<?>>();
+ final List<Class<?>> matchingClasses = new ArrayList<>();
return getSuiteOrTestMatchingRegex(regex, matchingClasses);
}
@@ -248,7 +251,7 @@
* @throws RuntimeException If the <code>@SuiteClasses</code> annotation is missing.
*/
public List<String> getAllClassName() {
- List<String> classNames = new Vector<String>();
+ List<String> classNames = new ArrayList<>();
for (Class<?> c : getAnnotatedTestClasses()) {
classNames.add(c.getName());
}
diff --git a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractTestSuiteTest.java b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractTestSuiteTest.java
index acff9d4..d788b81 100644
--- a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractTestSuiteTest.java
+++ b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractTestSuiteTest.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -15,7 +15,6 @@
import org.junit.runner.RunWith;
import org.junit.runners.Suite;
import org.junit.runners.Suite.SuiteClasses;
-import org.junit.runners.model.InitializationError;
import edu.wpi.first.wpilibj.test.AbstractTestSuite.ClassMethodPair;
@@ -40,12 +39,12 @@
TestForAbstractTestSuite m_testSuite;
@Before
- public void setUp() throws Exception {
+ public void setUp() {
m_testSuite = new TestForAbstractTestSuite();
}
@Test
- public void testGetTestsMatchingAll() throws InitializationError {
+ public void testGetTestsMatchingAll() {
// when
List<Class<?>> collectedTests = m_testSuite.getAllClassMatching(".*");
// then
@@ -53,7 +52,7 @@
}
@Test
- public void testGetTestsMatchingSample() throws InitializationError {
+ public void testGetTestsMatchingSample() {
// when
List<Class<?>> collectedTests = m_testSuite.getAllClassMatching(".*Sample.*");
// then
@@ -61,7 +60,7 @@
}
@Test
- public void testGetTestsMatchingUnusual() throws InitializationError {
+ public void testGetTestsMatchingUnusual() {
// when
List<Class<?>> collectedTests = m_testSuite.getAllClassMatching(".*Unusual.*");
// then
@@ -70,7 +69,7 @@
}
@Test
- public void testGetTestsFromSuiteMatchingAll() throws InitializationError {
+ public void testGetTestsFromSuiteMatchingAll() {
// when
List<Class<?>> collectedTests = m_testSuite.getSuiteOrTestMatchingRegex(".*");
// then
@@ -78,7 +77,7 @@
}
@Test
- public void testGetTestsFromSuiteMatchingTest() throws InitializationError {
+ public void testGetTestsFromSuiteMatchingTest() {
// when
List<Class<?>> collectedTests = m_testSuite.getSuiteOrTestMatchingRegex(".*Test.*");
// then
diff --git a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java
index 39585da..afd152f 100644
--- a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java
+++ b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -18,16 +18,12 @@
import edu.wpi.first.wpilibj.AnalogOutput;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Jaguar;
-import edu.wpi.first.wpilibj.PIDSource;
import edu.wpi.first.wpilibj.Relay;
import edu.wpi.first.wpilibj.Servo;
import edu.wpi.first.wpilibj.Talon;
import edu.wpi.first.wpilibj.Victor;
-import edu.wpi.first.wpilibj.filters.LinearDigitalFilter;
import edu.wpi.first.wpilibj.fixtures.AnalogCrossConnectFixture;
import edu.wpi.first.wpilibj.fixtures.DIOCrossConnectFixture;
-import edu.wpi.first.wpilibj.fixtures.FilterNoiseFixture;
-import edu.wpi.first.wpilibj.fixtures.FilterOutputFixture;
import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
import edu.wpi.first.wpilibj.fixtures.RelayCrossConnectFixture;
import edu.wpi.first.wpilibj.fixtures.TiltPanCameraFixture;
@@ -65,17 +61,6 @@
public static final int DIOCrossConnectA2 = 7;
public static final int DIOCrossConnectA1 = 6;
- // Filter constants
- public static final double kStdDev = 10.0;
- public static final double kFilterStep = 0.005;
- public static final double kFilterTime = 2.0;
- public static final double kSinglePoleIIRTimeConstant = 0.015915;
- public static final double kSinglePoleIIRExpectedOutput = -3.2172003;
- public static final double kHighPassTimeConstant = 0.006631;
- public static final double kHighPassExpectedOutput = 10.074717;
- public static final int kMovAvgTaps = 6;
- public static final double kMovAvgExpectedOutput = -10.191644;
-
/**
* The Singleton instance of the Test Bench.
*/
@@ -95,7 +80,7 @@
* @return a freshly allocated Talon, Encoder pair
*/
public MotorEncoderFixture<Talon> getTalonPair() {
- MotorEncoderFixture<Talon> talonPair = new MotorEncoderFixture<Talon>() {
+ return new MotorEncoderFixture<Talon>() {
@Override
protected Talon giveSpeedController() {
return new Talon(kTalonChannel);
@@ -116,7 +101,6 @@
return kTalonPDPChannel;
}
};
- return talonPair;
}
/**
@@ -126,7 +110,7 @@
* @return a freshly allocated Victor, Encoder pair
*/
public MotorEncoderFixture<Victor> getVictorPair() {
- MotorEncoderFixture<Victor> vicPair = new MotorEncoderFixture<Victor>() {
+ return new MotorEncoderFixture<Victor>() {
@Override
protected Victor giveSpeedController() {
return new Victor(kVictorChannel);
@@ -147,7 +131,6 @@
return kVictorPDPChannel;
}
};
- return vicPair;
}
/**
@@ -157,7 +140,7 @@
* @return a freshly allocated Jaguar, Encoder pair
*/
public MotorEncoderFixture<Jaguar> getJaguarPair() {
- MotorEncoderFixture<Jaguar> jagPair = new MotorEncoderFixture<Jaguar>() {
+ return new MotorEncoderFixture<Jaguar>() {
@Override
protected Jaguar giveSpeedController() {
return new Jaguar(kJaguarChannel);
@@ -178,7 +161,6 @@
return kJaguarPDPChannel;
}
};
- return jagPair;
}
/**
@@ -187,7 +169,8 @@
* @return a freshly allocated Servo's and a freshly allocated Gyroscope
*/
public TiltPanCameraFixture getTiltPanCam() {
- TiltPanCameraFixture tpcam = new TiltPanCameraFixture() {
+
+ return new TiltPanCameraFixture() {
@Override
protected AnalogGyro giveGyro() {
AnalogGyro gyro = new AnalogGyro(kGyroChannel);
@@ -212,13 +195,10 @@
return new Servo(kPanServoChannel);
}
};
-
- return tpcam;
}
public DIOCrossConnectFixture getDIOCrossConnectFixture(int inputPort, int outputPort) {
- DIOCrossConnectFixture dio = new DIOCrossConnectFixture(inputPort, outputPort);
- return dio;
+ return new DIOCrossConnectFixture(inputPort, outputPort);
}
/**
@@ -228,14 +208,14 @@
List<List<Integer[]>> pairs = new ArrayList<List<Integer[]>>();
List<Integer[]> setA =
Arrays.asList(new Integer[][]{
- {new Integer(DIOCrossConnectA1), new Integer(DIOCrossConnectA2)},
- {new Integer(DIOCrossConnectA2), new Integer(DIOCrossConnectA1)}});
+ {DIOCrossConnectA1, DIOCrossConnectA2},
+ {DIOCrossConnectA2, DIOCrossConnectA1}});
pairs.add(setA);
List<Integer[]> setB =
Arrays.asList(new Integer[][]{
- {new Integer(DIOCrossConnectB1), new Integer(DIOCrossConnectB2)},
- {new Integer(DIOCrossConnectB2), new Integer(DIOCrossConnectB1)}});
+ {DIOCrossConnectB1, DIOCrossConnectB2},
+ {DIOCrossConnectB2, DIOCrossConnectB1}});
pairs.add(setB);
// NOTE: IF MORE DIOCROSSCONNECT PAIRS ARE ADDED ADD THEM HERE
return pairs;
@@ -243,7 +223,7 @@
@SuppressWarnings("JavadocMethod")
public static AnalogCrossConnectFixture getAnalogCrossConnectFixture() {
- AnalogCrossConnectFixture analogIO = new AnalogCrossConnectFixture() {
+ return new AnalogCrossConnectFixture() {
@Override
protected AnalogOutput giveAnalogOutput() {
return new AnalogOutput(0);
@@ -254,12 +234,11 @@
return new AnalogInput(2);
}
};
- return analogIO;
}
@SuppressWarnings("JavadocMethod")
public static RelayCrossConnectFixture getRelayCrossConnectFixture() {
- RelayCrossConnectFixture relay = new RelayCrossConnectFixture() {
+ return new RelayCrossConnectFixture() {
@Override
protected Relay giveRelay() {
return new Relay(0);
@@ -275,7 +254,6 @@
return new DigitalInput(19);
}
};
- return relay;
}
/**
@@ -344,103 +322,6 @@
}
/**
- * Constructs a new set of objects representing a single-pole IIR filter with a noisy data source.
- *
- * @return a single-pole IIR filter with a noisy data source
- */
- public FilterNoiseFixture<LinearDigitalFilter> getSinglePoleIIRNoiseFixture() {
- return new FilterNoiseFixture<LinearDigitalFilter>() {
- @Override
- protected LinearDigitalFilter giveFilter(PIDSource source) {
- return LinearDigitalFilter.singlePoleIIR(source,
- kSinglePoleIIRTimeConstant,
- kFilterStep);
- }
- };
- }
-
- /**
- * Constructs a new set of objects representing a moving average filter with a noisy data source
- * using a linear digital filter.
- *
- * @return a moving average filter with a noisy data source
- */
- public FilterNoiseFixture<LinearDigitalFilter> getMovAvgNoiseFixture() {
- return new FilterNoiseFixture<LinearDigitalFilter>() {
- @Override
- protected LinearDigitalFilter giveFilter(PIDSource source) {
- return LinearDigitalFilter.movingAverage(source, kMovAvgTaps);
- }
- };
- }
-
- /**
- * Constructs a new set of objects representing a single-pole IIR filter with a repeatable data
- * source.
- *
- * @return a single-pole IIR filter with a repeatable data source
- */
- public FilterOutputFixture<LinearDigitalFilter> getSinglePoleIIROutputFixture() {
- return new FilterOutputFixture<LinearDigitalFilter>(kSinglePoleIIRExpectedOutput) {
- @Override
- protected LinearDigitalFilter giveFilter() {
- m_data = new DataWrapper(getData);
- return LinearDigitalFilter.singlePoleIIR(m_data,
- kSinglePoleIIRTimeConstant,
- kFilterStep);
- }
- };
- }
-
- /**
- * Constructs a new set of objects representing a high-pass filter with a repeatable data source.
- *
- * @return a high-pass filter with a repeatable data source
- */
- public FilterOutputFixture<LinearDigitalFilter> getHighPassOutputFixture() {
- return new FilterOutputFixture<LinearDigitalFilter>(kHighPassExpectedOutput) {
- @Override
- protected LinearDigitalFilter giveFilter() {
- m_data = new DataWrapper(getData);
- return LinearDigitalFilter.highPass(m_data, kHighPassTimeConstant,
- kFilterStep);
- }
- };
- }
-
- /**
- * Constructs a new set of objects representing a moving average filter with a repeatable data
- * source using a linear digital filter.
- *
- * @return a moving average filter with a repeatable data source
- */
- public FilterOutputFixture<LinearDigitalFilter> getMovAvgOutputFixture() {
- return new FilterOutputFixture<LinearDigitalFilter>(kMovAvgExpectedOutput) {
- @Override
- protected LinearDigitalFilter giveFilter() {
- m_data = new DataWrapper(getData);
- return LinearDigitalFilter.movingAverage(m_data, kMovAvgTaps);
- }
- };
- }
-
- /**
- * Constructs a new set of objects representing a moving average filter with a repeatable data
- * source using a linear digital filter.
- *
- * @return a moving average filter with a repeatable data source
- */
- public FilterOutputFixture<LinearDigitalFilter> getPulseFixture() {
- return new FilterOutputFixture<LinearDigitalFilter>(0.0) {
- @Override
- protected LinearDigitalFilter giveFilter() {
- m_data = new DataWrapper(getPulseData);
- return LinearDigitalFilter.movingAverage(m_data, kMovAvgTaps);
- }
- };
- }
-
- /**
* Gets the singleton of the TestBench. If the TestBench is not already allocated in constructs an
* new instance of it. Otherwise it returns the existing instance.
*
diff --git a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestSuite.java b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestSuite.java
index 5422d8f..31b3b0d 100644
--- a/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestSuite.java
+++ b/third_party/allwpilib_2019/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestSuite.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -28,7 +28,6 @@
import junit.runner.Version;
import edu.wpi.first.wpilibj.WpiLibJTestSuite;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboardTestSuite;
/**
* The WPILibJ Integeration Test Suite collects all of the tests to be run by junit. In order for a
@@ -36,8 +35,7 @@
* order they are listed in the suite classes annotation.
*/
@RunWith(Suite.class)
-// These are listed on separate lines to prevent merge conflicts
-@SuiteClasses({WpiLibJTestSuite.class, SmartDashboardTestSuite.class})
+@SuiteClasses(WpiLibJTestSuite.class)
public class TestSuite extends AbstractTestSuite {
static {
// Sets up the logging output
diff --git a/third_party/allwpilib_2019/wpiutil/.styleguide b/third_party/allwpilib_2019/wpiutil/.styleguide
index 2c65222..134c65d 100644
--- a/third_party/allwpilib_2019/wpiutil/.styleguide
+++ b/third_party/allwpilib_2019/wpiutil/.styleguide
@@ -10,24 +10,38 @@
generatedFileExclude {
src/main/native/cpp/http_parser\.cpp$
src/main/native/cpp/llvm/
+ src/main/native/eigeninclude/
src/main/native/include/llvm/
+ src/main/native/include/units/units\.h$
+ src/main/native/include/unsupported/
src/main/native/include/wpi/AlignOf\.h$
src/main/native/include/wpi/ArrayRef\.h$
+ src/main/native/include/wpi/Chrono\.h$
src/main/native/include/wpi/Compiler\.h$
src/main/native/include/wpi/ConvertUTF\.h$
src/main/native/include/wpi/DenseMap\.h$
src/main/native/include/wpi/DenseMapInfo\.h$
src/main/native/include/wpi/EpochTracker\.h$
+ src/main/native/include/wpi/Endian\.h$
+ src/main/native/include/wpi/Errc\.h$
+ src/main/native/include/wpi/Errno\.h$
+ src/main/native/include/wpi/Error\.h$
+ src/main/native/include/wpi/ErrorHandling\.h$
src/main/native/include/wpi/ErrorOr\.h$
src/main/native/include/wpi/FileSystem\.h$
src/main/native/include/wpi/Format\.h$
+ src/main/native/include/wpi/FunctionExtras\.h$
src/main/native/include/wpi/Hashing\.h$
src/main/native/include/wpi/IntrusiveRefCntPtr\.h$
+ src/main/native/include/wpi/ManagedStatic\.h$
src/main/native/include/wpi/MapVector\.h$
src/main/native/include/wpi/MathExtras\.h$
+ src/main/native/include/wpi/MemAlloc\.h$
src/main/native/include/wpi/NativeFormatting\.h$
src/main/native/include/wpi/Path\.h$
+ src/main/native/include/wpi/PointerIntPair\.h$
src/main/native/include/wpi/PointerLikeTypeTraits\.h$
+ src/main/native/include/wpi/PointerUnion\.h$
src/main/native/include/wpi/STLExtras\.h$
src/main/native/include/wpi/Signal\.h$
src/main/native/include/wpi/SmallPtrSet\.h$
@@ -37,7 +51,9 @@
src/main/native/include/wpi/StringExtras\.h$
src/main/native/include/wpi/StringMap\.h$
src/main/native/include/wpi/StringRef\.h$
+ src/main/native/include/wpi/SwapByteOrder\.h$
src/main/native/include/wpi/Twine\.h$
+ src/main/native/include/wpi/VersionTuple\.h$
src/main/native/include/wpi/WindowsError\.h$
src/main/native/include/wpi/http_parser\.h$
src/main/native/include/wpi/iterator\.h$
@@ -51,9 +67,10 @@
src/main/native/include/uv\.h$
src/main/native/include/uv/
src/main/native/libuv/
- src/main/native/include/wpi/optional\.h$
- src/test/native/cpp/test_optional\.cpp$
src/main/native/resources/
+ src/test/native/cpp/UnitsTest\.cpp$
+ src/test/native/cpp/llvm/
+ src/main/native/windows/StackWalker
}
licenseUpdateExclude {
diff --git a/third_party/allwpilib_2019/wpiutil/CMakeLists.txt b/third_party/allwpilib_2019/wpiutil/CMakeLists.txt
index ac18ebd..0ec1724 100644
--- a/third_party/allwpilib_2019/wpiutil/CMakeLists.txt
+++ b/third_party/allwpilib_2019/wpiutil/CMakeLists.txt
@@ -2,107 +2,205 @@
include(SubDirList)
include(GenResources)
+include(CompileWarnings)
+include(AddTest)
+
+file(GLOB wpiutil_jni_src src/main/native/cpp/jni/WPIUtilJNI.cpp)
# Java bindings
if (NOT WITHOUT_JAVA)
- find_package(Java)
+ find_package(Java REQUIRED)
+ find_package(JNI REQUIRED)
include(UseJava)
set(CMAKE_JAVA_COMPILE_FLAGS "-Xlint:unchecked")
- set(CMAKE_JAVA_INCLUDE_PATH wpiutil.jar)
+ if(NOT EXISTS "${CMAKE_BINARY_DIR}/wpiutil/thirdparty/ejml-simple-0.38.jar")
+ set(BASE_URL "https://search.maven.org/remotecontent?filepath=")
+ set(JAR_ROOT "${CMAKE_BINARY_DIR}/wpiutil/thirdparty")
- file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
- add_jar(wpiutil_jar ${JAVA_SOURCES} OUTPUT_NAME wpiutil)
+ message(STATUS "Downloading EJML jarfiles...")
+
+ file(DOWNLOAD "${BASE_URL}org/ejml/ejml-cdense/0.38/ejml-cdense-0.38.jar"
+ "${JAR_ROOT}/ejml-cdense-0.38.jar")
+ file(DOWNLOAD "${BASE_URL}org/ejml/ejml-core/0.38/ejml-core-0.38.jar"
+ "${JAR_ROOT}/ejml-core-0.38.jar")
+ file(DOWNLOAD "${BASE_URL}org/ejml/ejml-ddense/0.38/ejml-ddense-0.38.jar"
+ "${JAR_ROOT}/ejml-ddense-0.38.jar")
+ file(DOWNLOAD "${BASE_URL}org/ejml/ejml-dsparse/0.38/ejml-dsparse-0.38.jar"
+ "${JAR_ROOT}/ejml-dsparse-0.38.jar")
+ file(DOWNLOAD "${BASE_URL}org/ejml/ejml-fdense/0.38/ejml-fdense-0.38.jar"
+ "${JAR_ROOT}/ejml-fdense-0.38.jar")
+ file(DOWNLOAD "${BASE_URL}org/ejml/ejml-simple/0.38/ejml-simple-0.38.jar"
+ "${JAR_ROOT}/ejml-simple-0.38.jar")
+ file(DOWNLOAD "${BASE_URL}org/ejml/ejml-zdense/0.38/ejml-zdense-0.38.jar"
+ "${JAR_ROOT}/ejml-zdense-0.38.jar")
+
+ message(STATUS "All files downloaded.")
+ endif()
+
+ file(GLOB EJML_JARS
+ ${CMAKE_BINARY_DIR}/wpiutil/thirdparty/*.jar)
+
+ set(CMAKE_JAVA_INCLUDE_PATH wpiutil.jar ${EJML_JARS})
+
+ execute_process(COMMAND python3 ${CMAKE_SOURCE_DIR}/wpiutil/generate_numbers.py ${CMAKE_BINARY_DIR}/wpiutil)
+
+ set(CMAKE_JNI_TARGET true)
+
+ file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java ${CMAKE_BINARY_DIR}/wpiutil/generated/*.java)
+
+ if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
+ set(CMAKE_JAVA_COMPILE_FLAGS "-h" "${CMAKE_CURRENT_BINARY_DIR}/jniheaders")
+ add_jar(wpiutil_jar ${JAVA_SOURCES} INCLUDE_JARS ${EJML_JARS} OUTPUT_NAME wpiutil)
+ else()
+ add_jar(wpiutil_jar ${JAVA_SOURCES} INCLUDE_JARS ${EJML_JARS} OUTPUT_NAME wpiutil GENERATE_NATIVE_HEADERS wpiutil_jni_headers)
+ endif()
get_property(WPIUTIL_JAR_FILE TARGET wpiutil_jar PROPERTY JAR_FILE)
install(FILES ${WPIUTIL_JAR_FILE} DESTINATION "${java_lib_dest}")
set_property(TARGET wpiutil_jar PROPERTY FOLDER "java")
+ add_library(wpiutiljni ${wpiutil_jni_src})
+ wpilib_target_warnings(wpiutiljni)
+ target_link_libraries(wpiutiljni PUBLIC wpiutil)
+
+ set_property(TARGET wpiutiljni PROPERTY FOLDER "libraries")
+
+ if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
+ target_include_directories(wpiutiljni PRIVATE ${JNI_INCLUDE_DIRS})
+ target_include_directories(wpiutiljni PRIVATE "${CMAKE_CURRENT_BINARY_DIR}/jniheaders")
+ else()
+ target_link_libraries(wpiutiljni PRIVATE wpiutil_jni_headers)
+ endif()
+ add_dependencies(wpiutiljni wpiutil_jar)
+
+ if (MSVC)
+ install(TARGETS wpiutiljni RUNTIME DESTINATION "${jni_lib_dest}" COMPONENT Runtime)
+ endif()
+
+ install(TARGETS wpiutiljni EXPORT wpiutiljni DESTINATION "${main_lib_dest}")
+
endif()
set(THREADS_PREFER_PTHREAD_FLAG ON)
find_package(Threads REQUIRED)
+if (NOT MSVC AND NOT APPLE)
+ find_library(ATOMIC NAMES atomic libatomic.so.1)
+ if (ATOMIC)
+ message(STATUS "Found libatomic: ${ATOMIC}")
+ endif()
+endif()
+
GENERATE_RESOURCES(src/main/native/resources generated/main/cpp WPI wpi wpiutil_resources_src)
file(GLOB_RECURSE wpiutil_native_src src/main/native/cpp/*.cpp)
+list(REMOVE_ITEM wpiutil_native_src ${wpiutil_jni_src})
+file(GLOB_RECURSE wpiutil_unix_src src/main/native/unix/*.cpp)
+file(GLOB_RECURSE wpiutil_windows_src src/main/native/windows/*.cpp)
-file(GLOB uv_native_src src/main/native/libuv/*.cpp)
+file(GLOB uv_native_src src/main/native/libuv/src/*.cpp)
-file(GLOB uv_windows_src src/main/native/libuv/win/*.cpp)
+file(GLOB uv_windows_src src/main/native/libuv/src/win/*.cpp)
set(uv_unix_src
- src/main/native/libuv/unix/async.cpp
- src/main/native/libuv/unix/core.cpp
- src/main/native/libuv/unix/dl.cpp
- src/main/native/libuv/unix/fs.cpp
- src/main/native/libuv/unix/getaddrinfo.cpp
- src/main/native/libuv/unix/getnameinfo.cpp
- src/main/native/libuv/unix/loop-watcher.cpp
- src/main/native/libuv/unix/loop.cpp
- src/main/native/libuv/unix/pipe.cpp
- src/main/native/libuv/unix/poll.cpp
- src/main/native/libuv/unix/process.cpp
- src/main/native/libuv/unix/signal.cpp
- src/main/native/libuv/unix/stream.cpp
- src/main/native/libuv/unix/tcp.cpp
- src/main/native/libuv/unix/thread.cpp
- src/main/native/libuv/unix/timer.cpp
- src/main/native/libuv/unix/tty.cpp
- src/main/native/libuv/unix/udp.cpp
+ src/main/native/libuv/src/unix/async.cpp
+ src/main/native/libuv/src/unix/core.cpp
+ src/main/native/libuv/src/unix/dl.cpp
+ src/main/native/libuv/src/unix/fs.cpp
+ src/main/native/libuv/src/unix/getaddrinfo.cpp
+ src/main/native/libuv/src/unix/getnameinfo.cpp
+ src/main/native/libuv/src/unix/loop-watcher.cpp
+ src/main/native/libuv/src/unix/loop.cpp
+ src/main/native/libuv/src/unix/pipe.cpp
+ src/main/native/libuv/src/unix/poll.cpp
+ src/main/native/libuv/src/unix/process.cpp
+ src/main/native/libuv/src/unix/signal.cpp
+ src/main/native/libuv/src/unix/stream.cpp
+ src/main/native/libuv/src/unix/tcp.cpp
+ src/main/native/libuv/src/unix/thread.cpp
+ src/main/native/libuv/src/unix/tty.cpp
+ src/main/native/libuv/src/unix/udp.cpp
)
set(uv_darwin_src
- src/main/native/libuv/unix/bsd-ifaddrs.cpp
- src/main/native/libuv/unix/darwin.cpp
- src/main/native/libuv/unix/darwin-proctitle.cpp
- src/main/native/libuv/unix/fsevents.cpp
- src/main/native/libuv/unix/kqueue.cpp
- src/main/native/libuv/unix/proctitle.cpp
+ src/main/native/libuv/src/unix/bsd-ifaddrs.cpp
+ src/main/native/libuv/src/unix/darwin.cpp
+ src/main/native/libuv/src/unix/darwin-proctitle.cpp
+ src/main/native/libuv/src/unix/fsevents.cpp
+ src/main/native/libuv/src/unix/kqueue.cpp
+ src/main/native/libuv/src/unix/proctitle.cpp
)
set(uv_linux_src
- src/main/native/libuv/unix/linux-core.cpp
- src/main/native/libuv/unix/linux-inotify.cpp
- src/main/native/libuv/unix/linux-syscalls.cpp
- src/main/native/libuv/unix/procfs-exepath.cpp
- src/main/native/libuv/unix/proctitle.cpp
- src/main/native/libuv/unix/sysinfo-loadavg.cpp
- src/main/native/libuv/unix/sysinfo-memory.cpp
+ src/main/native/libuv/src/unix/linux-core.cpp
+ src/main/native/libuv/src/unix/linux-inotify.cpp
+ src/main/native/libuv/src/unix/linux-syscalls.cpp
+ src/main/native/libuv/src/unix/procfs-exepath.cpp
+ src/main/native/libuv/src/unix/proctitle.cpp
+ src/main/native/libuv/src/unix/sysinfo-loadavg.cpp
)
-add_library(wpiutil ${wpiutil_native_src} ${uv_native_src} ${wpiutil_resources_src})
+add_library(wpiutil ${wpiutil_native_src} ${wpiutil_resources_src})
set_target_properties(wpiutil PROPERTIES DEBUG_POSTFIX "d")
set_property(TARGET wpiutil PROPERTY FOLDER "libraries")
-if(NOT MSVC)
- target_sources(wpiutil PRIVATE ${uv_unix_src})
- if (APPLE)
- target_sources(wpiutil PRIVATE ${uv_darwin_src})
- else()
- target_sources(wpiutil PRIVATE ${uv_linux_src})
- endif()
- target_compile_options(wpiutil PUBLIC -std=c++14 -Wall -pedantic -Wextra -Wno-unused-parameter)
- target_compile_options(wpiutil PRIVATE -D_GNU_SOURCE)
+target_compile_features(wpiutil PUBLIC cxx_std_17)
+if (MSVC)
+ target_compile_options(wpiutil PUBLIC /permissive- /Zc:throwingNew)
+ target_compile_definitions(wpiutil PRIVATE -D_CRT_SECURE_NO_WARNINGS)
+endif()
+wpilib_target_warnings(wpiutil)
+target_link_libraries(wpiutil Threads::Threads ${CMAKE_DL_LIBS} ${ATOMIC})
+
+if (NOT USE_VCPKG_EIGEN)
+ install(DIRECTORY src/main/native/eigeninclude/ DESTINATION "${include_dest}/wpiutil")
+ target_include_directories(wpiutil PUBLIC
+ $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/eigeninclude>
+ $<INSTALL_INTERFACE:${include_dest}/wpiutil>)
else()
- target_sources(wpiutil PRIVATE ${uv_windows_src})
- target_compile_options(wpiutil PUBLIC -DNOMINMAX)
- target_compile_options(wpiutil PRIVATE -D_CRT_SECURE_NO_WARNINGS)
- if(BUILD_SHARED_LIBS)
- target_compile_options(wpiutil PRIVATE -DBUILDING_UV_SHARED)
- endif()
+ find_package(Eigen3 CONFIG REQUIRED)
+ target_link_libraries (wpiutil Eigen3::Eigen)
endif()
-target_link_libraries(wpiutil Threads::Threads ${CMAKE_DL_LIBS})
+if (NOT USE_VCPKG_LIBUV)
+ target_sources(wpiutil PRIVATE ${uv_native_src})
+ install(DIRECTORY src/main/native/libuv/include/ DESTINATION "${include_dest}/wpiutil")
+ target_include_directories(wpiutil PRIVATE
+ src/main/native/libuv/src)
+ target_include_directories(wpiutil PUBLIC
+ $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/libuv/include>
+ $<INSTALL_INTERFACE:${include_dest}/wpiutil>)
+ if(NOT MSVC)
+ target_sources(wpiutil PRIVATE ${uv_unix_src})
+ if (APPLE)
+ target_sources(wpiutil PRIVATE ${uv_darwin_src})
+ else()
+ target_sources(wpiutil PRIVATE ${uv_linux_src})
+ endif()
+ target_compile_definitions(wpiutil PRIVATE -D_GNU_SOURCE)
+ else()
+ target_sources(wpiutil PRIVATE ${uv_windows_src})
+ if(BUILD_SHARED_LIBS)
+ target_compile_definitions(wpiutil PRIVATE -DBUILDING_UV_SHARED)
+ endif()
+ endif()
+else()
+ find_package(unofficial-libuv CONFIG REQUIRED)
+ target_link_libraries(wpiutil unofficial::libuv::libuv)
+endif()
+
+if (MSVC)
+ target_sources(wpiutil PRIVATE ${wpiutil_windows_src})
+else ()
+ target_sources(wpiutil PRIVATE ${wpiutil_unix_src})
+endif()
+
target_include_directories(wpiutil PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
$<INSTALL_INTERFACE:${include_dest}/wpiutil>)
-target_include_directories(wpiutil PRIVATE
- src/main/native/libuv
- src/main/native/include/uv-private
-)
install(TARGETS wpiutil EXPORT wpiutil DESTINATION "${main_lib_dest}")
install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/wpiutil")
@@ -111,13 +209,14 @@
install(TARGETS wpiutil RUNTIME DESTINATION "${jni_lib_dest}" COMPONENT Runtime)
endif()
-if (MSVC)
+if (MSVC OR FLAT_INSTALL_WPILIB)
set (wpiutil_config_dir ${wpilib_dest})
else()
set (wpiutil_config_dir share/wpiutil)
endif()
-install(FILES wpiutil-config.cmake DESTINATION ${wpiutil_config_dir})
+configure_file(wpiutil-config.cmake.in ${CMAKE_BINARY_DIR}/wpiutil-config.cmake )
+install(FILES ${CMAKE_BINARY_DIR}/wpiutil-config.cmake DESTINATION ${wpiutil_config_dir})
install(EXPORT wpiutil DESTINATION ${wpiutil_config_dir})
SUBDIR_LIST(wpiutil_examples "${CMAKE_CURRENT_SOURCE_DIR}/examples")
@@ -125,7 +224,9 @@
file(GLOB wpiutil_example_src examples/${example}/*.cpp)
if(wpiutil_example_src)
add_executable(wpiutil_${example} ${wpiutil_example_src})
+ wpilib_target_warnings(wpiutil_${example})
target_link_libraries(wpiutil_${example} wpiutil)
+ set_property(TARGET wpiutil_${example} PROPERTY FOLDER "examples")
endif()
endforeach()
@@ -134,10 +235,21 @@
else()
set (LIBUTIL)
endif()
+
file(GLOB netconsoleServer_src src/netconsoleServer/native/cpp/*.cpp)
add_executable(netconsoleServer ${netconsoleServer_src})
+wpilib_target_warnings(netconsoleServer)
target_link_libraries(netconsoleServer wpiutil ${LIBUTIL})
file(GLOB netconsoleTee_src src/netconsoleTee/native/cpp/*.cpp)
add_executable(netconsoleTee ${netconsoleTee_src})
+wpilib_target_warnings(netconsoleTee)
target_link_libraries(netconsoleTee wpiutil)
+
+set_property(TARGET netconsoleServer PROPERTY FOLDER "examples")
+set_property(TARGET netconsoleTee PROPERTY FOLDER "examples")
+
+if (WITH_TESTS)
+ wpilib_add_test(wpiutil src/test/native/cpp)
+ target_link_libraries(wpiutil_test wpiutil ${LIBUTIL} gmock_main)
+endif()
diff --git a/third_party/allwpilib_2019/wpiutil/build.gradle b/third_party/allwpilib_2019/wpiutil/build.gradle
index 2c2cc7f..588316e 100644
--- a/third_party/allwpilib_2019/wpiutil/build.gradle
+++ b/third_party/allwpilib_2019/wpiutil/build.gradle
@@ -1,21 +1,26 @@
apply from: "${rootDir}/shared/resources.gradle"
ext {
+ noWpiutil = true
+ baseId = 'wpiutil'
+ groupId = 'edu.wpi.first.wpiutil'
+
nativeName = 'wpiutil'
devMain = 'edu.wpi.first.wpiutil.DevMain'
def generateTask = createGenerateResourcesTask('main', 'WPI', 'wpi', project)
- extraSetup = {
+
+ splitSetup = {
it.tasks.withType(CppCompile) {
dependsOn generateTask
}
it.sources {
libuvCpp(CppSourceSet) {
source {
- srcDirs 'src/main/native/libuv'
+ srcDirs 'src/main/native/libuv/src'
include '*.cpp'
}
exportedHeaders {
- srcDirs 'src/main/native/include', 'src/main/native/include/uv-private', 'src/main/native/libuv'
+ srcDirs 'src/main/native/include', 'src/main/native/libuv/include', 'src/main/native/libuv/src'
}
}
resourcesCpp(CppSourceSet) {
@@ -28,12 +33,12 @@
}
}
}
- if (it.targetPlatform.operatingSystem.name != 'windows') {
+ if (!it.targetPlatform.operatingSystem.isWindows()) {
it.cppCompiler.define '_GNU_SOURCE'
it.sources {
libuvUnixCpp(CppSourceSet) {
source {
- srcDirs 'src/main/native/libuv/unix'
+ srcDirs 'src/main/native/libuv/src/unix'
includes = [
'async.cpp',
'core.cpp',
@@ -56,31 +61,51 @@
]
}
exportedHeaders {
- srcDirs 'src/main/native/include', 'src/main/native/include/uv-private', 'src/main/native/libuv'
+ srcDirs 'src/main/native/include', 'src/main/native/libuv/include', 'src/main/native/libuv/src'
+ }
+ }
+ wpiutilUnixCpp(CppSourceSet) {
+ source {
+ srcDirs 'src/main/native/unix'
+ include '**/*.cpp'
+ }
+ exportedHeaders {
+ srcDirs 'src/main/native/include', 'src/main/native/cpp'
+ include '**/*.h'
}
}
}
}
- if (it.targetPlatform.operatingSystem.name == 'windows') {
+ if (it.targetPlatform.operatingSystem.isWindows()) {
if (it in SharedLibraryBinarySpec) {
it.cppCompiler.define 'BUILDING_UV_SHARED'
}
it.sources {
libuvWindowsCpp(CppSourceSet) {
source {
- srcDirs 'src/main/native/libuv/win'
+ srcDirs 'src/main/native/libuv/src/win'
include '*.cpp'
}
exportedHeaders {
- srcDirs 'src/main/native/include', 'src/main/native/include/uv-private', 'src/main/native/libuv'
+ srcDirs 'src/main/native/include', 'src/main/native/libuv/include', 'src/main/native/libuv/src'
+ }
+ }
+ wpiutilWindowsCpp(CppSourceSet) {
+ source {
+ srcDirs 'src/main/native/windows'
+ include '**/*.cpp'
+ }
+ exportedHeaders {
+ srcDirs 'src/main/native/include', 'src/main/native/cpp'
+ include '**/*.h'
}
}
}
- } else if (it.targetPlatform.operatingSystem.name == 'osx') {
+ } else if (it.targetPlatform.operatingSystem.isMacOsX()) {
it.sources {
libuvMacCpp(CppSourceSet) {
source {
- srcDirs 'src/main/native/libuv/unix'
+ srcDirs 'src/main/native/libuv/src/unix'
includes = [
'bsd-ifaddrs.cpp',
'darwin.cpp',
@@ -91,7 +116,7 @@
]
}
exportedHeaders {
- srcDirs 'src/main/native/include', 'src/main/native/include/uv-private', 'src/main/native/libuv'
+ srcDirs 'src/main/native/include', 'src/main/native/libuv/include', 'src/main/native/libuv/src'
}
}
}
@@ -99,7 +124,7 @@
it.sources {
libuvLinuxCpp(CppSourceSet) {
source {
- srcDirs 'src/main/native/libuv/unix'
+ srcDirs 'src/main/native/libuv/src/unix'
includes = [
'linux-core.cpp',
'linux-inotify.cpp',
@@ -107,11 +132,10 @@
'procfs-exepath.cpp',
'proctitle.cpp',
'sysinfo-loadavg.cpp',
- 'sysinfo-memory.cpp',
]
}
exportedHeaders {
- srcDirs 'src/main/native/include', 'src/main/native/include/uv-private', 'src/main/native/libuv'
+ srcDirs 'src/main/native/include', 'src/main/native/libuv/include', 'src/main/native/libuv/src'
}
}
}
@@ -129,25 +153,43 @@
examplesMap.put(it, [])
}
-apply from: "${rootDir}/shared/javacpp/setupBuild.gradle"
+apply from: "${rootDir}/shared/jni/setupBuild.gradle"
+
+nativeUtils.exportsConfigs {
+ wpiutil {
+ x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+ '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+ '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
+ '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
+ x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+ '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+ '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
+ '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
+ }
+}
+
+cppHeadersZip {
+ from('src/main/native/libuv/include') {
+ into '/'
+ }
+ from('src/main/native/eigeninclude') {
+ into '/'
+ }
+}
model {
- // Exports config is a utility to enable exporting all symbols in a C++ library on windows to a DLL.
- // This removes the need for DllExport on a library. However, the gradle C++ builder has a bug
- // where some extra symbols are added that cannot be resolved at link time. This configuration
- // lets you specify specific symbols to exlude from exporting.
- exportsConfigs {
- wpiutil(ExportsConfig) {
- x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
- '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
- '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
- '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
- x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
- '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
- '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
- '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
+ components {
+ all {
+ it.sources.each {
+ it.exportedHeaders {
+ srcDirs 'src/main/native/include', 'src/main/native/libuv/include', 'src/main/native/libuv/src', 'src/main/native/eigeninclude'
+ }
+ }
}
}
+}
+
+model {
components {
examplesMap.each { key, value ->
"${key}"(NativeExecutableSpec) {
@@ -198,3 +240,67 @@
}
}
}
+
+dependencies {
+ compile "org.ejml:ejml-simple:0.38"
+}
+
+def wpilibNumberFileInput = file("src/generate/GenericNumber.java.in")
+def natFileInput = file("src/generate/Nat.java.in")
+def natGetterInput = file("src/generate/NatGetter.java.in")
+def wpilibNumberFileOutputDir = file("$buildDir/generated/java/edu/wpi/first/wpiutil/math/numbers")
+def wpilibNatFileOutput = file("$buildDir/generated/java/edu/wpi/first/wpiutil/math/Nat.java")
+def maxNum = 20
+
+task generateNumbers() {
+ description = "Generates generic number classes from template"
+ group = "WPILib"
+
+ inputs.file wpilibNumberFileInput
+ outputs.dir wpilibNumberFileOutputDir
+
+ doLast {
+ if(wpilibNumberFileOutputDir.exists()) {
+ wpilibNumberFileOutputDir.delete()
+ }
+ wpilibNumberFileOutputDir.mkdirs()
+
+ for(i in 0..maxNum) {
+ def outputFile = new File(wpilibNumberFileOutputDir, "N${i}.java")
+ def read = wpilibNumberFileInput.text.replace('${num}', i.toString())
+ outputFile.write(read)
+ }
+ }
+}
+
+task generateNat() {
+ description = "Generates Nat.java"
+ group = "WPILib"
+ inputs.files([natFileInput, natGetterInput])
+ outputs.file wpilibNatFileOutput
+ dependsOn generateNumbers
+
+ doLast {
+ if(wpilibNatFileOutput.exists()) {
+ wpilibNatFileOutput.delete()
+ }
+
+ def template = natFileInput.text + "\n"
+
+ def importsString = "";
+
+ for(i in 0..maxNum) {
+ importsString += "import edu.wpi.first.wpiutil.math.numbers.N${i};\n"
+ template += natGetterInput.text.replace('${num}', i.toString()) + "\n"
+ }
+ template += "}\n" // Close the class body
+
+ template = template.replace('{{REPLACEWITHIMPORTS}}', importsString)
+
+ wpilibNatFileOutput.write(template)
+ }
+}
+
+sourceSets.main.java.srcDir "${buildDir}/generated/java"
+compileJava.dependsOn generateNumbers
+compileJava.dependsOn generateNat
diff --git a/third_party/allwpilib_2019/wpiutil/generate_numbers.py b/third_party/allwpilib_2019/wpiutil/generate_numbers.py
new file mode 100644
index 0000000..61cc02a
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/generate_numbers.py
@@ -0,0 +1,42 @@
+import os
+import shutil
+import sys
+
+MAX_NUM = 20
+
+dirname, _ = os.path.split(os.path.abspath(__file__))
+cmake_binary_dir = sys.argv[1]
+
+with open(f"{dirname}/src/generate/GenericNumber.java.in", "r") as templateFile:
+ template = templateFile.read()
+ rootPath = f"{cmake_binary_dir}/generated/main/java/edu/wpi/first/wpiutil/math/numbers"
+
+ if os.path.exists(rootPath):
+ shutil.rmtree(rootPath)
+ os.makedirs(rootPath)
+
+ for i in range(MAX_NUM + 1):
+ with open(f"{rootPath}/N{i}.java", "w") as f:
+ f.write(template.replace("${num}", str(i)))
+
+with open(f"{dirname}/src/generate/Nat.java.in", "r") as templateFile:
+ template = templateFile.read()
+ outputPath = f"{cmake_binary_dir}/generated/main/java/edu/wpi/first/wpiutil/math/Nat.java"
+ with open(f"{dirname}/src/generate/NatGetter.java.in", "r") as getterFile:
+ getter = getterFile.read()
+
+ if os.path.exists(outputPath):
+ os.remove(outputPath)
+
+ importsString = ""
+
+ for i in range(MAX_NUM + 1):
+ importsString += f"import edu.wpi.first.wpiutil.math.numbers.N{i};\n"
+ template += getter.replace("${num}", str(i))
+
+ template += "}\n"
+
+ template = template.replace('{{REPLACEWITHIMPORTS}}', importsString)
+
+ with open(outputPath, "w") as f:
+ f.write(template)
diff --git a/third_party/allwpilib_2019/wpiutil/src/generate/GenericNumber.java.in b/third_party/allwpilib_2019/wpiutil/src/generate/GenericNumber.java.in
new file mode 100644
index 0000000..5a36582
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/generate/GenericNumber.java.in
@@ -0,0 +1,34 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpiutil.math.numbers;
+
+import edu.wpi.first.wpiutil.math.Nat;
+import edu.wpi.first.wpiutil.math.Num;
+
+/**
+ * A class representing the number ${num}.
+*/
+public final class N${num} extends Num implements Nat<N${num}> {
+ private N${num}() {
+ }
+
+ /**
+ * The integer this class represents.
+ *
+ * @return The literal number ${num}.
+ */
+ @Override
+ public int getNum() {
+ return ${num};
+ }
+
+ /**
+ * The singleton instance of this class.
+ */
+ public static final N${num} instance = new N${num}();
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/generate/Nat.java.in b/third_party/allwpilib_2019/wpiutil/src/generate/Nat.java.in
new file mode 100644
index 0000000..8c471f6
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/generate/Nat.java.in
@@ -0,0 +1,27 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpiutil.math;
+
+//CHECKSTYLE.OFF: ImportOrder
+{{REPLACEWITHIMPORTS}}
+//CHECKSTYLE.ON
+
+/**
+ * A natural number expressed as a java class.
+ * The counterpart to {@link Num} that should be used as a concrete value.
+ *
+ * @param <T> The {@link Num} this represents.
+ */
+@SuppressWarnings({"MethodName", "unused", "PMD.TooManyMethods"})
+public interface Nat<T extends Num> {
+ /**
+ * The number this interface represents.
+ *
+ * @return The number backing this value.
+ */
+ int getNum();
diff --git a/third_party/allwpilib_2019/wpiutil/src/generate/NatGetter.java.in b/third_party/allwpilib_2019/wpiutil/src/generate/NatGetter.java.in
new file mode 100644
index 0000000..d268fab
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/generate/NatGetter.java.in
@@ -0,0 +1,3 @@
+ static Nat<N${num}> N${num}() {
+ return N${num}.instance;
+ }
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/CircularBuffer.java b/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/CircularBuffer.java
new file mode 100644
index 0000000..5325b26
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/CircularBuffer.java
@@ -0,0 +1,186 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpiutil;
+
+/**
+ * This is a simple circular buffer so we don't need to "bucket brigade" copy old values.
+ */
+public class CircularBuffer {
+ private double[] m_data;
+
+ // Index of element at front of buffer
+ private int m_front;
+
+ // Number of elements used in buffer
+ private int m_length;
+
+ /**
+ * Create a CircularBuffer with the provided size.
+ *
+ * @param size The size of the circular buffer.
+ */
+ public CircularBuffer(int size) {
+ m_data = new double[size];
+ for (int i = 0; i < m_data.length; i++) {
+ m_data[i] = 0.0;
+ }
+ }
+
+ /**
+ * Returns number of elements in buffer.
+ *
+ * @return number of elements in buffer
+ */
+ double size() {
+ return m_length;
+ }
+
+ /**
+ * Get value at front of buffer.
+ *
+ * @return value at front of buffer
+ */
+ double getFirst() {
+ return m_data[m_front];
+ }
+
+ /**
+ * Get value at back of buffer.
+ *
+ * @return value at back of buffer
+ */
+ double getLast() {
+ // If there are no elements in the buffer, do nothing
+ if (m_length == 0) {
+ return 0.0;
+ }
+
+ return m_data[(m_front + m_length - 1) % m_data.length];
+ }
+
+ /**
+ * Push new value onto front of the buffer. The value at the back is overwritten if the buffer is
+ * full.
+ */
+ public void addFirst(double value) {
+ if (m_data.length == 0) {
+ return;
+ }
+
+ m_front = moduloDec(m_front);
+
+ m_data[m_front] = value;
+
+ if (m_length < m_data.length) {
+ m_length++;
+ }
+ }
+
+ /**
+ * Push new value onto back of the buffer. The value at the front is overwritten if the buffer is
+ * full.
+ */
+ public void addLast(double value) {
+ if (m_data.length == 0) {
+ return;
+ }
+
+ m_data[(m_front + m_length) % m_data.length] = value;
+
+ if (m_length < m_data.length) {
+ m_length++;
+ } else {
+ // Increment front if buffer is full to maintain size
+ m_front = moduloInc(m_front);
+ }
+ }
+
+ /**
+ * Pop value at front of buffer.
+ *
+ * @return value at front of buffer
+ */
+ public double removeFirst() {
+ // If there are no elements in the buffer, do nothing
+ if (m_length == 0) {
+ return 0.0;
+ }
+
+ double temp = m_data[m_front];
+ m_front = moduloInc(m_front);
+ m_length--;
+ return temp;
+ }
+
+
+ /**
+ * Pop value at back of buffer.
+ */
+ public double removeLast() {
+ // If there are no elements in the buffer, do nothing
+ if (m_length == 0) {
+ return 0.0;
+ }
+
+ m_length--;
+ return m_data[(m_front + m_length) % m_data.length];
+ }
+
+ /**
+ * Resizes internal buffer to given size.
+ *
+ * <p>A new buffer is allocated because arrays are not resizable.
+ */
+ void resize(int size) {
+ double[] newBuffer = new double[size];
+ m_length = Math.min(m_length, size);
+ for (int i = 0; i < m_length; i++) {
+ newBuffer[i] = m_data[(m_front + i) % m_data.length];
+ }
+ m_data = newBuffer;
+ m_front = 0;
+ }
+
+ /**
+ * Sets internal buffer contents to zero.
+ */
+ public void clear() {
+ for (int i = 0; i < m_data.length; i++) {
+ m_data[i] = 0.0;
+ }
+ m_front = 0;
+ m_length = 0;
+ }
+
+ /**
+ * Get the element at the provided index relative to the start of the buffer.
+ *
+ * @return Element at index starting from front of buffer.
+ */
+ public double get(int index) {
+ return m_data[(m_front + index) % m_data.length];
+ }
+
+ /**
+ * Increment an index modulo the length of the m_data buffer.
+ */
+ private int moduloInc(int index) {
+ return (index + 1) % m_data.length;
+ }
+
+ /**
+ * Decrement an index modulo the length of the m_data buffer.
+ */
+ private int moduloDec(int index) {
+ if (index == 0) {
+ return m_data.length - 1;
+ } else {
+ return index - 1;
+ }
+ }
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/RuntimeDetector.java b/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/RuntimeDetector.java
index bf3bce2..f7379dd 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/RuntimeDetector.java
+++ b/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/RuntimeDetector.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -55,6 +55,8 @@
filePath = "/linux/athena/";
} else if (isRaspbian()) {
filePath = "/linux/raspbian/";
+ } else if (isAarch64Bionic()) {
+ filePath = "/linux/aarch64bionic/";
} else {
filePath = "/linux/nativearm/";
}
@@ -96,8 +98,7 @@
public static synchronized String getLibraryResource(String libName) {
computePlatform();
- String toReturn = filePath + filePrefix + libName + fileExtension;
- return toReturn;
+ return filePath + filePrefix + libName + fileExtension;
}
/**
@@ -106,8 +107,7 @@
public static synchronized String getHashLibraryResource(String libName) {
computePlatform();
- String toReturn = filePath + libName + ".hash";
- return toReturn;
+ return filePath + libName + ".hash";
}
public static boolean isAthena() {
@@ -128,6 +128,30 @@
}
}
+ /** check if os is bionic aarch64.
+ *
+ * @return if os is bionic aarch64
+ */
+ public static boolean isAarch64Bionic() {
+ if (!System.getProperty("os.arch").equals("aarch64")) {
+ return false;
+ }
+ try (BufferedReader reader = Files.newBufferedReader(Paths.get("/etc/os-release"))) {
+ String value = reader.readLine();
+ String version = "";
+ while (value != null) {
+ if (value.contains("VERSION=")) {
+ version = value;
+ break;
+ }
+ value = reader.readLine();
+ }
+ return version.contains("Bionic");
+ } catch (IOException ex) {
+ return false;
+ }
+ }
+
public static boolean isLinux() {
return System.getProperty("os.name").startsWith("Linux");
}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/RuntimeLoader.java b/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/RuntimeLoader.java
index b209fe8..3e5fea7 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/RuntimeLoader.java
+++ b/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/RuntimeLoader.java
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -69,7 +69,6 @@
try {
// First, try loading path
System.loadLibrary(m_libraryName);
- return;
} catch (UnsatisfiedLinkError ule) {
// Then load the hash from the resources
String hashName = RuntimeDetector.getHashLibraryResource(m_libraryName);
@@ -115,7 +114,6 @@
try {
// First, try loading path
System.loadLibrary(m_libraryName);
- return;
} catch (UnsatisfiedLinkError ule) {
// Then load the hash from the input file
String resname = RuntimeDetector.getLibraryResource(m_libraryName);
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/WPIUtilJNI.java b/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/WPIUtilJNI.java
new file mode 100644
index 0000000..941e691
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/WPIUtilJNI.java
@@ -0,0 +1,56 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpiutil;
+
+import java.io.IOException;
+import java.util.concurrent.atomic.AtomicBoolean;
+
+public final class WPIUtilJNI {
+ static boolean libraryLoaded = false;
+ static RuntimeLoader<WPIUtilJNI> loader = null;
+
+ public static class Helper {
+ private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
+
+ public static boolean getExtractOnStaticLoad() {
+ return extractOnStaticLoad.get();
+ }
+
+ public static void setExtractOnStaticLoad(boolean load) {
+ extractOnStaticLoad.set(load);
+ }
+ }
+
+ static {
+ if (Helper.getExtractOnStaticLoad()) {
+ try {
+ loader = new RuntimeLoader<>("wpiutiljni", RuntimeLoader.getDefaultExtractionRoot(), WPIUtilJNI.class);
+ loader.loadLibrary();
+ } catch (IOException ex) {
+ ex.printStackTrace();
+ System.exit(1);
+ }
+ libraryLoaded = true;
+ }
+ }
+
+ /**
+ * Force load the library.
+ */
+ public static synchronized void forceLoad() throws IOException {
+ if (libraryLoaded) {
+ return;
+ }
+ loader = new RuntimeLoader<>("wpiutiljni", RuntimeLoader.getDefaultExtractionRoot(), WPIUtilJNI.class);
+ loader.loadLibrary();
+ libraryLoaded = true;
+ }
+
+ public static native void addPortForwarder(int port, String remoteHost, int remotePort);
+ public static native void removePortForwarder(int port);
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/math/MatBuilder.java b/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/math/MatBuilder.java
new file mode 100644
index 0000000..a5490a3
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/math/MatBuilder.java
@@ -0,0 +1,50 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpiutil.math;
+
+import java.util.Objects;
+
+import org.ejml.simple.SimpleMatrix;
+
+/**
+ * A class for constructing arbitrary RxC matrices.
+ *
+ * @param <R> The number of rows of the desired matrix.
+ * @param <C> The number of columns of the desired matrix.
+ */
+public class MatBuilder<R extends Num, C extends Num> {
+ private final Nat<R> m_rows;
+ private final Nat<C> m_cols;
+
+ /**
+ * Fills the matrix with the given data, encoded in row major form.
+ * (The matrix is filled row by row, left to right with the given data).
+ *
+ * @param data The data to fill the matrix with.
+ * @return The constructed matrix.
+ */
+ @SuppressWarnings("LineLength")
+ public final Matrix<R, C> fill(double... data) {
+ if (Objects.requireNonNull(data).length != this.m_rows.getNum() * this.m_cols.getNum()) {
+ throw new IllegalArgumentException("Invalid matrix data provided. Wanted " + this.m_rows.getNum()
+ + " x " + this.m_cols.getNum() + " matrix, but got " + data.length + " elements");
+ } else {
+ return new Matrix<>(new SimpleMatrix(this.m_rows.getNum(), this.m_cols.getNum(), true, data));
+ }
+ }
+
+ /**
+ * Creates a new {@link MatBuilder} with the given dimensions.
+ * @param rows The number of rows of the matrix.
+ * @param cols The number of columns of the matrix.
+ */
+ public MatBuilder(Nat<R> rows, Nat<C> cols) {
+ this.m_rows = Objects.requireNonNull(rows);
+ this.m_cols = Objects.requireNonNull(cols);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/math/MathUtils.java b/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/math/MathUtils.java
new file mode 100644
index 0000000..2f91065
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/math/MathUtils.java
@@ -0,0 +1,25 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpiutil.math;
+
+public final class MathUtils {
+ private MathUtils() {
+ throw new AssertionError("utility class");
+ }
+
+ /**
+ * Returns value clamped between low and high boundaries.
+ *
+ * @param value Value to clamp.
+ * @param low The lower boundary to which to clamp value.
+ * @param high The higher boundary to which to clamp value.
+ */
+ public static double clamp(double value, double low, double high) {
+ return Math.max(low, Math.min(value, high));
+ }
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/math/Matrix.java b/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/math/Matrix.java
new file mode 100644
index 0000000..5780498
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/math/Matrix.java
@@ -0,0 +1,327 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpiutil.math;
+
+import java.util.Objects;
+
+import org.ejml.dense.row.CommonOps_DDRM;
+import org.ejml.dense.row.NormOps_DDRM;
+import org.ejml.simple.SimpleMatrix;
+
+/**
+ * A shape-safe wrapper over Efficient Java Matrix Library (EJML) matrices.
+ *
+ * <p>This class is intended to be used alongside the state space library.
+ *
+ * @param <R> The number of rows in this matrix.
+ * @param <C> The number of columns in this matrix.
+ */
+@SuppressWarnings("PMD.TooManyMethods")
+public class Matrix<R extends Num, C extends Num> {
+
+ private final SimpleMatrix m_storage;
+
+ /**
+ * Gets the number of columns in this matrix.
+ *
+ * @return The number of columns, according to the internal storage.
+ */
+ public final int getNumCols() {
+ return this.m_storage.numCols();
+ }
+
+ /**
+ * Gets the number of rows in this matrix.
+ *
+ * @return The number of rows, according to the internal storage.
+ */
+ public final int getNumRows() {
+ return this.m_storage.numRows();
+ }
+
+ /**
+ * Get an element of this matrix.
+ *
+ * @param row The row of the element.
+ * @param col The column of the element.
+ * @return The element in this matrix at row,col.
+ */
+ public final double get(int row, int col) {
+ return this.m_storage.get(row, col);
+ }
+
+ /**
+ * Sets the value at the given indices.
+ *
+ * @param row The row of the element.
+ * @param col The column of the element.
+ * @param value The value to insert at the given location.
+ */
+ public final void set(int row, int col, double value) {
+ this.m_storage.set(row, col, value);
+ }
+
+ /**
+ * If a vector then a square matrix is returned
+ * if a matrix then a vector of diagonal elements is returned.
+ *
+ * @return Diagonal elements inside a vector or a square matrix with the same diagonal elements.
+ */
+ public final Matrix<R, C> diag() {
+ return new Matrix<>(this.m_storage.diag());
+ }
+
+ /**
+ * Returns the largest element of this matrix.
+ *
+ * @return The largest element of this matrix.
+ */
+ public final double maxInternal() {
+ return CommonOps_DDRM.elementMax(this.m_storage.getDDRM());
+ }
+
+ /**
+ * Returns the smallest element of this matrix.
+ *
+ * @return The smallest element of this matrix.
+ */
+ public final double minInternal() {
+ return CommonOps_DDRM.elementMin(this.m_storage.getDDRM());
+ }
+
+ /**
+ * Calculates the mean of the elements in this matrix.
+ *
+ * @return The mean value of this matrix.
+ */
+ public final double mean() {
+ return this.elementSum() / (double) this.m_storage.getNumElements();
+ }
+
+ /**
+ * Multiplies this matrix with another that has C rows.
+ *
+ * <p>As matrix multiplication is only defined if the number of columns
+ * in the first matrix matches the number of rows in the second,
+ * this operation will fail to compile under any other circumstances.
+ *
+ * @param other The other matrix to multiply by.
+ * @param <C2> The number of columns in the second matrix.
+ * @return The result of the matrix multiplication between this and the given matrix.
+ */
+ public final <C2 extends Num> Matrix<R, C2> times(Matrix<C, C2> other) {
+ return new Matrix<>(this.m_storage.mult(other.m_storage));
+ }
+
+ /**
+ * Multiplies all the elements of this matrix by the given scalar.
+ *
+ * @param value The scalar value to multiply by.
+ * @return A new matrix with all the elements multiplied by the given value.
+ */
+ public final Matrix<R, C> times(double value) {
+ return new Matrix<>(this.m_storage.scale(value));
+ }
+
+ /**
+ * <p>
+ * Returns a matrix which is the result of an element by element multiplication of 'this' and 'b'.
+ * c<sub>i,j</sub> = a<sub>i,j</sub>*b<sub>i,j</sub>
+ * </p>
+ *
+ * @param other A matrix.
+ * @return The element by element multiplication of 'this' and 'b'.
+ */
+ public final Matrix<R, C> elementTimes(Matrix<R, C> other) {
+ return new Matrix<>(this.m_storage.elementMult(Objects.requireNonNull(other).m_storage));
+ }
+
+ /**
+ * Subtracts the given value from all the elements of this matrix.
+ *
+ * @param value The value to subtract.
+ * @return The resultant matrix.
+ */
+ public final Matrix<R, C> minus(double value) {
+ return new Matrix<>(this.m_storage.minus(value));
+ }
+
+
+ /**
+ * Subtracts the given matrix from this matrix.
+ *
+ * @param value The matrix to subtract.
+ * @return The resultant matrix.
+ */
+ public final Matrix<R, C> minus(Matrix<R, C> value) {
+ return new Matrix<>(this.m_storage.minus(Objects.requireNonNull(value).m_storage));
+ }
+
+
+ /**
+ * Adds the given value to all the elements of this matrix.
+ *
+ * @param value The value to add.
+ * @return The resultant matrix.
+ */
+ public final Matrix<R, C> plus(double value) {
+ return new Matrix<>(this.m_storage.plus(value));
+ }
+
+ /**
+ * Adds the given matrix to this matrix.
+ *
+ * @param value The matrix to add.
+ * @return The resultant matrix.
+ */
+ public final Matrix<R, C> plus(Matrix<R, C> value) {
+ return new Matrix<>(this.m_storage.plus(value.m_storage));
+ }
+
+ /**
+ * Divides all elements of this matrix by the given value.
+ *
+ * @param value The value to divide by.
+ * @return The resultant matrix.
+ */
+ public final Matrix<R, C> div(int value) {
+ return new Matrix<>(this.m_storage.divide((double) value));
+ }
+
+ /**
+ * Divides all elements of this matrix by the given value.
+ *
+ * @param value The value to divide by.
+ * @return The resultant matrix.
+ */
+ public final Matrix<R, C> div(double value) {
+ return new Matrix<>(this.m_storage.divide(value));
+ }
+
+ /**
+ * Calculates the transpose, M^T of this matrix.
+ *
+ * @return The tranpose matrix.
+ */
+ public final Matrix<C, R> transpose() {
+ return new Matrix<>(this.m_storage.transpose());
+ }
+
+
+ /**
+ * Returns a copy of this matrix.
+ *
+ * @return A copy of this matrix.
+ */
+ public final Matrix<R, C> copy() {
+ return new Matrix<>(this.m_storage.copy());
+ }
+
+
+ /**
+ * Returns the inverse matrix of this matrix.
+ *
+ * @return The inverse of this matrix.
+ * @throws org.ejml.data.SingularMatrixException If this matrix is non-invertable.
+ */
+ public final Matrix<R, C> inv() {
+ return new Matrix<>(this.m_storage.invert());
+ }
+
+ /**
+ * Returns the determinant of this matrix.
+ *
+ * @return The determinant of this matrix.
+ */
+ public final double det() {
+ return this.m_storage.determinant();
+ }
+
+ /**
+ * Computes the Frobenius normal of the matrix.<br>
+ * <br>
+ * normF = Sqrt{ ∑<sub>i=1:m</sub> ∑<sub>j=1:n</sub> { a<sub>ij</sub><sup>2</sup>} }
+ *
+ * @return The matrix's Frobenius normal.
+ */
+ public final double normF() {
+ return this.m_storage.normF();
+ }
+
+ /**
+ * Computes the induced p = 1 matrix norm.<br>
+ * <br>
+ * ||A||<sub>1</sub>= max(j=1 to n; sum(i=1 to m; |a<sub>ij</sub>|))
+ *
+ * @return The norm.
+ */
+ public final double normIndP1() {
+ return NormOps_DDRM.inducedP1(this.m_storage.getDDRM());
+ }
+
+ /**
+ * Computes the sum of all the elements in the matrix.
+ *
+ * @return Sum of all the elements.
+ */
+ public final double elementSum() {
+ return this.m_storage.elementSum();
+ }
+
+ /**
+ * Computes the trace of the matrix.
+ *
+ * @return The trace of the matrix.
+ */
+ public final double trace() {
+ return this.m_storage.trace();
+ }
+
+ /**
+ * Returns a matrix which is the result of an element by element power of 'this' and 'b':
+ * c<sub>i,j</sub> = a<sub>i,j</sub> ^ b.
+ *
+ * @param b Scalar
+ * @return The element by element power of 'this' and 'b'.
+ */
+ @SuppressWarnings("ParameterName")
+ public final Matrix<R, C> epow(double b) {
+ return new Matrix<>(this.m_storage.elementPower(b));
+ }
+
+ /**
+ * Returns a matrix which is the result of an element by element power of 'this' and 'b':
+ * c<sub>i,j</sub> = a<sub>i,j</sub> ^ b.
+ *
+ * @param b Scalar.
+ * @return The element by element power of 'this' and 'b'.
+ */
+ @SuppressWarnings("ParameterName")
+ public final Matrix<R, C> epow(int b) {
+ return new Matrix<>(this.m_storage.elementPower((double) b));
+ }
+
+ /**
+ * Returns the EJML {@link SimpleMatrix} backing this wrapper.
+ *
+ * @return The untyped EJML {@link SimpleMatrix}.
+ */
+ public final SimpleMatrix getStorage() {
+ return this.m_storage;
+ }
+
+ /**
+ * Constructs a new matrix with the given storage.
+ * Caller should make sure that the provided generic bounds match the shape of the provided matrix
+ *
+ * @param storage The {@link SimpleMatrix} to back this value
+ */
+ public Matrix(SimpleMatrix storage) {
+ this.m_storage = Objects.requireNonNull(storage);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/math/MatrixUtils.java b/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/math/MatrixUtils.java
new file mode 100644
index 0000000..ac4deb9
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/math/MatrixUtils.java
@@ -0,0 +1,83 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpiutil.math;
+
+import java.util.Objects;
+
+import org.ejml.simple.SimpleMatrix;
+
+import edu.wpi.first.wpiutil.math.numbers.N1;
+
+public final class MatrixUtils {
+ private MatrixUtils() {
+ throw new AssertionError("utility class");
+ }
+
+ /**
+ * Creates a new matrix of zeros.
+ *
+ * @param rows The number of rows in the matrix.
+ * @param cols The number of columns in the matrix.
+ * @param <R> The number of rows in the matrix as a generic.
+ * @param <C> The number of columns in the matrix as a generic.
+ * @return An RxC matrix filled with zeros.
+ */
+ @SuppressWarnings("LineLength")
+ public static <R extends Num, C extends Num> Matrix<R, C> zeros(Nat<R> rows, Nat<C> cols) {
+ return new Matrix<>(
+ new SimpleMatrix(Objects.requireNonNull(rows).getNum(), Objects.requireNonNull(cols).getNum()));
+ }
+
+ /**
+ * Creates a new vector of zeros.
+ *
+ * @param nums The size of the desired vector.
+ * @param <N> The size of the desired vector as a generic.
+ * @return A vector of size N filled with zeros.
+ */
+ public static <N extends Num> Matrix<N, N1> zeros(Nat<N> nums) {
+ return new Matrix<>(new SimpleMatrix(Objects.requireNonNull(nums).getNum(), 1));
+ }
+
+ /**
+ * Creates the identity matrix of the given dimension.
+ *
+ * @param dim The dimension of the desired matrix.
+ * @param <D> The dimension of the desired matrix as a generic.
+ * @return The DxD identity matrix.
+ */
+ public static <D extends Num> Matrix<D, D> eye(Nat<D> dim) {
+ return new Matrix<>(SimpleMatrix.identity(Objects.requireNonNull(dim).getNum()));
+ }
+
+ /**
+ * Entrypoint to the MatBuilder class for creation
+ * of custom matrices with the given dimensions and contents.
+ *
+ * @param rows The number of rows of the desired matrix.
+ * @param cols The number of columns of the desired matrix.
+ * @param <R> The number of rows of the desired matrix as a generic.
+ * @param <C> The number of columns of the desired matrix as a generic.
+ * @return A builder to construct the matrix.
+ */
+ public static <R extends Num, C extends Num> MatBuilder<R, C> mat(Nat<R> rows, Nat<C> cols) {
+ return new MatBuilder<>(rows, cols);
+ }
+
+ /**
+ * Entrypoint to the VecBuilder class for creation
+ * of custom vectors with the given size and contents.
+ *
+ * @param dim The dimension of the vector.
+ * @param <D> The dimension of the vector as a generic.
+ * @return A builder to construct the vector.
+ */
+ public static <D extends Num> VecBuilder<D> vec(Nat<D> dim) {
+ return new VecBuilder<>(dim);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/math/Num.java b/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/math/Num.java
new file mode 100644
index 0000000..c7385ea
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/math/Num.java
@@ -0,0 +1,20 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpiutil.math;
+
+/**
+ * A number expressed as a java class.
+ */
+public abstract class Num {
+ /**
+ * The number this is backing.
+ *
+ * @return The number represented by this class.
+ */
+ public abstract int getNum();
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/math/SimpleMatrixUtils.java b/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/math/SimpleMatrixUtils.java
new file mode 100644
index 0000000..ea983d4
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/math/SimpleMatrixUtils.java
@@ -0,0 +1,161 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpiutil.math;
+
+import java.util.function.BiFunction;
+
+import org.ejml.dense.row.NormOps_DDRM;
+import org.ejml.simple.SimpleBase;
+import org.ejml.simple.SimpleMatrix;
+
+public class SimpleMatrixUtils {
+ private SimpleMatrixUtils() {}
+
+ /**
+ * Compute the matrix exponential, e^M of the given matrix.
+ *
+ * @param matrix The matrix to compute the exponential of.
+ * @return The resultant matrix.
+ */
+ @SuppressWarnings({"LocalVariableName", "LineLength"})
+ public static SimpleMatrix expm(SimpleMatrix matrix) {
+ BiFunction<SimpleMatrix, SimpleMatrix, SimpleMatrix> solveProvider = SimpleBase::solve;
+ SimpleMatrix A = matrix;
+ double A_L1 = NormOps_DDRM.inducedP1(matrix.getDDRM());
+ int n_squarings = 0;
+
+ if (A_L1 < 1.495585217958292e-002) {
+ Pair<SimpleMatrix, SimpleMatrix> pair = _pade3(A);
+ return dispatchPade(pair.getFirst(), pair.getSecond(), n_squarings, solveProvider);
+ } else if (A_L1 < 2.539398330063230e-001) {
+ Pair<SimpleMatrix, SimpleMatrix> pair = _pade5(A);
+ return dispatchPade(pair.getFirst(), pair.getSecond(), n_squarings, solveProvider);
+ } else if (A_L1 < 9.504178996162932e-001) {
+ Pair<SimpleMatrix, SimpleMatrix> pair = _pade7(A);
+ return dispatchPade(pair.getFirst(), pair.getSecond(), n_squarings, solveProvider);
+ } else if (A_L1 < 2.097847961257068e+000) {
+ Pair<SimpleMatrix, SimpleMatrix> pair = _pade9(A);
+ return dispatchPade(pair.getFirst(), pair.getSecond(), n_squarings, solveProvider);
+ } else {
+ double maxNorm = 5.371920351148152;
+ double log = Math.log(A_L1 / maxNorm) / Math.log(2); // logb(2, arg)
+ n_squarings = (int) Math.max(0, Math.ceil(log));
+ A = A.divide(Math.pow(2.0, n_squarings));
+ Pair<SimpleMatrix, SimpleMatrix> pair = _pade13(A);
+ return dispatchPade(pair.getFirst(), pair.getSecond(), n_squarings, solveProvider);
+ }
+ }
+
+ @SuppressWarnings({"LocalVariableName", "ParameterName", "LineLength"})
+ private static SimpleMatrix dispatchPade(SimpleMatrix U, SimpleMatrix V,
+ int nSquarings, BiFunction<SimpleMatrix, SimpleMatrix, SimpleMatrix> solveProvider) {
+ SimpleMatrix P = U.plus(V);
+ SimpleMatrix Q = U.negative().plus(V);
+
+ SimpleMatrix R = solveProvider.apply(Q, P);
+
+ for (int i = 0; i < nSquarings; i++) {
+ R = R.mult(R);
+ }
+
+ return R;
+ }
+
+ @SuppressWarnings({"MethodName", "LocalVariableName", "ParameterName"})
+ private static Pair<SimpleMatrix, SimpleMatrix> _pade3(SimpleMatrix A) {
+ double[] b = new double[]{120, 60, 12, 1};
+ SimpleMatrix ident = eye(A.numRows(), A.numCols());
+
+ SimpleMatrix A2 = A.mult(A);
+ SimpleMatrix U = A.mult(A2.mult(ident.scale(b[1]).plus(b[3])));
+ SimpleMatrix V = A2.scale(b[2]).plus(ident.scale(b[0]));
+ return new Pair<>(U, V);
+ }
+
+ @SuppressWarnings({"MethodName", "LocalVariableName", "ParameterName"})
+ private static Pair<SimpleMatrix, SimpleMatrix> _pade5(SimpleMatrix A) {
+ double[] b = new double[]{30240, 15120, 3360, 420, 30, 1};
+ SimpleMatrix ident = eye(A.numRows(), A.numCols());
+ SimpleMatrix A2 = A.mult(A);
+ SimpleMatrix A4 = A2.mult(A2);
+
+ SimpleMatrix U = A.mult(A4.scale(b[5]).plus(A2.scale(b[3])).plus(ident.scale(b[1])));
+ SimpleMatrix V = A4.scale(b[4]).plus(A2.scale(b[2])).plus(ident.scale(b[0]));
+
+ return new Pair<>(U, V);
+ }
+
+ @SuppressWarnings({"MethodName", "LocalVariableName", "LineLength", "ParameterName"})
+ private static Pair<SimpleMatrix, SimpleMatrix> _pade7(SimpleMatrix A) {
+ double[] b = new double[]{17297280, 8648640, 1995840, 277200, 25200, 1512, 56, 1};
+ SimpleMatrix ident = eye(A.numRows(), A.numCols());
+ SimpleMatrix A2 = A.mult(A);
+ SimpleMatrix A4 = A2.mult(A2);
+ SimpleMatrix A6 = A4.mult(A2);
+
+ SimpleMatrix U = A.mult(A6.scale(b[7]).plus(A4.scale(b[5])).plus(A2.scale(b[3])).plus(ident.scale(b[1])));
+ SimpleMatrix V = A6.scale(b[6]).plus(A4.scale(b[4])).plus(A2.scale(b[2])).plus(ident.scale(b[0]));
+
+ return new Pair<>(U, V);
+ }
+
+ @SuppressWarnings({"MethodName", "LocalVariableName", "ParameterName", "LineLength"})
+ private static Pair<SimpleMatrix, SimpleMatrix> _pade9(SimpleMatrix A) {
+ double[] b = new double[]{17643225600.0, 8821612800.0, 2075673600, 302702400, 30270240,
+ 2162160, 110880, 3960, 90, 1};
+ SimpleMatrix ident = eye(A.numRows(), A.numCols());
+ SimpleMatrix A2 = A.mult(A);
+ SimpleMatrix A4 = A2.mult(A2);
+ SimpleMatrix A6 = A4.mult(A2);
+ SimpleMatrix A8 = A6.mult(A2);
+
+ SimpleMatrix U = A.mult(A8.scale(b[9]).plus(A6.scale(b[7])).plus(A4.scale(b[5])).plus(A2.scale(b[3])).plus(ident.scale(b[1])));
+ SimpleMatrix V = A8.scale(b[8]).plus(A6.scale(b[6])).plus(A4.scale(b[4])).plus(A2.scale(b[2])).plus(ident.scale(b[0]));
+
+ return new Pair<>(U, V);
+ }
+
+ @SuppressWarnings({"MethodName", "LocalVariableName", "LineLength", "ParameterName"})
+ private static Pair<SimpleMatrix, SimpleMatrix> _pade13(SimpleMatrix A) {
+ double[] b = new double[]{64764752532480000.0, 32382376266240000.0, 7771770303897600.0,
+ 1187353796428800.0, 129060195264000.0, 10559470521600.0, 670442572800.0,
+ 33522128640.0, 1323241920, 40840800, 960960, 16380, 182, 1};
+ SimpleMatrix ident = eye(A.numRows(), A.numCols());
+
+ SimpleMatrix A2 = A.mult(A);
+ SimpleMatrix A4 = A2.mult(A2);
+ SimpleMatrix A6 = A4.mult(A2);
+
+ SimpleMatrix U = A.mult(A6.scale(b[13]).plus(A4.scale(b[11])).plus(A2.scale(b[9])).plus(A6.scale(b[7])).plus(A4.scale(b[5])).plus(A2.scale(b[3])).plus(ident.scale(b[1])));
+ SimpleMatrix V = A6.mult(A6.scale(b[12]).plus(A4.scale(b[10])).plus(A2.scale(b[8]))).plus(A6.scale(b[6]).plus(A4.scale(b[4])).plus(A2.scale(b[2])).plus(ident.scale(b[0])));
+
+ return new Pair<>(U, V);
+ }
+
+ private static SimpleMatrix eye(int rows, int cols) {
+ return SimpleMatrix.identity(Math.min(rows, cols));
+ }
+
+ private static class Pair<A, B> {
+ private final A m_first;
+ private final B m_second;
+
+ Pair(A first, B second) {
+ m_first = first;
+ m_second = second;
+ }
+
+ public A getFirst() {
+ return m_first;
+ }
+
+ public B getSecond() {
+ return m_second;
+ }
+ }
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/math/VecBuilder.java b/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/math/VecBuilder.java
new file mode 100644
index 0000000..deaaa41
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/math/VecBuilder.java
@@ -0,0 +1,21 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpiutil.math;
+
+import edu.wpi.first.wpiutil.math.numbers.N1;
+
+/**
+ * A specialization of {@link MatBuilder} for constructing vectors (Nx1 matrices).
+ *
+ * @param <N> The dimension of the vector to be constructed.
+ */
+public class VecBuilder<N extends Num> extends MatBuilder<N, N1> {
+ public VecBuilder(Nat<N> rows) {
+ super(rows, Nat.N1());
+ }
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/net/PortForwarder.java b/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/net/PortForwarder.java
new file mode 100644
index 0000000..4fbdbf5
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/java/edu/wpi/first/wpiutil/net/PortForwarder.java
@@ -0,0 +1,41 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpiutil.net;
+
+import edu.wpi.first.wpiutil.WPIUtilJNI;
+
+/**
+ * Forward ports to another host. This is primarily useful for accessing
+ * Ethernet-connected devices from a computer tethered to the RoboRIO USB port.
+ */
+public final class PortForwarder {
+ private PortForwarder() {
+ throw new UnsupportedOperationException("This is a utility class!");
+ }
+
+ /**
+ * Forward a local TCP port to a remote host and port.
+ * Note that local ports less than 1024 won't work as a normal user.
+ *
+ * @param port local port number
+ * @param remoteHost remote IP address / DNS name
+ * @param remotePort remote port number
+ */
+ public static void add(int port, String remoteHost, int remotePort) {
+ WPIUtilJNI.addPortForwarder(port, remoteHost, remotePort);
+ }
+
+ /**
+ * Stop TCP forwarding on a port.
+ *
+ * @param port local port number
+ */
+ public static void remove(int port) {
+ WPIUtilJNI.removePortForwarder(port);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/EventLoopRunner.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/EventLoopRunner.cpp
index b885385..1c54bdf 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/EventLoopRunner.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/EventLoopRunner.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -49,7 +49,10 @@
void EventLoopRunner::Stop() {
ExecAsync([](uv::Loop& loop) {
// close all handles; this will (eventually) stop the loop
- loop.Walk([](uv::Handle& h) { h.Close(); });
+ loop.Walk([](uv::Handle& h) {
+ h.SetLoopClosing(true);
+ h.Close();
+ });
});
m_owner.Join();
}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/HttpServerConnection.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/HttpServerConnection.cpp
index 9e65691..0308e8c 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/HttpServerConnection.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/HttpServerConnection.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -77,7 +77,7 @@
void HttpServerConnection::SendData(ArrayRef<uv::Buffer> bufs,
bool closeAfter) {
- m_stream.Write(bufs, [ closeAfter, stream = &m_stream ](
+ m_stream.Write(bufs, [closeAfter, stream = &m_stream](
MutableArrayRef<uv::Buffer> bufs, uv::Error) {
for (auto&& buf : bufs) buf.Deallocate();
if (closeAfter) stream->Close();
@@ -113,7 +113,7 @@
// can send content without copying
bufs.emplace_back(content);
- m_stream.Write(bufs, [ closeAfter = !m_keepAlive, stream = &m_stream ](
+ m_stream.Write(bufs, [closeAfter = !m_keepAlive, stream = &m_stream](
MutableArrayRef<uv::Buffer> bufs, uv::Error) {
// don't deallocate the static content
for (auto&& buf : bufs.drop_back()) buf.Deallocate();
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/PortForwarder.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/PortForwarder.cpp
new file mode 100644
index 0000000..fe54b63
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/PortForwarder.cpp
@@ -0,0 +1,150 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "wpi/PortForwarder.h"
+
+#include "wpi/DenseMap.h"
+#include "wpi/EventLoopRunner.h"
+#include "wpi/SmallString.h"
+#include "wpi/raw_ostream.h"
+#include "wpi/uv/GetAddrInfo.h"
+#include "wpi/uv/Tcp.h"
+#include "wpi/uv/Timer.h"
+
+using namespace wpi;
+
+struct PortForwarder::Impl {
+ public:
+ EventLoopRunner runner;
+ DenseMap<unsigned int, std::weak_ptr<uv::Tcp>> servers;
+};
+
+PortForwarder::PortForwarder() : m_impl{new Impl} {}
+
+PortForwarder& PortForwarder::GetInstance() {
+ static PortForwarder instance;
+ return instance;
+}
+
+static void CopyStream(uv::Stream& in, std::weak_ptr<uv::Stream> outWeak) {
+ in.data.connect([&in, outWeak](uv::Buffer& buf, size_t len) {
+ uv::Buffer buf2 = buf.Dup();
+ buf2.len = len;
+ auto out = outWeak.lock();
+ if (!out) {
+ in.Close();
+ return;
+ }
+ out->Write(buf2, [](auto bufs, uv::Error) {
+ for (auto buf : bufs) buf.Deallocate();
+ });
+ });
+}
+
+void PortForwarder::Add(unsigned int port, const Twine& remoteHost,
+ unsigned int remotePort) {
+ m_impl->runner.ExecSync([&](uv::Loop& loop) {
+ auto server = uv::Tcp::Create(loop);
+
+ // bind to local port
+ server->Bind("", port);
+
+ // when we get a connection, accept it
+ server->connection.connect([serverPtr = server.get(),
+ host = remoteHost.str(), remotePort] {
+ auto& loop = serverPtr->GetLoopRef();
+ auto client = serverPtr->Accept();
+ if (!client) return;
+
+ // close on error
+ client->error.connect(
+ [clientPtr = client.get()](uv::Error err) { clientPtr->Close(); });
+
+ // connected flag
+ auto connected = std::make_shared<bool>(false);
+ client->SetData(connected);
+
+ auto remote = uv::Tcp::Create(loop);
+ remote->error.connect(
+ [remotePtr = remote.get(),
+ clientWeak = std::weak_ptr<uv::Tcp>(client)](uv::Error err) {
+ remotePtr->Close();
+ if (auto client = clientWeak.lock()) client->Close();
+ });
+
+ // convert port to string
+ SmallString<16> remotePortStr;
+ raw_svector_ostream(remotePortStr) << remotePort;
+
+ // resolve address
+ uv::GetAddrInfo(
+ loop,
+ [clientWeak = std::weak_ptr<uv::Tcp>(client),
+ remoteWeak = std::weak_ptr<uv::Tcp>(remote)](const addrinfo& addr) {
+ auto remote = remoteWeak.lock();
+ if (!remote) return;
+
+ // connect to remote address/port
+ remote->Connect(*addr.ai_addr, [remotePtr = remote.get(),
+ remoteWeak, clientWeak] {
+ auto client = clientWeak.lock();
+ if (!client) {
+ remotePtr->Close();
+ return;
+ }
+ *(client->GetData<bool>()) = true;
+
+ // close both when either side closes
+ client->end.connect([clientPtr = client.get(), remoteWeak] {
+ clientPtr->Close();
+ if (auto remote = remoteWeak.lock()) remote->Close();
+ });
+ remotePtr->end.connect([remotePtr, clientWeak] {
+ remotePtr->Close();
+ if (auto client = clientWeak.lock()) client->Close();
+ });
+
+ // copy bidirectionally
+ client->StartRead();
+ remotePtr->StartRead();
+ CopyStream(*client, remoteWeak);
+ CopyStream(*remotePtr, clientWeak);
+ });
+ },
+ host, remotePortStr);
+
+ // time out for connection
+ uv::Timer::SingleShot(loop, uv::Timer::Time{500},
+ [connectedWeak = std::weak_ptr<bool>(connected),
+ clientWeak = std::weak_ptr<uv::Tcp>(client),
+ remoteWeak = std::weak_ptr<uv::Tcp>(remote)] {
+ if (auto connected = connectedWeak.lock()) {
+ if (!*connected) {
+ if (auto client = clientWeak.lock())
+ client->Close();
+ if (auto remote = remoteWeak.lock())
+ remote->Close();
+ }
+ }
+ });
+ });
+
+ // start listening for incoming connections
+ server->Listen();
+
+ m_impl->servers[port] = server;
+ });
+}
+
+void PortForwarder::Remove(unsigned int port) {
+ m_impl->runner.ExecSync([&](uv::Loop& loop) {
+ if (auto server = m_impl->servers.lookup(port).lock()) {
+ server->Close();
+ m_impl->servers.erase(port);
+ }
+ });
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/SafeThread.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/SafeThread.cpp
index 52ac700..3a906bd 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/SafeThread.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/SafeThread.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -29,14 +29,15 @@
}
void detail::SafeThreadOwnerBase::Start(std::shared_ptr<SafeThread> thr) {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
if (auto thr = m_thread.lock()) return;
m_stdThread = std::thread([=] { thr->Main(); });
+ thr->m_threadId = m_stdThread.get_id();
m_thread = thr;
}
void detail::SafeThreadOwnerBase::Stop() {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
if (auto thr = m_thread.lock()) {
thr->m_active = false;
thr->m_cond.notify_all();
@@ -46,7 +47,7 @@
}
void detail::SafeThreadOwnerBase::Join() {
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
if (auto thr = m_thread.lock()) {
auto stdThread = std::move(m_stdThread);
m_thread.reset();
@@ -62,25 +63,24 @@
void detail::swap(SafeThreadOwnerBase& lhs, SafeThreadOwnerBase& rhs) noexcept {
using std::swap;
if (&lhs == &rhs) return;
- std::lock(lhs.m_mutex, rhs.m_mutex);
- std::lock_guard<wpi::mutex> lock_lhs(lhs.m_mutex, std::adopt_lock);
- std::lock_guard<wpi::mutex> lock_rhs(rhs.m_mutex, std::adopt_lock);
+ std::scoped_lock lock(lhs.m_mutex, rhs.m_mutex);
std::swap(lhs.m_stdThread, rhs.m_stdThread);
std::swap(lhs.m_thread, rhs.m_thread);
}
detail::SafeThreadOwnerBase::operator bool() const {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
return !m_thread.expired();
}
std::thread::native_handle_type
detail::SafeThreadOwnerBase::GetNativeThreadHandle() {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
return m_stdThread.native_handle();
}
-std::shared_ptr<SafeThread> detail::SafeThreadOwnerBase::GetThread() const {
- std::lock_guard<wpi::mutex> lock(m_mutex);
+std::shared_ptr<SafeThread> detail::SafeThreadOwnerBase::GetThreadSharedPtr()
+ const {
+ std::scoped_lock lock(m_mutex);
return m_thread.lock();
}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/TCPAcceptor.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/TCPAcceptor.cpp
index 0abf862..90d9496 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/TCPAcceptor.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/TCPAcceptor.cpp
@@ -27,6 +27,7 @@
#include <cstring>
#ifdef _WIN32
+#define _WINSOCK_DEPRECATED_NO_WARNINGS
#include <WinSock2.h>
#include <Ws2tcpip.h>
#pragma comment(lib, "Ws2_32.lib")
@@ -53,7 +54,7 @@
#ifdef _WIN32
WSAData wsaData;
WORD wVersionRequested = MAKEWORD(2, 2);
- WSAStartup(wVersionRequested, &wsaData);
+ (void)WSAStartup(wVersionRequested, &wsaData);
#endif
}
@@ -151,9 +152,7 @@
return;
address.sin_port = htons(m_port);
- fd_set sdset;
- struct timeval tv;
- int result = -1, valopt, sd = socket(AF_INET, SOCK_STREAM, 0);
+ int result = -1, sd = socket(AF_INET, SOCK_STREAM, 0);
if (sd < 0) return;
// Set socket to non-blocking
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/TCPConnector_parallel.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/TCPConnector_parallel.cpp
index e0a8a92..de8bc2c 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/TCPConnector_parallel.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/TCPConnector_parallel.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -74,7 +74,7 @@
// don't start a new worker if we had a previously still-active connection
// attempt to the same server
{
- std::lock_guard<wpi::mutex> lock(local->mtx);
+ std::scoped_lock lock(local->mtx);
if (local->active.count(active_tracker) > 0) continue; // already in set
}
@@ -85,7 +85,7 @@
if (!result->done) {
// add to global state
{
- std::lock_guard<wpi::mutex> lock(local->mtx);
+ std::scoped_lock lock(local->mtx);
local->active.insert(active_tracker);
}
@@ -95,13 +95,13 @@
// remove from global state
{
- std::lock_guard<wpi::mutex> lock(local->mtx);
+ std::scoped_lock lock(local->mtx);
local->active.erase(active_tracker);
}
// successful connection
if (stream) {
- std::lock_guard<wpi::mutex> lock(result->mtx);
+ std::scoped_lock lock(result->mtx);
if (!result->done.exchange(true)) result->stream = std::move(stream);
}
}
@@ -112,7 +112,7 @@
}
// wait for a result, timeout, or all finished
- std::unique_lock<wpi::mutex> lock(result->mtx);
+ std::unique_lock lock(result->mtx);
if (timeout == 0) {
result->cv.wait(
lock, [&] { return result->stream || result->count >= num_workers; });
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/WebSocket.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/WebSocket.cpp
index a38be20..82c83bb 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/WebSocket.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/WebSocket.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -228,7 +228,7 @@
});
// Start handshake timer if a timeout was specified
- if (options.handshakeTimeout != uv::Timer::Time::max()) {
+ if (options.handshakeTimeout != (uv::Timer::Time::max)()) {
auto timer = uv::Timer::Create(m_stream.GetLoopRef());
timer->timeout.connect(
[this]() { Terminate(1006, "connection timed out"); });
@@ -286,8 +286,9 @@
SmallVector<uv::Buffer, 4> bufs;
if (code != 1005) {
raw_uv_ostream os{bufs, 4096};
- os << ArrayRef<uint8_t>{static_cast<uint8_t>((code >> 8) & 0xff),
- static_cast<uint8_t>(code & 0xff)};
+ const uint8_t codeMsb[] = {static_cast<uint8_t>((code >> 8) & 0xff),
+ static_cast<uint8_t>(code & 0xff)};
+ os << ArrayRef<uint8_t>(codeMsb);
reason.print(os);
}
Send(kFlagFin | kOpClose, bufs, [](auto bufs, uv::Error) {
@@ -335,7 +336,7 @@
if (m_frameSize == UINT64_MAX) {
// Need at least two bytes to determine header length
if (m_header.size() < 2u) {
- size_t toCopy = std::min(2u - m_header.size(), data.size());
+ size_t toCopy = (std::min)(2u - m_header.size(), data.size());
m_header.append(data.bytes_begin(), data.bytes_begin() + toCopy);
data = data.drop_front(toCopy);
if (m_header.size() < 2u) return; // need more data
@@ -362,7 +363,7 @@
// Need to complete header to calculate message size
if (m_header.size() < m_headerSize) {
- size_t toCopy = std::min(m_headerSize - m_header.size(), data.size());
+ size_t toCopy = (std::min)(m_headerSize - m_header.size(), data.size());
m_header.append(data.bytes_begin(), data.bytes_begin() + toCopy);
data = data.drop_front(toCopy);
if (m_header.size() < m_headerSize) return; // need more data
@@ -394,7 +395,7 @@
if (m_frameSize != UINT64_MAX) {
size_t need = m_frameStart + m_frameSize - m_payload.size();
- size_t toCopy = std::min(need, data.size());
+ size_t toCopy = (std::min)(need, data.size());
m_payload.append(data.bytes_begin(), data.bytes_begin() + toCopy);
data = data.drop_front(toCopy);
need -= toCopy;
@@ -520,18 +521,20 @@
os << static_cast<unsigned char>((m_server ? 0x00 : kFlagMasking) | size);
} else if (size <= 0xffff) {
os << static_cast<unsigned char>((m_server ? 0x00 : kFlagMasking) | 126);
- os << ArrayRef<uint8_t>{static_cast<uint8_t>((size >> 8) & 0xff),
- static_cast<uint8_t>(size & 0xff)};
+ const uint8_t sizeMsb[] = {static_cast<uint8_t>((size >> 8) & 0xff),
+ static_cast<uint8_t>(size & 0xff)};
+ os << ArrayRef<uint8_t>(sizeMsb);
} else {
os << static_cast<unsigned char>((m_server ? 0x00 : kFlagMasking) | 127);
- os << ArrayRef<uint8_t>{static_cast<uint8_t>((size >> 56) & 0xff),
- static_cast<uint8_t>((size >> 48) & 0xff),
- static_cast<uint8_t>((size >> 40) & 0xff),
- static_cast<uint8_t>((size >> 32) & 0xff),
- static_cast<uint8_t>((size >> 24) & 0xff),
- static_cast<uint8_t>((size >> 16) & 0xff),
- static_cast<uint8_t>((size >> 8) & 0xff),
- static_cast<uint8_t>(size & 0xff)};
+ const uint8_t sizeMsb[] = {static_cast<uint8_t>((size >> 56) & 0xff),
+ static_cast<uint8_t>((size >> 48) & 0xff),
+ static_cast<uint8_t>((size >> 40) & 0xff),
+ static_cast<uint8_t>((size >> 32) & 0xff),
+ static_cast<uint8_t>((size >> 24) & 0xff),
+ static_cast<uint8_t>((size >> 16) & 0xff),
+ static_cast<uint8_t>((size >> 8) & 0xff),
+ static_cast<uint8_t>(size & 0xff)};
+ os << ArrayRef<uint8_t>(sizeMsb);
}
// clients need to mask the input data
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/WebSocketServer.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/WebSocketServer.cpp
index 3ad5e0e..056cb62 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/WebSocketServer.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/WebSocketServer.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -96,7 +96,7 @@
auto ws = m_helper.Accept(m_stream, protocol);
// Connect the websocket open event to our connected event.
- ws->open.connect_extended([ self, s = ws.get() ](auto conn, StringRef) {
+ ws->open.connect_extended([self, s = ws.get()](auto conn, StringRef) {
self->connected(self->m_req.GetUrl(), *s);
conn.disconnect(); // one-shot
});
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/future.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/future.cpp
index fb31658..7ce0875 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/future.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/future.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -16,12 +16,12 @@
}
void PromiseFactoryBase::IgnoreResult(uint64_t request) {
- std::unique_lock<wpi::mutex> lock(m_resultMutex);
+ std::unique_lock lock(m_resultMutex);
EraseRequest(request);
}
uint64_t PromiseFactoryBase::CreateRequest() {
- std::unique_lock<wpi::mutex> lock(m_resultMutex);
+ std::unique_lock lock(m_resultMutex);
uint64_t req = ++m_uid;
m_requests.push_back(req);
return req;
@@ -39,14 +39,14 @@
} // namespace detail
future<void> PromiseFactory<void>::MakeReadyFuture() {
- std::unique_lock<wpi::mutex> lock(GetResultMutex());
+ std::unique_lock lock(GetResultMutex());
uint64_t req = CreateErasedRequest();
m_results.emplace_back(req);
return future<void>{this, req};
}
void PromiseFactory<void>::SetValue(uint64_t request) {
- std::unique_lock<wpi::mutex> lock(GetResultMutex());
+ std::unique_lock lock(GetResultMutex());
if (!EraseRequest(request)) return;
auto it = std::find_if(m_thens.begin(), m_thens.end(),
[=](const auto& x) { return x.request == request; });
@@ -63,7 +63,7 @@
void PromiseFactory<void>::SetThen(uint64_t request, uint64_t outRequest,
ThenFunction func) {
- std::unique_lock<wpi::mutex> lock(GetResultMutex());
+ std::unique_lock lock(GetResultMutex());
auto it = std::find_if(m_results.begin(), m_results.end(),
[=](const auto& r) { return r == request; });
if (it != m_results.end()) {
@@ -75,7 +75,7 @@
}
bool PromiseFactory<void>::IsReady(uint64_t request) noexcept {
- std::unique_lock<wpi::mutex> lock(GetResultMutex());
+ std::unique_lock lock(GetResultMutex());
auto it = std::find_if(m_results.begin(), m_results.end(),
[=](const auto& r) { return r == request; });
return it != m_results.end();
@@ -83,7 +83,7 @@
void PromiseFactory<void>::GetResult(uint64_t request) {
// wait for response
- std::unique_lock<wpi::mutex> lock(GetResultMutex());
+ std::unique_lock lock(GetResultMutex());
while (IsActive()) {
// Did we get a response to *our* request?
auto it = std::find_if(m_results.begin(), m_results.end(),
@@ -100,7 +100,7 @@
void PromiseFactory<void>::WaitResult(uint64_t request) {
// wait for response
- std::unique_lock<wpi::mutex> lock(GetResultMutex());
+ std::unique_lock lock(GetResultMutex());
while (IsActive()) {
// Did we get a response to *our* request?
auto it = std::find_if(m_results.begin(), m_results.end(),
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/http_parser.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/http_parser.cpp
index 0900219..fb56010 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/http_parser.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/http_parser.cpp
@@ -25,6 +25,10 @@
#include <string.h>
#include <limits.h>
+#ifdef _WIN32
+#pragma warning(disable : 4018 26451)
+#endif
+
#ifndef ULLONG_MAX
# define ULLONG_MAX ((uint64_t) -1) /* 2^64-1 */
#endif
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/jni/WPIUtilJNI.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/jni/WPIUtilJNI.cpp
new file mode 100644
index 0000000..c14b3f4
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/jni/WPIUtilJNI.cpp
@@ -0,0 +1,54 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <jni.h>
+
+#include "edu_wpi_first_wpiutil_WPIUtilJNI.h"
+#include "wpi/PortForwarder.h"
+#include "wpi/jni_util.h"
+
+using namespace wpi::java;
+
+extern "C" {
+
+JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM* vm, void* reserved) {
+ JNIEnv* env;
+ if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK)
+ return JNI_ERR;
+
+ return JNI_VERSION_1_6;
+}
+
+JNIEXPORT void JNICALL JNI_OnUnload(JavaVM* vm, void* reserved) {}
+
+/*
+ * Class: edu_wpi_first_wpiutil_WPIUtilJNI
+ * Method: addPortForwarder
+ * Signature: (ILjava/lang/String;I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpiutil_WPIUtilJNI_addPortForwarder
+ (JNIEnv* env, jclass, jint port, jstring remoteHost, jint remotePort)
+{
+ wpi::PortForwarder::GetInstance().Add(static_cast<unsigned int>(port),
+ JStringRef{env, remoteHost}.str(),
+ static_cast<unsigned int>(remotePort));
+}
+
+/*
+ * Class: edu_wpi_first_wpiutil_WPIUtilJNI
+ * Method: removePortForwarder
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpiutil_WPIUtilJNI_removePortForwarder
+ (JNIEnv* env, jclass, jint port)
+{
+ wpi::PortForwarder::GetInstance().Remove(port);
+}
+
+} // extern "C"
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/json.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/json.cpp
index 9becfdd..ba9cd8e 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/json.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/json.cpp
@@ -142,24 +142,24 @@
case value_t::object:
{
std::allocator<object_t> alloc;
- alloc.destroy(object);
- alloc.deallocate(object, 1);
+ std::allocator_traits<decltype(alloc)>::destroy(alloc, object);
+ std::allocator_traits<decltype(alloc)>::deallocate(alloc, object, 1);
break;
}
case value_t::array:
{
std::allocator<array_t> alloc;
- alloc.destroy(array);
- alloc.deallocate(array, 1);
+ std::allocator_traits<decltype(alloc)>::destroy(alloc, array);
+ std::allocator_traits<decltype(alloc)>::deallocate(alloc, array, 1);
break;
}
case value_t::string:
{
std::allocator<std::string> alloc;
- alloc.destroy(string);
- alloc.deallocate(string, 1);
+ std::allocator_traits<decltype(alloc)>::destroy(alloc, string);
+ std::allocator_traits<decltype(alloc)>::deallocate(alloc, string, 1);
break;
}
@@ -621,8 +621,8 @@
case value_t::object:
{
- // delegate call to std::allocator<json>::max_size()
- return std::allocator<json>().max_size();
+ // delegate call to std::allocator<object_t>::max_size()
+ return std::allocator_traits<object_t>::max_size(*m_value.object);
}
default:
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/json_binary_writer.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/json_binary_writer.cpp
index 75c39aa..2c0bbee 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/json_binary_writer.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/json_binary_writer.cpp
@@ -956,7 +956,7 @@
case value_t::number_unsigned:
{
- if (j.m_value.number_unsigned <= (std::numeric_limits<int8_t>::max)())
+ if (j.m_value.number_unsigned <= static_cast<uint64_t>((std::numeric_limits<int8_t>::max)()))
{
return 'i';
}
@@ -964,11 +964,11 @@
{
return 'U';
}
- else if (j.m_value.number_unsigned <= (std::numeric_limits<int16_t>::max)())
+ else if (j.m_value.number_unsigned <= static_cast<uint64_t>((std::numeric_limits<int16_t>::max)()))
{
return 'I';
}
- else if (j.m_value.number_unsigned <= (std::numeric_limits<int32_t>::max)())
+ else if (j.m_value.number_unsigned <= static_cast<uint64_t>((std::numeric_limits<int32_t>::max)()))
{
return 'l';
}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/json_serializer.h b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/json_serializer.h
index a9b36d2..6983920 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/json_serializer.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/json_serializer.h
@@ -52,10 +52,8 @@
@param[in] ichar indentation character to use
*/
serializer(raw_ostream& s, const char ichar)
- : o(s), loc(std::localeconv()),
- thousands_sep(loc->thousands_sep == nullptr ? '\0' : * (loc->thousands_sep)),
- decimal_point(loc->decimal_point == nullptr ? '\0' : * (loc->decimal_point)),
- indent_char(ichar), indent_string(512, indent_char)
+ : o(s), loc(std::localeconv()), indent_char(ichar),
+ indent_string(512, indent_char)
{}
// delete because of pointer members
@@ -189,13 +187,6 @@
/// the locale
const std::lconv* loc = nullptr;
- /// the locale's thousand separator character
- const char thousands_sep = '\0';
- /// the locale's decimal point character
- const char decimal_point = '\0';
-
- /// string buffer
- std::array<char, 512> string_buffer{{}};
/// the indentation character
const char indent_char;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/ConvertUTF.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/ConvertUTF.cpp
index bf51c36..abe3744 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/ConvertUTF.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/ConvertUTF.cpp
@@ -8,9 +8,9 @@
*===------------------------------------------------------------------------=*/
/*
* Copyright 2001-2004 Unicode, Inc.
- *
+ *
* Disclaimer
- *
+ *
* This source code is provided as is by Unicode, Inc. No claims are
* made as to fitness for any particular purpose. No warranties of any
* kind are expressed or implied. The recipient agrees to determine
@@ -18,9 +18,9 @@
* purchased on magnetic or optical media from Unicode, Inc., the
* sole remedy for any claim will be exchange of defective media
* within 90 days of receipt.
- *
+ *
* Limitations on Rights to Redistribute This Code
- *
+ *
* Unicode, Inc. hereby grants the right to freely use the information
* supplied in this file in the creation of products supporting the
* Unicode Standard, and to make copies of this file in any form
@@ -117,7 +117,7 @@
* This table contains as many values as there might be trailing bytes
* in a UTF-8 sequence.
*/
-static const UTF32 offsetsFromUTF8[6] = { 0x00000000UL, 0x00003080UL, 0x000E2080UL,
+static const UTF32 offsetsFromUTF8[6] = { 0x00000000UL, 0x00003080UL, 0x000E2080UL,
0x03C82080UL, 0xFA082080UL, 0x82082080UL };
/*
@@ -143,7 +143,7 @@
/* --------------------------------------------------------------------- */
ConversionResult ConvertUTF32toUTF16 (
- const UTF32** sourceStart, const UTF32* sourceEnd,
+ const UTF32** sourceStart, const UTF32* sourceEnd,
UTF16** targetStart, UTF16* targetEnd, ConversionFlags flags) {
ConversionResult result = conversionOK;
const UTF32* source = *sourceStart;
@@ -192,7 +192,7 @@
/* --------------------------------------------------------------------- */
ConversionResult ConvertUTF16toUTF32 (
- const UTF16** sourceStart, const UTF16* sourceEnd,
+ const UTF16** sourceStart, const UTF16* sourceEnd,
UTF32** targetStart, UTF32* targetEnd, ConversionFlags flags) {
ConversionResult result = conversionOK;
const UTF16* source = *sourceStart;
@@ -246,7 +246,7 @@
return result;
}
ConversionResult ConvertUTF16toUTF8 (
- const UTF16** sourceStart, const UTF16* sourceEnd,
+ const UTF16** sourceStart, const UTF16* sourceEnd,
UTF8** targetStart, UTF8* targetEnd, ConversionFlags flags) {
ConversionResult result = conversionOK;
const UTF16* source = *sourceStart;
@@ -255,7 +255,7 @@
UTF32 ch;
unsigned short bytesToWrite = 0;
const UTF32 byteMask = 0xBF;
- const UTF32 byteMark = 0x80;
+ const UTF32 byteMark = 0x80;
const UTF16* oldSource = source; /* In case we have to back up because of target overflow. */
ch = *source++;
/* If we have a surrogate pair, convert to UTF32 first. */
@@ -316,7 +316,7 @@
/* --------------------------------------------------------------------- */
ConversionResult ConvertUTF32toUTF8 (
- const UTF32** sourceStart, const UTF32* sourceEnd,
+ const UTF32** sourceStart, const UTF32* sourceEnd,
UTF8** targetStart, UTF8* targetEnd, ConversionFlags flags) {
ConversionResult result = conversionOK;
const UTF32* source = *sourceStart;
@@ -325,7 +325,7 @@
UTF32 ch;
unsigned short bytesToWrite = 0;
const UTF32 byteMask = 0xBF;
- const UTF32 byteMark = 0x80;
+ const UTF32 byteMark = 0x80;
ch = *source++;
if (flags == strictConversion ) {
/* UTF-16 surrogate values are illegal in UTF-32 */
@@ -347,7 +347,7 @@
ch = UNI_REPLACEMENT_CHAR;
result = sourceIllegal;
}
-
+
target += bytesToWrite;
if (target > targetEnd) {
--source; /* Back up source pointer! */
@@ -540,7 +540,7 @@
/* --------------------------------------------------------------------- */
ConversionResult ConvertUTF8toUTF16 (
- const UTF8** sourceStart, const UTF8* sourceEnd,
+ const UTF8** sourceStart, const UTF8* sourceEnd,
UTF16** targetStart, UTF16* targetEnd, ConversionFlags flags) {
ConversionResult result = conversionOK;
const UTF8* source = *sourceStart;
@@ -613,7 +613,7 @@
/* --------------------------------------------------------------------- */
static ConversionResult ConvertUTF8toUTF32Impl(
- const UTF8** sourceStart, const UTF8* sourceEnd,
+ const UTF8** sourceStart, const UTF8* sourceEnd,
UTF32** targetStart, UTF32* targetEnd, ConversionFlags flags,
Boolean InputIsPartial) {
ConversionResult result = conversionOK;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/Error.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/Error.cpp
new file mode 100644
index 0000000..7bf9c5f
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/Error.cpp
@@ -0,0 +1,138 @@
+//===----- lib/Support/Error.cpp - Error and associated utilities ---------===//
+//
+// The LLVM Compiler Infrastructure
+//
+// This file is distributed under the University of Illinois Open Source
+// License. See LICENSE.TXT for details.
+//
+//===----------------------------------------------------------------------===//
+
+#include "wpi/Error.h"
+#include "wpi/Twine.h"
+#include "wpi/ErrorHandling.h"
+#include "wpi/ManagedStatic.h"
+#include <system_error>
+
+using namespace wpi;
+
+namespace {
+
+ enum class ErrorErrorCode : int {
+ MultipleErrors = 1,
+ FileError,
+ InconvertibleError
+ };
+
+ // FIXME: This class is only here to support the transition to wpi::Error. It
+ // will be removed once this transition is complete. Clients should prefer to
+ // deal with the Error value directly, rather than converting to error_code.
+ class ErrorErrorCategory : public std::error_category {
+ public:
+ const char *name() const noexcept override { return "Error"; }
+
+ std::string message(int condition) const override {
+ switch (static_cast<ErrorErrorCode>(condition)) {
+ case ErrorErrorCode::MultipleErrors:
+ return "Multiple errors";
+ case ErrorErrorCode::InconvertibleError:
+ return "Inconvertible error value. An error has occurred that could "
+ "not be converted to a known std::error_code. Please file a "
+ "bug.";
+ case ErrorErrorCode::FileError:
+ return "A file error occurred.";
+ }
+ wpi_unreachable("Unhandled error code");
+ }
+ };
+
+}
+
+static ManagedStatic<ErrorErrorCategory> ErrorErrorCat;
+
+namespace wpi {
+
+void ErrorInfoBase::anchor() {}
+char ErrorInfoBase::ID = 0;
+char ErrorList::ID = 0;
+void ECError::anchor() {}
+char ECError::ID = 0;
+char StringError::ID = 0;
+char FileError::ID = 0;
+
+void logAllUnhandledErrors(Error E, raw_ostream &OS, Twine ErrorBanner) {
+ if (!E)
+ return;
+ OS << ErrorBanner;
+ handleAllErrors(std::move(E), [&](const ErrorInfoBase &EI) {
+ EI.log(OS);
+ OS << "\n";
+ });
+}
+
+
+std::error_code ErrorList::convertToErrorCode() const {
+ return std::error_code(static_cast<int>(ErrorErrorCode::MultipleErrors),
+ *ErrorErrorCat);
+}
+
+std::error_code inconvertibleErrorCode() {
+ return std::error_code(static_cast<int>(ErrorErrorCode::InconvertibleError),
+ *ErrorErrorCat);
+}
+
+std::error_code FileError::convertToErrorCode() const {
+ return std::error_code(static_cast<int>(ErrorErrorCode::FileError),
+ *ErrorErrorCat);
+}
+
+Error errorCodeToError(std::error_code EC) {
+ if (!EC)
+ return Error::success();
+ return Error(std::make_unique<ECError>(ECError(EC)));
+}
+
+std::error_code errorToErrorCode(Error Err) {
+ std::error_code EC;
+ handleAllErrors(std::move(Err), [&](const ErrorInfoBase &EI) {
+ EC = EI.convertToErrorCode();
+ });
+ if (EC == inconvertibleErrorCode())
+ report_fatal_error(EC.message());
+ return EC;
+}
+
+StringError::StringError(std::error_code EC, const Twine &S)
+ : Msg(S.str()), EC(EC) {}
+
+StringError::StringError(const Twine &S, std::error_code EC)
+ : Msg(S.str()), EC(EC), PrintMsgOnly(true) {}
+
+void StringError::log(raw_ostream &OS) const {
+ if (PrintMsgOnly) {
+ OS << Msg;
+ } else {
+ OS << EC.message();
+ if (!Msg.empty())
+ OS << (" " + Msg);
+ }
+}
+
+std::error_code StringError::convertToErrorCode() const {
+ return EC;
+}
+
+Error createStringError(std::error_code EC, char const *Msg) {
+ return make_error<StringError>(Msg, EC);
+}
+
+void report_fatal_error(Error Err, bool GenCrashDiag) {
+ assert(Err && "report_fatal_error called with success value");
+ std::string ErrMsg;
+ {
+ raw_string_ostream ErrStream(ErrMsg);
+ logAllUnhandledErrors(std::move(Err), ErrStream);
+ }
+ report_fatal_error(ErrMsg);
+}
+
+} // end namespace wpi
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/ErrorHandling.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/ErrorHandling.cpp
index 088e805..ef79456 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/ErrorHandling.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/ErrorHandling.cpp
@@ -12,7 +12,191 @@
//
//===----------------------------------------------------------------------===//
+#include "wpi/ErrorHandling.h"
+#include "wpi/SmallVector.h"
+#include "wpi/Twine.h"
+#include "wpi/Error.h"
#include "wpi/WindowsError.h"
+#include "wpi/raw_ostream.h"
+#include <cassert>
+#include <cstdlib>
+#include <mutex>
+#include <new>
+
+#ifndef _WIN32
+#include <unistd.h>
+#endif
+
+#if defined(_MSC_VER)
+#include <io.h>
+#endif
+
+using namespace wpi;
+
+static fatal_error_handler_t ErrorHandler = nullptr;
+static void *ErrorHandlerUserData = nullptr;
+
+static fatal_error_handler_t BadAllocErrorHandler = nullptr;
+static void *BadAllocErrorHandlerUserData = nullptr;
+
+// Mutexes to synchronize installing error handlers and calling error handlers.
+// Do not use ManagedStatic, or that may allocate memory while attempting to
+// report an OOM.
+//
+// This usage of std::mutex has to be conditionalized behind ifdefs because
+// of this script:
+// compiler-rt/lib/sanitizer_common/symbolizer/scripts/build_symbolizer.sh
+// That script attempts to statically link the LLVM symbolizer library with the
+// STL and hide all of its symbols with 'opt -internalize'. To reduce size, it
+// cuts out the threading portions of the hermetic copy of libc++ that it
+// builds. We can remove these ifdefs if that script goes away.
+static std::mutex ErrorHandlerMutex;
+static std::mutex BadAllocErrorHandlerMutex;
+
+void wpi::install_fatal_error_handler(fatal_error_handler_t handler,
+ void *user_data) {
+ std::scoped_lock Lock(ErrorHandlerMutex);
+ assert(!ErrorHandler && "Error handler already registered!\n");
+ ErrorHandler = handler;
+ ErrorHandlerUserData = user_data;
+}
+
+void wpi::remove_fatal_error_handler() {
+ std::scoped_lock Lock(ErrorHandlerMutex);
+ ErrorHandler = nullptr;
+ ErrorHandlerUserData = nullptr;
+}
+
+void wpi::report_fatal_error(const char *Reason, bool GenCrashDiag) {
+ report_fatal_error(Twine(Reason), GenCrashDiag);
+}
+
+void wpi::report_fatal_error(const std::string &Reason, bool GenCrashDiag) {
+ report_fatal_error(Twine(Reason), GenCrashDiag);
+}
+
+void wpi::report_fatal_error(StringRef Reason, bool GenCrashDiag) {
+ report_fatal_error(Twine(Reason), GenCrashDiag);
+}
+
+void wpi::report_fatal_error(const Twine &Reason, bool GenCrashDiag) {
+ wpi::fatal_error_handler_t handler = nullptr;
+ void* handlerData = nullptr;
+ {
+ // Only acquire the mutex while reading the handler, so as not to invoke a
+ // user-supplied callback under a lock.
+ std::scoped_lock Lock(ErrorHandlerMutex);
+ handler = ErrorHandler;
+ handlerData = ErrorHandlerUserData;
+ }
+
+ if (handler) {
+ handler(handlerData, Reason.str(), GenCrashDiag);
+ } else {
+ // Blast the result out to stderr. We don't try hard to make sure this
+ // succeeds (e.g. handling EINTR) and we can't use errs() here because
+ // raw ostreams can call report_fatal_error.
+ SmallVector<char, 64> Buffer;
+ raw_svector_ostream OS(Buffer);
+ OS << "LLVM ERROR: " << Reason << "\n";
+ StringRef MessageStr = OS.str();
+#ifdef _WIN32
+ int written = ::_write(2, MessageStr.data(), MessageStr.size());
+#else
+ ssize_t written = ::write(2, MessageStr.data(), MessageStr.size());
+#endif
+ (void)written; // If something went wrong, we deliberately just give up.
+ }
+
+ exit(1);
+}
+
+void wpi::install_bad_alloc_error_handler(fatal_error_handler_t handler,
+ void *user_data) {
+ std::scoped_lock Lock(BadAllocErrorHandlerMutex);
+ assert(!ErrorHandler && "Bad alloc error handler already registered!\n");
+ BadAllocErrorHandler = handler;
+ BadAllocErrorHandlerUserData = user_data;
+}
+
+void wpi::remove_bad_alloc_error_handler() {
+ std::scoped_lock Lock(BadAllocErrorHandlerMutex);
+ BadAllocErrorHandler = nullptr;
+ BadAllocErrorHandlerUserData = nullptr;
+}
+
+void wpi::report_bad_alloc_error(const char *Reason, bool GenCrashDiag) {
+ fatal_error_handler_t Handler = nullptr;
+ void *HandlerData = nullptr;
+ {
+ // Only acquire the mutex while reading the handler, so as not to invoke a
+ // user-supplied callback under a lock.
+ std::scoped_lock Lock(BadAllocErrorHandlerMutex);
+ Handler = BadAllocErrorHandler;
+ HandlerData = BadAllocErrorHandlerUserData;
+ }
+
+ if (Handler) {
+ Handler(HandlerData, Reason, GenCrashDiag);
+ wpi_unreachable("bad alloc handler should not return");
+ }
+
+ // Don't call the normal error handler. It may allocate memory. Directly write
+ // an OOM to stderr and abort.
+ char OOMMessage[] = "LLVM ERROR: out of memory\n";
+#ifdef _WIN32
+ int written = ::_write(2, OOMMessage, strlen(OOMMessage));
+#else
+ ssize_t written = ::write(2, OOMMessage, strlen(OOMMessage));
+#endif
+ (void)written;
+ abort();
+}
+
+// Causes crash on allocation failure. It is called prior to the handler set by
+// 'install_bad_alloc_error_handler'.
+static void out_of_memory_new_handler() {
+ wpi::report_bad_alloc_error("Allocation failed");
+}
+
+// Installs new handler that causes crash on allocation failure. It does not
+// need to be called explicitly, if this file is linked to application, because
+// in this case it is called during construction of 'new_handler_installer'.
+void wpi::install_out_of_memory_new_handler() {
+ static bool out_of_memory_new_handler_installed = false;
+ if (!out_of_memory_new_handler_installed) {
+ std::set_new_handler(out_of_memory_new_handler);
+ out_of_memory_new_handler_installed = true;
+ }
+}
+
+// Static object that causes installation of 'out_of_memory_new_handler' before
+// execution of 'main'.
+static class NewHandlerInstaller {
+public:
+ NewHandlerInstaller() {
+ install_out_of_memory_new_handler();
+ }
+} new_handler_installer;
+
+void wpi::wpi_unreachable_internal(const char *msg, const char *file,
+ unsigned line) {
+ // This code intentionally doesn't call the ErrorHandler callback, because
+ // wpi_unreachable is intended to be used to indicate "impossible"
+ // situations, and not legitimate runtime errors.
+ if (msg)
+ errs() << msg << "\n";
+ errs() << "UNREACHABLE executed";
+ if (file)
+ errs() << " at " << file << ":" << line;
+ errs() << "!\n";
+ abort();
+#ifdef LLVM_BUILTIN_UNREACHABLE
+ // Windows systems and possibly others don't declare abort() to be noreturn,
+ // so use the unreachable builtin to avoid a Clang self-host warning.
+ LLVM_BUILTIN_UNREACHABLE;
+#endif
+}
#ifdef _WIN32
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/Hashing.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/Hashing.cpp
index 51c033e..e916751 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/Hashing.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/Hashing.cpp
@@ -20,10 +20,10 @@
// Provide a definition and static initializer for the fixed seed. This
// initializer should always be zero to ensure its value can never appear to be
// non-zero, even during dynamic initialization.
-size_t wpi::hashing::detail::fixed_seed_override = 0;
+uint64_t wpi::hashing::detail::fixed_seed_override = 0;
// Implement the function for forced setting of the fixed seed.
// FIXME: Use atomic operations here so that there is no data race.
-void wpi::set_fixed_execution_hash_seed(size_t fixed_value) {
+void wpi::set_fixed_execution_hash_seed(uint64_t fixed_value) {
hashing::detail::fixed_seed_override = fixed_value;
}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/ManagedStatic.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/ManagedStatic.cpp
new file mode 100644
index 0000000..0cfe58a
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/ManagedStatic.cpp
@@ -0,0 +1,72 @@
+//===-- ManagedStatic.cpp - Static Global wrapper -------------------------===//
+//
+// The LLVM Compiler Infrastructure
+//
+// This file is distributed under the University of Illinois Open Source
+// License. See LICENSE.TXT for details.
+//
+//===----------------------------------------------------------------------===//
+//
+// This file implements the ManagedStatic class and wpi_shutdown().
+//
+//===----------------------------------------------------------------------===//
+
+#include "wpi/ManagedStatic.h"
+#include "wpi/mutex.h"
+#include <cassert>
+#include <mutex>
+using namespace wpi;
+
+static const ManagedStaticBase *StaticList = nullptr;
+static wpi::mutex *ManagedStaticMutex = nullptr;
+static std::once_flag mutex_init_flag;
+
+static void initializeMutex() {
+ ManagedStaticMutex = new wpi::mutex();
+}
+
+static wpi::mutex* getManagedStaticMutex() {
+ std::call_once(mutex_init_flag, initializeMutex);
+ return ManagedStaticMutex;
+}
+
+void ManagedStaticBase::RegisterManagedStatic(void *(*Creator)(),
+ void (*Deleter)(void*)) const {
+ assert(Creator);
+ std::scoped_lock Lock(*getManagedStaticMutex());
+
+ if (!Ptr.load(std::memory_order_relaxed)) {
+ void *Tmp = Creator();
+
+ Ptr.store(Tmp, std::memory_order_release);
+ DeleterFn = Deleter;
+
+ // Add to list of managed statics.
+ Next = StaticList;
+ StaticList = this;
+ }
+}
+
+void ManagedStaticBase::destroy() const {
+ assert(DeleterFn && "ManagedStatic not initialized correctly!");
+ assert(StaticList == this &&
+ "Not destroyed in reverse order of construction?");
+ // Unlink from list.
+ StaticList = Next;
+ Next = nullptr;
+
+ // Destroy memory.
+ DeleterFn(Ptr);
+
+ // Cleanup.
+ Ptr = nullptr;
+ DeleterFn = nullptr;
+}
+
+/// wpi_shutdown - Deallocate and destroy all ManagedStatic variables.
+void wpi::wpi_shutdown() {
+ std::scoped_lock Lock(*getManagedStaticMutex());
+
+ while (StaticList)
+ StaticList->destroy();
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/NativeFormatting.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/NativeFormatting.cpp
index 41c43e2..985e269 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/NativeFormatting.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/NativeFormatting.cpp
@@ -132,7 +132,7 @@
}
void wpi::write_hex(raw_ostream &S, uint64_t N, HexPrintStyle Style,
- optional<size_t> Width) {
+ std::optional<size_t> Width) {
const size_t kMaxWidth = 128u;
size_t W = std::min(kMaxWidth, Width.value_or(0u));
@@ -162,7 +162,7 @@
}
void wpi::write_double(raw_ostream &S, double N, FloatStyle Style,
- optional<size_t> Precision) {
+ std::optional<size_t> Precision) {
size_t Prec = Precision.value_or(getDefaultPrecision(Style));
if (std::isnan(N)) {
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/Path.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/Path.cpp
index 12736b9..49f92d3 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/Path.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/Path.cpp
@@ -12,7 +12,12 @@
//===----------------------------------------------------------------------===//
#include "wpi/Path.h"
-
+#include "wpi/ArrayRef.h"
+#include "wpi/Endian.h"
+#include "wpi/Errc.h"
+#include "wpi/ErrorHandling.h"
+#include "wpi/FileSystem.h"
+#include "wpi/SmallString.h"
#include <cctype>
#include <cstring>
@@ -22,10 +27,8 @@
#include <io.h>
#endif
-#include "wpi/FileSystem.h"
-#include "wpi/SmallString.h"
-
using namespace wpi;
+using namespace wpi::support::endian;
namespace {
using wpi::StringRef;
@@ -444,7 +447,7 @@
// If prefixes have the same size we can simply copy the new one over.
if (OldPrefix.size() == NewPrefix.size()) {
- std::copy(NewPrefix.begin(), NewPrefix.end(), Path.begin());
+ wpi::copy(NewPrefix, Path.begin());
return;
}
@@ -674,9 +677,8 @@
return std::error_code();
}
-static std::error_code make_absolute(const Twine ¤t_directory,
- SmallVectorImpl<char> &path,
- bool use_current_directory) {
+void make_absolute(const Twine ¤t_directory,
+ SmallVectorImpl<char> &path) {
StringRef p(path.data(), path.size());
bool rootDirectory = path::has_root_directory(p);
@@ -685,14 +687,11 @@
// Already absolute.
if (rootName && rootDirectory)
- return std::error_code();
+ return;
// All of the following conditions will need the current directory.
SmallString<128> current_dir;
- if (use_current_directory)
- current_directory.toVector(current_dir);
- else if (std::error_code ec = current_path(current_dir))
- return ec;
+ current_directory.toVector(current_dir);
// Relative path. Prepend the current directory.
if (!rootName && !rootDirectory) {
@@ -700,7 +699,7 @@
path::append(current_dir, p);
// Set path to the result.
path.swap(current_dir);
- return std::error_code();
+ return;
}
if (!rootName && rootDirectory) {
@@ -709,7 +708,7 @@
path::append(curDirRootName, p);
// Set path to the result.
path.swap(curDirRootName);
- return std::error_code();
+ return;
}
if (rootName && !rootDirectory) {
@@ -721,21 +720,23 @@
SmallString<128> res;
path::append(res, pRootName, bRootDirectory, bRelativePath, pRelativePath);
path.swap(res);
- return std::error_code();
+ return;
}
- assert(false && "All rootName and rootDirectory combinations should have "
+ wpi_unreachable("All rootName and rootDirectory combinations should have "
"occurred above!");
- return std::error_code();
-}
-
-std::error_code make_absolute(const Twine ¤t_directory,
- SmallVectorImpl<char> &path) {
- return make_absolute(current_directory, path, true);
}
std::error_code make_absolute(SmallVectorImpl<char> &path) {
- return make_absolute(Twine(), path, false);
+ if (path::is_absolute(path))
+ return {};
+
+ SmallString<128> current_dir;
+ if (std::error_code ec = current_path(current_dir))
+ return ec;
+
+ make_absolute(current_dir, path);
+ return {};
}
bool exists(const basic_file_status &status) {
@@ -803,12 +804,13 @@
return std::error_code();
}
-void directory_entry::replace_filename(const Twine &filename,
- basic_file_status st) {
- SmallString<128> path = path::parent_path(Path);
- path::append(path, filename);
- Path = path.str();
- Status = st;
+void directory_entry::replace_filename(const Twine &Filename, file_type Type,
+ basic_file_status Status) {
+ SmallString<128> PathStr = path::parent_path(Path);
+ path::append(PathStr, Filename);
+ this->Path = PathStr.str();
+ this->Type = Type;
+ this->Status = Status;
}
ErrorOr<perms> getPermissions(const Twine &Path) {
@@ -829,20 +831,3 @@
#else
#include "Unix/Path.inc"
#endif
-
-namespace wpi {
-namespace sys {
-namespace path {
-
-bool user_cache_directory(SmallVectorImpl<char> &Result, const Twine &Path1,
- const Twine &Path2, const Twine &Path3) {
- if (getUserCacheDir(Result)) {
- append(Result, Path1, Path2, Path3);
- return true;
- }
- return false;
-}
-
-} // end namespace path
-} // end namsspace sys
-} // end namespace wpi
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/SmallPtrSet.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/SmallPtrSet.cpp
index f91b6eb..1dab1fc 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/SmallPtrSet.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/SmallPtrSet.cpp
@@ -15,7 +15,7 @@
#include "wpi/SmallPtrSet.h"
#include "wpi/DenseMapInfo.h"
#include "wpi/MathExtras.h"
-#include "wpi/memory.h"
+#include "wpi/ErrorHandling.h"
#include <algorithm>
#include <cassert>
#include <cstdlib>
@@ -32,7 +32,8 @@
NumNonEmpty = NumTombstones = 0;
// Install the new array. Clear all the buckets to empty.
- CurArray = (const void**)CheckedMalloc(sizeof(void*) * CurArraySize);
+ CurArray = (const void**)safe_malloc(sizeof(void*) * CurArraySize);
+
memset(CurArray, -1, CurArraySize*sizeof(void*));
}
@@ -96,7 +97,10 @@
bool WasSmall = isSmall();
// Install the new array. Clear all the buckets to empty.
- CurArray = (const void**) CheckedMalloc(sizeof(void*) * NewSize);
+ const void **NewBuckets = (const void**) safe_malloc(sizeof(void*) * NewSize);
+
+ // Reset member only if memory was allocated successfully
+ CurArray = NewBuckets;
CurArraySize = NewSize;
memset(CurArray, -1, NewSize*sizeof(void*));
@@ -123,7 +127,7 @@
CurArray = SmallArray;
// Otherwise, allocate new heap space (unless we were the same size)
} else {
- CurArray = (const void**)CheckedMalloc(sizeof(void*) * that.CurArraySize);
+ CurArray = (const void**)safe_malloc(sizeof(void*) * that.CurArraySize);
}
// Copy over the that array.
@@ -152,15 +156,12 @@
// Otherwise, allocate new heap space (unless we were the same size)
} else if (CurArraySize != RHS.CurArraySize) {
if (isSmall())
- CurArray = (const void**)malloc(sizeof(void*) * RHS.CurArraySize);
+ CurArray = (const void**)safe_malloc(sizeof(void*) * RHS.CurArraySize);
else {
- const void **T = (const void**)realloc(CurArray,
+ const void **T = (const void**)safe_realloc(CurArray,
sizeof(void*) * RHS.CurArraySize);
- if (!T)
- free(CurArray);
CurArray = T;
}
- assert(CurArray && "Failed to allocate memory?");
}
CopyHelper(RHS);
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/SmallVector.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/SmallVector.cpp
index faa5ba7..974fec9 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/SmallVector.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/SmallVector.cpp
@@ -12,30 +12,32 @@
//===----------------------------------------------------------------------===//
#include "wpi/SmallVector.h"
-#include "wpi/memory.h"
+#include "wpi/MemAlloc.h"
using namespace wpi;
/// grow_pod - This is an implementation of the grow() method which only works
/// on POD-like datatypes and is out of line to reduce code duplication.
-void SmallVectorBase::grow_pod(void *FirstEl, size_t MinSizeInBytes,
+void SmallVectorBase::grow_pod(void *FirstEl, size_t MinCapacity,
size_t TSize) {
- size_t CurSizeBytes = size_in_bytes();
- size_t NewCapacityInBytes = 2 * capacity_in_bytes() + TSize; // Always grow.
- if (NewCapacityInBytes < MinSizeInBytes)
- NewCapacityInBytes = MinSizeInBytes;
+ // Ensure we can fit the new capacity in 32 bits.
+ if (MinCapacity > UINT32_MAX)
+ report_bad_alloc_error("SmallVector capacity overflow during allocation");
+
+ size_t NewCapacity = 2 * capacity() + 1; // Always grow.
+ NewCapacity =
+ std::min(std::max(NewCapacity, MinCapacity), size_t(UINT32_MAX));
void *NewElts;
if (BeginX == FirstEl) {
- NewElts = CheckedMalloc(NewCapacityInBytes);
+ NewElts = safe_malloc(NewCapacity * TSize);
// Copy the elements over. No need to run dtors on PODs.
- memcpy(NewElts, this->BeginX, CurSizeBytes);
+ memcpy(NewElts, this->BeginX, size() * TSize);
} else {
// If this wasn't grown from the inline copy, grow the allocated space.
- NewElts = CheckedRealloc(this->BeginX, NewCapacityInBytes);
+ NewElts = safe_realloc(this->BeginX, NewCapacity * TSize);
}
- this->EndX = (char*)NewElts+CurSizeBytes;
this->BeginX = NewElts;
- this->CapacityX = (char*)this->BeginX + NewCapacityInBytes;
+ this->Capacity = NewCapacity;
}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/StringExtras.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/StringExtras.cpp
index 41c3305..e4bfe8a 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/StringExtras.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/StringExtras.cpp
@@ -58,16 +58,33 @@
}
}
-void wpi::PrintEscapedString(StringRef Name, raw_ostream &Out) {
+void wpi::printEscapedString(StringRef Name, raw_ostream &Out) {
for (unsigned i = 0, e = Name.size(); i != e; ++i) {
unsigned char C = Name[i];
- if (isprint(C) && C != '\\' && C != '"')
+ if (isPrint(C) && C != '\\' && C != '"')
Out << C;
else
Out << '\\' << hexdigit(C >> 4) << hexdigit(C & 0x0F);
}
}
+void wpi::printHTMLEscaped(StringRef String, raw_ostream &Out) {
+ for (char C : String) {
+ if (C == '&')
+ Out << "&";
+ else if (C == '<')
+ Out << "<";
+ else if (C == '>')
+ Out << ">";
+ else if (C == '\"')
+ Out << """;
+ else if (C == '\'')
+ Out << "'";
+ else
+ Out << C;
+ }
+}
+
void wpi::printLowerCase(StringRef String, raw_ostream &Out) {
for (const char C : String)
Out << toLower(C);
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/StringMap.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/StringMap.cpp
index ea91dbb..5c625c7 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/StringMap.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/StringMap.cpp
@@ -15,7 +15,6 @@
#include "wpi/StringExtras.h"
#include "wpi/Compiler.h"
#include "wpi/MathExtras.h"
-#include "wpi/memory.h"
#include <cassert>
using namespace wpi;
@@ -59,7 +58,7 @@
NumTombstones = 0;
TheTable = static_cast<StringMapEntryBase **>(
- CheckedCalloc(NewNumBuckets+1,
+ safe_calloc(NewNumBuckets+1,
sizeof(StringMapEntryBase **) + sizeof(unsigned)));
// Set the member only if TheTable was successfully allocated
@@ -129,7 +128,6 @@
}
}
-
/// FindKey - Look up the bucket that contains the specified key. If it exists
/// in the map, return the bucket number of the key. Otherwise return -1.
/// This does not modify the map.
@@ -219,7 +217,7 @@
// Allocate one extra bucket which will always be non-empty. This allows the
// iterators to stop at end.
auto NewTableArray = static_cast<StringMapEntryBase **>(
- CheckedCalloc(NewSize+1, sizeof(StringMapEntryBase *) + sizeof(unsigned)));
+ safe_calloc(NewSize+1, sizeof(StringMapEntryBase *) + sizeof(unsigned)));
unsigned *NewHashArray = (unsigned *)(NewTableArray + NewSize + 1);
NewTableArray[NewSize] = (StringMapEntryBase*)2;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/Unix/Path.inc b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/Unix/Path.inc
index a1ea5a1..b786813 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/Unix/Path.inc
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/Unix/Path.inc
@@ -16,25 +16,45 @@
//=== is guaranteed to work on *all* UNIX variants.
//===----------------------------------------------------------------------===//
+#include "wpi/Errno.h"
#include <fcntl.h>
#include <limits.h>
#include <stdio.h>
#include <stdlib.h>
#include <sys/stat.h>
#include <fcntl.h>
+#include <unistd.h>
+#include <sys/mman.h>
#include <dirent.h>
-#define NAMLEN(dirent) strlen((dirent)->d_name)
+#include <pwd.h>
#include <sys/param.h>
#include <sys/types.h>
#include <unistd.h>
+using namespace wpi;
+
namespace wpi {
namespace sys {
namespace fs {
+
+const file_t kInvalidFile = -1;
+
+TimePoint<> basic_file_status::getLastAccessedTime() const {
+ return toTimePoint(fs_st_atime, fs_st_atime_nsec);
+}
+
+TimePoint<> basic_file_status::getLastModificationTime() const {
+ return toTimePoint(fs_st_mtime, fs_st_mtime_nsec);
+}
+
UniqueID file_status::getUniqueID() const {
return UniqueID(fs_st_dev, fs_st_ino);
}
+uint32_t file_status::getLinkCount() const {
+ return fs_st_nlinks;
+}
+
std::error_code current_path(SmallVectorImpl<char> &result) {
result.clear();
@@ -93,9 +113,9 @@
// Don't say that directories are executable.
struct stat buf;
if (0 != stat(P.begin(), &buf))
- return std::make_error_code(std::errc::permission_denied);
+ return errc::permission_denied;
if (!S_ISREG(buf.st_mode))
- return std::make_error_code(std::errc::permission_denied);
+ return errc::permission_denied;
}
return std::error_code();
@@ -117,37 +137,48 @@
return std::error_code();
}
+static file_type typeForMode(mode_t Mode) {
+ if (S_ISDIR(Mode))
+ return file_type::directory_file;
+ else if (S_ISREG(Mode))
+ return file_type::regular_file;
+ else if (S_ISBLK(Mode))
+ return file_type::block_file;
+ else if (S_ISCHR(Mode))
+ return file_type::character_file;
+ else if (S_ISFIFO(Mode))
+ return file_type::fifo_file;
+ else if (S_ISSOCK(Mode))
+ return file_type::socket_file;
+ else if (S_ISLNK(Mode))
+ return file_type::symlink_file;
+ return file_type::type_unknown;
+}
+
static std::error_code fillStatus(int StatRet, const struct stat &Status,
- file_status &Result) {
+ file_status &Result) {
if (StatRet != 0) {
- std::error_code ec(errno, std::generic_category());
- if (ec == std::errc::no_such_file_or_directory)
+ std::error_code EC(errno, std::generic_category());
+ if (EC == errc::no_such_file_or_directory)
Result = file_status(file_type::file_not_found);
else
Result = file_status(file_type::status_error);
- return ec;
+ return EC;
}
- file_type Type = file_type::type_unknown;
-
- if (S_ISDIR(Status.st_mode))
- Type = file_type::directory_file;
- else if (S_ISREG(Status.st_mode))
- Type = file_type::regular_file;
- else if (S_ISBLK(Status.st_mode))
- Type = file_type::block_file;
- else if (S_ISCHR(Status.st_mode))
- Type = file_type::character_file;
- else if (S_ISFIFO(Status.st_mode))
- Type = file_type::fifo_file;
- else if (S_ISSOCK(Status.st_mode))
- Type = file_type::socket_file;
- else if (S_ISLNK(Status.st_mode))
- Type = file_type::symlink_file;
+ uint32_t atime_nsec, mtime_nsec;
+#if defined(__APPLE__)
+ atime_nsec = Status.st_atimespec.tv_nsec;
+ mtime_nsec = Status.st_mtimespec.tv_nsec;
+#else
+ atime_nsec = Status.st_atim.tv_nsec;
+ mtime_nsec = Status.st_mtim.tv_nsec;
+#endif
perms Perms = static_cast<perms>(Status.st_mode) & all_perms;
- Result = file_status(Type, Perms, Status.st_dev, Status.st_nlink,
- Status.st_ino, Status.st_atime, Status.st_mtime,
+ Result = file_status(typeForMode(Status.st_mode), Perms, Status.st_dev,
+ Status.st_nlink, Status.st_ino,
+ Status.st_atime, atime_nsec, Status.st_mtime, mtime_nsec,
Status.st_uid, Status.st_gid, Status.st_size);
return std::error_code();
@@ -168,6 +199,71 @@
return fillStatus(StatRet, Status, Result);
}
+std::error_code mapped_file_region::init(int FD, uint64_t Offset,
+ mapmode Mode) {
+ assert(Size != 0);
+
+ int flags = (Mode == readwrite) ? MAP_SHARED : MAP_PRIVATE;
+ int prot = (Mode == readonly) ? PROT_READ : (PROT_READ | PROT_WRITE);
+#if defined(__APPLE__)
+ //----------------------------------------------------------------------
+ // Newer versions of MacOSX have a flag that will allow us to read from
+ // binaries whose code signature is invalid without crashing by using
+ // the MAP_RESILIENT_CODESIGN flag. Also if a file from removable media
+ // is mapped we can avoid crashing and return zeroes to any pages we try
+ // to read if the media becomes unavailable by using the
+ // MAP_RESILIENT_MEDIA flag. These flags are only usable when mapping
+ // with PROT_READ, so take care not to specify them otherwise.
+ //----------------------------------------------------------------------
+ if (Mode == readonly) {
+#if defined(MAP_RESILIENT_CODESIGN)
+ flags |= MAP_RESILIENT_CODESIGN;
+#endif
+#if defined(MAP_RESILIENT_MEDIA)
+ flags |= MAP_RESILIENT_MEDIA;
+#endif
+ }
+#endif // #if defined (__APPLE__)
+
+ Mapping = ::mmap(nullptr, Size, prot, flags, FD, Offset);
+ if (Mapping == MAP_FAILED)
+ return std::error_code(errno, std::generic_category());
+ return std::error_code();
+}
+
+mapped_file_region::mapped_file_region(int fd, mapmode mode, size_t length,
+ uint64_t offset, std::error_code &ec)
+ : Size(length), Mapping(), Mode(mode) {
+ (void)Mode;
+ ec = init(fd, offset, mode);
+ if (ec)
+ Mapping = nullptr;
+}
+
+mapped_file_region::~mapped_file_region() {
+ if (Mapping)
+ ::munmap(Mapping, Size);
+}
+
+size_t mapped_file_region::size() const {
+ assert(Mapping && "Mapping failed but used anyway!");
+ return Size;
+}
+
+char *mapped_file_region::data() const {
+ assert(Mapping && "Mapping failed but used anyway!");
+ return reinterpret_cast<char*>(Mapping);
+}
+
+const char *mapped_file_region::const_data() const {
+ assert(Mapping && "Mapping failed but used anyway!");
+ return reinterpret_cast<const char*>(Mapping);
+}
+
+int mapped_file_region::alignment() {
+ return ::sysconf(_SC_PAGE_SIZE);
+}
+
std::error_code detail::directory_iterator_construct(detail::DirIterState &it,
StringRef path,
bool follow_symlinks) {
@@ -191,19 +287,25 @@
return std::error_code();
}
-std::error_code detail::directory_iterator_increment(detail::DirIterState &it) {
+static file_type direntType(dirent* Entry) {
+ // Most platforms provide the file type in the dirent: Linux/BSD/Mac.
+ // The DTTOIF macro lets us reuse our status -> type conversion.
+ return typeForMode(DTTOIF(Entry->d_type));
+}
+
+std::error_code detail::directory_iterator_increment(detail::DirIterState &It) {
errno = 0;
- dirent *cur_dir = ::readdir(reinterpret_cast<DIR *>(it.IterationHandle));
- if (cur_dir == nullptr && errno != 0) {
+ dirent *CurDir = ::readdir(reinterpret_cast<DIR *>(It.IterationHandle));
+ if (CurDir == nullptr && errno != 0) {
return std::error_code(errno, std::generic_category());
- } else if (cur_dir != nullptr) {
- StringRef name(cur_dir->d_name, NAMLEN(cur_dir));
- if ((name.size() == 1 && name[0] == '.') ||
- (name.size() == 2 && name[0] == '.' && name[1] == '.'))
- return directory_iterator_increment(it);
- it.CurrentEntry.replace_filename(name);
+ } else if (CurDir != nullptr) {
+ StringRef Name(CurDir->d_name);
+ if ((Name.size() == 1 && Name[0] == '.') ||
+ (Name.size() == 2 && Name[0] == '.' && Name[1] == '.'))
+ return directory_iterator_increment(It);
+ It.CurrentEntry.replace_filename(Name, direntType(CurDir));
} else
- return directory_iterator_destruct(it);
+ return directory_iterator_destruct(It);
return std::error_code();
}
@@ -224,14 +326,85 @@
}
#endif
-std::error_code openFileForRead(const Twine &Name, int &ResultFD,
- SmallVectorImpl<char> *RealPath) {
+static int nativeOpenFlags(CreationDisposition Disp, OpenFlags Flags,
+ FileAccess Access) {
+ int Result = 0;
+ if (Access == FA_Read)
+ Result |= O_RDONLY;
+ else if (Access == FA_Write)
+ Result |= O_WRONLY;
+ else if (Access == (FA_Read | FA_Write))
+ Result |= O_RDWR;
+
+ // This is for compatibility with old code that assumed F_Append implied
+ // would open an existing file. See Windows/Path.inc for a longer comment.
+ if (Flags & F_Append)
+ Disp = CD_OpenAlways;
+
+ if (Disp == CD_CreateNew) {
+ Result |= O_CREAT; // Create if it doesn't exist.
+ Result |= O_EXCL; // Fail if it does.
+ } else if (Disp == CD_CreateAlways) {
+ Result |= O_CREAT; // Create if it doesn't exist.
+ Result |= O_TRUNC; // Truncate if it does.
+ } else if (Disp == CD_OpenAlways) {
+ Result |= O_CREAT; // Create if it doesn't exist.
+ } else if (Disp == CD_OpenExisting) {
+ // Nothing special, just don't add O_CREAT and we get these semantics.
+ }
+
+ if (Flags & F_Append)
+ Result |= O_APPEND;
+
+#ifdef O_CLOEXEC
+ if (!(Flags & OF_ChildInherit))
+ Result |= O_CLOEXEC;
+#endif
+
+ return Result;
+}
+
+std::error_code openFile(const Twine &Name, int &ResultFD,
+ CreationDisposition Disp, FileAccess Access,
+ OpenFlags Flags, unsigned Mode) {
+ int OpenFlags = nativeOpenFlags(Disp, Flags, Access);
+
SmallString<128> Storage;
StringRef P = Name.toNullTerminatedStringRef(Storage);
- while ((ResultFD = open(P.begin(), O_RDONLY)) < 0) {
- if (errno != EINTR)
- return std::error_code(errno, std::generic_category());
+ // Call ::open in a lambda to avoid overload resolution in RetryAfterSignal
+ // when open is overloaded, such as in Bionic.
+ auto Open = [&]() { return ::open(P.begin(), OpenFlags, Mode); };
+ if ((ResultFD = sys::RetryAfterSignal(-1, Open)) < 0)
+ return std::error_code(errno, std::generic_category());
+#ifndef O_CLOEXEC
+ if (!(Flags & OF_ChildInherit)) {
+ int r = fcntl(ResultFD, F_SETFD, FD_CLOEXEC);
+ (void)r;
+ assert(r == 0 && "fcntl(F_SETFD, FD_CLOEXEC) failed");
}
+#endif
+ return std::error_code();
+}
+
+Expected<int> openNativeFile(const Twine &Name, CreationDisposition Disp,
+ FileAccess Access, OpenFlags Flags,
+ unsigned Mode) {
+
+ int FD;
+ std::error_code EC = openFile(Name, FD, Disp, Access, Flags, Mode);
+ if (EC)
+ return errorCodeToError(EC);
+ return FD;
+}
+
+std::error_code openFileForRead(const Twine &Name, int &ResultFD,
+ OpenFlags Flags,
+ SmallVectorImpl<char> *RealPath) {
+ std::error_code EC =
+ openFile(Name, ResultFD, CD_OpenExisting, FA_Read, Flags, 0666);
+ if (EC)
+ return EC;
+
// Attempt to get the real name of the file, if the user asked
if(!RealPath)
return std::error_code();
@@ -251,6 +424,9 @@
if (CharCount > 0)
RealPath->append(Buffer, Buffer + CharCount);
} else {
+ SmallString<128> Storage;
+ StringRef P = Name.toNullTerminatedStringRef(Storage);
+
// Use ::realpath to get the real path name
if (::realpath(P.begin(), Buffer) != nullptr)
RealPath->append(Buffer, Buffer + strlen(Buffer));
@@ -259,38 +435,18 @@
return std::error_code();
}
-std::error_code openFileForWrite(const Twine &Name, int &ResultFD,
- OpenFlags Flags, unsigned Mode) {
- // Verify that we don't have both "append" and "excl".
- assert((!(Flags & F_Excl) || !(Flags & F_Append)) &&
- "Cannot specify both 'excl' and 'append' file creation flags!");
+Expected<file_t> openNativeFileForRead(const Twine &Name, OpenFlags Flags,
+ SmallVectorImpl<char> *RealPath) {
+ file_t ResultFD;
+ std::error_code EC = openFileForRead(Name, ResultFD, Flags, RealPath);
+ if (EC)
+ return errorCodeToError(EC);
+ return ResultFD;
+}
- int OpenFlags = O_CREAT;
-
-#ifdef O_CLOEXEC
- OpenFlags |= O_CLOEXEC;
-#endif
-
- if (Flags & F_RW)
- OpenFlags |= O_RDWR;
- else
- OpenFlags |= O_WRONLY;
-
- if (Flags & F_Append)
- OpenFlags |= O_APPEND;
- else if (!(Flags & F_NoTrunc))
- OpenFlags |= O_TRUNC;
-
- if (Flags & F_Excl)
- OpenFlags |= O_EXCL;
-
- SmallString<128> Storage;
- StringRef P = Name.toNullTerminatedStringRef(Storage);
- while ((ResultFD = open(P.begin(), OpenFlags, Mode)) < 0) {
- if (errno != EINTR)
- return std::error_code(errno, std::generic_category());
- }
- return std::error_code();
+void closeFile(file_t &F) {
+ ::close(F);
+ F = kInvalidFile;
}
} // end namespace fs
@@ -298,13 +454,18 @@
namespace path {
bool home_directory(SmallVectorImpl<char> &result) {
- if (char *RequestedDir = std::getenv("HOME")) {
- result.clear();
- result.append(RequestedDir, RequestedDir + strlen(RequestedDir));
- return true;
+ char *RequestedDir = getenv("HOME");
+ if (!RequestedDir) {
+ struct passwd *pw = getpwuid(getuid());
+ if (pw && pw->pw_dir)
+ RequestedDir = pw->pw_dir;
}
+ if (!RequestedDir)
+ return false;
- return false;
+ result.clear();
+ result.append(RequestedDir, RequestedDir + strlen(RequestedDir));
+ return true;
}
static bool getDarwinConfDir(bool TempDir, SmallVectorImpl<char> &Result) {
@@ -332,29 +493,6 @@
return false;
}
-static bool getUserCacheDir(SmallVectorImpl<char> &Result) {
- // First try using XDG_CACHE_HOME env variable,
- // as specified in XDG Base Directory Specification at
- // http://standards.freedesktop.org/basedir-spec/basedir-spec-latest.html
- if (const char *XdgCacheDir = std::getenv("XDG_CACHE_HOME")) {
- Result.clear();
- Result.append(XdgCacheDir, XdgCacheDir + strlen(XdgCacheDir));
- return true;
- }
-
- // Try Darwin configuration query
- if (getDarwinConfDir(false, Result))
- return true;
-
- // Use "$HOME/.cache" if $HOME is available
- if (home_directory(Result)) {
- append(Result, ".cache");
- return true;
- }
-
- return false;
-}
-
static const char *getEnvTempDir() {
// Check whether the temporary directory is specified by an environment
// variable.
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/Windows/Path.inc b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/Windows/Path.inc
index 3a170eb..e9b5280 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/Windows/Path.inc
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/Windows/Path.inc
@@ -17,6 +17,7 @@
//===----------------------------------------------------------------------===//
#include "wpi/STLExtras.h"
+#include "wpi/ConvertUTF.h"
#include "wpi/WindowsError.h"
#include <fcntl.h>
#include <io.h>
@@ -31,9 +32,17 @@
#undef max
+// MinGW doesn't define this.
+#ifndef _ERRNO_T_DEFINED
+#define _ERRNO_T_DEFINED
+typedef int errno_t;
+#endif
+
#ifdef _MSC_VER
# pragma comment(lib, "shell32.lib")
# pragma comment(lib, "ole32.lib")
+#pragma warning(push)
+#pragma warning(disable: 4244 4267 4146)
#endif
using namespace wpi;
@@ -116,6 +125,8 @@
namespace fs {
+const file_t kInvalidFile = INVALID_HANDLE_VALUE;
+
UniqueID file_status::getUniqueID() const {
// The file is uniquely identified by the volume serial number along
// with the 64-bit file identifier.
@@ -125,6 +136,24 @@
return UniqueID(VolumeSerialNumber, FileID);
}
+TimePoint<> basic_file_status::getLastAccessedTime() const {
+ FILETIME Time;
+ Time.dwLowDateTime = LastAccessedTimeLow;
+ Time.dwHighDateTime = LastAccessedTimeHigh;
+ return toTimePoint(Time);
+}
+
+TimePoint<> basic_file_status::getLastModificationTime() const {
+ FILETIME Time;
+ Time.dwLowDateTime = LastWriteTimeLow;
+ Time.dwHighDateTime = LastWriteTimeHigh;
+ return toTimePoint(Time);
+}
+
+uint32_t file_status::getLinkCount() const {
+ return NumLinks;
+}
+
std::error_code current_path(SmallVectorImpl<char> &result) {
SmallVector<wchar_t, MAX_PATH> cur_path;
DWORD len = MAX_PATH;
@@ -147,6 +176,51 @@
return UTF16ToUTF8(cur_path.begin(), cur_path.size(), result);
}
+static std::error_code realPathFromHandle(HANDLE H,
+ SmallVectorImpl<wchar_t> &Buffer) {
+ DWORD CountChars = ::GetFinalPathNameByHandleW(
+ H, Buffer.begin(), Buffer.capacity() - 1, FILE_NAME_NORMALIZED);
+ if (CountChars > Buffer.capacity()) {
+ // The buffer wasn't big enough, try again. In this case the return value
+ // *does* indicate the size of the null terminator.
+ Buffer.reserve(CountChars);
+ CountChars = ::GetFinalPathNameByHandleW(
+ H, Buffer.data(), Buffer.capacity() - 1, FILE_NAME_NORMALIZED);
+ }
+ if (CountChars == 0)
+ return mapWindowsError(GetLastError());
+ Buffer.set_size(CountChars);
+ return std::error_code();
+}
+
+static std::error_code realPathFromHandle(HANDLE H,
+ SmallVectorImpl<char> &RealPath) {
+ RealPath.clear();
+ SmallVector<wchar_t, MAX_PATH> Buffer;
+ if (std::error_code EC = realPathFromHandle(H, Buffer))
+ return EC;
+
+ const wchar_t *Data = Buffer.data();
+ DWORD CountChars = Buffer.size();
+ if (CountChars >= 4) {
+ if (0 == ::memcmp(Data, L"\\\\?\\", 8)) {
+ CountChars -= 4;
+ Data += 4;
+ }
+ }
+
+ // Convert the result from UTF-16 to UTF-8.
+ return UTF16ToUTF8(Data, CountChars, RealPath);
+}
+
+static std::error_code setDeleteDisposition(HANDLE Handle, bool Delete) {
+ FILE_DISPOSITION_INFO Disposition;
+ Disposition.DeleteFile = Delete;
+ if (!SetFileInformationByHandle(Handle, FileDispositionInfo, &Disposition,
+ sizeof(Disposition)))
+ return mapWindowsError(::GetLastError());
+ return std::error_code();
+}
std::error_code access(const Twine &Path, AccessMode Mode) {
SmallVector<wchar_t, 128> PathUtf16;
@@ -162,11 +236,11 @@
if (LastError != ERROR_FILE_NOT_FOUND &&
LastError != ERROR_PATH_NOT_FOUND)
return mapWindowsError(LastError);
- return std::make_error_code(std::errc::no_such_file_or_directory);
+ return errc::no_such_file_or_directory;
}
if (Mode == AccessMode::Write && (Attributes & FILE_ATTRIBUTE_READONLY))
- return std::make_error_code(std::errc::permission_denied);
+ return errc::permission_denied;
return std::error_code();
}
@@ -315,6 +389,143 @@
return getStatus(FileHandle, Result);
}
+std::error_code mapped_file_region::init(int FD, uint64_t Offset,
+ mapmode Mode) {
+ this->Mode = Mode;
+ HANDLE OrigFileHandle = reinterpret_cast<HANDLE>(_get_osfhandle(FD));
+ if (OrigFileHandle == INVALID_HANDLE_VALUE)
+ return make_error_code(errc::bad_file_descriptor);
+
+ DWORD flprotect;
+ switch (Mode) {
+ case readonly: flprotect = PAGE_READONLY; break;
+ case readwrite: flprotect = PAGE_READWRITE; break;
+ case priv: flprotect = PAGE_WRITECOPY; break;
+ }
+
+ HANDLE FileMappingHandle =
+ ::CreateFileMappingW(OrigFileHandle, 0, flprotect,
+ Hi_32(Size),
+ Lo_32(Size),
+ 0);
+ if (FileMappingHandle == NULL) {
+ std::error_code ec = mapWindowsError(GetLastError());
+ return ec;
+ }
+
+ DWORD dwDesiredAccess;
+ switch (Mode) {
+ case readonly: dwDesiredAccess = FILE_MAP_READ; break;
+ case readwrite: dwDesiredAccess = FILE_MAP_WRITE; break;
+ case priv: dwDesiredAccess = FILE_MAP_COPY; break;
+ }
+ Mapping = ::MapViewOfFile(FileMappingHandle,
+ dwDesiredAccess,
+ Offset >> 32,
+ Offset & 0xffffffff,
+ Size);
+ if (Mapping == NULL) {
+ std::error_code ec = mapWindowsError(GetLastError());
+ ::CloseHandle(FileMappingHandle);
+ return ec;
+ }
+
+ if (Size == 0) {
+ MEMORY_BASIC_INFORMATION mbi;
+ SIZE_T Result = VirtualQuery(Mapping, &mbi, sizeof(mbi));
+ if (Result == 0) {
+ std::error_code ec = mapWindowsError(GetLastError());
+ ::UnmapViewOfFile(Mapping);
+ ::CloseHandle(FileMappingHandle);
+ return ec;
+ }
+ Size = mbi.RegionSize;
+ }
+
+ // Close the file mapping handle, as it's kept alive by the file mapping. But
+ // neither the file mapping nor the file mapping handle keep the file handle
+ // alive, so we need to keep a reference to the file in case all other handles
+ // are closed and the file is deleted, which may cause invalid data to be read
+ // from the file.
+ ::CloseHandle(FileMappingHandle);
+ if (!::DuplicateHandle(::GetCurrentProcess(), OrigFileHandle,
+ ::GetCurrentProcess(), &FileHandle, 0, 0,
+ DUPLICATE_SAME_ACCESS)) {
+ std::error_code ec = mapWindowsError(GetLastError());
+ ::UnmapViewOfFile(Mapping);
+ return ec;
+ }
+
+ return std::error_code();
+}
+
+mapped_file_region::mapped_file_region(int fd, mapmode mode, size_t length,
+ uint64_t offset, std::error_code &ec)
+ : Size(length), Mapping() {
+ ec = init(fd, offset, mode);
+ if (ec)
+ Mapping = 0;
+}
+
+static bool hasFlushBufferKernelBug() {
+ static bool Ret{GetWindowsOSVersion() < wpi::VersionTuple(10, 0, 0, 17763)};
+ return Ret;
+}
+
+static bool isEXE(StringRef Magic) {
+ static const char PEMagic[] = {'P', 'E', '\0', '\0'};
+ if (Magic.startswith(StringRef("MZ")) && Magic.size() >= 0x3c + 4) {
+ uint32_t off = read32le(Magic.data() + 0x3c);
+ // PE/COFF file, either EXE or DLL.
+ if (Magic.substr(off).startswith(StringRef(PEMagic, sizeof(PEMagic))))
+ return true;
+ }
+ return false;
+}
+
+mapped_file_region::~mapped_file_region() {
+ if (Mapping) {
+
+ bool Exe = isEXE(StringRef((char *)Mapping, Size));
+
+ ::UnmapViewOfFile(Mapping);
+
+ if (Mode == mapmode::readwrite && Exe && hasFlushBufferKernelBug()) {
+ // There is a Windows kernel bug, the exact trigger conditions of which
+ // are not well understood. When triggered, dirty pages are not properly
+ // flushed and subsequent process's attempts to read a file can return
+ // invalid data. Calling FlushFileBuffers on the write handle is
+ // sufficient to ensure that this bug is not triggered.
+ // The bug only occurs when writing an executable and executing it right
+ // after, under high I/O pressure.
+ ::FlushFileBuffers(FileHandle);
+ }
+
+ ::CloseHandle(FileHandle);
+ }
+}
+
+size_t mapped_file_region::size() const {
+ assert(Mapping && "Mapping failed but used anyway!");
+ return Size;
+}
+
+char *mapped_file_region::data() const {
+ assert(Mapping && "Mapping failed but used anyway!");
+ return reinterpret_cast<char*>(Mapping);
+}
+
+const char *mapped_file_region::const_data() const {
+ assert(Mapping && "Mapping failed but used anyway!");
+ return reinterpret_cast<const char*>(Mapping);
+}
+
+int mapped_file_region::alignment() {
+ SYSTEM_INFO SysInfo;
+ ::GetSystemInfo(&SysInfo);
+ return SysInfo.dwAllocationGranularity;
+}
+
static basic_file_status status_from_find_data(WIN32_FIND_DATAW *FindData) {
return basic_file_status(file_type_from_attrs(FindData->dwFileAttributes),
perms_from_attrs(FindData->dwFileAttributes),
@@ -325,28 +536,28 @@
FindData->nFileSizeHigh, FindData->nFileSizeLow);
}
-std::error_code detail::directory_iterator_construct(detail::DirIterState &it,
- StringRef path,
- bool follow_symlinks) {
- SmallVector<wchar_t, 128> path_utf16;
+std::error_code detail::directory_iterator_construct(detail::DirIterState &IT,
+ StringRef Path,
+ bool FollowSymlinks) {
+ SmallVector<wchar_t, 128> PathUTF16;
- if (std::error_code ec = widenPath(path, path_utf16))
- return ec;
+ if (std::error_code EC = widenPath(Path, PathUTF16))
+ return EC;
// Convert path to the format that Windows is happy with.
- if (path_utf16.size() > 0 &&
- !is_separator(path_utf16[path.size() - 1]) &&
- path_utf16[path.size() - 1] != L':') {
- path_utf16.push_back(L'\\');
- path_utf16.push_back(L'*');
+ if (PathUTF16.size() > 0 &&
+ !is_separator(PathUTF16[Path.size() - 1]) &&
+ PathUTF16[Path.size() - 1] != L':') {
+ PathUTF16.push_back(L'\\');
+ PathUTF16.push_back(L'*');
} else {
- path_utf16.push_back(L'*');
+ PathUTF16.push_back(L'*');
}
// Get the first directory entry.
WIN32_FIND_DATAW FirstFind;
ScopedFindHandle FindHandle(::FindFirstFileExW(
- c_str(path_utf16), FindExInfoBasic, &FirstFind, FindExSearchNameMatch,
+ c_str(PathUTF16), FindExInfoBasic, &FirstFind, FindExSearchNameMatch,
NULL, FIND_FIRST_EX_LARGE_FETCH));
if (!FindHandle)
return mapWindowsError(::GetLastError());
@@ -359,43 +570,45 @@
DWORD LastError = ::GetLastError();
// Check for end.
if (LastError == ERROR_NO_MORE_FILES)
- return detail::directory_iterator_destruct(it);
+ return detail::directory_iterator_destruct(IT);
return mapWindowsError(LastError);
} else
FilenameLen = ::wcslen(FirstFind.cFileName);
// Construct the current directory entry.
- SmallString<128> directory_entry_name_utf8;
- if (std::error_code ec =
+ SmallString<128> DirectoryEntryNameUTF8;
+ if (std::error_code EC =
UTF16ToUTF8(FirstFind.cFileName, ::wcslen(FirstFind.cFileName),
- directory_entry_name_utf8))
- return ec;
+ DirectoryEntryNameUTF8))
+ return EC;
- it.IterationHandle = intptr_t(FindHandle.take());
- SmallString<128> directory_entry_path(path);
- path::append(directory_entry_path, directory_entry_name_utf8);
- it.CurrentEntry = directory_entry(directory_entry_path, follow_symlinks,
- status_from_find_data(&FirstFind));
+ IT.IterationHandle = intptr_t(FindHandle.take());
+ SmallString<128> DirectoryEntryPath(Path);
+ path::append(DirectoryEntryPath, DirectoryEntryNameUTF8);
+ IT.CurrentEntry =
+ directory_entry(DirectoryEntryPath, FollowSymlinks,
+ file_type_from_attrs(FirstFind.dwFileAttributes),
+ status_from_find_data(&FirstFind));
return std::error_code();
}
-std::error_code detail::directory_iterator_destruct(detail::DirIterState &it) {
- if (it.IterationHandle != 0)
+std::error_code detail::directory_iterator_destruct(detail::DirIterState &IT) {
+ if (IT.IterationHandle != 0)
// Closes the handle if it's valid.
- ScopedFindHandle close(HANDLE(it.IterationHandle));
- it.IterationHandle = 0;
- it.CurrentEntry = directory_entry();
+ ScopedFindHandle close(HANDLE(IT.IterationHandle));
+ IT.IterationHandle = 0;
+ IT.CurrentEntry = directory_entry();
return std::error_code();
}
-std::error_code detail::directory_iterator_increment(detail::DirIterState &it) {
+std::error_code detail::directory_iterator_increment(detail::DirIterState &IT) {
WIN32_FIND_DATAW FindData;
- if (!::FindNextFileW(HANDLE(it.IterationHandle), &FindData)) {
+ if (!::FindNextFileW(HANDLE(IT.IterationHandle), &FindData)) {
DWORD LastError = ::GetLastError();
// Check for end.
if (LastError == ERROR_NO_MORE_FILES)
- return detail::directory_iterator_destruct(it);
+ return detail::directory_iterator_destruct(IT);
return mapWindowsError(LastError);
}
@@ -403,16 +616,18 @@
if ((FilenameLen == 1 && FindData.cFileName[0] == L'.') ||
(FilenameLen == 2 && FindData.cFileName[0] == L'.' &&
FindData.cFileName[1] == L'.'))
- return directory_iterator_increment(it);
+ return directory_iterator_increment(IT);
- SmallString<128> directory_entry_path_utf8;
- if (std::error_code ec =
+ SmallString<128> DirectoryEntryPathUTF8;
+ if (std::error_code EC =
UTF16ToUTF8(FindData.cFileName, ::wcslen(FindData.cFileName),
- directory_entry_path_utf8))
- return ec;
+ DirectoryEntryPathUTF8))
+ return EC;
- it.CurrentEntry.replace_filename(Twine(directory_entry_path_utf8),
- status_from_find_data(&FindData));
+ IT.CurrentEntry.replace_filename(
+ Twine(DirectoryEntryPathUTF8),
+ file_type_from_attrs(FindData.dwFileAttributes),
+ status_from_find_data(&FindData));
return std::error_code();
}
@@ -420,18 +635,82 @@
return Status;
}
-std::error_code openFileForRead(const Twine &Name, int &ResultFD,
- SmallVectorImpl<char> *RealPath) {
- ResultFD = -1;
- SmallVector<wchar_t, 128> PathUTF16;
+static std::error_code nativeFileToFd(Expected<HANDLE> H, int &ResultFD,
+ OpenFlags Flags) {
+ int CrtOpenFlags = 0;
+ if (Flags & OF_Append)
+ CrtOpenFlags |= _O_APPEND;
+ if (Flags & OF_Text)
+ CrtOpenFlags |= _O_TEXT;
+
+ ResultFD = -1;
+ if (!H)
+ return errorToErrorCode(H.takeError());
+
+ ResultFD = ::_open_osfhandle(intptr_t(*H), CrtOpenFlags);
+ if (ResultFD == -1) {
+ ::CloseHandle(*H);
+ return mapWindowsError(ERROR_INVALID_HANDLE);
+ }
+ return std::error_code();
+}
+
+static DWORD nativeDisposition(CreationDisposition Disp, OpenFlags Flags) {
+ // This is a compatibility hack. Really we should respect the creation
+ // disposition, but a lot of old code relied on the implicit assumption that
+ // OF_Append implied it would open an existing file. Since the disposition is
+ // now explicit and defaults to CD_CreateAlways, this assumption would cause
+ // any usage of OF_Append to append to a new file, even if the file already
+ // existed. A better solution might have two new creation dispositions:
+ // CD_AppendAlways and CD_AppendNew. This would also address the problem of
+ // OF_Append being used on a read-only descriptor, which doesn't make sense.
+ if (Flags & OF_Append)
+ return OPEN_ALWAYS;
+
+ switch (Disp) {
+ case CD_CreateAlways:
+ return CREATE_ALWAYS;
+ case CD_CreateNew:
+ return CREATE_NEW;
+ case CD_OpenAlways:
+ return OPEN_ALWAYS;
+ case CD_OpenExisting:
+ return OPEN_EXISTING;
+ }
+ wpi_unreachable("unreachable!");
+}
+
+static DWORD nativeAccess(FileAccess Access, OpenFlags Flags) {
+ DWORD Result = 0;
+ if (Access & FA_Read)
+ Result |= GENERIC_READ;
+ if (Access & FA_Write)
+ Result |= GENERIC_WRITE;
+ if (Flags & OF_Delete)
+ Result |= DELETE;
+ if (Flags & OF_UpdateAtime)
+ Result |= FILE_WRITE_ATTRIBUTES;
+ return Result;
+}
+
+static std::error_code openNativeFileInternal(const Twine &Name,
+ file_t &ResultFile, DWORD Disp,
+ DWORD Access, DWORD Flags,
+ bool Inherit = false) {
+ SmallVector<wchar_t, 128> PathUTF16;
if (std::error_code EC = widenPath(Name, PathUTF16))
return EC;
+ SECURITY_ATTRIBUTES SA;
+ SA.nLength = sizeof(SA);
+ SA.lpSecurityDescriptor = nullptr;
+ SA.bInheritHandle = Inherit;
+
HANDLE H =
- ::CreateFileW(PathUTF16.begin(), GENERIC_READ,
- FILE_SHARE_READ | FILE_SHARE_WRITE | FILE_SHARE_DELETE,
- NULL, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, NULL);
+ ::CreateFileW(PathUTF16.begin(), Access,
+ FILE_SHARE_READ | FILE_SHARE_WRITE | FILE_SHARE_DELETE, &SA,
+ Disp, Flags, NULL);
if (H == INVALID_HANDLE_VALUE) {
DWORD LastError = ::GetLastError();
std::error_code EC = mapWindowsError(LastError);
@@ -441,98 +720,102 @@
if (LastError != ERROR_ACCESS_DENIED)
return EC;
if (is_directory(Name))
- return std::make_error_code(std::errc::is_a_directory);
+ return make_error_code(errc::is_a_directory);
return EC;
}
+ ResultFile = H;
+ return std::error_code();
+}
- ResultFD = ::_open_osfhandle(intptr_t(H), 0);
- if (ResultFD == -1) {
- ::CloseHandle(H);
- return mapWindowsError(ERROR_INVALID_HANDLE);
- }
+Expected<file_t> openNativeFile(const Twine &Name, CreationDisposition Disp,
+ FileAccess Access, OpenFlags Flags,
+ unsigned Mode) {
+ // Verify that we don't have both "append" and "excl".
+ assert((!(Disp == CD_CreateNew) || !(Flags & OF_Append)) &&
+ "Cannot specify both 'CreateNew' and 'Append' file creation flags!");
- // Fetch the real name of the file, if the user asked
- if (RealPath) {
- RealPath->clear();
- wchar_t RealPathUTF16[MAX_PATH];
- DWORD CountChars =
- ::GetFinalPathNameByHandleW(H, RealPathUTF16, MAX_PATH,
- FILE_NAME_NORMALIZED);
- if (CountChars > 0 && CountChars < MAX_PATH) {
- // Convert the result from UTF-16 to UTF-8.
- SmallString<MAX_PATH> RealPathUTF8;
- if (!UTF16ToUTF8(RealPathUTF16, CountChars, RealPathUTF8))
- RealPath->append(RealPathUTF8.data(),
- RealPathUTF8.data() + strlen(RealPathUTF8.data()));
+ DWORD NativeDisp = nativeDisposition(Disp, Flags);
+ DWORD NativeAccess = nativeAccess(Access, Flags);
+
+ bool Inherit = false;
+ if (Flags & OF_ChildInherit)
+ Inherit = true;
+
+ file_t Result;
+ std::error_code EC = openNativeFileInternal(
+ Name, Result, NativeDisp, NativeAccess, FILE_ATTRIBUTE_NORMAL, Inherit);
+ if (EC)
+ return errorCodeToError(EC);
+
+ if (Flags & OF_UpdateAtime) {
+ FILETIME FileTime;
+ SYSTEMTIME SystemTime;
+ GetSystemTime(&SystemTime);
+ if (SystemTimeToFileTime(&SystemTime, &FileTime) == 0 ||
+ SetFileTime(Result, NULL, &FileTime, NULL) == 0) {
+ DWORD LastError = ::GetLastError();
+ ::CloseHandle(Result);
+ return errorCodeToError(mapWindowsError(LastError));
}
}
- return std::error_code();
+ if (Flags & OF_Delete) {
+ if ((EC = setDeleteDisposition(Result, true))) {
+ ::CloseHandle(Result);
+ return errorCodeToError(EC);
+ }
+ }
+ return Result;
}
-std::error_code openFileForWrite(const Twine &Name, int &ResultFD,
- OpenFlags Flags, unsigned Mode) {
- // Verify that we don't have both "append" and "excl".
- assert((!(Flags & F_Excl) || !(Flags & F_Append)) &&
- "Cannot specify both 'excl' and 'append' file creation flags!");
+std::error_code openFile(const Twine &Name, int &ResultFD,
+ CreationDisposition Disp, FileAccess Access,
+ OpenFlags Flags, unsigned int Mode) {
+ Expected<file_t> Result = openNativeFile(Name, Disp, Access, Flags);
+ if (!Result)
+ return errorToErrorCode(Result.takeError());
- ResultFD = -1;
- SmallVector<wchar_t, 128> PathUTF16;
-
- if (std::error_code EC = widenPath(Name, PathUTF16))
- return EC;
-
- DWORD CreationDisposition;
- if (Flags & F_Excl)
- CreationDisposition = CREATE_NEW;
- else if ((Flags & F_Append) || (Flags & F_NoTrunc))
- CreationDisposition = OPEN_ALWAYS;
- else
- CreationDisposition = CREATE_ALWAYS;
-
- DWORD Access = GENERIC_WRITE;
- DWORD Attributes = FILE_ATTRIBUTE_NORMAL;
- if (Flags & F_RW)
- Access |= GENERIC_READ;
- if (Flags & F_Delete) {
- Access |= DELETE;
- Attributes |= FILE_FLAG_DELETE_ON_CLOSE;
- }
-
- HANDLE H =
- ::CreateFileW(PathUTF16.data(), Access,
- FILE_SHARE_READ | FILE_SHARE_WRITE | FILE_SHARE_DELETE,
- NULL, CreationDisposition, Attributes, NULL);
-
- if (H == INVALID_HANDLE_VALUE) {
- DWORD LastError = ::GetLastError();
- std::error_code EC = mapWindowsError(LastError);
- // Provide a better error message when trying to open directories.
- // This only runs if we failed to open the file, so there is probably
- // no performances issues.
- if (LastError != ERROR_ACCESS_DENIED)
- return EC;
- if (is_directory(Name))
- return std::make_error_code(std::errc::is_a_directory);
- return EC;
- }
-
- int OpenFlags = 0;
- if (Flags & F_Append)
- OpenFlags |= _O_APPEND;
-
- if (Flags & F_Text)
- OpenFlags |= _O_TEXT;
-
- ResultFD = ::_open_osfhandle(intptr_t(H), OpenFlags);
- if (ResultFD == -1) {
- ::CloseHandle(H);
- return mapWindowsError(ERROR_INVALID_HANDLE);
- }
-
- return std::error_code();
+ return nativeFileToFd(*Result, ResultFD, Flags);
}
+static std::error_code directoryRealPath(const Twine &Name,
+ SmallVectorImpl<char> &RealPath) {
+ file_t File;
+ std::error_code EC = openNativeFileInternal(
+ Name, File, OPEN_EXISTING, GENERIC_READ, FILE_FLAG_BACKUP_SEMANTICS);
+ if (EC)
+ return EC;
+
+ EC = realPathFromHandle(File, RealPath);
+ ::CloseHandle(File);
+ return EC;
+}
+
+std::error_code openFileForRead(const Twine &Name, int &ResultFD,
+ OpenFlags Flags,
+ SmallVectorImpl<char> *RealPath) {
+ Expected<HANDLE> NativeFile = openNativeFileForRead(Name, Flags, RealPath);
+ return nativeFileToFd(std::move(NativeFile), ResultFD, OF_None);
+}
+
+Expected<file_t> openNativeFileForRead(const Twine &Name, OpenFlags Flags,
+ SmallVectorImpl<char> *RealPath) {
+ Expected<file_t> Result =
+ openNativeFile(Name, CD_OpenExisting, FA_Read, Flags);
+
+ // Fetch the real name of the file, if the user asked
+ if (Result && RealPath)
+ realPathFromHandle(*Result, *RealPath);
+
+ return Result;
+}
+
+void closeFile(file_t &F) {
+ ::CloseHandle(F);
+ F = kInvalidFile;
+}
+
+
} // end namespace fs
namespace path {
@@ -547,10 +830,6 @@
return ok;
}
-bool getUserCacheDir(SmallVectorImpl<char> &Result) {
- return getKnownFolderPath(FOLDERID_LocalAppData, Result);
-}
-
bool home_directory(SmallVectorImpl<char> &result) {
return getKnownFolderPath(FOLDERID_Profile, result);
}
@@ -686,3 +965,7 @@
} // end namespace windows
} // end namespace sys
} // end namespace wpi
+
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/Windows/WindowsSupport.h b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/Windows/WindowsSupport.h
index 2f78a4e..d830e33 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/Windows/WindowsSupport.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/Windows/WindowsSupport.h
@@ -38,11 +38,40 @@
#include "wpi/StringExtras.h"
#include "wpi/StringRef.h"
#include "wpi/Twine.h"
+#include "wpi/Chrono.h"
#include "wpi/Compiler.h"
+#include "wpi/VersionTuple.h"
#include <cassert>
#include <string>
#include <system_error>
+#define WIN32_NO_STATUS
#include <windows.h>
+#undef WIN32_NO_STATUS
+#include <winternl.h>
+#include <ntstatus.h>
+
+namespace wpi {
+
+/// Returns the Windows version as Major.Minor.0.BuildNumber. Uses
+/// RtlGetVersion or GetVersionEx under the hood depending on what is available.
+/// GetVersionEx is deprecated, but this API exposes the build number which can
+/// be useful for working around certain kernel bugs.
+inline wpi::VersionTuple GetWindowsOSVersion() {
+ typedef NTSTATUS(WINAPI* RtlGetVersionPtr)(PRTL_OSVERSIONINFOW);
+ HMODULE hMod = ::GetModuleHandleW(L"ntdll.dll");
+ if (hMod) {
+ auto getVer = (RtlGetVersionPtr)::GetProcAddress(hMod, "RtlGetVersion");
+ if (getVer) {
+ RTL_OSVERSIONINFOEXW info{};
+ info.dwOSVersionInfoSize = sizeof(info);
+ if (getVer((PRTL_OSVERSIONINFOW)&info) == ((NTSTATUS)0x00000000L)) {
+ return wpi::VersionTuple(info.dwMajorVersion, info.dwMinorVersion, 0,
+ info.dwBuildNumber);
+ }
+ }
+ }
+ return wpi::VersionTuple(0, 0, 0, 0);
+}
/// Determines if the program is running on Windows 8 or newer. This
/// reimplements one of the helpers in the Windows 8.1 SDK, which are intended
@@ -50,20 +79,7 @@
/// yet have VersionHelpers.h, so we have our own helper.
inline bool RunningWindows8OrGreater() {
// Windows 8 is version 6.2, service pack 0.
- OSVERSIONINFOEXW osvi = {};
- osvi.dwOSVersionInfoSize = sizeof(OSVERSIONINFO);
- osvi.dwMajorVersion = 6;
- osvi.dwMinorVersion = 2;
- osvi.wServicePackMajor = 0;
-
- DWORDLONG Mask = 0;
- Mask = VerSetConditionMask(Mask, VER_MAJORVERSION, VER_GREATER_EQUAL);
- Mask = VerSetConditionMask(Mask, VER_MINORVERSION, VER_GREATER_EQUAL);
- Mask = VerSetConditionMask(Mask, VER_SERVICEPACKMAJOR, VER_GREATER_EQUAL);
-
- return VerifyVersionInfoW(&osvi, VER_MAJORVERSION | VER_MINORVERSION |
- VER_SERVICEPACKMAJOR,
- Mask) != FALSE;
+ return GetWindowsOSVersion() >= wpi::VersionTuple(6, 2, 0, 0);
}
inline bool MakeErrMsg(std::string *ErrMsg, const std::string &prefix) {
@@ -90,8 +106,8 @@
typedef typename HandleTraits::handle_type handle_type;
handle_type Handle;
- ScopedHandle(const ScopedHandle &other); // = delete;
- void operator=(const ScopedHandle &other); // = delete;
+ ScopedHandle(const ScopedHandle &other) = delete;
+ void operator=(const ScopedHandle &other) = delete;
public:
ScopedHandle()
: Handle(HandleTraits::GetInvalid()) {}
@@ -179,7 +195,6 @@
typedef ScopedHandle<FindHandleTraits> ScopedFindHandle;
typedef ScopedHandle<JobHandleTraits> ScopedJobHandle;
-namespace wpi {
template <class T>
class SmallVectorImpl;
@@ -192,21 +207,39 @@
}
namespace sys {
-namespace path {
-std::error_code widenPath(const Twine &Path8,
- SmallVectorImpl<wchar_t> &Path16);
-} // end namespace path
-namespace windows {
-std::error_code UTF8ToUTF16(StringRef utf8, SmallVectorImpl<wchar_t> &utf16);
-/// Convert to UTF16 from the current code page used in the system
-std::error_code CurCPToUTF16(StringRef utf8, SmallVectorImpl<wchar_t> &utf16);
-std::error_code UTF16ToUTF8(const wchar_t *utf16, size_t utf16_len,
- SmallVectorImpl<char> &utf8);
-/// Convert from UTF16 to the current code page used in the system
-std::error_code UTF16ToCurCP(const wchar_t *utf16, size_t utf16_len,
- SmallVectorImpl<char> &utf8);
-} // end namespace windows
+inline std::chrono::nanoseconds toDuration(FILETIME Time) {
+ ULARGE_INTEGER TimeInteger;
+ TimeInteger.LowPart = Time.dwLowDateTime;
+ TimeInteger.HighPart = Time.dwHighDateTime;
+
+ // FILETIME's are # of 100 nanosecond ticks (1/10th of a microsecond)
+ return std::chrono::nanoseconds(100 * TimeInteger.QuadPart);
+}
+
+inline TimePoint<> toTimePoint(FILETIME Time) {
+ ULARGE_INTEGER TimeInteger;
+ TimeInteger.LowPart = Time.dwLowDateTime;
+ TimeInteger.HighPart = Time.dwHighDateTime;
+
+ // Adjust for different epoch
+ TimeInteger.QuadPart -= 11644473600ll * 10000000;
+
+ // FILETIME's are # of 100 nanosecond ticks (1/10th of a microsecond)
+ return TimePoint<>(std::chrono::nanoseconds(100 * TimeInteger.QuadPart));
+}
+
+inline FILETIME toFILETIME(TimePoint<> TP) {
+ ULARGE_INTEGER TimeInteger;
+ TimeInteger.QuadPart = TP.time_since_epoch().count() / 100;
+ TimeInteger.QuadPart += 11644473600ll * 10000000;
+
+ FILETIME Time;
+ Time.dwLowDateTime = TimeInteger.LowPart;
+ Time.dwHighDateTime = TimeInteger.HighPart;
+ return Time;
+}
+
} // end namespace sys
} // end namespace wpi.
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/raw_ostream.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/raw_ostream.cpp
index 04bae65..9f2942c 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/raw_ostream.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/llvm/raw_ostream.cpp
@@ -11,12 +11,17 @@
//
//===----------------------------------------------------------------------===//
+#ifdef _WIN32
+#define _CRT_NONSTDC_NO_WARNINGS
+#endif
+
#include "wpi/raw_ostream.h"
#include "wpi/STLExtras.h"
#include "wpi/SmallString.h"
#include "wpi/SmallVector.h"
#include "wpi/StringExtras.h"
#include "wpi/Compiler.h"
+#include "wpi/ErrorHandling.h"
#include "wpi/FileSystem.h"
#include "wpi/Format.h"
#include "wpi/MathExtras.h"
@@ -56,6 +61,7 @@
#endif
#ifdef _WIN32
+#include "wpi/ConvertUTF.h"
#include "Windows/WindowsSupport.h"
#endif
@@ -149,7 +155,7 @@
*this << '\\' << '"';
break;
default:
- if (std::isprint(c)) {
+ if (isPrint(c)) {
*this << c;
break;
}
@@ -335,7 +341,7 @@
break;
}
default:
- assert(false && "Bad Justification");
+ wpi_unreachable("Bad Justification");
}
return *this;
}
@@ -419,7 +425,7 @@
// Print the ASCII char values for each byte on this line
for (uint8_t Byte : Line) {
- if (isprint(Byte))
+ if (isPrint(Byte))
*this << static_cast<char>(Byte);
else
*this << '.';
@@ -481,14 +487,18 @@
//===----------------------------------------------------------------------===//
static int getFD(StringRef Filename, std::error_code &EC,
+ sys::fs::CreationDisposition Disp, sys::fs::FileAccess Access,
sys::fs::OpenFlags Flags) {
+ assert((Access & sys::fs::FA_Write) &&
+ "Cannot make a raw_ostream from a read-only descriptor!");
+
// Handle "-" as stdout. Note that when we do this, we consider ourself
// the owner of stdout and may set the "binary" flag globally based on Flags.
if (Filename == "-") {
EC = std::error_code();
// If user requested binary then put stdout into binary mode if
// possible.
- if (!(Flags & sys::fs::F_Text)) {
+ if (!(Flags & sys::fs::OF_Text)) {
#if defined(_WIN32)
_setmode(_fileno(stdout), _O_BINARY);
#endif
@@ -497,16 +507,39 @@
}
int FD;
- EC = sys::fs::openFileForWrite(Filename, FD, Flags);
+ if (Access & sys::fs::FA_Read)
+ EC = sys::fs::openFileForReadWrite(Filename, FD, Disp, Flags);
+ else
+ EC = sys::fs::openFileForWrite(Filename, FD, Disp, Flags);
if (EC)
return -1;
return FD;
}
+raw_fd_ostream::raw_fd_ostream(StringRef Filename, std::error_code &EC)
+ : raw_fd_ostream(Filename, EC, sys::fs::CD_CreateAlways, sys::fs::FA_Write,
+ sys::fs::OF_None) {}
+
+raw_fd_ostream::raw_fd_ostream(StringRef Filename, std::error_code &EC,
+ sys::fs::CreationDisposition Disp)
+ : raw_fd_ostream(Filename, EC, Disp, sys::fs::FA_Write, sys::fs::OF_None) {}
+
+raw_fd_ostream::raw_fd_ostream(StringRef Filename, std::error_code &EC,
+ sys::fs::FileAccess Access)
+ : raw_fd_ostream(Filename, EC, sys::fs::CD_CreateAlways, Access,
+ sys::fs::OF_None) {}
+
raw_fd_ostream::raw_fd_ostream(StringRef Filename, std::error_code &EC,
sys::fs::OpenFlags Flags)
- : raw_fd_ostream(getFD(Filename, EC, Flags), true) {}
+ : raw_fd_ostream(Filename, EC, sys::fs::CD_CreateAlways, sys::fs::FA_Write,
+ Flags) {}
+
+raw_fd_ostream::raw_fd_ostream(StringRef Filename, std::error_code &EC,
+ sys::fs::CreationDisposition Disp,
+ sys::fs::FileAccess Access,
+ sys::fs::OpenFlags Flags)
+ : raw_fd_ostream(getFD(Filename, EC, Disp, Access, Flags), true) {}
/// FD is the file descriptor that this writes to. If ShouldClose is true, this
/// closes the file when the stream is destroyed.
@@ -526,6 +559,12 @@
if (FD <= STDERR_FILENO)
ShouldClose = false;
+#ifdef _WIN32
+ // Check if this is a console device. This is not equivalent to isatty.
+ IsWindowsConsole =
+ ::GetFileType((HANDLE)::_get_osfhandle(fd)) == FILE_TYPE_CHAR;
+#endif
+
// Get the starting position.
off_t loc = ::lseek(FD, 0, SEEK_CUR);
#ifdef _WIN32
@@ -554,27 +593,87 @@
// on FD == 2.
if (FD == 2) return;
#endif
+
+ // If there are any pending errors, report them now. Clients wishing
+ // to avoid report_fatal_error calls should check for errors with
+ // has_error() and clear the error flag with clear_error() before
+ // destructing raw_ostream objects which may have errors.
+ if (has_error())
+ report_fatal_error("IO failure on output stream: " + error().message(),
+ /*GenCrashDiag=*/false);
}
+#if defined(_WIN32)
+// The most reliable way to print unicode in a Windows console is with
+// WriteConsoleW. To use that, first transcode from UTF-8 to UTF-16. This
+// assumes that LLVM programs always print valid UTF-8 to the console. The data
+// might not be UTF-8 for two major reasons:
+// 1. The program is printing binary (-filetype=obj -o -), in which case it
+// would have been gibberish anyway.
+// 2. The program is printing text in a semi-ascii compatible codepage like
+// shift-jis or cp1252.
+//
+// Most LLVM programs don't produce non-ascii text unless they are quoting
+// user source input. A well-behaved LLVM program should either validate that
+// the input is UTF-8 or transcode from the local codepage to UTF-8 before
+// quoting it. If they don't, this may mess up the encoding, but this is still
+// probably the best compromise we can make.
+static bool write_console_impl(int FD, StringRef Data) {
+ SmallVector<wchar_t, 256> WideText;
+
+ // Fall back to ::write if it wasn't valid UTF-8.
+ if (auto EC = sys::windows::UTF8ToUTF16(Data, WideText))
+ return false;
+
+ // On Windows 7 and earlier, WriteConsoleW has a low maximum amount of data
+ // that can be written to the console at a time.
+ size_t MaxWriteSize = WideText.size();
+ if (!RunningWindows8OrGreater())
+ MaxWriteSize = 32767;
+
+ size_t WCharsWritten = 0;
+ do {
+ size_t WCharsToWrite =
+ std::min(MaxWriteSize, WideText.size() - WCharsWritten);
+ DWORD ActuallyWritten;
+ bool Success =
+ ::WriteConsoleW((HANDLE)::_get_osfhandle(FD), &WideText[WCharsWritten],
+ WCharsToWrite, &ActuallyWritten,
+ /*Reserved=*/nullptr);
+
+ // The most likely reason for WriteConsoleW to fail is that FD no longer
+ // points to a console. Fall back to ::write. If this isn't the first loop
+ // iteration, something is truly wrong.
+ if (!Success)
+ return false;
+
+ WCharsWritten += ActuallyWritten;
+ } while (WCharsWritten != WideText.size());
+ return true;
+}
+#endif
+
void raw_fd_ostream::write_impl(const char *Ptr, size_t Size) {
assert(FD >= 0 && "File already closed.");
pos += Size;
- // The maximum write size is limited to SSIZE_MAX because a write
- // greater than SSIZE_MAX is implementation-defined in POSIX.
- // Since SSIZE_MAX is not portable, we use SIZE_MAX >> 1 instead.
- size_t MaxWriteSize = SIZE_MAX >> 1;
+#if defined(_WIN32)
+ // If this is a Windows console device, try re-encoding from UTF-8 to UTF-16
+ // and using WriteConsoleW. If that fails, fall back to plain write().
+ if (IsWindowsConsole)
+ if (write_console_impl(FD, StringRef(Ptr, Size)))
+ return;
+#endif
+
+ // The maximum write size is limited to INT32_MAX. A write
+ // greater than SSIZE_MAX is implementation-defined in POSIX,
+ // and Windows _write requires 32 bit input.
+ size_t MaxWriteSize = INT32_MAX;
#if defined(__linux__)
// It is observed that Linux returns EINVAL for a very large write (>2G).
// Make it a reasonably small value.
MaxWriteSize = 1024 * 1024 * 1024;
-#elif defined(_WIN32)
- // Writing a large size of output to Windows console returns ENOMEM. It seems
- // that, prior to Windows 8, WriteFile() is redirecting to WriteConsole(), and
- // the latter has a size limit (66000 bytes or less, depending on heap usage).
- if (::_isatty(FD) && !RunningWindows8OrGreater())
- MaxWriteSize = 32767;
#endif
do {
@@ -645,8 +744,17 @@
}
size_t raw_fd_ostream::preferred_buffer_size() const {
-#if !defined(_MSC_VER) && !defined(__MINGW32__) && !defined(__minix)
- // Windows and Minix have no st_blksize.
+#if defined(_WIN32)
+ // Disable buffering for console devices. Console output is re-encoded from
+ // UTF-8 to UTF-16 on Windows, and buffering it would require us to split the
+ // buffer on a valid UTF-8 codepoint boundary. Terminal buffering is disabled
+ // below on most other OSs, so do the same thing on Windows and avoid that
+ // complexity.
+ if (IsWindowsConsole)
+ return 0;
+ return raw_ostream::preferred_buffer_size();
+#elif !defined(__minix)
+ // Minix has no st_blksize.
assert(FD >= 0 && "File not yet open!");
struct stat statbuf;
if (fstat(FD, &statbuf) != 0)
@@ -791,3 +899,5 @@
uint64_t /*Offset*/) {}
void raw_pwrite_stream::anchor() {}
+
+void buffer_ostream::anchor() {}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/memory.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/memory.cpp
deleted file mode 100644
index 54e55c9..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/memory.cpp
+++ /dev/null
@@ -1,43 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#include "wpi/memory.h"
-
-#include <exception>
-
-#include "wpi/raw_ostream.h"
-
-namespace wpi {
-
-void* CheckedCalloc(size_t num, size_t size) {
- void* p = std::calloc(num, size);
- if (!p) {
- errs() << "FATAL: failed to allocate " << (num * size) << " bytes\n";
- std::terminate();
- }
- return p;
-}
-
-void* CheckedMalloc(size_t size) {
- void* p = std::malloc(size == 0 ? 1 : size);
- if (!p) {
- errs() << "FATAL: failed to allocate " << size << " bytes\n";
- std::terminate();
- }
- return p;
-}
-
-void* CheckedRealloc(void* ptr, size_t size) {
- void* p = std::realloc(ptr, size == 0 ? 1 : size);
- if (!p) {
- errs() << "FATAL: failed to allocate " << size << " bytes\n";
- std::terminate();
- }
- return p;
-}
-
-} // namespace wpi
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/raw_istream.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/raw_istream.cpp
index bdfb2bb..f63c217 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/raw_istream.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/raw_istream.cpp
@@ -1,10 +1,12 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
+#define _CRT_NONSTDC_NO_WARNINGS
+
#include "wpi/raw_istream.h"
#ifdef _WIN32
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/raw_uv_ostream.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/raw_uv_ostream.cpp
index 317de41..8fc103d 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/raw_uv_ostream.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/raw_uv_ostream.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -23,7 +23,7 @@
assert(m_left != 0);
}
- size_t amt = std::min(m_left, len);
+ size_t amt = (std::min)(m_left, len);
auto& buf = m_bufs.back();
std::memcpy(buf.base + buf.len, data, amt);
data += amt;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/uv/Pipe.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/uv/Pipe.cpp
index 8d4ee76..9db879a 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/uv/Pipe.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/uv/Pipe.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/uv/Timer.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/uv/Timer.cpp
index 4825ea3..749d9a8 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/uv/Timer.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/uv/Timer.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -26,7 +26,7 @@
void Timer::SingleShot(Loop& loop, Time timeout, std::function<void()> func) {
auto h = Create(loop);
if (!h) return;
- h->timeout.connect([ theTimer = h.get(), func ]() {
+ h->timeout.connect([theTimer = h.get(), func]() {
func();
theTimer->Close();
});
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/uv/Udp.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/uv/Udp.cpp
index cc7208d..2c0d29f 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/uv/Udp.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/cpp/uv/Udp.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -69,6 +69,33 @@
Bind(reinterpret_cast<const sockaddr&>(addr), flags);
}
+void Udp::Connect(const Twine& ip, unsigned int port) {
+ sockaddr_in addr;
+ int err = NameToAddr(ip, port, &addr);
+ if (err < 0)
+ ReportError(err);
+ else
+ Connect(reinterpret_cast<const sockaddr&>(addr));
+}
+
+void Udp::Connect6(const Twine& ip, unsigned int port) {
+ sockaddr_in6 addr;
+ int err = NameToAddr(ip, port, &addr);
+ if (err < 0)
+ ReportError(err);
+ else
+ Connect(reinterpret_cast<const sockaddr&>(addr));
+}
+
+sockaddr_storage Udp::GetPeer() {
+ sockaddr_storage name;
+ int len = sizeof(name);
+ if (!Invoke(&uv_udp_getpeername, GetRaw(), reinterpret_cast<sockaddr*>(&name),
+ &len))
+ std::memset(&name, 0, sizeof(name));
+ return name;
+}
+
sockaddr_storage Udp::GetSock() {
sockaddr_storage name;
int len = sizeof(name);
@@ -111,6 +138,22 @@
Send(addr, bufs, std::make_shared<CallbackUdpSendReq>(bufs, callback));
}
+void Udp::Send(ArrayRef<Buffer> bufs, const std::shared_ptr<UdpSendReq>& req) {
+ if (Invoke(&uv_udp_send, req->GetRaw(), GetRaw(), bufs.data(), bufs.size(),
+ nullptr, [](uv_udp_send_t* r, int status) {
+ auto& h = *static_cast<UdpSendReq*>(r->data);
+ if (status < 0) h.ReportError(status);
+ h.complete(Error(status));
+ h.Release(); // this is always a one-shot
+ }))
+ req->Keep();
+}
+
+void Udp::Send(ArrayRef<Buffer> bufs,
+ std::function<void(MutableArrayRef<Buffer>, Error)> callback) {
+ Send(bufs, std::make_shared<CallbackUdpSendReq>(bufs, callback));
+}
+
void Udp::StartRecv() {
Invoke(&uv_udp_recv_start, GetRaw(), &AllocBuf,
[](uv_udp_t* handle, ssize_t nread, const uv_buf_t* buf,
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/Cholesky b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/Cholesky
new file mode 100644
index 0000000..1332b54
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/Cholesky
@@ -0,0 +1,46 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_CHOLESKY_MODULE_H
+#define EIGEN_CHOLESKY_MODULE_H
+
+#include "Core"
+#include "Jacobi"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+/** \defgroup Cholesky_Module Cholesky module
+ *
+ *
+ *
+ * This module provides two variants of the Cholesky decomposition for selfadjoint (hermitian) matrices.
+ * Those decompositions are also accessible via the following methods:
+ * - MatrixBase::llt()
+ * - MatrixBase::ldlt()
+ * - SelfAdjointView::llt()
+ * - SelfAdjointView::ldlt()
+ *
+ * \code
+ * #include <Eigen/Cholesky>
+ * \endcode
+ */
+
+#include "src/Cholesky/LLT.h"
+#include "src/Cholesky/LDLT.h"
+#ifdef EIGEN_USE_LAPACKE
+#ifdef EIGEN_USE_MKL
+#include "mkl_lapacke.h"
+#else
+#include "src/misc/lapacke.h"
+#endif
+#include "src/Cholesky/LLT_LAPACKE.h"
+#endif
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif // EIGEN_CHOLESKY_MODULE_H
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/Core b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/Core
new file mode 100644
index 0000000..bd892c1
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/Core
@@ -0,0 +1,541 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2007-2011 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_CORE_H
+#define EIGEN_CORE_H
+
+#if __GNUC__ >= 9
+#pragma GCC diagnostic ignored "-Wdeprecated-copy"
+#endif
+
+// first thing Eigen does: stop the compiler from committing suicide
+#include "src/Core/util/DisableStupidWarnings.h"
+
+#if defined(__CUDACC__) && !defined(EIGEN_NO_CUDA)
+ #define EIGEN_CUDACC __CUDACC__
+#endif
+
+#if defined(__CUDA_ARCH__) && !defined(EIGEN_NO_CUDA)
+ #define EIGEN_CUDA_ARCH __CUDA_ARCH__
+#endif
+
+#if defined(__CUDACC_VER_MAJOR__) && (__CUDACC_VER_MAJOR__ >= 9)
+#define EIGEN_CUDACC_VER ((__CUDACC_VER_MAJOR__ * 10000) + (__CUDACC_VER_MINOR__ * 100))
+#elif defined(__CUDACC_VER__)
+#define EIGEN_CUDACC_VER __CUDACC_VER__
+#else
+#define EIGEN_CUDACC_VER 0
+#endif
+
+// Handle NVCC/CUDA/SYCL
+#if defined(__CUDACC__) || defined(__SYCL_DEVICE_ONLY__)
+ // Do not try asserts on CUDA and SYCL!
+ #ifndef EIGEN_NO_DEBUG
+ #define EIGEN_NO_DEBUG
+ #endif
+
+ #ifdef EIGEN_INTERNAL_DEBUGGING
+ #undef EIGEN_INTERNAL_DEBUGGING
+ #endif
+
+ #ifdef EIGEN_EXCEPTIONS
+ #undef EIGEN_EXCEPTIONS
+ #endif
+
+ // All functions callable from CUDA code must be qualified with __device__
+ #ifdef __CUDACC__
+ // Do not try to vectorize on CUDA and SYCL!
+ #ifndef EIGEN_DONT_VECTORIZE
+ #define EIGEN_DONT_VECTORIZE
+ #endif
+
+ #define EIGEN_DEVICE_FUNC __host__ __device__
+ // We need cuda_runtime.h to ensure that that EIGEN_USING_STD_MATH macro
+ // works properly on the device side
+ #include <cuda_runtime.h>
+ #else
+ #define EIGEN_DEVICE_FUNC
+ #endif
+
+#else
+ #define EIGEN_DEVICE_FUNC
+
+#endif
+
+// When compiling CUDA device code with NVCC, pull in math functions from the
+// global namespace. In host mode, and when device doee with clang, use the
+// std versions.
+#if defined(__CUDA_ARCH__) && defined(__NVCC__)
+ #define EIGEN_USING_STD_MATH(FUNC) using ::FUNC;
+#else
+ #define EIGEN_USING_STD_MATH(FUNC) using std::FUNC;
+#endif
+
+#if (defined(_CPPUNWIND) || defined(__EXCEPTIONS)) && !defined(__CUDA_ARCH__) && !defined(EIGEN_EXCEPTIONS) && !defined(EIGEN_USE_SYCL)
+ #define EIGEN_EXCEPTIONS
+#endif
+
+#ifdef EIGEN_EXCEPTIONS
+ #include <new>
+#endif
+
+// then include this file where all our macros are defined. It's really important to do it first because
+// it's where we do all the alignment settings (platform detection and honoring the user's will if he
+// defined e.g. EIGEN_DONT_ALIGN) so it needs to be done before we do anything with vectorization.
+#include "src/Core/util/Macros.h"
+
+// Disable the ipa-cp-clone optimization flag with MinGW 6.x or newer (enabled by default with -O3)
+// See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=556 for details.
+#if EIGEN_COMP_MINGW && EIGEN_GNUC_AT_LEAST(4,6)
+ #pragma GCC optimize ("-fno-ipa-cp-clone")
+#endif
+
+#include <complex>
+
+// this include file manages BLAS and MKL related macros
+// and inclusion of their respective header files
+// #include "src/Core/util/MKL_support.h"
+
+// if alignment is disabled, then disable vectorization. Note: EIGEN_MAX_ALIGN_BYTES is the proper check, it takes into
+// account both the user's will (EIGEN_MAX_ALIGN_BYTES,EIGEN_DONT_ALIGN) and our own platform checks
+#if EIGEN_MAX_ALIGN_BYTES==0
+ #ifndef EIGEN_DONT_VECTORIZE
+ #define EIGEN_DONT_VECTORIZE
+ #endif
+#endif
+
+#if EIGEN_COMP_MSVC
+ #include <malloc.h> // for _aligned_malloc -- need it regardless of whether vectorization is enabled
+ #if (EIGEN_COMP_MSVC >= 1500) // 2008 or later
+ // Remember that usage of defined() in a #define is undefined by the standard.
+ // a user reported that in 64-bit mode, MSVC doesn't care to define _M_IX86_FP.
+ #if (defined(_M_IX86_FP) && (_M_IX86_FP >= 2)) || EIGEN_ARCH_x86_64
+ #define EIGEN_SSE2_ON_MSVC_2008_OR_LATER
+ #endif
+ #endif
+#else
+ // Remember that usage of defined() in a #define is undefined by the standard
+ #if (defined __SSE2__) && ( (!EIGEN_COMP_GNUC) || EIGEN_COMP_ICC || EIGEN_GNUC_AT_LEAST(4,2) )
+ #define EIGEN_SSE2_ON_NON_MSVC_BUT_NOT_OLD_GCC
+ #endif
+#endif
+
+#ifndef EIGEN_DONT_VECTORIZE
+
+ #if defined (EIGEN_SSE2_ON_NON_MSVC_BUT_NOT_OLD_GCC) || defined(EIGEN_SSE2_ON_MSVC_2008_OR_LATER)
+
+ // Defines symbols for compile-time detection of which instructions are
+ // used.
+ // EIGEN_VECTORIZE_YY is defined if and only if the instruction set YY is used
+ #define EIGEN_VECTORIZE
+ #define EIGEN_VECTORIZE_SSE
+ #define EIGEN_VECTORIZE_SSE2
+
+ // Detect sse3/ssse3/sse4:
+ // gcc and icc defines __SSE3__, ...
+ // there is no way to know about this on msvc. You can define EIGEN_VECTORIZE_SSE* if you
+ // want to force the use of those instructions with msvc.
+ #ifdef __SSE3__
+ #define EIGEN_VECTORIZE_SSE3
+ #endif
+ #ifdef __SSSE3__
+ #define EIGEN_VECTORIZE_SSSE3
+ #endif
+ #ifdef __SSE4_1__
+ #define EIGEN_VECTORIZE_SSE4_1
+ #endif
+ #ifdef __SSE4_2__
+ #define EIGEN_VECTORIZE_SSE4_2
+ #endif
+ #ifdef __AVX__
+ #define EIGEN_VECTORIZE_AVX
+ #define EIGEN_VECTORIZE_SSE3
+ #define EIGEN_VECTORIZE_SSSE3
+ #define EIGEN_VECTORIZE_SSE4_1
+ #define EIGEN_VECTORIZE_SSE4_2
+ #endif
+ #ifdef __AVX2__
+ #define EIGEN_VECTORIZE_AVX2
+ #endif
+ #ifdef __FMA__
+ #define EIGEN_VECTORIZE_FMA
+ #endif
+ #if defined(__AVX512F__) && defined(EIGEN_ENABLE_AVX512)
+ #define EIGEN_VECTORIZE_AVX512
+ #define EIGEN_VECTORIZE_AVX2
+ #define EIGEN_VECTORIZE_AVX
+ #define EIGEN_VECTORIZE_FMA
+ #ifdef __AVX512DQ__
+ #define EIGEN_VECTORIZE_AVX512DQ
+ #endif
+ #ifdef __AVX512ER__
+ #define EIGEN_VECTORIZE_AVX512ER
+ #endif
+ #endif
+
+ // include files
+
+ // This extern "C" works around a MINGW-w64 compilation issue
+ // https://sourceforge.net/tracker/index.php?func=detail&aid=3018394&group_id=202880&atid=983354
+ // In essence, intrin.h is included by windows.h and also declares intrinsics (just as emmintrin.h etc. below do).
+ // However, intrin.h uses an extern "C" declaration, and g++ thus complains of duplicate declarations
+ // with conflicting linkage. The linkage for intrinsics doesn't matter, but at that stage the compiler doesn't know;
+ // so, to avoid compile errors when windows.h is included after Eigen/Core, ensure intrinsics are extern "C" here too.
+ // notice that since these are C headers, the extern "C" is theoretically needed anyways.
+ extern "C" {
+ // In theory we should only include immintrin.h and not the other *mmintrin.h header files directly.
+ // Doing so triggers some issues with ICC. However old gcc versions seems to not have this file, thus:
+ #if EIGEN_COMP_ICC >= 1110
+ #include <immintrin.h>
+ #else
+ #include <mmintrin.h>
+ #include <emmintrin.h>
+ #include <xmmintrin.h>
+ #ifdef EIGEN_VECTORIZE_SSE3
+ #include <pmmintrin.h>
+ #endif
+ #ifdef EIGEN_VECTORIZE_SSSE3
+ #include <tmmintrin.h>
+ #endif
+ #ifdef EIGEN_VECTORIZE_SSE4_1
+ #include <smmintrin.h>
+ #endif
+ #ifdef EIGEN_VECTORIZE_SSE4_2
+ #include <nmmintrin.h>
+ #endif
+ #if defined(EIGEN_VECTORIZE_AVX) || defined(EIGEN_VECTORIZE_AVX512)
+ #include <immintrin.h>
+ #endif
+ #endif
+ } // end extern "C"
+ #elif defined __VSX__
+ #define EIGEN_VECTORIZE
+ #define EIGEN_VECTORIZE_VSX
+ #include <altivec.h>
+ // We need to #undef all these ugly tokens defined in <altivec.h>
+ // => use __vector instead of vector
+ #undef bool
+ #undef vector
+ #undef pixel
+ #elif defined __ALTIVEC__
+ #define EIGEN_VECTORIZE
+ #define EIGEN_VECTORIZE_ALTIVEC
+ #include <altivec.h>
+ // We need to #undef all these ugly tokens defined in <altivec.h>
+ // => use __vector instead of vector
+ #undef bool
+ #undef vector
+ #undef pixel
+ #elif (defined __ARM_NEON) || (defined __ARM_NEON__)
+ #define EIGEN_VECTORIZE
+ #define EIGEN_VECTORIZE_NEON
+ #include <arm_neon.h>
+ #elif (defined __s390x__ && defined __VEC__)
+ #define EIGEN_VECTORIZE
+ #define EIGEN_VECTORIZE_ZVECTOR
+ #include <vecintrin.h>
+ #endif
+#endif
+
+#if defined(__F16C__) && !defined(EIGEN_COMP_CLANG)
+ // We can use the optimized fp16 to float and float to fp16 conversion routines
+ #define EIGEN_HAS_FP16_C
+#endif
+
+#if defined __CUDACC__
+ #define EIGEN_VECTORIZE_CUDA
+ #include <vector_types.h>
+ #if EIGEN_CUDACC_VER >= 70500
+ #define EIGEN_HAS_CUDA_FP16
+ #endif
+#endif
+
+#if defined EIGEN_HAS_CUDA_FP16
+ #include <host_defines.h>
+ #include <cuda_fp16.h>
+#endif
+
+#if (defined _OPENMP) && (!defined EIGEN_DONT_PARALLELIZE)
+ #define EIGEN_HAS_OPENMP
+#endif
+
+#ifdef EIGEN_HAS_OPENMP
+#include <omp.h>
+#endif
+
+// MSVC for windows mobile does not have the errno.h file
+#if !(EIGEN_COMP_MSVC && EIGEN_OS_WINCE) && !EIGEN_COMP_ARM
+#define EIGEN_HAS_ERRNO
+#endif
+
+#ifdef EIGEN_HAS_ERRNO
+#include <cerrno>
+#endif
+#include <cstddef>
+#include <cstdlib>
+#include <cmath>
+#include <cassert>
+#include <functional>
+#include <iosfwd>
+#include <cstring>
+#include <string>
+#include <limits>
+#include <climits> // for CHAR_BIT
+// for min/max:
+#include <algorithm>
+
+// for std::is_nothrow_move_assignable
+#ifdef EIGEN_INCLUDE_TYPE_TRAITS
+#include <type_traits>
+#endif
+
+// for outputting debug info
+#ifdef EIGEN_DEBUG_ASSIGN
+#include <iostream>
+#endif
+
+// required for __cpuid, needs to be included after cmath
+#if EIGEN_COMP_MSVC && EIGEN_ARCH_i386_OR_x86_64 && !EIGEN_OS_WINCE
+ #include <intrin.h>
+#endif
+
+/** \brief Namespace containing all symbols from the %Eigen library. */
+namespace Eigen {
+
+inline static const char *SimdInstructionSetsInUse(void) {
+#if defined(EIGEN_VECTORIZE_AVX512)
+ return "AVX512, FMA, AVX2, AVX, SSE, SSE2, SSE3, SSSE3, SSE4.1, SSE4.2";
+#elif defined(EIGEN_VECTORIZE_AVX)
+ return "AVX SSE, SSE2, SSE3, SSSE3, SSE4.1, SSE4.2";
+#elif defined(EIGEN_VECTORIZE_SSE4_2)
+ return "SSE, SSE2, SSE3, SSSE3, SSE4.1, SSE4.2";
+#elif defined(EIGEN_VECTORIZE_SSE4_1)
+ return "SSE, SSE2, SSE3, SSSE3, SSE4.1";
+#elif defined(EIGEN_VECTORIZE_SSSE3)
+ return "SSE, SSE2, SSE3, SSSE3";
+#elif defined(EIGEN_VECTORIZE_SSE3)
+ return "SSE, SSE2, SSE3";
+#elif defined(EIGEN_VECTORIZE_SSE2)
+ return "SSE, SSE2";
+#elif defined(EIGEN_VECTORIZE_ALTIVEC)
+ return "AltiVec";
+#elif defined(EIGEN_VECTORIZE_VSX)
+ return "VSX";
+#elif defined(EIGEN_VECTORIZE_NEON)
+ return "ARM NEON";
+#elif defined(EIGEN_VECTORIZE_ZVECTOR)
+ return "S390X ZVECTOR";
+#else
+ return "None";
+#endif
+}
+
+} // end namespace Eigen
+
+#if defined EIGEN2_SUPPORT_STAGE40_FULL_EIGEN3_STRICTNESS || defined EIGEN2_SUPPORT_STAGE30_FULL_EIGEN3_API || defined EIGEN2_SUPPORT_STAGE20_RESOLVE_API_CONFLICTS || defined EIGEN2_SUPPORT_STAGE10_FULL_EIGEN2_API || defined EIGEN2_SUPPORT
+// This will generate an error message:
+#error Eigen2-support is only available up to version 3.2. Please go to "http://eigen.tuxfamily.org/index.php?title=Eigen2" for further information
+#endif
+
+namespace Eigen {
+
+// we use size_t frequently and we'll never remember to prepend it with std:: everytime just to
+// ensure QNX/QCC support
+using std::size_t;
+// gcc 4.6.0 wants std:: for ptrdiff_t
+using std::ptrdiff_t;
+
+}
+
+/** \defgroup Core_Module Core module
+ * This is the main module of Eigen providing dense matrix and vector support
+ * (both fixed and dynamic size) with all the features corresponding to a BLAS library
+ * and much more...
+ *
+ * \code
+ * #include <Eigen/Core>
+ * \endcode
+ */
+
+#include "src/Core/util/Constants.h"
+#include "src/Core/util/Meta.h"
+#include "src/Core/util/ForwardDeclarations.h"
+#include "src/Core/util/StaticAssert.h"
+#include "src/Core/util/XprHelper.h"
+#include "src/Core/util/Memory.h"
+
+#include "src/Core/NumTraits.h"
+#include "src/Core/MathFunctions.h"
+#include "src/Core/GenericPacketMath.h"
+#include "src/Core/MathFunctionsImpl.h"
+#include "src/Core/arch/Default/ConjHelper.h"
+
+#if defined EIGEN_VECTORIZE_AVX512
+ #include "src/Core/arch/SSE/PacketMath.h"
+ #include "src/Core/arch/AVX/PacketMath.h"
+ #include "src/Core/arch/AVX512/PacketMath.h"
+ #include "src/Core/arch/AVX512/MathFunctions.h"
+#elif defined EIGEN_VECTORIZE_AVX
+ // Use AVX for floats and doubles, SSE for integers
+ #include "src/Core/arch/SSE/PacketMath.h"
+ #include "src/Core/arch/SSE/Complex.h"
+ #include "src/Core/arch/SSE/MathFunctions.h"
+ #include "src/Core/arch/AVX/PacketMath.h"
+ #include "src/Core/arch/AVX/MathFunctions.h"
+ #include "src/Core/arch/AVX/Complex.h"
+ #include "src/Core/arch/AVX/TypeCasting.h"
+ #include "src/Core/arch/SSE/TypeCasting.h"
+#elif defined EIGEN_VECTORIZE_SSE
+ #include "src/Core/arch/SSE/PacketMath.h"
+ #include "src/Core/arch/SSE/MathFunctions.h"
+ #include "src/Core/arch/SSE/Complex.h"
+ #include "src/Core/arch/SSE/TypeCasting.h"
+#elif defined(EIGEN_VECTORIZE_ALTIVEC) || defined(EIGEN_VECTORIZE_VSX)
+ #include "src/Core/arch/AltiVec/PacketMath.h"
+ #include "src/Core/arch/AltiVec/MathFunctions.h"
+ #include "src/Core/arch/AltiVec/Complex.h"
+#elif defined EIGEN_VECTORIZE_NEON
+ #include "src/Core/arch/NEON/PacketMath.h"
+ #include "src/Core/arch/NEON/MathFunctions.h"
+ #include "src/Core/arch/NEON/Complex.h"
+#elif defined EIGEN_VECTORIZE_ZVECTOR
+ #include "src/Core/arch/ZVector/PacketMath.h"
+ #include "src/Core/arch/ZVector/MathFunctions.h"
+ #include "src/Core/arch/ZVector/Complex.h"
+#endif
+
+// Half float support
+// #include "src/Core/arch/CUDA/Half.h"
+// #include "src/Core/arch/CUDA/PacketMathHalf.h"
+// #include "src/Core/arch/CUDA/TypeCasting.h"
+
+#if defined EIGEN_VECTORIZE_CUDA
+ #include "src/Core/arch/CUDA/PacketMath.h"
+ #include "src/Core/arch/CUDA/MathFunctions.h"
+#endif
+
+#include "src/Core/arch/Default/Settings.h"
+
+#include "src/Core/functors/TernaryFunctors.h"
+#include "src/Core/functors/BinaryFunctors.h"
+#include "src/Core/functors/UnaryFunctors.h"
+#include "src/Core/functors/NullaryFunctors.h"
+#include "src/Core/functors/StlFunctors.h"
+#include "src/Core/functors/AssignmentFunctors.h"
+
+// Specialized functors to enable the processing of complex numbers
+// on CUDA devices
+// #include "src/Core/arch/CUDA/Complex.h"
+
+#include "src/Core/IO.h"
+#include "src/Core/DenseCoeffsBase.h"
+#include "src/Core/DenseBase.h"
+#include "src/Core/MatrixBase.h"
+#include "src/Core/EigenBase.h"
+
+#include "src/Core/Product.h"
+#include "src/Core/CoreEvaluators.h"
+#include "src/Core/AssignEvaluator.h"
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN // work around Doxygen bug triggered by Assign.h r814874
+ // at least confirmed with Doxygen 1.5.5 and 1.5.6
+ #include "src/Core/Assign.h"
+#endif
+
+#include "src/Core/ArrayBase.h"
+#include "src/Core/util/BlasUtil.h"
+#include "src/Core/DenseStorage.h"
+#include "src/Core/NestByValue.h"
+
+// #include "src/Core/ForceAlignedAccess.h"
+
+#include "src/Core/ReturnByValue.h"
+#include "src/Core/NoAlias.h"
+#include "src/Core/PlainObjectBase.h"
+#include "src/Core/Matrix.h"
+#include "src/Core/Array.h"
+#include "src/Core/CwiseTernaryOp.h"
+#include "src/Core/CwiseBinaryOp.h"
+#include "src/Core/CwiseUnaryOp.h"
+#include "src/Core/CwiseNullaryOp.h"
+#include "src/Core/CwiseUnaryView.h"
+#include "src/Core/SelfCwiseBinaryOp.h"
+#include "src/Core/Dot.h"
+#include "src/Core/StableNorm.h"
+#include "src/Core/Stride.h"
+#include "src/Core/MapBase.h"
+#include "src/Core/Map.h"
+#include "src/Core/Ref.h"
+#include "src/Core/Block.h"
+#include "src/Core/VectorBlock.h"
+#include "src/Core/Transpose.h"
+#include "src/Core/DiagonalMatrix.h"
+#include "src/Core/Diagonal.h"
+#include "src/Core/DiagonalProduct.h"
+#include "src/Core/Redux.h"
+#include "src/Core/Visitor.h"
+#include "src/Core/Fuzzy.h"
+#include "src/Core/Swap.h"
+#include "src/Core/CommaInitializer.h"
+#include "src/Core/GeneralProduct.h"
+#include "src/Core/Solve.h"
+#include "src/Core/Inverse.h"
+#include "src/Core/SolverBase.h"
+#include "src/Core/PermutationMatrix.h"
+#include "src/Core/Transpositions.h"
+#include "src/Core/TriangularMatrix.h"
+#include "src/Core/SelfAdjointView.h"
+#include "src/Core/products/GeneralBlockPanelKernel.h"
+#include "src/Core/products/Parallelizer.h"
+#include "src/Core/ProductEvaluators.h"
+#include "src/Core/products/GeneralMatrixVector.h"
+#include "src/Core/products/GeneralMatrixMatrix.h"
+#include "src/Core/SolveTriangular.h"
+#include "src/Core/products/GeneralMatrixMatrixTriangular.h"
+#include "src/Core/products/SelfadjointMatrixVector.h"
+#include "src/Core/products/SelfadjointMatrixMatrix.h"
+#include "src/Core/products/SelfadjointProduct.h"
+#include "src/Core/products/SelfadjointRank2Update.h"
+#include "src/Core/products/TriangularMatrixVector.h"
+#include "src/Core/products/TriangularMatrixMatrix.h"
+#include "src/Core/products/TriangularSolverMatrix.h"
+#include "src/Core/products/TriangularSolverVector.h"
+#include "src/Core/BandMatrix.h"
+#include "src/Core/CoreIterators.h"
+#include "src/Core/ConditionEstimator.h"
+
+#include "src/Core/BooleanRedux.h"
+#include "src/Core/Select.h"
+#include "src/Core/VectorwiseOp.h"
+#include "src/Core/Random.h"
+#include "src/Core/Replicate.h"
+#include "src/Core/Reverse.h"
+#include "src/Core/ArrayWrapper.h"
+
+#ifdef EIGEN_USE_BLAS
+#include "src/Core/products/GeneralMatrixMatrix_BLAS.h"
+#include "src/Core/products/GeneralMatrixVector_BLAS.h"
+#include "src/Core/products/GeneralMatrixMatrixTriangular_BLAS.h"
+#include "src/Core/products/SelfadjointMatrixMatrix_BLAS.h"
+#include "src/Core/products/SelfadjointMatrixVector_BLAS.h"
+#include "src/Core/products/TriangularMatrixMatrix_BLAS.h"
+#include "src/Core/products/TriangularMatrixVector_BLAS.h"
+#include "src/Core/products/TriangularSolverMatrix_BLAS.h"
+#endif // EIGEN_USE_BLAS
+
+#ifdef EIGEN_USE_MKL_VML
+#include "src/Core/Assign_MKL.h"
+#endif
+
+#include "src/Core/GlobalFunctions.h"
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif // EIGEN_CORE_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/Eigen b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/Eigen
new file mode 100644
index 0000000..654c8dc
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/Eigen
@@ -0,0 +1,2 @@
+#include "Dense"
+#include "Sparse"
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/Eigenvalues b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/Eigenvalues
new file mode 100644
index 0000000..1ad6bcf
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/Eigenvalues
@@ -0,0 +1,60 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_EIGENVALUES_MODULE_H
+#define EIGEN_EIGENVALUES_MODULE_H
+
+#include "Core"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+#include "Cholesky"
+#include "Jacobi"
+#include "Householder"
+#include "LU"
+
+/** \defgroup Eigenvalues_Module Eigenvalues module
+ *
+ *
+ *
+ * This module mainly provides various eigenvalue solvers.
+ * This module also provides some MatrixBase methods, including:
+ * - MatrixBase::eigenvalues(),
+ * - MatrixBase::operatorNorm()
+ *
+ * \code
+ * #include <Eigen/Eigenvalues>
+ * \endcode
+ */
+
+#include "src/misc/RealSvd2x2.h"
+#include "src/Eigenvalues/Tridiagonalization.h"
+#include "src/Eigenvalues/RealSchur.h"
+#include "src/Eigenvalues/EigenSolver.h"
+#include "src/Eigenvalues/SelfAdjointEigenSolver.h"
+#include "src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h"
+#include "src/Eigenvalues/HessenbergDecomposition.h"
+#include "src/Eigenvalues/ComplexSchur.h"
+#include "src/Eigenvalues/ComplexEigenSolver.h"
+#include "src/Eigenvalues/RealQZ.h"
+#include "src/Eigenvalues/GeneralizedEigenSolver.h"
+#include "src/Eigenvalues/MatrixBaseEigenvalues.h"
+#ifdef EIGEN_USE_LAPACKE
+#ifdef EIGEN_USE_MKL
+#include "mkl_lapacke.h"
+#else
+#include "src/misc/lapacke.h"
+#endif
+#include "src/Eigenvalues/RealSchur_LAPACKE.h"
+#include "src/Eigenvalues/ComplexSchur_LAPACKE.h"
+#include "src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h"
+#endif
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif // EIGEN_EIGENVALUES_MODULE_H
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/Householder b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/Householder
new file mode 100644
index 0000000..89cd81b
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/Householder
@@ -0,0 +1,30 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_HOUSEHOLDER_MODULE_H
+#define EIGEN_HOUSEHOLDER_MODULE_H
+
+#include "Core"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+/** \defgroup Householder_Module Householder module
+ * This module provides Householder transformations.
+ *
+ * \code
+ * #include <Eigen/Householder>
+ * \endcode
+ */
+
+#include "src/Householder/Householder.h"
+#include "src/Householder/HouseholderSequence.h"
+#include "src/Householder/BlockHouseholder.h"
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif // EIGEN_HOUSEHOLDER_MODULE_H
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/Jacobi b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/Jacobi
new file mode 100644
index 0000000..17c1d78
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/Jacobi
@@ -0,0 +1,33 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_JACOBI_MODULE_H
+#define EIGEN_JACOBI_MODULE_H
+
+#include "Core"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+/** \defgroup Jacobi_Module Jacobi module
+ * This module provides Jacobi and Givens rotations.
+ *
+ * \code
+ * #include <Eigen/Jacobi>
+ * \endcode
+ *
+ * In addition to listed classes, it defines the two following MatrixBase methods to apply a Jacobi or Givens rotation:
+ * - MatrixBase::applyOnTheLeft()
+ * - MatrixBase::applyOnTheRight().
+ */
+
+#include "src/Jacobi/Jacobi.h"
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif // EIGEN_JACOBI_MODULE_H
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
+
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/LU b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/LU
new file mode 100644
index 0000000..6418a86
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/LU
@@ -0,0 +1,50 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_LU_MODULE_H
+#define EIGEN_LU_MODULE_H
+
+#include "Core"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+/** \defgroup LU_Module LU module
+ * This module includes %LU decomposition and related notions such as matrix inversion and determinant.
+ * This module defines the following MatrixBase methods:
+ * - MatrixBase::inverse()
+ * - MatrixBase::determinant()
+ *
+ * \code
+ * #include <Eigen/LU>
+ * \endcode
+ */
+
+#include "src/misc/Kernel.h"
+#include "src/misc/Image.h"
+#include "src/LU/FullPivLU.h"
+#include "src/LU/PartialPivLU.h"
+#ifdef EIGEN_USE_LAPACKE
+#ifdef EIGEN_USE_MKL
+#include "mkl_lapacke.h"
+#else
+#include "src/misc/lapacke.h"
+#endif
+#include "src/LU/PartialPivLU_LAPACKE.h"
+#endif
+#include "src/LU/Determinant.h"
+#include "src/LU/InverseImpl.h"
+
+// Use the SSE optimized version whenever possible. At the moment the
+// SSE version doesn't compile when AVX is enabled
+#if defined EIGEN_VECTORIZE_SSE && !defined EIGEN_VECTORIZE_AVX
+ #include "src/LU/arch/Inverse_SSE.h"
+#endif
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif // EIGEN_LU_MODULE_H
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/QR b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/QR
new file mode 100644
index 0000000..c7e9144
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/QR
@@ -0,0 +1,51 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_QR_MODULE_H
+#define EIGEN_QR_MODULE_H
+
+#include "Core"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+#include "Cholesky"
+#include "Jacobi"
+#include "Householder"
+
+/** \defgroup QR_Module QR module
+ *
+ *
+ *
+ * This module provides various QR decompositions
+ * This module also provides some MatrixBase methods, including:
+ * - MatrixBase::householderQr()
+ * - MatrixBase::colPivHouseholderQr()
+ * - MatrixBase::fullPivHouseholderQr()
+ *
+ * \code
+ * #include <Eigen/QR>
+ * \endcode
+ */
+
+#include "src/QR/HouseholderQR.h"
+#include "src/QR/FullPivHouseholderQR.h"
+#include "src/QR/ColPivHouseholderQR.h"
+#include "src/QR/CompleteOrthogonalDecomposition.h"
+#ifdef EIGEN_USE_LAPACKE
+#ifdef EIGEN_USE_MKL
+#include "mkl_lapacke.h"
+#else
+#include "src/misc/lapacke.h"
+#endif
+#include "src/QR/HouseholderQR_LAPACKE.h"
+#include "src/QR/ColPivHouseholderQR_LAPACKE.h"
+#endif
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif // EIGEN_QR_MODULE_H
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/SVD b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/SVD
new file mode 100644
index 0000000..5d0e75f
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/SVD
@@ -0,0 +1,51 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_SVD_MODULE_H
+#define EIGEN_SVD_MODULE_H
+
+#include "QR"
+#include "Householder"
+#include "Jacobi"
+
+#include "src/Core/util/DisableStupidWarnings.h"
+
+/** \defgroup SVD_Module SVD module
+ *
+ *
+ *
+ * This module provides SVD decomposition for matrices (both real and complex).
+ * Two decomposition algorithms are provided:
+ * - JacobiSVD implementing two-sided Jacobi iterations is numerically very accurate, fast for small matrices, but very slow for larger ones.
+ * - BDCSVD implementing a recursive divide & conquer strategy on top of an upper-bidiagonalization which remains fast for large problems.
+ * These decompositions are accessible via the respective classes and following MatrixBase methods:
+ * - MatrixBase::jacobiSvd()
+ * - MatrixBase::bdcSvd()
+ *
+ * \code
+ * #include <Eigen/SVD>
+ * \endcode
+ */
+
+#include "src/misc/RealSvd2x2.h"
+#include "src/SVD/UpperBidiagonalization.h"
+#include "src/SVD/SVDBase.h"
+#include "src/SVD/JacobiSVD.h"
+#include "src/SVD/BDCSVD.h"
+#if defined(EIGEN_USE_LAPACKE) && !defined(EIGEN_USE_LAPACKE_STRICT)
+#ifdef EIGEN_USE_MKL
+#include "mkl_lapacke.h"
+#else
+#include "src/misc/lapacke.h"
+#endif
+#include "src/SVD/JacobiSVD_LAPACKE.h"
+#endif
+
+#include "src/Core/util/ReenableStupidWarnings.h"
+
+#endif // EIGEN_SVD_MODULE_H
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/StdDeque b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/StdDeque
new file mode 100644
index 0000000..bc68397
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/StdDeque
@@ -0,0 +1,27 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_STDDEQUE_MODULE_H
+#define EIGEN_STDDEQUE_MODULE_H
+
+#include "Core"
+#include <deque>
+
+#if EIGEN_COMP_MSVC && EIGEN_OS_WIN64 && (EIGEN_MAX_STATIC_ALIGN_BYTES<=16) /* MSVC auto aligns up to 16 bytes in 64 bit builds */
+
+#define EIGEN_DEFINE_STL_DEQUE_SPECIALIZATION(...)
+
+#else
+
+#include "src/StlSupport/StdDeque.h"
+
+#endif
+
+#endif // EIGEN_STDDEQUE_MODULE_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/StdList b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/StdList
new file mode 100644
index 0000000..4c6262c
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/StdList
@@ -0,0 +1,26 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_STDLIST_MODULE_H
+#define EIGEN_STDLIST_MODULE_H
+
+#include "Core"
+#include <list>
+
+#if EIGEN_COMP_MSVC && EIGEN_OS_WIN64 && (EIGEN_MAX_STATIC_ALIGN_BYTES<=16) /* MSVC auto aligns up to 16 bytes in 64 bit builds */
+
+#define EIGEN_DEFINE_STL_LIST_SPECIALIZATION(...)
+
+#else
+
+#include "src/StlSupport/StdList.h"
+
+#endif
+
+#endif // EIGEN_STDLIST_MODULE_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/StdVector b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/StdVector
new file mode 100644
index 0000000..0c4697a
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/StdVector
@@ -0,0 +1,27 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_STDVECTOR_MODULE_H
+#define EIGEN_STDVECTOR_MODULE_H
+
+#include "Core"
+#include <vector>
+
+#if EIGEN_COMP_MSVC && EIGEN_OS_WIN64 && (EIGEN_MAX_STATIC_ALIGN_BYTES<=16) /* MSVC auto aligns up to 16 bytes in 64 bit builds */
+
+#define EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(...)
+
+#else
+
+#include "src/StlSupport/StdVector.h"
+
+#endif
+
+#endif // EIGEN_STDVECTOR_MODULE_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Cholesky/LDLT.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Cholesky/LDLT.h
new file mode 100644
index 0000000..15ccf24
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Cholesky/LDLT.h
@@ -0,0 +1,673 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009 Keir Mierle <mierle@gmail.com>
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2011 Timothy E. Holy <tim.holy@gmail.com >
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_LDLT_H
+#define EIGEN_LDLT_H
+
+namespace Eigen {
+
+namespace internal {
+ template<typename MatrixType, int UpLo> struct LDLT_Traits;
+
+ // PositiveSemiDef means positive semi-definite and non-zero; same for NegativeSemiDef
+ enum SignMatrix { PositiveSemiDef, NegativeSemiDef, ZeroSign, Indefinite };
+}
+
+/** \ingroup Cholesky_Module
+ *
+ * \class LDLT
+ *
+ * \brief Robust Cholesky decomposition of a matrix with pivoting
+ *
+ * \tparam _MatrixType the type of the matrix of which to compute the LDL^T Cholesky decomposition
+ * \tparam _UpLo the triangular part that will be used for the decompositon: Lower (default) or Upper.
+ * The other triangular part won't be read.
+ *
+ * Perform a robust Cholesky decomposition of a positive semidefinite or negative semidefinite
+ * matrix \f$ A \f$ such that \f$ A = P^TLDL^*P \f$, where P is a permutation matrix, L
+ * is lower triangular with a unit diagonal and D is a diagonal matrix.
+ *
+ * The decomposition uses pivoting to ensure stability, so that L will have
+ * zeros in the bottom right rank(A) - n submatrix. Avoiding the square root
+ * on D also stabilizes the computation.
+ *
+ * Remember that Cholesky decompositions are not rank-revealing. Also, do not use a Cholesky
+ * decomposition to determine whether a system of equations has a solution.
+ *
+ * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
+ *
+ * \sa MatrixBase::ldlt(), SelfAdjointView::ldlt(), class LLT
+ */
+template<typename _MatrixType, int _UpLo> class LDLT
+{
+ public:
+ typedef _MatrixType MatrixType;
+ enum {
+ RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+ ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+ MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+ MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
+ UpLo = _UpLo
+ };
+ typedef typename MatrixType::Scalar Scalar;
+ typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
+ typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
+ typedef typename MatrixType::StorageIndex StorageIndex;
+ typedef Matrix<Scalar, RowsAtCompileTime, 1, 0, MaxRowsAtCompileTime, 1> TmpMatrixType;
+
+ typedef Transpositions<RowsAtCompileTime, MaxRowsAtCompileTime> TranspositionType;
+ typedef PermutationMatrix<RowsAtCompileTime, MaxRowsAtCompileTime> PermutationType;
+
+ typedef internal::LDLT_Traits<MatrixType,UpLo> Traits;
+
+ /** \brief Default Constructor.
+ *
+ * The default constructor is useful in cases in which the user intends to
+ * perform decompositions via LDLT::compute(const MatrixType&).
+ */
+ LDLT()
+ : m_matrix(),
+ m_transpositions(),
+ m_sign(internal::ZeroSign),
+ m_isInitialized(false)
+ {}
+
+ /** \brief Default Constructor with memory preallocation
+ *
+ * Like the default constructor but with preallocation of the internal data
+ * according to the specified problem \a size.
+ * \sa LDLT()
+ */
+ explicit LDLT(Index size)
+ : m_matrix(size, size),
+ m_transpositions(size),
+ m_temporary(size),
+ m_sign(internal::ZeroSign),
+ m_isInitialized(false)
+ {}
+
+ /** \brief Constructor with decomposition
+ *
+ * This calculates the decomposition for the input \a matrix.
+ *
+ * \sa LDLT(Index size)
+ */
+ template<typename InputType>
+ explicit LDLT(const EigenBase<InputType>& matrix)
+ : m_matrix(matrix.rows(), matrix.cols()),
+ m_transpositions(matrix.rows()),
+ m_temporary(matrix.rows()),
+ m_sign(internal::ZeroSign),
+ m_isInitialized(false)
+ {
+ compute(matrix.derived());
+ }
+
+ /** \brief Constructs a LDLT factorization from a given matrix
+ *
+ * This overloaded constructor is provided for \link InplaceDecomposition inplace decomposition \endlink when \c MatrixType is a Eigen::Ref.
+ *
+ * \sa LDLT(const EigenBase&)
+ */
+ template<typename InputType>
+ explicit LDLT(EigenBase<InputType>& matrix)
+ : m_matrix(matrix.derived()),
+ m_transpositions(matrix.rows()),
+ m_temporary(matrix.rows()),
+ m_sign(internal::ZeroSign),
+ m_isInitialized(false)
+ {
+ compute(matrix.derived());
+ }
+
+ /** Clear any existing decomposition
+ * \sa rankUpdate(w,sigma)
+ */
+ void setZero()
+ {
+ m_isInitialized = false;
+ }
+
+ /** \returns a view of the upper triangular matrix U */
+ inline typename Traits::MatrixU matrixU() const
+ {
+ eigen_assert(m_isInitialized && "LDLT is not initialized.");
+ return Traits::getU(m_matrix);
+ }
+
+ /** \returns a view of the lower triangular matrix L */
+ inline typename Traits::MatrixL matrixL() const
+ {
+ eigen_assert(m_isInitialized && "LDLT is not initialized.");
+ return Traits::getL(m_matrix);
+ }
+
+ /** \returns the permutation matrix P as a transposition sequence.
+ */
+ inline const TranspositionType& transpositionsP() const
+ {
+ eigen_assert(m_isInitialized && "LDLT is not initialized.");
+ return m_transpositions;
+ }
+
+ /** \returns the coefficients of the diagonal matrix D */
+ inline Diagonal<const MatrixType> vectorD() const
+ {
+ eigen_assert(m_isInitialized && "LDLT is not initialized.");
+ return m_matrix.diagonal();
+ }
+
+ /** \returns true if the matrix is positive (semidefinite) */
+ inline bool isPositive() const
+ {
+ eigen_assert(m_isInitialized && "LDLT is not initialized.");
+ return m_sign == internal::PositiveSemiDef || m_sign == internal::ZeroSign;
+ }
+
+ /** \returns true if the matrix is negative (semidefinite) */
+ inline bool isNegative(void) const
+ {
+ eigen_assert(m_isInitialized && "LDLT is not initialized.");
+ return m_sign == internal::NegativeSemiDef || m_sign == internal::ZeroSign;
+ }
+
+ /** \returns a solution x of \f$ A x = b \f$ using the current decomposition of A.
+ *
+ * This function also supports in-place solves using the syntax <tt>x = decompositionObject.solve(x)</tt> .
+ *
+ * \note_about_checking_solutions
+ *
+ * More precisely, this method solves \f$ A x = b \f$ using the decomposition \f$ A = P^T L D L^* P \f$
+ * by solving the systems \f$ P^T y_1 = b \f$, \f$ L y_2 = y_1 \f$, \f$ D y_3 = y_2 \f$,
+ * \f$ L^* y_4 = y_3 \f$ and \f$ P x = y_4 \f$ in succession. If the matrix \f$ A \f$ is singular, then
+ * \f$ D \f$ will also be singular (all the other matrices are invertible). In that case, the
+ * least-square solution of \f$ D y_3 = y_2 \f$ is computed. This does not mean that this function
+ * computes the least-square solution of \f$ A x = b \f$ is \f$ A \f$ is singular.
+ *
+ * \sa MatrixBase::ldlt(), SelfAdjointView::ldlt()
+ */
+ template<typename Rhs>
+ inline const Solve<LDLT, Rhs>
+ solve(const MatrixBase<Rhs>& b) const
+ {
+ eigen_assert(m_isInitialized && "LDLT is not initialized.");
+ eigen_assert(m_matrix.rows()==b.rows()
+ && "LDLT::solve(): invalid number of rows of the right hand side matrix b");
+ return Solve<LDLT, Rhs>(*this, b.derived());
+ }
+
+ template<typename Derived>
+ bool solveInPlace(MatrixBase<Derived> &bAndX) const;
+
+ template<typename InputType>
+ LDLT& compute(const EigenBase<InputType>& matrix);
+
+ /** \returns an estimate of the reciprocal condition number of the matrix of
+ * which \c *this is the LDLT decomposition.
+ */
+ RealScalar rcond() const
+ {
+ eigen_assert(m_isInitialized && "LDLT is not initialized.");
+ return internal::rcond_estimate_helper(m_l1_norm, *this);
+ }
+
+ template <typename Derived>
+ LDLT& rankUpdate(const MatrixBase<Derived>& w, const RealScalar& alpha=1);
+
+ /** \returns the internal LDLT decomposition matrix
+ *
+ * TODO: document the storage layout
+ */
+ inline const MatrixType& matrixLDLT() const
+ {
+ eigen_assert(m_isInitialized && "LDLT is not initialized.");
+ return m_matrix;
+ }
+
+ MatrixType reconstructedMatrix() const;
+
+ /** \returns the adjoint of \c *this, that is, a const reference to the decomposition itself as the underlying matrix is self-adjoint.
+ *
+ * This method is provided for compatibility with other matrix decompositions, thus enabling generic code such as:
+ * \code x = decomposition.adjoint().solve(b) \endcode
+ */
+ const LDLT& adjoint() const { return *this; };
+
+ inline Index rows() const { return m_matrix.rows(); }
+ inline Index cols() const { return m_matrix.cols(); }
+
+ /** \brief Reports whether previous computation was successful.
+ *
+ * \returns \c Success if computation was succesful,
+ * \c NumericalIssue if the factorization failed because of a zero pivot.
+ */
+ ComputationInfo info() const
+ {
+ eigen_assert(m_isInitialized && "LDLT is not initialized.");
+ return m_info;
+ }
+
+ #ifndef EIGEN_PARSED_BY_DOXYGEN
+ template<typename RhsType, typename DstType>
+ EIGEN_DEVICE_FUNC
+ void _solve_impl(const RhsType &rhs, DstType &dst) const;
+ #endif
+
+ protected:
+
+ static void check_template_parameters()
+ {
+ EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
+ }
+
+ /** \internal
+ * Used to compute and store the Cholesky decomposition A = L D L^* = U^* D U.
+ * The strict upper part is used during the decomposition, the strict lower
+ * part correspond to the coefficients of L (its diagonal is equal to 1 and
+ * is not stored), and the diagonal entries correspond to D.
+ */
+ MatrixType m_matrix;
+ RealScalar m_l1_norm;
+ TranspositionType m_transpositions;
+ TmpMatrixType m_temporary;
+ internal::SignMatrix m_sign;
+ bool m_isInitialized;
+ ComputationInfo m_info;
+};
+
+namespace internal {
+
+template<int UpLo> struct ldlt_inplace;
+
+template<> struct ldlt_inplace<Lower>
+{
+ template<typename MatrixType, typename TranspositionType, typename Workspace>
+ static bool unblocked(MatrixType& mat, TranspositionType& transpositions, Workspace& temp, SignMatrix& sign)
+ {
+ using std::abs;
+ typedef typename MatrixType::Scalar Scalar;
+ typedef typename MatrixType::RealScalar RealScalar;
+ typedef typename TranspositionType::StorageIndex IndexType;
+ eigen_assert(mat.rows()==mat.cols());
+ const Index size = mat.rows();
+ bool found_zero_pivot = false;
+ bool ret = true;
+
+ if (size <= 1)
+ {
+ transpositions.setIdentity();
+ if(size==0) sign = ZeroSign;
+ else if (numext::real(mat.coeff(0,0)) > static_cast<RealScalar>(0) ) sign = PositiveSemiDef;
+ else if (numext::real(mat.coeff(0,0)) < static_cast<RealScalar>(0)) sign = NegativeSemiDef;
+ else sign = ZeroSign;
+ return true;
+ }
+
+ for (Index k = 0; k < size; ++k)
+ {
+ // Find largest diagonal element
+ Index index_of_biggest_in_corner;
+ mat.diagonal().tail(size-k).cwiseAbs().maxCoeff(&index_of_biggest_in_corner);
+ index_of_biggest_in_corner += k;
+
+ transpositions.coeffRef(k) = IndexType(index_of_biggest_in_corner);
+ if(k != index_of_biggest_in_corner)
+ {
+ // apply the transposition while taking care to consider only
+ // the lower triangular part
+ Index s = size-index_of_biggest_in_corner-1; // trailing size after the biggest element
+ mat.row(k).head(k).swap(mat.row(index_of_biggest_in_corner).head(k));
+ mat.col(k).tail(s).swap(mat.col(index_of_biggest_in_corner).tail(s));
+ std::swap(mat.coeffRef(k,k),mat.coeffRef(index_of_biggest_in_corner,index_of_biggest_in_corner));
+ for(Index i=k+1;i<index_of_biggest_in_corner;++i)
+ {
+ Scalar tmp = mat.coeffRef(i,k);
+ mat.coeffRef(i,k) = numext::conj(mat.coeffRef(index_of_biggest_in_corner,i));
+ mat.coeffRef(index_of_biggest_in_corner,i) = numext::conj(tmp);
+ }
+ if(NumTraits<Scalar>::IsComplex)
+ mat.coeffRef(index_of_biggest_in_corner,k) = numext::conj(mat.coeff(index_of_biggest_in_corner,k));
+ }
+
+ // partition the matrix:
+ // A00 | - | -
+ // lu = A10 | A11 | -
+ // A20 | A21 | A22
+ Index rs = size - k - 1;
+ Block<MatrixType,Dynamic,1> A21(mat,k+1,k,rs,1);
+ Block<MatrixType,1,Dynamic> A10(mat,k,0,1,k);
+ Block<MatrixType,Dynamic,Dynamic> A20(mat,k+1,0,rs,k);
+
+ if(k>0)
+ {
+ temp.head(k) = mat.diagonal().real().head(k).asDiagonal() * A10.adjoint();
+ mat.coeffRef(k,k) -= (A10 * temp.head(k)).value();
+ if(rs>0)
+ A21.noalias() -= A20 * temp.head(k);
+ }
+
+ // In some previous versions of Eigen (e.g., 3.2.1), the scaling was omitted if the pivot
+ // was smaller than the cutoff value. However, since LDLT is not rank-revealing
+ // we should only make sure that we do not introduce INF or NaN values.
+ // Remark that LAPACK also uses 0 as the cutoff value.
+ RealScalar realAkk = numext::real(mat.coeffRef(k,k));
+ bool pivot_is_valid = (abs(realAkk) > RealScalar(0));
+
+ if(k==0 && !pivot_is_valid)
+ {
+ // The entire diagonal is zero, there is nothing more to do
+ // except filling the transpositions, and checking whether the matrix is zero.
+ sign = ZeroSign;
+ for(Index j = 0; j<size; ++j)
+ {
+ transpositions.coeffRef(j) = IndexType(j);
+ ret = ret && (mat.col(j).tail(size-j-1).array()==Scalar(0)).all();
+ }
+ return ret;
+ }
+
+ if((rs>0) && pivot_is_valid)
+ A21 /= realAkk;
+ else if(rs>0)
+ ret = ret && (A21.array()==Scalar(0)).all();
+
+ if(found_zero_pivot && pivot_is_valid) ret = false; // factorization failed
+ else if(!pivot_is_valid) found_zero_pivot = true;
+
+ if (sign == PositiveSemiDef) {
+ if (realAkk < static_cast<RealScalar>(0)) sign = Indefinite;
+ } else if (sign == NegativeSemiDef) {
+ if (realAkk > static_cast<RealScalar>(0)) sign = Indefinite;
+ } else if (sign == ZeroSign) {
+ if (realAkk > static_cast<RealScalar>(0)) sign = PositiveSemiDef;
+ else if (realAkk < static_cast<RealScalar>(0)) sign = NegativeSemiDef;
+ }
+ }
+
+ return ret;
+ }
+
+ // Reference for the algorithm: Davis and Hager, "Multiple Rank
+ // Modifications of a Sparse Cholesky Factorization" (Algorithm 1)
+ // Trivial rearrangements of their computations (Timothy E. Holy)
+ // allow their algorithm to work for rank-1 updates even if the
+ // original matrix is not of full rank.
+ // Here only rank-1 updates are implemented, to reduce the
+ // requirement for intermediate storage and improve accuracy
+ template<typename MatrixType, typename WDerived>
+ static bool updateInPlace(MatrixType& mat, MatrixBase<WDerived>& w, const typename MatrixType::RealScalar& sigma=1)
+ {
+ using numext::isfinite;
+ typedef typename MatrixType::Scalar Scalar;
+ typedef typename MatrixType::RealScalar RealScalar;
+
+ const Index size = mat.rows();
+ eigen_assert(mat.cols() == size && w.size()==size);
+
+ RealScalar alpha = 1;
+
+ // Apply the update
+ for (Index j = 0; j < size; j++)
+ {
+ // Check for termination due to an original decomposition of low-rank
+ if (!(isfinite)(alpha))
+ break;
+
+ // Update the diagonal terms
+ RealScalar dj = numext::real(mat.coeff(j,j));
+ Scalar wj = w.coeff(j);
+ RealScalar swj2 = sigma*numext::abs2(wj);
+ RealScalar gamma = dj*alpha + swj2;
+
+ mat.coeffRef(j,j) += swj2/alpha;
+ alpha += swj2/dj;
+
+
+ // Update the terms of L
+ Index rs = size-j-1;
+ w.tail(rs) -= wj * mat.col(j).tail(rs);
+ if(gamma != 0)
+ mat.col(j).tail(rs) += (sigma*numext::conj(wj)/gamma)*w.tail(rs);
+ }
+ return true;
+ }
+
+ template<typename MatrixType, typename TranspositionType, typename Workspace, typename WType>
+ static bool update(MatrixType& mat, const TranspositionType& transpositions, Workspace& tmp, const WType& w, const typename MatrixType::RealScalar& sigma=1)
+ {
+ // Apply the permutation to the input w
+ tmp = transpositions * w;
+
+ return ldlt_inplace<Lower>::updateInPlace(mat,tmp,sigma);
+ }
+};
+
+template<> struct ldlt_inplace<Upper>
+{
+ template<typename MatrixType, typename TranspositionType, typename Workspace>
+ static EIGEN_STRONG_INLINE bool unblocked(MatrixType& mat, TranspositionType& transpositions, Workspace& temp, SignMatrix& sign)
+ {
+ Transpose<MatrixType> matt(mat);
+ return ldlt_inplace<Lower>::unblocked(matt, transpositions, temp, sign);
+ }
+
+ template<typename MatrixType, typename TranspositionType, typename Workspace, typename WType>
+ static EIGEN_STRONG_INLINE bool update(MatrixType& mat, TranspositionType& transpositions, Workspace& tmp, WType& w, const typename MatrixType::RealScalar& sigma=1)
+ {
+ Transpose<MatrixType> matt(mat);
+ return ldlt_inplace<Lower>::update(matt, transpositions, tmp, w.conjugate(), sigma);
+ }
+};
+
+template<typename MatrixType> struct LDLT_Traits<MatrixType,Lower>
+{
+ typedef const TriangularView<const MatrixType, UnitLower> MatrixL;
+ typedef const TriangularView<const typename MatrixType::AdjointReturnType, UnitUpper> MatrixU;
+ static inline MatrixL getL(const MatrixType& m) { return MatrixL(m); }
+ static inline MatrixU getU(const MatrixType& m) { return MatrixU(m.adjoint()); }
+};
+
+template<typename MatrixType> struct LDLT_Traits<MatrixType,Upper>
+{
+ typedef const TriangularView<const typename MatrixType::AdjointReturnType, UnitLower> MatrixL;
+ typedef const TriangularView<const MatrixType, UnitUpper> MatrixU;
+ static inline MatrixL getL(const MatrixType& m) { return MatrixL(m.adjoint()); }
+ static inline MatrixU getU(const MatrixType& m) { return MatrixU(m); }
+};
+
+} // end namespace internal
+
+/** Compute / recompute the LDLT decomposition A = L D L^* = U^* D U of \a matrix
+ */
+template<typename MatrixType, int _UpLo>
+template<typename InputType>
+LDLT<MatrixType,_UpLo>& LDLT<MatrixType,_UpLo>::compute(const EigenBase<InputType>& a)
+{
+ check_template_parameters();
+
+ eigen_assert(a.rows()==a.cols());
+ const Index size = a.rows();
+
+ m_matrix = a.derived();
+
+ // Compute matrix L1 norm = max abs column sum.
+ m_l1_norm = RealScalar(0);
+ // TODO move this code to SelfAdjointView
+ for (Index col = 0; col < size; ++col) {
+ RealScalar abs_col_sum;
+ if (_UpLo == Lower)
+ abs_col_sum = m_matrix.col(col).tail(size - col).template lpNorm<1>() + m_matrix.row(col).head(col).template lpNorm<1>();
+ else
+ abs_col_sum = m_matrix.col(col).head(col).template lpNorm<1>() + m_matrix.row(col).tail(size - col).template lpNorm<1>();
+ if (abs_col_sum > m_l1_norm)
+ m_l1_norm = abs_col_sum;
+ }
+
+ m_transpositions.resize(size);
+ m_isInitialized = false;
+ m_temporary.resize(size);
+ m_sign = internal::ZeroSign;
+
+ m_info = internal::ldlt_inplace<UpLo>::unblocked(m_matrix, m_transpositions, m_temporary, m_sign) ? Success : NumericalIssue;
+
+ m_isInitialized = true;
+ return *this;
+}
+
+/** Update the LDLT decomposition: given A = L D L^T, efficiently compute the decomposition of A + sigma w w^T.
+ * \param w a vector to be incorporated into the decomposition.
+ * \param sigma a scalar, +1 for updates and -1 for "downdates," which correspond to removing previously-added column vectors. Optional; default value is +1.
+ * \sa setZero()
+ */
+template<typename MatrixType, int _UpLo>
+template<typename Derived>
+LDLT<MatrixType,_UpLo>& LDLT<MatrixType,_UpLo>::rankUpdate(const MatrixBase<Derived>& w, const typename LDLT<MatrixType,_UpLo>::RealScalar& sigma)
+{
+ typedef typename TranspositionType::StorageIndex IndexType;
+ const Index size = w.rows();
+ if (m_isInitialized)
+ {
+ eigen_assert(m_matrix.rows()==size);
+ }
+ else
+ {
+ m_matrix.resize(size,size);
+ m_matrix.setZero();
+ m_transpositions.resize(size);
+ for (Index i = 0; i < size; i++)
+ m_transpositions.coeffRef(i) = IndexType(i);
+ m_temporary.resize(size);
+ m_sign = sigma>=0 ? internal::PositiveSemiDef : internal::NegativeSemiDef;
+ m_isInitialized = true;
+ }
+
+ internal::ldlt_inplace<UpLo>::update(m_matrix, m_transpositions, m_temporary, w, sigma);
+
+ return *this;
+}
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template<typename _MatrixType, int _UpLo>
+template<typename RhsType, typename DstType>
+void LDLT<_MatrixType,_UpLo>::_solve_impl(const RhsType &rhs, DstType &dst) const
+{
+ eigen_assert(rhs.rows() == rows());
+ // dst = P b
+ dst = m_transpositions * rhs;
+
+ // dst = L^-1 (P b)
+ matrixL().solveInPlace(dst);
+
+ // dst = D^-1 (L^-1 P b)
+ // more precisely, use pseudo-inverse of D (see bug 241)
+ using std::abs;
+ const typename Diagonal<const MatrixType>::RealReturnType vecD(vectorD());
+ // In some previous versions, tolerance was set to the max of 1/highest (or rather numeric_limits::min())
+ // and the maximal diagonal entry * epsilon as motivated by LAPACK's xGELSS:
+ // RealScalar tolerance = numext::maxi(vecD.array().abs().maxCoeff() * NumTraits<RealScalar>::epsilon(),RealScalar(1) / NumTraits<RealScalar>::highest());
+ // However, LDLT is not rank revealing, and so adjusting the tolerance wrt to the highest
+ // diagonal element is not well justified and leads to numerical issues in some cases.
+ // Moreover, Lapack's xSYTRS routines use 0 for the tolerance.
+ // Using numeric_limits::min() gives us more robustness to denormals.
+ RealScalar tolerance = (std::numeric_limits<RealScalar>::min)();
+
+ for (Index i = 0; i < vecD.size(); ++i)
+ {
+ if(abs(vecD(i)) > tolerance)
+ dst.row(i) /= vecD(i);
+ else
+ dst.row(i).setZero();
+ }
+
+ // dst = L^-T (D^-1 L^-1 P b)
+ matrixU().solveInPlace(dst);
+
+ // dst = P^-1 (L^-T D^-1 L^-1 P b) = A^-1 b
+ dst = m_transpositions.transpose() * dst;
+}
+#endif
+
+/** \internal use x = ldlt_object.solve(x);
+ *
+ * This is the \em in-place version of solve().
+ *
+ * \param bAndX represents both the right-hand side matrix b and result x.
+ *
+ * \returns true always! If you need to check for existence of solutions, use another decomposition like LU, QR, or SVD.
+ *
+ * This version avoids a copy when the right hand side matrix b is not
+ * needed anymore.
+ *
+ * \sa LDLT::solve(), MatrixBase::ldlt()
+ */
+template<typename MatrixType,int _UpLo>
+template<typename Derived>
+bool LDLT<MatrixType,_UpLo>::solveInPlace(MatrixBase<Derived> &bAndX) const
+{
+ eigen_assert(m_isInitialized && "LDLT is not initialized.");
+ eigen_assert(m_matrix.rows() == bAndX.rows());
+
+ bAndX = this->solve(bAndX);
+
+ return true;
+}
+
+/** \returns the matrix represented by the decomposition,
+ * i.e., it returns the product: P^T L D L^* P.
+ * This function is provided for debug purpose. */
+template<typename MatrixType, int _UpLo>
+MatrixType LDLT<MatrixType,_UpLo>::reconstructedMatrix() const
+{
+ eigen_assert(m_isInitialized && "LDLT is not initialized.");
+ const Index size = m_matrix.rows();
+ MatrixType res(size,size);
+
+ // P
+ res.setIdentity();
+ res = transpositionsP() * res;
+ // L^* P
+ res = matrixU() * res;
+ // D(L^*P)
+ res = vectorD().real().asDiagonal() * res;
+ // L(DL^*P)
+ res = matrixL() * res;
+ // P^T (LDL^*P)
+ res = transpositionsP().transpose() * res;
+
+ return res;
+}
+
+/** \cholesky_module
+ * \returns the Cholesky decomposition with full pivoting without square root of \c *this
+ * \sa MatrixBase::ldlt()
+ */
+template<typename MatrixType, unsigned int UpLo>
+inline const LDLT<typename SelfAdjointView<MatrixType, UpLo>::PlainObject, UpLo>
+SelfAdjointView<MatrixType, UpLo>::ldlt() const
+{
+ return LDLT<PlainObject,UpLo>(m_matrix);
+}
+
+/** \cholesky_module
+ * \returns the Cholesky decomposition with full pivoting without square root of \c *this
+ * \sa SelfAdjointView::ldlt()
+ */
+template<typename Derived>
+inline const LDLT<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::ldlt() const
+{
+ return LDLT<PlainObject>(derived());
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_LDLT_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Cholesky/LLT.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Cholesky/LLT.h
new file mode 100644
index 0000000..e1624d2
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Cholesky/LLT.h
@@ -0,0 +1,542 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_LLT_H
+#define EIGEN_LLT_H
+
+namespace Eigen {
+
+namespace internal{
+template<typename MatrixType, int UpLo> struct LLT_Traits;
+}
+
+/** \ingroup Cholesky_Module
+ *
+ * \class LLT
+ *
+ * \brief Standard Cholesky decomposition (LL^T) of a matrix and associated features
+ *
+ * \tparam _MatrixType the type of the matrix of which we are computing the LL^T Cholesky decomposition
+ * \tparam _UpLo the triangular part that will be used for the decompositon: Lower (default) or Upper.
+ * The other triangular part won't be read.
+ *
+ * This class performs a LL^T Cholesky decomposition of a symmetric, positive definite
+ * matrix A such that A = LL^* = U^*U, where L is lower triangular.
+ *
+ * While the Cholesky decomposition is particularly useful to solve selfadjoint problems like D^*D x = b,
+ * for that purpose, we recommend the Cholesky decomposition without square root which is more stable
+ * and even faster. Nevertheless, this standard Cholesky decomposition remains useful in many other
+ * situations like generalised eigen problems with hermitian matrices.
+ *
+ * Remember that Cholesky decompositions are not rank-revealing. This LLT decomposition is only stable on positive definite matrices,
+ * use LDLT instead for the semidefinite case. Also, do not use a Cholesky decomposition to determine whether a system of equations
+ * has a solution.
+ *
+ * Example: \include LLT_example.cpp
+ * Output: \verbinclude LLT_example.out
+ *
+ * \b Performance: for best performance, it is recommended to use a column-major storage format
+ * with the Lower triangular part (the default), or, equivalently, a row-major storage format
+ * with the Upper triangular part. Otherwise, you might get a 20% slowdown for the full factorization
+ * step, and rank-updates can be up to 3 times slower.
+ *
+ * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
+ *
+ * Note that during the decomposition, only the lower (or upper, as defined by _UpLo) triangular part of A is considered.
+ * Therefore, the strict lower part does not have to store correct values.
+ *
+ * \sa MatrixBase::llt(), SelfAdjointView::llt(), class LDLT
+ */
+template<typename _MatrixType, int _UpLo> class LLT
+{
+ public:
+ typedef _MatrixType MatrixType;
+ enum {
+ RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+ ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+ MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+ };
+ typedef typename MatrixType::Scalar Scalar;
+ typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
+ typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
+ typedef typename MatrixType::StorageIndex StorageIndex;
+
+ enum {
+ PacketSize = internal::packet_traits<Scalar>::size,
+ AlignmentMask = int(PacketSize)-1,
+ UpLo = _UpLo
+ };
+
+ typedef internal::LLT_Traits<MatrixType,UpLo> Traits;
+
+ /**
+ * \brief Default Constructor.
+ *
+ * The default constructor is useful in cases in which the user intends to
+ * perform decompositions via LLT::compute(const MatrixType&).
+ */
+ LLT() : m_matrix(), m_isInitialized(false) {}
+
+ /** \brief Default Constructor with memory preallocation
+ *
+ * Like the default constructor but with preallocation of the internal data
+ * according to the specified problem \a size.
+ * \sa LLT()
+ */
+ explicit LLT(Index size) : m_matrix(size, size),
+ m_isInitialized(false) {}
+
+ template<typename InputType>
+ explicit LLT(const EigenBase<InputType>& matrix)
+ : m_matrix(matrix.rows(), matrix.cols()),
+ m_isInitialized(false)
+ {
+ compute(matrix.derived());
+ }
+
+ /** \brief Constructs a LDLT factorization from a given matrix
+ *
+ * This overloaded constructor is provided for \link InplaceDecomposition inplace decomposition \endlink when
+ * \c MatrixType is a Eigen::Ref.
+ *
+ * \sa LLT(const EigenBase&)
+ */
+ template<typename InputType>
+ explicit LLT(EigenBase<InputType>& matrix)
+ : m_matrix(matrix.derived()),
+ m_isInitialized(false)
+ {
+ compute(matrix.derived());
+ }
+
+ /** \returns a view of the upper triangular matrix U */
+ inline typename Traits::MatrixU matrixU() const
+ {
+ eigen_assert(m_isInitialized && "LLT is not initialized.");
+ return Traits::getU(m_matrix);
+ }
+
+ /** \returns a view of the lower triangular matrix L */
+ inline typename Traits::MatrixL matrixL() const
+ {
+ eigen_assert(m_isInitialized && "LLT is not initialized.");
+ return Traits::getL(m_matrix);
+ }
+
+ /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A.
+ *
+ * Since this LLT class assumes anyway that the matrix A is invertible, the solution
+ * theoretically exists and is unique regardless of b.
+ *
+ * Example: \include LLT_solve.cpp
+ * Output: \verbinclude LLT_solve.out
+ *
+ * \sa solveInPlace(), MatrixBase::llt(), SelfAdjointView::llt()
+ */
+ template<typename Rhs>
+ inline const Solve<LLT, Rhs>
+ solve(const MatrixBase<Rhs>& b) const
+ {
+ eigen_assert(m_isInitialized && "LLT is not initialized.");
+ eigen_assert(m_matrix.rows()==b.rows()
+ && "LLT::solve(): invalid number of rows of the right hand side matrix b");
+ return Solve<LLT, Rhs>(*this, b.derived());
+ }
+
+ template<typename Derived>
+ void solveInPlace(const MatrixBase<Derived> &bAndX) const;
+
+ template<typename InputType>
+ LLT& compute(const EigenBase<InputType>& matrix);
+
+ /** \returns an estimate of the reciprocal condition number of the matrix of
+ * which \c *this is the Cholesky decomposition.
+ */
+ RealScalar rcond() const
+ {
+ eigen_assert(m_isInitialized && "LLT is not initialized.");
+ eigen_assert(m_info == Success && "LLT failed because matrix appears to be negative");
+ return internal::rcond_estimate_helper(m_l1_norm, *this);
+ }
+
+ /** \returns the LLT decomposition matrix
+ *
+ * TODO: document the storage layout
+ */
+ inline const MatrixType& matrixLLT() const
+ {
+ eigen_assert(m_isInitialized && "LLT is not initialized.");
+ return m_matrix;
+ }
+
+ MatrixType reconstructedMatrix() const;
+
+
+ /** \brief Reports whether previous computation was successful.
+ *
+ * \returns \c Success if computation was succesful,
+ * \c NumericalIssue if the matrix.appears not to be positive definite.
+ */
+ ComputationInfo info() const
+ {
+ eigen_assert(m_isInitialized && "LLT is not initialized.");
+ return m_info;
+ }
+
+ /** \returns the adjoint of \c *this, that is, a const reference to the decomposition itself as the underlying matrix is self-adjoint.
+ *
+ * This method is provided for compatibility with other matrix decompositions, thus enabling generic code such as:
+ * \code x = decomposition.adjoint().solve(b) \endcode
+ */
+ const LLT& adjoint() const { return *this; };
+
+ inline Index rows() const { return m_matrix.rows(); }
+ inline Index cols() const { return m_matrix.cols(); }
+
+ template<typename VectorType>
+ LLT rankUpdate(const VectorType& vec, const RealScalar& sigma = 1);
+
+ #ifndef EIGEN_PARSED_BY_DOXYGEN
+ template<typename RhsType, typename DstType>
+ EIGEN_DEVICE_FUNC
+ void _solve_impl(const RhsType &rhs, DstType &dst) const;
+ #endif
+
+ protected:
+
+ static void check_template_parameters()
+ {
+ EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
+ }
+
+ /** \internal
+ * Used to compute and store L
+ * The strict upper part is not used and even not initialized.
+ */
+ MatrixType m_matrix;
+ RealScalar m_l1_norm;
+ bool m_isInitialized;
+ ComputationInfo m_info;
+};
+
+namespace internal {
+
+template<typename Scalar, int UpLo> struct llt_inplace;
+
+template<typename MatrixType, typename VectorType>
+static Index llt_rank_update_lower(MatrixType& mat, const VectorType& vec, const typename MatrixType::RealScalar& sigma)
+{
+ using std::sqrt;
+ typedef typename MatrixType::Scalar Scalar;
+ typedef typename MatrixType::RealScalar RealScalar;
+ typedef typename MatrixType::ColXpr ColXpr;
+ typedef typename internal::remove_all<ColXpr>::type ColXprCleaned;
+ typedef typename ColXprCleaned::SegmentReturnType ColXprSegment;
+ typedef Matrix<Scalar,Dynamic,1> TempVectorType;
+ typedef typename TempVectorType::SegmentReturnType TempVecSegment;
+
+ Index n = mat.cols();
+ eigen_assert(mat.rows()==n && vec.size()==n);
+
+ TempVectorType temp;
+
+ if(sigma>0)
+ {
+ // This version is based on Givens rotations.
+ // It is faster than the other one below, but only works for updates,
+ // i.e., for sigma > 0
+ temp = sqrt(sigma) * vec;
+
+ for(Index i=0; i<n; ++i)
+ {
+ JacobiRotation<Scalar> g;
+ g.makeGivens(mat(i,i), -temp(i), &mat(i,i));
+
+ Index rs = n-i-1;
+ if(rs>0)
+ {
+ ColXprSegment x(mat.col(i).tail(rs));
+ TempVecSegment y(temp.tail(rs));
+ apply_rotation_in_the_plane(x, y, g);
+ }
+ }
+ }
+ else
+ {
+ temp = vec;
+ RealScalar beta = 1;
+ for(Index j=0; j<n; ++j)
+ {
+ RealScalar Ljj = numext::real(mat.coeff(j,j));
+ RealScalar dj = numext::abs2(Ljj);
+ Scalar wj = temp.coeff(j);
+ RealScalar swj2 = sigma*numext::abs2(wj);
+ RealScalar gamma = dj*beta + swj2;
+
+ RealScalar x = dj + swj2/beta;
+ if (x<=RealScalar(0))
+ return j;
+ RealScalar nLjj = sqrt(x);
+ mat.coeffRef(j,j) = nLjj;
+ beta += swj2/dj;
+
+ // Update the terms of L
+ Index rs = n-j-1;
+ if(rs)
+ {
+ temp.tail(rs) -= (wj/Ljj) * mat.col(j).tail(rs);
+ if(gamma != 0)
+ mat.col(j).tail(rs) = (nLjj/Ljj) * mat.col(j).tail(rs) + (nLjj * sigma*numext::conj(wj)/gamma)*temp.tail(rs);
+ }
+ }
+ }
+ return -1;
+}
+
+template<typename Scalar> struct llt_inplace<Scalar, Lower>
+{
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ template<typename MatrixType>
+ static Index unblocked(MatrixType& mat)
+ {
+ using std::sqrt;
+
+ eigen_assert(mat.rows()==mat.cols());
+ const Index size = mat.rows();
+ for(Index k = 0; k < size; ++k)
+ {
+ Index rs = size-k-1; // remaining size
+
+ Block<MatrixType,Dynamic,1> A21(mat,k+1,k,rs,1);
+ Block<MatrixType,1,Dynamic> A10(mat,k,0,1,k);
+ Block<MatrixType,Dynamic,Dynamic> A20(mat,k+1,0,rs,k);
+
+ RealScalar x = numext::real(mat.coeff(k,k));
+ if (k>0) x -= A10.squaredNorm();
+ if (x<=RealScalar(0))
+ return k;
+ mat.coeffRef(k,k) = x = sqrt(x);
+ if (k>0 && rs>0) A21.noalias() -= A20 * A10.adjoint();
+ if (rs>0) A21 /= x;
+ }
+ return -1;
+ }
+
+ template<typename MatrixType>
+ static Index blocked(MatrixType& m)
+ {
+ eigen_assert(m.rows()==m.cols());
+ Index size = m.rows();
+ if(size<32)
+ return unblocked(m);
+
+ Index blockSize = size/8;
+ blockSize = (blockSize/16)*16;
+ blockSize = (std::min)((std::max)(blockSize,Index(8)), Index(128));
+
+ for (Index k=0; k<size; k+=blockSize)
+ {
+ // partition the matrix:
+ // A00 | - | -
+ // lu = A10 | A11 | -
+ // A20 | A21 | A22
+ Index bs = (std::min)(blockSize, size-k);
+ Index rs = size - k - bs;
+ Block<MatrixType,Dynamic,Dynamic> A11(m,k, k, bs,bs);
+ Block<MatrixType,Dynamic,Dynamic> A21(m,k+bs,k, rs,bs);
+ Block<MatrixType,Dynamic,Dynamic> A22(m,k+bs,k+bs,rs,rs);
+
+ Index ret;
+ if((ret=unblocked(A11))>=0) return k+ret;
+ if(rs>0) A11.adjoint().template triangularView<Upper>().template solveInPlace<OnTheRight>(A21);
+ if(rs>0) A22.template selfadjointView<Lower>().rankUpdate(A21,typename NumTraits<RealScalar>::Literal(-1)); // bottleneck
+ }
+ return -1;
+ }
+
+ template<typename MatrixType, typename VectorType>
+ static Index rankUpdate(MatrixType& mat, const VectorType& vec, const RealScalar& sigma)
+ {
+ return Eigen::internal::llt_rank_update_lower(mat, vec, sigma);
+ }
+};
+
+template<typename Scalar> struct llt_inplace<Scalar, Upper>
+{
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+
+ template<typename MatrixType>
+ static EIGEN_STRONG_INLINE Index unblocked(MatrixType& mat)
+ {
+ Transpose<MatrixType> matt(mat);
+ return llt_inplace<Scalar, Lower>::unblocked(matt);
+ }
+ template<typename MatrixType>
+ static EIGEN_STRONG_INLINE Index blocked(MatrixType& mat)
+ {
+ Transpose<MatrixType> matt(mat);
+ return llt_inplace<Scalar, Lower>::blocked(matt);
+ }
+ template<typename MatrixType, typename VectorType>
+ static Index rankUpdate(MatrixType& mat, const VectorType& vec, const RealScalar& sigma)
+ {
+ Transpose<MatrixType> matt(mat);
+ return llt_inplace<Scalar, Lower>::rankUpdate(matt, vec.conjugate(), sigma);
+ }
+};
+
+template<typename MatrixType> struct LLT_Traits<MatrixType,Lower>
+{
+ typedef const TriangularView<const MatrixType, Lower> MatrixL;
+ typedef const TriangularView<const typename MatrixType::AdjointReturnType, Upper> MatrixU;
+ static inline MatrixL getL(const MatrixType& m) { return MatrixL(m); }
+ static inline MatrixU getU(const MatrixType& m) { return MatrixU(m.adjoint()); }
+ static bool inplace_decomposition(MatrixType& m)
+ { return llt_inplace<typename MatrixType::Scalar, Lower>::blocked(m)==-1; }
+};
+
+template<typename MatrixType> struct LLT_Traits<MatrixType,Upper>
+{
+ typedef const TriangularView<const typename MatrixType::AdjointReturnType, Lower> MatrixL;
+ typedef const TriangularView<const MatrixType, Upper> MatrixU;
+ static inline MatrixL getL(const MatrixType& m) { return MatrixL(m.adjoint()); }
+ static inline MatrixU getU(const MatrixType& m) { return MatrixU(m); }
+ static bool inplace_decomposition(MatrixType& m)
+ { return llt_inplace<typename MatrixType::Scalar, Upper>::blocked(m)==-1; }
+};
+
+} // end namespace internal
+
+/** Computes / recomputes the Cholesky decomposition A = LL^* = U^*U of \a matrix
+ *
+ * \returns a reference to *this
+ *
+ * Example: \include TutorialLinAlgComputeTwice.cpp
+ * Output: \verbinclude TutorialLinAlgComputeTwice.out
+ */
+template<typename MatrixType, int _UpLo>
+template<typename InputType>
+LLT<MatrixType,_UpLo>& LLT<MatrixType,_UpLo>::compute(const EigenBase<InputType>& a)
+{
+ check_template_parameters();
+
+ eigen_assert(a.rows()==a.cols());
+ const Index size = a.rows();
+ m_matrix.resize(size, size);
+ if (!internal::is_same_dense(m_matrix, a.derived()))
+ m_matrix = a.derived();
+
+ // Compute matrix L1 norm = max abs column sum.
+ m_l1_norm = RealScalar(0);
+ // TODO move this code to SelfAdjointView
+ for (Index col = 0; col < size; ++col) {
+ RealScalar abs_col_sum;
+ if (_UpLo == Lower)
+ abs_col_sum = m_matrix.col(col).tail(size - col).template lpNorm<1>() + m_matrix.row(col).head(col).template lpNorm<1>();
+ else
+ abs_col_sum = m_matrix.col(col).head(col).template lpNorm<1>() + m_matrix.row(col).tail(size - col).template lpNorm<1>();
+ if (abs_col_sum > m_l1_norm)
+ m_l1_norm = abs_col_sum;
+ }
+
+ m_isInitialized = true;
+ bool ok = Traits::inplace_decomposition(m_matrix);
+ m_info = ok ? Success : NumericalIssue;
+
+ return *this;
+}
+
+/** Performs a rank one update (or dowdate) of the current decomposition.
+ * If A = LL^* before the rank one update,
+ * then after it we have LL^* = A + sigma * v v^* where \a v must be a vector
+ * of same dimension.
+ */
+template<typename _MatrixType, int _UpLo>
+template<typename VectorType>
+LLT<_MatrixType,_UpLo> LLT<_MatrixType,_UpLo>::rankUpdate(const VectorType& v, const RealScalar& sigma)
+{
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(VectorType);
+ eigen_assert(v.size()==m_matrix.cols());
+ eigen_assert(m_isInitialized);
+ if(internal::llt_inplace<typename MatrixType::Scalar, UpLo>::rankUpdate(m_matrix,v,sigma)>=0)
+ m_info = NumericalIssue;
+ else
+ m_info = Success;
+
+ return *this;
+}
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template<typename _MatrixType,int _UpLo>
+template<typename RhsType, typename DstType>
+void LLT<_MatrixType,_UpLo>::_solve_impl(const RhsType &rhs, DstType &dst) const
+{
+ dst = rhs;
+ solveInPlace(dst);
+}
+#endif
+
+/** \internal use x = llt_object.solve(x);
+ *
+ * This is the \em in-place version of solve().
+ *
+ * \param bAndX represents both the right-hand side matrix b and result x.
+ *
+ * This version avoids a copy when the right hand side matrix b is not needed anymore.
+ *
+ * \warning The parameter is only marked 'const' to make the C++ compiler accept a temporary expression here.
+ * This function will const_cast it, so constness isn't honored here.
+ *
+ * \sa LLT::solve(), MatrixBase::llt()
+ */
+template<typename MatrixType, int _UpLo>
+template<typename Derived>
+void LLT<MatrixType,_UpLo>::solveInPlace(const MatrixBase<Derived> &bAndX) const
+{
+ eigen_assert(m_isInitialized && "LLT is not initialized.");
+ eigen_assert(m_matrix.rows()==bAndX.rows());
+ matrixL().solveInPlace(bAndX);
+ matrixU().solveInPlace(bAndX);
+}
+
+/** \returns the matrix represented by the decomposition,
+ * i.e., it returns the product: L L^*.
+ * This function is provided for debug purpose. */
+template<typename MatrixType, int _UpLo>
+MatrixType LLT<MatrixType,_UpLo>::reconstructedMatrix() const
+{
+ eigen_assert(m_isInitialized && "LLT is not initialized.");
+ return matrixL() * matrixL().adjoint().toDenseMatrix();
+}
+
+/** \cholesky_module
+ * \returns the LLT decomposition of \c *this
+ * \sa SelfAdjointView::llt()
+ */
+template<typename Derived>
+inline const LLT<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::llt() const
+{
+ return LLT<PlainObject>(derived());
+}
+
+/** \cholesky_module
+ * \returns the LLT decomposition of \c *this
+ * \sa SelfAdjointView::llt()
+ */
+template<typename MatrixType, unsigned int UpLo>
+inline const LLT<typename SelfAdjointView<MatrixType, UpLo>::PlainObject, UpLo>
+SelfAdjointView<MatrixType, UpLo>::llt() const
+{
+ return LLT<PlainObject,UpLo>(m_matrix);
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_LLT_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Array.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Array.h
new file mode 100644
index 0000000..16770fc
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Array.h
@@ -0,0 +1,329 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_ARRAY_H
+#define EIGEN_ARRAY_H
+
+namespace Eigen {
+
+namespace internal {
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+struct traits<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> > : traits<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
+{
+ typedef ArrayXpr XprKind;
+ typedef ArrayBase<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> > XprBase;
+};
+}
+
+/** \class Array
+ * \ingroup Core_Module
+ *
+ * \brief General-purpose arrays with easy API for coefficient-wise operations
+ *
+ * The %Array class is very similar to the Matrix class. It provides
+ * general-purpose one- and two-dimensional arrays. The difference between the
+ * %Array and the %Matrix class is primarily in the API: the API for the
+ * %Array class provides easy access to coefficient-wise operations, while the
+ * API for the %Matrix class provides easy access to linear-algebra
+ * operations.
+ *
+ * See documentation of class Matrix for detailed information on the template parameters
+ * storage layout.
+ *
+ * This class can be extended with the help of the plugin mechanism described on the page
+ * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_ARRAY_PLUGIN.
+ *
+ * \sa \blank \ref TutorialArrayClass, \ref TopicClassHierarchy
+ */
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+class Array
+ : public PlainObjectBase<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
+{
+ public:
+
+ typedef PlainObjectBase<Array> Base;
+ EIGEN_DENSE_PUBLIC_INTERFACE(Array)
+
+ enum { Options = _Options };
+ typedef typename Base::PlainObject PlainObject;
+
+ protected:
+ template <typename Derived, typename OtherDerived, bool IsVector>
+ friend struct internal::conservative_resize_like_impl;
+
+ using Base::m_storage;
+
+ public:
+
+ using Base::base;
+ using Base::coeff;
+ using Base::coeffRef;
+
+ /**
+ * The usage of
+ * using Base::operator=;
+ * fails on MSVC. Since the code below is working with GCC and MSVC, we skipped
+ * the usage of 'using'. This should be done only for operator=.
+ */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Array& operator=(const EigenBase<OtherDerived> &other)
+ {
+ return Base::operator=(other);
+ }
+
+ /** Set all the entries to \a value.
+ * \sa DenseBase::setConstant(), DenseBase::fill()
+ */
+ /* This overload is needed because the usage of
+ * using Base::operator=;
+ * fails on MSVC. Since the code below is working with GCC and MSVC, we skipped
+ * the usage of 'using'. This should be done only for operator=.
+ */
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Array& operator=(const Scalar &value)
+ {
+ Base::setConstant(value);
+ return *this;
+ }
+
+ /** Copies the value of the expression \a other into \c *this with automatic resizing.
+ *
+ * *this might be resized to match the dimensions of \a other. If *this was a null matrix (not already initialized),
+ * it will be initialized.
+ *
+ * Note that copying a row-vector into a vector (and conversely) is allowed.
+ * The resizing, if any, is then done in the appropriate way so that row-vectors
+ * remain row-vectors and vectors remain vectors.
+ */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Array& operator=(const DenseBase<OtherDerived>& other)
+ {
+ return Base::_set(other);
+ }
+
+ /** This is a special case of the templated operator=. Its purpose is to
+ * prevent a default operator= from hiding the templated operator=.
+ */
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Array& operator=(const Array& other)
+ {
+ return Base::_set(other);
+ }
+
+ /** Default constructor.
+ *
+ * For fixed-size matrices, does nothing.
+ *
+ * For dynamic-size matrices, creates an empty matrix of size 0. Does not allocate any array. Such a matrix
+ * is called a null matrix. This constructor is the unique way to create null matrices: resizing
+ * a matrix to 0 is not supported.
+ *
+ * \sa resize(Index,Index)
+ */
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Array() : Base()
+ {
+ Base::_check_template_params();
+ EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
+ }
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+ // FIXME is it still needed ??
+ /** \internal */
+ EIGEN_DEVICE_FUNC
+ Array(internal::constructor_without_unaligned_array_assert)
+ : Base(internal::constructor_without_unaligned_array_assert())
+ {
+ Base::_check_template_params();
+ EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
+ }
+#endif
+
+#if EIGEN_HAS_RVALUE_REFERENCES
+ EIGEN_DEVICE_FUNC
+ Array(Array&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_constructible<Scalar>::value)
+ : Base(std::move(other))
+ {
+ Base::_check_template_params();
+ }
+ EIGEN_DEVICE_FUNC
+ Array& operator=(Array&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_assignable<Scalar>::value)
+ {
+ other.swap(*this);
+ return *this;
+ }
+#endif
+
+ #ifndef EIGEN_PARSED_BY_DOXYGEN
+ template<typename T>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE explicit Array(const T& x)
+ {
+ Base::_check_template_params();
+ Base::template _init1<T>(x);
+ }
+
+ template<typename T0, typename T1>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Array(const T0& val0, const T1& val1)
+ {
+ Base::_check_template_params();
+ this->template _init2<T0,T1>(val0, val1);
+ }
+ #else
+ /** \brief Constructs a fixed-sized array initialized with coefficients starting at \a data */
+ EIGEN_DEVICE_FUNC explicit Array(const Scalar *data);
+ /** Constructs a vector or row-vector with given dimension. \only_for_vectors
+ *
+ * Note that this is only useful for dynamic-size vectors. For fixed-size vectors,
+ * it is redundant to pass the dimension here, so it makes more sense to use the default
+ * constructor Array() instead.
+ */
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE explicit Array(Index dim);
+ /** constructs an initialized 1x1 Array with the given coefficient */
+ Array(const Scalar& value);
+ /** constructs an uninitialized array with \a rows rows and \a cols columns.
+ *
+ * This is useful for dynamic-size arrays. For fixed-size arrays,
+ * it is redundant to pass these parameters, so one should use the default constructor
+ * Array() instead. */
+ Array(Index rows, Index cols);
+ /** constructs an initialized 2D vector with given coefficients */
+ Array(const Scalar& val0, const Scalar& val1);
+ #endif
+
+ /** constructs an initialized 3D vector with given coefficients */
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Array(const Scalar& val0, const Scalar& val1, const Scalar& val2)
+ {
+ Base::_check_template_params();
+ EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Array, 3)
+ m_storage.data()[0] = val0;
+ m_storage.data()[1] = val1;
+ m_storage.data()[2] = val2;
+ }
+ /** constructs an initialized 4D vector with given coefficients */
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Array(const Scalar& val0, const Scalar& val1, const Scalar& val2, const Scalar& val3)
+ {
+ Base::_check_template_params();
+ EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Array, 4)
+ m_storage.data()[0] = val0;
+ m_storage.data()[1] = val1;
+ m_storage.data()[2] = val2;
+ m_storage.data()[3] = val3;
+ }
+
+ /** Copy constructor */
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Array(const Array& other)
+ : Base(other)
+ { }
+
+ private:
+ struct PrivateType {};
+ public:
+
+ /** \sa MatrixBase::operator=(const EigenBase<OtherDerived>&) */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Array(const EigenBase<OtherDerived> &other,
+ typename internal::enable_if<internal::is_convertible<typename OtherDerived::Scalar,Scalar>::value,
+ PrivateType>::type = PrivateType())
+ : Base(other.derived())
+ { }
+
+ EIGEN_DEVICE_FUNC inline Index innerStride() const { return 1; }
+ EIGEN_DEVICE_FUNC inline Index outerStride() const { return this->innerSize(); }
+
+ #ifdef EIGEN_ARRAY_PLUGIN
+ #include EIGEN_ARRAY_PLUGIN
+ #endif
+
+ private:
+
+ template<typename MatrixType, typename OtherDerived, bool SwapPointers>
+ friend struct internal::matrix_swap_impl;
+};
+
+/** \defgroup arraytypedefs Global array typedefs
+ * \ingroup Core_Module
+ *
+ * Eigen defines several typedef shortcuts for most common 1D and 2D array types.
+ *
+ * The general patterns are the following:
+ *
+ * \c ArrayRowsColsType where \c Rows and \c Cols can be \c 2,\c 3,\c 4 for fixed size square matrices or \c X for dynamic size,
+ * and where \c Type can be \c i for integer, \c f for float, \c d for double, \c cf for complex float, \c cd
+ * for complex double.
+ *
+ * For example, \c Array33d is a fixed-size 3x3 array type of doubles, and \c ArrayXXf is a dynamic-size matrix of floats.
+ *
+ * There are also \c ArraySizeType which are self-explanatory. For example, \c Array4cf is
+ * a fixed-size 1D array of 4 complex floats.
+ *
+ * \sa class Array
+ */
+
+#define EIGEN_MAKE_ARRAY_TYPEDEFS(Type, TypeSuffix, Size, SizeSuffix) \
+/** \ingroup arraytypedefs */ \
+typedef Array<Type, Size, Size> Array##SizeSuffix##SizeSuffix##TypeSuffix; \
+/** \ingroup arraytypedefs */ \
+typedef Array<Type, Size, 1> Array##SizeSuffix##TypeSuffix;
+
+#define EIGEN_MAKE_ARRAY_FIXED_TYPEDEFS(Type, TypeSuffix, Size) \
+/** \ingroup arraytypedefs */ \
+typedef Array<Type, Size, Dynamic> Array##Size##X##TypeSuffix; \
+/** \ingroup arraytypedefs */ \
+typedef Array<Type, Dynamic, Size> Array##X##Size##TypeSuffix;
+
+#define EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(Type, TypeSuffix) \
+EIGEN_MAKE_ARRAY_TYPEDEFS(Type, TypeSuffix, 2, 2) \
+EIGEN_MAKE_ARRAY_TYPEDEFS(Type, TypeSuffix, 3, 3) \
+EIGEN_MAKE_ARRAY_TYPEDEFS(Type, TypeSuffix, 4, 4) \
+EIGEN_MAKE_ARRAY_TYPEDEFS(Type, TypeSuffix, Dynamic, X) \
+EIGEN_MAKE_ARRAY_FIXED_TYPEDEFS(Type, TypeSuffix, 2) \
+EIGEN_MAKE_ARRAY_FIXED_TYPEDEFS(Type, TypeSuffix, 3) \
+EIGEN_MAKE_ARRAY_FIXED_TYPEDEFS(Type, TypeSuffix, 4)
+
+EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(int, i)
+EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(float, f)
+EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(double, d)
+EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(std::complex<float>, cf)
+EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES(std::complex<double>, cd)
+
+#undef EIGEN_MAKE_ARRAY_TYPEDEFS_ALL_SIZES
+#undef EIGEN_MAKE_ARRAY_TYPEDEFS
+
+#undef EIGEN_MAKE_ARRAY_TYPEDEFS_LARGE
+
+#define EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, SizeSuffix) \
+using Eigen::Matrix##SizeSuffix##TypeSuffix; \
+using Eigen::Vector##SizeSuffix##TypeSuffix; \
+using Eigen::RowVector##SizeSuffix##TypeSuffix;
+
+#define EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(TypeSuffix) \
+EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, 2) \
+EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, 3) \
+EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, 4) \
+EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, X) \
+
+#define EIGEN_USING_ARRAY_TYPEDEFS \
+EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(i) \
+EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(f) \
+EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(d) \
+EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(cf) \
+EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE(cd)
+
+} // end namespace Eigen
+
+#endif // EIGEN_ARRAY_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/ArrayBase.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/ArrayBase.h
new file mode 100644
index 0000000..3dbc708
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/ArrayBase.h
@@ -0,0 +1,226 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_ARRAYBASE_H
+#define EIGEN_ARRAYBASE_H
+
+namespace Eigen {
+
+template<typename ExpressionType> class MatrixWrapper;
+
+/** \class ArrayBase
+ * \ingroup Core_Module
+ *
+ * \brief Base class for all 1D and 2D array, and related expressions
+ *
+ * An array is similar to a dense vector or matrix. While matrices are mathematical
+ * objects with well defined linear algebra operators, an array is just a collection
+ * of scalar values arranged in a one or two dimensionnal fashion. As the main consequence,
+ * all operations applied to an array are performed coefficient wise. Furthermore,
+ * arrays support scalar math functions of the c++ standard library (e.g., std::sin(x)), and convenient
+ * constructors allowing to easily write generic code working for both scalar values
+ * and arrays.
+ *
+ * This class is the base that is inherited by all array expression types.
+ *
+ * \tparam Derived is the derived type, e.g., an array or an expression type.
+ *
+ * This class can be extended with the help of the plugin mechanism described on the page
+ * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_ARRAYBASE_PLUGIN.
+ *
+ * \sa class MatrixBase, \ref TopicClassHierarchy
+ */
+template<typename Derived> class ArrayBase
+ : public DenseBase<Derived>
+{
+ public:
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+ /** The base class for a given storage type. */
+ typedef ArrayBase StorageBaseType;
+
+ typedef ArrayBase Eigen_BaseClassForSpecializationOfGlobalMathFuncImpl;
+
+ typedef typename internal::traits<Derived>::StorageKind StorageKind;
+ typedef typename internal::traits<Derived>::Scalar Scalar;
+ typedef typename internal::packet_traits<Scalar>::type PacketScalar;
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+
+ typedef DenseBase<Derived> Base;
+ using Base::RowsAtCompileTime;
+ using Base::ColsAtCompileTime;
+ using Base::SizeAtCompileTime;
+ using Base::MaxRowsAtCompileTime;
+ using Base::MaxColsAtCompileTime;
+ using Base::MaxSizeAtCompileTime;
+ using Base::IsVectorAtCompileTime;
+ using Base::Flags;
+
+ using Base::derived;
+ using Base::const_cast_derived;
+ using Base::rows;
+ using Base::cols;
+ using Base::size;
+ using Base::coeff;
+ using Base::coeffRef;
+ using Base::lazyAssign;
+ using Base::operator=;
+ using Base::operator+=;
+ using Base::operator-=;
+ using Base::operator*=;
+ using Base::operator/=;
+
+ typedef typename Base::CoeffReturnType CoeffReturnType;
+
+#endif // not EIGEN_PARSED_BY_DOXYGEN
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+ typedef typename Base::PlainObject PlainObject;
+
+ /** \internal Represents a matrix with all coefficients equal to one another*/
+ typedef CwiseNullaryOp<internal::scalar_constant_op<Scalar>,PlainObject> ConstantReturnType;
+#endif // not EIGEN_PARSED_BY_DOXYGEN
+
+#define EIGEN_CURRENT_STORAGE_BASE_CLASS Eigen::ArrayBase
+#define EIGEN_DOC_UNARY_ADDONS(X,Y)
+# include "../plugins/CommonCwiseUnaryOps.h"
+# include "../plugins/MatrixCwiseUnaryOps.h"
+# include "../plugins/ArrayCwiseUnaryOps.h"
+# include "../plugins/CommonCwiseBinaryOps.h"
+# include "../plugins/MatrixCwiseBinaryOps.h"
+# include "../plugins/ArrayCwiseBinaryOps.h"
+# ifdef EIGEN_ARRAYBASE_PLUGIN
+# include EIGEN_ARRAYBASE_PLUGIN
+# endif
+#undef EIGEN_CURRENT_STORAGE_BASE_CLASS
+#undef EIGEN_DOC_UNARY_ADDONS
+
+ /** Special case of the template operator=, in order to prevent the compiler
+ * from generating a default operator= (issue hit with g++ 4.1)
+ */
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ Derived& operator=(const ArrayBase& other)
+ {
+ internal::call_assignment(derived(), other.derived());
+ return derived();
+ }
+
+ /** Set all the entries to \a value.
+ * \sa DenseBase::setConstant(), DenseBase::fill() */
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ Derived& operator=(const Scalar &value)
+ { Base::setConstant(value); return derived(); }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ Derived& operator+=(const Scalar& scalar);
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ Derived& operator-=(const Scalar& scalar);
+
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ Derived& operator+=(const ArrayBase<OtherDerived>& other);
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ Derived& operator-=(const ArrayBase<OtherDerived>& other);
+
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ Derived& operator*=(const ArrayBase<OtherDerived>& other);
+
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ Derived& operator/=(const ArrayBase<OtherDerived>& other);
+
+ public:
+ EIGEN_DEVICE_FUNC
+ ArrayBase<Derived>& array() { return *this; }
+ EIGEN_DEVICE_FUNC
+ const ArrayBase<Derived>& array() const { return *this; }
+
+ /** \returns an \link Eigen::MatrixBase Matrix \endlink expression of this array
+ * \sa MatrixBase::array() */
+ EIGEN_DEVICE_FUNC
+ MatrixWrapper<Derived> matrix() { return MatrixWrapper<Derived>(derived()); }
+ EIGEN_DEVICE_FUNC
+ const MatrixWrapper<const Derived> matrix() const { return MatrixWrapper<const Derived>(derived()); }
+
+// template<typename Dest>
+// inline void evalTo(Dest& dst) const { dst = matrix(); }
+
+ protected:
+ EIGEN_DEVICE_FUNC
+ ArrayBase() : Base() {}
+
+ private:
+ explicit ArrayBase(Index);
+ ArrayBase(Index,Index);
+ template<typename OtherDerived> explicit ArrayBase(const ArrayBase<OtherDerived>&);
+ protected:
+ // mixing arrays and matrices is not legal
+ template<typename OtherDerived> Derived& operator+=(const MatrixBase<OtherDerived>& )
+ {EIGEN_STATIC_ASSERT(std::ptrdiff_t(sizeof(typename OtherDerived::Scalar))==-1,YOU_CANNOT_MIX_ARRAYS_AND_MATRICES); return *this;}
+ // mixing arrays and matrices is not legal
+ template<typename OtherDerived> Derived& operator-=(const MatrixBase<OtherDerived>& )
+ {EIGEN_STATIC_ASSERT(std::ptrdiff_t(sizeof(typename OtherDerived::Scalar))==-1,YOU_CANNOT_MIX_ARRAYS_AND_MATRICES); return *this;}
+};
+
+/** replaces \c *this by \c *this - \a other.
+ *
+ * \returns a reference to \c *this
+ */
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived &
+ArrayBase<Derived>::operator-=(const ArrayBase<OtherDerived> &other)
+{
+ call_assignment(derived(), other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
+ return derived();
+}
+
+/** replaces \c *this by \c *this + \a other.
+ *
+ * \returns a reference to \c *this
+ */
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived &
+ArrayBase<Derived>::operator+=(const ArrayBase<OtherDerived>& other)
+{
+ call_assignment(derived(), other.derived(), internal::add_assign_op<Scalar,typename OtherDerived::Scalar>());
+ return derived();
+}
+
+/** replaces \c *this by \c *this * \a other coefficient wise.
+ *
+ * \returns a reference to \c *this
+ */
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived &
+ArrayBase<Derived>::operator*=(const ArrayBase<OtherDerived>& other)
+{
+ call_assignment(derived(), other.derived(), internal::mul_assign_op<Scalar,typename OtherDerived::Scalar>());
+ return derived();
+}
+
+/** replaces \c *this by \c *this / \a other coefficient wise.
+ *
+ * \returns a reference to \c *this
+ */
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived &
+ArrayBase<Derived>::operator/=(const ArrayBase<OtherDerived>& other)
+{
+ call_assignment(derived(), other.derived(), internal::div_assign_op<Scalar,typename OtherDerived::Scalar>());
+ return derived();
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_ARRAYBASE_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/ArrayWrapper.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/ArrayWrapper.h
new file mode 100644
index 0000000..688aadd
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/ArrayWrapper.h
@@ -0,0 +1,209 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_ARRAYWRAPPER_H
+#define EIGEN_ARRAYWRAPPER_H
+
+namespace Eigen {
+
+/** \class ArrayWrapper
+ * \ingroup Core_Module
+ *
+ * \brief Expression of a mathematical vector or matrix as an array object
+ *
+ * This class is the return type of MatrixBase::array(), and most of the time
+ * this is the only way it is use.
+ *
+ * \sa MatrixBase::array(), class MatrixWrapper
+ */
+
+namespace internal {
+template<typename ExpressionType>
+struct traits<ArrayWrapper<ExpressionType> >
+ : public traits<typename remove_all<typename ExpressionType::Nested>::type >
+{
+ typedef ArrayXpr XprKind;
+ // Let's remove NestByRefBit
+ enum {
+ Flags0 = traits<typename remove_all<typename ExpressionType::Nested>::type >::Flags,
+ LvalueBitFlag = is_lvalue<ExpressionType>::value ? LvalueBit : 0,
+ Flags = (Flags0 & ~(NestByRefBit | LvalueBit)) | LvalueBitFlag
+ };
+};
+}
+
+template<typename ExpressionType>
+class ArrayWrapper : public ArrayBase<ArrayWrapper<ExpressionType> >
+{
+ public:
+ typedef ArrayBase<ArrayWrapper> Base;
+ EIGEN_DENSE_PUBLIC_INTERFACE(ArrayWrapper)
+ EIGEN_INHERIT_ASSIGNMENT_OPERATORS(ArrayWrapper)
+ typedef typename internal::remove_all<ExpressionType>::type NestedExpression;
+
+ typedef typename internal::conditional<
+ internal::is_lvalue<ExpressionType>::value,
+ Scalar,
+ const Scalar
+ >::type ScalarWithConstIfNotLvalue;
+
+ typedef typename internal::ref_selector<ExpressionType>::non_const_type NestedExpressionType;
+
+ using Base::coeffRef;
+
+ EIGEN_DEVICE_FUNC
+ explicit EIGEN_STRONG_INLINE ArrayWrapper(ExpressionType& matrix) : m_expression(matrix) {}
+
+ EIGEN_DEVICE_FUNC
+ inline Index rows() const { return m_expression.rows(); }
+ EIGEN_DEVICE_FUNC
+ inline Index cols() const { return m_expression.cols(); }
+ EIGEN_DEVICE_FUNC
+ inline Index outerStride() const { return m_expression.outerStride(); }
+ EIGEN_DEVICE_FUNC
+ inline Index innerStride() const { return m_expression.innerStride(); }
+
+ EIGEN_DEVICE_FUNC
+ inline ScalarWithConstIfNotLvalue* data() { return m_expression.data(); }
+ EIGEN_DEVICE_FUNC
+ inline const Scalar* data() const { return m_expression.data(); }
+
+ EIGEN_DEVICE_FUNC
+ inline const Scalar& coeffRef(Index rowId, Index colId) const
+ {
+ return m_expression.coeffRef(rowId, colId);
+ }
+
+ EIGEN_DEVICE_FUNC
+ inline const Scalar& coeffRef(Index index) const
+ {
+ return m_expression.coeffRef(index);
+ }
+
+ template<typename Dest>
+ EIGEN_DEVICE_FUNC
+ inline void evalTo(Dest& dst) const { dst = m_expression; }
+
+ const typename internal::remove_all<NestedExpressionType>::type&
+ EIGEN_DEVICE_FUNC
+ nestedExpression() const
+ {
+ return m_expression;
+ }
+
+ /** Forwards the resizing request to the nested expression
+ * \sa DenseBase::resize(Index) */
+ EIGEN_DEVICE_FUNC
+ void resize(Index newSize) { m_expression.resize(newSize); }
+ /** Forwards the resizing request to the nested expression
+ * \sa DenseBase::resize(Index,Index)*/
+ EIGEN_DEVICE_FUNC
+ void resize(Index rows, Index cols) { m_expression.resize(rows,cols); }
+
+ protected:
+ NestedExpressionType m_expression;
+};
+
+/** \class MatrixWrapper
+ * \ingroup Core_Module
+ *
+ * \brief Expression of an array as a mathematical vector or matrix
+ *
+ * This class is the return type of ArrayBase::matrix(), and most of the time
+ * this is the only way it is use.
+ *
+ * \sa MatrixBase::matrix(), class ArrayWrapper
+ */
+
+namespace internal {
+template<typename ExpressionType>
+struct traits<MatrixWrapper<ExpressionType> >
+ : public traits<typename remove_all<typename ExpressionType::Nested>::type >
+{
+ typedef MatrixXpr XprKind;
+ // Let's remove NestByRefBit
+ enum {
+ Flags0 = traits<typename remove_all<typename ExpressionType::Nested>::type >::Flags,
+ LvalueBitFlag = is_lvalue<ExpressionType>::value ? LvalueBit : 0,
+ Flags = (Flags0 & ~(NestByRefBit | LvalueBit)) | LvalueBitFlag
+ };
+};
+}
+
+template<typename ExpressionType>
+class MatrixWrapper : public MatrixBase<MatrixWrapper<ExpressionType> >
+{
+ public:
+ typedef MatrixBase<MatrixWrapper<ExpressionType> > Base;
+ EIGEN_DENSE_PUBLIC_INTERFACE(MatrixWrapper)
+ EIGEN_INHERIT_ASSIGNMENT_OPERATORS(MatrixWrapper)
+ typedef typename internal::remove_all<ExpressionType>::type NestedExpression;
+
+ typedef typename internal::conditional<
+ internal::is_lvalue<ExpressionType>::value,
+ Scalar,
+ const Scalar
+ >::type ScalarWithConstIfNotLvalue;
+
+ typedef typename internal::ref_selector<ExpressionType>::non_const_type NestedExpressionType;
+
+ using Base::coeffRef;
+
+ EIGEN_DEVICE_FUNC
+ explicit inline MatrixWrapper(ExpressionType& matrix) : m_expression(matrix) {}
+
+ EIGEN_DEVICE_FUNC
+ inline Index rows() const { return m_expression.rows(); }
+ EIGEN_DEVICE_FUNC
+ inline Index cols() const { return m_expression.cols(); }
+ EIGEN_DEVICE_FUNC
+ inline Index outerStride() const { return m_expression.outerStride(); }
+ EIGEN_DEVICE_FUNC
+ inline Index innerStride() const { return m_expression.innerStride(); }
+
+ EIGEN_DEVICE_FUNC
+ inline ScalarWithConstIfNotLvalue* data() { return m_expression.data(); }
+ EIGEN_DEVICE_FUNC
+ inline const Scalar* data() const { return m_expression.data(); }
+
+ EIGEN_DEVICE_FUNC
+ inline const Scalar& coeffRef(Index rowId, Index colId) const
+ {
+ return m_expression.derived().coeffRef(rowId, colId);
+ }
+
+ EIGEN_DEVICE_FUNC
+ inline const Scalar& coeffRef(Index index) const
+ {
+ return m_expression.coeffRef(index);
+ }
+
+ EIGEN_DEVICE_FUNC
+ const typename internal::remove_all<NestedExpressionType>::type&
+ nestedExpression() const
+ {
+ return m_expression;
+ }
+
+ /** Forwards the resizing request to the nested expression
+ * \sa DenseBase::resize(Index) */
+ EIGEN_DEVICE_FUNC
+ void resize(Index newSize) { m_expression.resize(newSize); }
+ /** Forwards the resizing request to the nested expression
+ * \sa DenseBase::resize(Index,Index)*/
+ EIGEN_DEVICE_FUNC
+ void resize(Index rows, Index cols) { m_expression.resize(rows,cols); }
+
+ protected:
+ NestedExpressionType m_expression;
+};
+
+} // end namespace Eigen
+
+#endif // EIGEN_ARRAYWRAPPER_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Assign.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Assign.h
new file mode 100644
index 0000000..53806ba
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Assign.h
@@ -0,0 +1,90 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2007 Michael Olbrich <michael.olbrich@gmx.net>
+// Copyright (C) 2006-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_ASSIGN_H
+#define EIGEN_ASSIGN_H
+
+namespace Eigen {
+
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE Derived& DenseBase<Derived>
+ ::lazyAssign(const DenseBase<OtherDerived>& other)
+{
+ enum{
+ SameType = internal::is_same<typename Derived::Scalar,typename OtherDerived::Scalar>::value
+ };
+
+ EIGEN_STATIC_ASSERT_LVALUE(Derived)
+ EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Derived,OtherDerived)
+ EIGEN_STATIC_ASSERT(SameType,YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+
+ eigen_assert(rows() == other.rows() && cols() == other.cols());
+ internal::call_assignment_no_alias(derived(),other.derived());
+
+ return derived();
+}
+
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::operator=(const DenseBase<OtherDerived>& other)
+{
+ internal::call_assignment(derived(), other.derived());
+ return derived();
+}
+
+template<typename Derived>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::operator=(const DenseBase& other)
+{
+ internal::call_assignment(derived(), other.derived());
+ return derived();
+}
+
+template<typename Derived>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator=(const MatrixBase& other)
+{
+ internal::call_assignment(derived(), other.derived());
+ return derived();
+}
+
+template<typename Derived>
+template <typename OtherDerived>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator=(const DenseBase<OtherDerived>& other)
+{
+ internal::call_assignment(derived(), other.derived());
+ return derived();
+}
+
+template<typename Derived>
+template <typename OtherDerived>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator=(const EigenBase<OtherDerived>& other)
+{
+ internal::call_assignment(derived(), other.derived());
+ return derived();
+}
+
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator=(const ReturnByValue<OtherDerived>& other)
+{
+ other.derived().evalTo(derived());
+ return derived();
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_ASSIGN_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/AssignEvaluator.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/AssignEvaluator.h
new file mode 100644
index 0000000..dbe435d
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/AssignEvaluator.h
@@ -0,0 +1,935 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2011 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2011-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2011-2012 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_ASSIGN_EVALUATOR_H
+#define EIGEN_ASSIGN_EVALUATOR_H
+
+namespace Eigen {
+
+// This implementation is based on Assign.h
+
+namespace internal {
+
+/***************************************************************************
+* Part 1 : the logic deciding a strategy for traversal and unrolling *
+***************************************************************************/
+
+// copy_using_evaluator_traits is based on assign_traits
+
+template <typename DstEvaluator, typename SrcEvaluator, typename AssignFunc>
+struct copy_using_evaluator_traits
+{
+ typedef typename DstEvaluator::XprType Dst;
+ typedef typename Dst::Scalar DstScalar;
+
+ enum {
+ DstFlags = DstEvaluator::Flags,
+ SrcFlags = SrcEvaluator::Flags
+ };
+
+public:
+ enum {
+ DstAlignment = DstEvaluator::Alignment,
+ SrcAlignment = SrcEvaluator::Alignment,
+ DstHasDirectAccess = (DstFlags & DirectAccessBit) == DirectAccessBit,
+ JointAlignment = EIGEN_PLAIN_ENUM_MIN(DstAlignment,SrcAlignment)
+ };
+
+private:
+ enum {
+ InnerSize = int(Dst::IsVectorAtCompileTime) ? int(Dst::SizeAtCompileTime)
+ : int(DstFlags)&RowMajorBit ? int(Dst::ColsAtCompileTime)
+ : int(Dst::RowsAtCompileTime),
+ InnerMaxSize = int(Dst::IsVectorAtCompileTime) ? int(Dst::MaxSizeAtCompileTime)
+ : int(DstFlags)&RowMajorBit ? int(Dst::MaxColsAtCompileTime)
+ : int(Dst::MaxRowsAtCompileTime),
+ OuterStride = int(outer_stride_at_compile_time<Dst>::ret),
+ MaxSizeAtCompileTime = Dst::SizeAtCompileTime
+ };
+
+ // TODO distinguish between linear traversal and inner-traversals
+ typedef typename find_best_packet<DstScalar,Dst::SizeAtCompileTime>::type LinearPacketType;
+ typedef typename find_best_packet<DstScalar,InnerSize>::type InnerPacketType;
+
+ enum {
+ LinearPacketSize = unpacket_traits<LinearPacketType>::size,
+ InnerPacketSize = unpacket_traits<InnerPacketType>::size
+ };
+
+public:
+ enum {
+ LinearRequiredAlignment = unpacket_traits<LinearPacketType>::alignment,
+ InnerRequiredAlignment = unpacket_traits<InnerPacketType>::alignment
+ };
+
+private:
+ enum {
+ DstIsRowMajor = DstFlags&RowMajorBit,
+ SrcIsRowMajor = SrcFlags&RowMajorBit,
+ StorageOrdersAgree = (int(DstIsRowMajor) == int(SrcIsRowMajor)),
+ MightVectorize = bool(StorageOrdersAgree)
+ && (int(DstFlags) & int(SrcFlags) & ActualPacketAccessBit)
+ && bool(functor_traits<AssignFunc>::PacketAccess),
+ MayInnerVectorize = MightVectorize
+ && int(InnerSize)!=Dynamic && int(InnerSize)%int(InnerPacketSize)==0
+ && int(OuterStride)!=Dynamic && int(OuterStride)%int(InnerPacketSize)==0
+ && (EIGEN_UNALIGNED_VECTORIZE || int(JointAlignment)>=int(InnerRequiredAlignment)),
+ MayLinearize = bool(StorageOrdersAgree) && (int(DstFlags) & int(SrcFlags) & LinearAccessBit),
+ MayLinearVectorize = bool(MightVectorize) && bool(MayLinearize) && bool(DstHasDirectAccess)
+ && (EIGEN_UNALIGNED_VECTORIZE || (int(DstAlignment)>=int(LinearRequiredAlignment)) || MaxSizeAtCompileTime == Dynamic),
+ /* If the destination isn't aligned, we have to do runtime checks and we don't unroll,
+ so it's only good for large enough sizes. */
+ MaySliceVectorize = bool(MightVectorize) && bool(DstHasDirectAccess)
+ && (int(InnerMaxSize)==Dynamic || int(InnerMaxSize)>=(EIGEN_UNALIGNED_VECTORIZE?InnerPacketSize:(3*InnerPacketSize)))
+ /* slice vectorization can be slow, so we only want it if the slices are big, which is
+ indicated by InnerMaxSize rather than InnerSize, think of the case of a dynamic block
+ in a fixed-size matrix
+ However, with EIGEN_UNALIGNED_VECTORIZE and unrolling, slice vectorization is still worth it */
+ };
+
+public:
+ enum {
+ Traversal = int(MayLinearVectorize) && (LinearPacketSize>InnerPacketSize) ? int(LinearVectorizedTraversal)
+ : int(MayInnerVectorize) ? int(InnerVectorizedTraversal)
+ : int(MayLinearVectorize) ? int(LinearVectorizedTraversal)
+ : int(MaySliceVectorize) ? int(SliceVectorizedTraversal)
+ : int(MayLinearize) ? int(LinearTraversal)
+ : int(DefaultTraversal),
+ Vectorized = int(Traversal) == InnerVectorizedTraversal
+ || int(Traversal) == LinearVectorizedTraversal
+ || int(Traversal) == SliceVectorizedTraversal
+ };
+
+ typedef typename conditional<int(Traversal)==LinearVectorizedTraversal, LinearPacketType, InnerPacketType>::type PacketType;
+
+private:
+ enum {
+ ActualPacketSize = int(Traversal)==LinearVectorizedTraversal ? LinearPacketSize
+ : Vectorized ? InnerPacketSize
+ : 1,
+ UnrollingLimit = EIGEN_UNROLLING_LIMIT * ActualPacketSize,
+ MayUnrollCompletely = int(Dst::SizeAtCompileTime) != Dynamic
+ && int(Dst::SizeAtCompileTime) * (int(DstEvaluator::CoeffReadCost)+int(SrcEvaluator::CoeffReadCost)) <= int(UnrollingLimit),
+ MayUnrollInner = int(InnerSize) != Dynamic
+ && int(InnerSize) * (int(DstEvaluator::CoeffReadCost)+int(SrcEvaluator::CoeffReadCost)) <= int(UnrollingLimit)
+ };
+
+public:
+ enum {
+ Unrolling = (int(Traversal) == int(InnerVectorizedTraversal) || int(Traversal) == int(DefaultTraversal))
+ ? (
+ int(MayUnrollCompletely) ? int(CompleteUnrolling)
+ : int(MayUnrollInner) ? int(InnerUnrolling)
+ : int(NoUnrolling)
+ )
+ : int(Traversal) == int(LinearVectorizedTraversal)
+ ? ( bool(MayUnrollCompletely) && ( EIGEN_UNALIGNED_VECTORIZE || (int(DstAlignment)>=int(LinearRequiredAlignment)))
+ ? int(CompleteUnrolling)
+ : int(NoUnrolling) )
+ : int(Traversal) == int(LinearTraversal)
+ ? ( bool(MayUnrollCompletely) ? int(CompleteUnrolling)
+ : int(NoUnrolling) )
+#if EIGEN_UNALIGNED_VECTORIZE
+ : int(Traversal) == int(SliceVectorizedTraversal)
+ ? ( bool(MayUnrollInner) ? int(InnerUnrolling)
+ : int(NoUnrolling) )
+#endif
+ : int(NoUnrolling)
+ };
+
+#ifdef EIGEN_DEBUG_ASSIGN
+ static void debug()
+ {
+ std::cerr << "DstXpr: " << typeid(typename DstEvaluator::XprType).name() << std::endl;
+ std::cerr << "SrcXpr: " << typeid(typename SrcEvaluator::XprType).name() << std::endl;
+ std::cerr.setf(std::ios::hex, std::ios::basefield);
+ std::cerr << "DstFlags" << " = " << DstFlags << " (" << demangle_flags(DstFlags) << " )" << std::endl;
+ std::cerr << "SrcFlags" << " = " << SrcFlags << " (" << demangle_flags(SrcFlags) << " )" << std::endl;
+ std::cerr.unsetf(std::ios::hex);
+ EIGEN_DEBUG_VAR(DstAlignment)
+ EIGEN_DEBUG_VAR(SrcAlignment)
+ EIGEN_DEBUG_VAR(LinearRequiredAlignment)
+ EIGEN_DEBUG_VAR(InnerRequiredAlignment)
+ EIGEN_DEBUG_VAR(JointAlignment)
+ EIGEN_DEBUG_VAR(InnerSize)
+ EIGEN_DEBUG_VAR(InnerMaxSize)
+ EIGEN_DEBUG_VAR(LinearPacketSize)
+ EIGEN_DEBUG_VAR(InnerPacketSize)
+ EIGEN_DEBUG_VAR(ActualPacketSize)
+ EIGEN_DEBUG_VAR(StorageOrdersAgree)
+ EIGEN_DEBUG_VAR(MightVectorize)
+ EIGEN_DEBUG_VAR(MayLinearize)
+ EIGEN_DEBUG_VAR(MayInnerVectorize)
+ EIGEN_DEBUG_VAR(MayLinearVectorize)
+ EIGEN_DEBUG_VAR(MaySliceVectorize)
+ std::cerr << "Traversal" << " = " << Traversal << " (" << demangle_traversal(Traversal) << ")" << std::endl;
+ EIGEN_DEBUG_VAR(SrcEvaluator::CoeffReadCost)
+ EIGEN_DEBUG_VAR(UnrollingLimit)
+ EIGEN_DEBUG_VAR(MayUnrollCompletely)
+ EIGEN_DEBUG_VAR(MayUnrollInner)
+ std::cerr << "Unrolling" << " = " << Unrolling << " (" << demangle_unrolling(Unrolling) << ")" << std::endl;
+ std::cerr << std::endl;
+ }
+#endif
+};
+
+/***************************************************************************
+* Part 2 : meta-unrollers
+***************************************************************************/
+
+/************************
+*** Default traversal ***
+************************/
+
+template<typename Kernel, int Index, int Stop>
+struct copy_using_evaluator_DefaultTraversal_CompleteUnrolling
+{
+ // FIXME: this is not very clean, perhaps this information should be provided by the kernel?
+ typedef typename Kernel::DstEvaluatorType DstEvaluatorType;
+ typedef typename DstEvaluatorType::XprType DstXprType;
+
+ enum {
+ outer = Index / DstXprType::InnerSizeAtCompileTime,
+ inner = Index % DstXprType::InnerSizeAtCompileTime
+ };
+
+ EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+ {
+ kernel.assignCoeffByOuterInner(outer, inner);
+ copy_using_evaluator_DefaultTraversal_CompleteUnrolling<Kernel, Index+1, Stop>::run(kernel);
+ }
+};
+
+template<typename Kernel, int Stop>
+struct copy_using_evaluator_DefaultTraversal_CompleteUnrolling<Kernel, Stop, Stop>
+{
+ EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel&) { }
+};
+
+template<typename Kernel, int Index_, int Stop>
+struct copy_using_evaluator_DefaultTraversal_InnerUnrolling
+{
+ EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel, Index outer)
+ {
+ kernel.assignCoeffByOuterInner(outer, Index_);
+ copy_using_evaluator_DefaultTraversal_InnerUnrolling<Kernel, Index_+1, Stop>::run(kernel, outer);
+ }
+};
+
+template<typename Kernel, int Stop>
+struct copy_using_evaluator_DefaultTraversal_InnerUnrolling<Kernel, Stop, Stop>
+{
+ EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel&, Index) { }
+};
+
+/***********************
+*** Linear traversal ***
+***********************/
+
+template<typename Kernel, int Index, int Stop>
+struct copy_using_evaluator_LinearTraversal_CompleteUnrolling
+{
+ EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel& kernel)
+ {
+ kernel.assignCoeff(Index);
+ copy_using_evaluator_LinearTraversal_CompleteUnrolling<Kernel, Index+1, Stop>::run(kernel);
+ }
+};
+
+template<typename Kernel, int Stop>
+struct copy_using_evaluator_LinearTraversal_CompleteUnrolling<Kernel, Stop, Stop>
+{
+ EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel&) { }
+};
+
+/**************************
+*** Inner vectorization ***
+**************************/
+
+template<typename Kernel, int Index, int Stop>
+struct copy_using_evaluator_innervec_CompleteUnrolling
+{
+ // FIXME: this is not very clean, perhaps this information should be provided by the kernel?
+ typedef typename Kernel::DstEvaluatorType DstEvaluatorType;
+ typedef typename DstEvaluatorType::XprType DstXprType;
+ typedef typename Kernel::PacketType PacketType;
+
+ enum {
+ outer = Index / DstXprType::InnerSizeAtCompileTime,
+ inner = Index % DstXprType::InnerSizeAtCompileTime,
+ SrcAlignment = Kernel::AssignmentTraits::SrcAlignment,
+ DstAlignment = Kernel::AssignmentTraits::DstAlignment
+ };
+
+ EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+ {
+ kernel.template assignPacketByOuterInner<DstAlignment, SrcAlignment, PacketType>(outer, inner);
+ enum { NextIndex = Index + unpacket_traits<PacketType>::size };
+ copy_using_evaluator_innervec_CompleteUnrolling<Kernel, NextIndex, Stop>::run(kernel);
+ }
+};
+
+template<typename Kernel, int Stop>
+struct copy_using_evaluator_innervec_CompleteUnrolling<Kernel, Stop, Stop>
+{
+ EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel&) { }
+};
+
+template<typename Kernel, int Index_, int Stop, int SrcAlignment, int DstAlignment>
+struct copy_using_evaluator_innervec_InnerUnrolling
+{
+ typedef typename Kernel::PacketType PacketType;
+ EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel, Index outer)
+ {
+ kernel.template assignPacketByOuterInner<DstAlignment, SrcAlignment, PacketType>(outer, Index_);
+ enum { NextIndex = Index_ + unpacket_traits<PacketType>::size };
+ copy_using_evaluator_innervec_InnerUnrolling<Kernel, NextIndex, Stop, SrcAlignment, DstAlignment>::run(kernel, outer);
+ }
+};
+
+template<typename Kernel, int Stop, int SrcAlignment, int DstAlignment>
+struct copy_using_evaluator_innervec_InnerUnrolling<Kernel, Stop, Stop, SrcAlignment, DstAlignment>
+{
+ EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &, Index) { }
+};
+
+/***************************************************************************
+* Part 3 : implementation of all cases
+***************************************************************************/
+
+// dense_assignment_loop is based on assign_impl
+
+template<typename Kernel,
+ int Traversal = Kernel::AssignmentTraits::Traversal,
+ int Unrolling = Kernel::AssignmentTraits::Unrolling>
+struct dense_assignment_loop;
+
+/************************
+*** Default traversal ***
+************************/
+
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, DefaultTraversal, NoUnrolling>
+{
+ EIGEN_DEVICE_FUNC static void EIGEN_STRONG_INLINE run(Kernel &kernel)
+ {
+ for(Index outer = 0; outer < kernel.outerSize(); ++outer) {
+ for(Index inner = 0; inner < kernel.innerSize(); ++inner) {
+ kernel.assignCoeffByOuterInner(outer, inner);
+ }
+ }
+ }
+};
+
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, DefaultTraversal, CompleteUnrolling>
+{
+ EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+ {
+ typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
+ copy_using_evaluator_DefaultTraversal_CompleteUnrolling<Kernel, 0, DstXprType::SizeAtCompileTime>::run(kernel);
+ }
+};
+
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, DefaultTraversal, InnerUnrolling>
+{
+ EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+ {
+ typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
+
+ const Index outerSize = kernel.outerSize();
+ for(Index outer = 0; outer < outerSize; ++outer)
+ copy_using_evaluator_DefaultTraversal_InnerUnrolling<Kernel, 0, DstXprType::InnerSizeAtCompileTime>::run(kernel, outer);
+ }
+};
+
+/***************************
+*** Linear vectorization ***
+***************************/
+
+
+// The goal of unaligned_dense_assignment_loop is simply to factorize the handling
+// of the non vectorizable beginning and ending parts
+
+template <bool IsAligned = false>
+struct unaligned_dense_assignment_loop
+{
+ // if IsAligned = true, then do nothing
+ template <typename Kernel>
+ EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel&, Index, Index) {}
+};
+
+template <>
+struct unaligned_dense_assignment_loop<false>
+{
+ // MSVC must not inline this functions. If it does, it fails to optimize the
+ // packet access path.
+ // FIXME check which version exhibits this issue
+#if EIGEN_COMP_MSVC
+ template <typename Kernel>
+ static EIGEN_DONT_INLINE void run(Kernel &kernel,
+ Index start,
+ Index end)
+#else
+ template <typename Kernel>
+ EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel,
+ Index start,
+ Index end)
+#endif
+ {
+ for (Index index = start; index < end; ++index)
+ kernel.assignCoeff(index);
+ }
+};
+
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, LinearVectorizedTraversal, NoUnrolling>
+{
+ EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+ {
+ const Index size = kernel.size();
+ typedef typename Kernel::Scalar Scalar;
+ typedef typename Kernel::PacketType PacketType;
+ enum {
+ requestedAlignment = Kernel::AssignmentTraits::LinearRequiredAlignment,
+ packetSize = unpacket_traits<PacketType>::size,
+ dstIsAligned = int(Kernel::AssignmentTraits::DstAlignment)>=int(requestedAlignment),
+ dstAlignment = packet_traits<Scalar>::AlignedOnScalar ? int(requestedAlignment)
+ : int(Kernel::AssignmentTraits::DstAlignment),
+ srcAlignment = Kernel::AssignmentTraits::JointAlignment
+ };
+ const Index alignedStart = dstIsAligned ? 0 : internal::first_aligned<requestedAlignment>(kernel.dstDataPtr(), size);
+ const Index alignedEnd = alignedStart + ((size-alignedStart)/packetSize)*packetSize;
+
+ unaligned_dense_assignment_loop<dstIsAligned!=0>::run(kernel, 0, alignedStart);
+
+ for(Index index = alignedStart; index < alignedEnd; index += packetSize)
+ kernel.template assignPacket<dstAlignment, srcAlignment, PacketType>(index);
+
+ unaligned_dense_assignment_loop<>::run(kernel, alignedEnd, size);
+ }
+};
+
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, LinearVectorizedTraversal, CompleteUnrolling>
+{
+ EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+ {
+ typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
+ typedef typename Kernel::PacketType PacketType;
+
+ enum { size = DstXprType::SizeAtCompileTime,
+ packetSize =unpacket_traits<PacketType>::size,
+ alignedSize = (size/packetSize)*packetSize };
+
+ copy_using_evaluator_innervec_CompleteUnrolling<Kernel, 0, alignedSize>::run(kernel);
+ copy_using_evaluator_DefaultTraversal_CompleteUnrolling<Kernel, alignedSize, size>::run(kernel);
+ }
+};
+
+/**************************
+*** Inner vectorization ***
+**************************/
+
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, InnerVectorizedTraversal, NoUnrolling>
+{
+ typedef typename Kernel::PacketType PacketType;
+ enum {
+ SrcAlignment = Kernel::AssignmentTraits::SrcAlignment,
+ DstAlignment = Kernel::AssignmentTraits::DstAlignment
+ };
+ EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+ {
+ const Index innerSize = kernel.innerSize();
+ const Index outerSize = kernel.outerSize();
+ const Index packetSize = unpacket_traits<PacketType>::size;
+ for(Index outer = 0; outer < outerSize; ++outer)
+ for(Index inner = 0; inner < innerSize; inner+=packetSize)
+ kernel.template assignPacketByOuterInner<DstAlignment, SrcAlignment, PacketType>(outer, inner);
+ }
+};
+
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, InnerVectorizedTraversal, CompleteUnrolling>
+{
+ EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+ {
+ typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
+ copy_using_evaluator_innervec_CompleteUnrolling<Kernel, 0, DstXprType::SizeAtCompileTime>::run(kernel);
+ }
+};
+
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, InnerVectorizedTraversal, InnerUnrolling>
+{
+ EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+ {
+ typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
+ typedef typename Kernel::AssignmentTraits Traits;
+ const Index outerSize = kernel.outerSize();
+ for(Index outer = 0; outer < outerSize; ++outer)
+ copy_using_evaluator_innervec_InnerUnrolling<Kernel, 0, DstXprType::InnerSizeAtCompileTime,
+ Traits::SrcAlignment, Traits::DstAlignment>::run(kernel, outer);
+ }
+};
+
+/***********************
+*** Linear traversal ***
+***********************/
+
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, LinearTraversal, NoUnrolling>
+{
+ EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+ {
+ const Index size = kernel.size();
+ for(Index i = 0; i < size; ++i)
+ kernel.assignCoeff(i);
+ }
+};
+
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, LinearTraversal, CompleteUnrolling>
+{
+ EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+ {
+ typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
+ copy_using_evaluator_LinearTraversal_CompleteUnrolling<Kernel, 0, DstXprType::SizeAtCompileTime>::run(kernel);
+ }
+};
+
+/**************************
+*** Slice vectorization ***
+***************************/
+
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, SliceVectorizedTraversal, NoUnrolling>
+{
+ EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+ {
+ typedef typename Kernel::Scalar Scalar;
+ typedef typename Kernel::PacketType PacketType;
+ enum {
+ packetSize = unpacket_traits<PacketType>::size,
+ requestedAlignment = int(Kernel::AssignmentTraits::InnerRequiredAlignment),
+ alignable = packet_traits<Scalar>::AlignedOnScalar || int(Kernel::AssignmentTraits::DstAlignment)>=sizeof(Scalar),
+ dstIsAligned = int(Kernel::AssignmentTraits::DstAlignment)>=int(requestedAlignment),
+ dstAlignment = alignable ? int(requestedAlignment)
+ : int(Kernel::AssignmentTraits::DstAlignment)
+ };
+ const Scalar *dst_ptr = kernel.dstDataPtr();
+ if((!bool(dstIsAligned)) && (UIntPtr(dst_ptr) % sizeof(Scalar))>0)
+ {
+ // the pointer is not aligend-on scalar, so alignment is not possible
+ return dense_assignment_loop<Kernel,DefaultTraversal,NoUnrolling>::run(kernel);
+ }
+ const Index packetAlignedMask = packetSize - 1;
+ const Index innerSize = kernel.innerSize();
+ const Index outerSize = kernel.outerSize();
+ const Index alignedStep = alignable ? (packetSize - kernel.outerStride() % packetSize) & packetAlignedMask : 0;
+ Index alignedStart = ((!alignable) || bool(dstIsAligned)) ? 0 : internal::first_aligned<requestedAlignment>(dst_ptr, innerSize);
+
+ for(Index outer = 0; outer < outerSize; ++outer)
+ {
+ const Index alignedEnd = alignedStart + ((innerSize-alignedStart) & ~packetAlignedMask);
+ // do the non-vectorizable part of the assignment
+ for(Index inner = 0; inner<alignedStart ; ++inner)
+ kernel.assignCoeffByOuterInner(outer, inner);
+
+ // do the vectorizable part of the assignment
+ for(Index inner = alignedStart; inner<alignedEnd; inner+=packetSize)
+ kernel.template assignPacketByOuterInner<dstAlignment, Unaligned, PacketType>(outer, inner);
+
+ // do the non-vectorizable part of the assignment
+ for(Index inner = alignedEnd; inner<innerSize ; ++inner)
+ kernel.assignCoeffByOuterInner(outer, inner);
+
+ alignedStart = numext::mini((alignedStart+alignedStep)%packetSize, innerSize);
+ }
+ }
+};
+
+#if EIGEN_UNALIGNED_VECTORIZE
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, SliceVectorizedTraversal, InnerUnrolling>
+{
+ EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+ {
+ typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
+ typedef typename Kernel::PacketType PacketType;
+
+ enum { size = DstXprType::InnerSizeAtCompileTime,
+ packetSize =unpacket_traits<PacketType>::size,
+ vectorizableSize = (size/packetSize)*packetSize };
+
+ for(Index outer = 0; outer < kernel.outerSize(); ++outer)
+ {
+ copy_using_evaluator_innervec_InnerUnrolling<Kernel, 0, vectorizableSize, 0, 0>::run(kernel, outer);
+ copy_using_evaluator_DefaultTraversal_InnerUnrolling<Kernel, vectorizableSize, size>::run(kernel, outer);
+ }
+ }
+};
+#endif
+
+
+/***************************************************************************
+* Part 4 : Generic dense assignment kernel
+***************************************************************************/
+
+// This class generalize the assignment of a coefficient (or packet) from one dense evaluator
+// to another dense writable evaluator.
+// It is parametrized by the two evaluators, and the actual assignment functor.
+// This abstraction level permits to keep the evaluation loops as simple and as generic as possible.
+// One can customize the assignment using this generic dense_assignment_kernel with different
+// functors, or by completely overloading it, by-passing a functor.
+template<typename DstEvaluatorTypeT, typename SrcEvaluatorTypeT, typename Functor, int Version = Specialized>
+class generic_dense_assignment_kernel
+{
+protected:
+ typedef typename DstEvaluatorTypeT::XprType DstXprType;
+ typedef typename SrcEvaluatorTypeT::XprType SrcXprType;
+public:
+
+ typedef DstEvaluatorTypeT DstEvaluatorType;
+ typedef SrcEvaluatorTypeT SrcEvaluatorType;
+ typedef typename DstEvaluatorType::Scalar Scalar;
+ typedef copy_using_evaluator_traits<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor> AssignmentTraits;
+ typedef typename AssignmentTraits::PacketType PacketType;
+
+
+ EIGEN_DEVICE_FUNC generic_dense_assignment_kernel(DstEvaluatorType &dst, const SrcEvaluatorType &src, const Functor &func, DstXprType& dstExpr)
+ : m_dst(dst), m_src(src), m_functor(func), m_dstExpr(dstExpr)
+ {
+ #ifdef EIGEN_DEBUG_ASSIGN
+ AssignmentTraits::debug();
+ #endif
+ }
+
+ EIGEN_DEVICE_FUNC Index size() const { return m_dstExpr.size(); }
+ EIGEN_DEVICE_FUNC Index innerSize() const { return m_dstExpr.innerSize(); }
+ EIGEN_DEVICE_FUNC Index outerSize() const { return m_dstExpr.outerSize(); }
+ EIGEN_DEVICE_FUNC Index rows() const { return m_dstExpr.rows(); }
+ EIGEN_DEVICE_FUNC Index cols() const { return m_dstExpr.cols(); }
+ EIGEN_DEVICE_FUNC Index outerStride() const { return m_dstExpr.outerStride(); }
+
+ EIGEN_DEVICE_FUNC DstEvaluatorType& dstEvaluator() { return m_dst; }
+ EIGEN_DEVICE_FUNC const SrcEvaluatorType& srcEvaluator() const { return m_src; }
+
+ /// Assign src(row,col) to dst(row,col) through the assignment functor.
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(Index row, Index col)
+ {
+ m_functor.assignCoeff(m_dst.coeffRef(row,col), m_src.coeff(row,col));
+ }
+
+ /// \sa assignCoeff(Index,Index)
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(Index index)
+ {
+ m_functor.assignCoeff(m_dst.coeffRef(index), m_src.coeff(index));
+ }
+
+ /// \sa assignCoeff(Index,Index)
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeffByOuterInner(Index outer, Index inner)
+ {
+ Index row = rowIndexByOuterInner(outer, inner);
+ Index col = colIndexByOuterInner(outer, inner);
+ assignCoeff(row, col);
+ }
+
+
+ template<int StoreMode, int LoadMode, typename PacketType>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignPacket(Index row, Index col)
+ {
+ m_functor.template assignPacket<StoreMode>(&m_dst.coeffRef(row,col), m_src.template packet<LoadMode,PacketType>(row,col));
+ }
+
+ template<int StoreMode, int LoadMode, typename PacketType>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignPacket(Index index)
+ {
+ m_functor.template assignPacket<StoreMode>(&m_dst.coeffRef(index), m_src.template packet<LoadMode,PacketType>(index));
+ }
+
+ template<int StoreMode, int LoadMode, typename PacketType>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignPacketByOuterInner(Index outer, Index inner)
+ {
+ Index row = rowIndexByOuterInner(outer, inner);
+ Index col = colIndexByOuterInner(outer, inner);
+ assignPacket<StoreMode,LoadMode,PacketType>(row, col);
+ }
+
+ EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Index rowIndexByOuterInner(Index outer, Index inner)
+ {
+ typedef typename DstEvaluatorType::ExpressionTraits Traits;
+ return int(Traits::RowsAtCompileTime) == 1 ? 0
+ : int(Traits::ColsAtCompileTime) == 1 ? inner
+ : int(DstEvaluatorType::Flags)&RowMajorBit ? outer
+ : inner;
+ }
+
+ EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Index colIndexByOuterInner(Index outer, Index inner)
+ {
+ typedef typename DstEvaluatorType::ExpressionTraits Traits;
+ return int(Traits::ColsAtCompileTime) == 1 ? 0
+ : int(Traits::RowsAtCompileTime) == 1 ? inner
+ : int(DstEvaluatorType::Flags)&RowMajorBit ? inner
+ : outer;
+ }
+
+ EIGEN_DEVICE_FUNC const Scalar* dstDataPtr() const
+ {
+ return m_dstExpr.data();
+ }
+
+protected:
+ DstEvaluatorType& m_dst;
+ const SrcEvaluatorType& m_src;
+ const Functor &m_functor;
+ // TODO find a way to avoid the needs of the original expression
+ DstXprType& m_dstExpr;
+};
+
+/***************************************************************************
+* Part 5 : Entry point for dense rectangular assignment
+***************************************************************************/
+
+template<typename DstXprType,typename SrcXprType, typename Functor>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void resize_if_allowed(DstXprType &dst, const SrcXprType& src, const Functor &/*func*/)
+{
+ EIGEN_ONLY_USED_FOR_DEBUG(dst);
+ EIGEN_ONLY_USED_FOR_DEBUG(src);
+ eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols());
+}
+
+template<typename DstXprType,typename SrcXprType, typename T1, typename T2>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void resize_if_allowed(DstXprType &dst, const SrcXprType& src, const internal::assign_op<T1,T2> &/*func*/)
+{
+ Index dstRows = src.rows();
+ Index dstCols = src.cols();
+ if(((dst.rows()!=dstRows) || (dst.cols()!=dstCols)))
+ dst.resize(dstRows, dstCols);
+ eigen_assert(dst.rows() == dstRows && dst.cols() == dstCols);
+}
+
+template<typename DstXprType, typename SrcXprType, typename Functor>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void call_dense_assignment_loop(DstXprType& dst, const SrcXprType& src, const Functor &func)
+{
+ typedef evaluator<DstXprType> DstEvaluatorType;
+ typedef evaluator<SrcXprType> SrcEvaluatorType;
+
+ SrcEvaluatorType srcEvaluator(src);
+
+ // NOTE To properly handle A = (A*A.transpose())/s with A rectangular,
+ // we need to resize the destination after the source evaluator has been created.
+ resize_if_allowed(dst, src, func);
+
+ DstEvaluatorType dstEvaluator(dst);
+
+ typedef generic_dense_assignment_kernel<DstEvaluatorType,SrcEvaluatorType,Functor> Kernel;
+ Kernel kernel(dstEvaluator, srcEvaluator, func, dst.const_cast_derived());
+
+ dense_assignment_loop<Kernel>::run(kernel);
+}
+
+template<typename DstXprType, typename SrcXprType>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void call_dense_assignment_loop(DstXprType& dst, const SrcXprType& src)
+{
+ call_dense_assignment_loop(dst, src, internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar>());
+}
+
+/***************************************************************************
+* Part 6 : Generic assignment
+***************************************************************************/
+
+// Based on the respective shapes of the destination and source,
+// the class AssignmentKind determine the kind of assignment mechanism.
+// AssignmentKind must define a Kind typedef.
+template<typename DstShape, typename SrcShape> struct AssignmentKind;
+
+// Assignement kind defined in this file:
+struct Dense2Dense {};
+struct EigenBase2EigenBase {};
+
+template<typename,typename> struct AssignmentKind { typedef EigenBase2EigenBase Kind; };
+template<> struct AssignmentKind<DenseShape,DenseShape> { typedef Dense2Dense Kind; };
+
+// This is the main assignment class
+template< typename DstXprType, typename SrcXprType, typename Functor,
+ typename Kind = typename AssignmentKind< typename evaluator_traits<DstXprType>::Shape , typename evaluator_traits<SrcXprType>::Shape >::Kind,
+ typename EnableIf = void>
+struct Assignment;
+
+
+// The only purpose of this call_assignment() function is to deal with noalias() / "assume-aliasing" and automatic transposition.
+// Indeed, I (Gael) think that this concept of "assume-aliasing" was a mistake, and it makes thing quite complicated.
+// So this intermediate function removes everything related to "assume-aliasing" such that Assignment
+// does not has to bother about these annoying details.
+
+template<typename Dst, typename Src>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void call_assignment(Dst& dst, const Src& src)
+{
+ call_assignment(dst, src, internal::assign_op<typename Dst::Scalar,typename Src::Scalar>());
+}
+template<typename Dst, typename Src>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void call_assignment(const Dst& dst, const Src& src)
+{
+ call_assignment(dst, src, internal::assign_op<typename Dst::Scalar,typename Src::Scalar>());
+}
+
+// Deal with "assume-aliasing"
+template<typename Dst, typename Src, typename Func>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void call_assignment(Dst& dst, const Src& src, const Func& func, typename enable_if< evaluator_assume_aliasing<Src>::value, void*>::type = 0)
+{
+ typename plain_matrix_type<Src>::type tmp(src);
+ call_assignment_no_alias(dst, tmp, func);
+}
+
+template<typename Dst, typename Src, typename Func>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void call_assignment(Dst& dst, const Src& src, const Func& func, typename enable_if<!evaluator_assume_aliasing<Src>::value, void*>::type = 0)
+{
+ call_assignment_no_alias(dst, src, func);
+}
+
+// by-pass "assume-aliasing"
+// When there is no aliasing, we require that 'dst' has been properly resized
+template<typename Dst, template <typename> class StorageBase, typename Src, typename Func>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void call_assignment(NoAlias<Dst,StorageBase>& dst, const Src& src, const Func& func)
+{
+ call_assignment_no_alias(dst.expression(), src, func);
+}
+
+
+template<typename Dst, typename Src, typename Func>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void call_assignment_no_alias(Dst& dst, const Src& src, const Func& func)
+{
+ enum {
+ NeedToTranspose = ( (int(Dst::RowsAtCompileTime) == 1 && int(Src::ColsAtCompileTime) == 1)
+ || (int(Dst::ColsAtCompileTime) == 1 && int(Src::RowsAtCompileTime) == 1)
+ ) && int(Dst::SizeAtCompileTime) != 1
+ };
+
+ typedef typename internal::conditional<NeedToTranspose, Transpose<Dst>, Dst>::type ActualDstTypeCleaned;
+ typedef typename internal::conditional<NeedToTranspose, Transpose<Dst>, Dst&>::type ActualDstType;
+ ActualDstType actualDst(dst);
+
+ // TODO check whether this is the right place to perform these checks:
+ EIGEN_STATIC_ASSERT_LVALUE(Dst)
+ EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(ActualDstTypeCleaned,Src)
+ EIGEN_CHECK_BINARY_COMPATIBILIY(Func,typename ActualDstTypeCleaned::Scalar,typename Src::Scalar);
+
+ Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
+}
+template<typename Dst, typename Src>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void call_assignment_no_alias(Dst& dst, const Src& src)
+{
+ call_assignment_no_alias(dst, src, internal::assign_op<typename Dst::Scalar,typename Src::Scalar>());
+}
+
+template<typename Dst, typename Src, typename Func>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void call_assignment_no_alias_no_transpose(Dst& dst, const Src& src, const Func& func)
+{
+ // TODO check whether this is the right place to perform these checks:
+ EIGEN_STATIC_ASSERT_LVALUE(Dst)
+ EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Dst,Src)
+ EIGEN_CHECK_BINARY_COMPATIBILIY(Func,typename Dst::Scalar,typename Src::Scalar);
+
+ Assignment<Dst,Src,Func>::run(dst, src, func);
+}
+template<typename Dst, typename Src>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void call_assignment_no_alias_no_transpose(Dst& dst, const Src& src)
+{
+ call_assignment_no_alias_no_transpose(dst, src, internal::assign_op<typename Dst::Scalar,typename Src::Scalar>());
+}
+
+// forward declaration
+template<typename Dst, typename Src> void check_for_aliasing(const Dst &dst, const Src &src);
+
+// Generic Dense to Dense assignment
+// Note that the last template argument "Weak" is needed to make it possible to perform
+// both partial specialization+SFINAE without ambiguous specialization
+template< typename DstXprType, typename SrcXprType, typename Functor, typename Weak>
+struct Assignment<DstXprType, SrcXprType, Functor, Dense2Dense, Weak>
+{
+ EIGEN_DEVICE_FUNC
+ static EIGEN_STRONG_INLINE void run(DstXprType &dst, const SrcXprType &src, const Functor &func)
+ {
+#ifndef EIGEN_NO_DEBUG
+ internal::check_for_aliasing(dst, src);
+#endif
+
+ call_dense_assignment_loop(dst, src, func);
+ }
+};
+
+// Generic assignment through evalTo.
+// TODO: not sure we have to keep that one, but it helps porting current code to new evaluator mechanism.
+// Note that the last template argument "Weak" is needed to make it possible to perform
+// both partial specialization+SFINAE without ambiguous specialization
+template< typename DstXprType, typename SrcXprType, typename Functor, typename Weak>
+struct Assignment<DstXprType, SrcXprType, Functor, EigenBase2EigenBase, Weak>
+{
+ EIGEN_DEVICE_FUNC
+ static EIGEN_STRONG_INLINE void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
+ {
+ Index dstRows = src.rows();
+ Index dstCols = src.cols();
+ if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+ dst.resize(dstRows, dstCols);
+
+ eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols());
+ src.evalTo(dst);
+ }
+
+ // NOTE The following two functions are templated to avoid their instanciation if not needed
+ // This is needed because some expressions supports evalTo only and/or have 'void' as scalar type.
+ template<typename SrcScalarType>
+ EIGEN_DEVICE_FUNC
+ static EIGEN_STRONG_INLINE void run(DstXprType &dst, const SrcXprType &src, const internal::add_assign_op<typename DstXprType::Scalar,SrcScalarType> &/*func*/)
+ {
+ Index dstRows = src.rows();
+ Index dstCols = src.cols();
+ if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+ dst.resize(dstRows, dstCols);
+
+ eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols());
+ src.addTo(dst);
+ }
+
+ template<typename SrcScalarType>
+ EIGEN_DEVICE_FUNC
+ static EIGEN_STRONG_INLINE void run(DstXprType &dst, const SrcXprType &src, const internal::sub_assign_op<typename DstXprType::Scalar,SrcScalarType> &/*func*/)
+ {
+ Index dstRows = src.rows();
+ Index dstCols = src.cols();
+ if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+ dst.resize(dstRows, dstCols);
+
+ eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols());
+ src.subTo(dst);
+ }
+};
+
+} // namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_ASSIGN_EVALUATOR_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Assign_MKL.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Assign_MKL.h
new file mode 100644
index 0000000..6866095
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Assign_MKL.h
@@ -0,0 +1,178 @@
+/*
+ Copyright (c) 2011, Intel Corporation. All rights reserved.
+ Copyright (C) 2015 Gael Guennebaud <gael.guennebaud@inria.fr>
+
+ Redistribution and use in source and binary forms, with or without modification,
+ are permitted provided that the following conditions are met:
+
+ * Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+ * Neither the name of Intel Corporation nor the names of its contributors may
+ be used to endorse or promote products derived from this software without
+ specific prior written permission.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+ ********************************************************************************
+ * Content : Eigen bindings to Intel(R) MKL
+ * MKL VML support for coefficient-wise unary Eigen expressions like a=b.sin()
+ ********************************************************************************
+*/
+
+#ifndef EIGEN_ASSIGN_VML_H
+#define EIGEN_ASSIGN_VML_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<typename Dst, typename Src>
+class vml_assign_traits
+{
+ private:
+ enum {
+ DstHasDirectAccess = Dst::Flags & DirectAccessBit,
+ SrcHasDirectAccess = Src::Flags & DirectAccessBit,
+ StorageOrdersAgree = (int(Dst::IsRowMajor) == int(Src::IsRowMajor)),
+ InnerSize = int(Dst::IsVectorAtCompileTime) ? int(Dst::SizeAtCompileTime)
+ : int(Dst::Flags)&RowMajorBit ? int(Dst::ColsAtCompileTime)
+ : int(Dst::RowsAtCompileTime),
+ InnerMaxSize = int(Dst::IsVectorAtCompileTime) ? int(Dst::MaxSizeAtCompileTime)
+ : int(Dst::Flags)&RowMajorBit ? int(Dst::MaxColsAtCompileTime)
+ : int(Dst::MaxRowsAtCompileTime),
+ MaxSizeAtCompileTime = Dst::SizeAtCompileTime,
+
+ MightEnableVml = StorageOrdersAgree && DstHasDirectAccess && SrcHasDirectAccess && Src::InnerStrideAtCompileTime==1 && Dst::InnerStrideAtCompileTime==1,
+ MightLinearize = MightEnableVml && (int(Dst::Flags) & int(Src::Flags) & LinearAccessBit),
+ VmlSize = MightLinearize ? MaxSizeAtCompileTime : InnerMaxSize,
+ LargeEnough = VmlSize==Dynamic || VmlSize>=EIGEN_MKL_VML_THRESHOLD
+ };
+ public:
+ enum {
+ EnableVml = MightEnableVml && LargeEnough,
+ Traversal = MightLinearize ? LinearTraversal : DefaultTraversal
+ };
+};
+
+#define EIGEN_PP_EXPAND(ARG) ARG
+#if !defined (EIGEN_FAST_MATH) || (EIGEN_FAST_MATH != 1)
+#define EIGEN_VMLMODE_EXPAND_LA , VML_HA
+#else
+#define EIGEN_VMLMODE_EXPAND_LA , VML_LA
+#endif
+
+#define EIGEN_VMLMODE_EXPAND__
+
+#define EIGEN_VMLMODE_PREFIX_LA vm
+#define EIGEN_VMLMODE_PREFIX__ v
+#define EIGEN_VMLMODE_PREFIX(VMLMODE) EIGEN_CAT(EIGEN_VMLMODE_PREFIX_,VMLMODE)
+
+#define EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, VMLOP, EIGENTYPE, VMLTYPE, VMLMODE) \
+ template< typename DstXprType, typename SrcXprNested> \
+ struct Assignment<DstXprType, CwiseUnaryOp<scalar_##EIGENOP##_op<EIGENTYPE>, SrcXprNested>, assign_op<EIGENTYPE,EIGENTYPE>, \
+ Dense2Dense, typename enable_if<vml_assign_traits<DstXprType,SrcXprNested>::EnableVml>::type> { \
+ typedef CwiseUnaryOp<scalar_##EIGENOP##_op<EIGENTYPE>, SrcXprNested> SrcXprType; \
+ static void run(DstXprType &dst, const SrcXprType &src, const assign_op<EIGENTYPE,EIGENTYPE> &func) { \
+ resize_if_allowed(dst, src, func); \
+ eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols()); \
+ if(vml_assign_traits<DstXprType,SrcXprNested>::Traversal==LinearTraversal) { \
+ VMLOP(dst.size(), (const VMLTYPE*)src.nestedExpression().data(), \
+ (VMLTYPE*)dst.data() EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE) ); \
+ } else { \
+ const Index outerSize = dst.outerSize(); \
+ for(Index outer = 0; outer < outerSize; ++outer) { \
+ const EIGENTYPE *src_ptr = src.IsRowMajor ? &(src.nestedExpression().coeffRef(outer,0)) : \
+ &(src.nestedExpression().coeffRef(0, outer)); \
+ EIGENTYPE *dst_ptr = dst.IsRowMajor ? &(dst.coeffRef(outer,0)) : &(dst.coeffRef(0, outer)); \
+ VMLOP( dst.innerSize(), (const VMLTYPE*)src_ptr, \
+ (VMLTYPE*)dst_ptr EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE)); \
+ } \
+ } \
+ } \
+ }; \
+
+
+#define EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(EIGENOP, VMLOP, VMLMODE) \
+ EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, EIGEN_CAT(EIGEN_VMLMODE_PREFIX(VMLMODE),s##VMLOP), float, float, VMLMODE) \
+ EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, EIGEN_CAT(EIGEN_VMLMODE_PREFIX(VMLMODE),d##VMLOP), double, double, VMLMODE)
+
+#define EIGEN_MKL_VML_DECLARE_UNARY_CALLS_CPLX(EIGENOP, VMLOP, VMLMODE) \
+ EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, EIGEN_CAT(EIGEN_VMLMODE_PREFIX(VMLMODE),c##VMLOP), scomplex, MKL_Complex8, VMLMODE) \
+ EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, EIGEN_CAT(EIGEN_VMLMODE_PREFIX(VMLMODE),z##VMLOP), dcomplex, MKL_Complex16, VMLMODE)
+
+#define EIGEN_MKL_VML_DECLARE_UNARY_CALLS(EIGENOP, VMLOP, VMLMODE) \
+ EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(EIGENOP, VMLOP, VMLMODE) \
+ EIGEN_MKL_VML_DECLARE_UNARY_CALLS_CPLX(EIGENOP, VMLOP, VMLMODE)
+
+
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(sin, Sin, LA)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(asin, Asin, LA)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(sinh, Sinh, LA)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(cos, Cos, LA)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(acos, Acos, LA)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(cosh, Cosh, LA)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(tan, Tan, LA)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(atan, Atan, LA)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(tanh, Tanh, LA)
+// EIGEN_MKL_VML_DECLARE_UNARY_CALLS(abs, Abs, _)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(exp, Exp, LA)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(log, Ln, LA)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(log10, Log10, LA)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(sqrt, Sqrt, _)
+
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(square, Sqr, _)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS_CPLX(arg, Arg, _)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(round, Round, _)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(floor, Floor, _)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(ceil, Ceil, _)
+
+#define EIGEN_MKL_VML_DECLARE_POW_CALL(EIGENOP, VMLOP, EIGENTYPE, VMLTYPE, VMLMODE) \
+ template< typename DstXprType, typename SrcXprNested, typename Plain> \
+ struct Assignment<DstXprType, CwiseBinaryOp<scalar_##EIGENOP##_op<EIGENTYPE,EIGENTYPE>, SrcXprNested, \
+ const CwiseNullaryOp<internal::scalar_constant_op<EIGENTYPE>,Plain> >, assign_op<EIGENTYPE,EIGENTYPE>, \
+ Dense2Dense, typename enable_if<vml_assign_traits<DstXprType,SrcXprNested>::EnableVml>::type> { \
+ typedef CwiseBinaryOp<scalar_##EIGENOP##_op<EIGENTYPE,EIGENTYPE>, SrcXprNested, \
+ const CwiseNullaryOp<internal::scalar_constant_op<EIGENTYPE>,Plain> > SrcXprType; \
+ static void run(DstXprType &dst, const SrcXprType &src, const assign_op<EIGENTYPE,EIGENTYPE> &func) { \
+ resize_if_allowed(dst, src, func); \
+ eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols()); \
+ VMLTYPE exponent = reinterpret_cast<const VMLTYPE&>(src.rhs().functor().m_other); \
+ if(vml_assign_traits<DstXprType,SrcXprNested>::Traversal==LinearTraversal) \
+ { \
+ VMLOP( dst.size(), (const VMLTYPE*)src.lhs().data(), exponent, \
+ (VMLTYPE*)dst.data() EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE) ); \
+ } else { \
+ const Index outerSize = dst.outerSize(); \
+ for(Index outer = 0; outer < outerSize; ++outer) { \
+ const EIGENTYPE *src_ptr = src.IsRowMajor ? &(src.lhs().coeffRef(outer,0)) : \
+ &(src.lhs().coeffRef(0, outer)); \
+ EIGENTYPE *dst_ptr = dst.IsRowMajor ? &(dst.coeffRef(outer,0)) : &(dst.coeffRef(0, outer)); \
+ VMLOP( dst.innerSize(), (const VMLTYPE*)src_ptr, exponent, \
+ (VMLTYPE*)dst_ptr EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE)); \
+ } \
+ } \
+ } \
+ };
+
+EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmsPowx, float, float, LA)
+EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmdPowx, double, double, LA)
+EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmcPowx, scomplex, MKL_Complex8, LA)
+EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmzPowx, dcomplex, MKL_Complex16, LA)
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_ASSIGN_VML_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/BandMatrix.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/BandMatrix.h
new file mode 100644
index 0000000..4978c91
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/BandMatrix.h
@@ -0,0 +1,353 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_BANDMATRIX_H
+#define EIGEN_BANDMATRIX_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<typename Derived>
+class BandMatrixBase : public EigenBase<Derived>
+{
+ public:
+
+ enum {
+ Flags = internal::traits<Derived>::Flags,
+ CoeffReadCost = internal::traits<Derived>::CoeffReadCost,
+ RowsAtCompileTime = internal::traits<Derived>::RowsAtCompileTime,
+ ColsAtCompileTime = internal::traits<Derived>::ColsAtCompileTime,
+ MaxRowsAtCompileTime = internal::traits<Derived>::MaxRowsAtCompileTime,
+ MaxColsAtCompileTime = internal::traits<Derived>::MaxColsAtCompileTime,
+ Supers = internal::traits<Derived>::Supers,
+ Subs = internal::traits<Derived>::Subs,
+ Options = internal::traits<Derived>::Options
+ };
+ typedef typename internal::traits<Derived>::Scalar Scalar;
+ typedef Matrix<Scalar,RowsAtCompileTime,ColsAtCompileTime> DenseMatrixType;
+ typedef typename DenseMatrixType::StorageIndex StorageIndex;
+ typedef typename internal::traits<Derived>::CoefficientsType CoefficientsType;
+ typedef EigenBase<Derived> Base;
+
+ protected:
+ enum {
+ DataRowsAtCompileTime = ((Supers!=Dynamic) && (Subs!=Dynamic))
+ ? 1 + Supers + Subs
+ : Dynamic,
+ SizeAtCompileTime = EIGEN_SIZE_MIN_PREFER_DYNAMIC(RowsAtCompileTime,ColsAtCompileTime)
+ };
+
+ public:
+
+ using Base::derived;
+ using Base::rows;
+ using Base::cols;
+
+ /** \returns the number of super diagonals */
+ inline Index supers() const { return derived().supers(); }
+
+ /** \returns the number of sub diagonals */
+ inline Index subs() const { return derived().subs(); }
+
+ /** \returns an expression of the underlying coefficient matrix */
+ inline const CoefficientsType& coeffs() const { return derived().coeffs(); }
+
+ /** \returns an expression of the underlying coefficient matrix */
+ inline CoefficientsType& coeffs() { return derived().coeffs(); }
+
+ /** \returns a vector expression of the \a i -th column,
+ * only the meaningful part is returned.
+ * \warning the internal storage must be column major. */
+ inline Block<CoefficientsType,Dynamic,1> col(Index i)
+ {
+ EIGEN_STATIC_ASSERT((Options&RowMajor)==0,THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES);
+ Index start = 0;
+ Index len = coeffs().rows();
+ if (i<=supers())
+ {
+ start = supers()-i;
+ len = (std::min)(rows(),std::max<Index>(0,coeffs().rows() - (supers()-i)));
+ }
+ else if (i>=rows()-subs())
+ len = std::max<Index>(0,coeffs().rows() - (i + 1 - rows() + subs()));
+ return Block<CoefficientsType,Dynamic,1>(coeffs(), start, i, len, 1);
+ }
+
+ /** \returns a vector expression of the main diagonal */
+ inline Block<CoefficientsType,1,SizeAtCompileTime> diagonal()
+ { return Block<CoefficientsType,1,SizeAtCompileTime>(coeffs(),supers(),0,1,(std::min)(rows(),cols())); }
+
+ /** \returns a vector expression of the main diagonal (const version) */
+ inline const Block<const CoefficientsType,1,SizeAtCompileTime> diagonal() const
+ { return Block<const CoefficientsType,1,SizeAtCompileTime>(coeffs(),supers(),0,1,(std::min)(rows(),cols())); }
+
+ template<int Index> struct DiagonalIntReturnType {
+ enum {
+ ReturnOpposite = (Options&SelfAdjoint) && (((Index)>0 && Supers==0) || ((Index)<0 && Subs==0)),
+ Conjugate = ReturnOpposite && NumTraits<Scalar>::IsComplex,
+ ActualIndex = ReturnOpposite ? -Index : Index,
+ DiagonalSize = (RowsAtCompileTime==Dynamic || ColsAtCompileTime==Dynamic)
+ ? Dynamic
+ : (ActualIndex<0
+ ? EIGEN_SIZE_MIN_PREFER_DYNAMIC(ColsAtCompileTime, RowsAtCompileTime + ActualIndex)
+ : EIGEN_SIZE_MIN_PREFER_DYNAMIC(RowsAtCompileTime, ColsAtCompileTime - ActualIndex))
+ };
+ typedef Block<CoefficientsType,1, DiagonalSize> BuildType;
+ typedef typename internal::conditional<Conjugate,
+ CwiseUnaryOp<internal::scalar_conjugate_op<Scalar>,BuildType >,
+ BuildType>::type Type;
+ };
+
+ /** \returns a vector expression of the \a N -th sub or super diagonal */
+ template<int N> inline typename DiagonalIntReturnType<N>::Type diagonal()
+ {
+ return typename DiagonalIntReturnType<N>::BuildType(coeffs(), supers()-N, (std::max)(0,N), 1, diagonalLength(N));
+ }
+
+ /** \returns a vector expression of the \a N -th sub or super diagonal */
+ template<int N> inline const typename DiagonalIntReturnType<N>::Type diagonal() const
+ {
+ return typename DiagonalIntReturnType<N>::BuildType(coeffs(), supers()-N, (std::max)(0,N), 1, diagonalLength(N));
+ }
+
+ /** \returns a vector expression of the \a i -th sub or super diagonal */
+ inline Block<CoefficientsType,1,Dynamic> diagonal(Index i)
+ {
+ eigen_assert((i<0 && -i<=subs()) || (i>=0 && i<=supers()));
+ return Block<CoefficientsType,1,Dynamic>(coeffs(), supers()-i, std::max<Index>(0,i), 1, diagonalLength(i));
+ }
+
+ /** \returns a vector expression of the \a i -th sub or super diagonal */
+ inline const Block<const CoefficientsType,1,Dynamic> diagonal(Index i) const
+ {
+ eigen_assert((i<0 && -i<=subs()) || (i>=0 && i<=supers()));
+ return Block<const CoefficientsType,1,Dynamic>(coeffs(), supers()-i, std::max<Index>(0,i), 1, diagonalLength(i));
+ }
+
+ template<typename Dest> inline void evalTo(Dest& dst) const
+ {
+ dst.resize(rows(),cols());
+ dst.setZero();
+ dst.diagonal() = diagonal();
+ for (Index i=1; i<=supers();++i)
+ dst.diagonal(i) = diagonal(i);
+ for (Index i=1; i<=subs();++i)
+ dst.diagonal(-i) = diagonal(-i);
+ }
+
+ DenseMatrixType toDenseMatrix() const
+ {
+ DenseMatrixType res(rows(),cols());
+ evalTo(res);
+ return res;
+ }
+
+ protected:
+
+ inline Index diagonalLength(Index i) const
+ { return i<0 ? (std::min)(cols(),rows()+i) : (std::min)(rows(),cols()-i); }
+};
+
+/**
+ * \class BandMatrix
+ * \ingroup Core_Module
+ *
+ * \brief Represents a rectangular matrix with a banded storage
+ *
+ * \tparam _Scalar Numeric type, i.e. float, double, int
+ * \tparam _Rows Number of rows, or \b Dynamic
+ * \tparam _Cols Number of columns, or \b Dynamic
+ * \tparam _Supers Number of super diagonal
+ * \tparam _Subs Number of sub diagonal
+ * \tparam _Options A combination of either \b #RowMajor or \b #ColMajor, and of \b #SelfAdjoint
+ * The former controls \ref TopicStorageOrders "storage order", and defaults to
+ * column-major. The latter controls whether the matrix represents a selfadjoint
+ * matrix in which case either Supers of Subs have to be null.
+ *
+ * \sa class TridiagonalMatrix
+ */
+
+template<typename _Scalar, int _Rows, int _Cols, int _Supers, int _Subs, int _Options>
+struct traits<BandMatrix<_Scalar,_Rows,_Cols,_Supers,_Subs,_Options> >
+{
+ typedef _Scalar Scalar;
+ typedef Dense StorageKind;
+ typedef Eigen::Index StorageIndex;
+ enum {
+ CoeffReadCost = NumTraits<Scalar>::ReadCost,
+ RowsAtCompileTime = _Rows,
+ ColsAtCompileTime = _Cols,
+ MaxRowsAtCompileTime = _Rows,
+ MaxColsAtCompileTime = _Cols,
+ Flags = LvalueBit,
+ Supers = _Supers,
+ Subs = _Subs,
+ Options = _Options,
+ DataRowsAtCompileTime = ((Supers!=Dynamic) && (Subs!=Dynamic)) ? 1 + Supers + Subs : Dynamic
+ };
+ typedef Matrix<Scalar,DataRowsAtCompileTime,ColsAtCompileTime,Options&RowMajor?RowMajor:ColMajor> CoefficientsType;
+};
+
+template<typename _Scalar, int Rows, int Cols, int Supers, int Subs, int Options>
+class BandMatrix : public BandMatrixBase<BandMatrix<_Scalar,Rows,Cols,Supers,Subs,Options> >
+{
+ public:
+
+ typedef typename internal::traits<BandMatrix>::Scalar Scalar;
+ typedef typename internal::traits<BandMatrix>::StorageIndex StorageIndex;
+ typedef typename internal::traits<BandMatrix>::CoefficientsType CoefficientsType;
+
+ explicit inline BandMatrix(Index rows=Rows, Index cols=Cols, Index supers=Supers, Index subs=Subs)
+ : m_coeffs(1+supers+subs,cols),
+ m_rows(rows), m_supers(supers), m_subs(subs)
+ {
+ }
+
+ /** \returns the number of columns */
+ inline Index rows() const { return m_rows.value(); }
+
+ /** \returns the number of rows */
+ inline Index cols() const { return m_coeffs.cols(); }
+
+ /** \returns the number of super diagonals */
+ inline Index supers() const { return m_supers.value(); }
+
+ /** \returns the number of sub diagonals */
+ inline Index subs() const { return m_subs.value(); }
+
+ inline const CoefficientsType& coeffs() const { return m_coeffs; }
+ inline CoefficientsType& coeffs() { return m_coeffs; }
+
+ protected:
+
+ CoefficientsType m_coeffs;
+ internal::variable_if_dynamic<Index, Rows> m_rows;
+ internal::variable_if_dynamic<Index, Supers> m_supers;
+ internal::variable_if_dynamic<Index, Subs> m_subs;
+};
+
+template<typename _CoefficientsType,int _Rows, int _Cols, int _Supers, int _Subs,int _Options>
+class BandMatrixWrapper;
+
+template<typename _CoefficientsType,int _Rows, int _Cols, int _Supers, int _Subs,int _Options>
+struct traits<BandMatrixWrapper<_CoefficientsType,_Rows,_Cols,_Supers,_Subs,_Options> >
+{
+ typedef typename _CoefficientsType::Scalar Scalar;
+ typedef typename _CoefficientsType::StorageKind StorageKind;
+ typedef typename _CoefficientsType::StorageIndex StorageIndex;
+ enum {
+ CoeffReadCost = internal::traits<_CoefficientsType>::CoeffReadCost,
+ RowsAtCompileTime = _Rows,
+ ColsAtCompileTime = _Cols,
+ MaxRowsAtCompileTime = _Rows,
+ MaxColsAtCompileTime = _Cols,
+ Flags = LvalueBit,
+ Supers = _Supers,
+ Subs = _Subs,
+ Options = _Options,
+ DataRowsAtCompileTime = ((Supers!=Dynamic) && (Subs!=Dynamic)) ? 1 + Supers + Subs : Dynamic
+ };
+ typedef _CoefficientsType CoefficientsType;
+};
+
+template<typename _CoefficientsType,int _Rows, int _Cols, int _Supers, int _Subs,int _Options>
+class BandMatrixWrapper : public BandMatrixBase<BandMatrixWrapper<_CoefficientsType,_Rows,_Cols,_Supers,_Subs,_Options> >
+{
+ public:
+
+ typedef typename internal::traits<BandMatrixWrapper>::Scalar Scalar;
+ typedef typename internal::traits<BandMatrixWrapper>::CoefficientsType CoefficientsType;
+ typedef typename internal::traits<BandMatrixWrapper>::StorageIndex StorageIndex;
+
+ explicit inline BandMatrixWrapper(const CoefficientsType& coeffs, Index rows=_Rows, Index cols=_Cols, Index supers=_Supers, Index subs=_Subs)
+ : m_coeffs(coeffs),
+ m_rows(rows), m_supers(supers), m_subs(subs)
+ {
+ EIGEN_UNUSED_VARIABLE(cols);
+ //internal::assert(coeffs.cols()==cols() && (supers()+subs()+1)==coeffs.rows());
+ }
+
+ /** \returns the number of columns */
+ inline Index rows() const { return m_rows.value(); }
+
+ /** \returns the number of rows */
+ inline Index cols() const { return m_coeffs.cols(); }
+
+ /** \returns the number of super diagonals */
+ inline Index supers() const { return m_supers.value(); }
+
+ /** \returns the number of sub diagonals */
+ inline Index subs() const { return m_subs.value(); }
+
+ inline const CoefficientsType& coeffs() const { return m_coeffs; }
+
+ protected:
+
+ const CoefficientsType& m_coeffs;
+ internal::variable_if_dynamic<Index, _Rows> m_rows;
+ internal::variable_if_dynamic<Index, _Supers> m_supers;
+ internal::variable_if_dynamic<Index, _Subs> m_subs;
+};
+
+/**
+ * \class TridiagonalMatrix
+ * \ingroup Core_Module
+ *
+ * \brief Represents a tridiagonal matrix with a compact banded storage
+ *
+ * \tparam Scalar Numeric type, i.e. float, double, int
+ * \tparam Size Number of rows and cols, or \b Dynamic
+ * \tparam Options Can be 0 or \b SelfAdjoint
+ *
+ * \sa class BandMatrix
+ */
+template<typename Scalar, int Size, int Options>
+class TridiagonalMatrix : public BandMatrix<Scalar,Size,Size,Options&SelfAdjoint?0:1,1,Options|RowMajor>
+{
+ typedef BandMatrix<Scalar,Size,Size,Options&SelfAdjoint?0:1,1,Options|RowMajor> Base;
+ typedef typename Base::StorageIndex StorageIndex;
+ public:
+ explicit TridiagonalMatrix(Index size = Size) : Base(size,size,Options&SelfAdjoint?0:1,1) {}
+
+ inline typename Base::template DiagonalIntReturnType<1>::Type super()
+ { return Base::template diagonal<1>(); }
+ inline const typename Base::template DiagonalIntReturnType<1>::Type super() const
+ { return Base::template diagonal<1>(); }
+ inline typename Base::template DiagonalIntReturnType<-1>::Type sub()
+ { return Base::template diagonal<-1>(); }
+ inline const typename Base::template DiagonalIntReturnType<-1>::Type sub() const
+ { return Base::template diagonal<-1>(); }
+ protected:
+};
+
+
+struct BandShape {};
+
+template<typename _Scalar, int _Rows, int _Cols, int _Supers, int _Subs, int _Options>
+struct evaluator_traits<BandMatrix<_Scalar,_Rows,_Cols,_Supers,_Subs,_Options> >
+ : public evaluator_traits_base<BandMatrix<_Scalar,_Rows,_Cols,_Supers,_Subs,_Options> >
+{
+ typedef BandShape Shape;
+};
+
+template<typename _CoefficientsType,int _Rows, int _Cols, int _Supers, int _Subs,int _Options>
+struct evaluator_traits<BandMatrixWrapper<_CoefficientsType,_Rows,_Cols,_Supers,_Subs,_Options> >
+ : public evaluator_traits_base<BandMatrixWrapper<_CoefficientsType,_Rows,_Cols,_Supers,_Subs,_Options> >
+{
+ typedef BandShape Shape;
+};
+
+template<> struct AssignmentKind<DenseShape,BandShape> { typedef EigenBase2EigenBase Kind; };
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_BANDMATRIX_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Block.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Block.h
new file mode 100644
index 0000000..11de45c
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Block.h
@@ -0,0 +1,452 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_BLOCK_H
+#define EIGEN_BLOCK_H
+
+namespace Eigen {
+
+namespace internal {
+template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel>
+struct traits<Block<XprType, BlockRows, BlockCols, InnerPanel> > : traits<XprType>
+{
+ typedef typename traits<XprType>::Scalar Scalar;
+ typedef typename traits<XprType>::StorageKind StorageKind;
+ typedef typename traits<XprType>::XprKind XprKind;
+ typedef typename ref_selector<XprType>::type XprTypeNested;
+ typedef typename remove_reference<XprTypeNested>::type _XprTypeNested;
+ enum{
+ MatrixRows = traits<XprType>::RowsAtCompileTime,
+ MatrixCols = traits<XprType>::ColsAtCompileTime,
+ RowsAtCompileTime = MatrixRows == 0 ? 0 : BlockRows,
+ ColsAtCompileTime = MatrixCols == 0 ? 0 : BlockCols,
+ MaxRowsAtCompileTime = BlockRows==0 ? 0
+ : RowsAtCompileTime != Dynamic ? int(RowsAtCompileTime)
+ : int(traits<XprType>::MaxRowsAtCompileTime),
+ MaxColsAtCompileTime = BlockCols==0 ? 0
+ : ColsAtCompileTime != Dynamic ? int(ColsAtCompileTime)
+ : int(traits<XprType>::MaxColsAtCompileTime),
+
+ XprTypeIsRowMajor = (int(traits<XprType>::Flags)&RowMajorBit) != 0,
+ IsRowMajor = (MaxRowsAtCompileTime==1&&MaxColsAtCompileTime!=1) ? 1
+ : (MaxColsAtCompileTime==1&&MaxRowsAtCompileTime!=1) ? 0
+ : XprTypeIsRowMajor,
+ HasSameStorageOrderAsXprType = (IsRowMajor == XprTypeIsRowMajor),
+ InnerSize = IsRowMajor ? int(ColsAtCompileTime) : int(RowsAtCompileTime),
+ InnerStrideAtCompileTime = HasSameStorageOrderAsXprType
+ ? int(inner_stride_at_compile_time<XprType>::ret)
+ : int(outer_stride_at_compile_time<XprType>::ret),
+ OuterStrideAtCompileTime = HasSameStorageOrderAsXprType
+ ? int(outer_stride_at_compile_time<XprType>::ret)
+ : int(inner_stride_at_compile_time<XprType>::ret),
+
+ // FIXME, this traits is rather specialized for dense object and it needs to be cleaned further
+ FlagsLvalueBit = is_lvalue<XprType>::value ? LvalueBit : 0,
+ FlagsRowMajorBit = IsRowMajor ? RowMajorBit : 0,
+ Flags = (traits<XprType>::Flags & (DirectAccessBit | (InnerPanel?CompressedAccessBit:0))) | FlagsLvalueBit | FlagsRowMajorBit,
+ // FIXME DirectAccessBit should not be handled by expressions
+ //
+ // Alignment is needed by MapBase's assertions
+ // We can sefely set it to false here. Internal alignment errors will be detected by an eigen_internal_assert in the respective evaluator
+ Alignment = 0
+ };
+};
+
+template<typename XprType, int BlockRows=Dynamic, int BlockCols=Dynamic, bool InnerPanel = false,
+ bool HasDirectAccess = internal::has_direct_access<XprType>::ret> class BlockImpl_dense;
+
+} // end namespace internal
+
+template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel, typename StorageKind> class BlockImpl;
+
+/** \class Block
+ * \ingroup Core_Module
+ *
+ * \brief Expression of a fixed-size or dynamic-size block
+ *
+ * \tparam XprType the type of the expression in which we are taking a block
+ * \tparam BlockRows the number of rows of the block we are taking at compile time (optional)
+ * \tparam BlockCols the number of columns of the block we are taking at compile time (optional)
+ * \tparam InnerPanel is true, if the block maps to a set of rows of a row major matrix or
+ * to set of columns of a column major matrix (optional). The parameter allows to determine
+ * at compile time whether aligned access is possible on the block expression.
+ *
+ * This class represents an expression of either a fixed-size or dynamic-size block. It is the return
+ * type of DenseBase::block(Index,Index,Index,Index) and DenseBase::block<int,int>(Index,Index) and
+ * most of the time this is the only way it is used.
+ *
+ * However, if you want to directly maniputate block expressions,
+ * for instance if you want to write a function returning such an expression, you
+ * will need to use this class.
+ *
+ * Here is an example illustrating the dynamic case:
+ * \include class_Block.cpp
+ * Output: \verbinclude class_Block.out
+ *
+ * \note Even though this expression has dynamic size, in the case where \a XprType
+ * has fixed size, this expression inherits a fixed maximal size which means that evaluating
+ * it does not cause a dynamic memory allocation.
+ *
+ * Here is an example illustrating the fixed-size case:
+ * \include class_FixedBlock.cpp
+ * Output: \verbinclude class_FixedBlock.out
+ *
+ * \sa DenseBase::block(Index,Index,Index,Index), DenseBase::block(Index,Index), class VectorBlock
+ */
+template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel> class Block
+ : public BlockImpl<XprType, BlockRows, BlockCols, InnerPanel, typename internal::traits<XprType>::StorageKind>
+{
+ typedef BlockImpl<XprType, BlockRows, BlockCols, InnerPanel, typename internal::traits<XprType>::StorageKind> Impl;
+ public:
+ //typedef typename Impl::Base Base;
+ typedef Impl Base;
+ EIGEN_GENERIC_PUBLIC_INTERFACE(Block)
+ EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Block)
+
+ typedef typename internal::remove_all<XprType>::type NestedExpression;
+
+ /** Column or Row constructor
+ */
+ EIGEN_DEVICE_FUNC
+ inline Block(XprType& xpr, Index i) : Impl(xpr,i)
+ {
+ eigen_assert( (i>=0) && (
+ ((BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) && i<xpr.rows())
+ ||((BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) && i<xpr.cols())));
+ }
+
+ /** Fixed-size constructor
+ */
+ EIGEN_DEVICE_FUNC
+ inline Block(XprType& xpr, Index startRow, Index startCol)
+ : Impl(xpr, startRow, startCol)
+ {
+ EIGEN_STATIC_ASSERT(RowsAtCompileTime!=Dynamic && ColsAtCompileTime!=Dynamic,THIS_METHOD_IS_ONLY_FOR_FIXED_SIZE)
+ eigen_assert(startRow >= 0 && BlockRows >= 0 && startRow + BlockRows <= xpr.rows()
+ && startCol >= 0 && BlockCols >= 0 && startCol + BlockCols <= xpr.cols());
+ }
+
+ /** Dynamic-size constructor
+ */
+ EIGEN_DEVICE_FUNC
+ inline Block(XprType& xpr,
+ Index startRow, Index startCol,
+ Index blockRows, Index blockCols)
+ : Impl(xpr, startRow, startCol, blockRows, blockCols)
+ {
+ eigen_assert((RowsAtCompileTime==Dynamic || RowsAtCompileTime==blockRows)
+ && (ColsAtCompileTime==Dynamic || ColsAtCompileTime==blockCols));
+ eigen_assert(startRow >= 0 && blockRows >= 0 && startRow <= xpr.rows() - blockRows
+ && startCol >= 0 && blockCols >= 0 && startCol <= xpr.cols() - blockCols);
+ }
+};
+
+// The generic default implementation for dense block simplu forward to the internal::BlockImpl_dense
+// that must be specialized for direct and non-direct access...
+template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel>
+class BlockImpl<XprType, BlockRows, BlockCols, InnerPanel, Dense>
+ : public internal::BlockImpl_dense<XprType, BlockRows, BlockCols, InnerPanel>
+{
+ typedef internal::BlockImpl_dense<XprType, BlockRows, BlockCols, InnerPanel> Impl;
+ typedef typename XprType::StorageIndex StorageIndex;
+ public:
+ typedef Impl Base;
+ EIGEN_INHERIT_ASSIGNMENT_OPERATORS(BlockImpl)
+ EIGEN_DEVICE_FUNC inline BlockImpl(XprType& xpr, Index i) : Impl(xpr,i) {}
+ EIGEN_DEVICE_FUNC inline BlockImpl(XprType& xpr, Index startRow, Index startCol) : Impl(xpr, startRow, startCol) {}
+ EIGEN_DEVICE_FUNC
+ inline BlockImpl(XprType& xpr, Index startRow, Index startCol, Index blockRows, Index blockCols)
+ : Impl(xpr, startRow, startCol, blockRows, blockCols) {}
+};
+
+namespace internal {
+
+/** \internal Internal implementation of dense Blocks in the general case. */
+template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel, bool HasDirectAccess> class BlockImpl_dense
+ : public internal::dense_xpr_base<Block<XprType, BlockRows, BlockCols, InnerPanel> >::type
+{
+ typedef Block<XprType, BlockRows, BlockCols, InnerPanel> BlockType;
+ typedef typename internal::ref_selector<XprType>::non_const_type XprTypeNested;
+ public:
+
+ typedef typename internal::dense_xpr_base<BlockType>::type Base;
+ EIGEN_DENSE_PUBLIC_INTERFACE(BlockType)
+ EIGEN_INHERIT_ASSIGNMENT_OPERATORS(BlockImpl_dense)
+
+ // class InnerIterator; // FIXME apparently never used
+
+ /** Column or Row constructor
+ */
+ EIGEN_DEVICE_FUNC
+ inline BlockImpl_dense(XprType& xpr, Index i)
+ : m_xpr(xpr),
+ // It is a row if and only if BlockRows==1 and BlockCols==XprType::ColsAtCompileTime,
+ // and it is a column if and only if BlockRows==XprType::RowsAtCompileTime and BlockCols==1,
+ // all other cases are invalid.
+ // The case a 1x1 matrix seems ambiguous, but the result is the same anyway.
+ m_startRow( (BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) ? i : 0),
+ m_startCol( (BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) ? i : 0),
+ m_blockRows(BlockRows==1 ? 1 : xpr.rows()),
+ m_blockCols(BlockCols==1 ? 1 : xpr.cols())
+ {}
+
+ /** Fixed-size constructor
+ */
+ EIGEN_DEVICE_FUNC
+ inline BlockImpl_dense(XprType& xpr, Index startRow, Index startCol)
+ : m_xpr(xpr), m_startRow(startRow), m_startCol(startCol),
+ m_blockRows(BlockRows), m_blockCols(BlockCols)
+ {}
+
+ /** Dynamic-size constructor
+ */
+ EIGEN_DEVICE_FUNC
+ inline BlockImpl_dense(XprType& xpr,
+ Index startRow, Index startCol,
+ Index blockRows, Index blockCols)
+ : m_xpr(xpr), m_startRow(startRow), m_startCol(startCol),
+ m_blockRows(blockRows), m_blockCols(blockCols)
+ {}
+
+ EIGEN_DEVICE_FUNC inline Index rows() const { return m_blockRows.value(); }
+ EIGEN_DEVICE_FUNC inline Index cols() const { return m_blockCols.value(); }
+
+ EIGEN_DEVICE_FUNC
+ inline Scalar& coeffRef(Index rowId, Index colId)
+ {
+ EIGEN_STATIC_ASSERT_LVALUE(XprType)
+ return m_xpr.coeffRef(rowId + m_startRow.value(), colId + m_startCol.value());
+ }
+
+ EIGEN_DEVICE_FUNC
+ inline const Scalar& coeffRef(Index rowId, Index colId) const
+ {
+ return m_xpr.derived().coeffRef(rowId + m_startRow.value(), colId + m_startCol.value());
+ }
+
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE const CoeffReturnType coeff(Index rowId, Index colId) const
+ {
+ return m_xpr.coeff(rowId + m_startRow.value(), colId + m_startCol.value());
+ }
+
+ EIGEN_DEVICE_FUNC
+ inline Scalar& coeffRef(Index index)
+ {
+ EIGEN_STATIC_ASSERT_LVALUE(XprType)
+ return m_xpr.coeffRef(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
+ m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
+ }
+
+ EIGEN_DEVICE_FUNC
+ inline const Scalar& coeffRef(Index index) const
+ {
+ return m_xpr.coeffRef(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
+ m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
+ }
+
+ EIGEN_DEVICE_FUNC
+ inline const CoeffReturnType coeff(Index index) const
+ {
+ return m_xpr.coeff(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
+ m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
+ }
+
+ template<int LoadMode>
+ inline PacketScalar packet(Index rowId, Index colId) const
+ {
+ return m_xpr.template packet<Unaligned>(rowId + m_startRow.value(), colId + m_startCol.value());
+ }
+
+ template<int LoadMode>
+ inline void writePacket(Index rowId, Index colId, const PacketScalar& val)
+ {
+ m_xpr.template writePacket<Unaligned>(rowId + m_startRow.value(), colId + m_startCol.value(), val);
+ }
+
+ template<int LoadMode>
+ inline PacketScalar packet(Index index) const
+ {
+ return m_xpr.template packet<Unaligned>
+ (m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
+ m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
+ }
+
+ template<int LoadMode>
+ inline void writePacket(Index index, const PacketScalar& val)
+ {
+ m_xpr.template writePacket<Unaligned>
+ (m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
+ m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0), val);
+ }
+
+ #ifdef EIGEN_PARSED_BY_DOXYGEN
+ /** \sa MapBase::data() */
+ EIGEN_DEVICE_FUNC inline const Scalar* data() const;
+ EIGEN_DEVICE_FUNC inline Index innerStride() const;
+ EIGEN_DEVICE_FUNC inline Index outerStride() const;
+ #endif
+
+ EIGEN_DEVICE_FUNC
+ const typename internal::remove_all<XprTypeNested>::type& nestedExpression() const
+ {
+ return m_xpr;
+ }
+
+ EIGEN_DEVICE_FUNC
+ XprType& nestedExpression() { return m_xpr; }
+
+ EIGEN_DEVICE_FUNC
+ StorageIndex startRow() const
+ {
+ return m_startRow.value();
+ }
+
+ EIGEN_DEVICE_FUNC
+ StorageIndex startCol() const
+ {
+ return m_startCol.value();
+ }
+
+ protected:
+
+ XprTypeNested m_xpr;
+ const internal::variable_if_dynamic<StorageIndex, (XprType::RowsAtCompileTime == 1 && BlockRows==1) ? 0 : Dynamic> m_startRow;
+ const internal::variable_if_dynamic<StorageIndex, (XprType::ColsAtCompileTime == 1 && BlockCols==1) ? 0 : Dynamic> m_startCol;
+ const internal::variable_if_dynamic<StorageIndex, RowsAtCompileTime> m_blockRows;
+ const internal::variable_if_dynamic<StorageIndex, ColsAtCompileTime> m_blockCols;
+};
+
+/** \internal Internal implementation of dense Blocks in the direct access case.*/
+template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel>
+class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
+ : public MapBase<Block<XprType, BlockRows, BlockCols, InnerPanel> >
+{
+ typedef Block<XprType, BlockRows, BlockCols, InnerPanel> BlockType;
+ typedef typename internal::ref_selector<XprType>::non_const_type XprTypeNested;
+ enum {
+ XprTypeIsRowMajor = (int(traits<XprType>::Flags)&RowMajorBit) != 0
+ };
+ public:
+
+ typedef MapBase<BlockType> Base;
+ EIGEN_DENSE_PUBLIC_INTERFACE(BlockType)
+ EIGEN_INHERIT_ASSIGNMENT_OPERATORS(BlockImpl_dense)
+
+ /** Column or Row constructor
+ */
+ EIGEN_DEVICE_FUNC
+ inline BlockImpl_dense(XprType& xpr, Index i)
+ : Base(xpr.data() + i * ( ((BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) && (!XprTypeIsRowMajor))
+ || ((BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) && ( XprTypeIsRowMajor)) ? xpr.innerStride() : xpr.outerStride()),
+ BlockRows==1 ? 1 : xpr.rows(),
+ BlockCols==1 ? 1 : xpr.cols()),
+ m_xpr(xpr),
+ m_startRow( (BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) ? i : 0),
+ m_startCol( (BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) ? i : 0)
+ {
+ init();
+ }
+
+ /** Fixed-size constructor
+ */
+ EIGEN_DEVICE_FUNC
+ inline BlockImpl_dense(XprType& xpr, Index startRow, Index startCol)
+ : Base(xpr.data()+xpr.innerStride()*(XprTypeIsRowMajor?startCol:startRow) + xpr.outerStride()*(XprTypeIsRowMajor?startRow:startCol)),
+ m_xpr(xpr), m_startRow(startRow), m_startCol(startCol)
+ {
+ init();
+ }
+
+ /** Dynamic-size constructor
+ */
+ EIGEN_DEVICE_FUNC
+ inline BlockImpl_dense(XprType& xpr,
+ Index startRow, Index startCol,
+ Index blockRows, Index blockCols)
+ : Base(xpr.data()+xpr.innerStride()*(XprTypeIsRowMajor?startCol:startRow) + xpr.outerStride()*(XprTypeIsRowMajor?startRow:startCol), blockRows, blockCols),
+ m_xpr(xpr), m_startRow(startRow), m_startCol(startCol)
+ {
+ init();
+ }
+
+ EIGEN_DEVICE_FUNC
+ const typename internal::remove_all<XprTypeNested>::type& nestedExpression() const
+ {
+ return m_xpr;
+ }
+
+ EIGEN_DEVICE_FUNC
+ XprType& nestedExpression() { return m_xpr; }
+
+ /** \sa MapBase::innerStride() */
+ EIGEN_DEVICE_FUNC
+ inline Index innerStride() const
+ {
+ return internal::traits<BlockType>::HasSameStorageOrderAsXprType
+ ? m_xpr.innerStride()
+ : m_xpr.outerStride();
+ }
+
+ /** \sa MapBase::outerStride() */
+ EIGEN_DEVICE_FUNC
+ inline Index outerStride() const
+ {
+ return m_outerStride;
+ }
+
+ EIGEN_DEVICE_FUNC
+ StorageIndex startRow() const
+ {
+ return m_startRow.value();
+ }
+
+ EIGEN_DEVICE_FUNC
+ StorageIndex startCol() const
+ {
+ return m_startCol.value();
+ }
+
+ #ifndef __SUNPRO_CC
+ // FIXME sunstudio is not friendly with the above friend...
+ // META-FIXME there is no 'friend' keyword around here. Is this obsolete?
+ protected:
+ #endif
+
+ #ifndef EIGEN_PARSED_BY_DOXYGEN
+ /** \internal used by allowAligned() */
+ EIGEN_DEVICE_FUNC
+ inline BlockImpl_dense(XprType& xpr, const Scalar* data, Index blockRows, Index blockCols)
+ : Base(data, blockRows, blockCols), m_xpr(xpr)
+ {
+ init();
+ }
+ #endif
+
+ protected:
+ EIGEN_DEVICE_FUNC
+ void init()
+ {
+ m_outerStride = internal::traits<BlockType>::HasSameStorageOrderAsXprType
+ ? m_xpr.outerStride()
+ : m_xpr.innerStride();
+ }
+
+ XprTypeNested m_xpr;
+ const internal::variable_if_dynamic<StorageIndex, (XprType::RowsAtCompileTime == 1 && BlockRows==1) ? 0 : Dynamic> m_startRow;
+ const internal::variable_if_dynamic<StorageIndex, (XprType::ColsAtCompileTime == 1 && BlockCols==1) ? 0 : Dynamic> m_startCol;
+ Index m_outerStride;
+};
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_BLOCK_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/BooleanRedux.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/BooleanRedux.h
new file mode 100644
index 0000000..8409d87
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/BooleanRedux.h
@@ -0,0 +1,164 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_ALLANDANY_H
+#define EIGEN_ALLANDANY_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<typename Derived, int UnrollCount>
+struct all_unroller
+{
+ typedef typename Derived::ExpressionTraits Traits;
+ enum {
+ col = (UnrollCount-1) / Traits::RowsAtCompileTime,
+ row = (UnrollCount-1) % Traits::RowsAtCompileTime
+ };
+
+ static inline bool run(const Derived &mat)
+ {
+ return all_unroller<Derived, UnrollCount-1>::run(mat) && mat.coeff(row, col);
+ }
+};
+
+template<typename Derived>
+struct all_unroller<Derived, 0>
+{
+ static inline bool run(const Derived &/*mat*/) { return true; }
+};
+
+template<typename Derived>
+struct all_unroller<Derived, Dynamic>
+{
+ static inline bool run(const Derived &) { return false; }
+};
+
+template<typename Derived, int UnrollCount>
+struct any_unroller
+{
+ typedef typename Derived::ExpressionTraits Traits;
+ enum {
+ col = (UnrollCount-1) / Traits::RowsAtCompileTime,
+ row = (UnrollCount-1) % Traits::RowsAtCompileTime
+ };
+
+ static inline bool run(const Derived &mat)
+ {
+ return any_unroller<Derived, UnrollCount-1>::run(mat) || mat.coeff(row, col);
+ }
+};
+
+template<typename Derived>
+struct any_unroller<Derived, 0>
+{
+ static inline bool run(const Derived & /*mat*/) { return false; }
+};
+
+template<typename Derived>
+struct any_unroller<Derived, Dynamic>
+{
+ static inline bool run(const Derived &) { return false; }
+};
+
+} // end namespace internal
+
+/** \returns true if all coefficients are true
+ *
+ * Example: \include MatrixBase_all.cpp
+ * Output: \verbinclude MatrixBase_all.out
+ *
+ * \sa any(), Cwise::operator<()
+ */
+template<typename Derived>
+inline bool DenseBase<Derived>::all() const
+{
+ typedef internal::evaluator<Derived> Evaluator;
+ enum {
+ unroll = SizeAtCompileTime != Dynamic
+ && SizeAtCompileTime * (Evaluator::CoeffReadCost + NumTraits<Scalar>::AddCost) <= EIGEN_UNROLLING_LIMIT
+ };
+ Evaluator evaluator(derived());
+ if(unroll)
+ return internal::all_unroller<Evaluator, unroll ? int(SizeAtCompileTime) : Dynamic>::run(evaluator);
+ else
+ {
+ for(Index j = 0; j < cols(); ++j)
+ for(Index i = 0; i < rows(); ++i)
+ if (!evaluator.coeff(i, j)) return false;
+ return true;
+ }
+}
+
+/** \returns true if at least one coefficient is true
+ *
+ * \sa all()
+ */
+template<typename Derived>
+inline bool DenseBase<Derived>::any() const
+{
+ typedef internal::evaluator<Derived> Evaluator;
+ enum {
+ unroll = SizeAtCompileTime != Dynamic
+ && SizeAtCompileTime * (Evaluator::CoeffReadCost + NumTraits<Scalar>::AddCost) <= EIGEN_UNROLLING_LIMIT
+ };
+ Evaluator evaluator(derived());
+ if(unroll)
+ return internal::any_unroller<Evaluator, unroll ? int(SizeAtCompileTime) : Dynamic>::run(evaluator);
+ else
+ {
+ for(Index j = 0; j < cols(); ++j)
+ for(Index i = 0; i < rows(); ++i)
+ if (evaluator.coeff(i, j)) return true;
+ return false;
+ }
+}
+
+/** \returns the number of coefficients which evaluate to true
+ *
+ * \sa all(), any()
+ */
+template<typename Derived>
+inline Eigen::Index DenseBase<Derived>::count() const
+{
+ return derived().template cast<bool>().template cast<Index>().sum();
+}
+
+/** \returns true is \c *this contains at least one Not A Number (NaN).
+ *
+ * \sa allFinite()
+ */
+template<typename Derived>
+inline bool DenseBase<Derived>::hasNaN() const
+{
+#if EIGEN_COMP_MSVC || (defined __FAST_MATH__)
+ return derived().array().isNaN().any();
+#else
+ return !((derived().array()==derived().array()).all());
+#endif
+}
+
+/** \returns true if \c *this contains only finite numbers, i.e., no NaN and no +/-INF values.
+ *
+ * \sa hasNaN()
+ */
+template<typename Derived>
+inline bool DenseBase<Derived>::allFinite() const
+{
+#if EIGEN_COMP_MSVC || (defined __FAST_MATH__)
+ return derived().array().isFinite().all();
+#else
+ return !((derived()-derived()).hasNaN());
+#endif
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_ALLANDANY_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/CommaInitializer.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/CommaInitializer.h
new file mode 100644
index 0000000..d218e98
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/CommaInitializer.h
@@ -0,0 +1,160 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_COMMAINITIALIZER_H
+#define EIGEN_COMMAINITIALIZER_H
+
+namespace Eigen {
+
+/** \class CommaInitializer
+ * \ingroup Core_Module
+ *
+ * \brief Helper class used by the comma initializer operator
+ *
+ * This class is internally used to implement the comma initializer feature. It is
+ * the return type of MatrixBase::operator<<, and most of the time this is the only
+ * way it is used.
+ *
+ * \sa \blank \ref MatrixBaseCommaInitRef "MatrixBase::operator<<", CommaInitializer::finished()
+ */
+template<typename XprType>
+struct CommaInitializer
+{
+ typedef typename XprType::Scalar Scalar;
+
+ EIGEN_DEVICE_FUNC
+ inline CommaInitializer(XprType& xpr, const Scalar& s)
+ : m_xpr(xpr), m_row(0), m_col(1), m_currentBlockRows(1)
+ {
+ m_xpr.coeffRef(0,0) = s;
+ }
+
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ inline CommaInitializer(XprType& xpr, const DenseBase<OtherDerived>& other)
+ : m_xpr(xpr), m_row(0), m_col(other.cols()), m_currentBlockRows(other.rows())
+ {
+ m_xpr.block(0, 0, other.rows(), other.cols()) = other;
+ }
+
+ /* Copy/Move constructor which transfers ownership. This is crucial in
+ * absence of return value optimization to avoid assertions during destruction. */
+ // FIXME in C++11 mode this could be replaced by a proper RValue constructor
+ EIGEN_DEVICE_FUNC
+ inline CommaInitializer(const CommaInitializer& o)
+ : m_xpr(o.m_xpr), m_row(o.m_row), m_col(o.m_col), m_currentBlockRows(o.m_currentBlockRows) {
+ // Mark original object as finished. In absence of R-value references we need to const_cast:
+ const_cast<CommaInitializer&>(o).m_row = m_xpr.rows();
+ const_cast<CommaInitializer&>(o).m_col = m_xpr.cols();
+ const_cast<CommaInitializer&>(o).m_currentBlockRows = 0;
+ }
+
+ /* inserts a scalar value in the target matrix */
+ EIGEN_DEVICE_FUNC
+ CommaInitializer& operator,(const Scalar& s)
+ {
+ if (m_col==m_xpr.cols())
+ {
+ m_row+=m_currentBlockRows;
+ m_col = 0;
+ m_currentBlockRows = 1;
+ eigen_assert(m_row<m_xpr.rows()
+ && "Too many rows passed to comma initializer (operator<<)");
+ }
+ eigen_assert(m_col<m_xpr.cols()
+ && "Too many coefficients passed to comma initializer (operator<<)");
+ eigen_assert(m_currentBlockRows==1);
+ m_xpr.coeffRef(m_row, m_col++) = s;
+ return *this;
+ }
+
+ /* inserts a matrix expression in the target matrix */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ CommaInitializer& operator,(const DenseBase<OtherDerived>& other)
+ {
+ if (m_col==m_xpr.cols() && (other.cols()!=0 || other.rows()!=m_currentBlockRows))
+ {
+ m_row+=m_currentBlockRows;
+ m_col = 0;
+ m_currentBlockRows = other.rows();
+ eigen_assert(m_row+m_currentBlockRows<=m_xpr.rows()
+ && "Too many rows passed to comma initializer (operator<<)");
+ }
+ eigen_assert((m_col + other.cols() <= m_xpr.cols())
+ && "Too many coefficients passed to comma initializer (operator<<)");
+ eigen_assert(m_currentBlockRows==other.rows());
+ m_xpr.template block<OtherDerived::RowsAtCompileTime, OtherDerived::ColsAtCompileTime>
+ (m_row, m_col, other.rows(), other.cols()) = other;
+ m_col += other.cols();
+ return *this;
+ }
+
+ EIGEN_DEVICE_FUNC
+ inline ~CommaInitializer()
+#if defined VERIFY_RAISES_ASSERT && (!defined EIGEN_NO_ASSERTION_CHECKING) && defined EIGEN_EXCEPTIONS
+ EIGEN_EXCEPTION_SPEC(Eigen::eigen_assert_exception)
+#endif
+ {
+ finished();
+ }
+
+ /** \returns the built matrix once all its coefficients have been set.
+ * Calling finished is 100% optional. Its purpose is to write expressions
+ * like this:
+ * \code
+ * quaternion.fromRotationMatrix((Matrix3f() << axis0, axis1, axis2).finished());
+ * \endcode
+ */
+ EIGEN_DEVICE_FUNC
+ inline XprType& finished() {
+ eigen_assert(((m_row+m_currentBlockRows) == m_xpr.rows() || m_xpr.cols() == 0)
+ && m_col == m_xpr.cols()
+ && "Too few coefficients passed to comma initializer (operator<<)");
+ return m_xpr;
+ }
+
+ XprType& m_xpr; // target expression
+ Index m_row; // current row id
+ Index m_col; // current col id
+ Index m_currentBlockRows; // current block height
+};
+
+/** \anchor MatrixBaseCommaInitRef
+ * Convenient operator to set the coefficients of a matrix.
+ *
+ * The coefficients must be provided in a row major order and exactly match
+ * the size of the matrix. Otherwise an assertion is raised.
+ *
+ * Example: \include MatrixBase_set.cpp
+ * Output: \verbinclude MatrixBase_set.out
+ *
+ * \note According the c++ standard, the argument expressions of this comma initializer are evaluated in arbitrary order.
+ *
+ * \sa CommaInitializer::finished(), class CommaInitializer
+ */
+template<typename Derived>
+inline CommaInitializer<Derived> DenseBase<Derived>::operator<< (const Scalar& s)
+{
+ return CommaInitializer<Derived>(*static_cast<Derived*>(this), s);
+}
+
+/** \sa operator<<(const Scalar&) */
+template<typename Derived>
+template<typename OtherDerived>
+inline CommaInitializer<Derived>
+DenseBase<Derived>::operator<<(const DenseBase<OtherDerived>& other)
+{
+ return CommaInitializer<Derived>(*static_cast<Derived *>(this), other);
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_COMMAINITIALIZER_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/ConditionEstimator.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/ConditionEstimator.h
new file mode 100644
index 0000000..51a2e5f
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/ConditionEstimator.h
@@ -0,0 +1,175 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2016 Rasmus Munk Larsen (rmlarsen@google.com)
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_CONDITIONESTIMATOR_H
+#define EIGEN_CONDITIONESTIMATOR_H
+
+namespace Eigen {
+
+namespace internal {
+
+template <typename Vector, typename RealVector, bool IsComplex>
+struct rcond_compute_sign {
+ static inline Vector run(const Vector& v) {
+ const RealVector v_abs = v.cwiseAbs();
+ return (v_abs.array() == static_cast<typename Vector::RealScalar>(0))
+ .select(Vector::Ones(v.size()), v.cwiseQuotient(v_abs));
+ }
+};
+
+// Partial specialization to avoid elementwise division for real vectors.
+template <typename Vector>
+struct rcond_compute_sign<Vector, Vector, false> {
+ static inline Vector run(const Vector& v) {
+ return (v.array() < static_cast<typename Vector::RealScalar>(0))
+ .select(-Vector::Ones(v.size()), Vector::Ones(v.size()));
+ }
+};
+
+/**
+ * \returns an estimate of ||inv(matrix)||_1 given a decomposition of
+ * \a matrix that implements .solve() and .adjoint().solve() methods.
+ *
+ * This function implements Algorithms 4.1 and 5.1 from
+ * http://www.maths.manchester.ac.uk/~higham/narep/narep135.pdf
+ * which also forms the basis for the condition number estimators in
+ * LAPACK. Since at most 10 calls to the solve method of dec are
+ * performed, the total cost is O(dims^2), as opposed to O(dims^3)
+ * needed to compute the inverse matrix explicitly.
+ *
+ * The most common usage is in estimating the condition number
+ * ||matrix||_1 * ||inv(matrix)||_1. The first term ||matrix||_1 can be
+ * computed directly in O(n^2) operations.
+ *
+ * Supports the following decompositions: FullPivLU, PartialPivLU, LDLT, and
+ * LLT.
+ *
+ * \sa FullPivLU, PartialPivLU, LDLT, LLT.
+ */
+template <typename Decomposition>
+typename Decomposition::RealScalar rcond_invmatrix_L1_norm_estimate(const Decomposition& dec)
+{
+ typedef typename Decomposition::MatrixType MatrixType;
+ typedef typename Decomposition::Scalar Scalar;
+ typedef typename Decomposition::RealScalar RealScalar;
+ typedef typename internal::plain_col_type<MatrixType>::type Vector;
+ typedef typename internal::plain_col_type<MatrixType, RealScalar>::type RealVector;
+ const bool is_complex = (NumTraits<Scalar>::IsComplex != 0);
+
+ eigen_assert(dec.rows() == dec.cols());
+ const Index n = dec.rows();
+ if (n == 0)
+ return 0;
+
+ // Disable Index to float conversion warning
+#ifdef __INTEL_COMPILER
+ #pragma warning push
+ #pragma warning ( disable : 2259 )
+#endif
+ Vector v = dec.solve(Vector::Ones(n) / Scalar(n));
+#ifdef __INTEL_COMPILER
+ #pragma warning pop
+#endif
+
+ // lower_bound is a lower bound on
+ // ||inv(matrix)||_1 = sup_v ||inv(matrix) v||_1 / ||v||_1
+ // and is the objective maximized by the ("super-") gradient ascent
+ // algorithm below.
+ RealScalar lower_bound = v.template lpNorm<1>();
+ if (n == 1)
+ return lower_bound;
+
+ // Gradient ascent algorithm follows: We know that the optimum is achieved at
+ // one of the simplices v = e_i, so in each iteration we follow a
+ // super-gradient to move towards the optimal one.
+ RealScalar old_lower_bound = lower_bound;
+ Vector sign_vector(n);
+ Vector old_sign_vector;
+ Index v_max_abs_index = -1;
+ Index old_v_max_abs_index = v_max_abs_index;
+ for (int k = 0; k < 4; ++k)
+ {
+ sign_vector = internal::rcond_compute_sign<Vector, RealVector, is_complex>::run(v);
+ if (k > 0 && !is_complex && sign_vector == old_sign_vector) {
+ // Break if the solution stagnated.
+ break;
+ }
+ // v_max_abs_index = argmax |real( inv(matrix)^T * sign_vector )|
+ v = dec.adjoint().solve(sign_vector);
+ v.real().cwiseAbs().maxCoeff(&v_max_abs_index);
+ if (v_max_abs_index == old_v_max_abs_index) {
+ // Break if the solution stagnated.
+ break;
+ }
+ // Move to the new simplex e_j, where j = v_max_abs_index.
+ v = dec.solve(Vector::Unit(n, v_max_abs_index)); // v = inv(matrix) * e_j.
+ lower_bound = v.template lpNorm<1>();
+ if (lower_bound <= old_lower_bound) {
+ // Break if the gradient step did not increase the lower_bound.
+ break;
+ }
+ if (!is_complex) {
+ old_sign_vector = sign_vector;
+ }
+ old_v_max_abs_index = v_max_abs_index;
+ old_lower_bound = lower_bound;
+ }
+ // The following calculates an independent estimate of ||matrix||_1 by
+ // multiplying matrix by a vector with entries of slowly increasing
+ // magnitude and alternating sign:
+ // v_i = (-1)^{i} (1 + (i / (dim-1))), i = 0,...,dim-1.
+ // This improvement to Hager's algorithm above is due to Higham. It was
+ // added to make the algorithm more robust in certain corner cases where
+ // large elements in the matrix might otherwise escape detection due to
+ // exact cancellation (especially when op and op_adjoint correspond to a
+ // sequence of backsubstitutions and permutations), which could cause
+ // Hager's algorithm to vastly underestimate ||matrix||_1.
+ Scalar alternating_sign(RealScalar(1));
+ for (Index i = 0; i < n; ++i) {
+ // The static_cast is needed when Scalar is a complex and RealScalar implements expression templates
+ v[i] = alternating_sign * static_cast<RealScalar>(RealScalar(1) + (RealScalar(i) / (RealScalar(n - 1))));
+ alternating_sign = -alternating_sign;
+ }
+ v = dec.solve(v);
+ const RealScalar alternate_lower_bound = (2 * v.template lpNorm<1>()) / (3 * RealScalar(n));
+ return numext::maxi(lower_bound, alternate_lower_bound);
+}
+
+/** \brief Reciprocal condition number estimator.
+ *
+ * Computing a decomposition of a dense matrix takes O(n^3) operations, while
+ * this method estimates the condition number quickly and reliably in O(n^2)
+ * operations.
+ *
+ * \returns an estimate of the reciprocal condition number
+ * (1 / (||matrix||_1 * ||inv(matrix)||_1)) of matrix, given ||matrix||_1 and
+ * its decomposition. Supports the following decompositions: FullPivLU,
+ * PartialPivLU, LDLT, and LLT.
+ *
+ * \sa FullPivLU, PartialPivLU, LDLT, LLT.
+ */
+template <typename Decomposition>
+typename Decomposition::RealScalar
+rcond_estimate_helper(typename Decomposition::RealScalar matrix_norm, const Decomposition& dec)
+{
+ typedef typename Decomposition::RealScalar RealScalar;
+ eigen_assert(dec.rows() == dec.cols());
+ if (dec.rows() == 0) return NumTraits<RealScalar>::infinity();
+ if (matrix_norm == RealScalar(0)) return RealScalar(0);
+ if (dec.rows() == 1) return RealScalar(1);
+ const RealScalar inverse_matrix_norm = rcond_invmatrix_L1_norm_estimate(dec);
+ return (inverse_matrix_norm == RealScalar(0) ? RealScalar(0)
+ : (RealScalar(1) / inverse_matrix_norm) / matrix_norm);
+}
+
+} // namespace internal
+
+} // namespace Eigen
+
+#endif
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/CoreEvaluators.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/CoreEvaluators.h
new file mode 100644
index 0000000..910889e
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/CoreEvaluators.h
@@ -0,0 +1,1688 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2011 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2011-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2011-2012 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+
+#ifndef EIGEN_COREEVALUATORS_H
+#define EIGEN_COREEVALUATORS_H
+
+namespace Eigen {
+
+namespace internal {
+
+// This class returns the evaluator kind from the expression storage kind.
+// Default assumes index based accessors
+template<typename StorageKind>
+struct storage_kind_to_evaluator_kind {
+ typedef IndexBased Kind;
+};
+
+// This class returns the evaluator shape from the expression storage kind.
+// It can be Dense, Sparse, Triangular, Diagonal, SelfAdjoint, Band, etc.
+template<typename StorageKind> struct storage_kind_to_shape;
+
+template<> struct storage_kind_to_shape<Dense> { typedef DenseShape Shape; };
+template<> struct storage_kind_to_shape<SolverStorage> { typedef SolverShape Shape; };
+template<> struct storage_kind_to_shape<PermutationStorage> { typedef PermutationShape Shape; };
+template<> struct storage_kind_to_shape<TranspositionsStorage> { typedef TranspositionsShape Shape; };
+
+// Evaluators have to be specialized with respect to various criteria such as:
+// - storage/structure/shape
+// - scalar type
+// - etc.
+// Therefore, we need specialization of evaluator providing additional template arguments for each kind of evaluators.
+// We currently distinguish the following kind of evaluators:
+// - unary_evaluator for expressions taking only one arguments (CwiseUnaryOp, CwiseUnaryView, Transpose, MatrixWrapper, ArrayWrapper, Reverse, Replicate)
+// - binary_evaluator for expression taking two arguments (CwiseBinaryOp)
+// - ternary_evaluator for expression taking three arguments (CwiseTernaryOp)
+// - product_evaluator for linear algebra products (Product); special case of binary_evaluator because it requires additional tags for dispatching.
+// - mapbase_evaluator for Map, Block, Ref
+// - block_evaluator for Block (special dispatching to a mapbase_evaluator or unary_evaluator)
+
+template< typename T,
+ typename Arg1Kind = typename evaluator_traits<typename T::Arg1>::Kind,
+ typename Arg2Kind = typename evaluator_traits<typename T::Arg2>::Kind,
+ typename Arg3Kind = typename evaluator_traits<typename T::Arg3>::Kind,
+ typename Arg1Scalar = typename traits<typename T::Arg1>::Scalar,
+ typename Arg2Scalar = typename traits<typename T::Arg2>::Scalar,
+ typename Arg3Scalar = typename traits<typename T::Arg3>::Scalar> struct ternary_evaluator;
+
+template< typename T,
+ typename LhsKind = typename evaluator_traits<typename T::Lhs>::Kind,
+ typename RhsKind = typename evaluator_traits<typename T::Rhs>::Kind,
+ typename LhsScalar = typename traits<typename T::Lhs>::Scalar,
+ typename RhsScalar = typename traits<typename T::Rhs>::Scalar> struct binary_evaluator;
+
+template< typename T,
+ typename Kind = typename evaluator_traits<typename T::NestedExpression>::Kind,
+ typename Scalar = typename T::Scalar> struct unary_evaluator;
+
+// evaluator_traits<T> contains traits for evaluator<T>
+
+template<typename T>
+struct evaluator_traits_base
+{
+ // by default, get evaluator kind and shape from storage
+ typedef typename storage_kind_to_evaluator_kind<typename traits<T>::StorageKind>::Kind Kind;
+ typedef typename storage_kind_to_shape<typename traits<T>::StorageKind>::Shape Shape;
+};
+
+// Default evaluator traits
+template<typename T>
+struct evaluator_traits : public evaluator_traits_base<T>
+{
+};
+
+template<typename T, typename Shape = typename evaluator_traits<T>::Shape >
+struct evaluator_assume_aliasing {
+ static const bool value = false;
+};
+
+// By default, we assume a unary expression:
+template<typename T>
+struct evaluator : public unary_evaluator<T>
+{
+ typedef unary_evaluator<T> Base;
+ EIGEN_DEVICE_FUNC explicit evaluator(const T& xpr) : Base(xpr) {}
+};
+
+
+// TODO: Think about const-correctness
+template<typename T>
+struct evaluator<const T>
+ : evaluator<T>
+{
+ EIGEN_DEVICE_FUNC
+ explicit evaluator(const T& xpr) : evaluator<T>(xpr) {}
+};
+
+// ---------- base class for all evaluators ----------
+
+template<typename ExpressionType>
+struct evaluator_base : public noncopyable
+{
+ // TODO that's not very nice to have to propagate all these traits. They are currently only needed to handle outer,inner indices.
+ typedef traits<ExpressionType> ExpressionTraits;
+
+ enum {
+ Alignment = 0
+ };
+};
+
+// -------------------- Matrix and Array --------------------
+//
+// evaluator<PlainObjectBase> is a common base class for the
+// Matrix and Array evaluators.
+// Here we directly specialize evaluator. This is not really a unary expression, and it is, by definition, dense,
+// so no need for more sophisticated dispatching.
+
+template<typename Derived>
+struct evaluator<PlainObjectBase<Derived> >
+ : evaluator_base<Derived>
+{
+ typedef PlainObjectBase<Derived> PlainObjectType;
+ typedef typename PlainObjectType::Scalar Scalar;
+ typedef typename PlainObjectType::CoeffReturnType CoeffReturnType;
+
+ enum {
+ IsRowMajor = PlainObjectType::IsRowMajor,
+ IsVectorAtCompileTime = PlainObjectType::IsVectorAtCompileTime,
+ RowsAtCompileTime = PlainObjectType::RowsAtCompileTime,
+ ColsAtCompileTime = PlainObjectType::ColsAtCompileTime,
+
+ CoeffReadCost = NumTraits<Scalar>::ReadCost,
+ Flags = traits<Derived>::EvaluatorFlags,
+ Alignment = traits<Derived>::Alignment
+ };
+
+ EIGEN_DEVICE_FUNC evaluator()
+ : m_data(0),
+ m_outerStride(IsVectorAtCompileTime ? 0
+ : int(IsRowMajor) ? ColsAtCompileTime
+ : RowsAtCompileTime)
+ {
+ EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+ }
+
+ EIGEN_DEVICE_FUNC explicit evaluator(const PlainObjectType& m)
+ : m_data(m.data()), m_outerStride(IsVectorAtCompileTime ? 0 : m.outerStride())
+ {
+ EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ CoeffReturnType coeff(Index row, Index col) const
+ {
+ if (IsRowMajor)
+ return m_data[row * m_outerStride.value() + col];
+ else
+ return m_data[row + col * m_outerStride.value()];
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ CoeffReturnType coeff(Index index) const
+ {
+ return m_data[index];
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ Scalar& coeffRef(Index row, Index col)
+ {
+ if (IsRowMajor)
+ return const_cast<Scalar*>(m_data)[row * m_outerStride.value() + col];
+ else
+ return const_cast<Scalar*>(m_data)[row + col * m_outerStride.value()];
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ Scalar& coeffRef(Index index)
+ {
+ return const_cast<Scalar*>(m_data)[index];
+ }
+
+ template<int LoadMode, typename PacketType>
+ EIGEN_STRONG_INLINE
+ PacketType packet(Index row, Index col) const
+ {
+ if (IsRowMajor)
+ return ploadt<PacketType, LoadMode>(m_data + row * m_outerStride.value() + col);
+ else
+ return ploadt<PacketType, LoadMode>(m_data + row + col * m_outerStride.value());
+ }
+
+ template<int LoadMode, typename PacketType>
+ EIGEN_STRONG_INLINE
+ PacketType packet(Index index) const
+ {
+ return ploadt<PacketType, LoadMode>(m_data + index);
+ }
+
+ template<int StoreMode,typename PacketType>
+ EIGEN_STRONG_INLINE
+ void writePacket(Index row, Index col, const PacketType& x)
+ {
+ if (IsRowMajor)
+ return pstoret<Scalar, PacketType, StoreMode>
+ (const_cast<Scalar*>(m_data) + row * m_outerStride.value() + col, x);
+ else
+ return pstoret<Scalar, PacketType, StoreMode>
+ (const_cast<Scalar*>(m_data) + row + col * m_outerStride.value(), x);
+ }
+
+ template<int StoreMode, typename PacketType>
+ EIGEN_STRONG_INLINE
+ void writePacket(Index index, const PacketType& x)
+ {
+ return pstoret<Scalar, PacketType, StoreMode>(const_cast<Scalar*>(m_data) + index, x);
+ }
+
+protected:
+ const Scalar *m_data;
+
+ // We do not need to know the outer stride for vectors
+ variable_if_dynamic<Index, IsVectorAtCompileTime ? 0
+ : int(IsRowMajor) ? ColsAtCompileTime
+ : RowsAtCompileTime> m_outerStride;
+};
+
+template<typename Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols>
+struct evaluator<Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols> >
+ : evaluator<PlainObjectBase<Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols> > >
+{
+ typedef Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols> XprType;
+
+ EIGEN_DEVICE_FUNC evaluator() {}
+
+ EIGEN_DEVICE_FUNC explicit evaluator(const XprType& m)
+ : evaluator<PlainObjectBase<XprType> >(m)
+ { }
+};
+
+template<typename Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols>
+struct evaluator<Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols> >
+ : evaluator<PlainObjectBase<Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols> > >
+{
+ typedef Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols> XprType;
+
+ EIGEN_DEVICE_FUNC evaluator() {}
+
+ EIGEN_DEVICE_FUNC explicit evaluator(const XprType& m)
+ : evaluator<PlainObjectBase<XprType> >(m)
+ { }
+};
+
+// -------------------- Transpose --------------------
+
+template<typename ArgType>
+struct unary_evaluator<Transpose<ArgType>, IndexBased>
+ : evaluator_base<Transpose<ArgType> >
+{
+ typedef Transpose<ArgType> XprType;
+
+ enum {
+ CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
+ Flags = evaluator<ArgType>::Flags ^ RowMajorBit,
+ Alignment = evaluator<ArgType>::Alignment
+ };
+
+ EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& t) : m_argImpl(t.nestedExpression()) {}
+
+ typedef typename XprType::Scalar Scalar;
+ typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ CoeffReturnType coeff(Index row, Index col) const
+ {
+ return m_argImpl.coeff(col, row);
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ CoeffReturnType coeff(Index index) const
+ {
+ return m_argImpl.coeff(index);
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ Scalar& coeffRef(Index row, Index col)
+ {
+ return m_argImpl.coeffRef(col, row);
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ typename XprType::Scalar& coeffRef(Index index)
+ {
+ return m_argImpl.coeffRef(index);
+ }
+
+ template<int LoadMode, typename PacketType>
+ EIGEN_STRONG_INLINE
+ PacketType packet(Index row, Index col) const
+ {
+ return m_argImpl.template packet<LoadMode,PacketType>(col, row);
+ }
+
+ template<int LoadMode, typename PacketType>
+ EIGEN_STRONG_INLINE
+ PacketType packet(Index index) const
+ {
+ return m_argImpl.template packet<LoadMode,PacketType>(index);
+ }
+
+ template<int StoreMode, typename PacketType>
+ EIGEN_STRONG_INLINE
+ void writePacket(Index row, Index col, const PacketType& x)
+ {
+ m_argImpl.template writePacket<StoreMode,PacketType>(col, row, x);
+ }
+
+ template<int StoreMode, typename PacketType>
+ EIGEN_STRONG_INLINE
+ void writePacket(Index index, const PacketType& x)
+ {
+ m_argImpl.template writePacket<StoreMode,PacketType>(index, x);
+ }
+
+protected:
+ evaluator<ArgType> m_argImpl;
+};
+
+// -------------------- CwiseNullaryOp --------------------
+// Like Matrix and Array, this is not really a unary expression, so we directly specialize evaluator.
+// Likewise, there is not need to more sophisticated dispatching here.
+
+template<typename Scalar,typename NullaryOp,
+ bool has_nullary = has_nullary_operator<NullaryOp>::value,
+ bool has_unary = has_unary_operator<NullaryOp>::value,
+ bool has_binary = has_binary_operator<NullaryOp>::value>
+struct nullary_wrapper
+{
+ template <typename IndexType>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i, IndexType j) const { return op(i,j); }
+ template <typename IndexType>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i) const { return op(i); }
+
+ template <typename T, typename IndexType> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i, IndexType j) const { return op.template packetOp<T>(i,j); }
+ template <typename T, typename IndexType> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i) const { return op.template packetOp<T>(i); }
+};
+
+template<typename Scalar,typename NullaryOp>
+struct nullary_wrapper<Scalar,NullaryOp,true,false,false>
+{
+ template <typename IndexType>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType=0, IndexType=0) const { return op(); }
+ template <typename T, typename IndexType> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType=0, IndexType=0) const { return op.template packetOp<T>(); }
+};
+
+template<typename Scalar,typename NullaryOp>
+struct nullary_wrapper<Scalar,NullaryOp,false,false,true>
+{
+ template <typename IndexType>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i, IndexType j=0) const { return op(i,j); }
+ template <typename T, typename IndexType> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i, IndexType j=0) const { return op.template packetOp<T>(i,j); }
+};
+
+// We need the following specialization for vector-only functors assigned to a runtime vector,
+// for instance, using linspace and assigning a RowVectorXd to a MatrixXd or even a row of a MatrixXd.
+// In this case, i==0 and j is used for the actual iteration.
+template<typename Scalar,typename NullaryOp>
+struct nullary_wrapper<Scalar,NullaryOp,false,true,false>
+{
+ template <typename IndexType>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i, IndexType j) const {
+ eigen_assert(i==0 || j==0);
+ return op(i+j);
+ }
+ template <typename T, typename IndexType> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i, IndexType j) const {
+ eigen_assert(i==0 || j==0);
+ return op.template packetOp<T>(i+j);
+ }
+
+ template <typename IndexType>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i) const { return op(i); }
+ template <typename T, typename IndexType>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i) const { return op.template packetOp<T>(i); }
+};
+
+template<typename Scalar,typename NullaryOp>
+struct nullary_wrapper<Scalar,NullaryOp,false,false,false> {};
+
+#if 0 && EIGEN_COMP_MSVC>0
+// Disable this ugly workaround. This is now handled in traits<Ref>::match,
+// but this piece of code might still become handly if some other weird compilation
+// erros pop up again.
+
+// MSVC exhibits a weird compilation error when
+// compiling:
+// Eigen::MatrixXf A = MatrixXf::Random(3,3);
+// Ref<const MatrixXf> R = 2.f*A;
+// and that has_*ary_operator<scalar_constant_op<float>> have not been instantiated yet.
+// The "problem" is that evaluator<2.f*A> is instantiated by traits<Ref>::match<2.f*A>
+// and at that time has_*ary_operator<T> returns true regardless of T.
+// Then nullary_wrapper is badly instantiated as nullary_wrapper<.,.,true,true,true>.
+// The trick is thus to defer the proper instantiation of nullary_wrapper when coeff(),
+// and packet() are really instantiated as implemented below:
+
+// This is a simple wrapper around Index to enforce the re-instantiation of
+// has_*ary_operator when needed.
+template<typename T> struct nullary_wrapper_workaround_msvc {
+ nullary_wrapper_workaround_msvc(const T&);
+ operator T()const;
+};
+
+template<typename Scalar,typename NullaryOp>
+struct nullary_wrapper<Scalar,NullaryOp,true,true,true>
+{
+ template <typename IndexType>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i, IndexType j) const {
+ return nullary_wrapper<Scalar,NullaryOp,
+ has_nullary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value,
+ has_unary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value,
+ has_binary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value>().operator()(op,i,j);
+ }
+ template <typename IndexType>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i) const {
+ return nullary_wrapper<Scalar,NullaryOp,
+ has_nullary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value,
+ has_unary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value,
+ has_binary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value>().operator()(op,i);
+ }
+
+ template <typename T, typename IndexType>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i, IndexType j) const {
+ return nullary_wrapper<Scalar,NullaryOp,
+ has_nullary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value,
+ has_unary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value,
+ has_binary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value>().template packetOp<T>(op,i,j);
+ }
+ template <typename T, typename IndexType>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i) const {
+ return nullary_wrapper<Scalar,NullaryOp,
+ has_nullary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value,
+ has_unary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value,
+ has_binary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value>().template packetOp<T>(op,i);
+ }
+};
+#endif // MSVC workaround
+
+template<typename NullaryOp, typename PlainObjectType>
+struct evaluator<CwiseNullaryOp<NullaryOp,PlainObjectType> >
+ : evaluator_base<CwiseNullaryOp<NullaryOp,PlainObjectType> >
+{
+ typedef CwiseNullaryOp<NullaryOp,PlainObjectType> XprType;
+ typedef typename internal::remove_all<PlainObjectType>::type PlainObjectTypeCleaned;
+
+ enum {
+ CoeffReadCost = internal::functor_traits<NullaryOp>::Cost,
+
+ Flags = (evaluator<PlainObjectTypeCleaned>::Flags
+ & ( HereditaryBits
+ | (functor_has_linear_access<NullaryOp>::ret ? LinearAccessBit : 0)
+ | (functor_traits<NullaryOp>::PacketAccess ? PacketAccessBit : 0)))
+ | (functor_traits<NullaryOp>::IsRepeatable ? 0 : EvalBeforeNestingBit),
+ Alignment = AlignedMax
+ };
+
+ EIGEN_DEVICE_FUNC explicit evaluator(const XprType& n)
+ : m_functor(n.functor()), m_wrapper()
+ {
+ EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+ }
+
+ typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+ template <typename IndexType>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ CoeffReturnType coeff(IndexType row, IndexType col) const
+ {
+ return m_wrapper(m_functor, row, col);
+ }
+
+ template <typename IndexType>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ CoeffReturnType coeff(IndexType index) const
+ {
+ return m_wrapper(m_functor,index);
+ }
+
+ template<int LoadMode, typename PacketType, typename IndexType>
+ EIGEN_STRONG_INLINE
+ PacketType packet(IndexType row, IndexType col) const
+ {
+ return m_wrapper.template packetOp<PacketType>(m_functor, row, col);
+ }
+
+ template<int LoadMode, typename PacketType, typename IndexType>
+ EIGEN_STRONG_INLINE
+ PacketType packet(IndexType index) const
+ {
+ return m_wrapper.template packetOp<PacketType>(m_functor, index);
+ }
+
+protected:
+ const NullaryOp m_functor;
+ const internal::nullary_wrapper<CoeffReturnType,NullaryOp> m_wrapper;
+};
+
+// -------------------- CwiseUnaryOp --------------------
+
+template<typename UnaryOp, typename ArgType>
+struct unary_evaluator<CwiseUnaryOp<UnaryOp, ArgType>, IndexBased >
+ : evaluator_base<CwiseUnaryOp<UnaryOp, ArgType> >
+{
+ typedef CwiseUnaryOp<UnaryOp, ArgType> XprType;
+
+ enum {
+ CoeffReadCost = evaluator<ArgType>::CoeffReadCost + functor_traits<UnaryOp>::Cost,
+
+ Flags = evaluator<ArgType>::Flags
+ & (HereditaryBits | LinearAccessBit | (functor_traits<UnaryOp>::PacketAccess ? PacketAccessBit : 0)),
+ Alignment = evaluator<ArgType>::Alignment
+ };
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ explicit unary_evaluator(const XprType& op)
+ : m_functor(op.functor()),
+ m_argImpl(op.nestedExpression())
+ {
+ EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<UnaryOp>::Cost);
+ EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+ }
+
+ typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ CoeffReturnType coeff(Index row, Index col) const
+ {
+ return m_functor(m_argImpl.coeff(row, col));
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ CoeffReturnType coeff(Index index) const
+ {
+ return m_functor(m_argImpl.coeff(index));
+ }
+
+ template<int LoadMode, typename PacketType>
+ EIGEN_STRONG_INLINE
+ PacketType packet(Index row, Index col) const
+ {
+ return m_functor.packetOp(m_argImpl.template packet<LoadMode, PacketType>(row, col));
+ }
+
+ template<int LoadMode, typename PacketType>
+ EIGEN_STRONG_INLINE
+ PacketType packet(Index index) const
+ {
+ return m_functor.packetOp(m_argImpl.template packet<LoadMode, PacketType>(index));
+ }
+
+protected:
+ const UnaryOp m_functor;
+ evaluator<ArgType> m_argImpl;
+};
+
+// -------------------- CwiseTernaryOp --------------------
+
+// this is a ternary expression
+template<typename TernaryOp, typename Arg1, typename Arg2, typename Arg3>
+struct evaluator<CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> >
+ : public ternary_evaluator<CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> >
+{
+ typedef CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> XprType;
+ typedef ternary_evaluator<CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> > Base;
+
+ EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr) : Base(xpr) {}
+};
+
+template<typename TernaryOp, typename Arg1, typename Arg2, typename Arg3>
+struct ternary_evaluator<CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3>, IndexBased, IndexBased>
+ : evaluator_base<CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> >
+{
+ typedef CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> XprType;
+
+ enum {
+ CoeffReadCost = evaluator<Arg1>::CoeffReadCost + evaluator<Arg2>::CoeffReadCost + evaluator<Arg3>::CoeffReadCost + functor_traits<TernaryOp>::Cost,
+
+ Arg1Flags = evaluator<Arg1>::Flags,
+ Arg2Flags = evaluator<Arg2>::Flags,
+ Arg3Flags = evaluator<Arg3>::Flags,
+ SameType = is_same<typename Arg1::Scalar,typename Arg2::Scalar>::value && is_same<typename Arg1::Scalar,typename Arg3::Scalar>::value,
+ StorageOrdersAgree = (int(Arg1Flags)&RowMajorBit)==(int(Arg2Flags)&RowMajorBit) && (int(Arg1Flags)&RowMajorBit)==(int(Arg3Flags)&RowMajorBit),
+ Flags0 = (int(Arg1Flags) | int(Arg2Flags) | int(Arg3Flags)) & (
+ HereditaryBits
+ | (int(Arg1Flags) & int(Arg2Flags) & int(Arg3Flags) &
+ ( (StorageOrdersAgree ? LinearAccessBit : 0)
+ | (functor_traits<TernaryOp>::PacketAccess && StorageOrdersAgree && SameType ? PacketAccessBit : 0)
+ )
+ )
+ ),
+ Flags = (Flags0 & ~RowMajorBit) | (Arg1Flags & RowMajorBit),
+ Alignment = EIGEN_PLAIN_ENUM_MIN(
+ EIGEN_PLAIN_ENUM_MIN(evaluator<Arg1>::Alignment, evaluator<Arg2>::Alignment),
+ evaluator<Arg3>::Alignment)
+ };
+
+ EIGEN_DEVICE_FUNC explicit ternary_evaluator(const XprType& xpr)
+ : m_functor(xpr.functor()),
+ m_arg1Impl(xpr.arg1()),
+ m_arg2Impl(xpr.arg2()),
+ m_arg3Impl(xpr.arg3())
+ {
+ EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<TernaryOp>::Cost);
+ EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+ }
+
+ typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ CoeffReturnType coeff(Index row, Index col) const
+ {
+ return m_functor(m_arg1Impl.coeff(row, col), m_arg2Impl.coeff(row, col), m_arg3Impl.coeff(row, col));
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ CoeffReturnType coeff(Index index) const
+ {
+ return m_functor(m_arg1Impl.coeff(index), m_arg2Impl.coeff(index), m_arg3Impl.coeff(index));
+ }
+
+ template<int LoadMode, typename PacketType>
+ EIGEN_STRONG_INLINE
+ PacketType packet(Index row, Index col) const
+ {
+ return m_functor.packetOp(m_arg1Impl.template packet<LoadMode,PacketType>(row, col),
+ m_arg2Impl.template packet<LoadMode,PacketType>(row, col),
+ m_arg3Impl.template packet<LoadMode,PacketType>(row, col));
+ }
+
+ template<int LoadMode, typename PacketType>
+ EIGEN_STRONG_INLINE
+ PacketType packet(Index index) const
+ {
+ return m_functor.packetOp(m_arg1Impl.template packet<LoadMode,PacketType>(index),
+ m_arg2Impl.template packet<LoadMode,PacketType>(index),
+ m_arg3Impl.template packet<LoadMode,PacketType>(index));
+ }
+
+protected:
+ const TernaryOp m_functor;
+ evaluator<Arg1> m_arg1Impl;
+ evaluator<Arg2> m_arg2Impl;
+ evaluator<Arg3> m_arg3Impl;
+};
+
+// -------------------- CwiseBinaryOp --------------------
+
+// this is a binary expression
+template<typename BinaryOp, typename Lhs, typename Rhs>
+struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
+ : public binary_evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
+{
+ typedef CwiseBinaryOp<BinaryOp, Lhs, Rhs> XprType;
+ typedef binary_evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> > Base;
+
+ EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr) : Base(xpr) {}
+};
+
+template<typename BinaryOp, typename Lhs, typename Rhs>
+struct binary_evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs>, IndexBased, IndexBased>
+ : evaluator_base<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
+{
+ typedef CwiseBinaryOp<BinaryOp, Lhs, Rhs> XprType;
+
+ enum {
+ CoeffReadCost = evaluator<Lhs>::CoeffReadCost + evaluator<Rhs>::CoeffReadCost + functor_traits<BinaryOp>::Cost,
+
+ LhsFlags = evaluator<Lhs>::Flags,
+ RhsFlags = evaluator<Rhs>::Flags,
+ SameType = is_same<typename Lhs::Scalar,typename Rhs::Scalar>::value,
+ StorageOrdersAgree = (int(LhsFlags)&RowMajorBit)==(int(RhsFlags)&RowMajorBit),
+ Flags0 = (int(LhsFlags) | int(RhsFlags)) & (
+ HereditaryBits
+ | (int(LhsFlags) & int(RhsFlags) &
+ ( (StorageOrdersAgree ? LinearAccessBit : 0)
+ | (functor_traits<BinaryOp>::PacketAccess && StorageOrdersAgree && SameType ? PacketAccessBit : 0)
+ )
+ )
+ ),
+ Flags = (Flags0 & ~RowMajorBit) | (LhsFlags & RowMajorBit),
+ Alignment = EIGEN_PLAIN_ENUM_MIN(evaluator<Lhs>::Alignment,evaluator<Rhs>::Alignment)
+ };
+
+ EIGEN_DEVICE_FUNC explicit binary_evaluator(const XprType& xpr)
+ : m_functor(xpr.functor()),
+ m_lhsImpl(xpr.lhs()),
+ m_rhsImpl(xpr.rhs())
+ {
+ EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<BinaryOp>::Cost);
+ EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+ }
+
+ typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ CoeffReturnType coeff(Index row, Index col) const
+ {
+ return m_functor(m_lhsImpl.coeff(row, col), m_rhsImpl.coeff(row, col));
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ CoeffReturnType coeff(Index index) const
+ {
+ return m_functor(m_lhsImpl.coeff(index), m_rhsImpl.coeff(index));
+ }
+
+ template<int LoadMode, typename PacketType>
+ EIGEN_STRONG_INLINE
+ PacketType packet(Index row, Index col) const
+ {
+ return m_functor.packetOp(m_lhsImpl.template packet<LoadMode,PacketType>(row, col),
+ m_rhsImpl.template packet<LoadMode,PacketType>(row, col));
+ }
+
+ template<int LoadMode, typename PacketType>
+ EIGEN_STRONG_INLINE
+ PacketType packet(Index index) const
+ {
+ return m_functor.packetOp(m_lhsImpl.template packet<LoadMode,PacketType>(index),
+ m_rhsImpl.template packet<LoadMode,PacketType>(index));
+ }
+
+protected:
+ const BinaryOp m_functor;
+ evaluator<Lhs> m_lhsImpl;
+ evaluator<Rhs> m_rhsImpl;
+};
+
+// -------------------- CwiseUnaryView --------------------
+
+template<typename UnaryOp, typename ArgType>
+struct unary_evaluator<CwiseUnaryView<UnaryOp, ArgType>, IndexBased>
+ : evaluator_base<CwiseUnaryView<UnaryOp, ArgType> >
+{
+ typedef CwiseUnaryView<UnaryOp, ArgType> XprType;
+
+ enum {
+ CoeffReadCost = evaluator<ArgType>::CoeffReadCost + functor_traits<UnaryOp>::Cost,
+
+ Flags = (evaluator<ArgType>::Flags & (HereditaryBits | LinearAccessBit | DirectAccessBit)),
+
+ Alignment = 0 // FIXME it is not very clear why alignment is necessarily lost...
+ };
+
+ EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& op)
+ : m_unaryOp(op.functor()),
+ m_argImpl(op.nestedExpression())
+ {
+ EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<UnaryOp>::Cost);
+ EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+ }
+
+ typedef typename XprType::Scalar Scalar;
+ typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ CoeffReturnType coeff(Index row, Index col) const
+ {
+ return m_unaryOp(m_argImpl.coeff(row, col));
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ CoeffReturnType coeff(Index index) const
+ {
+ return m_unaryOp(m_argImpl.coeff(index));
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ Scalar& coeffRef(Index row, Index col)
+ {
+ return m_unaryOp(m_argImpl.coeffRef(row, col));
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ Scalar& coeffRef(Index index)
+ {
+ return m_unaryOp(m_argImpl.coeffRef(index));
+ }
+
+protected:
+ const UnaryOp m_unaryOp;
+ evaluator<ArgType> m_argImpl;
+};
+
+// -------------------- Map --------------------
+
+// FIXME perhaps the PlainObjectType could be provided by Derived::PlainObject ?
+// but that might complicate template specialization
+template<typename Derived, typename PlainObjectType>
+struct mapbase_evaluator;
+
+template<typename Derived, typename PlainObjectType>
+struct mapbase_evaluator : evaluator_base<Derived>
+{
+ typedef Derived XprType;
+ typedef typename XprType::PointerType PointerType;
+ typedef typename XprType::Scalar Scalar;
+ typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+ enum {
+ IsRowMajor = XprType::RowsAtCompileTime,
+ ColsAtCompileTime = XprType::ColsAtCompileTime,
+ CoeffReadCost = NumTraits<Scalar>::ReadCost
+ };
+
+ EIGEN_DEVICE_FUNC explicit mapbase_evaluator(const XprType& map)
+ : m_data(const_cast<PointerType>(map.data())),
+ m_innerStride(map.innerStride()),
+ m_outerStride(map.outerStride())
+ {
+ EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(evaluator<Derived>::Flags&PacketAccessBit, internal::inner_stride_at_compile_time<Derived>::ret==1),
+ PACKET_ACCESS_REQUIRES_TO_HAVE_INNER_STRIDE_FIXED_TO_1);
+ EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ CoeffReturnType coeff(Index row, Index col) const
+ {
+ return m_data[col * colStride() + row * rowStride()];
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ CoeffReturnType coeff(Index index) const
+ {
+ return m_data[index * m_innerStride.value()];
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ Scalar& coeffRef(Index row, Index col)
+ {
+ return m_data[col * colStride() + row * rowStride()];
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ Scalar& coeffRef(Index index)
+ {
+ return m_data[index * m_innerStride.value()];
+ }
+
+ template<int LoadMode, typename PacketType>
+ EIGEN_STRONG_INLINE
+ PacketType packet(Index row, Index col) const
+ {
+ PointerType ptr = m_data + row * rowStride() + col * colStride();
+ return internal::ploadt<PacketType, LoadMode>(ptr);
+ }
+
+ template<int LoadMode, typename PacketType>
+ EIGEN_STRONG_INLINE
+ PacketType packet(Index index) const
+ {
+ return internal::ploadt<PacketType, LoadMode>(m_data + index * m_innerStride.value());
+ }
+
+ template<int StoreMode, typename PacketType>
+ EIGEN_STRONG_INLINE
+ void writePacket(Index row, Index col, const PacketType& x)
+ {
+ PointerType ptr = m_data + row * rowStride() + col * colStride();
+ return internal::pstoret<Scalar, PacketType, StoreMode>(ptr, x);
+ }
+
+ template<int StoreMode, typename PacketType>
+ EIGEN_STRONG_INLINE
+ void writePacket(Index index, const PacketType& x)
+ {
+ internal::pstoret<Scalar, PacketType, StoreMode>(m_data + index * m_innerStride.value(), x);
+ }
+protected:
+ EIGEN_DEVICE_FUNC
+ inline Index rowStride() const { return XprType::IsRowMajor ? m_outerStride.value() : m_innerStride.value(); }
+ EIGEN_DEVICE_FUNC
+ inline Index colStride() const { return XprType::IsRowMajor ? m_innerStride.value() : m_outerStride.value(); }
+
+ PointerType m_data;
+ const internal::variable_if_dynamic<Index, XprType::InnerStrideAtCompileTime> m_innerStride;
+ const internal::variable_if_dynamic<Index, XprType::OuterStrideAtCompileTime> m_outerStride;
+};
+
+template<typename PlainObjectType, int MapOptions, typename StrideType>
+struct evaluator<Map<PlainObjectType, MapOptions, StrideType> >
+ : public mapbase_evaluator<Map<PlainObjectType, MapOptions, StrideType>, PlainObjectType>
+{
+ typedef Map<PlainObjectType, MapOptions, StrideType> XprType;
+ typedef typename XprType::Scalar Scalar;
+ // TODO: should check for smaller packet types once we can handle multi-sized packet types
+ typedef typename packet_traits<Scalar>::type PacketScalar;
+
+ enum {
+ InnerStrideAtCompileTime = StrideType::InnerStrideAtCompileTime == 0
+ ? int(PlainObjectType::InnerStrideAtCompileTime)
+ : int(StrideType::InnerStrideAtCompileTime),
+ OuterStrideAtCompileTime = StrideType::OuterStrideAtCompileTime == 0
+ ? int(PlainObjectType::OuterStrideAtCompileTime)
+ : int(StrideType::OuterStrideAtCompileTime),
+ HasNoInnerStride = InnerStrideAtCompileTime == 1,
+ HasNoOuterStride = StrideType::OuterStrideAtCompileTime == 0,
+ HasNoStride = HasNoInnerStride && HasNoOuterStride,
+ IsDynamicSize = PlainObjectType::SizeAtCompileTime==Dynamic,
+
+ PacketAccessMask = bool(HasNoInnerStride) ? ~int(0) : ~int(PacketAccessBit),
+ LinearAccessMask = bool(HasNoStride) || bool(PlainObjectType::IsVectorAtCompileTime) ? ~int(0) : ~int(LinearAccessBit),
+ Flags = int( evaluator<PlainObjectType>::Flags) & (LinearAccessMask&PacketAccessMask),
+
+ Alignment = int(MapOptions)&int(AlignedMask)
+ };
+
+ EIGEN_DEVICE_FUNC explicit evaluator(const XprType& map)
+ : mapbase_evaluator<XprType, PlainObjectType>(map)
+ { }
+};
+
+// -------------------- Ref --------------------
+
+template<typename PlainObjectType, int RefOptions, typename StrideType>
+struct evaluator<Ref<PlainObjectType, RefOptions, StrideType> >
+ : public mapbase_evaluator<Ref<PlainObjectType, RefOptions, StrideType>, PlainObjectType>
+{
+ typedef Ref<PlainObjectType, RefOptions, StrideType> XprType;
+
+ enum {
+ Flags = evaluator<Map<PlainObjectType, RefOptions, StrideType> >::Flags,
+ Alignment = evaluator<Map<PlainObjectType, RefOptions, StrideType> >::Alignment
+ };
+
+ EIGEN_DEVICE_FUNC explicit evaluator(const XprType& ref)
+ : mapbase_evaluator<XprType, PlainObjectType>(ref)
+ { }
+};
+
+// -------------------- Block --------------------
+
+template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel,
+ bool HasDirectAccess = internal::has_direct_access<ArgType>::ret> struct block_evaluator;
+
+template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel>
+struct evaluator<Block<ArgType, BlockRows, BlockCols, InnerPanel> >
+ : block_evaluator<ArgType, BlockRows, BlockCols, InnerPanel>
+{
+ typedef Block<ArgType, BlockRows, BlockCols, InnerPanel> XprType;
+ typedef typename XprType::Scalar Scalar;
+ // TODO: should check for smaller packet types once we can handle multi-sized packet types
+ typedef typename packet_traits<Scalar>::type PacketScalar;
+
+ enum {
+ CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
+
+ RowsAtCompileTime = traits<XprType>::RowsAtCompileTime,
+ ColsAtCompileTime = traits<XprType>::ColsAtCompileTime,
+ MaxRowsAtCompileTime = traits<XprType>::MaxRowsAtCompileTime,
+ MaxColsAtCompileTime = traits<XprType>::MaxColsAtCompileTime,
+
+ ArgTypeIsRowMajor = (int(evaluator<ArgType>::Flags)&RowMajorBit) != 0,
+ IsRowMajor = (MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1) ? 1
+ : (MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1) ? 0
+ : ArgTypeIsRowMajor,
+ HasSameStorageOrderAsArgType = (IsRowMajor == ArgTypeIsRowMajor),
+ InnerSize = IsRowMajor ? int(ColsAtCompileTime) : int(RowsAtCompileTime),
+ InnerStrideAtCompileTime = HasSameStorageOrderAsArgType
+ ? int(inner_stride_at_compile_time<ArgType>::ret)
+ : int(outer_stride_at_compile_time<ArgType>::ret),
+ OuterStrideAtCompileTime = HasSameStorageOrderAsArgType
+ ? int(outer_stride_at_compile_time<ArgType>::ret)
+ : int(inner_stride_at_compile_time<ArgType>::ret),
+ MaskPacketAccessBit = (InnerStrideAtCompileTime == 1 || HasSameStorageOrderAsArgType) ? PacketAccessBit : 0,
+
+ FlagsLinearAccessBit = (RowsAtCompileTime == 1 || ColsAtCompileTime == 1 || (InnerPanel && (evaluator<ArgType>::Flags&LinearAccessBit))) ? LinearAccessBit : 0,
+ FlagsRowMajorBit = XprType::Flags&RowMajorBit,
+ Flags0 = evaluator<ArgType>::Flags & ( (HereditaryBits & ~RowMajorBit) |
+ DirectAccessBit |
+ MaskPacketAccessBit),
+ Flags = Flags0 | FlagsLinearAccessBit | FlagsRowMajorBit,
+
+ PacketAlignment = unpacket_traits<PacketScalar>::alignment,
+ Alignment0 = (InnerPanel && (OuterStrideAtCompileTime!=Dynamic)
+ && (OuterStrideAtCompileTime!=0)
+ && (((OuterStrideAtCompileTime * int(sizeof(Scalar))) % int(PacketAlignment)) == 0)) ? int(PacketAlignment) : 0,
+ Alignment = EIGEN_PLAIN_ENUM_MIN(evaluator<ArgType>::Alignment, Alignment0)
+ };
+ typedef block_evaluator<ArgType, BlockRows, BlockCols, InnerPanel> block_evaluator_type;
+ EIGEN_DEVICE_FUNC explicit evaluator(const XprType& block) : block_evaluator_type(block)
+ {
+ EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+ }
+};
+
+// no direct-access => dispatch to a unary evaluator
+template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel>
+struct block_evaluator<ArgType, BlockRows, BlockCols, InnerPanel, /*HasDirectAccess*/ false>
+ : unary_evaluator<Block<ArgType, BlockRows, BlockCols, InnerPanel> >
+{
+ typedef Block<ArgType, BlockRows, BlockCols, InnerPanel> XprType;
+
+ EIGEN_DEVICE_FUNC explicit block_evaluator(const XprType& block)
+ : unary_evaluator<XprType>(block)
+ {}
+};
+
+template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel>
+struct unary_evaluator<Block<ArgType, BlockRows, BlockCols, InnerPanel>, IndexBased>
+ : evaluator_base<Block<ArgType, BlockRows, BlockCols, InnerPanel> >
+{
+ typedef Block<ArgType, BlockRows, BlockCols, InnerPanel> XprType;
+
+ EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& block)
+ : m_argImpl(block.nestedExpression()),
+ m_startRow(block.startRow()),
+ m_startCol(block.startCol()),
+ m_linear_offset(InnerPanel?(XprType::IsRowMajor ? block.startRow()*block.cols() : block.startCol()*block.rows()):0)
+ { }
+
+ typedef typename XprType::Scalar Scalar;
+ typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+ enum {
+ RowsAtCompileTime = XprType::RowsAtCompileTime,
+ ForwardLinearAccess = InnerPanel && bool(evaluator<ArgType>::Flags&LinearAccessBit)
+ };
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ CoeffReturnType coeff(Index row, Index col) const
+ {
+ return m_argImpl.coeff(m_startRow.value() + row, m_startCol.value() + col);
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ CoeffReturnType coeff(Index index) const
+ {
+ if (ForwardLinearAccess)
+ return m_argImpl.coeff(m_linear_offset.value() + index);
+ else
+ return coeff(RowsAtCompileTime == 1 ? 0 : index, RowsAtCompileTime == 1 ? index : 0);
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ Scalar& coeffRef(Index row, Index col)
+ {
+ return m_argImpl.coeffRef(m_startRow.value() + row, m_startCol.value() + col);
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ Scalar& coeffRef(Index index)
+ {
+ if (ForwardLinearAccess)
+ return m_argImpl.coeffRef(m_linear_offset.value() + index);
+ else
+ return coeffRef(RowsAtCompileTime == 1 ? 0 : index, RowsAtCompileTime == 1 ? index : 0);
+ }
+
+ template<int LoadMode, typename PacketType>
+ EIGEN_STRONG_INLINE
+ PacketType packet(Index row, Index col) const
+ {
+ return m_argImpl.template packet<LoadMode,PacketType>(m_startRow.value() + row, m_startCol.value() + col);
+ }
+
+ template<int LoadMode, typename PacketType>
+ EIGEN_STRONG_INLINE
+ PacketType packet(Index index) const
+ {
+ if (ForwardLinearAccess)
+ return m_argImpl.template packet<LoadMode,PacketType>(m_linear_offset.value() + index);
+ else
+ return packet<LoadMode,PacketType>(RowsAtCompileTime == 1 ? 0 : index,
+ RowsAtCompileTime == 1 ? index : 0);
+ }
+
+ template<int StoreMode, typename PacketType>
+ EIGEN_STRONG_INLINE
+ void writePacket(Index row, Index col, const PacketType& x)
+ {
+ return m_argImpl.template writePacket<StoreMode,PacketType>(m_startRow.value() + row, m_startCol.value() + col, x);
+ }
+
+ template<int StoreMode, typename PacketType>
+ EIGEN_STRONG_INLINE
+ void writePacket(Index index, const PacketType& x)
+ {
+ if (ForwardLinearAccess)
+ return m_argImpl.template writePacket<StoreMode,PacketType>(m_linear_offset.value() + index, x);
+ else
+ return writePacket<StoreMode,PacketType>(RowsAtCompileTime == 1 ? 0 : index,
+ RowsAtCompileTime == 1 ? index : 0,
+ x);
+ }
+
+protected:
+ evaluator<ArgType> m_argImpl;
+ const variable_if_dynamic<Index, (ArgType::RowsAtCompileTime == 1 && BlockRows==1) ? 0 : Dynamic> m_startRow;
+ const variable_if_dynamic<Index, (ArgType::ColsAtCompileTime == 1 && BlockCols==1) ? 0 : Dynamic> m_startCol;
+ const variable_if_dynamic<Index, InnerPanel ? Dynamic : 0> m_linear_offset;
+};
+
+// TODO: This evaluator does not actually use the child evaluator;
+// all action is via the data() as returned by the Block expression.
+
+template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel>
+struct block_evaluator<ArgType, BlockRows, BlockCols, InnerPanel, /* HasDirectAccess */ true>
+ : mapbase_evaluator<Block<ArgType, BlockRows, BlockCols, InnerPanel>,
+ typename Block<ArgType, BlockRows, BlockCols, InnerPanel>::PlainObject>
+{
+ typedef Block<ArgType, BlockRows, BlockCols, InnerPanel> XprType;
+ typedef typename XprType::Scalar Scalar;
+
+ EIGEN_DEVICE_FUNC explicit block_evaluator(const XprType& block)
+ : mapbase_evaluator<XprType, typename XprType::PlainObject>(block)
+ {
+ // TODO: for the 3.3 release, this should be turned to an internal assertion, but let's keep it as is for the beta lifetime
+ eigen_assert(((internal::UIntPtr(block.data()) % EIGEN_PLAIN_ENUM_MAX(1,evaluator<XprType>::Alignment)) == 0) && "data is not aligned");
+ }
+};
+
+
+// -------------------- Select --------------------
+// NOTE shall we introduce a ternary_evaluator?
+
+// TODO enable vectorization for Select
+template<typename ConditionMatrixType, typename ThenMatrixType, typename ElseMatrixType>
+struct evaluator<Select<ConditionMatrixType, ThenMatrixType, ElseMatrixType> >
+ : evaluator_base<Select<ConditionMatrixType, ThenMatrixType, ElseMatrixType> >
+{
+ typedef Select<ConditionMatrixType, ThenMatrixType, ElseMatrixType> XprType;
+ enum {
+ CoeffReadCost = evaluator<ConditionMatrixType>::CoeffReadCost
+ + EIGEN_PLAIN_ENUM_MAX(evaluator<ThenMatrixType>::CoeffReadCost,
+ evaluator<ElseMatrixType>::CoeffReadCost),
+
+ Flags = (unsigned int)evaluator<ThenMatrixType>::Flags & evaluator<ElseMatrixType>::Flags & HereditaryBits,
+
+ Alignment = EIGEN_PLAIN_ENUM_MIN(evaluator<ThenMatrixType>::Alignment, evaluator<ElseMatrixType>::Alignment)
+ };
+
+ EIGEN_DEVICE_FUNC explicit evaluator(const XprType& select)
+ : m_conditionImpl(select.conditionMatrix()),
+ m_thenImpl(select.thenMatrix()),
+ m_elseImpl(select.elseMatrix())
+ {
+ EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+ }
+
+ typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ CoeffReturnType coeff(Index row, Index col) const
+ {
+ if (m_conditionImpl.coeff(row, col))
+ return m_thenImpl.coeff(row, col);
+ else
+ return m_elseImpl.coeff(row, col);
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ CoeffReturnType coeff(Index index) const
+ {
+ if (m_conditionImpl.coeff(index))
+ return m_thenImpl.coeff(index);
+ else
+ return m_elseImpl.coeff(index);
+ }
+
+protected:
+ evaluator<ConditionMatrixType> m_conditionImpl;
+ evaluator<ThenMatrixType> m_thenImpl;
+ evaluator<ElseMatrixType> m_elseImpl;
+};
+
+
+// -------------------- Replicate --------------------
+
+template<typename ArgType, int RowFactor, int ColFactor>
+struct unary_evaluator<Replicate<ArgType, RowFactor, ColFactor> >
+ : evaluator_base<Replicate<ArgType, RowFactor, ColFactor> >
+{
+ typedef Replicate<ArgType, RowFactor, ColFactor> XprType;
+ typedef typename XprType::CoeffReturnType CoeffReturnType;
+ enum {
+ Factor = (RowFactor==Dynamic || ColFactor==Dynamic) ? Dynamic : RowFactor*ColFactor
+ };
+ typedef typename internal::nested_eval<ArgType,Factor>::type ArgTypeNested;
+ typedef typename internal::remove_all<ArgTypeNested>::type ArgTypeNestedCleaned;
+
+ enum {
+ CoeffReadCost = evaluator<ArgTypeNestedCleaned>::CoeffReadCost,
+ LinearAccessMask = XprType::IsVectorAtCompileTime ? LinearAccessBit : 0,
+ Flags = (evaluator<ArgTypeNestedCleaned>::Flags & (HereditaryBits|LinearAccessMask) & ~RowMajorBit) | (traits<XprType>::Flags & RowMajorBit),
+
+ Alignment = evaluator<ArgTypeNestedCleaned>::Alignment
+ };
+
+ EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& replicate)
+ : m_arg(replicate.nestedExpression()),
+ m_argImpl(m_arg),
+ m_rows(replicate.nestedExpression().rows()),
+ m_cols(replicate.nestedExpression().cols())
+ {}
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ CoeffReturnType coeff(Index row, Index col) const
+ {
+ // try to avoid using modulo; this is a pure optimization strategy
+ const Index actual_row = internal::traits<XprType>::RowsAtCompileTime==1 ? 0
+ : RowFactor==1 ? row
+ : row % m_rows.value();
+ const Index actual_col = internal::traits<XprType>::ColsAtCompileTime==1 ? 0
+ : ColFactor==1 ? col
+ : col % m_cols.value();
+
+ return m_argImpl.coeff(actual_row, actual_col);
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ CoeffReturnType coeff(Index index) const
+ {
+ // try to avoid using modulo; this is a pure optimization strategy
+ const Index actual_index = internal::traits<XprType>::RowsAtCompileTime==1
+ ? (ColFactor==1 ? index : index%m_cols.value())
+ : (RowFactor==1 ? index : index%m_rows.value());
+
+ return m_argImpl.coeff(actual_index);
+ }
+
+ template<int LoadMode, typename PacketType>
+ EIGEN_STRONG_INLINE
+ PacketType packet(Index row, Index col) const
+ {
+ const Index actual_row = internal::traits<XprType>::RowsAtCompileTime==1 ? 0
+ : RowFactor==1 ? row
+ : row % m_rows.value();
+ const Index actual_col = internal::traits<XprType>::ColsAtCompileTime==1 ? 0
+ : ColFactor==1 ? col
+ : col % m_cols.value();
+
+ return m_argImpl.template packet<LoadMode,PacketType>(actual_row, actual_col);
+ }
+
+ template<int LoadMode, typename PacketType>
+ EIGEN_STRONG_INLINE
+ PacketType packet(Index index) const
+ {
+ const Index actual_index = internal::traits<XprType>::RowsAtCompileTime==1
+ ? (ColFactor==1 ? index : index%m_cols.value())
+ : (RowFactor==1 ? index : index%m_rows.value());
+
+ return m_argImpl.template packet<LoadMode,PacketType>(actual_index);
+ }
+
+protected:
+ const ArgTypeNested m_arg;
+ evaluator<ArgTypeNestedCleaned> m_argImpl;
+ const variable_if_dynamic<Index, ArgType::RowsAtCompileTime> m_rows;
+ const variable_if_dynamic<Index, ArgType::ColsAtCompileTime> m_cols;
+};
+
+
+// -------------------- PartialReduxExpr --------------------
+
+template< typename ArgType, typename MemberOp, int Direction>
+struct evaluator<PartialReduxExpr<ArgType, MemberOp, Direction> >
+ : evaluator_base<PartialReduxExpr<ArgType, MemberOp, Direction> >
+{
+ typedef PartialReduxExpr<ArgType, MemberOp, Direction> XprType;
+ typedef typename internal::nested_eval<ArgType,1>::type ArgTypeNested;
+ typedef typename internal::remove_all<ArgTypeNested>::type ArgTypeNestedCleaned;
+ typedef typename ArgType::Scalar InputScalar;
+ typedef typename XprType::Scalar Scalar;
+ enum {
+ TraversalSize = Direction==int(Vertical) ? int(ArgType::RowsAtCompileTime) : int(ArgType::ColsAtCompileTime)
+ };
+ typedef typename MemberOp::template Cost<InputScalar,int(TraversalSize)> CostOpType;
+ enum {
+ CoeffReadCost = TraversalSize==Dynamic ? HugeCost
+ : TraversalSize * evaluator<ArgType>::CoeffReadCost + int(CostOpType::value),
+
+ Flags = (traits<XprType>::Flags&RowMajorBit) | (evaluator<ArgType>::Flags&(HereditaryBits&(~RowMajorBit))) | LinearAccessBit,
+
+ Alignment = 0 // FIXME this will need to be improved once PartialReduxExpr is vectorized
+ };
+
+ EIGEN_DEVICE_FUNC explicit evaluator(const XprType xpr)
+ : m_arg(xpr.nestedExpression()), m_functor(xpr.functor())
+ {
+ EIGEN_INTERNAL_CHECK_COST_VALUE(TraversalSize==Dynamic ? HugeCost : int(CostOpType::value));
+ EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+ }
+
+ typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ const Scalar coeff(Index i, Index j) const
+ {
+ if (Direction==Vertical)
+ return m_functor(m_arg.col(j));
+ else
+ return m_functor(m_arg.row(i));
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ const Scalar coeff(Index index) const
+ {
+ if (Direction==Vertical)
+ return m_functor(m_arg.col(index));
+ else
+ return m_functor(m_arg.row(index));
+ }
+
+protected:
+ typename internal::add_const_on_value_type<ArgTypeNested>::type m_arg;
+ const MemberOp m_functor;
+};
+
+
+// -------------------- MatrixWrapper and ArrayWrapper --------------------
+//
+// evaluator_wrapper_base<T> is a common base class for the
+// MatrixWrapper and ArrayWrapper evaluators.
+
+template<typename XprType>
+struct evaluator_wrapper_base
+ : evaluator_base<XprType>
+{
+ typedef typename remove_all<typename XprType::NestedExpressionType>::type ArgType;
+ enum {
+ CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
+ Flags = evaluator<ArgType>::Flags,
+ Alignment = evaluator<ArgType>::Alignment
+ };
+
+ EIGEN_DEVICE_FUNC explicit evaluator_wrapper_base(const ArgType& arg) : m_argImpl(arg) {}
+
+ typedef typename ArgType::Scalar Scalar;
+ typedef typename ArgType::CoeffReturnType CoeffReturnType;
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ CoeffReturnType coeff(Index row, Index col) const
+ {
+ return m_argImpl.coeff(row, col);
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ CoeffReturnType coeff(Index index) const
+ {
+ return m_argImpl.coeff(index);
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ Scalar& coeffRef(Index row, Index col)
+ {
+ return m_argImpl.coeffRef(row, col);
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ Scalar& coeffRef(Index index)
+ {
+ return m_argImpl.coeffRef(index);
+ }
+
+ template<int LoadMode, typename PacketType>
+ EIGEN_STRONG_INLINE
+ PacketType packet(Index row, Index col) const
+ {
+ return m_argImpl.template packet<LoadMode,PacketType>(row, col);
+ }
+
+ template<int LoadMode, typename PacketType>
+ EIGEN_STRONG_INLINE
+ PacketType packet(Index index) const
+ {
+ return m_argImpl.template packet<LoadMode,PacketType>(index);
+ }
+
+ template<int StoreMode, typename PacketType>
+ EIGEN_STRONG_INLINE
+ void writePacket(Index row, Index col, const PacketType& x)
+ {
+ m_argImpl.template writePacket<StoreMode>(row, col, x);
+ }
+
+ template<int StoreMode, typename PacketType>
+ EIGEN_STRONG_INLINE
+ void writePacket(Index index, const PacketType& x)
+ {
+ m_argImpl.template writePacket<StoreMode>(index, x);
+ }
+
+protected:
+ evaluator<ArgType> m_argImpl;
+};
+
+template<typename TArgType>
+struct unary_evaluator<MatrixWrapper<TArgType> >
+ : evaluator_wrapper_base<MatrixWrapper<TArgType> >
+{
+ typedef MatrixWrapper<TArgType> XprType;
+
+ EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& wrapper)
+ : evaluator_wrapper_base<MatrixWrapper<TArgType> >(wrapper.nestedExpression())
+ { }
+};
+
+template<typename TArgType>
+struct unary_evaluator<ArrayWrapper<TArgType> >
+ : evaluator_wrapper_base<ArrayWrapper<TArgType> >
+{
+ typedef ArrayWrapper<TArgType> XprType;
+
+ EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& wrapper)
+ : evaluator_wrapper_base<ArrayWrapper<TArgType> >(wrapper.nestedExpression())
+ { }
+};
+
+
+// -------------------- Reverse --------------------
+
+// defined in Reverse.h:
+template<typename PacketType, bool ReversePacket> struct reverse_packet_cond;
+
+template<typename ArgType, int Direction>
+struct unary_evaluator<Reverse<ArgType, Direction> >
+ : evaluator_base<Reverse<ArgType, Direction> >
+{
+ typedef Reverse<ArgType, Direction> XprType;
+ typedef typename XprType::Scalar Scalar;
+ typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+ enum {
+ IsRowMajor = XprType::IsRowMajor,
+ IsColMajor = !IsRowMajor,
+ ReverseRow = (Direction == Vertical) || (Direction == BothDirections),
+ ReverseCol = (Direction == Horizontal) || (Direction == BothDirections),
+ ReversePacket = (Direction == BothDirections)
+ || ((Direction == Vertical) && IsColMajor)
+ || ((Direction == Horizontal) && IsRowMajor),
+
+ CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
+
+ // let's enable LinearAccess only with vectorization because of the product overhead
+ // FIXME enable DirectAccess with negative strides?
+ Flags0 = evaluator<ArgType>::Flags,
+ LinearAccess = ( (Direction==BothDirections) && (int(Flags0)&PacketAccessBit) )
+ || ((ReverseRow && XprType::ColsAtCompileTime==1) || (ReverseCol && XprType::RowsAtCompileTime==1))
+ ? LinearAccessBit : 0,
+
+ Flags = int(Flags0) & (HereditaryBits | PacketAccessBit | LinearAccess),
+
+ Alignment = 0 // FIXME in some rare cases, Alignment could be preserved, like a Vector4f.
+ };
+
+ EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& reverse)
+ : m_argImpl(reverse.nestedExpression()),
+ m_rows(ReverseRow ? reverse.nestedExpression().rows() : 1),
+ m_cols(ReverseCol ? reverse.nestedExpression().cols() : 1)
+ { }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ CoeffReturnType coeff(Index row, Index col) const
+ {
+ return m_argImpl.coeff(ReverseRow ? m_rows.value() - row - 1 : row,
+ ReverseCol ? m_cols.value() - col - 1 : col);
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ CoeffReturnType coeff(Index index) const
+ {
+ return m_argImpl.coeff(m_rows.value() * m_cols.value() - index - 1);
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ Scalar& coeffRef(Index row, Index col)
+ {
+ return m_argImpl.coeffRef(ReverseRow ? m_rows.value() - row - 1 : row,
+ ReverseCol ? m_cols.value() - col - 1 : col);
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ Scalar& coeffRef(Index index)
+ {
+ return m_argImpl.coeffRef(m_rows.value() * m_cols.value() - index - 1);
+ }
+
+ template<int LoadMode, typename PacketType>
+ EIGEN_STRONG_INLINE
+ PacketType packet(Index row, Index col) const
+ {
+ enum {
+ PacketSize = unpacket_traits<PacketType>::size,
+ OffsetRow = ReverseRow && IsColMajor ? PacketSize : 1,
+ OffsetCol = ReverseCol && IsRowMajor ? PacketSize : 1
+ };
+ typedef internal::reverse_packet_cond<PacketType,ReversePacket> reverse_packet;
+ return reverse_packet::run(m_argImpl.template packet<LoadMode,PacketType>(
+ ReverseRow ? m_rows.value() - row - OffsetRow : row,
+ ReverseCol ? m_cols.value() - col - OffsetCol : col));
+ }
+
+ template<int LoadMode, typename PacketType>
+ EIGEN_STRONG_INLINE
+ PacketType packet(Index index) const
+ {
+ enum { PacketSize = unpacket_traits<PacketType>::size };
+ return preverse(m_argImpl.template packet<LoadMode,PacketType>(m_rows.value() * m_cols.value() - index - PacketSize));
+ }
+
+ template<int LoadMode, typename PacketType>
+ EIGEN_STRONG_INLINE
+ void writePacket(Index row, Index col, const PacketType& x)
+ {
+ // FIXME we could factorize some code with packet(i,j)
+ enum {
+ PacketSize = unpacket_traits<PacketType>::size,
+ OffsetRow = ReverseRow && IsColMajor ? PacketSize : 1,
+ OffsetCol = ReverseCol && IsRowMajor ? PacketSize : 1
+ };
+ typedef internal::reverse_packet_cond<PacketType,ReversePacket> reverse_packet;
+ m_argImpl.template writePacket<LoadMode>(
+ ReverseRow ? m_rows.value() - row - OffsetRow : row,
+ ReverseCol ? m_cols.value() - col - OffsetCol : col,
+ reverse_packet::run(x));
+ }
+
+ template<int LoadMode, typename PacketType>
+ EIGEN_STRONG_INLINE
+ void writePacket(Index index, const PacketType& x)
+ {
+ enum { PacketSize = unpacket_traits<PacketType>::size };
+ m_argImpl.template writePacket<LoadMode>
+ (m_rows.value() * m_cols.value() - index - PacketSize, preverse(x));
+ }
+
+protected:
+ evaluator<ArgType> m_argImpl;
+
+ // If we do not reverse rows, then we do not need to know the number of rows; same for columns
+ // Nonetheless, in this case it is important to set to 1 such that the coeff(index) method works fine for vectors.
+ const variable_if_dynamic<Index, ReverseRow ? ArgType::RowsAtCompileTime : 1> m_rows;
+ const variable_if_dynamic<Index, ReverseCol ? ArgType::ColsAtCompileTime : 1> m_cols;
+};
+
+
+// -------------------- Diagonal --------------------
+
+template<typename ArgType, int DiagIndex>
+struct evaluator<Diagonal<ArgType, DiagIndex> >
+ : evaluator_base<Diagonal<ArgType, DiagIndex> >
+{
+ typedef Diagonal<ArgType, DiagIndex> XprType;
+
+ enum {
+ CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
+
+ Flags = (unsigned int)(evaluator<ArgType>::Flags & (HereditaryBits | DirectAccessBit) & ~RowMajorBit) | LinearAccessBit,
+
+ Alignment = 0
+ };
+
+ EIGEN_DEVICE_FUNC explicit evaluator(const XprType& diagonal)
+ : m_argImpl(diagonal.nestedExpression()),
+ m_index(diagonal.index())
+ { }
+
+ typedef typename XprType::Scalar Scalar;
+ typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ CoeffReturnType coeff(Index row, Index) const
+ {
+ return m_argImpl.coeff(row + rowOffset(), row + colOffset());
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ CoeffReturnType coeff(Index index) const
+ {
+ return m_argImpl.coeff(index + rowOffset(), index + colOffset());
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ Scalar& coeffRef(Index row, Index)
+ {
+ return m_argImpl.coeffRef(row + rowOffset(), row + colOffset());
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ Scalar& coeffRef(Index index)
+ {
+ return m_argImpl.coeffRef(index + rowOffset(), index + colOffset());
+ }
+
+protected:
+ evaluator<ArgType> m_argImpl;
+ const internal::variable_if_dynamicindex<Index, XprType::DiagIndex> m_index;
+
+private:
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index rowOffset() const { return m_index.value() > 0 ? 0 : -m_index.value(); }
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index colOffset() const { return m_index.value() > 0 ? m_index.value() : 0; }
+};
+
+
+//----------------------------------------------------------------------
+// deprecated code
+//----------------------------------------------------------------------
+
+// -------------------- EvalToTemp --------------------
+
+// expression class for evaluating nested expression to a temporary
+
+template<typename ArgType> class EvalToTemp;
+
+template<typename ArgType>
+struct traits<EvalToTemp<ArgType> >
+ : public traits<ArgType>
+{ };
+
+template<typename ArgType>
+class EvalToTemp
+ : public dense_xpr_base<EvalToTemp<ArgType> >::type
+{
+ public:
+
+ typedef typename dense_xpr_base<EvalToTemp>::type Base;
+ EIGEN_GENERIC_PUBLIC_INTERFACE(EvalToTemp)
+
+ explicit EvalToTemp(const ArgType& arg)
+ : m_arg(arg)
+ { }
+
+ const ArgType& arg() const
+ {
+ return m_arg;
+ }
+
+ Index rows() const
+ {
+ return m_arg.rows();
+ }
+
+ Index cols() const
+ {
+ return m_arg.cols();
+ }
+
+ private:
+ const ArgType& m_arg;
+};
+
+template<typename ArgType>
+struct evaluator<EvalToTemp<ArgType> >
+ : public evaluator<typename ArgType::PlainObject>
+{
+ typedef EvalToTemp<ArgType> XprType;
+ typedef typename ArgType::PlainObject PlainObject;
+ typedef evaluator<PlainObject> Base;
+
+ EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr)
+ : m_result(xpr.arg())
+ {
+ ::new (static_cast<Base*>(this)) Base(m_result);
+ }
+
+ // This constructor is used when nesting an EvalTo evaluator in another evaluator
+ EIGEN_DEVICE_FUNC evaluator(const ArgType& arg)
+ : m_result(arg)
+ {
+ ::new (static_cast<Base*>(this)) Base(m_result);
+ }
+
+protected:
+ PlainObject m_result;
+};
+
+} // namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_COREEVALUATORS_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/CoreIterators.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/CoreIterators.h
new file mode 100644
index 0000000..4eb42b9
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/CoreIterators.h
@@ -0,0 +1,127 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_COREITERATORS_H
+#define EIGEN_COREITERATORS_H
+
+namespace Eigen {
+
+/* This file contains the respective InnerIterator definition of the expressions defined in Eigen/Core
+ */
+
+namespace internal {
+
+template<typename XprType, typename EvaluatorKind>
+class inner_iterator_selector;
+
+}
+
+/** \class InnerIterator
+ * \brief An InnerIterator allows to loop over the element of any matrix expression.
+ *
+ * \warning To be used with care because an evaluator is constructed every time an InnerIterator iterator is constructed.
+ *
+ * TODO: add a usage example
+ */
+template<typename XprType>
+class InnerIterator
+{
+protected:
+ typedef internal::inner_iterator_selector<XprType, typename internal::evaluator_traits<XprType>::Kind> IteratorType;
+ typedef internal::evaluator<XprType> EvaluatorType;
+ typedef typename internal::traits<XprType>::Scalar Scalar;
+public:
+ /** Construct an iterator over the \a outerId -th row or column of \a xpr */
+ InnerIterator(const XprType &xpr, const Index &outerId)
+ : m_eval(xpr), m_iter(m_eval, outerId, xpr.innerSize())
+ {}
+
+ /// \returns the value of the current coefficient.
+ EIGEN_STRONG_INLINE Scalar value() const { return m_iter.value(); }
+ /** Increment the iterator \c *this to the next non-zero coefficient.
+ * Explicit zeros are not skipped over. To skip explicit zeros, see class SparseView
+ */
+ EIGEN_STRONG_INLINE InnerIterator& operator++() { m_iter.operator++(); return *this; }
+ /// \returns the column or row index of the current coefficient.
+ EIGEN_STRONG_INLINE Index index() const { return m_iter.index(); }
+ /// \returns the row index of the current coefficient.
+ EIGEN_STRONG_INLINE Index row() const { return m_iter.row(); }
+ /// \returns the column index of the current coefficient.
+ EIGEN_STRONG_INLINE Index col() const { return m_iter.col(); }
+ /// \returns \c true if the iterator \c *this still references a valid coefficient.
+ EIGEN_STRONG_INLINE operator bool() const { return m_iter; }
+
+protected:
+ EvaluatorType m_eval;
+ IteratorType m_iter;
+private:
+ // If you get here, then you're not using the right InnerIterator type, e.g.:
+ // SparseMatrix<double,RowMajor> A;
+ // SparseMatrix<double>::InnerIterator it(A,0);
+ template<typename T> InnerIterator(const EigenBase<T>&,Index outer);
+};
+
+namespace internal {
+
+// Generic inner iterator implementation for dense objects
+template<typename XprType>
+class inner_iterator_selector<XprType, IndexBased>
+{
+protected:
+ typedef evaluator<XprType> EvaluatorType;
+ typedef typename traits<XprType>::Scalar Scalar;
+ enum { IsRowMajor = (XprType::Flags&RowMajorBit)==RowMajorBit };
+
+public:
+ EIGEN_STRONG_INLINE inner_iterator_selector(const EvaluatorType &eval, const Index &outerId, const Index &innerSize)
+ : m_eval(eval), m_inner(0), m_outer(outerId), m_end(innerSize)
+ {}
+
+ EIGEN_STRONG_INLINE Scalar value() const
+ {
+ return (IsRowMajor) ? m_eval.coeff(m_outer, m_inner)
+ : m_eval.coeff(m_inner, m_outer);
+ }
+
+ EIGEN_STRONG_INLINE inner_iterator_selector& operator++() { m_inner++; return *this; }
+
+ EIGEN_STRONG_INLINE Index index() const { return m_inner; }
+ inline Index row() const { return IsRowMajor ? m_outer : index(); }
+ inline Index col() const { return IsRowMajor ? index() : m_outer; }
+
+ EIGEN_STRONG_INLINE operator bool() const { return m_inner < m_end && m_inner>=0; }
+
+protected:
+ const EvaluatorType& m_eval;
+ Index m_inner;
+ const Index m_outer;
+ const Index m_end;
+};
+
+// For iterator-based evaluator, inner-iterator is already implemented as
+// evaluator<>::InnerIterator
+template<typename XprType>
+class inner_iterator_selector<XprType, IteratorBased>
+ : public evaluator<XprType>::InnerIterator
+{
+protected:
+ typedef typename evaluator<XprType>::InnerIterator Base;
+ typedef evaluator<XprType> EvaluatorType;
+
+public:
+ EIGEN_STRONG_INLINE inner_iterator_selector(const EvaluatorType &eval, const Index &outerId, const Index &/*innerSize*/)
+ : Base(eval, outerId)
+ {}
+};
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_COREITERATORS_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/CwiseBinaryOp.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/CwiseBinaryOp.h
new file mode 100644
index 0000000..a36765e
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/CwiseBinaryOp.h
@@ -0,0 +1,184 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_CWISE_BINARY_OP_H
+#define EIGEN_CWISE_BINARY_OP_H
+
+namespace Eigen {
+
+namespace internal {
+template<typename BinaryOp, typename Lhs, typename Rhs>
+struct traits<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
+{
+ // we must not inherit from traits<Lhs> since it has
+ // the potential to cause problems with MSVC
+ typedef typename remove_all<Lhs>::type Ancestor;
+ typedef typename traits<Ancestor>::XprKind XprKind;
+ enum {
+ RowsAtCompileTime = traits<Ancestor>::RowsAtCompileTime,
+ ColsAtCompileTime = traits<Ancestor>::ColsAtCompileTime,
+ MaxRowsAtCompileTime = traits<Ancestor>::MaxRowsAtCompileTime,
+ MaxColsAtCompileTime = traits<Ancestor>::MaxColsAtCompileTime
+ };
+
+ // even though we require Lhs and Rhs to have the same scalar type (see CwiseBinaryOp constructor),
+ // we still want to handle the case when the result type is different.
+ typedef typename result_of<
+ BinaryOp(
+ const typename Lhs::Scalar&,
+ const typename Rhs::Scalar&
+ )
+ >::type Scalar;
+ typedef typename cwise_promote_storage_type<typename traits<Lhs>::StorageKind,
+ typename traits<Rhs>::StorageKind,
+ BinaryOp>::ret StorageKind;
+ typedef typename promote_index_type<typename traits<Lhs>::StorageIndex,
+ typename traits<Rhs>::StorageIndex>::type StorageIndex;
+ typedef typename Lhs::Nested LhsNested;
+ typedef typename Rhs::Nested RhsNested;
+ typedef typename remove_reference<LhsNested>::type _LhsNested;
+ typedef typename remove_reference<RhsNested>::type _RhsNested;
+ enum {
+ Flags = cwise_promote_storage_order<typename traits<Lhs>::StorageKind,typename traits<Rhs>::StorageKind,_LhsNested::Flags & RowMajorBit,_RhsNested::Flags & RowMajorBit>::value
+ };
+};
+} // end namespace internal
+
+template<typename BinaryOp, typename Lhs, typename Rhs, typename StorageKind>
+class CwiseBinaryOpImpl;
+
+/** \class CwiseBinaryOp
+ * \ingroup Core_Module
+ *
+ * \brief Generic expression where a coefficient-wise binary operator is applied to two expressions
+ *
+ * \tparam BinaryOp template functor implementing the operator
+ * \tparam LhsType the type of the left-hand side
+ * \tparam RhsType the type of the right-hand side
+ *
+ * This class represents an expression where a coefficient-wise binary operator is applied to two expressions.
+ * It is the return type of binary operators, by which we mean only those binary operators where
+ * both the left-hand side and the right-hand side are Eigen expressions.
+ * For example, the return type of matrix1+matrix2 is a CwiseBinaryOp.
+ *
+ * Most of the time, this is the only way that it is used, so you typically don't have to name
+ * CwiseBinaryOp types explicitly.
+ *
+ * \sa MatrixBase::binaryExpr(const MatrixBase<OtherDerived> &,const CustomBinaryOp &) const, class CwiseUnaryOp, class CwiseNullaryOp
+ */
+template<typename BinaryOp, typename LhsType, typename RhsType>
+class CwiseBinaryOp :
+ public CwiseBinaryOpImpl<
+ BinaryOp, LhsType, RhsType,
+ typename internal::cwise_promote_storage_type<typename internal::traits<LhsType>::StorageKind,
+ typename internal::traits<RhsType>::StorageKind,
+ BinaryOp>::ret>,
+ internal::no_assignment_operator
+{
+ public:
+
+ typedef typename internal::remove_all<BinaryOp>::type Functor;
+ typedef typename internal::remove_all<LhsType>::type Lhs;
+ typedef typename internal::remove_all<RhsType>::type Rhs;
+
+ typedef typename CwiseBinaryOpImpl<
+ BinaryOp, LhsType, RhsType,
+ typename internal::cwise_promote_storage_type<typename internal::traits<LhsType>::StorageKind,
+ typename internal::traits<Rhs>::StorageKind,
+ BinaryOp>::ret>::Base Base;
+ EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseBinaryOp)
+
+ typedef typename internal::ref_selector<LhsType>::type LhsNested;
+ typedef typename internal::ref_selector<RhsType>::type RhsNested;
+ typedef typename internal::remove_reference<LhsNested>::type _LhsNested;
+ typedef typename internal::remove_reference<RhsNested>::type _RhsNested;
+
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE CwiseBinaryOp(const Lhs& aLhs, const Rhs& aRhs, const BinaryOp& func = BinaryOp())
+ : m_lhs(aLhs), m_rhs(aRhs), m_functor(func)
+ {
+ EIGEN_CHECK_BINARY_COMPATIBILIY(BinaryOp,typename Lhs::Scalar,typename Rhs::Scalar);
+ // require the sizes to match
+ EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Lhs, Rhs)
+ eigen_assert(aLhs.rows() == aRhs.rows() && aLhs.cols() == aRhs.cols());
+ }
+
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Index rows() const {
+ // return the fixed size type if available to enable compile time optimizations
+ if (internal::traits<typename internal::remove_all<LhsNested>::type>::RowsAtCompileTime==Dynamic)
+ return m_rhs.rows();
+ else
+ return m_lhs.rows();
+ }
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Index cols() const {
+ // return the fixed size type if available to enable compile time optimizations
+ if (internal::traits<typename internal::remove_all<LhsNested>::type>::ColsAtCompileTime==Dynamic)
+ return m_rhs.cols();
+ else
+ return m_lhs.cols();
+ }
+
+ /** \returns the left hand side nested expression */
+ EIGEN_DEVICE_FUNC
+ const _LhsNested& lhs() const { return m_lhs; }
+ /** \returns the right hand side nested expression */
+ EIGEN_DEVICE_FUNC
+ const _RhsNested& rhs() const { return m_rhs; }
+ /** \returns the functor representing the binary operation */
+ EIGEN_DEVICE_FUNC
+ const BinaryOp& functor() const { return m_functor; }
+
+ protected:
+ LhsNested m_lhs;
+ RhsNested m_rhs;
+ const BinaryOp m_functor;
+};
+
+// Generic API dispatcher
+template<typename BinaryOp, typename Lhs, typename Rhs, typename StorageKind>
+class CwiseBinaryOpImpl
+ : public internal::generic_xpr_base<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >::type
+{
+public:
+ typedef typename internal::generic_xpr_base<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >::type Base;
+};
+
+/** replaces \c *this by \c *this - \a other.
+ *
+ * \returns a reference to \c *this
+ */
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE Derived &
+MatrixBase<Derived>::operator-=(const MatrixBase<OtherDerived> &other)
+{
+ call_assignment(derived(), other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
+ return derived();
+}
+
+/** replaces \c *this by \c *this + \a other.
+ *
+ * \returns a reference to \c *this
+ */
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE Derived &
+MatrixBase<Derived>::operator+=(const MatrixBase<OtherDerived>& other)
+{
+ call_assignment(derived(), other.derived(), internal::add_assign_op<Scalar,typename OtherDerived::Scalar>());
+ return derived();
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_CWISE_BINARY_OP_H
+
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/CwiseNullaryOp.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/CwiseNullaryOp.h
new file mode 100644
index 0000000..ddd607e
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/CwiseNullaryOp.h
@@ -0,0 +1,866 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_CWISE_NULLARY_OP_H
+#define EIGEN_CWISE_NULLARY_OP_H
+
+namespace Eigen {
+
+namespace internal {
+template<typename NullaryOp, typename PlainObjectType>
+struct traits<CwiseNullaryOp<NullaryOp, PlainObjectType> > : traits<PlainObjectType>
+{
+ enum {
+ Flags = traits<PlainObjectType>::Flags & RowMajorBit
+ };
+};
+
+} // namespace internal
+
+/** \class CwiseNullaryOp
+ * \ingroup Core_Module
+ *
+ * \brief Generic expression of a matrix where all coefficients are defined by a functor
+ *
+ * \tparam NullaryOp template functor implementing the operator
+ * \tparam PlainObjectType the underlying plain matrix/array type
+ *
+ * This class represents an expression of a generic nullary operator.
+ * It is the return type of the Ones(), Zero(), Constant(), Identity() and Random() methods,
+ * and most of the time this is the only way it is used.
+ *
+ * However, if you want to write a function returning such an expression, you
+ * will need to use this class.
+ *
+ * The functor NullaryOp must expose one of the following method:
+ <table class="manual">
+ <tr ><td>\c operator()() </td><td>if the procedural generation does not depend on the coefficient entries (e.g., random numbers)</td></tr>
+ <tr class="alt"><td>\c operator()(Index i)</td><td>if the procedural generation makes sense for vectors only and that it depends on the coefficient index \c i (e.g., linspace) </td></tr>
+ <tr ><td>\c operator()(Index i,Index j)</td><td>if the procedural generation depends on the matrix coordinates \c i, \c j (e.g., to generate a checkerboard with 0 and 1)</td></tr>
+ </table>
+ * It is also possible to expose the last two operators if the generation makes sense for matrices but can be optimized for vectors.
+ *
+ * See DenseBase::NullaryExpr(Index,const CustomNullaryOp&) for an example binding
+ * C++11 random number generators.
+ *
+ * A nullary expression can also be used to implement custom sophisticated matrix manipulations
+ * that cannot be covered by the existing set of natively supported matrix manipulations.
+ * See this \ref TopicCustomizing_NullaryExpr "page" for some examples and additional explanations
+ * on the behavior of CwiseNullaryOp.
+ *
+ * \sa class CwiseUnaryOp, class CwiseBinaryOp, DenseBase::NullaryExpr
+ */
+template<typename NullaryOp, typename PlainObjectType>
+class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
+{
+ public:
+
+ typedef typename internal::dense_xpr_base<CwiseNullaryOp>::type Base;
+ EIGEN_DENSE_PUBLIC_INTERFACE(CwiseNullaryOp)
+
+ EIGEN_DEVICE_FUNC
+ CwiseNullaryOp(Index rows, Index cols, const NullaryOp& func = NullaryOp())
+ : m_rows(rows), m_cols(cols), m_functor(func)
+ {
+ eigen_assert(rows >= 0
+ && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == rows)
+ && cols >= 0
+ && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == cols));
+ }
+
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Index rows() const { return m_rows.value(); }
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Index cols() const { return m_cols.value(); }
+
+ /** \returns the functor representing the nullary operation */
+ EIGEN_DEVICE_FUNC
+ const NullaryOp& functor() const { return m_functor; }
+
+ protected:
+ const internal::variable_if_dynamic<Index, RowsAtCompileTime> m_rows;
+ const internal::variable_if_dynamic<Index, ColsAtCompileTime> m_cols;
+ const NullaryOp m_functor;
+};
+
+
+/** \returns an expression of a matrix defined by a custom functor \a func
+ *
+ * The parameters \a rows and \a cols are the number of rows and of columns of
+ * the returned matrix. Must be compatible with this MatrixBase type.
+ *
+ * This variant is meant to be used for dynamic-size matrix types. For fixed-size types,
+ * it is redundant to pass \a rows and \a cols as arguments, so Zero() should be used
+ * instead.
+ *
+ * The template parameter \a CustomNullaryOp is the type of the functor.
+ *
+ * \sa class CwiseNullaryOp
+ */
+template<typename Derived>
+template<typename CustomNullaryOp>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const CwiseNullaryOp<CustomNullaryOp, typename DenseBase<Derived>::PlainObject>
+DenseBase<Derived>::NullaryExpr(Index rows, Index cols, const CustomNullaryOp& func)
+{
+ return CwiseNullaryOp<CustomNullaryOp, PlainObject>(rows, cols, func);
+}
+
+/** \returns an expression of a matrix defined by a custom functor \a func
+ *
+ * The parameter \a size is the size of the returned vector.
+ * Must be compatible with this MatrixBase type.
+ *
+ * \only_for_vectors
+ *
+ * This variant is meant to be used for dynamic-size vector types. For fixed-size types,
+ * it is redundant to pass \a size as argument, so Zero() should be used
+ * instead.
+ *
+ * The template parameter \a CustomNullaryOp is the type of the functor.
+ *
+ * Here is an example with C++11 random generators: \include random_cpp11.cpp
+ * Output: \verbinclude random_cpp11.out
+ *
+ * \sa class CwiseNullaryOp
+ */
+template<typename Derived>
+template<typename CustomNullaryOp>
+EIGEN_STRONG_INLINE const CwiseNullaryOp<CustomNullaryOp, typename DenseBase<Derived>::PlainObject>
+DenseBase<Derived>::NullaryExpr(Index size, const CustomNullaryOp& func)
+{
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+ if(RowsAtCompileTime == 1) return CwiseNullaryOp<CustomNullaryOp, PlainObject>(1, size, func);
+ else return CwiseNullaryOp<CustomNullaryOp, PlainObject>(size, 1, func);
+}
+
+/** \returns an expression of a matrix defined by a custom functor \a func
+ *
+ * This variant is only for fixed-size DenseBase types. For dynamic-size types, you
+ * need to use the variants taking size arguments.
+ *
+ * The template parameter \a CustomNullaryOp is the type of the functor.
+ *
+ * \sa class CwiseNullaryOp
+ */
+template<typename Derived>
+template<typename CustomNullaryOp>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const CwiseNullaryOp<CustomNullaryOp, typename DenseBase<Derived>::PlainObject>
+DenseBase<Derived>::NullaryExpr(const CustomNullaryOp& func)
+{
+ return CwiseNullaryOp<CustomNullaryOp, PlainObject>(RowsAtCompileTime, ColsAtCompileTime, func);
+}
+
+/** \returns an expression of a constant matrix of value \a value
+ *
+ * The parameters \a rows and \a cols are the number of rows and of columns of
+ * the returned matrix. Must be compatible with this DenseBase type.
+ *
+ * This variant is meant to be used for dynamic-size matrix types. For fixed-size types,
+ * it is redundant to pass \a rows and \a cols as arguments, so Zero() should be used
+ * instead.
+ *
+ * The template parameter \a CustomNullaryOp is the type of the functor.
+ *
+ * \sa class CwiseNullaryOp
+ */
+template<typename Derived>
+EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+DenseBase<Derived>::Constant(Index rows, Index cols, const Scalar& value)
+{
+ return DenseBase<Derived>::NullaryExpr(rows, cols, internal::scalar_constant_op<Scalar>(value));
+}
+
+/** \returns an expression of a constant matrix of value \a value
+ *
+ * The parameter \a size is the size of the returned vector.
+ * Must be compatible with this DenseBase type.
+ *
+ * \only_for_vectors
+ *
+ * This variant is meant to be used for dynamic-size vector types. For fixed-size types,
+ * it is redundant to pass \a size as argument, so Zero() should be used
+ * instead.
+ *
+ * The template parameter \a CustomNullaryOp is the type of the functor.
+ *
+ * \sa class CwiseNullaryOp
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+DenseBase<Derived>::Constant(Index size, const Scalar& value)
+{
+ return DenseBase<Derived>::NullaryExpr(size, internal::scalar_constant_op<Scalar>(value));
+}
+
+/** \returns an expression of a constant matrix of value \a value
+ *
+ * This variant is only for fixed-size DenseBase types. For dynamic-size types, you
+ * need to use the variants taking size arguments.
+ *
+ * The template parameter \a CustomNullaryOp is the type of the functor.
+ *
+ * \sa class CwiseNullaryOp
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+DenseBase<Derived>::Constant(const Scalar& value)
+{
+ EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived)
+ return DenseBase<Derived>::NullaryExpr(RowsAtCompileTime, ColsAtCompileTime, internal::scalar_constant_op<Scalar>(value));
+}
+
+/** \deprecated because of accuracy loss. In Eigen 3.3, it is an alias for LinSpaced(Index,const Scalar&,const Scalar&)
+ *
+ * \sa LinSpaced(Index,Scalar,Scalar), setLinSpaced(Index,const Scalar&,const Scalar&)
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase<Derived>::RandomAccessLinSpacedReturnType
+DenseBase<Derived>::LinSpaced(Sequential_t, Index size, const Scalar& low, const Scalar& high)
+{
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+ return DenseBase<Derived>::NullaryExpr(size, internal::linspaced_op<Scalar,PacketScalar>(low,high,size));
+}
+
+/** \deprecated because of accuracy loss. In Eigen 3.3, it is an alias for LinSpaced(const Scalar&,const Scalar&)
+ *
+ * \sa LinSpaced(Scalar,Scalar)
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase<Derived>::RandomAccessLinSpacedReturnType
+DenseBase<Derived>::LinSpaced(Sequential_t, const Scalar& low, const Scalar& high)
+{
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+ EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived)
+ return DenseBase<Derived>::NullaryExpr(Derived::SizeAtCompileTime, internal::linspaced_op<Scalar,PacketScalar>(low,high,Derived::SizeAtCompileTime));
+}
+
+/**
+ * \brief Sets a linearly spaced vector.
+ *
+ * The function generates 'size' equally spaced values in the closed interval [low,high].
+ * When size is set to 1, a vector of length 1 containing 'high' is returned.
+ *
+ * \only_for_vectors
+ *
+ * Example: \include DenseBase_LinSpaced.cpp
+ * Output: \verbinclude DenseBase_LinSpaced.out
+ *
+ * For integer scalar types, an even spacing is possible if and only if the length of the range,
+ * i.e., \c high-low is a scalar multiple of \c size-1, or if \c size is a scalar multiple of the
+ * number of values \c high-low+1 (meaning each value can be repeated the same number of time).
+ * If one of these two considions is not satisfied, then \c high is lowered to the largest value
+ * satisfying one of this constraint.
+ * Here are some examples:
+ *
+ * Example: \include DenseBase_LinSpacedInt.cpp
+ * Output: \verbinclude DenseBase_LinSpacedInt.out
+ *
+ * \sa setLinSpaced(Index,const Scalar&,const Scalar&), CwiseNullaryOp
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase<Derived>::RandomAccessLinSpacedReturnType
+DenseBase<Derived>::LinSpaced(Index size, const Scalar& low, const Scalar& high)
+{
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+ return DenseBase<Derived>::NullaryExpr(size, internal::linspaced_op<Scalar,PacketScalar>(low,high,size));
+}
+
+/**
+ * \copydoc DenseBase::LinSpaced(Index, const Scalar&, const Scalar&)
+ * Special version for fixed size types which does not require the size parameter.
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase<Derived>::RandomAccessLinSpacedReturnType
+DenseBase<Derived>::LinSpaced(const Scalar& low, const Scalar& high)
+{
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+ EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived)
+ return DenseBase<Derived>::NullaryExpr(Derived::SizeAtCompileTime, internal::linspaced_op<Scalar,PacketScalar>(low,high,Derived::SizeAtCompileTime));
+}
+
+/** \returns true if all coefficients in this matrix are approximately equal to \a val, to within precision \a prec */
+template<typename Derived>
+EIGEN_DEVICE_FUNC bool DenseBase<Derived>::isApproxToConstant
+(const Scalar& val, const RealScalar& prec) const
+{
+ typename internal::nested_eval<Derived,1>::type self(derived());
+ for(Index j = 0; j < cols(); ++j)
+ for(Index i = 0; i < rows(); ++i)
+ if(!internal::isApprox(self.coeff(i, j), val, prec))
+ return false;
+ return true;
+}
+
+/** This is just an alias for isApproxToConstant().
+ *
+ * \returns true if all coefficients in this matrix are approximately equal to \a value, to within precision \a prec */
+template<typename Derived>
+EIGEN_DEVICE_FUNC bool DenseBase<Derived>::isConstant
+(const Scalar& val, const RealScalar& prec) const
+{
+ return isApproxToConstant(val, prec);
+}
+
+/** Alias for setConstant(): sets all coefficients in this expression to \a val.
+ *
+ * \sa setConstant(), Constant(), class CwiseNullaryOp
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void DenseBase<Derived>::fill(const Scalar& val)
+{
+ setConstant(val);
+}
+
+/** Sets all coefficients in this expression to value \a val.
+ *
+ * \sa fill(), setConstant(Index,const Scalar&), setConstant(Index,Index,const Scalar&), setZero(), setOnes(), Constant(), class CwiseNullaryOp, setZero(), setOnes()
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setConstant(const Scalar& val)
+{
+ return derived() = Constant(rows(), cols(), val);
+}
+
+/** Resizes to the given \a size, and sets all coefficients in this expression to the given value \a val.
+ *
+ * \only_for_vectors
+ *
+ * Example: \include Matrix_setConstant_int.cpp
+ * Output: \verbinclude Matrix_setConstant_int.out
+ *
+ * \sa MatrixBase::setConstant(const Scalar&), setConstant(Index,Index,const Scalar&), class CwiseNullaryOp, MatrixBase::Constant(const Scalar&)
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setConstant(Index size, const Scalar& val)
+{
+ resize(size);
+ return setConstant(val);
+}
+
+/** Resizes to the given size, and sets all coefficients in this expression to the given value \a val.
+ *
+ * \param rows the new number of rows
+ * \param cols the new number of columns
+ * \param val the value to which all coefficients are set
+ *
+ * Example: \include Matrix_setConstant_int_int.cpp
+ * Output: \verbinclude Matrix_setConstant_int_int.out
+ *
+ * \sa MatrixBase::setConstant(const Scalar&), setConstant(Index,const Scalar&), class CwiseNullaryOp, MatrixBase::Constant(const Scalar&)
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setConstant(Index rows, Index cols, const Scalar& val)
+{
+ resize(rows, cols);
+ return setConstant(val);
+}
+
+/**
+ * \brief Sets a linearly spaced vector.
+ *
+ * The function generates 'size' equally spaced values in the closed interval [low,high].
+ * When size is set to 1, a vector of length 1 containing 'high' is returned.
+ *
+ * \only_for_vectors
+ *
+ * Example: \include DenseBase_setLinSpaced.cpp
+ * Output: \verbinclude DenseBase_setLinSpaced.out
+ *
+ * For integer scalar types, do not miss the explanations on the definition
+ * of \link LinSpaced(Index,const Scalar&,const Scalar&) even spacing \endlink.
+ *
+ * \sa LinSpaced(Index,const Scalar&,const Scalar&), CwiseNullaryOp
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setLinSpaced(Index newSize, const Scalar& low, const Scalar& high)
+{
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+ return derived() = Derived::NullaryExpr(newSize, internal::linspaced_op<Scalar,PacketScalar>(low,high,newSize));
+}
+
+/**
+ * \brief Sets a linearly spaced vector.
+ *
+ * The function fills \c *this with equally spaced values in the closed interval [low,high].
+ * When size is set to 1, a vector of length 1 containing 'high' is returned.
+ *
+ * \only_for_vectors
+ *
+ * For integer scalar types, do not miss the explanations on the definition
+ * of \link LinSpaced(Index,const Scalar&,const Scalar&) even spacing \endlink.
+ *
+ * \sa LinSpaced(Index,const Scalar&,const Scalar&), setLinSpaced(Index, const Scalar&, const Scalar&), CwiseNullaryOp
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setLinSpaced(const Scalar& low, const Scalar& high)
+{
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+ return setLinSpaced(size(), low, high);
+}
+
+// zero:
+
+/** \returns an expression of a zero matrix.
+ *
+ * The parameters \a rows and \a cols are the number of rows and of columns of
+ * the returned matrix. Must be compatible with this MatrixBase type.
+ *
+ * This variant is meant to be used for dynamic-size matrix types. For fixed-size types,
+ * it is redundant to pass \a rows and \a cols as arguments, so Zero() should be used
+ * instead.
+ *
+ * Example: \include MatrixBase_zero_int_int.cpp
+ * Output: \verbinclude MatrixBase_zero_int_int.out
+ *
+ * \sa Zero(), Zero(Index)
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+DenseBase<Derived>::Zero(Index rows, Index cols)
+{
+ return Constant(rows, cols, Scalar(0));
+}
+
+/** \returns an expression of a zero vector.
+ *
+ * The parameter \a size is the size of the returned vector.
+ * Must be compatible with this MatrixBase type.
+ *
+ * \only_for_vectors
+ *
+ * This variant is meant to be used for dynamic-size vector types. For fixed-size types,
+ * it is redundant to pass \a size as argument, so Zero() should be used
+ * instead.
+ *
+ * Example: \include MatrixBase_zero_int.cpp
+ * Output: \verbinclude MatrixBase_zero_int.out
+ *
+ * \sa Zero(), Zero(Index,Index)
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+DenseBase<Derived>::Zero(Index size)
+{
+ return Constant(size, Scalar(0));
+}
+
+/** \returns an expression of a fixed-size zero matrix or vector.
+ *
+ * This variant is only for fixed-size MatrixBase types. For dynamic-size types, you
+ * need to use the variants taking size arguments.
+ *
+ * Example: \include MatrixBase_zero.cpp
+ * Output: \verbinclude MatrixBase_zero.out
+ *
+ * \sa Zero(Index), Zero(Index,Index)
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+DenseBase<Derived>::Zero()
+{
+ return Constant(Scalar(0));
+}
+
+/** \returns true if *this is approximately equal to the zero matrix,
+ * within the precision given by \a prec.
+ *
+ * Example: \include MatrixBase_isZero.cpp
+ * Output: \verbinclude MatrixBase_isZero.out
+ *
+ * \sa class CwiseNullaryOp, Zero()
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC bool DenseBase<Derived>::isZero(const RealScalar& prec) const
+{
+ typename internal::nested_eval<Derived,1>::type self(derived());
+ for(Index j = 0; j < cols(); ++j)
+ for(Index i = 0; i < rows(); ++i)
+ if(!internal::isMuchSmallerThan(self.coeff(i, j), static_cast<Scalar>(1), prec))
+ return false;
+ return true;
+}
+
+/** Sets all coefficients in this expression to zero.
+ *
+ * Example: \include MatrixBase_setZero.cpp
+ * Output: \verbinclude MatrixBase_setZero.out
+ *
+ * \sa class CwiseNullaryOp, Zero()
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setZero()
+{
+ return setConstant(Scalar(0));
+}
+
+/** Resizes to the given \a size, and sets all coefficients in this expression to zero.
+ *
+ * \only_for_vectors
+ *
+ * Example: \include Matrix_setZero_int.cpp
+ * Output: \verbinclude Matrix_setZero_int.out
+ *
+ * \sa DenseBase::setZero(), setZero(Index,Index), class CwiseNullaryOp, DenseBase::Zero()
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setZero(Index newSize)
+{
+ resize(newSize);
+ return setConstant(Scalar(0));
+}
+
+/** Resizes to the given size, and sets all coefficients in this expression to zero.
+ *
+ * \param rows the new number of rows
+ * \param cols the new number of columns
+ *
+ * Example: \include Matrix_setZero_int_int.cpp
+ * Output: \verbinclude Matrix_setZero_int_int.out
+ *
+ * \sa DenseBase::setZero(), setZero(Index), class CwiseNullaryOp, DenseBase::Zero()
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setZero(Index rows, Index cols)
+{
+ resize(rows, cols);
+ return setConstant(Scalar(0));
+}
+
+// ones:
+
+/** \returns an expression of a matrix where all coefficients equal one.
+ *
+ * The parameters \a rows and \a cols are the number of rows and of columns of
+ * the returned matrix. Must be compatible with this MatrixBase type.
+ *
+ * This variant is meant to be used for dynamic-size matrix types. For fixed-size types,
+ * it is redundant to pass \a rows and \a cols as arguments, so Ones() should be used
+ * instead.
+ *
+ * Example: \include MatrixBase_ones_int_int.cpp
+ * Output: \verbinclude MatrixBase_ones_int_int.out
+ *
+ * \sa Ones(), Ones(Index), isOnes(), class Ones
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+DenseBase<Derived>::Ones(Index rows, Index cols)
+{
+ return Constant(rows, cols, Scalar(1));
+}
+
+/** \returns an expression of a vector where all coefficients equal one.
+ *
+ * The parameter \a newSize is the size of the returned vector.
+ * Must be compatible with this MatrixBase type.
+ *
+ * \only_for_vectors
+ *
+ * This variant is meant to be used for dynamic-size vector types. For fixed-size types,
+ * it is redundant to pass \a size as argument, so Ones() should be used
+ * instead.
+ *
+ * Example: \include MatrixBase_ones_int.cpp
+ * Output: \verbinclude MatrixBase_ones_int.out
+ *
+ * \sa Ones(), Ones(Index,Index), isOnes(), class Ones
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+DenseBase<Derived>::Ones(Index newSize)
+{
+ return Constant(newSize, Scalar(1));
+}
+
+/** \returns an expression of a fixed-size matrix or vector where all coefficients equal one.
+ *
+ * This variant is only for fixed-size MatrixBase types. For dynamic-size types, you
+ * need to use the variants taking size arguments.
+ *
+ * Example: \include MatrixBase_ones.cpp
+ * Output: \verbinclude MatrixBase_ones.out
+ *
+ * \sa Ones(Index), Ones(Index,Index), isOnes(), class Ones
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
+DenseBase<Derived>::Ones()
+{
+ return Constant(Scalar(1));
+}
+
+/** \returns true if *this is approximately equal to the matrix where all coefficients
+ * are equal to 1, within the precision given by \a prec.
+ *
+ * Example: \include MatrixBase_isOnes.cpp
+ * Output: \verbinclude MatrixBase_isOnes.out
+ *
+ * \sa class CwiseNullaryOp, Ones()
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC bool DenseBase<Derived>::isOnes
+(const RealScalar& prec) const
+{
+ return isApproxToConstant(Scalar(1), prec);
+}
+
+/** Sets all coefficients in this expression to one.
+ *
+ * Example: \include MatrixBase_setOnes.cpp
+ * Output: \verbinclude MatrixBase_setOnes.out
+ *
+ * \sa class CwiseNullaryOp, Ones()
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setOnes()
+{
+ return setConstant(Scalar(1));
+}
+
+/** Resizes to the given \a newSize, and sets all coefficients in this expression to one.
+ *
+ * \only_for_vectors
+ *
+ * Example: \include Matrix_setOnes_int.cpp
+ * Output: \verbinclude Matrix_setOnes_int.out
+ *
+ * \sa MatrixBase::setOnes(), setOnes(Index,Index), class CwiseNullaryOp, MatrixBase::Ones()
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setOnes(Index newSize)
+{
+ resize(newSize);
+ return setConstant(Scalar(1));
+}
+
+/** Resizes to the given size, and sets all coefficients in this expression to one.
+ *
+ * \param rows the new number of rows
+ * \param cols the new number of columns
+ *
+ * Example: \include Matrix_setOnes_int_int.cpp
+ * Output: \verbinclude Matrix_setOnes_int_int.out
+ *
+ * \sa MatrixBase::setOnes(), setOnes(Index), class CwiseNullaryOp, MatrixBase::Ones()
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setOnes(Index rows, Index cols)
+{
+ resize(rows, cols);
+ return setConstant(Scalar(1));
+}
+
+// Identity:
+
+/** \returns an expression of the identity matrix (not necessarily square).
+ *
+ * The parameters \a rows and \a cols are the number of rows and of columns of
+ * the returned matrix. Must be compatible with this MatrixBase type.
+ *
+ * This variant is meant to be used for dynamic-size matrix types. For fixed-size types,
+ * it is redundant to pass \a rows and \a cols as arguments, so Identity() should be used
+ * instead.
+ *
+ * Example: \include MatrixBase_identity_int_int.cpp
+ * Output: \verbinclude MatrixBase_identity_int_int.out
+ *
+ * \sa Identity(), setIdentity(), isIdentity()
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::IdentityReturnType
+MatrixBase<Derived>::Identity(Index rows, Index cols)
+{
+ return DenseBase<Derived>::NullaryExpr(rows, cols, internal::scalar_identity_op<Scalar>());
+}
+
+/** \returns an expression of the identity matrix (not necessarily square).
+ *
+ * This variant is only for fixed-size MatrixBase types. For dynamic-size types, you
+ * need to use the variant taking size arguments.
+ *
+ * Example: \include MatrixBase_identity.cpp
+ * Output: \verbinclude MatrixBase_identity.out
+ *
+ * \sa Identity(Index,Index), setIdentity(), isIdentity()
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::IdentityReturnType
+MatrixBase<Derived>::Identity()
+{
+ EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived)
+ return MatrixBase<Derived>::NullaryExpr(RowsAtCompileTime, ColsAtCompileTime, internal::scalar_identity_op<Scalar>());
+}
+
+/** \returns true if *this is approximately equal to the identity matrix
+ * (not necessarily square),
+ * within the precision given by \a prec.
+ *
+ * Example: \include MatrixBase_isIdentity.cpp
+ * Output: \verbinclude MatrixBase_isIdentity.out
+ *
+ * \sa class CwiseNullaryOp, Identity(), Identity(Index,Index), setIdentity()
+ */
+template<typename Derived>
+bool MatrixBase<Derived>::isIdentity
+(const RealScalar& prec) const
+{
+ typename internal::nested_eval<Derived,1>::type self(derived());
+ for(Index j = 0; j < cols(); ++j)
+ {
+ for(Index i = 0; i < rows(); ++i)
+ {
+ if(i == j)
+ {
+ if(!internal::isApprox(self.coeff(i, j), static_cast<Scalar>(1), prec))
+ return false;
+ }
+ else
+ {
+ if(!internal::isMuchSmallerThan(self.coeff(i, j), static_cast<RealScalar>(1), prec))
+ return false;
+ }
+ }
+ }
+ return true;
+}
+
+namespace internal {
+
+template<typename Derived, bool Big = (Derived::SizeAtCompileTime>=16)>
+struct setIdentity_impl
+{
+ EIGEN_DEVICE_FUNC
+ static EIGEN_STRONG_INLINE Derived& run(Derived& m)
+ {
+ return m = Derived::Identity(m.rows(), m.cols());
+ }
+};
+
+template<typename Derived>
+struct setIdentity_impl<Derived, true>
+{
+ EIGEN_DEVICE_FUNC
+ static EIGEN_STRONG_INLINE Derived& run(Derived& m)
+ {
+ m.setZero();
+ const Index size = numext::mini(m.rows(), m.cols());
+ for(Index i = 0; i < size; ++i) m.coeffRef(i,i) = typename Derived::Scalar(1);
+ return m;
+ }
+};
+
+} // end namespace internal
+
+/** Writes the identity expression (not necessarily square) into *this.
+ *
+ * Example: \include MatrixBase_setIdentity.cpp
+ * Output: \verbinclude MatrixBase_setIdentity.out
+ *
+ * \sa class CwiseNullaryOp, Identity(), Identity(Index,Index), isIdentity()
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::setIdentity()
+{
+ return internal::setIdentity_impl<Derived>::run(derived());
+}
+
+/** \brief Resizes to the given size, and writes the identity expression (not necessarily square) into *this.
+ *
+ * \param rows the new number of rows
+ * \param cols the new number of columns
+ *
+ * Example: \include Matrix_setIdentity_int_int.cpp
+ * Output: \verbinclude Matrix_setIdentity_int_int.out
+ *
+ * \sa MatrixBase::setIdentity(), class CwiseNullaryOp, MatrixBase::Identity()
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::setIdentity(Index rows, Index cols)
+{
+ derived().resize(rows, cols);
+ return setIdentity();
+}
+
+/** \returns an expression of the i-th unit (basis) vector.
+ *
+ * \only_for_vectors
+ *
+ * \sa MatrixBase::Unit(Index), MatrixBase::UnitX(), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::Unit(Index newSize, Index i)
+{
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+ return BasisReturnType(SquareMatrixType::Identity(newSize,newSize), i);
+}
+
+/** \returns an expression of the i-th unit (basis) vector.
+ *
+ * \only_for_vectors
+ *
+ * This variant is for fixed-size vector only.
+ *
+ * \sa MatrixBase::Unit(Index,Index), MatrixBase::UnitX(), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::Unit(Index i)
+{
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+ return BasisReturnType(SquareMatrixType::Identity(),i);
+}
+
+/** \returns an expression of the X axis unit vector (1{,0}^*)
+ *
+ * \only_for_vectors
+ *
+ * \sa MatrixBase::Unit(Index,Index), MatrixBase::Unit(Index), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::UnitX()
+{ return Derived::Unit(0); }
+
+/** \returns an expression of the Y axis unit vector (0,1{,0}^*)
+ *
+ * \only_for_vectors
+ *
+ * \sa MatrixBase::Unit(Index,Index), MatrixBase::Unit(Index), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::UnitY()
+{ return Derived::Unit(1); }
+
+/** \returns an expression of the Z axis unit vector (0,0,1{,0}^*)
+ *
+ * \only_for_vectors
+ *
+ * \sa MatrixBase::Unit(Index,Index), MatrixBase::Unit(Index), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::UnitZ()
+{ return Derived::Unit(2); }
+
+/** \returns an expression of the W axis unit vector (0,0,0,1)
+ *
+ * \only_for_vectors
+ *
+ * \sa MatrixBase::Unit(Index,Index), MatrixBase::Unit(Index), MatrixBase::UnitY(), MatrixBase::UnitZ(), MatrixBase::UnitW()
+ */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::BasisReturnType MatrixBase<Derived>::UnitW()
+{ return Derived::Unit(3); }
+
+} // end namespace Eigen
+
+#endif // EIGEN_CWISE_NULLARY_OP_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/CwiseTernaryOp.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/CwiseTernaryOp.h
new file mode 100644
index 0000000..9f3576f
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/CwiseTernaryOp.h
@@ -0,0 +1,197 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2016 Eugene Brevdo <ebrevdo@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_CWISE_TERNARY_OP_H
+#define EIGEN_CWISE_TERNARY_OP_H
+
+namespace Eigen {
+
+namespace internal {
+template <typename TernaryOp, typename Arg1, typename Arg2, typename Arg3>
+struct traits<CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> > {
+ // we must not inherit from traits<Arg1> since it has
+ // the potential to cause problems with MSVC
+ typedef typename remove_all<Arg1>::type Ancestor;
+ typedef typename traits<Ancestor>::XprKind XprKind;
+ enum {
+ RowsAtCompileTime = traits<Ancestor>::RowsAtCompileTime,
+ ColsAtCompileTime = traits<Ancestor>::ColsAtCompileTime,
+ MaxRowsAtCompileTime = traits<Ancestor>::MaxRowsAtCompileTime,
+ MaxColsAtCompileTime = traits<Ancestor>::MaxColsAtCompileTime
+ };
+
+ // even though we require Arg1, Arg2, and Arg3 to have the same scalar type
+ // (see CwiseTernaryOp constructor),
+ // we still want to handle the case when the result type is different.
+ typedef typename result_of<TernaryOp(
+ const typename Arg1::Scalar&, const typename Arg2::Scalar&,
+ const typename Arg3::Scalar&)>::type Scalar;
+
+ typedef typename internal::traits<Arg1>::StorageKind StorageKind;
+ typedef typename internal::traits<Arg1>::StorageIndex StorageIndex;
+
+ typedef typename Arg1::Nested Arg1Nested;
+ typedef typename Arg2::Nested Arg2Nested;
+ typedef typename Arg3::Nested Arg3Nested;
+ typedef typename remove_reference<Arg1Nested>::type _Arg1Nested;
+ typedef typename remove_reference<Arg2Nested>::type _Arg2Nested;
+ typedef typename remove_reference<Arg3Nested>::type _Arg3Nested;
+ enum { Flags = _Arg1Nested::Flags & RowMajorBit };
+};
+} // end namespace internal
+
+template <typename TernaryOp, typename Arg1, typename Arg2, typename Arg3,
+ typename StorageKind>
+class CwiseTernaryOpImpl;
+
+/** \class CwiseTernaryOp
+ * \ingroup Core_Module
+ *
+ * \brief Generic expression where a coefficient-wise ternary operator is
+ * applied to two expressions
+ *
+ * \tparam TernaryOp template functor implementing the operator
+ * \tparam Arg1Type the type of the first argument
+ * \tparam Arg2Type the type of the second argument
+ * \tparam Arg3Type the type of the third argument
+ *
+ * This class represents an expression where a coefficient-wise ternary
+ * operator is applied to three expressions.
+ * It is the return type of ternary operators, by which we mean only those
+ * ternary operators where
+ * all three arguments are Eigen expressions.
+ * For example, the return type of betainc(matrix1, matrix2, matrix3) is a
+ * CwiseTernaryOp.
+ *
+ * Most of the time, this is the only way that it is used, so you typically
+ * don't have to name
+ * CwiseTernaryOp types explicitly.
+ *
+ * \sa MatrixBase::ternaryExpr(const MatrixBase<Argument2> &, const
+ * MatrixBase<Argument3> &, const CustomTernaryOp &) const, class CwiseBinaryOp,
+ * class CwiseUnaryOp, class CwiseNullaryOp
+ */
+template <typename TernaryOp, typename Arg1Type, typename Arg2Type,
+ typename Arg3Type>
+class CwiseTernaryOp : public CwiseTernaryOpImpl<
+ TernaryOp, Arg1Type, Arg2Type, Arg3Type,
+ typename internal::traits<Arg1Type>::StorageKind>,
+ internal::no_assignment_operator
+{
+ public:
+ typedef typename internal::remove_all<Arg1Type>::type Arg1;
+ typedef typename internal::remove_all<Arg2Type>::type Arg2;
+ typedef typename internal::remove_all<Arg3Type>::type Arg3;
+
+ typedef typename CwiseTernaryOpImpl<
+ TernaryOp, Arg1Type, Arg2Type, Arg3Type,
+ typename internal::traits<Arg1Type>::StorageKind>::Base Base;
+ EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseTernaryOp)
+
+ typedef typename internal::ref_selector<Arg1Type>::type Arg1Nested;
+ typedef typename internal::ref_selector<Arg2Type>::type Arg2Nested;
+ typedef typename internal::ref_selector<Arg3Type>::type Arg3Nested;
+ typedef typename internal::remove_reference<Arg1Nested>::type _Arg1Nested;
+ typedef typename internal::remove_reference<Arg2Nested>::type _Arg2Nested;
+ typedef typename internal::remove_reference<Arg3Nested>::type _Arg3Nested;
+
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE CwiseTernaryOp(const Arg1& a1, const Arg2& a2,
+ const Arg3& a3,
+ const TernaryOp& func = TernaryOp())
+ : m_arg1(a1), m_arg2(a2), m_arg3(a3), m_functor(func) {
+ // require the sizes to match
+ EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Arg1, Arg2)
+ EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Arg1, Arg3)
+
+ // The index types should match
+ EIGEN_STATIC_ASSERT((internal::is_same<
+ typename internal::traits<Arg1Type>::StorageKind,
+ typename internal::traits<Arg2Type>::StorageKind>::value),
+ STORAGE_KIND_MUST_MATCH)
+ EIGEN_STATIC_ASSERT((internal::is_same<
+ typename internal::traits<Arg1Type>::StorageKind,
+ typename internal::traits<Arg3Type>::StorageKind>::value),
+ STORAGE_KIND_MUST_MATCH)
+
+ eigen_assert(a1.rows() == a2.rows() && a1.cols() == a2.cols() &&
+ a1.rows() == a3.rows() && a1.cols() == a3.cols());
+ }
+
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Index rows() const {
+ // return the fixed size type if available to enable compile time
+ // optimizations
+ if (internal::traits<typename internal::remove_all<Arg1Nested>::type>::
+ RowsAtCompileTime == Dynamic &&
+ internal::traits<typename internal::remove_all<Arg2Nested>::type>::
+ RowsAtCompileTime == Dynamic)
+ return m_arg3.rows();
+ else if (internal::traits<typename internal::remove_all<Arg1Nested>::type>::
+ RowsAtCompileTime == Dynamic &&
+ internal::traits<typename internal::remove_all<Arg3Nested>::type>::
+ RowsAtCompileTime == Dynamic)
+ return m_arg2.rows();
+ else
+ return m_arg1.rows();
+ }
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Index cols() const {
+ // return the fixed size type if available to enable compile time
+ // optimizations
+ if (internal::traits<typename internal::remove_all<Arg1Nested>::type>::
+ ColsAtCompileTime == Dynamic &&
+ internal::traits<typename internal::remove_all<Arg2Nested>::type>::
+ ColsAtCompileTime == Dynamic)
+ return m_arg3.cols();
+ else if (internal::traits<typename internal::remove_all<Arg1Nested>::type>::
+ ColsAtCompileTime == Dynamic &&
+ internal::traits<typename internal::remove_all<Arg3Nested>::type>::
+ ColsAtCompileTime == Dynamic)
+ return m_arg2.cols();
+ else
+ return m_arg1.cols();
+ }
+
+ /** \returns the first argument nested expression */
+ EIGEN_DEVICE_FUNC
+ const _Arg1Nested& arg1() const { return m_arg1; }
+ /** \returns the first argument nested expression */
+ EIGEN_DEVICE_FUNC
+ const _Arg2Nested& arg2() const { return m_arg2; }
+ /** \returns the third argument nested expression */
+ EIGEN_DEVICE_FUNC
+ const _Arg3Nested& arg3() const { return m_arg3; }
+ /** \returns the functor representing the ternary operation */
+ EIGEN_DEVICE_FUNC
+ const TernaryOp& functor() const { return m_functor; }
+
+ protected:
+ Arg1Nested m_arg1;
+ Arg2Nested m_arg2;
+ Arg3Nested m_arg3;
+ const TernaryOp m_functor;
+};
+
+// Generic API dispatcher
+template <typename TernaryOp, typename Arg1, typename Arg2, typename Arg3,
+ typename StorageKind>
+class CwiseTernaryOpImpl
+ : public internal::generic_xpr_base<
+ CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> >::type {
+ public:
+ typedef typename internal::generic_xpr_base<
+ CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> >::type Base;
+};
+
+} // end namespace Eigen
+
+#endif // EIGEN_CWISE_TERNARY_OP_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/CwiseUnaryOp.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/CwiseUnaryOp.h
new file mode 100644
index 0000000..1d2dd19
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/CwiseUnaryOp.h
@@ -0,0 +1,103 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_CWISE_UNARY_OP_H
+#define EIGEN_CWISE_UNARY_OP_H
+
+namespace Eigen {
+
+namespace internal {
+template<typename UnaryOp, typename XprType>
+struct traits<CwiseUnaryOp<UnaryOp, XprType> >
+ : traits<XprType>
+{
+ typedef typename result_of<
+ UnaryOp(const typename XprType::Scalar&)
+ >::type Scalar;
+ typedef typename XprType::Nested XprTypeNested;
+ typedef typename remove_reference<XprTypeNested>::type _XprTypeNested;
+ enum {
+ Flags = _XprTypeNested::Flags & RowMajorBit
+ };
+};
+}
+
+template<typename UnaryOp, typename XprType, typename StorageKind>
+class CwiseUnaryOpImpl;
+
+/** \class CwiseUnaryOp
+ * \ingroup Core_Module
+ *
+ * \brief Generic expression where a coefficient-wise unary operator is applied to an expression
+ *
+ * \tparam UnaryOp template functor implementing the operator
+ * \tparam XprType the type of the expression to which we are applying the unary operator
+ *
+ * This class represents an expression where a unary operator is applied to an expression.
+ * It is the return type of all operations taking exactly 1 input expression, regardless of the
+ * presence of other inputs such as scalars. For example, the operator* in the expression 3*matrix
+ * is considered unary, because only the right-hand side is an expression, and its
+ * return type is a specialization of CwiseUnaryOp.
+ *
+ * Most of the time, this is the only way that it is used, so you typically don't have to name
+ * CwiseUnaryOp types explicitly.
+ *
+ * \sa MatrixBase::unaryExpr(const CustomUnaryOp &) const, class CwiseBinaryOp, class CwiseNullaryOp
+ */
+template<typename UnaryOp, typename XprType>
+class CwiseUnaryOp : public CwiseUnaryOpImpl<UnaryOp, XprType, typename internal::traits<XprType>::StorageKind>, internal::no_assignment_operator
+{
+ public:
+
+ typedef typename CwiseUnaryOpImpl<UnaryOp, XprType,typename internal::traits<XprType>::StorageKind>::Base Base;
+ EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseUnaryOp)
+ typedef typename internal::ref_selector<XprType>::type XprTypeNested;
+ typedef typename internal::remove_all<XprType>::type NestedExpression;
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ explicit CwiseUnaryOp(const XprType& xpr, const UnaryOp& func = UnaryOp())
+ : m_xpr(xpr), m_functor(func) {}
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ Index rows() const { return m_xpr.rows(); }
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ Index cols() const { return m_xpr.cols(); }
+
+ /** \returns the functor representing the unary operation */
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ const UnaryOp& functor() const { return m_functor; }
+
+ /** \returns the nested expression */
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ const typename internal::remove_all<XprTypeNested>::type&
+ nestedExpression() const { return m_xpr; }
+
+ /** \returns the nested expression */
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ typename internal::remove_all<XprTypeNested>::type&
+ nestedExpression() { return m_xpr; }
+
+ protected:
+ XprTypeNested m_xpr;
+ const UnaryOp m_functor;
+};
+
+// Generic API dispatcher
+template<typename UnaryOp, typename XprType, typename StorageKind>
+class CwiseUnaryOpImpl
+ : public internal::generic_xpr_base<CwiseUnaryOp<UnaryOp, XprType> >::type
+{
+public:
+ typedef typename internal::generic_xpr_base<CwiseUnaryOp<UnaryOp, XprType> >::type Base;
+};
+
+} // end namespace Eigen
+
+#endif // EIGEN_CWISE_UNARY_OP_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/CwiseUnaryView.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/CwiseUnaryView.h
new file mode 100644
index 0000000..2710330
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/CwiseUnaryView.h
@@ -0,0 +1,128 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_CWISE_UNARY_VIEW_H
+#define EIGEN_CWISE_UNARY_VIEW_H
+
+namespace Eigen {
+
+namespace internal {
+template<typename ViewOp, typename MatrixType>
+struct traits<CwiseUnaryView<ViewOp, MatrixType> >
+ : traits<MatrixType>
+{
+ typedef typename result_of<
+ ViewOp(const typename traits<MatrixType>::Scalar&)
+ >::type Scalar;
+ typedef typename MatrixType::Nested MatrixTypeNested;
+ typedef typename remove_all<MatrixTypeNested>::type _MatrixTypeNested;
+ enum {
+ FlagsLvalueBit = is_lvalue<MatrixType>::value ? LvalueBit : 0,
+ Flags = traits<_MatrixTypeNested>::Flags & (RowMajorBit | FlagsLvalueBit | DirectAccessBit), // FIXME DirectAccessBit should not be handled by expressions
+ MatrixTypeInnerStride = inner_stride_at_compile_time<MatrixType>::ret,
+ // need to cast the sizeof's from size_t to int explicitly, otherwise:
+ // "error: no integral type can represent all of the enumerator values
+ InnerStrideAtCompileTime = MatrixTypeInnerStride == Dynamic
+ ? int(Dynamic)
+ : int(MatrixTypeInnerStride) * int(sizeof(typename traits<MatrixType>::Scalar) / sizeof(Scalar)),
+ OuterStrideAtCompileTime = outer_stride_at_compile_time<MatrixType>::ret == Dynamic
+ ? int(Dynamic)
+ : outer_stride_at_compile_time<MatrixType>::ret * int(sizeof(typename traits<MatrixType>::Scalar) / sizeof(Scalar))
+ };
+};
+}
+
+template<typename ViewOp, typename MatrixType, typename StorageKind>
+class CwiseUnaryViewImpl;
+
+/** \class CwiseUnaryView
+ * \ingroup Core_Module
+ *
+ * \brief Generic lvalue expression of a coefficient-wise unary operator of a matrix or a vector
+ *
+ * \tparam ViewOp template functor implementing the view
+ * \tparam MatrixType the type of the matrix we are applying the unary operator
+ *
+ * This class represents a lvalue expression of a generic unary view operator of a matrix or a vector.
+ * It is the return type of real() and imag(), and most of the time this is the only way it is used.
+ *
+ * \sa MatrixBase::unaryViewExpr(const CustomUnaryOp &) const, class CwiseUnaryOp
+ */
+template<typename ViewOp, typename MatrixType>
+class CwiseUnaryView : public CwiseUnaryViewImpl<ViewOp, MatrixType, typename internal::traits<MatrixType>::StorageKind>
+{
+ public:
+
+ typedef typename CwiseUnaryViewImpl<ViewOp, MatrixType,typename internal::traits<MatrixType>::StorageKind>::Base Base;
+ EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseUnaryView)
+ typedef typename internal::ref_selector<MatrixType>::non_const_type MatrixTypeNested;
+ typedef typename internal::remove_all<MatrixType>::type NestedExpression;
+
+ explicit inline CwiseUnaryView(MatrixType& mat, const ViewOp& func = ViewOp())
+ : m_matrix(mat), m_functor(func) {}
+
+ EIGEN_INHERIT_ASSIGNMENT_OPERATORS(CwiseUnaryView)
+
+ EIGEN_STRONG_INLINE Index rows() const { return m_matrix.rows(); }
+ EIGEN_STRONG_INLINE Index cols() const { return m_matrix.cols(); }
+
+ /** \returns the functor representing unary operation */
+ const ViewOp& functor() const { return m_functor; }
+
+ /** \returns the nested expression */
+ const typename internal::remove_all<MatrixTypeNested>::type&
+ nestedExpression() const { return m_matrix; }
+
+ /** \returns the nested expression */
+ typename internal::remove_reference<MatrixTypeNested>::type&
+ nestedExpression() { return m_matrix.const_cast_derived(); }
+
+ protected:
+ MatrixTypeNested m_matrix;
+ ViewOp m_functor;
+};
+
+// Generic API dispatcher
+template<typename ViewOp, typename XprType, typename StorageKind>
+class CwiseUnaryViewImpl
+ : public internal::generic_xpr_base<CwiseUnaryView<ViewOp, XprType> >::type
+{
+public:
+ typedef typename internal::generic_xpr_base<CwiseUnaryView<ViewOp, XprType> >::type Base;
+};
+
+template<typename ViewOp, typename MatrixType>
+class CwiseUnaryViewImpl<ViewOp,MatrixType,Dense>
+ : public internal::dense_xpr_base< CwiseUnaryView<ViewOp, MatrixType> >::type
+{
+ public:
+
+ typedef CwiseUnaryView<ViewOp, MatrixType> Derived;
+ typedef typename internal::dense_xpr_base< CwiseUnaryView<ViewOp, MatrixType> >::type Base;
+
+ EIGEN_DENSE_PUBLIC_INTERFACE(Derived)
+ EIGEN_INHERIT_ASSIGNMENT_OPERATORS(CwiseUnaryViewImpl)
+
+ EIGEN_DEVICE_FUNC inline Scalar* data() { return &(this->coeffRef(0)); }
+ EIGEN_DEVICE_FUNC inline const Scalar* data() const { return &(this->coeff(0)); }
+
+ EIGEN_DEVICE_FUNC inline Index innerStride() const
+ {
+ return derived().nestedExpression().innerStride() * sizeof(typename internal::traits<MatrixType>::Scalar) / sizeof(Scalar);
+ }
+
+ EIGEN_DEVICE_FUNC inline Index outerStride() const
+ {
+ return derived().nestedExpression().outerStride() * sizeof(typename internal::traits<MatrixType>::Scalar) / sizeof(Scalar);
+ }
+};
+
+} // end namespace Eigen
+
+#endif // EIGEN_CWISE_UNARY_VIEW_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/DenseBase.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/DenseBase.h
new file mode 100644
index 0000000..90066ae
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/DenseBase.h
@@ -0,0 +1,611 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2007-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_DENSEBASE_H
+#define EIGEN_DENSEBASE_H
+
+namespace Eigen {
+
+namespace internal {
+
+// The index type defined by EIGEN_DEFAULT_DENSE_INDEX_TYPE must be a signed type.
+// This dummy function simply aims at checking that at compile time.
+static inline void check_DenseIndex_is_signed() {
+ EIGEN_STATIC_ASSERT(NumTraits<DenseIndex>::IsSigned,THE_INDEX_TYPE_MUST_BE_A_SIGNED_TYPE);
+}
+
+} // end namespace internal
+
+/** \class DenseBase
+ * \ingroup Core_Module
+ *
+ * \brief Base class for all dense matrices, vectors, and arrays
+ *
+ * This class is the base that is inherited by all dense objects (matrix, vector, arrays,
+ * and related expression types). The common Eigen API for dense objects is contained in this class.
+ *
+ * \tparam Derived is the derived type, e.g., a matrix type or an expression.
+ *
+ * This class can be extended with the help of the plugin mechanism described on the page
+ * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_DENSEBASE_PLUGIN.
+ *
+ * \sa \blank \ref TopicClassHierarchy
+ */
+template<typename Derived> class DenseBase
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+ : public DenseCoeffsBase<Derived>
+#else
+ : public DenseCoeffsBase<Derived,DirectWriteAccessors>
+#endif // not EIGEN_PARSED_BY_DOXYGEN
+{
+ public:
+
+ /** Inner iterator type to iterate over the coefficients of a row or column.
+ * \sa class InnerIterator
+ */
+ typedef Eigen::InnerIterator<Derived> InnerIterator;
+
+ typedef typename internal::traits<Derived>::StorageKind StorageKind;
+
+ /**
+ * \brief The type used to store indices
+ * \details This typedef is relevant for types that store multiple indices such as
+ * PermutationMatrix or Transpositions, otherwise it defaults to Eigen::Index
+ * \sa \blank \ref TopicPreprocessorDirectives, Eigen::Index, SparseMatrixBase.
+ */
+ typedef typename internal::traits<Derived>::StorageIndex StorageIndex;
+
+ /** The numeric type of the expression' coefficients, e.g. float, double, int or std::complex<float>, etc. */
+ typedef typename internal::traits<Derived>::Scalar Scalar;
+
+ /** The numeric type of the expression' coefficients, e.g. float, double, int or std::complex<float>, etc.
+ *
+ * It is an alias for the Scalar type */
+ typedef Scalar value_type;
+
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ typedef DenseCoeffsBase<Derived> Base;
+
+ using Base::derived;
+ using Base::const_cast_derived;
+ using Base::rows;
+ using Base::cols;
+ using Base::size;
+ using Base::rowIndexByOuterInner;
+ using Base::colIndexByOuterInner;
+ using Base::coeff;
+ using Base::coeffByOuterInner;
+ using Base::operator();
+ using Base::operator[];
+ using Base::x;
+ using Base::y;
+ using Base::z;
+ using Base::w;
+ using Base::stride;
+ using Base::innerStride;
+ using Base::outerStride;
+ using Base::rowStride;
+ using Base::colStride;
+ typedef typename Base::CoeffReturnType CoeffReturnType;
+
+ enum {
+
+ RowsAtCompileTime = internal::traits<Derived>::RowsAtCompileTime,
+ /**< The number of rows at compile-time. This is just a copy of the value provided
+ * by the \a Derived type. If a value is not known at compile-time,
+ * it is set to the \a Dynamic constant.
+ * \sa MatrixBase::rows(), MatrixBase::cols(), ColsAtCompileTime, SizeAtCompileTime */
+
+ ColsAtCompileTime = internal::traits<Derived>::ColsAtCompileTime,
+ /**< The number of columns at compile-time. This is just a copy of the value provided
+ * by the \a Derived type. If a value is not known at compile-time,
+ * it is set to the \a Dynamic constant.
+ * \sa MatrixBase::rows(), MatrixBase::cols(), RowsAtCompileTime, SizeAtCompileTime */
+
+
+ SizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::RowsAtCompileTime,
+ internal::traits<Derived>::ColsAtCompileTime>::ret),
+ /**< This is equal to the number of coefficients, i.e. the number of
+ * rows times the number of columns, or to \a Dynamic if this is not
+ * known at compile-time. \sa RowsAtCompileTime, ColsAtCompileTime */
+
+ MaxRowsAtCompileTime = internal::traits<Derived>::MaxRowsAtCompileTime,
+ /**< This value is equal to the maximum possible number of rows that this expression
+ * might have. If this expression might have an arbitrarily high number of rows,
+ * this value is set to \a Dynamic.
+ *
+ * This value is useful to know when evaluating an expression, in order to determine
+ * whether it is possible to avoid doing a dynamic memory allocation.
+ *
+ * \sa RowsAtCompileTime, MaxColsAtCompileTime, MaxSizeAtCompileTime
+ */
+
+ MaxColsAtCompileTime = internal::traits<Derived>::MaxColsAtCompileTime,
+ /**< This value is equal to the maximum possible number of columns that this expression
+ * might have. If this expression might have an arbitrarily high number of columns,
+ * this value is set to \a Dynamic.
+ *
+ * This value is useful to know when evaluating an expression, in order to determine
+ * whether it is possible to avoid doing a dynamic memory allocation.
+ *
+ * \sa ColsAtCompileTime, MaxRowsAtCompileTime, MaxSizeAtCompileTime
+ */
+
+ MaxSizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::MaxRowsAtCompileTime,
+ internal::traits<Derived>::MaxColsAtCompileTime>::ret),
+ /**< This value is equal to the maximum possible number of coefficients that this expression
+ * might have. If this expression might have an arbitrarily high number of coefficients,
+ * this value is set to \a Dynamic.
+ *
+ * This value is useful to know when evaluating an expression, in order to determine
+ * whether it is possible to avoid doing a dynamic memory allocation.
+ *
+ * \sa SizeAtCompileTime, MaxRowsAtCompileTime, MaxColsAtCompileTime
+ */
+
+ IsVectorAtCompileTime = internal::traits<Derived>::MaxRowsAtCompileTime == 1
+ || internal::traits<Derived>::MaxColsAtCompileTime == 1,
+ /**< This is set to true if either the number of rows or the number of
+ * columns is known at compile-time to be equal to 1. Indeed, in that case,
+ * we are dealing with a column-vector (if there is only one column) or with
+ * a row-vector (if there is only one row). */
+
+ Flags = internal::traits<Derived>::Flags,
+ /**< This stores expression \ref flags flags which may or may not be inherited by new expressions
+ * constructed from this one. See the \ref flags "list of flags".
+ */
+
+ IsRowMajor = int(Flags) & RowMajorBit, /**< True if this expression has row-major storage order. */
+
+ InnerSizeAtCompileTime = int(IsVectorAtCompileTime) ? int(SizeAtCompileTime)
+ : int(IsRowMajor) ? int(ColsAtCompileTime) : int(RowsAtCompileTime),
+
+ InnerStrideAtCompileTime = internal::inner_stride_at_compile_time<Derived>::ret,
+ OuterStrideAtCompileTime = internal::outer_stride_at_compile_time<Derived>::ret
+ };
+
+ typedef typename internal::find_best_packet<Scalar,SizeAtCompileTime>::type PacketScalar;
+
+ enum { IsPlainObjectBase = 0 };
+
+ /** The plain matrix type corresponding to this expression.
+ * \sa PlainObject */
+ typedef Matrix<typename internal::traits<Derived>::Scalar,
+ internal::traits<Derived>::RowsAtCompileTime,
+ internal::traits<Derived>::ColsAtCompileTime,
+ AutoAlign | (internal::traits<Derived>::Flags&RowMajorBit ? RowMajor : ColMajor),
+ internal::traits<Derived>::MaxRowsAtCompileTime,
+ internal::traits<Derived>::MaxColsAtCompileTime
+ > PlainMatrix;
+
+ /** The plain array type corresponding to this expression.
+ * \sa PlainObject */
+ typedef Array<typename internal::traits<Derived>::Scalar,
+ internal::traits<Derived>::RowsAtCompileTime,
+ internal::traits<Derived>::ColsAtCompileTime,
+ AutoAlign | (internal::traits<Derived>::Flags&RowMajorBit ? RowMajor : ColMajor),
+ internal::traits<Derived>::MaxRowsAtCompileTime,
+ internal::traits<Derived>::MaxColsAtCompileTime
+ > PlainArray;
+
+ /** \brief The plain matrix or array type corresponding to this expression.
+ *
+ * This is not necessarily exactly the return type of eval(). In the case of plain matrices,
+ * the return type of eval() is a const reference to a matrix, not a matrix! It is however guaranteed
+ * that the return type of eval() is either PlainObject or const PlainObject&.
+ */
+ typedef typename internal::conditional<internal::is_same<typename internal::traits<Derived>::XprKind,MatrixXpr >::value,
+ PlainMatrix, PlainArray>::type PlainObject;
+
+ /** \returns the number of nonzero coefficients which is in practice the number
+ * of stored coefficients. */
+ EIGEN_DEVICE_FUNC
+ inline Index nonZeros() const { return size(); }
+
+ /** \returns the outer size.
+ *
+ * \note For a vector, this returns just 1. For a matrix (non-vector), this is the major dimension
+ * with respect to the \ref TopicStorageOrders "storage order", i.e., the number of columns for a
+ * column-major matrix, and the number of rows for a row-major matrix. */
+ EIGEN_DEVICE_FUNC
+ Index outerSize() const
+ {
+ return IsVectorAtCompileTime ? 1
+ : int(IsRowMajor) ? this->rows() : this->cols();
+ }
+
+ /** \returns the inner size.
+ *
+ * \note For a vector, this is just the size. For a matrix (non-vector), this is the minor dimension
+ * with respect to the \ref TopicStorageOrders "storage order", i.e., the number of rows for a
+ * column-major matrix, and the number of columns for a row-major matrix. */
+ EIGEN_DEVICE_FUNC
+ Index innerSize() const
+ {
+ return IsVectorAtCompileTime ? this->size()
+ : int(IsRowMajor) ? this->cols() : this->rows();
+ }
+
+ /** Only plain matrices/arrays, not expressions, may be resized; therefore the only useful resize methods are
+ * Matrix::resize() and Array::resize(). The present method only asserts that the new size equals the old size, and does
+ * nothing else.
+ */
+ EIGEN_DEVICE_FUNC
+ void resize(Index newSize)
+ {
+ EIGEN_ONLY_USED_FOR_DEBUG(newSize);
+ eigen_assert(newSize == this->size()
+ && "DenseBase::resize() does not actually allow to resize.");
+ }
+ /** Only plain matrices/arrays, not expressions, may be resized; therefore the only useful resize methods are
+ * Matrix::resize() and Array::resize(). The present method only asserts that the new size equals the old size, and does
+ * nothing else.
+ */
+ EIGEN_DEVICE_FUNC
+ void resize(Index rows, Index cols)
+ {
+ EIGEN_ONLY_USED_FOR_DEBUG(rows);
+ EIGEN_ONLY_USED_FOR_DEBUG(cols);
+ eigen_assert(rows == this->rows() && cols == this->cols()
+ && "DenseBase::resize() does not actually allow to resize.");
+ }
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+ /** \internal Represents a matrix with all coefficients equal to one another*/
+ typedef CwiseNullaryOp<internal::scalar_constant_op<Scalar>,PlainObject> ConstantReturnType;
+ /** \internal \deprecated Represents a vector with linearly spaced coefficients that allows sequential access only. */
+ typedef CwiseNullaryOp<internal::linspaced_op<Scalar,PacketScalar>,PlainObject> SequentialLinSpacedReturnType;
+ /** \internal Represents a vector with linearly spaced coefficients that allows random access. */
+ typedef CwiseNullaryOp<internal::linspaced_op<Scalar,PacketScalar>,PlainObject> RandomAccessLinSpacedReturnType;
+ /** \internal the return type of MatrixBase::eigenvalues() */
+ typedef Matrix<typename NumTraits<typename internal::traits<Derived>::Scalar>::Real, internal::traits<Derived>::ColsAtCompileTime, 1> EigenvaluesReturnType;
+
+#endif // not EIGEN_PARSED_BY_DOXYGEN
+
+ /** Copies \a other into *this. \returns a reference to *this. */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ Derived& operator=(const DenseBase<OtherDerived>& other);
+
+ /** Special case of the template operator=, in order to prevent the compiler
+ * from generating a default operator= (issue hit with g++ 4.1)
+ */
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ Derived& operator=(const DenseBase& other);
+
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ Derived& operator=(const EigenBase<OtherDerived> &other);
+
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ Derived& operator+=(const EigenBase<OtherDerived> &other);
+
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ Derived& operator-=(const EigenBase<OtherDerived> &other);
+
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ Derived& operator=(const ReturnByValue<OtherDerived>& func);
+
+ /** \internal
+ * Copies \a other into *this without evaluating other. \returns a reference to *this.
+ * \deprecated */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ Derived& lazyAssign(const DenseBase<OtherDerived>& other);
+
+ EIGEN_DEVICE_FUNC
+ CommaInitializer<Derived> operator<< (const Scalar& s);
+
+ /** \deprecated it now returns \c *this */
+ template<unsigned int Added,unsigned int Removed>
+ EIGEN_DEPRECATED
+ const Derived& flagged() const
+ { return derived(); }
+
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ CommaInitializer<Derived> operator<< (const DenseBase<OtherDerived>& other);
+
+ typedef Transpose<Derived> TransposeReturnType;
+ EIGEN_DEVICE_FUNC
+ TransposeReturnType transpose();
+ typedef typename internal::add_const<Transpose<const Derived> >::type ConstTransposeReturnType;
+ EIGEN_DEVICE_FUNC
+ ConstTransposeReturnType transpose() const;
+ EIGEN_DEVICE_FUNC
+ void transposeInPlace();
+
+ EIGEN_DEVICE_FUNC static const ConstantReturnType
+ Constant(Index rows, Index cols, const Scalar& value);
+ EIGEN_DEVICE_FUNC static const ConstantReturnType
+ Constant(Index size, const Scalar& value);
+ EIGEN_DEVICE_FUNC static const ConstantReturnType
+ Constant(const Scalar& value);
+
+ EIGEN_DEVICE_FUNC static const SequentialLinSpacedReturnType
+ LinSpaced(Sequential_t, Index size, const Scalar& low, const Scalar& high);
+ EIGEN_DEVICE_FUNC static const RandomAccessLinSpacedReturnType
+ LinSpaced(Index size, const Scalar& low, const Scalar& high);
+ EIGEN_DEVICE_FUNC static const SequentialLinSpacedReturnType
+ LinSpaced(Sequential_t, const Scalar& low, const Scalar& high);
+ EIGEN_DEVICE_FUNC static const RandomAccessLinSpacedReturnType
+ LinSpaced(const Scalar& low, const Scalar& high);
+
+ template<typename CustomNullaryOp> EIGEN_DEVICE_FUNC
+ static const CwiseNullaryOp<CustomNullaryOp, PlainObject>
+ NullaryExpr(Index rows, Index cols, const CustomNullaryOp& func);
+ template<typename CustomNullaryOp> EIGEN_DEVICE_FUNC
+ static const CwiseNullaryOp<CustomNullaryOp, PlainObject>
+ NullaryExpr(Index size, const CustomNullaryOp& func);
+ template<typename CustomNullaryOp> EIGEN_DEVICE_FUNC
+ static const CwiseNullaryOp<CustomNullaryOp, PlainObject>
+ NullaryExpr(const CustomNullaryOp& func);
+
+ EIGEN_DEVICE_FUNC static const ConstantReturnType Zero(Index rows, Index cols);
+ EIGEN_DEVICE_FUNC static const ConstantReturnType Zero(Index size);
+ EIGEN_DEVICE_FUNC static const ConstantReturnType Zero();
+ EIGEN_DEVICE_FUNC static const ConstantReturnType Ones(Index rows, Index cols);
+ EIGEN_DEVICE_FUNC static const ConstantReturnType Ones(Index size);
+ EIGEN_DEVICE_FUNC static const ConstantReturnType Ones();
+
+ EIGEN_DEVICE_FUNC void fill(const Scalar& value);
+ EIGEN_DEVICE_FUNC Derived& setConstant(const Scalar& value);
+ EIGEN_DEVICE_FUNC Derived& setLinSpaced(Index size, const Scalar& low, const Scalar& high);
+ EIGEN_DEVICE_FUNC Derived& setLinSpaced(const Scalar& low, const Scalar& high);
+ EIGEN_DEVICE_FUNC Derived& setZero();
+ EIGEN_DEVICE_FUNC Derived& setOnes();
+ EIGEN_DEVICE_FUNC Derived& setRandom();
+
+ template<typename OtherDerived> EIGEN_DEVICE_FUNC
+ bool isApprox(const DenseBase<OtherDerived>& other,
+ const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
+ EIGEN_DEVICE_FUNC
+ bool isMuchSmallerThan(const RealScalar& other,
+ const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
+ template<typename OtherDerived> EIGEN_DEVICE_FUNC
+ bool isMuchSmallerThan(const DenseBase<OtherDerived>& other,
+ const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
+
+ EIGEN_DEVICE_FUNC bool isApproxToConstant(const Scalar& value, const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
+ EIGEN_DEVICE_FUNC bool isConstant(const Scalar& value, const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
+ EIGEN_DEVICE_FUNC bool isZero(const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
+ EIGEN_DEVICE_FUNC bool isOnes(const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
+
+ inline bool hasNaN() const;
+ inline bool allFinite() const;
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ Derived& operator*=(const Scalar& other);
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ Derived& operator/=(const Scalar& other);
+
+ typedef typename internal::add_const_on_value_type<typename internal::eval<Derived>::type>::type EvalReturnType;
+ /** \returns the matrix or vector obtained by evaluating this expression.
+ *
+ * Notice that in the case of a plain matrix or vector (not an expression) this function just returns
+ * a const reference, in order to avoid a useless copy.
+ *
+ * \warning Be carefull with eval() and the auto C++ keyword, as detailed in this \link TopicPitfalls_auto_keyword page \endlink.
+ */
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE EvalReturnType eval() const
+ {
+ // Even though MSVC does not honor strong inlining when the return type
+ // is a dynamic matrix, we desperately need strong inlining for fixed
+ // size types on MSVC.
+ return typename internal::eval<Derived>::type(derived());
+ }
+
+ /** swaps *this with the expression \a other.
+ *
+ */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ void swap(const DenseBase<OtherDerived>& other)
+ {
+ EIGEN_STATIC_ASSERT(!OtherDerived::IsPlainObjectBase,THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY);
+ eigen_assert(rows()==other.rows() && cols()==other.cols());
+ call_assignment(derived(), other.const_cast_derived(), internal::swap_assign_op<Scalar>());
+ }
+
+ /** swaps *this with the matrix or array \a other.
+ *
+ */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ void swap(PlainObjectBase<OtherDerived>& other)
+ {
+ eigen_assert(rows()==other.rows() && cols()==other.cols());
+ call_assignment(derived(), other.derived(), internal::swap_assign_op<Scalar>());
+ }
+
+ EIGEN_DEVICE_FUNC inline const NestByValue<Derived> nestByValue() const;
+ EIGEN_DEVICE_FUNC inline const ForceAlignedAccess<Derived> forceAlignedAccess() const;
+ EIGEN_DEVICE_FUNC inline ForceAlignedAccess<Derived> forceAlignedAccess();
+ template<bool Enable> EIGEN_DEVICE_FUNC
+ inline const typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type forceAlignedAccessIf() const;
+ template<bool Enable> EIGEN_DEVICE_FUNC
+ inline typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type forceAlignedAccessIf();
+
+ EIGEN_DEVICE_FUNC Scalar sum() const;
+ EIGEN_DEVICE_FUNC Scalar mean() const;
+ EIGEN_DEVICE_FUNC Scalar trace() const;
+
+ EIGEN_DEVICE_FUNC Scalar prod() const;
+
+ EIGEN_DEVICE_FUNC typename internal::traits<Derived>::Scalar minCoeff() const;
+ EIGEN_DEVICE_FUNC typename internal::traits<Derived>::Scalar maxCoeff() const;
+
+ template<typename IndexType> EIGEN_DEVICE_FUNC
+ typename internal::traits<Derived>::Scalar minCoeff(IndexType* row, IndexType* col) const;
+ template<typename IndexType> EIGEN_DEVICE_FUNC
+ typename internal::traits<Derived>::Scalar maxCoeff(IndexType* row, IndexType* col) const;
+ template<typename IndexType> EIGEN_DEVICE_FUNC
+ typename internal::traits<Derived>::Scalar minCoeff(IndexType* index) const;
+ template<typename IndexType> EIGEN_DEVICE_FUNC
+ typename internal::traits<Derived>::Scalar maxCoeff(IndexType* index) const;
+
+ template<typename BinaryOp>
+ EIGEN_DEVICE_FUNC
+ Scalar redux(const BinaryOp& func) const;
+
+ template<typename Visitor>
+ EIGEN_DEVICE_FUNC
+ void visit(Visitor& func) const;
+
+ /** \returns a WithFormat proxy object allowing to print a matrix the with given
+ * format \a fmt.
+ *
+ * See class IOFormat for some examples.
+ *
+ * \sa class IOFormat, class WithFormat
+ */
+ inline const WithFormat<Derived> format(const IOFormat& fmt) const
+ {
+ return WithFormat<Derived>(derived(), fmt);
+ }
+
+ /** \returns the unique coefficient of a 1x1 expression */
+ EIGEN_DEVICE_FUNC
+ CoeffReturnType value() const
+ {
+ EIGEN_STATIC_ASSERT_SIZE_1x1(Derived)
+ eigen_assert(this->rows() == 1 && this->cols() == 1);
+ return derived().coeff(0,0);
+ }
+
+ EIGEN_DEVICE_FUNC bool all() const;
+ EIGEN_DEVICE_FUNC bool any() const;
+ EIGEN_DEVICE_FUNC Index count() const;
+
+ typedef VectorwiseOp<Derived, Horizontal> RowwiseReturnType;
+ typedef const VectorwiseOp<const Derived, Horizontal> ConstRowwiseReturnType;
+ typedef VectorwiseOp<Derived, Vertical> ColwiseReturnType;
+ typedef const VectorwiseOp<const Derived, Vertical> ConstColwiseReturnType;
+
+ /** \returns a VectorwiseOp wrapper of *this providing additional partial reduction operations
+ *
+ * Example: \include MatrixBase_rowwise.cpp
+ * Output: \verbinclude MatrixBase_rowwise.out
+ *
+ * \sa colwise(), class VectorwiseOp, \ref TutorialReductionsVisitorsBroadcasting
+ */
+ //Code moved here due to a CUDA compiler bug
+ EIGEN_DEVICE_FUNC inline ConstRowwiseReturnType rowwise() const {
+ return ConstRowwiseReturnType(derived());
+ }
+ EIGEN_DEVICE_FUNC RowwiseReturnType rowwise();
+
+ /** \returns a VectorwiseOp wrapper of *this providing additional partial reduction operations
+ *
+ * Example: \include MatrixBase_colwise.cpp
+ * Output: \verbinclude MatrixBase_colwise.out
+ *
+ * \sa rowwise(), class VectorwiseOp, \ref TutorialReductionsVisitorsBroadcasting
+ */
+ EIGEN_DEVICE_FUNC inline ConstColwiseReturnType colwise() const {
+ return ConstColwiseReturnType(derived());
+ }
+ EIGEN_DEVICE_FUNC ColwiseReturnType colwise();
+
+ typedef CwiseNullaryOp<internal::scalar_random_op<Scalar>,PlainObject> RandomReturnType;
+ static const RandomReturnType Random(Index rows, Index cols);
+ static const RandomReturnType Random(Index size);
+ static const RandomReturnType Random();
+
+ template<typename ThenDerived,typename ElseDerived>
+ const Select<Derived,ThenDerived,ElseDerived>
+ select(const DenseBase<ThenDerived>& thenMatrix,
+ const DenseBase<ElseDerived>& elseMatrix) const;
+
+ template<typename ThenDerived>
+ inline const Select<Derived,ThenDerived, typename ThenDerived::ConstantReturnType>
+ select(const DenseBase<ThenDerived>& thenMatrix, const typename ThenDerived::Scalar& elseScalar) const;
+
+ template<typename ElseDerived>
+ inline const Select<Derived, typename ElseDerived::ConstantReturnType, ElseDerived >
+ select(const typename ElseDerived::Scalar& thenScalar, const DenseBase<ElseDerived>& elseMatrix) const;
+
+ template<int p> RealScalar lpNorm() const;
+
+ template<int RowFactor, int ColFactor>
+ EIGEN_DEVICE_FUNC
+ const Replicate<Derived,RowFactor,ColFactor> replicate() const;
+ /**
+ * \return an expression of the replication of \c *this
+ *
+ * Example: \include MatrixBase_replicate_int_int.cpp
+ * Output: \verbinclude MatrixBase_replicate_int_int.out
+ *
+ * \sa VectorwiseOp::replicate(), DenseBase::replicate<int,int>(), class Replicate
+ */
+ //Code moved here due to a CUDA compiler bug
+ EIGEN_DEVICE_FUNC
+ const Replicate<Derived, Dynamic, Dynamic> replicate(Index rowFactor, Index colFactor) const
+ {
+ return Replicate<Derived, Dynamic, Dynamic>(derived(), rowFactor, colFactor);
+ }
+
+ typedef Reverse<Derived, BothDirections> ReverseReturnType;
+ typedef const Reverse<const Derived, BothDirections> ConstReverseReturnType;
+ EIGEN_DEVICE_FUNC ReverseReturnType reverse();
+ /** This is the const version of reverse(). */
+ //Code moved here due to a CUDA compiler bug
+ EIGEN_DEVICE_FUNC ConstReverseReturnType reverse() const
+ {
+ return ConstReverseReturnType(derived());
+ }
+ EIGEN_DEVICE_FUNC void reverseInPlace();
+
+#define EIGEN_CURRENT_STORAGE_BASE_CLASS Eigen::DenseBase
+#define EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+#define EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(COND)
+# include "../plugins/BlockMethods.h"
+# ifdef EIGEN_DENSEBASE_PLUGIN
+# include EIGEN_DENSEBASE_PLUGIN
+# endif
+#undef EIGEN_CURRENT_STORAGE_BASE_CLASS
+#undef EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+#undef EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF
+
+ // disable the use of evalTo for dense objects with a nice compilation error
+ template<typename Dest>
+ EIGEN_DEVICE_FUNC
+ inline void evalTo(Dest& ) const
+ {
+ EIGEN_STATIC_ASSERT((internal::is_same<Dest,void>::value),THE_EVAL_EVALTO_FUNCTION_SHOULD_NEVER_BE_CALLED_FOR_DENSE_OBJECTS);
+ }
+
+ protected:
+ /** Default constructor. Do nothing. */
+ EIGEN_DEVICE_FUNC DenseBase()
+ {
+ /* Just checks for self-consistency of the flags.
+ * Only do it when debugging Eigen, as this borders on paranoiac and could slow compilation down
+ */
+#ifdef EIGEN_INTERNAL_DEBUGGING
+ EIGEN_STATIC_ASSERT((EIGEN_IMPLIES(MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1, int(IsRowMajor))
+ && EIGEN_IMPLIES(MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1, int(!IsRowMajor))),
+ INVALID_STORAGE_ORDER_FOR_THIS_VECTOR_EXPRESSION)
+#endif
+ }
+
+ private:
+ EIGEN_DEVICE_FUNC explicit DenseBase(int);
+ EIGEN_DEVICE_FUNC DenseBase(int,int);
+ template<typename OtherDerived> EIGEN_DEVICE_FUNC explicit DenseBase(const DenseBase<OtherDerived>&);
+};
+
+} // end namespace Eigen
+
+#endif // EIGEN_DENSEBASE_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/DenseCoeffsBase.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/DenseCoeffsBase.h
new file mode 100644
index 0000000..c4af48a
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/DenseCoeffsBase.h
@@ -0,0 +1,681 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_DENSECOEFFSBASE_H
+#define EIGEN_DENSECOEFFSBASE_H
+
+namespace Eigen {
+
+namespace internal {
+template<typename T> struct add_const_on_value_type_if_arithmetic
+{
+ typedef typename conditional<is_arithmetic<T>::value, T, typename add_const_on_value_type<T>::type>::type type;
+};
+}
+
+/** \brief Base class providing read-only coefficient access to matrices and arrays.
+ * \ingroup Core_Module
+ * \tparam Derived Type of the derived class
+ * \tparam #ReadOnlyAccessors Constant indicating read-only access
+ *
+ * This class defines the \c operator() \c const function and friends, which can be used to read specific
+ * entries of a matrix or array.
+ *
+ * \sa DenseCoeffsBase<Derived, WriteAccessors>, DenseCoeffsBase<Derived, DirectAccessors>,
+ * \ref TopicClassHierarchy
+ */
+template<typename Derived>
+class DenseCoeffsBase<Derived,ReadOnlyAccessors> : public EigenBase<Derived>
+{
+ public:
+ typedef typename internal::traits<Derived>::StorageKind StorageKind;
+ typedef typename internal::traits<Derived>::Scalar Scalar;
+ typedef typename internal::packet_traits<Scalar>::type PacketScalar;
+
+ // Explanation for this CoeffReturnType typedef.
+ // - This is the return type of the coeff() method.
+ // - The LvalueBit means exactly that we can offer a coeffRef() method, which means exactly that we can get references
+ // to coeffs, which means exactly that we can have coeff() return a const reference (as opposed to returning a value).
+ // - The is_artihmetic check is required since "const int", "const double", etc. will cause warnings on some systems
+ // while the declaration of "const T", where T is a non arithmetic type does not. Always returning "const Scalar&" is
+ // not possible, since the underlying expressions might not offer a valid address the reference could be referring to.
+ typedef typename internal::conditional<bool(internal::traits<Derived>::Flags&LvalueBit),
+ const Scalar&,
+ typename internal::conditional<internal::is_arithmetic<Scalar>::value, Scalar, const Scalar>::type
+ >::type CoeffReturnType;
+
+ typedef typename internal::add_const_on_value_type_if_arithmetic<
+ typename internal::packet_traits<Scalar>::type
+ >::type PacketReturnType;
+
+ typedef EigenBase<Derived> Base;
+ using Base::rows;
+ using Base::cols;
+ using Base::size;
+ using Base::derived;
+
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Index rowIndexByOuterInner(Index outer, Index inner) const
+ {
+ return int(Derived::RowsAtCompileTime) == 1 ? 0
+ : int(Derived::ColsAtCompileTime) == 1 ? inner
+ : int(Derived::Flags)&RowMajorBit ? outer
+ : inner;
+ }
+
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Index colIndexByOuterInner(Index outer, Index inner) const
+ {
+ return int(Derived::ColsAtCompileTime) == 1 ? 0
+ : int(Derived::RowsAtCompileTime) == 1 ? inner
+ : int(Derived::Flags)&RowMajorBit ? inner
+ : outer;
+ }
+
+ /** Short version: don't use this function, use
+ * \link operator()(Index,Index) const \endlink instead.
+ *
+ * Long version: this function is similar to
+ * \link operator()(Index,Index) const \endlink, but without the assertion.
+ * Use this for limiting the performance cost of debugging code when doing
+ * repeated coefficient access. Only use this when it is guaranteed that the
+ * parameters \a row and \a col are in range.
+ *
+ * If EIGEN_INTERNAL_DEBUGGING is defined, an assertion will be made, making this
+ * function equivalent to \link operator()(Index,Index) const \endlink.
+ *
+ * \sa operator()(Index,Index) const, coeffRef(Index,Index), coeff(Index) const
+ */
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE CoeffReturnType coeff(Index row, Index col) const
+ {
+ eigen_internal_assert(row >= 0 && row < rows()
+ && col >= 0 && col < cols());
+ return internal::evaluator<Derived>(derived()).coeff(row,col);
+ }
+
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE CoeffReturnType coeffByOuterInner(Index outer, Index inner) const
+ {
+ return coeff(rowIndexByOuterInner(outer, inner),
+ colIndexByOuterInner(outer, inner));
+ }
+
+ /** \returns the coefficient at given the given row and column.
+ *
+ * \sa operator()(Index,Index), operator[](Index)
+ */
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE CoeffReturnType operator()(Index row, Index col) const
+ {
+ eigen_assert(row >= 0 && row < rows()
+ && col >= 0 && col < cols());
+ return coeff(row, col);
+ }
+
+ /** Short version: don't use this function, use
+ * \link operator[](Index) const \endlink instead.
+ *
+ * Long version: this function is similar to
+ * \link operator[](Index) const \endlink, but without the assertion.
+ * Use this for limiting the performance cost of debugging code when doing
+ * repeated coefficient access. Only use this when it is guaranteed that the
+ * parameter \a index is in range.
+ *
+ * If EIGEN_INTERNAL_DEBUGGING is defined, an assertion will be made, making this
+ * function equivalent to \link operator[](Index) const \endlink.
+ *
+ * \sa operator[](Index) const, coeffRef(Index), coeff(Index,Index) const
+ */
+
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE CoeffReturnType
+ coeff(Index index) const
+ {
+ EIGEN_STATIC_ASSERT(internal::evaluator<Derived>::Flags & LinearAccessBit,
+ THIS_COEFFICIENT_ACCESSOR_TAKING_ONE_ACCESS_IS_ONLY_FOR_EXPRESSIONS_ALLOWING_LINEAR_ACCESS)
+ eigen_internal_assert(index >= 0 && index < size());
+ return internal::evaluator<Derived>(derived()).coeff(index);
+ }
+
+
+ /** \returns the coefficient at given index.
+ *
+ * This method is allowed only for vector expressions, and for matrix expressions having the LinearAccessBit.
+ *
+ * \sa operator[](Index), operator()(Index,Index) const, x() const, y() const,
+ * z() const, w() const
+ */
+
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE CoeffReturnType
+ operator[](Index index) const
+ {
+ EIGEN_STATIC_ASSERT(Derived::IsVectorAtCompileTime,
+ THE_BRACKET_OPERATOR_IS_ONLY_FOR_VECTORS__USE_THE_PARENTHESIS_OPERATOR_INSTEAD)
+ eigen_assert(index >= 0 && index < size());
+ return coeff(index);
+ }
+
+ /** \returns the coefficient at given index.
+ *
+ * This is synonymous to operator[](Index) const.
+ *
+ * This method is allowed only for vector expressions, and for matrix expressions having the LinearAccessBit.
+ *
+ * \sa operator[](Index), operator()(Index,Index) const, x() const, y() const,
+ * z() const, w() const
+ */
+
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE CoeffReturnType
+ operator()(Index index) const
+ {
+ eigen_assert(index >= 0 && index < size());
+ return coeff(index);
+ }
+
+ /** equivalent to operator[](0). */
+
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE CoeffReturnType
+ x() const { return (*this)[0]; }
+
+ /** equivalent to operator[](1). */
+
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE CoeffReturnType
+ y() const
+ {
+ EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=2, OUT_OF_RANGE_ACCESS);
+ return (*this)[1];
+ }
+
+ /** equivalent to operator[](2). */
+
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE CoeffReturnType
+ z() const
+ {
+ EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=3, OUT_OF_RANGE_ACCESS);
+ return (*this)[2];
+ }
+
+ /** equivalent to operator[](3). */
+
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE CoeffReturnType
+ w() const
+ {
+ EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=4, OUT_OF_RANGE_ACCESS);
+ return (*this)[3];
+ }
+
+ /** \internal
+ * \returns the packet of coefficients starting at the given row and column. It is your responsibility
+ * to ensure that a packet really starts there. This method is only available on expressions having the
+ * PacketAccessBit.
+ *
+ * The \a LoadMode parameter may have the value \a #Aligned or \a #Unaligned. Its effect is to select
+ * the appropriate vectorization instruction. Aligned access is faster, but is only possible for packets
+ * starting at an address which is a multiple of the packet size.
+ */
+
+ template<int LoadMode>
+ EIGEN_STRONG_INLINE PacketReturnType packet(Index row, Index col) const
+ {
+ typedef typename internal::packet_traits<Scalar>::type DefaultPacketType;
+ eigen_internal_assert(row >= 0 && row < rows() && col >= 0 && col < cols());
+ return internal::evaluator<Derived>(derived()).template packet<LoadMode,DefaultPacketType>(row,col);
+ }
+
+
+ /** \internal */
+ template<int LoadMode>
+ EIGEN_STRONG_INLINE PacketReturnType packetByOuterInner(Index outer, Index inner) const
+ {
+ return packet<LoadMode>(rowIndexByOuterInner(outer, inner),
+ colIndexByOuterInner(outer, inner));
+ }
+
+ /** \internal
+ * \returns the packet of coefficients starting at the given index. It is your responsibility
+ * to ensure that a packet really starts there. This method is only available on expressions having the
+ * PacketAccessBit and the LinearAccessBit.
+ *
+ * The \a LoadMode parameter may have the value \a #Aligned or \a #Unaligned. Its effect is to select
+ * the appropriate vectorization instruction. Aligned access is faster, but is only possible for packets
+ * starting at an address which is a multiple of the packet size.
+ */
+
+ template<int LoadMode>
+ EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const
+ {
+ EIGEN_STATIC_ASSERT(internal::evaluator<Derived>::Flags & LinearAccessBit,
+ THIS_COEFFICIENT_ACCESSOR_TAKING_ONE_ACCESS_IS_ONLY_FOR_EXPRESSIONS_ALLOWING_LINEAR_ACCESS)
+ typedef typename internal::packet_traits<Scalar>::type DefaultPacketType;
+ eigen_internal_assert(index >= 0 && index < size());
+ return internal::evaluator<Derived>(derived()).template packet<LoadMode,DefaultPacketType>(index);
+ }
+
+ protected:
+ // explanation: DenseBase is doing "using ..." on the methods from DenseCoeffsBase.
+ // But some methods are only available in the DirectAccess case.
+ // So we add dummy methods here with these names, so that "using... " doesn't fail.
+ // It's not private so that the child class DenseBase can access them, and it's not public
+ // either since it's an implementation detail, so has to be protected.
+ void coeffRef();
+ void coeffRefByOuterInner();
+ void writePacket();
+ void writePacketByOuterInner();
+ void copyCoeff();
+ void copyCoeffByOuterInner();
+ void copyPacket();
+ void copyPacketByOuterInner();
+ void stride();
+ void innerStride();
+ void outerStride();
+ void rowStride();
+ void colStride();
+};
+
+/** \brief Base class providing read/write coefficient access to matrices and arrays.
+ * \ingroup Core_Module
+ * \tparam Derived Type of the derived class
+ * \tparam #WriteAccessors Constant indicating read/write access
+ *
+ * This class defines the non-const \c operator() function and friends, which can be used to write specific
+ * entries of a matrix or array. This class inherits DenseCoeffsBase<Derived, ReadOnlyAccessors> which
+ * defines the const variant for reading specific entries.
+ *
+ * \sa DenseCoeffsBase<Derived, DirectAccessors>, \ref TopicClassHierarchy
+ */
+template<typename Derived>
+class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
+{
+ public:
+
+ typedef DenseCoeffsBase<Derived, ReadOnlyAccessors> Base;
+
+ typedef typename internal::traits<Derived>::StorageKind StorageKind;
+ typedef typename internal::traits<Derived>::Scalar Scalar;
+ typedef typename internal::packet_traits<Scalar>::type PacketScalar;
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+
+ using Base::coeff;
+ using Base::rows;
+ using Base::cols;
+ using Base::size;
+ using Base::derived;
+ using Base::rowIndexByOuterInner;
+ using Base::colIndexByOuterInner;
+ using Base::operator[];
+ using Base::operator();
+ using Base::x;
+ using Base::y;
+ using Base::z;
+ using Base::w;
+
+ /** Short version: don't use this function, use
+ * \link operator()(Index,Index) \endlink instead.
+ *
+ * Long version: this function is similar to
+ * \link operator()(Index,Index) \endlink, but without the assertion.
+ * Use this for limiting the performance cost of debugging code when doing
+ * repeated coefficient access. Only use this when it is guaranteed that the
+ * parameters \a row and \a col are in range.
+ *
+ * If EIGEN_INTERNAL_DEBUGGING is defined, an assertion will be made, making this
+ * function equivalent to \link operator()(Index,Index) \endlink.
+ *
+ * \sa operator()(Index,Index), coeff(Index, Index) const, coeffRef(Index)
+ */
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Scalar& coeffRef(Index row, Index col)
+ {
+ eigen_internal_assert(row >= 0 && row < rows()
+ && col >= 0 && col < cols());
+ return internal::evaluator<Derived>(derived()).coeffRef(row,col);
+ }
+
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Scalar&
+ coeffRefByOuterInner(Index outer, Index inner)
+ {
+ return coeffRef(rowIndexByOuterInner(outer, inner),
+ colIndexByOuterInner(outer, inner));
+ }
+
+ /** \returns a reference to the coefficient at given the given row and column.
+ *
+ * \sa operator[](Index)
+ */
+
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Scalar&
+ operator()(Index row, Index col)
+ {
+ eigen_assert(row >= 0 && row < rows()
+ && col >= 0 && col < cols());
+ return coeffRef(row, col);
+ }
+
+
+ /** Short version: don't use this function, use
+ * \link operator[](Index) \endlink instead.
+ *
+ * Long version: this function is similar to
+ * \link operator[](Index) \endlink, but without the assertion.
+ * Use this for limiting the performance cost of debugging code when doing
+ * repeated coefficient access. Only use this when it is guaranteed that the
+ * parameters \a row and \a col are in range.
+ *
+ * If EIGEN_INTERNAL_DEBUGGING is defined, an assertion will be made, making this
+ * function equivalent to \link operator[](Index) \endlink.
+ *
+ * \sa operator[](Index), coeff(Index) const, coeffRef(Index,Index)
+ */
+
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Scalar&
+ coeffRef(Index index)
+ {
+ EIGEN_STATIC_ASSERT(internal::evaluator<Derived>::Flags & LinearAccessBit,
+ THIS_COEFFICIENT_ACCESSOR_TAKING_ONE_ACCESS_IS_ONLY_FOR_EXPRESSIONS_ALLOWING_LINEAR_ACCESS)
+ eigen_internal_assert(index >= 0 && index < size());
+ return internal::evaluator<Derived>(derived()).coeffRef(index);
+ }
+
+ /** \returns a reference to the coefficient at given index.
+ *
+ * This method is allowed only for vector expressions, and for matrix expressions having the LinearAccessBit.
+ *
+ * \sa operator[](Index) const, operator()(Index,Index), x(), y(), z(), w()
+ */
+
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Scalar&
+ operator[](Index index)
+ {
+ EIGEN_STATIC_ASSERT(Derived::IsVectorAtCompileTime,
+ THE_BRACKET_OPERATOR_IS_ONLY_FOR_VECTORS__USE_THE_PARENTHESIS_OPERATOR_INSTEAD)
+ eigen_assert(index >= 0 && index < size());
+ return coeffRef(index);
+ }
+
+ /** \returns a reference to the coefficient at given index.
+ *
+ * This is synonymous to operator[](Index).
+ *
+ * This method is allowed only for vector expressions, and for matrix expressions having the LinearAccessBit.
+ *
+ * \sa operator[](Index) const, operator()(Index,Index), x(), y(), z(), w()
+ */
+
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Scalar&
+ operator()(Index index)
+ {
+ eigen_assert(index >= 0 && index < size());
+ return coeffRef(index);
+ }
+
+ /** equivalent to operator[](0). */
+
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Scalar&
+ x() { return (*this)[0]; }
+
+ /** equivalent to operator[](1). */
+
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Scalar&
+ y()
+ {
+ EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=2, OUT_OF_RANGE_ACCESS);
+ return (*this)[1];
+ }
+
+ /** equivalent to operator[](2). */
+
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Scalar&
+ z()
+ {
+ EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=3, OUT_OF_RANGE_ACCESS);
+ return (*this)[2];
+ }
+
+ /** equivalent to operator[](3). */
+
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Scalar&
+ w()
+ {
+ EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=4, OUT_OF_RANGE_ACCESS);
+ return (*this)[3];
+ }
+};
+
+/** \brief Base class providing direct read-only coefficient access to matrices and arrays.
+ * \ingroup Core_Module
+ * \tparam Derived Type of the derived class
+ * \tparam #DirectAccessors Constant indicating direct access
+ *
+ * This class defines functions to work with strides which can be used to access entries directly. This class
+ * inherits DenseCoeffsBase<Derived, ReadOnlyAccessors> which defines functions to access entries read-only using
+ * \c operator() .
+ *
+ * \sa \blank \ref TopicClassHierarchy
+ */
+template<typename Derived>
+class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
+{
+ public:
+
+ typedef DenseCoeffsBase<Derived, ReadOnlyAccessors> Base;
+ typedef typename internal::traits<Derived>::Scalar Scalar;
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+
+ using Base::rows;
+ using Base::cols;
+ using Base::size;
+ using Base::derived;
+
+ /** \returns the pointer increment between two consecutive elements within a slice in the inner direction.
+ *
+ * \sa outerStride(), rowStride(), colStride()
+ */
+ EIGEN_DEVICE_FUNC
+ inline Index innerStride() const
+ {
+ return derived().innerStride();
+ }
+
+ /** \returns the pointer increment between two consecutive inner slices (for example, between two consecutive columns
+ * in a column-major matrix).
+ *
+ * \sa innerStride(), rowStride(), colStride()
+ */
+ EIGEN_DEVICE_FUNC
+ inline Index outerStride() const
+ {
+ return derived().outerStride();
+ }
+
+ // FIXME shall we remove it ?
+ inline Index stride() const
+ {
+ return Derived::IsVectorAtCompileTime ? innerStride() : outerStride();
+ }
+
+ /** \returns the pointer increment between two consecutive rows.
+ *
+ * \sa innerStride(), outerStride(), colStride()
+ */
+ EIGEN_DEVICE_FUNC
+ inline Index rowStride() const
+ {
+ return Derived::IsRowMajor ? outerStride() : innerStride();
+ }
+
+ /** \returns the pointer increment between two consecutive columns.
+ *
+ * \sa innerStride(), outerStride(), rowStride()
+ */
+ EIGEN_DEVICE_FUNC
+ inline Index colStride() const
+ {
+ return Derived::IsRowMajor ? innerStride() : outerStride();
+ }
+};
+
+/** \brief Base class providing direct read/write coefficient access to matrices and arrays.
+ * \ingroup Core_Module
+ * \tparam Derived Type of the derived class
+ * \tparam #DirectWriteAccessors Constant indicating direct access
+ *
+ * This class defines functions to work with strides which can be used to access entries directly. This class
+ * inherits DenseCoeffsBase<Derived, WriteAccessors> which defines functions to access entries read/write using
+ * \c operator().
+ *
+ * \sa \blank \ref TopicClassHierarchy
+ */
+template<typename Derived>
+class DenseCoeffsBase<Derived, DirectWriteAccessors>
+ : public DenseCoeffsBase<Derived, WriteAccessors>
+{
+ public:
+
+ typedef DenseCoeffsBase<Derived, WriteAccessors> Base;
+ typedef typename internal::traits<Derived>::Scalar Scalar;
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+
+ using Base::rows;
+ using Base::cols;
+ using Base::size;
+ using Base::derived;
+
+ /** \returns the pointer increment between two consecutive elements within a slice in the inner direction.
+ *
+ * \sa outerStride(), rowStride(), colStride()
+ */
+ EIGEN_DEVICE_FUNC
+ inline Index innerStride() const
+ {
+ return derived().innerStride();
+ }
+
+ /** \returns the pointer increment between two consecutive inner slices (for example, between two consecutive columns
+ * in a column-major matrix).
+ *
+ * \sa innerStride(), rowStride(), colStride()
+ */
+ EIGEN_DEVICE_FUNC
+ inline Index outerStride() const
+ {
+ return derived().outerStride();
+ }
+
+ // FIXME shall we remove it ?
+ inline Index stride() const
+ {
+ return Derived::IsVectorAtCompileTime ? innerStride() : outerStride();
+ }
+
+ /** \returns the pointer increment between two consecutive rows.
+ *
+ * \sa innerStride(), outerStride(), colStride()
+ */
+ EIGEN_DEVICE_FUNC
+ inline Index rowStride() const
+ {
+ return Derived::IsRowMajor ? outerStride() : innerStride();
+ }
+
+ /** \returns the pointer increment between two consecutive columns.
+ *
+ * \sa innerStride(), outerStride(), rowStride()
+ */
+ EIGEN_DEVICE_FUNC
+ inline Index colStride() const
+ {
+ return Derived::IsRowMajor ? innerStride() : outerStride();
+ }
+};
+
+namespace internal {
+
+template<int Alignment, typename Derived, bool JustReturnZero>
+struct first_aligned_impl
+{
+ static inline Index run(const Derived&)
+ { return 0; }
+};
+
+template<int Alignment, typename Derived>
+struct first_aligned_impl<Alignment, Derived, false>
+{
+ static inline Index run(const Derived& m)
+ {
+ return internal::first_aligned<Alignment>(m.data(), m.size());
+ }
+};
+
+/** \internal \returns the index of the first element of the array stored by \a m that is properly aligned with respect to \a Alignment for vectorization.
+ *
+ * \tparam Alignment requested alignment in Bytes.
+ *
+ * There is also the variant first_aligned(const Scalar*, Integer) defined in Memory.h. See it for more
+ * documentation.
+ */
+template<int Alignment, typename Derived>
+static inline Index first_aligned(const DenseBase<Derived>& m)
+{
+ enum { ReturnZero = (int(evaluator<Derived>::Alignment) >= Alignment) || !(Derived::Flags & DirectAccessBit) };
+ return first_aligned_impl<Alignment, Derived, ReturnZero>::run(m.derived());
+}
+
+template<typename Derived>
+static inline Index first_default_aligned(const DenseBase<Derived>& m)
+{
+ typedef typename Derived::Scalar Scalar;
+ typedef typename packet_traits<Scalar>::type DefaultPacketType;
+ return internal::first_aligned<int(unpacket_traits<DefaultPacketType>::alignment),Derived>(m);
+}
+
+template<typename Derived, bool HasDirectAccess = has_direct_access<Derived>::ret>
+struct inner_stride_at_compile_time
+{
+ enum { ret = traits<Derived>::InnerStrideAtCompileTime };
+};
+
+template<typename Derived>
+struct inner_stride_at_compile_time<Derived, false>
+{
+ enum { ret = 0 };
+};
+
+template<typename Derived, bool HasDirectAccess = has_direct_access<Derived>::ret>
+struct outer_stride_at_compile_time
+{
+ enum { ret = traits<Derived>::OuterStrideAtCompileTime };
+};
+
+template<typename Derived>
+struct outer_stride_at_compile_time<Derived, false>
+{
+ enum { ret = 0 };
+};
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_DENSECOEFFSBASE_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/DenseStorage.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/DenseStorage.h
new file mode 100644
index 0000000..7958fee
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/DenseStorage.h
@@ -0,0 +1,570 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2010-2013 Hauke Heibel <hauke.heibel@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_MATRIXSTORAGE_H
+#define EIGEN_MATRIXSTORAGE_H
+
+#ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+ #define EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN(X) X; EIGEN_DENSE_STORAGE_CTOR_PLUGIN;
+#else
+ #define EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN(X)
+#endif
+
+namespace Eigen {
+
+namespace internal {
+
+struct constructor_without_unaligned_array_assert {};
+
+template<typename T, int Size>
+EIGEN_DEVICE_FUNC
+void check_static_allocation_size()
+{
+ // if EIGEN_STACK_ALLOCATION_LIMIT is defined to 0, then no limit
+ #if EIGEN_STACK_ALLOCATION_LIMIT
+ EIGEN_STATIC_ASSERT(Size * sizeof(T) <= EIGEN_STACK_ALLOCATION_LIMIT, OBJECT_ALLOCATED_ON_STACK_IS_TOO_BIG);
+ #endif
+}
+
+/** \internal
+ * Static array. If the MatrixOrArrayOptions require auto-alignment, the array will be automatically aligned:
+ * to 16 bytes boundary if the total size is a multiple of 16 bytes.
+ */
+template <typename T, int Size, int MatrixOrArrayOptions,
+ int Alignment = (MatrixOrArrayOptions&DontAlign) ? 0
+ : compute_default_alignment<T,Size>::value >
+struct plain_array
+{
+ T array[Size];
+
+ EIGEN_DEVICE_FUNC
+ plain_array()
+ {
+ check_static_allocation_size<T,Size>();
+ }
+
+ EIGEN_DEVICE_FUNC
+ plain_array(constructor_without_unaligned_array_assert)
+ {
+ check_static_allocation_size<T,Size>();
+ }
+};
+
+#if defined(EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT)
+ #define EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(sizemask)
+#elif EIGEN_GNUC_AT_LEAST(4,7)
+ // GCC 4.7 is too aggressive in its optimizations and remove the alignement test based on the fact the array is declared to be aligned.
+ // See this bug report: http://gcc.gnu.org/bugzilla/show_bug.cgi?id=53900
+ // Hiding the origin of the array pointer behind a function argument seems to do the trick even if the function is inlined:
+ template<typename PtrType>
+ EIGEN_ALWAYS_INLINE PtrType eigen_unaligned_array_assert_workaround_gcc47(PtrType array) { return array; }
+ #define EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(sizemask) \
+ eigen_assert((internal::UIntPtr(eigen_unaligned_array_assert_workaround_gcc47(array)) & (sizemask)) == 0 \
+ && "this assertion is explained here: " \
+ "http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html" \
+ " **** READ THIS WEB PAGE !!! ****");
+#else
+ #define EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(sizemask) \
+ eigen_assert((internal::UIntPtr(array) & (sizemask)) == 0 \
+ && "this assertion is explained here: " \
+ "http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html" \
+ " **** READ THIS WEB PAGE !!! ****");
+#endif
+
+template <typename T, int Size, int MatrixOrArrayOptions>
+struct plain_array<T, Size, MatrixOrArrayOptions, 8>
+{
+ EIGEN_ALIGN_TO_BOUNDARY(8) T array[Size];
+
+ EIGEN_DEVICE_FUNC
+ plain_array()
+ {
+ EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(7);
+ check_static_allocation_size<T,Size>();
+ }
+
+ EIGEN_DEVICE_FUNC
+ plain_array(constructor_without_unaligned_array_assert)
+ {
+ check_static_allocation_size<T,Size>();
+ }
+};
+
+template <typename T, int Size, int MatrixOrArrayOptions>
+struct plain_array<T, Size, MatrixOrArrayOptions, 16>
+{
+ EIGEN_ALIGN_TO_BOUNDARY(16) T array[Size];
+
+ EIGEN_DEVICE_FUNC
+ plain_array()
+ {
+ EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(15);
+ check_static_allocation_size<T,Size>();
+ }
+
+ EIGEN_DEVICE_FUNC
+ plain_array(constructor_without_unaligned_array_assert)
+ {
+ check_static_allocation_size<T,Size>();
+ }
+};
+
+template <typename T, int Size, int MatrixOrArrayOptions>
+struct plain_array<T, Size, MatrixOrArrayOptions, 32>
+{
+ EIGEN_ALIGN_TO_BOUNDARY(32) T array[Size];
+
+ EIGEN_DEVICE_FUNC
+ plain_array()
+ {
+ EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(31);
+ check_static_allocation_size<T,Size>();
+ }
+
+ EIGEN_DEVICE_FUNC
+ plain_array(constructor_without_unaligned_array_assert)
+ {
+ check_static_allocation_size<T,Size>();
+ }
+};
+
+template <typename T, int Size, int MatrixOrArrayOptions>
+struct plain_array<T, Size, MatrixOrArrayOptions, 64>
+{
+ EIGEN_ALIGN_TO_BOUNDARY(64) T array[Size];
+
+ EIGEN_DEVICE_FUNC
+ plain_array()
+ {
+ EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(63);
+ check_static_allocation_size<T,Size>();
+ }
+
+ EIGEN_DEVICE_FUNC
+ plain_array(constructor_without_unaligned_array_assert)
+ {
+ check_static_allocation_size<T,Size>();
+ }
+};
+
+template <typename T, int MatrixOrArrayOptions, int Alignment>
+struct plain_array<T, 0, MatrixOrArrayOptions, Alignment>
+{
+ T array[1];
+ EIGEN_DEVICE_FUNC plain_array() {}
+ EIGEN_DEVICE_FUNC plain_array(constructor_without_unaligned_array_assert) {}
+};
+
+} // end namespace internal
+
+/** \internal
+ *
+ * \class DenseStorage
+ * \ingroup Core_Module
+ *
+ * \brief Stores the data of a matrix
+ *
+ * This class stores the data of fixed-size, dynamic-size or mixed matrices
+ * in a way as compact as possible.
+ *
+ * \sa Matrix
+ */
+template<typename T, int Size, int _Rows, int _Cols, int _Options> class DenseStorage;
+
+// purely fixed-size matrix
+template<typename T, int Size, int _Rows, int _Cols, int _Options> class DenseStorage
+{
+ internal::plain_array<T,Size,_Options> m_data;
+ public:
+ EIGEN_DEVICE_FUNC DenseStorage() {
+ EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN(Index size = Size)
+ }
+ EIGEN_DEVICE_FUNC
+ explicit DenseStorage(internal::constructor_without_unaligned_array_assert)
+ : m_data(internal::constructor_without_unaligned_array_assert()) {}
+ EIGEN_DEVICE_FUNC
+ DenseStorage(const DenseStorage& other) : m_data(other.m_data) {
+ EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN(Index size = Size)
+ }
+ EIGEN_DEVICE_FUNC
+ DenseStorage& operator=(const DenseStorage& other)
+ {
+ if (this != &other) m_data = other.m_data;
+ return *this;
+ }
+ EIGEN_DEVICE_FUNC DenseStorage(Index size, Index rows, Index cols) {
+ EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN({})
+ eigen_internal_assert(size==rows*cols && rows==_Rows && cols==_Cols);
+ EIGEN_UNUSED_VARIABLE(size);
+ EIGEN_UNUSED_VARIABLE(rows);
+ EIGEN_UNUSED_VARIABLE(cols);
+ }
+ EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); }
+ EIGEN_DEVICE_FUNC static Index rows(void) {return _Rows;}
+ EIGEN_DEVICE_FUNC static Index cols(void) {return _Cols;}
+ EIGEN_DEVICE_FUNC void conservativeResize(Index,Index,Index) {}
+ EIGEN_DEVICE_FUNC void resize(Index,Index,Index) {}
+ EIGEN_DEVICE_FUNC const T *data() const { return m_data.array; }
+ EIGEN_DEVICE_FUNC T *data() { return m_data.array; }
+};
+
+// null matrix
+template<typename T, int _Rows, int _Cols, int _Options> class DenseStorage<T, 0, _Rows, _Cols, _Options>
+{
+ public:
+ EIGEN_DEVICE_FUNC DenseStorage() {}
+ EIGEN_DEVICE_FUNC explicit DenseStorage(internal::constructor_without_unaligned_array_assert) {}
+ EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage&) {}
+ EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage&) { return *this; }
+ EIGEN_DEVICE_FUNC DenseStorage(Index,Index,Index) {}
+ EIGEN_DEVICE_FUNC void swap(DenseStorage& ) {}
+ EIGEN_DEVICE_FUNC static Index rows(void) {return _Rows;}
+ EIGEN_DEVICE_FUNC static Index cols(void) {return _Cols;}
+ EIGEN_DEVICE_FUNC void conservativeResize(Index,Index,Index) {}
+ EIGEN_DEVICE_FUNC void resize(Index,Index,Index) {}
+ EIGEN_DEVICE_FUNC const T *data() const { return 0; }
+ EIGEN_DEVICE_FUNC T *data() { return 0; }
+};
+
+// more specializations for null matrices; these are necessary to resolve ambiguities
+template<typename T, int _Options> class DenseStorage<T, 0, Dynamic, Dynamic, _Options>
+: public DenseStorage<T, 0, 0, 0, _Options> { };
+
+template<typename T, int _Rows, int _Options> class DenseStorage<T, 0, _Rows, Dynamic, _Options>
+: public DenseStorage<T, 0, 0, 0, _Options> { };
+
+template<typename T, int _Cols, int _Options> class DenseStorage<T, 0, Dynamic, _Cols, _Options>
+: public DenseStorage<T, 0, 0, 0, _Options> { };
+
+// dynamic-size matrix with fixed-size storage
+template<typename T, int Size, int _Options> class DenseStorage<T, Size, Dynamic, Dynamic, _Options>
+{
+ internal::plain_array<T,Size,_Options> m_data;
+ Index m_rows;
+ Index m_cols;
+ public:
+ EIGEN_DEVICE_FUNC DenseStorage() : m_rows(0), m_cols(0) {}
+ EIGEN_DEVICE_FUNC explicit DenseStorage(internal::constructor_without_unaligned_array_assert)
+ : m_data(internal::constructor_without_unaligned_array_assert()), m_rows(0), m_cols(0) {}
+ EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other) : m_data(other.m_data), m_rows(other.m_rows), m_cols(other.m_cols) {}
+ EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other)
+ {
+ if (this != &other)
+ {
+ m_data = other.m_data;
+ m_rows = other.m_rows;
+ m_cols = other.m_cols;
+ }
+ return *this;
+ }
+ EIGEN_DEVICE_FUNC DenseStorage(Index, Index rows, Index cols) : m_rows(rows), m_cols(cols) {}
+ EIGEN_DEVICE_FUNC void swap(DenseStorage& other)
+ { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); std::swap(m_cols,other.m_cols); }
+ EIGEN_DEVICE_FUNC Index rows() const {return m_rows;}
+ EIGEN_DEVICE_FUNC Index cols() const {return m_cols;}
+ EIGEN_DEVICE_FUNC void conservativeResize(Index, Index rows, Index cols) { m_rows = rows; m_cols = cols; }
+ EIGEN_DEVICE_FUNC void resize(Index, Index rows, Index cols) { m_rows = rows; m_cols = cols; }
+ EIGEN_DEVICE_FUNC const T *data() const { return m_data.array; }
+ EIGEN_DEVICE_FUNC T *data() { return m_data.array; }
+};
+
+// dynamic-size matrix with fixed-size storage and fixed width
+template<typename T, int Size, int _Cols, int _Options> class DenseStorage<T, Size, Dynamic, _Cols, _Options>
+{
+ internal::plain_array<T,Size,_Options> m_data;
+ Index m_rows;
+ public:
+ EIGEN_DEVICE_FUNC DenseStorage() : m_rows(0) {}
+ EIGEN_DEVICE_FUNC explicit DenseStorage(internal::constructor_without_unaligned_array_assert)
+ : m_data(internal::constructor_without_unaligned_array_assert()), m_rows(0) {}
+ EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other) : m_data(other.m_data), m_rows(other.m_rows) {}
+ EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other)
+ {
+ if (this != &other)
+ {
+ m_data = other.m_data;
+ m_rows = other.m_rows;
+ }
+ return *this;
+ }
+ EIGEN_DEVICE_FUNC DenseStorage(Index, Index rows, Index) : m_rows(rows) {}
+ EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); }
+ EIGEN_DEVICE_FUNC Index rows(void) const {return m_rows;}
+ EIGEN_DEVICE_FUNC Index cols(void) const {return _Cols;}
+ EIGEN_DEVICE_FUNC void conservativeResize(Index, Index rows, Index) { m_rows = rows; }
+ EIGEN_DEVICE_FUNC void resize(Index, Index rows, Index) { m_rows = rows; }
+ EIGEN_DEVICE_FUNC const T *data() const { return m_data.array; }
+ EIGEN_DEVICE_FUNC T *data() { return m_data.array; }
+};
+
+// dynamic-size matrix with fixed-size storage and fixed height
+template<typename T, int Size, int _Rows, int _Options> class DenseStorage<T, Size, _Rows, Dynamic, _Options>
+{
+ internal::plain_array<T,Size,_Options> m_data;
+ Index m_cols;
+ public:
+ EIGEN_DEVICE_FUNC DenseStorage() : m_cols(0) {}
+ EIGEN_DEVICE_FUNC explicit DenseStorage(internal::constructor_without_unaligned_array_assert)
+ : m_data(internal::constructor_without_unaligned_array_assert()), m_cols(0) {}
+ EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other) : m_data(other.m_data), m_cols(other.m_cols) {}
+ EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other)
+ {
+ if (this != &other)
+ {
+ m_data = other.m_data;
+ m_cols = other.m_cols;
+ }
+ return *this;
+ }
+ EIGEN_DEVICE_FUNC DenseStorage(Index, Index, Index cols) : m_cols(cols) {}
+ EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_cols,other.m_cols); }
+ EIGEN_DEVICE_FUNC Index rows(void) const {return _Rows;}
+ EIGEN_DEVICE_FUNC Index cols(void) const {return m_cols;}
+ void conservativeResize(Index, Index, Index cols) { m_cols = cols; }
+ void resize(Index, Index, Index cols) { m_cols = cols; }
+ EIGEN_DEVICE_FUNC const T *data() const { return m_data.array; }
+ EIGEN_DEVICE_FUNC T *data() { return m_data.array; }
+};
+
+// purely dynamic matrix.
+template<typename T, int _Options> class DenseStorage<T, Dynamic, Dynamic, Dynamic, _Options>
+{
+ T *m_data;
+ Index m_rows;
+ Index m_cols;
+ public:
+ EIGEN_DEVICE_FUNC DenseStorage() : m_data(0), m_rows(0), m_cols(0) {}
+ EIGEN_DEVICE_FUNC explicit DenseStorage(internal::constructor_without_unaligned_array_assert)
+ : m_data(0), m_rows(0), m_cols(0) {}
+ EIGEN_DEVICE_FUNC DenseStorage(Index size, Index rows, Index cols)
+ : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size)), m_rows(rows), m_cols(cols)
+ {
+ EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN({})
+ eigen_internal_assert(size==rows*cols && rows>=0 && cols >=0);
+ }
+ EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other)
+ : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(other.m_rows*other.m_cols))
+ , m_rows(other.m_rows)
+ , m_cols(other.m_cols)
+ {
+ EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN(Index size = m_rows*m_cols)
+ internal::smart_copy(other.m_data, other.m_data+other.m_rows*other.m_cols, m_data);
+ }
+ EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other)
+ {
+ if (this != &other)
+ {
+ DenseStorage tmp(other);
+ this->swap(tmp);
+ }
+ return *this;
+ }
+#if EIGEN_HAS_RVALUE_REFERENCES
+ EIGEN_DEVICE_FUNC
+ DenseStorage(DenseStorage&& other) EIGEN_NOEXCEPT
+ : m_data(std::move(other.m_data))
+ , m_rows(std::move(other.m_rows))
+ , m_cols(std::move(other.m_cols))
+ {
+ other.m_data = nullptr;
+ other.m_rows = 0;
+ other.m_cols = 0;
+ }
+ EIGEN_DEVICE_FUNC
+ DenseStorage& operator=(DenseStorage&& other) EIGEN_NOEXCEPT
+ {
+ using std::swap;
+ swap(m_data, other.m_data);
+ swap(m_rows, other.m_rows);
+ swap(m_cols, other.m_cols);
+ return *this;
+ }
+#endif
+ EIGEN_DEVICE_FUNC ~DenseStorage() { internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, m_rows*m_cols); }
+ EIGEN_DEVICE_FUNC void swap(DenseStorage& other)
+ { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); std::swap(m_cols,other.m_cols); }
+ EIGEN_DEVICE_FUNC Index rows(void) const {return m_rows;}
+ EIGEN_DEVICE_FUNC Index cols(void) const {return m_cols;}
+ void conservativeResize(Index size, Index rows, Index cols)
+ {
+ m_data = internal::conditional_aligned_realloc_new_auto<T,(_Options&DontAlign)==0>(m_data, size, m_rows*m_cols);
+ m_rows = rows;
+ m_cols = cols;
+ }
+ EIGEN_DEVICE_FUNC void resize(Index size, Index rows, Index cols)
+ {
+ if(size != m_rows*m_cols)
+ {
+ internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, m_rows*m_cols);
+ if (size)
+ m_data = internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size);
+ else
+ m_data = 0;
+ EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN({})
+ }
+ m_rows = rows;
+ m_cols = cols;
+ }
+ EIGEN_DEVICE_FUNC const T *data() const { return m_data; }
+ EIGEN_DEVICE_FUNC T *data() { return m_data; }
+};
+
+// matrix with dynamic width and fixed height (so that matrix has dynamic size).
+template<typename T, int _Rows, int _Options> class DenseStorage<T, Dynamic, _Rows, Dynamic, _Options>
+{
+ T *m_data;
+ Index m_cols;
+ public:
+ EIGEN_DEVICE_FUNC DenseStorage() : m_data(0), m_cols(0) {}
+ explicit DenseStorage(internal::constructor_without_unaligned_array_assert) : m_data(0), m_cols(0) {}
+ EIGEN_DEVICE_FUNC DenseStorage(Index size, Index rows, Index cols) : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size)), m_cols(cols)
+ {
+ EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN({})
+ eigen_internal_assert(size==rows*cols && rows==_Rows && cols >=0);
+ EIGEN_UNUSED_VARIABLE(rows);
+ }
+ EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other)
+ : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(_Rows*other.m_cols))
+ , m_cols(other.m_cols)
+ {
+ EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN(Index size = m_cols*_Rows)
+ internal::smart_copy(other.m_data, other.m_data+_Rows*m_cols, m_data);
+ }
+ EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other)
+ {
+ if (this != &other)
+ {
+ DenseStorage tmp(other);
+ this->swap(tmp);
+ }
+ return *this;
+ }
+#if EIGEN_HAS_RVALUE_REFERENCES
+ EIGEN_DEVICE_FUNC
+ DenseStorage(DenseStorage&& other) EIGEN_NOEXCEPT
+ : m_data(std::move(other.m_data))
+ , m_cols(std::move(other.m_cols))
+ {
+ other.m_data = nullptr;
+ other.m_cols = 0;
+ }
+ EIGEN_DEVICE_FUNC
+ DenseStorage& operator=(DenseStorage&& other) EIGEN_NOEXCEPT
+ {
+ using std::swap;
+ swap(m_data, other.m_data);
+ swap(m_cols, other.m_cols);
+ return *this;
+ }
+#endif
+ EIGEN_DEVICE_FUNC ~DenseStorage() { internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, _Rows*m_cols); }
+ EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_cols,other.m_cols); }
+ EIGEN_DEVICE_FUNC static Index rows(void) {return _Rows;}
+ EIGEN_DEVICE_FUNC Index cols(void) const {return m_cols;}
+ EIGEN_DEVICE_FUNC void conservativeResize(Index size, Index, Index cols)
+ {
+ m_data = internal::conditional_aligned_realloc_new_auto<T,(_Options&DontAlign)==0>(m_data, size, _Rows*m_cols);
+ m_cols = cols;
+ }
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void resize(Index size, Index, Index cols)
+ {
+ if(size != _Rows*m_cols)
+ {
+ internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, _Rows*m_cols);
+ if (size)
+ m_data = internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size);
+ else
+ m_data = 0;
+ EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN({})
+ }
+ m_cols = cols;
+ }
+ EIGEN_DEVICE_FUNC const T *data() const { return m_data; }
+ EIGEN_DEVICE_FUNC T *data() { return m_data; }
+};
+
+// matrix with dynamic height and fixed width (so that matrix has dynamic size).
+template<typename T, int _Cols, int _Options> class DenseStorage<T, Dynamic, Dynamic, _Cols, _Options>
+{
+ T *m_data;
+ Index m_rows;
+ public:
+ EIGEN_DEVICE_FUNC DenseStorage() : m_data(0), m_rows(0) {}
+ explicit DenseStorage(internal::constructor_without_unaligned_array_assert) : m_data(0), m_rows(0) {}
+ EIGEN_DEVICE_FUNC DenseStorage(Index size, Index rows, Index cols) : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size)), m_rows(rows)
+ {
+ EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN({})
+ eigen_internal_assert(size==rows*cols && rows>=0 && cols == _Cols);
+ EIGEN_UNUSED_VARIABLE(cols);
+ }
+ EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other)
+ : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(other.m_rows*_Cols))
+ , m_rows(other.m_rows)
+ {
+ EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN(Index size = m_rows*_Cols)
+ internal::smart_copy(other.m_data, other.m_data+other.m_rows*_Cols, m_data);
+ }
+ EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other)
+ {
+ if (this != &other)
+ {
+ DenseStorage tmp(other);
+ this->swap(tmp);
+ }
+ return *this;
+ }
+#if EIGEN_HAS_RVALUE_REFERENCES
+ EIGEN_DEVICE_FUNC
+ DenseStorage(DenseStorage&& other) EIGEN_NOEXCEPT
+ : m_data(std::move(other.m_data))
+ , m_rows(std::move(other.m_rows))
+ {
+ other.m_data = nullptr;
+ other.m_rows = 0;
+ }
+ EIGEN_DEVICE_FUNC
+ DenseStorage& operator=(DenseStorage&& other) EIGEN_NOEXCEPT
+ {
+ using std::swap;
+ swap(m_data, other.m_data);
+ swap(m_rows, other.m_rows);
+ return *this;
+ }
+#endif
+ EIGEN_DEVICE_FUNC ~DenseStorage() { internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, _Cols*m_rows); }
+ EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); }
+ EIGEN_DEVICE_FUNC Index rows(void) const {return m_rows;}
+ EIGEN_DEVICE_FUNC static Index cols(void) {return _Cols;}
+ void conservativeResize(Index size, Index rows, Index)
+ {
+ m_data = internal::conditional_aligned_realloc_new_auto<T,(_Options&DontAlign)==0>(m_data, size, m_rows*_Cols);
+ m_rows = rows;
+ }
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void resize(Index size, Index rows, Index)
+ {
+ if(size != m_rows*_Cols)
+ {
+ internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, _Cols*m_rows);
+ if (size)
+ m_data = internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size);
+ else
+ m_data = 0;
+ EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN({})
+ }
+ m_rows = rows;
+ }
+ EIGEN_DEVICE_FUNC const T *data() const { return m_data; }
+ EIGEN_DEVICE_FUNC T *data() { return m_data; }
+};
+
+} // end namespace Eigen
+
+#endif // EIGEN_MATRIX_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Diagonal.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Diagonal.h
new file mode 100644
index 0000000..afcaf35
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Diagonal.h
@@ -0,0 +1,260 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2007-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_DIAGONAL_H
+#define EIGEN_DIAGONAL_H
+
+namespace Eigen {
+
+/** \class Diagonal
+ * \ingroup Core_Module
+ *
+ * \brief Expression of a diagonal/subdiagonal/superdiagonal in a matrix
+ *
+ * \param MatrixType the type of the object in which we are taking a sub/main/super diagonal
+ * \param DiagIndex the index of the sub/super diagonal. The default is 0 and it means the main diagonal.
+ * A positive value means a superdiagonal, a negative value means a subdiagonal.
+ * You can also use DynamicIndex so the index can be set at runtime.
+ *
+ * The matrix is not required to be square.
+ *
+ * This class represents an expression of the main diagonal, or any sub/super diagonal
+ * of a square matrix. It is the return type of MatrixBase::diagonal() and MatrixBase::diagonal(Index) and most of the
+ * time this is the only way it is used.
+ *
+ * \sa MatrixBase::diagonal(), MatrixBase::diagonal(Index)
+ */
+
+namespace internal {
+template<typename MatrixType, int DiagIndex>
+struct traits<Diagonal<MatrixType,DiagIndex> >
+ : traits<MatrixType>
+{
+ typedef typename ref_selector<MatrixType>::type MatrixTypeNested;
+ typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
+ typedef typename MatrixType::StorageKind StorageKind;
+ enum {
+ RowsAtCompileTime = (int(DiagIndex) == DynamicIndex || int(MatrixType::SizeAtCompileTime) == Dynamic) ? Dynamic
+ : (EIGEN_PLAIN_ENUM_MIN(MatrixType::RowsAtCompileTime - EIGEN_PLAIN_ENUM_MAX(-DiagIndex, 0),
+ MatrixType::ColsAtCompileTime - EIGEN_PLAIN_ENUM_MAX( DiagIndex, 0))),
+ ColsAtCompileTime = 1,
+ MaxRowsAtCompileTime = int(MatrixType::MaxSizeAtCompileTime) == Dynamic ? Dynamic
+ : DiagIndex == DynamicIndex ? EIGEN_SIZE_MIN_PREFER_FIXED(MatrixType::MaxRowsAtCompileTime,
+ MatrixType::MaxColsAtCompileTime)
+ : (EIGEN_PLAIN_ENUM_MIN(MatrixType::MaxRowsAtCompileTime - EIGEN_PLAIN_ENUM_MAX(-DiagIndex, 0),
+ MatrixType::MaxColsAtCompileTime - EIGEN_PLAIN_ENUM_MAX( DiagIndex, 0))),
+ MaxColsAtCompileTime = 1,
+ MaskLvalueBit = is_lvalue<MatrixType>::value ? LvalueBit : 0,
+ Flags = (unsigned int)_MatrixTypeNested::Flags & (RowMajorBit | MaskLvalueBit | DirectAccessBit) & ~RowMajorBit, // FIXME DirectAccessBit should not be handled by expressions
+ MatrixTypeOuterStride = outer_stride_at_compile_time<MatrixType>::ret,
+ InnerStrideAtCompileTime = MatrixTypeOuterStride == Dynamic ? Dynamic : MatrixTypeOuterStride+1,
+ OuterStrideAtCompileTime = 0
+ };
+};
+}
+
+template<typename MatrixType, int _DiagIndex> class Diagonal
+ : public internal::dense_xpr_base< Diagonal<MatrixType,_DiagIndex> >::type
+{
+ public:
+
+ enum { DiagIndex = _DiagIndex };
+ typedef typename internal::dense_xpr_base<Diagonal>::type Base;
+ EIGEN_DENSE_PUBLIC_INTERFACE(Diagonal)
+
+ EIGEN_DEVICE_FUNC
+ explicit inline Diagonal(MatrixType& matrix, Index a_index = DiagIndex) : m_matrix(matrix), m_index(a_index)
+ {
+ eigen_assert( a_index <= m_matrix.cols() && -a_index <= m_matrix.rows() );
+ }
+
+ EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Diagonal)
+
+ EIGEN_DEVICE_FUNC
+ inline Index rows() const
+ {
+ return m_index.value()<0 ? numext::mini<Index>(m_matrix.cols(),m_matrix.rows()+m_index.value())
+ : numext::mini<Index>(m_matrix.rows(),m_matrix.cols()-m_index.value());
+ }
+
+ EIGEN_DEVICE_FUNC
+ inline Index cols() const { return 1; }
+
+ EIGEN_DEVICE_FUNC
+ inline Index innerStride() const
+ {
+ return m_matrix.outerStride() + 1;
+ }
+
+ EIGEN_DEVICE_FUNC
+ inline Index outerStride() const
+ {
+ return 0;
+ }
+
+ typedef typename internal::conditional<
+ internal::is_lvalue<MatrixType>::value,
+ Scalar,
+ const Scalar
+ >::type ScalarWithConstIfNotLvalue;
+
+ EIGEN_DEVICE_FUNC
+ inline ScalarWithConstIfNotLvalue* data() { return &(m_matrix.coeffRef(rowOffset(), colOffset())); }
+ EIGEN_DEVICE_FUNC
+ inline const Scalar* data() const { return &(m_matrix.coeffRef(rowOffset(), colOffset())); }
+
+ EIGEN_DEVICE_FUNC
+ inline Scalar& coeffRef(Index row, Index)
+ {
+ EIGEN_STATIC_ASSERT_LVALUE(MatrixType)
+ return m_matrix.coeffRef(row+rowOffset(), row+colOffset());
+ }
+
+ EIGEN_DEVICE_FUNC
+ inline const Scalar& coeffRef(Index row, Index) const
+ {
+ return m_matrix.coeffRef(row+rowOffset(), row+colOffset());
+ }
+
+ EIGEN_DEVICE_FUNC
+ inline CoeffReturnType coeff(Index row, Index) const
+ {
+ return m_matrix.coeff(row+rowOffset(), row+colOffset());
+ }
+
+ EIGEN_DEVICE_FUNC
+ inline Scalar& coeffRef(Index idx)
+ {
+ EIGEN_STATIC_ASSERT_LVALUE(MatrixType)
+ return m_matrix.coeffRef(idx+rowOffset(), idx+colOffset());
+ }
+
+ EIGEN_DEVICE_FUNC
+ inline const Scalar& coeffRef(Index idx) const
+ {
+ return m_matrix.coeffRef(idx+rowOffset(), idx+colOffset());
+ }
+
+ EIGEN_DEVICE_FUNC
+ inline CoeffReturnType coeff(Index idx) const
+ {
+ return m_matrix.coeff(idx+rowOffset(), idx+colOffset());
+ }
+
+ EIGEN_DEVICE_FUNC
+ inline const typename internal::remove_all<typename MatrixType::Nested>::type&
+ nestedExpression() const
+ {
+ return m_matrix;
+ }
+
+ EIGEN_DEVICE_FUNC
+ inline Index index() const
+ {
+ return m_index.value();
+ }
+
+ protected:
+ typename internal::ref_selector<MatrixType>::non_const_type m_matrix;
+ const internal::variable_if_dynamicindex<Index, DiagIndex> m_index;
+
+ private:
+ // some compilers may fail to optimize std::max etc in case of compile-time constants...
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Index absDiagIndex() const { return m_index.value()>0 ? m_index.value() : -m_index.value(); }
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Index rowOffset() const { return m_index.value()>0 ? 0 : -m_index.value(); }
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Index colOffset() const { return m_index.value()>0 ? m_index.value() : 0; }
+ // trigger a compile-time error if someone try to call packet
+ template<int LoadMode> typename MatrixType::PacketReturnType packet(Index) const;
+ template<int LoadMode> typename MatrixType::PacketReturnType packet(Index,Index) const;
+};
+
+/** \returns an expression of the main diagonal of the matrix \c *this
+ *
+ * \c *this is not required to be square.
+ *
+ * Example: \include MatrixBase_diagonal.cpp
+ * Output: \verbinclude MatrixBase_diagonal.out
+ *
+ * \sa class Diagonal */
+template<typename Derived>
+inline typename MatrixBase<Derived>::DiagonalReturnType
+MatrixBase<Derived>::diagonal()
+{
+ return DiagonalReturnType(derived());
+}
+
+/** This is the const version of diagonal(). */
+template<typename Derived>
+inline typename MatrixBase<Derived>::ConstDiagonalReturnType
+MatrixBase<Derived>::diagonal() const
+{
+ return ConstDiagonalReturnType(derived());
+}
+
+/** \returns an expression of the \a DiagIndex-th sub or super diagonal of the matrix \c *this
+ *
+ * \c *this is not required to be square.
+ *
+ * The template parameter \a DiagIndex represent a super diagonal if \a DiagIndex > 0
+ * and a sub diagonal otherwise. \a DiagIndex == 0 is equivalent to the main diagonal.
+ *
+ * Example: \include MatrixBase_diagonal_int.cpp
+ * Output: \verbinclude MatrixBase_diagonal_int.out
+ *
+ * \sa MatrixBase::diagonal(), class Diagonal */
+template<typename Derived>
+inline typename MatrixBase<Derived>::DiagonalDynamicIndexReturnType
+MatrixBase<Derived>::diagonal(Index index)
+{
+ return DiagonalDynamicIndexReturnType(derived(), index);
+}
+
+/** This is the const version of diagonal(Index). */
+template<typename Derived>
+inline typename MatrixBase<Derived>::ConstDiagonalDynamicIndexReturnType
+MatrixBase<Derived>::diagonal(Index index) const
+{
+ return ConstDiagonalDynamicIndexReturnType(derived(), index);
+}
+
+/** \returns an expression of the \a DiagIndex-th sub or super diagonal of the matrix \c *this
+ *
+ * \c *this is not required to be square.
+ *
+ * The template parameter \a DiagIndex represent a super diagonal if \a DiagIndex > 0
+ * and a sub diagonal otherwise. \a DiagIndex == 0 is equivalent to the main diagonal.
+ *
+ * Example: \include MatrixBase_diagonal_template_int.cpp
+ * Output: \verbinclude MatrixBase_diagonal_template_int.out
+ *
+ * \sa MatrixBase::diagonal(), class Diagonal */
+template<typename Derived>
+template<int Index_>
+inline typename MatrixBase<Derived>::template DiagonalIndexReturnType<Index_>::Type
+MatrixBase<Derived>::diagonal()
+{
+ return typename DiagonalIndexReturnType<Index_>::Type(derived());
+}
+
+/** This is the const version of diagonal<int>(). */
+template<typename Derived>
+template<int Index_>
+inline typename MatrixBase<Derived>::template ConstDiagonalIndexReturnType<Index_>::Type
+MatrixBase<Derived>::diagonal() const
+{
+ return typename ConstDiagonalIndexReturnType<Index_>::Type(derived());
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_DIAGONAL_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/DiagonalMatrix.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/DiagonalMatrix.h
new file mode 100644
index 0000000..ecfdce8
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/DiagonalMatrix.h
@@ -0,0 +1,343 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2007-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_DIAGONALMATRIX_H
+#define EIGEN_DIAGONALMATRIX_H
+
+namespace Eigen {
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template<typename Derived>
+class DiagonalBase : public EigenBase<Derived>
+{
+ public:
+ typedef typename internal::traits<Derived>::DiagonalVectorType DiagonalVectorType;
+ typedef typename DiagonalVectorType::Scalar Scalar;
+ typedef typename DiagonalVectorType::RealScalar RealScalar;
+ typedef typename internal::traits<Derived>::StorageKind StorageKind;
+ typedef typename internal::traits<Derived>::StorageIndex StorageIndex;
+
+ enum {
+ RowsAtCompileTime = DiagonalVectorType::SizeAtCompileTime,
+ ColsAtCompileTime = DiagonalVectorType::SizeAtCompileTime,
+ MaxRowsAtCompileTime = DiagonalVectorType::MaxSizeAtCompileTime,
+ MaxColsAtCompileTime = DiagonalVectorType::MaxSizeAtCompileTime,
+ IsVectorAtCompileTime = 0,
+ Flags = NoPreferredStorageOrderBit
+ };
+
+ typedef Matrix<Scalar, RowsAtCompileTime, ColsAtCompileTime, 0, MaxRowsAtCompileTime, MaxColsAtCompileTime> DenseMatrixType;
+ typedef DenseMatrixType DenseType;
+ typedef DiagonalMatrix<Scalar,DiagonalVectorType::SizeAtCompileTime,DiagonalVectorType::MaxSizeAtCompileTime> PlainObject;
+
+ EIGEN_DEVICE_FUNC
+ inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
+ EIGEN_DEVICE_FUNC
+ inline Derived& derived() { return *static_cast<Derived*>(this); }
+
+ EIGEN_DEVICE_FUNC
+ DenseMatrixType toDenseMatrix() const { return derived(); }
+
+ EIGEN_DEVICE_FUNC
+ inline const DiagonalVectorType& diagonal() const { return derived().diagonal(); }
+ EIGEN_DEVICE_FUNC
+ inline DiagonalVectorType& diagonal() { return derived().diagonal(); }
+
+ EIGEN_DEVICE_FUNC
+ inline Index rows() const { return diagonal().size(); }
+ EIGEN_DEVICE_FUNC
+ inline Index cols() const { return diagonal().size(); }
+
+ template<typename MatrixDerived>
+ EIGEN_DEVICE_FUNC
+ const Product<Derived,MatrixDerived,LazyProduct>
+ operator*(const MatrixBase<MatrixDerived> &matrix) const
+ {
+ return Product<Derived, MatrixDerived, LazyProduct>(derived(),matrix.derived());
+ }
+
+ typedef DiagonalWrapper<const CwiseUnaryOp<internal::scalar_inverse_op<Scalar>, const DiagonalVectorType> > InverseReturnType;
+ EIGEN_DEVICE_FUNC
+ inline const InverseReturnType
+ inverse() const
+ {
+ return InverseReturnType(diagonal().cwiseInverse());
+ }
+
+ EIGEN_DEVICE_FUNC
+ inline const DiagonalWrapper<const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(DiagonalVectorType,Scalar,product) >
+ operator*(const Scalar& scalar) const
+ {
+ return DiagonalWrapper<const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(DiagonalVectorType,Scalar,product) >(diagonal() * scalar);
+ }
+ EIGEN_DEVICE_FUNC
+ friend inline const DiagonalWrapper<const EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar,DiagonalVectorType,product) >
+ operator*(const Scalar& scalar, const DiagonalBase& other)
+ {
+ return DiagonalWrapper<const EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar,DiagonalVectorType,product) >(scalar * other.diagonal());
+ }
+};
+
+#endif
+
+/** \class DiagonalMatrix
+ * \ingroup Core_Module
+ *
+ * \brief Represents a diagonal matrix with its storage
+ *
+ * \param _Scalar the type of coefficients
+ * \param SizeAtCompileTime the dimension of the matrix, or Dynamic
+ * \param MaxSizeAtCompileTime the dimension of the matrix, or Dynamic. This parameter is optional and defaults
+ * to SizeAtCompileTime. Most of the time, you do not need to specify it.
+ *
+ * \sa class DiagonalWrapper
+ */
+
+namespace internal {
+template<typename _Scalar, int SizeAtCompileTime, int MaxSizeAtCompileTime>
+struct traits<DiagonalMatrix<_Scalar,SizeAtCompileTime,MaxSizeAtCompileTime> >
+ : traits<Matrix<_Scalar,SizeAtCompileTime,SizeAtCompileTime,0,MaxSizeAtCompileTime,MaxSizeAtCompileTime> >
+{
+ typedef Matrix<_Scalar,SizeAtCompileTime,1,0,MaxSizeAtCompileTime,1> DiagonalVectorType;
+ typedef DiagonalShape StorageKind;
+ enum {
+ Flags = LvalueBit | NoPreferredStorageOrderBit
+ };
+};
+}
+template<typename _Scalar, int SizeAtCompileTime, int MaxSizeAtCompileTime>
+class DiagonalMatrix
+ : public DiagonalBase<DiagonalMatrix<_Scalar,SizeAtCompileTime,MaxSizeAtCompileTime> >
+{
+ public:
+ #ifndef EIGEN_PARSED_BY_DOXYGEN
+ typedef typename internal::traits<DiagonalMatrix>::DiagonalVectorType DiagonalVectorType;
+ typedef const DiagonalMatrix& Nested;
+ typedef _Scalar Scalar;
+ typedef typename internal::traits<DiagonalMatrix>::StorageKind StorageKind;
+ typedef typename internal::traits<DiagonalMatrix>::StorageIndex StorageIndex;
+ #endif
+
+ protected:
+
+ DiagonalVectorType m_diagonal;
+
+ public:
+
+ /** const version of diagonal(). */
+ EIGEN_DEVICE_FUNC
+ inline const DiagonalVectorType& diagonal() const { return m_diagonal; }
+ /** \returns a reference to the stored vector of diagonal coefficients. */
+ EIGEN_DEVICE_FUNC
+ inline DiagonalVectorType& diagonal() { return m_diagonal; }
+
+ /** Default constructor without initialization */
+ EIGEN_DEVICE_FUNC
+ inline DiagonalMatrix() {}
+
+ /** Constructs a diagonal matrix with given dimension */
+ EIGEN_DEVICE_FUNC
+ explicit inline DiagonalMatrix(Index dim) : m_diagonal(dim) {}
+
+ /** 2D constructor. */
+ EIGEN_DEVICE_FUNC
+ inline DiagonalMatrix(const Scalar& x, const Scalar& y) : m_diagonal(x,y) {}
+
+ /** 3D constructor. */
+ EIGEN_DEVICE_FUNC
+ inline DiagonalMatrix(const Scalar& x, const Scalar& y, const Scalar& z) : m_diagonal(x,y,z) {}
+
+ /** Copy constructor. */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ inline DiagonalMatrix(const DiagonalBase<OtherDerived>& other) : m_diagonal(other.diagonal()) {}
+
+ #ifndef EIGEN_PARSED_BY_DOXYGEN
+ /** copy constructor. prevent a default copy constructor from hiding the other templated constructor */
+ inline DiagonalMatrix(const DiagonalMatrix& other) : m_diagonal(other.diagonal()) {}
+ #endif
+
+ /** generic constructor from expression of the diagonal coefficients */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ explicit inline DiagonalMatrix(const MatrixBase<OtherDerived>& other) : m_diagonal(other)
+ {}
+
+ /** Copy operator. */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ DiagonalMatrix& operator=(const DiagonalBase<OtherDerived>& other)
+ {
+ m_diagonal = other.diagonal();
+ return *this;
+ }
+
+ #ifndef EIGEN_PARSED_BY_DOXYGEN
+ /** This is a special case of the templated operator=. Its purpose is to
+ * prevent a default operator= from hiding the templated operator=.
+ */
+ EIGEN_DEVICE_FUNC
+ DiagonalMatrix& operator=(const DiagonalMatrix& other)
+ {
+ m_diagonal = other.diagonal();
+ return *this;
+ }
+ #endif
+
+ /** Resizes to given size. */
+ EIGEN_DEVICE_FUNC
+ inline void resize(Index size) { m_diagonal.resize(size); }
+ /** Sets all coefficients to zero. */
+ EIGEN_DEVICE_FUNC
+ inline void setZero() { m_diagonal.setZero(); }
+ /** Resizes and sets all coefficients to zero. */
+ EIGEN_DEVICE_FUNC
+ inline void setZero(Index size) { m_diagonal.setZero(size); }
+ /** Sets this matrix to be the identity matrix of the current size. */
+ EIGEN_DEVICE_FUNC
+ inline void setIdentity() { m_diagonal.setOnes(); }
+ /** Sets this matrix to be the identity matrix of the given size. */
+ EIGEN_DEVICE_FUNC
+ inline void setIdentity(Index size) { m_diagonal.setOnes(size); }
+};
+
+/** \class DiagonalWrapper
+ * \ingroup Core_Module
+ *
+ * \brief Expression of a diagonal matrix
+ *
+ * \param _DiagonalVectorType the type of the vector of diagonal coefficients
+ *
+ * This class is an expression of a diagonal matrix, but not storing its own vector of diagonal coefficients,
+ * instead wrapping an existing vector expression. It is the return type of MatrixBase::asDiagonal()
+ * and most of the time this is the only way that it is used.
+ *
+ * \sa class DiagonalMatrix, class DiagonalBase, MatrixBase::asDiagonal()
+ */
+
+namespace internal {
+template<typename _DiagonalVectorType>
+struct traits<DiagonalWrapper<_DiagonalVectorType> >
+{
+ typedef _DiagonalVectorType DiagonalVectorType;
+ typedef typename DiagonalVectorType::Scalar Scalar;
+ typedef typename DiagonalVectorType::StorageIndex StorageIndex;
+ typedef DiagonalShape StorageKind;
+ typedef typename traits<DiagonalVectorType>::XprKind XprKind;
+ enum {
+ RowsAtCompileTime = DiagonalVectorType::SizeAtCompileTime,
+ ColsAtCompileTime = DiagonalVectorType::SizeAtCompileTime,
+ MaxRowsAtCompileTime = DiagonalVectorType::MaxSizeAtCompileTime,
+ MaxColsAtCompileTime = DiagonalVectorType::MaxSizeAtCompileTime,
+ Flags = (traits<DiagonalVectorType>::Flags & LvalueBit) | NoPreferredStorageOrderBit
+ };
+};
+}
+
+template<typename _DiagonalVectorType>
+class DiagonalWrapper
+ : public DiagonalBase<DiagonalWrapper<_DiagonalVectorType> >, internal::no_assignment_operator
+{
+ public:
+ #ifndef EIGEN_PARSED_BY_DOXYGEN
+ typedef _DiagonalVectorType DiagonalVectorType;
+ typedef DiagonalWrapper Nested;
+ #endif
+
+ /** Constructor from expression of diagonal coefficients to wrap. */
+ EIGEN_DEVICE_FUNC
+ explicit inline DiagonalWrapper(DiagonalVectorType& a_diagonal) : m_diagonal(a_diagonal) {}
+
+ /** \returns a const reference to the wrapped expression of diagonal coefficients. */
+ EIGEN_DEVICE_FUNC
+ const DiagonalVectorType& diagonal() const { return m_diagonal; }
+
+ protected:
+ typename DiagonalVectorType::Nested m_diagonal;
+};
+
+/** \returns a pseudo-expression of a diagonal matrix with *this as vector of diagonal coefficients
+ *
+ * \only_for_vectors
+ *
+ * Example: \include MatrixBase_asDiagonal.cpp
+ * Output: \verbinclude MatrixBase_asDiagonal.out
+ *
+ * \sa class DiagonalWrapper, class DiagonalMatrix, diagonal(), isDiagonal()
+ **/
+template<typename Derived>
+inline const DiagonalWrapper<const Derived>
+MatrixBase<Derived>::asDiagonal() const
+{
+ return DiagonalWrapper<const Derived>(derived());
+}
+
+/** \returns true if *this is approximately equal to a diagonal matrix,
+ * within the precision given by \a prec.
+ *
+ * Example: \include MatrixBase_isDiagonal.cpp
+ * Output: \verbinclude MatrixBase_isDiagonal.out
+ *
+ * \sa asDiagonal()
+ */
+template<typename Derived>
+bool MatrixBase<Derived>::isDiagonal(const RealScalar& prec) const
+{
+ if(cols() != rows()) return false;
+ RealScalar maxAbsOnDiagonal = static_cast<RealScalar>(-1);
+ for(Index j = 0; j < cols(); ++j)
+ {
+ RealScalar absOnDiagonal = numext::abs(coeff(j,j));
+ if(absOnDiagonal > maxAbsOnDiagonal) maxAbsOnDiagonal = absOnDiagonal;
+ }
+ for(Index j = 0; j < cols(); ++j)
+ for(Index i = 0; i < j; ++i)
+ {
+ if(!internal::isMuchSmallerThan(coeff(i, j), maxAbsOnDiagonal, prec)) return false;
+ if(!internal::isMuchSmallerThan(coeff(j, i), maxAbsOnDiagonal, prec)) return false;
+ }
+ return true;
+}
+
+namespace internal {
+
+template<> struct storage_kind_to_shape<DiagonalShape> { typedef DiagonalShape Shape; };
+
+struct Diagonal2Dense {};
+
+template<> struct AssignmentKind<DenseShape,DiagonalShape> { typedef Diagonal2Dense Kind; };
+
+// Diagonal matrix to Dense assignment
+template< typename DstXprType, typename SrcXprType, typename Functor>
+struct Assignment<DstXprType, SrcXprType, Functor, Diagonal2Dense>
+{
+ static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
+ {
+ Index dstRows = src.rows();
+ Index dstCols = src.cols();
+ if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+ dst.resize(dstRows, dstCols);
+
+ dst.setZero();
+ dst.diagonal() = src.diagonal();
+ }
+
+ static void run(DstXprType &dst, const SrcXprType &src, const internal::add_assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
+ { dst.diagonal() += src.diagonal(); }
+
+ static void run(DstXprType &dst, const SrcXprType &src, const internal::sub_assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
+ { dst.diagonal() -= src.diagonal(); }
+};
+
+} // namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_DIAGONALMATRIX_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/DiagonalProduct.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/DiagonalProduct.h
new file mode 100644
index 0000000..d372b93
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/DiagonalProduct.h
@@ -0,0 +1,28 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2007-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_DIAGONALPRODUCT_H
+#define EIGEN_DIAGONALPRODUCT_H
+
+namespace Eigen {
+
+/** \returns the diagonal matrix product of \c *this by the diagonal matrix \a diagonal.
+ */
+template<typename Derived>
+template<typename DiagonalDerived>
+inline const Product<Derived, DiagonalDerived, LazyProduct>
+MatrixBase<Derived>::operator*(const DiagonalBase<DiagonalDerived> &a_diagonal) const
+{
+ return Product<Derived, DiagonalDerived, LazyProduct>(derived(),a_diagonal.derived());
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_DIAGONALPRODUCT_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Dot.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Dot.h
new file mode 100644
index 0000000..1fe7a84
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Dot.h
@@ -0,0 +1,318 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2008, 2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_DOT_H
+#define EIGEN_DOT_H
+
+namespace Eigen {
+
+namespace internal {
+
+// helper function for dot(). The problem is that if we put that in the body of dot(), then upon calling dot
+// with mismatched types, the compiler emits errors about failing to instantiate cwiseProduct BEFORE
+// looking at the static assertions. Thus this is a trick to get better compile errors.
+template<typename T, typename U,
+// the NeedToTranspose condition here is taken straight from Assign.h
+ bool NeedToTranspose = T::IsVectorAtCompileTime
+ && U::IsVectorAtCompileTime
+ && ((int(T::RowsAtCompileTime) == 1 && int(U::ColsAtCompileTime) == 1)
+ | // FIXME | instead of || to please GCC 4.4.0 stupid warning "suggest parentheses around &&".
+ // revert to || as soon as not needed anymore.
+ (int(T::ColsAtCompileTime) == 1 && int(U::RowsAtCompileTime) == 1))
+>
+struct dot_nocheck
+{
+ typedef scalar_conj_product_op<typename traits<T>::Scalar,typename traits<U>::Scalar> conj_prod;
+ typedef typename conj_prod::result_type ResScalar;
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE
+ static ResScalar run(const MatrixBase<T>& a, const MatrixBase<U>& b)
+ {
+ return a.template binaryExpr<conj_prod>(b).sum();
+ }
+};
+
+template<typename T, typename U>
+struct dot_nocheck<T, U, true>
+{
+ typedef scalar_conj_product_op<typename traits<T>::Scalar,typename traits<U>::Scalar> conj_prod;
+ typedef typename conj_prod::result_type ResScalar;
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE
+ static ResScalar run(const MatrixBase<T>& a, const MatrixBase<U>& b)
+ {
+ return a.transpose().template binaryExpr<conj_prod>(b).sum();
+ }
+};
+
+} // end namespace internal
+
+/** \fn MatrixBase::dot
+ * \returns the dot product of *this with other.
+ *
+ * \only_for_vectors
+ *
+ * \note If the scalar type is complex numbers, then this function returns the hermitian
+ * (sesquilinear) dot product, conjugate-linear in the first variable and linear in the
+ * second variable.
+ *
+ * \sa squaredNorm(), norm()
+ */
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE
+typename ScalarBinaryOpTraits<typename internal::traits<Derived>::Scalar,typename internal::traits<OtherDerived>::Scalar>::ReturnType
+MatrixBase<Derived>::dot(const MatrixBase<OtherDerived>& other) const
+{
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
+ EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Derived,OtherDerived)
+#if !(defined(EIGEN_NO_STATIC_ASSERT) && defined(EIGEN_NO_DEBUG))
+ typedef internal::scalar_conj_product_op<Scalar,typename OtherDerived::Scalar> func;
+ EIGEN_CHECK_BINARY_COMPATIBILIY(func,Scalar,typename OtherDerived::Scalar);
+#endif
+
+ eigen_assert(size() == other.size());
+
+ return internal::dot_nocheck<Derived,OtherDerived>::run(*this, other);
+}
+
+//---------- implementation of L2 norm and related functions ----------
+
+/** \returns, for vectors, the squared \em l2 norm of \c *this, and for matrices the Frobenius norm.
+ * In both cases, it consists in the sum of the square of all the matrix entries.
+ * For vectors, this is also equals to the dot product of \c *this with itself.
+ *
+ * \sa dot(), norm(), lpNorm()
+ */
+template<typename Derived>
+EIGEN_STRONG_INLINE typename NumTraits<typename internal::traits<Derived>::Scalar>::Real MatrixBase<Derived>::squaredNorm() const
+{
+ return numext::real((*this).cwiseAbs2().sum());
+}
+
+/** \returns, for vectors, the \em l2 norm of \c *this, and for matrices the Frobenius norm.
+ * In both cases, it consists in the square root of the sum of the square of all the matrix entries.
+ * For vectors, this is also equals to the square root of the dot product of \c *this with itself.
+ *
+ * \sa lpNorm(), dot(), squaredNorm()
+ */
+template<typename Derived>
+EIGEN_STRONG_INLINE typename NumTraits<typename internal::traits<Derived>::Scalar>::Real MatrixBase<Derived>::norm() const
+{
+ return numext::sqrt(squaredNorm());
+}
+
+/** \returns an expression of the quotient of \c *this by its own norm.
+ *
+ * \warning If the input vector is too small (i.e., this->norm()==0),
+ * then this function returns a copy of the input.
+ *
+ * \only_for_vectors
+ *
+ * \sa norm(), normalize()
+ */
+template<typename Derived>
+EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::PlainObject
+MatrixBase<Derived>::normalized() const
+{
+ typedef typename internal::nested_eval<Derived,2>::type _Nested;
+ _Nested n(derived());
+ RealScalar z = n.squaredNorm();
+ // NOTE: after extensive benchmarking, this conditional does not impact performance, at least on recent x86 CPU
+ if(z>RealScalar(0))
+ return n / numext::sqrt(z);
+ else
+ return n;
+}
+
+/** Normalizes the vector, i.e. divides it by its own norm.
+ *
+ * \only_for_vectors
+ *
+ * \warning If the input vector is too small (i.e., this->norm()==0), then \c *this is left unchanged.
+ *
+ * \sa norm(), normalized()
+ */
+template<typename Derived>
+EIGEN_STRONG_INLINE void MatrixBase<Derived>::normalize()
+{
+ RealScalar z = squaredNorm();
+ // NOTE: after extensive benchmarking, this conditional does not impact performance, at least on recent x86 CPU
+ if(z>RealScalar(0))
+ derived() /= numext::sqrt(z);
+}
+
+/** \returns an expression of the quotient of \c *this by its own norm while avoiding underflow and overflow.
+ *
+ * \only_for_vectors
+ *
+ * This method is analogue to the normalized() method, but it reduces the risk of
+ * underflow and overflow when computing the norm.
+ *
+ * \warning If the input vector is too small (i.e., this->norm()==0),
+ * then this function returns a copy of the input.
+ *
+ * \sa stableNorm(), stableNormalize(), normalized()
+ */
+template<typename Derived>
+EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::PlainObject
+MatrixBase<Derived>::stableNormalized() const
+{
+ typedef typename internal::nested_eval<Derived,3>::type _Nested;
+ _Nested n(derived());
+ RealScalar w = n.cwiseAbs().maxCoeff();
+ RealScalar z = (n/w).squaredNorm();
+ if(z>RealScalar(0))
+ return n / (numext::sqrt(z)*w);
+ else
+ return n;
+}
+
+/** Normalizes the vector while avoid underflow and overflow
+ *
+ * \only_for_vectors
+ *
+ * This method is analogue to the normalize() method, but it reduces the risk of
+ * underflow and overflow when computing the norm.
+ *
+ * \warning If the input vector is too small (i.e., this->norm()==0), then \c *this is left unchanged.
+ *
+ * \sa stableNorm(), stableNormalized(), normalize()
+ */
+template<typename Derived>
+EIGEN_STRONG_INLINE void MatrixBase<Derived>::stableNormalize()
+{
+ RealScalar w = cwiseAbs().maxCoeff();
+ RealScalar z = (derived()/w).squaredNorm();
+ if(z>RealScalar(0))
+ derived() /= numext::sqrt(z)*w;
+}
+
+//---------- implementation of other norms ----------
+
+namespace internal {
+
+template<typename Derived, int p>
+struct lpNorm_selector
+{
+ typedef typename NumTraits<typename traits<Derived>::Scalar>::Real RealScalar;
+ EIGEN_DEVICE_FUNC
+ static inline RealScalar run(const MatrixBase<Derived>& m)
+ {
+ EIGEN_USING_STD_MATH(pow)
+ return pow(m.cwiseAbs().array().pow(p).sum(), RealScalar(1)/p);
+ }
+};
+
+template<typename Derived>
+struct lpNorm_selector<Derived, 1>
+{
+ EIGEN_DEVICE_FUNC
+ static inline typename NumTraits<typename traits<Derived>::Scalar>::Real run(const MatrixBase<Derived>& m)
+ {
+ return m.cwiseAbs().sum();
+ }
+};
+
+template<typename Derived>
+struct lpNorm_selector<Derived, 2>
+{
+ EIGEN_DEVICE_FUNC
+ static inline typename NumTraits<typename traits<Derived>::Scalar>::Real run(const MatrixBase<Derived>& m)
+ {
+ return m.norm();
+ }
+};
+
+template<typename Derived>
+struct lpNorm_selector<Derived, Infinity>
+{
+ typedef typename NumTraits<typename traits<Derived>::Scalar>::Real RealScalar;
+ EIGEN_DEVICE_FUNC
+ static inline RealScalar run(const MatrixBase<Derived>& m)
+ {
+ if(Derived::SizeAtCompileTime==0 || (Derived::SizeAtCompileTime==Dynamic && m.size()==0))
+ return RealScalar(0);
+ return m.cwiseAbs().maxCoeff();
+ }
+};
+
+} // end namespace internal
+
+/** \returns the \b coefficient-wise \f$ \ell^p \f$ norm of \c *this, that is, returns the p-th root of the sum of the p-th powers of the absolute values
+ * of the coefficients of \c *this. If \a p is the special value \a Eigen::Infinity, this function returns the \f$ \ell^\infty \f$
+ * norm, that is the maximum of the absolute values of the coefficients of \c *this.
+ *
+ * In all cases, if \c *this is empty, then the value 0 is returned.
+ *
+ * \note For matrices, this function does not compute the <a href="https://en.wikipedia.org/wiki/Operator_norm">operator-norm</a>. That is, if \c *this is a matrix, then its coefficients are interpreted as a 1D vector. Nonetheless, you can easily compute the 1-norm and \f$\infty\f$-norm matrix operator norms using \link TutorialReductionsVisitorsBroadcastingReductionsNorm partial reductions \endlink.
+ *
+ * \sa norm()
+ */
+template<typename Derived>
+template<int p>
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+inline typename NumTraits<typename internal::traits<Derived>::Scalar>::Real
+#else
+MatrixBase<Derived>::RealScalar
+#endif
+MatrixBase<Derived>::lpNorm() const
+{
+ return internal::lpNorm_selector<Derived, p>::run(*this);
+}
+
+//---------- implementation of isOrthogonal / isUnitary ----------
+
+/** \returns true if *this is approximately orthogonal to \a other,
+ * within the precision given by \a prec.
+ *
+ * Example: \include MatrixBase_isOrthogonal.cpp
+ * Output: \verbinclude MatrixBase_isOrthogonal.out
+ */
+template<typename Derived>
+template<typename OtherDerived>
+bool MatrixBase<Derived>::isOrthogonal
+(const MatrixBase<OtherDerived>& other, const RealScalar& prec) const
+{
+ typename internal::nested_eval<Derived,2>::type nested(derived());
+ typename internal::nested_eval<OtherDerived,2>::type otherNested(other.derived());
+ return numext::abs2(nested.dot(otherNested)) <= prec * prec * nested.squaredNorm() * otherNested.squaredNorm();
+}
+
+/** \returns true if *this is approximately an unitary matrix,
+ * within the precision given by \a prec. In the case where the \a Scalar
+ * type is real numbers, a unitary matrix is an orthogonal matrix, whence the name.
+ *
+ * \note This can be used to check whether a family of vectors forms an orthonormal basis.
+ * Indeed, \c m.isUnitary() returns true if and only if the columns (equivalently, the rows) of m form an
+ * orthonormal basis.
+ *
+ * Example: \include MatrixBase_isUnitary.cpp
+ * Output: \verbinclude MatrixBase_isUnitary.out
+ */
+template<typename Derived>
+bool MatrixBase<Derived>::isUnitary(const RealScalar& prec) const
+{
+ typename internal::nested_eval<Derived,1>::type self(derived());
+ for(Index i = 0; i < cols(); ++i)
+ {
+ if(!internal::isApprox(self.col(i).squaredNorm(), static_cast<RealScalar>(1), prec))
+ return false;
+ for(Index j = 0; j < i; ++j)
+ if(!internal::isMuchSmallerThan(self.col(i).dot(self.col(j)), static_cast<Scalar>(1), prec))
+ return false;
+ }
+ return true;
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_DOT_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/EigenBase.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/EigenBase.h
new file mode 100644
index 0000000..b195506
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/EigenBase.h
@@ -0,0 +1,159 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_EIGENBASE_H
+#define EIGEN_EIGENBASE_H
+
+namespace Eigen {
+
+/** \class EigenBase
+ * \ingroup Core_Module
+ *
+ * Common base class for all classes T such that MatrixBase has an operator=(T) and a constructor MatrixBase(T).
+ *
+ * In other words, an EigenBase object is an object that can be copied into a MatrixBase.
+ *
+ * Besides MatrixBase-derived classes, this also includes special matrix classes such as diagonal matrices, etc.
+ *
+ * Notice that this class is trivial, it is only used to disambiguate overloaded functions.
+ *
+ * \sa \blank \ref TopicClassHierarchy
+ */
+template<typename Derived> struct EigenBase
+{
+// typedef typename internal::plain_matrix_type<Derived>::type PlainObject;
+
+ /** \brief The interface type of indices
+ * \details To change this, \c \#define the preprocessor symbol \c EIGEN_DEFAULT_DENSE_INDEX_TYPE.
+ * \deprecated Since Eigen 3.3, its usage is deprecated. Use Eigen::Index instead.
+ * \sa StorageIndex, \ref TopicPreprocessorDirectives.
+ */
+ typedef Eigen::Index Index;
+
+ // FIXME is it needed?
+ typedef typename internal::traits<Derived>::StorageKind StorageKind;
+
+ /** \returns a reference to the derived object */
+ EIGEN_DEVICE_FUNC
+ Derived& derived() { return *static_cast<Derived*>(this); }
+ /** \returns a const reference to the derived object */
+ EIGEN_DEVICE_FUNC
+ const Derived& derived() const { return *static_cast<const Derived*>(this); }
+
+ EIGEN_DEVICE_FUNC
+ inline Derived& const_cast_derived() const
+ { return *static_cast<Derived*>(const_cast<EigenBase*>(this)); }
+ EIGEN_DEVICE_FUNC
+ inline const Derived& const_derived() const
+ { return *static_cast<const Derived*>(this); }
+
+ /** \returns the number of rows. \sa cols(), RowsAtCompileTime */
+ EIGEN_DEVICE_FUNC
+ inline Index rows() const { return derived().rows(); }
+ /** \returns the number of columns. \sa rows(), ColsAtCompileTime*/
+ EIGEN_DEVICE_FUNC
+ inline Index cols() const { return derived().cols(); }
+ /** \returns the number of coefficients, which is rows()*cols().
+ * \sa rows(), cols(), SizeAtCompileTime. */
+ EIGEN_DEVICE_FUNC
+ inline Index size() const { return rows() * cols(); }
+
+ /** \internal Don't use it, but do the equivalent: \code dst = *this; \endcode */
+ template<typename Dest>
+ EIGEN_DEVICE_FUNC
+ inline void evalTo(Dest& dst) const
+ { derived().evalTo(dst); }
+
+ /** \internal Don't use it, but do the equivalent: \code dst += *this; \endcode */
+ template<typename Dest>
+ EIGEN_DEVICE_FUNC
+ inline void addTo(Dest& dst) const
+ {
+ // This is the default implementation,
+ // derived class can reimplement it in a more optimized way.
+ typename Dest::PlainObject res(rows(),cols());
+ evalTo(res);
+ dst += res;
+ }
+
+ /** \internal Don't use it, but do the equivalent: \code dst -= *this; \endcode */
+ template<typename Dest>
+ EIGEN_DEVICE_FUNC
+ inline void subTo(Dest& dst) const
+ {
+ // This is the default implementation,
+ // derived class can reimplement it in a more optimized way.
+ typename Dest::PlainObject res(rows(),cols());
+ evalTo(res);
+ dst -= res;
+ }
+
+ /** \internal Don't use it, but do the equivalent: \code dst.applyOnTheRight(*this); \endcode */
+ template<typename Dest>
+ EIGEN_DEVICE_FUNC inline void applyThisOnTheRight(Dest& dst) const
+ {
+ // This is the default implementation,
+ // derived class can reimplement it in a more optimized way.
+ dst = dst * this->derived();
+ }
+
+ /** \internal Don't use it, but do the equivalent: \code dst.applyOnTheLeft(*this); \endcode */
+ template<typename Dest>
+ EIGEN_DEVICE_FUNC inline void applyThisOnTheLeft(Dest& dst) const
+ {
+ // This is the default implementation,
+ // derived class can reimplement it in a more optimized way.
+ dst = this->derived() * dst;
+ }
+
+};
+
+/***************************************************************************
+* Implementation of matrix base methods
+***************************************************************************/
+
+/** \brief Copies the generic expression \a other into *this.
+ *
+ * \details The expression must provide a (templated) evalTo(Derived& dst) const
+ * function which does the actual job. In practice, this allows any user to write
+ * its own special matrix without having to modify MatrixBase
+ *
+ * \returns a reference to *this.
+ */
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
+Derived& DenseBase<Derived>::operator=(const EigenBase<OtherDerived> &other)
+{
+ call_assignment(derived(), other.derived());
+ return derived();
+}
+
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
+Derived& DenseBase<Derived>::operator+=(const EigenBase<OtherDerived> &other)
+{
+ call_assignment(derived(), other.derived(), internal::add_assign_op<Scalar,typename OtherDerived::Scalar>());
+ return derived();
+}
+
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
+Derived& DenseBase<Derived>::operator-=(const EigenBase<OtherDerived> &other)
+{
+ call_assignment(derived(), other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
+ return derived();
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_EIGENBASE_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/ForceAlignedAccess.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/ForceAlignedAccess.h
new file mode 100644
index 0000000..7b08b45
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/ForceAlignedAccess.h
@@ -0,0 +1,146 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_FORCEALIGNEDACCESS_H
+#define EIGEN_FORCEALIGNEDACCESS_H
+
+namespace Eigen {
+
+/** \class ForceAlignedAccess
+ * \ingroup Core_Module
+ *
+ * \brief Enforce aligned packet loads and stores regardless of what is requested
+ *
+ * \param ExpressionType the type of the object of which we are forcing aligned packet access
+ *
+ * This class is the return type of MatrixBase::forceAlignedAccess()
+ * and most of the time this is the only way it is used.
+ *
+ * \sa MatrixBase::forceAlignedAccess()
+ */
+
+namespace internal {
+template<typename ExpressionType>
+struct traits<ForceAlignedAccess<ExpressionType> > : public traits<ExpressionType>
+{};
+}
+
+template<typename ExpressionType> class ForceAlignedAccess
+ : public internal::dense_xpr_base< ForceAlignedAccess<ExpressionType> >::type
+{
+ public:
+
+ typedef typename internal::dense_xpr_base<ForceAlignedAccess>::type Base;
+ EIGEN_DENSE_PUBLIC_INTERFACE(ForceAlignedAccess)
+
+ EIGEN_DEVICE_FUNC explicit inline ForceAlignedAccess(const ExpressionType& matrix) : m_expression(matrix) {}
+
+ EIGEN_DEVICE_FUNC inline Index rows() const { return m_expression.rows(); }
+ EIGEN_DEVICE_FUNC inline Index cols() const { return m_expression.cols(); }
+ EIGEN_DEVICE_FUNC inline Index outerStride() const { return m_expression.outerStride(); }
+ EIGEN_DEVICE_FUNC inline Index innerStride() const { return m_expression.innerStride(); }
+
+ EIGEN_DEVICE_FUNC inline const CoeffReturnType coeff(Index row, Index col) const
+ {
+ return m_expression.coeff(row, col);
+ }
+
+ EIGEN_DEVICE_FUNC inline Scalar& coeffRef(Index row, Index col)
+ {
+ return m_expression.const_cast_derived().coeffRef(row, col);
+ }
+
+ EIGEN_DEVICE_FUNC inline const CoeffReturnType coeff(Index index) const
+ {
+ return m_expression.coeff(index);
+ }
+
+ EIGEN_DEVICE_FUNC inline Scalar& coeffRef(Index index)
+ {
+ return m_expression.const_cast_derived().coeffRef(index);
+ }
+
+ template<int LoadMode>
+ inline const PacketScalar packet(Index row, Index col) const
+ {
+ return m_expression.template packet<Aligned>(row, col);
+ }
+
+ template<int LoadMode>
+ inline void writePacket(Index row, Index col, const PacketScalar& x)
+ {
+ m_expression.const_cast_derived().template writePacket<Aligned>(row, col, x);
+ }
+
+ template<int LoadMode>
+ inline const PacketScalar packet(Index index) const
+ {
+ return m_expression.template packet<Aligned>(index);
+ }
+
+ template<int LoadMode>
+ inline void writePacket(Index index, const PacketScalar& x)
+ {
+ m_expression.const_cast_derived().template writePacket<Aligned>(index, x);
+ }
+
+ EIGEN_DEVICE_FUNC operator const ExpressionType&() const { return m_expression; }
+
+ protected:
+ const ExpressionType& m_expression;
+
+ private:
+ ForceAlignedAccess& operator=(const ForceAlignedAccess&);
+};
+
+/** \returns an expression of *this with forced aligned access
+ * \sa forceAlignedAccessIf(),class ForceAlignedAccess
+ */
+template<typename Derived>
+inline const ForceAlignedAccess<Derived>
+MatrixBase<Derived>::forceAlignedAccess() const
+{
+ return ForceAlignedAccess<Derived>(derived());
+}
+
+/** \returns an expression of *this with forced aligned access
+ * \sa forceAlignedAccessIf(), class ForceAlignedAccess
+ */
+template<typename Derived>
+inline ForceAlignedAccess<Derived>
+MatrixBase<Derived>::forceAlignedAccess()
+{
+ return ForceAlignedAccess<Derived>(derived());
+}
+
+/** \returns an expression of *this with forced aligned access if \a Enable is true.
+ * \sa forceAlignedAccess(), class ForceAlignedAccess
+ */
+template<typename Derived>
+template<bool Enable>
+inline typename internal::add_const_on_value_type<typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type>::type
+MatrixBase<Derived>::forceAlignedAccessIf() const
+{
+ return derived(); // FIXME This should not work but apparently is never used
+}
+
+/** \returns an expression of *this with forced aligned access if \a Enable is true.
+ * \sa forceAlignedAccess(), class ForceAlignedAccess
+ */
+template<typename Derived>
+template<bool Enable>
+inline typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type
+MatrixBase<Derived>::forceAlignedAccessIf()
+{
+ return derived(); // FIXME This should not work but apparently is never used
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_FORCEALIGNEDACCESS_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Fuzzy.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Fuzzy.h
new file mode 100644
index 0000000..3e403a0
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Fuzzy.h
@@ -0,0 +1,155 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_FUZZY_H
+#define EIGEN_FUZZY_H
+
+namespace Eigen {
+
+namespace internal
+{
+
+template<typename Derived, typename OtherDerived, bool is_integer = NumTraits<typename Derived::Scalar>::IsInteger>
+struct isApprox_selector
+{
+ EIGEN_DEVICE_FUNC
+ static bool run(const Derived& x, const OtherDerived& y, const typename Derived::RealScalar& prec)
+ {
+ typename internal::nested_eval<Derived,2>::type nested(x);
+ typename internal::nested_eval<OtherDerived,2>::type otherNested(y);
+ return (nested - otherNested).cwiseAbs2().sum() <= prec * prec * numext::mini(nested.cwiseAbs2().sum(), otherNested.cwiseAbs2().sum());
+ }
+};
+
+template<typename Derived, typename OtherDerived>
+struct isApprox_selector<Derived, OtherDerived, true>
+{
+ EIGEN_DEVICE_FUNC
+ static bool run(const Derived& x, const OtherDerived& y, const typename Derived::RealScalar&)
+ {
+ return x.matrix() == y.matrix();
+ }
+};
+
+template<typename Derived, typename OtherDerived, bool is_integer = NumTraits<typename Derived::Scalar>::IsInteger>
+struct isMuchSmallerThan_object_selector
+{
+ EIGEN_DEVICE_FUNC
+ static bool run(const Derived& x, const OtherDerived& y, const typename Derived::RealScalar& prec)
+ {
+ return x.cwiseAbs2().sum() <= numext::abs2(prec) * y.cwiseAbs2().sum();
+ }
+};
+
+template<typename Derived, typename OtherDerived>
+struct isMuchSmallerThan_object_selector<Derived, OtherDerived, true>
+{
+ EIGEN_DEVICE_FUNC
+ static bool run(const Derived& x, const OtherDerived&, const typename Derived::RealScalar&)
+ {
+ return x.matrix() == Derived::Zero(x.rows(), x.cols()).matrix();
+ }
+};
+
+template<typename Derived, bool is_integer = NumTraits<typename Derived::Scalar>::IsInteger>
+struct isMuchSmallerThan_scalar_selector
+{
+ EIGEN_DEVICE_FUNC
+ static bool run(const Derived& x, const typename Derived::RealScalar& y, const typename Derived::RealScalar& prec)
+ {
+ return x.cwiseAbs2().sum() <= numext::abs2(prec * y);
+ }
+};
+
+template<typename Derived>
+struct isMuchSmallerThan_scalar_selector<Derived, true>
+{
+ EIGEN_DEVICE_FUNC
+ static bool run(const Derived& x, const typename Derived::RealScalar&, const typename Derived::RealScalar&)
+ {
+ return x.matrix() == Derived::Zero(x.rows(), x.cols()).matrix();
+ }
+};
+
+} // end namespace internal
+
+
+/** \returns \c true if \c *this is approximately equal to \a other, within the precision
+ * determined by \a prec.
+ *
+ * \note The fuzzy compares are done multiplicatively. Two vectors \f$ v \f$ and \f$ w \f$
+ * are considered to be approximately equal within precision \f$ p \f$ if
+ * \f[ \Vert v - w \Vert \leqslant p\,\min(\Vert v\Vert, \Vert w\Vert). \f]
+ * For matrices, the comparison is done using the Hilbert-Schmidt norm (aka Frobenius norm
+ * L2 norm).
+ *
+ * \note Because of the multiplicativeness of this comparison, one can't use this function
+ * to check whether \c *this is approximately equal to the zero matrix or vector.
+ * Indeed, \c isApprox(zero) returns false unless \c *this itself is exactly the zero matrix
+ * or vector. If you want to test whether \c *this is zero, use internal::isMuchSmallerThan(const
+ * RealScalar&, RealScalar) instead.
+ *
+ * \sa internal::isMuchSmallerThan(const RealScalar&, RealScalar) const
+ */
+template<typename Derived>
+template<typename OtherDerived>
+bool DenseBase<Derived>::isApprox(
+ const DenseBase<OtherDerived>& other,
+ const RealScalar& prec
+) const
+{
+ return internal::isApprox_selector<Derived, OtherDerived>::run(derived(), other.derived(), prec);
+}
+
+/** \returns \c true if the norm of \c *this is much smaller than \a other,
+ * within the precision determined by \a prec.
+ *
+ * \note The fuzzy compares are done multiplicatively. A vector \f$ v \f$ is
+ * considered to be much smaller than \f$ x \f$ within precision \f$ p \f$ if
+ * \f[ \Vert v \Vert \leqslant p\,\vert x\vert. \f]
+ *
+ * For matrices, the comparison is done using the Hilbert-Schmidt norm. For this reason,
+ * the value of the reference scalar \a other should come from the Hilbert-Schmidt norm
+ * of a reference matrix of same dimensions.
+ *
+ * \sa isApprox(), isMuchSmallerThan(const DenseBase<OtherDerived>&, RealScalar) const
+ */
+template<typename Derived>
+bool DenseBase<Derived>::isMuchSmallerThan(
+ const typename NumTraits<Scalar>::Real& other,
+ const RealScalar& prec
+) const
+{
+ return internal::isMuchSmallerThan_scalar_selector<Derived>::run(derived(), other, prec);
+}
+
+/** \returns \c true if the norm of \c *this is much smaller than the norm of \a other,
+ * within the precision determined by \a prec.
+ *
+ * \note The fuzzy compares are done multiplicatively. A vector \f$ v \f$ is
+ * considered to be much smaller than a vector \f$ w \f$ within precision \f$ p \f$ if
+ * \f[ \Vert v \Vert \leqslant p\,\Vert w\Vert. \f]
+ * For matrices, the comparison is done using the Hilbert-Schmidt norm.
+ *
+ * \sa isApprox(), isMuchSmallerThan(const RealScalar&, RealScalar) const
+ */
+template<typename Derived>
+template<typename OtherDerived>
+bool DenseBase<Derived>::isMuchSmallerThan(
+ const DenseBase<OtherDerived>& other,
+ const RealScalar& prec
+) const
+{
+ return internal::isMuchSmallerThan_object_selector<Derived, OtherDerived>::run(derived(), other.derived(), prec);
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_FUZZY_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/GeneralProduct.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/GeneralProduct.h
new file mode 100644
index 0000000..6f0cc80
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/GeneralProduct.h
@@ -0,0 +1,455 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_GENERAL_PRODUCT_H
+#define EIGEN_GENERAL_PRODUCT_H
+
+namespace Eigen {
+
+enum {
+ Large = 2,
+ Small = 3
+};
+
+namespace internal {
+
+template<int Rows, int Cols, int Depth> struct product_type_selector;
+
+template<int Size, int MaxSize> struct product_size_category
+{
+ enum {
+ #ifndef EIGEN_CUDA_ARCH
+ is_large = MaxSize == Dynamic ||
+ Size >= EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD ||
+ (Size==Dynamic && MaxSize>=EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD),
+ #else
+ is_large = 0,
+ #endif
+ value = is_large ? Large
+ : Size == 1 ? 1
+ : Small
+ };
+};
+
+template<typename Lhs, typename Rhs> struct product_type
+{
+ typedef typename remove_all<Lhs>::type _Lhs;
+ typedef typename remove_all<Rhs>::type _Rhs;
+ enum {
+ MaxRows = traits<_Lhs>::MaxRowsAtCompileTime,
+ Rows = traits<_Lhs>::RowsAtCompileTime,
+ MaxCols = traits<_Rhs>::MaxColsAtCompileTime,
+ Cols = traits<_Rhs>::ColsAtCompileTime,
+ MaxDepth = EIGEN_SIZE_MIN_PREFER_FIXED(traits<_Lhs>::MaxColsAtCompileTime,
+ traits<_Rhs>::MaxRowsAtCompileTime),
+ Depth = EIGEN_SIZE_MIN_PREFER_FIXED(traits<_Lhs>::ColsAtCompileTime,
+ traits<_Rhs>::RowsAtCompileTime)
+ };
+
+ // the splitting into different lines of code here, introducing the _select enums and the typedef below,
+ // is to work around an internal compiler error with gcc 4.1 and 4.2.
+private:
+ enum {
+ rows_select = product_size_category<Rows,MaxRows>::value,
+ cols_select = product_size_category<Cols,MaxCols>::value,
+ depth_select = product_size_category<Depth,MaxDepth>::value
+ };
+ typedef product_type_selector<rows_select, cols_select, depth_select> selector;
+
+public:
+ enum {
+ value = selector::ret,
+ ret = selector::ret
+ };
+#ifdef EIGEN_DEBUG_PRODUCT
+ static void debug()
+ {
+ EIGEN_DEBUG_VAR(Rows);
+ EIGEN_DEBUG_VAR(Cols);
+ EIGEN_DEBUG_VAR(Depth);
+ EIGEN_DEBUG_VAR(rows_select);
+ EIGEN_DEBUG_VAR(cols_select);
+ EIGEN_DEBUG_VAR(depth_select);
+ EIGEN_DEBUG_VAR(value);
+ }
+#endif
+};
+
+/* The following allows to select the kind of product at compile time
+ * based on the three dimensions of the product.
+ * This is a compile time mapping from {1,Small,Large}^3 -> {product types} */
+// FIXME I'm not sure the current mapping is the ideal one.
+template<int M, int N> struct product_type_selector<M,N,1> { enum { ret = OuterProduct }; };
+template<int M> struct product_type_selector<M, 1, 1> { enum { ret = LazyCoeffBasedProductMode }; };
+template<int N> struct product_type_selector<1, N, 1> { enum { ret = LazyCoeffBasedProductMode }; };
+template<int Depth> struct product_type_selector<1, 1, Depth> { enum { ret = InnerProduct }; };
+template<> struct product_type_selector<1, 1, 1> { enum { ret = InnerProduct }; };
+template<> struct product_type_selector<Small,1, Small> { enum { ret = CoeffBasedProductMode }; };
+template<> struct product_type_selector<1, Small,Small> { enum { ret = CoeffBasedProductMode }; };
+template<> struct product_type_selector<Small,Small,Small> { enum { ret = CoeffBasedProductMode }; };
+template<> struct product_type_selector<Small, Small, 1> { enum { ret = LazyCoeffBasedProductMode }; };
+template<> struct product_type_selector<Small, Large, 1> { enum { ret = LazyCoeffBasedProductMode }; };
+template<> struct product_type_selector<Large, Small, 1> { enum { ret = LazyCoeffBasedProductMode }; };
+template<> struct product_type_selector<1, Large,Small> { enum { ret = CoeffBasedProductMode }; };
+template<> struct product_type_selector<1, Large,Large> { enum { ret = GemvProduct }; };
+template<> struct product_type_selector<1, Small,Large> { enum { ret = CoeffBasedProductMode }; };
+template<> struct product_type_selector<Large,1, Small> { enum { ret = CoeffBasedProductMode }; };
+template<> struct product_type_selector<Large,1, Large> { enum { ret = GemvProduct }; };
+template<> struct product_type_selector<Small,1, Large> { enum { ret = CoeffBasedProductMode }; };
+template<> struct product_type_selector<Small,Small,Large> { enum { ret = GemmProduct }; };
+template<> struct product_type_selector<Large,Small,Large> { enum { ret = GemmProduct }; };
+template<> struct product_type_selector<Small,Large,Large> { enum { ret = GemmProduct }; };
+template<> struct product_type_selector<Large,Large,Large> { enum { ret = GemmProduct }; };
+template<> struct product_type_selector<Large,Small,Small> { enum { ret = CoeffBasedProductMode }; };
+template<> struct product_type_selector<Small,Large,Small> { enum { ret = CoeffBasedProductMode }; };
+template<> struct product_type_selector<Large,Large,Small> { enum { ret = GemmProduct }; };
+
+} // end namespace internal
+
+/***********************************************************************
+* Implementation of Inner Vector Vector Product
+***********************************************************************/
+
+// FIXME : maybe the "inner product" could return a Scalar
+// instead of a 1x1 matrix ??
+// Pro: more natural for the user
+// Cons: this could be a problem if in a meta unrolled algorithm a matrix-matrix
+// product ends up to a row-vector times col-vector product... To tackle this use
+// case, we could have a specialization for Block<MatrixType,1,1> with: operator=(Scalar x);
+
+/***********************************************************************
+* Implementation of Outer Vector Vector Product
+***********************************************************************/
+
+/***********************************************************************
+* Implementation of General Matrix Vector Product
+***********************************************************************/
+
+/* According to the shape/flags of the matrix we have to distinghish 3 different cases:
+ * 1 - the matrix is col-major, BLAS compatible and M is large => call fast BLAS-like colmajor routine
+ * 2 - the matrix is row-major, BLAS compatible and N is large => call fast BLAS-like rowmajor routine
+ * 3 - all other cases are handled using a simple loop along the outer-storage direction.
+ * Therefore we need a lower level meta selector.
+ * Furthermore, if the matrix is the rhs, then the product has to be transposed.
+ */
+namespace internal {
+
+template<int Side, int StorageOrder, bool BlasCompatible>
+struct gemv_dense_selector;
+
+} // end namespace internal
+
+namespace internal {
+
+template<typename Scalar,int Size,int MaxSize,bool Cond> struct gemv_static_vector_if;
+
+template<typename Scalar,int Size,int MaxSize>
+struct gemv_static_vector_if<Scalar,Size,MaxSize,false>
+{
+ EIGEN_STRONG_INLINE Scalar* data() { eigen_internal_assert(false && "should never be called"); return 0; }
+};
+
+template<typename Scalar,int Size>
+struct gemv_static_vector_if<Scalar,Size,Dynamic,true>
+{
+ EIGEN_STRONG_INLINE Scalar* data() { return 0; }
+};
+
+template<typename Scalar,int Size,int MaxSize>
+struct gemv_static_vector_if<Scalar,Size,MaxSize,true>
+{
+ enum {
+ ForceAlignment = internal::packet_traits<Scalar>::Vectorizable,
+ PacketSize = internal::packet_traits<Scalar>::size
+ };
+ #if EIGEN_MAX_STATIC_ALIGN_BYTES!=0
+ internal::plain_array<Scalar,EIGEN_SIZE_MIN_PREFER_FIXED(Size,MaxSize),0,EIGEN_PLAIN_ENUM_MIN(AlignedMax,PacketSize)> m_data;
+ EIGEN_STRONG_INLINE Scalar* data() { return m_data.array; }
+ #else
+ // Some architectures cannot align on the stack,
+ // => let's manually enforce alignment by allocating more data and return the address of the first aligned element.
+ internal::plain_array<Scalar,EIGEN_SIZE_MIN_PREFER_FIXED(Size,MaxSize)+(ForceAlignment?EIGEN_MAX_ALIGN_BYTES:0),0> m_data;
+ EIGEN_STRONG_INLINE Scalar* data() {
+ return ForceAlignment
+ ? reinterpret_cast<Scalar*>((internal::UIntPtr(m_data.array) & ~(std::size_t(EIGEN_MAX_ALIGN_BYTES-1))) + EIGEN_MAX_ALIGN_BYTES)
+ : m_data.array;
+ }
+ #endif
+};
+
+// The vector is on the left => transposition
+template<int StorageOrder, bool BlasCompatible>
+struct gemv_dense_selector<OnTheLeft,StorageOrder,BlasCompatible>
+{
+ template<typename Lhs, typename Rhs, typename Dest>
+ static void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha)
+ {
+ Transpose<Dest> destT(dest);
+ enum { OtherStorageOrder = StorageOrder == RowMajor ? ColMajor : RowMajor };
+ gemv_dense_selector<OnTheRight,OtherStorageOrder,BlasCompatible>
+ ::run(rhs.transpose(), lhs.transpose(), destT, alpha);
+ }
+};
+
+template<> struct gemv_dense_selector<OnTheRight,ColMajor,true>
+{
+ template<typename Lhs, typename Rhs, typename Dest>
+ static inline void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha)
+ {
+ typedef typename Lhs::Scalar LhsScalar;
+ typedef typename Rhs::Scalar RhsScalar;
+ typedef typename Dest::Scalar ResScalar;
+ typedef typename Dest::RealScalar RealScalar;
+
+ typedef internal::blas_traits<Lhs> LhsBlasTraits;
+ typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
+ typedef internal::blas_traits<Rhs> RhsBlasTraits;
+ typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
+
+ typedef Map<Matrix<ResScalar,Dynamic,1>, EIGEN_PLAIN_ENUM_MIN(AlignedMax,internal::packet_traits<ResScalar>::size)> MappedDest;
+
+ ActualLhsType actualLhs = LhsBlasTraits::extract(lhs);
+ ActualRhsType actualRhs = RhsBlasTraits::extract(rhs);
+
+ ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(lhs)
+ * RhsBlasTraits::extractScalarFactor(rhs);
+
+ // make sure Dest is a compile-time vector type (bug 1166)
+ typedef typename conditional<Dest::IsVectorAtCompileTime, Dest, typename Dest::ColXpr>::type ActualDest;
+
+ enum {
+ // FIXME find a way to allow an inner stride on the result if packet_traits<Scalar>::size==1
+ // on, the other hand it is good for the cache to pack the vector anyways...
+ EvalToDestAtCompileTime = (ActualDest::InnerStrideAtCompileTime==1),
+ ComplexByReal = (NumTraits<LhsScalar>::IsComplex) && (!NumTraits<RhsScalar>::IsComplex),
+ MightCannotUseDest = (!EvalToDestAtCompileTime) || ComplexByReal
+ };
+
+ typedef const_blas_data_mapper<LhsScalar,Index,ColMajor> LhsMapper;
+ typedef const_blas_data_mapper<RhsScalar,Index,RowMajor> RhsMapper;
+ RhsScalar compatibleAlpha = get_factor<ResScalar,RhsScalar>::run(actualAlpha);
+
+ if(!MightCannotUseDest)
+ {
+ // shortcut if we are sure to be able to use dest directly,
+ // this ease the compiler to generate cleaner and more optimzized code for most common cases
+ general_matrix_vector_product
+ <Index,LhsScalar,LhsMapper,ColMajor,LhsBlasTraits::NeedToConjugate,RhsScalar,RhsMapper,RhsBlasTraits::NeedToConjugate>::run(
+ actualLhs.rows(), actualLhs.cols(),
+ LhsMapper(actualLhs.data(), actualLhs.outerStride()),
+ RhsMapper(actualRhs.data(), actualRhs.innerStride()),
+ dest.data(), 1,
+ compatibleAlpha);
+ }
+ else
+ {
+ gemv_static_vector_if<ResScalar,ActualDest::SizeAtCompileTime,ActualDest::MaxSizeAtCompileTime,MightCannotUseDest> static_dest;
+
+ const bool alphaIsCompatible = (!ComplexByReal) || (numext::imag(actualAlpha)==RealScalar(0));
+ const bool evalToDest = EvalToDestAtCompileTime && alphaIsCompatible;
+
+ ei_declare_aligned_stack_constructed_variable(ResScalar,actualDestPtr,dest.size(),
+ evalToDest ? dest.data() : static_dest.data());
+
+ if(!evalToDest)
+ {
+ #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+ Index size = dest.size();
+ EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+ #endif
+ if(!alphaIsCompatible)
+ {
+ MappedDest(actualDestPtr, dest.size()).setZero();
+ compatibleAlpha = RhsScalar(1);
+ }
+ else
+ MappedDest(actualDestPtr, dest.size()) = dest;
+ }
+
+ general_matrix_vector_product
+ <Index,LhsScalar,LhsMapper,ColMajor,LhsBlasTraits::NeedToConjugate,RhsScalar,RhsMapper,RhsBlasTraits::NeedToConjugate>::run(
+ actualLhs.rows(), actualLhs.cols(),
+ LhsMapper(actualLhs.data(), actualLhs.outerStride()),
+ RhsMapper(actualRhs.data(), actualRhs.innerStride()),
+ actualDestPtr, 1,
+ compatibleAlpha);
+
+ if (!evalToDest)
+ {
+ if(!alphaIsCompatible)
+ dest.matrix() += actualAlpha * MappedDest(actualDestPtr, dest.size());
+ else
+ dest = MappedDest(actualDestPtr, dest.size());
+ }
+ }
+ }
+};
+
+template<> struct gemv_dense_selector<OnTheRight,RowMajor,true>
+{
+ template<typename Lhs, typename Rhs, typename Dest>
+ static void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha)
+ {
+ typedef typename Lhs::Scalar LhsScalar;
+ typedef typename Rhs::Scalar RhsScalar;
+ typedef typename Dest::Scalar ResScalar;
+
+ typedef internal::blas_traits<Lhs> LhsBlasTraits;
+ typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
+ typedef internal::blas_traits<Rhs> RhsBlasTraits;
+ typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
+ typedef typename internal::remove_all<ActualRhsType>::type ActualRhsTypeCleaned;
+
+ typename add_const<ActualLhsType>::type actualLhs = LhsBlasTraits::extract(lhs);
+ typename add_const<ActualRhsType>::type actualRhs = RhsBlasTraits::extract(rhs);
+
+ ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(lhs)
+ * RhsBlasTraits::extractScalarFactor(rhs);
+
+ enum {
+ // FIXME find a way to allow an inner stride on the result if packet_traits<Scalar>::size==1
+ // on, the other hand it is good for the cache to pack the vector anyways...
+ DirectlyUseRhs = ActualRhsTypeCleaned::InnerStrideAtCompileTime==1
+ };
+
+ gemv_static_vector_if<RhsScalar,ActualRhsTypeCleaned::SizeAtCompileTime,ActualRhsTypeCleaned::MaxSizeAtCompileTime,!DirectlyUseRhs> static_rhs;
+
+ ei_declare_aligned_stack_constructed_variable(RhsScalar,actualRhsPtr,actualRhs.size(),
+ DirectlyUseRhs ? const_cast<RhsScalar*>(actualRhs.data()) : static_rhs.data());
+
+ if(!DirectlyUseRhs)
+ {
+ #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+ Index size = actualRhs.size();
+ EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+ #endif
+ Map<typename ActualRhsTypeCleaned::PlainObject>(actualRhsPtr, actualRhs.size()) = actualRhs;
+ }
+
+ typedef const_blas_data_mapper<LhsScalar,Index,RowMajor> LhsMapper;
+ typedef const_blas_data_mapper<RhsScalar,Index,ColMajor> RhsMapper;
+ general_matrix_vector_product
+ <Index,LhsScalar,LhsMapper,RowMajor,LhsBlasTraits::NeedToConjugate,RhsScalar,RhsMapper,RhsBlasTraits::NeedToConjugate>::run(
+ actualLhs.rows(), actualLhs.cols(),
+ LhsMapper(actualLhs.data(), actualLhs.outerStride()),
+ RhsMapper(actualRhsPtr, 1),
+ dest.data(), dest.col(0).innerStride(), //NOTE if dest is not a vector at compile-time, then dest.innerStride() might be wrong. (bug 1166)
+ actualAlpha);
+ }
+};
+
+template<> struct gemv_dense_selector<OnTheRight,ColMajor,false>
+{
+ template<typename Lhs, typename Rhs, typename Dest>
+ static void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha)
+ {
+ EIGEN_STATIC_ASSERT((!nested_eval<Lhs,1>::Evaluate),EIGEN_INTERNAL_COMPILATION_ERROR_OR_YOU_MADE_A_PROGRAMMING_MISTAKE);
+ // TODO if rhs is large enough it might be beneficial to make sure that dest is sequentially stored in memory, otherwise use a temp
+ typename nested_eval<Rhs,1>::type actual_rhs(rhs);
+ const Index size = rhs.rows();
+ for(Index k=0; k<size; ++k)
+ dest += (alpha*actual_rhs.coeff(k)) * lhs.col(k);
+ }
+};
+
+template<> struct gemv_dense_selector<OnTheRight,RowMajor,false>
+{
+ template<typename Lhs, typename Rhs, typename Dest>
+ static void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha)
+ {
+ EIGEN_STATIC_ASSERT((!nested_eval<Lhs,1>::Evaluate),EIGEN_INTERNAL_COMPILATION_ERROR_OR_YOU_MADE_A_PROGRAMMING_MISTAKE);
+ typename nested_eval<Rhs,Lhs::RowsAtCompileTime>::type actual_rhs(rhs);
+ const Index rows = dest.rows();
+ for(Index i=0; i<rows; ++i)
+ dest.coeffRef(i) += alpha * (lhs.row(i).cwiseProduct(actual_rhs.transpose())).sum();
+ }
+};
+
+} // end namespace internal
+
+/***************************************************************************
+* Implementation of matrix base methods
+***************************************************************************/
+
+/** \returns the matrix product of \c *this and \a other.
+ *
+ * \note If instead of the matrix product you want the coefficient-wise product, see Cwise::operator*().
+ *
+ * \sa lazyProduct(), operator*=(const MatrixBase&), Cwise::operator*()
+ */
+template<typename Derived>
+template<typename OtherDerived>
+inline const Product<Derived, OtherDerived>
+MatrixBase<Derived>::operator*(const MatrixBase<OtherDerived> &other) const
+{
+ // A note regarding the function declaration: In MSVC, this function will sometimes
+ // not be inlined since DenseStorage is an unwindable object for dynamic
+ // matrices and product types are holding a member to store the result.
+ // Thus it does not help tagging this function with EIGEN_STRONG_INLINE.
+ enum {
+ ProductIsValid = Derived::ColsAtCompileTime==Dynamic
+ || OtherDerived::RowsAtCompileTime==Dynamic
+ || int(Derived::ColsAtCompileTime)==int(OtherDerived::RowsAtCompileTime),
+ AreVectors = Derived::IsVectorAtCompileTime && OtherDerived::IsVectorAtCompileTime,
+ SameSizes = EIGEN_PREDICATE_SAME_MATRIX_SIZE(Derived,OtherDerived)
+ };
+ // note to the lost user:
+ // * for a dot product use: v1.dot(v2)
+ // * for a coeff-wise product use: v1.cwiseProduct(v2)
+ EIGEN_STATIC_ASSERT(ProductIsValid || !(AreVectors && SameSizes),
+ INVALID_VECTOR_VECTOR_PRODUCT__IF_YOU_WANTED_A_DOT_OR_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTIONS)
+ EIGEN_STATIC_ASSERT(ProductIsValid || !(SameSizes && !AreVectors),
+ INVALID_MATRIX_PRODUCT__IF_YOU_WANTED_A_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTION)
+ EIGEN_STATIC_ASSERT(ProductIsValid || SameSizes, INVALID_MATRIX_PRODUCT)
+#ifdef EIGEN_DEBUG_PRODUCT
+ internal::product_type<Derived,OtherDerived>::debug();
+#endif
+
+ return Product<Derived, OtherDerived>(derived(), other.derived());
+}
+
+/** \returns an expression of the matrix product of \c *this and \a other without implicit evaluation.
+ *
+ * The returned product will behave like any other expressions: the coefficients of the product will be
+ * computed once at a time as requested. This might be useful in some extremely rare cases when only
+ * a small and no coherent fraction of the result's coefficients have to be computed.
+ *
+ * \warning This version of the matrix product can be much much slower. So use it only if you know
+ * what you are doing and that you measured a true speed improvement.
+ *
+ * \sa operator*(const MatrixBase&)
+ */
+template<typename Derived>
+template<typename OtherDerived>
+const Product<Derived,OtherDerived,LazyProduct>
+MatrixBase<Derived>::lazyProduct(const MatrixBase<OtherDerived> &other) const
+{
+ enum {
+ ProductIsValid = Derived::ColsAtCompileTime==Dynamic
+ || OtherDerived::RowsAtCompileTime==Dynamic
+ || int(Derived::ColsAtCompileTime)==int(OtherDerived::RowsAtCompileTime),
+ AreVectors = Derived::IsVectorAtCompileTime && OtherDerived::IsVectorAtCompileTime,
+ SameSizes = EIGEN_PREDICATE_SAME_MATRIX_SIZE(Derived,OtherDerived)
+ };
+ // note to the lost user:
+ // * for a dot product use: v1.dot(v2)
+ // * for a coeff-wise product use: v1.cwiseProduct(v2)
+ EIGEN_STATIC_ASSERT(ProductIsValid || !(AreVectors && SameSizes),
+ INVALID_VECTOR_VECTOR_PRODUCT__IF_YOU_WANTED_A_DOT_OR_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTIONS)
+ EIGEN_STATIC_ASSERT(ProductIsValid || !(SameSizes && !AreVectors),
+ INVALID_MATRIX_PRODUCT__IF_YOU_WANTED_A_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTION)
+ EIGEN_STATIC_ASSERT(ProductIsValid || SameSizes, INVALID_MATRIX_PRODUCT)
+
+ return Product<Derived,OtherDerived,LazyProduct>(derived(), other.derived());
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_PRODUCT_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/GenericPacketMath.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/GenericPacketMath.h
new file mode 100644
index 0000000..029f8ac
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/GenericPacketMath.h
@@ -0,0 +1,593 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_GENERIC_PACKET_MATH_H
+#define EIGEN_GENERIC_PACKET_MATH_H
+
+namespace Eigen {
+
+namespace internal {
+
+/** \internal
+ * \file GenericPacketMath.h
+ *
+ * Default implementation for types not supported by the vectorization.
+ * In practice these functions are provided to make easier the writing
+ * of generic vectorized code.
+ */
+
+#ifndef EIGEN_DEBUG_ALIGNED_LOAD
+#define EIGEN_DEBUG_ALIGNED_LOAD
+#endif
+
+#ifndef EIGEN_DEBUG_UNALIGNED_LOAD
+#define EIGEN_DEBUG_UNALIGNED_LOAD
+#endif
+
+#ifndef EIGEN_DEBUG_ALIGNED_STORE
+#define EIGEN_DEBUG_ALIGNED_STORE
+#endif
+
+#ifndef EIGEN_DEBUG_UNALIGNED_STORE
+#define EIGEN_DEBUG_UNALIGNED_STORE
+#endif
+
+struct default_packet_traits
+{
+ enum {
+ HasHalfPacket = 0,
+
+ HasAdd = 1,
+ HasSub = 1,
+ HasMul = 1,
+ HasNegate = 1,
+ HasAbs = 1,
+ HasArg = 0,
+ HasAbs2 = 1,
+ HasMin = 1,
+ HasMax = 1,
+ HasConj = 1,
+ HasSetLinear = 1,
+ HasBlend = 0,
+
+ HasDiv = 0,
+ HasSqrt = 0,
+ HasRsqrt = 0,
+ HasExp = 0,
+ HasLog = 0,
+ HasLog1p = 0,
+ HasLog10 = 0,
+ HasPow = 0,
+
+ HasSin = 0,
+ HasCos = 0,
+ HasTan = 0,
+ HasASin = 0,
+ HasACos = 0,
+ HasATan = 0,
+ HasSinh = 0,
+ HasCosh = 0,
+ HasTanh = 0,
+ HasLGamma = 0,
+ HasDiGamma = 0,
+ HasZeta = 0,
+ HasPolygamma = 0,
+ HasErf = 0,
+ HasErfc = 0,
+ HasIGamma = 0,
+ HasIGammac = 0,
+ HasBetaInc = 0,
+
+ HasRound = 0,
+ HasFloor = 0,
+ HasCeil = 0,
+
+ HasSign = 0
+ };
+};
+
+template<typename T> struct packet_traits : default_packet_traits
+{
+ typedef T type;
+ typedef T half;
+ enum {
+ Vectorizable = 0,
+ size = 1,
+ AlignedOnScalar = 0,
+ HasHalfPacket = 0
+ };
+ enum {
+ HasAdd = 0,
+ HasSub = 0,
+ HasMul = 0,
+ HasNegate = 0,
+ HasAbs = 0,
+ HasAbs2 = 0,
+ HasMin = 0,
+ HasMax = 0,
+ HasConj = 0,
+ HasSetLinear = 0
+ };
+};
+
+template<typename T> struct packet_traits<const T> : packet_traits<T> { };
+
+template <typename Src, typename Tgt> struct type_casting_traits {
+ enum {
+ VectorizedCast = 0,
+ SrcCoeffRatio = 1,
+ TgtCoeffRatio = 1
+ };
+};
+
+
+/** \internal \returns static_cast<TgtType>(a) (coeff-wise) */
+template <typename SrcPacket, typename TgtPacket>
+EIGEN_DEVICE_FUNC inline TgtPacket
+pcast(const SrcPacket& a) {
+ return static_cast<TgtPacket>(a);
+}
+template <typename SrcPacket, typename TgtPacket>
+EIGEN_DEVICE_FUNC inline TgtPacket
+pcast(const SrcPacket& a, const SrcPacket& /*b*/) {
+ return static_cast<TgtPacket>(a);
+}
+
+template <typename SrcPacket, typename TgtPacket>
+EIGEN_DEVICE_FUNC inline TgtPacket
+pcast(const SrcPacket& a, const SrcPacket& /*b*/, const SrcPacket& /*c*/, const SrcPacket& /*d*/) {
+ return static_cast<TgtPacket>(a);
+}
+
+/** \internal \returns a + b (coeff-wise) */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+padd(const Packet& a,
+ const Packet& b) { return a+b; }
+
+/** \internal \returns a - b (coeff-wise) */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+psub(const Packet& a,
+ const Packet& b) { return a-b; }
+
+/** \internal \returns -a (coeff-wise) */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pnegate(const Packet& a) { return -a; }
+
+/** \internal \returns conj(a) (coeff-wise) */
+
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pconj(const Packet& a) { return numext::conj(a); }
+
+/** \internal \returns a * b (coeff-wise) */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pmul(const Packet& a,
+ const Packet& b) { return a*b; }
+
+/** \internal \returns a / b (coeff-wise) */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pdiv(const Packet& a,
+ const Packet& b) { return a/b; }
+
+/** \internal \returns the min of \a a and \a b (coeff-wise) */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pmin(const Packet& a,
+ const Packet& b) { return numext::mini(a, b); }
+
+/** \internal \returns the max of \a a and \a b (coeff-wise) */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pmax(const Packet& a,
+ const Packet& b) { return numext::maxi(a, b); }
+
+/** \internal \returns the absolute value of \a a */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pabs(const Packet& a) { using std::abs; return abs(a); }
+
+/** \internal \returns the phase angle of \a a */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+parg(const Packet& a) { using numext::arg; return arg(a); }
+
+/** \internal \returns the bitwise and of \a a and \a b */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pand(const Packet& a, const Packet& b) { return a & b; }
+
+/** \internal \returns the bitwise or of \a a and \a b */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+por(const Packet& a, const Packet& b) { return a | b; }
+
+/** \internal \returns the bitwise xor of \a a and \a b */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pxor(const Packet& a, const Packet& b) { return a ^ b; }
+
+/** \internal \returns the bitwise andnot of \a a and \a b */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pandnot(const Packet& a, const Packet& b) { return a & (!b); }
+
+/** \internal \returns a packet version of \a *from, from must be 16 bytes aligned */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pload(const typename unpacket_traits<Packet>::type* from) { return *from; }
+
+/** \internal \returns a packet version of \a *from, (un-aligned load) */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+ploadu(const typename unpacket_traits<Packet>::type* from) { return *from; }
+
+/** \internal \returns a packet with constant coefficients \a a, e.g.: (a,a,a,a) */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pset1(const typename unpacket_traits<Packet>::type& a) { return a; }
+
+/** \internal \returns a packet with constant coefficients \a a[0], e.g.: (a[0],a[0],a[0],a[0]) */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pload1(const typename unpacket_traits<Packet>::type *a) { return pset1<Packet>(*a); }
+
+/** \internal \returns a packet with elements of \a *from duplicated.
+ * For instance, for a packet of 8 elements, 4 scalars will be read from \a *from and
+ * duplicated to form: {from[0],from[0],from[1],from[1],from[2],from[2],from[3],from[3]}
+ * Currently, this function is only used for scalar * complex products.
+ */
+template<typename Packet> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet
+ploaddup(const typename unpacket_traits<Packet>::type* from) { return *from; }
+
+/** \internal \returns a packet with elements of \a *from quadrupled.
+ * For instance, for a packet of 8 elements, 2 scalars will be read from \a *from and
+ * replicated to form: {from[0],from[0],from[0],from[0],from[1],from[1],from[1],from[1]}
+ * Currently, this function is only used in matrix products.
+ * For packet-size smaller or equal to 4, this function is equivalent to pload1
+ */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+ploadquad(const typename unpacket_traits<Packet>::type* from)
+{ return pload1<Packet>(from); }
+
+/** \internal equivalent to
+ * \code
+ * a0 = pload1(a+0);
+ * a1 = pload1(a+1);
+ * a2 = pload1(a+2);
+ * a3 = pload1(a+3);
+ * \endcode
+ * \sa pset1, pload1, ploaddup, pbroadcast2
+ */
+template<typename Packet> EIGEN_DEVICE_FUNC
+inline void pbroadcast4(const typename unpacket_traits<Packet>::type *a,
+ Packet& a0, Packet& a1, Packet& a2, Packet& a3)
+{
+ a0 = pload1<Packet>(a+0);
+ a1 = pload1<Packet>(a+1);
+ a2 = pload1<Packet>(a+2);
+ a3 = pload1<Packet>(a+3);
+}
+
+/** \internal equivalent to
+ * \code
+ * a0 = pload1(a+0);
+ * a1 = pload1(a+1);
+ * \endcode
+ * \sa pset1, pload1, ploaddup, pbroadcast4
+ */
+template<typename Packet> EIGEN_DEVICE_FUNC
+inline void pbroadcast2(const typename unpacket_traits<Packet>::type *a,
+ Packet& a0, Packet& a1)
+{
+ a0 = pload1<Packet>(a+0);
+ a1 = pload1<Packet>(a+1);
+}
+
+/** \internal \brief Returns a packet with coefficients (a,a+1,...,a+packet_size-1). */
+template<typename Packet> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet
+plset(const typename unpacket_traits<Packet>::type& a) { return a; }
+
+/** \internal copy the packet \a from to \a *to, \a to must be 16 bytes aligned */
+template<typename Scalar, typename Packet> EIGEN_DEVICE_FUNC inline void pstore(Scalar* to, const Packet& from)
+{ (*to) = from; }
+
+/** \internal copy the packet \a from to \a *to, (un-aligned store) */
+template<typename Scalar, typename Packet> EIGEN_DEVICE_FUNC inline void pstoreu(Scalar* to, const Packet& from)
+{ (*to) = from; }
+
+ template<typename Scalar, typename Packet> EIGEN_DEVICE_FUNC inline Packet pgather(const Scalar* from, Index /*stride*/)
+ { return ploadu<Packet>(from); }
+
+ template<typename Scalar, typename Packet> EIGEN_DEVICE_FUNC inline void pscatter(Scalar* to, const Packet& from, Index /*stride*/)
+ { pstore(to, from); }
+
+/** \internal tries to do cache prefetching of \a addr */
+template<typename Scalar> EIGEN_DEVICE_FUNC inline void prefetch(const Scalar* addr)
+{
+#ifdef __CUDA_ARCH__
+#if defined(__LP64__)
+ // 64-bit pointer operand constraint for inlined asm
+ asm(" prefetch.L1 [ %1 ];" : "=l"(addr) : "l"(addr));
+#else
+ // 32-bit pointer operand constraint for inlined asm
+ asm(" prefetch.L1 [ %1 ];" : "=r"(addr) : "r"(addr));
+#endif
+#elif (!EIGEN_COMP_MSVC) && (EIGEN_COMP_GNUC || EIGEN_COMP_CLANG || EIGEN_COMP_ICC)
+ __builtin_prefetch(addr);
+#endif
+}
+
+/** \internal \returns the first element of a packet */
+template<typename Packet> EIGEN_DEVICE_FUNC inline typename unpacket_traits<Packet>::type pfirst(const Packet& a)
+{ return a; }
+
+/** \internal \returns a packet where the element i contains the sum of the packet of \a vec[i] */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+preduxp(const Packet* vecs) { return vecs[0]; }
+
+/** \internal \returns the sum of the elements of \a a*/
+template<typename Packet> EIGEN_DEVICE_FUNC inline typename unpacket_traits<Packet>::type predux(const Packet& a)
+{ return a; }
+
+/** \internal \returns the sum of the elements of \a a by block of 4 elements.
+ * For a packet {a0, a1, a2, a3, a4, a5, a6, a7}, it returns a half packet {a0+a4, a1+a5, a2+a6, a3+a7}
+ * For packet-size smaller or equal to 4, this boils down to a noop.
+ */
+template<typename Packet> EIGEN_DEVICE_FUNC inline
+typename conditional<(unpacket_traits<Packet>::size%8)==0,typename unpacket_traits<Packet>::half,Packet>::type
+predux_downto4(const Packet& a)
+{ return a; }
+
+/** \internal \returns the product of the elements of \a a*/
+template<typename Packet> EIGEN_DEVICE_FUNC inline typename unpacket_traits<Packet>::type predux_mul(const Packet& a)
+{ return a; }
+
+/** \internal \returns the min of the elements of \a a*/
+template<typename Packet> EIGEN_DEVICE_FUNC inline typename unpacket_traits<Packet>::type predux_min(const Packet& a)
+{ return a; }
+
+/** \internal \returns the max of the elements of \a a*/
+template<typename Packet> EIGEN_DEVICE_FUNC inline typename unpacket_traits<Packet>::type predux_max(const Packet& a)
+{ return a; }
+
+/** \internal \returns the reversed elements of \a a*/
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet preverse(const Packet& a)
+{ return a; }
+
+/** \internal \returns \a a with real and imaginary part flipped (for complex type only) */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet pcplxflip(const Packet& a)
+{
+ // FIXME: uncomment the following in case we drop the internal imag and real functions.
+// using std::imag;
+// using std::real;
+ return Packet(imag(a),real(a));
+}
+
+/**************************
+* Special math functions
+***************************/
+
+/** \internal \returns the sine of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet psin(const Packet& a) { using std::sin; return sin(a); }
+
+/** \internal \returns the cosine of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet pcos(const Packet& a) { using std::cos; return cos(a); }
+
+/** \internal \returns the tan of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet ptan(const Packet& a) { using std::tan; return tan(a); }
+
+/** \internal \returns the arc sine of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet pasin(const Packet& a) { using std::asin; return asin(a); }
+
+/** \internal \returns the arc cosine of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet pacos(const Packet& a) { using std::acos; return acos(a); }
+
+/** \internal \returns the arc tangent of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet patan(const Packet& a) { using std::atan; return atan(a); }
+
+/** \internal \returns the hyperbolic sine of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet psinh(const Packet& a) { using std::sinh; return sinh(a); }
+
+/** \internal \returns the hyperbolic cosine of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet pcosh(const Packet& a) { using std::cosh; return cosh(a); }
+
+/** \internal \returns the hyperbolic tan of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet ptanh(const Packet& a) { using std::tanh; return tanh(a); }
+
+/** \internal \returns the exp of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet pexp(const Packet& a) { using std::exp; return exp(a); }
+
+/** \internal \returns the log of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet plog(const Packet& a) { using std::log; return log(a); }
+
+/** \internal \returns the log1p of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet plog1p(const Packet& a) { return numext::log1p(a); }
+
+/** \internal \returns the log10 of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet plog10(const Packet& a) { using std::log10; return log10(a); }
+
+/** \internal \returns the square-root of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet psqrt(const Packet& a) { using std::sqrt; return sqrt(a); }
+
+/** \internal \returns the reciprocal square-root of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet prsqrt(const Packet& a) {
+ return pdiv(pset1<Packet>(1), psqrt(a));
+}
+
+/** \internal \returns the rounded value of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet pround(const Packet& a) { using numext::round; return round(a); }
+
+/** \internal \returns the floor of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet pfloor(const Packet& a) { using numext::floor; return floor(a); }
+
+/** \internal \returns the ceil of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet pceil(const Packet& a) { using numext::ceil; return ceil(a); }
+
+/***************************************************************************
+* The following functions might not have to be overwritten for vectorized types
+***************************************************************************/
+
+/** \internal copy a packet with constant coeficient \a a (e.g., [a,a,a,a]) to \a *to. \a to must be 16 bytes aligned */
+// NOTE: this function must really be templated on the packet type (think about different packet types for the same scalar type)
+template<typename Packet>
+inline void pstore1(typename unpacket_traits<Packet>::type* to, const typename unpacket_traits<Packet>::type& a)
+{
+ pstore(to, pset1<Packet>(a));
+}
+
+/** \internal \returns a * b + c (coeff-wise) */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pmadd(const Packet& a,
+ const Packet& b,
+ const Packet& c)
+{ return padd(pmul(a, b),c); }
+
+/** \internal \returns a packet version of \a *from.
+ * The pointer \a from must be aligned on a \a Alignment bytes boundary. */
+template<typename Packet, int Alignment>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Packet ploadt(const typename unpacket_traits<Packet>::type* from)
+{
+ if(Alignment >= unpacket_traits<Packet>::alignment)
+ return pload<Packet>(from);
+ else
+ return ploadu<Packet>(from);
+}
+
+/** \internal copy the packet \a from to \a *to.
+ * The pointer \a from must be aligned on a \a Alignment bytes boundary. */
+template<typename Scalar, typename Packet, int Alignment>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void pstoret(Scalar* to, const Packet& from)
+{
+ if(Alignment >= unpacket_traits<Packet>::alignment)
+ pstore(to, from);
+ else
+ pstoreu(to, from);
+}
+
+/** \internal \returns a packet version of \a *from.
+ * Unlike ploadt, ploadt_ro takes advantage of the read-only memory path on the
+ * hardware if available to speedup the loading of data that won't be modified
+ * by the current computation.
+ */
+template<typename Packet, int LoadMode>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Packet ploadt_ro(const typename unpacket_traits<Packet>::type* from)
+{
+ return ploadt<Packet, LoadMode>(from);
+}
+
+/** \internal default implementation of palign() allowing partial specialization */
+template<int Offset,typename PacketType>
+struct palign_impl
+{
+ // by default data are aligned, so there is nothing to be done :)
+ static inline void run(PacketType&, const PacketType&) {}
+};
+
+/** \internal update \a first using the concatenation of the packet_size minus \a Offset last elements
+ * of \a first and \a Offset first elements of \a second.
+ *
+ * This function is currently only used to optimize matrix-vector products on unligned matrices.
+ * It takes 2 packets that represent a contiguous memory array, and returns a packet starting
+ * at the position \a Offset. For instance, for packets of 4 elements, we have:
+ * Input:
+ * - first = {f0,f1,f2,f3}
+ * - second = {s0,s1,s2,s3}
+ * Output:
+ * - if Offset==0 then {f0,f1,f2,f3}
+ * - if Offset==1 then {f1,f2,f3,s0}
+ * - if Offset==2 then {f2,f3,s0,s1}
+ * - if Offset==3 then {f3,s0,s1,s3}
+ */
+template<int Offset,typename PacketType>
+inline void palign(PacketType& first, const PacketType& second)
+{
+ palign_impl<Offset,PacketType>::run(first,second);
+}
+
+/***************************************************************************
+* Fast complex products (GCC generates a function call which is very slow)
+***************************************************************************/
+
+// Eigen+CUDA does not support complexes.
+#ifndef __CUDACC__
+
+template<> inline std::complex<float> pmul(const std::complex<float>& a, const std::complex<float>& b)
+{ return std::complex<float>(real(a)*real(b) - imag(a)*imag(b), imag(a)*real(b) + real(a)*imag(b)); }
+
+template<> inline std::complex<double> pmul(const std::complex<double>& a, const std::complex<double>& b)
+{ return std::complex<double>(real(a)*real(b) - imag(a)*imag(b), imag(a)*real(b) + real(a)*imag(b)); }
+
+#endif
+
+
+/***************************************************************************
+ * PacketBlock, that is a collection of N packets where the number of words
+ * in the packet is a multiple of N.
+***************************************************************************/
+template <typename Packet,int N=unpacket_traits<Packet>::size> struct PacketBlock {
+ Packet packet[N];
+};
+
+template<typename Packet> EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet,1>& /*kernel*/) {
+ // Nothing to do in the scalar case, i.e. a 1x1 matrix.
+}
+
+/***************************************************************************
+ * Selector, i.e. vector of N boolean values used to select (i.e. blend)
+ * words from 2 packets.
+***************************************************************************/
+template <size_t N> struct Selector {
+ bool select[N];
+};
+
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pblend(const Selector<unpacket_traits<Packet>::size>& ifPacket, const Packet& thenPacket, const Packet& elsePacket) {
+ return ifPacket.select[0] ? thenPacket : elsePacket;
+}
+
+/** \internal \returns \a a with the first coefficient replaced by the scalar b */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pinsertfirst(const Packet& a, typename unpacket_traits<Packet>::type b)
+{
+ // Default implementation based on pblend.
+ // It must be specialized for higher performance.
+ Selector<unpacket_traits<Packet>::size> mask;
+ mask.select[0] = true;
+ // This for loop should be optimized away by the compiler.
+ for(Index i=1; i<unpacket_traits<Packet>::size; ++i)
+ mask.select[i] = false;
+ return pblend(mask, pset1<Packet>(b), a);
+}
+
+/** \internal \returns \a a with the last coefficient replaced by the scalar b */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pinsertlast(const Packet& a, typename unpacket_traits<Packet>::type b)
+{
+ // Default implementation based on pblend.
+ // It must be specialized for higher performance.
+ Selector<unpacket_traits<Packet>::size> mask;
+ // This for loop should be optimized away by the compiler.
+ for(Index i=0; i<unpacket_traits<Packet>::size-1; ++i)
+ mask.select[i] = false;
+ mask.select[unpacket_traits<Packet>::size-1] = true;
+ return pblend(mask, pset1<Packet>(b), a);
+}
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_GENERIC_PACKET_MATH_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/GlobalFunctions.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/GlobalFunctions.h
new file mode 100644
index 0000000..769dc25
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/GlobalFunctions.h
@@ -0,0 +1,187 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010-2016 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_GLOBAL_FUNCTIONS_H
+#define EIGEN_GLOBAL_FUNCTIONS_H
+
+#ifdef EIGEN_PARSED_BY_DOXYGEN
+
+#define EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(NAME,FUNCTOR,DOC_OP,DOC_DETAILS) \
+ /** \returns an expression of the coefficient-wise DOC_OP of \a x
+
+ DOC_DETAILS
+
+ \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_##NAME">Math functions</a>, class CwiseUnaryOp
+ */ \
+ template<typename Derived> \
+ inline const Eigen::CwiseUnaryOp<Eigen::internal::FUNCTOR<typename Derived::Scalar>, const Derived> \
+ NAME(const Eigen::ArrayBase<Derived>& x);
+
+#else
+
+#define EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(NAME,FUNCTOR,DOC_OP,DOC_DETAILS) \
+ template<typename Derived> \
+ inline const Eigen::CwiseUnaryOp<Eigen::internal::FUNCTOR<typename Derived::Scalar>, const Derived> \
+ (NAME)(const Eigen::ArrayBase<Derived>& x) { \
+ return Eigen::CwiseUnaryOp<Eigen::internal::FUNCTOR<typename Derived::Scalar>, const Derived>(x.derived()); \
+ }
+
+#endif // EIGEN_PARSED_BY_DOXYGEN
+
+#define EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(NAME,FUNCTOR) \
+ \
+ template<typename Derived> \
+ struct NAME##_retval<ArrayBase<Derived> > \
+ { \
+ typedef const Eigen::CwiseUnaryOp<Eigen::internal::FUNCTOR<typename Derived::Scalar>, const Derived> type; \
+ }; \
+ template<typename Derived> \
+ struct NAME##_impl<ArrayBase<Derived> > \
+ { \
+ static inline typename NAME##_retval<ArrayBase<Derived> >::type run(const Eigen::ArrayBase<Derived>& x) \
+ { \
+ return typename NAME##_retval<ArrayBase<Derived> >::type(x.derived()); \
+ } \
+ };
+
+namespace Eigen
+{
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(real,scalar_real_op,real part,\sa ArrayBase::real)
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(imag,scalar_imag_op,imaginary part,\sa ArrayBase::imag)
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(conj,scalar_conjugate_op,complex conjugate,\sa ArrayBase::conjugate)
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(inverse,scalar_inverse_op,inverse,\sa ArrayBase::inverse)
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sin,scalar_sin_op,sine,\sa ArrayBase::sin)
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(cos,scalar_cos_op,cosine,\sa ArrayBase::cos)
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(tan,scalar_tan_op,tangent,\sa ArrayBase::tan)
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(atan,scalar_atan_op,arc-tangent,\sa ArrayBase::atan)
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(asin,scalar_asin_op,arc-sine,\sa ArrayBase::asin)
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(acos,scalar_acos_op,arc-consine,\sa ArrayBase::acos)
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sinh,scalar_sinh_op,hyperbolic sine,\sa ArrayBase::sinh)
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(cosh,scalar_cosh_op,hyperbolic cosine,\sa ArrayBase::cosh)
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(tanh,scalar_tanh_op,hyperbolic tangent,\sa ArrayBase::tanh)
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(lgamma,scalar_lgamma_op,natural logarithm of the gamma function,\sa ArrayBase::lgamma)
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(digamma,scalar_digamma_op,derivative of lgamma,\sa ArrayBase::digamma)
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(erf,scalar_erf_op,error function,\sa ArrayBase::erf)
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(erfc,scalar_erfc_op,complement error function,\sa ArrayBase::erfc)
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(exp,scalar_exp_op,exponential,\sa ArrayBase::exp)
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(log,scalar_log_op,natural logarithm,\sa Eigen::log10 DOXCOMMA ArrayBase::log)
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(log1p,scalar_log1p_op,natural logarithm of 1 plus the value,\sa ArrayBase::log1p)
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(log10,scalar_log10_op,base 10 logarithm,\sa Eigen::log DOXCOMMA ArrayBase::log)
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(abs,scalar_abs_op,absolute value,\sa ArrayBase::abs DOXCOMMA MatrixBase::cwiseAbs)
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(abs2,scalar_abs2_op,squared absolute value,\sa ArrayBase::abs2 DOXCOMMA MatrixBase::cwiseAbs2)
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(arg,scalar_arg_op,complex argument,\sa ArrayBase::arg)
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sqrt,scalar_sqrt_op,square root,\sa ArrayBase::sqrt DOXCOMMA MatrixBase::cwiseSqrt)
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(rsqrt,scalar_rsqrt_op,reciprocal square root,\sa ArrayBase::rsqrt)
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(square,scalar_square_op,square (power 2),\sa Eigen::abs2 DOXCOMMA Eigen::pow DOXCOMMA ArrayBase::square)
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(cube,scalar_cube_op,cube (power 3),\sa Eigen::pow DOXCOMMA ArrayBase::cube)
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(round,scalar_round_op,nearest integer,\sa Eigen::floor DOXCOMMA Eigen::ceil DOXCOMMA ArrayBase::round)
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(floor,scalar_floor_op,nearest integer not greater than the giben value,\sa Eigen::ceil DOXCOMMA ArrayBase::floor)
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(ceil,scalar_ceil_op,nearest integer not less than the giben value,\sa Eigen::floor DOXCOMMA ArrayBase::ceil)
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(isnan,scalar_isnan_op,not-a-number test,\sa Eigen::isinf DOXCOMMA Eigen::isfinite DOXCOMMA ArrayBase::isnan)
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(isinf,scalar_isinf_op,infinite value test,\sa Eigen::isnan DOXCOMMA Eigen::isfinite DOXCOMMA ArrayBase::isinf)
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(isfinite,scalar_isfinite_op,finite value test,\sa Eigen::isinf DOXCOMMA Eigen::isnan DOXCOMMA ArrayBase::isfinite)
+ EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sign,scalar_sign_op,sign (or 0),\sa ArrayBase::sign)
+
+ /** \returns an expression of the coefficient-wise power of \a x to the given constant \a exponent.
+ *
+ * \tparam ScalarExponent is the scalar type of \a exponent. It must be compatible with the scalar type of the given expression (\c Derived::Scalar).
+ *
+ * \sa ArrayBase::pow()
+ *
+ * \relates ArrayBase
+ */
+#ifdef EIGEN_PARSED_BY_DOXYGEN
+ template<typename Derived,typename ScalarExponent>
+ inline const CwiseBinaryOp<internal::scalar_pow_op<Derived::Scalar,ScalarExponent>,Derived,Constant<ScalarExponent> >
+ pow(const Eigen::ArrayBase<Derived>& x, const ScalarExponent& exponent);
+#else
+ template<typename Derived,typename ScalarExponent>
+ inline typename internal::enable_if< !(internal::is_same<typename Derived::Scalar,ScalarExponent>::value) && EIGEN_SCALAR_BINARY_SUPPORTED(pow,typename Derived::Scalar,ScalarExponent),
+ const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(Derived,ScalarExponent,pow) >::type
+ pow(const Eigen::ArrayBase<Derived>& x, const ScalarExponent& exponent) {
+ return x.derived().pow(exponent);
+ }
+
+ template<typename Derived>
+ inline const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(Derived,typename Derived::Scalar,pow)
+ pow(const Eigen::ArrayBase<Derived>& x, const typename Derived::Scalar& exponent) {
+ return x.derived().pow(exponent);
+ }
+#endif
+
+ /** \returns an expression of the coefficient-wise power of \a x to the given array of \a exponents.
+ *
+ * This function computes the coefficient-wise power.
+ *
+ * Example: \include Cwise_array_power_array.cpp
+ * Output: \verbinclude Cwise_array_power_array.out
+ *
+ * \sa ArrayBase::pow()
+ *
+ * \relates ArrayBase
+ */
+ template<typename Derived,typename ExponentDerived>
+ inline const Eigen::CwiseBinaryOp<Eigen::internal::scalar_pow_op<typename Derived::Scalar, typename ExponentDerived::Scalar>, const Derived, const ExponentDerived>
+ pow(const Eigen::ArrayBase<Derived>& x, const Eigen::ArrayBase<ExponentDerived>& exponents)
+ {
+ return Eigen::CwiseBinaryOp<Eigen::internal::scalar_pow_op<typename Derived::Scalar, typename ExponentDerived::Scalar>, const Derived, const ExponentDerived>(
+ x.derived(),
+ exponents.derived()
+ );
+ }
+
+ /** \returns an expression of the coefficient-wise power of the scalar \a x to the given array of \a exponents.
+ *
+ * This function computes the coefficient-wise power between a scalar and an array of exponents.
+ *
+ * \tparam Scalar is the scalar type of \a x. It must be compatible with the scalar type of the given array expression (\c Derived::Scalar).
+ *
+ * Example: \include Cwise_scalar_power_array.cpp
+ * Output: \verbinclude Cwise_scalar_power_array.out
+ *
+ * \sa ArrayBase::pow()
+ *
+ * \relates ArrayBase
+ */
+#ifdef EIGEN_PARSED_BY_DOXYGEN
+ template<typename Scalar,typename Derived>
+ inline const CwiseBinaryOp<internal::scalar_pow_op<Scalar,Derived::Scalar>,Constant<Scalar>,Derived>
+ pow(const Scalar& x,const Eigen::ArrayBase<Derived>& x);
+#else
+ template<typename Scalar, typename Derived>
+ inline typename internal::enable_if< !(internal::is_same<typename Derived::Scalar,Scalar>::value) && EIGEN_SCALAR_BINARY_SUPPORTED(pow,Scalar,typename Derived::Scalar),
+ const EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar,Derived,pow) >::type
+ pow(const Scalar& x, const Eigen::ArrayBase<Derived>& exponents)
+ {
+ return EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar,Derived,pow)(
+ typename internal::plain_constant_type<Derived,Scalar>::type(exponents.rows(), exponents.cols(), x), exponents.derived() );
+ }
+
+ template<typename Derived>
+ inline const EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(typename Derived::Scalar,Derived,pow)
+ pow(const typename Derived::Scalar& x, const Eigen::ArrayBase<Derived>& exponents)
+ {
+ return EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(typename Derived::Scalar,Derived,pow)(
+ typename internal::plain_constant_type<Derived,typename Derived::Scalar>::type(exponents.rows(), exponents.cols(), x), exponents.derived() );
+ }
+#endif
+
+
+ namespace internal
+ {
+ EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(real,scalar_real_op)
+ EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(imag,scalar_imag_op)
+ EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(abs2,scalar_abs2_op)
+ }
+}
+
+// TODO: cleanly disable those functions that are not supported on Array (numext::real_ref, internal::random, internal::isApprox...)
+
+#endif // EIGEN_GLOBAL_FUNCTIONS_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/IO.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/IO.h
new file mode 100644
index 0000000..da7fd6c
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/IO.h
@@ -0,0 +1,225 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_IO_H
+#define EIGEN_IO_H
+
+namespace Eigen {
+
+enum { DontAlignCols = 1 };
+enum { StreamPrecision = -1,
+ FullPrecision = -2 };
+
+namespace internal {
+template<typename Derived>
+std::ostream & print_matrix(std::ostream & s, const Derived& _m, const IOFormat& fmt);
+}
+
+/** \class IOFormat
+ * \ingroup Core_Module
+ *
+ * \brief Stores a set of parameters controlling the way matrices are printed
+ *
+ * List of available parameters:
+ * - \b precision number of digits for floating point values, or one of the special constants \c StreamPrecision and \c FullPrecision.
+ * The default is the special value \c StreamPrecision which means to use the
+ * stream's own precision setting, as set for instance using \c cout.precision(3). The other special value
+ * \c FullPrecision means that the number of digits will be computed to match the full precision of each floating-point
+ * type.
+ * - \b flags an OR-ed combination of flags, the default value is 0, the only currently available flag is \c DontAlignCols which
+ * allows to disable the alignment of columns, resulting in faster code.
+ * - \b coeffSeparator string printed between two coefficients of the same row
+ * - \b rowSeparator string printed between two rows
+ * - \b rowPrefix string printed at the beginning of each row
+ * - \b rowSuffix string printed at the end of each row
+ * - \b matPrefix string printed at the beginning of the matrix
+ * - \b matSuffix string printed at the end of the matrix
+ *
+ * Example: \include IOFormat.cpp
+ * Output: \verbinclude IOFormat.out
+ *
+ * \sa DenseBase::format(), class WithFormat
+ */
+struct IOFormat
+{
+ /** Default constructor, see class IOFormat for the meaning of the parameters */
+ IOFormat(int _precision = StreamPrecision, int _flags = 0,
+ const std::string& _coeffSeparator = " ",
+ const std::string& _rowSeparator = "\n", const std::string& _rowPrefix="", const std::string& _rowSuffix="",
+ const std::string& _matPrefix="", const std::string& _matSuffix="")
+ : matPrefix(_matPrefix), matSuffix(_matSuffix), rowPrefix(_rowPrefix), rowSuffix(_rowSuffix), rowSeparator(_rowSeparator),
+ rowSpacer(""), coeffSeparator(_coeffSeparator), precision(_precision), flags(_flags)
+ {
+ // TODO check if rowPrefix, rowSuffix or rowSeparator contains a newline
+ // don't add rowSpacer if columns are not to be aligned
+ if((flags & DontAlignCols))
+ return;
+ int i = int(matSuffix.length())-1;
+ while (i>=0 && matSuffix[i]!='\n')
+ {
+ rowSpacer += ' ';
+ i--;
+ }
+ }
+ std::string matPrefix, matSuffix;
+ std::string rowPrefix, rowSuffix, rowSeparator, rowSpacer;
+ std::string coeffSeparator;
+ int precision;
+ int flags;
+};
+
+/** \class WithFormat
+ * \ingroup Core_Module
+ *
+ * \brief Pseudo expression providing matrix output with given format
+ *
+ * \tparam ExpressionType the type of the object on which IO stream operations are performed
+ *
+ * This class represents an expression with stream operators controlled by a given IOFormat.
+ * It is the return type of DenseBase::format()
+ * and most of the time this is the only way it is used.
+ *
+ * See class IOFormat for some examples.
+ *
+ * \sa DenseBase::format(), class IOFormat
+ */
+template<typename ExpressionType>
+class WithFormat
+{
+ public:
+
+ WithFormat(const ExpressionType& matrix, const IOFormat& format)
+ : m_matrix(matrix), m_format(format)
+ {}
+
+ friend std::ostream & operator << (std::ostream & s, const WithFormat& wf)
+ {
+ return internal::print_matrix(s, wf.m_matrix.eval(), wf.m_format);
+ }
+
+ protected:
+ typename ExpressionType::Nested m_matrix;
+ IOFormat m_format;
+};
+
+namespace internal {
+
+// NOTE: This helper is kept for backward compatibility with previous code specializing
+// this internal::significant_decimals_impl structure. In the future we should directly
+// call digits10() which has been introduced in July 2016 in 3.3.
+template<typename Scalar>
+struct significant_decimals_impl
+{
+ static inline int run()
+ {
+ return NumTraits<Scalar>::digits10();
+ }
+};
+
+/** \internal
+ * print the matrix \a _m to the output stream \a s using the output format \a fmt */
+template<typename Derived>
+std::ostream & print_matrix(std::ostream & s, const Derived& _m, const IOFormat& fmt)
+{
+ if(_m.size() == 0)
+ {
+ s << fmt.matPrefix << fmt.matSuffix;
+ return s;
+ }
+
+ typename Derived::Nested m = _m;
+ typedef typename Derived::Scalar Scalar;
+
+ Index width = 0;
+
+ std::streamsize explicit_precision;
+ if(fmt.precision == StreamPrecision)
+ {
+ explicit_precision = 0;
+ }
+ else if(fmt.precision == FullPrecision)
+ {
+ if (NumTraits<Scalar>::IsInteger)
+ {
+ explicit_precision = 0;
+ }
+ else
+ {
+ explicit_precision = significant_decimals_impl<Scalar>::run();
+ }
+ }
+ else
+ {
+ explicit_precision = fmt.precision;
+ }
+
+ std::streamsize old_precision = 0;
+ if(explicit_precision) old_precision = s.precision(explicit_precision);
+
+ bool align_cols = !(fmt.flags & DontAlignCols);
+ if(align_cols)
+ {
+ // compute the largest width
+ for(Index j = 0; j < m.cols(); ++j)
+ for(Index i = 0; i < m.rows(); ++i)
+ {
+ std::stringstream sstr;
+ sstr.copyfmt(s);
+ sstr << m.coeff(i,j);
+ width = std::max<Index>(width, Index(sstr.str().length()));
+ }
+ }
+ s << fmt.matPrefix;
+ for(Index i = 0; i < m.rows(); ++i)
+ {
+ if (i)
+ s << fmt.rowSpacer;
+ s << fmt.rowPrefix;
+ if(width) s.width(width);
+ s << m.coeff(i, 0);
+ for(Index j = 1; j < m.cols(); ++j)
+ {
+ s << fmt.coeffSeparator;
+ if (width) s.width(width);
+ s << m.coeff(i, j);
+ }
+ s << fmt.rowSuffix;
+ if( i < m.rows() - 1)
+ s << fmt.rowSeparator;
+ }
+ s << fmt.matSuffix;
+ if(explicit_precision) s.precision(old_precision);
+ return s;
+}
+
+} // end namespace internal
+
+/** \relates DenseBase
+ *
+ * Outputs the matrix, to the given stream.
+ *
+ * If you wish to print the matrix with a format different than the default, use DenseBase::format().
+ *
+ * It is also possible to change the default format by defining EIGEN_DEFAULT_IO_FORMAT before including Eigen headers.
+ * If not defined, this will automatically be defined to Eigen::IOFormat(), that is the Eigen::IOFormat with default parameters.
+ *
+ * \sa DenseBase::format()
+ */
+template<typename Derived>
+std::ostream & operator <<
+(std::ostream & s,
+ const DenseBase<Derived> & m)
+{
+ return internal::print_matrix(s, m.eval(), EIGEN_DEFAULT_IO_FORMAT);
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_IO_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Inverse.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Inverse.h
new file mode 100644
index 0000000..b76f043
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Inverse.h
@@ -0,0 +1,118 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2014 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_INVERSE_H
+#define EIGEN_INVERSE_H
+
+namespace Eigen {
+
+template<typename XprType,typename StorageKind> class InverseImpl;
+
+namespace internal {
+
+template<typename XprType>
+struct traits<Inverse<XprType> >
+ : traits<typename XprType::PlainObject>
+{
+ typedef typename XprType::PlainObject PlainObject;
+ typedef traits<PlainObject> BaseTraits;
+ enum {
+ Flags = BaseTraits::Flags & RowMajorBit
+ };
+};
+
+} // end namespace internal
+
+/** \class Inverse
+ *
+ * \brief Expression of the inverse of another expression
+ *
+ * \tparam XprType the type of the expression we are taking the inverse
+ *
+ * This class represents an abstract expression of A.inverse()
+ * and most of the time this is the only way it is used.
+ *
+ */
+template<typename XprType>
+class Inverse : public InverseImpl<XprType,typename internal::traits<XprType>::StorageKind>
+{
+public:
+ typedef typename XprType::StorageIndex StorageIndex;
+ typedef typename XprType::PlainObject PlainObject;
+ typedef typename XprType::Scalar Scalar;
+ typedef typename internal::ref_selector<XprType>::type XprTypeNested;
+ typedef typename internal::remove_all<XprTypeNested>::type XprTypeNestedCleaned;
+ typedef typename internal::ref_selector<Inverse>::type Nested;
+ typedef typename internal::remove_all<XprType>::type NestedExpression;
+
+ explicit EIGEN_DEVICE_FUNC Inverse(const XprType &xpr)
+ : m_xpr(xpr)
+ {}
+
+ EIGEN_DEVICE_FUNC Index rows() const { return m_xpr.rows(); }
+ EIGEN_DEVICE_FUNC Index cols() const { return m_xpr.cols(); }
+
+ EIGEN_DEVICE_FUNC const XprTypeNestedCleaned& nestedExpression() const { return m_xpr; }
+
+protected:
+ XprTypeNested m_xpr;
+};
+
+// Generic API dispatcher
+template<typename XprType, typename StorageKind>
+class InverseImpl
+ : public internal::generic_xpr_base<Inverse<XprType> >::type
+{
+public:
+ typedef typename internal::generic_xpr_base<Inverse<XprType> >::type Base;
+ typedef typename XprType::Scalar Scalar;
+private:
+
+ Scalar coeff(Index row, Index col) const;
+ Scalar coeff(Index i) const;
+};
+
+namespace internal {
+
+/** \internal
+ * \brief Default evaluator for Inverse expression.
+ *
+ * This default evaluator for Inverse expression simply evaluate the inverse into a temporary
+ * by a call to internal::call_assignment_no_alias.
+ * Therefore, inverse implementers only have to specialize Assignment<Dst,Inverse<...>, ...> for
+ * there own nested expression.
+ *
+ * \sa class Inverse
+ */
+template<typename ArgType>
+struct unary_evaluator<Inverse<ArgType> >
+ : public evaluator<typename Inverse<ArgType>::PlainObject>
+{
+ typedef Inverse<ArgType> InverseType;
+ typedef typename InverseType::PlainObject PlainObject;
+ typedef evaluator<PlainObject> Base;
+
+ enum { Flags = Base::Flags | EvalBeforeNestingBit };
+
+ unary_evaluator(const InverseType& inv_xpr)
+ : m_result(inv_xpr.rows(), inv_xpr.cols())
+ {
+ ::new (static_cast<Base*>(this)) Base(m_result);
+ internal::call_assignment_no_alias(m_result, inv_xpr);
+ }
+
+protected:
+ PlainObject m_result;
+};
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_INVERSE_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Map.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Map.h
new file mode 100644
index 0000000..548bf9a
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Map.h
@@ -0,0 +1,171 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2007-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_MAP_H
+#define EIGEN_MAP_H
+
+namespace Eigen {
+
+namespace internal {
+template<typename PlainObjectType, int MapOptions, typename StrideType>
+struct traits<Map<PlainObjectType, MapOptions, StrideType> >
+ : public traits<PlainObjectType>
+{
+ typedef traits<PlainObjectType> TraitsBase;
+ enum {
+ PlainObjectTypeInnerSize = ((traits<PlainObjectType>::Flags&RowMajorBit)==RowMajorBit)
+ ? PlainObjectType::ColsAtCompileTime
+ : PlainObjectType::RowsAtCompileTime,
+
+ InnerStrideAtCompileTime = StrideType::InnerStrideAtCompileTime == 0
+ ? int(PlainObjectType::InnerStrideAtCompileTime)
+ : int(StrideType::InnerStrideAtCompileTime),
+ OuterStrideAtCompileTime = StrideType::OuterStrideAtCompileTime == 0
+ ? (InnerStrideAtCompileTime==Dynamic || PlainObjectTypeInnerSize==Dynamic
+ ? Dynamic
+ : int(InnerStrideAtCompileTime) * int(PlainObjectTypeInnerSize))
+ : int(StrideType::OuterStrideAtCompileTime),
+ Alignment = int(MapOptions)&int(AlignedMask),
+ Flags0 = TraitsBase::Flags & (~NestByRefBit),
+ Flags = is_lvalue<PlainObjectType>::value ? int(Flags0) : (int(Flags0) & ~LvalueBit)
+ };
+private:
+ enum { Options }; // Expressions don't have Options
+};
+}
+
+/** \class Map
+ * \ingroup Core_Module
+ *
+ * \brief A matrix or vector expression mapping an existing array of data.
+ *
+ * \tparam PlainObjectType the equivalent matrix type of the mapped data
+ * \tparam MapOptions specifies the pointer alignment in bytes. It can be: \c #Aligned128, , \c #Aligned64, \c #Aligned32, \c #Aligned16, \c #Aligned8 or \c #Unaligned.
+ * The default is \c #Unaligned.
+ * \tparam StrideType optionally specifies strides. By default, Map assumes the memory layout
+ * of an ordinary, contiguous array. This can be overridden by specifying strides.
+ * The type passed here must be a specialization of the Stride template, see examples below.
+ *
+ * This class represents a matrix or vector expression mapping an existing array of data.
+ * It can be used to let Eigen interface without any overhead with non-Eigen data structures,
+ * such as plain C arrays or structures from other libraries. By default, it assumes that the
+ * data is laid out contiguously in memory. You can however override this by explicitly specifying
+ * inner and outer strides.
+ *
+ * Here's an example of simply mapping a contiguous array as a \ref TopicStorageOrders "column-major" matrix:
+ * \include Map_simple.cpp
+ * Output: \verbinclude Map_simple.out
+ *
+ * If you need to map non-contiguous arrays, you can do so by specifying strides:
+ *
+ * Here's an example of mapping an array as a vector, specifying an inner stride, that is, the pointer
+ * increment between two consecutive coefficients. Here, we're specifying the inner stride as a compile-time
+ * fixed value.
+ * \include Map_inner_stride.cpp
+ * Output: \verbinclude Map_inner_stride.out
+ *
+ * Here's an example of mapping an array while specifying an outer stride. Here, since we're mapping
+ * as a column-major matrix, 'outer stride' means the pointer increment between two consecutive columns.
+ * Here, we're specifying the outer stride as a runtime parameter. Note that here \c OuterStride<> is
+ * a short version of \c OuterStride<Dynamic> because the default template parameter of OuterStride
+ * is \c Dynamic
+ * \include Map_outer_stride.cpp
+ * Output: \verbinclude Map_outer_stride.out
+ *
+ * For more details and for an example of specifying both an inner and an outer stride, see class Stride.
+ *
+ * \b Tip: to change the array of data mapped by a Map object, you can use the C++
+ * placement new syntax:
+ *
+ * Example: \include Map_placement_new.cpp
+ * Output: \verbinclude Map_placement_new.out
+ *
+ * This class is the return type of PlainObjectBase::Map() but can also be used directly.
+ *
+ * \sa PlainObjectBase::Map(), \ref TopicStorageOrders
+ */
+template<typename PlainObjectType, int MapOptions, typename StrideType> class Map
+ : public MapBase<Map<PlainObjectType, MapOptions, StrideType> >
+{
+ public:
+
+ typedef MapBase<Map> Base;
+ EIGEN_DENSE_PUBLIC_INTERFACE(Map)
+
+ typedef typename Base::PointerType PointerType;
+ typedef PointerType PointerArgType;
+ EIGEN_DEVICE_FUNC
+ inline PointerType cast_to_pointer_type(PointerArgType ptr) { return ptr; }
+
+ EIGEN_DEVICE_FUNC
+ inline Index innerStride() const
+ {
+ return StrideType::InnerStrideAtCompileTime != 0 ? m_stride.inner() : 1;
+ }
+
+ EIGEN_DEVICE_FUNC
+ inline Index outerStride() const
+ {
+ return int(StrideType::OuterStrideAtCompileTime) != 0 ? m_stride.outer()
+ : int(internal::traits<Map>::OuterStrideAtCompileTime) != Dynamic ? Index(internal::traits<Map>::OuterStrideAtCompileTime)
+ : IsVectorAtCompileTime ? (this->size() * innerStride())
+ : (int(Flags)&RowMajorBit) ? (this->cols() * innerStride())
+ : (this->rows() * innerStride());
+ }
+
+ /** Constructor in the fixed-size case.
+ *
+ * \param dataPtr pointer to the array to map
+ * \param stride optional Stride object, passing the strides.
+ */
+ EIGEN_DEVICE_FUNC
+ explicit inline Map(PointerArgType dataPtr, const StrideType& stride = StrideType())
+ : Base(cast_to_pointer_type(dataPtr)), m_stride(stride)
+ {
+ PlainObjectType::Base::_check_template_params();
+ }
+
+ /** Constructor in the dynamic-size vector case.
+ *
+ * \param dataPtr pointer to the array to map
+ * \param size the size of the vector expression
+ * \param stride optional Stride object, passing the strides.
+ */
+ EIGEN_DEVICE_FUNC
+ inline Map(PointerArgType dataPtr, Index size, const StrideType& stride = StrideType())
+ : Base(cast_to_pointer_type(dataPtr), size), m_stride(stride)
+ {
+ PlainObjectType::Base::_check_template_params();
+ }
+
+ /** Constructor in the dynamic-size matrix case.
+ *
+ * \param dataPtr pointer to the array to map
+ * \param rows the number of rows of the matrix expression
+ * \param cols the number of columns of the matrix expression
+ * \param stride optional Stride object, passing the strides.
+ */
+ EIGEN_DEVICE_FUNC
+ inline Map(PointerArgType dataPtr, Index rows, Index cols, const StrideType& stride = StrideType())
+ : Base(cast_to_pointer_type(dataPtr), rows, cols), m_stride(stride)
+ {
+ PlainObjectType::Base::_check_template_params();
+ }
+
+ EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Map)
+
+ protected:
+ StrideType m_stride;
+};
+
+
+} // end namespace Eigen
+
+#endif // EIGEN_MAP_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/MapBase.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/MapBase.h
new file mode 100644
index 0000000..668922f
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/MapBase.h
@@ -0,0 +1,303 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2007-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_MAPBASE_H
+#define EIGEN_MAPBASE_H
+
+#define EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived) \
+ EIGEN_STATIC_ASSERT((int(internal::evaluator<Derived>::Flags) & LinearAccessBit) || Derived::IsVectorAtCompileTime, \
+ YOU_ARE_TRYING_TO_USE_AN_INDEX_BASED_ACCESSOR_ON_AN_EXPRESSION_THAT_DOES_NOT_SUPPORT_THAT)
+
+namespace Eigen {
+
+/** \ingroup Core_Module
+ *
+ * \brief Base class for dense Map and Block expression with direct access
+ *
+ * This base class provides the const low-level accessors (e.g. coeff, coeffRef) of dense
+ * Map and Block objects with direct access.
+ * Typical users do not have to directly deal with this class.
+ *
+ * This class can be extended by through the macro plugin \c EIGEN_MAPBASE_PLUGIN.
+ * See \link TopicCustomizing_Plugins customizing Eigen \endlink for details.
+ *
+ * The \c Derived class has to provide the following two methods describing the memory layout:
+ * \code Index innerStride() const; \endcode
+ * \code Index outerStride() const; \endcode
+ *
+ * \sa class Map, class Block
+ */
+template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
+ : public internal::dense_xpr_base<Derived>::type
+{
+ public:
+
+ typedef typename internal::dense_xpr_base<Derived>::type Base;
+ enum {
+ RowsAtCompileTime = internal::traits<Derived>::RowsAtCompileTime,
+ ColsAtCompileTime = internal::traits<Derived>::ColsAtCompileTime,
+ InnerStrideAtCompileTime = internal::traits<Derived>::InnerStrideAtCompileTime,
+ SizeAtCompileTime = Base::SizeAtCompileTime
+ };
+
+ typedef typename internal::traits<Derived>::StorageKind StorageKind;
+ typedef typename internal::traits<Derived>::Scalar Scalar;
+ typedef typename internal::packet_traits<Scalar>::type PacketScalar;
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ typedef typename internal::conditional<
+ bool(internal::is_lvalue<Derived>::value),
+ Scalar *,
+ const Scalar *>::type
+ PointerType;
+
+ using Base::derived;
+// using Base::RowsAtCompileTime;
+// using Base::ColsAtCompileTime;
+// using Base::SizeAtCompileTime;
+ using Base::MaxRowsAtCompileTime;
+ using Base::MaxColsAtCompileTime;
+ using Base::MaxSizeAtCompileTime;
+ using Base::IsVectorAtCompileTime;
+ using Base::Flags;
+ using Base::IsRowMajor;
+
+ using Base::rows;
+ using Base::cols;
+ using Base::size;
+ using Base::coeff;
+ using Base::coeffRef;
+ using Base::lazyAssign;
+ using Base::eval;
+
+ using Base::innerStride;
+ using Base::outerStride;
+ using Base::rowStride;
+ using Base::colStride;
+
+ // bug 217 - compile error on ICC 11.1
+ using Base::operator=;
+
+ typedef typename Base::CoeffReturnType CoeffReturnType;
+
+ /** \copydoc DenseBase::rows() */
+ EIGEN_DEVICE_FUNC inline Index rows() const { return m_rows.value(); }
+ /** \copydoc DenseBase::cols() */
+ EIGEN_DEVICE_FUNC inline Index cols() const { return m_cols.value(); }
+
+ /** Returns a pointer to the first coefficient of the matrix or vector.
+ *
+ * \note When addressing this data, make sure to honor the strides returned by innerStride() and outerStride().
+ *
+ * \sa innerStride(), outerStride()
+ */
+ EIGEN_DEVICE_FUNC inline const Scalar* data() const { return m_data; }
+
+ /** \copydoc PlainObjectBase::coeff(Index,Index) const */
+ EIGEN_DEVICE_FUNC
+ inline const Scalar& coeff(Index rowId, Index colId) const
+ {
+ return m_data[colId * colStride() + rowId * rowStride()];
+ }
+
+ /** \copydoc PlainObjectBase::coeff(Index) const */
+ EIGEN_DEVICE_FUNC
+ inline const Scalar& coeff(Index index) const
+ {
+ EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived)
+ return m_data[index * innerStride()];
+ }
+
+ /** \copydoc PlainObjectBase::coeffRef(Index,Index) const */
+ EIGEN_DEVICE_FUNC
+ inline const Scalar& coeffRef(Index rowId, Index colId) const
+ {
+ return this->m_data[colId * colStride() + rowId * rowStride()];
+ }
+
+ /** \copydoc PlainObjectBase::coeffRef(Index) const */
+ EIGEN_DEVICE_FUNC
+ inline const Scalar& coeffRef(Index index) const
+ {
+ EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived)
+ return this->m_data[index * innerStride()];
+ }
+
+ /** \internal */
+ template<int LoadMode>
+ inline PacketScalar packet(Index rowId, Index colId) const
+ {
+ return internal::ploadt<PacketScalar, LoadMode>
+ (m_data + (colId * colStride() + rowId * rowStride()));
+ }
+
+ /** \internal */
+ template<int LoadMode>
+ inline PacketScalar packet(Index index) const
+ {
+ EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived)
+ return internal::ploadt<PacketScalar, LoadMode>(m_data + index * innerStride());
+ }
+
+ /** \internal Constructor for fixed size matrices or vectors */
+ EIGEN_DEVICE_FUNC
+ explicit inline MapBase(PointerType dataPtr) : m_data(dataPtr), m_rows(RowsAtCompileTime), m_cols(ColsAtCompileTime)
+ {
+ EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived)
+ checkSanity<Derived>();
+ }
+
+ /** \internal Constructor for dynamically sized vectors */
+ EIGEN_DEVICE_FUNC
+ inline MapBase(PointerType dataPtr, Index vecSize)
+ : m_data(dataPtr),
+ m_rows(RowsAtCompileTime == Dynamic ? vecSize : Index(RowsAtCompileTime)),
+ m_cols(ColsAtCompileTime == Dynamic ? vecSize : Index(ColsAtCompileTime))
+ {
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+ eigen_assert(vecSize >= 0);
+ eigen_assert(dataPtr == 0 || SizeAtCompileTime == Dynamic || SizeAtCompileTime == vecSize);
+ checkSanity<Derived>();
+ }
+
+ /** \internal Constructor for dynamically sized matrices */
+ EIGEN_DEVICE_FUNC
+ inline MapBase(PointerType dataPtr, Index rows, Index cols)
+ : m_data(dataPtr), m_rows(rows), m_cols(cols)
+ {
+ eigen_assert( (dataPtr == 0)
+ || ( rows >= 0 && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == rows)
+ && cols >= 0 && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == cols)));
+ checkSanity<Derived>();
+ }
+
+ #ifdef EIGEN_MAPBASE_PLUGIN
+ #include EIGEN_MAPBASE_PLUGIN
+ #endif
+
+ protected:
+
+ template<typename T>
+ EIGEN_DEVICE_FUNC
+ void checkSanity(typename internal::enable_if<(internal::traits<T>::Alignment>0),void*>::type = 0) const
+ {
+#if EIGEN_MAX_ALIGN_BYTES>0
+ // innerStride() is not set yet when this function is called, so we optimistically assume the lowest plausible value:
+ const Index minInnerStride = InnerStrideAtCompileTime == Dynamic ? 1 : Index(InnerStrideAtCompileTime);
+ EIGEN_ONLY_USED_FOR_DEBUG(minInnerStride);
+ eigen_assert(( ((internal::UIntPtr(m_data) % internal::traits<Derived>::Alignment) == 0)
+ || (cols() * rows() * minInnerStride * sizeof(Scalar)) < internal::traits<Derived>::Alignment ) && "data is not aligned");
+#endif
+ }
+
+ template<typename T>
+ EIGEN_DEVICE_FUNC
+ void checkSanity(typename internal::enable_if<internal::traits<T>::Alignment==0,void*>::type = 0) const
+ {}
+
+ PointerType m_data;
+ const internal::variable_if_dynamic<Index, RowsAtCompileTime> m_rows;
+ const internal::variable_if_dynamic<Index, ColsAtCompileTime> m_cols;
+};
+
+/** \ingroup Core_Module
+ *
+ * \brief Base class for non-const dense Map and Block expression with direct access
+ *
+ * This base class provides the non-const low-level accessors (e.g. coeff and coeffRef) of
+ * dense Map and Block objects with direct access.
+ * It inherits MapBase<Derived, ReadOnlyAccessors> which defines the const variant for reading specific entries.
+ *
+ * \sa class Map, class Block
+ */
+template<typename Derived> class MapBase<Derived, WriteAccessors>
+ : public MapBase<Derived, ReadOnlyAccessors>
+{
+ typedef MapBase<Derived, ReadOnlyAccessors> ReadOnlyMapBase;
+ public:
+
+ typedef MapBase<Derived, ReadOnlyAccessors> Base;
+
+ typedef typename Base::Scalar Scalar;
+ typedef typename Base::PacketScalar PacketScalar;
+ typedef typename Base::StorageIndex StorageIndex;
+ typedef typename Base::PointerType PointerType;
+
+ using Base::derived;
+ using Base::rows;
+ using Base::cols;
+ using Base::size;
+ using Base::coeff;
+ using Base::coeffRef;
+
+ using Base::innerStride;
+ using Base::outerStride;
+ using Base::rowStride;
+ using Base::colStride;
+
+ typedef typename internal::conditional<
+ internal::is_lvalue<Derived>::value,
+ Scalar,
+ const Scalar
+ >::type ScalarWithConstIfNotLvalue;
+
+ EIGEN_DEVICE_FUNC
+ inline const Scalar* data() const { return this->m_data; }
+ EIGEN_DEVICE_FUNC
+ inline ScalarWithConstIfNotLvalue* data() { return this->m_data; } // no const-cast here so non-const-correct code will give a compile error
+
+ EIGEN_DEVICE_FUNC
+ inline ScalarWithConstIfNotLvalue& coeffRef(Index row, Index col)
+ {
+ return this->m_data[col * colStride() + row * rowStride()];
+ }
+
+ EIGEN_DEVICE_FUNC
+ inline ScalarWithConstIfNotLvalue& coeffRef(Index index)
+ {
+ EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived)
+ return this->m_data[index * innerStride()];
+ }
+
+ template<int StoreMode>
+ inline void writePacket(Index row, Index col, const PacketScalar& val)
+ {
+ internal::pstoret<Scalar, PacketScalar, StoreMode>
+ (this->m_data + (col * colStride() + row * rowStride()), val);
+ }
+
+ template<int StoreMode>
+ inline void writePacket(Index index, const PacketScalar& val)
+ {
+ EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived)
+ internal::pstoret<Scalar, PacketScalar, StoreMode>
+ (this->m_data + index * innerStride(), val);
+ }
+
+ EIGEN_DEVICE_FUNC explicit inline MapBase(PointerType dataPtr) : Base(dataPtr) {}
+ EIGEN_DEVICE_FUNC inline MapBase(PointerType dataPtr, Index vecSize) : Base(dataPtr, vecSize) {}
+ EIGEN_DEVICE_FUNC inline MapBase(PointerType dataPtr, Index rows, Index cols) : Base(dataPtr, rows, cols) {}
+
+ EIGEN_DEVICE_FUNC
+ Derived& operator=(const MapBase& other)
+ {
+ ReadOnlyMapBase::Base::operator=(other);
+ return derived();
+ }
+
+ // In theory we could simply refer to Base:Base::operator=, but MSVC does not like Base::Base,
+ // see bugs 821 and 920.
+ using ReadOnlyMapBase::Base::operator=;
+};
+
+#undef EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS
+
+} // end namespace Eigen
+
+#endif // EIGEN_MAPBASE_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/MathFunctions.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/MathFunctions.h
new file mode 100644
index 0000000..b249ce0
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/MathFunctions.h
@@ -0,0 +1,1415 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_MATHFUNCTIONS_H
+#define EIGEN_MATHFUNCTIONS_H
+
+// source: http://www.geom.uiuc.edu/~huberty/math5337/groupe/digits.html
+// TODO this should better be moved to NumTraits
+#define EIGEN_PI 3.141592653589793238462643383279502884197169399375105820974944592307816406L
+
+
+namespace Eigen {
+
+// On WINCE, std::abs is defined for int only, so let's defined our own overloads:
+// This issue has been confirmed with MSVC 2008 only, but the issue might exist for more recent versions too.
+#if EIGEN_OS_WINCE && EIGEN_COMP_MSVC && EIGEN_COMP_MSVC<=1500
+long abs(long x) { return (labs(x)); }
+double abs(double x) { return (fabs(x)); }
+float abs(float x) { return (fabsf(x)); }
+long double abs(long double x) { return (fabsl(x)); }
+#endif
+
+namespace internal {
+
+/** \internal \class global_math_functions_filtering_base
+ *
+ * What it does:
+ * Defines a typedef 'type' as follows:
+ * - if type T has a member typedef Eigen_BaseClassForSpecializationOfGlobalMathFuncImpl, then
+ * global_math_functions_filtering_base<T>::type is a typedef for it.
+ * - otherwise, global_math_functions_filtering_base<T>::type is a typedef for T.
+ *
+ * How it's used:
+ * To allow to defined the global math functions (like sin...) in certain cases, like the Array expressions.
+ * When you do sin(array1+array2), the object array1+array2 has a complicated expression type, all what you want to know
+ * is that it inherits ArrayBase. So we implement a partial specialization of sin_impl for ArrayBase<Derived>.
+ * So we must make sure to use sin_impl<ArrayBase<Derived> > and not sin_impl<Derived>, otherwise our partial specialization
+ * won't be used. How does sin know that? That's exactly what global_math_functions_filtering_base tells it.
+ *
+ * How it's implemented:
+ * SFINAE in the style of enable_if. Highly susceptible of breaking compilers. With GCC, it sure does work, but if you replace
+ * the typename dummy by an integer template parameter, it doesn't work anymore!
+ */
+
+template<typename T, typename dummy = void>
+struct global_math_functions_filtering_base
+{
+ typedef T type;
+};
+
+template<typename T> struct always_void { typedef void type; };
+
+template<typename T>
+struct global_math_functions_filtering_base
+ <T,
+ typename always_void<typename T::Eigen_BaseClassForSpecializationOfGlobalMathFuncImpl>::type
+ >
+{
+ typedef typename T::Eigen_BaseClassForSpecializationOfGlobalMathFuncImpl type;
+};
+
+#define EIGEN_MATHFUNC_IMPL(func, scalar) Eigen::internal::func##_impl<typename Eigen::internal::global_math_functions_filtering_base<scalar>::type>
+#define EIGEN_MATHFUNC_RETVAL(func, scalar) typename Eigen::internal::func##_retval<typename Eigen::internal::global_math_functions_filtering_base<scalar>::type>::type
+
+/****************************************************************************
+* Implementation of real *
+****************************************************************************/
+
+template<typename Scalar, bool IsComplex = NumTraits<Scalar>::IsComplex>
+struct real_default_impl
+{
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ EIGEN_DEVICE_FUNC
+ static inline RealScalar run(const Scalar& x)
+ {
+ return x;
+ }
+};
+
+template<typename Scalar>
+struct real_default_impl<Scalar,true>
+{
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ EIGEN_DEVICE_FUNC
+ static inline RealScalar run(const Scalar& x)
+ {
+ using std::real;
+ return real(x);
+ }
+};
+
+template<typename Scalar> struct real_impl : real_default_impl<Scalar> {};
+
+#ifdef __CUDA_ARCH__
+template<typename T>
+struct real_impl<std::complex<T> >
+{
+ typedef T RealScalar;
+ EIGEN_DEVICE_FUNC
+ static inline T run(const std::complex<T>& x)
+ {
+ return x.real();
+ }
+};
+#endif
+
+template<typename Scalar>
+struct real_retval
+{
+ typedef typename NumTraits<Scalar>::Real type;
+};
+
+/****************************************************************************
+* Implementation of imag *
+****************************************************************************/
+
+template<typename Scalar, bool IsComplex = NumTraits<Scalar>::IsComplex>
+struct imag_default_impl
+{
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ EIGEN_DEVICE_FUNC
+ static inline RealScalar run(const Scalar&)
+ {
+ return RealScalar(0);
+ }
+};
+
+template<typename Scalar>
+struct imag_default_impl<Scalar,true>
+{
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ EIGEN_DEVICE_FUNC
+ static inline RealScalar run(const Scalar& x)
+ {
+ using std::imag;
+ return imag(x);
+ }
+};
+
+template<typename Scalar> struct imag_impl : imag_default_impl<Scalar> {};
+
+#ifdef __CUDA_ARCH__
+template<typename T>
+struct imag_impl<std::complex<T> >
+{
+ typedef T RealScalar;
+ EIGEN_DEVICE_FUNC
+ static inline T run(const std::complex<T>& x)
+ {
+ return x.imag();
+ }
+};
+#endif
+
+template<typename Scalar>
+struct imag_retval
+{
+ typedef typename NumTraits<Scalar>::Real type;
+};
+
+/****************************************************************************
+* Implementation of real_ref *
+****************************************************************************/
+
+template<typename Scalar>
+struct real_ref_impl
+{
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ EIGEN_DEVICE_FUNC
+ static inline RealScalar& run(Scalar& x)
+ {
+ return reinterpret_cast<RealScalar*>(&x)[0];
+ }
+ EIGEN_DEVICE_FUNC
+ static inline const RealScalar& run(const Scalar& x)
+ {
+ return reinterpret_cast<const RealScalar*>(&x)[0];
+ }
+};
+
+template<typename Scalar>
+struct real_ref_retval
+{
+ typedef typename NumTraits<Scalar>::Real & type;
+};
+
+/****************************************************************************
+* Implementation of imag_ref *
+****************************************************************************/
+
+template<typename Scalar, bool IsComplex>
+struct imag_ref_default_impl
+{
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ EIGEN_DEVICE_FUNC
+ static inline RealScalar& run(Scalar& x)
+ {
+ return reinterpret_cast<RealScalar*>(&x)[1];
+ }
+ EIGEN_DEVICE_FUNC
+ static inline const RealScalar& run(const Scalar& x)
+ {
+ return reinterpret_cast<RealScalar*>(&x)[1];
+ }
+};
+
+template<typename Scalar>
+struct imag_ref_default_impl<Scalar, false>
+{
+ EIGEN_DEVICE_FUNC
+ static inline Scalar run(Scalar&)
+ {
+ return Scalar(0);
+ }
+ EIGEN_DEVICE_FUNC
+ static inline const Scalar run(const Scalar&)
+ {
+ return Scalar(0);
+ }
+};
+
+template<typename Scalar>
+struct imag_ref_impl : imag_ref_default_impl<Scalar, NumTraits<Scalar>::IsComplex> {};
+
+template<typename Scalar>
+struct imag_ref_retval
+{
+ typedef typename NumTraits<Scalar>::Real & type;
+};
+
+/****************************************************************************
+* Implementation of conj *
+****************************************************************************/
+
+template<typename Scalar, bool IsComplex = NumTraits<Scalar>::IsComplex>
+struct conj_impl
+{
+ EIGEN_DEVICE_FUNC
+ static inline Scalar run(const Scalar& x)
+ {
+ return x;
+ }
+};
+
+template<typename Scalar>
+struct conj_impl<Scalar,true>
+{
+ EIGEN_DEVICE_FUNC
+ static inline Scalar run(const Scalar& x)
+ {
+ using std::conj;
+ return conj(x);
+ }
+};
+
+template<typename Scalar>
+struct conj_retval
+{
+ typedef Scalar type;
+};
+
+/****************************************************************************
+* Implementation of abs2 *
+****************************************************************************/
+
+template<typename Scalar,bool IsComplex>
+struct abs2_impl_default
+{
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ EIGEN_DEVICE_FUNC
+ static inline RealScalar run(const Scalar& x)
+ {
+ return x*x;
+ }
+};
+
+template<typename Scalar>
+struct abs2_impl_default<Scalar, true> // IsComplex
+{
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ EIGEN_DEVICE_FUNC
+ static inline RealScalar run(const Scalar& x)
+ {
+ return real(x)*real(x) + imag(x)*imag(x);
+ }
+};
+
+template<typename Scalar>
+struct abs2_impl
+{
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ EIGEN_DEVICE_FUNC
+ static inline RealScalar run(const Scalar& x)
+ {
+ return abs2_impl_default<Scalar,NumTraits<Scalar>::IsComplex>::run(x);
+ }
+};
+
+template<typename Scalar>
+struct abs2_retval
+{
+ typedef typename NumTraits<Scalar>::Real type;
+};
+
+/****************************************************************************
+* Implementation of norm1 *
+****************************************************************************/
+
+template<typename Scalar, bool IsComplex>
+struct norm1_default_impl
+{
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ EIGEN_DEVICE_FUNC
+ static inline RealScalar run(const Scalar& x)
+ {
+ EIGEN_USING_STD_MATH(abs);
+ return abs(real(x)) + abs(imag(x));
+ }
+};
+
+template<typename Scalar>
+struct norm1_default_impl<Scalar, false>
+{
+ EIGEN_DEVICE_FUNC
+ static inline Scalar run(const Scalar& x)
+ {
+ EIGEN_USING_STD_MATH(abs);
+ return abs(x);
+ }
+};
+
+template<typename Scalar>
+struct norm1_impl : norm1_default_impl<Scalar, NumTraits<Scalar>::IsComplex> {};
+
+template<typename Scalar>
+struct norm1_retval
+{
+ typedef typename NumTraits<Scalar>::Real type;
+};
+
+/****************************************************************************
+* Implementation of hypot *
+****************************************************************************/
+
+template<typename Scalar> struct hypot_impl;
+
+template<typename Scalar>
+struct hypot_retval
+{
+ typedef typename NumTraits<Scalar>::Real type;
+};
+
+/****************************************************************************
+* Implementation of cast *
+****************************************************************************/
+
+template<typename OldType, typename NewType>
+struct cast_impl
+{
+ EIGEN_DEVICE_FUNC
+ static inline NewType run(const OldType& x)
+ {
+ return static_cast<NewType>(x);
+ }
+};
+
+// here, for once, we're plainly returning NewType: we don't want cast to do weird things.
+
+template<typename OldType, typename NewType>
+EIGEN_DEVICE_FUNC
+inline NewType cast(const OldType& x)
+{
+ return cast_impl<OldType, NewType>::run(x);
+}
+
+/****************************************************************************
+* Implementation of round *
+****************************************************************************/
+
+#if EIGEN_HAS_CXX11_MATH
+ template<typename Scalar>
+ struct round_impl {
+ static inline Scalar run(const Scalar& x)
+ {
+ EIGEN_STATIC_ASSERT((!NumTraits<Scalar>::IsComplex), NUMERIC_TYPE_MUST_BE_REAL)
+ using std::round;
+ return round(x);
+ }
+ };
+#else
+ template<typename Scalar>
+ struct round_impl
+ {
+ static inline Scalar run(const Scalar& x)
+ {
+ EIGEN_STATIC_ASSERT((!NumTraits<Scalar>::IsComplex), NUMERIC_TYPE_MUST_BE_REAL)
+ EIGEN_USING_STD_MATH(floor);
+ EIGEN_USING_STD_MATH(ceil);
+ return (x > Scalar(0)) ? floor(x + Scalar(0.5)) : ceil(x - Scalar(0.5));
+ }
+ };
+#endif
+
+template<typename Scalar>
+struct round_retval
+{
+ typedef Scalar type;
+};
+
+/****************************************************************************
+* Implementation of arg *
+****************************************************************************/
+
+#if EIGEN_HAS_CXX11_MATH
+ template<typename Scalar>
+ struct arg_impl {
+ static inline Scalar run(const Scalar& x)
+ {
+ EIGEN_USING_STD_MATH(arg);
+ return arg(x);
+ }
+ };
+#else
+ template<typename Scalar, bool IsComplex = NumTraits<Scalar>::IsComplex>
+ struct arg_default_impl
+ {
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ EIGEN_DEVICE_FUNC
+ static inline RealScalar run(const Scalar& x)
+ {
+ return (x < Scalar(0)) ? Scalar(EIGEN_PI) : Scalar(0); }
+ };
+
+ template<typename Scalar>
+ struct arg_default_impl<Scalar,true>
+ {
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ EIGEN_DEVICE_FUNC
+ static inline RealScalar run(const Scalar& x)
+ {
+ EIGEN_USING_STD_MATH(arg);
+ return arg(x);
+ }
+ };
+
+ template<typename Scalar> struct arg_impl : arg_default_impl<Scalar> {};
+#endif
+
+template<typename Scalar>
+struct arg_retval
+{
+ typedef typename NumTraits<Scalar>::Real type;
+};
+
+/****************************************************************************
+* Implementation of log1p *
+****************************************************************************/
+
+namespace std_fallback {
+ // fallback log1p implementation in case there is no log1p(Scalar) function in namespace of Scalar,
+ // or that there is no suitable std::log1p function available
+ template<typename Scalar>
+ EIGEN_DEVICE_FUNC inline Scalar log1p(const Scalar& x) {
+ EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar)
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ EIGEN_USING_STD_MATH(log);
+ Scalar x1p = RealScalar(1) + x;
+ return numext::equal_strict(x1p, Scalar(1)) ? x : x * ( log(x1p) / (x1p - RealScalar(1)) );
+ }
+}
+
+template<typename Scalar>
+struct log1p_impl {
+ static inline Scalar run(const Scalar& x)
+ {
+ EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar)
+ #if EIGEN_HAS_CXX11_MATH
+ using std::log1p;
+ #endif
+ using std_fallback::log1p;
+ return log1p(x);
+ }
+};
+
+
+template<typename Scalar>
+struct log1p_retval
+{
+ typedef Scalar type;
+};
+
+/****************************************************************************
+* Implementation of pow *
+****************************************************************************/
+
+template<typename ScalarX,typename ScalarY, bool IsInteger = NumTraits<ScalarX>::IsInteger&&NumTraits<ScalarY>::IsInteger>
+struct pow_impl
+{
+ //typedef Scalar retval;
+ typedef typename ScalarBinaryOpTraits<ScalarX,ScalarY,internal::scalar_pow_op<ScalarX,ScalarY> >::ReturnType result_type;
+ static EIGEN_DEVICE_FUNC inline result_type run(const ScalarX& x, const ScalarY& y)
+ {
+ EIGEN_USING_STD_MATH(pow);
+ return pow(x, y);
+ }
+};
+
+template<typename ScalarX,typename ScalarY>
+struct pow_impl<ScalarX,ScalarY, true>
+{
+ typedef ScalarX result_type;
+ static EIGEN_DEVICE_FUNC inline ScalarX run(ScalarX x, ScalarY y)
+ {
+ ScalarX res(1);
+ eigen_assert(!NumTraits<ScalarY>::IsSigned || y >= 0);
+ if(y & 1) res *= x;
+ y >>= 1;
+ while(y)
+ {
+ x *= x;
+ if(y&1) res *= x;
+ y >>= 1;
+ }
+ return res;
+ }
+};
+
+/****************************************************************************
+* Implementation of random *
+****************************************************************************/
+
+template<typename Scalar,
+ bool IsComplex,
+ bool IsInteger>
+struct random_default_impl {};
+
+template<typename Scalar>
+struct random_impl : random_default_impl<Scalar, NumTraits<Scalar>::IsComplex, NumTraits<Scalar>::IsInteger> {};
+
+template<typename Scalar>
+struct random_retval
+{
+ typedef Scalar type;
+};
+
+template<typename Scalar> inline EIGEN_MATHFUNC_RETVAL(random, Scalar) random(const Scalar& x, const Scalar& y);
+template<typename Scalar> inline EIGEN_MATHFUNC_RETVAL(random, Scalar) random();
+
+template<typename Scalar>
+struct random_default_impl<Scalar, false, false>
+{
+ static inline Scalar run(const Scalar& x, const Scalar& y)
+ {
+ return x + (y-x) * Scalar(std::rand()) / Scalar(RAND_MAX);
+ }
+ static inline Scalar run()
+ {
+ return run(Scalar(NumTraits<Scalar>::IsSigned ? -1 : 0), Scalar(1));
+ }
+};
+
+enum {
+ meta_floor_log2_terminate,
+ meta_floor_log2_move_up,
+ meta_floor_log2_move_down,
+ meta_floor_log2_bogus
+};
+
+template<unsigned int n, int lower, int upper> struct meta_floor_log2_selector
+{
+ enum { middle = (lower + upper) / 2,
+ value = (upper <= lower + 1) ? int(meta_floor_log2_terminate)
+ : (n < (1 << middle)) ? int(meta_floor_log2_move_down)
+ : (n==0) ? int(meta_floor_log2_bogus)
+ : int(meta_floor_log2_move_up)
+ };
+};
+
+template<unsigned int n,
+ int lower = 0,
+ int upper = sizeof(unsigned int) * CHAR_BIT - 1,
+ int selector = meta_floor_log2_selector<n, lower, upper>::value>
+struct meta_floor_log2 {};
+
+template<unsigned int n, int lower, int upper>
+struct meta_floor_log2<n, lower, upper, meta_floor_log2_move_down>
+{
+ enum { value = meta_floor_log2<n, lower, meta_floor_log2_selector<n, lower, upper>::middle>::value };
+};
+
+template<unsigned int n, int lower, int upper>
+struct meta_floor_log2<n, lower, upper, meta_floor_log2_move_up>
+{
+ enum { value = meta_floor_log2<n, meta_floor_log2_selector<n, lower, upper>::middle, upper>::value };
+};
+
+template<unsigned int n, int lower, int upper>
+struct meta_floor_log2<n, lower, upper, meta_floor_log2_terminate>
+{
+ enum { value = (n >= ((unsigned int)(1) << (lower+1))) ? lower+1 : lower };
+};
+
+template<unsigned int n, int lower, int upper>
+struct meta_floor_log2<n, lower, upper, meta_floor_log2_bogus>
+{
+ // no value, error at compile time
+};
+
+template<typename Scalar>
+struct random_default_impl<Scalar, false, true>
+{
+ static inline Scalar run(const Scalar& x, const Scalar& y)
+ {
+ if (y <= x)
+ return x;
+ // ScalarU is the unsigned counterpart of Scalar, possibly Scalar itself.
+ typedef typename make_unsigned<Scalar>::type ScalarU;
+ // ScalarX is the widest of ScalarU and unsigned int.
+ // We'll deal only with ScalarX and unsigned int below thus avoiding signed
+ // types and arithmetic and signed overflows (which are undefined behavior).
+ typedef typename conditional<(ScalarU(-1) > unsigned(-1)), ScalarU, unsigned>::type ScalarX;
+ // The following difference doesn't overflow, provided our integer types are two's
+ // complement and have the same number of padding bits in signed and unsigned variants.
+ // This is the case in most modern implementations of C++.
+ ScalarX range = ScalarX(y) - ScalarX(x);
+ ScalarX offset = 0;
+ ScalarX divisor = 1;
+ ScalarX multiplier = 1;
+ const unsigned rand_max = RAND_MAX;
+ if (range <= rand_max) divisor = (rand_max + 1) / (range + 1);
+ else multiplier = 1 + range / (rand_max + 1);
+ // Rejection sampling.
+ do {
+ offset = (unsigned(std::rand()) * multiplier) / divisor;
+ } while (offset > range);
+ return Scalar(ScalarX(x) + offset);
+ }
+
+ static inline Scalar run()
+ {
+#ifdef EIGEN_MAKING_DOCS
+ return run(Scalar(NumTraits<Scalar>::IsSigned ? -10 : 0), Scalar(10));
+#else
+ enum { rand_bits = meta_floor_log2<(unsigned int)(RAND_MAX)+1>::value,
+ scalar_bits = sizeof(Scalar) * CHAR_BIT,
+ shift = EIGEN_PLAIN_ENUM_MAX(0, int(rand_bits) - int(scalar_bits)),
+ offset = NumTraits<Scalar>::IsSigned ? (1 << (EIGEN_PLAIN_ENUM_MIN(rand_bits,scalar_bits)-1)) : 0
+ };
+ return Scalar((std::rand() >> shift) - offset);
+#endif
+ }
+};
+
+template<typename Scalar>
+struct random_default_impl<Scalar, true, false>
+{
+ static inline Scalar run(const Scalar& x, const Scalar& y)
+ {
+ return Scalar(random(real(x), real(y)),
+ random(imag(x), imag(y)));
+ }
+ static inline Scalar run()
+ {
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ return Scalar(random<RealScalar>(), random<RealScalar>());
+ }
+};
+
+template<typename Scalar>
+inline EIGEN_MATHFUNC_RETVAL(random, Scalar) random(const Scalar& x, const Scalar& y)
+{
+ return EIGEN_MATHFUNC_IMPL(random, Scalar)::run(x, y);
+}
+
+template<typename Scalar>
+inline EIGEN_MATHFUNC_RETVAL(random, Scalar) random()
+{
+ return EIGEN_MATHFUNC_IMPL(random, Scalar)::run();
+}
+
+// Implementatin of is* functions
+
+// std::is* do not work with fast-math and gcc, std::is* are available on MSVC 2013 and newer, as well as in clang.
+#if (EIGEN_HAS_CXX11_MATH && !(EIGEN_COMP_GNUC_STRICT && __FINITE_MATH_ONLY__)) || (EIGEN_COMP_MSVC>=1800) || (EIGEN_COMP_CLANG)
+#define EIGEN_USE_STD_FPCLASSIFY 1
+#else
+#define EIGEN_USE_STD_FPCLASSIFY 0
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC
+typename internal::enable_if<internal::is_integral<T>::value,bool>::type
+isnan_impl(const T&) { return false; }
+
+template<typename T>
+EIGEN_DEVICE_FUNC
+typename internal::enable_if<internal::is_integral<T>::value,bool>::type
+isinf_impl(const T&) { return false; }
+
+template<typename T>
+EIGEN_DEVICE_FUNC
+typename internal::enable_if<internal::is_integral<T>::value,bool>::type
+isfinite_impl(const T&) { return true; }
+
+template<typename T>
+EIGEN_DEVICE_FUNC
+typename internal::enable_if<(!internal::is_integral<T>::value)&&(!NumTraits<T>::IsComplex),bool>::type
+isfinite_impl(const T& x)
+{
+ #ifdef __CUDA_ARCH__
+ return (::isfinite)(x);
+ #elif EIGEN_USE_STD_FPCLASSIFY
+ using std::isfinite;
+ return isfinite EIGEN_NOT_A_MACRO (x);
+ #else
+ return x<=NumTraits<T>::highest() && x>=NumTraits<T>::lowest();
+ #endif
+}
+
+template<typename T>
+EIGEN_DEVICE_FUNC
+typename internal::enable_if<(!internal::is_integral<T>::value)&&(!NumTraits<T>::IsComplex),bool>::type
+isinf_impl(const T& x)
+{
+ #ifdef __CUDA_ARCH__
+ return (::isinf)(x);
+ #elif EIGEN_USE_STD_FPCLASSIFY
+ using std::isinf;
+ return isinf EIGEN_NOT_A_MACRO (x);
+ #else
+ return x>NumTraits<T>::highest() || x<NumTraits<T>::lowest();
+ #endif
+}
+
+template<typename T>
+EIGEN_DEVICE_FUNC
+typename internal::enable_if<(!internal::is_integral<T>::value)&&(!NumTraits<T>::IsComplex),bool>::type
+isnan_impl(const T& x)
+{
+ #ifdef __CUDA_ARCH__
+ return (::isnan)(x);
+ #elif EIGEN_USE_STD_FPCLASSIFY
+ using std::isnan;
+ return isnan EIGEN_NOT_A_MACRO (x);
+ #else
+ return x != x;
+ #endif
+}
+
+#if (!EIGEN_USE_STD_FPCLASSIFY)
+
+#if EIGEN_COMP_MSVC
+
+template<typename T> EIGEN_DEVICE_FUNC bool isinf_msvc_helper(T x)
+{
+ return _fpclass(x)==_FPCLASS_NINF || _fpclass(x)==_FPCLASS_PINF;
+}
+
+//MSVC defines a _isnan builtin function, but for double only
+EIGEN_DEVICE_FUNC inline bool isnan_impl(const long double& x) { return _isnan(x)!=0; }
+EIGEN_DEVICE_FUNC inline bool isnan_impl(const double& x) { return _isnan(x)!=0; }
+EIGEN_DEVICE_FUNC inline bool isnan_impl(const float& x) { return _isnan(x)!=0; }
+
+EIGEN_DEVICE_FUNC inline bool isinf_impl(const long double& x) { return isinf_msvc_helper(x); }
+EIGEN_DEVICE_FUNC inline bool isinf_impl(const double& x) { return isinf_msvc_helper(x); }
+EIGEN_DEVICE_FUNC inline bool isinf_impl(const float& x) { return isinf_msvc_helper(x); }
+
+#elif (defined __FINITE_MATH_ONLY__ && __FINITE_MATH_ONLY__ && EIGEN_COMP_GNUC)
+
+#if EIGEN_GNUC_AT_LEAST(5,0)
+ #define EIGEN_TMP_NOOPT_ATTRIB EIGEN_DEVICE_FUNC inline __attribute__((optimize("no-finite-math-only")))
+#else
+ // NOTE the inline qualifier and noinline attribute are both needed: the former is to avoid linking issue (duplicate symbol),
+ // while the second prevent too aggressive optimizations in fast-math mode:
+ #define EIGEN_TMP_NOOPT_ATTRIB EIGEN_DEVICE_FUNC inline __attribute__((noinline,optimize("no-finite-math-only")))
+#endif
+
+template<> EIGEN_TMP_NOOPT_ATTRIB bool isnan_impl(const long double& x) { return __builtin_isnan(x); }
+template<> EIGEN_TMP_NOOPT_ATTRIB bool isnan_impl(const double& x) { return __builtin_isnan(x); }
+template<> EIGEN_TMP_NOOPT_ATTRIB bool isnan_impl(const float& x) { return __builtin_isnan(x); }
+template<> EIGEN_TMP_NOOPT_ATTRIB bool isinf_impl(const double& x) { return __builtin_isinf(x); }
+template<> EIGEN_TMP_NOOPT_ATTRIB bool isinf_impl(const float& x) { return __builtin_isinf(x); }
+template<> EIGEN_TMP_NOOPT_ATTRIB bool isinf_impl(const long double& x) { return __builtin_isinf(x); }
+
+#undef EIGEN_TMP_NOOPT_ATTRIB
+
+#endif
+
+#endif
+
+// The following overload are defined at the end of this file
+template<typename T> EIGEN_DEVICE_FUNC bool isfinite_impl(const std::complex<T>& x);
+template<typename T> EIGEN_DEVICE_FUNC bool isnan_impl(const std::complex<T>& x);
+template<typename T> EIGEN_DEVICE_FUNC bool isinf_impl(const std::complex<T>& x);
+
+template<typename T> T generic_fast_tanh_float(const T& a_x);
+
+} // end namespace internal
+
+/****************************************************************************
+* Generic math functions *
+****************************************************************************/
+
+namespace numext {
+
+#ifndef __CUDA_ARCH__
+template<typename T>
+EIGEN_DEVICE_FUNC
+EIGEN_ALWAYS_INLINE T mini(const T& x, const T& y)
+{
+ EIGEN_USING_STD_MATH(min);
+ return min EIGEN_NOT_A_MACRO (x,y);
+}
+
+template<typename T>
+EIGEN_DEVICE_FUNC
+EIGEN_ALWAYS_INLINE T maxi(const T& x, const T& y)
+{
+ EIGEN_USING_STD_MATH(max);
+ return max EIGEN_NOT_A_MACRO (x,y);
+}
+#else
+template<typename T>
+EIGEN_DEVICE_FUNC
+EIGEN_ALWAYS_INLINE T mini(const T& x, const T& y)
+{
+ return y < x ? y : x;
+}
+template<>
+EIGEN_DEVICE_FUNC
+EIGEN_ALWAYS_INLINE float mini(const float& x, const float& y)
+{
+ return fminf(x, y);
+}
+template<typename T>
+EIGEN_DEVICE_FUNC
+EIGEN_ALWAYS_INLINE T maxi(const T& x, const T& y)
+{
+ return x < y ? y : x;
+}
+template<>
+EIGEN_DEVICE_FUNC
+EIGEN_ALWAYS_INLINE float maxi(const float& x, const float& y)
+{
+ return fmaxf(x, y);
+}
+#endif
+
+
+template<typename Scalar>
+EIGEN_DEVICE_FUNC
+inline EIGEN_MATHFUNC_RETVAL(real, Scalar) real(const Scalar& x)
+{
+ return EIGEN_MATHFUNC_IMPL(real, Scalar)::run(x);
+}
+
+template<typename Scalar>
+EIGEN_DEVICE_FUNC
+inline typename internal::add_const_on_value_type< EIGEN_MATHFUNC_RETVAL(real_ref, Scalar) >::type real_ref(const Scalar& x)
+{
+ return internal::real_ref_impl<Scalar>::run(x);
+}
+
+template<typename Scalar>
+EIGEN_DEVICE_FUNC
+inline EIGEN_MATHFUNC_RETVAL(real_ref, Scalar) real_ref(Scalar& x)
+{
+ return EIGEN_MATHFUNC_IMPL(real_ref, Scalar)::run(x);
+}
+
+template<typename Scalar>
+EIGEN_DEVICE_FUNC
+inline EIGEN_MATHFUNC_RETVAL(imag, Scalar) imag(const Scalar& x)
+{
+ return EIGEN_MATHFUNC_IMPL(imag, Scalar)::run(x);
+}
+
+template<typename Scalar>
+EIGEN_DEVICE_FUNC
+inline EIGEN_MATHFUNC_RETVAL(arg, Scalar) arg(const Scalar& x)
+{
+ return EIGEN_MATHFUNC_IMPL(arg, Scalar)::run(x);
+}
+
+template<typename Scalar>
+EIGEN_DEVICE_FUNC
+inline typename internal::add_const_on_value_type< EIGEN_MATHFUNC_RETVAL(imag_ref, Scalar) >::type imag_ref(const Scalar& x)
+{
+ return internal::imag_ref_impl<Scalar>::run(x);
+}
+
+template<typename Scalar>
+EIGEN_DEVICE_FUNC
+inline EIGEN_MATHFUNC_RETVAL(imag_ref, Scalar) imag_ref(Scalar& x)
+{
+ return EIGEN_MATHFUNC_IMPL(imag_ref, Scalar)::run(x);
+}
+
+template<typename Scalar>
+EIGEN_DEVICE_FUNC
+inline EIGEN_MATHFUNC_RETVAL(conj, Scalar) conj(const Scalar& x)
+{
+ return EIGEN_MATHFUNC_IMPL(conj, Scalar)::run(x);
+}
+
+template<typename Scalar>
+EIGEN_DEVICE_FUNC
+inline EIGEN_MATHFUNC_RETVAL(abs2, Scalar) abs2(const Scalar& x)
+{
+ return EIGEN_MATHFUNC_IMPL(abs2, Scalar)::run(x);
+}
+
+template<typename Scalar>
+EIGEN_DEVICE_FUNC
+inline EIGEN_MATHFUNC_RETVAL(norm1, Scalar) norm1(const Scalar& x)
+{
+ return EIGEN_MATHFUNC_IMPL(norm1, Scalar)::run(x);
+}
+
+template<typename Scalar>
+EIGEN_DEVICE_FUNC
+inline EIGEN_MATHFUNC_RETVAL(hypot, Scalar) hypot(const Scalar& x, const Scalar& y)
+{
+ return EIGEN_MATHFUNC_IMPL(hypot, Scalar)::run(x, y);
+}
+
+template<typename Scalar>
+EIGEN_DEVICE_FUNC
+inline EIGEN_MATHFUNC_RETVAL(log1p, Scalar) log1p(const Scalar& x)
+{
+ return EIGEN_MATHFUNC_IMPL(log1p, Scalar)::run(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float log1p(const float &x) { return ::log1pf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double log1p(const double &x) { return ::log1p(x); }
+#endif
+
+template<typename ScalarX,typename ScalarY>
+EIGEN_DEVICE_FUNC
+inline typename internal::pow_impl<ScalarX,ScalarY>::result_type pow(const ScalarX& x, const ScalarY& y)
+{
+ return internal::pow_impl<ScalarX,ScalarY>::run(x, y);
+}
+
+template<typename T> EIGEN_DEVICE_FUNC bool (isnan) (const T &x) { return internal::isnan_impl(x); }
+template<typename T> EIGEN_DEVICE_FUNC bool (isinf) (const T &x) { return internal::isinf_impl(x); }
+template<typename T> EIGEN_DEVICE_FUNC bool (isfinite)(const T &x) { return internal::isfinite_impl(x); }
+
+template<typename Scalar>
+EIGEN_DEVICE_FUNC
+inline EIGEN_MATHFUNC_RETVAL(round, Scalar) round(const Scalar& x)
+{
+ return EIGEN_MATHFUNC_IMPL(round, Scalar)::run(x);
+}
+
+template<typename T>
+EIGEN_DEVICE_FUNC
+T (floor)(const T& x)
+{
+ EIGEN_USING_STD_MATH(floor);
+ return floor(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float floor(const float &x) { return ::floorf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double floor(const double &x) { return ::floor(x); }
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC
+T (ceil)(const T& x)
+{
+ EIGEN_USING_STD_MATH(ceil);
+ return ceil(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float ceil(const float &x) { return ::ceilf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double ceil(const double &x) { return ::ceil(x); }
+#endif
+
+
+/** Log base 2 for 32 bits positive integers.
+ * Conveniently returns 0 for x==0. */
+inline int log2(int x)
+{
+ eigen_assert(x>=0);
+ unsigned int v(x);
+ static const int table[32] = { 0, 9, 1, 10, 13, 21, 2, 29, 11, 14, 16, 18, 22, 25, 3, 30, 8, 12, 20, 28, 15, 17, 24, 7, 19, 27, 23, 6, 26, 5, 4, 31 };
+ v |= v >> 1;
+ v |= v >> 2;
+ v |= v >> 4;
+ v |= v >> 8;
+ v |= v >> 16;
+ return table[(v * 0x07C4ACDDU) >> 27];
+}
+
+/** \returns the square root of \a x.
+ *
+ * It is essentially equivalent to
+ * \code using std::sqrt; return sqrt(x); \endcode
+ * but slightly faster for float/double and some compilers (e.g., gcc), thanks to
+ * specializations when SSE is enabled.
+ *
+ * It's usage is justified in performance critical functions, like norm/normalize.
+ */
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T sqrt(const T &x)
+{
+ EIGEN_USING_STD_MATH(sqrt);
+ return sqrt(x);
+}
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T log(const T &x) {
+ EIGEN_USING_STD_MATH(log);
+ return log(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float log(const float &x) { return ::logf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double log(const double &x) { return ::log(x); }
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+typename internal::enable_if<NumTraits<T>::IsSigned || NumTraits<T>::IsComplex,typename NumTraits<T>::Real>::type
+abs(const T &x) {
+ EIGEN_USING_STD_MATH(abs);
+ return abs(x);
+}
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+typename internal::enable_if<!(NumTraits<T>::IsSigned || NumTraits<T>::IsComplex),typename NumTraits<T>::Real>::type
+abs(const T &x) {
+ return x;
+}
+
+#if defined(__SYCL_DEVICE_ONLY__)
+EIGEN_ALWAYS_INLINE float abs(float x) { return cl::sycl::fabs(x); }
+EIGEN_ALWAYS_INLINE double abs(double x) { return cl::sycl::fabs(x); }
+#endif // defined(__SYCL_DEVICE_ONLY__)
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float abs(const float &x) { return ::fabsf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double abs(const double &x) { return ::fabs(x); }
+
+template <> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float abs(const std::complex<float>& x) {
+ return ::hypotf(x.real(), x.imag());
+}
+
+template <> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double abs(const std::complex<double>& x) {
+ return ::hypot(x.real(), x.imag());
+}
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T exp(const T &x) {
+ EIGEN_USING_STD_MATH(exp);
+ return exp(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float exp(const float &x) { return ::expf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double exp(const double &x) { return ::exp(x); }
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T cos(const T &x) {
+ EIGEN_USING_STD_MATH(cos);
+ return cos(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float cos(const float &x) { return ::cosf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double cos(const double &x) { return ::cos(x); }
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T sin(const T &x) {
+ EIGEN_USING_STD_MATH(sin);
+ return sin(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float sin(const float &x) { return ::sinf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double sin(const double &x) { return ::sin(x); }
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T tan(const T &x) {
+ EIGEN_USING_STD_MATH(tan);
+ return tan(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float tan(const float &x) { return ::tanf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double tan(const double &x) { return ::tan(x); }
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T acos(const T &x) {
+ EIGEN_USING_STD_MATH(acos);
+ return acos(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float acos(const float &x) { return ::acosf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double acos(const double &x) { return ::acos(x); }
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T asin(const T &x) {
+ EIGEN_USING_STD_MATH(asin);
+ return asin(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float asin(const float &x) { return ::asinf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double asin(const double &x) { return ::asin(x); }
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T atan(const T &x) {
+ EIGEN_USING_STD_MATH(atan);
+ return atan(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float atan(const float &x) { return ::atanf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double atan(const double &x) { return ::atan(x); }
+#endif
+
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T cosh(const T &x) {
+ EIGEN_USING_STD_MATH(cosh);
+ return cosh(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float cosh(const float &x) { return ::coshf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double cosh(const double &x) { return ::cosh(x); }
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T sinh(const T &x) {
+ EIGEN_USING_STD_MATH(sinh);
+ return sinh(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float sinh(const float &x) { return ::sinhf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double sinh(const double &x) { return ::sinh(x); }
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T tanh(const T &x) {
+ EIGEN_USING_STD_MATH(tanh);
+ return tanh(x);
+}
+
+#if (!defined(__CUDACC__)) && EIGEN_FAST_MATH
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float tanh(float x) { return internal::generic_fast_tanh_float(x); }
+#endif
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float tanh(const float &x) { return ::tanhf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double tanh(const double &x) { return ::tanh(x); }
+#endif
+
+template <typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T fmod(const T& a, const T& b) {
+ EIGEN_USING_STD_MATH(fmod);
+ return fmod(a, b);
+}
+
+#ifdef __CUDACC__
+template <>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float fmod(const float& a, const float& b) {
+ return ::fmodf(a, b);
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double fmod(const double& a, const double& b) {
+ return ::fmod(a, b);
+}
+#endif
+
+} // end namespace numext
+
+namespace internal {
+
+template<typename T>
+EIGEN_DEVICE_FUNC bool isfinite_impl(const std::complex<T>& x)
+{
+ return (numext::isfinite)(numext::real(x)) && (numext::isfinite)(numext::imag(x));
+}
+
+template<typename T>
+EIGEN_DEVICE_FUNC bool isnan_impl(const std::complex<T>& x)
+{
+ return (numext::isnan)(numext::real(x)) || (numext::isnan)(numext::imag(x));
+}
+
+template<typename T>
+EIGEN_DEVICE_FUNC bool isinf_impl(const std::complex<T>& x)
+{
+ return ((numext::isinf)(numext::real(x)) || (numext::isinf)(numext::imag(x))) && (!(numext::isnan)(x));
+}
+
+/****************************************************************************
+* Implementation of fuzzy comparisons *
+****************************************************************************/
+
+template<typename Scalar,
+ bool IsComplex,
+ bool IsInteger>
+struct scalar_fuzzy_default_impl {};
+
+template<typename Scalar>
+struct scalar_fuzzy_default_impl<Scalar, false, false>
+{
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ template<typename OtherScalar> EIGEN_DEVICE_FUNC
+ static inline bool isMuchSmallerThan(const Scalar& x, const OtherScalar& y, const RealScalar& prec)
+ {
+ return numext::abs(x) <= numext::abs(y) * prec;
+ }
+ EIGEN_DEVICE_FUNC
+ static inline bool isApprox(const Scalar& x, const Scalar& y, const RealScalar& prec)
+ {
+ return numext::abs(x - y) <= numext::mini(numext::abs(x), numext::abs(y)) * prec;
+ }
+ EIGEN_DEVICE_FUNC
+ static inline bool isApproxOrLessThan(const Scalar& x, const Scalar& y, const RealScalar& prec)
+ {
+ return x <= y || isApprox(x, y, prec);
+ }
+};
+
+template<typename Scalar>
+struct scalar_fuzzy_default_impl<Scalar, false, true>
+{
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ template<typename OtherScalar> EIGEN_DEVICE_FUNC
+ static inline bool isMuchSmallerThan(const Scalar& x, const Scalar&, const RealScalar&)
+ {
+ return x == Scalar(0);
+ }
+ EIGEN_DEVICE_FUNC
+ static inline bool isApprox(const Scalar& x, const Scalar& y, const RealScalar&)
+ {
+ return x == y;
+ }
+ EIGEN_DEVICE_FUNC
+ static inline bool isApproxOrLessThan(const Scalar& x, const Scalar& y, const RealScalar&)
+ {
+ return x <= y;
+ }
+};
+
+template<typename Scalar>
+struct scalar_fuzzy_default_impl<Scalar, true, false>
+{
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ template<typename OtherScalar> EIGEN_DEVICE_FUNC
+ static inline bool isMuchSmallerThan(const Scalar& x, const OtherScalar& y, const RealScalar& prec)
+ {
+ return numext::abs2(x) <= numext::abs2(y) * prec * prec;
+ }
+ EIGEN_DEVICE_FUNC
+ static inline bool isApprox(const Scalar& x, const Scalar& y, const RealScalar& prec)
+ {
+ return numext::abs2(x - y) <= numext::mini(numext::abs2(x), numext::abs2(y)) * prec * prec;
+ }
+};
+
+template<typename Scalar>
+struct scalar_fuzzy_impl : scalar_fuzzy_default_impl<Scalar, NumTraits<Scalar>::IsComplex, NumTraits<Scalar>::IsInteger> {};
+
+template<typename Scalar, typename OtherScalar> EIGEN_DEVICE_FUNC
+inline bool isMuchSmallerThan(const Scalar& x, const OtherScalar& y,
+ const typename NumTraits<Scalar>::Real &precision = NumTraits<Scalar>::dummy_precision())
+{
+ return scalar_fuzzy_impl<Scalar>::template isMuchSmallerThan<OtherScalar>(x, y, precision);
+}
+
+template<typename Scalar> EIGEN_DEVICE_FUNC
+inline bool isApprox(const Scalar& x, const Scalar& y,
+ const typename NumTraits<Scalar>::Real &precision = NumTraits<Scalar>::dummy_precision())
+{
+ return scalar_fuzzy_impl<Scalar>::isApprox(x, y, precision);
+}
+
+template<typename Scalar> EIGEN_DEVICE_FUNC
+inline bool isApproxOrLessThan(const Scalar& x, const Scalar& y,
+ const typename NumTraits<Scalar>::Real &precision = NumTraits<Scalar>::dummy_precision())
+{
+ return scalar_fuzzy_impl<Scalar>::isApproxOrLessThan(x, y, precision);
+}
+
+/******************************************
+*** The special case of the bool type ***
+******************************************/
+
+template<> struct random_impl<bool>
+{
+ static inline bool run()
+ {
+ return random<int>(0,1)==0 ? false : true;
+ }
+};
+
+template<> struct scalar_fuzzy_impl<bool>
+{
+ typedef bool RealScalar;
+
+ template<typename OtherScalar> EIGEN_DEVICE_FUNC
+ static inline bool isMuchSmallerThan(const bool& x, const bool&, const bool&)
+ {
+ return !x;
+ }
+
+ EIGEN_DEVICE_FUNC
+ static inline bool isApprox(bool x, bool y, bool)
+ {
+ return x == y;
+ }
+
+ EIGEN_DEVICE_FUNC
+ static inline bool isApproxOrLessThan(const bool& x, const bool& y, const bool&)
+ {
+ return (!x) || y;
+ }
+
+};
+
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_MATHFUNCTIONS_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/MathFunctionsImpl.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/MathFunctionsImpl.h
new file mode 100644
index 0000000..9c1ceb0
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/MathFunctionsImpl.h
@@ -0,0 +1,101 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2014 Pedro Gonnet (pedro.gonnet@gmail.com)
+// Copyright (C) 2016 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_MATHFUNCTIONSIMPL_H
+#define EIGEN_MATHFUNCTIONSIMPL_H
+
+namespace Eigen {
+
+namespace internal {
+
+/** \internal \returns the hyperbolic tan of \a a (coeff-wise)
+ Doesn't do anything fancy, just a 13/6-degree rational interpolant which
+ is accurate up to a couple of ulp in the range [-9, 9], outside of which
+ the tanh(x) = +/-1.
+
+ This implementation works on both scalars and packets.
+*/
+template<typename T>
+T generic_fast_tanh_float(const T& a_x)
+{
+ // Clamp the inputs to the range [-9, 9] since anything outside
+ // this range is +/-1.0f in single-precision.
+ const T plus_9 = pset1<T>(9.f);
+ const T minus_9 = pset1<T>(-9.f);
+ // NOTE GCC prior to 6.3 might improperly optimize this max/min
+ // step such that if a_x is nan, x will be either 9 or -9,
+ // and tanh will return 1 or -1 instead of nan.
+ // This is supposed to be fixed in gcc6.3,
+ // see: https://gcc.gnu.org/bugzilla/show_bug.cgi?id=72867
+ const T x = pmax(minus_9,pmin(plus_9,a_x));
+ // The monomial coefficients of the numerator polynomial (odd).
+ const T alpha_1 = pset1<T>(4.89352455891786e-03f);
+ const T alpha_3 = pset1<T>(6.37261928875436e-04f);
+ const T alpha_5 = pset1<T>(1.48572235717979e-05f);
+ const T alpha_7 = pset1<T>(5.12229709037114e-08f);
+ const T alpha_9 = pset1<T>(-8.60467152213735e-11f);
+ const T alpha_11 = pset1<T>(2.00018790482477e-13f);
+ const T alpha_13 = pset1<T>(-2.76076847742355e-16f);
+
+ // The monomial coefficients of the denominator polynomial (even).
+ const T beta_0 = pset1<T>(4.89352518554385e-03f);
+ const T beta_2 = pset1<T>(2.26843463243900e-03f);
+ const T beta_4 = pset1<T>(1.18534705686654e-04f);
+ const T beta_6 = pset1<T>(1.19825839466702e-06f);
+
+ // Since the polynomials are odd/even, we need x^2.
+ const T x2 = pmul(x, x);
+
+ // Evaluate the numerator polynomial p.
+ T p = pmadd(x2, alpha_13, alpha_11);
+ p = pmadd(x2, p, alpha_9);
+ p = pmadd(x2, p, alpha_7);
+ p = pmadd(x2, p, alpha_5);
+ p = pmadd(x2, p, alpha_3);
+ p = pmadd(x2, p, alpha_1);
+ p = pmul(x, p);
+
+ // Evaluate the denominator polynomial p.
+ T q = pmadd(x2, beta_6, beta_4);
+ q = pmadd(x2, q, beta_2);
+ q = pmadd(x2, q, beta_0);
+
+ // Divide the numerator by the denominator.
+ return pdiv(p, q);
+}
+
+template<typename RealScalar>
+EIGEN_STRONG_INLINE
+RealScalar positive_real_hypot(const RealScalar& x, const RealScalar& y)
+{
+ EIGEN_USING_STD_MATH(sqrt);
+ RealScalar p, qp;
+ p = numext::maxi(x,y);
+ if(p==RealScalar(0)) return RealScalar(0);
+ qp = numext::mini(y,x) / p;
+ return p * sqrt(RealScalar(1) + qp*qp);
+}
+
+template<typename Scalar>
+struct hypot_impl
+{
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ static inline RealScalar run(const Scalar& x, const Scalar& y)
+ {
+ EIGEN_USING_STD_MATH(abs);
+ return positive_real_hypot<RealScalar>(abs(x), abs(y));
+ }
+};
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_MATHFUNCTIONSIMPL_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Matrix.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Matrix.h
new file mode 100644
index 0000000..7f4a7af
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Matrix.h
@@ -0,0 +1,459 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_MATRIX_H
+#define EIGEN_MATRIX_H
+
+namespace Eigen {
+
+namespace internal {
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+struct traits<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
+{
+private:
+ enum { size = internal::size_at_compile_time<_Rows,_Cols>::ret };
+ typedef typename find_best_packet<_Scalar,size>::type PacketScalar;
+ enum {
+ row_major_bit = _Options&RowMajor ? RowMajorBit : 0,
+ is_dynamic_size_storage = _MaxRows==Dynamic || _MaxCols==Dynamic,
+ max_size = is_dynamic_size_storage ? Dynamic : _MaxRows*_MaxCols,
+ default_alignment = compute_default_alignment<_Scalar,max_size>::value,
+ actual_alignment = ((_Options&DontAlign)==0) ? default_alignment : 0,
+ required_alignment = unpacket_traits<PacketScalar>::alignment,
+ packet_access_bit = (packet_traits<_Scalar>::Vectorizable && (EIGEN_UNALIGNED_VECTORIZE || (actual_alignment>=required_alignment))) ? PacketAccessBit : 0
+ };
+
+public:
+ typedef _Scalar Scalar;
+ typedef Dense StorageKind;
+ typedef Eigen::Index StorageIndex;
+ typedef MatrixXpr XprKind;
+ enum {
+ RowsAtCompileTime = _Rows,
+ ColsAtCompileTime = _Cols,
+ MaxRowsAtCompileTime = _MaxRows,
+ MaxColsAtCompileTime = _MaxCols,
+ Flags = compute_matrix_flags<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::ret,
+ Options = _Options,
+ InnerStrideAtCompileTime = 1,
+ OuterStrideAtCompileTime = (Options&RowMajor) ? ColsAtCompileTime : RowsAtCompileTime,
+
+ // FIXME, the following flag in only used to define NeedsToAlign in PlainObjectBase
+ EvaluatorFlags = LinearAccessBit | DirectAccessBit | packet_access_bit | row_major_bit,
+ Alignment = actual_alignment
+ };
+};
+}
+
+/** \class Matrix
+ * \ingroup Core_Module
+ *
+ * \brief The matrix class, also used for vectors and row-vectors
+ *
+ * The %Matrix class is the work-horse for all \em dense (\ref dense "note") matrices and vectors within Eigen.
+ * Vectors are matrices with one column, and row-vectors are matrices with one row.
+ *
+ * The %Matrix class encompasses \em both fixed-size and dynamic-size objects (\ref fixedsize "note").
+ *
+ * The first three template parameters are required:
+ * \tparam _Scalar Numeric type, e.g. float, double, int or std::complex<float>.
+ * User defined scalar types are supported as well (see \ref user_defined_scalars "here").
+ * \tparam _Rows Number of rows, or \b Dynamic
+ * \tparam _Cols Number of columns, or \b Dynamic
+ *
+ * The remaining template parameters are optional -- in most cases you don't have to worry about them.
+ * \tparam _Options A combination of either \b #RowMajor or \b #ColMajor, and of either
+ * \b #AutoAlign or \b #DontAlign.
+ * The former controls \ref TopicStorageOrders "storage order", and defaults to column-major. The latter controls alignment, which is required
+ * for vectorization. It defaults to aligning matrices except for fixed sizes that aren't a multiple of the packet size.
+ * \tparam _MaxRows Maximum number of rows. Defaults to \a _Rows (\ref maxrows "note").
+ * \tparam _MaxCols Maximum number of columns. Defaults to \a _Cols (\ref maxrows "note").
+ *
+ * Eigen provides a number of typedefs covering the usual cases. Here are some examples:
+ *
+ * \li \c Matrix2d is a 2x2 square matrix of doubles (\c Matrix<double, 2, 2>)
+ * \li \c Vector4f is a vector of 4 floats (\c Matrix<float, 4, 1>)
+ * \li \c RowVector3i is a row-vector of 3 ints (\c Matrix<int, 1, 3>)
+ *
+ * \li \c MatrixXf is a dynamic-size matrix of floats (\c Matrix<float, Dynamic, Dynamic>)
+ * \li \c VectorXf is a dynamic-size vector of floats (\c Matrix<float, Dynamic, 1>)
+ *
+ * \li \c Matrix2Xf is a partially fixed-size (dynamic-size) matrix of floats (\c Matrix<float, 2, Dynamic>)
+ * \li \c MatrixX3d is a partially dynamic-size (fixed-size) matrix of double (\c Matrix<double, Dynamic, 3>)
+ *
+ * See \link matrixtypedefs this page \endlink for a complete list of predefined \em %Matrix and \em Vector typedefs.
+ *
+ * You can access elements of vectors and matrices using normal subscripting:
+ *
+ * \code
+ * Eigen::VectorXd v(10);
+ * v[0] = 0.1;
+ * v[1] = 0.2;
+ * v(0) = 0.3;
+ * v(1) = 0.4;
+ *
+ * Eigen::MatrixXi m(10, 10);
+ * m(0, 1) = 1;
+ * m(0, 2) = 2;
+ * m(0, 3) = 3;
+ * \endcode
+ *
+ * This class can be extended with the help of the plugin mechanism described on the page
+ * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_MATRIX_PLUGIN.
+ *
+ * <i><b>Some notes:</b></i>
+ *
+ * <dl>
+ * <dt><b>\anchor dense Dense versus sparse:</b></dt>
+ * <dd>This %Matrix class handles dense, not sparse matrices and vectors. For sparse matrices and vectors, see the Sparse module.
+ *
+ * Dense matrices and vectors are plain usual arrays of coefficients. All the coefficients are stored, in an ordinary contiguous array.
+ * This is unlike Sparse matrices and vectors where the coefficients are stored as a list of nonzero coefficients.</dd>
+ *
+ * <dt><b>\anchor fixedsize Fixed-size versus dynamic-size:</b></dt>
+ * <dd>Fixed-size means that the numbers of rows and columns are known are compile-time. In this case, Eigen allocates the array
+ * of coefficients as a fixed-size array, as a class member. This makes sense for very small matrices, typically up to 4x4, sometimes up
+ * to 16x16. Larger matrices should be declared as dynamic-size even if one happens to know their size at compile-time.
+ *
+ * Dynamic-size means that the numbers of rows or columns are not necessarily known at compile-time. In this case they are runtime
+ * variables, and the array of coefficients is allocated dynamically on the heap.
+ *
+ * Note that \em dense matrices, be they Fixed-size or Dynamic-size, <em>do not</em> expand dynamically in the sense of a std::map.
+ * If you want this behavior, see the Sparse module.</dd>
+ *
+ * <dt><b>\anchor maxrows _MaxRows and _MaxCols:</b></dt>
+ * <dd>In most cases, one just leaves these parameters to the default values.
+ * These parameters mean the maximum size of rows and columns that the matrix may have. They are useful in cases
+ * when the exact numbers of rows and columns are not known are compile-time, but it is known at compile-time that they cannot
+ * exceed a certain value. This happens when taking dynamic-size blocks inside fixed-size matrices: in this case _MaxRows and _MaxCols
+ * are the dimensions of the original matrix, while _Rows and _Cols are Dynamic.</dd>
+ * </dl>
+ *
+ * <i><b>ABI and storage layout</b></i>
+ *
+ * The table below summarizes the ABI of some possible Matrix instances which is fixed thorough the lifetime of Eigen 3.
+ * <table class="manual">
+ * <tr><th>Matrix type</th><th>Equivalent C structure</th></tr>
+ * <tr><td>\code Matrix<T,Dynamic,Dynamic> \endcode</td><td>\code
+ * struct {
+ * T *data; // with (size_t(data)%EIGEN_MAX_ALIGN_BYTES)==0
+ * Eigen::Index rows, cols;
+ * };
+ * \endcode</td></tr>
+ * <tr class="alt"><td>\code
+ * Matrix<T,Dynamic,1>
+ * Matrix<T,1,Dynamic> \endcode</td><td>\code
+ * struct {
+ * T *data; // with (size_t(data)%EIGEN_MAX_ALIGN_BYTES)==0
+ * Eigen::Index size;
+ * };
+ * \endcode</td></tr>
+ * <tr><td>\code Matrix<T,Rows,Cols> \endcode</td><td>\code
+ * struct {
+ * T data[Rows*Cols]; // with (size_t(data)%A(Rows*Cols*sizeof(T)))==0
+ * };
+ * \endcode</td></tr>
+ * <tr class="alt"><td>\code Matrix<T,Dynamic,Dynamic,0,MaxRows,MaxCols> \endcode</td><td>\code
+ * struct {
+ * T data[MaxRows*MaxCols]; // with (size_t(data)%A(MaxRows*MaxCols*sizeof(T)))==0
+ * Eigen::Index rows, cols;
+ * };
+ * \endcode</td></tr>
+ * </table>
+ * Note that in this table Rows, Cols, MaxRows and MaxCols are all positive integers. A(S) is defined to the largest possible power-of-two
+ * smaller to EIGEN_MAX_STATIC_ALIGN_BYTES.
+ *
+ * \see MatrixBase for the majority of the API methods for matrices, \ref TopicClassHierarchy,
+ * \ref TopicStorageOrders
+ */
+
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+class Matrix
+ : public PlainObjectBase<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
+{
+ public:
+
+ /** \brief Base class typedef.
+ * \sa PlainObjectBase
+ */
+ typedef PlainObjectBase<Matrix> Base;
+
+ enum { Options = _Options };
+
+ EIGEN_DENSE_PUBLIC_INTERFACE(Matrix)
+
+ typedef typename Base::PlainObject PlainObject;
+
+ using Base::base;
+ using Base::coeffRef;
+
+ /**
+ * \brief Assigns matrices to each other.
+ *
+ * \note This is a special case of the templated operator=. Its purpose is
+ * to prevent a default operator= from hiding the templated operator=.
+ *
+ * \callgraph
+ */
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Matrix& operator=(const Matrix& other)
+ {
+ return Base::_set(other);
+ }
+
+ /** \internal
+ * \brief Copies the value of the expression \a other into \c *this with automatic resizing.
+ *
+ * *this might be resized to match the dimensions of \a other. If *this was a null matrix (not already initialized),
+ * it will be initialized.
+ *
+ * Note that copying a row-vector into a vector (and conversely) is allowed.
+ * The resizing, if any, is then done in the appropriate way so that row-vectors
+ * remain row-vectors and vectors remain vectors.
+ */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Matrix& operator=(const DenseBase<OtherDerived>& other)
+ {
+ return Base::_set(other);
+ }
+
+ /* Here, doxygen failed to copy the brief information when using \copydoc */
+
+ /**
+ * \brief Copies the generic expression \a other into *this.
+ * \copydetails DenseBase::operator=(const EigenBase<OtherDerived> &other)
+ */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Matrix& operator=(const EigenBase<OtherDerived> &other)
+ {
+ return Base::operator=(other);
+ }
+
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Matrix& operator=(const ReturnByValue<OtherDerived>& func)
+ {
+ return Base::operator=(func);
+ }
+
+ /** \brief Default constructor.
+ *
+ * For fixed-size matrices, does nothing.
+ *
+ * For dynamic-size matrices, creates an empty matrix of size 0. Does not allocate any array. Such a matrix
+ * is called a null matrix. This constructor is the unique way to create null matrices: resizing
+ * a matrix to 0 is not supported.
+ *
+ * \sa resize(Index,Index)
+ */
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Matrix() : Base()
+ {
+ Base::_check_template_params();
+ EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
+ }
+
+ // FIXME is it still needed
+ EIGEN_DEVICE_FUNC
+ explicit Matrix(internal::constructor_without_unaligned_array_assert)
+ : Base(internal::constructor_without_unaligned_array_assert())
+ { Base::_check_template_params(); EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED }
+
+#if EIGEN_HAS_RVALUE_REFERENCES
+ EIGEN_DEVICE_FUNC
+ Matrix(Matrix&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_constructible<Scalar>::value)
+ : Base(std::move(other))
+ {
+ Base::_check_template_params();
+ }
+ EIGEN_DEVICE_FUNC
+ Matrix& operator=(Matrix&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_assignable<Scalar>::value)
+ {
+ other.swap(*this);
+ return *this;
+ }
+#endif
+
+ #ifndef EIGEN_PARSED_BY_DOXYGEN
+
+ // This constructor is for both 1x1 matrices and dynamic vectors
+ template<typename T>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE explicit Matrix(const T& x)
+ {
+ Base::_check_template_params();
+ Base::template _init1<T>(x);
+ }
+
+ template<typename T0, typename T1>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Matrix(const T0& x, const T1& y)
+ {
+ Base::_check_template_params();
+ Base::template _init2<T0,T1>(x, y);
+ }
+ #else
+ /** \brief Constructs a fixed-sized matrix initialized with coefficients starting at \a data */
+ EIGEN_DEVICE_FUNC
+ explicit Matrix(const Scalar *data);
+
+ /** \brief Constructs a vector or row-vector with given dimension. \only_for_vectors
+ *
+ * This is useful for dynamic-size vectors. For fixed-size vectors,
+ * it is redundant to pass these parameters, so one should use the default constructor
+ * Matrix() instead.
+ *
+ * \warning This constructor is disabled for fixed-size \c 1x1 matrices. For instance,
+ * calling Matrix<double,1,1>(1) will call the initialization constructor: Matrix(const Scalar&).
+ * For fixed-size \c 1x1 matrices it is therefore recommended to use the default
+ * constructor Matrix() instead, especially when using one of the non standard
+ * \c EIGEN_INITIALIZE_MATRICES_BY_{ZERO,\c NAN} macros (see \ref TopicPreprocessorDirectives).
+ */
+ EIGEN_STRONG_INLINE explicit Matrix(Index dim);
+ /** \brief Constructs an initialized 1x1 matrix with the given coefficient */
+ Matrix(const Scalar& x);
+ /** \brief Constructs an uninitialized matrix with \a rows rows and \a cols columns.
+ *
+ * This is useful for dynamic-size matrices. For fixed-size matrices,
+ * it is redundant to pass these parameters, so one should use the default constructor
+ * Matrix() instead.
+ *
+ * \warning This constructor is disabled for fixed-size \c 1x2 and \c 2x1 vectors. For instance,
+ * calling Matrix2f(2,1) will call the initialization constructor: Matrix(const Scalar& x, const Scalar& y).
+ * For fixed-size \c 1x2 or \c 2x1 vectors it is therefore recommended to use the default
+ * constructor Matrix() instead, especially when using one of the non standard
+ * \c EIGEN_INITIALIZE_MATRICES_BY_{ZERO,\c NAN} macros (see \ref TopicPreprocessorDirectives).
+ */
+ EIGEN_DEVICE_FUNC
+ Matrix(Index rows, Index cols);
+
+ /** \brief Constructs an initialized 2D vector with given coefficients */
+ Matrix(const Scalar& x, const Scalar& y);
+ #endif
+
+ /** \brief Constructs an initialized 3D vector with given coefficients */
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Matrix(const Scalar& x, const Scalar& y, const Scalar& z)
+ {
+ Base::_check_template_params();
+ EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Matrix, 3)
+ m_storage.data()[0] = x;
+ m_storage.data()[1] = y;
+ m_storage.data()[2] = z;
+ }
+ /** \brief Constructs an initialized 4D vector with given coefficients */
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Matrix(const Scalar& x, const Scalar& y, const Scalar& z, const Scalar& w)
+ {
+ Base::_check_template_params();
+ EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Matrix, 4)
+ m_storage.data()[0] = x;
+ m_storage.data()[1] = y;
+ m_storage.data()[2] = z;
+ m_storage.data()[3] = w;
+ }
+
+
+ /** \brief Copy constructor */
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Matrix(const Matrix& other) : Base(other)
+ { }
+
+ /** \brief Copy constructor for generic expressions.
+ * \sa MatrixBase::operator=(const EigenBase<OtherDerived>&)
+ */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Matrix(const EigenBase<OtherDerived> &other)
+ : Base(other.derived())
+ { }
+
+ EIGEN_DEVICE_FUNC inline Index innerStride() const { return 1; }
+ EIGEN_DEVICE_FUNC inline Index outerStride() const { return this->innerSize(); }
+
+ /////////// Geometry module ///////////
+
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ explicit Matrix(const RotationBase<OtherDerived,ColsAtCompileTime>& r);
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ Matrix& operator=(const RotationBase<OtherDerived,ColsAtCompileTime>& r);
+
+ // allow to extend Matrix outside Eigen
+ #ifdef EIGEN_MATRIX_PLUGIN
+ #include EIGEN_MATRIX_PLUGIN
+ #endif
+
+ protected:
+ template <typename Derived, typename OtherDerived, bool IsVector>
+ friend struct internal::conservative_resize_like_impl;
+
+ using Base::m_storage;
+};
+
+/** \defgroup matrixtypedefs Global matrix typedefs
+ *
+ * \ingroup Core_Module
+ *
+ * Eigen defines several typedef shortcuts for most common matrix and vector types.
+ *
+ * The general patterns are the following:
+ *
+ * \c MatrixSizeType where \c Size can be \c 2,\c 3,\c 4 for fixed size square matrices or \c X for dynamic size,
+ * and where \c Type can be \c i for integer, \c f for float, \c d for double, \c cf for complex float, \c cd
+ * for complex double.
+ *
+ * For example, \c Matrix3d is a fixed-size 3x3 matrix type of doubles, and \c MatrixXf is a dynamic-size matrix of floats.
+ *
+ * There are also \c VectorSizeType and \c RowVectorSizeType which are self-explanatory. For example, \c Vector4cf is
+ * a fixed-size vector of 4 complex floats.
+ *
+ * \sa class Matrix
+ */
+
+#define EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Size, SizeSuffix) \
+/** \ingroup matrixtypedefs */ \
+typedef Matrix<Type, Size, Size> Matrix##SizeSuffix##TypeSuffix; \
+/** \ingroup matrixtypedefs */ \
+typedef Matrix<Type, Size, 1> Vector##SizeSuffix##TypeSuffix; \
+/** \ingroup matrixtypedefs */ \
+typedef Matrix<Type, 1, Size> RowVector##SizeSuffix##TypeSuffix;
+
+#define EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, Size) \
+/** \ingroup matrixtypedefs */ \
+typedef Matrix<Type, Size, Dynamic> Matrix##Size##X##TypeSuffix; \
+/** \ingroup matrixtypedefs */ \
+typedef Matrix<Type, Dynamic, Size> Matrix##X##Size##TypeSuffix;
+
+#define EIGEN_MAKE_TYPEDEFS_ALL_SIZES(Type, TypeSuffix) \
+EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 2, 2) \
+EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 3, 3) \
+EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 4, 4) \
+EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Dynamic, X) \
+EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 2) \
+EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 3) \
+EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 4)
+
+EIGEN_MAKE_TYPEDEFS_ALL_SIZES(int, i)
+EIGEN_MAKE_TYPEDEFS_ALL_SIZES(float, f)
+EIGEN_MAKE_TYPEDEFS_ALL_SIZES(double, d)
+EIGEN_MAKE_TYPEDEFS_ALL_SIZES(std::complex<float>, cf)
+EIGEN_MAKE_TYPEDEFS_ALL_SIZES(std::complex<double>, cd)
+
+#undef EIGEN_MAKE_TYPEDEFS_ALL_SIZES
+#undef EIGEN_MAKE_TYPEDEFS
+#undef EIGEN_MAKE_FIXED_TYPEDEFS
+
+} // end namespace Eigen
+
+#endif // EIGEN_MATRIX_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/MatrixBase.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/MatrixBase.h
new file mode 100644
index 0000000..e6c3590
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/MatrixBase.h
@@ -0,0 +1,529 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_MATRIXBASE_H
+#define EIGEN_MATRIXBASE_H
+
+namespace Eigen {
+
+/** \class MatrixBase
+ * \ingroup Core_Module
+ *
+ * \brief Base class for all dense matrices, vectors, and expressions
+ *
+ * This class is the base that is inherited by all matrix, vector, and related expression
+ * types. Most of the Eigen API is contained in this class, and its base classes. Other important
+ * classes for the Eigen API are Matrix, and VectorwiseOp.
+ *
+ * Note that some methods are defined in other modules such as the \ref LU_Module LU module
+ * for all functions related to matrix inversions.
+ *
+ * \tparam Derived is the derived type, e.g. a matrix type, or an expression, etc.
+ *
+ * When writing a function taking Eigen objects as argument, if you want your function
+ * to take as argument any matrix, vector, or expression, just let it take a
+ * MatrixBase argument. As an example, here is a function printFirstRow which, given
+ * a matrix, vector, or expression \a x, prints the first row of \a x.
+ *
+ * \code
+ template<typename Derived>
+ void printFirstRow(const Eigen::MatrixBase<Derived>& x)
+ {
+ cout << x.row(0) << endl;
+ }
+ * \endcode
+ *
+ * This class can be extended with the help of the plugin mechanism described on the page
+ * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_MATRIXBASE_PLUGIN.
+ *
+ * \sa \blank \ref TopicClassHierarchy
+ */
+template<typename Derived> class MatrixBase
+ : public DenseBase<Derived>
+{
+ public:
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+ typedef MatrixBase StorageBaseType;
+ typedef typename internal::traits<Derived>::StorageKind StorageKind;
+ typedef typename internal::traits<Derived>::StorageIndex StorageIndex;
+ typedef typename internal::traits<Derived>::Scalar Scalar;
+ typedef typename internal::packet_traits<Scalar>::type PacketScalar;
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+
+ typedef DenseBase<Derived> Base;
+ using Base::RowsAtCompileTime;
+ using Base::ColsAtCompileTime;
+ using Base::SizeAtCompileTime;
+ using Base::MaxRowsAtCompileTime;
+ using Base::MaxColsAtCompileTime;
+ using Base::MaxSizeAtCompileTime;
+ using Base::IsVectorAtCompileTime;
+ using Base::Flags;
+
+ using Base::derived;
+ using Base::const_cast_derived;
+ using Base::rows;
+ using Base::cols;
+ using Base::size;
+ using Base::coeff;
+ using Base::coeffRef;
+ using Base::lazyAssign;
+ using Base::eval;
+ using Base::operator+=;
+ using Base::operator-=;
+ using Base::operator*=;
+ using Base::operator/=;
+
+ typedef typename Base::CoeffReturnType CoeffReturnType;
+ typedef typename Base::ConstTransposeReturnType ConstTransposeReturnType;
+ typedef typename Base::RowXpr RowXpr;
+ typedef typename Base::ColXpr ColXpr;
+#endif // not EIGEN_PARSED_BY_DOXYGEN
+
+
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+ /** type of the equivalent square matrix */
+ typedef Matrix<Scalar,EIGEN_SIZE_MAX(RowsAtCompileTime,ColsAtCompileTime),
+ EIGEN_SIZE_MAX(RowsAtCompileTime,ColsAtCompileTime)> SquareMatrixType;
+#endif // not EIGEN_PARSED_BY_DOXYGEN
+
+ /** \returns the size of the main diagonal, which is min(rows(),cols()).
+ * \sa rows(), cols(), SizeAtCompileTime. */
+ EIGEN_DEVICE_FUNC
+ inline Index diagonalSize() const { return (numext::mini)(rows(),cols()); }
+
+ typedef typename Base::PlainObject PlainObject;
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+ /** \internal Represents a matrix with all coefficients equal to one another*/
+ typedef CwiseNullaryOp<internal::scalar_constant_op<Scalar>,PlainObject> ConstantReturnType;
+ /** \internal the return type of MatrixBase::adjoint() */
+ typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
+ CwiseUnaryOp<internal::scalar_conjugate_op<Scalar>, ConstTransposeReturnType>,
+ ConstTransposeReturnType
+ >::type AdjointReturnType;
+ /** \internal Return type of eigenvalues() */
+ typedef Matrix<std::complex<RealScalar>, internal::traits<Derived>::ColsAtCompileTime, 1, ColMajor> EigenvaluesReturnType;
+ /** \internal the return type of identity */
+ typedef CwiseNullaryOp<internal::scalar_identity_op<Scalar>,PlainObject> IdentityReturnType;
+ /** \internal the return type of unit vectors */
+ typedef Block<const CwiseNullaryOp<internal::scalar_identity_op<Scalar>, SquareMatrixType>,
+ internal::traits<Derived>::RowsAtCompileTime,
+ internal::traits<Derived>::ColsAtCompileTime> BasisReturnType;
+#endif // not EIGEN_PARSED_BY_DOXYGEN
+
+#define EIGEN_CURRENT_STORAGE_BASE_CLASS Eigen::MatrixBase
+#define EIGEN_DOC_UNARY_ADDONS(X,Y)
+# include "../plugins/CommonCwiseUnaryOps.h"
+# include "../plugins/CommonCwiseBinaryOps.h"
+# include "../plugins/MatrixCwiseUnaryOps.h"
+# include "../plugins/MatrixCwiseBinaryOps.h"
+# ifdef EIGEN_MATRIXBASE_PLUGIN
+# include EIGEN_MATRIXBASE_PLUGIN
+# endif
+#undef EIGEN_CURRENT_STORAGE_BASE_CLASS
+#undef EIGEN_DOC_UNARY_ADDONS
+
+ /** Special case of the template operator=, in order to prevent the compiler
+ * from generating a default operator= (issue hit with g++ 4.1)
+ */
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ Derived& operator=(const MatrixBase& other);
+
+ // We cannot inherit here via Base::operator= since it is causing
+ // trouble with MSVC.
+
+ template <typename OtherDerived>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ Derived& operator=(const DenseBase<OtherDerived>& other);
+
+ template <typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ Derived& operator=(const EigenBase<OtherDerived>& other);
+
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ Derived& operator=(const ReturnByValue<OtherDerived>& other);
+
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ Derived& operator+=(const MatrixBase<OtherDerived>& other);
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ Derived& operator-=(const MatrixBase<OtherDerived>& other);
+
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ const Product<Derived,OtherDerived>
+ operator*(const MatrixBase<OtherDerived> &other) const;
+
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ const Product<Derived,OtherDerived,LazyProduct>
+ lazyProduct(const MatrixBase<OtherDerived> &other) const;
+
+ template<typename OtherDerived>
+ Derived& operator*=(const EigenBase<OtherDerived>& other);
+
+ template<typename OtherDerived>
+ void applyOnTheLeft(const EigenBase<OtherDerived>& other);
+
+ template<typename OtherDerived>
+ void applyOnTheRight(const EigenBase<OtherDerived>& other);
+
+ template<typename DiagonalDerived>
+ EIGEN_DEVICE_FUNC
+ const Product<Derived, DiagonalDerived, LazyProduct>
+ operator*(const DiagonalBase<DiagonalDerived> &diagonal) const;
+
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ typename ScalarBinaryOpTraits<typename internal::traits<Derived>::Scalar,typename internal::traits<OtherDerived>::Scalar>::ReturnType
+ dot(const MatrixBase<OtherDerived>& other) const;
+
+ EIGEN_DEVICE_FUNC RealScalar squaredNorm() const;
+ EIGEN_DEVICE_FUNC RealScalar norm() const;
+ RealScalar stableNorm() const;
+ RealScalar blueNorm() const;
+ RealScalar hypotNorm() const;
+ EIGEN_DEVICE_FUNC const PlainObject normalized() const;
+ EIGEN_DEVICE_FUNC const PlainObject stableNormalized() const;
+ EIGEN_DEVICE_FUNC void normalize();
+ EIGEN_DEVICE_FUNC void stableNormalize();
+
+ EIGEN_DEVICE_FUNC const AdjointReturnType adjoint() const;
+ EIGEN_DEVICE_FUNC void adjointInPlace();
+
+ typedef Diagonal<Derived> DiagonalReturnType;
+ EIGEN_DEVICE_FUNC
+ DiagonalReturnType diagonal();
+
+ typedef typename internal::add_const<Diagonal<const Derived> >::type ConstDiagonalReturnType;
+ EIGEN_DEVICE_FUNC
+ ConstDiagonalReturnType diagonal() const;
+
+ template<int Index> struct DiagonalIndexReturnType { typedef Diagonal<Derived,Index> Type; };
+ template<int Index> struct ConstDiagonalIndexReturnType { typedef const Diagonal<const Derived,Index> Type; };
+
+ template<int Index>
+ EIGEN_DEVICE_FUNC
+ typename DiagonalIndexReturnType<Index>::Type diagonal();
+
+ template<int Index>
+ EIGEN_DEVICE_FUNC
+ typename ConstDiagonalIndexReturnType<Index>::Type diagonal() const;
+
+ typedef Diagonal<Derived,DynamicIndex> DiagonalDynamicIndexReturnType;
+ typedef typename internal::add_const<Diagonal<const Derived,DynamicIndex> >::type ConstDiagonalDynamicIndexReturnType;
+
+ EIGEN_DEVICE_FUNC
+ DiagonalDynamicIndexReturnType diagonal(Index index);
+ EIGEN_DEVICE_FUNC
+ ConstDiagonalDynamicIndexReturnType diagonal(Index index) const;
+
+ template<unsigned int Mode> struct TriangularViewReturnType { typedef TriangularView<Derived, Mode> Type; };
+ template<unsigned int Mode> struct ConstTriangularViewReturnType { typedef const TriangularView<const Derived, Mode> Type; };
+
+ template<unsigned int Mode>
+ EIGEN_DEVICE_FUNC
+ typename TriangularViewReturnType<Mode>::Type triangularView();
+ template<unsigned int Mode>
+ EIGEN_DEVICE_FUNC
+ typename ConstTriangularViewReturnType<Mode>::Type triangularView() const;
+
+ template<unsigned int UpLo> struct SelfAdjointViewReturnType { typedef SelfAdjointView<Derived, UpLo> Type; };
+ template<unsigned int UpLo> struct ConstSelfAdjointViewReturnType { typedef const SelfAdjointView<const Derived, UpLo> Type; };
+
+ template<unsigned int UpLo>
+ EIGEN_DEVICE_FUNC
+ typename SelfAdjointViewReturnType<UpLo>::Type selfadjointView();
+ template<unsigned int UpLo>
+ EIGEN_DEVICE_FUNC
+ typename ConstSelfAdjointViewReturnType<UpLo>::Type selfadjointView() const;
+
+ const SparseView<Derived> sparseView(const Scalar& m_reference = Scalar(0),
+ const typename NumTraits<Scalar>::Real& m_epsilon = NumTraits<Scalar>::dummy_precision()) const;
+ EIGEN_DEVICE_FUNC static const IdentityReturnType Identity();
+ EIGEN_DEVICE_FUNC static const IdentityReturnType Identity(Index rows, Index cols);
+ EIGEN_DEVICE_FUNC static const BasisReturnType Unit(Index size, Index i);
+ EIGEN_DEVICE_FUNC static const BasisReturnType Unit(Index i);
+ EIGEN_DEVICE_FUNC static const BasisReturnType UnitX();
+ EIGEN_DEVICE_FUNC static const BasisReturnType UnitY();
+ EIGEN_DEVICE_FUNC static const BasisReturnType UnitZ();
+ EIGEN_DEVICE_FUNC static const BasisReturnType UnitW();
+
+ EIGEN_DEVICE_FUNC
+ const DiagonalWrapper<const Derived> asDiagonal() const;
+ const PermutationWrapper<const Derived> asPermutation() const;
+
+ EIGEN_DEVICE_FUNC
+ Derived& setIdentity();
+ EIGEN_DEVICE_FUNC
+ Derived& setIdentity(Index rows, Index cols);
+
+ bool isIdentity(const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
+ bool isDiagonal(const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
+
+ bool isUpperTriangular(const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
+ bool isLowerTriangular(const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
+
+ template<typename OtherDerived>
+ bool isOrthogonal(const MatrixBase<OtherDerived>& other,
+ const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
+ bool isUnitary(const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
+
+ /** \returns true if each coefficients of \c *this and \a other are all exactly equal.
+ * \warning When using floating point scalar values you probably should rather use a
+ * fuzzy comparison such as isApprox()
+ * \sa isApprox(), operator!= */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC inline bool operator==(const MatrixBase<OtherDerived>& other) const
+ { return cwiseEqual(other).all(); }
+
+ /** \returns true if at least one pair of coefficients of \c *this and \a other are not exactly equal to each other.
+ * \warning When using floating point scalar values you probably should rather use a
+ * fuzzy comparison such as isApprox()
+ * \sa isApprox(), operator== */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC inline bool operator!=(const MatrixBase<OtherDerived>& other) const
+ { return cwiseNotEqual(other).any(); }
+
+ NoAlias<Derived,Eigen::MatrixBase > noalias();
+
+ // TODO forceAlignedAccess is temporarily disabled
+ // Need to find a nicer workaround.
+ inline const Derived& forceAlignedAccess() const { return derived(); }
+ inline Derived& forceAlignedAccess() { return derived(); }
+ template<bool Enable> inline const Derived& forceAlignedAccessIf() const { return derived(); }
+ template<bool Enable> inline Derived& forceAlignedAccessIf() { return derived(); }
+
+ EIGEN_DEVICE_FUNC Scalar trace() const;
+
+ template<int p> EIGEN_DEVICE_FUNC RealScalar lpNorm() const;
+
+ EIGEN_DEVICE_FUNC MatrixBase<Derived>& matrix() { return *this; }
+ EIGEN_DEVICE_FUNC const MatrixBase<Derived>& matrix() const { return *this; }
+
+ /** \returns an \link Eigen::ArrayBase Array \endlink expression of this matrix
+ * \sa ArrayBase::matrix() */
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ArrayWrapper<Derived> array() { return ArrayWrapper<Derived>(derived()); }
+ /** \returns a const \link Eigen::ArrayBase Array \endlink expression of this matrix
+ * \sa ArrayBase::matrix() */
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const ArrayWrapper<const Derived> array() const { return ArrayWrapper<const Derived>(derived()); }
+
+/////////// LU module ///////////
+
+ inline const FullPivLU<PlainObject> fullPivLu() const;
+ inline const PartialPivLU<PlainObject> partialPivLu() const;
+
+ inline const PartialPivLU<PlainObject> lu() const;
+
+ inline const Inverse<Derived> inverse() const;
+
+ template<typename ResultType>
+ inline void computeInverseAndDetWithCheck(
+ ResultType& inverse,
+ typename ResultType::Scalar& determinant,
+ bool& invertible,
+ const RealScalar& absDeterminantThreshold = NumTraits<Scalar>::dummy_precision()
+ ) const;
+ template<typename ResultType>
+ inline void computeInverseWithCheck(
+ ResultType& inverse,
+ bool& invertible,
+ const RealScalar& absDeterminantThreshold = NumTraits<Scalar>::dummy_precision()
+ ) const;
+ Scalar determinant() const;
+
+/////////// Cholesky module ///////////
+
+ inline const LLT<PlainObject> llt() const;
+ inline const LDLT<PlainObject> ldlt() const;
+
+/////////// QR module ///////////
+
+ inline const HouseholderQR<PlainObject> householderQr() const;
+ inline const ColPivHouseholderQR<PlainObject> colPivHouseholderQr() const;
+ inline const FullPivHouseholderQR<PlainObject> fullPivHouseholderQr() const;
+ inline const CompleteOrthogonalDecomposition<PlainObject> completeOrthogonalDecomposition() const;
+
+/////////// Eigenvalues module ///////////
+
+ inline EigenvaluesReturnType eigenvalues() const;
+ inline RealScalar operatorNorm() const;
+
+/////////// SVD module ///////////
+
+ inline JacobiSVD<PlainObject> jacobiSvd(unsigned int computationOptions = 0) const;
+ inline BDCSVD<PlainObject> bdcSvd(unsigned int computationOptions = 0) const;
+
+/////////// Geometry module ///////////
+
+ #ifndef EIGEN_PARSED_BY_DOXYGEN
+ /// \internal helper struct to form the return type of the cross product
+ template<typename OtherDerived> struct cross_product_return_type {
+ typedef typename ScalarBinaryOpTraits<typename internal::traits<Derived>::Scalar,typename internal::traits<OtherDerived>::Scalar>::ReturnType Scalar;
+ typedef Matrix<Scalar,MatrixBase::RowsAtCompileTime,MatrixBase::ColsAtCompileTime> type;
+ };
+ #endif // EIGEN_PARSED_BY_DOXYGEN
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+ inline typename cross_product_return_type<OtherDerived>::type
+#else
+ inline PlainObject
+#endif
+ cross(const MatrixBase<OtherDerived>& other) const;
+
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ inline PlainObject cross3(const MatrixBase<OtherDerived>& other) const;
+
+ EIGEN_DEVICE_FUNC
+ inline PlainObject unitOrthogonal(void) const;
+
+ EIGEN_DEVICE_FUNC
+ inline Matrix<Scalar,3,1> eulerAngles(Index a0, Index a1, Index a2) const;
+
+ // put this as separate enum value to work around possible GCC 4.3 bug (?)
+ enum { HomogeneousReturnTypeDirection = ColsAtCompileTime==1&&RowsAtCompileTime==1 ? ((internal::traits<Derived>::Flags&RowMajorBit)==RowMajorBit ? Horizontal : Vertical)
+ : ColsAtCompileTime==1 ? Vertical : Horizontal };
+ typedef Homogeneous<Derived, HomogeneousReturnTypeDirection> HomogeneousReturnType;
+ EIGEN_DEVICE_FUNC
+ inline HomogeneousReturnType homogeneous() const;
+
+ enum {
+ SizeMinusOne = SizeAtCompileTime==Dynamic ? Dynamic : SizeAtCompileTime-1
+ };
+ typedef Block<const Derived,
+ internal::traits<Derived>::ColsAtCompileTime==1 ? SizeMinusOne : 1,
+ internal::traits<Derived>::ColsAtCompileTime==1 ? 1 : SizeMinusOne> ConstStartMinusOne;
+ typedef EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(ConstStartMinusOne,Scalar,quotient) HNormalizedReturnType;
+ EIGEN_DEVICE_FUNC
+ inline const HNormalizedReturnType hnormalized() const;
+
+////////// Householder module ///////////
+
+ void makeHouseholderInPlace(Scalar& tau, RealScalar& beta);
+ template<typename EssentialPart>
+ void makeHouseholder(EssentialPart& essential,
+ Scalar& tau, RealScalar& beta) const;
+ template<typename EssentialPart>
+ void applyHouseholderOnTheLeft(const EssentialPart& essential,
+ const Scalar& tau,
+ Scalar* workspace);
+ template<typename EssentialPart>
+ void applyHouseholderOnTheRight(const EssentialPart& essential,
+ const Scalar& tau,
+ Scalar* workspace);
+
+///////// Jacobi module /////////
+
+ template<typename OtherScalar>
+ void applyOnTheLeft(Index p, Index q, const JacobiRotation<OtherScalar>& j);
+ template<typename OtherScalar>
+ void applyOnTheRight(Index p, Index q, const JacobiRotation<OtherScalar>& j);
+
+///////// SparseCore module /////////
+
+ template<typename OtherDerived>
+ EIGEN_STRONG_INLINE const typename SparseMatrixBase<OtherDerived>::template CwiseProductDenseReturnType<Derived>::Type
+ cwiseProduct(const SparseMatrixBase<OtherDerived> &other) const
+ {
+ return other.cwiseProduct(derived());
+ }
+
+///////// MatrixFunctions module /////////
+
+ typedef typename internal::stem_function<Scalar>::type StemFunction;
+#define EIGEN_MATRIX_FUNCTION(ReturnType, Name, Description) \
+ /** \returns an expression of the matrix Description of \c *this. \brief This function requires the <a href="unsupported/group__MatrixFunctions__Module.html"> unsupported MatrixFunctions module</a>. To compute the coefficient-wise Description use ArrayBase::##Name . */ \
+ const ReturnType<Derived> Name() const;
+#define EIGEN_MATRIX_FUNCTION_1(ReturnType, Name, Description, Argument) \
+ /** \returns an expression of the matrix Description of \c *this. \brief This function requires the <a href="unsupported/group__MatrixFunctions__Module.html"> unsupported MatrixFunctions module</a>. To compute the coefficient-wise Description use ArrayBase::##Name . */ \
+ const ReturnType<Derived> Name(Argument) const;
+
+ EIGEN_MATRIX_FUNCTION(MatrixExponentialReturnValue, exp, exponential)
+ /** \brief Helper function for the <a href="unsupported/group__MatrixFunctions__Module.html"> unsupported MatrixFunctions module</a>.*/
+ const MatrixFunctionReturnValue<Derived> matrixFunction(StemFunction f) const;
+ EIGEN_MATRIX_FUNCTION(MatrixFunctionReturnValue, cosh, hyperbolic cosine)
+ EIGEN_MATRIX_FUNCTION(MatrixFunctionReturnValue, sinh, hyperbolic sine)
+ EIGEN_MATRIX_FUNCTION(MatrixFunctionReturnValue, cos, cosine)
+ EIGEN_MATRIX_FUNCTION(MatrixFunctionReturnValue, sin, sine)
+ EIGEN_MATRIX_FUNCTION(MatrixSquareRootReturnValue, sqrt, square root)
+ EIGEN_MATRIX_FUNCTION(MatrixLogarithmReturnValue, log, logarithm)
+ EIGEN_MATRIX_FUNCTION_1(MatrixPowerReturnValue, pow, power to \c p, const RealScalar& p)
+ EIGEN_MATRIX_FUNCTION_1(MatrixComplexPowerReturnValue, pow, power to \c p, const std::complex<RealScalar>& p)
+
+ protected:
+ EIGEN_DEVICE_FUNC MatrixBase() : Base() {}
+
+ private:
+ EIGEN_DEVICE_FUNC explicit MatrixBase(int);
+ EIGEN_DEVICE_FUNC MatrixBase(int,int);
+ template<typename OtherDerived> EIGEN_DEVICE_FUNC explicit MatrixBase(const MatrixBase<OtherDerived>&);
+ protected:
+ // mixing arrays and matrices is not legal
+ template<typename OtherDerived> Derived& operator+=(const ArrayBase<OtherDerived>& )
+ {EIGEN_STATIC_ASSERT(std::ptrdiff_t(sizeof(typename OtherDerived::Scalar))==-1,YOU_CANNOT_MIX_ARRAYS_AND_MATRICES); return *this;}
+ // mixing arrays and matrices is not legal
+ template<typename OtherDerived> Derived& operator-=(const ArrayBase<OtherDerived>& )
+ {EIGEN_STATIC_ASSERT(std::ptrdiff_t(sizeof(typename OtherDerived::Scalar))==-1,YOU_CANNOT_MIX_ARRAYS_AND_MATRICES); return *this;}
+};
+
+
+/***************************************************************************
+* Implementation of matrix base methods
+***************************************************************************/
+
+/** replaces \c *this by \c *this * \a other.
+ *
+ * \returns a reference to \c *this
+ *
+ * Example: \include MatrixBase_applyOnTheRight.cpp
+ * Output: \verbinclude MatrixBase_applyOnTheRight.out
+ */
+template<typename Derived>
+template<typename OtherDerived>
+inline Derived&
+MatrixBase<Derived>::operator*=(const EigenBase<OtherDerived> &other)
+{
+ other.derived().applyThisOnTheRight(derived());
+ return derived();
+}
+
+/** replaces \c *this by \c *this * \a other. It is equivalent to MatrixBase::operator*=().
+ *
+ * Example: \include MatrixBase_applyOnTheRight.cpp
+ * Output: \verbinclude MatrixBase_applyOnTheRight.out
+ */
+template<typename Derived>
+template<typename OtherDerived>
+inline void MatrixBase<Derived>::applyOnTheRight(const EigenBase<OtherDerived> &other)
+{
+ other.derived().applyThisOnTheRight(derived());
+}
+
+/** replaces \c *this by \a other * \c *this.
+ *
+ * Example: \include MatrixBase_applyOnTheLeft.cpp
+ * Output: \verbinclude MatrixBase_applyOnTheLeft.out
+ */
+template<typename Derived>
+template<typename OtherDerived>
+inline void MatrixBase<Derived>::applyOnTheLeft(const EigenBase<OtherDerived> &other)
+{
+ other.derived().applyThisOnTheLeft(derived());
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_MATRIXBASE_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/NestByValue.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/NestByValue.h
new file mode 100644
index 0000000..13adf07
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/NestByValue.h
@@ -0,0 +1,110 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_NESTBYVALUE_H
+#define EIGEN_NESTBYVALUE_H
+
+namespace Eigen {
+
+namespace internal {
+template<typename ExpressionType>
+struct traits<NestByValue<ExpressionType> > : public traits<ExpressionType>
+{};
+}
+
+/** \class NestByValue
+ * \ingroup Core_Module
+ *
+ * \brief Expression which must be nested by value
+ *
+ * \tparam ExpressionType the type of the object of which we are requiring nesting-by-value
+ *
+ * This class is the return type of MatrixBase::nestByValue()
+ * and most of the time this is the only way it is used.
+ *
+ * \sa MatrixBase::nestByValue()
+ */
+template<typename ExpressionType> class NestByValue
+ : public internal::dense_xpr_base< NestByValue<ExpressionType> >::type
+{
+ public:
+
+ typedef typename internal::dense_xpr_base<NestByValue>::type Base;
+ EIGEN_DENSE_PUBLIC_INTERFACE(NestByValue)
+
+ EIGEN_DEVICE_FUNC explicit inline NestByValue(const ExpressionType& matrix) : m_expression(matrix) {}
+
+ EIGEN_DEVICE_FUNC inline Index rows() const { return m_expression.rows(); }
+ EIGEN_DEVICE_FUNC inline Index cols() const { return m_expression.cols(); }
+ EIGEN_DEVICE_FUNC inline Index outerStride() const { return m_expression.outerStride(); }
+ EIGEN_DEVICE_FUNC inline Index innerStride() const { return m_expression.innerStride(); }
+
+ EIGEN_DEVICE_FUNC inline const CoeffReturnType coeff(Index row, Index col) const
+ {
+ return m_expression.coeff(row, col);
+ }
+
+ EIGEN_DEVICE_FUNC inline Scalar& coeffRef(Index row, Index col)
+ {
+ return m_expression.const_cast_derived().coeffRef(row, col);
+ }
+
+ EIGEN_DEVICE_FUNC inline const CoeffReturnType coeff(Index index) const
+ {
+ return m_expression.coeff(index);
+ }
+
+ EIGEN_DEVICE_FUNC inline Scalar& coeffRef(Index index)
+ {
+ return m_expression.const_cast_derived().coeffRef(index);
+ }
+
+ template<int LoadMode>
+ inline const PacketScalar packet(Index row, Index col) const
+ {
+ return m_expression.template packet<LoadMode>(row, col);
+ }
+
+ template<int LoadMode>
+ inline void writePacket(Index row, Index col, const PacketScalar& x)
+ {
+ m_expression.const_cast_derived().template writePacket<LoadMode>(row, col, x);
+ }
+
+ template<int LoadMode>
+ inline const PacketScalar packet(Index index) const
+ {
+ return m_expression.template packet<LoadMode>(index);
+ }
+
+ template<int LoadMode>
+ inline void writePacket(Index index, const PacketScalar& x)
+ {
+ m_expression.const_cast_derived().template writePacket<LoadMode>(index, x);
+ }
+
+ EIGEN_DEVICE_FUNC operator const ExpressionType&() const { return m_expression; }
+
+ protected:
+ const ExpressionType m_expression;
+};
+
+/** \returns an expression of the temporary version of *this.
+ */
+template<typename Derived>
+inline const NestByValue<Derived>
+DenseBase<Derived>::nestByValue() const
+{
+ return NestByValue<Derived>(derived());
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_NESTBYVALUE_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/NoAlias.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/NoAlias.h
new file mode 100644
index 0000000..3390801
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/NoAlias.h
@@ -0,0 +1,108 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_NOALIAS_H
+#define EIGEN_NOALIAS_H
+
+namespace Eigen {
+
+/** \class NoAlias
+ * \ingroup Core_Module
+ *
+ * \brief Pseudo expression providing an operator = assuming no aliasing
+ *
+ * \tparam ExpressionType the type of the object on which to do the lazy assignment
+ *
+ * This class represents an expression with special assignment operators
+ * assuming no aliasing between the target expression and the source expression.
+ * More precisely it alloas to bypass the EvalBeforeAssignBit flag of the source expression.
+ * It is the return type of MatrixBase::noalias()
+ * and most of the time this is the only way it is used.
+ *
+ * \sa MatrixBase::noalias()
+ */
+template<typename ExpressionType, template <typename> class StorageBase>
+class NoAlias
+{
+ public:
+ typedef typename ExpressionType::Scalar Scalar;
+
+ explicit NoAlias(ExpressionType& expression) : m_expression(expression) {}
+
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE ExpressionType& operator=(const StorageBase<OtherDerived>& other)
+ {
+ call_assignment_no_alias(m_expression, other.derived(), internal::assign_op<Scalar,typename OtherDerived::Scalar>());
+ return m_expression;
+ }
+
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE ExpressionType& operator+=(const StorageBase<OtherDerived>& other)
+ {
+ call_assignment_no_alias(m_expression, other.derived(), internal::add_assign_op<Scalar,typename OtherDerived::Scalar>());
+ return m_expression;
+ }
+
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE ExpressionType& operator-=(const StorageBase<OtherDerived>& other)
+ {
+ call_assignment_no_alias(m_expression, other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
+ return m_expression;
+ }
+
+ EIGEN_DEVICE_FUNC
+ ExpressionType& expression() const
+ {
+ return m_expression;
+ }
+
+ protected:
+ ExpressionType& m_expression;
+};
+
+/** \returns a pseudo expression of \c *this with an operator= assuming
+ * no aliasing between \c *this and the source expression.
+ *
+ * More precisely, noalias() allows to bypass the EvalBeforeAssignBit flag.
+ * Currently, even though several expressions may alias, only product
+ * expressions have this flag. Therefore, noalias() is only usefull when
+ * the source expression contains a matrix product.
+ *
+ * Here are some examples where noalias is usefull:
+ * \code
+ * D.noalias() = A * B;
+ * D.noalias() += A.transpose() * B;
+ * D.noalias() -= 2 * A * B.adjoint();
+ * \endcode
+ *
+ * On the other hand the following example will lead to a \b wrong result:
+ * \code
+ * A.noalias() = A * B;
+ * \endcode
+ * because the result matrix A is also an operand of the matrix product. Therefore,
+ * there is no alternative than evaluating A * B in a temporary, that is the default
+ * behavior when you write:
+ * \code
+ * A = A * B;
+ * \endcode
+ *
+ * \sa class NoAlias
+ */
+template<typename Derived>
+NoAlias<Derived,MatrixBase> MatrixBase<Derived>::noalias()
+{
+ return NoAlias<Derived, Eigen::MatrixBase >(derived());
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_NOALIAS_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/NumTraits.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/NumTraits.h
new file mode 100644
index 0000000..daf4898
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/NumTraits.h
@@ -0,0 +1,248 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_NUMTRAITS_H
+#define EIGEN_NUMTRAITS_H
+
+namespace Eigen {
+
+namespace internal {
+
+// default implementation of digits10(), based on numeric_limits if specialized,
+// 0 for integer types, and log10(epsilon()) otherwise.
+template< typename T,
+ bool use_numeric_limits = std::numeric_limits<T>::is_specialized,
+ bool is_integer = NumTraits<T>::IsInteger>
+struct default_digits10_impl
+{
+ static int run() { return std::numeric_limits<T>::digits10; }
+};
+
+template<typename T>
+struct default_digits10_impl<T,false,false> // Floating point
+{
+ static int run() {
+ using std::log10;
+ using std::ceil;
+ typedef typename NumTraits<T>::Real Real;
+ return int(ceil(-log10(NumTraits<Real>::epsilon())));
+ }
+};
+
+template<typename T>
+struct default_digits10_impl<T,false,true> // Integer
+{
+ static int run() { return 0; }
+};
+
+} // end namespace internal
+
+/** \class NumTraits
+ * \ingroup Core_Module
+ *
+ * \brief Holds information about the various numeric (i.e. scalar) types allowed by Eigen.
+ *
+ * \tparam T the numeric type at hand
+ *
+ * This class stores enums, typedefs and static methods giving information about a numeric type.
+ *
+ * The provided data consists of:
+ * \li A typedef \c Real, giving the "real part" type of \a T. If \a T is already real,
+ * then \c Real is just a typedef to \a T. If \a T is \c std::complex<U> then \c Real
+ * is a typedef to \a U.
+ * \li A typedef \c NonInteger, giving the type that should be used for operations producing non-integral values,
+ * such as quotients, square roots, etc. If \a T is a floating-point type, then this typedef just gives
+ * \a T again. Note however that many Eigen functions such as internal::sqrt simply refuse to
+ * take integers. Outside of a few cases, Eigen doesn't do automatic type promotion. Thus, this typedef is
+ * only intended as a helper for code that needs to explicitly promote types.
+ * \li A typedef \c Literal giving the type to use for numeric literals such as "2" or "0.5". For instance, for \c std::complex<U>, Literal is defined as \c U.
+ * Of course, this type must be fully compatible with \a T. In doubt, just use \a T here.
+ * \li A typedef \a Nested giving the type to use to nest a value inside of the expression tree. If you don't know what
+ * this means, just use \a T here.
+ * \li An enum value \a IsComplex. It is equal to 1 if \a T is a \c std::complex
+ * type, and to 0 otherwise.
+ * \li An enum value \a IsInteger. It is equal to \c 1 if \a T is an integer type such as \c int,
+ * and to \c 0 otherwise.
+ * \li Enum values ReadCost, AddCost and MulCost representing a rough estimate of the number of CPU cycles needed
+ * to by move / add / mul instructions respectively, assuming the data is already stored in CPU registers.
+ * Stay vague here. No need to do architecture-specific stuff.
+ * \li An enum value \a IsSigned. It is equal to \c 1 if \a T is a signed type and to 0 if \a T is unsigned.
+ * \li An enum value \a RequireInitialization. It is equal to \c 1 if the constructor of the numeric type \a T must
+ * be called, and to 0 if it is safe not to call it. Default is 0 if \a T is an arithmetic type, and 1 otherwise.
+ * \li An epsilon() function which, unlike <a href="http://en.cppreference.com/w/cpp/types/numeric_limits/epsilon">std::numeric_limits::epsilon()</a>,
+ * it returns a \a Real instead of a \a T.
+ * \li A dummy_precision() function returning a weak epsilon value. It is mainly used as a default
+ * value by the fuzzy comparison operators.
+ * \li highest() and lowest() functions returning the highest and lowest possible values respectively.
+ * \li digits10() function returning the number of decimal digits that can be represented without change. This is
+ * the analogue of <a href="http://en.cppreference.com/w/cpp/types/numeric_limits/digits10">std::numeric_limits<T>::digits10</a>
+ * which is used as the default implementation if specialized.
+ */
+
+template<typename T> struct GenericNumTraits
+{
+ enum {
+ IsInteger = std::numeric_limits<T>::is_integer,
+ IsSigned = std::numeric_limits<T>::is_signed,
+ IsComplex = 0,
+ RequireInitialization = internal::is_arithmetic<T>::value ? 0 : 1,
+ ReadCost = 1,
+ AddCost = 1,
+ MulCost = 1
+ };
+
+ typedef T Real;
+ typedef typename internal::conditional<
+ IsInteger,
+ typename internal::conditional<sizeof(T)<=2, float, double>::type,
+ T
+ >::type NonInteger;
+ typedef T Nested;
+ typedef T Literal;
+
+ EIGEN_DEVICE_FUNC
+ static inline Real epsilon()
+ {
+ return numext::numeric_limits<T>::epsilon();
+ }
+
+ EIGEN_DEVICE_FUNC
+ static inline int digits10()
+ {
+ return internal::default_digits10_impl<T>::run();
+ }
+
+ EIGEN_DEVICE_FUNC
+ static inline Real dummy_precision()
+ {
+ // make sure to override this for floating-point types
+ return Real(0);
+ }
+
+
+ EIGEN_DEVICE_FUNC
+ static inline T highest() {
+ return (numext::numeric_limits<T>::max)();
+ }
+
+ EIGEN_DEVICE_FUNC
+ static inline T lowest() {
+ return IsInteger ? (numext::numeric_limits<T>::min)() : (-(numext::numeric_limits<T>::max)());
+ }
+
+ EIGEN_DEVICE_FUNC
+ static inline T infinity() {
+ return numext::numeric_limits<T>::infinity();
+ }
+
+ EIGEN_DEVICE_FUNC
+ static inline T quiet_NaN() {
+ return numext::numeric_limits<T>::quiet_NaN();
+ }
+};
+
+template<typename T> struct NumTraits : GenericNumTraits<T>
+{};
+
+template<> struct NumTraits<float>
+ : GenericNumTraits<float>
+{
+ EIGEN_DEVICE_FUNC
+ static inline float dummy_precision() { return 1e-5f; }
+};
+
+template<> struct NumTraits<double> : GenericNumTraits<double>
+{
+ EIGEN_DEVICE_FUNC
+ static inline double dummy_precision() { return 1e-12; }
+};
+
+template<> struct NumTraits<long double>
+ : GenericNumTraits<long double>
+{
+ static inline long double dummy_precision() { return 1e-15l; }
+};
+
+template<typename _Real> struct NumTraits<std::complex<_Real> >
+ : GenericNumTraits<std::complex<_Real> >
+{
+ typedef _Real Real;
+ typedef typename NumTraits<_Real>::Literal Literal;
+ enum {
+ IsComplex = 1,
+ RequireInitialization = NumTraits<_Real>::RequireInitialization,
+ ReadCost = 2 * NumTraits<_Real>::ReadCost,
+ AddCost = 2 * NumTraits<Real>::AddCost,
+ MulCost = 4 * NumTraits<Real>::MulCost + 2 * NumTraits<Real>::AddCost
+ };
+
+ EIGEN_DEVICE_FUNC
+ static inline Real epsilon() { return NumTraits<Real>::epsilon(); }
+ EIGEN_DEVICE_FUNC
+ static inline Real dummy_precision() { return NumTraits<Real>::dummy_precision(); }
+ EIGEN_DEVICE_FUNC
+ static inline int digits10() { return NumTraits<Real>::digits10(); }
+};
+
+template<typename Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols>
+struct NumTraits<Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols> >
+{
+ typedef Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols> ArrayType;
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ typedef Array<RealScalar, Rows, Cols, Options, MaxRows, MaxCols> Real;
+ typedef typename NumTraits<Scalar>::NonInteger NonIntegerScalar;
+ typedef Array<NonIntegerScalar, Rows, Cols, Options, MaxRows, MaxCols> NonInteger;
+ typedef ArrayType & Nested;
+ typedef typename NumTraits<Scalar>::Literal Literal;
+
+ enum {
+ IsComplex = NumTraits<Scalar>::IsComplex,
+ IsInteger = NumTraits<Scalar>::IsInteger,
+ IsSigned = NumTraits<Scalar>::IsSigned,
+ RequireInitialization = 1,
+ ReadCost = ArrayType::SizeAtCompileTime==Dynamic ? HugeCost : ArrayType::SizeAtCompileTime * NumTraits<Scalar>::ReadCost,
+ AddCost = ArrayType::SizeAtCompileTime==Dynamic ? HugeCost : ArrayType::SizeAtCompileTime * NumTraits<Scalar>::AddCost,
+ MulCost = ArrayType::SizeAtCompileTime==Dynamic ? HugeCost : ArrayType::SizeAtCompileTime * NumTraits<Scalar>::MulCost
+ };
+
+ EIGEN_DEVICE_FUNC
+ static inline RealScalar epsilon() { return NumTraits<RealScalar>::epsilon(); }
+ EIGEN_DEVICE_FUNC
+ static inline RealScalar dummy_precision() { return NumTraits<RealScalar>::dummy_precision(); }
+
+ static inline int digits10() { return NumTraits<Scalar>::digits10(); }
+};
+
+template<> struct NumTraits<std::string>
+ : GenericNumTraits<std::string>
+{
+ enum {
+ RequireInitialization = 1,
+ ReadCost = HugeCost,
+ AddCost = HugeCost,
+ MulCost = HugeCost
+ };
+
+ static inline int digits10() { return 0; }
+
+private:
+ static inline std::string epsilon();
+ static inline std::string dummy_precision();
+ static inline std::string lowest();
+ static inline std::string highest();
+ static inline std::string infinity();
+ static inline std::string quiet_NaN();
+};
+
+// Empty specialization for void to allow template specialization based on NumTraits<T>::Real with T==void and SFINAE.
+template<> struct NumTraits<void> {};
+
+} // end namespace Eigen
+
+#endif // EIGEN_NUMTRAITS_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/PermutationMatrix.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/PermutationMatrix.h
new file mode 100644
index 0000000..b1fb455
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/PermutationMatrix.h
@@ -0,0 +1,633 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2009-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_PERMUTATIONMATRIX_H
+#define EIGEN_PERMUTATIONMATRIX_H
+
+namespace Eigen {
+
+namespace internal {
+
+enum PermPermProduct_t {PermPermProduct};
+
+} // end namespace internal
+
+/** \class PermutationBase
+ * \ingroup Core_Module
+ *
+ * \brief Base class for permutations
+ *
+ * \tparam Derived the derived class
+ *
+ * This class is the base class for all expressions representing a permutation matrix,
+ * internally stored as a vector of integers.
+ * The convention followed here is that if \f$ \sigma \f$ is a permutation, the corresponding permutation matrix
+ * \f$ P_\sigma \f$ is such that if \f$ (e_1,\ldots,e_p) \f$ is the canonical basis, we have:
+ * \f[ P_\sigma(e_i) = e_{\sigma(i)}. \f]
+ * This convention ensures that for any two permutations \f$ \sigma, \tau \f$, we have:
+ * \f[ P_{\sigma\circ\tau} = P_\sigma P_\tau. \f]
+ *
+ * Permutation matrices are square and invertible.
+ *
+ * Notice that in addition to the member functions and operators listed here, there also are non-member
+ * operator* to multiply any kind of permutation object with any kind of matrix expression (MatrixBase)
+ * on either side.
+ *
+ * \sa class PermutationMatrix, class PermutationWrapper
+ */
+template<typename Derived>
+class PermutationBase : public EigenBase<Derived>
+{
+ typedef internal::traits<Derived> Traits;
+ typedef EigenBase<Derived> Base;
+ public:
+
+ #ifndef EIGEN_PARSED_BY_DOXYGEN
+ typedef typename Traits::IndicesType IndicesType;
+ enum {
+ Flags = Traits::Flags,
+ RowsAtCompileTime = Traits::RowsAtCompileTime,
+ ColsAtCompileTime = Traits::ColsAtCompileTime,
+ MaxRowsAtCompileTime = Traits::MaxRowsAtCompileTime,
+ MaxColsAtCompileTime = Traits::MaxColsAtCompileTime
+ };
+ typedef typename Traits::StorageIndex StorageIndex;
+ typedef Matrix<StorageIndex,RowsAtCompileTime,ColsAtCompileTime,0,MaxRowsAtCompileTime,MaxColsAtCompileTime>
+ DenseMatrixType;
+ typedef PermutationMatrix<IndicesType::SizeAtCompileTime,IndicesType::MaxSizeAtCompileTime,StorageIndex>
+ PlainPermutationType;
+ typedef PlainPermutationType PlainObject;
+ using Base::derived;
+ typedef Inverse<Derived> InverseReturnType;
+ typedef void Scalar;
+ #endif
+
+ /** Copies the other permutation into *this */
+ template<typename OtherDerived>
+ Derived& operator=(const PermutationBase<OtherDerived>& other)
+ {
+ indices() = other.indices();
+ return derived();
+ }
+
+ /** Assignment from the Transpositions \a tr */
+ template<typename OtherDerived>
+ Derived& operator=(const TranspositionsBase<OtherDerived>& tr)
+ {
+ setIdentity(tr.size());
+ for(Index k=size()-1; k>=0; --k)
+ applyTranspositionOnTheRight(k,tr.coeff(k));
+ return derived();
+ }
+
+ #ifndef EIGEN_PARSED_BY_DOXYGEN
+ /** This is a special case of the templated operator=. Its purpose is to
+ * prevent a default operator= from hiding the templated operator=.
+ */
+ Derived& operator=(const PermutationBase& other)
+ {
+ indices() = other.indices();
+ return derived();
+ }
+ #endif
+
+ /** \returns the number of rows */
+ inline Index rows() const { return Index(indices().size()); }
+
+ /** \returns the number of columns */
+ inline Index cols() const { return Index(indices().size()); }
+
+ /** \returns the size of a side of the respective square matrix, i.e., the number of indices */
+ inline Index size() const { return Index(indices().size()); }
+
+ #ifndef EIGEN_PARSED_BY_DOXYGEN
+ template<typename DenseDerived>
+ void evalTo(MatrixBase<DenseDerived>& other) const
+ {
+ other.setZero();
+ for (Index i=0; i<rows(); ++i)
+ other.coeffRef(indices().coeff(i),i) = typename DenseDerived::Scalar(1);
+ }
+ #endif
+
+ /** \returns a Matrix object initialized from this permutation matrix. Notice that it
+ * is inefficient to return this Matrix object by value. For efficiency, favor using
+ * the Matrix constructor taking EigenBase objects.
+ */
+ DenseMatrixType toDenseMatrix() const
+ {
+ return derived();
+ }
+
+ /** const version of indices(). */
+ const IndicesType& indices() const { return derived().indices(); }
+ /** \returns a reference to the stored array representing the permutation. */
+ IndicesType& indices() { return derived().indices(); }
+
+ /** Resizes to given size.
+ */
+ inline void resize(Index newSize)
+ {
+ indices().resize(newSize);
+ }
+
+ /** Sets *this to be the identity permutation matrix */
+ void setIdentity()
+ {
+ StorageIndex n = StorageIndex(size());
+ for(StorageIndex i = 0; i < n; ++i)
+ indices().coeffRef(i) = i;
+ }
+
+ /** Sets *this to be the identity permutation matrix of given size.
+ */
+ void setIdentity(Index newSize)
+ {
+ resize(newSize);
+ setIdentity();
+ }
+
+ /** Multiplies *this by the transposition \f$(ij)\f$ on the left.
+ *
+ * \returns a reference to *this.
+ *
+ * \warning This is much slower than applyTranspositionOnTheRight(Index,Index):
+ * this has linear complexity and requires a lot of branching.
+ *
+ * \sa applyTranspositionOnTheRight(Index,Index)
+ */
+ Derived& applyTranspositionOnTheLeft(Index i, Index j)
+ {
+ eigen_assert(i>=0 && j>=0 && i<size() && j<size());
+ for(Index k = 0; k < size(); ++k)
+ {
+ if(indices().coeff(k) == i) indices().coeffRef(k) = StorageIndex(j);
+ else if(indices().coeff(k) == j) indices().coeffRef(k) = StorageIndex(i);
+ }
+ return derived();
+ }
+
+ /** Multiplies *this by the transposition \f$(ij)\f$ on the right.
+ *
+ * \returns a reference to *this.
+ *
+ * This is a fast operation, it only consists in swapping two indices.
+ *
+ * \sa applyTranspositionOnTheLeft(Index,Index)
+ */
+ Derived& applyTranspositionOnTheRight(Index i, Index j)
+ {
+ eigen_assert(i>=0 && j>=0 && i<size() && j<size());
+ std::swap(indices().coeffRef(i), indices().coeffRef(j));
+ return derived();
+ }
+
+ /** \returns the inverse permutation matrix.
+ *
+ * \note \blank \note_try_to_help_rvo
+ */
+ inline InverseReturnType inverse() const
+ { return InverseReturnType(derived()); }
+ /** \returns the tranpose permutation matrix.
+ *
+ * \note \blank \note_try_to_help_rvo
+ */
+ inline InverseReturnType transpose() const
+ { return InverseReturnType(derived()); }
+
+ /**** multiplication helpers to hopefully get RVO ****/
+
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+ protected:
+ template<typename OtherDerived>
+ void assignTranspose(const PermutationBase<OtherDerived>& other)
+ {
+ for (Index i=0; i<rows();++i) indices().coeffRef(other.indices().coeff(i)) = i;
+ }
+ template<typename Lhs,typename Rhs>
+ void assignProduct(const Lhs& lhs, const Rhs& rhs)
+ {
+ eigen_assert(lhs.cols() == rhs.rows());
+ for (Index i=0; i<rows();++i) indices().coeffRef(i) = lhs.indices().coeff(rhs.indices().coeff(i));
+ }
+#endif
+
+ public:
+
+ /** \returns the product permutation matrix.
+ *
+ * \note \blank \note_try_to_help_rvo
+ */
+ template<typename Other>
+ inline PlainPermutationType operator*(const PermutationBase<Other>& other) const
+ { return PlainPermutationType(internal::PermPermProduct, derived(), other.derived()); }
+
+ /** \returns the product of a permutation with another inverse permutation.
+ *
+ * \note \blank \note_try_to_help_rvo
+ */
+ template<typename Other>
+ inline PlainPermutationType operator*(const InverseImpl<Other,PermutationStorage>& other) const
+ { return PlainPermutationType(internal::PermPermProduct, *this, other.eval()); }
+
+ /** \returns the product of an inverse permutation with another permutation.
+ *
+ * \note \blank \note_try_to_help_rvo
+ */
+ template<typename Other> friend
+ inline PlainPermutationType operator*(const InverseImpl<Other, PermutationStorage>& other, const PermutationBase& perm)
+ { return PlainPermutationType(internal::PermPermProduct, other.eval(), perm); }
+
+ /** \returns the determinant of the permutation matrix, which is either 1 or -1 depending on the parity of the permutation.
+ *
+ * This function is O(\c n) procedure allocating a buffer of \c n booleans.
+ */
+ Index determinant() const
+ {
+ Index res = 1;
+ Index n = size();
+ Matrix<bool,RowsAtCompileTime,1,0,MaxRowsAtCompileTime> mask(n);
+ mask.fill(false);
+ Index r = 0;
+ while(r < n)
+ {
+ // search for the next seed
+ while(r<n && mask[r]) r++;
+ if(r>=n)
+ break;
+ // we got one, let's follow it until we are back to the seed
+ Index k0 = r++;
+ mask.coeffRef(k0) = true;
+ for(Index k=indices().coeff(k0); k!=k0; k=indices().coeff(k))
+ {
+ mask.coeffRef(k) = true;
+ res = -res;
+ }
+ }
+ return res;
+ }
+
+ protected:
+
+};
+
+namespace internal {
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename _StorageIndex>
+struct traits<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, _StorageIndex> >
+ : traits<Matrix<_StorageIndex,SizeAtCompileTime,SizeAtCompileTime,0,MaxSizeAtCompileTime,MaxSizeAtCompileTime> >
+{
+ typedef PermutationStorage StorageKind;
+ typedef Matrix<_StorageIndex, SizeAtCompileTime, 1, 0, MaxSizeAtCompileTime, 1> IndicesType;
+ typedef _StorageIndex StorageIndex;
+ typedef void Scalar;
+};
+}
+
+/** \class PermutationMatrix
+ * \ingroup Core_Module
+ *
+ * \brief Permutation matrix
+ *
+ * \tparam SizeAtCompileTime the number of rows/cols, or Dynamic
+ * \tparam MaxSizeAtCompileTime the maximum number of rows/cols, or Dynamic. This optional parameter defaults to SizeAtCompileTime. Most of the time, you should not have to specify it.
+ * \tparam _StorageIndex the integer type of the indices
+ *
+ * This class represents a permutation matrix, internally stored as a vector of integers.
+ *
+ * \sa class PermutationBase, class PermutationWrapper, class DiagonalMatrix
+ */
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename _StorageIndex>
+class PermutationMatrix : public PermutationBase<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, _StorageIndex> >
+{
+ typedef PermutationBase<PermutationMatrix> Base;
+ typedef internal::traits<PermutationMatrix> Traits;
+ public:
+
+ typedef const PermutationMatrix& Nested;
+
+ #ifndef EIGEN_PARSED_BY_DOXYGEN
+ typedef typename Traits::IndicesType IndicesType;
+ typedef typename Traits::StorageIndex StorageIndex;
+ #endif
+
+ inline PermutationMatrix()
+ {}
+
+ /** Constructs an uninitialized permutation matrix of given size.
+ */
+ explicit inline PermutationMatrix(Index size) : m_indices(size)
+ {
+ eigen_internal_assert(size <= NumTraits<StorageIndex>::highest());
+ }
+
+ /** Copy constructor. */
+ template<typename OtherDerived>
+ inline PermutationMatrix(const PermutationBase<OtherDerived>& other)
+ : m_indices(other.indices()) {}
+
+ #ifndef EIGEN_PARSED_BY_DOXYGEN
+ /** Standard copy constructor. Defined only to prevent a default copy constructor
+ * from hiding the other templated constructor */
+ inline PermutationMatrix(const PermutationMatrix& other) : m_indices(other.indices()) {}
+ #endif
+
+ /** Generic constructor from expression of the indices. The indices
+ * array has the meaning that the permutations sends each integer i to indices[i].
+ *
+ * \warning It is your responsibility to check that the indices array that you passes actually
+ * describes a permutation, i.e., each value between 0 and n-1 occurs exactly once, where n is the
+ * array's size.
+ */
+ template<typename Other>
+ explicit inline PermutationMatrix(const MatrixBase<Other>& indices) : m_indices(indices)
+ {}
+
+ /** Convert the Transpositions \a tr to a permutation matrix */
+ template<typename Other>
+ explicit PermutationMatrix(const TranspositionsBase<Other>& tr)
+ : m_indices(tr.size())
+ {
+ *this = tr;
+ }
+
+ /** Copies the other permutation into *this */
+ template<typename Other>
+ PermutationMatrix& operator=(const PermutationBase<Other>& other)
+ {
+ m_indices = other.indices();
+ return *this;
+ }
+
+ /** Assignment from the Transpositions \a tr */
+ template<typename Other>
+ PermutationMatrix& operator=(const TranspositionsBase<Other>& tr)
+ {
+ return Base::operator=(tr.derived());
+ }
+
+ #ifndef EIGEN_PARSED_BY_DOXYGEN
+ /** This is a special case of the templated operator=. Its purpose is to
+ * prevent a default operator= from hiding the templated operator=.
+ */
+ PermutationMatrix& operator=(const PermutationMatrix& other)
+ {
+ m_indices = other.m_indices;
+ return *this;
+ }
+ #endif
+
+ /** const version of indices(). */
+ const IndicesType& indices() const { return m_indices; }
+ /** \returns a reference to the stored array representing the permutation. */
+ IndicesType& indices() { return m_indices; }
+
+
+ /**** multiplication helpers to hopefully get RVO ****/
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+ template<typename Other>
+ PermutationMatrix(const InverseImpl<Other,PermutationStorage>& other)
+ : m_indices(other.derived().nestedExpression().size())
+ {
+ eigen_internal_assert(m_indices.size() <= NumTraits<StorageIndex>::highest());
+ StorageIndex end = StorageIndex(m_indices.size());
+ for (StorageIndex i=0; i<end;++i)
+ m_indices.coeffRef(other.derived().nestedExpression().indices().coeff(i)) = i;
+ }
+ template<typename Lhs,typename Rhs>
+ PermutationMatrix(internal::PermPermProduct_t, const Lhs& lhs, const Rhs& rhs)
+ : m_indices(lhs.indices().size())
+ {
+ Base::assignProduct(lhs,rhs);
+ }
+#endif
+
+ protected:
+
+ IndicesType m_indices;
+};
+
+
+namespace internal {
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename _StorageIndex, int _PacketAccess>
+struct traits<Map<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, _StorageIndex>,_PacketAccess> >
+ : traits<Matrix<_StorageIndex,SizeAtCompileTime,SizeAtCompileTime,0,MaxSizeAtCompileTime,MaxSizeAtCompileTime> >
+{
+ typedef PermutationStorage StorageKind;
+ typedef Map<const Matrix<_StorageIndex, SizeAtCompileTime, 1, 0, MaxSizeAtCompileTime, 1>, _PacketAccess> IndicesType;
+ typedef _StorageIndex StorageIndex;
+ typedef void Scalar;
+};
+}
+
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename _StorageIndex, int _PacketAccess>
+class Map<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, _StorageIndex>,_PacketAccess>
+ : public PermutationBase<Map<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, _StorageIndex>,_PacketAccess> >
+{
+ typedef PermutationBase<Map> Base;
+ typedef internal::traits<Map> Traits;
+ public:
+
+ #ifndef EIGEN_PARSED_BY_DOXYGEN
+ typedef typename Traits::IndicesType IndicesType;
+ typedef typename IndicesType::Scalar StorageIndex;
+ #endif
+
+ inline Map(const StorageIndex* indicesPtr)
+ : m_indices(indicesPtr)
+ {}
+
+ inline Map(const StorageIndex* indicesPtr, Index size)
+ : m_indices(indicesPtr,size)
+ {}
+
+ /** Copies the other permutation into *this */
+ template<typename Other>
+ Map& operator=(const PermutationBase<Other>& other)
+ { return Base::operator=(other.derived()); }
+
+ /** Assignment from the Transpositions \a tr */
+ template<typename Other>
+ Map& operator=(const TranspositionsBase<Other>& tr)
+ { return Base::operator=(tr.derived()); }
+
+ #ifndef EIGEN_PARSED_BY_DOXYGEN
+ /** This is a special case of the templated operator=. Its purpose is to
+ * prevent a default operator= from hiding the templated operator=.
+ */
+ Map& operator=(const Map& other)
+ {
+ m_indices = other.m_indices;
+ return *this;
+ }
+ #endif
+
+ /** const version of indices(). */
+ const IndicesType& indices() const { return m_indices; }
+ /** \returns a reference to the stored array representing the permutation. */
+ IndicesType& indices() { return m_indices; }
+
+ protected:
+
+ IndicesType m_indices;
+};
+
+template<typename _IndicesType> class TranspositionsWrapper;
+namespace internal {
+template<typename _IndicesType>
+struct traits<PermutationWrapper<_IndicesType> >
+{
+ typedef PermutationStorage StorageKind;
+ typedef void Scalar;
+ typedef typename _IndicesType::Scalar StorageIndex;
+ typedef _IndicesType IndicesType;
+ enum {
+ RowsAtCompileTime = _IndicesType::SizeAtCompileTime,
+ ColsAtCompileTime = _IndicesType::SizeAtCompileTime,
+ MaxRowsAtCompileTime = IndicesType::MaxSizeAtCompileTime,
+ MaxColsAtCompileTime = IndicesType::MaxSizeAtCompileTime,
+ Flags = 0
+ };
+};
+}
+
+/** \class PermutationWrapper
+ * \ingroup Core_Module
+ *
+ * \brief Class to view a vector of integers as a permutation matrix
+ *
+ * \tparam _IndicesType the type of the vector of integer (can be any compatible expression)
+ *
+ * This class allows to view any vector expression of integers as a permutation matrix.
+ *
+ * \sa class PermutationBase, class PermutationMatrix
+ */
+template<typename _IndicesType>
+class PermutationWrapper : public PermutationBase<PermutationWrapper<_IndicesType> >
+{
+ typedef PermutationBase<PermutationWrapper> Base;
+ typedef internal::traits<PermutationWrapper> Traits;
+ public:
+
+ #ifndef EIGEN_PARSED_BY_DOXYGEN
+ typedef typename Traits::IndicesType IndicesType;
+ #endif
+
+ inline PermutationWrapper(const IndicesType& indices)
+ : m_indices(indices)
+ {}
+
+ /** const version of indices(). */
+ const typename internal::remove_all<typename IndicesType::Nested>::type&
+ indices() const { return m_indices; }
+
+ protected:
+
+ typename IndicesType::Nested m_indices;
+};
+
+
+/** \returns the matrix with the permutation applied to the columns.
+ */
+template<typename MatrixDerived, typename PermutationDerived>
+EIGEN_DEVICE_FUNC
+const Product<MatrixDerived, PermutationDerived, AliasFreeProduct>
+operator*(const MatrixBase<MatrixDerived> &matrix,
+ const PermutationBase<PermutationDerived>& permutation)
+{
+ return Product<MatrixDerived, PermutationDerived, AliasFreeProduct>
+ (matrix.derived(), permutation.derived());
+}
+
+/** \returns the matrix with the permutation applied to the rows.
+ */
+template<typename PermutationDerived, typename MatrixDerived>
+EIGEN_DEVICE_FUNC
+const Product<PermutationDerived, MatrixDerived, AliasFreeProduct>
+operator*(const PermutationBase<PermutationDerived> &permutation,
+ const MatrixBase<MatrixDerived>& matrix)
+{
+ return Product<PermutationDerived, MatrixDerived, AliasFreeProduct>
+ (permutation.derived(), matrix.derived());
+}
+
+
+template<typename PermutationType>
+class InverseImpl<PermutationType, PermutationStorage>
+ : public EigenBase<Inverse<PermutationType> >
+{
+ typedef typename PermutationType::PlainPermutationType PlainPermutationType;
+ typedef internal::traits<PermutationType> PermTraits;
+ protected:
+ InverseImpl() {}
+ public:
+ typedef Inverse<PermutationType> InverseType;
+ using EigenBase<Inverse<PermutationType> >::derived;
+
+ #ifndef EIGEN_PARSED_BY_DOXYGEN
+ typedef typename PermutationType::DenseMatrixType DenseMatrixType;
+ enum {
+ RowsAtCompileTime = PermTraits::RowsAtCompileTime,
+ ColsAtCompileTime = PermTraits::ColsAtCompileTime,
+ MaxRowsAtCompileTime = PermTraits::MaxRowsAtCompileTime,
+ MaxColsAtCompileTime = PermTraits::MaxColsAtCompileTime
+ };
+ #endif
+
+ #ifndef EIGEN_PARSED_BY_DOXYGEN
+ template<typename DenseDerived>
+ void evalTo(MatrixBase<DenseDerived>& other) const
+ {
+ other.setZero();
+ for (Index i=0; i<derived().rows();++i)
+ other.coeffRef(i, derived().nestedExpression().indices().coeff(i)) = typename DenseDerived::Scalar(1);
+ }
+ #endif
+
+ /** \return the equivalent permutation matrix */
+ PlainPermutationType eval() const { return derived(); }
+
+ DenseMatrixType toDenseMatrix() const { return derived(); }
+
+ /** \returns the matrix with the inverse permutation applied to the columns.
+ */
+ template<typename OtherDerived> friend
+ const Product<OtherDerived, InverseType, AliasFreeProduct>
+ operator*(const MatrixBase<OtherDerived>& matrix, const InverseType& trPerm)
+ {
+ return Product<OtherDerived, InverseType, AliasFreeProduct>(matrix.derived(), trPerm.derived());
+ }
+
+ /** \returns the matrix with the inverse permutation applied to the rows.
+ */
+ template<typename OtherDerived>
+ const Product<InverseType, OtherDerived, AliasFreeProduct>
+ operator*(const MatrixBase<OtherDerived>& matrix) const
+ {
+ return Product<InverseType, OtherDerived, AliasFreeProduct>(derived(), matrix.derived());
+ }
+};
+
+template<typename Derived>
+const PermutationWrapper<const Derived> MatrixBase<Derived>::asPermutation() const
+{
+ return derived();
+}
+
+namespace internal {
+
+template<> struct AssignmentKind<DenseShape,PermutationShape> { typedef EigenBase2EigenBase Kind; };
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_PERMUTATIONMATRIX_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/PlainObjectBase.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/PlainObjectBase.h
new file mode 100644
index 0000000..1dc7e22
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/PlainObjectBase.h
@@ -0,0 +1,1035 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_DENSESTORAGEBASE_H
+#define EIGEN_DENSESTORAGEBASE_H
+
+#if defined(EIGEN_INITIALIZE_MATRICES_BY_ZERO)
+# define EIGEN_INITIALIZE_COEFFS
+# define EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED for(int i=0;i<base().size();++i) coeffRef(i)=Scalar(0);
+#elif defined(EIGEN_INITIALIZE_MATRICES_BY_NAN)
+# define EIGEN_INITIALIZE_COEFFS
+# define EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED for(int i=0;i<base().size();++i) coeffRef(i)=std::numeric_limits<Scalar>::quiet_NaN();
+#else
+# undef EIGEN_INITIALIZE_COEFFS
+# define EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
+#endif
+
+namespace Eigen {
+
+namespace internal {
+
+template<int MaxSizeAtCompileTime> struct check_rows_cols_for_overflow {
+ template<typename Index>
+ EIGEN_DEVICE_FUNC
+ static EIGEN_ALWAYS_INLINE void run(Index, Index)
+ {
+ }
+};
+
+template<> struct check_rows_cols_for_overflow<Dynamic> {
+ template<typename Index>
+ EIGEN_DEVICE_FUNC
+ static EIGEN_ALWAYS_INLINE void run(Index rows, Index cols)
+ {
+ // http://hg.mozilla.org/mozilla-central/file/6c8a909977d3/xpcom/ds/CheckedInt.h#l242
+ // we assume Index is signed
+ Index max_index = (std::size_t(1) << (8 * sizeof(Index) - 1)) - 1; // assume Index is signed
+ bool error = (rows == 0 || cols == 0) ? false
+ : (rows > max_index / cols);
+ if (error)
+ throw_std_bad_alloc();
+ }
+};
+
+template <typename Derived,
+ typename OtherDerived = Derived,
+ bool IsVector = bool(Derived::IsVectorAtCompileTime) && bool(OtherDerived::IsVectorAtCompileTime)>
+struct conservative_resize_like_impl;
+
+template<typename MatrixTypeA, typename MatrixTypeB, bool SwapPointers> struct matrix_swap_impl;
+
+} // end namespace internal
+
+#ifdef EIGEN_PARSED_BY_DOXYGEN
+namespace doxygen {
+
+// This is a workaround to doxygen not being able to understand the inheritance logic
+// when it is hidden by the dense_xpr_base helper struct.
+// Moreover, doxygen fails to include members that are not documented in the declaration body of
+// MatrixBase if we inherits MatrixBase<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >,
+// this is why we simply inherits MatrixBase, though this does not make sense.
+
+/** This class is just a workaround for Doxygen and it does not not actually exist. */
+template<typename Derived> struct dense_xpr_base_dispatcher;
+/** This class is just a workaround for Doxygen and it does not not actually exist. */
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+struct dense_xpr_base_dispatcher<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
+ : public MatrixBase {};
+/** This class is just a workaround for Doxygen and it does not not actually exist. */
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+struct dense_xpr_base_dispatcher<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
+ : public ArrayBase {};
+
+} // namespace doxygen
+
+/** \class PlainObjectBase
+ * \ingroup Core_Module
+ * \brief %Dense storage base class for matrices and arrays.
+ *
+ * This class can be extended with the help of the plugin mechanism described on the page
+ * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_PLAINOBJECTBASE_PLUGIN.
+ *
+ * \tparam Derived is the derived type, e.g., a Matrix or Array
+ *
+ * \sa \ref TopicClassHierarchy
+ */
+template<typename Derived>
+class PlainObjectBase : public doxygen::dense_xpr_base_dispatcher<Derived>
+#else
+template<typename Derived>
+class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
+#endif
+{
+ public:
+ enum { Options = internal::traits<Derived>::Options };
+ typedef typename internal::dense_xpr_base<Derived>::type Base;
+
+ typedef typename internal::traits<Derived>::StorageKind StorageKind;
+ typedef typename internal::traits<Derived>::Scalar Scalar;
+
+ typedef typename internal::packet_traits<Scalar>::type PacketScalar;
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ typedef Derived DenseType;
+
+ using Base::RowsAtCompileTime;
+ using Base::ColsAtCompileTime;
+ using Base::SizeAtCompileTime;
+ using Base::MaxRowsAtCompileTime;
+ using Base::MaxColsAtCompileTime;
+ using Base::MaxSizeAtCompileTime;
+ using Base::IsVectorAtCompileTime;
+ using Base::Flags;
+
+ template<typename PlainObjectType, int MapOptions, typename StrideType> friend class Eigen::Map;
+ friend class Eigen::Map<Derived, Unaligned>;
+ typedef Eigen::Map<Derived, Unaligned> MapType;
+ friend class Eigen::Map<const Derived, Unaligned>;
+ typedef const Eigen::Map<const Derived, Unaligned> ConstMapType;
+#if EIGEN_MAX_ALIGN_BYTES>0
+ // for EIGEN_MAX_ALIGN_BYTES==0, AlignedMax==Unaligned, and many compilers generate warnings for friend-ing a class twice.
+ friend class Eigen::Map<Derived, AlignedMax>;
+ friend class Eigen::Map<const Derived, AlignedMax>;
+#endif
+ typedef Eigen::Map<Derived, AlignedMax> AlignedMapType;
+ typedef const Eigen::Map<const Derived, AlignedMax> ConstAlignedMapType;
+ template<typename StrideType> struct StridedMapType { typedef Eigen::Map<Derived, Unaligned, StrideType> type; };
+ template<typename StrideType> struct StridedConstMapType { typedef Eigen::Map<const Derived, Unaligned, StrideType> type; };
+ template<typename StrideType> struct StridedAlignedMapType { typedef Eigen::Map<Derived, AlignedMax, StrideType> type; };
+ template<typename StrideType> struct StridedConstAlignedMapType { typedef Eigen::Map<const Derived, AlignedMax, StrideType> type; };
+
+ protected:
+ DenseStorage<Scalar, Base::MaxSizeAtCompileTime, Base::RowsAtCompileTime, Base::ColsAtCompileTime, Options> m_storage;
+
+ public:
+ enum { NeedsToAlign = (SizeAtCompileTime != Dynamic) && (internal::traits<Derived>::Alignment>0) };
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
+
+ EIGEN_DEVICE_FUNC
+ Base& base() { return *static_cast<Base*>(this); }
+ EIGEN_DEVICE_FUNC
+ const Base& base() const { return *static_cast<const Base*>(this); }
+
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Index rows() const { return m_storage.rows(); }
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Index cols() const { return m_storage.cols(); }
+
+ /** This is an overloaded version of DenseCoeffsBase<Derived,ReadOnlyAccessors>::coeff(Index,Index) const
+ * provided to by-pass the creation of an evaluator of the expression, thus saving compilation efforts.
+ *
+ * See DenseCoeffsBase<Derived,ReadOnlyAccessors>::coeff(Index) const for details. */
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE const Scalar& coeff(Index rowId, Index colId) const
+ {
+ if(Flags & RowMajorBit)
+ return m_storage.data()[colId + rowId * m_storage.cols()];
+ else // column-major
+ return m_storage.data()[rowId + colId * m_storage.rows()];
+ }
+
+ /** This is an overloaded version of DenseCoeffsBase<Derived,ReadOnlyAccessors>::coeff(Index) const
+ * provided to by-pass the creation of an evaluator of the expression, thus saving compilation efforts.
+ *
+ * See DenseCoeffsBase<Derived,ReadOnlyAccessors>::coeff(Index) const for details. */
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE const Scalar& coeff(Index index) const
+ {
+ return m_storage.data()[index];
+ }
+
+ /** This is an overloaded version of DenseCoeffsBase<Derived,WriteAccessors>::coeffRef(Index,Index) const
+ * provided to by-pass the creation of an evaluator of the expression, thus saving compilation efforts.
+ *
+ * See DenseCoeffsBase<Derived,WriteAccessors>::coeffRef(Index,Index) const for details. */
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Scalar& coeffRef(Index rowId, Index colId)
+ {
+ if(Flags & RowMajorBit)
+ return m_storage.data()[colId + rowId * m_storage.cols()];
+ else // column-major
+ return m_storage.data()[rowId + colId * m_storage.rows()];
+ }
+
+ /** This is an overloaded version of DenseCoeffsBase<Derived,WriteAccessors>::coeffRef(Index) const
+ * provided to by-pass the creation of an evaluator of the expression, thus saving compilation efforts.
+ *
+ * See DenseCoeffsBase<Derived,WriteAccessors>::coeffRef(Index) const for details. */
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Scalar& coeffRef(Index index)
+ {
+ return m_storage.data()[index];
+ }
+
+ /** This is the const version of coeffRef(Index,Index) which is thus synonym of coeff(Index,Index).
+ * It is provided for convenience. */
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE const Scalar& coeffRef(Index rowId, Index colId) const
+ {
+ if(Flags & RowMajorBit)
+ return m_storage.data()[colId + rowId * m_storage.cols()];
+ else // column-major
+ return m_storage.data()[rowId + colId * m_storage.rows()];
+ }
+
+ /** This is the const version of coeffRef(Index) which is thus synonym of coeff(Index).
+ * It is provided for convenience. */
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE const Scalar& coeffRef(Index index) const
+ {
+ return m_storage.data()[index];
+ }
+
+ /** \internal */
+ template<int LoadMode>
+ EIGEN_STRONG_INLINE PacketScalar packet(Index rowId, Index colId) const
+ {
+ return internal::ploadt<PacketScalar, LoadMode>
+ (m_storage.data() + (Flags & RowMajorBit
+ ? colId + rowId * m_storage.cols()
+ : rowId + colId * m_storage.rows()));
+ }
+
+ /** \internal */
+ template<int LoadMode>
+ EIGEN_STRONG_INLINE PacketScalar packet(Index index) const
+ {
+ return internal::ploadt<PacketScalar, LoadMode>(m_storage.data() + index);
+ }
+
+ /** \internal */
+ template<int StoreMode>
+ EIGEN_STRONG_INLINE void writePacket(Index rowId, Index colId, const PacketScalar& val)
+ {
+ internal::pstoret<Scalar, PacketScalar, StoreMode>
+ (m_storage.data() + (Flags & RowMajorBit
+ ? colId + rowId * m_storage.cols()
+ : rowId + colId * m_storage.rows()), val);
+ }
+
+ /** \internal */
+ template<int StoreMode>
+ EIGEN_STRONG_INLINE void writePacket(Index index, const PacketScalar& val)
+ {
+ internal::pstoret<Scalar, PacketScalar, StoreMode>(m_storage.data() + index, val);
+ }
+
+ /** \returns a const pointer to the data array of this matrix */
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar *data() const
+ { return m_storage.data(); }
+
+ /** \returns a pointer to the data array of this matrix */
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar *data()
+ { return m_storage.data(); }
+
+ /** Resizes \c *this to a \a rows x \a cols matrix.
+ *
+ * This method is intended for dynamic-size matrices, although it is legal to call it on any
+ * matrix as long as fixed dimensions are left unchanged. If you only want to change the number
+ * of rows and/or of columns, you can use resize(NoChange_t, Index), resize(Index, NoChange_t).
+ *
+ * If the current number of coefficients of \c *this exactly matches the
+ * product \a rows * \a cols, then no memory allocation is performed and
+ * the current values are left unchanged. In all other cases, including
+ * shrinking, the data is reallocated and all previous values are lost.
+ *
+ * Example: \include Matrix_resize_int_int.cpp
+ * Output: \verbinclude Matrix_resize_int_int.out
+ *
+ * \sa resize(Index) for vectors, resize(NoChange_t, Index), resize(Index, NoChange_t)
+ */
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE void resize(Index rows, Index cols)
+ {
+ eigen_assert( EIGEN_IMPLIES(RowsAtCompileTime!=Dynamic,rows==RowsAtCompileTime)
+ && EIGEN_IMPLIES(ColsAtCompileTime!=Dynamic,cols==ColsAtCompileTime)
+ && EIGEN_IMPLIES(RowsAtCompileTime==Dynamic && MaxRowsAtCompileTime!=Dynamic,rows<=MaxRowsAtCompileTime)
+ && EIGEN_IMPLIES(ColsAtCompileTime==Dynamic && MaxColsAtCompileTime!=Dynamic,cols<=MaxColsAtCompileTime)
+ && rows>=0 && cols>=0 && "Invalid sizes when resizing a matrix or array.");
+ internal::check_rows_cols_for_overflow<MaxSizeAtCompileTime>::run(rows, cols);
+ #ifdef EIGEN_INITIALIZE_COEFFS
+ Index size = rows*cols;
+ bool size_changed = size != this->size();
+ m_storage.resize(size, rows, cols);
+ if(size_changed) EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
+ #else
+ m_storage.resize(rows*cols, rows, cols);
+ #endif
+ }
+
+ /** Resizes \c *this to a vector of length \a size
+ *
+ * \only_for_vectors. This method does not work for
+ * partially dynamic matrices when the static dimension is anything other
+ * than 1. For example it will not work with Matrix<double, 2, Dynamic>.
+ *
+ * Example: \include Matrix_resize_int.cpp
+ * Output: \verbinclude Matrix_resize_int.out
+ *
+ * \sa resize(Index,Index), resize(NoChange_t, Index), resize(Index, NoChange_t)
+ */
+ EIGEN_DEVICE_FUNC
+ inline void resize(Index size)
+ {
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(PlainObjectBase)
+ eigen_assert(((SizeAtCompileTime == Dynamic && (MaxSizeAtCompileTime==Dynamic || size<=MaxSizeAtCompileTime)) || SizeAtCompileTime == size) && size>=0);
+ #ifdef EIGEN_INITIALIZE_COEFFS
+ bool size_changed = size != this->size();
+ #endif
+ if(RowsAtCompileTime == 1)
+ m_storage.resize(size, 1, size);
+ else
+ m_storage.resize(size, size, 1);
+ #ifdef EIGEN_INITIALIZE_COEFFS
+ if(size_changed) EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
+ #endif
+ }
+
+ /** Resizes the matrix, changing only the number of columns. For the parameter of type NoChange_t, just pass the special value \c NoChange
+ * as in the example below.
+ *
+ * Example: \include Matrix_resize_NoChange_int.cpp
+ * Output: \verbinclude Matrix_resize_NoChange_int.out
+ *
+ * \sa resize(Index,Index)
+ */
+ EIGEN_DEVICE_FUNC
+ inline void resize(NoChange_t, Index cols)
+ {
+ resize(rows(), cols);
+ }
+
+ /** Resizes the matrix, changing only the number of rows. For the parameter of type NoChange_t, just pass the special value \c NoChange
+ * as in the example below.
+ *
+ * Example: \include Matrix_resize_int_NoChange.cpp
+ * Output: \verbinclude Matrix_resize_int_NoChange.out
+ *
+ * \sa resize(Index,Index)
+ */
+ EIGEN_DEVICE_FUNC
+ inline void resize(Index rows, NoChange_t)
+ {
+ resize(rows, cols());
+ }
+
+ /** Resizes \c *this to have the same dimensions as \a other.
+ * Takes care of doing all the checking that's needed.
+ *
+ * Note that copying a row-vector into a vector (and conversely) is allowed.
+ * The resizing, if any, is then done in the appropriate way so that row-vectors
+ * remain row-vectors and vectors remain vectors.
+ */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE void resizeLike(const EigenBase<OtherDerived>& _other)
+ {
+ const OtherDerived& other = _other.derived();
+ internal::check_rows_cols_for_overflow<MaxSizeAtCompileTime>::run(other.rows(), other.cols());
+ const Index othersize = other.rows()*other.cols();
+ if(RowsAtCompileTime == 1)
+ {
+ eigen_assert(other.rows() == 1 || other.cols() == 1);
+ resize(1, othersize);
+ }
+ else if(ColsAtCompileTime == 1)
+ {
+ eigen_assert(other.rows() == 1 || other.cols() == 1);
+ resize(othersize, 1);
+ }
+ else resize(other.rows(), other.cols());
+ }
+
+ /** Resizes the matrix to \a rows x \a cols while leaving old values untouched.
+ *
+ * The method is intended for matrices of dynamic size. If you only want to change the number
+ * of rows and/or of columns, you can use conservativeResize(NoChange_t, Index) or
+ * conservativeResize(Index, NoChange_t).
+ *
+ * Matrices are resized relative to the top-left element. In case values need to be
+ * appended to the matrix they will be uninitialized.
+ */
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE void conservativeResize(Index rows, Index cols)
+ {
+ internal::conservative_resize_like_impl<Derived>::run(*this, rows, cols);
+ }
+
+ /** Resizes the matrix to \a rows x \a cols while leaving old values untouched.
+ *
+ * As opposed to conservativeResize(Index rows, Index cols), this version leaves
+ * the number of columns unchanged.
+ *
+ * In case the matrix is growing, new rows will be uninitialized.
+ */
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE void conservativeResize(Index rows, NoChange_t)
+ {
+ // Note: see the comment in conservativeResize(Index,Index)
+ conservativeResize(rows, cols());
+ }
+
+ /** Resizes the matrix to \a rows x \a cols while leaving old values untouched.
+ *
+ * As opposed to conservativeResize(Index rows, Index cols), this version leaves
+ * the number of rows unchanged.
+ *
+ * In case the matrix is growing, new columns will be uninitialized.
+ */
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE void conservativeResize(NoChange_t, Index cols)
+ {
+ // Note: see the comment in conservativeResize(Index,Index)
+ conservativeResize(rows(), cols);
+ }
+
+ /** Resizes the vector to \a size while retaining old values.
+ *
+ * \only_for_vectors. This method does not work for
+ * partially dynamic matrices when the static dimension is anything other
+ * than 1. For example it will not work with Matrix<double, 2, Dynamic>.
+ *
+ * When values are appended, they will be uninitialized.
+ */
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE void conservativeResize(Index size)
+ {
+ internal::conservative_resize_like_impl<Derived>::run(*this, size);
+ }
+
+ /** Resizes the matrix to \a rows x \a cols of \c other, while leaving old values untouched.
+ *
+ * The method is intended for matrices of dynamic size. If you only want to change the number
+ * of rows and/or of columns, you can use conservativeResize(NoChange_t, Index) or
+ * conservativeResize(Index, NoChange_t).
+ *
+ * Matrices are resized relative to the top-left element. In case values need to be
+ * appended to the matrix they will copied from \c other.
+ */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE void conservativeResizeLike(const DenseBase<OtherDerived>& other)
+ {
+ internal::conservative_resize_like_impl<Derived,OtherDerived>::run(*this, other);
+ }
+
+ /** This is a special case of the templated operator=. Its purpose is to
+ * prevent a default operator= from hiding the templated operator=.
+ */
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Derived& operator=(const PlainObjectBase& other)
+ {
+ return _set(other);
+ }
+
+ /** \sa MatrixBase::lazyAssign() */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Derived& lazyAssign(const DenseBase<OtherDerived>& other)
+ {
+ _resize_to_match(other);
+ return Base::lazyAssign(other.derived());
+ }
+
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Derived& operator=(const ReturnByValue<OtherDerived>& func)
+ {
+ resize(func.rows(), func.cols());
+ return Base::operator=(func);
+ }
+
+ // Prevent user from trying to instantiate PlainObjectBase objects
+ // by making all its constructor protected. See bug 1074.
+ protected:
+
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE PlainObjectBase() : m_storage()
+ {
+// _check_template_params();
+// EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
+ }
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+ // FIXME is it still needed ?
+ /** \internal */
+ EIGEN_DEVICE_FUNC
+ explicit PlainObjectBase(internal::constructor_without_unaligned_array_assert)
+ : m_storage(internal::constructor_without_unaligned_array_assert())
+ {
+// _check_template_params(); EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
+ }
+#endif
+
+#if EIGEN_HAS_RVALUE_REFERENCES
+ EIGEN_DEVICE_FUNC
+ PlainObjectBase(PlainObjectBase&& other) EIGEN_NOEXCEPT
+ : m_storage( std::move(other.m_storage) )
+ {
+ }
+
+ EIGEN_DEVICE_FUNC
+ PlainObjectBase& operator=(PlainObjectBase&& other) EIGEN_NOEXCEPT
+ {
+ using std::swap;
+ swap(m_storage, other.m_storage);
+ return *this;
+ }
+#endif
+
+ /** Copy constructor */
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE PlainObjectBase(const PlainObjectBase& other)
+ : Base(), m_storage(other.m_storage) { }
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE PlainObjectBase(Index size, Index rows, Index cols)
+ : m_storage(size, rows, cols)
+ {
+// _check_template_params();
+// EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
+ }
+
+ /** \sa PlainObjectBase::operator=(const EigenBase<OtherDerived>&) */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE PlainObjectBase(const DenseBase<OtherDerived> &other)
+ : m_storage()
+ {
+ _check_template_params();
+ resizeLike(other);
+ _set_noalias(other);
+ }
+
+ /** \sa PlainObjectBase::operator=(const EigenBase<OtherDerived>&) */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE PlainObjectBase(const EigenBase<OtherDerived> &other)
+ : m_storage()
+ {
+ _check_template_params();
+ resizeLike(other);
+ *this = other.derived();
+ }
+ /** \brief Copy constructor with in-place evaluation */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE PlainObjectBase(const ReturnByValue<OtherDerived>& other)
+ {
+ _check_template_params();
+ // FIXME this does not automatically transpose vectors if necessary
+ resize(other.rows(), other.cols());
+ other.evalTo(this->derived());
+ }
+
+ public:
+
+ /** \brief Copies the generic expression \a other into *this.
+ * \copydetails DenseBase::operator=(const EigenBase<OtherDerived> &other)
+ */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Derived& operator=(const EigenBase<OtherDerived> &other)
+ {
+ _resize_to_match(other);
+ Base::operator=(other.derived());
+ return this->derived();
+ }
+
+ /** \name Map
+ * These are convenience functions returning Map objects. The Map() static functions return unaligned Map objects,
+ * while the AlignedMap() functions return aligned Map objects and thus should be called only with 16-byte-aligned
+ * \a data pointers.
+ *
+ * Here is an example using strides:
+ * \include Matrix_Map_stride.cpp
+ * Output: \verbinclude Matrix_Map_stride.out
+ *
+ * \see class Map
+ */
+ //@{
+ static inline ConstMapType Map(const Scalar* data)
+ { return ConstMapType(data); }
+ static inline MapType Map(Scalar* data)
+ { return MapType(data); }
+ static inline ConstMapType Map(const Scalar* data, Index size)
+ { return ConstMapType(data, size); }
+ static inline MapType Map(Scalar* data, Index size)
+ { return MapType(data, size); }
+ static inline ConstMapType Map(const Scalar* data, Index rows, Index cols)
+ { return ConstMapType(data, rows, cols); }
+ static inline MapType Map(Scalar* data, Index rows, Index cols)
+ { return MapType(data, rows, cols); }
+
+ static inline ConstAlignedMapType MapAligned(const Scalar* data)
+ { return ConstAlignedMapType(data); }
+ static inline AlignedMapType MapAligned(Scalar* data)
+ { return AlignedMapType(data); }
+ static inline ConstAlignedMapType MapAligned(const Scalar* data, Index size)
+ { return ConstAlignedMapType(data, size); }
+ static inline AlignedMapType MapAligned(Scalar* data, Index size)
+ { return AlignedMapType(data, size); }
+ static inline ConstAlignedMapType MapAligned(const Scalar* data, Index rows, Index cols)
+ { return ConstAlignedMapType(data, rows, cols); }
+ static inline AlignedMapType MapAligned(Scalar* data, Index rows, Index cols)
+ { return AlignedMapType(data, rows, cols); }
+
+ template<int Outer, int Inner>
+ static inline typename StridedConstMapType<Stride<Outer, Inner> >::type Map(const Scalar* data, const Stride<Outer, Inner>& stride)
+ { return typename StridedConstMapType<Stride<Outer, Inner> >::type(data, stride); }
+ template<int Outer, int Inner>
+ static inline typename StridedMapType<Stride<Outer, Inner> >::type Map(Scalar* data, const Stride<Outer, Inner>& stride)
+ { return typename StridedMapType<Stride<Outer, Inner> >::type(data, stride); }
+ template<int Outer, int Inner>
+ static inline typename StridedConstMapType<Stride<Outer, Inner> >::type Map(const Scalar* data, Index size, const Stride<Outer, Inner>& stride)
+ { return typename StridedConstMapType<Stride<Outer, Inner> >::type(data, size, stride); }
+ template<int Outer, int Inner>
+ static inline typename StridedMapType<Stride<Outer, Inner> >::type Map(Scalar* data, Index size, const Stride<Outer, Inner>& stride)
+ { return typename StridedMapType<Stride<Outer, Inner> >::type(data, size, stride); }
+ template<int Outer, int Inner>
+ static inline typename StridedConstMapType<Stride<Outer, Inner> >::type Map(const Scalar* data, Index rows, Index cols, const Stride<Outer, Inner>& stride)
+ { return typename StridedConstMapType<Stride<Outer, Inner> >::type(data, rows, cols, stride); }
+ template<int Outer, int Inner>
+ static inline typename StridedMapType<Stride<Outer, Inner> >::type Map(Scalar* data, Index rows, Index cols, const Stride<Outer, Inner>& stride)
+ { return typename StridedMapType<Stride<Outer, Inner> >::type(data, rows, cols, stride); }
+
+ template<int Outer, int Inner>
+ static inline typename StridedConstAlignedMapType<Stride<Outer, Inner> >::type MapAligned(const Scalar* data, const Stride<Outer, Inner>& stride)
+ { return typename StridedConstAlignedMapType<Stride<Outer, Inner> >::type(data, stride); }
+ template<int Outer, int Inner>
+ static inline typename StridedAlignedMapType<Stride<Outer, Inner> >::type MapAligned(Scalar* data, const Stride<Outer, Inner>& stride)
+ { return typename StridedAlignedMapType<Stride<Outer, Inner> >::type(data, stride); }
+ template<int Outer, int Inner>
+ static inline typename StridedConstAlignedMapType<Stride<Outer, Inner> >::type MapAligned(const Scalar* data, Index size, const Stride<Outer, Inner>& stride)
+ { return typename StridedConstAlignedMapType<Stride<Outer, Inner> >::type(data, size, stride); }
+ template<int Outer, int Inner>
+ static inline typename StridedAlignedMapType<Stride<Outer, Inner> >::type MapAligned(Scalar* data, Index size, const Stride<Outer, Inner>& stride)
+ { return typename StridedAlignedMapType<Stride<Outer, Inner> >::type(data, size, stride); }
+ template<int Outer, int Inner>
+ static inline typename StridedConstAlignedMapType<Stride<Outer, Inner> >::type MapAligned(const Scalar* data, Index rows, Index cols, const Stride<Outer, Inner>& stride)
+ { return typename StridedConstAlignedMapType<Stride<Outer, Inner> >::type(data, rows, cols, stride); }
+ template<int Outer, int Inner>
+ static inline typename StridedAlignedMapType<Stride<Outer, Inner> >::type MapAligned(Scalar* data, Index rows, Index cols, const Stride<Outer, Inner>& stride)
+ { return typename StridedAlignedMapType<Stride<Outer, Inner> >::type(data, rows, cols, stride); }
+ //@}
+
+ using Base::setConstant;
+ EIGEN_DEVICE_FUNC Derived& setConstant(Index size, const Scalar& val);
+ EIGEN_DEVICE_FUNC Derived& setConstant(Index rows, Index cols, const Scalar& val);
+
+ using Base::setZero;
+ EIGEN_DEVICE_FUNC Derived& setZero(Index size);
+ EIGEN_DEVICE_FUNC Derived& setZero(Index rows, Index cols);
+
+ using Base::setOnes;
+ EIGEN_DEVICE_FUNC Derived& setOnes(Index size);
+ EIGEN_DEVICE_FUNC Derived& setOnes(Index rows, Index cols);
+
+ using Base::setRandom;
+ Derived& setRandom(Index size);
+ Derived& setRandom(Index rows, Index cols);
+
+ #ifdef EIGEN_PLAINOBJECTBASE_PLUGIN
+ #include EIGEN_PLAINOBJECTBASE_PLUGIN
+ #endif
+
+ protected:
+ /** \internal Resizes *this in preparation for assigning \a other to it.
+ * Takes care of doing all the checking that's needed.
+ *
+ * Note that copying a row-vector into a vector (and conversely) is allowed.
+ * The resizing, if any, is then done in the appropriate way so that row-vectors
+ * remain row-vectors and vectors remain vectors.
+ */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE void _resize_to_match(const EigenBase<OtherDerived>& other)
+ {
+ #ifdef EIGEN_NO_AUTOMATIC_RESIZING
+ eigen_assert((this->size()==0 || (IsVectorAtCompileTime ? (this->size() == other.size())
+ : (rows() == other.rows() && cols() == other.cols())))
+ && "Size mismatch. Automatic resizing is disabled because EIGEN_NO_AUTOMATIC_RESIZING is defined");
+ EIGEN_ONLY_USED_FOR_DEBUG(other);
+ #else
+ resizeLike(other);
+ #endif
+ }
+
+ /**
+ * \brief Copies the value of the expression \a other into \c *this with automatic resizing.
+ *
+ * *this might be resized to match the dimensions of \a other. If *this was a null matrix (not already initialized),
+ * it will be initialized.
+ *
+ * Note that copying a row-vector into a vector (and conversely) is allowed.
+ * The resizing, if any, is then done in the appropriate way so that row-vectors
+ * remain row-vectors and vectors remain vectors.
+ *
+ * \sa operator=(const MatrixBase<OtherDerived>&), _set_noalias()
+ *
+ * \internal
+ */
+ // aliasing is dealt once in internall::call_assignment
+ // so at this stage we have to assume aliasing... and resising has to be done later.
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Derived& _set(const DenseBase<OtherDerived>& other)
+ {
+ internal::call_assignment(this->derived(), other.derived());
+ return this->derived();
+ }
+
+ /** \internal Like _set() but additionally makes the assumption that no aliasing effect can happen (which
+ * is the case when creating a new matrix) so one can enforce lazy evaluation.
+ *
+ * \sa operator=(const MatrixBase<OtherDerived>&), _set()
+ */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE Derived& _set_noalias(const DenseBase<OtherDerived>& other)
+ {
+ // I don't think we need this resize call since the lazyAssign will anyways resize
+ // and lazyAssign will be called by the assign selector.
+ //_resize_to_match(other);
+ // the 'false' below means to enforce lazy evaluation. We don't use lazyAssign() because
+ // it wouldn't allow to copy a row-vector into a column-vector.
+ internal::call_assignment_no_alias(this->derived(), other.derived(), internal::assign_op<Scalar,typename OtherDerived::Scalar>());
+ return this->derived();
+ }
+
+ template<typename T0, typename T1>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE void _init2(Index rows, Index cols, typename internal::enable_if<Base::SizeAtCompileTime!=2,T0>::type* = 0)
+ {
+ EIGEN_STATIC_ASSERT(bool(NumTraits<T0>::IsInteger) &&
+ bool(NumTraits<T1>::IsInteger),
+ FLOATING_POINT_ARGUMENT_PASSED__INTEGER_WAS_EXPECTED)
+ resize(rows,cols);
+ }
+
+ template<typename T0, typename T1>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE void _init2(const T0& val0, const T1& val1, typename internal::enable_if<Base::SizeAtCompileTime==2,T0>::type* = 0)
+ {
+ EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(PlainObjectBase, 2)
+ m_storage.data()[0] = Scalar(val0);
+ m_storage.data()[1] = Scalar(val1);
+ }
+
+ template<typename T0, typename T1>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE void _init2(const Index& val0, const Index& val1,
+ typename internal::enable_if< (!internal::is_same<Index,Scalar>::value)
+ && (internal::is_same<T0,Index>::value)
+ && (internal::is_same<T1,Index>::value)
+ && Base::SizeAtCompileTime==2,T1>::type* = 0)
+ {
+ EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(PlainObjectBase, 2)
+ m_storage.data()[0] = Scalar(val0);
+ m_storage.data()[1] = Scalar(val1);
+ }
+
+ // The argument is convertible to the Index type and we either have a non 1x1 Matrix, or a dynamic-sized Array,
+ // then the argument is meant to be the size of the object.
+ template<typename T>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE void _init1(Index size, typename internal::enable_if< (Base::SizeAtCompileTime!=1 || !internal::is_convertible<T, Scalar>::value)
+ && ((!internal::is_same<typename internal::traits<Derived>::XprKind,ArrayXpr>::value || Base::SizeAtCompileTime==Dynamic)),T>::type* = 0)
+ {
+ // NOTE MSVC 2008 complains if we directly put bool(NumTraits<T>::IsInteger) as the EIGEN_STATIC_ASSERT argument.
+ const bool is_integer = NumTraits<T>::IsInteger;
+ EIGEN_UNUSED_VARIABLE(is_integer);
+ EIGEN_STATIC_ASSERT(is_integer,
+ FLOATING_POINT_ARGUMENT_PASSED__INTEGER_WAS_EXPECTED)
+ resize(size);
+ }
+
+ // We have a 1x1 matrix/array => the argument is interpreted as the value of the unique coefficient (case where scalar type can be implicitely converted)
+ template<typename T>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE void _init1(const Scalar& val0, typename internal::enable_if<Base::SizeAtCompileTime==1 && internal::is_convertible<T, Scalar>::value,T>::type* = 0)
+ {
+ EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(PlainObjectBase, 1)
+ m_storage.data()[0] = val0;
+ }
+
+ // We have a 1x1 matrix/array => the argument is interpreted as the value of the unique coefficient (case where scalar type match the index type)
+ template<typename T>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE void _init1(const Index& val0,
+ typename internal::enable_if< (!internal::is_same<Index,Scalar>::value)
+ && (internal::is_same<Index,T>::value)
+ && Base::SizeAtCompileTime==1
+ && internal::is_convertible<T, Scalar>::value,T*>::type* = 0)
+ {
+ EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(PlainObjectBase, 1)
+ m_storage.data()[0] = Scalar(val0);
+ }
+
+ // Initialize a fixed size matrix from a pointer to raw data
+ template<typename T>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE void _init1(const Scalar* data){
+ this->_set_noalias(ConstMapType(data));
+ }
+
+ // Initialize an arbitrary matrix from a dense expression
+ template<typename T, typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE void _init1(const DenseBase<OtherDerived>& other){
+ this->_set_noalias(other);
+ }
+
+ // Initialize an arbitrary matrix from an object convertible to the Derived type.
+ template<typename T>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE void _init1(const Derived& other){
+ this->_set_noalias(other);
+ }
+
+ // Initialize an arbitrary matrix from a generic Eigen expression
+ template<typename T, typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE void _init1(const EigenBase<OtherDerived>& other){
+ this->derived() = other;
+ }
+
+ template<typename T, typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE void _init1(const ReturnByValue<OtherDerived>& other)
+ {
+ resize(other.rows(), other.cols());
+ other.evalTo(this->derived());
+ }
+
+ template<typename T, typename OtherDerived, int ColsAtCompileTime>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE void _init1(const RotationBase<OtherDerived,ColsAtCompileTime>& r)
+ {
+ this->derived() = r;
+ }
+
+ // For fixed-size Array<Scalar,...>
+ template<typename T>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE void _init1(const Scalar& val0,
+ typename internal::enable_if< Base::SizeAtCompileTime!=Dynamic
+ && Base::SizeAtCompileTime!=1
+ && internal::is_convertible<T, Scalar>::value
+ && internal::is_same<typename internal::traits<Derived>::XprKind,ArrayXpr>::value,T>::type* = 0)
+ {
+ Base::setConstant(val0);
+ }
+
+ // For fixed-size Array<Index,...>
+ template<typename T>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE void _init1(const Index& val0,
+ typename internal::enable_if< (!internal::is_same<Index,Scalar>::value)
+ && (internal::is_same<Index,T>::value)
+ && Base::SizeAtCompileTime!=Dynamic
+ && Base::SizeAtCompileTime!=1
+ && internal::is_convertible<T, Scalar>::value
+ && internal::is_same<typename internal::traits<Derived>::XprKind,ArrayXpr>::value,T*>::type* = 0)
+ {
+ Base::setConstant(val0);
+ }
+
+ template<typename MatrixTypeA, typename MatrixTypeB, bool SwapPointers>
+ friend struct internal::matrix_swap_impl;
+
+ public:
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+ /** \internal
+ * \brief Override DenseBase::swap() since for dynamic-sized matrices
+ * of same type it is enough to swap the data pointers.
+ */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ void swap(DenseBase<OtherDerived> & other)
+ {
+ enum { SwapPointers = internal::is_same<Derived, OtherDerived>::value && Base::SizeAtCompileTime==Dynamic };
+ internal::matrix_swap_impl<Derived, OtherDerived, bool(SwapPointers)>::run(this->derived(), other.derived());
+ }
+
+ /** \internal
+ * \brief const version forwarded to DenseBase::swap
+ */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ void swap(DenseBase<OtherDerived> const & other)
+ { Base::swap(other.derived()); }
+
+ EIGEN_DEVICE_FUNC
+ static EIGEN_STRONG_INLINE void _check_template_params()
+ {
+ EIGEN_STATIC_ASSERT((EIGEN_IMPLIES(MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1, (Options&RowMajor)==RowMajor)
+ && EIGEN_IMPLIES(MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1, (Options&RowMajor)==0)
+ && ((RowsAtCompileTime == Dynamic) || (RowsAtCompileTime >= 0))
+ && ((ColsAtCompileTime == Dynamic) || (ColsAtCompileTime >= 0))
+ && ((MaxRowsAtCompileTime == Dynamic) || (MaxRowsAtCompileTime >= 0))
+ && ((MaxColsAtCompileTime == Dynamic) || (MaxColsAtCompileTime >= 0))
+ && (MaxRowsAtCompileTime == RowsAtCompileTime || RowsAtCompileTime==Dynamic)
+ && (MaxColsAtCompileTime == ColsAtCompileTime || ColsAtCompileTime==Dynamic)
+ && (Options & (DontAlign|RowMajor)) == Options),
+ INVALID_MATRIX_TEMPLATE_PARAMETERS)
+ }
+
+ enum { IsPlainObjectBase = 1 };
+#endif
+};
+
+namespace internal {
+
+template <typename Derived, typename OtherDerived, bool IsVector>
+struct conservative_resize_like_impl
+{
+ static void run(DenseBase<Derived>& _this, Index rows, Index cols)
+ {
+ if (_this.rows() == rows && _this.cols() == cols) return;
+ EIGEN_STATIC_ASSERT_DYNAMIC_SIZE(Derived)
+
+ if ( ( Derived::IsRowMajor && _this.cols() == cols) || // row-major and we change only the number of rows
+ (!Derived::IsRowMajor && _this.rows() == rows) ) // column-major and we change only the number of columns
+ {
+ internal::check_rows_cols_for_overflow<Derived::MaxSizeAtCompileTime>::run(rows, cols);
+ _this.derived().m_storage.conservativeResize(rows*cols,rows,cols);
+ }
+ else
+ {
+ // The storage order does not allow us to use reallocation.
+ typename Derived::PlainObject tmp(rows,cols);
+ const Index common_rows = numext::mini(rows, _this.rows());
+ const Index common_cols = numext::mini(cols, _this.cols());
+ tmp.block(0,0,common_rows,common_cols) = _this.block(0,0,common_rows,common_cols);
+ _this.derived().swap(tmp);
+ }
+ }
+
+ static void run(DenseBase<Derived>& _this, const DenseBase<OtherDerived>& other)
+ {
+ if (_this.rows() == other.rows() && _this.cols() == other.cols()) return;
+
+ // Note: Here is space for improvement. Basically, for conservativeResize(Index,Index),
+ // neither RowsAtCompileTime or ColsAtCompileTime must be Dynamic. If only one of the
+ // dimensions is dynamic, one could use either conservativeResize(Index rows, NoChange_t) or
+ // conservativeResize(NoChange_t, Index cols). For these methods new static asserts like
+ // EIGEN_STATIC_ASSERT_DYNAMIC_ROWS and EIGEN_STATIC_ASSERT_DYNAMIC_COLS would be good.
+ EIGEN_STATIC_ASSERT_DYNAMIC_SIZE(Derived)
+ EIGEN_STATIC_ASSERT_DYNAMIC_SIZE(OtherDerived)
+
+ if ( ( Derived::IsRowMajor && _this.cols() == other.cols()) || // row-major and we change only the number of rows
+ (!Derived::IsRowMajor && _this.rows() == other.rows()) ) // column-major and we change only the number of columns
+ {
+ const Index new_rows = other.rows() - _this.rows();
+ const Index new_cols = other.cols() - _this.cols();
+ _this.derived().m_storage.conservativeResize(other.size(),other.rows(),other.cols());
+ if (new_rows>0)
+ _this.bottomRightCorner(new_rows, other.cols()) = other.bottomRows(new_rows);
+ else if (new_cols>0)
+ _this.bottomRightCorner(other.rows(), new_cols) = other.rightCols(new_cols);
+ }
+ else
+ {
+ // The storage order does not allow us to use reallocation.
+ typename Derived::PlainObject tmp(other);
+ const Index common_rows = numext::mini(tmp.rows(), _this.rows());
+ const Index common_cols = numext::mini(tmp.cols(), _this.cols());
+ tmp.block(0,0,common_rows,common_cols) = _this.block(0,0,common_rows,common_cols);
+ _this.derived().swap(tmp);
+ }
+ }
+};
+
+// Here, the specialization for vectors inherits from the general matrix case
+// to allow calling .conservativeResize(rows,cols) on vectors.
+template <typename Derived, typename OtherDerived>
+struct conservative_resize_like_impl<Derived,OtherDerived,true>
+ : conservative_resize_like_impl<Derived,OtherDerived,false>
+{
+ using conservative_resize_like_impl<Derived,OtherDerived,false>::run;
+
+ static void run(DenseBase<Derived>& _this, Index size)
+ {
+ const Index new_rows = Derived::RowsAtCompileTime==1 ? 1 : size;
+ const Index new_cols = Derived::RowsAtCompileTime==1 ? size : 1;
+ _this.derived().m_storage.conservativeResize(size,new_rows,new_cols);
+ }
+
+ static void run(DenseBase<Derived>& _this, const DenseBase<OtherDerived>& other)
+ {
+ if (_this.rows() == other.rows() && _this.cols() == other.cols()) return;
+
+ const Index num_new_elements = other.size() - _this.size();
+
+ const Index new_rows = Derived::RowsAtCompileTime==1 ? 1 : other.rows();
+ const Index new_cols = Derived::RowsAtCompileTime==1 ? other.cols() : 1;
+ _this.derived().m_storage.conservativeResize(other.size(),new_rows,new_cols);
+
+ if (num_new_elements > 0)
+ _this.tail(num_new_elements) = other.tail(num_new_elements);
+ }
+};
+
+template<typename MatrixTypeA, typename MatrixTypeB, bool SwapPointers>
+struct matrix_swap_impl
+{
+ EIGEN_DEVICE_FUNC
+ static inline void run(MatrixTypeA& a, MatrixTypeB& b)
+ {
+ a.base().swap(b);
+ }
+};
+
+template<typename MatrixTypeA, typename MatrixTypeB>
+struct matrix_swap_impl<MatrixTypeA, MatrixTypeB, true>
+{
+ EIGEN_DEVICE_FUNC
+ static inline void run(MatrixTypeA& a, MatrixTypeB& b)
+ {
+ static_cast<typename MatrixTypeA::Base&>(a).m_storage.swap(static_cast<typename MatrixTypeB::Base&>(b).m_storage);
+ }
+};
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_DENSESTORAGEBASE_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Product.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Product.h
new file mode 100644
index 0000000..676c480
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Product.h
@@ -0,0 +1,186 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_PRODUCT_H
+#define EIGEN_PRODUCT_H
+
+namespace Eigen {
+
+template<typename Lhs, typename Rhs, int Option, typename StorageKind> class ProductImpl;
+
+namespace internal {
+
+template<typename Lhs, typename Rhs, int Option>
+struct traits<Product<Lhs, Rhs, Option> >
+{
+ typedef typename remove_all<Lhs>::type LhsCleaned;
+ typedef typename remove_all<Rhs>::type RhsCleaned;
+ typedef traits<LhsCleaned> LhsTraits;
+ typedef traits<RhsCleaned> RhsTraits;
+
+ typedef MatrixXpr XprKind;
+
+ typedef typename ScalarBinaryOpTraits<typename traits<LhsCleaned>::Scalar, typename traits<RhsCleaned>::Scalar>::ReturnType Scalar;
+ typedef typename product_promote_storage_type<typename LhsTraits::StorageKind,
+ typename RhsTraits::StorageKind,
+ internal::product_type<Lhs,Rhs>::ret>::ret StorageKind;
+ typedef typename promote_index_type<typename LhsTraits::StorageIndex,
+ typename RhsTraits::StorageIndex>::type StorageIndex;
+
+ enum {
+ RowsAtCompileTime = LhsTraits::RowsAtCompileTime,
+ ColsAtCompileTime = RhsTraits::ColsAtCompileTime,
+ MaxRowsAtCompileTime = LhsTraits::MaxRowsAtCompileTime,
+ MaxColsAtCompileTime = RhsTraits::MaxColsAtCompileTime,
+
+ // FIXME: only needed by GeneralMatrixMatrixTriangular
+ InnerSize = EIGEN_SIZE_MIN_PREFER_FIXED(LhsTraits::ColsAtCompileTime, RhsTraits::RowsAtCompileTime),
+
+ // The storage order is somewhat arbitrary here. The correct one will be determined through the evaluator.
+ Flags = (MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1) ? RowMajorBit
+ : (MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1) ? 0
+ : ( ((LhsTraits::Flags&NoPreferredStorageOrderBit) && (RhsTraits::Flags&RowMajorBit))
+ || ((RhsTraits::Flags&NoPreferredStorageOrderBit) && (LhsTraits::Flags&RowMajorBit)) ) ? RowMajorBit
+ : NoPreferredStorageOrderBit
+ };
+};
+
+} // end namespace internal
+
+/** \class Product
+ * \ingroup Core_Module
+ *
+ * \brief Expression of the product of two arbitrary matrices or vectors
+ *
+ * \tparam _Lhs the type of the left-hand side expression
+ * \tparam _Rhs the type of the right-hand side expression
+ *
+ * This class represents an expression of the product of two arbitrary matrices.
+ *
+ * The other template parameters are:
+ * \tparam Option can be DefaultProduct, AliasFreeProduct, or LazyProduct
+ *
+ */
+template<typename _Lhs, typename _Rhs, int Option>
+class Product : public ProductImpl<_Lhs,_Rhs,Option,
+ typename internal::product_promote_storage_type<typename internal::traits<_Lhs>::StorageKind,
+ typename internal::traits<_Rhs>::StorageKind,
+ internal::product_type<_Lhs,_Rhs>::ret>::ret>
+{
+ public:
+
+ typedef _Lhs Lhs;
+ typedef _Rhs Rhs;
+
+ typedef typename ProductImpl<
+ Lhs, Rhs, Option,
+ typename internal::product_promote_storage_type<typename internal::traits<Lhs>::StorageKind,
+ typename internal::traits<Rhs>::StorageKind,
+ internal::product_type<Lhs,Rhs>::ret>::ret>::Base Base;
+ EIGEN_GENERIC_PUBLIC_INTERFACE(Product)
+
+ typedef typename internal::ref_selector<Lhs>::type LhsNested;
+ typedef typename internal::ref_selector<Rhs>::type RhsNested;
+ typedef typename internal::remove_all<LhsNested>::type LhsNestedCleaned;
+ typedef typename internal::remove_all<RhsNested>::type RhsNestedCleaned;
+
+ EIGEN_DEVICE_FUNC Product(const Lhs& lhs, const Rhs& rhs) : m_lhs(lhs), m_rhs(rhs)
+ {
+ eigen_assert(lhs.cols() == rhs.rows()
+ && "invalid matrix product"
+ && "if you wanted a coeff-wise or a dot product use the respective explicit functions");
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index rows() const { return m_lhs.rows(); }
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index cols() const { return m_rhs.cols(); }
+
+ EIGEN_DEVICE_FUNC const LhsNestedCleaned& lhs() const { return m_lhs; }
+ EIGEN_DEVICE_FUNC const RhsNestedCleaned& rhs() const { return m_rhs; }
+
+ protected:
+
+ LhsNested m_lhs;
+ RhsNested m_rhs;
+};
+
+namespace internal {
+
+template<typename Lhs, typename Rhs, int Option, int ProductTag = internal::product_type<Lhs,Rhs>::ret>
+class dense_product_base
+ : public internal::dense_xpr_base<Product<Lhs,Rhs,Option> >::type
+{};
+
+/** Convertion to scalar for inner-products */
+template<typename Lhs, typename Rhs, int Option>
+class dense_product_base<Lhs, Rhs, Option, InnerProduct>
+ : public internal::dense_xpr_base<Product<Lhs,Rhs,Option> >::type
+{
+ typedef Product<Lhs,Rhs,Option> ProductXpr;
+ typedef typename internal::dense_xpr_base<ProductXpr>::type Base;
+public:
+ using Base::derived;
+ typedef typename Base::Scalar Scalar;
+
+ EIGEN_STRONG_INLINE operator const Scalar() const
+ {
+ return internal::evaluator<ProductXpr>(derived()).coeff(0,0);
+ }
+};
+
+} // namespace internal
+
+// Generic API dispatcher
+template<typename Lhs, typename Rhs, int Option, typename StorageKind>
+class ProductImpl : public internal::generic_xpr_base<Product<Lhs,Rhs,Option>, MatrixXpr, StorageKind>::type
+{
+ public:
+ typedef typename internal::generic_xpr_base<Product<Lhs,Rhs,Option>, MatrixXpr, StorageKind>::type Base;
+};
+
+template<typename Lhs, typename Rhs, int Option>
+class ProductImpl<Lhs,Rhs,Option,Dense>
+ : public internal::dense_product_base<Lhs,Rhs,Option>
+{
+ typedef Product<Lhs, Rhs, Option> Derived;
+
+ public:
+
+ typedef typename internal::dense_product_base<Lhs, Rhs, Option> Base;
+ EIGEN_DENSE_PUBLIC_INTERFACE(Derived)
+ protected:
+ enum {
+ IsOneByOne = (RowsAtCompileTime == 1 || RowsAtCompileTime == Dynamic) &&
+ (ColsAtCompileTime == 1 || ColsAtCompileTime == Dynamic),
+ EnableCoeff = IsOneByOne || Option==LazyProduct
+ };
+
+ public:
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar coeff(Index row, Index col) const
+ {
+ EIGEN_STATIC_ASSERT(EnableCoeff, THIS_METHOD_IS_ONLY_FOR_INNER_OR_LAZY_PRODUCTS);
+ eigen_assert( (Option==LazyProduct) || (this->rows() == 1 && this->cols() == 1) );
+
+ return internal::evaluator<Derived>(derived()).coeff(row,col);
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar coeff(Index i) const
+ {
+ EIGEN_STATIC_ASSERT(EnableCoeff, THIS_METHOD_IS_ONLY_FOR_INNER_OR_LAZY_PRODUCTS);
+ eigen_assert( (Option==LazyProduct) || (this->rows() == 1 && this->cols() == 1) );
+
+ return internal::evaluator<Derived>(derived()).coeff(i);
+ }
+
+
+};
+
+} // end namespace Eigen
+
+#endif // EIGEN_PRODUCT_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/ProductEvaluators.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/ProductEvaluators.h
new file mode 100644
index 0000000..9b99bd7
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/ProductEvaluators.h
@@ -0,0 +1,1112 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2011 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+
+#ifndef EIGEN_PRODUCTEVALUATORS_H
+#define EIGEN_PRODUCTEVALUATORS_H
+
+namespace Eigen {
+
+namespace internal {
+
+/** \internal
+ * Evaluator of a product expression.
+ * Since products require special treatments to handle all possible cases,
+ * we simply deffer the evaluation logic to a product_evaluator class
+ * which offers more partial specialization possibilities.
+ *
+ * \sa class product_evaluator
+ */
+template<typename Lhs, typename Rhs, int Options>
+struct evaluator<Product<Lhs, Rhs, Options> >
+ : public product_evaluator<Product<Lhs, Rhs, Options> >
+{
+ typedef Product<Lhs, Rhs, Options> XprType;
+ typedef product_evaluator<XprType> Base;
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit evaluator(const XprType& xpr) : Base(xpr) {}
+};
+
+// Catch "scalar * ( A * B )" and transform it to "(A*scalar) * B"
+// TODO we should apply that rule only if that's really helpful
+template<typename Lhs, typename Rhs, typename Scalar1, typename Scalar2, typename Plain1>
+struct evaluator_assume_aliasing<CwiseBinaryOp<internal::scalar_product_op<Scalar1,Scalar2>,
+ const CwiseNullaryOp<internal::scalar_constant_op<Scalar1>, Plain1>,
+ const Product<Lhs, Rhs, DefaultProduct> > >
+{
+ static const bool value = true;
+};
+template<typename Lhs, typename Rhs, typename Scalar1, typename Scalar2, typename Plain1>
+struct evaluator<CwiseBinaryOp<internal::scalar_product_op<Scalar1,Scalar2>,
+ const CwiseNullaryOp<internal::scalar_constant_op<Scalar1>, Plain1>,
+ const Product<Lhs, Rhs, DefaultProduct> > >
+ : public evaluator<Product<EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar1,Lhs,product), Rhs, DefaultProduct> >
+{
+ typedef CwiseBinaryOp<internal::scalar_product_op<Scalar1,Scalar2>,
+ const CwiseNullaryOp<internal::scalar_constant_op<Scalar1>, Plain1>,
+ const Product<Lhs, Rhs, DefaultProduct> > XprType;
+ typedef evaluator<Product<EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar1,Lhs,product), Rhs, DefaultProduct> > Base;
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit evaluator(const XprType& xpr)
+ : Base(xpr.lhs().functor().m_other * xpr.rhs().lhs() * xpr.rhs().rhs())
+ {}
+};
+
+
+template<typename Lhs, typename Rhs, int DiagIndex>
+struct evaluator<Diagonal<const Product<Lhs, Rhs, DefaultProduct>, DiagIndex> >
+ : public evaluator<Diagonal<const Product<Lhs, Rhs, LazyProduct>, DiagIndex> >
+{
+ typedef Diagonal<const Product<Lhs, Rhs, DefaultProduct>, DiagIndex> XprType;
+ typedef evaluator<Diagonal<const Product<Lhs, Rhs, LazyProduct>, DiagIndex> > Base;
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit evaluator(const XprType& xpr)
+ : Base(Diagonal<const Product<Lhs, Rhs, LazyProduct>, DiagIndex>(
+ Product<Lhs, Rhs, LazyProduct>(xpr.nestedExpression().lhs(), xpr.nestedExpression().rhs()),
+ xpr.index() ))
+ {}
+};
+
+
+// Helper class to perform a matrix product with the destination at hand.
+// Depending on the sizes of the factors, there are different evaluation strategies
+// as controlled by internal::product_type.
+template< typename Lhs, typename Rhs,
+ typename LhsShape = typename evaluator_traits<Lhs>::Shape,
+ typename RhsShape = typename evaluator_traits<Rhs>::Shape,
+ int ProductType = internal::product_type<Lhs,Rhs>::value>
+struct generic_product_impl;
+
+template<typename Lhs, typename Rhs>
+struct evaluator_assume_aliasing<Product<Lhs, Rhs, DefaultProduct> > {
+ static const bool value = true;
+};
+
+// This is the default evaluator implementation for products:
+// It creates a temporary and call generic_product_impl
+template<typename Lhs, typename Rhs, int Options, int ProductTag, typename LhsShape, typename RhsShape>
+struct product_evaluator<Product<Lhs, Rhs, Options>, ProductTag, LhsShape, RhsShape>
+ : public evaluator<typename Product<Lhs, Rhs, Options>::PlainObject>
+{
+ typedef Product<Lhs, Rhs, Options> XprType;
+ typedef typename XprType::PlainObject PlainObject;
+ typedef evaluator<PlainObject> Base;
+ enum {
+ Flags = Base::Flags | EvalBeforeNestingBit
+ };
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ explicit product_evaluator(const XprType& xpr)
+ : m_result(xpr.rows(), xpr.cols())
+ {
+ ::new (static_cast<Base*>(this)) Base(m_result);
+
+// FIXME shall we handle nested_eval here?,
+// if so, then we must take care at removing the call to nested_eval in the specializations (e.g., in permutation_matrix_product, transposition_matrix_product, etc.)
+// typedef typename internal::nested_eval<Lhs,Rhs::ColsAtCompileTime>::type LhsNested;
+// typedef typename internal::nested_eval<Rhs,Lhs::RowsAtCompileTime>::type RhsNested;
+// typedef typename internal::remove_all<LhsNested>::type LhsNestedCleaned;
+// typedef typename internal::remove_all<RhsNested>::type RhsNestedCleaned;
+//
+// const LhsNested lhs(xpr.lhs());
+// const RhsNested rhs(xpr.rhs());
+//
+// generic_product_impl<LhsNestedCleaned, RhsNestedCleaned>::evalTo(m_result, lhs, rhs);
+
+ generic_product_impl<Lhs, Rhs, LhsShape, RhsShape, ProductTag>::evalTo(m_result, xpr.lhs(), xpr.rhs());
+ }
+
+protected:
+ PlainObject m_result;
+};
+
+// The following three shortcuts are enabled only if the scalar types match excatly.
+// TODO: we could enable them for different scalar types when the product is not vectorized.
+
+// Dense = Product
+template< typename DstXprType, typename Lhs, typename Rhs, int Options, typename Scalar>
+struct Assignment<DstXprType, Product<Lhs,Rhs,Options>, internal::assign_op<Scalar,Scalar>, Dense2Dense,
+ typename enable_if<(Options==DefaultProduct || Options==AliasFreeProduct)>::type>
+{
+ typedef Product<Lhs,Rhs,Options> SrcXprType;
+ static EIGEN_STRONG_INLINE
+ void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,Scalar> &)
+ {
+ Index dstRows = src.rows();
+ Index dstCols = src.cols();
+ if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+ dst.resize(dstRows, dstCols);
+ // FIXME shall we handle nested_eval here?
+ generic_product_impl<Lhs, Rhs>::evalTo(dst, src.lhs(), src.rhs());
+ }
+};
+
+// Dense += Product
+template< typename DstXprType, typename Lhs, typename Rhs, int Options, typename Scalar>
+struct Assignment<DstXprType, Product<Lhs,Rhs,Options>, internal::add_assign_op<Scalar,Scalar>, Dense2Dense,
+ typename enable_if<(Options==DefaultProduct || Options==AliasFreeProduct)>::type>
+{
+ typedef Product<Lhs,Rhs,Options> SrcXprType;
+ static EIGEN_STRONG_INLINE
+ void run(DstXprType &dst, const SrcXprType &src, const internal::add_assign_op<Scalar,Scalar> &)
+ {
+ eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols());
+ // FIXME shall we handle nested_eval here?
+ generic_product_impl<Lhs, Rhs>::addTo(dst, src.lhs(), src.rhs());
+ }
+};
+
+// Dense -= Product
+template< typename DstXprType, typename Lhs, typename Rhs, int Options, typename Scalar>
+struct Assignment<DstXprType, Product<Lhs,Rhs,Options>, internal::sub_assign_op<Scalar,Scalar>, Dense2Dense,
+ typename enable_if<(Options==DefaultProduct || Options==AliasFreeProduct)>::type>
+{
+ typedef Product<Lhs,Rhs,Options> SrcXprType;
+ static EIGEN_STRONG_INLINE
+ void run(DstXprType &dst, const SrcXprType &src, const internal::sub_assign_op<Scalar,Scalar> &)
+ {
+ eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols());
+ // FIXME shall we handle nested_eval here?
+ generic_product_impl<Lhs, Rhs>::subTo(dst, src.lhs(), src.rhs());
+ }
+};
+
+
+// Dense ?= scalar * Product
+// TODO we should apply that rule if that's really helpful
+// for instance, this is not good for inner products
+template< typename DstXprType, typename Lhs, typename Rhs, typename AssignFunc, typename Scalar, typename ScalarBis, typename Plain>
+struct Assignment<DstXprType, CwiseBinaryOp<internal::scalar_product_op<ScalarBis,Scalar>, const CwiseNullaryOp<internal::scalar_constant_op<ScalarBis>,Plain>,
+ const Product<Lhs,Rhs,DefaultProduct> >, AssignFunc, Dense2Dense>
+{
+ typedef CwiseBinaryOp<internal::scalar_product_op<ScalarBis,Scalar>,
+ const CwiseNullaryOp<internal::scalar_constant_op<ScalarBis>,Plain>,
+ const Product<Lhs,Rhs,DefaultProduct> > SrcXprType;
+ static EIGEN_STRONG_INLINE
+ void run(DstXprType &dst, const SrcXprType &src, const AssignFunc& func)
+ {
+ call_assignment_no_alias(dst, (src.lhs().functor().m_other * src.rhs().lhs())*src.rhs().rhs(), func);
+ }
+};
+
+//----------------------------------------
+// Catch "Dense ?= xpr + Product<>" expression to save one temporary
+// FIXME we could probably enable these rules for any product, i.e., not only Dense and DefaultProduct
+
+template<typename OtherXpr, typename Lhs, typename Rhs>
+struct evaluator_assume_aliasing<CwiseBinaryOp<internal::scalar_sum_op<typename OtherXpr::Scalar,typename Product<Lhs,Rhs,DefaultProduct>::Scalar>, const OtherXpr,
+ const Product<Lhs,Rhs,DefaultProduct> >, DenseShape > {
+ static const bool value = true;
+};
+
+template<typename OtherXpr, typename Lhs, typename Rhs>
+struct evaluator_assume_aliasing<CwiseBinaryOp<internal::scalar_difference_op<typename OtherXpr::Scalar,typename Product<Lhs,Rhs,DefaultProduct>::Scalar>, const OtherXpr,
+ const Product<Lhs,Rhs,DefaultProduct> >, DenseShape > {
+ static const bool value = true;
+};
+
+template<typename DstXprType, typename OtherXpr, typename ProductType, typename Func1, typename Func2>
+struct assignment_from_xpr_op_product
+{
+ template<typename SrcXprType, typename InitialFunc>
+ static EIGEN_STRONG_INLINE
+ void run(DstXprType &dst, const SrcXprType &src, const InitialFunc& /*func*/)
+ {
+ call_assignment_no_alias(dst, src.lhs(), Func1());
+ call_assignment_no_alias(dst, src.rhs(), Func2());
+ }
+};
+
+#define EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(ASSIGN_OP,BINOP,ASSIGN_OP2) \
+ template< typename DstXprType, typename OtherXpr, typename Lhs, typename Rhs, typename DstScalar, typename SrcScalar, typename OtherScalar,typename ProdScalar> \
+ struct Assignment<DstXprType, CwiseBinaryOp<internal::BINOP<OtherScalar,ProdScalar>, const OtherXpr, \
+ const Product<Lhs,Rhs,DefaultProduct> >, internal::ASSIGN_OP<DstScalar,SrcScalar>, Dense2Dense> \
+ : assignment_from_xpr_op_product<DstXprType, OtherXpr, Product<Lhs,Rhs,DefaultProduct>, internal::ASSIGN_OP<DstScalar,OtherScalar>, internal::ASSIGN_OP2<DstScalar,ProdScalar> > \
+ {}
+
+EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(assign_op, scalar_sum_op,add_assign_op);
+EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(add_assign_op,scalar_sum_op,add_assign_op);
+EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(sub_assign_op,scalar_sum_op,sub_assign_op);
+
+EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(assign_op, scalar_difference_op,sub_assign_op);
+EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(add_assign_op,scalar_difference_op,sub_assign_op);
+EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(sub_assign_op,scalar_difference_op,add_assign_op);
+
+//----------------------------------------
+
+template<typename Lhs, typename Rhs>
+struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,InnerProduct>
+{
+ template<typename Dst>
+ static EIGEN_STRONG_INLINE void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+ {
+ dst.coeffRef(0,0) = (lhs.transpose().cwiseProduct(rhs)).sum();
+ }
+
+ template<typename Dst>
+ static EIGEN_STRONG_INLINE void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+ {
+ dst.coeffRef(0,0) += (lhs.transpose().cwiseProduct(rhs)).sum();
+ }
+
+ template<typename Dst>
+ static EIGEN_STRONG_INLINE void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+ { dst.coeffRef(0,0) -= (lhs.transpose().cwiseProduct(rhs)).sum(); }
+};
+
+
+/***********************************************************************
+* Implementation of outer dense * dense vector product
+***********************************************************************/
+
+// Column major result
+template<typename Dst, typename Lhs, typename Rhs, typename Func>
+void outer_product_selector_run(Dst& dst, const Lhs &lhs, const Rhs &rhs, const Func& func, const false_type&)
+{
+ evaluator<Rhs> rhsEval(rhs);
+ typename nested_eval<Lhs,Rhs::SizeAtCompileTime>::type actual_lhs(lhs);
+ // FIXME if cols is large enough, then it might be useful to make sure that lhs is sequentially stored
+ // FIXME not very good if rhs is real and lhs complex while alpha is real too
+ const Index cols = dst.cols();
+ for (Index j=0; j<cols; ++j)
+ func(dst.col(j), rhsEval.coeff(Index(0),j) * actual_lhs);
+}
+
+// Row major result
+template<typename Dst, typename Lhs, typename Rhs, typename Func>
+void outer_product_selector_run(Dst& dst, const Lhs &lhs, const Rhs &rhs, const Func& func, const true_type&)
+{
+ evaluator<Lhs> lhsEval(lhs);
+ typename nested_eval<Rhs,Lhs::SizeAtCompileTime>::type actual_rhs(rhs);
+ // FIXME if rows is large enough, then it might be useful to make sure that rhs is sequentially stored
+ // FIXME not very good if lhs is real and rhs complex while alpha is real too
+ const Index rows = dst.rows();
+ for (Index i=0; i<rows; ++i)
+ func(dst.row(i), lhsEval.coeff(i,Index(0)) * actual_rhs);
+}
+
+template<typename Lhs, typename Rhs>
+struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,OuterProduct>
+{
+ template<typename T> struct is_row_major : internal::conditional<(int(T::Flags)&RowMajorBit), internal::true_type, internal::false_type>::type {};
+ typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+
+ // TODO it would be nice to be able to exploit our *_assign_op functors for that purpose
+ struct set { template<typename Dst, typename Src> void operator()(const Dst& dst, const Src& src) const { dst.const_cast_derived() = src; } };
+ struct add { template<typename Dst, typename Src> void operator()(const Dst& dst, const Src& src) const { dst.const_cast_derived() += src; } };
+ struct sub { template<typename Dst, typename Src> void operator()(const Dst& dst, const Src& src) const { dst.const_cast_derived() -= src; } };
+ struct adds {
+ Scalar m_scale;
+ explicit adds(const Scalar& s) : m_scale(s) {}
+ template<typename Dst, typename Src> void operator()(const Dst& dst, const Src& src) const {
+ dst.const_cast_derived() += m_scale * src;
+ }
+ };
+
+ template<typename Dst>
+ static EIGEN_STRONG_INLINE void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+ {
+ internal::outer_product_selector_run(dst, lhs, rhs, set(), is_row_major<Dst>());
+ }
+
+ template<typename Dst>
+ static EIGEN_STRONG_INLINE void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+ {
+ internal::outer_product_selector_run(dst, lhs, rhs, add(), is_row_major<Dst>());
+ }
+
+ template<typename Dst>
+ static EIGEN_STRONG_INLINE void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+ {
+ internal::outer_product_selector_run(dst, lhs, rhs, sub(), is_row_major<Dst>());
+ }
+
+ template<typename Dst>
+ static EIGEN_STRONG_INLINE void scaleAndAddTo(Dst& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
+ {
+ internal::outer_product_selector_run(dst, lhs, rhs, adds(alpha), is_row_major<Dst>());
+ }
+
+};
+
+
+// This base class provides default implementations for evalTo, addTo, subTo, in terms of scaleAndAddTo
+template<typename Lhs, typename Rhs, typename Derived>
+struct generic_product_impl_base
+{
+ typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+
+ template<typename Dst>
+ static EIGEN_STRONG_INLINE void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+ { dst.setZero(); scaleAndAddTo(dst, lhs, rhs, Scalar(1)); }
+
+ template<typename Dst>
+ static EIGEN_STRONG_INLINE void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+ { scaleAndAddTo(dst,lhs, rhs, Scalar(1)); }
+
+ template<typename Dst>
+ static EIGEN_STRONG_INLINE void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+ { scaleAndAddTo(dst, lhs, rhs, Scalar(-1)); }
+
+ template<typename Dst>
+ static EIGEN_STRONG_INLINE void scaleAndAddTo(Dst& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
+ { Derived::scaleAndAddTo(dst,lhs,rhs,alpha); }
+
+};
+
+template<typename Lhs, typename Rhs>
+struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,GemvProduct>
+ : generic_product_impl_base<Lhs,Rhs,generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,GemvProduct> >
+{
+ typedef typename nested_eval<Lhs,1>::type LhsNested;
+ typedef typename nested_eval<Rhs,1>::type RhsNested;
+ typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+ enum { Side = Lhs::IsVectorAtCompileTime ? OnTheLeft : OnTheRight };
+ typedef typename internal::remove_all<typename internal::conditional<int(Side)==OnTheRight,LhsNested,RhsNested>::type>::type MatrixType;
+
+ template<typename Dest>
+ static EIGEN_STRONG_INLINE void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
+ {
+ LhsNested actual_lhs(lhs);
+ RhsNested actual_rhs(rhs);
+ internal::gemv_dense_selector<Side,
+ (int(MatrixType::Flags)&RowMajorBit) ? RowMajor : ColMajor,
+ bool(internal::blas_traits<MatrixType>::HasUsableDirectAccess)
+ >::run(actual_lhs, actual_rhs, dst, alpha);
+ }
+};
+
+template<typename Lhs, typename Rhs>
+struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,CoeffBasedProductMode>
+{
+ typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+
+ template<typename Dst>
+ static EIGEN_STRONG_INLINE void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+ {
+ // Same as: dst.noalias() = lhs.lazyProduct(rhs);
+ // but easier on the compiler side
+ call_assignment_no_alias(dst, lhs.lazyProduct(rhs), internal::assign_op<typename Dst::Scalar,Scalar>());
+ }
+
+ template<typename Dst>
+ static EIGEN_STRONG_INLINE void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+ {
+ // dst.noalias() += lhs.lazyProduct(rhs);
+ call_assignment_no_alias(dst, lhs.lazyProduct(rhs), internal::add_assign_op<typename Dst::Scalar,Scalar>());
+ }
+
+ template<typename Dst>
+ static EIGEN_STRONG_INLINE void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+ {
+ // dst.noalias() -= lhs.lazyProduct(rhs);
+ call_assignment_no_alias(dst, lhs.lazyProduct(rhs), internal::sub_assign_op<typename Dst::Scalar,Scalar>());
+ }
+
+// template<typename Dst>
+// static inline void scaleAndAddTo(Dst& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
+// { dst.noalias() += alpha * lhs.lazyProduct(rhs); }
+};
+
+// This specialization enforces the use of a coefficient-based evaluation strategy
+template<typename Lhs, typename Rhs>
+struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,LazyCoeffBasedProductMode>
+ : generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,CoeffBasedProductMode> {};
+
+// Case 2: Evaluate coeff by coeff
+//
+// This is mostly taken from CoeffBasedProduct.h
+// The main difference is that we add an extra argument to the etor_product_*_impl::run() function
+// for the inner dimension of the product, because evaluator object do not know their size.
+
+template<int Traversal, int UnrollingIndex, typename Lhs, typename Rhs, typename RetScalar>
+struct etor_product_coeff_impl;
+
+template<int StorageOrder, int UnrollingIndex, typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct etor_product_packet_impl;
+
+template<typename Lhs, typename Rhs, int ProductTag>
+struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, DenseShape, DenseShape>
+ : evaluator_base<Product<Lhs, Rhs, LazyProduct> >
+{
+ typedef Product<Lhs, Rhs, LazyProduct> XprType;
+ typedef typename XprType::Scalar Scalar;
+ typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ explicit product_evaluator(const XprType& xpr)
+ : m_lhs(xpr.lhs()),
+ m_rhs(xpr.rhs()),
+ m_lhsImpl(m_lhs), // FIXME the creation of the evaluator objects should result in a no-op, but check that!
+ m_rhsImpl(m_rhs), // Moreover, they are only useful for the packet path, so we could completely disable them when not needed,
+ // or perhaps declare them on the fly on the packet method... We have experiment to check what's best.
+ m_innerDim(xpr.lhs().cols())
+ {
+ EIGEN_INTERNAL_CHECK_COST_VALUE(NumTraits<Scalar>::MulCost);
+ EIGEN_INTERNAL_CHECK_COST_VALUE(NumTraits<Scalar>::AddCost);
+ EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+#if 0
+ std::cerr << "LhsOuterStrideBytes= " << LhsOuterStrideBytes << "\n";
+ std::cerr << "RhsOuterStrideBytes= " << RhsOuterStrideBytes << "\n";
+ std::cerr << "LhsAlignment= " << LhsAlignment << "\n";
+ std::cerr << "RhsAlignment= " << RhsAlignment << "\n";
+ std::cerr << "CanVectorizeLhs= " << CanVectorizeLhs << "\n";
+ std::cerr << "CanVectorizeRhs= " << CanVectorizeRhs << "\n";
+ std::cerr << "CanVectorizeInner= " << CanVectorizeInner << "\n";
+ std::cerr << "EvalToRowMajor= " << EvalToRowMajor << "\n";
+ std::cerr << "Alignment= " << Alignment << "\n";
+ std::cerr << "Flags= " << Flags << "\n";
+#endif
+ }
+
+ // Everything below here is taken from CoeffBasedProduct.h
+
+ typedef typename internal::nested_eval<Lhs,Rhs::ColsAtCompileTime>::type LhsNested;
+ typedef typename internal::nested_eval<Rhs,Lhs::RowsAtCompileTime>::type RhsNested;
+
+ typedef typename internal::remove_all<LhsNested>::type LhsNestedCleaned;
+ typedef typename internal::remove_all<RhsNested>::type RhsNestedCleaned;
+
+ typedef evaluator<LhsNestedCleaned> LhsEtorType;
+ typedef evaluator<RhsNestedCleaned> RhsEtorType;
+
+ enum {
+ RowsAtCompileTime = LhsNestedCleaned::RowsAtCompileTime,
+ ColsAtCompileTime = RhsNestedCleaned::ColsAtCompileTime,
+ InnerSize = EIGEN_SIZE_MIN_PREFER_FIXED(LhsNestedCleaned::ColsAtCompileTime, RhsNestedCleaned::RowsAtCompileTime),
+ MaxRowsAtCompileTime = LhsNestedCleaned::MaxRowsAtCompileTime,
+ MaxColsAtCompileTime = RhsNestedCleaned::MaxColsAtCompileTime
+ };
+
+ typedef typename find_best_packet<Scalar,RowsAtCompileTime>::type LhsVecPacketType;
+ typedef typename find_best_packet<Scalar,ColsAtCompileTime>::type RhsVecPacketType;
+
+ enum {
+
+ LhsCoeffReadCost = LhsEtorType::CoeffReadCost,
+ RhsCoeffReadCost = RhsEtorType::CoeffReadCost,
+ CoeffReadCost = InnerSize==0 ? NumTraits<Scalar>::ReadCost
+ : InnerSize == Dynamic ? HugeCost
+ : InnerSize * (NumTraits<Scalar>::MulCost + LhsCoeffReadCost + RhsCoeffReadCost)
+ + (InnerSize - 1) * NumTraits<Scalar>::AddCost,
+
+ Unroll = CoeffReadCost <= EIGEN_UNROLLING_LIMIT,
+
+ LhsFlags = LhsEtorType::Flags,
+ RhsFlags = RhsEtorType::Flags,
+
+ LhsRowMajor = LhsFlags & RowMajorBit,
+ RhsRowMajor = RhsFlags & RowMajorBit,
+
+ LhsVecPacketSize = unpacket_traits<LhsVecPacketType>::size,
+ RhsVecPacketSize = unpacket_traits<RhsVecPacketType>::size,
+
+ // Here, we don't care about alignment larger than the usable packet size.
+ LhsAlignment = EIGEN_PLAIN_ENUM_MIN(LhsEtorType::Alignment,LhsVecPacketSize*int(sizeof(typename LhsNestedCleaned::Scalar))),
+ RhsAlignment = EIGEN_PLAIN_ENUM_MIN(RhsEtorType::Alignment,RhsVecPacketSize*int(sizeof(typename RhsNestedCleaned::Scalar))),
+
+ SameType = is_same<typename LhsNestedCleaned::Scalar,typename RhsNestedCleaned::Scalar>::value,
+
+ CanVectorizeRhs = bool(RhsRowMajor) && (RhsFlags & PacketAccessBit) && (ColsAtCompileTime!=1),
+ CanVectorizeLhs = (!LhsRowMajor) && (LhsFlags & PacketAccessBit) && (RowsAtCompileTime!=1),
+
+ EvalToRowMajor = (MaxRowsAtCompileTime==1&&MaxColsAtCompileTime!=1) ? 1
+ : (MaxColsAtCompileTime==1&&MaxRowsAtCompileTime!=1) ? 0
+ : (bool(RhsRowMajor) && !CanVectorizeLhs),
+
+ Flags = ((unsigned int)(LhsFlags | RhsFlags) & HereditaryBits & ~RowMajorBit)
+ | (EvalToRowMajor ? RowMajorBit : 0)
+ // TODO enable vectorization for mixed types
+ | (SameType && (CanVectorizeLhs || CanVectorizeRhs) ? PacketAccessBit : 0)
+ | (XprType::IsVectorAtCompileTime ? LinearAccessBit : 0),
+
+ LhsOuterStrideBytes = int(LhsNestedCleaned::OuterStrideAtCompileTime) * int(sizeof(typename LhsNestedCleaned::Scalar)),
+ RhsOuterStrideBytes = int(RhsNestedCleaned::OuterStrideAtCompileTime) * int(sizeof(typename RhsNestedCleaned::Scalar)),
+
+ Alignment = bool(CanVectorizeLhs) ? (LhsOuterStrideBytes<=0 || (int(LhsOuterStrideBytes) % EIGEN_PLAIN_ENUM_MAX(1,LhsAlignment))!=0 ? 0 : LhsAlignment)
+ : bool(CanVectorizeRhs) ? (RhsOuterStrideBytes<=0 || (int(RhsOuterStrideBytes) % EIGEN_PLAIN_ENUM_MAX(1,RhsAlignment))!=0 ? 0 : RhsAlignment)
+ : 0,
+
+ /* CanVectorizeInner deserves special explanation. It does not affect the product flags. It is not used outside
+ * of Product. If the Product itself is not a packet-access expression, there is still a chance that the inner
+ * loop of the product might be vectorized. This is the meaning of CanVectorizeInner. Since it doesn't affect
+ * the Flags, it is safe to make this value depend on ActualPacketAccessBit, that doesn't affect the ABI.
+ */
+ CanVectorizeInner = SameType
+ && LhsRowMajor
+ && (!RhsRowMajor)
+ && (LhsFlags & RhsFlags & ActualPacketAccessBit)
+ && (InnerSize % packet_traits<Scalar>::size == 0)
+ };
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const CoeffReturnType coeff(Index row, Index col) const
+ {
+ return (m_lhs.row(row).transpose().cwiseProduct( m_rhs.col(col) )).sum();
+ }
+
+ /* Allow index-based non-packet access. It is impossible though to allow index-based packed access,
+ * which is why we don't set the LinearAccessBit.
+ * TODO: this seems possible when the result is a vector
+ */
+ EIGEN_DEVICE_FUNC const CoeffReturnType coeff(Index index) const
+ {
+ const Index row = (RowsAtCompileTime == 1 || MaxRowsAtCompileTime==1) ? 0 : index;
+ const Index col = (RowsAtCompileTime == 1 || MaxRowsAtCompileTime==1) ? index : 0;
+ return (m_lhs.row(row).transpose().cwiseProduct( m_rhs.col(col) )).sum();
+ }
+
+ template<int LoadMode, typename PacketType>
+ const PacketType packet(Index row, Index col) const
+ {
+ PacketType res;
+ typedef etor_product_packet_impl<bool(int(Flags)&RowMajorBit) ? RowMajor : ColMajor,
+ Unroll ? int(InnerSize) : Dynamic,
+ LhsEtorType, RhsEtorType, PacketType, LoadMode> PacketImpl;
+ PacketImpl::run(row, col, m_lhsImpl, m_rhsImpl, m_innerDim, res);
+ return res;
+ }
+
+ template<int LoadMode, typename PacketType>
+ const PacketType packet(Index index) const
+ {
+ const Index row = (RowsAtCompileTime == 1 || MaxRowsAtCompileTime==1) ? 0 : index;
+ const Index col = (RowsAtCompileTime == 1 || MaxRowsAtCompileTime==1) ? index : 0;
+ return packet<LoadMode,PacketType>(row,col);
+ }
+
+protected:
+ typename internal::add_const_on_value_type<LhsNested>::type m_lhs;
+ typename internal::add_const_on_value_type<RhsNested>::type m_rhs;
+
+ LhsEtorType m_lhsImpl;
+ RhsEtorType m_rhsImpl;
+
+ // TODO: Get rid of m_innerDim if known at compile time
+ Index m_innerDim;
+};
+
+template<typename Lhs, typename Rhs>
+struct product_evaluator<Product<Lhs, Rhs, DefaultProduct>, LazyCoeffBasedProductMode, DenseShape, DenseShape>
+ : product_evaluator<Product<Lhs, Rhs, LazyProduct>, CoeffBasedProductMode, DenseShape, DenseShape>
+{
+ typedef Product<Lhs, Rhs, DefaultProduct> XprType;
+ typedef Product<Lhs, Rhs, LazyProduct> BaseProduct;
+ typedef product_evaluator<BaseProduct, CoeffBasedProductMode, DenseShape, DenseShape> Base;
+ enum {
+ Flags = Base::Flags | EvalBeforeNestingBit
+ };
+ EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr)
+ : Base(BaseProduct(xpr.lhs(),xpr.rhs()))
+ {}
+};
+
+/****************************************
+*** Coeff based product, Packet path ***
+****************************************/
+
+template<int UnrollingIndex, typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct etor_product_packet_impl<RowMajor, UnrollingIndex, Lhs, Rhs, Packet, LoadMode>
+{
+ static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index innerDim, Packet &res)
+ {
+ etor_product_packet_impl<RowMajor, UnrollingIndex-1, Lhs, Rhs, Packet, LoadMode>::run(row, col, lhs, rhs, innerDim, res);
+ res = pmadd(pset1<Packet>(lhs.coeff(row, Index(UnrollingIndex-1))), rhs.template packet<LoadMode,Packet>(Index(UnrollingIndex-1), col), res);
+ }
+};
+
+template<int UnrollingIndex, typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct etor_product_packet_impl<ColMajor, UnrollingIndex, Lhs, Rhs, Packet, LoadMode>
+{
+ static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index innerDim, Packet &res)
+ {
+ etor_product_packet_impl<ColMajor, UnrollingIndex-1, Lhs, Rhs, Packet, LoadMode>::run(row, col, lhs, rhs, innerDim, res);
+ res = pmadd(lhs.template packet<LoadMode,Packet>(row, Index(UnrollingIndex-1)), pset1<Packet>(rhs.coeff(Index(UnrollingIndex-1), col)), res);
+ }
+};
+
+template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct etor_product_packet_impl<RowMajor, 1, Lhs, Rhs, Packet, LoadMode>
+{
+ static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index /*innerDim*/, Packet &res)
+ {
+ res = pmul(pset1<Packet>(lhs.coeff(row, Index(0))),rhs.template packet<LoadMode,Packet>(Index(0), col));
+ }
+};
+
+template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct etor_product_packet_impl<ColMajor, 1, Lhs, Rhs, Packet, LoadMode>
+{
+ static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index /*innerDim*/, Packet &res)
+ {
+ res = pmul(lhs.template packet<LoadMode,Packet>(row, Index(0)), pset1<Packet>(rhs.coeff(Index(0), col)));
+ }
+};
+
+template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct etor_product_packet_impl<RowMajor, 0, Lhs, Rhs, Packet, LoadMode>
+{
+ static EIGEN_STRONG_INLINE void run(Index /*row*/, Index /*col*/, const Lhs& /*lhs*/, const Rhs& /*rhs*/, Index /*innerDim*/, Packet &res)
+ {
+ res = pset1<Packet>(typename unpacket_traits<Packet>::type(0));
+ }
+};
+
+template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct etor_product_packet_impl<ColMajor, 0, Lhs, Rhs, Packet, LoadMode>
+{
+ static EIGEN_STRONG_INLINE void run(Index /*row*/, Index /*col*/, const Lhs& /*lhs*/, const Rhs& /*rhs*/, Index /*innerDim*/, Packet &res)
+ {
+ res = pset1<Packet>(typename unpacket_traits<Packet>::type(0));
+ }
+};
+
+template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct etor_product_packet_impl<RowMajor, Dynamic, Lhs, Rhs, Packet, LoadMode>
+{
+ static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index innerDim, Packet& res)
+ {
+ res = pset1<Packet>(typename unpacket_traits<Packet>::type(0));
+ for(Index i = 0; i < innerDim; ++i)
+ res = pmadd(pset1<Packet>(lhs.coeff(row, i)), rhs.template packet<LoadMode,Packet>(i, col), res);
+ }
+};
+
+template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct etor_product_packet_impl<ColMajor, Dynamic, Lhs, Rhs, Packet, LoadMode>
+{
+ static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index innerDim, Packet& res)
+ {
+ res = pset1<Packet>(typename unpacket_traits<Packet>::type(0));
+ for(Index i = 0; i < innerDim; ++i)
+ res = pmadd(lhs.template packet<LoadMode,Packet>(row, i), pset1<Packet>(rhs.coeff(i, col)), res);
+ }
+};
+
+
+/***************************************************************************
+* Triangular products
+***************************************************************************/
+template<int Mode, bool LhsIsTriangular,
+ typename Lhs, bool LhsIsVector,
+ typename Rhs, bool RhsIsVector>
+struct triangular_product_impl;
+
+template<typename Lhs, typename Rhs, int ProductTag>
+struct generic_product_impl<Lhs,Rhs,TriangularShape,DenseShape,ProductTag>
+ : generic_product_impl_base<Lhs,Rhs,generic_product_impl<Lhs,Rhs,TriangularShape,DenseShape,ProductTag> >
+{
+ typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+
+ template<typename Dest>
+ static void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
+ {
+ triangular_product_impl<Lhs::Mode,true,typename Lhs::MatrixType,false,Rhs, Rhs::ColsAtCompileTime==1>
+ ::run(dst, lhs.nestedExpression(), rhs, alpha);
+ }
+};
+
+template<typename Lhs, typename Rhs, int ProductTag>
+struct generic_product_impl<Lhs,Rhs,DenseShape,TriangularShape,ProductTag>
+: generic_product_impl_base<Lhs,Rhs,generic_product_impl<Lhs,Rhs,DenseShape,TriangularShape,ProductTag> >
+{
+ typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+
+ template<typename Dest>
+ static void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
+ {
+ triangular_product_impl<Rhs::Mode,false,Lhs,Lhs::RowsAtCompileTime==1, typename Rhs::MatrixType, false>::run(dst, lhs, rhs.nestedExpression(), alpha);
+ }
+};
+
+
+/***************************************************************************
+* SelfAdjoint products
+***************************************************************************/
+template <typename Lhs, int LhsMode, bool LhsIsVector,
+ typename Rhs, int RhsMode, bool RhsIsVector>
+struct selfadjoint_product_impl;
+
+template<typename Lhs, typename Rhs, int ProductTag>
+struct generic_product_impl<Lhs,Rhs,SelfAdjointShape,DenseShape,ProductTag>
+ : generic_product_impl_base<Lhs,Rhs,generic_product_impl<Lhs,Rhs,SelfAdjointShape,DenseShape,ProductTag> >
+{
+ typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+
+ template<typename Dest>
+ static void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
+ {
+ selfadjoint_product_impl<typename Lhs::MatrixType,Lhs::Mode,false,Rhs,0,Rhs::IsVectorAtCompileTime>::run(dst, lhs.nestedExpression(), rhs, alpha);
+ }
+};
+
+template<typename Lhs, typename Rhs, int ProductTag>
+struct generic_product_impl<Lhs,Rhs,DenseShape,SelfAdjointShape,ProductTag>
+: generic_product_impl_base<Lhs,Rhs,generic_product_impl<Lhs,Rhs,DenseShape,SelfAdjointShape,ProductTag> >
+{
+ typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+
+ template<typename Dest>
+ static void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
+ {
+ selfadjoint_product_impl<Lhs,0,Lhs::IsVectorAtCompileTime,typename Rhs::MatrixType,Rhs::Mode,false>::run(dst, lhs, rhs.nestedExpression(), alpha);
+ }
+};
+
+
+/***************************************************************************
+* Diagonal products
+***************************************************************************/
+
+template<typename MatrixType, typename DiagonalType, typename Derived, int ProductOrder>
+struct diagonal_product_evaluator_base
+ : evaluator_base<Derived>
+{
+ typedef typename ScalarBinaryOpTraits<typename MatrixType::Scalar, typename DiagonalType::Scalar>::ReturnType Scalar;
+public:
+ enum {
+ CoeffReadCost = NumTraits<Scalar>::MulCost + evaluator<MatrixType>::CoeffReadCost + evaluator<DiagonalType>::CoeffReadCost,
+
+ MatrixFlags = evaluator<MatrixType>::Flags,
+ DiagFlags = evaluator<DiagonalType>::Flags,
+ _StorageOrder = MatrixFlags & RowMajorBit ? RowMajor : ColMajor,
+ _ScalarAccessOnDiag = !((int(_StorageOrder) == ColMajor && int(ProductOrder) == OnTheLeft)
+ ||(int(_StorageOrder) == RowMajor && int(ProductOrder) == OnTheRight)),
+ _SameTypes = is_same<typename MatrixType::Scalar, typename DiagonalType::Scalar>::value,
+ // FIXME currently we need same types, but in the future the next rule should be the one
+ //_Vectorizable = bool(int(MatrixFlags)&PacketAccessBit) && ((!_PacketOnDiag) || (_SameTypes && bool(int(DiagFlags)&PacketAccessBit))),
+ _Vectorizable = bool(int(MatrixFlags)&PacketAccessBit) && _SameTypes && (_ScalarAccessOnDiag || (bool(int(DiagFlags)&PacketAccessBit))),
+ _LinearAccessMask = (MatrixType::RowsAtCompileTime==1 || MatrixType::ColsAtCompileTime==1) ? LinearAccessBit : 0,
+ Flags = ((HereditaryBits|_LinearAccessMask) & (unsigned int)(MatrixFlags)) | (_Vectorizable ? PacketAccessBit : 0),
+ Alignment = evaluator<MatrixType>::Alignment,
+
+ AsScalarProduct = (DiagonalType::SizeAtCompileTime==1)
+ || (DiagonalType::SizeAtCompileTime==Dynamic && MatrixType::RowsAtCompileTime==1 && ProductOrder==OnTheLeft)
+ || (DiagonalType::SizeAtCompileTime==Dynamic && MatrixType::ColsAtCompileTime==1 && ProductOrder==OnTheRight)
+ };
+
+ diagonal_product_evaluator_base(const MatrixType &mat, const DiagonalType &diag)
+ : m_diagImpl(diag), m_matImpl(mat)
+ {
+ EIGEN_INTERNAL_CHECK_COST_VALUE(NumTraits<Scalar>::MulCost);
+ EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar coeff(Index idx) const
+ {
+ if(AsScalarProduct)
+ return m_diagImpl.coeff(0) * m_matImpl.coeff(idx);
+ else
+ return m_diagImpl.coeff(idx) * m_matImpl.coeff(idx);
+ }
+
+protected:
+ template<int LoadMode,typename PacketType>
+ EIGEN_STRONG_INLINE PacketType packet_impl(Index row, Index col, Index id, internal::true_type) const
+ {
+ return internal::pmul(m_matImpl.template packet<LoadMode,PacketType>(row, col),
+ internal::pset1<PacketType>(m_diagImpl.coeff(id)));
+ }
+
+ template<int LoadMode,typename PacketType>
+ EIGEN_STRONG_INLINE PacketType packet_impl(Index row, Index col, Index id, internal::false_type) const
+ {
+ enum {
+ InnerSize = (MatrixType::Flags & RowMajorBit) ? MatrixType::ColsAtCompileTime : MatrixType::RowsAtCompileTime,
+ DiagonalPacketLoadMode = EIGEN_PLAIN_ENUM_MIN(LoadMode,((InnerSize%16) == 0) ? int(Aligned16) : int(evaluator<DiagonalType>::Alignment)) // FIXME hardcoded 16!!
+ };
+ return internal::pmul(m_matImpl.template packet<LoadMode,PacketType>(row, col),
+ m_diagImpl.template packet<DiagonalPacketLoadMode,PacketType>(id));
+ }
+
+ evaluator<DiagonalType> m_diagImpl;
+ evaluator<MatrixType> m_matImpl;
+};
+
+// diagonal * dense
+template<typename Lhs, typename Rhs, int ProductKind, int ProductTag>
+struct product_evaluator<Product<Lhs, Rhs, ProductKind>, ProductTag, DiagonalShape, DenseShape>
+ : diagonal_product_evaluator_base<Rhs, typename Lhs::DiagonalVectorType, Product<Lhs, Rhs, LazyProduct>, OnTheLeft>
+{
+ typedef diagonal_product_evaluator_base<Rhs, typename Lhs::DiagonalVectorType, Product<Lhs, Rhs, LazyProduct>, OnTheLeft> Base;
+ using Base::m_diagImpl;
+ using Base::m_matImpl;
+ using Base::coeff;
+ typedef typename Base::Scalar Scalar;
+
+ typedef Product<Lhs, Rhs, ProductKind> XprType;
+ typedef typename XprType::PlainObject PlainObject;
+
+ enum {
+ StorageOrder = int(Rhs::Flags) & RowMajorBit ? RowMajor : ColMajor
+ };
+
+ EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr)
+ : Base(xpr.rhs(), xpr.lhs().diagonal())
+ {
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar coeff(Index row, Index col) const
+ {
+ return m_diagImpl.coeff(row) * m_matImpl.coeff(row, col);
+ }
+
+#ifndef __CUDACC__
+ template<int LoadMode,typename PacketType>
+ EIGEN_STRONG_INLINE PacketType packet(Index row, Index col) const
+ {
+ // FIXME: NVCC used to complain about the template keyword, but we have to check whether this is still the case.
+ // See also similar calls below.
+ return this->template packet_impl<LoadMode,PacketType>(row,col, row,
+ typename internal::conditional<int(StorageOrder)==RowMajor, internal::true_type, internal::false_type>::type());
+ }
+
+ template<int LoadMode,typename PacketType>
+ EIGEN_STRONG_INLINE PacketType packet(Index idx) const
+ {
+ return packet<LoadMode,PacketType>(int(StorageOrder)==ColMajor?idx:0,int(StorageOrder)==ColMajor?0:idx);
+ }
+#endif
+};
+
+// dense * diagonal
+template<typename Lhs, typename Rhs, int ProductKind, int ProductTag>
+struct product_evaluator<Product<Lhs, Rhs, ProductKind>, ProductTag, DenseShape, DiagonalShape>
+ : diagonal_product_evaluator_base<Lhs, typename Rhs::DiagonalVectorType, Product<Lhs, Rhs, LazyProduct>, OnTheRight>
+{
+ typedef diagonal_product_evaluator_base<Lhs, typename Rhs::DiagonalVectorType, Product<Lhs, Rhs, LazyProduct>, OnTheRight> Base;
+ using Base::m_diagImpl;
+ using Base::m_matImpl;
+ using Base::coeff;
+ typedef typename Base::Scalar Scalar;
+
+ typedef Product<Lhs, Rhs, ProductKind> XprType;
+ typedef typename XprType::PlainObject PlainObject;
+
+ enum { StorageOrder = int(Lhs::Flags) & RowMajorBit ? RowMajor : ColMajor };
+
+ EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr)
+ : Base(xpr.lhs(), xpr.rhs().diagonal())
+ {
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar coeff(Index row, Index col) const
+ {
+ return m_matImpl.coeff(row, col) * m_diagImpl.coeff(col);
+ }
+
+#ifndef __CUDACC__
+ template<int LoadMode,typename PacketType>
+ EIGEN_STRONG_INLINE PacketType packet(Index row, Index col) const
+ {
+ return this->template packet_impl<LoadMode,PacketType>(row,col, col,
+ typename internal::conditional<int(StorageOrder)==ColMajor, internal::true_type, internal::false_type>::type());
+ }
+
+ template<int LoadMode,typename PacketType>
+ EIGEN_STRONG_INLINE PacketType packet(Index idx) const
+ {
+ return packet<LoadMode,PacketType>(int(StorageOrder)==ColMajor?idx:0,int(StorageOrder)==ColMajor?0:idx);
+ }
+#endif
+};
+
+/***************************************************************************
+* Products with permutation matrices
+***************************************************************************/
+
+/** \internal
+ * \class permutation_matrix_product
+ * Internal helper class implementing the product between a permutation matrix and a matrix.
+ * This class is specialized for DenseShape below and for SparseShape in SparseCore/SparsePermutation.h
+ */
+template<typename ExpressionType, int Side, bool Transposed, typename ExpressionShape>
+struct permutation_matrix_product;
+
+template<typename ExpressionType, int Side, bool Transposed>
+struct permutation_matrix_product<ExpressionType, Side, Transposed, DenseShape>
+{
+ typedef typename nested_eval<ExpressionType, 1>::type MatrixType;
+ typedef typename remove_all<MatrixType>::type MatrixTypeCleaned;
+
+ template<typename Dest, typename PermutationType>
+ static inline void run(Dest& dst, const PermutationType& perm, const ExpressionType& xpr)
+ {
+ MatrixType mat(xpr);
+ const Index n = Side==OnTheLeft ? mat.rows() : mat.cols();
+ // FIXME we need an is_same for expression that is not sensitive to constness. For instance
+ // is_same_xpr<Block<const Matrix>, Block<Matrix> >::value should be true.
+ //if(is_same<MatrixTypeCleaned,Dest>::value && extract_data(dst) == extract_data(mat))
+ if(is_same_dense(dst, mat))
+ {
+ // apply the permutation inplace
+ Matrix<bool,PermutationType::RowsAtCompileTime,1,0,PermutationType::MaxRowsAtCompileTime> mask(perm.size());
+ mask.fill(false);
+ Index r = 0;
+ while(r < perm.size())
+ {
+ // search for the next seed
+ while(r<perm.size() && mask[r]) r++;
+ if(r>=perm.size())
+ break;
+ // we got one, let's follow it until we are back to the seed
+ Index k0 = r++;
+ Index kPrev = k0;
+ mask.coeffRef(k0) = true;
+ for(Index k=perm.indices().coeff(k0); k!=k0; k=perm.indices().coeff(k))
+ {
+ Block<Dest, Side==OnTheLeft ? 1 : Dest::RowsAtCompileTime, Side==OnTheRight ? 1 : Dest::ColsAtCompileTime>(dst, k)
+ .swap(Block<Dest, Side==OnTheLeft ? 1 : Dest::RowsAtCompileTime, Side==OnTheRight ? 1 : Dest::ColsAtCompileTime>
+ (dst,((Side==OnTheLeft) ^ Transposed) ? k0 : kPrev));
+
+ mask.coeffRef(k) = true;
+ kPrev = k;
+ }
+ }
+ }
+ else
+ {
+ for(Index i = 0; i < n; ++i)
+ {
+ Block<Dest, Side==OnTheLeft ? 1 : Dest::RowsAtCompileTime, Side==OnTheRight ? 1 : Dest::ColsAtCompileTime>
+ (dst, ((Side==OnTheLeft) ^ Transposed) ? perm.indices().coeff(i) : i)
+
+ =
+
+ Block<const MatrixTypeCleaned,Side==OnTheLeft ? 1 : MatrixTypeCleaned::RowsAtCompileTime,Side==OnTheRight ? 1 : MatrixTypeCleaned::ColsAtCompileTime>
+ (mat, ((Side==OnTheRight) ^ Transposed) ? perm.indices().coeff(i) : i);
+ }
+ }
+ }
+};
+
+template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
+struct generic_product_impl<Lhs, Rhs, PermutationShape, MatrixShape, ProductTag>
+{
+ template<typename Dest>
+ static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs)
+ {
+ permutation_matrix_product<Rhs, OnTheLeft, false, MatrixShape>::run(dst, lhs, rhs);
+ }
+};
+
+template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
+struct generic_product_impl<Lhs, Rhs, MatrixShape, PermutationShape, ProductTag>
+{
+ template<typename Dest>
+ static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs)
+ {
+ permutation_matrix_product<Lhs, OnTheRight, false, MatrixShape>::run(dst, rhs, lhs);
+ }
+};
+
+template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
+struct generic_product_impl<Inverse<Lhs>, Rhs, PermutationShape, MatrixShape, ProductTag>
+{
+ template<typename Dest>
+ static void evalTo(Dest& dst, const Inverse<Lhs>& lhs, const Rhs& rhs)
+ {
+ permutation_matrix_product<Rhs, OnTheLeft, true, MatrixShape>::run(dst, lhs.nestedExpression(), rhs);
+ }
+};
+
+template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
+struct generic_product_impl<Lhs, Inverse<Rhs>, MatrixShape, PermutationShape, ProductTag>
+{
+ template<typename Dest>
+ static void evalTo(Dest& dst, const Lhs& lhs, const Inverse<Rhs>& rhs)
+ {
+ permutation_matrix_product<Lhs, OnTheRight, true, MatrixShape>::run(dst, rhs.nestedExpression(), lhs);
+ }
+};
+
+
+/***************************************************************************
+* Products with transpositions matrices
+***************************************************************************/
+
+// FIXME could we unify Transpositions and Permutation into a single "shape"??
+
+/** \internal
+ * \class transposition_matrix_product
+ * Internal helper class implementing the product between a permutation matrix and a matrix.
+ */
+template<typename ExpressionType, int Side, bool Transposed, typename ExpressionShape>
+struct transposition_matrix_product
+{
+ typedef typename nested_eval<ExpressionType, 1>::type MatrixType;
+ typedef typename remove_all<MatrixType>::type MatrixTypeCleaned;
+
+ template<typename Dest, typename TranspositionType>
+ static inline void run(Dest& dst, const TranspositionType& tr, const ExpressionType& xpr)
+ {
+ MatrixType mat(xpr);
+ typedef typename TranspositionType::StorageIndex StorageIndex;
+ const Index size = tr.size();
+ StorageIndex j = 0;
+
+ if(!is_same_dense(dst,mat))
+ dst = mat;
+
+ for(Index k=(Transposed?size-1:0) ; Transposed?k>=0:k<size ; Transposed?--k:++k)
+ if(Index(j=tr.coeff(k))!=k)
+ {
+ if(Side==OnTheLeft) dst.row(k).swap(dst.row(j));
+ else if(Side==OnTheRight) dst.col(k).swap(dst.col(j));
+ }
+ }
+};
+
+template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
+struct generic_product_impl<Lhs, Rhs, TranspositionsShape, MatrixShape, ProductTag>
+{
+ template<typename Dest>
+ static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs)
+ {
+ transposition_matrix_product<Rhs, OnTheLeft, false, MatrixShape>::run(dst, lhs, rhs);
+ }
+};
+
+template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
+struct generic_product_impl<Lhs, Rhs, MatrixShape, TranspositionsShape, ProductTag>
+{
+ template<typename Dest>
+ static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs)
+ {
+ transposition_matrix_product<Lhs, OnTheRight, false, MatrixShape>::run(dst, rhs, lhs);
+ }
+};
+
+
+template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
+struct generic_product_impl<Transpose<Lhs>, Rhs, TranspositionsShape, MatrixShape, ProductTag>
+{
+ template<typename Dest>
+ static void evalTo(Dest& dst, const Transpose<Lhs>& lhs, const Rhs& rhs)
+ {
+ transposition_matrix_product<Rhs, OnTheLeft, true, MatrixShape>::run(dst, lhs.nestedExpression(), rhs);
+ }
+};
+
+template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
+struct generic_product_impl<Lhs, Transpose<Rhs>, MatrixShape, TranspositionsShape, ProductTag>
+{
+ template<typename Dest>
+ static void evalTo(Dest& dst, const Lhs& lhs, const Transpose<Rhs>& rhs)
+ {
+ transposition_matrix_product<Lhs, OnTheRight, true, MatrixShape>::run(dst, rhs.nestedExpression(), lhs);
+ }
+};
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_PRODUCT_EVALUATORS_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Random.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Random.h
new file mode 100644
index 0000000..6faf789
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Random.h
@@ -0,0 +1,182 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_RANDOM_H
+#define EIGEN_RANDOM_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<typename Scalar> struct scalar_random_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_random_op)
+ inline const Scalar operator() () const { return random<Scalar>(); }
+};
+
+template<typename Scalar>
+struct functor_traits<scalar_random_op<Scalar> >
+{ enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess = false, IsRepeatable = false }; };
+
+} // end namespace internal
+
+/** \returns a random matrix expression
+ *
+ * Numbers are uniformly spread through their whole definition range for integer types,
+ * and in the [-1:1] range for floating point scalar types.
+ *
+ * The parameters \a rows and \a cols are the number of rows and of columns of
+ * the returned matrix. Must be compatible with this MatrixBase type.
+ *
+ * \not_reentrant
+ *
+ * This variant is meant to be used for dynamic-size matrix types. For fixed-size types,
+ * it is redundant to pass \a rows and \a cols as arguments, so Random() should be used
+ * instead.
+ *
+ *
+ * Example: \include MatrixBase_random_int_int.cpp
+ * Output: \verbinclude MatrixBase_random_int_int.out
+ *
+ * This expression has the "evaluate before nesting" flag so that it will be evaluated into
+ * a temporary matrix whenever it is nested in a larger expression. This prevents unexpected
+ * behavior with expressions involving random matrices.
+ *
+ * See DenseBase::NullaryExpr(Index, const CustomNullaryOp&) for an example using C++11 random generators.
+ *
+ * \sa DenseBase::setRandom(), DenseBase::Random(Index), DenseBase::Random()
+ */
+template<typename Derived>
+inline const typename DenseBase<Derived>::RandomReturnType
+DenseBase<Derived>::Random(Index rows, Index cols)
+{
+ return NullaryExpr(rows, cols, internal::scalar_random_op<Scalar>());
+}
+
+/** \returns a random vector expression
+ *
+ * Numbers are uniformly spread through their whole definition range for integer types,
+ * and in the [-1:1] range for floating point scalar types.
+ *
+ * The parameter \a size is the size of the returned vector.
+ * Must be compatible with this MatrixBase type.
+ *
+ * \only_for_vectors
+ * \not_reentrant
+ *
+ * This variant is meant to be used for dynamic-size vector types. For fixed-size types,
+ * it is redundant to pass \a size as argument, so Random() should be used
+ * instead.
+ *
+ * Example: \include MatrixBase_random_int.cpp
+ * Output: \verbinclude MatrixBase_random_int.out
+ *
+ * This expression has the "evaluate before nesting" flag so that it will be evaluated into
+ * a temporary vector whenever it is nested in a larger expression. This prevents unexpected
+ * behavior with expressions involving random matrices.
+ *
+ * \sa DenseBase::setRandom(), DenseBase::Random(Index,Index), DenseBase::Random()
+ */
+template<typename Derived>
+inline const typename DenseBase<Derived>::RandomReturnType
+DenseBase<Derived>::Random(Index size)
+{
+ return NullaryExpr(size, internal::scalar_random_op<Scalar>());
+}
+
+/** \returns a fixed-size random matrix or vector expression
+ *
+ * Numbers are uniformly spread through their whole definition range for integer types,
+ * and in the [-1:1] range for floating point scalar types.
+ *
+ * This variant is only for fixed-size MatrixBase types. For dynamic-size types, you
+ * need to use the variants taking size arguments.
+ *
+ * Example: \include MatrixBase_random.cpp
+ * Output: \verbinclude MatrixBase_random.out
+ *
+ * This expression has the "evaluate before nesting" flag so that it will be evaluated into
+ * a temporary matrix whenever it is nested in a larger expression. This prevents unexpected
+ * behavior with expressions involving random matrices.
+ *
+ * \not_reentrant
+ *
+ * \sa DenseBase::setRandom(), DenseBase::Random(Index,Index), DenseBase::Random(Index)
+ */
+template<typename Derived>
+inline const typename DenseBase<Derived>::RandomReturnType
+DenseBase<Derived>::Random()
+{
+ return NullaryExpr(RowsAtCompileTime, ColsAtCompileTime, internal::scalar_random_op<Scalar>());
+}
+
+/** Sets all coefficients in this expression to random values.
+ *
+ * Numbers are uniformly spread through their whole definition range for integer types,
+ * and in the [-1:1] range for floating point scalar types.
+ *
+ * \not_reentrant
+ *
+ * Example: \include MatrixBase_setRandom.cpp
+ * Output: \verbinclude MatrixBase_setRandom.out
+ *
+ * \sa class CwiseNullaryOp, setRandom(Index), setRandom(Index,Index)
+ */
+template<typename Derived>
+inline Derived& DenseBase<Derived>::setRandom()
+{
+ return *this = Random(rows(), cols());
+}
+
+/** Resizes to the given \a newSize, and sets all coefficients in this expression to random values.
+ *
+ * Numbers are uniformly spread through their whole definition range for integer types,
+ * and in the [-1:1] range for floating point scalar types.
+ *
+ * \only_for_vectors
+ * \not_reentrant
+ *
+ * Example: \include Matrix_setRandom_int.cpp
+ * Output: \verbinclude Matrix_setRandom_int.out
+ *
+ * \sa DenseBase::setRandom(), setRandom(Index,Index), class CwiseNullaryOp, DenseBase::Random()
+ */
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setRandom(Index newSize)
+{
+ resize(newSize);
+ return setRandom();
+}
+
+/** Resizes to the given size, and sets all coefficients in this expression to random values.
+ *
+ * Numbers are uniformly spread through their whole definition range for integer types,
+ * and in the [-1:1] range for floating point scalar types.
+ *
+ * \not_reentrant
+ *
+ * \param rows the new number of rows
+ * \param cols the new number of columns
+ *
+ * Example: \include Matrix_setRandom_int_int.cpp
+ * Output: \verbinclude Matrix_setRandom_int_int.out
+ *
+ * \sa DenseBase::setRandom(), setRandom(Index), class CwiseNullaryOp, DenseBase::Random()
+ */
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setRandom(Index rows, Index cols)
+{
+ resize(rows, cols);
+ return setRandom();
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_RANDOM_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Redux.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Redux.h
new file mode 100644
index 0000000..760e9f8
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Redux.h
@@ -0,0 +1,505 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_REDUX_H
+#define EIGEN_REDUX_H
+
+namespace Eigen {
+
+namespace internal {
+
+// TODO
+// * implement other kind of vectorization
+// * factorize code
+
+/***************************************************************************
+* Part 1 : the logic deciding a strategy for vectorization and unrolling
+***************************************************************************/
+
+template<typename Func, typename Derived>
+struct redux_traits
+{
+public:
+ typedef typename find_best_packet<typename Derived::Scalar,Derived::SizeAtCompileTime>::type PacketType;
+ enum {
+ PacketSize = unpacket_traits<PacketType>::size,
+ InnerMaxSize = int(Derived::IsRowMajor)
+ ? Derived::MaxColsAtCompileTime
+ : Derived::MaxRowsAtCompileTime
+ };
+
+ enum {
+ MightVectorize = (int(Derived::Flags)&ActualPacketAccessBit)
+ && (functor_traits<Func>::PacketAccess),
+ MayLinearVectorize = bool(MightVectorize) && (int(Derived::Flags)&LinearAccessBit),
+ MaySliceVectorize = bool(MightVectorize) && int(InnerMaxSize)>=3*PacketSize
+ };
+
+public:
+ enum {
+ Traversal = int(MayLinearVectorize) ? int(LinearVectorizedTraversal)
+ : int(MaySliceVectorize) ? int(SliceVectorizedTraversal)
+ : int(DefaultTraversal)
+ };
+
+public:
+ enum {
+ Cost = Derived::SizeAtCompileTime == Dynamic ? HugeCost
+ : Derived::SizeAtCompileTime * Derived::CoeffReadCost + (Derived::SizeAtCompileTime-1) * functor_traits<Func>::Cost,
+ UnrollingLimit = EIGEN_UNROLLING_LIMIT * (int(Traversal) == int(DefaultTraversal) ? 1 : int(PacketSize))
+ };
+
+public:
+ enum {
+ Unrolling = Cost <= UnrollingLimit ? CompleteUnrolling : NoUnrolling
+ };
+
+#ifdef EIGEN_DEBUG_ASSIGN
+ static void debug()
+ {
+ std::cerr << "Xpr: " << typeid(typename Derived::XprType).name() << std::endl;
+ std::cerr.setf(std::ios::hex, std::ios::basefield);
+ EIGEN_DEBUG_VAR(Derived::Flags)
+ std::cerr.unsetf(std::ios::hex);
+ EIGEN_DEBUG_VAR(InnerMaxSize)
+ EIGEN_DEBUG_VAR(PacketSize)
+ EIGEN_DEBUG_VAR(MightVectorize)
+ EIGEN_DEBUG_VAR(MayLinearVectorize)
+ EIGEN_DEBUG_VAR(MaySliceVectorize)
+ EIGEN_DEBUG_VAR(Traversal)
+ EIGEN_DEBUG_VAR(UnrollingLimit)
+ EIGEN_DEBUG_VAR(Unrolling)
+ std::cerr << std::endl;
+ }
+#endif
+};
+
+/***************************************************************************
+* Part 2 : unrollers
+***************************************************************************/
+
+/*** no vectorization ***/
+
+template<typename Func, typename Derived, int Start, int Length>
+struct redux_novec_unroller
+{
+ enum {
+ HalfLength = Length/2
+ };
+
+ typedef typename Derived::Scalar Scalar;
+
+ EIGEN_DEVICE_FUNC
+ static EIGEN_STRONG_INLINE Scalar run(const Derived &mat, const Func& func)
+ {
+ return func(redux_novec_unroller<Func, Derived, Start, HalfLength>::run(mat,func),
+ redux_novec_unroller<Func, Derived, Start+HalfLength, Length-HalfLength>::run(mat,func));
+ }
+};
+
+template<typename Func, typename Derived, int Start>
+struct redux_novec_unroller<Func, Derived, Start, 1>
+{
+ enum {
+ outer = Start / Derived::InnerSizeAtCompileTime,
+ inner = Start % Derived::InnerSizeAtCompileTime
+ };
+
+ typedef typename Derived::Scalar Scalar;
+
+ EIGEN_DEVICE_FUNC
+ static EIGEN_STRONG_INLINE Scalar run(const Derived &mat, const Func&)
+ {
+ return mat.coeffByOuterInner(outer, inner);
+ }
+};
+
+// This is actually dead code and will never be called. It is required
+// to prevent false warnings regarding failed inlining though
+// for 0 length run() will never be called at all.
+template<typename Func, typename Derived, int Start>
+struct redux_novec_unroller<Func, Derived, Start, 0>
+{
+ typedef typename Derived::Scalar Scalar;
+ EIGEN_DEVICE_FUNC
+ static EIGEN_STRONG_INLINE Scalar run(const Derived&, const Func&) { return Scalar(); }
+};
+
+/*** vectorization ***/
+
+template<typename Func, typename Derived, int Start, int Length>
+struct redux_vec_unroller
+{
+ enum {
+ PacketSize = redux_traits<Func, Derived>::PacketSize,
+ HalfLength = Length/2
+ };
+
+ typedef typename Derived::Scalar Scalar;
+ typedef typename redux_traits<Func, Derived>::PacketType PacketScalar;
+
+ static EIGEN_STRONG_INLINE PacketScalar run(const Derived &mat, const Func& func)
+ {
+ return func.packetOp(
+ redux_vec_unroller<Func, Derived, Start, HalfLength>::run(mat,func),
+ redux_vec_unroller<Func, Derived, Start+HalfLength, Length-HalfLength>::run(mat,func) );
+ }
+};
+
+template<typename Func, typename Derived, int Start>
+struct redux_vec_unroller<Func, Derived, Start, 1>
+{
+ enum {
+ index = Start * redux_traits<Func, Derived>::PacketSize,
+ outer = index / int(Derived::InnerSizeAtCompileTime),
+ inner = index % int(Derived::InnerSizeAtCompileTime),
+ alignment = Derived::Alignment
+ };
+
+ typedef typename Derived::Scalar Scalar;
+ typedef typename redux_traits<Func, Derived>::PacketType PacketScalar;
+
+ static EIGEN_STRONG_INLINE PacketScalar run(const Derived &mat, const Func&)
+ {
+ return mat.template packetByOuterInner<alignment,PacketScalar>(outer, inner);
+ }
+};
+
+/***************************************************************************
+* Part 3 : implementation of all cases
+***************************************************************************/
+
+template<typename Func, typename Derived,
+ int Traversal = redux_traits<Func, Derived>::Traversal,
+ int Unrolling = redux_traits<Func, Derived>::Unrolling
+>
+struct redux_impl;
+
+template<typename Func, typename Derived>
+struct redux_impl<Func, Derived, DefaultTraversal, NoUnrolling>
+{
+ typedef typename Derived::Scalar Scalar;
+ EIGEN_DEVICE_FUNC
+ static EIGEN_STRONG_INLINE Scalar run(const Derived &mat, const Func& func)
+ {
+ eigen_assert(mat.rows()>0 && mat.cols()>0 && "you are using an empty matrix");
+ Scalar res;
+ res = mat.coeffByOuterInner(0, 0);
+ for(Index i = 1; i < mat.innerSize(); ++i)
+ res = func(res, mat.coeffByOuterInner(0, i));
+ for(Index i = 1; i < mat.outerSize(); ++i)
+ for(Index j = 0; j < mat.innerSize(); ++j)
+ res = func(res, mat.coeffByOuterInner(i, j));
+ return res;
+ }
+};
+
+template<typename Func, typename Derived>
+struct redux_impl<Func,Derived, DefaultTraversal, CompleteUnrolling>
+ : public redux_novec_unroller<Func,Derived, 0, Derived::SizeAtCompileTime>
+{};
+
+template<typename Func, typename Derived>
+struct redux_impl<Func, Derived, LinearVectorizedTraversal, NoUnrolling>
+{
+ typedef typename Derived::Scalar Scalar;
+ typedef typename redux_traits<Func, Derived>::PacketType PacketScalar;
+
+ static Scalar run(const Derived &mat, const Func& func)
+ {
+ const Index size = mat.size();
+
+ const Index packetSize = redux_traits<Func, Derived>::PacketSize;
+ const int packetAlignment = unpacket_traits<PacketScalar>::alignment;
+ enum {
+ alignment0 = (bool(Derived::Flags & DirectAccessBit) && bool(packet_traits<Scalar>::AlignedOnScalar)) ? int(packetAlignment) : int(Unaligned),
+ alignment = EIGEN_PLAIN_ENUM_MAX(alignment0, Derived::Alignment)
+ };
+ const Index alignedStart = internal::first_default_aligned(mat.nestedExpression());
+ const Index alignedSize2 = ((size-alignedStart)/(2*packetSize))*(2*packetSize);
+ const Index alignedSize = ((size-alignedStart)/(packetSize))*(packetSize);
+ const Index alignedEnd2 = alignedStart + alignedSize2;
+ const Index alignedEnd = alignedStart + alignedSize;
+ Scalar res;
+ if(alignedSize)
+ {
+ PacketScalar packet_res0 = mat.template packet<alignment,PacketScalar>(alignedStart);
+ if(alignedSize>packetSize) // we have at least two packets to partly unroll the loop
+ {
+ PacketScalar packet_res1 = mat.template packet<alignment,PacketScalar>(alignedStart+packetSize);
+ for(Index index = alignedStart + 2*packetSize; index < alignedEnd2; index += 2*packetSize)
+ {
+ packet_res0 = func.packetOp(packet_res0, mat.template packet<alignment,PacketScalar>(index));
+ packet_res1 = func.packetOp(packet_res1, mat.template packet<alignment,PacketScalar>(index+packetSize));
+ }
+
+ packet_res0 = func.packetOp(packet_res0,packet_res1);
+ if(alignedEnd>alignedEnd2)
+ packet_res0 = func.packetOp(packet_res0, mat.template packet<alignment,PacketScalar>(alignedEnd2));
+ }
+ res = func.predux(packet_res0);
+
+ for(Index index = 0; index < alignedStart; ++index)
+ res = func(res,mat.coeff(index));
+
+ for(Index index = alignedEnd; index < size; ++index)
+ res = func(res,mat.coeff(index));
+ }
+ else // too small to vectorize anything.
+ // since this is dynamic-size hence inefficient anyway for such small sizes, don't try to optimize.
+ {
+ res = mat.coeff(0);
+ for(Index index = 1; index < size; ++index)
+ res = func(res,mat.coeff(index));
+ }
+
+ return res;
+ }
+};
+
+// NOTE: for SliceVectorizedTraversal we simply bypass unrolling
+template<typename Func, typename Derived, int Unrolling>
+struct redux_impl<Func, Derived, SliceVectorizedTraversal, Unrolling>
+{
+ typedef typename Derived::Scalar Scalar;
+ typedef typename redux_traits<Func, Derived>::PacketType PacketType;
+
+ EIGEN_DEVICE_FUNC static Scalar run(const Derived &mat, const Func& func)
+ {
+ eigen_assert(mat.rows()>0 && mat.cols()>0 && "you are using an empty matrix");
+ const Index innerSize = mat.innerSize();
+ const Index outerSize = mat.outerSize();
+ enum {
+ packetSize = redux_traits<Func, Derived>::PacketSize
+ };
+ const Index packetedInnerSize = ((innerSize)/packetSize)*packetSize;
+ Scalar res;
+ if(packetedInnerSize)
+ {
+ PacketType packet_res = mat.template packet<Unaligned,PacketType>(0,0);
+ for(Index j=0; j<outerSize; ++j)
+ for(Index i=(j==0?packetSize:0); i<packetedInnerSize; i+=Index(packetSize))
+ packet_res = func.packetOp(packet_res, mat.template packetByOuterInner<Unaligned,PacketType>(j,i));
+
+ res = func.predux(packet_res);
+ for(Index j=0; j<outerSize; ++j)
+ for(Index i=packetedInnerSize; i<innerSize; ++i)
+ res = func(res, mat.coeffByOuterInner(j,i));
+ }
+ else // too small to vectorize anything.
+ // since this is dynamic-size hence inefficient anyway for such small sizes, don't try to optimize.
+ {
+ res = redux_impl<Func, Derived, DefaultTraversal, NoUnrolling>::run(mat, func);
+ }
+
+ return res;
+ }
+};
+
+template<typename Func, typename Derived>
+struct redux_impl<Func, Derived, LinearVectorizedTraversal, CompleteUnrolling>
+{
+ typedef typename Derived::Scalar Scalar;
+
+ typedef typename redux_traits<Func, Derived>::PacketType PacketScalar;
+ enum {
+ PacketSize = redux_traits<Func, Derived>::PacketSize,
+ Size = Derived::SizeAtCompileTime,
+ VectorizedSize = (Size / PacketSize) * PacketSize
+ };
+ EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Scalar run(const Derived &mat, const Func& func)
+ {
+ eigen_assert(mat.rows()>0 && mat.cols()>0 && "you are using an empty matrix");
+ if (VectorizedSize > 0) {
+ Scalar res = func.predux(redux_vec_unroller<Func, Derived, 0, Size / PacketSize>::run(mat,func));
+ if (VectorizedSize != Size)
+ res = func(res,redux_novec_unroller<Func, Derived, VectorizedSize, Size-VectorizedSize>::run(mat,func));
+ return res;
+ }
+ else {
+ return redux_novec_unroller<Func, Derived, 0, Size>::run(mat,func);
+ }
+ }
+};
+
+// evaluator adaptor
+template<typename _XprType>
+class redux_evaluator
+{
+public:
+ typedef _XprType XprType;
+ EIGEN_DEVICE_FUNC explicit redux_evaluator(const XprType &xpr) : m_evaluator(xpr), m_xpr(xpr) {}
+
+ typedef typename XprType::Scalar Scalar;
+ typedef typename XprType::CoeffReturnType CoeffReturnType;
+ typedef typename XprType::PacketScalar PacketScalar;
+ typedef typename XprType::PacketReturnType PacketReturnType;
+
+ enum {
+ MaxRowsAtCompileTime = XprType::MaxRowsAtCompileTime,
+ MaxColsAtCompileTime = XprType::MaxColsAtCompileTime,
+ // TODO we should not remove DirectAccessBit and rather find an elegant way to query the alignment offset at runtime from the evaluator
+ Flags = evaluator<XprType>::Flags & ~DirectAccessBit,
+ IsRowMajor = XprType::IsRowMajor,
+ SizeAtCompileTime = XprType::SizeAtCompileTime,
+ InnerSizeAtCompileTime = XprType::InnerSizeAtCompileTime,
+ CoeffReadCost = evaluator<XprType>::CoeffReadCost,
+ Alignment = evaluator<XprType>::Alignment
+ };
+
+ EIGEN_DEVICE_FUNC Index rows() const { return m_xpr.rows(); }
+ EIGEN_DEVICE_FUNC Index cols() const { return m_xpr.cols(); }
+ EIGEN_DEVICE_FUNC Index size() const { return m_xpr.size(); }
+ EIGEN_DEVICE_FUNC Index innerSize() const { return m_xpr.innerSize(); }
+ EIGEN_DEVICE_FUNC Index outerSize() const { return m_xpr.outerSize(); }
+
+ EIGEN_DEVICE_FUNC
+ CoeffReturnType coeff(Index row, Index col) const
+ { return m_evaluator.coeff(row, col); }
+
+ EIGEN_DEVICE_FUNC
+ CoeffReturnType coeff(Index index) const
+ { return m_evaluator.coeff(index); }
+
+ template<int LoadMode, typename PacketType>
+ PacketType packet(Index row, Index col) const
+ { return m_evaluator.template packet<LoadMode,PacketType>(row, col); }
+
+ template<int LoadMode, typename PacketType>
+ PacketType packet(Index index) const
+ { return m_evaluator.template packet<LoadMode,PacketType>(index); }
+
+ EIGEN_DEVICE_FUNC
+ CoeffReturnType coeffByOuterInner(Index outer, Index inner) const
+ { return m_evaluator.coeff(IsRowMajor ? outer : inner, IsRowMajor ? inner : outer); }
+
+ template<int LoadMode, typename PacketType>
+ PacketType packetByOuterInner(Index outer, Index inner) const
+ { return m_evaluator.template packet<LoadMode,PacketType>(IsRowMajor ? outer : inner, IsRowMajor ? inner : outer); }
+
+ const XprType & nestedExpression() const { return m_xpr; }
+
+protected:
+ internal::evaluator<XprType> m_evaluator;
+ const XprType &m_xpr;
+};
+
+} // end namespace internal
+
+/***************************************************************************
+* Part 4 : public API
+***************************************************************************/
+
+
+/** \returns the result of a full redux operation on the whole matrix or vector using \a func
+ *
+ * The template parameter \a BinaryOp is the type of the functor \a func which must be
+ * an associative operator. Both current C++98 and C++11 functor styles are handled.
+ *
+ * \sa DenseBase::sum(), DenseBase::minCoeff(), DenseBase::maxCoeff(), MatrixBase::colwise(), MatrixBase::rowwise()
+ */
+template<typename Derived>
+template<typename Func>
+EIGEN_STRONG_INLINE typename internal::traits<Derived>::Scalar
+DenseBase<Derived>::redux(const Func& func) const
+{
+ eigen_assert(this->rows()>0 && this->cols()>0 && "you are using an empty matrix");
+
+ typedef typename internal::redux_evaluator<Derived> ThisEvaluator;
+ ThisEvaluator thisEval(derived());
+
+ return internal::redux_impl<Func, ThisEvaluator>::run(thisEval, func);
+}
+
+/** \returns the minimum of all coefficients of \c *this.
+ * \warning the result is undefined if \c *this contains NaN.
+ */
+template<typename Derived>
+EIGEN_STRONG_INLINE typename internal::traits<Derived>::Scalar
+DenseBase<Derived>::minCoeff() const
+{
+ return derived().redux(Eigen::internal::scalar_min_op<Scalar,Scalar>());
+}
+
+/** \returns the maximum of all coefficients of \c *this.
+ * \warning the result is undefined if \c *this contains NaN.
+ */
+template<typename Derived>
+EIGEN_STRONG_INLINE typename internal::traits<Derived>::Scalar
+DenseBase<Derived>::maxCoeff() const
+{
+ return derived().redux(Eigen::internal::scalar_max_op<Scalar,Scalar>());
+}
+
+/** \returns the sum of all coefficients of \c *this
+ *
+ * If \c *this is empty, then the value 0 is returned.
+ *
+ * \sa trace(), prod(), mean()
+ */
+template<typename Derived>
+EIGEN_STRONG_INLINE typename internal::traits<Derived>::Scalar
+DenseBase<Derived>::sum() const
+{
+ if(SizeAtCompileTime==0 || (SizeAtCompileTime==Dynamic && size()==0))
+ return Scalar(0);
+ return derived().redux(Eigen::internal::scalar_sum_op<Scalar,Scalar>());
+}
+
+/** \returns the mean of all coefficients of *this
+*
+* \sa trace(), prod(), sum()
+*/
+template<typename Derived>
+EIGEN_STRONG_INLINE typename internal::traits<Derived>::Scalar
+DenseBase<Derived>::mean() const
+{
+#ifdef __INTEL_COMPILER
+ #pragma warning push
+ #pragma warning ( disable : 2259 )
+#endif
+ return Scalar(derived().redux(Eigen::internal::scalar_sum_op<Scalar,Scalar>())) / Scalar(this->size());
+#ifdef __INTEL_COMPILER
+ #pragma warning pop
+#endif
+}
+
+/** \returns the product of all coefficients of *this
+ *
+ * Example: \include MatrixBase_prod.cpp
+ * Output: \verbinclude MatrixBase_prod.out
+ *
+ * \sa sum(), mean(), trace()
+ */
+template<typename Derived>
+EIGEN_STRONG_INLINE typename internal::traits<Derived>::Scalar
+DenseBase<Derived>::prod() const
+{
+ if(SizeAtCompileTime==0 || (SizeAtCompileTime==Dynamic && size()==0))
+ return Scalar(1);
+ return derived().redux(Eigen::internal::scalar_product_op<Scalar>());
+}
+
+/** \returns the trace of \c *this, i.e. the sum of the coefficients on the main diagonal.
+ *
+ * \c *this can be any matrix, not necessarily square.
+ *
+ * \sa diagonal(), sum()
+ */
+template<typename Derived>
+EIGEN_STRONG_INLINE typename internal::traits<Derived>::Scalar
+MatrixBase<Derived>::trace() const
+{
+ return derived().diagonal().sum();
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_REDUX_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Ref.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Ref.h
new file mode 100644
index 0000000..9c6e3c5
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Ref.h
@@ -0,0 +1,283 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2012 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_REF_H
+#define EIGEN_REF_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<typename _PlainObjectType, int _Options, typename _StrideType>
+struct traits<Ref<_PlainObjectType, _Options, _StrideType> >
+ : public traits<Map<_PlainObjectType, _Options, _StrideType> >
+{
+ typedef _PlainObjectType PlainObjectType;
+ typedef _StrideType StrideType;
+ enum {
+ Options = _Options,
+ Flags = traits<Map<_PlainObjectType, _Options, _StrideType> >::Flags | NestByRefBit,
+ Alignment = traits<Map<_PlainObjectType, _Options, _StrideType> >::Alignment
+ };
+
+ template<typename Derived> struct match {
+ enum {
+ HasDirectAccess = internal::has_direct_access<Derived>::ret,
+ StorageOrderMatch = PlainObjectType::IsVectorAtCompileTime || Derived::IsVectorAtCompileTime || ((PlainObjectType::Flags&RowMajorBit)==(Derived::Flags&RowMajorBit)),
+ InnerStrideMatch = int(StrideType::InnerStrideAtCompileTime)==int(Dynamic)
+ || int(StrideType::InnerStrideAtCompileTime)==int(Derived::InnerStrideAtCompileTime)
+ || (int(StrideType::InnerStrideAtCompileTime)==0 && int(Derived::InnerStrideAtCompileTime)==1),
+ OuterStrideMatch = Derived::IsVectorAtCompileTime
+ || int(StrideType::OuterStrideAtCompileTime)==int(Dynamic) || int(StrideType::OuterStrideAtCompileTime)==int(Derived::OuterStrideAtCompileTime),
+ // NOTE, this indirection of evaluator<Derived>::Alignment is needed
+ // to workaround a very strange bug in MSVC related to the instantiation
+ // of has_*ary_operator in evaluator<CwiseNullaryOp>.
+ // This line is surprisingly very sensitive. For instance, simply adding parenthesis
+ // as "DerivedAlignment = (int(evaluator<Derived>::Alignment))," will make MSVC fail...
+ DerivedAlignment = int(evaluator<Derived>::Alignment),
+ AlignmentMatch = (int(traits<PlainObjectType>::Alignment)==int(Unaligned)) || (DerivedAlignment >= int(Alignment)), // FIXME the first condition is not very clear, it should be replaced by the required alignment
+ ScalarTypeMatch = internal::is_same<typename PlainObjectType::Scalar, typename Derived::Scalar>::value,
+ MatchAtCompileTime = HasDirectAccess && StorageOrderMatch && InnerStrideMatch && OuterStrideMatch && AlignmentMatch && ScalarTypeMatch
+ };
+ typedef typename internal::conditional<MatchAtCompileTime,internal::true_type,internal::false_type>::type type;
+ };
+
+};
+
+template<typename Derived>
+struct traits<RefBase<Derived> > : public traits<Derived> {};
+
+}
+
+template<typename Derived> class RefBase
+ : public MapBase<Derived>
+{
+ typedef typename internal::traits<Derived>::PlainObjectType PlainObjectType;
+ typedef typename internal::traits<Derived>::StrideType StrideType;
+
+public:
+
+ typedef MapBase<Derived> Base;
+ EIGEN_DENSE_PUBLIC_INTERFACE(RefBase)
+
+ EIGEN_DEVICE_FUNC inline Index innerStride() const
+ {
+ return StrideType::InnerStrideAtCompileTime != 0 ? m_stride.inner() : 1;
+ }
+
+ EIGEN_DEVICE_FUNC inline Index outerStride() const
+ {
+ return StrideType::OuterStrideAtCompileTime != 0 ? m_stride.outer()
+ : IsVectorAtCompileTime ? this->size()
+ : int(Flags)&RowMajorBit ? this->cols()
+ : this->rows();
+ }
+
+ EIGEN_DEVICE_FUNC RefBase()
+ : Base(0,RowsAtCompileTime==Dynamic?0:RowsAtCompileTime,ColsAtCompileTime==Dynamic?0:ColsAtCompileTime),
+ // Stride<> does not allow default ctor for Dynamic strides, so let' initialize it with dummy values:
+ m_stride(StrideType::OuterStrideAtCompileTime==Dynamic?0:StrideType::OuterStrideAtCompileTime,
+ StrideType::InnerStrideAtCompileTime==Dynamic?0:StrideType::InnerStrideAtCompileTime)
+ {}
+
+ EIGEN_INHERIT_ASSIGNMENT_OPERATORS(RefBase)
+
+protected:
+
+ typedef Stride<StrideType::OuterStrideAtCompileTime,StrideType::InnerStrideAtCompileTime> StrideBase;
+
+ template<typename Expression>
+ EIGEN_DEVICE_FUNC void construct(Expression& expr)
+ {
+ EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(PlainObjectType,Expression);
+
+ if(PlainObjectType::RowsAtCompileTime==1)
+ {
+ eigen_assert(expr.rows()==1 || expr.cols()==1);
+ ::new (static_cast<Base*>(this)) Base(expr.data(), 1, expr.size());
+ }
+ else if(PlainObjectType::ColsAtCompileTime==1)
+ {
+ eigen_assert(expr.rows()==1 || expr.cols()==1);
+ ::new (static_cast<Base*>(this)) Base(expr.data(), expr.size(), 1);
+ }
+ else
+ ::new (static_cast<Base*>(this)) Base(expr.data(), expr.rows(), expr.cols());
+
+ if(Expression::IsVectorAtCompileTime && (!PlainObjectType::IsVectorAtCompileTime) && ((Expression::Flags&RowMajorBit)!=(PlainObjectType::Flags&RowMajorBit)))
+ ::new (&m_stride) StrideBase(expr.innerStride(), StrideType::InnerStrideAtCompileTime==0?0:1);
+ else
+ ::new (&m_stride) StrideBase(StrideType::OuterStrideAtCompileTime==0?0:expr.outerStride(),
+ StrideType::InnerStrideAtCompileTime==0?0:expr.innerStride());
+ }
+
+ StrideBase m_stride;
+};
+
+/** \class Ref
+ * \ingroup Core_Module
+ *
+ * \brief A matrix or vector expression mapping an existing expression
+ *
+ * \tparam PlainObjectType the equivalent matrix type of the mapped data
+ * \tparam Options specifies the pointer alignment in bytes. It can be: \c #Aligned128, , \c #Aligned64, \c #Aligned32, \c #Aligned16, \c #Aligned8 or \c #Unaligned.
+ * The default is \c #Unaligned.
+ * \tparam StrideType optionally specifies strides. By default, Ref implies a contiguous storage along the inner dimension (inner stride==1),
+ * but accepts a variable outer stride (leading dimension).
+ * This can be overridden by specifying strides.
+ * The type passed here must be a specialization of the Stride template, see examples below.
+ *
+ * This class provides a way to write non-template functions taking Eigen objects as parameters while limiting the number of copies.
+ * A Ref<> object can represent either a const expression or a l-value:
+ * \code
+ * // in-out argument:
+ * void foo1(Ref<VectorXf> x);
+ *
+ * // read-only const argument:
+ * void foo2(const Ref<const VectorXf>& x);
+ * \endcode
+ *
+ * In the in-out case, the input argument must satisfy the constraints of the actual Ref<> type, otherwise a compilation issue will be triggered.
+ * By default, a Ref<VectorXf> can reference any dense vector expression of float having a contiguous memory layout.
+ * Likewise, a Ref<MatrixXf> can reference any column-major dense matrix expression of float whose column's elements are contiguously stored with
+ * the possibility to have a constant space in-between each column, i.e. the inner stride must be equal to 1, but the outer stride (or leading dimension)
+ * can be greater than the number of rows.
+ *
+ * In the const case, if the input expression does not match the above requirement, then it is evaluated into a temporary before being passed to the function.
+ * Here are some examples:
+ * \code
+ * MatrixXf A;
+ * VectorXf a;
+ * foo1(a.head()); // OK
+ * foo1(A.col()); // OK
+ * foo1(A.row()); // Compilation error because here innerstride!=1
+ * foo2(A.row()); // Compilation error because A.row() is a 1xN object while foo2 is expecting a Nx1 object
+ * foo2(A.row().transpose()); // The row is copied into a contiguous temporary
+ * foo2(2*a); // The expression is evaluated into a temporary
+ * foo2(A.col().segment(2,4)); // No temporary
+ * \endcode
+ *
+ * The range of inputs that can be referenced without temporary can be enlarged using the last two template parameters.
+ * Here is an example accepting an innerstride!=1:
+ * \code
+ * // in-out argument:
+ * void foo3(Ref<VectorXf,0,InnerStride<> > x);
+ * foo3(A.row()); // OK
+ * \endcode
+ * The downside here is that the function foo3 might be significantly slower than foo1 because it won't be able to exploit vectorization, and will involve more
+ * expensive address computations even if the input is contiguously stored in memory. To overcome this issue, one might propose to overload internally calling a
+ * template function, e.g.:
+ * \code
+ * // in the .h:
+ * void foo(const Ref<MatrixXf>& A);
+ * void foo(const Ref<MatrixXf,0,Stride<> >& A);
+ *
+ * // in the .cpp:
+ * template<typename TypeOfA> void foo_impl(const TypeOfA& A) {
+ * ... // crazy code goes here
+ * }
+ * void foo(const Ref<MatrixXf>& A) { foo_impl(A); }
+ * void foo(const Ref<MatrixXf,0,Stride<> >& A) { foo_impl(A); }
+ * \endcode
+ *
+ *
+ * \sa PlainObjectBase::Map(), \ref TopicStorageOrders
+ */
+template<typename PlainObjectType, int Options, typename StrideType> class Ref
+ : public RefBase<Ref<PlainObjectType, Options, StrideType> >
+{
+ private:
+ typedef internal::traits<Ref> Traits;
+ template<typename Derived>
+ EIGEN_DEVICE_FUNC inline Ref(const PlainObjectBase<Derived>& expr,
+ typename internal::enable_if<bool(Traits::template match<Derived>::MatchAtCompileTime),Derived>::type* = 0);
+ public:
+
+ typedef RefBase<Ref> Base;
+ EIGEN_DENSE_PUBLIC_INTERFACE(Ref)
+
+
+ #ifndef EIGEN_PARSED_BY_DOXYGEN
+ template<typename Derived>
+ EIGEN_DEVICE_FUNC inline Ref(PlainObjectBase<Derived>& expr,
+ typename internal::enable_if<bool(Traits::template match<Derived>::MatchAtCompileTime),Derived>::type* = 0)
+ {
+ EIGEN_STATIC_ASSERT(bool(Traits::template match<Derived>::MatchAtCompileTime), STORAGE_LAYOUT_DOES_NOT_MATCH);
+ Base::construct(expr.derived());
+ }
+ template<typename Derived>
+ EIGEN_DEVICE_FUNC inline Ref(const DenseBase<Derived>& expr,
+ typename internal::enable_if<bool(Traits::template match<Derived>::MatchAtCompileTime),Derived>::type* = 0)
+ #else
+ /** Implicit constructor from any dense expression */
+ template<typename Derived>
+ inline Ref(DenseBase<Derived>& expr)
+ #endif
+ {
+ EIGEN_STATIC_ASSERT(bool(internal::is_lvalue<Derived>::value), THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY);
+ EIGEN_STATIC_ASSERT(bool(Traits::template match<Derived>::MatchAtCompileTime), STORAGE_LAYOUT_DOES_NOT_MATCH);
+ EIGEN_STATIC_ASSERT(!Derived::IsPlainObjectBase,THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY);
+ Base::construct(expr.const_cast_derived());
+ }
+
+ EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Ref)
+
+};
+
+// this is the const ref version
+template<typename TPlainObjectType, int Options, typename StrideType> class Ref<const TPlainObjectType, Options, StrideType>
+ : public RefBase<Ref<const TPlainObjectType, Options, StrideType> >
+{
+ typedef internal::traits<Ref> Traits;
+ public:
+
+ typedef RefBase<Ref> Base;
+ EIGEN_DENSE_PUBLIC_INTERFACE(Ref)
+
+ template<typename Derived>
+ EIGEN_DEVICE_FUNC inline Ref(const DenseBase<Derived>& expr,
+ typename internal::enable_if<bool(Traits::template match<Derived>::ScalarTypeMatch),Derived>::type* = 0)
+ {
+// std::cout << match_helper<Derived>::HasDirectAccess << "," << match_helper<Derived>::OuterStrideMatch << "," << match_helper<Derived>::InnerStrideMatch << "\n";
+// std::cout << int(StrideType::OuterStrideAtCompileTime) << " - " << int(Derived::OuterStrideAtCompileTime) << "\n";
+// std::cout << int(StrideType::InnerStrideAtCompileTime) << " - " << int(Derived::InnerStrideAtCompileTime) << "\n";
+ construct(expr.derived(), typename Traits::template match<Derived>::type());
+ }
+
+ EIGEN_DEVICE_FUNC inline Ref(const Ref& other) : Base(other) {
+ // copy constructor shall not copy the m_object, to avoid unnecessary malloc and copy
+ }
+
+ template<typename OtherRef>
+ EIGEN_DEVICE_FUNC inline Ref(const RefBase<OtherRef>& other) {
+ construct(other.derived(), typename Traits::template match<OtherRef>::type());
+ }
+
+ protected:
+
+ template<typename Expression>
+ EIGEN_DEVICE_FUNC void construct(const Expression& expr,internal::true_type)
+ {
+ Base::construct(expr);
+ }
+
+ template<typename Expression>
+ EIGEN_DEVICE_FUNC void construct(const Expression& expr, internal::false_type)
+ {
+ internal::call_assignment_no_alias(m_object,expr,internal::assign_op<Scalar,Scalar>());
+ Base::construct(m_object);
+ }
+
+ protected:
+ TPlainObjectType m_object;
+};
+
+} // end namespace Eigen
+
+#endif // EIGEN_REF_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Replicate.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Replicate.h
new file mode 100644
index 0000000..9960ef8
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Replicate.h
@@ -0,0 +1,142 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_REPLICATE_H
+#define EIGEN_REPLICATE_H
+
+namespace Eigen {
+
+namespace internal {
+template<typename MatrixType,int RowFactor,int ColFactor>
+struct traits<Replicate<MatrixType,RowFactor,ColFactor> >
+ : traits<MatrixType>
+{
+ typedef typename MatrixType::Scalar Scalar;
+ typedef typename traits<MatrixType>::StorageKind StorageKind;
+ typedef typename traits<MatrixType>::XprKind XprKind;
+ typedef typename ref_selector<MatrixType>::type MatrixTypeNested;
+ typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
+ enum {
+ RowsAtCompileTime = RowFactor==Dynamic || int(MatrixType::RowsAtCompileTime)==Dynamic
+ ? Dynamic
+ : RowFactor * MatrixType::RowsAtCompileTime,
+ ColsAtCompileTime = ColFactor==Dynamic || int(MatrixType::ColsAtCompileTime)==Dynamic
+ ? Dynamic
+ : ColFactor * MatrixType::ColsAtCompileTime,
+ //FIXME we don't propagate the max sizes !!!
+ MaxRowsAtCompileTime = RowsAtCompileTime,
+ MaxColsAtCompileTime = ColsAtCompileTime,
+ IsRowMajor = MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1 ? 1
+ : MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1 ? 0
+ : (MatrixType::Flags & RowMajorBit) ? 1 : 0,
+
+ // FIXME enable DirectAccess with negative strides?
+ Flags = IsRowMajor ? RowMajorBit : 0
+ };
+};
+}
+
+/**
+ * \class Replicate
+ * \ingroup Core_Module
+ *
+ * \brief Expression of the multiple replication of a matrix or vector
+ *
+ * \tparam MatrixType the type of the object we are replicating
+ * \tparam RowFactor number of repetitions at compile time along the vertical direction, can be Dynamic.
+ * \tparam ColFactor number of repetitions at compile time along the horizontal direction, can be Dynamic.
+ *
+ * This class represents an expression of the multiple replication of a matrix or vector.
+ * It is the return type of DenseBase::replicate() and most of the time
+ * this is the only way it is used.
+ *
+ * \sa DenseBase::replicate()
+ */
+template<typename MatrixType,int RowFactor,int ColFactor> class Replicate
+ : public internal::dense_xpr_base< Replicate<MatrixType,RowFactor,ColFactor> >::type
+{
+ typedef typename internal::traits<Replicate>::MatrixTypeNested MatrixTypeNested;
+ typedef typename internal::traits<Replicate>::_MatrixTypeNested _MatrixTypeNested;
+ public:
+
+ typedef typename internal::dense_xpr_base<Replicate>::type Base;
+ EIGEN_DENSE_PUBLIC_INTERFACE(Replicate)
+ typedef typename internal::remove_all<MatrixType>::type NestedExpression;
+
+ template<typename OriginalMatrixType>
+ EIGEN_DEVICE_FUNC
+ inline explicit Replicate(const OriginalMatrixType& matrix)
+ : m_matrix(matrix), m_rowFactor(RowFactor), m_colFactor(ColFactor)
+ {
+ EIGEN_STATIC_ASSERT((internal::is_same<typename internal::remove_const<MatrixType>::type,OriginalMatrixType>::value),
+ THE_MATRIX_OR_EXPRESSION_THAT_YOU_PASSED_DOES_NOT_HAVE_THE_EXPECTED_TYPE)
+ eigen_assert(RowFactor!=Dynamic && ColFactor!=Dynamic);
+ }
+
+ template<typename OriginalMatrixType>
+ EIGEN_DEVICE_FUNC
+ inline Replicate(const OriginalMatrixType& matrix, Index rowFactor, Index colFactor)
+ : m_matrix(matrix), m_rowFactor(rowFactor), m_colFactor(colFactor)
+ {
+ EIGEN_STATIC_ASSERT((internal::is_same<typename internal::remove_const<MatrixType>::type,OriginalMatrixType>::value),
+ THE_MATRIX_OR_EXPRESSION_THAT_YOU_PASSED_DOES_NOT_HAVE_THE_EXPECTED_TYPE)
+ }
+
+ EIGEN_DEVICE_FUNC
+ inline Index rows() const { return m_matrix.rows() * m_rowFactor.value(); }
+ EIGEN_DEVICE_FUNC
+ inline Index cols() const { return m_matrix.cols() * m_colFactor.value(); }
+
+ EIGEN_DEVICE_FUNC
+ const _MatrixTypeNested& nestedExpression() const
+ {
+ return m_matrix;
+ }
+
+ protected:
+ MatrixTypeNested m_matrix;
+ const internal::variable_if_dynamic<Index, RowFactor> m_rowFactor;
+ const internal::variable_if_dynamic<Index, ColFactor> m_colFactor;
+};
+
+/**
+ * \return an expression of the replication of \c *this
+ *
+ * Example: \include MatrixBase_replicate.cpp
+ * Output: \verbinclude MatrixBase_replicate.out
+ *
+ * \sa VectorwiseOp::replicate(), DenseBase::replicate(Index,Index), class Replicate
+ */
+template<typename Derived>
+template<int RowFactor, int ColFactor>
+const Replicate<Derived,RowFactor,ColFactor>
+DenseBase<Derived>::replicate() const
+{
+ return Replicate<Derived,RowFactor,ColFactor>(derived());
+}
+
+/**
+ * \return an expression of the replication of each column (or row) of \c *this
+ *
+ * Example: \include DirectionWise_replicate_int.cpp
+ * Output: \verbinclude DirectionWise_replicate_int.out
+ *
+ * \sa VectorwiseOp::replicate(), DenseBase::replicate(), class Replicate
+ */
+template<typename ExpressionType, int Direction>
+const typename VectorwiseOp<ExpressionType,Direction>::ReplicateReturnType
+VectorwiseOp<ExpressionType,Direction>::replicate(Index factor) const
+{
+ return typename VectorwiseOp<ExpressionType,Direction>::ReplicateReturnType
+ (_expression(),Direction==Vertical?factor:1,Direction==Horizontal?factor:1);
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_REPLICATE_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/ReturnByValue.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/ReturnByValue.h
new file mode 100644
index 0000000..c44b767
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/ReturnByValue.h
@@ -0,0 +1,117 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_RETURNBYVALUE_H
+#define EIGEN_RETURNBYVALUE_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<typename Derived>
+struct traits<ReturnByValue<Derived> >
+ : public traits<typename traits<Derived>::ReturnType>
+{
+ enum {
+ // We're disabling the DirectAccess because e.g. the constructor of
+ // the Block-with-DirectAccess expression requires to have a coeffRef method.
+ // Also, we don't want to have to implement the stride stuff.
+ Flags = (traits<typename traits<Derived>::ReturnType>::Flags
+ | EvalBeforeNestingBit) & ~DirectAccessBit
+ };
+};
+
+/* The ReturnByValue object doesn't even have a coeff() method.
+ * So the only way that nesting it in an expression can work, is by evaluating it into a plain matrix.
+ * So internal::nested always gives the plain return matrix type.
+ *
+ * FIXME: I don't understand why we need this specialization: isn't this taken care of by the EvalBeforeNestingBit ??
+ * Answer: EvalBeforeNestingBit should be deprecated since we have the evaluators
+ */
+template<typename Derived,int n,typename PlainObject>
+struct nested_eval<ReturnByValue<Derived>, n, PlainObject>
+{
+ typedef typename traits<Derived>::ReturnType type;
+};
+
+} // end namespace internal
+
+/** \class ReturnByValue
+ * \ingroup Core_Module
+ *
+ */
+template<typename Derived> class ReturnByValue
+ : public internal::dense_xpr_base< ReturnByValue<Derived> >::type, internal::no_assignment_operator
+{
+ public:
+ typedef typename internal::traits<Derived>::ReturnType ReturnType;
+
+ typedef typename internal::dense_xpr_base<ReturnByValue>::type Base;
+ EIGEN_DENSE_PUBLIC_INTERFACE(ReturnByValue)
+
+ template<typename Dest>
+ EIGEN_DEVICE_FUNC
+ inline void evalTo(Dest& dst) const
+ { static_cast<const Derived*>(this)->evalTo(dst); }
+ EIGEN_DEVICE_FUNC inline Index rows() const { return static_cast<const Derived*>(this)->rows(); }
+ EIGEN_DEVICE_FUNC inline Index cols() const { return static_cast<const Derived*>(this)->cols(); }
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+#define Unusable YOU_ARE_TRYING_TO_ACCESS_A_SINGLE_COEFFICIENT_IN_A_SPECIAL_EXPRESSION_WHERE_THAT_IS_NOT_ALLOWED_BECAUSE_THAT_WOULD_BE_INEFFICIENT
+ class Unusable{
+ Unusable(const Unusable&) {}
+ Unusable& operator=(const Unusable&) {return *this;}
+ };
+ const Unusable& coeff(Index) const { return *reinterpret_cast<const Unusable*>(this); }
+ const Unusable& coeff(Index,Index) const { return *reinterpret_cast<const Unusable*>(this); }
+ Unusable& coeffRef(Index) { return *reinterpret_cast<Unusable*>(this); }
+ Unusable& coeffRef(Index,Index) { return *reinterpret_cast<Unusable*>(this); }
+#undef Unusable
+#endif
+};
+
+template<typename Derived>
+template<typename OtherDerived>
+Derived& DenseBase<Derived>::operator=(const ReturnByValue<OtherDerived>& other)
+{
+ other.evalTo(derived());
+ return derived();
+}
+
+namespace internal {
+
+// Expression is evaluated in a temporary; default implementation of Assignment is bypassed so that
+// when a ReturnByValue expression is assigned, the evaluator is not constructed.
+// TODO: Finalize port to new regime; ReturnByValue should not exist in the expression world
+
+template<typename Derived>
+struct evaluator<ReturnByValue<Derived> >
+ : public evaluator<typename internal::traits<Derived>::ReturnType>
+{
+ typedef ReturnByValue<Derived> XprType;
+ typedef typename internal::traits<Derived>::ReturnType PlainObject;
+ typedef evaluator<PlainObject> Base;
+
+ EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr)
+ : m_result(xpr.rows(), xpr.cols())
+ {
+ ::new (static_cast<Base*>(this)) Base(m_result);
+ xpr.evalTo(m_result);
+ }
+
+protected:
+ PlainObject m_result;
+};
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_RETURNBYVALUE_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Reverse.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Reverse.h
new file mode 100644
index 0000000..0640cda
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Reverse.h
@@ -0,0 +1,211 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2009 Ricard Marxer <email@ricardmarxer.com>
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_REVERSE_H
+#define EIGEN_REVERSE_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<typename MatrixType, int Direction>
+struct traits<Reverse<MatrixType, Direction> >
+ : traits<MatrixType>
+{
+ typedef typename MatrixType::Scalar Scalar;
+ typedef typename traits<MatrixType>::StorageKind StorageKind;
+ typedef typename traits<MatrixType>::XprKind XprKind;
+ typedef typename ref_selector<MatrixType>::type MatrixTypeNested;
+ typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
+ enum {
+ RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+ ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+ MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+ MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
+ Flags = _MatrixTypeNested::Flags & (RowMajorBit | LvalueBit)
+ };
+};
+
+template<typename PacketType, bool ReversePacket> struct reverse_packet_cond
+{
+ static inline PacketType run(const PacketType& x) { return preverse(x); }
+};
+
+template<typename PacketType> struct reverse_packet_cond<PacketType,false>
+{
+ static inline PacketType run(const PacketType& x) { return x; }
+};
+
+} // end namespace internal
+
+/** \class Reverse
+ * \ingroup Core_Module
+ *
+ * \brief Expression of the reverse of a vector or matrix
+ *
+ * \tparam MatrixType the type of the object of which we are taking the reverse
+ * \tparam Direction defines the direction of the reverse operation, can be Vertical, Horizontal, or BothDirections
+ *
+ * This class represents an expression of the reverse of a vector.
+ * It is the return type of MatrixBase::reverse() and VectorwiseOp::reverse()
+ * and most of the time this is the only way it is used.
+ *
+ * \sa MatrixBase::reverse(), VectorwiseOp::reverse()
+ */
+template<typename MatrixType, int Direction> class Reverse
+ : public internal::dense_xpr_base< Reverse<MatrixType, Direction> >::type
+{
+ public:
+
+ typedef typename internal::dense_xpr_base<Reverse>::type Base;
+ EIGEN_DENSE_PUBLIC_INTERFACE(Reverse)
+ typedef typename internal::remove_all<MatrixType>::type NestedExpression;
+ using Base::IsRowMajor;
+
+ protected:
+ enum {
+ PacketSize = internal::packet_traits<Scalar>::size,
+ IsColMajor = !IsRowMajor,
+ ReverseRow = (Direction == Vertical) || (Direction == BothDirections),
+ ReverseCol = (Direction == Horizontal) || (Direction == BothDirections),
+ OffsetRow = ReverseRow && IsColMajor ? PacketSize : 1,
+ OffsetCol = ReverseCol && IsRowMajor ? PacketSize : 1,
+ ReversePacket = (Direction == BothDirections)
+ || ((Direction == Vertical) && IsColMajor)
+ || ((Direction == Horizontal) && IsRowMajor)
+ };
+ typedef internal::reverse_packet_cond<PacketScalar,ReversePacket> reverse_packet;
+ public:
+
+ EIGEN_DEVICE_FUNC explicit inline Reverse(const MatrixType& matrix) : m_matrix(matrix) { }
+
+ EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Reverse)
+
+ EIGEN_DEVICE_FUNC inline Index rows() const { return m_matrix.rows(); }
+ EIGEN_DEVICE_FUNC inline Index cols() const { return m_matrix.cols(); }
+
+ EIGEN_DEVICE_FUNC inline Index innerStride() const
+ {
+ return -m_matrix.innerStride();
+ }
+
+ EIGEN_DEVICE_FUNC const typename internal::remove_all<typename MatrixType::Nested>::type&
+ nestedExpression() const
+ {
+ return m_matrix;
+ }
+
+ protected:
+ typename MatrixType::Nested m_matrix;
+};
+
+/** \returns an expression of the reverse of *this.
+ *
+ * Example: \include MatrixBase_reverse.cpp
+ * Output: \verbinclude MatrixBase_reverse.out
+ *
+ */
+template<typename Derived>
+inline typename DenseBase<Derived>::ReverseReturnType
+DenseBase<Derived>::reverse()
+{
+ return ReverseReturnType(derived());
+}
+
+
+//reverse const overload moved DenseBase.h due to a CUDA compiler bug
+
+/** This is the "in place" version of reverse: it reverses \c *this.
+ *
+ * In most cases it is probably better to simply use the reversed expression
+ * of a matrix. However, when reversing the matrix data itself is really needed,
+ * then this "in-place" version is probably the right choice because it provides
+ * the following additional benefits:
+ * - less error prone: doing the same operation with .reverse() requires special care:
+ * \code m = m.reverse().eval(); \endcode
+ * - this API enables reverse operations without the need for a temporary
+ * - it allows future optimizations (cache friendliness, etc.)
+ *
+ * \sa VectorwiseOp::reverseInPlace(), reverse() */
+template<typename Derived>
+inline void DenseBase<Derived>::reverseInPlace()
+{
+ if(cols()>rows())
+ {
+ Index half = cols()/2;
+ leftCols(half).swap(rightCols(half).reverse());
+ if((cols()%2)==1)
+ {
+ Index half2 = rows()/2;
+ col(half).head(half2).swap(col(half).tail(half2).reverse());
+ }
+ }
+ else
+ {
+ Index half = rows()/2;
+ topRows(half).swap(bottomRows(half).reverse());
+ if((rows()%2)==1)
+ {
+ Index half2 = cols()/2;
+ row(half).head(half2).swap(row(half).tail(half2).reverse());
+ }
+ }
+}
+
+namespace internal {
+
+template<int Direction>
+struct vectorwise_reverse_inplace_impl;
+
+template<>
+struct vectorwise_reverse_inplace_impl<Vertical>
+{
+ template<typename ExpressionType>
+ static void run(ExpressionType &xpr)
+ {
+ Index half = xpr.rows()/2;
+ xpr.topRows(half).swap(xpr.bottomRows(half).colwise().reverse());
+ }
+};
+
+template<>
+struct vectorwise_reverse_inplace_impl<Horizontal>
+{
+ template<typename ExpressionType>
+ static void run(ExpressionType &xpr)
+ {
+ Index half = xpr.cols()/2;
+ xpr.leftCols(half).swap(xpr.rightCols(half).rowwise().reverse());
+ }
+};
+
+} // end namespace internal
+
+/** This is the "in place" version of VectorwiseOp::reverse: it reverses each column or row of \c *this.
+ *
+ * In most cases it is probably better to simply use the reversed expression
+ * of a matrix. However, when reversing the matrix data itself is really needed,
+ * then this "in-place" version is probably the right choice because it provides
+ * the following additional benefits:
+ * - less error prone: doing the same operation with .reverse() requires special care:
+ * \code m = m.reverse().eval(); \endcode
+ * - this API enables reverse operations without the need for a temporary
+ *
+ * \sa DenseBase::reverseInPlace(), reverse() */
+template<typename ExpressionType, int Direction>
+void VectorwiseOp<ExpressionType,Direction>::reverseInPlace()
+{
+ internal::vectorwise_reverse_inplace_impl<Direction>::run(_expression().const_cast_derived());
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_REVERSE_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Select.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Select.h
new file mode 100644
index 0000000..79eec1b
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Select.h
@@ -0,0 +1,162 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_SELECT_H
+#define EIGEN_SELECT_H
+
+namespace Eigen {
+
+/** \class Select
+ * \ingroup Core_Module
+ *
+ * \brief Expression of a coefficient wise version of the C++ ternary operator ?:
+ *
+ * \param ConditionMatrixType the type of the \em condition expression which must be a boolean matrix
+ * \param ThenMatrixType the type of the \em then expression
+ * \param ElseMatrixType the type of the \em else expression
+ *
+ * This class represents an expression of a coefficient wise version of the C++ ternary operator ?:.
+ * It is the return type of DenseBase::select() and most of the time this is the only way it is used.
+ *
+ * \sa DenseBase::select(const DenseBase<ThenDerived>&, const DenseBase<ElseDerived>&) const
+ */
+
+namespace internal {
+template<typename ConditionMatrixType, typename ThenMatrixType, typename ElseMatrixType>
+struct traits<Select<ConditionMatrixType, ThenMatrixType, ElseMatrixType> >
+ : traits<ThenMatrixType>
+{
+ typedef typename traits<ThenMatrixType>::Scalar Scalar;
+ typedef Dense StorageKind;
+ typedef typename traits<ThenMatrixType>::XprKind XprKind;
+ typedef typename ConditionMatrixType::Nested ConditionMatrixNested;
+ typedef typename ThenMatrixType::Nested ThenMatrixNested;
+ typedef typename ElseMatrixType::Nested ElseMatrixNested;
+ enum {
+ RowsAtCompileTime = ConditionMatrixType::RowsAtCompileTime,
+ ColsAtCompileTime = ConditionMatrixType::ColsAtCompileTime,
+ MaxRowsAtCompileTime = ConditionMatrixType::MaxRowsAtCompileTime,
+ MaxColsAtCompileTime = ConditionMatrixType::MaxColsAtCompileTime,
+ Flags = (unsigned int)ThenMatrixType::Flags & ElseMatrixType::Flags & RowMajorBit
+ };
+};
+}
+
+template<typename ConditionMatrixType, typename ThenMatrixType, typename ElseMatrixType>
+class Select : public internal::dense_xpr_base< Select<ConditionMatrixType, ThenMatrixType, ElseMatrixType> >::type,
+ internal::no_assignment_operator
+{
+ public:
+
+ typedef typename internal::dense_xpr_base<Select>::type Base;
+ EIGEN_DENSE_PUBLIC_INTERFACE(Select)
+
+ inline EIGEN_DEVICE_FUNC
+ Select(const ConditionMatrixType& a_conditionMatrix,
+ const ThenMatrixType& a_thenMatrix,
+ const ElseMatrixType& a_elseMatrix)
+ : m_condition(a_conditionMatrix), m_then(a_thenMatrix), m_else(a_elseMatrix)
+ {
+ eigen_assert(m_condition.rows() == m_then.rows() && m_condition.rows() == m_else.rows());
+ eigen_assert(m_condition.cols() == m_then.cols() && m_condition.cols() == m_else.cols());
+ }
+
+ inline EIGEN_DEVICE_FUNC Index rows() const { return m_condition.rows(); }
+ inline EIGEN_DEVICE_FUNC Index cols() const { return m_condition.cols(); }
+
+ inline EIGEN_DEVICE_FUNC
+ const Scalar coeff(Index i, Index j) const
+ {
+ if (m_condition.coeff(i,j))
+ return m_then.coeff(i,j);
+ else
+ return m_else.coeff(i,j);
+ }
+
+ inline EIGEN_DEVICE_FUNC
+ const Scalar coeff(Index i) const
+ {
+ if (m_condition.coeff(i))
+ return m_then.coeff(i);
+ else
+ return m_else.coeff(i);
+ }
+
+ inline EIGEN_DEVICE_FUNC const ConditionMatrixType& conditionMatrix() const
+ {
+ return m_condition;
+ }
+
+ inline EIGEN_DEVICE_FUNC const ThenMatrixType& thenMatrix() const
+ {
+ return m_then;
+ }
+
+ inline EIGEN_DEVICE_FUNC const ElseMatrixType& elseMatrix() const
+ {
+ return m_else;
+ }
+
+ protected:
+ typename ConditionMatrixType::Nested m_condition;
+ typename ThenMatrixType::Nested m_then;
+ typename ElseMatrixType::Nested m_else;
+};
+
+
+/** \returns a matrix where each coefficient (i,j) is equal to \a thenMatrix(i,j)
+ * if \c *this(i,j), and \a elseMatrix(i,j) otherwise.
+ *
+ * Example: \include MatrixBase_select.cpp
+ * Output: \verbinclude MatrixBase_select.out
+ *
+ * \sa class Select
+ */
+template<typename Derived>
+template<typename ThenDerived,typename ElseDerived>
+inline const Select<Derived,ThenDerived,ElseDerived>
+DenseBase<Derived>::select(const DenseBase<ThenDerived>& thenMatrix,
+ const DenseBase<ElseDerived>& elseMatrix) const
+{
+ return Select<Derived,ThenDerived,ElseDerived>(derived(), thenMatrix.derived(), elseMatrix.derived());
+}
+
+/** Version of DenseBase::select(const DenseBase&, const DenseBase&) with
+ * the \em else expression being a scalar value.
+ *
+ * \sa DenseBase::select(const DenseBase<ThenDerived>&, const DenseBase<ElseDerived>&) const, class Select
+ */
+template<typename Derived>
+template<typename ThenDerived>
+inline const Select<Derived,ThenDerived, typename ThenDerived::ConstantReturnType>
+DenseBase<Derived>::select(const DenseBase<ThenDerived>& thenMatrix,
+ const typename ThenDerived::Scalar& elseScalar) const
+{
+ return Select<Derived,ThenDerived,typename ThenDerived::ConstantReturnType>(
+ derived(), thenMatrix.derived(), ThenDerived::Constant(rows(),cols(),elseScalar));
+}
+
+/** Version of DenseBase::select(const DenseBase&, const DenseBase&) with
+ * the \em then expression being a scalar value.
+ *
+ * \sa DenseBase::select(const DenseBase<ThenDerived>&, const DenseBase<ElseDerived>&) const, class Select
+ */
+template<typename Derived>
+template<typename ElseDerived>
+inline const Select<Derived, typename ElseDerived::ConstantReturnType, ElseDerived >
+DenseBase<Derived>::select(const typename ElseDerived::Scalar& thenScalar,
+ const DenseBase<ElseDerived>& elseMatrix) const
+{
+ return Select<Derived,typename ElseDerived::ConstantReturnType,ElseDerived>(
+ derived(), ElseDerived::Constant(rows(),cols(),thenScalar), elseMatrix.derived());
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_SELECT_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/SelfAdjointView.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/SelfAdjointView.h
new file mode 100644
index 0000000..b2e51f3
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/SelfAdjointView.h
@@ -0,0 +1,352 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_SELFADJOINTMATRIX_H
+#define EIGEN_SELFADJOINTMATRIX_H
+
+namespace Eigen {
+
+/** \class SelfAdjointView
+ * \ingroup Core_Module
+ *
+ *
+ * \brief Expression of a selfadjoint matrix from a triangular part of a dense matrix
+ *
+ * \param MatrixType the type of the dense matrix storing the coefficients
+ * \param TriangularPart can be either \c #Lower or \c #Upper
+ *
+ * This class is an expression of a sefladjoint matrix from a triangular part of a matrix
+ * with given dense storage of the coefficients. It is the return type of MatrixBase::selfadjointView()
+ * and most of the time this is the only way that it is used.
+ *
+ * \sa class TriangularBase, MatrixBase::selfadjointView()
+ */
+
+namespace internal {
+template<typename MatrixType, unsigned int UpLo>
+struct traits<SelfAdjointView<MatrixType, UpLo> > : traits<MatrixType>
+{
+ typedef typename ref_selector<MatrixType>::non_const_type MatrixTypeNested;
+ typedef typename remove_all<MatrixTypeNested>::type MatrixTypeNestedCleaned;
+ typedef MatrixType ExpressionType;
+ typedef typename MatrixType::PlainObject FullMatrixType;
+ enum {
+ Mode = UpLo | SelfAdjoint,
+ FlagsLvalueBit = is_lvalue<MatrixType>::value ? LvalueBit : 0,
+ Flags = MatrixTypeNestedCleaned::Flags & (HereditaryBits|FlagsLvalueBit)
+ & (~(PacketAccessBit | DirectAccessBit | LinearAccessBit)) // FIXME these flags should be preserved
+ };
+};
+}
+
+
+template<typename _MatrixType, unsigned int UpLo> class SelfAdjointView
+ : public TriangularBase<SelfAdjointView<_MatrixType, UpLo> >
+{
+ public:
+
+ typedef _MatrixType MatrixType;
+ typedef TriangularBase<SelfAdjointView> Base;
+ typedef typename internal::traits<SelfAdjointView>::MatrixTypeNested MatrixTypeNested;
+ typedef typename internal::traits<SelfAdjointView>::MatrixTypeNestedCleaned MatrixTypeNestedCleaned;
+ typedef MatrixTypeNestedCleaned NestedExpression;
+
+ /** \brief The type of coefficients in this matrix */
+ typedef typename internal::traits<SelfAdjointView>::Scalar Scalar;
+ typedef typename MatrixType::StorageIndex StorageIndex;
+ typedef typename internal::remove_all<typename MatrixType::ConjugateReturnType>::type MatrixConjugateReturnType;
+
+ enum {
+ Mode = internal::traits<SelfAdjointView>::Mode,
+ Flags = internal::traits<SelfAdjointView>::Flags,
+ TransposeMode = ((Mode & Upper) ? Lower : 0) | ((Mode & Lower) ? Upper : 0)
+ };
+ typedef typename MatrixType::PlainObject PlainObject;
+
+ EIGEN_DEVICE_FUNC
+ explicit inline SelfAdjointView(MatrixType& matrix) : m_matrix(matrix)
+ {
+ EIGEN_STATIC_ASSERT(UpLo==Lower || UpLo==Upper,SELFADJOINTVIEW_ACCEPTS_UPPER_AND_LOWER_MODE_ONLY);
+ }
+
+ EIGEN_DEVICE_FUNC
+ inline Index rows() const { return m_matrix.rows(); }
+ EIGEN_DEVICE_FUNC
+ inline Index cols() const { return m_matrix.cols(); }
+ EIGEN_DEVICE_FUNC
+ inline Index outerStride() const { return m_matrix.outerStride(); }
+ EIGEN_DEVICE_FUNC
+ inline Index innerStride() const { return m_matrix.innerStride(); }
+
+ /** \sa MatrixBase::coeff()
+ * \warning the coordinates must fit into the referenced triangular part
+ */
+ EIGEN_DEVICE_FUNC
+ inline Scalar coeff(Index row, Index col) const
+ {
+ Base::check_coordinates_internal(row, col);
+ return m_matrix.coeff(row, col);
+ }
+
+ /** \sa MatrixBase::coeffRef()
+ * \warning the coordinates must fit into the referenced triangular part
+ */
+ EIGEN_DEVICE_FUNC
+ inline Scalar& coeffRef(Index row, Index col)
+ {
+ EIGEN_STATIC_ASSERT_LVALUE(SelfAdjointView);
+ Base::check_coordinates_internal(row, col);
+ return m_matrix.coeffRef(row, col);
+ }
+
+ /** \internal */
+ EIGEN_DEVICE_FUNC
+ const MatrixTypeNestedCleaned& _expression() const { return m_matrix; }
+
+ EIGEN_DEVICE_FUNC
+ const MatrixTypeNestedCleaned& nestedExpression() const { return m_matrix; }
+ EIGEN_DEVICE_FUNC
+ MatrixTypeNestedCleaned& nestedExpression() { return m_matrix; }
+
+ /** Efficient triangular matrix times vector/matrix product */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ const Product<SelfAdjointView,OtherDerived>
+ operator*(const MatrixBase<OtherDerived>& rhs) const
+ {
+ return Product<SelfAdjointView,OtherDerived>(*this, rhs.derived());
+ }
+
+ /** Efficient vector/matrix times triangular matrix product */
+ template<typename OtherDerived> friend
+ EIGEN_DEVICE_FUNC
+ const Product<OtherDerived,SelfAdjointView>
+ operator*(const MatrixBase<OtherDerived>& lhs, const SelfAdjointView& rhs)
+ {
+ return Product<OtherDerived,SelfAdjointView>(lhs.derived(),rhs);
+ }
+
+ friend EIGEN_DEVICE_FUNC
+ const SelfAdjointView<const EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar,MatrixType,product),UpLo>
+ operator*(const Scalar& s, const SelfAdjointView& mat)
+ {
+ return (s*mat.nestedExpression()).template selfadjointView<UpLo>();
+ }
+
+ /** Perform a symmetric rank 2 update of the selfadjoint matrix \c *this:
+ * \f$ this = this + \alpha u v^* + conj(\alpha) v u^* \f$
+ * \returns a reference to \c *this
+ *
+ * The vectors \a u and \c v \b must be column vectors, however they can be
+ * a adjoint expression without any overhead. Only the meaningful triangular
+ * part of the matrix is updated, the rest is left unchanged.
+ *
+ * \sa rankUpdate(const MatrixBase<DerivedU>&, Scalar)
+ */
+ template<typename DerivedU, typename DerivedV>
+ EIGEN_DEVICE_FUNC
+ SelfAdjointView& rankUpdate(const MatrixBase<DerivedU>& u, const MatrixBase<DerivedV>& v, const Scalar& alpha = Scalar(1));
+
+ /** Perform a symmetric rank K update of the selfadjoint matrix \c *this:
+ * \f$ this = this + \alpha ( u u^* ) \f$ where \a u is a vector or matrix.
+ *
+ * \returns a reference to \c *this
+ *
+ * Note that to perform \f$ this = this + \alpha ( u^* u ) \f$ you can simply
+ * call this function with u.adjoint().
+ *
+ * \sa rankUpdate(const MatrixBase<DerivedU>&, const MatrixBase<DerivedV>&, Scalar)
+ */
+ template<typename DerivedU>
+ EIGEN_DEVICE_FUNC
+ SelfAdjointView& rankUpdate(const MatrixBase<DerivedU>& u, const Scalar& alpha = Scalar(1));
+
+ /** \returns an expression of a triangular view extracted from the current selfadjoint view of a given triangular part
+ *
+ * The parameter \a TriMode can have the following values: \c #Upper, \c #StrictlyUpper, \c #UnitUpper,
+ * \c #Lower, \c #StrictlyLower, \c #UnitLower.
+ *
+ * If \c TriMode references the same triangular part than \c *this, then this method simply return a \c TriangularView of the nested expression,
+ * otherwise, the nested expression is first transposed, thus returning a \c TriangularView<Transpose<MatrixType>> object.
+ *
+ * \sa MatrixBase::triangularView(), class TriangularView
+ */
+ template<unsigned int TriMode>
+ EIGEN_DEVICE_FUNC
+ typename internal::conditional<(TriMode&(Upper|Lower))==(UpLo&(Upper|Lower)),
+ TriangularView<MatrixType,TriMode>,
+ TriangularView<typename MatrixType::AdjointReturnType,TriMode> >::type
+ triangularView() const
+ {
+ typename internal::conditional<(TriMode&(Upper|Lower))==(UpLo&(Upper|Lower)), MatrixType&, typename MatrixType::ConstTransposeReturnType>::type tmp1(m_matrix);
+ typename internal::conditional<(TriMode&(Upper|Lower))==(UpLo&(Upper|Lower)), MatrixType&, typename MatrixType::AdjointReturnType>::type tmp2(tmp1);
+ return typename internal::conditional<(TriMode&(Upper|Lower))==(UpLo&(Upper|Lower)),
+ TriangularView<MatrixType,TriMode>,
+ TriangularView<typename MatrixType::AdjointReturnType,TriMode> >::type(tmp2);
+ }
+
+ typedef SelfAdjointView<const MatrixConjugateReturnType,UpLo> ConjugateReturnType;
+ /** \sa MatrixBase::conjugate() const */
+ EIGEN_DEVICE_FUNC
+ inline const ConjugateReturnType conjugate() const
+ { return ConjugateReturnType(m_matrix.conjugate()); }
+
+ typedef SelfAdjointView<const typename MatrixType::AdjointReturnType,TransposeMode> AdjointReturnType;
+ /** \sa MatrixBase::adjoint() const */
+ EIGEN_DEVICE_FUNC
+ inline const AdjointReturnType adjoint() const
+ { return AdjointReturnType(m_matrix.adjoint()); }
+
+ typedef SelfAdjointView<typename MatrixType::TransposeReturnType,TransposeMode> TransposeReturnType;
+ /** \sa MatrixBase::transpose() */
+ EIGEN_DEVICE_FUNC
+ inline TransposeReturnType transpose()
+ {
+ EIGEN_STATIC_ASSERT_LVALUE(MatrixType)
+ typename MatrixType::TransposeReturnType tmp(m_matrix);
+ return TransposeReturnType(tmp);
+ }
+
+ typedef SelfAdjointView<const typename MatrixType::ConstTransposeReturnType,TransposeMode> ConstTransposeReturnType;
+ /** \sa MatrixBase::transpose() const */
+ EIGEN_DEVICE_FUNC
+ inline const ConstTransposeReturnType transpose() const
+ {
+ return ConstTransposeReturnType(m_matrix.transpose());
+ }
+
+ /** \returns a const expression of the main diagonal of the matrix \c *this
+ *
+ * This method simply returns the diagonal of the nested expression, thus by-passing the SelfAdjointView decorator.
+ *
+ * \sa MatrixBase::diagonal(), class Diagonal */
+ EIGEN_DEVICE_FUNC
+ typename MatrixType::ConstDiagonalReturnType diagonal() const
+ {
+ return typename MatrixType::ConstDiagonalReturnType(m_matrix);
+ }
+
+/////////// Cholesky module ///////////
+
+ const LLT<PlainObject, UpLo> llt() const;
+ const LDLT<PlainObject, UpLo> ldlt() const;
+
+/////////// Eigenvalue module ///////////
+
+ /** Real part of #Scalar */
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ /** Return type of eigenvalues() */
+ typedef Matrix<RealScalar, internal::traits<MatrixType>::ColsAtCompileTime, 1> EigenvaluesReturnType;
+
+ EIGEN_DEVICE_FUNC
+ EigenvaluesReturnType eigenvalues() const;
+ EIGEN_DEVICE_FUNC
+ RealScalar operatorNorm() const;
+
+ protected:
+ MatrixTypeNested m_matrix;
+};
+
+
+// template<typename OtherDerived, typename MatrixType, unsigned int UpLo>
+// internal::selfadjoint_matrix_product_returntype<OtherDerived,SelfAdjointView<MatrixType,UpLo> >
+// operator*(const MatrixBase<OtherDerived>& lhs, const SelfAdjointView<MatrixType,UpLo>& rhs)
+// {
+// return internal::matrix_selfadjoint_product_returntype<OtherDerived,SelfAdjointView<MatrixType,UpLo> >(lhs.derived(),rhs);
+// }
+
+// selfadjoint to dense matrix
+
+namespace internal {
+
+// TODO currently a selfadjoint expression has the form SelfAdjointView<.,.>
+// in the future selfadjoint-ness should be defined by the expression traits
+// such that Transpose<SelfAdjointView<.,.> > is valid. (currently TriangularBase::transpose() is overloaded to make it work)
+template<typename MatrixType, unsigned int Mode>
+struct evaluator_traits<SelfAdjointView<MatrixType,Mode> >
+{
+ typedef typename storage_kind_to_evaluator_kind<typename MatrixType::StorageKind>::Kind Kind;
+ typedef SelfAdjointShape Shape;
+};
+
+template<int UpLo, int SetOpposite, typename DstEvaluatorTypeT, typename SrcEvaluatorTypeT, typename Functor, int Version>
+class triangular_dense_assignment_kernel<UpLo,SelfAdjoint,SetOpposite,DstEvaluatorTypeT,SrcEvaluatorTypeT,Functor,Version>
+ : public generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, Version>
+{
+protected:
+ typedef generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, Version> Base;
+ typedef typename Base::DstXprType DstXprType;
+ typedef typename Base::SrcXprType SrcXprType;
+ using Base::m_dst;
+ using Base::m_src;
+ using Base::m_functor;
+public:
+
+ typedef typename Base::DstEvaluatorType DstEvaluatorType;
+ typedef typename Base::SrcEvaluatorType SrcEvaluatorType;
+ typedef typename Base::Scalar Scalar;
+ typedef typename Base::AssignmentTraits AssignmentTraits;
+
+
+ EIGEN_DEVICE_FUNC triangular_dense_assignment_kernel(DstEvaluatorType &dst, const SrcEvaluatorType &src, const Functor &func, DstXprType& dstExpr)
+ : Base(dst, src, func, dstExpr)
+ {}
+
+ EIGEN_DEVICE_FUNC void assignCoeff(Index row, Index col)
+ {
+ eigen_internal_assert(row!=col);
+ Scalar tmp = m_src.coeff(row,col);
+ m_functor.assignCoeff(m_dst.coeffRef(row,col), tmp);
+ m_functor.assignCoeff(m_dst.coeffRef(col,row), numext::conj(tmp));
+ }
+
+ EIGEN_DEVICE_FUNC void assignDiagonalCoeff(Index id)
+ {
+ Base::assignCoeff(id,id);
+ }
+
+ EIGEN_DEVICE_FUNC void assignOppositeCoeff(Index, Index)
+ { eigen_internal_assert(false && "should never be called"); }
+};
+
+} // end namespace internal
+
+/***************************************************************************
+* Implementation of MatrixBase methods
+***************************************************************************/
+
+/** This is the const version of MatrixBase::selfadjointView() */
+template<typename Derived>
+template<unsigned int UpLo>
+typename MatrixBase<Derived>::template ConstSelfAdjointViewReturnType<UpLo>::Type
+MatrixBase<Derived>::selfadjointView() const
+{
+ return typename ConstSelfAdjointViewReturnType<UpLo>::Type(derived());
+}
+
+/** \returns an expression of a symmetric/self-adjoint view extracted from the upper or lower triangular part of the current matrix
+ *
+ * The parameter \a UpLo can be either \c #Upper or \c #Lower
+ *
+ * Example: \include MatrixBase_selfadjointView.cpp
+ * Output: \verbinclude MatrixBase_selfadjointView.out
+ *
+ * \sa class SelfAdjointView
+ */
+template<typename Derived>
+template<unsigned int UpLo>
+typename MatrixBase<Derived>::template SelfAdjointViewReturnType<UpLo>::Type
+MatrixBase<Derived>::selfadjointView()
+{
+ return typename SelfAdjointViewReturnType<UpLo>::Type(derived());
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_SELFADJOINTMATRIX_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/SelfCwiseBinaryOp.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/SelfCwiseBinaryOp.h
new file mode 100644
index 0000000..7c89c2e
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/SelfCwiseBinaryOp.h
@@ -0,0 +1,47 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_SELFCWISEBINARYOP_H
+#define EIGEN_SELFCWISEBINARYOP_H
+
+namespace Eigen {
+
+// TODO generalize the scalar type of 'other'
+
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::operator*=(const Scalar& other)
+{
+ internal::call_assignment(this->derived(), PlainObject::Constant(rows(),cols(),other), internal::mul_assign_op<Scalar,Scalar>());
+ return derived();
+}
+
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& ArrayBase<Derived>::operator+=(const Scalar& other)
+{
+ internal::call_assignment(this->derived(), PlainObject::Constant(rows(),cols(),other), internal::add_assign_op<Scalar,Scalar>());
+ return derived();
+}
+
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& ArrayBase<Derived>::operator-=(const Scalar& other)
+{
+ internal::call_assignment(this->derived(), PlainObject::Constant(rows(),cols(),other), internal::sub_assign_op<Scalar,Scalar>());
+ return derived();
+}
+
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::operator/=(const Scalar& other)
+{
+ internal::call_assignment(this->derived(), PlainObject::Constant(rows(),cols(),other), internal::div_assign_op<Scalar,Scalar>());
+ return derived();
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_SELFCWISEBINARYOP_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Solve.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Solve.h
new file mode 100644
index 0000000..a8daea5
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Solve.h
@@ -0,0 +1,188 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2014 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_SOLVE_H
+#define EIGEN_SOLVE_H
+
+namespace Eigen {
+
+template<typename Decomposition, typename RhsType, typename StorageKind> class SolveImpl;
+
+/** \class Solve
+ * \ingroup Core_Module
+ *
+ * \brief Pseudo expression representing a solving operation
+ *
+ * \tparam Decomposition the type of the matrix or decomposion object
+ * \tparam Rhstype the type of the right-hand side
+ *
+ * This class represents an expression of A.solve(B)
+ * and most of the time this is the only way it is used.
+ *
+ */
+namespace internal {
+
+// this solve_traits class permits to determine the evaluation type with respect to storage kind (Dense vs Sparse)
+template<typename Decomposition, typename RhsType,typename StorageKind> struct solve_traits;
+
+template<typename Decomposition, typename RhsType>
+struct solve_traits<Decomposition,RhsType,Dense>
+{
+ typedef typename make_proper_matrix_type<typename RhsType::Scalar,
+ Decomposition::ColsAtCompileTime,
+ RhsType::ColsAtCompileTime,
+ RhsType::PlainObject::Options,
+ Decomposition::MaxColsAtCompileTime,
+ RhsType::MaxColsAtCompileTime>::type PlainObject;
+};
+
+template<typename Decomposition, typename RhsType>
+struct traits<Solve<Decomposition, RhsType> >
+ : traits<typename solve_traits<Decomposition,RhsType,typename internal::traits<RhsType>::StorageKind>::PlainObject>
+{
+ typedef typename solve_traits<Decomposition,RhsType,typename internal::traits<RhsType>::StorageKind>::PlainObject PlainObject;
+ typedef typename promote_index_type<typename Decomposition::StorageIndex, typename RhsType::StorageIndex>::type StorageIndex;
+ typedef traits<PlainObject> BaseTraits;
+ enum {
+ Flags = BaseTraits::Flags & RowMajorBit,
+ CoeffReadCost = HugeCost
+ };
+};
+
+}
+
+
+template<typename Decomposition, typename RhsType>
+class Solve : public SolveImpl<Decomposition,RhsType,typename internal::traits<RhsType>::StorageKind>
+{
+public:
+ typedef typename internal::traits<Solve>::PlainObject PlainObject;
+ typedef typename internal::traits<Solve>::StorageIndex StorageIndex;
+
+ Solve(const Decomposition &dec, const RhsType &rhs)
+ : m_dec(dec), m_rhs(rhs)
+ {}
+
+ EIGEN_DEVICE_FUNC Index rows() const { return m_dec.cols(); }
+ EIGEN_DEVICE_FUNC Index cols() const { return m_rhs.cols(); }
+
+ EIGEN_DEVICE_FUNC const Decomposition& dec() const { return m_dec; }
+ EIGEN_DEVICE_FUNC const RhsType& rhs() const { return m_rhs; }
+
+protected:
+ const Decomposition &m_dec;
+ const RhsType &m_rhs;
+};
+
+
+// Specialization of the Solve expression for dense results
+template<typename Decomposition, typename RhsType>
+class SolveImpl<Decomposition,RhsType,Dense>
+ : public MatrixBase<Solve<Decomposition,RhsType> >
+{
+ typedef Solve<Decomposition,RhsType> Derived;
+
+public:
+
+ typedef MatrixBase<Solve<Decomposition,RhsType> > Base;
+ EIGEN_DENSE_PUBLIC_INTERFACE(Derived)
+
+private:
+
+ Scalar coeff(Index row, Index col) const;
+ Scalar coeff(Index i) const;
+};
+
+// Generic API dispatcher
+template<typename Decomposition, typename RhsType, typename StorageKind>
+class SolveImpl : public internal::generic_xpr_base<Solve<Decomposition,RhsType>, MatrixXpr, StorageKind>::type
+{
+ public:
+ typedef typename internal::generic_xpr_base<Solve<Decomposition,RhsType>, MatrixXpr, StorageKind>::type Base;
+};
+
+namespace internal {
+
+// Evaluator of Solve -> eval into a temporary
+template<typename Decomposition, typename RhsType>
+struct evaluator<Solve<Decomposition,RhsType> >
+ : public evaluator<typename Solve<Decomposition,RhsType>::PlainObject>
+{
+ typedef Solve<Decomposition,RhsType> SolveType;
+ typedef typename SolveType::PlainObject PlainObject;
+ typedef evaluator<PlainObject> Base;
+
+ enum { Flags = Base::Flags | EvalBeforeNestingBit };
+
+ EIGEN_DEVICE_FUNC explicit evaluator(const SolveType& solve)
+ : m_result(solve.rows(), solve.cols())
+ {
+ ::new (static_cast<Base*>(this)) Base(m_result);
+ solve.dec()._solve_impl(solve.rhs(), m_result);
+ }
+
+protected:
+ PlainObject m_result;
+};
+
+// Specialization for "dst = dec.solve(rhs)"
+// NOTE we need to specialize it for Dense2Dense to avoid ambiguous specialization error and a Sparse2Sparse specialization must exist somewhere
+template<typename DstXprType, typename DecType, typename RhsType, typename Scalar>
+struct Assignment<DstXprType, Solve<DecType,RhsType>, internal::assign_op<Scalar,Scalar>, Dense2Dense>
+{
+ typedef Solve<DecType,RhsType> SrcXprType;
+ static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,Scalar> &)
+ {
+ Index dstRows = src.rows();
+ Index dstCols = src.cols();
+ if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+ dst.resize(dstRows, dstCols);
+
+ src.dec()._solve_impl(src.rhs(), dst);
+ }
+};
+
+// Specialization for "dst = dec.transpose().solve(rhs)"
+template<typename DstXprType, typename DecType, typename RhsType, typename Scalar>
+struct Assignment<DstXprType, Solve<Transpose<const DecType>,RhsType>, internal::assign_op<Scalar,Scalar>, Dense2Dense>
+{
+ typedef Solve<Transpose<const DecType>,RhsType> SrcXprType;
+ static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,Scalar> &)
+ {
+ Index dstRows = src.rows();
+ Index dstCols = src.cols();
+ if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+ dst.resize(dstRows, dstCols);
+
+ src.dec().nestedExpression().template _solve_impl_transposed<false>(src.rhs(), dst);
+ }
+};
+
+// Specialization for "dst = dec.adjoint().solve(rhs)"
+template<typename DstXprType, typename DecType, typename RhsType, typename Scalar>
+struct Assignment<DstXprType, Solve<CwiseUnaryOp<internal::scalar_conjugate_op<typename DecType::Scalar>, const Transpose<const DecType> >,RhsType>,
+ internal::assign_op<Scalar,Scalar>, Dense2Dense>
+{
+ typedef Solve<CwiseUnaryOp<internal::scalar_conjugate_op<typename DecType::Scalar>, const Transpose<const DecType> >,RhsType> SrcXprType;
+ static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,Scalar> &)
+ {
+ Index dstRows = src.rows();
+ Index dstCols = src.cols();
+ if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+ dst.resize(dstRows, dstCols);
+
+ src.dec().nestedExpression().nestedExpression().template _solve_impl_transposed<true>(src.rhs(), dst);
+ }
+};
+
+} // end namepsace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_SOLVE_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/SolveTriangular.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/SolveTriangular.h
new file mode 100644
index 0000000..4652e2e
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/SolveTriangular.h
@@ -0,0 +1,235 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_SOLVETRIANGULAR_H
+#define EIGEN_SOLVETRIANGULAR_H
+
+namespace Eigen {
+
+namespace internal {
+
+// Forward declarations:
+// The following two routines are implemented in the products/TriangularSolver*.h files
+template<typename LhsScalar, typename RhsScalar, typename Index, int Side, int Mode, bool Conjugate, int StorageOrder>
+struct triangular_solve_vector;
+
+template <typename Scalar, typename Index, int Side, int Mode, bool Conjugate, int TriStorageOrder, int OtherStorageOrder>
+struct triangular_solve_matrix;
+
+// small helper struct extracting some traits on the underlying solver operation
+template<typename Lhs, typename Rhs, int Side>
+class trsolve_traits
+{
+ private:
+ enum {
+ RhsIsVectorAtCompileTime = (Side==OnTheLeft ? Rhs::ColsAtCompileTime : Rhs::RowsAtCompileTime)==1
+ };
+ public:
+ enum {
+ Unrolling = (RhsIsVectorAtCompileTime && Rhs::SizeAtCompileTime != Dynamic && Rhs::SizeAtCompileTime <= 8)
+ ? CompleteUnrolling : NoUnrolling,
+ RhsVectors = RhsIsVectorAtCompileTime ? 1 : Dynamic
+ };
+};
+
+template<typename Lhs, typename Rhs,
+ int Side, // can be OnTheLeft/OnTheRight
+ int Mode, // can be Upper/Lower | UnitDiag
+ int Unrolling = trsolve_traits<Lhs,Rhs,Side>::Unrolling,
+ int RhsVectors = trsolve_traits<Lhs,Rhs,Side>::RhsVectors
+ >
+struct triangular_solver_selector;
+
+template<typename Lhs, typename Rhs, int Side, int Mode>
+struct triangular_solver_selector<Lhs,Rhs,Side,Mode,NoUnrolling,1>
+{
+ typedef typename Lhs::Scalar LhsScalar;
+ typedef typename Rhs::Scalar RhsScalar;
+ typedef blas_traits<Lhs> LhsProductTraits;
+ typedef typename LhsProductTraits::ExtractType ActualLhsType;
+ typedef Map<Matrix<RhsScalar,Dynamic,1>, Aligned> MappedRhs;
+ static void run(const Lhs& lhs, Rhs& rhs)
+ {
+ ActualLhsType actualLhs = LhsProductTraits::extract(lhs);
+
+ // FIXME find a way to allow an inner stride if packet_traits<Scalar>::size==1
+
+ bool useRhsDirectly = Rhs::InnerStrideAtCompileTime==1 || rhs.innerStride()==1;
+
+ ei_declare_aligned_stack_constructed_variable(RhsScalar,actualRhs,rhs.size(),
+ (useRhsDirectly ? rhs.data() : 0));
+
+ if(!useRhsDirectly)
+ MappedRhs(actualRhs,rhs.size()) = rhs;
+
+ triangular_solve_vector<LhsScalar, RhsScalar, Index, Side, Mode, LhsProductTraits::NeedToConjugate,
+ (int(Lhs::Flags) & RowMajorBit) ? RowMajor : ColMajor>
+ ::run(actualLhs.cols(), actualLhs.data(), actualLhs.outerStride(), actualRhs);
+
+ if(!useRhsDirectly)
+ rhs = MappedRhs(actualRhs, rhs.size());
+ }
+};
+
+// the rhs is a matrix
+template<typename Lhs, typename Rhs, int Side, int Mode>
+struct triangular_solver_selector<Lhs,Rhs,Side,Mode,NoUnrolling,Dynamic>
+{
+ typedef typename Rhs::Scalar Scalar;
+ typedef blas_traits<Lhs> LhsProductTraits;
+ typedef typename LhsProductTraits::DirectLinearAccessType ActualLhsType;
+
+ static void run(const Lhs& lhs, Rhs& rhs)
+ {
+ typename internal::add_const_on_value_type<ActualLhsType>::type actualLhs = LhsProductTraits::extract(lhs);
+
+ const Index size = lhs.rows();
+ const Index othersize = Side==OnTheLeft? rhs.cols() : rhs.rows();
+
+ typedef internal::gemm_blocking_space<(Rhs::Flags&RowMajorBit) ? RowMajor : ColMajor,Scalar,Scalar,
+ Rhs::MaxRowsAtCompileTime, Rhs::MaxColsAtCompileTime, Lhs::MaxRowsAtCompileTime,4> BlockingType;
+
+ BlockingType blocking(rhs.rows(), rhs.cols(), size, 1, false);
+
+ triangular_solve_matrix<Scalar,Index,Side,Mode,LhsProductTraits::NeedToConjugate,(int(Lhs::Flags) & RowMajorBit) ? RowMajor : ColMajor,
+ (Rhs::Flags&RowMajorBit) ? RowMajor : ColMajor>
+ ::run(size, othersize, &actualLhs.coeffRef(0,0), actualLhs.outerStride(), &rhs.coeffRef(0,0), rhs.outerStride(), blocking);
+ }
+};
+
+/***************************************************************************
+* meta-unrolling implementation
+***************************************************************************/
+
+template<typename Lhs, typename Rhs, int Mode, int LoopIndex, int Size,
+ bool Stop = LoopIndex==Size>
+struct triangular_solver_unroller;
+
+template<typename Lhs, typename Rhs, int Mode, int LoopIndex, int Size>
+struct triangular_solver_unroller<Lhs,Rhs,Mode,LoopIndex,Size,false> {
+ enum {
+ IsLower = ((Mode&Lower)==Lower),
+ DiagIndex = IsLower ? LoopIndex : Size - LoopIndex - 1,
+ StartIndex = IsLower ? 0 : DiagIndex+1
+ };
+ static void run(const Lhs& lhs, Rhs& rhs)
+ {
+ if (LoopIndex>0)
+ rhs.coeffRef(DiagIndex) -= lhs.row(DiagIndex).template segment<LoopIndex>(StartIndex).transpose()
+ .cwiseProduct(rhs.template segment<LoopIndex>(StartIndex)).sum();
+
+ if(!(Mode & UnitDiag))
+ rhs.coeffRef(DiagIndex) /= lhs.coeff(DiagIndex,DiagIndex);
+
+ triangular_solver_unroller<Lhs,Rhs,Mode,LoopIndex+1,Size>::run(lhs,rhs);
+ }
+};
+
+template<typename Lhs, typename Rhs, int Mode, int LoopIndex, int Size>
+struct triangular_solver_unroller<Lhs,Rhs,Mode,LoopIndex,Size,true> {
+ static void run(const Lhs&, Rhs&) {}
+};
+
+template<typename Lhs, typename Rhs, int Mode>
+struct triangular_solver_selector<Lhs,Rhs,OnTheLeft,Mode,CompleteUnrolling,1> {
+ static void run(const Lhs& lhs, Rhs& rhs)
+ { triangular_solver_unroller<Lhs,Rhs,Mode,0,Rhs::SizeAtCompileTime>::run(lhs,rhs); }
+};
+
+template<typename Lhs, typename Rhs, int Mode>
+struct triangular_solver_selector<Lhs,Rhs,OnTheRight,Mode,CompleteUnrolling,1> {
+ static void run(const Lhs& lhs, Rhs& rhs)
+ {
+ Transpose<const Lhs> trLhs(lhs);
+ Transpose<Rhs> trRhs(rhs);
+
+ triangular_solver_unroller<Transpose<const Lhs>,Transpose<Rhs>,
+ ((Mode&Upper)==Upper ? Lower : Upper) | (Mode&UnitDiag),
+ 0,Rhs::SizeAtCompileTime>::run(trLhs,trRhs);
+ }
+};
+
+} // end namespace internal
+
+/***************************************************************************
+* TriangularView methods
+***************************************************************************/
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template<typename MatrixType, unsigned int Mode>
+template<int Side, typename OtherDerived>
+void TriangularViewImpl<MatrixType,Mode,Dense>::solveInPlace(const MatrixBase<OtherDerived>& _other) const
+{
+ OtherDerived& other = _other.const_cast_derived();
+ eigen_assert( derived().cols() == derived().rows() && ((Side==OnTheLeft && derived().cols() == other.rows()) || (Side==OnTheRight && derived().cols() == other.cols())) );
+ eigen_assert((!(Mode & ZeroDiag)) && bool(Mode & (Upper|Lower)));
+ // If solving for a 0x0 matrix, nothing to do, simply return.
+ if (derived().cols() == 0)
+ return;
+
+ enum { copy = (internal::traits<OtherDerived>::Flags & RowMajorBit) && OtherDerived::IsVectorAtCompileTime && OtherDerived::SizeAtCompileTime!=1};
+ typedef typename internal::conditional<copy,
+ typename internal::plain_matrix_type_column_major<OtherDerived>::type, OtherDerived&>::type OtherCopy;
+ OtherCopy otherCopy(other);
+
+ internal::triangular_solver_selector<MatrixType, typename internal::remove_reference<OtherCopy>::type,
+ Side, Mode>::run(derived().nestedExpression(), otherCopy);
+
+ if (copy)
+ other = otherCopy;
+}
+
+template<typename Derived, unsigned int Mode>
+template<int Side, typename Other>
+const internal::triangular_solve_retval<Side,TriangularView<Derived,Mode>,Other>
+TriangularViewImpl<Derived,Mode,Dense>::solve(const MatrixBase<Other>& other) const
+{
+ return internal::triangular_solve_retval<Side,TriangularViewType,Other>(derived(), other.derived());
+}
+#endif
+
+namespace internal {
+
+
+template<int Side, typename TriangularType, typename Rhs>
+struct traits<triangular_solve_retval<Side, TriangularType, Rhs> >
+{
+ typedef typename internal::plain_matrix_type_column_major<Rhs>::type ReturnType;
+};
+
+template<int Side, typename TriangularType, typename Rhs> struct triangular_solve_retval
+ : public ReturnByValue<triangular_solve_retval<Side, TriangularType, Rhs> >
+{
+ typedef typename remove_all<typename Rhs::Nested>::type RhsNestedCleaned;
+ typedef ReturnByValue<triangular_solve_retval> Base;
+
+ triangular_solve_retval(const TriangularType& tri, const Rhs& rhs)
+ : m_triangularMatrix(tri), m_rhs(rhs)
+ {}
+
+ inline Index rows() const { return m_rhs.rows(); }
+ inline Index cols() const { return m_rhs.cols(); }
+
+ template<typename Dest> inline void evalTo(Dest& dst) const
+ {
+ if(!is_same_dense(dst,m_rhs))
+ dst = m_rhs;
+ m_triangularMatrix.template solveInPlace<Side>(dst);
+ }
+
+ protected:
+ const TriangularType& m_triangularMatrix;
+ typename Rhs::Nested m_rhs;
+};
+
+} // namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_SOLVETRIANGULAR_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/SolverBase.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/SolverBase.h
new file mode 100644
index 0000000..8a4adc2
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/SolverBase.h
@@ -0,0 +1,130 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2015 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_SOLVERBASE_H
+#define EIGEN_SOLVERBASE_H
+
+namespace Eigen {
+
+namespace internal {
+
+
+
+} // end namespace internal
+
+/** \class SolverBase
+ * \brief A base class for matrix decomposition and solvers
+ *
+ * \tparam Derived the actual type of the decomposition/solver.
+ *
+ * Any matrix decomposition inheriting this base class provide the following API:
+ *
+ * \code
+ * MatrixType A, b, x;
+ * DecompositionType dec(A);
+ * x = dec.solve(b); // solve A * x = b
+ * x = dec.transpose().solve(b); // solve A^T * x = b
+ * x = dec.adjoint().solve(b); // solve A' * x = b
+ * \endcode
+ *
+ * \warning Currently, any other usage of transpose() and adjoint() are not supported and will produce compilation errors.
+ *
+ * \sa class PartialPivLU, class FullPivLU
+ */
+template<typename Derived>
+class SolverBase : public EigenBase<Derived>
+{
+ public:
+
+ typedef EigenBase<Derived> Base;
+ typedef typename internal::traits<Derived>::Scalar Scalar;
+ typedef Scalar CoeffReturnType;
+
+ enum {
+ RowsAtCompileTime = internal::traits<Derived>::RowsAtCompileTime,
+ ColsAtCompileTime = internal::traits<Derived>::ColsAtCompileTime,
+ SizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::RowsAtCompileTime,
+ internal::traits<Derived>::ColsAtCompileTime>::ret),
+ MaxRowsAtCompileTime = internal::traits<Derived>::MaxRowsAtCompileTime,
+ MaxColsAtCompileTime = internal::traits<Derived>::MaxColsAtCompileTime,
+ MaxSizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::MaxRowsAtCompileTime,
+ internal::traits<Derived>::MaxColsAtCompileTime>::ret),
+ IsVectorAtCompileTime = internal::traits<Derived>::MaxRowsAtCompileTime == 1
+ || internal::traits<Derived>::MaxColsAtCompileTime == 1
+ };
+
+ /** Default constructor */
+ SolverBase()
+ {}
+
+ ~SolverBase()
+ {}
+
+ using Base::derived;
+
+ /** \returns an expression of the solution x of \f$ A x = b \f$ using the current decomposition of A.
+ */
+ template<typename Rhs>
+ inline const Solve<Derived, Rhs>
+ solve(const MatrixBase<Rhs>& b) const
+ {
+ eigen_assert(derived().rows()==b.rows() && "solve(): invalid number of rows of the right hand side matrix b");
+ return Solve<Derived, Rhs>(derived(), b.derived());
+ }
+
+ /** \internal the return type of transpose() */
+ typedef typename internal::add_const<Transpose<const Derived> >::type ConstTransposeReturnType;
+ /** \returns an expression of the transposed of the factored matrix.
+ *
+ * A typical usage is to solve for the transposed problem A^T x = b:
+ * \code x = dec.transpose().solve(b); \endcode
+ *
+ * \sa adjoint(), solve()
+ */
+ inline ConstTransposeReturnType transpose() const
+ {
+ return ConstTransposeReturnType(derived());
+ }
+
+ /** \internal the return type of adjoint() */
+ typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
+ CwiseUnaryOp<internal::scalar_conjugate_op<Scalar>, ConstTransposeReturnType>,
+ ConstTransposeReturnType
+ >::type AdjointReturnType;
+ /** \returns an expression of the adjoint of the factored matrix
+ *
+ * A typical usage is to solve for the adjoint problem A' x = b:
+ * \code x = dec.adjoint().solve(b); \endcode
+ *
+ * For real scalar types, this function is equivalent to transpose().
+ *
+ * \sa transpose(), solve()
+ */
+ inline AdjointReturnType adjoint() const
+ {
+ return AdjointReturnType(derived().transpose());
+ }
+
+ protected:
+};
+
+namespace internal {
+
+template<typename Derived>
+struct generic_xpr_base<Derived, MatrixXpr, SolverStorage>
+{
+ typedef SolverBase<Derived> type;
+
+};
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_SOLVERBASE_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/StableNorm.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/StableNorm.h
new file mode 100644
index 0000000..88c8d98
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/StableNorm.h
@@ -0,0 +1,221 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_STABLENORM_H
+#define EIGEN_STABLENORM_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<typename ExpressionType, typename Scalar>
+inline void stable_norm_kernel(const ExpressionType& bl, Scalar& ssq, Scalar& scale, Scalar& invScale)
+{
+ Scalar maxCoeff = bl.cwiseAbs().maxCoeff();
+
+ if(maxCoeff>scale)
+ {
+ ssq = ssq * numext::abs2(scale/maxCoeff);
+ Scalar tmp = Scalar(1)/maxCoeff;
+ if(tmp > NumTraits<Scalar>::highest())
+ {
+ invScale = NumTraits<Scalar>::highest();
+ scale = Scalar(1)/invScale;
+ }
+ else if(maxCoeff>NumTraits<Scalar>::highest()) // we got a INF
+ {
+ invScale = Scalar(1);
+ scale = maxCoeff;
+ }
+ else
+ {
+ scale = maxCoeff;
+ invScale = tmp;
+ }
+ }
+ else if(maxCoeff!=maxCoeff) // we got a NaN
+ {
+ scale = maxCoeff;
+ }
+
+ // TODO if the maxCoeff is much much smaller than the current scale,
+ // then we can neglect this sub vector
+ if(scale>Scalar(0)) // if scale==0, then bl is 0
+ ssq += (bl*invScale).squaredNorm();
+}
+
+template<typename Derived>
+inline typename NumTraits<typename traits<Derived>::Scalar>::Real
+blueNorm_impl(const EigenBase<Derived>& _vec)
+{
+ typedef typename Derived::RealScalar RealScalar;
+ using std::pow;
+ using std::sqrt;
+ using std::abs;
+ const Derived& vec(_vec.derived());
+ static bool initialized = false;
+ static RealScalar b1, b2, s1m, s2m, rbig, relerr;
+ if(!initialized)
+ {
+ int ibeta, it, iemin, iemax, iexp;
+ RealScalar eps;
+ // This program calculates the machine-dependent constants
+ // bl, b2, slm, s2m, relerr overfl
+ // from the "basic" machine-dependent numbers
+ // nbig, ibeta, it, iemin, iemax, rbig.
+ // The following define the basic machine-dependent constants.
+ // For portability, the PORT subprograms "ilmaeh" and "rlmach"
+ // are used. For any specific computer, each of the assignment
+ // statements can be replaced
+ ibeta = std::numeric_limits<RealScalar>::radix; // base for floating-point numbers
+ it = std::numeric_limits<RealScalar>::digits; // number of base-beta digits in mantissa
+ iemin = std::numeric_limits<RealScalar>::min_exponent; // minimum exponent
+ iemax = std::numeric_limits<RealScalar>::max_exponent; // maximum exponent
+ rbig = (std::numeric_limits<RealScalar>::max)(); // largest floating-point number
+
+ iexp = -((1-iemin)/2);
+ b1 = RealScalar(pow(RealScalar(ibeta),RealScalar(iexp))); // lower boundary of midrange
+ iexp = (iemax + 1 - it)/2;
+ b2 = RealScalar(pow(RealScalar(ibeta),RealScalar(iexp))); // upper boundary of midrange
+
+ iexp = (2-iemin)/2;
+ s1m = RealScalar(pow(RealScalar(ibeta),RealScalar(iexp))); // scaling factor for lower range
+ iexp = - ((iemax+it)/2);
+ s2m = RealScalar(pow(RealScalar(ibeta),RealScalar(iexp))); // scaling factor for upper range
+
+ eps = RealScalar(pow(double(ibeta), 1-it));
+ relerr = sqrt(eps); // tolerance for neglecting asml
+ initialized = true;
+ }
+ Index n = vec.size();
+ RealScalar ab2 = b2 / RealScalar(n);
+ RealScalar asml = RealScalar(0);
+ RealScalar amed = RealScalar(0);
+ RealScalar abig = RealScalar(0);
+ for(typename Derived::InnerIterator it(vec, 0); it; ++it)
+ {
+ RealScalar ax = abs(it.value());
+ if(ax > ab2) abig += numext::abs2(ax*s2m);
+ else if(ax < b1) asml += numext::abs2(ax*s1m);
+ else amed += numext::abs2(ax);
+ }
+ if(amed!=amed)
+ return amed; // we got a NaN
+ if(abig > RealScalar(0))
+ {
+ abig = sqrt(abig);
+ if(abig > rbig) // overflow, or *this contains INF values
+ return abig; // return INF
+ if(amed > RealScalar(0))
+ {
+ abig = abig/s2m;
+ amed = sqrt(amed);
+ }
+ else
+ return abig/s2m;
+ }
+ else if(asml > RealScalar(0))
+ {
+ if (amed > RealScalar(0))
+ {
+ abig = sqrt(amed);
+ amed = sqrt(asml) / s1m;
+ }
+ else
+ return sqrt(asml)/s1m;
+ }
+ else
+ return sqrt(amed);
+ asml = numext::mini(abig, amed);
+ abig = numext::maxi(abig, amed);
+ if(asml <= abig*relerr)
+ return abig;
+ else
+ return abig * sqrt(RealScalar(1) + numext::abs2(asml/abig));
+}
+
+} // end namespace internal
+
+/** \returns the \em l2 norm of \c *this avoiding underflow and overflow.
+ * This version use a blockwise two passes algorithm:
+ * 1 - find the absolute largest coefficient \c s
+ * 2 - compute \f$ s \Vert \frac{*this}{s} \Vert \f$ in a standard way
+ *
+ * For architecture/scalar types supporting vectorization, this version
+ * is faster than blueNorm(). Otherwise the blueNorm() is much faster.
+ *
+ * \sa norm(), blueNorm(), hypotNorm()
+ */
+template<typename Derived>
+inline typename NumTraits<typename internal::traits<Derived>::Scalar>::Real
+MatrixBase<Derived>::stableNorm() const
+{
+ using std::sqrt;
+ using std::abs;
+ const Index blockSize = 4096;
+ RealScalar scale(0);
+ RealScalar invScale(1);
+ RealScalar ssq(0); // sum of square
+
+ typedef typename internal::nested_eval<Derived,2>::type DerivedCopy;
+ typedef typename internal::remove_all<DerivedCopy>::type DerivedCopyClean;
+ const DerivedCopy copy(derived());
+
+ enum {
+ CanAlign = ( (int(DerivedCopyClean::Flags)&DirectAccessBit)
+ || (int(internal::evaluator<DerivedCopyClean>::Alignment)>0) // FIXME Alignment)>0 might not be enough
+ ) && (blockSize*sizeof(Scalar)*2<EIGEN_STACK_ALLOCATION_LIMIT)
+ && (EIGEN_MAX_STATIC_ALIGN_BYTES>0) // if we cannot allocate on the stack, then let's not bother about this optimization
+ };
+ typedef typename internal::conditional<CanAlign, Ref<const Matrix<Scalar,Dynamic,1,0,blockSize,1>, internal::evaluator<DerivedCopyClean>::Alignment>,
+ typename DerivedCopyClean::ConstSegmentReturnType>::type SegmentWrapper;
+ Index n = size();
+
+ if(n==1)
+ return abs(this->coeff(0));
+
+ Index bi = internal::first_default_aligned(copy);
+ if (bi>0)
+ internal::stable_norm_kernel(copy.head(bi), ssq, scale, invScale);
+ for (; bi<n; bi+=blockSize)
+ internal::stable_norm_kernel(SegmentWrapper(copy.segment(bi,numext::mini(blockSize, n - bi))), ssq, scale, invScale);
+ return scale * sqrt(ssq);
+}
+
+/** \returns the \em l2 norm of \c *this using the Blue's algorithm.
+ * A Portable Fortran Program to Find the Euclidean Norm of a Vector,
+ * ACM TOMS, Vol 4, Issue 1, 1978.
+ *
+ * For architecture/scalar types without vectorization, this version
+ * is much faster than stableNorm(). Otherwise the stableNorm() is faster.
+ *
+ * \sa norm(), stableNorm(), hypotNorm()
+ */
+template<typename Derived>
+inline typename NumTraits<typename internal::traits<Derived>::Scalar>::Real
+MatrixBase<Derived>::blueNorm() const
+{
+ return internal::blueNorm_impl(*this);
+}
+
+/** \returns the \em l2 norm of \c *this avoiding undeflow and overflow.
+ * This version use a concatenation of hypot() calls, and it is very slow.
+ *
+ * \sa norm(), stableNorm()
+ */
+template<typename Derived>
+inline typename NumTraits<typename internal::traits<Derived>::Scalar>::Real
+MatrixBase<Derived>::hypotNorm() const
+{
+ return this->cwiseAbs().redux(internal::scalar_hypot_op<RealScalar>());
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_STABLENORM_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Stride.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Stride.h
new file mode 100644
index 0000000..513742f
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Stride.h
@@ -0,0 +1,111 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_STRIDE_H
+#define EIGEN_STRIDE_H
+
+namespace Eigen {
+
+/** \class Stride
+ * \ingroup Core_Module
+ *
+ * \brief Holds strides information for Map
+ *
+ * This class holds the strides information for mapping arrays with strides with class Map.
+ *
+ * It holds two values: the inner stride and the outer stride.
+ *
+ * The inner stride is the pointer increment between two consecutive entries within a given row of a
+ * row-major matrix or within a given column of a column-major matrix.
+ *
+ * The outer stride is the pointer increment between two consecutive rows of a row-major matrix or
+ * between two consecutive columns of a column-major matrix.
+ *
+ * These two values can be passed either at compile-time as template parameters, or at runtime as
+ * arguments to the constructor.
+ *
+ * Indeed, this class takes two template parameters:
+ * \tparam _OuterStrideAtCompileTime the outer stride, or Dynamic if you want to specify it at runtime.
+ * \tparam _InnerStrideAtCompileTime the inner stride, or Dynamic if you want to specify it at runtime.
+ *
+ * Here is an example:
+ * \include Map_general_stride.cpp
+ * Output: \verbinclude Map_general_stride.out
+ *
+ * \sa class InnerStride, class OuterStride, \ref TopicStorageOrders
+ */
+template<int _OuterStrideAtCompileTime, int _InnerStrideAtCompileTime>
+class Stride
+{
+ public:
+ typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
+ enum {
+ InnerStrideAtCompileTime = _InnerStrideAtCompileTime,
+ OuterStrideAtCompileTime = _OuterStrideAtCompileTime
+ };
+
+ /** Default constructor, for use when strides are fixed at compile time */
+ EIGEN_DEVICE_FUNC
+ Stride()
+ : m_outer(OuterStrideAtCompileTime), m_inner(InnerStrideAtCompileTime)
+ {
+ eigen_assert(InnerStrideAtCompileTime != Dynamic && OuterStrideAtCompileTime != Dynamic);
+ }
+
+ /** Constructor allowing to pass the strides at runtime */
+ EIGEN_DEVICE_FUNC
+ Stride(Index outerStride, Index innerStride)
+ : m_outer(outerStride), m_inner(innerStride)
+ {
+ eigen_assert(innerStride>=0 && outerStride>=0);
+ }
+
+ /** Copy constructor */
+ EIGEN_DEVICE_FUNC
+ Stride(const Stride& other)
+ : m_outer(other.outer()), m_inner(other.inner())
+ {}
+
+ /** \returns the outer stride */
+ EIGEN_DEVICE_FUNC
+ inline Index outer() const { return m_outer.value(); }
+ /** \returns the inner stride */
+ EIGEN_DEVICE_FUNC
+ inline Index inner() const { return m_inner.value(); }
+
+ protected:
+ internal::variable_if_dynamic<Index, OuterStrideAtCompileTime> m_outer;
+ internal::variable_if_dynamic<Index, InnerStrideAtCompileTime> m_inner;
+};
+
+/** \brief Convenience specialization of Stride to specify only an inner stride
+ * See class Map for some examples */
+template<int Value>
+class InnerStride : public Stride<0, Value>
+{
+ typedef Stride<0, Value> Base;
+ public:
+ EIGEN_DEVICE_FUNC InnerStride() : Base() {}
+ EIGEN_DEVICE_FUNC InnerStride(Index v) : Base(0, v) {} // FIXME making this explicit could break valid code
+};
+
+/** \brief Convenience specialization of Stride to specify only an outer stride
+ * See class Map for some examples */
+template<int Value>
+class OuterStride : public Stride<Value, 0>
+{
+ typedef Stride<Value, 0> Base;
+ public:
+ EIGEN_DEVICE_FUNC OuterStride() : Base() {}
+ EIGEN_DEVICE_FUNC OuterStride(Index v) : Base(v,0) {} // FIXME making this explicit could break valid code
+};
+
+} // end namespace Eigen
+
+#endif // EIGEN_STRIDE_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Swap.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Swap.h
new file mode 100644
index 0000000..d702009
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Swap.h
@@ -0,0 +1,67 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_SWAP_H
+#define EIGEN_SWAP_H
+
+namespace Eigen {
+
+namespace internal {
+
+// Overload default assignPacket behavior for swapping them
+template<typename DstEvaluatorTypeT, typename SrcEvaluatorTypeT>
+class generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, swap_assign_op<typename DstEvaluatorTypeT::Scalar>, Specialized>
+ : public generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, swap_assign_op<typename DstEvaluatorTypeT::Scalar>, BuiltIn>
+{
+protected:
+ typedef generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, swap_assign_op<typename DstEvaluatorTypeT::Scalar>, BuiltIn> Base;
+ using Base::m_dst;
+ using Base::m_src;
+ using Base::m_functor;
+
+public:
+ typedef typename Base::Scalar Scalar;
+ typedef typename Base::DstXprType DstXprType;
+ typedef swap_assign_op<Scalar> Functor;
+
+ EIGEN_DEVICE_FUNC generic_dense_assignment_kernel(DstEvaluatorTypeT &dst, const SrcEvaluatorTypeT &src, const Functor &func, DstXprType& dstExpr)
+ : Base(dst, src, func, dstExpr)
+ {}
+
+ template<int StoreMode, int LoadMode, typename PacketType>
+ void assignPacket(Index row, Index col)
+ {
+ PacketType tmp = m_src.template packet<LoadMode,PacketType>(row,col);
+ const_cast<SrcEvaluatorTypeT&>(m_src).template writePacket<LoadMode>(row,col, m_dst.template packet<StoreMode,PacketType>(row,col));
+ m_dst.template writePacket<StoreMode>(row,col,tmp);
+ }
+
+ template<int StoreMode, int LoadMode, typename PacketType>
+ void assignPacket(Index index)
+ {
+ PacketType tmp = m_src.template packet<LoadMode,PacketType>(index);
+ const_cast<SrcEvaluatorTypeT&>(m_src).template writePacket<LoadMode>(index, m_dst.template packet<StoreMode,PacketType>(index));
+ m_dst.template writePacket<StoreMode>(index,tmp);
+ }
+
+ // TODO find a simple way not to have to copy/paste this function from generic_dense_assignment_kernel, by simple I mean no CRTP (Gael)
+ template<int StoreMode, int LoadMode, typename PacketType>
+ void assignPacketByOuterInner(Index outer, Index inner)
+ {
+ Index row = Base::rowIndexByOuterInner(outer, inner);
+ Index col = Base::colIndexByOuterInner(outer, inner);
+ assignPacket<StoreMode,LoadMode,PacketType>(row, col);
+ }
+};
+
+} // namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_SWAP_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Transpose.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Transpose.h
new file mode 100644
index 0000000..79b767b
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Transpose.h
@@ -0,0 +1,403 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2009-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_TRANSPOSE_H
+#define EIGEN_TRANSPOSE_H
+
+namespace Eigen {
+
+namespace internal {
+template<typename MatrixType>
+struct traits<Transpose<MatrixType> > : public traits<MatrixType>
+{
+ typedef typename ref_selector<MatrixType>::type MatrixTypeNested;
+ typedef typename remove_reference<MatrixTypeNested>::type MatrixTypeNestedPlain;
+ enum {
+ RowsAtCompileTime = MatrixType::ColsAtCompileTime,
+ ColsAtCompileTime = MatrixType::RowsAtCompileTime,
+ MaxRowsAtCompileTime = MatrixType::MaxColsAtCompileTime,
+ MaxColsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+ FlagsLvalueBit = is_lvalue<MatrixType>::value ? LvalueBit : 0,
+ Flags0 = traits<MatrixTypeNestedPlain>::Flags & ~(LvalueBit | NestByRefBit),
+ Flags1 = Flags0 | FlagsLvalueBit,
+ Flags = Flags1 ^ RowMajorBit,
+ InnerStrideAtCompileTime = inner_stride_at_compile_time<MatrixType>::ret,
+ OuterStrideAtCompileTime = outer_stride_at_compile_time<MatrixType>::ret
+ };
+};
+}
+
+template<typename MatrixType, typename StorageKind> class TransposeImpl;
+
+/** \class Transpose
+ * \ingroup Core_Module
+ *
+ * \brief Expression of the transpose of a matrix
+ *
+ * \tparam MatrixType the type of the object of which we are taking the transpose
+ *
+ * This class represents an expression of the transpose of a matrix.
+ * It is the return type of MatrixBase::transpose() and MatrixBase::adjoint()
+ * and most of the time this is the only way it is used.
+ *
+ * \sa MatrixBase::transpose(), MatrixBase::adjoint()
+ */
+template<typename MatrixType> class Transpose
+ : public TransposeImpl<MatrixType,typename internal::traits<MatrixType>::StorageKind>
+{
+ public:
+
+ typedef typename internal::ref_selector<MatrixType>::non_const_type MatrixTypeNested;
+
+ typedef typename TransposeImpl<MatrixType,typename internal::traits<MatrixType>::StorageKind>::Base Base;
+ EIGEN_GENERIC_PUBLIC_INTERFACE(Transpose)
+ typedef typename internal::remove_all<MatrixType>::type NestedExpression;
+
+ EIGEN_DEVICE_FUNC
+ explicit inline Transpose(MatrixType& matrix) : m_matrix(matrix) {}
+
+ EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Transpose)
+
+ EIGEN_DEVICE_FUNC inline Index rows() const { return m_matrix.cols(); }
+ EIGEN_DEVICE_FUNC inline Index cols() const { return m_matrix.rows(); }
+
+ /** \returns the nested expression */
+ EIGEN_DEVICE_FUNC
+ const typename internal::remove_all<MatrixTypeNested>::type&
+ nestedExpression() const { return m_matrix; }
+
+ /** \returns the nested expression */
+ EIGEN_DEVICE_FUNC
+ typename internal::remove_reference<MatrixTypeNested>::type&
+ nestedExpression() { return m_matrix; }
+
+ /** \internal */
+ void resize(Index nrows, Index ncols) {
+ m_matrix.resize(ncols,nrows);
+ }
+
+ protected:
+ typename internal::ref_selector<MatrixType>::non_const_type m_matrix;
+};
+
+namespace internal {
+
+template<typename MatrixType, bool HasDirectAccess = has_direct_access<MatrixType>::ret>
+struct TransposeImpl_base
+{
+ typedef typename dense_xpr_base<Transpose<MatrixType> >::type type;
+};
+
+template<typename MatrixType>
+struct TransposeImpl_base<MatrixType, false>
+{
+ typedef typename dense_xpr_base<Transpose<MatrixType> >::type type;
+};
+
+} // end namespace internal
+
+// Generic API dispatcher
+template<typename XprType, typename StorageKind>
+class TransposeImpl
+ : public internal::generic_xpr_base<Transpose<XprType> >::type
+{
+public:
+ typedef typename internal::generic_xpr_base<Transpose<XprType> >::type Base;
+};
+
+template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
+ : public internal::TransposeImpl_base<MatrixType>::type
+{
+ public:
+
+ typedef typename internal::TransposeImpl_base<MatrixType>::type Base;
+ using Base::coeffRef;
+ EIGEN_DENSE_PUBLIC_INTERFACE(Transpose<MatrixType>)
+ EIGEN_INHERIT_ASSIGNMENT_OPERATORS(TransposeImpl)
+
+ EIGEN_DEVICE_FUNC inline Index innerStride() const { return derived().nestedExpression().innerStride(); }
+ EIGEN_DEVICE_FUNC inline Index outerStride() const { return derived().nestedExpression().outerStride(); }
+
+ typedef typename internal::conditional<
+ internal::is_lvalue<MatrixType>::value,
+ Scalar,
+ const Scalar
+ >::type ScalarWithConstIfNotLvalue;
+
+ EIGEN_DEVICE_FUNC inline ScalarWithConstIfNotLvalue* data() { return derived().nestedExpression().data(); }
+ EIGEN_DEVICE_FUNC inline const Scalar* data() const { return derived().nestedExpression().data(); }
+
+ // FIXME: shall we keep the const version of coeffRef?
+ EIGEN_DEVICE_FUNC
+ inline const Scalar& coeffRef(Index rowId, Index colId) const
+ {
+ return derived().nestedExpression().coeffRef(colId, rowId);
+ }
+
+ EIGEN_DEVICE_FUNC
+ inline const Scalar& coeffRef(Index index) const
+ {
+ return derived().nestedExpression().coeffRef(index);
+ }
+};
+
+/** \returns an expression of the transpose of *this.
+ *
+ * Example: \include MatrixBase_transpose.cpp
+ * Output: \verbinclude MatrixBase_transpose.out
+ *
+ * \warning If you want to replace a matrix by its own transpose, do \b NOT do this:
+ * \code
+ * m = m.transpose(); // bug!!! caused by aliasing effect
+ * \endcode
+ * Instead, use the transposeInPlace() method:
+ * \code
+ * m.transposeInPlace();
+ * \endcode
+ * which gives Eigen good opportunities for optimization, or alternatively you can also do:
+ * \code
+ * m = m.transpose().eval();
+ * \endcode
+ *
+ * \sa transposeInPlace(), adjoint() */
+template<typename Derived>
+inline Transpose<Derived>
+DenseBase<Derived>::transpose()
+{
+ return TransposeReturnType(derived());
+}
+
+/** This is the const version of transpose().
+ *
+ * Make sure you read the warning for transpose() !
+ *
+ * \sa transposeInPlace(), adjoint() */
+template<typename Derived>
+inline typename DenseBase<Derived>::ConstTransposeReturnType
+DenseBase<Derived>::transpose() const
+{
+ return ConstTransposeReturnType(derived());
+}
+
+/** \returns an expression of the adjoint (i.e. conjugate transpose) of *this.
+ *
+ * Example: \include MatrixBase_adjoint.cpp
+ * Output: \verbinclude MatrixBase_adjoint.out
+ *
+ * \warning If you want to replace a matrix by its own adjoint, do \b NOT do this:
+ * \code
+ * m = m.adjoint(); // bug!!! caused by aliasing effect
+ * \endcode
+ * Instead, use the adjointInPlace() method:
+ * \code
+ * m.adjointInPlace();
+ * \endcode
+ * which gives Eigen good opportunities for optimization, or alternatively you can also do:
+ * \code
+ * m = m.adjoint().eval();
+ * \endcode
+ *
+ * \sa adjointInPlace(), transpose(), conjugate(), class Transpose, class internal::scalar_conjugate_op */
+template<typename Derived>
+inline const typename MatrixBase<Derived>::AdjointReturnType
+MatrixBase<Derived>::adjoint() const
+{
+ return AdjointReturnType(this->transpose());
+}
+
+/***************************************************************************
+* "in place" transpose implementation
+***************************************************************************/
+
+namespace internal {
+
+template<typename MatrixType,
+ bool IsSquare = (MatrixType::RowsAtCompileTime == MatrixType::ColsAtCompileTime) && MatrixType::RowsAtCompileTime!=Dynamic,
+ bool MatchPacketSize =
+ (int(MatrixType::RowsAtCompileTime) == int(internal::packet_traits<typename MatrixType::Scalar>::size))
+ && (internal::evaluator<MatrixType>::Flags&PacketAccessBit) >
+struct inplace_transpose_selector;
+
+template<typename MatrixType>
+struct inplace_transpose_selector<MatrixType,true,false> { // square matrix
+ static void run(MatrixType& m) {
+ m.matrix().template triangularView<StrictlyUpper>().swap(m.matrix().transpose());
+ }
+};
+
+// TODO: vectorized path is currently limited to LargestPacketSize x LargestPacketSize cases only.
+template<typename MatrixType>
+struct inplace_transpose_selector<MatrixType,true,true> { // PacketSize x PacketSize
+ static void run(MatrixType& m) {
+ typedef typename MatrixType::Scalar Scalar;
+ typedef typename internal::packet_traits<typename MatrixType::Scalar>::type Packet;
+ const Index PacketSize = internal::packet_traits<Scalar>::size;
+ const Index Alignment = internal::evaluator<MatrixType>::Alignment;
+ PacketBlock<Packet> A;
+ for (Index i=0; i<PacketSize; ++i)
+ A.packet[i] = m.template packetByOuterInner<Alignment>(i,0);
+ internal::ptranspose(A);
+ for (Index i=0; i<PacketSize; ++i)
+ m.template writePacket<Alignment>(m.rowIndexByOuterInner(i,0), m.colIndexByOuterInner(i,0), A.packet[i]);
+ }
+};
+
+template<typename MatrixType,bool MatchPacketSize>
+struct inplace_transpose_selector<MatrixType,false,MatchPacketSize> { // non square matrix
+ static void run(MatrixType& m) {
+ if (m.rows()==m.cols())
+ m.matrix().template triangularView<StrictlyUpper>().swap(m.matrix().transpose());
+ else
+ m = m.transpose().eval();
+ }
+};
+
+} // end namespace internal
+
+/** This is the "in place" version of transpose(): it replaces \c *this by its own transpose.
+ * Thus, doing
+ * \code
+ * m.transposeInPlace();
+ * \endcode
+ * has the same effect on m as doing
+ * \code
+ * m = m.transpose().eval();
+ * \endcode
+ * and is faster and also safer because in the latter line of code, forgetting the eval() results
+ * in a bug caused by \ref TopicAliasing "aliasing".
+ *
+ * Notice however that this method is only useful if you want to replace a matrix by its own transpose.
+ * If you just need the transpose of a matrix, use transpose().
+ *
+ * \note if the matrix is not square, then \c *this must be a resizable matrix.
+ * This excludes (non-square) fixed-size matrices, block-expressions and maps.
+ *
+ * \sa transpose(), adjoint(), adjointInPlace() */
+template<typename Derived>
+inline void DenseBase<Derived>::transposeInPlace()
+{
+ eigen_assert((rows() == cols() || (RowsAtCompileTime == Dynamic && ColsAtCompileTime == Dynamic))
+ && "transposeInPlace() called on a non-square non-resizable matrix");
+ internal::inplace_transpose_selector<Derived>::run(derived());
+}
+
+/***************************************************************************
+* "in place" adjoint implementation
+***************************************************************************/
+
+/** This is the "in place" version of adjoint(): it replaces \c *this by its own transpose.
+ * Thus, doing
+ * \code
+ * m.adjointInPlace();
+ * \endcode
+ * has the same effect on m as doing
+ * \code
+ * m = m.adjoint().eval();
+ * \endcode
+ * and is faster and also safer because in the latter line of code, forgetting the eval() results
+ * in a bug caused by aliasing.
+ *
+ * Notice however that this method is only useful if you want to replace a matrix by its own adjoint.
+ * If you just need the adjoint of a matrix, use adjoint().
+ *
+ * \note if the matrix is not square, then \c *this must be a resizable matrix.
+ * This excludes (non-square) fixed-size matrices, block-expressions and maps.
+ *
+ * \sa transpose(), adjoint(), transposeInPlace() */
+template<typename Derived>
+inline void MatrixBase<Derived>::adjointInPlace()
+{
+ derived() = adjoint().eval();
+}
+
+#ifndef EIGEN_NO_DEBUG
+
+// The following is to detect aliasing problems in most common cases.
+
+namespace internal {
+
+template<bool DestIsTransposed, typename OtherDerived>
+struct check_transpose_aliasing_compile_time_selector
+{
+ enum { ret = bool(blas_traits<OtherDerived>::IsTransposed) != DestIsTransposed };
+};
+
+template<bool DestIsTransposed, typename BinOp, typename DerivedA, typename DerivedB>
+struct check_transpose_aliasing_compile_time_selector<DestIsTransposed,CwiseBinaryOp<BinOp,DerivedA,DerivedB> >
+{
+ enum { ret = bool(blas_traits<DerivedA>::IsTransposed) != DestIsTransposed
+ || bool(blas_traits<DerivedB>::IsTransposed) != DestIsTransposed
+ };
+};
+
+template<typename Scalar, bool DestIsTransposed, typename OtherDerived>
+struct check_transpose_aliasing_run_time_selector
+{
+ static bool run(const Scalar* dest, const OtherDerived& src)
+ {
+ return (bool(blas_traits<OtherDerived>::IsTransposed) != DestIsTransposed) && (dest!=0 && dest==(const Scalar*)extract_data(src));
+ }
+};
+
+template<typename Scalar, bool DestIsTransposed, typename BinOp, typename DerivedA, typename DerivedB>
+struct check_transpose_aliasing_run_time_selector<Scalar,DestIsTransposed,CwiseBinaryOp<BinOp,DerivedA,DerivedB> >
+{
+ static bool run(const Scalar* dest, const CwiseBinaryOp<BinOp,DerivedA,DerivedB>& src)
+ {
+ return ((blas_traits<DerivedA>::IsTransposed != DestIsTransposed) && (dest!=0 && dest==(const Scalar*)extract_data(src.lhs())))
+ || ((blas_traits<DerivedB>::IsTransposed != DestIsTransposed) && (dest!=0 && dest==(const Scalar*)extract_data(src.rhs())));
+ }
+};
+
+// the following selector, checkTransposeAliasing_impl, based on MightHaveTransposeAliasing,
+// is because when the condition controlling the assert is known at compile time, ICC emits a warning.
+// This is actually a good warning: in expressions that don't have any transposing, the condition is
+// known at compile time to be false, and using that, we can avoid generating the code of the assert again
+// and again for all these expressions that don't need it.
+
+template<typename Derived, typename OtherDerived,
+ bool MightHaveTransposeAliasing
+ = check_transpose_aliasing_compile_time_selector
+ <blas_traits<Derived>::IsTransposed,OtherDerived>::ret
+ >
+struct checkTransposeAliasing_impl
+{
+ static void run(const Derived& dst, const OtherDerived& other)
+ {
+ eigen_assert((!check_transpose_aliasing_run_time_selector
+ <typename Derived::Scalar,blas_traits<Derived>::IsTransposed,OtherDerived>
+ ::run(extract_data(dst), other))
+ && "aliasing detected during transposition, use transposeInPlace() "
+ "or evaluate the rhs into a temporary using .eval()");
+
+ }
+};
+
+template<typename Derived, typename OtherDerived>
+struct checkTransposeAliasing_impl<Derived, OtherDerived, false>
+{
+ static void run(const Derived&, const OtherDerived&)
+ {
+ }
+};
+
+template<typename Dst, typename Src>
+void check_for_aliasing(const Dst &dst, const Src &src)
+{
+ internal::checkTransposeAliasing_impl<Dst, Src>::run(dst, src);
+}
+
+} // end namespace internal
+
+#endif // EIGEN_NO_DEBUG
+
+} // end namespace Eigen
+
+#endif // EIGEN_TRANSPOSE_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Transpositions.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Transpositions.h
new file mode 100644
index 0000000..86da5af
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Transpositions.h
@@ -0,0 +1,407 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_TRANSPOSITIONS_H
+#define EIGEN_TRANSPOSITIONS_H
+
+namespace Eigen {
+
+template<typename Derived>
+class TranspositionsBase
+{
+ typedef internal::traits<Derived> Traits;
+
+ public:
+
+ typedef typename Traits::IndicesType IndicesType;
+ typedef typename IndicesType::Scalar StorageIndex;
+ typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
+
+ Derived& derived() { return *static_cast<Derived*>(this); }
+ const Derived& derived() const { return *static_cast<const Derived*>(this); }
+
+ /** Copies the \a other transpositions into \c *this */
+ template<typename OtherDerived>
+ Derived& operator=(const TranspositionsBase<OtherDerived>& other)
+ {
+ indices() = other.indices();
+ return derived();
+ }
+
+ #ifndef EIGEN_PARSED_BY_DOXYGEN
+ /** This is a special case of the templated operator=. Its purpose is to
+ * prevent a default operator= from hiding the templated operator=.
+ */
+ Derived& operator=(const TranspositionsBase& other)
+ {
+ indices() = other.indices();
+ return derived();
+ }
+ #endif
+
+ /** \returns the number of transpositions */
+ Index size() const { return indices().size(); }
+ /** \returns the number of rows of the equivalent permutation matrix */
+ Index rows() const { return indices().size(); }
+ /** \returns the number of columns of the equivalent permutation matrix */
+ Index cols() const { return indices().size(); }
+
+ /** Direct access to the underlying index vector */
+ inline const StorageIndex& coeff(Index i) const { return indices().coeff(i); }
+ /** Direct access to the underlying index vector */
+ inline StorageIndex& coeffRef(Index i) { return indices().coeffRef(i); }
+ /** Direct access to the underlying index vector */
+ inline const StorageIndex& operator()(Index i) const { return indices()(i); }
+ /** Direct access to the underlying index vector */
+ inline StorageIndex& operator()(Index i) { return indices()(i); }
+ /** Direct access to the underlying index vector */
+ inline const StorageIndex& operator[](Index i) const { return indices()(i); }
+ /** Direct access to the underlying index vector */
+ inline StorageIndex& operator[](Index i) { return indices()(i); }
+
+ /** const version of indices(). */
+ const IndicesType& indices() const { return derived().indices(); }
+ /** \returns a reference to the stored array representing the transpositions. */
+ IndicesType& indices() { return derived().indices(); }
+
+ /** Resizes to given size. */
+ inline void resize(Index newSize)
+ {
+ indices().resize(newSize);
+ }
+
+ /** Sets \c *this to represents an identity transformation */
+ void setIdentity()
+ {
+ for(StorageIndex i = 0; i < indices().size(); ++i)
+ coeffRef(i) = i;
+ }
+
+ // FIXME: do we want such methods ?
+ // might be usefull when the target matrix expression is complex, e.g.:
+ // object.matrix().block(..,..,..,..) = trans * object.matrix().block(..,..,..,..);
+ /*
+ template<typename MatrixType>
+ void applyForwardToRows(MatrixType& mat) const
+ {
+ for(Index k=0 ; k<size() ; ++k)
+ if(m_indices(k)!=k)
+ mat.row(k).swap(mat.row(m_indices(k)));
+ }
+
+ template<typename MatrixType>
+ void applyBackwardToRows(MatrixType& mat) const
+ {
+ for(Index k=size()-1 ; k>=0 ; --k)
+ if(m_indices(k)!=k)
+ mat.row(k).swap(mat.row(m_indices(k)));
+ }
+ */
+
+ /** \returns the inverse transformation */
+ inline Transpose<TranspositionsBase> inverse() const
+ { return Transpose<TranspositionsBase>(derived()); }
+
+ /** \returns the tranpose transformation */
+ inline Transpose<TranspositionsBase> transpose() const
+ { return Transpose<TranspositionsBase>(derived()); }
+
+ protected:
+};
+
+namespace internal {
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename _StorageIndex>
+struct traits<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,_StorageIndex> >
+ : traits<PermutationMatrix<SizeAtCompileTime,MaxSizeAtCompileTime,_StorageIndex> >
+{
+ typedef Matrix<_StorageIndex, SizeAtCompileTime, 1, 0, MaxSizeAtCompileTime, 1> IndicesType;
+ typedef TranspositionsStorage StorageKind;
+};
+}
+
+/** \class Transpositions
+ * \ingroup Core_Module
+ *
+ * \brief Represents a sequence of transpositions (row/column interchange)
+ *
+ * \tparam SizeAtCompileTime the number of transpositions, or Dynamic
+ * \tparam MaxSizeAtCompileTime the maximum number of transpositions, or Dynamic. This optional parameter defaults to SizeAtCompileTime. Most of the time, you should not have to specify it.
+ *
+ * This class represents a permutation transformation as a sequence of \em n transpositions
+ * \f$[T_{n-1} \ldots T_{i} \ldots T_{0}]\f$. It is internally stored as a vector of integers \c indices.
+ * Each transposition \f$ T_{i} \f$ applied on the left of a matrix (\f$ T_{i} M\f$) interchanges
+ * the rows \c i and \c indices[i] of the matrix \c M.
+ * A transposition applied on the right (e.g., \f$ M T_{i}\f$) yields a column interchange.
+ *
+ * Compared to the class PermutationMatrix, such a sequence of transpositions is what is
+ * computed during a decomposition with pivoting, and it is faster when applying the permutation in-place.
+ *
+ * To apply a sequence of transpositions to a matrix, simply use the operator * as in the following example:
+ * \code
+ * Transpositions tr;
+ * MatrixXf mat;
+ * mat = tr * mat;
+ * \endcode
+ * In this example, we detect that the matrix appears on both side, and so the transpositions
+ * are applied in-place without any temporary or extra copy.
+ *
+ * \sa class PermutationMatrix
+ */
+
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename _StorageIndex>
+class Transpositions : public TranspositionsBase<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,_StorageIndex> >
+{
+ typedef internal::traits<Transpositions> Traits;
+ public:
+
+ typedef TranspositionsBase<Transpositions> Base;
+ typedef typename Traits::IndicesType IndicesType;
+ typedef typename IndicesType::Scalar StorageIndex;
+
+ inline Transpositions() {}
+
+ /** Copy constructor. */
+ template<typename OtherDerived>
+ inline Transpositions(const TranspositionsBase<OtherDerived>& other)
+ : m_indices(other.indices()) {}
+
+ #ifndef EIGEN_PARSED_BY_DOXYGEN
+ /** Standard copy constructor. Defined only to prevent a default copy constructor
+ * from hiding the other templated constructor */
+ inline Transpositions(const Transpositions& other) : m_indices(other.indices()) {}
+ #endif
+
+ /** Generic constructor from expression of the transposition indices. */
+ template<typename Other>
+ explicit inline Transpositions(const MatrixBase<Other>& indices) : m_indices(indices)
+ {}
+
+ /** Copies the \a other transpositions into \c *this */
+ template<typename OtherDerived>
+ Transpositions& operator=(const TranspositionsBase<OtherDerived>& other)
+ {
+ return Base::operator=(other);
+ }
+
+ #ifndef EIGEN_PARSED_BY_DOXYGEN
+ /** This is a special case of the templated operator=. Its purpose is to
+ * prevent a default operator= from hiding the templated operator=.
+ */
+ Transpositions& operator=(const Transpositions& other)
+ {
+ m_indices = other.m_indices;
+ return *this;
+ }
+ #endif
+
+ /** Constructs an uninitialized permutation matrix of given size.
+ */
+ inline Transpositions(Index size) : m_indices(size)
+ {}
+
+ /** const version of indices(). */
+ const IndicesType& indices() const { return m_indices; }
+ /** \returns a reference to the stored array representing the transpositions. */
+ IndicesType& indices() { return m_indices; }
+
+ protected:
+
+ IndicesType m_indices;
+};
+
+
+namespace internal {
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename _StorageIndex, int _PacketAccess>
+struct traits<Map<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,_StorageIndex>,_PacketAccess> >
+ : traits<PermutationMatrix<SizeAtCompileTime,MaxSizeAtCompileTime,_StorageIndex> >
+{
+ typedef Map<const Matrix<_StorageIndex,SizeAtCompileTime,1,0,MaxSizeAtCompileTime,1>, _PacketAccess> IndicesType;
+ typedef _StorageIndex StorageIndex;
+ typedef TranspositionsStorage StorageKind;
+};
+}
+
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename _StorageIndex, int PacketAccess>
+class Map<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,_StorageIndex>,PacketAccess>
+ : public TranspositionsBase<Map<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,_StorageIndex>,PacketAccess> >
+{
+ typedef internal::traits<Map> Traits;
+ public:
+
+ typedef TranspositionsBase<Map> Base;
+ typedef typename Traits::IndicesType IndicesType;
+ typedef typename IndicesType::Scalar StorageIndex;
+
+ explicit inline Map(const StorageIndex* indicesPtr)
+ : m_indices(indicesPtr)
+ {}
+
+ inline Map(const StorageIndex* indicesPtr, Index size)
+ : m_indices(indicesPtr,size)
+ {}
+
+ /** Copies the \a other transpositions into \c *this */
+ template<typename OtherDerived>
+ Map& operator=(const TranspositionsBase<OtherDerived>& other)
+ {
+ return Base::operator=(other);
+ }
+
+ #ifndef EIGEN_PARSED_BY_DOXYGEN
+ /** This is a special case of the templated operator=. Its purpose is to
+ * prevent a default operator= from hiding the templated operator=.
+ */
+ Map& operator=(const Map& other)
+ {
+ m_indices = other.m_indices;
+ return *this;
+ }
+ #endif
+
+ /** const version of indices(). */
+ const IndicesType& indices() const { return m_indices; }
+
+ /** \returns a reference to the stored array representing the transpositions. */
+ IndicesType& indices() { return m_indices; }
+
+ protected:
+
+ IndicesType m_indices;
+};
+
+namespace internal {
+template<typename _IndicesType>
+struct traits<TranspositionsWrapper<_IndicesType> >
+ : traits<PermutationWrapper<_IndicesType> >
+{
+ typedef TranspositionsStorage StorageKind;
+};
+}
+
+template<typename _IndicesType>
+class TranspositionsWrapper
+ : public TranspositionsBase<TranspositionsWrapper<_IndicesType> >
+{
+ typedef internal::traits<TranspositionsWrapper> Traits;
+ public:
+
+ typedef TranspositionsBase<TranspositionsWrapper> Base;
+ typedef typename Traits::IndicesType IndicesType;
+ typedef typename IndicesType::Scalar StorageIndex;
+
+ explicit inline TranspositionsWrapper(IndicesType& indices)
+ : m_indices(indices)
+ {}
+
+ /** Copies the \a other transpositions into \c *this */
+ template<typename OtherDerived>
+ TranspositionsWrapper& operator=(const TranspositionsBase<OtherDerived>& other)
+ {
+ return Base::operator=(other);
+ }
+
+ #ifndef EIGEN_PARSED_BY_DOXYGEN
+ /** This is a special case of the templated operator=. Its purpose is to
+ * prevent a default operator= from hiding the templated operator=.
+ */
+ TranspositionsWrapper& operator=(const TranspositionsWrapper& other)
+ {
+ m_indices = other.m_indices;
+ return *this;
+ }
+ #endif
+
+ /** const version of indices(). */
+ const IndicesType& indices() const { return m_indices; }
+
+ /** \returns a reference to the stored array representing the transpositions. */
+ IndicesType& indices() { return m_indices; }
+
+ protected:
+
+ typename IndicesType::Nested m_indices;
+};
+
+
+
+/** \returns the \a matrix with the \a transpositions applied to the columns.
+ */
+template<typename MatrixDerived, typename TranspositionsDerived>
+EIGEN_DEVICE_FUNC
+const Product<MatrixDerived, TranspositionsDerived, AliasFreeProduct>
+operator*(const MatrixBase<MatrixDerived> &matrix,
+ const TranspositionsBase<TranspositionsDerived>& transpositions)
+{
+ return Product<MatrixDerived, TranspositionsDerived, AliasFreeProduct>
+ (matrix.derived(), transpositions.derived());
+}
+
+/** \returns the \a matrix with the \a transpositions applied to the rows.
+ */
+template<typename TranspositionsDerived, typename MatrixDerived>
+EIGEN_DEVICE_FUNC
+const Product<TranspositionsDerived, MatrixDerived, AliasFreeProduct>
+operator*(const TranspositionsBase<TranspositionsDerived> &transpositions,
+ const MatrixBase<MatrixDerived>& matrix)
+{
+ return Product<TranspositionsDerived, MatrixDerived, AliasFreeProduct>
+ (transpositions.derived(), matrix.derived());
+}
+
+// Template partial specialization for transposed/inverse transpositions
+
+namespace internal {
+
+template<typename Derived>
+struct traits<Transpose<TranspositionsBase<Derived> > >
+ : traits<Derived>
+{};
+
+} // end namespace internal
+
+template<typename TranspositionsDerived>
+class Transpose<TranspositionsBase<TranspositionsDerived> >
+{
+ typedef TranspositionsDerived TranspositionType;
+ typedef typename TranspositionType::IndicesType IndicesType;
+ public:
+
+ explicit Transpose(const TranspositionType& t) : m_transpositions(t) {}
+
+ Index size() const { return m_transpositions.size(); }
+ Index rows() const { return m_transpositions.size(); }
+ Index cols() const { return m_transpositions.size(); }
+
+ /** \returns the \a matrix with the inverse transpositions applied to the columns.
+ */
+ template<typename OtherDerived> friend
+ const Product<OtherDerived, Transpose, AliasFreeProduct>
+ operator*(const MatrixBase<OtherDerived>& matrix, const Transpose& trt)
+ {
+ return Product<OtherDerived, Transpose, AliasFreeProduct>(matrix.derived(), trt);
+ }
+
+ /** \returns the \a matrix with the inverse transpositions applied to the rows.
+ */
+ template<typename OtherDerived>
+ const Product<Transpose, OtherDerived, AliasFreeProduct>
+ operator*(const MatrixBase<OtherDerived>& matrix) const
+ {
+ return Product<Transpose, OtherDerived, AliasFreeProduct>(*this, matrix.derived());
+ }
+
+ const TranspositionType& nestedExpression() const { return m_transpositions; }
+
+ protected:
+ const TranspositionType& m_transpositions;
+};
+
+} // end namespace Eigen
+
+#endif // EIGEN_TRANSPOSITIONS_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/TriangularMatrix.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/TriangularMatrix.h
new file mode 100644
index 0000000..667ef09
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/TriangularMatrix.h
@@ -0,0 +1,983 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_TRIANGULARMATRIX_H
+#define EIGEN_TRIANGULARMATRIX_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<int Side, typename TriangularType, typename Rhs> struct triangular_solve_retval;
+
+}
+
+/** \class TriangularBase
+ * \ingroup Core_Module
+ *
+ * \brief Base class for triangular part in a matrix
+ */
+template<typename Derived> class TriangularBase : public EigenBase<Derived>
+{
+ public:
+
+ enum {
+ Mode = internal::traits<Derived>::Mode,
+ RowsAtCompileTime = internal::traits<Derived>::RowsAtCompileTime,
+ ColsAtCompileTime = internal::traits<Derived>::ColsAtCompileTime,
+ MaxRowsAtCompileTime = internal::traits<Derived>::MaxRowsAtCompileTime,
+ MaxColsAtCompileTime = internal::traits<Derived>::MaxColsAtCompileTime,
+
+ SizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::RowsAtCompileTime,
+ internal::traits<Derived>::ColsAtCompileTime>::ret),
+ /**< This is equal to the number of coefficients, i.e. the number of
+ * rows times the number of columns, or to \a Dynamic if this is not
+ * known at compile-time. \sa RowsAtCompileTime, ColsAtCompileTime */
+
+ MaxSizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::MaxRowsAtCompileTime,
+ internal::traits<Derived>::MaxColsAtCompileTime>::ret)
+
+ };
+ typedef typename internal::traits<Derived>::Scalar Scalar;
+ typedef typename internal::traits<Derived>::StorageKind StorageKind;
+ typedef typename internal::traits<Derived>::StorageIndex StorageIndex;
+ typedef typename internal::traits<Derived>::FullMatrixType DenseMatrixType;
+ typedef DenseMatrixType DenseType;
+ typedef Derived const& Nested;
+
+ EIGEN_DEVICE_FUNC
+ inline TriangularBase() { eigen_assert(!((Mode&UnitDiag) && (Mode&ZeroDiag))); }
+
+ EIGEN_DEVICE_FUNC
+ inline Index rows() const { return derived().rows(); }
+ EIGEN_DEVICE_FUNC
+ inline Index cols() const { return derived().cols(); }
+ EIGEN_DEVICE_FUNC
+ inline Index outerStride() const { return derived().outerStride(); }
+ EIGEN_DEVICE_FUNC
+ inline Index innerStride() const { return derived().innerStride(); }
+
+ // dummy resize function
+ void resize(Index rows, Index cols)
+ {
+ EIGEN_UNUSED_VARIABLE(rows);
+ EIGEN_UNUSED_VARIABLE(cols);
+ eigen_assert(rows==this->rows() && cols==this->cols());
+ }
+
+ EIGEN_DEVICE_FUNC
+ inline Scalar coeff(Index row, Index col) const { return derived().coeff(row,col); }
+ EIGEN_DEVICE_FUNC
+ inline Scalar& coeffRef(Index row, Index col) { return derived().coeffRef(row,col); }
+
+ /** \see MatrixBase::copyCoeff(row,col)
+ */
+ template<typename Other>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE void copyCoeff(Index row, Index col, Other& other)
+ {
+ derived().coeffRef(row, col) = other.coeff(row, col);
+ }
+
+ EIGEN_DEVICE_FUNC
+ inline Scalar operator()(Index row, Index col) const
+ {
+ check_coordinates(row, col);
+ return coeff(row,col);
+ }
+ EIGEN_DEVICE_FUNC
+ inline Scalar& operator()(Index row, Index col)
+ {
+ check_coordinates(row, col);
+ return coeffRef(row,col);
+ }
+
+ #ifndef EIGEN_PARSED_BY_DOXYGEN
+ EIGEN_DEVICE_FUNC
+ inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
+ EIGEN_DEVICE_FUNC
+ inline Derived& derived() { return *static_cast<Derived*>(this); }
+ #endif // not EIGEN_PARSED_BY_DOXYGEN
+
+ template<typename DenseDerived>
+ EIGEN_DEVICE_FUNC
+ void evalTo(MatrixBase<DenseDerived> &other) const;
+ template<typename DenseDerived>
+ EIGEN_DEVICE_FUNC
+ void evalToLazy(MatrixBase<DenseDerived> &other) const;
+
+ EIGEN_DEVICE_FUNC
+ DenseMatrixType toDenseMatrix() const
+ {
+ DenseMatrixType res(rows(), cols());
+ evalToLazy(res);
+ return res;
+ }
+
+ protected:
+
+ void check_coordinates(Index row, Index col) const
+ {
+ EIGEN_ONLY_USED_FOR_DEBUG(row);
+ EIGEN_ONLY_USED_FOR_DEBUG(col);
+ eigen_assert(col>=0 && col<cols() && row>=0 && row<rows());
+ const int mode = int(Mode) & ~SelfAdjoint;
+ EIGEN_ONLY_USED_FOR_DEBUG(mode);
+ eigen_assert((mode==Upper && col>=row)
+ || (mode==Lower && col<=row)
+ || ((mode==StrictlyUpper || mode==UnitUpper) && col>row)
+ || ((mode==StrictlyLower || mode==UnitLower) && col<row));
+ }
+
+ #ifdef EIGEN_INTERNAL_DEBUGGING
+ void check_coordinates_internal(Index row, Index col) const
+ {
+ check_coordinates(row, col);
+ }
+ #else
+ void check_coordinates_internal(Index , Index ) const {}
+ #endif
+
+};
+
+/** \class TriangularView
+ * \ingroup Core_Module
+ *
+ * \brief Expression of a triangular part in a matrix
+ *
+ * \param MatrixType the type of the object in which we are taking the triangular part
+ * \param Mode the kind of triangular matrix expression to construct. Can be #Upper,
+ * #Lower, #UnitUpper, #UnitLower, #StrictlyUpper, or #StrictlyLower.
+ * This is in fact a bit field; it must have either #Upper or #Lower,
+ * and additionally it may have #UnitDiag or #ZeroDiag or neither.
+ *
+ * This class represents a triangular part of a matrix, not necessarily square. Strictly speaking, for rectangular
+ * matrices one should speak of "trapezoid" parts. This class is the return type
+ * of MatrixBase::triangularView() and SparseMatrixBase::triangularView(), and most of the time this is the only way it is used.
+ *
+ * \sa MatrixBase::triangularView()
+ */
+namespace internal {
+template<typename MatrixType, unsigned int _Mode>
+struct traits<TriangularView<MatrixType, _Mode> > : traits<MatrixType>
+{
+ typedef typename ref_selector<MatrixType>::non_const_type MatrixTypeNested;
+ typedef typename remove_reference<MatrixTypeNested>::type MatrixTypeNestedNonRef;
+ typedef typename remove_all<MatrixTypeNested>::type MatrixTypeNestedCleaned;
+ typedef typename MatrixType::PlainObject FullMatrixType;
+ typedef MatrixType ExpressionType;
+ enum {
+ Mode = _Mode,
+ FlagsLvalueBit = is_lvalue<MatrixType>::value ? LvalueBit : 0,
+ Flags = (MatrixTypeNestedCleaned::Flags & (HereditaryBits | FlagsLvalueBit) & (~(PacketAccessBit | DirectAccessBit | LinearAccessBit)))
+ };
+};
+}
+
+template<typename _MatrixType, unsigned int _Mode, typename StorageKind> class TriangularViewImpl;
+
+template<typename _MatrixType, unsigned int _Mode> class TriangularView
+ : public TriangularViewImpl<_MatrixType, _Mode, typename internal::traits<_MatrixType>::StorageKind >
+{
+ public:
+
+ typedef TriangularViewImpl<_MatrixType, _Mode, typename internal::traits<_MatrixType>::StorageKind > Base;
+ typedef typename internal::traits<TriangularView>::Scalar Scalar;
+ typedef _MatrixType MatrixType;
+
+ protected:
+ typedef typename internal::traits<TriangularView>::MatrixTypeNested MatrixTypeNested;
+ typedef typename internal::traits<TriangularView>::MatrixTypeNestedNonRef MatrixTypeNestedNonRef;
+
+ typedef typename internal::remove_all<typename MatrixType::ConjugateReturnType>::type MatrixConjugateReturnType;
+
+ public:
+
+ typedef typename internal::traits<TriangularView>::StorageKind StorageKind;
+ typedef typename internal::traits<TriangularView>::MatrixTypeNestedCleaned NestedExpression;
+
+ enum {
+ Mode = _Mode,
+ Flags = internal::traits<TriangularView>::Flags,
+ TransposeMode = (Mode & Upper ? Lower : 0)
+ | (Mode & Lower ? Upper : 0)
+ | (Mode & (UnitDiag))
+ | (Mode & (ZeroDiag)),
+ IsVectorAtCompileTime = false
+ };
+
+ EIGEN_DEVICE_FUNC
+ explicit inline TriangularView(MatrixType& matrix) : m_matrix(matrix)
+ {}
+
+ using Base::operator=;
+ TriangularView& operator=(const TriangularView &other)
+ { return Base::operator=(other); }
+
+ /** \copydoc EigenBase::rows() */
+ EIGEN_DEVICE_FUNC
+ inline Index rows() const { return m_matrix.rows(); }
+ /** \copydoc EigenBase::cols() */
+ EIGEN_DEVICE_FUNC
+ inline Index cols() const { return m_matrix.cols(); }
+
+ /** \returns a const reference to the nested expression */
+ EIGEN_DEVICE_FUNC
+ const NestedExpression& nestedExpression() const { return m_matrix; }
+
+ /** \returns a reference to the nested expression */
+ EIGEN_DEVICE_FUNC
+ NestedExpression& nestedExpression() { return m_matrix; }
+
+ typedef TriangularView<const MatrixConjugateReturnType,Mode> ConjugateReturnType;
+ /** \sa MatrixBase::conjugate() const */
+ EIGEN_DEVICE_FUNC
+ inline const ConjugateReturnType conjugate() const
+ { return ConjugateReturnType(m_matrix.conjugate()); }
+
+ typedef TriangularView<const typename MatrixType::AdjointReturnType,TransposeMode> AdjointReturnType;
+ /** \sa MatrixBase::adjoint() const */
+ EIGEN_DEVICE_FUNC
+ inline const AdjointReturnType adjoint() const
+ { return AdjointReturnType(m_matrix.adjoint()); }
+
+ typedef TriangularView<typename MatrixType::TransposeReturnType,TransposeMode> TransposeReturnType;
+ /** \sa MatrixBase::transpose() */
+ EIGEN_DEVICE_FUNC
+ inline TransposeReturnType transpose()
+ {
+ EIGEN_STATIC_ASSERT_LVALUE(MatrixType)
+ typename MatrixType::TransposeReturnType tmp(m_matrix);
+ return TransposeReturnType(tmp);
+ }
+
+ typedef TriangularView<const typename MatrixType::ConstTransposeReturnType,TransposeMode> ConstTransposeReturnType;
+ /** \sa MatrixBase::transpose() const */
+ EIGEN_DEVICE_FUNC
+ inline const ConstTransposeReturnType transpose() const
+ {
+ return ConstTransposeReturnType(m_matrix.transpose());
+ }
+
+ template<typename Other>
+ EIGEN_DEVICE_FUNC
+ inline const Solve<TriangularView, Other>
+ solve(const MatrixBase<Other>& other) const
+ { return Solve<TriangularView, Other>(*this, other.derived()); }
+
+ // workaround MSVC ICE
+ #if EIGEN_COMP_MSVC
+ template<int Side, typename Other>
+ EIGEN_DEVICE_FUNC
+ inline const internal::triangular_solve_retval<Side,TriangularView, Other>
+ solve(const MatrixBase<Other>& other) const
+ { return Base::template solve<Side>(other); }
+ #else
+ using Base::solve;
+ #endif
+
+ /** \returns a selfadjoint view of the referenced triangular part which must be either \c #Upper or \c #Lower.
+ *
+ * This is a shortcut for \code this->nestedExpression().selfadjointView<(*this)::Mode>() \endcode
+ * \sa MatrixBase::selfadjointView() */
+ EIGEN_DEVICE_FUNC
+ SelfAdjointView<MatrixTypeNestedNonRef,Mode> selfadjointView()
+ {
+ EIGEN_STATIC_ASSERT((Mode&(UnitDiag|ZeroDiag))==0,PROGRAMMING_ERROR);
+ return SelfAdjointView<MatrixTypeNestedNonRef,Mode>(m_matrix);
+ }
+
+ /** This is the const version of selfadjointView() */
+ EIGEN_DEVICE_FUNC
+ const SelfAdjointView<MatrixTypeNestedNonRef,Mode> selfadjointView() const
+ {
+ EIGEN_STATIC_ASSERT((Mode&(UnitDiag|ZeroDiag))==0,PROGRAMMING_ERROR);
+ return SelfAdjointView<MatrixTypeNestedNonRef,Mode>(m_matrix);
+ }
+
+
+ /** \returns the determinant of the triangular matrix
+ * \sa MatrixBase::determinant() */
+ EIGEN_DEVICE_FUNC
+ Scalar determinant() const
+ {
+ if (Mode & UnitDiag)
+ return 1;
+ else if (Mode & ZeroDiag)
+ return 0;
+ else
+ return m_matrix.diagonal().prod();
+ }
+
+ protected:
+
+ MatrixTypeNested m_matrix;
+};
+
+/** \ingroup Core_Module
+ *
+ * \brief Base class for a triangular part in a \b dense matrix
+ *
+ * This class is an abstract base class of class TriangularView, and objects of type TriangularViewImpl cannot be instantiated.
+ * It extends class TriangularView with additional methods which available for dense expressions only.
+ *
+ * \sa class TriangularView, MatrixBase::triangularView()
+ */
+template<typename _MatrixType, unsigned int _Mode> class TriangularViewImpl<_MatrixType,_Mode,Dense>
+ : public TriangularBase<TriangularView<_MatrixType, _Mode> >
+{
+ public:
+
+ typedef TriangularView<_MatrixType, _Mode> TriangularViewType;
+ typedef TriangularBase<TriangularViewType> Base;
+ typedef typename internal::traits<TriangularViewType>::Scalar Scalar;
+
+ typedef _MatrixType MatrixType;
+ typedef typename MatrixType::PlainObject DenseMatrixType;
+ typedef DenseMatrixType PlainObject;
+
+ public:
+ using Base::evalToLazy;
+ using Base::derived;
+
+ typedef typename internal::traits<TriangularViewType>::StorageKind StorageKind;
+
+ enum {
+ Mode = _Mode,
+ Flags = internal::traits<TriangularViewType>::Flags
+ };
+
+ /** \returns the outer-stride of the underlying dense matrix
+ * \sa DenseCoeffsBase::outerStride() */
+ EIGEN_DEVICE_FUNC
+ inline Index outerStride() const { return derived().nestedExpression().outerStride(); }
+ /** \returns the inner-stride of the underlying dense matrix
+ * \sa DenseCoeffsBase::innerStride() */
+ EIGEN_DEVICE_FUNC
+ inline Index innerStride() const { return derived().nestedExpression().innerStride(); }
+
+ /** \sa MatrixBase::operator+=() */
+ template<typename Other>
+ EIGEN_DEVICE_FUNC
+ TriangularViewType& operator+=(const DenseBase<Other>& other) {
+ internal::call_assignment_no_alias(derived(), other.derived(), internal::add_assign_op<Scalar,typename Other::Scalar>());
+ return derived();
+ }
+ /** \sa MatrixBase::operator-=() */
+ template<typename Other>
+ EIGEN_DEVICE_FUNC
+ TriangularViewType& operator-=(const DenseBase<Other>& other) {
+ internal::call_assignment_no_alias(derived(), other.derived(), internal::sub_assign_op<Scalar,typename Other::Scalar>());
+ return derived();
+ }
+
+ /** \sa MatrixBase::operator*=() */
+ EIGEN_DEVICE_FUNC
+ TriangularViewType& operator*=(const typename internal::traits<MatrixType>::Scalar& other) { return *this = derived().nestedExpression() * other; }
+ /** \sa DenseBase::operator/=() */
+ EIGEN_DEVICE_FUNC
+ TriangularViewType& operator/=(const typename internal::traits<MatrixType>::Scalar& other) { return *this = derived().nestedExpression() / other; }
+
+ /** \sa MatrixBase::fill() */
+ EIGEN_DEVICE_FUNC
+ void fill(const Scalar& value) { setConstant(value); }
+ /** \sa MatrixBase::setConstant() */
+ EIGEN_DEVICE_FUNC
+ TriangularViewType& setConstant(const Scalar& value)
+ { return *this = MatrixType::Constant(derived().rows(), derived().cols(), value); }
+ /** \sa MatrixBase::setZero() */
+ EIGEN_DEVICE_FUNC
+ TriangularViewType& setZero() { return setConstant(Scalar(0)); }
+ /** \sa MatrixBase::setOnes() */
+ EIGEN_DEVICE_FUNC
+ TriangularViewType& setOnes() { return setConstant(Scalar(1)); }
+
+ /** \sa MatrixBase::coeff()
+ * \warning the coordinates must fit into the referenced triangular part
+ */
+ EIGEN_DEVICE_FUNC
+ inline Scalar coeff(Index row, Index col) const
+ {
+ Base::check_coordinates_internal(row, col);
+ return derived().nestedExpression().coeff(row, col);
+ }
+
+ /** \sa MatrixBase::coeffRef()
+ * \warning the coordinates must fit into the referenced triangular part
+ */
+ EIGEN_DEVICE_FUNC
+ inline Scalar& coeffRef(Index row, Index col)
+ {
+ EIGEN_STATIC_ASSERT_LVALUE(TriangularViewType);
+ Base::check_coordinates_internal(row, col);
+ return derived().nestedExpression().coeffRef(row, col);
+ }
+
+ /** Assigns a triangular matrix to a triangular part of a dense matrix */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ TriangularViewType& operator=(const TriangularBase<OtherDerived>& other);
+
+ /** Shortcut for\code *this = other.other.triangularView<(*this)::Mode>() \endcode */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ TriangularViewType& operator=(const MatrixBase<OtherDerived>& other);
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+ EIGEN_DEVICE_FUNC
+ TriangularViewType& operator=(const TriangularViewImpl& other)
+ { return *this = other.derived().nestedExpression(); }
+
+ /** \deprecated */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ void lazyAssign(const TriangularBase<OtherDerived>& other);
+
+ /** \deprecated */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ void lazyAssign(const MatrixBase<OtherDerived>& other);
+#endif
+
+ /** Efficient triangular matrix times vector/matrix product */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ const Product<TriangularViewType,OtherDerived>
+ operator*(const MatrixBase<OtherDerived>& rhs) const
+ {
+ return Product<TriangularViewType,OtherDerived>(derived(), rhs.derived());
+ }
+
+ /** Efficient vector/matrix times triangular matrix product */
+ template<typename OtherDerived> friend
+ EIGEN_DEVICE_FUNC
+ const Product<OtherDerived,TriangularViewType>
+ operator*(const MatrixBase<OtherDerived>& lhs, const TriangularViewImpl& rhs)
+ {
+ return Product<OtherDerived,TriangularViewType>(lhs.derived(),rhs.derived());
+ }
+
+ /** \returns the product of the inverse of \c *this with \a other, \a *this being triangular.
+ *
+ * This function computes the inverse-matrix matrix product inverse(\c *this) * \a other if
+ * \a Side==OnTheLeft (the default), or the right-inverse-multiply \a other * inverse(\c *this) if
+ * \a Side==OnTheRight.
+ *
+ * Note that the template parameter \c Side can be ommitted, in which case \c Side==OnTheLeft
+ *
+ * The matrix \c *this must be triangular and invertible (i.e., all the coefficients of the
+ * diagonal must be non zero). It works as a forward (resp. backward) substitution if \c *this
+ * is an upper (resp. lower) triangular matrix.
+ *
+ * Example: \include Triangular_solve.cpp
+ * Output: \verbinclude Triangular_solve.out
+ *
+ * This function returns an expression of the inverse-multiply and can works in-place if it is assigned
+ * to the same matrix or vector \a other.
+ *
+ * For users coming from BLAS, this function (and more specifically solveInPlace()) offer
+ * all the operations supported by the \c *TRSV and \c *TRSM BLAS routines.
+ *
+ * \sa TriangularView::solveInPlace()
+ */
+ template<int Side, typename Other>
+ EIGEN_DEVICE_FUNC
+ inline const internal::triangular_solve_retval<Side,TriangularViewType, Other>
+ solve(const MatrixBase<Other>& other) const;
+
+ /** "in-place" version of TriangularView::solve() where the result is written in \a other
+ *
+ * \warning The parameter is only marked 'const' to make the C++ compiler accept a temporary expression here.
+ * This function will const_cast it, so constness isn't honored here.
+ *
+ * Note that the template parameter \c Side can be ommitted, in which case \c Side==OnTheLeft
+ *
+ * See TriangularView:solve() for the details.
+ */
+ template<int Side, typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ void solveInPlace(const MatrixBase<OtherDerived>& other) const;
+
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ void solveInPlace(const MatrixBase<OtherDerived>& other) const
+ { return solveInPlace<OnTheLeft>(other); }
+
+ /** Swaps the coefficients of the common triangular parts of two matrices */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+#ifdef EIGEN_PARSED_BY_DOXYGEN
+ void swap(TriangularBase<OtherDerived> &other)
+#else
+ void swap(TriangularBase<OtherDerived> const & other)
+#endif
+ {
+ EIGEN_STATIC_ASSERT_LVALUE(OtherDerived);
+ call_assignment(derived(), other.const_cast_derived(), internal::swap_assign_op<Scalar>());
+ }
+
+ /** \deprecated
+ * Shortcut for \code (*this).swap(other.triangularView<(*this)::Mode>()) \endcode */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ void swap(MatrixBase<OtherDerived> const & other)
+ {
+ EIGEN_STATIC_ASSERT_LVALUE(OtherDerived);
+ call_assignment(derived(), other.const_cast_derived(), internal::swap_assign_op<Scalar>());
+ }
+
+ template<typename RhsType, typename DstType>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE void _solve_impl(const RhsType &rhs, DstType &dst) const {
+ if(!internal::is_same_dense(dst,rhs))
+ dst = rhs;
+ this->solveInPlace(dst);
+ }
+
+ template<typename ProductType>
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE TriangularViewType& _assignProduct(const ProductType& prod, const Scalar& alpha, bool beta);
+};
+
+/***************************************************************************
+* Implementation of triangular evaluation/assignment
+***************************************************************************/
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+// FIXME should we keep that possibility
+template<typename MatrixType, unsigned int Mode>
+template<typename OtherDerived>
+inline TriangularView<MatrixType, Mode>&
+TriangularViewImpl<MatrixType, Mode, Dense>::operator=(const MatrixBase<OtherDerived>& other)
+{
+ internal::call_assignment_no_alias(derived(), other.derived(), internal::assign_op<Scalar,typename OtherDerived::Scalar>());
+ return derived();
+}
+
+// FIXME should we keep that possibility
+template<typename MatrixType, unsigned int Mode>
+template<typename OtherDerived>
+void TriangularViewImpl<MatrixType, Mode, Dense>::lazyAssign(const MatrixBase<OtherDerived>& other)
+{
+ internal::call_assignment_no_alias(derived(), other.template triangularView<Mode>());
+}
+
+
+
+template<typename MatrixType, unsigned int Mode>
+template<typename OtherDerived>
+inline TriangularView<MatrixType, Mode>&
+TriangularViewImpl<MatrixType, Mode, Dense>::operator=(const TriangularBase<OtherDerived>& other)
+{
+ eigen_assert(Mode == int(OtherDerived::Mode));
+ internal::call_assignment(derived(), other.derived());
+ return derived();
+}
+
+template<typename MatrixType, unsigned int Mode>
+template<typename OtherDerived>
+void TriangularViewImpl<MatrixType, Mode, Dense>::lazyAssign(const TriangularBase<OtherDerived>& other)
+{
+ eigen_assert(Mode == int(OtherDerived::Mode));
+ internal::call_assignment_no_alias(derived(), other.derived());
+}
+#endif
+
+/***************************************************************************
+* Implementation of TriangularBase methods
+***************************************************************************/
+
+/** Assigns a triangular or selfadjoint matrix to a dense matrix.
+ * If the matrix is triangular, the opposite part is set to zero. */
+template<typename Derived>
+template<typename DenseDerived>
+void TriangularBase<Derived>::evalTo(MatrixBase<DenseDerived> &other) const
+{
+ evalToLazy(other.derived());
+}
+
+/***************************************************************************
+* Implementation of TriangularView methods
+***************************************************************************/
+
+/***************************************************************************
+* Implementation of MatrixBase methods
+***************************************************************************/
+
+/**
+ * \returns an expression of a triangular view extracted from the current matrix
+ *
+ * The parameter \a Mode can have the following values: \c #Upper, \c #StrictlyUpper, \c #UnitUpper,
+ * \c #Lower, \c #StrictlyLower, \c #UnitLower.
+ *
+ * Example: \include MatrixBase_triangularView.cpp
+ * Output: \verbinclude MatrixBase_triangularView.out
+ *
+ * \sa class TriangularView
+ */
+template<typename Derived>
+template<unsigned int Mode>
+typename MatrixBase<Derived>::template TriangularViewReturnType<Mode>::Type
+MatrixBase<Derived>::triangularView()
+{
+ return typename TriangularViewReturnType<Mode>::Type(derived());
+}
+
+/** This is the const version of MatrixBase::triangularView() */
+template<typename Derived>
+template<unsigned int Mode>
+typename MatrixBase<Derived>::template ConstTriangularViewReturnType<Mode>::Type
+MatrixBase<Derived>::triangularView() const
+{
+ return typename ConstTriangularViewReturnType<Mode>::Type(derived());
+}
+
+/** \returns true if *this is approximately equal to an upper triangular matrix,
+ * within the precision given by \a prec.
+ *
+ * \sa isLowerTriangular()
+ */
+template<typename Derived>
+bool MatrixBase<Derived>::isUpperTriangular(const RealScalar& prec) const
+{
+ RealScalar maxAbsOnUpperPart = static_cast<RealScalar>(-1);
+ for(Index j = 0; j < cols(); ++j)
+ {
+ Index maxi = numext::mini(j, rows()-1);
+ for(Index i = 0; i <= maxi; ++i)
+ {
+ RealScalar absValue = numext::abs(coeff(i,j));
+ if(absValue > maxAbsOnUpperPart) maxAbsOnUpperPart = absValue;
+ }
+ }
+ RealScalar threshold = maxAbsOnUpperPart * prec;
+ for(Index j = 0; j < cols(); ++j)
+ for(Index i = j+1; i < rows(); ++i)
+ if(numext::abs(coeff(i, j)) > threshold) return false;
+ return true;
+}
+
+/** \returns true if *this is approximately equal to a lower triangular matrix,
+ * within the precision given by \a prec.
+ *
+ * \sa isUpperTriangular()
+ */
+template<typename Derived>
+bool MatrixBase<Derived>::isLowerTriangular(const RealScalar& prec) const
+{
+ RealScalar maxAbsOnLowerPart = static_cast<RealScalar>(-1);
+ for(Index j = 0; j < cols(); ++j)
+ for(Index i = j; i < rows(); ++i)
+ {
+ RealScalar absValue = numext::abs(coeff(i,j));
+ if(absValue > maxAbsOnLowerPart) maxAbsOnLowerPart = absValue;
+ }
+ RealScalar threshold = maxAbsOnLowerPart * prec;
+ for(Index j = 1; j < cols(); ++j)
+ {
+ Index maxi = numext::mini(j, rows()-1);
+ for(Index i = 0; i < maxi; ++i)
+ if(numext::abs(coeff(i, j)) > threshold) return false;
+ }
+ return true;
+}
+
+
+/***************************************************************************
+****************************************************************************
+* Evaluators and Assignment of triangular expressions
+***************************************************************************
+***************************************************************************/
+
+namespace internal {
+
+
+// TODO currently a triangular expression has the form TriangularView<.,.>
+// in the future triangular-ness should be defined by the expression traits
+// such that Transpose<TriangularView<.,.> > is valid. (currently TriangularBase::transpose() is overloaded to make it work)
+template<typename MatrixType, unsigned int Mode>
+struct evaluator_traits<TriangularView<MatrixType,Mode> >
+{
+ typedef typename storage_kind_to_evaluator_kind<typename MatrixType::StorageKind>::Kind Kind;
+ typedef typename glue_shapes<typename evaluator_traits<MatrixType>::Shape, TriangularShape>::type Shape;
+};
+
+template<typename MatrixType, unsigned int Mode>
+struct unary_evaluator<TriangularView<MatrixType,Mode>, IndexBased>
+ : evaluator<typename internal::remove_all<MatrixType>::type>
+{
+ typedef TriangularView<MatrixType,Mode> XprType;
+ typedef evaluator<typename internal::remove_all<MatrixType>::type> Base;
+ unary_evaluator(const XprType &xpr) : Base(xpr.nestedExpression()) {}
+};
+
+// Additional assignment kinds:
+struct Triangular2Triangular {};
+struct Triangular2Dense {};
+struct Dense2Triangular {};
+
+
+template<typename Kernel, unsigned int Mode, int UnrollCount, bool ClearOpposite> struct triangular_assignment_loop;
+
+
+/** \internal Specialization of the dense assignment kernel for triangular matrices.
+ * The main difference is that the triangular, diagonal, and opposite parts are processed through three different functions.
+ * \tparam UpLo must be either Lower or Upper
+ * \tparam Mode must be either 0, UnitDiag, ZeroDiag, or SelfAdjoint
+ */
+template<int UpLo, int Mode, int SetOpposite, typename DstEvaluatorTypeT, typename SrcEvaluatorTypeT, typename Functor, int Version = Specialized>
+class triangular_dense_assignment_kernel : public generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, Version>
+{
+protected:
+ typedef generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, Version> Base;
+ typedef typename Base::DstXprType DstXprType;
+ typedef typename Base::SrcXprType SrcXprType;
+ using Base::m_dst;
+ using Base::m_src;
+ using Base::m_functor;
+public:
+
+ typedef typename Base::DstEvaluatorType DstEvaluatorType;
+ typedef typename Base::SrcEvaluatorType SrcEvaluatorType;
+ typedef typename Base::Scalar Scalar;
+ typedef typename Base::AssignmentTraits AssignmentTraits;
+
+
+ EIGEN_DEVICE_FUNC triangular_dense_assignment_kernel(DstEvaluatorType &dst, const SrcEvaluatorType &src, const Functor &func, DstXprType& dstExpr)
+ : Base(dst, src, func, dstExpr)
+ {}
+
+#ifdef EIGEN_INTERNAL_DEBUGGING
+ EIGEN_DEVICE_FUNC void assignCoeff(Index row, Index col)
+ {
+ eigen_internal_assert(row!=col);
+ Base::assignCoeff(row,col);
+ }
+#else
+ using Base::assignCoeff;
+#endif
+
+ EIGEN_DEVICE_FUNC void assignDiagonalCoeff(Index id)
+ {
+ if(Mode==UnitDiag && SetOpposite) m_functor.assignCoeff(m_dst.coeffRef(id,id), Scalar(1));
+ else if(Mode==ZeroDiag && SetOpposite) m_functor.assignCoeff(m_dst.coeffRef(id,id), Scalar(0));
+ else if(Mode==0) Base::assignCoeff(id,id);
+ }
+
+ EIGEN_DEVICE_FUNC void assignOppositeCoeff(Index row, Index col)
+ {
+ eigen_internal_assert(row!=col);
+ if(SetOpposite)
+ m_functor.assignCoeff(m_dst.coeffRef(row,col), Scalar(0));
+ }
+};
+
+template<int Mode, bool SetOpposite, typename DstXprType, typename SrcXprType, typename Functor>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void call_triangular_assignment_loop(DstXprType& dst, const SrcXprType& src, const Functor &func)
+{
+ typedef evaluator<DstXprType> DstEvaluatorType;
+ typedef evaluator<SrcXprType> SrcEvaluatorType;
+
+ SrcEvaluatorType srcEvaluator(src);
+
+ Index dstRows = src.rows();
+ Index dstCols = src.cols();
+ if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+ dst.resize(dstRows, dstCols);
+ DstEvaluatorType dstEvaluator(dst);
+
+ typedef triangular_dense_assignment_kernel< Mode&(Lower|Upper),Mode&(UnitDiag|ZeroDiag|SelfAdjoint),SetOpposite,
+ DstEvaluatorType,SrcEvaluatorType,Functor> Kernel;
+ Kernel kernel(dstEvaluator, srcEvaluator, func, dst.const_cast_derived());
+
+ enum {
+ unroll = DstXprType::SizeAtCompileTime != Dynamic
+ && SrcEvaluatorType::CoeffReadCost < HugeCost
+ && DstXprType::SizeAtCompileTime * (DstEvaluatorType::CoeffReadCost+SrcEvaluatorType::CoeffReadCost) / 2 <= EIGEN_UNROLLING_LIMIT
+ };
+
+ triangular_assignment_loop<Kernel, Mode, unroll ? int(DstXprType::SizeAtCompileTime) : Dynamic, SetOpposite>::run(kernel);
+}
+
+template<int Mode, bool SetOpposite, typename DstXprType, typename SrcXprType>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void call_triangular_assignment_loop(DstXprType& dst, const SrcXprType& src)
+{
+ call_triangular_assignment_loop<Mode,SetOpposite>(dst, src, internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar>());
+}
+
+template<> struct AssignmentKind<TriangularShape,TriangularShape> { typedef Triangular2Triangular Kind; };
+template<> struct AssignmentKind<DenseShape,TriangularShape> { typedef Triangular2Dense Kind; };
+template<> struct AssignmentKind<TriangularShape,DenseShape> { typedef Dense2Triangular Kind; };
+
+
+template< typename DstXprType, typename SrcXprType, typename Functor>
+struct Assignment<DstXprType, SrcXprType, Functor, Triangular2Triangular>
+{
+ EIGEN_DEVICE_FUNC static void run(DstXprType &dst, const SrcXprType &src, const Functor &func)
+ {
+ eigen_assert(int(DstXprType::Mode) == int(SrcXprType::Mode));
+
+ call_triangular_assignment_loop<DstXprType::Mode, false>(dst, src, func);
+ }
+};
+
+template< typename DstXprType, typename SrcXprType, typename Functor>
+struct Assignment<DstXprType, SrcXprType, Functor, Triangular2Dense>
+{
+ EIGEN_DEVICE_FUNC static void run(DstXprType &dst, const SrcXprType &src, const Functor &func)
+ {
+ call_triangular_assignment_loop<SrcXprType::Mode, (SrcXprType::Mode&SelfAdjoint)==0>(dst, src, func);
+ }
+};
+
+template< typename DstXprType, typename SrcXprType, typename Functor>
+struct Assignment<DstXprType, SrcXprType, Functor, Dense2Triangular>
+{
+ EIGEN_DEVICE_FUNC static void run(DstXprType &dst, const SrcXprType &src, const Functor &func)
+ {
+ call_triangular_assignment_loop<DstXprType::Mode, false>(dst, src, func);
+ }
+};
+
+
+template<typename Kernel, unsigned int Mode, int UnrollCount, bool SetOpposite>
+struct triangular_assignment_loop
+{
+ // FIXME: this is not very clean, perhaps this information should be provided by the kernel?
+ typedef typename Kernel::DstEvaluatorType DstEvaluatorType;
+ typedef typename DstEvaluatorType::XprType DstXprType;
+
+ enum {
+ col = (UnrollCount-1) / DstXprType::RowsAtCompileTime,
+ row = (UnrollCount-1) % DstXprType::RowsAtCompileTime
+ };
+
+ typedef typename Kernel::Scalar Scalar;
+
+ EIGEN_DEVICE_FUNC
+ static inline void run(Kernel &kernel)
+ {
+ triangular_assignment_loop<Kernel, Mode, UnrollCount-1, SetOpposite>::run(kernel);
+
+ if(row==col)
+ kernel.assignDiagonalCoeff(row);
+ else if( ((Mode&Lower) && row>col) || ((Mode&Upper) && row<col) )
+ kernel.assignCoeff(row,col);
+ else if(SetOpposite)
+ kernel.assignOppositeCoeff(row,col);
+ }
+};
+
+// prevent buggy user code from causing an infinite recursion
+template<typename Kernel, unsigned int Mode, bool SetOpposite>
+struct triangular_assignment_loop<Kernel, Mode, 0, SetOpposite>
+{
+ EIGEN_DEVICE_FUNC
+ static inline void run(Kernel &) {}
+};
+
+
+
+// TODO: experiment with a recursive assignment procedure splitting the current
+// triangular part into one rectangular and two triangular parts.
+
+
+template<typename Kernel, unsigned int Mode, bool SetOpposite>
+struct triangular_assignment_loop<Kernel, Mode, Dynamic, SetOpposite>
+{
+ typedef typename Kernel::Scalar Scalar;
+ EIGEN_DEVICE_FUNC
+ static inline void run(Kernel &kernel)
+ {
+ for(Index j = 0; j < kernel.cols(); ++j)
+ {
+ Index maxi = numext::mini(j, kernel.rows());
+ Index i = 0;
+ if (((Mode&Lower) && SetOpposite) || (Mode&Upper))
+ {
+ for(; i < maxi; ++i)
+ if(Mode&Upper) kernel.assignCoeff(i, j);
+ else kernel.assignOppositeCoeff(i, j);
+ }
+ else
+ i = maxi;
+
+ if(i<kernel.rows()) // then i==j
+ kernel.assignDiagonalCoeff(i++);
+
+ if (((Mode&Upper) && SetOpposite) || (Mode&Lower))
+ {
+ for(; i < kernel.rows(); ++i)
+ if(Mode&Lower) kernel.assignCoeff(i, j);
+ else kernel.assignOppositeCoeff(i, j);
+ }
+ }
+ }
+};
+
+} // end namespace internal
+
+/** Assigns a triangular or selfadjoint matrix to a dense matrix.
+ * If the matrix is triangular, the opposite part is set to zero. */
+template<typename Derived>
+template<typename DenseDerived>
+void TriangularBase<Derived>::evalToLazy(MatrixBase<DenseDerived> &other) const
+{
+ other.derived().resize(this->rows(), this->cols());
+ internal::call_triangular_assignment_loop<Derived::Mode,(Derived::Mode&SelfAdjoint)==0 /* SetOpposite */>(other.derived(), derived().nestedExpression());
+}
+
+namespace internal {
+
+// Triangular = Product
+template< typename DstXprType, typename Lhs, typename Rhs, typename Scalar>
+struct Assignment<DstXprType, Product<Lhs,Rhs,DefaultProduct>, internal::assign_op<Scalar,typename Product<Lhs,Rhs,DefaultProduct>::Scalar>, Dense2Triangular>
+{
+ typedef Product<Lhs,Rhs,DefaultProduct> SrcXprType;
+ static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,typename SrcXprType::Scalar> &)
+ {
+ Index dstRows = src.rows();
+ Index dstCols = src.cols();
+ if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+ dst.resize(dstRows, dstCols);
+
+ dst._assignProduct(src, 1, 0);
+ }
+};
+
+// Triangular += Product
+template< typename DstXprType, typename Lhs, typename Rhs, typename Scalar>
+struct Assignment<DstXprType, Product<Lhs,Rhs,DefaultProduct>, internal::add_assign_op<Scalar,typename Product<Lhs,Rhs,DefaultProduct>::Scalar>, Dense2Triangular>
+{
+ typedef Product<Lhs,Rhs,DefaultProduct> SrcXprType;
+ static void run(DstXprType &dst, const SrcXprType &src, const internal::add_assign_op<Scalar,typename SrcXprType::Scalar> &)
+ {
+ dst._assignProduct(src, 1, 1);
+ }
+};
+
+// Triangular -= Product
+template< typename DstXprType, typename Lhs, typename Rhs, typename Scalar>
+struct Assignment<DstXprType, Product<Lhs,Rhs,DefaultProduct>, internal::sub_assign_op<Scalar,typename Product<Lhs,Rhs,DefaultProduct>::Scalar>, Dense2Triangular>
+{
+ typedef Product<Lhs,Rhs,DefaultProduct> SrcXprType;
+ static void run(DstXprType &dst, const SrcXprType &src, const internal::sub_assign_op<Scalar,typename SrcXprType::Scalar> &)
+ {
+ dst._assignProduct(src, -1, 1);
+ }
+};
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_TRIANGULARMATRIX_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/VectorBlock.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/VectorBlock.h
new file mode 100644
index 0000000..d72fbf7
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/VectorBlock.h
@@ -0,0 +1,96 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_VECTORBLOCK_H
+#define EIGEN_VECTORBLOCK_H
+
+namespace Eigen {
+
+namespace internal {
+template<typename VectorType, int Size>
+struct traits<VectorBlock<VectorType, Size> >
+ : public traits<Block<VectorType,
+ traits<VectorType>::Flags & RowMajorBit ? 1 : Size,
+ traits<VectorType>::Flags & RowMajorBit ? Size : 1> >
+{
+};
+}
+
+/** \class VectorBlock
+ * \ingroup Core_Module
+ *
+ * \brief Expression of a fixed-size or dynamic-size sub-vector
+ *
+ * \tparam VectorType the type of the object in which we are taking a sub-vector
+ * \tparam Size size of the sub-vector we are taking at compile time (optional)
+ *
+ * This class represents an expression of either a fixed-size or dynamic-size sub-vector.
+ * It is the return type of DenseBase::segment(Index,Index) and DenseBase::segment<int>(Index) and
+ * most of the time this is the only way it is used.
+ *
+ * However, if you want to directly maniputate sub-vector expressions,
+ * for instance if you want to write a function returning such an expression, you
+ * will need to use this class.
+ *
+ * Here is an example illustrating the dynamic case:
+ * \include class_VectorBlock.cpp
+ * Output: \verbinclude class_VectorBlock.out
+ *
+ * \note Even though this expression has dynamic size, in the case where \a VectorType
+ * has fixed size, this expression inherits a fixed maximal size which means that evaluating
+ * it does not cause a dynamic memory allocation.
+ *
+ * Here is an example illustrating the fixed-size case:
+ * \include class_FixedVectorBlock.cpp
+ * Output: \verbinclude class_FixedVectorBlock.out
+ *
+ * \sa class Block, DenseBase::segment(Index,Index,Index,Index), DenseBase::segment(Index,Index)
+ */
+template<typename VectorType, int Size> class VectorBlock
+ : public Block<VectorType,
+ internal::traits<VectorType>::Flags & RowMajorBit ? 1 : Size,
+ internal::traits<VectorType>::Flags & RowMajorBit ? Size : 1>
+{
+ typedef Block<VectorType,
+ internal::traits<VectorType>::Flags & RowMajorBit ? 1 : Size,
+ internal::traits<VectorType>::Flags & RowMajorBit ? Size : 1> Base;
+ enum {
+ IsColVector = !(internal::traits<VectorType>::Flags & RowMajorBit)
+ };
+ public:
+ EIGEN_DENSE_PUBLIC_INTERFACE(VectorBlock)
+
+ using Base::operator=;
+
+ /** Dynamic-size constructor
+ */
+ EIGEN_DEVICE_FUNC
+ inline VectorBlock(VectorType& vector, Index start, Index size)
+ : Base(vector,
+ IsColVector ? start : 0, IsColVector ? 0 : start,
+ IsColVector ? size : 1, IsColVector ? 1 : size)
+ {
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(VectorBlock);
+ }
+
+ /** Fixed-size constructor
+ */
+ EIGEN_DEVICE_FUNC
+ inline VectorBlock(VectorType& vector, Index start)
+ : Base(vector, IsColVector ? start : 0, IsColVector ? 0 : start)
+ {
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(VectorBlock);
+ }
+};
+
+
+} // end namespace Eigen
+
+#endif // EIGEN_VECTORBLOCK_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/VectorwiseOp.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/VectorwiseOp.h
new file mode 100644
index 0000000..4fe267e
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/VectorwiseOp.h
@@ -0,0 +1,695 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_PARTIAL_REDUX_H
+#define EIGEN_PARTIAL_REDUX_H
+
+namespace Eigen {
+
+/** \class PartialReduxExpr
+ * \ingroup Core_Module
+ *
+ * \brief Generic expression of a partially reduxed matrix
+ *
+ * \tparam MatrixType the type of the matrix we are applying the redux operation
+ * \tparam MemberOp type of the member functor
+ * \tparam Direction indicates the direction of the redux (#Vertical or #Horizontal)
+ *
+ * This class represents an expression of a partial redux operator of a matrix.
+ * It is the return type of some VectorwiseOp functions,
+ * and most of the time this is the only way it is used.
+ *
+ * \sa class VectorwiseOp
+ */
+
+template< typename MatrixType, typename MemberOp, int Direction>
+class PartialReduxExpr;
+
+namespace internal {
+template<typename MatrixType, typename MemberOp, int Direction>
+struct traits<PartialReduxExpr<MatrixType, MemberOp, Direction> >
+ : traits<MatrixType>
+{
+ typedef typename MemberOp::result_type Scalar;
+ typedef typename traits<MatrixType>::StorageKind StorageKind;
+ typedef typename traits<MatrixType>::XprKind XprKind;
+ typedef typename MatrixType::Scalar InputScalar;
+ enum {
+ RowsAtCompileTime = Direction==Vertical ? 1 : MatrixType::RowsAtCompileTime,
+ ColsAtCompileTime = Direction==Horizontal ? 1 : MatrixType::ColsAtCompileTime,
+ MaxRowsAtCompileTime = Direction==Vertical ? 1 : MatrixType::MaxRowsAtCompileTime,
+ MaxColsAtCompileTime = Direction==Horizontal ? 1 : MatrixType::MaxColsAtCompileTime,
+ Flags = RowsAtCompileTime == 1 ? RowMajorBit : 0,
+ TraversalSize = Direction==Vertical ? MatrixType::RowsAtCompileTime : MatrixType::ColsAtCompileTime
+ };
+};
+}
+
+template< typename MatrixType, typename MemberOp, int Direction>
+class PartialReduxExpr : public internal::dense_xpr_base< PartialReduxExpr<MatrixType, MemberOp, Direction> >::type,
+ internal::no_assignment_operator
+{
+ public:
+
+ typedef typename internal::dense_xpr_base<PartialReduxExpr>::type Base;
+ EIGEN_DENSE_PUBLIC_INTERFACE(PartialReduxExpr)
+
+ EIGEN_DEVICE_FUNC
+ explicit PartialReduxExpr(const MatrixType& mat, const MemberOp& func = MemberOp())
+ : m_matrix(mat), m_functor(func) {}
+
+ EIGEN_DEVICE_FUNC
+ Index rows() const { return (Direction==Vertical ? 1 : m_matrix.rows()); }
+ EIGEN_DEVICE_FUNC
+ Index cols() const { return (Direction==Horizontal ? 1 : m_matrix.cols()); }
+
+ EIGEN_DEVICE_FUNC
+ typename MatrixType::Nested nestedExpression() const { return m_matrix; }
+
+ EIGEN_DEVICE_FUNC
+ const MemberOp& functor() const { return m_functor; }
+
+ protected:
+ typename MatrixType::Nested m_matrix;
+ const MemberOp m_functor;
+};
+
+#define EIGEN_MEMBER_FUNCTOR(MEMBER,COST) \
+ template <typename ResultType> \
+ struct member_##MEMBER { \
+ EIGEN_EMPTY_STRUCT_CTOR(member_##MEMBER) \
+ typedef ResultType result_type; \
+ template<typename Scalar, int Size> struct Cost \
+ { enum { value = COST }; }; \
+ template<typename XprType> \
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE \
+ ResultType operator()(const XprType& mat) const \
+ { return mat.MEMBER(); } \
+ }
+
+namespace internal {
+
+EIGEN_MEMBER_FUNCTOR(squaredNorm, Size * NumTraits<Scalar>::MulCost + (Size-1)*NumTraits<Scalar>::AddCost);
+EIGEN_MEMBER_FUNCTOR(norm, (Size+5) * NumTraits<Scalar>::MulCost + (Size-1)*NumTraits<Scalar>::AddCost);
+EIGEN_MEMBER_FUNCTOR(stableNorm, (Size+5) * NumTraits<Scalar>::MulCost + (Size-1)*NumTraits<Scalar>::AddCost);
+EIGEN_MEMBER_FUNCTOR(blueNorm, (Size+5) * NumTraits<Scalar>::MulCost + (Size-1)*NumTraits<Scalar>::AddCost);
+EIGEN_MEMBER_FUNCTOR(hypotNorm, (Size-1) * functor_traits<scalar_hypot_op<Scalar> >::Cost );
+EIGEN_MEMBER_FUNCTOR(sum, (Size-1)*NumTraits<Scalar>::AddCost);
+EIGEN_MEMBER_FUNCTOR(mean, (Size-1)*NumTraits<Scalar>::AddCost + NumTraits<Scalar>::MulCost);
+EIGEN_MEMBER_FUNCTOR(minCoeff, (Size-1)*NumTraits<Scalar>::AddCost);
+EIGEN_MEMBER_FUNCTOR(maxCoeff, (Size-1)*NumTraits<Scalar>::AddCost);
+EIGEN_MEMBER_FUNCTOR(all, (Size-1)*NumTraits<Scalar>::AddCost);
+EIGEN_MEMBER_FUNCTOR(any, (Size-1)*NumTraits<Scalar>::AddCost);
+EIGEN_MEMBER_FUNCTOR(count, (Size-1)*NumTraits<Scalar>::AddCost);
+EIGEN_MEMBER_FUNCTOR(prod, (Size-1)*NumTraits<Scalar>::MulCost);
+
+template <int p, typename ResultType>
+struct member_lpnorm {
+ typedef ResultType result_type;
+ template<typename Scalar, int Size> struct Cost
+ { enum { value = (Size+5) * NumTraits<Scalar>::MulCost + (Size-1)*NumTraits<Scalar>::AddCost }; };
+ EIGEN_DEVICE_FUNC member_lpnorm() {}
+ template<typename XprType>
+ EIGEN_DEVICE_FUNC inline ResultType operator()(const XprType& mat) const
+ { return mat.template lpNorm<p>(); }
+};
+
+template <typename BinaryOp, typename Scalar>
+struct member_redux {
+ typedef typename result_of<
+ BinaryOp(const Scalar&,const Scalar&)
+ >::type result_type;
+ template<typename _Scalar, int Size> struct Cost
+ { enum { value = (Size-1) * functor_traits<BinaryOp>::Cost }; };
+ EIGEN_DEVICE_FUNC explicit member_redux(const BinaryOp func) : m_functor(func) {}
+ template<typename Derived>
+ EIGEN_DEVICE_FUNC inline result_type operator()(const DenseBase<Derived>& mat) const
+ { return mat.redux(m_functor); }
+ const BinaryOp m_functor;
+};
+}
+
+/** \class VectorwiseOp
+ * \ingroup Core_Module
+ *
+ * \brief Pseudo expression providing partial reduction operations
+ *
+ * \tparam ExpressionType the type of the object on which to do partial reductions
+ * \tparam Direction indicates the direction of the redux (#Vertical or #Horizontal)
+ *
+ * This class represents a pseudo expression with partial reduction features.
+ * It is the return type of DenseBase::colwise() and DenseBase::rowwise()
+ * and most of the time this is the only way it is used.
+ *
+ * Example: \include MatrixBase_colwise.cpp
+ * Output: \verbinclude MatrixBase_colwise.out
+ *
+ * \sa DenseBase::colwise(), DenseBase::rowwise(), class PartialReduxExpr
+ */
+template<typename ExpressionType, int Direction> class VectorwiseOp
+{
+ public:
+
+ typedef typename ExpressionType::Scalar Scalar;
+ typedef typename ExpressionType::RealScalar RealScalar;
+ typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
+ typedef typename internal::ref_selector<ExpressionType>::non_const_type ExpressionTypeNested;
+ typedef typename internal::remove_all<ExpressionTypeNested>::type ExpressionTypeNestedCleaned;
+
+ template<template<typename _Scalar> class Functor,
+ typename Scalar_=Scalar> struct ReturnType
+ {
+ typedef PartialReduxExpr<ExpressionType,
+ Functor<Scalar_>,
+ Direction
+ > Type;
+ };
+
+ template<typename BinaryOp> struct ReduxReturnType
+ {
+ typedef PartialReduxExpr<ExpressionType,
+ internal::member_redux<BinaryOp,Scalar>,
+ Direction
+ > Type;
+ };
+
+ enum {
+ isVertical = (Direction==Vertical) ? 1 : 0,
+ isHorizontal = (Direction==Horizontal) ? 1 : 0
+ };
+
+ protected:
+
+ typedef typename internal::conditional<isVertical,
+ typename ExpressionType::ColXpr,
+ typename ExpressionType::RowXpr>::type SubVector;
+ /** \internal
+ * \returns the i-th subvector according to the \c Direction */
+ EIGEN_DEVICE_FUNC
+ SubVector subVector(Index i)
+ {
+ return SubVector(m_matrix.derived(),i);
+ }
+
+ /** \internal
+ * \returns the number of subvectors in the direction \c Direction */
+ EIGEN_DEVICE_FUNC
+ Index subVectors() const
+ { return isVertical?m_matrix.cols():m_matrix.rows(); }
+
+ template<typename OtherDerived> struct ExtendedType {
+ typedef Replicate<OtherDerived,
+ isVertical ? 1 : ExpressionType::RowsAtCompileTime,
+ isHorizontal ? 1 : ExpressionType::ColsAtCompileTime> Type;
+ };
+
+ /** \internal
+ * Replicates a vector to match the size of \c *this */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ typename ExtendedType<OtherDerived>::Type
+ extendedTo(const DenseBase<OtherDerived>& other) const
+ {
+ EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(isVertical, OtherDerived::MaxColsAtCompileTime==1),
+ YOU_PASSED_A_ROW_VECTOR_BUT_A_COLUMN_VECTOR_WAS_EXPECTED)
+ EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(isHorizontal, OtherDerived::MaxRowsAtCompileTime==1),
+ YOU_PASSED_A_COLUMN_VECTOR_BUT_A_ROW_VECTOR_WAS_EXPECTED)
+ return typename ExtendedType<OtherDerived>::Type
+ (other.derived(),
+ isVertical ? 1 : m_matrix.rows(),
+ isHorizontal ? 1 : m_matrix.cols());
+ }
+
+ template<typename OtherDerived> struct OppositeExtendedType {
+ typedef Replicate<OtherDerived,
+ isHorizontal ? 1 : ExpressionType::RowsAtCompileTime,
+ isVertical ? 1 : ExpressionType::ColsAtCompileTime> Type;
+ };
+
+ /** \internal
+ * Replicates a vector in the opposite direction to match the size of \c *this */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ typename OppositeExtendedType<OtherDerived>::Type
+ extendedToOpposite(const DenseBase<OtherDerived>& other) const
+ {
+ EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(isHorizontal, OtherDerived::MaxColsAtCompileTime==1),
+ YOU_PASSED_A_ROW_VECTOR_BUT_A_COLUMN_VECTOR_WAS_EXPECTED)
+ EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(isVertical, OtherDerived::MaxRowsAtCompileTime==1),
+ YOU_PASSED_A_COLUMN_VECTOR_BUT_A_ROW_VECTOR_WAS_EXPECTED)
+ return typename OppositeExtendedType<OtherDerived>::Type
+ (other.derived(),
+ isHorizontal ? 1 : m_matrix.rows(),
+ isVertical ? 1 : m_matrix.cols());
+ }
+
+ public:
+ EIGEN_DEVICE_FUNC
+ explicit inline VectorwiseOp(ExpressionType& matrix) : m_matrix(matrix) {}
+
+ /** \internal */
+ EIGEN_DEVICE_FUNC
+ inline const ExpressionType& _expression() const { return m_matrix; }
+
+ /** \returns a row or column vector expression of \c *this reduxed by \a func
+ *
+ * The template parameter \a BinaryOp is the type of the functor
+ * of the custom redux operator. Note that func must be an associative operator.
+ *
+ * \sa class VectorwiseOp, DenseBase::colwise(), DenseBase::rowwise()
+ */
+ template<typename BinaryOp>
+ EIGEN_DEVICE_FUNC
+ const typename ReduxReturnType<BinaryOp>::Type
+ redux(const BinaryOp& func = BinaryOp()) const
+ { return typename ReduxReturnType<BinaryOp>::Type(_expression(), internal::member_redux<BinaryOp,Scalar>(func)); }
+
+ typedef typename ReturnType<internal::member_minCoeff>::Type MinCoeffReturnType;
+ typedef typename ReturnType<internal::member_maxCoeff>::Type MaxCoeffReturnType;
+ typedef typename ReturnType<internal::member_squaredNorm,RealScalar>::Type SquaredNormReturnType;
+ typedef typename ReturnType<internal::member_norm,RealScalar>::Type NormReturnType;
+ typedef typename ReturnType<internal::member_blueNorm,RealScalar>::Type BlueNormReturnType;
+ typedef typename ReturnType<internal::member_stableNorm,RealScalar>::Type StableNormReturnType;
+ typedef typename ReturnType<internal::member_hypotNorm,RealScalar>::Type HypotNormReturnType;
+ typedef typename ReturnType<internal::member_sum>::Type SumReturnType;
+ typedef typename ReturnType<internal::member_mean>::Type MeanReturnType;
+ typedef typename ReturnType<internal::member_all>::Type AllReturnType;
+ typedef typename ReturnType<internal::member_any>::Type AnyReturnType;
+ typedef PartialReduxExpr<ExpressionType, internal::member_count<Index>, Direction> CountReturnType;
+ typedef typename ReturnType<internal::member_prod>::Type ProdReturnType;
+ typedef Reverse<const ExpressionType, Direction> ConstReverseReturnType;
+ typedef Reverse<ExpressionType, Direction> ReverseReturnType;
+
+ template<int p> struct LpNormReturnType {
+ typedef PartialReduxExpr<ExpressionType, internal::member_lpnorm<p,RealScalar>,Direction> Type;
+ };
+
+ /** \returns a row (or column) vector expression of the smallest coefficient
+ * of each column (or row) of the referenced expression.
+ *
+ * \warning the result is undefined if \c *this contains NaN.
+ *
+ * Example: \include PartialRedux_minCoeff.cpp
+ * Output: \verbinclude PartialRedux_minCoeff.out
+ *
+ * \sa DenseBase::minCoeff() */
+ EIGEN_DEVICE_FUNC
+ const MinCoeffReturnType minCoeff() const
+ { return MinCoeffReturnType(_expression()); }
+
+ /** \returns a row (or column) vector expression of the largest coefficient
+ * of each column (or row) of the referenced expression.
+ *
+ * \warning the result is undefined if \c *this contains NaN.
+ *
+ * Example: \include PartialRedux_maxCoeff.cpp
+ * Output: \verbinclude PartialRedux_maxCoeff.out
+ *
+ * \sa DenseBase::maxCoeff() */
+ EIGEN_DEVICE_FUNC
+ const MaxCoeffReturnType maxCoeff() const
+ { return MaxCoeffReturnType(_expression()); }
+
+ /** \returns a row (or column) vector expression of the squared norm
+ * of each column (or row) of the referenced expression.
+ * This is a vector with real entries, even if the original matrix has complex entries.
+ *
+ * Example: \include PartialRedux_squaredNorm.cpp
+ * Output: \verbinclude PartialRedux_squaredNorm.out
+ *
+ * \sa DenseBase::squaredNorm() */
+ EIGEN_DEVICE_FUNC
+ const SquaredNormReturnType squaredNorm() const
+ { return SquaredNormReturnType(_expression()); }
+
+ /** \returns a row (or column) vector expression of the norm
+ * of each column (or row) of the referenced expression.
+ * This is a vector with real entries, even if the original matrix has complex entries.
+ *
+ * Example: \include PartialRedux_norm.cpp
+ * Output: \verbinclude PartialRedux_norm.out
+ *
+ * \sa DenseBase::norm() */
+ EIGEN_DEVICE_FUNC
+ const NormReturnType norm() const
+ { return NormReturnType(_expression()); }
+
+ /** \returns a row (or column) vector expression of the norm
+ * of each column (or row) of the referenced expression.
+ * This is a vector with real entries, even if the original matrix has complex entries.
+ *
+ * Example: \include PartialRedux_norm.cpp
+ * Output: \verbinclude PartialRedux_norm.out
+ *
+ * \sa DenseBase::norm() */
+ template<int p>
+ EIGEN_DEVICE_FUNC
+ const typename LpNormReturnType<p>::Type lpNorm() const
+ { return typename LpNormReturnType<p>::Type(_expression()); }
+
+
+ /** \returns a row (or column) vector expression of the norm
+ * of each column (or row) of the referenced expression, using
+ * Blue's algorithm.
+ * This is a vector with real entries, even if the original matrix has complex entries.
+ *
+ * \sa DenseBase::blueNorm() */
+ EIGEN_DEVICE_FUNC
+ const BlueNormReturnType blueNorm() const
+ { return BlueNormReturnType(_expression()); }
+
+
+ /** \returns a row (or column) vector expression of the norm
+ * of each column (or row) of the referenced expression, avoiding
+ * underflow and overflow.
+ * This is a vector with real entries, even if the original matrix has complex entries.
+ *
+ * \sa DenseBase::stableNorm() */
+ EIGEN_DEVICE_FUNC
+ const StableNormReturnType stableNorm() const
+ { return StableNormReturnType(_expression()); }
+
+
+ /** \returns a row (or column) vector expression of the norm
+ * of each column (or row) of the referenced expression, avoiding
+ * underflow and overflow using a concatenation of hypot() calls.
+ * This is a vector with real entries, even if the original matrix has complex entries.
+ *
+ * \sa DenseBase::hypotNorm() */
+ EIGEN_DEVICE_FUNC
+ const HypotNormReturnType hypotNorm() const
+ { return HypotNormReturnType(_expression()); }
+
+ /** \returns a row (or column) vector expression of the sum
+ * of each column (or row) of the referenced expression.
+ *
+ * Example: \include PartialRedux_sum.cpp
+ * Output: \verbinclude PartialRedux_sum.out
+ *
+ * \sa DenseBase::sum() */
+ EIGEN_DEVICE_FUNC
+ const SumReturnType sum() const
+ { return SumReturnType(_expression()); }
+
+ /** \returns a row (or column) vector expression of the mean
+ * of each column (or row) of the referenced expression.
+ *
+ * \sa DenseBase::mean() */
+ EIGEN_DEVICE_FUNC
+ const MeanReturnType mean() const
+ { return MeanReturnType(_expression()); }
+
+ /** \returns a row (or column) vector expression representing
+ * whether \b all coefficients of each respective column (or row) are \c true.
+ * This expression can be assigned to a vector with entries of type \c bool.
+ *
+ * \sa DenseBase::all() */
+ EIGEN_DEVICE_FUNC
+ const AllReturnType all() const
+ { return AllReturnType(_expression()); }
+
+ /** \returns a row (or column) vector expression representing
+ * whether \b at \b least one coefficient of each respective column (or row) is \c true.
+ * This expression can be assigned to a vector with entries of type \c bool.
+ *
+ * \sa DenseBase::any() */
+ EIGEN_DEVICE_FUNC
+ const AnyReturnType any() const
+ { return AnyReturnType(_expression()); }
+
+ /** \returns a row (or column) vector expression representing
+ * the number of \c true coefficients of each respective column (or row).
+ * This expression can be assigned to a vector whose entries have the same type as is used to
+ * index entries of the original matrix; for dense matrices, this is \c std::ptrdiff_t .
+ *
+ * Example: \include PartialRedux_count.cpp
+ * Output: \verbinclude PartialRedux_count.out
+ *
+ * \sa DenseBase::count() */
+ EIGEN_DEVICE_FUNC
+ const CountReturnType count() const
+ { return CountReturnType(_expression()); }
+
+ /** \returns a row (or column) vector expression of the product
+ * of each column (or row) of the referenced expression.
+ *
+ * Example: \include PartialRedux_prod.cpp
+ * Output: \verbinclude PartialRedux_prod.out
+ *
+ * \sa DenseBase::prod() */
+ EIGEN_DEVICE_FUNC
+ const ProdReturnType prod() const
+ { return ProdReturnType(_expression()); }
+
+
+ /** \returns a matrix expression
+ * where each column (or row) are reversed.
+ *
+ * Example: \include Vectorwise_reverse.cpp
+ * Output: \verbinclude Vectorwise_reverse.out
+ *
+ * \sa DenseBase::reverse() */
+ EIGEN_DEVICE_FUNC
+ const ConstReverseReturnType reverse() const
+ { return ConstReverseReturnType( _expression() ); }
+
+ /** \returns a writable matrix expression
+ * where each column (or row) are reversed.
+ *
+ * \sa reverse() const */
+ EIGEN_DEVICE_FUNC
+ ReverseReturnType reverse()
+ { return ReverseReturnType( _expression() ); }
+
+ typedef Replicate<ExpressionType,(isVertical?Dynamic:1),(isHorizontal?Dynamic:1)> ReplicateReturnType;
+ EIGEN_DEVICE_FUNC
+ const ReplicateReturnType replicate(Index factor) const;
+
+ /**
+ * \return an expression of the replication of each column (or row) of \c *this
+ *
+ * Example: \include DirectionWise_replicate.cpp
+ * Output: \verbinclude DirectionWise_replicate.out
+ *
+ * \sa VectorwiseOp::replicate(Index), DenseBase::replicate(), class Replicate
+ */
+ // NOTE implemented here because of sunstudio's compilation errors
+ // isVertical*Factor+isHorizontal instead of (isVertical?Factor:1) to handle CUDA bug with ternary operator
+ template<int Factor> const Replicate<ExpressionType,isVertical*Factor+isHorizontal,isHorizontal*Factor+isVertical>
+ EIGEN_DEVICE_FUNC
+ replicate(Index factor = Factor) const
+ {
+ return Replicate<ExpressionType,(isVertical?Factor:1),(isHorizontal?Factor:1)>
+ (_expression(),isVertical?factor:1,isHorizontal?factor:1);
+ }
+
+/////////// Artithmetic operators ///////////
+
+ /** Copies the vector \a other to each subvector of \c *this */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ ExpressionType& operator=(const DenseBase<OtherDerived>& other)
+ {
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
+ EIGEN_STATIC_ASSERT_SAME_XPR_KIND(ExpressionType, OtherDerived)
+ //eigen_assert((m_matrix.isNull()) == (other.isNull())); FIXME
+ return const_cast<ExpressionType&>(m_matrix = extendedTo(other.derived()));
+ }
+
+ /** Adds the vector \a other to each subvector of \c *this */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ ExpressionType& operator+=(const DenseBase<OtherDerived>& other)
+ {
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
+ EIGEN_STATIC_ASSERT_SAME_XPR_KIND(ExpressionType, OtherDerived)
+ return const_cast<ExpressionType&>(m_matrix += extendedTo(other.derived()));
+ }
+
+ /** Substracts the vector \a other to each subvector of \c *this */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ ExpressionType& operator-=(const DenseBase<OtherDerived>& other)
+ {
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
+ EIGEN_STATIC_ASSERT_SAME_XPR_KIND(ExpressionType, OtherDerived)
+ return const_cast<ExpressionType&>(m_matrix -= extendedTo(other.derived()));
+ }
+
+ /** Multiples each subvector of \c *this by the vector \a other */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ ExpressionType& operator*=(const DenseBase<OtherDerived>& other)
+ {
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
+ EIGEN_STATIC_ASSERT_ARRAYXPR(ExpressionType)
+ EIGEN_STATIC_ASSERT_SAME_XPR_KIND(ExpressionType, OtherDerived)
+ m_matrix *= extendedTo(other.derived());
+ return const_cast<ExpressionType&>(m_matrix);
+ }
+
+ /** Divides each subvector of \c *this by the vector \a other */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ ExpressionType& operator/=(const DenseBase<OtherDerived>& other)
+ {
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
+ EIGEN_STATIC_ASSERT_ARRAYXPR(ExpressionType)
+ EIGEN_STATIC_ASSERT_SAME_XPR_KIND(ExpressionType, OtherDerived)
+ m_matrix /= extendedTo(other.derived());
+ return const_cast<ExpressionType&>(m_matrix);
+ }
+
+ /** Returns the expression of the sum of the vector \a other to each subvector of \c *this */
+ template<typename OtherDerived> EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC
+ CwiseBinaryOp<internal::scalar_sum_op<Scalar,typename OtherDerived::Scalar>,
+ const ExpressionTypeNestedCleaned,
+ const typename ExtendedType<OtherDerived>::Type>
+ operator+(const DenseBase<OtherDerived>& other) const
+ {
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
+ EIGEN_STATIC_ASSERT_SAME_XPR_KIND(ExpressionType, OtherDerived)
+ return m_matrix + extendedTo(other.derived());
+ }
+
+ /** Returns the expression of the difference between each subvector of \c *this and the vector \a other */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ CwiseBinaryOp<internal::scalar_difference_op<Scalar,typename OtherDerived::Scalar>,
+ const ExpressionTypeNestedCleaned,
+ const typename ExtendedType<OtherDerived>::Type>
+ operator-(const DenseBase<OtherDerived>& other) const
+ {
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
+ EIGEN_STATIC_ASSERT_SAME_XPR_KIND(ExpressionType, OtherDerived)
+ return m_matrix - extendedTo(other.derived());
+ }
+
+ /** Returns the expression where each subvector is the product of the vector \a other
+ * by the corresponding subvector of \c *this */
+ template<typename OtherDerived> EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC
+ CwiseBinaryOp<internal::scalar_product_op<Scalar>,
+ const ExpressionTypeNestedCleaned,
+ const typename ExtendedType<OtherDerived>::Type>
+ EIGEN_DEVICE_FUNC
+ operator*(const DenseBase<OtherDerived>& other) const
+ {
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
+ EIGEN_STATIC_ASSERT_ARRAYXPR(ExpressionType)
+ EIGEN_STATIC_ASSERT_SAME_XPR_KIND(ExpressionType, OtherDerived)
+ return m_matrix * extendedTo(other.derived());
+ }
+
+ /** Returns the expression where each subvector is the quotient of the corresponding
+ * subvector of \c *this by the vector \a other */
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ CwiseBinaryOp<internal::scalar_quotient_op<Scalar>,
+ const ExpressionTypeNestedCleaned,
+ const typename ExtendedType<OtherDerived>::Type>
+ operator/(const DenseBase<OtherDerived>& other) const
+ {
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
+ EIGEN_STATIC_ASSERT_ARRAYXPR(ExpressionType)
+ EIGEN_STATIC_ASSERT_SAME_XPR_KIND(ExpressionType, OtherDerived)
+ return m_matrix / extendedTo(other.derived());
+ }
+
+ /** \returns an expression where each column (or row) of the referenced matrix are normalized.
+ * The referenced matrix is \b not modified.
+ * \sa MatrixBase::normalized(), normalize()
+ */
+ EIGEN_DEVICE_FUNC
+ CwiseBinaryOp<internal::scalar_quotient_op<Scalar>,
+ const ExpressionTypeNestedCleaned,
+ const typename OppositeExtendedType<typename ReturnType<internal::member_norm,RealScalar>::Type>::Type>
+ normalized() const { return m_matrix.cwiseQuotient(extendedToOpposite(this->norm())); }
+
+
+ /** Normalize in-place each row or columns of the referenced matrix.
+ * \sa MatrixBase::normalize(), normalized()
+ */
+ EIGEN_DEVICE_FUNC void normalize() {
+ m_matrix = this->normalized();
+ }
+
+ EIGEN_DEVICE_FUNC inline void reverseInPlace();
+
+/////////// Geometry module ///////////
+
+ typedef Homogeneous<ExpressionType,Direction> HomogeneousReturnType;
+ EIGEN_DEVICE_FUNC
+ HomogeneousReturnType homogeneous() const;
+
+ typedef typename ExpressionType::PlainObject CrossReturnType;
+ template<typename OtherDerived>
+ EIGEN_DEVICE_FUNC
+ const CrossReturnType cross(const MatrixBase<OtherDerived>& other) const;
+
+ enum {
+ HNormalized_Size = Direction==Vertical ? internal::traits<ExpressionType>::RowsAtCompileTime
+ : internal::traits<ExpressionType>::ColsAtCompileTime,
+ HNormalized_SizeMinusOne = HNormalized_Size==Dynamic ? Dynamic : HNormalized_Size-1
+ };
+ typedef Block<const ExpressionType,
+ Direction==Vertical ? int(HNormalized_SizeMinusOne)
+ : int(internal::traits<ExpressionType>::RowsAtCompileTime),
+ Direction==Horizontal ? int(HNormalized_SizeMinusOne)
+ : int(internal::traits<ExpressionType>::ColsAtCompileTime)>
+ HNormalized_Block;
+ typedef Block<const ExpressionType,
+ Direction==Vertical ? 1 : int(internal::traits<ExpressionType>::RowsAtCompileTime),
+ Direction==Horizontal ? 1 : int(internal::traits<ExpressionType>::ColsAtCompileTime)>
+ HNormalized_Factors;
+ typedef CwiseBinaryOp<internal::scalar_quotient_op<typename internal::traits<ExpressionType>::Scalar>,
+ const HNormalized_Block,
+ const Replicate<HNormalized_Factors,
+ Direction==Vertical ? HNormalized_SizeMinusOne : 1,
+ Direction==Horizontal ? HNormalized_SizeMinusOne : 1> >
+ HNormalizedReturnType;
+
+ EIGEN_DEVICE_FUNC
+ const HNormalizedReturnType hnormalized() const;
+
+ protected:
+ ExpressionTypeNested m_matrix;
+};
+
+//const colwise moved to DenseBase.h due to CUDA compiler bug
+
+
+/** \returns a writable VectorwiseOp wrapper of *this providing additional partial reduction operations
+ *
+ * \sa rowwise(), class VectorwiseOp, \ref TutorialReductionsVisitorsBroadcasting
+ */
+template<typename Derived>
+inline typename DenseBase<Derived>::ColwiseReturnType
+DenseBase<Derived>::colwise()
+{
+ return ColwiseReturnType(derived());
+}
+
+//const rowwise moved to DenseBase.h due to CUDA compiler bug
+
+
+/** \returns a writable VectorwiseOp wrapper of *this providing additional partial reduction operations
+ *
+ * \sa colwise(), class VectorwiseOp, \ref TutorialReductionsVisitorsBroadcasting
+ */
+template<typename Derived>
+inline typename DenseBase<Derived>::RowwiseReturnType
+DenseBase<Derived>::rowwise()
+{
+ return RowwiseReturnType(derived());
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_PARTIAL_REDUX_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Visitor.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Visitor.h
new file mode 100644
index 0000000..54c1883
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/Visitor.h
@@ -0,0 +1,273 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_VISITOR_H
+#define EIGEN_VISITOR_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<typename Visitor, typename Derived, int UnrollCount>
+struct visitor_impl
+{
+ enum {
+ col = (UnrollCount-1) / Derived::RowsAtCompileTime,
+ row = (UnrollCount-1) % Derived::RowsAtCompileTime
+ };
+
+ EIGEN_DEVICE_FUNC
+ static inline void run(const Derived &mat, Visitor& visitor)
+ {
+ visitor_impl<Visitor, Derived, UnrollCount-1>::run(mat, visitor);
+ visitor(mat.coeff(row, col), row, col);
+ }
+};
+
+template<typename Visitor, typename Derived>
+struct visitor_impl<Visitor, Derived, 1>
+{
+ EIGEN_DEVICE_FUNC
+ static inline void run(const Derived &mat, Visitor& visitor)
+ {
+ return visitor.init(mat.coeff(0, 0), 0, 0);
+ }
+};
+
+template<typename Visitor, typename Derived>
+struct visitor_impl<Visitor, Derived, Dynamic>
+{
+ EIGEN_DEVICE_FUNC
+ static inline void run(const Derived& mat, Visitor& visitor)
+ {
+ visitor.init(mat.coeff(0,0), 0, 0);
+ for(Index i = 1; i < mat.rows(); ++i)
+ visitor(mat.coeff(i, 0), i, 0);
+ for(Index j = 1; j < mat.cols(); ++j)
+ for(Index i = 0; i < mat.rows(); ++i)
+ visitor(mat.coeff(i, j), i, j);
+ }
+};
+
+// evaluator adaptor
+template<typename XprType>
+class visitor_evaluator
+{
+public:
+ EIGEN_DEVICE_FUNC
+ explicit visitor_evaluator(const XprType &xpr) : m_evaluator(xpr), m_xpr(xpr) {}
+
+ typedef typename XprType::Scalar Scalar;
+ typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+ enum {
+ RowsAtCompileTime = XprType::RowsAtCompileTime,
+ CoeffReadCost = internal::evaluator<XprType>::CoeffReadCost
+ };
+
+ EIGEN_DEVICE_FUNC Index rows() const { return m_xpr.rows(); }
+ EIGEN_DEVICE_FUNC Index cols() const { return m_xpr.cols(); }
+ EIGEN_DEVICE_FUNC Index size() const { return m_xpr.size(); }
+
+ EIGEN_DEVICE_FUNC CoeffReturnType coeff(Index row, Index col) const
+ { return m_evaluator.coeff(row, col); }
+
+protected:
+ internal::evaluator<XprType> m_evaluator;
+ const XprType &m_xpr;
+};
+} // end namespace internal
+
+/** Applies the visitor \a visitor to the whole coefficients of the matrix or vector.
+ *
+ * The template parameter \a Visitor is the type of the visitor and provides the following interface:
+ * \code
+ * struct MyVisitor {
+ * // called for the first coefficient
+ * void init(const Scalar& value, Index i, Index j);
+ * // called for all other coefficients
+ * void operator() (const Scalar& value, Index i, Index j);
+ * };
+ * \endcode
+ *
+ * \note compared to one or two \em for \em loops, visitors offer automatic
+ * unrolling for small fixed size matrix.
+ *
+ * \sa minCoeff(Index*,Index*), maxCoeff(Index*,Index*), DenseBase::redux()
+ */
+template<typename Derived>
+template<typename Visitor>
+EIGEN_DEVICE_FUNC
+void DenseBase<Derived>::visit(Visitor& visitor) const
+{
+ typedef typename internal::visitor_evaluator<Derived> ThisEvaluator;
+ ThisEvaluator thisEval(derived());
+
+ enum {
+ unroll = SizeAtCompileTime != Dynamic
+ && SizeAtCompileTime * ThisEvaluator::CoeffReadCost + (SizeAtCompileTime-1) * internal::functor_traits<Visitor>::Cost <= EIGEN_UNROLLING_LIMIT
+ };
+ return internal::visitor_impl<Visitor, ThisEvaluator, unroll ? int(SizeAtCompileTime) : Dynamic>::run(thisEval, visitor);
+}
+
+namespace internal {
+
+/** \internal
+ * \brief Base class to implement min and max visitors
+ */
+template <typename Derived>
+struct coeff_visitor
+{
+ typedef typename Derived::Scalar Scalar;
+ Index row, col;
+ Scalar res;
+ EIGEN_DEVICE_FUNC
+ inline void init(const Scalar& value, Index i, Index j)
+ {
+ res = value;
+ row = i;
+ col = j;
+ }
+};
+
+/** \internal
+ * \brief Visitor computing the min coefficient with its value and coordinates
+ *
+ * \sa DenseBase::minCoeff(Index*, Index*)
+ */
+template <typename Derived>
+struct min_coeff_visitor : coeff_visitor<Derived>
+{
+ typedef typename Derived::Scalar Scalar;
+ EIGEN_DEVICE_FUNC
+ void operator() (const Scalar& value, Index i, Index j)
+ {
+ if(value < this->res)
+ {
+ this->res = value;
+ this->row = i;
+ this->col = j;
+ }
+ }
+};
+
+template<typename Scalar>
+struct functor_traits<min_coeff_visitor<Scalar> > {
+ enum {
+ Cost = NumTraits<Scalar>::AddCost
+ };
+};
+
+/** \internal
+ * \brief Visitor computing the max coefficient with its value and coordinates
+ *
+ * \sa DenseBase::maxCoeff(Index*, Index*)
+ */
+template <typename Derived>
+struct max_coeff_visitor : coeff_visitor<Derived>
+{
+ typedef typename Derived::Scalar Scalar;
+ EIGEN_DEVICE_FUNC
+ void operator() (const Scalar& value, Index i, Index j)
+ {
+ if(value > this->res)
+ {
+ this->res = value;
+ this->row = i;
+ this->col = j;
+ }
+ }
+};
+
+template<typename Scalar>
+struct functor_traits<max_coeff_visitor<Scalar> > {
+ enum {
+ Cost = NumTraits<Scalar>::AddCost
+ };
+};
+
+} // end namespace internal
+
+/** \fn DenseBase<Derived>::minCoeff(IndexType* rowId, IndexType* colId) const
+ * \returns the minimum of all coefficients of *this and puts in *row and *col its location.
+ * \warning the result is undefined if \c *this contains NaN.
+ *
+ * \sa DenseBase::minCoeff(Index*), DenseBase::maxCoeff(Index*,Index*), DenseBase::visit(), DenseBase::minCoeff()
+ */
+template<typename Derived>
+template<typename IndexType>
+EIGEN_DEVICE_FUNC
+typename internal::traits<Derived>::Scalar
+DenseBase<Derived>::minCoeff(IndexType* rowId, IndexType* colId) const
+{
+ internal::min_coeff_visitor<Derived> minVisitor;
+ this->visit(minVisitor);
+ *rowId = minVisitor.row;
+ if (colId) *colId = minVisitor.col;
+ return minVisitor.res;
+}
+
+/** \returns the minimum of all coefficients of *this and puts in *index its location.
+ * \warning the result is undefined if \c *this contains NaN.
+ *
+ * \sa DenseBase::minCoeff(IndexType*,IndexType*), DenseBase::maxCoeff(IndexType*,IndexType*), DenseBase::visit(), DenseBase::minCoeff()
+ */
+template<typename Derived>
+template<typename IndexType>
+EIGEN_DEVICE_FUNC
+typename internal::traits<Derived>::Scalar
+DenseBase<Derived>::minCoeff(IndexType* index) const
+{
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+ internal::min_coeff_visitor<Derived> minVisitor;
+ this->visit(minVisitor);
+ *index = IndexType((RowsAtCompileTime==1) ? minVisitor.col : minVisitor.row);
+ return minVisitor.res;
+}
+
+/** \fn DenseBase<Derived>::maxCoeff(IndexType* rowId, IndexType* colId) const
+ * \returns the maximum of all coefficients of *this and puts in *row and *col its location.
+ * \warning the result is undefined if \c *this contains NaN.
+ *
+ * \sa DenseBase::minCoeff(IndexType*,IndexType*), DenseBase::visit(), DenseBase::maxCoeff()
+ */
+template<typename Derived>
+template<typename IndexType>
+EIGEN_DEVICE_FUNC
+typename internal::traits<Derived>::Scalar
+DenseBase<Derived>::maxCoeff(IndexType* rowPtr, IndexType* colPtr) const
+{
+ internal::max_coeff_visitor<Derived> maxVisitor;
+ this->visit(maxVisitor);
+ *rowPtr = maxVisitor.row;
+ if (colPtr) *colPtr = maxVisitor.col;
+ return maxVisitor.res;
+}
+
+/** \returns the maximum of all coefficients of *this and puts in *index its location.
+ * \warning the result is undefined if \c *this contains NaN.
+ *
+ * \sa DenseBase::maxCoeff(IndexType*,IndexType*), DenseBase::minCoeff(IndexType*,IndexType*), DenseBase::visitor(), DenseBase::maxCoeff()
+ */
+template<typename Derived>
+template<typename IndexType>
+EIGEN_DEVICE_FUNC
+typename internal::traits<Derived>::Scalar
+DenseBase<Derived>::maxCoeff(IndexType* index) const
+{
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+ internal::max_coeff_visitor<Derived> maxVisitor;
+ this->visit(maxVisitor);
+ *index = (RowsAtCompileTime==1) ? maxVisitor.col : maxVisitor.row;
+ return maxVisitor.res;
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_VISITOR_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/AVX/Complex.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/AVX/Complex.h
new file mode 100644
index 0000000..7fa6196
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/AVX/Complex.h
@@ -0,0 +1,451 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2014 Benoit Steiner (benoit.steiner.goog@gmail.com)
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_COMPLEX_AVX_H
+#define EIGEN_COMPLEX_AVX_H
+
+namespace Eigen {
+
+namespace internal {
+
+//---------- float ----------
+struct Packet4cf
+{
+ EIGEN_STRONG_INLINE Packet4cf() {}
+ EIGEN_STRONG_INLINE explicit Packet4cf(const __m256& a) : v(a) {}
+ __m256 v;
+};
+
+template<> struct packet_traits<std::complex<float> > : default_packet_traits
+{
+ typedef Packet4cf type;
+ typedef Packet2cf half;
+ enum {
+ Vectorizable = 1,
+ AlignedOnScalar = 1,
+ size = 4,
+ HasHalfPacket = 1,
+
+ HasAdd = 1,
+ HasSub = 1,
+ HasMul = 1,
+ HasDiv = 1,
+ HasNegate = 1,
+ HasAbs = 0,
+ HasAbs2 = 0,
+ HasMin = 0,
+ HasMax = 0,
+ HasSetLinear = 0
+ };
+};
+
+template<> struct unpacket_traits<Packet4cf> { typedef std::complex<float> type; enum {size=4, alignment=Aligned32}; typedef Packet2cf half; };
+
+template<> EIGEN_STRONG_INLINE Packet4cf padd<Packet4cf>(const Packet4cf& a, const Packet4cf& b) { return Packet4cf(_mm256_add_ps(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet4cf psub<Packet4cf>(const Packet4cf& a, const Packet4cf& b) { return Packet4cf(_mm256_sub_ps(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet4cf pnegate(const Packet4cf& a)
+{
+ return Packet4cf(pnegate(a.v));
+}
+template<> EIGEN_STRONG_INLINE Packet4cf pconj(const Packet4cf& a)
+{
+ const __m256 mask = _mm256_castsi256_ps(_mm256_setr_epi32(0x00000000,0x80000000,0x00000000,0x80000000,0x00000000,0x80000000,0x00000000,0x80000000));
+ return Packet4cf(_mm256_xor_ps(a.v,mask));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4cf pmul<Packet4cf>(const Packet4cf& a, const Packet4cf& b)
+{
+ __m256 tmp1 = _mm256_mul_ps(_mm256_moveldup_ps(a.v), b.v);
+ __m256 tmp2 = _mm256_mul_ps(_mm256_movehdup_ps(a.v), _mm256_permute_ps(b.v, _MM_SHUFFLE(2,3,0,1)));
+ __m256 result = _mm256_addsub_ps(tmp1, tmp2);
+ return Packet4cf(result);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4cf pand <Packet4cf>(const Packet4cf& a, const Packet4cf& b) { return Packet4cf(_mm256_and_ps(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet4cf por <Packet4cf>(const Packet4cf& a, const Packet4cf& b) { return Packet4cf(_mm256_or_ps(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet4cf pxor <Packet4cf>(const Packet4cf& a, const Packet4cf& b) { return Packet4cf(_mm256_xor_ps(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet4cf pandnot<Packet4cf>(const Packet4cf& a, const Packet4cf& b) { return Packet4cf(_mm256_andnot_ps(a.v,b.v)); }
+
+template<> EIGEN_STRONG_INLINE Packet4cf pload <Packet4cf>(const std::complex<float>* from) { EIGEN_DEBUG_ALIGNED_LOAD return Packet4cf(pload<Packet8f>(&numext::real_ref(*from))); }
+template<> EIGEN_STRONG_INLINE Packet4cf ploadu<Packet4cf>(const std::complex<float>* from) { EIGEN_DEBUG_UNALIGNED_LOAD return Packet4cf(ploadu<Packet8f>(&numext::real_ref(*from))); }
+
+
+template<> EIGEN_STRONG_INLINE Packet4cf pset1<Packet4cf>(const std::complex<float>& from)
+{
+ return Packet4cf(_mm256_castpd_ps(_mm256_broadcast_sd((const double*)(const void*)&from)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4cf ploaddup<Packet4cf>(const std::complex<float>* from)
+{
+ // FIXME The following might be optimized using _mm256_movedup_pd
+ Packet2cf a = ploaddup<Packet2cf>(from);
+ Packet2cf b = ploaddup<Packet2cf>(from+1);
+ return Packet4cf(_mm256_insertf128_ps(_mm256_castps128_ps256(a.v), b.v, 1));
+}
+
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<float> >(std::complex<float>* to, const Packet4cf& from) { EIGEN_DEBUG_ALIGNED_STORE pstore(&numext::real_ref(*to), from.v); }
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<float> >(std::complex<float>* to, const Packet4cf& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu(&numext::real_ref(*to), from.v); }
+
+template<> EIGEN_DEVICE_FUNC inline Packet4cf pgather<std::complex<float>, Packet4cf>(const std::complex<float>* from, Index stride)
+{
+ return Packet4cf(_mm256_set_ps(std::imag(from[3*stride]), std::real(from[3*stride]),
+ std::imag(from[2*stride]), std::real(from[2*stride]),
+ std::imag(from[1*stride]), std::real(from[1*stride]),
+ std::imag(from[0*stride]), std::real(from[0*stride])));
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<float>, Packet4cf>(std::complex<float>* to, const Packet4cf& from, Index stride)
+{
+ __m128 low = _mm256_extractf128_ps(from.v, 0);
+ to[stride*0] = std::complex<float>(_mm_cvtss_f32(_mm_shuffle_ps(low, low, 0)),
+ _mm_cvtss_f32(_mm_shuffle_ps(low, low, 1)));
+ to[stride*1] = std::complex<float>(_mm_cvtss_f32(_mm_shuffle_ps(low, low, 2)),
+ _mm_cvtss_f32(_mm_shuffle_ps(low, low, 3)));
+
+ __m128 high = _mm256_extractf128_ps(from.v, 1);
+ to[stride*2] = std::complex<float>(_mm_cvtss_f32(_mm_shuffle_ps(high, high, 0)),
+ _mm_cvtss_f32(_mm_shuffle_ps(high, high, 1)));
+ to[stride*3] = std::complex<float>(_mm_cvtss_f32(_mm_shuffle_ps(high, high, 2)),
+ _mm_cvtss_f32(_mm_shuffle_ps(high, high, 3)));
+
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<float> pfirst<Packet4cf>(const Packet4cf& a)
+{
+ return pfirst(Packet2cf(_mm256_castps256_ps128(a.v)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4cf preverse(const Packet4cf& a) {
+ __m128 low = _mm256_extractf128_ps(a.v, 0);
+ __m128 high = _mm256_extractf128_ps(a.v, 1);
+ __m128d lowd = _mm_castps_pd(low);
+ __m128d highd = _mm_castps_pd(high);
+ low = _mm_castpd_ps(_mm_shuffle_pd(lowd,lowd,0x1));
+ high = _mm_castpd_ps(_mm_shuffle_pd(highd,highd,0x1));
+ __m256 result = _mm256_setzero_ps();
+ result = _mm256_insertf128_ps(result, low, 1);
+ result = _mm256_insertf128_ps(result, high, 0);
+ return Packet4cf(result);
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<float> predux<Packet4cf>(const Packet4cf& a)
+{
+ return predux(padd(Packet2cf(_mm256_extractf128_ps(a.v,0)),
+ Packet2cf(_mm256_extractf128_ps(a.v,1))));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4cf preduxp<Packet4cf>(const Packet4cf* vecs)
+{
+ Packet8f t0 = _mm256_shuffle_ps(vecs[0].v, vecs[0].v, _MM_SHUFFLE(3, 1, 2 ,0));
+ Packet8f t1 = _mm256_shuffle_ps(vecs[1].v, vecs[1].v, _MM_SHUFFLE(3, 1, 2 ,0));
+ t0 = _mm256_hadd_ps(t0,t1);
+ Packet8f t2 = _mm256_shuffle_ps(vecs[2].v, vecs[2].v, _MM_SHUFFLE(3, 1, 2 ,0));
+ Packet8f t3 = _mm256_shuffle_ps(vecs[3].v, vecs[3].v, _MM_SHUFFLE(3, 1, 2 ,0));
+ t2 = _mm256_hadd_ps(t2,t3);
+
+ t1 = _mm256_permute2f128_ps(t0,t2, 0 + (2<<4));
+ t3 = _mm256_permute2f128_ps(t0,t2, 1 + (3<<4));
+
+ return Packet4cf(_mm256_add_ps(t1,t3));
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<float> predux_mul<Packet4cf>(const Packet4cf& a)
+{
+ return predux_mul(pmul(Packet2cf(_mm256_extractf128_ps(a.v, 0)),
+ Packet2cf(_mm256_extractf128_ps(a.v, 1))));
+}
+
+template<int Offset>
+struct palign_impl<Offset,Packet4cf>
+{
+ static EIGEN_STRONG_INLINE void run(Packet4cf& first, const Packet4cf& second)
+ {
+ if (Offset==0) return;
+ palign_impl<Offset*2,Packet8f>::run(first.v, second.v);
+ }
+};
+
+template<> struct conj_helper<Packet4cf, Packet4cf, false,true>
+{
+ EIGEN_STRONG_INLINE Packet4cf pmadd(const Packet4cf& x, const Packet4cf& y, const Packet4cf& c) const
+ { return padd(pmul(x,y),c); }
+
+ EIGEN_STRONG_INLINE Packet4cf pmul(const Packet4cf& a, const Packet4cf& b) const
+ {
+ return internal::pmul(a, pconj(b));
+ }
+};
+
+template<> struct conj_helper<Packet4cf, Packet4cf, true,false>
+{
+ EIGEN_STRONG_INLINE Packet4cf pmadd(const Packet4cf& x, const Packet4cf& y, const Packet4cf& c) const
+ { return padd(pmul(x,y),c); }
+
+ EIGEN_STRONG_INLINE Packet4cf pmul(const Packet4cf& a, const Packet4cf& b) const
+ {
+ return internal::pmul(pconj(a), b);
+ }
+};
+
+template<> struct conj_helper<Packet4cf, Packet4cf, true,true>
+{
+ EIGEN_STRONG_INLINE Packet4cf pmadd(const Packet4cf& x, const Packet4cf& y, const Packet4cf& c) const
+ { return padd(pmul(x,y),c); }
+
+ EIGEN_STRONG_INLINE Packet4cf pmul(const Packet4cf& a, const Packet4cf& b) const
+ {
+ return pconj(internal::pmul(a, b));
+ }
+};
+
+EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet4cf,Packet8f)
+
+template<> EIGEN_STRONG_INLINE Packet4cf pdiv<Packet4cf>(const Packet4cf& a, const Packet4cf& b)
+{
+ Packet4cf num = pmul(a, pconj(b));
+ __m256 tmp = _mm256_mul_ps(b.v, b.v);
+ __m256 tmp2 = _mm256_shuffle_ps(tmp,tmp,0xB1);
+ __m256 denom = _mm256_add_ps(tmp, tmp2);
+ return Packet4cf(_mm256_div_ps(num.v, denom));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4cf pcplxflip<Packet4cf>(const Packet4cf& x)
+{
+ return Packet4cf(_mm256_shuffle_ps(x.v, x.v, _MM_SHUFFLE(2, 3, 0 ,1)));
+}
+
+//---------- double ----------
+struct Packet2cd
+{
+ EIGEN_STRONG_INLINE Packet2cd() {}
+ EIGEN_STRONG_INLINE explicit Packet2cd(const __m256d& a) : v(a) {}
+ __m256d v;
+};
+
+template<> struct packet_traits<std::complex<double> > : default_packet_traits
+{
+ typedef Packet2cd type;
+ typedef Packet1cd half;
+ enum {
+ Vectorizable = 1,
+ AlignedOnScalar = 0,
+ size = 2,
+ HasHalfPacket = 1,
+
+ HasAdd = 1,
+ HasSub = 1,
+ HasMul = 1,
+ HasDiv = 1,
+ HasNegate = 1,
+ HasAbs = 0,
+ HasAbs2 = 0,
+ HasMin = 0,
+ HasMax = 0,
+ HasSetLinear = 0
+ };
+};
+
+template<> struct unpacket_traits<Packet2cd> { typedef std::complex<double> type; enum {size=2, alignment=Aligned32}; typedef Packet1cd half; };
+
+template<> EIGEN_STRONG_INLINE Packet2cd padd<Packet2cd>(const Packet2cd& a, const Packet2cd& b) { return Packet2cd(_mm256_add_pd(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cd psub<Packet2cd>(const Packet2cd& a, const Packet2cd& b) { return Packet2cd(_mm256_sub_pd(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cd pnegate(const Packet2cd& a) { return Packet2cd(pnegate(a.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cd pconj(const Packet2cd& a)
+{
+ const __m256d mask = _mm256_castsi256_pd(_mm256_set_epi32(0x80000000,0x0,0x0,0x0,0x80000000,0x0,0x0,0x0));
+ return Packet2cd(_mm256_xor_pd(a.v,mask));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cd pmul<Packet2cd>(const Packet2cd& a, const Packet2cd& b)
+{
+ __m256d tmp1 = _mm256_shuffle_pd(a.v,a.v,0x0);
+ __m256d even = _mm256_mul_pd(tmp1, b.v);
+ __m256d tmp2 = _mm256_shuffle_pd(a.v,a.v,0xF);
+ __m256d tmp3 = _mm256_shuffle_pd(b.v,b.v,0x5);
+ __m256d odd = _mm256_mul_pd(tmp2, tmp3);
+ return Packet2cd(_mm256_addsub_pd(even, odd));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cd pand <Packet2cd>(const Packet2cd& a, const Packet2cd& b) { return Packet2cd(_mm256_and_pd(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cd por <Packet2cd>(const Packet2cd& a, const Packet2cd& b) { return Packet2cd(_mm256_or_pd(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cd pxor <Packet2cd>(const Packet2cd& a, const Packet2cd& b) { return Packet2cd(_mm256_xor_pd(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cd pandnot<Packet2cd>(const Packet2cd& a, const Packet2cd& b) { return Packet2cd(_mm256_andnot_pd(a.v,b.v)); }
+
+template<> EIGEN_STRONG_INLINE Packet2cd pload <Packet2cd>(const std::complex<double>* from)
+{ EIGEN_DEBUG_ALIGNED_LOAD return Packet2cd(pload<Packet4d>((const double*)from)); }
+template<> EIGEN_STRONG_INLINE Packet2cd ploadu<Packet2cd>(const std::complex<double>* from)
+{ EIGEN_DEBUG_UNALIGNED_LOAD return Packet2cd(ploadu<Packet4d>((const double*)from)); }
+
+template<> EIGEN_STRONG_INLINE Packet2cd pset1<Packet2cd>(const std::complex<double>& from)
+{
+ // in case casting to a __m128d* is really not safe, then we can still fallback to this version: (much slower though)
+// return Packet2cd(_mm256_loadu2_m128d((const double*)&from,(const double*)&from));
+ return Packet2cd(_mm256_broadcast_pd((const __m128d*)(const void*)&from));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cd ploaddup<Packet2cd>(const std::complex<double>* from) { return pset1<Packet2cd>(*from); }
+
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<double> >(std::complex<double> * to, const Packet2cd& from) { EIGEN_DEBUG_ALIGNED_STORE pstore((double*)to, from.v); }
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<double> >(std::complex<double> * to, const Packet2cd& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((double*)to, from.v); }
+
+template<> EIGEN_DEVICE_FUNC inline Packet2cd pgather<std::complex<double>, Packet2cd>(const std::complex<double>* from, Index stride)
+{
+ return Packet2cd(_mm256_set_pd(std::imag(from[1*stride]), std::real(from[1*stride]),
+ std::imag(from[0*stride]), std::real(from[0*stride])));
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<double>, Packet2cd>(std::complex<double>* to, const Packet2cd& from, Index stride)
+{
+ __m128d low = _mm256_extractf128_pd(from.v, 0);
+ to[stride*0] = std::complex<double>(_mm_cvtsd_f64(low), _mm_cvtsd_f64(_mm_shuffle_pd(low, low, 1)));
+ __m128d high = _mm256_extractf128_pd(from.v, 1);
+ to[stride*1] = std::complex<double>(_mm_cvtsd_f64(high), _mm_cvtsd_f64(_mm_shuffle_pd(high, high, 1)));
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<double> pfirst<Packet2cd>(const Packet2cd& a)
+{
+ __m128d low = _mm256_extractf128_pd(a.v, 0);
+ EIGEN_ALIGN16 double res[2];
+ _mm_store_pd(res, low);
+ return std::complex<double>(res[0],res[1]);
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cd preverse(const Packet2cd& a) {
+ __m256d result = _mm256_permute2f128_pd(a.v, a.v, 1);
+ return Packet2cd(result);
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<double> predux<Packet2cd>(const Packet2cd& a)
+{
+ return predux(padd(Packet1cd(_mm256_extractf128_pd(a.v,0)),
+ Packet1cd(_mm256_extractf128_pd(a.v,1))));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cd preduxp<Packet2cd>(const Packet2cd* vecs)
+{
+ Packet4d t0 = _mm256_permute2f128_pd(vecs[0].v,vecs[1].v, 0 + (2<<4));
+ Packet4d t1 = _mm256_permute2f128_pd(vecs[0].v,vecs[1].v, 1 + (3<<4));
+
+ return Packet2cd(_mm256_add_pd(t0,t1));
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<double> predux_mul<Packet2cd>(const Packet2cd& a)
+{
+ return predux(pmul(Packet1cd(_mm256_extractf128_pd(a.v,0)),
+ Packet1cd(_mm256_extractf128_pd(a.v,1))));
+}
+
+template<int Offset>
+struct palign_impl<Offset,Packet2cd>
+{
+ static EIGEN_STRONG_INLINE void run(Packet2cd& first, const Packet2cd& second)
+ {
+ if (Offset==0) return;
+ palign_impl<Offset*2,Packet4d>::run(first.v, second.v);
+ }
+};
+
+template<> struct conj_helper<Packet2cd, Packet2cd, false,true>
+{
+ EIGEN_STRONG_INLINE Packet2cd pmadd(const Packet2cd& x, const Packet2cd& y, const Packet2cd& c) const
+ { return padd(pmul(x,y),c); }
+
+ EIGEN_STRONG_INLINE Packet2cd pmul(const Packet2cd& a, const Packet2cd& b) const
+ {
+ return internal::pmul(a, pconj(b));
+ }
+};
+
+template<> struct conj_helper<Packet2cd, Packet2cd, true,false>
+{
+ EIGEN_STRONG_INLINE Packet2cd pmadd(const Packet2cd& x, const Packet2cd& y, const Packet2cd& c) const
+ { return padd(pmul(x,y),c); }
+
+ EIGEN_STRONG_INLINE Packet2cd pmul(const Packet2cd& a, const Packet2cd& b) const
+ {
+ return internal::pmul(pconj(a), b);
+ }
+};
+
+template<> struct conj_helper<Packet2cd, Packet2cd, true,true>
+{
+ EIGEN_STRONG_INLINE Packet2cd pmadd(const Packet2cd& x, const Packet2cd& y, const Packet2cd& c) const
+ { return padd(pmul(x,y),c); }
+
+ EIGEN_STRONG_INLINE Packet2cd pmul(const Packet2cd& a, const Packet2cd& b) const
+ {
+ return pconj(internal::pmul(a, b));
+ }
+};
+
+EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet2cd,Packet4d)
+
+template<> EIGEN_STRONG_INLINE Packet2cd pdiv<Packet2cd>(const Packet2cd& a, const Packet2cd& b)
+{
+ Packet2cd num = pmul(a, pconj(b));
+ __m256d tmp = _mm256_mul_pd(b.v, b.v);
+ __m256d denom = _mm256_hadd_pd(tmp, tmp);
+ return Packet2cd(_mm256_div_pd(num.v, denom));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cd pcplxflip<Packet2cd>(const Packet2cd& x)
+{
+ return Packet2cd(_mm256_shuffle_pd(x.v, x.v, 0x5));
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet4cf,4>& kernel) {
+ __m256d P0 = _mm256_castps_pd(kernel.packet[0].v);
+ __m256d P1 = _mm256_castps_pd(kernel.packet[1].v);
+ __m256d P2 = _mm256_castps_pd(kernel.packet[2].v);
+ __m256d P3 = _mm256_castps_pd(kernel.packet[3].v);
+
+ __m256d T0 = _mm256_shuffle_pd(P0, P1, 15);
+ __m256d T1 = _mm256_shuffle_pd(P0, P1, 0);
+ __m256d T2 = _mm256_shuffle_pd(P2, P3, 15);
+ __m256d T3 = _mm256_shuffle_pd(P2, P3, 0);
+
+ kernel.packet[1].v = _mm256_castpd_ps(_mm256_permute2f128_pd(T0, T2, 32));
+ kernel.packet[3].v = _mm256_castpd_ps(_mm256_permute2f128_pd(T0, T2, 49));
+ kernel.packet[0].v = _mm256_castpd_ps(_mm256_permute2f128_pd(T1, T3, 32));
+ kernel.packet[2].v = _mm256_castpd_ps(_mm256_permute2f128_pd(T1, T3, 49));
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet2cd,2>& kernel) {
+ __m256d tmp = _mm256_permute2f128_pd(kernel.packet[0].v, kernel.packet[1].v, 0+(2<<4));
+ kernel.packet[1].v = _mm256_permute2f128_pd(kernel.packet[0].v, kernel.packet[1].v, 1+(3<<4));
+ kernel.packet[0].v = tmp;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4cf pinsertfirst(const Packet4cf& a, std::complex<float> b)
+{
+ return Packet4cf(_mm256_blend_ps(a.v,pset1<Packet4cf>(b).v,1|2));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cd pinsertfirst(const Packet2cd& a, std::complex<double> b)
+{
+ return Packet2cd(_mm256_blend_pd(a.v,pset1<Packet2cd>(b).v,1|2));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4cf pinsertlast(const Packet4cf& a, std::complex<float> b)
+{
+ return Packet4cf(_mm256_blend_ps(a.v,pset1<Packet4cf>(b).v,(1<<7)|(1<<6)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cd pinsertlast(const Packet2cd& a, std::complex<double> b)
+{
+ return Packet2cd(_mm256_blend_pd(a.v,pset1<Packet2cd>(b).v,(1<<3)|(1<<2)));
+}
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_COMPLEX_AVX_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/AVX/MathFunctions.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/AVX/MathFunctions.h
new file mode 100644
index 0000000..6af67ce
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/AVX/MathFunctions.h
@@ -0,0 +1,439 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2014 Pedro Gonnet (pedro.gonnet@gmail.com)
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_MATH_FUNCTIONS_AVX_H
+#define EIGEN_MATH_FUNCTIONS_AVX_H
+
+/* The sin, cos, exp, and log functions of this file are loosely derived from
+ * Julien Pommier's sse math library: http://gruntthepeon.free.fr/ssemath/
+ */
+
+namespace Eigen {
+
+namespace internal {
+
+inline Packet8i pshiftleft(Packet8i v, int n)
+{
+#ifdef EIGEN_VECTORIZE_AVX2
+ return _mm256_slli_epi32(v, n);
+#else
+ __m128i lo = _mm_slli_epi32(_mm256_extractf128_si256(v, 0), n);
+ __m128i hi = _mm_slli_epi32(_mm256_extractf128_si256(v, 1), n);
+ return _mm256_insertf128_si256(_mm256_castsi128_si256(lo), (hi), 1);
+#endif
+}
+
+inline Packet8f pshiftright(Packet8f v, int n)
+{
+#ifdef EIGEN_VECTORIZE_AVX2
+ return _mm256_cvtepi32_ps(_mm256_srli_epi32(_mm256_castps_si256(v), n));
+#else
+ __m128i lo = _mm_srli_epi32(_mm256_extractf128_si256(_mm256_castps_si256(v), 0), n);
+ __m128i hi = _mm_srli_epi32(_mm256_extractf128_si256(_mm256_castps_si256(v), 1), n);
+ return _mm256_cvtepi32_ps(_mm256_insertf128_si256(_mm256_castsi128_si256(lo), (hi), 1));
+#endif
+}
+
+// Sine function
+// Computes sin(x) by wrapping x to the interval [-Pi/4,3*Pi/4] and
+// evaluating interpolants in [-Pi/4,Pi/4] or [Pi/4,3*Pi/4]. The interpolants
+// are (anti-)symmetric and thus have only odd/even coefficients
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8f
+psin<Packet8f>(const Packet8f& _x) {
+ Packet8f x = _x;
+
+ // Some useful values.
+ _EIGEN_DECLARE_CONST_Packet8i(one, 1);
+ _EIGEN_DECLARE_CONST_Packet8f(one, 1.0f);
+ _EIGEN_DECLARE_CONST_Packet8f(two, 2.0f);
+ _EIGEN_DECLARE_CONST_Packet8f(one_over_four, 0.25f);
+ _EIGEN_DECLARE_CONST_Packet8f(one_over_pi, 3.183098861837907e-01f);
+ _EIGEN_DECLARE_CONST_Packet8f(neg_pi_first, -3.140625000000000e+00f);
+ _EIGEN_DECLARE_CONST_Packet8f(neg_pi_second, -9.670257568359375e-04f);
+ _EIGEN_DECLARE_CONST_Packet8f(neg_pi_third, -6.278329571784980e-07f);
+ _EIGEN_DECLARE_CONST_Packet8f(four_over_pi, 1.273239544735163e+00f);
+
+ // Map x from [-Pi/4,3*Pi/4] to z in [-1,3] and subtract the shifted period.
+ Packet8f z = pmul(x, p8f_one_over_pi);
+ Packet8f shift = _mm256_floor_ps(padd(z, p8f_one_over_four));
+ x = pmadd(shift, p8f_neg_pi_first, x);
+ x = pmadd(shift, p8f_neg_pi_second, x);
+ x = pmadd(shift, p8f_neg_pi_third, x);
+ z = pmul(x, p8f_four_over_pi);
+
+ // Make a mask for the entries that need flipping, i.e. wherever the shift
+ // is odd.
+ Packet8i shift_ints = _mm256_cvtps_epi32(shift);
+ Packet8i shift_isodd = _mm256_castps_si256(_mm256_and_ps(_mm256_castsi256_ps(shift_ints), _mm256_castsi256_ps(p8i_one)));
+ Packet8i sign_flip_mask = pshiftleft(shift_isodd, 31);
+
+ // Create a mask for which interpolant to use, i.e. if z > 1, then the mask
+ // is set to ones for that entry.
+ Packet8f ival_mask = _mm256_cmp_ps(z, p8f_one, _CMP_GT_OQ);
+
+ // Evaluate the polynomial for the interval [1,3] in z.
+ _EIGEN_DECLARE_CONST_Packet8f(coeff_right_0, 9.999999724233232e-01f);
+ _EIGEN_DECLARE_CONST_Packet8f(coeff_right_2, -3.084242535619928e-01f);
+ _EIGEN_DECLARE_CONST_Packet8f(coeff_right_4, 1.584991525700324e-02f);
+ _EIGEN_DECLARE_CONST_Packet8f(coeff_right_6, -3.188805084631342e-04f);
+ Packet8f z_minus_two = psub(z, p8f_two);
+ Packet8f z_minus_two2 = pmul(z_minus_two, z_minus_two);
+ Packet8f right = pmadd(p8f_coeff_right_6, z_minus_two2, p8f_coeff_right_4);
+ right = pmadd(right, z_minus_two2, p8f_coeff_right_2);
+ right = pmadd(right, z_minus_two2, p8f_coeff_right_0);
+
+ // Evaluate the polynomial for the interval [-1,1] in z.
+ _EIGEN_DECLARE_CONST_Packet8f(coeff_left_1, 7.853981525427295e-01f);
+ _EIGEN_DECLARE_CONST_Packet8f(coeff_left_3, -8.074536727092352e-02f);
+ _EIGEN_DECLARE_CONST_Packet8f(coeff_left_5, 2.489871967827018e-03f);
+ _EIGEN_DECLARE_CONST_Packet8f(coeff_left_7, -3.587725841214251e-05f);
+ Packet8f z2 = pmul(z, z);
+ Packet8f left = pmadd(p8f_coeff_left_7, z2, p8f_coeff_left_5);
+ left = pmadd(left, z2, p8f_coeff_left_3);
+ left = pmadd(left, z2, p8f_coeff_left_1);
+ left = pmul(left, z);
+
+ // Assemble the results, i.e. select the left and right polynomials.
+ left = _mm256_andnot_ps(ival_mask, left);
+ right = _mm256_and_ps(ival_mask, right);
+ Packet8f res = _mm256_or_ps(left, right);
+
+ // Flip the sign on the odd intervals and return the result.
+ res = _mm256_xor_ps(res, _mm256_castsi256_ps(sign_flip_mask));
+ return res;
+}
+
+// Natural logarithm
+// Computes log(x) as log(2^e * m) = C*e + log(m), where the constant C =log(2)
+// and m is in the range [sqrt(1/2),sqrt(2)). In this range, the logarithm can
+// be easily approximated by a polynomial centered on m=1 for stability.
+// TODO(gonnet): Further reduce the interval allowing for lower-degree
+// polynomial interpolants -> ... -> profit!
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8f
+plog<Packet8f>(const Packet8f& _x) {
+ Packet8f x = _x;
+ _EIGEN_DECLARE_CONST_Packet8f(1, 1.0f);
+ _EIGEN_DECLARE_CONST_Packet8f(half, 0.5f);
+ _EIGEN_DECLARE_CONST_Packet8f(126f, 126.0f);
+
+ _EIGEN_DECLARE_CONST_Packet8f_FROM_INT(inv_mant_mask, ~0x7f800000);
+
+ // The smallest non denormalized float number.
+ _EIGEN_DECLARE_CONST_Packet8f_FROM_INT(min_norm_pos, 0x00800000);
+ _EIGEN_DECLARE_CONST_Packet8f_FROM_INT(minus_inf, 0xff800000);
+
+ // Polynomial coefficients.
+ _EIGEN_DECLARE_CONST_Packet8f(cephes_SQRTHF, 0.707106781186547524f);
+ _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p0, 7.0376836292E-2f);
+ _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p1, -1.1514610310E-1f);
+ _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p2, 1.1676998740E-1f);
+ _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p3, -1.2420140846E-1f);
+ _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p4, +1.4249322787E-1f);
+ _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p5, -1.6668057665E-1f);
+ _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p6, +2.0000714765E-1f);
+ _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p7, -2.4999993993E-1f);
+ _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p8, +3.3333331174E-1f);
+ _EIGEN_DECLARE_CONST_Packet8f(cephes_log_q1, -2.12194440e-4f);
+ _EIGEN_DECLARE_CONST_Packet8f(cephes_log_q2, 0.693359375f);
+
+ Packet8f invalid_mask = _mm256_cmp_ps(x, _mm256_setzero_ps(), _CMP_NGE_UQ); // not greater equal is true if x is NaN
+ Packet8f iszero_mask = _mm256_cmp_ps(x, _mm256_setzero_ps(), _CMP_EQ_OQ);
+
+ // Truncate input values to the minimum positive normal.
+ x = pmax(x, p8f_min_norm_pos);
+
+ Packet8f emm0 = pshiftright(x,23);
+ Packet8f e = _mm256_sub_ps(emm0, p8f_126f);
+
+ // Set the exponents to -1, i.e. x are in the range [0.5,1).
+ x = _mm256_and_ps(x, p8f_inv_mant_mask);
+ x = _mm256_or_ps(x, p8f_half);
+
+ // part2: Shift the inputs from the range [0.5,1) to [sqrt(1/2),sqrt(2))
+ // and shift by -1. The values are then centered around 0, which improves
+ // the stability of the polynomial evaluation.
+ // if( x < SQRTHF ) {
+ // e -= 1;
+ // x = x + x - 1.0;
+ // } else { x = x - 1.0; }
+ Packet8f mask = _mm256_cmp_ps(x, p8f_cephes_SQRTHF, _CMP_LT_OQ);
+ Packet8f tmp = _mm256_and_ps(x, mask);
+ x = psub(x, p8f_1);
+ e = psub(e, _mm256_and_ps(p8f_1, mask));
+ x = padd(x, tmp);
+
+ Packet8f x2 = pmul(x, x);
+ Packet8f x3 = pmul(x2, x);
+
+ // Evaluate the polynomial approximant of degree 8 in three parts, probably
+ // to improve instruction-level parallelism.
+ Packet8f y, y1, y2;
+ y = pmadd(p8f_cephes_log_p0, x, p8f_cephes_log_p1);
+ y1 = pmadd(p8f_cephes_log_p3, x, p8f_cephes_log_p4);
+ y2 = pmadd(p8f_cephes_log_p6, x, p8f_cephes_log_p7);
+ y = pmadd(y, x, p8f_cephes_log_p2);
+ y1 = pmadd(y1, x, p8f_cephes_log_p5);
+ y2 = pmadd(y2, x, p8f_cephes_log_p8);
+ y = pmadd(y, x3, y1);
+ y = pmadd(y, x3, y2);
+ y = pmul(y, x3);
+
+ // Add the logarithm of the exponent back to the result of the interpolation.
+ y1 = pmul(e, p8f_cephes_log_q1);
+ tmp = pmul(x2, p8f_half);
+ y = padd(y, y1);
+ x = psub(x, tmp);
+ y2 = pmul(e, p8f_cephes_log_q2);
+ x = padd(x, y);
+ x = padd(x, y2);
+
+ // Filter out invalid inputs, i.e. negative arg will be NAN, 0 will be -INF.
+ return _mm256_or_ps(
+ _mm256_andnot_ps(iszero_mask, _mm256_or_ps(x, invalid_mask)),
+ _mm256_and_ps(iszero_mask, p8f_minus_inf));
+}
+
+// Exponential function. Works by writing "x = m*log(2) + r" where
+// "m = floor(x/log(2)+1/2)" and "r" is the remainder. The result is then
+// "exp(x) = 2^m*exp(r)" where exp(r) is in the range [-1,1).
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8f
+pexp<Packet8f>(const Packet8f& _x) {
+ _EIGEN_DECLARE_CONST_Packet8f(1, 1.0f);
+ _EIGEN_DECLARE_CONST_Packet8f(half, 0.5f);
+ _EIGEN_DECLARE_CONST_Packet8f(127, 127.0f);
+
+ _EIGEN_DECLARE_CONST_Packet8f(exp_hi, 88.3762626647950f);
+ _EIGEN_DECLARE_CONST_Packet8f(exp_lo, -88.3762626647949f);
+
+ _EIGEN_DECLARE_CONST_Packet8f(cephes_LOG2EF, 1.44269504088896341f);
+
+ _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_p0, 1.9875691500E-4f);
+ _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_p1, 1.3981999507E-3f);
+ _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_p2, 8.3334519073E-3f);
+ _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_p3, 4.1665795894E-2f);
+ _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_p4, 1.6666665459E-1f);
+ _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_p5, 5.0000001201E-1f);
+
+ // Clamp x.
+ Packet8f x = pmax(pmin(_x, p8f_exp_hi), p8f_exp_lo);
+
+ // Express exp(x) as exp(m*ln(2) + r), start by extracting
+ // m = floor(x/ln(2) + 0.5).
+ Packet8f m = _mm256_floor_ps(pmadd(x, p8f_cephes_LOG2EF, p8f_half));
+
+// Get r = x - m*ln(2). If no FMA instructions are available, m*ln(2) is
+// subtracted out in two parts, m*C1+m*C2 = m*ln(2), to avoid accumulating
+// truncation errors. Note that we don't use the "pmadd" function here to
+// ensure that a precision-preserving FMA instruction is used.
+#ifdef EIGEN_VECTORIZE_FMA
+ _EIGEN_DECLARE_CONST_Packet8f(nln2, -0.6931471805599453f);
+ Packet8f r = _mm256_fmadd_ps(m, p8f_nln2, x);
+#else
+ _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_C1, 0.693359375f);
+ _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_C2, -2.12194440e-4f);
+ Packet8f r = psub(x, pmul(m, p8f_cephes_exp_C1));
+ r = psub(r, pmul(m, p8f_cephes_exp_C2));
+#endif
+
+ Packet8f r2 = pmul(r, r);
+
+ // TODO(gonnet): Split into odd/even polynomials and try to exploit
+ // instruction-level parallelism.
+ Packet8f y = p8f_cephes_exp_p0;
+ y = pmadd(y, r, p8f_cephes_exp_p1);
+ y = pmadd(y, r, p8f_cephes_exp_p2);
+ y = pmadd(y, r, p8f_cephes_exp_p3);
+ y = pmadd(y, r, p8f_cephes_exp_p4);
+ y = pmadd(y, r, p8f_cephes_exp_p5);
+ y = pmadd(y, r2, r);
+ y = padd(y, p8f_1);
+
+ // Build emm0 = 2^m.
+ Packet8i emm0 = _mm256_cvttps_epi32(padd(m, p8f_127));
+ emm0 = pshiftleft(emm0, 23);
+
+ // Return 2^m * exp(r).
+ return pmax(pmul(y, _mm256_castsi256_ps(emm0)), _x);
+}
+
+// Hyperbolic Tangent function.
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8f
+ptanh<Packet8f>(const Packet8f& x) {
+ return internal::generic_fast_tanh_float(x);
+}
+
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet4d
+pexp<Packet4d>(const Packet4d& _x) {
+ Packet4d x = _x;
+
+ _EIGEN_DECLARE_CONST_Packet4d(1, 1.0);
+ _EIGEN_DECLARE_CONST_Packet4d(2, 2.0);
+ _EIGEN_DECLARE_CONST_Packet4d(half, 0.5);
+
+ _EIGEN_DECLARE_CONST_Packet4d(exp_hi, 709.437);
+ _EIGEN_DECLARE_CONST_Packet4d(exp_lo, -709.436139303);
+
+ _EIGEN_DECLARE_CONST_Packet4d(cephes_LOG2EF, 1.4426950408889634073599);
+
+ _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_p0, 1.26177193074810590878e-4);
+ _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_p1, 3.02994407707441961300e-2);
+ _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_p2, 9.99999999999999999910e-1);
+
+ _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_q0, 3.00198505138664455042e-6);
+ _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_q1, 2.52448340349684104192e-3);
+ _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_q2, 2.27265548208155028766e-1);
+ _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_q3, 2.00000000000000000009e0);
+
+ _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_C1, 0.693145751953125);
+ _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_C2, 1.42860682030941723212e-6);
+ _EIGEN_DECLARE_CONST_Packet4i(1023, 1023);
+
+ Packet4d tmp, fx;
+
+ // clamp x
+ x = pmax(pmin(x, p4d_exp_hi), p4d_exp_lo);
+ // Express exp(x) as exp(g + n*log(2)).
+ fx = pmadd(p4d_cephes_LOG2EF, x, p4d_half);
+
+ // Get the integer modulus of log(2), i.e. the "n" described above.
+ fx = _mm256_floor_pd(fx);
+
+ // Get the remainder modulo log(2), i.e. the "g" described above. Subtract
+ // n*log(2) out in two steps, i.e. n*C1 + n*C2, C1+C2=log2 to get the last
+ // digits right.
+ tmp = pmul(fx, p4d_cephes_exp_C1);
+ Packet4d z = pmul(fx, p4d_cephes_exp_C2);
+ x = psub(x, tmp);
+ x = psub(x, z);
+
+ Packet4d x2 = pmul(x, x);
+
+ // Evaluate the numerator polynomial of the rational interpolant.
+ Packet4d px = p4d_cephes_exp_p0;
+ px = pmadd(px, x2, p4d_cephes_exp_p1);
+ px = pmadd(px, x2, p4d_cephes_exp_p2);
+ px = pmul(px, x);
+
+ // Evaluate the denominator polynomial of the rational interpolant.
+ Packet4d qx = p4d_cephes_exp_q0;
+ qx = pmadd(qx, x2, p4d_cephes_exp_q1);
+ qx = pmadd(qx, x2, p4d_cephes_exp_q2);
+ qx = pmadd(qx, x2, p4d_cephes_exp_q3);
+
+ // I don't really get this bit, copied from the SSE2 routines, so...
+ // TODO(gonnet): Figure out what is going on here, perhaps find a better
+ // rational interpolant?
+ x = _mm256_div_pd(px, psub(qx, px));
+ x = pmadd(p4d_2, x, p4d_1);
+
+ // Build e=2^n by constructing the exponents in a 128-bit vector and
+ // shifting them to where they belong in double-precision values.
+ __m128i emm0 = _mm256_cvtpd_epi32(fx);
+ emm0 = _mm_add_epi32(emm0, p4i_1023);
+ emm0 = _mm_shuffle_epi32(emm0, _MM_SHUFFLE(3, 1, 2, 0));
+ __m128i lo = _mm_slli_epi64(emm0, 52);
+ __m128i hi = _mm_slli_epi64(_mm_srli_epi64(emm0, 32), 52);
+ __m256i e = _mm256_insertf128_si256(_mm256_setzero_si256(), lo, 0);
+ e = _mm256_insertf128_si256(e, hi, 1);
+
+ // Construct the result 2^n * exp(g) = e * x. The max is used to catch
+ // non-finite values in the input.
+ return pmax(pmul(x, _mm256_castsi256_pd(e)), _x);
+}
+
+// Functions for sqrt.
+// The EIGEN_FAST_MATH version uses the _mm_rsqrt_ps approximation and one step
+// of Newton's method, at a cost of 1-2 bits of precision as opposed to the
+// exact solution. It does not handle +inf, or denormalized numbers correctly.
+// The main advantage of this approach is not just speed, but also the fact that
+// it can be inlined and pipelined with other computations, further reducing its
+// effective latency. This is similar to Quake3's fast inverse square root.
+// For detail see here: http://www.beyond3d.com/content/articles/8/
+#if EIGEN_FAST_MATH
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8f
+psqrt<Packet8f>(const Packet8f& _x) {
+ Packet8f half = pmul(_x, pset1<Packet8f>(.5f));
+ Packet8f denormal_mask = _mm256_and_ps(
+ _mm256_cmp_ps(_x, pset1<Packet8f>((std::numeric_limits<float>::min)()),
+ _CMP_LT_OQ),
+ _mm256_cmp_ps(_x, _mm256_setzero_ps(), _CMP_GE_OQ));
+
+ // Compute approximate reciprocal sqrt.
+ Packet8f x = _mm256_rsqrt_ps(_x);
+ // Do a single step of Newton's iteration.
+ x = pmul(x, psub(pset1<Packet8f>(1.5f), pmul(half, pmul(x,x))));
+ // Flush results for denormals to zero.
+ return _mm256_andnot_ps(denormal_mask, pmul(_x,x));
+}
+#else
+template <> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet8f psqrt<Packet8f>(const Packet8f& x) {
+ return _mm256_sqrt_ps(x);
+}
+#endif
+template <> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4d psqrt<Packet4d>(const Packet4d& x) {
+ return _mm256_sqrt_pd(x);
+}
+#if EIGEN_FAST_MATH
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet8f prsqrt<Packet8f>(const Packet8f& _x) {
+ _EIGEN_DECLARE_CONST_Packet8f_FROM_INT(inf, 0x7f800000);
+ _EIGEN_DECLARE_CONST_Packet8f_FROM_INT(nan, 0x7fc00000);
+ _EIGEN_DECLARE_CONST_Packet8f(one_point_five, 1.5f);
+ _EIGEN_DECLARE_CONST_Packet8f(minus_half, -0.5f);
+ _EIGEN_DECLARE_CONST_Packet8f_FROM_INT(flt_min, 0x00800000);
+
+ Packet8f neg_half = pmul(_x, p8f_minus_half);
+
+ // select only the inverse sqrt of positive normal inputs (denormals are
+ // flushed to zero and cause infs as well).
+ Packet8f le_zero_mask = _mm256_cmp_ps(_x, p8f_flt_min, _CMP_LT_OQ);
+ Packet8f x = _mm256_andnot_ps(le_zero_mask, _mm256_rsqrt_ps(_x));
+
+ // Fill in NaNs and Infs for the negative/zero entries.
+ Packet8f neg_mask = _mm256_cmp_ps(_x, _mm256_setzero_ps(), _CMP_LT_OQ);
+ Packet8f zero_mask = _mm256_andnot_ps(neg_mask, le_zero_mask);
+ Packet8f infs_and_nans = _mm256_or_ps(_mm256_and_ps(neg_mask, p8f_nan),
+ _mm256_and_ps(zero_mask, p8f_inf));
+
+ // Do a single step of Newton's iteration.
+ x = pmul(x, pmadd(neg_half, pmul(x, x), p8f_one_point_five));
+
+ // Insert NaNs and Infs in all the right places.
+ return _mm256_or_ps(x, infs_and_nans);
+}
+
+#else
+template <> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet8f prsqrt<Packet8f>(const Packet8f& x) {
+ _EIGEN_DECLARE_CONST_Packet8f(one, 1.0f);
+ return _mm256_div_ps(p8f_one, _mm256_sqrt_ps(x));
+}
+#endif
+
+template <> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4d prsqrt<Packet4d>(const Packet4d& x) {
+ _EIGEN_DECLARE_CONST_Packet4d(one, 1.0);
+ return _mm256_div_pd(p4d_one, _mm256_sqrt_pd(x));
+}
+
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_MATH_FUNCTIONS_AVX_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/AVX/PacketMath.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/AVX/PacketMath.h
new file mode 100644
index 0000000..923a124
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/AVX/PacketMath.h
@@ -0,0 +1,637 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2014 Benoit Steiner (benoit.steiner.goog@gmail.com)
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_PACKET_MATH_AVX_H
+#define EIGEN_PACKET_MATH_AVX_H
+
+namespace Eigen {
+
+namespace internal {
+
+#ifndef EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
+#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 8
+#endif
+
+#ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
+#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS (2*sizeof(void*))
+#endif
+
+#ifdef __FMA__
+#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+#define EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+#endif
+#endif
+
+typedef __m256 Packet8f;
+typedef __m256i Packet8i;
+typedef __m256d Packet4d;
+
+template<> struct is_arithmetic<__m256> { enum { value = true }; };
+template<> struct is_arithmetic<__m256i> { enum { value = true }; };
+template<> struct is_arithmetic<__m256d> { enum { value = true }; };
+
+#define _EIGEN_DECLARE_CONST_Packet8f(NAME,X) \
+ const Packet8f p8f_##NAME = pset1<Packet8f>(X)
+
+#define _EIGEN_DECLARE_CONST_Packet4d(NAME,X) \
+ const Packet4d p4d_##NAME = pset1<Packet4d>(X)
+
+#define _EIGEN_DECLARE_CONST_Packet8f_FROM_INT(NAME,X) \
+ const Packet8f p8f_##NAME = _mm256_castsi256_ps(pset1<Packet8i>(X))
+
+#define _EIGEN_DECLARE_CONST_Packet8i(NAME,X) \
+ const Packet8i p8i_##NAME = pset1<Packet8i>(X)
+
+// Use the packet_traits defined in AVX512/PacketMath.h instead if we're going
+// to leverage AVX512 instructions.
+#ifndef EIGEN_VECTORIZE_AVX512
+template<> struct packet_traits<float> : default_packet_traits
+{
+ typedef Packet8f type;
+ typedef Packet4f half;
+ enum {
+ Vectorizable = 1,
+ AlignedOnScalar = 1,
+ size=8,
+ HasHalfPacket = 1,
+
+ HasDiv = 1,
+ HasSin = EIGEN_FAST_MATH,
+ HasCos = 0,
+ HasLog = 1,
+ HasExp = 1,
+ HasSqrt = 1,
+ HasRsqrt = 1,
+ HasTanh = EIGEN_FAST_MATH,
+ HasBlend = 1,
+ HasRound = 1,
+ HasFloor = 1,
+ HasCeil = 1
+ };
+};
+template<> struct packet_traits<double> : default_packet_traits
+{
+ typedef Packet4d type;
+ typedef Packet2d half;
+ enum {
+ Vectorizable = 1,
+ AlignedOnScalar = 1,
+ size=4,
+ HasHalfPacket = 1,
+
+ HasDiv = 1,
+ HasExp = 1,
+ HasSqrt = 1,
+ HasRsqrt = 1,
+ HasBlend = 1,
+ HasRound = 1,
+ HasFloor = 1,
+ HasCeil = 1
+ };
+};
+#endif
+
+template<> struct scalar_div_cost<float,true> { enum { value = 14 }; };
+template<> struct scalar_div_cost<double,true> { enum { value = 16 }; };
+
+/* Proper support for integers is only provided by AVX2. In the meantime, we'll
+ use SSE instructions and packets to deal with integers.
+template<> struct packet_traits<int> : default_packet_traits
+{
+ typedef Packet8i type;
+ enum {
+ Vectorizable = 1,
+ AlignedOnScalar = 1,
+ size=8
+ };
+};
+*/
+
+template<> struct unpacket_traits<Packet8f> { typedef float type; typedef Packet4f half; enum {size=8, alignment=Aligned32}; };
+template<> struct unpacket_traits<Packet4d> { typedef double type; typedef Packet2d half; enum {size=4, alignment=Aligned32}; };
+template<> struct unpacket_traits<Packet8i> { typedef int type; typedef Packet4i half; enum {size=8, alignment=Aligned32}; };
+
+template<> EIGEN_STRONG_INLINE Packet8f pset1<Packet8f>(const float& from) { return _mm256_set1_ps(from); }
+template<> EIGEN_STRONG_INLINE Packet4d pset1<Packet4d>(const double& from) { return _mm256_set1_pd(from); }
+template<> EIGEN_STRONG_INLINE Packet8i pset1<Packet8i>(const int& from) { return _mm256_set1_epi32(from); }
+
+template<> EIGEN_STRONG_INLINE Packet8f pload1<Packet8f>(const float* from) { return _mm256_broadcast_ss(from); }
+template<> EIGEN_STRONG_INLINE Packet4d pload1<Packet4d>(const double* from) { return _mm256_broadcast_sd(from); }
+
+template<> EIGEN_STRONG_INLINE Packet8f plset<Packet8f>(const float& a) { return _mm256_add_ps(_mm256_set1_ps(a), _mm256_set_ps(7.0,6.0,5.0,4.0,3.0,2.0,1.0,0.0)); }
+template<> EIGEN_STRONG_INLINE Packet4d plset<Packet4d>(const double& a) { return _mm256_add_pd(_mm256_set1_pd(a), _mm256_set_pd(3.0,2.0,1.0,0.0)); }
+
+template<> EIGEN_STRONG_INLINE Packet8f padd<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_add_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4d padd<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_add_pd(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet8f psub<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_sub_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4d psub<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_sub_pd(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet8f pnegate(const Packet8f& a)
+{
+ return _mm256_sub_ps(_mm256_set1_ps(0.0),a);
+}
+template<> EIGEN_STRONG_INLINE Packet4d pnegate(const Packet4d& a)
+{
+ return _mm256_sub_pd(_mm256_set1_pd(0.0),a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8f pconj(const Packet8f& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet4d pconj(const Packet4d& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet8i pconj(const Packet8i& a) { return a; }
+
+template<> EIGEN_STRONG_INLINE Packet8f pmul<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_mul_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4d pmul<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_mul_pd(a,b); }
+
+
+template<> EIGEN_STRONG_INLINE Packet8f pdiv<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_div_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4d pdiv<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_div_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet8i pdiv<Packet8i>(const Packet8i& /*a*/, const Packet8i& /*b*/)
+{ eigen_assert(false && "packet integer division are not supported by AVX");
+ return pset1<Packet8i>(0);
+}
+
+#ifdef __FMA__
+template<> EIGEN_STRONG_INLINE Packet8f pmadd(const Packet8f& a, const Packet8f& b, const Packet8f& c) {
+#if ( (EIGEN_COMP_GNUC_STRICT && EIGEN_COMP_GNUC<80) || (EIGEN_COMP_CLANG) )
+ // Clang stupidly generates a vfmadd213ps instruction plus some vmovaps on registers,
+ // and even register spilling with clang>=6.0 (bug 1637).
+ // Gcc stupidly generates a vfmadd132ps instruction.
+ // So let's enforce it to generate a vfmadd231ps instruction since the most common use
+ // case is to accumulate the result of the product.
+ Packet8f res = c;
+ __asm__("vfmadd231ps %[a], %[b], %[c]" : [c] "+x" (res) : [a] "x" (a), [b] "x" (b));
+ return res;
+#else
+ return _mm256_fmadd_ps(a,b,c);
+#endif
+}
+template<> EIGEN_STRONG_INLINE Packet4d pmadd(const Packet4d& a, const Packet4d& b, const Packet4d& c) {
+#if ( (EIGEN_COMP_GNUC_STRICT && EIGEN_COMP_GNUC<80) || (EIGEN_COMP_CLANG) )
+ // see above
+ Packet4d res = c;
+ __asm__("vfmadd231pd %[a], %[b], %[c]" : [c] "+x" (res) : [a] "x" (a), [b] "x" (b));
+ return res;
+#else
+ return _mm256_fmadd_pd(a,b,c);
+#endif
+}
+#endif
+
+template<> EIGEN_STRONG_INLINE Packet8f pmin<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_min_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4d pmin<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_min_pd(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet8f pmax<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_max_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4d pmax<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_max_pd(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet8f pround<Packet8f>(const Packet8f& a) { return _mm256_round_ps(a, _MM_FROUND_CUR_DIRECTION); }
+template<> EIGEN_STRONG_INLINE Packet4d pround<Packet4d>(const Packet4d& a) { return _mm256_round_pd(a, _MM_FROUND_CUR_DIRECTION); }
+
+template<> EIGEN_STRONG_INLINE Packet8f pceil<Packet8f>(const Packet8f& a) { return _mm256_ceil_ps(a); }
+template<> EIGEN_STRONG_INLINE Packet4d pceil<Packet4d>(const Packet4d& a) { return _mm256_ceil_pd(a); }
+
+template<> EIGEN_STRONG_INLINE Packet8f pfloor<Packet8f>(const Packet8f& a) { return _mm256_floor_ps(a); }
+template<> EIGEN_STRONG_INLINE Packet4d pfloor<Packet4d>(const Packet4d& a) { return _mm256_floor_pd(a); }
+
+template<> EIGEN_STRONG_INLINE Packet8f pand<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_and_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4d pand<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_and_pd(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet8f por<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_or_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4d por<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_or_pd(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet8f pxor<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_xor_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4d pxor<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_xor_pd(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet8f pandnot<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_andnot_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4d pandnot<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_andnot_pd(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet8f pload<Packet8f>(const float* from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm256_load_ps(from); }
+template<> EIGEN_STRONG_INLINE Packet4d pload<Packet4d>(const double* from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm256_load_pd(from); }
+template<> EIGEN_STRONG_INLINE Packet8i pload<Packet8i>(const int* from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm256_load_si256(reinterpret_cast<const __m256i*>(from)); }
+
+template<> EIGEN_STRONG_INLINE Packet8f ploadu<Packet8f>(const float* from) { EIGEN_DEBUG_UNALIGNED_LOAD return _mm256_loadu_ps(from); }
+template<> EIGEN_STRONG_INLINE Packet4d ploadu<Packet4d>(const double* from) { EIGEN_DEBUG_UNALIGNED_LOAD return _mm256_loadu_pd(from); }
+template<> EIGEN_STRONG_INLINE Packet8i ploadu<Packet8i>(const int* from) { EIGEN_DEBUG_UNALIGNED_LOAD return _mm256_loadu_si256(reinterpret_cast<const __m256i*>(from)); }
+
+// Loads 4 floats from memory a returns the packet {a0, a0 a1, a1, a2, a2, a3, a3}
+template<> EIGEN_STRONG_INLINE Packet8f ploaddup<Packet8f>(const float* from)
+{
+ // TODO try to find a way to avoid the need of a temporary register
+// Packet8f tmp = _mm256_castps128_ps256(_mm_loadu_ps(from));
+// tmp = _mm256_insertf128_ps(tmp, _mm_movehl_ps(_mm256_castps256_ps128(tmp),_mm256_castps256_ps128(tmp)), 1);
+// return _mm256_unpacklo_ps(tmp,tmp);
+
+ // _mm256_insertf128_ps is very slow on Haswell, thus:
+ Packet8f tmp = _mm256_broadcast_ps((const __m128*)(const void*)from);
+ // mimic an "inplace" permutation of the lower 128bits using a blend
+ tmp = _mm256_blend_ps(tmp,_mm256_castps128_ps256(_mm_permute_ps( _mm256_castps256_ps128(tmp), _MM_SHUFFLE(1,0,1,0))), 15);
+ // then we can perform a consistent permutation on the global register to get everything in shape:
+ return _mm256_permute_ps(tmp, _MM_SHUFFLE(3,3,2,2));
+}
+// Loads 2 doubles from memory a returns the packet {a0, a0 a1, a1}
+template<> EIGEN_STRONG_INLINE Packet4d ploaddup<Packet4d>(const double* from)
+{
+ Packet4d tmp = _mm256_broadcast_pd((const __m128d*)(const void*)from);
+ return _mm256_permute_pd(tmp, 3<<2);
+}
+
+// Loads 2 floats from memory a returns the packet {a0, a0 a0, a0, a1, a1, a1, a1}
+template<> EIGEN_STRONG_INLINE Packet8f ploadquad<Packet8f>(const float* from)
+{
+ Packet8f tmp = _mm256_castps128_ps256(_mm_broadcast_ss(from));
+ return _mm256_insertf128_ps(tmp, _mm_broadcast_ss(from+1), 1);
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<float>(float* to, const Packet8f& from) { EIGEN_DEBUG_ALIGNED_STORE _mm256_store_ps(to, from); }
+template<> EIGEN_STRONG_INLINE void pstore<double>(double* to, const Packet4d& from) { EIGEN_DEBUG_ALIGNED_STORE _mm256_store_pd(to, from); }
+template<> EIGEN_STRONG_INLINE void pstore<int>(int* to, const Packet8i& from) { EIGEN_DEBUG_ALIGNED_STORE _mm256_storeu_si256(reinterpret_cast<__m256i*>(to), from); }
+
+template<> EIGEN_STRONG_INLINE void pstoreu<float>(float* to, const Packet8f& from) { EIGEN_DEBUG_UNALIGNED_STORE _mm256_storeu_ps(to, from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<double>(double* to, const Packet4d& from) { EIGEN_DEBUG_UNALIGNED_STORE _mm256_storeu_pd(to, from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<int>(int* to, const Packet8i& from) { EIGEN_DEBUG_UNALIGNED_STORE _mm256_storeu_si256(reinterpret_cast<__m256i*>(to), from); }
+
+// NOTE: leverage _mm256_i32gather_ps and _mm256_i32gather_pd if AVX2 instructions are available
+// NOTE: for the record the following seems to be slower: return _mm256_i32gather_ps(from, _mm256_set1_epi32(stride), 4);
+template<> EIGEN_DEVICE_FUNC inline Packet8f pgather<float, Packet8f>(const float* from, Index stride)
+{
+ return _mm256_set_ps(from[7*stride], from[6*stride], from[5*stride], from[4*stride],
+ from[3*stride], from[2*stride], from[1*stride], from[0*stride]);
+}
+template<> EIGEN_DEVICE_FUNC inline Packet4d pgather<double, Packet4d>(const double* from, Index stride)
+{
+ return _mm256_set_pd(from[3*stride], from[2*stride], from[1*stride], from[0*stride]);
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<float, Packet8f>(float* to, const Packet8f& from, Index stride)
+{
+ __m128 low = _mm256_extractf128_ps(from, 0);
+ to[stride*0] = _mm_cvtss_f32(low);
+ to[stride*1] = _mm_cvtss_f32(_mm_shuffle_ps(low, low, 1));
+ to[stride*2] = _mm_cvtss_f32(_mm_shuffle_ps(low, low, 2));
+ to[stride*3] = _mm_cvtss_f32(_mm_shuffle_ps(low, low, 3));
+
+ __m128 high = _mm256_extractf128_ps(from, 1);
+ to[stride*4] = _mm_cvtss_f32(high);
+ to[stride*5] = _mm_cvtss_f32(_mm_shuffle_ps(high, high, 1));
+ to[stride*6] = _mm_cvtss_f32(_mm_shuffle_ps(high, high, 2));
+ to[stride*7] = _mm_cvtss_f32(_mm_shuffle_ps(high, high, 3));
+}
+template<> EIGEN_DEVICE_FUNC inline void pscatter<double, Packet4d>(double* to, const Packet4d& from, Index stride)
+{
+ __m128d low = _mm256_extractf128_pd(from, 0);
+ to[stride*0] = _mm_cvtsd_f64(low);
+ to[stride*1] = _mm_cvtsd_f64(_mm_shuffle_pd(low, low, 1));
+ __m128d high = _mm256_extractf128_pd(from, 1);
+ to[stride*2] = _mm_cvtsd_f64(high);
+ to[stride*3] = _mm_cvtsd_f64(_mm_shuffle_pd(high, high, 1));
+}
+
+template<> EIGEN_STRONG_INLINE void pstore1<Packet8f>(float* to, const float& a)
+{
+ Packet8f pa = pset1<Packet8f>(a);
+ pstore(to, pa);
+}
+template<> EIGEN_STRONG_INLINE void pstore1<Packet4d>(double* to, const double& a)
+{
+ Packet4d pa = pset1<Packet4d>(a);
+ pstore(to, pa);
+}
+template<> EIGEN_STRONG_INLINE void pstore1<Packet8i>(int* to, const int& a)
+{
+ Packet8i pa = pset1<Packet8i>(a);
+ pstore(to, pa);
+}
+
+#ifndef EIGEN_VECTORIZE_AVX512
+template<> EIGEN_STRONG_INLINE void prefetch<float>(const float* addr) { _mm_prefetch((SsePrefetchPtrType)(addr), _MM_HINT_T0); }
+template<> EIGEN_STRONG_INLINE void prefetch<double>(const double* addr) { _mm_prefetch((SsePrefetchPtrType)(addr), _MM_HINT_T0); }
+template<> EIGEN_STRONG_INLINE void prefetch<int>(const int* addr) { _mm_prefetch((SsePrefetchPtrType)(addr), _MM_HINT_T0); }
+#endif
+
+template<> EIGEN_STRONG_INLINE float pfirst<Packet8f>(const Packet8f& a) {
+ return _mm_cvtss_f32(_mm256_castps256_ps128(a));
+}
+template<> EIGEN_STRONG_INLINE double pfirst<Packet4d>(const Packet4d& a) {
+ return _mm_cvtsd_f64(_mm256_castpd256_pd128(a));
+}
+template<> EIGEN_STRONG_INLINE int pfirst<Packet8i>(const Packet8i& a) {
+ return _mm_cvtsi128_si32(_mm256_castsi256_si128(a));
+}
+
+
+template<> EIGEN_STRONG_INLINE Packet8f preverse(const Packet8f& a)
+{
+ __m256 tmp = _mm256_shuffle_ps(a,a,0x1b);
+ return _mm256_permute2f128_ps(tmp, tmp, 1);
+}
+template<> EIGEN_STRONG_INLINE Packet4d preverse(const Packet4d& a)
+{
+ __m256d tmp = _mm256_shuffle_pd(a,a,5);
+ return _mm256_permute2f128_pd(tmp, tmp, 1);
+ #if 0
+ // This version is unlikely to be faster as _mm256_shuffle_ps and _mm256_permute_pd
+ // exhibit the same latency/throughput, but it is here for future reference/benchmarking...
+ __m256d swap_halves = _mm256_permute2f128_pd(a,a,1);
+ return _mm256_permute_pd(swap_halves,5);
+ #endif
+}
+
+// pabs should be ok
+template<> EIGEN_STRONG_INLINE Packet8f pabs(const Packet8f& a)
+{
+ const Packet8f mask = _mm256_castsi256_ps(_mm256_setr_epi32(0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF));
+ return _mm256_and_ps(a,mask);
+}
+template<> EIGEN_STRONG_INLINE Packet4d pabs(const Packet4d& a)
+{
+ const Packet4d mask = _mm256_castsi256_pd(_mm256_setr_epi32(0xFFFFFFFF,0x7FFFFFFF,0xFFFFFFFF,0x7FFFFFFF,0xFFFFFFFF,0x7FFFFFFF,0xFFFFFFFF,0x7FFFFFFF));
+ return _mm256_and_pd(a,mask);
+}
+
+// preduxp should be ok
+// FIXME: why is this ok? why isn't the simply implementation working as expected?
+template<> EIGEN_STRONG_INLINE Packet8f preduxp<Packet8f>(const Packet8f* vecs)
+{
+ __m256 hsum1 = _mm256_hadd_ps(vecs[0], vecs[1]);
+ __m256 hsum2 = _mm256_hadd_ps(vecs[2], vecs[3]);
+ __m256 hsum3 = _mm256_hadd_ps(vecs[4], vecs[5]);
+ __m256 hsum4 = _mm256_hadd_ps(vecs[6], vecs[7]);
+
+ __m256 hsum5 = _mm256_hadd_ps(hsum1, hsum1);
+ __m256 hsum6 = _mm256_hadd_ps(hsum2, hsum2);
+ __m256 hsum7 = _mm256_hadd_ps(hsum3, hsum3);
+ __m256 hsum8 = _mm256_hadd_ps(hsum4, hsum4);
+
+ __m256 perm1 = _mm256_permute2f128_ps(hsum5, hsum5, 0x23);
+ __m256 perm2 = _mm256_permute2f128_ps(hsum6, hsum6, 0x23);
+ __m256 perm3 = _mm256_permute2f128_ps(hsum7, hsum7, 0x23);
+ __m256 perm4 = _mm256_permute2f128_ps(hsum8, hsum8, 0x23);
+
+ __m256 sum1 = _mm256_add_ps(perm1, hsum5);
+ __m256 sum2 = _mm256_add_ps(perm2, hsum6);
+ __m256 sum3 = _mm256_add_ps(perm3, hsum7);
+ __m256 sum4 = _mm256_add_ps(perm4, hsum8);
+
+ __m256 blend1 = _mm256_blend_ps(sum1, sum2, 0xcc);
+ __m256 blend2 = _mm256_blend_ps(sum3, sum4, 0xcc);
+
+ __m256 final = _mm256_blend_ps(blend1, blend2, 0xf0);
+ return final;
+}
+template<> EIGEN_STRONG_INLINE Packet4d preduxp<Packet4d>(const Packet4d* vecs)
+{
+ Packet4d tmp0, tmp1;
+
+ tmp0 = _mm256_hadd_pd(vecs[0], vecs[1]);
+ tmp0 = _mm256_add_pd(tmp0, _mm256_permute2f128_pd(tmp0, tmp0, 1));
+
+ tmp1 = _mm256_hadd_pd(vecs[2], vecs[3]);
+ tmp1 = _mm256_add_pd(tmp1, _mm256_permute2f128_pd(tmp1, tmp1, 1));
+
+ return _mm256_blend_pd(tmp0, tmp1, 0xC);
+}
+
+template<> EIGEN_STRONG_INLINE float predux<Packet8f>(const Packet8f& a)
+{
+ return predux(Packet4f(_mm_add_ps(_mm256_castps256_ps128(a),_mm256_extractf128_ps(a,1))));
+}
+template<> EIGEN_STRONG_INLINE double predux<Packet4d>(const Packet4d& a)
+{
+ return predux(Packet2d(_mm_add_pd(_mm256_castpd256_pd128(a),_mm256_extractf128_pd(a,1))));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f predux_downto4<Packet8f>(const Packet8f& a)
+{
+ return _mm_add_ps(_mm256_castps256_ps128(a),_mm256_extractf128_ps(a,1));
+}
+
+template<> EIGEN_STRONG_INLINE float predux_mul<Packet8f>(const Packet8f& a)
+{
+ Packet8f tmp;
+ tmp = _mm256_mul_ps(a, _mm256_permute2f128_ps(a,a,1));
+ tmp = _mm256_mul_ps(tmp, _mm256_shuffle_ps(tmp,tmp,_MM_SHUFFLE(1,0,3,2)));
+ return pfirst(_mm256_mul_ps(tmp, _mm256_shuffle_ps(tmp,tmp,1)));
+}
+template<> EIGEN_STRONG_INLINE double predux_mul<Packet4d>(const Packet4d& a)
+{
+ Packet4d tmp;
+ tmp = _mm256_mul_pd(a, _mm256_permute2f128_pd(a,a,1));
+ return pfirst(_mm256_mul_pd(tmp, _mm256_shuffle_pd(tmp,tmp,1)));
+}
+
+template<> EIGEN_STRONG_INLINE float predux_min<Packet8f>(const Packet8f& a)
+{
+ Packet8f tmp = _mm256_min_ps(a, _mm256_permute2f128_ps(a,a,1));
+ tmp = _mm256_min_ps(tmp, _mm256_shuffle_ps(tmp,tmp,_MM_SHUFFLE(1,0,3,2)));
+ return pfirst(_mm256_min_ps(tmp, _mm256_shuffle_ps(tmp,tmp,1)));
+}
+template<> EIGEN_STRONG_INLINE double predux_min<Packet4d>(const Packet4d& a)
+{
+ Packet4d tmp = _mm256_min_pd(a, _mm256_permute2f128_pd(a,a,1));
+ return pfirst(_mm256_min_pd(tmp, _mm256_shuffle_pd(tmp, tmp, 1)));
+}
+
+template<> EIGEN_STRONG_INLINE float predux_max<Packet8f>(const Packet8f& a)
+{
+ Packet8f tmp = _mm256_max_ps(a, _mm256_permute2f128_ps(a,a,1));
+ tmp = _mm256_max_ps(tmp, _mm256_shuffle_ps(tmp,tmp,_MM_SHUFFLE(1,0,3,2)));
+ return pfirst(_mm256_max_ps(tmp, _mm256_shuffle_ps(tmp,tmp,1)));
+}
+
+template<> EIGEN_STRONG_INLINE double predux_max<Packet4d>(const Packet4d& a)
+{
+ Packet4d tmp = _mm256_max_pd(a, _mm256_permute2f128_pd(a,a,1));
+ return pfirst(_mm256_max_pd(tmp, _mm256_shuffle_pd(tmp, tmp, 1)));
+}
+
+
+template<int Offset>
+struct palign_impl<Offset,Packet8f>
+{
+ static EIGEN_STRONG_INLINE void run(Packet8f& first, const Packet8f& second)
+ {
+ if (Offset==1)
+ {
+ first = _mm256_blend_ps(first, second, 1);
+ Packet8f tmp1 = _mm256_permute_ps (first, _MM_SHUFFLE(0,3,2,1));
+ Packet8f tmp2 = _mm256_permute2f128_ps (tmp1, tmp1, 1);
+ first = _mm256_blend_ps(tmp1, tmp2, 0x88);
+ }
+ else if (Offset==2)
+ {
+ first = _mm256_blend_ps(first, second, 3);
+ Packet8f tmp1 = _mm256_permute_ps (first, _MM_SHUFFLE(1,0,3,2));
+ Packet8f tmp2 = _mm256_permute2f128_ps (tmp1, tmp1, 1);
+ first = _mm256_blend_ps(tmp1, tmp2, 0xcc);
+ }
+ else if (Offset==3)
+ {
+ first = _mm256_blend_ps(first, second, 7);
+ Packet8f tmp1 = _mm256_permute_ps (first, _MM_SHUFFLE(2,1,0,3));
+ Packet8f tmp2 = _mm256_permute2f128_ps (tmp1, tmp1, 1);
+ first = _mm256_blend_ps(tmp1, tmp2, 0xee);
+ }
+ else if (Offset==4)
+ {
+ first = _mm256_blend_ps(first, second, 15);
+ Packet8f tmp1 = _mm256_permute_ps (first, _MM_SHUFFLE(3,2,1,0));
+ Packet8f tmp2 = _mm256_permute2f128_ps (tmp1, tmp1, 1);
+ first = _mm256_permute_ps(tmp2, _MM_SHUFFLE(3,2,1,0));
+ }
+ else if (Offset==5)
+ {
+ first = _mm256_blend_ps(first, second, 31);
+ first = _mm256_permute2f128_ps(first, first, 1);
+ Packet8f tmp = _mm256_permute_ps (first, _MM_SHUFFLE(0,3,2,1));
+ first = _mm256_permute2f128_ps(tmp, tmp, 1);
+ first = _mm256_blend_ps(tmp, first, 0x88);
+ }
+ else if (Offset==6)
+ {
+ first = _mm256_blend_ps(first, second, 63);
+ first = _mm256_permute2f128_ps(first, first, 1);
+ Packet8f tmp = _mm256_permute_ps (first, _MM_SHUFFLE(1,0,3,2));
+ first = _mm256_permute2f128_ps(tmp, tmp, 1);
+ first = _mm256_blend_ps(tmp, first, 0xcc);
+ }
+ else if (Offset==7)
+ {
+ first = _mm256_blend_ps(first, second, 127);
+ first = _mm256_permute2f128_ps(first, first, 1);
+ Packet8f tmp = _mm256_permute_ps (first, _MM_SHUFFLE(2,1,0,3));
+ first = _mm256_permute2f128_ps(tmp, tmp, 1);
+ first = _mm256_blend_ps(tmp, first, 0xee);
+ }
+ }
+};
+
+template<int Offset>
+struct palign_impl<Offset,Packet4d>
+{
+ static EIGEN_STRONG_INLINE void run(Packet4d& first, const Packet4d& second)
+ {
+ if (Offset==1)
+ {
+ first = _mm256_blend_pd(first, second, 1);
+ __m256d tmp = _mm256_permute_pd(first, 5);
+ first = _mm256_permute2f128_pd(tmp, tmp, 1);
+ first = _mm256_blend_pd(tmp, first, 0xA);
+ }
+ else if (Offset==2)
+ {
+ first = _mm256_blend_pd(first, second, 3);
+ first = _mm256_permute2f128_pd(first, first, 1);
+ }
+ else if (Offset==3)
+ {
+ first = _mm256_blend_pd(first, second, 7);
+ __m256d tmp = _mm256_permute_pd(first, 5);
+ first = _mm256_permute2f128_pd(tmp, tmp, 1);
+ first = _mm256_blend_pd(tmp, first, 5);
+ }
+ }
+};
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet8f,8>& kernel) {
+ __m256 T0 = _mm256_unpacklo_ps(kernel.packet[0], kernel.packet[1]);
+ __m256 T1 = _mm256_unpackhi_ps(kernel.packet[0], kernel.packet[1]);
+ __m256 T2 = _mm256_unpacklo_ps(kernel.packet[2], kernel.packet[3]);
+ __m256 T3 = _mm256_unpackhi_ps(kernel.packet[2], kernel.packet[3]);
+ __m256 T4 = _mm256_unpacklo_ps(kernel.packet[4], kernel.packet[5]);
+ __m256 T5 = _mm256_unpackhi_ps(kernel.packet[4], kernel.packet[5]);
+ __m256 T6 = _mm256_unpacklo_ps(kernel.packet[6], kernel.packet[7]);
+ __m256 T7 = _mm256_unpackhi_ps(kernel.packet[6], kernel.packet[7]);
+ __m256 S0 = _mm256_shuffle_ps(T0,T2,_MM_SHUFFLE(1,0,1,0));
+ __m256 S1 = _mm256_shuffle_ps(T0,T2,_MM_SHUFFLE(3,2,3,2));
+ __m256 S2 = _mm256_shuffle_ps(T1,T3,_MM_SHUFFLE(1,0,1,0));
+ __m256 S3 = _mm256_shuffle_ps(T1,T3,_MM_SHUFFLE(3,2,3,2));
+ __m256 S4 = _mm256_shuffle_ps(T4,T6,_MM_SHUFFLE(1,0,1,0));
+ __m256 S5 = _mm256_shuffle_ps(T4,T6,_MM_SHUFFLE(3,2,3,2));
+ __m256 S6 = _mm256_shuffle_ps(T5,T7,_MM_SHUFFLE(1,0,1,0));
+ __m256 S7 = _mm256_shuffle_ps(T5,T7,_MM_SHUFFLE(3,2,3,2));
+ kernel.packet[0] = _mm256_permute2f128_ps(S0, S4, 0x20);
+ kernel.packet[1] = _mm256_permute2f128_ps(S1, S5, 0x20);
+ kernel.packet[2] = _mm256_permute2f128_ps(S2, S6, 0x20);
+ kernel.packet[3] = _mm256_permute2f128_ps(S3, S7, 0x20);
+ kernel.packet[4] = _mm256_permute2f128_ps(S0, S4, 0x31);
+ kernel.packet[5] = _mm256_permute2f128_ps(S1, S5, 0x31);
+ kernel.packet[6] = _mm256_permute2f128_ps(S2, S6, 0x31);
+ kernel.packet[7] = _mm256_permute2f128_ps(S3, S7, 0x31);
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet8f,4>& kernel) {
+ __m256 T0 = _mm256_unpacklo_ps(kernel.packet[0], kernel.packet[1]);
+ __m256 T1 = _mm256_unpackhi_ps(kernel.packet[0], kernel.packet[1]);
+ __m256 T2 = _mm256_unpacklo_ps(kernel.packet[2], kernel.packet[3]);
+ __m256 T3 = _mm256_unpackhi_ps(kernel.packet[2], kernel.packet[3]);
+
+ __m256 S0 = _mm256_shuffle_ps(T0,T2,_MM_SHUFFLE(1,0,1,0));
+ __m256 S1 = _mm256_shuffle_ps(T0,T2,_MM_SHUFFLE(3,2,3,2));
+ __m256 S2 = _mm256_shuffle_ps(T1,T3,_MM_SHUFFLE(1,0,1,0));
+ __m256 S3 = _mm256_shuffle_ps(T1,T3,_MM_SHUFFLE(3,2,3,2));
+
+ kernel.packet[0] = _mm256_permute2f128_ps(S0, S1, 0x20);
+ kernel.packet[1] = _mm256_permute2f128_ps(S2, S3, 0x20);
+ kernel.packet[2] = _mm256_permute2f128_ps(S0, S1, 0x31);
+ kernel.packet[3] = _mm256_permute2f128_ps(S2, S3, 0x31);
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet4d,4>& kernel) {
+ __m256d T0 = _mm256_shuffle_pd(kernel.packet[0], kernel.packet[1], 15);
+ __m256d T1 = _mm256_shuffle_pd(kernel.packet[0], kernel.packet[1], 0);
+ __m256d T2 = _mm256_shuffle_pd(kernel.packet[2], kernel.packet[3], 15);
+ __m256d T3 = _mm256_shuffle_pd(kernel.packet[2], kernel.packet[3], 0);
+
+ kernel.packet[1] = _mm256_permute2f128_pd(T0, T2, 32);
+ kernel.packet[3] = _mm256_permute2f128_pd(T0, T2, 49);
+ kernel.packet[0] = _mm256_permute2f128_pd(T1, T3, 32);
+ kernel.packet[2] = _mm256_permute2f128_pd(T1, T3, 49);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8f pblend(const Selector<8>& ifPacket, const Packet8f& thenPacket, const Packet8f& elsePacket) {
+ const __m256 zero = _mm256_setzero_ps();
+ const __m256 select = _mm256_set_ps(ifPacket.select[7], ifPacket.select[6], ifPacket.select[5], ifPacket.select[4], ifPacket.select[3], ifPacket.select[2], ifPacket.select[1], ifPacket.select[0]);
+ __m256 false_mask = _mm256_cmp_ps(select, zero, _CMP_EQ_UQ);
+ return _mm256_blendv_ps(thenPacket, elsePacket, false_mask);
+}
+template<> EIGEN_STRONG_INLINE Packet4d pblend(const Selector<4>& ifPacket, const Packet4d& thenPacket, const Packet4d& elsePacket) {
+ const __m256d zero = _mm256_setzero_pd();
+ const __m256d select = _mm256_set_pd(ifPacket.select[3], ifPacket.select[2], ifPacket.select[1], ifPacket.select[0]);
+ __m256d false_mask = _mm256_cmp_pd(select, zero, _CMP_EQ_UQ);
+ return _mm256_blendv_pd(thenPacket, elsePacket, false_mask);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8f pinsertfirst(const Packet8f& a, float b)
+{
+ return _mm256_blend_ps(a,pset1<Packet8f>(b),1);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4d pinsertfirst(const Packet4d& a, double b)
+{
+ return _mm256_blend_pd(a,pset1<Packet4d>(b),1);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8f pinsertlast(const Packet8f& a, float b)
+{
+ return _mm256_blend_ps(a,pset1<Packet8f>(b),(1<<7));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4d pinsertlast(const Packet4d& a, double b)
+{
+ return _mm256_blend_pd(a,pset1<Packet4d>(b),(1<<3));
+}
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_PACKET_MATH_AVX_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/AVX/TypeCasting.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/AVX/TypeCasting.h
new file mode 100644
index 0000000..83bfdc6
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/AVX/TypeCasting.h
@@ -0,0 +1,51 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2015 Benoit Steiner <benoit.steiner.goog@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_TYPE_CASTING_AVX_H
+#define EIGEN_TYPE_CASTING_AVX_H
+
+namespace Eigen {
+
+namespace internal {
+
+// For now we use SSE to handle integers, so we can't use AVX instructions to cast
+// from int to float
+template <>
+struct type_casting_traits<float, int> {
+ enum {
+ VectorizedCast = 0,
+ SrcCoeffRatio = 1,
+ TgtCoeffRatio = 1
+ };
+};
+
+template <>
+struct type_casting_traits<int, float> {
+ enum {
+ VectorizedCast = 0,
+ SrcCoeffRatio = 1,
+ TgtCoeffRatio = 1
+ };
+};
+
+
+
+template<> EIGEN_STRONG_INLINE Packet8i pcast<Packet8f, Packet8i>(const Packet8f& a) {
+ return _mm256_cvtps_epi32(a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8f pcast<Packet8i, Packet8f>(const Packet8i& a) {
+ return _mm256_cvtepi32_ps(a);
+}
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_TYPE_CASTING_AVX_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/Default/ConjHelper.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/Default/ConjHelper.h
new file mode 100644
index 0000000..4cfe34e
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/Default/ConjHelper.h
@@ -0,0 +1,29 @@
+
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2017 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_ARCH_CONJ_HELPER_H
+#define EIGEN_ARCH_CONJ_HELPER_H
+
+#define EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(PACKET_CPLX, PACKET_REAL) \
+ template<> struct conj_helper<PACKET_REAL, PACKET_CPLX, false,false> { \
+ EIGEN_STRONG_INLINE PACKET_CPLX pmadd(const PACKET_REAL& x, const PACKET_CPLX& y, const PACKET_CPLX& c) const \
+ { return padd(c, pmul(x,y)); } \
+ EIGEN_STRONG_INLINE PACKET_CPLX pmul(const PACKET_REAL& x, const PACKET_CPLX& y) const \
+ { return PACKET_CPLX(Eigen::internal::pmul<PACKET_REAL>(x, y.v)); } \
+ }; \
+ \
+ template<> struct conj_helper<PACKET_CPLX, PACKET_REAL, false,false> { \
+ EIGEN_STRONG_INLINE PACKET_CPLX pmadd(const PACKET_CPLX& x, const PACKET_REAL& y, const PACKET_CPLX& c) const \
+ { return padd(c, pmul(x,y)); } \
+ EIGEN_STRONG_INLINE PACKET_CPLX pmul(const PACKET_CPLX& x, const PACKET_REAL& y) const \
+ { return PACKET_CPLX(Eigen::internal::pmul<PACKET_REAL>(x.v, y)); } \
+ };
+
+#endif // EIGEN_ARCH_CONJ_HELPER_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/Default/Settings.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/Default/Settings.h
new file mode 100644
index 0000000..097373c
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/Default/Settings.h
@@ -0,0 +1,49 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+
+/* All the parameters defined in this file can be specialized in the
+ * architecture specific files, and/or by the user.
+ * More to come... */
+
+#ifndef EIGEN_DEFAULT_SETTINGS_H
+#define EIGEN_DEFAULT_SETTINGS_H
+
+/** Defines the maximal loop size to enable meta unrolling of loops.
+ * Note that the value here is expressed in Eigen's own notion of "number of FLOPS",
+ * it does not correspond to the number of iterations or the number of instructions
+ */
+#ifndef EIGEN_UNROLLING_LIMIT
+#define EIGEN_UNROLLING_LIMIT 100
+#endif
+
+/** Defines the threshold between a "small" and a "large" matrix.
+ * This threshold is mainly used to select the proper product implementation.
+ */
+#ifndef EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
+#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 8
+#endif
+
+/** Defines the maximal width of the blocks used in the triangular product and solver
+ * for vectors (level 2 blas xTRMV and xTRSV). The default is 8.
+ */
+#ifndef EIGEN_TUNE_TRIANGULAR_PANEL_WIDTH
+#define EIGEN_TUNE_TRIANGULAR_PANEL_WIDTH 8
+#endif
+
+
+/** Defines the default number of registers available for that architecture.
+ * Currently it must be 8 or 16. Other values will fail.
+ */
+#ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
+#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS 8
+#endif
+
+#endif // EIGEN_DEFAULT_SETTINGS_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/NEON/Complex.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/NEON/Complex.h
new file mode 100644
index 0000000..306a309
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/NEON/Complex.h
@@ -0,0 +1,490 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Konstantinos Margaritis <markos@freevec.org>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_COMPLEX_NEON_H
+#define EIGEN_COMPLEX_NEON_H
+
+namespace Eigen {
+
+namespace internal {
+
+inline uint32x4_t p4ui_CONJ_XOR() {
+// See bug 1325, clang fails to call vld1q_u64.
+#if EIGEN_COMP_CLANG
+ uint32x4_t ret = { 0x00000000, 0x80000000, 0x00000000, 0x80000000 };
+ return ret;
+#else
+ static const uint32_t conj_XOR_DATA[] = { 0x00000000, 0x80000000, 0x00000000, 0x80000000 };
+ return vld1q_u32( conj_XOR_DATA );
+#endif
+}
+
+inline uint32x2_t p2ui_CONJ_XOR() {
+ static const uint32_t conj_XOR_DATA[] = { 0x00000000, 0x80000000 };
+ return vld1_u32( conj_XOR_DATA );
+}
+
+//---------- float ----------
+struct Packet2cf
+{
+ EIGEN_STRONG_INLINE Packet2cf() {}
+ EIGEN_STRONG_INLINE explicit Packet2cf(const Packet4f& a) : v(a) {}
+ Packet4f v;
+};
+
+template<> struct packet_traits<std::complex<float> > : default_packet_traits
+{
+ typedef Packet2cf type;
+ typedef Packet2cf half;
+ enum {
+ Vectorizable = 1,
+ AlignedOnScalar = 1,
+ size = 2,
+ HasHalfPacket = 0,
+
+ HasAdd = 1,
+ HasSub = 1,
+ HasMul = 1,
+ HasDiv = 1,
+ HasNegate = 1,
+ HasAbs = 0,
+ HasAbs2 = 0,
+ HasMin = 0,
+ HasMax = 0,
+ HasSetLinear = 0
+ };
+};
+
+template<> struct unpacket_traits<Packet2cf> { typedef std::complex<float> type; enum {size=2, alignment=Aligned16}; typedef Packet2cf half; };
+
+template<> EIGEN_STRONG_INLINE Packet2cf pset1<Packet2cf>(const std::complex<float>& from)
+{
+ float32x2_t r64;
+ r64 = vld1_f32((const float *)&from);
+
+ return Packet2cf(vcombine_f32(r64, r64));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf padd<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(padd<Packet4f>(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf psub<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(psub<Packet4f>(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pnegate(const Packet2cf& a) { return Packet2cf(pnegate<Packet4f>(a.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pconj(const Packet2cf& a)
+{
+ Packet4ui b = vreinterpretq_u32_f32(a.v);
+ return Packet2cf(vreinterpretq_f32_u32(veorq_u32(b, p4ui_CONJ_XOR())));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pmul<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{
+ Packet4f v1, v2;
+
+ // Get the real values of a | a1_re | a1_re | a2_re | a2_re |
+ v1 = vcombine_f32(vdup_lane_f32(vget_low_f32(a.v), 0), vdup_lane_f32(vget_high_f32(a.v), 0));
+ // Get the imag values of a | a1_im | a1_im | a2_im | a2_im |
+ v2 = vcombine_f32(vdup_lane_f32(vget_low_f32(a.v), 1), vdup_lane_f32(vget_high_f32(a.v), 1));
+ // Multiply the real a with b
+ v1 = vmulq_f32(v1, b.v);
+ // Multiply the imag a with b
+ v2 = vmulq_f32(v2, b.v);
+ // Conjugate v2
+ v2 = vreinterpretq_f32_u32(veorq_u32(vreinterpretq_u32_f32(v2), p4ui_CONJ_XOR()));
+ // Swap real/imag elements in v2.
+ v2 = vrev64q_f32(v2);
+ // Add and return the result
+ return Packet2cf(vaddq_f32(v1, v2));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pand <Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{
+ return Packet2cf(vreinterpretq_f32_u32(vandq_u32(vreinterpretq_u32_f32(a.v),vreinterpretq_u32_f32(b.v))));
+}
+template<> EIGEN_STRONG_INLINE Packet2cf por <Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{
+ return Packet2cf(vreinterpretq_f32_u32(vorrq_u32(vreinterpretq_u32_f32(a.v),vreinterpretq_u32_f32(b.v))));
+}
+template<> EIGEN_STRONG_INLINE Packet2cf pxor <Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{
+ return Packet2cf(vreinterpretq_f32_u32(veorq_u32(vreinterpretq_u32_f32(a.v),vreinterpretq_u32_f32(b.v))));
+}
+template<> EIGEN_STRONG_INLINE Packet2cf pandnot<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{
+ return Packet2cf(vreinterpretq_f32_u32(vbicq_u32(vreinterpretq_u32_f32(a.v),vreinterpretq_u32_f32(b.v))));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pload<Packet2cf>(const std::complex<float>* from) { EIGEN_DEBUG_ALIGNED_LOAD return Packet2cf(pload<Packet4f>((const float*)from)); }
+template<> EIGEN_STRONG_INLINE Packet2cf ploadu<Packet2cf>(const std::complex<float>* from) { EIGEN_DEBUG_UNALIGNED_LOAD return Packet2cf(ploadu<Packet4f>((const float*)from)); }
+
+template<> EIGEN_STRONG_INLINE Packet2cf ploaddup<Packet2cf>(const std::complex<float>* from) { return pset1<Packet2cf>(*from); }
+
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<float> >(std::complex<float> * to, const Packet2cf& from) { EIGEN_DEBUG_ALIGNED_STORE pstore((float*)to, from.v); }
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<float> >(std::complex<float> * to, const Packet2cf& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((float*)to, from.v); }
+
+template<> EIGEN_DEVICE_FUNC inline Packet2cf pgather<std::complex<float>, Packet2cf>(const std::complex<float>* from, Index stride)
+{
+ Packet4f res = pset1<Packet4f>(0.f);
+ res = vsetq_lane_f32(std::real(from[0*stride]), res, 0);
+ res = vsetq_lane_f32(std::imag(from[0*stride]), res, 1);
+ res = vsetq_lane_f32(std::real(from[1*stride]), res, 2);
+ res = vsetq_lane_f32(std::imag(from[1*stride]), res, 3);
+ return Packet2cf(res);
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<float>, Packet2cf>(std::complex<float>* to, const Packet2cf& from, Index stride)
+{
+ to[stride*0] = std::complex<float>(vgetq_lane_f32(from.v, 0), vgetq_lane_f32(from.v, 1));
+ to[stride*1] = std::complex<float>(vgetq_lane_f32(from.v, 2), vgetq_lane_f32(from.v, 3));
+}
+
+template<> EIGEN_STRONG_INLINE void prefetch<std::complex<float> >(const std::complex<float> * addr) { EIGEN_ARM_PREFETCH((const float *)addr); }
+
+template<> EIGEN_STRONG_INLINE std::complex<float> pfirst<Packet2cf>(const Packet2cf& a)
+{
+ std::complex<float> EIGEN_ALIGN16 x[2];
+ vst1q_f32((float *)x, a.v);
+ return x[0];
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf preverse(const Packet2cf& a)
+{
+ float32x2_t a_lo, a_hi;
+ Packet4f a_r128;
+
+ a_lo = vget_low_f32(a.v);
+ a_hi = vget_high_f32(a.v);
+ a_r128 = vcombine_f32(a_hi, a_lo);
+
+ return Packet2cf(a_r128);
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pcplxflip<Packet2cf>(const Packet2cf& a)
+{
+ return Packet2cf(vrev64q_f32(a.v));
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<float> predux<Packet2cf>(const Packet2cf& a)
+{
+ float32x2_t a1, a2;
+ std::complex<float> s;
+
+ a1 = vget_low_f32(a.v);
+ a2 = vget_high_f32(a.v);
+ a2 = vadd_f32(a1, a2);
+ vst1_f32((float *)&s, a2);
+
+ return s;
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf preduxp<Packet2cf>(const Packet2cf* vecs)
+{
+ Packet4f sum1, sum2, sum;
+
+ // Add the first two 64-bit float32x2_t of vecs[0]
+ sum1 = vcombine_f32(vget_low_f32(vecs[0].v), vget_low_f32(vecs[1].v));
+ sum2 = vcombine_f32(vget_high_f32(vecs[0].v), vget_high_f32(vecs[1].v));
+ sum = vaddq_f32(sum1, sum2);
+
+ return Packet2cf(sum);
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<float> predux_mul<Packet2cf>(const Packet2cf& a)
+{
+ float32x2_t a1, a2, v1, v2, prod;
+ std::complex<float> s;
+
+ a1 = vget_low_f32(a.v);
+ a2 = vget_high_f32(a.v);
+ // Get the real values of a | a1_re | a1_re | a2_re | a2_re |
+ v1 = vdup_lane_f32(a1, 0);
+ // Get the real values of a | a1_im | a1_im | a2_im | a2_im |
+ v2 = vdup_lane_f32(a1, 1);
+ // Multiply the real a with b
+ v1 = vmul_f32(v1, a2);
+ // Multiply the imag a with b
+ v2 = vmul_f32(v2, a2);
+ // Conjugate v2
+ v2 = vreinterpret_f32_u32(veor_u32(vreinterpret_u32_f32(v2), p2ui_CONJ_XOR()));
+ // Swap real/imag elements in v2.
+ v2 = vrev64_f32(v2);
+ // Add v1, v2
+ prod = vadd_f32(v1, v2);
+
+ vst1_f32((float *)&s, prod);
+
+ return s;
+}
+
+template<int Offset>
+struct palign_impl<Offset,Packet2cf>
+{
+ EIGEN_STRONG_INLINE static void run(Packet2cf& first, const Packet2cf& second)
+ {
+ if (Offset==1)
+ {
+ first.v = vextq_f32(first.v, second.v, 2);
+ }
+ }
+};
+
+template<> struct conj_helper<Packet2cf, Packet2cf, false,true>
+{
+ EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
+ { return padd(pmul(x,y),c); }
+
+ EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
+ {
+ return internal::pmul(a, pconj(b));
+ }
+};
+
+template<> struct conj_helper<Packet2cf, Packet2cf, true,false>
+{
+ EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
+ { return padd(pmul(x,y),c); }
+
+ EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
+ {
+ return internal::pmul(pconj(a), b);
+ }
+};
+
+template<> struct conj_helper<Packet2cf, Packet2cf, true,true>
+{
+ EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
+ { return padd(pmul(x,y),c); }
+
+ EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
+ {
+ return pconj(internal::pmul(a, b));
+ }
+};
+
+EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet2cf,Packet4f)
+
+template<> EIGEN_STRONG_INLINE Packet2cf pdiv<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{
+ // TODO optimize it for NEON
+ Packet2cf res = conj_helper<Packet2cf,Packet2cf,false,true>().pmul(a,b);
+ Packet4f s, rev_s;
+
+ // this computes the norm
+ s = vmulq_f32(b.v, b.v);
+ rev_s = vrev64q_f32(s);
+
+ return Packet2cf(pdiv<Packet4f>(res.v, vaddq_f32(s,rev_s)));
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet2cf,2>& kernel) {
+ Packet4f tmp = vcombine_f32(vget_high_f32(kernel.packet[0].v), vget_high_f32(kernel.packet[1].v));
+ kernel.packet[0].v = vcombine_f32(vget_low_f32(kernel.packet[0].v), vget_low_f32(kernel.packet[1].v));
+ kernel.packet[1].v = tmp;
+}
+
+//---------- double ----------
+#if EIGEN_ARCH_ARM64 && !EIGEN_APPLE_DOUBLE_NEON_BUG
+
+// See bug 1325, clang fails to call vld1q_u64.
+#if EIGEN_COMP_CLANG
+ static uint64x2_t p2ul_CONJ_XOR = {0x0, 0x8000000000000000};
+#else
+ const uint64_t p2ul_conj_XOR_DATA[] = { 0x0, 0x8000000000000000 };
+ static uint64x2_t p2ul_CONJ_XOR = vld1q_u64( p2ul_conj_XOR_DATA );
+#endif
+
+struct Packet1cd
+{
+ EIGEN_STRONG_INLINE Packet1cd() {}
+ EIGEN_STRONG_INLINE explicit Packet1cd(const Packet2d& a) : v(a) {}
+ Packet2d v;
+};
+
+template<> struct packet_traits<std::complex<double> > : default_packet_traits
+{
+ typedef Packet1cd type;
+ typedef Packet1cd half;
+ enum {
+ Vectorizable = 1,
+ AlignedOnScalar = 0,
+ size = 1,
+ HasHalfPacket = 0,
+
+ HasAdd = 1,
+ HasSub = 1,
+ HasMul = 1,
+ HasDiv = 1,
+ HasNegate = 1,
+ HasAbs = 0,
+ HasAbs2 = 0,
+ HasMin = 0,
+ HasMax = 0,
+ HasSetLinear = 0
+ };
+};
+
+template<> struct unpacket_traits<Packet1cd> { typedef std::complex<double> type; enum {size=1, alignment=Aligned16}; typedef Packet1cd half; };
+
+template<> EIGEN_STRONG_INLINE Packet1cd pload<Packet1cd>(const std::complex<double>* from) { EIGEN_DEBUG_ALIGNED_LOAD return Packet1cd(pload<Packet2d>((const double*)from)); }
+template<> EIGEN_STRONG_INLINE Packet1cd ploadu<Packet1cd>(const std::complex<double>* from) { EIGEN_DEBUG_UNALIGNED_LOAD return Packet1cd(ploadu<Packet2d>((const double*)from)); }
+
+template<> EIGEN_STRONG_INLINE Packet1cd pset1<Packet1cd>(const std::complex<double>& from)
+{ /* here we really have to use unaligned loads :( */ return ploadu<Packet1cd>(&from); }
+
+template<> EIGEN_STRONG_INLINE Packet1cd padd<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(padd<Packet2d>(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd psub<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(psub<Packet2d>(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pnegate(const Packet1cd& a) { return Packet1cd(pnegate<Packet2d>(a.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pconj(const Packet1cd& a) { return Packet1cd(vreinterpretq_f64_u64(veorq_u64(vreinterpretq_u64_f64(a.v), p2ul_CONJ_XOR))); }
+
+template<> EIGEN_STRONG_INLINE Packet1cd pmul<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{
+ Packet2d v1, v2;
+
+ // Get the real values of a
+ v1 = vdupq_lane_f64(vget_low_f64(a.v), 0);
+ // Get the imag values of a
+ v2 = vdupq_lane_f64(vget_high_f64(a.v), 0);
+ // Multiply the real a with b
+ v1 = vmulq_f64(v1, b.v);
+ // Multiply the imag a with b
+ v2 = vmulq_f64(v2, b.v);
+ // Conjugate v2
+ v2 = vreinterpretq_f64_u64(veorq_u64(vreinterpretq_u64_f64(v2), p2ul_CONJ_XOR));
+ // Swap real/imag elements in v2.
+ v2 = preverse<Packet2d>(v2);
+ // Add and return the result
+ return Packet1cd(vaddq_f64(v1, v2));
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd pand <Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{
+ return Packet1cd(vreinterpretq_f64_u64(vandq_u64(vreinterpretq_u64_f64(a.v),vreinterpretq_u64_f64(b.v))));
+}
+template<> EIGEN_STRONG_INLINE Packet1cd por <Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{
+ return Packet1cd(vreinterpretq_f64_u64(vorrq_u64(vreinterpretq_u64_f64(a.v),vreinterpretq_u64_f64(b.v))));
+}
+template<> EIGEN_STRONG_INLINE Packet1cd pxor <Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{
+ return Packet1cd(vreinterpretq_f64_u64(veorq_u64(vreinterpretq_u64_f64(a.v),vreinterpretq_u64_f64(b.v))));
+}
+template<> EIGEN_STRONG_INLINE Packet1cd pandnot<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{
+ return Packet1cd(vreinterpretq_f64_u64(vbicq_u64(vreinterpretq_u64_f64(a.v),vreinterpretq_u64_f64(b.v))));
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd ploaddup<Packet1cd>(const std::complex<double>* from) { return pset1<Packet1cd>(*from); }
+
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<double> >(std::complex<double> * to, const Packet1cd& from) { EIGEN_DEBUG_ALIGNED_STORE pstore((double*)to, from.v); }
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<double> >(std::complex<double> * to, const Packet1cd& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((double*)to, from.v); }
+
+template<> EIGEN_STRONG_INLINE void prefetch<std::complex<double> >(const std::complex<double> * addr) { EIGEN_ARM_PREFETCH((const double *)addr); }
+
+template<> EIGEN_DEVICE_FUNC inline Packet1cd pgather<std::complex<double>, Packet1cd>(const std::complex<double>* from, Index stride)
+{
+ Packet2d res = pset1<Packet2d>(0.0);
+ res = vsetq_lane_f64(std::real(from[0*stride]), res, 0);
+ res = vsetq_lane_f64(std::imag(from[0*stride]), res, 1);
+ return Packet1cd(res);
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<double>, Packet1cd>(std::complex<double>* to, const Packet1cd& from, Index stride)
+{
+ to[stride*0] = std::complex<double>(vgetq_lane_f64(from.v, 0), vgetq_lane_f64(from.v, 1));
+}
+
+
+template<> EIGEN_STRONG_INLINE std::complex<double> pfirst<Packet1cd>(const Packet1cd& a)
+{
+ std::complex<double> EIGEN_ALIGN16 res;
+ pstore<std::complex<double> >(&res, a);
+
+ return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd preverse(const Packet1cd& a) { return a; }
+
+template<> EIGEN_STRONG_INLINE std::complex<double> predux<Packet1cd>(const Packet1cd& a) { return pfirst(a); }
+
+template<> EIGEN_STRONG_INLINE Packet1cd preduxp<Packet1cd>(const Packet1cd* vecs) { return vecs[0]; }
+
+template<> EIGEN_STRONG_INLINE std::complex<double> predux_mul<Packet1cd>(const Packet1cd& a) { return pfirst(a); }
+
+template<int Offset>
+struct palign_impl<Offset,Packet1cd>
+{
+ static EIGEN_STRONG_INLINE void run(Packet1cd& /*first*/, const Packet1cd& /*second*/)
+ {
+ // FIXME is it sure we never have to align a Packet1cd?
+ // Even though a std::complex<double> has 16 bytes, it is not necessarily aligned on a 16 bytes boundary...
+ }
+};
+
+template<> struct conj_helper<Packet1cd, Packet1cd, false,true>
+{
+ EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
+ { return padd(pmul(x,y),c); }
+
+ EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
+ {
+ return internal::pmul(a, pconj(b));
+ }
+};
+
+template<> struct conj_helper<Packet1cd, Packet1cd, true,false>
+{
+ EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
+ { return padd(pmul(x,y),c); }
+
+ EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
+ {
+ return internal::pmul(pconj(a), b);
+ }
+};
+
+template<> struct conj_helper<Packet1cd, Packet1cd, true,true>
+{
+ EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
+ { return padd(pmul(x,y),c); }
+
+ EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
+ {
+ return pconj(internal::pmul(a, b));
+ }
+};
+
+EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet1cd,Packet2d)
+
+template<> EIGEN_STRONG_INLINE Packet1cd pdiv<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{
+ // TODO optimize it for NEON
+ Packet1cd res = conj_helper<Packet1cd,Packet1cd,false,true>().pmul(a,b);
+ Packet2d s = pmul<Packet2d>(b.v, b.v);
+ Packet2d rev_s = preverse<Packet2d>(s);
+
+ return Packet1cd(pdiv(res.v, padd<Packet2d>(s,rev_s)));
+}
+
+EIGEN_STRONG_INLINE Packet1cd pcplxflip/*<Packet1cd>*/(const Packet1cd& x)
+{
+ return Packet1cd(preverse(Packet2d(x.v)));
+}
+
+EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet1cd,2>& kernel)
+{
+ Packet2d tmp = vcombine_f64(vget_high_f64(kernel.packet[0].v), vget_high_f64(kernel.packet[1].v));
+ kernel.packet[0].v = vcombine_f64(vget_low_f64(kernel.packet[0].v), vget_low_f64(kernel.packet[1].v));
+ kernel.packet[1].v = tmp;
+}
+#endif // EIGEN_ARCH_ARM64
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_COMPLEX_NEON_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/NEON/MathFunctions.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/NEON/MathFunctions.h
new file mode 100644
index 0000000..6bb05bb
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/NEON/MathFunctions.h
@@ -0,0 +1,91 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+/* The sin, cos, exp, and log functions of this file come from
+ * Julien Pommier's sse math library: http://gruntthepeon.free.fr/ssemath/
+ */
+
+#ifndef EIGEN_MATH_FUNCTIONS_NEON_H
+#define EIGEN_MATH_FUNCTIONS_NEON_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f pexp<Packet4f>(const Packet4f& _x)
+{
+ Packet4f x = _x;
+ Packet4f tmp, fx;
+
+ _EIGEN_DECLARE_CONST_Packet4f(1 , 1.0f);
+ _EIGEN_DECLARE_CONST_Packet4f(half, 0.5f);
+ _EIGEN_DECLARE_CONST_Packet4i(0x7f, 0x7f);
+ _EIGEN_DECLARE_CONST_Packet4f(exp_hi, 88.3762626647950f);
+ _EIGEN_DECLARE_CONST_Packet4f(exp_lo, -88.3762626647949f);
+ _EIGEN_DECLARE_CONST_Packet4f(cephes_LOG2EF, 1.44269504088896341f);
+ _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_C1, 0.693359375f);
+ _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_C2, -2.12194440e-4f);
+ _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p0, 1.9875691500E-4f);
+ _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p1, 1.3981999507E-3f);
+ _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p2, 8.3334519073E-3f);
+ _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p3, 4.1665795894E-2f);
+ _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p4, 1.6666665459E-1f);
+ _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p5, 5.0000001201E-1f);
+
+ x = vminq_f32(x, p4f_exp_hi);
+ x = vmaxq_f32(x, p4f_exp_lo);
+
+ /* express exp(x) as exp(g + n*log(2)) */
+ fx = vmlaq_f32(p4f_half, x, p4f_cephes_LOG2EF);
+
+ /* perform a floorf */
+ tmp = vcvtq_f32_s32(vcvtq_s32_f32(fx));
+
+ /* if greater, substract 1 */
+ Packet4ui mask = vcgtq_f32(tmp, fx);
+ mask = vandq_u32(mask, vreinterpretq_u32_f32(p4f_1));
+
+ fx = vsubq_f32(tmp, vreinterpretq_f32_u32(mask));
+
+ tmp = vmulq_f32(fx, p4f_cephes_exp_C1);
+ Packet4f z = vmulq_f32(fx, p4f_cephes_exp_C2);
+ x = vsubq_f32(x, tmp);
+ x = vsubq_f32(x, z);
+
+ Packet4f y = vmulq_f32(p4f_cephes_exp_p0, x);
+ z = vmulq_f32(x, x);
+ y = vaddq_f32(y, p4f_cephes_exp_p1);
+ y = vmulq_f32(y, x);
+ y = vaddq_f32(y, p4f_cephes_exp_p2);
+ y = vmulq_f32(y, x);
+ y = vaddq_f32(y, p4f_cephes_exp_p3);
+ y = vmulq_f32(y, x);
+ y = vaddq_f32(y, p4f_cephes_exp_p4);
+ y = vmulq_f32(y, x);
+ y = vaddq_f32(y, p4f_cephes_exp_p5);
+
+ y = vmulq_f32(y, z);
+ y = vaddq_f32(y, x);
+ y = vaddq_f32(y, p4f_1);
+
+ /* build 2^n */
+ int32x4_t mm;
+ mm = vcvtq_s32_f32(fx);
+ mm = vaddq_s32(mm, p4i_0x7f);
+ mm = vshlq_n_s32(mm, 23);
+ Packet4f pow2n = vreinterpretq_f32_s32(mm);
+
+ y = vmulq_f32(y, pow2n);
+ return y;
+}
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_MATH_FUNCTIONS_NEON_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/NEON/PacketMath.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/NEON/PacketMath.h
new file mode 100644
index 0000000..3d5ed0d
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/NEON/PacketMath.h
@@ -0,0 +1,760 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Konstantinos Margaritis <markos@freevec.org>
+// Heavily based on Gael's SSE version.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_PACKET_MATH_NEON_H
+#define EIGEN_PACKET_MATH_NEON_H
+
+namespace Eigen {
+
+namespace internal {
+
+#ifndef EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
+#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 8
+#endif
+
+#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+#define EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+#endif
+
+#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_CJMADD
+#define EIGEN_HAS_SINGLE_INSTRUCTION_CJMADD
+#endif
+
+#ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
+#if EIGEN_ARCH_ARM64
+#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS 32
+#else
+#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS 16
+#endif
+#endif
+
+#if EIGEN_COMP_MSVC
+
+// In MSVC's arm_neon.h header file, all NEON vector types
+// are aliases to the same underlying type __n128.
+// We thus have to wrap them to make them different C++ types.
+// (See also bug 1428)
+
+template<typename T,int unique_id>
+struct eigen_packet_wrapper
+{
+ operator T&() { return m_val; }
+ operator const T&() const { return m_val; }
+ eigen_packet_wrapper() {}
+ eigen_packet_wrapper(const T &v) : m_val(v) {}
+ eigen_packet_wrapper& operator=(const T &v) {
+ m_val = v;
+ return *this;
+ }
+
+ T m_val;
+};
+typedef eigen_packet_wrapper<float32x2_t,0> Packet2f;
+typedef eigen_packet_wrapper<float32x4_t,1> Packet4f;
+typedef eigen_packet_wrapper<int32x4_t ,2> Packet4i;
+typedef eigen_packet_wrapper<int32x2_t ,3> Packet2i;
+typedef eigen_packet_wrapper<uint32x4_t ,4> Packet4ui;
+
+#else
+
+typedef float32x2_t Packet2f;
+typedef float32x4_t Packet4f;
+typedef int32x4_t Packet4i;
+typedef int32x2_t Packet2i;
+typedef uint32x4_t Packet4ui;
+
+#endif // EIGEN_COMP_MSVC
+
+#define _EIGEN_DECLARE_CONST_Packet4f(NAME,X) \
+ const Packet4f p4f_##NAME = pset1<Packet4f>(X)
+
+#define _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(NAME,X) \
+ const Packet4f p4f_##NAME = vreinterpretq_f32_u32(pset1<int32_t>(X))
+
+#define _EIGEN_DECLARE_CONST_Packet4i(NAME,X) \
+ const Packet4i p4i_##NAME = pset1<Packet4i>(X)
+
+#if EIGEN_ARCH_ARM64
+ // __builtin_prefetch tends to do nothing on ARM64 compilers because the
+ // prefetch instructions there are too detailed for __builtin_prefetch to map
+ // meaningfully to them.
+ #define EIGEN_ARM_PREFETCH(ADDR) __asm__ __volatile__("prfm pldl1keep, [%[addr]]\n" ::[addr] "r"(ADDR) : );
+#elif EIGEN_HAS_BUILTIN(__builtin_prefetch) || EIGEN_COMP_GNUC
+ #define EIGEN_ARM_PREFETCH(ADDR) __builtin_prefetch(ADDR);
+#elif defined __pld
+ #define EIGEN_ARM_PREFETCH(ADDR) __pld(ADDR)
+#elif EIGEN_ARCH_ARM32
+ #define EIGEN_ARM_PREFETCH(ADDR) __asm__ __volatile__ ("pld [%[addr]]\n" :: [addr] "r" (ADDR) : );
+#else
+ // by default no explicit prefetching
+ #define EIGEN_ARM_PREFETCH(ADDR)
+#endif
+
+template<> struct packet_traits<float> : default_packet_traits
+{
+ typedef Packet4f type;
+ typedef Packet4f half; // Packet2f intrinsics not implemented yet
+ enum {
+ Vectorizable = 1,
+ AlignedOnScalar = 1,
+ size = 4,
+ HasHalfPacket=0, // Packet2f intrinsics not implemented yet
+
+ HasDiv = 1,
+ // FIXME check the Has*
+ HasSin = 0,
+ HasCos = 0,
+ HasLog = 0,
+ HasExp = 1,
+ HasSqrt = 0
+ };
+};
+template<> struct packet_traits<int32_t> : default_packet_traits
+{
+ typedef Packet4i type;
+ typedef Packet4i half; // Packet2i intrinsics not implemented yet
+ enum {
+ Vectorizable = 1,
+ AlignedOnScalar = 1,
+ size=4,
+ HasHalfPacket=0 // Packet2i intrinsics not implemented yet
+ // FIXME check the Has*
+ };
+};
+
+#if EIGEN_GNUC_AT_MOST(4,4) && !EIGEN_COMP_LLVM
+// workaround gcc 4.2, 4.3 and 4.4 compilatin issue
+EIGEN_STRONG_INLINE float32x4_t vld1q_f32(const float* x) { return ::vld1q_f32((const float32_t*)x); }
+EIGEN_STRONG_INLINE float32x2_t vld1_f32 (const float* x) { return ::vld1_f32 ((const float32_t*)x); }
+EIGEN_STRONG_INLINE float32x2_t vld1_dup_f32 (const float* x) { return ::vld1_dup_f32 ((const float32_t*)x); }
+EIGEN_STRONG_INLINE void vst1q_f32(float* to, float32x4_t from) { ::vst1q_f32((float32_t*)to,from); }
+EIGEN_STRONG_INLINE void vst1_f32 (float* to, float32x2_t from) { ::vst1_f32 ((float32_t*)to,from); }
+#endif
+
+template<> struct unpacket_traits<Packet4f> { typedef float type; enum {size=4, alignment=Aligned16}; typedef Packet4f half; };
+template<> struct unpacket_traits<Packet4i> { typedef int32_t type; enum {size=4, alignment=Aligned16}; typedef Packet4i half; };
+
+template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float& from) { return vdupq_n_f32(from); }
+template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int32_t& from) { return vdupq_n_s32(from); }
+
+template<> EIGEN_STRONG_INLINE Packet4f plset<Packet4f>(const float& a)
+{
+ const float f[] = {0, 1, 2, 3};
+ Packet4f countdown = vld1q_f32(f);
+ return vaddq_f32(pset1<Packet4f>(a), countdown);
+}
+template<> EIGEN_STRONG_INLINE Packet4i plset<Packet4i>(const int32_t& a)
+{
+ const int32_t i[] = {0, 1, 2, 3};
+ Packet4i countdown = vld1q_s32(i);
+ return vaddq_s32(pset1<Packet4i>(a), countdown);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f padd<Packet4f>(const Packet4f& a, const Packet4f& b) { return vaddq_f32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i padd<Packet4i>(const Packet4i& a, const Packet4i& b) { return vaddq_s32(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f psub<Packet4f>(const Packet4f& a, const Packet4f& b) { return vsubq_f32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i psub<Packet4i>(const Packet4i& a, const Packet4i& b) { return vsubq_s32(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pnegate(const Packet4f& a) { return vnegq_f32(a); }
+template<> EIGEN_STRONG_INLINE Packet4i pnegate(const Packet4i& a) { return vnegq_s32(a); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pconj(const Packet4f& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet4i pconj(const Packet4i& a) { return a; }
+
+template<> EIGEN_STRONG_INLINE Packet4f pmul<Packet4f>(const Packet4f& a, const Packet4f& b) { return vmulq_f32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pmul<Packet4i>(const Packet4i& a, const Packet4i& b) { return vmulq_s32(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pdiv<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+#if EIGEN_ARCH_ARM64
+ return vdivq_f32(a,b);
+#else
+ Packet4f inv, restep, div;
+
+ // NEON does not offer a divide instruction, we have to do a reciprocal approximation
+ // However NEON in contrast to other SIMD engines (AltiVec/SSE), offers
+ // a reciprocal estimate AND a reciprocal step -which saves a few instructions
+ // vrecpeq_f32() returns an estimate to 1/b, which we will finetune with
+ // Newton-Raphson and vrecpsq_f32()
+ inv = vrecpeq_f32(b);
+
+ // This returns a differential, by which we will have to multiply inv to get a better
+ // approximation of 1/b.
+ restep = vrecpsq_f32(b, inv);
+ inv = vmulq_f32(restep, inv);
+
+ // Finally, multiply a by 1/b and get the wanted result of the division.
+ div = vmulq_f32(a, inv);
+
+ return div;
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i pdiv<Packet4i>(const Packet4i& /*a*/, const Packet4i& /*b*/)
+{ eigen_assert(false && "packet integer division are not supported by NEON");
+ return pset1<Packet4i>(0);
+}
+
+// Clang/ARM wrongly advertises __ARM_FEATURE_FMA even when it's not available,
+// then implements a slow software scalar fallback calling fmaf()!
+// Filed LLVM bug:
+// https://llvm.org/bugs/show_bug.cgi?id=27216
+#if (defined __ARM_FEATURE_FMA) && !(EIGEN_COMP_CLANG && EIGEN_ARCH_ARM)
+// See bug 936.
+// FMA is available on VFPv4 i.e. when compiling with -mfpu=neon-vfpv4.
+// FMA is a true fused multiply-add i.e. only 1 rounding at the end, no intermediate rounding.
+// MLA is not fused i.e. does 2 roundings.
+// In addition to giving better accuracy, FMA also gives better performance here on a Krait (Nexus 4):
+// MLA: 10 GFlop/s ; FMA: 12 GFlops/s.
+template<> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f& a, const Packet4f& b, const Packet4f& c) { return vfmaq_f32(c,a,b); }
+#else
+template<> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f& a, const Packet4f& b, const Packet4f& c) {
+#if EIGEN_COMP_CLANG && EIGEN_ARCH_ARM
+ // Clang/ARM will replace VMLA by VMUL+VADD at least for some values of -mcpu,
+ // at least -mcpu=cortex-a8 and -mcpu=cortex-a7. Since the former is the default on
+ // -march=armv7-a, that is a very common case.
+ // See e.g. this thread:
+ // http://lists.llvm.org/pipermail/llvm-dev/2013-December/068806.html
+ // Filed LLVM bug:
+ // https://llvm.org/bugs/show_bug.cgi?id=27219
+ Packet4f r = c;
+ asm volatile(
+ "vmla.f32 %q[r], %q[a], %q[b]"
+ : [r] "+w" (r)
+ : [a] "w" (a),
+ [b] "w" (b)
+ : );
+ return r;
+#else
+ return vmlaq_f32(c,a,b);
+#endif
+}
+#endif
+
+// No FMA instruction for int, so use MLA unconditionally.
+template<> EIGEN_STRONG_INLINE Packet4i pmadd(const Packet4i& a, const Packet4i& b, const Packet4i& c) { return vmlaq_s32(c,a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pmin<Packet4f>(const Packet4f& a, const Packet4f& b) { return vminq_f32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pmin<Packet4i>(const Packet4i& a, const Packet4i& b) { return vminq_s32(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pmax<Packet4f>(const Packet4f& a, const Packet4f& b) { return vmaxq_f32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pmax<Packet4i>(const Packet4i& a, const Packet4i& b) { return vmaxq_s32(a,b); }
+
+// Logical Operations are not supported for float, so we have to reinterpret casts using NEON intrinsics
+template<> EIGEN_STRONG_INLINE Packet4f pand<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+ return vreinterpretq_f32_u32(vandq_u32(vreinterpretq_u32_f32(a),vreinterpretq_u32_f32(b)));
+}
+template<> EIGEN_STRONG_INLINE Packet4i pand<Packet4i>(const Packet4i& a, const Packet4i& b) { return vandq_s32(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f por<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+ return vreinterpretq_f32_u32(vorrq_u32(vreinterpretq_u32_f32(a),vreinterpretq_u32_f32(b)));
+}
+template<> EIGEN_STRONG_INLINE Packet4i por<Packet4i>(const Packet4i& a, const Packet4i& b) { return vorrq_s32(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pxor<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+ return vreinterpretq_f32_u32(veorq_u32(vreinterpretq_u32_f32(a),vreinterpretq_u32_f32(b)));
+}
+template<> EIGEN_STRONG_INLINE Packet4i pxor<Packet4i>(const Packet4i& a, const Packet4i& b) { return veorq_s32(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pandnot<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+ return vreinterpretq_f32_u32(vbicq_u32(vreinterpretq_u32_f32(a),vreinterpretq_u32_f32(b)));
+}
+template<> EIGEN_STRONG_INLINE Packet4i pandnot<Packet4i>(const Packet4i& a, const Packet4i& b) { return vbicq_s32(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pload<Packet4f>(const float* from) { EIGEN_DEBUG_ALIGNED_LOAD return vld1q_f32(from); }
+template<> EIGEN_STRONG_INLINE Packet4i pload<Packet4i>(const int32_t* from) { EIGEN_DEBUG_ALIGNED_LOAD return vld1q_s32(from); }
+
+template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float* from) { EIGEN_DEBUG_UNALIGNED_LOAD return vld1q_f32(from); }
+template<> EIGEN_STRONG_INLINE Packet4i ploadu<Packet4i>(const int32_t* from) { EIGEN_DEBUG_UNALIGNED_LOAD return vld1q_s32(from); }
+
+template<> EIGEN_STRONG_INLINE Packet4f ploaddup<Packet4f>(const float* from)
+{
+ float32x2_t lo, hi;
+ lo = vld1_dup_f32(from);
+ hi = vld1_dup_f32(from+1);
+ return vcombine_f32(lo, hi);
+}
+template<> EIGEN_STRONG_INLINE Packet4i ploaddup<Packet4i>(const int32_t* from)
+{
+ int32x2_t lo, hi;
+ lo = vld1_dup_s32(from);
+ hi = vld1_dup_s32(from+1);
+ return vcombine_s32(lo, hi);
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<float> (float* to, const Packet4f& from) { EIGEN_DEBUG_ALIGNED_STORE vst1q_f32(to, from); }
+template<> EIGEN_STRONG_INLINE void pstore<int32_t>(int32_t* to, const Packet4i& from) { EIGEN_DEBUG_ALIGNED_STORE vst1q_s32(to, from); }
+
+template<> EIGEN_STRONG_INLINE void pstoreu<float> (float* to, const Packet4f& from) { EIGEN_DEBUG_UNALIGNED_STORE vst1q_f32(to, from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<int32_t>(int32_t* to, const Packet4i& from) { EIGEN_DEBUG_UNALIGNED_STORE vst1q_s32(to, from); }
+
+template<> EIGEN_DEVICE_FUNC inline Packet4f pgather<float, Packet4f>(const float* from, Index stride)
+{
+ Packet4f res = pset1<Packet4f>(0.f);
+ res = vsetq_lane_f32(from[0*stride], res, 0);
+ res = vsetq_lane_f32(from[1*stride], res, 1);
+ res = vsetq_lane_f32(from[2*stride], res, 2);
+ res = vsetq_lane_f32(from[3*stride], res, 3);
+ return res;
+}
+template<> EIGEN_DEVICE_FUNC inline Packet4i pgather<int32_t, Packet4i>(const int32_t* from, Index stride)
+{
+ Packet4i res = pset1<Packet4i>(0);
+ res = vsetq_lane_s32(from[0*stride], res, 0);
+ res = vsetq_lane_s32(from[1*stride], res, 1);
+ res = vsetq_lane_s32(from[2*stride], res, 2);
+ res = vsetq_lane_s32(from[3*stride], res, 3);
+ return res;
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<float, Packet4f>(float* to, const Packet4f& from, Index stride)
+{
+ to[stride*0] = vgetq_lane_f32(from, 0);
+ to[stride*1] = vgetq_lane_f32(from, 1);
+ to[stride*2] = vgetq_lane_f32(from, 2);
+ to[stride*3] = vgetq_lane_f32(from, 3);
+}
+template<> EIGEN_DEVICE_FUNC inline void pscatter<int32_t, Packet4i>(int32_t* to, const Packet4i& from, Index stride)
+{
+ to[stride*0] = vgetq_lane_s32(from, 0);
+ to[stride*1] = vgetq_lane_s32(from, 1);
+ to[stride*2] = vgetq_lane_s32(from, 2);
+ to[stride*3] = vgetq_lane_s32(from, 3);
+}
+
+template<> EIGEN_STRONG_INLINE void prefetch<float> (const float* addr) { EIGEN_ARM_PREFETCH(addr); }
+template<> EIGEN_STRONG_INLINE void prefetch<int32_t>(const int32_t* addr) { EIGEN_ARM_PREFETCH(addr); }
+
+// FIXME only store the 2 first elements ?
+template<> EIGEN_STRONG_INLINE float pfirst<Packet4f>(const Packet4f& a) { float EIGEN_ALIGN16 x[4]; vst1q_f32(x, a); return x[0]; }
+template<> EIGEN_STRONG_INLINE int32_t pfirst<Packet4i>(const Packet4i& a) { int32_t EIGEN_ALIGN16 x[4]; vst1q_s32(x, a); return x[0]; }
+
+template<> EIGEN_STRONG_INLINE Packet4f preverse(const Packet4f& a) {
+ float32x2_t a_lo, a_hi;
+ Packet4f a_r64;
+
+ a_r64 = vrev64q_f32(a);
+ a_lo = vget_low_f32(a_r64);
+ a_hi = vget_high_f32(a_r64);
+ return vcombine_f32(a_hi, a_lo);
+}
+template<> EIGEN_STRONG_INLINE Packet4i preverse(const Packet4i& a) {
+ int32x2_t a_lo, a_hi;
+ Packet4i a_r64;
+
+ a_r64 = vrev64q_s32(a);
+ a_lo = vget_low_s32(a_r64);
+ a_hi = vget_high_s32(a_r64);
+ return vcombine_s32(a_hi, a_lo);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pabs(const Packet4f& a) { return vabsq_f32(a); }
+template<> EIGEN_STRONG_INLINE Packet4i pabs(const Packet4i& a) { return vabsq_s32(a); }
+
+template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
+{
+ float32x2_t a_lo, a_hi, sum;
+
+ a_lo = vget_low_f32(a);
+ a_hi = vget_high_f32(a);
+ sum = vpadd_f32(a_lo, a_hi);
+ sum = vpadd_f32(sum, sum);
+ return vget_lane_f32(sum, 0);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f preduxp<Packet4f>(const Packet4f* vecs)
+{
+ float32x4x2_t vtrn1, vtrn2, res1, res2;
+ Packet4f sum1, sum2, sum;
+
+ // NEON zip performs interleaving of the supplied vectors.
+ // We perform two interleaves in a row to acquire the transposed vector
+ vtrn1 = vzipq_f32(vecs[0], vecs[2]);
+ vtrn2 = vzipq_f32(vecs[1], vecs[3]);
+ res1 = vzipq_f32(vtrn1.val[0], vtrn2.val[0]);
+ res2 = vzipq_f32(vtrn1.val[1], vtrn2.val[1]);
+
+ // Do the addition of the resulting vectors
+ sum1 = vaddq_f32(res1.val[0], res1.val[1]);
+ sum2 = vaddq_f32(res2.val[0], res2.val[1]);
+ sum = vaddq_f32(sum1, sum2);
+
+ return sum;
+}
+
+template<> EIGEN_STRONG_INLINE int32_t predux<Packet4i>(const Packet4i& a)
+{
+ int32x2_t a_lo, a_hi, sum;
+
+ a_lo = vget_low_s32(a);
+ a_hi = vget_high_s32(a);
+ sum = vpadd_s32(a_lo, a_hi);
+ sum = vpadd_s32(sum, sum);
+ return vget_lane_s32(sum, 0);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i preduxp<Packet4i>(const Packet4i* vecs)
+{
+ int32x4x2_t vtrn1, vtrn2, res1, res2;
+ Packet4i sum1, sum2, sum;
+
+ // NEON zip performs interleaving of the supplied vectors.
+ // We perform two interleaves in a row to acquire the transposed vector
+ vtrn1 = vzipq_s32(vecs[0], vecs[2]);
+ vtrn2 = vzipq_s32(vecs[1], vecs[3]);
+ res1 = vzipq_s32(vtrn1.val[0], vtrn2.val[0]);
+ res2 = vzipq_s32(vtrn1.val[1], vtrn2.val[1]);
+
+ // Do the addition of the resulting vectors
+ sum1 = vaddq_s32(res1.val[0], res1.val[1]);
+ sum2 = vaddq_s32(res2.val[0], res2.val[1]);
+ sum = vaddq_s32(sum1, sum2);
+
+ return sum;
+}
+
+// Other reduction functions:
+// mul
+template<> EIGEN_STRONG_INLINE float predux_mul<Packet4f>(const Packet4f& a)
+{
+ float32x2_t a_lo, a_hi, prod;
+
+ // Get a_lo = |a1|a2| and a_hi = |a3|a4|
+ a_lo = vget_low_f32(a);
+ a_hi = vget_high_f32(a);
+ // Get the product of a_lo * a_hi -> |a1*a3|a2*a4|
+ prod = vmul_f32(a_lo, a_hi);
+ // Multiply prod with its swapped value |a2*a4|a1*a3|
+ prod = vmul_f32(prod, vrev64_f32(prod));
+
+ return vget_lane_f32(prod, 0);
+}
+template<> EIGEN_STRONG_INLINE int32_t predux_mul<Packet4i>(const Packet4i& a)
+{
+ int32x2_t a_lo, a_hi, prod;
+
+ // Get a_lo = |a1|a2| and a_hi = |a3|a4|
+ a_lo = vget_low_s32(a);
+ a_hi = vget_high_s32(a);
+ // Get the product of a_lo * a_hi -> |a1*a3|a2*a4|
+ prod = vmul_s32(a_lo, a_hi);
+ // Multiply prod with its swapped value |a2*a4|a1*a3|
+ prod = vmul_s32(prod, vrev64_s32(prod));
+
+ return vget_lane_s32(prod, 0);
+}
+
+// min
+template<> EIGEN_STRONG_INLINE float predux_min<Packet4f>(const Packet4f& a)
+{
+ float32x2_t a_lo, a_hi, min;
+
+ a_lo = vget_low_f32(a);
+ a_hi = vget_high_f32(a);
+ min = vpmin_f32(a_lo, a_hi);
+ min = vpmin_f32(min, min);
+
+ return vget_lane_f32(min, 0);
+}
+
+template<> EIGEN_STRONG_INLINE int32_t predux_min<Packet4i>(const Packet4i& a)
+{
+ int32x2_t a_lo, a_hi, min;
+
+ a_lo = vget_low_s32(a);
+ a_hi = vget_high_s32(a);
+ min = vpmin_s32(a_lo, a_hi);
+ min = vpmin_s32(min, min);
+
+ return vget_lane_s32(min, 0);
+}
+
+// max
+template<> EIGEN_STRONG_INLINE float predux_max<Packet4f>(const Packet4f& a)
+{
+ float32x2_t a_lo, a_hi, max;
+
+ a_lo = vget_low_f32(a);
+ a_hi = vget_high_f32(a);
+ max = vpmax_f32(a_lo, a_hi);
+ max = vpmax_f32(max, max);
+
+ return vget_lane_f32(max, 0);
+}
+
+template<> EIGEN_STRONG_INLINE int32_t predux_max<Packet4i>(const Packet4i& a)
+{
+ int32x2_t a_lo, a_hi, max;
+
+ a_lo = vget_low_s32(a);
+ a_hi = vget_high_s32(a);
+ max = vpmax_s32(a_lo, a_hi);
+ max = vpmax_s32(max, max);
+
+ return vget_lane_s32(max, 0);
+}
+
+// this PALIGN_NEON business is to work around a bug in LLVM Clang 3.0 causing incorrect compilation errors,
+// see bug 347 and this LLVM bug: http://llvm.org/bugs/show_bug.cgi?id=11074
+#define PALIGN_NEON(Offset,Type,Command) \
+template<>\
+struct palign_impl<Offset,Type>\
+{\
+ EIGEN_STRONG_INLINE static void run(Type& first, const Type& second)\
+ {\
+ if (Offset!=0)\
+ first = Command(first, second, Offset);\
+ }\
+};\
+
+PALIGN_NEON(0,Packet4f,vextq_f32)
+PALIGN_NEON(1,Packet4f,vextq_f32)
+PALIGN_NEON(2,Packet4f,vextq_f32)
+PALIGN_NEON(3,Packet4f,vextq_f32)
+PALIGN_NEON(0,Packet4i,vextq_s32)
+PALIGN_NEON(1,Packet4i,vextq_s32)
+PALIGN_NEON(2,Packet4i,vextq_s32)
+PALIGN_NEON(3,Packet4i,vextq_s32)
+
+#undef PALIGN_NEON
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet4f,4>& kernel) {
+ float32x4x2_t tmp1 = vzipq_f32(kernel.packet[0], kernel.packet[1]);
+ float32x4x2_t tmp2 = vzipq_f32(kernel.packet[2], kernel.packet[3]);
+
+ kernel.packet[0] = vcombine_f32(vget_low_f32(tmp1.val[0]), vget_low_f32(tmp2.val[0]));
+ kernel.packet[1] = vcombine_f32(vget_high_f32(tmp1.val[0]), vget_high_f32(tmp2.val[0]));
+ kernel.packet[2] = vcombine_f32(vget_low_f32(tmp1.val[1]), vget_low_f32(tmp2.val[1]));
+ kernel.packet[3] = vcombine_f32(vget_high_f32(tmp1.val[1]), vget_high_f32(tmp2.val[1]));
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet4i,4>& kernel) {
+ int32x4x2_t tmp1 = vzipq_s32(kernel.packet[0], kernel.packet[1]);
+ int32x4x2_t tmp2 = vzipq_s32(kernel.packet[2], kernel.packet[3]);
+ kernel.packet[0] = vcombine_s32(vget_low_s32(tmp1.val[0]), vget_low_s32(tmp2.val[0]));
+ kernel.packet[1] = vcombine_s32(vget_high_s32(tmp1.val[0]), vget_high_s32(tmp2.val[0]));
+ kernel.packet[2] = vcombine_s32(vget_low_s32(tmp1.val[1]), vget_low_s32(tmp2.val[1]));
+ kernel.packet[3] = vcombine_s32(vget_high_s32(tmp1.val[1]), vget_high_s32(tmp2.val[1]));
+}
+
+//---------- double ----------
+
+// Clang 3.5 in the iOS toolchain has an ICE triggered by NEON intrisics for double.
+// Confirmed at least with __apple_build_version__ = 6000054.
+#ifdef __apple_build_version__
+// Let's hope that by the time __apple_build_version__ hits the 601* range, the bug will be fixed.
+// https://gist.github.com/yamaya/2924292 suggests that the 3 first digits are only updated with
+// major toolchain updates.
+#define EIGEN_APPLE_DOUBLE_NEON_BUG (__apple_build_version__ < 6010000)
+#else
+#define EIGEN_APPLE_DOUBLE_NEON_BUG 0
+#endif
+
+#if EIGEN_ARCH_ARM64 && !EIGEN_APPLE_DOUBLE_NEON_BUG
+
+// Bug 907: workaround missing declarations of the following two functions in the ADK
+// Defining these functions as templates ensures that if these intrinsics are
+// already defined in arm_neon.h, then our workaround doesn't cause a conflict
+// and has lower priority in overload resolution.
+template <typename T>
+uint64x2_t vreinterpretq_u64_f64(T a)
+{
+ return (uint64x2_t) a;
+}
+
+template <typename T>
+float64x2_t vreinterpretq_f64_u64(T a)
+{
+ return (float64x2_t) a;
+}
+
+typedef float64x2_t Packet2d;
+typedef float64x1_t Packet1d;
+
+template<> struct packet_traits<double> : default_packet_traits
+{
+ typedef Packet2d type;
+ typedef Packet2d half;
+ enum {
+ Vectorizable = 1,
+ AlignedOnScalar = 1,
+ size = 2,
+ HasHalfPacket=0,
+
+ HasDiv = 1,
+ // FIXME check the Has*
+ HasSin = 0,
+ HasCos = 0,
+ HasLog = 0,
+ HasExp = 0,
+ HasSqrt = 0
+ };
+};
+
+template<> struct unpacket_traits<Packet2d> { typedef double type; enum {size=2, alignment=Aligned16}; typedef Packet2d half; };
+
+template<> EIGEN_STRONG_INLINE Packet2d pset1<Packet2d>(const double& from) { return vdupq_n_f64(from); }
+
+template<> EIGEN_STRONG_INLINE Packet2d plset<Packet2d>(const double& a)
+{
+ const double countdown_raw[] = {0.0,1.0};
+ const Packet2d countdown = vld1q_f64(countdown_raw);
+ return vaddq_f64(pset1<Packet2d>(a), countdown);
+}
+template<> EIGEN_STRONG_INLINE Packet2d padd<Packet2d>(const Packet2d& a, const Packet2d& b) { return vaddq_f64(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet2d psub<Packet2d>(const Packet2d& a, const Packet2d& b) { return vsubq_f64(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pnegate(const Packet2d& a) { return vnegq_f64(a); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pconj(const Packet2d& a) { return a; }
+
+template<> EIGEN_STRONG_INLINE Packet2d pmul<Packet2d>(const Packet2d& a, const Packet2d& b) { return vmulq_f64(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pdiv<Packet2d>(const Packet2d& a, const Packet2d& b) { return vdivq_f64(a,b); }
+
+#ifdef __ARM_FEATURE_FMA
+// See bug 936. See above comment about FMA for float.
+template<> EIGEN_STRONG_INLINE Packet2d pmadd(const Packet2d& a, const Packet2d& b, const Packet2d& c) { return vfmaq_f64(c,a,b); }
+#else
+template<> EIGEN_STRONG_INLINE Packet2d pmadd(const Packet2d& a, const Packet2d& b, const Packet2d& c) { return vmlaq_f64(c,a,b); }
+#endif
+
+template<> EIGEN_STRONG_INLINE Packet2d pmin<Packet2d>(const Packet2d& a, const Packet2d& b) { return vminq_f64(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pmax<Packet2d>(const Packet2d& a, const Packet2d& b) { return vmaxq_f64(a,b); }
+
+// Logical Operations are not supported for float, so we have to reinterpret casts using NEON intrinsics
+template<> EIGEN_STRONG_INLINE Packet2d pand<Packet2d>(const Packet2d& a, const Packet2d& b)
+{
+ return vreinterpretq_f64_u64(vandq_u64(vreinterpretq_u64_f64(a),vreinterpretq_u64_f64(b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d por<Packet2d>(const Packet2d& a, const Packet2d& b)
+{
+ return vreinterpretq_f64_u64(vorrq_u64(vreinterpretq_u64_f64(a),vreinterpretq_u64_f64(b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d pxor<Packet2d>(const Packet2d& a, const Packet2d& b)
+{
+ return vreinterpretq_f64_u64(veorq_u64(vreinterpretq_u64_f64(a),vreinterpretq_u64_f64(b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d pandnot<Packet2d>(const Packet2d& a, const Packet2d& b)
+{
+ return vreinterpretq_f64_u64(vbicq_u64(vreinterpretq_u64_f64(a),vreinterpretq_u64_f64(b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d pload<Packet2d>(const double* from) { EIGEN_DEBUG_ALIGNED_LOAD return vld1q_f64(from); }
+
+template<> EIGEN_STRONG_INLINE Packet2d ploadu<Packet2d>(const double* from) { EIGEN_DEBUG_UNALIGNED_LOAD return vld1q_f64(from); }
+
+template<> EIGEN_STRONG_INLINE Packet2d ploaddup<Packet2d>(const double* from)
+{
+ return vld1q_dup_f64(from);
+}
+template<> EIGEN_STRONG_INLINE void pstore<double>(double* to, const Packet2d& from) { EIGEN_DEBUG_ALIGNED_STORE vst1q_f64(to, from); }
+
+template<> EIGEN_STRONG_INLINE void pstoreu<double>(double* to, const Packet2d& from) { EIGEN_DEBUG_UNALIGNED_STORE vst1q_f64(to, from); }
+
+template<> EIGEN_DEVICE_FUNC inline Packet2d pgather<double, Packet2d>(const double* from, Index stride)
+{
+ Packet2d res = pset1<Packet2d>(0.0);
+ res = vsetq_lane_f64(from[0*stride], res, 0);
+ res = vsetq_lane_f64(from[1*stride], res, 1);
+ return res;
+}
+template<> EIGEN_DEVICE_FUNC inline void pscatter<double, Packet2d>(double* to, const Packet2d& from, Index stride)
+{
+ to[stride*0] = vgetq_lane_f64(from, 0);
+ to[stride*1] = vgetq_lane_f64(from, 1);
+}
+template<> EIGEN_STRONG_INLINE void prefetch<double>(const double* addr) { EIGEN_ARM_PREFETCH(addr); }
+
+// FIXME only store the 2 first elements ?
+template<> EIGEN_STRONG_INLINE double pfirst<Packet2d>(const Packet2d& a) { return vgetq_lane_f64(a, 0); }
+
+template<> EIGEN_STRONG_INLINE Packet2d preverse(const Packet2d& a) { return vcombine_f64(vget_high_f64(a), vget_low_f64(a)); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pabs(const Packet2d& a) { return vabsq_f64(a); }
+
+#if EIGEN_COMP_CLANG && defined(__apple_build_version__)
+// workaround ICE, see bug 907
+template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a) { return (vget_low_f64(a) + vget_high_f64(a))[0]; }
+#else
+template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a) { return vget_lane_f64(vget_low_f64(a) + vget_high_f64(a), 0); }
+#endif
+
+template<> EIGEN_STRONG_INLINE Packet2d preduxp<Packet2d>(const Packet2d* vecs)
+{
+ float64x2_t trn1, trn2;
+
+ // NEON zip performs interleaving of the supplied vectors.
+ // We perform two interleaves in a row to acquire the transposed vector
+ trn1 = vzip1q_f64(vecs[0], vecs[1]);
+ trn2 = vzip2q_f64(vecs[0], vecs[1]);
+
+ // Do the addition of the resulting vectors
+ return vaddq_f64(trn1, trn2);
+}
+// Other reduction functions:
+// mul
+#if EIGEN_COMP_CLANG && defined(__apple_build_version__)
+template<> EIGEN_STRONG_INLINE double predux_mul<Packet2d>(const Packet2d& a) { return (vget_low_f64(a) * vget_high_f64(a))[0]; }
+#else
+template<> EIGEN_STRONG_INLINE double predux_mul<Packet2d>(const Packet2d& a) { return vget_lane_f64(vget_low_f64(a) * vget_high_f64(a), 0); }
+#endif
+
+// min
+template<> EIGEN_STRONG_INLINE double predux_min<Packet2d>(const Packet2d& a) { return vgetq_lane_f64(vpminq_f64(a, a), 0); }
+
+// max
+template<> EIGEN_STRONG_INLINE double predux_max<Packet2d>(const Packet2d& a) { return vgetq_lane_f64(vpmaxq_f64(a, a), 0); }
+
+// this PALIGN_NEON business is to work around a bug in LLVM Clang 3.0 causing incorrect compilation errors,
+// see bug 347 and this LLVM bug: http://llvm.org/bugs/show_bug.cgi?id=11074
+#define PALIGN_NEON(Offset,Type,Command) \
+template<>\
+struct palign_impl<Offset,Type>\
+{\
+ EIGEN_STRONG_INLINE static void run(Type& first, const Type& second)\
+ {\
+ if (Offset!=0)\
+ first = Command(first, second, Offset);\
+ }\
+};\
+
+PALIGN_NEON(0,Packet2d,vextq_f64)
+PALIGN_NEON(1,Packet2d,vextq_f64)
+#undef PALIGN_NEON
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet2d,2>& kernel) {
+ float64x2_t trn1 = vzip1q_f64(kernel.packet[0], kernel.packet[1]);
+ float64x2_t trn2 = vzip2q_f64(kernel.packet[0], kernel.packet[1]);
+
+ kernel.packet[0] = trn1;
+ kernel.packet[1] = trn2;
+}
+#endif // EIGEN_ARCH_ARM64
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_PACKET_MATH_NEON_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/SSE/Complex.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/SSE/Complex.h
new file mode 100644
index 0000000..d075043
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/SSE/Complex.h
@@ -0,0 +1,471 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_COMPLEX_SSE_H
+#define EIGEN_COMPLEX_SSE_H
+
+namespace Eigen {
+
+namespace internal {
+
+//---------- float ----------
+struct Packet2cf
+{
+ EIGEN_STRONG_INLINE Packet2cf() {}
+ EIGEN_STRONG_INLINE explicit Packet2cf(const __m128& a) : v(a) {}
+ __m128 v;
+};
+
+// Use the packet_traits defined in AVX/PacketMath.h instead if we're going
+// to leverage AVX instructions.
+#ifndef EIGEN_VECTORIZE_AVX
+template<> struct packet_traits<std::complex<float> > : default_packet_traits
+{
+ typedef Packet2cf type;
+ typedef Packet2cf half;
+ enum {
+ Vectorizable = 1,
+ AlignedOnScalar = 1,
+ size = 2,
+ HasHalfPacket = 0,
+
+ HasAdd = 1,
+ HasSub = 1,
+ HasMul = 1,
+ HasDiv = 1,
+ HasNegate = 1,
+ HasAbs = 0,
+ HasAbs2 = 0,
+ HasMin = 0,
+ HasMax = 0,
+ HasSetLinear = 0,
+ HasBlend = 1
+ };
+};
+#endif
+
+template<> struct unpacket_traits<Packet2cf> { typedef std::complex<float> type; enum {size=2, alignment=Aligned16}; typedef Packet2cf half; };
+
+template<> EIGEN_STRONG_INLINE Packet2cf padd<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(_mm_add_ps(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf psub<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(_mm_sub_ps(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pnegate(const Packet2cf& a)
+{
+ const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0x80000000,0x80000000,0x80000000,0x80000000));
+ return Packet2cf(_mm_xor_ps(a.v,mask));
+}
+template<> EIGEN_STRONG_INLINE Packet2cf pconj(const Packet2cf& a)
+{
+ const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0x00000000,0x80000000,0x00000000,0x80000000));
+ return Packet2cf(_mm_xor_ps(a.v,mask));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pmul<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{
+ #ifdef EIGEN_VECTORIZE_SSE3
+ return Packet2cf(_mm_addsub_ps(_mm_mul_ps(_mm_moveldup_ps(a.v), b.v),
+ _mm_mul_ps(_mm_movehdup_ps(a.v),
+ vec4f_swizzle1(b.v, 1, 0, 3, 2))));
+// return Packet2cf(_mm_addsub_ps(_mm_mul_ps(vec4f_swizzle1(a.v, 0, 0, 2, 2), b.v),
+// _mm_mul_ps(vec4f_swizzle1(a.v, 1, 1, 3, 3),
+// vec4f_swizzle1(b.v, 1, 0, 3, 2))));
+ #else
+ const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0x80000000,0x00000000,0x80000000,0x00000000));
+ return Packet2cf(_mm_add_ps(_mm_mul_ps(vec4f_swizzle1(a.v, 0, 0, 2, 2), b.v),
+ _mm_xor_ps(_mm_mul_ps(vec4f_swizzle1(a.v, 1, 1, 3, 3),
+ vec4f_swizzle1(b.v, 1, 0, 3, 2)), mask)));
+ #endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pand <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(_mm_and_ps(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf por <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(_mm_or_ps(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pxor <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(_mm_xor_ps(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pandnot<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(_mm_andnot_ps(a.v,b.v)); }
+
+template<> EIGEN_STRONG_INLINE Packet2cf pload <Packet2cf>(const std::complex<float>* from) { EIGEN_DEBUG_ALIGNED_LOAD return Packet2cf(pload<Packet4f>(&numext::real_ref(*from))); }
+template<> EIGEN_STRONG_INLINE Packet2cf ploadu<Packet2cf>(const std::complex<float>* from) { EIGEN_DEBUG_UNALIGNED_LOAD return Packet2cf(ploadu<Packet4f>(&numext::real_ref(*from))); }
+
+template<> EIGEN_STRONG_INLINE Packet2cf pset1<Packet2cf>(const std::complex<float>& from)
+{
+ Packet2cf res;
+#if EIGEN_GNUC_AT_MOST(4,2)
+ // Workaround annoying "may be used uninitialized in this function" warning with gcc 4.2
+ res.v = _mm_loadl_pi(_mm_set1_ps(0.0f), reinterpret_cast<const __m64*>(&from));
+#elif EIGEN_GNUC_AT_LEAST(4,6)
+ // Suppress annoying "may be used uninitialized in this function" warning with gcc >= 4.6
+ #pragma GCC diagnostic push
+ #pragma GCC diagnostic ignored "-Wuninitialized"
+ res.v = _mm_loadl_pi(res.v, (const __m64*)&from);
+ #pragma GCC diagnostic pop
+#else
+ res.v = _mm_loadl_pi(res.v, (const __m64*)&from);
+#endif
+ return Packet2cf(_mm_movelh_ps(res.v,res.v));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf ploaddup<Packet2cf>(const std::complex<float>* from) { return pset1<Packet2cf>(*from); }
+
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<float> >(std::complex<float> * to, const Packet2cf& from) { EIGEN_DEBUG_ALIGNED_STORE pstore(&numext::real_ref(*to), Packet4f(from.v)); }
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<float> >(std::complex<float> * to, const Packet2cf& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu(&numext::real_ref(*to), Packet4f(from.v)); }
+
+
+template<> EIGEN_DEVICE_FUNC inline Packet2cf pgather<std::complex<float>, Packet2cf>(const std::complex<float>* from, Index stride)
+{
+ return Packet2cf(_mm_set_ps(std::imag(from[1*stride]), std::real(from[1*stride]),
+ std::imag(from[0*stride]), std::real(from[0*stride])));
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<float>, Packet2cf>(std::complex<float>* to, const Packet2cf& from, Index stride)
+{
+ to[stride*0] = std::complex<float>(_mm_cvtss_f32(_mm_shuffle_ps(from.v, from.v, 0)),
+ _mm_cvtss_f32(_mm_shuffle_ps(from.v, from.v, 1)));
+ to[stride*1] = std::complex<float>(_mm_cvtss_f32(_mm_shuffle_ps(from.v, from.v, 2)),
+ _mm_cvtss_f32(_mm_shuffle_ps(from.v, from.v, 3)));
+}
+
+template<> EIGEN_STRONG_INLINE void prefetch<std::complex<float> >(const std::complex<float> * addr) { _mm_prefetch((SsePrefetchPtrType)(addr), _MM_HINT_T0); }
+
+template<> EIGEN_STRONG_INLINE std::complex<float> pfirst<Packet2cf>(const Packet2cf& a)
+{
+ #if EIGEN_GNUC_AT_MOST(4,3)
+ // Workaround gcc 4.2 ICE - this is not performance wise ideal, but who cares...
+ // This workaround also fix invalid code generation with gcc 4.3
+ EIGEN_ALIGN16 std::complex<float> res[2];
+ _mm_store_ps((float*)res, a.v);
+ return res[0];
+ #else
+ std::complex<float> res;
+ _mm_storel_pi((__m64*)&res, a.v);
+ return res;
+ #endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf preverse(const Packet2cf& a) { return Packet2cf(_mm_castpd_ps(preverse(Packet2d(_mm_castps_pd(a.v))))); }
+
+template<> EIGEN_STRONG_INLINE std::complex<float> predux<Packet2cf>(const Packet2cf& a)
+{
+ return pfirst(Packet2cf(_mm_add_ps(a.v, _mm_movehl_ps(a.v,a.v))));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf preduxp<Packet2cf>(const Packet2cf* vecs)
+{
+ return Packet2cf(_mm_add_ps(_mm_movelh_ps(vecs[0].v,vecs[1].v), _mm_movehl_ps(vecs[1].v,vecs[0].v)));
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<float> predux_mul<Packet2cf>(const Packet2cf& a)
+{
+ return pfirst(pmul(a, Packet2cf(_mm_movehl_ps(a.v,a.v))));
+}
+
+template<int Offset>
+struct palign_impl<Offset,Packet2cf>
+{
+ static EIGEN_STRONG_INLINE void run(Packet2cf& first, const Packet2cf& second)
+ {
+ if (Offset==1)
+ {
+ first.v = _mm_movehl_ps(first.v, first.v);
+ first.v = _mm_movelh_ps(first.v, second.v);
+ }
+ }
+};
+
+template<> struct conj_helper<Packet2cf, Packet2cf, false,true>
+{
+ EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
+ { return padd(pmul(x,y),c); }
+
+ EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
+ {
+ #ifdef EIGEN_VECTORIZE_SSE3
+ return internal::pmul(a, pconj(b));
+ #else
+ const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0x00000000,0x80000000,0x00000000,0x80000000));
+ return Packet2cf(_mm_add_ps(_mm_xor_ps(_mm_mul_ps(vec4f_swizzle1(a.v, 0, 0, 2, 2), b.v), mask),
+ _mm_mul_ps(vec4f_swizzle1(a.v, 1, 1, 3, 3),
+ vec4f_swizzle1(b.v, 1, 0, 3, 2))));
+ #endif
+ }
+};
+
+template<> struct conj_helper<Packet2cf, Packet2cf, true,false>
+{
+ EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
+ { return padd(pmul(x,y),c); }
+
+ EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
+ {
+ #ifdef EIGEN_VECTORIZE_SSE3
+ return internal::pmul(pconj(a), b);
+ #else
+ const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0x00000000,0x80000000,0x00000000,0x80000000));
+ return Packet2cf(_mm_add_ps(_mm_mul_ps(vec4f_swizzle1(a.v, 0, 0, 2, 2), b.v),
+ _mm_xor_ps(_mm_mul_ps(vec4f_swizzle1(a.v, 1, 1, 3, 3),
+ vec4f_swizzle1(b.v, 1, 0, 3, 2)), mask)));
+ #endif
+ }
+};
+
+template<> struct conj_helper<Packet2cf, Packet2cf, true,true>
+{
+ EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
+ { return padd(pmul(x,y),c); }
+
+ EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
+ {
+ #ifdef EIGEN_VECTORIZE_SSE3
+ return pconj(internal::pmul(a, b));
+ #else
+ const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0x00000000,0x80000000,0x00000000,0x80000000));
+ return Packet2cf(_mm_sub_ps(_mm_xor_ps(_mm_mul_ps(vec4f_swizzle1(a.v, 0, 0, 2, 2), b.v), mask),
+ _mm_mul_ps(vec4f_swizzle1(a.v, 1, 1, 3, 3),
+ vec4f_swizzle1(b.v, 1, 0, 3, 2))));
+ #endif
+ }
+};
+
+EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet2cf,Packet4f)
+
+template<> EIGEN_STRONG_INLINE Packet2cf pdiv<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{
+ // TODO optimize it for SSE3 and 4
+ Packet2cf res = conj_helper<Packet2cf,Packet2cf,false,true>().pmul(a,b);
+ __m128 s = _mm_mul_ps(b.v,b.v);
+ return Packet2cf(_mm_div_ps(res.v,_mm_add_ps(s,_mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(s), 0xb1)))));
+}
+
+EIGEN_STRONG_INLINE Packet2cf pcplxflip/* <Packet2cf> */(const Packet2cf& x)
+{
+ return Packet2cf(vec4f_swizzle1(x.v, 1, 0, 3, 2));
+}
+
+
+//---------- double ----------
+struct Packet1cd
+{
+ EIGEN_STRONG_INLINE Packet1cd() {}
+ EIGEN_STRONG_INLINE explicit Packet1cd(const __m128d& a) : v(a) {}
+ __m128d v;
+};
+
+// Use the packet_traits defined in AVX/PacketMath.h instead if we're going
+// to leverage AVX instructions.
+#ifndef EIGEN_VECTORIZE_AVX
+template<> struct packet_traits<std::complex<double> > : default_packet_traits
+{
+ typedef Packet1cd type;
+ typedef Packet1cd half;
+ enum {
+ Vectorizable = 1,
+ AlignedOnScalar = 0,
+ size = 1,
+ HasHalfPacket = 0,
+
+ HasAdd = 1,
+ HasSub = 1,
+ HasMul = 1,
+ HasDiv = 1,
+ HasNegate = 1,
+ HasAbs = 0,
+ HasAbs2 = 0,
+ HasMin = 0,
+ HasMax = 0,
+ HasSetLinear = 0
+ };
+};
+#endif
+
+template<> struct unpacket_traits<Packet1cd> { typedef std::complex<double> type; enum {size=1, alignment=Aligned16}; typedef Packet1cd half; };
+
+template<> EIGEN_STRONG_INLINE Packet1cd padd<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(_mm_add_pd(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd psub<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(_mm_sub_pd(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pnegate(const Packet1cd& a) { return Packet1cd(pnegate(Packet2d(a.v))); }
+template<> EIGEN_STRONG_INLINE Packet1cd pconj(const Packet1cd& a)
+{
+ const __m128d mask = _mm_castsi128_pd(_mm_set_epi32(0x80000000,0x0,0x0,0x0));
+ return Packet1cd(_mm_xor_pd(a.v,mask));
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd pmul<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{
+ #ifdef EIGEN_VECTORIZE_SSE3
+ return Packet1cd(_mm_addsub_pd(_mm_mul_pd(_mm_movedup_pd(a.v), b.v),
+ _mm_mul_pd(vec2d_swizzle1(a.v, 1, 1),
+ vec2d_swizzle1(b.v, 1, 0))));
+ #else
+ const __m128d mask = _mm_castsi128_pd(_mm_set_epi32(0x0,0x0,0x80000000,0x0));
+ return Packet1cd(_mm_add_pd(_mm_mul_pd(vec2d_swizzle1(a.v, 0, 0), b.v),
+ _mm_xor_pd(_mm_mul_pd(vec2d_swizzle1(a.v, 1, 1),
+ vec2d_swizzle1(b.v, 1, 0)), mask)));
+ #endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd pand <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(_mm_and_pd(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd por <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(_mm_or_pd(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pxor <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(_mm_xor_pd(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pandnot<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(_mm_andnot_pd(a.v,b.v)); }
+
+// FIXME force unaligned load, this is a temporary fix
+template<> EIGEN_STRONG_INLINE Packet1cd pload <Packet1cd>(const std::complex<double>* from)
+{ EIGEN_DEBUG_ALIGNED_LOAD return Packet1cd(pload<Packet2d>((const double*)from)); }
+template<> EIGEN_STRONG_INLINE Packet1cd ploadu<Packet1cd>(const std::complex<double>* from)
+{ EIGEN_DEBUG_UNALIGNED_LOAD return Packet1cd(ploadu<Packet2d>((const double*)from)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pset1<Packet1cd>(const std::complex<double>& from)
+{ /* here we really have to use unaligned loads :( */ return ploadu<Packet1cd>(&from); }
+
+template<> EIGEN_STRONG_INLINE Packet1cd ploaddup<Packet1cd>(const std::complex<double>* from) { return pset1<Packet1cd>(*from); }
+
+// FIXME force unaligned store, this is a temporary fix
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<double> >(std::complex<double> * to, const Packet1cd& from) { EIGEN_DEBUG_ALIGNED_STORE pstore((double*)to, Packet2d(from.v)); }
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<double> >(std::complex<double> * to, const Packet1cd& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((double*)to, Packet2d(from.v)); }
+
+template<> EIGEN_STRONG_INLINE void prefetch<std::complex<double> >(const std::complex<double> * addr) { _mm_prefetch((SsePrefetchPtrType)(addr), _MM_HINT_T0); }
+
+template<> EIGEN_STRONG_INLINE std::complex<double> pfirst<Packet1cd>(const Packet1cd& a)
+{
+ EIGEN_ALIGN16 double res[2];
+ _mm_store_pd(res, a.v);
+ return std::complex<double>(res[0],res[1]);
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd preverse(const Packet1cd& a) { return a; }
+
+template<> EIGEN_STRONG_INLINE std::complex<double> predux<Packet1cd>(const Packet1cd& a)
+{
+ return pfirst(a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd preduxp<Packet1cd>(const Packet1cd* vecs)
+{
+ return vecs[0];
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<double> predux_mul<Packet1cd>(const Packet1cd& a)
+{
+ return pfirst(a);
+}
+
+template<int Offset>
+struct palign_impl<Offset,Packet1cd>
+{
+ static EIGEN_STRONG_INLINE void run(Packet1cd& /*first*/, const Packet1cd& /*second*/)
+ {
+ // FIXME is it sure we never have to align a Packet1cd?
+ // Even though a std::complex<double> has 16 bytes, it is not necessarily aligned on a 16 bytes boundary...
+ }
+};
+
+template<> struct conj_helper<Packet1cd, Packet1cd, false,true>
+{
+ EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
+ { return padd(pmul(x,y),c); }
+
+ EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
+ {
+ #ifdef EIGEN_VECTORIZE_SSE3
+ return internal::pmul(a, pconj(b));
+ #else
+ const __m128d mask = _mm_castsi128_pd(_mm_set_epi32(0x80000000,0x0,0x0,0x0));
+ return Packet1cd(_mm_add_pd(_mm_xor_pd(_mm_mul_pd(vec2d_swizzle1(a.v, 0, 0), b.v), mask),
+ _mm_mul_pd(vec2d_swizzle1(a.v, 1, 1),
+ vec2d_swizzle1(b.v, 1, 0))));
+ #endif
+ }
+};
+
+template<> struct conj_helper<Packet1cd, Packet1cd, true,false>
+{
+ EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
+ { return padd(pmul(x,y),c); }
+
+ EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
+ {
+ #ifdef EIGEN_VECTORIZE_SSE3
+ return internal::pmul(pconj(a), b);
+ #else
+ const __m128d mask = _mm_castsi128_pd(_mm_set_epi32(0x80000000,0x0,0x0,0x0));
+ return Packet1cd(_mm_add_pd(_mm_mul_pd(vec2d_swizzle1(a.v, 0, 0), b.v),
+ _mm_xor_pd(_mm_mul_pd(vec2d_swizzle1(a.v, 1, 1),
+ vec2d_swizzle1(b.v, 1, 0)), mask)));
+ #endif
+ }
+};
+
+template<> struct conj_helper<Packet1cd, Packet1cd, true,true>
+{
+ EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
+ { return padd(pmul(x,y),c); }
+
+ EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
+ {
+ #ifdef EIGEN_VECTORIZE_SSE3
+ return pconj(internal::pmul(a, b));
+ #else
+ const __m128d mask = _mm_castsi128_pd(_mm_set_epi32(0x80000000,0x0,0x0,0x0));
+ return Packet1cd(_mm_sub_pd(_mm_xor_pd(_mm_mul_pd(vec2d_swizzle1(a.v, 0, 0), b.v), mask),
+ _mm_mul_pd(vec2d_swizzle1(a.v, 1, 1),
+ vec2d_swizzle1(b.v, 1, 0))));
+ #endif
+ }
+};
+
+EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet1cd,Packet2d)
+
+template<> EIGEN_STRONG_INLINE Packet1cd pdiv<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{
+ // TODO optimize it for SSE3 and 4
+ Packet1cd res = conj_helper<Packet1cd,Packet1cd,false,true>().pmul(a,b);
+ __m128d s = _mm_mul_pd(b.v,b.v);
+ return Packet1cd(_mm_div_pd(res.v, _mm_add_pd(s,_mm_shuffle_pd(s, s, 0x1))));
+}
+
+EIGEN_STRONG_INLINE Packet1cd pcplxflip/* <Packet1cd> */(const Packet1cd& x)
+{
+ return Packet1cd(preverse(Packet2d(x.v)));
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet2cf,2>& kernel) {
+ __m128d w1 = _mm_castps_pd(kernel.packet[0].v);
+ __m128d w2 = _mm_castps_pd(kernel.packet[1].v);
+
+ __m128 tmp = _mm_castpd_ps(_mm_unpackhi_pd(w1, w2));
+ kernel.packet[0].v = _mm_castpd_ps(_mm_unpacklo_pd(w1, w2));
+ kernel.packet[1].v = tmp;
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pblend(const Selector<2>& ifPacket, const Packet2cf& thenPacket, const Packet2cf& elsePacket) {
+ __m128d result = pblend<Packet2d>(ifPacket, _mm_castps_pd(thenPacket.v), _mm_castps_pd(elsePacket.v));
+ return Packet2cf(_mm_castpd_ps(result));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pinsertfirst(const Packet2cf& a, std::complex<float> b)
+{
+ return Packet2cf(_mm_loadl_pi(a.v, reinterpret_cast<const __m64*>(&b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd pinsertfirst(const Packet1cd&, std::complex<double> b)
+{
+ return pset1<Packet1cd>(b);
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pinsertlast(const Packet2cf& a, std::complex<float> b)
+{
+ return Packet2cf(_mm_loadh_pi(a.v, reinterpret_cast<const __m64*>(&b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd pinsertlast(const Packet1cd&, std::complex<double> b)
+{
+ return pset1<Packet1cd>(b);
+}
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_COMPLEX_SSE_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/SSE/MathFunctions.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/SSE/MathFunctions.h
new file mode 100644
index 0000000..7b5f948
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/SSE/MathFunctions.h
@@ -0,0 +1,562 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2007 Julien Pommier
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+/* The sin, cos, exp, and log functions of this file come from
+ * Julien Pommier's sse math library: http://gruntthepeon.free.fr/ssemath/
+ */
+
+#ifndef EIGEN_MATH_FUNCTIONS_SSE_H
+#define EIGEN_MATH_FUNCTIONS_SSE_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f plog<Packet4f>(const Packet4f& _x)
+{
+ Packet4f x = _x;
+ _EIGEN_DECLARE_CONST_Packet4f(1 , 1.0f);
+ _EIGEN_DECLARE_CONST_Packet4f(half, 0.5f);
+ _EIGEN_DECLARE_CONST_Packet4i(0x7f, 0x7f);
+
+ _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(inv_mant_mask, ~0x7f800000);
+
+ /* the smallest non denormalized float number */
+ _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(min_norm_pos, 0x00800000);
+ _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(minus_inf, 0xff800000);//-1.f/0.f);
+
+ /* natural logarithm computed for 4 simultaneous float
+ return NaN for x <= 0
+ */
+ _EIGEN_DECLARE_CONST_Packet4f(cephes_SQRTHF, 0.707106781186547524f);
+ _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p0, 7.0376836292E-2f);
+ _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p1, - 1.1514610310E-1f);
+ _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p2, 1.1676998740E-1f);
+ _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p3, - 1.2420140846E-1f);
+ _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p4, + 1.4249322787E-1f);
+ _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p5, - 1.6668057665E-1f);
+ _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p6, + 2.0000714765E-1f);
+ _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p7, - 2.4999993993E-1f);
+ _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p8, + 3.3333331174E-1f);
+ _EIGEN_DECLARE_CONST_Packet4f(cephes_log_q1, -2.12194440e-4f);
+ _EIGEN_DECLARE_CONST_Packet4f(cephes_log_q2, 0.693359375f);
+
+
+ Packet4i emm0;
+
+ Packet4f invalid_mask = _mm_cmpnge_ps(x, _mm_setzero_ps()); // not greater equal is true if x is NaN
+ Packet4f iszero_mask = _mm_cmpeq_ps(x, _mm_setzero_ps());
+
+ x = pmax(x, p4f_min_norm_pos); /* cut off denormalized stuff */
+ emm0 = _mm_srli_epi32(_mm_castps_si128(x), 23);
+
+ /* keep only the fractional part */
+ x = _mm_and_ps(x, p4f_inv_mant_mask);
+ x = _mm_or_ps(x, p4f_half);
+
+ emm0 = _mm_sub_epi32(emm0, p4i_0x7f);
+ Packet4f e = padd(Packet4f(_mm_cvtepi32_ps(emm0)), p4f_1);
+
+ /* part2:
+ if( x < SQRTHF ) {
+ e -= 1;
+ x = x + x - 1.0;
+ } else { x = x - 1.0; }
+ */
+ Packet4f mask = _mm_cmplt_ps(x, p4f_cephes_SQRTHF);
+ Packet4f tmp = pand(x, mask);
+ x = psub(x, p4f_1);
+ e = psub(e, pand(p4f_1, mask));
+ x = padd(x, tmp);
+
+ Packet4f x2 = pmul(x,x);
+ Packet4f x3 = pmul(x2,x);
+
+ Packet4f y, y1, y2;
+ y = pmadd(p4f_cephes_log_p0, x, p4f_cephes_log_p1);
+ y1 = pmadd(p4f_cephes_log_p3, x, p4f_cephes_log_p4);
+ y2 = pmadd(p4f_cephes_log_p6, x, p4f_cephes_log_p7);
+ y = pmadd(y , x, p4f_cephes_log_p2);
+ y1 = pmadd(y1, x, p4f_cephes_log_p5);
+ y2 = pmadd(y2, x, p4f_cephes_log_p8);
+ y = pmadd(y, x3, y1);
+ y = pmadd(y, x3, y2);
+ y = pmul(y, x3);
+
+ y1 = pmul(e, p4f_cephes_log_q1);
+ tmp = pmul(x2, p4f_half);
+ y = padd(y, y1);
+ x = psub(x, tmp);
+ y2 = pmul(e, p4f_cephes_log_q2);
+ x = padd(x, y);
+ x = padd(x, y2);
+ // negative arg will be NAN, 0 will be -INF
+ return _mm_or_ps(_mm_andnot_ps(iszero_mask, _mm_or_ps(x, invalid_mask)),
+ _mm_and_ps(iszero_mask, p4f_minus_inf));
+}
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f pexp<Packet4f>(const Packet4f& _x)
+{
+ Packet4f x = _x;
+ _EIGEN_DECLARE_CONST_Packet4f(1 , 1.0f);
+ _EIGEN_DECLARE_CONST_Packet4f(half, 0.5f);
+ _EIGEN_DECLARE_CONST_Packet4i(0x7f, 0x7f);
+
+
+ _EIGEN_DECLARE_CONST_Packet4f(exp_hi, 88.3762626647950f);
+ _EIGEN_DECLARE_CONST_Packet4f(exp_lo, -88.3762626647949f);
+
+ _EIGEN_DECLARE_CONST_Packet4f(cephes_LOG2EF, 1.44269504088896341f);
+ _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_C1, 0.693359375f);
+ _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_C2, -2.12194440e-4f);
+
+ _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p0, 1.9875691500E-4f);
+ _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p1, 1.3981999507E-3f);
+ _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p2, 8.3334519073E-3f);
+ _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p3, 4.1665795894E-2f);
+ _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p4, 1.6666665459E-1f);
+ _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p5, 5.0000001201E-1f);
+
+ Packet4f tmp, fx;
+ Packet4i emm0;
+
+ // clamp x
+ x = pmax(pmin(x, p4f_exp_hi), p4f_exp_lo);
+
+ /* express exp(x) as exp(g + n*log(2)) */
+ fx = pmadd(x, p4f_cephes_LOG2EF, p4f_half);
+
+#ifdef EIGEN_VECTORIZE_SSE4_1
+ fx = _mm_floor_ps(fx);
+#else
+ emm0 = _mm_cvttps_epi32(fx);
+ tmp = _mm_cvtepi32_ps(emm0);
+ /* if greater, substract 1 */
+ Packet4f mask = _mm_cmpgt_ps(tmp, fx);
+ mask = _mm_and_ps(mask, p4f_1);
+ fx = psub(tmp, mask);
+#endif
+
+ tmp = pmul(fx, p4f_cephes_exp_C1);
+ Packet4f z = pmul(fx, p4f_cephes_exp_C2);
+ x = psub(x, tmp);
+ x = psub(x, z);
+
+ z = pmul(x,x);
+
+ Packet4f y = p4f_cephes_exp_p0;
+ y = pmadd(y, x, p4f_cephes_exp_p1);
+ y = pmadd(y, x, p4f_cephes_exp_p2);
+ y = pmadd(y, x, p4f_cephes_exp_p3);
+ y = pmadd(y, x, p4f_cephes_exp_p4);
+ y = pmadd(y, x, p4f_cephes_exp_p5);
+ y = pmadd(y, z, x);
+ y = padd(y, p4f_1);
+
+ // build 2^n
+ emm0 = _mm_cvttps_epi32(fx);
+ emm0 = _mm_add_epi32(emm0, p4i_0x7f);
+ emm0 = _mm_slli_epi32(emm0, 23);
+ return pmax(pmul(y, Packet4f(_mm_castsi128_ps(emm0))), _x);
+}
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet2d pexp<Packet2d>(const Packet2d& _x)
+{
+ Packet2d x = _x;
+
+ _EIGEN_DECLARE_CONST_Packet2d(1 , 1.0);
+ _EIGEN_DECLARE_CONST_Packet2d(2 , 2.0);
+ _EIGEN_DECLARE_CONST_Packet2d(half, 0.5);
+
+ _EIGEN_DECLARE_CONST_Packet2d(exp_hi, 709.437);
+ _EIGEN_DECLARE_CONST_Packet2d(exp_lo, -709.436139303);
+
+ _EIGEN_DECLARE_CONST_Packet2d(cephes_LOG2EF, 1.4426950408889634073599);
+
+ _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_p0, 1.26177193074810590878e-4);
+ _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_p1, 3.02994407707441961300e-2);
+ _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_p2, 9.99999999999999999910e-1);
+
+ _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q0, 3.00198505138664455042e-6);
+ _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q1, 2.52448340349684104192e-3);
+ _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q2, 2.27265548208155028766e-1);
+ _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q3, 2.00000000000000000009e0);
+
+ _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_C1, 0.693145751953125);
+ _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_C2, 1.42860682030941723212e-6);
+ static const __m128i p4i_1023_0 = _mm_setr_epi32(1023, 1023, 0, 0);
+
+ Packet2d tmp, fx;
+ Packet4i emm0;
+
+ // clamp x
+ x = pmax(pmin(x, p2d_exp_hi), p2d_exp_lo);
+ /* express exp(x) as exp(g + n*log(2)) */
+ fx = pmadd(p2d_cephes_LOG2EF, x, p2d_half);
+
+#ifdef EIGEN_VECTORIZE_SSE4_1
+ fx = _mm_floor_pd(fx);
+#else
+ emm0 = _mm_cvttpd_epi32(fx);
+ tmp = _mm_cvtepi32_pd(emm0);
+ /* if greater, substract 1 */
+ Packet2d mask = _mm_cmpgt_pd(tmp, fx);
+ mask = _mm_and_pd(mask, p2d_1);
+ fx = psub(tmp, mask);
+#endif
+
+ tmp = pmul(fx, p2d_cephes_exp_C1);
+ Packet2d z = pmul(fx, p2d_cephes_exp_C2);
+ x = psub(x, tmp);
+ x = psub(x, z);
+
+ Packet2d x2 = pmul(x,x);
+
+ Packet2d px = p2d_cephes_exp_p0;
+ px = pmadd(px, x2, p2d_cephes_exp_p1);
+ px = pmadd(px, x2, p2d_cephes_exp_p2);
+ px = pmul (px, x);
+
+ Packet2d qx = p2d_cephes_exp_q0;
+ qx = pmadd(qx, x2, p2d_cephes_exp_q1);
+ qx = pmadd(qx, x2, p2d_cephes_exp_q2);
+ qx = pmadd(qx, x2, p2d_cephes_exp_q3);
+
+ x = pdiv(px,psub(qx,px));
+ x = pmadd(p2d_2,x,p2d_1);
+
+ // build 2^n
+ emm0 = _mm_cvttpd_epi32(fx);
+ emm0 = _mm_add_epi32(emm0, p4i_1023_0);
+ emm0 = _mm_slli_epi32(emm0, 20);
+ emm0 = _mm_shuffle_epi32(emm0, _MM_SHUFFLE(1,2,0,3));
+ return pmax(pmul(x, Packet2d(_mm_castsi128_pd(emm0))), _x);
+}
+
+/* evaluation of 4 sines at onces, using SSE2 intrinsics.
+
+ The code is the exact rewriting of the cephes sinf function.
+ Precision is excellent as long as x < 8192 (I did not bother to
+ take into account the special handling they have for greater values
+ -- it does not return garbage for arguments over 8192, though, but
+ the extra precision is missing).
+
+ Note that it is such that sinf((float)M_PI) = 8.74e-8, which is the
+ surprising but correct result.
+*/
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f psin<Packet4f>(const Packet4f& _x)
+{
+ Packet4f x = _x;
+ _EIGEN_DECLARE_CONST_Packet4f(1 , 1.0f);
+ _EIGEN_DECLARE_CONST_Packet4f(half, 0.5f);
+
+ _EIGEN_DECLARE_CONST_Packet4i(1, 1);
+ _EIGEN_DECLARE_CONST_Packet4i(not1, ~1);
+ _EIGEN_DECLARE_CONST_Packet4i(2, 2);
+ _EIGEN_DECLARE_CONST_Packet4i(4, 4);
+
+ _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(sign_mask, 0x80000000);
+
+ _EIGEN_DECLARE_CONST_Packet4f(minus_cephes_DP1,-0.78515625f);
+ _EIGEN_DECLARE_CONST_Packet4f(minus_cephes_DP2, -2.4187564849853515625e-4f);
+ _EIGEN_DECLARE_CONST_Packet4f(minus_cephes_DP3, -3.77489497744594108e-8f);
+ _EIGEN_DECLARE_CONST_Packet4f(sincof_p0, -1.9515295891E-4f);
+ _EIGEN_DECLARE_CONST_Packet4f(sincof_p1, 8.3321608736E-3f);
+ _EIGEN_DECLARE_CONST_Packet4f(sincof_p2, -1.6666654611E-1f);
+ _EIGEN_DECLARE_CONST_Packet4f(coscof_p0, 2.443315711809948E-005f);
+ _EIGEN_DECLARE_CONST_Packet4f(coscof_p1, -1.388731625493765E-003f);
+ _EIGEN_DECLARE_CONST_Packet4f(coscof_p2, 4.166664568298827E-002f);
+ _EIGEN_DECLARE_CONST_Packet4f(cephes_FOPI, 1.27323954473516f); // 4 / M_PI
+
+ Packet4f xmm1, xmm2, xmm3, sign_bit, y;
+
+ Packet4i emm0, emm2;
+ sign_bit = x;
+ /* take the absolute value */
+ x = pabs(x);
+
+ /* take the modulo */
+
+ /* extract the sign bit (upper one) */
+ sign_bit = _mm_and_ps(sign_bit, p4f_sign_mask);
+
+ /* scale by 4/Pi */
+ y = pmul(x, p4f_cephes_FOPI);
+
+ /* store the integer part of y in mm0 */
+ emm2 = _mm_cvttps_epi32(y);
+ /* j=(j+1) & (~1) (see the cephes sources) */
+ emm2 = _mm_add_epi32(emm2, p4i_1);
+ emm2 = _mm_and_si128(emm2, p4i_not1);
+ y = _mm_cvtepi32_ps(emm2);
+ /* get the swap sign flag */
+ emm0 = _mm_and_si128(emm2, p4i_4);
+ emm0 = _mm_slli_epi32(emm0, 29);
+ /* get the polynom selection mask
+ there is one polynom for 0 <= x <= Pi/4
+ and another one for Pi/4<x<=Pi/2
+
+ Both branches will be computed.
+ */
+ emm2 = _mm_and_si128(emm2, p4i_2);
+ emm2 = _mm_cmpeq_epi32(emm2, _mm_setzero_si128());
+
+ Packet4f swap_sign_bit = _mm_castsi128_ps(emm0);
+ Packet4f poly_mask = _mm_castsi128_ps(emm2);
+ sign_bit = _mm_xor_ps(sign_bit, swap_sign_bit);
+
+ /* The magic pass: "Extended precision modular arithmetic"
+ x = ((x - y * DP1) - y * DP2) - y * DP3; */
+ xmm1 = pmul(y, p4f_minus_cephes_DP1);
+ xmm2 = pmul(y, p4f_minus_cephes_DP2);
+ xmm3 = pmul(y, p4f_minus_cephes_DP3);
+ x = padd(x, xmm1);
+ x = padd(x, xmm2);
+ x = padd(x, xmm3);
+
+ /* Evaluate the first polynom (0 <= x <= Pi/4) */
+ y = p4f_coscof_p0;
+ Packet4f z = _mm_mul_ps(x,x);
+
+ y = pmadd(y, z, p4f_coscof_p1);
+ y = pmadd(y, z, p4f_coscof_p2);
+ y = pmul(y, z);
+ y = pmul(y, z);
+ Packet4f tmp = pmul(z, p4f_half);
+ y = psub(y, tmp);
+ y = padd(y, p4f_1);
+
+ /* Evaluate the second polynom (Pi/4 <= x <= 0) */
+
+ Packet4f y2 = p4f_sincof_p0;
+ y2 = pmadd(y2, z, p4f_sincof_p1);
+ y2 = pmadd(y2, z, p4f_sincof_p2);
+ y2 = pmul(y2, z);
+ y2 = pmul(y2, x);
+ y2 = padd(y2, x);
+
+ /* select the correct result from the two polynoms */
+ y2 = _mm_and_ps(poly_mask, y2);
+ y = _mm_andnot_ps(poly_mask, y);
+ y = _mm_or_ps(y,y2);
+ /* update the sign */
+ return _mm_xor_ps(y, sign_bit);
+}
+
+/* almost the same as psin */
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f pcos<Packet4f>(const Packet4f& _x)
+{
+ Packet4f x = _x;
+ _EIGEN_DECLARE_CONST_Packet4f(1 , 1.0f);
+ _EIGEN_DECLARE_CONST_Packet4f(half, 0.5f);
+
+ _EIGEN_DECLARE_CONST_Packet4i(1, 1);
+ _EIGEN_DECLARE_CONST_Packet4i(not1, ~1);
+ _EIGEN_DECLARE_CONST_Packet4i(2, 2);
+ _EIGEN_DECLARE_CONST_Packet4i(4, 4);
+
+ _EIGEN_DECLARE_CONST_Packet4f(minus_cephes_DP1,-0.78515625f);
+ _EIGEN_DECLARE_CONST_Packet4f(minus_cephes_DP2, -2.4187564849853515625e-4f);
+ _EIGEN_DECLARE_CONST_Packet4f(minus_cephes_DP3, -3.77489497744594108e-8f);
+ _EIGEN_DECLARE_CONST_Packet4f(sincof_p0, -1.9515295891E-4f);
+ _EIGEN_DECLARE_CONST_Packet4f(sincof_p1, 8.3321608736E-3f);
+ _EIGEN_DECLARE_CONST_Packet4f(sincof_p2, -1.6666654611E-1f);
+ _EIGEN_DECLARE_CONST_Packet4f(coscof_p0, 2.443315711809948E-005f);
+ _EIGEN_DECLARE_CONST_Packet4f(coscof_p1, -1.388731625493765E-003f);
+ _EIGEN_DECLARE_CONST_Packet4f(coscof_p2, 4.166664568298827E-002f);
+ _EIGEN_DECLARE_CONST_Packet4f(cephes_FOPI, 1.27323954473516f); // 4 / M_PI
+
+ Packet4f xmm1, xmm2, xmm3, y;
+ Packet4i emm0, emm2;
+
+ x = pabs(x);
+
+ /* scale by 4/Pi */
+ y = pmul(x, p4f_cephes_FOPI);
+
+ /* get the integer part of y */
+ emm2 = _mm_cvttps_epi32(y);
+ /* j=(j+1) & (~1) (see the cephes sources) */
+ emm2 = _mm_add_epi32(emm2, p4i_1);
+ emm2 = _mm_and_si128(emm2, p4i_not1);
+ y = _mm_cvtepi32_ps(emm2);
+
+ emm2 = _mm_sub_epi32(emm2, p4i_2);
+
+ /* get the swap sign flag */
+ emm0 = _mm_andnot_si128(emm2, p4i_4);
+ emm0 = _mm_slli_epi32(emm0, 29);
+ /* get the polynom selection mask */
+ emm2 = _mm_and_si128(emm2, p4i_2);
+ emm2 = _mm_cmpeq_epi32(emm2, _mm_setzero_si128());
+
+ Packet4f sign_bit = _mm_castsi128_ps(emm0);
+ Packet4f poly_mask = _mm_castsi128_ps(emm2);
+
+ /* The magic pass: "Extended precision modular arithmetic"
+ x = ((x - y * DP1) - y * DP2) - y * DP3; */
+ xmm1 = pmul(y, p4f_minus_cephes_DP1);
+ xmm2 = pmul(y, p4f_minus_cephes_DP2);
+ xmm3 = pmul(y, p4f_minus_cephes_DP3);
+ x = padd(x, xmm1);
+ x = padd(x, xmm2);
+ x = padd(x, xmm3);
+
+ /* Evaluate the first polynom (0 <= x <= Pi/4) */
+ y = p4f_coscof_p0;
+ Packet4f z = pmul(x,x);
+
+ y = pmadd(y,z,p4f_coscof_p1);
+ y = pmadd(y,z,p4f_coscof_p2);
+ y = pmul(y, z);
+ y = pmul(y, z);
+ Packet4f tmp = _mm_mul_ps(z, p4f_half);
+ y = psub(y, tmp);
+ y = padd(y, p4f_1);
+
+ /* Evaluate the second polynom (Pi/4 <= x <= 0) */
+ Packet4f y2 = p4f_sincof_p0;
+ y2 = pmadd(y2, z, p4f_sincof_p1);
+ y2 = pmadd(y2, z, p4f_sincof_p2);
+ y2 = pmul(y2, z);
+ y2 = pmadd(y2, x, x);
+
+ /* select the correct result from the two polynoms */
+ y2 = _mm_and_ps(poly_mask, y2);
+ y = _mm_andnot_ps(poly_mask, y);
+ y = _mm_or_ps(y,y2);
+
+ /* update the sign */
+ return _mm_xor_ps(y, sign_bit);
+}
+
+#if EIGEN_FAST_MATH
+
+// Functions for sqrt.
+// The EIGEN_FAST_MATH version uses the _mm_rsqrt_ps approximation and one step
+// of Newton's method, at a cost of 1-2 bits of precision as opposed to the
+// exact solution. It does not handle +inf, or denormalized numbers correctly.
+// The main advantage of this approach is not just speed, but also the fact that
+// it can be inlined and pipelined with other computations, further reducing its
+// effective latency. This is similar to Quake3's fast inverse square root.
+// For detail see here: http://www.beyond3d.com/content/articles/8/
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f psqrt<Packet4f>(const Packet4f& _x)
+{
+ Packet4f half = pmul(_x, pset1<Packet4f>(.5f));
+ Packet4f denormal_mask = _mm_and_ps(
+ _mm_cmpge_ps(_x, _mm_setzero_ps()),
+ _mm_cmplt_ps(_x, pset1<Packet4f>((std::numeric_limits<float>::min)())));
+
+ // Compute approximate reciprocal sqrt.
+ Packet4f x = _mm_rsqrt_ps(_x);
+ // Do a single step of Newton's iteration.
+ x = pmul(x, psub(pset1<Packet4f>(1.5f), pmul(half, pmul(x,x))));
+ // Flush results for denormals to zero.
+ return _mm_andnot_ps(denormal_mask, pmul(_x,x));
+}
+
+#else
+
+template<>EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f psqrt<Packet4f>(const Packet4f& x) { return _mm_sqrt_ps(x); }
+
+#endif
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet2d psqrt<Packet2d>(const Packet2d& x) { return _mm_sqrt_pd(x); }
+
+#if EIGEN_FAST_MATH
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f prsqrt<Packet4f>(const Packet4f& _x) {
+ _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(inf, 0x7f800000);
+ _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(nan, 0x7fc00000);
+ _EIGEN_DECLARE_CONST_Packet4f(one_point_five, 1.5f);
+ _EIGEN_DECLARE_CONST_Packet4f(minus_half, -0.5f);
+ _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(flt_min, 0x00800000);
+
+ Packet4f neg_half = pmul(_x, p4f_minus_half);
+
+ // select only the inverse sqrt of positive normal inputs (denormals are
+ // flushed to zero and cause infs as well).
+ Packet4f le_zero_mask = _mm_cmple_ps(_x, p4f_flt_min);
+ Packet4f x = _mm_andnot_ps(le_zero_mask, _mm_rsqrt_ps(_x));
+
+ // Fill in NaNs and Infs for the negative/zero entries.
+ Packet4f neg_mask = _mm_cmplt_ps(_x, _mm_setzero_ps());
+ Packet4f zero_mask = _mm_andnot_ps(neg_mask, le_zero_mask);
+ Packet4f infs_and_nans = _mm_or_ps(_mm_and_ps(neg_mask, p4f_nan),
+ _mm_and_ps(zero_mask, p4f_inf));
+
+ // Do a single step of Newton's iteration.
+ x = pmul(x, pmadd(neg_half, pmul(x, x), p4f_one_point_five));
+
+ // Insert NaNs and Infs in all the right places.
+ return _mm_or_ps(x, infs_and_nans);
+}
+
+#else
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f prsqrt<Packet4f>(const Packet4f& x) {
+ // Unfortunately we can't use the much faster mm_rqsrt_ps since it only provides an approximation.
+ return _mm_div_ps(pset1<Packet4f>(1.0f), _mm_sqrt_ps(x));
+}
+
+#endif
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet2d prsqrt<Packet2d>(const Packet2d& x) {
+ // Unfortunately we can't use the much faster mm_rqsrt_pd since it only provides an approximation.
+ return _mm_div_pd(pset1<Packet2d>(1.0), _mm_sqrt_pd(x));
+}
+
+// Hyperbolic Tangent function.
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet4f
+ptanh<Packet4f>(const Packet4f& x) {
+ return internal::generic_fast_tanh_float(x);
+}
+
+} // end namespace internal
+
+namespace numext {
+
+template<>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float sqrt(const float &x)
+{
+ return internal::pfirst(internal::Packet4f(_mm_sqrt_ss(_mm_set_ss(x))));
+}
+
+template<>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double sqrt(const double &x)
+{
+#if EIGEN_COMP_GNUC_STRICT
+ // This works around a GCC bug generating poor code for _mm_sqrt_pd
+ // See https://bitbucket.org/eigen/eigen/commits/14f468dba4d350d7c19c9b93072e19f7b3df563b
+ return internal::pfirst(internal::Packet2d(__builtin_ia32_sqrtsd(_mm_set_sd(x))));
+#else
+ return internal::pfirst(internal::Packet2d(_mm_sqrt_pd(_mm_set_sd(x))));
+#endif
+}
+
+} // end namespace numex
+
+} // end namespace Eigen
+
+#endif // EIGEN_MATH_FUNCTIONS_SSE_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/SSE/PacketMath.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/SSE/PacketMath.h
new file mode 100644
index 0000000..60e2517
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/SSE/PacketMath.h
@@ -0,0 +1,895 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_PACKET_MATH_SSE_H
+#define EIGEN_PACKET_MATH_SSE_H
+
+namespace Eigen {
+
+namespace internal {
+
+#ifndef EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
+#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 8
+#endif
+
+#ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
+#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS (2*sizeof(void*))
+#endif
+
+#ifdef __FMA__
+#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+#define EIGEN_HAS_SINGLE_INSTRUCTION_MADD 1
+#endif
+#endif
+
+#if ((defined EIGEN_VECTORIZE_AVX) && (EIGEN_COMP_GNUC_STRICT || EIGEN_COMP_MINGW) && (__GXX_ABI_VERSION < 1004)) || EIGEN_OS_QNX
+// With GCC's default ABI version, a __m128 or __m256 are the same types and therefore we cannot
+// have overloads for both types without linking error.
+// One solution is to increase ABI version using -fabi-version=4 (or greater).
+// Otherwise, we workaround this inconvenience by wrapping 128bit types into the following helper
+// structure:
+template<typename T>
+struct eigen_packet_wrapper
+{
+ EIGEN_ALWAYS_INLINE operator T&() { return m_val; }
+ EIGEN_ALWAYS_INLINE operator const T&() const { return m_val; }
+ EIGEN_ALWAYS_INLINE eigen_packet_wrapper() {}
+ EIGEN_ALWAYS_INLINE eigen_packet_wrapper(const T &v) : m_val(v) {}
+ EIGEN_ALWAYS_INLINE eigen_packet_wrapper& operator=(const T &v) {
+ m_val = v;
+ return *this;
+ }
+
+ T m_val;
+};
+typedef eigen_packet_wrapper<__m128> Packet4f;
+typedef eigen_packet_wrapper<__m128i> Packet4i;
+typedef eigen_packet_wrapper<__m128d> Packet2d;
+#else
+typedef __m128 Packet4f;
+typedef __m128i Packet4i;
+typedef __m128d Packet2d;
+#endif
+
+template<> struct is_arithmetic<__m128> { enum { value = true }; };
+template<> struct is_arithmetic<__m128i> { enum { value = true }; };
+template<> struct is_arithmetic<__m128d> { enum { value = true }; };
+
+#define vec4f_swizzle1(v,p,q,r,s) \
+ (_mm_castsi128_ps(_mm_shuffle_epi32( _mm_castps_si128(v), ((s)<<6|(r)<<4|(q)<<2|(p)))))
+
+#define vec4i_swizzle1(v,p,q,r,s) \
+ (_mm_shuffle_epi32( v, ((s)<<6|(r)<<4|(q)<<2|(p))))
+
+#define vec2d_swizzle1(v,p,q) \
+ (_mm_castsi128_pd(_mm_shuffle_epi32( _mm_castpd_si128(v), ((q*2+1)<<6|(q*2)<<4|(p*2+1)<<2|(p*2)))))
+
+#define vec4f_swizzle2(a,b,p,q,r,s) \
+ (_mm_shuffle_ps( (a), (b), ((s)<<6|(r)<<4|(q)<<2|(p))))
+
+#define vec4i_swizzle2(a,b,p,q,r,s) \
+ (_mm_castps_si128( (_mm_shuffle_ps( _mm_castsi128_ps(a), _mm_castsi128_ps(b), ((s)<<6|(r)<<4|(q)<<2|(p))))))
+
+#define _EIGEN_DECLARE_CONST_Packet4f(NAME,X) \
+ const Packet4f p4f_##NAME = pset1<Packet4f>(X)
+
+#define _EIGEN_DECLARE_CONST_Packet2d(NAME,X) \
+ const Packet2d p2d_##NAME = pset1<Packet2d>(X)
+
+#define _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(NAME,X) \
+ const Packet4f p4f_##NAME = _mm_castsi128_ps(pset1<Packet4i>(X))
+
+#define _EIGEN_DECLARE_CONST_Packet4i(NAME,X) \
+ const Packet4i p4i_##NAME = pset1<Packet4i>(X)
+
+
+// Use the packet_traits defined in AVX/PacketMath.h instead if we're going
+// to leverage AVX instructions.
+#ifndef EIGEN_VECTORIZE_AVX
+template<> struct packet_traits<float> : default_packet_traits
+{
+ typedef Packet4f type;
+ typedef Packet4f half;
+ enum {
+ Vectorizable = 1,
+ AlignedOnScalar = 1,
+ size=4,
+ HasHalfPacket = 0,
+
+ HasDiv = 1,
+ HasSin = EIGEN_FAST_MATH,
+ HasCos = EIGEN_FAST_MATH,
+ HasLog = 1,
+ HasExp = 1,
+ HasSqrt = 1,
+ HasRsqrt = 1,
+ HasTanh = EIGEN_FAST_MATH,
+ HasBlend = 1
+
+#ifdef EIGEN_VECTORIZE_SSE4_1
+ ,
+ HasRound = 1,
+ HasFloor = 1,
+ HasCeil = 1
+#endif
+ };
+};
+template<> struct packet_traits<double> : default_packet_traits
+{
+ typedef Packet2d type;
+ typedef Packet2d half;
+ enum {
+ Vectorizable = 1,
+ AlignedOnScalar = 1,
+ size=2,
+ HasHalfPacket = 0,
+
+ HasDiv = 1,
+ HasExp = 1,
+ HasSqrt = 1,
+ HasRsqrt = 1,
+ HasBlend = 1
+
+#ifdef EIGEN_VECTORIZE_SSE4_1
+ ,
+ HasRound = 1,
+ HasFloor = 1,
+ HasCeil = 1
+#endif
+ };
+};
+#endif
+template<> struct packet_traits<int> : default_packet_traits
+{
+ typedef Packet4i type;
+ typedef Packet4i half;
+ enum {
+ Vectorizable = 1,
+ AlignedOnScalar = 1,
+ size=4,
+
+ HasBlend = 1
+ };
+};
+
+template<> struct unpacket_traits<Packet4f> { typedef float type; enum {size=4, alignment=Aligned16}; typedef Packet4f half; };
+template<> struct unpacket_traits<Packet2d> { typedef double type; enum {size=2, alignment=Aligned16}; typedef Packet2d half; };
+template<> struct unpacket_traits<Packet4i> { typedef int type; enum {size=4, alignment=Aligned16}; typedef Packet4i half; };
+
+#ifndef EIGEN_VECTORIZE_AVX
+template<> struct scalar_div_cost<float,true> { enum { value = 7 }; };
+template<> struct scalar_div_cost<double,true> { enum { value = 8 }; };
+#endif
+
+#if EIGEN_COMP_MSVC==1500
+// Workaround MSVC 9 internal compiler error.
+// TODO: It has been detected with win64 builds (amd64), so let's check whether it also happens in 32bits+SSE mode
+// TODO: let's check whether there does not exist a better fix, like adding a pset0() function. (it crashed on pset1(0)).
+template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float& from) { return _mm_set_ps(from,from,from,from); }
+template<> EIGEN_STRONG_INLINE Packet2d pset1<Packet2d>(const double& from) { return _mm_set_pd(from,from); }
+template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int& from) { return _mm_set_epi32(from,from,from,from); }
+#else
+template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float& from) { return _mm_set_ps1(from); }
+template<> EIGEN_STRONG_INLINE Packet2d pset1<Packet2d>(const double& from) { return _mm_set1_pd(from); }
+template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int& from) { return _mm_set1_epi32(from); }
+#endif
+
+// GCC generates a shufps instruction for _mm_set1_ps/_mm_load1_ps instead of the more efficient pshufd instruction.
+// However, using inrinsics for pset1 makes gcc to generate crappy code in some cases (see bug 203)
+// Using inline assembly is also not an option because then gcc fails to reorder properly the instructions.
+// Therefore, we introduced the pload1 functions to be used in product kernels for which bug 203 does not apply.
+// Also note that with AVX, we want it to generate a vbroadcastss.
+#if EIGEN_COMP_GNUC_STRICT && (!defined __AVX__)
+template<> EIGEN_STRONG_INLINE Packet4f pload1<Packet4f>(const float *from) {
+ return vec4f_swizzle1(_mm_load_ss(from),0,0,0,0);
+}
+#endif
+
+template<> EIGEN_STRONG_INLINE Packet4f plset<Packet4f>(const float& a) { return _mm_add_ps(pset1<Packet4f>(a), _mm_set_ps(3,2,1,0)); }
+template<> EIGEN_STRONG_INLINE Packet2d plset<Packet2d>(const double& a) { return _mm_add_pd(pset1<Packet2d>(a),_mm_set_pd(1,0)); }
+template<> EIGEN_STRONG_INLINE Packet4i plset<Packet4i>(const int& a) { return _mm_add_epi32(pset1<Packet4i>(a),_mm_set_epi32(3,2,1,0)); }
+
+template<> EIGEN_STRONG_INLINE Packet4f padd<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_add_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d padd<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_add_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i padd<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_add_epi32(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f psub<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_sub_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d psub<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_sub_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i psub<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_sub_epi32(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pnegate(const Packet4f& a)
+{
+ const Packet4f mask = _mm_castsi128_ps(_mm_setr_epi32(0x80000000,0x80000000,0x80000000,0x80000000));
+ return _mm_xor_ps(a,mask);
+}
+template<> EIGEN_STRONG_INLINE Packet2d pnegate(const Packet2d& a)
+{
+ const Packet2d mask = _mm_castsi128_pd(_mm_setr_epi32(0x0,0x80000000,0x0,0x80000000));
+ return _mm_xor_pd(a,mask);
+}
+template<> EIGEN_STRONG_INLINE Packet4i pnegate(const Packet4i& a)
+{
+ return psub(Packet4i(_mm_setr_epi32(0,0,0,0)), a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pconj(const Packet4f& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet2d pconj(const Packet2d& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet4i pconj(const Packet4i& a) { return a; }
+
+template<> EIGEN_STRONG_INLINE Packet4f pmul<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_mul_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d pmul<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_mul_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pmul<Packet4i>(const Packet4i& a, const Packet4i& b)
+{
+#ifdef EIGEN_VECTORIZE_SSE4_1
+ return _mm_mullo_epi32(a,b);
+#else
+ // this version is slightly faster than 4 scalar products
+ return vec4i_swizzle1(
+ vec4i_swizzle2(
+ _mm_mul_epu32(a,b),
+ _mm_mul_epu32(vec4i_swizzle1(a,1,0,3,2),
+ vec4i_swizzle1(b,1,0,3,2)),
+ 0,2,0,2),
+ 0,2,1,3);
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pdiv<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_div_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d pdiv<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_div_pd(a,b); }
+
+// for some weird raisons, it has to be overloaded for packet of integers
+template<> EIGEN_STRONG_INLINE Packet4i pmadd(const Packet4i& a, const Packet4i& b, const Packet4i& c) { return padd(pmul(a,b), c); }
+#ifdef __FMA__
+template<> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f& a, const Packet4f& b, const Packet4f& c) { return _mm_fmadd_ps(a,b,c); }
+template<> EIGEN_STRONG_INLINE Packet2d pmadd(const Packet2d& a, const Packet2d& b, const Packet2d& c) { return _mm_fmadd_pd(a,b,c); }
+#endif
+
+template<> EIGEN_STRONG_INLINE Packet4f pmin<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_min_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d pmin<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_min_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pmin<Packet4i>(const Packet4i& a, const Packet4i& b)
+{
+#ifdef EIGEN_VECTORIZE_SSE4_1
+ return _mm_min_epi32(a,b);
+#else
+ // after some bench, this version *is* faster than a scalar implementation
+ Packet4i mask = _mm_cmplt_epi32(a,b);
+ return _mm_or_si128(_mm_and_si128(mask,a),_mm_andnot_si128(mask,b));
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pmax<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_max_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d pmax<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_max_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pmax<Packet4i>(const Packet4i& a, const Packet4i& b)
+{
+#ifdef EIGEN_VECTORIZE_SSE4_1
+ return _mm_max_epi32(a,b);
+#else
+ // after some bench, this version *is* faster than a scalar implementation
+ Packet4i mask = _mm_cmpgt_epi32(a,b);
+ return _mm_or_si128(_mm_and_si128(mask,a),_mm_andnot_si128(mask,b));
+#endif
+}
+
+#ifdef EIGEN_VECTORIZE_SSE4_1
+template<> EIGEN_STRONG_INLINE Packet4f pround<Packet4f>(const Packet4f& a) { return _mm_round_ps(a, 0); }
+template<> EIGEN_STRONG_INLINE Packet2d pround<Packet2d>(const Packet2d& a) { return _mm_round_pd(a, 0); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pceil<Packet4f>(const Packet4f& a) { return _mm_ceil_ps(a); }
+template<> EIGEN_STRONG_INLINE Packet2d pceil<Packet2d>(const Packet2d& a) { return _mm_ceil_pd(a); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pfloor<Packet4f>(const Packet4f& a) { return _mm_floor_ps(a); }
+template<> EIGEN_STRONG_INLINE Packet2d pfloor<Packet2d>(const Packet2d& a) { return _mm_floor_pd(a); }
+#endif
+
+template<> EIGEN_STRONG_INLINE Packet4f pand<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_and_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d pand<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_and_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pand<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_and_si128(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f por<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_or_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d por<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_or_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i por<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_or_si128(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pxor<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_xor_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d pxor<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_xor_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pxor<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_xor_si128(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pandnot<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_andnot_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d pandnot<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_andnot_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pandnot<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_andnot_si128(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pload<Packet4f>(const float* from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm_load_ps(from); }
+template<> EIGEN_STRONG_INLINE Packet2d pload<Packet2d>(const double* from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm_load_pd(from); }
+template<> EIGEN_STRONG_INLINE Packet4i pload<Packet4i>(const int* from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm_load_si128(reinterpret_cast<const __m128i*>(from)); }
+
+#if EIGEN_COMP_MSVC
+ template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float* from) {
+ EIGEN_DEBUG_UNALIGNED_LOAD
+ #if (EIGEN_COMP_MSVC==1600)
+ // NOTE Some version of MSVC10 generates bad code when using _mm_loadu_ps
+ // (i.e., it does not generate an unaligned load!!
+ __m128 res = _mm_loadl_pi(_mm_set1_ps(0.0f), (const __m64*)(from));
+ res = _mm_loadh_pi(res, (const __m64*)(from+2));
+ return res;
+ #else
+ return _mm_loadu_ps(from);
+ #endif
+ }
+#else
+// NOTE: with the code below, MSVC's compiler crashes!
+
+template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float* from)
+{
+ EIGEN_DEBUG_UNALIGNED_LOAD
+ return _mm_loadu_ps(from);
+}
+#endif
+
+template<> EIGEN_STRONG_INLINE Packet2d ploadu<Packet2d>(const double* from)
+{
+ EIGEN_DEBUG_UNALIGNED_LOAD
+ return _mm_loadu_pd(from);
+}
+template<> EIGEN_STRONG_INLINE Packet4i ploadu<Packet4i>(const int* from)
+{
+ EIGEN_DEBUG_UNALIGNED_LOAD
+ return _mm_loadu_si128(reinterpret_cast<const __m128i*>(from));
+}
+
+
+template<> EIGEN_STRONG_INLINE Packet4f ploaddup<Packet4f>(const float* from)
+{
+ return vec4f_swizzle1(_mm_castpd_ps(_mm_load_sd(reinterpret_cast<const double*>(from))), 0, 0, 1, 1);
+}
+template<> EIGEN_STRONG_INLINE Packet2d ploaddup<Packet2d>(const double* from)
+{ return pset1<Packet2d>(from[0]); }
+template<> EIGEN_STRONG_INLINE Packet4i ploaddup<Packet4i>(const int* from)
+{
+ Packet4i tmp;
+ tmp = _mm_loadl_epi64(reinterpret_cast<const __m128i*>(from));
+ return vec4i_swizzle1(tmp, 0, 0, 1, 1);
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<float>(float* to, const Packet4f& from) { EIGEN_DEBUG_ALIGNED_STORE _mm_store_ps(to, from); }
+template<> EIGEN_STRONG_INLINE void pstore<double>(double* to, const Packet2d& from) { EIGEN_DEBUG_ALIGNED_STORE _mm_store_pd(to, from); }
+template<> EIGEN_STRONG_INLINE void pstore<int>(int* to, const Packet4i& from) { EIGEN_DEBUG_ALIGNED_STORE _mm_store_si128(reinterpret_cast<__m128i*>(to), from); }
+
+template<> EIGEN_STRONG_INLINE void pstoreu<double>(double* to, const Packet2d& from) { EIGEN_DEBUG_UNALIGNED_STORE _mm_storeu_pd(to, from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<float>(float* to, const Packet4f& from) { EIGEN_DEBUG_UNALIGNED_STORE _mm_storeu_ps(to, from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<int>(int* to, const Packet4i& from) { EIGEN_DEBUG_UNALIGNED_STORE _mm_storeu_si128(reinterpret_cast<__m128i*>(to), from); }
+
+template<> EIGEN_DEVICE_FUNC inline Packet4f pgather<float, Packet4f>(const float* from, Index stride)
+{
+ return _mm_set_ps(from[3*stride], from[2*stride], from[1*stride], from[0*stride]);
+}
+template<> EIGEN_DEVICE_FUNC inline Packet2d pgather<double, Packet2d>(const double* from, Index stride)
+{
+ return _mm_set_pd(from[1*stride], from[0*stride]);
+}
+template<> EIGEN_DEVICE_FUNC inline Packet4i pgather<int, Packet4i>(const int* from, Index stride)
+{
+ return _mm_set_epi32(from[3*stride], from[2*stride], from[1*stride], from[0*stride]);
+ }
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<float, Packet4f>(float* to, const Packet4f& from, Index stride)
+{
+ to[stride*0] = _mm_cvtss_f32(from);
+ to[stride*1] = _mm_cvtss_f32(_mm_shuffle_ps(from, from, 1));
+ to[stride*2] = _mm_cvtss_f32(_mm_shuffle_ps(from, from, 2));
+ to[stride*3] = _mm_cvtss_f32(_mm_shuffle_ps(from, from, 3));
+}
+template<> EIGEN_DEVICE_FUNC inline void pscatter<double, Packet2d>(double* to, const Packet2d& from, Index stride)
+{
+ to[stride*0] = _mm_cvtsd_f64(from);
+ to[stride*1] = _mm_cvtsd_f64(_mm_shuffle_pd(from, from, 1));
+}
+template<> EIGEN_DEVICE_FUNC inline void pscatter<int, Packet4i>(int* to, const Packet4i& from, Index stride)
+{
+ to[stride*0] = _mm_cvtsi128_si32(from);
+ to[stride*1] = _mm_cvtsi128_si32(_mm_shuffle_epi32(from, 1));
+ to[stride*2] = _mm_cvtsi128_si32(_mm_shuffle_epi32(from, 2));
+ to[stride*3] = _mm_cvtsi128_si32(_mm_shuffle_epi32(from, 3));
+}
+
+// some compilers might be tempted to perform multiple moves instead of using a vector path.
+template<> EIGEN_STRONG_INLINE void pstore1<Packet4f>(float* to, const float& a)
+{
+ Packet4f pa = _mm_set_ss(a);
+ pstore(to, Packet4f(vec4f_swizzle1(pa,0,0,0,0)));
+}
+// some compilers might be tempted to perform multiple moves instead of using a vector path.
+template<> EIGEN_STRONG_INLINE void pstore1<Packet2d>(double* to, const double& a)
+{
+ Packet2d pa = _mm_set_sd(a);
+ pstore(to, Packet2d(vec2d_swizzle1(pa,0,0)));
+}
+
+#if EIGEN_COMP_PGI
+typedef const void * SsePrefetchPtrType;
+#else
+typedef const char * SsePrefetchPtrType;
+#endif
+
+#ifndef EIGEN_VECTORIZE_AVX
+template<> EIGEN_STRONG_INLINE void prefetch<float>(const float* addr) { _mm_prefetch((SsePrefetchPtrType)(addr), _MM_HINT_T0); }
+template<> EIGEN_STRONG_INLINE void prefetch<double>(const double* addr) { _mm_prefetch((SsePrefetchPtrType)(addr), _MM_HINT_T0); }
+template<> EIGEN_STRONG_INLINE void prefetch<int>(const int* addr) { _mm_prefetch((SsePrefetchPtrType)(addr), _MM_HINT_T0); }
+#endif
+
+#if EIGEN_COMP_MSVC_STRICT && EIGEN_OS_WIN64
+// The temporary variable fixes an internal compilation error in vs <= 2008 and a wrong-result bug in vs 2010
+// Direct of the struct members fixed bug #62.
+template<> EIGEN_STRONG_INLINE float pfirst<Packet4f>(const Packet4f& a) { return a.m128_f32[0]; }
+template<> EIGEN_STRONG_INLINE double pfirst<Packet2d>(const Packet2d& a) { return a.m128d_f64[0]; }
+template<> EIGEN_STRONG_INLINE int pfirst<Packet4i>(const Packet4i& a) { int x = _mm_cvtsi128_si32(a); return x; }
+#elif EIGEN_COMP_MSVC_STRICT
+// The temporary variable fixes an internal compilation error in vs <= 2008 and a wrong-result bug in vs 2010
+template<> EIGEN_STRONG_INLINE float pfirst<Packet4f>(const Packet4f& a) { float x = _mm_cvtss_f32(a); return x; }
+template<> EIGEN_STRONG_INLINE double pfirst<Packet2d>(const Packet2d& a) { double x = _mm_cvtsd_f64(a); return x; }
+template<> EIGEN_STRONG_INLINE int pfirst<Packet4i>(const Packet4i& a) { int x = _mm_cvtsi128_si32(a); return x; }
+#else
+template<> EIGEN_STRONG_INLINE float pfirst<Packet4f>(const Packet4f& a) { return _mm_cvtss_f32(a); }
+template<> EIGEN_STRONG_INLINE double pfirst<Packet2d>(const Packet2d& a) { return _mm_cvtsd_f64(a); }
+template<> EIGEN_STRONG_INLINE int pfirst<Packet4i>(const Packet4i& a) { return _mm_cvtsi128_si32(a); }
+#endif
+
+template<> EIGEN_STRONG_INLINE Packet4f preverse(const Packet4f& a)
+{ return _mm_shuffle_ps(a,a,0x1B); }
+template<> EIGEN_STRONG_INLINE Packet2d preverse(const Packet2d& a)
+{ return _mm_shuffle_pd(a,a,0x1); }
+template<> EIGEN_STRONG_INLINE Packet4i preverse(const Packet4i& a)
+{ return _mm_shuffle_epi32(a,0x1B); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pabs(const Packet4f& a)
+{
+ const Packet4f mask = _mm_castsi128_ps(_mm_setr_epi32(0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF));
+ return _mm_and_ps(a,mask);
+}
+template<> EIGEN_STRONG_INLINE Packet2d pabs(const Packet2d& a)
+{
+ const Packet2d mask = _mm_castsi128_pd(_mm_setr_epi32(0xFFFFFFFF,0x7FFFFFFF,0xFFFFFFFF,0x7FFFFFFF));
+ return _mm_and_pd(a,mask);
+}
+template<> EIGEN_STRONG_INLINE Packet4i pabs(const Packet4i& a)
+{
+ #ifdef EIGEN_VECTORIZE_SSSE3
+ return _mm_abs_epi32(a);
+ #else
+ Packet4i aux = _mm_srai_epi32(a,31);
+ return _mm_sub_epi32(_mm_xor_si128(a,aux),aux);
+ #endif
+}
+
+// with AVX, the default implementations based on pload1 are faster
+#ifndef __AVX__
+template<> EIGEN_STRONG_INLINE void
+pbroadcast4<Packet4f>(const float *a,
+ Packet4f& a0, Packet4f& a1, Packet4f& a2, Packet4f& a3)
+{
+ a3 = pload<Packet4f>(a);
+ a0 = vec4f_swizzle1(a3, 0,0,0,0);
+ a1 = vec4f_swizzle1(a3, 1,1,1,1);
+ a2 = vec4f_swizzle1(a3, 2,2,2,2);
+ a3 = vec4f_swizzle1(a3, 3,3,3,3);
+}
+template<> EIGEN_STRONG_INLINE void
+pbroadcast4<Packet2d>(const double *a,
+ Packet2d& a0, Packet2d& a1, Packet2d& a2, Packet2d& a3)
+{
+#ifdef EIGEN_VECTORIZE_SSE3
+ a0 = _mm_loaddup_pd(a+0);
+ a1 = _mm_loaddup_pd(a+1);
+ a2 = _mm_loaddup_pd(a+2);
+ a3 = _mm_loaddup_pd(a+3);
+#else
+ a1 = pload<Packet2d>(a);
+ a0 = vec2d_swizzle1(a1, 0,0);
+ a1 = vec2d_swizzle1(a1, 1,1);
+ a3 = pload<Packet2d>(a+2);
+ a2 = vec2d_swizzle1(a3, 0,0);
+ a3 = vec2d_swizzle1(a3, 1,1);
+#endif
+}
+#endif
+
+EIGEN_STRONG_INLINE void punpackp(Packet4f* vecs)
+{
+ vecs[1] = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(vecs[0]), 0x55));
+ vecs[2] = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(vecs[0]), 0xAA));
+ vecs[3] = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(vecs[0]), 0xFF));
+ vecs[0] = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(vecs[0]), 0x00));
+}
+
+#ifdef EIGEN_VECTORIZE_SSE3
+template<> EIGEN_STRONG_INLINE Packet4f preduxp<Packet4f>(const Packet4f* vecs)
+{
+ return _mm_hadd_ps(_mm_hadd_ps(vecs[0], vecs[1]),_mm_hadd_ps(vecs[2], vecs[3]));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d preduxp<Packet2d>(const Packet2d* vecs)
+{
+ return _mm_hadd_pd(vecs[0], vecs[1]);
+}
+
+#else
+template<> EIGEN_STRONG_INLINE Packet4f preduxp<Packet4f>(const Packet4f* vecs)
+{
+ Packet4f tmp0, tmp1, tmp2;
+ tmp0 = _mm_unpacklo_ps(vecs[0], vecs[1]);
+ tmp1 = _mm_unpackhi_ps(vecs[0], vecs[1]);
+ tmp2 = _mm_unpackhi_ps(vecs[2], vecs[3]);
+ tmp0 = _mm_add_ps(tmp0, tmp1);
+ tmp1 = _mm_unpacklo_ps(vecs[2], vecs[3]);
+ tmp1 = _mm_add_ps(tmp1, tmp2);
+ tmp2 = _mm_movehl_ps(tmp1, tmp0);
+ tmp0 = _mm_movelh_ps(tmp0, tmp1);
+ return _mm_add_ps(tmp0, tmp2);
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d preduxp<Packet2d>(const Packet2d* vecs)
+{
+ return _mm_add_pd(_mm_unpacklo_pd(vecs[0], vecs[1]), _mm_unpackhi_pd(vecs[0], vecs[1]));
+}
+#endif // SSE3
+
+template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
+{
+ // Disable SSE3 _mm_hadd_pd that is extremely slow on all existing Intel's architectures
+ // (from Nehalem to Haswell)
+// #ifdef EIGEN_VECTORIZE_SSE3
+// Packet4f tmp = _mm_add_ps(a, vec4f_swizzle1(a,2,3,2,3));
+// return pfirst<Packet4f>(_mm_hadd_ps(tmp, tmp));
+// #else
+ Packet4f tmp = _mm_add_ps(a, _mm_movehl_ps(a,a));
+ return pfirst<Packet4f>(_mm_add_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
+// #endif
+}
+
+template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a)
+{
+ // Disable SSE3 _mm_hadd_pd that is extremely slow on all existing Intel's architectures
+ // (from Nehalem to Haswell)
+// #ifdef EIGEN_VECTORIZE_SSE3
+// return pfirst<Packet2d>(_mm_hadd_pd(a, a));
+// #else
+ return pfirst<Packet2d>(_mm_add_sd(a, _mm_unpackhi_pd(a,a)));
+// #endif
+}
+
+#ifdef EIGEN_VECTORIZE_SSSE3
+template<> EIGEN_STRONG_INLINE Packet4i preduxp<Packet4i>(const Packet4i* vecs)
+{
+ return _mm_hadd_epi32(_mm_hadd_epi32(vecs[0], vecs[1]),_mm_hadd_epi32(vecs[2], vecs[3]));
+}
+template<> EIGEN_STRONG_INLINE int predux<Packet4i>(const Packet4i& a)
+{
+ Packet4i tmp0 = _mm_hadd_epi32(a,a);
+ return pfirst<Packet4i>(_mm_hadd_epi32(tmp0,tmp0));
+}
+#else
+template<> EIGEN_STRONG_INLINE int predux<Packet4i>(const Packet4i& a)
+{
+ Packet4i tmp = _mm_add_epi32(a, _mm_unpackhi_epi64(a,a));
+ return pfirst(tmp) + pfirst<Packet4i>(_mm_shuffle_epi32(tmp, 1));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i preduxp<Packet4i>(const Packet4i* vecs)
+{
+ Packet4i tmp0, tmp1, tmp2;
+ tmp0 = _mm_unpacklo_epi32(vecs[0], vecs[1]);
+ tmp1 = _mm_unpackhi_epi32(vecs[0], vecs[1]);
+ tmp2 = _mm_unpackhi_epi32(vecs[2], vecs[3]);
+ tmp0 = _mm_add_epi32(tmp0, tmp1);
+ tmp1 = _mm_unpacklo_epi32(vecs[2], vecs[3]);
+ tmp1 = _mm_add_epi32(tmp1, tmp2);
+ tmp2 = _mm_unpacklo_epi64(tmp0, tmp1);
+ tmp0 = _mm_unpackhi_epi64(tmp0, tmp1);
+ return _mm_add_epi32(tmp0, tmp2);
+}
+#endif
+// Other reduction functions:
+
+// mul
+template<> EIGEN_STRONG_INLINE float predux_mul<Packet4f>(const Packet4f& a)
+{
+ Packet4f tmp = _mm_mul_ps(a, _mm_movehl_ps(a,a));
+ return pfirst<Packet4f>(_mm_mul_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
+}
+template<> EIGEN_STRONG_INLINE double predux_mul<Packet2d>(const Packet2d& a)
+{
+ return pfirst<Packet2d>(_mm_mul_sd(a, _mm_unpackhi_pd(a,a)));
+}
+template<> EIGEN_STRONG_INLINE int predux_mul<Packet4i>(const Packet4i& a)
+{
+ // after some experiments, it is seems this is the fastest way to implement it
+ // for GCC (eg., reusing pmul is very slow !)
+ // TODO try to call _mm_mul_epu32 directly
+ EIGEN_ALIGN16 int aux[4];
+ pstore(aux, a);
+ return (aux[0] * aux[1]) * (aux[2] * aux[3]);;
+}
+
+// min
+template<> EIGEN_STRONG_INLINE float predux_min<Packet4f>(const Packet4f& a)
+{
+ Packet4f tmp = _mm_min_ps(a, _mm_movehl_ps(a,a));
+ return pfirst<Packet4f>(_mm_min_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
+}
+template<> EIGEN_STRONG_INLINE double predux_min<Packet2d>(const Packet2d& a)
+{
+ return pfirst<Packet2d>(_mm_min_sd(a, _mm_unpackhi_pd(a,a)));
+}
+template<> EIGEN_STRONG_INLINE int predux_min<Packet4i>(const Packet4i& a)
+{
+#ifdef EIGEN_VECTORIZE_SSE4_1
+ Packet4i tmp = _mm_min_epi32(a, _mm_shuffle_epi32(a, _MM_SHUFFLE(0,0,3,2)));
+ return pfirst<Packet4i>(_mm_min_epi32(tmp,_mm_shuffle_epi32(tmp, 1)));
+#else
+ // after some experiments, it is seems this is the fastest way to implement it
+ // for GCC (eg., it does not like using std::min after the pstore !!)
+ EIGEN_ALIGN16 int aux[4];
+ pstore(aux, a);
+ int aux0 = aux[0]<aux[1] ? aux[0] : aux[1];
+ int aux2 = aux[2]<aux[3] ? aux[2] : aux[3];
+ return aux0<aux2 ? aux0 : aux2;
+#endif // EIGEN_VECTORIZE_SSE4_1
+}
+
+// max
+template<> EIGEN_STRONG_INLINE float predux_max<Packet4f>(const Packet4f& a)
+{
+ Packet4f tmp = _mm_max_ps(a, _mm_movehl_ps(a,a));
+ return pfirst<Packet4f>(_mm_max_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
+}
+template<> EIGEN_STRONG_INLINE double predux_max<Packet2d>(const Packet2d& a)
+{
+ return pfirst<Packet2d>(_mm_max_sd(a, _mm_unpackhi_pd(a,a)));
+}
+template<> EIGEN_STRONG_INLINE int predux_max<Packet4i>(const Packet4i& a)
+{
+#ifdef EIGEN_VECTORIZE_SSE4_1
+ Packet4i tmp = _mm_max_epi32(a, _mm_shuffle_epi32(a, _MM_SHUFFLE(0,0,3,2)));
+ return pfirst<Packet4i>(_mm_max_epi32(tmp,_mm_shuffle_epi32(tmp, 1)));
+#else
+ // after some experiments, it is seems this is the fastest way to implement it
+ // for GCC (eg., it does not like using std::min after the pstore !!)
+ EIGEN_ALIGN16 int aux[4];
+ pstore(aux, a);
+ int aux0 = aux[0]>aux[1] ? aux[0] : aux[1];
+ int aux2 = aux[2]>aux[3] ? aux[2] : aux[3];
+ return aux0>aux2 ? aux0 : aux2;
+#endif // EIGEN_VECTORIZE_SSE4_1
+}
+
+#if EIGEN_COMP_GNUC
+// template <> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f& a, const Packet4f& b, const Packet4f& c)
+// {
+// Packet4f res = b;
+// asm("mulps %[a], %[b] \n\taddps %[c], %[b]" : [b] "+x" (res) : [a] "x" (a), [c] "x" (c));
+// return res;
+// }
+// EIGEN_STRONG_INLINE Packet4i _mm_alignr_epi8(const Packet4i& a, const Packet4i& b, const int i)
+// {
+// Packet4i res = a;
+// asm("palignr %[i], %[a], %[b] " : [b] "+x" (res) : [a] "x" (a), [i] "i" (i));
+// return res;
+// }
+#endif
+
+#ifdef EIGEN_VECTORIZE_SSSE3
+// SSSE3 versions
+template<int Offset>
+struct palign_impl<Offset,Packet4f>
+{
+ static EIGEN_STRONG_INLINE void run(Packet4f& first, const Packet4f& second)
+ {
+ if (Offset!=0)
+ first = _mm_castsi128_ps(_mm_alignr_epi8(_mm_castps_si128(second), _mm_castps_si128(first), Offset*4));
+ }
+};
+
+template<int Offset>
+struct palign_impl<Offset,Packet4i>
+{
+ static EIGEN_STRONG_INLINE void run(Packet4i& first, const Packet4i& second)
+ {
+ if (Offset!=0)
+ first = _mm_alignr_epi8(second,first, Offset*4);
+ }
+};
+
+template<int Offset>
+struct palign_impl<Offset,Packet2d>
+{
+ static EIGEN_STRONG_INLINE void run(Packet2d& first, const Packet2d& second)
+ {
+ if (Offset==1)
+ first = _mm_castsi128_pd(_mm_alignr_epi8(_mm_castpd_si128(second), _mm_castpd_si128(first), 8));
+ }
+};
+#else
+// SSE2 versions
+template<int Offset>
+struct palign_impl<Offset,Packet4f>
+{
+ static EIGEN_STRONG_INLINE void run(Packet4f& first, const Packet4f& second)
+ {
+ if (Offset==1)
+ {
+ first = _mm_move_ss(first,second);
+ first = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(first),0x39));
+ }
+ else if (Offset==2)
+ {
+ first = _mm_movehl_ps(first,first);
+ first = _mm_movelh_ps(first,second);
+ }
+ else if (Offset==3)
+ {
+ first = _mm_move_ss(first,second);
+ first = _mm_shuffle_ps(first,second,0x93);
+ }
+ }
+};
+
+template<int Offset>
+struct palign_impl<Offset,Packet4i>
+{
+ static EIGEN_STRONG_INLINE void run(Packet4i& first, const Packet4i& second)
+ {
+ if (Offset==1)
+ {
+ first = _mm_castps_si128(_mm_move_ss(_mm_castsi128_ps(first),_mm_castsi128_ps(second)));
+ first = _mm_shuffle_epi32(first,0x39);
+ }
+ else if (Offset==2)
+ {
+ first = _mm_castps_si128(_mm_movehl_ps(_mm_castsi128_ps(first),_mm_castsi128_ps(first)));
+ first = _mm_castps_si128(_mm_movelh_ps(_mm_castsi128_ps(first),_mm_castsi128_ps(second)));
+ }
+ else if (Offset==3)
+ {
+ first = _mm_castps_si128(_mm_move_ss(_mm_castsi128_ps(first),_mm_castsi128_ps(second)));
+ first = _mm_castps_si128(_mm_shuffle_ps(_mm_castsi128_ps(first),_mm_castsi128_ps(second),0x93));
+ }
+ }
+};
+
+template<int Offset>
+struct palign_impl<Offset,Packet2d>
+{
+ static EIGEN_STRONG_INLINE void run(Packet2d& first, const Packet2d& second)
+ {
+ if (Offset==1)
+ {
+ first = _mm_castps_pd(_mm_movehl_ps(_mm_castpd_ps(first),_mm_castpd_ps(first)));
+ first = _mm_castps_pd(_mm_movelh_ps(_mm_castpd_ps(first),_mm_castpd_ps(second)));
+ }
+ }
+};
+#endif
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet4f,4>& kernel) {
+ _MM_TRANSPOSE4_PS(kernel.packet[0], kernel.packet[1], kernel.packet[2], kernel.packet[3]);
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet2d,2>& kernel) {
+ __m128d tmp = _mm_unpackhi_pd(kernel.packet[0], kernel.packet[1]);
+ kernel.packet[0] = _mm_unpacklo_pd(kernel.packet[0], kernel.packet[1]);
+ kernel.packet[1] = tmp;
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet4i,4>& kernel) {
+ __m128i T0 = _mm_unpacklo_epi32(kernel.packet[0], kernel.packet[1]);
+ __m128i T1 = _mm_unpacklo_epi32(kernel.packet[2], kernel.packet[3]);
+ __m128i T2 = _mm_unpackhi_epi32(kernel.packet[0], kernel.packet[1]);
+ __m128i T3 = _mm_unpackhi_epi32(kernel.packet[2], kernel.packet[3]);
+
+ kernel.packet[0] = _mm_unpacklo_epi64(T0, T1);
+ kernel.packet[1] = _mm_unpackhi_epi64(T0, T1);
+ kernel.packet[2] = _mm_unpacklo_epi64(T2, T3);
+ kernel.packet[3] = _mm_unpackhi_epi64(T2, T3);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i pblend(const Selector<4>& ifPacket, const Packet4i& thenPacket, const Packet4i& elsePacket) {
+ const __m128i zero = _mm_setzero_si128();
+ const __m128i select = _mm_set_epi32(ifPacket.select[3], ifPacket.select[2], ifPacket.select[1], ifPacket.select[0]);
+ __m128i false_mask = _mm_cmpeq_epi32(select, zero);
+#ifdef EIGEN_VECTORIZE_SSE4_1
+ return _mm_blendv_epi8(thenPacket, elsePacket, false_mask);
+#else
+ return _mm_or_si128(_mm_andnot_si128(false_mask, thenPacket), _mm_and_si128(false_mask, elsePacket));
+#endif
+}
+template<> EIGEN_STRONG_INLINE Packet4f pblend(const Selector<4>& ifPacket, const Packet4f& thenPacket, const Packet4f& elsePacket) {
+ const __m128 zero = _mm_setzero_ps();
+ const __m128 select = _mm_set_ps(ifPacket.select[3], ifPacket.select[2], ifPacket.select[1], ifPacket.select[0]);
+ __m128 false_mask = _mm_cmpeq_ps(select, zero);
+#ifdef EIGEN_VECTORIZE_SSE4_1
+ return _mm_blendv_ps(thenPacket, elsePacket, false_mask);
+#else
+ return _mm_or_ps(_mm_andnot_ps(false_mask, thenPacket), _mm_and_ps(false_mask, elsePacket));
+#endif
+}
+template<> EIGEN_STRONG_INLINE Packet2d pblend(const Selector<2>& ifPacket, const Packet2d& thenPacket, const Packet2d& elsePacket) {
+ const __m128d zero = _mm_setzero_pd();
+ const __m128d select = _mm_set_pd(ifPacket.select[1], ifPacket.select[0]);
+ __m128d false_mask = _mm_cmpeq_pd(select, zero);
+#ifdef EIGEN_VECTORIZE_SSE4_1
+ return _mm_blendv_pd(thenPacket, elsePacket, false_mask);
+#else
+ return _mm_or_pd(_mm_andnot_pd(false_mask, thenPacket), _mm_and_pd(false_mask, elsePacket));
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pinsertfirst(const Packet4f& a, float b)
+{
+#ifdef EIGEN_VECTORIZE_SSE4_1
+ return _mm_blend_ps(a,pset1<Packet4f>(b),1);
+#else
+ return _mm_move_ss(a, _mm_load_ss(&b));
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d pinsertfirst(const Packet2d& a, double b)
+{
+#ifdef EIGEN_VECTORIZE_SSE4_1
+ return _mm_blend_pd(a,pset1<Packet2d>(b),1);
+#else
+ return _mm_move_sd(a, _mm_load_sd(&b));
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pinsertlast(const Packet4f& a, float b)
+{
+#ifdef EIGEN_VECTORIZE_SSE4_1
+ return _mm_blend_ps(a,pset1<Packet4f>(b),(1<<3));
+#else
+ const Packet4f mask = _mm_castsi128_ps(_mm_setr_epi32(0x0,0x0,0x0,0xFFFFFFFF));
+ return _mm_or_ps(_mm_andnot_ps(mask, a), _mm_and_ps(mask, pset1<Packet4f>(b)));
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d pinsertlast(const Packet2d& a, double b)
+{
+#ifdef EIGEN_VECTORIZE_SSE4_1
+ return _mm_blend_pd(a,pset1<Packet2d>(b),(1<<1));
+#else
+ const Packet2d mask = _mm_castsi128_pd(_mm_setr_epi32(0x0,0x0,0xFFFFFFFF,0xFFFFFFFF));
+ return _mm_or_pd(_mm_andnot_pd(mask, a), _mm_and_pd(mask, pset1<Packet2d>(b)));
+#endif
+}
+
+// Scalar path for pmadd with FMA to ensure consistency with vectorized path.
+#ifdef __FMA__
+template<> EIGEN_STRONG_INLINE float pmadd(const float& a, const float& b, const float& c) {
+ return ::fmaf(a,b,c);
+}
+template<> EIGEN_STRONG_INLINE double pmadd(const double& a, const double& b, const double& c) {
+ return ::fma(a,b,c);
+}
+#endif
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#if EIGEN_COMP_PGI
+// PGI++ does not define the following intrinsics in C++ mode.
+static inline __m128 _mm_castpd_ps (__m128d x) { return reinterpret_cast<__m128&>(x); }
+static inline __m128i _mm_castpd_si128(__m128d x) { return reinterpret_cast<__m128i&>(x); }
+static inline __m128d _mm_castps_pd (__m128 x) { return reinterpret_cast<__m128d&>(x); }
+static inline __m128i _mm_castps_si128(__m128 x) { return reinterpret_cast<__m128i&>(x); }
+static inline __m128 _mm_castsi128_ps(__m128i x) { return reinterpret_cast<__m128&>(x); }
+static inline __m128d _mm_castsi128_pd(__m128i x) { return reinterpret_cast<__m128d&>(x); }
+#endif
+
+#endif // EIGEN_PACKET_MATH_SSE_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/SSE/TypeCasting.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/SSE/TypeCasting.h
new file mode 100644
index 0000000..c6ca8c7
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/arch/SSE/TypeCasting.h
@@ -0,0 +1,77 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2015 Benoit Steiner <benoit.steiner.goog@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_TYPE_CASTING_SSE_H
+#define EIGEN_TYPE_CASTING_SSE_H
+
+namespace Eigen {
+
+namespace internal {
+
+#ifndef EIGEN_VECTORIZE_AVX
+template <>
+struct type_casting_traits<float, int> {
+ enum {
+ VectorizedCast = 1,
+ SrcCoeffRatio = 1,
+ TgtCoeffRatio = 1
+ };
+};
+
+template <>
+struct type_casting_traits<int, float> {
+ enum {
+ VectorizedCast = 1,
+ SrcCoeffRatio = 1,
+ TgtCoeffRatio = 1
+ };
+};
+
+template <>
+struct type_casting_traits<double, float> {
+ enum {
+ VectorizedCast = 1,
+ SrcCoeffRatio = 2,
+ TgtCoeffRatio = 1
+ };
+};
+
+template <>
+struct type_casting_traits<float, double> {
+ enum {
+ VectorizedCast = 1,
+ SrcCoeffRatio = 1,
+ TgtCoeffRatio = 2
+ };
+};
+#endif
+
+template<> EIGEN_STRONG_INLINE Packet4i pcast<Packet4f, Packet4i>(const Packet4f& a) {
+ return _mm_cvttps_epi32(a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pcast<Packet4i, Packet4f>(const Packet4i& a) {
+ return _mm_cvtepi32_ps(a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pcast<Packet2d, Packet4f>(const Packet2d& a, const Packet2d& b) {
+ return _mm_shuffle_ps(_mm_cvtpd_ps(a), _mm_cvtpd_ps(b), (1 << 2) | (1 << 6));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d pcast<Packet4f, Packet2d>(const Packet4f& a) {
+ // Simply discard the second half of the input
+ return _mm_cvtps_pd(a);
+}
+
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_TYPE_CASTING_SSE_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/functors/AssignmentFunctors.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/functors/AssignmentFunctors.h
new file mode 100644
index 0000000..4153b87
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/functors/AssignmentFunctors.h
@@ -0,0 +1,168 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_ASSIGNMENT_FUNCTORS_H
+#define EIGEN_ASSIGNMENT_FUNCTORS_H
+
+namespace Eigen {
+
+namespace internal {
+
+/** \internal
+ * \brief Template functor for scalar/packet assignment
+ *
+ */
+template<typename DstScalar,typename SrcScalar> struct assign_op {
+
+ EIGEN_EMPTY_STRUCT_CTOR(assign_op)
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(DstScalar& a, const SrcScalar& b) const { a = b; }
+
+ template<int Alignment, typename Packet>
+ EIGEN_STRONG_INLINE void assignPacket(DstScalar* a, const Packet& b) const
+ { internal::pstoret<DstScalar,Packet,Alignment>(a,b); }
+};
+
+// Empty overload for void type (used by PermutationMatrix)
+template<typename DstScalar> struct assign_op<DstScalar,void> {};
+
+template<typename DstScalar,typename SrcScalar>
+struct functor_traits<assign_op<DstScalar,SrcScalar> > {
+ enum {
+ Cost = NumTraits<DstScalar>::ReadCost,
+ PacketAccess = is_same<DstScalar,SrcScalar>::value && packet_traits<DstScalar>::Vectorizable && packet_traits<SrcScalar>::Vectorizable
+ };
+};
+
+/** \internal
+ * \brief Template functor for scalar/packet assignment with addition
+ *
+ */
+template<typename DstScalar,typename SrcScalar> struct add_assign_op {
+
+ EIGEN_EMPTY_STRUCT_CTOR(add_assign_op)
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(DstScalar& a, const SrcScalar& b) const { a += b; }
+
+ template<int Alignment, typename Packet>
+ EIGEN_STRONG_INLINE void assignPacket(DstScalar* a, const Packet& b) const
+ { internal::pstoret<DstScalar,Packet,Alignment>(a,internal::padd(internal::ploadt<Packet,Alignment>(a),b)); }
+};
+template<typename DstScalar,typename SrcScalar>
+struct functor_traits<add_assign_op<DstScalar,SrcScalar> > {
+ enum {
+ Cost = NumTraits<DstScalar>::ReadCost + NumTraits<DstScalar>::AddCost,
+ PacketAccess = is_same<DstScalar,SrcScalar>::value && packet_traits<DstScalar>::HasAdd
+ };
+};
+
+/** \internal
+ * \brief Template functor for scalar/packet assignment with subtraction
+ *
+ */
+template<typename DstScalar,typename SrcScalar> struct sub_assign_op {
+
+ EIGEN_EMPTY_STRUCT_CTOR(sub_assign_op)
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(DstScalar& a, const SrcScalar& b) const { a -= b; }
+
+ template<int Alignment, typename Packet>
+ EIGEN_STRONG_INLINE void assignPacket(DstScalar* a, const Packet& b) const
+ { internal::pstoret<DstScalar,Packet,Alignment>(a,internal::psub(internal::ploadt<Packet,Alignment>(a),b)); }
+};
+template<typename DstScalar,typename SrcScalar>
+struct functor_traits<sub_assign_op<DstScalar,SrcScalar> > {
+ enum {
+ Cost = NumTraits<DstScalar>::ReadCost + NumTraits<DstScalar>::AddCost,
+ PacketAccess = is_same<DstScalar,SrcScalar>::value && packet_traits<DstScalar>::HasSub
+ };
+};
+
+/** \internal
+ * \brief Template functor for scalar/packet assignment with multiplication
+ *
+ */
+template<typename DstScalar, typename SrcScalar=DstScalar>
+struct mul_assign_op {
+
+ EIGEN_EMPTY_STRUCT_CTOR(mul_assign_op)
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(DstScalar& a, const SrcScalar& b) const { a *= b; }
+
+ template<int Alignment, typename Packet>
+ EIGEN_STRONG_INLINE void assignPacket(DstScalar* a, const Packet& b) const
+ { internal::pstoret<DstScalar,Packet,Alignment>(a,internal::pmul(internal::ploadt<Packet,Alignment>(a),b)); }
+};
+template<typename DstScalar, typename SrcScalar>
+struct functor_traits<mul_assign_op<DstScalar,SrcScalar> > {
+ enum {
+ Cost = NumTraits<DstScalar>::ReadCost + NumTraits<DstScalar>::MulCost,
+ PacketAccess = is_same<DstScalar,SrcScalar>::value && packet_traits<DstScalar>::HasMul
+ };
+};
+
+/** \internal
+ * \brief Template functor for scalar/packet assignment with diviving
+ *
+ */
+template<typename DstScalar, typename SrcScalar=DstScalar> struct div_assign_op {
+
+ EIGEN_EMPTY_STRUCT_CTOR(div_assign_op)
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(DstScalar& a, const SrcScalar& b) const { a /= b; }
+
+ template<int Alignment, typename Packet>
+ EIGEN_STRONG_INLINE void assignPacket(DstScalar* a, const Packet& b) const
+ { internal::pstoret<DstScalar,Packet,Alignment>(a,internal::pdiv(internal::ploadt<Packet,Alignment>(a),b)); }
+};
+template<typename DstScalar, typename SrcScalar>
+struct functor_traits<div_assign_op<DstScalar,SrcScalar> > {
+ enum {
+ Cost = NumTraits<DstScalar>::ReadCost + NumTraits<DstScalar>::MulCost,
+ PacketAccess = is_same<DstScalar,SrcScalar>::value && packet_traits<DstScalar>::HasDiv
+ };
+};
+
+/** \internal
+ * \brief Template functor for scalar/packet assignment with swapping
+ *
+ * It works as follow. For a non-vectorized evaluation loop, we have:
+ * for(i) func(A.coeffRef(i), B.coeff(i));
+ * where B is a SwapWrapper expression. The trick is to make SwapWrapper::coeff behaves like a non-const coeffRef.
+ * Actually, SwapWrapper might not even be needed since even if B is a plain expression, since it has to be writable
+ * B.coeff already returns a const reference to the underlying scalar value.
+ *
+ * The case of a vectorized loop is more tricky:
+ * for(i,j) func.assignPacket<A_Align>(&A.coeffRef(i,j), B.packet<B_Align>(i,j));
+ * Here, B must be a SwapWrapper whose packet function actually returns a proxy object holding a Scalar*,
+ * the actual alignment and Packet type.
+ *
+ */
+template<typename Scalar> struct swap_assign_op {
+
+ EIGEN_EMPTY_STRUCT_CTOR(swap_assign_op)
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(Scalar& a, const Scalar& b) const
+ {
+#ifdef __CUDACC__
+ // FIXME is there some kind of cuda::swap?
+ Scalar t=b; const_cast<Scalar&>(b)=a; a=t;
+#else
+ using std::swap;
+ swap(a,const_cast<Scalar&>(b));
+#endif
+ }
+};
+template<typename Scalar>
+struct functor_traits<swap_assign_op<Scalar> > {
+ enum {
+ Cost = 3 * NumTraits<Scalar>::ReadCost,
+ PacketAccess = packet_traits<Scalar>::Vectorizable
+ };
+};
+
+} // namespace internal
+
+} // namespace Eigen
+
+#endif // EIGEN_ASSIGNMENT_FUNCTORS_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/functors/BinaryFunctors.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/functors/BinaryFunctors.h
new file mode 100644
index 0000000..3eae6b8
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/functors/BinaryFunctors.h
@@ -0,0 +1,475 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_BINARY_FUNCTORS_H
+#define EIGEN_BINARY_FUNCTORS_H
+
+namespace Eigen {
+
+namespace internal {
+
+//---------- associative binary functors ----------
+
+template<typename Arg1, typename Arg2>
+struct binary_op_base
+{
+ typedef Arg1 first_argument_type;
+ typedef Arg2 second_argument_type;
+};
+
+/** \internal
+ * \brief Template functor to compute the sum of two scalars
+ *
+ * \sa class CwiseBinaryOp, MatrixBase::operator+, class VectorwiseOp, DenseBase::sum()
+ */
+template<typename LhsScalar,typename RhsScalar>
+struct scalar_sum_op : binary_op_base<LhsScalar,RhsScalar>
+{
+ typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar,scalar_sum_op>::ReturnType result_type;
+#ifndef EIGEN_SCALAR_BINARY_OP_PLUGIN
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_sum_op)
+#else
+ scalar_sum_op() {
+ EIGEN_SCALAR_BINARY_OP_PLUGIN
+ }
+#endif
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const { return a + b; }
+ template<typename Packet>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+ { return internal::padd(a,b); }
+ template<typename Packet>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type predux(const Packet& a) const
+ { return internal::predux(a); }
+};
+template<typename LhsScalar,typename RhsScalar>
+struct functor_traits<scalar_sum_op<LhsScalar,RhsScalar> > {
+ enum {
+ Cost = (NumTraits<LhsScalar>::AddCost+NumTraits<RhsScalar>::AddCost)/2, // rough estimate!
+ PacketAccess = is_same<LhsScalar,RhsScalar>::value && packet_traits<LhsScalar>::HasAdd && packet_traits<RhsScalar>::HasAdd
+ // TODO vectorize mixed sum
+ };
+};
+
+/** \internal
+ * \brief Template specialization to deprecate the summation of boolean expressions.
+ * This is required to solve Bug 426.
+ * \sa DenseBase::count(), DenseBase::any(), ArrayBase::cast(), MatrixBase::cast()
+ */
+template<> struct scalar_sum_op<bool,bool> : scalar_sum_op<int,int> {
+ EIGEN_DEPRECATED
+ scalar_sum_op() {}
+};
+
+
+/** \internal
+ * \brief Template functor to compute the product of two scalars
+ *
+ * \sa class CwiseBinaryOp, Cwise::operator*(), class VectorwiseOp, MatrixBase::redux()
+ */
+template<typename LhsScalar,typename RhsScalar>
+struct scalar_product_op : binary_op_base<LhsScalar,RhsScalar>
+{
+ typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar,scalar_product_op>::ReturnType result_type;
+#ifndef EIGEN_SCALAR_BINARY_OP_PLUGIN
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_product_op)
+#else
+ scalar_product_op() {
+ EIGEN_SCALAR_BINARY_OP_PLUGIN
+ }
+#endif
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const { return a * b; }
+ template<typename Packet>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+ { return internal::pmul(a,b); }
+ template<typename Packet>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type predux(const Packet& a) const
+ { return internal::predux_mul(a); }
+};
+template<typename LhsScalar,typename RhsScalar>
+struct functor_traits<scalar_product_op<LhsScalar,RhsScalar> > {
+ enum {
+ Cost = (NumTraits<LhsScalar>::MulCost + NumTraits<RhsScalar>::MulCost)/2, // rough estimate!
+ PacketAccess = is_same<LhsScalar,RhsScalar>::value && packet_traits<LhsScalar>::HasMul && packet_traits<RhsScalar>::HasMul
+ // TODO vectorize mixed product
+ };
+};
+
+/** \internal
+ * \brief Template functor to compute the conjugate product of two scalars
+ *
+ * This is a short cut for conj(x) * y which is needed for optimization purpose; in Eigen2 support mode, this becomes x * conj(y)
+ */
+template<typename LhsScalar,typename RhsScalar>
+struct scalar_conj_product_op : binary_op_base<LhsScalar,RhsScalar>
+{
+
+ enum {
+ Conj = NumTraits<LhsScalar>::IsComplex
+ };
+
+ typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar,scalar_conj_product_op>::ReturnType result_type;
+
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_conj_product_op)
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const
+ { return conj_helper<LhsScalar,RhsScalar,Conj,false>().pmul(a,b); }
+
+ template<typename Packet>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+ { return conj_helper<Packet,Packet,Conj,false>().pmul(a,b); }
+};
+template<typename LhsScalar,typename RhsScalar>
+struct functor_traits<scalar_conj_product_op<LhsScalar,RhsScalar> > {
+ enum {
+ Cost = NumTraits<LhsScalar>::MulCost,
+ PacketAccess = internal::is_same<LhsScalar, RhsScalar>::value && packet_traits<LhsScalar>::HasMul
+ };
+};
+
+/** \internal
+ * \brief Template functor to compute the min of two scalars
+ *
+ * \sa class CwiseBinaryOp, MatrixBase::cwiseMin, class VectorwiseOp, MatrixBase::minCoeff()
+ */
+template<typename LhsScalar,typename RhsScalar>
+struct scalar_min_op : binary_op_base<LhsScalar,RhsScalar>
+{
+ typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar,scalar_min_op>::ReturnType result_type;
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_min_op)
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const { return numext::mini(a, b); }
+ template<typename Packet>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+ { return internal::pmin(a,b); }
+ template<typename Packet>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type predux(const Packet& a) const
+ { return internal::predux_min(a); }
+};
+template<typename LhsScalar,typename RhsScalar>
+struct functor_traits<scalar_min_op<LhsScalar,RhsScalar> > {
+ enum {
+ Cost = (NumTraits<LhsScalar>::AddCost+NumTraits<RhsScalar>::AddCost)/2,
+ PacketAccess = internal::is_same<LhsScalar, RhsScalar>::value && packet_traits<LhsScalar>::HasMin
+ };
+};
+
+/** \internal
+ * \brief Template functor to compute the max of two scalars
+ *
+ * \sa class CwiseBinaryOp, MatrixBase::cwiseMax, class VectorwiseOp, MatrixBase::maxCoeff()
+ */
+template<typename LhsScalar,typename RhsScalar>
+struct scalar_max_op : binary_op_base<LhsScalar,RhsScalar>
+{
+ typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar,scalar_max_op>::ReturnType result_type;
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_max_op)
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const { return numext::maxi(a, b); }
+ template<typename Packet>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+ { return internal::pmax(a,b); }
+ template<typename Packet>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type predux(const Packet& a) const
+ { return internal::predux_max(a); }
+};
+template<typename LhsScalar,typename RhsScalar>
+struct functor_traits<scalar_max_op<LhsScalar,RhsScalar> > {
+ enum {
+ Cost = (NumTraits<LhsScalar>::AddCost+NumTraits<RhsScalar>::AddCost)/2,
+ PacketAccess = internal::is_same<LhsScalar, RhsScalar>::value && packet_traits<LhsScalar>::HasMax
+ };
+};
+
+/** \internal
+ * \brief Template functors for comparison of two scalars
+ * \todo Implement packet-comparisons
+ */
+template<typename LhsScalar, typename RhsScalar, ComparisonName cmp> struct scalar_cmp_op;
+
+template<typename LhsScalar, typename RhsScalar, ComparisonName cmp>
+struct functor_traits<scalar_cmp_op<LhsScalar,RhsScalar, cmp> > {
+ enum {
+ Cost = (NumTraits<LhsScalar>::AddCost+NumTraits<RhsScalar>::AddCost)/2,
+ PacketAccess = false
+ };
+};
+
+template<ComparisonName Cmp, typename LhsScalar, typename RhsScalar>
+struct result_of<scalar_cmp_op<LhsScalar, RhsScalar, Cmp>(LhsScalar,RhsScalar)> {
+ typedef bool type;
+};
+
+
+template<typename LhsScalar, typename RhsScalar>
+struct scalar_cmp_op<LhsScalar,RhsScalar, cmp_EQ> : binary_op_base<LhsScalar,RhsScalar>
+{
+ typedef bool result_type;
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op)
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator()(const LhsScalar& a, const RhsScalar& b) const {return a==b;}
+};
+template<typename LhsScalar, typename RhsScalar>
+struct scalar_cmp_op<LhsScalar,RhsScalar, cmp_LT> : binary_op_base<LhsScalar,RhsScalar>
+{
+ typedef bool result_type;
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op)
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator()(const LhsScalar& a, const RhsScalar& b) const {return a<b;}
+};
+template<typename LhsScalar, typename RhsScalar>
+struct scalar_cmp_op<LhsScalar,RhsScalar, cmp_LE> : binary_op_base<LhsScalar,RhsScalar>
+{
+ typedef bool result_type;
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op)
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator()(const LhsScalar& a, const RhsScalar& b) const {return a<=b;}
+};
+template<typename LhsScalar, typename RhsScalar>
+struct scalar_cmp_op<LhsScalar,RhsScalar, cmp_GT> : binary_op_base<LhsScalar,RhsScalar>
+{
+ typedef bool result_type;
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op)
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator()(const LhsScalar& a, const RhsScalar& b) const {return a>b;}
+};
+template<typename LhsScalar, typename RhsScalar>
+struct scalar_cmp_op<LhsScalar,RhsScalar, cmp_GE> : binary_op_base<LhsScalar,RhsScalar>
+{
+ typedef bool result_type;
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op)
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator()(const LhsScalar& a, const RhsScalar& b) const {return a>=b;}
+};
+template<typename LhsScalar, typename RhsScalar>
+struct scalar_cmp_op<LhsScalar,RhsScalar, cmp_UNORD> : binary_op_base<LhsScalar,RhsScalar>
+{
+ typedef bool result_type;
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op)
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator()(const LhsScalar& a, const RhsScalar& b) const {return !(a<=b || b<=a);}
+};
+template<typename LhsScalar, typename RhsScalar>
+struct scalar_cmp_op<LhsScalar,RhsScalar, cmp_NEQ> : binary_op_base<LhsScalar,RhsScalar>
+{
+ typedef bool result_type;
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op)
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator()(const LhsScalar& a, const RhsScalar& b) const {return a!=b;}
+};
+
+
+/** \internal
+ * \brief Template functor to compute the hypot of two \b positive \b and \b real scalars
+ *
+ * \sa MatrixBase::stableNorm(), class Redux
+ */
+template<typename Scalar>
+struct scalar_hypot_op<Scalar,Scalar> : binary_op_base<Scalar,Scalar>
+{
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_hypot_op)
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar &x, const Scalar &y) const
+ {
+ // This functor is used by hypotNorm only for which it is faster to first apply abs
+ // on all coefficients prior to reduction through hypot.
+ // This way we avoid calling abs on positive and real entries, and this also permits
+ // to seamlessly handle complexes. Otherwise we would have to handle both real and complexes
+ // through the same functor...
+ return internal::positive_real_hypot(x,y);
+ }
+};
+template<typename Scalar>
+struct functor_traits<scalar_hypot_op<Scalar,Scalar> > {
+ enum
+ {
+ Cost = 3 * NumTraits<Scalar>::AddCost +
+ 2 * NumTraits<Scalar>::MulCost +
+ 2 * scalar_div_cost<Scalar,false>::value,
+ PacketAccess = false
+ };
+};
+
+/** \internal
+ * \brief Template functor to compute the pow of two scalars
+ */
+template<typename Scalar, typename Exponent>
+struct scalar_pow_op : binary_op_base<Scalar,Exponent>
+{
+ typedef typename ScalarBinaryOpTraits<Scalar,Exponent,scalar_pow_op>::ReturnType result_type;
+#ifndef EIGEN_SCALAR_BINARY_OP_PLUGIN
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_pow_op)
+#else
+ scalar_pow_op() {
+ typedef Scalar LhsScalar;
+ typedef Exponent RhsScalar;
+ EIGEN_SCALAR_BINARY_OP_PLUGIN
+ }
+#endif
+ EIGEN_DEVICE_FUNC
+ inline result_type operator() (const Scalar& a, const Exponent& b) const { return numext::pow(a, b); }
+};
+template<typename Scalar, typename Exponent>
+struct functor_traits<scalar_pow_op<Scalar,Exponent> > {
+ enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess = false };
+};
+
+
+
+//---------- non associative binary functors ----------
+
+/** \internal
+ * \brief Template functor to compute the difference of two scalars
+ *
+ * \sa class CwiseBinaryOp, MatrixBase::operator-
+ */
+template<typename LhsScalar,typename RhsScalar>
+struct scalar_difference_op : binary_op_base<LhsScalar,RhsScalar>
+{
+ typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar,scalar_difference_op>::ReturnType result_type;
+#ifndef EIGEN_SCALAR_BINARY_OP_PLUGIN
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_difference_op)
+#else
+ scalar_difference_op() {
+ EIGEN_SCALAR_BINARY_OP_PLUGIN
+ }
+#endif
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const { return a - b; }
+ template<typename Packet>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+ { return internal::psub(a,b); }
+};
+template<typename LhsScalar,typename RhsScalar>
+struct functor_traits<scalar_difference_op<LhsScalar,RhsScalar> > {
+ enum {
+ Cost = (NumTraits<LhsScalar>::AddCost+NumTraits<RhsScalar>::AddCost)/2,
+ PacketAccess = is_same<LhsScalar,RhsScalar>::value && packet_traits<LhsScalar>::HasSub && packet_traits<RhsScalar>::HasSub
+ };
+};
+
+/** \internal
+ * \brief Template functor to compute the quotient of two scalars
+ *
+ * \sa class CwiseBinaryOp, Cwise::operator/()
+ */
+template<typename LhsScalar,typename RhsScalar>
+struct scalar_quotient_op : binary_op_base<LhsScalar,RhsScalar>
+{
+ typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar,scalar_quotient_op>::ReturnType result_type;
+#ifndef EIGEN_SCALAR_BINARY_OP_PLUGIN
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_quotient_op)
+#else
+ scalar_quotient_op() {
+ EIGEN_SCALAR_BINARY_OP_PLUGIN
+ }
+#endif
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const { return a / b; }
+ template<typename Packet>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+ { return internal::pdiv(a,b); }
+};
+template<typename LhsScalar,typename RhsScalar>
+struct functor_traits<scalar_quotient_op<LhsScalar,RhsScalar> > {
+ typedef typename scalar_quotient_op<LhsScalar,RhsScalar>::result_type result_type;
+ enum {
+ PacketAccess = is_same<LhsScalar,RhsScalar>::value && packet_traits<LhsScalar>::HasDiv && packet_traits<RhsScalar>::HasDiv,
+ Cost = scalar_div_cost<result_type,PacketAccess>::value
+ };
+};
+
+
+
+/** \internal
+ * \brief Template functor to compute the and of two booleans
+ *
+ * \sa class CwiseBinaryOp, ArrayBase::operator&&
+ */
+struct scalar_boolean_and_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_boolean_and_op)
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator() (const bool& a, const bool& b) const { return a && b; }
+};
+template<> struct functor_traits<scalar_boolean_and_op> {
+ enum {
+ Cost = NumTraits<bool>::AddCost,
+ PacketAccess = false
+ };
+};
+
+/** \internal
+ * \brief Template functor to compute the or of two booleans
+ *
+ * \sa class CwiseBinaryOp, ArrayBase::operator||
+ */
+struct scalar_boolean_or_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_boolean_or_op)
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator() (const bool& a, const bool& b) const { return a || b; }
+};
+template<> struct functor_traits<scalar_boolean_or_op> {
+ enum {
+ Cost = NumTraits<bool>::AddCost,
+ PacketAccess = false
+ };
+};
+
+/** \internal
+ * \brief Template functor to compute the xor of two booleans
+ *
+ * \sa class CwiseBinaryOp, ArrayBase::operator^
+ */
+struct scalar_boolean_xor_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_boolean_xor_op)
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator() (const bool& a, const bool& b) const { return a ^ b; }
+};
+template<> struct functor_traits<scalar_boolean_xor_op> {
+ enum {
+ Cost = NumTraits<bool>::AddCost,
+ PacketAccess = false
+ };
+};
+
+
+
+//---------- binary functors bound to a constant, thus appearing as a unary functor ----------
+
+// The following two classes permits to turn any binary functor into a unary one with one argument bound to a constant value.
+// They are analogues to std::binder1st/binder2nd but with the following differences:
+// - they are compatible with packetOp
+// - they are portable across C++ versions (the std::binder* are deprecated in C++11)
+template<typename BinaryOp> struct bind1st_op : BinaryOp {
+
+ typedef typename BinaryOp::first_argument_type first_argument_type;
+ typedef typename BinaryOp::second_argument_type second_argument_type;
+ typedef typename BinaryOp::result_type result_type;
+
+ bind1st_op(const first_argument_type &val) : m_value(val) {}
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const second_argument_type& b) const { return BinaryOp::operator()(m_value,b); }
+
+ template<typename Packet>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& b) const
+ { return BinaryOp::packetOp(internal::pset1<Packet>(m_value), b); }
+
+ first_argument_type m_value;
+};
+template<typename BinaryOp> struct functor_traits<bind1st_op<BinaryOp> > : functor_traits<BinaryOp> {};
+
+
+template<typename BinaryOp> struct bind2nd_op : BinaryOp {
+
+ typedef typename BinaryOp::first_argument_type first_argument_type;
+ typedef typename BinaryOp::second_argument_type second_argument_type;
+ typedef typename BinaryOp::result_type result_type;
+
+ bind2nd_op(const second_argument_type &val) : m_value(val) {}
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const first_argument_type& a) const { return BinaryOp::operator()(a,m_value); }
+
+ template<typename Packet>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
+ { return BinaryOp::packetOp(a,internal::pset1<Packet>(m_value)); }
+
+ second_argument_type m_value;
+};
+template<typename BinaryOp> struct functor_traits<bind2nd_op<BinaryOp> > : functor_traits<BinaryOp> {};
+
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_BINARY_FUNCTORS_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/functors/NullaryFunctors.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/functors/NullaryFunctors.h
new file mode 100644
index 0000000..b03be02
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/functors/NullaryFunctors.h
@@ -0,0 +1,188 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2016 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_NULLARY_FUNCTORS_H
+#define EIGEN_NULLARY_FUNCTORS_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<typename Scalar>
+struct scalar_constant_op {
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE scalar_constant_op(const scalar_constant_op& other) : m_other(other.m_other) { }
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE scalar_constant_op(const Scalar& other) : m_other(other) { }
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() () const { return m_other; }
+ template<typename PacketType>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const PacketType packetOp() const { return internal::pset1<PacketType>(m_other); }
+ const Scalar m_other;
+};
+template<typename Scalar>
+struct functor_traits<scalar_constant_op<Scalar> >
+{ enum { Cost = 0 /* as the constant value should be loaded in register only once for the whole expression */,
+ PacketAccess = packet_traits<Scalar>::Vectorizable, IsRepeatable = true }; };
+
+template<typename Scalar> struct scalar_identity_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_identity_op)
+ template<typename IndexType>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (IndexType row, IndexType col) const { return row==col ? Scalar(1) : Scalar(0); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_identity_op<Scalar> >
+{ enum { Cost = NumTraits<Scalar>::AddCost, PacketAccess = false, IsRepeatable = true }; };
+
+template <typename Scalar, typename Packet, bool IsInteger> struct linspaced_op_impl;
+
+template <typename Scalar, typename Packet>
+struct linspaced_op_impl<Scalar,Packet,/*IsInteger*/false>
+{
+ linspaced_op_impl(const Scalar& low, const Scalar& high, Index num_steps) :
+ m_low(low), m_high(high), m_size1(num_steps==1 ? 1 : num_steps-1), m_step(num_steps==1 ? Scalar() : (high-low)/Scalar(num_steps-1)),
+ m_flip(numext::abs(high)<numext::abs(low))
+ {}
+
+ template<typename IndexType>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (IndexType i) const {
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ if(m_flip)
+ return (i==0)? m_low : (m_high - RealScalar(m_size1-i)*m_step);
+ else
+ return (i==m_size1)? m_high : (m_low + RealScalar(i)*m_step);
+ }
+
+ template<typename IndexType>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(IndexType i) const
+ {
+ // Principle:
+ // [low, ..., low] + ( [step, ..., step] * ( [i, ..., i] + [0, ..., size] ) )
+ if(m_flip)
+ {
+ Packet pi = plset<Packet>(Scalar(i-m_size1));
+ Packet res = padd(pset1<Packet>(m_high), pmul(pset1<Packet>(m_step), pi));
+ if(i==0)
+ res = pinsertfirst(res, m_low);
+ return res;
+ }
+ else
+ {
+ Packet pi = plset<Packet>(Scalar(i));
+ Packet res = padd(pset1<Packet>(m_low), pmul(pset1<Packet>(m_step), pi));
+ if(i==m_size1-unpacket_traits<Packet>::size+1)
+ res = pinsertlast(res, m_high);
+ return res;
+ }
+ }
+
+ const Scalar m_low;
+ const Scalar m_high;
+ const Index m_size1;
+ const Scalar m_step;
+ const bool m_flip;
+};
+
+template <typename Scalar, typename Packet>
+struct linspaced_op_impl<Scalar,Packet,/*IsInteger*/true>
+{
+ linspaced_op_impl(const Scalar& low, const Scalar& high, Index num_steps) :
+ m_low(low),
+ m_multiplier((high-low)/convert_index<Scalar>(num_steps<=1 ? 1 : num_steps-1)),
+ m_divisor(convert_index<Scalar>((high>=low?num_steps:-num_steps)+(high-low))/((numext::abs(high-low)+1)==0?1:(numext::abs(high-low)+1))),
+ m_use_divisor(num_steps>1 && (numext::abs(high-low)+1)<num_steps)
+ {}
+
+ template<typename IndexType>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ const Scalar operator() (IndexType i) const
+ {
+ if(m_use_divisor) return m_low + convert_index<Scalar>(i)/m_divisor;
+ else return m_low + convert_index<Scalar>(i)*m_multiplier;
+ }
+
+ const Scalar m_low;
+ const Scalar m_multiplier;
+ const Scalar m_divisor;
+ const bool m_use_divisor;
+};
+
+// ----- Linspace functor ----------------------------------------------------------------
+
+// Forward declaration (we default to random access which does not really give
+// us a speed gain when using packet access but it allows to use the functor in
+// nested expressions).
+template <typename Scalar, typename PacketType> struct linspaced_op;
+template <typename Scalar, typename PacketType> struct functor_traits< linspaced_op<Scalar,PacketType> >
+{
+ enum
+ {
+ Cost = 1,
+ PacketAccess = (!NumTraits<Scalar>::IsInteger) && packet_traits<Scalar>::HasSetLinear && packet_traits<Scalar>::HasBlend,
+ /*&& ((!NumTraits<Scalar>::IsInteger) || packet_traits<Scalar>::HasDiv),*/ // <- vectorization for integer is currently disabled
+ IsRepeatable = true
+ };
+};
+template <typename Scalar, typename PacketType> struct linspaced_op
+{
+ linspaced_op(const Scalar& low, const Scalar& high, Index num_steps)
+ : impl((num_steps==1 ? high : low),high,num_steps)
+ {}
+
+ template<typename IndexType>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (IndexType i) const { return impl(i); }
+
+ template<typename Packet,typename IndexType>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(IndexType i) const { return impl.packetOp(i); }
+
+ // This proxy object handles the actual required temporaries and the different
+ // implementations (integer vs. floating point).
+ const linspaced_op_impl<Scalar,PacketType,NumTraits<Scalar>::IsInteger> impl;
+};
+
+// Linear access is automatically determined from the operator() prototypes available for the given functor.
+// If it exposes an operator()(i,j), then we assume the i and j coefficients are required independently
+// and linear access is not possible. In all other cases, linear access is enabled.
+// Users should not have to deal with this structure.
+template<typename Functor> struct functor_has_linear_access { enum { ret = !has_binary_operator<Functor>::value }; };
+
+// For unreliable compilers, let's specialize the has_*ary_operator
+// helpers so that at least built-in nullary functors work fine.
+#if !( (EIGEN_COMP_MSVC>1600) || (EIGEN_GNUC_AT_LEAST(4,8)) || (EIGEN_COMP_ICC>=1600))
+template<typename Scalar,typename IndexType>
+struct has_nullary_operator<scalar_constant_op<Scalar>,IndexType> { enum { value = 1}; };
+template<typename Scalar,typename IndexType>
+struct has_unary_operator<scalar_constant_op<Scalar>,IndexType> { enum { value = 0}; };
+template<typename Scalar,typename IndexType>
+struct has_binary_operator<scalar_constant_op<Scalar>,IndexType> { enum { value = 0}; };
+
+template<typename Scalar,typename IndexType>
+struct has_nullary_operator<scalar_identity_op<Scalar>,IndexType> { enum { value = 0}; };
+template<typename Scalar,typename IndexType>
+struct has_unary_operator<scalar_identity_op<Scalar>,IndexType> { enum { value = 0}; };
+template<typename Scalar,typename IndexType>
+struct has_binary_operator<scalar_identity_op<Scalar>,IndexType> { enum { value = 1}; };
+
+template<typename Scalar, typename PacketType,typename IndexType>
+struct has_nullary_operator<linspaced_op<Scalar,PacketType>,IndexType> { enum { value = 0}; };
+template<typename Scalar, typename PacketType,typename IndexType>
+struct has_unary_operator<linspaced_op<Scalar,PacketType>,IndexType> { enum { value = 1}; };
+template<typename Scalar, typename PacketType,typename IndexType>
+struct has_binary_operator<linspaced_op<Scalar,PacketType>,IndexType> { enum { value = 0}; };
+
+template<typename Scalar,typename IndexType>
+struct has_nullary_operator<scalar_random_op<Scalar>,IndexType> { enum { value = 1}; };
+template<typename Scalar,typename IndexType>
+struct has_unary_operator<scalar_random_op<Scalar>,IndexType> { enum { value = 0}; };
+template<typename Scalar,typename IndexType>
+struct has_binary_operator<scalar_random_op<Scalar>,IndexType> { enum { value = 0}; };
+#endif
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_NULLARY_FUNCTORS_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/functors/StlFunctors.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/functors/StlFunctors.h
new file mode 100644
index 0000000..9c1d758
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/functors/StlFunctors.h
@@ -0,0 +1,136 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_STL_FUNCTORS_H
+#define EIGEN_STL_FUNCTORS_H
+
+namespace Eigen {
+
+namespace internal {
+
+// default functor traits for STL functors:
+
+template<typename T>
+struct functor_traits<std::multiplies<T> >
+{ enum { Cost = NumTraits<T>::MulCost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::divides<T> >
+{ enum { Cost = NumTraits<T>::MulCost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::plus<T> >
+{ enum { Cost = NumTraits<T>::AddCost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::minus<T> >
+{ enum { Cost = NumTraits<T>::AddCost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::negate<T> >
+{ enum { Cost = NumTraits<T>::AddCost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::logical_or<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::logical_and<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::logical_not<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::greater<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::less<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::greater_equal<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::less_equal<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::equal_to<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::not_equal_to<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+#if (__cplusplus < 201103L) && (EIGEN_COMP_MSVC <= 1900)
+// std::binder* are deprecated since c++11 and will be removed in c++17
+template<typename T>
+struct functor_traits<std::binder2nd<T> >
+{ enum { Cost = functor_traits<T>::Cost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::binder1st<T> >
+{ enum { Cost = functor_traits<T>::Cost, PacketAccess = false }; };
+#endif
+
+#if (__cplusplus < 201703L) && (EIGEN_COMP_MSVC < 1910)
+// std::unary_negate is deprecated since c++17 and will be removed in c++20
+template<typename T>
+struct functor_traits<std::unary_negate<T> >
+{ enum { Cost = 1 + functor_traits<T>::Cost, PacketAccess = false }; };
+
+// std::binary_negate is deprecated since c++17 and will be removed in c++20
+template<typename T>
+struct functor_traits<std::binary_negate<T> >
+{ enum { Cost = 1 + functor_traits<T>::Cost, PacketAccess = false }; };
+#endif
+
+#ifdef EIGEN_STDEXT_SUPPORT
+
+template<typename T0,typename T1>
+struct functor_traits<std::project1st<T0,T1> >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+template<typename T0,typename T1>
+struct functor_traits<std::project2nd<T0,T1> >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+template<typename T0,typename T1>
+struct functor_traits<std::select2nd<std::pair<T0,T1> > >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+template<typename T0,typename T1>
+struct functor_traits<std::select1st<std::pair<T0,T1> > >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+template<typename T0,typename T1>
+struct functor_traits<std::unary_compose<T0,T1> >
+{ enum { Cost = functor_traits<T0>::Cost + functor_traits<T1>::Cost, PacketAccess = false }; };
+
+template<typename T0,typename T1,typename T2>
+struct functor_traits<std::binary_compose<T0,T1,T2> >
+{ enum { Cost = functor_traits<T0>::Cost + functor_traits<T1>::Cost + functor_traits<T2>::Cost, PacketAccess = false }; };
+
+#endif // EIGEN_STDEXT_SUPPORT
+
+// allow to add new functors and specializations of functor_traits from outside Eigen.
+// this macro is really needed because functor_traits must be specialized after it is declared but before it is used...
+#ifdef EIGEN_FUNCTORS_PLUGIN
+#include EIGEN_FUNCTORS_PLUGIN
+#endif
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_STL_FUNCTORS_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/functors/TernaryFunctors.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/functors/TernaryFunctors.h
new file mode 100644
index 0000000..b254e96
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/functors/TernaryFunctors.h
@@ -0,0 +1,25 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2016 Eugene Brevdo <ebrevdo@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_TERNARY_FUNCTORS_H
+#define EIGEN_TERNARY_FUNCTORS_H
+
+namespace Eigen {
+
+namespace internal {
+
+//---------- associative ternary functors ----------
+
+
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_TERNARY_FUNCTORS_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/functors/UnaryFunctors.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/functors/UnaryFunctors.h
new file mode 100644
index 0000000..2e6a00f
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/functors/UnaryFunctors.h
@@ -0,0 +1,792 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2016 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_UNARY_FUNCTORS_H
+#define EIGEN_UNARY_FUNCTORS_H
+
+namespace Eigen {
+
+namespace internal {
+
+/** \internal
+ * \brief Template functor to compute the opposite of a scalar
+ *
+ * \sa class CwiseUnaryOp, MatrixBase::operator-
+ */
+template<typename Scalar> struct scalar_opposite_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_opposite_op)
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { return -a; }
+ template<typename Packet>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
+ { return internal::pnegate(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_opposite_op<Scalar> >
+{ enum {
+ Cost = NumTraits<Scalar>::AddCost,
+ PacketAccess = packet_traits<Scalar>::HasNegate };
+};
+
+/** \internal
+ * \brief Template functor to compute the absolute value of a scalar
+ *
+ * \sa class CwiseUnaryOp, Cwise::abs
+ */
+template<typename Scalar> struct scalar_abs_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_abs_op)
+ typedef typename NumTraits<Scalar>::Real result_type;
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const Scalar& a) const { return numext::abs(a); }
+ template<typename Packet>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
+ { return internal::pabs(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_abs_op<Scalar> >
+{
+ enum {
+ Cost = NumTraits<Scalar>::AddCost,
+ PacketAccess = packet_traits<Scalar>::HasAbs
+ };
+};
+
+/** \internal
+ * \brief Template functor to compute the score of a scalar, to chose a pivot
+ *
+ * \sa class CwiseUnaryOp
+ */
+template<typename Scalar> struct scalar_score_coeff_op : scalar_abs_op<Scalar>
+{
+ typedef void Score_is_abs;
+};
+template<typename Scalar>
+struct functor_traits<scalar_score_coeff_op<Scalar> > : functor_traits<scalar_abs_op<Scalar> > {};
+
+/* Avoid recomputing abs when we know the score and they are the same. Not a true Eigen functor. */
+template<typename Scalar, typename=void> struct abs_knowing_score
+{
+ EIGEN_EMPTY_STRUCT_CTOR(abs_knowing_score)
+ typedef typename NumTraits<Scalar>::Real result_type;
+ template<typename Score>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const Scalar& a, const Score&) const { return numext::abs(a); }
+};
+template<typename Scalar> struct abs_knowing_score<Scalar, typename scalar_score_coeff_op<Scalar>::Score_is_abs>
+{
+ EIGEN_EMPTY_STRUCT_CTOR(abs_knowing_score)
+ typedef typename NumTraits<Scalar>::Real result_type;
+ template<typename Scal>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const Scal&, const result_type& a) const { return a; }
+};
+
+/** \internal
+ * \brief Template functor to compute the squared absolute value of a scalar
+ *
+ * \sa class CwiseUnaryOp, Cwise::abs2
+ */
+template<typename Scalar> struct scalar_abs2_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_abs2_op)
+ typedef typename NumTraits<Scalar>::Real result_type;
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE const result_type operator() (const Scalar& a) const { return numext::abs2(a); }
+ template<typename Packet>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
+ { return internal::pmul(a,a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_abs2_op<Scalar> >
+{ enum { Cost = NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasAbs2 }; };
+
+/** \internal
+ * \brief Template functor to compute the conjugate of a complex value
+ *
+ * \sa class CwiseUnaryOp, MatrixBase::conjugate()
+ */
+template<typename Scalar> struct scalar_conjugate_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_conjugate_op)
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { using numext::conj; return conj(a); }
+ template<typename Packet>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const { return internal::pconj(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_conjugate_op<Scalar> >
+{
+ enum {
+ Cost = NumTraits<Scalar>::IsComplex ? NumTraits<Scalar>::AddCost : 0,
+ PacketAccess = packet_traits<Scalar>::HasConj
+ };
+};
+
+/** \internal
+ * \brief Template functor to compute the phase angle of a complex
+ *
+ * \sa class CwiseUnaryOp, Cwise::arg
+ */
+template<typename Scalar> struct scalar_arg_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_arg_op)
+ typedef typename NumTraits<Scalar>::Real result_type;
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const Scalar& a) const { using numext::arg; return arg(a); }
+ template<typename Packet>
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
+ { return internal::parg(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_arg_op<Scalar> >
+{
+ enum {
+ Cost = NumTraits<Scalar>::IsComplex ? 5 * NumTraits<Scalar>::MulCost : NumTraits<Scalar>::AddCost,
+ PacketAccess = packet_traits<Scalar>::HasArg
+ };
+};
+/** \internal
+ * \brief Template functor to cast a scalar to another type
+ *
+ * \sa class CwiseUnaryOp, MatrixBase::cast()
+ */
+template<typename Scalar, typename NewType>
+struct scalar_cast_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_cast_op)
+ typedef NewType result_type;
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const NewType operator() (const Scalar& a) const { return cast<Scalar, NewType>(a); }
+};
+template<typename Scalar, typename NewType>
+struct functor_traits<scalar_cast_op<Scalar,NewType> >
+{ enum { Cost = is_same<Scalar, NewType>::value ? 0 : NumTraits<NewType>::AddCost, PacketAccess = false }; };
+
+/** \internal
+ * \brief Template functor to extract the real part of a complex
+ *
+ * \sa class CwiseUnaryOp, MatrixBase::real()
+ */
+template<typename Scalar>
+struct scalar_real_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_real_op)
+ typedef typename NumTraits<Scalar>::Real result_type;
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE result_type operator() (const Scalar& a) const { return numext::real(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_real_op<Scalar> >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+/** \internal
+ * \brief Template functor to extract the imaginary part of a complex
+ *
+ * \sa class CwiseUnaryOp, MatrixBase::imag()
+ */
+template<typename Scalar>
+struct scalar_imag_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_imag_op)
+ typedef typename NumTraits<Scalar>::Real result_type;
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE result_type operator() (const Scalar& a) const { return numext::imag(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_imag_op<Scalar> >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+/** \internal
+ * \brief Template functor to extract the real part of a complex as a reference
+ *
+ * \sa class CwiseUnaryOp, MatrixBase::real()
+ */
+template<typename Scalar>
+struct scalar_real_ref_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_real_ref_op)
+ typedef typename NumTraits<Scalar>::Real result_type;
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE result_type& operator() (const Scalar& a) const { return numext::real_ref(*const_cast<Scalar*>(&a)); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_real_ref_op<Scalar> >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+/** \internal
+ * \brief Template functor to extract the imaginary part of a complex as a reference
+ *
+ * \sa class CwiseUnaryOp, MatrixBase::imag()
+ */
+template<typename Scalar>
+struct scalar_imag_ref_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_imag_ref_op)
+ typedef typename NumTraits<Scalar>::Real result_type;
+ EIGEN_DEVICE_FUNC
+ EIGEN_STRONG_INLINE result_type& operator() (const Scalar& a) const { return numext::imag_ref(*const_cast<Scalar*>(&a)); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_imag_ref_op<Scalar> >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+/** \internal
+ *
+ * \brief Template functor to compute the exponential of a scalar
+ *
+ * \sa class CwiseUnaryOp, Cwise::exp()
+ */
+template<typename Scalar> struct scalar_exp_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_exp_op)
+ EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::exp(a); }
+ template <typename Packet>
+ EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::pexp(a); }
+};
+template <typename Scalar>
+struct functor_traits<scalar_exp_op<Scalar> > {
+ enum {
+ PacketAccess = packet_traits<Scalar>::HasExp,
+ // The following numbers are based on the AVX implementation.
+#ifdef EIGEN_VECTORIZE_FMA
+ // Haswell can issue 2 add/mul/madd per cycle.
+ Cost =
+ (sizeof(Scalar) == 4
+ // float: 8 pmadd, 4 pmul, 2 padd/psub, 6 other
+ ? (8 * NumTraits<Scalar>::AddCost + 6 * NumTraits<Scalar>::MulCost)
+ // double: 7 pmadd, 5 pmul, 3 padd/psub, 1 div, 13 other
+ : (14 * NumTraits<Scalar>::AddCost +
+ 6 * NumTraits<Scalar>::MulCost +
+ scalar_div_cost<Scalar,packet_traits<Scalar>::HasDiv>::value))
+#else
+ Cost =
+ (sizeof(Scalar) == 4
+ // float: 7 pmadd, 6 pmul, 4 padd/psub, 10 other
+ ? (21 * NumTraits<Scalar>::AddCost + 13 * NumTraits<Scalar>::MulCost)
+ // double: 7 pmadd, 5 pmul, 3 padd/psub, 1 div, 13 other
+ : (23 * NumTraits<Scalar>::AddCost +
+ 12 * NumTraits<Scalar>::MulCost +
+ scalar_div_cost<Scalar,packet_traits<Scalar>::HasDiv>::value))
+#endif
+ };
+};
+
+/** \internal
+ *
+ * \brief Template functor to compute the logarithm of a scalar
+ *
+ * \sa class CwiseUnaryOp, ArrayBase::log()
+ */
+template<typename Scalar> struct scalar_log_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_log_op)
+ EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::log(a); }
+ template <typename Packet>
+ EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::plog(a); }
+};
+template <typename Scalar>
+struct functor_traits<scalar_log_op<Scalar> > {
+ enum {
+ PacketAccess = packet_traits<Scalar>::HasLog,
+ Cost =
+ (PacketAccess
+ // The following numbers are based on the AVX implementation.
+#ifdef EIGEN_VECTORIZE_FMA
+ // 8 pmadd, 6 pmul, 8 padd/psub, 16 other, can issue 2 add/mul/madd per cycle.
+ ? (20 * NumTraits<Scalar>::AddCost + 7 * NumTraits<Scalar>::MulCost)
+#else
+ // 8 pmadd, 6 pmul, 8 padd/psub, 20 other
+ ? (36 * NumTraits<Scalar>::AddCost + 14 * NumTraits<Scalar>::MulCost)
+#endif
+ // Measured cost of std::log.
+ : sizeof(Scalar)==4 ? 40 : 85)
+ };
+};
+
+/** \internal
+ *
+ * \brief Template functor to compute the logarithm of 1 plus a scalar value
+ *
+ * \sa class CwiseUnaryOp, ArrayBase::log1p()
+ */
+template<typename Scalar> struct scalar_log1p_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_log1p_op)
+ EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::log1p(a); }
+ template <typename Packet>
+ EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::plog1p(a); }
+};
+template <typename Scalar>
+struct functor_traits<scalar_log1p_op<Scalar> > {
+ enum {
+ PacketAccess = packet_traits<Scalar>::HasLog1p,
+ Cost = functor_traits<scalar_log_op<Scalar> >::Cost // TODO measure cost of log1p
+ };
+};
+
+/** \internal
+ *
+ * \brief Template functor to compute the base-10 logarithm of a scalar
+ *
+ * \sa class CwiseUnaryOp, Cwise::log10()
+ */
+template<typename Scalar> struct scalar_log10_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_log10_op)
+ EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { EIGEN_USING_STD_MATH(log10) return log10(a); }
+ template <typename Packet>
+ EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::plog10(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_log10_op<Scalar> >
+{ enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasLog10 }; };
+
+/** \internal
+ * \brief Template functor to compute the square root of a scalar
+ * \sa class CwiseUnaryOp, Cwise::sqrt()
+ */
+template<typename Scalar> struct scalar_sqrt_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_sqrt_op)
+ EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::sqrt(a); }
+ template <typename Packet>
+ EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::psqrt(a); }
+};
+template <typename Scalar>
+struct functor_traits<scalar_sqrt_op<Scalar> > {
+ enum {
+#if EIGEN_FAST_MATH
+ // The following numbers are based on the AVX implementation.
+ Cost = (sizeof(Scalar) == 8 ? 28
+ // 4 pmul, 1 pmadd, 3 other
+ : (3 * NumTraits<Scalar>::AddCost +
+ 5 * NumTraits<Scalar>::MulCost)),
+#else
+ // The following numbers are based on min VSQRT throughput on Haswell.
+ Cost = (sizeof(Scalar) == 8 ? 28 : 14),
+#endif
+ PacketAccess = packet_traits<Scalar>::HasSqrt
+ };
+};
+
+/** \internal
+ * \brief Template functor to compute the reciprocal square root of a scalar
+ * \sa class CwiseUnaryOp, Cwise::rsqrt()
+ */
+template<typename Scalar> struct scalar_rsqrt_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_rsqrt_op)
+ EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return Scalar(1)/numext::sqrt(a); }
+ template <typename Packet>
+ EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::prsqrt(a); }
+};
+
+template<typename Scalar>
+struct functor_traits<scalar_rsqrt_op<Scalar> >
+{ enum {
+ Cost = 5 * NumTraits<Scalar>::MulCost,
+ PacketAccess = packet_traits<Scalar>::HasRsqrt
+ };
+};
+
+/** \internal
+ * \brief Template functor to compute the cosine of a scalar
+ * \sa class CwiseUnaryOp, ArrayBase::cos()
+ */
+template<typename Scalar> struct scalar_cos_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_cos_op)
+ EIGEN_DEVICE_FUNC inline Scalar operator() (const Scalar& a) const { return numext::cos(a); }
+ template <typename Packet>
+ EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::pcos(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_cos_op<Scalar> >
+{
+ enum {
+ Cost = 5 * NumTraits<Scalar>::MulCost,
+ PacketAccess = packet_traits<Scalar>::HasCos
+ };
+};
+
+/** \internal
+ * \brief Template functor to compute the sine of a scalar
+ * \sa class CwiseUnaryOp, ArrayBase::sin()
+ */
+template<typename Scalar> struct scalar_sin_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_sin_op)
+ EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::sin(a); }
+ template <typename Packet>
+ EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::psin(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_sin_op<Scalar> >
+{
+ enum {
+ Cost = 5 * NumTraits<Scalar>::MulCost,
+ PacketAccess = packet_traits<Scalar>::HasSin
+ };
+};
+
+
+/** \internal
+ * \brief Template functor to compute the tan of a scalar
+ * \sa class CwiseUnaryOp, ArrayBase::tan()
+ */
+template<typename Scalar> struct scalar_tan_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_tan_op)
+ EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::tan(a); }
+ template <typename Packet>
+ EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::ptan(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_tan_op<Scalar> >
+{
+ enum {
+ Cost = 5 * NumTraits<Scalar>::MulCost,
+ PacketAccess = packet_traits<Scalar>::HasTan
+ };
+};
+
+/** \internal
+ * \brief Template functor to compute the arc cosine of a scalar
+ * \sa class CwiseUnaryOp, ArrayBase::acos()
+ */
+template<typename Scalar> struct scalar_acos_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_acos_op)
+ EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::acos(a); }
+ template <typename Packet>
+ EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::pacos(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_acos_op<Scalar> >
+{
+ enum {
+ Cost = 5 * NumTraits<Scalar>::MulCost,
+ PacketAccess = packet_traits<Scalar>::HasACos
+ };
+};
+
+/** \internal
+ * \brief Template functor to compute the arc sine of a scalar
+ * \sa class CwiseUnaryOp, ArrayBase::asin()
+ */
+template<typename Scalar> struct scalar_asin_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_asin_op)
+ EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::asin(a); }
+ template <typename Packet>
+ EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::pasin(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_asin_op<Scalar> >
+{
+ enum {
+ Cost = 5 * NumTraits<Scalar>::MulCost,
+ PacketAccess = packet_traits<Scalar>::HasASin
+ };
+};
+
+
+/** \internal
+ * \brief Template functor to compute the atan of a scalar
+ * \sa class CwiseUnaryOp, ArrayBase::atan()
+ */
+template<typename Scalar> struct scalar_atan_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_atan_op)
+ EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::atan(a); }
+ template <typename Packet>
+ EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::patan(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_atan_op<Scalar> >
+{
+ enum {
+ Cost = 5 * NumTraits<Scalar>::MulCost,
+ PacketAccess = packet_traits<Scalar>::HasATan
+ };
+};
+
+/** \internal
+ * \brief Template functor to compute the tanh of a scalar
+ * \sa class CwiseUnaryOp, ArrayBase::tanh()
+ */
+template <typename Scalar>
+struct scalar_tanh_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_tanh_op)
+ EIGEN_DEVICE_FUNC inline const Scalar operator()(const Scalar& a) const { return numext::tanh(a); }
+ template <typename Packet>
+ EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& x) const { return ptanh(x); }
+};
+
+template <typename Scalar>
+struct functor_traits<scalar_tanh_op<Scalar> > {
+ enum {
+ PacketAccess = packet_traits<Scalar>::HasTanh,
+ Cost = ( (EIGEN_FAST_MATH && is_same<Scalar,float>::value)
+// The following numbers are based on the AVX implementation,
+#ifdef EIGEN_VECTORIZE_FMA
+ // Haswell can issue 2 add/mul/madd per cycle.
+ // 9 pmadd, 2 pmul, 1 div, 2 other
+ ? (2 * NumTraits<Scalar>::AddCost +
+ 6 * NumTraits<Scalar>::MulCost +
+ scalar_div_cost<Scalar,packet_traits<Scalar>::HasDiv>::value)
+#else
+ ? (11 * NumTraits<Scalar>::AddCost +
+ 11 * NumTraits<Scalar>::MulCost +
+ scalar_div_cost<Scalar,packet_traits<Scalar>::HasDiv>::value)
+#endif
+ // This number assumes a naive implementation of tanh
+ : (6 * NumTraits<Scalar>::AddCost +
+ 3 * NumTraits<Scalar>::MulCost +
+ 2 * scalar_div_cost<Scalar,packet_traits<Scalar>::HasDiv>::value +
+ functor_traits<scalar_exp_op<Scalar> >::Cost))
+ };
+};
+
+/** \internal
+ * \brief Template functor to compute the sinh of a scalar
+ * \sa class CwiseUnaryOp, ArrayBase::sinh()
+ */
+template<typename Scalar> struct scalar_sinh_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_sinh_op)
+ EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::sinh(a); }
+ template <typename Packet>
+ EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::psinh(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_sinh_op<Scalar> >
+{
+ enum {
+ Cost = 5 * NumTraits<Scalar>::MulCost,
+ PacketAccess = packet_traits<Scalar>::HasSinh
+ };
+};
+
+/** \internal
+ * \brief Template functor to compute the cosh of a scalar
+ * \sa class CwiseUnaryOp, ArrayBase::cosh()
+ */
+template<typename Scalar> struct scalar_cosh_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_cosh_op)
+ EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::cosh(a); }
+ template <typename Packet>
+ EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::pcosh(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_cosh_op<Scalar> >
+{
+ enum {
+ Cost = 5 * NumTraits<Scalar>::MulCost,
+ PacketAccess = packet_traits<Scalar>::HasCosh
+ };
+};
+
+/** \internal
+ * \brief Template functor to compute the inverse of a scalar
+ * \sa class CwiseUnaryOp, Cwise::inverse()
+ */
+template<typename Scalar>
+struct scalar_inverse_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_inverse_op)
+ EIGEN_DEVICE_FUNC inline Scalar operator() (const Scalar& a) const { return Scalar(1)/a; }
+ template<typename Packet>
+ EIGEN_DEVICE_FUNC inline const Packet packetOp(const Packet& a) const
+ { return internal::pdiv(pset1<Packet>(Scalar(1)),a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_inverse_op<Scalar> >
+{ enum { Cost = NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasDiv }; };
+
+/** \internal
+ * \brief Template functor to compute the square of a scalar
+ * \sa class CwiseUnaryOp, Cwise::square()
+ */
+template<typename Scalar>
+struct scalar_square_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_square_op)
+ EIGEN_DEVICE_FUNC inline Scalar operator() (const Scalar& a) const { return a*a; }
+ template<typename Packet>
+ EIGEN_DEVICE_FUNC inline const Packet packetOp(const Packet& a) const
+ { return internal::pmul(a,a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_square_op<Scalar> >
+{ enum { Cost = NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasMul }; };
+
+/** \internal
+ * \brief Template functor to compute the cube of a scalar
+ * \sa class CwiseUnaryOp, Cwise::cube()
+ */
+template<typename Scalar>
+struct scalar_cube_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_cube_op)
+ EIGEN_DEVICE_FUNC inline Scalar operator() (const Scalar& a) const { return a*a*a; }
+ template<typename Packet>
+ EIGEN_DEVICE_FUNC inline const Packet packetOp(const Packet& a) const
+ { return internal::pmul(a,pmul(a,a)); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_cube_op<Scalar> >
+{ enum { Cost = 2*NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasMul }; };
+
+/** \internal
+ * \brief Template functor to compute the rounded value of a scalar
+ * \sa class CwiseUnaryOp, ArrayBase::round()
+ */
+template<typename Scalar> struct scalar_round_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_round_op)
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { return numext::round(a); }
+ template <typename Packet>
+ EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::pround(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_round_op<Scalar> >
+{
+ enum {
+ Cost = NumTraits<Scalar>::MulCost,
+ PacketAccess = packet_traits<Scalar>::HasRound
+ };
+};
+
+/** \internal
+ * \brief Template functor to compute the floor of a scalar
+ * \sa class CwiseUnaryOp, ArrayBase::floor()
+ */
+template<typename Scalar> struct scalar_floor_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_floor_op)
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { return numext::floor(a); }
+ template <typename Packet>
+ EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::pfloor(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_floor_op<Scalar> >
+{
+ enum {
+ Cost = NumTraits<Scalar>::MulCost,
+ PacketAccess = packet_traits<Scalar>::HasFloor
+ };
+};
+
+/** \internal
+ * \brief Template functor to compute the ceil of a scalar
+ * \sa class CwiseUnaryOp, ArrayBase::ceil()
+ */
+template<typename Scalar> struct scalar_ceil_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_ceil_op)
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { return numext::ceil(a); }
+ template <typename Packet>
+ EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::pceil(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_ceil_op<Scalar> >
+{
+ enum {
+ Cost = NumTraits<Scalar>::MulCost,
+ PacketAccess = packet_traits<Scalar>::HasCeil
+ };
+};
+
+/** \internal
+ * \brief Template functor to compute whether a scalar is NaN
+ * \sa class CwiseUnaryOp, ArrayBase::isnan()
+ */
+template<typename Scalar> struct scalar_isnan_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_isnan_op)
+ typedef bool result_type;
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE result_type operator() (const Scalar& a) const { return (numext::isnan)(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_isnan_op<Scalar> >
+{
+ enum {
+ Cost = NumTraits<Scalar>::MulCost,
+ PacketAccess = false
+ };
+};
+
+/** \internal
+ * \brief Template functor to check whether a scalar is +/-inf
+ * \sa class CwiseUnaryOp, ArrayBase::isinf()
+ */
+template<typename Scalar> struct scalar_isinf_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_isinf_op)
+ typedef bool result_type;
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE result_type operator() (const Scalar& a) const { return (numext::isinf)(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_isinf_op<Scalar> >
+{
+ enum {
+ Cost = NumTraits<Scalar>::MulCost,
+ PacketAccess = false
+ };
+};
+
+/** \internal
+ * \brief Template functor to check whether a scalar has a finite value
+ * \sa class CwiseUnaryOp, ArrayBase::isfinite()
+ */
+template<typename Scalar> struct scalar_isfinite_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_isfinite_op)
+ typedef bool result_type;
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE result_type operator() (const Scalar& a) const { return (numext::isfinite)(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_isfinite_op<Scalar> >
+{
+ enum {
+ Cost = NumTraits<Scalar>::MulCost,
+ PacketAccess = false
+ };
+};
+
+/** \internal
+ * \brief Template functor to compute the logical not of a boolean
+ *
+ * \sa class CwiseUnaryOp, ArrayBase::operator!
+ */
+template<typename Scalar> struct scalar_boolean_not_op {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_boolean_not_op)
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator() (const bool& a) const { return !a; }
+};
+template<typename Scalar>
+struct functor_traits<scalar_boolean_not_op<Scalar> > {
+ enum {
+ Cost = NumTraits<bool>::AddCost,
+ PacketAccess = false
+ };
+};
+
+/** \internal
+ * \brief Template functor to compute the signum of a scalar
+ * \sa class CwiseUnaryOp, Cwise::sign()
+ */
+template<typename Scalar,bool iscpx=(NumTraits<Scalar>::IsComplex!=0) > struct scalar_sign_op;
+template<typename Scalar>
+struct scalar_sign_op<Scalar,false> {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_sign_op)
+ EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const
+ {
+ return Scalar( (a>Scalar(0)) - (a<Scalar(0)) );
+ }
+ //TODO
+ //template <typename Packet>
+ //EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::psign(a); }
+};
+template<typename Scalar>
+struct scalar_sign_op<Scalar,true> {
+ EIGEN_EMPTY_STRUCT_CTOR(scalar_sign_op)
+ EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const
+ {
+ typedef typename NumTraits<Scalar>::Real real_type;
+ real_type aa = numext::abs(a);
+ if (aa==real_type(0))
+ return Scalar(0);
+ aa = real_type(1)/aa;
+ return Scalar(real(a)*aa, imag(a)*aa );
+ }
+ //TODO
+ //template <typename Packet>
+ //EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::psign(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_sign_op<Scalar> >
+{ enum {
+ Cost =
+ NumTraits<Scalar>::IsComplex
+ ? ( 8*NumTraits<Scalar>::MulCost ) // roughly
+ : ( 3*NumTraits<Scalar>::AddCost),
+ PacketAccess = packet_traits<Scalar>::HasSign
+ };
+};
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_FUNCTORS_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/GeneralBlockPanelKernel.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/GeneralBlockPanelKernel.h
new file mode 100644
index 0000000..e3980f6
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/GeneralBlockPanelKernel.h
@@ -0,0 +1,2156 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_GENERAL_BLOCK_PANEL_H
+#define EIGEN_GENERAL_BLOCK_PANEL_H
+
+
+namespace Eigen {
+
+namespace internal {
+
+template<typename _LhsScalar, typename _RhsScalar, bool _ConjLhs=false, bool _ConjRhs=false>
+class gebp_traits;
+
+
+/** \internal \returns b if a<=0, and returns a otherwise. */
+inline std::ptrdiff_t manage_caching_sizes_helper(std::ptrdiff_t a, std::ptrdiff_t b)
+{
+ return a<=0 ? b : a;
+}
+
+#if EIGEN_ARCH_i386_OR_x86_64
+const std::ptrdiff_t defaultL1CacheSize = 32*1024;
+const std::ptrdiff_t defaultL2CacheSize = 256*1024;
+const std::ptrdiff_t defaultL3CacheSize = 2*1024*1024;
+#else
+const std::ptrdiff_t defaultL1CacheSize = 16*1024;
+const std::ptrdiff_t defaultL2CacheSize = 512*1024;
+const std::ptrdiff_t defaultL3CacheSize = 512*1024;
+#endif
+
+/** \internal */
+struct CacheSizes {
+ CacheSizes(): m_l1(-1),m_l2(-1),m_l3(-1) {
+ int l1CacheSize, l2CacheSize, l3CacheSize;
+ queryCacheSizes(l1CacheSize, l2CacheSize, l3CacheSize);
+ m_l1 = manage_caching_sizes_helper(l1CacheSize, defaultL1CacheSize);
+ m_l2 = manage_caching_sizes_helper(l2CacheSize, defaultL2CacheSize);
+ m_l3 = manage_caching_sizes_helper(l3CacheSize, defaultL3CacheSize);
+ }
+
+ std::ptrdiff_t m_l1;
+ std::ptrdiff_t m_l2;
+ std::ptrdiff_t m_l3;
+};
+
+
+/** \internal */
+inline void manage_caching_sizes(Action action, std::ptrdiff_t* l1, std::ptrdiff_t* l2, std::ptrdiff_t* l3)
+{
+ static CacheSizes m_cacheSizes;
+
+ if(action==SetAction)
+ {
+ // set the cpu cache size and cache all block sizes from a global cache size in byte
+ eigen_internal_assert(l1!=0 && l2!=0);
+ m_cacheSizes.m_l1 = *l1;
+ m_cacheSizes.m_l2 = *l2;
+ m_cacheSizes.m_l3 = *l3;
+ }
+ else if(action==GetAction)
+ {
+ eigen_internal_assert(l1!=0 && l2!=0);
+ *l1 = m_cacheSizes.m_l1;
+ *l2 = m_cacheSizes.m_l2;
+ *l3 = m_cacheSizes.m_l3;
+ }
+ else
+ {
+ eigen_internal_assert(false);
+ }
+}
+
+/* Helper for computeProductBlockingSizes.
+ *
+ * Given a m x k times k x n matrix product of scalar types \c LhsScalar and \c RhsScalar,
+ * this function computes the blocking size parameters along the respective dimensions
+ * for matrix products and related algorithms. The blocking sizes depends on various
+ * parameters:
+ * - the L1 and L2 cache sizes,
+ * - the register level blocking sizes defined by gebp_traits,
+ * - the number of scalars that fit into a packet (when vectorization is enabled).
+ *
+ * \sa setCpuCacheSizes */
+
+template<typename LhsScalar, typename RhsScalar, int KcFactor, typename Index>
+void evaluateProductBlockingSizesHeuristic(Index& k, Index& m, Index& n, Index num_threads = 1)
+{
+ typedef gebp_traits<LhsScalar,RhsScalar> Traits;
+
+ // Explanations:
+ // Let's recall that the product algorithms form mc x kc vertical panels A' on the lhs and
+ // kc x nc blocks B' on the rhs. B' has to fit into L2/L3 cache. Moreover, A' is processed
+ // per mr x kc horizontal small panels where mr is the blocking size along the m dimension
+ // at the register level. This small horizontal panel has to stay within L1 cache.
+ std::ptrdiff_t l1, l2, l3;
+ manage_caching_sizes(GetAction, &l1, &l2, &l3);
+
+ if (num_threads > 1) {
+ typedef typename Traits::ResScalar ResScalar;
+ enum {
+ kdiv = KcFactor * (Traits::mr * sizeof(LhsScalar) + Traits::nr * sizeof(RhsScalar)),
+ ksub = Traits::mr * Traits::nr * sizeof(ResScalar),
+ kr = 8,
+ mr = Traits::mr,
+ nr = Traits::nr
+ };
+ // Increasing k gives us more time to prefetch the content of the "C"
+ // registers. However once the latency is hidden there is no point in
+ // increasing the value of k, so we'll cap it at 320 (value determined
+ // experimentally).
+ const Index k_cache = (numext::mini<Index>)((l1-ksub)/kdiv, 320);
+ if (k_cache < k) {
+ k = k_cache - (k_cache % kr);
+ eigen_internal_assert(k > 0);
+ }
+
+ const Index n_cache = (l2-l1) / (nr * sizeof(RhsScalar) * k);
+ const Index n_per_thread = numext::div_ceil(n, num_threads);
+ if (n_cache <= n_per_thread) {
+ // Don't exceed the capacity of the l2 cache.
+ eigen_internal_assert(n_cache >= static_cast<Index>(nr));
+ n = n_cache - (n_cache % nr);
+ eigen_internal_assert(n > 0);
+ } else {
+ n = (numext::mini<Index>)(n, (n_per_thread + nr - 1) - ((n_per_thread + nr - 1) % nr));
+ }
+
+ if (l3 > l2) {
+ // l3 is shared between all cores, so we'll give each thread its own chunk of l3.
+ const Index m_cache = (l3-l2) / (sizeof(LhsScalar) * k * num_threads);
+ const Index m_per_thread = numext::div_ceil(m, num_threads);
+ if(m_cache < m_per_thread && m_cache >= static_cast<Index>(mr)) {
+ m = m_cache - (m_cache % mr);
+ eigen_internal_assert(m > 0);
+ } else {
+ m = (numext::mini<Index>)(m, (m_per_thread + mr - 1) - ((m_per_thread + mr - 1) % mr));
+ }
+ }
+ }
+ else {
+ // In unit tests we do not want to use extra large matrices,
+ // so we reduce the cache size to check the blocking strategy is not flawed
+#ifdef EIGEN_DEBUG_SMALL_PRODUCT_BLOCKS
+ l1 = 9*1024;
+ l2 = 32*1024;
+ l3 = 512*1024;
+#endif
+
+ // Early return for small problems because the computation below are time consuming for small problems.
+ // Perhaps it would make more sense to consider k*n*m??
+ // Note that for very tiny problem, this function should be bypassed anyway
+ // because we use the coefficient-based implementation for them.
+ if((numext::maxi)(k,(numext::maxi)(m,n))<48)
+ return;
+
+ typedef typename Traits::ResScalar ResScalar;
+ enum {
+ k_peeling = 8,
+ k_div = KcFactor * (Traits::mr * sizeof(LhsScalar) + Traits::nr * sizeof(RhsScalar)),
+ k_sub = Traits::mr * Traits::nr * sizeof(ResScalar)
+ };
+
+ // ---- 1st level of blocking on L1, yields kc ----
+
+ // Blocking on the third dimension (i.e., k) is chosen so that an horizontal panel
+ // of size mr x kc of the lhs plus a vertical panel of kc x nr of the rhs both fits within L1 cache.
+ // We also include a register-level block of the result (mx x nr).
+ // (In an ideal world only the lhs panel would stay in L1)
+ // Moreover, kc has to be a multiple of 8 to be compatible with loop peeling, leading to a maximum blocking size of:
+ const Index max_kc = numext::maxi<Index>(((l1-k_sub)/k_div) & (~(k_peeling-1)),1);
+ const Index old_k = k;
+ if(k>max_kc)
+ {
+ // We are really blocking on the third dimension:
+ // -> reduce blocking size to make sure the last block is as large as possible
+ // while keeping the same number of sweeps over the result.
+ k = (k%max_kc)==0 ? max_kc
+ : max_kc - k_peeling * ((max_kc-1-(k%max_kc))/(k_peeling*(k/max_kc+1)));
+
+ eigen_internal_assert(((old_k/k) == (old_k/max_kc)) && "the number of sweeps has to remain the same");
+ }
+
+ // ---- 2nd level of blocking on max(L2,L3), yields nc ----
+
+ // TODO find a reliable way to get the actual amount of cache per core to use for 2nd level blocking, that is:
+ // actual_l2 = max(l2, l3/nb_core_sharing_l3)
+ // The number below is quite conservative: it is better to underestimate the cache size rather than overestimating it)
+ // For instance, it corresponds to 6MB of L3 shared among 4 cores.
+ #ifdef EIGEN_DEBUG_SMALL_PRODUCT_BLOCKS
+ const Index actual_l2 = l3;
+ #else
+ const Index actual_l2 = 1572864; // == 1.5 MB
+ #endif
+
+ // Here, nc is chosen such that a block of kc x nc of the rhs fit within half of L2.
+ // The second half is implicitly reserved to access the result and lhs coefficients.
+ // When k<max_kc, then nc can arbitrarily growth. In practice, it seems to be fruitful
+ // to limit this growth: we bound nc to growth by a factor x1.5.
+ // However, if the entire lhs block fit within L1, then we are not going to block on the rows at all,
+ // and it becomes fruitful to keep the packed rhs blocks in L1 if there is enough remaining space.
+ Index max_nc;
+ const Index lhs_bytes = m * k * sizeof(LhsScalar);
+ const Index remaining_l1 = l1- k_sub - lhs_bytes;
+ if(remaining_l1 >= Index(Traits::nr*sizeof(RhsScalar))*k)
+ {
+ // L1 blocking
+ max_nc = remaining_l1 / (k*sizeof(RhsScalar));
+ }
+ else
+ {
+ // L2 blocking
+ max_nc = (3*actual_l2)/(2*2*max_kc*sizeof(RhsScalar));
+ }
+ // WARNING Below, we assume that Traits::nr is a power of two.
+ Index nc = numext::mini<Index>(actual_l2/(2*k*sizeof(RhsScalar)), max_nc) & (~(Traits::nr-1));
+ if(n>nc)
+ {
+ // We are really blocking over the columns:
+ // -> reduce blocking size to make sure the last block is as large as possible
+ // while keeping the same number of sweeps over the packed lhs.
+ // Here we allow one more sweep if this gives us a perfect match, thus the commented "-1"
+ n = (n%nc)==0 ? nc
+ : (nc - Traits::nr * ((nc/*-1*/-(n%nc))/(Traits::nr*(n/nc+1))));
+ }
+ else if(old_k==k)
+ {
+ // So far, no blocking at all, i.e., kc==k, and nc==n.
+ // In this case, let's perform a blocking over the rows such that the packed lhs data is kept in cache L1/L2
+ // TODO: part of this blocking strategy is now implemented within the kernel itself, so the L1-based heuristic here should be obsolete.
+ Index problem_size = k*n*sizeof(LhsScalar);
+ Index actual_lm = actual_l2;
+ Index max_mc = m;
+ if(problem_size<=1024)
+ {
+ // problem is small enough to keep in L1
+ // Let's choose m such that lhs's block fit in 1/3 of L1
+ actual_lm = l1;
+ }
+ else if(l3!=0 && problem_size<=32768)
+ {
+ // we have both L2 and L3, and problem is small enough to be kept in L2
+ // Let's choose m such that lhs's block fit in 1/3 of L2
+ actual_lm = l2;
+ max_mc = (numext::mini<Index>)(576,max_mc);
+ }
+ Index mc = (numext::mini<Index>)(actual_lm/(3*k*sizeof(LhsScalar)), max_mc);
+ if (mc > Traits::mr) mc -= mc % Traits::mr;
+ else if (mc==0) return;
+ m = (m%mc)==0 ? mc
+ : (mc - Traits::mr * ((mc/*-1*/-(m%mc))/(Traits::mr*(m/mc+1))));
+ }
+ }
+}
+
+template <typename Index>
+inline bool useSpecificBlockingSizes(Index& k, Index& m, Index& n)
+{
+#ifdef EIGEN_TEST_SPECIFIC_BLOCKING_SIZES
+ if (EIGEN_TEST_SPECIFIC_BLOCKING_SIZES) {
+ k = numext::mini<Index>(k, EIGEN_TEST_SPECIFIC_BLOCKING_SIZE_K);
+ m = numext::mini<Index>(m, EIGEN_TEST_SPECIFIC_BLOCKING_SIZE_M);
+ n = numext::mini<Index>(n, EIGEN_TEST_SPECIFIC_BLOCKING_SIZE_N);
+ return true;
+ }
+#else
+ EIGEN_UNUSED_VARIABLE(k)
+ EIGEN_UNUSED_VARIABLE(m)
+ EIGEN_UNUSED_VARIABLE(n)
+#endif
+ return false;
+}
+
+/** \brief Computes the blocking parameters for a m x k times k x n matrix product
+ *
+ * \param[in,out] k Input: the third dimension of the product. Output: the blocking size along the same dimension.
+ * \param[in,out] m Input: the number of rows of the left hand side. Output: the blocking size along the same dimension.
+ * \param[in,out] n Input: the number of columns of the right hand side. Output: the blocking size along the same dimension.
+ *
+ * Given a m x k times k x n matrix product of scalar types \c LhsScalar and \c RhsScalar,
+ * this function computes the blocking size parameters along the respective dimensions
+ * for matrix products and related algorithms.
+ *
+ * The blocking size parameters may be evaluated:
+ * - either by a heuristic based on cache sizes;
+ * - or using fixed prescribed values (for testing purposes).
+ *
+ * \sa setCpuCacheSizes */
+
+template<typename LhsScalar, typename RhsScalar, int KcFactor, typename Index>
+void computeProductBlockingSizes(Index& k, Index& m, Index& n, Index num_threads = 1)
+{
+ if (!useSpecificBlockingSizes(k, m, n)) {
+ evaluateProductBlockingSizesHeuristic<LhsScalar, RhsScalar, KcFactor, Index>(k, m, n, num_threads);
+ }
+}
+
+template<typename LhsScalar, typename RhsScalar, typename Index>
+inline void computeProductBlockingSizes(Index& k, Index& m, Index& n, Index num_threads = 1)
+{
+ computeProductBlockingSizes<LhsScalar,RhsScalar,1,Index>(k, m, n, num_threads);
+}
+
+#ifdef EIGEN_HAS_SINGLE_INSTRUCTION_CJMADD
+ #define CJMADD(CJ,A,B,C,T) C = CJ.pmadd(A,B,C);
+#else
+
+ // FIXME (a bit overkill maybe ?)
+
+ template<typename CJ, typename A, typename B, typename C, typename T> struct gebp_madd_selector {
+ EIGEN_ALWAYS_INLINE static void run(const CJ& cj, A& a, B& b, C& c, T& /*t*/)
+ {
+ c = cj.pmadd(a,b,c);
+ }
+ };
+
+ template<typename CJ, typename T> struct gebp_madd_selector<CJ,T,T,T,T> {
+ EIGEN_ALWAYS_INLINE static void run(const CJ& cj, T& a, T& b, T& c, T& t)
+ {
+ t = b; t = cj.pmul(a,t); c = padd(c,t);
+ }
+ };
+
+ template<typename CJ, typename A, typename B, typename C, typename T>
+ EIGEN_STRONG_INLINE void gebp_madd(const CJ& cj, A& a, B& b, C& c, T& t)
+ {
+ gebp_madd_selector<CJ,A,B,C,T>::run(cj,a,b,c,t);
+ }
+
+ #define CJMADD(CJ,A,B,C,T) gebp_madd(CJ,A,B,C,T);
+// #define CJMADD(CJ,A,B,C,T) T = B; T = CJ.pmul(A,T); C = padd(C,T);
+#endif
+
+/* Vectorization logic
+ * real*real: unpack rhs to constant packets, ...
+ *
+ * cd*cd : unpack rhs to (b_r,b_r), (b_i,b_i), mul to get (a_r b_r,a_i b_r) (a_r b_i,a_i b_i),
+ * storing each res packet into two packets (2x2),
+ * at the end combine them: swap the second and addsub them
+ * cf*cf : same but with 2x4 blocks
+ * cplx*real : unpack rhs to constant packets, ...
+ * real*cplx : load lhs as (a0,a0,a1,a1), and mul as usual
+ */
+template<typename _LhsScalar, typename _RhsScalar, bool _ConjLhs, bool _ConjRhs>
+class gebp_traits
+{
+public:
+ typedef _LhsScalar LhsScalar;
+ typedef _RhsScalar RhsScalar;
+ typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+
+ enum {
+ ConjLhs = _ConjLhs,
+ ConjRhs = _ConjRhs,
+ Vectorizable = packet_traits<LhsScalar>::Vectorizable && packet_traits<RhsScalar>::Vectorizable,
+ LhsPacketSize = Vectorizable ? packet_traits<LhsScalar>::size : 1,
+ RhsPacketSize = Vectorizable ? packet_traits<RhsScalar>::size : 1,
+ ResPacketSize = Vectorizable ? packet_traits<ResScalar>::size : 1,
+
+ NumberOfRegisters = EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS,
+
+ // register block size along the N direction must be 1 or 4
+ nr = 4,
+
+ // register block size along the M direction (currently, this one cannot be modified)
+ default_mr = (EIGEN_PLAIN_ENUM_MIN(16,NumberOfRegisters)/2/nr)*LhsPacketSize,
+#if defined(EIGEN_HAS_SINGLE_INSTRUCTION_MADD) && !defined(EIGEN_VECTORIZE_ALTIVEC) && !defined(EIGEN_VECTORIZE_VSX)
+ // we assume 16 registers
+ // See bug 992, if the scalar type is not vectorizable but that EIGEN_HAS_SINGLE_INSTRUCTION_MADD is defined,
+ // then using 3*LhsPacketSize triggers non-implemented paths in syrk.
+ mr = Vectorizable ? 3*LhsPacketSize : default_mr,
+#else
+ mr = default_mr,
+#endif
+
+ LhsProgress = LhsPacketSize,
+ RhsProgress = 1
+ };
+
+ typedef typename packet_traits<LhsScalar>::type _LhsPacket;
+ typedef typename packet_traits<RhsScalar>::type _RhsPacket;
+ typedef typename packet_traits<ResScalar>::type _ResPacket;
+
+ typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
+ typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
+ typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
+
+ typedef ResPacket AccPacket;
+
+ EIGEN_STRONG_INLINE void initAcc(AccPacket& p)
+ {
+ p = pset1<ResPacket>(ResScalar(0));
+ }
+
+ EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1, RhsPacket& b2, RhsPacket& b3)
+ {
+ pbroadcast4(b, b0, b1, b2, b3);
+ }
+
+// EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1)
+// {
+// pbroadcast2(b, b0, b1);
+// }
+
+ template<typename RhsPacketType>
+ EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacketType& dest) const
+ {
+ dest = pset1<RhsPacketType>(*b);
+ }
+
+ EIGEN_STRONG_INLINE void loadRhsQuad(const RhsScalar* b, RhsPacket& dest) const
+ {
+ dest = ploadquad<RhsPacket>(b);
+ }
+
+ template<typename LhsPacketType>
+ EIGEN_STRONG_INLINE void loadLhs(const LhsScalar* a, LhsPacketType& dest) const
+ {
+ dest = pload<LhsPacketType>(a);
+ }
+
+ template<typename LhsPacketType>
+ EIGEN_STRONG_INLINE void loadLhsUnaligned(const LhsScalar* a, LhsPacketType& dest) const
+ {
+ dest = ploadu<LhsPacketType>(a);
+ }
+
+ template<typename LhsPacketType, typename RhsPacketType, typename AccPacketType>
+ EIGEN_STRONG_INLINE void madd(const LhsPacketType& a, const RhsPacketType& b, AccPacketType& c, AccPacketType& tmp) const
+ {
+ conj_helper<LhsPacketType,RhsPacketType,ConjLhs,ConjRhs> cj;
+ // It would be a lot cleaner to call pmadd all the time. Unfortunately if we
+ // let gcc allocate the register in which to store the result of the pmul
+ // (in the case where there is no FMA) gcc fails to figure out how to avoid
+ // spilling register.
+#ifdef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+ EIGEN_UNUSED_VARIABLE(tmp);
+ c = cj.pmadd(a,b,c);
+#else
+ tmp = b; tmp = cj.pmul(a,tmp); c = padd(c,tmp);
+#endif
+ }
+
+ EIGEN_STRONG_INLINE void acc(const AccPacket& c, const ResPacket& alpha, ResPacket& r) const
+ {
+ r = pmadd(c,alpha,r);
+ }
+
+ template<typename ResPacketHalf>
+ EIGEN_STRONG_INLINE void acc(const ResPacketHalf& c, const ResPacketHalf& alpha, ResPacketHalf& r) const
+ {
+ r = pmadd(c,alpha,r);
+ }
+
+};
+
+template<typename RealScalar, bool _ConjLhs>
+class gebp_traits<std::complex<RealScalar>, RealScalar, _ConjLhs, false>
+{
+public:
+ typedef std::complex<RealScalar> LhsScalar;
+ typedef RealScalar RhsScalar;
+ typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+
+ enum {
+ ConjLhs = _ConjLhs,
+ ConjRhs = false,
+ Vectorizable = packet_traits<LhsScalar>::Vectorizable && packet_traits<RhsScalar>::Vectorizable,
+ LhsPacketSize = Vectorizable ? packet_traits<LhsScalar>::size : 1,
+ RhsPacketSize = Vectorizable ? packet_traits<RhsScalar>::size : 1,
+ ResPacketSize = Vectorizable ? packet_traits<ResScalar>::size : 1,
+
+ NumberOfRegisters = EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS,
+ nr = 4,
+#if defined(EIGEN_HAS_SINGLE_INSTRUCTION_MADD) && !defined(EIGEN_VECTORIZE_ALTIVEC) && !defined(EIGEN_VECTORIZE_VSX)
+ // we assume 16 registers
+ mr = 3*LhsPacketSize,
+#else
+ mr = (EIGEN_PLAIN_ENUM_MIN(16,NumberOfRegisters)/2/nr)*LhsPacketSize,
+#endif
+
+ LhsProgress = LhsPacketSize,
+ RhsProgress = 1
+ };
+
+ typedef typename packet_traits<LhsScalar>::type _LhsPacket;
+ typedef typename packet_traits<RhsScalar>::type _RhsPacket;
+ typedef typename packet_traits<ResScalar>::type _ResPacket;
+
+ typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
+ typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
+ typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
+
+ typedef ResPacket AccPacket;
+
+ EIGEN_STRONG_INLINE void initAcc(AccPacket& p)
+ {
+ p = pset1<ResPacket>(ResScalar(0));
+ }
+
+ EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacket& dest) const
+ {
+ dest = pset1<RhsPacket>(*b);
+ }
+
+ EIGEN_STRONG_INLINE void loadRhsQuad(const RhsScalar* b, RhsPacket& dest) const
+ {
+ dest = pset1<RhsPacket>(*b);
+ }
+
+ EIGEN_STRONG_INLINE void loadLhs(const LhsScalar* a, LhsPacket& dest) const
+ {
+ dest = pload<LhsPacket>(a);
+ }
+
+ EIGEN_STRONG_INLINE void loadLhsUnaligned(const LhsScalar* a, LhsPacket& dest) const
+ {
+ dest = ploadu<LhsPacket>(a);
+ }
+
+ EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1, RhsPacket& b2, RhsPacket& b3)
+ {
+ pbroadcast4(b, b0, b1, b2, b3);
+ }
+
+// EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1)
+// {
+// pbroadcast2(b, b0, b1);
+// }
+
+ EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacket& b, AccPacket& c, RhsPacket& tmp) const
+ {
+ madd_impl(a, b, c, tmp, typename conditional<Vectorizable,true_type,false_type>::type());
+ }
+
+ EIGEN_STRONG_INLINE void madd_impl(const LhsPacket& a, const RhsPacket& b, AccPacket& c, RhsPacket& tmp, const true_type&) const
+ {
+#ifdef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+ EIGEN_UNUSED_VARIABLE(tmp);
+ c.v = pmadd(a.v,b,c.v);
+#else
+ tmp = b; tmp = pmul(a.v,tmp); c.v = padd(c.v,tmp);
+#endif
+ }
+
+ EIGEN_STRONG_INLINE void madd_impl(const LhsScalar& a, const RhsScalar& b, ResScalar& c, RhsScalar& /*tmp*/, const false_type&) const
+ {
+ c += a * b;
+ }
+
+ EIGEN_STRONG_INLINE void acc(const AccPacket& c, const ResPacket& alpha, ResPacket& r) const
+ {
+ r = cj.pmadd(c,alpha,r);
+ }
+
+protected:
+ conj_helper<ResPacket,ResPacket,ConjLhs,false> cj;
+};
+
+template<typename Packet>
+struct DoublePacket
+{
+ Packet first;
+ Packet second;
+};
+
+template<typename Packet>
+DoublePacket<Packet> padd(const DoublePacket<Packet> &a, const DoublePacket<Packet> &b)
+{
+ DoublePacket<Packet> res;
+ res.first = padd(a.first, b.first);
+ res.second = padd(a.second,b.second);
+ return res;
+}
+
+template<typename Packet>
+const DoublePacket<Packet>& predux_downto4(const DoublePacket<Packet> &a)
+{
+ return a;
+}
+
+template<typename Packet> struct unpacket_traits<DoublePacket<Packet> > { typedef DoublePacket<Packet> half; };
+// template<typename Packet>
+// DoublePacket<Packet> pmadd(const DoublePacket<Packet> &a, const DoublePacket<Packet> &b)
+// {
+// DoublePacket<Packet> res;
+// res.first = padd(a.first, b.first);
+// res.second = padd(a.second,b.second);
+// return res;
+// }
+
+template<typename RealScalar, bool _ConjLhs, bool _ConjRhs>
+class gebp_traits<std::complex<RealScalar>, std::complex<RealScalar>, _ConjLhs, _ConjRhs >
+{
+public:
+ typedef std::complex<RealScalar> Scalar;
+ typedef std::complex<RealScalar> LhsScalar;
+ typedef std::complex<RealScalar> RhsScalar;
+ typedef std::complex<RealScalar> ResScalar;
+
+ enum {
+ ConjLhs = _ConjLhs,
+ ConjRhs = _ConjRhs,
+ Vectorizable = packet_traits<RealScalar>::Vectorizable
+ && packet_traits<Scalar>::Vectorizable,
+ RealPacketSize = Vectorizable ? packet_traits<RealScalar>::size : 1,
+ ResPacketSize = Vectorizable ? packet_traits<ResScalar>::size : 1,
+ LhsPacketSize = Vectorizable ? packet_traits<LhsScalar>::size : 1,
+ RhsPacketSize = Vectorizable ? packet_traits<RhsScalar>::size : 1,
+
+ // FIXME: should depend on NumberOfRegisters
+ nr = 4,
+ mr = ResPacketSize,
+
+ LhsProgress = ResPacketSize,
+ RhsProgress = 1
+ };
+
+ typedef typename packet_traits<RealScalar>::type RealPacket;
+ typedef typename packet_traits<Scalar>::type ScalarPacket;
+ typedef DoublePacket<RealPacket> DoublePacketType;
+
+ typedef typename conditional<Vectorizable,RealPacket, Scalar>::type LhsPacket;
+ typedef typename conditional<Vectorizable,DoublePacketType,Scalar>::type RhsPacket;
+ typedef typename conditional<Vectorizable,ScalarPacket,Scalar>::type ResPacket;
+ typedef typename conditional<Vectorizable,DoublePacketType,Scalar>::type AccPacket;
+
+ EIGEN_STRONG_INLINE void initAcc(Scalar& p) { p = Scalar(0); }
+
+ EIGEN_STRONG_INLINE void initAcc(DoublePacketType& p)
+ {
+ p.first = pset1<RealPacket>(RealScalar(0));
+ p.second = pset1<RealPacket>(RealScalar(0));
+ }
+
+ // Scalar path
+ EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, ResPacket& dest) const
+ {
+ dest = pset1<ResPacket>(*b);
+ }
+
+ // Vectorized path
+ EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, DoublePacketType& dest) const
+ {
+ dest.first = pset1<RealPacket>(real(*b));
+ dest.second = pset1<RealPacket>(imag(*b));
+ }
+
+ EIGEN_STRONG_INLINE void loadRhsQuad(const RhsScalar* b, ResPacket& dest) const
+ {
+ loadRhs(b,dest);
+ }
+ EIGEN_STRONG_INLINE void loadRhsQuad(const RhsScalar* b, DoublePacketType& dest) const
+ {
+ eigen_internal_assert(unpacket_traits<ScalarPacket>::size<=4);
+ loadRhs(b,dest);
+ }
+
+ EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1, RhsPacket& b2, RhsPacket& b3)
+ {
+ // FIXME not sure that's the best way to implement it!
+ loadRhs(b+0, b0);
+ loadRhs(b+1, b1);
+ loadRhs(b+2, b2);
+ loadRhs(b+3, b3);
+ }
+
+ // Vectorized path
+ EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, DoublePacketType& b0, DoublePacketType& b1)
+ {
+ // FIXME not sure that's the best way to implement it!
+ loadRhs(b+0, b0);
+ loadRhs(b+1, b1);
+ }
+
+ // Scalar path
+ EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsScalar& b0, RhsScalar& b1)
+ {
+ // FIXME not sure that's the best way to implement it!
+ loadRhs(b+0, b0);
+ loadRhs(b+1, b1);
+ }
+
+ // nothing special here
+ EIGEN_STRONG_INLINE void loadLhs(const LhsScalar* a, LhsPacket& dest) const
+ {
+ dest = pload<LhsPacket>((const typename unpacket_traits<LhsPacket>::type*)(a));
+ }
+
+ EIGEN_STRONG_INLINE void loadLhsUnaligned(const LhsScalar* a, LhsPacket& dest) const
+ {
+ dest = ploadu<LhsPacket>((const typename unpacket_traits<LhsPacket>::type*)(a));
+ }
+
+ EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacket& b, DoublePacketType& c, RhsPacket& /*tmp*/) const
+ {
+ c.first = padd(pmul(a,b.first), c.first);
+ c.second = padd(pmul(a,b.second),c.second);
+ }
+
+ EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacket& b, ResPacket& c, RhsPacket& /*tmp*/) const
+ {
+ c = cj.pmadd(a,b,c);
+ }
+
+ EIGEN_STRONG_INLINE void acc(const Scalar& c, const Scalar& alpha, Scalar& r) const { r += alpha * c; }
+
+ EIGEN_STRONG_INLINE void acc(const DoublePacketType& c, const ResPacket& alpha, ResPacket& r) const
+ {
+ // assemble c
+ ResPacket tmp;
+ if((!ConjLhs)&&(!ConjRhs))
+ {
+ tmp = pcplxflip(pconj(ResPacket(c.second)));
+ tmp = padd(ResPacket(c.first),tmp);
+ }
+ else if((!ConjLhs)&&(ConjRhs))
+ {
+ tmp = pconj(pcplxflip(ResPacket(c.second)));
+ tmp = padd(ResPacket(c.first),tmp);
+ }
+ else if((ConjLhs)&&(!ConjRhs))
+ {
+ tmp = pcplxflip(ResPacket(c.second));
+ tmp = padd(pconj(ResPacket(c.first)),tmp);
+ }
+ else if((ConjLhs)&&(ConjRhs))
+ {
+ tmp = pcplxflip(ResPacket(c.second));
+ tmp = psub(pconj(ResPacket(c.first)),tmp);
+ }
+
+ r = pmadd(tmp,alpha,r);
+ }
+
+protected:
+ conj_helper<LhsScalar,RhsScalar,ConjLhs,ConjRhs> cj;
+};
+
+template<typename RealScalar, bool _ConjRhs>
+class gebp_traits<RealScalar, std::complex<RealScalar>, false, _ConjRhs >
+{
+public:
+ typedef std::complex<RealScalar> Scalar;
+ typedef RealScalar LhsScalar;
+ typedef Scalar RhsScalar;
+ typedef Scalar ResScalar;
+
+ enum {
+ ConjLhs = false,
+ ConjRhs = _ConjRhs,
+ Vectorizable = packet_traits<RealScalar>::Vectorizable
+ && packet_traits<Scalar>::Vectorizable,
+ LhsPacketSize = Vectorizable ? packet_traits<LhsScalar>::size : 1,
+ RhsPacketSize = Vectorizable ? packet_traits<RhsScalar>::size : 1,
+ ResPacketSize = Vectorizable ? packet_traits<ResScalar>::size : 1,
+
+ NumberOfRegisters = EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS,
+ // FIXME: should depend on NumberOfRegisters
+ nr = 4,
+ mr = (EIGEN_PLAIN_ENUM_MIN(16,NumberOfRegisters)/2/nr)*ResPacketSize,
+
+ LhsProgress = ResPacketSize,
+ RhsProgress = 1
+ };
+
+ typedef typename packet_traits<LhsScalar>::type _LhsPacket;
+ typedef typename packet_traits<RhsScalar>::type _RhsPacket;
+ typedef typename packet_traits<ResScalar>::type _ResPacket;
+
+ typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
+ typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
+ typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
+
+ typedef ResPacket AccPacket;
+
+ EIGEN_STRONG_INLINE void initAcc(AccPacket& p)
+ {
+ p = pset1<ResPacket>(ResScalar(0));
+ }
+
+ EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacket& dest) const
+ {
+ dest = pset1<RhsPacket>(*b);
+ }
+
+ void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1, RhsPacket& b2, RhsPacket& b3)
+ {
+ pbroadcast4(b, b0, b1, b2, b3);
+ }
+
+// EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1)
+// {
+// // FIXME not sure that's the best way to implement it!
+// b0 = pload1<RhsPacket>(b+0);
+// b1 = pload1<RhsPacket>(b+1);
+// }
+
+ EIGEN_STRONG_INLINE void loadLhs(const LhsScalar* a, LhsPacket& dest) const
+ {
+ dest = ploaddup<LhsPacket>(a);
+ }
+
+ EIGEN_STRONG_INLINE void loadRhsQuad(const RhsScalar* b, RhsPacket& dest) const
+ {
+ eigen_internal_assert(unpacket_traits<RhsPacket>::size<=4);
+ loadRhs(b,dest);
+ }
+
+ EIGEN_STRONG_INLINE void loadLhsUnaligned(const LhsScalar* a, LhsPacket& dest) const
+ {
+ dest = ploaddup<LhsPacket>(a);
+ }
+
+ EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacket& b, AccPacket& c, RhsPacket& tmp) const
+ {
+ madd_impl(a, b, c, tmp, typename conditional<Vectorizable,true_type,false_type>::type());
+ }
+
+ EIGEN_STRONG_INLINE void madd_impl(const LhsPacket& a, const RhsPacket& b, AccPacket& c, RhsPacket& tmp, const true_type&) const
+ {
+#ifdef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+ EIGEN_UNUSED_VARIABLE(tmp);
+ c.v = pmadd(a,b.v,c.v);
+#else
+ tmp = b; tmp.v = pmul(a,tmp.v); c = padd(c,tmp);
+#endif
+
+ }
+
+ EIGEN_STRONG_INLINE void madd_impl(const LhsScalar& a, const RhsScalar& b, ResScalar& c, RhsScalar& /*tmp*/, const false_type&) const
+ {
+ c += a * b;
+ }
+
+ EIGEN_STRONG_INLINE void acc(const AccPacket& c, const ResPacket& alpha, ResPacket& r) const
+ {
+ r = cj.pmadd(alpha,c,r);
+ }
+
+protected:
+ conj_helper<ResPacket,ResPacket,false,ConjRhs> cj;
+};
+
+/* optimized GEneral packed Block * packed Panel product kernel
+ *
+ * Mixing type logic: C += A * B
+ * | A | B | comments
+ * |real |cplx | no vectorization yet, would require to pack A with duplication
+ * |cplx |real | easy vectorization
+ */
+template<typename LhsScalar, typename RhsScalar, typename Index, typename DataMapper, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs>
+struct gebp_kernel
+{
+ typedef gebp_traits<LhsScalar,RhsScalar,ConjugateLhs,ConjugateRhs> Traits;
+ typedef typename Traits::ResScalar ResScalar;
+ typedef typename Traits::LhsPacket LhsPacket;
+ typedef typename Traits::RhsPacket RhsPacket;
+ typedef typename Traits::ResPacket ResPacket;
+ typedef typename Traits::AccPacket AccPacket;
+
+ typedef gebp_traits<RhsScalar,LhsScalar,ConjugateRhs,ConjugateLhs> SwappedTraits;
+ typedef typename SwappedTraits::ResScalar SResScalar;
+ typedef typename SwappedTraits::LhsPacket SLhsPacket;
+ typedef typename SwappedTraits::RhsPacket SRhsPacket;
+ typedef typename SwappedTraits::ResPacket SResPacket;
+ typedef typename SwappedTraits::AccPacket SAccPacket;
+
+ typedef typename DataMapper::LinearMapper LinearMapper;
+
+ enum {
+ Vectorizable = Traits::Vectorizable,
+ LhsProgress = Traits::LhsProgress,
+ RhsProgress = Traits::RhsProgress,
+ ResPacketSize = Traits::ResPacketSize
+ };
+
+ EIGEN_DONT_INLINE
+ void operator()(const DataMapper& res, const LhsScalar* blockA, const RhsScalar* blockB,
+ Index rows, Index depth, Index cols, ResScalar alpha,
+ Index strideA=-1, Index strideB=-1, Index offsetA=0, Index offsetB=0);
+};
+
+template<typename LhsScalar, typename RhsScalar, typename Index, typename DataMapper, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs>
+EIGEN_DONT_INLINE
+void gebp_kernel<LhsScalar,RhsScalar,Index,DataMapper,mr,nr,ConjugateLhs,ConjugateRhs>
+ ::operator()(const DataMapper& res, const LhsScalar* blockA, const RhsScalar* blockB,
+ Index rows, Index depth, Index cols, ResScalar alpha,
+ Index strideA, Index strideB, Index offsetA, Index offsetB)
+ {
+ Traits traits;
+ SwappedTraits straits;
+
+ if(strideA==-1) strideA = depth;
+ if(strideB==-1) strideB = depth;
+ conj_helper<LhsScalar,RhsScalar,ConjugateLhs,ConjugateRhs> cj;
+ Index packet_cols4 = nr>=4 ? (cols/4) * 4 : 0;
+ const Index peeled_mc3 = mr>=3*Traits::LhsProgress ? (rows/(3*LhsProgress))*(3*LhsProgress) : 0;
+ const Index peeled_mc2 = mr>=2*Traits::LhsProgress ? peeled_mc3+((rows-peeled_mc3)/(2*LhsProgress))*(2*LhsProgress) : 0;
+ const Index peeled_mc1 = mr>=1*Traits::LhsProgress ? (rows/(1*LhsProgress))*(1*LhsProgress) : 0;
+ enum { pk = 8 }; // NOTE Such a large peeling factor is important for large matrices (~ +5% when >1000 on Haswell)
+ const Index peeled_kc = depth & ~(pk-1);
+ const Index prefetch_res_offset = 32/sizeof(ResScalar);
+// const Index depth2 = depth & ~1;
+
+ //---------- Process 3 * LhsProgress rows at once ----------
+ // This corresponds to 3*LhsProgress x nr register blocks.
+ // Usually, make sense only with FMA
+ if(mr>=3*Traits::LhsProgress)
+ {
+ // Here, the general idea is to loop on each largest micro horizontal panel of the lhs (3*Traits::LhsProgress x depth)
+ // and on each largest micro vertical panel of the rhs (depth * nr).
+ // Blocking sizes, i.e., 'depth' has been computed so that the micro horizontal panel of the lhs fit in L1.
+ // However, if depth is too small, we can extend the number of rows of these horizontal panels.
+ // This actual number of rows is computed as follow:
+ const Index l1 = defaultL1CacheSize; // in Bytes, TODO, l1 should be passed to this function.
+ // The max(1, ...) here is needed because we may be using blocking params larger than what our known l1 cache size
+ // suggests we should be using: either because our known l1 cache size is inaccurate (e.g. on Android, we can only guess),
+ // or because we are testing specific blocking sizes.
+ const Index actual_panel_rows = (3*LhsProgress) * std::max<Index>(1,( (l1 - sizeof(ResScalar)*mr*nr - depth*nr*sizeof(RhsScalar)) / (depth * sizeof(LhsScalar) * 3*LhsProgress) ));
+ for(Index i1=0; i1<peeled_mc3; i1+=actual_panel_rows)
+ {
+ const Index actual_panel_end = (std::min)(i1+actual_panel_rows, peeled_mc3);
+ for(Index j2=0; j2<packet_cols4; j2+=nr)
+ {
+ for(Index i=i1; i<actual_panel_end; i+=3*LhsProgress)
+ {
+
+ // We selected a 3*Traits::LhsProgress x nr micro block of res which is entirely
+ // stored into 3 x nr registers.
+
+ const LhsScalar* blA = &blockA[i*strideA+offsetA*(3*LhsProgress)];
+ prefetch(&blA[0]);
+
+ // gets res block as register
+ AccPacket C0, C1, C2, C3,
+ C4, C5, C6, C7,
+ C8, C9, C10, C11;
+ traits.initAcc(C0); traits.initAcc(C1); traits.initAcc(C2); traits.initAcc(C3);
+ traits.initAcc(C4); traits.initAcc(C5); traits.initAcc(C6); traits.initAcc(C7);
+ traits.initAcc(C8); traits.initAcc(C9); traits.initAcc(C10); traits.initAcc(C11);
+
+ LinearMapper r0 = res.getLinearMapper(i, j2 + 0);
+ LinearMapper r1 = res.getLinearMapper(i, j2 + 1);
+ LinearMapper r2 = res.getLinearMapper(i, j2 + 2);
+ LinearMapper r3 = res.getLinearMapper(i, j2 + 3);
+
+ r0.prefetch(0);
+ r1.prefetch(0);
+ r2.prefetch(0);
+ r3.prefetch(0);
+
+ // performs "inner" products
+ const RhsScalar* blB = &blockB[j2*strideB+offsetB*nr];
+ prefetch(&blB[0]);
+ LhsPacket A0, A1;
+
+ for(Index k=0; k<peeled_kc; k+=pk)
+ {
+ EIGEN_ASM_COMMENT("begin gebp micro kernel 3pX4");
+ RhsPacket B_0, T0;
+ LhsPacket A2;
+
+#define EIGEN_GEBP_ONESTEP(K) \
+ do { \
+ EIGEN_ASM_COMMENT("begin step of gebp micro kernel 3pX4"); \
+ EIGEN_ASM_COMMENT("Note: these asm comments work around bug 935!"); \
+ internal::prefetch(blA+(3*K+16)*LhsProgress); \
+ if (EIGEN_ARCH_ARM) { internal::prefetch(blB+(4*K+16)*RhsProgress); } /* Bug 953 */ \
+ traits.loadLhs(&blA[(0+3*K)*LhsProgress], A0); \
+ traits.loadLhs(&blA[(1+3*K)*LhsProgress], A1); \
+ traits.loadLhs(&blA[(2+3*K)*LhsProgress], A2); \
+ traits.loadRhs(blB + (0+4*K)*Traits::RhsProgress, B_0); \
+ traits.madd(A0, B_0, C0, T0); \
+ traits.madd(A1, B_0, C4, T0); \
+ traits.madd(A2, B_0, C8, B_0); \
+ traits.loadRhs(blB + (1+4*K)*Traits::RhsProgress, B_0); \
+ traits.madd(A0, B_0, C1, T0); \
+ traits.madd(A1, B_0, C5, T0); \
+ traits.madd(A2, B_0, C9, B_0); \
+ traits.loadRhs(blB + (2+4*K)*Traits::RhsProgress, B_0); \
+ traits.madd(A0, B_0, C2, T0); \
+ traits.madd(A1, B_0, C6, T0); \
+ traits.madd(A2, B_0, C10, B_0); \
+ traits.loadRhs(blB + (3+4*K)*Traits::RhsProgress, B_0); \
+ traits.madd(A0, B_0, C3 , T0); \
+ traits.madd(A1, B_0, C7, T0); \
+ traits.madd(A2, B_0, C11, B_0); \
+ EIGEN_ASM_COMMENT("end step of gebp micro kernel 3pX4"); \
+ } while(false)
+
+ internal::prefetch(blB);
+ EIGEN_GEBP_ONESTEP(0);
+ EIGEN_GEBP_ONESTEP(1);
+ EIGEN_GEBP_ONESTEP(2);
+ EIGEN_GEBP_ONESTEP(3);
+ EIGEN_GEBP_ONESTEP(4);
+ EIGEN_GEBP_ONESTEP(5);
+ EIGEN_GEBP_ONESTEP(6);
+ EIGEN_GEBP_ONESTEP(7);
+
+ blB += pk*4*RhsProgress;
+ blA += pk*3*Traits::LhsProgress;
+
+ EIGEN_ASM_COMMENT("end gebp micro kernel 3pX4");
+ }
+ // process remaining peeled loop
+ for(Index k=peeled_kc; k<depth; k++)
+ {
+ RhsPacket B_0, T0;
+ LhsPacket A2;
+ EIGEN_GEBP_ONESTEP(0);
+ blB += 4*RhsProgress;
+ blA += 3*Traits::LhsProgress;
+ }
+
+#undef EIGEN_GEBP_ONESTEP
+
+ ResPacket R0, R1, R2;
+ ResPacket alphav = pset1<ResPacket>(alpha);
+
+ R0 = r0.loadPacket(0 * Traits::ResPacketSize);
+ R1 = r0.loadPacket(1 * Traits::ResPacketSize);
+ R2 = r0.loadPacket(2 * Traits::ResPacketSize);
+ traits.acc(C0, alphav, R0);
+ traits.acc(C4, alphav, R1);
+ traits.acc(C8, alphav, R2);
+ r0.storePacket(0 * Traits::ResPacketSize, R0);
+ r0.storePacket(1 * Traits::ResPacketSize, R1);
+ r0.storePacket(2 * Traits::ResPacketSize, R2);
+
+ R0 = r1.loadPacket(0 * Traits::ResPacketSize);
+ R1 = r1.loadPacket(1 * Traits::ResPacketSize);
+ R2 = r1.loadPacket(2 * Traits::ResPacketSize);
+ traits.acc(C1, alphav, R0);
+ traits.acc(C5, alphav, R1);
+ traits.acc(C9, alphav, R2);
+ r1.storePacket(0 * Traits::ResPacketSize, R0);
+ r1.storePacket(1 * Traits::ResPacketSize, R1);
+ r1.storePacket(2 * Traits::ResPacketSize, R2);
+
+ R0 = r2.loadPacket(0 * Traits::ResPacketSize);
+ R1 = r2.loadPacket(1 * Traits::ResPacketSize);
+ R2 = r2.loadPacket(2 * Traits::ResPacketSize);
+ traits.acc(C2, alphav, R0);
+ traits.acc(C6, alphav, R1);
+ traits.acc(C10, alphav, R2);
+ r2.storePacket(0 * Traits::ResPacketSize, R0);
+ r2.storePacket(1 * Traits::ResPacketSize, R1);
+ r2.storePacket(2 * Traits::ResPacketSize, R2);
+
+ R0 = r3.loadPacket(0 * Traits::ResPacketSize);
+ R1 = r3.loadPacket(1 * Traits::ResPacketSize);
+ R2 = r3.loadPacket(2 * Traits::ResPacketSize);
+ traits.acc(C3, alphav, R0);
+ traits.acc(C7, alphav, R1);
+ traits.acc(C11, alphav, R2);
+ r3.storePacket(0 * Traits::ResPacketSize, R0);
+ r3.storePacket(1 * Traits::ResPacketSize, R1);
+ r3.storePacket(2 * Traits::ResPacketSize, R2);
+ }
+ }
+
+ // Deal with remaining columns of the rhs
+ for(Index j2=packet_cols4; j2<cols; j2++)
+ {
+ for(Index i=i1; i<actual_panel_end; i+=3*LhsProgress)
+ {
+ // One column at a time
+ const LhsScalar* blA = &blockA[i*strideA+offsetA*(3*Traits::LhsProgress)];
+ prefetch(&blA[0]);
+
+ // gets res block as register
+ AccPacket C0, C4, C8;
+ traits.initAcc(C0);
+ traits.initAcc(C4);
+ traits.initAcc(C8);
+
+ LinearMapper r0 = res.getLinearMapper(i, j2);
+ r0.prefetch(0);
+
+ // performs "inner" products
+ const RhsScalar* blB = &blockB[j2*strideB+offsetB];
+ LhsPacket A0, A1, A2;
+
+ for(Index k=0; k<peeled_kc; k+=pk)
+ {
+ EIGEN_ASM_COMMENT("begin gebp micro kernel 3pX1");
+ RhsPacket B_0;
+#define EIGEN_GEBGP_ONESTEP(K) \
+ do { \
+ EIGEN_ASM_COMMENT("begin step of gebp micro kernel 3pX1"); \
+ EIGEN_ASM_COMMENT("Note: these asm comments work around bug 935!"); \
+ traits.loadLhs(&blA[(0+3*K)*LhsProgress], A0); \
+ traits.loadLhs(&blA[(1+3*K)*LhsProgress], A1); \
+ traits.loadLhs(&blA[(2+3*K)*LhsProgress], A2); \
+ traits.loadRhs(&blB[(0+K)*RhsProgress], B_0); \
+ traits.madd(A0, B_0, C0, B_0); \
+ traits.madd(A1, B_0, C4, B_0); \
+ traits.madd(A2, B_0, C8, B_0); \
+ EIGEN_ASM_COMMENT("end step of gebp micro kernel 3pX1"); \
+ } while(false)
+
+ EIGEN_GEBGP_ONESTEP(0);
+ EIGEN_GEBGP_ONESTEP(1);
+ EIGEN_GEBGP_ONESTEP(2);
+ EIGEN_GEBGP_ONESTEP(3);
+ EIGEN_GEBGP_ONESTEP(4);
+ EIGEN_GEBGP_ONESTEP(5);
+ EIGEN_GEBGP_ONESTEP(6);
+ EIGEN_GEBGP_ONESTEP(7);
+
+ blB += pk*RhsProgress;
+ blA += pk*3*Traits::LhsProgress;
+
+ EIGEN_ASM_COMMENT("end gebp micro kernel 3pX1");
+ }
+
+ // process remaining peeled loop
+ for(Index k=peeled_kc; k<depth; k++)
+ {
+ RhsPacket B_0;
+ EIGEN_GEBGP_ONESTEP(0);
+ blB += RhsProgress;
+ blA += 3*Traits::LhsProgress;
+ }
+#undef EIGEN_GEBGP_ONESTEP
+ ResPacket R0, R1, R2;
+ ResPacket alphav = pset1<ResPacket>(alpha);
+
+ R0 = r0.loadPacket(0 * Traits::ResPacketSize);
+ R1 = r0.loadPacket(1 * Traits::ResPacketSize);
+ R2 = r0.loadPacket(2 * Traits::ResPacketSize);
+ traits.acc(C0, alphav, R0);
+ traits.acc(C4, alphav, R1);
+ traits.acc(C8, alphav, R2);
+ r0.storePacket(0 * Traits::ResPacketSize, R0);
+ r0.storePacket(1 * Traits::ResPacketSize, R1);
+ r0.storePacket(2 * Traits::ResPacketSize, R2);
+ }
+ }
+ }
+ }
+
+ //---------- Process 2 * LhsProgress rows at once ----------
+ if(mr>=2*Traits::LhsProgress)
+ {
+ const Index l1 = defaultL1CacheSize; // in Bytes, TODO, l1 should be passed to this function.
+ // The max(1, ...) here is needed because we may be using blocking params larger than what our known l1 cache size
+ // suggests we should be using: either because our known l1 cache size is inaccurate (e.g. on Android, we can only guess),
+ // or because we are testing specific blocking sizes.
+ Index actual_panel_rows = (2*LhsProgress) * std::max<Index>(1,( (l1 - sizeof(ResScalar)*mr*nr - depth*nr*sizeof(RhsScalar)) / (depth * sizeof(LhsScalar) * 2*LhsProgress) ));
+
+ for(Index i1=peeled_mc3; i1<peeled_mc2; i1+=actual_panel_rows)
+ {
+ Index actual_panel_end = (std::min)(i1+actual_panel_rows, peeled_mc2);
+ for(Index j2=0; j2<packet_cols4; j2+=nr)
+ {
+ for(Index i=i1; i<actual_panel_end; i+=2*LhsProgress)
+ {
+
+ // We selected a 2*Traits::LhsProgress x nr micro block of res which is entirely
+ // stored into 2 x nr registers.
+
+ const LhsScalar* blA = &blockA[i*strideA+offsetA*(2*Traits::LhsProgress)];
+ prefetch(&blA[0]);
+
+ // gets res block as register
+ AccPacket C0, C1, C2, C3,
+ C4, C5, C6, C7;
+ traits.initAcc(C0); traits.initAcc(C1); traits.initAcc(C2); traits.initAcc(C3);
+ traits.initAcc(C4); traits.initAcc(C5); traits.initAcc(C6); traits.initAcc(C7);
+
+ LinearMapper r0 = res.getLinearMapper(i, j2 + 0);
+ LinearMapper r1 = res.getLinearMapper(i, j2 + 1);
+ LinearMapper r2 = res.getLinearMapper(i, j2 + 2);
+ LinearMapper r3 = res.getLinearMapper(i, j2 + 3);
+
+ r0.prefetch(prefetch_res_offset);
+ r1.prefetch(prefetch_res_offset);
+ r2.prefetch(prefetch_res_offset);
+ r3.prefetch(prefetch_res_offset);
+
+ // performs "inner" products
+ const RhsScalar* blB = &blockB[j2*strideB+offsetB*nr];
+ prefetch(&blB[0]);
+ LhsPacket A0, A1;
+
+ for(Index k=0; k<peeled_kc; k+=pk)
+ {
+ EIGEN_ASM_COMMENT("begin gebp micro kernel 2pX4");
+ RhsPacket B_0, B1, B2, B3, T0;
+
+ // NOTE: the begin/end asm comments below work around bug 935!
+ // but they are not enough for gcc>=6 without FMA (bug 1637)
+ #if EIGEN_GNUC_AT_LEAST(6,0) && defined(EIGEN_VECTORIZE_SSE)
+ #define EIGEN_GEBP_2PX4_SPILLING_WORKAROUND __asm__ ("" : [a0] "+x,m" (A0),[a1] "+x,m" (A1));
+ #else
+ #define EIGEN_GEBP_2PX4_SPILLING_WORKAROUND
+ #endif
+ #define EIGEN_GEBGP_ONESTEP(K) \
+ do { \
+ EIGEN_ASM_COMMENT("begin step of gebp micro kernel 2pX4"); \
+ traits.loadLhs(&blA[(0+2*K)*LhsProgress], A0); \
+ traits.loadLhs(&blA[(1+2*K)*LhsProgress], A1); \
+ traits.broadcastRhs(&blB[(0+4*K)*RhsProgress], B_0, B1, B2, B3); \
+ traits.madd(A0, B_0, C0, T0); \
+ traits.madd(A1, B_0, C4, B_0); \
+ traits.madd(A0, B1, C1, T0); \
+ traits.madd(A1, B1, C5, B1); \
+ traits.madd(A0, B2, C2, T0); \
+ traits.madd(A1, B2, C6, B2); \
+ traits.madd(A0, B3, C3, T0); \
+ traits.madd(A1, B3, C7, B3); \
+ EIGEN_GEBP_2PX4_SPILLING_WORKAROUND \
+ EIGEN_ASM_COMMENT("end step of gebp micro kernel 2pX4"); \
+ } while(false)
+
+ internal::prefetch(blB+(48+0));
+ EIGEN_GEBGP_ONESTEP(0);
+ EIGEN_GEBGP_ONESTEP(1);
+ EIGEN_GEBGP_ONESTEP(2);
+ EIGEN_GEBGP_ONESTEP(3);
+ internal::prefetch(blB+(48+16));
+ EIGEN_GEBGP_ONESTEP(4);
+ EIGEN_GEBGP_ONESTEP(5);
+ EIGEN_GEBGP_ONESTEP(6);
+ EIGEN_GEBGP_ONESTEP(7);
+
+ blB += pk*4*RhsProgress;
+ blA += pk*(2*Traits::LhsProgress);
+
+ EIGEN_ASM_COMMENT("end gebp micro kernel 2pX4");
+ }
+ // process remaining peeled loop
+ for(Index k=peeled_kc; k<depth; k++)
+ {
+ RhsPacket B_0, B1, B2, B3, T0;
+ EIGEN_GEBGP_ONESTEP(0);
+ blB += 4*RhsProgress;
+ blA += 2*Traits::LhsProgress;
+ }
+#undef EIGEN_GEBGP_ONESTEP
+
+ ResPacket R0, R1, R2, R3;
+ ResPacket alphav = pset1<ResPacket>(alpha);
+
+ R0 = r0.loadPacket(0 * Traits::ResPacketSize);
+ R1 = r0.loadPacket(1 * Traits::ResPacketSize);
+ R2 = r1.loadPacket(0 * Traits::ResPacketSize);
+ R3 = r1.loadPacket(1 * Traits::ResPacketSize);
+ traits.acc(C0, alphav, R0);
+ traits.acc(C4, alphav, R1);
+ traits.acc(C1, alphav, R2);
+ traits.acc(C5, alphav, R3);
+ r0.storePacket(0 * Traits::ResPacketSize, R0);
+ r0.storePacket(1 * Traits::ResPacketSize, R1);
+ r1.storePacket(0 * Traits::ResPacketSize, R2);
+ r1.storePacket(1 * Traits::ResPacketSize, R3);
+
+ R0 = r2.loadPacket(0 * Traits::ResPacketSize);
+ R1 = r2.loadPacket(1 * Traits::ResPacketSize);
+ R2 = r3.loadPacket(0 * Traits::ResPacketSize);
+ R3 = r3.loadPacket(1 * Traits::ResPacketSize);
+ traits.acc(C2, alphav, R0);
+ traits.acc(C6, alphav, R1);
+ traits.acc(C3, alphav, R2);
+ traits.acc(C7, alphav, R3);
+ r2.storePacket(0 * Traits::ResPacketSize, R0);
+ r2.storePacket(1 * Traits::ResPacketSize, R1);
+ r3.storePacket(0 * Traits::ResPacketSize, R2);
+ r3.storePacket(1 * Traits::ResPacketSize, R3);
+ }
+ }
+
+ // Deal with remaining columns of the rhs
+ for(Index j2=packet_cols4; j2<cols; j2++)
+ {
+ for(Index i=i1; i<actual_panel_end; i+=2*LhsProgress)
+ {
+ // One column at a time
+ const LhsScalar* blA = &blockA[i*strideA+offsetA*(2*Traits::LhsProgress)];
+ prefetch(&blA[0]);
+
+ // gets res block as register
+ AccPacket C0, C4;
+ traits.initAcc(C0);
+ traits.initAcc(C4);
+
+ LinearMapper r0 = res.getLinearMapper(i, j2);
+ r0.prefetch(prefetch_res_offset);
+
+ // performs "inner" products
+ const RhsScalar* blB = &blockB[j2*strideB+offsetB];
+ LhsPacket A0, A1;
+
+ for(Index k=0; k<peeled_kc; k+=pk)
+ {
+ EIGEN_ASM_COMMENT("begin gebp micro kernel 2pX1");
+ RhsPacket B_0, B1;
+
+#define EIGEN_GEBGP_ONESTEP(K) \
+ do { \
+ EIGEN_ASM_COMMENT("begin step of gebp micro kernel 2pX1"); \
+ EIGEN_ASM_COMMENT("Note: these asm comments work around bug 935!"); \
+ traits.loadLhs(&blA[(0+2*K)*LhsProgress], A0); \
+ traits.loadLhs(&blA[(1+2*K)*LhsProgress], A1); \
+ traits.loadRhs(&blB[(0+K)*RhsProgress], B_0); \
+ traits.madd(A0, B_0, C0, B1); \
+ traits.madd(A1, B_0, C4, B_0); \
+ EIGEN_ASM_COMMENT("end step of gebp micro kernel 2pX1"); \
+ } while(false)
+
+ EIGEN_GEBGP_ONESTEP(0);
+ EIGEN_GEBGP_ONESTEP(1);
+ EIGEN_GEBGP_ONESTEP(2);
+ EIGEN_GEBGP_ONESTEP(3);
+ EIGEN_GEBGP_ONESTEP(4);
+ EIGEN_GEBGP_ONESTEP(5);
+ EIGEN_GEBGP_ONESTEP(6);
+ EIGEN_GEBGP_ONESTEP(7);
+
+ blB += pk*RhsProgress;
+ blA += pk*2*Traits::LhsProgress;
+
+ EIGEN_ASM_COMMENT("end gebp micro kernel 2pX1");
+ }
+
+ // process remaining peeled loop
+ for(Index k=peeled_kc; k<depth; k++)
+ {
+ RhsPacket B_0, B1;
+ EIGEN_GEBGP_ONESTEP(0);
+ blB += RhsProgress;
+ blA += 2*Traits::LhsProgress;
+ }
+#undef EIGEN_GEBGP_ONESTEP
+ ResPacket R0, R1;
+ ResPacket alphav = pset1<ResPacket>(alpha);
+
+ R0 = r0.loadPacket(0 * Traits::ResPacketSize);
+ R1 = r0.loadPacket(1 * Traits::ResPacketSize);
+ traits.acc(C0, alphav, R0);
+ traits.acc(C4, alphav, R1);
+ r0.storePacket(0 * Traits::ResPacketSize, R0);
+ r0.storePacket(1 * Traits::ResPacketSize, R1);
+ }
+ }
+ }
+ }
+ //---------- Process 1 * LhsProgress rows at once ----------
+ if(mr>=1*Traits::LhsProgress)
+ {
+ // loops on each largest micro horizontal panel of lhs (1*LhsProgress x depth)
+ for(Index i=peeled_mc2; i<peeled_mc1; i+=1*LhsProgress)
+ {
+ // loops on each largest micro vertical panel of rhs (depth * nr)
+ for(Index j2=0; j2<packet_cols4; j2+=nr)
+ {
+ // We select a 1*Traits::LhsProgress x nr micro block of res which is entirely
+ // stored into 1 x nr registers.
+
+ const LhsScalar* blA = &blockA[i*strideA+offsetA*(1*Traits::LhsProgress)];
+ prefetch(&blA[0]);
+
+ // gets res block as register
+ AccPacket C0, C1, C2, C3;
+ traits.initAcc(C0);
+ traits.initAcc(C1);
+ traits.initAcc(C2);
+ traits.initAcc(C3);
+
+ LinearMapper r0 = res.getLinearMapper(i, j2 + 0);
+ LinearMapper r1 = res.getLinearMapper(i, j2 + 1);
+ LinearMapper r2 = res.getLinearMapper(i, j2 + 2);
+ LinearMapper r3 = res.getLinearMapper(i, j2 + 3);
+
+ r0.prefetch(prefetch_res_offset);
+ r1.prefetch(prefetch_res_offset);
+ r2.prefetch(prefetch_res_offset);
+ r3.prefetch(prefetch_res_offset);
+
+ // performs "inner" products
+ const RhsScalar* blB = &blockB[j2*strideB+offsetB*nr];
+ prefetch(&blB[0]);
+ LhsPacket A0;
+
+ for(Index k=0; k<peeled_kc; k+=pk)
+ {
+ EIGEN_ASM_COMMENT("begin gebp micro kernel 1pX4");
+ RhsPacket B_0, B1, B2, B3;
+
+#define EIGEN_GEBGP_ONESTEP(K) \
+ do { \
+ EIGEN_ASM_COMMENT("begin step of gebp micro kernel 1pX4"); \
+ EIGEN_ASM_COMMENT("Note: these asm comments work around bug 935!"); \
+ traits.loadLhs(&blA[(0+1*K)*LhsProgress], A0); \
+ traits.broadcastRhs(&blB[(0+4*K)*RhsProgress], B_0, B1, B2, B3); \
+ traits.madd(A0, B_0, C0, B_0); \
+ traits.madd(A0, B1, C1, B1); \
+ traits.madd(A0, B2, C2, B2); \
+ traits.madd(A0, B3, C3, B3); \
+ EIGEN_ASM_COMMENT("end step of gebp micro kernel 1pX4"); \
+ } while(false)
+
+ internal::prefetch(blB+(48+0));
+ EIGEN_GEBGP_ONESTEP(0);
+ EIGEN_GEBGP_ONESTEP(1);
+ EIGEN_GEBGP_ONESTEP(2);
+ EIGEN_GEBGP_ONESTEP(3);
+ internal::prefetch(blB+(48+16));
+ EIGEN_GEBGP_ONESTEP(4);
+ EIGEN_GEBGP_ONESTEP(5);
+ EIGEN_GEBGP_ONESTEP(6);
+ EIGEN_GEBGP_ONESTEP(7);
+
+ blB += pk*4*RhsProgress;
+ blA += pk*1*LhsProgress;
+
+ EIGEN_ASM_COMMENT("end gebp micro kernel 1pX4");
+ }
+ // process remaining peeled loop
+ for(Index k=peeled_kc; k<depth; k++)
+ {
+ RhsPacket B_0, B1, B2, B3;
+ EIGEN_GEBGP_ONESTEP(0);
+ blB += 4*RhsProgress;
+ blA += 1*LhsProgress;
+ }
+#undef EIGEN_GEBGP_ONESTEP
+
+ ResPacket R0, R1;
+ ResPacket alphav = pset1<ResPacket>(alpha);
+
+ R0 = r0.loadPacket(0 * Traits::ResPacketSize);
+ R1 = r1.loadPacket(0 * Traits::ResPacketSize);
+ traits.acc(C0, alphav, R0);
+ traits.acc(C1, alphav, R1);
+ r0.storePacket(0 * Traits::ResPacketSize, R0);
+ r1.storePacket(0 * Traits::ResPacketSize, R1);
+
+ R0 = r2.loadPacket(0 * Traits::ResPacketSize);
+ R1 = r3.loadPacket(0 * Traits::ResPacketSize);
+ traits.acc(C2, alphav, R0);
+ traits.acc(C3, alphav, R1);
+ r2.storePacket(0 * Traits::ResPacketSize, R0);
+ r3.storePacket(0 * Traits::ResPacketSize, R1);
+ }
+
+ // Deal with remaining columns of the rhs
+ for(Index j2=packet_cols4; j2<cols; j2++)
+ {
+ // One column at a time
+ const LhsScalar* blA = &blockA[i*strideA+offsetA*(1*Traits::LhsProgress)];
+ prefetch(&blA[0]);
+
+ // gets res block as register
+ AccPacket C0;
+ traits.initAcc(C0);
+
+ LinearMapper r0 = res.getLinearMapper(i, j2);
+
+ // performs "inner" products
+ const RhsScalar* blB = &blockB[j2*strideB+offsetB];
+ LhsPacket A0;
+
+ for(Index k=0; k<peeled_kc; k+=pk)
+ {
+ EIGEN_ASM_COMMENT("begin gebp micro kernel 1pX1");
+ RhsPacket B_0;
+
+#define EIGEN_GEBGP_ONESTEP(K) \
+ do { \
+ EIGEN_ASM_COMMENT("begin step of gebp micro kernel 1pX1"); \
+ EIGEN_ASM_COMMENT("Note: these asm comments work around bug 935!"); \
+ traits.loadLhs(&blA[(0+1*K)*LhsProgress], A0); \
+ traits.loadRhs(&blB[(0+K)*RhsProgress], B_0); \
+ traits.madd(A0, B_0, C0, B_0); \
+ EIGEN_ASM_COMMENT("end step of gebp micro kernel 1pX1"); \
+ } while(false);
+
+ EIGEN_GEBGP_ONESTEP(0);
+ EIGEN_GEBGP_ONESTEP(1);
+ EIGEN_GEBGP_ONESTEP(2);
+ EIGEN_GEBGP_ONESTEP(3);
+ EIGEN_GEBGP_ONESTEP(4);
+ EIGEN_GEBGP_ONESTEP(5);
+ EIGEN_GEBGP_ONESTEP(6);
+ EIGEN_GEBGP_ONESTEP(7);
+
+ blB += pk*RhsProgress;
+ blA += pk*1*Traits::LhsProgress;
+
+ EIGEN_ASM_COMMENT("end gebp micro kernel 1pX1");
+ }
+
+ // process remaining peeled loop
+ for(Index k=peeled_kc; k<depth; k++)
+ {
+ RhsPacket B_0;
+ EIGEN_GEBGP_ONESTEP(0);
+ blB += RhsProgress;
+ blA += 1*Traits::LhsProgress;
+ }
+#undef EIGEN_GEBGP_ONESTEP
+ ResPacket R0;
+ ResPacket alphav = pset1<ResPacket>(alpha);
+ R0 = r0.loadPacket(0 * Traits::ResPacketSize);
+ traits.acc(C0, alphav, R0);
+ r0.storePacket(0 * Traits::ResPacketSize, R0);
+ }
+ }
+ }
+ //---------- Process remaining rows, 1 at once ----------
+ if(peeled_mc1<rows)
+ {
+ // loop on each panel of the rhs
+ for(Index j2=0; j2<packet_cols4; j2+=nr)
+ {
+ // loop on each row of the lhs (1*LhsProgress x depth)
+ for(Index i=peeled_mc1; i<rows; i+=1)
+ {
+ const LhsScalar* blA = &blockA[i*strideA+offsetA];
+ prefetch(&blA[0]);
+ const RhsScalar* blB = &blockB[j2*strideB+offsetB*nr];
+
+ // The following piece of code wont work for 512 bit registers
+ // Moreover, if LhsProgress==8 it assumes that there is a half packet of the same size
+ // as nr (which is currently 4) for the return type.
+ const int SResPacketHalfSize = unpacket_traits<typename unpacket_traits<SResPacket>::half>::size;
+ if ((SwappedTraits::LhsProgress % 4) == 0 &&
+ (SwappedTraits::LhsProgress <= 8) &&
+ (SwappedTraits::LhsProgress!=8 || SResPacketHalfSize==nr))
+ {
+ SAccPacket C0, C1, C2, C3;
+ straits.initAcc(C0);
+ straits.initAcc(C1);
+ straits.initAcc(C2);
+ straits.initAcc(C3);
+
+ const Index spk = (std::max)(1,SwappedTraits::LhsProgress/4);
+ const Index endk = (depth/spk)*spk;
+ const Index endk4 = (depth/(spk*4))*(spk*4);
+
+ Index k=0;
+ for(; k<endk4; k+=4*spk)
+ {
+ SLhsPacket A0,A1;
+ SRhsPacket B_0,B_1;
+
+ straits.loadLhsUnaligned(blB+0*SwappedTraits::LhsProgress, A0);
+ straits.loadLhsUnaligned(blB+1*SwappedTraits::LhsProgress, A1);
+
+ straits.loadRhsQuad(blA+0*spk, B_0);
+ straits.loadRhsQuad(blA+1*spk, B_1);
+ straits.madd(A0,B_0,C0,B_0);
+ straits.madd(A1,B_1,C1,B_1);
+
+ straits.loadLhsUnaligned(blB+2*SwappedTraits::LhsProgress, A0);
+ straits.loadLhsUnaligned(blB+3*SwappedTraits::LhsProgress, A1);
+ straits.loadRhsQuad(blA+2*spk, B_0);
+ straits.loadRhsQuad(blA+3*spk, B_1);
+ straits.madd(A0,B_0,C2,B_0);
+ straits.madd(A1,B_1,C3,B_1);
+
+ blB += 4*SwappedTraits::LhsProgress;
+ blA += 4*spk;
+ }
+ C0 = padd(padd(C0,C1),padd(C2,C3));
+ for(; k<endk; k+=spk)
+ {
+ SLhsPacket A0;
+ SRhsPacket B_0;
+
+ straits.loadLhsUnaligned(blB, A0);
+ straits.loadRhsQuad(blA, B_0);
+ straits.madd(A0,B_0,C0,B_0);
+
+ blB += SwappedTraits::LhsProgress;
+ blA += spk;
+ }
+ if(SwappedTraits::LhsProgress==8)
+ {
+ // Special case where we have to first reduce the accumulation register C0
+ typedef typename conditional<SwappedTraits::LhsProgress>=8,typename unpacket_traits<SResPacket>::half,SResPacket>::type SResPacketHalf;
+ typedef typename conditional<SwappedTraits::LhsProgress>=8,typename unpacket_traits<SLhsPacket>::half,SLhsPacket>::type SLhsPacketHalf;
+ typedef typename conditional<SwappedTraits::LhsProgress>=8,typename unpacket_traits<SLhsPacket>::half,SRhsPacket>::type SRhsPacketHalf;
+ typedef typename conditional<SwappedTraits::LhsProgress>=8,typename unpacket_traits<SAccPacket>::half,SAccPacket>::type SAccPacketHalf;
+
+ SResPacketHalf R = res.template gatherPacket<SResPacketHalf>(i, j2);
+ SResPacketHalf alphav = pset1<SResPacketHalf>(alpha);
+
+ if(depth-endk>0)
+ {
+ // We have to handle the last row of the rhs which corresponds to a half-packet
+ SLhsPacketHalf a0;
+ SRhsPacketHalf b0;
+ straits.loadLhsUnaligned(blB, a0);
+ straits.loadRhs(blA, b0);
+ SAccPacketHalf c0 = predux_downto4(C0);
+ straits.madd(a0,b0,c0,b0);
+ straits.acc(c0, alphav, R);
+ }
+ else
+ {
+ straits.acc(predux_downto4(C0), alphav, R);
+ }
+ res.scatterPacket(i, j2, R);
+ }
+ else
+ {
+ SResPacket R = res.template gatherPacket<SResPacket>(i, j2);
+ SResPacket alphav = pset1<SResPacket>(alpha);
+ straits.acc(C0, alphav, R);
+ res.scatterPacket(i, j2, R);
+ }
+ }
+ else // scalar path
+ {
+ // get a 1 x 4 res block as registers
+ ResScalar C0(0), C1(0), C2(0), C3(0);
+
+ for(Index k=0; k<depth; k++)
+ {
+ LhsScalar A0;
+ RhsScalar B_0, B_1;
+
+ A0 = blA[k];
+
+ B_0 = blB[0];
+ B_1 = blB[1];
+ CJMADD(cj,A0,B_0,C0, B_0);
+ CJMADD(cj,A0,B_1,C1, B_1);
+
+ B_0 = blB[2];
+ B_1 = blB[3];
+ CJMADD(cj,A0,B_0,C2, B_0);
+ CJMADD(cj,A0,B_1,C3, B_1);
+
+ blB += 4;
+ }
+ res(i, j2 + 0) += alpha * C0;
+ res(i, j2 + 1) += alpha * C1;
+ res(i, j2 + 2) += alpha * C2;
+ res(i, j2 + 3) += alpha * C3;
+ }
+ }
+ }
+ // remaining columns
+ for(Index j2=packet_cols4; j2<cols; j2++)
+ {
+ // loop on each row of the lhs (1*LhsProgress x depth)
+ for(Index i=peeled_mc1; i<rows; i+=1)
+ {
+ const LhsScalar* blA = &blockA[i*strideA+offsetA];
+ prefetch(&blA[0]);
+ // gets a 1 x 1 res block as registers
+ ResScalar C0(0);
+ const RhsScalar* blB = &blockB[j2*strideB+offsetB];
+ for(Index k=0; k<depth; k++)
+ {
+ LhsScalar A0 = blA[k];
+ RhsScalar B_0 = blB[k];
+ CJMADD(cj, A0, B_0, C0, B_0);
+ }
+ res(i, j2) += alpha * C0;
+ }
+ }
+ }
+ }
+
+
+#undef CJMADD
+
+// pack a block of the lhs
+// The traversal is as follow (mr==4):
+// 0 4 8 12 ...
+// 1 5 9 13 ...
+// 2 6 10 14 ...
+// 3 7 11 15 ...
+//
+// 16 20 24 28 ...
+// 17 21 25 29 ...
+// 18 22 26 30 ...
+// 19 23 27 31 ...
+//
+// 32 33 34 35 ...
+// 36 36 38 39 ...
+template<typename Scalar, typename Index, typename DataMapper, int Pack1, int Pack2, bool Conjugate, bool PanelMode>
+struct gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, ColMajor, Conjugate, PanelMode>
+{
+ typedef typename DataMapper::LinearMapper LinearMapper;
+ EIGEN_DONT_INLINE void operator()(Scalar* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride=0, Index offset=0);
+};
+
+template<typename Scalar, typename Index, typename DataMapper, int Pack1, int Pack2, bool Conjugate, bool PanelMode>
+EIGEN_DONT_INLINE void gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, ColMajor, Conjugate, PanelMode>
+ ::operator()(Scalar* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride, Index offset)
+{
+ typedef typename packet_traits<Scalar>::type Packet;
+ enum { PacketSize = packet_traits<Scalar>::size };
+
+ EIGEN_ASM_COMMENT("EIGEN PRODUCT PACK LHS");
+ EIGEN_UNUSED_VARIABLE(stride);
+ EIGEN_UNUSED_VARIABLE(offset);
+ eigen_assert(((!PanelMode) && stride==0 && offset==0) || (PanelMode && stride>=depth && offset<=stride));
+ eigen_assert( ((Pack1%PacketSize)==0 && Pack1<=4*PacketSize) || (Pack1<=4) );
+ conj_if<NumTraits<Scalar>::IsComplex && Conjugate> cj;
+ Index count = 0;
+
+ const Index peeled_mc3 = Pack1>=3*PacketSize ? (rows/(3*PacketSize))*(3*PacketSize) : 0;
+ const Index peeled_mc2 = Pack1>=2*PacketSize ? peeled_mc3+((rows-peeled_mc3)/(2*PacketSize))*(2*PacketSize) : 0;
+ const Index peeled_mc1 = Pack1>=1*PacketSize ? (rows/(1*PacketSize))*(1*PacketSize) : 0;
+ const Index peeled_mc0 = Pack2>=1*PacketSize ? peeled_mc1
+ : Pack2>1 ? (rows/Pack2)*Pack2 : 0;
+
+ Index i=0;
+
+ // Pack 3 packets
+ if(Pack1>=3*PacketSize)
+ {
+ for(; i<peeled_mc3; i+=3*PacketSize)
+ {
+ if(PanelMode) count += (3*PacketSize) * offset;
+
+ for(Index k=0; k<depth; k++)
+ {
+ Packet A, B, C;
+ A = lhs.loadPacket(i+0*PacketSize, k);
+ B = lhs.loadPacket(i+1*PacketSize, k);
+ C = lhs.loadPacket(i+2*PacketSize, k);
+ pstore(blockA+count, cj.pconj(A)); count+=PacketSize;
+ pstore(blockA+count, cj.pconj(B)); count+=PacketSize;
+ pstore(blockA+count, cj.pconj(C)); count+=PacketSize;
+ }
+ if(PanelMode) count += (3*PacketSize) * (stride-offset-depth);
+ }
+ }
+ // Pack 2 packets
+ if(Pack1>=2*PacketSize)
+ {
+ for(; i<peeled_mc2; i+=2*PacketSize)
+ {
+ if(PanelMode) count += (2*PacketSize) * offset;
+
+ for(Index k=0; k<depth; k++)
+ {
+ Packet A, B;
+ A = lhs.loadPacket(i+0*PacketSize, k);
+ B = lhs.loadPacket(i+1*PacketSize, k);
+ pstore(blockA+count, cj.pconj(A)); count+=PacketSize;
+ pstore(blockA+count, cj.pconj(B)); count+=PacketSize;
+ }
+ if(PanelMode) count += (2*PacketSize) * (stride-offset-depth);
+ }
+ }
+ // Pack 1 packets
+ if(Pack1>=1*PacketSize)
+ {
+ for(; i<peeled_mc1; i+=1*PacketSize)
+ {
+ if(PanelMode) count += (1*PacketSize) * offset;
+
+ for(Index k=0; k<depth; k++)
+ {
+ Packet A;
+ A = lhs.loadPacket(i+0*PacketSize, k);
+ pstore(blockA+count, cj.pconj(A));
+ count+=PacketSize;
+ }
+ if(PanelMode) count += (1*PacketSize) * (stride-offset-depth);
+ }
+ }
+ // Pack scalars
+ if(Pack2<PacketSize && Pack2>1)
+ {
+ for(; i<peeled_mc0; i+=Pack2)
+ {
+ if(PanelMode) count += Pack2 * offset;
+
+ for(Index k=0; k<depth; k++)
+ for(Index w=0; w<Pack2; w++)
+ blockA[count++] = cj(lhs(i+w, k));
+
+ if(PanelMode) count += Pack2 * (stride-offset-depth);
+ }
+ }
+ for(; i<rows; i++)
+ {
+ if(PanelMode) count += offset;
+ for(Index k=0; k<depth; k++)
+ blockA[count++] = cj(lhs(i, k));
+ if(PanelMode) count += (stride-offset-depth);
+ }
+}
+
+template<typename Scalar, typename Index, typename DataMapper, int Pack1, int Pack2, bool Conjugate, bool PanelMode>
+struct gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, RowMajor, Conjugate, PanelMode>
+{
+ typedef typename DataMapper::LinearMapper LinearMapper;
+ EIGEN_DONT_INLINE void operator()(Scalar* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride=0, Index offset=0);
+};
+
+template<typename Scalar, typename Index, typename DataMapper, int Pack1, int Pack2, bool Conjugate, bool PanelMode>
+EIGEN_DONT_INLINE void gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, RowMajor, Conjugate, PanelMode>
+ ::operator()(Scalar* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride, Index offset)
+{
+ typedef typename packet_traits<Scalar>::type Packet;
+ enum { PacketSize = packet_traits<Scalar>::size };
+
+ EIGEN_ASM_COMMENT("EIGEN PRODUCT PACK LHS");
+ EIGEN_UNUSED_VARIABLE(stride);
+ EIGEN_UNUSED_VARIABLE(offset);
+ eigen_assert(((!PanelMode) && stride==0 && offset==0) || (PanelMode && stride>=depth && offset<=stride));
+ conj_if<NumTraits<Scalar>::IsComplex && Conjugate> cj;
+ Index count = 0;
+
+// const Index peeled_mc3 = Pack1>=3*PacketSize ? (rows/(3*PacketSize))*(3*PacketSize) : 0;
+// const Index peeled_mc2 = Pack1>=2*PacketSize ? peeled_mc3+((rows-peeled_mc3)/(2*PacketSize))*(2*PacketSize) : 0;
+// const Index peeled_mc1 = Pack1>=1*PacketSize ? (rows/(1*PacketSize))*(1*PacketSize) : 0;
+
+ int pack = Pack1;
+ Index i = 0;
+ while(pack>0)
+ {
+ Index remaining_rows = rows-i;
+ Index peeled_mc = i+(remaining_rows/pack)*pack;
+ for(; i<peeled_mc; i+=pack)
+ {
+ if(PanelMode) count += pack * offset;
+
+ const Index peeled_k = (depth/PacketSize)*PacketSize;
+ Index k=0;
+ if(pack>=PacketSize)
+ {
+ for(; k<peeled_k; k+=PacketSize)
+ {
+ for (Index m = 0; m < pack; m += PacketSize)
+ {
+ PacketBlock<Packet> kernel;
+ for (int p = 0; p < PacketSize; ++p) kernel.packet[p] = lhs.loadPacket(i+p+m, k);
+ ptranspose(kernel);
+ for (int p = 0; p < PacketSize; ++p) pstore(blockA+count+m+(pack)*p, cj.pconj(kernel.packet[p]));
+ }
+ count += PacketSize*pack;
+ }
+ }
+ for(; k<depth; k++)
+ {
+ Index w=0;
+ for(; w<pack-3; w+=4)
+ {
+ Scalar a(cj(lhs(i+w+0, k))),
+ b(cj(lhs(i+w+1, k))),
+ c(cj(lhs(i+w+2, k))),
+ d(cj(lhs(i+w+3, k)));
+ blockA[count++] = a;
+ blockA[count++] = b;
+ blockA[count++] = c;
+ blockA[count++] = d;
+ }
+ if(pack%4)
+ for(;w<pack;++w)
+ blockA[count++] = cj(lhs(i+w, k));
+ }
+
+ if(PanelMode) count += pack * (stride-offset-depth);
+ }
+
+ pack -= PacketSize;
+ if(pack<Pack2 && (pack+PacketSize)!=Pack2)
+ pack = Pack2;
+ }
+
+ for(; i<rows; i++)
+ {
+ if(PanelMode) count += offset;
+ for(Index k=0; k<depth; k++)
+ blockA[count++] = cj(lhs(i, k));
+ if(PanelMode) count += (stride-offset-depth);
+ }
+}
+
+// copy a complete panel of the rhs
+// this version is optimized for column major matrices
+// The traversal order is as follow: (nr==4):
+// 0 1 2 3 12 13 14 15 24 27
+// 4 5 6 7 16 17 18 19 25 28
+// 8 9 10 11 20 21 22 23 26 29
+// . . . . . . . . . .
+template<typename Scalar, typename Index, typename DataMapper, int nr, bool Conjugate, bool PanelMode>
+struct gemm_pack_rhs<Scalar, Index, DataMapper, nr, ColMajor, Conjugate, PanelMode>
+{
+ typedef typename packet_traits<Scalar>::type Packet;
+ typedef typename DataMapper::LinearMapper LinearMapper;
+ enum { PacketSize = packet_traits<Scalar>::size };
+ EIGEN_DONT_INLINE void operator()(Scalar* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride=0, Index offset=0);
+};
+
+template<typename Scalar, typename Index, typename DataMapper, int nr, bool Conjugate, bool PanelMode>
+EIGEN_DONT_INLINE void gemm_pack_rhs<Scalar, Index, DataMapper, nr, ColMajor, Conjugate, PanelMode>
+ ::operator()(Scalar* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride, Index offset)
+{
+ EIGEN_ASM_COMMENT("EIGEN PRODUCT PACK RHS COLMAJOR");
+ EIGEN_UNUSED_VARIABLE(stride);
+ EIGEN_UNUSED_VARIABLE(offset);
+ eigen_assert(((!PanelMode) && stride==0 && offset==0) || (PanelMode && stride>=depth && offset<=stride));
+ conj_if<NumTraits<Scalar>::IsComplex && Conjugate> cj;
+ Index packet_cols8 = nr>=8 ? (cols/8) * 8 : 0;
+ Index packet_cols4 = nr>=4 ? (cols/4) * 4 : 0;
+ Index count = 0;
+ const Index peeled_k = (depth/PacketSize)*PacketSize;
+// if(nr>=8)
+// {
+// for(Index j2=0; j2<packet_cols8; j2+=8)
+// {
+// // skip what we have before
+// if(PanelMode) count += 8 * offset;
+// const Scalar* b0 = &rhs[(j2+0)*rhsStride];
+// const Scalar* b1 = &rhs[(j2+1)*rhsStride];
+// const Scalar* b2 = &rhs[(j2+2)*rhsStride];
+// const Scalar* b3 = &rhs[(j2+3)*rhsStride];
+// const Scalar* b4 = &rhs[(j2+4)*rhsStride];
+// const Scalar* b5 = &rhs[(j2+5)*rhsStride];
+// const Scalar* b6 = &rhs[(j2+6)*rhsStride];
+// const Scalar* b7 = &rhs[(j2+7)*rhsStride];
+// Index k=0;
+// if(PacketSize==8) // TODO enbale vectorized transposition for PacketSize==4
+// {
+// for(; k<peeled_k; k+=PacketSize) {
+// PacketBlock<Packet> kernel;
+// for (int p = 0; p < PacketSize; ++p) {
+// kernel.packet[p] = ploadu<Packet>(&rhs[(j2+p)*rhsStride+k]);
+// }
+// ptranspose(kernel);
+// for (int p = 0; p < PacketSize; ++p) {
+// pstoreu(blockB+count, cj.pconj(kernel.packet[p]));
+// count+=PacketSize;
+// }
+// }
+// }
+// for(; k<depth; k++)
+// {
+// blockB[count+0] = cj(b0[k]);
+// blockB[count+1] = cj(b1[k]);
+// blockB[count+2] = cj(b2[k]);
+// blockB[count+3] = cj(b3[k]);
+// blockB[count+4] = cj(b4[k]);
+// blockB[count+5] = cj(b5[k]);
+// blockB[count+6] = cj(b6[k]);
+// blockB[count+7] = cj(b7[k]);
+// count += 8;
+// }
+// // skip what we have after
+// if(PanelMode) count += 8 * (stride-offset-depth);
+// }
+// }
+
+ if(nr>=4)
+ {
+ for(Index j2=packet_cols8; j2<packet_cols4; j2+=4)
+ {
+ // skip what we have before
+ if(PanelMode) count += 4 * offset;
+ const LinearMapper dm0 = rhs.getLinearMapper(0, j2 + 0);
+ const LinearMapper dm1 = rhs.getLinearMapper(0, j2 + 1);
+ const LinearMapper dm2 = rhs.getLinearMapper(0, j2 + 2);
+ const LinearMapper dm3 = rhs.getLinearMapper(0, j2 + 3);
+
+ Index k=0;
+ if((PacketSize%4)==0) // TODO enable vectorized transposition for PacketSize==2 ??
+ {
+ for(; k<peeled_k; k+=PacketSize) {
+ PacketBlock<Packet,(PacketSize%4)==0?4:PacketSize> kernel;
+ kernel.packet[0] = dm0.loadPacket(k);
+ kernel.packet[1%PacketSize] = dm1.loadPacket(k);
+ kernel.packet[2%PacketSize] = dm2.loadPacket(k);
+ kernel.packet[3%PacketSize] = dm3.loadPacket(k);
+ ptranspose(kernel);
+ pstoreu(blockB+count+0*PacketSize, cj.pconj(kernel.packet[0]));
+ pstoreu(blockB+count+1*PacketSize, cj.pconj(kernel.packet[1%PacketSize]));
+ pstoreu(blockB+count+2*PacketSize, cj.pconj(kernel.packet[2%PacketSize]));
+ pstoreu(blockB+count+3*PacketSize, cj.pconj(kernel.packet[3%PacketSize]));
+ count+=4*PacketSize;
+ }
+ }
+ for(; k<depth; k++)
+ {
+ blockB[count+0] = cj(dm0(k));
+ blockB[count+1] = cj(dm1(k));
+ blockB[count+2] = cj(dm2(k));
+ blockB[count+3] = cj(dm3(k));
+ count += 4;
+ }
+ // skip what we have after
+ if(PanelMode) count += 4 * (stride-offset-depth);
+ }
+ }
+
+ // copy the remaining columns one at a time (nr==1)
+ for(Index j2=packet_cols4; j2<cols; ++j2)
+ {
+ if(PanelMode) count += offset;
+ const LinearMapper dm0 = rhs.getLinearMapper(0, j2);
+ for(Index k=0; k<depth; k++)
+ {
+ blockB[count] = cj(dm0(k));
+ count += 1;
+ }
+ if(PanelMode) count += (stride-offset-depth);
+ }
+}
+
+// this version is optimized for row major matrices
+template<typename Scalar, typename Index, typename DataMapper, int nr, bool Conjugate, bool PanelMode>
+struct gemm_pack_rhs<Scalar, Index, DataMapper, nr, RowMajor, Conjugate, PanelMode>
+{
+ typedef typename packet_traits<Scalar>::type Packet;
+ typedef typename DataMapper::LinearMapper LinearMapper;
+ enum { PacketSize = packet_traits<Scalar>::size };
+ EIGEN_DONT_INLINE void operator()(Scalar* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride=0, Index offset=0);
+};
+
+template<typename Scalar, typename Index, typename DataMapper, int nr, bool Conjugate, bool PanelMode>
+EIGEN_DONT_INLINE void gemm_pack_rhs<Scalar, Index, DataMapper, nr, RowMajor, Conjugate, PanelMode>
+ ::operator()(Scalar* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride, Index offset)
+{
+ EIGEN_ASM_COMMENT("EIGEN PRODUCT PACK RHS ROWMAJOR");
+ EIGEN_UNUSED_VARIABLE(stride);
+ EIGEN_UNUSED_VARIABLE(offset);
+ eigen_assert(((!PanelMode) && stride==0 && offset==0) || (PanelMode && stride>=depth && offset<=stride));
+ conj_if<NumTraits<Scalar>::IsComplex && Conjugate> cj;
+ Index packet_cols8 = nr>=8 ? (cols/8) * 8 : 0;
+ Index packet_cols4 = nr>=4 ? (cols/4) * 4 : 0;
+ Index count = 0;
+
+// if(nr>=8)
+// {
+// for(Index j2=0; j2<packet_cols8; j2+=8)
+// {
+// // skip what we have before
+// if(PanelMode) count += 8 * offset;
+// for(Index k=0; k<depth; k++)
+// {
+// if (PacketSize==8) {
+// Packet A = ploadu<Packet>(&rhs[k*rhsStride + j2]);
+// pstoreu(blockB+count, cj.pconj(A));
+// } else if (PacketSize==4) {
+// Packet A = ploadu<Packet>(&rhs[k*rhsStride + j2]);
+// Packet B = ploadu<Packet>(&rhs[k*rhsStride + j2 + PacketSize]);
+// pstoreu(blockB+count, cj.pconj(A));
+// pstoreu(blockB+count+PacketSize, cj.pconj(B));
+// } else {
+// const Scalar* b0 = &rhs[k*rhsStride + j2];
+// blockB[count+0] = cj(b0[0]);
+// blockB[count+1] = cj(b0[1]);
+// blockB[count+2] = cj(b0[2]);
+// blockB[count+3] = cj(b0[3]);
+// blockB[count+4] = cj(b0[4]);
+// blockB[count+5] = cj(b0[5]);
+// blockB[count+6] = cj(b0[6]);
+// blockB[count+7] = cj(b0[7]);
+// }
+// count += 8;
+// }
+// // skip what we have after
+// if(PanelMode) count += 8 * (stride-offset-depth);
+// }
+// }
+ if(nr>=4)
+ {
+ for(Index j2=packet_cols8; j2<packet_cols4; j2+=4)
+ {
+ // skip what we have before
+ if(PanelMode) count += 4 * offset;
+ for(Index k=0; k<depth; k++)
+ {
+ if (PacketSize==4) {
+ Packet A = rhs.loadPacket(k, j2);
+ pstoreu(blockB+count, cj.pconj(A));
+ count += PacketSize;
+ } else {
+ const LinearMapper dm0 = rhs.getLinearMapper(k, j2);
+ blockB[count+0] = cj(dm0(0));
+ blockB[count+1] = cj(dm0(1));
+ blockB[count+2] = cj(dm0(2));
+ blockB[count+3] = cj(dm0(3));
+ count += 4;
+ }
+ }
+ // skip what we have after
+ if(PanelMode) count += 4 * (stride-offset-depth);
+ }
+ }
+ // copy the remaining columns one at a time (nr==1)
+ for(Index j2=packet_cols4; j2<cols; ++j2)
+ {
+ if(PanelMode) count += offset;
+ for(Index k=0; k<depth; k++)
+ {
+ blockB[count] = cj(rhs(k, j2));
+ count += 1;
+ }
+ if(PanelMode) count += stride-offset-depth;
+ }
+}
+
+} // end namespace internal
+
+/** \returns the currently set level 1 cpu cache size (in bytes) used to estimate the ideal blocking size parameters.
+ * \sa setCpuCacheSize */
+inline std::ptrdiff_t l1CacheSize()
+{
+ std::ptrdiff_t l1, l2, l3;
+ internal::manage_caching_sizes(GetAction, &l1, &l2, &l3);
+ return l1;
+}
+
+/** \returns the currently set level 2 cpu cache size (in bytes) used to estimate the ideal blocking size parameters.
+ * \sa setCpuCacheSize */
+inline std::ptrdiff_t l2CacheSize()
+{
+ std::ptrdiff_t l1, l2, l3;
+ internal::manage_caching_sizes(GetAction, &l1, &l2, &l3);
+ return l2;
+}
+
+/** \returns the currently set level 3 cpu cache size (in bytes) used to estimate the ideal blocking size paramete\
+rs.
+* \sa setCpuCacheSize */
+inline std::ptrdiff_t l3CacheSize()
+{
+ std::ptrdiff_t l1, l2, l3;
+ internal::manage_caching_sizes(GetAction, &l1, &l2, &l3);
+ return l3;
+}
+
+/** Set the cpu L1 and L2 cache sizes (in bytes).
+ * These values are use to adjust the size of the blocks
+ * for the algorithms working per blocks.
+ *
+ * \sa computeProductBlockingSizes */
+inline void setCpuCacheSizes(std::ptrdiff_t l1, std::ptrdiff_t l2, std::ptrdiff_t l3)
+{
+ internal::manage_caching_sizes(SetAction, &l1, &l2, &l3);
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_GENERAL_BLOCK_PANEL_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/GeneralMatrixMatrix.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/GeneralMatrixMatrix.h
new file mode 100644
index 0000000..6440e1d
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/GeneralMatrixMatrix.h
@@ -0,0 +1,492 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_GENERAL_MATRIX_MATRIX_H
+#define EIGEN_GENERAL_MATRIX_MATRIX_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<typename _LhsScalar, typename _RhsScalar> class level3_blocking;
+
+/* Specialization for a row-major destination matrix => simple transposition of the product */
+template<
+ typename Index,
+ typename LhsScalar, int LhsStorageOrder, bool ConjugateLhs,
+ typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs>
+struct general_matrix_matrix_product<Index,LhsScalar,LhsStorageOrder,ConjugateLhs,RhsScalar,RhsStorageOrder,ConjugateRhs,RowMajor>
+{
+ typedef gebp_traits<RhsScalar,LhsScalar> Traits;
+
+ typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+ static EIGEN_STRONG_INLINE void run(
+ Index rows, Index cols, Index depth,
+ const LhsScalar* lhs, Index lhsStride,
+ const RhsScalar* rhs, Index rhsStride,
+ ResScalar* res, Index resStride,
+ ResScalar alpha,
+ level3_blocking<RhsScalar,LhsScalar>& blocking,
+ GemmParallelInfo<Index>* info = 0)
+ {
+ // transpose the product such that the result is column major
+ general_matrix_matrix_product<Index,
+ RhsScalar, RhsStorageOrder==RowMajor ? ColMajor : RowMajor, ConjugateRhs,
+ LhsScalar, LhsStorageOrder==RowMajor ? ColMajor : RowMajor, ConjugateLhs,
+ ColMajor>
+ ::run(cols,rows,depth,rhs,rhsStride,lhs,lhsStride,res,resStride,alpha,blocking,info);
+ }
+};
+
+/* Specialization for a col-major destination matrix
+ * => Blocking algorithm following Goto's paper */
+template<
+ typename Index,
+ typename LhsScalar, int LhsStorageOrder, bool ConjugateLhs,
+ typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs>
+struct general_matrix_matrix_product<Index,LhsScalar,LhsStorageOrder,ConjugateLhs,RhsScalar,RhsStorageOrder,ConjugateRhs,ColMajor>
+{
+
+typedef gebp_traits<LhsScalar,RhsScalar> Traits;
+
+typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+static void run(Index rows, Index cols, Index depth,
+ const LhsScalar* _lhs, Index lhsStride,
+ const RhsScalar* _rhs, Index rhsStride,
+ ResScalar* _res, Index resStride,
+ ResScalar alpha,
+ level3_blocking<LhsScalar,RhsScalar>& blocking,
+ GemmParallelInfo<Index>* info = 0)
+{
+ typedef const_blas_data_mapper<LhsScalar, Index, LhsStorageOrder> LhsMapper;
+ typedef const_blas_data_mapper<RhsScalar, Index, RhsStorageOrder> RhsMapper;
+ typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor> ResMapper;
+ LhsMapper lhs(_lhs,lhsStride);
+ RhsMapper rhs(_rhs,rhsStride);
+ ResMapper res(_res, resStride);
+
+ Index kc = blocking.kc(); // cache block size along the K direction
+ Index mc = (std::min)(rows,blocking.mc()); // cache block size along the M direction
+ Index nc = (std::min)(cols,blocking.nc()); // cache block size along the N direction
+
+ gemm_pack_lhs<LhsScalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
+ gemm_pack_rhs<RhsScalar, Index, RhsMapper, Traits::nr, RhsStorageOrder> pack_rhs;
+ gebp_kernel<LhsScalar, RhsScalar, Index, ResMapper, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp;
+
+#ifdef EIGEN_HAS_OPENMP
+ if(info)
+ {
+ // this is the parallel version!
+ int tid = omp_get_thread_num();
+ int threads = omp_get_num_threads();
+
+ LhsScalar* blockA = blocking.blockA();
+ eigen_internal_assert(blockA!=0);
+
+ std::size_t sizeB = kc*nc;
+ ei_declare_aligned_stack_constructed_variable(RhsScalar, blockB, sizeB, 0);
+
+ // For each horizontal panel of the rhs, and corresponding vertical panel of the lhs...
+ for(Index k=0; k<depth; k+=kc)
+ {
+ const Index actual_kc = (std::min)(k+kc,depth)-k; // => rows of B', and cols of the A'
+
+ // In order to reduce the chance that a thread has to wait for the other,
+ // let's start by packing B'.
+ pack_rhs(blockB, rhs.getSubMapper(k,0), actual_kc, nc);
+
+ // Pack A_k to A' in a parallel fashion:
+ // each thread packs the sub block A_k,i to A'_i where i is the thread id.
+
+ // However, before copying to A'_i, we have to make sure that no other thread is still using it,
+ // i.e., we test that info[tid].users equals 0.
+ // Then, we set info[tid].users to the number of threads to mark that all other threads are going to use it.
+ while(info[tid].users!=0) {}
+ info[tid].users += threads;
+
+ pack_lhs(blockA+info[tid].lhs_start*actual_kc, lhs.getSubMapper(info[tid].lhs_start,k), actual_kc, info[tid].lhs_length);
+
+ // Notify the other threads that the part A'_i is ready to go.
+ info[tid].sync = k;
+
+ // Computes C_i += A' * B' per A'_i
+ for(int shift=0; shift<threads; ++shift)
+ {
+ int i = (tid+shift)%threads;
+
+ // At this point we have to make sure that A'_i has been updated by the thread i,
+ // we use testAndSetOrdered to mimic a volatile access.
+ // However, no need to wait for the B' part which has been updated by the current thread!
+ if (shift>0) {
+ while(info[i].sync!=k) {
+ }
+ }
+
+ gebp(res.getSubMapper(info[i].lhs_start, 0), blockA+info[i].lhs_start*actual_kc, blockB, info[i].lhs_length, actual_kc, nc, alpha);
+ }
+
+ // Then keep going as usual with the remaining B'
+ for(Index j=nc; j<cols; j+=nc)
+ {
+ const Index actual_nc = (std::min)(j+nc,cols)-j;
+
+ // pack B_k,j to B'
+ pack_rhs(blockB, rhs.getSubMapper(k,j), actual_kc, actual_nc);
+
+ // C_j += A' * B'
+ gebp(res.getSubMapper(0, j), blockA, blockB, rows, actual_kc, actual_nc, alpha);
+ }
+
+ // Release all the sub blocks A'_i of A' for the current thread,
+ // i.e., we simply decrement the number of users by 1
+ for(Index i=0; i<threads; ++i)
+ #pragma omp atomic
+ info[i].users -= 1;
+ }
+ }
+ else
+#endif // EIGEN_HAS_OPENMP
+ {
+ EIGEN_UNUSED_VARIABLE(info);
+
+ // this is the sequential version!
+ std::size_t sizeA = kc*mc;
+ std::size_t sizeB = kc*nc;
+
+ ei_declare_aligned_stack_constructed_variable(LhsScalar, blockA, sizeA, blocking.blockA());
+ ei_declare_aligned_stack_constructed_variable(RhsScalar, blockB, sizeB, blocking.blockB());
+
+ const bool pack_rhs_once = mc!=rows && kc==depth && nc==cols;
+
+ // For each horizontal panel of the rhs, and corresponding panel of the lhs...
+ for(Index i2=0; i2<rows; i2+=mc)
+ {
+ const Index actual_mc = (std::min)(i2+mc,rows)-i2;
+
+ for(Index k2=0; k2<depth; k2+=kc)
+ {
+ const Index actual_kc = (std::min)(k2+kc,depth)-k2;
+
+ // OK, here we have selected one horizontal panel of rhs and one vertical panel of lhs.
+ // => Pack lhs's panel into a sequential chunk of memory (L2/L3 caching)
+ // Note that this panel will be read as many times as the number of blocks in the rhs's
+ // horizontal panel which is, in practice, a very low number.
+ pack_lhs(blockA, lhs.getSubMapper(i2,k2), actual_kc, actual_mc);
+
+ // For each kc x nc block of the rhs's horizontal panel...
+ for(Index j2=0; j2<cols; j2+=nc)
+ {
+ const Index actual_nc = (std::min)(j2+nc,cols)-j2;
+
+ // We pack the rhs's block into a sequential chunk of memory (L2 caching)
+ // Note that this block will be read a very high number of times, which is equal to the number of
+ // micro horizontal panel of the large rhs's panel (e.g., rows/12 times).
+ if((!pack_rhs_once) || i2==0)
+ pack_rhs(blockB, rhs.getSubMapper(k2,j2), actual_kc, actual_nc);
+
+ // Everything is packed, we can now call the panel * block kernel:
+ gebp(res.getSubMapper(i2, j2), blockA, blockB, actual_mc, actual_kc, actual_nc, alpha);
+ }
+ }
+ }
+ }
+}
+
+};
+
+/*********************************************************************************
+* Specialization of generic_product_impl for "large" GEMM, i.e.,
+* implementation of the high level wrapper to general_matrix_matrix_product
+**********************************************************************************/
+
+template<typename Scalar, typename Index, typename Gemm, typename Lhs, typename Rhs, typename Dest, typename BlockingType>
+struct gemm_functor
+{
+ gemm_functor(const Lhs& lhs, const Rhs& rhs, Dest& dest, const Scalar& actualAlpha, BlockingType& blocking)
+ : m_lhs(lhs), m_rhs(rhs), m_dest(dest), m_actualAlpha(actualAlpha), m_blocking(blocking)
+ {}
+
+ void initParallelSession(Index num_threads) const
+ {
+ m_blocking.initParallel(m_lhs.rows(), m_rhs.cols(), m_lhs.cols(), num_threads);
+ m_blocking.allocateA();
+ }
+
+ void operator() (Index row, Index rows, Index col=0, Index cols=-1, GemmParallelInfo<Index>* info=0) const
+ {
+ if(cols==-1)
+ cols = m_rhs.cols();
+
+ Gemm::run(rows, cols, m_lhs.cols(),
+ &m_lhs.coeffRef(row,0), m_lhs.outerStride(),
+ &m_rhs.coeffRef(0,col), m_rhs.outerStride(),
+ (Scalar*)&(m_dest.coeffRef(row,col)), m_dest.outerStride(),
+ m_actualAlpha, m_blocking, info);
+ }
+
+ typedef typename Gemm::Traits Traits;
+
+ protected:
+ const Lhs& m_lhs;
+ const Rhs& m_rhs;
+ Dest& m_dest;
+ Scalar m_actualAlpha;
+ BlockingType& m_blocking;
+};
+
+template<int StorageOrder, typename LhsScalar, typename RhsScalar, int MaxRows, int MaxCols, int MaxDepth, int KcFactor=1,
+bool FiniteAtCompileTime = MaxRows!=Dynamic && MaxCols!=Dynamic && MaxDepth != Dynamic> class gemm_blocking_space;
+
+template<typename _LhsScalar, typename _RhsScalar>
+class level3_blocking
+{
+ typedef _LhsScalar LhsScalar;
+ typedef _RhsScalar RhsScalar;
+
+ protected:
+ LhsScalar* m_blockA;
+ RhsScalar* m_blockB;
+
+ Index m_mc;
+ Index m_nc;
+ Index m_kc;
+
+ public:
+
+ level3_blocking()
+ : m_blockA(0), m_blockB(0), m_mc(0), m_nc(0), m_kc(0)
+ {}
+
+ inline Index mc() const { return m_mc; }
+ inline Index nc() const { return m_nc; }
+ inline Index kc() const { return m_kc; }
+
+ inline LhsScalar* blockA() { return m_blockA; }
+ inline RhsScalar* blockB() { return m_blockB; }
+};
+
+template<int StorageOrder, typename _LhsScalar, typename _RhsScalar, int MaxRows, int MaxCols, int MaxDepth, int KcFactor>
+class gemm_blocking_space<StorageOrder,_LhsScalar,_RhsScalar,MaxRows, MaxCols, MaxDepth, KcFactor, true /* == FiniteAtCompileTime */>
+ : public level3_blocking<
+ typename conditional<StorageOrder==RowMajor,_RhsScalar,_LhsScalar>::type,
+ typename conditional<StorageOrder==RowMajor,_LhsScalar,_RhsScalar>::type>
+{
+ enum {
+ Transpose = StorageOrder==RowMajor,
+ ActualRows = Transpose ? MaxCols : MaxRows,
+ ActualCols = Transpose ? MaxRows : MaxCols
+ };
+ typedef typename conditional<Transpose,_RhsScalar,_LhsScalar>::type LhsScalar;
+ typedef typename conditional<Transpose,_LhsScalar,_RhsScalar>::type RhsScalar;
+ typedef gebp_traits<LhsScalar,RhsScalar> Traits;
+ enum {
+ SizeA = ActualRows * MaxDepth,
+ SizeB = ActualCols * MaxDepth
+ };
+
+#if EIGEN_MAX_STATIC_ALIGN_BYTES >= EIGEN_DEFAULT_ALIGN_BYTES
+ EIGEN_ALIGN_MAX LhsScalar m_staticA[SizeA];
+ EIGEN_ALIGN_MAX RhsScalar m_staticB[SizeB];
+#else
+ EIGEN_ALIGN_MAX char m_staticA[SizeA * sizeof(LhsScalar) + EIGEN_DEFAULT_ALIGN_BYTES-1];
+ EIGEN_ALIGN_MAX char m_staticB[SizeB * sizeof(RhsScalar) + EIGEN_DEFAULT_ALIGN_BYTES-1];
+#endif
+
+ public:
+
+ gemm_blocking_space(Index /*rows*/, Index /*cols*/, Index /*depth*/, Index /*num_threads*/, bool /*full_rows = false*/)
+ {
+ this->m_mc = ActualRows;
+ this->m_nc = ActualCols;
+ this->m_kc = MaxDepth;
+#if EIGEN_MAX_STATIC_ALIGN_BYTES >= EIGEN_DEFAULT_ALIGN_BYTES
+ this->m_blockA = m_staticA;
+ this->m_blockB = m_staticB;
+#else
+ this->m_blockA = reinterpret_cast<LhsScalar*>((internal::UIntPtr(m_staticA) + (EIGEN_DEFAULT_ALIGN_BYTES-1)) & ~std::size_t(EIGEN_DEFAULT_ALIGN_BYTES-1));
+ this->m_blockB = reinterpret_cast<RhsScalar*>((internal::UIntPtr(m_staticB) + (EIGEN_DEFAULT_ALIGN_BYTES-1)) & ~std::size_t(EIGEN_DEFAULT_ALIGN_BYTES-1));
+#endif
+ }
+
+ void initParallel(Index, Index, Index, Index)
+ {}
+
+ inline void allocateA() {}
+ inline void allocateB() {}
+ inline void allocateAll() {}
+};
+
+template<int StorageOrder, typename _LhsScalar, typename _RhsScalar, int MaxRows, int MaxCols, int MaxDepth, int KcFactor>
+class gemm_blocking_space<StorageOrder,_LhsScalar,_RhsScalar,MaxRows, MaxCols, MaxDepth, KcFactor, false>
+ : public level3_blocking<
+ typename conditional<StorageOrder==RowMajor,_RhsScalar,_LhsScalar>::type,
+ typename conditional<StorageOrder==RowMajor,_LhsScalar,_RhsScalar>::type>
+{
+ enum {
+ Transpose = StorageOrder==RowMajor
+ };
+ typedef typename conditional<Transpose,_RhsScalar,_LhsScalar>::type LhsScalar;
+ typedef typename conditional<Transpose,_LhsScalar,_RhsScalar>::type RhsScalar;
+ typedef gebp_traits<LhsScalar,RhsScalar> Traits;
+
+ Index m_sizeA;
+ Index m_sizeB;
+
+ public:
+
+ gemm_blocking_space(Index rows, Index cols, Index depth, Index num_threads, bool l3_blocking)
+ {
+ this->m_mc = Transpose ? cols : rows;
+ this->m_nc = Transpose ? rows : cols;
+ this->m_kc = depth;
+
+ if(l3_blocking)
+ {
+ computeProductBlockingSizes<LhsScalar,RhsScalar,KcFactor>(this->m_kc, this->m_mc, this->m_nc, num_threads);
+ }
+ else // no l3 blocking
+ {
+ Index n = this->m_nc;
+ computeProductBlockingSizes<LhsScalar,RhsScalar,KcFactor>(this->m_kc, this->m_mc, n, num_threads);
+ }
+
+ m_sizeA = this->m_mc * this->m_kc;
+ m_sizeB = this->m_kc * this->m_nc;
+ }
+
+ void initParallel(Index rows, Index cols, Index depth, Index num_threads)
+ {
+ this->m_mc = Transpose ? cols : rows;
+ this->m_nc = Transpose ? rows : cols;
+ this->m_kc = depth;
+
+ eigen_internal_assert(this->m_blockA==0 && this->m_blockB==0);
+ Index m = this->m_mc;
+ computeProductBlockingSizes<LhsScalar,RhsScalar,KcFactor>(this->m_kc, m, this->m_nc, num_threads);
+ m_sizeA = this->m_mc * this->m_kc;
+ m_sizeB = this->m_kc * this->m_nc;
+ }
+
+ void allocateA()
+ {
+ if(this->m_blockA==0)
+ this->m_blockA = aligned_new<LhsScalar>(m_sizeA);
+ }
+
+ void allocateB()
+ {
+ if(this->m_blockB==0)
+ this->m_blockB = aligned_new<RhsScalar>(m_sizeB);
+ }
+
+ void allocateAll()
+ {
+ allocateA();
+ allocateB();
+ }
+
+ ~gemm_blocking_space()
+ {
+ aligned_delete(this->m_blockA, m_sizeA);
+ aligned_delete(this->m_blockB, m_sizeB);
+ }
+};
+
+} // end namespace internal
+
+namespace internal {
+
+template<typename Lhs, typename Rhs>
+struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,GemmProduct>
+ : generic_product_impl_base<Lhs,Rhs,generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,GemmProduct> >
+{
+ typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+ typedef typename Lhs::Scalar LhsScalar;
+ typedef typename Rhs::Scalar RhsScalar;
+
+ typedef internal::blas_traits<Lhs> LhsBlasTraits;
+ typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
+ typedef typename internal::remove_all<ActualLhsType>::type ActualLhsTypeCleaned;
+
+ typedef internal::blas_traits<Rhs> RhsBlasTraits;
+ typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
+ typedef typename internal::remove_all<ActualRhsType>::type ActualRhsTypeCleaned;
+
+ enum {
+ MaxDepthAtCompileTime = EIGEN_SIZE_MIN_PREFER_FIXED(Lhs::MaxColsAtCompileTime,Rhs::MaxRowsAtCompileTime)
+ };
+
+ typedef generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,CoeffBasedProductMode> lazyproduct;
+
+ template<typename Dst>
+ static void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+ {
+ if((rhs.rows()+dst.rows()+dst.cols())<20 && rhs.rows()>0)
+ lazyproduct::evalTo(dst, lhs, rhs);
+ else
+ {
+ dst.setZero();
+ scaleAndAddTo(dst, lhs, rhs, Scalar(1));
+ }
+ }
+
+ template<typename Dst>
+ static void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+ {
+ if((rhs.rows()+dst.rows()+dst.cols())<20 && rhs.rows()>0)
+ lazyproduct::addTo(dst, lhs, rhs);
+ else
+ scaleAndAddTo(dst,lhs, rhs, Scalar(1));
+ }
+
+ template<typename Dst>
+ static void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+ {
+ if((rhs.rows()+dst.rows()+dst.cols())<20 && rhs.rows()>0)
+ lazyproduct::subTo(dst, lhs, rhs);
+ else
+ scaleAndAddTo(dst, lhs, rhs, Scalar(-1));
+ }
+
+ template<typename Dest>
+ static void scaleAndAddTo(Dest& dst, const Lhs& a_lhs, const Rhs& a_rhs, const Scalar& alpha)
+ {
+ eigen_assert(dst.rows()==a_lhs.rows() && dst.cols()==a_rhs.cols());
+ if(a_lhs.cols()==0 || a_lhs.rows()==0 || a_rhs.cols()==0)
+ return;
+
+ typename internal::add_const_on_value_type<ActualLhsType>::type lhs = LhsBlasTraits::extract(a_lhs);
+ typename internal::add_const_on_value_type<ActualRhsType>::type rhs = RhsBlasTraits::extract(a_rhs);
+
+ Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(a_lhs)
+ * RhsBlasTraits::extractScalarFactor(a_rhs);
+
+ typedef internal::gemm_blocking_space<(Dest::Flags&RowMajorBit) ? RowMajor : ColMajor,LhsScalar,RhsScalar,
+ Dest::MaxRowsAtCompileTime,Dest::MaxColsAtCompileTime,MaxDepthAtCompileTime> BlockingType;
+
+ typedef internal::gemm_functor<
+ Scalar, Index,
+ internal::general_matrix_matrix_product<
+ Index,
+ LhsScalar, (ActualLhsTypeCleaned::Flags&RowMajorBit) ? RowMajor : ColMajor, bool(LhsBlasTraits::NeedToConjugate),
+ RhsScalar, (ActualRhsTypeCleaned::Flags&RowMajorBit) ? RowMajor : ColMajor, bool(RhsBlasTraits::NeedToConjugate),
+ (Dest::Flags&RowMajorBit) ? RowMajor : ColMajor>,
+ ActualLhsTypeCleaned, ActualRhsTypeCleaned, Dest, BlockingType> GemmFunctor;
+
+ BlockingType blocking(dst.rows(), dst.cols(), lhs.cols(), 1, true);
+ internal::parallelize_gemm<(Dest::MaxRowsAtCompileTime>32 || Dest::MaxRowsAtCompileTime==Dynamic)>
+ (GemmFunctor(lhs, rhs, dst, actualAlpha, blocking), a_lhs.rows(), a_rhs.cols(), a_lhs.cols(), Dest::Flags&RowMajorBit);
+ }
+};
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_GENERAL_MATRIX_MATRIX_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h
new file mode 100644
index 0000000..e844e37
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h
@@ -0,0 +1,311 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_GENERAL_MATRIX_MATRIX_TRIANGULAR_H
+#define EIGEN_GENERAL_MATRIX_MATRIX_TRIANGULAR_H
+
+namespace Eigen {
+
+template<typename Scalar, typename Index, int StorageOrder, int UpLo, bool ConjLhs, bool ConjRhs>
+struct selfadjoint_rank1_update;
+
+namespace internal {
+
+/**********************************************************************
+* This file implements a general A * B product while
+* evaluating only one triangular part of the product.
+* This is a more general version of self adjoint product (C += A A^T)
+* as the level 3 SYRK Blas routine.
+**********************************************************************/
+
+// forward declarations (defined at the end of this file)
+template<typename LhsScalar, typename RhsScalar, typename Index, int mr, int nr, bool ConjLhs, bool ConjRhs, int UpLo>
+struct tribb_kernel;
+
+/* Optimized matrix-matrix product evaluating only one triangular half */
+template <typename Index,
+ typename LhsScalar, int LhsStorageOrder, bool ConjugateLhs,
+ typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs,
+ int ResStorageOrder, int UpLo, int Version = Specialized>
+struct general_matrix_matrix_triangular_product;
+
+// as usual if the result is row major => we transpose the product
+template <typename Index, typename LhsScalar, int LhsStorageOrder, bool ConjugateLhs,
+ typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs, int UpLo, int Version>
+struct general_matrix_matrix_triangular_product<Index,LhsScalar,LhsStorageOrder,ConjugateLhs,RhsScalar,RhsStorageOrder,ConjugateRhs,RowMajor,UpLo,Version>
+{
+ typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+ static EIGEN_STRONG_INLINE void run(Index size, Index depth,const LhsScalar* lhs, Index lhsStride,
+ const RhsScalar* rhs, Index rhsStride, ResScalar* res, Index resStride,
+ const ResScalar& alpha, level3_blocking<RhsScalar,LhsScalar>& blocking)
+ {
+ general_matrix_matrix_triangular_product<Index,
+ RhsScalar, RhsStorageOrder==RowMajor ? ColMajor : RowMajor, ConjugateRhs,
+ LhsScalar, LhsStorageOrder==RowMajor ? ColMajor : RowMajor, ConjugateLhs,
+ ColMajor, UpLo==Lower?Upper:Lower>
+ ::run(size,depth,rhs,rhsStride,lhs,lhsStride,res,resStride,alpha,blocking);
+ }
+};
+
+template <typename Index, typename LhsScalar, int LhsStorageOrder, bool ConjugateLhs,
+ typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs, int UpLo, int Version>
+struct general_matrix_matrix_triangular_product<Index,LhsScalar,LhsStorageOrder,ConjugateLhs,RhsScalar,RhsStorageOrder,ConjugateRhs,ColMajor,UpLo,Version>
+{
+ typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+ static EIGEN_STRONG_INLINE void run(Index size, Index depth,const LhsScalar* _lhs, Index lhsStride,
+ const RhsScalar* _rhs, Index rhsStride, ResScalar* _res, Index resStride,
+ const ResScalar& alpha, level3_blocking<LhsScalar,RhsScalar>& blocking)
+ {
+ typedef gebp_traits<LhsScalar,RhsScalar> Traits;
+
+ typedef const_blas_data_mapper<LhsScalar, Index, LhsStorageOrder> LhsMapper;
+ typedef const_blas_data_mapper<RhsScalar, Index, RhsStorageOrder> RhsMapper;
+ typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor> ResMapper;
+ LhsMapper lhs(_lhs,lhsStride);
+ RhsMapper rhs(_rhs,rhsStride);
+ ResMapper res(_res, resStride);
+
+ Index kc = blocking.kc();
+ Index mc = (std::min)(size,blocking.mc());
+
+ // !!! mc must be a multiple of nr:
+ if(mc > Traits::nr)
+ mc = (mc/Traits::nr)*Traits::nr;
+
+ std::size_t sizeA = kc*mc;
+ std::size_t sizeB = kc*size;
+
+ ei_declare_aligned_stack_constructed_variable(LhsScalar, blockA, sizeA, blocking.blockA());
+ ei_declare_aligned_stack_constructed_variable(RhsScalar, blockB, sizeB, blocking.blockB());
+
+ gemm_pack_lhs<LhsScalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
+ gemm_pack_rhs<RhsScalar, Index, RhsMapper, Traits::nr, RhsStorageOrder> pack_rhs;
+ gebp_kernel<LhsScalar, RhsScalar, Index, ResMapper, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp;
+ tribb_kernel<LhsScalar, RhsScalar, Index, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs, UpLo> sybb;
+
+ for(Index k2=0; k2<depth; k2+=kc)
+ {
+ const Index actual_kc = (std::min)(k2+kc,depth)-k2;
+
+ // note that the actual rhs is the transpose/adjoint of mat
+ pack_rhs(blockB, rhs.getSubMapper(k2,0), actual_kc, size);
+
+ for(Index i2=0; i2<size; i2+=mc)
+ {
+ const Index actual_mc = (std::min)(i2+mc,size)-i2;
+
+ pack_lhs(blockA, lhs.getSubMapper(i2, k2), actual_kc, actual_mc);
+
+ // the selected actual_mc * size panel of res is split into three different part:
+ // 1 - before the diagonal => processed with gebp or skipped
+ // 2 - the actual_mc x actual_mc symmetric block => processed with a special kernel
+ // 3 - after the diagonal => processed with gebp or skipped
+ if (UpLo==Lower)
+ gebp(res.getSubMapper(i2, 0), blockA, blockB, actual_mc, actual_kc,
+ (std::min)(size,i2), alpha, -1, -1, 0, 0);
+
+
+ sybb(_res+resStride*i2 + i2, resStride, blockA, blockB + actual_kc*i2, actual_mc, actual_kc, alpha);
+
+ if (UpLo==Upper)
+ {
+ Index j2 = i2+actual_mc;
+ gebp(res.getSubMapper(i2, j2), blockA, blockB+actual_kc*j2, actual_mc,
+ actual_kc, (std::max)(Index(0), size-j2), alpha, -1, -1, 0, 0);
+ }
+ }
+ }
+ }
+};
+
+// Optimized packed Block * packed Block product kernel evaluating only one given triangular part
+// This kernel is built on top of the gebp kernel:
+// - the current destination block is processed per panel of actual_mc x BlockSize
+// where BlockSize is set to the minimal value allowing gebp to be as fast as possible
+// - then, as usual, each panel is split into three parts along the diagonal,
+// the sub blocks above and below the diagonal are processed as usual,
+// while the triangular block overlapping the diagonal is evaluated into a
+// small temporary buffer which is then accumulated into the result using a
+// triangular traversal.
+template<typename LhsScalar, typename RhsScalar, typename Index, int mr, int nr, bool ConjLhs, bool ConjRhs, int UpLo>
+struct tribb_kernel
+{
+ typedef gebp_traits<LhsScalar,RhsScalar,ConjLhs,ConjRhs> Traits;
+ typedef typename Traits::ResScalar ResScalar;
+
+ enum {
+ BlockSize = meta_least_common_multiple<EIGEN_PLAIN_ENUM_MAX(mr,nr),EIGEN_PLAIN_ENUM_MIN(mr,nr)>::ret
+ };
+ void operator()(ResScalar* _res, Index resStride, const LhsScalar* blockA, const RhsScalar* blockB, Index size, Index depth, const ResScalar& alpha)
+ {
+ typedef blas_data_mapper<ResScalar, Index, ColMajor> ResMapper;
+ ResMapper res(_res, resStride);
+ gebp_kernel<LhsScalar, RhsScalar, Index, ResMapper, mr, nr, ConjLhs, ConjRhs> gebp_kernel;
+
+ Matrix<ResScalar,BlockSize,BlockSize,ColMajor> buffer((internal::constructor_without_unaligned_array_assert()));
+
+ // let's process the block per panel of actual_mc x BlockSize,
+ // again, each is split into three parts, etc.
+ for (Index j=0; j<size; j+=BlockSize)
+ {
+ Index actualBlockSize = std::min<Index>(BlockSize,size - j);
+ const RhsScalar* actual_b = blockB+j*depth;
+
+ if(UpLo==Upper)
+ gebp_kernel(res.getSubMapper(0, j), blockA, actual_b, j, depth, actualBlockSize, alpha,
+ -1, -1, 0, 0);
+
+ // selfadjoint micro block
+ {
+ Index i = j;
+ buffer.setZero();
+ // 1 - apply the kernel on the temporary buffer
+ gebp_kernel(ResMapper(buffer.data(), BlockSize), blockA+depth*i, actual_b, actualBlockSize, depth, actualBlockSize, alpha,
+ -1, -1, 0, 0);
+ // 2 - triangular accumulation
+ for(Index j1=0; j1<actualBlockSize; ++j1)
+ {
+ ResScalar* r = &res(i, j + j1);
+ for(Index i1=UpLo==Lower ? j1 : 0;
+ UpLo==Lower ? i1<actualBlockSize : i1<=j1; ++i1)
+ r[i1] += buffer(i1,j1);
+ }
+ }
+
+ if(UpLo==Lower)
+ {
+ Index i = j+actualBlockSize;
+ gebp_kernel(res.getSubMapper(i, j), blockA+depth*i, actual_b, size-i,
+ depth, actualBlockSize, alpha, -1, -1, 0, 0);
+ }
+ }
+ }
+};
+
+} // end namespace internal
+
+// high level API
+
+template<typename MatrixType, typename ProductType, int UpLo, bool IsOuterProduct>
+struct general_product_to_triangular_selector;
+
+
+template<typename MatrixType, typename ProductType, int UpLo>
+struct general_product_to_triangular_selector<MatrixType,ProductType,UpLo,true>
+{
+ static void run(MatrixType& mat, const ProductType& prod, const typename MatrixType::Scalar& alpha, bool beta)
+ {
+ typedef typename MatrixType::Scalar Scalar;
+
+ typedef typename internal::remove_all<typename ProductType::LhsNested>::type Lhs;
+ typedef internal::blas_traits<Lhs> LhsBlasTraits;
+ typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhs;
+ typedef typename internal::remove_all<ActualLhs>::type _ActualLhs;
+ typename internal::add_const_on_value_type<ActualLhs>::type actualLhs = LhsBlasTraits::extract(prod.lhs());
+
+ typedef typename internal::remove_all<typename ProductType::RhsNested>::type Rhs;
+ typedef internal::blas_traits<Rhs> RhsBlasTraits;
+ typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhs;
+ typedef typename internal::remove_all<ActualRhs>::type _ActualRhs;
+ typename internal::add_const_on_value_type<ActualRhs>::type actualRhs = RhsBlasTraits::extract(prod.rhs());
+
+ Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(prod.lhs().derived()) * RhsBlasTraits::extractScalarFactor(prod.rhs().derived());
+
+ if(!beta)
+ mat.template triangularView<UpLo>().setZero();
+
+ enum {
+ StorageOrder = (internal::traits<MatrixType>::Flags&RowMajorBit) ? RowMajor : ColMajor,
+ UseLhsDirectly = _ActualLhs::InnerStrideAtCompileTime==1,
+ UseRhsDirectly = _ActualRhs::InnerStrideAtCompileTime==1
+ };
+
+ internal::gemv_static_vector_if<Scalar,Lhs::SizeAtCompileTime,Lhs::MaxSizeAtCompileTime,!UseLhsDirectly> static_lhs;
+ ei_declare_aligned_stack_constructed_variable(Scalar, actualLhsPtr, actualLhs.size(),
+ (UseLhsDirectly ? const_cast<Scalar*>(actualLhs.data()) : static_lhs.data()));
+ if(!UseLhsDirectly) Map<typename _ActualLhs::PlainObject>(actualLhsPtr, actualLhs.size()) = actualLhs;
+
+ internal::gemv_static_vector_if<Scalar,Rhs::SizeAtCompileTime,Rhs::MaxSizeAtCompileTime,!UseRhsDirectly> static_rhs;
+ ei_declare_aligned_stack_constructed_variable(Scalar, actualRhsPtr, actualRhs.size(),
+ (UseRhsDirectly ? const_cast<Scalar*>(actualRhs.data()) : static_rhs.data()));
+ if(!UseRhsDirectly) Map<typename _ActualRhs::PlainObject>(actualRhsPtr, actualRhs.size()) = actualRhs;
+
+
+ selfadjoint_rank1_update<Scalar,Index,StorageOrder,UpLo,
+ LhsBlasTraits::NeedToConjugate && NumTraits<Scalar>::IsComplex,
+ RhsBlasTraits::NeedToConjugate && NumTraits<Scalar>::IsComplex>
+ ::run(actualLhs.size(), mat.data(), mat.outerStride(), actualLhsPtr, actualRhsPtr, actualAlpha);
+ }
+};
+
+template<typename MatrixType, typename ProductType, int UpLo>
+struct general_product_to_triangular_selector<MatrixType,ProductType,UpLo,false>
+{
+ static void run(MatrixType& mat, const ProductType& prod, const typename MatrixType::Scalar& alpha, bool beta)
+ {
+ typedef typename internal::remove_all<typename ProductType::LhsNested>::type Lhs;
+ typedef internal::blas_traits<Lhs> LhsBlasTraits;
+ typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhs;
+ typedef typename internal::remove_all<ActualLhs>::type _ActualLhs;
+ typename internal::add_const_on_value_type<ActualLhs>::type actualLhs = LhsBlasTraits::extract(prod.lhs());
+
+ typedef typename internal::remove_all<typename ProductType::RhsNested>::type Rhs;
+ typedef internal::blas_traits<Rhs> RhsBlasTraits;
+ typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhs;
+ typedef typename internal::remove_all<ActualRhs>::type _ActualRhs;
+ typename internal::add_const_on_value_type<ActualRhs>::type actualRhs = RhsBlasTraits::extract(prod.rhs());
+
+ typename ProductType::Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(prod.lhs().derived()) * RhsBlasTraits::extractScalarFactor(prod.rhs().derived());
+
+ if(!beta)
+ mat.template triangularView<UpLo>().setZero();
+
+ enum {
+ IsRowMajor = (internal::traits<MatrixType>::Flags&RowMajorBit) ? 1 : 0,
+ LhsIsRowMajor = _ActualLhs::Flags&RowMajorBit ? 1 : 0,
+ RhsIsRowMajor = _ActualRhs::Flags&RowMajorBit ? 1 : 0,
+ SkipDiag = (UpLo&(UnitDiag|ZeroDiag))!=0
+ };
+
+ Index size = mat.cols();
+ if(SkipDiag)
+ size--;
+ Index depth = actualLhs.cols();
+
+ typedef internal::gemm_blocking_space<IsRowMajor ? RowMajor : ColMajor,typename Lhs::Scalar,typename Rhs::Scalar,
+ MatrixType::MaxColsAtCompileTime, MatrixType::MaxColsAtCompileTime, _ActualRhs::MaxColsAtCompileTime> BlockingType;
+
+ BlockingType blocking(size, size, depth, 1, false);
+
+ internal::general_matrix_matrix_triangular_product<Index,
+ typename Lhs::Scalar, LhsIsRowMajor ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
+ typename Rhs::Scalar, RhsIsRowMajor ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
+ IsRowMajor ? RowMajor : ColMajor, UpLo&(Lower|Upper)>
+ ::run(size, depth,
+ &actualLhs.coeffRef(SkipDiag&&(UpLo&Lower)==Lower ? 1 : 0,0), actualLhs.outerStride(),
+ &actualRhs.coeffRef(0,SkipDiag&&(UpLo&Upper)==Upper ? 1 : 0), actualRhs.outerStride(),
+ mat.data() + (SkipDiag ? (bool(IsRowMajor) != ((UpLo&Lower)==Lower) ? 1 : mat.outerStride() ) : 0), mat.outerStride(), actualAlpha, blocking);
+ }
+};
+
+template<typename MatrixType, unsigned int UpLo>
+template<typename ProductType>
+TriangularView<MatrixType,UpLo>& TriangularViewImpl<MatrixType,UpLo,Dense>::_assignProduct(const ProductType& prod, const Scalar& alpha, bool beta)
+{
+ EIGEN_STATIC_ASSERT((UpLo&UnitDiag)==0, WRITING_TO_TRIANGULAR_PART_WITH_UNIT_DIAGONAL_IS_NOT_SUPPORTED);
+ eigen_assert(derived().nestedExpression().rows() == prod.rows() && derived().cols() == prod.cols());
+
+ general_product_to_triangular_selector<MatrixType, ProductType, UpLo, internal::traits<ProductType>::InnerSize==1>::run(derived().nestedExpression().const_cast_derived(), prod, alpha, beta);
+
+ return derived();
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_GENERAL_MATRIX_MATRIX_TRIANGULAR_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/GeneralMatrixVector.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/GeneralMatrixVector.h
new file mode 100644
index 0000000..a597c1f
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/GeneralMatrixVector.h
@@ -0,0 +1,619 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_GENERAL_MATRIX_VECTOR_H
+#define EIGEN_GENERAL_MATRIX_VECTOR_H
+
+namespace Eigen {
+
+namespace internal {
+
+/* Optimized col-major matrix * vector product:
+ * This algorithm processes 4 columns at onces that allows to both reduce
+ * the number of load/stores of the result by a factor 4 and to reduce
+ * the instruction dependency. Moreover, we know that all bands have the
+ * same alignment pattern.
+ *
+ * Mixing type logic: C += alpha * A * B
+ * | A | B |alpha| comments
+ * |real |cplx |cplx | no vectorization
+ * |real |cplx |real | alpha is converted to a cplx when calling the run function, no vectorization
+ * |cplx |real |cplx | invalid, the caller has to do tmp: = A * B; C += alpha*tmp
+ * |cplx |real |real | optimal case, vectorization possible via real-cplx mul
+ *
+ * Accesses to the matrix coefficients follow the following logic:
+ *
+ * - if all columns have the same alignment then
+ * - if the columns have the same alignment as the result vector, then easy! (-> AllAligned case)
+ * - otherwise perform unaligned loads only (-> NoneAligned case)
+ * - otherwise
+ * - if even columns have the same alignment then
+ * // odd columns are guaranteed to have the same alignment too
+ * - if even or odd columns have the same alignment as the result, then
+ * // for a register size of 2 scalars, this is guarantee to be the case (e.g., SSE with double)
+ * - perform half aligned and half unaligned loads (-> EvenAligned case)
+ * - otherwise perform unaligned loads only (-> NoneAligned case)
+ * - otherwise, if the register size is 4 scalars (e.g., SSE with float) then
+ * - one over 4 consecutive columns is guaranteed to be aligned with the result vector,
+ * perform simple aligned loads for this column and aligned loads plus re-alignment for the other. (-> FirstAligned case)
+ * // this re-alignment is done by the palign function implemented for SSE in Eigen/src/Core/arch/SSE/PacketMath.h
+ * - otherwise,
+ * // if we get here, this means the register size is greater than 4 (e.g., AVX with floats),
+ * // we currently fall back to the NoneAligned case
+ *
+ * The same reasoning apply for the transposed case.
+ *
+ * The last case (PacketSize>4) could probably be improved by generalizing the FirstAligned case, but since we do not support AVX yet...
+ * One might also wonder why in the EvenAligned case we perform unaligned loads instead of using the aligned-loads plus re-alignment
+ * strategy as in the FirstAligned case. The reason is that we observed that unaligned loads on a 8 byte boundary are not too slow
+ * compared to unaligned loads on a 4 byte boundary.
+ *
+ */
+template<typename Index, typename LhsScalar, typename LhsMapper, bool ConjugateLhs, typename RhsScalar, typename RhsMapper, bool ConjugateRhs, int Version>
+struct general_matrix_vector_product<Index,LhsScalar,LhsMapper,ColMajor,ConjugateLhs,RhsScalar,RhsMapper,ConjugateRhs,Version>
+{
+ typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+
+enum {
+ Vectorizable = packet_traits<LhsScalar>::Vectorizable && packet_traits<RhsScalar>::Vectorizable
+ && int(packet_traits<LhsScalar>::size)==int(packet_traits<RhsScalar>::size),
+ LhsPacketSize = Vectorizable ? packet_traits<LhsScalar>::size : 1,
+ RhsPacketSize = Vectorizable ? packet_traits<RhsScalar>::size : 1,
+ ResPacketSize = Vectorizable ? packet_traits<ResScalar>::size : 1
+};
+
+typedef typename packet_traits<LhsScalar>::type _LhsPacket;
+typedef typename packet_traits<RhsScalar>::type _RhsPacket;
+typedef typename packet_traits<ResScalar>::type _ResPacket;
+
+typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
+typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
+typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
+
+EIGEN_DONT_INLINE static void run(
+ Index rows, Index cols,
+ const LhsMapper& lhs,
+ const RhsMapper& rhs,
+ ResScalar* res, Index resIncr,
+ RhsScalar alpha);
+};
+
+template<typename Index, typename LhsScalar, typename LhsMapper, bool ConjugateLhs, typename RhsScalar, typename RhsMapper, bool ConjugateRhs, int Version>
+EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,LhsMapper,ColMajor,ConjugateLhs,RhsScalar,RhsMapper,ConjugateRhs,Version>::run(
+ Index rows, Index cols,
+ const LhsMapper& lhs,
+ const RhsMapper& rhs,
+ ResScalar* res, Index resIncr,
+ RhsScalar alpha)
+{
+ EIGEN_UNUSED_VARIABLE(resIncr);
+ eigen_internal_assert(resIncr==1);
+ #ifdef _EIGEN_ACCUMULATE_PACKETS
+ #error _EIGEN_ACCUMULATE_PACKETS has already been defined
+ #endif
+ #define _EIGEN_ACCUMULATE_PACKETS(Alignment0,Alignment13,Alignment2) \
+ pstore(&res[j], \
+ padd(pload<ResPacket>(&res[j]), \
+ padd( \
+ padd(pcj.pmul(lhs0.template load<LhsPacket, Alignment0>(j), ptmp0), \
+ pcj.pmul(lhs1.template load<LhsPacket, Alignment13>(j), ptmp1)), \
+ padd(pcj.pmul(lhs2.template load<LhsPacket, Alignment2>(j), ptmp2), \
+ pcj.pmul(lhs3.template load<LhsPacket, Alignment13>(j), ptmp3)) )))
+
+ typedef typename LhsMapper::VectorMapper LhsScalars;
+
+ conj_helper<LhsScalar,RhsScalar,ConjugateLhs,ConjugateRhs> cj;
+ conj_helper<LhsPacket,RhsPacket,ConjugateLhs,ConjugateRhs> pcj;
+ if(ConjugateRhs)
+ alpha = numext::conj(alpha);
+
+ enum { AllAligned = 0, EvenAligned, FirstAligned, NoneAligned };
+ const Index columnsAtOnce = 4;
+ const Index peels = 2;
+ const Index LhsPacketAlignedMask = LhsPacketSize-1;
+ const Index ResPacketAlignedMask = ResPacketSize-1;
+// const Index PeelAlignedMask = ResPacketSize*peels-1;
+ const Index size = rows;
+
+ const Index lhsStride = lhs.stride();
+
+ // How many coeffs of the result do we have to skip to be aligned.
+ // Here we assume data are at least aligned on the base scalar type.
+ Index alignedStart = internal::first_default_aligned(res,size);
+ Index alignedSize = ResPacketSize>1 ? alignedStart + ((size-alignedStart) & ~ResPacketAlignedMask) : 0;
+ const Index peeledSize = alignedSize - RhsPacketSize*peels - RhsPacketSize + 1;
+
+ const Index alignmentStep = LhsPacketSize>1 ? (LhsPacketSize - lhsStride % LhsPacketSize) & LhsPacketAlignedMask : 0;
+ Index alignmentPattern = alignmentStep==0 ? AllAligned
+ : alignmentStep==(LhsPacketSize/2) ? EvenAligned
+ : FirstAligned;
+
+ // we cannot assume the first element is aligned because of sub-matrices
+ const Index lhsAlignmentOffset = lhs.firstAligned(size);
+
+ // find how many columns do we have to skip to be aligned with the result (if possible)
+ Index skipColumns = 0;
+ // if the data cannot be aligned (TODO add some compile time tests when possible, e.g. for floats)
+ if( (lhsAlignmentOffset < 0) || (lhsAlignmentOffset == size) || (UIntPtr(res)%sizeof(ResScalar)) )
+ {
+ alignedSize = 0;
+ alignedStart = 0;
+ alignmentPattern = NoneAligned;
+ }
+ else if(LhsPacketSize > 4)
+ {
+ // TODO: extend the code to support aligned loads whenever possible when LhsPacketSize > 4.
+ // Currently, it seems to be better to perform unaligned loads anyway
+ alignmentPattern = NoneAligned;
+ }
+ else if (LhsPacketSize>1)
+ {
+ // eigen_internal_assert(size_t(firstLhs+lhsAlignmentOffset)%sizeof(LhsPacket)==0 || size<LhsPacketSize);
+
+ while (skipColumns<LhsPacketSize &&
+ alignedStart != ((lhsAlignmentOffset + alignmentStep*skipColumns)%LhsPacketSize))
+ ++skipColumns;
+ if (skipColumns==LhsPacketSize)
+ {
+ // nothing can be aligned, no need to skip any column
+ alignmentPattern = NoneAligned;
+ skipColumns = 0;
+ }
+ else
+ {
+ skipColumns = (std::min)(skipColumns,cols);
+ // note that the skiped columns are processed later.
+ }
+
+ /* eigen_internal_assert( (alignmentPattern==NoneAligned)
+ || (skipColumns + columnsAtOnce >= cols)
+ || LhsPacketSize > size
+ || (size_t(firstLhs+alignedStart+lhsStride*skipColumns)%sizeof(LhsPacket))==0);*/
+ }
+ else if(Vectorizable)
+ {
+ alignedStart = 0;
+ alignedSize = size;
+ alignmentPattern = AllAligned;
+ }
+
+ const Index offset1 = (alignmentPattern==FirstAligned && alignmentStep==1)?3:1;
+ const Index offset3 = (alignmentPattern==FirstAligned && alignmentStep==1)?1:3;
+
+ Index columnBound = ((cols-skipColumns)/columnsAtOnce)*columnsAtOnce + skipColumns;
+ for (Index i=skipColumns; i<columnBound; i+=columnsAtOnce)
+ {
+ RhsPacket ptmp0 = pset1<RhsPacket>(alpha*rhs(i, 0)),
+ ptmp1 = pset1<RhsPacket>(alpha*rhs(i+offset1, 0)),
+ ptmp2 = pset1<RhsPacket>(alpha*rhs(i+2, 0)),
+ ptmp3 = pset1<RhsPacket>(alpha*rhs(i+offset3, 0));
+
+ // this helps a lot generating better binary code
+ const LhsScalars lhs0 = lhs.getVectorMapper(0, i+0), lhs1 = lhs.getVectorMapper(0, i+offset1),
+ lhs2 = lhs.getVectorMapper(0, i+2), lhs3 = lhs.getVectorMapper(0, i+offset3);
+
+ if (Vectorizable)
+ {
+ /* explicit vectorization */
+ // process initial unaligned coeffs
+ for (Index j=0; j<alignedStart; ++j)
+ {
+ res[j] = cj.pmadd(lhs0(j), pfirst(ptmp0), res[j]);
+ res[j] = cj.pmadd(lhs1(j), pfirst(ptmp1), res[j]);
+ res[j] = cj.pmadd(lhs2(j), pfirst(ptmp2), res[j]);
+ res[j] = cj.pmadd(lhs3(j), pfirst(ptmp3), res[j]);
+ }
+
+ if (alignedSize>alignedStart)
+ {
+ switch(alignmentPattern)
+ {
+ case AllAligned:
+ for (Index j = alignedStart; j<alignedSize; j+=ResPacketSize)
+ _EIGEN_ACCUMULATE_PACKETS(Aligned,Aligned,Aligned);
+ break;
+ case EvenAligned:
+ for (Index j = alignedStart; j<alignedSize; j+=ResPacketSize)
+ _EIGEN_ACCUMULATE_PACKETS(Aligned,Unaligned,Aligned);
+ break;
+ case FirstAligned:
+ {
+ Index j = alignedStart;
+ if(peels>1)
+ {
+ LhsPacket A00, A01, A02, A03, A10, A11, A12, A13;
+ ResPacket T0, T1;
+
+ A01 = lhs1.template load<LhsPacket, Aligned>(alignedStart-1);
+ A02 = lhs2.template load<LhsPacket, Aligned>(alignedStart-2);
+ A03 = lhs3.template load<LhsPacket, Aligned>(alignedStart-3);
+
+ for (; j<peeledSize; j+=peels*ResPacketSize)
+ {
+ A11 = lhs1.template load<LhsPacket, Aligned>(j-1+LhsPacketSize); palign<1>(A01,A11);
+ A12 = lhs2.template load<LhsPacket, Aligned>(j-2+LhsPacketSize); palign<2>(A02,A12);
+ A13 = lhs3.template load<LhsPacket, Aligned>(j-3+LhsPacketSize); palign<3>(A03,A13);
+
+ A00 = lhs0.template load<LhsPacket, Aligned>(j);
+ A10 = lhs0.template load<LhsPacket, Aligned>(j+LhsPacketSize);
+ T0 = pcj.pmadd(A00, ptmp0, pload<ResPacket>(&res[j]));
+ T1 = pcj.pmadd(A10, ptmp0, pload<ResPacket>(&res[j+ResPacketSize]));
+
+ T0 = pcj.pmadd(A01, ptmp1, T0);
+ A01 = lhs1.template load<LhsPacket, Aligned>(j-1+2*LhsPacketSize); palign<1>(A11,A01);
+ T0 = pcj.pmadd(A02, ptmp2, T0);
+ A02 = lhs2.template load<LhsPacket, Aligned>(j-2+2*LhsPacketSize); palign<2>(A12,A02);
+ T0 = pcj.pmadd(A03, ptmp3, T0);
+ pstore(&res[j],T0);
+ A03 = lhs3.template load<LhsPacket, Aligned>(j-3+2*LhsPacketSize); palign<3>(A13,A03);
+ T1 = pcj.pmadd(A11, ptmp1, T1);
+ T1 = pcj.pmadd(A12, ptmp2, T1);
+ T1 = pcj.pmadd(A13, ptmp3, T1);
+ pstore(&res[j+ResPacketSize],T1);
+ }
+ }
+ for (; j<alignedSize; j+=ResPacketSize)
+ _EIGEN_ACCUMULATE_PACKETS(Aligned,Unaligned,Unaligned);
+ break;
+ }
+ default:
+ for (Index j = alignedStart; j<alignedSize; j+=ResPacketSize)
+ _EIGEN_ACCUMULATE_PACKETS(Unaligned,Unaligned,Unaligned);
+ break;
+ }
+ }
+ } // end explicit vectorization
+
+ /* process remaining coeffs (or all if there is no explicit vectorization) */
+ for (Index j=alignedSize; j<size; ++j)
+ {
+ res[j] = cj.pmadd(lhs0(j), pfirst(ptmp0), res[j]);
+ res[j] = cj.pmadd(lhs1(j), pfirst(ptmp1), res[j]);
+ res[j] = cj.pmadd(lhs2(j), pfirst(ptmp2), res[j]);
+ res[j] = cj.pmadd(lhs3(j), pfirst(ptmp3), res[j]);
+ }
+ }
+
+ // process remaining first and last columns (at most columnsAtOnce-1)
+ Index end = cols;
+ Index start = columnBound;
+ do
+ {
+ for (Index k=start; k<end; ++k)
+ {
+ RhsPacket ptmp0 = pset1<RhsPacket>(alpha*rhs(k, 0));
+ const LhsScalars lhs0 = lhs.getVectorMapper(0, k);
+
+ if (Vectorizable)
+ {
+ /* explicit vectorization */
+ // process first unaligned result's coeffs
+ for (Index j=0; j<alignedStart; ++j)
+ res[j] += cj.pmul(lhs0(j), pfirst(ptmp0));
+ // process aligned result's coeffs
+ if (lhs0.template aligned<LhsPacket>(alignedStart))
+ for (Index i = alignedStart;i<alignedSize;i+=ResPacketSize)
+ pstore(&res[i], pcj.pmadd(lhs0.template load<LhsPacket, Aligned>(i), ptmp0, pload<ResPacket>(&res[i])));
+ else
+ for (Index i = alignedStart;i<alignedSize;i+=ResPacketSize)
+ pstore(&res[i], pcj.pmadd(lhs0.template load<LhsPacket, Unaligned>(i), ptmp0, pload<ResPacket>(&res[i])));
+ }
+
+ // process remaining scalars (or all if no explicit vectorization)
+ for (Index i=alignedSize; i<size; ++i)
+ res[i] += cj.pmul(lhs0(i), pfirst(ptmp0));
+ }
+ if (skipColumns)
+ {
+ start = 0;
+ end = skipColumns;
+ skipColumns = 0;
+ }
+ else
+ break;
+ } while(Vectorizable);
+ #undef _EIGEN_ACCUMULATE_PACKETS
+}
+
+/* Optimized row-major matrix * vector product:
+ * This algorithm processes 4 rows at onces that allows to both reduce
+ * the number of load/stores of the result by a factor 4 and to reduce
+ * the instruction dependency. Moreover, we know that all bands have the
+ * same alignment pattern.
+ *
+ * Mixing type logic:
+ * - alpha is always a complex (or converted to a complex)
+ * - no vectorization
+ */
+template<typename Index, typename LhsScalar, typename LhsMapper, bool ConjugateLhs, typename RhsScalar, typename RhsMapper, bool ConjugateRhs, int Version>
+struct general_matrix_vector_product<Index,LhsScalar,LhsMapper,RowMajor,ConjugateLhs,RhsScalar,RhsMapper,ConjugateRhs,Version>
+{
+typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+
+enum {
+ Vectorizable = packet_traits<LhsScalar>::Vectorizable && packet_traits<RhsScalar>::Vectorizable
+ && int(packet_traits<LhsScalar>::size)==int(packet_traits<RhsScalar>::size),
+ LhsPacketSize = Vectorizable ? packet_traits<LhsScalar>::size : 1,
+ RhsPacketSize = Vectorizable ? packet_traits<RhsScalar>::size : 1,
+ ResPacketSize = Vectorizable ? packet_traits<ResScalar>::size : 1
+};
+
+typedef typename packet_traits<LhsScalar>::type _LhsPacket;
+typedef typename packet_traits<RhsScalar>::type _RhsPacket;
+typedef typename packet_traits<ResScalar>::type _ResPacket;
+
+typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
+typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
+typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
+
+EIGEN_DONT_INLINE static void run(
+ Index rows, Index cols,
+ const LhsMapper& lhs,
+ const RhsMapper& rhs,
+ ResScalar* res, Index resIncr,
+ ResScalar alpha);
+};
+
+template<typename Index, typename LhsScalar, typename LhsMapper, bool ConjugateLhs, typename RhsScalar, typename RhsMapper, bool ConjugateRhs, int Version>
+EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,LhsMapper,RowMajor,ConjugateLhs,RhsScalar,RhsMapper,ConjugateRhs,Version>::run(
+ Index rows, Index cols,
+ const LhsMapper& lhs,
+ const RhsMapper& rhs,
+ ResScalar* res, Index resIncr,
+ ResScalar alpha)
+{
+ eigen_internal_assert(rhs.stride()==1);
+
+ #ifdef _EIGEN_ACCUMULATE_PACKETS
+ #error _EIGEN_ACCUMULATE_PACKETS has already been defined
+ #endif
+
+ #define _EIGEN_ACCUMULATE_PACKETS(Alignment0,Alignment13,Alignment2) {\
+ RhsPacket b = rhs.getVectorMapper(j, 0).template load<RhsPacket, Aligned>(0); \
+ ptmp0 = pcj.pmadd(lhs0.template load<LhsPacket, Alignment0>(j), b, ptmp0); \
+ ptmp1 = pcj.pmadd(lhs1.template load<LhsPacket, Alignment13>(j), b, ptmp1); \
+ ptmp2 = pcj.pmadd(lhs2.template load<LhsPacket, Alignment2>(j), b, ptmp2); \
+ ptmp3 = pcj.pmadd(lhs3.template load<LhsPacket, Alignment13>(j), b, ptmp3); }
+
+ conj_helper<LhsScalar,RhsScalar,ConjugateLhs,ConjugateRhs> cj;
+ conj_helper<LhsPacket,RhsPacket,ConjugateLhs,ConjugateRhs> pcj;
+
+ typedef typename LhsMapper::VectorMapper LhsScalars;
+
+ enum { AllAligned=0, EvenAligned=1, FirstAligned=2, NoneAligned=3 };
+ const Index rowsAtOnce = 4;
+ const Index peels = 2;
+ const Index RhsPacketAlignedMask = RhsPacketSize-1;
+ const Index LhsPacketAlignedMask = LhsPacketSize-1;
+ const Index depth = cols;
+ const Index lhsStride = lhs.stride();
+
+ // How many coeffs of the result do we have to skip to be aligned.
+ // Here we assume data are at least aligned on the base scalar type
+ // if that's not the case then vectorization is discarded, see below.
+ Index alignedStart = rhs.firstAligned(depth);
+ Index alignedSize = RhsPacketSize>1 ? alignedStart + ((depth-alignedStart) & ~RhsPacketAlignedMask) : 0;
+ const Index peeledSize = alignedSize - RhsPacketSize*peels - RhsPacketSize + 1;
+
+ const Index alignmentStep = LhsPacketSize>1 ? (LhsPacketSize - lhsStride % LhsPacketSize) & LhsPacketAlignedMask : 0;
+ Index alignmentPattern = alignmentStep==0 ? AllAligned
+ : alignmentStep==(LhsPacketSize/2) ? EvenAligned
+ : FirstAligned;
+
+ // we cannot assume the first element is aligned because of sub-matrices
+ const Index lhsAlignmentOffset = lhs.firstAligned(depth);
+ const Index rhsAlignmentOffset = rhs.firstAligned(rows);
+
+ // find how many rows do we have to skip to be aligned with rhs (if possible)
+ Index skipRows = 0;
+ // if the data cannot be aligned (TODO add some compile time tests when possible, e.g. for floats)
+ if( (sizeof(LhsScalar)!=sizeof(RhsScalar)) ||
+ (lhsAlignmentOffset < 0) || (lhsAlignmentOffset == depth) ||
+ (rhsAlignmentOffset < 0) || (rhsAlignmentOffset == rows) )
+ {
+ alignedSize = 0;
+ alignedStart = 0;
+ alignmentPattern = NoneAligned;
+ }
+ else if(LhsPacketSize > 4)
+ {
+ // TODO: extend the code to support aligned loads whenever possible when LhsPacketSize > 4.
+ alignmentPattern = NoneAligned;
+ }
+ else if (LhsPacketSize>1)
+ {
+ // eigen_internal_assert(size_t(firstLhs+lhsAlignmentOffset)%sizeof(LhsPacket)==0 || depth<LhsPacketSize);
+
+ while (skipRows<LhsPacketSize &&
+ alignedStart != ((lhsAlignmentOffset + alignmentStep*skipRows)%LhsPacketSize))
+ ++skipRows;
+ if (skipRows==LhsPacketSize)
+ {
+ // nothing can be aligned, no need to skip any column
+ alignmentPattern = NoneAligned;
+ skipRows = 0;
+ }
+ else
+ {
+ skipRows = (std::min)(skipRows,Index(rows));
+ // note that the skiped columns are processed later.
+ }
+ /* eigen_internal_assert( alignmentPattern==NoneAligned
+ || LhsPacketSize==1
+ || (skipRows + rowsAtOnce >= rows)
+ || LhsPacketSize > depth
+ || (size_t(firstLhs+alignedStart+lhsStride*skipRows)%sizeof(LhsPacket))==0);*/
+ }
+ else if(Vectorizable)
+ {
+ alignedStart = 0;
+ alignedSize = depth;
+ alignmentPattern = AllAligned;
+ }
+
+ const Index offset1 = (alignmentPattern==FirstAligned && alignmentStep==1)?3:1;
+ const Index offset3 = (alignmentPattern==FirstAligned && alignmentStep==1)?1:3;
+
+ Index rowBound = ((rows-skipRows)/rowsAtOnce)*rowsAtOnce + skipRows;
+ for (Index i=skipRows; i<rowBound; i+=rowsAtOnce)
+ {
+ // FIXME: what is the purpose of this EIGEN_ALIGN_DEFAULT ??
+ EIGEN_ALIGN_MAX ResScalar tmp0 = ResScalar(0);
+ ResScalar tmp1 = ResScalar(0), tmp2 = ResScalar(0), tmp3 = ResScalar(0);
+
+ // this helps the compiler generating good binary code
+ const LhsScalars lhs0 = lhs.getVectorMapper(i+0, 0), lhs1 = lhs.getVectorMapper(i+offset1, 0),
+ lhs2 = lhs.getVectorMapper(i+2, 0), lhs3 = lhs.getVectorMapper(i+offset3, 0);
+
+ if (Vectorizable)
+ {
+ /* explicit vectorization */
+ ResPacket ptmp0 = pset1<ResPacket>(ResScalar(0)), ptmp1 = pset1<ResPacket>(ResScalar(0)),
+ ptmp2 = pset1<ResPacket>(ResScalar(0)), ptmp3 = pset1<ResPacket>(ResScalar(0));
+
+ // process initial unaligned coeffs
+ // FIXME this loop get vectorized by the compiler !
+ for (Index j=0; j<alignedStart; ++j)
+ {
+ RhsScalar b = rhs(j, 0);
+ tmp0 += cj.pmul(lhs0(j),b); tmp1 += cj.pmul(lhs1(j),b);
+ tmp2 += cj.pmul(lhs2(j),b); tmp3 += cj.pmul(lhs3(j),b);
+ }
+
+ if (alignedSize>alignedStart)
+ {
+ switch(alignmentPattern)
+ {
+ case AllAligned:
+ for (Index j = alignedStart; j<alignedSize; j+=RhsPacketSize)
+ _EIGEN_ACCUMULATE_PACKETS(Aligned,Aligned,Aligned);
+ break;
+ case EvenAligned:
+ for (Index j = alignedStart; j<alignedSize; j+=RhsPacketSize)
+ _EIGEN_ACCUMULATE_PACKETS(Aligned,Unaligned,Aligned);
+ break;
+ case FirstAligned:
+ {
+ Index j = alignedStart;
+ if (peels>1)
+ {
+ /* Here we proccess 4 rows with with two peeled iterations to hide
+ * the overhead of unaligned loads. Moreover unaligned loads are handled
+ * using special shift/move operations between the two aligned packets
+ * overlaping the desired unaligned packet. This is *much* more efficient
+ * than basic unaligned loads.
+ */
+ LhsPacket A01, A02, A03, A11, A12, A13;
+ A01 = lhs1.template load<LhsPacket, Aligned>(alignedStart-1);
+ A02 = lhs2.template load<LhsPacket, Aligned>(alignedStart-2);
+ A03 = lhs3.template load<LhsPacket, Aligned>(alignedStart-3);
+
+ for (; j<peeledSize; j+=peels*RhsPacketSize)
+ {
+ RhsPacket b = rhs.getVectorMapper(j, 0).template load<RhsPacket, Aligned>(0);
+ A11 = lhs1.template load<LhsPacket, Aligned>(j-1+LhsPacketSize); palign<1>(A01,A11);
+ A12 = lhs2.template load<LhsPacket, Aligned>(j-2+LhsPacketSize); palign<2>(A02,A12);
+ A13 = lhs3.template load<LhsPacket, Aligned>(j-3+LhsPacketSize); palign<3>(A03,A13);
+
+ ptmp0 = pcj.pmadd(lhs0.template load<LhsPacket, Aligned>(j), b, ptmp0);
+ ptmp1 = pcj.pmadd(A01, b, ptmp1);
+ A01 = lhs1.template load<LhsPacket, Aligned>(j-1+2*LhsPacketSize); palign<1>(A11,A01);
+ ptmp2 = pcj.pmadd(A02, b, ptmp2);
+ A02 = lhs2.template load<LhsPacket, Aligned>(j-2+2*LhsPacketSize); palign<2>(A12,A02);
+ ptmp3 = pcj.pmadd(A03, b, ptmp3);
+ A03 = lhs3.template load<LhsPacket, Aligned>(j-3+2*LhsPacketSize); palign<3>(A13,A03);
+
+ b = rhs.getVectorMapper(j+RhsPacketSize, 0).template load<RhsPacket, Aligned>(0);
+ ptmp0 = pcj.pmadd(lhs0.template load<LhsPacket, Aligned>(j+LhsPacketSize), b, ptmp0);
+ ptmp1 = pcj.pmadd(A11, b, ptmp1);
+ ptmp2 = pcj.pmadd(A12, b, ptmp2);
+ ptmp3 = pcj.pmadd(A13, b, ptmp3);
+ }
+ }
+ for (; j<alignedSize; j+=RhsPacketSize)
+ _EIGEN_ACCUMULATE_PACKETS(Aligned,Unaligned,Unaligned);
+ break;
+ }
+ default:
+ for (Index j = alignedStart; j<alignedSize; j+=RhsPacketSize)
+ _EIGEN_ACCUMULATE_PACKETS(Unaligned,Unaligned,Unaligned);
+ break;
+ }
+ tmp0 += predux(ptmp0);
+ tmp1 += predux(ptmp1);
+ tmp2 += predux(ptmp2);
+ tmp3 += predux(ptmp3);
+ }
+ } // end explicit vectorization
+
+ // process remaining coeffs (or all if no explicit vectorization)
+ // FIXME this loop get vectorized by the compiler !
+ for (Index j=alignedSize; j<depth; ++j)
+ {
+ RhsScalar b = rhs(j, 0);
+ tmp0 += cj.pmul(lhs0(j),b); tmp1 += cj.pmul(lhs1(j),b);
+ tmp2 += cj.pmul(lhs2(j),b); tmp3 += cj.pmul(lhs3(j),b);
+ }
+ res[i*resIncr] += alpha*tmp0;
+ res[(i+offset1)*resIncr] += alpha*tmp1;
+ res[(i+2)*resIncr] += alpha*tmp2;
+ res[(i+offset3)*resIncr] += alpha*tmp3;
+ }
+
+ // process remaining first and last rows (at most columnsAtOnce-1)
+ Index end = rows;
+ Index start = rowBound;
+ do
+ {
+ for (Index i=start; i<end; ++i)
+ {
+ EIGEN_ALIGN_MAX ResScalar tmp0 = ResScalar(0);
+ ResPacket ptmp0 = pset1<ResPacket>(tmp0);
+ const LhsScalars lhs0 = lhs.getVectorMapper(i, 0);
+ // process first unaligned result's coeffs
+ // FIXME this loop get vectorized by the compiler !
+ for (Index j=0; j<alignedStart; ++j)
+ tmp0 += cj.pmul(lhs0(j), rhs(j, 0));
+
+ if (alignedSize>alignedStart)
+ {
+ // process aligned rhs coeffs
+ if (lhs0.template aligned<LhsPacket>(alignedStart))
+ for (Index j = alignedStart;j<alignedSize;j+=RhsPacketSize)
+ ptmp0 = pcj.pmadd(lhs0.template load<LhsPacket, Aligned>(j), rhs.getVectorMapper(j, 0).template load<RhsPacket, Aligned>(0), ptmp0);
+ else
+ for (Index j = alignedStart;j<alignedSize;j+=RhsPacketSize)
+ ptmp0 = pcj.pmadd(lhs0.template load<LhsPacket, Unaligned>(j), rhs.getVectorMapper(j, 0).template load<RhsPacket, Aligned>(0), ptmp0);
+ tmp0 += predux(ptmp0);
+ }
+
+ // process remaining scalars
+ // FIXME this loop get vectorized by the compiler !
+ for (Index j=alignedSize; j<depth; ++j)
+ tmp0 += cj.pmul(lhs0(j), rhs(j, 0));
+ res[i*resIncr] += alpha*tmp0;
+ }
+ if (skipRows)
+ {
+ start = 0;
+ end = skipRows;
+ skipRows = 0;
+ }
+ else
+ break;
+ } while(Vectorizable);
+
+ #undef _EIGEN_ACCUMULATE_PACKETS
+}
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_GENERAL_MATRIX_VECTOR_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/Parallelizer.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/Parallelizer.h
new file mode 100644
index 0000000..c2f084c
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/Parallelizer.h
@@ -0,0 +1,163 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_PARALLELIZER_H
+#define EIGEN_PARALLELIZER_H
+
+namespace Eigen {
+
+namespace internal {
+
+/** \internal */
+inline void manage_multi_threading(Action action, int* v)
+{
+ static EIGEN_UNUSED int m_maxThreads = -1;
+
+ if(action==SetAction)
+ {
+ eigen_internal_assert(v!=0);
+ m_maxThreads = *v;
+ }
+ else if(action==GetAction)
+ {
+ eigen_internal_assert(v!=0);
+ #ifdef EIGEN_HAS_OPENMP
+ if(m_maxThreads>0)
+ *v = m_maxThreads;
+ else
+ *v = omp_get_max_threads();
+ #else
+ *v = 1;
+ #endif
+ }
+ else
+ {
+ eigen_internal_assert(false);
+ }
+}
+
+}
+
+/** Must be call first when calling Eigen from multiple threads */
+inline void initParallel()
+{
+ int nbt;
+ internal::manage_multi_threading(GetAction, &nbt);
+ std::ptrdiff_t l1, l2, l3;
+ internal::manage_caching_sizes(GetAction, &l1, &l2, &l3);
+}
+
+/** \returns the max number of threads reserved for Eigen
+ * \sa setNbThreads */
+inline int nbThreads()
+{
+ int ret;
+ internal::manage_multi_threading(GetAction, &ret);
+ return ret;
+}
+
+/** Sets the max number of threads reserved for Eigen
+ * \sa nbThreads */
+inline void setNbThreads(int v)
+{
+ internal::manage_multi_threading(SetAction, &v);
+}
+
+namespace internal {
+
+template<typename Index> struct GemmParallelInfo
+{
+ GemmParallelInfo() : sync(-1), users(0), lhs_start(0), lhs_length(0) {}
+
+ Index volatile sync;
+ int volatile users;
+
+ Index lhs_start;
+ Index lhs_length;
+};
+
+template<bool Condition, typename Functor, typename Index>
+void parallelize_gemm(const Functor& func, Index rows, Index cols, Index depth, bool transpose)
+{
+ // TODO when EIGEN_USE_BLAS is defined,
+ // we should still enable OMP for other scalar types
+#if !(defined (EIGEN_HAS_OPENMP)) || defined (EIGEN_USE_BLAS)
+ // FIXME the transpose variable is only needed to properly split
+ // the matrix product when multithreading is enabled. This is a temporary
+ // fix to support row-major destination matrices. This whole
+ // parallelizer mechanism has to be redisigned anyway.
+ EIGEN_UNUSED_VARIABLE(depth);
+ EIGEN_UNUSED_VARIABLE(transpose);
+ func(0,rows, 0,cols);
+#else
+
+ // Dynamically check whether we should enable or disable OpenMP.
+ // The conditions are:
+ // - the max number of threads we can create is greater than 1
+ // - we are not already in a parallel code
+ // - the sizes are large enough
+
+ // compute the maximal number of threads from the size of the product:
+ // This first heuristic takes into account that the product kernel is fully optimized when working with nr columns at once.
+ Index size = transpose ? rows : cols;
+ Index pb_max_threads = std::max<Index>(1,size / Functor::Traits::nr);
+
+ // compute the maximal number of threads from the total amount of work:
+ double work = static_cast<double>(rows) * static_cast<double>(cols) *
+ static_cast<double>(depth);
+ double kMinTaskSize = 50000; // FIXME improve this heuristic.
+ pb_max_threads = std::max<Index>(1, std::min<Index>(pb_max_threads, work / kMinTaskSize));
+
+ // compute the number of threads we are going to use
+ Index threads = std::min<Index>(nbThreads(), pb_max_threads);
+
+ // if multi-threading is explicitely disabled, not useful, or if we already are in a parallel session,
+ // then abort multi-threading
+ // FIXME omp_get_num_threads()>1 only works for openmp, what if the user does not use openmp?
+ if((!Condition) || (threads==1) || (omp_get_num_threads()>1))
+ return func(0,rows, 0,cols);
+
+ Eigen::initParallel();
+ func.initParallelSession(threads);
+
+ if(transpose)
+ std::swap(rows,cols);
+
+ ei_declare_aligned_stack_constructed_variable(GemmParallelInfo<Index>,info,threads,0);
+
+ #pragma omp parallel num_threads(threads)
+ {
+ Index i = omp_get_thread_num();
+ // Note that the actual number of threads might be lower than the number of request ones.
+ Index actual_threads = omp_get_num_threads();
+
+ Index blockCols = (cols / actual_threads) & ~Index(0x3);
+ Index blockRows = (rows / actual_threads);
+ blockRows = (blockRows/Functor::Traits::mr)*Functor::Traits::mr;
+
+ Index r0 = i*blockRows;
+ Index actualBlockRows = (i+1==actual_threads) ? rows-r0 : blockRows;
+
+ Index c0 = i*blockCols;
+ Index actualBlockCols = (i+1==actual_threads) ? cols-c0 : blockCols;
+
+ info[i].lhs_start = r0;
+ info[i].lhs_length = actualBlockRows;
+
+ if(transpose) func(c0, actualBlockCols, 0, rows, info);
+ else func(0, rows, c0, actualBlockCols, info);
+ }
+#endif
+}
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_PARALLELIZER_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/SelfadjointMatrixMatrix.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/SelfadjointMatrixMatrix.h
new file mode 100644
index 0000000..da6f82a
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/SelfadjointMatrixMatrix.h
@@ -0,0 +1,521 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_SELFADJOINT_MATRIX_MATRIX_H
+#define EIGEN_SELFADJOINT_MATRIX_MATRIX_H
+
+namespace Eigen {
+
+namespace internal {
+
+// pack a selfadjoint block diagonal for use with the gebp_kernel
+template<typename Scalar, typename Index, int Pack1, int Pack2_dummy, int StorageOrder>
+struct symm_pack_lhs
+{
+ template<int BlockRows> inline
+ void pack(Scalar* blockA, const const_blas_data_mapper<Scalar,Index,StorageOrder>& lhs, Index cols, Index i, Index& count)
+ {
+ // normal copy
+ for(Index k=0; k<i; k++)
+ for(Index w=0; w<BlockRows; w++)
+ blockA[count++] = lhs(i+w,k); // normal
+ // symmetric copy
+ Index h = 0;
+ for(Index k=i; k<i+BlockRows; k++)
+ {
+ for(Index w=0; w<h; w++)
+ blockA[count++] = numext::conj(lhs(k, i+w)); // transposed
+
+ blockA[count++] = numext::real(lhs(k,k)); // real (diagonal)
+
+ for(Index w=h+1; w<BlockRows; w++)
+ blockA[count++] = lhs(i+w, k); // normal
+ ++h;
+ }
+ // transposed copy
+ for(Index k=i+BlockRows; k<cols; k++)
+ for(Index w=0; w<BlockRows; w++)
+ blockA[count++] = numext::conj(lhs(k, i+w)); // transposed
+ }
+ void operator()(Scalar* blockA, const Scalar* _lhs, Index lhsStride, Index cols, Index rows)
+ {
+ enum { PacketSize = packet_traits<Scalar>::size };
+ const_blas_data_mapper<Scalar,Index,StorageOrder> lhs(_lhs,lhsStride);
+ Index count = 0;
+ //Index peeled_mc3 = (rows/Pack1)*Pack1;
+
+ const Index peeled_mc3 = Pack1>=3*PacketSize ? (rows/(3*PacketSize))*(3*PacketSize) : 0;
+ const Index peeled_mc2 = Pack1>=2*PacketSize ? peeled_mc3+((rows-peeled_mc3)/(2*PacketSize))*(2*PacketSize) : 0;
+ const Index peeled_mc1 = Pack1>=1*PacketSize ? (rows/(1*PacketSize))*(1*PacketSize) : 0;
+
+ if(Pack1>=3*PacketSize)
+ for(Index i=0; i<peeled_mc3; i+=3*PacketSize)
+ pack<3*PacketSize>(blockA, lhs, cols, i, count);
+
+ if(Pack1>=2*PacketSize)
+ for(Index i=peeled_mc3; i<peeled_mc2; i+=2*PacketSize)
+ pack<2*PacketSize>(blockA, lhs, cols, i, count);
+
+ if(Pack1>=1*PacketSize)
+ for(Index i=peeled_mc2; i<peeled_mc1; i+=1*PacketSize)
+ pack<1*PacketSize>(blockA, lhs, cols, i, count);
+
+ // do the same with mr==1
+ for(Index i=peeled_mc1; i<rows; i++)
+ {
+ for(Index k=0; k<i; k++)
+ blockA[count++] = lhs(i, k); // normal
+
+ blockA[count++] = numext::real(lhs(i, i)); // real (diagonal)
+
+ for(Index k=i+1; k<cols; k++)
+ blockA[count++] = numext::conj(lhs(k, i)); // transposed
+ }
+ }
+};
+
+template<typename Scalar, typename Index, int nr, int StorageOrder>
+struct symm_pack_rhs
+{
+ enum { PacketSize = packet_traits<Scalar>::size };
+ void operator()(Scalar* blockB, const Scalar* _rhs, Index rhsStride, Index rows, Index cols, Index k2)
+ {
+ Index end_k = k2 + rows;
+ Index count = 0;
+ const_blas_data_mapper<Scalar,Index,StorageOrder> rhs(_rhs,rhsStride);
+ Index packet_cols8 = nr>=8 ? (cols/8) * 8 : 0;
+ Index packet_cols4 = nr>=4 ? (cols/4) * 4 : 0;
+
+ // first part: normal case
+ for(Index j2=0; j2<k2; j2+=nr)
+ {
+ for(Index k=k2; k<end_k; k++)
+ {
+ blockB[count+0] = rhs(k,j2+0);
+ blockB[count+1] = rhs(k,j2+1);
+ if (nr>=4)
+ {
+ blockB[count+2] = rhs(k,j2+2);
+ blockB[count+3] = rhs(k,j2+3);
+ }
+ if (nr>=8)
+ {
+ blockB[count+4] = rhs(k,j2+4);
+ blockB[count+5] = rhs(k,j2+5);
+ blockB[count+6] = rhs(k,j2+6);
+ blockB[count+7] = rhs(k,j2+7);
+ }
+ count += nr;
+ }
+ }
+
+ // second part: diagonal block
+ Index end8 = nr>=8 ? (std::min)(k2+rows,packet_cols8) : k2;
+ if(nr>=8)
+ {
+ for(Index j2=k2; j2<end8; j2+=8)
+ {
+ // again we can split vertically in three different parts (transpose, symmetric, normal)
+ // transpose
+ for(Index k=k2; k<j2; k++)
+ {
+ blockB[count+0] = numext::conj(rhs(j2+0,k));
+ blockB[count+1] = numext::conj(rhs(j2+1,k));
+ blockB[count+2] = numext::conj(rhs(j2+2,k));
+ blockB[count+3] = numext::conj(rhs(j2+3,k));
+ blockB[count+4] = numext::conj(rhs(j2+4,k));
+ blockB[count+5] = numext::conj(rhs(j2+5,k));
+ blockB[count+6] = numext::conj(rhs(j2+6,k));
+ blockB[count+7] = numext::conj(rhs(j2+7,k));
+ count += 8;
+ }
+ // symmetric
+ Index h = 0;
+ for(Index k=j2; k<j2+8; k++)
+ {
+ // normal
+ for (Index w=0 ; w<h; ++w)
+ blockB[count+w] = rhs(k,j2+w);
+
+ blockB[count+h] = numext::real(rhs(k,k));
+
+ // transpose
+ for (Index w=h+1 ; w<8; ++w)
+ blockB[count+w] = numext::conj(rhs(j2+w,k));
+ count += 8;
+ ++h;
+ }
+ // normal
+ for(Index k=j2+8; k<end_k; k++)
+ {
+ blockB[count+0] = rhs(k,j2+0);
+ blockB[count+1] = rhs(k,j2+1);
+ blockB[count+2] = rhs(k,j2+2);
+ blockB[count+3] = rhs(k,j2+3);
+ blockB[count+4] = rhs(k,j2+4);
+ blockB[count+5] = rhs(k,j2+5);
+ blockB[count+6] = rhs(k,j2+6);
+ blockB[count+7] = rhs(k,j2+7);
+ count += 8;
+ }
+ }
+ }
+ if(nr>=4)
+ {
+ for(Index j2=end8; j2<(std::min)(k2+rows,packet_cols4); j2+=4)
+ {
+ // again we can split vertically in three different parts (transpose, symmetric, normal)
+ // transpose
+ for(Index k=k2; k<j2; k++)
+ {
+ blockB[count+0] = numext::conj(rhs(j2+0,k));
+ blockB[count+1] = numext::conj(rhs(j2+1,k));
+ blockB[count+2] = numext::conj(rhs(j2+2,k));
+ blockB[count+3] = numext::conj(rhs(j2+3,k));
+ count += 4;
+ }
+ // symmetric
+ Index h = 0;
+ for(Index k=j2; k<j2+4; k++)
+ {
+ // normal
+ for (Index w=0 ; w<h; ++w)
+ blockB[count+w] = rhs(k,j2+w);
+
+ blockB[count+h] = numext::real(rhs(k,k));
+
+ // transpose
+ for (Index w=h+1 ; w<4; ++w)
+ blockB[count+w] = numext::conj(rhs(j2+w,k));
+ count += 4;
+ ++h;
+ }
+ // normal
+ for(Index k=j2+4; k<end_k; k++)
+ {
+ blockB[count+0] = rhs(k,j2+0);
+ blockB[count+1] = rhs(k,j2+1);
+ blockB[count+2] = rhs(k,j2+2);
+ blockB[count+3] = rhs(k,j2+3);
+ count += 4;
+ }
+ }
+ }
+
+ // third part: transposed
+ if(nr>=8)
+ {
+ for(Index j2=k2+rows; j2<packet_cols8; j2+=8)
+ {
+ for(Index k=k2; k<end_k; k++)
+ {
+ blockB[count+0] = numext::conj(rhs(j2+0,k));
+ blockB[count+1] = numext::conj(rhs(j2+1,k));
+ blockB[count+2] = numext::conj(rhs(j2+2,k));
+ blockB[count+3] = numext::conj(rhs(j2+3,k));
+ blockB[count+4] = numext::conj(rhs(j2+4,k));
+ blockB[count+5] = numext::conj(rhs(j2+5,k));
+ blockB[count+6] = numext::conj(rhs(j2+6,k));
+ blockB[count+7] = numext::conj(rhs(j2+7,k));
+ count += 8;
+ }
+ }
+ }
+ if(nr>=4)
+ {
+ for(Index j2=(std::max)(packet_cols8,k2+rows); j2<packet_cols4; j2+=4)
+ {
+ for(Index k=k2; k<end_k; k++)
+ {
+ blockB[count+0] = numext::conj(rhs(j2+0,k));
+ blockB[count+1] = numext::conj(rhs(j2+1,k));
+ blockB[count+2] = numext::conj(rhs(j2+2,k));
+ blockB[count+3] = numext::conj(rhs(j2+3,k));
+ count += 4;
+ }
+ }
+ }
+
+ // copy the remaining columns one at a time (=> the same with nr==1)
+ for(Index j2=packet_cols4; j2<cols; ++j2)
+ {
+ // transpose
+ Index half = (std::min)(end_k,j2);
+ for(Index k=k2; k<half; k++)
+ {
+ blockB[count] = numext::conj(rhs(j2,k));
+ count += 1;
+ }
+
+ if(half==j2 && half<k2+rows)
+ {
+ blockB[count] = numext::real(rhs(j2,j2));
+ count += 1;
+ }
+ else
+ half--;
+
+ // normal
+ for(Index k=half+1; k<k2+rows; k++)
+ {
+ blockB[count] = rhs(k,j2);
+ count += 1;
+ }
+ }
+ }
+};
+
+/* Optimized selfadjoint matrix * matrix (_SYMM) product built on top of
+ * the general matrix matrix product.
+ */
+template <typename Scalar, typename Index,
+ int LhsStorageOrder, bool LhsSelfAdjoint, bool ConjugateLhs,
+ int RhsStorageOrder, bool RhsSelfAdjoint, bool ConjugateRhs,
+ int ResStorageOrder>
+struct product_selfadjoint_matrix;
+
+template <typename Scalar, typename Index,
+ int LhsStorageOrder, bool LhsSelfAdjoint, bool ConjugateLhs,
+ int RhsStorageOrder, bool RhsSelfAdjoint, bool ConjugateRhs>
+struct product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,LhsSelfAdjoint,ConjugateLhs, RhsStorageOrder,RhsSelfAdjoint,ConjugateRhs,RowMajor>
+{
+
+ static EIGEN_STRONG_INLINE void run(
+ Index rows, Index cols,
+ const Scalar* lhs, Index lhsStride,
+ const Scalar* rhs, Index rhsStride,
+ Scalar* res, Index resStride,
+ const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking)
+ {
+ product_selfadjoint_matrix<Scalar, Index,
+ EIGEN_LOGICAL_XOR(RhsSelfAdjoint,RhsStorageOrder==RowMajor) ? ColMajor : RowMajor,
+ RhsSelfAdjoint, NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(RhsSelfAdjoint,ConjugateRhs),
+ EIGEN_LOGICAL_XOR(LhsSelfAdjoint,LhsStorageOrder==RowMajor) ? ColMajor : RowMajor,
+ LhsSelfAdjoint, NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(LhsSelfAdjoint,ConjugateLhs),
+ ColMajor>
+ ::run(cols, rows, rhs, rhsStride, lhs, lhsStride, res, resStride, alpha, blocking);
+ }
+};
+
+template <typename Scalar, typename Index,
+ int LhsStorageOrder, bool ConjugateLhs,
+ int RhsStorageOrder, bool ConjugateRhs>
+struct product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,true,ConjugateLhs, RhsStorageOrder,false,ConjugateRhs,ColMajor>
+{
+
+ static EIGEN_DONT_INLINE void run(
+ Index rows, Index cols,
+ const Scalar* _lhs, Index lhsStride,
+ const Scalar* _rhs, Index rhsStride,
+ Scalar* res, Index resStride,
+ const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking);
+};
+
+template <typename Scalar, typename Index,
+ int LhsStorageOrder, bool ConjugateLhs,
+ int RhsStorageOrder, bool ConjugateRhs>
+EIGEN_DONT_INLINE void product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,true,ConjugateLhs, RhsStorageOrder,false,ConjugateRhs,ColMajor>::run(
+ Index rows, Index cols,
+ const Scalar* _lhs, Index lhsStride,
+ const Scalar* _rhs, Index rhsStride,
+ Scalar* _res, Index resStride,
+ const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking)
+ {
+ Index size = rows;
+
+ typedef gebp_traits<Scalar,Scalar> Traits;
+
+ typedef const_blas_data_mapper<Scalar, Index, LhsStorageOrder> LhsMapper;
+ typedef const_blas_data_mapper<Scalar, Index, (LhsStorageOrder == RowMajor) ? ColMajor : RowMajor> LhsTransposeMapper;
+ typedef const_blas_data_mapper<Scalar, Index, RhsStorageOrder> RhsMapper;
+ typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor> ResMapper;
+ LhsMapper lhs(_lhs,lhsStride);
+ LhsTransposeMapper lhs_transpose(_lhs,lhsStride);
+ RhsMapper rhs(_rhs,rhsStride);
+ ResMapper res(_res, resStride);
+
+ Index kc = blocking.kc(); // cache block size along the K direction
+ Index mc = (std::min)(rows,blocking.mc()); // cache block size along the M direction
+ // kc must be smaller than mc
+ kc = (std::min)(kc,mc);
+ std::size_t sizeA = kc*mc;
+ std::size_t sizeB = kc*cols;
+ ei_declare_aligned_stack_constructed_variable(Scalar, blockA, sizeA, blocking.blockA());
+ ei_declare_aligned_stack_constructed_variable(Scalar, blockB, sizeB, blocking.blockB());
+
+ gebp_kernel<Scalar, Scalar, Index, ResMapper, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
+ symm_pack_lhs<Scalar, Index, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
+ gemm_pack_rhs<Scalar, Index, RhsMapper, Traits::nr,RhsStorageOrder> pack_rhs;
+ gemm_pack_lhs<Scalar, Index, LhsTransposeMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder==RowMajor?ColMajor:RowMajor, true> pack_lhs_transposed;
+
+ for(Index k2=0; k2<size; k2+=kc)
+ {
+ const Index actual_kc = (std::min)(k2+kc,size)-k2;
+
+ // we have selected one row panel of rhs and one column panel of lhs
+ // pack rhs's panel into a sequential chunk of memory
+ // and expand each coeff to a constant packet for further reuse
+ pack_rhs(blockB, rhs.getSubMapper(k2,0), actual_kc, cols);
+
+ // the select lhs's panel has to be split in three different parts:
+ // 1 - the transposed panel above the diagonal block => transposed packed copy
+ // 2 - the diagonal block => special packed copy
+ // 3 - the panel below the diagonal block => generic packed copy
+ for(Index i2=0; i2<k2; i2+=mc)
+ {
+ const Index actual_mc = (std::min)(i2+mc,k2)-i2;
+ // transposed packed copy
+ pack_lhs_transposed(blockA, lhs_transpose.getSubMapper(i2, k2), actual_kc, actual_mc);
+
+ gebp_kernel(res.getSubMapper(i2, 0), blockA, blockB, actual_mc, actual_kc, cols, alpha);
+ }
+ // the block diagonal
+ {
+ const Index actual_mc = (std::min)(k2+kc,size)-k2;
+ // symmetric packed copy
+ pack_lhs(blockA, &lhs(k2,k2), lhsStride, actual_kc, actual_mc);
+
+ gebp_kernel(res.getSubMapper(k2, 0), blockA, blockB, actual_mc, actual_kc, cols, alpha);
+ }
+
+ for(Index i2=k2+kc; i2<size; i2+=mc)
+ {
+ const Index actual_mc = (std::min)(i2+mc,size)-i2;
+ gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder,false>()
+ (blockA, lhs.getSubMapper(i2, k2), actual_kc, actual_mc);
+
+ gebp_kernel(res.getSubMapper(i2, 0), blockA, blockB, actual_mc, actual_kc, cols, alpha);
+ }
+ }
+ }
+
+// matrix * selfadjoint product
+template <typename Scalar, typename Index,
+ int LhsStorageOrder, bool ConjugateLhs,
+ int RhsStorageOrder, bool ConjugateRhs>
+struct product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,false,ConjugateLhs, RhsStorageOrder,true,ConjugateRhs,ColMajor>
+{
+
+ static EIGEN_DONT_INLINE void run(
+ Index rows, Index cols,
+ const Scalar* _lhs, Index lhsStride,
+ const Scalar* _rhs, Index rhsStride,
+ Scalar* res, Index resStride,
+ const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking);
+};
+
+template <typename Scalar, typename Index,
+ int LhsStorageOrder, bool ConjugateLhs,
+ int RhsStorageOrder, bool ConjugateRhs>
+EIGEN_DONT_INLINE void product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,false,ConjugateLhs, RhsStorageOrder,true,ConjugateRhs,ColMajor>::run(
+ Index rows, Index cols,
+ const Scalar* _lhs, Index lhsStride,
+ const Scalar* _rhs, Index rhsStride,
+ Scalar* _res, Index resStride,
+ const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking)
+ {
+ Index size = cols;
+
+ typedef gebp_traits<Scalar,Scalar> Traits;
+
+ typedef const_blas_data_mapper<Scalar, Index, LhsStorageOrder> LhsMapper;
+ typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor> ResMapper;
+ LhsMapper lhs(_lhs,lhsStride);
+ ResMapper res(_res,resStride);
+
+ Index kc = blocking.kc(); // cache block size along the K direction
+ Index mc = (std::min)(rows,blocking.mc()); // cache block size along the M direction
+ std::size_t sizeA = kc*mc;
+ std::size_t sizeB = kc*cols;
+ ei_declare_aligned_stack_constructed_variable(Scalar, blockA, sizeA, blocking.blockA());
+ ei_declare_aligned_stack_constructed_variable(Scalar, blockB, sizeB, blocking.blockB());
+
+ gebp_kernel<Scalar, Scalar, Index, ResMapper, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
+ gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
+ symm_pack_rhs<Scalar, Index, Traits::nr,RhsStorageOrder> pack_rhs;
+
+ for(Index k2=0; k2<size; k2+=kc)
+ {
+ const Index actual_kc = (std::min)(k2+kc,size)-k2;
+
+ pack_rhs(blockB, _rhs, rhsStride, actual_kc, cols, k2);
+
+ // => GEPP
+ for(Index i2=0; i2<rows; i2+=mc)
+ {
+ const Index actual_mc = (std::min)(i2+mc,rows)-i2;
+ pack_lhs(blockA, lhs.getSubMapper(i2, k2), actual_kc, actual_mc);
+
+ gebp_kernel(res.getSubMapper(i2, 0), blockA, blockB, actual_mc, actual_kc, cols, alpha);
+ }
+ }
+ }
+
+} // end namespace internal
+
+/***************************************************************************
+* Wrapper to product_selfadjoint_matrix
+***************************************************************************/
+
+namespace internal {
+
+template<typename Lhs, int LhsMode, typename Rhs, int RhsMode>
+struct selfadjoint_product_impl<Lhs,LhsMode,false,Rhs,RhsMode,false>
+{
+ typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+
+ typedef internal::blas_traits<Lhs> LhsBlasTraits;
+ typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
+ typedef internal::blas_traits<Rhs> RhsBlasTraits;
+ typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
+
+ enum {
+ LhsIsUpper = (LhsMode&(Upper|Lower))==Upper,
+ LhsIsSelfAdjoint = (LhsMode&SelfAdjoint)==SelfAdjoint,
+ RhsIsUpper = (RhsMode&(Upper|Lower))==Upper,
+ RhsIsSelfAdjoint = (RhsMode&SelfAdjoint)==SelfAdjoint
+ };
+
+ template<typename Dest>
+ static void run(Dest &dst, const Lhs &a_lhs, const Rhs &a_rhs, const Scalar& alpha)
+ {
+ eigen_assert(dst.rows()==a_lhs.rows() && dst.cols()==a_rhs.cols());
+
+ typename internal::add_const_on_value_type<ActualLhsType>::type lhs = LhsBlasTraits::extract(a_lhs);
+ typename internal::add_const_on_value_type<ActualRhsType>::type rhs = RhsBlasTraits::extract(a_rhs);
+
+ Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(a_lhs)
+ * RhsBlasTraits::extractScalarFactor(a_rhs);
+
+ typedef internal::gemm_blocking_space<(Dest::Flags&RowMajorBit) ? RowMajor : ColMajor,Scalar,Scalar,
+ Lhs::MaxRowsAtCompileTime, Rhs::MaxColsAtCompileTime, Lhs::MaxColsAtCompileTime,1> BlockingType;
+
+ BlockingType blocking(lhs.rows(), rhs.cols(), lhs.cols(), 1, false);
+
+ internal::product_selfadjoint_matrix<Scalar, Index,
+ EIGEN_LOGICAL_XOR(LhsIsUpper,internal::traits<Lhs>::Flags &RowMajorBit) ? RowMajor : ColMajor, LhsIsSelfAdjoint,
+ NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(LhsIsUpper,bool(LhsBlasTraits::NeedToConjugate)),
+ EIGEN_LOGICAL_XOR(RhsIsUpper,internal::traits<Rhs>::Flags &RowMajorBit) ? RowMajor : ColMajor, RhsIsSelfAdjoint,
+ NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(RhsIsUpper,bool(RhsBlasTraits::NeedToConjugate)),
+ internal::traits<Dest>::Flags&RowMajorBit ? RowMajor : ColMajor>
+ ::run(
+ lhs.rows(), rhs.cols(), // sizes
+ &lhs.coeffRef(0,0), lhs.outerStride(), // lhs info
+ &rhs.coeffRef(0,0), rhs.outerStride(), // rhs info
+ &dst.coeffRef(0,0), dst.outerStride(), // result info
+ actualAlpha, blocking // alpha
+ );
+ }
+};
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_SELFADJOINT_MATRIX_MATRIX_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/SelfadjointMatrixVector.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/SelfadjointMatrixVector.h
new file mode 100644
index 0000000..3fd180e
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/SelfadjointMatrixVector.h
@@ -0,0 +1,260 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_SELFADJOINT_MATRIX_VECTOR_H
+#define EIGEN_SELFADJOINT_MATRIX_VECTOR_H
+
+namespace Eigen {
+
+namespace internal {
+
+/* Optimized selfadjoint matrix * vector product:
+ * This algorithm processes 2 columns at onces that allows to both reduce
+ * the number of load/stores of the result by a factor 2 and to reduce
+ * the instruction dependency.
+ */
+
+template<typename Scalar, typename Index, int StorageOrder, int UpLo, bool ConjugateLhs, bool ConjugateRhs, int Version=Specialized>
+struct selfadjoint_matrix_vector_product;
+
+template<typename Scalar, typename Index, int StorageOrder, int UpLo, bool ConjugateLhs, bool ConjugateRhs, int Version>
+struct selfadjoint_matrix_vector_product
+
+{
+static EIGEN_DONT_INLINE void run(
+ Index size,
+ const Scalar* lhs, Index lhsStride,
+ const Scalar* rhs,
+ Scalar* res,
+ Scalar alpha);
+};
+
+template<typename Scalar, typename Index, int StorageOrder, int UpLo, bool ConjugateLhs, bool ConjugateRhs, int Version>
+EIGEN_DONT_INLINE void selfadjoint_matrix_vector_product<Scalar,Index,StorageOrder,UpLo,ConjugateLhs,ConjugateRhs,Version>::run(
+ Index size,
+ const Scalar* lhs, Index lhsStride,
+ const Scalar* rhs,
+ Scalar* res,
+ Scalar alpha)
+{
+ typedef typename packet_traits<Scalar>::type Packet;
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ const Index PacketSize = sizeof(Packet)/sizeof(Scalar);
+
+ enum {
+ IsRowMajor = StorageOrder==RowMajor ? 1 : 0,
+ IsLower = UpLo == Lower ? 1 : 0,
+ FirstTriangular = IsRowMajor == IsLower
+ };
+
+ conj_helper<Scalar,Scalar,NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(ConjugateLhs, IsRowMajor), ConjugateRhs> cj0;
+ conj_helper<Scalar,Scalar,NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(ConjugateLhs, !IsRowMajor), ConjugateRhs> cj1;
+ conj_helper<RealScalar,Scalar,false, ConjugateRhs> cjd;
+
+ conj_helper<Packet,Packet,NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(ConjugateLhs, IsRowMajor), ConjugateRhs> pcj0;
+ conj_helper<Packet,Packet,NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(ConjugateLhs, !IsRowMajor), ConjugateRhs> pcj1;
+
+ Scalar cjAlpha = ConjugateRhs ? numext::conj(alpha) : alpha;
+
+
+ Index bound = (std::max)(Index(0),size-8) & 0xfffffffe;
+ if (FirstTriangular)
+ bound = size - bound;
+
+ for (Index j=FirstTriangular ? bound : 0;
+ j<(FirstTriangular ? size : bound);j+=2)
+ {
+ const Scalar* EIGEN_RESTRICT A0 = lhs + j*lhsStride;
+ const Scalar* EIGEN_RESTRICT A1 = lhs + (j+1)*lhsStride;
+
+ Scalar t0 = cjAlpha * rhs[j];
+ Packet ptmp0 = pset1<Packet>(t0);
+ Scalar t1 = cjAlpha * rhs[j+1];
+ Packet ptmp1 = pset1<Packet>(t1);
+
+ Scalar t2(0);
+ Packet ptmp2 = pset1<Packet>(t2);
+ Scalar t3(0);
+ Packet ptmp3 = pset1<Packet>(t3);
+
+ Index starti = FirstTriangular ? 0 : j+2;
+ Index endi = FirstTriangular ? j : size;
+ Index alignedStart = (starti) + internal::first_default_aligned(&res[starti], endi-starti);
+ Index alignedEnd = alignedStart + ((endi-alignedStart)/(PacketSize))*(PacketSize);
+
+ res[j] += cjd.pmul(numext::real(A0[j]), t0);
+ res[j+1] += cjd.pmul(numext::real(A1[j+1]), t1);
+ if(FirstTriangular)
+ {
+ res[j] += cj0.pmul(A1[j], t1);
+ t3 += cj1.pmul(A1[j], rhs[j]);
+ }
+ else
+ {
+ res[j+1] += cj0.pmul(A0[j+1],t0);
+ t2 += cj1.pmul(A0[j+1], rhs[j+1]);
+ }
+
+ for (Index i=starti; i<alignedStart; ++i)
+ {
+ res[i] += cj0.pmul(A0[i], t0) + cj0.pmul(A1[i],t1);
+ t2 += cj1.pmul(A0[i], rhs[i]);
+ t3 += cj1.pmul(A1[i], rhs[i]);
+ }
+ // Yes this an optimization for gcc 4.3 and 4.4 (=> huge speed up)
+ // gcc 4.2 does this optimization automatically.
+ const Scalar* EIGEN_RESTRICT a0It = A0 + alignedStart;
+ const Scalar* EIGEN_RESTRICT a1It = A1 + alignedStart;
+ const Scalar* EIGEN_RESTRICT rhsIt = rhs + alignedStart;
+ Scalar* EIGEN_RESTRICT resIt = res + alignedStart;
+ for (Index i=alignedStart; i<alignedEnd; i+=PacketSize)
+ {
+ Packet A0i = ploadu<Packet>(a0It); a0It += PacketSize;
+ Packet A1i = ploadu<Packet>(a1It); a1It += PacketSize;
+ Packet Bi = ploadu<Packet>(rhsIt); rhsIt += PacketSize; // FIXME should be aligned in most cases
+ Packet Xi = pload <Packet>(resIt);
+
+ Xi = pcj0.pmadd(A0i,ptmp0, pcj0.pmadd(A1i,ptmp1,Xi));
+ ptmp2 = pcj1.pmadd(A0i, Bi, ptmp2);
+ ptmp3 = pcj1.pmadd(A1i, Bi, ptmp3);
+ pstore(resIt,Xi); resIt += PacketSize;
+ }
+ for (Index i=alignedEnd; i<endi; i++)
+ {
+ res[i] += cj0.pmul(A0[i], t0) + cj0.pmul(A1[i],t1);
+ t2 += cj1.pmul(A0[i], rhs[i]);
+ t3 += cj1.pmul(A1[i], rhs[i]);
+ }
+
+ res[j] += alpha * (t2 + predux(ptmp2));
+ res[j+1] += alpha * (t3 + predux(ptmp3));
+ }
+ for (Index j=FirstTriangular ? 0 : bound;j<(FirstTriangular ? bound : size);j++)
+ {
+ const Scalar* EIGEN_RESTRICT A0 = lhs + j*lhsStride;
+
+ Scalar t1 = cjAlpha * rhs[j];
+ Scalar t2(0);
+ res[j] += cjd.pmul(numext::real(A0[j]), t1);
+ for (Index i=FirstTriangular ? 0 : j+1; i<(FirstTriangular ? j : size); i++)
+ {
+ res[i] += cj0.pmul(A0[i], t1);
+ t2 += cj1.pmul(A0[i], rhs[i]);
+ }
+ res[j] += alpha * t2;
+ }
+}
+
+} // end namespace internal
+
+/***************************************************************************
+* Wrapper to product_selfadjoint_vector
+***************************************************************************/
+
+namespace internal {
+
+template<typename Lhs, int LhsMode, typename Rhs>
+struct selfadjoint_product_impl<Lhs,LhsMode,false,Rhs,0,true>
+{
+ typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+
+ typedef internal::blas_traits<Lhs> LhsBlasTraits;
+ typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
+ typedef typename internal::remove_all<ActualLhsType>::type ActualLhsTypeCleaned;
+
+ typedef internal::blas_traits<Rhs> RhsBlasTraits;
+ typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
+ typedef typename internal::remove_all<ActualRhsType>::type ActualRhsTypeCleaned;
+
+ enum { LhsUpLo = LhsMode&(Upper|Lower) };
+
+ template<typename Dest>
+ static void run(Dest& dest, const Lhs &a_lhs, const Rhs &a_rhs, const Scalar& alpha)
+ {
+ typedef typename Dest::Scalar ResScalar;
+ typedef typename Rhs::Scalar RhsScalar;
+ typedef Map<Matrix<ResScalar,Dynamic,1>, EIGEN_PLAIN_ENUM_MIN(AlignedMax,internal::packet_traits<ResScalar>::size)> MappedDest;
+
+ eigen_assert(dest.rows()==a_lhs.rows() && dest.cols()==a_rhs.cols());
+
+ typename internal::add_const_on_value_type<ActualLhsType>::type lhs = LhsBlasTraits::extract(a_lhs);
+ typename internal::add_const_on_value_type<ActualRhsType>::type rhs = RhsBlasTraits::extract(a_rhs);
+
+ Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(a_lhs)
+ * RhsBlasTraits::extractScalarFactor(a_rhs);
+
+ enum {
+ EvalToDest = (Dest::InnerStrideAtCompileTime==1),
+ UseRhs = (ActualRhsTypeCleaned::InnerStrideAtCompileTime==1)
+ };
+
+ internal::gemv_static_vector_if<ResScalar,Dest::SizeAtCompileTime,Dest::MaxSizeAtCompileTime,!EvalToDest> static_dest;
+ internal::gemv_static_vector_if<RhsScalar,ActualRhsTypeCleaned::SizeAtCompileTime,ActualRhsTypeCleaned::MaxSizeAtCompileTime,!UseRhs> static_rhs;
+
+ ei_declare_aligned_stack_constructed_variable(ResScalar,actualDestPtr,dest.size(),
+ EvalToDest ? dest.data() : static_dest.data());
+
+ ei_declare_aligned_stack_constructed_variable(RhsScalar,actualRhsPtr,rhs.size(),
+ UseRhs ? const_cast<RhsScalar*>(rhs.data()) : static_rhs.data());
+
+ if(!EvalToDest)
+ {
+ #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+ Index size = dest.size();
+ EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+ #endif
+ MappedDest(actualDestPtr, dest.size()) = dest;
+ }
+
+ if(!UseRhs)
+ {
+ #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+ Index size = rhs.size();
+ EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+ #endif
+ Map<typename ActualRhsTypeCleaned::PlainObject>(actualRhsPtr, rhs.size()) = rhs;
+ }
+
+
+ internal::selfadjoint_matrix_vector_product<Scalar, Index, (internal::traits<ActualLhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor,
+ int(LhsUpLo), bool(LhsBlasTraits::NeedToConjugate), bool(RhsBlasTraits::NeedToConjugate)>::run
+ (
+ lhs.rows(), // size
+ &lhs.coeffRef(0,0), lhs.outerStride(), // lhs info
+ actualRhsPtr, // rhs info
+ actualDestPtr, // result info
+ actualAlpha // scale factor
+ );
+
+ if(!EvalToDest)
+ dest = MappedDest(actualDestPtr, dest.size());
+ }
+};
+
+template<typename Lhs, typename Rhs, int RhsMode>
+struct selfadjoint_product_impl<Lhs,0,true,Rhs,RhsMode,false>
+{
+ typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+ enum { RhsUpLo = RhsMode&(Upper|Lower) };
+
+ template<typename Dest>
+ static void run(Dest& dest, const Lhs &a_lhs, const Rhs &a_rhs, const Scalar& alpha)
+ {
+ // let's simply transpose the product
+ Transpose<Dest> destT(dest);
+ selfadjoint_product_impl<Transpose<const Rhs>, int(RhsUpLo)==Upper ? Lower : Upper, false,
+ Transpose<const Lhs>, 0, true>::run(destT, a_rhs.transpose(), a_lhs.transpose(), alpha);
+ }
+};
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_SELFADJOINT_MATRIX_VECTOR_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/SelfadjointProduct.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/SelfadjointProduct.h
new file mode 100644
index 0000000..f038d68
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/SelfadjointProduct.h
@@ -0,0 +1,133 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_SELFADJOINT_PRODUCT_H
+#define EIGEN_SELFADJOINT_PRODUCT_H
+
+/**********************************************************************
+* This file implements a self adjoint product: C += A A^T updating only
+* half of the selfadjoint matrix C.
+* It corresponds to the level 3 SYRK and level 2 SYR Blas routines.
+**********************************************************************/
+
+namespace Eigen {
+
+
+template<typename Scalar, typename Index, int UpLo, bool ConjLhs, bool ConjRhs>
+struct selfadjoint_rank1_update<Scalar,Index,ColMajor,UpLo,ConjLhs,ConjRhs>
+{
+ static void run(Index size, Scalar* mat, Index stride, const Scalar* vecX, const Scalar* vecY, const Scalar& alpha)
+ {
+ internal::conj_if<ConjRhs> cj;
+ typedef Map<const Matrix<Scalar,Dynamic,1> > OtherMap;
+ typedef typename internal::conditional<ConjLhs,typename OtherMap::ConjugateReturnType,const OtherMap&>::type ConjLhsType;
+ for (Index i=0; i<size; ++i)
+ {
+ Map<Matrix<Scalar,Dynamic,1> >(mat+stride*i+(UpLo==Lower ? i : 0), (UpLo==Lower ? size-i : (i+1)))
+ += (alpha * cj(vecY[i])) * ConjLhsType(OtherMap(vecX+(UpLo==Lower ? i : 0),UpLo==Lower ? size-i : (i+1)));
+ }
+ }
+};
+
+template<typename Scalar, typename Index, int UpLo, bool ConjLhs, bool ConjRhs>
+struct selfadjoint_rank1_update<Scalar,Index,RowMajor,UpLo,ConjLhs,ConjRhs>
+{
+ static void run(Index size, Scalar* mat, Index stride, const Scalar* vecX, const Scalar* vecY, const Scalar& alpha)
+ {
+ selfadjoint_rank1_update<Scalar,Index,ColMajor,UpLo==Lower?Upper:Lower,ConjRhs,ConjLhs>::run(size,mat,stride,vecY,vecX,alpha);
+ }
+};
+
+template<typename MatrixType, typename OtherType, int UpLo, bool OtherIsVector = OtherType::IsVectorAtCompileTime>
+struct selfadjoint_product_selector;
+
+template<typename MatrixType, typename OtherType, int UpLo>
+struct selfadjoint_product_selector<MatrixType,OtherType,UpLo,true>
+{
+ static void run(MatrixType& mat, const OtherType& other, const typename MatrixType::Scalar& alpha)
+ {
+ typedef typename MatrixType::Scalar Scalar;
+ typedef internal::blas_traits<OtherType> OtherBlasTraits;
+ typedef typename OtherBlasTraits::DirectLinearAccessType ActualOtherType;
+ typedef typename internal::remove_all<ActualOtherType>::type _ActualOtherType;
+ typename internal::add_const_on_value_type<ActualOtherType>::type actualOther = OtherBlasTraits::extract(other.derived());
+
+ Scalar actualAlpha = alpha * OtherBlasTraits::extractScalarFactor(other.derived());
+
+ enum {
+ StorageOrder = (internal::traits<MatrixType>::Flags&RowMajorBit) ? RowMajor : ColMajor,
+ UseOtherDirectly = _ActualOtherType::InnerStrideAtCompileTime==1
+ };
+ internal::gemv_static_vector_if<Scalar,OtherType::SizeAtCompileTime,OtherType::MaxSizeAtCompileTime,!UseOtherDirectly> static_other;
+
+ ei_declare_aligned_stack_constructed_variable(Scalar, actualOtherPtr, other.size(),
+ (UseOtherDirectly ? const_cast<Scalar*>(actualOther.data()) : static_other.data()));
+
+ if(!UseOtherDirectly)
+ Map<typename _ActualOtherType::PlainObject>(actualOtherPtr, actualOther.size()) = actualOther;
+
+ selfadjoint_rank1_update<Scalar,Index,StorageOrder,UpLo,
+ OtherBlasTraits::NeedToConjugate && NumTraits<Scalar>::IsComplex,
+ (!OtherBlasTraits::NeedToConjugate) && NumTraits<Scalar>::IsComplex>
+ ::run(other.size(), mat.data(), mat.outerStride(), actualOtherPtr, actualOtherPtr, actualAlpha);
+ }
+};
+
+template<typename MatrixType, typename OtherType, int UpLo>
+struct selfadjoint_product_selector<MatrixType,OtherType,UpLo,false>
+{
+ static void run(MatrixType& mat, const OtherType& other, const typename MatrixType::Scalar& alpha)
+ {
+ typedef typename MatrixType::Scalar Scalar;
+ typedef internal::blas_traits<OtherType> OtherBlasTraits;
+ typedef typename OtherBlasTraits::DirectLinearAccessType ActualOtherType;
+ typedef typename internal::remove_all<ActualOtherType>::type _ActualOtherType;
+ typename internal::add_const_on_value_type<ActualOtherType>::type actualOther = OtherBlasTraits::extract(other.derived());
+
+ Scalar actualAlpha = alpha * OtherBlasTraits::extractScalarFactor(other.derived());
+
+ enum {
+ IsRowMajor = (internal::traits<MatrixType>::Flags&RowMajorBit) ? 1 : 0,
+ OtherIsRowMajor = _ActualOtherType::Flags&RowMajorBit ? 1 : 0
+ };
+
+ Index size = mat.cols();
+ Index depth = actualOther.cols();
+
+ typedef internal::gemm_blocking_space<IsRowMajor ? RowMajor : ColMajor,Scalar,Scalar,
+ MatrixType::MaxColsAtCompileTime, MatrixType::MaxColsAtCompileTime, _ActualOtherType::MaxColsAtCompileTime> BlockingType;
+
+ BlockingType blocking(size, size, depth, 1, false);
+
+
+ internal::general_matrix_matrix_triangular_product<Index,
+ Scalar, OtherIsRowMajor ? RowMajor : ColMajor, OtherBlasTraits::NeedToConjugate && NumTraits<Scalar>::IsComplex,
+ Scalar, OtherIsRowMajor ? ColMajor : RowMajor, (!OtherBlasTraits::NeedToConjugate) && NumTraits<Scalar>::IsComplex,
+ IsRowMajor ? RowMajor : ColMajor, UpLo>
+ ::run(size, depth,
+ &actualOther.coeffRef(0,0), actualOther.outerStride(), &actualOther.coeffRef(0,0), actualOther.outerStride(),
+ mat.data(), mat.outerStride(), actualAlpha, blocking);
+ }
+};
+
+// high level API
+
+template<typename MatrixType, unsigned int UpLo>
+template<typename DerivedU>
+SelfAdjointView<MatrixType,UpLo>& SelfAdjointView<MatrixType,UpLo>
+::rankUpdate(const MatrixBase<DerivedU>& u, const Scalar& alpha)
+{
+ selfadjoint_product_selector<MatrixType,DerivedU,UpLo>::run(_expression().const_cast_derived(), u.derived(), alpha);
+
+ return *this;
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_SELFADJOINT_PRODUCT_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/SelfadjointRank2Update.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/SelfadjointRank2Update.h
new file mode 100644
index 0000000..2ae3641
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/SelfadjointRank2Update.h
@@ -0,0 +1,93 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_SELFADJOINTRANK2UPTADE_H
+#define EIGEN_SELFADJOINTRANK2UPTADE_H
+
+namespace Eigen {
+
+namespace internal {
+
+/* Optimized selfadjoint matrix += alpha * uv' + conj(alpha)*vu'
+ * It corresponds to the Level2 syr2 BLAS routine
+ */
+
+template<typename Scalar, typename Index, typename UType, typename VType, int UpLo>
+struct selfadjoint_rank2_update_selector;
+
+template<typename Scalar, typename Index, typename UType, typename VType>
+struct selfadjoint_rank2_update_selector<Scalar,Index,UType,VType,Lower>
+{
+ static void run(Scalar* mat, Index stride, const UType& u, const VType& v, const Scalar& alpha)
+ {
+ const Index size = u.size();
+ for (Index i=0; i<size; ++i)
+ {
+ Map<Matrix<Scalar,Dynamic,1> >(mat+stride*i+i, size-i) +=
+ (numext::conj(alpha) * numext::conj(u.coeff(i))) * v.tail(size-i)
+ + (alpha * numext::conj(v.coeff(i))) * u.tail(size-i);
+ }
+ }
+};
+
+template<typename Scalar, typename Index, typename UType, typename VType>
+struct selfadjoint_rank2_update_selector<Scalar,Index,UType,VType,Upper>
+{
+ static void run(Scalar* mat, Index stride, const UType& u, const VType& v, const Scalar& alpha)
+ {
+ const Index size = u.size();
+ for (Index i=0; i<size; ++i)
+ Map<Matrix<Scalar,Dynamic,1> >(mat+stride*i, i+1) +=
+ (numext::conj(alpha) * numext::conj(u.coeff(i))) * v.head(i+1)
+ + (alpha * numext::conj(v.coeff(i))) * u.head(i+1);
+ }
+};
+
+template<bool Cond, typename T> struct conj_expr_if
+ : conditional<!Cond, const T&,
+ CwiseUnaryOp<scalar_conjugate_op<typename traits<T>::Scalar>,T> > {};
+
+} // end namespace internal
+
+template<typename MatrixType, unsigned int UpLo>
+template<typename DerivedU, typename DerivedV>
+SelfAdjointView<MatrixType,UpLo>& SelfAdjointView<MatrixType,UpLo>
+::rankUpdate(const MatrixBase<DerivedU>& u, const MatrixBase<DerivedV>& v, const Scalar& alpha)
+{
+ typedef internal::blas_traits<DerivedU> UBlasTraits;
+ typedef typename UBlasTraits::DirectLinearAccessType ActualUType;
+ typedef typename internal::remove_all<ActualUType>::type _ActualUType;
+ typename internal::add_const_on_value_type<ActualUType>::type actualU = UBlasTraits::extract(u.derived());
+
+ typedef internal::blas_traits<DerivedV> VBlasTraits;
+ typedef typename VBlasTraits::DirectLinearAccessType ActualVType;
+ typedef typename internal::remove_all<ActualVType>::type _ActualVType;
+ typename internal::add_const_on_value_type<ActualVType>::type actualV = VBlasTraits::extract(v.derived());
+
+ // If MatrixType is row major, then we use the routine for lower triangular in the upper triangular case and
+ // vice versa, and take the complex conjugate of all coefficients and vector entries.
+
+ enum { IsRowMajor = (internal::traits<MatrixType>::Flags&RowMajorBit) ? 1 : 0 };
+ Scalar actualAlpha = alpha * UBlasTraits::extractScalarFactor(u.derived())
+ * numext::conj(VBlasTraits::extractScalarFactor(v.derived()));
+ if (IsRowMajor)
+ actualAlpha = numext::conj(actualAlpha);
+
+ typedef typename internal::remove_all<typename internal::conj_expr_if<IsRowMajor ^ UBlasTraits::NeedToConjugate,_ActualUType>::type>::type UType;
+ typedef typename internal::remove_all<typename internal::conj_expr_if<IsRowMajor ^ VBlasTraits::NeedToConjugate,_ActualVType>::type>::type VType;
+ internal::selfadjoint_rank2_update_selector<Scalar, Index, UType, VType,
+ (IsRowMajor ? int(UpLo==Upper ? Lower : Upper) : UpLo)>
+ ::run(_expression().const_cast_derived().data(),_expression().outerStride(),UType(actualU),VType(actualV),actualAlpha);
+
+ return *this;
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_SELFADJOINTRANK2UPTADE_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/TriangularMatrixMatrix.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/TriangularMatrixMatrix.h
new file mode 100644
index 0000000..f784507
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/TriangularMatrixMatrix.h
@@ -0,0 +1,466 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_TRIANGULAR_MATRIX_MATRIX_H
+#define EIGEN_TRIANGULAR_MATRIX_MATRIX_H
+
+namespace Eigen {
+
+namespace internal {
+
+// template<typename Scalar, int mr, int StorageOrder, bool Conjugate, int Mode>
+// struct gemm_pack_lhs_triangular
+// {
+// Matrix<Scalar,mr,mr,
+// void operator()(Scalar* blockA, const EIGEN_RESTRICT Scalar* _lhs, int lhsStride, int depth, int rows)
+// {
+// conj_if<NumTraits<Scalar>::IsComplex && Conjugate> cj;
+// const_blas_data_mapper<Scalar, StorageOrder> lhs(_lhs,lhsStride);
+// int count = 0;
+// const int peeled_mc = (rows/mr)*mr;
+// for(int i=0; i<peeled_mc; i+=mr)
+// {
+// for(int k=0; k<depth; k++)
+// for(int w=0; w<mr; w++)
+// blockA[count++] = cj(lhs(i+w, k));
+// }
+// for(int i=peeled_mc; i<rows; i++)
+// {
+// for(int k=0; k<depth; k++)
+// blockA[count++] = cj(lhs(i, k));
+// }
+// }
+// };
+
+/* Optimized triangular matrix * matrix (_TRMM++) product built on top of
+ * the general matrix matrix product.
+ */
+template <typename Scalar, typename Index,
+ int Mode, bool LhsIsTriangular,
+ int LhsStorageOrder, bool ConjugateLhs,
+ int RhsStorageOrder, bool ConjugateRhs,
+ int ResStorageOrder, int Version = Specialized>
+struct product_triangular_matrix_matrix;
+
+template <typename Scalar, typename Index,
+ int Mode, bool LhsIsTriangular,
+ int LhsStorageOrder, bool ConjugateLhs,
+ int RhsStorageOrder, bool ConjugateRhs, int Version>
+struct product_triangular_matrix_matrix<Scalar,Index,Mode,LhsIsTriangular,
+ LhsStorageOrder,ConjugateLhs,
+ RhsStorageOrder,ConjugateRhs,RowMajor,Version>
+{
+ static EIGEN_STRONG_INLINE void run(
+ Index rows, Index cols, Index depth,
+ const Scalar* lhs, Index lhsStride,
+ const Scalar* rhs, Index rhsStride,
+ Scalar* res, Index resStride,
+ const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking)
+ {
+ product_triangular_matrix_matrix<Scalar, Index,
+ (Mode&(UnitDiag|ZeroDiag)) | ((Mode&Upper) ? Lower : Upper),
+ (!LhsIsTriangular),
+ RhsStorageOrder==RowMajor ? ColMajor : RowMajor,
+ ConjugateRhs,
+ LhsStorageOrder==RowMajor ? ColMajor : RowMajor,
+ ConjugateLhs,
+ ColMajor>
+ ::run(cols, rows, depth, rhs, rhsStride, lhs, lhsStride, res, resStride, alpha, blocking);
+ }
+};
+
+// implements col-major += alpha * op(triangular) * op(general)
+template <typename Scalar, typename Index, int Mode,
+ int LhsStorageOrder, bool ConjugateLhs,
+ int RhsStorageOrder, bool ConjugateRhs, int Version>
+struct product_triangular_matrix_matrix<Scalar,Index,Mode,true,
+ LhsStorageOrder,ConjugateLhs,
+ RhsStorageOrder,ConjugateRhs,ColMajor,Version>
+{
+
+ typedef gebp_traits<Scalar,Scalar> Traits;
+ enum {
+ SmallPanelWidth = 2 * EIGEN_PLAIN_ENUM_MAX(Traits::mr,Traits::nr),
+ IsLower = (Mode&Lower) == Lower,
+ SetDiag = (Mode&(ZeroDiag|UnitDiag)) ? 0 : 1
+ };
+
+ static EIGEN_DONT_INLINE void run(
+ Index _rows, Index _cols, Index _depth,
+ const Scalar* _lhs, Index lhsStride,
+ const Scalar* _rhs, Index rhsStride,
+ Scalar* res, Index resStride,
+ const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking);
+};
+
+template <typename Scalar, typename Index, int Mode,
+ int LhsStorageOrder, bool ConjugateLhs,
+ int RhsStorageOrder, bool ConjugateRhs, int Version>
+EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,true,
+ LhsStorageOrder,ConjugateLhs,
+ RhsStorageOrder,ConjugateRhs,ColMajor,Version>::run(
+ Index _rows, Index _cols, Index _depth,
+ const Scalar* _lhs, Index lhsStride,
+ const Scalar* _rhs, Index rhsStride,
+ Scalar* _res, Index resStride,
+ const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking)
+ {
+ // strip zeros
+ Index diagSize = (std::min)(_rows,_depth);
+ Index rows = IsLower ? _rows : diagSize;
+ Index depth = IsLower ? diagSize : _depth;
+ Index cols = _cols;
+
+ typedef const_blas_data_mapper<Scalar, Index, LhsStorageOrder> LhsMapper;
+ typedef const_blas_data_mapper<Scalar, Index, RhsStorageOrder> RhsMapper;
+ typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor> ResMapper;
+ LhsMapper lhs(_lhs,lhsStride);
+ RhsMapper rhs(_rhs,rhsStride);
+ ResMapper res(_res, resStride);
+
+ Index kc = blocking.kc(); // cache block size along the K direction
+ Index mc = (std::min)(rows,blocking.mc()); // cache block size along the M direction
+ // The small panel size must not be larger than blocking size.
+ // Usually this should never be the case because SmallPanelWidth^2 is very small
+ // compared to L2 cache size, but let's be safe:
+ Index panelWidth = (std::min)(Index(SmallPanelWidth),(std::min)(kc,mc));
+
+ std::size_t sizeA = kc*mc;
+ std::size_t sizeB = kc*cols;
+
+ ei_declare_aligned_stack_constructed_variable(Scalar, blockA, sizeA, blocking.blockA());
+ ei_declare_aligned_stack_constructed_variable(Scalar, blockB, sizeB, blocking.blockB());
+
+ // To work around an "error: member reference base type 'Matrix<...>
+ // (Eigen::internal::constructor_without_unaligned_array_assert (*)())' is
+ // not a structure or union" compilation error in nvcc (tested V8.0.61),
+ // create a dummy internal::constructor_without_unaligned_array_assert
+ // object to pass to the Matrix constructor.
+ internal::constructor_without_unaligned_array_assert a;
+ Matrix<Scalar,SmallPanelWidth,SmallPanelWidth,LhsStorageOrder> triangularBuffer(a);
+ triangularBuffer.setZero();
+ if((Mode&ZeroDiag)==ZeroDiag)
+ triangularBuffer.diagonal().setZero();
+ else
+ triangularBuffer.diagonal().setOnes();
+
+ gebp_kernel<Scalar, Scalar, Index, ResMapper, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
+ gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
+ gemm_pack_rhs<Scalar, Index, RhsMapper, Traits::nr,RhsStorageOrder> pack_rhs;
+
+ for(Index k2=IsLower ? depth : 0;
+ IsLower ? k2>0 : k2<depth;
+ IsLower ? k2-=kc : k2+=kc)
+ {
+ Index actual_kc = (std::min)(IsLower ? k2 : depth-k2, kc);
+ Index actual_k2 = IsLower ? k2-actual_kc : k2;
+
+ // align blocks with the end of the triangular part for trapezoidal lhs
+ if((!IsLower)&&(k2<rows)&&(k2+actual_kc>rows))
+ {
+ actual_kc = rows-k2;
+ k2 = k2+actual_kc-kc;
+ }
+
+ pack_rhs(blockB, rhs.getSubMapper(actual_k2,0), actual_kc, cols);
+
+ // the selected lhs's panel has to be split in three different parts:
+ // 1 - the part which is zero => skip it
+ // 2 - the diagonal block => special kernel
+ // 3 - the dense panel below (lower case) or above (upper case) the diagonal block => GEPP
+
+ // the block diagonal, if any:
+ if(IsLower || actual_k2<rows)
+ {
+ // for each small vertical panels of lhs
+ for (Index k1=0; k1<actual_kc; k1+=panelWidth)
+ {
+ Index actualPanelWidth = std::min<Index>(actual_kc-k1, panelWidth);
+ Index lengthTarget = IsLower ? actual_kc-k1-actualPanelWidth : k1;
+ Index startBlock = actual_k2+k1;
+ Index blockBOffset = k1;
+
+ // => GEBP with the micro triangular block
+ // The trick is to pack this micro block while filling the opposite triangular part with zeros.
+ // To this end we do an extra triangular copy to a small temporary buffer
+ for (Index k=0;k<actualPanelWidth;++k)
+ {
+ if (SetDiag)
+ triangularBuffer.coeffRef(k,k) = lhs(startBlock+k,startBlock+k);
+ for (Index i=IsLower ? k+1 : 0; IsLower ? i<actualPanelWidth : i<k; ++i)
+ triangularBuffer.coeffRef(i,k) = lhs(startBlock+i,startBlock+k);
+ }
+ pack_lhs(blockA, LhsMapper(triangularBuffer.data(), triangularBuffer.outerStride()), actualPanelWidth, actualPanelWidth);
+
+ gebp_kernel(res.getSubMapper(startBlock, 0), blockA, blockB,
+ actualPanelWidth, actualPanelWidth, cols, alpha,
+ actualPanelWidth, actual_kc, 0, blockBOffset);
+
+ // GEBP with remaining micro panel
+ if (lengthTarget>0)
+ {
+ Index startTarget = IsLower ? actual_k2+k1+actualPanelWidth : actual_k2;
+
+ pack_lhs(blockA, lhs.getSubMapper(startTarget,startBlock), actualPanelWidth, lengthTarget);
+
+ gebp_kernel(res.getSubMapper(startTarget, 0), blockA, blockB,
+ lengthTarget, actualPanelWidth, cols, alpha,
+ actualPanelWidth, actual_kc, 0, blockBOffset);
+ }
+ }
+ }
+ // the part below (lower case) or above (upper case) the diagonal => GEPP
+ {
+ Index start = IsLower ? k2 : 0;
+ Index end = IsLower ? rows : (std::min)(actual_k2,rows);
+ for(Index i2=start; i2<end; i2+=mc)
+ {
+ const Index actual_mc = (std::min)(i2+mc,end)-i2;
+ gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr,Traits::LhsProgress, LhsStorageOrder,false>()
+ (blockA, lhs.getSubMapper(i2, actual_k2), actual_kc, actual_mc);
+
+ gebp_kernel(res.getSubMapper(i2, 0), blockA, blockB, actual_mc,
+ actual_kc, cols, alpha, -1, -1, 0, 0);
+ }
+ }
+ }
+ }
+
+// implements col-major += alpha * op(general) * op(triangular)
+template <typename Scalar, typename Index, int Mode,
+ int LhsStorageOrder, bool ConjugateLhs,
+ int RhsStorageOrder, bool ConjugateRhs, int Version>
+struct product_triangular_matrix_matrix<Scalar,Index,Mode,false,
+ LhsStorageOrder,ConjugateLhs,
+ RhsStorageOrder,ConjugateRhs,ColMajor,Version>
+{
+ typedef gebp_traits<Scalar,Scalar> Traits;
+ enum {
+ SmallPanelWidth = EIGEN_PLAIN_ENUM_MAX(Traits::mr,Traits::nr),
+ IsLower = (Mode&Lower) == Lower,
+ SetDiag = (Mode&(ZeroDiag|UnitDiag)) ? 0 : 1
+ };
+
+ static EIGEN_DONT_INLINE void run(
+ Index _rows, Index _cols, Index _depth,
+ const Scalar* _lhs, Index lhsStride,
+ const Scalar* _rhs, Index rhsStride,
+ Scalar* res, Index resStride,
+ const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking);
+};
+
+template <typename Scalar, typename Index, int Mode,
+ int LhsStorageOrder, bool ConjugateLhs,
+ int RhsStorageOrder, bool ConjugateRhs, int Version>
+EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,false,
+ LhsStorageOrder,ConjugateLhs,
+ RhsStorageOrder,ConjugateRhs,ColMajor,Version>::run(
+ Index _rows, Index _cols, Index _depth,
+ const Scalar* _lhs, Index lhsStride,
+ const Scalar* _rhs, Index rhsStride,
+ Scalar* _res, Index resStride,
+ const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking)
+ {
+ const Index PacketBytes = packet_traits<Scalar>::size*sizeof(Scalar);
+ // strip zeros
+ Index diagSize = (std::min)(_cols,_depth);
+ Index rows = _rows;
+ Index depth = IsLower ? _depth : diagSize;
+ Index cols = IsLower ? diagSize : _cols;
+
+ typedef const_blas_data_mapper<Scalar, Index, LhsStorageOrder> LhsMapper;
+ typedef const_blas_data_mapper<Scalar, Index, RhsStorageOrder> RhsMapper;
+ typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor> ResMapper;
+ LhsMapper lhs(_lhs,lhsStride);
+ RhsMapper rhs(_rhs,rhsStride);
+ ResMapper res(_res, resStride);
+
+ Index kc = blocking.kc(); // cache block size along the K direction
+ Index mc = (std::min)(rows,blocking.mc()); // cache block size along the M direction
+
+ std::size_t sizeA = kc*mc;
+ std::size_t sizeB = kc*cols+EIGEN_MAX_ALIGN_BYTES/sizeof(Scalar);
+
+ ei_declare_aligned_stack_constructed_variable(Scalar, blockA, sizeA, blocking.blockA());
+ ei_declare_aligned_stack_constructed_variable(Scalar, blockB, sizeB, blocking.blockB());
+
+ internal::constructor_without_unaligned_array_assert a;
+ Matrix<Scalar,SmallPanelWidth,SmallPanelWidth,RhsStorageOrder> triangularBuffer(a);
+ triangularBuffer.setZero();
+ if((Mode&ZeroDiag)==ZeroDiag)
+ triangularBuffer.diagonal().setZero();
+ else
+ triangularBuffer.diagonal().setOnes();
+
+ gebp_kernel<Scalar, Scalar, Index, ResMapper, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
+ gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
+ gemm_pack_rhs<Scalar, Index, RhsMapper, Traits::nr,RhsStorageOrder> pack_rhs;
+ gemm_pack_rhs<Scalar, Index, RhsMapper, Traits::nr,RhsStorageOrder,false,true> pack_rhs_panel;
+
+ for(Index k2=IsLower ? 0 : depth;
+ IsLower ? k2<depth : k2>0;
+ IsLower ? k2+=kc : k2-=kc)
+ {
+ Index actual_kc = (std::min)(IsLower ? depth-k2 : k2, kc);
+ Index actual_k2 = IsLower ? k2 : k2-actual_kc;
+
+ // align blocks with the end of the triangular part for trapezoidal rhs
+ if(IsLower && (k2<cols) && (actual_k2+actual_kc>cols))
+ {
+ actual_kc = cols-k2;
+ k2 = actual_k2 + actual_kc - kc;
+ }
+
+ // remaining size
+ Index rs = IsLower ? (std::min)(cols,actual_k2) : cols - k2;
+ // size of the triangular part
+ Index ts = (IsLower && actual_k2>=cols) ? 0 : actual_kc;
+
+ Scalar* geb = blockB+ts*ts;
+ geb = geb + internal::first_aligned<PacketBytes>(geb,PacketBytes/sizeof(Scalar));
+
+ pack_rhs(geb, rhs.getSubMapper(actual_k2,IsLower ? 0 : k2), actual_kc, rs);
+
+ // pack the triangular part of the rhs padding the unrolled blocks with zeros
+ if(ts>0)
+ {
+ for (Index j2=0; j2<actual_kc; j2+=SmallPanelWidth)
+ {
+ Index actualPanelWidth = std::min<Index>(actual_kc-j2, SmallPanelWidth);
+ Index actual_j2 = actual_k2 + j2;
+ Index panelOffset = IsLower ? j2+actualPanelWidth : 0;
+ Index panelLength = IsLower ? actual_kc-j2-actualPanelWidth : j2;
+ // general part
+ pack_rhs_panel(blockB+j2*actual_kc,
+ rhs.getSubMapper(actual_k2+panelOffset, actual_j2),
+ panelLength, actualPanelWidth,
+ actual_kc, panelOffset);
+
+ // append the triangular part via a temporary buffer
+ for (Index j=0;j<actualPanelWidth;++j)
+ {
+ if (SetDiag)
+ triangularBuffer.coeffRef(j,j) = rhs(actual_j2+j,actual_j2+j);
+ for (Index k=IsLower ? j+1 : 0; IsLower ? k<actualPanelWidth : k<j; ++k)
+ triangularBuffer.coeffRef(k,j) = rhs(actual_j2+k,actual_j2+j);
+ }
+
+ pack_rhs_panel(blockB+j2*actual_kc,
+ RhsMapper(triangularBuffer.data(), triangularBuffer.outerStride()),
+ actualPanelWidth, actualPanelWidth,
+ actual_kc, j2);
+ }
+ }
+
+ for (Index i2=0; i2<rows; i2+=mc)
+ {
+ const Index actual_mc = (std::min)(mc,rows-i2);
+ pack_lhs(blockA, lhs.getSubMapper(i2, actual_k2), actual_kc, actual_mc);
+
+ // triangular kernel
+ if(ts>0)
+ {
+ for (Index j2=0; j2<actual_kc; j2+=SmallPanelWidth)
+ {
+ Index actualPanelWidth = std::min<Index>(actual_kc-j2, SmallPanelWidth);
+ Index panelLength = IsLower ? actual_kc-j2 : j2+actualPanelWidth;
+ Index blockOffset = IsLower ? j2 : 0;
+
+ gebp_kernel(res.getSubMapper(i2, actual_k2 + j2),
+ blockA, blockB+j2*actual_kc,
+ actual_mc, panelLength, actualPanelWidth,
+ alpha,
+ actual_kc, actual_kc, // strides
+ blockOffset, blockOffset);// offsets
+ }
+ }
+ gebp_kernel(res.getSubMapper(i2, IsLower ? 0 : k2),
+ blockA, geb, actual_mc, actual_kc, rs,
+ alpha,
+ -1, -1, 0, 0);
+ }
+ }
+ }
+
+/***************************************************************************
+* Wrapper to product_triangular_matrix_matrix
+***************************************************************************/
+
+} // end namespace internal
+
+namespace internal {
+template<int Mode, bool LhsIsTriangular, typename Lhs, typename Rhs>
+struct triangular_product_impl<Mode,LhsIsTriangular,Lhs,false,Rhs,false>
+{
+ template<typename Dest> static void run(Dest& dst, const Lhs &a_lhs, const Rhs &a_rhs, const typename Dest::Scalar& alpha)
+ {
+ typedef typename Lhs::Scalar LhsScalar;
+ typedef typename Rhs::Scalar RhsScalar;
+ typedef typename Dest::Scalar Scalar;
+
+ typedef internal::blas_traits<Lhs> LhsBlasTraits;
+ typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
+ typedef typename internal::remove_all<ActualLhsType>::type ActualLhsTypeCleaned;
+ typedef internal::blas_traits<Rhs> RhsBlasTraits;
+ typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
+ typedef typename internal::remove_all<ActualRhsType>::type ActualRhsTypeCleaned;
+
+ typename internal::add_const_on_value_type<ActualLhsType>::type lhs = LhsBlasTraits::extract(a_lhs);
+ typename internal::add_const_on_value_type<ActualRhsType>::type rhs = RhsBlasTraits::extract(a_rhs);
+
+ LhsScalar lhs_alpha = LhsBlasTraits::extractScalarFactor(a_lhs);
+ RhsScalar rhs_alpha = RhsBlasTraits::extractScalarFactor(a_rhs);
+ Scalar actualAlpha = alpha * lhs_alpha * rhs_alpha;
+
+ typedef internal::gemm_blocking_space<(Dest::Flags&RowMajorBit) ? RowMajor : ColMajor,Scalar,Scalar,
+ Lhs::MaxRowsAtCompileTime, Rhs::MaxColsAtCompileTime, Lhs::MaxColsAtCompileTime,4> BlockingType;
+
+ enum { IsLower = (Mode&Lower) == Lower };
+ Index stripedRows = ((!LhsIsTriangular) || (IsLower)) ? lhs.rows() : (std::min)(lhs.rows(),lhs.cols());
+ Index stripedCols = ((LhsIsTriangular) || (!IsLower)) ? rhs.cols() : (std::min)(rhs.cols(),rhs.rows());
+ Index stripedDepth = LhsIsTriangular ? ((!IsLower) ? lhs.cols() : (std::min)(lhs.cols(),lhs.rows()))
+ : ((IsLower) ? rhs.rows() : (std::min)(rhs.rows(),rhs.cols()));
+
+ BlockingType blocking(stripedRows, stripedCols, stripedDepth, 1, false);
+
+ internal::product_triangular_matrix_matrix<Scalar, Index,
+ Mode, LhsIsTriangular,
+ (internal::traits<ActualLhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
+ (internal::traits<ActualRhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
+ (internal::traits<Dest >::Flags&RowMajorBit) ? RowMajor : ColMajor>
+ ::run(
+ stripedRows, stripedCols, stripedDepth, // sizes
+ &lhs.coeffRef(0,0), lhs.outerStride(), // lhs info
+ &rhs.coeffRef(0,0), rhs.outerStride(), // rhs info
+ &dst.coeffRef(0,0), dst.outerStride(), // result info
+ actualAlpha, blocking
+ );
+
+ // Apply correction if the diagonal is unit and a scalar factor was nested:
+ if ((Mode&UnitDiag)==UnitDiag)
+ {
+ if (LhsIsTriangular && lhs_alpha!=LhsScalar(1))
+ {
+ Index diagSize = (std::min)(lhs.rows(),lhs.cols());
+ dst.topRows(diagSize) -= ((lhs_alpha-LhsScalar(1))*a_rhs).topRows(diagSize);
+ }
+ else if ((!LhsIsTriangular) && rhs_alpha!=RhsScalar(1))
+ {
+ Index diagSize = (std::min)(rhs.rows(),rhs.cols());
+ dst.leftCols(diagSize) -= (rhs_alpha-RhsScalar(1))*a_lhs.leftCols(diagSize);
+ }
+ }
+ }
+};
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_TRIANGULAR_MATRIX_MATRIX_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/TriangularMatrixVector.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/TriangularMatrixVector.h
new file mode 100644
index 0000000..76bfa15
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/TriangularMatrixVector.h
@@ -0,0 +1,350 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_TRIANGULARMATRIXVECTOR_H
+#define EIGEN_TRIANGULARMATRIXVECTOR_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<typename Index, int Mode, typename LhsScalar, bool ConjLhs, typename RhsScalar, bool ConjRhs, int StorageOrder, int Version=Specialized>
+struct triangular_matrix_vector_product;
+
+template<typename Index, int Mode, typename LhsScalar, bool ConjLhs, typename RhsScalar, bool ConjRhs, int Version>
+struct triangular_matrix_vector_product<Index,Mode,LhsScalar,ConjLhs,RhsScalar,ConjRhs,ColMajor,Version>
+{
+ typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+ enum {
+ IsLower = ((Mode&Lower)==Lower),
+ HasUnitDiag = (Mode & UnitDiag)==UnitDiag,
+ HasZeroDiag = (Mode & ZeroDiag)==ZeroDiag
+ };
+ static EIGEN_DONT_INLINE void run(Index _rows, Index _cols, const LhsScalar* _lhs, Index lhsStride,
+ const RhsScalar* _rhs, Index rhsIncr, ResScalar* _res, Index resIncr, const RhsScalar& alpha);
+};
+
+template<typename Index, int Mode, typename LhsScalar, bool ConjLhs, typename RhsScalar, bool ConjRhs, int Version>
+EIGEN_DONT_INLINE void triangular_matrix_vector_product<Index,Mode,LhsScalar,ConjLhs,RhsScalar,ConjRhs,ColMajor,Version>
+ ::run(Index _rows, Index _cols, const LhsScalar* _lhs, Index lhsStride,
+ const RhsScalar* _rhs, Index rhsIncr, ResScalar* _res, Index resIncr, const RhsScalar& alpha)
+ {
+ static const Index PanelWidth = EIGEN_TUNE_TRIANGULAR_PANEL_WIDTH;
+ Index size = (std::min)(_rows,_cols);
+ Index rows = IsLower ? _rows : (std::min)(_rows,_cols);
+ Index cols = IsLower ? (std::min)(_rows,_cols) : _cols;
+
+ typedef Map<const Matrix<LhsScalar,Dynamic,Dynamic,ColMajor>, 0, OuterStride<> > LhsMap;
+ const LhsMap lhs(_lhs,rows,cols,OuterStride<>(lhsStride));
+ typename conj_expr_if<ConjLhs,LhsMap>::type cjLhs(lhs);
+
+ typedef Map<const Matrix<RhsScalar,Dynamic,1>, 0, InnerStride<> > RhsMap;
+ const RhsMap rhs(_rhs,cols,InnerStride<>(rhsIncr));
+ typename conj_expr_if<ConjRhs,RhsMap>::type cjRhs(rhs);
+
+ typedef Map<Matrix<ResScalar,Dynamic,1> > ResMap;
+ ResMap res(_res,rows);
+
+ typedef const_blas_data_mapper<LhsScalar,Index,ColMajor> LhsMapper;
+ typedef const_blas_data_mapper<RhsScalar,Index,RowMajor> RhsMapper;
+
+ for (Index pi=0; pi<size; pi+=PanelWidth)
+ {
+ Index actualPanelWidth = (std::min)(PanelWidth, size-pi);
+ for (Index k=0; k<actualPanelWidth; ++k)
+ {
+ Index i = pi + k;
+ Index s = IsLower ? ((HasUnitDiag||HasZeroDiag) ? i+1 : i ) : pi;
+ Index r = IsLower ? actualPanelWidth-k : k+1;
+ if ((!(HasUnitDiag||HasZeroDiag)) || (--r)>0)
+ res.segment(s,r) += (alpha * cjRhs.coeff(i)) * cjLhs.col(i).segment(s,r);
+ if (HasUnitDiag)
+ res.coeffRef(i) += alpha * cjRhs.coeff(i);
+ }
+ Index r = IsLower ? rows - pi - actualPanelWidth : pi;
+ if (r>0)
+ {
+ Index s = IsLower ? pi+actualPanelWidth : 0;
+ general_matrix_vector_product<Index,LhsScalar,LhsMapper,ColMajor,ConjLhs,RhsScalar,RhsMapper,ConjRhs,BuiltIn>::run(
+ r, actualPanelWidth,
+ LhsMapper(&lhs.coeffRef(s,pi), lhsStride),
+ RhsMapper(&rhs.coeffRef(pi), rhsIncr),
+ &res.coeffRef(s), resIncr, alpha);
+ }
+ }
+ if((!IsLower) && cols>size)
+ {
+ general_matrix_vector_product<Index,LhsScalar,LhsMapper,ColMajor,ConjLhs,RhsScalar,RhsMapper,ConjRhs>::run(
+ rows, cols-size,
+ LhsMapper(&lhs.coeffRef(0,size), lhsStride),
+ RhsMapper(&rhs.coeffRef(size), rhsIncr),
+ _res, resIncr, alpha);
+ }
+ }
+
+template<typename Index, int Mode, typename LhsScalar, bool ConjLhs, typename RhsScalar, bool ConjRhs,int Version>
+struct triangular_matrix_vector_product<Index,Mode,LhsScalar,ConjLhs,RhsScalar,ConjRhs,RowMajor,Version>
+{
+ typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+ enum {
+ IsLower = ((Mode&Lower)==Lower),
+ HasUnitDiag = (Mode & UnitDiag)==UnitDiag,
+ HasZeroDiag = (Mode & ZeroDiag)==ZeroDiag
+ };
+ static EIGEN_DONT_INLINE void run(Index _rows, Index _cols, const LhsScalar* _lhs, Index lhsStride,
+ const RhsScalar* _rhs, Index rhsIncr, ResScalar* _res, Index resIncr, const ResScalar& alpha);
+};
+
+template<typename Index, int Mode, typename LhsScalar, bool ConjLhs, typename RhsScalar, bool ConjRhs,int Version>
+EIGEN_DONT_INLINE void triangular_matrix_vector_product<Index,Mode,LhsScalar,ConjLhs,RhsScalar,ConjRhs,RowMajor,Version>
+ ::run(Index _rows, Index _cols, const LhsScalar* _lhs, Index lhsStride,
+ const RhsScalar* _rhs, Index rhsIncr, ResScalar* _res, Index resIncr, const ResScalar& alpha)
+ {
+ static const Index PanelWidth = EIGEN_TUNE_TRIANGULAR_PANEL_WIDTH;
+ Index diagSize = (std::min)(_rows,_cols);
+ Index rows = IsLower ? _rows : diagSize;
+ Index cols = IsLower ? diagSize : _cols;
+
+ typedef Map<const Matrix<LhsScalar,Dynamic,Dynamic,RowMajor>, 0, OuterStride<> > LhsMap;
+ const LhsMap lhs(_lhs,rows,cols,OuterStride<>(lhsStride));
+ typename conj_expr_if<ConjLhs,LhsMap>::type cjLhs(lhs);
+
+ typedef Map<const Matrix<RhsScalar,Dynamic,1> > RhsMap;
+ const RhsMap rhs(_rhs,cols);
+ typename conj_expr_if<ConjRhs,RhsMap>::type cjRhs(rhs);
+
+ typedef Map<Matrix<ResScalar,Dynamic,1>, 0, InnerStride<> > ResMap;
+ ResMap res(_res,rows,InnerStride<>(resIncr));
+
+ typedef const_blas_data_mapper<LhsScalar,Index,RowMajor> LhsMapper;
+ typedef const_blas_data_mapper<RhsScalar,Index,RowMajor> RhsMapper;
+
+ for (Index pi=0; pi<diagSize; pi+=PanelWidth)
+ {
+ Index actualPanelWidth = (std::min)(PanelWidth, diagSize-pi);
+ for (Index k=0; k<actualPanelWidth; ++k)
+ {
+ Index i = pi + k;
+ Index s = IsLower ? pi : ((HasUnitDiag||HasZeroDiag) ? i+1 : i);
+ Index r = IsLower ? k+1 : actualPanelWidth-k;
+ if ((!(HasUnitDiag||HasZeroDiag)) || (--r)>0)
+ res.coeffRef(i) += alpha * (cjLhs.row(i).segment(s,r).cwiseProduct(cjRhs.segment(s,r).transpose())).sum();
+ if (HasUnitDiag)
+ res.coeffRef(i) += alpha * cjRhs.coeff(i);
+ }
+ Index r = IsLower ? pi : cols - pi - actualPanelWidth;
+ if (r>0)
+ {
+ Index s = IsLower ? 0 : pi + actualPanelWidth;
+ general_matrix_vector_product<Index,LhsScalar,LhsMapper,RowMajor,ConjLhs,RhsScalar,RhsMapper,ConjRhs,BuiltIn>::run(
+ actualPanelWidth, r,
+ LhsMapper(&lhs.coeffRef(pi,s), lhsStride),
+ RhsMapper(&rhs.coeffRef(s), rhsIncr),
+ &res.coeffRef(pi), resIncr, alpha);
+ }
+ }
+ if(IsLower && rows>diagSize)
+ {
+ general_matrix_vector_product<Index,LhsScalar,LhsMapper,RowMajor,ConjLhs,RhsScalar,RhsMapper,ConjRhs>::run(
+ rows-diagSize, cols,
+ LhsMapper(&lhs.coeffRef(diagSize,0), lhsStride),
+ RhsMapper(&rhs.coeffRef(0), rhsIncr),
+ &res.coeffRef(diagSize), resIncr, alpha);
+ }
+ }
+
+/***************************************************************************
+* Wrapper to product_triangular_vector
+***************************************************************************/
+
+template<int Mode,int StorageOrder>
+struct trmv_selector;
+
+} // end namespace internal
+
+namespace internal {
+
+template<int Mode, typename Lhs, typename Rhs>
+struct triangular_product_impl<Mode,true,Lhs,false,Rhs,true>
+{
+ template<typename Dest> static void run(Dest& dst, const Lhs &lhs, const Rhs &rhs, const typename Dest::Scalar& alpha)
+ {
+ eigen_assert(dst.rows()==lhs.rows() && dst.cols()==rhs.cols());
+
+ internal::trmv_selector<Mode,(int(internal::traits<Lhs>::Flags)&RowMajorBit) ? RowMajor : ColMajor>::run(lhs, rhs, dst, alpha);
+ }
+};
+
+template<int Mode, typename Lhs, typename Rhs>
+struct triangular_product_impl<Mode,false,Lhs,true,Rhs,false>
+{
+ template<typename Dest> static void run(Dest& dst, const Lhs &lhs, const Rhs &rhs, const typename Dest::Scalar& alpha)
+ {
+ eigen_assert(dst.rows()==lhs.rows() && dst.cols()==rhs.cols());
+
+ Transpose<Dest> dstT(dst);
+ internal::trmv_selector<(Mode & (UnitDiag|ZeroDiag)) | ((Mode & Lower) ? Upper : Lower),
+ (int(internal::traits<Rhs>::Flags)&RowMajorBit) ? ColMajor : RowMajor>
+ ::run(rhs.transpose(),lhs.transpose(), dstT, alpha);
+ }
+};
+
+} // end namespace internal
+
+namespace internal {
+
+// TODO: find a way to factorize this piece of code with gemv_selector since the logic is exactly the same.
+
+template<int Mode> struct trmv_selector<Mode,ColMajor>
+{
+ template<typename Lhs, typename Rhs, typename Dest>
+ static void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha)
+ {
+ typedef typename Lhs::Scalar LhsScalar;
+ typedef typename Rhs::Scalar RhsScalar;
+ typedef typename Dest::Scalar ResScalar;
+ typedef typename Dest::RealScalar RealScalar;
+
+ typedef internal::blas_traits<Lhs> LhsBlasTraits;
+ typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
+ typedef internal::blas_traits<Rhs> RhsBlasTraits;
+ typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
+
+ typedef Map<Matrix<ResScalar,Dynamic,1>, EIGEN_PLAIN_ENUM_MIN(AlignedMax,internal::packet_traits<ResScalar>::size)> MappedDest;
+
+ typename internal::add_const_on_value_type<ActualLhsType>::type actualLhs = LhsBlasTraits::extract(lhs);
+ typename internal::add_const_on_value_type<ActualRhsType>::type actualRhs = RhsBlasTraits::extract(rhs);
+
+ LhsScalar lhs_alpha = LhsBlasTraits::extractScalarFactor(lhs);
+ RhsScalar rhs_alpha = RhsBlasTraits::extractScalarFactor(rhs);
+ ResScalar actualAlpha = alpha * lhs_alpha * rhs_alpha;
+
+ enum {
+ // FIXME find a way to allow an inner stride on the result if packet_traits<Scalar>::size==1
+ // on, the other hand it is good for the cache to pack the vector anyways...
+ EvalToDestAtCompileTime = Dest::InnerStrideAtCompileTime==1,
+ ComplexByReal = (NumTraits<LhsScalar>::IsComplex) && (!NumTraits<RhsScalar>::IsComplex),
+ MightCannotUseDest = (Dest::InnerStrideAtCompileTime!=1) || ComplexByReal
+ };
+
+ gemv_static_vector_if<ResScalar,Dest::SizeAtCompileTime,Dest::MaxSizeAtCompileTime,MightCannotUseDest> static_dest;
+
+ bool alphaIsCompatible = (!ComplexByReal) || (numext::imag(actualAlpha)==RealScalar(0));
+ bool evalToDest = EvalToDestAtCompileTime && alphaIsCompatible;
+
+ RhsScalar compatibleAlpha = get_factor<ResScalar,RhsScalar>::run(actualAlpha);
+
+ ei_declare_aligned_stack_constructed_variable(ResScalar,actualDestPtr,dest.size(),
+ evalToDest ? dest.data() : static_dest.data());
+
+ if(!evalToDest)
+ {
+ #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+ Index size = dest.size();
+ EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+ #endif
+ if(!alphaIsCompatible)
+ {
+ MappedDest(actualDestPtr, dest.size()).setZero();
+ compatibleAlpha = RhsScalar(1);
+ }
+ else
+ MappedDest(actualDestPtr, dest.size()) = dest;
+ }
+
+ internal::triangular_matrix_vector_product
+ <Index,Mode,
+ LhsScalar, LhsBlasTraits::NeedToConjugate,
+ RhsScalar, RhsBlasTraits::NeedToConjugate,
+ ColMajor>
+ ::run(actualLhs.rows(),actualLhs.cols(),
+ actualLhs.data(),actualLhs.outerStride(),
+ actualRhs.data(),actualRhs.innerStride(),
+ actualDestPtr,1,compatibleAlpha);
+
+ if (!evalToDest)
+ {
+ if(!alphaIsCompatible)
+ dest += actualAlpha * MappedDest(actualDestPtr, dest.size());
+ else
+ dest = MappedDest(actualDestPtr, dest.size());
+ }
+
+ if ( ((Mode&UnitDiag)==UnitDiag) && (lhs_alpha!=LhsScalar(1)) )
+ {
+ Index diagSize = (std::min)(lhs.rows(),lhs.cols());
+ dest.head(diagSize) -= (lhs_alpha-LhsScalar(1))*rhs.head(diagSize);
+ }
+ }
+};
+
+template<int Mode> struct trmv_selector<Mode,RowMajor>
+{
+ template<typename Lhs, typename Rhs, typename Dest>
+ static void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha)
+ {
+ typedef typename Lhs::Scalar LhsScalar;
+ typedef typename Rhs::Scalar RhsScalar;
+ typedef typename Dest::Scalar ResScalar;
+
+ typedef internal::blas_traits<Lhs> LhsBlasTraits;
+ typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
+ typedef internal::blas_traits<Rhs> RhsBlasTraits;
+ typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
+ typedef typename internal::remove_all<ActualRhsType>::type ActualRhsTypeCleaned;
+
+ typename add_const<ActualLhsType>::type actualLhs = LhsBlasTraits::extract(lhs);
+ typename add_const<ActualRhsType>::type actualRhs = RhsBlasTraits::extract(rhs);
+
+ LhsScalar lhs_alpha = LhsBlasTraits::extractScalarFactor(lhs);
+ RhsScalar rhs_alpha = RhsBlasTraits::extractScalarFactor(rhs);
+ ResScalar actualAlpha = alpha * lhs_alpha * rhs_alpha;
+
+ enum {
+ DirectlyUseRhs = ActualRhsTypeCleaned::InnerStrideAtCompileTime==1
+ };
+
+ gemv_static_vector_if<RhsScalar,ActualRhsTypeCleaned::SizeAtCompileTime,ActualRhsTypeCleaned::MaxSizeAtCompileTime,!DirectlyUseRhs> static_rhs;
+
+ ei_declare_aligned_stack_constructed_variable(RhsScalar,actualRhsPtr,actualRhs.size(),
+ DirectlyUseRhs ? const_cast<RhsScalar*>(actualRhs.data()) : static_rhs.data());
+
+ if(!DirectlyUseRhs)
+ {
+ #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+ Index size = actualRhs.size();
+ EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+ #endif
+ Map<typename ActualRhsTypeCleaned::PlainObject>(actualRhsPtr, actualRhs.size()) = actualRhs;
+ }
+
+ internal::triangular_matrix_vector_product
+ <Index,Mode,
+ LhsScalar, LhsBlasTraits::NeedToConjugate,
+ RhsScalar, RhsBlasTraits::NeedToConjugate,
+ RowMajor>
+ ::run(actualLhs.rows(),actualLhs.cols(),
+ actualLhs.data(),actualLhs.outerStride(),
+ actualRhsPtr,1,
+ dest.data(),dest.innerStride(),
+ actualAlpha);
+
+ if ( ((Mode&UnitDiag)==UnitDiag) && (lhs_alpha!=LhsScalar(1)) )
+ {
+ Index diagSize = (std::min)(lhs.rows(),lhs.cols());
+ dest.head(diagSize) -= (lhs_alpha-LhsScalar(1))*rhs.head(diagSize);
+ }
+ }
+};
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_TRIANGULARMATRIXVECTOR_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/TriangularSolverMatrix.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/TriangularSolverMatrix.h
new file mode 100644
index 0000000..223c38b
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/TriangularSolverMatrix.h
@@ -0,0 +1,335 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_TRIANGULAR_SOLVER_MATRIX_H
+#define EIGEN_TRIANGULAR_SOLVER_MATRIX_H
+
+namespace Eigen {
+
+namespace internal {
+
+// if the rhs is row major, let's transpose the product
+template <typename Scalar, typename Index, int Side, int Mode, bool Conjugate, int TriStorageOrder>
+struct triangular_solve_matrix<Scalar,Index,Side,Mode,Conjugate,TriStorageOrder,RowMajor>
+{
+ static void run(
+ Index size, Index cols,
+ const Scalar* tri, Index triStride,
+ Scalar* _other, Index otherStride,
+ level3_blocking<Scalar,Scalar>& blocking)
+ {
+ triangular_solve_matrix<
+ Scalar, Index, Side==OnTheLeft?OnTheRight:OnTheLeft,
+ (Mode&UnitDiag) | ((Mode&Upper) ? Lower : Upper),
+ NumTraits<Scalar>::IsComplex && Conjugate,
+ TriStorageOrder==RowMajor ? ColMajor : RowMajor, ColMajor>
+ ::run(size, cols, tri, triStride, _other, otherStride, blocking);
+ }
+};
+
+/* Optimized triangular solver with multiple right hand side and the triangular matrix on the left
+ */
+template <typename Scalar, typename Index, int Mode, bool Conjugate, int TriStorageOrder>
+struct triangular_solve_matrix<Scalar,Index,OnTheLeft,Mode,Conjugate,TriStorageOrder,ColMajor>
+{
+ static EIGEN_DONT_INLINE void run(
+ Index size, Index otherSize,
+ const Scalar* _tri, Index triStride,
+ Scalar* _other, Index otherStride,
+ level3_blocking<Scalar,Scalar>& blocking);
+};
+template <typename Scalar, typename Index, int Mode, bool Conjugate, int TriStorageOrder>
+EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheLeft,Mode,Conjugate,TriStorageOrder,ColMajor>::run(
+ Index size, Index otherSize,
+ const Scalar* _tri, Index triStride,
+ Scalar* _other, Index otherStride,
+ level3_blocking<Scalar,Scalar>& blocking)
+ {
+ Index cols = otherSize;
+
+ typedef const_blas_data_mapper<Scalar, Index, TriStorageOrder> TriMapper;
+ typedef blas_data_mapper<Scalar, Index, ColMajor> OtherMapper;
+ TriMapper tri(_tri, triStride);
+ OtherMapper other(_other, otherStride);
+
+ typedef gebp_traits<Scalar,Scalar> Traits;
+
+ enum {
+ SmallPanelWidth = EIGEN_PLAIN_ENUM_MAX(Traits::mr,Traits::nr),
+ IsLower = (Mode&Lower) == Lower
+ };
+
+ Index kc = blocking.kc(); // cache block size along the K direction
+ Index mc = (std::min)(size,blocking.mc()); // cache block size along the M direction
+
+ std::size_t sizeA = kc*mc;
+ std::size_t sizeB = kc*cols;
+
+ ei_declare_aligned_stack_constructed_variable(Scalar, blockA, sizeA, blocking.blockA());
+ ei_declare_aligned_stack_constructed_variable(Scalar, blockB, sizeB, blocking.blockB());
+
+ conj_if<Conjugate> conj;
+ gebp_kernel<Scalar, Scalar, Index, OtherMapper, Traits::mr, Traits::nr, Conjugate, false> gebp_kernel;
+ gemm_pack_lhs<Scalar, Index, TriMapper, Traits::mr, Traits::LhsProgress, TriStorageOrder> pack_lhs;
+ gemm_pack_rhs<Scalar, Index, OtherMapper, Traits::nr, ColMajor, false, true> pack_rhs;
+
+ // the goal here is to subdivise the Rhs panels such that we keep some cache
+ // coherence when accessing the rhs elements
+ std::ptrdiff_t l1, l2, l3;
+ manage_caching_sizes(GetAction, &l1, &l2, &l3);
+ Index subcols = cols>0 ? l2/(4 * sizeof(Scalar) * std::max<Index>(otherStride,size)) : 0;
+ subcols = std::max<Index>((subcols/Traits::nr)*Traits::nr, Traits::nr);
+
+ for(Index k2=IsLower ? 0 : size;
+ IsLower ? k2<size : k2>0;
+ IsLower ? k2+=kc : k2-=kc)
+ {
+ const Index actual_kc = (std::min)(IsLower ? size-k2 : k2, kc);
+
+ // We have selected and packed a big horizontal panel R1 of rhs. Let B be the packed copy of this panel,
+ // and R2 the remaining part of rhs. The corresponding vertical panel of lhs is split into
+ // A11 (the triangular part) and A21 the remaining rectangular part.
+ // Then the high level algorithm is:
+ // - B = R1 => general block copy (done during the next step)
+ // - R1 = A11^-1 B => tricky part
+ // - update B from the new R1 => actually this has to be performed continuously during the above step
+ // - R2 -= A21 * B => GEPP
+
+ // The tricky part: compute R1 = A11^-1 B while updating B from R1
+ // The idea is to split A11 into multiple small vertical panels.
+ // Each panel can be split into a small triangular part T1k which is processed without optimization,
+ // and the remaining small part T2k which is processed using gebp with appropriate block strides
+ for(Index j2=0; j2<cols; j2+=subcols)
+ {
+ Index actual_cols = (std::min)(cols-j2,subcols);
+ // for each small vertical panels [T1k^T, T2k^T]^T of lhs
+ for (Index k1=0; k1<actual_kc; k1+=SmallPanelWidth)
+ {
+ Index actualPanelWidth = std::min<Index>(actual_kc-k1, SmallPanelWidth);
+ // tr solve
+ for (Index k=0; k<actualPanelWidth; ++k)
+ {
+ // TODO write a small kernel handling this (can be shared with trsv)
+ Index i = IsLower ? k2+k1+k : k2-k1-k-1;
+ Index rs = actualPanelWidth - k - 1; // remaining size
+ Index s = TriStorageOrder==RowMajor ? (IsLower ? k2+k1 : i+1)
+ : IsLower ? i+1 : i-rs;
+
+ Scalar a = (Mode & UnitDiag) ? Scalar(1) : Scalar(1)/conj(tri(i,i));
+ for (Index j=j2; j<j2+actual_cols; ++j)
+ {
+ if (TriStorageOrder==RowMajor)
+ {
+ Scalar b(0);
+ const Scalar* l = &tri(i,s);
+ Scalar* r = &other(s,j);
+ for (Index i3=0; i3<k; ++i3)
+ b += conj(l[i3]) * r[i3];
+
+ other(i,j) = (other(i,j) - b)*a;
+ }
+ else
+ {
+ Scalar b = (other(i,j) *= a);
+ Scalar* r = &other(s,j);
+ const Scalar* l = &tri(s,i);
+ for (Index i3=0;i3<rs;++i3)
+ r[i3] -= b * conj(l[i3]);
+ }
+ }
+ }
+
+ Index lengthTarget = actual_kc-k1-actualPanelWidth;
+ Index startBlock = IsLower ? k2+k1 : k2-k1-actualPanelWidth;
+ Index blockBOffset = IsLower ? k1 : lengthTarget;
+
+ // update the respective rows of B from other
+ pack_rhs(blockB+actual_kc*j2, other.getSubMapper(startBlock,j2), actualPanelWidth, actual_cols, actual_kc, blockBOffset);
+
+ // GEBP
+ if (lengthTarget>0)
+ {
+ Index startTarget = IsLower ? k2+k1+actualPanelWidth : k2-actual_kc;
+
+ pack_lhs(blockA, tri.getSubMapper(startTarget,startBlock), actualPanelWidth, lengthTarget);
+
+ gebp_kernel(other.getSubMapper(startTarget,j2), blockA, blockB+actual_kc*j2, lengthTarget, actualPanelWidth, actual_cols, Scalar(-1),
+ actualPanelWidth, actual_kc, 0, blockBOffset);
+ }
+ }
+ }
+
+ // R2 -= A21 * B => GEPP
+ {
+ Index start = IsLower ? k2+kc : 0;
+ Index end = IsLower ? size : k2-kc;
+ for(Index i2=start; i2<end; i2+=mc)
+ {
+ const Index actual_mc = (std::min)(mc,end-i2);
+ if (actual_mc>0)
+ {
+ pack_lhs(blockA, tri.getSubMapper(i2, IsLower ? k2 : k2-kc), actual_kc, actual_mc);
+
+ gebp_kernel(other.getSubMapper(i2, 0), blockA, blockB, actual_mc, actual_kc, cols, Scalar(-1), -1, -1, 0, 0);
+ }
+ }
+ }
+ }
+ }
+
+/* Optimized triangular solver with multiple left hand sides and the triangular matrix on the right
+ */
+template <typename Scalar, typename Index, int Mode, bool Conjugate, int TriStorageOrder>
+struct triangular_solve_matrix<Scalar,Index,OnTheRight,Mode,Conjugate,TriStorageOrder,ColMajor>
+{
+ static EIGEN_DONT_INLINE void run(
+ Index size, Index otherSize,
+ const Scalar* _tri, Index triStride,
+ Scalar* _other, Index otherStride,
+ level3_blocking<Scalar,Scalar>& blocking);
+};
+template <typename Scalar, typename Index, int Mode, bool Conjugate, int TriStorageOrder>
+EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheRight,Mode,Conjugate,TriStorageOrder,ColMajor>::run(
+ Index size, Index otherSize,
+ const Scalar* _tri, Index triStride,
+ Scalar* _other, Index otherStride,
+ level3_blocking<Scalar,Scalar>& blocking)
+ {
+ Index rows = otherSize;
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+
+ typedef blas_data_mapper<Scalar, Index, ColMajor> LhsMapper;
+ typedef const_blas_data_mapper<Scalar, Index, TriStorageOrder> RhsMapper;
+ LhsMapper lhs(_other, otherStride);
+ RhsMapper rhs(_tri, triStride);
+
+ typedef gebp_traits<Scalar,Scalar> Traits;
+ enum {
+ RhsStorageOrder = TriStorageOrder,
+ SmallPanelWidth = EIGEN_PLAIN_ENUM_MAX(Traits::mr,Traits::nr),
+ IsLower = (Mode&Lower) == Lower
+ };
+
+ Index kc = blocking.kc(); // cache block size along the K direction
+ Index mc = (std::min)(rows,blocking.mc()); // cache block size along the M direction
+
+ std::size_t sizeA = kc*mc;
+ std::size_t sizeB = kc*size;
+
+ ei_declare_aligned_stack_constructed_variable(Scalar, blockA, sizeA, blocking.blockA());
+ ei_declare_aligned_stack_constructed_variable(Scalar, blockB, sizeB, blocking.blockB());
+
+ conj_if<Conjugate> conj;
+ gebp_kernel<Scalar, Scalar, Index, LhsMapper, Traits::mr, Traits::nr, false, Conjugate> gebp_kernel;
+ gemm_pack_rhs<Scalar, Index, RhsMapper, Traits::nr, RhsStorageOrder> pack_rhs;
+ gemm_pack_rhs<Scalar, Index, RhsMapper, Traits::nr, RhsStorageOrder,false,true> pack_rhs_panel;
+ gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, ColMajor, false, true> pack_lhs_panel;
+
+ for(Index k2=IsLower ? size : 0;
+ IsLower ? k2>0 : k2<size;
+ IsLower ? k2-=kc : k2+=kc)
+ {
+ const Index actual_kc = (std::min)(IsLower ? k2 : size-k2, kc);
+ Index actual_k2 = IsLower ? k2-actual_kc : k2 ;
+
+ Index startPanel = IsLower ? 0 : k2+actual_kc;
+ Index rs = IsLower ? actual_k2 : size - actual_k2 - actual_kc;
+ Scalar* geb = blockB+actual_kc*actual_kc;
+
+ if (rs>0) pack_rhs(geb, rhs.getSubMapper(actual_k2,startPanel), actual_kc, rs);
+
+ // triangular packing (we only pack the panels off the diagonal,
+ // neglecting the blocks overlapping the diagonal
+ {
+ for (Index j2=0; j2<actual_kc; j2+=SmallPanelWidth)
+ {
+ Index actualPanelWidth = std::min<Index>(actual_kc-j2, SmallPanelWidth);
+ Index actual_j2 = actual_k2 + j2;
+ Index panelOffset = IsLower ? j2+actualPanelWidth : 0;
+ Index panelLength = IsLower ? actual_kc-j2-actualPanelWidth : j2;
+
+ if (panelLength>0)
+ pack_rhs_panel(blockB+j2*actual_kc,
+ rhs.getSubMapper(actual_k2+panelOffset, actual_j2),
+ panelLength, actualPanelWidth,
+ actual_kc, panelOffset);
+ }
+ }
+
+ for(Index i2=0; i2<rows; i2+=mc)
+ {
+ const Index actual_mc = (std::min)(mc,rows-i2);
+
+ // triangular solver kernel
+ {
+ // for each small block of the diagonal (=> vertical panels of rhs)
+ for (Index j2 = IsLower
+ ? (actual_kc - ((actual_kc%SmallPanelWidth) ? Index(actual_kc%SmallPanelWidth)
+ : Index(SmallPanelWidth)))
+ : 0;
+ IsLower ? j2>=0 : j2<actual_kc;
+ IsLower ? j2-=SmallPanelWidth : j2+=SmallPanelWidth)
+ {
+ Index actualPanelWidth = std::min<Index>(actual_kc-j2, SmallPanelWidth);
+ Index absolute_j2 = actual_k2 + j2;
+ Index panelOffset = IsLower ? j2+actualPanelWidth : 0;
+ Index panelLength = IsLower ? actual_kc - j2 - actualPanelWidth : j2;
+
+ // GEBP
+ if(panelLength>0)
+ {
+ gebp_kernel(lhs.getSubMapper(i2,absolute_j2),
+ blockA, blockB+j2*actual_kc,
+ actual_mc, panelLength, actualPanelWidth,
+ Scalar(-1),
+ actual_kc, actual_kc, // strides
+ panelOffset, panelOffset); // offsets
+ }
+
+ // unblocked triangular solve
+ for (Index k=0; k<actualPanelWidth; ++k)
+ {
+ Index j = IsLower ? absolute_j2+actualPanelWidth-k-1 : absolute_j2+k;
+
+ Scalar* r = &lhs(i2,j);
+ for (Index k3=0; k3<k; ++k3)
+ {
+ Scalar b = conj(rhs(IsLower ? j+1+k3 : absolute_j2+k3,j));
+ Scalar* a = &lhs(i2,IsLower ? j+1+k3 : absolute_j2+k3);
+ for (Index i=0; i<actual_mc; ++i)
+ r[i] -= a[i] * b;
+ }
+ if((Mode & UnitDiag)==0)
+ {
+ Scalar inv_rjj = RealScalar(1)/conj(rhs(j,j));
+ for (Index i=0; i<actual_mc; ++i)
+ r[i] *= inv_rjj;
+ }
+ }
+
+ // pack the just computed part of lhs to A
+ pack_lhs_panel(blockA, LhsMapper(_other+absolute_j2*otherStride+i2, otherStride),
+ actualPanelWidth, actual_mc,
+ actual_kc, j2);
+ }
+ }
+
+ if (rs>0)
+ gebp_kernel(lhs.getSubMapper(i2, startPanel), blockA, geb,
+ actual_mc, actual_kc, rs, Scalar(-1),
+ -1, -1, 0, 0);
+ }
+ }
+ }
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_TRIANGULAR_SOLVER_MATRIX_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/TriangularSolverVector.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/TriangularSolverVector.h
new file mode 100644
index 0000000..b994759
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/products/TriangularSolverVector.h
@@ -0,0 +1,145 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_TRIANGULAR_SOLVER_VECTOR_H
+#define EIGEN_TRIANGULAR_SOLVER_VECTOR_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<typename LhsScalar, typename RhsScalar, typename Index, int Mode, bool Conjugate, int StorageOrder>
+struct triangular_solve_vector<LhsScalar, RhsScalar, Index, OnTheRight, Mode, Conjugate, StorageOrder>
+{
+ static void run(Index size, const LhsScalar* _lhs, Index lhsStride, RhsScalar* rhs)
+ {
+ triangular_solve_vector<LhsScalar,RhsScalar,Index,OnTheLeft,
+ ((Mode&Upper)==Upper ? Lower : Upper) | (Mode&UnitDiag),
+ Conjugate,StorageOrder==RowMajor?ColMajor:RowMajor
+ >::run(size, _lhs, lhsStride, rhs);
+ }
+};
+
+// forward and backward substitution, row-major, rhs is a vector
+template<typename LhsScalar, typename RhsScalar, typename Index, int Mode, bool Conjugate>
+struct triangular_solve_vector<LhsScalar, RhsScalar, Index, OnTheLeft, Mode, Conjugate, RowMajor>
+{
+ enum {
+ IsLower = ((Mode&Lower)==Lower)
+ };
+ static void run(Index size, const LhsScalar* _lhs, Index lhsStride, RhsScalar* rhs)
+ {
+ typedef Map<const Matrix<LhsScalar,Dynamic,Dynamic,RowMajor>, 0, OuterStride<> > LhsMap;
+ const LhsMap lhs(_lhs,size,size,OuterStride<>(lhsStride));
+
+ typedef const_blas_data_mapper<LhsScalar,Index,RowMajor> LhsMapper;
+ typedef const_blas_data_mapper<RhsScalar,Index,ColMajor> RhsMapper;
+
+ typename internal::conditional<
+ Conjugate,
+ const CwiseUnaryOp<typename internal::scalar_conjugate_op<LhsScalar>,LhsMap>,
+ const LhsMap&>
+ ::type cjLhs(lhs);
+ static const Index PanelWidth = EIGEN_TUNE_TRIANGULAR_PANEL_WIDTH;
+ for(Index pi=IsLower ? 0 : size;
+ IsLower ? pi<size : pi>0;
+ IsLower ? pi+=PanelWidth : pi-=PanelWidth)
+ {
+ Index actualPanelWidth = (std::min)(IsLower ? size - pi : pi, PanelWidth);
+
+ Index r = IsLower ? pi : size - pi; // remaining size
+ if (r > 0)
+ {
+ // let's directly call the low level product function because:
+ // 1 - it is faster to compile
+ // 2 - it is slighlty faster at runtime
+ Index startRow = IsLower ? pi : pi-actualPanelWidth;
+ Index startCol = IsLower ? 0 : pi;
+
+ general_matrix_vector_product<Index,LhsScalar,LhsMapper,RowMajor,Conjugate,RhsScalar,RhsMapper,false>::run(
+ actualPanelWidth, r,
+ LhsMapper(&lhs.coeffRef(startRow,startCol), lhsStride),
+ RhsMapper(rhs + startCol, 1),
+ rhs + startRow, 1,
+ RhsScalar(-1));
+ }
+
+ for(Index k=0; k<actualPanelWidth; ++k)
+ {
+ Index i = IsLower ? pi+k : pi-k-1;
+ Index s = IsLower ? pi : i+1;
+ if (k>0)
+ rhs[i] -= (cjLhs.row(i).segment(s,k).transpose().cwiseProduct(Map<const Matrix<RhsScalar,Dynamic,1> >(rhs+s,k))).sum();
+
+ if(!(Mode & UnitDiag))
+ rhs[i] /= cjLhs(i,i);
+ }
+ }
+ }
+};
+
+// forward and backward substitution, column-major, rhs is a vector
+template<typename LhsScalar, typename RhsScalar, typename Index, int Mode, bool Conjugate>
+struct triangular_solve_vector<LhsScalar, RhsScalar, Index, OnTheLeft, Mode, Conjugate, ColMajor>
+{
+ enum {
+ IsLower = ((Mode&Lower)==Lower)
+ };
+ static void run(Index size, const LhsScalar* _lhs, Index lhsStride, RhsScalar* rhs)
+ {
+ typedef Map<const Matrix<LhsScalar,Dynamic,Dynamic,ColMajor>, 0, OuterStride<> > LhsMap;
+ const LhsMap lhs(_lhs,size,size,OuterStride<>(lhsStride));
+ typedef const_blas_data_mapper<LhsScalar,Index,ColMajor> LhsMapper;
+ typedef const_blas_data_mapper<RhsScalar,Index,ColMajor> RhsMapper;
+ typename internal::conditional<Conjugate,
+ const CwiseUnaryOp<typename internal::scalar_conjugate_op<LhsScalar>,LhsMap>,
+ const LhsMap&
+ >::type cjLhs(lhs);
+ static const Index PanelWidth = EIGEN_TUNE_TRIANGULAR_PANEL_WIDTH;
+
+ for(Index pi=IsLower ? 0 : size;
+ IsLower ? pi<size : pi>0;
+ IsLower ? pi+=PanelWidth : pi-=PanelWidth)
+ {
+ Index actualPanelWidth = (std::min)(IsLower ? size - pi : pi, PanelWidth);
+ Index startBlock = IsLower ? pi : pi-actualPanelWidth;
+ Index endBlock = IsLower ? pi + actualPanelWidth : 0;
+
+ for(Index k=0; k<actualPanelWidth; ++k)
+ {
+ Index i = IsLower ? pi+k : pi-k-1;
+ if(!(Mode & UnitDiag))
+ rhs[i] /= cjLhs.coeff(i,i);
+
+ Index r = actualPanelWidth - k - 1; // remaining size
+ Index s = IsLower ? i+1 : i-r;
+ if (r>0)
+ Map<Matrix<RhsScalar,Dynamic,1> >(rhs+s,r) -= rhs[i] * cjLhs.col(i).segment(s,r);
+ }
+ Index r = IsLower ? size - endBlock : startBlock; // remaining size
+ if (r > 0)
+ {
+ // let's directly call the low level product function because:
+ // 1 - it is faster to compile
+ // 2 - it is slighlty faster at runtime
+ general_matrix_vector_product<Index,LhsScalar,LhsMapper,ColMajor,Conjugate,RhsScalar,RhsMapper,false>::run(
+ r, actualPanelWidth,
+ LhsMapper(&lhs.coeffRef(endBlock,startBlock), lhsStride),
+ RhsMapper(rhs+startBlock, 1),
+ rhs+endBlock, 1, RhsScalar(-1));
+ }
+ }
+ }
+};
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_TRIANGULAR_SOLVER_VECTOR_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/util/BlasUtil.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/util/BlasUtil.h
new file mode 100644
index 0000000..6e6ee11
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/util/BlasUtil.h
@@ -0,0 +1,398 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_BLASUTIL_H
+#define EIGEN_BLASUTIL_H
+
+// This file contains many lightweight helper classes used to
+// implement and control fast level 2 and level 3 BLAS-like routines.
+
+namespace Eigen {
+
+namespace internal {
+
+// forward declarations
+template<typename LhsScalar, typename RhsScalar, typename Index, typename DataMapper, int mr, int nr, bool ConjugateLhs=false, bool ConjugateRhs=false>
+struct gebp_kernel;
+
+template<typename Scalar, typename Index, typename DataMapper, int nr, int StorageOrder, bool Conjugate = false, bool PanelMode=false>
+struct gemm_pack_rhs;
+
+template<typename Scalar, typename Index, typename DataMapper, int Pack1, int Pack2, int StorageOrder, bool Conjugate = false, bool PanelMode = false>
+struct gemm_pack_lhs;
+
+template<
+ typename Index,
+ typename LhsScalar, int LhsStorageOrder, bool ConjugateLhs,
+ typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs,
+ int ResStorageOrder>
+struct general_matrix_matrix_product;
+
+template<typename Index,
+ typename LhsScalar, typename LhsMapper, int LhsStorageOrder, bool ConjugateLhs,
+ typename RhsScalar, typename RhsMapper, bool ConjugateRhs, int Version=Specialized>
+struct general_matrix_vector_product;
+
+
+template<bool Conjugate> struct conj_if;
+
+template<> struct conj_if<true> {
+ template<typename T>
+ inline T operator()(const T& x) const { return numext::conj(x); }
+ template<typename T>
+ inline T pconj(const T& x) const { return internal::pconj(x); }
+};
+
+template<> struct conj_if<false> {
+ template<typename T>
+ inline const T& operator()(const T& x) const { return x; }
+ template<typename T>
+ inline const T& pconj(const T& x) const { return x; }
+};
+
+// Generic implementation for custom complex types.
+template<typename LhsScalar, typename RhsScalar, bool ConjLhs, bool ConjRhs>
+struct conj_helper
+{
+ typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar>::ReturnType Scalar;
+
+ EIGEN_STRONG_INLINE Scalar pmadd(const LhsScalar& x, const RhsScalar& y, const Scalar& c) const
+ { return padd(c, pmul(x,y)); }
+
+ EIGEN_STRONG_INLINE Scalar pmul(const LhsScalar& x, const RhsScalar& y) const
+ { return conj_if<ConjLhs>()(x) * conj_if<ConjRhs>()(y); }
+};
+
+template<typename Scalar> struct conj_helper<Scalar,Scalar,false,false>
+{
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar pmadd(const Scalar& x, const Scalar& y, const Scalar& c) const { return internal::pmadd(x,y,c); }
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar pmul(const Scalar& x, const Scalar& y) const { return internal::pmul(x,y); }
+};
+
+template<typename RealScalar> struct conj_helper<std::complex<RealScalar>, std::complex<RealScalar>, false,true>
+{
+ typedef std::complex<RealScalar> Scalar;
+ EIGEN_STRONG_INLINE Scalar pmadd(const Scalar& x, const Scalar& y, const Scalar& c) const
+ { return c + pmul(x,y); }
+
+ EIGEN_STRONG_INLINE Scalar pmul(const Scalar& x, const Scalar& y) const
+ { return Scalar(numext::real(x)*numext::real(y) + numext::imag(x)*numext::imag(y), numext::imag(x)*numext::real(y) - numext::real(x)*numext::imag(y)); }
+};
+
+template<typename RealScalar> struct conj_helper<std::complex<RealScalar>, std::complex<RealScalar>, true,false>
+{
+ typedef std::complex<RealScalar> Scalar;
+ EIGEN_STRONG_INLINE Scalar pmadd(const Scalar& x, const Scalar& y, const Scalar& c) const
+ { return c + pmul(x,y); }
+
+ EIGEN_STRONG_INLINE Scalar pmul(const Scalar& x, const Scalar& y) const
+ { return Scalar(numext::real(x)*numext::real(y) + numext::imag(x)*numext::imag(y), numext::real(x)*numext::imag(y) - numext::imag(x)*numext::real(y)); }
+};
+
+template<typename RealScalar> struct conj_helper<std::complex<RealScalar>, std::complex<RealScalar>, true,true>
+{
+ typedef std::complex<RealScalar> Scalar;
+ EIGEN_STRONG_INLINE Scalar pmadd(const Scalar& x, const Scalar& y, const Scalar& c) const
+ { return c + pmul(x,y); }
+
+ EIGEN_STRONG_INLINE Scalar pmul(const Scalar& x, const Scalar& y) const
+ { return Scalar(numext::real(x)*numext::real(y) - numext::imag(x)*numext::imag(y), - numext::real(x)*numext::imag(y) - numext::imag(x)*numext::real(y)); }
+};
+
+template<typename RealScalar,bool Conj> struct conj_helper<std::complex<RealScalar>, RealScalar, Conj,false>
+{
+ typedef std::complex<RealScalar> Scalar;
+ EIGEN_STRONG_INLINE Scalar pmadd(const Scalar& x, const RealScalar& y, const Scalar& c) const
+ { return padd(c, pmul(x,y)); }
+ EIGEN_STRONG_INLINE Scalar pmul(const Scalar& x, const RealScalar& y) const
+ { return conj_if<Conj>()(x)*y; }
+};
+
+template<typename RealScalar,bool Conj> struct conj_helper<RealScalar, std::complex<RealScalar>, false,Conj>
+{
+ typedef std::complex<RealScalar> Scalar;
+ EIGEN_STRONG_INLINE Scalar pmadd(const RealScalar& x, const Scalar& y, const Scalar& c) const
+ { return padd(c, pmul(x,y)); }
+ EIGEN_STRONG_INLINE Scalar pmul(const RealScalar& x, const Scalar& y) const
+ { return x*conj_if<Conj>()(y); }
+};
+
+template<typename From,typename To> struct get_factor {
+ EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE To run(const From& x) { return To(x); }
+};
+
+template<typename Scalar> struct get_factor<Scalar,typename NumTraits<Scalar>::Real> {
+ EIGEN_DEVICE_FUNC
+ static EIGEN_STRONG_INLINE typename NumTraits<Scalar>::Real run(const Scalar& x) { return numext::real(x); }
+};
+
+
+template<typename Scalar, typename Index>
+class BlasVectorMapper {
+ public:
+ EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE BlasVectorMapper(Scalar *data) : m_data(data) {}
+
+ EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Scalar operator()(Index i) const {
+ return m_data[i];
+ }
+ template <typename Packet, int AlignmentType>
+ EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Packet load(Index i) const {
+ return ploadt<Packet, AlignmentType>(m_data + i);
+ }
+
+ template <typename Packet>
+ EIGEN_DEVICE_FUNC bool aligned(Index i) const {
+ return (UIntPtr(m_data+i)%sizeof(Packet))==0;
+ }
+
+ protected:
+ Scalar* m_data;
+};
+
+template<typename Scalar, typename Index, int AlignmentType>
+class BlasLinearMapper {
+ public:
+ typedef typename packet_traits<Scalar>::type Packet;
+ typedef typename packet_traits<Scalar>::half HalfPacket;
+
+ EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE BlasLinearMapper(Scalar *data) : m_data(data) {}
+
+ EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void prefetch(int i) const {
+ internal::prefetch(&operator()(i));
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Scalar& operator()(Index i) const {
+ return m_data[i];
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Packet loadPacket(Index i) const {
+ return ploadt<Packet, AlignmentType>(m_data + i);
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE HalfPacket loadHalfPacket(Index i) const {
+ return ploadt<HalfPacket, AlignmentType>(m_data + i);
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void storePacket(Index i, const Packet &p) const {
+ pstoret<Scalar, Packet, AlignmentType>(m_data + i, p);
+ }
+
+ protected:
+ Scalar *m_data;
+};
+
+// Lightweight helper class to access matrix coefficients.
+template<typename Scalar, typename Index, int StorageOrder, int AlignmentType = Unaligned>
+class blas_data_mapper {
+ public:
+ typedef typename packet_traits<Scalar>::type Packet;
+ typedef typename packet_traits<Scalar>::half HalfPacket;
+
+ typedef BlasLinearMapper<Scalar, Index, AlignmentType> LinearMapper;
+ typedef BlasVectorMapper<Scalar, Index> VectorMapper;
+
+ EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE blas_data_mapper(Scalar* data, Index stride) : m_data(data), m_stride(stride) {}
+
+ EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE blas_data_mapper<Scalar, Index, StorageOrder, AlignmentType>
+ getSubMapper(Index i, Index j) const {
+ return blas_data_mapper<Scalar, Index, StorageOrder, AlignmentType>(&operator()(i, j), m_stride);
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE LinearMapper getLinearMapper(Index i, Index j) const {
+ return LinearMapper(&operator()(i, j));
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE VectorMapper getVectorMapper(Index i, Index j) const {
+ return VectorMapper(&operator()(i, j));
+ }
+
+
+ EIGEN_DEVICE_FUNC
+ EIGEN_ALWAYS_INLINE Scalar& operator()(Index i, Index j) const {
+ return m_data[StorageOrder==RowMajor ? j + i*m_stride : i + j*m_stride];
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Packet loadPacket(Index i, Index j) const {
+ return ploadt<Packet, AlignmentType>(&operator()(i, j));
+ }
+
+ EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE HalfPacket loadHalfPacket(Index i, Index j) const {
+ return ploadt<HalfPacket, AlignmentType>(&operator()(i, j));
+ }
+
+ template<typename SubPacket>
+ EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void scatterPacket(Index i, Index j, const SubPacket &p) const {
+ pscatter<Scalar, SubPacket>(&operator()(i, j), p, m_stride);
+ }
+
+ template<typename SubPacket>
+ EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE SubPacket gatherPacket(Index i, Index j) const {
+ return pgather<Scalar, SubPacket>(&operator()(i, j), m_stride);
+ }
+
+ EIGEN_DEVICE_FUNC const Index stride() const { return m_stride; }
+ EIGEN_DEVICE_FUNC const Scalar* data() const { return m_data; }
+
+ EIGEN_DEVICE_FUNC Index firstAligned(Index size) const {
+ if (UIntPtr(m_data)%sizeof(Scalar)) {
+ return -1;
+ }
+ return internal::first_default_aligned(m_data, size);
+ }
+
+ protected:
+ Scalar* EIGEN_RESTRICT m_data;
+ const Index m_stride;
+};
+
+// lightweight helper class to access matrix coefficients (const version)
+template<typename Scalar, typename Index, int StorageOrder>
+class const_blas_data_mapper : public blas_data_mapper<const Scalar, Index, StorageOrder> {
+ public:
+ EIGEN_ALWAYS_INLINE const_blas_data_mapper(const Scalar *data, Index stride) : blas_data_mapper<const Scalar, Index, StorageOrder>(data, stride) {}
+
+ EIGEN_ALWAYS_INLINE const_blas_data_mapper<Scalar, Index, StorageOrder> getSubMapper(Index i, Index j) const {
+ return const_blas_data_mapper<Scalar, Index, StorageOrder>(&(this->operator()(i, j)), this->m_stride);
+ }
+};
+
+
+/* Helper class to analyze the factors of a Product expression.
+ * In particular it allows to pop out operator-, scalar multiples,
+ * and conjugate */
+template<typename XprType> struct blas_traits
+{
+ typedef typename traits<XprType>::Scalar Scalar;
+ typedef const XprType& ExtractType;
+ typedef XprType _ExtractType;
+ enum {
+ IsComplex = NumTraits<Scalar>::IsComplex,
+ IsTransposed = false,
+ NeedToConjugate = false,
+ HasUsableDirectAccess = ( (int(XprType::Flags)&DirectAccessBit)
+ && ( bool(XprType::IsVectorAtCompileTime)
+ || int(inner_stride_at_compile_time<XprType>::ret) == 1)
+ ) ? 1 : 0
+ };
+ typedef typename conditional<bool(HasUsableDirectAccess),
+ ExtractType,
+ typename _ExtractType::PlainObject
+ >::type DirectLinearAccessType;
+ static inline ExtractType extract(const XprType& x) { return x; }
+ static inline const Scalar extractScalarFactor(const XprType&) { return Scalar(1); }
+};
+
+// pop conjugate
+template<typename Scalar, typename NestedXpr>
+struct blas_traits<CwiseUnaryOp<scalar_conjugate_op<Scalar>, NestedXpr> >
+ : blas_traits<NestedXpr>
+{
+ typedef blas_traits<NestedXpr> Base;
+ typedef CwiseUnaryOp<scalar_conjugate_op<Scalar>, NestedXpr> XprType;
+ typedef typename Base::ExtractType ExtractType;
+
+ enum {
+ IsComplex = NumTraits<Scalar>::IsComplex,
+ NeedToConjugate = Base::NeedToConjugate ? 0 : IsComplex
+ };
+ static inline ExtractType extract(const XprType& x) { return Base::extract(x.nestedExpression()); }
+ static inline Scalar extractScalarFactor(const XprType& x) { return conj(Base::extractScalarFactor(x.nestedExpression())); }
+};
+
+// pop scalar multiple
+template<typename Scalar, typename NestedXpr, typename Plain>
+struct blas_traits<CwiseBinaryOp<scalar_product_op<Scalar>, const CwiseNullaryOp<scalar_constant_op<Scalar>,Plain>, NestedXpr> >
+ : blas_traits<NestedXpr>
+{
+ typedef blas_traits<NestedXpr> Base;
+ typedef CwiseBinaryOp<scalar_product_op<Scalar>, const CwiseNullaryOp<scalar_constant_op<Scalar>,Plain>, NestedXpr> XprType;
+ typedef typename Base::ExtractType ExtractType;
+ static inline ExtractType extract(const XprType& x) { return Base::extract(x.rhs()); }
+ static inline Scalar extractScalarFactor(const XprType& x)
+ { return x.lhs().functor().m_other * Base::extractScalarFactor(x.rhs()); }
+};
+template<typename Scalar, typename NestedXpr, typename Plain>
+struct blas_traits<CwiseBinaryOp<scalar_product_op<Scalar>, NestedXpr, const CwiseNullaryOp<scalar_constant_op<Scalar>,Plain> > >
+ : blas_traits<NestedXpr>
+{
+ typedef blas_traits<NestedXpr> Base;
+ typedef CwiseBinaryOp<scalar_product_op<Scalar>, NestedXpr, const CwiseNullaryOp<scalar_constant_op<Scalar>,Plain> > XprType;
+ typedef typename Base::ExtractType ExtractType;
+ static inline ExtractType extract(const XprType& x) { return Base::extract(x.lhs()); }
+ static inline Scalar extractScalarFactor(const XprType& x)
+ { return Base::extractScalarFactor(x.lhs()) * x.rhs().functor().m_other; }
+};
+template<typename Scalar, typename Plain1, typename Plain2>
+struct blas_traits<CwiseBinaryOp<scalar_product_op<Scalar>, const CwiseNullaryOp<scalar_constant_op<Scalar>,Plain1>,
+ const CwiseNullaryOp<scalar_constant_op<Scalar>,Plain2> > >
+ : blas_traits<CwiseNullaryOp<scalar_constant_op<Scalar>,Plain1> >
+{};
+
+// pop opposite
+template<typename Scalar, typename NestedXpr>
+struct blas_traits<CwiseUnaryOp<scalar_opposite_op<Scalar>, NestedXpr> >
+ : blas_traits<NestedXpr>
+{
+ typedef blas_traits<NestedXpr> Base;
+ typedef CwiseUnaryOp<scalar_opposite_op<Scalar>, NestedXpr> XprType;
+ typedef typename Base::ExtractType ExtractType;
+ static inline ExtractType extract(const XprType& x) { return Base::extract(x.nestedExpression()); }
+ static inline Scalar extractScalarFactor(const XprType& x)
+ { return - Base::extractScalarFactor(x.nestedExpression()); }
+};
+
+// pop/push transpose
+template<typename NestedXpr>
+struct blas_traits<Transpose<NestedXpr> >
+ : blas_traits<NestedXpr>
+{
+ typedef typename NestedXpr::Scalar Scalar;
+ typedef blas_traits<NestedXpr> Base;
+ typedef Transpose<NestedXpr> XprType;
+ typedef Transpose<const typename Base::_ExtractType> ExtractType; // const to get rid of a compile error; anyway blas traits are only used on the RHS
+ typedef Transpose<const typename Base::_ExtractType> _ExtractType;
+ typedef typename conditional<bool(Base::HasUsableDirectAccess),
+ ExtractType,
+ typename ExtractType::PlainObject
+ >::type DirectLinearAccessType;
+ enum {
+ IsTransposed = Base::IsTransposed ? 0 : 1
+ };
+ static inline ExtractType extract(const XprType& x) { return ExtractType(Base::extract(x.nestedExpression())); }
+ static inline Scalar extractScalarFactor(const XprType& x) { return Base::extractScalarFactor(x.nestedExpression()); }
+};
+
+template<typename T>
+struct blas_traits<const T>
+ : blas_traits<T>
+{};
+
+template<typename T, bool HasUsableDirectAccess=blas_traits<T>::HasUsableDirectAccess>
+struct extract_data_selector {
+ static const typename T::Scalar* run(const T& m)
+ {
+ return blas_traits<T>::extract(m).data();
+ }
+};
+
+template<typename T>
+struct extract_data_selector<T,false> {
+ static typename T::Scalar* run(const T&) { return 0; }
+};
+
+template<typename T> const typename T::Scalar* extract_data(const T& m)
+{
+ return extract_data_selector<T>::run(m);
+}
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_BLASUTIL_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/util/Constants.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/util/Constants.h
new file mode 100644
index 0000000..7587d68
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/util/Constants.h
@@ -0,0 +1,547 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2007-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_CONSTANTS_H
+#define EIGEN_CONSTANTS_H
+
+namespace Eigen {
+
+/** This value means that a positive quantity (e.g., a size) is not known at compile-time, and that instead the value is
+ * stored in some runtime variable.
+ *
+ * Changing the value of Dynamic breaks the ABI, as Dynamic is often used as a template parameter for Matrix.
+ */
+const int Dynamic = -1;
+
+/** This value means that a signed quantity (e.g., a signed index) is not known at compile-time, and that instead its value
+ * has to be specified at runtime.
+ */
+const int DynamicIndex = 0xffffff;
+
+/** This value means +Infinity; it is currently used only as the p parameter to MatrixBase::lpNorm<int>().
+ * The value Infinity there means the L-infinity norm.
+ */
+const int Infinity = -1;
+
+/** This value means that the cost to evaluate an expression coefficient is either very expensive or
+ * cannot be known at compile time.
+ *
+ * This value has to be positive to (1) simplify cost computation, and (2) allow to distinguish between a very expensive and very very expensive expressions.
+ * It thus must also be large enough to make sure unrolling won't happen and that sub expressions will be evaluated, but not too large to avoid overflow.
+ */
+const int HugeCost = 10000;
+
+/** \defgroup flags Flags
+ * \ingroup Core_Module
+ *
+ * These are the possible bits which can be OR'ed to constitute the flags of a matrix or
+ * expression.
+ *
+ * It is important to note that these flags are a purely compile-time notion. They are a compile-time property of
+ * an expression type, implemented as enum's. They are not stored in memory at runtime, and they do not incur any
+ * runtime overhead.
+ *
+ * \sa MatrixBase::Flags
+ */
+
+/** \ingroup flags
+ *
+ * for a matrix, this means that the storage order is row-major.
+ * If this bit is not set, the storage order is column-major.
+ * For an expression, this determines the storage order of
+ * the matrix created by evaluation of that expression.
+ * \sa \blank \ref TopicStorageOrders */
+const unsigned int RowMajorBit = 0x1;
+
+/** \ingroup flags
+ * means the expression should be evaluated by the calling expression */
+const unsigned int EvalBeforeNestingBit = 0x2;
+
+/** \ingroup flags
+ * \deprecated
+ * means the expression should be evaluated before any assignment */
+EIGEN_DEPRECATED
+const unsigned int EvalBeforeAssigningBit = 0x4; // FIXME deprecated
+
+/** \ingroup flags
+ *
+ * Short version: means the expression might be vectorized
+ *
+ * Long version: means that the coefficients can be handled by packets
+ * and start at a memory location whose alignment meets the requirements
+ * of the present CPU architecture for optimized packet access. In the fixed-size
+ * case, there is the additional condition that it be possible to access all the
+ * coefficients by packets (this implies the requirement that the size be a multiple of 16 bytes,
+ * and that any nontrivial strides don't break the alignment). In the dynamic-size case,
+ * there is no such condition on the total size and strides, so it might not be possible to access
+ * all coeffs by packets.
+ *
+ * \note This bit can be set regardless of whether vectorization is actually enabled.
+ * To check for actual vectorizability, see \a ActualPacketAccessBit.
+ */
+const unsigned int PacketAccessBit = 0x8;
+
+#ifdef EIGEN_VECTORIZE
+/** \ingroup flags
+ *
+ * If vectorization is enabled (EIGEN_VECTORIZE is defined) this constant
+ * is set to the value \a PacketAccessBit.
+ *
+ * If vectorization is not enabled (EIGEN_VECTORIZE is not defined) this constant
+ * is set to the value 0.
+ */
+const unsigned int ActualPacketAccessBit = PacketAccessBit;
+#else
+const unsigned int ActualPacketAccessBit = 0x0;
+#endif
+
+/** \ingroup flags
+ *
+ * Short version: means the expression can be seen as 1D vector.
+ *
+ * Long version: means that one can access the coefficients
+ * of this expression by coeff(int), and coeffRef(int) in the case of a lvalue expression. These
+ * index-based access methods are guaranteed
+ * to not have to do any runtime computation of a (row, col)-pair from the index, so that it
+ * is guaranteed that whenever it is available, index-based access is at least as fast as
+ * (row,col)-based access. Expressions for which that isn't possible don't have the LinearAccessBit.
+ *
+ * If both PacketAccessBit and LinearAccessBit are set, then the
+ * packets of this expression can be accessed by packet(int), and writePacket(int) in the case of a
+ * lvalue expression.
+ *
+ * Typically, all vector expressions have the LinearAccessBit, but there is one exception:
+ * Product expressions don't have it, because it would be troublesome for vectorization, even when the
+ * Product is a vector expression. Thus, vector Product expressions allow index-based coefficient access but
+ * not index-based packet access, so they don't have the LinearAccessBit.
+ */
+const unsigned int LinearAccessBit = 0x10;
+
+/** \ingroup flags
+ *
+ * Means the expression has a coeffRef() method, i.e. is writable as its individual coefficients are directly addressable.
+ * This rules out read-only expressions.
+ *
+ * Note that DirectAccessBit and LvalueBit are mutually orthogonal, as there are examples of expression having one but note
+ * the other:
+ * \li writable expressions that don't have a very simple memory layout as a strided array, have LvalueBit but not DirectAccessBit
+ * \li Map-to-const expressions, for example Map<const Matrix>, have DirectAccessBit but not LvalueBit
+ *
+ * Expressions having LvalueBit also have their coeff() method returning a const reference instead of returning a new value.
+ */
+const unsigned int LvalueBit = 0x20;
+
+/** \ingroup flags
+ *
+ * Means that the underlying array of coefficients can be directly accessed as a plain strided array. The memory layout
+ * of the array of coefficients must be exactly the natural one suggested by rows(), cols(),
+ * outerStride(), innerStride(), and the RowMajorBit. This rules out expressions such as Diagonal, whose coefficients,
+ * though referencable, do not have such a regular memory layout.
+ *
+ * See the comment on LvalueBit for an explanation of how LvalueBit and DirectAccessBit are mutually orthogonal.
+ */
+const unsigned int DirectAccessBit = 0x40;
+
+/** \deprecated \ingroup flags
+ *
+ * means the first coefficient packet is guaranteed to be aligned.
+ * An expression cannot has the AlignedBit without the PacketAccessBit flag.
+ * In other words, this means we are allow to perform an aligned packet access to the first element regardless
+ * of the expression kind:
+ * \code
+ * expression.packet<Aligned>(0);
+ * \endcode
+ */
+EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
+
+const unsigned int NestByRefBit = 0x100;
+
+/** \ingroup flags
+ *
+ * for an expression, this means that the storage order
+ * can be either row-major or column-major.
+ * The precise choice will be decided at evaluation time or when
+ * combined with other expressions.
+ * \sa \blank \ref RowMajorBit, \ref TopicStorageOrders */
+const unsigned int NoPreferredStorageOrderBit = 0x200;
+
+/** \ingroup flags
+ *
+ * Means that the underlying coefficients can be accessed through pointers to the sparse (un)compressed storage format,
+ * that is, the expression provides:
+ * \code
+ inline const Scalar* valuePtr() const;
+ inline const Index* innerIndexPtr() const;
+ inline const Index* outerIndexPtr() const;
+ inline const Index* innerNonZeroPtr() const;
+ \endcode
+ */
+const unsigned int CompressedAccessBit = 0x400;
+
+
+// list of flags that are inherited by default
+const unsigned int HereditaryBits = RowMajorBit
+ | EvalBeforeNestingBit;
+
+/** \defgroup enums Enumerations
+ * \ingroup Core_Module
+ *
+ * Various enumerations used in %Eigen. Many of these are used as template parameters.
+ */
+
+/** \ingroup enums
+ * Enum containing possible values for the \c Mode or \c UpLo parameter of
+ * MatrixBase::selfadjointView() and MatrixBase::triangularView(), and selfadjoint solvers. */
+enum UpLoType {
+ /** View matrix as a lower triangular matrix. */
+ Lower=0x1,
+ /** View matrix as an upper triangular matrix. */
+ Upper=0x2,
+ /** %Matrix has ones on the diagonal; to be used in combination with #Lower or #Upper. */
+ UnitDiag=0x4,
+ /** %Matrix has zeros on the diagonal; to be used in combination with #Lower or #Upper. */
+ ZeroDiag=0x8,
+ /** View matrix as a lower triangular matrix with ones on the diagonal. */
+ UnitLower=UnitDiag|Lower,
+ /** View matrix as an upper triangular matrix with ones on the diagonal. */
+ UnitUpper=UnitDiag|Upper,
+ /** View matrix as a lower triangular matrix with zeros on the diagonal. */
+ StrictlyLower=ZeroDiag|Lower,
+ /** View matrix as an upper triangular matrix with zeros on the diagonal. */
+ StrictlyUpper=ZeroDiag|Upper,
+ /** Used in BandMatrix and SelfAdjointView to indicate that the matrix is self-adjoint. */
+ SelfAdjoint=0x10,
+ /** Used to support symmetric, non-selfadjoint, complex matrices. */
+ Symmetric=0x20
+};
+
+/** \ingroup enums
+ * Enum for indicating whether a buffer is aligned or not. */
+enum AlignmentType {
+ Unaligned=0, /**< Data pointer has no specific alignment. */
+ Aligned8=8, /**< Data pointer is aligned on a 8 bytes boundary. */
+ Aligned16=16, /**< Data pointer is aligned on a 16 bytes boundary. */
+ Aligned32=32, /**< Data pointer is aligned on a 32 bytes boundary. */
+ Aligned64=64, /**< Data pointer is aligned on a 64 bytes boundary. */
+ Aligned128=128, /**< Data pointer is aligned on a 128 bytes boundary. */
+ AlignedMask=255,
+ Aligned=16, /**< \deprecated Synonym for Aligned16. */
+#if EIGEN_MAX_ALIGN_BYTES==128
+ AlignedMax = Aligned128
+#elif EIGEN_MAX_ALIGN_BYTES==64
+ AlignedMax = Aligned64
+#elif EIGEN_MAX_ALIGN_BYTES==32
+ AlignedMax = Aligned32
+#elif EIGEN_MAX_ALIGN_BYTES==16
+ AlignedMax = Aligned16
+#elif EIGEN_MAX_ALIGN_BYTES==8
+ AlignedMax = Aligned8
+#elif EIGEN_MAX_ALIGN_BYTES==0
+ AlignedMax = Unaligned
+#else
+#error Invalid value for EIGEN_MAX_ALIGN_BYTES
+#endif
+};
+
+/** \ingroup enums
+ * Enum used by DenseBase::corner() in Eigen2 compatibility mode. */
+// FIXME after the corner() API change, this was not needed anymore, except by AlignedBox
+// TODO: find out what to do with that. Adapt the AlignedBox API ?
+enum CornerType { TopLeft, TopRight, BottomLeft, BottomRight };
+
+/** \ingroup enums
+ * Enum containing possible values for the \p Direction parameter of
+ * Reverse, PartialReduxExpr and VectorwiseOp. */
+enum DirectionType {
+ /** For Reverse, all columns are reversed;
+ * for PartialReduxExpr and VectorwiseOp, act on columns. */
+ Vertical,
+ /** For Reverse, all rows are reversed;
+ * for PartialReduxExpr and VectorwiseOp, act on rows. */
+ Horizontal,
+ /** For Reverse, both rows and columns are reversed;
+ * not used for PartialReduxExpr and VectorwiseOp. */
+ BothDirections
+};
+
+/** \internal \ingroup enums
+ * Enum to specify how to traverse the entries of a matrix. */
+enum TraversalType {
+ /** \internal Default traversal, no vectorization, no index-based access */
+ DefaultTraversal,
+ /** \internal No vectorization, use index-based access to have only one for loop instead of 2 nested loops */
+ LinearTraversal,
+ /** \internal Equivalent to a slice vectorization for fixed-size matrices having good alignment
+ * and good size */
+ InnerVectorizedTraversal,
+ /** \internal Vectorization path using a single loop plus scalar loops for the
+ * unaligned boundaries */
+ LinearVectorizedTraversal,
+ /** \internal Generic vectorization path using one vectorized loop per row/column with some
+ * scalar loops to handle the unaligned boundaries */
+ SliceVectorizedTraversal,
+ /** \internal Special case to properly handle incompatible scalar types or other defecting cases*/
+ InvalidTraversal,
+ /** \internal Evaluate all entries at once */
+ AllAtOnceTraversal
+};
+
+/** \internal \ingroup enums
+ * Enum to specify whether to unroll loops when traversing over the entries of a matrix. */
+enum UnrollingType {
+ /** \internal Do not unroll loops. */
+ NoUnrolling,
+ /** \internal Unroll only the inner loop, but not the outer loop. */
+ InnerUnrolling,
+ /** \internal Unroll both the inner and the outer loop. If there is only one loop,
+ * because linear traversal is used, then unroll that loop. */
+ CompleteUnrolling
+};
+
+/** \internal \ingroup enums
+ * Enum to specify whether to use the default (built-in) implementation or the specialization. */
+enum SpecializedType {
+ Specialized,
+ BuiltIn
+};
+
+/** \ingroup enums
+ * Enum containing possible values for the \p _Options template parameter of
+ * Matrix, Array and BandMatrix. */
+enum StorageOptions {
+ /** Storage order is column major (see \ref TopicStorageOrders). */
+ ColMajor = 0,
+ /** Storage order is row major (see \ref TopicStorageOrders). */
+ RowMajor = 0x1, // it is only a coincidence that this is equal to RowMajorBit -- don't rely on that
+ /** Align the matrix itself if it is vectorizable fixed-size */
+ AutoAlign = 0,
+ /** Don't require alignment for the matrix itself (the array of coefficients, if dynamically allocated, may still be requested to be aligned) */ // FIXME --- clarify the situation
+ DontAlign = 0x2
+};
+
+/** \ingroup enums
+ * Enum for specifying whether to apply or solve on the left or right. */
+enum SideType {
+ /** Apply transformation on the left. */
+ OnTheLeft = 1,
+ /** Apply transformation on the right. */
+ OnTheRight = 2
+};
+
+/* the following used to be written as:
+ *
+ * struct NoChange_t {};
+ * namespace {
+ * EIGEN_UNUSED NoChange_t NoChange;
+ * }
+ *
+ * on the ground that it feels dangerous to disambiguate overloaded functions on enum/integer types.
+ * However, this leads to "variable declared but never referenced" warnings on Intel Composer XE,
+ * and we do not know how to get rid of them (bug 450).
+ */
+
+enum NoChange_t { NoChange };
+enum Sequential_t { Sequential };
+enum Default_t { Default };
+
+/** \internal \ingroup enums
+ * Used in AmbiVector. */
+enum AmbiVectorMode {
+ IsDense = 0,
+ IsSparse
+};
+
+/** \ingroup enums
+ * Used as template parameter in DenseCoeffBase and MapBase to indicate
+ * which accessors should be provided. */
+enum AccessorLevels {
+ /** Read-only access via a member function. */
+ ReadOnlyAccessors,
+ /** Read/write access via member functions. */
+ WriteAccessors,
+ /** Direct read-only access to the coefficients. */
+ DirectAccessors,
+ /** Direct read/write access to the coefficients. */
+ DirectWriteAccessors
+};
+
+/** \ingroup enums
+ * Enum with options to give to various decompositions. */
+enum DecompositionOptions {
+ /** \internal Not used (meant for LDLT?). */
+ Pivoting = 0x01,
+ /** \internal Not used (meant for LDLT?). */
+ NoPivoting = 0x02,
+ /** Used in JacobiSVD to indicate that the square matrix U is to be computed. */
+ ComputeFullU = 0x04,
+ /** Used in JacobiSVD to indicate that the thin matrix U is to be computed. */
+ ComputeThinU = 0x08,
+ /** Used in JacobiSVD to indicate that the square matrix V is to be computed. */
+ ComputeFullV = 0x10,
+ /** Used in JacobiSVD to indicate that the thin matrix V is to be computed. */
+ ComputeThinV = 0x20,
+ /** Used in SelfAdjointEigenSolver and GeneralizedSelfAdjointEigenSolver to specify
+ * that only the eigenvalues are to be computed and not the eigenvectors. */
+ EigenvaluesOnly = 0x40,
+ /** Used in SelfAdjointEigenSolver and GeneralizedSelfAdjointEigenSolver to specify
+ * that both the eigenvalues and the eigenvectors are to be computed. */
+ ComputeEigenvectors = 0x80,
+ /** \internal */
+ EigVecMask = EigenvaluesOnly | ComputeEigenvectors,
+ /** Used in GeneralizedSelfAdjointEigenSolver to indicate that it should
+ * solve the generalized eigenproblem \f$ Ax = \lambda B x \f$. */
+ Ax_lBx = 0x100,
+ /** Used in GeneralizedSelfAdjointEigenSolver to indicate that it should
+ * solve the generalized eigenproblem \f$ ABx = \lambda x \f$. */
+ ABx_lx = 0x200,
+ /** Used in GeneralizedSelfAdjointEigenSolver to indicate that it should
+ * solve the generalized eigenproblem \f$ BAx = \lambda x \f$. */
+ BAx_lx = 0x400,
+ /** \internal */
+ GenEigMask = Ax_lBx | ABx_lx | BAx_lx
+};
+
+/** \ingroup enums
+ * Possible values for the \p QRPreconditioner template parameter of JacobiSVD. */
+enum QRPreconditioners {
+ /** Do not specify what is to be done if the SVD of a non-square matrix is asked for. */
+ NoQRPreconditioner,
+ /** Use a QR decomposition without pivoting as the first step. */
+ HouseholderQRPreconditioner,
+ /** Use a QR decomposition with column pivoting as the first step. */
+ ColPivHouseholderQRPreconditioner,
+ /** Use a QR decomposition with full pivoting as the first step. */
+ FullPivHouseholderQRPreconditioner
+};
+
+#ifdef Success
+#error The preprocessor symbol 'Success' is defined, possibly by the X11 header file X.h
+#endif
+
+/** \ingroup enums
+ * Enum for reporting the status of a computation. */
+enum ComputationInfo {
+ /** Computation was successful. */
+ Success = 0,
+ /** The provided data did not satisfy the prerequisites. */
+ NumericalIssue = 1,
+ /** Iterative procedure did not converge. */
+ NoConvergence = 2,
+ /** The inputs are invalid, or the algorithm has been improperly called.
+ * When assertions are enabled, such errors trigger an assert. */
+ InvalidInput = 3
+};
+
+/** \ingroup enums
+ * Enum used to specify how a particular transformation is stored in a matrix.
+ * \sa Transform, Hyperplane::transform(). */
+enum TransformTraits {
+ /** Transformation is an isometry. */
+ Isometry = 0x1,
+ /** Transformation is an affine transformation stored as a (Dim+1)^2 matrix whose last row is
+ * assumed to be [0 ... 0 1]. */
+ Affine = 0x2,
+ /** Transformation is an affine transformation stored as a (Dim) x (Dim+1) matrix. */
+ AffineCompact = 0x10 | Affine,
+ /** Transformation is a general projective transformation stored as a (Dim+1)^2 matrix. */
+ Projective = 0x20
+};
+
+/** \internal \ingroup enums
+ * Enum used to choose between implementation depending on the computer architecture. */
+namespace Architecture
+{
+ enum Type {
+ Generic = 0x0,
+ SSE = 0x1,
+ AltiVec = 0x2,
+ VSX = 0x3,
+ NEON = 0x4,
+#if defined EIGEN_VECTORIZE_SSE
+ Target = SSE
+#elif defined EIGEN_VECTORIZE_ALTIVEC
+ Target = AltiVec
+#elif defined EIGEN_VECTORIZE_VSX
+ Target = VSX
+#elif defined EIGEN_VECTORIZE_NEON
+ Target = NEON
+#else
+ Target = Generic
+#endif
+ };
+}
+
+/** \internal \ingroup enums
+ * Enum used as template parameter in Product and product evaluators. */
+enum ProductImplType
+{ DefaultProduct=0, LazyProduct, AliasFreeProduct, CoeffBasedProductMode, LazyCoeffBasedProductMode, OuterProduct, InnerProduct, GemvProduct, GemmProduct };
+
+/** \internal \ingroup enums
+ * Enum used in experimental parallel implementation. */
+enum Action {GetAction, SetAction};
+
+/** The type used to identify a dense storage. */
+struct Dense {};
+
+/** The type used to identify a general sparse storage. */
+struct Sparse {};
+
+/** The type used to identify a general solver (factored) storage. */
+struct SolverStorage {};
+
+/** The type used to identify a permutation storage. */
+struct PermutationStorage {};
+
+/** The type used to identify a permutation storage. */
+struct TranspositionsStorage {};
+
+/** The type used to identify a matrix expression */
+struct MatrixXpr {};
+
+/** The type used to identify an array expression */
+struct ArrayXpr {};
+
+// An evaluator must define its shape. By default, it can be one of the following:
+struct DenseShape { static std::string debugName() { return "DenseShape"; } };
+struct SolverShape { static std::string debugName() { return "SolverShape"; } };
+struct HomogeneousShape { static std::string debugName() { return "HomogeneousShape"; } };
+struct DiagonalShape { static std::string debugName() { return "DiagonalShape"; } };
+struct BandShape { static std::string debugName() { return "BandShape"; } };
+struct TriangularShape { static std::string debugName() { return "TriangularShape"; } };
+struct SelfAdjointShape { static std::string debugName() { return "SelfAdjointShape"; } };
+struct PermutationShape { static std::string debugName() { return "PermutationShape"; } };
+struct TranspositionsShape { static std::string debugName() { return "TranspositionsShape"; } };
+struct SparseShape { static std::string debugName() { return "SparseShape"; } };
+
+namespace internal {
+
+ // random access iterators based on coeff*() accessors.
+struct IndexBased {};
+
+// evaluator based on iterators to access coefficients.
+struct IteratorBased {};
+
+/** \internal
+ * Constants for comparison functors
+ */
+enum ComparisonName {
+ cmp_EQ = 0,
+ cmp_LT = 1,
+ cmp_LE = 2,
+ cmp_UNORD = 3,
+ cmp_NEQ = 4,
+ cmp_GT = 5,
+ cmp_GE = 6
+};
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_CONSTANTS_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/util/DisableStupidWarnings.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/util/DisableStupidWarnings.h
new file mode 100644
index 0000000..ce573a8
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/util/DisableStupidWarnings.h
@@ -0,0 +1,86 @@
+#ifndef EIGEN_WARNINGS_DISABLED
+#define EIGEN_WARNINGS_DISABLED
+
+#ifdef _MSC_VER
+ // 4100 - unreferenced formal parameter (occurred e.g. in aligned_allocator::destroy(pointer p))
+ // 4101 - unreferenced local variable
+ // 4127 - conditional expression is constant
+ // 4181 - qualifier applied to reference type ignored
+ // 4211 - nonstandard extension used : redefined extern to static
+ // 4244 - 'argument' : conversion from 'type1' to 'type2', possible loss of data
+ // 4273 - QtAlignedMalloc, inconsistent DLL linkage
+ // 4324 - structure was padded due to declspec(align())
+ // 4503 - decorated name length exceeded, name was truncated
+ // 4512 - assignment operator could not be generated
+ // 4522 - 'class' : multiple assignment operators specified
+ // 4700 - uninitialized local variable 'xyz' used
+ // 4714 - function marked as __forceinline not inlined
+ // 4717 - 'function' : recursive on all control paths, function will cause runtime stack overflow
+ // 4800 - 'type' : forcing value to bool 'true' or 'false' (performance warning)
+ #ifndef EIGEN_PERMANENTLY_DISABLE_STUPID_WARNINGS
+ #pragma warning( push )
+ #endif
+ #pragma warning( disable : 4100 4101 4127 4181 4211 4244 4273 4324 4503 4512 4522 4700 4714 4717 4800)
+
+#elif defined __INTEL_COMPILER
+ // 2196 - routine is both "inline" and "noinline" ("noinline" assumed)
+ // ICC 12 generates this warning even without any inline keyword, when defining class methods 'inline' i.e. inside of class body
+ // typedef that may be a reference type.
+ // 279 - controlling expression is constant
+ // ICC 12 generates this warning on assert(constant_expression_depending_on_template_params) and frankly this is a legitimate use case.
+ // 1684 - conversion from pointer to same-sized integral type (potential portability problem)
+ // 2259 - non-pointer conversion from "Eigen::Index={ptrdiff_t={long}}" to "int" may lose significant bits
+ #ifndef EIGEN_PERMANENTLY_DISABLE_STUPID_WARNINGS
+ #pragma warning push
+ #endif
+ #pragma warning disable 2196 279 1684 2259
+
+#elif defined __clang__
+ // -Wconstant-logical-operand - warning: use of logical && with constant operand; switch to bitwise & or remove constant
+ // this is really a stupid warning as it warns on compile-time expressions involving enums
+ #ifndef EIGEN_PERMANENTLY_DISABLE_STUPID_WARNINGS
+ #pragma clang diagnostic push
+ #endif
+ #pragma clang diagnostic ignored "-Wconstant-logical-operand"
+
+#elif defined __GNUC__
+
+ #if (!defined(EIGEN_PERMANENTLY_DISABLE_STUPID_WARNINGS)) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6))
+ #pragma GCC diagnostic push
+ #endif
+ // g++ warns about local variables shadowing member functions, which is too strict
+ #pragma GCC diagnostic ignored "-Wshadow"
+ #if __GNUC__ == 4 && __GNUC_MINOR__ < 8
+ // Until g++-4.7 there are warnings when comparing unsigned int vs 0, even in templated functions:
+ #pragma GCC diagnostic ignored "-Wtype-limits"
+ #endif
+ #if __GNUC__>=6
+ #pragma GCC diagnostic ignored "-Wignored-attributes"
+ #endif
+ #if __GNUC__>=9
+ #pragma GCC diagnostic ignored "-Wdeprecated-copy"
+ #endif
+
+#endif
+
+#if defined __NVCC__
+ // Disable the "statement is unreachable" message
+ #pragma diag_suppress code_is_unreachable
+ // Disable the "dynamic initialization in unreachable code" message
+ #pragma diag_suppress initialization_not_reachable
+ // Disable the "invalid error number" message that we get with older versions of nvcc
+ #pragma diag_suppress 1222
+ // Disable the "calling a __host__ function from a __host__ __device__ function is not allowed" messages (yes, there are many of them and they seem to change with every version of the compiler)
+ #pragma diag_suppress 2527
+ #pragma diag_suppress 2529
+ #pragma diag_suppress 2651
+ #pragma diag_suppress 2653
+ #pragma diag_suppress 2668
+ #pragma diag_suppress 2669
+ #pragma diag_suppress 2670
+ #pragma diag_suppress 2671
+ #pragma diag_suppress 2735
+ #pragma diag_suppress 2737
+#endif
+
+#endif // not EIGEN_WARNINGS_DISABLED
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/util/ForwardDeclarations.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/util/ForwardDeclarations.h
new file mode 100644
index 0000000..ea10739
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/util/ForwardDeclarations.h
@@ -0,0 +1,302 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2007-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_FORWARDDECLARATIONS_H
+#define EIGEN_FORWARDDECLARATIONS_H
+
+namespace Eigen {
+namespace internal {
+
+template<typename T> struct traits;
+
+// here we say once and for all that traits<const T> == traits<T>
+// When constness must affect traits, it has to be constness on template parameters on which T itself depends.
+// For example, traits<Map<const T> > != traits<Map<T> >, but
+// traits<const Map<T> > == traits<Map<T> >
+template<typename T> struct traits<const T> : traits<T> {};
+
+template<typename Derived> struct has_direct_access
+{
+ enum { ret = (traits<Derived>::Flags & DirectAccessBit) ? 1 : 0 };
+};
+
+template<typename Derived> struct accessors_level
+{
+ enum { has_direct_access = (traits<Derived>::Flags & DirectAccessBit) ? 1 : 0,
+ has_write_access = (traits<Derived>::Flags & LvalueBit) ? 1 : 0,
+ value = has_direct_access ? (has_write_access ? DirectWriteAccessors : DirectAccessors)
+ : (has_write_access ? WriteAccessors : ReadOnlyAccessors)
+ };
+};
+
+template<typename T> struct evaluator_traits;
+
+template< typename T> struct evaluator;
+
+} // end namespace internal
+
+template<typename T> struct NumTraits;
+
+template<typename Derived> struct EigenBase;
+template<typename Derived> class DenseBase;
+template<typename Derived> class PlainObjectBase;
+
+
+template<typename Derived,
+ int Level = internal::accessors_level<Derived>::value >
+class DenseCoeffsBase;
+
+template<typename _Scalar, int _Rows, int _Cols,
+ int _Options = AutoAlign |
+#if EIGEN_GNUC_AT(3,4)
+ // workaround a bug in at least gcc 3.4.6
+ // the innermost ?: ternary operator is misparsed. We write it slightly
+ // differently and this makes gcc 3.4.6 happy, but it's ugly.
+ // The error would only show up with EIGEN_DEFAULT_TO_ROW_MAJOR is defined
+ // (when EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION is RowMajor)
+ ( (_Rows==1 && _Cols!=1) ? Eigen::RowMajor
+ : !(_Cols==1 && _Rows!=1) ? EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION
+ : Eigen::ColMajor ),
+#else
+ ( (_Rows==1 && _Cols!=1) ? Eigen::RowMajor
+ : (_Cols==1 && _Rows!=1) ? Eigen::ColMajor
+ : EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION ),
+#endif
+ int _MaxRows = _Rows,
+ int _MaxCols = _Cols
+> class Matrix;
+
+template<typename Derived> class MatrixBase;
+template<typename Derived> class ArrayBase;
+
+template<typename ExpressionType, unsigned int Added, unsigned int Removed> class Flagged;
+template<typename ExpressionType, template <typename> class StorageBase > class NoAlias;
+template<typename ExpressionType> class NestByValue;
+template<typename ExpressionType> class ForceAlignedAccess;
+template<typename ExpressionType> class SwapWrapper;
+
+template<typename XprType, int BlockRows=Dynamic, int BlockCols=Dynamic, bool InnerPanel = false> class Block;
+
+template<typename MatrixType, int Size=Dynamic> class VectorBlock;
+template<typename MatrixType> class Transpose;
+template<typename MatrixType> class Conjugate;
+template<typename NullaryOp, typename MatrixType> class CwiseNullaryOp;
+template<typename UnaryOp, typename MatrixType> class CwiseUnaryOp;
+template<typename ViewOp, typename MatrixType> class CwiseUnaryView;
+template<typename BinaryOp, typename Lhs, typename Rhs> class CwiseBinaryOp;
+template<typename TernaryOp, typename Arg1, typename Arg2, typename Arg3> class CwiseTernaryOp;
+template<typename Decomposition, typename Rhstype> class Solve;
+template<typename XprType> class Inverse;
+
+template<typename Lhs, typename Rhs, int Option = DefaultProduct> class Product;
+
+template<typename Derived> class DiagonalBase;
+template<typename _DiagonalVectorType> class DiagonalWrapper;
+template<typename _Scalar, int SizeAtCompileTime, int MaxSizeAtCompileTime=SizeAtCompileTime> class DiagonalMatrix;
+template<typename MatrixType, typename DiagonalType, int ProductOrder> class DiagonalProduct;
+template<typename MatrixType, int Index = 0> class Diagonal;
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime = SizeAtCompileTime, typename IndexType=int> class PermutationMatrix;
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime = SizeAtCompileTime, typename IndexType=int> class Transpositions;
+template<typename Derived> class PermutationBase;
+template<typename Derived> class TranspositionsBase;
+template<typename _IndicesType> class PermutationWrapper;
+template<typename _IndicesType> class TranspositionsWrapper;
+
+template<typename Derived,
+ int Level = internal::accessors_level<Derived>::has_write_access ? WriteAccessors : ReadOnlyAccessors
+> class MapBase;
+template<int InnerStrideAtCompileTime, int OuterStrideAtCompileTime> class Stride;
+template<int Value = Dynamic> class InnerStride;
+template<int Value = Dynamic> class OuterStride;
+template<typename MatrixType, int MapOptions=Unaligned, typename StrideType = Stride<0,0> > class Map;
+template<typename Derived> class RefBase;
+template<typename PlainObjectType, int Options = 0,
+ typename StrideType = typename internal::conditional<PlainObjectType::IsVectorAtCompileTime,InnerStride<1>,OuterStride<> >::type > class Ref;
+
+template<typename Derived> class TriangularBase;
+template<typename MatrixType, unsigned int Mode> class TriangularView;
+template<typename MatrixType, unsigned int Mode> class SelfAdjointView;
+template<typename MatrixType> class SparseView;
+template<typename ExpressionType> class WithFormat;
+template<typename MatrixType> struct CommaInitializer;
+template<typename Derived> class ReturnByValue;
+template<typename ExpressionType> class ArrayWrapper;
+template<typename ExpressionType> class MatrixWrapper;
+template<typename Derived> class SolverBase;
+template<typename XprType> class InnerIterator;
+
+namespace internal {
+template<typename DecompositionType> struct kernel_retval_base;
+template<typename DecompositionType> struct kernel_retval;
+template<typename DecompositionType> struct image_retval_base;
+template<typename DecompositionType> struct image_retval;
+} // end namespace internal
+
+namespace internal {
+template<typename _Scalar, int Rows=Dynamic, int Cols=Dynamic, int Supers=Dynamic, int Subs=Dynamic, int Options=0> class BandMatrix;
+}
+
+namespace internal {
+template<typename Lhs, typename Rhs> struct product_type;
+
+template<bool> struct EnableIf;
+
+/** \internal
+ * \class product_evaluator
+ * Products need their own evaluator with more template arguments allowing for
+ * easier partial template specializations.
+ */
+template< typename T,
+ int ProductTag = internal::product_type<typename T::Lhs,typename T::Rhs>::ret,
+ typename LhsShape = typename evaluator_traits<typename T::Lhs>::Shape,
+ typename RhsShape = typename evaluator_traits<typename T::Rhs>::Shape,
+ typename LhsScalar = typename traits<typename T::Lhs>::Scalar,
+ typename RhsScalar = typename traits<typename T::Rhs>::Scalar
+ > struct product_evaluator;
+}
+
+template<typename Lhs, typename Rhs,
+ int ProductType = internal::product_type<Lhs,Rhs>::value>
+struct ProductReturnType;
+
+// this is a workaround for sun CC
+template<typename Lhs, typename Rhs> struct LazyProductReturnType;
+
+namespace internal {
+
+// Provides scalar/packet-wise product and product with accumulation
+// with optional conjugation of the arguments.
+template<typename LhsScalar, typename RhsScalar, bool ConjLhs=false, bool ConjRhs=false> struct conj_helper;
+
+template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_sum_op;
+template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_difference_op;
+template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_conj_product_op;
+template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_min_op;
+template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_max_op;
+template<typename Scalar> struct scalar_opposite_op;
+template<typename Scalar> struct scalar_conjugate_op;
+template<typename Scalar> struct scalar_real_op;
+template<typename Scalar> struct scalar_imag_op;
+template<typename Scalar> struct scalar_abs_op;
+template<typename Scalar> struct scalar_abs2_op;
+template<typename Scalar> struct scalar_sqrt_op;
+template<typename Scalar> struct scalar_rsqrt_op;
+template<typename Scalar> struct scalar_exp_op;
+template<typename Scalar> struct scalar_log_op;
+template<typename Scalar> struct scalar_cos_op;
+template<typename Scalar> struct scalar_sin_op;
+template<typename Scalar> struct scalar_acos_op;
+template<typename Scalar> struct scalar_asin_op;
+template<typename Scalar> struct scalar_tan_op;
+template<typename Scalar> struct scalar_inverse_op;
+template<typename Scalar> struct scalar_square_op;
+template<typename Scalar> struct scalar_cube_op;
+template<typename Scalar, typename NewType> struct scalar_cast_op;
+template<typename Scalar> struct scalar_random_op;
+template<typename Scalar> struct scalar_constant_op;
+template<typename Scalar> struct scalar_identity_op;
+template<typename Scalar,bool iscpx> struct scalar_sign_op;
+template<typename Scalar,typename ScalarExponent> struct scalar_pow_op;
+template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_hypot_op;
+template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_product_op;
+template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_quotient_op;
+
+// SpecialFunctions module
+template<typename Scalar> struct scalar_lgamma_op;
+template<typename Scalar> struct scalar_digamma_op;
+template<typename Scalar> struct scalar_erf_op;
+template<typename Scalar> struct scalar_erfc_op;
+template<typename Scalar> struct scalar_igamma_op;
+template<typename Scalar> struct scalar_igammac_op;
+template<typename Scalar> struct scalar_zeta_op;
+template<typename Scalar> struct scalar_betainc_op;
+
+} // end namespace internal
+
+struct IOFormat;
+
+// Array module
+template<typename _Scalar, int _Rows, int _Cols,
+ int _Options = AutoAlign |
+#if EIGEN_GNUC_AT(3,4)
+ // workaround a bug in at least gcc 3.4.6
+ // the innermost ?: ternary operator is misparsed. We write it slightly
+ // differently and this makes gcc 3.4.6 happy, but it's ugly.
+ // The error would only show up with EIGEN_DEFAULT_TO_ROW_MAJOR is defined
+ // (when EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION is RowMajor)
+ ( (_Rows==1 && _Cols!=1) ? Eigen::RowMajor
+ : !(_Cols==1 && _Rows!=1) ? EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION
+ : Eigen::ColMajor ),
+#else
+ ( (_Rows==1 && _Cols!=1) ? Eigen::RowMajor
+ : (_Cols==1 && _Rows!=1) ? Eigen::ColMajor
+ : EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION ),
+#endif
+ int _MaxRows = _Rows, int _MaxCols = _Cols> class Array;
+template<typename ConditionMatrixType, typename ThenMatrixType, typename ElseMatrixType> class Select;
+template<typename MatrixType, typename BinaryOp, int Direction> class PartialReduxExpr;
+template<typename ExpressionType, int Direction> class VectorwiseOp;
+template<typename MatrixType,int RowFactor,int ColFactor> class Replicate;
+template<typename MatrixType, int Direction = BothDirections> class Reverse;
+
+template<typename MatrixType> class FullPivLU;
+template<typename MatrixType> class PartialPivLU;
+namespace internal {
+template<typename MatrixType> struct inverse_impl;
+}
+template<typename MatrixType> class HouseholderQR;
+template<typename MatrixType> class ColPivHouseholderQR;
+template<typename MatrixType> class FullPivHouseholderQR;
+template<typename MatrixType> class CompleteOrthogonalDecomposition;
+template<typename MatrixType, int QRPreconditioner = ColPivHouseholderQRPreconditioner> class JacobiSVD;
+template<typename MatrixType> class BDCSVD;
+template<typename MatrixType, int UpLo = Lower> class LLT;
+template<typename MatrixType, int UpLo = Lower> class LDLT;
+template<typename VectorsType, typename CoeffsType, int Side=OnTheLeft> class HouseholderSequence;
+template<typename Scalar> class JacobiRotation;
+
+// Geometry module:
+template<typename Derived, int _Dim> class RotationBase;
+template<typename Lhs, typename Rhs> class Cross;
+template<typename Derived> class QuaternionBase;
+template<typename Scalar> class Rotation2D;
+template<typename Scalar> class AngleAxis;
+template<typename Scalar,int Dim> class Translation;
+template<typename Scalar,int Dim> class AlignedBox;
+template<typename Scalar, int Options = AutoAlign> class Quaternion;
+template<typename Scalar,int Dim,int Mode,int _Options=AutoAlign> class Transform;
+template <typename _Scalar, int _AmbientDim, int Options=AutoAlign> class ParametrizedLine;
+template <typename _Scalar, int _AmbientDim, int Options=AutoAlign> class Hyperplane;
+template<typename Scalar> class UniformScaling;
+template<typename MatrixType,int Direction> class Homogeneous;
+
+// Sparse module:
+template<typename Derived> class SparseMatrixBase;
+
+// MatrixFunctions module
+template<typename Derived> struct MatrixExponentialReturnValue;
+template<typename Derived> class MatrixFunctionReturnValue;
+template<typename Derived> class MatrixSquareRootReturnValue;
+template<typename Derived> class MatrixLogarithmReturnValue;
+template<typename Derived> class MatrixPowerReturnValue;
+template<typename Derived> class MatrixComplexPowerReturnValue;
+
+namespace internal {
+template <typename Scalar>
+struct stem_function
+{
+ typedef std::complex<typename NumTraits<Scalar>::Real> ComplexScalar;
+ typedef ComplexScalar type(ComplexScalar, int);
+};
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_FORWARDDECLARATIONS_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/util/Macros.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/util/Macros.h
new file mode 100644
index 0000000..aa054a0
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/util/Macros.h
@@ -0,0 +1,1001 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_MACROS_H
+#define EIGEN_MACROS_H
+
+#define EIGEN_WORLD_VERSION 3
+#define EIGEN_MAJOR_VERSION 3
+#define EIGEN_MINOR_VERSION 7
+
+#define EIGEN_VERSION_AT_LEAST(x,y,z) (EIGEN_WORLD_VERSION>x || (EIGEN_WORLD_VERSION>=x && \
+ (EIGEN_MAJOR_VERSION>y || (EIGEN_MAJOR_VERSION>=y && \
+ EIGEN_MINOR_VERSION>=z))))
+
+// Compiler identification, EIGEN_COMP_*
+
+/// \internal EIGEN_COMP_GNUC set to 1 for all compilers compatible with GCC
+#ifdef __GNUC__
+ #define EIGEN_COMP_GNUC 1
+#else
+ #define EIGEN_COMP_GNUC 0
+#endif
+
+/// \internal EIGEN_COMP_CLANG set to major+minor version (e.g., 307 for clang 3.7) if the compiler is clang
+#if defined(__clang__)
+ #define EIGEN_COMP_CLANG (__clang_major__*100+__clang_minor__)
+#else
+ #define EIGEN_COMP_CLANG 0
+#endif
+
+
+/// \internal EIGEN_COMP_LLVM set to 1 if the compiler backend is llvm
+#if defined(__llvm__)
+ #define EIGEN_COMP_LLVM 1
+#else
+ #define EIGEN_COMP_LLVM 0
+#endif
+
+/// \internal EIGEN_COMP_ICC set to __INTEL_COMPILER if the compiler is Intel compiler, 0 otherwise
+#if defined(__INTEL_COMPILER)
+ #define EIGEN_COMP_ICC __INTEL_COMPILER
+#else
+ #define EIGEN_COMP_ICC 0
+#endif
+
+/// \internal EIGEN_COMP_MINGW set to 1 if the compiler is mingw
+#if defined(__MINGW32__)
+ #define EIGEN_COMP_MINGW 1
+#else
+ #define EIGEN_COMP_MINGW 0
+#endif
+
+/// \internal EIGEN_COMP_SUNCC set to 1 if the compiler is Solaris Studio
+#if defined(__SUNPRO_CC)
+ #define EIGEN_COMP_SUNCC 1
+#else
+ #define EIGEN_COMP_SUNCC 0
+#endif
+
+/// \internal EIGEN_COMP_MSVC set to _MSC_VER if the compiler is Microsoft Visual C++, 0 otherwise.
+#if defined(_MSC_VER)
+ #define EIGEN_COMP_MSVC _MSC_VER
+#else
+ #define EIGEN_COMP_MSVC 0
+#endif
+
+// For the record, here is a table summarizing the possible values for EIGEN_COMP_MSVC:
+// name ver MSC_VER
+// 2008 9 1500
+// 2010 10 1600
+// 2012 11 1700
+// 2013 12 1800
+// 2015 14 1900
+// "15" 15 1900
+
+/// \internal EIGEN_COMP_MSVC_STRICT set to 1 if the compiler is really Microsoft Visual C++ and not ,e.g., ICC or clang-cl
+#if EIGEN_COMP_MSVC && !(EIGEN_COMP_ICC || EIGEN_COMP_LLVM || EIGEN_COMP_CLANG)
+ #define EIGEN_COMP_MSVC_STRICT _MSC_VER
+#else
+ #define EIGEN_COMP_MSVC_STRICT 0
+#endif
+
+/// \internal EIGEN_COMP_IBM set to 1 if the compiler is IBM XL C++
+#if defined(__IBMCPP__) || defined(__xlc__)
+ #define EIGEN_COMP_IBM 1
+#else
+ #define EIGEN_COMP_IBM 0
+#endif
+
+/// \internal EIGEN_COMP_PGI set to 1 if the compiler is Portland Group Compiler
+#if defined(__PGI)
+ #define EIGEN_COMP_PGI 1
+#else
+ #define EIGEN_COMP_PGI 0
+#endif
+
+/// \internal EIGEN_COMP_ARM set to 1 if the compiler is ARM Compiler
+#if defined(__CC_ARM) || defined(__ARMCC_VERSION)
+ #define EIGEN_COMP_ARM 1
+#else
+ #define EIGEN_COMP_ARM 0
+#endif
+
+/// \internal EIGEN_COMP_ARM set to 1 if the compiler is ARM Compiler
+#if defined(__EMSCRIPTEN__)
+ #define EIGEN_COMP_EMSCRIPTEN 1
+#else
+ #define EIGEN_COMP_EMSCRIPTEN 0
+#endif
+
+
+/// \internal EIGEN_GNUC_STRICT set to 1 if the compiler is really GCC and not a compatible compiler (e.g., ICC, clang, mingw, etc.)
+#if EIGEN_COMP_GNUC && !(EIGEN_COMP_CLANG || EIGEN_COMP_ICC || EIGEN_COMP_MINGW || EIGEN_COMP_PGI || EIGEN_COMP_IBM || EIGEN_COMP_ARM || EIGEN_COMP_EMSCRIPTEN)
+ #define EIGEN_COMP_GNUC_STRICT 1
+#else
+ #define EIGEN_COMP_GNUC_STRICT 0
+#endif
+
+
+#if EIGEN_COMP_GNUC
+ #define EIGEN_GNUC_AT_LEAST(x,y) ((__GNUC__==x && __GNUC_MINOR__>=y) || __GNUC__>x)
+ #define EIGEN_GNUC_AT_MOST(x,y) ((__GNUC__==x && __GNUC_MINOR__<=y) || __GNUC__<x)
+ #define EIGEN_GNUC_AT(x,y) ( __GNUC__==x && __GNUC_MINOR__==y )
+#else
+ #define EIGEN_GNUC_AT_LEAST(x,y) 0
+ #define EIGEN_GNUC_AT_MOST(x,y) 0
+ #define EIGEN_GNUC_AT(x,y) 0
+#endif
+
+// FIXME: could probably be removed as we do not support gcc 3.x anymore
+#if EIGEN_COMP_GNUC && (__GNUC__ <= 3)
+#define EIGEN_GCC3_OR_OLDER 1
+#else
+#define EIGEN_GCC3_OR_OLDER 0
+#endif
+
+
+// Architecture identification, EIGEN_ARCH_*
+
+#if defined(__x86_64__) || defined(_M_X64) || defined(__amd64)
+ #define EIGEN_ARCH_x86_64 1
+#else
+ #define EIGEN_ARCH_x86_64 0
+#endif
+
+#if defined(__i386__) || defined(_M_IX86) || defined(_X86_) || defined(__i386)
+ #define EIGEN_ARCH_i386 1
+#else
+ #define EIGEN_ARCH_i386 0
+#endif
+
+#if EIGEN_ARCH_x86_64 || EIGEN_ARCH_i386
+ #define EIGEN_ARCH_i386_OR_x86_64 1
+#else
+ #define EIGEN_ARCH_i386_OR_x86_64 0
+#endif
+
+/// \internal EIGEN_ARCH_ARM set to 1 if the architecture is ARM
+#if defined(__arm__)
+ #define EIGEN_ARCH_ARM 1
+#else
+ #define EIGEN_ARCH_ARM 0
+#endif
+
+/// \internal EIGEN_ARCH_ARM64 set to 1 if the architecture is ARM64
+#if defined(__aarch64__)
+ #define EIGEN_ARCH_ARM64 1
+#else
+ #define EIGEN_ARCH_ARM64 0
+#endif
+
+#if EIGEN_ARCH_ARM || EIGEN_ARCH_ARM64
+ #define EIGEN_ARCH_ARM_OR_ARM64 1
+#else
+ #define EIGEN_ARCH_ARM_OR_ARM64 0
+#endif
+
+/// \internal EIGEN_ARCH_MIPS set to 1 if the architecture is MIPS
+#if defined(__mips__) || defined(__mips)
+ #define EIGEN_ARCH_MIPS 1
+#else
+ #define EIGEN_ARCH_MIPS 0
+#endif
+
+/// \internal EIGEN_ARCH_SPARC set to 1 if the architecture is SPARC
+#if defined(__sparc__) || defined(__sparc)
+ #define EIGEN_ARCH_SPARC 1
+#else
+ #define EIGEN_ARCH_SPARC 0
+#endif
+
+/// \internal EIGEN_ARCH_IA64 set to 1 if the architecture is Intel Itanium
+#if defined(__ia64__)
+ #define EIGEN_ARCH_IA64 1
+#else
+ #define EIGEN_ARCH_IA64 0
+#endif
+
+/// \internal EIGEN_ARCH_PPC set to 1 if the architecture is PowerPC
+#if defined(__powerpc__) || defined(__ppc__) || defined(_M_PPC)
+ #define EIGEN_ARCH_PPC 1
+#else
+ #define EIGEN_ARCH_PPC 0
+#endif
+
+
+
+// Operating system identification, EIGEN_OS_*
+
+/// \internal EIGEN_OS_UNIX set to 1 if the OS is a unix variant
+#if defined(__unix__) || defined(__unix)
+ #define EIGEN_OS_UNIX 1
+#else
+ #define EIGEN_OS_UNIX 0
+#endif
+
+/// \internal EIGEN_OS_LINUX set to 1 if the OS is based on Linux kernel
+#if defined(__linux__)
+ #define EIGEN_OS_LINUX 1
+#else
+ #define EIGEN_OS_LINUX 0
+#endif
+
+/// \internal EIGEN_OS_ANDROID set to 1 if the OS is Android
+// note: ANDROID is defined when using ndk_build, __ANDROID__ is defined when using a standalone toolchain.
+#if defined(__ANDROID__) || defined(ANDROID)
+ #define EIGEN_OS_ANDROID 1
+#else
+ #define EIGEN_OS_ANDROID 0
+#endif
+
+/// \internal EIGEN_OS_GNULINUX set to 1 if the OS is GNU Linux and not Linux-based OS (e.g., not android)
+#if defined(__gnu_linux__) && !(EIGEN_OS_ANDROID)
+ #define EIGEN_OS_GNULINUX 1
+#else
+ #define EIGEN_OS_GNULINUX 0
+#endif
+
+/// \internal EIGEN_OS_BSD set to 1 if the OS is a BSD variant
+#if defined(__FreeBSD__) || defined(__NetBSD__) || defined(__OpenBSD__) || defined(__bsdi__) || defined(__DragonFly__)
+ #define EIGEN_OS_BSD 1
+#else
+ #define EIGEN_OS_BSD 0
+#endif
+
+/// \internal EIGEN_OS_MAC set to 1 if the OS is MacOS
+#if defined(__APPLE__)
+ #define EIGEN_OS_MAC 1
+#else
+ #define EIGEN_OS_MAC 0
+#endif
+
+/// \internal EIGEN_OS_QNX set to 1 if the OS is QNX
+#if defined(__QNX__)
+ #define EIGEN_OS_QNX 1
+#else
+ #define EIGEN_OS_QNX 0
+#endif
+
+/// \internal EIGEN_OS_WIN set to 1 if the OS is Windows based
+#if defined(_WIN32)
+ #define EIGEN_OS_WIN 1
+#else
+ #define EIGEN_OS_WIN 0
+#endif
+
+/// \internal EIGEN_OS_WIN64 set to 1 if the OS is Windows 64bits
+#if defined(_WIN64)
+ #define EIGEN_OS_WIN64 1
+#else
+ #define EIGEN_OS_WIN64 0
+#endif
+
+/// \internal EIGEN_OS_WINCE set to 1 if the OS is Windows CE
+#if defined(_WIN32_WCE)
+ #define EIGEN_OS_WINCE 1
+#else
+ #define EIGEN_OS_WINCE 0
+#endif
+
+/// \internal EIGEN_OS_CYGWIN set to 1 if the OS is Windows/Cygwin
+#if defined(__CYGWIN__)
+ #define EIGEN_OS_CYGWIN 1
+#else
+ #define EIGEN_OS_CYGWIN 0
+#endif
+
+/// \internal EIGEN_OS_WIN_STRICT set to 1 if the OS is really Windows and not some variants
+#if EIGEN_OS_WIN && !( EIGEN_OS_WINCE || EIGEN_OS_CYGWIN )
+ #define EIGEN_OS_WIN_STRICT 1
+#else
+ #define EIGEN_OS_WIN_STRICT 0
+#endif
+
+/// \internal EIGEN_OS_SUN set to 1 if the OS is SUN
+#if (defined(sun) || defined(__sun)) && !(defined(__SVR4) || defined(__svr4__))
+ #define EIGEN_OS_SUN 1
+#else
+ #define EIGEN_OS_SUN 0
+#endif
+
+/// \internal EIGEN_OS_SOLARIS set to 1 if the OS is Solaris
+#if (defined(sun) || defined(__sun)) && (defined(__SVR4) || defined(__svr4__))
+ #define EIGEN_OS_SOLARIS 1
+#else
+ #define EIGEN_OS_SOLARIS 0
+#endif
+
+
+
+#if EIGEN_GNUC_AT_MOST(4,3) && !EIGEN_COMP_CLANG
+ // see bug 89
+ #define EIGEN_SAFE_TO_USE_STANDARD_ASSERT_MACRO 0
+#else
+ #define EIGEN_SAFE_TO_USE_STANDARD_ASSERT_MACRO 1
+#endif
+
+// This macro can be used to prevent from macro expansion, e.g.:
+// std::max EIGEN_NOT_A_MACRO(a,b)
+#define EIGEN_NOT_A_MACRO
+
+#ifdef EIGEN_DEFAULT_TO_ROW_MAJOR
+#define EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION Eigen::RowMajor
+#else
+#define EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION Eigen::ColMajor
+#endif
+
+#ifndef EIGEN_DEFAULT_DENSE_INDEX_TYPE
+#define EIGEN_DEFAULT_DENSE_INDEX_TYPE std::ptrdiff_t
+#endif
+
+// Cross compiler wrapper around LLVM's __has_builtin
+#ifdef __has_builtin
+# define EIGEN_HAS_BUILTIN(x) __has_builtin(x)
+#else
+# define EIGEN_HAS_BUILTIN(x) 0
+#endif
+
+// A Clang feature extension to determine compiler features.
+// We use it to determine 'cxx_rvalue_references'
+#ifndef __has_feature
+# define __has_feature(x) 0
+#endif
+
+// Upperbound on the C++ version to use.
+// Expected values are 03, 11, 14, 17, etc.
+// By default, let's use an arbitrarily large C++ version.
+#ifndef EIGEN_MAX_CPP_VER
+#define EIGEN_MAX_CPP_VER 99
+#endif
+
+#if EIGEN_MAX_CPP_VER>=11 && (defined(__cplusplus) && (__cplusplus >= 201103L) || EIGEN_COMP_MSVC >= 1900)
+#define EIGEN_HAS_CXX11 1
+#else
+#define EIGEN_HAS_CXX11 0
+#endif
+
+
+// Do we support r-value references?
+#ifndef EIGEN_HAS_RVALUE_REFERENCES
+#if EIGEN_MAX_CPP_VER>=11 && \
+ (__has_feature(cxx_rvalue_references) || \
+ (defined(__cplusplus) && __cplusplus >= 201103L) || \
+ (EIGEN_COMP_MSVC >= 1600))
+ #define EIGEN_HAS_RVALUE_REFERENCES 1
+#else
+ #define EIGEN_HAS_RVALUE_REFERENCES 0
+#endif
+#endif
+
+// Does the compiler support C99?
+#ifndef EIGEN_HAS_C99_MATH
+#if EIGEN_MAX_CPP_VER>=11 && \
+ ((defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901)) \
+ || (defined(__GNUC__) && defined(_GLIBCXX_USE_C99)) \
+ || (defined(_LIBCPP_VERSION) && !defined(_MSC_VER)))
+ #define EIGEN_HAS_C99_MATH 1
+#else
+ #define EIGEN_HAS_C99_MATH 0
+#endif
+#endif
+
+// Does the compiler support result_of?
+#ifndef EIGEN_HAS_STD_RESULT_OF
+#if EIGEN_MAX_CPP_VER>=11 && ((__has_feature(cxx_lambdas) || (defined(__cplusplus) && __cplusplus >= 201103L)))
+#define EIGEN_HAS_STD_RESULT_OF 1
+#else
+#define EIGEN_HAS_STD_RESULT_OF 0
+#endif
+#endif
+
+// Does the compiler support variadic templates?
+#ifndef EIGEN_HAS_VARIADIC_TEMPLATES
+#if EIGEN_MAX_CPP_VER>=11 && (__cplusplus > 199711L || EIGEN_COMP_MSVC >= 1900) \
+ && (!defined(__NVCC__) || !EIGEN_ARCH_ARM_OR_ARM64 || (EIGEN_CUDACC_VER >= 80000) )
+ // ^^ Disable the use of variadic templates when compiling with versions of nvcc older than 8.0 on ARM devices:
+ // this prevents nvcc from crashing when compiling Eigen on Tegra X1
+#define EIGEN_HAS_VARIADIC_TEMPLATES 1
+#else
+#define EIGEN_HAS_VARIADIC_TEMPLATES 0
+#endif
+#endif
+
+// Does the compiler fully support const expressions? (as in c++14)
+#ifndef EIGEN_HAS_CONSTEXPR
+
+#ifdef __CUDACC__
+// Const expressions are supported provided that c++11 is enabled and we're using either clang or nvcc 7.5 or above
+#if EIGEN_MAX_CPP_VER>=14 && (__cplusplus > 199711L && (EIGEN_COMP_CLANG || EIGEN_CUDACC_VER >= 70500))
+ #define EIGEN_HAS_CONSTEXPR 1
+#endif
+#elif EIGEN_MAX_CPP_VER>=14 && (__has_feature(cxx_relaxed_constexpr) || (defined(__cplusplus) && __cplusplus >= 201402L) || \
+ (EIGEN_GNUC_AT_LEAST(4,8) && (__cplusplus > 199711L)))
+#define EIGEN_HAS_CONSTEXPR 1
+#endif
+
+#ifndef EIGEN_HAS_CONSTEXPR
+#define EIGEN_HAS_CONSTEXPR 0
+#endif
+
+#endif
+
+// Does the compiler support C++11 math?
+// Let's be conservative and enable the default C++11 implementation only if we are sure it exists
+#ifndef EIGEN_HAS_CXX11_MATH
+ #if EIGEN_MAX_CPP_VER>=11 && ((__cplusplus > 201103L) || (__cplusplus >= 201103L) && (EIGEN_COMP_GNUC_STRICT || EIGEN_COMP_CLANG || EIGEN_COMP_MSVC || EIGEN_COMP_ICC) \
+ && (EIGEN_ARCH_i386_OR_x86_64) && (EIGEN_OS_GNULINUX || EIGEN_OS_WIN_STRICT || EIGEN_OS_MAC))
+ #define EIGEN_HAS_CXX11_MATH 1
+ #else
+ #define EIGEN_HAS_CXX11_MATH 0
+ #endif
+#endif
+
+// Does the compiler support proper C++11 containers?
+#ifndef EIGEN_HAS_CXX11_CONTAINERS
+ #if EIGEN_MAX_CPP_VER>=11 && \
+ ((__cplusplus > 201103L) \
+ || ((__cplusplus >= 201103L) && (EIGEN_COMP_GNUC_STRICT || EIGEN_COMP_CLANG || EIGEN_COMP_ICC>=1400)) \
+ || EIGEN_COMP_MSVC >= 1900)
+ #define EIGEN_HAS_CXX11_CONTAINERS 1
+ #else
+ #define EIGEN_HAS_CXX11_CONTAINERS 0
+ #endif
+#endif
+
+// Does the compiler support C++11 noexcept?
+#ifndef EIGEN_HAS_CXX11_NOEXCEPT
+ #if EIGEN_MAX_CPP_VER>=11 && \
+ (__has_feature(cxx_noexcept) \
+ || (__cplusplus > 201103L) \
+ || ((__cplusplus >= 201103L) && (EIGEN_COMP_GNUC_STRICT || EIGEN_COMP_CLANG || EIGEN_COMP_ICC>=1400)) \
+ || EIGEN_COMP_MSVC >= 1900)
+ #define EIGEN_HAS_CXX11_NOEXCEPT 1
+ #else
+ #define EIGEN_HAS_CXX11_NOEXCEPT 0
+ #endif
+#endif
+
+/** Allows to disable some optimizations which might affect the accuracy of the result.
+ * Such optimization are enabled by default, and set EIGEN_FAST_MATH to 0 to disable them.
+ * They currently include:
+ * - single precision ArrayBase::sin() and ArrayBase::cos() for SSE and AVX vectorization.
+ */
+#ifndef EIGEN_FAST_MATH
+#define EIGEN_FAST_MATH 1
+#endif
+
+#define EIGEN_DEBUG_VAR(x) std::cerr << #x << " = " << x << std::endl;
+
+// concatenate two tokens
+#define EIGEN_CAT2(a,b) a ## b
+#define EIGEN_CAT(a,b) EIGEN_CAT2(a,b)
+
+#define EIGEN_COMMA ,
+
+// convert a token to a string
+#define EIGEN_MAKESTRING2(a) #a
+#define EIGEN_MAKESTRING(a) EIGEN_MAKESTRING2(a)
+
+// EIGEN_STRONG_INLINE is a stronger version of the inline, using __forceinline on MSVC,
+// but it still doesn't use GCC's always_inline. This is useful in (common) situations where MSVC needs forceinline
+// but GCC is still doing fine with just inline.
+#ifndef EIGEN_STRONG_INLINE
+#if EIGEN_COMP_MSVC || EIGEN_COMP_ICC
+#define EIGEN_STRONG_INLINE __forceinline
+#else
+#define EIGEN_STRONG_INLINE inline
+#endif
+#endif
+
+// EIGEN_ALWAYS_INLINE is the stronget, it has the effect of making the function inline and adding every possible
+// attribute to maximize inlining. This should only be used when really necessary: in particular,
+// it uses __attribute__((always_inline)) on GCC, which most of the time is useless and can severely harm compile times.
+// FIXME with the always_inline attribute,
+// gcc 3.4.x and 4.1 reports the following compilation error:
+// Eval.h:91: sorry, unimplemented: inlining failed in call to 'const Eigen::Eval<Derived> Eigen::MatrixBase<Scalar, Derived>::eval() const'
+// : function body not available
+// See also bug 1367
+#if EIGEN_GNUC_AT_LEAST(4,2)
+#define EIGEN_ALWAYS_INLINE __attribute__((always_inline)) inline
+#else
+#define EIGEN_ALWAYS_INLINE EIGEN_STRONG_INLINE
+#endif
+
+#if EIGEN_COMP_GNUC
+#define EIGEN_DONT_INLINE __attribute__((noinline))
+#elif EIGEN_COMP_MSVC
+#define EIGEN_DONT_INLINE __declspec(noinline)
+#else
+#define EIGEN_DONT_INLINE
+#endif
+
+#if EIGEN_COMP_GNUC
+#define EIGEN_PERMISSIVE_EXPR __extension__
+#else
+#define EIGEN_PERMISSIVE_EXPR
+#endif
+
+// this macro allows to get rid of linking errors about multiply defined functions.
+// - static is not very good because it prevents definitions from different object files to be merged.
+// So static causes the resulting linked executable to be bloated with multiple copies of the same function.
+// - inline is not perfect either as it unwantedly hints the compiler toward inlining the function.
+#define EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+#define EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS inline
+
+#ifdef NDEBUG
+# ifndef EIGEN_NO_DEBUG
+# define EIGEN_NO_DEBUG
+# endif
+#endif
+
+// eigen_plain_assert is where we implement the workaround for the assert() bug in GCC <= 4.3, see bug 89
+#ifdef EIGEN_NO_DEBUG
+ #define eigen_plain_assert(x)
+#else
+ #if EIGEN_SAFE_TO_USE_STANDARD_ASSERT_MACRO
+ namespace Eigen {
+ namespace internal {
+ inline bool copy_bool(bool b) { return b; }
+ }
+ }
+ #define eigen_plain_assert(x) assert(x)
+ #else
+ // work around bug 89
+ #include <cstdlib> // for abort
+ #include <iostream> // for std::cerr
+
+ namespace Eigen {
+ namespace internal {
+ // trivial function copying a bool. Must be EIGEN_DONT_INLINE, so we implement it after including Eigen headers.
+ // see bug 89.
+ namespace {
+ EIGEN_DONT_INLINE bool copy_bool(bool b) { return b; }
+ }
+ inline void assert_fail(const char *condition, const char *function, const char *file, int line)
+ {
+ std::cerr << "assertion failed: " << condition << " in function " << function << " at " << file << ":" << line << std::endl;
+ abort();
+ }
+ }
+ }
+ #define eigen_plain_assert(x) \
+ do { \
+ if(!Eigen::internal::copy_bool(x)) \
+ Eigen::internal::assert_fail(EIGEN_MAKESTRING(x), __PRETTY_FUNCTION__, __FILE__, __LINE__); \
+ } while(false)
+ #endif
+#endif
+
+// eigen_assert can be overridden
+#ifndef eigen_assert
+#define eigen_assert(x) eigen_plain_assert(x)
+#endif
+
+#ifdef EIGEN_INTERNAL_DEBUGGING
+#define eigen_internal_assert(x) eigen_assert(x)
+#else
+#define eigen_internal_assert(x)
+#endif
+
+#ifdef EIGEN_NO_DEBUG
+#define EIGEN_ONLY_USED_FOR_DEBUG(x) EIGEN_UNUSED_VARIABLE(x)
+#else
+#define EIGEN_ONLY_USED_FOR_DEBUG(x)
+#endif
+
+#ifndef EIGEN_NO_DEPRECATED_WARNING
+ #if EIGEN_COMP_GNUC
+ #define EIGEN_DEPRECATED __attribute__((deprecated))
+ #elif EIGEN_COMP_MSVC
+ #define EIGEN_DEPRECATED __declspec(deprecated)
+ #else
+ #define EIGEN_DEPRECATED
+ #endif
+#else
+ #define EIGEN_DEPRECATED
+#endif
+
+#if EIGEN_COMP_GNUC
+#define EIGEN_UNUSED __attribute__((unused))
+#else
+#define EIGEN_UNUSED
+#endif
+
+// Suppresses 'unused variable' warnings.
+namespace Eigen {
+ namespace internal {
+ template<typename T> EIGEN_DEVICE_FUNC void ignore_unused_variable(const T&) {}
+ }
+}
+#define EIGEN_UNUSED_VARIABLE(var) Eigen::internal::ignore_unused_variable(var);
+
+#if !defined(EIGEN_ASM_COMMENT)
+ #if EIGEN_COMP_GNUC && (EIGEN_ARCH_i386_OR_x86_64 || EIGEN_ARCH_ARM_OR_ARM64)
+ #define EIGEN_ASM_COMMENT(X) __asm__("#" X)
+ #else
+ #define EIGEN_ASM_COMMENT(X)
+ #endif
+#endif
+
+
+//------------------------------------------------------------------------------------------
+// Static and dynamic alignment control
+//
+// The main purpose of this section is to define EIGEN_MAX_ALIGN_BYTES and EIGEN_MAX_STATIC_ALIGN_BYTES
+// as the maximal boundary in bytes on which dynamically and statically allocated data may be alignment respectively.
+// The values of EIGEN_MAX_ALIGN_BYTES and EIGEN_MAX_STATIC_ALIGN_BYTES can be specified by the user. If not,
+// a default value is automatically computed based on architecture, compiler, and OS.
+//
+// This section also defines macros EIGEN_ALIGN_TO_BOUNDARY(N) and the shortcuts EIGEN_ALIGN{8,16,32,_MAX}
+// to be used to declare statically aligned buffers.
+//------------------------------------------------------------------------------------------
+
+
+/* EIGEN_ALIGN_TO_BOUNDARY(n) forces data to be n-byte aligned. This is used to satisfy SIMD requirements.
+ * However, we do that EVEN if vectorization (EIGEN_VECTORIZE) is disabled,
+ * so that vectorization doesn't affect binary compatibility.
+ *
+ * If we made alignment depend on whether or not EIGEN_VECTORIZE is defined, it would be impossible to link
+ * vectorized and non-vectorized code.
+ */
+#if (defined __CUDACC__)
+ #define EIGEN_ALIGN_TO_BOUNDARY(n) __align__(n)
+#elif EIGEN_COMP_GNUC || EIGEN_COMP_PGI || EIGEN_COMP_IBM || EIGEN_COMP_ARM
+ #define EIGEN_ALIGN_TO_BOUNDARY(n) __attribute__((aligned(n)))
+#elif EIGEN_COMP_MSVC
+ #define EIGEN_ALIGN_TO_BOUNDARY(n) __declspec(align(n))
+#elif EIGEN_COMP_SUNCC
+ // FIXME not sure about this one:
+ #define EIGEN_ALIGN_TO_BOUNDARY(n) __attribute__((aligned(n)))
+#else
+ #error Please tell me what is the equivalent of __attribute__((aligned(n))) for your compiler
+#endif
+
+// If the user explicitly disable vectorization, then we also disable alignment
+#if defined(EIGEN_DONT_VECTORIZE)
+ #define EIGEN_IDEAL_MAX_ALIGN_BYTES 0
+#elif defined(EIGEN_VECTORIZE_AVX512)
+ // 64 bytes static alignmeent is preferred only if really required
+ #define EIGEN_IDEAL_MAX_ALIGN_BYTES 64
+#elif defined(__AVX__)
+ // 32 bytes static alignmeent is preferred only if really required
+ #define EIGEN_IDEAL_MAX_ALIGN_BYTES 32
+#else
+ #define EIGEN_IDEAL_MAX_ALIGN_BYTES 16
+#endif
+
+
+// EIGEN_MIN_ALIGN_BYTES defines the minimal value for which the notion of explicit alignment makes sense
+#define EIGEN_MIN_ALIGN_BYTES 16
+
+// Defined the boundary (in bytes) on which the data needs to be aligned. Note
+// that unless EIGEN_ALIGN is defined and not equal to 0, the data may not be
+// aligned at all regardless of the value of this #define.
+
+#if (defined(EIGEN_DONT_ALIGN_STATICALLY) || defined(EIGEN_DONT_ALIGN)) && defined(EIGEN_MAX_STATIC_ALIGN_BYTES) && EIGEN_MAX_STATIC_ALIGN_BYTES>0
+#error EIGEN_MAX_STATIC_ALIGN_BYTES and EIGEN_DONT_ALIGN[_STATICALLY] are both defined with EIGEN_MAX_STATIC_ALIGN_BYTES!=0. Use EIGEN_MAX_STATIC_ALIGN_BYTES=0 as a synonym of EIGEN_DONT_ALIGN_STATICALLY.
+#endif
+
+// EIGEN_DONT_ALIGN_STATICALLY and EIGEN_DONT_ALIGN are deprectated
+// They imply EIGEN_MAX_STATIC_ALIGN_BYTES=0
+#if defined(EIGEN_DONT_ALIGN_STATICALLY) || defined(EIGEN_DONT_ALIGN)
+ #ifdef EIGEN_MAX_STATIC_ALIGN_BYTES
+ #undef EIGEN_MAX_STATIC_ALIGN_BYTES
+ #endif
+ #define EIGEN_MAX_STATIC_ALIGN_BYTES 0
+#endif
+
+#ifndef EIGEN_MAX_STATIC_ALIGN_BYTES
+
+ // Try to automatically guess what is the best default value for EIGEN_MAX_STATIC_ALIGN_BYTES
+
+ // 16 byte alignment is only useful for vectorization. Since it affects the ABI, we need to enable
+ // 16 byte alignment on all platforms where vectorization might be enabled. In theory we could always
+ // enable alignment, but it can be a cause of problems on some platforms, so we just disable it in
+ // certain common platform (compiler+architecture combinations) to avoid these problems.
+ // Only static alignment is really problematic (relies on nonstandard compiler extensions),
+ // try to keep heap alignment even when we have to disable static alignment.
+ #if EIGEN_COMP_GNUC && !(EIGEN_ARCH_i386_OR_x86_64 || EIGEN_ARCH_ARM_OR_ARM64 || EIGEN_ARCH_PPC || EIGEN_ARCH_IA64)
+ #define EIGEN_GCC_AND_ARCH_DOESNT_WANT_STACK_ALIGNMENT 1
+ #elif EIGEN_ARCH_ARM_OR_ARM64 && EIGEN_COMP_GNUC_STRICT && EIGEN_GNUC_AT_MOST(4, 6)
+ // Old versions of GCC on ARM, at least 4.4, were once seen to have buggy static alignment support.
+ // Not sure which version fixed it, hopefully it doesn't affect 4.7, which is still somewhat in use.
+ // 4.8 and newer seem definitely unaffected.
+ #define EIGEN_GCC_AND_ARCH_DOESNT_WANT_STACK_ALIGNMENT 1
+ #else
+ #define EIGEN_GCC_AND_ARCH_DOESNT_WANT_STACK_ALIGNMENT 0
+ #endif
+
+ // static alignment is completely disabled with GCC 3, Sun Studio, and QCC/QNX
+ #if !EIGEN_GCC_AND_ARCH_DOESNT_WANT_STACK_ALIGNMENT \
+ && !EIGEN_GCC3_OR_OLDER \
+ && !EIGEN_COMP_SUNCC \
+ && !EIGEN_OS_QNX
+ #define EIGEN_ARCH_WANTS_STACK_ALIGNMENT 1
+ #else
+ #define EIGEN_ARCH_WANTS_STACK_ALIGNMENT 0
+ #endif
+
+ #if EIGEN_ARCH_WANTS_STACK_ALIGNMENT
+ #define EIGEN_MAX_STATIC_ALIGN_BYTES EIGEN_IDEAL_MAX_ALIGN_BYTES
+ #else
+ #define EIGEN_MAX_STATIC_ALIGN_BYTES 0
+ #endif
+
+#endif
+
+// If EIGEN_MAX_ALIGN_BYTES is defined, then it is considered as an upper bound for EIGEN_MAX_ALIGN_BYTES
+#if defined(EIGEN_MAX_ALIGN_BYTES) && EIGEN_MAX_ALIGN_BYTES<EIGEN_MAX_STATIC_ALIGN_BYTES
+#undef EIGEN_MAX_STATIC_ALIGN_BYTES
+#define EIGEN_MAX_STATIC_ALIGN_BYTES EIGEN_MAX_ALIGN_BYTES
+#endif
+
+#if EIGEN_MAX_STATIC_ALIGN_BYTES==0 && !defined(EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT)
+ #define EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT
+#endif
+
+// At this stage, EIGEN_MAX_STATIC_ALIGN_BYTES>0 is the true test whether we want to align arrays on the stack or not.
+// It takes into account both the user choice to explicitly enable/disable alignment (by settting EIGEN_MAX_STATIC_ALIGN_BYTES)
+// and the architecture config (EIGEN_ARCH_WANTS_STACK_ALIGNMENT).
+// Henceforth, only EIGEN_MAX_STATIC_ALIGN_BYTES should be used.
+
+
+// Shortcuts to EIGEN_ALIGN_TO_BOUNDARY
+#define EIGEN_ALIGN8 EIGEN_ALIGN_TO_BOUNDARY(8)
+#define EIGEN_ALIGN16 EIGEN_ALIGN_TO_BOUNDARY(16)
+#define EIGEN_ALIGN32 EIGEN_ALIGN_TO_BOUNDARY(32)
+#define EIGEN_ALIGN64 EIGEN_ALIGN_TO_BOUNDARY(64)
+#if EIGEN_MAX_STATIC_ALIGN_BYTES>0
+#define EIGEN_ALIGN_MAX EIGEN_ALIGN_TO_BOUNDARY(EIGEN_MAX_STATIC_ALIGN_BYTES)
+#else
+#define EIGEN_ALIGN_MAX
+#endif
+
+
+// Dynamic alignment control
+
+#if defined(EIGEN_DONT_ALIGN) && defined(EIGEN_MAX_ALIGN_BYTES) && EIGEN_MAX_ALIGN_BYTES>0
+#error EIGEN_MAX_ALIGN_BYTES and EIGEN_DONT_ALIGN are both defined with EIGEN_MAX_ALIGN_BYTES!=0. Use EIGEN_MAX_ALIGN_BYTES=0 as a synonym of EIGEN_DONT_ALIGN.
+#endif
+
+#ifdef EIGEN_DONT_ALIGN
+ #ifdef EIGEN_MAX_ALIGN_BYTES
+ #undef EIGEN_MAX_ALIGN_BYTES
+ #endif
+ #define EIGEN_MAX_ALIGN_BYTES 0
+#elif !defined(EIGEN_MAX_ALIGN_BYTES)
+ #define EIGEN_MAX_ALIGN_BYTES EIGEN_IDEAL_MAX_ALIGN_BYTES
+#endif
+
+#if EIGEN_IDEAL_MAX_ALIGN_BYTES > EIGEN_MAX_ALIGN_BYTES
+#define EIGEN_DEFAULT_ALIGN_BYTES EIGEN_IDEAL_MAX_ALIGN_BYTES
+#else
+#define EIGEN_DEFAULT_ALIGN_BYTES EIGEN_MAX_ALIGN_BYTES
+#endif
+
+
+#ifndef EIGEN_UNALIGNED_VECTORIZE
+#define EIGEN_UNALIGNED_VECTORIZE 1
+#endif
+
+//----------------------------------------------------------------------
+
+
+#ifdef EIGEN_DONT_USE_RESTRICT_KEYWORD
+ #define EIGEN_RESTRICT
+#endif
+#ifndef EIGEN_RESTRICT
+ #define EIGEN_RESTRICT __restrict
+#endif
+
+#ifndef EIGEN_STACK_ALLOCATION_LIMIT
+// 131072 == 128 KB
+#define EIGEN_STACK_ALLOCATION_LIMIT 131072
+#endif
+
+#ifndef EIGEN_DEFAULT_IO_FORMAT
+#ifdef EIGEN_MAKING_DOCS
+// format used in Eigen's documentation
+// needed to define it here as escaping characters in CMake add_definition's argument seems very problematic.
+#define EIGEN_DEFAULT_IO_FORMAT Eigen::IOFormat(3, 0, " ", "\n", "", "")
+#else
+#define EIGEN_DEFAULT_IO_FORMAT Eigen::IOFormat()
+#endif
+#endif
+
+// just an empty macro !
+#define EIGEN_EMPTY
+
+#if EIGEN_COMP_MSVC_STRICT && (EIGEN_COMP_MSVC < 1900 || EIGEN_CUDACC_VER>0)
+ // for older MSVC versions, as well as 1900 && CUDA 8, using the base operator is sufficient (cf Bugs 1000, 1324)
+ #define EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived) \
+ using Base::operator =;
+#elif EIGEN_COMP_CLANG // workaround clang bug (see http://forum.kde.org/viewtopic.php?f=74&t=102653)
+ #define EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived) \
+ using Base::operator =; \
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator=(const Derived& other) { Base::operator=(other); return *this; } \
+ template <typename OtherDerived> \
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator=(const DenseBase<OtherDerived>& other) { Base::operator=(other.derived()); return *this; }
+#else
+ #define EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived) \
+ using Base::operator =; \
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator=(const Derived& other) \
+ { \
+ Base::operator=(other); \
+ return *this; \
+ }
+#endif
+
+
+/** \internal
+ * \brief Macro to manually inherit assignment operators.
+ * This is necessary, because the implicitly defined assignment operator gets deleted when a custom operator= is defined.
+ */
+#define EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Derived) EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived)
+
+/**
+* Just a side note. Commenting within defines works only by documenting
+* behind the object (via '!<'). Comments cannot be multi-line and thus
+* we have these extra long lines. What is confusing doxygen over here is
+* that we use '\' and basically have a bunch of typedefs with their
+* documentation in a single line.
+**/
+
+#define EIGEN_GENERIC_PUBLIC_INTERFACE(Derived) \
+ typedef typename Eigen::internal::traits<Derived>::Scalar Scalar; /*!< \brief Numeric type, e.g. float, double, int or std::complex<float>. */ \
+ typedef typename Eigen::NumTraits<Scalar>::Real RealScalar; /*!< \brief The underlying numeric type for composed scalar types. \details In cases where Scalar is e.g. std::complex<T>, T were corresponding to RealScalar. */ \
+ typedef typename Base::CoeffReturnType CoeffReturnType; /*!< \brief The return type for coefficient access. \details Depending on whether the object allows direct coefficient access (e.g. for a MatrixXd), this type is either 'const Scalar&' or simply 'Scalar' for objects that do not allow direct coefficient access. */ \
+ typedef typename Eigen::internal::ref_selector<Derived>::type Nested; \
+ typedef typename Eigen::internal::traits<Derived>::StorageKind StorageKind; \
+ typedef typename Eigen::internal::traits<Derived>::StorageIndex StorageIndex; \
+ enum { RowsAtCompileTime = Eigen::internal::traits<Derived>::RowsAtCompileTime, \
+ ColsAtCompileTime = Eigen::internal::traits<Derived>::ColsAtCompileTime, \
+ Flags = Eigen::internal::traits<Derived>::Flags, \
+ SizeAtCompileTime = Base::SizeAtCompileTime, \
+ MaxSizeAtCompileTime = Base::MaxSizeAtCompileTime, \
+ IsVectorAtCompileTime = Base::IsVectorAtCompileTime }; \
+ using Base::derived; \
+ using Base::const_cast_derived;
+
+
+// FIXME Maybe the EIGEN_DENSE_PUBLIC_INTERFACE could be removed as importing PacketScalar is rarely needed
+#define EIGEN_DENSE_PUBLIC_INTERFACE(Derived) \
+ EIGEN_GENERIC_PUBLIC_INTERFACE(Derived) \
+ typedef typename Base::PacketScalar PacketScalar;
+
+
+#define EIGEN_PLAIN_ENUM_MIN(a,b) (((int)a <= (int)b) ? (int)a : (int)b)
+#define EIGEN_PLAIN_ENUM_MAX(a,b) (((int)a >= (int)b) ? (int)a : (int)b)
+
+// EIGEN_SIZE_MIN_PREFER_DYNAMIC gives the min between compile-time sizes. 0 has absolute priority, followed by 1,
+// followed by Dynamic, followed by other finite values. The reason for giving Dynamic the priority over
+// finite values is that min(3, Dynamic) should be Dynamic, since that could be anything between 0 and 3.
+#define EIGEN_SIZE_MIN_PREFER_DYNAMIC(a,b) (((int)a == 0 || (int)b == 0) ? 0 \
+ : ((int)a == 1 || (int)b == 1) ? 1 \
+ : ((int)a == Dynamic || (int)b == Dynamic) ? Dynamic \
+ : ((int)a <= (int)b) ? (int)a : (int)b)
+
+// EIGEN_SIZE_MIN_PREFER_FIXED is a variant of EIGEN_SIZE_MIN_PREFER_DYNAMIC comparing MaxSizes. The difference is that finite values
+// now have priority over Dynamic, so that min(3, Dynamic) gives 3. Indeed, whatever the actual value is
+// (between 0 and 3), it is not more than 3.
+#define EIGEN_SIZE_MIN_PREFER_FIXED(a,b) (((int)a == 0 || (int)b == 0) ? 0 \
+ : ((int)a == 1 || (int)b == 1) ? 1 \
+ : ((int)a == Dynamic && (int)b == Dynamic) ? Dynamic \
+ : ((int)a == Dynamic) ? (int)b \
+ : ((int)b == Dynamic) ? (int)a \
+ : ((int)a <= (int)b) ? (int)a : (int)b)
+
+// see EIGEN_SIZE_MIN_PREFER_DYNAMIC. No need for a separate variant for MaxSizes here.
+#define EIGEN_SIZE_MAX(a,b) (((int)a == Dynamic || (int)b == Dynamic) ? Dynamic \
+ : ((int)a >= (int)b) ? (int)a : (int)b)
+
+#define EIGEN_LOGICAL_XOR(a,b) (((a) || (b)) && !((a) && (b)))
+
+#define EIGEN_IMPLIES(a,b) (!(a) || (b))
+
+// the expression type of a standard coefficient wise binary operation
+#define EIGEN_CWISE_BINARY_RETURN_TYPE(LHS,RHS,OPNAME) \
+ CwiseBinaryOp< \
+ EIGEN_CAT(EIGEN_CAT(internal::scalar_,OPNAME),_op)< \
+ typename internal::traits<LHS>::Scalar, \
+ typename internal::traits<RHS>::Scalar \
+ >, \
+ const LHS, \
+ const RHS \
+ >
+
+#define EIGEN_MAKE_CWISE_BINARY_OP(METHOD,OPNAME) \
+ template<typename OtherDerived> \
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const EIGEN_CWISE_BINARY_RETURN_TYPE(Derived,OtherDerived,OPNAME) \
+ (METHOD)(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const \
+ { \
+ return EIGEN_CWISE_BINARY_RETURN_TYPE(Derived,OtherDerived,OPNAME)(derived(), other.derived()); \
+ }
+
+#define EIGEN_SCALAR_BINARY_SUPPORTED(OPNAME,TYPEA,TYPEB) \
+ (Eigen::internal::has_ReturnType<Eigen::ScalarBinaryOpTraits<TYPEA,TYPEB,EIGEN_CAT(EIGEN_CAT(Eigen::internal::scalar_,OPNAME),_op)<TYPEA,TYPEB> > >::value)
+
+#define EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(EXPR,SCALAR,OPNAME) \
+ CwiseBinaryOp<EIGEN_CAT(EIGEN_CAT(internal::scalar_,OPNAME),_op)<typename internal::traits<EXPR>::Scalar,SCALAR>, const EXPR, \
+ const typename internal::plain_constant_type<EXPR,SCALAR>::type>
+
+#define EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(SCALAR,EXPR,OPNAME) \
+ CwiseBinaryOp<EIGEN_CAT(EIGEN_CAT(internal::scalar_,OPNAME),_op)<SCALAR,typename internal::traits<EXPR>::Scalar>, \
+ const typename internal::plain_constant_type<EXPR,SCALAR>::type, const EXPR>
+
+// Workaround for MSVC 2010 (see ML thread "patch with compile for for MSVC 2010")
+#if EIGEN_COMP_MSVC_STRICT<=1600
+#define EIGEN_MSVC10_WORKAROUND_BINARYOP_RETURN_TYPE(X) typename internal::enable_if<true,X>::type
+#else
+#define EIGEN_MSVC10_WORKAROUND_BINARYOP_RETURN_TYPE(X) X
+#endif
+
+#define EIGEN_MAKE_SCALAR_BINARY_OP_ONTHERIGHT(METHOD,OPNAME) \
+ template <typename T> EIGEN_DEVICE_FUNC inline \
+ EIGEN_MSVC10_WORKAROUND_BINARYOP_RETURN_TYPE(const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(Derived,typename internal::promote_scalar_arg<Scalar EIGEN_COMMA T EIGEN_COMMA EIGEN_SCALAR_BINARY_SUPPORTED(OPNAME,Scalar,T)>::type,OPNAME))\
+ (METHOD)(const T& scalar) const { \
+ typedef typename internal::promote_scalar_arg<Scalar,T,EIGEN_SCALAR_BINARY_SUPPORTED(OPNAME,Scalar,T)>::type PromotedT; \
+ return EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(Derived,PromotedT,OPNAME)(derived(), \
+ typename internal::plain_constant_type<Derived,PromotedT>::type(derived().rows(), derived().cols(), internal::scalar_constant_op<PromotedT>(scalar))); \
+ }
+
+#define EIGEN_MAKE_SCALAR_BINARY_OP_ONTHELEFT(METHOD,OPNAME) \
+ template <typename T> EIGEN_DEVICE_FUNC inline friend \
+ EIGEN_MSVC10_WORKAROUND_BINARYOP_RETURN_TYPE(const EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(typename internal::promote_scalar_arg<Scalar EIGEN_COMMA T EIGEN_COMMA EIGEN_SCALAR_BINARY_SUPPORTED(OPNAME,T,Scalar)>::type,Derived,OPNAME)) \
+ (METHOD)(const T& scalar, const StorageBaseType& matrix) { \
+ typedef typename internal::promote_scalar_arg<Scalar,T,EIGEN_SCALAR_BINARY_SUPPORTED(OPNAME,T,Scalar)>::type PromotedT; \
+ return EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(PromotedT,Derived,OPNAME)( \
+ typename internal::plain_constant_type<Derived,PromotedT>::type(matrix.derived().rows(), matrix.derived().cols(), internal::scalar_constant_op<PromotedT>(scalar)), matrix.derived()); \
+ }
+
+#define EIGEN_MAKE_SCALAR_BINARY_OP(METHOD,OPNAME) \
+ EIGEN_MAKE_SCALAR_BINARY_OP_ONTHELEFT(METHOD,OPNAME) \
+ EIGEN_MAKE_SCALAR_BINARY_OP_ONTHERIGHT(METHOD,OPNAME)
+
+
+#ifdef EIGEN_EXCEPTIONS
+# define EIGEN_THROW_X(X) throw X
+# define EIGEN_THROW throw
+# define EIGEN_TRY try
+# define EIGEN_CATCH(X) catch (X)
+#else
+# ifdef __CUDA_ARCH__
+# define EIGEN_THROW_X(X) asm("trap;")
+# define EIGEN_THROW asm("trap;")
+# else
+# define EIGEN_THROW_X(X) std::abort()
+# define EIGEN_THROW std::abort()
+# endif
+# define EIGEN_TRY if (true)
+# define EIGEN_CATCH(X) else
+#endif
+
+
+#if EIGEN_HAS_CXX11_NOEXCEPT
+# define EIGEN_INCLUDE_TYPE_TRAITS
+# define EIGEN_NOEXCEPT noexcept
+# define EIGEN_NOEXCEPT_IF(x) noexcept(x)
+# define EIGEN_NO_THROW noexcept(true)
+# define EIGEN_EXCEPTION_SPEC(X) noexcept(false)
+#else
+# define EIGEN_NOEXCEPT
+# define EIGEN_NOEXCEPT_IF(x)
+# define EIGEN_NO_THROW throw()
+# if EIGEN_COMP_MSVC
+ // MSVC does not support exception specifications (warning C4290),
+ // and they are deprecated in c++11 anyway.
+# define EIGEN_EXCEPTION_SPEC(X) throw()
+# else
+# define EIGEN_EXCEPTION_SPEC(X) throw(X)
+# endif
+#endif
+
+#endif // EIGEN_MACROS_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/util/Memory.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/util/Memory.h
new file mode 100644
index 0000000..291383c
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/util/Memory.h
@@ -0,0 +1,993 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2009 Kenneth Riddile <kfriddile@yahoo.com>
+// Copyright (C) 2010 Hauke Heibel <hauke.heibel@gmail.com>
+// Copyright (C) 2010 Thomas Capricelli <orzel@freehackers.org>
+// Copyright (C) 2013 Pavel Holoborodko <pavel@holoborodko.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+
+/*****************************************************************************
+*** Platform checks for aligned malloc functions ***
+*****************************************************************************/
+
+#ifndef EIGEN_MEMORY_H
+#define EIGEN_MEMORY_H
+
+#ifndef EIGEN_MALLOC_ALREADY_ALIGNED
+
+// Try to determine automatically if malloc is already aligned.
+
+// On 64-bit systems, glibc's malloc returns 16-byte-aligned pointers, see:
+// http://www.gnu.org/s/libc/manual/html_node/Aligned-Memory-Blocks.html
+// This is true at least since glibc 2.8.
+// This leaves the question how to detect 64-bit. According to this document,
+// http://gcc.fyxm.net/summit/2003/Porting%20to%2064%20bit.pdf
+// page 114, "[The] LP64 model [...] is used by all 64-bit UNIX ports" so it's indeed
+// quite safe, at least within the context of glibc, to equate 64-bit with LP64.
+#if defined(__GLIBC__) && ((__GLIBC__>=2 && __GLIBC_MINOR__ >= 8) || __GLIBC__>2) \
+ && defined(__LP64__) && ! defined( __SANITIZE_ADDRESS__ ) && (EIGEN_DEFAULT_ALIGN_BYTES == 16)
+ #define EIGEN_GLIBC_MALLOC_ALREADY_ALIGNED 1
+#else
+ #define EIGEN_GLIBC_MALLOC_ALREADY_ALIGNED 0
+#endif
+
+// FreeBSD 6 seems to have 16-byte aligned malloc
+// See http://svn.freebsd.org/viewvc/base/stable/6/lib/libc/stdlib/malloc.c?view=markup
+// FreeBSD 7 seems to have 16-byte aligned malloc except on ARM and MIPS architectures
+// See http://svn.freebsd.org/viewvc/base/stable/7/lib/libc/stdlib/malloc.c?view=markup
+#if defined(__FreeBSD__) && !(EIGEN_ARCH_ARM || EIGEN_ARCH_MIPS) && (EIGEN_DEFAULT_ALIGN_BYTES == 16)
+ #define EIGEN_FREEBSD_MALLOC_ALREADY_ALIGNED 1
+#else
+ #define EIGEN_FREEBSD_MALLOC_ALREADY_ALIGNED 0
+#endif
+
+#if (EIGEN_OS_MAC && (EIGEN_DEFAULT_ALIGN_BYTES == 16)) \
+ || (EIGEN_OS_WIN64 && (EIGEN_DEFAULT_ALIGN_BYTES == 16)) \
+ || EIGEN_GLIBC_MALLOC_ALREADY_ALIGNED \
+ || EIGEN_FREEBSD_MALLOC_ALREADY_ALIGNED
+ #define EIGEN_MALLOC_ALREADY_ALIGNED 1
+#else
+ #define EIGEN_MALLOC_ALREADY_ALIGNED 0
+#endif
+
+#endif
+
+namespace Eigen {
+
+namespace internal {
+
+EIGEN_DEVICE_FUNC
+inline void throw_std_bad_alloc()
+{
+ #ifdef EIGEN_EXCEPTIONS
+ throw std::bad_alloc();
+ #else
+ std::size_t huge = static_cast<std::size_t>(-1);
+ ::operator new(huge);
+ #endif
+}
+
+/*****************************************************************************
+*** Implementation of handmade aligned functions ***
+*****************************************************************************/
+
+/* ----- Hand made implementations of aligned malloc/free and realloc ----- */
+
+/** \internal Like malloc, but the returned pointer is guaranteed to be 16-byte aligned.
+ * Fast, but wastes 16 additional bytes of memory. Does not throw any exception.
+ */
+inline void* handmade_aligned_malloc(std::size_t size)
+{
+ void *original = std::malloc(size+EIGEN_DEFAULT_ALIGN_BYTES);
+ if (original == 0) return 0;
+ void *aligned = reinterpret_cast<void*>((reinterpret_cast<std::size_t>(original) & ~(std::size_t(EIGEN_DEFAULT_ALIGN_BYTES-1))) + EIGEN_DEFAULT_ALIGN_BYTES);
+ *(reinterpret_cast<void**>(aligned) - 1) = original;
+ return aligned;
+}
+
+/** \internal Frees memory allocated with handmade_aligned_malloc */
+inline void handmade_aligned_free(void *ptr)
+{
+ if (ptr) std::free(*(reinterpret_cast<void**>(ptr) - 1));
+}
+
+/** \internal
+ * \brief Reallocates aligned memory.
+ * Since we know that our handmade version is based on std::malloc
+ * we can use std::realloc to implement efficient reallocation.
+ */
+inline void* handmade_aligned_realloc(void* ptr, std::size_t size, std::size_t = 0)
+{
+ if (ptr == 0) return handmade_aligned_malloc(size);
+ void *original = *(reinterpret_cast<void**>(ptr) - 1);
+ std::ptrdiff_t previous_offset = static_cast<char *>(ptr)-static_cast<char *>(original);
+ original = std::realloc(original,size+EIGEN_DEFAULT_ALIGN_BYTES);
+ if (original == 0) return 0;
+ void *aligned = reinterpret_cast<void*>((reinterpret_cast<std::size_t>(original) & ~(std::size_t(EIGEN_DEFAULT_ALIGN_BYTES-1))) + EIGEN_DEFAULT_ALIGN_BYTES);
+ void *previous_aligned = static_cast<char *>(original)+previous_offset;
+ if(aligned!=previous_aligned)
+ std::memmove(aligned, previous_aligned, size);
+
+ *(reinterpret_cast<void**>(aligned) - 1) = original;
+ return aligned;
+}
+
+/*****************************************************************************
+*** Implementation of portable aligned versions of malloc/free/realloc ***
+*****************************************************************************/
+
+#ifdef EIGEN_NO_MALLOC
+EIGEN_DEVICE_FUNC inline void check_that_malloc_is_allowed()
+{
+ eigen_assert(false && "heap allocation is forbidden (EIGEN_NO_MALLOC is defined)");
+}
+#elif defined EIGEN_RUNTIME_NO_MALLOC
+EIGEN_DEVICE_FUNC inline bool is_malloc_allowed_impl(bool update, bool new_value = false)
+{
+ static bool value = true;
+ if (update == 1)
+ value = new_value;
+ return value;
+}
+EIGEN_DEVICE_FUNC inline bool is_malloc_allowed() { return is_malloc_allowed_impl(false); }
+EIGEN_DEVICE_FUNC inline bool set_is_malloc_allowed(bool new_value) { return is_malloc_allowed_impl(true, new_value); }
+EIGEN_DEVICE_FUNC inline void check_that_malloc_is_allowed()
+{
+ eigen_assert(is_malloc_allowed() && "heap allocation is forbidden (EIGEN_RUNTIME_NO_MALLOC is defined and g_is_malloc_allowed is false)");
+}
+#else
+EIGEN_DEVICE_FUNC inline void check_that_malloc_is_allowed()
+{}
+#endif
+
+/** \internal Allocates \a size bytes. The returned pointer is guaranteed to have 16 or 32 bytes alignment depending on the requirements.
+ * On allocation error, the returned pointer is null, and std::bad_alloc is thrown.
+ */
+EIGEN_DEVICE_FUNC inline void* aligned_malloc(std::size_t size)
+{
+ check_that_malloc_is_allowed();
+
+ void *result;
+ #if (EIGEN_DEFAULT_ALIGN_BYTES==0) || EIGEN_MALLOC_ALREADY_ALIGNED
+ result = std::malloc(size);
+ #if EIGEN_DEFAULT_ALIGN_BYTES==16
+ eigen_assert((size<16 || (std::size_t(result)%16)==0) && "System's malloc returned an unaligned pointer. Compile with EIGEN_MALLOC_ALREADY_ALIGNED=0 to fallback to handmade alignd memory allocator.");
+ #endif
+ #else
+ result = handmade_aligned_malloc(size);
+ #endif
+
+ if(!result && size)
+ throw_std_bad_alloc();
+
+ return result;
+}
+
+/** \internal Frees memory allocated with aligned_malloc. */
+EIGEN_DEVICE_FUNC inline void aligned_free(void *ptr)
+{
+ #if (EIGEN_DEFAULT_ALIGN_BYTES==0) || EIGEN_MALLOC_ALREADY_ALIGNED
+ std::free(ptr);
+ #else
+ handmade_aligned_free(ptr);
+ #endif
+}
+
+/**
+ * \internal
+ * \brief Reallocates an aligned block of memory.
+ * \throws std::bad_alloc on allocation failure
+ */
+inline void* aligned_realloc(void *ptr, std::size_t new_size, std::size_t old_size)
+{
+ EIGEN_UNUSED_VARIABLE(old_size);
+
+ void *result;
+#if (EIGEN_DEFAULT_ALIGN_BYTES==0) || EIGEN_MALLOC_ALREADY_ALIGNED
+ result = std::realloc(ptr,new_size);
+#else
+ result = handmade_aligned_realloc(ptr,new_size,old_size);
+#endif
+
+ if (!result && new_size)
+ throw_std_bad_alloc();
+
+ return result;
+}
+
+/*****************************************************************************
+*** Implementation of conditionally aligned functions ***
+*****************************************************************************/
+
+/** \internal Allocates \a size bytes. If Align is true, then the returned ptr is 16-byte-aligned.
+ * On allocation error, the returned pointer is null, and a std::bad_alloc is thrown.
+ */
+template<bool Align> EIGEN_DEVICE_FUNC inline void* conditional_aligned_malloc(std::size_t size)
+{
+ return aligned_malloc(size);
+}
+
+template<> EIGEN_DEVICE_FUNC inline void* conditional_aligned_malloc<false>(std::size_t size)
+{
+ check_that_malloc_is_allowed();
+
+ void *result = std::malloc(size);
+ if(!result && size)
+ throw_std_bad_alloc();
+ return result;
+}
+
+/** \internal Frees memory allocated with conditional_aligned_malloc */
+template<bool Align> EIGEN_DEVICE_FUNC inline void conditional_aligned_free(void *ptr)
+{
+ aligned_free(ptr);
+}
+
+template<> EIGEN_DEVICE_FUNC inline void conditional_aligned_free<false>(void *ptr)
+{
+ std::free(ptr);
+}
+
+template<bool Align> inline void* conditional_aligned_realloc(void* ptr, std::size_t new_size, std::size_t old_size)
+{
+ return aligned_realloc(ptr, new_size, old_size);
+}
+
+template<> inline void* conditional_aligned_realloc<false>(void* ptr, std::size_t new_size, std::size_t)
+{
+ return std::realloc(ptr, new_size);
+}
+
+/*****************************************************************************
+*** Construction/destruction of array elements ***
+*****************************************************************************/
+
+/** \internal Destructs the elements of an array.
+ * The \a size parameters tells on how many objects to call the destructor of T.
+ */
+template<typename T> EIGEN_DEVICE_FUNC inline void destruct_elements_of_array(T *ptr, std::size_t size)
+{
+ // always destruct an array starting from the end.
+ if(ptr)
+ while(size) ptr[--size].~T();
+}
+
+/** \internal Constructs the elements of an array.
+ * The \a size parameter tells on how many objects to call the constructor of T.
+ */
+template<typename T> EIGEN_DEVICE_FUNC inline T* construct_elements_of_array(T *ptr, std::size_t size)
+{
+ std::size_t i;
+ EIGEN_TRY
+ {
+ for (i = 0; i < size; ++i) ::new (ptr + i) T;
+ return ptr;
+ }
+ EIGEN_CATCH(...)
+ {
+ destruct_elements_of_array(ptr, i);
+ EIGEN_THROW;
+ }
+ return NULL;
+}
+
+/*****************************************************************************
+*** Implementation of aligned new/delete-like functions ***
+*****************************************************************************/
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void check_size_for_overflow(std::size_t size)
+{
+ if(size > std::size_t(-1) / sizeof(T))
+ throw_std_bad_alloc();
+}
+
+/** \internal Allocates \a size objects of type T. The returned pointer is guaranteed to have 16 bytes alignment.
+ * On allocation error, the returned pointer is undefined, but a std::bad_alloc is thrown.
+ * The default constructor of T is called.
+ */
+template<typename T> EIGEN_DEVICE_FUNC inline T* aligned_new(std::size_t size)
+{
+ check_size_for_overflow<T>(size);
+ T *result = reinterpret_cast<T*>(aligned_malloc(sizeof(T)*size));
+ EIGEN_TRY
+ {
+ return construct_elements_of_array(result, size);
+ }
+ EIGEN_CATCH(...)
+ {
+ aligned_free(result);
+ EIGEN_THROW;
+ }
+ return result;
+}
+
+template<typename T, bool Align> EIGEN_DEVICE_FUNC inline T* conditional_aligned_new(std::size_t size)
+{
+ check_size_for_overflow<T>(size);
+ T *result = reinterpret_cast<T*>(conditional_aligned_malloc<Align>(sizeof(T)*size));
+ EIGEN_TRY
+ {
+ return construct_elements_of_array(result, size);
+ }
+ EIGEN_CATCH(...)
+ {
+ conditional_aligned_free<Align>(result);
+ EIGEN_THROW;
+ }
+ return result;
+}
+
+/** \internal Deletes objects constructed with aligned_new
+ * The \a size parameters tells on how many objects to call the destructor of T.
+ */
+template<typename T> EIGEN_DEVICE_FUNC inline void aligned_delete(T *ptr, std::size_t size)
+{
+ destruct_elements_of_array<T>(ptr, size);
+ aligned_free(ptr);
+}
+
+/** \internal Deletes objects constructed with conditional_aligned_new
+ * The \a size parameters tells on how many objects to call the destructor of T.
+ */
+template<typename T, bool Align> EIGEN_DEVICE_FUNC inline void conditional_aligned_delete(T *ptr, std::size_t size)
+{
+ destruct_elements_of_array<T>(ptr, size);
+ conditional_aligned_free<Align>(ptr);
+}
+
+template<typename T, bool Align> EIGEN_DEVICE_FUNC inline T* conditional_aligned_realloc_new(T* pts, std::size_t new_size, std::size_t old_size)
+{
+ check_size_for_overflow<T>(new_size);
+ check_size_for_overflow<T>(old_size);
+ if(new_size < old_size)
+ destruct_elements_of_array(pts+new_size, old_size-new_size);
+ T *result = reinterpret_cast<T*>(conditional_aligned_realloc<Align>(reinterpret_cast<void*>(pts), sizeof(T)*new_size, sizeof(T)*old_size));
+ if(new_size > old_size)
+ {
+ EIGEN_TRY
+ {
+ construct_elements_of_array(result+old_size, new_size-old_size);
+ }
+ EIGEN_CATCH(...)
+ {
+ conditional_aligned_free<Align>(result);
+ EIGEN_THROW;
+ }
+ }
+ return result;
+}
+
+
+template<typename T, bool Align> EIGEN_DEVICE_FUNC inline T* conditional_aligned_new_auto(std::size_t size)
+{
+ if(size==0)
+ return 0; // short-cut. Also fixes Bug 884
+ check_size_for_overflow<T>(size);
+ T *result = reinterpret_cast<T*>(conditional_aligned_malloc<Align>(sizeof(T)*size));
+ if(NumTraits<T>::RequireInitialization)
+ {
+ EIGEN_TRY
+ {
+ construct_elements_of_array(result, size);
+ }
+ EIGEN_CATCH(...)
+ {
+ conditional_aligned_free<Align>(result);
+ EIGEN_THROW;
+ }
+ }
+ return result;
+}
+
+template<typename T, bool Align> inline T* conditional_aligned_realloc_new_auto(T* pts, std::size_t new_size, std::size_t old_size)
+{
+ check_size_for_overflow<T>(new_size);
+ check_size_for_overflow<T>(old_size);
+ if(NumTraits<T>::RequireInitialization && (new_size < old_size))
+ destruct_elements_of_array(pts+new_size, old_size-new_size);
+ T *result = reinterpret_cast<T*>(conditional_aligned_realloc<Align>(reinterpret_cast<void*>(pts), sizeof(T)*new_size, sizeof(T)*old_size));
+ if(NumTraits<T>::RequireInitialization && (new_size > old_size))
+ {
+ EIGEN_TRY
+ {
+ construct_elements_of_array(result+old_size, new_size-old_size);
+ }
+ EIGEN_CATCH(...)
+ {
+ conditional_aligned_free<Align>(result);
+ EIGEN_THROW;
+ }
+ }
+ return result;
+}
+
+template<typename T, bool Align> EIGEN_DEVICE_FUNC inline void conditional_aligned_delete_auto(T *ptr, std::size_t size)
+{
+ if(NumTraits<T>::RequireInitialization)
+ destruct_elements_of_array<T>(ptr, size);
+ conditional_aligned_free<Align>(ptr);
+}
+
+/****************************************************************************/
+
+/** \internal Returns the index of the first element of the array that is well aligned with respect to the requested \a Alignment.
+ *
+ * \tparam Alignment requested alignment in Bytes.
+ * \param array the address of the start of the array
+ * \param size the size of the array
+ *
+ * \note If no element of the array is well aligned or the requested alignment is not a multiple of a scalar,
+ * the size of the array is returned. For example with SSE, the requested alignment is typically 16-bytes. If
+ * packet size for the given scalar type is 1, then everything is considered well-aligned.
+ *
+ * \note Otherwise, if the Alignment is larger that the scalar size, we rely on the assumptions that sizeof(Scalar) is a
+ * power of 2. On the other hand, we do not assume that the array address is a multiple of sizeof(Scalar), as that fails for
+ * example with Scalar=double on certain 32-bit platforms, see bug #79.
+ *
+ * There is also the variant first_aligned(const MatrixBase&) defined in DenseCoeffsBase.h.
+ * \sa first_default_aligned()
+ */
+template<int Alignment, typename Scalar, typename Index>
+EIGEN_DEVICE_FUNC inline Index first_aligned(const Scalar* array, Index size)
+{
+ const Index ScalarSize = sizeof(Scalar);
+ const Index AlignmentSize = Alignment / ScalarSize;
+ const Index AlignmentMask = AlignmentSize-1;
+
+ if(AlignmentSize<=1)
+ {
+ // Either the requested alignment if smaller than a scalar, or it exactly match a 1 scalar
+ // so that all elements of the array have the same alignment.
+ return 0;
+ }
+ else if( (UIntPtr(array) & (sizeof(Scalar)-1)) || (Alignment%ScalarSize)!=0)
+ {
+ // The array is not aligned to the size of a single scalar, or the requested alignment is not a multiple of the scalar size.
+ // Consequently, no element of the array is well aligned.
+ return size;
+ }
+ else
+ {
+ Index first = (AlignmentSize - (Index((UIntPtr(array)/sizeof(Scalar))) & AlignmentMask)) & AlignmentMask;
+ return (first < size) ? first : size;
+ }
+}
+
+/** \internal Returns the index of the first element of the array that is well aligned with respect the largest packet requirement.
+ * \sa first_aligned(Scalar*,Index) and first_default_aligned(DenseBase<Derived>) */
+template<typename Scalar, typename Index>
+EIGEN_DEVICE_FUNC inline Index first_default_aligned(const Scalar* array, Index size)
+{
+ typedef typename packet_traits<Scalar>::type DefaultPacketType;
+ return first_aligned<unpacket_traits<DefaultPacketType>::alignment>(array, size);
+}
+
+/** \internal Returns the smallest integer multiple of \a base and greater or equal to \a size
+ */
+template<typename Index>
+inline Index first_multiple(Index size, Index base)
+{
+ return ((size+base-1)/base)*base;
+}
+
+// std::copy is much slower than memcpy, so let's introduce a smart_copy which
+// use memcpy on trivial types, i.e., on types that does not require an initialization ctor.
+template<typename T, bool UseMemcpy> struct smart_copy_helper;
+
+template<typename T> EIGEN_DEVICE_FUNC void smart_copy(const T* start, const T* end, T* target)
+{
+ smart_copy_helper<T,!NumTraits<T>::RequireInitialization>::run(start, end, target);
+}
+
+template<typename T> struct smart_copy_helper<T,true> {
+ EIGEN_DEVICE_FUNC static inline void run(const T* start, const T* end, T* target)
+ {
+ IntPtr size = IntPtr(end)-IntPtr(start);
+ if(size==0) return;
+ eigen_internal_assert(start!=0 && end!=0 && target!=0);
+ std::memcpy(target, start, size);
+ }
+};
+
+template<typename T> struct smart_copy_helper<T,false> {
+ EIGEN_DEVICE_FUNC static inline void run(const T* start, const T* end, T* target)
+ { std::copy(start, end, target); }
+};
+
+// intelligent memmove. falls back to std::memmove for POD types, uses std::copy otherwise.
+template<typename T, bool UseMemmove> struct smart_memmove_helper;
+
+template<typename T> void smart_memmove(const T* start, const T* end, T* target)
+{
+ smart_memmove_helper<T,!NumTraits<T>::RequireInitialization>::run(start, end, target);
+}
+
+template<typename T> struct smart_memmove_helper<T,true> {
+ static inline void run(const T* start, const T* end, T* target)
+ {
+ IntPtr size = IntPtr(end)-IntPtr(start);
+ if(size==0) return;
+ eigen_internal_assert(start!=0 && end!=0 && target!=0);
+ std::memmove(target, start, size);
+ }
+};
+
+template<typename T> struct smart_memmove_helper<T,false> {
+ static inline void run(const T* start, const T* end, T* target)
+ {
+ if (UIntPtr(target) < UIntPtr(start))
+ {
+ std::copy(start, end, target);
+ }
+ else
+ {
+ std::ptrdiff_t count = (std::ptrdiff_t(end)-std::ptrdiff_t(start)) / sizeof(T);
+ std::copy_backward(start, end, target + count);
+ }
+ }
+};
+
+
+/*****************************************************************************
+*** Implementation of runtime stack allocation (falling back to malloc) ***
+*****************************************************************************/
+
+// you can overwrite Eigen's default behavior regarding alloca by defining EIGEN_ALLOCA
+// to the appropriate stack allocation function
+#ifndef EIGEN_ALLOCA
+ #if EIGEN_OS_LINUX || EIGEN_OS_MAC || (defined alloca)
+ #define EIGEN_ALLOCA alloca
+ #elif EIGEN_COMP_MSVC
+ #define EIGEN_ALLOCA _alloca
+ #endif
+#endif
+
+// This helper class construct the allocated memory, and takes care of destructing and freeing the handled data
+// at destruction time. In practice this helper class is mainly useful to avoid memory leak in case of exceptions.
+template<typename T> class aligned_stack_memory_handler : noncopyable
+{
+ public:
+ /* Creates a stack_memory_handler responsible for the buffer \a ptr of size \a size.
+ * Note that \a ptr can be 0 regardless of the other parameters.
+ * This constructor takes care of constructing/initializing the elements of the buffer if required by the scalar type T (see NumTraits<T>::RequireInitialization).
+ * In this case, the buffer elements will also be destructed when this handler will be destructed.
+ * Finally, if \a dealloc is true, then the pointer \a ptr is freed.
+ **/
+ aligned_stack_memory_handler(T* ptr, std::size_t size, bool dealloc)
+ : m_ptr(ptr), m_size(size), m_deallocate(dealloc)
+ {
+ if(NumTraits<T>::RequireInitialization && m_ptr)
+ Eigen::internal::construct_elements_of_array(m_ptr, size);
+ }
+ ~aligned_stack_memory_handler()
+ {
+ if(NumTraits<T>::RequireInitialization && m_ptr)
+ Eigen::internal::destruct_elements_of_array<T>(m_ptr, m_size);
+ if(m_deallocate)
+ Eigen::internal::aligned_free(m_ptr);
+ }
+ protected:
+ T* m_ptr;
+ std::size_t m_size;
+ bool m_deallocate;
+};
+
+template<typename T> class scoped_array : noncopyable
+{
+ T* m_ptr;
+public:
+ explicit scoped_array(std::ptrdiff_t size)
+ {
+ m_ptr = new T[size];
+ }
+ ~scoped_array()
+ {
+ delete[] m_ptr;
+ }
+ T& operator[](std::ptrdiff_t i) { return m_ptr[i]; }
+ const T& operator[](std::ptrdiff_t i) const { return m_ptr[i]; }
+ T* &ptr() { return m_ptr; }
+ const T* ptr() const { return m_ptr; }
+ operator const T*() const { return m_ptr; }
+};
+
+template<typename T> void swap(scoped_array<T> &a,scoped_array<T> &b)
+{
+ std::swap(a.ptr(),b.ptr());
+}
+
+} // end namespace internal
+
+/** \internal
+ * Declares, allocates and construct an aligned buffer named NAME of SIZE elements of type TYPE on the stack
+ * if SIZE is smaller than EIGEN_STACK_ALLOCATION_LIMIT, and if stack allocation is supported by the platform
+ * (currently, this is Linux and Visual Studio only). Otherwise the memory is allocated on the heap.
+ * The allocated buffer is automatically deleted when exiting the scope of this declaration.
+ * If BUFFER is non null, then the declared variable is simply an alias for BUFFER, and no allocation/deletion occurs.
+ * Here is an example:
+ * \code
+ * {
+ * ei_declare_aligned_stack_constructed_variable(float,data,size,0);
+ * // use data[0] to data[size-1]
+ * }
+ * \endcode
+ * The underlying stack allocation function can controlled with the EIGEN_ALLOCA preprocessor token.
+ */
+#ifdef EIGEN_ALLOCA
+
+ #if EIGEN_DEFAULT_ALIGN_BYTES>0
+ // We always manually re-align the result of EIGEN_ALLOCA.
+ // If alloca is already aligned, the compiler should be smart enough to optimize away the re-alignment.
+ #define EIGEN_ALIGNED_ALLOCA(SIZE) reinterpret_cast<void*>((internal::UIntPtr(EIGEN_ALLOCA(SIZE+EIGEN_DEFAULT_ALIGN_BYTES-1)) + EIGEN_DEFAULT_ALIGN_BYTES-1) & ~(std::size_t(EIGEN_DEFAULT_ALIGN_BYTES-1)))
+ #else
+ #define EIGEN_ALIGNED_ALLOCA(SIZE) EIGEN_ALLOCA(SIZE)
+ #endif
+
+ #define ei_declare_aligned_stack_constructed_variable(TYPE,NAME,SIZE,BUFFER) \
+ Eigen::internal::check_size_for_overflow<TYPE>(SIZE); \
+ TYPE* NAME = (BUFFER)!=0 ? (BUFFER) \
+ : reinterpret_cast<TYPE*>( \
+ (sizeof(TYPE)*SIZE<=EIGEN_STACK_ALLOCATION_LIMIT) ? EIGEN_ALIGNED_ALLOCA(sizeof(TYPE)*SIZE) \
+ : Eigen::internal::aligned_malloc(sizeof(TYPE)*SIZE) ); \
+ Eigen::internal::aligned_stack_memory_handler<TYPE> EIGEN_CAT(NAME,_stack_memory_destructor)((BUFFER)==0 ? NAME : 0,SIZE,sizeof(TYPE)*SIZE>EIGEN_STACK_ALLOCATION_LIMIT)
+
+#else
+
+ #define ei_declare_aligned_stack_constructed_variable(TYPE,NAME,SIZE,BUFFER) \
+ Eigen::internal::check_size_for_overflow<TYPE>(SIZE); \
+ TYPE* NAME = (BUFFER)!=0 ? BUFFER : reinterpret_cast<TYPE*>(Eigen::internal::aligned_malloc(sizeof(TYPE)*SIZE)); \
+ Eigen::internal::aligned_stack_memory_handler<TYPE> EIGEN_CAT(NAME,_stack_memory_destructor)((BUFFER)==0 ? NAME : 0,SIZE,true)
+
+#endif
+
+
+/*****************************************************************************
+*** Implementation of EIGEN_MAKE_ALIGNED_OPERATOR_NEW [_IF] ***
+*****************************************************************************/
+
+#if EIGEN_MAX_ALIGN_BYTES!=0
+ #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_NOTHROW(NeedsToAlign) \
+ void* operator new(std::size_t size, const std::nothrow_t&) EIGEN_NO_THROW { \
+ EIGEN_TRY { return Eigen::internal::conditional_aligned_malloc<NeedsToAlign>(size); } \
+ EIGEN_CATCH (...) { return 0; } \
+ }
+ #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign) \
+ void *operator new(std::size_t size) { \
+ return Eigen::internal::conditional_aligned_malloc<NeedsToAlign>(size); \
+ } \
+ void *operator new[](std::size_t size) { \
+ return Eigen::internal::conditional_aligned_malloc<NeedsToAlign>(size); \
+ } \
+ void operator delete(void * ptr) EIGEN_NO_THROW { Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); } \
+ void operator delete[](void * ptr) EIGEN_NO_THROW { Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); } \
+ void operator delete(void * ptr, std::size_t /* sz */) EIGEN_NO_THROW { Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); } \
+ void operator delete[](void * ptr, std::size_t /* sz */) EIGEN_NO_THROW { Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); } \
+ /* in-place new and delete. since (at least afaik) there is no actual */ \
+ /* memory allocated we can safely let the default implementation handle */ \
+ /* this particular case. */ \
+ static void *operator new(std::size_t size, void *ptr) { return ::operator new(size,ptr); } \
+ static void *operator new[](std::size_t size, void* ptr) { return ::operator new[](size,ptr); } \
+ void operator delete(void * memory, void *ptr) EIGEN_NO_THROW { return ::operator delete(memory,ptr); } \
+ void operator delete[](void * memory, void *ptr) EIGEN_NO_THROW { return ::operator delete[](memory,ptr); } \
+ /* nothrow-new (returns zero instead of std::bad_alloc) */ \
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_NOTHROW(NeedsToAlign) \
+ void operator delete(void *ptr, const std::nothrow_t&) EIGEN_NO_THROW { \
+ Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); \
+ } \
+ typedef void eigen_aligned_operator_new_marker_type;
+#else
+ #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
+#endif
+
+#define EIGEN_MAKE_ALIGNED_OPERATOR_NEW EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(true)
+#define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(Scalar,Size) \
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(bool(((Size)!=Eigen::Dynamic) && ((sizeof(Scalar)*(Size))%EIGEN_MAX_ALIGN_BYTES==0)))
+
+/****************************************************************************/
+
+/** \class aligned_allocator
+* \ingroup Core_Module
+*
+* \brief STL compatible allocator to use with types requiring a non standrad alignment.
+*
+* The memory is aligned as for dynamically aligned matrix/array types such as MatrixXd.
+* By default, it will thus provide at least 16 bytes alignment and more in following cases:
+* - 32 bytes alignment if AVX is enabled.
+* - 64 bytes alignment if AVX512 is enabled.
+*
+* This can be controled using the \c EIGEN_MAX_ALIGN_BYTES macro as documented
+* \link TopicPreprocessorDirectivesPerformance there \endlink.
+*
+* Example:
+* \code
+* // Matrix4f requires 16 bytes alignment:
+* std::map< int, Matrix4f, std::less<int>,
+* aligned_allocator<std::pair<const int, Matrix4f> > > my_map_mat4;
+* // Vector3f does not require 16 bytes alignment, no need to use Eigen's allocator:
+* std::map< int, Vector3f > my_map_vec3;
+* \endcode
+*
+* \sa \blank \ref TopicStlContainers.
+*/
+template<class T>
+class aligned_allocator : public std::allocator<T>
+{
+public:
+ typedef std::size_t size_type;
+ typedef std::ptrdiff_t difference_type;
+ typedef T* pointer;
+ typedef const T* const_pointer;
+ typedef T& reference;
+ typedef const T& const_reference;
+ typedef T value_type;
+
+ template<class U>
+ struct rebind
+ {
+ typedef aligned_allocator<U> other;
+ };
+
+ aligned_allocator() : std::allocator<T>() {}
+
+ aligned_allocator(const aligned_allocator& other) : std::allocator<T>(other) {}
+
+ template<class U>
+ aligned_allocator(const aligned_allocator<U>& other) : std::allocator<T>(other) {}
+
+ ~aligned_allocator() {}
+
+ pointer allocate(size_type num, const void* /*hint*/ = 0)
+ {
+ internal::check_size_for_overflow<T>(num);
+ size_type size = num * sizeof(T);
+#if EIGEN_COMP_GNUC_STRICT && EIGEN_GNUC_AT_LEAST(7,0)
+ // workaround gcc bug https://gcc.gnu.org/bugzilla/show_bug.cgi?id=87544
+ // It triggered eigen/Eigen/src/Core/util/Memory.h:189:12: warning: argument 1 value '18446744073709551612' exceeds maximum object size 9223372036854775807
+ if(size>=std::size_t((std::numeric_limits<std::ptrdiff_t>::max)()))
+ return 0;
+ else
+#endif
+ return static_cast<pointer>( internal::aligned_malloc(size) );
+ }
+
+ void deallocate(pointer p, size_type /*num*/)
+ {
+ internal::aligned_free(p);
+ }
+};
+
+//---------- Cache sizes ----------
+
+#if !defined(EIGEN_NO_CPUID)
+# if EIGEN_COMP_GNUC && EIGEN_ARCH_i386_OR_x86_64
+# if defined(__PIC__) && EIGEN_ARCH_i386
+ // Case for x86 with PIC
+# define EIGEN_CPUID(abcd,func,id) \
+ __asm__ __volatile__ ("xchgl %%ebx, %k1;cpuid; xchgl %%ebx,%k1": "=a" (abcd[0]), "=&r" (abcd[1]), "=c" (abcd[2]), "=d" (abcd[3]) : "a" (func), "c" (id));
+# elif defined(__PIC__) && EIGEN_ARCH_x86_64
+ // Case for x64 with PIC. In theory this is only a problem with recent gcc and with medium or large code model, not with the default small code model.
+ // However, we cannot detect which code model is used, and the xchg overhead is negligible anyway.
+# define EIGEN_CPUID(abcd,func,id) \
+ __asm__ __volatile__ ("xchg{q}\t{%%}rbx, %q1; cpuid; xchg{q}\t{%%}rbx, %q1": "=a" (abcd[0]), "=&r" (abcd[1]), "=c" (abcd[2]), "=d" (abcd[3]) : "0" (func), "2" (id));
+# else
+ // Case for x86_64 or x86 w/o PIC
+# define EIGEN_CPUID(abcd,func,id) \
+ __asm__ __volatile__ ("cpuid": "=a" (abcd[0]), "=b" (abcd[1]), "=c" (abcd[2]), "=d" (abcd[3]) : "0" (func), "2" (id) );
+# endif
+# elif EIGEN_COMP_MSVC
+# if (EIGEN_COMP_MSVC > 1500) && EIGEN_ARCH_i386_OR_x86_64
+# define EIGEN_CPUID(abcd,func,id) __cpuidex((int*)abcd,func,id)
+# endif
+# endif
+#endif
+
+namespace internal {
+
+#ifdef EIGEN_CPUID
+
+inline bool cpuid_is_vendor(int abcd[4], const int vendor[3])
+{
+ return abcd[1]==vendor[0] && abcd[3]==vendor[1] && abcd[2]==vendor[2];
+}
+
+inline void queryCacheSizes_intel_direct(int& l1, int& l2, int& l3)
+{
+ int abcd[4];
+ l1 = l2 = l3 = 0;
+ int cache_id = 0;
+ int cache_type = 0;
+ do {
+ abcd[0] = abcd[1] = abcd[2] = abcd[3] = 0;
+ EIGEN_CPUID(abcd,0x4,cache_id);
+ cache_type = (abcd[0] & 0x0F) >> 0;
+ if(cache_type==1||cache_type==3) // data or unified cache
+ {
+ int cache_level = (abcd[0] & 0xE0) >> 5; // A[7:5]
+ int ways = (abcd[1] & 0xFFC00000) >> 22; // B[31:22]
+ int partitions = (abcd[1] & 0x003FF000) >> 12; // B[21:12]
+ int line_size = (abcd[1] & 0x00000FFF) >> 0; // B[11:0]
+ int sets = (abcd[2]); // C[31:0]
+
+ int cache_size = (ways+1) * (partitions+1) * (line_size+1) * (sets+1);
+
+ switch(cache_level)
+ {
+ case 1: l1 = cache_size; break;
+ case 2: l2 = cache_size; break;
+ case 3: l3 = cache_size; break;
+ default: break;
+ }
+ }
+ cache_id++;
+ } while(cache_type>0 && cache_id<16);
+}
+
+inline void queryCacheSizes_intel_codes(int& l1, int& l2, int& l3)
+{
+ int abcd[4];
+ abcd[0] = abcd[1] = abcd[2] = abcd[3] = 0;
+ l1 = l2 = l3 = 0;
+ EIGEN_CPUID(abcd,0x00000002,0);
+ unsigned char * bytes = reinterpret_cast<unsigned char *>(abcd)+2;
+ bool check_for_p2_core2 = false;
+ for(int i=0; i<14; ++i)
+ {
+ switch(bytes[i])
+ {
+ case 0x0A: l1 = 8; break; // 0Ah data L1 cache, 8 KB, 2 ways, 32 byte lines
+ case 0x0C: l1 = 16; break; // 0Ch data L1 cache, 16 KB, 4 ways, 32 byte lines
+ case 0x0E: l1 = 24; break; // 0Eh data L1 cache, 24 KB, 6 ways, 64 byte lines
+ case 0x10: l1 = 16; break; // 10h data L1 cache, 16 KB, 4 ways, 32 byte lines (IA-64)
+ case 0x15: l1 = 16; break; // 15h code L1 cache, 16 KB, 4 ways, 32 byte lines (IA-64)
+ case 0x2C: l1 = 32; break; // 2Ch data L1 cache, 32 KB, 8 ways, 64 byte lines
+ case 0x30: l1 = 32; break; // 30h code L1 cache, 32 KB, 8 ways, 64 byte lines
+ case 0x60: l1 = 16; break; // 60h data L1 cache, 16 KB, 8 ways, 64 byte lines, sectored
+ case 0x66: l1 = 8; break; // 66h data L1 cache, 8 KB, 4 ways, 64 byte lines, sectored
+ case 0x67: l1 = 16; break; // 67h data L1 cache, 16 KB, 4 ways, 64 byte lines, sectored
+ case 0x68: l1 = 32; break; // 68h data L1 cache, 32 KB, 4 ways, 64 byte lines, sectored
+ case 0x1A: l2 = 96; break; // code and data L2 cache, 96 KB, 6 ways, 64 byte lines (IA-64)
+ case 0x22: l3 = 512; break; // code and data L3 cache, 512 KB, 4 ways (!), 64 byte lines, dual-sectored
+ case 0x23: l3 = 1024; break; // code and data L3 cache, 1024 KB, 8 ways, 64 byte lines, dual-sectored
+ case 0x25: l3 = 2048; break; // code and data L3 cache, 2048 KB, 8 ways, 64 byte lines, dual-sectored
+ case 0x29: l3 = 4096; break; // code and data L3 cache, 4096 KB, 8 ways, 64 byte lines, dual-sectored
+ case 0x39: l2 = 128; break; // code and data L2 cache, 128 KB, 4 ways, 64 byte lines, sectored
+ case 0x3A: l2 = 192; break; // code and data L2 cache, 192 KB, 6 ways, 64 byte lines, sectored
+ case 0x3B: l2 = 128; break; // code and data L2 cache, 128 KB, 2 ways, 64 byte lines, sectored
+ case 0x3C: l2 = 256; break; // code and data L2 cache, 256 KB, 4 ways, 64 byte lines, sectored
+ case 0x3D: l2 = 384; break; // code and data L2 cache, 384 KB, 6 ways, 64 byte lines, sectored
+ case 0x3E: l2 = 512; break; // code and data L2 cache, 512 KB, 4 ways, 64 byte lines, sectored
+ case 0x40: l2 = 0; break; // no integrated L2 cache (P6 core) or L3 cache (P4 core)
+ case 0x41: l2 = 128; break; // code and data L2 cache, 128 KB, 4 ways, 32 byte lines
+ case 0x42: l2 = 256; break; // code and data L2 cache, 256 KB, 4 ways, 32 byte lines
+ case 0x43: l2 = 512; break; // code and data L2 cache, 512 KB, 4 ways, 32 byte lines
+ case 0x44: l2 = 1024; break; // code and data L2 cache, 1024 KB, 4 ways, 32 byte lines
+ case 0x45: l2 = 2048; break; // code and data L2 cache, 2048 KB, 4 ways, 32 byte lines
+ case 0x46: l3 = 4096; break; // code and data L3 cache, 4096 KB, 4 ways, 64 byte lines
+ case 0x47: l3 = 8192; break; // code and data L3 cache, 8192 KB, 8 ways, 64 byte lines
+ case 0x48: l2 = 3072; break; // code and data L2 cache, 3072 KB, 12 ways, 64 byte lines
+ case 0x49: if(l2!=0) l3 = 4096; else {check_for_p2_core2=true; l3 = l2 = 4096;} break;// code and data L3 cache, 4096 KB, 16 ways, 64 byte lines (P4) or L2 for core2
+ case 0x4A: l3 = 6144; break; // code and data L3 cache, 6144 KB, 12 ways, 64 byte lines
+ case 0x4B: l3 = 8192; break; // code and data L3 cache, 8192 KB, 16 ways, 64 byte lines
+ case 0x4C: l3 = 12288; break; // code and data L3 cache, 12288 KB, 12 ways, 64 byte lines
+ case 0x4D: l3 = 16384; break; // code and data L3 cache, 16384 KB, 16 ways, 64 byte lines
+ case 0x4E: l2 = 6144; break; // code and data L2 cache, 6144 KB, 24 ways, 64 byte lines
+ case 0x78: l2 = 1024; break; // code and data L2 cache, 1024 KB, 4 ways, 64 byte lines
+ case 0x79: l2 = 128; break; // code and data L2 cache, 128 KB, 8 ways, 64 byte lines, dual-sectored
+ case 0x7A: l2 = 256; break; // code and data L2 cache, 256 KB, 8 ways, 64 byte lines, dual-sectored
+ case 0x7B: l2 = 512; break; // code and data L2 cache, 512 KB, 8 ways, 64 byte lines, dual-sectored
+ case 0x7C: l2 = 1024; break; // code and data L2 cache, 1024 KB, 8 ways, 64 byte lines, dual-sectored
+ case 0x7D: l2 = 2048; break; // code and data L2 cache, 2048 KB, 8 ways, 64 byte lines
+ case 0x7E: l2 = 256; break; // code and data L2 cache, 256 KB, 8 ways, 128 byte lines, sect. (IA-64)
+ case 0x7F: l2 = 512; break; // code and data L2 cache, 512 KB, 2 ways, 64 byte lines
+ case 0x80: l2 = 512; break; // code and data L2 cache, 512 KB, 8 ways, 64 byte lines
+ case 0x81: l2 = 128; break; // code and data L2 cache, 128 KB, 8 ways, 32 byte lines
+ case 0x82: l2 = 256; break; // code and data L2 cache, 256 KB, 8 ways, 32 byte lines
+ case 0x83: l2 = 512; break; // code and data L2 cache, 512 KB, 8 ways, 32 byte lines
+ case 0x84: l2 = 1024; break; // code and data L2 cache, 1024 KB, 8 ways, 32 byte lines
+ case 0x85: l2 = 2048; break; // code and data L2 cache, 2048 KB, 8 ways, 32 byte lines
+ case 0x86: l2 = 512; break; // code and data L2 cache, 512 KB, 4 ways, 64 byte lines
+ case 0x87: l2 = 1024; break; // code and data L2 cache, 1024 KB, 8 ways, 64 byte lines
+ case 0x88: l3 = 2048; break; // code and data L3 cache, 2048 KB, 4 ways, 64 byte lines (IA-64)
+ case 0x89: l3 = 4096; break; // code and data L3 cache, 4096 KB, 4 ways, 64 byte lines (IA-64)
+ case 0x8A: l3 = 8192; break; // code and data L3 cache, 8192 KB, 4 ways, 64 byte lines (IA-64)
+ case 0x8D: l3 = 3072; break; // code and data L3 cache, 3072 KB, 12 ways, 128 byte lines (IA-64)
+
+ default: break;
+ }
+ }
+ if(check_for_p2_core2 && l2 == l3)
+ l3 = 0;
+ l1 *= 1024;
+ l2 *= 1024;
+ l3 *= 1024;
+}
+
+inline void queryCacheSizes_intel(int& l1, int& l2, int& l3, int max_std_funcs)
+{
+ if(max_std_funcs>=4)
+ queryCacheSizes_intel_direct(l1,l2,l3);
+ else
+ queryCacheSizes_intel_codes(l1,l2,l3);
+}
+
+inline void queryCacheSizes_amd(int& l1, int& l2, int& l3)
+{
+ int abcd[4];
+ abcd[0] = abcd[1] = abcd[2] = abcd[3] = 0;
+ EIGEN_CPUID(abcd,0x80000005,0);
+ l1 = (abcd[2] >> 24) * 1024; // C[31:24] = L1 size in KB
+ abcd[0] = abcd[1] = abcd[2] = abcd[3] = 0;
+ EIGEN_CPUID(abcd,0x80000006,0);
+ l2 = (abcd[2] >> 16) * 1024; // C[31;16] = l2 cache size in KB
+ l3 = ((abcd[3] & 0xFFFC000) >> 18) * 512 * 1024; // D[31;18] = l3 cache size in 512KB
+}
+#endif
+
+/** \internal
+ * Queries and returns the cache sizes in Bytes of the L1, L2, and L3 data caches respectively */
+inline void queryCacheSizes(int& l1, int& l2, int& l3)
+{
+ #ifdef EIGEN_CPUID
+ int abcd[4];
+ const int GenuineIntel[] = {0x756e6547, 0x49656e69, 0x6c65746e};
+ const int AuthenticAMD[] = {0x68747541, 0x69746e65, 0x444d4163};
+ const int AMDisbetter_[] = {0x69444d41, 0x74656273, 0x21726574}; // "AMDisbetter!"
+
+ // identify the CPU vendor
+ EIGEN_CPUID(abcd,0x0,0);
+ int max_std_funcs = abcd[1];
+ if(cpuid_is_vendor(abcd,GenuineIntel))
+ queryCacheSizes_intel(l1,l2,l3,max_std_funcs);
+ else if(cpuid_is_vendor(abcd,AuthenticAMD) || cpuid_is_vendor(abcd,AMDisbetter_))
+ queryCacheSizes_amd(l1,l2,l3);
+ else
+ // by default let's use Intel's API
+ queryCacheSizes_intel(l1,l2,l3,max_std_funcs);
+
+ // here is the list of other vendors:
+// ||cpuid_is_vendor(abcd,"VIA VIA VIA ")
+// ||cpuid_is_vendor(abcd,"CyrixInstead")
+// ||cpuid_is_vendor(abcd,"CentaurHauls")
+// ||cpuid_is_vendor(abcd,"GenuineTMx86")
+// ||cpuid_is_vendor(abcd,"TransmetaCPU")
+// ||cpuid_is_vendor(abcd,"RiseRiseRise")
+// ||cpuid_is_vendor(abcd,"Geode by NSC")
+// ||cpuid_is_vendor(abcd,"SiS SiS SiS ")
+// ||cpuid_is_vendor(abcd,"UMC UMC UMC ")
+// ||cpuid_is_vendor(abcd,"NexGenDriven")
+ #else
+ l1 = l2 = l3 = -1;
+ #endif
+}
+
+/** \internal
+ * \returns the size in Bytes of the L1 data cache */
+inline int queryL1CacheSize()
+{
+ int l1(-1), l2, l3;
+ queryCacheSizes(l1,l2,l3);
+ return l1;
+}
+
+/** \internal
+ * \returns the size in Bytes of the L2 or L3 cache if this later is present */
+inline int queryTopLevelCacheSize()
+{
+ int l1, l2(-1), l3(-1);
+ queryCacheSizes(l1,l2,l3);
+ return (std::max)(l2,l3);
+}
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_MEMORY_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/util/Meta.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/util/Meta.h
new file mode 100644
index 0000000..d31e954
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/util/Meta.h
@@ -0,0 +1,534 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_META_H
+#define EIGEN_META_H
+
+#if defined(__CUDA_ARCH__)
+#include <cfloat>
+#include <math_constants.h>
+#endif
+
+#if EIGEN_COMP_ICC>=1600 && __cplusplus >= 201103L
+#include <cstdint>
+#endif
+
+namespace Eigen {
+
+typedef EIGEN_DEFAULT_DENSE_INDEX_TYPE DenseIndex;
+
+/**
+ * \brief The Index type as used for the API.
+ * \details To change this, \c \#define the preprocessor symbol \c EIGEN_DEFAULT_DENSE_INDEX_TYPE.
+ * \sa \blank \ref TopicPreprocessorDirectives, StorageIndex.
+ */
+
+typedef EIGEN_DEFAULT_DENSE_INDEX_TYPE Index;
+
+namespace internal {
+
+/** \internal
+ * \file Meta.h
+ * This file contains generic metaprogramming classes which are not specifically related to Eigen.
+ * \note In case you wonder, yes we're aware that Boost already provides all these features,
+ * we however don't want to add a dependency to Boost.
+ */
+
+// Only recent versions of ICC complain about using ptrdiff_t to hold pointers,
+// and older versions do not provide *intptr_t types.
+#if EIGEN_COMP_ICC>=1600 && __cplusplus >= 201103L
+typedef std::intptr_t IntPtr;
+typedef std::uintptr_t UIntPtr;
+#else
+typedef std::ptrdiff_t IntPtr;
+typedef std::size_t UIntPtr;
+#endif
+
+struct true_type { enum { value = 1 }; };
+struct false_type { enum { value = 0 }; };
+
+template<bool Condition, typename Then, typename Else>
+struct conditional { typedef Then type; };
+
+template<typename Then, typename Else>
+struct conditional <false, Then, Else> { typedef Else type; };
+
+template<typename T, typename U> struct is_same { enum { value = 0 }; };
+template<typename T> struct is_same<T,T> { enum { value = 1 }; };
+
+template<typename T> struct remove_reference { typedef T type; };
+template<typename T> struct remove_reference<T&> { typedef T type; };
+
+template<typename T> struct remove_pointer { typedef T type; };
+template<typename T> struct remove_pointer<T*> { typedef T type; };
+template<typename T> struct remove_pointer<T*const> { typedef T type; };
+
+template <class T> struct remove_const { typedef T type; };
+template <class T> struct remove_const<const T> { typedef T type; };
+template <class T> struct remove_const<const T[]> { typedef T type[]; };
+template <class T, unsigned int Size> struct remove_const<const T[Size]> { typedef T type[Size]; };
+
+template<typename T> struct remove_all { typedef T type; };
+template<typename T> struct remove_all<const T> { typedef typename remove_all<T>::type type; };
+template<typename T> struct remove_all<T const&> { typedef typename remove_all<T>::type type; };
+template<typename T> struct remove_all<T&> { typedef typename remove_all<T>::type type; };
+template<typename T> struct remove_all<T const*> { typedef typename remove_all<T>::type type; };
+template<typename T> struct remove_all<T*> { typedef typename remove_all<T>::type type; };
+
+template<typename T> struct is_arithmetic { enum { value = false }; };
+template<> struct is_arithmetic<float> { enum { value = true }; };
+template<> struct is_arithmetic<double> { enum { value = true }; };
+template<> struct is_arithmetic<long double> { enum { value = true }; };
+template<> struct is_arithmetic<bool> { enum { value = true }; };
+template<> struct is_arithmetic<char> { enum { value = true }; };
+template<> struct is_arithmetic<signed char> { enum { value = true }; };
+template<> struct is_arithmetic<unsigned char> { enum { value = true }; };
+template<> struct is_arithmetic<signed short> { enum { value = true }; };
+template<> struct is_arithmetic<unsigned short>{ enum { value = true }; };
+template<> struct is_arithmetic<signed int> { enum { value = true }; };
+template<> struct is_arithmetic<unsigned int> { enum { value = true }; };
+template<> struct is_arithmetic<signed long> { enum { value = true }; };
+template<> struct is_arithmetic<unsigned long> { enum { value = true }; };
+
+template<typename T> struct is_integral { enum { value = false }; };
+template<> struct is_integral<bool> { enum { value = true }; };
+template<> struct is_integral<char> { enum { value = true }; };
+template<> struct is_integral<signed char> { enum { value = true }; };
+template<> struct is_integral<unsigned char> { enum { value = true }; };
+template<> struct is_integral<signed short> { enum { value = true }; };
+template<> struct is_integral<unsigned short> { enum { value = true }; };
+template<> struct is_integral<signed int> { enum { value = true }; };
+template<> struct is_integral<unsigned int> { enum { value = true }; };
+template<> struct is_integral<signed long> { enum { value = true }; };
+template<> struct is_integral<unsigned long> { enum { value = true }; };
+
+#if EIGEN_HAS_CXX11
+using std::make_unsigned;
+#else
+// TODO: Possibly improve this implementation of make_unsigned.
+// It is currently used only by
+// template<typename Scalar> struct random_default_impl<Scalar, false, true>.
+template<typename> struct make_unsigned;
+template<> struct make_unsigned<char> { typedef unsigned char type; };
+template<> struct make_unsigned<signed char> { typedef unsigned char type; };
+template<> struct make_unsigned<unsigned char> { typedef unsigned char type; };
+template<> struct make_unsigned<signed short> { typedef unsigned short type; };
+template<> struct make_unsigned<unsigned short> { typedef unsigned short type; };
+template<> struct make_unsigned<signed int> { typedef unsigned int type; };
+template<> struct make_unsigned<unsigned int> { typedef unsigned int type; };
+template<> struct make_unsigned<signed long> { typedef unsigned long type; };
+template<> struct make_unsigned<unsigned long> { typedef unsigned long type; };
+#if EIGEN_COMP_MSVC
+template<> struct make_unsigned<signed __int64> { typedef unsigned __int64 type; };
+template<> struct make_unsigned<unsigned __int64> { typedef unsigned __int64 type; };
+#endif
+#endif
+
+template <typename T> struct add_const { typedef const T type; };
+template <typename T> struct add_const<T&> { typedef T& type; };
+
+template <typename T> struct is_const { enum { value = 0 }; };
+template <typename T> struct is_const<T const> { enum { value = 1 }; };
+
+template<typename T> struct add_const_on_value_type { typedef const T type; };
+template<typename T> struct add_const_on_value_type<T&> { typedef T const& type; };
+template<typename T> struct add_const_on_value_type<T*> { typedef T const* type; };
+template<typename T> struct add_const_on_value_type<T* const> { typedef T const* const type; };
+template<typename T> struct add_const_on_value_type<T const* const> { typedef T const* const type; };
+
+
+template<typename From, typename To>
+struct is_convertible_impl
+{
+private:
+ struct any_conversion
+ {
+ template <typename T> any_conversion(const volatile T&);
+ template <typename T> any_conversion(T&);
+ };
+ struct yes {int a[1];};
+ struct no {int a[2];};
+
+ static yes test(const To&, int);
+ static no test(any_conversion, ...);
+
+public:
+ static From ms_from;
+#ifdef __INTEL_COMPILER
+ #pragma warning push
+ #pragma warning ( disable : 2259 )
+#endif
+ enum { value = sizeof(test(ms_from, 0))==sizeof(yes) };
+#ifdef __INTEL_COMPILER
+ #pragma warning pop
+#endif
+};
+
+template<typename From, typename To>
+struct is_convertible
+{
+ enum { value = is_convertible_impl<typename remove_all<From>::type,
+ typename remove_all<To >::type>::value };
+};
+
+/** \internal Allows to enable/disable an overload
+ * according to a compile time condition.
+ */
+template<bool Condition, typename T=void> struct enable_if;
+
+template<typename T> struct enable_if<true,T>
+{ typedef T type; };
+
+#if defined(__CUDA_ARCH__)
+#if !defined(__FLT_EPSILON__)
+#define __FLT_EPSILON__ FLT_EPSILON
+#define __DBL_EPSILON__ DBL_EPSILON
+#endif
+
+namespace device {
+
+template<typename T> struct numeric_limits
+{
+ EIGEN_DEVICE_FUNC
+ static T epsilon() { return 0; }
+ static T (max)() { assert(false && "Highest not supported for this type"); }
+ static T (min)() { assert(false && "Lowest not supported for this type"); }
+ static T infinity() { assert(false && "Infinity not supported for this type"); }
+ static T quiet_NaN() { assert(false && "quiet_NaN not supported for this type"); }
+};
+template<> struct numeric_limits<float>
+{
+ EIGEN_DEVICE_FUNC
+ static float epsilon() { return __FLT_EPSILON__; }
+ EIGEN_DEVICE_FUNC
+ static float (max)() { return CUDART_MAX_NORMAL_F; }
+ EIGEN_DEVICE_FUNC
+ static float (min)() { return FLT_MIN; }
+ EIGEN_DEVICE_FUNC
+ static float infinity() { return CUDART_INF_F; }
+ EIGEN_DEVICE_FUNC
+ static float quiet_NaN() { return CUDART_NAN_F; }
+};
+template<> struct numeric_limits<double>
+{
+ EIGEN_DEVICE_FUNC
+ static double epsilon() { return __DBL_EPSILON__; }
+ EIGEN_DEVICE_FUNC
+ static double (max)() { return DBL_MAX; }
+ EIGEN_DEVICE_FUNC
+ static double (min)() { return DBL_MIN; }
+ EIGEN_DEVICE_FUNC
+ static double infinity() { return CUDART_INF; }
+ EIGEN_DEVICE_FUNC
+ static double quiet_NaN() { return CUDART_NAN; }
+};
+template<> struct numeric_limits<int>
+{
+ EIGEN_DEVICE_FUNC
+ static int epsilon() { return 0; }
+ EIGEN_DEVICE_FUNC
+ static int (max)() { return INT_MAX; }
+ EIGEN_DEVICE_FUNC
+ static int (min)() { return INT_MIN; }
+};
+template<> struct numeric_limits<unsigned int>
+{
+ EIGEN_DEVICE_FUNC
+ static unsigned int epsilon() { return 0; }
+ EIGEN_DEVICE_FUNC
+ static unsigned int (max)() { return UINT_MAX; }
+ EIGEN_DEVICE_FUNC
+ static unsigned int (min)() { return 0; }
+};
+template<> struct numeric_limits<long>
+{
+ EIGEN_DEVICE_FUNC
+ static long epsilon() { return 0; }
+ EIGEN_DEVICE_FUNC
+ static long (max)() { return LONG_MAX; }
+ EIGEN_DEVICE_FUNC
+ static long (min)() { return LONG_MIN; }
+};
+template<> struct numeric_limits<unsigned long>
+{
+ EIGEN_DEVICE_FUNC
+ static unsigned long epsilon() { return 0; }
+ EIGEN_DEVICE_FUNC
+ static unsigned long (max)() { return ULONG_MAX; }
+ EIGEN_DEVICE_FUNC
+ static unsigned long (min)() { return 0; }
+};
+template<> struct numeric_limits<long long>
+{
+ EIGEN_DEVICE_FUNC
+ static long long epsilon() { return 0; }
+ EIGEN_DEVICE_FUNC
+ static long long (max)() { return LLONG_MAX; }
+ EIGEN_DEVICE_FUNC
+ static long long (min)() { return LLONG_MIN; }
+};
+template<> struct numeric_limits<unsigned long long>
+{
+ EIGEN_DEVICE_FUNC
+ static unsigned long long epsilon() { return 0; }
+ EIGEN_DEVICE_FUNC
+ static unsigned long long (max)() { return ULLONG_MAX; }
+ EIGEN_DEVICE_FUNC
+ static unsigned long long (min)() { return 0; }
+};
+
+}
+
+#endif
+
+/** \internal
+ * A base class do disable default copy ctor and copy assignement operator.
+ */
+class noncopyable
+{
+ EIGEN_DEVICE_FUNC noncopyable(const noncopyable&);
+ EIGEN_DEVICE_FUNC const noncopyable& operator=(const noncopyable&);
+protected:
+ EIGEN_DEVICE_FUNC noncopyable() {}
+ EIGEN_DEVICE_FUNC ~noncopyable() {}
+};
+
+/** \internal
+ * Convenient struct to get the result type of a unary or binary functor.
+ *
+ * It supports both the current STL mechanism (using the result_type member) as well as
+ * upcoming next STL generation (using a templated result member).
+ * If none of these members is provided, then the type of the first argument is returned. FIXME, that behavior is a pretty bad hack.
+ */
+#if EIGEN_HAS_STD_RESULT_OF
+template<typename T> struct result_of {
+ typedef typename std::result_of<T>::type type1;
+ typedef typename remove_all<type1>::type type;
+};
+#else
+template<typename T> struct result_of { };
+
+struct has_none {int a[1];};
+struct has_std_result_type {int a[2];};
+struct has_tr1_result {int a[3];};
+
+template<typename Func, typename ArgType, int SizeOf=sizeof(has_none)>
+struct unary_result_of_select {typedef typename internal::remove_all<ArgType>::type type;};
+
+template<typename Func, typename ArgType>
+struct unary_result_of_select<Func, ArgType, sizeof(has_std_result_type)> {typedef typename Func::result_type type;};
+
+template<typename Func, typename ArgType>
+struct unary_result_of_select<Func, ArgType, sizeof(has_tr1_result)> {typedef typename Func::template result<Func(ArgType)>::type type;};
+
+template<typename Func, typename ArgType>
+struct result_of<Func(ArgType)> {
+ template<typename T>
+ static has_std_result_type testFunctor(T const *, typename T::result_type const * = 0);
+ template<typename T>
+ static has_tr1_result testFunctor(T const *, typename T::template result<T(ArgType)>::type const * = 0);
+ static has_none testFunctor(...);
+
+ // note that the following indirection is needed for gcc-3.3
+ enum {FunctorType = sizeof(testFunctor(static_cast<Func*>(0)))};
+ typedef typename unary_result_of_select<Func, ArgType, FunctorType>::type type;
+};
+
+template<typename Func, typename ArgType0, typename ArgType1, int SizeOf=sizeof(has_none)>
+struct binary_result_of_select {typedef typename internal::remove_all<ArgType0>::type type;};
+
+template<typename Func, typename ArgType0, typename ArgType1>
+struct binary_result_of_select<Func, ArgType0, ArgType1, sizeof(has_std_result_type)>
+{typedef typename Func::result_type type;};
+
+template<typename Func, typename ArgType0, typename ArgType1>
+struct binary_result_of_select<Func, ArgType0, ArgType1, sizeof(has_tr1_result)>
+{typedef typename Func::template result<Func(ArgType0,ArgType1)>::type type;};
+
+template<typename Func, typename ArgType0, typename ArgType1>
+struct result_of<Func(ArgType0,ArgType1)> {
+ template<typename T>
+ static has_std_result_type testFunctor(T const *, typename T::result_type const * = 0);
+ template<typename T>
+ static has_tr1_result testFunctor(T const *, typename T::template result<T(ArgType0,ArgType1)>::type const * = 0);
+ static has_none testFunctor(...);
+
+ // note that the following indirection is needed for gcc-3.3
+ enum {FunctorType = sizeof(testFunctor(static_cast<Func*>(0)))};
+ typedef typename binary_result_of_select<Func, ArgType0, ArgType1, FunctorType>::type type;
+};
+
+template<typename Func, typename ArgType0, typename ArgType1, typename ArgType2, int SizeOf=sizeof(has_none)>
+struct ternary_result_of_select {typedef typename internal::remove_all<ArgType0>::type type;};
+
+template<typename Func, typename ArgType0, typename ArgType1, typename ArgType2>
+struct ternary_result_of_select<Func, ArgType0, ArgType1, ArgType2, sizeof(has_std_result_type)>
+{typedef typename Func::result_type type;};
+
+template<typename Func, typename ArgType0, typename ArgType1, typename ArgType2>
+struct ternary_result_of_select<Func, ArgType0, ArgType1, ArgType2, sizeof(has_tr1_result)>
+{typedef typename Func::template result<Func(ArgType0,ArgType1,ArgType2)>::type type;};
+
+template<typename Func, typename ArgType0, typename ArgType1, typename ArgType2>
+struct result_of<Func(ArgType0,ArgType1,ArgType2)> {
+ template<typename T>
+ static has_std_result_type testFunctor(T const *, typename T::result_type const * = 0);
+ template<typename T>
+ static has_tr1_result testFunctor(T const *, typename T::template result<T(ArgType0,ArgType1,ArgType2)>::type const * = 0);
+ static has_none testFunctor(...);
+
+ // note that the following indirection is needed for gcc-3.3
+ enum {FunctorType = sizeof(testFunctor(static_cast<Func*>(0)))};
+ typedef typename ternary_result_of_select<Func, ArgType0, ArgType1, ArgType2, FunctorType>::type type;
+};
+#endif
+
+struct meta_yes { char a[1]; };
+struct meta_no { char a[2]; };
+
+// Check whether T::ReturnType does exist
+template <typename T>
+struct has_ReturnType
+{
+ template <typename C> static meta_yes testFunctor(typename C::ReturnType const *);
+ template <typename C> static meta_no testFunctor(...);
+
+ enum { value = sizeof(testFunctor<T>(0)) == sizeof(meta_yes) };
+};
+
+template<typename T> const T* return_ptr();
+
+template <typename T, typename IndexType=Index>
+struct has_nullary_operator
+{
+ template <typename C> static meta_yes testFunctor(C const *,typename enable_if<(sizeof(return_ptr<C>()->operator()())>0)>::type * = 0);
+ static meta_no testFunctor(...);
+
+ enum { value = sizeof(testFunctor(static_cast<T*>(0))) == sizeof(meta_yes) };
+};
+
+template <typename T, typename IndexType=Index>
+struct has_unary_operator
+{
+ template <typename C> static meta_yes testFunctor(C const *,typename enable_if<(sizeof(return_ptr<C>()->operator()(IndexType(0)))>0)>::type * = 0);
+ static meta_no testFunctor(...);
+
+ enum { value = sizeof(testFunctor(static_cast<T*>(0))) == sizeof(meta_yes) };
+};
+
+template <typename T, typename IndexType=Index>
+struct has_binary_operator
+{
+ template <typename C> static meta_yes testFunctor(C const *,typename enable_if<(sizeof(return_ptr<C>()->operator()(IndexType(0),IndexType(0)))>0)>::type * = 0);
+ static meta_no testFunctor(...);
+
+ enum { value = sizeof(testFunctor(static_cast<T*>(0))) == sizeof(meta_yes) };
+};
+
+/** \internal In short, it computes int(sqrt(\a Y)) with \a Y an integer.
+ * Usage example: \code meta_sqrt<1023>::ret \endcode
+ */
+template<int Y,
+ int InfX = 0,
+ int SupX = ((Y==1) ? 1 : Y/2),
+ bool Done = ((SupX-InfX)<=1 ? true : ((SupX*SupX <= Y) && ((SupX+1)*(SupX+1) > Y))) >
+ // use ?: instead of || just to shut up a stupid gcc 4.3 warning
+class meta_sqrt
+{
+ enum {
+ MidX = (InfX+SupX)/2,
+ TakeInf = MidX*MidX > Y ? 1 : 0,
+ NewInf = int(TakeInf) ? InfX : int(MidX),
+ NewSup = int(TakeInf) ? int(MidX) : SupX
+ };
+ public:
+ enum { ret = meta_sqrt<Y,NewInf,NewSup>::ret };
+};
+
+template<int Y, int InfX, int SupX>
+class meta_sqrt<Y, InfX, SupX, true> { public: enum { ret = (SupX*SupX <= Y) ? SupX : InfX }; };
+
+
+/** \internal Computes the least common multiple of two positive integer A and B
+ * at compile-time. It implements a naive algorithm testing all multiples of A.
+ * It thus works better if A>=B.
+ */
+template<int A, int B, int K=1, bool Done = ((A*K)%B)==0>
+struct meta_least_common_multiple
+{
+ enum { ret = meta_least_common_multiple<A,B,K+1>::ret };
+};
+template<int A, int B, int K>
+struct meta_least_common_multiple<A,B,K,true>
+{
+ enum { ret = A*K };
+};
+
+/** \internal determines whether the product of two numeric types is allowed and what the return type is */
+template<typename T, typename U> struct scalar_product_traits
+{
+ enum { Defined = 0 };
+};
+
+// FIXME quick workaround around current limitation of result_of
+// template<typename Scalar, typename ArgType0, typename ArgType1>
+// struct result_of<scalar_product_op<Scalar>(ArgType0,ArgType1)> {
+// typedef typename scalar_product_traits<typename remove_all<ArgType0>::type, typename remove_all<ArgType1>::type>::ReturnType type;
+// };
+
+} // end namespace internal
+
+namespace numext {
+
+#if defined(__CUDA_ARCH__)
+template<typename T> EIGEN_DEVICE_FUNC void swap(T &a, T &b) { T tmp = b; b = a; a = tmp; }
+#else
+template<typename T> EIGEN_STRONG_INLINE void swap(T &a, T &b) { std::swap(a,b); }
+#endif
+
+#if defined(__CUDA_ARCH__)
+using internal::device::numeric_limits;
+#else
+using std::numeric_limits;
+#endif
+
+// Integer division with rounding up.
+// T is assumed to be an integer type with a>=0, and b>0
+template<typename T>
+T div_ceil(const T &a, const T &b)
+{
+ return (a+b-1) / b;
+}
+
+// The aim of the following functions is to bypass -Wfloat-equal warnings
+// when we really want a strict equality comparison on floating points.
+template<typename X, typename Y> EIGEN_STRONG_INLINE
+bool equal_strict(const X& x,const Y& y) { return x == y; }
+
+template<> EIGEN_STRONG_INLINE
+bool equal_strict(const float& x,const float& y) { return std::equal_to<float>()(x,y); }
+
+template<> EIGEN_STRONG_INLINE
+bool equal_strict(const double& x,const double& y) { return std::equal_to<double>()(x,y); }
+
+template<typename X, typename Y> EIGEN_STRONG_INLINE
+bool not_equal_strict(const X& x,const Y& y) { return x != y; }
+
+template<> EIGEN_STRONG_INLINE
+bool not_equal_strict(const float& x,const float& y) { return std::not_equal_to<float>()(x,y); }
+
+template<> EIGEN_STRONG_INLINE
+bool not_equal_strict(const double& x,const double& y) { return std::not_equal_to<double>()(x,y); }
+
+} // end namespace numext
+
+} // end namespace Eigen
+
+#endif // EIGEN_META_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/util/ReenableStupidWarnings.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/util/ReenableStupidWarnings.h
new file mode 100644
index 0000000..ecc82b7
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/util/ReenableStupidWarnings.h
@@ -0,0 +1,27 @@
+#ifdef EIGEN_WARNINGS_DISABLED
+#undef EIGEN_WARNINGS_DISABLED
+
+#ifndef EIGEN_PERMANENTLY_DISABLE_STUPID_WARNINGS
+ #ifdef _MSC_VER
+ #pragma warning( pop )
+ #elif defined __INTEL_COMPILER
+ #pragma warning pop
+ #elif defined __clang__
+ #pragma clang diagnostic pop
+ #elif defined __GNUC__ && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6))
+ #pragma GCC diagnostic pop
+ #endif
+
+ #if defined __NVCC__
+// Don't reenable the diagnostic messages, as it turns out these messages need
+// to be disabled at the point of the template instantiation (i.e the user code)
+// otherwise they'll be triggered by nvcc.
+// #pragma diag_default code_is_unreachable
+// #pragma diag_default initialization_not_reachable
+// #pragma diag_default 2651
+// #pragma diag_default 2653
+ #endif
+
+#endif
+
+#endif // EIGEN_WARNINGS_DISABLED
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/util/StaticAssert.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/util/StaticAssert.h
new file mode 100644
index 0000000..500e477
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/util/StaticAssert.h
@@ -0,0 +1,218 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_STATIC_ASSERT_H
+#define EIGEN_STATIC_ASSERT_H
+
+/* Some notes on Eigen's static assertion mechanism:
+ *
+ * - in EIGEN_STATIC_ASSERT(CONDITION,MSG) the parameter CONDITION must be a compile time boolean
+ * expression, and MSG an enum listed in struct internal::static_assertion<true>
+ *
+ * - define EIGEN_NO_STATIC_ASSERT to disable them (and save compilation time)
+ * in that case, the static assertion is converted to the following runtime assert:
+ * eigen_assert(CONDITION && "MSG")
+ *
+ * - currently EIGEN_STATIC_ASSERT can only be used in function scope
+ *
+ */
+
+#ifndef EIGEN_STATIC_ASSERT
+#ifndef EIGEN_NO_STATIC_ASSERT
+
+ #if EIGEN_MAX_CPP_VER>=11 && (__has_feature(cxx_static_assert) || (defined(__cplusplus) && __cplusplus >= 201103L) || (EIGEN_COMP_MSVC >= 1600))
+
+ // if native static_assert is enabled, let's use it
+ #define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
+
+ #else // not CXX0X
+
+ namespace Eigen {
+
+ namespace internal {
+
+ template<bool condition>
+ struct static_assertion {};
+
+ template<>
+ struct static_assertion<true>
+ {
+ enum {
+ YOU_TRIED_CALLING_A_VECTOR_METHOD_ON_A_MATRIX=1,
+ YOU_MIXED_VECTORS_OF_DIFFERENT_SIZES=1,
+ YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES=1,
+ THIS_METHOD_IS_ONLY_FOR_VECTORS_OF_A_SPECIFIC_SIZE=1,
+ THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE=1,
+ THIS_METHOD_IS_ONLY_FOR_OBJECTS_OF_A_SPECIFIC_SIZE=1,
+ OUT_OF_RANGE_ACCESS=1,
+ YOU_MADE_A_PROGRAMMING_MISTAKE=1,
+ EIGEN_INTERNAL_ERROR_PLEASE_FILE_A_BUG_REPORT=1,
+ EIGEN_INTERNAL_COMPILATION_ERROR_OR_YOU_MADE_A_PROGRAMMING_MISTAKE=1,
+ YOU_CALLED_A_FIXED_SIZE_METHOD_ON_A_DYNAMIC_SIZE_MATRIX_OR_VECTOR=1,
+ YOU_CALLED_A_DYNAMIC_SIZE_METHOD_ON_A_FIXED_SIZE_MATRIX_OR_VECTOR=1,
+ UNALIGNED_LOAD_AND_STORE_OPERATIONS_UNIMPLEMENTED_ON_ALTIVEC=1,
+ THIS_FUNCTION_IS_NOT_FOR_INTEGER_NUMERIC_TYPES=1,
+ FLOATING_POINT_ARGUMENT_PASSED__INTEGER_WAS_EXPECTED=1,
+ NUMERIC_TYPE_MUST_BE_REAL=1,
+ COEFFICIENT_WRITE_ACCESS_TO_SELFADJOINT_NOT_SUPPORTED=1,
+ WRITING_TO_TRIANGULAR_PART_WITH_UNIT_DIAGONAL_IS_NOT_SUPPORTED=1,
+ THIS_METHOD_IS_ONLY_FOR_FIXED_SIZE=1,
+ INVALID_MATRIX_PRODUCT=1,
+ INVALID_VECTOR_VECTOR_PRODUCT__IF_YOU_WANTED_A_DOT_OR_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTIONS=1,
+ INVALID_MATRIX_PRODUCT__IF_YOU_WANTED_A_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTION=1,
+ YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY=1,
+ THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES=1,
+ THIS_METHOD_IS_ONLY_FOR_ROW_MAJOR_MATRICES=1,
+ INVALID_MATRIX_TEMPLATE_PARAMETERS=1,
+ INVALID_MATRIXBASE_TEMPLATE_PARAMETERS=1,
+ BOTH_MATRICES_MUST_HAVE_THE_SAME_STORAGE_ORDER=1,
+ THIS_METHOD_IS_ONLY_FOR_DIAGONAL_MATRIX=1,
+ THE_MATRIX_OR_EXPRESSION_THAT_YOU_PASSED_DOES_NOT_HAVE_THE_EXPECTED_TYPE=1,
+ THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_WITH_DIRECT_MEMORY_ACCESS_SUCH_AS_MAP_OR_PLAIN_MATRICES=1,
+ YOU_ALREADY_SPECIFIED_THIS_STRIDE=1,
+ INVALID_STORAGE_ORDER_FOR_THIS_VECTOR_EXPRESSION=1,
+ THE_BRACKET_OPERATOR_IS_ONLY_FOR_VECTORS__USE_THE_PARENTHESIS_OPERATOR_INSTEAD=1,
+ PACKET_ACCESS_REQUIRES_TO_HAVE_INNER_STRIDE_FIXED_TO_1=1,
+ THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS=1,
+ YOU_CANNOT_MIX_ARRAYS_AND_MATRICES=1,
+ YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION=1,
+ THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY=1,
+ YOU_ARE_TRYING_TO_USE_AN_INDEX_BASED_ACCESSOR_ON_AN_EXPRESSION_THAT_DOES_NOT_SUPPORT_THAT=1,
+ THIS_METHOD_IS_ONLY_FOR_1x1_EXPRESSIONS=1,
+ THIS_METHOD_IS_ONLY_FOR_INNER_OR_LAZY_PRODUCTS=1,
+ THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_OF_BOOL=1,
+ THIS_METHOD_IS_ONLY_FOR_ARRAYS_NOT_MATRICES=1,
+ YOU_PASSED_A_ROW_VECTOR_BUT_A_COLUMN_VECTOR_WAS_EXPECTED=1,
+ YOU_PASSED_A_COLUMN_VECTOR_BUT_A_ROW_VECTOR_WAS_EXPECTED=1,
+ THE_INDEX_TYPE_MUST_BE_A_SIGNED_TYPE=1,
+ THE_STORAGE_ORDER_OF_BOTH_SIDES_MUST_MATCH=1,
+ OBJECT_ALLOCATED_ON_STACK_IS_TOO_BIG=1,
+ IMPLICIT_CONVERSION_TO_SCALAR_IS_FOR_INNER_PRODUCT_ONLY=1,
+ STORAGE_LAYOUT_DOES_NOT_MATCH=1,
+ EIGEN_INTERNAL_ERROR_PLEASE_FILE_A_BUG_REPORT__INVALID_COST_VALUE=1,
+ THIS_COEFFICIENT_ACCESSOR_TAKING_ONE_ACCESS_IS_ONLY_FOR_EXPRESSIONS_ALLOWING_LINEAR_ACCESS=1,
+ MATRIX_FREE_CONJUGATE_GRADIENT_IS_COMPATIBLE_WITH_UPPER_UNION_LOWER_MODE_ONLY=1,
+ THIS_TYPE_IS_NOT_SUPPORTED=1,
+ STORAGE_KIND_MUST_MATCH=1,
+ STORAGE_INDEX_MUST_MATCH=1,
+ CHOLMOD_SUPPORTS_DOUBLE_PRECISION_ONLY=1,
+ SELFADJOINTVIEW_ACCEPTS_UPPER_AND_LOWER_MODE_ONLY=1
+ };
+ };
+
+ } // end namespace internal
+
+ } // end namespace Eigen
+
+ // Specialized implementation for MSVC to avoid "conditional
+ // expression is constant" warnings. This implementation doesn't
+ // appear to work under GCC, hence the multiple implementations.
+ #if EIGEN_COMP_MSVC
+
+ #define EIGEN_STATIC_ASSERT(CONDITION,MSG) \
+ {Eigen::internal::static_assertion<bool(CONDITION)>::MSG;}
+
+ #else
+ // In some cases clang interprets bool(CONDITION) as function declaration
+ #define EIGEN_STATIC_ASSERT(CONDITION,MSG) \
+ if (Eigen::internal::static_assertion<static_cast<bool>(CONDITION)>::MSG) {}
+
+ #endif
+
+ #endif // not CXX0X
+
+#else // EIGEN_NO_STATIC_ASSERT
+
+ #define EIGEN_STATIC_ASSERT(CONDITION,MSG) eigen_assert((CONDITION) && #MSG);
+
+#endif // EIGEN_NO_STATIC_ASSERT
+#endif // EIGEN_STATIC_ASSERT
+
+// static assertion failing if the type \a TYPE is not a vector type
+#define EIGEN_STATIC_ASSERT_VECTOR_ONLY(TYPE) \
+ EIGEN_STATIC_ASSERT(TYPE::IsVectorAtCompileTime, \
+ YOU_TRIED_CALLING_A_VECTOR_METHOD_ON_A_MATRIX)
+
+// static assertion failing if the type \a TYPE is not fixed-size
+#define EIGEN_STATIC_ASSERT_FIXED_SIZE(TYPE) \
+ EIGEN_STATIC_ASSERT(TYPE::SizeAtCompileTime!=Eigen::Dynamic, \
+ YOU_CALLED_A_FIXED_SIZE_METHOD_ON_A_DYNAMIC_SIZE_MATRIX_OR_VECTOR)
+
+// static assertion failing if the type \a TYPE is not dynamic-size
+#define EIGEN_STATIC_ASSERT_DYNAMIC_SIZE(TYPE) \
+ EIGEN_STATIC_ASSERT(TYPE::SizeAtCompileTime==Eigen::Dynamic, \
+ YOU_CALLED_A_DYNAMIC_SIZE_METHOD_ON_A_FIXED_SIZE_MATRIX_OR_VECTOR)
+
+// static assertion failing if the type \a TYPE is not a vector type of the given size
+#define EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(TYPE, SIZE) \
+ EIGEN_STATIC_ASSERT(TYPE::IsVectorAtCompileTime && TYPE::SizeAtCompileTime==SIZE, \
+ THIS_METHOD_IS_ONLY_FOR_VECTORS_OF_A_SPECIFIC_SIZE)
+
+// static assertion failing if the type \a TYPE is not a vector type of the given size
+#define EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(TYPE, ROWS, COLS) \
+ EIGEN_STATIC_ASSERT(TYPE::RowsAtCompileTime==ROWS && TYPE::ColsAtCompileTime==COLS, \
+ THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE)
+
+// static assertion failing if the two vector expression types are not compatible (same fixed-size or dynamic size)
+#define EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(TYPE0,TYPE1) \
+ EIGEN_STATIC_ASSERT( \
+ (int(TYPE0::SizeAtCompileTime)==Eigen::Dynamic \
+ || int(TYPE1::SizeAtCompileTime)==Eigen::Dynamic \
+ || int(TYPE0::SizeAtCompileTime)==int(TYPE1::SizeAtCompileTime)),\
+ YOU_MIXED_VECTORS_OF_DIFFERENT_SIZES)
+
+#define EIGEN_PREDICATE_SAME_MATRIX_SIZE(TYPE0,TYPE1) \
+ ( \
+ (int(Eigen::internal::size_of_xpr_at_compile_time<TYPE0>::ret)==0 && int(Eigen::internal::size_of_xpr_at_compile_time<TYPE1>::ret)==0) \
+ || (\
+ (int(TYPE0::RowsAtCompileTime)==Eigen::Dynamic \
+ || int(TYPE1::RowsAtCompileTime)==Eigen::Dynamic \
+ || int(TYPE0::RowsAtCompileTime)==int(TYPE1::RowsAtCompileTime)) \
+ && (int(TYPE0::ColsAtCompileTime)==Eigen::Dynamic \
+ || int(TYPE1::ColsAtCompileTime)==Eigen::Dynamic \
+ || int(TYPE0::ColsAtCompileTime)==int(TYPE1::ColsAtCompileTime))\
+ ) \
+ )
+
+#define EIGEN_STATIC_ASSERT_NON_INTEGER(TYPE) \
+ EIGEN_STATIC_ASSERT(!NumTraits<TYPE>::IsInteger, THIS_FUNCTION_IS_NOT_FOR_INTEGER_NUMERIC_TYPES)
+
+
+// static assertion failing if it is guaranteed at compile-time that the two matrix expression types have different sizes
+#define EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(TYPE0,TYPE1) \
+ EIGEN_STATIC_ASSERT( \
+ EIGEN_PREDICATE_SAME_MATRIX_SIZE(TYPE0,TYPE1),\
+ YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES)
+
+#define EIGEN_STATIC_ASSERT_SIZE_1x1(TYPE) \
+ EIGEN_STATIC_ASSERT((TYPE::RowsAtCompileTime == 1 || TYPE::RowsAtCompileTime == Dynamic) && \
+ (TYPE::ColsAtCompileTime == 1 || TYPE::ColsAtCompileTime == Dynamic), \
+ THIS_METHOD_IS_ONLY_FOR_1x1_EXPRESSIONS)
+
+#define EIGEN_STATIC_ASSERT_LVALUE(Derived) \
+ EIGEN_STATIC_ASSERT(Eigen::internal::is_lvalue<Derived>::value, \
+ THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY)
+
+#define EIGEN_STATIC_ASSERT_ARRAYXPR(Derived) \
+ EIGEN_STATIC_ASSERT((Eigen::internal::is_same<typename Eigen::internal::traits<Derived>::XprKind, ArrayXpr>::value), \
+ THIS_METHOD_IS_ONLY_FOR_ARRAYS_NOT_MATRICES)
+
+#define EIGEN_STATIC_ASSERT_SAME_XPR_KIND(Derived1, Derived2) \
+ EIGEN_STATIC_ASSERT((Eigen::internal::is_same<typename Eigen::internal::traits<Derived1>::XprKind, \
+ typename Eigen::internal::traits<Derived2>::XprKind \
+ >::value), \
+ YOU_CANNOT_MIX_ARRAYS_AND_MATRICES)
+
+// Check that a cost value is positive, and that is stay within a reasonable range
+// TODO this check could be enabled for internal debugging only
+#define EIGEN_INTERNAL_CHECK_COST_VALUE(C) \
+ EIGEN_STATIC_ASSERT((C)>=0 && (C)<=HugeCost*HugeCost, EIGEN_INTERNAL_ERROR_PLEASE_FILE_A_BUG_REPORT__INVALID_COST_VALUE);
+
+#endif // EIGEN_STATIC_ASSERT_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/util/XprHelper.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/util/XprHelper.h
new file mode 100644
index 0000000..ba5bd18
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Core/util/XprHelper.h
@@ -0,0 +1,821 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_XPRHELPER_H
+#define EIGEN_XPRHELPER_H
+
+// just a workaround because GCC seems to not really like empty structs
+// FIXME: gcc 4.3 generates bad code when strict-aliasing is enabled
+// so currently we simply disable this optimization for gcc 4.3
+#if EIGEN_COMP_GNUC && !EIGEN_GNUC_AT(4,3)
+ #define EIGEN_EMPTY_STRUCT_CTOR(X) \
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE X() {} \
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE X(const X& ) {}
+#else
+ #define EIGEN_EMPTY_STRUCT_CTOR(X)
+#endif
+
+namespace Eigen {
+
+namespace internal {
+
+template<typename IndexDest, typename IndexSrc>
+EIGEN_DEVICE_FUNC
+inline IndexDest convert_index(const IndexSrc& idx) {
+ // for sizeof(IndexDest)>=sizeof(IndexSrc) compilers should be able to optimize this away:
+ eigen_internal_assert(idx <= NumTraits<IndexDest>::highest() && "Index value to big for target type");
+ return IndexDest(idx);
+}
+
+
+// promote_scalar_arg is an helper used in operation between an expression and a scalar, like:
+// expression * scalar
+// Its role is to determine how the type T of the scalar operand should be promoted given the scalar type ExprScalar of the given expression.
+// The IsSupported template parameter must be provided by the caller as: internal::has_ReturnType<ScalarBinaryOpTraits<ExprScalar,T,op> >::value using the proper order for ExprScalar and T.
+// Then the logic is as follows:
+// - if the operation is natively supported as defined by IsSupported, then the scalar type is not promoted, and T is returned.
+// - otherwise, NumTraits<ExprScalar>::Literal is returned if T is implicitly convertible to NumTraits<ExprScalar>::Literal AND that this does not imply a float to integer conversion.
+// - otherwise, ExprScalar is returned if T is implicitly convertible to ExprScalar AND that this does not imply a float to integer conversion.
+// - In all other cases, the promoted type is not defined, and the respective operation is thus invalid and not available (SFINAE).
+template<typename ExprScalar,typename T, bool IsSupported>
+struct promote_scalar_arg;
+
+template<typename S,typename T>
+struct promote_scalar_arg<S,T,true>
+{
+ typedef T type;
+};
+
+// Recursively check safe conversion to PromotedType, and then ExprScalar if they are different.
+template<typename ExprScalar,typename T,typename PromotedType,
+ bool ConvertibleToLiteral = internal::is_convertible<T,PromotedType>::value,
+ bool IsSafe = NumTraits<T>::IsInteger || !NumTraits<PromotedType>::IsInteger>
+struct promote_scalar_arg_unsupported;
+
+// Start recursion with NumTraits<ExprScalar>::Literal
+template<typename S,typename T>
+struct promote_scalar_arg<S,T,false> : promote_scalar_arg_unsupported<S,T,typename NumTraits<S>::Literal> {};
+
+// We found a match!
+template<typename S,typename T, typename PromotedType>
+struct promote_scalar_arg_unsupported<S,T,PromotedType,true,true>
+{
+ typedef PromotedType type;
+};
+
+// No match, but no real-to-integer issues, and ExprScalar and current PromotedType are different,
+// so let's try to promote to ExprScalar
+template<typename ExprScalar,typename T, typename PromotedType>
+struct promote_scalar_arg_unsupported<ExprScalar,T,PromotedType,false,true>
+ : promote_scalar_arg_unsupported<ExprScalar,T,ExprScalar>
+{};
+
+// Unsafe real-to-integer, let's stop.
+template<typename S,typename T, typename PromotedType, bool ConvertibleToLiteral>
+struct promote_scalar_arg_unsupported<S,T,PromotedType,ConvertibleToLiteral,false> {};
+
+// T is not even convertible to ExprScalar, let's stop.
+template<typename S,typename T>
+struct promote_scalar_arg_unsupported<S,T,S,false,true> {};
+
+//classes inheriting no_assignment_operator don't generate a default operator=.
+class no_assignment_operator
+{
+ private:
+ no_assignment_operator& operator=(const no_assignment_operator&);
+};
+
+/** \internal return the index type with the largest number of bits */
+template<typename I1, typename I2>
+struct promote_index_type
+{
+ typedef typename conditional<(sizeof(I1)<sizeof(I2)), I2, I1>::type type;
+};
+
+/** \internal If the template parameter Value is Dynamic, this class is just a wrapper around a T variable that
+ * can be accessed using value() and setValue().
+ * Otherwise, this class is an empty structure and value() just returns the template parameter Value.
+ */
+template<typename T, int Value> class variable_if_dynamic
+{
+ public:
+ EIGEN_EMPTY_STRUCT_CTOR(variable_if_dynamic)
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit variable_if_dynamic(T v) { EIGEN_ONLY_USED_FOR_DEBUG(v); eigen_assert(v == T(Value)); }
+ EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE T value() { return T(Value); }
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void setValue(T) {}
+};
+
+template<typename T> class variable_if_dynamic<T, Dynamic>
+{
+ T m_value;
+ EIGEN_DEVICE_FUNC variable_if_dynamic() { eigen_assert(false); }
+ public:
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit variable_if_dynamic(T value) : m_value(value) {}
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T value() const { return m_value; }
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void setValue(T value) { m_value = value; }
+};
+
+/** \internal like variable_if_dynamic but for DynamicIndex
+ */
+template<typename T, int Value> class variable_if_dynamicindex
+{
+ public:
+ EIGEN_EMPTY_STRUCT_CTOR(variable_if_dynamicindex)
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit variable_if_dynamicindex(T v) { EIGEN_ONLY_USED_FOR_DEBUG(v); eigen_assert(v == T(Value)); }
+ EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE T value() { return T(Value); }
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void setValue(T) {}
+};
+
+template<typename T> class variable_if_dynamicindex<T, DynamicIndex>
+{
+ T m_value;
+ EIGEN_DEVICE_FUNC variable_if_dynamicindex() { eigen_assert(false); }
+ public:
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit variable_if_dynamicindex(T value) : m_value(value) {}
+ EIGEN_DEVICE_FUNC T EIGEN_STRONG_INLINE value() const { return m_value; }
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void setValue(T value) { m_value = value; }
+};
+
+template<typename T> struct functor_traits
+{
+ enum
+ {
+ Cost = 10,
+ PacketAccess = false,
+ IsRepeatable = false
+ };
+};
+
+template<typename T> struct packet_traits;
+
+template<typename T> struct unpacket_traits
+{
+ typedef T type;
+ typedef T half;
+ enum
+ {
+ size = 1,
+ alignment = 1
+ };
+};
+
+template<int Size, typename PacketType,
+ bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
+struct find_best_packet_helper;
+
+template< int Size, typename PacketType>
+struct find_best_packet_helper<Size,PacketType,true>
+{
+ typedef PacketType type;
+};
+
+template<int Size, typename PacketType>
+struct find_best_packet_helper<Size,PacketType,false>
+{
+ typedef typename find_best_packet_helper<Size,typename unpacket_traits<PacketType>::half>::type type;
+};
+
+template<typename T, int Size>
+struct find_best_packet
+{
+ typedef typename find_best_packet_helper<Size,typename packet_traits<T>::type>::type type;
+};
+
+#if EIGEN_MAX_STATIC_ALIGN_BYTES>0
+template<int ArrayBytes, int AlignmentBytes,
+ bool Match = bool((ArrayBytes%AlignmentBytes)==0),
+ bool TryHalf = bool(EIGEN_MIN_ALIGN_BYTES<AlignmentBytes) >
+struct compute_default_alignment_helper
+{
+ enum { value = 0 };
+};
+
+template<int ArrayBytes, int AlignmentBytes, bool TryHalf>
+struct compute_default_alignment_helper<ArrayBytes, AlignmentBytes, true, TryHalf> // Match
+{
+ enum { value = AlignmentBytes };
+};
+
+template<int ArrayBytes, int AlignmentBytes>
+struct compute_default_alignment_helper<ArrayBytes, AlignmentBytes, false, true> // Try-half
+{
+ // current packet too large, try with an half-packet
+ enum { value = compute_default_alignment_helper<ArrayBytes, AlignmentBytes/2>::value };
+};
+#else
+// If static alignment is disabled, no need to bother.
+// This also avoids a division by zero in "bool Match = bool((ArrayBytes%AlignmentBytes)==0)"
+template<int ArrayBytes, int AlignmentBytes>
+struct compute_default_alignment_helper
+{
+ enum { value = 0 };
+};
+#endif
+
+template<typename T, int Size> struct compute_default_alignment {
+ enum { value = compute_default_alignment_helper<Size*sizeof(T),EIGEN_MAX_STATIC_ALIGN_BYTES>::value };
+};
+
+template<typename T> struct compute_default_alignment<T,Dynamic> {
+ enum { value = EIGEN_MAX_ALIGN_BYTES };
+};
+
+template<typename _Scalar, int _Rows, int _Cols,
+ int _Options = AutoAlign |
+ ( (_Rows==1 && _Cols!=1) ? RowMajor
+ : (_Cols==1 && _Rows!=1) ? ColMajor
+ : EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION ),
+ int _MaxRows = _Rows,
+ int _MaxCols = _Cols
+> class make_proper_matrix_type
+{
+ enum {
+ IsColVector = _Cols==1 && _Rows!=1,
+ IsRowVector = _Rows==1 && _Cols!=1,
+ Options = IsColVector ? (_Options | ColMajor) & ~RowMajor
+ : IsRowVector ? (_Options | RowMajor) & ~ColMajor
+ : _Options
+ };
+ public:
+ typedef Matrix<_Scalar, _Rows, _Cols, Options, _MaxRows, _MaxCols> type;
+};
+
+template<typename Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols>
+class compute_matrix_flags
+{
+ enum { row_major_bit = Options&RowMajor ? RowMajorBit : 0 };
+ public:
+ // FIXME currently we still have to handle DirectAccessBit at the expression level to handle DenseCoeffsBase<>
+ // and then propagate this information to the evaluator's flags.
+ // However, I (Gael) think that DirectAccessBit should only matter at the evaluation stage.
+ enum { ret = DirectAccessBit | LvalueBit | NestByRefBit | row_major_bit };
+};
+
+template<int _Rows, int _Cols> struct size_at_compile_time
+{
+ enum { ret = (_Rows==Dynamic || _Cols==Dynamic) ? Dynamic : _Rows * _Cols };
+};
+
+template<typename XprType> struct size_of_xpr_at_compile_time
+{
+ enum { ret = size_at_compile_time<traits<XprType>::RowsAtCompileTime,traits<XprType>::ColsAtCompileTime>::ret };
+};
+
+/* plain_matrix_type : the difference from eval is that plain_matrix_type is always a plain matrix type,
+ * whereas eval is a const reference in the case of a matrix
+ */
+
+template<typename T, typename StorageKind = typename traits<T>::StorageKind> struct plain_matrix_type;
+template<typename T, typename BaseClassType, int Flags> struct plain_matrix_type_dense;
+template<typename T> struct plain_matrix_type<T,Dense>
+{
+ typedef typename plain_matrix_type_dense<T,typename traits<T>::XprKind, traits<T>::Flags>::type type;
+};
+template<typename T> struct plain_matrix_type<T,DiagonalShape>
+{
+ typedef typename T::PlainObject type;
+};
+
+template<typename T, int Flags> struct plain_matrix_type_dense<T,MatrixXpr,Flags>
+{
+ typedef Matrix<typename traits<T>::Scalar,
+ traits<T>::RowsAtCompileTime,
+ traits<T>::ColsAtCompileTime,
+ AutoAlign | (Flags&RowMajorBit ? RowMajor : ColMajor),
+ traits<T>::MaxRowsAtCompileTime,
+ traits<T>::MaxColsAtCompileTime
+ > type;
+};
+
+template<typename T, int Flags> struct plain_matrix_type_dense<T,ArrayXpr,Flags>
+{
+ typedef Array<typename traits<T>::Scalar,
+ traits<T>::RowsAtCompileTime,
+ traits<T>::ColsAtCompileTime,
+ AutoAlign | (Flags&RowMajorBit ? RowMajor : ColMajor),
+ traits<T>::MaxRowsAtCompileTime,
+ traits<T>::MaxColsAtCompileTime
+ > type;
+};
+
+/* eval : the return type of eval(). For matrices, this is just a const reference
+ * in order to avoid a useless copy
+ */
+
+template<typename T, typename StorageKind = typename traits<T>::StorageKind> struct eval;
+
+template<typename T> struct eval<T,Dense>
+{
+ typedef typename plain_matrix_type<T>::type type;
+// typedef typename T::PlainObject type;
+// typedef T::Matrix<typename traits<T>::Scalar,
+// traits<T>::RowsAtCompileTime,
+// traits<T>::ColsAtCompileTime,
+// AutoAlign | (traits<T>::Flags&RowMajorBit ? RowMajor : ColMajor),
+// traits<T>::MaxRowsAtCompileTime,
+// traits<T>::MaxColsAtCompileTime
+// > type;
+};
+
+template<typename T> struct eval<T,DiagonalShape>
+{
+ typedef typename plain_matrix_type<T>::type type;
+};
+
+// for matrices, no need to evaluate, just use a const reference to avoid a useless copy
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+struct eval<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>, Dense>
+{
+ typedef const Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& type;
+};
+
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+struct eval<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>, Dense>
+{
+ typedef const Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& type;
+};
+
+
+/* similar to plain_matrix_type, but using the evaluator's Flags */
+template<typename T, typename StorageKind = typename traits<T>::StorageKind> struct plain_object_eval;
+
+template<typename T>
+struct plain_object_eval<T,Dense>
+{
+ typedef typename plain_matrix_type_dense<T,typename traits<T>::XprKind, evaluator<T>::Flags>::type type;
+};
+
+
+/* plain_matrix_type_column_major : same as plain_matrix_type but guaranteed to be column-major
+ */
+template<typename T> struct plain_matrix_type_column_major
+{
+ enum { Rows = traits<T>::RowsAtCompileTime,
+ Cols = traits<T>::ColsAtCompileTime,
+ MaxRows = traits<T>::MaxRowsAtCompileTime,
+ MaxCols = traits<T>::MaxColsAtCompileTime
+ };
+ typedef Matrix<typename traits<T>::Scalar,
+ Rows,
+ Cols,
+ (MaxRows==1&&MaxCols!=1) ? RowMajor : ColMajor,
+ MaxRows,
+ MaxCols
+ > type;
+};
+
+/* plain_matrix_type_row_major : same as plain_matrix_type but guaranteed to be row-major
+ */
+template<typename T> struct plain_matrix_type_row_major
+{
+ enum { Rows = traits<T>::RowsAtCompileTime,
+ Cols = traits<T>::ColsAtCompileTime,
+ MaxRows = traits<T>::MaxRowsAtCompileTime,
+ MaxCols = traits<T>::MaxColsAtCompileTime
+ };
+ typedef Matrix<typename traits<T>::Scalar,
+ Rows,
+ Cols,
+ (MaxCols==1&&MaxRows!=1) ? RowMajor : ColMajor,
+ MaxRows,
+ MaxCols
+ > type;
+};
+
+/** \internal The reference selector for template expressions. The idea is that we don't
+ * need to use references for expressions since they are light weight proxy
+ * objects which should generate no copying overhead. */
+template <typename T>
+struct ref_selector
+{
+ typedef typename conditional<
+ bool(traits<T>::Flags & NestByRefBit),
+ T const&,
+ const T
+ >::type type;
+
+ typedef typename conditional<
+ bool(traits<T>::Flags & NestByRefBit),
+ T &,
+ T
+ >::type non_const_type;
+};
+
+/** \internal Adds the const qualifier on the value-type of T2 if and only if T1 is a const type */
+template<typename T1, typename T2>
+struct transfer_constness
+{
+ typedef typename conditional<
+ bool(internal::is_const<T1>::value),
+ typename internal::add_const_on_value_type<T2>::type,
+ T2
+ >::type type;
+};
+
+
+// However, we still need a mechanism to detect whether an expression which is evaluated multiple time
+// has to be evaluated into a temporary.
+// That's the purpose of this new nested_eval helper:
+/** \internal Determines how a given expression should be nested when evaluated multiple times.
+ * For example, when you do a * (b+c), Eigen will determine how the expression b+c should be
+ * evaluated into the bigger product expression. The choice is between nesting the expression b+c as-is, or
+ * evaluating that expression b+c into a temporary variable d, and nest d so that the resulting expression is
+ * a*d. Evaluating can be beneficial for example if every coefficient access in the resulting expression causes
+ * many coefficient accesses in the nested expressions -- as is the case with matrix product for example.
+ *
+ * \tparam T the type of the expression being nested.
+ * \tparam n the number of coefficient accesses in the nested expression for each coefficient access in the bigger expression.
+ * \tparam PlainObject the type of the temporary if needed.
+ */
+template<typename T, int n, typename PlainObject = typename plain_object_eval<T>::type> struct nested_eval
+{
+ enum {
+ ScalarReadCost = NumTraits<typename traits<T>::Scalar>::ReadCost,
+ CoeffReadCost = evaluator<T>::CoeffReadCost, // NOTE What if an evaluator evaluate itself into a tempory?
+ // Then CoeffReadCost will be small (e.g., 1) but we still have to evaluate, especially if n>1.
+ // This situation is already taken care by the EvalBeforeNestingBit flag, which is turned ON
+ // for all evaluator creating a temporary. This flag is then propagated by the parent evaluators.
+ // Another solution could be to count the number of temps?
+ NAsInteger = n == Dynamic ? HugeCost : n,
+ CostEval = (NAsInteger+1) * ScalarReadCost + CoeffReadCost,
+ CostNoEval = NAsInteger * CoeffReadCost,
+ Evaluate = (int(evaluator<T>::Flags) & EvalBeforeNestingBit) || (int(CostEval) < int(CostNoEval))
+ };
+
+ typedef typename conditional<Evaluate, PlainObject, typename ref_selector<T>::type>::type type;
+};
+
+template<typename T>
+EIGEN_DEVICE_FUNC
+inline T* const_cast_ptr(const T* ptr)
+{
+ return const_cast<T*>(ptr);
+}
+
+template<typename Derived, typename XprKind = typename traits<Derived>::XprKind>
+struct dense_xpr_base
+{
+ /* dense_xpr_base should only ever be used on dense expressions, thus falling either into the MatrixXpr or into the ArrayXpr cases */
+};
+
+template<typename Derived>
+struct dense_xpr_base<Derived, MatrixXpr>
+{
+ typedef MatrixBase<Derived> type;
+};
+
+template<typename Derived>
+struct dense_xpr_base<Derived, ArrayXpr>
+{
+ typedef ArrayBase<Derived> type;
+};
+
+template<typename Derived, typename XprKind = typename traits<Derived>::XprKind, typename StorageKind = typename traits<Derived>::StorageKind>
+struct generic_xpr_base;
+
+template<typename Derived, typename XprKind>
+struct generic_xpr_base<Derived, XprKind, Dense>
+{
+ typedef typename dense_xpr_base<Derived,XprKind>::type type;
+};
+
+template<typename XprType, typename CastType> struct cast_return_type
+{
+ typedef typename XprType::Scalar CurrentScalarType;
+ typedef typename remove_all<CastType>::type _CastType;
+ typedef typename _CastType::Scalar NewScalarType;
+ typedef typename conditional<is_same<CurrentScalarType,NewScalarType>::value,
+ const XprType&,CastType>::type type;
+};
+
+template <typename A, typename B> struct promote_storage_type;
+
+template <typename A> struct promote_storage_type<A,A>
+{
+ typedef A ret;
+};
+template <typename A> struct promote_storage_type<A, const A>
+{
+ typedef A ret;
+};
+template <typename A> struct promote_storage_type<const A, A>
+{
+ typedef A ret;
+};
+
+/** \internal Specify the "storage kind" of applying a coefficient-wise
+ * binary operations between two expressions of kinds A and B respectively.
+ * The template parameter Functor permits to specialize the resulting storage kind wrt to
+ * the functor.
+ * The default rules are as follows:
+ * \code
+ * A op A -> A
+ * A op dense -> dense
+ * dense op B -> dense
+ * sparse op dense -> sparse
+ * dense op sparse -> sparse
+ * \endcode
+ */
+template <typename A, typename B, typename Functor> struct cwise_promote_storage_type;
+
+template <typename A, typename Functor> struct cwise_promote_storage_type<A,A,Functor> { typedef A ret; };
+template <typename Functor> struct cwise_promote_storage_type<Dense,Dense,Functor> { typedef Dense ret; };
+template <typename A, typename Functor> struct cwise_promote_storage_type<A,Dense,Functor> { typedef Dense ret; };
+template <typename B, typename Functor> struct cwise_promote_storage_type<Dense,B,Functor> { typedef Dense ret; };
+template <typename Functor> struct cwise_promote_storage_type<Sparse,Dense,Functor> { typedef Sparse ret; };
+template <typename Functor> struct cwise_promote_storage_type<Dense,Sparse,Functor> { typedef Sparse ret; };
+
+template <typename LhsKind, typename RhsKind, int LhsOrder, int RhsOrder> struct cwise_promote_storage_order {
+ enum { value = LhsOrder };
+};
+
+template <typename LhsKind, int LhsOrder, int RhsOrder> struct cwise_promote_storage_order<LhsKind,Sparse,LhsOrder,RhsOrder> { enum { value = RhsOrder }; };
+template <typename RhsKind, int LhsOrder, int RhsOrder> struct cwise_promote_storage_order<Sparse,RhsKind,LhsOrder,RhsOrder> { enum { value = LhsOrder }; };
+template <int Order> struct cwise_promote_storage_order<Sparse,Sparse,Order,Order> { enum { value = Order }; };
+
+
+/** \internal Specify the "storage kind" of multiplying an expression of kind A with kind B.
+ * The template parameter ProductTag permits to specialize the resulting storage kind wrt to
+ * some compile-time properties of the product: GemmProduct, GemvProduct, OuterProduct, InnerProduct.
+ * The default rules are as follows:
+ * \code
+ * K * K -> K
+ * dense * K -> dense
+ * K * dense -> dense
+ * diag * K -> K
+ * K * diag -> K
+ * Perm * K -> K
+ * K * Perm -> K
+ * \endcode
+ */
+template <typename A, typename B, int ProductTag> struct product_promote_storage_type;
+
+template <typename A, int ProductTag> struct product_promote_storage_type<A, A, ProductTag> { typedef A ret;};
+template <int ProductTag> struct product_promote_storage_type<Dense, Dense, ProductTag> { typedef Dense ret;};
+template <typename A, int ProductTag> struct product_promote_storage_type<A, Dense, ProductTag> { typedef Dense ret; };
+template <typename B, int ProductTag> struct product_promote_storage_type<Dense, B, ProductTag> { typedef Dense ret; };
+
+template <typename A, int ProductTag> struct product_promote_storage_type<A, DiagonalShape, ProductTag> { typedef A ret; };
+template <typename B, int ProductTag> struct product_promote_storage_type<DiagonalShape, B, ProductTag> { typedef B ret; };
+template <int ProductTag> struct product_promote_storage_type<Dense, DiagonalShape, ProductTag> { typedef Dense ret; };
+template <int ProductTag> struct product_promote_storage_type<DiagonalShape, Dense, ProductTag> { typedef Dense ret; };
+
+template <typename A, int ProductTag> struct product_promote_storage_type<A, PermutationStorage, ProductTag> { typedef A ret; };
+template <typename B, int ProductTag> struct product_promote_storage_type<PermutationStorage, B, ProductTag> { typedef B ret; };
+template <int ProductTag> struct product_promote_storage_type<Dense, PermutationStorage, ProductTag> { typedef Dense ret; };
+template <int ProductTag> struct product_promote_storage_type<PermutationStorage, Dense, ProductTag> { typedef Dense ret; };
+
+/** \internal gives the plain matrix or array type to store a row/column/diagonal of a matrix type.
+ * \tparam Scalar optional parameter allowing to pass a different scalar type than the one of the MatrixType.
+ */
+template<typename ExpressionType, typename Scalar = typename ExpressionType::Scalar>
+struct plain_row_type
+{
+ typedef Matrix<Scalar, 1, ExpressionType::ColsAtCompileTime,
+ ExpressionType::PlainObject::Options | RowMajor, 1, ExpressionType::MaxColsAtCompileTime> MatrixRowType;
+ typedef Array<Scalar, 1, ExpressionType::ColsAtCompileTime,
+ ExpressionType::PlainObject::Options | RowMajor, 1, ExpressionType::MaxColsAtCompileTime> ArrayRowType;
+
+ typedef typename conditional<
+ is_same< typename traits<ExpressionType>::XprKind, MatrixXpr >::value,
+ MatrixRowType,
+ ArrayRowType
+ >::type type;
+};
+
+template<typename ExpressionType, typename Scalar = typename ExpressionType::Scalar>
+struct plain_col_type
+{
+ typedef Matrix<Scalar, ExpressionType::RowsAtCompileTime, 1,
+ ExpressionType::PlainObject::Options & ~RowMajor, ExpressionType::MaxRowsAtCompileTime, 1> MatrixColType;
+ typedef Array<Scalar, ExpressionType::RowsAtCompileTime, 1,
+ ExpressionType::PlainObject::Options & ~RowMajor, ExpressionType::MaxRowsAtCompileTime, 1> ArrayColType;
+
+ typedef typename conditional<
+ is_same< typename traits<ExpressionType>::XprKind, MatrixXpr >::value,
+ MatrixColType,
+ ArrayColType
+ >::type type;
+};
+
+template<typename ExpressionType, typename Scalar = typename ExpressionType::Scalar>
+struct plain_diag_type
+{
+ enum { diag_size = EIGEN_SIZE_MIN_PREFER_DYNAMIC(ExpressionType::RowsAtCompileTime, ExpressionType::ColsAtCompileTime),
+ max_diag_size = EIGEN_SIZE_MIN_PREFER_FIXED(ExpressionType::MaxRowsAtCompileTime, ExpressionType::MaxColsAtCompileTime)
+ };
+ typedef Matrix<Scalar, diag_size, 1, ExpressionType::PlainObject::Options & ~RowMajor, max_diag_size, 1> MatrixDiagType;
+ typedef Array<Scalar, diag_size, 1, ExpressionType::PlainObject::Options & ~RowMajor, max_diag_size, 1> ArrayDiagType;
+
+ typedef typename conditional<
+ is_same< typename traits<ExpressionType>::XprKind, MatrixXpr >::value,
+ MatrixDiagType,
+ ArrayDiagType
+ >::type type;
+};
+
+template<typename Expr,typename Scalar = typename Expr::Scalar>
+struct plain_constant_type
+{
+ enum { Options = (traits<Expr>::Flags&RowMajorBit)?RowMajor:0 };
+
+ typedef Array<Scalar, traits<Expr>::RowsAtCompileTime, traits<Expr>::ColsAtCompileTime,
+ Options, traits<Expr>::MaxRowsAtCompileTime,traits<Expr>::MaxColsAtCompileTime> array_type;
+
+ typedef Matrix<Scalar, traits<Expr>::RowsAtCompileTime, traits<Expr>::ColsAtCompileTime,
+ Options, traits<Expr>::MaxRowsAtCompileTime,traits<Expr>::MaxColsAtCompileTime> matrix_type;
+
+ typedef CwiseNullaryOp<scalar_constant_op<Scalar>, const typename conditional<is_same< typename traits<Expr>::XprKind, MatrixXpr >::value, matrix_type, array_type>::type > type;
+};
+
+template<typename ExpressionType>
+struct is_lvalue
+{
+ enum { value = (!bool(is_const<ExpressionType>::value)) &&
+ bool(traits<ExpressionType>::Flags & LvalueBit) };
+};
+
+template<typename T> struct is_diagonal
+{ enum { ret = false }; };
+
+template<typename T> struct is_diagonal<DiagonalBase<T> >
+{ enum { ret = true }; };
+
+template<typename T> struct is_diagonal<DiagonalWrapper<T> >
+{ enum { ret = true }; };
+
+template<typename T, int S> struct is_diagonal<DiagonalMatrix<T,S> >
+{ enum { ret = true }; };
+
+template<typename S1, typename S2> struct glue_shapes;
+template<> struct glue_shapes<DenseShape,TriangularShape> { typedef TriangularShape type; };
+
+template<typename T1, typename T2>
+bool is_same_dense(const T1 &mat1, const T2 &mat2, typename enable_if<has_direct_access<T1>::ret&&has_direct_access<T2>::ret, T1>::type * = 0)
+{
+ return (mat1.data()==mat2.data()) && (mat1.innerStride()==mat2.innerStride()) && (mat1.outerStride()==mat2.outerStride());
+}
+
+template<typename T1, typename T2>
+bool is_same_dense(const T1 &, const T2 &, typename enable_if<!(has_direct_access<T1>::ret&&has_direct_access<T2>::ret), T1>::type * = 0)
+{
+ return false;
+}
+
+// Internal helper defining the cost of a scalar division for the type T.
+// The default heuristic can be specialized for each scalar type and architecture.
+template<typename T,bool Vectorized=false,typename EnaleIf = void>
+struct scalar_div_cost {
+ enum { value = 8*NumTraits<T>::MulCost };
+};
+
+template<typename T,bool Vectorized>
+struct scalar_div_cost<std::complex<T>, Vectorized> {
+ enum { value = 2*scalar_div_cost<T>::value
+ + 6*NumTraits<T>::MulCost
+ + 3*NumTraits<T>::AddCost
+ };
+};
+
+
+template<bool Vectorized>
+struct scalar_div_cost<signed long,Vectorized,typename conditional<sizeof(long)==8,void,false_type>::type> { enum { value = 24 }; };
+template<bool Vectorized>
+struct scalar_div_cost<unsigned long,Vectorized,typename conditional<sizeof(long)==8,void,false_type>::type> { enum { value = 21 }; };
+
+
+#ifdef EIGEN_DEBUG_ASSIGN
+std::string demangle_traversal(int t)
+{
+ if(t==DefaultTraversal) return "DefaultTraversal";
+ if(t==LinearTraversal) return "LinearTraversal";
+ if(t==InnerVectorizedTraversal) return "InnerVectorizedTraversal";
+ if(t==LinearVectorizedTraversal) return "LinearVectorizedTraversal";
+ if(t==SliceVectorizedTraversal) return "SliceVectorizedTraversal";
+ return "?";
+}
+std::string demangle_unrolling(int t)
+{
+ if(t==NoUnrolling) return "NoUnrolling";
+ if(t==InnerUnrolling) return "InnerUnrolling";
+ if(t==CompleteUnrolling) return "CompleteUnrolling";
+ return "?";
+}
+std::string demangle_flags(int f)
+{
+ std::string res;
+ if(f&RowMajorBit) res += " | RowMajor";
+ if(f&PacketAccessBit) res += " | Packet";
+ if(f&LinearAccessBit) res += " | Linear";
+ if(f&LvalueBit) res += " | Lvalue";
+ if(f&DirectAccessBit) res += " | Direct";
+ if(f&NestByRefBit) res += " | NestByRef";
+ if(f&NoPreferredStorageOrderBit) res += " | NoPreferredStorageOrderBit";
+
+ return res;
+}
+#endif
+
+} // end namespace internal
+
+
+/** \class ScalarBinaryOpTraits
+ * \ingroup Core_Module
+ *
+ * \brief Determines whether the given binary operation of two numeric types is allowed and what the scalar return type is.
+ *
+ * This class permits to control the scalar return type of any binary operation performed on two different scalar types through (partial) template specializations.
+ *
+ * For instance, let \c U1, \c U2 and \c U3 be three user defined scalar types for which most operations between instances of \c U1 and \c U2 returns an \c U3.
+ * You can let %Eigen knows that by defining:
+ \code
+ template<typename BinaryOp>
+ struct ScalarBinaryOpTraits<U1,U2,BinaryOp> { typedef U3 ReturnType; };
+ template<typename BinaryOp>
+ struct ScalarBinaryOpTraits<U2,U1,BinaryOp> { typedef U3 ReturnType; };
+ \endcode
+ * You can then explicitly disable some particular operations to get more explicit error messages:
+ \code
+ template<>
+ struct ScalarBinaryOpTraits<U1,U2,internal::scalar_max_op<U1,U2> > {};
+ \endcode
+ * Or customize the return type for individual operation:
+ \code
+ template<>
+ struct ScalarBinaryOpTraits<U1,U2,internal::scalar_sum_op<U1,U2> > { typedef U1 ReturnType; };
+ \endcode
+ *
+ * By default, the following generic combinations are supported:
+ <table class="manual">
+ <tr><th>ScalarA</th><th>ScalarB</th><th>BinaryOp</th><th>ReturnType</th><th>Note</th></tr>
+ <tr ><td>\c T </td><td>\c T </td><td>\c * </td><td>\c T </td><td></td></tr>
+ <tr class="alt"><td>\c NumTraits<T>::Real </td><td>\c T </td><td>\c * </td><td>\c T </td><td>Only if \c NumTraits<T>::IsComplex </td></tr>
+ <tr ><td>\c T </td><td>\c NumTraits<T>::Real </td><td>\c * </td><td>\c T </td><td>Only if \c NumTraits<T>::IsComplex </td></tr>
+ </table>
+ *
+ * \sa CwiseBinaryOp
+ */
+template<typename ScalarA, typename ScalarB, typename BinaryOp=internal::scalar_product_op<ScalarA,ScalarB> >
+struct ScalarBinaryOpTraits
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+ // for backward compatibility, use the hints given by the (deprecated) internal::scalar_product_traits class.
+ : internal::scalar_product_traits<ScalarA,ScalarB>
+#endif // EIGEN_PARSED_BY_DOXYGEN
+{};
+
+template<typename T, typename BinaryOp>
+struct ScalarBinaryOpTraits<T,T,BinaryOp>
+{
+ typedef T ReturnType;
+};
+
+template <typename T, typename BinaryOp>
+struct ScalarBinaryOpTraits<T, typename NumTraits<typename internal::enable_if<NumTraits<T>::IsComplex,T>::type>::Real, BinaryOp>
+{
+ typedef T ReturnType;
+};
+template <typename T, typename BinaryOp>
+struct ScalarBinaryOpTraits<typename NumTraits<typename internal::enable_if<NumTraits<T>::IsComplex,T>::type>::Real, T, BinaryOp>
+{
+ typedef T ReturnType;
+};
+
+// For Matrix * Permutation
+template<typename T, typename BinaryOp>
+struct ScalarBinaryOpTraits<T,void,BinaryOp>
+{
+ typedef T ReturnType;
+};
+
+// For Permutation * Matrix
+template<typename T, typename BinaryOp>
+struct ScalarBinaryOpTraits<void,T,BinaryOp>
+{
+ typedef T ReturnType;
+};
+
+// for Permutation*Permutation
+template<typename BinaryOp>
+struct ScalarBinaryOpTraits<void,void,BinaryOp>
+{
+ typedef void ReturnType;
+};
+
+// We require Lhs and Rhs to have "compatible" scalar types.
+// It is tempting to always allow mixing different types but remember that this is often impossible in the vectorized paths.
+// So allowing mixing different types gives very unexpected errors when enabling vectorization, when the user tries to
+// add together a float matrix and a double matrix.
+#define EIGEN_CHECK_BINARY_COMPATIBILIY(BINOP,LHS,RHS) \
+ EIGEN_STATIC_ASSERT((Eigen::internal::has_ReturnType<ScalarBinaryOpTraits<LHS, RHS,BINOP> >::value), \
+ YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+
+} // end namespace Eigen
+
+#endif // EIGEN_XPRHELPER_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Eigenvalues/ComplexEigenSolver.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Eigenvalues/ComplexEigenSolver.h
new file mode 100644
index 0000000..dc5fae0
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Eigenvalues/ComplexEigenSolver.h
@@ -0,0 +1,346 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Claire Maurice
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010,2012 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_COMPLEX_EIGEN_SOLVER_H
+#define EIGEN_COMPLEX_EIGEN_SOLVER_H
+
+#include "./ComplexSchur.h"
+
+namespace Eigen {
+
+/** \eigenvalues_module \ingroup Eigenvalues_Module
+ *
+ *
+ * \class ComplexEigenSolver
+ *
+ * \brief Computes eigenvalues and eigenvectors of general complex matrices
+ *
+ * \tparam _MatrixType the type of the matrix of which we are
+ * computing the eigendecomposition; this is expected to be an
+ * instantiation of the Matrix class template.
+ *
+ * The eigenvalues and eigenvectors of a matrix \f$ A \f$ are scalars
+ * \f$ \lambda \f$ and vectors \f$ v \f$ such that \f$ Av = \lambda v
+ * \f$. If \f$ D \f$ is a diagonal matrix with the eigenvalues on
+ * the diagonal, and \f$ V \f$ is a matrix with the eigenvectors as
+ * its columns, then \f$ A V = V D \f$. The matrix \f$ V \f$ is
+ * almost always invertible, in which case we have \f$ A = V D V^{-1}
+ * \f$. This is called the eigendecomposition.
+ *
+ * The main function in this class is compute(), which computes the
+ * eigenvalues and eigenvectors of a given function. The
+ * documentation for that function contains an example showing the
+ * main features of the class.
+ *
+ * \sa class EigenSolver, class SelfAdjointEigenSolver
+ */
+template<typename _MatrixType> class ComplexEigenSolver
+{
+ public:
+
+ /** \brief Synonym for the template parameter \p _MatrixType. */
+ typedef _MatrixType MatrixType;
+
+ enum {
+ RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+ ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+ Options = MatrixType::Options,
+ MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+ MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+ };
+
+ /** \brief Scalar type for matrices of type #MatrixType. */
+ typedef typename MatrixType::Scalar Scalar;
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
+
+ /** \brief Complex scalar type for #MatrixType.
+ *
+ * This is \c std::complex<Scalar> if #Scalar is real (e.g.,
+ * \c float or \c double) and just \c Scalar if #Scalar is
+ * complex.
+ */
+ typedef std::complex<RealScalar> ComplexScalar;
+
+ /** \brief Type for vector of eigenvalues as returned by eigenvalues().
+ *
+ * This is a column vector with entries of type #ComplexScalar.
+ * The length of the vector is the size of #MatrixType.
+ */
+ typedef Matrix<ComplexScalar, ColsAtCompileTime, 1, Options&(~RowMajor), MaxColsAtCompileTime, 1> EigenvalueType;
+
+ /** \brief Type for matrix of eigenvectors as returned by eigenvectors().
+ *
+ * This is a square matrix with entries of type #ComplexScalar.
+ * The size is the same as the size of #MatrixType.
+ */
+ typedef Matrix<ComplexScalar, RowsAtCompileTime, ColsAtCompileTime, Options, MaxRowsAtCompileTime, MaxColsAtCompileTime> EigenvectorType;
+
+ /** \brief Default constructor.
+ *
+ * The default constructor is useful in cases in which the user intends to
+ * perform decompositions via compute().
+ */
+ ComplexEigenSolver()
+ : m_eivec(),
+ m_eivalues(),
+ m_schur(),
+ m_isInitialized(false),
+ m_eigenvectorsOk(false),
+ m_matX()
+ {}
+
+ /** \brief Default Constructor with memory preallocation
+ *
+ * Like the default constructor but with preallocation of the internal data
+ * according to the specified problem \a size.
+ * \sa ComplexEigenSolver()
+ */
+ explicit ComplexEigenSolver(Index size)
+ : m_eivec(size, size),
+ m_eivalues(size),
+ m_schur(size),
+ m_isInitialized(false),
+ m_eigenvectorsOk(false),
+ m_matX(size, size)
+ {}
+
+ /** \brief Constructor; computes eigendecomposition of given matrix.
+ *
+ * \param[in] matrix Square matrix whose eigendecomposition is to be computed.
+ * \param[in] computeEigenvectors If true, both the eigenvectors and the
+ * eigenvalues are computed; if false, only the eigenvalues are
+ * computed.
+ *
+ * This constructor calls compute() to compute the eigendecomposition.
+ */
+ template<typename InputType>
+ explicit ComplexEigenSolver(const EigenBase<InputType>& matrix, bool computeEigenvectors = true)
+ : m_eivec(matrix.rows(),matrix.cols()),
+ m_eivalues(matrix.cols()),
+ m_schur(matrix.rows()),
+ m_isInitialized(false),
+ m_eigenvectorsOk(false),
+ m_matX(matrix.rows(),matrix.cols())
+ {
+ compute(matrix.derived(), computeEigenvectors);
+ }
+
+ /** \brief Returns the eigenvectors of given matrix.
+ *
+ * \returns A const reference to the matrix whose columns are the eigenvectors.
+ *
+ * \pre Either the constructor
+ * ComplexEigenSolver(const MatrixType& matrix, bool) or the member
+ * function compute(const MatrixType& matrix, bool) has been called before
+ * to compute the eigendecomposition of a matrix, and
+ * \p computeEigenvectors was set to true (the default).
+ *
+ * This function returns a matrix whose columns are the eigenvectors. Column
+ * \f$ k \f$ is an eigenvector corresponding to eigenvalue number \f$ k
+ * \f$ as returned by eigenvalues(). The eigenvectors are normalized to
+ * have (Euclidean) norm equal to one. The matrix returned by this
+ * function is the matrix \f$ V \f$ in the eigendecomposition \f$ A = V D
+ * V^{-1} \f$, if it exists.
+ *
+ * Example: \include ComplexEigenSolver_eigenvectors.cpp
+ * Output: \verbinclude ComplexEigenSolver_eigenvectors.out
+ */
+ const EigenvectorType& eigenvectors() const
+ {
+ eigen_assert(m_isInitialized && "ComplexEigenSolver is not initialized.");
+ eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
+ return m_eivec;
+ }
+
+ /** \brief Returns the eigenvalues of given matrix.
+ *
+ * \returns A const reference to the column vector containing the eigenvalues.
+ *
+ * \pre Either the constructor
+ * ComplexEigenSolver(const MatrixType& matrix, bool) or the member
+ * function compute(const MatrixType& matrix, bool) has been called before
+ * to compute the eigendecomposition of a matrix.
+ *
+ * This function returns a column vector containing the
+ * eigenvalues. Eigenvalues are repeated according to their
+ * algebraic multiplicity, so there are as many eigenvalues as
+ * rows in the matrix. The eigenvalues are not sorted in any particular
+ * order.
+ *
+ * Example: \include ComplexEigenSolver_eigenvalues.cpp
+ * Output: \verbinclude ComplexEigenSolver_eigenvalues.out
+ */
+ const EigenvalueType& eigenvalues() const
+ {
+ eigen_assert(m_isInitialized && "ComplexEigenSolver is not initialized.");
+ return m_eivalues;
+ }
+
+ /** \brief Computes eigendecomposition of given matrix.
+ *
+ * \param[in] matrix Square matrix whose eigendecomposition is to be computed.
+ * \param[in] computeEigenvectors If true, both the eigenvectors and the
+ * eigenvalues are computed; if false, only the eigenvalues are
+ * computed.
+ * \returns Reference to \c *this
+ *
+ * This function computes the eigenvalues of the complex matrix \p matrix.
+ * The eigenvalues() function can be used to retrieve them. If
+ * \p computeEigenvectors is true, then the eigenvectors are also computed
+ * and can be retrieved by calling eigenvectors().
+ *
+ * The matrix is first reduced to Schur form using the
+ * ComplexSchur class. The Schur decomposition is then used to
+ * compute the eigenvalues and eigenvectors.
+ *
+ * The cost of the computation is dominated by the cost of the
+ * Schur decomposition, which is \f$ O(n^3) \f$ where \f$ n \f$
+ * is the size of the matrix.
+ *
+ * Example: \include ComplexEigenSolver_compute.cpp
+ * Output: \verbinclude ComplexEigenSolver_compute.out
+ */
+ template<typename InputType>
+ ComplexEigenSolver& compute(const EigenBase<InputType>& matrix, bool computeEigenvectors = true);
+
+ /** \brief Reports whether previous computation was successful.
+ *
+ * \returns \c Success if computation was succesful, \c NoConvergence otherwise.
+ */
+ ComputationInfo info() const
+ {
+ eigen_assert(m_isInitialized && "ComplexEigenSolver is not initialized.");
+ return m_schur.info();
+ }
+
+ /** \brief Sets the maximum number of iterations allowed. */
+ ComplexEigenSolver& setMaxIterations(Index maxIters)
+ {
+ m_schur.setMaxIterations(maxIters);
+ return *this;
+ }
+
+ /** \brief Returns the maximum number of iterations. */
+ Index getMaxIterations()
+ {
+ return m_schur.getMaxIterations();
+ }
+
+ protected:
+
+ static void check_template_parameters()
+ {
+ EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
+ }
+
+ EigenvectorType m_eivec;
+ EigenvalueType m_eivalues;
+ ComplexSchur<MatrixType> m_schur;
+ bool m_isInitialized;
+ bool m_eigenvectorsOk;
+ EigenvectorType m_matX;
+
+ private:
+ void doComputeEigenvectors(RealScalar matrixnorm);
+ void sortEigenvalues(bool computeEigenvectors);
+};
+
+
+template<typename MatrixType>
+template<typename InputType>
+ComplexEigenSolver<MatrixType>&
+ComplexEigenSolver<MatrixType>::compute(const EigenBase<InputType>& matrix, bool computeEigenvectors)
+{
+ check_template_parameters();
+
+ // this code is inspired from Jampack
+ eigen_assert(matrix.cols() == matrix.rows());
+
+ // Do a complex Schur decomposition, A = U T U^*
+ // The eigenvalues are on the diagonal of T.
+ m_schur.compute(matrix.derived(), computeEigenvectors);
+
+ if(m_schur.info() == Success)
+ {
+ m_eivalues = m_schur.matrixT().diagonal();
+ if(computeEigenvectors)
+ doComputeEigenvectors(m_schur.matrixT().norm());
+ sortEigenvalues(computeEigenvectors);
+ }
+
+ m_isInitialized = true;
+ m_eigenvectorsOk = computeEigenvectors;
+ return *this;
+}
+
+
+template<typename MatrixType>
+void ComplexEigenSolver<MatrixType>::doComputeEigenvectors(RealScalar matrixnorm)
+{
+ const Index n = m_eivalues.size();
+
+ matrixnorm = numext::maxi(matrixnorm,(std::numeric_limits<RealScalar>::min)());
+
+ // Compute X such that T = X D X^(-1), where D is the diagonal of T.
+ // The matrix X is unit triangular.
+ m_matX = EigenvectorType::Zero(n, n);
+ for(Index k=n-1 ; k>=0 ; k--)
+ {
+ m_matX.coeffRef(k,k) = ComplexScalar(1.0,0.0);
+ // Compute X(i,k) using the (i,k) entry of the equation X T = D X
+ for(Index i=k-1 ; i>=0 ; i--)
+ {
+ m_matX.coeffRef(i,k) = -m_schur.matrixT().coeff(i,k);
+ if(k-i-1>0)
+ m_matX.coeffRef(i,k) -= (m_schur.matrixT().row(i).segment(i+1,k-i-1) * m_matX.col(k).segment(i+1,k-i-1)).value();
+ ComplexScalar z = m_schur.matrixT().coeff(i,i) - m_schur.matrixT().coeff(k,k);
+ if(z==ComplexScalar(0))
+ {
+ // If the i-th and k-th eigenvalue are equal, then z equals 0.
+ // Use a small value instead, to prevent division by zero.
+ numext::real_ref(z) = NumTraits<RealScalar>::epsilon() * matrixnorm;
+ }
+ m_matX.coeffRef(i,k) = m_matX.coeff(i,k) / z;
+ }
+ }
+
+ // Compute V as V = U X; now A = U T U^* = U X D X^(-1) U^* = V D V^(-1)
+ m_eivec.noalias() = m_schur.matrixU() * m_matX;
+ // .. and normalize the eigenvectors
+ for(Index k=0 ; k<n ; k++)
+ {
+ m_eivec.col(k).normalize();
+ }
+}
+
+
+template<typename MatrixType>
+void ComplexEigenSolver<MatrixType>::sortEigenvalues(bool computeEigenvectors)
+{
+ const Index n = m_eivalues.size();
+ for (Index i=0; i<n; i++)
+ {
+ Index k;
+ m_eivalues.cwiseAbs().tail(n-i).minCoeff(&k);
+ if (k != 0)
+ {
+ k += i;
+ std::swap(m_eivalues[k],m_eivalues[i]);
+ if(computeEigenvectors)
+ m_eivec.col(i).swap(m_eivec.col(k));
+ }
+ }
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_COMPLEX_EIGEN_SOLVER_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Eigenvalues/ComplexSchur.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Eigenvalues/ComplexSchur.h
new file mode 100644
index 0000000..7f38919
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Eigenvalues/ComplexSchur.h
@@ -0,0 +1,459 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Claire Maurice
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010,2012 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_COMPLEX_SCHUR_H
+#define EIGEN_COMPLEX_SCHUR_H
+
+#include "./HessenbergDecomposition.h"
+
+namespace Eigen {
+
+namespace internal {
+template<typename MatrixType, bool IsComplex> struct complex_schur_reduce_to_hessenberg;
+}
+
+/** \eigenvalues_module \ingroup Eigenvalues_Module
+ *
+ *
+ * \class ComplexSchur
+ *
+ * \brief Performs a complex Schur decomposition of a real or complex square matrix
+ *
+ * \tparam _MatrixType the type of the matrix of which we are
+ * computing the Schur decomposition; this is expected to be an
+ * instantiation of the Matrix class template.
+ *
+ * Given a real or complex square matrix A, this class computes the
+ * Schur decomposition: \f$ A = U T U^*\f$ where U is a unitary
+ * complex matrix, and T is a complex upper triangular matrix. The
+ * diagonal of the matrix T corresponds to the eigenvalues of the
+ * matrix A.
+ *
+ * Call the function compute() to compute the Schur decomposition of
+ * a given matrix. Alternatively, you can use the
+ * ComplexSchur(const MatrixType&, bool) constructor which computes
+ * the Schur decomposition at construction time. Once the
+ * decomposition is computed, you can use the matrixU() and matrixT()
+ * functions to retrieve the matrices U and V in the decomposition.
+ *
+ * \note This code is inspired from Jampack
+ *
+ * \sa class RealSchur, class EigenSolver, class ComplexEigenSolver
+ */
+template<typename _MatrixType> class ComplexSchur
+{
+ public:
+ typedef _MatrixType MatrixType;
+ enum {
+ RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+ ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+ Options = MatrixType::Options,
+ MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+ MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+ };
+
+ /** \brief Scalar type for matrices of type \p _MatrixType. */
+ typedef typename MatrixType::Scalar Scalar;
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
+
+ /** \brief Complex scalar type for \p _MatrixType.
+ *
+ * This is \c std::complex<Scalar> if #Scalar is real (e.g.,
+ * \c float or \c double) and just \c Scalar if #Scalar is
+ * complex.
+ */
+ typedef std::complex<RealScalar> ComplexScalar;
+
+ /** \brief Type for the matrices in the Schur decomposition.
+ *
+ * This is a square matrix with entries of type #ComplexScalar.
+ * The size is the same as the size of \p _MatrixType.
+ */
+ typedef Matrix<ComplexScalar, RowsAtCompileTime, ColsAtCompileTime, Options, MaxRowsAtCompileTime, MaxColsAtCompileTime> ComplexMatrixType;
+
+ /** \brief Default constructor.
+ *
+ * \param [in] size Positive integer, size of the matrix whose Schur decomposition will be computed.
+ *
+ * The default constructor is useful in cases in which the user
+ * intends to perform decompositions via compute(). The \p size
+ * parameter is only used as a hint. It is not an error to give a
+ * wrong \p size, but it may impair performance.
+ *
+ * \sa compute() for an example.
+ */
+ explicit ComplexSchur(Index size = RowsAtCompileTime==Dynamic ? 1 : RowsAtCompileTime)
+ : m_matT(size,size),
+ m_matU(size,size),
+ m_hess(size),
+ m_isInitialized(false),
+ m_matUisUptodate(false),
+ m_maxIters(-1)
+ {}
+
+ /** \brief Constructor; computes Schur decomposition of given matrix.
+ *
+ * \param[in] matrix Square matrix whose Schur decomposition is to be computed.
+ * \param[in] computeU If true, both T and U are computed; if false, only T is computed.
+ *
+ * This constructor calls compute() to compute the Schur decomposition.
+ *
+ * \sa matrixT() and matrixU() for examples.
+ */
+ template<typename InputType>
+ explicit ComplexSchur(const EigenBase<InputType>& matrix, bool computeU = true)
+ : m_matT(matrix.rows(),matrix.cols()),
+ m_matU(matrix.rows(),matrix.cols()),
+ m_hess(matrix.rows()),
+ m_isInitialized(false),
+ m_matUisUptodate(false),
+ m_maxIters(-1)
+ {
+ compute(matrix.derived(), computeU);
+ }
+
+ /** \brief Returns the unitary matrix in the Schur decomposition.
+ *
+ * \returns A const reference to the matrix U.
+ *
+ * It is assumed that either the constructor
+ * ComplexSchur(const MatrixType& matrix, bool computeU) or the
+ * member function compute(const MatrixType& matrix, bool computeU)
+ * has been called before to compute the Schur decomposition of a
+ * matrix, and that \p computeU was set to true (the default
+ * value).
+ *
+ * Example: \include ComplexSchur_matrixU.cpp
+ * Output: \verbinclude ComplexSchur_matrixU.out
+ */
+ const ComplexMatrixType& matrixU() const
+ {
+ eigen_assert(m_isInitialized && "ComplexSchur is not initialized.");
+ eigen_assert(m_matUisUptodate && "The matrix U has not been computed during the ComplexSchur decomposition.");
+ return m_matU;
+ }
+
+ /** \brief Returns the triangular matrix in the Schur decomposition.
+ *
+ * \returns A const reference to the matrix T.
+ *
+ * It is assumed that either the constructor
+ * ComplexSchur(const MatrixType& matrix, bool computeU) or the
+ * member function compute(const MatrixType& matrix, bool computeU)
+ * has been called before to compute the Schur decomposition of a
+ * matrix.
+ *
+ * Note that this function returns a plain square matrix. If you want to reference
+ * only the upper triangular part, use:
+ * \code schur.matrixT().triangularView<Upper>() \endcode
+ *
+ * Example: \include ComplexSchur_matrixT.cpp
+ * Output: \verbinclude ComplexSchur_matrixT.out
+ */
+ const ComplexMatrixType& matrixT() const
+ {
+ eigen_assert(m_isInitialized && "ComplexSchur is not initialized.");
+ return m_matT;
+ }
+
+ /** \brief Computes Schur decomposition of given matrix.
+ *
+ * \param[in] matrix Square matrix whose Schur decomposition is to be computed.
+ * \param[in] computeU If true, both T and U are computed; if false, only T is computed.
+
+ * \returns Reference to \c *this
+ *
+ * The Schur decomposition is computed by first reducing the
+ * matrix to Hessenberg form using the class
+ * HessenbergDecomposition. The Hessenberg matrix is then reduced
+ * to triangular form by performing QR iterations with a single
+ * shift. The cost of computing the Schur decomposition depends
+ * on the number of iterations; as a rough guide, it may be taken
+ * on the number of iterations; as a rough guide, it may be taken
+ * to be \f$25n^3\f$ complex flops, or \f$10n^3\f$ complex flops
+ * if \a computeU is false.
+ *
+ * Example: \include ComplexSchur_compute.cpp
+ * Output: \verbinclude ComplexSchur_compute.out
+ *
+ * \sa compute(const MatrixType&, bool, Index)
+ */
+ template<typename InputType>
+ ComplexSchur& compute(const EigenBase<InputType>& matrix, bool computeU = true);
+
+ /** \brief Compute Schur decomposition from a given Hessenberg matrix
+ * \param[in] matrixH Matrix in Hessenberg form H
+ * \param[in] matrixQ orthogonal matrix Q that transform a matrix A to H : A = Q H Q^T
+ * \param computeU Computes the matriX U of the Schur vectors
+ * \return Reference to \c *this
+ *
+ * This routine assumes that the matrix is already reduced in Hessenberg form matrixH
+ * using either the class HessenbergDecomposition or another mean.
+ * It computes the upper quasi-triangular matrix T of the Schur decomposition of H
+ * When computeU is true, this routine computes the matrix U such that
+ * A = U T U^T = (QZ) T (QZ)^T = Q H Q^T where A is the initial matrix
+ *
+ * NOTE Q is referenced if computeU is true; so, if the initial orthogonal matrix
+ * is not available, the user should give an identity matrix (Q.setIdentity())
+ *
+ * \sa compute(const MatrixType&, bool)
+ */
+ template<typename HessMatrixType, typename OrthMatrixType>
+ ComplexSchur& computeFromHessenberg(const HessMatrixType& matrixH, const OrthMatrixType& matrixQ, bool computeU=true);
+
+ /** \brief Reports whether previous computation was successful.
+ *
+ * \returns \c Success if computation was succesful, \c NoConvergence otherwise.
+ */
+ ComputationInfo info() const
+ {
+ eigen_assert(m_isInitialized && "ComplexSchur is not initialized.");
+ return m_info;
+ }
+
+ /** \brief Sets the maximum number of iterations allowed.
+ *
+ * If not specified by the user, the maximum number of iterations is m_maxIterationsPerRow times the size
+ * of the matrix.
+ */
+ ComplexSchur& setMaxIterations(Index maxIters)
+ {
+ m_maxIters = maxIters;
+ return *this;
+ }
+
+ /** \brief Returns the maximum number of iterations. */
+ Index getMaxIterations()
+ {
+ return m_maxIters;
+ }
+
+ /** \brief Maximum number of iterations per row.
+ *
+ * If not otherwise specified, the maximum number of iterations is this number times the size of the
+ * matrix. It is currently set to 30.
+ */
+ static const int m_maxIterationsPerRow = 30;
+
+ protected:
+ ComplexMatrixType m_matT, m_matU;
+ HessenbergDecomposition<MatrixType> m_hess;
+ ComputationInfo m_info;
+ bool m_isInitialized;
+ bool m_matUisUptodate;
+ Index m_maxIters;
+
+ private:
+ bool subdiagonalEntryIsNeglegible(Index i);
+ ComplexScalar computeShift(Index iu, Index iter);
+ void reduceToTriangularForm(bool computeU);
+ friend struct internal::complex_schur_reduce_to_hessenberg<MatrixType, NumTraits<Scalar>::IsComplex>;
+};
+
+/** If m_matT(i+1,i) is neglegible in floating point arithmetic
+ * compared to m_matT(i,i) and m_matT(j,j), then set it to zero and
+ * return true, else return false. */
+template<typename MatrixType>
+inline bool ComplexSchur<MatrixType>::subdiagonalEntryIsNeglegible(Index i)
+{
+ RealScalar d = numext::norm1(m_matT.coeff(i,i)) + numext::norm1(m_matT.coeff(i+1,i+1));
+ RealScalar sd = numext::norm1(m_matT.coeff(i+1,i));
+ if (internal::isMuchSmallerThan(sd, d, NumTraits<RealScalar>::epsilon()))
+ {
+ m_matT.coeffRef(i+1,i) = ComplexScalar(0);
+ return true;
+ }
+ return false;
+}
+
+
+/** Compute the shift in the current QR iteration. */
+template<typename MatrixType>
+typename ComplexSchur<MatrixType>::ComplexScalar ComplexSchur<MatrixType>::computeShift(Index iu, Index iter)
+{
+ using std::abs;
+ if (iter == 10 || iter == 20)
+ {
+ // exceptional shift, taken from http://www.netlib.org/eispack/comqr.f
+ return abs(numext::real(m_matT.coeff(iu,iu-1))) + abs(numext::real(m_matT.coeff(iu-1,iu-2)));
+ }
+
+ // compute the shift as one of the eigenvalues of t, the 2x2
+ // diagonal block on the bottom of the active submatrix
+ Matrix<ComplexScalar,2,2> t = m_matT.template block<2,2>(iu-1,iu-1);
+ RealScalar normt = t.cwiseAbs().sum();
+ t /= normt; // the normalization by sf is to avoid under/overflow
+
+ ComplexScalar b = t.coeff(0,1) * t.coeff(1,0);
+ ComplexScalar c = t.coeff(0,0) - t.coeff(1,1);
+ ComplexScalar disc = sqrt(c*c + RealScalar(4)*b);
+ ComplexScalar det = t.coeff(0,0) * t.coeff(1,1) - b;
+ ComplexScalar trace = t.coeff(0,0) + t.coeff(1,1);
+ ComplexScalar eival1 = (trace + disc) / RealScalar(2);
+ ComplexScalar eival2 = (trace - disc) / RealScalar(2);
+
+ if(numext::norm1(eival1) > numext::norm1(eival2))
+ eival2 = det / eival1;
+ else
+ eival1 = det / eival2;
+
+ // choose the eigenvalue closest to the bottom entry of the diagonal
+ if(numext::norm1(eival1-t.coeff(1,1)) < numext::norm1(eival2-t.coeff(1,1)))
+ return normt * eival1;
+ else
+ return normt * eival2;
+}
+
+
+template<typename MatrixType>
+template<typename InputType>
+ComplexSchur<MatrixType>& ComplexSchur<MatrixType>::compute(const EigenBase<InputType>& matrix, bool computeU)
+{
+ m_matUisUptodate = false;
+ eigen_assert(matrix.cols() == matrix.rows());
+
+ if(matrix.cols() == 1)
+ {
+ m_matT = matrix.derived().template cast<ComplexScalar>();
+ if(computeU) m_matU = ComplexMatrixType::Identity(1,1);
+ m_info = Success;
+ m_isInitialized = true;
+ m_matUisUptodate = computeU;
+ return *this;
+ }
+
+ internal::complex_schur_reduce_to_hessenberg<MatrixType, NumTraits<Scalar>::IsComplex>::run(*this, matrix.derived(), computeU);
+ computeFromHessenberg(m_matT, m_matU, computeU);
+ return *this;
+}
+
+template<typename MatrixType>
+template<typename HessMatrixType, typename OrthMatrixType>
+ComplexSchur<MatrixType>& ComplexSchur<MatrixType>::computeFromHessenberg(const HessMatrixType& matrixH, const OrthMatrixType& matrixQ, bool computeU)
+{
+ m_matT = matrixH;
+ if(computeU)
+ m_matU = matrixQ;
+ reduceToTriangularForm(computeU);
+ return *this;
+}
+namespace internal {
+
+/* Reduce given matrix to Hessenberg form */
+template<typename MatrixType, bool IsComplex>
+struct complex_schur_reduce_to_hessenberg
+{
+ // this is the implementation for the case IsComplex = true
+ static void run(ComplexSchur<MatrixType>& _this, const MatrixType& matrix, bool computeU)
+ {
+ _this.m_hess.compute(matrix);
+ _this.m_matT = _this.m_hess.matrixH();
+ if(computeU) _this.m_matU = _this.m_hess.matrixQ();
+ }
+};
+
+template<typename MatrixType>
+struct complex_schur_reduce_to_hessenberg<MatrixType, false>
+{
+ static void run(ComplexSchur<MatrixType>& _this, const MatrixType& matrix, bool computeU)
+ {
+ typedef typename ComplexSchur<MatrixType>::ComplexScalar ComplexScalar;
+
+ // Note: m_hess is over RealScalar; m_matT and m_matU is over ComplexScalar
+ _this.m_hess.compute(matrix);
+ _this.m_matT = _this.m_hess.matrixH().template cast<ComplexScalar>();
+ if(computeU)
+ {
+ // This may cause an allocation which seems to be avoidable
+ MatrixType Q = _this.m_hess.matrixQ();
+ _this.m_matU = Q.template cast<ComplexScalar>();
+ }
+ }
+};
+
+} // end namespace internal
+
+// Reduce the Hessenberg matrix m_matT to triangular form by QR iteration.
+template<typename MatrixType>
+void ComplexSchur<MatrixType>::reduceToTriangularForm(bool computeU)
+{
+ Index maxIters = m_maxIters;
+ if (maxIters == -1)
+ maxIters = m_maxIterationsPerRow * m_matT.rows();
+
+ // The matrix m_matT is divided in three parts.
+ // Rows 0,...,il-1 are decoupled from the rest because m_matT(il,il-1) is zero.
+ // Rows il,...,iu is the part we are working on (the active submatrix).
+ // Rows iu+1,...,end are already brought in triangular form.
+ Index iu = m_matT.cols() - 1;
+ Index il;
+ Index iter = 0; // number of iterations we are working on the (iu,iu) element
+ Index totalIter = 0; // number of iterations for whole matrix
+
+ while(true)
+ {
+ // find iu, the bottom row of the active submatrix
+ while(iu > 0)
+ {
+ if(!subdiagonalEntryIsNeglegible(iu-1)) break;
+ iter = 0;
+ --iu;
+ }
+
+ // if iu is zero then we are done; the whole matrix is triangularized
+ if(iu==0) break;
+
+ // if we spent too many iterations, we give up
+ iter++;
+ totalIter++;
+ if(totalIter > maxIters) break;
+
+ // find il, the top row of the active submatrix
+ il = iu-1;
+ while(il > 0 && !subdiagonalEntryIsNeglegible(il-1))
+ {
+ --il;
+ }
+
+ /* perform the QR step using Givens rotations. The first rotation
+ creates a bulge; the (il+2,il) element becomes nonzero. This
+ bulge is chased down to the bottom of the active submatrix. */
+
+ ComplexScalar shift = computeShift(iu, iter);
+ JacobiRotation<ComplexScalar> rot;
+ rot.makeGivens(m_matT.coeff(il,il) - shift, m_matT.coeff(il+1,il));
+ m_matT.rightCols(m_matT.cols()-il).applyOnTheLeft(il, il+1, rot.adjoint());
+ m_matT.topRows((std::min)(il+2,iu)+1).applyOnTheRight(il, il+1, rot);
+ if(computeU) m_matU.applyOnTheRight(il, il+1, rot);
+
+ for(Index i=il+1 ; i<iu ; i++)
+ {
+ rot.makeGivens(m_matT.coeffRef(i,i-1), m_matT.coeffRef(i+1,i-1), &m_matT.coeffRef(i,i-1));
+ m_matT.coeffRef(i+1,i-1) = ComplexScalar(0);
+ m_matT.rightCols(m_matT.cols()-i).applyOnTheLeft(i, i+1, rot.adjoint());
+ m_matT.topRows((std::min)(i+2,iu)+1).applyOnTheRight(i, i+1, rot);
+ if(computeU) m_matU.applyOnTheRight(i, i+1, rot);
+ }
+ }
+
+ if(totalIter <= maxIters)
+ m_info = Success;
+ else
+ m_info = NoConvergence;
+
+ m_isInitialized = true;
+ m_matUisUptodate = computeU;
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_COMPLEX_SCHUR_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Eigenvalues/EigenSolver.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Eigenvalues/EigenSolver.h
new file mode 100644
index 0000000..f205b18
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Eigenvalues/EigenSolver.h
@@ -0,0 +1,622 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010,2012 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_EIGENSOLVER_H
+#define EIGEN_EIGENSOLVER_H
+
+#include "./RealSchur.h"
+
+namespace Eigen {
+
+/** \eigenvalues_module \ingroup Eigenvalues_Module
+ *
+ *
+ * \class EigenSolver
+ *
+ * \brief Computes eigenvalues and eigenvectors of general matrices
+ *
+ * \tparam _MatrixType the type of the matrix of which we are computing the
+ * eigendecomposition; this is expected to be an instantiation of the Matrix
+ * class template. Currently, only real matrices are supported.
+ *
+ * The eigenvalues and eigenvectors of a matrix \f$ A \f$ are scalars
+ * \f$ \lambda \f$ and vectors \f$ v \f$ such that \f$ Av = \lambda v \f$. If
+ * \f$ D \f$ is a diagonal matrix with the eigenvalues on the diagonal, and
+ * \f$ V \f$ is a matrix with the eigenvectors as its columns, then \f$ A V =
+ * V D \f$. The matrix \f$ V \f$ is almost always invertible, in which case we
+ * have \f$ A = V D V^{-1} \f$. This is called the eigendecomposition.
+ *
+ * The eigenvalues and eigenvectors of a matrix may be complex, even when the
+ * matrix is real. However, we can choose real matrices \f$ V \f$ and \f$ D
+ * \f$ satisfying \f$ A V = V D \f$, just like the eigendecomposition, if the
+ * matrix \f$ D \f$ is not required to be diagonal, but if it is allowed to
+ * have blocks of the form
+ * \f[ \begin{bmatrix} u & v \\ -v & u \end{bmatrix} \f]
+ * (where \f$ u \f$ and \f$ v \f$ are real numbers) on the diagonal. These
+ * blocks correspond to complex eigenvalue pairs \f$ u \pm iv \f$. We call
+ * this variant of the eigendecomposition the pseudo-eigendecomposition.
+ *
+ * Call the function compute() to compute the eigenvalues and eigenvectors of
+ * a given matrix. Alternatively, you can use the
+ * EigenSolver(const MatrixType&, bool) constructor which computes the
+ * eigenvalues and eigenvectors at construction time. Once the eigenvalue and
+ * eigenvectors are computed, they can be retrieved with the eigenvalues() and
+ * eigenvectors() functions. The pseudoEigenvalueMatrix() and
+ * pseudoEigenvectors() methods allow the construction of the
+ * pseudo-eigendecomposition.
+ *
+ * The documentation for EigenSolver(const MatrixType&, bool) contains an
+ * example of the typical use of this class.
+ *
+ * \note The implementation is adapted from
+ * <a href="http://math.nist.gov/javanumerics/jama/">JAMA</a> (public domain).
+ * Their code is based on EISPACK.
+ *
+ * \sa MatrixBase::eigenvalues(), class ComplexEigenSolver, class SelfAdjointEigenSolver
+ */
+template<typename _MatrixType> class EigenSolver
+{
+ public:
+
+ /** \brief Synonym for the template parameter \p _MatrixType. */
+ typedef _MatrixType MatrixType;
+
+ enum {
+ RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+ ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+ Options = MatrixType::Options,
+ MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+ MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+ };
+
+ /** \brief Scalar type for matrices of type #MatrixType. */
+ typedef typename MatrixType::Scalar Scalar;
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
+
+ /** \brief Complex scalar type for #MatrixType.
+ *
+ * This is \c std::complex<Scalar> if #Scalar is real (e.g.,
+ * \c float or \c double) and just \c Scalar if #Scalar is
+ * complex.
+ */
+ typedef std::complex<RealScalar> ComplexScalar;
+
+ /** \brief Type for vector of eigenvalues as returned by eigenvalues().
+ *
+ * This is a column vector with entries of type #ComplexScalar.
+ * The length of the vector is the size of #MatrixType.
+ */
+ typedef Matrix<ComplexScalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> EigenvalueType;
+
+ /** \brief Type for matrix of eigenvectors as returned by eigenvectors().
+ *
+ * This is a square matrix with entries of type #ComplexScalar.
+ * The size is the same as the size of #MatrixType.
+ */
+ typedef Matrix<ComplexScalar, RowsAtCompileTime, ColsAtCompileTime, Options, MaxRowsAtCompileTime, MaxColsAtCompileTime> EigenvectorsType;
+
+ /** \brief Default constructor.
+ *
+ * The default constructor is useful in cases in which the user intends to
+ * perform decompositions via EigenSolver::compute(const MatrixType&, bool).
+ *
+ * \sa compute() for an example.
+ */
+ EigenSolver() : m_eivec(), m_eivalues(), m_isInitialized(false), m_realSchur(), m_matT(), m_tmp() {}
+
+ /** \brief Default constructor with memory preallocation
+ *
+ * Like the default constructor but with preallocation of the internal data
+ * according to the specified problem \a size.
+ * \sa EigenSolver()
+ */
+ explicit EigenSolver(Index size)
+ : m_eivec(size, size),
+ m_eivalues(size),
+ m_isInitialized(false),
+ m_eigenvectorsOk(false),
+ m_realSchur(size),
+ m_matT(size, size),
+ m_tmp(size)
+ {}
+
+ /** \brief Constructor; computes eigendecomposition of given matrix.
+ *
+ * \param[in] matrix Square matrix whose eigendecomposition is to be computed.
+ * \param[in] computeEigenvectors If true, both the eigenvectors and the
+ * eigenvalues are computed; if false, only the eigenvalues are
+ * computed.
+ *
+ * This constructor calls compute() to compute the eigenvalues
+ * and eigenvectors.
+ *
+ * Example: \include EigenSolver_EigenSolver_MatrixType.cpp
+ * Output: \verbinclude EigenSolver_EigenSolver_MatrixType.out
+ *
+ * \sa compute()
+ */
+ template<typename InputType>
+ explicit EigenSolver(const EigenBase<InputType>& matrix, bool computeEigenvectors = true)
+ : m_eivec(matrix.rows(), matrix.cols()),
+ m_eivalues(matrix.cols()),
+ m_isInitialized(false),
+ m_eigenvectorsOk(false),
+ m_realSchur(matrix.cols()),
+ m_matT(matrix.rows(), matrix.cols()),
+ m_tmp(matrix.cols())
+ {
+ compute(matrix.derived(), computeEigenvectors);
+ }
+
+ /** \brief Returns the eigenvectors of given matrix.
+ *
+ * \returns %Matrix whose columns are the (possibly complex) eigenvectors.
+ *
+ * \pre Either the constructor
+ * EigenSolver(const MatrixType&,bool) or the member function
+ * compute(const MatrixType&, bool) has been called before, and
+ * \p computeEigenvectors was set to true (the default).
+ *
+ * Column \f$ k \f$ of the returned matrix is an eigenvector corresponding
+ * to eigenvalue number \f$ k \f$ as returned by eigenvalues(). The
+ * eigenvectors are normalized to have (Euclidean) norm equal to one. The
+ * matrix returned by this function is the matrix \f$ V \f$ in the
+ * eigendecomposition \f$ A = V D V^{-1} \f$, if it exists.
+ *
+ * Example: \include EigenSolver_eigenvectors.cpp
+ * Output: \verbinclude EigenSolver_eigenvectors.out
+ *
+ * \sa eigenvalues(), pseudoEigenvectors()
+ */
+ EigenvectorsType eigenvectors() const;
+
+ /** \brief Returns the pseudo-eigenvectors of given matrix.
+ *
+ * \returns Const reference to matrix whose columns are the pseudo-eigenvectors.
+ *
+ * \pre Either the constructor
+ * EigenSolver(const MatrixType&,bool) or the member function
+ * compute(const MatrixType&, bool) has been called before, and
+ * \p computeEigenvectors was set to true (the default).
+ *
+ * The real matrix \f$ V \f$ returned by this function and the
+ * block-diagonal matrix \f$ D \f$ returned by pseudoEigenvalueMatrix()
+ * satisfy \f$ AV = VD \f$.
+ *
+ * Example: \include EigenSolver_pseudoEigenvectors.cpp
+ * Output: \verbinclude EigenSolver_pseudoEigenvectors.out
+ *
+ * \sa pseudoEigenvalueMatrix(), eigenvectors()
+ */
+ const MatrixType& pseudoEigenvectors() const
+ {
+ eigen_assert(m_isInitialized && "EigenSolver is not initialized.");
+ eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
+ return m_eivec;
+ }
+
+ /** \brief Returns the block-diagonal matrix in the pseudo-eigendecomposition.
+ *
+ * \returns A block-diagonal matrix.
+ *
+ * \pre Either the constructor
+ * EigenSolver(const MatrixType&,bool) or the member function
+ * compute(const MatrixType&, bool) has been called before.
+ *
+ * The matrix \f$ D \f$ returned by this function is real and
+ * block-diagonal. The blocks on the diagonal are either 1-by-1 or 2-by-2
+ * blocks of the form
+ * \f$ \begin{bmatrix} u & v \\ -v & u \end{bmatrix} \f$.
+ * These blocks are not sorted in any particular order.
+ * The matrix \f$ D \f$ and the matrix \f$ V \f$ returned by
+ * pseudoEigenvectors() satisfy \f$ AV = VD \f$.
+ *
+ * \sa pseudoEigenvectors() for an example, eigenvalues()
+ */
+ MatrixType pseudoEigenvalueMatrix() const;
+
+ /** \brief Returns the eigenvalues of given matrix.
+ *
+ * \returns A const reference to the column vector containing the eigenvalues.
+ *
+ * \pre Either the constructor
+ * EigenSolver(const MatrixType&,bool) or the member function
+ * compute(const MatrixType&, bool) has been called before.
+ *
+ * The eigenvalues are repeated according to their algebraic multiplicity,
+ * so there are as many eigenvalues as rows in the matrix. The eigenvalues
+ * are not sorted in any particular order.
+ *
+ * Example: \include EigenSolver_eigenvalues.cpp
+ * Output: \verbinclude EigenSolver_eigenvalues.out
+ *
+ * \sa eigenvectors(), pseudoEigenvalueMatrix(),
+ * MatrixBase::eigenvalues()
+ */
+ const EigenvalueType& eigenvalues() const
+ {
+ eigen_assert(m_isInitialized && "EigenSolver is not initialized.");
+ return m_eivalues;
+ }
+
+ /** \brief Computes eigendecomposition of given matrix.
+ *
+ * \param[in] matrix Square matrix whose eigendecomposition is to be computed.
+ * \param[in] computeEigenvectors If true, both the eigenvectors and the
+ * eigenvalues are computed; if false, only the eigenvalues are
+ * computed.
+ * \returns Reference to \c *this
+ *
+ * This function computes the eigenvalues of the real matrix \p matrix.
+ * The eigenvalues() function can be used to retrieve them. If
+ * \p computeEigenvectors is true, then the eigenvectors are also computed
+ * and can be retrieved by calling eigenvectors().
+ *
+ * The matrix is first reduced to real Schur form using the RealSchur
+ * class. The Schur decomposition is then used to compute the eigenvalues
+ * and eigenvectors.
+ *
+ * The cost of the computation is dominated by the cost of the
+ * Schur decomposition, which is very approximately \f$ 25n^3 \f$
+ * (where \f$ n \f$ is the size of the matrix) if \p computeEigenvectors
+ * is true, and \f$ 10n^3 \f$ if \p computeEigenvectors is false.
+ *
+ * This method reuses of the allocated data in the EigenSolver object.
+ *
+ * Example: \include EigenSolver_compute.cpp
+ * Output: \verbinclude EigenSolver_compute.out
+ */
+ template<typename InputType>
+ EigenSolver& compute(const EigenBase<InputType>& matrix, bool computeEigenvectors = true);
+
+ /** \returns NumericalIssue if the input contains INF or NaN values or overflow occured. Returns Success otherwise. */
+ ComputationInfo info() const
+ {
+ eigen_assert(m_isInitialized && "EigenSolver is not initialized.");
+ return m_info;
+ }
+
+ /** \brief Sets the maximum number of iterations allowed. */
+ EigenSolver& setMaxIterations(Index maxIters)
+ {
+ m_realSchur.setMaxIterations(maxIters);
+ return *this;
+ }
+
+ /** \brief Returns the maximum number of iterations. */
+ Index getMaxIterations()
+ {
+ return m_realSchur.getMaxIterations();
+ }
+
+ private:
+ void doComputeEigenvectors();
+
+ protected:
+
+ static void check_template_parameters()
+ {
+ EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
+ EIGEN_STATIC_ASSERT(!NumTraits<Scalar>::IsComplex, NUMERIC_TYPE_MUST_BE_REAL);
+ }
+
+ MatrixType m_eivec;
+ EigenvalueType m_eivalues;
+ bool m_isInitialized;
+ bool m_eigenvectorsOk;
+ ComputationInfo m_info;
+ RealSchur<MatrixType> m_realSchur;
+ MatrixType m_matT;
+
+ typedef Matrix<Scalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> ColumnVectorType;
+ ColumnVectorType m_tmp;
+};
+
+template<typename MatrixType>
+MatrixType EigenSolver<MatrixType>::pseudoEigenvalueMatrix() const
+{
+ eigen_assert(m_isInitialized && "EigenSolver is not initialized.");
+ const RealScalar precision = RealScalar(2)*NumTraits<RealScalar>::epsilon();
+ Index n = m_eivalues.rows();
+ MatrixType matD = MatrixType::Zero(n,n);
+ for (Index i=0; i<n; ++i)
+ {
+ if (internal::isMuchSmallerThan(numext::imag(m_eivalues.coeff(i)), numext::real(m_eivalues.coeff(i)), precision))
+ matD.coeffRef(i,i) = numext::real(m_eivalues.coeff(i));
+ else
+ {
+ matD.template block<2,2>(i,i) << numext::real(m_eivalues.coeff(i)), numext::imag(m_eivalues.coeff(i)),
+ -numext::imag(m_eivalues.coeff(i)), numext::real(m_eivalues.coeff(i));
+ ++i;
+ }
+ }
+ return matD;
+}
+
+template<typename MatrixType>
+typename EigenSolver<MatrixType>::EigenvectorsType EigenSolver<MatrixType>::eigenvectors() const
+{
+ eigen_assert(m_isInitialized && "EigenSolver is not initialized.");
+ eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
+ const RealScalar precision = RealScalar(2)*NumTraits<RealScalar>::epsilon();
+ Index n = m_eivec.cols();
+ EigenvectorsType matV(n,n);
+ for (Index j=0; j<n; ++j)
+ {
+ if (internal::isMuchSmallerThan(numext::imag(m_eivalues.coeff(j)), numext::real(m_eivalues.coeff(j)), precision) || j+1==n)
+ {
+ // we have a real eigen value
+ matV.col(j) = m_eivec.col(j).template cast<ComplexScalar>();
+ matV.col(j).normalize();
+ }
+ else
+ {
+ // we have a pair of complex eigen values
+ for (Index i=0; i<n; ++i)
+ {
+ matV.coeffRef(i,j) = ComplexScalar(m_eivec.coeff(i,j), m_eivec.coeff(i,j+1));
+ matV.coeffRef(i,j+1) = ComplexScalar(m_eivec.coeff(i,j), -m_eivec.coeff(i,j+1));
+ }
+ matV.col(j).normalize();
+ matV.col(j+1).normalize();
+ ++j;
+ }
+ }
+ return matV;
+}
+
+template<typename MatrixType>
+template<typename InputType>
+EigenSolver<MatrixType>&
+EigenSolver<MatrixType>::compute(const EigenBase<InputType>& matrix, bool computeEigenvectors)
+{
+ check_template_parameters();
+
+ using std::sqrt;
+ using std::abs;
+ using numext::isfinite;
+ eigen_assert(matrix.cols() == matrix.rows());
+
+ // Reduce to real Schur form.
+ m_realSchur.compute(matrix.derived(), computeEigenvectors);
+
+ m_info = m_realSchur.info();
+
+ if (m_info == Success)
+ {
+ m_matT = m_realSchur.matrixT();
+ if (computeEigenvectors)
+ m_eivec = m_realSchur.matrixU();
+
+ // Compute eigenvalues from matT
+ m_eivalues.resize(matrix.cols());
+ Index i = 0;
+ while (i < matrix.cols())
+ {
+ if (i == matrix.cols() - 1 || m_matT.coeff(i+1, i) == Scalar(0))
+ {
+ m_eivalues.coeffRef(i) = m_matT.coeff(i, i);
+ if(!(isfinite)(m_eivalues.coeffRef(i)))
+ {
+ m_isInitialized = true;
+ m_eigenvectorsOk = false;
+ m_info = NumericalIssue;
+ return *this;
+ }
+ ++i;
+ }
+ else
+ {
+ Scalar p = Scalar(0.5) * (m_matT.coeff(i, i) - m_matT.coeff(i+1, i+1));
+ Scalar z;
+ // Compute z = sqrt(abs(p * p + m_matT.coeff(i+1, i) * m_matT.coeff(i, i+1)));
+ // without overflow
+ {
+ Scalar t0 = m_matT.coeff(i+1, i);
+ Scalar t1 = m_matT.coeff(i, i+1);
+ Scalar maxval = numext::maxi<Scalar>(abs(p),numext::maxi<Scalar>(abs(t0),abs(t1)));
+ t0 /= maxval;
+ t1 /= maxval;
+ Scalar p0 = p/maxval;
+ z = maxval * sqrt(abs(p0 * p0 + t0 * t1));
+ }
+
+ m_eivalues.coeffRef(i) = ComplexScalar(m_matT.coeff(i+1, i+1) + p, z);
+ m_eivalues.coeffRef(i+1) = ComplexScalar(m_matT.coeff(i+1, i+1) + p, -z);
+ if(!((isfinite)(m_eivalues.coeffRef(i)) && (isfinite)(m_eivalues.coeffRef(i+1))))
+ {
+ m_isInitialized = true;
+ m_eigenvectorsOk = false;
+ m_info = NumericalIssue;
+ return *this;
+ }
+ i += 2;
+ }
+ }
+
+ // Compute eigenvectors.
+ if (computeEigenvectors)
+ doComputeEigenvectors();
+ }
+
+ m_isInitialized = true;
+ m_eigenvectorsOk = computeEigenvectors;
+
+ return *this;
+}
+
+
+template<typename MatrixType>
+void EigenSolver<MatrixType>::doComputeEigenvectors()
+{
+ using std::abs;
+ const Index size = m_eivec.cols();
+ const Scalar eps = NumTraits<Scalar>::epsilon();
+
+ // inefficient! this is already computed in RealSchur
+ Scalar norm(0);
+ for (Index j = 0; j < size; ++j)
+ {
+ norm += m_matT.row(j).segment((std::max)(j-1,Index(0)), size-(std::max)(j-1,Index(0))).cwiseAbs().sum();
+ }
+
+ // Backsubstitute to find vectors of upper triangular form
+ if (norm == Scalar(0))
+ {
+ return;
+ }
+
+ for (Index n = size-1; n >= 0; n--)
+ {
+ Scalar p = m_eivalues.coeff(n).real();
+ Scalar q = m_eivalues.coeff(n).imag();
+
+ // Scalar vector
+ if (q == Scalar(0))
+ {
+ Scalar lastr(0), lastw(0);
+ Index l = n;
+
+ m_matT.coeffRef(n,n) = Scalar(1);
+ for (Index i = n-1; i >= 0; i--)
+ {
+ Scalar w = m_matT.coeff(i,i) - p;
+ Scalar r = m_matT.row(i).segment(l,n-l+1).dot(m_matT.col(n).segment(l, n-l+1));
+
+ if (m_eivalues.coeff(i).imag() < Scalar(0))
+ {
+ lastw = w;
+ lastr = r;
+ }
+ else
+ {
+ l = i;
+ if (m_eivalues.coeff(i).imag() == Scalar(0))
+ {
+ if (w != Scalar(0))
+ m_matT.coeffRef(i,n) = -r / w;
+ else
+ m_matT.coeffRef(i,n) = -r / (eps * norm);
+ }
+ else // Solve real equations
+ {
+ Scalar x = m_matT.coeff(i,i+1);
+ Scalar y = m_matT.coeff(i+1,i);
+ Scalar denom = (m_eivalues.coeff(i).real() - p) * (m_eivalues.coeff(i).real() - p) + m_eivalues.coeff(i).imag() * m_eivalues.coeff(i).imag();
+ Scalar t = (x * lastr - lastw * r) / denom;
+ m_matT.coeffRef(i,n) = t;
+ if (abs(x) > abs(lastw))
+ m_matT.coeffRef(i+1,n) = (-r - w * t) / x;
+ else
+ m_matT.coeffRef(i+1,n) = (-lastr - y * t) / lastw;
+ }
+
+ // Overflow control
+ Scalar t = abs(m_matT.coeff(i,n));
+ if ((eps * t) * t > Scalar(1))
+ m_matT.col(n).tail(size-i) /= t;
+ }
+ }
+ }
+ else if (q < Scalar(0) && n > 0) // Complex vector
+ {
+ Scalar lastra(0), lastsa(0), lastw(0);
+ Index l = n-1;
+
+ // Last vector component imaginary so matrix is triangular
+ if (abs(m_matT.coeff(n,n-1)) > abs(m_matT.coeff(n-1,n)))
+ {
+ m_matT.coeffRef(n-1,n-1) = q / m_matT.coeff(n,n-1);
+ m_matT.coeffRef(n-1,n) = -(m_matT.coeff(n,n) - p) / m_matT.coeff(n,n-1);
+ }
+ else
+ {
+ ComplexScalar cc = ComplexScalar(Scalar(0),-m_matT.coeff(n-1,n)) / ComplexScalar(m_matT.coeff(n-1,n-1)-p,q);
+ m_matT.coeffRef(n-1,n-1) = numext::real(cc);
+ m_matT.coeffRef(n-1,n) = numext::imag(cc);
+ }
+ m_matT.coeffRef(n,n-1) = Scalar(0);
+ m_matT.coeffRef(n,n) = Scalar(1);
+ for (Index i = n-2; i >= 0; i--)
+ {
+ Scalar ra = m_matT.row(i).segment(l, n-l+1).dot(m_matT.col(n-1).segment(l, n-l+1));
+ Scalar sa = m_matT.row(i).segment(l, n-l+1).dot(m_matT.col(n).segment(l, n-l+1));
+ Scalar w = m_matT.coeff(i,i) - p;
+
+ if (m_eivalues.coeff(i).imag() < Scalar(0))
+ {
+ lastw = w;
+ lastra = ra;
+ lastsa = sa;
+ }
+ else
+ {
+ l = i;
+ if (m_eivalues.coeff(i).imag() == RealScalar(0))
+ {
+ ComplexScalar cc = ComplexScalar(-ra,-sa) / ComplexScalar(w,q);
+ m_matT.coeffRef(i,n-1) = numext::real(cc);
+ m_matT.coeffRef(i,n) = numext::imag(cc);
+ }
+ else
+ {
+ // Solve complex equations
+ Scalar x = m_matT.coeff(i,i+1);
+ Scalar y = m_matT.coeff(i+1,i);
+ Scalar vr = (m_eivalues.coeff(i).real() - p) * (m_eivalues.coeff(i).real() - p) + m_eivalues.coeff(i).imag() * m_eivalues.coeff(i).imag() - q * q;
+ Scalar vi = (m_eivalues.coeff(i).real() - p) * Scalar(2) * q;
+ if ((vr == Scalar(0)) && (vi == Scalar(0)))
+ vr = eps * norm * (abs(w) + abs(q) + abs(x) + abs(y) + abs(lastw));
+
+ ComplexScalar cc = ComplexScalar(x*lastra-lastw*ra+q*sa,x*lastsa-lastw*sa-q*ra) / ComplexScalar(vr,vi);
+ m_matT.coeffRef(i,n-1) = numext::real(cc);
+ m_matT.coeffRef(i,n) = numext::imag(cc);
+ if (abs(x) > (abs(lastw) + abs(q)))
+ {
+ m_matT.coeffRef(i+1,n-1) = (-ra - w * m_matT.coeff(i,n-1) + q * m_matT.coeff(i,n)) / x;
+ m_matT.coeffRef(i+1,n) = (-sa - w * m_matT.coeff(i,n) - q * m_matT.coeff(i,n-1)) / x;
+ }
+ else
+ {
+ cc = ComplexScalar(-lastra-y*m_matT.coeff(i,n-1),-lastsa-y*m_matT.coeff(i,n)) / ComplexScalar(lastw,q);
+ m_matT.coeffRef(i+1,n-1) = numext::real(cc);
+ m_matT.coeffRef(i+1,n) = numext::imag(cc);
+ }
+ }
+
+ // Overflow control
+ Scalar t = numext::maxi<Scalar>(abs(m_matT.coeff(i,n-1)),abs(m_matT.coeff(i,n)));
+ if ((eps * t) * t > Scalar(1))
+ m_matT.block(i, n-1, size-i, 2) /= t;
+
+ }
+ }
+
+ // We handled a pair of complex conjugate eigenvalues, so need to skip them both
+ n--;
+ }
+ else
+ {
+ eigen_assert(0 && "Internal bug in EigenSolver (INF or NaN has not been detected)"); // this should not happen
+ }
+ }
+
+ // Back transformation to get eigenvectors of original matrix
+ for (Index j = size-1; j >= 0; j--)
+ {
+ m_tmp.noalias() = m_eivec.leftCols(j+1) * m_matT.col(j).segment(0, j+1);
+ m_eivec.col(j) = m_tmp;
+ }
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_EIGENSOLVER_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h
new file mode 100644
index 0000000..87d789b
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h
@@ -0,0 +1,418 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2012-2016 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010,2012 Jitse Niesen <jitse@maths.leeds.ac.uk>
+// Copyright (C) 2016 Tobias Wood <tobias@spinicist.org.uk>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_GENERALIZEDEIGENSOLVER_H
+#define EIGEN_GENERALIZEDEIGENSOLVER_H
+
+#include "./RealQZ.h"
+
+namespace Eigen {
+
+/** \eigenvalues_module \ingroup Eigenvalues_Module
+ *
+ *
+ * \class GeneralizedEigenSolver
+ *
+ * \brief Computes the generalized eigenvalues and eigenvectors of a pair of general matrices
+ *
+ * \tparam _MatrixType the type of the matrices of which we are computing the
+ * eigen-decomposition; this is expected to be an instantiation of the Matrix
+ * class template. Currently, only real matrices are supported.
+ *
+ * The generalized eigenvalues and eigenvectors of a matrix pair \f$ A \f$ and \f$ B \f$ are scalars
+ * \f$ \lambda \f$ and vectors \f$ v \f$ such that \f$ Av = \lambda Bv \f$. If
+ * \f$ D \f$ is a diagonal matrix with the eigenvalues on the diagonal, and
+ * \f$ V \f$ is a matrix with the eigenvectors as its columns, then \f$ A V =
+ * B V D \f$. The matrix \f$ V \f$ is almost always invertible, in which case we
+ * have \f$ A = B V D V^{-1} \f$. This is called the generalized eigen-decomposition.
+ *
+ * The generalized eigenvalues and eigenvectors of a matrix pair may be complex, even when the
+ * matrices are real. Moreover, the generalized eigenvalue might be infinite if the matrix B is
+ * singular. To workaround this difficulty, the eigenvalues are provided as a pair of complex \f$ \alpha \f$
+ * and real \f$ \beta \f$ such that: \f$ \lambda_i = \alpha_i / \beta_i \f$. If \f$ \beta_i \f$ is (nearly) zero,
+ * then one can consider the well defined left eigenvalue \f$ \mu = \beta_i / \alpha_i\f$ such that:
+ * \f$ \mu_i A v_i = B v_i \f$, or even \f$ \mu_i u_i^T A = u_i^T B \f$ where \f$ u_i \f$ is
+ * called the left eigenvector.
+ *
+ * Call the function compute() to compute the generalized eigenvalues and eigenvectors of
+ * a given matrix pair. Alternatively, you can use the
+ * GeneralizedEigenSolver(const MatrixType&, const MatrixType&, bool) constructor which computes the
+ * eigenvalues and eigenvectors at construction time. Once the eigenvalue and
+ * eigenvectors are computed, they can be retrieved with the eigenvalues() and
+ * eigenvectors() functions.
+ *
+ * Here is an usage example of this class:
+ * Example: \include GeneralizedEigenSolver.cpp
+ * Output: \verbinclude GeneralizedEigenSolver.out
+ *
+ * \sa MatrixBase::eigenvalues(), class ComplexEigenSolver, class SelfAdjointEigenSolver
+ */
+template<typename _MatrixType> class GeneralizedEigenSolver
+{
+ public:
+
+ /** \brief Synonym for the template parameter \p _MatrixType. */
+ typedef _MatrixType MatrixType;
+
+ enum {
+ RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+ ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+ Options = MatrixType::Options,
+ MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+ MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+ };
+
+ /** \brief Scalar type for matrices of type #MatrixType. */
+ typedef typename MatrixType::Scalar Scalar;
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
+
+ /** \brief Complex scalar type for #MatrixType.
+ *
+ * This is \c std::complex<Scalar> if #Scalar is real (e.g.,
+ * \c float or \c double) and just \c Scalar if #Scalar is
+ * complex.
+ */
+ typedef std::complex<RealScalar> ComplexScalar;
+
+ /** \brief Type for vector of real scalar values eigenvalues as returned by betas().
+ *
+ * This is a column vector with entries of type #Scalar.
+ * The length of the vector is the size of #MatrixType.
+ */
+ typedef Matrix<Scalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> VectorType;
+
+ /** \brief Type for vector of complex scalar values eigenvalues as returned by alphas().
+ *
+ * This is a column vector with entries of type #ComplexScalar.
+ * The length of the vector is the size of #MatrixType.
+ */
+ typedef Matrix<ComplexScalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> ComplexVectorType;
+
+ /** \brief Expression type for the eigenvalues as returned by eigenvalues().
+ */
+ typedef CwiseBinaryOp<internal::scalar_quotient_op<ComplexScalar,Scalar>,ComplexVectorType,VectorType> EigenvalueType;
+
+ /** \brief Type for matrix of eigenvectors as returned by eigenvectors().
+ *
+ * This is a square matrix with entries of type #ComplexScalar.
+ * The size is the same as the size of #MatrixType.
+ */
+ typedef Matrix<ComplexScalar, RowsAtCompileTime, ColsAtCompileTime, Options, MaxRowsAtCompileTime, MaxColsAtCompileTime> EigenvectorsType;
+
+ /** \brief Default constructor.
+ *
+ * The default constructor is useful in cases in which the user intends to
+ * perform decompositions via EigenSolver::compute(const MatrixType&, bool).
+ *
+ * \sa compute() for an example.
+ */
+ GeneralizedEigenSolver()
+ : m_eivec(),
+ m_alphas(),
+ m_betas(),
+ m_valuesOkay(false),
+ m_vectorsOkay(false),
+ m_realQZ()
+ {}
+
+ /** \brief Default constructor with memory preallocation
+ *
+ * Like the default constructor but with preallocation of the internal data
+ * according to the specified problem \a size.
+ * \sa GeneralizedEigenSolver()
+ */
+ explicit GeneralizedEigenSolver(Index size)
+ : m_eivec(size, size),
+ m_alphas(size),
+ m_betas(size),
+ m_valuesOkay(false),
+ m_vectorsOkay(false),
+ m_realQZ(size),
+ m_tmp(size)
+ {}
+
+ /** \brief Constructor; computes the generalized eigendecomposition of given matrix pair.
+ *
+ * \param[in] A Square matrix whose eigendecomposition is to be computed.
+ * \param[in] B Square matrix whose eigendecomposition is to be computed.
+ * \param[in] computeEigenvectors If true, both the eigenvectors and the
+ * eigenvalues are computed; if false, only the eigenvalues are computed.
+ *
+ * This constructor calls compute() to compute the generalized eigenvalues
+ * and eigenvectors.
+ *
+ * \sa compute()
+ */
+ GeneralizedEigenSolver(const MatrixType& A, const MatrixType& B, bool computeEigenvectors = true)
+ : m_eivec(A.rows(), A.cols()),
+ m_alphas(A.cols()),
+ m_betas(A.cols()),
+ m_valuesOkay(false),
+ m_vectorsOkay(false),
+ m_realQZ(A.cols()),
+ m_tmp(A.cols())
+ {
+ compute(A, B, computeEigenvectors);
+ }
+
+ /* \brief Returns the computed generalized eigenvectors.
+ *
+ * \returns %Matrix whose columns are the (possibly complex) right eigenvectors.
+ * i.e. the eigenvectors that solve (A - l*B)x = 0. The ordering matches the eigenvalues.
+ *
+ * \pre Either the constructor
+ * GeneralizedEigenSolver(const MatrixType&,const MatrixType&, bool) or the member function
+ * compute(const MatrixType&, const MatrixType& bool) has been called before, and
+ * \p computeEigenvectors was set to true (the default).
+ *
+ * \sa eigenvalues()
+ */
+ EigenvectorsType eigenvectors() const {
+ eigen_assert(m_vectorsOkay && "Eigenvectors for GeneralizedEigenSolver were not calculated.");
+ return m_eivec;
+ }
+
+ /** \brief Returns an expression of the computed generalized eigenvalues.
+ *
+ * \returns An expression of the column vector containing the eigenvalues.
+ *
+ * It is a shortcut for \code this->alphas().cwiseQuotient(this->betas()); \endcode
+ * Not that betas might contain zeros. It is therefore not recommended to use this function,
+ * but rather directly deal with the alphas and betas vectors.
+ *
+ * \pre Either the constructor
+ * GeneralizedEigenSolver(const MatrixType&,const MatrixType&,bool) or the member function
+ * compute(const MatrixType&,const MatrixType&,bool) has been called before.
+ *
+ * The eigenvalues are repeated according to their algebraic multiplicity,
+ * so there are as many eigenvalues as rows in the matrix. The eigenvalues
+ * are not sorted in any particular order.
+ *
+ * \sa alphas(), betas(), eigenvectors()
+ */
+ EigenvalueType eigenvalues() const
+ {
+ eigen_assert(m_valuesOkay && "GeneralizedEigenSolver is not initialized.");
+ return EigenvalueType(m_alphas,m_betas);
+ }
+
+ /** \returns A const reference to the vectors containing the alpha values
+ *
+ * This vector permits to reconstruct the j-th eigenvalues as alphas(i)/betas(j).
+ *
+ * \sa betas(), eigenvalues() */
+ ComplexVectorType alphas() const
+ {
+ eigen_assert(m_valuesOkay && "GeneralizedEigenSolver is not initialized.");
+ return m_alphas;
+ }
+
+ /** \returns A const reference to the vectors containing the beta values
+ *
+ * This vector permits to reconstruct the j-th eigenvalues as alphas(i)/betas(j).
+ *
+ * \sa alphas(), eigenvalues() */
+ VectorType betas() const
+ {
+ eigen_assert(m_valuesOkay && "GeneralizedEigenSolver is not initialized.");
+ return m_betas;
+ }
+
+ /** \brief Computes generalized eigendecomposition of given matrix.
+ *
+ * \param[in] A Square matrix whose eigendecomposition is to be computed.
+ * \param[in] B Square matrix whose eigendecomposition is to be computed.
+ * \param[in] computeEigenvectors If true, both the eigenvectors and the
+ * eigenvalues are computed; if false, only the eigenvalues are
+ * computed.
+ * \returns Reference to \c *this
+ *
+ * This function computes the eigenvalues of the real matrix \p matrix.
+ * The eigenvalues() function can be used to retrieve them. If
+ * \p computeEigenvectors is true, then the eigenvectors are also computed
+ * and can be retrieved by calling eigenvectors().
+ *
+ * The matrix is first reduced to real generalized Schur form using the RealQZ
+ * class. The generalized Schur decomposition is then used to compute the eigenvalues
+ * and eigenvectors.
+ *
+ * The cost of the computation is dominated by the cost of the
+ * generalized Schur decomposition.
+ *
+ * This method reuses of the allocated data in the GeneralizedEigenSolver object.
+ */
+ GeneralizedEigenSolver& compute(const MatrixType& A, const MatrixType& B, bool computeEigenvectors = true);
+
+ ComputationInfo info() const
+ {
+ eigen_assert(m_valuesOkay && "EigenSolver is not initialized.");
+ return m_realQZ.info();
+ }
+
+ /** Sets the maximal number of iterations allowed.
+ */
+ GeneralizedEigenSolver& setMaxIterations(Index maxIters)
+ {
+ m_realQZ.setMaxIterations(maxIters);
+ return *this;
+ }
+
+ protected:
+
+ static void check_template_parameters()
+ {
+ EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
+ EIGEN_STATIC_ASSERT(!NumTraits<Scalar>::IsComplex, NUMERIC_TYPE_MUST_BE_REAL);
+ }
+
+ EigenvectorsType m_eivec;
+ ComplexVectorType m_alphas;
+ VectorType m_betas;
+ bool m_valuesOkay, m_vectorsOkay;
+ RealQZ<MatrixType> m_realQZ;
+ ComplexVectorType m_tmp;
+};
+
+template<typename MatrixType>
+GeneralizedEigenSolver<MatrixType>&
+GeneralizedEigenSolver<MatrixType>::compute(const MatrixType& A, const MatrixType& B, bool computeEigenvectors)
+{
+ check_template_parameters();
+
+ using std::sqrt;
+ using std::abs;
+ eigen_assert(A.cols() == A.rows() && B.cols() == A.rows() && B.cols() == B.rows());
+ Index size = A.cols();
+ m_valuesOkay = false;
+ m_vectorsOkay = false;
+ // Reduce to generalized real Schur form:
+ // A = Q S Z and B = Q T Z
+ m_realQZ.compute(A, B, computeEigenvectors);
+ if (m_realQZ.info() == Success)
+ {
+ // Resize storage
+ m_alphas.resize(size);
+ m_betas.resize(size);
+ if (computeEigenvectors)
+ {
+ m_eivec.resize(size,size);
+ m_tmp.resize(size);
+ }
+
+ // Aliases:
+ Map<VectorType> v(reinterpret_cast<Scalar*>(m_tmp.data()), size);
+ ComplexVectorType &cv = m_tmp;
+ const MatrixType &mS = m_realQZ.matrixS();
+ const MatrixType &mT = m_realQZ.matrixT();
+
+ Index i = 0;
+ while (i < size)
+ {
+ if (i == size - 1 || mS.coeff(i+1, i) == Scalar(0))
+ {
+ // Real eigenvalue
+ m_alphas.coeffRef(i) = mS.diagonal().coeff(i);
+ m_betas.coeffRef(i) = mT.diagonal().coeff(i);
+ if (computeEigenvectors)
+ {
+ v.setConstant(Scalar(0.0));
+ v.coeffRef(i) = Scalar(1.0);
+ // For singular eigenvalues do nothing more
+ if(abs(m_betas.coeffRef(i)) >= (std::numeric_limits<RealScalar>::min)())
+ {
+ // Non-singular eigenvalue
+ const Scalar alpha = real(m_alphas.coeffRef(i));
+ const Scalar beta = m_betas.coeffRef(i);
+ for (Index j = i-1; j >= 0; j--)
+ {
+ const Index st = j+1;
+ const Index sz = i-j;
+ if (j > 0 && mS.coeff(j, j-1) != Scalar(0))
+ {
+ // 2x2 block
+ Matrix<Scalar, 2, 1> rhs = (alpha*mT.template block<2,Dynamic>(j-1,st,2,sz) - beta*mS.template block<2,Dynamic>(j-1,st,2,sz)) .lazyProduct( v.segment(st,sz) );
+ Matrix<Scalar, 2, 2> lhs = beta * mS.template block<2,2>(j-1,j-1) - alpha * mT.template block<2,2>(j-1,j-1);
+ v.template segment<2>(j-1) = lhs.partialPivLu().solve(rhs);
+ j--;
+ }
+ else
+ {
+ v.coeffRef(j) = -v.segment(st,sz).transpose().cwiseProduct(beta*mS.block(j,st,1,sz) - alpha*mT.block(j,st,1,sz)).sum() / (beta*mS.coeffRef(j,j) - alpha*mT.coeffRef(j,j));
+ }
+ }
+ }
+ m_eivec.col(i).real().noalias() = m_realQZ.matrixZ().transpose() * v;
+ m_eivec.col(i).real().normalize();
+ m_eivec.col(i).imag().setConstant(0);
+ }
+ ++i;
+ }
+ else
+ {
+ // We need to extract the generalized eigenvalues of the pair of a general 2x2 block S and a positive diagonal 2x2 block T
+ // Then taking beta=T_00*T_11, we can avoid any division, and alpha is the eigenvalues of A = (U^-1 * S * U) * diag(T_11,T_00):
+
+ // T = [a 0]
+ // [0 b]
+ RealScalar a = mT.diagonal().coeff(i),
+ b = mT.diagonal().coeff(i+1);
+ const RealScalar beta = m_betas.coeffRef(i) = m_betas.coeffRef(i+1) = a*b;
+
+ // ^^ NOTE: using diagonal()(i) instead of coeff(i,i) workarounds a MSVC bug.
+ Matrix<RealScalar,2,2> S2 = mS.template block<2,2>(i,i) * Matrix<Scalar,2,1>(b,a).asDiagonal();
+
+ Scalar p = Scalar(0.5) * (S2.coeff(0,0) - S2.coeff(1,1));
+ Scalar z = sqrt(abs(p * p + S2.coeff(1,0) * S2.coeff(0,1)));
+ const ComplexScalar alpha = ComplexScalar(S2.coeff(1,1) + p, (beta > 0) ? z : -z);
+ m_alphas.coeffRef(i) = conj(alpha);
+ m_alphas.coeffRef(i+1) = alpha;
+
+ if (computeEigenvectors) {
+ // Compute eigenvector in position (i+1) and then position (i) is just the conjugate
+ cv.setZero();
+ cv.coeffRef(i+1) = Scalar(1.0);
+ // here, the "static_cast" workaound expression template issues.
+ cv.coeffRef(i) = -(static_cast<Scalar>(beta*mS.coeffRef(i,i+1)) - alpha*mT.coeffRef(i,i+1))
+ / (static_cast<Scalar>(beta*mS.coeffRef(i,i)) - alpha*mT.coeffRef(i,i));
+ for (Index j = i-1; j >= 0; j--)
+ {
+ const Index st = j+1;
+ const Index sz = i+1-j;
+ if (j > 0 && mS.coeff(j, j-1) != Scalar(0))
+ {
+ // 2x2 block
+ Matrix<ComplexScalar, 2, 1> rhs = (alpha*mT.template block<2,Dynamic>(j-1,st,2,sz) - beta*mS.template block<2,Dynamic>(j-1,st,2,sz)) .lazyProduct( cv.segment(st,sz) );
+ Matrix<ComplexScalar, 2, 2> lhs = beta * mS.template block<2,2>(j-1,j-1) - alpha * mT.template block<2,2>(j-1,j-1);
+ cv.template segment<2>(j-1) = lhs.partialPivLu().solve(rhs);
+ j--;
+ } else {
+ cv.coeffRef(j) = cv.segment(st,sz).transpose().cwiseProduct(beta*mS.block(j,st,1,sz) - alpha*mT.block(j,st,1,sz)).sum()
+ / (alpha*mT.coeffRef(j,j) - static_cast<Scalar>(beta*mS.coeffRef(j,j)));
+ }
+ }
+ m_eivec.col(i+1).noalias() = (m_realQZ.matrixZ().transpose() * cv);
+ m_eivec.col(i+1).normalize();
+ m_eivec.col(i) = m_eivec.col(i+1).conjugate();
+ }
+ i += 2;
+ }
+ }
+
+ m_valuesOkay = true;
+ m_vectorsOkay = computeEigenvectors;
+ }
+ return *this;
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_GENERALIZEDEIGENSOLVER_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h
new file mode 100644
index 0000000..5f6bb82
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h
@@ -0,0 +1,226 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_GENERALIZEDSELFADJOINTEIGENSOLVER_H
+#define EIGEN_GENERALIZEDSELFADJOINTEIGENSOLVER_H
+
+#include "./Tridiagonalization.h"
+
+namespace Eigen {
+
+/** \eigenvalues_module \ingroup Eigenvalues_Module
+ *
+ *
+ * \class GeneralizedSelfAdjointEigenSolver
+ *
+ * \brief Computes eigenvalues and eigenvectors of the generalized selfadjoint eigen problem
+ *
+ * \tparam _MatrixType the type of the matrix of which we are computing the
+ * eigendecomposition; this is expected to be an instantiation of the Matrix
+ * class template.
+ *
+ * This class solves the generalized eigenvalue problem
+ * \f$ Av = \lambda Bv \f$. In this case, the matrix \f$ A \f$ should be
+ * selfadjoint and the matrix \f$ B \f$ should be positive definite.
+ *
+ * Only the \b lower \b triangular \b part of the input matrix is referenced.
+ *
+ * Call the function compute() to compute the eigenvalues and eigenvectors of
+ * a given matrix. Alternatively, you can use the
+ * GeneralizedSelfAdjointEigenSolver(const MatrixType&, const MatrixType&, int)
+ * constructor which computes the eigenvalues and eigenvectors at construction time.
+ * Once the eigenvalue and eigenvectors are computed, they can be retrieved with the eigenvalues()
+ * and eigenvectors() functions.
+ *
+ * The documentation for GeneralizedSelfAdjointEigenSolver(const MatrixType&, const MatrixType&, int)
+ * contains an example of the typical use of this class.
+ *
+ * \sa class SelfAdjointEigenSolver, class EigenSolver, class ComplexEigenSolver
+ */
+template<typename _MatrixType>
+class GeneralizedSelfAdjointEigenSolver : public SelfAdjointEigenSolver<_MatrixType>
+{
+ typedef SelfAdjointEigenSolver<_MatrixType> Base;
+ public:
+
+ typedef _MatrixType MatrixType;
+
+ /** \brief Default constructor for fixed-size matrices.
+ *
+ * The default constructor is useful in cases in which the user intends to
+ * perform decompositions via compute(). This constructor
+ * can only be used if \p _MatrixType is a fixed-size matrix; use
+ * GeneralizedSelfAdjointEigenSolver(Index) for dynamic-size matrices.
+ */
+ GeneralizedSelfAdjointEigenSolver() : Base() {}
+
+ /** \brief Constructor, pre-allocates memory for dynamic-size matrices.
+ *
+ * \param [in] size Positive integer, size of the matrix whose
+ * eigenvalues and eigenvectors will be computed.
+ *
+ * This constructor is useful for dynamic-size matrices, when the user
+ * intends to perform decompositions via compute(). The \p size
+ * parameter is only used as a hint. It is not an error to give a wrong
+ * \p size, but it may impair performance.
+ *
+ * \sa compute() for an example
+ */
+ explicit GeneralizedSelfAdjointEigenSolver(Index size)
+ : Base(size)
+ {}
+
+ /** \brief Constructor; computes generalized eigendecomposition of given matrix pencil.
+ *
+ * \param[in] matA Selfadjoint matrix in matrix pencil.
+ * Only the lower triangular part of the matrix is referenced.
+ * \param[in] matB Positive-definite matrix in matrix pencil.
+ * Only the lower triangular part of the matrix is referenced.
+ * \param[in] options A or-ed set of flags {#ComputeEigenvectors,#EigenvaluesOnly} | {#Ax_lBx,#ABx_lx,#BAx_lx}.
+ * Default is #ComputeEigenvectors|#Ax_lBx.
+ *
+ * This constructor calls compute(const MatrixType&, const MatrixType&, int)
+ * to compute the eigenvalues and (if requested) the eigenvectors of the
+ * generalized eigenproblem \f$ Ax = \lambda B x \f$ with \a matA the
+ * selfadjoint matrix \f$ A \f$ and \a matB the positive definite matrix
+ * \f$ B \f$. Each eigenvector \f$ x \f$ satisfies the property
+ * \f$ x^* B x = 1 \f$. The eigenvectors are computed if
+ * \a options contains ComputeEigenvectors.
+ *
+ * In addition, the two following variants can be solved via \p options:
+ * - \c ABx_lx: \f$ ABx = \lambda x \f$
+ * - \c BAx_lx: \f$ BAx = \lambda x \f$
+ *
+ * Example: \include SelfAdjointEigenSolver_SelfAdjointEigenSolver_MatrixType2.cpp
+ * Output: \verbinclude SelfAdjointEigenSolver_SelfAdjointEigenSolver_MatrixType2.out
+ *
+ * \sa compute(const MatrixType&, const MatrixType&, int)
+ */
+ GeneralizedSelfAdjointEigenSolver(const MatrixType& matA, const MatrixType& matB,
+ int options = ComputeEigenvectors|Ax_lBx)
+ : Base(matA.cols())
+ {
+ compute(matA, matB, options);
+ }
+
+ /** \brief Computes generalized eigendecomposition of given matrix pencil.
+ *
+ * \param[in] matA Selfadjoint matrix in matrix pencil.
+ * Only the lower triangular part of the matrix is referenced.
+ * \param[in] matB Positive-definite matrix in matrix pencil.
+ * Only the lower triangular part of the matrix is referenced.
+ * \param[in] options A or-ed set of flags {#ComputeEigenvectors,#EigenvaluesOnly} | {#Ax_lBx,#ABx_lx,#BAx_lx}.
+ * Default is #ComputeEigenvectors|#Ax_lBx.
+ *
+ * \returns Reference to \c *this
+ *
+ * Accoring to \p options, this function computes eigenvalues and (if requested)
+ * the eigenvectors of one of the following three generalized eigenproblems:
+ * - \c Ax_lBx: \f$ Ax = \lambda B x \f$
+ * - \c ABx_lx: \f$ ABx = \lambda x \f$
+ * - \c BAx_lx: \f$ BAx = \lambda x \f$
+ * with \a matA the selfadjoint matrix \f$ A \f$ and \a matB the positive definite
+ * matrix \f$ B \f$.
+ * In addition, each eigenvector \f$ x \f$ satisfies the property \f$ x^* B x = 1 \f$.
+ *
+ * The eigenvalues() function can be used to retrieve
+ * the eigenvalues. If \p options contains ComputeEigenvectors, then the
+ * eigenvectors are also computed and can be retrieved by calling
+ * eigenvectors().
+ *
+ * The implementation uses LLT to compute the Cholesky decomposition
+ * \f$ B = LL^* \f$ and computes the classical eigendecomposition
+ * of the selfadjoint matrix \f$ L^{-1} A (L^*)^{-1} \f$ if \p options contains Ax_lBx
+ * and of \f$ L^{*} A L \f$ otherwise. This solves the
+ * generalized eigenproblem, because any solution of the generalized
+ * eigenproblem \f$ Ax = \lambda B x \f$ corresponds to a solution
+ * \f$ L^{-1} A (L^*)^{-1} (L^* x) = \lambda (L^* x) \f$ of the
+ * eigenproblem for \f$ L^{-1} A (L^*)^{-1} \f$. Similar statements
+ * can be made for the two other variants.
+ *
+ * Example: \include SelfAdjointEigenSolver_compute_MatrixType2.cpp
+ * Output: \verbinclude SelfAdjointEigenSolver_compute_MatrixType2.out
+ *
+ * \sa GeneralizedSelfAdjointEigenSolver(const MatrixType&, const MatrixType&, int)
+ */
+ GeneralizedSelfAdjointEigenSolver& compute(const MatrixType& matA, const MatrixType& matB,
+ int options = ComputeEigenvectors|Ax_lBx);
+
+ protected:
+
+};
+
+
+template<typename MatrixType>
+GeneralizedSelfAdjointEigenSolver<MatrixType>& GeneralizedSelfAdjointEigenSolver<MatrixType>::
+compute(const MatrixType& matA, const MatrixType& matB, int options)
+{
+ eigen_assert(matA.cols()==matA.rows() && matB.rows()==matA.rows() && matB.cols()==matB.rows());
+ eigen_assert((options&~(EigVecMask|GenEigMask))==0
+ && (options&EigVecMask)!=EigVecMask
+ && ((options&GenEigMask)==0 || (options&GenEigMask)==Ax_lBx
+ || (options&GenEigMask)==ABx_lx || (options&GenEigMask)==BAx_lx)
+ && "invalid option parameter");
+
+ bool computeEigVecs = ((options&EigVecMask)==0) || ((options&EigVecMask)==ComputeEigenvectors);
+
+ // Compute the cholesky decomposition of matB = L L' = U'U
+ LLT<MatrixType> cholB(matB);
+
+ int type = (options&GenEigMask);
+ if(type==0)
+ type = Ax_lBx;
+
+ if(type==Ax_lBx)
+ {
+ // compute C = inv(L) A inv(L')
+ MatrixType matC = matA.template selfadjointView<Lower>();
+ cholB.matrixL().template solveInPlace<OnTheLeft>(matC);
+ cholB.matrixU().template solveInPlace<OnTheRight>(matC);
+
+ Base::compute(matC, computeEigVecs ? ComputeEigenvectors : EigenvaluesOnly );
+
+ // transform back the eigen vectors: evecs = inv(U) * evecs
+ if(computeEigVecs)
+ cholB.matrixU().solveInPlace(Base::m_eivec);
+ }
+ else if(type==ABx_lx)
+ {
+ // compute C = L' A L
+ MatrixType matC = matA.template selfadjointView<Lower>();
+ matC = matC * cholB.matrixL();
+ matC = cholB.matrixU() * matC;
+
+ Base::compute(matC, computeEigVecs ? ComputeEigenvectors : EigenvaluesOnly);
+
+ // transform back the eigen vectors: evecs = inv(U) * evecs
+ if(computeEigVecs)
+ cholB.matrixU().solveInPlace(Base::m_eivec);
+ }
+ else if(type==BAx_lx)
+ {
+ // compute C = L' A L
+ MatrixType matC = matA.template selfadjointView<Lower>();
+ matC = matC * cholB.matrixL();
+ matC = cholB.matrixU() * matC;
+
+ Base::compute(matC, computeEigVecs ? ComputeEigenvectors : EigenvaluesOnly);
+
+ // transform back the eigen vectors: evecs = L * evecs
+ if(computeEigVecs)
+ Base::m_eivec = cholB.matrixL() * Base::m_eivec;
+ }
+
+ return *this;
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_GENERALIZEDSELFADJOINTEIGENSOLVER_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Eigenvalues/HessenbergDecomposition.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Eigenvalues/HessenbergDecomposition.h
new file mode 100644
index 0000000..f647f69
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Eigenvalues/HessenbergDecomposition.h
@@ -0,0 +1,374 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_HESSENBERGDECOMPOSITION_H
+#define EIGEN_HESSENBERGDECOMPOSITION_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<typename MatrixType> struct HessenbergDecompositionMatrixHReturnType;
+template<typename MatrixType>
+struct traits<HessenbergDecompositionMatrixHReturnType<MatrixType> >
+{
+ typedef MatrixType ReturnType;
+};
+
+}
+
+/** \eigenvalues_module \ingroup Eigenvalues_Module
+ *
+ *
+ * \class HessenbergDecomposition
+ *
+ * \brief Reduces a square matrix to Hessenberg form by an orthogonal similarity transformation
+ *
+ * \tparam _MatrixType the type of the matrix of which we are computing the Hessenberg decomposition
+ *
+ * This class performs an Hessenberg decomposition of a matrix \f$ A \f$. In
+ * the real case, the Hessenberg decomposition consists of an orthogonal
+ * matrix \f$ Q \f$ and a Hessenberg matrix \f$ H \f$ such that \f$ A = Q H
+ * Q^T \f$. An orthogonal matrix is a matrix whose inverse equals its
+ * transpose (\f$ Q^{-1} = Q^T \f$). A Hessenberg matrix has zeros below the
+ * subdiagonal, so it is almost upper triangular. The Hessenberg decomposition
+ * of a complex matrix is \f$ A = Q H Q^* \f$ with \f$ Q \f$ unitary (that is,
+ * \f$ Q^{-1} = Q^* \f$).
+ *
+ * Call the function compute() to compute the Hessenberg decomposition of a
+ * given matrix. Alternatively, you can use the
+ * HessenbergDecomposition(const MatrixType&) constructor which computes the
+ * Hessenberg decomposition at construction time. Once the decomposition is
+ * computed, you can use the matrixH() and matrixQ() functions to construct
+ * the matrices H and Q in the decomposition.
+ *
+ * The documentation for matrixH() contains an example of the typical use of
+ * this class.
+ *
+ * \sa class ComplexSchur, class Tridiagonalization, \ref QR_Module "QR Module"
+ */
+template<typename _MatrixType> class HessenbergDecomposition
+{
+ public:
+
+ /** \brief Synonym for the template parameter \p _MatrixType. */
+ typedef _MatrixType MatrixType;
+
+ enum {
+ Size = MatrixType::RowsAtCompileTime,
+ SizeMinusOne = Size == Dynamic ? Dynamic : Size - 1,
+ Options = MatrixType::Options,
+ MaxSize = MatrixType::MaxRowsAtCompileTime,
+ MaxSizeMinusOne = MaxSize == Dynamic ? Dynamic : MaxSize - 1
+ };
+
+ /** \brief Scalar type for matrices of type #MatrixType. */
+ typedef typename MatrixType::Scalar Scalar;
+ typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
+
+ /** \brief Type for vector of Householder coefficients.
+ *
+ * This is column vector with entries of type #Scalar. The length of the
+ * vector is one less than the size of #MatrixType, if it is a fixed-side
+ * type.
+ */
+ typedef Matrix<Scalar, SizeMinusOne, 1, Options & ~RowMajor, MaxSizeMinusOne, 1> CoeffVectorType;
+
+ /** \brief Return type of matrixQ() */
+ typedef HouseholderSequence<MatrixType,typename internal::remove_all<typename CoeffVectorType::ConjugateReturnType>::type> HouseholderSequenceType;
+
+ typedef internal::HessenbergDecompositionMatrixHReturnType<MatrixType> MatrixHReturnType;
+
+ /** \brief Default constructor; the decomposition will be computed later.
+ *
+ * \param [in] size The size of the matrix whose Hessenberg decomposition will be computed.
+ *
+ * The default constructor is useful in cases in which the user intends to
+ * perform decompositions via compute(). The \p size parameter is only
+ * used as a hint. It is not an error to give a wrong \p size, but it may
+ * impair performance.
+ *
+ * \sa compute() for an example.
+ */
+ explicit HessenbergDecomposition(Index size = Size==Dynamic ? 2 : Size)
+ : m_matrix(size,size),
+ m_temp(size),
+ m_isInitialized(false)
+ {
+ if(size>1)
+ m_hCoeffs.resize(size-1);
+ }
+
+ /** \brief Constructor; computes Hessenberg decomposition of given matrix.
+ *
+ * \param[in] matrix Square matrix whose Hessenberg decomposition is to be computed.
+ *
+ * This constructor calls compute() to compute the Hessenberg
+ * decomposition.
+ *
+ * \sa matrixH() for an example.
+ */
+ template<typename InputType>
+ explicit HessenbergDecomposition(const EigenBase<InputType>& matrix)
+ : m_matrix(matrix.derived()),
+ m_temp(matrix.rows()),
+ m_isInitialized(false)
+ {
+ if(matrix.rows()<2)
+ {
+ m_isInitialized = true;
+ return;
+ }
+ m_hCoeffs.resize(matrix.rows()-1,1);
+ _compute(m_matrix, m_hCoeffs, m_temp);
+ m_isInitialized = true;
+ }
+
+ /** \brief Computes Hessenberg decomposition of given matrix.
+ *
+ * \param[in] matrix Square matrix whose Hessenberg decomposition is to be computed.
+ * \returns Reference to \c *this
+ *
+ * The Hessenberg decomposition is computed by bringing the columns of the
+ * matrix successively in the required form using Householder reflections
+ * (see, e.g., Algorithm 7.4.2 in Golub \& Van Loan, <i>%Matrix
+ * Computations</i>). The cost is \f$ 10n^3/3 \f$ flops, where \f$ n \f$
+ * denotes the size of the given matrix.
+ *
+ * This method reuses of the allocated data in the HessenbergDecomposition
+ * object.
+ *
+ * Example: \include HessenbergDecomposition_compute.cpp
+ * Output: \verbinclude HessenbergDecomposition_compute.out
+ */
+ template<typename InputType>
+ HessenbergDecomposition& compute(const EigenBase<InputType>& matrix)
+ {
+ m_matrix = matrix.derived();
+ if(matrix.rows()<2)
+ {
+ m_isInitialized = true;
+ return *this;
+ }
+ m_hCoeffs.resize(matrix.rows()-1,1);
+ _compute(m_matrix, m_hCoeffs, m_temp);
+ m_isInitialized = true;
+ return *this;
+ }
+
+ /** \brief Returns the Householder coefficients.
+ *
+ * \returns a const reference to the vector of Householder coefficients
+ *
+ * \pre Either the constructor HessenbergDecomposition(const MatrixType&)
+ * or the member function compute(const MatrixType&) has been called
+ * before to compute the Hessenberg decomposition of a matrix.
+ *
+ * The Householder coefficients allow the reconstruction of the matrix
+ * \f$ Q \f$ in the Hessenberg decomposition from the packed data.
+ *
+ * \sa packedMatrix(), \ref Householder_Module "Householder module"
+ */
+ const CoeffVectorType& householderCoefficients() const
+ {
+ eigen_assert(m_isInitialized && "HessenbergDecomposition is not initialized.");
+ return m_hCoeffs;
+ }
+
+ /** \brief Returns the internal representation of the decomposition
+ *
+ * \returns a const reference to a matrix with the internal representation
+ * of the decomposition.
+ *
+ * \pre Either the constructor HessenbergDecomposition(const MatrixType&)
+ * or the member function compute(const MatrixType&) has been called
+ * before to compute the Hessenberg decomposition of a matrix.
+ *
+ * The returned matrix contains the following information:
+ * - the upper part and lower sub-diagonal represent the Hessenberg matrix H
+ * - the rest of the lower part contains the Householder vectors that, combined with
+ * Householder coefficients returned by householderCoefficients(),
+ * allows to reconstruct the matrix Q as
+ * \f$ Q = H_{N-1} \ldots H_1 H_0 \f$.
+ * Here, the matrices \f$ H_i \f$ are the Householder transformations
+ * \f$ H_i = (I - h_i v_i v_i^T) \f$
+ * where \f$ h_i \f$ is the \f$ i \f$th Householder coefficient and
+ * \f$ v_i \f$ is the Householder vector defined by
+ * \f$ v_i = [ 0, \ldots, 0, 1, M(i+2,i), \ldots, M(N-1,i) ]^T \f$
+ * with M the matrix returned by this function.
+ *
+ * See LAPACK for further details on this packed storage.
+ *
+ * Example: \include HessenbergDecomposition_packedMatrix.cpp
+ * Output: \verbinclude HessenbergDecomposition_packedMatrix.out
+ *
+ * \sa householderCoefficients()
+ */
+ const MatrixType& packedMatrix() const
+ {
+ eigen_assert(m_isInitialized && "HessenbergDecomposition is not initialized.");
+ return m_matrix;
+ }
+
+ /** \brief Reconstructs the orthogonal matrix Q in the decomposition
+ *
+ * \returns object representing the matrix Q
+ *
+ * \pre Either the constructor HessenbergDecomposition(const MatrixType&)
+ * or the member function compute(const MatrixType&) has been called
+ * before to compute the Hessenberg decomposition of a matrix.
+ *
+ * This function returns a light-weight object of template class
+ * HouseholderSequence. You can either apply it directly to a matrix or
+ * you can convert it to a matrix of type #MatrixType.
+ *
+ * \sa matrixH() for an example, class HouseholderSequence
+ */
+ HouseholderSequenceType matrixQ() const
+ {
+ eigen_assert(m_isInitialized && "HessenbergDecomposition is not initialized.");
+ return HouseholderSequenceType(m_matrix, m_hCoeffs.conjugate())
+ .setLength(m_matrix.rows() - 1)
+ .setShift(1);
+ }
+
+ /** \brief Constructs the Hessenberg matrix H in the decomposition
+ *
+ * \returns expression object representing the matrix H
+ *
+ * \pre Either the constructor HessenbergDecomposition(const MatrixType&)
+ * or the member function compute(const MatrixType&) has been called
+ * before to compute the Hessenberg decomposition of a matrix.
+ *
+ * The object returned by this function constructs the Hessenberg matrix H
+ * when it is assigned to a matrix or otherwise evaluated. The matrix H is
+ * constructed from the packed matrix as returned by packedMatrix(): The
+ * upper part (including the subdiagonal) of the packed matrix contains
+ * the matrix H. It may sometimes be better to directly use the packed
+ * matrix instead of constructing the matrix H.
+ *
+ * Example: \include HessenbergDecomposition_matrixH.cpp
+ * Output: \verbinclude HessenbergDecomposition_matrixH.out
+ *
+ * \sa matrixQ(), packedMatrix()
+ */
+ MatrixHReturnType matrixH() const
+ {
+ eigen_assert(m_isInitialized && "HessenbergDecomposition is not initialized.");
+ return MatrixHReturnType(*this);
+ }
+
+ private:
+
+ typedef Matrix<Scalar, 1, Size, Options | RowMajor, 1, MaxSize> VectorType;
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ static void _compute(MatrixType& matA, CoeffVectorType& hCoeffs, VectorType& temp);
+
+ protected:
+ MatrixType m_matrix;
+ CoeffVectorType m_hCoeffs;
+ VectorType m_temp;
+ bool m_isInitialized;
+};
+
+/** \internal
+ * Performs a tridiagonal decomposition of \a matA in place.
+ *
+ * \param matA the input selfadjoint matrix
+ * \param hCoeffs returned Householder coefficients
+ *
+ * The result is written in the lower triangular part of \a matA.
+ *
+ * Implemented from Golub's "%Matrix Computations", algorithm 8.3.1.
+ *
+ * \sa packedMatrix()
+ */
+template<typename MatrixType>
+void HessenbergDecomposition<MatrixType>::_compute(MatrixType& matA, CoeffVectorType& hCoeffs, VectorType& temp)
+{
+ eigen_assert(matA.rows()==matA.cols());
+ Index n = matA.rows();
+ temp.resize(n);
+ for (Index i = 0; i<n-1; ++i)
+ {
+ // let's consider the vector v = i-th column starting at position i+1
+ Index remainingSize = n-i-1;
+ RealScalar beta;
+ Scalar h;
+ matA.col(i).tail(remainingSize).makeHouseholderInPlace(h, beta);
+ matA.col(i).coeffRef(i+1) = beta;
+ hCoeffs.coeffRef(i) = h;
+
+ // Apply similarity transformation to remaining columns,
+ // i.e., compute A = H A H'
+
+ // A = H A
+ matA.bottomRightCorner(remainingSize, remainingSize)
+ .applyHouseholderOnTheLeft(matA.col(i).tail(remainingSize-1), h, &temp.coeffRef(0));
+
+ // A = A H'
+ matA.rightCols(remainingSize)
+ .applyHouseholderOnTheRight(matA.col(i).tail(remainingSize-1).conjugate(), numext::conj(h), &temp.coeffRef(0));
+ }
+}
+
+namespace internal {
+
+/** \eigenvalues_module \ingroup Eigenvalues_Module
+ *
+ *
+ * \brief Expression type for return value of HessenbergDecomposition::matrixH()
+ *
+ * \tparam MatrixType type of matrix in the Hessenberg decomposition
+ *
+ * Objects of this type represent the Hessenberg matrix in the Hessenberg
+ * decomposition of some matrix. The object holds a reference to the
+ * HessenbergDecomposition class until the it is assigned or evaluated for
+ * some other reason (the reference should remain valid during the life time
+ * of this object). This class is the return type of
+ * HessenbergDecomposition::matrixH(); there is probably no other use for this
+ * class.
+ */
+template<typename MatrixType> struct HessenbergDecompositionMatrixHReturnType
+: public ReturnByValue<HessenbergDecompositionMatrixHReturnType<MatrixType> >
+{
+ public:
+ /** \brief Constructor.
+ *
+ * \param[in] hess Hessenberg decomposition
+ */
+ HessenbergDecompositionMatrixHReturnType(const HessenbergDecomposition<MatrixType>& hess) : m_hess(hess) { }
+
+ /** \brief Hessenberg matrix in decomposition.
+ *
+ * \param[out] result Hessenberg matrix in decomposition \p hess which
+ * was passed to the constructor
+ */
+ template <typename ResultType>
+ inline void evalTo(ResultType& result) const
+ {
+ result = m_hess.packedMatrix();
+ Index n = result.rows();
+ if (n>2)
+ result.bottomLeftCorner(n-2, n-2).template triangularView<Lower>().setZero();
+ }
+
+ Index rows() const { return m_hess.packedMatrix().rows(); }
+ Index cols() const { return m_hess.packedMatrix().cols(); }
+
+ protected:
+ const HessenbergDecomposition<MatrixType>& m_hess;
+};
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_HESSENBERGDECOMPOSITION_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h
new file mode 100644
index 0000000..e4e4260
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h
@@ -0,0 +1,158 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_MATRIXBASEEIGENVALUES_H
+#define EIGEN_MATRIXBASEEIGENVALUES_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<typename Derived, bool IsComplex>
+struct eigenvalues_selector
+{
+ // this is the implementation for the case IsComplex = true
+ static inline typename MatrixBase<Derived>::EigenvaluesReturnType const
+ run(const MatrixBase<Derived>& m)
+ {
+ typedef typename Derived::PlainObject PlainObject;
+ PlainObject m_eval(m);
+ return ComplexEigenSolver<PlainObject>(m_eval, false).eigenvalues();
+ }
+};
+
+template<typename Derived>
+struct eigenvalues_selector<Derived, false>
+{
+ static inline typename MatrixBase<Derived>::EigenvaluesReturnType const
+ run(const MatrixBase<Derived>& m)
+ {
+ typedef typename Derived::PlainObject PlainObject;
+ PlainObject m_eval(m);
+ return EigenSolver<PlainObject>(m_eval, false).eigenvalues();
+ }
+};
+
+} // end namespace internal
+
+/** \brief Computes the eigenvalues of a matrix
+ * \returns Column vector containing the eigenvalues.
+ *
+ * \eigenvalues_module
+ * This function computes the eigenvalues with the help of the EigenSolver
+ * class (for real matrices) or the ComplexEigenSolver class (for complex
+ * matrices).
+ *
+ * The eigenvalues are repeated according to their algebraic multiplicity,
+ * so there are as many eigenvalues as rows in the matrix.
+ *
+ * The SelfAdjointView class provides a better algorithm for selfadjoint
+ * matrices.
+ *
+ * Example: \include MatrixBase_eigenvalues.cpp
+ * Output: \verbinclude MatrixBase_eigenvalues.out
+ *
+ * \sa EigenSolver::eigenvalues(), ComplexEigenSolver::eigenvalues(),
+ * SelfAdjointView::eigenvalues()
+ */
+template<typename Derived>
+inline typename MatrixBase<Derived>::EigenvaluesReturnType
+MatrixBase<Derived>::eigenvalues() const
+{
+ return internal::eigenvalues_selector<Derived, NumTraits<Scalar>::IsComplex>::run(derived());
+}
+
+/** \brief Computes the eigenvalues of a matrix
+ * \returns Column vector containing the eigenvalues.
+ *
+ * \eigenvalues_module
+ * This function computes the eigenvalues with the help of the
+ * SelfAdjointEigenSolver class. The eigenvalues are repeated according to
+ * their algebraic multiplicity, so there are as many eigenvalues as rows in
+ * the matrix.
+ *
+ * Example: \include SelfAdjointView_eigenvalues.cpp
+ * Output: \verbinclude SelfAdjointView_eigenvalues.out
+ *
+ * \sa SelfAdjointEigenSolver::eigenvalues(), MatrixBase::eigenvalues()
+ */
+template<typename MatrixType, unsigned int UpLo>
+inline typename SelfAdjointView<MatrixType, UpLo>::EigenvaluesReturnType
+SelfAdjointView<MatrixType, UpLo>::eigenvalues() const
+{
+ PlainObject thisAsMatrix(*this);
+ return SelfAdjointEigenSolver<PlainObject>(thisAsMatrix, false).eigenvalues();
+}
+
+
+
+/** \brief Computes the L2 operator norm
+ * \returns Operator norm of the matrix.
+ *
+ * \eigenvalues_module
+ * This function computes the L2 operator norm of a matrix, which is also
+ * known as the spectral norm. The norm of a matrix \f$ A \f$ is defined to be
+ * \f[ \|A\|_2 = \max_x \frac{\|Ax\|_2}{\|x\|_2} \f]
+ * where the maximum is over all vectors and the norm on the right is the
+ * Euclidean vector norm. The norm equals the largest singular value, which is
+ * the square root of the largest eigenvalue of the positive semi-definite
+ * matrix \f$ A^*A \f$.
+ *
+ * The current implementation uses the eigenvalues of \f$ A^*A \f$, as computed
+ * by SelfAdjointView::eigenvalues(), to compute the operator norm of a
+ * matrix. The SelfAdjointView class provides a better algorithm for
+ * selfadjoint matrices.
+ *
+ * Example: \include MatrixBase_operatorNorm.cpp
+ * Output: \verbinclude MatrixBase_operatorNorm.out
+ *
+ * \sa SelfAdjointView::eigenvalues(), SelfAdjointView::operatorNorm()
+ */
+template<typename Derived>
+inline typename MatrixBase<Derived>::RealScalar
+MatrixBase<Derived>::operatorNorm() const
+{
+ using std::sqrt;
+ typename Derived::PlainObject m_eval(derived());
+ // FIXME if it is really guaranteed that the eigenvalues are already sorted,
+ // then we don't need to compute a maxCoeff() here, comparing the 1st and last ones is enough.
+ return sqrt((m_eval*m_eval.adjoint())
+ .eval()
+ .template selfadjointView<Lower>()
+ .eigenvalues()
+ .maxCoeff()
+ );
+}
+
+/** \brief Computes the L2 operator norm
+ * \returns Operator norm of the matrix.
+ *
+ * \eigenvalues_module
+ * This function computes the L2 operator norm of a self-adjoint matrix. For a
+ * self-adjoint matrix, the operator norm is the largest eigenvalue.
+ *
+ * The current implementation uses the eigenvalues of the matrix, as computed
+ * by eigenvalues(), to compute the operator norm of the matrix.
+ *
+ * Example: \include SelfAdjointView_operatorNorm.cpp
+ * Output: \verbinclude SelfAdjointView_operatorNorm.out
+ *
+ * \sa eigenvalues(), MatrixBase::operatorNorm()
+ */
+template<typename MatrixType, unsigned int UpLo>
+inline typename SelfAdjointView<MatrixType, UpLo>::RealScalar
+SelfAdjointView<MatrixType, UpLo>::operatorNorm() const
+{
+ return eigenvalues().cwiseAbs().maxCoeff();
+}
+
+} // end namespace Eigen
+
+#endif
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Eigenvalues/RealQZ.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Eigenvalues/RealQZ.h
new file mode 100644
index 0000000..b3a910d
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Eigenvalues/RealQZ.h
@@ -0,0 +1,654 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2012 Alexey Korepanov <kaikaikai@yandex.ru>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_REAL_QZ_H
+#define EIGEN_REAL_QZ_H
+
+namespace Eigen {
+
+ /** \eigenvalues_module \ingroup Eigenvalues_Module
+ *
+ *
+ * \class RealQZ
+ *
+ * \brief Performs a real QZ decomposition of a pair of square matrices
+ *
+ * \tparam _MatrixType the type of the matrix of which we are computing the
+ * real QZ decomposition; this is expected to be an instantiation of the
+ * Matrix class template.
+ *
+ * Given a real square matrices A and B, this class computes the real QZ
+ * decomposition: \f$ A = Q S Z \f$, \f$ B = Q T Z \f$ where Q and Z are
+ * real orthogonal matrixes, T is upper-triangular matrix, and S is upper
+ * quasi-triangular matrix. An orthogonal matrix is a matrix whose
+ * inverse is equal to its transpose, \f$ U^{-1} = U^T \f$. A quasi-triangular
+ * matrix is a block-triangular matrix whose diagonal consists of 1-by-1
+ * blocks and 2-by-2 blocks where further reduction is impossible due to
+ * complex eigenvalues.
+ *
+ * The eigenvalues of the pencil \f$ A - z B \f$ can be obtained from
+ * 1x1 and 2x2 blocks on the diagonals of S and T.
+ *
+ * Call the function compute() to compute the real QZ decomposition of a
+ * given pair of matrices. Alternatively, you can use the
+ * RealQZ(const MatrixType& B, const MatrixType& B, bool computeQZ)
+ * constructor which computes the real QZ decomposition at construction
+ * time. Once the decomposition is computed, you can use the matrixS(),
+ * matrixT(), matrixQ() and matrixZ() functions to retrieve the matrices
+ * S, T, Q and Z in the decomposition. If computeQZ==false, some time
+ * is saved by not computing matrices Q and Z.
+ *
+ * Example: \include RealQZ_compute.cpp
+ * Output: \include RealQZ_compute.out
+ *
+ * \note The implementation is based on the algorithm in "Matrix Computations"
+ * by Gene H. Golub and Charles F. Van Loan, and a paper "An algorithm for
+ * generalized eigenvalue problems" by C.B.Moler and G.W.Stewart.
+ *
+ * \sa class RealSchur, class ComplexSchur, class EigenSolver, class ComplexEigenSolver
+ */
+
+ template<typename _MatrixType> class RealQZ
+ {
+ public:
+ typedef _MatrixType MatrixType;
+ enum {
+ RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+ ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+ Options = MatrixType::Options,
+ MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+ MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+ };
+ typedef typename MatrixType::Scalar Scalar;
+ typedef std::complex<typename NumTraits<Scalar>::Real> ComplexScalar;
+ typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
+
+ typedef Matrix<ComplexScalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> EigenvalueType;
+ typedef Matrix<Scalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> ColumnVectorType;
+
+ /** \brief Default constructor.
+ *
+ * \param [in] size Positive integer, size of the matrix whose QZ decomposition will be computed.
+ *
+ * The default constructor is useful in cases in which the user intends to
+ * perform decompositions via compute(). The \p size parameter is only
+ * used as a hint. It is not an error to give a wrong \p size, but it may
+ * impair performance.
+ *
+ * \sa compute() for an example.
+ */
+ explicit RealQZ(Index size = RowsAtCompileTime==Dynamic ? 1 : RowsAtCompileTime) :
+ m_S(size, size),
+ m_T(size, size),
+ m_Q(size, size),
+ m_Z(size, size),
+ m_workspace(size*2),
+ m_maxIters(400),
+ m_isInitialized(false)
+ { }
+
+ /** \brief Constructor; computes real QZ decomposition of given matrices
+ *
+ * \param[in] A Matrix A.
+ * \param[in] B Matrix B.
+ * \param[in] computeQZ If false, A and Z are not computed.
+ *
+ * This constructor calls compute() to compute the QZ decomposition.
+ */
+ RealQZ(const MatrixType& A, const MatrixType& B, bool computeQZ = true) :
+ m_S(A.rows(),A.cols()),
+ m_T(A.rows(),A.cols()),
+ m_Q(A.rows(),A.cols()),
+ m_Z(A.rows(),A.cols()),
+ m_workspace(A.rows()*2),
+ m_maxIters(400),
+ m_isInitialized(false) {
+ compute(A, B, computeQZ);
+ }
+
+ /** \brief Returns matrix Q in the QZ decomposition.
+ *
+ * \returns A const reference to the matrix Q.
+ */
+ const MatrixType& matrixQ() const {
+ eigen_assert(m_isInitialized && "RealQZ is not initialized.");
+ eigen_assert(m_computeQZ && "The matrices Q and Z have not been computed during the QZ decomposition.");
+ return m_Q;
+ }
+
+ /** \brief Returns matrix Z in the QZ decomposition.
+ *
+ * \returns A const reference to the matrix Z.
+ */
+ const MatrixType& matrixZ() const {
+ eigen_assert(m_isInitialized && "RealQZ is not initialized.");
+ eigen_assert(m_computeQZ && "The matrices Q and Z have not been computed during the QZ decomposition.");
+ return m_Z;
+ }
+
+ /** \brief Returns matrix S in the QZ decomposition.
+ *
+ * \returns A const reference to the matrix S.
+ */
+ const MatrixType& matrixS() const {
+ eigen_assert(m_isInitialized && "RealQZ is not initialized.");
+ return m_S;
+ }
+
+ /** \brief Returns matrix S in the QZ decomposition.
+ *
+ * \returns A const reference to the matrix S.
+ */
+ const MatrixType& matrixT() const {
+ eigen_assert(m_isInitialized && "RealQZ is not initialized.");
+ return m_T;
+ }
+
+ /** \brief Computes QZ decomposition of given matrix.
+ *
+ * \param[in] A Matrix A.
+ * \param[in] B Matrix B.
+ * \param[in] computeQZ If false, A and Z are not computed.
+ * \returns Reference to \c *this
+ */
+ RealQZ& compute(const MatrixType& A, const MatrixType& B, bool computeQZ = true);
+
+ /** \brief Reports whether previous computation was successful.
+ *
+ * \returns \c Success if computation was succesful, \c NoConvergence otherwise.
+ */
+ ComputationInfo info() const
+ {
+ eigen_assert(m_isInitialized && "RealQZ is not initialized.");
+ return m_info;
+ }
+
+ /** \brief Returns number of performed QR-like iterations.
+ */
+ Index iterations() const
+ {
+ eigen_assert(m_isInitialized && "RealQZ is not initialized.");
+ return m_global_iter;
+ }
+
+ /** Sets the maximal number of iterations allowed to converge to one eigenvalue
+ * or decouple the problem.
+ */
+ RealQZ& setMaxIterations(Index maxIters)
+ {
+ m_maxIters = maxIters;
+ return *this;
+ }
+
+ private:
+
+ MatrixType m_S, m_T, m_Q, m_Z;
+ Matrix<Scalar,Dynamic,1> m_workspace;
+ ComputationInfo m_info;
+ Index m_maxIters;
+ bool m_isInitialized;
+ bool m_computeQZ;
+ Scalar m_normOfT, m_normOfS;
+ Index m_global_iter;
+
+ typedef Matrix<Scalar,3,1> Vector3s;
+ typedef Matrix<Scalar,2,1> Vector2s;
+ typedef Matrix<Scalar,2,2> Matrix2s;
+ typedef JacobiRotation<Scalar> JRs;
+
+ void hessenbergTriangular();
+ void computeNorms();
+ Index findSmallSubdiagEntry(Index iu);
+ Index findSmallDiagEntry(Index f, Index l);
+ void splitOffTwoRows(Index i);
+ void pushDownZero(Index z, Index f, Index l);
+ void step(Index f, Index l, Index iter);
+
+ }; // RealQZ
+
+ /** \internal Reduces S and T to upper Hessenberg - triangular form */
+ template<typename MatrixType>
+ void RealQZ<MatrixType>::hessenbergTriangular()
+ {
+
+ const Index dim = m_S.cols();
+
+ // perform QR decomposition of T, overwrite T with R, save Q
+ HouseholderQR<MatrixType> qrT(m_T);
+ m_T = qrT.matrixQR();
+ m_T.template triangularView<StrictlyLower>().setZero();
+ m_Q = qrT.householderQ();
+ // overwrite S with Q* S
+ m_S.applyOnTheLeft(m_Q.adjoint());
+ // init Z as Identity
+ if (m_computeQZ)
+ m_Z = MatrixType::Identity(dim,dim);
+ // reduce S to upper Hessenberg with Givens rotations
+ for (Index j=0; j<=dim-3; j++) {
+ for (Index i=dim-1; i>=j+2; i--) {
+ JRs G;
+ // kill S(i,j)
+ if(m_S.coeff(i,j) != 0)
+ {
+ G.makeGivens(m_S.coeff(i-1,j), m_S.coeff(i,j), &m_S.coeffRef(i-1, j));
+ m_S.coeffRef(i,j) = Scalar(0.0);
+ m_S.rightCols(dim-j-1).applyOnTheLeft(i-1,i,G.adjoint());
+ m_T.rightCols(dim-i+1).applyOnTheLeft(i-1,i,G.adjoint());
+ // update Q
+ if (m_computeQZ)
+ m_Q.applyOnTheRight(i-1,i,G);
+ }
+ // kill T(i,i-1)
+ if(m_T.coeff(i,i-1)!=Scalar(0))
+ {
+ G.makeGivens(m_T.coeff(i,i), m_T.coeff(i,i-1), &m_T.coeffRef(i,i));
+ m_T.coeffRef(i,i-1) = Scalar(0.0);
+ m_S.applyOnTheRight(i,i-1,G);
+ m_T.topRows(i).applyOnTheRight(i,i-1,G);
+ // update Z
+ if (m_computeQZ)
+ m_Z.applyOnTheLeft(i,i-1,G.adjoint());
+ }
+ }
+ }
+ }
+
+ /** \internal Computes vector L1 norms of S and T when in Hessenberg-Triangular form already */
+ template<typename MatrixType>
+ inline void RealQZ<MatrixType>::computeNorms()
+ {
+ const Index size = m_S.cols();
+ m_normOfS = Scalar(0.0);
+ m_normOfT = Scalar(0.0);
+ for (Index j = 0; j < size; ++j)
+ {
+ m_normOfS += m_S.col(j).segment(0, (std::min)(size,j+2)).cwiseAbs().sum();
+ m_normOfT += m_T.row(j).segment(j, size - j).cwiseAbs().sum();
+ }
+ }
+
+
+ /** \internal Look for single small sub-diagonal element S(res, res-1) and return res (or 0) */
+ template<typename MatrixType>
+ inline Index RealQZ<MatrixType>::findSmallSubdiagEntry(Index iu)
+ {
+ using std::abs;
+ Index res = iu;
+ while (res > 0)
+ {
+ Scalar s = abs(m_S.coeff(res-1,res-1)) + abs(m_S.coeff(res,res));
+ if (s == Scalar(0.0))
+ s = m_normOfS;
+ if (abs(m_S.coeff(res,res-1)) < NumTraits<Scalar>::epsilon() * s)
+ break;
+ res--;
+ }
+ return res;
+ }
+
+ /** \internal Look for single small diagonal element T(res, res) for res between f and l, and return res (or f-1) */
+ template<typename MatrixType>
+ inline Index RealQZ<MatrixType>::findSmallDiagEntry(Index f, Index l)
+ {
+ using std::abs;
+ Index res = l;
+ while (res >= f) {
+ if (abs(m_T.coeff(res,res)) <= NumTraits<Scalar>::epsilon() * m_normOfT)
+ break;
+ res--;
+ }
+ return res;
+ }
+
+ /** \internal decouple 2x2 diagonal block in rows i, i+1 if eigenvalues are real */
+ template<typename MatrixType>
+ inline void RealQZ<MatrixType>::splitOffTwoRows(Index i)
+ {
+ using std::abs;
+ using std::sqrt;
+ const Index dim=m_S.cols();
+ if (abs(m_S.coeff(i+1,i))==Scalar(0))
+ return;
+ Index j = findSmallDiagEntry(i,i+1);
+ if (j==i-1)
+ {
+ // block of (S T^{-1})
+ Matrix2s STi = m_T.template block<2,2>(i,i).template triangularView<Upper>().
+ template solve<OnTheRight>(m_S.template block<2,2>(i,i));
+ Scalar p = Scalar(0.5)*(STi(0,0)-STi(1,1));
+ Scalar q = p*p + STi(1,0)*STi(0,1);
+ if (q>=0) {
+ Scalar z = sqrt(q);
+ // one QR-like iteration for ABi - lambda I
+ // is enough - when we know exact eigenvalue in advance,
+ // convergence is immediate
+ JRs G;
+ if (p>=0)
+ G.makeGivens(p + z, STi(1,0));
+ else
+ G.makeGivens(p - z, STi(1,0));
+ m_S.rightCols(dim-i).applyOnTheLeft(i,i+1,G.adjoint());
+ m_T.rightCols(dim-i).applyOnTheLeft(i,i+1,G.adjoint());
+ // update Q
+ if (m_computeQZ)
+ m_Q.applyOnTheRight(i,i+1,G);
+
+ G.makeGivens(m_T.coeff(i+1,i+1), m_T.coeff(i+1,i));
+ m_S.topRows(i+2).applyOnTheRight(i+1,i,G);
+ m_T.topRows(i+2).applyOnTheRight(i+1,i,G);
+ // update Z
+ if (m_computeQZ)
+ m_Z.applyOnTheLeft(i+1,i,G.adjoint());
+
+ m_S.coeffRef(i+1,i) = Scalar(0.0);
+ m_T.coeffRef(i+1,i) = Scalar(0.0);
+ }
+ }
+ else
+ {
+ pushDownZero(j,i,i+1);
+ }
+ }
+
+ /** \internal use zero in T(z,z) to zero S(l,l-1), working in block f..l */
+ template<typename MatrixType>
+ inline void RealQZ<MatrixType>::pushDownZero(Index z, Index f, Index l)
+ {
+ JRs G;
+ const Index dim = m_S.cols();
+ for (Index zz=z; zz<l; zz++)
+ {
+ // push 0 down
+ Index firstColS = zz>f ? (zz-1) : zz;
+ G.makeGivens(m_T.coeff(zz, zz+1), m_T.coeff(zz+1, zz+1));
+ m_S.rightCols(dim-firstColS).applyOnTheLeft(zz,zz+1,G.adjoint());
+ m_T.rightCols(dim-zz).applyOnTheLeft(zz,zz+1,G.adjoint());
+ m_T.coeffRef(zz+1,zz+1) = Scalar(0.0);
+ // update Q
+ if (m_computeQZ)
+ m_Q.applyOnTheRight(zz,zz+1,G);
+ // kill S(zz+1, zz-1)
+ if (zz>f)
+ {
+ G.makeGivens(m_S.coeff(zz+1, zz), m_S.coeff(zz+1,zz-1));
+ m_S.topRows(zz+2).applyOnTheRight(zz, zz-1,G);
+ m_T.topRows(zz+1).applyOnTheRight(zz, zz-1,G);
+ m_S.coeffRef(zz+1,zz-1) = Scalar(0.0);
+ // update Z
+ if (m_computeQZ)
+ m_Z.applyOnTheLeft(zz,zz-1,G.adjoint());
+ }
+ }
+ // finally kill S(l,l-1)
+ G.makeGivens(m_S.coeff(l,l), m_S.coeff(l,l-1));
+ m_S.applyOnTheRight(l,l-1,G);
+ m_T.applyOnTheRight(l,l-1,G);
+ m_S.coeffRef(l,l-1)=Scalar(0.0);
+ // update Z
+ if (m_computeQZ)
+ m_Z.applyOnTheLeft(l,l-1,G.adjoint());
+ }
+
+ /** \internal QR-like iterative step for block f..l */
+ template<typename MatrixType>
+ inline void RealQZ<MatrixType>::step(Index f, Index l, Index iter)
+ {
+ using std::abs;
+ const Index dim = m_S.cols();
+
+ // x, y, z
+ Scalar x, y, z;
+ if (iter==10)
+ {
+ // Wilkinson ad hoc shift
+ const Scalar
+ a11=m_S.coeff(f+0,f+0), a12=m_S.coeff(f+0,f+1),
+ a21=m_S.coeff(f+1,f+0), a22=m_S.coeff(f+1,f+1), a32=m_S.coeff(f+2,f+1),
+ b12=m_T.coeff(f+0,f+1),
+ b11i=Scalar(1.0)/m_T.coeff(f+0,f+0),
+ b22i=Scalar(1.0)/m_T.coeff(f+1,f+1),
+ a87=m_S.coeff(l-1,l-2),
+ a98=m_S.coeff(l-0,l-1),
+ b77i=Scalar(1.0)/m_T.coeff(l-2,l-2),
+ b88i=Scalar(1.0)/m_T.coeff(l-1,l-1);
+ Scalar ss = abs(a87*b77i) + abs(a98*b88i),
+ lpl = Scalar(1.5)*ss,
+ ll = ss*ss;
+ x = ll + a11*a11*b11i*b11i - lpl*a11*b11i + a12*a21*b11i*b22i
+ - a11*a21*b12*b11i*b11i*b22i;
+ y = a11*a21*b11i*b11i - lpl*a21*b11i + a21*a22*b11i*b22i
+ - a21*a21*b12*b11i*b11i*b22i;
+ z = a21*a32*b11i*b22i;
+ }
+ else if (iter==16)
+ {
+ // another exceptional shift
+ x = m_S.coeff(f,f)/m_T.coeff(f,f)-m_S.coeff(l,l)/m_T.coeff(l,l) + m_S.coeff(l,l-1)*m_T.coeff(l-1,l) /
+ (m_T.coeff(l-1,l-1)*m_T.coeff(l,l));
+ y = m_S.coeff(f+1,f)/m_T.coeff(f,f);
+ z = 0;
+ }
+ else if (iter>23 && !(iter%8))
+ {
+ // extremely exceptional shift
+ x = internal::random<Scalar>(-1.0,1.0);
+ y = internal::random<Scalar>(-1.0,1.0);
+ z = internal::random<Scalar>(-1.0,1.0);
+ }
+ else
+ {
+ // Compute the shifts: (x,y,z,0...) = (AB^-1 - l1 I) (AB^-1 - l2 I) e1
+ // where l1 and l2 are the eigenvalues of the 2x2 matrix C = U V^-1 where
+ // U and V are 2x2 bottom right sub matrices of A and B. Thus:
+ // = AB^-1AB^-1 + l1 l2 I - (l1+l2)(AB^-1)
+ // = AB^-1AB^-1 + det(M) - tr(M)(AB^-1)
+ // Since we are only interested in having x, y, z with a correct ratio, we have:
+ const Scalar
+ a11 = m_S.coeff(f,f), a12 = m_S.coeff(f,f+1),
+ a21 = m_S.coeff(f+1,f), a22 = m_S.coeff(f+1,f+1),
+ a32 = m_S.coeff(f+2,f+1),
+
+ a88 = m_S.coeff(l-1,l-1), a89 = m_S.coeff(l-1,l),
+ a98 = m_S.coeff(l,l-1), a99 = m_S.coeff(l,l),
+
+ b11 = m_T.coeff(f,f), b12 = m_T.coeff(f,f+1),
+ b22 = m_T.coeff(f+1,f+1),
+
+ b88 = m_T.coeff(l-1,l-1), b89 = m_T.coeff(l-1,l),
+ b99 = m_T.coeff(l,l);
+
+ x = ( (a88/b88 - a11/b11)*(a99/b99 - a11/b11) - (a89/b99)*(a98/b88) + (a98/b88)*(b89/b99)*(a11/b11) ) * (b11/a21)
+ + a12/b22 - (a11/b11)*(b12/b22);
+ y = (a22/b22-a11/b11) - (a21/b11)*(b12/b22) - (a88/b88-a11/b11) - (a99/b99-a11/b11) + (a98/b88)*(b89/b99);
+ z = a32/b22;
+ }
+
+ JRs G;
+
+ for (Index k=f; k<=l-2; k++)
+ {
+ // variables for Householder reflections
+ Vector2s essential2;
+ Scalar tau, beta;
+
+ Vector3s hr(x,y,z);
+
+ // Q_k to annihilate S(k+1,k-1) and S(k+2,k-1)
+ hr.makeHouseholderInPlace(tau, beta);
+ essential2 = hr.template bottomRows<2>();
+ Index fc=(std::max)(k-1,Index(0)); // first col to update
+ m_S.template middleRows<3>(k).rightCols(dim-fc).applyHouseholderOnTheLeft(essential2, tau, m_workspace.data());
+ m_T.template middleRows<3>(k).rightCols(dim-fc).applyHouseholderOnTheLeft(essential2, tau, m_workspace.data());
+ if (m_computeQZ)
+ m_Q.template middleCols<3>(k).applyHouseholderOnTheRight(essential2, tau, m_workspace.data());
+ if (k>f)
+ m_S.coeffRef(k+2,k-1) = m_S.coeffRef(k+1,k-1) = Scalar(0.0);
+
+ // Z_{k1} to annihilate T(k+2,k+1) and T(k+2,k)
+ hr << m_T.coeff(k+2,k+2),m_T.coeff(k+2,k),m_T.coeff(k+2,k+1);
+ hr.makeHouseholderInPlace(tau, beta);
+ essential2 = hr.template bottomRows<2>();
+ {
+ Index lr = (std::min)(k+4,dim); // last row to update
+ Map<Matrix<Scalar,Dynamic,1> > tmp(m_workspace.data(),lr);
+ // S
+ tmp = m_S.template middleCols<2>(k).topRows(lr) * essential2;
+ tmp += m_S.col(k+2).head(lr);
+ m_S.col(k+2).head(lr) -= tau*tmp;
+ m_S.template middleCols<2>(k).topRows(lr) -= (tau*tmp) * essential2.adjoint();
+ // T
+ tmp = m_T.template middleCols<2>(k).topRows(lr) * essential2;
+ tmp += m_T.col(k+2).head(lr);
+ m_T.col(k+2).head(lr) -= tau*tmp;
+ m_T.template middleCols<2>(k).topRows(lr) -= (tau*tmp) * essential2.adjoint();
+ }
+ if (m_computeQZ)
+ {
+ // Z
+ Map<Matrix<Scalar,1,Dynamic> > tmp(m_workspace.data(),dim);
+ tmp = essential2.adjoint()*(m_Z.template middleRows<2>(k));
+ tmp += m_Z.row(k+2);
+ m_Z.row(k+2) -= tau*tmp;
+ m_Z.template middleRows<2>(k) -= essential2 * (tau*tmp);
+ }
+ m_T.coeffRef(k+2,k) = m_T.coeffRef(k+2,k+1) = Scalar(0.0);
+
+ // Z_{k2} to annihilate T(k+1,k)
+ G.makeGivens(m_T.coeff(k+1,k+1), m_T.coeff(k+1,k));
+ m_S.applyOnTheRight(k+1,k,G);
+ m_T.applyOnTheRight(k+1,k,G);
+ // update Z
+ if (m_computeQZ)
+ m_Z.applyOnTheLeft(k+1,k,G.adjoint());
+ m_T.coeffRef(k+1,k) = Scalar(0.0);
+
+ // update x,y,z
+ x = m_S.coeff(k+1,k);
+ y = m_S.coeff(k+2,k);
+ if (k < l-2)
+ z = m_S.coeff(k+3,k);
+ } // loop over k
+
+ // Q_{n-1} to annihilate y = S(l,l-2)
+ G.makeGivens(x,y);
+ m_S.applyOnTheLeft(l-1,l,G.adjoint());
+ m_T.applyOnTheLeft(l-1,l,G.adjoint());
+ if (m_computeQZ)
+ m_Q.applyOnTheRight(l-1,l,G);
+ m_S.coeffRef(l,l-2) = Scalar(0.0);
+
+ // Z_{n-1} to annihilate T(l,l-1)
+ G.makeGivens(m_T.coeff(l,l),m_T.coeff(l,l-1));
+ m_S.applyOnTheRight(l,l-1,G);
+ m_T.applyOnTheRight(l,l-1,G);
+ if (m_computeQZ)
+ m_Z.applyOnTheLeft(l,l-1,G.adjoint());
+ m_T.coeffRef(l,l-1) = Scalar(0.0);
+ }
+
+ template<typename MatrixType>
+ RealQZ<MatrixType>& RealQZ<MatrixType>::compute(const MatrixType& A_in, const MatrixType& B_in, bool computeQZ)
+ {
+
+ const Index dim = A_in.cols();
+
+ eigen_assert (A_in.rows()==dim && A_in.cols()==dim
+ && B_in.rows()==dim && B_in.cols()==dim
+ && "Need square matrices of the same dimension");
+
+ m_isInitialized = true;
+ m_computeQZ = computeQZ;
+ m_S = A_in; m_T = B_in;
+ m_workspace.resize(dim*2);
+ m_global_iter = 0;
+
+ // entrance point: hessenberg triangular decomposition
+ hessenbergTriangular();
+ // compute L1 vector norms of T, S into m_normOfS, m_normOfT
+ computeNorms();
+
+ Index l = dim-1,
+ f,
+ local_iter = 0;
+
+ while (l>0 && local_iter<m_maxIters)
+ {
+ f = findSmallSubdiagEntry(l);
+ // now rows and columns f..l (including) decouple from the rest of the problem
+ if (f>0) m_S.coeffRef(f,f-1) = Scalar(0.0);
+ if (f == l) // One root found
+ {
+ l--;
+ local_iter = 0;
+ }
+ else if (f == l-1) // Two roots found
+ {
+ splitOffTwoRows(f);
+ l -= 2;
+ local_iter = 0;
+ }
+ else // No convergence yet
+ {
+ // if there's zero on diagonal of T, we can isolate an eigenvalue with Givens rotations
+ Index z = findSmallDiagEntry(f,l);
+ if (z>=f)
+ {
+ // zero found
+ pushDownZero(z,f,l);
+ }
+ else
+ {
+ // We are sure now that S.block(f,f, l-f+1,l-f+1) is underuced upper-Hessenberg
+ // and T.block(f,f, l-f+1,l-f+1) is invertible uper-triangular, which allows to
+ // apply a QR-like iteration to rows and columns f..l.
+ step(f,l, local_iter);
+ local_iter++;
+ m_global_iter++;
+ }
+ }
+ }
+ // check if we converged before reaching iterations limit
+ m_info = (local_iter<m_maxIters) ? Success : NoConvergence;
+
+ // For each non triangular 2x2 diagonal block of S,
+ // reduce the respective 2x2 diagonal block of T to positive diagonal form using 2x2 SVD.
+ // This step is not mandatory for QZ, but it does help further extraction of eigenvalues/eigenvectors,
+ // and is in par with Lapack/Matlab QZ.
+ if(m_info==Success)
+ {
+ for(Index i=0; i<dim-1; ++i)
+ {
+ if(m_S.coeff(i+1, i) != Scalar(0))
+ {
+ JacobiRotation<Scalar> j_left, j_right;
+ internal::real_2x2_jacobi_svd(m_T, i, i+1, &j_left, &j_right);
+
+ // Apply resulting Jacobi rotations
+ m_S.applyOnTheLeft(i,i+1,j_left);
+ m_S.applyOnTheRight(i,i+1,j_right);
+ m_T.applyOnTheLeft(i,i+1,j_left);
+ m_T.applyOnTheRight(i,i+1,j_right);
+ m_T(i+1,i) = m_T(i,i+1) = Scalar(0);
+
+ if(m_computeQZ) {
+ m_Q.applyOnTheRight(i,i+1,j_left.transpose());
+ m_Z.applyOnTheLeft(i,i+1,j_right.transpose());
+ }
+
+ i++;
+ }
+ }
+ }
+
+ return *this;
+ } // end compute
+
+} // end namespace Eigen
+
+#endif //EIGEN_REAL_QZ
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Eigenvalues/RealSchur.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Eigenvalues/RealSchur.h
new file mode 100644
index 0000000..17ea903
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Eigenvalues/RealSchur.h
@@ -0,0 +1,546 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010,2012 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_REAL_SCHUR_H
+#define EIGEN_REAL_SCHUR_H
+
+#include "./HessenbergDecomposition.h"
+
+namespace Eigen {
+
+/** \eigenvalues_module \ingroup Eigenvalues_Module
+ *
+ *
+ * \class RealSchur
+ *
+ * \brief Performs a real Schur decomposition of a square matrix
+ *
+ * \tparam _MatrixType the type of the matrix of which we are computing the
+ * real Schur decomposition; this is expected to be an instantiation of the
+ * Matrix class template.
+ *
+ * Given a real square matrix A, this class computes the real Schur
+ * decomposition: \f$ A = U T U^T \f$ where U is a real orthogonal matrix and
+ * T is a real quasi-triangular matrix. An orthogonal matrix is a matrix whose
+ * inverse is equal to its transpose, \f$ U^{-1} = U^T \f$. A quasi-triangular
+ * matrix is a block-triangular matrix whose diagonal consists of 1-by-1
+ * blocks and 2-by-2 blocks with complex eigenvalues. The eigenvalues of the
+ * blocks on the diagonal of T are the same as the eigenvalues of the matrix
+ * A, and thus the real Schur decomposition is used in EigenSolver to compute
+ * the eigendecomposition of a matrix.
+ *
+ * Call the function compute() to compute the real Schur decomposition of a
+ * given matrix. Alternatively, you can use the RealSchur(const MatrixType&, bool)
+ * constructor which computes the real Schur decomposition at construction
+ * time. Once the decomposition is computed, you can use the matrixU() and
+ * matrixT() functions to retrieve the matrices U and T in the decomposition.
+ *
+ * The documentation of RealSchur(const MatrixType&, bool) contains an example
+ * of the typical use of this class.
+ *
+ * \note The implementation is adapted from
+ * <a href="http://math.nist.gov/javanumerics/jama/">JAMA</a> (public domain).
+ * Their code is based on EISPACK.
+ *
+ * \sa class ComplexSchur, class EigenSolver, class ComplexEigenSolver
+ */
+template<typename _MatrixType> class RealSchur
+{
+ public:
+ typedef _MatrixType MatrixType;
+ enum {
+ RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+ ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+ Options = MatrixType::Options,
+ MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+ MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+ };
+ typedef typename MatrixType::Scalar Scalar;
+ typedef std::complex<typename NumTraits<Scalar>::Real> ComplexScalar;
+ typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
+
+ typedef Matrix<ComplexScalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> EigenvalueType;
+ typedef Matrix<Scalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> ColumnVectorType;
+
+ /** \brief Default constructor.
+ *
+ * \param [in] size Positive integer, size of the matrix whose Schur decomposition will be computed.
+ *
+ * The default constructor is useful in cases in which the user intends to
+ * perform decompositions via compute(). The \p size parameter is only
+ * used as a hint. It is not an error to give a wrong \p size, but it may
+ * impair performance.
+ *
+ * \sa compute() for an example.
+ */
+ explicit RealSchur(Index size = RowsAtCompileTime==Dynamic ? 1 : RowsAtCompileTime)
+ : m_matT(size, size),
+ m_matU(size, size),
+ m_workspaceVector(size),
+ m_hess(size),
+ m_isInitialized(false),
+ m_matUisUptodate(false),
+ m_maxIters(-1)
+ { }
+
+ /** \brief Constructor; computes real Schur decomposition of given matrix.
+ *
+ * \param[in] matrix Square matrix whose Schur decomposition is to be computed.
+ * \param[in] computeU If true, both T and U are computed; if false, only T is computed.
+ *
+ * This constructor calls compute() to compute the Schur decomposition.
+ *
+ * Example: \include RealSchur_RealSchur_MatrixType.cpp
+ * Output: \verbinclude RealSchur_RealSchur_MatrixType.out
+ */
+ template<typename InputType>
+ explicit RealSchur(const EigenBase<InputType>& matrix, bool computeU = true)
+ : m_matT(matrix.rows(),matrix.cols()),
+ m_matU(matrix.rows(),matrix.cols()),
+ m_workspaceVector(matrix.rows()),
+ m_hess(matrix.rows()),
+ m_isInitialized(false),
+ m_matUisUptodate(false),
+ m_maxIters(-1)
+ {
+ compute(matrix.derived(), computeU);
+ }
+
+ /** \brief Returns the orthogonal matrix in the Schur decomposition.
+ *
+ * \returns A const reference to the matrix U.
+ *
+ * \pre Either the constructor RealSchur(const MatrixType&, bool) or the
+ * member function compute(const MatrixType&, bool) has been called before
+ * to compute the Schur decomposition of a matrix, and \p computeU was set
+ * to true (the default value).
+ *
+ * \sa RealSchur(const MatrixType&, bool) for an example
+ */
+ const MatrixType& matrixU() const
+ {
+ eigen_assert(m_isInitialized && "RealSchur is not initialized.");
+ eigen_assert(m_matUisUptodate && "The matrix U has not been computed during the RealSchur decomposition.");
+ return m_matU;
+ }
+
+ /** \brief Returns the quasi-triangular matrix in the Schur decomposition.
+ *
+ * \returns A const reference to the matrix T.
+ *
+ * \pre Either the constructor RealSchur(const MatrixType&, bool) or the
+ * member function compute(const MatrixType&, bool) has been called before
+ * to compute the Schur decomposition of a matrix.
+ *
+ * \sa RealSchur(const MatrixType&, bool) for an example
+ */
+ const MatrixType& matrixT() const
+ {
+ eigen_assert(m_isInitialized && "RealSchur is not initialized.");
+ return m_matT;
+ }
+
+ /** \brief Computes Schur decomposition of given matrix.
+ *
+ * \param[in] matrix Square matrix whose Schur decomposition is to be computed.
+ * \param[in] computeU If true, both T and U are computed; if false, only T is computed.
+ * \returns Reference to \c *this
+ *
+ * The Schur decomposition is computed by first reducing the matrix to
+ * Hessenberg form using the class HessenbergDecomposition. The Hessenberg
+ * matrix is then reduced to triangular form by performing Francis QR
+ * iterations with implicit double shift. The cost of computing the Schur
+ * decomposition depends on the number of iterations; as a rough guide, it
+ * may be taken to be \f$25n^3\f$ flops if \a computeU is true and
+ * \f$10n^3\f$ flops if \a computeU is false.
+ *
+ * Example: \include RealSchur_compute.cpp
+ * Output: \verbinclude RealSchur_compute.out
+ *
+ * \sa compute(const MatrixType&, bool, Index)
+ */
+ template<typename InputType>
+ RealSchur& compute(const EigenBase<InputType>& matrix, bool computeU = true);
+
+ /** \brief Computes Schur decomposition of a Hessenberg matrix H = Z T Z^T
+ * \param[in] matrixH Matrix in Hessenberg form H
+ * \param[in] matrixQ orthogonal matrix Q that transform a matrix A to H : A = Q H Q^T
+ * \param computeU Computes the matriX U of the Schur vectors
+ * \return Reference to \c *this
+ *
+ * This routine assumes that the matrix is already reduced in Hessenberg form matrixH
+ * using either the class HessenbergDecomposition or another mean.
+ * It computes the upper quasi-triangular matrix T of the Schur decomposition of H
+ * When computeU is true, this routine computes the matrix U such that
+ * A = U T U^T = (QZ) T (QZ)^T = Q H Q^T where A is the initial matrix
+ *
+ * NOTE Q is referenced if computeU is true; so, if the initial orthogonal matrix
+ * is not available, the user should give an identity matrix (Q.setIdentity())
+ *
+ * \sa compute(const MatrixType&, bool)
+ */
+ template<typename HessMatrixType, typename OrthMatrixType>
+ RealSchur& computeFromHessenberg(const HessMatrixType& matrixH, const OrthMatrixType& matrixQ, bool computeU);
+ /** \brief Reports whether previous computation was successful.
+ *
+ * \returns \c Success if computation was succesful, \c NoConvergence otherwise.
+ */
+ ComputationInfo info() const
+ {
+ eigen_assert(m_isInitialized && "RealSchur is not initialized.");
+ return m_info;
+ }
+
+ /** \brief Sets the maximum number of iterations allowed.
+ *
+ * If not specified by the user, the maximum number of iterations is m_maxIterationsPerRow times the size
+ * of the matrix.
+ */
+ RealSchur& setMaxIterations(Index maxIters)
+ {
+ m_maxIters = maxIters;
+ return *this;
+ }
+
+ /** \brief Returns the maximum number of iterations. */
+ Index getMaxIterations()
+ {
+ return m_maxIters;
+ }
+
+ /** \brief Maximum number of iterations per row.
+ *
+ * If not otherwise specified, the maximum number of iterations is this number times the size of the
+ * matrix. It is currently set to 40.
+ */
+ static const int m_maxIterationsPerRow = 40;
+
+ private:
+
+ MatrixType m_matT;
+ MatrixType m_matU;
+ ColumnVectorType m_workspaceVector;
+ HessenbergDecomposition<MatrixType> m_hess;
+ ComputationInfo m_info;
+ bool m_isInitialized;
+ bool m_matUisUptodate;
+ Index m_maxIters;
+
+ typedef Matrix<Scalar,3,1> Vector3s;
+
+ Scalar computeNormOfT();
+ Index findSmallSubdiagEntry(Index iu);
+ void splitOffTwoRows(Index iu, bool computeU, const Scalar& exshift);
+ void computeShift(Index iu, Index iter, Scalar& exshift, Vector3s& shiftInfo);
+ void initFrancisQRStep(Index il, Index iu, const Vector3s& shiftInfo, Index& im, Vector3s& firstHouseholderVector);
+ void performFrancisQRStep(Index il, Index im, Index iu, bool computeU, const Vector3s& firstHouseholderVector, Scalar* workspace);
+};
+
+
+template<typename MatrixType>
+template<typename InputType>
+RealSchur<MatrixType>& RealSchur<MatrixType>::compute(const EigenBase<InputType>& matrix, bool computeU)
+{
+ const Scalar considerAsZero = (std::numeric_limits<Scalar>::min)();
+
+ eigen_assert(matrix.cols() == matrix.rows());
+ Index maxIters = m_maxIters;
+ if (maxIters == -1)
+ maxIters = m_maxIterationsPerRow * matrix.rows();
+
+ Scalar scale = matrix.derived().cwiseAbs().maxCoeff();
+ if(scale<considerAsZero)
+ {
+ m_matT.setZero(matrix.rows(),matrix.cols());
+ if(computeU)
+ m_matU.setIdentity(matrix.rows(),matrix.cols());
+ m_info = Success;
+ m_isInitialized = true;
+ m_matUisUptodate = computeU;
+ return *this;
+ }
+
+ // Step 1. Reduce to Hessenberg form
+ m_hess.compute(matrix.derived()/scale);
+
+ // Step 2. Reduce to real Schur form
+ computeFromHessenberg(m_hess.matrixH(), m_hess.matrixQ(), computeU);
+
+ m_matT *= scale;
+
+ return *this;
+}
+template<typename MatrixType>
+template<typename HessMatrixType, typename OrthMatrixType>
+RealSchur<MatrixType>& RealSchur<MatrixType>::computeFromHessenberg(const HessMatrixType& matrixH, const OrthMatrixType& matrixQ, bool computeU)
+{
+ using std::abs;
+
+ m_matT = matrixH;
+ if(computeU)
+ m_matU = matrixQ;
+
+ Index maxIters = m_maxIters;
+ if (maxIters == -1)
+ maxIters = m_maxIterationsPerRow * matrixH.rows();
+ m_workspaceVector.resize(m_matT.cols());
+ Scalar* workspace = &m_workspaceVector.coeffRef(0);
+
+ // The matrix m_matT is divided in three parts.
+ // Rows 0,...,il-1 are decoupled from the rest because m_matT(il,il-1) is zero.
+ // Rows il,...,iu is the part we are working on (the active window).
+ // Rows iu+1,...,end are already brought in triangular form.
+ Index iu = m_matT.cols() - 1;
+ Index iter = 0; // iteration count for current eigenvalue
+ Index totalIter = 0; // iteration count for whole matrix
+ Scalar exshift(0); // sum of exceptional shifts
+ Scalar norm = computeNormOfT();
+
+ if(norm!=Scalar(0))
+ {
+ while (iu >= 0)
+ {
+ Index il = findSmallSubdiagEntry(iu);
+
+ // Check for convergence
+ if (il == iu) // One root found
+ {
+ m_matT.coeffRef(iu,iu) = m_matT.coeff(iu,iu) + exshift;
+ if (iu > 0)
+ m_matT.coeffRef(iu, iu-1) = Scalar(0);
+ iu--;
+ iter = 0;
+ }
+ else if (il == iu-1) // Two roots found
+ {
+ splitOffTwoRows(iu, computeU, exshift);
+ iu -= 2;
+ iter = 0;
+ }
+ else // No convergence yet
+ {
+ // The firstHouseholderVector vector has to be initialized to something to get rid of a silly GCC warning (-O1 -Wall -DNDEBUG )
+ Vector3s firstHouseholderVector = Vector3s::Zero(), shiftInfo;
+ computeShift(iu, iter, exshift, shiftInfo);
+ iter = iter + 1;
+ totalIter = totalIter + 1;
+ if (totalIter > maxIters) break;
+ Index im;
+ initFrancisQRStep(il, iu, shiftInfo, im, firstHouseholderVector);
+ performFrancisQRStep(il, im, iu, computeU, firstHouseholderVector, workspace);
+ }
+ }
+ }
+ if(totalIter <= maxIters)
+ m_info = Success;
+ else
+ m_info = NoConvergence;
+
+ m_isInitialized = true;
+ m_matUisUptodate = computeU;
+ return *this;
+}
+
+/** \internal Computes and returns vector L1 norm of T */
+template<typename MatrixType>
+inline typename MatrixType::Scalar RealSchur<MatrixType>::computeNormOfT()
+{
+ const Index size = m_matT.cols();
+ // FIXME to be efficient the following would requires a triangular reduxion code
+ // Scalar norm = m_matT.upper().cwiseAbs().sum()
+ // + m_matT.bottomLeftCorner(size-1,size-1).diagonal().cwiseAbs().sum();
+ Scalar norm(0);
+ for (Index j = 0; j < size; ++j)
+ norm += m_matT.col(j).segment(0, (std::min)(size,j+2)).cwiseAbs().sum();
+ return norm;
+}
+
+/** \internal Look for single small sub-diagonal element and returns its index */
+template<typename MatrixType>
+inline Index RealSchur<MatrixType>::findSmallSubdiagEntry(Index iu)
+{
+ using std::abs;
+ Index res = iu;
+ while (res > 0)
+ {
+ Scalar s = abs(m_matT.coeff(res-1,res-1)) + abs(m_matT.coeff(res,res));
+ if (abs(m_matT.coeff(res,res-1)) <= NumTraits<Scalar>::epsilon() * s)
+ break;
+ res--;
+ }
+ return res;
+}
+
+/** \internal Update T given that rows iu-1 and iu decouple from the rest. */
+template<typename MatrixType>
+inline void RealSchur<MatrixType>::splitOffTwoRows(Index iu, bool computeU, const Scalar& exshift)
+{
+ using std::sqrt;
+ using std::abs;
+ const Index size = m_matT.cols();
+
+ // The eigenvalues of the 2x2 matrix [a b; c d] are
+ // trace +/- sqrt(discr/4) where discr = tr^2 - 4*det, tr = a + d, det = ad - bc
+ Scalar p = Scalar(0.5) * (m_matT.coeff(iu-1,iu-1) - m_matT.coeff(iu,iu));
+ Scalar q = p * p + m_matT.coeff(iu,iu-1) * m_matT.coeff(iu-1,iu); // q = tr^2 / 4 - det = discr/4
+ m_matT.coeffRef(iu,iu) += exshift;
+ m_matT.coeffRef(iu-1,iu-1) += exshift;
+
+ if (q >= Scalar(0)) // Two real eigenvalues
+ {
+ Scalar z = sqrt(abs(q));
+ JacobiRotation<Scalar> rot;
+ if (p >= Scalar(0))
+ rot.makeGivens(p + z, m_matT.coeff(iu, iu-1));
+ else
+ rot.makeGivens(p - z, m_matT.coeff(iu, iu-1));
+
+ m_matT.rightCols(size-iu+1).applyOnTheLeft(iu-1, iu, rot.adjoint());
+ m_matT.topRows(iu+1).applyOnTheRight(iu-1, iu, rot);
+ m_matT.coeffRef(iu, iu-1) = Scalar(0);
+ if (computeU)
+ m_matU.applyOnTheRight(iu-1, iu, rot);
+ }
+
+ if (iu > 1)
+ m_matT.coeffRef(iu-1, iu-2) = Scalar(0);
+}
+
+/** \internal Form shift in shiftInfo, and update exshift if an exceptional shift is performed. */
+template<typename MatrixType>
+inline void RealSchur<MatrixType>::computeShift(Index iu, Index iter, Scalar& exshift, Vector3s& shiftInfo)
+{
+ using std::sqrt;
+ using std::abs;
+ shiftInfo.coeffRef(0) = m_matT.coeff(iu,iu);
+ shiftInfo.coeffRef(1) = m_matT.coeff(iu-1,iu-1);
+ shiftInfo.coeffRef(2) = m_matT.coeff(iu,iu-1) * m_matT.coeff(iu-1,iu);
+
+ // Wilkinson's original ad hoc shift
+ if (iter == 10)
+ {
+ exshift += shiftInfo.coeff(0);
+ for (Index i = 0; i <= iu; ++i)
+ m_matT.coeffRef(i,i) -= shiftInfo.coeff(0);
+ Scalar s = abs(m_matT.coeff(iu,iu-1)) + abs(m_matT.coeff(iu-1,iu-2));
+ shiftInfo.coeffRef(0) = Scalar(0.75) * s;
+ shiftInfo.coeffRef(1) = Scalar(0.75) * s;
+ shiftInfo.coeffRef(2) = Scalar(-0.4375) * s * s;
+ }
+
+ // MATLAB's new ad hoc shift
+ if (iter == 30)
+ {
+ Scalar s = (shiftInfo.coeff(1) - shiftInfo.coeff(0)) / Scalar(2.0);
+ s = s * s + shiftInfo.coeff(2);
+ if (s > Scalar(0))
+ {
+ s = sqrt(s);
+ if (shiftInfo.coeff(1) < shiftInfo.coeff(0))
+ s = -s;
+ s = s + (shiftInfo.coeff(1) - shiftInfo.coeff(0)) / Scalar(2.0);
+ s = shiftInfo.coeff(0) - shiftInfo.coeff(2) / s;
+ exshift += s;
+ for (Index i = 0; i <= iu; ++i)
+ m_matT.coeffRef(i,i) -= s;
+ shiftInfo.setConstant(Scalar(0.964));
+ }
+ }
+}
+
+/** \internal Compute index im at which Francis QR step starts and the first Householder vector. */
+template<typename MatrixType>
+inline void RealSchur<MatrixType>::initFrancisQRStep(Index il, Index iu, const Vector3s& shiftInfo, Index& im, Vector3s& firstHouseholderVector)
+{
+ using std::abs;
+ Vector3s& v = firstHouseholderVector; // alias to save typing
+
+ for (im = iu-2; im >= il; --im)
+ {
+ const Scalar Tmm = m_matT.coeff(im,im);
+ const Scalar r = shiftInfo.coeff(0) - Tmm;
+ const Scalar s = shiftInfo.coeff(1) - Tmm;
+ v.coeffRef(0) = (r * s - shiftInfo.coeff(2)) / m_matT.coeff(im+1,im) + m_matT.coeff(im,im+1);
+ v.coeffRef(1) = m_matT.coeff(im+1,im+1) - Tmm - r - s;
+ v.coeffRef(2) = m_matT.coeff(im+2,im+1);
+ if (im == il) {
+ break;
+ }
+ const Scalar lhs = m_matT.coeff(im,im-1) * (abs(v.coeff(1)) + abs(v.coeff(2)));
+ const Scalar rhs = v.coeff(0) * (abs(m_matT.coeff(im-1,im-1)) + abs(Tmm) + abs(m_matT.coeff(im+1,im+1)));
+ if (abs(lhs) < NumTraits<Scalar>::epsilon() * rhs)
+ break;
+ }
+}
+
+/** \internal Perform a Francis QR step involving rows il:iu and columns im:iu. */
+template<typename MatrixType>
+inline void RealSchur<MatrixType>::performFrancisQRStep(Index il, Index im, Index iu, bool computeU, const Vector3s& firstHouseholderVector, Scalar* workspace)
+{
+ eigen_assert(im >= il);
+ eigen_assert(im <= iu-2);
+
+ const Index size = m_matT.cols();
+
+ for (Index k = im; k <= iu-2; ++k)
+ {
+ bool firstIteration = (k == im);
+
+ Vector3s v;
+ if (firstIteration)
+ v = firstHouseholderVector;
+ else
+ v = m_matT.template block<3,1>(k,k-1);
+
+ Scalar tau, beta;
+ Matrix<Scalar, 2, 1> ess;
+ v.makeHouseholder(ess, tau, beta);
+
+ if (beta != Scalar(0)) // if v is not zero
+ {
+ if (firstIteration && k > il)
+ m_matT.coeffRef(k,k-1) = -m_matT.coeff(k,k-1);
+ else if (!firstIteration)
+ m_matT.coeffRef(k,k-1) = beta;
+
+ // These Householder transformations form the O(n^3) part of the algorithm
+ m_matT.block(k, k, 3, size-k).applyHouseholderOnTheLeft(ess, tau, workspace);
+ m_matT.block(0, k, (std::min)(iu,k+3) + 1, 3).applyHouseholderOnTheRight(ess, tau, workspace);
+ if (computeU)
+ m_matU.block(0, k, size, 3).applyHouseholderOnTheRight(ess, tau, workspace);
+ }
+ }
+
+ Matrix<Scalar, 2, 1> v = m_matT.template block<2,1>(iu-1, iu-2);
+ Scalar tau, beta;
+ Matrix<Scalar, 1, 1> ess;
+ v.makeHouseholder(ess, tau, beta);
+
+ if (beta != Scalar(0)) // if v is not zero
+ {
+ m_matT.coeffRef(iu-1, iu-2) = beta;
+ m_matT.block(iu-1, iu-1, 2, size-iu+1).applyHouseholderOnTheLeft(ess, tau, workspace);
+ m_matT.block(0, iu-1, iu+1, 2).applyHouseholderOnTheRight(ess, tau, workspace);
+ if (computeU)
+ m_matU.block(0, iu-1, size, 2).applyHouseholderOnTheRight(ess, tau, workspace);
+ }
+
+ // clean up pollution due to round-off errors
+ for (Index i = im+2; i <= iu; ++i)
+ {
+ m_matT.coeffRef(i,i-2) = Scalar(0);
+ if (i > im+2)
+ m_matT.coeffRef(i,i-3) = Scalar(0);
+ }
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_REAL_SCHUR_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h
new file mode 100644
index 0000000..9ddd553
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h
@@ -0,0 +1,870 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_SELFADJOINTEIGENSOLVER_H
+#define EIGEN_SELFADJOINTEIGENSOLVER_H
+
+#include "./Tridiagonalization.h"
+
+namespace Eigen {
+
+template<typename _MatrixType>
+class GeneralizedSelfAdjointEigenSolver;
+
+namespace internal {
+template<typename SolverType,int Size,bool IsComplex> struct direct_selfadjoint_eigenvalues;
+template<typename MatrixType, typename DiagType, typename SubDiagType>
+ComputationInfo computeFromTridiagonal_impl(DiagType& diag, SubDiagType& subdiag, const Index maxIterations, bool computeEigenvectors, MatrixType& eivec);
+}
+
+/** \eigenvalues_module \ingroup Eigenvalues_Module
+ *
+ *
+ * \class SelfAdjointEigenSolver
+ *
+ * \brief Computes eigenvalues and eigenvectors of selfadjoint matrices
+ *
+ * \tparam _MatrixType the type of the matrix of which we are computing the
+ * eigendecomposition; this is expected to be an instantiation of the Matrix
+ * class template.
+ *
+ * A matrix \f$ A \f$ is selfadjoint if it equals its adjoint. For real
+ * matrices, this means that the matrix is symmetric: it equals its
+ * transpose. This class computes the eigenvalues and eigenvectors of a
+ * selfadjoint matrix. These are the scalars \f$ \lambda \f$ and vectors
+ * \f$ v \f$ such that \f$ Av = \lambda v \f$. The eigenvalues of a
+ * selfadjoint matrix are always real. If \f$ D \f$ is a diagonal matrix with
+ * the eigenvalues on the diagonal, and \f$ V \f$ is a matrix with the
+ * eigenvectors as its columns, then \f$ A = V D V^{-1} \f$ (for selfadjoint
+ * matrices, the matrix \f$ V \f$ is always invertible). This is called the
+ * eigendecomposition.
+ *
+ * The algorithm exploits the fact that the matrix is selfadjoint, making it
+ * faster and more accurate than the general purpose eigenvalue algorithms
+ * implemented in EigenSolver and ComplexEigenSolver.
+ *
+ * Only the \b lower \b triangular \b part of the input matrix is referenced.
+ *
+ * Call the function compute() to compute the eigenvalues and eigenvectors of
+ * a given matrix. Alternatively, you can use the
+ * SelfAdjointEigenSolver(const MatrixType&, int) constructor which computes
+ * the eigenvalues and eigenvectors at construction time. Once the eigenvalue
+ * and eigenvectors are computed, they can be retrieved with the eigenvalues()
+ * and eigenvectors() functions.
+ *
+ * The documentation for SelfAdjointEigenSolver(const MatrixType&, int)
+ * contains an example of the typical use of this class.
+ *
+ * To solve the \em generalized eigenvalue problem \f$ Av = \lambda Bv \f$ and
+ * the likes, see the class GeneralizedSelfAdjointEigenSolver.
+ *
+ * \sa MatrixBase::eigenvalues(), class EigenSolver, class ComplexEigenSolver
+ */
+template<typename _MatrixType> class SelfAdjointEigenSolver
+{
+ public:
+
+ typedef _MatrixType MatrixType;
+ enum {
+ Size = MatrixType::RowsAtCompileTime,
+ ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+ Options = MatrixType::Options,
+ MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+ };
+
+ /** \brief Scalar type for matrices of type \p _MatrixType. */
+ typedef typename MatrixType::Scalar Scalar;
+ typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
+
+ typedef Matrix<Scalar,Size,Size,ColMajor,MaxColsAtCompileTime,MaxColsAtCompileTime> EigenvectorsType;
+
+ /** \brief Real scalar type for \p _MatrixType.
+ *
+ * This is just \c Scalar if #Scalar is real (e.g., \c float or
+ * \c double), and the type of the real part of \c Scalar if #Scalar is
+ * complex.
+ */
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+
+ friend struct internal::direct_selfadjoint_eigenvalues<SelfAdjointEigenSolver,Size,NumTraits<Scalar>::IsComplex>;
+
+ /** \brief Type for vector of eigenvalues as returned by eigenvalues().
+ *
+ * This is a column vector with entries of type #RealScalar.
+ * The length of the vector is the size of \p _MatrixType.
+ */
+ typedef typename internal::plain_col_type<MatrixType, RealScalar>::type RealVectorType;
+ typedef Tridiagonalization<MatrixType> TridiagonalizationType;
+ typedef typename TridiagonalizationType::SubDiagonalType SubDiagonalType;
+
+ /** \brief Default constructor for fixed-size matrices.
+ *
+ * The default constructor is useful in cases in which the user intends to
+ * perform decompositions via compute(). This constructor
+ * can only be used if \p _MatrixType is a fixed-size matrix; use
+ * SelfAdjointEigenSolver(Index) for dynamic-size matrices.
+ *
+ * Example: \include SelfAdjointEigenSolver_SelfAdjointEigenSolver.cpp
+ * Output: \verbinclude SelfAdjointEigenSolver_SelfAdjointEigenSolver.out
+ */
+ EIGEN_DEVICE_FUNC
+ SelfAdjointEigenSolver()
+ : m_eivec(),
+ m_eivalues(),
+ m_subdiag(),
+ m_isInitialized(false)
+ { }
+
+ /** \brief Constructor, pre-allocates memory for dynamic-size matrices.
+ *
+ * \param [in] size Positive integer, size of the matrix whose
+ * eigenvalues and eigenvectors will be computed.
+ *
+ * This constructor is useful for dynamic-size matrices, when the user
+ * intends to perform decompositions via compute(). The \p size
+ * parameter is only used as a hint. It is not an error to give a wrong
+ * \p size, but it may impair performance.
+ *
+ * \sa compute() for an example
+ */
+ EIGEN_DEVICE_FUNC
+ explicit SelfAdjointEigenSolver(Index size)
+ : m_eivec(size, size),
+ m_eivalues(size),
+ m_subdiag(size > 1 ? size - 1 : 1),
+ m_isInitialized(false)
+ {}
+
+ /** \brief Constructor; computes eigendecomposition of given matrix.
+ *
+ * \param[in] matrix Selfadjoint matrix whose eigendecomposition is to
+ * be computed. Only the lower triangular part of the matrix is referenced.
+ * \param[in] options Can be #ComputeEigenvectors (default) or #EigenvaluesOnly.
+ *
+ * This constructor calls compute(const MatrixType&, int) to compute the
+ * eigenvalues of the matrix \p matrix. The eigenvectors are computed if
+ * \p options equals #ComputeEigenvectors.
+ *
+ * Example: \include SelfAdjointEigenSolver_SelfAdjointEigenSolver_MatrixType.cpp
+ * Output: \verbinclude SelfAdjointEigenSolver_SelfAdjointEigenSolver_MatrixType.out
+ *
+ * \sa compute(const MatrixType&, int)
+ */
+ template<typename InputType>
+ EIGEN_DEVICE_FUNC
+ explicit SelfAdjointEigenSolver(const EigenBase<InputType>& matrix, int options = ComputeEigenvectors)
+ : m_eivec(matrix.rows(), matrix.cols()),
+ m_eivalues(matrix.cols()),
+ m_subdiag(matrix.rows() > 1 ? matrix.rows() - 1 : 1),
+ m_isInitialized(false)
+ {
+ compute(matrix.derived(), options);
+ }
+
+ /** \brief Computes eigendecomposition of given matrix.
+ *
+ * \param[in] matrix Selfadjoint matrix whose eigendecomposition is to
+ * be computed. Only the lower triangular part of the matrix is referenced.
+ * \param[in] options Can be #ComputeEigenvectors (default) or #EigenvaluesOnly.
+ * \returns Reference to \c *this
+ *
+ * This function computes the eigenvalues of \p matrix. The eigenvalues()
+ * function can be used to retrieve them. If \p options equals #ComputeEigenvectors,
+ * then the eigenvectors are also computed and can be retrieved by
+ * calling eigenvectors().
+ *
+ * This implementation uses a symmetric QR algorithm. The matrix is first
+ * reduced to tridiagonal form using the Tridiagonalization class. The
+ * tridiagonal matrix is then brought to diagonal form with implicit
+ * symmetric QR steps with Wilkinson shift. Details can be found in
+ * Section 8.3 of Golub \& Van Loan, <i>%Matrix Computations</i>.
+ *
+ * The cost of the computation is about \f$ 9n^3 \f$ if the eigenvectors
+ * are required and \f$ 4n^3/3 \f$ if they are not required.
+ *
+ * This method reuses the memory in the SelfAdjointEigenSolver object that
+ * was allocated when the object was constructed, if the size of the
+ * matrix does not change.
+ *
+ * Example: \include SelfAdjointEigenSolver_compute_MatrixType.cpp
+ * Output: \verbinclude SelfAdjointEigenSolver_compute_MatrixType.out
+ *
+ * \sa SelfAdjointEigenSolver(const MatrixType&, int)
+ */
+ template<typename InputType>
+ EIGEN_DEVICE_FUNC
+ SelfAdjointEigenSolver& compute(const EigenBase<InputType>& matrix, int options = ComputeEigenvectors);
+
+ /** \brief Computes eigendecomposition of given matrix using a closed-form algorithm
+ *
+ * This is a variant of compute(const MatrixType&, int options) which
+ * directly solves the underlying polynomial equation.
+ *
+ * Currently only 2x2 and 3x3 matrices for which the sizes are known at compile time are supported (e.g., Matrix3d).
+ *
+ * This method is usually significantly faster than the QR iterative algorithm
+ * but it might also be less accurate. It is also worth noting that
+ * for 3x3 matrices it involves trigonometric operations which are
+ * not necessarily available for all scalar types.
+ *
+ * For the 3x3 case, we observed the following worst case relative error regarding the eigenvalues:
+ * - double: 1e-8
+ * - float: 1e-3
+ *
+ * \sa compute(const MatrixType&, int options)
+ */
+ EIGEN_DEVICE_FUNC
+ SelfAdjointEigenSolver& computeDirect(const MatrixType& matrix, int options = ComputeEigenvectors);
+
+ /**
+ *\brief Computes the eigen decomposition from a tridiagonal symmetric matrix
+ *
+ * \param[in] diag The vector containing the diagonal of the matrix.
+ * \param[in] subdiag The subdiagonal of the matrix.
+ * \param[in] options Can be #ComputeEigenvectors (default) or #EigenvaluesOnly.
+ * \returns Reference to \c *this
+ *
+ * This function assumes that the matrix has been reduced to tridiagonal form.
+ *
+ * \sa compute(const MatrixType&, int) for more information
+ */
+ SelfAdjointEigenSolver& computeFromTridiagonal(const RealVectorType& diag, const SubDiagonalType& subdiag , int options=ComputeEigenvectors);
+
+ /** \brief Returns the eigenvectors of given matrix.
+ *
+ * \returns A const reference to the matrix whose columns are the eigenvectors.
+ *
+ * \pre The eigenvectors have been computed before.
+ *
+ * Column \f$ k \f$ of the returned matrix is an eigenvector corresponding
+ * to eigenvalue number \f$ k \f$ as returned by eigenvalues(). The
+ * eigenvectors are normalized to have (Euclidean) norm equal to one. If
+ * this object was used to solve the eigenproblem for the selfadjoint
+ * matrix \f$ A \f$, then the matrix returned by this function is the
+ * matrix \f$ V \f$ in the eigendecomposition \f$ A = V D V^{-1} \f$.
+ *
+ * Example: \include SelfAdjointEigenSolver_eigenvectors.cpp
+ * Output: \verbinclude SelfAdjointEigenSolver_eigenvectors.out
+ *
+ * \sa eigenvalues()
+ */
+ EIGEN_DEVICE_FUNC
+ const EigenvectorsType& eigenvectors() const
+ {
+ eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
+ eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
+ return m_eivec;
+ }
+
+ /** \brief Returns the eigenvalues of given matrix.
+ *
+ * \returns A const reference to the column vector containing the eigenvalues.
+ *
+ * \pre The eigenvalues have been computed before.
+ *
+ * The eigenvalues are repeated according to their algebraic multiplicity,
+ * so there are as many eigenvalues as rows in the matrix. The eigenvalues
+ * are sorted in increasing order.
+ *
+ * Example: \include SelfAdjointEigenSolver_eigenvalues.cpp
+ * Output: \verbinclude SelfAdjointEigenSolver_eigenvalues.out
+ *
+ * \sa eigenvectors(), MatrixBase::eigenvalues()
+ */
+ EIGEN_DEVICE_FUNC
+ const RealVectorType& eigenvalues() const
+ {
+ eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
+ return m_eivalues;
+ }
+
+ /** \brief Computes the positive-definite square root of the matrix.
+ *
+ * \returns the positive-definite square root of the matrix
+ *
+ * \pre The eigenvalues and eigenvectors of a positive-definite matrix
+ * have been computed before.
+ *
+ * The square root of a positive-definite matrix \f$ A \f$ is the
+ * positive-definite matrix whose square equals \f$ A \f$. This function
+ * uses the eigendecomposition \f$ A = V D V^{-1} \f$ to compute the
+ * square root as \f$ A^{1/2} = V D^{1/2} V^{-1} \f$.
+ *
+ * Example: \include SelfAdjointEigenSolver_operatorSqrt.cpp
+ * Output: \verbinclude SelfAdjointEigenSolver_operatorSqrt.out
+ *
+ * \sa operatorInverseSqrt(), <a href="unsupported/group__MatrixFunctions__Module.html">MatrixFunctions Module</a>
+ */
+ EIGEN_DEVICE_FUNC
+ MatrixType operatorSqrt() const
+ {
+ eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
+ eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
+ return m_eivec * m_eivalues.cwiseSqrt().asDiagonal() * m_eivec.adjoint();
+ }
+
+ /** \brief Computes the inverse square root of the matrix.
+ *
+ * \returns the inverse positive-definite square root of the matrix
+ *
+ * \pre The eigenvalues and eigenvectors of a positive-definite matrix
+ * have been computed before.
+ *
+ * This function uses the eigendecomposition \f$ A = V D V^{-1} \f$ to
+ * compute the inverse square root as \f$ V D^{-1/2} V^{-1} \f$. This is
+ * cheaper than first computing the square root with operatorSqrt() and
+ * then its inverse with MatrixBase::inverse().
+ *
+ * Example: \include SelfAdjointEigenSolver_operatorInverseSqrt.cpp
+ * Output: \verbinclude SelfAdjointEigenSolver_operatorInverseSqrt.out
+ *
+ * \sa operatorSqrt(), MatrixBase::inverse(), <a href="unsupported/group__MatrixFunctions__Module.html">MatrixFunctions Module</a>
+ */
+ EIGEN_DEVICE_FUNC
+ MatrixType operatorInverseSqrt() const
+ {
+ eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
+ eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
+ return m_eivec * m_eivalues.cwiseInverse().cwiseSqrt().asDiagonal() * m_eivec.adjoint();
+ }
+
+ /** \brief Reports whether previous computation was successful.
+ *
+ * \returns \c Success if computation was succesful, \c NoConvergence otherwise.
+ */
+ EIGEN_DEVICE_FUNC
+ ComputationInfo info() const
+ {
+ eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
+ return m_info;
+ }
+
+ /** \brief Maximum number of iterations.
+ *
+ * The algorithm terminates if it does not converge within m_maxIterations * n iterations, where n
+ * denotes the size of the matrix. This value is currently set to 30 (copied from LAPACK).
+ */
+ static const int m_maxIterations = 30;
+
+ protected:
+ static void check_template_parameters()
+ {
+ EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
+ }
+
+ EigenvectorsType m_eivec;
+ RealVectorType m_eivalues;
+ typename TridiagonalizationType::SubDiagonalType m_subdiag;
+ ComputationInfo m_info;
+ bool m_isInitialized;
+ bool m_eigenvectorsOk;
+};
+
+namespace internal {
+/** \internal
+ *
+ * \eigenvalues_module \ingroup Eigenvalues_Module
+ *
+ * Performs a QR step on a tridiagonal symmetric matrix represented as a
+ * pair of two vectors \a diag and \a subdiag.
+ *
+ * \param diag the diagonal part of the input selfadjoint tridiagonal matrix
+ * \param subdiag the sub-diagonal part of the input selfadjoint tridiagonal matrix
+ * \param start starting index of the submatrix to work on
+ * \param end last+1 index of the submatrix to work on
+ * \param matrixQ pointer to the column-major matrix holding the eigenvectors, can be 0
+ * \param n size of the input matrix
+ *
+ * For compilation efficiency reasons, this procedure does not use eigen expression
+ * for its arguments.
+ *
+ * Implemented from Golub's "Matrix Computations", algorithm 8.3.2:
+ * "implicit symmetric QR step with Wilkinson shift"
+ */
+template<int StorageOrder,typename RealScalar, typename Scalar, typename Index>
+EIGEN_DEVICE_FUNC
+static void tridiagonal_qr_step(RealScalar* diag, RealScalar* subdiag, Index start, Index end, Scalar* matrixQ, Index n);
+}
+
+template<typename MatrixType>
+template<typename InputType>
+EIGEN_DEVICE_FUNC
+SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
+::compute(const EigenBase<InputType>& a_matrix, int options)
+{
+ check_template_parameters();
+
+ const InputType &matrix(a_matrix.derived());
+
+ using std::abs;
+ eigen_assert(matrix.cols() == matrix.rows());
+ eigen_assert((options&~(EigVecMask|GenEigMask))==0
+ && (options&EigVecMask)!=EigVecMask
+ && "invalid option parameter");
+ bool computeEigenvectors = (options&ComputeEigenvectors)==ComputeEigenvectors;
+ Index n = matrix.cols();
+ m_eivalues.resize(n,1);
+
+ if(n==1)
+ {
+ m_eivec = matrix;
+ m_eivalues.coeffRef(0,0) = numext::real(m_eivec.coeff(0,0));
+ if(computeEigenvectors)
+ m_eivec.setOnes(n,n);
+ m_info = Success;
+ m_isInitialized = true;
+ m_eigenvectorsOk = computeEigenvectors;
+ return *this;
+ }
+
+ // declare some aliases
+ RealVectorType& diag = m_eivalues;
+ EigenvectorsType& mat = m_eivec;
+
+ // map the matrix coefficients to [-1:1] to avoid over- and underflow.
+ mat = matrix.template triangularView<Lower>();
+ RealScalar scale = mat.cwiseAbs().maxCoeff();
+ if(scale==RealScalar(0)) scale = RealScalar(1);
+ mat.template triangularView<Lower>() /= scale;
+ m_subdiag.resize(n-1);
+ internal::tridiagonalization_inplace(mat, diag, m_subdiag, computeEigenvectors);
+
+ m_info = internal::computeFromTridiagonal_impl(diag, m_subdiag, m_maxIterations, computeEigenvectors, m_eivec);
+
+ // scale back the eigen values
+ m_eivalues *= scale;
+
+ m_isInitialized = true;
+ m_eigenvectorsOk = computeEigenvectors;
+ return *this;
+}
+
+template<typename MatrixType>
+SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
+::computeFromTridiagonal(const RealVectorType& diag, const SubDiagonalType& subdiag , int options)
+{
+ //TODO : Add an option to scale the values beforehand
+ bool computeEigenvectors = (options&ComputeEigenvectors)==ComputeEigenvectors;
+
+ m_eivalues = diag;
+ m_subdiag = subdiag;
+ if (computeEigenvectors)
+ {
+ m_eivec.setIdentity(diag.size(), diag.size());
+ }
+ m_info = internal::computeFromTridiagonal_impl(m_eivalues, m_subdiag, m_maxIterations, computeEigenvectors, m_eivec);
+
+ m_isInitialized = true;
+ m_eigenvectorsOk = computeEigenvectors;
+ return *this;
+}
+
+namespace internal {
+/**
+ * \internal
+ * \brief Compute the eigendecomposition from a tridiagonal matrix
+ *
+ * \param[in,out] diag : On input, the diagonal of the matrix, on output the eigenvalues
+ * \param[in,out] subdiag : The subdiagonal part of the matrix (entries are modified during the decomposition)
+ * \param[in] maxIterations : the maximum number of iterations
+ * \param[in] computeEigenvectors : whether the eigenvectors have to be computed or not
+ * \param[out] eivec : The matrix to store the eigenvectors if computeEigenvectors==true. Must be allocated on input.
+ * \returns \c Success or \c NoConvergence
+ */
+template<typename MatrixType, typename DiagType, typename SubDiagType>
+ComputationInfo computeFromTridiagonal_impl(DiagType& diag, SubDiagType& subdiag, const Index maxIterations, bool computeEigenvectors, MatrixType& eivec)
+{
+ using std::abs;
+
+ ComputationInfo info;
+ typedef typename MatrixType::Scalar Scalar;
+
+ Index n = diag.size();
+ Index end = n-1;
+ Index start = 0;
+ Index iter = 0; // total number of iterations
+
+ typedef typename DiagType::RealScalar RealScalar;
+ const RealScalar considerAsZero = (std::numeric_limits<RealScalar>::min)();
+ const RealScalar precision = RealScalar(2)*NumTraits<RealScalar>::epsilon();
+
+ while (end>0)
+ {
+ for (Index i = start; i<end; ++i)
+ if (internal::isMuchSmallerThan(abs(subdiag[i]),(abs(diag[i])+abs(diag[i+1])),precision) || abs(subdiag[i]) <= considerAsZero)
+ subdiag[i] = 0;
+
+ // find the largest unreduced block
+ while (end>0 && subdiag[end-1]==RealScalar(0))
+ {
+ end--;
+ }
+ if (end<=0)
+ break;
+
+ // if we spent too many iterations, we give up
+ iter++;
+ if(iter > maxIterations * n) break;
+
+ start = end - 1;
+ while (start>0 && subdiag[start-1]!=0)
+ start--;
+
+ internal::tridiagonal_qr_step<MatrixType::Flags&RowMajorBit ? RowMajor : ColMajor>(diag.data(), subdiag.data(), start, end, computeEigenvectors ? eivec.data() : (Scalar*)0, n);
+ }
+ if (iter <= maxIterations * n)
+ info = Success;
+ else
+ info = NoConvergence;
+
+ // Sort eigenvalues and corresponding vectors.
+ // TODO make the sort optional ?
+ // TODO use a better sort algorithm !!
+ if (info == Success)
+ {
+ for (Index i = 0; i < n-1; ++i)
+ {
+ Index k;
+ diag.segment(i,n-i).minCoeff(&k);
+ if (k > 0)
+ {
+ std::swap(diag[i], diag[k+i]);
+ if(computeEigenvectors)
+ eivec.col(i).swap(eivec.col(k+i));
+ }
+ }
+ }
+ return info;
+}
+
+template<typename SolverType,int Size,bool IsComplex> struct direct_selfadjoint_eigenvalues
+{
+ EIGEN_DEVICE_FUNC
+ static inline void run(SolverType& eig, const typename SolverType::MatrixType& A, int options)
+ { eig.compute(A,options); }
+};
+
+template<typename SolverType> struct direct_selfadjoint_eigenvalues<SolverType,3,false>
+{
+ typedef typename SolverType::MatrixType MatrixType;
+ typedef typename SolverType::RealVectorType VectorType;
+ typedef typename SolverType::Scalar Scalar;
+ typedef typename SolverType::EigenvectorsType EigenvectorsType;
+
+
+ /** \internal
+ * Computes the roots of the characteristic polynomial of \a m.
+ * For numerical stability m.trace() should be near zero and to avoid over- or underflow m should be normalized.
+ */
+ EIGEN_DEVICE_FUNC
+ static inline void computeRoots(const MatrixType& m, VectorType& roots)
+ {
+ EIGEN_USING_STD_MATH(sqrt)
+ EIGEN_USING_STD_MATH(atan2)
+ EIGEN_USING_STD_MATH(cos)
+ EIGEN_USING_STD_MATH(sin)
+ const Scalar s_inv3 = Scalar(1)/Scalar(3);
+ const Scalar s_sqrt3 = sqrt(Scalar(3));
+
+ // The characteristic equation is x^3 - c2*x^2 + c1*x - c0 = 0. The
+ // eigenvalues are the roots to this equation, all guaranteed to be
+ // real-valued, because the matrix is symmetric.
+ Scalar c0 = m(0,0)*m(1,1)*m(2,2) + Scalar(2)*m(1,0)*m(2,0)*m(2,1) - m(0,0)*m(2,1)*m(2,1) - m(1,1)*m(2,0)*m(2,0) - m(2,2)*m(1,0)*m(1,0);
+ Scalar c1 = m(0,0)*m(1,1) - m(1,0)*m(1,0) + m(0,0)*m(2,2) - m(2,0)*m(2,0) + m(1,1)*m(2,2) - m(2,1)*m(2,1);
+ Scalar c2 = m(0,0) + m(1,1) + m(2,2);
+
+ // Construct the parameters used in classifying the roots of the equation
+ // and in solving the equation for the roots in closed form.
+ Scalar c2_over_3 = c2*s_inv3;
+ Scalar a_over_3 = (c2*c2_over_3 - c1)*s_inv3;
+ a_over_3 = numext::maxi(a_over_3, Scalar(0));
+
+ Scalar half_b = Scalar(0.5)*(c0 + c2_over_3*(Scalar(2)*c2_over_3*c2_over_3 - c1));
+
+ Scalar q = a_over_3*a_over_3*a_over_3 - half_b*half_b;
+ q = numext::maxi(q, Scalar(0));
+
+ // Compute the eigenvalues by solving for the roots of the polynomial.
+ Scalar rho = sqrt(a_over_3);
+ Scalar theta = atan2(sqrt(q),half_b)*s_inv3; // since sqrt(q) > 0, atan2 is in [0, pi] and theta is in [0, pi/3]
+ Scalar cos_theta = cos(theta);
+ Scalar sin_theta = sin(theta);
+ // roots are already sorted, since cos is monotonically decreasing on [0, pi]
+ roots(0) = c2_over_3 - rho*(cos_theta + s_sqrt3*sin_theta); // == 2*rho*cos(theta+2pi/3)
+ roots(1) = c2_over_3 - rho*(cos_theta - s_sqrt3*sin_theta); // == 2*rho*cos(theta+ pi/3)
+ roots(2) = c2_over_3 + Scalar(2)*rho*cos_theta;
+ }
+
+ EIGEN_DEVICE_FUNC
+ static inline bool extract_kernel(MatrixType& mat, Ref<VectorType> res, Ref<VectorType> representative)
+ {
+ using std::abs;
+ Index i0;
+ // Find non-zero column i0 (by construction, there must exist a non zero coefficient on the diagonal):
+ mat.diagonal().cwiseAbs().maxCoeff(&i0);
+ // mat.col(i0) is a good candidate for an orthogonal vector to the current eigenvector,
+ // so let's save it:
+ representative = mat.col(i0);
+ Scalar n0, n1;
+ VectorType c0, c1;
+ n0 = (c0 = representative.cross(mat.col((i0+1)%3))).squaredNorm();
+ n1 = (c1 = representative.cross(mat.col((i0+2)%3))).squaredNorm();
+ if(n0>n1) res = c0/std::sqrt(n0);
+ else res = c1/std::sqrt(n1);
+
+ return true;
+ }
+
+ EIGEN_DEVICE_FUNC
+ static inline void run(SolverType& solver, const MatrixType& mat, int options)
+ {
+ eigen_assert(mat.cols() == 3 && mat.cols() == mat.rows());
+ eigen_assert((options&~(EigVecMask|GenEigMask))==0
+ && (options&EigVecMask)!=EigVecMask
+ && "invalid option parameter");
+ bool computeEigenvectors = (options&ComputeEigenvectors)==ComputeEigenvectors;
+
+ EigenvectorsType& eivecs = solver.m_eivec;
+ VectorType& eivals = solver.m_eivalues;
+
+ // Shift the matrix to the mean eigenvalue and map the matrix coefficients to [-1:1] to avoid over- and underflow.
+ Scalar shift = mat.trace() / Scalar(3);
+ // TODO Avoid this copy. Currently it is necessary to suppress bogus values when determining maxCoeff and for computing the eigenvectors later
+ MatrixType scaledMat = mat.template selfadjointView<Lower>();
+ scaledMat.diagonal().array() -= shift;
+ Scalar scale = scaledMat.cwiseAbs().maxCoeff();
+ if(scale > 0) scaledMat /= scale; // TODO for scale==0 we could save the remaining operations
+
+ // compute the eigenvalues
+ computeRoots(scaledMat,eivals);
+
+ // compute the eigenvectors
+ if(computeEigenvectors)
+ {
+ if((eivals(2)-eivals(0))<=Eigen::NumTraits<Scalar>::epsilon())
+ {
+ // All three eigenvalues are numerically the same
+ eivecs.setIdentity();
+ }
+ else
+ {
+ MatrixType tmp;
+ tmp = scaledMat;
+
+ // Compute the eigenvector of the most distinct eigenvalue
+ Scalar d0 = eivals(2) - eivals(1);
+ Scalar d1 = eivals(1) - eivals(0);
+ Index k(0), l(2);
+ if(d0 > d1)
+ {
+ numext::swap(k,l);
+ d0 = d1;
+ }
+
+ // Compute the eigenvector of index k
+ {
+ tmp.diagonal().array () -= eivals(k);
+ // By construction, 'tmp' is of rank 2, and its kernel corresponds to the respective eigenvector.
+ extract_kernel(tmp, eivecs.col(k), eivecs.col(l));
+ }
+
+ // Compute eigenvector of index l
+ if(d0<=2*Eigen::NumTraits<Scalar>::epsilon()*d1)
+ {
+ // If d0 is too small, then the two other eigenvalues are numerically the same,
+ // and thus we only have to ortho-normalize the near orthogonal vector we saved above.
+ eivecs.col(l) -= eivecs.col(k).dot(eivecs.col(l))*eivecs.col(l);
+ eivecs.col(l).normalize();
+ }
+ else
+ {
+ tmp = scaledMat;
+ tmp.diagonal().array () -= eivals(l);
+
+ VectorType dummy;
+ extract_kernel(tmp, eivecs.col(l), dummy);
+ }
+
+ // Compute last eigenvector from the other two
+ eivecs.col(1) = eivecs.col(2).cross(eivecs.col(0)).normalized();
+ }
+ }
+
+ // Rescale back to the original size.
+ eivals *= scale;
+ eivals.array() += shift;
+
+ solver.m_info = Success;
+ solver.m_isInitialized = true;
+ solver.m_eigenvectorsOk = computeEigenvectors;
+ }
+};
+
+// 2x2 direct eigenvalues decomposition, code from Hauke Heibel
+template<typename SolverType>
+struct direct_selfadjoint_eigenvalues<SolverType,2,false>
+{
+ typedef typename SolverType::MatrixType MatrixType;
+ typedef typename SolverType::RealVectorType VectorType;
+ typedef typename SolverType::Scalar Scalar;
+ typedef typename SolverType::EigenvectorsType EigenvectorsType;
+
+ EIGEN_DEVICE_FUNC
+ static inline void computeRoots(const MatrixType& m, VectorType& roots)
+ {
+ using std::sqrt;
+ const Scalar t0 = Scalar(0.5) * sqrt( numext::abs2(m(0,0)-m(1,1)) + Scalar(4)*numext::abs2(m(1,0)));
+ const Scalar t1 = Scalar(0.5) * (m(0,0) + m(1,1));
+ roots(0) = t1 - t0;
+ roots(1) = t1 + t0;
+ }
+
+ EIGEN_DEVICE_FUNC
+ static inline void run(SolverType& solver, const MatrixType& mat, int options)
+ {
+ EIGEN_USING_STD_MATH(sqrt);
+ EIGEN_USING_STD_MATH(abs);
+
+ eigen_assert(mat.cols() == 2 && mat.cols() == mat.rows());
+ eigen_assert((options&~(EigVecMask|GenEigMask))==0
+ && (options&EigVecMask)!=EigVecMask
+ && "invalid option parameter");
+ bool computeEigenvectors = (options&ComputeEigenvectors)==ComputeEigenvectors;
+
+ EigenvectorsType& eivecs = solver.m_eivec;
+ VectorType& eivals = solver.m_eivalues;
+
+ // Shift the matrix to the mean eigenvalue and map the matrix coefficients to [-1:1] to avoid over- and underflow.
+ Scalar shift = mat.trace() / Scalar(2);
+ MatrixType scaledMat = mat;
+ scaledMat.coeffRef(0,1) = mat.coeff(1,0);
+ scaledMat.diagonal().array() -= shift;
+ Scalar scale = scaledMat.cwiseAbs().maxCoeff();
+ if(scale > Scalar(0))
+ scaledMat /= scale;
+
+ // Compute the eigenvalues
+ computeRoots(scaledMat,eivals);
+
+ // compute the eigen vectors
+ if(computeEigenvectors)
+ {
+ if((eivals(1)-eivals(0))<=abs(eivals(1))*Eigen::NumTraits<Scalar>::epsilon())
+ {
+ eivecs.setIdentity();
+ }
+ else
+ {
+ scaledMat.diagonal().array () -= eivals(1);
+ Scalar a2 = numext::abs2(scaledMat(0,0));
+ Scalar c2 = numext::abs2(scaledMat(1,1));
+ Scalar b2 = numext::abs2(scaledMat(1,0));
+ if(a2>c2)
+ {
+ eivecs.col(1) << -scaledMat(1,0), scaledMat(0,0);
+ eivecs.col(1) /= sqrt(a2+b2);
+ }
+ else
+ {
+ eivecs.col(1) << -scaledMat(1,1), scaledMat(1,0);
+ eivecs.col(1) /= sqrt(c2+b2);
+ }
+
+ eivecs.col(0) << eivecs.col(1).unitOrthogonal();
+ }
+ }
+
+ // Rescale back to the original size.
+ eivals *= scale;
+ eivals.array() += shift;
+
+ solver.m_info = Success;
+ solver.m_isInitialized = true;
+ solver.m_eigenvectorsOk = computeEigenvectors;
+ }
+};
+
+}
+
+template<typename MatrixType>
+EIGEN_DEVICE_FUNC
+SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
+::computeDirect(const MatrixType& matrix, int options)
+{
+ internal::direct_selfadjoint_eigenvalues<SelfAdjointEigenSolver,Size,NumTraits<Scalar>::IsComplex>::run(*this,matrix,options);
+ return *this;
+}
+
+namespace internal {
+template<int StorageOrder,typename RealScalar, typename Scalar, typename Index>
+EIGEN_DEVICE_FUNC
+static void tridiagonal_qr_step(RealScalar* diag, RealScalar* subdiag, Index start, Index end, Scalar* matrixQ, Index n)
+{
+ using std::abs;
+ RealScalar td = (diag[end-1] - diag[end])*RealScalar(0.5);
+ RealScalar e = subdiag[end-1];
+ // Note that thanks to scaling, e^2 or td^2 cannot overflow, however they can still
+ // underflow thus leading to inf/NaN values when using the following commented code:
+// RealScalar e2 = numext::abs2(subdiag[end-1]);
+// RealScalar mu = diag[end] - e2 / (td + (td>0 ? 1 : -1) * sqrt(td*td + e2));
+ // This explain the following, somewhat more complicated, version:
+ RealScalar mu = diag[end];
+ if(td==RealScalar(0))
+ mu -= abs(e);
+ else
+ {
+ RealScalar e2 = numext::abs2(subdiag[end-1]);
+ RealScalar h = numext::hypot(td,e);
+ if(e2==RealScalar(0)) mu -= (e / (td + (td>RealScalar(0) ? RealScalar(1) : RealScalar(-1)))) * (e / h);
+ else mu -= e2 / (td + (td>RealScalar(0) ? h : -h));
+ }
+
+ RealScalar x = diag[start] - mu;
+ RealScalar z = subdiag[start];
+ for (Index k = start; k < end; ++k)
+ {
+ JacobiRotation<RealScalar> rot;
+ rot.makeGivens(x, z);
+
+ // do T = G' T G
+ RealScalar sdk = rot.s() * diag[k] + rot.c() * subdiag[k];
+ RealScalar dkp1 = rot.s() * subdiag[k] + rot.c() * diag[k+1];
+
+ diag[k] = rot.c() * (rot.c() * diag[k] - rot.s() * subdiag[k]) - rot.s() * (rot.c() * subdiag[k] - rot.s() * diag[k+1]);
+ diag[k+1] = rot.s() * sdk + rot.c() * dkp1;
+ subdiag[k] = rot.c() * sdk - rot.s() * dkp1;
+
+
+ if (k > start)
+ subdiag[k - 1] = rot.c() * subdiag[k-1] - rot.s() * z;
+
+ x = subdiag[k];
+
+ if (k < end - 1)
+ {
+ z = -rot.s() * subdiag[k+1];
+ subdiag[k + 1] = rot.c() * subdiag[k+1];
+ }
+
+ // apply the givens rotation to the unit matrix Q = Q * G
+ if (matrixQ)
+ {
+ // FIXME if StorageOrder == RowMajor this operation is not very efficient
+ Map<Matrix<Scalar,Dynamic,Dynamic,StorageOrder> > q(matrixQ,n,n);
+ q.applyOnTheRight(k,k+1,rot);
+ }
+ }
+}
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_SELFADJOINTEIGENSOLVER_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Eigenvalues/Tridiagonalization.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Eigenvalues/Tridiagonalization.h
new file mode 100644
index 0000000..1d102c1
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Eigenvalues/Tridiagonalization.h
@@ -0,0 +1,556 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_TRIDIAGONALIZATION_H
+#define EIGEN_TRIDIAGONALIZATION_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<typename MatrixType> struct TridiagonalizationMatrixTReturnType;
+template<typename MatrixType>
+struct traits<TridiagonalizationMatrixTReturnType<MatrixType> >
+ : public traits<typename MatrixType::PlainObject>
+{
+ typedef typename MatrixType::PlainObject ReturnType; // FIXME shall it be a BandMatrix?
+ enum { Flags = 0 };
+};
+
+template<typename MatrixType, typename CoeffVectorType>
+void tridiagonalization_inplace(MatrixType& matA, CoeffVectorType& hCoeffs);
+}
+
+/** \eigenvalues_module \ingroup Eigenvalues_Module
+ *
+ *
+ * \class Tridiagonalization
+ *
+ * \brief Tridiagonal decomposition of a selfadjoint matrix
+ *
+ * \tparam _MatrixType the type of the matrix of which we are computing the
+ * tridiagonal decomposition; this is expected to be an instantiation of the
+ * Matrix class template.
+ *
+ * This class performs a tridiagonal decomposition of a selfadjoint matrix \f$ A \f$ such that:
+ * \f$ A = Q T Q^* \f$ where \f$ Q \f$ is unitary and \f$ T \f$ a real symmetric tridiagonal matrix.
+ *
+ * A tridiagonal matrix is a matrix which has nonzero elements only on the
+ * main diagonal and the first diagonal below and above it. The Hessenberg
+ * decomposition of a selfadjoint matrix is in fact a tridiagonal
+ * decomposition. This class is used in SelfAdjointEigenSolver to compute the
+ * eigenvalues and eigenvectors of a selfadjoint matrix.
+ *
+ * Call the function compute() to compute the tridiagonal decomposition of a
+ * given matrix. Alternatively, you can use the Tridiagonalization(const MatrixType&)
+ * constructor which computes the tridiagonal Schur decomposition at
+ * construction time. Once the decomposition is computed, you can use the
+ * matrixQ() and matrixT() functions to retrieve the matrices Q and T in the
+ * decomposition.
+ *
+ * The documentation of Tridiagonalization(const MatrixType&) contains an
+ * example of the typical use of this class.
+ *
+ * \sa class HessenbergDecomposition, class SelfAdjointEigenSolver
+ */
+template<typename _MatrixType> class Tridiagonalization
+{
+ public:
+
+ /** \brief Synonym for the template parameter \p _MatrixType. */
+ typedef _MatrixType MatrixType;
+
+ typedef typename MatrixType::Scalar Scalar;
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
+
+ enum {
+ Size = MatrixType::RowsAtCompileTime,
+ SizeMinusOne = Size == Dynamic ? Dynamic : (Size > 1 ? Size - 1 : 1),
+ Options = MatrixType::Options,
+ MaxSize = MatrixType::MaxRowsAtCompileTime,
+ MaxSizeMinusOne = MaxSize == Dynamic ? Dynamic : (MaxSize > 1 ? MaxSize - 1 : 1)
+ };
+
+ typedef Matrix<Scalar, SizeMinusOne, 1, Options & ~RowMajor, MaxSizeMinusOne, 1> CoeffVectorType;
+ typedef typename internal::plain_col_type<MatrixType, RealScalar>::type DiagonalType;
+ typedef Matrix<RealScalar, SizeMinusOne, 1, Options & ~RowMajor, MaxSizeMinusOne, 1> SubDiagonalType;
+ typedef typename internal::remove_all<typename MatrixType::RealReturnType>::type MatrixTypeRealView;
+ typedef internal::TridiagonalizationMatrixTReturnType<MatrixTypeRealView> MatrixTReturnType;
+
+ typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
+ typename internal::add_const_on_value_type<typename Diagonal<const MatrixType>::RealReturnType>::type,
+ const Diagonal<const MatrixType>
+ >::type DiagonalReturnType;
+
+ typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
+ typename internal::add_const_on_value_type<typename Diagonal<const MatrixType, -1>::RealReturnType>::type,
+ const Diagonal<const MatrixType, -1>
+ >::type SubDiagonalReturnType;
+
+ /** \brief Return type of matrixQ() */
+ typedef HouseholderSequence<MatrixType,typename internal::remove_all<typename CoeffVectorType::ConjugateReturnType>::type> HouseholderSequenceType;
+
+ /** \brief Default constructor.
+ *
+ * \param [in] size Positive integer, size of the matrix whose tridiagonal
+ * decomposition will be computed.
+ *
+ * The default constructor is useful in cases in which the user intends to
+ * perform decompositions via compute(). The \p size parameter is only
+ * used as a hint. It is not an error to give a wrong \p size, but it may
+ * impair performance.
+ *
+ * \sa compute() for an example.
+ */
+ explicit Tridiagonalization(Index size = Size==Dynamic ? 2 : Size)
+ : m_matrix(size,size),
+ m_hCoeffs(size > 1 ? size-1 : 1),
+ m_isInitialized(false)
+ {}
+
+ /** \brief Constructor; computes tridiagonal decomposition of given matrix.
+ *
+ * \param[in] matrix Selfadjoint matrix whose tridiagonal decomposition
+ * is to be computed.
+ *
+ * This constructor calls compute() to compute the tridiagonal decomposition.
+ *
+ * Example: \include Tridiagonalization_Tridiagonalization_MatrixType.cpp
+ * Output: \verbinclude Tridiagonalization_Tridiagonalization_MatrixType.out
+ */
+ template<typename InputType>
+ explicit Tridiagonalization(const EigenBase<InputType>& matrix)
+ : m_matrix(matrix.derived()),
+ m_hCoeffs(matrix.cols() > 1 ? matrix.cols()-1 : 1),
+ m_isInitialized(false)
+ {
+ internal::tridiagonalization_inplace(m_matrix, m_hCoeffs);
+ m_isInitialized = true;
+ }
+
+ /** \brief Computes tridiagonal decomposition of given matrix.
+ *
+ * \param[in] matrix Selfadjoint matrix whose tridiagonal decomposition
+ * is to be computed.
+ * \returns Reference to \c *this
+ *
+ * The tridiagonal decomposition is computed by bringing the columns of
+ * the matrix successively in the required form using Householder
+ * reflections. The cost is \f$ 4n^3/3 \f$ flops, where \f$ n \f$ denotes
+ * the size of the given matrix.
+ *
+ * This method reuses of the allocated data in the Tridiagonalization
+ * object, if the size of the matrix does not change.
+ *
+ * Example: \include Tridiagonalization_compute.cpp
+ * Output: \verbinclude Tridiagonalization_compute.out
+ */
+ template<typename InputType>
+ Tridiagonalization& compute(const EigenBase<InputType>& matrix)
+ {
+ m_matrix = matrix.derived();
+ m_hCoeffs.resize(matrix.rows()-1, 1);
+ internal::tridiagonalization_inplace(m_matrix, m_hCoeffs);
+ m_isInitialized = true;
+ return *this;
+ }
+
+ /** \brief Returns the Householder coefficients.
+ *
+ * \returns a const reference to the vector of Householder coefficients
+ *
+ * \pre Either the constructor Tridiagonalization(const MatrixType&) or
+ * the member function compute(const MatrixType&) has been called before
+ * to compute the tridiagonal decomposition of a matrix.
+ *
+ * The Householder coefficients allow the reconstruction of the matrix
+ * \f$ Q \f$ in the tridiagonal decomposition from the packed data.
+ *
+ * Example: \include Tridiagonalization_householderCoefficients.cpp
+ * Output: \verbinclude Tridiagonalization_householderCoefficients.out
+ *
+ * \sa packedMatrix(), \ref Householder_Module "Householder module"
+ */
+ inline CoeffVectorType householderCoefficients() const
+ {
+ eigen_assert(m_isInitialized && "Tridiagonalization is not initialized.");
+ return m_hCoeffs;
+ }
+
+ /** \brief Returns the internal representation of the decomposition
+ *
+ * \returns a const reference to a matrix with the internal representation
+ * of the decomposition.
+ *
+ * \pre Either the constructor Tridiagonalization(const MatrixType&) or
+ * the member function compute(const MatrixType&) has been called before
+ * to compute the tridiagonal decomposition of a matrix.
+ *
+ * The returned matrix contains the following information:
+ * - the strict upper triangular part is equal to the input matrix A.
+ * - the diagonal and lower sub-diagonal represent the real tridiagonal
+ * symmetric matrix T.
+ * - the rest of the lower part contains the Householder vectors that,
+ * combined with Householder coefficients returned by
+ * householderCoefficients(), allows to reconstruct the matrix Q as
+ * \f$ Q = H_{N-1} \ldots H_1 H_0 \f$.
+ * Here, the matrices \f$ H_i \f$ are the Householder transformations
+ * \f$ H_i = (I - h_i v_i v_i^T) \f$
+ * where \f$ h_i \f$ is the \f$ i \f$th Householder coefficient and
+ * \f$ v_i \f$ is the Householder vector defined by
+ * \f$ v_i = [ 0, \ldots, 0, 1, M(i+2,i), \ldots, M(N-1,i) ]^T \f$
+ * with M the matrix returned by this function.
+ *
+ * See LAPACK for further details on this packed storage.
+ *
+ * Example: \include Tridiagonalization_packedMatrix.cpp
+ * Output: \verbinclude Tridiagonalization_packedMatrix.out
+ *
+ * \sa householderCoefficients()
+ */
+ inline const MatrixType& packedMatrix() const
+ {
+ eigen_assert(m_isInitialized && "Tridiagonalization is not initialized.");
+ return m_matrix;
+ }
+
+ /** \brief Returns the unitary matrix Q in the decomposition
+ *
+ * \returns object representing the matrix Q
+ *
+ * \pre Either the constructor Tridiagonalization(const MatrixType&) or
+ * the member function compute(const MatrixType&) has been called before
+ * to compute the tridiagonal decomposition of a matrix.
+ *
+ * This function returns a light-weight object of template class
+ * HouseholderSequence. You can either apply it directly to a matrix or
+ * you can convert it to a matrix of type #MatrixType.
+ *
+ * \sa Tridiagonalization(const MatrixType&) for an example,
+ * matrixT(), class HouseholderSequence
+ */
+ HouseholderSequenceType matrixQ() const
+ {
+ eigen_assert(m_isInitialized && "Tridiagonalization is not initialized.");
+ return HouseholderSequenceType(m_matrix, m_hCoeffs.conjugate())
+ .setLength(m_matrix.rows() - 1)
+ .setShift(1);
+ }
+
+ /** \brief Returns an expression of the tridiagonal matrix T in the decomposition
+ *
+ * \returns expression object representing the matrix T
+ *
+ * \pre Either the constructor Tridiagonalization(const MatrixType&) or
+ * the member function compute(const MatrixType&) has been called before
+ * to compute the tridiagonal decomposition of a matrix.
+ *
+ * Currently, this function can be used to extract the matrix T from internal
+ * data and copy it to a dense matrix object. In most cases, it may be
+ * sufficient to directly use the packed matrix or the vector expressions
+ * returned by diagonal() and subDiagonal() instead of creating a new
+ * dense copy matrix with this function.
+ *
+ * \sa Tridiagonalization(const MatrixType&) for an example,
+ * matrixQ(), packedMatrix(), diagonal(), subDiagonal()
+ */
+ MatrixTReturnType matrixT() const
+ {
+ eigen_assert(m_isInitialized && "Tridiagonalization is not initialized.");
+ return MatrixTReturnType(m_matrix.real());
+ }
+
+ /** \brief Returns the diagonal of the tridiagonal matrix T in the decomposition.
+ *
+ * \returns expression representing the diagonal of T
+ *
+ * \pre Either the constructor Tridiagonalization(const MatrixType&) or
+ * the member function compute(const MatrixType&) has been called before
+ * to compute the tridiagonal decomposition of a matrix.
+ *
+ * Example: \include Tridiagonalization_diagonal.cpp
+ * Output: \verbinclude Tridiagonalization_diagonal.out
+ *
+ * \sa matrixT(), subDiagonal()
+ */
+ DiagonalReturnType diagonal() const;
+
+ /** \brief Returns the subdiagonal of the tridiagonal matrix T in the decomposition.
+ *
+ * \returns expression representing the subdiagonal of T
+ *
+ * \pre Either the constructor Tridiagonalization(const MatrixType&) or
+ * the member function compute(const MatrixType&) has been called before
+ * to compute the tridiagonal decomposition of a matrix.
+ *
+ * \sa diagonal() for an example, matrixT()
+ */
+ SubDiagonalReturnType subDiagonal() const;
+
+ protected:
+
+ MatrixType m_matrix;
+ CoeffVectorType m_hCoeffs;
+ bool m_isInitialized;
+};
+
+template<typename MatrixType>
+typename Tridiagonalization<MatrixType>::DiagonalReturnType
+Tridiagonalization<MatrixType>::diagonal() const
+{
+ eigen_assert(m_isInitialized && "Tridiagonalization is not initialized.");
+ return m_matrix.diagonal().real();
+}
+
+template<typename MatrixType>
+typename Tridiagonalization<MatrixType>::SubDiagonalReturnType
+Tridiagonalization<MatrixType>::subDiagonal() const
+{
+ eigen_assert(m_isInitialized && "Tridiagonalization is not initialized.");
+ return m_matrix.template diagonal<-1>().real();
+}
+
+namespace internal {
+
+/** \internal
+ * Performs a tridiagonal decomposition of the selfadjoint matrix \a matA in-place.
+ *
+ * \param[in,out] matA On input the selfadjoint matrix. Only the \b lower triangular part is referenced.
+ * On output, the strict upper part is left unchanged, and the lower triangular part
+ * represents the T and Q matrices in packed format has detailed below.
+ * \param[out] hCoeffs returned Householder coefficients (see below)
+ *
+ * On output, the tridiagonal selfadjoint matrix T is stored in the diagonal
+ * and lower sub-diagonal of the matrix \a matA.
+ * The unitary matrix Q is represented in a compact way as a product of
+ * Householder reflectors \f$ H_i \f$ such that:
+ * \f$ Q = H_{N-1} \ldots H_1 H_0 \f$.
+ * The Householder reflectors are defined as
+ * \f$ H_i = (I - h_i v_i v_i^T) \f$
+ * where \f$ h_i = hCoeffs[i]\f$ is the \f$ i \f$th Householder coefficient and
+ * \f$ v_i \f$ is the Householder vector defined by
+ * \f$ v_i = [ 0, \ldots, 0, 1, matA(i+2,i), \ldots, matA(N-1,i) ]^T \f$.
+ *
+ * Implemented from Golub's "Matrix Computations", algorithm 8.3.1.
+ *
+ * \sa Tridiagonalization::packedMatrix()
+ */
+template<typename MatrixType, typename CoeffVectorType>
+void tridiagonalization_inplace(MatrixType& matA, CoeffVectorType& hCoeffs)
+{
+ using numext::conj;
+ typedef typename MatrixType::Scalar Scalar;
+ typedef typename MatrixType::RealScalar RealScalar;
+ Index n = matA.rows();
+ eigen_assert(n==matA.cols());
+ eigen_assert(n==hCoeffs.size()+1 || n==1);
+
+ for (Index i = 0; i<n-1; ++i)
+ {
+ Index remainingSize = n-i-1;
+ RealScalar beta;
+ Scalar h;
+ matA.col(i).tail(remainingSize).makeHouseholderInPlace(h, beta);
+
+ // Apply similarity transformation to remaining columns,
+ // i.e., A = H A H' where H = I - h v v' and v = matA.col(i).tail(n-i-1)
+ matA.col(i).coeffRef(i+1) = 1;
+
+ hCoeffs.tail(n-i-1).noalias() = (matA.bottomRightCorner(remainingSize,remainingSize).template selfadjointView<Lower>()
+ * (conj(h) * matA.col(i).tail(remainingSize)));
+
+ hCoeffs.tail(n-i-1) += (conj(h)*RealScalar(-0.5)*(hCoeffs.tail(remainingSize).dot(matA.col(i).tail(remainingSize)))) * matA.col(i).tail(n-i-1);
+
+ matA.bottomRightCorner(remainingSize, remainingSize).template selfadjointView<Lower>()
+ .rankUpdate(matA.col(i).tail(remainingSize), hCoeffs.tail(remainingSize), Scalar(-1));
+
+ matA.col(i).coeffRef(i+1) = beta;
+ hCoeffs.coeffRef(i) = h;
+ }
+}
+
+// forward declaration, implementation at the end of this file
+template<typename MatrixType,
+ int Size=MatrixType::ColsAtCompileTime,
+ bool IsComplex=NumTraits<typename MatrixType::Scalar>::IsComplex>
+struct tridiagonalization_inplace_selector;
+
+/** \brief Performs a full tridiagonalization in place
+ *
+ * \param[in,out] mat On input, the selfadjoint matrix whose tridiagonal
+ * decomposition is to be computed. Only the lower triangular part referenced.
+ * The rest is left unchanged. On output, the orthogonal matrix Q
+ * in the decomposition if \p extractQ is true.
+ * \param[out] diag The diagonal of the tridiagonal matrix T in the
+ * decomposition.
+ * \param[out] subdiag The subdiagonal of the tridiagonal matrix T in
+ * the decomposition.
+ * \param[in] extractQ If true, the orthogonal matrix Q in the
+ * decomposition is computed and stored in \p mat.
+ *
+ * Computes the tridiagonal decomposition of the selfadjoint matrix \p mat in place
+ * such that \f$ mat = Q T Q^* \f$ where \f$ Q \f$ is unitary and \f$ T \f$ a real
+ * symmetric tridiagonal matrix.
+ *
+ * The tridiagonal matrix T is passed to the output parameters \p diag and \p subdiag. If
+ * \p extractQ is true, then the orthogonal matrix Q is passed to \p mat. Otherwise the lower
+ * part of the matrix \p mat is destroyed.
+ *
+ * The vectors \p diag and \p subdiag are not resized. The function
+ * assumes that they are already of the correct size. The length of the
+ * vector \p diag should equal the number of rows in \p mat, and the
+ * length of the vector \p subdiag should be one left.
+ *
+ * This implementation contains an optimized path for 3-by-3 matrices
+ * which is especially useful for plane fitting.
+ *
+ * \note Currently, it requires two temporary vectors to hold the intermediate
+ * Householder coefficients, and to reconstruct the matrix Q from the Householder
+ * reflectors.
+ *
+ * Example (this uses the same matrix as the example in
+ * Tridiagonalization::Tridiagonalization(const MatrixType&)):
+ * \include Tridiagonalization_decomposeInPlace.cpp
+ * Output: \verbinclude Tridiagonalization_decomposeInPlace.out
+ *
+ * \sa class Tridiagonalization
+ */
+template<typename MatrixType, typename DiagonalType, typename SubDiagonalType>
+void tridiagonalization_inplace(MatrixType& mat, DiagonalType& diag, SubDiagonalType& subdiag, bool extractQ)
+{
+ eigen_assert(mat.cols()==mat.rows() && diag.size()==mat.rows() && subdiag.size()==mat.rows()-1);
+ tridiagonalization_inplace_selector<MatrixType>::run(mat, diag, subdiag, extractQ);
+}
+
+/** \internal
+ * General full tridiagonalization
+ */
+template<typename MatrixType, int Size, bool IsComplex>
+struct tridiagonalization_inplace_selector
+{
+ typedef typename Tridiagonalization<MatrixType>::CoeffVectorType CoeffVectorType;
+ typedef typename Tridiagonalization<MatrixType>::HouseholderSequenceType HouseholderSequenceType;
+ template<typename DiagonalType, typename SubDiagonalType>
+ static void run(MatrixType& mat, DiagonalType& diag, SubDiagonalType& subdiag, bool extractQ)
+ {
+ CoeffVectorType hCoeffs(mat.cols()-1);
+ tridiagonalization_inplace(mat,hCoeffs);
+ diag = mat.diagonal().real();
+ subdiag = mat.template diagonal<-1>().real();
+ if(extractQ)
+ mat = HouseholderSequenceType(mat, hCoeffs.conjugate())
+ .setLength(mat.rows() - 1)
+ .setShift(1);
+ }
+};
+
+/** \internal
+ * Specialization for 3x3 real matrices.
+ * Especially useful for plane fitting.
+ */
+template<typename MatrixType>
+struct tridiagonalization_inplace_selector<MatrixType,3,false>
+{
+ typedef typename MatrixType::Scalar Scalar;
+ typedef typename MatrixType::RealScalar RealScalar;
+
+ template<typename DiagonalType, typename SubDiagonalType>
+ static void run(MatrixType& mat, DiagonalType& diag, SubDiagonalType& subdiag, bool extractQ)
+ {
+ using std::sqrt;
+ const RealScalar tol = (std::numeric_limits<RealScalar>::min)();
+ diag[0] = mat(0,0);
+ RealScalar v1norm2 = numext::abs2(mat(2,0));
+ if(v1norm2 <= tol)
+ {
+ diag[1] = mat(1,1);
+ diag[2] = mat(2,2);
+ subdiag[0] = mat(1,0);
+ subdiag[1] = mat(2,1);
+ if (extractQ)
+ mat.setIdentity();
+ }
+ else
+ {
+ RealScalar beta = sqrt(numext::abs2(mat(1,0)) + v1norm2);
+ RealScalar invBeta = RealScalar(1)/beta;
+ Scalar m01 = mat(1,0) * invBeta;
+ Scalar m02 = mat(2,0) * invBeta;
+ Scalar q = RealScalar(2)*m01*mat(2,1) + m02*(mat(2,2) - mat(1,1));
+ diag[1] = mat(1,1) + m02*q;
+ diag[2] = mat(2,2) - m02*q;
+ subdiag[0] = beta;
+ subdiag[1] = mat(2,1) - m01 * q;
+ if (extractQ)
+ {
+ mat << 1, 0, 0,
+ 0, m01, m02,
+ 0, m02, -m01;
+ }
+ }
+ }
+};
+
+/** \internal
+ * Trivial specialization for 1x1 matrices
+ */
+template<typename MatrixType, bool IsComplex>
+struct tridiagonalization_inplace_selector<MatrixType,1,IsComplex>
+{
+ typedef typename MatrixType::Scalar Scalar;
+
+ template<typename DiagonalType, typename SubDiagonalType>
+ static void run(MatrixType& mat, DiagonalType& diag, SubDiagonalType&, bool extractQ)
+ {
+ diag(0,0) = numext::real(mat(0,0));
+ if(extractQ)
+ mat(0,0) = Scalar(1);
+ }
+};
+
+/** \internal
+ * \eigenvalues_module \ingroup Eigenvalues_Module
+ *
+ * \brief Expression type for return value of Tridiagonalization::matrixT()
+ *
+ * \tparam MatrixType type of underlying dense matrix
+ */
+template<typename MatrixType> struct TridiagonalizationMatrixTReturnType
+: public ReturnByValue<TridiagonalizationMatrixTReturnType<MatrixType> >
+{
+ public:
+ /** \brief Constructor.
+ *
+ * \param[in] mat The underlying dense matrix
+ */
+ TridiagonalizationMatrixTReturnType(const MatrixType& mat) : m_matrix(mat) { }
+
+ template <typename ResultType>
+ inline void evalTo(ResultType& result) const
+ {
+ result.setZero();
+ result.template diagonal<1>() = m_matrix.template diagonal<-1>().conjugate();
+ result.diagonal() = m_matrix.diagonal();
+ result.template diagonal<-1>() = m_matrix.template diagonal<-1>();
+ }
+
+ Index rows() const { return m_matrix.rows(); }
+ Index cols() const { return m_matrix.cols(); }
+
+ protected:
+ typename MatrixType::Nested m_matrix;
+};
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_TRIDIAGONALIZATION_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Householder/BlockHouseholder.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Householder/BlockHouseholder.h
new file mode 100644
index 0000000..01a7ed1
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Householder/BlockHouseholder.h
@@ -0,0 +1,103 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Vincent Lejeune
+// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_BLOCK_HOUSEHOLDER_H
+#define EIGEN_BLOCK_HOUSEHOLDER_H
+
+// This file contains some helper function to deal with block householder reflectors
+
+namespace Eigen {
+
+namespace internal {
+
+/** \internal */
+// template<typename TriangularFactorType,typename VectorsType,typename CoeffsType>
+// void make_block_householder_triangular_factor(TriangularFactorType& triFactor, const VectorsType& vectors, const CoeffsType& hCoeffs)
+// {
+// typedef typename VectorsType::Scalar Scalar;
+// const Index nbVecs = vectors.cols();
+// eigen_assert(triFactor.rows() == nbVecs && triFactor.cols() == nbVecs && vectors.rows()>=nbVecs);
+//
+// for(Index i = 0; i < nbVecs; i++)
+// {
+// Index rs = vectors.rows() - i;
+// // Warning, note that hCoeffs may alias with vectors.
+// // It is then necessary to copy it before modifying vectors(i,i).
+// typename CoeffsType::Scalar h = hCoeffs(i);
+// // This hack permits to pass trough nested Block<> and Transpose<> expressions.
+// Scalar *Vii_ptr = const_cast<Scalar*>(vectors.data() + vectors.outerStride()*i + vectors.innerStride()*i);
+// Scalar Vii = *Vii_ptr;
+// *Vii_ptr = Scalar(1);
+// triFactor.col(i).head(i).noalias() = -h * vectors.block(i, 0, rs, i).adjoint()
+// * vectors.col(i).tail(rs);
+// *Vii_ptr = Vii;
+// // FIXME add .noalias() once the triangular product can work inplace
+// triFactor.col(i).head(i) = triFactor.block(0,0,i,i).template triangularView<Upper>()
+// * triFactor.col(i).head(i);
+// triFactor(i,i) = hCoeffs(i);
+// }
+// }
+
+/** \internal */
+// This variant avoid modifications in vectors
+template<typename TriangularFactorType,typename VectorsType,typename CoeffsType>
+void make_block_householder_triangular_factor(TriangularFactorType& triFactor, const VectorsType& vectors, const CoeffsType& hCoeffs)
+{
+ const Index nbVecs = vectors.cols();
+ eigen_assert(triFactor.rows() == nbVecs && triFactor.cols() == nbVecs && vectors.rows()>=nbVecs);
+
+ for(Index i = nbVecs-1; i >=0 ; --i)
+ {
+ Index rs = vectors.rows() - i - 1;
+ Index rt = nbVecs-i-1;
+
+ if(rt>0)
+ {
+ triFactor.row(i).tail(rt).noalias() = -hCoeffs(i) * vectors.col(i).tail(rs).adjoint()
+ * vectors.bottomRightCorner(rs, rt).template triangularView<UnitLower>();
+
+ // FIXME add .noalias() once the triangular product can work inplace
+ triFactor.row(i).tail(rt) = triFactor.row(i).tail(rt) * triFactor.bottomRightCorner(rt,rt).template triangularView<Upper>();
+
+ }
+ triFactor(i,i) = hCoeffs(i);
+ }
+}
+
+/** \internal
+ * if forward then perform mat = H0 * H1 * H2 * mat
+ * otherwise perform mat = H2 * H1 * H0 * mat
+ */
+template<typename MatrixType,typename VectorsType,typename CoeffsType>
+void apply_block_householder_on_the_left(MatrixType& mat, const VectorsType& vectors, const CoeffsType& hCoeffs, bool forward)
+{
+ enum { TFactorSize = MatrixType::ColsAtCompileTime };
+ Index nbVecs = vectors.cols();
+ Matrix<typename MatrixType::Scalar, TFactorSize, TFactorSize, RowMajor> T(nbVecs,nbVecs);
+
+ if(forward) make_block_householder_triangular_factor(T, vectors, hCoeffs);
+ else make_block_householder_triangular_factor(T, vectors, hCoeffs.conjugate());
+ const TriangularView<const VectorsType, UnitLower> V(vectors);
+
+ // A -= V T V^* A
+ Matrix<typename MatrixType::Scalar,VectorsType::ColsAtCompileTime,MatrixType::ColsAtCompileTime,
+ (VectorsType::MaxColsAtCompileTime==1 && MatrixType::MaxColsAtCompileTime!=1)?RowMajor:ColMajor,
+ VectorsType::MaxColsAtCompileTime,MatrixType::MaxColsAtCompileTime> tmp = V.adjoint() * mat;
+ // FIXME add .noalias() once the triangular product can work inplace
+ if(forward) tmp = T.template triangularView<Upper>() * tmp;
+ else tmp = T.template triangularView<Upper>().adjoint() * tmp;
+ mat.noalias() -= V * tmp;
+}
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_BLOCK_HOUSEHOLDER_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Householder/Householder.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Householder/Householder.h
new file mode 100644
index 0000000..80de2c3
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Householder/Householder.h
@@ -0,0 +1,172 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_HOUSEHOLDER_H
+#define EIGEN_HOUSEHOLDER_H
+
+namespace Eigen {
+
+namespace internal {
+template<int n> struct decrement_size
+{
+ enum {
+ ret = n==Dynamic ? n : n-1
+ };
+};
+}
+
+/** Computes the elementary reflector H such that:
+ * \f$ H *this = [ beta 0 ... 0]^T \f$
+ * where the transformation H is:
+ * \f$ H = I - tau v v^*\f$
+ * and the vector v is:
+ * \f$ v^T = [1 essential^T] \f$
+ *
+ * The essential part of the vector \c v is stored in *this.
+ *
+ * On output:
+ * \param tau the scaling factor of the Householder transformation
+ * \param beta the result of H * \c *this
+ *
+ * \sa MatrixBase::makeHouseholder(), MatrixBase::applyHouseholderOnTheLeft(),
+ * MatrixBase::applyHouseholderOnTheRight()
+ */
+template<typename Derived>
+void MatrixBase<Derived>::makeHouseholderInPlace(Scalar& tau, RealScalar& beta)
+{
+ VectorBlock<Derived, internal::decrement_size<Base::SizeAtCompileTime>::ret> essentialPart(derived(), 1, size()-1);
+ makeHouseholder(essentialPart, tau, beta);
+}
+
+/** Computes the elementary reflector H such that:
+ * \f$ H *this = [ beta 0 ... 0]^T \f$
+ * where the transformation H is:
+ * \f$ H = I - tau v v^*\f$
+ * and the vector v is:
+ * \f$ v^T = [1 essential^T] \f$
+ *
+ * On output:
+ * \param essential the essential part of the vector \c v
+ * \param tau the scaling factor of the Householder transformation
+ * \param beta the result of H * \c *this
+ *
+ * \sa MatrixBase::makeHouseholderInPlace(), MatrixBase::applyHouseholderOnTheLeft(),
+ * MatrixBase::applyHouseholderOnTheRight()
+ */
+template<typename Derived>
+template<typename EssentialPart>
+void MatrixBase<Derived>::makeHouseholder(
+ EssentialPart& essential,
+ Scalar& tau,
+ RealScalar& beta) const
+{
+ using std::sqrt;
+ using numext::conj;
+
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(EssentialPart)
+ VectorBlock<const Derived, EssentialPart::SizeAtCompileTime> tail(derived(), 1, size()-1);
+
+ RealScalar tailSqNorm = size()==1 ? RealScalar(0) : tail.squaredNorm();
+ Scalar c0 = coeff(0);
+ const RealScalar tol = (std::numeric_limits<RealScalar>::min)();
+
+ if(tailSqNorm <= tol && numext::abs2(numext::imag(c0))<=tol)
+ {
+ tau = RealScalar(0);
+ beta = numext::real(c0);
+ essential.setZero();
+ }
+ else
+ {
+ beta = sqrt(numext::abs2(c0) + tailSqNorm);
+ if (numext::real(c0)>=RealScalar(0))
+ beta = -beta;
+ essential = tail / (c0 - beta);
+ tau = conj((beta - c0) / beta);
+ }
+}
+
+/** Apply the elementary reflector H given by
+ * \f$ H = I - tau v v^*\f$
+ * with
+ * \f$ v^T = [1 essential^T] \f$
+ * from the left to a vector or matrix.
+ *
+ * On input:
+ * \param essential the essential part of the vector \c v
+ * \param tau the scaling factor of the Householder transformation
+ * \param workspace a pointer to working space with at least
+ * this->cols() * essential.size() entries
+ *
+ * \sa MatrixBase::makeHouseholder(), MatrixBase::makeHouseholderInPlace(),
+ * MatrixBase::applyHouseholderOnTheRight()
+ */
+template<typename Derived>
+template<typename EssentialPart>
+void MatrixBase<Derived>::applyHouseholderOnTheLeft(
+ const EssentialPart& essential,
+ const Scalar& tau,
+ Scalar* workspace)
+{
+ if(rows() == 1)
+ {
+ *this *= Scalar(1)-tau;
+ }
+ else if(tau!=Scalar(0))
+ {
+ Map<typename internal::plain_row_type<PlainObject>::type> tmp(workspace,cols());
+ Block<Derived, EssentialPart::SizeAtCompileTime, Derived::ColsAtCompileTime> bottom(derived(), 1, 0, rows()-1, cols());
+ tmp.noalias() = essential.adjoint() * bottom;
+ tmp += this->row(0);
+ this->row(0) -= tau * tmp;
+ bottom.noalias() -= tau * essential * tmp;
+ }
+}
+
+/** Apply the elementary reflector H given by
+ * \f$ H = I - tau v v^*\f$
+ * with
+ * \f$ v^T = [1 essential^T] \f$
+ * from the right to a vector or matrix.
+ *
+ * On input:
+ * \param essential the essential part of the vector \c v
+ * \param tau the scaling factor of the Householder transformation
+ * \param workspace a pointer to working space with at least
+ * this->cols() * essential.size() entries
+ *
+ * \sa MatrixBase::makeHouseholder(), MatrixBase::makeHouseholderInPlace(),
+ * MatrixBase::applyHouseholderOnTheLeft()
+ */
+template<typename Derived>
+template<typename EssentialPart>
+void MatrixBase<Derived>::applyHouseholderOnTheRight(
+ const EssentialPart& essential,
+ const Scalar& tau,
+ Scalar* workspace)
+{
+ if(cols() == 1)
+ {
+ *this *= Scalar(1)-tau;
+ }
+ else if(tau!=Scalar(0))
+ {
+ Map<typename internal::plain_col_type<PlainObject>::type> tmp(workspace,rows());
+ Block<Derived, Derived::RowsAtCompileTime, EssentialPart::SizeAtCompileTime> right(derived(), 0, 1, rows(), cols()-1);
+ tmp.noalias() = right * essential.conjugate();
+ tmp += this->col(0);
+ this->col(0) -= tau * tmp;
+ right.noalias() -= tau * tmp * essential.transpose();
+ }
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_HOUSEHOLDER_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Householder/HouseholderSequence.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Householder/HouseholderSequence.h
new file mode 100644
index 0000000..3ce0a69
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Householder/HouseholderSequence.h
@@ -0,0 +1,470 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_HOUSEHOLDER_SEQUENCE_H
+#define EIGEN_HOUSEHOLDER_SEQUENCE_H
+
+namespace Eigen {
+
+/** \ingroup Householder_Module
+ * \householder_module
+ * \class HouseholderSequence
+ * \brief Sequence of Householder reflections acting on subspaces with decreasing size
+ * \tparam VectorsType type of matrix containing the Householder vectors
+ * \tparam CoeffsType type of vector containing the Householder coefficients
+ * \tparam Side either OnTheLeft (the default) or OnTheRight
+ *
+ * This class represents a product sequence of Householder reflections where the first Householder reflection
+ * acts on the whole space, the second Householder reflection leaves the one-dimensional subspace spanned by
+ * the first unit vector invariant, the third Householder reflection leaves the two-dimensional subspace
+ * spanned by the first two unit vectors invariant, and so on up to the last reflection which leaves all but
+ * one dimensions invariant and acts only on the last dimension. Such sequences of Householder reflections
+ * are used in several algorithms to zero out certain parts of a matrix. Indeed, the methods
+ * HessenbergDecomposition::matrixQ(), Tridiagonalization::matrixQ(), HouseholderQR::householderQ(),
+ * and ColPivHouseholderQR::householderQ() all return a %HouseholderSequence.
+ *
+ * More precisely, the class %HouseholderSequence represents an \f$ n \times n \f$ matrix \f$ H \f$ of the
+ * form \f$ H = \prod_{i=0}^{n-1} H_i \f$ where the i-th Householder reflection is \f$ H_i = I - h_i v_i
+ * v_i^* \f$. The i-th Householder coefficient \f$ h_i \f$ is a scalar and the i-th Householder vector \f$
+ * v_i \f$ is a vector of the form
+ * \f[
+ * v_i = [\underbrace{0, \ldots, 0}_{i-1\mbox{ zeros}}, 1, \underbrace{*, \ldots,*}_{n-i\mbox{ arbitrary entries}} ].
+ * \f]
+ * The last \f$ n-i \f$ entries of \f$ v_i \f$ are called the essential part of the Householder vector.
+ *
+ * Typical usages are listed below, where H is a HouseholderSequence:
+ * \code
+ * A.applyOnTheRight(H); // A = A * H
+ * A.applyOnTheLeft(H); // A = H * A
+ * A.applyOnTheRight(H.adjoint()); // A = A * H^*
+ * A.applyOnTheLeft(H.adjoint()); // A = H^* * A
+ * MatrixXd Q = H; // conversion to a dense matrix
+ * \endcode
+ * In addition to the adjoint, you can also apply the inverse (=adjoint), the transpose, and the conjugate operators.
+ *
+ * See the documentation for HouseholderSequence(const VectorsType&, const CoeffsType&) for an example.
+ *
+ * \sa MatrixBase::applyOnTheLeft(), MatrixBase::applyOnTheRight()
+ */
+
+namespace internal {
+
+template<typename VectorsType, typename CoeffsType, int Side>
+struct traits<HouseholderSequence<VectorsType,CoeffsType,Side> >
+{
+ typedef typename VectorsType::Scalar Scalar;
+ typedef typename VectorsType::StorageIndex StorageIndex;
+ typedef typename VectorsType::StorageKind StorageKind;
+ enum {
+ RowsAtCompileTime = Side==OnTheLeft ? traits<VectorsType>::RowsAtCompileTime
+ : traits<VectorsType>::ColsAtCompileTime,
+ ColsAtCompileTime = RowsAtCompileTime,
+ MaxRowsAtCompileTime = Side==OnTheLeft ? traits<VectorsType>::MaxRowsAtCompileTime
+ : traits<VectorsType>::MaxColsAtCompileTime,
+ MaxColsAtCompileTime = MaxRowsAtCompileTime,
+ Flags = 0
+ };
+};
+
+struct HouseholderSequenceShape {};
+
+template<typename VectorsType, typename CoeffsType, int Side>
+struct evaluator_traits<HouseholderSequence<VectorsType,CoeffsType,Side> >
+ : public evaluator_traits_base<HouseholderSequence<VectorsType,CoeffsType,Side> >
+{
+ typedef HouseholderSequenceShape Shape;
+};
+
+template<typename VectorsType, typename CoeffsType, int Side>
+struct hseq_side_dependent_impl
+{
+ typedef Block<const VectorsType, Dynamic, 1> EssentialVectorType;
+ typedef HouseholderSequence<VectorsType, CoeffsType, OnTheLeft> HouseholderSequenceType;
+ static inline const EssentialVectorType essentialVector(const HouseholderSequenceType& h, Index k)
+ {
+ Index start = k+1+h.m_shift;
+ return Block<const VectorsType,Dynamic,1>(h.m_vectors, start, k, h.rows()-start, 1);
+ }
+};
+
+template<typename VectorsType, typename CoeffsType>
+struct hseq_side_dependent_impl<VectorsType, CoeffsType, OnTheRight>
+{
+ typedef Transpose<Block<const VectorsType, 1, Dynamic> > EssentialVectorType;
+ typedef HouseholderSequence<VectorsType, CoeffsType, OnTheRight> HouseholderSequenceType;
+ static inline const EssentialVectorType essentialVector(const HouseholderSequenceType& h, Index k)
+ {
+ Index start = k+1+h.m_shift;
+ return Block<const VectorsType,1,Dynamic>(h.m_vectors, k, start, 1, h.rows()-start).transpose();
+ }
+};
+
+template<typename OtherScalarType, typename MatrixType> struct matrix_type_times_scalar_type
+{
+ typedef typename ScalarBinaryOpTraits<OtherScalarType, typename MatrixType::Scalar>::ReturnType
+ ResultScalar;
+ typedef Matrix<ResultScalar, MatrixType::RowsAtCompileTime, MatrixType::ColsAtCompileTime,
+ 0, MatrixType::MaxRowsAtCompileTime, MatrixType::MaxColsAtCompileTime> Type;
+};
+
+} // end namespace internal
+
+template<typename VectorsType, typename CoeffsType, int Side> class HouseholderSequence
+ : public EigenBase<HouseholderSequence<VectorsType,CoeffsType,Side> >
+{
+ typedef typename internal::hseq_side_dependent_impl<VectorsType,CoeffsType,Side>::EssentialVectorType EssentialVectorType;
+
+ public:
+ enum {
+ RowsAtCompileTime = internal::traits<HouseholderSequence>::RowsAtCompileTime,
+ ColsAtCompileTime = internal::traits<HouseholderSequence>::ColsAtCompileTime,
+ MaxRowsAtCompileTime = internal::traits<HouseholderSequence>::MaxRowsAtCompileTime,
+ MaxColsAtCompileTime = internal::traits<HouseholderSequence>::MaxColsAtCompileTime
+ };
+ typedef typename internal::traits<HouseholderSequence>::Scalar Scalar;
+
+ typedef HouseholderSequence<
+ typename internal::conditional<NumTraits<Scalar>::IsComplex,
+ typename internal::remove_all<typename VectorsType::ConjugateReturnType>::type,
+ VectorsType>::type,
+ typename internal::conditional<NumTraits<Scalar>::IsComplex,
+ typename internal::remove_all<typename CoeffsType::ConjugateReturnType>::type,
+ CoeffsType>::type,
+ Side
+ > ConjugateReturnType;
+
+ /** \brief Constructor.
+ * \param[in] v %Matrix containing the essential parts of the Householder vectors
+ * \param[in] h Vector containing the Householder coefficients
+ *
+ * Constructs the Householder sequence with coefficients given by \p h and vectors given by \p v. The
+ * i-th Householder coefficient \f$ h_i \f$ is given by \p h(i) and the essential part of the i-th
+ * Householder vector \f$ v_i \f$ is given by \p v(k,i) with \p k > \p i (the subdiagonal part of the
+ * i-th column). If \p v has fewer columns than rows, then the Householder sequence contains as many
+ * Householder reflections as there are columns.
+ *
+ * \note The %HouseholderSequence object stores \p v and \p h by reference.
+ *
+ * Example: \include HouseholderSequence_HouseholderSequence.cpp
+ * Output: \verbinclude HouseholderSequence_HouseholderSequence.out
+ *
+ * \sa setLength(), setShift()
+ */
+ HouseholderSequence(const VectorsType& v, const CoeffsType& h)
+ : m_vectors(v), m_coeffs(h), m_trans(false), m_length(v.diagonalSize()),
+ m_shift(0)
+ {
+ }
+
+ /** \brief Copy constructor. */
+ HouseholderSequence(const HouseholderSequence& other)
+ : m_vectors(other.m_vectors),
+ m_coeffs(other.m_coeffs),
+ m_trans(other.m_trans),
+ m_length(other.m_length),
+ m_shift(other.m_shift)
+ {
+ }
+
+ /** \brief Number of rows of transformation viewed as a matrix.
+ * \returns Number of rows
+ * \details This equals the dimension of the space that the transformation acts on.
+ */
+ Index rows() const { return Side==OnTheLeft ? m_vectors.rows() : m_vectors.cols(); }
+
+ /** \brief Number of columns of transformation viewed as a matrix.
+ * \returns Number of columns
+ * \details This equals the dimension of the space that the transformation acts on.
+ */
+ Index cols() const { return rows(); }
+
+ /** \brief Essential part of a Householder vector.
+ * \param[in] k Index of Householder reflection
+ * \returns Vector containing non-trivial entries of k-th Householder vector
+ *
+ * This function returns the essential part of the Householder vector \f$ v_i \f$. This is a vector of
+ * length \f$ n-i \f$ containing the last \f$ n-i \f$ entries of the vector
+ * \f[
+ * v_i = [\underbrace{0, \ldots, 0}_{i-1\mbox{ zeros}}, 1, \underbrace{*, \ldots,*}_{n-i\mbox{ arbitrary entries}} ].
+ * \f]
+ * The index \f$ i \f$ equals \p k + shift(), corresponding to the k-th column of the matrix \p v
+ * passed to the constructor.
+ *
+ * \sa setShift(), shift()
+ */
+ const EssentialVectorType essentialVector(Index k) const
+ {
+ eigen_assert(k >= 0 && k < m_length);
+ return internal::hseq_side_dependent_impl<VectorsType,CoeffsType,Side>::essentialVector(*this, k);
+ }
+
+ /** \brief %Transpose of the Householder sequence. */
+ HouseholderSequence transpose() const
+ {
+ return HouseholderSequence(*this).setTrans(!m_trans);
+ }
+
+ /** \brief Complex conjugate of the Householder sequence. */
+ ConjugateReturnType conjugate() const
+ {
+ return ConjugateReturnType(m_vectors.conjugate(), m_coeffs.conjugate())
+ .setTrans(m_trans)
+ .setLength(m_length)
+ .setShift(m_shift);
+ }
+
+ /** \brief Adjoint (conjugate transpose) of the Householder sequence. */
+ ConjugateReturnType adjoint() const
+ {
+ return conjugate().setTrans(!m_trans);
+ }
+
+ /** \brief Inverse of the Householder sequence (equals the adjoint). */
+ ConjugateReturnType inverse() const { return adjoint(); }
+
+ /** \internal */
+ template<typename DestType> inline void evalTo(DestType& dst) const
+ {
+ Matrix<Scalar, DestType::RowsAtCompileTime, 1,
+ AutoAlign|ColMajor, DestType::MaxRowsAtCompileTime, 1> workspace(rows());
+ evalTo(dst, workspace);
+ }
+
+ /** \internal */
+ template<typename Dest, typename Workspace>
+ void evalTo(Dest& dst, Workspace& workspace) const
+ {
+ workspace.resize(rows());
+ Index vecs = m_length;
+ if(internal::is_same_dense(dst,m_vectors))
+ {
+ // in-place
+ dst.diagonal().setOnes();
+ dst.template triangularView<StrictlyUpper>().setZero();
+ for(Index k = vecs-1; k >= 0; --k)
+ {
+ Index cornerSize = rows() - k - m_shift;
+ if(m_trans)
+ dst.bottomRightCorner(cornerSize, cornerSize)
+ .applyHouseholderOnTheRight(essentialVector(k), m_coeffs.coeff(k), workspace.data());
+ else
+ dst.bottomRightCorner(cornerSize, cornerSize)
+ .applyHouseholderOnTheLeft(essentialVector(k), m_coeffs.coeff(k), workspace.data());
+
+ // clear the off diagonal vector
+ dst.col(k).tail(rows()-k-1).setZero();
+ }
+ // clear the remaining columns if needed
+ for(Index k = 0; k<cols()-vecs ; ++k)
+ dst.col(k).tail(rows()-k-1).setZero();
+ }
+ else
+ {
+ dst.setIdentity(rows(), rows());
+ for(Index k = vecs-1; k >= 0; --k)
+ {
+ Index cornerSize = rows() - k - m_shift;
+ if(m_trans)
+ dst.bottomRightCorner(cornerSize, cornerSize)
+ .applyHouseholderOnTheRight(essentialVector(k), m_coeffs.coeff(k), &workspace.coeffRef(0));
+ else
+ dst.bottomRightCorner(cornerSize, cornerSize)
+ .applyHouseholderOnTheLeft(essentialVector(k), m_coeffs.coeff(k), &workspace.coeffRef(0));
+ }
+ }
+ }
+
+ /** \internal */
+ template<typename Dest> inline void applyThisOnTheRight(Dest& dst) const
+ {
+ Matrix<Scalar,1,Dest::RowsAtCompileTime,RowMajor,1,Dest::MaxRowsAtCompileTime> workspace(dst.rows());
+ applyThisOnTheRight(dst, workspace);
+ }
+
+ /** \internal */
+ template<typename Dest, typename Workspace>
+ inline void applyThisOnTheRight(Dest& dst, Workspace& workspace) const
+ {
+ workspace.resize(dst.rows());
+ for(Index k = 0; k < m_length; ++k)
+ {
+ Index actual_k = m_trans ? m_length-k-1 : k;
+ dst.rightCols(rows()-m_shift-actual_k)
+ .applyHouseholderOnTheRight(essentialVector(actual_k), m_coeffs.coeff(actual_k), workspace.data());
+ }
+ }
+
+ /** \internal */
+ template<typename Dest> inline void applyThisOnTheLeft(Dest& dst) const
+ {
+ Matrix<Scalar,1,Dest::ColsAtCompileTime,RowMajor,1,Dest::MaxColsAtCompileTime> workspace;
+ applyThisOnTheLeft(dst, workspace);
+ }
+
+ /** \internal */
+ template<typename Dest, typename Workspace>
+ inline void applyThisOnTheLeft(Dest& dst, Workspace& workspace) const
+ {
+ const Index BlockSize = 48;
+ // if the entries are large enough, then apply the reflectors by block
+ if(m_length>=BlockSize && dst.cols()>1)
+ {
+ for(Index i = 0; i < m_length; i+=BlockSize)
+ {
+ Index end = m_trans ? (std::min)(m_length,i+BlockSize) : m_length-i;
+ Index k = m_trans ? i : (std::max)(Index(0),end-BlockSize);
+ Index bs = end-k;
+ Index start = k + m_shift;
+
+ typedef Block<typename internal::remove_all<VectorsType>::type,Dynamic,Dynamic> SubVectorsType;
+ SubVectorsType sub_vecs1(m_vectors.const_cast_derived(), Side==OnTheRight ? k : start,
+ Side==OnTheRight ? start : k,
+ Side==OnTheRight ? bs : m_vectors.rows()-start,
+ Side==OnTheRight ? m_vectors.cols()-start : bs);
+ typename internal::conditional<Side==OnTheRight, Transpose<SubVectorsType>, SubVectorsType&>::type sub_vecs(sub_vecs1);
+ Block<Dest,Dynamic,Dynamic> sub_dst(dst,dst.rows()-rows()+m_shift+k,0, rows()-m_shift-k,dst.cols());
+ apply_block_householder_on_the_left(sub_dst, sub_vecs, m_coeffs.segment(k, bs), !m_trans);
+ }
+ }
+ else
+ {
+ workspace.resize(dst.cols());
+ for(Index k = 0; k < m_length; ++k)
+ {
+ Index actual_k = m_trans ? k : m_length-k-1;
+ dst.bottomRows(rows()-m_shift-actual_k)
+ .applyHouseholderOnTheLeft(essentialVector(actual_k), m_coeffs.coeff(actual_k), workspace.data());
+ }
+ }
+ }
+
+ /** \brief Computes the product of a Householder sequence with a matrix.
+ * \param[in] other %Matrix being multiplied.
+ * \returns Expression object representing the product.
+ *
+ * This function computes \f$ HM \f$ where \f$ H \f$ is the Householder sequence represented by \p *this
+ * and \f$ M \f$ is the matrix \p other.
+ */
+ template<typename OtherDerived>
+ typename internal::matrix_type_times_scalar_type<Scalar, OtherDerived>::Type operator*(const MatrixBase<OtherDerived>& other) const
+ {
+ typename internal::matrix_type_times_scalar_type<Scalar, OtherDerived>::Type
+ res(other.template cast<typename internal::matrix_type_times_scalar_type<Scalar,OtherDerived>::ResultScalar>());
+ applyThisOnTheLeft(res);
+ return res;
+ }
+
+ template<typename _VectorsType, typename _CoeffsType, int _Side> friend struct internal::hseq_side_dependent_impl;
+
+ /** \brief Sets the length of the Householder sequence.
+ * \param [in] length New value for the length.
+ *
+ * By default, the length \f$ n \f$ of the Householder sequence \f$ H = H_0 H_1 \ldots H_{n-1} \f$ is set
+ * to the number of columns of the matrix \p v passed to the constructor, or the number of rows if that
+ * is smaller. After this function is called, the length equals \p length.
+ *
+ * \sa length()
+ */
+ HouseholderSequence& setLength(Index length)
+ {
+ m_length = length;
+ return *this;
+ }
+
+ /** \brief Sets the shift of the Householder sequence.
+ * \param [in] shift New value for the shift.
+ *
+ * By default, a %HouseholderSequence object represents \f$ H = H_0 H_1 \ldots H_{n-1} \f$ and the i-th
+ * column of the matrix \p v passed to the constructor corresponds to the i-th Householder
+ * reflection. After this function is called, the object represents \f$ H = H_{\mathrm{shift}}
+ * H_{\mathrm{shift}+1} \ldots H_{n-1} \f$ and the i-th column of \p v corresponds to the (shift+i)-th
+ * Householder reflection.
+ *
+ * \sa shift()
+ */
+ HouseholderSequence& setShift(Index shift)
+ {
+ m_shift = shift;
+ return *this;
+ }
+
+ Index length() const { return m_length; } /**< \brief Returns the length of the Householder sequence. */
+ Index shift() const { return m_shift; } /**< \brief Returns the shift of the Householder sequence. */
+
+ /* Necessary for .adjoint() and .conjugate() */
+ template <typename VectorsType2, typename CoeffsType2, int Side2> friend class HouseholderSequence;
+
+ protected:
+
+ /** \brief Sets the transpose flag.
+ * \param [in] trans New value of the transpose flag.
+ *
+ * By default, the transpose flag is not set. If the transpose flag is set, then this object represents
+ * \f$ H^T = H_{n-1}^T \ldots H_1^T H_0^T \f$ instead of \f$ H = H_0 H_1 \ldots H_{n-1} \f$.
+ *
+ * \sa trans()
+ */
+ HouseholderSequence& setTrans(bool trans)
+ {
+ m_trans = trans;
+ return *this;
+ }
+
+ bool trans() const { return m_trans; } /**< \brief Returns the transpose flag. */
+
+ typename VectorsType::Nested m_vectors;
+ typename CoeffsType::Nested m_coeffs;
+ bool m_trans;
+ Index m_length;
+ Index m_shift;
+};
+
+/** \brief Computes the product of a matrix with a Householder sequence.
+ * \param[in] other %Matrix being multiplied.
+ * \param[in] h %HouseholderSequence being multiplied.
+ * \returns Expression object representing the product.
+ *
+ * This function computes \f$ MH \f$ where \f$ M \f$ is the matrix \p other and \f$ H \f$ is the
+ * Householder sequence represented by \p h.
+ */
+template<typename OtherDerived, typename VectorsType, typename CoeffsType, int Side>
+typename internal::matrix_type_times_scalar_type<typename VectorsType::Scalar,OtherDerived>::Type operator*(const MatrixBase<OtherDerived>& other, const HouseholderSequence<VectorsType,CoeffsType,Side>& h)
+{
+ typename internal::matrix_type_times_scalar_type<typename VectorsType::Scalar,OtherDerived>::Type
+ res(other.template cast<typename internal::matrix_type_times_scalar_type<typename VectorsType::Scalar,OtherDerived>::ResultScalar>());
+ h.applyThisOnTheRight(res);
+ return res;
+}
+
+/** \ingroup Householder_Module \householder_module
+ * \brief Convenience function for constructing a Householder sequence.
+ * \returns A HouseholderSequence constructed from the specified arguments.
+ */
+template<typename VectorsType, typename CoeffsType>
+HouseholderSequence<VectorsType,CoeffsType> householderSequence(const VectorsType& v, const CoeffsType& h)
+{
+ return HouseholderSequence<VectorsType,CoeffsType,OnTheLeft>(v, h);
+}
+
+/** \ingroup Householder_Module \householder_module
+ * \brief Convenience function for constructing a Householder sequence.
+ * \returns A HouseholderSequence constructed from the specified arguments.
+ * \details This function differs from householderSequence() in that the template argument \p OnTheSide of
+ * the constructed HouseholderSequence is set to OnTheRight, instead of the default OnTheLeft.
+ */
+template<typename VectorsType, typename CoeffsType>
+HouseholderSequence<VectorsType,CoeffsType,OnTheRight> rightHouseholderSequence(const VectorsType& v, const CoeffsType& h)
+{
+ return HouseholderSequence<VectorsType,CoeffsType,OnTheRight>(v, h);
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_HOUSEHOLDER_SEQUENCE_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Jacobi/Jacobi.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Jacobi/Jacobi.h
new file mode 100644
index 0000000..1998c63
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/Jacobi/Jacobi.h
@@ -0,0 +1,462 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_JACOBI_H
+#define EIGEN_JACOBI_H
+
+namespace Eigen {
+
+/** \ingroup Jacobi_Module
+ * \jacobi_module
+ * \class JacobiRotation
+ * \brief Rotation given by a cosine-sine pair.
+ *
+ * This class represents a Jacobi or Givens rotation.
+ * This is a 2D rotation in the plane \c J of angle \f$ \theta \f$ defined by
+ * its cosine \c c and sine \c s as follow:
+ * \f$ J = \left ( \begin{array}{cc} c & \overline s \\ -s & \overline c \end{array} \right ) \f$
+ *
+ * You can apply the respective counter-clockwise rotation to a column vector \c v by
+ * applying its adjoint on the left: \f$ v = J^* v \f$ that translates to the following Eigen code:
+ * \code
+ * v.applyOnTheLeft(J.adjoint());
+ * \endcode
+ *
+ * \sa MatrixBase::applyOnTheLeft(), MatrixBase::applyOnTheRight()
+ */
+template<typename Scalar> class JacobiRotation
+{
+ public:
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+
+ /** Default constructor without any initialization. */
+ JacobiRotation() {}
+
+ /** Construct a planar rotation from a cosine-sine pair (\a c, \c s). */
+ JacobiRotation(const Scalar& c, const Scalar& s) : m_c(c), m_s(s) {}
+
+ Scalar& c() { return m_c; }
+ Scalar c() const { return m_c; }
+ Scalar& s() { return m_s; }
+ Scalar s() const { return m_s; }
+
+ /** Concatenates two planar rotation */
+ JacobiRotation operator*(const JacobiRotation& other)
+ {
+ using numext::conj;
+ return JacobiRotation(m_c * other.m_c - conj(m_s) * other.m_s,
+ conj(m_c * conj(other.m_s) + conj(m_s) * conj(other.m_c)));
+ }
+
+ /** Returns the transposed transformation */
+ JacobiRotation transpose() const { using numext::conj; return JacobiRotation(m_c, -conj(m_s)); }
+
+ /** Returns the adjoint transformation */
+ JacobiRotation adjoint() const { using numext::conj; return JacobiRotation(conj(m_c), -m_s); }
+
+ template<typename Derived>
+ bool makeJacobi(const MatrixBase<Derived>&, Index p, Index q);
+ bool makeJacobi(const RealScalar& x, const Scalar& y, const RealScalar& z);
+
+ void makeGivens(const Scalar& p, const Scalar& q, Scalar* r=0);
+
+ protected:
+ void makeGivens(const Scalar& p, const Scalar& q, Scalar* r, internal::true_type);
+ void makeGivens(const Scalar& p, const Scalar& q, Scalar* r, internal::false_type);
+
+ Scalar m_c, m_s;
+};
+
+/** Makes \c *this as a Jacobi rotation \a J such that applying \a J on both the right and left sides of the selfadjoint 2x2 matrix
+ * \f$ B = \left ( \begin{array}{cc} x & y \\ \overline y & z \end{array} \right )\f$ yields a diagonal matrix \f$ A = J^* B J \f$
+ *
+ * \sa MatrixBase::makeJacobi(const MatrixBase<Derived>&, Index, Index), MatrixBase::applyOnTheLeft(), MatrixBase::applyOnTheRight()
+ */
+template<typename Scalar>
+bool JacobiRotation<Scalar>::makeJacobi(const RealScalar& x, const Scalar& y, const RealScalar& z)
+{
+ using std::sqrt;
+ using std::abs;
+ RealScalar deno = RealScalar(2)*abs(y);
+ if(deno < (std::numeric_limits<RealScalar>::min)())
+ {
+ m_c = Scalar(1);
+ m_s = Scalar(0);
+ return false;
+ }
+ else
+ {
+ RealScalar tau = (x-z)/deno;
+ RealScalar w = sqrt(numext::abs2(tau) + RealScalar(1));
+ RealScalar t;
+ if(tau>RealScalar(0))
+ {
+ t = RealScalar(1) / (tau + w);
+ }
+ else
+ {
+ t = RealScalar(1) / (tau - w);
+ }
+ RealScalar sign_t = t > RealScalar(0) ? RealScalar(1) : RealScalar(-1);
+ RealScalar n = RealScalar(1) / sqrt(numext::abs2(t)+RealScalar(1));
+ m_s = - sign_t * (numext::conj(y) / abs(y)) * abs(t) * n;
+ m_c = n;
+ return true;
+ }
+}
+
+/** Makes \c *this as a Jacobi rotation \c J such that applying \a J on both the right and left sides of the 2x2 selfadjoint matrix
+ * \f$ B = \left ( \begin{array}{cc} \text{this}_{pp} & \text{this}_{pq} \\ (\text{this}_{pq})^* & \text{this}_{qq} \end{array} \right )\f$ yields
+ * a diagonal matrix \f$ A = J^* B J \f$
+ *
+ * Example: \include Jacobi_makeJacobi.cpp
+ * Output: \verbinclude Jacobi_makeJacobi.out
+ *
+ * \sa JacobiRotation::makeJacobi(RealScalar, Scalar, RealScalar), MatrixBase::applyOnTheLeft(), MatrixBase::applyOnTheRight()
+ */
+template<typename Scalar>
+template<typename Derived>
+inline bool JacobiRotation<Scalar>::makeJacobi(const MatrixBase<Derived>& m, Index p, Index q)
+{
+ return makeJacobi(numext::real(m.coeff(p,p)), m.coeff(p,q), numext::real(m.coeff(q,q)));
+}
+
+/** Makes \c *this as a Givens rotation \c G such that applying \f$ G^* \f$ to the left of the vector
+ * \f$ V = \left ( \begin{array}{c} p \\ q \end{array} \right )\f$ yields:
+ * \f$ G^* V = \left ( \begin{array}{c} r \\ 0 \end{array} \right )\f$.
+ *
+ * The value of \a r is returned if \a r is not null (the default is null).
+ * Also note that G is built such that the cosine is always real.
+ *
+ * Example: \include Jacobi_makeGivens.cpp
+ * Output: \verbinclude Jacobi_makeGivens.out
+ *
+ * This function implements the continuous Givens rotation generation algorithm
+ * found in Anderson (2000), Discontinuous Plane Rotations and the Symmetric Eigenvalue Problem.
+ * LAPACK Working Note 150, University of Tennessee, UT-CS-00-454, December 4, 2000.
+ *
+ * \sa MatrixBase::applyOnTheLeft(), MatrixBase::applyOnTheRight()
+ */
+template<typename Scalar>
+void JacobiRotation<Scalar>::makeGivens(const Scalar& p, const Scalar& q, Scalar* r)
+{
+ makeGivens(p, q, r, typename internal::conditional<NumTraits<Scalar>::IsComplex, internal::true_type, internal::false_type>::type());
+}
+
+
+// specialization for complexes
+template<typename Scalar>
+void JacobiRotation<Scalar>::makeGivens(const Scalar& p, const Scalar& q, Scalar* r, internal::true_type)
+{
+ using std::sqrt;
+ using std::abs;
+ using numext::conj;
+
+ if(q==Scalar(0))
+ {
+ m_c = numext::real(p)<0 ? Scalar(-1) : Scalar(1);
+ m_s = 0;
+ if(r) *r = m_c * p;
+ }
+ else if(p==Scalar(0))
+ {
+ m_c = 0;
+ m_s = -q/abs(q);
+ if(r) *r = abs(q);
+ }
+ else
+ {
+ RealScalar p1 = numext::norm1(p);
+ RealScalar q1 = numext::norm1(q);
+ if(p1>=q1)
+ {
+ Scalar ps = p / p1;
+ RealScalar p2 = numext::abs2(ps);
+ Scalar qs = q / p1;
+ RealScalar q2 = numext::abs2(qs);
+
+ RealScalar u = sqrt(RealScalar(1) + q2/p2);
+ if(numext::real(p)<RealScalar(0))
+ u = -u;
+
+ m_c = Scalar(1)/u;
+ m_s = -qs*conj(ps)*(m_c/p2);
+ if(r) *r = p * u;
+ }
+ else
+ {
+ Scalar ps = p / q1;
+ RealScalar p2 = numext::abs2(ps);
+ Scalar qs = q / q1;
+ RealScalar q2 = numext::abs2(qs);
+
+ RealScalar u = q1 * sqrt(p2 + q2);
+ if(numext::real(p)<RealScalar(0))
+ u = -u;
+
+ p1 = abs(p);
+ ps = p/p1;
+ m_c = p1/u;
+ m_s = -conj(ps) * (q/u);
+ if(r) *r = ps * u;
+ }
+ }
+}
+
+// specialization for reals
+template<typename Scalar>
+void JacobiRotation<Scalar>::makeGivens(const Scalar& p, const Scalar& q, Scalar* r, internal::false_type)
+{
+ using std::sqrt;
+ using std::abs;
+ if(q==Scalar(0))
+ {
+ m_c = p<Scalar(0) ? Scalar(-1) : Scalar(1);
+ m_s = Scalar(0);
+ if(r) *r = abs(p);
+ }
+ else if(p==Scalar(0))
+ {
+ m_c = Scalar(0);
+ m_s = q<Scalar(0) ? Scalar(1) : Scalar(-1);
+ if(r) *r = abs(q);
+ }
+ else if(abs(p) > abs(q))
+ {
+ Scalar t = q/p;
+ Scalar u = sqrt(Scalar(1) + numext::abs2(t));
+ if(p<Scalar(0))
+ u = -u;
+ m_c = Scalar(1)/u;
+ m_s = -t * m_c;
+ if(r) *r = p * u;
+ }
+ else
+ {
+ Scalar t = p/q;
+ Scalar u = sqrt(Scalar(1) + numext::abs2(t));
+ if(q<Scalar(0))
+ u = -u;
+ m_s = -Scalar(1)/u;
+ m_c = -t * m_s;
+ if(r) *r = q * u;
+ }
+
+}
+
+/****************************************************************************************
+* Implementation of MatrixBase methods
+****************************************************************************************/
+
+namespace internal {
+/** \jacobi_module
+ * Applies the clock wise 2D rotation \a j to the set of 2D vectors of cordinates \a x and \a y:
+ * \f$ \left ( \begin{array}{cc} x \\ y \end{array} \right ) = J \left ( \begin{array}{cc} x \\ y \end{array} \right ) \f$
+ *
+ * \sa MatrixBase::applyOnTheLeft(), MatrixBase::applyOnTheRight()
+ */
+template<typename VectorX, typename VectorY, typename OtherScalar>
+void apply_rotation_in_the_plane(DenseBase<VectorX>& xpr_x, DenseBase<VectorY>& xpr_y, const JacobiRotation<OtherScalar>& j);
+}
+
+/** \jacobi_module
+ * Applies the rotation in the plane \a j to the rows \a p and \a q of \c *this, i.e., it computes B = J * B,
+ * with \f$ B = \left ( \begin{array}{cc} \text{*this.row}(p) \\ \text{*this.row}(q) \end{array} \right ) \f$.
+ *
+ * \sa class JacobiRotation, MatrixBase::applyOnTheRight(), internal::apply_rotation_in_the_plane()
+ */
+template<typename Derived>
+template<typename OtherScalar>
+inline void MatrixBase<Derived>::applyOnTheLeft(Index p, Index q, const JacobiRotation<OtherScalar>& j)
+{
+ RowXpr x(this->row(p));
+ RowXpr y(this->row(q));
+ internal::apply_rotation_in_the_plane(x, y, j);
+}
+
+/** \ingroup Jacobi_Module
+ * Applies the rotation in the plane \a j to the columns \a p and \a q of \c *this, i.e., it computes B = B * J
+ * with \f$ B = \left ( \begin{array}{cc} \text{*this.col}(p) & \text{*this.col}(q) \end{array} \right ) \f$.
+ *
+ * \sa class JacobiRotation, MatrixBase::applyOnTheLeft(), internal::apply_rotation_in_the_plane()
+ */
+template<typename Derived>
+template<typename OtherScalar>
+inline void MatrixBase<Derived>::applyOnTheRight(Index p, Index q, const JacobiRotation<OtherScalar>& j)
+{
+ ColXpr x(this->col(p));
+ ColXpr y(this->col(q));
+ internal::apply_rotation_in_the_plane(x, y, j.transpose());
+}
+
+namespace internal {
+
+template<typename Scalar, typename OtherScalar,
+ int SizeAtCompileTime, int MinAlignment, bool Vectorizable>
+struct apply_rotation_in_the_plane_selector
+{
+ static inline void run(Scalar *x, Index incrx, Scalar *y, Index incry, Index size, OtherScalar c, OtherScalar s)
+ {
+ for(Index i=0; i<size; ++i)
+ {
+ Scalar xi = *x;
+ Scalar yi = *y;
+ *x = c * xi + numext::conj(s) * yi;
+ *y = -s * xi + numext::conj(c) * yi;
+ x += incrx;
+ y += incry;
+ }
+ }
+};
+
+template<typename Scalar, typename OtherScalar,
+ int SizeAtCompileTime, int MinAlignment>
+struct apply_rotation_in_the_plane_selector<Scalar,OtherScalar,SizeAtCompileTime,MinAlignment,true /* vectorizable */>
+{
+ static inline void run(Scalar *x, Index incrx, Scalar *y, Index incry, Index size, OtherScalar c, OtherScalar s)
+ {
+ enum {
+ PacketSize = packet_traits<Scalar>::size,
+ OtherPacketSize = packet_traits<OtherScalar>::size
+ };
+ typedef typename packet_traits<Scalar>::type Packet;
+ typedef typename packet_traits<OtherScalar>::type OtherPacket;
+
+ /*** dynamic-size vectorized paths ***/
+ if(SizeAtCompileTime == Dynamic && ((incrx==1 && incry==1) || PacketSize == 1))
+ {
+ // both vectors are sequentially stored in memory => vectorization
+ enum { Peeling = 2 };
+
+ Index alignedStart = internal::first_default_aligned(y, size);
+ Index alignedEnd = alignedStart + ((size-alignedStart)/PacketSize)*PacketSize;
+
+ const OtherPacket pc = pset1<OtherPacket>(c);
+ const OtherPacket ps = pset1<OtherPacket>(s);
+ conj_helper<OtherPacket,Packet,NumTraits<OtherScalar>::IsComplex,false> pcj;
+ conj_helper<OtherPacket,Packet,false,false> pm;
+
+ for(Index i=0; i<alignedStart; ++i)
+ {
+ Scalar xi = x[i];
+ Scalar yi = y[i];
+ x[i] = c * xi + numext::conj(s) * yi;
+ y[i] = -s * xi + numext::conj(c) * yi;
+ }
+
+ Scalar* EIGEN_RESTRICT px = x + alignedStart;
+ Scalar* EIGEN_RESTRICT py = y + alignedStart;
+
+ if(internal::first_default_aligned(x, size)==alignedStart)
+ {
+ for(Index i=alignedStart; i<alignedEnd; i+=PacketSize)
+ {
+ Packet xi = pload<Packet>(px);
+ Packet yi = pload<Packet>(py);
+ pstore(px, padd(pm.pmul(pc,xi),pcj.pmul(ps,yi)));
+ pstore(py, psub(pcj.pmul(pc,yi),pm.pmul(ps,xi)));
+ px += PacketSize;
+ py += PacketSize;
+ }
+ }
+ else
+ {
+ Index peelingEnd = alignedStart + ((size-alignedStart)/(Peeling*PacketSize))*(Peeling*PacketSize);
+ for(Index i=alignedStart; i<peelingEnd; i+=Peeling*PacketSize)
+ {
+ Packet xi = ploadu<Packet>(px);
+ Packet xi1 = ploadu<Packet>(px+PacketSize);
+ Packet yi = pload <Packet>(py);
+ Packet yi1 = pload <Packet>(py+PacketSize);
+ pstoreu(px, padd(pm.pmul(pc,xi),pcj.pmul(ps,yi)));
+ pstoreu(px+PacketSize, padd(pm.pmul(pc,xi1),pcj.pmul(ps,yi1)));
+ pstore (py, psub(pcj.pmul(pc,yi),pm.pmul(ps,xi)));
+ pstore (py+PacketSize, psub(pcj.pmul(pc,yi1),pm.pmul(ps,xi1)));
+ px += Peeling*PacketSize;
+ py += Peeling*PacketSize;
+ }
+ if(alignedEnd!=peelingEnd)
+ {
+ Packet xi = ploadu<Packet>(x+peelingEnd);
+ Packet yi = pload <Packet>(y+peelingEnd);
+ pstoreu(x+peelingEnd, padd(pm.pmul(pc,xi),pcj.pmul(ps,yi)));
+ pstore (y+peelingEnd, psub(pcj.pmul(pc,yi),pm.pmul(ps,xi)));
+ }
+ }
+
+ for(Index i=alignedEnd; i<size; ++i)
+ {
+ Scalar xi = x[i];
+ Scalar yi = y[i];
+ x[i] = c * xi + numext::conj(s) * yi;
+ y[i] = -s * xi + numext::conj(c) * yi;
+ }
+ }
+
+ /*** fixed-size vectorized path ***/
+ else if(SizeAtCompileTime != Dynamic && MinAlignment>0) // FIXME should be compared to the required alignment
+ {
+ const OtherPacket pc = pset1<OtherPacket>(c);
+ const OtherPacket ps = pset1<OtherPacket>(s);
+ conj_helper<OtherPacket,Packet,NumTraits<OtherPacket>::IsComplex,false> pcj;
+ conj_helper<OtherPacket,Packet,false,false> pm;
+ Scalar* EIGEN_RESTRICT px = x;
+ Scalar* EIGEN_RESTRICT py = y;
+ for(Index i=0; i<size; i+=PacketSize)
+ {
+ Packet xi = pload<Packet>(px);
+ Packet yi = pload<Packet>(py);
+ pstore(px, padd(pm.pmul(pc,xi),pcj.pmul(ps,yi)));
+ pstore(py, psub(pcj.pmul(pc,yi),pm.pmul(ps,xi)));
+ px += PacketSize;
+ py += PacketSize;
+ }
+ }
+
+ /*** non-vectorized path ***/
+ else
+ {
+ apply_rotation_in_the_plane_selector<Scalar,OtherScalar,SizeAtCompileTime,MinAlignment,false>::run(x,incrx,y,incry,size,c,s);
+ }
+ }
+};
+
+template<typename VectorX, typename VectorY, typename OtherScalar>
+void /*EIGEN_DONT_INLINE*/ apply_rotation_in_the_plane(DenseBase<VectorX>& xpr_x, DenseBase<VectorY>& xpr_y, const JacobiRotation<OtherScalar>& j)
+{
+ typedef typename VectorX::Scalar Scalar;
+ const bool Vectorizable = (VectorX::Flags & VectorY::Flags & PacketAccessBit)
+ && (int(packet_traits<Scalar>::size) == int(packet_traits<OtherScalar>::size));
+
+ eigen_assert(xpr_x.size() == xpr_y.size());
+ Index size = xpr_x.size();
+ Index incrx = xpr_x.derived().innerStride();
+ Index incry = xpr_y.derived().innerStride();
+
+ Scalar* EIGEN_RESTRICT x = &xpr_x.derived().coeffRef(0);
+ Scalar* EIGEN_RESTRICT y = &xpr_y.derived().coeffRef(0);
+
+ OtherScalar c = j.c();
+ OtherScalar s = j.s();
+ if (c==OtherScalar(1) && s==OtherScalar(0))
+ return;
+
+ apply_rotation_in_the_plane_selector<
+ Scalar,OtherScalar,
+ VectorX::SizeAtCompileTime,
+ EIGEN_PLAIN_ENUM_MIN(evaluator<VectorX>::Alignment, evaluator<VectorY>::Alignment),
+ Vectorizable>::run(x,incrx,y,incry,size,c,s);
+}
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_JACOBI_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/LU/Determinant.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/LU/Determinant.h
new file mode 100644
index 0000000..d6a3c1e
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/LU/Determinant.h
@@ -0,0 +1,101 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_DETERMINANT_H
+#define EIGEN_DETERMINANT_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<typename Derived>
+inline const typename Derived::Scalar bruteforce_det3_helper
+(const MatrixBase<Derived>& matrix, int a, int b, int c)
+{
+ return matrix.coeff(0,a)
+ * (matrix.coeff(1,b) * matrix.coeff(2,c) - matrix.coeff(1,c) * matrix.coeff(2,b));
+}
+
+template<typename Derived>
+const typename Derived::Scalar bruteforce_det4_helper
+(const MatrixBase<Derived>& matrix, int j, int k, int m, int n)
+{
+ return (matrix.coeff(j,0) * matrix.coeff(k,1) - matrix.coeff(k,0) * matrix.coeff(j,1))
+ * (matrix.coeff(m,2) * matrix.coeff(n,3) - matrix.coeff(n,2) * matrix.coeff(m,3));
+}
+
+template<typename Derived,
+ int DeterminantType = Derived::RowsAtCompileTime
+> struct determinant_impl
+{
+ static inline typename traits<Derived>::Scalar run(const Derived& m)
+ {
+ if(Derived::ColsAtCompileTime==Dynamic && m.rows()==0)
+ return typename traits<Derived>::Scalar(1);
+ return m.partialPivLu().determinant();
+ }
+};
+
+template<typename Derived> struct determinant_impl<Derived, 1>
+{
+ static inline typename traits<Derived>::Scalar run(const Derived& m)
+ {
+ return m.coeff(0,0);
+ }
+};
+
+template<typename Derived> struct determinant_impl<Derived, 2>
+{
+ static inline typename traits<Derived>::Scalar run(const Derived& m)
+ {
+ return m.coeff(0,0) * m.coeff(1,1) - m.coeff(1,0) * m.coeff(0,1);
+ }
+};
+
+template<typename Derived> struct determinant_impl<Derived, 3>
+{
+ static inline typename traits<Derived>::Scalar run(const Derived& m)
+ {
+ return bruteforce_det3_helper(m,0,1,2)
+ - bruteforce_det3_helper(m,1,0,2)
+ + bruteforce_det3_helper(m,2,0,1);
+ }
+};
+
+template<typename Derived> struct determinant_impl<Derived, 4>
+{
+ static typename traits<Derived>::Scalar run(const Derived& m)
+ {
+ // trick by Martin Costabel to compute 4x4 det with only 30 muls
+ return bruteforce_det4_helper(m,0,1,2,3)
+ - bruteforce_det4_helper(m,0,2,1,3)
+ + bruteforce_det4_helper(m,0,3,1,2)
+ + bruteforce_det4_helper(m,1,2,0,3)
+ - bruteforce_det4_helper(m,1,3,0,2)
+ + bruteforce_det4_helper(m,2,3,0,1);
+ }
+};
+
+} // end namespace internal
+
+/** \lu_module
+ *
+ * \returns the determinant of this matrix
+ */
+template<typename Derived>
+inline typename internal::traits<Derived>::Scalar MatrixBase<Derived>::determinant() const
+{
+ eigen_assert(rows() == cols());
+ typedef typename internal::nested_eval<Derived,Base::RowsAtCompileTime>::type Nested;
+ return internal::determinant_impl<typename internal::remove_all<Nested>::type>::run(derived());
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_DETERMINANT_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/LU/FullPivLU.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/LU/FullPivLU.h
new file mode 100644
index 0000000..03b6af7
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/LU/FullPivLU.h
@@ -0,0 +1,891 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_LU_H
+#define EIGEN_LU_H
+
+namespace Eigen {
+
+namespace internal {
+template<typename _MatrixType> struct traits<FullPivLU<_MatrixType> >
+ : traits<_MatrixType>
+{
+ typedef MatrixXpr XprKind;
+ typedef SolverStorage StorageKind;
+ enum { Flags = 0 };
+};
+
+} // end namespace internal
+
+/** \ingroup LU_Module
+ *
+ * \class FullPivLU
+ *
+ * \brief LU decomposition of a matrix with complete pivoting, and related features
+ *
+ * \tparam _MatrixType the type of the matrix of which we are computing the LU decomposition
+ *
+ * This class represents a LU decomposition of any matrix, with complete pivoting: the matrix A is
+ * decomposed as \f$ A = P^{-1} L U Q^{-1} \f$ where L is unit-lower-triangular, U is
+ * upper-triangular, and P and Q are permutation matrices. This is a rank-revealing LU
+ * decomposition. The eigenvalues (diagonal coefficients) of U are sorted in such a way that any
+ * zeros are at the end.
+ *
+ * This decomposition provides the generic approach to solving systems of linear equations, computing
+ * the rank, invertibility, inverse, kernel, and determinant.
+ *
+ * This LU decomposition is very stable and well tested with large matrices. However there are use cases where the SVD
+ * decomposition is inherently more stable and/or flexible. For example, when computing the kernel of a matrix,
+ * working with the SVD allows to select the smallest singular values of the matrix, something that
+ * the LU decomposition doesn't see.
+ *
+ * The data of the LU decomposition can be directly accessed through the methods matrixLU(),
+ * permutationP(), permutationQ().
+ *
+ * As an exemple, here is how the original matrix can be retrieved:
+ * \include class_FullPivLU.cpp
+ * Output: \verbinclude class_FullPivLU.out
+ *
+ * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
+ *
+ * \sa MatrixBase::fullPivLu(), MatrixBase::determinant(), MatrixBase::inverse()
+ */
+template<typename _MatrixType> class FullPivLU
+ : public SolverBase<FullPivLU<_MatrixType> >
+{
+ public:
+ typedef _MatrixType MatrixType;
+ typedef SolverBase<FullPivLU> Base;
+
+ EIGEN_GENERIC_PUBLIC_INTERFACE(FullPivLU)
+ // FIXME StorageIndex defined in EIGEN_GENERIC_PUBLIC_INTERFACE should be int
+ enum {
+ MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+ MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+ };
+ typedef typename internal::plain_row_type<MatrixType, StorageIndex>::type IntRowVectorType;
+ typedef typename internal::plain_col_type<MatrixType, StorageIndex>::type IntColVectorType;
+ typedef PermutationMatrix<ColsAtCompileTime, MaxColsAtCompileTime> PermutationQType;
+ typedef PermutationMatrix<RowsAtCompileTime, MaxRowsAtCompileTime> PermutationPType;
+ typedef typename MatrixType::PlainObject PlainObject;
+
+ /**
+ * \brief Default Constructor.
+ *
+ * The default constructor is useful in cases in which the user intends to
+ * perform decompositions via LU::compute(const MatrixType&).
+ */
+ FullPivLU();
+
+ /** \brief Default Constructor with memory preallocation
+ *
+ * Like the default constructor but with preallocation of the internal data
+ * according to the specified problem \a size.
+ * \sa FullPivLU()
+ */
+ FullPivLU(Index rows, Index cols);
+
+ /** Constructor.
+ *
+ * \param matrix the matrix of which to compute the LU decomposition.
+ * It is required to be nonzero.
+ */
+ template<typename InputType>
+ explicit FullPivLU(const EigenBase<InputType>& matrix);
+
+ /** \brief Constructs a LU factorization from a given matrix
+ *
+ * This overloaded constructor is provided for \link InplaceDecomposition inplace decomposition \endlink when \c MatrixType is a Eigen::Ref.
+ *
+ * \sa FullPivLU(const EigenBase&)
+ */
+ template<typename InputType>
+ explicit FullPivLU(EigenBase<InputType>& matrix);
+
+ /** Computes the LU decomposition of the given matrix.
+ *
+ * \param matrix the matrix of which to compute the LU decomposition.
+ * It is required to be nonzero.
+ *
+ * \returns a reference to *this
+ */
+ template<typename InputType>
+ FullPivLU& compute(const EigenBase<InputType>& matrix) {
+ m_lu = matrix.derived();
+ computeInPlace();
+ return *this;
+ }
+
+ /** \returns the LU decomposition matrix: the upper-triangular part is U, the
+ * unit-lower-triangular part is L (at least for square matrices; in the non-square
+ * case, special care is needed, see the documentation of class FullPivLU).
+ *
+ * \sa matrixL(), matrixU()
+ */
+ inline const MatrixType& matrixLU() const
+ {
+ eigen_assert(m_isInitialized && "LU is not initialized.");
+ return m_lu;
+ }
+
+ /** \returns the number of nonzero pivots in the LU decomposition.
+ * Here nonzero is meant in the exact sense, not in a fuzzy sense.
+ * So that notion isn't really intrinsically interesting, but it is
+ * still useful when implementing algorithms.
+ *
+ * \sa rank()
+ */
+ inline Index nonzeroPivots() const
+ {
+ eigen_assert(m_isInitialized && "LU is not initialized.");
+ return m_nonzero_pivots;
+ }
+
+ /** \returns the absolute value of the biggest pivot, i.e. the biggest
+ * diagonal coefficient of U.
+ */
+ RealScalar maxPivot() const { return m_maxpivot; }
+
+ /** \returns the permutation matrix P
+ *
+ * \sa permutationQ()
+ */
+ EIGEN_DEVICE_FUNC inline const PermutationPType& permutationP() const
+ {
+ eigen_assert(m_isInitialized && "LU is not initialized.");
+ return m_p;
+ }
+
+ /** \returns the permutation matrix Q
+ *
+ * \sa permutationP()
+ */
+ inline const PermutationQType& permutationQ() const
+ {
+ eigen_assert(m_isInitialized && "LU is not initialized.");
+ return m_q;
+ }
+
+ /** \returns the kernel of the matrix, also called its null-space. The columns of the returned matrix
+ * will form a basis of the kernel.
+ *
+ * \note If the kernel has dimension zero, then the returned matrix is a column-vector filled with zeros.
+ *
+ * \note This method has to determine which pivots should be considered nonzero.
+ * For that, it uses the threshold value that you can control by calling
+ * setThreshold(const RealScalar&).
+ *
+ * Example: \include FullPivLU_kernel.cpp
+ * Output: \verbinclude FullPivLU_kernel.out
+ *
+ * \sa image()
+ */
+ inline const internal::kernel_retval<FullPivLU> kernel() const
+ {
+ eigen_assert(m_isInitialized && "LU is not initialized.");
+ return internal::kernel_retval<FullPivLU>(*this);
+ }
+
+ /** \returns the image of the matrix, also called its column-space. The columns of the returned matrix
+ * will form a basis of the image (column-space).
+ *
+ * \param originalMatrix the original matrix, of which *this is the LU decomposition.
+ * The reason why it is needed to pass it here, is that this allows
+ * a large optimization, as otherwise this method would need to reconstruct it
+ * from the LU decomposition.
+ *
+ * \note If the image has dimension zero, then the returned matrix is a column-vector filled with zeros.
+ *
+ * \note This method has to determine which pivots should be considered nonzero.
+ * For that, it uses the threshold value that you can control by calling
+ * setThreshold(const RealScalar&).
+ *
+ * Example: \include FullPivLU_image.cpp
+ * Output: \verbinclude FullPivLU_image.out
+ *
+ * \sa kernel()
+ */
+ inline const internal::image_retval<FullPivLU>
+ image(const MatrixType& originalMatrix) const
+ {
+ eigen_assert(m_isInitialized && "LU is not initialized.");
+ return internal::image_retval<FullPivLU>(*this, originalMatrix);
+ }
+
+ /** \return a solution x to the equation Ax=b, where A is the matrix of which
+ * *this is the LU decomposition.
+ *
+ * \param b the right-hand-side of the equation to solve. Can be a vector or a matrix,
+ * the only requirement in order for the equation to make sense is that
+ * b.rows()==A.rows(), where A is the matrix of which *this is the LU decomposition.
+ *
+ * \returns a solution.
+ *
+ * \note_about_checking_solutions
+ *
+ * \note_about_arbitrary_choice_of_solution
+ * \note_about_using_kernel_to_study_multiple_solutions
+ *
+ * Example: \include FullPivLU_solve.cpp
+ * Output: \verbinclude FullPivLU_solve.out
+ *
+ * \sa TriangularView::solve(), kernel(), inverse()
+ */
+ // FIXME this is a copy-paste of the base-class member to add the isInitialized assertion.
+ template<typename Rhs>
+ inline const Solve<FullPivLU, Rhs>
+ solve(const MatrixBase<Rhs>& b) const
+ {
+ eigen_assert(m_isInitialized && "LU is not initialized.");
+ return Solve<FullPivLU, Rhs>(*this, b.derived());
+ }
+
+ /** \returns an estimate of the reciprocal condition number of the matrix of which \c *this is
+ the LU decomposition.
+ */
+ inline RealScalar rcond() const
+ {
+ eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
+ return internal::rcond_estimate_helper(m_l1_norm, *this);
+ }
+
+ /** \returns the determinant of the matrix of which
+ * *this is the LU decomposition. It has only linear complexity
+ * (that is, O(n) where n is the dimension of the square matrix)
+ * as the LU decomposition has already been computed.
+ *
+ * \note This is only for square matrices.
+ *
+ * \note For fixed-size matrices of size up to 4, MatrixBase::determinant() offers
+ * optimized paths.
+ *
+ * \warning a determinant can be very big or small, so for matrices
+ * of large enough dimension, there is a risk of overflow/underflow.
+ *
+ * \sa MatrixBase::determinant()
+ */
+ typename internal::traits<MatrixType>::Scalar determinant() const;
+
+ /** Allows to prescribe a threshold to be used by certain methods, such as rank(),
+ * who need to determine when pivots are to be considered nonzero. This is not used for the
+ * LU decomposition itself.
+ *
+ * When it needs to get the threshold value, Eigen calls threshold(). By default, this
+ * uses a formula to automatically determine a reasonable threshold.
+ * Once you have called the present method setThreshold(const RealScalar&),
+ * your value is used instead.
+ *
+ * \param threshold The new value to use as the threshold.
+ *
+ * A pivot will be considered nonzero if its absolute value is strictly greater than
+ * \f$ \vert pivot \vert \leqslant threshold \times \vert maxpivot \vert \f$
+ * where maxpivot is the biggest pivot.
+ *
+ * If you want to come back to the default behavior, call setThreshold(Default_t)
+ */
+ FullPivLU& setThreshold(const RealScalar& threshold)
+ {
+ m_usePrescribedThreshold = true;
+ m_prescribedThreshold = threshold;
+ return *this;
+ }
+
+ /** Allows to come back to the default behavior, letting Eigen use its default formula for
+ * determining the threshold.
+ *
+ * You should pass the special object Eigen::Default as parameter here.
+ * \code lu.setThreshold(Eigen::Default); \endcode
+ *
+ * See the documentation of setThreshold(const RealScalar&).
+ */
+ FullPivLU& setThreshold(Default_t)
+ {
+ m_usePrescribedThreshold = false;
+ return *this;
+ }
+
+ /** Returns the threshold that will be used by certain methods such as rank().
+ *
+ * See the documentation of setThreshold(const RealScalar&).
+ */
+ RealScalar threshold() const
+ {
+ eigen_assert(m_isInitialized || m_usePrescribedThreshold);
+ return m_usePrescribedThreshold ? m_prescribedThreshold
+ // this formula comes from experimenting (see "LU precision tuning" thread on the list)
+ // and turns out to be identical to Higham's formula used already in LDLt.
+ : NumTraits<Scalar>::epsilon() * m_lu.diagonalSize();
+ }
+
+ /** \returns the rank of the matrix of which *this is the LU decomposition.
+ *
+ * \note This method has to determine which pivots should be considered nonzero.
+ * For that, it uses the threshold value that you can control by calling
+ * setThreshold(const RealScalar&).
+ */
+ inline Index rank() const
+ {
+ using std::abs;
+ eigen_assert(m_isInitialized && "LU is not initialized.");
+ RealScalar premultiplied_threshold = abs(m_maxpivot) * threshold();
+ Index result = 0;
+ for(Index i = 0; i < m_nonzero_pivots; ++i)
+ result += (abs(m_lu.coeff(i,i)) > premultiplied_threshold);
+ return result;
+ }
+
+ /** \returns the dimension of the kernel of the matrix of which *this is the LU decomposition.
+ *
+ * \note This method has to determine which pivots should be considered nonzero.
+ * For that, it uses the threshold value that you can control by calling
+ * setThreshold(const RealScalar&).
+ */
+ inline Index dimensionOfKernel() const
+ {
+ eigen_assert(m_isInitialized && "LU is not initialized.");
+ return cols() - rank();
+ }
+
+ /** \returns true if the matrix of which *this is the LU decomposition represents an injective
+ * linear map, i.e. has trivial kernel; false otherwise.
+ *
+ * \note This method has to determine which pivots should be considered nonzero.
+ * For that, it uses the threshold value that you can control by calling
+ * setThreshold(const RealScalar&).
+ */
+ inline bool isInjective() const
+ {
+ eigen_assert(m_isInitialized && "LU is not initialized.");
+ return rank() == cols();
+ }
+
+ /** \returns true if the matrix of which *this is the LU decomposition represents a surjective
+ * linear map; false otherwise.
+ *
+ * \note This method has to determine which pivots should be considered nonzero.
+ * For that, it uses the threshold value that you can control by calling
+ * setThreshold(const RealScalar&).
+ */
+ inline bool isSurjective() const
+ {
+ eigen_assert(m_isInitialized && "LU is not initialized.");
+ return rank() == rows();
+ }
+
+ /** \returns true if the matrix of which *this is the LU decomposition is invertible.
+ *
+ * \note This method has to determine which pivots should be considered nonzero.
+ * For that, it uses the threshold value that you can control by calling
+ * setThreshold(const RealScalar&).
+ */
+ inline bool isInvertible() const
+ {
+ eigen_assert(m_isInitialized && "LU is not initialized.");
+ return isInjective() && (m_lu.rows() == m_lu.cols());
+ }
+
+ /** \returns the inverse of the matrix of which *this is the LU decomposition.
+ *
+ * \note If this matrix is not invertible, the returned matrix has undefined coefficients.
+ * Use isInvertible() to first determine whether this matrix is invertible.
+ *
+ * \sa MatrixBase::inverse()
+ */
+ inline const Inverse<FullPivLU> inverse() const
+ {
+ eigen_assert(m_isInitialized && "LU is not initialized.");
+ eigen_assert(m_lu.rows() == m_lu.cols() && "You can't take the inverse of a non-square matrix!");
+ return Inverse<FullPivLU>(*this);
+ }
+
+ MatrixType reconstructedMatrix() const;
+
+ EIGEN_DEVICE_FUNC inline Index rows() const { return m_lu.rows(); }
+ EIGEN_DEVICE_FUNC inline Index cols() const { return m_lu.cols(); }
+
+ #ifndef EIGEN_PARSED_BY_DOXYGEN
+ template<typename RhsType, typename DstType>
+ EIGEN_DEVICE_FUNC
+ void _solve_impl(const RhsType &rhs, DstType &dst) const;
+
+ template<bool Conjugate, typename RhsType, typename DstType>
+ EIGEN_DEVICE_FUNC
+ void _solve_impl_transposed(const RhsType &rhs, DstType &dst) const;
+ #endif
+
+ protected:
+
+ static void check_template_parameters()
+ {
+ EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
+ }
+
+ void computeInPlace();
+
+ MatrixType m_lu;
+ PermutationPType m_p;
+ PermutationQType m_q;
+ IntColVectorType m_rowsTranspositions;
+ IntRowVectorType m_colsTranspositions;
+ Index m_nonzero_pivots;
+ RealScalar m_l1_norm;
+ RealScalar m_maxpivot, m_prescribedThreshold;
+ signed char m_det_pq;
+ bool m_isInitialized, m_usePrescribedThreshold;
+};
+
+template<typename MatrixType>
+FullPivLU<MatrixType>::FullPivLU()
+ : m_isInitialized(false), m_usePrescribedThreshold(false)
+{
+}
+
+template<typename MatrixType>
+FullPivLU<MatrixType>::FullPivLU(Index rows, Index cols)
+ : m_lu(rows, cols),
+ m_p(rows),
+ m_q(cols),
+ m_rowsTranspositions(rows),
+ m_colsTranspositions(cols),
+ m_isInitialized(false),
+ m_usePrescribedThreshold(false)
+{
+}
+
+template<typename MatrixType>
+template<typename InputType>
+FullPivLU<MatrixType>::FullPivLU(const EigenBase<InputType>& matrix)
+ : m_lu(matrix.rows(), matrix.cols()),
+ m_p(matrix.rows()),
+ m_q(matrix.cols()),
+ m_rowsTranspositions(matrix.rows()),
+ m_colsTranspositions(matrix.cols()),
+ m_isInitialized(false),
+ m_usePrescribedThreshold(false)
+{
+ compute(matrix.derived());
+}
+
+template<typename MatrixType>
+template<typename InputType>
+FullPivLU<MatrixType>::FullPivLU(EigenBase<InputType>& matrix)
+ : m_lu(matrix.derived()),
+ m_p(matrix.rows()),
+ m_q(matrix.cols()),
+ m_rowsTranspositions(matrix.rows()),
+ m_colsTranspositions(matrix.cols()),
+ m_isInitialized(false),
+ m_usePrescribedThreshold(false)
+{
+ computeInPlace();
+}
+
+template<typename MatrixType>
+void FullPivLU<MatrixType>::computeInPlace()
+{
+ check_template_parameters();
+
+ // the permutations are stored as int indices, so just to be sure:
+ eigen_assert(m_lu.rows()<=NumTraits<int>::highest() && m_lu.cols()<=NumTraits<int>::highest());
+
+ m_l1_norm = m_lu.cwiseAbs().colwise().sum().maxCoeff();
+
+ const Index size = m_lu.diagonalSize();
+ const Index rows = m_lu.rows();
+ const Index cols = m_lu.cols();
+
+ // will store the transpositions, before we accumulate them at the end.
+ // can't accumulate on-the-fly because that will be done in reverse order for the rows.
+ m_rowsTranspositions.resize(m_lu.rows());
+ m_colsTranspositions.resize(m_lu.cols());
+ Index number_of_transpositions = 0; // number of NONTRIVIAL transpositions, i.e. m_rowsTranspositions[i]!=i
+
+ m_nonzero_pivots = size; // the generic case is that in which all pivots are nonzero (invertible case)
+ m_maxpivot = RealScalar(0);
+
+ for(Index k = 0; k < size; ++k)
+ {
+ // First, we need to find the pivot.
+
+ // biggest coefficient in the remaining bottom-right corner (starting at row k, col k)
+ Index row_of_biggest_in_corner, col_of_biggest_in_corner;
+ typedef internal::scalar_score_coeff_op<Scalar> Scoring;
+ typedef typename Scoring::result_type Score;
+ Score biggest_in_corner;
+ biggest_in_corner = m_lu.bottomRightCorner(rows-k, cols-k)
+ .unaryExpr(Scoring())
+ .maxCoeff(&row_of_biggest_in_corner, &col_of_biggest_in_corner);
+ row_of_biggest_in_corner += k; // correct the values! since they were computed in the corner,
+ col_of_biggest_in_corner += k; // need to add k to them.
+
+ if(biggest_in_corner==Score(0))
+ {
+ // before exiting, make sure to initialize the still uninitialized transpositions
+ // in a sane state without destroying what we already have.
+ m_nonzero_pivots = k;
+ for(Index i = k; i < size; ++i)
+ {
+ m_rowsTranspositions.coeffRef(i) = i;
+ m_colsTranspositions.coeffRef(i) = i;
+ }
+ break;
+ }
+
+ RealScalar abs_pivot = internal::abs_knowing_score<Scalar>()(m_lu(row_of_biggest_in_corner, col_of_biggest_in_corner), biggest_in_corner);
+ if(abs_pivot > m_maxpivot) m_maxpivot = abs_pivot;
+
+ // Now that we've found the pivot, we need to apply the row/col swaps to
+ // bring it to the location (k,k).
+
+ m_rowsTranspositions.coeffRef(k) = row_of_biggest_in_corner;
+ m_colsTranspositions.coeffRef(k) = col_of_biggest_in_corner;
+ if(k != row_of_biggest_in_corner) {
+ m_lu.row(k).swap(m_lu.row(row_of_biggest_in_corner));
+ ++number_of_transpositions;
+ }
+ if(k != col_of_biggest_in_corner) {
+ m_lu.col(k).swap(m_lu.col(col_of_biggest_in_corner));
+ ++number_of_transpositions;
+ }
+
+ // Now that the pivot is at the right location, we update the remaining
+ // bottom-right corner by Gaussian elimination.
+
+ if(k<rows-1)
+ m_lu.col(k).tail(rows-k-1) /= m_lu.coeff(k,k);
+ if(k<size-1)
+ m_lu.block(k+1,k+1,rows-k-1,cols-k-1).noalias() -= m_lu.col(k).tail(rows-k-1) * m_lu.row(k).tail(cols-k-1);
+ }
+
+ // the main loop is over, we still have to accumulate the transpositions to find the
+ // permutations P and Q
+
+ m_p.setIdentity(rows);
+ for(Index k = size-1; k >= 0; --k)
+ m_p.applyTranspositionOnTheRight(k, m_rowsTranspositions.coeff(k));
+
+ m_q.setIdentity(cols);
+ for(Index k = 0; k < size; ++k)
+ m_q.applyTranspositionOnTheRight(k, m_colsTranspositions.coeff(k));
+
+ m_det_pq = (number_of_transpositions%2) ? -1 : 1;
+
+ m_isInitialized = true;
+}
+
+template<typename MatrixType>
+typename internal::traits<MatrixType>::Scalar FullPivLU<MatrixType>::determinant() const
+{
+ eigen_assert(m_isInitialized && "LU is not initialized.");
+ eigen_assert(m_lu.rows() == m_lu.cols() && "You can't take the determinant of a non-square matrix!");
+ return Scalar(m_det_pq) * Scalar(m_lu.diagonal().prod());
+}
+
+/** \returns the matrix represented by the decomposition,
+ * i.e., it returns the product: \f$ P^{-1} L U Q^{-1} \f$.
+ * This function is provided for debug purposes. */
+template<typename MatrixType>
+MatrixType FullPivLU<MatrixType>::reconstructedMatrix() const
+{
+ eigen_assert(m_isInitialized && "LU is not initialized.");
+ const Index smalldim = (std::min)(m_lu.rows(), m_lu.cols());
+ // LU
+ MatrixType res(m_lu.rows(),m_lu.cols());
+ // FIXME the .toDenseMatrix() should not be needed...
+ res = m_lu.leftCols(smalldim)
+ .template triangularView<UnitLower>().toDenseMatrix()
+ * m_lu.topRows(smalldim)
+ .template triangularView<Upper>().toDenseMatrix();
+
+ // P^{-1}(LU)
+ res = m_p.inverse() * res;
+
+ // (P^{-1}LU)Q^{-1}
+ res = res * m_q.inverse();
+
+ return res;
+}
+
+/********* Implementation of kernel() **************************************************/
+
+namespace internal {
+template<typename _MatrixType>
+struct kernel_retval<FullPivLU<_MatrixType> >
+ : kernel_retval_base<FullPivLU<_MatrixType> >
+{
+ EIGEN_MAKE_KERNEL_HELPERS(FullPivLU<_MatrixType>)
+
+ enum { MaxSmallDimAtCompileTime = EIGEN_SIZE_MIN_PREFER_FIXED(
+ MatrixType::MaxColsAtCompileTime,
+ MatrixType::MaxRowsAtCompileTime)
+ };
+
+ template<typename Dest> void evalTo(Dest& dst) const
+ {
+ using std::abs;
+ const Index cols = dec().matrixLU().cols(), dimker = cols - rank();
+ if(dimker == 0)
+ {
+ // The Kernel is just {0}, so it doesn't have a basis properly speaking, but let's
+ // avoid crashing/asserting as that depends on floating point calculations. Let's
+ // just return a single column vector filled with zeros.
+ dst.setZero();
+ return;
+ }
+
+ /* Let us use the following lemma:
+ *
+ * Lemma: If the matrix A has the LU decomposition PAQ = LU,
+ * then Ker A = Q(Ker U).
+ *
+ * Proof: trivial: just keep in mind that P, Q, L are invertible.
+ */
+
+ /* Thus, all we need to do is to compute Ker U, and then apply Q.
+ *
+ * U is upper triangular, with eigenvalues sorted so that any zeros appear at the end.
+ * Thus, the diagonal of U ends with exactly
+ * dimKer zero's. Let us use that to construct dimKer linearly
+ * independent vectors in Ker U.
+ */
+
+ Matrix<Index, Dynamic, 1, 0, MaxSmallDimAtCompileTime, 1> pivots(rank());
+ RealScalar premultiplied_threshold = dec().maxPivot() * dec().threshold();
+ Index p = 0;
+ for(Index i = 0; i < dec().nonzeroPivots(); ++i)
+ if(abs(dec().matrixLU().coeff(i,i)) > premultiplied_threshold)
+ pivots.coeffRef(p++) = i;
+ eigen_internal_assert(p == rank());
+
+ // we construct a temporaty trapezoid matrix m, by taking the U matrix and
+ // permuting the rows and cols to bring the nonnegligible pivots to the top of
+ // the main diagonal. We need that to be able to apply our triangular solvers.
+ // FIXME when we get triangularView-for-rectangular-matrices, this can be simplified
+ Matrix<typename MatrixType::Scalar, Dynamic, Dynamic, MatrixType::Options,
+ MaxSmallDimAtCompileTime, MatrixType::MaxColsAtCompileTime>
+ m(dec().matrixLU().block(0, 0, rank(), cols));
+ for(Index i = 0; i < rank(); ++i)
+ {
+ if(i) m.row(i).head(i).setZero();
+ m.row(i).tail(cols-i) = dec().matrixLU().row(pivots.coeff(i)).tail(cols-i);
+ }
+ m.block(0, 0, rank(), rank());
+ m.block(0, 0, rank(), rank()).template triangularView<StrictlyLower>().setZero();
+ for(Index i = 0; i < rank(); ++i)
+ m.col(i).swap(m.col(pivots.coeff(i)));
+
+ // ok, we have our trapezoid matrix, we can apply the triangular solver.
+ // notice that the math behind this suggests that we should apply this to the
+ // negative of the RHS, but for performance we just put the negative sign elsewhere, see below.
+ m.topLeftCorner(rank(), rank())
+ .template triangularView<Upper>().solveInPlace(
+ m.topRightCorner(rank(), dimker)
+ );
+
+ // now we must undo the column permutation that we had applied!
+ for(Index i = rank()-1; i >= 0; --i)
+ m.col(i).swap(m.col(pivots.coeff(i)));
+
+ // see the negative sign in the next line, that's what we were talking about above.
+ for(Index i = 0; i < rank(); ++i) dst.row(dec().permutationQ().indices().coeff(i)) = -m.row(i).tail(dimker);
+ for(Index i = rank(); i < cols; ++i) dst.row(dec().permutationQ().indices().coeff(i)).setZero();
+ for(Index k = 0; k < dimker; ++k) dst.coeffRef(dec().permutationQ().indices().coeff(rank()+k), k) = Scalar(1);
+ }
+};
+
+/***** Implementation of image() *****************************************************/
+
+template<typename _MatrixType>
+struct image_retval<FullPivLU<_MatrixType> >
+ : image_retval_base<FullPivLU<_MatrixType> >
+{
+ EIGEN_MAKE_IMAGE_HELPERS(FullPivLU<_MatrixType>)
+
+ enum { MaxSmallDimAtCompileTime = EIGEN_SIZE_MIN_PREFER_FIXED(
+ MatrixType::MaxColsAtCompileTime,
+ MatrixType::MaxRowsAtCompileTime)
+ };
+
+ template<typename Dest> void evalTo(Dest& dst) const
+ {
+ using std::abs;
+ if(rank() == 0)
+ {
+ // The Image is just {0}, so it doesn't have a basis properly speaking, but let's
+ // avoid crashing/asserting as that depends on floating point calculations. Let's
+ // just return a single column vector filled with zeros.
+ dst.setZero();
+ return;
+ }
+
+ Matrix<Index, Dynamic, 1, 0, MaxSmallDimAtCompileTime, 1> pivots(rank());
+ RealScalar premultiplied_threshold = dec().maxPivot() * dec().threshold();
+ Index p = 0;
+ for(Index i = 0; i < dec().nonzeroPivots(); ++i)
+ if(abs(dec().matrixLU().coeff(i,i)) > premultiplied_threshold)
+ pivots.coeffRef(p++) = i;
+ eigen_internal_assert(p == rank());
+
+ for(Index i = 0; i < rank(); ++i)
+ dst.col(i) = originalMatrix().col(dec().permutationQ().indices().coeff(pivots.coeff(i)));
+ }
+};
+
+/***** Implementation of solve() *****************************************************/
+
+} // end namespace internal
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template<typename _MatrixType>
+template<typename RhsType, typename DstType>
+void FullPivLU<_MatrixType>::_solve_impl(const RhsType &rhs, DstType &dst) const
+{
+ /* The decomposition PAQ = LU can be rewritten as A = P^{-1} L U Q^{-1}.
+ * So we proceed as follows:
+ * Step 1: compute c = P * rhs.
+ * Step 2: replace c by the solution x to Lx = c. Exists because L is invertible.
+ * Step 3: replace c by the solution x to Ux = c. May or may not exist.
+ * Step 4: result = Q * c;
+ */
+
+ const Index rows = this->rows(),
+ cols = this->cols(),
+ nonzero_pivots = this->rank();
+ eigen_assert(rhs.rows() == rows);
+ const Index smalldim = (std::min)(rows, cols);
+
+ if(nonzero_pivots == 0)
+ {
+ dst.setZero();
+ return;
+ }
+
+ typename RhsType::PlainObject c(rhs.rows(), rhs.cols());
+
+ // Step 1
+ c = permutationP() * rhs;
+
+ // Step 2
+ m_lu.topLeftCorner(smalldim,smalldim)
+ .template triangularView<UnitLower>()
+ .solveInPlace(c.topRows(smalldim));
+ if(rows>cols)
+ c.bottomRows(rows-cols) -= m_lu.bottomRows(rows-cols) * c.topRows(cols);
+
+ // Step 3
+ m_lu.topLeftCorner(nonzero_pivots, nonzero_pivots)
+ .template triangularView<Upper>()
+ .solveInPlace(c.topRows(nonzero_pivots));
+
+ // Step 4
+ for(Index i = 0; i < nonzero_pivots; ++i)
+ dst.row(permutationQ().indices().coeff(i)) = c.row(i);
+ for(Index i = nonzero_pivots; i < m_lu.cols(); ++i)
+ dst.row(permutationQ().indices().coeff(i)).setZero();
+}
+
+template<typename _MatrixType>
+template<bool Conjugate, typename RhsType, typename DstType>
+void FullPivLU<_MatrixType>::_solve_impl_transposed(const RhsType &rhs, DstType &dst) const
+{
+ /* The decomposition PAQ = LU can be rewritten as A = P^{-1} L U Q^{-1},
+ * and since permutations are real and unitary, we can write this
+ * as A^T = Q U^T L^T P,
+ * So we proceed as follows:
+ * Step 1: compute c = Q^T rhs.
+ * Step 2: replace c by the solution x to U^T x = c. May or may not exist.
+ * Step 3: replace c by the solution x to L^T x = c.
+ * Step 4: result = P^T c.
+ * If Conjugate is true, replace "^T" by "^*" above.
+ */
+
+ const Index rows = this->rows(), cols = this->cols(),
+ nonzero_pivots = this->rank();
+ eigen_assert(rhs.rows() == cols);
+ const Index smalldim = (std::min)(rows, cols);
+
+ if(nonzero_pivots == 0)
+ {
+ dst.setZero();
+ return;
+ }
+
+ typename RhsType::PlainObject c(rhs.rows(), rhs.cols());
+
+ // Step 1
+ c = permutationQ().inverse() * rhs;
+
+ if (Conjugate) {
+ // Step 2
+ m_lu.topLeftCorner(nonzero_pivots, nonzero_pivots)
+ .template triangularView<Upper>()
+ .adjoint()
+ .solveInPlace(c.topRows(nonzero_pivots));
+ // Step 3
+ m_lu.topLeftCorner(smalldim, smalldim)
+ .template triangularView<UnitLower>()
+ .adjoint()
+ .solveInPlace(c.topRows(smalldim));
+ } else {
+ // Step 2
+ m_lu.topLeftCorner(nonzero_pivots, nonzero_pivots)
+ .template triangularView<Upper>()
+ .transpose()
+ .solveInPlace(c.topRows(nonzero_pivots));
+ // Step 3
+ m_lu.topLeftCorner(smalldim, smalldim)
+ .template triangularView<UnitLower>()
+ .transpose()
+ .solveInPlace(c.topRows(smalldim));
+ }
+
+ // Step 4
+ PermutationPType invp = permutationP().inverse().eval();
+ for(Index i = 0; i < smalldim; ++i)
+ dst.row(invp.indices().coeff(i)) = c.row(i);
+ for(Index i = smalldim; i < rows; ++i)
+ dst.row(invp.indices().coeff(i)).setZero();
+}
+
+#endif
+
+namespace internal {
+
+
+/***** Implementation of inverse() *****************************************************/
+template<typename DstXprType, typename MatrixType>
+struct Assignment<DstXprType, Inverse<FullPivLU<MatrixType> >, internal::assign_op<typename DstXprType::Scalar,typename FullPivLU<MatrixType>::Scalar>, Dense2Dense>
+{
+ typedef FullPivLU<MatrixType> LuType;
+ typedef Inverse<LuType> SrcXprType;
+ static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename MatrixType::Scalar> &)
+ {
+ dst = src.nestedExpression().solve(MatrixType::Identity(src.rows(), src.cols()));
+ }
+};
+} // end namespace internal
+
+/******* MatrixBase methods *****************************************************************/
+
+/** \lu_module
+ *
+ * \return the full-pivoting LU decomposition of \c *this.
+ *
+ * \sa class FullPivLU
+ */
+template<typename Derived>
+inline const FullPivLU<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::fullPivLu() const
+{
+ return FullPivLU<PlainObject>(eval());
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_LU_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/LU/InverseImpl.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/LU/InverseImpl.h
new file mode 100644
index 0000000..f49f233
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/LU/InverseImpl.h
@@ -0,0 +1,415 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2014 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_INVERSE_IMPL_H
+#define EIGEN_INVERSE_IMPL_H
+
+namespace Eigen {
+
+namespace internal {
+
+/**********************************
+*** General case implementation ***
+**********************************/
+
+template<typename MatrixType, typename ResultType, int Size = MatrixType::RowsAtCompileTime>
+struct compute_inverse
+{
+ EIGEN_DEVICE_FUNC
+ static inline void run(const MatrixType& matrix, ResultType& result)
+ {
+ result = matrix.partialPivLu().inverse();
+ }
+};
+
+template<typename MatrixType, typename ResultType, int Size = MatrixType::RowsAtCompileTime>
+struct compute_inverse_and_det_with_check { /* nothing! general case not supported. */ };
+
+/****************************
+*** Size 1 implementation ***
+****************************/
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse<MatrixType, ResultType, 1>
+{
+ EIGEN_DEVICE_FUNC
+ static inline void run(const MatrixType& matrix, ResultType& result)
+ {
+ typedef typename MatrixType::Scalar Scalar;
+ internal::evaluator<MatrixType> matrixEval(matrix);
+ result.coeffRef(0,0) = Scalar(1) / matrixEval.coeff(0,0);
+ }
+};
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse_and_det_with_check<MatrixType, ResultType, 1>
+{
+ EIGEN_DEVICE_FUNC
+ static inline void run(
+ const MatrixType& matrix,
+ const typename MatrixType::RealScalar& absDeterminantThreshold,
+ ResultType& result,
+ typename ResultType::Scalar& determinant,
+ bool& invertible
+ )
+ {
+ using std::abs;
+ determinant = matrix.coeff(0,0);
+ invertible = abs(determinant) > absDeterminantThreshold;
+ if(invertible) result.coeffRef(0,0) = typename ResultType::Scalar(1) / determinant;
+ }
+};
+
+/****************************
+*** Size 2 implementation ***
+****************************/
+
+template<typename MatrixType, typename ResultType>
+EIGEN_DEVICE_FUNC
+inline void compute_inverse_size2_helper(
+ const MatrixType& matrix, const typename ResultType::Scalar& invdet,
+ ResultType& result)
+{
+ result.coeffRef(0,0) = matrix.coeff(1,1) * invdet;
+ result.coeffRef(1,0) = -matrix.coeff(1,0) * invdet;
+ result.coeffRef(0,1) = -matrix.coeff(0,1) * invdet;
+ result.coeffRef(1,1) = matrix.coeff(0,0) * invdet;
+}
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse<MatrixType, ResultType, 2>
+{
+ EIGEN_DEVICE_FUNC
+ static inline void run(const MatrixType& matrix, ResultType& result)
+ {
+ typedef typename ResultType::Scalar Scalar;
+ const Scalar invdet = typename MatrixType::Scalar(1) / matrix.determinant();
+ compute_inverse_size2_helper(matrix, invdet, result);
+ }
+};
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse_and_det_with_check<MatrixType, ResultType, 2>
+{
+ EIGEN_DEVICE_FUNC
+ static inline void run(
+ const MatrixType& matrix,
+ const typename MatrixType::RealScalar& absDeterminantThreshold,
+ ResultType& inverse,
+ typename ResultType::Scalar& determinant,
+ bool& invertible
+ )
+ {
+ using std::abs;
+ typedef typename ResultType::Scalar Scalar;
+ determinant = matrix.determinant();
+ invertible = abs(determinant) > absDeterminantThreshold;
+ if(!invertible) return;
+ const Scalar invdet = Scalar(1) / determinant;
+ compute_inverse_size2_helper(matrix, invdet, inverse);
+ }
+};
+
+/****************************
+*** Size 3 implementation ***
+****************************/
+
+template<typename MatrixType, int i, int j>
+EIGEN_DEVICE_FUNC
+inline typename MatrixType::Scalar cofactor_3x3(const MatrixType& m)
+{
+ enum {
+ i1 = (i+1) % 3,
+ i2 = (i+2) % 3,
+ j1 = (j+1) % 3,
+ j2 = (j+2) % 3
+ };
+ return m.coeff(i1, j1) * m.coeff(i2, j2)
+ - m.coeff(i1, j2) * m.coeff(i2, j1);
+}
+
+template<typename MatrixType, typename ResultType>
+EIGEN_DEVICE_FUNC
+inline void compute_inverse_size3_helper(
+ const MatrixType& matrix,
+ const typename ResultType::Scalar& invdet,
+ const Matrix<typename ResultType::Scalar,3,1>& cofactors_col0,
+ ResultType& result)
+{
+ result.row(0) = cofactors_col0 * invdet;
+ result.coeffRef(1,0) = cofactor_3x3<MatrixType,0,1>(matrix) * invdet;
+ result.coeffRef(1,1) = cofactor_3x3<MatrixType,1,1>(matrix) * invdet;
+ result.coeffRef(1,2) = cofactor_3x3<MatrixType,2,1>(matrix) * invdet;
+ result.coeffRef(2,0) = cofactor_3x3<MatrixType,0,2>(matrix) * invdet;
+ result.coeffRef(2,1) = cofactor_3x3<MatrixType,1,2>(matrix) * invdet;
+ result.coeffRef(2,2) = cofactor_3x3<MatrixType,2,2>(matrix) * invdet;
+}
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse<MatrixType, ResultType, 3>
+{
+ EIGEN_DEVICE_FUNC
+ static inline void run(const MatrixType& matrix, ResultType& result)
+ {
+ typedef typename ResultType::Scalar Scalar;
+ Matrix<typename MatrixType::Scalar,3,1> cofactors_col0;
+ cofactors_col0.coeffRef(0) = cofactor_3x3<MatrixType,0,0>(matrix);
+ cofactors_col0.coeffRef(1) = cofactor_3x3<MatrixType,1,0>(matrix);
+ cofactors_col0.coeffRef(2) = cofactor_3x3<MatrixType,2,0>(matrix);
+ const Scalar det = (cofactors_col0.cwiseProduct(matrix.col(0))).sum();
+ const Scalar invdet = Scalar(1) / det;
+ compute_inverse_size3_helper(matrix, invdet, cofactors_col0, result);
+ }
+};
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse_and_det_with_check<MatrixType, ResultType, 3>
+{
+ EIGEN_DEVICE_FUNC
+ static inline void run(
+ const MatrixType& matrix,
+ const typename MatrixType::RealScalar& absDeterminantThreshold,
+ ResultType& inverse,
+ typename ResultType::Scalar& determinant,
+ bool& invertible
+ )
+ {
+ using std::abs;
+ typedef typename ResultType::Scalar Scalar;
+ Matrix<Scalar,3,1> cofactors_col0;
+ cofactors_col0.coeffRef(0) = cofactor_3x3<MatrixType,0,0>(matrix);
+ cofactors_col0.coeffRef(1) = cofactor_3x3<MatrixType,1,0>(matrix);
+ cofactors_col0.coeffRef(2) = cofactor_3x3<MatrixType,2,0>(matrix);
+ determinant = (cofactors_col0.cwiseProduct(matrix.col(0))).sum();
+ invertible = abs(determinant) > absDeterminantThreshold;
+ if(!invertible) return;
+ const Scalar invdet = Scalar(1) / determinant;
+ compute_inverse_size3_helper(matrix, invdet, cofactors_col0, inverse);
+ }
+};
+
+/****************************
+*** Size 4 implementation ***
+****************************/
+
+template<typename Derived>
+EIGEN_DEVICE_FUNC
+inline const typename Derived::Scalar general_det3_helper
+(const MatrixBase<Derived>& matrix, int i1, int i2, int i3, int j1, int j2, int j3)
+{
+ return matrix.coeff(i1,j1)
+ * (matrix.coeff(i2,j2) * matrix.coeff(i3,j3) - matrix.coeff(i2,j3) * matrix.coeff(i3,j2));
+}
+
+template<typename MatrixType, int i, int j>
+EIGEN_DEVICE_FUNC
+inline typename MatrixType::Scalar cofactor_4x4(const MatrixType& matrix)
+{
+ enum {
+ i1 = (i+1) % 4,
+ i2 = (i+2) % 4,
+ i3 = (i+3) % 4,
+ j1 = (j+1) % 4,
+ j2 = (j+2) % 4,
+ j3 = (j+3) % 4
+ };
+ return general_det3_helper(matrix, i1, i2, i3, j1, j2, j3)
+ + general_det3_helper(matrix, i2, i3, i1, j1, j2, j3)
+ + general_det3_helper(matrix, i3, i1, i2, j1, j2, j3);
+}
+
+template<int Arch, typename Scalar, typename MatrixType, typename ResultType>
+struct compute_inverse_size4
+{
+ EIGEN_DEVICE_FUNC
+ static void run(const MatrixType& matrix, ResultType& result)
+ {
+ result.coeffRef(0,0) = cofactor_4x4<MatrixType,0,0>(matrix);
+ result.coeffRef(1,0) = -cofactor_4x4<MatrixType,0,1>(matrix);
+ result.coeffRef(2,0) = cofactor_4x4<MatrixType,0,2>(matrix);
+ result.coeffRef(3,0) = -cofactor_4x4<MatrixType,0,3>(matrix);
+ result.coeffRef(0,2) = cofactor_4x4<MatrixType,2,0>(matrix);
+ result.coeffRef(1,2) = -cofactor_4x4<MatrixType,2,1>(matrix);
+ result.coeffRef(2,2) = cofactor_4x4<MatrixType,2,2>(matrix);
+ result.coeffRef(3,2) = -cofactor_4x4<MatrixType,2,3>(matrix);
+ result.coeffRef(0,1) = -cofactor_4x4<MatrixType,1,0>(matrix);
+ result.coeffRef(1,1) = cofactor_4x4<MatrixType,1,1>(matrix);
+ result.coeffRef(2,1) = -cofactor_4x4<MatrixType,1,2>(matrix);
+ result.coeffRef(3,1) = cofactor_4x4<MatrixType,1,3>(matrix);
+ result.coeffRef(0,3) = -cofactor_4x4<MatrixType,3,0>(matrix);
+ result.coeffRef(1,3) = cofactor_4x4<MatrixType,3,1>(matrix);
+ result.coeffRef(2,3) = -cofactor_4x4<MatrixType,3,2>(matrix);
+ result.coeffRef(3,3) = cofactor_4x4<MatrixType,3,3>(matrix);
+ result /= (matrix.col(0).cwiseProduct(result.row(0).transpose())).sum();
+ }
+};
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse<MatrixType, ResultType, 4>
+ : compute_inverse_size4<Architecture::Target, typename MatrixType::Scalar,
+ MatrixType, ResultType>
+{
+};
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse_and_det_with_check<MatrixType, ResultType, 4>
+{
+ EIGEN_DEVICE_FUNC
+ static inline void run(
+ const MatrixType& matrix,
+ const typename MatrixType::RealScalar& absDeterminantThreshold,
+ ResultType& inverse,
+ typename ResultType::Scalar& determinant,
+ bool& invertible
+ )
+ {
+ using std::abs;
+ determinant = matrix.determinant();
+ invertible = abs(determinant) > absDeterminantThreshold;
+ if(invertible) compute_inverse<MatrixType, ResultType>::run(matrix, inverse);
+ }
+};
+
+/*************************
+*** MatrixBase methods ***
+*************************/
+
+} // end namespace internal
+
+namespace internal {
+
+// Specialization for "dense = dense_xpr.inverse()"
+template<typename DstXprType, typename XprType>
+struct Assignment<DstXprType, Inverse<XprType>, internal::assign_op<typename DstXprType::Scalar,typename XprType::Scalar>, Dense2Dense>
+{
+ typedef Inverse<XprType> SrcXprType;
+ static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename XprType::Scalar> &)
+ {
+ Index dstRows = src.rows();
+ Index dstCols = src.cols();
+ if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+ dst.resize(dstRows, dstCols);
+
+ const int Size = EIGEN_PLAIN_ENUM_MIN(XprType::ColsAtCompileTime,DstXprType::ColsAtCompileTime);
+ EIGEN_ONLY_USED_FOR_DEBUG(Size);
+ eigen_assert(( (Size<=1) || (Size>4) || (extract_data(src.nestedExpression())!=extract_data(dst)))
+ && "Aliasing problem detected in inverse(), you need to do inverse().eval() here.");
+
+ typedef typename internal::nested_eval<XprType,XprType::ColsAtCompileTime>::type ActualXprType;
+ typedef typename internal::remove_all<ActualXprType>::type ActualXprTypeCleanded;
+
+ ActualXprType actual_xpr(src.nestedExpression());
+
+ compute_inverse<ActualXprTypeCleanded, DstXprType>::run(actual_xpr, dst);
+ }
+};
+
+
+} // end namespace internal
+
+/** \lu_module
+ *
+ * \returns the matrix inverse of this matrix.
+ *
+ * For small fixed sizes up to 4x4, this method uses cofactors.
+ * In the general case, this method uses class PartialPivLU.
+ *
+ * \note This matrix must be invertible, otherwise the result is undefined. If you need an
+ * invertibility check, do the following:
+ * \li for fixed sizes up to 4x4, use computeInverseAndDetWithCheck().
+ * \li for the general case, use class FullPivLU.
+ *
+ * Example: \include MatrixBase_inverse.cpp
+ * Output: \verbinclude MatrixBase_inverse.out
+ *
+ * \sa computeInverseAndDetWithCheck()
+ */
+template<typename Derived>
+inline const Inverse<Derived> MatrixBase<Derived>::inverse() const
+{
+ EIGEN_STATIC_ASSERT(!NumTraits<Scalar>::IsInteger,THIS_FUNCTION_IS_NOT_FOR_INTEGER_NUMERIC_TYPES)
+ eigen_assert(rows() == cols());
+ return Inverse<Derived>(derived());
+}
+
+/** \lu_module
+ *
+ * Computation of matrix inverse and determinant, with invertibility check.
+ *
+ * This is only for fixed-size square matrices of size up to 4x4.
+ *
+ * \param inverse Reference to the matrix in which to store the inverse.
+ * \param determinant Reference to the variable in which to store the determinant.
+ * \param invertible Reference to the bool variable in which to store whether the matrix is invertible.
+ * \param absDeterminantThreshold Optional parameter controlling the invertibility check.
+ * The matrix will be declared invertible if the absolute value of its
+ * determinant is greater than this threshold.
+ *
+ * Example: \include MatrixBase_computeInverseAndDetWithCheck.cpp
+ * Output: \verbinclude MatrixBase_computeInverseAndDetWithCheck.out
+ *
+ * \sa inverse(), computeInverseWithCheck()
+ */
+template<typename Derived>
+template<typename ResultType>
+inline void MatrixBase<Derived>::computeInverseAndDetWithCheck(
+ ResultType& inverse,
+ typename ResultType::Scalar& determinant,
+ bool& invertible,
+ const RealScalar& absDeterminantThreshold
+ ) const
+{
+ // i'd love to put some static assertions there, but SFINAE means that they have no effect...
+ eigen_assert(rows() == cols());
+ // for 2x2, it's worth giving a chance to avoid evaluating.
+ // for larger sizes, evaluating has negligible cost and limits code size.
+ typedef typename internal::conditional<
+ RowsAtCompileTime == 2,
+ typename internal::remove_all<typename internal::nested_eval<Derived, 2>::type>::type,
+ PlainObject
+ >::type MatrixType;
+ internal::compute_inverse_and_det_with_check<MatrixType, ResultType>::run
+ (derived(), absDeterminantThreshold, inverse, determinant, invertible);
+}
+
+/** \lu_module
+ *
+ * Computation of matrix inverse, with invertibility check.
+ *
+ * This is only for fixed-size square matrices of size up to 4x4.
+ *
+ * \param inverse Reference to the matrix in which to store the inverse.
+ * \param invertible Reference to the bool variable in which to store whether the matrix is invertible.
+ * \param absDeterminantThreshold Optional parameter controlling the invertibility check.
+ * The matrix will be declared invertible if the absolute value of its
+ * determinant is greater than this threshold.
+ *
+ * Example: \include MatrixBase_computeInverseWithCheck.cpp
+ * Output: \verbinclude MatrixBase_computeInverseWithCheck.out
+ *
+ * \sa inverse(), computeInverseAndDetWithCheck()
+ */
+template<typename Derived>
+template<typename ResultType>
+inline void MatrixBase<Derived>::computeInverseWithCheck(
+ ResultType& inverse,
+ bool& invertible,
+ const RealScalar& absDeterminantThreshold
+ ) const
+{
+ Scalar determinant;
+ // i'd love to put some static assertions there, but SFINAE means that they have no effect...
+ eigen_assert(rows() == cols());
+ computeInverseAndDetWithCheck(inverse,determinant,invertible,absDeterminantThreshold);
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_INVERSE_IMPL_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/LU/PartialPivLU.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/LU/PartialPivLU.h
new file mode 100644
index 0000000..d439618
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/LU/PartialPivLU.h
@@ -0,0 +1,611 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_PARTIALLU_H
+#define EIGEN_PARTIALLU_H
+
+namespace Eigen {
+
+namespace internal {
+template<typename _MatrixType> struct traits<PartialPivLU<_MatrixType> >
+ : traits<_MatrixType>
+{
+ typedef MatrixXpr XprKind;
+ typedef SolverStorage StorageKind;
+ typedef traits<_MatrixType> BaseTraits;
+ enum {
+ Flags = BaseTraits::Flags & RowMajorBit,
+ CoeffReadCost = Dynamic
+ };
+};
+
+template<typename T,typename Derived>
+struct enable_if_ref;
+// {
+// typedef Derived type;
+// };
+
+template<typename T,typename Derived>
+struct enable_if_ref<Ref<T>,Derived> {
+ typedef Derived type;
+};
+
+} // end namespace internal
+
+/** \ingroup LU_Module
+ *
+ * \class PartialPivLU
+ *
+ * \brief LU decomposition of a matrix with partial pivoting, and related features
+ *
+ * \tparam _MatrixType the type of the matrix of which we are computing the LU decomposition
+ *
+ * This class represents a LU decomposition of a \b square \b invertible matrix, with partial pivoting: the matrix A
+ * is decomposed as A = PLU where L is unit-lower-triangular, U is upper-triangular, and P
+ * is a permutation matrix.
+ *
+ * Typically, partial pivoting LU decomposition is only considered numerically stable for square invertible
+ * matrices. Thus LAPACK's dgesv and dgesvx require the matrix to be square and invertible. The present class
+ * does the same. It will assert that the matrix is square, but it won't (actually it can't) check that the
+ * matrix is invertible: it is your task to check that you only use this decomposition on invertible matrices.
+ *
+ * The guaranteed safe alternative, working for all matrices, is the full pivoting LU decomposition, provided
+ * by class FullPivLU.
+ *
+ * This is \b not a rank-revealing LU decomposition. Many features are intentionally absent from this class,
+ * such as rank computation. If you need these features, use class FullPivLU.
+ *
+ * This LU decomposition is suitable to invert invertible matrices. It is what MatrixBase::inverse() uses
+ * in the general case.
+ * On the other hand, it is \b not suitable to determine whether a given matrix is invertible.
+ *
+ * The data of the LU decomposition can be directly accessed through the methods matrixLU(), permutationP().
+ *
+ * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
+ *
+ * \sa MatrixBase::partialPivLu(), MatrixBase::determinant(), MatrixBase::inverse(), MatrixBase::computeInverse(), class FullPivLU
+ */
+template<typename _MatrixType> class PartialPivLU
+ : public SolverBase<PartialPivLU<_MatrixType> >
+{
+ public:
+
+ typedef _MatrixType MatrixType;
+ typedef SolverBase<PartialPivLU> Base;
+ EIGEN_GENERIC_PUBLIC_INTERFACE(PartialPivLU)
+ // FIXME StorageIndex defined in EIGEN_GENERIC_PUBLIC_INTERFACE should be int
+ enum {
+ MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+ MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+ };
+ typedef PermutationMatrix<RowsAtCompileTime, MaxRowsAtCompileTime> PermutationType;
+ typedef Transpositions<RowsAtCompileTime, MaxRowsAtCompileTime> TranspositionType;
+ typedef typename MatrixType::PlainObject PlainObject;
+
+ /**
+ * \brief Default Constructor.
+ *
+ * The default constructor is useful in cases in which the user intends to
+ * perform decompositions via PartialPivLU::compute(const MatrixType&).
+ */
+ PartialPivLU();
+
+ /** \brief Default Constructor with memory preallocation
+ *
+ * Like the default constructor but with preallocation of the internal data
+ * according to the specified problem \a size.
+ * \sa PartialPivLU()
+ */
+ explicit PartialPivLU(Index size);
+
+ /** Constructor.
+ *
+ * \param matrix the matrix of which to compute the LU decomposition.
+ *
+ * \warning The matrix should have full rank (e.g. if it's square, it should be invertible).
+ * If you need to deal with non-full rank, use class FullPivLU instead.
+ */
+ template<typename InputType>
+ explicit PartialPivLU(const EigenBase<InputType>& matrix);
+
+ /** Constructor for \link InplaceDecomposition inplace decomposition \endlink
+ *
+ * \param matrix the matrix of which to compute the LU decomposition.
+ *
+ * \warning The matrix should have full rank (e.g. if it's square, it should be invertible).
+ * If you need to deal with non-full rank, use class FullPivLU instead.
+ */
+ template<typename InputType>
+ explicit PartialPivLU(EigenBase<InputType>& matrix);
+
+ template<typename InputType>
+ PartialPivLU& compute(const EigenBase<InputType>& matrix) {
+ m_lu = matrix.derived();
+ compute();
+ return *this;
+ }
+
+ /** \returns the LU decomposition matrix: the upper-triangular part is U, the
+ * unit-lower-triangular part is L (at least for square matrices; in the non-square
+ * case, special care is needed, see the documentation of class FullPivLU).
+ *
+ * \sa matrixL(), matrixU()
+ */
+ inline const MatrixType& matrixLU() const
+ {
+ eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
+ return m_lu;
+ }
+
+ /** \returns the permutation matrix P.
+ */
+ inline const PermutationType& permutationP() const
+ {
+ eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
+ return m_p;
+ }
+
+ /** This method returns the solution x to the equation Ax=b, where A is the matrix of which
+ * *this is the LU decomposition.
+ *
+ * \param b the right-hand-side of the equation to solve. Can be a vector or a matrix,
+ * the only requirement in order for the equation to make sense is that
+ * b.rows()==A.rows(), where A is the matrix of which *this is the LU decomposition.
+ *
+ * \returns the solution.
+ *
+ * Example: \include PartialPivLU_solve.cpp
+ * Output: \verbinclude PartialPivLU_solve.out
+ *
+ * Since this PartialPivLU class assumes anyway that the matrix A is invertible, the solution
+ * theoretically exists and is unique regardless of b.
+ *
+ * \sa TriangularView::solve(), inverse(), computeInverse()
+ */
+ // FIXME this is a copy-paste of the base-class member to add the isInitialized assertion.
+ template<typename Rhs>
+ inline const Solve<PartialPivLU, Rhs>
+ solve(const MatrixBase<Rhs>& b) const
+ {
+ eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
+ return Solve<PartialPivLU, Rhs>(*this, b.derived());
+ }
+
+ /** \returns an estimate of the reciprocal condition number of the matrix of which \c *this is
+ the LU decomposition.
+ */
+ inline RealScalar rcond() const
+ {
+ eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
+ return internal::rcond_estimate_helper(m_l1_norm, *this);
+ }
+
+ /** \returns the inverse of the matrix of which *this is the LU decomposition.
+ *
+ * \warning The matrix being decomposed here is assumed to be invertible. If you need to check for
+ * invertibility, use class FullPivLU instead.
+ *
+ * \sa MatrixBase::inverse(), LU::inverse()
+ */
+ inline const Inverse<PartialPivLU> inverse() const
+ {
+ eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
+ return Inverse<PartialPivLU>(*this);
+ }
+
+ /** \returns the determinant of the matrix of which
+ * *this is the LU decomposition. It has only linear complexity
+ * (that is, O(n) where n is the dimension of the square matrix)
+ * as the LU decomposition has already been computed.
+ *
+ * \note For fixed-size matrices of size up to 4, MatrixBase::determinant() offers
+ * optimized paths.
+ *
+ * \warning a determinant can be very big or small, so for matrices
+ * of large enough dimension, there is a risk of overflow/underflow.
+ *
+ * \sa MatrixBase::determinant()
+ */
+ Scalar determinant() const;
+
+ MatrixType reconstructedMatrix() const;
+
+ inline Index rows() const { return m_lu.rows(); }
+ inline Index cols() const { return m_lu.cols(); }
+
+ #ifndef EIGEN_PARSED_BY_DOXYGEN
+ template<typename RhsType, typename DstType>
+ EIGEN_DEVICE_FUNC
+ void _solve_impl(const RhsType &rhs, DstType &dst) const {
+ /* The decomposition PA = LU can be rewritten as A = P^{-1} L U.
+ * So we proceed as follows:
+ * Step 1: compute c = Pb.
+ * Step 2: replace c by the solution x to Lx = c.
+ * Step 3: replace c by the solution x to Ux = c.
+ */
+
+ eigen_assert(rhs.rows() == m_lu.rows());
+
+ // Step 1
+ dst = permutationP() * rhs;
+
+ // Step 2
+ m_lu.template triangularView<UnitLower>().solveInPlace(dst);
+
+ // Step 3
+ m_lu.template triangularView<Upper>().solveInPlace(dst);
+ }
+
+ template<bool Conjugate, typename RhsType, typename DstType>
+ EIGEN_DEVICE_FUNC
+ void _solve_impl_transposed(const RhsType &rhs, DstType &dst) const {
+ /* The decomposition PA = LU can be rewritten as A = P^{-1} L U.
+ * So we proceed as follows:
+ * Step 1: compute c = Pb.
+ * Step 2: replace c by the solution x to Lx = c.
+ * Step 3: replace c by the solution x to Ux = c.
+ */
+
+ eigen_assert(rhs.rows() == m_lu.cols());
+
+ if (Conjugate) {
+ // Step 1
+ dst = m_lu.template triangularView<Upper>().adjoint().solve(rhs);
+ // Step 2
+ m_lu.template triangularView<UnitLower>().adjoint().solveInPlace(dst);
+ } else {
+ // Step 1
+ dst = m_lu.template triangularView<Upper>().transpose().solve(rhs);
+ // Step 2
+ m_lu.template triangularView<UnitLower>().transpose().solveInPlace(dst);
+ }
+ // Step 3
+ dst = permutationP().transpose() * dst;
+ }
+ #endif
+
+ protected:
+
+ static void check_template_parameters()
+ {
+ EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
+ }
+
+ void compute();
+
+ MatrixType m_lu;
+ PermutationType m_p;
+ TranspositionType m_rowsTranspositions;
+ RealScalar m_l1_norm;
+ signed char m_det_p;
+ bool m_isInitialized;
+};
+
+template<typename MatrixType>
+PartialPivLU<MatrixType>::PartialPivLU()
+ : m_lu(),
+ m_p(),
+ m_rowsTranspositions(),
+ m_l1_norm(0),
+ m_det_p(0),
+ m_isInitialized(false)
+{
+}
+
+template<typename MatrixType>
+PartialPivLU<MatrixType>::PartialPivLU(Index size)
+ : m_lu(size, size),
+ m_p(size),
+ m_rowsTranspositions(size),
+ m_l1_norm(0),
+ m_det_p(0),
+ m_isInitialized(false)
+{
+}
+
+template<typename MatrixType>
+template<typename InputType>
+PartialPivLU<MatrixType>::PartialPivLU(const EigenBase<InputType>& matrix)
+ : m_lu(matrix.rows(),matrix.cols()),
+ m_p(matrix.rows()),
+ m_rowsTranspositions(matrix.rows()),
+ m_l1_norm(0),
+ m_det_p(0),
+ m_isInitialized(false)
+{
+ compute(matrix.derived());
+}
+
+template<typename MatrixType>
+template<typename InputType>
+PartialPivLU<MatrixType>::PartialPivLU(EigenBase<InputType>& matrix)
+ : m_lu(matrix.derived()),
+ m_p(matrix.rows()),
+ m_rowsTranspositions(matrix.rows()),
+ m_l1_norm(0),
+ m_det_p(0),
+ m_isInitialized(false)
+{
+ compute();
+}
+
+namespace internal {
+
+/** \internal This is the blocked version of fullpivlu_unblocked() */
+template<typename Scalar, int StorageOrder, typename PivIndex>
+struct partial_lu_impl
+{
+ // FIXME add a stride to Map, so that the following mapping becomes easier,
+ // another option would be to create an expression being able to automatically
+ // warp any Map, Matrix, and Block expressions as a unique type, but since that's exactly
+ // a Map + stride, why not adding a stride to Map, and convenient ctors from a Matrix,
+ // and Block.
+ typedef Map<Matrix<Scalar, Dynamic, Dynamic, StorageOrder> > MapLU;
+ typedef Block<MapLU, Dynamic, Dynamic> MatrixType;
+ typedef Block<MatrixType,Dynamic,Dynamic> BlockType;
+ typedef typename MatrixType::RealScalar RealScalar;
+
+ /** \internal performs the LU decomposition in-place of the matrix \a lu
+ * using an unblocked algorithm.
+ *
+ * In addition, this function returns the row transpositions in the
+ * vector \a row_transpositions which must have a size equal to the number
+ * of columns of the matrix \a lu, and an integer \a nb_transpositions
+ * which returns the actual number of transpositions.
+ *
+ * \returns The index of the first pivot which is exactly zero if any, or a negative number otherwise.
+ */
+ static Index unblocked_lu(MatrixType& lu, PivIndex* row_transpositions, PivIndex& nb_transpositions)
+ {
+ typedef scalar_score_coeff_op<Scalar> Scoring;
+ typedef typename Scoring::result_type Score;
+ const Index rows = lu.rows();
+ const Index cols = lu.cols();
+ const Index size = (std::min)(rows,cols);
+ nb_transpositions = 0;
+ Index first_zero_pivot = -1;
+ for(Index k = 0; k < size; ++k)
+ {
+ Index rrows = rows-k-1;
+ Index rcols = cols-k-1;
+
+ Index row_of_biggest_in_col;
+ Score biggest_in_corner
+ = lu.col(k).tail(rows-k).unaryExpr(Scoring()).maxCoeff(&row_of_biggest_in_col);
+ row_of_biggest_in_col += k;
+
+ row_transpositions[k] = PivIndex(row_of_biggest_in_col);
+
+ if(biggest_in_corner != Score(0))
+ {
+ if(k != row_of_biggest_in_col)
+ {
+ lu.row(k).swap(lu.row(row_of_biggest_in_col));
+ ++nb_transpositions;
+ }
+
+ // FIXME shall we introduce a safe quotient expression in cas 1/lu.coeff(k,k)
+ // overflow but not the actual quotient?
+ lu.col(k).tail(rrows) /= lu.coeff(k,k);
+ }
+ else if(first_zero_pivot==-1)
+ {
+ // the pivot is exactly zero, we record the index of the first pivot which is exactly 0,
+ // and continue the factorization such we still have A = PLU
+ first_zero_pivot = k;
+ }
+
+ if(k<rows-1)
+ lu.bottomRightCorner(rrows,rcols).noalias() -= lu.col(k).tail(rrows) * lu.row(k).tail(rcols);
+ }
+ return first_zero_pivot;
+ }
+
+ /** \internal performs the LU decomposition in-place of the matrix represented
+ * by the variables \a rows, \a cols, \a lu_data, and \a lu_stride using a
+ * recursive, blocked algorithm.
+ *
+ * In addition, this function returns the row transpositions in the
+ * vector \a row_transpositions which must have a size equal to the number
+ * of columns of the matrix \a lu, and an integer \a nb_transpositions
+ * which returns the actual number of transpositions.
+ *
+ * \returns The index of the first pivot which is exactly zero if any, or a negative number otherwise.
+ *
+ * \note This very low level interface using pointers, etc. is to:
+ * 1 - reduce the number of instanciations to the strict minimum
+ * 2 - avoid infinite recursion of the instanciations with Block<Block<Block<...> > >
+ */
+ static Index blocked_lu(Index rows, Index cols, Scalar* lu_data, Index luStride, PivIndex* row_transpositions, PivIndex& nb_transpositions, Index maxBlockSize=256)
+ {
+ MapLU lu1(lu_data,StorageOrder==RowMajor?rows:luStride,StorageOrder==RowMajor?luStride:cols);
+ MatrixType lu(lu1,0,0,rows,cols);
+
+ const Index size = (std::min)(rows,cols);
+
+ // if the matrix is too small, no blocking:
+ if(size<=16)
+ {
+ return unblocked_lu(lu, row_transpositions, nb_transpositions);
+ }
+
+ // automatically adjust the number of subdivisions to the size
+ // of the matrix so that there is enough sub blocks:
+ Index blockSize;
+ {
+ blockSize = size/8;
+ blockSize = (blockSize/16)*16;
+ blockSize = (std::min)((std::max)(blockSize,Index(8)), maxBlockSize);
+ }
+
+ nb_transpositions = 0;
+ Index first_zero_pivot = -1;
+ for(Index k = 0; k < size; k+=blockSize)
+ {
+ Index bs = (std::min)(size-k,blockSize); // actual size of the block
+ Index trows = rows - k - bs; // trailing rows
+ Index tsize = size - k - bs; // trailing size
+
+ // partition the matrix:
+ // A00 | A01 | A02
+ // lu = A_0 | A_1 | A_2 = A10 | A11 | A12
+ // A20 | A21 | A22
+ BlockType A_0(lu,0,0,rows,k);
+ BlockType A_2(lu,0,k+bs,rows,tsize);
+ BlockType A11(lu,k,k,bs,bs);
+ BlockType A12(lu,k,k+bs,bs,tsize);
+ BlockType A21(lu,k+bs,k,trows,bs);
+ BlockType A22(lu,k+bs,k+bs,trows,tsize);
+
+ PivIndex nb_transpositions_in_panel;
+ // recursively call the blocked LU algorithm on [A11^T A21^T]^T
+ // with a very small blocking size:
+ Index ret = blocked_lu(trows+bs, bs, &lu.coeffRef(k,k), luStride,
+ row_transpositions+k, nb_transpositions_in_panel, 16);
+ if(ret>=0 && first_zero_pivot==-1)
+ first_zero_pivot = k+ret;
+
+ nb_transpositions += nb_transpositions_in_panel;
+ // update permutations and apply them to A_0
+ for(Index i=k; i<k+bs; ++i)
+ {
+ Index piv = (row_transpositions[i] += internal::convert_index<PivIndex>(k));
+ A_0.row(i).swap(A_0.row(piv));
+ }
+
+ if(trows)
+ {
+ // apply permutations to A_2
+ for(Index i=k;i<k+bs; ++i)
+ A_2.row(i).swap(A_2.row(row_transpositions[i]));
+
+ // A12 = A11^-1 A12
+ A11.template triangularView<UnitLower>().solveInPlace(A12);
+
+ A22.noalias() -= A21 * A12;
+ }
+ }
+ return first_zero_pivot;
+ }
+};
+
+/** \internal performs the LU decomposition with partial pivoting in-place.
+ */
+template<typename MatrixType, typename TranspositionType>
+void partial_lu_inplace(MatrixType& lu, TranspositionType& row_transpositions, typename TranspositionType::StorageIndex& nb_transpositions)
+{
+ eigen_assert(lu.cols() == row_transpositions.size());
+ eigen_assert((&row_transpositions.coeffRef(1)-&row_transpositions.coeffRef(0)) == 1);
+
+ partial_lu_impl
+ <typename MatrixType::Scalar, MatrixType::Flags&RowMajorBit?RowMajor:ColMajor, typename TranspositionType::StorageIndex>
+ ::blocked_lu(lu.rows(), lu.cols(), &lu.coeffRef(0,0), lu.outerStride(), &row_transpositions.coeffRef(0), nb_transpositions);
+}
+
+} // end namespace internal
+
+template<typename MatrixType>
+void PartialPivLU<MatrixType>::compute()
+{
+ check_template_parameters();
+
+ // the row permutation is stored as int indices, so just to be sure:
+ eigen_assert(m_lu.rows()<NumTraits<int>::highest());
+
+ m_l1_norm = m_lu.cwiseAbs().colwise().sum().maxCoeff();
+
+ eigen_assert(m_lu.rows() == m_lu.cols() && "PartialPivLU is only for square (and moreover invertible) matrices");
+ const Index size = m_lu.rows();
+
+ m_rowsTranspositions.resize(size);
+
+ typename TranspositionType::StorageIndex nb_transpositions;
+ internal::partial_lu_inplace(m_lu, m_rowsTranspositions, nb_transpositions);
+ m_det_p = (nb_transpositions%2) ? -1 : 1;
+
+ m_p = m_rowsTranspositions;
+
+ m_isInitialized = true;
+}
+
+template<typename MatrixType>
+typename PartialPivLU<MatrixType>::Scalar PartialPivLU<MatrixType>::determinant() const
+{
+ eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
+ return Scalar(m_det_p) * m_lu.diagonal().prod();
+}
+
+/** \returns the matrix represented by the decomposition,
+ * i.e., it returns the product: P^{-1} L U.
+ * This function is provided for debug purpose. */
+template<typename MatrixType>
+MatrixType PartialPivLU<MatrixType>::reconstructedMatrix() const
+{
+ eigen_assert(m_isInitialized && "LU is not initialized.");
+ // LU
+ MatrixType res = m_lu.template triangularView<UnitLower>().toDenseMatrix()
+ * m_lu.template triangularView<Upper>();
+
+ // P^{-1}(LU)
+ res = m_p.inverse() * res;
+
+ return res;
+}
+
+/***** Implementation details *****************************************************/
+
+namespace internal {
+
+/***** Implementation of inverse() *****************************************************/
+template<typename DstXprType, typename MatrixType>
+struct Assignment<DstXprType, Inverse<PartialPivLU<MatrixType> >, internal::assign_op<typename DstXprType::Scalar,typename PartialPivLU<MatrixType>::Scalar>, Dense2Dense>
+{
+ typedef PartialPivLU<MatrixType> LuType;
+ typedef Inverse<LuType> SrcXprType;
+ static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename LuType::Scalar> &)
+ {
+ dst = src.nestedExpression().solve(MatrixType::Identity(src.rows(), src.cols()));
+ }
+};
+} // end namespace internal
+
+/******** MatrixBase methods *******/
+
+/** \lu_module
+ *
+ * \return the partial-pivoting LU decomposition of \c *this.
+ *
+ * \sa class PartialPivLU
+ */
+template<typename Derived>
+inline const PartialPivLU<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::partialPivLu() const
+{
+ return PartialPivLU<PlainObject>(eval());
+}
+
+/** \lu_module
+ *
+ * Synonym of partialPivLu().
+ *
+ * \return the partial-pivoting LU decomposition of \c *this.
+ *
+ * \sa class PartialPivLU
+ */
+template<typename Derived>
+inline const PartialPivLU<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::lu() const
+{
+ return PartialPivLU<PlainObject>(eval());
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_PARTIALLU_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/LU/arch/Inverse_SSE.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/LU/arch/Inverse_SSE.h
new file mode 100644
index 0000000..ebb64a6
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/LU/arch/Inverse_SSE.h
@@ -0,0 +1,338 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2001 Intel Corporation
+// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+// The SSE code for the 4x4 float and double matrix inverse in this file
+// comes from the following Intel's library:
+// http://software.intel.com/en-us/articles/optimized-matrix-library-for-use-with-the-intel-pentiumr-4-processors-sse2-instructions/
+//
+// Here is the respective copyright and license statement:
+//
+// Copyright (c) 2001 Intel Corporation.
+//
+// Permition is granted to use, copy, distribute and prepare derivative works
+// of this library for any purpose and without fee, provided, that the above
+// copyright notice and this statement appear in all copies.
+// Intel makes no representations about the suitability of this software for
+// any purpose, and specifically disclaims all warranties.
+// See LEGAL.TXT for all the legal information.
+
+#ifndef EIGEN_INVERSE_SSE_H
+#define EIGEN_INVERSE_SSE_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse_size4<Architecture::SSE, float, MatrixType, ResultType>
+{
+ enum {
+ MatrixAlignment = traits<MatrixType>::Alignment,
+ ResultAlignment = traits<ResultType>::Alignment,
+ StorageOrdersMatch = (MatrixType::Flags&RowMajorBit) == (ResultType::Flags&RowMajorBit)
+ };
+ typedef typename conditional<(MatrixType::Flags&LinearAccessBit),MatrixType const &,typename MatrixType::PlainObject>::type ActualMatrixType;
+
+ static void run(const MatrixType& mat, ResultType& result)
+ {
+ ActualMatrixType matrix(mat);
+ EIGEN_ALIGN16 const unsigned int _Sign_PNNP[4] = { 0x00000000, 0x80000000, 0x80000000, 0x00000000 };
+
+ // Load the full matrix into registers
+ __m128 _L1 = matrix.template packet<MatrixAlignment>( 0);
+ __m128 _L2 = matrix.template packet<MatrixAlignment>( 4);
+ __m128 _L3 = matrix.template packet<MatrixAlignment>( 8);
+ __m128 _L4 = matrix.template packet<MatrixAlignment>(12);
+
+ // The inverse is calculated using "Divide and Conquer" technique. The
+ // original matrix is divide into four 2x2 sub-matrices. Since each
+ // register holds four matrix element, the smaller matrices are
+ // represented as a registers. Hence we get a better locality of the
+ // calculations.
+
+ __m128 A, B, C, D; // the four sub-matrices
+ if(!StorageOrdersMatch)
+ {
+ A = _mm_unpacklo_ps(_L1, _L2);
+ B = _mm_unpacklo_ps(_L3, _L4);
+ C = _mm_unpackhi_ps(_L1, _L2);
+ D = _mm_unpackhi_ps(_L3, _L4);
+ }
+ else
+ {
+ A = _mm_movelh_ps(_L1, _L2);
+ B = _mm_movehl_ps(_L2, _L1);
+ C = _mm_movelh_ps(_L3, _L4);
+ D = _mm_movehl_ps(_L4, _L3);
+ }
+
+ __m128 iA, iB, iC, iD, // partial inverse of the sub-matrices
+ DC, AB;
+ __m128 dA, dB, dC, dD; // determinant of the sub-matrices
+ __m128 det, d, d1, d2;
+ __m128 rd; // reciprocal of the determinant
+
+ // AB = A# * B
+ AB = _mm_mul_ps(_mm_shuffle_ps(A,A,0x0F), B);
+ AB = _mm_sub_ps(AB,_mm_mul_ps(_mm_shuffle_ps(A,A,0xA5), _mm_shuffle_ps(B,B,0x4E)));
+ // DC = D# * C
+ DC = _mm_mul_ps(_mm_shuffle_ps(D,D,0x0F), C);
+ DC = _mm_sub_ps(DC,_mm_mul_ps(_mm_shuffle_ps(D,D,0xA5), _mm_shuffle_ps(C,C,0x4E)));
+
+ // dA = |A|
+ dA = _mm_mul_ps(_mm_shuffle_ps(A, A, 0x5F),A);
+ dA = _mm_sub_ss(dA, _mm_movehl_ps(dA,dA));
+ // dB = |B|
+ dB = _mm_mul_ps(_mm_shuffle_ps(B, B, 0x5F),B);
+ dB = _mm_sub_ss(dB, _mm_movehl_ps(dB,dB));
+
+ // dC = |C|
+ dC = _mm_mul_ps(_mm_shuffle_ps(C, C, 0x5F),C);
+ dC = _mm_sub_ss(dC, _mm_movehl_ps(dC,dC));
+ // dD = |D|
+ dD = _mm_mul_ps(_mm_shuffle_ps(D, D, 0x5F),D);
+ dD = _mm_sub_ss(dD, _mm_movehl_ps(dD,dD));
+
+ // d = trace(AB*DC) = trace(A#*B*D#*C)
+ d = _mm_mul_ps(_mm_shuffle_ps(DC,DC,0xD8),AB);
+
+ // iD = C*A#*B
+ iD = _mm_mul_ps(_mm_shuffle_ps(C,C,0xA0), _mm_movelh_ps(AB,AB));
+ iD = _mm_add_ps(iD,_mm_mul_ps(_mm_shuffle_ps(C,C,0xF5), _mm_movehl_ps(AB,AB)));
+ // iA = B*D#*C
+ iA = _mm_mul_ps(_mm_shuffle_ps(B,B,0xA0), _mm_movelh_ps(DC,DC));
+ iA = _mm_add_ps(iA,_mm_mul_ps(_mm_shuffle_ps(B,B,0xF5), _mm_movehl_ps(DC,DC)));
+
+ // d = trace(AB*DC) = trace(A#*B*D#*C) [continue]
+ d = _mm_add_ps(d, _mm_movehl_ps(d, d));
+ d = _mm_add_ss(d, _mm_shuffle_ps(d, d, 1));
+ d1 = _mm_mul_ss(dA,dD);
+ d2 = _mm_mul_ss(dB,dC);
+
+ // iD = D*|A| - C*A#*B
+ iD = _mm_sub_ps(_mm_mul_ps(D,_mm_shuffle_ps(dA,dA,0)), iD);
+
+ // iA = A*|D| - B*D#*C;
+ iA = _mm_sub_ps(_mm_mul_ps(A,_mm_shuffle_ps(dD,dD,0)), iA);
+
+ // det = |A|*|D| + |B|*|C| - trace(A#*B*D#*C)
+ det = _mm_sub_ss(_mm_add_ss(d1,d2),d);
+ rd = _mm_div_ss(_mm_set_ss(1.0f), det);
+
+// #ifdef ZERO_SINGULAR
+// rd = _mm_and_ps(_mm_cmpneq_ss(det,_mm_setzero_ps()), rd);
+// #endif
+
+ // iB = D * (A#B)# = D*B#*A
+ iB = _mm_mul_ps(D, _mm_shuffle_ps(AB,AB,0x33));
+ iB = _mm_sub_ps(iB, _mm_mul_ps(_mm_shuffle_ps(D,D,0xB1), _mm_shuffle_ps(AB,AB,0x66)));
+ // iC = A * (D#C)# = A*C#*D
+ iC = _mm_mul_ps(A, _mm_shuffle_ps(DC,DC,0x33));
+ iC = _mm_sub_ps(iC, _mm_mul_ps(_mm_shuffle_ps(A,A,0xB1), _mm_shuffle_ps(DC,DC,0x66)));
+
+ rd = _mm_shuffle_ps(rd,rd,0);
+ rd = _mm_xor_ps(rd, _mm_load_ps((float*)_Sign_PNNP));
+
+ // iB = C*|B| - D*B#*A
+ iB = _mm_sub_ps(_mm_mul_ps(C,_mm_shuffle_ps(dB,dB,0)), iB);
+
+ // iC = B*|C| - A*C#*D;
+ iC = _mm_sub_ps(_mm_mul_ps(B,_mm_shuffle_ps(dC,dC,0)), iC);
+
+ // iX = iX / det
+ iA = _mm_mul_ps(rd,iA);
+ iB = _mm_mul_ps(rd,iB);
+ iC = _mm_mul_ps(rd,iC);
+ iD = _mm_mul_ps(rd,iD);
+
+ Index res_stride = result.outerStride();
+ float* res = result.data();
+ pstoret<float, Packet4f, ResultAlignment>(res+0, _mm_shuffle_ps(iA,iB,0x77));
+ pstoret<float, Packet4f, ResultAlignment>(res+res_stride, _mm_shuffle_ps(iA,iB,0x22));
+ pstoret<float, Packet4f, ResultAlignment>(res+2*res_stride, _mm_shuffle_ps(iC,iD,0x77));
+ pstoret<float, Packet4f, ResultAlignment>(res+3*res_stride, _mm_shuffle_ps(iC,iD,0x22));
+ }
+
+};
+
+template<typename MatrixType, typename ResultType>
+struct compute_inverse_size4<Architecture::SSE, double, MatrixType, ResultType>
+{
+ enum {
+ MatrixAlignment = traits<MatrixType>::Alignment,
+ ResultAlignment = traits<ResultType>::Alignment,
+ StorageOrdersMatch = (MatrixType::Flags&RowMajorBit) == (ResultType::Flags&RowMajorBit)
+ };
+ typedef typename conditional<(MatrixType::Flags&LinearAccessBit),MatrixType const &,typename MatrixType::PlainObject>::type ActualMatrixType;
+
+ static void run(const MatrixType& mat, ResultType& result)
+ {
+ ActualMatrixType matrix(mat);
+ const __m128d _Sign_NP = _mm_castsi128_pd(_mm_set_epi32(0x0,0x0,0x80000000,0x0));
+ const __m128d _Sign_PN = _mm_castsi128_pd(_mm_set_epi32(0x80000000,0x0,0x0,0x0));
+
+ // The inverse is calculated using "Divide and Conquer" technique. The
+ // original matrix is divide into four 2x2 sub-matrices. Since each
+ // register of the matrix holds two elements, the smaller matrices are
+ // consisted of two registers. Hence we get a better locality of the
+ // calculations.
+
+ // the four sub-matrices
+ __m128d A1, A2, B1, B2, C1, C2, D1, D2;
+
+ if(StorageOrdersMatch)
+ {
+ A1 = matrix.template packet<MatrixAlignment>( 0); B1 = matrix.template packet<MatrixAlignment>( 2);
+ A2 = matrix.template packet<MatrixAlignment>( 4); B2 = matrix.template packet<MatrixAlignment>( 6);
+ C1 = matrix.template packet<MatrixAlignment>( 8); D1 = matrix.template packet<MatrixAlignment>(10);
+ C2 = matrix.template packet<MatrixAlignment>(12); D2 = matrix.template packet<MatrixAlignment>(14);
+ }
+ else
+ {
+ __m128d tmp;
+ A1 = matrix.template packet<MatrixAlignment>( 0); C1 = matrix.template packet<MatrixAlignment>( 2);
+ A2 = matrix.template packet<MatrixAlignment>( 4); C2 = matrix.template packet<MatrixAlignment>( 6);
+ tmp = A1;
+ A1 = _mm_unpacklo_pd(A1,A2);
+ A2 = _mm_unpackhi_pd(tmp,A2);
+ tmp = C1;
+ C1 = _mm_unpacklo_pd(C1,C2);
+ C2 = _mm_unpackhi_pd(tmp,C2);
+
+ B1 = matrix.template packet<MatrixAlignment>( 8); D1 = matrix.template packet<MatrixAlignment>(10);
+ B2 = matrix.template packet<MatrixAlignment>(12); D2 = matrix.template packet<MatrixAlignment>(14);
+ tmp = B1;
+ B1 = _mm_unpacklo_pd(B1,B2);
+ B2 = _mm_unpackhi_pd(tmp,B2);
+ tmp = D1;
+ D1 = _mm_unpacklo_pd(D1,D2);
+ D2 = _mm_unpackhi_pd(tmp,D2);
+ }
+
+ __m128d iA1, iA2, iB1, iB2, iC1, iC2, iD1, iD2, // partial invese of the sub-matrices
+ DC1, DC2, AB1, AB2;
+ __m128d dA, dB, dC, dD; // determinant of the sub-matrices
+ __m128d det, d1, d2, rd;
+
+ // dA = |A|
+ dA = _mm_shuffle_pd(A2, A2, 1);
+ dA = _mm_mul_pd(A1, dA);
+ dA = _mm_sub_sd(dA, _mm_shuffle_pd(dA,dA,3));
+ // dB = |B|
+ dB = _mm_shuffle_pd(B2, B2, 1);
+ dB = _mm_mul_pd(B1, dB);
+ dB = _mm_sub_sd(dB, _mm_shuffle_pd(dB,dB,3));
+
+ // AB = A# * B
+ AB1 = _mm_mul_pd(B1, _mm_shuffle_pd(A2,A2,3));
+ AB2 = _mm_mul_pd(B2, _mm_shuffle_pd(A1,A1,0));
+ AB1 = _mm_sub_pd(AB1, _mm_mul_pd(B2, _mm_shuffle_pd(A1,A1,3)));
+ AB2 = _mm_sub_pd(AB2, _mm_mul_pd(B1, _mm_shuffle_pd(A2,A2,0)));
+
+ // dC = |C|
+ dC = _mm_shuffle_pd(C2, C2, 1);
+ dC = _mm_mul_pd(C1, dC);
+ dC = _mm_sub_sd(dC, _mm_shuffle_pd(dC,dC,3));
+ // dD = |D|
+ dD = _mm_shuffle_pd(D2, D2, 1);
+ dD = _mm_mul_pd(D1, dD);
+ dD = _mm_sub_sd(dD, _mm_shuffle_pd(dD,dD,3));
+
+ // DC = D# * C
+ DC1 = _mm_mul_pd(C1, _mm_shuffle_pd(D2,D2,3));
+ DC2 = _mm_mul_pd(C2, _mm_shuffle_pd(D1,D1,0));
+ DC1 = _mm_sub_pd(DC1, _mm_mul_pd(C2, _mm_shuffle_pd(D1,D1,3)));
+ DC2 = _mm_sub_pd(DC2, _mm_mul_pd(C1, _mm_shuffle_pd(D2,D2,0)));
+
+ // rd = trace(AB*DC) = trace(A#*B*D#*C)
+ d1 = _mm_mul_pd(AB1, _mm_shuffle_pd(DC1, DC2, 0));
+ d2 = _mm_mul_pd(AB2, _mm_shuffle_pd(DC1, DC2, 3));
+ rd = _mm_add_pd(d1, d2);
+ rd = _mm_add_sd(rd, _mm_shuffle_pd(rd, rd,3));
+
+ // iD = C*A#*B
+ iD1 = _mm_mul_pd(AB1, _mm_shuffle_pd(C1,C1,0));
+ iD2 = _mm_mul_pd(AB1, _mm_shuffle_pd(C2,C2,0));
+ iD1 = _mm_add_pd(iD1, _mm_mul_pd(AB2, _mm_shuffle_pd(C1,C1,3)));
+ iD2 = _mm_add_pd(iD2, _mm_mul_pd(AB2, _mm_shuffle_pd(C2,C2,3)));
+
+ // iA = B*D#*C
+ iA1 = _mm_mul_pd(DC1, _mm_shuffle_pd(B1,B1,0));
+ iA2 = _mm_mul_pd(DC1, _mm_shuffle_pd(B2,B2,0));
+ iA1 = _mm_add_pd(iA1, _mm_mul_pd(DC2, _mm_shuffle_pd(B1,B1,3)));
+ iA2 = _mm_add_pd(iA2, _mm_mul_pd(DC2, _mm_shuffle_pd(B2,B2,3)));
+
+ // iD = D*|A| - C*A#*B
+ dA = _mm_shuffle_pd(dA,dA,0);
+ iD1 = _mm_sub_pd(_mm_mul_pd(D1, dA), iD1);
+ iD2 = _mm_sub_pd(_mm_mul_pd(D2, dA), iD2);
+
+ // iA = A*|D| - B*D#*C;
+ dD = _mm_shuffle_pd(dD,dD,0);
+ iA1 = _mm_sub_pd(_mm_mul_pd(A1, dD), iA1);
+ iA2 = _mm_sub_pd(_mm_mul_pd(A2, dD), iA2);
+
+ d1 = _mm_mul_sd(dA, dD);
+ d2 = _mm_mul_sd(dB, dC);
+
+ // iB = D * (A#B)# = D*B#*A
+ iB1 = _mm_mul_pd(D1, _mm_shuffle_pd(AB2,AB1,1));
+ iB2 = _mm_mul_pd(D2, _mm_shuffle_pd(AB2,AB1,1));
+ iB1 = _mm_sub_pd(iB1, _mm_mul_pd(_mm_shuffle_pd(D1,D1,1), _mm_shuffle_pd(AB2,AB1,2)));
+ iB2 = _mm_sub_pd(iB2, _mm_mul_pd(_mm_shuffle_pd(D2,D2,1), _mm_shuffle_pd(AB2,AB1,2)));
+
+ // det = |A|*|D| + |B|*|C| - trace(A#*B*D#*C)
+ det = _mm_add_sd(d1, d2);
+ det = _mm_sub_sd(det, rd);
+
+ // iC = A * (D#C)# = A*C#*D
+ iC1 = _mm_mul_pd(A1, _mm_shuffle_pd(DC2,DC1,1));
+ iC2 = _mm_mul_pd(A2, _mm_shuffle_pd(DC2,DC1,1));
+ iC1 = _mm_sub_pd(iC1, _mm_mul_pd(_mm_shuffle_pd(A1,A1,1), _mm_shuffle_pd(DC2,DC1,2)));
+ iC2 = _mm_sub_pd(iC2, _mm_mul_pd(_mm_shuffle_pd(A2,A2,1), _mm_shuffle_pd(DC2,DC1,2)));
+
+ rd = _mm_div_sd(_mm_set_sd(1.0), det);
+// #ifdef ZERO_SINGULAR
+// rd = _mm_and_pd(_mm_cmpneq_sd(det,_mm_setzero_pd()), rd);
+// #endif
+ rd = _mm_shuffle_pd(rd,rd,0);
+
+ // iB = C*|B| - D*B#*A
+ dB = _mm_shuffle_pd(dB,dB,0);
+ iB1 = _mm_sub_pd(_mm_mul_pd(C1, dB), iB1);
+ iB2 = _mm_sub_pd(_mm_mul_pd(C2, dB), iB2);
+
+ d1 = _mm_xor_pd(rd, _Sign_PN);
+ d2 = _mm_xor_pd(rd, _Sign_NP);
+
+ // iC = B*|C| - A*C#*D;
+ dC = _mm_shuffle_pd(dC,dC,0);
+ iC1 = _mm_sub_pd(_mm_mul_pd(B1, dC), iC1);
+ iC2 = _mm_sub_pd(_mm_mul_pd(B2, dC), iC2);
+
+ Index res_stride = result.outerStride();
+ double* res = result.data();
+ pstoret<double, Packet2d, ResultAlignment>(res+0, _mm_mul_pd(_mm_shuffle_pd(iA2, iA1, 3), d1));
+ pstoret<double, Packet2d, ResultAlignment>(res+res_stride, _mm_mul_pd(_mm_shuffle_pd(iA2, iA1, 0), d2));
+ pstoret<double, Packet2d, ResultAlignment>(res+2, _mm_mul_pd(_mm_shuffle_pd(iB2, iB1, 3), d1));
+ pstoret<double, Packet2d, ResultAlignment>(res+res_stride+2, _mm_mul_pd(_mm_shuffle_pd(iB2, iB1, 0), d2));
+ pstoret<double, Packet2d, ResultAlignment>(res+2*res_stride, _mm_mul_pd(_mm_shuffle_pd(iC2, iC1, 3), d1));
+ pstoret<double, Packet2d, ResultAlignment>(res+3*res_stride, _mm_mul_pd(_mm_shuffle_pd(iC2, iC1, 0), d2));
+ pstoret<double, Packet2d, ResultAlignment>(res+2*res_stride+2,_mm_mul_pd(_mm_shuffle_pd(iD2, iD1, 3), d1));
+ pstoret<double, Packet2d, ResultAlignment>(res+3*res_stride+2,_mm_mul_pd(_mm_shuffle_pd(iD2, iD1, 0), d2));
+ }
+};
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_INVERSE_SSE_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/QR/ColPivHouseholderQR.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/QR/ColPivHouseholderQR.h
new file mode 100644
index 0000000..a7b47d5
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/QR/ColPivHouseholderQR.h
@@ -0,0 +1,653 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_COLPIVOTINGHOUSEHOLDERQR_H
+#define EIGEN_COLPIVOTINGHOUSEHOLDERQR_H
+
+namespace Eigen {
+
+namespace internal {
+template<typename _MatrixType> struct traits<ColPivHouseholderQR<_MatrixType> >
+ : traits<_MatrixType>
+{
+ enum { Flags = 0 };
+};
+
+} // end namespace internal
+
+/** \ingroup QR_Module
+ *
+ * \class ColPivHouseholderQR
+ *
+ * \brief Householder rank-revealing QR decomposition of a matrix with column-pivoting
+ *
+ * \tparam _MatrixType the type of the matrix of which we are computing the QR decomposition
+ *
+ * This class performs a rank-revealing QR decomposition of a matrix \b A into matrices \b P, \b Q and \b R
+ * such that
+ * \f[
+ * \mathbf{A} \, \mathbf{P} = \mathbf{Q} \, \mathbf{R}
+ * \f]
+ * by using Householder transformations. Here, \b P is a permutation matrix, \b Q a unitary matrix and \b R an
+ * upper triangular matrix.
+ *
+ * This decomposition performs column pivoting in order to be rank-revealing and improve
+ * numerical stability. It is slower than HouseholderQR, and faster than FullPivHouseholderQR.
+ *
+ * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
+ *
+ * \sa MatrixBase::colPivHouseholderQr()
+ */
+template<typename _MatrixType> class ColPivHouseholderQR
+{
+ public:
+
+ typedef _MatrixType MatrixType;
+ enum {
+ RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+ ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+ MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+ MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+ };
+ typedef typename MatrixType::Scalar Scalar;
+ typedef typename MatrixType::RealScalar RealScalar;
+ // FIXME should be int
+ typedef typename MatrixType::StorageIndex StorageIndex;
+ typedef typename internal::plain_diag_type<MatrixType>::type HCoeffsType;
+ typedef PermutationMatrix<ColsAtCompileTime, MaxColsAtCompileTime> PermutationType;
+ typedef typename internal::plain_row_type<MatrixType, Index>::type IntRowVectorType;
+ typedef typename internal::plain_row_type<MatrixType>::type RowVectorType;
+ typedef typename internal::plain_row_type<MatrixType, RealScalar>::type RealRowVectorType;
+ typedef HouseholderSequence<MatrixType,typename internal::remove_all<typename HCoeffsType::ConjugateReturnType>::type> HouseholderSequenceType;
+ typedef typename MatrixType::PlainObject PlainObject;
+
+ private:
+
+ typedef typename PermutationType::StorageIndex PermIndexType;
+
+ public:
+
+ /**
+ * \brief Default Constructor.
+ *
+ * The default constructor is useful in cases in which the user intends to
+ * perform decompositions via ColPivHouseholderQR::compute(const MatrixType&).
+ */
+ ColPivHouseholderQR()
+ : m_qr(),
+ m_hCoeffs(),
+ m_colsPermutation(),
+ m_colsTranspositions(),
+ m_temp(),
+ m_colNormsUpdated(),
+ m_colNormsDirect(),
+ m_isInitialized(false),
+ m_usePrescribedThreshold(false) {}
+
+ /** \brief Default Constructor with memory preallocation
+ *
+ * Like the default constructor but with preallocation of the internal data
+ * according to the specified problem \a size.
+ * \sa ColPivHouseholderQR()
+ */
+ ColPivHouseholderQR(Index rows, Index cols)
+ : m_qr(rows, cols),
+ m_hCoeffs((std::min)(rows,cols)),
+ m_colsPermutation(PermIndexType(cols)),
+ m_colsTranspositions(cols),
+ m_temp(cols),
+ m_colNormsUpdated(cols),
+ m_colNormsDirect(cols),
+ m_isInitialized(false),
+ m_usePrescribedThreshold(false) {}
+
+ /** \brief Constructs a QR factorization from a given matrix
+ *
+ * This constructor computes the QR factorization of the matrix \a matrix by calling
+ * the method compute(). It is a short cut for:
+ *
+ * \code
+ * ColPivHouseholderQR<MatrixType> qr(matrix.rows(), matrix.cols());
+ * qr.compute(matrix);
+ * \endcode
+ *
+ * \sa compute()
+ */
+ template<typename InputType>
+ explicit ColPivHouseholderQR(const EigenBase<InputType>& matrix)
+ : m_qr(matrix.rows(), matrix.cols()),
+ m_hCoeffs((std::min)(matrix.rows(),matrix.cols())),
+ m_colsPermutation(PermIndexType(matrix.cols())),
+ m_colsTranspositions(matrix.cols()),
+ m_temp(matrix.cols()),
+ m_colNormsUpdated(matrix.cols()),
+ m_colNormsDirect(matrix.cols()),
+ m_isInitialized(false),
+ m_usePrescribedThreshold(false)
+ {
+ compute(matrix.derived());
+ }
+
+ /** \brief Constructs a QR factorization from a given matrix
+ *
+ * This overloaded constructor is provided for \link InplaceDecomposition inplace decomposition \endlink when \c MatrixType is a Eigen::Ref.
+ *
+ * \sa ColPivHouseholderQR(const EigenBase&)
+ */
+ template<typename InputType>
+ explicit ColPivHouseholderQR(EigenBase<InputType>& matrix)
+ : m_qr(matrix.derived()),
+ m_hCoeffs((std::min)(matrix.rows(),matrix.cols())),
+ m_colsPermutation(PermIndexType(matrix.cols())),
+ m_colsTranspositions(matrix.cols()),
+ m_temp(matrix.cols()),
+ m_colNormsUpdated(matrix.cols()),
+ m_colNormsDirect(matrix.cols()),
+ m_isInitialized(false),
+ m_usePrescribedThreshold(false)
+ {
+ computeInPlace();
+ }
+
+ /** This method finds a solution x to the equation Ax=b, where A is the matrix of which
+ * *this is the QR decomposition, if any exists.
+ *
+ * \param b the right-hand-side of the equation to solve.
+ *
+ * \returns a solution.
+ *
+ * \note_about_checking_solutions
+ *
+ * \note_about_arbitrary_choice_of_solution
+ *
+ * Example: \include ColPivHouseholderQR_solve.cpp
+ * Output: \verbinclude ColPivHouseholderQR_solve.out
+ */
+ template<typename Rhs>
+ inline const Solve<ColPivHouseholderQR, Rhs>
+ solve(const MatrixBase<Rhs>& b) const
+ {
+ eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+ return Solve<ColPivHouseholderQR, Rhs>(*this, b.derived());
+ }
+
+ HouseholderSequenceType householderQ() const;
+ HouseholderSequenceType matrixQ() const
+ {
+ return householderQ();
+ }
+
+ /** \returns a reference to the matrix where the Householder QR decomposition is stored
+ */
+ const MatrixType& matrixQR() const
+ {
+ eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+ return m_qr;
+ }
+
+ /** \returns a reference to the matrix where the result Householder QR is stored
+ * \warning The strict lower part of this matrix contains internal values.
+ * Only the upper triangular part should be referenced. To get it, use
+ * \code matrixR().template triangularView<Upper>() \endcode
+ * For rank-deficient matrices, use
+ * \code
+ * matrixR().topLeftCorner(rank(), rank()).template triangularView<Upper>()
+ * \endcode
+ */
+ const MatrixType& matrixR() const
+ {
+ eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+ return m_qr;
+ }
+
+ template<typename InputType>
+ ColPivHouseholderQR& compute(const EigenBase<InputType>& matrix);
+
+ /** \returns a const reference to the column permutation matrix */
+ const PermutationType& colsPermutation() const
+ {
+ eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+ return m_colsPermutation;
+ }
+
+ /** \returns the absolute value of the determinant of the matrix of which
+ * *this is the QR decomposition. It has only linear complexity
+ * (that is, O(n) where n is the dimension of the square matrix)
+ * as the QR decomposition has already been computed.
+ *
+ * \note This is only for square matrices.
+ *
+ * \warning a determinant can be very big or small, so for matrices
+ * of large enough dimension, there is a risk of overflow/underflow.
+ * One way to work around that is to use logAbsDeterminant() instead.
+ *
+ * \sa logAbsDeterminant(), MatrixBase::determinant()
+ */
+ typename MatrixType::RealScalar absDeterminant() const;
+
+ /** \returns the natural log of the absolute value of the determinant of the matrix of which
+ * *this is the QR decomposition. It has only linear complexity
+ * (that is, O(n) where n is the dimension of the square matrix)
+ * as the QR decomposition has already been computed.
+ *
+ * \note This is only for square matrices.
+ *
+ * \note This method is useful to work around the risk of overflow/underflow that's inherent
+ * to determinant computation.
+ *
+ * \sa absDeterminant(), MatrixBase::determinant()
+ */
+ typename MatrixType::RealScalar logAbsDeterminant() const;
+
+ /** \returns the rank of the matrix of which *this is the QR decomposition.
+ *
+ * \note This method has to determine which pivots should be considered nonzero.
+ * For that, it uses the threshold value that you can control by calling
+ * setThreshold(const RealScalar&).
+ */
+ inline Index rank() const
+ {
+ using std::abs;
+ eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+ RealScalar premultiplied_threshold = abs(m_maxpivot) * threshold();
+ Index result = 0;
+ for(Index i = 0; i < m_nonzero_pivots; ++i)
+ result += (abs(m_qr.coeff(i,i)) > premultiplied_threshold);
+ return result;
+ }
+
+ /** \returns the dimension of the kernel of the matrix of which *this is the QR decomposition.
+ *
+ * \note This method has to determine which pivots should be considered nonzero.
+ * For that, it uses the threshold value that you can control by calling
+ * setThreshold(const RealScalar&).
+ */
+ inline Index dimensionOfKernel() const
+ {
+ eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+ return cols() - rank();
+ }
+
+ /** \returns true if the matrix of which *this is the QR decomposition represents an injective
+ * linear map, i.e. has trivial kernel; false otherwise.
+ *
+ * \note This method has to determine which pivots should be considered nonzero.
+ * For that, it uses the threshold value that you can control by calling
+ * setThreshold(const RealScalar&).
+ */
+ inline bool isInjective() const
+ {
+ eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+ return rank() == cols();
+ }
+
+ /** \returns true if the matrix of which *this is the QR decomposition represents a surjective
+ * linear map; false otherwise.
+ *
+ * \note This method has to determine which pivots should be considered nonzero.
+ * For that, it uses the threshold value that you can control by calling
+ * setThreshold(const RealScalar&).
+ */
+ inline bool isSurjective() const
+ {
+ eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+ return rank() == rows();
+ }
+
+ /** \returns true if the matrix of which *this is the QR decomposition is invertible.
+ *
+ * \note This method has to determine which pivots should be considered nonzero.
+ * For that, it uses the threshold value that you can control by calling
+ * setThreshold(const RealScalar&).
+ */
+ inline bool isInvertible() const
+ {
+ eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+ return isInjective() && isSurjective();
+ }
+
+ /** \returns the inverse of the matrix of which *this is the QR decomposition.
+ *
+ * \note If this matrix is not invertible, the returned matrix has undefined coefficients.
+ * Use isInvertible() to first determine whether this matrix is invertible.
+ */
+ inline const Inverse<ColPivHouseholderQR> inverse() const
+ {
+ eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+ return Inverse<ColPivHouseholderQR>(*this);
+ }
+
+ inline Index rows() const { return m_qr.rows(); }
+ inline Index cols() const { return m_qr.cols(); }
+
+ /** \returns a const reference to the vector of Householder coefficients used to represent the factor \c Q.
+ *
+ * For advanced uses only.
+ */
+ const HCoeffsType& hCoeffs() const { return m_hCoeffs; }
+
+ /** Allows to prescribe a threshold to be used by certain methods, such as rank(),
+ * who need to determine when pivots are to be considered nonzero. This is not used for the
+ * QR decomposition itself.
+ *
+ * When it needs to get the threshold value, Eigen calls threshold(). By default, this
+ * uses a formula to automatically determine a reasonable threshold.
+ * Once you have called the present method setThreshold(const RealScalar&),
+ * your value is used instead.
+ *
+ * \param threshold The new value to use as the threshold.
+ *
+ * A pivot will be considered nonzero if its absolute value is strictly greater than
+ * \f$ \vert pivot \vert \leqslant threshold \times \vert maxpivot \vert \f$
+ * where maxpivot is the biggest pivot.
+ *
+ * If you want to come back to the default behavior, call setThreshold(Default_t)
+ */
+ ColPivHouseholderQR& setThreshold(const RealScalar& threshold)
+ {
+ m_usePrescribedThreshold = true;
+ m_prescribedThreshold = threshold;
+ return *this;
+ }
+
+ /** Allows to come back to the default behavior, letting Eigen use its default formula for
+ * determining the threshold.
+ *
+ * You should pass the special object Eigen::Default as parameter here.
+ * \code qr.setThreshold(Eigen::Default); \endcode
+ *
+ * See the documentation of setThreshold(const RealScalar&).
+ */
+ ColPivHouseholderQR& setThreshold(Default_t)
+ {
+ m_usePrescribedThreshold = false;
+ return *this;
+ }
+
+ /** Returns the threshold that will be used by certain methods such as rank().
+ *
+ * See the documentation of setThreshold(const RealScalar&).
+ */
+ RealScalar threshold() const
+ {
+ eigen_assert(m_isInitialized || m_usePrescribedThreshold);
+ return m_usePrescribedThreshold ? m_prescribedThreshold
+ // this formula comes from experimenting (see "LU precision tuning" thread on the list)
+ // and turns out to be identical to Higham's formula used already in LDLt.
+ : NumTraits<Scalar>::epsilon() * RealScalar(m_qr.diagonalSize());
+ }
+
+ /** \returns the number of nonzero pivots in the QR decomposition.
+ * Here nonzero is meant in the exact sense, not in a fuzzy sense.
+ * So that notion isn't really intrinsically interesting, but it is
+ * still useful when implementing algorithms.
+ *
+ * \sa rank()
+ */
+ inline Index nonzeroPivots() const
+ {
+ eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+ return m_nonzero_pivots;
+ }
+
+ /** \returns the absolute value of the biggest pivot, i.e. the biggest
+ * diagonal coefficient of R.
+ */
+ RealScalar maxPivot() const { return m_maxpivot; }
+
+ /** \brief Reports whether the QR factorization was succesful.
+ *
+ * \note This function always returns \c Success. It is provided for compatibility
+ * with other factorization routines.
+ * \returns \c Success
+ */
+ ComputationInfo info() const
+ {
+ eigen_assert(m_isInitialized && "Decomposition is not initialized.");
+ return Success;
+ }
+
+ #ifndef EIGEN_PARSED_BY_DOXYGEN
+ template<typename RhsType, typename DstType>
+ EIGEN_DEVICE_FUNC
+ void _solve_impl(const RhsType &rhs, DstType &dst) const;
+ #endif
+
+ protected:
+
+ friend class CompleteOrthogonalDecomposition<MatrixType>;
+
+ static void check_template_parameters()
+ {
+ EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
+ }
+
+ void computeInPlace();
+
+ MatrixType m_qr;
+ HCoeffsType m_hCoeffs;
+ PermutationType m_colsPermutation;
+ IntRowVectorType m_colsTranspositions;
+ RowVectorType m_temp;
+ RealRowVectorType m_colNormsUpdated;
+ RealRowVectorType m_colNormsDirect;
+ bool m_isInitialized, m_usePrescribedThreshold;
+ RealScalar m_prescribedThreshold, m_maxpivot;
+ Index m_nonzero_pivots;
+ Index m_det_pq;
+};
+
+template<typename MatrixType>
+typename MatrixType::RealScalar ColPivHouseholderQR<MatrixType>::absDeterminant() const
+{
+ using std::abs;
+ eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+ eigen_assert(m_qr.rows() == m_qr.cols() && "You can't take the determinant of a non-square matrix!");
+ return abs(m_qr.diagonal().prod());
+}
+
+template<typename MatrixType>
+typename MatrixType::RealScalar ColPivHouseholderQR<MatrixType>::logAbsDeterminant() const
+{
+ eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+ eigen_assert(m_qr.rows() == m_qr.cols() && "You can't take the determinant of a non-square matrix!");
+ return m_qr.diagonal().cwiseAbs().array().log().sum();
+}
+
+/** Performs the QR factorization of the given matrix \a matrix. The result of
+ * the factorization is stored into \c *this, and a reference to \c *this
+ * is returned.
+ *
+ * \sa class ColPivHouseholderQR, ColPivHouseholderQR(const MatrixType&)
+ */
+template<typename MatrixType>
+template<typename InputType>
+ColPivHouseholderQR<MatrixType>& ColPivHouseholderQR<MatrixType>::compute(const EigenBase<InputType>& matrix)
+{
+ m_qr = matrix.derived();
+ computeInPlace();
+ return *this;
+}
+
+template<typename MatrixType>
+void ColPivHouseholderQR<MatrixType>::computeInPlace()
+{
+ check_template_parameters();
+
+ // the column permutation is stored as int indices, so just to be sure:
+ eigen_assert(m_qr.cols()<=NumTraits<int>::highest());
+
+ using std::abs;
+
+ Index rows = m_qr.rows();
+ Index cols = m_qr.cols();
+ Index size = m_qr.diagonalSize();
+
+ m_hCoeffs.resize(size);
+
+ m_temp.resize(cols);
+
+ m_colsTranspositions.resize(m_qr.cols());
+ Index number_of_transpositions = 0;
+
+ m_colNormsUpdated.resize(cols);
+ m_colNormsDirect.resize(cols);
+ for (Index k = 0; k < cols; ++k) {
+ // colNormsDirect(k) caches the most recent directly computed norm of
+ // column k.
+ m_colNormsDirect.coeffRef(k) = m_qr.col(k).norm();
+ m_colNormsUpdated.coeffRef(k) = m_colNormsDirect.coeffRef(k);
+ }
+
+ RealScalar threshold_helper = numext::abs2<RealScalar>(m_colNormsUpdated.maxCoeff() * NumTraits<RealScalar>::epsilon()) / RealScalar(rows);
+ RealScalar norm_downdate_threshold = numext::sqrt(NumTraits<RealScalar>::epsilon());
+
+ m_nonzero_pivots = size; // the generic case is that in which all pivots are nonzero (invertible case)
+ m_maxpivot = RealScalar(0);
+
+ for(Index k = 0; k < size; ++k)
+ {
+ // first, we look up in our table m_colNormsUpdated which column has the biggest norm
+ Index biggest_col_index;
+ RealScalar biggest_col_sq_norm = numext::abs2(m_colNormsUpdated.tail(cols-k).maxCoeff(&biggest_col_index));
+ biggest_col_index += k;
+
+ // Track the number of meaningful pivots but do not stop the decomposition to make
+ // sure that the initial matrix is properly reproduced. See bug 941.
+ if(m_nonzero_pivots==size && biggest_col_sq_norm < threshold_helper * RealScalar(rows-k))
+ m_nonzero_pivots = k;
+
+ // apply the transposition to the columns
+ m_colsTranspositions.coeffRef(k) = biggest_col_index;
+ if(k != biggest_col_index) {
+ m_qr.col(k).swap(m_qr.col(biggest_col_index));
+ std::swap(m_colNormsUpdated.coeffRef(k), m_colNormsUpdated.coeffRef(biggest_col_index));
+ std::swap(m_colNormsDirect.coeffRef(k), m_colNormsDirect.coeffRef(biggest_col_index));
+ ++number_of_transpositions;
+ }
+
+ // generate the householder vector, store it below the diagonal
+ RealScalar beta;
+ m_qr.col(k).tail(rows-k).makeHouseholderInPlace(m_hCoeffs.coeffRef(k), beta);
+
+ // apply the householder transformation to the diagonal coefficient
+ m_qr.coeffRef(k,k) = beta;
+
+ // remember the maximum absolute value of diagonal coefficients
+ if(abs(beta) > m_maxpivot) m_maxpivot = abs(beta);
+
+ // apply the householder transformation
+ m_qr.bottomRightCorner(rows-k, cols-k-1)
+ .applyHouseholderOnTheLeft(m_qr.col(k).tail(rows-k-1), m_hCoeffs.coeffRef(k), &m_temp.coeffRef(k+1));
+
+ // update our table of norms of the columns
+ for (Index j = k + 1; j < cols; ++j) {
+ // The following implements the stable norm downgrade step discussed in
+ // http://www.netlib.org/lapack/lawnspdf/lawn176.pdf
+ // and used in LAPACK routines xGEQPF and xGEQP3.
+ // See lines 278-297 in http://www.netlib.org/lapack/explore-html/dc/df4/sgeqpf_8f_source.html
+ if (m_colNormsUpdated.coeffRef(j) != RealScalar(0)) {
+ RealScalar temp = abs(m_qr.coeffRef(k, j)) / m_colNormsUpdated.coeffRef(j);
+ temp = (RealScalar(1) + temp) * (RealScalar(1) - temp);
+ temp = temp < RealScalar(0) ? RealScalar(0) : temp;
+ RealScalar temp2 = temp * numext::abs2<RealScalar>(m_colNormsUpdated.coeffRef(j) /
+ m_colNormsDirect.coeffRef(j));
+ if (temp2 <= norm_downdate_threshold) {
+ // The updated norm has become too inaccurate so re-compute the column
+ // norm directly.
+ m_colNormsDirect.coeffRef(j) = m_qr.col(j).tail(rows - k - 1).norm();
+ m_colNormsUpdated.coeffRef(j) = m_colNormsDirect.coeffRef(j);
+ } else {
+ m_colNormsUpdated.coeffRef(j) *= numext::sqrt(temp);
+ }
+ }
+ }
+ }
+
+ m_colsPermutation.setIdentity(PermIndexType(cols));
+ for(PermIndexType k = 0; k < size/*m_nonzero_pivots*/; ++k)
+ m_colsPermutation.applyTranspositionOnTheRight(k, PermIndexType(m_colsTranspositions.coeff(k)));
+
+ m_det_pq = (number_of_transpositions%2) ? -1 : 1;
+ m_isInitialized = true;
+}
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template<typename _MatrixType>
+template<typename RhsType, typename DstType>
+void ColPivHouseholderQR<_MatrixType>::_solve_impl(const RhsType &rhs, DstType &dst) const
+{
+ eigen_assert(rhs.rows() == rows());
+
+ const Index nonzero_pivots = nonzeroPivots();
+
+ if(nonzero_pivots == 0)
+ {
+ dst.setZero();
+ return;
+ }
+
+ typename RhsType::PlainObject c(rhs);
+
+ // Note that the matrix Q = H_0^* H_1^*... so its inverse is Q^* = (H_0 H_1 ...)^T
+ c.applyOnTheLeft(householderSequence(m_qr, m_hCoeffs)
+ .setLength(nonzero_pivots)
+ .transpose()
+ );
+
+ m_qr.topLeftCorner(nonzero_pivots, nonzero_pivots)
+ .template triangularView<Upper>()
+ .solveInPlace(c.topRows(nonzero_pivots));
+
+ for(Index i = 0; i < nonzero_pivots; ++i) dst.row(m_colsPermutation.indices().coeff(i)) = c.row(i);
+ for(Index i = nonzero_pivots; i < cols(); ++i) dst.row(m_colsPermutation.indices().coeff(i)).setZero();
+}
+#endif
+
+namespace internal {
+
+template<typename DstXprType, typename MatrixType>
+struct Assignment<DstXprType, Inverse<ColPivHouseholderQR<MatrixType> >, internal::assign_op<typename DstXprType::Scalar,typename ColPivHouseholderQR<MatrixType>::Scalar>, Dense2Dense>
+{
+ typedef ColPivHouseholderQR<MatrixType> QrType;
+ typedef Inverse<QrType> SrcXprType;
+ static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename QrType::Scalar> &)
+ {
+ dst = src.nestedExpression().solve(MatrixType::Identity(src.rows(), src.cols()));
+ }
+};
+
+} // end namespace internal
+
+/** \returns the matrix Q as a sequence of householder transformations.
+ * You can extract the meaningful part only by using:
+ * \code qr.householderQ().setLength(qr.nonzeroPivots()) \endcode*/
+template<typename MatrixType>
+typename ColPivHouseholderQR<MatrixType>::HouseholderSequenceType ColPivHouseholderQR<MatrixType>
+ ::householderQ() const
+{
+ eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
+ return HouseholderSequenceType(m_qr, m_hCoeffs.conjugate());
+}
+
+/** \return the column-pivoting Householder QR decomposition of \c *this.
+ *
+ * \sa class ColPivHouseholderQR
+ */
+template<typename Derived>
+const ColPivHouseholderQR<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::colPivHouseholderQr() const
+{
+ return ColPivHouseholderQR<PlainObject>(eval());
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_COLPIVOTINGHOUSEHOLDERQR_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/QR/CompleteOrthogonalDecomposition.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/QR/CompleteOrthogonalDecomposition.h
new file mode 100644
index 0000000..34c637b
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/QR/CompleteOrthogonalDecomposition.h
@@ -0,0 +1,562 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2016 Rasmus Munk Larsen <rmlarsen@google.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_COMPLETEORTHOGONALDECOMPOSITION_H
+#define EIGEN_COMPLETEORTHOGONALDECOMPOSITION_H
+
+namespace Eigen {
+
+namespace internal {
+template <typename _MatrixType>
+struct traits<CompleteOrthogonalDecomposition<_MatrixType> >
+ : traits<_MatrixType> {
+ enum { Flags = 0 };
+};
+
+} // end namespace internal
+
+/** \ingroup QR_Module
+ *
+ * \class CompleteOrthogonalDecomposition
+ *
+ * \brief Complete orthogonal decomposition (COD) of a matrix.
+ *
+ * \param MatrixType the type of the matrix of which we are computing the COD.
+ *
+ * This class performs a rank-revealing complete orthogonal decomposition of a
+ * matrix \b A into matrices \b P, \b Q, \b T, and \b Z such that
+ * \f[
+ * \mathbf{A} \, \mathbf{P} = \mathbf{Q} \,
+ * \begin{bmatrix} \mathbf{T} & \mathbf{0} \\
+ * \mathbf{0} & \mathbf{0} \end{bmatrix} \, \mathbf{Z}
+ * \f]
+ * by using Householder transformations. Here, \b P is a permutation matrix,
+ * \b Q and \b Z are unitary matrices and \b T an upper triangular matrix of
+ * size rank-by-rank. \b A may be rank deficient.
+ *
+ * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
+ *
+ * \sa MatrixBase::completeOrthogonalDecomposition()
+ */
+template <typename _MatrixType>
+class CompleteOrthogonalDecomposition {
+ public:
+ typedef _MatrixType MatrixType;
+ enum {
+ RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+ ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+ MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+ MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+ };
+ typedef typename MatrixType::Scalar Scalar;
+ typedef typename MatrixType::RealScalar RealScalar;
+ typedef typename MatrixType::StorageIndex StorageIndex;
+ typedef typename internal::plain_diag_type<MatrixType>::type HCoeffsType;
+ typedef PermutationMatrix<ColsAtCompileTime, MaxColsAtCompileTime>
+ PermutationType;
+ typedef typename internal::plain_row_type<MatrixType, Index>::type
+ IntRowVectorType;
+ typedef typename internal::plain_row_type<MatrixType>::type RowVectorType;
+ typedef typename internal::plain_row_type<MatrixType, RealScalar>::type
+ RealRowVectorType;
+ typedef HouseholderSequence<
+ MatrixType, typename internal::remove_all<
+ typename HCoeffsType::ConjugateReturnType>::type>
+ HouseholderSequenceType;
+ typedef typename MatrixType::PlainObject PlainObject;
+
+ private:
+ typedef typename PermutationType::Index PermIndexType;
+
+ public:
+ /**
+ * \brief Default Constructor.
+ *
+ * The default constructor is useful in cases in which the user intends to
+ * perform decompositions via
+ * \c CompleteOrthogonalDecomposition::compute(const* MatrixType&).
+ */
+ CompleteOrthogonalDecomposition() : m_cpqr(), m_zCoeffs(), m_temp() {}
+
+ /** \brief Default Constructor with memory preallocation
+ *
+ * Like the default constructor but with preallocation of the internal data
+ * according to the specified problem \a size.
+ * \sa CompleteOrthogonalDecomposition()
+ */
+ CompleteOrthogonalDecomposition(Index rows, Index cols)
+ : m_cpqr(rows, cols), m_zCoeffs((std::min)(rows, cols)), m_temp(cols) {}
+
+ /** \brief Constructs a complete orthogonal decomposition from a given
+ * matrix.
+ *
+ * This constructor computes the complete orthogonal decomposition of the
+ * matrix \a matrix by calling the method compute(). The default
+ * threshold for rank determination will be used. It is a short cut for:
+ *
+ * \code
+ * CompleteOrthogonalDecomposition<MatrixType> cod(matrix.rows(),
+ * matrix.cols());
+ * cod.setThreshold(Default);
+ * cod.compute(matrix);
+ * \endcode
+ *
+ * \sa compute()
+ */
+ template <typename InputType>
+ explicit CompleteOrthogonalDecomposition(const EigenBase<InputType>& matrix)
+ : m_cpqr(matrix.rows(), matrix.cols()),
+ m_zCoeffs((std::min)(matrix.rows(), matrix.cols())),
+ m_temp(matrix.cols())
+ {
+ compute(matrix.derived());
+ }
+
+ /** \brief Constructs a complete orthogonal decomposition from a given matrix
+ *
+ * This overloaded constructor is provided for \link InplaceDecomposition inplace decomposition \endlink when \c MatrixType is a Eigen::Ref.
+ *
+ * \sa CompleteOrthogonalDecomposition(const EigenBase&)
+ */
+ template<typename InputType>
+ explicit CompleteOrthogonalDecomposition(EigenBase<InputType>& matrix)
+ : m_cpqr(matrix.derived()),
+ m_zCoeffs((std::min)(matrix.rows(), matrix.cols())),
+ m_temp(matrix.cols())
+ {
+ computeInPlace();
+ }
+
+
+ /** This method computes the minimum-norm solution X to a least squares
+ * problem \f[\mathrm{minimize} \|A X - B\|, \f] where \b A is the matrix of
+ * which \c *this is the complete orthogonal decomposition.
+ *
+ * \param b the right-hand sides of the problem to solve.
+ *
+ * \returns a solution.
+ *
+ */
+ template <typename Rhs>
+ inline const Solve<CompleteOrthogonalDecomposition, Rhs> solve(
+ const MatrixBase<Rhs>& b) const {
+ eigen_assert(m_cpqr.m_isInitialized &&
+ "CompleteOrthogonalDecomposition is not initialized.");
+ return Solve<CompleteOrthogonalDecomposition, Rhs>(*this, b.derived());
+ }
+
+ HouseholderSequenceType householderQ(void) const;
+ HouseholderSequenceType matrixQ(void) const { return m_cpqr.householderQ(); }
+
+ /** \returns the matrix \b Z.
+ */
+ MatrixType matrixZ() const {
+ MatrixType Z = MatrixType::Identity(m_cpqr.cols(), m_cpqr.cols());
+ applyZAdjointOnTheLeftInPlace(Z);
+ return Z.adjoint();
+ }
+
+ /** \returns a reference to the matrix where the complete orthogonal
+ * decomposition is stored
+ */
+ const MatrixType& matrixQTZ() const { return m_cpqr.matrixQR(); }
+
+ /** \returns a reference to the matrix where the complete orthogonal
+ * decomposition is stored.
+ * \warning The strict lower part and \code cols() - rank() \endcode right
+ * columns of this matrix contains internal values.
+ * Only the upper triangular part should be referenced. To get it, use
+ * \code matrixT().template triangularView<Upper>() \endcode
+ * For rank-deficient matrices, use
+ * \code
+ * matrixR().topLeftCorner(rank(), rank()).template triangularView<Upper>()
+ * \endcode
+ */
+ const MatrixType& matrixT() const { return m_cpqr.matrixQR(); }
+
+ template <typename InputType>
+ CompleteOrthogonalDecomposition& compute(const EigenBase<InputType>& matrix) {
+ // Compute the column pivoted QR factorization A P = Q R.
+ m_cpqr.compute(matrix);
+ computeInPlace();
+ return *this;
+ }
+
+ /** \returns a const reference to the column permutation matrix */
+ const PermutationType& colsPermutation() const {
+ return m_cpqr.colsPermutation();
+ }
+
+ /** \returns the absolute value of the determinant of the matrix of which
+ * *this is the complete orthogonal decomposition. It has only linear
+ * complexity (that is, O(n) where n is the dimension of the square matrix)
+ * as the complete orthogonal decomposition has already been computed.
+ *
+ * \note This is only for square matrices.
+ *
+ * \warning a determinant can be very big or small, so for matrices
+ * of large enough dimension, there is a risk of overflow/underflow.
+ * One way to work around that is to use logAbsDeterminant() instead.
+ *
+ * \sa logAbsDeterminant(), MatrixBase::determinant()
+ */
+ typename MatrixType::RealScalar absDeterminant() const;
+
+ /** \returns the natural log of the absolute value of the determinant of the
+ * matrix of which *this is the complete orthogonal decomposition. It has
+ * only linear complexity (that is, O(n) where n is the dimension of the
+ * square matrix) as the complete orthogonal decomposition has already been
+ * computed.
+ *
+ * \note This is only for square matrices.
+ *
+ * \note This method is useful to work around the risk of overflow/underflow
+ * that's inherent to determinant computation.
+ *
+ * \sa absDeterminant(), MatrixBase::determinant()
+ */
+ typename MatrixType::RealScalar logAbsDeterminant() const;
+
+ /** \returns the rank of the matrix of which *this is the complete orthogonal
+ * decomposition.
+ *
+ * \note This method has to determine which pivots should be considered
+ * nonzero. For that, it uses the threshold value that you can control by
+ * calling setThreshold(const RealScalar&).
+ */
+ inline Index rank() const { return m_cpqr.rank(); }
+
+ /** \returns the dimension of the kernel of the matrix of which *this is the
+ * complete orthogonal decomposition.
+ *
+ * \note This method has to determine which pivots should be considered
+ * nonzero. For that, it uses the threshold value that you can control by
+ * calling setThreshold(const RealScalar&).
+ */
+ inline Index dimensionOfKernel() const { return m_cpqr.dimensionOfKernel(); }
+
+ /** \returns true if the matrix of which *this is the decomposition represents
+ * an injective linear map, i.e. has trivial kernel; false otherwise.
+ *
+ * \note This method has to determine which pivots should be considered
+ * nonzero. For that, it uses the threshold value that you can control by
+ * calling setThreshold(const RealScalar&).
+ */
+ inline bool isInjective() const { return m_cpqr.isInjective(); }
+
+ /** \returns true if the matrix of which *this is the decomposition represents
+ * a surjective linear map; false otherwise.
+ *
+ * \note This method has to determine which pivots should be considered
+ * nonzero. For that, it uses the threshold value that you can control by
+ * calling setThreshold(const RealScalar&).
+ */
+ inline bool isSurjective() const { return m_cpqr.isSurjective(); }
+
+ /** \returns true if the matrix of which *this is the complete orthogonal
+ * decomposition is invertible.
+ *
+ * \note This method has to determine which pivots should be considered
+ * nonzero. For that, it uses the threshold value that you can control by
+ * calling setThreshold(const RealScalar&).
+ */
+ inline bool isInvertible() const { return m_cpqr.isInvertible(); }
+
+ /** \returns the pseudo-inverse of the matrix of which *this is the complete
+ * orthogonal decomposition.
+ * \warning: Do not compute \c this->pseudoInverse()*rhs to solve a linear systems.
+ * It is more efficient and numerically stable to call \c this->solve(rhs).
+ */
+ inline const Inverse<CompleteOrthogonalDecomposition> pseudoInverse() const
+ {
+ return Inverse<CompleteOrthogonalDecomposition>(*this);
+ }
+
+ inline Index rows() const { return m_cpqr.rows(); }
+ inline Index cols() const { return m_cpqr.cols(); }
+
+ /** \returns a const reference to the vector of Householder coefficients used
+ * to represent the factor \c Q.
+ *
+ * For advanced uses only.
+ */
+ inline const HCoeffsType& hCoeffs() const { return m_cpqr.hCoeffs(); }
+
+ /** \returns a const reference to the vector of Householder coefficients
+ * used to represent the factor \c Z.
+ *
+ * For advanced uses only.
+ */
+ const HCoeffsType& zCoeffs() const { return m_zCoeffs; }
+
+ /** Allows to prescribe a threshold to be used by certain methods, such as
+ * rank(), who need to determine when pivots are to be considered nonzero.
+ * Most be called before calling compute().
+ *
+ * When it needs to get the threshold value, Eigen calls threshold(). By
+ * default, this uses a formula to automatically determine a reasonable
+ * threshold. Once you have called the present method
+ * setThreshold(const RealScalar&), your value is used instead.
+ *
+ * \param threshold The new value to use as the threshold.
+ *
+ * A pivot will be considered nonzero if its absolute value is strictly
+ * greater than
+ * \f$ \vert pivot \vert \leqslant threshold \times \vert maxpivot \vert \f$
+ * where maxpivot is the biggest pivot.
+ *
+ * If you want to come back to the default behavior, call
+ * setThreshold(Default_t)
+ */
+ CompleteOrthogonalDecomposition& setThreshold(const RealScalar& threshold) {
+ m_cpqr.setThreshold(threshold);
+ return *this;
+ }
+
+ /** Allows to come back to the default behavior, letting Eigen use its default
+ * formula for determining the threshold.
+ *
+ * You should pass the special object Eigen::Default as parameter here.
+ * \code qr.setThreshold(Eigen::Default); \endcode
+ *
+ * See the documentation of setThreshold(const RealScalar&).
+ */
+ CompleteOrthogonalDecomposition& setThreshold(Default_t) {
+ m_cpqr.setThreshold(Default);
+ return *this;
+ }
+
+ /** Returns the threshold that will be used by certain methods such as rank().
+ *
+ * See the documentation of setThreshold(const RealScalar&).
+ */
+ RealScalar threshold() const { return m_cpqr.threshold(); }
+
+ /** \returns the number of nonzero pivots in the complete orthogonal
+ * decomposition. Here nonzero is meant in the exact sense, not in a
+ * fuzzy sense. So that notion isn't really intrinsically interesting,
+ * but it is still useful when implementing algorithms.
+ *
+ * \sa rank()
+ */
+ inline Index nonzeroPivots() const { return m_cpqr.nonzeroPivots(); }
+
+ /** \returns the absolute value of the biggest pivot, i.e. the biggest
+ * diagonal coefficient of R.
+ */
+ inline RealScalar maxPivot() const { return m_cpqr.maxPivot(); }
+
+ /** \brief Reports whether the complete orthogonal decomposition was
+ * succesful.
+ *
+ * \note This function always returns \c Success. It is provided for
+ * compatibility
+ * with other factorization routines.
+ * \returns \c Success
+ */
+ ComputationInfo info() const {
+ eigen_assert(m_cpqr.m_isInitialized && "Decomposition is not initialized.");
+ return Success;
+ }
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+ template <typename RhsType, typename DstType>
+ EIGEN_DEVICE_FUNC void _solve_impl(const RhsType& rhs, DstType& dst) const;
+#endif
+
+ protected:
+ static void check_template_parameters() {
+ EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
+ }
+
+ void computeInPlace();
+
+ /** Overwrites \b rhs with \f$ \mathbf{Z}^* * \mathbf{rhs} \f$.
+ */
+ template <typename Rhs>
+ void applyZAdjointOnTheLeftInPlace(Rhs& rhs) const;
+
+ ColPivHouseholderQR<MatrixType> m_cpqr;
+ HCoeffsType m_zCoeffs;
+ RowVectorType m_temp;
+};
+
+template <typename MatrixType>
+typename MatrixType::RealScalar
+CompleteOrthogonalDecomposition<MatrixType>::absDeterminant() const {
+ return m_cpqr.absDeterminant();
+}
+
+template <typename MatrixType>
+typename MatrixType::RealScalar
+CompleteOrthogonalDecomposition<MatrixType>::logAbsDeterminant() const {
+ return m_cpqr.logAbsDeterminant();
+}
+
+/** Performs the complete orthogonal decomposition of the given matrix \a
+ * matrix. The result of the factorization is stored into \c *this, and a
+ * reference to \c *this is returned.
+ *
+ * \sa class CompleteOrthogonalDecomposition,
+ * CompleteOrthogonalDecomposition(const MatrixType&)
+ */
+template <typename MatrixType>
+void CompleteOrthogonalDecomposition<MatrixType>::computeInPlace()
+{
+ check_template_parameters();
+
+ // the column permutation is stored as int indices, so just to be sure:
+ eigen_assert(m_cpqr.cols() <= NumTraits<int>::highest());
+
+ const Index rank = m_cpqr.rank();
+ const Index cols = m_cpqr.cols();
+ const Index rows = m_cpqr.rows();
+ m_zCoeffs.resize((std::min)(rows, cols));
+ m_temp.resize(cols);
+
+ if (rank < cols) {
+ // We have reduced the (permuted) matrix to the form
+ // [R11 R12]
+ // [ 0 R22]
+ // where R11 is r-by-r (r = rank) upper triangular, R12 is
+ // r-by-(n-r), and R22 is empty or the norm of R22 is negligible.
+ // We now compute the complete orthogonal decomposition by applying
+ // Householder transformations from the right to the upper trapezoidal
+ // matrix X = [R11 R12] to zero out R12 and obtain the factorization
+ // [R11 R12] = [T11 0] * Z, where T11 is r-by-r upper triangular and
+ // Z = Z(0) * Z(1) ... Z(r-1) is an n-by-n orthogonal matrix.
+ // We store the data representing Z in R12 and m_zCoeffs.
+ for (Index k = rank - 1; k >= 0; --k) {
+ if (k != rank - 1) {
+ // Given the API for Householder reflectors, it is more convenient if
+ // we swap the leading parts of columns k and r-1 (zero-based) to form
+ // the matrix X_k = [X(0:k, k), X(0:k, r:n)]
+ m_cpqr.m_qr.col(k).head(k + 1).swap(
+ m_cpqr.m_qr.col(rank - 1).head(k + 1));
+ }
+ // Construct Householder reflector Z(k) to zero out the last row of X_k,
+ // i.e. choose Z(k) such that
+ // [X(k, k), X(k, r:n)] * Z(k) = [beta, 0, .., 0].
+ RealScalar beta;
+ m_cpqr.m_qr.row(k)
+ .tail(cols - rank + 1)
+ .makeHouseholderInPlace(m_zCoeffs(k), beta);
+ m_cpqr.m_qr(k, rank - 1) = beta;
+ if (k > 0) {
+ // Apply Z(k) to the first k rows of X_k
+ m_cpqr.m_qr.topRightCorner(k, cols - rank + 1)
+ .applyHouseholderOnTheRight(
+ m_cpqr.m_qr.row(k).tail(cols - rank).transpose(), m_zCoeffs(k),
+ &m_temp(0));
+ }
+ if (k != rank - 1) {
+ // Swap X(0:k,k) back to its proper location.
+ m_cpqr.m_qr.col(k).head(k + 1).swap(
+ m_cpqr.m_qr.col(rank - 1).head(k + 1));
+ }
+ }
+ }
+}
+
+template <typename MatrixType>
+template <typename Rhs>
+void CompleteOrthogonalDecomposition<MatrixType>::applyZAdjointOnTheLeftInPlace(
+ Rhs& rhs) const {
+ const Index cols = this->cols();
+ const Index nrhs = rhs.cols();
+ const Index rank = this->rank();
+ Matrix<typename MatrixType::Scalar, Dynamic, 1> temp((std::max)(cols, nrhs));
+ for (Index k = 0; k < rank; ++k) {
+ if (k != rank - 1) {
+ rhs.row(k).swap(rhs.row(rank - 1));
+ }
+ rhs.middleRows(rank - 1, cols - rank + 1)
+ .applyHouseholderOnTheLeft(
+ matrixQTZ().row(k).tail(cols - rank).adjoint(), zCoeffs()(k),
+ &temp(0));
+ if (k != rank - 1) {
+ rhs.row(k).swap(rhs.row(rank - 1));
+ }
+ }
+}
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template <typename _MatrixType>
+template <typename RhsType, typename DstType>
+void CompleteOrthogonalDecomposition<_MatrixType>::_solve_impl(
+ const RhsType& rhs, DstType& dst) const {
+ eigen_assert(rhs.rows() == this->rows());
+
+ const Index rank = this->rank();
+ if (rank == 0) {
+ dst.setZero();
+ return;
+ }
+
+ // Compute c = Q^* * rhs
+ // Note that the matrix Q = H_0^* H_1^*... so its inverse is
+ // Q^* = (H_0 H_1 ...)^T
+ typename RhsType::PlainObject c(rhs);
+ c.applyOnTheLeft(
+ householderSequence(matrixQTZ(), hCoeffs()).setLength(rank).transpose());
+
+ // Solve T z = c(1:rank, :)
+ dst.topRows(rank) = matrixT()
+ .topLeftCorner(rank, rank)
+ .template triangularView<Upper>()
+ .solve(c.topRows(rank));
+
+ const Index cols = this->cols();
+ if (rank < cols) {
+ // Compute y = Z^* * [ z ]
+ // [ 0 ]
+ dst.bottomRows(cols - rank).setZero();
+ applyZAdjointOnTheLeftInPlace(dst);
+ }
+
+ // Undo permutation to get x = P^{-1} * y.
+ dst = colsPermutation() * dst;
+}
+#endif
+
+namespace internal {
+
+template<typename DstXprType, typename MatrixType>
+struct Assignment<DstXprType, Inverse<CompleteOrthogonalDecomposition<MatrixType> >, internal::assign_op<typename DstXprType::Scalar,typename CompleteOrthogonalDecomposition<MatrixType>::Scalar>, Dense2Dense>
+{
+ typedef CompleteOrthogonalDecomposition<MatrixType> CodType;
+ typedef Inverse<CodType> SrcXprType;
+ static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename CodType::Scalar> &)
+ {
+ dst = src.nestedExpression().solve(MatrixType::Identity(src.rows(), src.rows()));
+ }
+};
+
+} // end namespace internal
+
+/** \returns the matrix Q as a sequence of householder transformations */
+template <typename MatrixType>
+typename CompleteOrthogonalDecomposition<MatrixType>::HouseholderSequenceType
+CompleteOrthogonalDecomposition<MatrixType>::householderQ() const {
+ return m_cpqr.householderQ();
+}
+
+/** \return the complete orthogonal decomposition of \c *this.
+ *
+ * \sa class CompleteOrthogonalDecomposition
+ */
+template <typename Derived>
+const CompleteOrthogonalDecomposition<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::completeOrthogonalDecomposition() const {
+ return CompleteOrthogonalDecomposition<PlainObject>(eval());
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_COMPLETEORTHOGONALDECOMPOSITION_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/QR/FullPivHouseholderQR.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/QR/FullPivHouseholderQR.h
new file mode 100644
index 0000000..e489bdd
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/QR/FullPivHouseholderQR.h
@@ -0,0 +1,676 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_FULLPIVOTINGHOUSEHOLDERQR_H
+#define EIGEN_FULLPIVOTINGHOUSEHOLDERQR_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<typename _MatrixType> struct traits<FullPivHouseholderQR<_MatrixType> >
+ : traits<_MatrixType>
+{
+ enum { Flags = 0 };
+};
+
+template<typename MatrixType> struct FullPivHouseholderQRMatrixQReturnType;
+
+template<typename MatrixType>
+struct traits<FullPivHouseholderQRMatrixQReturnType<MatrixType> >
+{
+ typedef typename MatrixType::PlainObject ReturnType;
+};
+
+} // end namespace internal
+
+/** \ingroup QR_Module
+ *
+ * \class FullPivHouseholderQR
+ *
+ * \brief Householder rank-revealing QR decomposition of a matrix with full pivoting
+ *
+ * \tparam _MatrixType the type of the matrix of which we are computing the QR decomposition
+ *
+ * This class performs a rank-revealing QR decomposition of a matrix \b A into matrices \b P, \b P', \b Q and \b R
+ * such that
+ * \f[
+ * \mathbf{P} \, \mathbf{A} \, \mathbf{P}' = \mathbf{Q} \, \mathbf{R}
+ * \f]
+ * by using Householder transformations. Here, \b P and \b P' are permutation matrices, \b Q a unitary matrix
+ * and \b R an upper triangular matrix.
+ *
+ * This decomposition performs a very prudent full pivoting in order to be rank-revealing and achieve optimal
+ * numerical stability. The trade-off is that it is slower than HouseholderQR and ColPivHouseholderQR.
+ *
+ * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
+ *
+ * \sa MatrixBase::fullPivHouseholderQr()
+ */
+template<typename _MatrixType> class FullPivHouseholderQR
+{
+ public:
+
+ typedef _MatrixType MatrixType;
+ enum {
+ RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+ ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+ MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+ MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+ };
+ typedef typename MatrixType::Scalar Scalar;
+ typedef typename MatrixType::RealScalar RealScalar;
+ // FIXME should be int
+ typedef typename MatrixType::StorageIndex StorageIndex;
+ typedef internal::FullPivHouseholderQRMatrixQReturnType<MatrixType> MatrixQReturnType;
+ typedef typename internal::plain_diag_type<MatrixType>::type HCoeffsType;
+ typedef Matrix<StorageIndex, 1,
+ EIGEN_SIZE_MIN_PREFER_DYNAMIC(ColsAtCompileTime,RowsAtCompileTime), RowMajor, 1,
+ EIGEN_SIZE_MIN_PREFER_FIXED(MaxColsAtCompileTime,MaxRowsAtCompileTime)> IntDiagSizeVectorType;
+ typedef PermutationMatrix<ColsAtCompileTime, MaxColsAtCompileTime> PermutationType;
+ typedef typename internal::plain_row_type<MatrixType>::type RowVectorType;
+ typedef typename internal::plain_col_type<MatrixType>::type ColVectorType;
+ typedef typename MatrixType::PlainObject PlainObject;
+
+ /** \brief Default Constructor.
+ *
+ * The default constructor is useful in cases in which the user intends to
+ * perform decompositions via FullPivHouseholderQR::compute(const MatrixType&).
+ */
+ FullPivHouseholderQR()
+ : m_qr(),
+ m_hCoeffs(),
+ m_rows_transpositions(),
+ m_cols_transpositions(),
+ m_cols_permutation(),
+ m_temp(),
+ m_isInitialized(false),
+ m_usePrescribedThreshold(false) {}
+
+ /** \brief Default Constructor with memory preallocation
+ *
+ * Like the default constructor but with preallocation of the internal data
+ * according to the specified problem \a size.
+ * \sa FullPivHouseholderQR()
+ */
+ FullPivHouseholderQR(Index rows, Index cols)
+ : m_qr(rows, cols),
+ m_hCoeffs((std::min)(rows,cols)),
+ m_rows_transpositions((std::min)(rows,cols)),
+ m_cols_transpositions((std::min)(rows,cols)),
+ m_cols_permutation(cols),
+ m_temp(cols),
+ m_isInitialized(false),
+ m_usePrescribedThreshold(false) {}
+
+ /** \brief Constructs a QR factorization from a given matrix
+ *
+ * This constructor computes the QR factorization of the matrix \a matrix by calling
+ * the method compute(). It is a short cut for:
+ *
+ * \code
+ * FullPivHouseholderQR<MatrixType> qr(matrix.rows(), matrix.cols());
+ * qr.compute(matrix);
+ * \endcode
+ *
+ * \sa compute()
+ */
+ template<typename InputType>
+ explicit FullPivHouseholderQR(const EigenBase<InputType>& matrix)
+ : m_qr(matrix.rows(), matrix.cols()),
+ m_hCoeffs((std::min)(matrix.rows(), matrix.cols())),
+ m_rows_transpositions((std::min)(matrix.rows(), matrix.cols())),
+ m_cols_transpositions((std::min)(matrix.rows(), matrix.cols())),
+ m_cols_permutation(matrix.cols()),
+ m_temp(matrix.cols()),
+ m_isInitialized(false),
+ m_usePrescribedThreshold(false)
+ {
+ compute(matrix.derived());
+ }
+
+ /** \brief Constructs a QR factorization from a given matrix
+ *
+ * This overloaded constructor is provided for \link InplaceDecomposition inplace decomposition \endlink when \c MatrixType is a Eigen::Ref.
+ *
+ * \sa FullPivHouseholderQR(const EigenBase&)
+ */
+ template<typename InputType>
+ explicit FullPivHouseholderQR(EigenBase<InputType>& matrix)
+ : m_qr(matrix.derived()),
+ m_hCoeffs((std::min)(matrix.rows(), matrix.cols())),
+ m_rows_transpositions((std::min)(matrix.rows(), matrix.cols())),
+ m_cols_transpositions((std::min)(matrix.rows(), matrix.cols())),
+ m_cols_permutation(matrix.cols()),
+ m_temp(matrix.cols()),
+ m_isInitialized(false),
+ m_usePrescribedThreshold(false)
+ {
+ computeInPlace();
+ }
+
+ /** This method finds a solution x to the equation Ax=b, where A is the matrix of which
+ * \c *this is the QR decomposition.
+ *
+ * \param b the right-hand-side of the equation to solve.
+ *
+ * \returns the exact or least-square solution if the rank is greater or equal to the number of columns of A,
+ * and an arbitrary solution otherwise.
+ *
+ * \note_about_checking_solutions
+ *
+ * \note_about_arbitrary_choice_of_solution
+ *
+ * Example: \include FullPivHouseholderQR_solve.cpp
+ * Output: \verbinclude FullPivHouseholderQR_solve.out
+ */
+ template<typename Rhs>
+ inline const Solve<FullPivHouseholderQR, Rhs>
+ solve(const MatrixBase<Rhs>& b) const
+ {
+ eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+ return Solve<FullPivHouseholderQR, Rhs>(*this, b.derived());
+ }
+
+ /** \returns Expression object representing the matrix Q
+ */
+ MatrixQReturnType matrixQ(void) const;
+
+ /** \returns a reference to the matrix where the Householder QR decomposition is stored
+ */
+ const MatrixType& matrixQR() const
+ {
+ eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+ return m_qr;
+ }
+
+ template<typename InputType>
+ FullPivHouseholderQR& compute(const EigenBase<InputType>& matrix);
+
+ /** \returns a const reference to the column permutation matrix */
+ const PermutationType& colsPermutation() const
+ {
+ eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+ return m_cols_permutation;
+ }
+
+ /** \returns a const reference to the vector of indices representing the rows transpositions */
+ const IntDiagSizeVectorType& rowsTranspositions() const
+ {
+ eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+ return m_rows_transpositions;
+ }
+
+ /** \returns the absolute value of the determinant of the matrix of which
+ * *this is the QR decomposition. It has only linear complexity
+ * (that is, O(n) where n is the dimension of the square matrix)
+ * as the QR decomposition has already been computed.
+ *
+ * \note This is only for square matrices.
+ *
+ * \warning a determinant can be very big or small, so for matrices
+ * of large enough dimension, there is a risk of overflow/underflow.
+ * One way to work around that is to use logAbsDeterminant() instead.
+ *
+ * \sa logAbsDeterminant(), MatrixBase::determinant()
+ */
+ typename MatrixType::RealScalar absDeterminant() const;
+
+ /** \returns the natural log of the absolute value of the determinant of the matrix of which
+ * *this is the QR decomposition. It has only linear complexity
+ * (that is, O(n) where n is the dimension of the square matrix)
+ * as the QR decomposition has already been computed.
+ *
+ * \note This is only for square matrices.
+ *
+ * \note This method is useful to work around the risk of overflow/underflow that's inherent
+ * to determinant computation.
+ *
+ * \sa absDeterminant(), MatrixBase::determinant()
+ */
+ typename MatrixType::RealScalar logAbsDeterminant() const;
+
+ /** \returns the rank of the matrix of which *this is the QR decomposition.
+ *
+ * \note This method has to determine which pivots should be considered nonzero.
+ * For that, it uses the threshold value that you can control by calling
+ * setThreshold(const RealScalar&).
+ */
+ inline Index rank() const
+ {
+ using std::abs;
+ eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+ RealScalar premultiplied_threshold = abs(m_maxpivot) * threshold();
+ Index result = 0;
+ for(Index i = 0; i < m_nonzero_pivots; ++i)
+ result += (abs(m_qr.coeff(i,i)) > premultiplied_threshold);
+ return result;
+ }
+
+ /** \returns the dimension of the kernel of the matrix of which *this is the QR decomposition.
+ *
+ * \note This method has to determine which pivots should be considered nonzero.
+ * For that, it uses the threshold value that you can control by calling
+ * setThreshold(const RealScalar&).
+ */
+ inline Index dimensionOfKernel() const
+ {
+ eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+ return cols() - rank();
+ }
+
+ /** \returns true if the matrix of which *this is the QR decomposition represents an injective
+ * linear map, i.e. has trivial kernel; false otherwise.
+ *
+ * \note This method has to determine which pivots should be considered nonzero.
+ * For that, it uses the threshold value that you can control by calling
+ * setThreshold(const RealScalar&).
+ */
+ inline bool isInjective() const
+ {
+ eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+ return rank() == cols();
+ }
+
+ /** \returns true if the matrix of which *this is the QR decomposition represents a surjective
+ * linear map; false otherwise.
+ *
+ * \note This method has to determine which pivots should be considered nonzero.
+ * For that, it uses the threshold value that you can control by calling
+ * setThreshold(const RealScalar&).
+ */
+ inline bool isSurjective() const
+ {
+ eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+ return rank() == rows();
+ }
+
+ /** \returns true if the matrix of which *this is the QR decomposition is invertible.
+ *
+ * \note This method has to determine which pivots should be considered nonzero.
+ * For that, it uses the threshold value that you can control by calling
+ * setThreshold(const RealScalar&).
+ */
+ inline bool isInvertible() const
+ {
+ eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+ return isInjective() && isSurjective();
+ }
+
+ /** \returns the inverse of the matrix of which *this is the QR decomposition.
+ *
+ * \note If this matrix is not invertible, the returned matrix has undefined coefficients.
+ * Use isInvertible() to first determine whether this matrix is invertible.
+ */
+ inline const Inverse<FullPivHouseholderQR> inverse() const
+ {
+ eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+ return Inverse<FullPivHouseholderQR>(*this);
+ }
+
+ inline Index rows() const { return m_qr.rows(); }
+ inline Index cols() const { return m_qr.cols(); }
+
+ /** \returns a const reference to the vector of Householder coefficients used to represent the factor \c Q.
+ *
+ * For advanced uses only.
+ */
+ const HCoeffsType& hCoeffs() const { return m_hCoeffs; }
+
+ /** Allows to prescribe a threshold to be used by certain methods, such as rank(),
+ * who need to determine when pivots are to be considered nonzero. This is not used for the
+ * QR decomposition itself.
+ *
+ * When it needs to get the threshold value, Eigen calls threshold(). By default, this
+ * uses a formula to automatically determine a reasonable threshold.
+ * Once you have called the present method setThreshold(const RealScalar&),
+ * your value is used instead.
+ *
+ * \param threshold The new value to use as the threshold.
+ *
+ * A pivot will be considered nonzero if its absolute value is strictly greater than
+ * \f$ \vert pivot \vert \leqslant threshold \times \vert maxpivot \vert \f$
+ * where maxpivot is the biggest pivot.
+ *
+ * If you want to come back to the default behavior, call setThreshold(Default_t)
+ */
+ FullPivHouseholderQR& setThreshold(const RealScalar& threshold)
+ {
+ m_usePrescribedThreshold = true;
+ m_prescribedThreshold = threshold;
+ return *this;
+ }
+
+ /** Allows to come back to the default behavior, letting Eigen use its default formula for
+ * determining the threshold.
+ *
+ * You should pass the special object Eigen::Default as parameter here.
+ * \code qr.setThreshold(Eigen::Default); \endcode
+ *
+ * See the documentation of setThreshold(const RealScalar&).
+ */
+ FullPivHouseholderQR& setThreshold(Default_t)
+ {
+ m_usePrescribedThreshold = false;
+ return *this;
+ }
+
+ /** Returns the threshold that will be used by certain methods such as rank().
+ *
+ * See the documentation of setThreshold(const RealScalar&).
+ */
+ RealScalar threshold() const
+ {
+ eigen_assert(m_isInitialized || m_usePrescribedThreshold);
+ return m_usePrescribedThreshold ? m_prescribedThreshold
+ // this formula comes from experimenting (see "LU precision tuning" thread on the list)
+ // and turns out to be identical to Higham's formula used already in LDLt.
+ : NumTraits<Scalar>::epsilon() * RealScalar(m_qr.diagonalSize());
+ }
+
+ /** \returns the number of nonzero pivots in the QR decomposition.
+ * Here nonzero is meant in the exact sense, not in a fuzzy sense.
+ * So that notion isn't really intrinsically interesting, but it is
+ * still useful when implementing algorithms.
+ *
+ * \sa rank()
+ */
+ inline Index nonzeroPivots() const
+ {
+ eigen_assert(m_isInitialized && "LU is not initialized.");
+ return m_nonzero_pivots;
+ }
+
+ /** \returns the absolute value of the biggest pivot, i.e. the biggest
+ * diagonal coefficient of U.
+ */
+ RealScalar maxPivot() const { return m_maxpivot; }
+
+ #ifndef EIGEN_PARSED_BY_DOXYGEN
+ template<typename RhsType, typename DstType>
+ EIGEN_DEVICE_FUNC
+ void _solve_impl(const RhsType &rhs, DstType &dst) const;
+ #endif
+
+ protected:
+
+ static void check_template_parameters()
+ {
+ EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
+ }
+
+ void computeInPlace();
+
+ MatrixType m_qr;
+ HCoeffsType m_hCoeffs;
+ IntDiagSizeVectorType m_rows_transpositions;
+ IntDiagSizeVectorType m_cols_transpositions;
+ PermutationType m_cols_permutation;
+ RowVectorType m_temp;
+ bool m_isInitialized, m_usePrescribedThreshold;
+ RealScalar m_prescribedThreshold, m_maxpivot;
+ Index m_nonzero_pivots;
+ RealScalar m_precision;
+ Index m_det_pq;
+};
+
+template<typename MatrixType>
+typename MatrixType::RealScalar FullPivHouseholderQR<MatrixType>::absDeterminant() const
+{
+ using std::abs;
+ eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+ eigen_assert(m_qr.rows() == m_qr.cols() && "You can't take the determinant of a non-square matrix!");
+ return abs(m_qr.diagonal().prod());
+}
+
+template<typename MatrixType>
+typename MatrixType::RealScalar FullPivHouseholderQR<MatrixType>::logAbsDeterminant() const
+{
+ eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+ eigen_assert(m_qr.rows() == m_qr.cols() && "You can't take the determinant of a non-square matrix!");
+ return m_qr.diagonal().cwiseAbs().array().log().sum();
+}
+
+/** Performs the QR factorization of the given matrix \a matrix. The result of
+ * the factorization is stored into \c *this, and a reference to \c *this
+ * is returned.
+ *
+ * \sa class FullPivHouseholderQR, FullPivHouseholderQR(const MatrixType&)
+ */
+template<typename MatrixType>
+template<typename InputType>
+FullPivHouseholderQR<MatrixType>& FullPivHouseholderQR<MatrixType>::compute(const EigenBase<InputType>& matrix)
+{
+ m_qr = matrix.derived();
+ computeInPlace();
+ return *this;
+}
+
+template<typename MatrixType>
+void FullPivHouseholderQR<MatrixType>::computeInPlace()
+{
+ check_template_parameters();
+
+ using std::abs;
+ Index rows = m_qr.rows();
+ Index cols = m_qr.cols();
+ Index size = (std::min)(rows,cols);
+
+
+ m_hCoeffs.resize(size);
+
+ m_temp.resize(cols);
+
+ m_precision = NumTraits<Scalar>::epsilon() * RealScalar(size);
+
+ m_rows_transpositions.resize(size);
+ m_cols_transpositions.resize(size);
+ Index number_of_transpositions = 0;
+
+ RealScalar biggest(0);
+
+ m_nonzero_pivots = size; // the generic case is that in which all pivots are nonzero (invertible case)
+ m_maxpivot = RealScalar(0);
+
+ for (Index k = 0; k < size; ++k)
+ {
+ Index row_of_biggest_in_corner, col_of_biggest_in_corner;
+ typedef internal::scalar_score_coeff_op<Scalar> Scoring;
+ typedef typename Scoring::result_type Score;
+
+ Score score = m_qr.bottomRightCorner(rows-k, cols-k)
+ .unaryExpr(Scoring())
+ .maxCoeff(&row_of_biggest_in_corner, &col_of_biggest_in_corner);
+ row_of_biggest_in_corner += k;
+ col_of_biggest_in_corner += k;
+ RealScalar biggest_in_corner = internal::abs_knowing_score<Scalar>()(m_qr(row_of_biggest_in_corner, col_of_biggest_in_corner), score);
+ if(k==0) biggest = biggest_in_corner;
+
+ // if the corner is negligible, then we have less than full rank, and we can finish early
+ if(internal::isMuchSmallerThan(biggest_in_corner, biggest, m_precision))
+ {
+ m_nonzero_pivots = k;
+ for(Index i = k; i < size; i++)
+ {
+ m_rows_transpositions.coeffRef(i) = i;
+ m_cols_transpositions.coeffRef(i) = i;
+ m_hCoeffs.coeffRef(i) = Scalar(0);
+ }
+ break;
+ }
+
+ m_rows_transpositions.coeffRef(k) = row_of_biggest_in_corner;
+ m_cols_transpositions.coeffRef(k) = col_of_biggest_in_corner;
+ if(k != row_of_biggest_in_corner) {
+ m_qr.row(k).tail(cols-k).swap(m_qr.row(row_of_biggest_in_corner).tail(cols-k));
+ ++number_of_transpositions;
+ }
+ if(k != col_of_biggest_in_corner) {
+ m_qr.col(k).swap(m_qr.col(col_of_biggest_in_corner));
+ ++number_of_transpositions;
+ }
+
+ RealScalar beta;
+ m_qr.col(k).tail(rows-k).makeHouseholderInPlace(m_hCoeffs.coeffRef(k), beta);
+ m_qr.coeffRef(k,k) = beta;
+
+ // remember the maximum absolute value of diagonal coefficients
+ if(abs(beta) > m_maxpivot) m_maxpivot = abs(beta);
+
+ m_qr.bottomRightCorner(rows-k, cols-k-1)
+ .applyHouseholderOnTheLeft(m_qr.col(k).tail(rows-k-1), m_hCoeffs.coeffRef(k), &m_temp.coeffRef(k+1));
+ }
+
+ m_cols_permutation.setIdentity(cols);
+ for(Index k = 0; k < size; ++k)
+ m_cols_permutation.applyTranspositionOnTheRight(k, m_cols_transpositions.coeff(k));
+
+ m_det_pq = (number_of_transpositions%2) ? -1 : 1;
+ m_isInitialized = true;
+}
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template<typename _MatrixType>
+template<typename RhsType, typename DstType>
+void FullPivHouseholderQR<_MatrixType>::_solve_impl(const RhsType &rhs, DstType &dst) const
+{
+ eigen_assert(rhs.rows() == rows());
+ const Index l_rank = rank();
+
+ // FIXME introduce nonzeroPivots() and use it here. and more generally,
+ // make the same improvements in this dec as in FullPivLU.
+ if(l_rank==0)
+ {
+ dst.setZero();
+ return;
+ }
+
+ typename RhsType::PlainObject c(rhs);
+
+ Matrix<Scalar,1,RhsType::ColsAtCompileTime> temp(rhs.cols());
+ for (Index k = 0; k < l_rank; ++k)
+ {
+ Index remainingSize = rows()-k;
+ c.row(k).swap(c.row(m_rows_transpositions.coeff(k)));
+ c.bottomRightCorner(remainingSize, rhs.cols())
+ .applyHouseholderOnTheLeft(m_qr.col(k).tail(remainingSize-1),
+ m_hCoeffs.coeff(k), &temp.coeffRef(0));
+ }
+
+ m_qr.topLeftCorner(l_rank, l_rank)
+ .template triangularView<Upper>()
+ .solveInPlace(c.topRows(l_rank));
+
+ for(Index i = 0; i < l_rank; ++i) dst.row(m_cols_permutation.indices().coeff(i)) = c.row(i);
+ for(Index i = l_rank; i < cols(); ++i) dst.row(m_cols_permutation.indices().coeff(i)).setZero();
+}
+#endif
+
+namespace internal {
+
+template<typename DstXprType, typename MatrixType>
+struct Assignment<DstXprType, Inverse<FullPivHouseholderQR<MatrixType> >, internal::assign_op<typename DstXprType::Scalar,typename FullPivHouseholderQR<MatrixType>::Scalar>, Dense2Dense>
+{
+ typedef FullPivHouseholderQR<MatrixType> QrType;
+ typedef Inverse<QrType> SrcXprType;
+ static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename QrType::Scalar> &)
+ {
+ dst = src.nestedExpression().solve(MatrixType::Identity(src.rows(), src.cols()));
+ }
+};
+
+/** \ingroup QR_Module
+ *
+ * \brief Expression type for return value of FullPivHouseholderQR::matrixQ()
+ *
+ * \tparam MatrixType type of underlying dense matrix
+ */
+template<typename MatrixType> struct FullPivHouseholderQRMatrixQReturnType
+ : public ReturnByValue<FullPivHouseholderQRMatrixQReturnType<MatrixType> >
+{
+public:
+ typedef typename FullPivHouseholderQR<MatrixType>::IntDiagSizeVectorType IntDiagSizeVectorType;
+ typedef typename internal::plain_diag_type<MatrixType>::type HCoeffsType;
+ typedef Matrix<typename MatrixType::Scalar, 1, MatrixType::RowsAtCompileTime, RowMajor, 1,
+ MatrixType::MaxRowsAtCompileTime> WorkVectorType;
+
+ FullPivHouseholderQRMatrixQReturnType(const MatrixType& qr,
+ const HCoeffsType& hCoeffs,
+ const IntDiagSizeVectorType& rowsTranspositions)
+ : m_qr(qr),
+ m_hCoeffs(hCoeffs),
+ m_rowsTranspositions(rowsTranspositions)
+ {}
+
+ template <typename ResultType>
+ void evalTo(ResultType& result) const
+ {
+ const Index rows = m_qr.rows();
+ WorkVectorType workspace(rows);
+ evalTo(result, workspace);
+ }
+
+ template <typename ResultType>
+ void evalTo(ResultType& result, WorkVectorType& workspace) const
+ {
+ using numext::conj;
+ // compute the product H'_0 H'_1 ... H'_n-1,
+ // where H_k is the k-th Householder transformation I - h_k v_k v_k'
+ // and v_k is the k-th Householder vector [1,m_qr(k+1,k), m_qr(k+2,k), ...]
+ const Index rows = m_qr.rows();
+ const Index cols = m_qr.cols();
+ const Index size = (std::min)(rows, cols);
+ workspace.resize(rows);
+ result.setIdentity(rows, rows);
+ for (Index k = size-1; k >= 0; k--)
+ {
+ result.block(k, k, rows-k, rows-k)
+ .applyHouseholderOnTheLeft(m_qr.col(k).tail(rows-k-1), conj(m_hCoeffs.coeff(k)), &workspace.coeffRef(k));
+ result.row(k).swap(result.row(m_rowsTranspositions.coeff(k)));
+ }
+ }
+
+ Index rows() const { return m_qr.rows(); }
+ Index cols() const { return m_qr.rows(); }
+
+protected:
+ typename MatrixType::Nested m_qr;
+ typename HCoeffsType::Nested m_hCoeffs;
+ typename IntDiagSizeVectorType::Nested m_rowsTranspositions;
+};
+
+// template<typename MatrixType>
+// struct evaluator<FullPivHouseholderQRMatrixQReturnType<MatrixType> >
+// : public evaluator<ReturnByValue<FullPivHouseholderQRMatrixQReturnType<MatrixType> > >
+// {};
+
+} // end namespace internal
+
+template<typename MatrixType>
+inline typename FullPivHouseholderQR<MatrixType>::MatrixQReturnType FullPivHouseholderQR<MatrixType>::matrixQ() const
+{
+ eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
+ return MatrixQReturnType(m_qr, m_hCoeffs, m_rows_transpositions);
+}
+
+/** \return the full-pivoting Householder QR decomposition of \c *this.
+ *
+ * \sa class FullPivHouseholderQR
+ */
+template<typename Derived>
+const FullPivHouseholderQR<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::fullPivHouseholderQr() const
+{
+ return FullPivHouseholderQR<PlainObject>(eval());
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_FULLPIVOTINGHOUSEHOLDERQR_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/QR/HouseholderQR.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/QR/HouseholderQR.h
new file mode 100644
index 0000000..3513d99
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/QR/HouseholderQR.h
@@ -0,0 +1,409 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2010 Vincent Lejeune
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_QR_H
+#define EIGEN_QR_H
+
+namespace Eigen {
+
+/** \ingroup QR_Module
+ *
+ *
+ * \class HouseholderQR
+ *
+ * \brief Householder QR decomposition of a matrix
+ *
+ * \tparam _MatrixType the type of the matrix of which we are computing the QR decomposition
+ *
+ * This class performs a QR decomposition of a matrix \b A into matrices \b Q and \b R
+ * such that
+ * \f[
+ * \mathbf{A} = \mathbf{Q} \, \mathbf{R}
+ * \f]
+ * by using Householder transformations. Here, \b Q a unitary matrix and \b R an upper triangular matrix.
+ * The result is stored in a compact way compatible with LAPACK.
+ *
+ * Note that no pivoting is performed. This is \b not a rank-revealing decomposition.
+ * If you want that feature, use FullPivHouseholderQR or ColPivHouseholderQR instead.
+ *
+ * This Householder QR decomposition is faster, but less numerically stable and less feature-full than
+ * FullPivHouseholderQR or ColPivHouseholderQR.
+ *
+ * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
+ *
+ * \sa MatrixBase::householderQr()
+ */
+template<typename _MatrixType> class HouseholderQR
+{
+ public:
+
+ typedef _MatrixType MatrixType;
+ enum {
+ RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+ ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+ MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+ MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+ };
+ typedef typename MatrixType::Scalar Scalar;
+ typedef typename MatrixType::RealScalar RealScalar;
+ // FIXME should be int
+ typedef typename MatrixType::StorageIndex StorageIndex;
+ typedef Matrix<Scalar, RowsAtCompileTime, RowsAtCompileTime, (MatrixType::Flags&RowMajorBit) ? RowMajor : ColMajor, MaxRowsAtCompileTime, MaxRowsAtCompileTime> MatrixQType;
+ typedef typename internal::plain_diag_type<MatrixType>::type HCoeffsType;
+ typedef typename internal::plain_row_type<MatrixType>::type RowVectorType;
+ typedef HouseholderSequence<MatrixType,typename internal::remove_all<typename HCoeffsType::ConjugateReturnType>::type> HouseholderSequenceType;
+
+ /**
+ * \brief Default Constructor.
+ *
+ * The default constructor is useful in cases in which the user intends to
+ * perform decompositions via HouseholderQR::compute(const MatrixType&).
+ */
+ HouseholderQR() : m_qr(), m_hCoeffs(), m_temp(), m_isInitialized(false) {}
+
+ /** \brief Default Constructor with memory preallocation
+ *
+ * Like the default constructor but with preallocation of the internal data
+ * according to the specified problem \a size.
+ * \sa HouseholderQR()
+ */
+ HouseholderQR(Index rows, Index cols)
+ : m_qr(rows, cols),
+ m_hCoeffs((std::min)(rows,cols)),
+ m_temp(cols),
+ m_isInitialized(false) {}
+
+ /** \brief Constructs a QR factorization from a given matrix
+ *
+ * This constructor computes the QR factorization of the matrix \a matrix by calling
+ * the method compute(). It is a short cut for:
+ *
+ * \code
+ * HouseholderQR<MatrixType> qr(matrix.rows(), matrix.cols());
+ * qr.compute(matrix);
+ * \endcode
+ *
+ * \sa compute()
+ */
+ template<typename InputType>
+ explicit HouseholderQR(const EigenBase<InputType>& matrix)
+ : m_qr(matrix.rows(), matrix.cols()),
+ m_hCoeffs((std::min)(matrix.rows(),matrix.cols())),
+ m_temp(matrix.cols()),
+ m_isInitialized(false)
+ {
+ compute(matrix.derived());
+ }
+
+
+ /** \brief Constructs a QR factorization from a given matrix
+ *
+ * This overloaded constructor is provided for \link InplaceDecomposition inplace decomposition \endlink when
+ * \c MatrixType is a Eigen::Ref.
+ *
+ * \sa HouseholderQR(const EigenBase&)
+ */
+ template<typename InputType>
+ explicit HouseholderQR(EigenBase<InputType>& matrix)
+ : m_qr(matrix.derived()),
+ m_hCoeffs((std::min)(matrix.rows(),matrix.cols())),
+ m_temp(matrix.cols()),
+ m_isInitialized(false)
+ {
+ computeInPlace();
+ }
+
+ /** This method finds a solution x to the equation Ax=b, where A is the matrix of which
+ * *this is the QR decomposition, if any exists.
+ *
+ * \param b the right-hand-side of the equation to solve.
+ *
+ * \returns a solution.
+ *
+ * \note_about_checking_solutions
+ *
+ * \note_about_arbitrary_choice_of_solution
+ *
+ * Example: \include HouseholderQR_solve.cpp
+ * Output: \verbinclude HouseholderQR_solve.out
+ */
+ template<typename Rhs>
+ inline const Solve<HouseholderQR, Rhs>
+ solve(const MatrixBase<Rhs>& b) const
+ {
+ eigen_assert(m_isInitialized && "HouseholderQR is not initialized.");
+ return Solve<HouseholderQR, Rhs>(*this, b.derived());
+ }
+
+ /** This method returns an expression of the unitary matrix Q as a sequence of Householder transformations.
+ *
+ * The returned expression can directly be used to perform matrix products. It can also be assigned to a dense Matrix object.
+ * Here is an example showing how to recover the full or thin matrix Q, as well as how to perform matrix products using operator*:
+ *
+ * Example: \include HouseholderQR_householderQ.cpp
+ * Output: \verbinclude HouseholderQR_householderQ.out
+ */
+ HouseholderSequenceType householderQ() const
+ {
+ eigen_assert(m_isInitialized && "HouseholderQR is not initialized.");
+ return HouseholderSequenceType(m_qr, m_hCoeffs.conjugate());
+ }
+
+ /** \returns a reference to the matrix where the Householder QR decomposition is stored
+ * in a LAPACK-compatible way.
+ */
+ const MatrixType& matrixQR() const
+ {
+ eigen_assert(m_isInitialized && "HouseholderQR is not initialized.");
+ return m_qr;
+ }
+
+ template<typename InputType>
+ HouseholderQR& compute(const EigenBase<InputType>& matrix) {
+ m_qr = matrix.derived();
+ computeInPlace();
+ return *this;
+ }
+
+ /** \returns the absolute value of the determinant of the matrix of which
+ * *this is the QR decomposition. It has only linear complexity
+ * (that is, O(n) where n is the dimension of the square matrix)
+ * as the QR decomposition has already been computed.
+ *
+ * \note This is only for square matrices.
+ *
+ * \warning a determinant can be very big or small, so for matrices
+ * of large enough dimension, there is a risk of overflow/underflow.
+ * One way to work around that is to use logAbsDeterminant() instead.
+ *
+ * \sa logAbsDeterminant(), MatrixBase::determinant()
+ */
+ typename MatrixType::RealScalar absDeterminant() const;
+
+ /** \returns the natural log of the absolute value of the determinant of the matrix of which
+ * *this is the QR decomposition. It has only linear complexity
+ * (that is, O(n) where n is the dimension of the square matrix)
+ * as the QR decomposition has already been computed.
+ *
+ * \note This is only for square matrices.
+ *
+ * \note This method is useful to work around the risk of overflow/underflow that's inherent
+ * to determinant computation.
+ *
+ * \sa absDeterminant(), MatrixBase::determinant()
+ */
+ typename MatrixType::RealScalar logAbsDeterminant() const;
+
+ inline Index rows() const { return m_qr.rows(); }
+ inline Index cols() const { return m_qr.cols(); }
+
+ /** \returns a const reference to the vector of Householder coefficients used to represent the factor \c Q.
+ *
+ * For advanced uses only.
+ */
+ const HCoeffsType& hCoeffs() const { return m_hCoeffs; }
+
+ #ifndef EIGEN_PARSED_BY_DOXYGEN
+ template<typename RhsType, typename DstType>
+ EIGEN_DEVICE_FUNC
+ void _solve_impl(const RhsType &rhs, DstType &dst) const;
+ #endif
+
+ protected:
+
+ static void check_template_parameters()
+ {
+ EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
+ }
+
+ void computeInPlace();
+
+ MatrixType m_qr;
+ HCoeffsType m_hCoeffs;
+ RowVectorType m_temp;
+ bool m_isInitialized;
+};
+
+template<typename MatrixType>
+typename MatrixType::RealScalar HouseholderQR<MatrixType>::absDeterminant() const
+{
+ using std::abs;
+ eigen_assert(m_isInitialized && "HouseholderQR is not initialized.");
+ eigen_assert(m_qr.rows() == m_qr.cols() && "You can't take the determinant of a non-square matrix!");
+ return abs(m_qr.diagonal().prod());
+}
+
+template<typename MatrixType>
+typename MatrixType::RealScalar HouseholderQR<MatrixType>::logAbsDeterminant() const
+{
+ eigen_assert(m_isInitialized && "HouseholderQR is not initialized.");
+ eigen_assert(m_qr.rows() == m_qr.cols() && "You can't take the determinant of a non-square matrix!");
+ return m_qr.diagonal().cwiseAbs().array().log().sum();
+}
+
+namespace internal {
+
+/** \internal */
+template<typename MatrixQR, typename HCoeffs>
+void householder_qr_inplace_unblocked(MatrixQR& mat, HCoeffs& hCoeffs, typename MatrixQR::Scalar* tempData = 0)
+{
+ typedef typename MatrixQR::Scalar Scalar;
+ typedef typename MatrixQR::RealScalar RealScalar;
+ Index rows = mat.rows();
+ Index cols = mat.cols();
+ Index size = (std::min)(rows,cols);
+
+ eigen_assert(hCoeffs.size() == size);
+
+ typedef Matrix<Scalar,MatrixQR::ColsAtCompileTime,1> TempType;
+ TempType tempVector;
+ if(tempData==0)
+ {
+ tempVector.resize(cols);
+ tempData = tempVector.data();
+ }
+
+ for(Index k = 0; k < size; ++k)
+ {
+ Index remainingRows = rows - k;
+ Index remainingCols = cols - k - 1;
+
+ RealScalar beta;
+ mat.col(k).tail(remainingRows).makeHouseholderInPlace(hCoeffs.coeffRef(k), beta);
+ mat.coeffRef(k,k) = beta;
+
+ // apply H to remaining part of m_qr from the left
+ mat.bottomRightCorner(remainingRows, remainingCols)
+ .applyHouseholderOnTheLeft(mat.col(k).tail(remainingRows-1), hCoeffs.coeffRef(k), tempData+k+1);
+ }
+}
+
+/** \internal */
+template<typename MatrixQR, typename HCoeffs,
+ typename MatrixQRScalar = typename MatrixQR::Scalar,
+ bool InnerStrideIsOne = (MatrixQR::InnerStrideAtCompileTime == 1 && HCoeffs::InnerStrideAtCompileTime == 1)>
+struct householder_qr_inplace_blocked
+{
+ // This is specialized for MKL-supported Scalar types in HouseholderQR_MKL.h
+ static void run(MatrixQR& mat, HCoeffs& hCoeffs, Index maxBlockSize=32,
+ typename MatrixQR::Scalar* tempData = 0)
+ {
+ typedef typename MatrixQR::Scalar Scalar;
+ typedef Block<MatrixQR,Dynamic,Dynamic> BlockType;
+
+ Index rows = mat.rows();
+ Index cols = mat.cols();
+ Index size = (std::min)(rows, cols);
+
+ typedef Matrix<Scalar,Dynamic,1,ColMajor,MatrixQR::MaxColsAtCompileTime,1> TempType;
+ TempType tempVector;
+ if(tempData==0)
+ {
+ tempVector.resize(cols);
+ tempData = tempVector.data();
+ }
+
+ Index blockSize = (std::min)(maxBlockSize,size);
+
+ Index k = 0;
+ for (k = 0; k < size; k += blockSize)
+ {
+ Index bs = (std::min)(size-k,blockSize); // actual size of the block
+ Index tcols = cols - k - bs; // trailing columns
+ Index brows = rows-k; // rows of the block
+
+ // partition the matrix:
+ // A00 | A01 | A02
+ // mat = A10 | A11 | A12
+ // A20 | A21 | A22
+ // and performs the qr dec of [A11^T A12^T]^T
+ // and update [A21^T A22^T]^T using level 3 operations.
+ // Finally, the algorithm continue on A22
+
+ BlockType A11_21 = mat.block(k,k,brows,bs);
+ Block<HCoeffs,Dynamic,1> hCoeffsSegment = hCoeffs.segment(k,bs);
+
+ householder_qr_inplace_unblocked(A11_21, hCoeffsSegment, tempData);
+
+ if(tcols)
+ {
+ BlockType A21_22 = mat.block(k,k+bs,brows,tcols);
+ apply_block_householder_on_the_left(A21_22,A11_21,hCoeffsSegment, false); // false == backward
+ }
+ }
+ }
+};
+
+} // end namespace internal
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template<typename _MatrixType>
+template<typename RhsType, typename DstType>
+void HouseholderQR<_MatrixType>::_solve_impl(const RhsType &rhs, DstType &dst) const
+{
+ const Index rank = (std::min)(rows(), cols());
+ eigen_assert(rhs.rows() == rows());
+
+ typename RhsType::PlainObject c(rhs);
+
+ // Note that the matrix Q = H_0^* H_1^*... so its inverse is Q^* = (H_0 H_1 ...)^T
+ c.applyOnTheLeft(householderSequence(
+ m_qr.leftCols(rank),
+ m_hCoeffs.head(rank)).transpose()
+ );
+
+ m_qr.topLeftCorner(rank, rank)
+ .template triangularView<Upper>()
+ .solveInPlace(c.topRows(rank));
+
+ dst.topRows(rank) = c.topRows(rank);
+ dst.bottomRows(cols()-rank).setZero();
+}
+#endif
+
+/** Performs the QR factorization of the given matrix \a matrix. The result of
+ * the factorization is stored into \c *this, and a reference to \c *this
+ * is returned.
+ *
+ * \sa class HouseholderQR, HouseholderQR(const MatrixType&)
+ */
+template<typename MatrixType>
+void HouseholderQR<MatrixType>::computeInPlace()
+{
+ check_template_parameters();
+
+ Index rows = m_qr.rows();
+ Index cols = m_qr.cols();
+ Index size = (std::min)(rows,cols);
+
+ m_hCoeffs.resize(size);
+
+ m_temp.resize(cols);
+
+ internal::householder_qr_inplace_blocked<MatrixType, HCoeffsType>::run(m_qr, m_hCoeffs, 48, m_temp.data());
+
+ m_isInitialized = true;
+}
+
+/** \return the Householder QR decomposition of \c *this.
+ *
+ * \sa class HouseholderQR
+ */
+template<typename Derived>
+const HouseholderQR<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::householderQr() const
+{
+ return HouseholderQR<PlainObject>(eval());
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_QR_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/SVD/BDCSVD.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/SVD/BDCSVD.h
new file mode 100644
index 0000000..1134d66
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/SVD/BDCSVD.h
@@ -0,0 +1,1246 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// We used the "A Divide-And-Conquer Algorithm for the Bidiagonal SVD"
+// research report written by Ming Gu and Stanley C.Eisenstat
+// The code variable names correspond to the names they used in their
+// report
+//
+// Copyright (C) 2013 Gauthier Brun <brun.gauthier@gmail.com>
+// Copyright (C) 2013 Nicolas Carre <nicolas.carre@ensimag.fr>
+// Copyright (C) 2013 Jean Ceccato <jean.ceccato@ensimag.fr>
+// Copyright (C) 2013 Pierre Zoppitelli <pierre.zoppitelli@ensimag.fr>
+// Copyright (C) 2013 Jitse Niesen <jitse@maths.leeds.ac.uk>
+// Copyright (C) 2014-2017 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_BDCSVD_H
+#define EIGEN_BDCSVD_H
+// #define EIGEN_BDCSVD_DEBUG_VERBOSE
+// #define EIGEN_BDCSVD_SANITY_CHECKS
+
+namespace Eigen {
+
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+IOFormat bdcsvdfmt(8, 0, ", ", "\n", " [", "]");
+#endif
+
+template<typename _MatrixType> class BDCSVD;
+
+namespace internal {
+
+template<typename _MatrixType>
+struct traits<BDCSVD<_MatrixType> >
+{
+ typedef _MatrixType MatrixType;
+};
+
+} // end namespace internal
+
+
+/** \ingroup SVD_Module
+ *
+ *
+ * \class BDCSVD
+ *
+ * \brief class Bidiagonal Divide and Conquer SVD
+ *
+ * \tparam _MatrixType the type of the matrix of which we are computing the SVD decomposition
+ *
+ * This class first reduces the input matrix to bi-diagonal form using class UpperBidiagonalization,
+ * and then performs a divide-and-conquer diagonalization. Small blocks are diagonalized using class JacobiSVD.
+ * You can control the switching size with the setSwitchSize() method, default is 16.
+ * For small matrice (<16), it is thus preferable to directly use JacobiSVD. For larger ones, BDCSVD is highly
+ * recommended and can several order of magnitude faster.
+ *
+ * \warning this algorithm is unlikely to provide accurate result when compiled with unsafe math optimizations.
+ * For instance, this concerns Intel's compiler (ICC), which perfroms such optimization by default unless
+ * you compile with the \c -fp-model \c precise option. Likewise, the \c -ffast-math option of GCC or clang will
+ * significantly degrade the accuracy.
+ *
+ * \sa class JacobiSVD
+ */
+template<typename _MatrixType>
+class BDCSVD : public SVDBase<BDCSVD<_MatrixType> >
+{
+ typedef SVDBase<BDCSVD> Base;
+
+public:
+ using Base::rows;
+ using Base::cols;
+ using Base::computeU;
+ using Base::computeV;
+
+ typedef _MatrixType MatrixType;
+ typedef typename MatrixType::Scalar Scalar;
+ typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
+ typedef typename NumTraits<RealScalar>::Literal Literal;
+ enum {
+ RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+ ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+ DiagSizeAtCompileTime = EIGEN_SIZE_MIN_PREFER_DYNAMIC(RowsAtCompileTime, ColsAtCompileTime),
+ MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+ MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
+ MaxDiagSizeAtCompileTime = EIGEN_SIZE_MIN_PREFER_FIXED(MaxRowsAtCompileTime, MaxColsAtCompileTime),
+ MatrixOptions = MatrixType::Options
+ };
+
+ typedef typename Base::MatrixUType MatrixUType;
+ typedef typename Base::MatrixVType MatrixVType;
+ typedef typename Base::SingularValuesType SingularValuesType;
+
+ typedef Matrix<Scalar, Dynamic, Dynamic, ColMajor> MatrixX;
+ typedef Matrix<RealScalar, Dynamic, Dynamic, ColMajor> MatrixXr;
+ typedef Matrix<RealScalar, Dynamic, 1> VectorType;
+ typedef Array<RealScalar, Dynamic, 1> ArrayXr;
+ typedef Array<Index,1,Dynamic> ArrayXi;
+ typedef Ref<ArrayXr> ArrayRef;
+ typedef Ref<ArrayXi> IndicesRef;
+
+ /** \brief Default Constructor.
+ *
+ * The default constructor is useful in cases in which the user intends to
+ * perform decompositions via BDCSVD::compute(const MatrixType&).
+ */
+ BDCSVD() : m_algoswap(16), m_numIters(0)
+ {}
+
+
+ /** \brief Default Constructor with memory preallocation
+ *
+ * Like the default constructor but with preallocation of the internal data
+ * according to the specified problem size.
+ * \sa BDCSVD()
+ */
+ BDCSVD(Index rows, Index cols, unsigned int computationOptions = 0)
+ : m_algoswap(16), m_numIters(0)
+ {
+ allocate(rows, cols, computationOptions);
+ }
+
+ /** \brief Constructor performing the decomposition of given matrix.
+ *
+ * \param matrix the matrix to decompose
+ * \param computationOptions optional parameter allowing to specify if you want full or thin U or V unitaries to be computed.
+ * By default, none is computed. This is a bit - field, the possible bits are #ComputeFullU, #ComputeThinU,
+ * #ComputeFullV, #ComputeThinV.
+ *
+ * Thin unitaries are only available if your matrix type has a Dynamic number of columns (for example MatrixXf). They also are not
+ * available with the (non - default) FullPivHouseholderQR preconditioner.
+ */
+ BDCSVD(const MatrixType& matrix, unsigned int computationOptions = 0)
+ : m_algoswap(16), m_numIters(0)
+ {
+ compute(matrix, computationOptions);
+ }
+
+ ~BDCSVD()
+ {
+ }
+
+ /** \brief Method performing the decomposition of given matrix using custom options.
+ *
+ * \param matrix the matrix to decompose
+ * \param computationOptions optional parameter allowing to specify if you want full or thin U or V unitaries to be computed.
+ * By default, none is computed. This is a bit - field, the possible bits are #ComputeFullU, #ComputeThinU,
+ * #ComputeFullV, #ComputeThinV.
+ *
+ * Thin unitaries are only available if your matrix type has a Dynamic number of columns (for example MatrixXf). They also are not
+ * available with the (non - default) FullPivHouseholderQR preconditioner.
+ */
+ BDCSVD& compute(const MatrixType& matrix, unsigned int computationOptions);
+
+ /** \brief Method performing the decomposition of given matrix using current options.
+ *
+ * \param matrix the matrix to decompose
+ *
+ * This method uses the current \a computationOptions, as already passed to the constructor or to compute(const MatrixType&, unsigned int).
+ */
+ BDCSVD& compute(const MatrixType& matrix)
+ {
+ return compute(matrix, this->m_computationOptions);
+ }
+
+ void setSwitchSize(int s)
+ {
+ eigen_assert(s>3 && "BDCSVD the size of the algo switch has to be greater than 3");
+ m_algoswap = s;
+ }
+
+private:
+ void allocate(Index rows, Index cols, unsigned int computationOptions);
+ void divide(Index firstCol, Index lastCol, Index firstRowW, Index firstColW, Index shift);
+ void computeSVDofM(Index firstCol, Index n, MatrixXr& U, VectorType& singVals, MatrixXr& V);
+ void computeSingVals(const ArrayRef& col0, const ArrayRef& diag, const IndicesRef& perm, VectorType& singVals, ArrayRef shifts, ArrayRef mus);
+ void perturbCol0(const ArrayRef& col0, const ArrayRef& diag, const IndicesRef& perm, const VectorType& singVals, const ArrayRef& shifts, const ArrayRef& mus, ArrayRef zhat);
+ void computeSingVecs(const ArrayRef& zhat, const ArrayRef& diag, const IndicesRef& perm, const VectorType& singVals, const ArrayRef& shifts, const ArrayRef& mus, MatrixXr& U, MatrixXr& V);
+ void deflation43(Index firstCol, Index shift, Index i, Index size);
+ void deflation44(Index firstColu , Index firstColm, Index firstRowW, Index firstColW, Index i, Index j, Index size);
+ void deflation(Index firstCol, Index lastCol, Index k, Index firstRowW, Index firstColW, Index shift);
+ template<typename HouseholderU, typename HouseholderV, typename NaiveU, typename NaiveV>
+ void copyUV(const HouseholderU &householderU, const HouseholderV &householderV, const NaiveU &naiveU, const NaiveV &naivev);
+ void structured_update(Block<MatrixXr,Dynamic,Dynamic> A, const MatrixXr &B, Index n1);
+ static RealScalar secularEq(RealScalar x, const ArrayRef& col0, const ArrayRef& diag, const IndicesRef &perm, const ArrayRef& diagShifted, RealScalar shift);
+
+protected:
+ MatrixXr m_naiveU, m_naiveV;
+ MatrixXr m_computed;
+ Index m_nRec;
+ ArrayXr m_workspace;
+ ArrayXi m_workspaceI;
+ int m_algoswap;
+ bool m_isTranspose, m_compU, m_compV;
+
+ using Base::m_singularValues;
+ using Base::m_diagSize;
+ using Base::m_computeFullU;
+ using Base::m_computeFullV;
+ using Base::m_computeThinU;
+ using Base::m_computeThinV;
+ using Base::m_matrixU;
+ using Base::m_matrixV;
+ using Base::m_isInitialized;
+ using Base::m_nonzeroSingularValues;
+
+public:
+ int m_numIters;
+}; //end class BDCSVD
+
+
+// Method to allocate and initialize matrix and attributes
+template<typename MatrixType>
+void BDCSVD<MatrixType>::allocate(Index rows, Index cols, unsigned int computationOptions)
+{
+ m_isTranspose = (cols > rows);
+
+ if (Base::allocate(rows, cols, computationOptions))
+ return;
+
+ m_computed = MatrixXr::Zero(m_diagSize + 1, m_diagSize );
+ m_compU = computeV();
+ m_compV = computeU();
+ if (m_isTranspose)
+ std::swap(m_compU, m_compV);
+
+ if (m_compU) m_naiveU = MatrixXr::Zero(m_diagSize + 1, m_diagSize + 1 );
+ else m_naiveU = MatrixXr::Zero(2, m_diagSize + 1 );
+
+ if (m_compV) m_naiveV = MatrixXr::Zero(m_diagSize, m_diagSize);
+
+ m_workspace.resize((m_diagSize+1)*(m_diagSize+1)*3);
+ m_workspaceI.resize(3*m_diagSize);
+}// end allocate
+
+template<typename MatrixType>
+BDCSVD<MatrixType>& BDCSVD<MatrixType>::compute(const MatrixType& matrix, unsigned int computationOptions)
+{
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+ std::cout << "\n\n\n======================================================================================================================\n\n\n";
+#endif
+ allocate(matrix.rows(), matrix.cols(), computationOptions);
+ using std::abs;
+
+ const RealScalar considerZero = (std::numeric_limits<RealScalar>::min)();
+
+ //**** step -1 - If the problem is too small, directly falls back to JacobiSVD and return
+ if(matrix.cols() < m_algoswap)
+ {
+ // FIXME this line involves temporaries
+ JacobiSVD<MatrixType> jsvd(matrix,computationOptions);
+ if(computeU()) m_matrixU = jsvd.matrixU();
+ if(computeV()) m_matrixV = jsvd.matrixV();
+ m_singularValues = jsvd.singularValues();
+ m_nonzeroSingularValues = jsvd.nonzeroSingularValues();
+ m_isInitialized = true;
+ return *this;
+ }
+
+ //**** step 0 - Copy the input matrix and apply scaling to reduce over/under-flows
+ RealScalar scale = matrix.cwiseAbs().maxCoeff();
+ if(scale==Literal(0)) scale = Literal(1);
+ MatrixX copy;
+ if (m_isTranspose) copy = matrix.adjoint()/scale;
+ else copy = matrix/scale;
+
+ //**** step 1 - Bidiagonalization
+ // FIXME this line involves temporaries
+ internal::UpperBidiagonalization<MatrixX> bid(copy);
+
+ //**** step 2 - Divide & Conquer
+ m_naiveU.setZero();
+ m_naiveV.setZero();
+ // FIXME this line involves a temporary matrix
+ m_computed.topRows(m_diagSize) = bid.bidiagonal().toDenseMatrix().transpose();
+ m_computed.template bottomRows<1>().setZero();
+ divide(0, m_diagSize - 1, 0, 0, 0);
+
+ //**** step 3 - Copy singular values and vectors
+ for (int i=0; i<m_diagSize; i++)
+ {
+ RealScalar a = abs(m_computed.coeff(i, i));
+ m_singularValues.coeffRef(i) = a * scale;
+ if (a<considerZero)
+ {
+ m_nonzeroSingularValues = i;
+ m_singularValues.tail(m_diagSize - i - 1).setZero();
+ break;
+ }
+ else if (i == m_diagSize - 1)
+ {
+ m_nonzeroSingularValues = i + 1;
+ break;
+ }
+ }
+
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+// std::cout << "m_naiveU\n" << m_naiveU << "\n\n";
+// std::cout << "m_naiveV\n" << m_naiveV << "\n\n";
+#endif
+ if(m_isTranspose) copyUV(bid.householderV(), bid.householderU(), m_naiveV, m_naiveU);
+ else copyUV(bid.householderU(), bid.householderV(), m_naiveU, m_naiveV);
+
+ m_isInitialized = true;
+ return *this;
+}// end compute
+
+
+template<typename MatrixType>
+template<typename HouseholderU, typename HouseholderV, typename NaiveU, typename NaiveV>
+void BDCSVD<MatrixType>::copyUV(const HouseholderU &householderU, const HouseholderV &householderV, const NaiveU &naiveU, const NaiveV &naiveV)
+{
+ // Note exchange of U and V: m_matrixU is set from m_naiveV and vice versa
+ if (computeU())
+ {
+ Index Ucols = m_computeThinU ? m_diagSize : householderU.cols();
+ m_matrixU = MatrixX::Identity(householderU.cols(), Ucols);
+ m_matrixU.topLeftCorner(m_diagSize, m_diagSize) = naiveV.template cast<Scalar>().topLeftCorner(m_diagSize, m_diagSize);
+ householderU.applyThisOnTheLeft(m_matrixU); // FIXME this line involves a temporary buffer
+ }
+ if (computeV())
+ {
+ Index Vcols = m_computeThinV ? m_diagSize : householderV.cols();
+ m_matrixV = MatrixX::Identity(householderV.cols(), Vcols);
+ m_matrixV.topLeftCorner(m_diagSize, m_diagSize) = naiveU.template cast<Scalar>().topLeftCorner(m_diagSize, m_diagSize);
+ householderV.applyThisOnTheLeft(m_matrixV); // FIXME this line involves a temporary buffer
+ }
+}
+
+/** \internal
+ * Performs A = A * B exploiting the special structure of the matrix A. Splitting A as:
+ * A = [A1]
+ * [A2]
+ * such that A1.rows()==n1, then we assume that at least half of the columns of A1 and A2 are zeros.
+ * We can thus pack them prior to the the matrix product. However, this is only worth the effort if the matrix is large
+ * enough.
+ */
+template<typename MatrixType>
+void BDCSVD<MatrixType>::structured_update(Block<MatrixXr,Dynamic,Dynamic> A, const MatrixXr &B, Index n1)
+{
+ Index n = A.rows();
+ if(n>100)
+ {
+ // If the matrices are large enough, let's exploit the sparse structure of A by
+ // splitting it in half (wrt n1), and packing the non-zero columns.
+ Index n2 = n - n1;
+ Map<MatrixXr> A1(m_workspace.data() , n1, n);
+ Map<MatrixXr> A2(m_workspace.data()+ n1*n, n2, n);
+ Map<MatrixXr> B1(m_workspace.data()+ n*n, n, n);
+ Map<MatrixXr> B2(m_workspace.data()+2*n*n, n, n);
+ Index k1=0, k2=0;
+ for(Index j=0; j<n; ++j)
+ {
+ if( (A.col(j).head(n1).array()!=Literal(0)).any() )
+ {
+ A1.col(k1) = A.col(j).head(n1);
+ B1.row(k1) = B.row(j);
+ ++k1;
+ }
+ if( (A.col(j).tail(n2).array()!=Literal(0)).any() )
+ {
+ A2.col(k2) = A.col(j).tail(n2);
+ B2.row(k2) = B.row(j);
+ ++k2;
+ }
+ }
+
+ A.topRows(n1).noalias() = A1.leftCols(k1) * B1.topRows(k1);
+ A.bottomRows(n2).noalias() = A2.leftCols(k2) * B2.topRows(k2);
+ }
+ else
+ {
+ Map<MatrixXr,Aligned> tmp(m_workspace.data(),n,n);
+ tmp.noalias() = A*B;
+ A = tmp;
+ }
+}
+
+// The divide algorithm is done "in place", we are always working on subsets of the same matrix. The divide methods takes as argument the
+// place of the submatrix we are currently working on.
+
+//@param firstCol : The Index of the first column of the submatrix of m_computed and for m_naiveU;
+//@param lastCol : The Index of the last column of the submatrix of m_computed and for m_naiveU;
+// lastCol + 1 - firstCol is the size of the submatrix.
+//@param firstRowW : The Index of the first row of the matrix W that we are to change. (see the reference paper section 1 for more information on W)
+//@param firstRowW : Same as firstRowW with the column.
+//@param shift : Each time one takes the left submatrix, one must add 1 to the shift. Why? Because! We actually want the last column of the U submatrix
+// to become the first column (*coeff) and to shift all the other columns to the right. There are more details on the reference paper.
+template<typename MatrixType>
+void BDCSVD<MatrixType>::divide (Index firstCol, Index lastCol, Index firstRowW, Index firstColW, Index shift)
+{
+ // requires rows = cols + 1;
+ using std::pow;
+ using std::sqrt;
+ using std::abs;
+ const Index n = lastCol - firstCol + 1;
+ const Index k = n/2;
+ const RealScalar considerZero = (std::numeric_limits<RealScalar>::min)();
+ RealScalar alphaK;
+ RealScalar betaK;
+ RealScalar r0;
+ RealScalar lambda, phi, c0, s0;
+ VectorType l, f;
+ // We use the other algorithm which is more efficient for small
+ // matrices.
+ if (n < m_algoswap)
+ {
+ // FIXME this line involves temporaries
+ JacobiSVD<MatrixXr> b(m_computed.block(firstCol, firstCol, n + 1, n), ComputeFullU | (m_compV ? ComputeFullV : 0));
+ if (m_compU)
+ m_naiveU.block(firstCol, firstCol, n + 1, n + 1).real() = b.matrixU();
+ else
+ {
+ m_naiveU.row(0).segment(firstCol, n + 1).real() = b.matrixU().row(0);
+ m_naiveU.row(1).segment(firstCol, n + 1).real() = b.matrixU().row(n);
+ }
+ if (m_compV) m_naiveV.block(firstRowW, firstColW, n, n).real() = b.matrixV();
+ m_computed.block(firstCol + shift, firstCol + shift, n + 1, n).setZero();
+ m_computed.diagonal().segment(firstCol + shift, n) = b.singularValues().head(n);
+ return;
+ }
+ // We use the divide and conquer algorithm
+ alphaK = m_computed(firstCol + k, firstCol + k);
+ betaK = m_computed(firstCol + k + 1, firstCol + k);
+ // The divide must be done in that order in order to have good results. Divide change the data inside the submatrices
+ // and the divide of the right submatrice reads one column of the left submatrice. That's why we need to treat the
+ // right submatrix before the left one.
+ divide(k + 1 + firstCol, lastCol, k + 1 + firstRowW, k + 1 + firstColW, shift);
+ divide(firstCol, k - 1 + firstCol, firstRowW, firstColW + 1, shift + 1);
+
+ if (m_compU)
+ {
+ lambda = m_naiveU(firstCol + k, firstCol + k);
+ phi = m_naiveU(firstCol + k + 1, lastCol + 1);
+ }
+ else
+ {
+ lambda = m_naiveU(1, firstCol + k);
+ phi = m_naiveU(0, lastCol + 1);
+ }
+ r0 = sqrt((abs(alphaK * lambda) * abs(alphaK * lambda)) + abs(betaK * phi) * abs(betaK * phi));
+ if (m_compU)
+ {
+ l = m_naiveU.row(firstCol + k).segment(firstCol, k);
+ f = m_naiveU.row(firstCol + k + 1).segment(firstCol + k + 1, n - k - 1);
+ }
+ else
+ {
+ l = m_naiveU.row(1).segment(firstCol, k);
+ f = m_naiveU.row(0).segment(firstCol + k + 1, n - k - 1);
+ }
+ if (m_compV) m_naiveV(firstRowW+k, firstColW) = Literal(1);
+ if (r0<considerZero)
+ {
+ c0 = Literal(1);
+ s0 = Literal(0);
+ }
+ else
+ {
+ c0 = alphaK * lambda / r0;
+ s0 = betaK * phi / r0;
+ }
+
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+ assert(m_naiveU.allFinite());
+ assert(m_naiveV.allFinite());
+ assert(m_computed.allFinite());
+#endif
+
+ if (m_compU)
+ {
+ MatrixXr q1 (m_naiveU.col(firstCol + k).segment(firstCol, k + 1));
+ // we shiftW Q1 to the right
+ for (Index i = firstCol + k - 1; i >= firstCol; i--)
+ m_naiveU.col(i + 1).segment(firstCol, k + 1) = m_naiveU.col(i).segment(firstCol, k + 1);
+ // we shift q1 at the left with a factor c0
+ m_naiveU.col(firstCol).segment( firstCol, k + 1) = (q1 * c0);
+ // last column = q1 * - s0
+ m_naiveU.col(lastCol + 1).segment(firstCol, k + 1) = (q1 * ( - s0));
+ // first column = q2 * s0
+ m_naiveU.col(firstCol).segment(firstCol + k + 1, n - k) = m_naiveU.col(lastCol + 1).segment(firstCol + k + 1, n - k) * s0;
+ // q2 *= c0
+ m_naiveU.col(lastCol + 1).segment(firstCol + k + 1, n - k) *= c0;
+ }
+ else
+ {
+ RealScalar q1 = m_naiveU(0, firstCol + k);
+ // we shift Q1 to the right
+ for (Index i = firstCol + k - 1; i >= firstCol; i--)
+ m_naiveU(0, i + 1) = m_naiveU(0, i);
+ // we shift q1 at the left with a factor c0
+ m_naiveU(0, firstCol) = (q1 * c0);
+ // last column = q1 * - s0
+ m_naiveU(0, lastCol + 1) = (q1 * ( - s0));
+ // first column = q2 * s0
+ m_naiveU(1, firstCol) = m_naiveU(1, lastCol + 1) *s0;
+ // q2 *= c0
+ m_naiveU(1, lastCol + 1) *= c0;
+ m_naiveU.row(1).segment(firstCol + 1, k).setZero();
+ m_naiveU.row(0).segment(firstCol + k + 1, n - k - 1).setZero();
+ }
+
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+ assert(m_naiveU.allFinite());
+ assert(m_naiveV.allFinite());
+ assert(m_computed.allFinite());
+#endif
+
+ m_computed(firstCol + shift, firstCol + shift) = r0;
+ m_computed.col(firstCol + shift).segment(firstCol + shift + 1, k) = alphaK * l.transpose().real();
+ m_computed.col(firstCol + shift).segment(firstCol + shift + k + 1, n - k - 1) = betaK * f.transpose().real();
+
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+ ArrayXr tmp1 = (m_computed.block(firstCol+shift, firstCol+shift, n, n)).jacobiSvd().singularValues();
+#endif
+ // Second part: try to deflate singular values in combined matrix
+ deflation(firstCol, lastCol, k, firstRowW, firstColW, shift);
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+ ArrayXr tmp2 = (m_computed.block(firstCol+shift, firstCol+shift, n, n)).jacobiSvd().singularValues();
+ std::cout << "\n\nj1 = " << tmp1.transpose().format(bdcsvdfmt) << "\n";
+ std::cout << "j2 = " << tmp2.transpose().format(bdcsvdfmt) << "\n\n";
+ std::cout << "err: " << ((tmp1-tmp2).abs()>1e-12*tmp2.abs()).transpose() << "\n";
+ static int count = 0;
+ std::cout << "# " << ++count << "\n\n";
+ assert((tmp1-tmp2).matrix().norm() < 1e-14*tmp2.matrix().norm());
+// assert(count<681);
+// assert(((tmp1-tmp2).abs()<1e-13*tmp2.abs()).all());
+#endif
+
+ // Third part: compute SVD of combined matrix
+ MatrixXr UofSVD, VofSVD;
+ VectorType singVals;
+ computeSVDofM(firstCol + shift, n, UofSVD, singVals, VofSVD);
+
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+ assert(UofSVD.allFinite());
+ assert(VofSVD.allFinite());
+#endif
+
+ if (m_compU)
+ structured_update(m_naiveU.block(firstCol, firstCol, n + 1, n + 1), UofSVD, (n+2)/2);
+ else
+ {
+ Map<Matrix<RealScalar,2,Dynamic>,Aligned> tmp(m_workspace.data(),2,n+1);
+ tmp.noalias() = m_naiveU.middleCols(firstCol, n+1) * UofSVD;
+ m_naiveU.middleCols(firstCol, n + 1) = tmp;
+ }
+
+ if (m_compV) structured_update(m_naiveV.block(firstRowW, firstColW, n, n), VofSVD, (n+1)/2);
+
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+ assert(m_naiveU.allFinite());
+ assert(m_naiveV.allFinite());
+ assert(m_computed.allFinite());
+#endif
+
+ m_computed.block(firstCol + shift, firstCol + shift, n, n).setZero();
+ m_computed.block(firstCol + shift, firstCol + shift, n, n).diagonal() = singVals;
+}// end divide
+
+// Compute SVD of m_computed.block(firstCol, firstCol, n + 1, n); this block only has non-zeros in
+// the first column and on the diagonal and has undergone deflation, so diagonal is in increasing
+// order except for possibly the (0,0) entry. The computed SVD is stored U, singVals and V, except
+// that if m_compV is false, then V is not computed. Singular values are sorted in decreasing order.
+//
+// TODO Opportunities for optimization: better root finding algo, better stopping criterion, better
+// handling of round-off errors, be consistent in ordering
+// For instance, to solve the secular equation using FMM, see http://www.stat.uchicago.edu/~lekheng/courses/302/classics/greengard-rokhlin.pdf
+template <typename MatrixType>
+void BDCSVD<MatrixType>::computeSVDofM(Index firstCol, Index n, MatrixXr& U, VectorType& singVals, MatrixXr& V)
+{
+ const RealScalar considerZero = (std::numeric_limits<RealScalar>::min)();
+ using std::abs;
+ ArrayRef col0 = m_computed.col(firstCol).segment(firstCol, n);
+ m_workspace.head(n) = m_computed.block(firstCol, firstCol, n, n).diagonal();
+ ArrayRef diag = m_workspace.head(n);
+ diag(0) = Literal(0);
+
+ // Allocate space for singular values and vectors
+ singVals.resize(n);
+ U.resize(n+1, n+1);
+ if (m_compV) V.resize(n, n);
+
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+ if (col0.hasNaN() || diag.hasNaN())
+ std::cout << "\n\nHAS NAN\n\n";
+#endif
+
+ // Many singular values might have been deflated, the zero ones have been moved to the end,
+ // but others are interleaved and we must ignore them at this stage.
+ // To this end, let's compute a permutation skipping them:
+ Index actual_n = n;
+ while(actual_n>1 && diag(actual_n-1)==Literal(0)) --actual_n;
+ Index m = 0; // size of the deflated problem
+ for(Index k=0;k<actual_n;++k)
+ if(abs(col0(k))>considerZero)
+ m_workspaceI(m++) = k;
+ Map<ArrayXi> perm(m_workspaceI.data(),m);
+
+ Map<ArrayXr> shifts(m_workspace.data()+1*n, n);
+ Map<ArrayXr> mus(m_workspace.data()+2*n, n);
+ Map<ArrayXr> zhat(m_workspace.data()+3*n, n);
+
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+ std::cout << "computeSVDofM using:\n";
+ std::cout << " z: " << col0.transpose() << "\n";
+ std::cout << " d: " << diag.transpose() << "\n";
+#endif
+
+ // Compute singVals, shifts, and mus
+ computeSingVals(col0, diag, perm, singVals, shifts, mus);
+
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+ std::cout << " j: " << (m_computed.block(firstCol, firstCol, n, n)).jacobiSvd().singularValues().transpose().reverse() << "\n\n";
+ std::cout << " sing-val: " << singVals.transpose() << "\n";
+ std::cout << " mu: " << mus.transpose() << "\n";
+ std::cout << " shift: " << shifts.transpose() << "\n";
+
+ {
+ Index actual_n = n;
+ while(actual_n>1 && abs(col0(actual_n-1))<considerZero) --actual_n;
+ std::cout << "\n\n mus: " << mus.head(actual_n).transpose() << "\n\n";
+ std::cout << " check1 (expect0) : " << ((singVals.array()-(shifts+mus)) / singVals.array()).head(actual_n).transpose() << "\n\n";
+ std::cout << " check2 (>0) : " << ((singVals.array()-diag) / singVals.array()).head(actual_n).transpose() << "\n\n";
+ std::cout << " check3 (>0) : " << ((diag.segment(1,actual_n-1)-singVals.head(actual_n-1).array()) / singVals.head(actual_n-1).array()).transpose() << "\n\n\n";
+ std::cout << " check4 (>0) : " << ((singVals.segment(1,actual_n-1)-singVals.head(actual_n-1))).transpose() << "\n\n\n";
+ }
+#endif
+
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+ assert(singVals.allFinite());
+ assert(mus.allFinite());
+ assert(shifts.allFinite());
+#endif
+
+ // Compute zhat
+ perturbCol0(col0, diag, perm, singVals, shifts, mus, zhat);
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+ std::cout << " zhat: " << zhat.transpose() << "\n";
+#endif
+
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+ assert(zhat.allFinite());
+#endif
+
+ computeSingVecs(zhat, diag, perm, singVals, shifts, mus, U, V);
+
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+ std::cout << "U^T U: " << (U.transpose() * U - MatrixXr(MatrixXr::Identity(U.cols(),U.cols()))).norm() << "\n";
+ std::cout << "V^T V: " << (V.transpose() * V - MatrixXr(MatrixXr::Identity(V.cols(),V.cols()))).norm() << "\n";
+#endif
+
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+ assert(U.allFinite());
+ assert(V.allFinite());
+ assert((U.transpose() * U - MatrixXr(MatrixXr::Identity(U.cols(),U.cols()))).norm() < 1e-14 * n);
+ assert((V.transpose() * V - MatrixXr(MatrixXr::Identity(V.cols(),V.cols()))).norm() < 1e-14 * n);
+ assert(m_naiveU.allFinite());
+ assert(m_naiveV.allFinite());
+ assert(m_computed.allFinite());
+#endif
+
+ // Because of deflation, the singular values might not be completely sorted.
+ // Fortunately, reordering them is a O(n) problem
+ for(Index i=0; i<actual_n-1; ++i)
+ {
+ if(singVals(i)>singVals(i+1))
+ {
+ using std::swap;
+ swap(singVals(i),singVals(i+1));
+ U.col(i).swap(U.col(i+1));
+ if(m_compV) V.col(i).swap(V.col(i+1));
+ }
+ }
+
+ // Reverse order so that singular values in increased order
+ // Because of deflation, the zeros singular-values are already at the end
+ singVals.head(actual_n).reverseInPlace();
+ U.leftCols(actual_n).rowwise().reverseInPlace();
+ if (m_compV) V.leftCols(actual_n).rowwise().reverseInPlace();
+
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+ JacobiSVD<MatrixXr> jsvd(m_computed.block(firstCol, firstCol, n, n) );
+ std::cout << " * j: " << jsvd.singularValues().transpose() << "\n\n";
+ std::cout << " * sing-val: " << singVals.transpose() << "\n";
+// std::cout << " * err: " << ((jsvd.singularValues()-singVals)>1e-13*singVals.norm()).transpose() << "\n";
+#endif
+}
+
+template <typename MatrixType>
+typename BDCSVD<MatrixType>::RealScalar BDCSVD<MatrixType>::secularEq(RealScalar mu, const ArrayRef& col0, const ArrayRef& diag, const IndicesRef &perm, const ArrayRef& diagShifted, RealScalar shift)
+{
+ Index m = perm.size();
+ RealScalar res = Literal(1);
+ for(Index i=0; i<m; ++i)
+ {
+ Index j = perm(i);
+ // The following expression could be rewritten to involve only a single division,
+ // but this would make the expression more sensitive to overflow.
+ res += (col0(j) / (diagShifted(j) - mu)) * (col0(j) / (diag(j) + shift + mu));
+ }
+ return res;
+
+}
+
+template <typename MatrixType>
+void BDCSVD<MatrixType>::computeSingVals(const ArrayRef& col0, const ArrayRef& diag, const IndicesRef &perm,
+ VectorType& singVals, ArrayRef shifts, ArrayRef mus)
+{
+ using std::abs;
+ using std::swap;
+ using std::sqrt;
+
+ Index n = col0.size();
+ Index actual_n = n;
+ // Note that here actual_n is computed based on col0(i)==0 instead of diag(i)==0 as above
+ // because 1) we have diag(i)==0 => col0(i)==0 and 2) if col0(i)==0, then diag(i) is already a singular value.
+ while(actual_n>1 && col0(actual_n-1)==Literal(0)) --actual_n;
+
+ for (Index k = 0; k < n; ++k)
+ {
+ if (col0(k) == Literal(0) || actual_n==1)
+ {
+ // if col0(k) == 0, then entry is deflated, so singular value is on diagonal
+ // if actual_n==1, then the deflated problem is already diagonalized
+ singVals(k) = k==0 ? col0(0) : diag(k);
+ mus(k) = Literal(0);
+ shifts(k) = k==0 ? col0(0) : diag(k);
+ continue;
+ }
+
+ // otherwise, use secular equation to find singular value
+ RealScalar left = diag(k);
+ RealScalar right; // was: = (k != actual_n-1) ? diag(k+1) : (diag(actual_n-1) + col0.matrix().norm());
+ if(k==actual_n-1)
+ right = (diag(actual_n-1) + col0.matrix().norm());
+ else
+ {
+ // Skip deflated singular values,
+ // recall that at this stage we assume that z[j]!=0 and all entries for which z[j]==0 have been put aside.
+ // This should be equivalent to using perm[]
+ Index l = k+1;
+ while(col0(l)==Literal(0)) { ++l; eigen_internal_assert(l<actual_n); }
+ right = diag(l);
+ }
+
+ // first decide whether it's closer to the left end or the right end
+ RealScalar mid = left + (right-left) / Literal(2);
+ RealScalar fMid = secularEq(mid, col0, diag, perm, diag, Literal(0));
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+ std::cout << right-left << "\n";
+ std::cout << "fMid = " << fMid << " " << secularEq(mid-left, col0, diag, perm, diag-left, left) << " " << secularEq(mid-right, col0, diag, perm, diag-right, right) << "\n";
+ std::cout << " = " << secularEq(0.1*(left+right), col0, diag, perm, diag, 0)
+ << " " << secularEq(0.2*(left+right), col0, diag, perm, diag, 0)
+ << " " << secularEq(0.3*(left+right), col0, diag, perm, diag, 0)
+ << " " << secularEq(0.4*(left+right), col0, diag, perm, diag, 0)
+ << " " << secularEq(0.49*(left+right), col0, diag, perm, diag, 0)
+ << " " << secularEq(0.5*(left+right), col0, diag, perm, diag, 0)
+ << " " << secularEq(0.51*(left+right), col0, diag, perm, diag, 0)
+ << " " << secularEq(0.6*(left+right), col0, diag, perm, diag, 0)
+ << " " << secularEq(0.7*(left+right), col0, diag, perm, diag, 0)
+ << " " << secularEq(0.8*(left+right), col0, diag, perm, diag, 0)
+ << " " << secularEq(0.9*(left+right), col0, diag, perm, diag, 0) << "\n";
+#endif
+ RealScalar shift = (k == actual_n-1 || fMid > Literal(0)) ? left : right;
+
+ // measure everything relative to shift
+ Map<ArrayXr> diagShifted(m_workspace.data()+4*n, n);
+ diagShifted = diag - shift;
+
+ // initial guess
+ RealScalar muPrev, muCur;
+ if (shift == left)
+ {
+ muPrev = (right - left) * RealScalar(0.1);
+ if (k == actual_n-1) muCur = right - left;
+ else muCur = (right - left) * RealScalar(0.5);
+ }
+ else
+ {
+ muPrev = -(right - left) * RealScalar(0.1);
+ muCur = -(right - left) * RealScalar(0.5);
+ }
+
+ RealScalar fPrev = secularEq(muPrev, col0, diag, perm, diagShifted, shift);
+ RealScalar fCur = secularEq(muCur, col0, diag, perm, diagShifted, shift);
+ if (abs(fPrev) < abs(fCur))
+ {
+ swap(fPrev, fCur);
+ swap(muPrev, muCur);
+ }
+
+ // rational interpolation: fit a function of the form a / mu + b through the two previous
+ // iterates and use its zero to compute the next iterate
+ bool useBisection = fPrev*fCur>Literal(0);
+ while (fCur!=Literal(0) && abs(muCur - muPrev) > Literal(8) * NumTraits<RealScalar>::epsilon() * numext::maxi<RealScalar>(abs(muCur), abs(muPrev)) && abs(fCur - fPrev)>NumTraits<RealScalar>::epsilon() && !useBisection)
+ {
+ ++m_numIters;
+
+ // Find a and b such that the function f(mu) = a / mu + b matches the current and previous samples.
+ RealScalar a = (fCur - fPrev) / (Literal(1)/muCur - Literal(1)/muPrev);
+ RealScalar b = fCur - a / muCur;
+ // And find mu such that f(mu)==0:
+ RealScalar muZero = -a/b;
+ RealScalar fZero = secularEq(muZero, col0, diag, perm, diagShifted, shift);
+
+ muPrev = muCur;
+ fPrev = fCur;
+ muCur = muZero;
+ fCur = fZero;
+
+
+ if (shift == left && (muCur < Literal(0) || muCur > right - left)) useBisection = true;
+ if (shift == right && (muCur < -(right - left) || muCur > Literal(0))) useBisection = true;
+ if (abs(fCur)>abs(fPrev)) useBisection = true;
+ }
+
+ // fall back on bisection method if rational interpolation did not work
+ if (useBisection)
+ {
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+ std::cout << "useBisection for k = " << k << ", actual_n = " << actual_n << "\n";
+#endif
+ RealScalar leftShifted, rightShifted;
+ if (shift == left)
+ {
+ // to avoid overflow, we must have mu > max(real_min, |z(k)|/sqrt(real_max)),
+ // the factor 2 is to be more conservative
+ leftShifted = numext::maxi<RealScalar>( (std::numeric_limits<RealScalar>::min)(), Literal(2) * abs(col0(k)) / sqrt((std::numeric_limits<RealScalar>::max)()) );
+
+ // check that we did it right:
+ eigen_internal_assert( (numext::isfinite)( (col0(k)/leftShifted)*(col0(k)/(diag(k)+shift+leftShifted)) ) );
+ // I don't understand why the case k==0 would be special there:
+ // if (k == 0) rightShifted = right - left; else
+ rightShifted = (k==actual_n-1) ? right : ((right - left) * RealScalar(0.51)); // theoretically we can take 0.5, but let's be safe
+ }
+ else
+ {
+ leftShifted = -(right - left) * RealScalar(0.51);
+ if(k+1<n)
+ rightShifted = -numext::maxi<RealScalar>( (std::numeric_limits<RealScalar>::min)(), abs(col0(k+1)) / sqrt((std::numeric_limits<RealScalar>::max)()) );
+ else
+ rightShifted = -(std::numeric_limits<RealScalar>::min)();
+ }
+
+ RealScalar fLeft = secularEq(leftShifted, col0, diag, perm, diagShifted, shift);
+
+#if defined EIGEN_INTERNAL_DEBUGGING || defined EIGEN_BDCSVD_DEBUG_VERBOSE
+ RealScalar fRight = secularEq(rightShifted, col0, diag, perm, diagShifted, shift);
+#endif
+
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+ if(!(fLeft * fRight<0))
+ {
+ std::cout << "fLeft: " << leftShifted << " - " << diagShifted.head(10).transpose() << "\n ; " << bool(left==shift) << " " << (left-shift) << "\n";
+ std::cout << k << " : " << fLeft << " * " << fRight << " == " << fLeft * fRight << " ; " << left << " - " << right << " -> " << leftShifted << " " << rightShifted << " shift=" << shift << "\n";
+ }
+#endif
+ eigen_internal_assert(fLeft * fRight < Literal(0));
+
+ while (rightShifted - leftShifted > Literal(2) * NumTraits<RealScalar>::epsilon() * numext::maxi<RealScalar>(abs(leftShifted), abs(rightShifted)))
+ {
+ RealScalar midShifted = (leftShifted + rightShifted) / Literal(2);
+ fMid = secularEq(midShifted, col0, diag, perm, diagShifted, shift);
+ if (fLeft * fMid < Literal(0))
+ {
+ rightShifted = midShifted;
+ }
+ else
+ {
+ leftShifted = midShifted;
+ fLeft = fMid;
+ }
+ }
+
+ muCur = (leftShifted + rightShifted) / Literal(2);
+ }
+
+ singVals[k] = shift + muCur;
+ shifts[k] = shift;
+ mus[k] = muCur;
+
+ // perturb singular value slightly if it equals diagonal entry to avoid division by zero later
+ // (deflation is supposed to avoid this from happening)
+ // - this does no seem to be necessary anymore -
+// if (singVals[k] == left) singVals[k] *= 1 + NumTraits<RealScalar>::epsilon();
+// if (singVals[k] == right) singVals[k] *= 1 - NumTraits<RealScalar>::epsilon();
+ }
+}
+
+
+// zhat is perturbation of col0 for which singular vectors can be computed stably (see Section 3.1)
+template <typename MatrixType>
+void BDCSVD<MatrixType>::perturbCol0
+ (const ArrayRef& col0, const ArrayRef& diag, const IndicesRef &perm, const VectorType& singVals,
+ const ArrayRef& shifts, const ArrayRef& mus, ArrayRef zhat)
+{
+ using std::sqrt;
+ Index n = col0.size();
+ Index m = perm.size();
+ if(m==0)
+ {
+ zhat.setZero();
+ return;
+ }
+ Index last = perm(m-1);
+ // The offset permits to skip deflated entries while computing zhat
+ for (Index k = 0; k < n; ++k)
+ {
+ if (col0(k) == Literal(0)) // deflated
+ zhat(k) = Literal(0);
+ else
+ {
+ // see equation (3.6)
+ RealScalar dk = diag(k);
+ RealScalar prod = (singVals(last) + dk) * (mus(last) + (shifts(last) - dk));
+
+ for(Index l = 0; l<m; ++l)
+ {
+ Index i = perm(l);
+ if(i!=k)
+ {
+ Index j = i<k ? i : perm(l-1);
+ prod *= ((singVals(j)+dk) / ((diag(i)+dk))) * ((mus(j)+(shifts(j)-dk)) / ((diag(i)-dk)));
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+ if(i!=k && std::abs(((singVals(j)+dk)*(mus(j)+(shifts(j)-dk)))/((diag(i)+dk)*(diag(i)-dk)) - 1) > 0.9 )
+ std::cout << " " << ((singVals(j)+dk)*(mus(j)+(shifts(j)-dk)))/((diag(i)+dk)*(diag(i)-dk)) << " == (" << (singVals(j)+dk) << " * " << (mus(j)+(shifts(j)-dk))
+ << ") / (" << (diag(i)+dk) << " * " << (diag(i)-dk) << ")\n";
+#endif
+ }
+ }
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+ std::cout << "zhat(" << k << ") = sqrt( " << prod << ") ; " << (singVals(last) + dk) << " * " << mus(last) + shifts(last) << " - " << dk << "\n";
+#endif
+ RealScalar tmp = sqrt(prod);
+ zhat(k) = col0(k) > Literal(0) ? tmp : -tmp;
+ }
+ }
+}
+
+// compute singular vectors
+template <typename MatrixType>
+void BDCSVD<MatrixType>::computeSingVecs
+ (const ArrayRef& zhat, const ArrayRef& diag, const IndicesRef &perm, const VectorType& singVals,
+ const ArrayRef& shifts, const ArrayRef& mus, MatrixXr& U, MatrixXr& V)
+{
+ Index n = zhat.size();
+ Index m = perm.size();
+
+ for (Index k = 0; k < n; ++k)
+ {
+ if (zhat(k) == Literal(0))
+ {
+ U.col(k) = VectorType::Unit(n+1, k);
+ if (m_compV) V.col(k) = VectorType::Unit(n, k);
+ }
+ else
+ {
+ U.col(k).setZero();
+ for(Index l=0;l<m;++l)
+ {
+ Index i = perm(l);
+ U(i,k) = zhat(i)/(((diag(i) - shifts(k)) - mus(k)) )/( (diag(i) + singVals[k]));
+ }
+ U(n,k) = Literal(0);
+ U.col(k).normalize();
+
+ if (m_compV)
+ {
+ V.col(k).setZero();
+ for(Index l=1;l<m;++l)
+ {
+ Index i = perm(l);
+ V(i,k) = diag(i) * zhat(i) / (((diag(i) - shifts(k)) - mus(k)) )/( (diag(i) + singVals[k]));
+ }
+ V(0,k) = Literal(-1);
+ V.col(k).normalize();
+ }
+ }
+ }
+ U.col(n) = VectorType::Unit(n+1, n);
+}
+
+
+// page 12_13
+// i >= 1, di almost null and zi non null.
+// We use a rotation to zero out zi applied to the left of M
+template <typename MatrixType>
+void BDCSVD<MatrixType>::deflation43(Index firstCol, Index shift, Index i, Index size)
+{
+ using std::abs;
+ using std::sqrt;
+ using std::pow;
+ Index start = firstCol + shift;
+ RealScalar c = m_computed(start, start);
+ RealScalar s = m_computed(start+i, start);
+ RealScalar r = numext::hypot(c,s);
+ if (r == Literal(0))
+ {
+ m_computed(start+i, start+i) = Literal(0);
+ return;
+ }
+ m_computed(start,start) = r;
+ m_computed(start+i, start) = Literal(0);
+ m_computed(start+i, start+i) = Literal(0);
+
+ JacobiRotation<RealScalar> J(c/r,-s/r);
+ if (m_compU) m_naiveU.middleRows(firstCol, size+1).applyOnTheRight(firstCol, firstCol+i, J);
+ else m_naiveU.applyOnTheRight(firstCol, firstCol+i, J);
+}// end deflation 43
+
+
+// page 13
+// i,j >= 1, i!=j and |di - dj| < epsilon * norm2(M)
+// We apply two rotations to have zj = 0;
+// TODO deflation44 is still broken and not properly tested
+template <typename MatrixType>
+void BDCSVD<MatrixType>::deflation44(Index firstColu , Index firstColm, Index firstRowW, Index firstColW, Index i, Index j, Index size)
+{
+ using std::abs;
+ using std::sqrt;
+ using std::conj;
+ using std::pow;
+ RealScalar c = m_computed(firstColm+i, firstColm);
+ RealScalar s = m_computed(firstColm+j, firstColm);
+ RealScalar r = sqrt(numext::abs2(c) + numext::abs2(s));
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+ std::cout << "deflation 4.4: " << i << "," << j << " -> " << c << " " << s << " " << r << " ; "
+ << m_computed(firstColm + i-1, firstColm) << " "
+ << m_computed(firstColm + i, firstColm) << " "
+ << m_computed(firstColm + i+1, firstColm) << " "
+ << m_computed(firstColm + i+2, firstColm) << "\n";
+ std::cout << m_computed(firstColm + i-1, firstColm + i-1) << " "
+ << m_computed(firstColm + i, firstColm+i) << " "
+ << m_computed(firstColm + i+1, firstColm+i+1) << " "
+ << m_computed(firstColm + i+2, firstColm+i+2) << "\n";
+#endif
+ if (r==Literal(0))
+ {
+ m_computed(firstColm + i, firstColm + i) = m_computed(firstColm + j, firstColm + j);
+ return;
+ }
+ c/=r;
+ s/=r;
+ m_computed(firstColm + i, firstColm) = r;
+ m_computed(firstColm + j, firstColm + j) = m_computed(firstColm + i, firstColm + i);
+ m_computed(firstColm + j, firstColm) = Literal(0);
+
+ JacobiRotation<RealScalar> J(c,-s);
+ if (m_compU) m_naiveU.middleRows(firstColu, size+1).applyOnTheRight(firstColu + i, firstColu + j, J);
+ else m_naiveU.applyOnTheRight(firstColu+i, firstColu+j, J);
+ if (m_compV) m_naiveV.middleRows(firstRowW, size).applyOnTheRight(firstColW + i, firstColW + j, J);
+}// end deflation 44
+
+
+// acts on block from (firstCol+shift, firstCol+shift) to (lastCol+shift, lastCol+shift) [inclusive]
+template <typename MatrixType>
+void BDCSVD<MatrixType>::deflation(Index firstCol, Index lastCol, Index k, Index firstRowW, Index firstColW, Index shift)
+{
+ using std::sqrt;
+ using std::abs;
+ const Index length = lastCol + 1 - firstCol;
+
+ Block<MatrixXr,Dynamic,1> col0(m_computed, firstCol+shift, firstCol+shift, length, 1);
+ Diagonal<MatrixXr> fulldiag(m_computed);
+ VectorBlock<Diagonal<MatrixXr>,Dynamic> diag(fulldiag, firstCol+shift, length);
+
+ const RealScalar considerZero = (std::numeric_limits<RealScalar>::min)();
+ RealScalar maxDiag = diag.tail((std::max)(Index(1),length-1)).cwiseAbs().maxCoeff();
+ RealScalar epsilon_strict = numext::maxi<RealScalar>(considerZero,NumTraits<RealScalar>::epsilon() * maxDiag);
+ RealScalar epsilon_coarse = Literal(8) * NumTraits<RealScalar>::epsilon() * numext::maxi<RealScalar>(col0.cwiseAbs().maxCoeff(), maxDiag);
+
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+ assert(m_naiveU.allFinite());
+ assert(m_naiveV.allFinite());
+ assert(m_computed.allFinite());
+#endif
+
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+ std::cout << "\ndeflate:" << diag.head(k+1).transpose() << " | " << diag.segment(k+1,length-k-1).transpose() << "\n";
+#endif
+
+ //condition 4.1
+ if (diag(0) < epsilon_coarse)
+ {
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+ std::cout << "deflation 4.1, because " << diag(0) << " < " << epsilon_coarse << "\n";
+#endif
+ diag(0) = epsilon_coarse;
+ }
+
+ //condition 4.2
+ for (Index i=1;i<length;++i)
+ if (abs(col0(i)) < epsilon_strict)
+ {
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+ std::cout << "deflation 4.2, set z(" << i << ") to zero because " << abs(col0(i)) << " < " << epsilon_strict << " (diag(" << i << ")=" << diag(i) << ")\n";
+#endif
+ col0(i) = Literal(0);
+ }
+
+ //condition 4.3
+ for (Index i=1;i<length; i++)
+ if (diag(i) < epsilon_coarse)
+ {
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+ std::cout << "deflation 4.3, cancel z(" << i << ")=" << col0(i) << " because diag(" << i << ")=" << diag(i) << " < " << epsilon_coarse << "\n";
+#endif
+ deflation43(firstCol, shift, i, length);
+ }
+
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+ assert(m_naiveU.allFinite());
+ assert(m_naiveV.allFinite());
+ assert(m_computed.allFinite());
+#endif
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+ std::cout << "to be sorted: " << diag.transpose() << "\n\n";
+#endif
+ {
+ // Check for total deflation
+ // If we have a total deflation, then we have to consider col0(0)==diag(0) as a singular value during sorting
+ bool total_deflation = (col0.tail(length-1).array()<considerZero).all();
+
+ // Sort the diagonal entries, since diag(1:k-1) and diag(k:length) are already sorted, let's do a sorted merge.
+ // First, compute the respective permutation.
+ Index *permutation = m_workspaceI.data();
+ {
+ permutation[0] = 0;
+ Index p = 1;
+
+ // Move deflated diagonal entries at the end.
+ for(Index i=1; i<length; ++i)
+ if(abs(diag(i))<considerZero)
+ permutation[p++] = i;
+
+ Index i=1, j=k+1;
+ for( ; p < length; ++p)
+ {
+ if (i > k) permutation[p] = j++;
+ else if (j >= length) permutation[p] = i++;
+ else if (diag(i) < diag(j)) permutation[p] = j++;
+ else permutation[p] = i++;
+ }
+ }
+
+ // If we have a total deflation, then we have to insert diag(0) at the right place
+ if(total_deflation)
+ {
+ for(Index i=1; i<length; ++i)
+ {
+ Index pi = permutation[i];
+ if(abs(diag(pi))<considerZero || diag(0)<diag(pi))
+ permutation[i-1] = permutation[i];
+ else
+ {
+ permutation[i-1] = 0;
+ break;
+ }
+ }
+ }
+
+ // Current index of each col, and current column of each index
+ Index *realInd = m_workspaceI.data()+length;
+ Index *realCol = m_workspaceI.data()+2*length;
+
+ for(int pos = 0; pos< length; pos++)
+ {
+ realCol[pos] = pos;
+ realInd[pos] = pos;
+ }
+
+ for(Index i = total_deflation?0:1; i < length; i++)
+ {
+ const Index pi = permutation[length - (total_deflation ? i+1 : i)];
+ const Index J = realCol[pi];
+
+ using std::swap;
+ // swap diagonal and first column entries:
+ swap(diag(i), diag(J));
+ if(i!=0 && J!=0) swap(col0(i), col0(J));
+
+ // change columns
+ if (m_compU) m_naiveU.col(firstCol+i).segment(firstCol, length + 1).swap(m_naiveU.col(firstCol+J).segment(firstCol, length + 1));
+ else m_naiveU.col(firstCol+i).segment(0, 2) .swap(m_naiveU.col(firstCol+J).segment(0, 2));
+ if (m_compV) m_naiveV.col(firstColW + i).segment(firstRowW, length).swap(m_naiveV.col(firstColW + J).segment(firstRowW, length));
+
+ //update real pos
+ const Index realI = realInd[i];
+ realCol[realI] = J;
+ realCol[pi] = i;
+ realInd[J] = realI;
+ realInd[i] = pi;
+ }
+ }
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+ std::cout << "sorted: " << diag.transpose().format(bdcsvdfmt) << "\n";
+ std::cout << " : " << col0.transpose() << "\n\n";
+#endif
+
+ //condition 4.4
+ {
+ Index i = length-1;
+ while(i>0 && (abs(diag(i))<considerZero || abs(col0(i))<considerZero)) --i;
+ for(; i>1;--i)
+ if( (diag(i) - diag(i-1)) < NumTraits<RealScalar>::epsilon()*maxDiag )
+ {
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+ std::cout << "deflation 4.4 with i = " << i << " because " << (diag(i) - diag(i-1)) << " < " << NumTraits<RealScalar>::epsilon()*diag(i) << "\n";
+#endif
+ eigen_internal_assert(abs(diag(i) - diag(i-1))<epsilon_coarse && " diagonal entries are not properly sorted");
+ deflation44(firstCol, firstCol + shift, firstRowW, firstColW, i-1, i, length);
+ }
+ }
+
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+ for(Index j=2;j<length;++j)
+ assert(diag(j-1)<=diag(j) || abs(diag(j))<considerZero);
+#endif
+
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+ assert(m_naiveU.allFinite());
+ assert(m_naiveV.allFinite());
+ assert(m_computed.allFinite());
+#endif
+}//end deflation
+
+#ifndef __CUDACC__
+/** \svd_module
+ *
+ * \return the singular value decomposition of \c *this computed by Divide & Conquer algorithm
+ *
+ * \sa class BDCSVD
+ */
+template<typename Derived>
+BDCSVD<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::bdcSvd(unsigned int computationOptions) const
+{
+ return BDCSVD<PlainObject>(*this, computationOptions);
+}
+#endif
+
+} // end namespace Eigen
+
+#endif
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/SVD/JacobiSVD.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/SVD/JacobiSVD.h
new file mode 100644
index 0000000..43488b1
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/SVD/JacobiSVD.h
@@ -0,0 +1,804 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2013-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_JACOBISVD_H
+#define EIGEN_JACOBISVD_H
+
+namespace Eigen {
+
+namespace internal {
+// forward declaration (needed by ICC)
+// the empty body is required by MSVC
+template<typename MatrixType, int QRPreconditioner,
+ bool IsComplex = NumTraits<typename MatrixType::Scalar>::IsComplex>
+struct svd_precondition_2x2_block_to_be_real {};
+
+/*** QR preconditioners (R-SVD)
+ ***
+ *** Their role is to reduce the problem of computing the SVD to the case of a square matrix.
+ *** This approach, known as R-SVD, is an optimization for rectangular-enough matrices, and is a requirement for
+ *** JacobiSVD which by itself is only able to work on square matrices.
+ ***/
+
+enum { PreconditionIfMoreColsThanRows, PreconditionIfMoreRowsThanCols };
+
+template<typename MatrixType, int QRPreconditioner, int Case>
+struct qr_preconditioner_should_do_anything
+{
+ enum { a = MatrixType::RowsAtCompileTime != Dynamic &&
+ MatrixType::ColsAtCompileTime != Dynamic &&
+ MatrixType::ColsAtCompileTime <= MatrixType::RowsAtCompileTime,
+ b = MatrixType::RowsAtCompileTime != Dynamic &&
+ MatrixType::ColsAtCompileTime != Dynamic &&
+ MatrixType::RowsAtCompileTime <= MatrixType::ColsAtCompileTime,
+ ret = !( (QRPreconditioner == NoQRPreconditioner) ||
+ (Case == PreconditionIfMoreColsThanRows && bool(a)) ||
+ (Case == PreconditionIfMoreRowsThanCols && bool(b)) )
+ };
+};
+
+template<typename MatrixType, int QRPreconditioner, int Case,
+ bool DoAnything = qr_preconditioner_should_do_anything<MatrixType, QRPreconditioner, Case>::ret
+> struct qr_preconditioner_impl {};
+
+template<typename MatrixType, int QRPreconditioner, int Case>
+class qr_preconditioner_impl<MatrixType, QRPreconditioner, Case, false>
+{
+public:
+ void allocate(const JacobiSVD<MatrixType, QRPreconditioner>&) {}
+ bool run(JacobiSVD<MatrixType, QRPreconditioner>&, const MatrixType&)
+ {
+ return false;
+ }
+};
+
+/*** preconditioner using FullPivHouseholderQR ***/
+
+template<typename MatrixType>
+class qr_preconditioner_impl<MatrixType, FullPivHouseholderQRPreconditioner, PreconditionIfMoreRowsThanCols, true>
+{
+public:
+ typedef typename MatrixType::Scalar Scalar;
+ enum
+ {
+ RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+ MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime
+ };
+ typedef Matrix<Scalar, 1, RowsAtCompileTime, RowMajor, 1, MaxRowsAtCompileTime> WorkspaceType;
+
+ void allocate(const JacobiSVD<MatrixType, FullPivHouseholderQRPreconditioner>& svd)
+ {
+ if (svd.rows() != m_qr.rows() || svd.cols() != m_qr.cols())
+ {
+ m_qr.~QRType();
+ ::new (&m_qr) QRType(svd.rows(), svd.cols());
+ }
+ if (svd.m_computeFullU) m_workspace.resize(svd.rows());
+ }
+
+ bool run(JacobiSVD<MatrixType, FullPivHouseholderQRPreconditioner>& svd, const MatrixType& matrix)
+ {
+ if(matrix.rows() > matrix.cols())
+ {
+ m_qr.compute(matrix);
+ svd.m_workMatrix = m_qr.matrixQR().block(0,0,matrix.cols(),matrix.cols()).template triangularView<Upper>();
+ if(svd.m_computeFullU) m_qr.matrixQ().evalTo(svd.m_matrixU, m_workspace);
+ if(svd.computeV()) svd.m_matrixV = m_qr.colsPermutation();
+ return true;
+ }
+ return false;
+ }
+private:
+ typedef FullPivHouseholderQR<MatrixType> QRType;
+ QRType m_qr;
+ WorkspaceType m_workspace;
+};
+
+template<typename MatrixType>
+class qr_preconditioner_impl<MatrixType, FullPivHouseholderQRPreconditioner, PreconditionIfMoreColsThanRows, true>
+{
+public:
+ typedef typename MatrixType::Scalar Scalar;
+ enum
+ {
+ RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+ ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+ MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+ MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
+ TrOptions = RowsAtCompileTime==1 ? (MatrixType::Options & ~(RowMajor))
+ : ColsAtCompileTime==1 ? (MatrixType::Options | RowMajor)
+ : MatrixType::Options
+ };
+ typedef Matrix<Scalar, ColsAtCompileTime, RowsAtCompileTime, TrOptions, MaxColsAtCompileTime, MaxRowsAtCompileTime>
+ TransposeTypeWithSameStorageOrder;
+
+ void allocate(const JacobiSVD<MatrixType, FullPivHouseholderQRPreconditioner>& svd)
+ {
+ if (svd.cols() != m_qr.rows() || svd.rows() != m_qr.cols())
+ {
+ m_qr.~QRType();
+ ::new (&m_qr) QRType(svd.cols(), svd.rows());
+ }
+ m_adjoint.resize(svd.cols(), svd.rows());
+ if (svd.m_computeFullV) m_workspace.resize(svd.cols());
+ }
+
+ bool run(JacobiSVD<MatrixType, FullPivHouseholderQRPreconditioner>& svd, const MatrixType& matrix)
+ {
+ if(matrix.cols() > matrix.rows())
+ {
+ m_adjoint = matrix.adjoint();
+ m_qr.compute(m_adjoint);
+ svd.m_workMatrix = m_qr.matrixQR().block(0,0,matrix.rows(),matrix.rows()).template triangularView<Upper>().adjoint();
+ if(svd.m_computeFullV) m_qr.matrixQ().evalTo(svd.m_matrixV, m_workspace);
+ if(svd.computeU()) svd.m_matrixU = m_qr.colsPermutation();
+ return true;
+ }
+ else return false;
+ }
+private:
+ typedef FullPivHouseholderQR<TransposeTypeWithSameStorageOrder> QRType;
+ QRType m_qr;
+ TransposeTypeWithSameStorageOrder m_adjoint;
+ typename internal::plain_row_type<MatrixType>::type m_workspace;
+};
+
+/*** preconditioner using ColPivHouseholderQR ***/
+
+template<typename MatrixType>
+class qr_preconditioner_impl<MatrixType, ColPivHouseholderQRPreconditioner, PreconditionIfMoreRowsThanCols, true>
+{
+public:
+ void allocate(const JacobiSVD<MatrixType, ColPivHouseholderQRPreconditioner>& svd)
+ {
+ if (svd.rows() != m_qr.rows() || svd.cols() != m_qr.cols())
+ {
+ m_qr.~QRType();
+ ::new (&m_qr) QRType(svd.rows(), svd.cols());
+ }
+ if (svd.m_computeFullU) m_workspace.resize(svd.rows());
+ else if (svd.m_computeThinU) m_workspace.resize(svd.cols());
+ }
+
+ bool run(JacobiSVD<MatrixType, ColPivHouseholderQRPreconditioner>& svd, const MatrixType& matrix)
+ {
+ if(matrix.rows() > matrix.cols())
+ {
+ m_qr.compute(matrix);
+ svd.m_workMatrix = m_qr.matrixQR().block(0,0,matrix.cols(),matrix.cols()).template triangularView<Upper>();
+ if(svd.m_computeFullU) m_qr.householderQ().evalTo(svd.m_matrixU, m_workspace);
+ else if(svd.m_computeThinU)
+ {
+ svd.m_matrixU.setIdentity(matrix.rows(), matrix.cols());
+ m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixU, m_workspace);
+ }
+ if(svd.computeV()) svd.m_matrixV = m_qr.colsPermutation();
+ return true;
+ }
+ return false;
+ }
+
+private:
+ typedef ColPivHouseholderQR<MatrixType> QRType;
+ QRType m_qr;
+ typename internal::plain_col_type<MatrixType>::type m_workspace;
+};
+
+template<typename MatrixType>
+class qr_preconditioner_impl<MatrixType, ColPivHouseholderQRPreconditioner, PreconditionIfMoreColsThanRows, true>
+{
+public:
+ typedef typename MatrixType::Scalar Scalar;
+ enum
+ {
+ RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+ ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+ MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+ MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
+ TrOptions = RowsAtCompileTime==1 ? (MatrixType::Options & ~(RowMajor))
+ : ColsAtCompileTime==1 ? (MatrixType::Options | RowMajor)
+ : MatrixType::Options
+ };
+
+ typedef Matrix<Scalar, ColsAtCompileTime, RowsAtCompileTime, TrOptions, MaxColsAtCompileTime, MaxRowsAtCompileTime>
+ TransposeTypeWithSameStorageOrder;
+
+ void allocate(const JacobiSVD<MatrixType, ColPivHouseholderQRPreconditioner>& svd)
+ {
+ if (svd.cols() != m_qr.rows() || svd.rows() != m_qr.cols())
+ {
+ m_qr.~QRType();
+ ::new (&m_qr) QRType(svd.cols(), svd.rows());
+ }
+ if (svd.m_computeFullV) m_workspace.resize(svd.cols());
+ else if (svd.m_computeThinV) m_workspace.resize(svd.rows());
+ m_adjoint.resize(svd.cols(), svd.rows());
+ }
+
+ bool run(JacobiSVD<MatrixType, ColPivHouseholderQRPreconditioner>& svd, const MatrixType& matrix)
+ {
+ if(matrix.cols() > matrix.rows())
+ {
+ m_adjoint = matrix.adjoint();
+ m_qr.compute(m_adjoint);
+
+ svd.m_workMatrix = m_qr.matrixQR().block(0,0,matrix.rows(),matrix.rows()).template triangularView<Upper>().adjoint();
+ if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
+ else if(svd.m_computeThinV)
+ {
+ svd.m_matrixV.setIdentity(matrix.cols(), matrix.rows());
+ m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
+ }
+ if(svd.computeU()) svd.m_matrixU = m_qr.colsPermutation();
+ return true;
+ }
+ else return false;
+ }
+
+private:
+ typedef ColPivHouseholderQR<TransposeTypeWithSameStorageOrder> QRType;
+ QRType m_qr;
+ TransposeTypeWithSameStorageOrder m_adjoint;
+ typename internal::plain_row_type<MatrixType>::type m_workspace;
+};
+
+/*** preconditioner using HouseholderQR ***/
+
+template<typename MatrixType>
+class qr_preconditioner_impl<MatrixType, HouseholderQRPreconditioner, PreconditionIfMoreRowsThanCols, true>
+{
+public:
+ void allocate(const JacobiSVD<MatrixType, HouseholderQRPreconditioner>& svd)
+ {
+ if (svd.rows() != m_qr.rows() || svd.cols() != m_qr.cols())
+ {
+ m_qr.~QRType();
+ ::new (&m_qr) QRType(svd.rows(), svd.cols());
+ }
+ if (svd.m_computeFullU) m_workspace.resize(svd.rows());
+ else if (svd.m_computeThinU) m_workspace.resize(svd.cols());
+ }
+
+ bool run(JacobiSVD<MatrixType, HouseholderQRPreconditioner>& svd, const MatrixType& matrix)
+ {
+ if(matrix.rows() > matrix.cols())
+ {
+ m_qr.compute(matrix);
+ svd.m_workMatrix = m_qr.matrixQR().block(0,0,matrix.cols(),matrix.cols()).template triangularView<Upper>();
+ if(svd.m_computeFullU) m_qr.householderQ().evalTo(svd.m_matrixU, m_workspace);
+ else if(svd.m_computeThinU)
+ {
+ svd.m_matrixU.setIdentity(matrix.rows(), matrix.cols());
+ m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixU, m_workspace);
+ }
+ if(svd.computeV()) svd.m_matrixV.setIdentity(matrix.cols(), matrix.cols());
+ return true;
+ }
+ return false;
+ }
+private:
+ typedef HouseholderQR<MatrixType> QRType;
+ QRType m_qr;
+ typename internal::plain_col_type<MatrixType>::type m_workspace;
+};
+
+template<typename MatrixType>
+class qr_preconditioner_impl<MatrixType, HouseholderQRPreconditioner, PreconditionIfMoreColsThanRows, true>
+{
+public:
+ typedef typename MatrixType::Scalar Scalar;
+ enum
+ {
+ RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+ ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+ MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+ MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
+ Options = MatrixType::Options
+ };
+
+ typedef Matrix<Scalar, ColsAtCompileTime, RowsAtCompileTime, Options, MaxColsAtCompileTime, MaxRowsAtCompileTime>
+ TransposeTypeWithSameStorageOrder;
+
+ void allocate(const JacobiSVD<MatrixType, HouseholderQRPreconditioner>& svd)
+ {
+ if (svd.cols() != m_qr.rows() || svd.rows() != m_qr.cols())
+ {
+ m_qr.~QRType();
+ ::new (&m_qr) QRType(svd.cols(), svd.rows());
+ }
+ if (svd.m_computeFullV) m_workspace.resize(svd.cols());
+ else if (svd.m_computeThinV) m_workspace.resize(svd.rows());
+ m_adjoint.resize(svd.cols(), svd.rows());
+ }
+
+ bool run(JacobiSVD<MatrixType, HouseholderQRPreconditioner>& svd, const MatrixType& matrix)
+ {
+ if(matrix.cols() > matrix.rows())
+ {
+ m_adjoint = matrix.adjoint();
+ m_qr.compute(m_adjoint);
+
+ svd.m_workMatrix = m_qr.matrixQR().block(0,0,matrix.rows(),matrix.rows()).template triangularView<Upper>().adjoint();
+ if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
+ else if(svd.m_computeThinV)
+ {
+ svd.m_matrixV.setIdentity(matrix.cols(), matrix.rows());
+ m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
+ }
+ if(svd.computeU()) svd.m_matrixU.setIdentity(matrix.rows(), matrix.rows());
+ return true;
+ }
+ else return false;
+ }
+
+private:
+ typedef HouseholderQR<TransposeTypeWithSameStorageOrder> QRType;
+ QRType m_qr;
+ TransposeTypeWithSameStorageOrder m_adjoint;
+ typename internal::plain_row_type<MatrixType>::type m_workspace;
+};
+
+/*** 2x2 SVD implementation
+ ***
+ *** JacobiSVD consists in performing a series of 2x2 SVD subproblems
+ ***/
+
+template<typename MatrixType, int QRPreconditioner>
+struct svd_precondition_2x2_block_to_be_real<MatrixType, QRPreconditioner, false>
+{
+ typedef JacobiSVD<MatrixType, QRPreconditioner> SVD;
+ typedef typename MatrixType::RealScalar RealScalar;
+ static bool run(typename SVD::WorkMatrixType&, SVD&, Index, Index, RealScalar&) { return true; }
+};
+
+template<typename MatrixType, int QRPreconditioner>
+struct svd_precondition_2x2_block_to_be_real<MatrixType, QRPreconditioner, true>
+{
+ typedef JacobiSVD<MatrixType, QRPreconditioner> SVD;
+ typedef typename MatrixType::Scalar Scalar;
+ typedef typename MatrixType::RealScalar RealScalar;
+ static bool run(typename SVD::WorkMatrixType& work_matrix, SVD& svd, Index p, Index q, RealScalar& maxDiagEntry)
+ {
+ using std::sqrt;
+ using std::abs;
+ Scalar z;
+ JacobiRotation<Scalar> rot;
+ RealScalar n = sqrt(numext::abs2(work_matrix.coeff(p,p)) + numext::abs2(work_matrix.coeff(q,p)));
+
+ const RealScalar considerAsZero = (std::numeric_limits<RealScalar>::min)();
+ const RealScalar precision = NumTraits<Scalar>::epsilon();
+
+ if(n==0)
+ {
+ // make sure first column is zero
+ work_matrix.coeffRef(p,p) = work_matrix.coeffRef(q,p) = Scalar(0);
+
+ if(abs(numext::imag(work_matrix.coeff(p,q)))>considerAsZero)
+ {
+ // work_matrix.coeff(p,q) can be zero if work_matrix.coeff(q,p) is not zero but small enough to underflow when computing n
+ z = abs(work_matrix.coeff(p,q)) / work_matrix.coeff(p,q);
+ work_matrix.row(p) *= z;
+ if(svd.computeU()) svd.m_matrixU.col(p) *= conj(z);
+ }
+ if(abs(numext::imag(work_matrix.coeff(q,q)))>considerAsZero)
+ {
+ z = abs(work_matrix.coeff(q,q)) / work_matrix.coeff(q,q);
+ work_matrix.row(q) *= z;
+ if(svd.computeU()) svd.m_matrixU.col(q) *= conj(z);
+ }
+ // otherwise the second row is already zero, so we have nothing to do.
+ }
+ else
+ {
+ rot.c() = conj(work_matrix.coeff(p,p)) / n;
+ rot.s() = work_matrix.coeff(q,p) / n;
+ work_matrix.applyOnTheLeft(p,q,rot);
+ if(svd.computeU()) svd.m_matrixU.applyOnTheRight(p,q,rot.adjoint());
+ if(abs(numext::imag(work_matrix.coeff(p,q)))>considerAsZero)
+ {
+ z = abs(work_matrix.coeff(p,q)) / work_matrix.coeff(p,q);
+ work_matrix.col(q) *= z;
+ if(svd.computeV()) svd.m_matrixV.col(q) *= z;
+ }
+ if(abs(numext::imag(work_matrix.coeff(q,q)))>considerAsZero)
+ {
+ z = abs(work_matrix.coeff(q,q)) / work_matrix.coeff(q,q);
+ work_matrix.row(q) *= z;
+ if(svd.computeU()) svd.m_matrixU.col(q) *= conj(z);
+ }
+ }
+
+ // update largest diagonal entry
+ maxDiagEntry = numext::maxi<RealScalar>(maxDiagEntry,numext::maxi<RealScalar>(abs(work_matrix.coeff(p,p)), abs(work_matrix.coeff(q,q))));
+ // and check whether the 2x2 block is already diagonal
+ RealScalar threshold = numext::maxi<RealScalar>(considerAsZero, precision * maxDiagEntry);
+ return abs(work_matrix.coeff(p,q))>threshold || abs(work_matrix.coeff(q,p)) > threshold;
+ }
+};
+
+template<typename _MatrixType, int QRPreconditioner>
+struct traits<JacobiSVD<_MatrixType,QRPreconditioner> >
+{
+ typedef _MatrixType MatrixType;
+};
+
+} // end namespace internal
+
+/** \ingroup SVD_Module
+ *
+ *
+ * \class JacobiSVD
+ *
+ * \brief Two-sided Jacobi SVD decomposition of a rectangular matrix
+ *
+ * \tparam _MatrixType the type of the matrix of which we are computing the SVD decomposition
+ * \tparam QRPreconditioner this optional parameter allows to specify the type of QR decomposition that will be used internally
+ * for the R-SVD step for non-square matrices. See discussion of possible values below.
+ *
+ * SVD decomposition consists in decomposing any n-by-p matrix \a A as a product
+ * \f[ A = U S V^* \f]
+ * where \a U is a n-by-n unitary, \a V is a p-by-p unitary, and \a S is a n-by-p real positive matrix which is zero outside of its main diagonal;
+ * the diagonal entries of S are known as the \em singular \em values of \a A and the columns of \a U and \a V are known as the left
+ * and right \em singular \em vectors of \a A respectively.
+ *
+ * Singular values are always sorted in decreasing order.
+ *
+ * This JacobiSVD decomposition computes only the singular values by default. If you want \a U or \a V, you need to ask for them explicitly.
+ *
+ * You can ask for only \em thin \a U or \a V to be computed, meaning the following. In case of a rectangular n-by-p matrix, letting \a m be the
+ * smaller value among \a n and \a p, there are only \a m singular vectors; the remaining columns of \a U and \a V do not correspond to actual
+ * singular vectors. Asking for \em thin \a U or \a V means asking for only their \a m first columns to be formed. So \a U is then a n-by-m matrix,
+ * and \a V is then a p-by-m matrix. Notice that thin \a U and \a V are all you need for (least squares) solving.
+ *
+ * Here's an example demonstrating basic usage:
+ * \include JacobiSVD_basic.cpp
+ * Output: \verbinclude JacobiSVD_basic.out
+ *
+ * This JacobiSVD class is a two-sided Jacobi R-SVD decomposition, ensuring optimal reliability and accuracy. The downside is that it's slower than
+ * bidiagonalizing SVD algorithms for large square matrices; however its complexity is still \f$ O(n^2p) \f$ where \a n is the smaller dimension and
+ * \a p is the greater dimension, meaning that it is still of the same order of complexity as the faster bidiagonalizing R-SVD algorithms.
+ * In particular, like any R-SVD, it takes advantage of non-squareness in that its complexity is only linear in the greater dimension.
+ *
+ * If the input matrix has inf or nan coefficients, the result of the computation is undefined, but the computation is guaranteed to
+ * terminate in finite (and reasonable) time.
+ *
+ * The possible values for QRPreconditioner are:
+ * \li ColPivHouseholderQRPreconditioner is the default. In practice it's very safe. It uses column-pivoting QR.
+ * \li FullPivHouseholderQRPreconditioner, is the safest and slowest. It uses full-pivoting QR.
+ * Contrary to other QRs, it doesn't allow computing thin unitaries.
+ * \li HouseholderQRPreconditioner is the fastest, and less safe and accurate than the pivoting variants. It uses non-pivoting QR.
+ * This is very similar in safety and accuracy to the bidiagonalization process used by bidiagonalizing SVD algorithms (since bidiagonalization
+ * is inherently non-pivoting). However the resulting SVD is still more reliable than bidiagonalizing SVDs because the Jacobi-based iterarive
+ * process is more reliable than the optimized bidiagonal SVD iterations.
+ * \li NoQRPreconditioner allows not to use a QR preconditioner at all. This is useful if you know that you will only be computing
+ * JacobiSVD decompositions of square matrices. Non-square matrices require a QR preconditioner. Using this option will result in
+ * faster compilation and smaller executable code. It won't significantly speed up computation, since JacobiSVD is always checking
+ * if QR preconditioning is needed before applying it anyway.
+ *
+ * \sa MatrixBase::jacobiSvd()
+ */
+template<typename _MatrixType, int QRPreconditioner> class JacobiSVD
+ : public SVDBase<JacobiSVD<_MatrixType,QRPreconditioner> >
+{
+ typedef SVDBase<JacobiSVD> Base;
+ public:
+
+ typedef _MatrixType MatrixType;
+ typedef typename MatrixType::Scalar Scalar;
+ typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
+ enum {
+ RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+ ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+ DiagSizeAtCompileTime = EIGEN_SIZE_MIN_PREFER_DYNAMIC(RowsAtCompileTime,ColsAtCompileTime),
+ MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+ MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
+ MaxDiagSizeAtCompileTime = EIGEN_SIZE_MIN_PREFER_FIXED(MaxRowsAtCompileTime,MaxColsAtCompileTime),
+ MatrixOptions = MatrixType::Options
+ };
+
+ typedef typename Base::MatrixUType MatrixUType;
+ typedef typename Base::MatrixVType MatrixVType;
+ typedef typename Base::SingularValuesType SingularValuesType;
+
+ typedef typename internal::plain_row_type<MatrixType>::type RowType;
+ typedef typename internal::plain_col_type<MatrixType>::type ColType;
+ typedef Matrix<Scalar, DiagSizeAtCompileTime, DiagSizeAtCompileTime,
+ MatrixOptions, MaxDiagSizeAtCompileTime, MaxDiagSizeAtCompileTime>
+ WorkMatrixType;
+
+ /** \brief Default Constructor.
+ *
+ * The default constructor is useful in cases in which the user intends to
+ * perform decompositions via JacobiSVD::compute(const MatrixType&).
+ */
+ JacobiSVD()
+ {}
+
+
+ /** \brief Default Constructor with memory preallocation
+ *
+ * Like the default constructor but with preallocation of the internal data
+ * according to the specified problem size.
+ * \sa JacobiSVD()
+ */
+ JacobiSVD(Index rows, Index cols, unsigned int computationOptions = 0)
+ {
+ allocate(rows, cols, computationOptions);
+ }
+
+ /** \brief Constructor performing the decomposition of given matrix.
+ *
+ * \param matrix the matrix to decompose
+ * \param computationOptions optional parameter allowing to specify if you want full or thin U or V unitaries to be computed.
+ * By default, none is computed. This is a bit-field, the possible bits are #ComputeFullU, #ComputeThinU,
+ * #ComputeFullV, #ComputeThinV.
+ *
+ * Thin unitaries are only available if your matrix type has a Dynamic number of columns (for example MatrixXf). They also are not
+ * available with the (non-default) FullPivHouseholderQR preconditioner.
+ */
+ explicit JacobiSVD(const MatrixType& matrix, unsigned int computationOptions = 0)
+ {
+ compute(matrix, computationOptions);
+ }
+
+ /** \brief Method performing the decomposition of given matrix using custom options.
+ *
+ * \param matrix the matrix to decompose
+ * \param computationOptions optional parameter allowing to specify if you want full or thin U or V unitaries to be computed.
+ * By default, none is computed. This is a bit-field, the possible bits are #ComputeFullU, #ComputeThinU,
+ * #ComputeFullV, #ComputeThinV.
+ *
+ * Thin unitaries are only available if your matrix type has a Dynamic number of columns (for example MatrixXf). They also are not
+ * available with the (non-default) FullPivHouseholderQR preconditioner.
+ */
+ JacobiSVD& compute(const MatrixType& matrix, unsigned int computationOptions);
+
+ /** \brief Method performing the decomposition of given matrix using current options.
+ *
+ * \param matrix the matrix to decompose
+ *
+ * This method uses the current \a computationOptions, as already passed to the constructor or to compute(const MatrixType&, unsigned int).
+ */
+ JacobiSVD& compute(const MatrixType& matrix)
+ {
+ return compute(matrix, m_computationOptions);
+ }
+
+ using Base::computeU;
+ using Base::computeV;
+ using Base::rows;
+ using Base::cols;
+ using Base::rank;
+
+ private:
+ void allocate(Index rows, Index cols, unsigned int computationOptions);
+
+ protected:
+ using Base::m_matrixU;
+ using Base::m_matrixV;
+ using Base::m_singularValues;
+ using Base::m_isInitialized;
+ using Base::m_isAllocated;
+ using Base::m_usePrescribedThreshold;
+ using Base::m_computeFullU;
+ using Base::m_computeThinU;
+ using Base::m_computeFullV;
+ using Base::m_computeThinV;
+ using Base::m_computationOptions;
+ using Base::m_nonzeroSingularValues;
+ using Base::m_rows;
+ using Base::m_cols;
+ using Base::m_diagSize;
+ using Base::m_prescribedThreshold;
+ WorkMatrixType m_workMatrix;
+
+ template<typename __MatrixType, int _QRPreconditioner, bool _IsComplex>
+ friend struct internal::svd_precondition_2x2_block_to_be_real;
+ template<typename __MatrixType, int _QRPreconditioner, int _Case, bool _DoAnything>
+ friend struct internal::qr_preconditioner_impl;
+
+ internal::qr_preconditioner_impl<MatrixType, QRPreconditioner, internal::PreconditionIfMoreColsThanRows> m_qr_precond_morecols;
+ internal::qr_preconditioner_impl<MatrixType, QRPreconditioner, internal::PreconditionIfMoreRowsThanCols> m_qr_precond_morerows;
+ MatrixType m_scaledMatrix;
+};
+
+template<typename MatrixType, int QRPreconditioner>
+void JacobiSVD<MatrixType, QRPreconditioner>::allocate(Index rows, Index cols, unsigned int computationOptions)
+{
+ eigen_assert(rows >= 0 && cols >= 0);
+
+ if (m_isAllocated &&
+ rows == m_rows &&
+ cols == m_cols &&
+ computationOptions == m_computationOptions)
+ {
+ return;
+ }
+
+ m_rows = rows;
+ m_cols = cols;
+ m_isInitialized = false;
+ m_isAllocated = true;
+ m_computationOptions = computationOptions;
+ m_computeFullU = (computationOptions & ComputeFullU) != 0;
+ m_computeThinU = (computationOptions & ComputeThinU) != 0;
+ m_computeFullV = (computationOptions & ComputeFullV) != 0;
+ m_computeThinV = (computationOptions & ComputeThinV) != 0;
+ eigen_assert(!(m_computeFullU && m_computeThinU) && "JacobiSVD: you can't ask for both full and thin U");
+ eigen_assert(!(m_computeFullV && m_computeThinV) && "JacobiSVD: you can't ask for both full and thin V");
+ eigen_assert(EIGEN_IMPLIES(m_computeThinU || m_computeThinV, MatrixType::ColsAtCompileTime==Dynamic) &&
+ "JacobiSVD: thin U and V are only available when your matrix has a dynamic number of columns.");
+ if (QRPreconditioner == FullPivHouseholderQRPreconditioner)
+ {
+ eigen_assert(!(m_computeThinU || m_computeThinV) &&
+ "JacobiSVD: can't compute thin U or thin V with the FullPivHouseholderQR preconditioner. "
+ "Use the ColPivHouseholderQR preconditioner instead.");
+ }
+ m_diagSize = (std::min)(m_rows, m_cols);
+ m_singularValues.resize(m_diagSize);
+ if(RowsAtCompileTime==Dynamic)
+ m_matrixU.resize(m_rows, m_computeFullU ? m_rows
+ : m_computeThinU ? m_diagSize
+ : 0);
+ if(ColsAtCompileTime==Dynamic)
+ m_matrixV.resize(m_cols, m_computeFullV ? m_cols
+ : m_computeThinV ? m_diagSize
+ : 0);
+ m_workMatrix.resize(m_diagSize, m_diagSize);
+
+ if(m_cols>m_rows) m_qr_precond_morecols.allocate(*this);
+ if(m_rows>m_cols) m_qr_precond_morerows.allocate(*this);
+ if(m_rows!=m_cols) m_scaledMatrix.resize(rows,cols);
+}
+
+template<typename MatrixType, int QRPreconditioner>
+JacobiSVD<MatrixType, QRPreconditioner>&
+JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType& matrix, unsigned int computationOptions)
+{
+ using std::abs;
+ allocate(matrix.rows(), matrix.cols(), computationOptions);
+
+ // currently we stop when we reach precision 2*epsilon as the last bit of precision can require an unreasonable number of iterations,
+ // only worsening the precision of U and V as we accumulate more rotations
+ const RealScalar precision = RealScalar(2) * NumTraits<Scalar>::epsilon();
+
+ // limit for denormal numbers to be considered zero in order to avoid infinite loops (see bug 286)
+ const RealScalar considerAsZero = (std::numeric_limits<RealScalar>::min)();
+
+ // Scaling factor to reduce over/under-flows
+ RealScalar scale = matrix.cwiseAbs().maxCoeff();
+ if(scale==RealScalar(0)) scale = RealScalar(1);
+
+ /*** step 1. The R-SVD step: we use a QR decomposition to reduce to the case of a square matrix */
+
+ if(m_rows!=m_cols)
+ {
+ m_scaledMatrix = matrix / scale;
+ m_qr_precond_morecols.run(*this, m_scaledMatrix);
+ m_qr_precond_morerows.run(*this, m_scaledMatrix);
+ }
+ else
+ {
+ m_workMatrix = matrix.block(0,0,m_diagSize,m_diagSize) / scale;
+ if(m_computeFullU) m_matrixU.setIdentity(m_rows,m_rows);
+ if(m_computeThinU) m_matrixU.setIdentity(m_rows,m_diagSize);
+ if(m_computeFullV) m_matrixV.setIdentity(m_cols,m_cols);
+ if(m_computeThinV) m_matrixV.setIdentity(m_cols, m_diagSize);
+ }
+
+ /*** step 2. The main Jacobi SVD iteration. ***/
+ RealScalar maxDiagEntry = m_workMatrix.cwiseAbs().diagonal().maxCoeff();
+
+ bool finished = false;
+ while(!finished)
+ {
+ finished = true;
+
+ // do a sweep: for all index pairs (p,q), perform SVD of the corresponding 2x2 sub-matrix
+
+ for(Index p = 1; p < m_diagSize; ++p)
+ {
+ for(Index q = 0; q < p; ++q)
+ {
+ // if this 2x2 sub-matrix is not diagonal already...
+ // notice that this comparison will evaluate to false if any NaN is involved, ensuring that NaN's don't
+ // keep us iterating forever. Similarly, small denormal numbers are considered zero.
+ RealScalar threshold = numext::maxi<RealScalar>(considerAsZero, precision * maxDiagEntry);
+ if(abs(m_workMatrix.coeff(p,q))>threshold || abs(m_workMatrix.coeff(q,p)) > threshold)
+ {
+ finished = false;
+ // perform SVD decomposition of 2x2 sub-matrix corresponding to indices p,q to make it diagonal
+ // the complex to real operation returns true if the updated 2x2 block is not already diagonal
+ if(internal::svd_precondition_2x2_block_to_be_real<MatrixType, QRPreconditioner>::run(m_workMatrix, *this, p, q, maxDiagEntry))
+ {
+ JacobiRotation<RealScalar> j_left, j_right;
+ internal::real_2x2_jacobi_svd(m_workMatrix, p, q, &j_left, &j_right);
+
+ // accumulate resulting Jacobi rotations
+ m_workMatrix.applyOnTheLeft(p,q,j_left);
+ if(computeU()) m_matrixU.applyOnTheRight(p,q,j_left.transpose());
+
+ m_workMatrix.applyOnTheRight(p,q,j_right);
+ if(computeV()) m_matrixV.applyOnTheRight(p,q,j_right);
+
+ // keep track of the largest diagonal coefficient
+ maxDiagEntry = numext::maxi<RealScalar>(maxDiagEntry,numext::maxi<RealScalar>(abs(m_workMatrix.coeff(p,p)), abs(m_workMatrix.coeff(q,q))));
+ }
+ }
+ }
+ }
+ }
+
+ /*** step 3. The work matrix is now diagonal, so ensure it's positive so its diagonal entries are the singular values ***/
+
+ for(Index i = 0; i < m_diagSize; ++i)
+ {
+ // For a complex matrix, some diagonal coefficients might note have been
+ // treated by svd_precondition_2x2_block_to_be_real, and the imaginary part
+ // of some diagonal entry might not be null.
+ if(NumTraits<Scalar>::IsComplex && abs(numext::imag(m_workMatrix.coeff(i,i)))>considerAsZero)
+ {
+ RealScalar a = abs(m_workMatrix.coeff(i,i));
+ m_singularValues.coeffRef(i) = abs(a);
+ if(computeU()) m_matrixU.col(i) *= m_workMatrix.coeff(i,i)/a;
+ }
+ else
+ {
+ // m_workMatrix.coeff(i,i) is already real, no difficulty:
+ RealScalar a = numext::real(m_workMatrix.coeff(i,i));
+ m_singularValues.coeffRef(i) = abs(a);
+ if(computeU() && (a<RealScalar(0))) m_matrixU.col(i) = -m_matrixU.col(i);
+ }
+ }
+
+ m_singularValues *= scale;
+
+ /*** step 4. Sort singular values in descending order and compute the number of nonzero singular values ***/
+
+ m_nonzeroSingularValues = m_diagSize;
+ for(Index i = 0; i < m_diagSize; i++)
+ {
+ Index pos;
+ RealScalar maxRemainingSingularValue = m_singularValues.tail(m_diagSize-i).maxCoeff(&pos);
+ if(maxRemainingSingularValue == RealScalar(0))
+ {
+ m_nonzeroSingularValues = i;
+ break;
+ }
+ if(pos)
+ {
+ pos += i;
+ std::swap(m_singularValues.coeffRef(i), m_singularValues.coeffRef(pos));
+ if(computeU()) m_matrixU.col(pos).swap(m_matrixU.col(i));
+ if(computeV()) m_matrixV.col(pos).swap(m_matrixV.col(i));
+ }
+ }
+
+ m_isInitialized = true;
+ return *this;
+}
+
+/** \svd_module
+ *
+ * \return the singular value decomposition of \c *this computed by two-sided
+ * Jacobi transformations.
+ *
+ * \sa class JacobiSVD
+ */
+template<typename Derived>
+JacobiSVD<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::jacobiSvd(unsigned int computationOptions) const
+{
+ return JacobiSVD<PlainObject>(*this, computationOptions);
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_JACOBISVD_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/SVD/SVDBase.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/SVD/SVDBase.h
new file mode 100644
index 0000000..3d1ef37
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/SVD/SVDBase.h
@@ -0,0 +1,315 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2014 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Copyright (C) 2013 Gauthier Brun <brun.gauthier@gmail.com>
+// Copyright (C) 2013 Nicolas Carre <nicolas.carre@ensimag.fr>
+// Copyright (C) 2013 Jean Ceccato <jean.ceccato@ensimag.fr>
+// Copyright (C) 2013 Pierre Zoppitelli <pierre.zoppitelli@ensimag.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_SVDBASE_H
+#define EIGEN_SVDBASE_H
+
+namespace Eigen {
+/** \ingroup SVD_Module
+ *
+ *
+ * \class SVDBase
+ *
+ * \brief Base class of SVD algorithms
+ *
+ * \tparam Derived the type of the actual SVD decomposition
+ *
+ * SVD decomposition consists in decomposing any n-by-p matrix \a A as a product
+ * \f[ A = U S V^* \f]
+ * where \a U is a n-by-n unitary, \a V is a p-by-p unitary, and \a S is a n-by-p real positive matrix which is zero outside of its main diagonal;
+ * the diagonal entries of S are known as the \em singular \em values of \a A and the columns of \a U and \a V are known as the left
+ * and right \em singular \em vectors of \a A respectively.
+ *
+ * Singular values are always sorted in decreasing order.
+ *
+ *
+ * You can ask for only \em thin \a U or \a V to be computed, meaning the following. In case of a rectangular n-by-p matrix, letting \a m be the
+ * smaller value among \a n and \a p, there are only \a m singular vectors; the remaining columns of \a U and \a V do not correspond to actual
+ * singular vectors. Asking for \em thin \a U or \a V means asking for only their \a m first columns to be formed. So \a U is then a n-by-m matrix,
+ * and \a V is then a p-by-m matrix. Notice that thin \a U and \a V are all you need for (least squares) solving.
+ *
+ * If the input matrix has inf or nan coefficients, the result of the computation is undefined, but the computation is guaranteed to
+ * terminate in finite (and reasonable) time.
+ * \sa class BDCSVD, class JacobiSVD
+ */
+template<typename Derived>
+class SVDBase
+{
+
+public:
+ typedef typename internal::traits<Derived>::MatrixType MatrixType;
+ typedef typename MatrixType::Scalar Scalar;
+ typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
+ typedef typename MatrixType::StorageIndex StorageIndex;
+ typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
+ enum {
+ RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+ ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+ DiagSizeAtCompileTime = EIGEN_SIZE_MIN_PREFER_DYNAMIC(RowsAtCompileTime,ColsAtCompileTime),
+ MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+ MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
+ MaxDiagSizeAtCompileTime = EIGEN_SIZE_MIN_PREFER_FIXED(MaxRowsAtCompileTime,MaxColsAtCompileTime),
+ MatrixOptions = MatrixType::Options
+ };
+
+ typedef Matrix<Scalar, RowsAtCompileTime, RowsAtCompileTime, MatrixOptions, MaxRowsAtCompileTime, MaxRowsAtCompileTime> MatrixUType;
+ typedef Matrix<Scalar, ColsAtCompileTime, ColsAtCompileTime, MatrixOptions, MaxColsAtCompileTime, MaxColsAtCompileTime> MatrixVType;
+ typedef typename internal::plain_diag_type<MatrixType, RealScalar>::type SingularValuesType;
+
+ Derived& derived() { return *static_cast<Derived*>(this); }
+ const Derived& derived() const { return *static_cast<const Derived*>(this); }
+
+ /** \returns the \a U matrix.
+ *
+ * For the SVD decomposition of a n-by-p matrix, letting \a m be the minimum of \a n and \a p,
+ * the U matrix is n-by-n if you asked for \link Eigen::ComputeFullU ComputeFullU \endlink, and is n-by-m if you asked for \link Eigen::ComputeThinU ComputeThinU \endlink.
+ *
+ * The \a m first columns of \a U are the left singular vectors of the matrix being decomposed.
+ *
+ * This method asserts that you asked for \a U to be computed.
+ */
+ const MatrixUType& matrixU() const
+ {
+ eigen_assert(m_isInitialized && "SVD is not initialized.");
+ eigen_assert(computeU() && "This SVD decomposition didn't compute U. Did you ask for it?");
+ return m_matrixU;
+ }
+
+ /** \returns the \a V matrix.
+ *
+ * For the SVD decomposition of a n-by-p matrix, letting \a m be the minimum of \a n and \a p,
+ * the V matrix is p-by-p if you asked for \link Eigen::ComputeFullV ComputeFullV \endlink, and is p-by-m if you asked for \link Eigen::ComputeThinV ComputeThinV \endlink.
+ *
+ * The \a m first columns of \a V are the right singular vectors of the matrix being decomposed.
+ *
+ * This method asserts that you asked for \a V to be computed.
+ */
+ const MatrixVType& matrixV() const
+ {
+ eigen_assert(m_isInitialized && "SVD is not initialized.");
+ eigen_assert(computeV() && "This SVD decomposition didn't compute V. Did you ask for it?");
+ return m_matrixV;
+ }
+
+ /** \returns the vector of singular values.
+ *
+ * For the SVD decomposition of a n-by-p matrix, letting \a m be the minimum of \a n and \a p, the
+ * returned vector has size \a m. Singular values are always sorted in decreasing order.
+ */
+ const SingularValuesType& singularValues() const
+ {
+ eigen_assert(m_isInitialized && "SVD is not initialized.");
+ return m_singularValues;
+ }
+
+ /** \returns the number of singular values that are not exactly 0 */
+ Index nonzeroSingularValues() const
+ {
+ eigen_assert(m_isInitialized && "SVD is not initialized.");
+ return m_nonzeroSingularValues;
+ }
+
+ /** \returns the rank of the matrix of which \c *this is the SVD.
+ *
+ * \note This method has to determine which singular values should be considered nonzero.
+ * For that, it uses the threshold value that you can control by calling
+ * setThreshold(const RealScalar&).
+ */
+ inline Index rank() const
+ {
+ using std::abs;
+ eigen_assert(m_isInitialized && "JacobiSVD is not initialized.");
+ if(m_singularValues.size()==0) return 0;
+ RealScalar premultiplied_threshold = numext::maxi<RealScalar>(m_singularValues.coeff(0) * threshold(), (std::numeric_limits<RealScalar>::min)());
+ Index i = m_nonzeroSingularValues-1;
+ while(i>=0 && m_singularValues.coeff(i) < premultiplied_threshold) --i;
+ return i+1;
+ }
+
+ /** Allows to prescribe a threshold to be used by certain methods, such as rank() and solve(),
+ * which need to determine when singular values are to be considered nonzero.
+ * This is not used for the SVD decomposition itself.
+ *
+ * When it needs to get the threshold value, Eigen calls threshold().
+ * The default is \c NumTraits<Scalar>::epsilon()
+ *
+ * \param threshold The new value to use as the threshold.
+ *
+ * A singular value will be considered nonzero if its value is strictly greater than
+ * \f$ \vert singular value \vert \leqslant threshold \times \vert max singular value \vert \f$.
+ *
+ * If you want to come back to the default behavior, call setThreshold(Default_t)
+ */
+ Derived& setThreshold(const RealScalar& threshold)
+ {
+ m_usePrescribedThreshold = true;
+ m_prescribedThreshold = threshold;
+ return derived();
+ }
+
+ /** Allows to come back to the default behavior, letting Eigen use its default formula for
+ * determining the threshold.
+ *
+ * You should pass the special object Eigen::Default as parameter here.
+ * \code svd.setThreshold(Eigen::Default); \endcode
+ *
+ * See the documentation of setThreshold(const RealScalar&).
+ */
+ Derived& setThreshold(Default_t)
+ {
+ m_usePrescribedThreshold = false;
+ return derived();
+ }
+
+ /** Returns the threshold that will be used by certain methods such as rank().
+ *
+ * See the documentation of setThreshold(const RealScalar&).
+ */
+ RealScalar threshold() const
+ {
+ eigen_assert(m_isInitialized || m_usePrescribedThreshold);
+ // this temporary is needed to workaround a MSVC issue
+ Index diagSize = (std::max<Index>)(1,m_diagSize);
+ return m_usePrescribedThreshold ? m_prescribedThreshold
+ : diagSize*NumTraits<Scalar>::epsilon();
+ }
+
+ /** \returns true if \a U (full or thin) is asked for in this SVD decomposition */
+ inline bool computeU() const { return m_computeFullU || m_computeThinU; }
+ /** \returns true if \a V (full or thin) is asked for in this SVD decomposition */
+ inline bool computeV() const { return m_computeFullV || m_computeThinV; }
+
+ inline Index rows() const { return m_rows; }
+ inline Index cols() const { return m_cols; }
+
+ /** \returns a (least squares) solution of \f$ A x = b \f$ using the current SVD decomposition of A.
+ *
+ * \param b the right-hand-side of the equation to solve.
+ *
+ * \note Solving requires both U and V to be computed. Thin U and V are enough, there is no need for full U or V.
+ *
+ * \note SVD solving is implicitly least-squares. Thus, this method serves both purposes of exact solving and least-squares solving.
+ * In other words, the returned solution is guaranteed to minimize the Euclidean norm \f$ \Vert A x - b \Vert \f$.
+ */
+ template<typename Rhs>
+ inline const Solve<Derived, Rhs>
+ solve(const MatrixBase<Rhs>& b) const
+ {
+ eigen_assert(m_isInitialized && "SVD is not initialized.");
+ eigen_assert(computeU() && computeV() && "SVD::solve() requires both unitaries U and V to be computed (thin unitaries suffice).");
+ return Solve<Derived, Rhs>(derived(), b.derived());
+ }
+
+ #ifndef EIGEN_PARSED_BY_DOXYGEN
+ template<typename RhsType, typename DstType>
+ EIGEN_DEVICE_FUNC
+ void _solve_impl(const RhsType &rhs, DstType &dst) const;
+ #endif
+
+protected:
+
+ static void check_template_parameters()
+ {
+ EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
+ }
+
+ // return true if already allocated
+ bool allocate(Index rows, Index cols, unsigned int computationOptions) ;
+
+ MatrixUType m_matrixU;
+ MatrixVType m_matrixV;
+ SingularValuesType m_singularValues;
+ bool m_isInitialized, m_isAllocated, m_usePrescribedThreshold;
+ bool m_computeFullU, m_computeThinU;
+ bool m_computeFullV, m_computeThinV;
+ unsigned int m_computationOptions;
+ Index m_nonzeroSingularValues, m_rows, m_cols, m_diagSize;
+ RealScalar m_prescribedThreshold;
+
+ /** \brief Default Constructor.
+ *
+ * Default constructor of SVDBase
+ */
+ SVDBase()
+ : m_isInitialized(false),
+ m_isAllocated(false),
+ m_usePrescribedThreshold(false),
+ m_computationOptions(0),
+ m_rows(-1), m_cols(-1), m_diagSize(0)
+ {
+ check_template_parameters();
+ }
+
+
+};
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template<typename Derived>
+template<typename RhsType, typename DstType>
+void SVDBase<Derived>::_solve_impl(const RhsType &rhs, DstType &dst) const
+{
+ eigen_assert(rhs.rows() == rows());
+
+ // A = U S V^*
+ // So A^{-1} = V S^{-1} U^*
+
+ Matrix<Scalar, Dynamic, RhsType::ColsAtCompileTime, 0, MatrixType::MaxRowsAtCompileTime, RhsType::MaxColsAtCompileTime> tmp;
+ Index l_rank = rank();
+ tmp.noalias() = m_matrixU.leftCols(l_rank).adjoint() * rhs;
+ tmp = m_singularValues.head(l_rank).asDiagonal().inverse() * tmp;
+ dst = m_matrixV.leftCols(l_rank) * tmp;
+}
+#endif
+
+template<typename MatrixType>
+bool SVDBase<MatrixType>::allocate(Index rows, Index cols, unsigned int computationOptions)
+{
+ eigen_assert(rows >= 0 && cols >= 0);
+
+ if (m_isAllocated &&
+ rows == m_rows &&
+ cols == m_cols &&
+ computationOptions == m_computationOptions)
+ {
+ return true;
+ }
+
+ m_rows = rows;
+ m_cols = cols;
+ m_isInitialized = false;
+ m_isAllocated = true;
+ m_computationOptions = computationOptions;
+ m_computeFullU = (computationOptions & ComputeFullU) != 0;
+ m_computeThinU = (computationOptions & ComputeThinU) != 0;
+ m_computeFullV = (computationOptions & ComputeFullV) != 0;
+ m_computeThinV = (computationOptions & ComputeThinV) != 0;
+ eigen_assert(!(m_computeFullU && m_computeThinU) && "SVDBase: you can't ask for both full and thin U");
+ eigen_assert(!(m_computeFullV && m_computeThinV) && "SVDBase: you can't ask for both full and thin V");
+ eigen_assert(EIGEN_IMPLIES(m_computeThinU || m_computeThinV, MatrixType::ColsAtCompileTime==Dynamic) &&
+ "SVDBase: thin U and V are only available when your matrix has a dynamic number of columns.");
+
+ m_diagSize = (std::min)(m_rows, m_cols);
+ m_singularValues.resize(m_diagSize);
+ if(RowsAtCompileTime==Dynamic)
+ m_matrixU.resize(m_rows, m_computeFullU ? m_rows : m_computeThinU ? m_diagSize : 0);
+ if(ColsAtCompileTime==Dynamic)
+ m_matrixV.resize(m_cols, m_computeFullV ? m_cols : m_computeThinV ? m_diagSize : 0);
+
+ return false;
+}
+
+}// end namespace
+
+#endif // EIGEN_SVDBASE_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/SVD/UpperBidiagonalization.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/SVD/UpperBidiagonalization.h
new file mode 100644
index 0000000..11ac847
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/SVD/UpperBidiagonalization.h
@@ -0,0 +1,414 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2013-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_BIDIAGONALIZATION_H
+#define EIGEN_BIDIAGONALIZATION_H
+
+namespace Eigen {
+
+namespace internal {
+// UpperBidiagonalization will probably be replaced by a Bidiagonalization class, don't want to make it stable API.
+// At the same time, it's useful to keep for now as it's about the only thing that is testing the BandMatrix class.
+
+template<typename _MatrixType> class UpperBidiagonalization
+{
+ public:
+
+ typedef _MatrixType MatrixType;
+ enum {
+ RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+ ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+ ColsAtCompileTimeMinusOne = internal::decrement_size<ColsAtCompileTime>::ret
+ };
+ typedef typename MatrixType::Scalar Scalar;
+ typedef typename MatrixType::RealScalar RealScalar;
+ typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
+ typedef Matrix<Scalar, 1, ColsAtCompileTime> RowVectorType;
+ typedef Matrix<Scalar, RowsAtCompileTime, 1> ColVectorType;
+ typedef BandMatrix<RealScalar, ColsAtCompileTime, ColsAtCompileTime, 1, 0, RowMajor> BidiagonalType;
+ typedef Matrix<Scalar, ColsAtCompileTime, 1> DiagVectorType;
+ typedef Matrix<Scalar, ColsAtCompileTimeMinusOne, 1> SuperDiagVectorType;
+ typedef HouseholderSequence<
+ const MatrixType,
+ const typename internal::remove_all<typename Diagonal<const MatrixType,0>::ConjugateReturnType>::type
+ > HouseholderUSequenceType;
+ typedef HouseholderSequence<
+ const typename internal::remove_all<typename MatrixType::ConjugateReturnType>::type,
+ Diagonal<const MatrixType,1>,
+ OnTheRight
+ > HouseholderVSequenceType;
+
+ /**
+ * \brief Default Constructor.
+ *
+ * The default constructor is useful in cases in which the user intends to
+ * perform decompositions via Bidiagonalization::compute(const MatrixType&).
+ */
+ UpperBidiagonalization() : m_householder(), m_bidiagonal(), m_isInitialized(false) {}
+
+ explicit UpperBidiagonalization(const MatrixType& matrix)
+ : m_householder(matrix.rows(), matrix.cols()),
+ m_bidiagonal(matrix.cols(), matrix.cols()),
+ m_isInitialized(false)
+ {
+ compute(matrix);
+ }
+
+ UpperBidiagonalization& compute(const MatrixType& matrix);
+ UpperBidiagonalization& computeUnblocked(const MatrixType& matrix);
+
+ const MatrixType& householder() const { return m_householder; }
+ const BidiagonalType& bidiagonal() const { return m_bidiagonal; }
+
+ const HouseholderUSequenceType householderU() const
+ {
+ eigen_assert(m_isInitialized && "UpperBidiagonalization is not initialized.");
+ return HouseholderUSequenceType(m_householder, m_householder.diagonal().conjugate());
+ }
+
+ const HouseholderVSequenceType householderV() // const here gives nasty errors and i'm lazy
+ {
+ eigen_assert(m_isInitialized && "UpperBidiagonalization is not initialized.");
+ return HouseholderVSequenceType(m_householder.conjugate(), m_householder.const_derived().template diagonal<1>())
+ .setLength(m_householder.cols()-1)
+ .setShift(1);
+ }
+
+ protected:
+ MatrixType m_householder;
+ BidiagonalType m_bidiagonal;
+ bool m_isInitialized;
+};
+
+// Standard upper bidiagonalization without fancy optimizations
+// This version should be faster for small matrix size
+template<typename MatrixType>
+void upperbidiagonalization_inplace_unblocked(MatrixType& mat,
+ typename MatrixType::RealScalar *diagonal,
+ typename MatrixType::RealScalar *upper_diagonal,
+ typename MatrixType::Scalar* tempData = 0)
+{
+ typedef typename MatrixType::Scalar Scalar;
+
+ Index rows = mat.rows();
+ Index cols = mat.cols();
+
+ typedef Matrix<Scalar,Dynamic,1,ColMajor,MatrixType::MaxRowsAtCompileTime,1> TempType;
+ TempType tempVector;
+ if(tempData==0)
+ {
+ tempVector.resize(rows);
+ tempData = tempVector.data();
+ }
+
+ for (Index k = 0; /* breaks at k==cols-1 below */ ; ++k)
+ {
+ Index remainingRows = rows - k;
+ Index remainingCols = cols - k - 1;
+
+ // construct left householder transform in-place in A
+ mat.col(k).tail(remainingRows)
+ .makeHouseholderInPlace(mat.coeffRef(k,k), diagonal[k]);
+ // apply householder transform to remaining part of A on the left
+ mat.bottomRightCorner(remainingRows, remainingCols)
+ .applyHouseholderOnTheLeft(mat.col(k).tail(remainingRows-1), mat.coeff(k,k), tempData);
+
+ if(k == cols-1) break;
+
+ // construct right householder transform in-place in mat
+ mat.row(k).tail(remainingCols)
+ .makeHouseholderInPlace(mat.coeffRef(k,k+1), upper_diagonal[k]);
+ // apply householder transform to remaining part of mat on the left
+ mat.bottomRightCorner(remainingRows-1, remainingCols)
+ .applyHouseholderOnTheRight(mat.row(k).tail(remainingCols-1).transpose(), mat.coeff(k,k+1), tempData);
+ }
+}
+
+/** \internal
+ * Helper routine for the block reduction to upper bidiagonal form.
+ *
+ * Let's partition the matrix A:
+ *
+ * | A00 A01 |
+ * A = | |
+ * | A10 A11 |
+ *
+ * This function reduces to bidiagonal form the left \c rows x \a blockSize vertical panel [A00/A10]
+ * and the \a blockSize x \c cols horizontal panel [A00 A01] of the matrix \a A. The bottom-right block A11
+ * is updated using matrix-matrix products:
+ * A22 -= V * Y^T - X * U^T
+ * where V and U contains the left and right Householder vectors. U and V are stored in A10, and A01
+ * respectively, and the update matrices X and Y are computed during the reduction.
+ *
+ */
+template<typename MatrixType>
+void upperbidiagonalization_blocked_helper(MatrixType& A,
+ typename MatrixType::RealScalar *diagonal,
+ typename MatrixType::RealScalar *upper_diagonal,
+ Index bs,
+ Ref<Matrix<typename MatrixType::Scalar, Dynamic, Dynamic,
+ traits<MatrixType>::Flags & RowMajorBit> > X,
+ Ref<Matrix<typename MatrixType::Scalar, Dynamic, Dynamic,
+ traits<MatrixType>::Flags & RowMajorBit> > Y)
+{
+ typedef typename MatrixType::Scalar Scalar;
+ typedef typename MatrixType::RealScalar RealScalar;
+ typedef typename NumTraits<RealScalar>::Literal Literal;
+ enum { StorageOrder = traits<MatrixType>::Flags & RowMajorBit };
+ typedef InnerStride<int(StorageOrder) == int(ColMajor) ? 1 : Dynamic> ColInnerStride;
+ typedef InnerStride<int(StorageOrder) == int(ColMajor) ? Dynamic : 1> RowInnerStride;
+ typedef Ref<Matrix<Scalar, Dynamic, 1>, 0, ColInnerStride> SubColumnType;
+ typedef Ref<Matrix<Scalar, 1, Dynamic>, 0, RowInnerStride> SubRowType;
+ typedef Ref<Matrix<Scalar, Dynamic, Dynamic, StorageOrder > > SubMatType;
+
+ Index brows = A.rows();
+ Index bcols = A.cols();
+
+ Scalar tau_u, tau_u_prev(0), tau_v;
+
+ for(Index k = 0; k < bs; ++k)
+ {
+ Index remainingRows = brows - k;
+ Index remainingCols = bcols - k - 1;
+
+ SubMatType X_k1( X.block(k,0, remainingRows,k) );
+ SubMatType V_k1( A.block(k,0, remainingRows,k) );
+
+ // 1 - update the k-th column of A
+ SubColumnType v_k = A.col(k).tail(remainingRows);
+ v_k -= V_k1 * Y.row(k).head(k).adjoint();
+ if(k) v_k -= X_k1 * A.col(k).head(k);
+
+ // 2 - construct left Householder transform in-place
+ v_k.makeHouseholderInPlace(tau_v, diagonal[k]);
+
+ if(k+1<bcols)
+ {
+ SubMatType Y_k ( Y.block(k+1,0, remainingCols, k+1) );
+ SubMatType U_k1 ( A.block(0,k+1, k,remainingCols) );
+
+ // this eases the application of Householder transforAions
+ // A(k,k) will store tau_v later
+ A(k,k) = Scalar(1);
+
+ // 3 - Compute y_k^T = tau_v * ( A^T*v_k - Y_k-1*V_k-1^T*v_k - U_k-1*X_k-1^T*v_k )
+ {
+ SubColumnType y_k( Y.col(k).tail(remainingCols) );
+
+ // let's use the begining of column k of Y as a temporary vector
+ SubColumnType tmp( Y.col(k).head(k) );
+ y_k.noalias() = A.block(k,k+1, remainingRows,remainingCols).adjoint() * v_k; // bottleneck
+ tmp.noalias() = V_k1.adjoint() * v_k;
+ y_k.noalias() -= Y_k.leftCols(k) * tmp;
+ tmp.noalias() = X_k1.adjoint() * v_k;
+ y_k.noalias() -= U_k1.adjoint() * tmp;
+ y_k *= numext::conj(tau_v);
+ }
+
+ // 4 - update k-th row of A (it will become u_k)
+ SubRowType u_k( A.row(k).tail(remainingCols) );
+ u_k = u_k.conjugate();
+ {
+ u_k -= Y_k * A.row(k).head(k+1).adjoint();
+ if(k) u_k -= U_k1.adjoint() * X.row(k).head(k).adjoint();
+ }
+
+ // 5 - construct right Householder transform in-place
+ u_k.makeHouseholderInPlace(tau_u, upper_diagonal[k]);
+
+ // this eases the application of Householder transformations
+ // A(k,k+1) will store tau_u later
+ A(k,k+1) = Scalar(1);
+
+ // 6 - Compute x_k = tau_u * ( A*u_k - X_k-1*U_k-1^T*u_k - V_k*Y_k^T*u_k )
+ {
+ SubColumnType x_k ( X.col(k).tail(remainingRows-1) );
+
+ // let's use the begining of column k of X as a temporary vectors
+ // note that tmp0 and tmp1 overlaps
+ SubColumnType tmp0 ( X.col(k).head(k) ),
+ tmp1 ( X.col(k).head(k+1) );
+
+ x_k.noalias() = A.block(k+1,k+1, remainingRows-1,remainingCols) * u_k.transpose(); // bottleneck
+ tmp0.noalias() = U_k1 * u_k.transpose();
+ x_k.noalias() -= X_k1.bottomRows(remainingRows-1) * tmp0;
+ tmp1.noalias() = Y_k.adjoint() * u_k.transpose();
+ x_k.noalias() -= A.block(k+1,0, remainingRows-1,k+1) * tmp1;
+ x_k *= numext::conj(tau_u);
+ tau_u = numext::conj(tau_u);
+ u_k = u_k.conjugate();
+ }
+
+ if(k>0) A.coeffRef(k-1,k) = tau_u_prev;
+ tau_u_prev = tau_u;
+ }
+ else
+ A.coeffRef(k-1,k) = tau_u_prev;
+
+ A.coeffRef(k,k) = tau_v;
+ }
+
+ if(bs<bcols)
+ A.coeffRef(bs-1,bs) = tau_u_prev;
+
+ // update A22
+ if(bcols>bs && brows>bs)
+ {
+ SubMatType A11( A.bottomRightCorner(brows-bs,bcols-bs) );
+ SubMatType A10( A.block(bs,0, brows-bs,bs) );
+ SubMatType A01( A.block(0,bs, bs,bcols-bs) );
+ Scalar tmp = A01(bs-1,0);
+ A01(bs-1,0) = Literal(1);
+ A11.noalias() -= A10 * Y.topLeftCorner(bcols,bs).bottomRows(bcols-bs).adjoint();
+ A11.noalias() -= X.topLeftCorner(brows,bs).bottomRows(brows-bs) * A01;
+ A01(bs-1,0) = tmp;
+ }
+}
+
+/** \internal
+ *
+ * Implementation of a block-bidiagonal reduction.
+ * It is based on the following paper:
+ * The Design of a Parallel Dense Linear Algebra Software Library: Reduction to Hessenberg, Tridiagonal, and Bidiagonal Form.
+ * by Jaeyoung Choi, Jack J. Dongarra, David W. Walker. (1995)
+ * section 3.3
+ */
+template<typename MatrixType, typename BidiagType>
+void upperbidiagonalization_inplace_blocked(MatrixType& A, BidiagType& bidiagonal,
+ Index maxBlockSize=32,
+ typename MatrixType::Scalar* /*tempData*/ = 0)
+{
+ typedef typename MatrixType::Scalar Scalar;
+ typedef Block<MatrixType,Dynamic,Dynamic> BlockType;
+
+ Index rows = A.rows();
+ Index cols = A.cols();
+ Index size = (std::min)(rows, cols);
+
+ // X and Y are work space
+ enum { StorageOrder = traits<MatrixType>::Flags & RowMajorBit };
+ Matrix<Scalar,
+ MatrixType::RowsAtCompileTime,
+ Dynamic,
+ StorageOrder,
+ MatrixType::MaxRowsAtCompileTime> X(rows,maxBlockSize);
+ Matrix<Scalar,
+ MatrixType::ColsAtCompileTime,
+ Dynamic,
+ StorageOrder,
+ MatrixType::MaxColsAtCompileTime> Y(cols,maxBlockSize);
+ Index blockSize = (std::min)(maxBlockSize,size);
+
+ Index k = 0;
+ for(k = 0; k < size; k += blockSize)
+ {
+ Index bs = (std::min)(size-k,blockSize); // actual size of the block
+ Index brows = rows - k; // rows of the block
+ Index bcols = cols - k; // columns of the block
+
+ // partition the matrix A:
+ //
+ // | A00 A01 A02 |
+ // | |
+ // A = | A10 A11 A12 |
+ // | |
+ // | A20 A21 A22 |
+ //
+ // where A11 is a bs x bs diagonal block,
+ // and let:
+ // | A11 A12 |
+ // B = | |
+ // | A21 A22 |
+
+ BlockType B = A.block(k,k,brows,bcols);
+
+ // This stage performs the bidiagonalization of A11, A21, A12, and updating of A22.
+ // Finally, the algorithm continue on the updated A22.
+ //
+ // However, if B is too small, or A22 empty, then let's use an unblocked strategy
+ if(k+bs==cols || bcols<48) // somewhat arbitrary threshold
+ {
+ upperbidiagonalization_inplace_unblocked(B,
+ &(bidiagonal.template diagonal<0>().coeffRef(k)),
+ &(bidiagonal.template diagonal<1>().coeffRef(k)),
+ X.data()
+ );
+ break; // We're done
+ }
+ else
+ {
+ upperbidiagonalization_blocked_helper<BlockType>( B,
+ &(bidiagonal.template diagonal<0>().coeffRef(k)),
+ &(bidiagonal.template diagonal<1>().coeffRef(k)),
+ bs,
+ X.topLeftCorner(brows,bs),
+ Y.topLeftCorner(bcols,bs)
+ );
+ }
+ }
+}
+
+template<typename _MatrixType>
+UpperBidiagonalization<_MatrixType>& UpperBidiagonalization<_MatrixType>::computeUnblocked(const _MatrixType& matrix)
+{
+ Index rows = matrix.rows();
+ Index cols = matrix.cols();
+ EIGEN_ONLY_USED_FOR_DEBUG(cols);
+
+ eigen_assert(rows >= cols && "UpperBidiagonalization is only for Arices satisfying rows>=cols.");
+
+ m_householder = matrix;
+
+ ColVectorType temp(rows);
+
+ upperbidiagonalization_inplace_unblocked(m_householder,
+ &(m_bidiagonal.template diagonal<0>().coeffRef(0)),
+ &(m_bidiagonal.template diagonal<1>().coeffRef(0)),
+ temp.data());
+
+ m_isInitialized = true;
+ return *this;
+}
+
+template<typename _MatrixType>
+UpperBidiagonalization<_MatrixType>& UpperBidiagonalization<_MatrixType>::compute(const _MatrixType& matrix)
+{
+ Index rows = matrix.rows();
+ Index cols = matrix.cols();
+ EIGEN_ONLY_USED_FOR_DEBUG(rows);
+ EIGEN_ONLY_USED_FOR_DEBUG(cols);
+
+ eigen_assert(rows >= cols && "UpperBidiagonalization is only for Arices satisfying rows>=cols.");
+
+ m_householder = matrix;
+ upperbidiagonalization_inplace_blocked(m_householder, m_bidiagonal);
+
+ m_isInitialized = true;
+ return *this;
+}
+
+#if 0
+/** \return the Householder QR decomposition of \c *this.
+ *
+ * \sa class Bidiagonalization
+ */
+template<typename Derived>
+const UpperBidiagonalization<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::bidiagonalization() const
+{
+ return UpperBidiagonalization<PlainObject>(eval());
+}
+#endif
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_BIDIAGONALIZATION_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/StlSupport/StdDeque.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/StlSupport/StdDeque.h
new file mode 100644
index 0000000..cf1fedf
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/StlSupport/StdDeque.h
@@ -0,0 +1,126 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_STDDEQUE_H
+#define EIGEN_STDDEQUE_H
+
+#include "details.h"
+
+/**
+ * This section contains a convenience MACRO which allows an easy specialization of
+ * std::deque such that for data types with alignment issues the correct allocator
+ * is used automatically.
+ */
+#define EIGEN_DEFINE_STL_DEQUE_SPECIALIZATION(...) \
+namespace std \
+{ \
+ template<> \
+ class deque<__VA_ARGS__, std::allocator<__VA_ARGS__> > \
+ : public deque<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > \
+ { \
+ typedef deque<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > deque_base; \
+ public: \
+ typedef __VA_ARGS__ value_type; \
+ typedef deque_base::allocator_type allocator_type; \
+ typedef deque_base::size_type size_type; \
+ typedef deque_base::iterator iterator; \
+ explicit deque(const allocator_type& a = allocator_type()) : deque_base(a) {} \
+ template<typename InputIterator> \
+ deque(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) : deque_base(first, last, a) {} \
+ deque(const deque& c) : deque_base(c) {} \
+ explicit deque(size_type num, const value_type& val = value_type()) : deque_base(num, val) {} \
+ deque(iterator start, iterator end) : deque_base(start, end) {} \
+ deque& operator=(const deque& x) { \
+ deque_base::operator=(x); \
+ return *this; \
+ } \
+ }; \
+}
+
+// check whether we really need the std::deque specialization
+#if !EIGEN_HAS_CXX11_CONTAINERS && !(defined(_GLIBCXX_DEQUE) && (!EIGEN_GNUC_AT_LEAST(4,1))) /* Note that before gcc-4.1 we already have: std::deque::resize(size_type,const T&). */
+
+namespace std {
+
+#define EIGEN_STD_DEQUE_SPECIALIZATION_BODY \
+ public: \
+ typedef T value_type; \
+ typedef typename deque_base::allocator_type allocator_type; \
+ typedef typename deque_base::size_type size_type; \
+ typedef typename deque_base::iterator iterator; \
+ typedef typename deque_base::const_iterator const_iterator; \
+ explicit deque(const allocator_type& a = allocator_type()) : deque_base(a) {} \
+ template<typename InputIterator> \
+ deque(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) \
+ : deque_base(first, last, a) {} \
+ deque(const deque& c) : deque_base(c) {} \
+ explicit deque(size_type num, const value_type& val = value_type()) : deque_base(num, val) {} \
+ deque(iterator start, iterator end) : deque_base(start, end) {} \
+ deque& operator=(const deque& x) { \
+ deque_base::operator=(x); \
+ return *this; \
+ }
+
+ template<typename T>
+ class deque<T,EIGEN_ALIGNED_ALLOCATOR<T> >
+ : public deque<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
+ Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> >
+{
+ typedef deque<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
+ Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> > deque_base;
+ EIGEN_STD_DEQUE_SPECIALIZATION_BODY
+
+ void resize(size_type new_size)
+ { resize(new_size, T()); }
+
+#if defined(_DEQUE_)
+ // workaround MSVC std::deque implementation
+ void resize(size_type new_size, const value_type& x)
+ {
+ if (deque_base::size() < new_size)
+ deque_base::_Insert_n(deque_base::end(), new_size - deque_base::size(), x);
+ else if (new_size < deque_base::size())
+ deque_base::erase(deque_base::begin() + new_size, deque_base::end());
+ }
+ void push_back(const value_type& x)
+ { deque_base::push_back(x); }
+ void push_front(const value_type& x)
+ { deque_base::push_front(x); }
+ using deque_base::insert;
+ iterator insert(const_iterator position, const value_type& x)
+ { return deque_base::insert(position,x); }
+ void insert(const_iterator position, size_type new_size, const value_type& x)
+ { deque_base::insert(position, new_size, x); }
+#elif defined(_GLIBCXX_DEQUE) && EIGEN_GNUC_AT_LEAST(4,2)
+ // workaround GCC std::deque implementation
+ void resize(size_type new_size, const value_type& x)
+ {
+ if (new_size < deque_base::size())
+ deque_base::_M_erase_at_end(this->_M_impl._M_start + new_size);
+ else
+ deque_base::insert(deque_base::end(), new_size - deque_base::size(), x);
+ }
+#else
+ // either GCC 4.1 or non-GCC
+ // default implementation which should always work.
+ void resize(size_type new_size, const value_type& x)
+ {
+ if (new_size < deque_base::size())
+ deque_base::erase(deque_base::begin() + new_size, deque_base::end());
+ else if (new_size > deque_base::size())
+ deque_base::insert(deque_base::end(), new_size - deque_base::size(), x);
+ }
+#endif
+ };
+}
+
+#endif // check whether specialization is actually required
+
+#endif // EIGEN_STDDEQUE_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/StlSupport/StdList.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/StlSupport/StdList.h
new file mode 100644
index 0000000..e1eba49
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/StlSupport/StdList.h
@@ -0,0 +1,106 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_STDLIST_H
+#define EIGEN_STDLIST_H
+
+#include "details.h"
+
+/**
+ * This section contains a convenience MACRO which allows an easy specialization of
+ * std::list such that for data types with alignment issues the correct allocator
+ * is used automatically.
+ */
+#define EIGEN_DEFINE_STL_LIST_SPECIALIZATION(...) \
+namespace std \
+{ \
+ template<> \
+ class list<__VA_ARGS__, std::allocator<__VA_ARGS__> > \
+ : public list<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > \
+ { \
+ typedef list<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > list_base; \
+ public: \
+ typedef __VA_ARGS__ value_type; \
+ typedef list_base::allocator_type allocator_type; \
+ typedef list_base::size_type size_type; \
+ typedef list_base::iterator iterator; \
+ explicit list(const allocator_type& a = allocator_type()) : list_base(a) {} \
+ template<typename InputIterator> \
+ list(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) : list_base(first, last, a) {} \
+ list(const list& c) : list_base(c) {} \
+ explicit list(size_type num, const value_type& val = value_type()) : list_base(num, val) {} \
+ list(iterator start, iterator end) : list_base(start, end) {} \
+ list& operator=(const list& x) { \
+ list_base::operator=(x); \
+ return *this; \
+ } \
+ }; \
+}
+
+// check whether we really need the std::list specialization
+#if !EIGEN_HAS_CXX11_CONTAINERS && !(defined(_GLIBCXX_LIST) && (!EIGEN_GNUC_AT_LEAST(4,1))) /* Note that before gcc-4.1 we already have: std::list::resize(size_type,const T&). */
+
+namespace std
+{
+
+#define EIGEN_STD_LIST_SPECIALIZATION_BODY \
+ public: \
+ typedef T value_type; \
+ typedef typename list_base::allocator_type allocator_type; \
+ typedef typename list_base::size_type size_type; \
+ typedef typename list_base::iterator iterator; \
+ typedef typename list_base::const_iterator const_iterator; \
+ explicit list(const allocator_type& a = allocator_type()) : list_base(a) {} \
+ template<typename InputIterator> \
+ list(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) \
+ : list_base(first, last, a) {} \
+ list(const list& c) : list_base(c) {} \
+ explicit list(size_type num, const value_type& val = value_type()) : list_base(num, val) {} \
+ list(iterator start, iterator end) : list_base(start, end) {} \
+ list& operator=(const list& x) { \
+ list_base::operator=(x); \
+ return *this; \
+ }
+
+ template<typename T>
+ class list<T,EIGEN_ALIGNED_ALLOCATOR<T> >
+ : public list<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
+ Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> >
+ {
+ typedef list<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
+ Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> > list_base;
+ EIGEN_STD_LIST_SPECIALIZATION_BODY
+
+ void resize(size_type new_size)
+ { resize(new_size, T()); }
+
+ void resize(size_type new_size, const value_type& x)
+ {
+ if (list_base::size() < new_size)
+ list_base::insert(list_base::end(), new_size - list_base::size(), x);
+ else
+ while (new_size < list_base::size()) list_base::pop_back();
+ }
+
+#if defined(_LIST_)
+ // workaround MSVC std::list implementation
+ void push_back(const value_type& x)
+ { list_base::push_back(x); }
+ using list_base::insert;
+ iterator insert(const_iterator position, const value_type& x)
+ { return list_base::insert(position,x); }
+ void insert(const_iterator position, size_type new_size, const value_type& x)
+ { list_base::insert(position, new_size, x); }
+#endif
+ };
+}
+
+#endif // check whether specialization is actually required
+
+#endif // EIGEN_STDLIST_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/StlSupport/StdVector.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/StlSupport/StdVector.h
new file mode 100644
index 0000000..ec22821
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/StlSupport/StdVector.h
@@ -0,0 +1,131 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_STDVECTOR_H
+#define EIGEN_STDVECTOR_H
+
+#include "details.h"
+
+/**
+ * This section contains a convenience MACRO which allows an easy specialization of
+ * std::vector such that for data types with alignment issues the correct allocator
+ * is used automatically.
+ */
+#define EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(...) \
+namespace std \
+{ \
+ template<> \
+ class vector<__VA_ARGS__, std::allocator<__VA_ARGS__> > \
+ : public vector<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > \
+ { \
+ typedef vector<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > vector_base; \
+ public: \
+ typedef __VA_ARGS__ value_type; \
+ typedef vector_base::allocator_type allocator_type; \
+ typedef vector_base::size_type size_type; \
+ typedef vector_base::iterator iterator; \
+ explicit vector(const allocator_type& a = allocator_type()) : vector_base(a) {} \
+ template<typename InputIterator> \
+ vector(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) : vector_base(first, last, a) {} \
+ vector(const vector& c) : vector_base(c) {} \
+ explicit vector(size_type num, const value_type& val = value_type()) : vector_base(num, val) {} \
+ vector(iterator start, iterator end) : vector_base(start, end) {} \
+ vector& operator=(const vector& x) { \
+ vector_base::operator=(x); \
+ return *this; \
+ } \
+ }; \
+}
+
+// Don't specialize if containers are implemented according to C++11
+#if !EIGEN_HAS_CXX11_CONTAINERS
+
+namespace std {
+
+#define EIGEN_STD_VECTOR_SPECIALIZATION_BODY \
+ public: \
+ typedef T value_type; \
+ typedef typename vector_base::allocator_type allocator_type; \
+ typedef typename vector_base::size_type size_type; \
+ typedef typename vector_base::iterator iterator; \
+ typedef typename vector_base::const_iterator const_iterator; \
+ explicit vector(const allocator_type& a = allocator_type()) : vector_base(a) {} \
+ template<typename InputIterator> \
+ vector(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) \
+ : vector_base(first, last, a) {} \
+ vector(const vector& c) : vector_base(c) {} \
+ explicit vector(size_type num, const value_type& val = value_type()) : vector_base(num, val) {} \
+ vector(iterator start, iterator end) : vector_base(start, end) {} \
+ vector& operator=(const vector& x) { \
+ vector_base::operator=(x); \
+ return *this; \
+ }
+
+ template<typename T>
+ class vector<T,EIGEN_ALIGNED_ALLOCATOR<T> >
+ : public vector<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
+ Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> >
+{
+ typedef vector<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
+ Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> > vector_base;
+ EIGEN_STD_VECTOR_SPECIALIZATION_BODY
+
+ void resize(size_type new_size)
+ { resize(new_size, T()); }
+
+#if defined(_VECTOR_)
+ // workaround MSVC std::vector implementation
+ void resize(size_type new_size, const value_type& x)
+ {
+ if (vector_base::size() < new_size)
+ vector_base::_Insert_n(vector_base::end(), new_size - vector_base::size(), x);
+ else if (new_size < vector_base::size())
+ vector_base::erase(vector_base::begin() + new_size, vector_base::end());
+ }
+ void push_back(const value_type& x)
+ { vector_base::push_back(x); }
+ using vector_base::insert;
+ iterator insert(const_iterator position, const value_type& x)
+ { return vector_base::insert(position,x); }
+ void insert(const_iterator position, size_type new_size, const value_type& x)
+ { vector_base::insert(position, new_size, x); }
+#elif defined(_GLIBCXX_VECTOR) && (!(EIGEN_GNUC_AT_LEAST(4,1)))
+ /* Note that before gcc-4.1 we already have: std::vector::resize(size_type,const T&).
+ * However, this specialization is still needed to make the above EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION trick to work. */
+ void resize(size_type new_size, const value_type& x)
+ {
+ vector_base::resize(new_size,x);
+ }
+#elif defined(_GLIBCXX_VECTOR) && EIGEN_GNUC_AT_LEAST(4,2)
+ // workaround GCC std::vector implementation
+ void resize(size_type new_size, const value_type& x)
+ {
+ if (new_size < vector_base::size())
+ vector_base::_M_erase_at_end(this->_M_impl._M_start + new_size);
+ else
+ vector_base::insert(vector_base::end(), new_size - vector_base::size(), x);
+ }
+#else
+ // either GCC 4.1 or non-GCC
+ // default implementation which should always work.
+ void resize(size_type new_size, const value_type& x)
+ {
+ if (new_size < vector_base::size())
+ vector_base::erase(vector_base::begin() + new_size, vector_base::end());
+ else if (new_size > vector_base::size())
+ vector_base::insert(vector_base::end(), new_size - vector_base::size(), x);
+ }
+#endif
+ };
+}
+#endif // !EIGEN_HAS_CXX11_CONTAINERS
+
+
+#endif // EIGEN_STDVECTOR_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/StlSupport/details.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/StlSupport/details.h
new file mode 100644
index 0000000..2cfd13e
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/StlSupport/details.h
@@ -0,0 +1,84 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_STL_DETAILS_H
+#define EIGEN_STL_DETAILS_H
+
+#ifndef EIGEN_ALIGNED_ALLOCATOR
+ #define EIGEN_ALIGNED_ALLOCATOR Eigen::aligned_allocator
+#endif
+
+namespace Eigen {
+
+ // This one is needed to prevent reimplementing the whole std::vector.
+ template <class T>
+ class aligned_allocator_indirection : public EIGEN_ALIGNED_ALLOCATOR<T>
+ {
+ public:
+ typedef std::size_t size_type;
+ typedef std::ptrdiff_t difference_type;
+ typedef T* pointer;
+ typedef const T* const_pointer;
+ typedef T& reference;
+ typedef const T& const_reference;
+ typedef T value_type;
+
+ template<class U>
+ struct rebind
+ {
+ typedef aligned_allocator_indirection<U> other;
+ };
+
+ aligned_allocator_indirection() {}
+ aligned_allocator_indirection(const aligned_allocator_indirection& ) : EIGEN_ALIGNED_ALLOCATOR<T>() {}
+ aligned_allocator_indirection(const EIGEN_ALIGNED_ALLOCATOR<T>& ) {}
+ template<class U>
+ aligned_allocator_indirection(const aligned_allocator_indirection<U>& ) {}
+ template<class U>
+ aligned_allocator_indirection(const EIGEN_ALIGNED_ALLOCATOR<U>& ) {}
+ ~aligned_allocator_indirection() {}
+ };
+
+#if EIGEN_COMP_MSVC
+
+ // sometimes, MSVC detects, at compile time, that the argument x
+ // in std::vector::resize(size_t s,T x) won't be aligned and generate an error
+ // even if this function is never called. Whence this little wrapper.
+#define EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T) \
+ typename Eigen::internal::conditional< \
+ Eigen::internal::is_arithmetic<T>::value, \
+ T, \
+ Eigen::internal::workaround_msvc_stl_support<T> \
+ >::type
+
+ namespace internal {
+ template<typename T> struct workaround_msvc_stl_support : public T
+ {
+ inline workaround_msvc_stl_support() : T() {}
+ inline workaround_msvc_stl_support(const T& other) : T(other) {}
+ inline operator T& () { return *static_cast<T*>(this); }
+ inline operator const T& () const { return *static_cast<const T*>(this); }
+ template<typename OtherT>
+ inline T& operator=(const OtherT& other)
+ { T::operator=(other); return *this; }
+ inline workaround_msvc_stl_support& operator=(const workaround_msvc_stl_support& other)
+ { T::operator=(other); return *this; }
+ };
+ }
+
+#else
+
+#define EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T) T
+
+#endif
+
+}
+
+#endif // EIGEN_STL_DETAILS_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/misc/Image.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/misc/Image.h
new file mode 100644
index 0000000..b8b8a04
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/misc/Image.h
@@ -0,0 +1,82 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_MISC_IMAGE_H
+#define EIGEN_MISC_IMAGE_H
+
+namespace Eigen {
+
+namespace internal {
+
+/** \class image_retval_base
+ *
+ */
+template<typename DecompositionType>
+struct traits<image_retval_base<DecompositionType> >
+{
+ typedef typename DecompositionType::MatrixType MatrixType;
+ typedef Matrix<
+ typename MatrixType::Scalar,
+ MatrixType::RowsAtCompileTime, // the image is a subspace of the destination space, whose
+ // dimension is the number of rows of the original matrix
+ Dynamic, // we don't know at compile time the dimension of the image (the rank)
+ MatrixType::Options,
+ MatrixType::MaxRowsAtCompileTime, // the image matrix will consist of columns from the original matrix,
+ MatrixType::MaxColsAtCompileTime // so it has the same number of rows and at most as many columns.
+ > ReturnType;
+};
+
+template<typename _DecompositionType> struct image_retval_base
+ : public ReturnByValue<image_retval_base<_DecompositionType> >
+{
+ typedef _DecompositionType DecompositionType;
+ typedef typename DecompositionType::MatrixType MatrixType;
+ typedef ReturnByValue<image_retval_base> Base;
+
+ image_retval_base(const DecompositionType& dec, const MatrixType& originalMatrix)
+ : m_dec(dec), m_rank(dec.rank()),
+ m_cols(m_rank == 0 ? 1 : m_rank),
+ m_originalMatrix(originalMatrix)
+ {}
+
+ inline Index rows() const { return m_dec.rows(); }
+ inline Index cols() const { return m_cols; }
+ inline Index rank() const { return m_rank; }
+ inline const DecompositionType& dec() const { return m_dec; }
+ inline const MatrixType& originalMatrix() const { return m_originalMatrix; }
+
+ template<typename Dest> inline void evalTo(Dest& dst) const
+ {
+ static_cast<const image_retval<DecompositionType>*>(this)->evalTo(dst);
+ }
+
+ protected:
+ const DecompositionType& m_dec;
+ Index m_rank, m_cols;
+ const MatrixType& m_originalMatrix;
+};
+
+} // end namespace internal
+
+#define EIGEN_MAKE_IMAGE_HELPERS(DecompositionType) \
+ typedef typename DecompositionType::MatrixType MatrixType; \
+ typedef typename MatrixType::Scalar Scalar; \
+ typedef typename MatrixType::RealScalar RealScalar; \
+ typedef Eigen::internal::image_retval_base<DecompositionType> Base; \
+ using Base::dec; \
+ using Base::originalMatrix; \
+ using Base::rank; \
+ using Base::rows; \
+ using Base::cols; \
+ image_retval(const DecompositionType& dec, const MatrixType& originalMatrix) \
+ : Base(dec, originalMatrix) {}
+
+} // end namespace Eigen
+
+#endif // EIGEN_MISC_IMAGE_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/misc/Kernel.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/misc/Kernel.h
new file mode 100644
index 0000000..bef5d6f
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/misc/Kernel.h
@@ -0,0 +1,79 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_MISC_KERNEL_H
+#define EIGEN_MISC_KERNEL_H
+
+namespace Eigen {
+
+namespace internal {
+
+/** \class kernel_retval_base
+ *
+ */
+template<typename DecompositionType>
+struct traits<kernel_retval_base<DecompositionType> >
+{
+ typedef typename DecompositionType::MatrixType MatrixType;
+ typedef Matrix<
+ typename MatrixType::Scalar,
+ MatrixType::ColsAtCompileTime, // the number of rows in the "kernel matrix"
+ // is the number of cols of the original matrix
+ // so that the product "matrix * kernel = zero" makes sense
+ Dynamic, // we don't know at compile-time the dimension of the kernel
+ MatrixType::Options,
+ MatrixType::MaxColsAtCompileTime, // see explanation for 2nd template parameter
+ MatrixType::MaxColsAtCompileTime // the kernel is a subspace of the domain space,
+ // whose dimension is the number of columns of the original matrix
+ > ReturnType;
+};
+
+template<typename _DecompositionType> struct kernel_retval_base
+ : public ReturnByValue<kernel_retval_base<_DecompositionType> >
+{
+ typedef _DecompositionType DecompositionType;
+ typedef ReturnByValue<kernel_retval_base> Base;
+
+ explicit kernel_retval_base(const DecompositionType& dec)
+ : m_dec(dec),
+ m_rank(dec.rank()),
+ m_cols(m_rank==dec.cols() ? 1 : dec.cols() - m_rank)
+ {}
+
+ inline Index rows() const { return m_dec.cols(); }
+ inline Index cols() const { return m_cols; }
+ inline Index rank() const { return m_rank; }
+ inline const DecompositionType& dec() const { return m_dec; }
+
+ template<typename Dest> inline void evalTo(Dest& dst) const
+ {
+ static_cast<const kernel_retval<DecompositionType>*>(this)->evalTo(dst);
+ }
+
+ protected:
+ const DecompositionType& m_dec;
+ Index m_rank, m_cols;
+};
+
+} // end namespace internal
+
+#define EIGEN_MAKE_KERNEL_HELPERS(DecompositionType) \
+ typedef typename DecompositionType::MatrixType MatrixType; \
+ typedef typename MatrixType::Scalar Scalar; \
+ typedef typename MatrixType::RealScalar RealScalar; \
+ typedef Eigen::internal::kernel_retval_base<DecompositionType> Base; \
+ using Base::dec; \
+ using Base::rank; \
+ using Base::rows; \
+ using Base::cols; \
+ kernel_retval(const DecompositionType& dec) : Base(dec) {}
+
+} // end namespace Eigen
+
+#endif // EIGEN_MISC_KERNEL_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/misc/RealSvd2x2.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/misc/RealSvd2x2.h
new file mode 100644
index 0000000..abb4d3c
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/misc/RealSvd2x2.h
@@ -0,0 +1,55 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2013-2016 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_REALSVD2X2_H
+#define EIGEN_REALSVD2X2_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<typename MatrixType, typename RealScalar, typename Index>
+void real_2x2_jacobi_svd(const MatrixType& matrix, Index p, Index q,
+ JacobiRotation<RealScalar> *j_left,
+ JacobiRotation<RealScalar> *j_right)
+{
+ using std::sqrt;
+ using std::abs;
+ Matrix<RealScalar,2,2> m;
+ m << numext::real(matrix.coeff(p,p)), numext::real(matrix.coeff(p,q)),
+ numext::real(matrix.coeff(q,p)), numext::real(matrix.coeff(q,q));
+ JacobiRotation<RealScalar> rot1;
+ RealScalar t = m.coeff(0,0) + m.coeff(1,1);
+ RealScalar d = m.coeff(1,0) - m.coeff(0,1);
+
+ if(abs(d) < (std::numeric_limits<RealScalar>::min)())
+ {
+ rot1.s() = RealScalar(0);
+ rot1.c() = RealScalar(1);
+ }
+ else
+ {
+ // If d!=0, then t/d cannot overflow because the magnitude of the
+ // entries forming d are not too small compared to the ones forming t.
+ RealScalar u = t / d;
+ RealScalar tmp = sqrt(RealScalar(1) + numext::abs2(u));
+ rot1.s() = RealScalar(1) / tmp;
+ rot1.c() = u / tmp;
+ }
+ m.applyOnTheLeft(0,1,rot1);
+ j_right->makeJacobi(m,0,1);
+ *j_left = rot1 * j_right->transpose();
+}
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_REALSVD2X2_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/plugins/ArrayCwiseBinaryOps.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/plugins/ArrayCwiseBinaryOps.h
new file mode 100644
index 0000000..1f8a531
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/plugins/ArrayCwiseBinaryOps.h
@@ -0,0 +1,332 @@
+
+/** \returns an expression of the coefficient wise product of \c *this and \a other
+ *
+ * \sa MatrixBase::cwiseProduct
+ */
+template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const EIGEN_CWISE_BINARY_RETURN_TYPE(Derived,OtherDerived,product)
+operator*(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+ return EIGEN_CWISE_BINARY_RETURN_TYPE(Derived,OtherDerived,product)(derived(), other.derived());
+}
+
+/** \returns an expression of the coefficient wise quotient of \c *this and \a other
+ *
+ * \sa MatrixBase::cwiseQuotient
+ */
+template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_quotient_op<Scalar,typename OtherDerived::Scalar>, const Derived, const OtherDerived>
+operator/(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+ return CwiseBinaryOp<internal::scalar_quotient_op<Scalar,typename OtherDerived::Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
+}
+
+/** \returns an expression of the coefficient-wise min of \c *this and \a other
+ *
+ * Example: \include Cwise_min.cpp
+ * Output: \verbinclude Cwise_min.out
+ *
+ * \sa max()
+ */
+EIGEN_MAKE_CWISE_BINARY_OP(min,min)
+
+/** \returns an expression of the coefficient-wise min of \c *this and scalar \a other
+ *
+ * \sa max()
+ */
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_min_op<Scalar,Scalar>, const Derived,
+ const CwiseNullaryOp<internal::scalar_constant_op<Scalar>, PlainObject> >
+#ifdef EIGEN_PARSED_BY_DOXYGEN
+min
+#else
+(min)
+#endif
+(const Scalar &other) const
+{
+ return (min)(Derived::PlainObject::Constant(rows(), cols(), other));
+}
+
+/** \returns an expression of the coefficient-wise max of \c *this and \a other
+ *
+ * Example: \include Cwise_max.cpp
+ * Output: \verbinclude Cwise_max.out
+ *
+ * \sa min()
+ */
+EIGEN_MAKE_CWISE_BINARY_OP(max,max)
+
+/** \returns an expression of the coefficient-wise max of \c *this and scalar \a other
+ *
+ * \sa min()
+ */
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_max_op<Scalar,Scalar>, const Derived,
+ const CwiseNullaryOp<internal::scalar_constant_op<Scalar>, PlainObject> >
+#ifdef EIGEN_PARSED_BY_DOXYGEN
+max
+#else
+(max)
+#endif
+(const Scalar &other) const
+{
+ return (max)(Derived::PlainObject::Constant(rows(), cols(), other));
+}
+
+/** \returns an expression of the coefficient-wise power of \c *this to the given array of \a exponents.
+ *
+ * This function computes the coefficient-wise power.
+ *
+ * Example: \include Cwise_array_power_array.cpp
+ * Output: \verbinclude Cwise_array_power_array.out
+ */
+EIGEN_MAKE_CWISE_BINARY_OP(pow,pow)
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+EIGEN_MAKE_SCALAR_BINARY_OP_ONTHERIGHT(pow,pow)
+#else
+/** \returns an expression of the coefficients of \c *this rasied to the constant power \a exponent
+ *
+ * \tparam T is the scalar type of \a exponent. It must be compatible with the scalar type of the given expression.
+ *
+ * This function computes the coefficient-wise power. The function MatrixBase::pow() in the
+ * unsupported module MatrixFunctions computes the matrix power.
+ *
+ * Example: \include Cwise_pow.cpp
+ * Output: \verbinclude Cwise_pow.out
+ *
+ * \sa ArrayBase::pow(ArrayBase), square(), cube(), exp(), log()
+ */
+template<typename T>
+const CwiseBinaryOp<internal::scalar_pow_op<Scalar,T>,Derived,Constant<T> > pow(const T& exponent) const;
+#endif
+
+
+// TODO code generating macros could be moved to Macros.h and could include generation of documentation
+#define EIGEN_MAKE_CWISE_COMP_OP(OP, COMPARATOR) \
+template<typename OtherDerived> \
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_cmp_op<Scalar, typename OtherDerived::Scalar, internal::cmp_ ## COMPARATOR>, const Derived, const OtherDerived> \
+OP(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const \
+{ \
+ return CwiseBinaryOp<internal::scalar_cmp_op<Scalar, typename OtherDerived::Scalar, internal::cmp_ ## COMPARATOR>, const Derived, const OtherDerived>(derived(), other.derived()); \
+}\
+typedef CwiseBinaryOp<internal::scalar_cmp_op<Scalar,Scalar, internal::cmp_ ## COMPARATOR>, const Derived, const CwiseNullaryOp<internal::scalar_constant_op<Scalar>, PlainObject> > Cmp ## COMPARATOR ## ReturnType; \
+typedef CwiseBinaryOp<internal::scalar_cmp_op<Scalar,Scalar, internal::cmp_ ## COMPARATOR>, const CwiseNullaryOp<internal::scalar_constant_op<Scalar>, PlainObject>, const Derived > RCmp ## COMPARATOR ## ReturnType; \
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Cmp ## COMPARATOR ## ReturnType \
+OP(const Scalar& s) const { \
+ return this->OP(Derived::PlainObject::Constant(rows(), cols(), s)); \
+} \
+EIGEN_DEVICE_FUNC friend EIGEN_STRONG_INLINE const RCmp ## COMPARATOR ## ReturnType \
+OP(const Scalar& s, const Derived& d) { \
+ return Derived::PlainObject::Constant(d.rows(), d.cols(), s).OP(d); \
+}
+
+#define EIGEN_MAKE_CWISE_COMP_R_OP(OP, R_OP, RCOMPARATOR) \
+template<typename OtherDerived> \
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_cmp_op<typename OtherDerived::Scalar, Scalar, internal::cmp_##RCOMPARATOR>, const OtherDerived, const Derived> \
+OP(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const \
+{ \
+ return CwiseBinaryOp<internal::scalar_cmp_op<typename OtherDerived::Scalar, Scalar, internal::cmp_##RCOMPARATOR>, const OtherDerived, const Derived>(other.derived(), derived()); \
+} \
+EIGEN_DEVICE_FUNC \
+inline const RCmp ## RCOMPARATOR ## ReturnType \
+OP(const Scalar& s) const { \
+ return Derived::PlainObject::Constant(rows(), cols(), s).R_OP(*this); \
+} \
+friend inline const Cmp ## RCOMPARATOR ## ReturnType \
+OP(const Scalar& s, const Derived& d) { \
+ return d.R_OP(Derived::PlainObject::Constant(d.rows(), d.cols(), s)); \
+}
+
+
+
+/** \returns an expression of the coefficient-wise \< operator of *this and \a other
+ *
+ * Example: \include Cwise_less.cpp
+ * Output: \verbinclude Cwise_less.out
+ *
+ * \sa all(), any(), operator>(), operator<=()
+ */
+EIGEN_MAKE_CWISE_COMP_OP(operator<, LT)
+
+/** \returns an expression of the coefficient-wise \<= operator of *this and \a other
+ *
+ * Example: \include Cwise_less_equal.cpp
+ * Output: \verbinclude Cwise_less_equal.out
+ *
+ * \sa all(), any(), operator>=(), operator<()
+ */
+EIGEN_MAKE_CWISE_COMP_OP(operator<=, LE)
+
+/** \returns an expression of the coefficient-wise \> operator of *this and \a other
+ *
+ * Example: \include Cwise_greater.cpp
+ * Output: \verbinclude Cwise_greater.out
+ *
+ * \sa all(), any(), operator>=(), operator<()
+ */
+EIGEN_MAKE_CWISE_COMP_R_OP(operator>, operator<, LT)
+
+/** \returns an expression of the coefficient-wise \>= operator of *this and \a other
+ *
+ * Example: \include Cwise_greater_equal.cpp
+ * Output: \verbinclude Cwise_greater_equal.out
+ *
+ * \sa all(), any(), operator>(), operator<=()
+ */
+EIGEN_MAKE_CWISE_COMP_R_OP(operator>=, operator<=, LE)
+
+/** \returns an expression of the coefficient-wise == operator of *this and \a other
+ *
+ * \warning this performs an exact comparison, which is generally a bad idea with floating-point types.
+ * In order to check for equality between two vectors or matrices with floating-point coefficients, it is
+ * generally a far better idea to use a fuzzy comparison as provided by isApprox() and
+ * isMuchSmallerThan().
+ *
+ * Example: \include Cwise_equal_equal.cpp
+ * Output: \verbinclude Cwise_equal_equal.out
+ *
+ * \sa all(), any(), isApprox(), isMuchSmallerThan()
+ */
+EIGEN_MAKE_CWISE_COMP_OP(operator==, EQ)
+
+/** \returns an expression of the coefficient-wise != operator of *this and \a other
+ *
+ * \warning this performs an exact comparison, which is generally a bad idea with floating-point types.
+ * In order to check for equality between two vectors or matrices with floating-point coefficients, it is
+ * generally a far better idea to use a fuzzy comparison as provided by isApprox() and
+ * isMuchSmallerThan().
+ *
+ * Example: \include Cwise_not_equal.cpp
+ * Output: \verbinclude Cwise_not_equal.out
+ *
+ * \sa all(), any(), isApprox(), isMuchSmallerThan()
+ */
+EIGEN_MAKE_CWISE_COMP_OP(operator!=, NEQ)
+
+
+#undef EIGEN_MAKE_CWISE_COMP_OP
+#undef EIGEN_MAKE_CWISE_COMP_R_OP
+
+// scalar addition
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+EIGEN_MAKE_SCALAR_BINARY_OP(operator+,sum)
+#else
+/** \returns an expression of \c *this with each coeff incremented by the constant \a scalar
+ *
+ * \tparam T is the scalar type of \a scalar. It must be compatible with the scalar type of the given expression.
+ *
+ * Example: \include Cwise_plus.cpp
+ * Output: \verbinclude Cwise_plus.out
+ *
+ * \sa operator+=(), operator-()
+ */
+template<typename T>
+const CwiseBinaryOp<internal::scalar_sum_op<Scalar,T>,Derived,Constant<T> > operator+(const T& scalar) const;
+/** \returns an expression of \a expr with each coeff incremented by the constant \a scalar
+ *
+ * \tparam T is the scalar type of \a scalar. It must be compatible with the scalar type of the given expression.
+ */
+template<typename T> friend
+const CwiseBinaryOp<internal::scalar_sum_op<T,Scalar>,Constant<T>,Derived> operator+(const T& scalar, const StorageBaseType& expr);
+#endif
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+EIGEN_MAKE_SCALAR_BINARY_OP(operator-,difference)
+#else
+/** \returns an expression of \c *this with each coeff decremented by the constant \a scalar
+ *
+ * \tparam T is the scalar type of \a scalar. It must be compatible with the scalar type of the given expression.
+ *
+ * Example: \include Cwise_minus.cpp
+ * Output: \verbinclude Cwise_minus.out
+ *
+ * \sa operator+=(), operator-()
+ */
+template<typename T>
+const CwiseBinaryOp<internal::scalar_difference_op<Scalar,T>,Derived,Constant<T> > operator-(const T& scalar) const;
+/** \returns an expression of the constant matrix of value \a scalar decremented by the coefficients of \a expr
+ *
+ * \tparam T is the scalar type of \a scalar. It must be compatible with the scalar type of the given expression.
+ */
+template<typename T> friend
+const CwiseBinaryOp<internal::scalar_difference_op<T,Scalar>,Constant<T>,Derived> operator-(const T& scalar, const StorageBaseType& expr);
+#endif
+
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+ EIGEN_MAKE_SCALAR_BINARY_OP_ONTHELEFT(operator/,quotient)
+#else
+ /**
+ * \brief Component-wise division of the scalar \a s by array elements of \a a.
+ *
+ * \tparam Scalar is the scalar type of \a x. It must be compatible with the scalar type of the given array expression (\c Derived::Scalar).
+ */
+ template<typename T> friend
+ inline const CwiseBinaryOp<internal::scalar_quotient_op<T,Scalar>,Constant<T>,Derived>
+ operator/(const T& s,const StorageBaseType& a);
+#endif
+
+/** \returns an expression of the coefficient-wise ^ operator of *this and \a other
+ *
+ * \warning this operator is for expression of bool only.
+ *
+ * Example: \include Cwise_boolean_xor.cpp
+ * Output: \verbinclude Cwise_boolean_xor.out
+ *
+ * \sa operator&&(), select()
+ */
+template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
+inline const CwiseBinaryOp<internal::scalar_boolean_xor_op, const Derived, const OtherDerived>
+operator^(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+ EIGEN_STATIC_ASSERT((internal::is_same<bool,Scalar>::value && internal::is_same<bool,typename OtherDerived::Scalar>::value),
+ THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_OF_BOOL);
+ return CwiseBinaryOp<internal::scalar_boolean_xor_op, const Derived, const OtherDerived>(derived(),other.derived());
+}
+
+// NOTE disabled until we agree on argument order
+#if 0
+/** \cpp11 \returns an expression of the coefficient-wise polygamma function.
+ *
+ * \specialfunctions_module
+ *
+ * It returns the \a n -th derivative of the digamma(psi) evaluated at \c *this.
+ *
+ * \warning Be careful with the order of the parameters: x.polygamma(n) is equivalent to polygamma(n,x)
+ *
+ * \sa Eigen::polygamma()
+ */
+template<typename DerivedN>
+inline const CwiseBinaryOp<internal::scalar_polygamma_op<Scalar>, const DerivedN, const Derived>
+polygamma(const EIGEN_CURRENT_STORAGE_BASE_CLASS<DerivedN> &n) const
+{
+ return CwiseBinaryOp<internal::scalar_polygamma_op<Scalar>, const DerivedN, const Derived>(n.derived(), this->derived());
+}
+#endif
+
+/** \returns an expression of the coefficient-wise zeta function.
+ *
+ * \specialfunctions_module
+ *
+ * It returns the Riemann zeta function of two arguments \c *this and \a q:
+ *
+ * \param *this is the exposent, it must be > 1
+ * \param q is the shift, it must be > 0
+ *
+ * \note This function supports only float and double scalar types. To support other scalar types, the user has
+ * to provide implementations of zeta(T,T) for any scalar type T to be supported.
+ *
+ * This method is an alias for zeta(*this,q);
+ *
+ * \sa Eigen::zeta()
+ */
+template<typename DerivedQ>
+inline const CwiseBinaryOp<internal::scalar_zeta_op<Scalar>, const Derived, const DerivedQ>
+zeta(const EIGEN_CURRENT_STORAGE_BASE_CLASS<DerivedQ> &q) const
+{
+ return CwiseBinaryOp<internal::scalar_zeta_op<Scalar>, const Derived, const DerivedQ>(this->derived(), q.derived());
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/plugins/ArrayCwiseUnaryOps.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/plugins/ArrayCwiseUnaryOps.h
new file mode 100644
index 0000000..ebaa3f1
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/plugins/ArrayCwiseUnaryOps.h
@@ -0,0 +1,552 @@
+
+
+typedef CwiseUnaryOp<internal::scalar_abs_op<Scalar>, const Derived> AbsReturnType;
+typedef CwiseUnaryOp<internal::scalar_arg_op<Scalar>, const Derived> ArgReturnType;
+typedef CwiseUnaryOp<internal::scalar_abs2_op<Scalar>, const Derived> Abs2ReturnType;
+typedef CwiseUnaryOp<internal::scalar_sqrt_op<Scalar>, const Derived> SqrtReturnType;
+typedef CwiseUnaryOp<internal::scalar_rsqrt_op<Scalar>, const Derived> RsqrtReturnType;
+typedef CwiseUnaryOp<internal::scalar_sign_op<Scalar>, const Derived> SignReturnType;
+typedef CwiseUnaryOp<internal::scalar_inverse_op<Scalar>, const Derived> InverseReturnType;
+typedef CwiseUnaryOp<internal::scalar_boolean_not_op<Scalar>, const Derived> BooleanNotReturnType;
+
+typedef CwiseUnaryOp<internal::scalar_exp_op<Scalar>, const Derived> ExpReturnType;
+typedef CwiseUnaryOp<internal::scalar_log_op<Scalar>, const Derived> LogReturnType;
+typedef CwiseUnaryOp<internal::scalar_log1p_op<Scalar>, const Derived> Log1pReturnType;
+typedef CwiseUnaryOp<internal::scalar_log10_op<Scalar>, const Derived> Log10ReturnType;
+typedef CwiseUnaryOp<internal::scalar_cos_op<Scalar>, const Derived> CosReturnType;
+typedef CwiseUnaryOp<internal::scalar_sin_op<Scalar>, const Derived> SinReturnType;
+typedef CwiseUnaryOp<internal::scalar_tan_op<Scalar>, const Derived> TanReturnType;
+typedef CwiseUnaryOp<internal::scalar_acos_op<Scalar>, const Derived> AcosReturnType;
+typedef CwiseUnaryOp<internal::scalar_asin_op<Scalar>, const Derived> AsinReturnType;
+typedef CwiseUnaryOp<internal::scalar_atan_op<Scalar>, const Derived> AtanReturnType;
+typedef CwiseUnaryOp<internal::scalar_tanh_op<Scalar>, const Derived> TanhReturnType;
+typedef CwiseUnaryOp<internal::scalar_sinh_op<Scalar>, const Derived> SinhReturnType;
+typedef CwiseUnaryOp<internal::scalar_cosh_op<Scalar>, const Derived> CoshReturnType;
+typedef CwiseUnaryOp<internal::scalar_square_op<Scalar>, const Derived> SquareReturnType;
+typedef CwiseUnaryOp<internal::scalar_cube_op<Scalar>, const Derived> CubeReturnType;
+typedef CwiseUnaryOp<internal::scalar_round_op<Scalar>, const Derived> RoundReturnType;
+typedef CwiseUnaryOp<internal::scalar_floor_op<Scalar>, const Derived> FloorReturnType;
+typedef CwiseUnaryOp<internal::scalar_ceil_op<Scalar>, const Derived> CeilReturnType;
+typedef CwiseUnaryOp<internal::scalar_isnan_op<Scalar>, const Derived> IsNaNReturnType;
+typedef CwiseUnaryOp<internal::scalar_isinf_op<Scalar>, const Derived> IsInfReturnType;
+typedef CwiseUnaryOp<internal::scalar_isfinite_op<Scalar>, const Derived> IsFiniteReturnType;
+
+/** \returns an expression of the coefficient-wise absolute value of \c *this
+ *
+ * Example: \include Cwise_abs.cpp
+ * Output: \verbinclude Cwise_abs.out
+ *
+ * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_abs">Math functions</a>, abs2()
+ */
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const AbsReturnType
+abs() const
+{
+ return AbsReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise phase angle of \c *this
+ *
+ * Example: \include Cwise_arg.cpp
+ * Output: \verbinclude Cwise_arg.out
+ *
+ * \sa abs()
+ */
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const ArgReturnType
+arg() const
+{
+ return ArgReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise squared absolute value of \c *this
+ *
+ * Example: \include Cwise_abs2.cpp
+ * Output: \verbinclude Cwise_abs2.out
+ *
+ * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_abs2">Math functions</a>, abs(), square()
+ */
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const Abs2ReturnType
+abs2() const
+{
+ return Abs2ReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise exponential of *this.
+ *
+ * This function computes the coefficient-wise exponential. The function MatrixBase::exp() in the
+ * unsupported module MatrixFunctions computes the matrix exponential.
+ *
+ * Example: \include Cwise_exp.cpp
+ * Output: \verbinclude Cwise_exp.out
+ *
+ * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_exp">Math functions</a>, pow(), log(), sin(), cos()
+ */
+EIGEN_DEVICE_FUNC
+inline const ExpReturnType
+exp() const
+{
+ return ExpReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise logarithm of *this.
+ *
+ * This function computes the coefficient-wise logarithm. The function MatrixBase::log() in the
+ * unsupported module MatrixFunctions computes the matrix logarithm.
+ *
+ * Example: \include Cwise_log.cpp
+ * Output: \verbinclude Cwise_log.out
+ *
+ * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_log">Math functions</a>, exp()
+ */
+EIGEN_DEVICE_FUNC
+inline const LogReturnType
+log() const
+{
+ return LogReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise logarithm of 1 plus \c *this.
+ *
+ * In exact arithmetic, \c x.log() is equivalent to \c (x+1).log(),
+ * however, with finite precision, this function is much more accurate when \c x is close to zero.
+ *
+ * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_log1p">Math functions</a>, log()
+ */
+EIGEN_DEVICE_FUNC
+inline const Log1pReturnType
+log1p() const
+{
+ return Log1pReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise base-10 logarithm of *this.
+ *
+ * This function computes the coefficient-wise base-10 logarithm.
+ *
+ * Example: \include Cwise_log10.cpp
+ * Output: \verbinclude Cwise_log10.out
+ *
+ * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_log10">Math functions</a>, log()
+ */
+EIGEN_DEVICE_FUNC
+inline const Log10ReturnType
+log10() const
+{
+ return Log10ReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise square root of *this.
+ *
+ * This function computes the coefficient-wise square root. The function MatrixBase::sqrt() in the
+ * unsupported module MatrixFunctions computes the matrix square root.
+ *
+ * Example: \include Cwise_sqrt.cpp
+ * Output: \verbinclude Cwise_sqrt.out
+ *
+ * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_sqrt">Math functions</a>, pow(), square()
+ */
+EIGEN_DEVICE_FUNC
+inline const SqrtReturnType
+sqrt() const
+{
+ return SqrtReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise inverse square root of *this.
+ *
+ * This function computes the coefficient-wise inverse square root.
+ *
+ * Example: \include Cwise_sqrt.cpp
+ * Output: \verbinclude Cwise_sqrt.out
+ *
+ * \sa pow(), square()
+ */
+EIGEN_DEVICE_FUNC
+inline const RsqrtReturnType
+rsqrt() const
+{
+ return RsqrtReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise signum of *this.
+ *
+ * This function computes the coefficient-wise signum.
+ *
+ * Example: \include Cwise_sign.cpp
+ * Output: \verbinclude Cwise_sign.out
+ *
+ * \sa pow(), square()
+ */
+EIGEN_DEVICE_FUNC
+inline const SignReturnType
+sign() const
+{
+ return SignReturnType(derived());
+}
+
+
+/** \returns an expression of the coefficient-wise cosine of *this.
+ *
+ * This function computes the coefficient-wise cosine. The function MatrixBase::cos() in the
+ * unsupported module MatrixFunctions computes the matrix cosine.
+ *
+ * Example: \include Cwise_cos.cpp
+ * Output: \verbinclude Cwise_cos.out
+ *
+ * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_cos">Math functions</a>, sin(), acos()
+ */
+EIGEN_DEVICE_FUNC
+inline const CosReturnType
+cos() const
+{
+ return CosReturnType(derived());
+}
+
+
+/** \returns an expression of the coefficient-wise sine of *this.
+ *
+ * This function computes the coefficient-wise sine. The function MatrixBase::sin() in the
+ * unsupported module MatrixFunctions computes the matrix sine.
+ *
+ * Example: \include Cwise_sin.cpp
+ * Output: \verbinclude Cwise_sin.out
+ *
+ * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_sin">Math functions</a>, cos(), asin()
+ */
+EIGEN_DEVICE_FUNC
+inline const SinReturnType
+sin() const
+{
+ return SinReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise tan of *this.
+ *
+ * Example: \include Cwise_tan.cpp
+ * Output: \verbinclude Cwise_tan.out
+ *
+ * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_tan">Math functions</a>, cos(), sin()
+ */
+EIGEN_DEVICE_FUNC
+inline const TanReturnType
+tan() const
+{
+ return TanReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise arc tan of *this.
+ *
+ * Example: \include Cwise_atan.cpp
+ * Output: \verbinclude Cwise_atan.out
+ *
+ * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_atan">Math functions</a>, tan(), asin(), acos()
+ */
+EIGEN_DEVICE_FUNC
+inline const AtanReturnType
+atan() const
+{
+ return AtanReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise arc cosine of *this.
+ *
+ * Example: \include Cwise_acos.cpp
+ * Output: \verbinclude Cwise_acos.out
+ *
+ * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_acos">Math functions</a>, cos(), asin()
+ */
+EIGEN_DEVICE_FUNC
+inline const AcosReturnType
+acos() const
+{
+ return AcosReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise arc sine of *this.
+ *
+ * Example: \include Cwise_asin.cpp
+ * Output: \verbinclude Cwise_asin.out
+ *
+ * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_asin">Math functions</a>, sin(), acos()
+ */
+EIGEN_DEVICE_FUNC
+inline const AsinReturnType
+asin() const
+{
+ return AsinReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise hyperbolic tan of *this.
+ *
+ * Example: \include Cwise_tanh.cpp
+ * Output: \verbinclude Cwise_tanh.out
+ *
+ * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_tanh">Math functions</a>, tan(), sinh(), cosh()
+ */
+EIGEN_DEVICE_FUNC
+inline const TanhReturnType
+tanh() const
+{
+ return TanhReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise hyperbolic sin of *this.
+ *
+ * Example: \include Cwise_sinh.cpp
+ * Output: \verbinclude Cwise_sinh.out
+ *
+ * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_sinh">Math functions</a>, sin(), tanh(), cosh()
+ */
+EIGEN_DEVICE_FUNC
+inline const SinhReturnType
+sinh() const
+{
+ return SinhReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise hyperbolic cos of *this.
+ *
+ * Example: \include Cwise_cosh.cpp
+ * Output: \verbinclude Cwise_cosh.out
+ *
+ * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_cosh">Math functions</a>, tan(), sinh(), cosh()
+ */
+EIGEN_DEVICE_FUNC
+inline const CoshReturnType
+cosh() const
+{
+ return CoshReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise inverse of *this.
+ *
+ * Example: \include Cwise_inverse.cpp
+ * Output: \verbinclude Cwise_inverse.out
+ *
+ * \sa operator/(), operator*()
+ */
+EIGEN_DEVICE_FUNC
+inline const InverseReturnType
+inverse() const
+{
+ return InverseReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise square of *this.
+ *
+ * Example: \include Cwise_square.cpp
+ * Output: \verbinclude Cwise_square.out
+ *
+ * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_squareE">Math functions</a>, abs2(), cube(), pow()
+ */
+EIGEN_DEVICE_FUNC
+inline const SquareReturnType
+square() const
+{
+ return SquareReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise cube of *this.
+ *
+ * Example: \include Cwise_cube.cpp
+ * Output: \verbinclude Cwise_cube.out
+ *
+ * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_cube">Math functions</a>, square(), pow()
+ */
+EIGEN_DEVICE_FUNC
+inline const CubeReturnType
+cube() const
+{
+ return CubeReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise round of *this.
+ *
+ * Example: \include Cwise_round.cpp
+ * Output: \verbinclude Cwise_round.out
+ *
+ * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_round">Math functions</a>, ceil(), floor()
+ */
+EIGEN_DEVICE_FUNC
+inline const RoundReturnType
+round() const
+{
+ return RoundReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise floor of *this.
+ *
+ * Example: \include Cwise_floor.cpp
+ * Output: \verbinclude Cwise_floor.out
+ *
+ * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_floor">Math functions</a>, ceil(), round()
+ */
+EIGEN_DEVICE_FUNC
+inline const FloorReturnType
+floor() const
+{
+ return FloorReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise ceil of *this.
+ *
+ * Example: \include Cwise_ceil.cpp
+ * Output: \verbinclude Cwise_ceil.out
+ *
+ * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_ceil">Math functions</a>, floor(), round()
+ */
+EIGEN_DEVICE_FUNC
+inline const CeilReturnType
+ceil() const
+{
+ return CeilReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise isnan of *this.
+ *
+ * Example: \include Cwise_isNaN.cpp
+ * Output: \verbinclude Cwise_isNaN.out
+ *
+ * \sa isfinite(), isinf()
+ */
+EIGEN_DEVICE_FUNC
+inline const IsNaNReturnType
+isNaN() const
+{
+ return IsNaNReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise isinf of *this.
+ *
+ * Example: \include Cwise_isInf.cpp
+ * Output: \verbinclude Cwise_isInf.out
+ *
+ * \sa isnan(), isfinite()
+ */
+EIGEN_DEVICE_FUNC
+inline const IsInfReturnType
+isInf() const
+{
+ return IsInfReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise isfinite of *this.
+ *
+ * Example: \include Cwise_isFinite.cpp
+ * Output: \verbinclude Cwise_isFinite.out
+ *
+ * \sa isnan(), isinf()
+ */
+EIGEN_DEVICE_FUNC
+inline const IsFiniteReturnType
+isFinite() const
+{
+ return IsFiniteReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise ! operator of *this
+ *
+ * \warning this operator is for expression of bool only.
+ *
+ * Example: \include Cwise_boolean_not.cpp
+ * Output: \verbinclude Cwise_boolean_not.out
+ *
+ * \sa operator!=()
+ */
+EIGEN_DEVICE_FUNC
+inline const BooleanNotReturnType
+operator!() const
+{
+ EIGEN_STATIC_ASSERT((internal::is_same<bool,Scalar>::value),
+ THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_OF_BOOL);
+ return BooleanNotReturnType(derived());
+}
+
+
+// --- SpecialFunctions module ---
+
+typedef CwiseUnaryOp<internal::scalar_lgamma_op<Scalar>, const Derived> LgammaReturnType;
+typedef CwiseUnaryOp<internal::scalar_digamma_op<Scalar>, const Derived> DigammaReturnType;
+typedef CwiseUnaryOp<internal::scalar_erf_op<Scalar>, const Derived> ErfReturnType;
+typedef CwiseUnaryOp<internal::scalar_erfc_op<Scalar>, const Derived> ErfcReturnType;
+
+/** \cpp11 \returns an expression of the coefficient-wise ln(|gamma(*this)|).
+ *
+ * \specialfunctions_module
+ *
+ * Example: \include Cwise_lgamma.cpp
+ * Output: \verbinclude Cwise_lgamma.out
+ *
+ * \note This function supports only float and double scalar types in c++11 mode. To support other scalar types,
+ * or float/double in non c++11 mode, the user has to provide implementations of lgamma(T) for any scalar
+ * type T to be supported.
+ *
+ * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_lgamma">Math functions</a>, digamma()
+ */
+EIGEN_DEVICE_FUNC
+inline const LgammaReturnType
+lgamma() const
+{
+ return LgammaReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise digamma (psi, derivative of lgamma).
+ *
+ * \specialfunctions_module
+ *
+ * \note This function supports only float and double scalar types. To support other scalar types,
+ * the user has to provide implementations of digamma(T) for any scalar
+ * type T to be supported.
+ *
+ * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_digamma">Math functions</a>, Eigen::digamma(), Eigen::polygamma(), lgamma()
+ */
+EIGEN_DEVICE_FUNC
+inline const DigammaReturnType
+digamma() const
+{
+ return DigammaReturnType(derived());
+}
+
+/** \cpp11 \returns an expression of the coefficient-wise Gauss error
+ * function of *this.
+ *
+ * \specialfunctions_module
+ *
+ * Example: \include Cwise_erf.cpp
+ * Output: \verbinclude Cwise_erf.out
+ *
+ * \note This function supports only float and double scalar types in c++11 mode. To support other scalar types,
+ * or float/double in non c++11 mode, the user has to provide implementations of erf(T) for any scalar
+ * type T to be supported.
+ *
+ * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_erf">Math functions</a>, erfc()
+ */
+EIGEN_DEVICE_FUNC
+inline const ErfReturnType
+erf() const
+{
+ return ErfReturnType(derived());
+}
+
+/** \cpp11 \returns an expression of the coefficient-wise Complementary error
+ * function of *this.
+ *
+ * \specialfunctions_module
+ *
+ * Example: \include Cwise_erfc.cpp
+ * Output: \verbinclude Cwise_erfc.out
+ *
+ * \note This function supports only float and double scalar types in c++11 mode. To support other scalar types,
+ * or float/double in non c++11 mode, the user has to provide implementations of erfc(T) for any scalar
+ * type T to be supported.
+ *
+ * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_erfc">Math functions</a>, erf()
+ */
+EIGEN_DEVICE_FUNC
+inline const ErfcReturnType
+erfc() const
+{
+ return ErfcReturnType(derived());
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/plugins/BlockMethods.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/plugins/BlockMethods.h
new file mode 100644
index 0000000..ac35a00
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/plugins/BlockMethods.h
@@ -0,0 +1,1058 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+
+/// \internal expression type of a column */
+typedef Block<Derived, internal::traits<Derived>::RowsAtCompileTime, 1, !IsRowMajor> ColXpr;
+typedef const Block<const Derived, internal::traits<Derived>::RowsAtCompileTime, 1, !IsRowMajor> ConstColXpr;
+/// \internal expression type of a row */
+typedef Block<Derived, 1, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> RowXpr;
+typedef const Block<const Derived, 1, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> ConstRowXpr;
+/// \internal expression type of a block of whole columns */
+typedef Block<Derived, internal::traits<Derived>::RowsAtCompileTime, Dynamic, !IsRowMajor> ColsBlockXpr;
+typedef const Block<const Derived, internal::traits<Derived>::RowsAtCompileTime, Dynamic, !IsRowMajor> ConstColsBlockXpr;
+/// \internal expression type of a block of whole rows */
+typedef Block<Derived, Dynamic, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> RowsBlockXpr;
+typedef const Block<const Derived, Dynamic, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> ConstRowsBlockXpr;
+/// \internal expression type of a block of whole columns */
+template<int N> struct NColsBlockXpr { typedef Block<Derived, internal::traits<Derived>::RowsAtCompileTime, N, !IsRowMajor> Type; };
+template<int N> struct ConstNColsBlockXpr { typedef const Block<const Derived, internal::traits<Derived>::RowsAtCompileTime, N, !IsRowMajor> Type; };
+/// \internal expression type of a block of whole rows */
+template<int N> struct NRowsBlockXpr { typedef Block<Derived, N, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> Type; };
+template<int N> struct ConstNRowsBlockXpr { typedef const Block<const Derived, N, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> Type; };
+/// \internal expression of a block */
+typedef Block<Derived> BlockXpr;
+typedef const Block<const Derived> ConstBlockXpr;
+/// \internal expression of a block of fixed sizes */
+template<int Rows, int Cols> struct FixedBlockXpr { typedef Block<Derived,Rows,Cols> Type; };
+template<int Rows, int Cols> struct ConstFixedBlockXpr { typedef Block<const Derived,Rows,Cols> Type; };
+
+typedef VectorBlock<Derived> SegmentReturnType;
+typedef const VectorBlock<const Derived> ConstSegmentReturnType;
+template<int Size> struct FixedSegmentReturnType { typedef VectorBlock<Derived, Size> Type; };
+template<int Size> struct ConstFixedSegmentReturnType { typedef const VectorBlock<const Derived, Size> Type; };
+
+#endif // not EIGEN_PARSED_BY_DOXYGEN
+
+/// \returns a dynamic-size expression of a block in *this.
+///
+/// \param startRow the first row in the block
+/// \param startCol the first column in the block
+/// \param blockRows the number of rows in the block
+/// \param blockCols the number of columns in the block
+///
+/// Example: \include MatrixBase_block_int_int_int_int.cpp
+/// Output: \verbinclude MatrixBase_block_int_int_int_int.out
+///
+/// \note Even though the returned expression has dynamic size, in the case
+/// when it is applied to a fixed-size matrix, it inherits a fixed maximal size,
+/// which means that evaluating it does not cause a dynamic memory allocation.
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block, block(Index,Index)
+///
+EIGEN_DEVICE_FUNC
+inline BlockXpr block(Index startRow, Index startCol, Index blockRows, Index blockCols)
+{
+ return BlockXpr(derived(), startRow, startCol, blockRows, blockCols);
+}
+
+/// This is the const version of block(Index,Index,Index,Index). */
+EIGEN_DEVICE_FUNC
+inline const ConstBlockXpr block(Index startRow, Index startCol, Index blockRows, Index blockCols) const
+{
+ return ConstBlockXpr(derived(), startRow, startCol, blockRows, blockCols);
+}
+
+
+
+
+/// \returns a dynamic-size expression of a top-right corner of *this.
+///
+/// \param cRows the number of rows in the corner
+/// \param cCols the number of columns in the corner
+///
+/// Example: \include MatrixBase_topRightCorner_int_int.cpp
+/// Output: \verbinclude MatrixBase_topRightCorner_int_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+EIGEN_DEVICE_FUNC
+inline BlockXpr topRightCorner(Index cRows, Index cCols)
+{
+ return BlockXpr(derived(), 0, cols() - cCols, cRows, cCols);
+}
+
+/// This is the const version of topRightCorner(Index, Index).
+EIGEN_DEVICE_FUNC
+inline const ConstBlockXpr topRightCorner(Index cRows, Index cCols) const
+{
+ return ConstBlockXpr(derived(), 0, cols() - cCols, cRows, cCols);
+}
+
+/// \returns an expression of a fixed-size top-right corner of *this.
+///
+/// \tparam CRows the number of rows in the corner
+/// \tparam CCols the number of columns in the corner
+///
+/// Example: \include MatrixBase_template_int_int_topRightCorner.cpp
+/// Output: \verbinclude MatrixBase_template_int_int_topRightCorner.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block, block<int,int>(Index,Index)
+///
+template<int CRows, int CCols>
+EIGEN_DEVICE_FUNC
+inline typename FixedBlockXpr<CRows,CCols>::Type topRightCorner()
+{
+ return typename FixedBlockXpr<CRows,CCols>::Type(derived(), 0, cols() - CCols);
+}
+
+/// This is the const version of topRightCorner<int, int>().
+template<int CRows, int CCols>
+EIGEN_DEVICE_FUNC
+inline const typename ConstFixedBlockXpr<CRows,CCols>::Type topRightCorner() const
+{
+ return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), 0, cols() - CCols);
+}
+
+/// \returns an expression of a top-right corner of *this.
+///
+/// \tparam CRows number of rows in corner as specified at compile-time
+/// \tparam CCols number of columns in corner as specified at compile-time
+/// \param cRows number of rows in corner as specified at run-time
+/// \param cCols number of columns in corner as specified at run-time
+///
+/// This function is mainly useful for corners where the number of rows is specified at compile-time
+/// and the number of columns is specified at run-time, or vice versa. The compile-time and run-time
+/// information should not contradict. In other words, \a cRows should equal \a CRows unless
+/// \a CRows is \a Dynamic, and the same for the number of columns.
+///
+/// Example: \include MatrixBase_template_int_int_topRightCorner_int_int.cpp
+/// Output: \verbinclude MatrixBase_template_int_int_topRightCorner_int_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block
+///
+template<int CRows, int CCols>
+inline typename FixedBlockXpr<CRows,CCols>::Type topRightCorner(Index cRows, Index cCols)
+{
+ return typename FixedBlockXpr<CRows,CCols>::Type(derived(), 0, cols() - cCols, cRows, cCols);
+}
+
+/// This is the const version of topRightCorner<int, int>(Index, Index).
+template<int CRows, int CCols>
+inline const typename ConstFixedBlockXpr<CRows,CCols>::Type topRightCorner(Index cRows, Index cCols) const
+{
+ return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), 0, cols() - cCols, cRows, cCols);
+}
+
+
+
+/// \returns a dynamic-size expression of a top-left corner of *this.
+///
+/// \param cRows the number of rows in the corner
+/// \param cCols the number of columns in the corner
+///
+/// Example: \include MatrixBase_topLeftCorner_int_int.cpp
+/// Output: \verbinclude MatrixBase_topLeftCorner_int_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+EIGEN_DEVICE_FUNC
+inline BlockXpr topLeftCorner(Index cRows, Index cCols)
+{
+ return BlockXpr(derived(), 0, 0, cRows, cCols);
+}
+
+/// This is the const version of topLeftCorner(Index, Index).
+EIGEN_DEVICE_FUNC
+inline const ConstBlockXpr topLeftCorner(Index cRows, Index cCols) const
+{
+ return ConstBlockXpr(derived(), 0, 0, cRows, cCols);
+}
+
+/// \returns an expression of a fixed-size top-left corner of *this.
+///
+/// The template parameters CRows and CCols are the number of rows and columns in the corner.
+///
+/// Example: \include MatrixBase_template_int_int_topLeftCorner.cpp
+/// Output: \verbinclude MatrixBase_template_int_int_topLeftCorner.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+template<int CRows, int CCols>
+EIGEN_DEVICE_FUNC
+inline typename FixedBlockXpr<CRows,CCols>::Type topLeftCorner()
+{
+ return typename FixedBlockXpr<CRows,CCols>::Type(derived(), 0, 0);
+}
+
+/// This is the const version of topLeftCorner<int, int>().
+template<int CRows, int CCols>
+EIGEN_DEVICE_FUNC
+inline const typename ConstFixedBlockXpr<CRows,CCols>::Type topLeftCorner() const
+{
+ return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), 0, 0);
+}
+
+/// \returns an expression of a top-left corner of *this.
+///
+/// \tparam CRows number of rows in corner as specified at compile-time
+/// \tparam CCols number of columns in corner as specified at compile-time
+/// \param cRows number of rows in corner as specified at run-time
+/// \param cCols number of columns in corner as specified at run-time
+///
+/// This function is mainly useful for corners where the number of rows is specified at compile-time
+/// and the number of columns is specified at run-time, or vice versa. The compile-time and run-time
+/// information should not contradict. In other words, \a cRows should equal \a CRows unless
+/// \a CRows is \a Dynamic, and the same for the number of columns.
+///
+/// Example: \include MatrixBase_template_int_int_topLeftCorner_int_int.cpp
+/// Output: \verbinclude MatrixBase_template_int_int_topLeftCorner_int_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block
+///
+template<int CRows, int CCols>
+inline typename FixedBlockXpr<CRows,CCols>::Type topLeftCorner(Index cRows, Index cCols)
+{
+ return typename FixedBlockXpr<CRows,CCols>::Type(derived(), 0, 0, cRows, cCols);
+}
+
+/// This is the const version of topLeftCorner<int, int>(Index, Index).
+template<int CRows, int CCols>
+inline const typename ConstFixedBlockXpr<CRows,CCols>::Type topLeftCorner(Index cRows, Index cCols) const
+{
+ return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), 0, 0, cRows, cCols);
+}
+
+
+
+/// \returns a dynamic-size expression of a bottom-right corner of *this.
+///
+/// \param cRows the number of rows in the corner
+/// \param cCols the number of columns in the corner
+///
+/// Example: \include MatrixBase_bottomRightCorner_int_int.cpp
+/// Output: \verbinclude MatrixBase_bottomRightCorner_int_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+EIGEN_DEVICE_FUNC
+inline BlockXpr bottomRightCorner(Index cRows, Index cCols)
+{
+ return BlockXpr(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
+}
+
+/// This is the const version of bottomRightCorner(Index, Index).
+EIGEN_DEVICE_FUNC
+inline const ConstBlockXpr bottomRightCorner(Index cRows, Index cCols) const
+{
+ return ConstBlockXpr(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
+}
+
+/// \returns an expression of a fixed-size bottom-right corner of *this.
+///
+/// The template parameters CRows and CCols are the number of rows and columns in the corner.
+///
+/// Example: \include MatrixBase_template_int_int_bottomRightCorner.cpp
+/// Output: \verbinclude MatrixBase_template_int_int_bottomRightCorner.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+template<int CRows, int CCols>
+EIGEN_DEVICE_FUNC
+inline typename FixedBlockXpr<CRows,CCols>::Type bottomRightCorner()
+{
+ return typename FixedBlockXpr<CRows,CCols>::Type(derived(), rows() - CRows, cols() - CCols);
+}
+
+/// This is the const version of bottomRightCorner<int, int>().
+template<int CRows, int CCols>
+EIGEN_DEVICE_FUNC
+inline const typename ConstFixedBlockXpr<CRows,CCols>::Type bottomRightCorner() const
+{
+ return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), rows() - CRows, cols() - CCols);
+}
+
+/// \returns an expression of a bottom-right corner of *this.
+///
+/// \tparam CRows number of rows in corner as specified at compile-time
+/// \tparam CCols number of columns in corner as specified at compile-time
+/// \param cRows number of rows in corner as specified at run-time
+/// \param cCols number of columns in corner as specified at run-time
+///
+/// This function is mainly useful for corners where the number of rows is specified at compile-time
+/// and the number of columns is specified at run-time, or vice versa. The compile-time and run-time
+/// information should not contradict. In other words, \a cRows should equal \a CRows unless
+/// \a CRows is \a Dynamic, and the same for the number of columns.
+///
+/// Example: \include MatrixBase_template_int_int_bottomRightCorner_int_int.cpp
+/// Output: \verbinclude MatrixBase_template_int_int_bottomRightCorner_int_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block
+///
+template<int CRows, int CCols>
+inline typename FixedBlockXpr<CRows,CCols>::Type bottomRightCorner(Index cRows, Index cCols)
+{
+ return typename FixedBlockXpr<CRows,CCols>::Type(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
+}
+
+/// This is the const version of bottomRightCorner<int, int>(Index, Index).
+template<int CRows, int CCols>
+inline const typename ConstFixedBlockXpr<CRows,CCols>::Type bottomRightCorner(Index cRows, Index cCols) const
+{
+ return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
+}
+
+
+
+/// \returns a dynamic-size expression of a bottom-left corner of *this.
+///
+/// \param cRows the number of rows in the corner
+/// \param cCols the number of columns in the corner
+///
+/// Example: \include MatrixBase_bottomLeftCorner_int_int.cpp
+/// Output: \verbinclude MatrixBase_bottomLeftCorner_int_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+EIGEN_DEVICE_FUNC
+inline BlockXpr bottomLeftCorner(Index cRows, Index cCols)
+{
+ return BlockXpr(derived(), rows() - cRows, 0, cRows, cCols);
+}
+
+/// This is the const version of bottomLeftCorner(Index, Index).
+EIGEN_DEVICE_FUNC
+inline const ConstBlockXpr bottomLeftCorner(Index cRows, Index cCols) const
+{
+ return ConstBlockXpr(derived(), rows() - cRows, 0, cRows, cCols);
+}
+
+/// \returns an expression of a fixed-size bottom-left corner of *this.
+///
+/// The template parameters CRows and CCols are the number of rows and columns in the corner.
+///
+/// Example: \include MatrixBase_template_int_int_bottomLeftCorner.cpp
+/// Output: \verbinclude MatrixBase_template_int_int_bottomLeftCorner.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+template<int CRows, int CCols>
+EIGEN_DEVICE_FUNC
+inline typename FixedBlockXpr<CRows,CCols>::Type bottomLeftCorner()
+{
+ return typename FixedBlockXpr<CRows,CCols>::Type(derived(), rows() - CRows, 0);
+}
+
+/// This is the const version of bottomLeftCorner<int, int>().
+template<int CRows, int CCols>
+EIGEN_DEVICE_FUNC
+inline const typename ConstFixedBlockXpr<CRows,CCols>::Type bottomLeftCorner() const
+{
+ return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), rows() - CRows, 0);
+}
+
+/// \returns an expression of a bottom-left corner of *this.
+///
+/// \tparam CRows number of rows in corner as specified at compile-time
+/// \tparam CCols number of columns in corner as specified at compile-time
+/// \param cRows number of rows in corner as specified at run-time
+/// \param cCols number of columns in corner as specified at run-time
+///
+/// This function is mainly useful for corners where the number of rows is specified at compile-time
+/// and the number of columns is specified at run-time, or vice versa. The compile-time and run-time
+/// information should not contradict. In other words, \a cRows should equal \a CRows unless
+/// \a CRows is \a Dynamic, and the same for the number of columns.
+///
+/// Example: \include MatrixBase_template_int_int_bottomLeftCorner_int_int.cpp
+/// Output: \verbinclude MatrixBase_template_int_int_bottomLeftCorner_int_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block
+///
+template<int CRows, int CCols>
+inline typename FixedBlockXpr<CRows,CCols>::Type bottomLeftCorner(Index cRows, Index cCols)
+{
+ return typename FixedBlockXpr<CRows,CCols>::Type(derived(), rows() - cRows, 0, cRows, cCols);
+}
+
+/// This is the const version of bottomLeftCorner<int, int>(Index, Index).
+template<int CRows, int CCols>
+inline const typename ConstFixedBlockXpr<CRows,CCols>::Type bottomLeftCorner(Index cRows, Index cCols) const
+{
+ return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), rows() - cRows, 0, cRows, cCols);
+}
+
+
+
+/// \returns a block consisting of the top rows of *this.
+///
+/// \param n the number of rows in the block
+///
+/// Example: \include MatrixBase_topRows_int.cpp
+/// Output: \verbinclude MatrixBase_topRows_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+EIGEN_DEVICE_FUNC
+inline RowsBlockXpr topRows(Index n)
+{
+ return RowsBlockXpr(derived(), 0, 0, n, cols());
+}
+
+/// This is the const version of topRows(Index).
+EIGEN_DEVICE_FUNC
+inline ConstRowsBlockXpr topRows(Index n) const
+{
+ return ConstRowsBlockXpr(derived(), 0, 0, n, cols());
+}
+
+/// \returns a block consisting of the top rows of *this.
+///
+/// \tparam N the number of rows in the block as specified at compile-time
+/// \param n the number of rows in the block as specified at run-time
+///
+/// The compile-time and run-time information should not contradict. In other words,
+/// \a n should equal \a N unless \a N is \a Dynamic.
+///
+/// Example: \include MatrixBase_template_int_topRows.cpp
+/// Output: \verbinclude MatrixBase_template_int_topRows.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+template<int N>
+EIGEN_DEVICE_FUNC
+inline typename NRowsBlockXpr<N>::Type topRows(Index n = N)
+{
+ return typename NRowsBlockXpr<N>::Type(derived(), 0, 0, n, cols());
+}
+
+/// This is the const version of topRows<int>().
+template<int N>
+EIGEN_DEVICE_FUNC
+inline typename ConstNRowsBlockXpr<N>::Type topRows(Index n = N) const
+{
+ return typename ConstNRowsBlockXpr<N>::Type(derived(), 0, 0, n, cols());
+}
+
+
+
+/// \returns a block consisting of the bottom rows of *this.
+///
+/// \param n the number of rows in the block
+///
+/// Example: \include MatrixBase_bottomRows_int.cpp
+/// Output: \verbinclude MatrixBase_bottomRows_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+EIGEN_DEVICE_FUNC
+inline RowsBlockXpr bottomRows(Index n)
+{
+ return RowsBlockXpr(derived(), rows() - n, 0, n, cols());
+}
+
+/// This is the const version of bottomRows(Index).
+EIGEN_DEVICE_FUNC
+inline ConstRowsBlockXpr bottomRows(Index n) const
+{
+ return ConstRowsBlockXpr(derived(), rows() - n, 0, n, cols());
+}
+
+/// \returns a block consisting of the bottom rows of *this.
+///
+/// \tparam N the number of rows in the block as specified at compile-time
+/// \param n the number of rows in the block as specified at run-time
+///
+/// The compile-time and run-time information should not contradict. In other words,
+/// \a n should equal \a N unless \a N is \a Dynamic.
+///
+/// Example: \include MatrixBase_template_int_bottomRows.cpp
+/// Output: \verbinclude MatrixBase_template_int_bottomRows.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+template<int N>
+EIGEN_DEVICE_FUNC
+inline typename NRowsBlockXpr<N>::Type bottomRows(Index n = N)
+{
+ return typename NRowsBlockXpr<N>::Type(derived(), rows() - n, 0, n, cols());
+}
+
+/// This is the const version of bottomRows<int>().
+template<int N>
+EIGEN_DEVICE_FUNC
+inline typename ConstNRowsBlockXpr<N>::Type bottomRows(Index n = N) const
+{
+ return typename ConstNRowsBlockXpr<N>::Type(derived(), rows() - n, 0, n, cols());
+}
+
+
+
+/// \returns a block consisting of a range of rows of *this.
+///
+/// \param startRow the index of the first row in the block
+/// \param n the number of rows in the block
+///
+/// Example: \include DenseBase_middleRows_int.cpp
+/// Output: \verbinclude DenseBase_middleRows_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+EIGEN_DEVICE_FUNC
+inline RowsBlockXpr middleRows(Index startRow, Index n)
+{
+ return RowsBlockXpr(derived(), startRow, 0, n, cols());
+}
+
+/// This is the const version of middleRows(Index,Index).
+EIGEN_DEVICE_FUNC
+inline ConstRowsBlockXpr middleRows(Index startRow, Index n) const
+{
+ return ConstRowsBlockXpr(derived(), startRow, 0, n, cols());
+}
+
+/// \returns a block consisting of a range of rows of *this.
+///
+/// \tparam N the number of rows in the block as specified at compile-time
+/// \param startRow the index of the first row in the block
+/// \param n the number of rows in the block as specified at run-time
+///
+/// The compile-time and run-time information should not contradict. In other words,
+/// \a n should equal \a N unless \a N is \a Dynamic.
+///
+/// Example: \include DenseBase_template_int_middleRows.cpp
+/// Output: \verbinclude DenseBase_template_int_middleRows.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+template<int N>
+EIGEN_DEVICE_FUNC
+inline typename NRowsBlockXpr<N>::Type middleRows(Index startRow, Index n = N)
+{
+ return typename NRowsBlockXpr<N>::Type(derived(), startRow, 0, n, cols());
+}
+
+/// This is the const version of middleRows<int>().
+template<int N>
+EIGEN_DEVICE_FUNC
+inline typename ConstNRowsBlockXpr<N>::Type middleRows(Index startRow, Index n = N) const
+{
+ return typename ConstNRowsBlockXpr<N>::Type(derived(), startRow, 0, n, cols());
+}
+
+
+
+/// \returns a block consisting of the left columns of *this.
+///
+/// \param n the number of columns in the block
+///
+/// Example: \include MatrixBase_leftCols_int.cpp
+/// Output: \verbinclude MatrixBase_leftCols_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+EIGEN_DEVICE_FUNC
+inline ColsBlockXpr leftCols(Index n)
+{
+ return ColsBlockXpr(derived(), 0, 0, rows(), n);
+}
+
+/// This is the const version of leftCols(Index).
+EIGEN_DEVICE_FUNC
+inline ConstColsBlockXpr leftCols(Index n) const
+{
+ return ConstColsBlockXpr(derived(), 0, 0, rows(), n);
+}
+
+/// \returns a block consisting of the left columns of *this.
+///
+/// \tparam N the number of columns in the block as specified at compile-time
+/// \param n the number of columns in the block as specified at run-time
+///
+/// The compile-time and run-time information should not contradict. In other words,
+/// \a n should equal \a N unless \a N is \a Dynamic.
+///
+/// Example: \include MatrixBase_template_int_leftCols.cpp
+/// Output: \verbinclude MatrixBase_template_int_leftCols.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+template<int N>
+EIGEN_DEVICE_FUNC
+inline typename NColsBlockXpr<N>::Type leftCols(Index n = N)
+{
+ return typename NColsBlockXpr<N>::Type(derived(), 0, 0, rows(), n);
+}
+
+/// This is the const version of leftCols<int>().
+template<int N>
+EIGEN_DEVICE_FUNC
+inline typename ConstNColsBlockXpr<N>::Type leftCols(Index n = N) const
+{
+ return typename ConstNColsBlockXpr<N>::Type(derived(), 0, 0, rows(), n);
+}
+
+
+
+/// \returns a block consisting of the right columns of *this.
+///
+/// \param n the number of columns in the block
+///
+/// Example: \include MatrixBase_rightCols_int.cpp
+/// Output: \verbinclude MatrixBase_rightCols_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+EIGEN_DEVICE_FUNC
+inline ColsBlockXpr rightCols(Index n)
+{
+ return ColsBlockXpr(derived(), 0, cols() - n, rows(), n);
+}
+
+/// This is the const version of rightCols(Index).
+EIGEN_DEVICE_FUNC
+inline ConstColsBlockXpr rightCols(Index n) const
+{
+ return ConstColsBlockXpr(derived(), 0, cols() - n, rows(), n);
+}
+
+/// \returns a block consisting of the right columns of *this.
+///
+/// \tparam N the number of columns in the block as specified at compile-time
+/// \param n the number of columns in the block as specified at run-time
+///
+/// The compile-time and run-time information should not contradict. In other words,
+/// \a n should equal \a N unless \a N is \a Dynamic.
+///
+/// Example: \include MatrixBase_template_int_rightCols.cpp
+/// Output: \verbinclude MatrixBase_template_int_rightCols.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+template<int N>
+EIGEN_DEVICE_FUNC
+inline typename NColsBlockXpr<N>::Type rightCols(Index n = N)
+{
+ return typename NColsBlockXpr<N>::Type(derived(), 0, cols() - n, rows(), n);
+}
+
+/// This is the const version of rightCols<int>().
+template<int N>
+EIGEN_DEVICE_FUNC
+inline typename ConstNColsBlockXpr<N>::Type rightCols(Index n = N) const
+{
+ return typename ConstNColsBlockXpr<N>::Type(derived(), 0, cols() - n, rows(), n);
+}
+
+
+
+/// \returns a block consisting of a range of columns of *this.
+///
+/// \param startCol the index of the first column in the block
+/// \param numCols the number of columns in the block
+///
+/// Example: \include DenseBase_middleCols_int.cpp
+/// Output: \verbinclude DenseBase_middleCols_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+EIGEN_DEVICE_FUNC
+inline ColsBlockXpr middleCols(Index startCol, Index numCols)
+{
+ return ColsBlockXpr(derived(), 0, startCol, rows(), numCols);
+}
+
+/// This is the const version of middleCols(Index,Index).
+EIGEN_DEVICE_FUNC
+inline ConstColsBlockXpr middleCols(Index startCol, Index numCols) const
+{
+ return ConstColsBlockXpr(derived(), 0, startCol, rows(), numCols);
+}
+
+/// \returns a block consisting of a range of columns of *this.
+///
+/// \tparam N the number of columns in the block as specified at compile-time
+/// \param startCol the index of the first column in the block
+/// \param n the number of columns in the block as specified at run-time
+///
+/// The compile-time and run-time information should not contradict. In other words,
+/// \a n should equal \a N unless \a N is \a Dynamic.
+///
+/// Example: \include DenseBase_template_int_middleCols.cpp
+/// Output: \verbinclude DenseBase_template_int_middleCols.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+template<int N>
+EIGEN_DEVICE_FUNC
+inline typename NColsBlockXpr<N>::Type middleCols(Index startCol, Index n = N)
+{
+ return typename NColsBlockXpr<N>::Type(derived(), 0, startCol, rows(), n);
+}
+
+/// This is the const version of middleCols<int>().
+template<int N>
+EIGEN_DEVICE_FUNC
+inline typename ConstNColsBlockXpr<N>::Type middleCols(Index startCol, Index n = N) const
+{
+ return typename ConstNColsBlockXpr<N>::Type(derived(), 0, startCol, rows(), n);
+}
+
+
+
+/// \returns a fixed-size expression of a block in *this.
+///
+/// The template parameters \a NRows and \a NCols are the number of
+/// rows and columns in the block.
+///
+/// \param startRow the first row in the block
+/// \param startCol the first column in the block
+///
+/// Example: \include MatrixBase_block_int_int.cpp
+/// Output: \verbinclude MatrixBase_block_int_int.out
+///
+/// \note since block is a templated member, the keyword template has to be used
+/// if the matrix type is also a template parameter: \code m.template block<3,3>(1,1); \endcode
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+template<int NRows, int NCols>
+EIGEN_DEVICE_FUNC
+inline typename FixedBlockXpr<NRows,NCols>::Type block(Index startRow, Index startCol)
+{
+ return typename FixedBlockXpr<NRows,NCols>::Type(derived(), startRow, startCol);
+}
+
+/// This is the const version of block<>(Index, Index). */
+template<int NRows, int NCols>
+EIGEN_DEVICE_FUNC
+inline const typename ConstFixedBlockXpr<NRows,NCols>::Type block(Index startRow, Index startCol) const
+{
+ return typename ConstFixedBlockXpr<NRows,NCols>::Type(derived(), startRow, startCol);
+}
+
+/// \returns an expression of a block in *this.
+///
+/// \tparam NRows number of rows in block as specified at compile-time
+/// \tparam NCols number of columns in block as specified at compile-time
+/// \param startRow the first row in the block
+/// \param startCol the first column in the block
+/// \param blockRows number of rows in block as specified at run-time
+/// \param blockCols number of columns in block as specified at run-time
+///
+/// This function is mainly useful for blocks where the number of rows is specified at compile-time
+/// and the number of columns is specified at run-time, or vice versa. The compile-time and run-time
+/// information should not contradict. In other words, \a blockRows should equal \a NRows unless
+/// \a NRows is \a Dynamic, and the same for the number of columns.
+///
+/// Example: \include MatrixBase_template_int_int_block_int_int_int_int.cpp
+/// Output: \verbinclude MatrixBase_template_int_int_block_int_int_int_int.cpp
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+template<int NRows, int NCols>
+inline typename FixedBlockXpr<NRows,NCols>::Type block(Index startRow, Index startCol,
+ Index blockRows, Index blockCols)
+{
+ return typename FixedBlockXpr<NRows,NCols>::Type(derived(), startRow, startCol, blockRows, blockCols);
+}
+
+/// This is the const version of block<>(Index, Index, Index, Index).
+template<int NRows, int NCols>
+inline const typename ConstFixedBlockXpr<NRows,NCols>::Type block(Index startRow, Index startCol,
+ Index blockRows, Index blockCols) const
+{
+ return typename ConstFixedBlockXpr<NRows,NCols>::Type(derived(), startRow, startCol, blockRows, blockCols);
+}
+
+/// \returns an expression of the \a i-th column of *this. Note that the numbering starts at 0.
+///
+/// Example: \include MatrixBase_col.cpp
+/// Output: \verbinclude MatrixBase_col.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
+/**
+ * \sa row(), class Block */
+EIGEN_DEVICE_FUNC
+inline ColXpr col(Index i)
+{
+ return ColXpr(derived(), i);
+}
+
+/// This is the const version of col().
+EIGEN_DEVICE_FUNC
+inline ConstColXpr col(Index i) const
+{
+ return ConstColXpr(derived(), i);
+}
+
+/// \returns an expression of the \a i-th row of *this. Note that the numbering starts at 0.
+///
+/// Example: \include MatrixBase_row.cpp
+/// Output: \verbinclude MatrixBase_row.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
+/**
+ * \sa col(), class Block */
+EIGEN_DEVICE_FUNC
+inline RowXpr row(Index i)
+{
+ return RowXpr(derived(), i);
+}
+
+/// This is the const version of row(). */
+EIGEN_DEVICE_FUNC
+inline ConstRowXpr row(Index i) const
+{
+ return ConstRowXpr(derived(), i);
+}
+
+/// \returns a dynamic-size expression of a segment (i.e. a vector block) in *this.
+///
+/// \only_for_vectors
+///
+/// \param start the first coefficient in the segment
+/// \param n the number of coefficients in the segment
+///
+/// Example: \include MatrixBase_segment_int_int.cpp
+/// Output: \verbinclude MatrixBase_segment_int_int.out
+///
+/// \note Even though the returned expression has dynamic size, in the case
+/// when it is applied to a fixed-size vector, it inherits a fixed maximal size,
+/// which means that evaluating it does not cause a dynamic memory allocation.
+///
+/// \sa class Block, segment(Index)
+///
+EIGEN_DEVICE_FUNC
+inline SegmentReturnType segment(Index start, Index n)
+{
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+ return SegmentReturnType(derived(), start, n);
+}
+
+
+/// This is the const version of segment(Index,Index).
+EIGEN_DEVICE_FUNC
+inline ConstSegmentReturnType segment(Index start, Index n) const
+{
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+ return ConstSegmentReturnType(derived(), start, n);
+}
+
+/// \returns a dynamic-size expression of the first coefficients of *this.
+///
+/// \only_for_vectors
+///
+/// \param n the number of coefficients in the segment
+///
+/// Example: \include MatrixBase_start_int.cpp
+/// Output: \verbinclude MatrixBase_start_int.out
+///
+/// \note Even though the returned expression has dynamic size, in the case
+/// when it is applied to a fixed-size vector, it inherits a fixed maximal size,
+/// which means that evaluating it does not cause a dynamic memory allocation.
+///
+/// \sa class Block, block(Index,Index)
+///
+EIGEN_DEVICE_FUNC
+inline SegmentReturnType head(Index n)
+{
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+ return SegmentReturnType(derived(), 0, n);
+}
+
+/// This is the const version of head(Index).
+EIGEN_DEVICE_FUNC
+inline ConstSegmentReturnType head(Index n) const
+{
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+ return ConstSegmentReturnType(derived(), 0, n);
+}
+
+/// \returns a dynamic-size expression of the last coefficients of *this.
+///
+/// \only_for_vectors
+///
+/// \param n the number of coefficients in the segment
+///
+/// Example: \include MatrixBase_end_int.cpp
+/// Output: \verbinclude MatrixBase_end_int.out
+///
+/// \note Even though the returned expression has dynamic size, in the case
+/// when it is applied to a fixed-size vector, it inherits a fixed maximal size,
+/// which means that evaluating it does not cause a dynamic memory allocation.
+///
+/// \sa class Block, block(Index,Index)
+///
+EIGEN_DEVICE_FUNC
+inline SegmentReturnType tail(Index n)
+{
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+ return SegmentReturnType(derived(), this->size() - n, n);
+}
+
+/// This is the const version of tail(Index).
+EIGEN_DEVICE_FUNC
+inline ConstSegmentReturnType tail(Index n) const
+{
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+ return ConstSegmentReturnType(derived(), this->size() - n, n);
+}
+
+/// \returns a fixed-size expression of a segment (i.e. a vector block) in \c *this
+///
+/// \only_for_vectors
+///
+/// \tparam N the number of coefficients in the segment as specified at compile-time
+/// \param start the index of the first element in the segment
+/// \param n the number of coefficients in the segment as specified at compile-time
+///
+/// The compile-time and run-time information should not contradict. In other words,
+/// \a n should equal \a N unless \a N is \a Dynamic.
+///
+/// Example: \include MatrixBase_template_int_segment.cpp
+/// Output: \verbinclude MatrixBase_template_int_segment.out
+///
+/// \sa class Block
+///
+template<int N>
+EIGEN_DEVICE_FUNC
+inline typename FixedSegmentReturnType<N>::Type segment(Index start, Index n = N)
+{
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+ return typename FixedSegmentReturnType<N>::Type(derived(), start, n);
+}
+
+/// This is the const version of segment<int>(Index).
+template<int N>
+EIGEN_DEVICE_FUNC
+inline typename ConstFixedSegmentReturnType<N>::Type segment(Index start, Index n = N) const
+{
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+ return typename ConstFixedSegmentReturnType<N>::Type(derived(), start, n);
+}
+
+/// \returns a fixed-size expression of the first coefficients of *this.
+///
+/// \only_for_vectors
+///
+/// \tparam N the number of coefficients in the segment as specified at compile-time
+/// \param n the number of coefficients in the segment as specified at run-time
+///
+/// The compile-time and run-time information should not contradict. In other words,
+/// \a n should equal \a N unless \a N is \a Dynamic.
+///
+/// Example: \include MatrixBase_template_int_start.cpp
+/// Output: \verbinclude MatrixBase_template_int_start.out
+///
+/// \sa class Block
+///
+template<int N>
+EIGEN_DEVICE_FUNC
+inline typename FixedSegmentReturnType<N>::Type head(Index n = N)
+{
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+ return typename FixedSegmentReturnType<N>::Type(derived(), 0, n);
+}
+
+/// This is the const version of head<int>().
+template<int N>
+EIGEN_DEVICE_FUNC
+inline typename ConstFixedSegmentReturnType<N>::Type head(Index n = N) const
+{
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+ return typename ConstFixedSegmentReturnType<N>::Type(derived(), 0, n);
+}
+
+/// \returns a fixed-size expression of the last coefficients of *this.
+///
+/// \only_for_vectors
+///
+/// \tparam N the number of coefficients in the segment as specified at compile-time
+/// \param n the number of coefficients in the segment as specified at run-time
+///
+/// The compile-time and run-time information should not contradict. In other words,
+/// \a n should equal \a N unless \a N is \a Dynamic.
+///
+/// Example: \include MatrixBase_template_int_end.cpp
+/// Output: \verbinclude MatrixBase_template_int_end.out
+///
+/// \sa class Block
+///
+template<int N>
+EIGEN_DEVICE_FUNC
+inline typename FixedSegmentReturnType<N>::Type tail(Index n = N)
+{
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+ return typename FixedSegmentReturnType<N>::Type(derived(), size() - n);
+}
+
+/// This is the const version of tail<int>.
+template<int N>
+EIGEN_DEVICE_FUNC
+inline typename ConstFixedSegmentReturnType<N>::Type tail(Index n = N) const
+{
+ EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+ return typename ConstFixedSegmentReturnType<N>::Type(derived(), size() - n);
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/plugins/CommonCwiseBinaryOps.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/plugins/CommonCwiseBinaryOps.h
new file mode 100644
index 0000000..8b6730e
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/plugins/CommonCwiseBinaryOps.h
@@ -0,0 +1,115 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2016 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+// This file is a base class plugin containing common coefficient wise functions.
+
+/** \returns an expression of the difference of \c *this and \a other
+ *
+ * \note If you want to substract a given scalar from all coefficients, see Cwise::operator-().
+ *
+ * \sa class CwiseBinaryOp, operator-=()
+ */
+EIGEN_MAKE_CWISE_BINARY_OP(operator-,difference)
+
+/** \returns an expression of the sum of \c *this and \a other
+ *
+ * \note If you want to add a given scalar to all coefficients, see Cwise::operator+().
+ *
+ * \sa class CwiseBinaryOp, operator+=()
+ */
+EIGEN_MAKE_CWISE_BINARY_OP(operator+,sum)
+
+/** \returns an expression of a custom coefficient-wise operator \a func of *this and \a other
+ *
+ * The template parameter \a CustomBinaryOp is the type of the functor
+ * of the custom operator (see class CwiseBinaryOp for an example)
+ *
+ * Here is an example illustrating the use of custom functors:
+ * \include class_CwiseBinaryOp.cpp
+ * Output: \verbinclude class_CwiseBinaryOp.out
+ *
+ * \sa class CwiseBinaryOp, operator+(), operator-(), cwiseProduct()
+ */
+template<typename CustomBinaryOp, typename OtherDerived>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseBinaryOp<CustomBinaryOp, const Derived, const OtherDerived>
+binaryExpr(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other, const CustomBinaryOp& func = CustomBinaryOp()) const
+{
+ return CwiseBinaryOp<CustomBinaryOp, const Derived, const OtherDerived>(derived(), other.derived(), func);
+}
+
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+EIGEN_MAKE_SCALAR_BINARY_OP(operator*,product)
+#else
+/** \returns an expression of \c *this scaled by the scalar factor \a scalar
+ *
+ * \tparam T is the scalar type of \a scalar. It must be compatible with the scalar type of the given expression.
+ */
+template<typename T>
+const CwiseBinaryOp<internal::scalar_product_op<Scalar,T>,Derived,Constant<T> > operator*(const T& scalar) const;
+/** \returns an expression of \a expr scaled by the scalar factor \a scalar
+ *
+ * \tparam T is the scalar type of \a scalar. It must be compatible with the scalar type of the given expression.
+ */
+template<typename T> friend
+const CwiseBinaryOp<internal::scalar_product_op<T,Scalar>,Constant<T>,Derived> operator*(const T& scalar, const StorageBaseType& expr);
+#endif
+
+
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+EIGEN_MAKE_SCALAR_BINARY_OP_ONTHERIGHT(operator/,quotient)
+#else
+/** \returns an expression of \c *this divided by the scalar value \a scalar
+ *
+ * \tparam T is the scalar type of \a scalar. It must be compatible with the scalar type of the given expression.
+ */
+template<typename T>
+const CwiseBinaryOp<internal::scalar_quotient_op<Scalar,T>,Derived,Constant<T> > operator/(const T& scalar) const;
+#endif
+
+/** \returns an expression of the coefficient-wise boolean \b and operator of \c *this and \a other
+ *
+ * \warning this operator is for expression of bool only.
+ *
+ * Example: \include Cwise_boolean_and.cpp
+ * Output: \verbinclude Cwise_boolean_and.out
+ *
+ * \sa operator||(), select()
+ */
+template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
+inline const CwiseBinaryOp<internal::scalar_boolean_and_op, const Derived, const OtherDerived>
+operator&&(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+ EIGEN_STATIC_ASSERT((internal::is_same<bool,Scalar>::value && internal::is_same<bool,typename OtherDerived::Scalar>::value),
+ THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_OF_BOOL);
+ return CwiseBinaryOp<internal::scalar_boolean_and_op, const Derived, const OtherDerived>(derived(),other.derived());
+}
+
+/** \returns an expression of the coefficient-wise boolean \b or operator of \c *this and \a other
+ *
+ * \warning this operator is for expression of bool only.
+ *
+ * Example: \include Cwise_boolean_or.cpp
+ * Output: \verbinclude Cwise_boolean_or.out
+ *
+ * \sa operator&&(), select()
+ */
+template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
+inline const CwiseBinaryOp<internal::scalar_boolean_or_op, const Derived, const OtherDerived>
+operator||(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+ EIGEN_STATIC_ASSERT((internal::is_same<bool,Scalar>::value && internal::is_same<bool,typename OtherDerived::Scalar>::value),
+ THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_OF_BOOL);
+ return CwiseBinaryOp<internal::scalar_boolean_or_op, const Derived, const OtherDerived>(derived(),other.derived());
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/plugins/CommonCwiseUnaryOps.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/plugins/CommonCwiseUnaryOps.h
new file mode 100644
index 0000000..89f4faa
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/plugins/CommonCwiseUnaryOps.h
@@ -0,0 +1,163 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+// This file is a base class plugin containing common coefficient wise functions.
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+
+/** \internal the return type of conjugate() */
+typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
+ const CwiseUnaryOp<internal::scalar_conjugate_op<Scalar>, const Derived>,
+ const Derived&
+ >::type ConjugateReturnType;
+/** \internal the return type of real() const */
+typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
+ const CwiseUnaryOp<internal::scalar_real_op<Scalar>, const Derived>,
+ const Derived&
+ >::type RealReturnType;
+/** \internal the return type of real() */
+typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
+ CwiseUnaryView<internal::scalar_real_ref_op<Scalar>, Derived>,
+ Derived&
+ >::type NonConstRealReturnType;
+/** \internal the return type of imag() const */
+typedef CwiseUnaryOp<internal::scalar_imag_op<Scalar>, const Derived> ImagReturnType;
+/** \internal the return type of imag() */
+typedef CwiseUnaryView<internal::scalar_imag_ref_op<Scalar>, Derived> NonConstImagReturnType;
+
+typedef CwiseUnaryOp<internal::scalar_opposite_op<Scalar>, const Derived> NegativeReturnType;
+
+#endif // not EIGEN_PARSED_BY_DOXYGEN
+
+/// \returns an expression of the opposite of \c *this
+///
+EIGEN_DOC_UNARY_ADDONS(operator-,opposite)
+///
+EIGEN_DEVICE_FUNC
+inline const NegativeReturnType
+operator-() const { return NegativeReturnType(derived()); }
+
+
+template<class NewType> struct CastXpr { typedef typename internal::cast_return_type<Derived,const CwiseUnaryOp<internal::scalar_cast_op<Scalar, NewType>, const Derived> >::type Type; };
+
+/// \returns an expression of \c *this with the \a Scalar type casted to
+/// \a NewScalar.
+///
+/// The template parameter \a NewScalar is the type we are casting the scalars to.
+///
+EIGEN_DOC_UNARY_ADDONS(cast,conversion function)
+///
+/// \sa class CwiseUnaryOp
+///
+template<typename NewType>
+EIGEN_DEVICE_FUNC
+typename CastXpr<NewType>::Type
+cast() const
+{
+ return typename CastXpr<NewType>::Type(derived());
+}
+
+/// \returns an expression of the complex conjugate of \c *this.
+///
+EIGEN_DOC_UNARY_ADDONS(conjugate,complex conjugate)
+///
+/// \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_conj">Math functions</a>, MatrixBase::adjoint()
+EIGEN_DEVICE_FUNC
+inline ConjugateReturnType
+conjugate() const
+{
+ return ConjugateReturnType(derived());
+}
+
+/// \returns a read-only expression of the real part of \c *this.
+///
+EIGEN_DOC_UNARY_ADDONS(real,real part function)
+///
+/// \sa imag()
+EIGEN_DEVICE_FUNC
+inline RealReturnType
+real() const { return RealReturnType(derived()); }
+
+/// \returns an read-only expression of the imaginary part of \c *this.
+///
+EIGEN_DOC_UNARY_ADDONS(imag,imaginary part function)
+///
+/// \sa real()
+EIGEN_DEVICE_FUNC
+inline const ImagReturnType
+imag() const { return ImagReturnType(derived()); }
+
+/// \brief Apply a unary operator coefficient-wise
+/// \param[in] func Functor implementing the unary operator
+/// \tparam CustomUnaryOp Type of \a func
+/// \returns An expression of a custom coefficient-wise unary operator \a func of *this
+///
+/// The function \c ptr_fun() from the C++ standard library can be used to make functors out of normal functions.
+///
+/// Example:
+/// \include class_CwiseUnaryOp_ptrfun.cpp
+/// Output: \verbinclude class_CwiseUnaryOp_ptrfun.out
+///
+/// Genuine functors allow for more possibilities, for instance it may contain a state.
+///
+/// Example:
+/// \include class_CwiseUnaryOp.cpp
+/// Output: \verbinclude class_CwiseUnaryOp.out
+///
+EIGEN_DOC_UNARY_ADDONS(unaryExpr,unary function)
+///
+/// \sa unaryViewExpr, binaryExpr, class CwiseUnaryOp
+///
+template<typename CustomUnaryOp>
+EIGEN_DEVICE_FUNC
+inline const CwiseUnaryOp<CustomUnaryOp, const Derived>
+unaryExpr(const CustomUnaryOp& func = CustomUnaryOp()) const
+{
+ return CwiseUnaryOp<CustomUnaryOp, const Derived>(derived(), func);
+}
+
+/// \returns an expression of a custom coefficient-wise unary operator \a func of *this
+///
+/// The template parameter \a CustomUnaryOp is the type of the functor
+/// of the custom unary operator.
+///
+/// Example:
+/// \include class_CwiseUnaryOp.cpp
+/// Output: \verbinclude class_CwiseUnaryOp.out
+///
+EIGEN_DOC_UNARY_ADDONS(unaryViewExpr,unary function)
+///
+/// \sa unaryExpr, binaryExpr class CwiseUnaryOp
+///
+template<typename CustomViewOp>
+EIGEN_DEVICE_FUNC
+inline const CwiseUnaryView<CustomViewOp, const Derived>
+unaryViewExpr(const CustomViewOp& func = CustomViewOp()) const
+{
+ return CwiseUnaryView<CustomViewOp, const Derived>(derived(), func);
+}
+
+/// \returns a non const expression of the real part of \c *this.
+///
+EIGEN_DOC_UNARY_ADDONS(real,real part function)
+///
+/// \sa imag()
+EIGEN_DEVICE_FUNC
+inline NonConstRealReturnType
+real() { return NonConstRealReturnType(derived()); }
+
+/// \returns a non const expression of the imaginary part of \c *this.
+///
+EIGEN_DOC_UNARY_ADDONS(imag,imaginary part function)
+///
+/// \sa real()
+EIGEN_DEVICE_FUNC
+inline NonConstImagReturnType
+imag() { return NonConstImagReturnType(derived()); }
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/plugins/MatrixCwiseBinaryOps.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/plugins/MatrixCwiseBinaryOps.h
new file mode 100644
index 0000000..f1084ab
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/plugins/MatrixCwiseBinaryOps.h
@@ -0,0 +1,152 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+// This file is a base class plugin containing matrix specifics coefficient wise functions.
+
+/** \returns an expression of the Schur product (coefficient wise product) of *this and \a other
+ *
+ * Example: \include MatrixBase_cwiseProduct.cpp
+ * Output: \verbinclude MatrixBase_cwiseProduct.out
+ *
+ * \sa class CwiseBinaryOp, cwiseAbs2
+ */
+template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const EIGEN_CWISE_BINARY_RETURN_TYPE(Derived,OtherDerived,product)
+cwiseProduct(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+ return EIGEN_CWISE_BINARY_RETURN_TYPE(Derived,OtherDerived,product)(derived(), other.derived());
+}
+
+/** \returns an expression of the coefficient-wise == operator of *this and \a other
+ *
+ * \warning this performs an exact comparison, which is generally a bad idea with floating-point types.
+ * In order to check for equality between two vectors or matrices with floating-point coefficients, it is
+ * generally a far better idea to use a fuzzy comparison as provided by isApprox() and
+ * isMuchSmallerThan().
+ *
+ * Example: \include MatrixBase_cwiseEqual.cpp
+ * Output: \verbinclude MatrixBase_cwiseEqual.out
+ *
+ * \sa cwiseNotEqual(), isApprox(), isMuchSmallerThan()
+ */
+template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
+inline const CwiseBinaryOp<std::equal_to<Scalar>, const Derived, const OtherDerived>
+cwiseEqual(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+ return CwiseBinaryOp<std::equal_to<Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
+}
+
+/** \returns an expression of the coefficient-wise != operator of *this and \a other
+ *
+ * \warning this performs an exact comparison, which is generally a bad idea with floating-point types.
+ * In order to check for equality between two vectors or matrices with floating-point coefficients, it is
+ * generally a far better idea to use a fuzzy comparison as provided by isApprox() and
+ * isMuchSmallerThan().
+ *
+ * Example: \include MatrixBase_cwiseNotEqual.cpp
+ * Output: \verbinclude MatrixBase_cwiseNotEqual.out
+ *
+ * \sa cwiseEqual(), isApprox(), isMuchSmallerThan()
+ */
+template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
+inline const CwiseBinaryOp<std::not_equal_to<Scalar>, const Derived, const OtherDerived>
+cwiseNotEqual(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+ return CwiseBinaryOp<std::not_equal_to<Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
+}
+
+/** \returns an expression of the coefficient-wise min of *this and \a other
+ *
+ * Example: \include MatrixBase_cwiseMin.cpp
+ * Output: \verbinclude MatrixBase_cwiseMin.out
+ *
+ * \sa class CwiseBinaryOp, max()
+ */
+template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_min_op<Scalar,Scalar>, const Derived, const OtherDerived>
+cwiseMin(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+ return CwiseBinaryOp<internal::scalar_min_op<Scalar,Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
+}
+
+/** \returns an expression of the coefficient-wise min of *this and scalar \a other
+ *
+ * \sa class CwiseBinaryOp, min()
+ */
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_min_op<Scalar,Scalar>, const Derived, const ConstantReturnType>
+cwiseMin(const Scalar &other) const
+{
+ return cwiseMin(Derived::Constant(rows(), cols(), other));
+}
+
+/** \returns an expression of the coefficient-wise max of *this and \a other
+ *
+ * Example: \include MatrixBase_cwiseMax.cpp
+ * Output: \verbinclude MatrixBase_cwiseMax.out
+ *
+ * \sa class CwiseBinaryOp, min()
+ */
+template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_max_op<Scalar,Scalar>, const Derived, const OtherDerived>
+cwiseMax(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+ return CwiseBinaryOp<internal::scalar_max_op<Scalar,Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
+}
+
+/** \returns an expression of the coefficient-wise max of *this and scalar \a other
+ *
+ * \sa class CwiseBinaryOp, min()
+ */
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_max_op<Scalar,Scalar>, const Derived, const ConstantReturnType>
+cwiseMax(const Scalar &other) const
+{
+ return cwiseMax(Derived::Constant(rows(), cols(), other));
+}
+
+
+/** \returns an expression of the coefficient-wise quotient of *this and \a other
+ *
+ * Example: \include MatrixBase_cwiseQuotient.cpp
+ * Output: \verbinclude MatrixBase_cwiseQuotient.out
+ *
+ * \sa class CwiseBinaryOp, cwiseProduct(), cwiseInverse()
+ */
+template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_quotient_op<Scalar>, const Derived, const OtherDerived>
+cwiseQuotient(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+ return CwiseBinaryOp<internal::scalar_quotient_op<Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
+}
+
+typedef CwiseBinaryOp<internal::scalar_cmp_op<Scalar,Scalar,internal::cmp_EQ>, const Derived, const ConstantReturnType> CwiseScalarEqualReturnType;
+
+/** \returns an expression of the coefficient-wise == operator of \c *this and a scalar \a s
+ *
+ * \warning this performs an exact comparison, which is generally a bad idea with floating-point types.
+ * In order to check for equality between two vectors or matrices with floating-point coefficients, it is
+ * generally a far better idea to use a fuzzy comparison as provided by isApprox() and
+ * isMuchSmallerThan().
+ *
+ * \sa cwiseEqual(const MatrixBase<OtherDerived> &) const
+ */
+EIGEN_DEVICE_FUNC
+inline const CwiseScalarEqualReturnType
+cwiseEqual(const Scalar& s) const
+{
+ return CwiseScalarEqualReturnType(derived(), Derived::Constant(rows(), cols(), s), internal::scalar_cmp_op<Scalar,Scalar,internal::cmp_EQ>());
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/plugins/MatrixCwiseUnaryOps.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/plugins/MatrixCwiseUnaryOps.h
new file mode 100644
index 0000000..b1be3d5
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/Eigen/src/plugins/MatrixCwiseUnaryOps.h
@@ -0,0 +1,85 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+// This file is included into the body of the base classes supporting matrix specific coefficient-wise functions.
+// This include MatrixBase and SparseMatrixBase.
+
+
+typedef CwiseUnaryOp<internal::scalar_abs_op<Scalar>, const Derived> CwiseAbsReturnType;
+typedef CwiseUnaryOp<internal::scalar_abs2_op<Scalar>, const Derived> CwiseAbs2ReturnType;
+typedef CwiseUnaryOp<internal::scalar_sqrt_op<Scalar>, const Derived> CwiseSqrtReturnType;
+typedef CwiseUnaryOp<internal::scalar_sign_op<Scalar>, const Derived> CwiseSignReturnType;
+typedef CwiseUnaryOp<internal::scalar_inverse_op<Scalar>, const Derived> CwiseInverseReturnType;
+
+/// \returns an expression of the coefficient-wise absolute value of \c *this
+///
+/// Example: \include MatrixBase_cwiseAbs.cpp
+/// Output: \verbinclude MatrixBase_cwiseAbs.out
+///
+EIGEN_DOC_UNARY_ADDONS(cwiseAbs,absolute value)
+///
+/// \sa cwiseAbs2()
+///
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseAbsReturnType
+cwiseAbs() const { return CwiseAbsReturnType(derived()); }
+
+/// \returns an expression of the coefficient-wise squared absolute value of \c *this
+///
+/// Example: \include MatrixBase_cwiseAbs2.cpp
+/// Output: \verbinclude MatrixBase_cwiseAbs2.out
+///
+EIGEN_DOC_UNARY_ADDONS(cwiseAbs2,squared absolute value)
+///
+/// \sa cwiseAbs()
+///
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseAbs2ReturnType
+cwiseAbs2() const { return CwiseAbs2ReturnType(derived()); }
+
+/// \returns an expression of the coefficient-wise square root of *this.
+///
+/// Example: \include MatrixBase_cwiseSqrt.cpp
+/// Output: \verbinclude MatrixBase_cwiseSqrt.out
+///
+EIGEN_DOC_UNARY_ADDONS(cwiseSqrt,square-root)
+///
+/// \sa cwisePow(), cwiseSquare()
+///
+EIGEN_DEVICE_FUNC
+inline const CwiseSqrtReturnType
+cwiseSqrt() const { return CwiseSqrtReturnType(derived()); }
+
+/// \returns an expression of the coefficient-wise signum of *this.
+///
+/// Example: \include MatrixBase_cwiseSign.cpp
+/// Output: \verbinclude MatrixBase_cwiseSign.out
+///
+EIGEN_DOC_UNARY_ADDONS(cwiseSign,sign function)
+///
+EIGEN_DEVICE_FUNC
+inline const CwiseSignReturnType
+cwiseSign() const { return CwiseSignReturnType(derived()); }
+
+
+/// \returns an expression of the coefficient-wise inverse of *this.
+///
+/// Example: \include MatrixBase_cwiseInverse.cpp
+/// Output: \verbinclude MatrixBase_cwiseInverse.out
+///
+EIGEN_DOC_UNARY_ADDONS(cwiseInverse,inverse)
+///
+/// \sa cwiseProduct()
+///
+EIGEN_DEVICE_FUNC
+inline const CwiseInverseReturnType
+cwiseInverse() const { return CwiseInverseReturnType(derived()); }
+
+
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/unsupported/Eigen/MatrixFunctions b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/unsupported/Eigen/MatrixFunctions
new file mode 100644
index 0000000..60dc0a6
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/unsupported/Eigen/MatrixFunctions
@@ -0,0 +1,500 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Jitse Niesen <jitse@maths.leeds.ac.uk>
+// Copyright (C) 2012 Chen-Pang He <jdh8@ms63.hinet.net>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_MATRIX_FUNCTIONS
+#define EIGEN_MATRIX_FUNCTIONS
+
+#include <cfloat>
+#include <list>
+
+#include <Eigen/Core>
+#include <Eigen/LU>
+#include <Eigen/Eigenvalues>
+
+/**
+ * \defgroup MatrixFunctions_Module Matrix functions module
+ * \brief This module aims to provide various methods for the computation of
+ * matrix functions.
+ *
+ * To use this module, add
+ * \code
+ * #include <unsupported/Eigen/MatrixFunctions>
+ * \endcode
+ * at the start of your source file.
+ *
+ * This module defines the following MatrixBase methods.
+ * - \ref matrixbase_cos "MatrixBase::cos()", for computing the matrix cosine
+ * - \ref matrixbase_cosh "MatrixBase::cosh()", for computing the matrix hyperbolic cosine
+ * - \ref matrixbase_exp "MatrixBase::exp()", for computing the matrix exponential
+ * - \ref matrixbase_log "MatrixBase::log()", for computing the matrix logarithm
+ * - \ref matrixbase_pow "MatrixBase::pow()", for computing the matrix power
+ * - \ref matrixbase_matrixfunction "MatrixBase::matrixFunction()", for computing general matrix functions
+ * - \ref matrixbase_sin "MatrixBase::sin()", for computing the matrix sine
+ * - \ref matrixbase_sinh "MatrixBase::sinh()", for computing the matrix hyperbolic sine
+ * - \ref matrixbase_sqrt "MatrixBase::sqrt()", for computing the matrix square root
+ *
+ * These methods are the main entry points to this module.
+ *
+ * %Matrix functions are defined as follows. Suppose that \f$ f \f$
+ * is an entire function (that is, a function on the complex plane
+ * that is everywhere complex differentiable). Then its Taylor
+ * series
+ * \f[ f(0) + f'(0) x + \frac{f''(0)}{2} x^2 + \frac{f'''(0)}{3!} x^3 + \cdots \f]
+ * converges to \f$ f(x) \f$. In this case, we can define the matrix
+ * function by the same series:
+ * \f[ f(M) = f(0) + f'(0) M + \frac{f''(0)}{2} M^2 + \frac{f'''(0)}{3!} M^3 + \cdots \f]
+ *
+ */
+
+#include "src/MatrixFunctions/MatrixExponential.h"
+#include "src/MatrixFunctions/MatrixFunction.h"
+#include "src/MatrixFunctions/MatrixSquareRoot.h"
+#include "src/MatrixFunctions/MatrixLogarithm.h"
+#include "src/MatrixFunctions/MatrixPower.h"
+
+
+/**
+\page matrixbaseextra_page
+\ingroup MatrixFunctions_Module
+
+\section matrixbaseextra MatrixBase methods defined in the MatrixFunctions module
+
+The remainder of the page documents the following MatrixBase methods
+which are defined in the MatrixFunctions module.
+
+
+
+\subsection matrixbase_cos MatrixBase::cos()
+
+Compute the matrix cosine.
+
+\code
+const MatrixFunctionReturnValue<Derived> MatrixBase<Derived>::cos() const
+\endcode
+
+\param[in] M a square matrix.
+\returns expression representing \f$ \cos(M) \f$.
+
+This function computes the matrix cosine. Use ArrayBase::cos() for computing the entry-wise cosine.
+
+The implementation calls \ref matrixbase_matrixfunction "matrixFunction()" with StdStemFunctions::cos().
+
+\sa \ref matrixbase_sin "sin()" for an example.
+
+
+
+\subsection matrixbase_cosh MatrixBase::cosh()
+
+Compute the matrix hyberbolic cosine.
+
+\code
+const MatrixFunctionReturnValue<Derived> MatrixBase<Derived>::cosh() const
+\endcode
+
+\param[in] M a square matrix.
+\returns expression representing \f$ \cosh(M) \f$
+
+This function calls \ref matrixbase_matrixfunction "matrixFunction()" with StdStemFunctions::cosh().
+
+\sa \ref matrixbase_sinh "sinh()" for an example.
+
+
+
+\subsection matrixbase_exp MatrixBase::exp()
+
+Compute the matrix exponential.
+
+\code
+const MatrixExponentialReturnValue<Derived> MatrixBase<Derived>::exp() const
+\endcode
+
+\param[in] M matrix whose exponential is to be computed.
+\returns expression representing the matrix exponential of \p M.
+
+The matrix exponential of \f$ M \f$ is defined by
+\f[ \exp(M) = \sum_{k=0}^\infty \frac{M^k}{k!}. \f]
+The matrix exponential can be used to solve linear ordinary
+differential equations: the solution of \f$ y' = My \f$ with the
+initial condition \f$ y(0) = y_0 \f$ is given by
+\f$ y(t) = \exp(M) y_0 \f$.
+
+The matrix exponential is different from applying the exp function to all the entries in the matrix.
+Use ArrayBase::exp() if you want to do the latter.
+
+The cost of the computation is approximately \f$ 20 n^3 \f$ for
+matrices of size \f$ n \f$. The number 20 depends weakly on the
+norm of the matrix.
+
+The matrix exponential is computed using the scaling-and-squaring
+method combined with Padé approximation. The matrix is first
+rescaled, then the exponential of the reduced matrix is computed
+approximant, and then the rescaling is undone by repeated
+squaring. The degree of the Padé approximant is chosen such
+that the approximation error is less than the round-off
+error. However, errors may accumulate during the squaring phase.
+
+Details of the algorithm can be found in: Nicholas J. Higham, "The
+scaling and squaring method for the matrix exponential revisited,"
+<em>SIAM J. %Matrix Anal. Applic.</em>, <b>26</b>:1179–1193,
+2005.
+
+Example: The following program checks that
+\f[ \exp \left[ \begin{array}{ccc}
+ 0 & \frac14\pi & 0 \\
+ -\frac14\pi & 0 & 0 \\
+ 0 & 0 & 0
+ \end{array} \right] = \left[ \begin{array}{ccc}
+ \frac12\sqrt2 & -\frac12\sqrt2 & 0 \\
+ \frac12\sqrt2 & \frac12\sqrt2 & 0 \\
+ 0 & 0 & 1
+ \end{array} \right]. \f]
+This corresponds to a rotation of \f$ \frac14\pi \f$ radians around
+the z-axis.
+
+\include MatrixExponential.cpp
+Output: \verbinclude MatrixExponential.out
+
+\note \p M has to be a matrix of \c float, \c double, `long double`
+\c complex<float>, \c complex<double>, or `complex<long double>` .
+
+
+\subsection matrixbase_log MatrixBase::log()
+
+Compute the matrix logarithm.
+
+\code
+const MatrixLogarithmReturnValue<Derived> MatrixBase<Derived>::log() const
+\endcode
+
+\param[in] M invertible matrix whose logarithm is to be computed.
+\returns expression representing the matrix logarithm root of \p M.
+
+The matrix logarithm of \f$ M \f$ is a matrix \f$ X \f$ such that
+\f$ \exp(X) = M \f$ where exp denotes the matrix exponential. As for
+the scalar logarithm, the equation \f$ \exp(X) = M \f$ may have
+multiple solutions; this function returns a matrix whose eigenvalues
+have imaginary part in the interval \f$ (-\pi,\pi] \f$.
+
+The matrix logarithm is different from applying the log function to all the entries in the matrix.
+Use ArrayBase::log() if you want to do the latter.
+
+In the real case, the matrix \f$ M \f$ should be invertible and
+it should have no eigenvalues which are real and negative (pairs of
+complex conjugate eigenvalues are allowed). In the complex case, it
+only needs to be invertible.
+
+This function computes the matrix logarithm using the Schur-Parlett
+algorithm as implemented by MatrixBase::matrixFunction(). The
+logarithm of an atomic block is computed by MatrixLogarithmAtomic,
+which uses direct computation for 1-by-1 and 2-by-2 blocks and an
+inverse scaling-and-squaring algorithm for bigger blocks, with the
+square roots computed by MatrixBase::sqrt().
+
+Details of the algorithm can be found in Section 11.6.2 of:
+Nicholas J. Higham,
+<em>Functions of Matrices: Theory and Computation</em>,
+SIAM 2008. ISBN 978-0-898716-46-7.
+
+Example: The following program checks that
+\f[ \log \left[ \begin{array}{ccc}
+ \frac12\sqrt2 & -\frac12\sqrt2 & 0 \\
+ \frac12\sqrt2 & \frac12\sqrt2 & 0 \\
+ 0 & 0 & 1
+ \end{array} \right] = \left[ \begin{array}{ccc}
+ 0 & \frac14\pi & 0 \\
+ -\frac14\pi & 0 & 0 \\
+ 0 & 0 & 0
+ \end{array} \right]. \f]
+This corresponds to a rotation of \f$ \frac14\pi \f$ radians around
+the z-axis. This is the inverse of the example used in the
+documentation of \ref matrixbase_exp "exp()".
+
+\include MatrixLogarithm.cpp
+Output: \verbinclude MatrixLogarithm.out
+
+\note \p M has to be a matrix of \c float, \c double, `long
+double`, \c complex<float>, \c complex<double>, or `complex<long double>`.
+
+\sa MatrixBase::exp(), MatrixBase::matrixFunction(),
+ class MatrixLogarithmAtomic, MatrixBase::sqrt().
+
+
+\subsection matrixbase_pow MatrixBase::pow()
+
+Compute the matrix raised to arbitrary real power.
+
+\code
+const MatrixPowerReturnValue<Derived> MatrixBase<Derived>::pow(RealScalar p) const
+\endcode
+
+\param[in] M base of the matrix power, should be a square matrix.
+\param[in] p exponent of the matrix power.
+
+The matrix power \f$ M^p \f$ is defined as \f$ \exp(p \log(M)) \f$,
+where exp denotes the matrix exponential, and log denotes the matrix
+logarithm. This is different from raising all the entries in the matrix
+to the p-th power. Use ArrayBase::pow() if you want to do the latter.
+
+If \p p is complex, the scalar type of \p M should be the type of \p
+p . \f$ M^p \f$ simply evaluates into \f$ \exp(p \log(M)) \f$.
+Therefore, the matrix \f$ M \f$ should meet the conditions to be an
+argument of matrix logarithm.
+
+If \p p is real, it is casted into the real scalar type of \p M. Then
+this function computes the matrix power using the Schur-Padé
+algorithm as implemented by class MatrixPower. The exponent is split
+into integral part and fractional part, where the fractional part is
+in the interval \f$ (-1, 1) \f$. The main diagonal and the first
+super-diagonal is directly computed.
+
+If \p M is singular with a semisimple zero eigenvalue and \p p is
+positive, the Schur factor \f$ T \f$ is reordered with Givens
+rotations, i.e.
+
+\f[ T = \left[ \begin{array}{cc}
+ T_1 & T_2 \\
+ 0 & 0
+ \end{array} \right] \f]
+
+where \f$ T_1 \f$ is invertible. Then \f$ T^p \f$ is given by
+
+\f[ T^p = \left[ \begin{array}{cc}
+ T_1^p & T_1^{-1} T_1^p T_2 \\
+ 0 & 0
+ \end{array}. \right] \f]
+
+\warning Fractional power of a matrix with a non-semisimple zero
+eigenvalue is not well-defined. We introduce an assertion failure
+against inaccurate result, e.g. \code
+#include <unsupported/Eigen/MatrixFunctions>
+#include <iostream>
+
+int main()
+{
+ Eigen::Matrix4d A;
+ A << 0, 0, 2, 3,
+ 0, 0, 4, 5,
+ 0, 0, 6, 7,
+ 0, 0, 8, 9;
+ std::cout << A.pow(0.37) << std::endl;
+
+ // The 1 makes eigenvalue 0 non-semisimple.
+ A.coeffRef(0, 1) = 1;
+
+ // This fails if EIGEN_NO_DEBUG is undefined.
+ std::cout << A.pow(0.37) << std::endl;
+
+ return 0;
+}
+\endcode
+
+Details of the algorithm can be found in: Nicholas J. Higham and
+Lijing Lin, "A Schur-Padé algorithm for fractional powers of a
+matrix," <em>SIAM J. %Matrix Anal. Applic.</em>,
+<b>32(3)</b>:1056–1078, 2011.
+
+Example: The following program checks that
+\f[ \left[ \begin{array}{ccc}
+ \cos1 & -\sin1 & 0 \\
+ \sin1 & \cos1 & 0 \\
+ 0 & 0 & 1
+ \end{array} \right]^{\frac14\pi} = \left[ \begin{array}{ccc}
+ \frac12\sqrt2 & -\frac12\sqrt2 & 0 \\
+ \frac12\sqrt2 & \frac12\sqrt2 & 0 \\
+ 0 & 0 & 1
+ \end{array} \right]. \f]
+This corresponds to \f$ \frac14\pi \f$ rotations of 1 radian around
+the z-axis.
+
+\include MatrixPower.cpp
+Output: \verbinclude MatrixPower.out
+
+MatrixBase::pow() is user-friendly. However, there are some
+circumstances under which you should use class MatrixPower directly.
+MatrixPower can save the result of Schur decomposition, so it's
+better for computing various powers for the same matrix.
+
+Example:
+\include MatrixPower_optimal.cpp
+Output: \verbinclude MatrixPower_optimal.out
+
+\note \p M has to be a matrix of \c float, \c double, `long
+double`, \c complex<float>, \c complex<double>, or
+\c complex<long double> .
+
+\sa MatrixBase::exp(), MatrixBase::log(), class MatrixPower.
+
+
+\subsection matrixbase_matrixfunction MatrixBase::matrixFunction()
+
+Compute a matrix function.
+
+\code
+const MatrixFunctionReturnValue<Derived> MatrixBase<Derived>::matrixFunction(typename internal::stem_function<typename internal::traits<Derived>::Scalar>::type f) const
+\endcode
+
+\param[in] M argument of matrix function, should be a square matrix.
+\param[in] f an entire function; \c f(x,n) should compute the n-th
+derivative of f at x.
+\returns expression representing \p f applied to \p M.
+
+Suppose that \p M is a matrix whose entries have type \c Scalar.
+Then, the second argument, \p f, should be a function with prototype
+\code
+ComplexScalar f(ComplexScalar, int)
+\endcode
+where \c ComplexScalar = \c std::complex<Scalar> if \c Scalar is
+real (e.g., \c float or \c double) and \c ComplexScalar =
+\c Scalar if \c Scalar is complex. The return value of \c f(x,n)
+should be \f$ f^{(n)}(x) \f$, the n-th derivative of f at x.
+
+This routine uses the algorithm described in:
+Philip Davies and Nicholas J. Higham,
+"A Schur-Parlett algorithm for computing matrix functions",
+<em>SIAM J. %Matrix Anal. Applic.</em>, <b>25</b>:464–485, 2003.
+
+The actual work is done by the MatrixFunction class.
+
+Example: The following program checks that
+\f[ \exp \left[ \begin{array}{ccc}
+ 0 & \frac14\pi & 0 \\
+ -\frac14\pi & 0 & 0 \\
+ 0 & 0 & 0
+ \end{array} \right] = \left[ \begin{array}{ccc}
+ \frac12\sqrt2 & -\frac12\sqrt2 & 0 \\
+ \frac12\sqrt2 & \frac12\sqrt2 & 0 \\
+ 0 & 0 & 1
+ \end{array} \right]. \f]
+This corresponds to a rotation of \f$ \frac14\pi \f$ radians around
+the z-axis. This is the same example as used in the documentation
+of \ref matrixbase_exp "exp()".
+
+\include MatrixFunction.cpp
+Output: \verbinclude MatrixFunction.out
+
+Note that the function \c expfn is defined for complex numbers
+\c x, even though the matrix \c A is over the reals. Instead of
+\c expfn, we could also have used StdStemFunctions::exp:
+\code
+A.matrixFunction(StdStemFunctions<std::complex<double> >::exp, &B);
+\endcode
+
+
+
+\subsection matrixbase_sin MatrixBase::sin()
+
+Compute the matrix sine.
+
+\code
+const MatrixFunctionReturnValue<Derived> MatrixBase<Derived>::sin() const
+\endcode
+
+\param[in] M a square matrix.
+\returns expression representing \f$ \sin(M) \f$.
+
+This function computes the matrix sine. Use ArrayBase::sin() for computing the entry-wise sine.
+
+The implementation calls \ref matrixbase_matrixfunction "matrixFunction()" with StdStemFunctions::sin().
+
+Example: \include MatrixSine.cpp
+Output: \verbinclude MatrixSine.out
+
+
+
+\subsection matrixbase_sinh MatrixBase::sinh()
+
+Compute the matrix hyperbolic sine.
+
+\code
+MatrixFunctionReturnValue<Derived> MatrixBase<Derived>::sinh() const
+\endcode
+
+\param[in] M a square matrix.
+\returns expression representing \f$ \sinh(M) \f$
+
+This function calls \ref matrixbase_matrixfunction "matrixFunction()" with StdStemFunctions::sinh().
+
+Example: \include MatrixSinh.cpp
+Output: \verbinclude MatrixSinh.out
+
+
+\subsection matrixbase_sqrt MatrixBase::sqrt()
+
+Compute the matrix square root.
+
+\code
+const MatrixSquareRootReturnValue<Derived> MatrixBase<Derived>::sqrt() const
+\endcode
+
+\param[in] M invertible matrix whose square root is to be computed.
+\returns expression representing the matrix square root of \p M.
+
+The matrix square root of \f$ M \f$ is the matrix \f$ M^{1/2} \f$
+whose square is the original matrix; so if \f$ S = M^{1/2} \f$ then
+\f$ S^2 = M \f$. This is different from taking the square root of all
+the entries in the matrix; use ArrayBase::sqrt() if you want to do the
+latter.
+
+In the <b>real case</b>, the matrix \f$ M \f$ should be invertible and
+it should have no eigenvalues which are real and negative (pairs of
+complex conjugate eigenvalues are allowed). In that case, the matrix
+has a square root which is also real, and this is the square root
+computed by this function.
+
+The matrix square root is computed by first reducing the matrix to
+quasi-triangular form with the real Schur decomposition. The square
+root of the quasi-triangular matrix can then be computed directly. The
+cost is approximately \f$ 25 n^3 \f$ real flops for the real Schur
+decomposition and \f$ 3\frac13 n^3 \f$ real flops for the remainder
+(though the computation time in practice is likely more than this
+indicates).
+
+Details of the algorithm can be found in: Nicholas J. Highan,
+"Computing real square roots of a real matrix", <em>Linear Algebra
+Appl.</em>, 88/89:405–430, 1987.
+
+If the matrix is <b>positive-definite symmetric</b>, then the square
+root is also positive-definite symmetric. In this case, it is best to
+use SelfAdjointEigenSolver::operatorSqrt() to compute it.
+
+In the <b>complex case</b>, the matrix \f$ M \f$ should be invertible;
+this is a restriction of the algorithm. The square root computed by
+this algorithm is the one whose eigenvalues have an argument in the
+interval \f$ (-\frac12\pi, \frac12\pi] \f$. This is the usual branch
+cut.
+
+The computation is the same as in the real case, except that the
+complex Schur decomposition is used to reduce the matrix to a
+triangular matrix. The theoretical cost is the same. Details are in:
+Åke Björck and Sven Hammarling, "A Schur method for the
+square root of a matrix", <em>Linear Algebra Appl.</em>,
+52/53:127–140, 1983.
+
+Example: The following program checks that the square root of
+\f[ \left[ \begin{array}{cc}
+ \cos(\frac13\pi) & -\sin(\frac13\pi) \\
+ \sin(\frac13\pi) & \cos(\frac13\pi)
+ \end{array} \right], \f]
+corresponding to a rotation over 60 degrees, is a rotation over 30 degrees:
+\f[ \left[ \begin{array}{cc}
+ \cos(\frac16\pi) & -\sin(\frac16\pi) \\
+ \sin(\frac16\pi) & \cos(\frac16\pi)
+ \end{array} \right]. \f]
+
+\include MatrixSquareRoot.cpp
+Output: \verbinclude MatrixSquareRoot.out
+
+\sa class RealSchur, class ComplexSchur, class MatrixSquareRoot,
+ SelfAdjointEigenSolver::operatorSqrt().
+
+*/
+
+#endif // EIGEN_MATRIX_FUNCTIONS
+
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h
new file mode 100644
index 0000000..e5ebbcf
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h
@@ -0,0 +1,442 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009, 2010, 2013 Jitse Niesen <jitse@maths.leeds.ac.uk>
+// Copyright (C) 2011, 2013 Chen-Pang He <jdh8@ms63.hinet.net>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_MATRIX_EXPONENTIAL
+#define EIGEN_MATRIX_EXPONENTIAL
+
+#include "StemFunction.h"
+
+namespace Eigen {
+namespace internal {
+
+/** \brief Scaling operator.
+ *
+ * This struct is used by CwiseUnaryOp to scale a matrix by \f$ 2^{-s} \f$.
+ */
+template <typename RealScalar>
+struct MatrixExponentialScalingOp
+{
+ /** \brief Constructor.
+ *
+ * \param[in] squarings The integer \f$ s \f$ in this document.
+ */
+ MatrixExponentialScalingOp(int squarings) : m_squarings(squarings) { }
+
+
+ /** \brief Scale a matrix coefficient.
+ *
+ * \param[in,out] x The scalar to be scaled, becoming \f$ 2^{-s} x \f$.
+ */
+ inline const RealScalar operator() (const RealScalar& x) const
+ {
+ using std::ldexp;
+ return ldexp(x, -m_squarings);
+ }
+
+ typedef std::complex<RealScalar> ComplexScalar;
+
+ /** \brief Scale a matrix coefficient.
+ *
+ * \param[in,out] x The scalar to be scaled, becoming \f$ 2^{-s} x \f$.
+ */
+ inline const ComplexScalar operator() (const ComplexScalar& x) const
+ {
+ using std::ldexp;
+ return ComplexScalar(ldexp(x.real(), -m_squarings), ldexp(x.imag(), -m_squarings));
+ }
+
+ private:
+ int m_squarings;
+};
+
+/** \brief Compute the (3,3)-Padé approximant to the exponential.
+ *
+ * After exit, \f$ (V+U)(V-U)^{-1} \f$ is the Padé
+ * approximant of \f$ \exp(A) \f$ around \f$ A = 0 \f$.
+ */
+template <typename MatA, typename MatU, typename MatV>
+void matrix_exp_pade3(const MatA& A, MatU& U, MatV& V)
+{
+ typedef typename MatA::PlainObject MatrixType;
+ typedef typename NumTraits<typename traits<MatA>::Scalar>::Real RealScalar;
+ const RealScalar b[] = {120.L, 60.L, 12.L, 1.L};
+ const MatrixType A2 = A * A;
+ const MatrixType tmp = b[3] * A2 + b[1] * MatrixType::Identity(A.rows(), A.cols());
+ U.noalias() = A * tmp;
+ V = b[2] * A2 + b[0] * MatrixType::Identity(A.rows(), A.cols());
+}
+
+/** \brief Compute the (5,5)-Padé approximant to the exponential.
+ *
+ * After exit, \f$ (V+U)(V-U)^{-1} \f$ is the Padé
+ * approximant of \f$ \exp(A) \f$ around \f$ A = 0 \f$.
+ */
+template <typename MatA, typename MatU, typename MatV>
+void matrix_exp_pade5(const MatA& A, MatU& U, MatV& V)
+{
+ typedef typename MatA::PlainObject MatrixType;
+ typedef typename NumTraits<typename traits<MatrixType>::Scalar>::Real RealScalar;
+ const RealScalar b[] = {30240.L, 15120.L, 3360.L, 420.L, 30.L, 1.L};
+ const MatrixType A2 = A * A;
+ const MatrixType A4 = A2 * A2;
+ const MatrixType tmp = b[5] * A4 + b[3] * A2 + b[1] * MatrixType::Identity(A.rows(), A.cols());
+ U.noalias() = A * tmp;
+ V = b[4] * A4 + b[2] * A2 + b[0] * MatrixType::Identity(A.rows(), A.cols());
+}
+
+/** \brief Compute the (7,7)-Padé approximant to the exponential.
+ *
+ * After exit, \f$ (V+U)(V-U)^{-1} \f$ is the Padé
+ * approximant of \f$ \exp(A) \f$ around \f$ A = 0 \f$.
+ */
+template <typename MatA, typename MatU, typename MatV>
+void matrix_exp_pade7(const MatA& A, MatU& U, MatV& V)
+{
+ typedef typename MatA::PlainObject MatrixType;
+ typedef typename NumTraits<typename traits<MatrixType>::Scalar>::Real RealScalar;
+ const RealScalar b[] = {17297280.L, 8648640.L, 1995840.L, 277200.L, 25200.L, 1512.L, 56.L, 1.L};
+ const MatrixType A2 = A * A;
+ const MatrixType A4 = A2 * A2;
+ const MatrixType A6 = A4 * A2;
+ const MatrixType tmp = b[7] * A6 + b[5] * A4 + b[3] * A2
+ + b[1] * MatrixType::Identity(A.rows(), A.cols());
+ U.noalias() = A * tmp;
+ V = b[6] * A6 + b[4] * A4 + b[2] * A2 + b[0] * MatrixType::Identity(A.rows(), A.cols());
+
+}
+
+/** \brief Compute the (9,9)-Padé approximant to the exponential.
+ *
+ * After exit, \f$ (V+U)(V-U)^{-1} \f$ is the Padé
+ * approximant of \f$ \exp(A) \f$ around \f$ A = 0 \f$.
+ */
+template <typename MatA, typename MatU, typename MatV>
+void matrix_exp_pade9(const MatA& A, MatU& U, MatV& V)
+{
+ typedef typename MatA::PlainObject MatrixType;
+ typedef typename NumTraits<typename traits<MatrixType>::Scalar>::Real RealScalar;
+ const RealScalar b[] = {17643225600.L, 8821612800.L, 2075673600.L, 302702400.L, 30270240.L,
+ 2162160.L, 110880.L, 3960.L, 90.L, 1.L};
+ const MatrixType A2 = A * A;
+ const MatrixType A4 = A2 * A2;
+ const MatrixType A6 = A4 * A2;
+ const MatrixType A8 = A6 * A2;
+ const MatrixType tmp = b[9] * A8 + b[7] * A6 + b[5] * A4 + b[3] * A2
+ + b[1] * MatrixType::Identity(A.rows(), A.cols());
+ U.noalias() = A * tmp;
+ V = b[8] * A8 + b[6] * A6 + b[4] * A4 + b[2] * A2 + b[0] * MatrixType::Identity(A.rows(), A.cols());
+}
+
+/** \brief Compute the (13,13)-Padé approximant to the exponential.
+ *
+ * After exit, \f$ (V+U)(V-U)^{-1} \f$ is the Padé
+ * approximant of \f$ \exp(A) \f$ around \f$ A = 0 \f$.
+ */
+template <typename MatA, typename MatU, typename MatV>
+void matrix_exp_pade13(const MatA& A, MatU& U, MatV& V)
+{
+ typedef typename MatA::PlainObject MatrixType;
+ typedef typename NumTraits<typename traits<MatrixType>::Scalar>::Real RealScalar;
+ const RealScalar b[] = {64764752532480000.L, 32382376266240000.L, 7771770303897600.L,
+ 1187353796428800.L, 129060195264000.L, 10559470521600.L, 670442572800.L,
+ 33522128640.L, 1323241920.L, 40840800.L, 960960.L, 16380.L, 182.L, 1.L};
+ const MatrixType A2 = A * A;
+ const MatrixType A4 = A2 * A2;
+ const MatrixType A6 = A4 * A2;
+ V = b[13] * A6 + b[11] * A4 + b[9] * A2; // used for temporary storage
+ MatrixType tmp = A6 * V;
+ tmp += b[7] * A6 + b[5] * A4 + b[3] * A2 + b[1] * MatrixType::Identity(A.rows(), A.cols());
+ U.noalias() = A * tmp;
+ tmp = b[12] * A6 + b[10] * A4 + b[8] * A2;
+ V.noalias() = A6 * tmp;
+ V += b[6] * A6 + b[4] * A4 + b[2] * A2 + b[0] * MatrixType::Identity(A.rows(), A.cols());
+}
+
+/** \brief Compute the (17,17)-Padé approximant to the exponential.
+ *
+ * After exit, \f$ (V+U)(V-U)^{-1} \f$ is the Padé
+ * approximant of \f$ \exp(A) \f$ around \f$ A = 0 \f$.
+ *
+ * This function activates only if your long double is double-double or quadruple.
+ */
+#if LDBL_MANT_DIG > 64
+template <typename MatA, typename MatU, typename MatV>
+void matrix_exp_pade17(const MatA& A, MatU& U, MatV& V)
+{
+ typedef typename MatA::PlainObject MatrixType;
+ typedef typename NumTraits<typename traits<MatrixType>::Scalar>::Real RealScalar;
+ const RealScalar b[] = {830034394580628357120000.L, 415017197290314178560000.L,
+ 100610229646136770560000.L, 15720348382208870400000.L,
+ 1774878043152614400000.L, 153822763739893248000.L, 10608466464820224000.L,
+ 595373117923584000.L, 27563570274240000.L, 1060137318240000.L,
+ 33924394183680.L, 899510451840.L, 19554575040.L, 341863200.L, 4651200.L,
+ 46512.L, 306.L, 1.L};
+ const MatrixType A2 = A * A;
+ const MatrixType A4 = A2 * A2;
+ const MatrixType A6 = A4 * A2;
+ const MatrixType A8 = A4 * A4;
+ V = b[17] * A8 + b[15] * A6 + b[13] * A4 + b[11] * A2; // used for temporary storage
+ MatrixType tmp = A8 * V;
+ tmp += b[9] * A8 + b[7] * A6 + b[5] * A4 + b[3] * A2
+ + b[1] * MatrixType::Identity(A.rows(), A.cols());
+ U.noalias() = A * tmp;
+ tmp = b[16] * A8 + b[14] * A6 + b[12] * A4 + b[10] * A2;
+ V.noalias() = tmp * A8;
+ V += b[8] * A8 + b[6] * A6 + b[4] * A4 + b[2] * A2
+ + b[0] * MatrixType::Identity(A.rows(), A.cols());
+}
+#endif
+
+template <typename MatrixType, typename RealScalar = typename NumTraits<typename traits<MatrixType>::Scalar>::Real>
+struct matrix_exp_computeUV
+{
+ /** \brief Compute Padé approximant to the exponential.
+ *
+ * Computes \c U, \c V and \c squarings such that \f$ (V+U)(V-U)^{-1} \f$ is a Padé
+ * approximant of \f$ \exp(2^{-\mbox{squarings}}M) \f$ around \f$ M = 0 \f$, where \f$ M \f$
+ * denotes the matrix \c arg. The degree of the Padé approximant and the value of squarings
+ * are chosen such that the approximation error is no more than the round-off error.
+ */
+ static void run(const MatrixType& arg, MatrixType& U, MatrixType& V, int& squarings);
+};
+
+template <typename MatrixType>
+struct matrix_exp_computeUV<MatrixType, float>
+{
+ template <typename ArgType>
+ static void run(const ArgType& arg, MatrixType& U, MatrixType& V, int& squarings)
+ {
+ using std::frexp;
+ using std::pow;
+ const float l1norm = arg.cwiseAbs().colwise().sum().maxCoeff();
+ squarings = 0;
+ if (l1norm < 4.258730016922831e-001f) {
+ matrix_exp_pade3(arg, U, V);
+ } else if (l1norm < 1.880152677804762e+000f) {
+ matrix_exp_pade5(arg, U, V);
+ } else {
+ const float maxnorm = 3.925724783138660f;
+ frexp(l1norm / maxnorm, &squarings);
+ if (squarings < 0) squarings = 0;
+ MatrixType A = arg.unaryExpr(MatrixExponentialScalingOp<float>(squarings));
+ matrix_exp_pade7(A, U, V);
+ }
+ }
+};
+
+template <typename MatrixType>
+struct matrix_exp_computeUV<MatrixType, double>
+{
+ typedef typename NumTraits<typename traits<MatrixType>::Scalar>::Real RealScalar;
+ template <typename ArgType>
+ static void run(const ArgType& arg, MatrixType& U, MatrixType& V, int& squarings)
+ {
+ using std::frexp;
+ using std::pow;
+ const RealScalar l1norm = arg.cwiseAbs().colwise().sum().maxCoeff();
+ squarings = 0;
+ if (l1norm < 1.495585217958292e-002) {
+ matrix_exp_pade3(arg, U, V);
+ } else if (l1norm < 2.539398330063230e-001) {
+ matrix_exp_pade5(arg, U, V);
+ } else if (l1norm < 9.504178996162932e-001) {
+ matrix_exp_pade7(arg, U, V);
+ } else if (l1norm < 2.097847961257068e+000) {
+ matrix_exp_pade9(arg, U, V);
+ } else {
+ const RealScalar maxnorm = 5.371920351148152;
+ frexp(l1norm / maxnorm, &squarings);
+ if (squarings < 0) squarings = 0;
+ MatrixType A = arg.unaryExpr(MatrixExponentialScalingOp<RealScalar>(squarings));
+ matrix_exp_pade13(A, U, V);
+ }
+ }
+};
+
+template <typename MatrixType>
+struct matrix_exp_computeUV<MatrixType, long double>
+{
+ template <typename ArgType>
+ static void run(const ArgType& arg, MatrixType& U, MatrixType& V, int& squarings)
+ {
+#if LDBL_MANT_DIG == 53 // double precision
+ matrix_exp_computeUV<MatrixType, double>::run(arg, U, V, squarings);
+
+#else
+
+ using std::frexp;
+ using std::pow;
+ const long double l1norm = arg.cwiseAbs().colwise().sum().maxCoeff();
+ squarings = 0;
+
+#if LDBL_MANT_DIG <= 64 // extended precision
+
+ if (l1norm < 4.1968497232266989671e-003L) {
+ matrix_exp_pade3(arg, U, V);
+ } else if (l1norm < 1.1848116734693823091e-001L) {
+ matrix_exp_pade5(arg, U, V);
+ } else if (l1norm < 5.5170388480686700274e-001L) {
+ matrix_exp_pade7(arg, U, V);
+ } else if (l1norm < 1.3759868875587845383e+000L) {
+ matrix_exp_pade9(arg, U, V);
+ } else {
+ const long double maxnorm = 4.0246098906697353063L;
+ frexp(l1norm / maxnorm, &squarings);
+ if (squarings < 0) squarings = 0;
+ MatrixType A = arg.unaryExpr(MatrixExponentialScalingOp<long double>(squarings));
+ matrix_exp_pade13(A, U, V);
+ }
+
+#elif LDBL_MANT_DIG <= 106 // double-double
+
+ if (l1norm < 3.2787892205607026992947488108213e-005L) {
+ matrix_exp_pade3(arg, U, V);
+ } else if (l1norm < 6.4467025060072760084130906076332e-003L) {
+ matrix_exp_pade5(arg, U, V);
+ } else if (l1norm < 6.8988028496595374751374122881143e-002L) {
+ matrix_exp_pade7(arg, U, V);
+ } else if (l1norm < 2.7339737518502231741495857201670e-001L) {
+ matrix_exp_pade9(arg, U, V);
+ } else if (l1norm < 1.3203382096514474905666448850278e+000L) {
+ matrix_exp_pade13(arg, U, V);
+ } else {
+ const long double maxnorm = 3.2579440895405400856599663723517L;
+ frexp(l1norm / maxnorm, &squarings);
+ if (squarings < 0) squarings = 0;
+ MatrixType A = arg.unaryExpr(MatrixExponentialScalingOp<long double>(squarings));
+ matrix_exp_pade17(A, U, V);
+ }
+
+#elif LDBL_MANT_DIG <= 112 // quadruple precison
+
+ if (l1norm < 1.639394610288918690547467954466970e-005L) {
+ matrix_exp_pade3(arg, U, V);
+ } else if (l1norm < 4.253237712165275566025884344433009e-003L) {
+ matrix_exp_pade5(arg, U, V);
+ } else if (l1norm < 5.125804063165764409885122032933142e-002L) {
+ matrix_exp_pade7(arg, U, V);
+ } else if (l1norm < 2.170000765161155195453205651889853e-001L) {
+ matrix_exp_pade9(arg, U, V);
+ } else if (l1norm < 1.125358383453143065081397882891878e+000L) {
+ matrix_exp_pade13(arg, U, V);
+ } else {
+ const long double maxnorm = 2.884233277829519311757165057717815L;
+ frexp(l1norm / maxnorm, &squarings);
+ if (squarings < 0) squarings = 0;
+ MatrixType A = arg.unaryExpr(MatrixExponentialScalingOp<long double>(squarings));
+ matrix_exp_pade17(A, U, V);
+ }
+
+#else
+
+ // this case should be handled in compute()
+ eigen_assert(false && "Bug in MatrixExponential");
+
+#endif
+#endif // LDBL_MANT_DIG
+ }
+};
+
+template<typename T> struct is_exp_known_type : false_type {};
+template<> struct is_exp_known_type<float> : true_type {};
+template<> struct is_exp_known_type<double> : true_type {};
+#if LDBL_MANT_DIG <= 112
+template<> struct is_exp_known_type<long double> : true_type {};
+#endif
+
+template <typename ArgType, typename ResultType>
+void matrix_exp_compute(const ArgType& arg, ResultType &result, true_type) // natively supported scalar type
+{
+ typedef typename ArgType::PlainObject MatrixType;
+ MatrixType U, V;
+ int squarings;
+ matrix_exp_computeUV<MatrixType>::run(arg, U, V, squarings); // Pade approximant is (U+V) / (-U+V)
+ MatrixType numer = U + V;
+ MatrixType denom = -U + V;
+ result = denom.partialPivLu().solve(numer);
+ for (int i=0; i<squarings; i++)
+ result *= result; // undo scaling by repeated squaring
+}
+
+
+/* Computes the matrix exponential
+ *
+ * \param arg argument of matrix exponential (should be plain object)
+ * \param result variable in which result will be stored
+ */
+template <typename ArgType, typename ResultType>
+void matrix_exp_compute(const ArgType& arg, ResultType &result, false_type) // default
+{
+ typedef typename ArgType::PlainObject MatrixType;
+ typedef typename traits<MatrixType>::Scalar Scalar;
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ typedef typename std::complex<RealScalar> ComplexScalar;
+ result = arg.matrixFunction(internal::stem_function_exp<ComplexScalar>);
+}
+
+} // end namespace Eigen::internal
+
+/** \ingroup MatrixFunctions_Module
+ *
+ * \brief Proxy for the matrix exponential of some matrix (expression).
+ *
+ * \tparam Derived Type of the argument to the matrix exponential.
+ *
+ * This class holds the argument to the matrix exponential until it is assigned or evaluated for
+ * some other reason (so the argument should not be changed in the meantime). It is the return type
+ * of MatrixBase::exp() and most of the time this is the only way it is used.
+ */
+template<typename Derived> struct MatrixExponentialReturnValue
+: public ReturnByValue<MatrixExponentialReturnValue<Derived> >
+{
+ typedef typename Derived::Index Index;
+ public:
+ /** \brief Constructor.
+ *
+ * \param src %Matrix (expression) forming the argument of the matrix exponential.
+ */
+ MatrixExponentialReturnValue(const Derived& src) : m_src(src) { }
+
+ /** \brief Compute the matrix exponential.
+ *
+ * \param result the matrix exponential of \p src in the constructor.
+ */
+ template <typename ResultType>
+ inline void evalTo(ResultType& result) const
+ {
+ const typename internal::nested_eval<Derived, 10>::type tmp(m_src);
+ internal::matrix_exp_compute(tmp, result, internal::is_exp_known_type<typename Derived::Scalar>());
+ }
+
+ Index rows() const { return m_src.rows(); }
+ Index cols() const { return m_src.cols(); }
+
+ protected:
+ const typename internal::ref_selector<Derived>::type m_src;
+};
+
+namespace internal {
+template<typename Derived>
+struct traits<MatrixExponentialReturnValue<Derived> >
+{
+ typedef typename Derived::PlainObject ReturnType;
+};
+}
+
+template <typename Derived>
+const MatrixExponentialReturnValue<Derived> MatrixBase<Derived>::exp() const
+{
+ eigen_assert(rows() == cols());
+ return MatrixExponentialReturnValue<Derived>(derived());
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_MATRIX_EXPONENTIAL
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/unsupported/Eigen/src/MatrixFunctions/MatrixFunction.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/unsupported/Eigen/src/MatrixFunctions/MatrixFunction.h
new file mode 100644
index 0000000..3df8239
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/unsupported/Eigen/src/MatrixFunctions/MatrixFunction.h
@@ -0,0 +1,580 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2011, 2013 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_MATRIX_FUNCTION_H
+#define EIGEN_MATRIX_FUNCTION_H
+
+#include "StemFunction.h"
+
+
+namespace Eigen {
+
+namespace internal {
+
+/** \brief Maximum distance allowed between eigenvalues to be considered "close". */
+static const float matrix_function_separation = 0.1f;
+
+/** \ingroup MatrixFunctions_Module
+ * \class MatrixFunctionAtomic
+ * \brief Helper class for computing matrix functions of atomic matrices.
+ *
+ * Here, an atomic matrix is a triangular matrix whose diagonal entries are close to each other.
+ */
+template <typename MatrixType>
+class MatrixFunctionAtomic
+{
+ public:
+
+ typedef typename MatrixType::Scalar Scalar;
+ typedef typename stem_function<Scalar>::type StemFunction;
+
+ /** \brief Constructor
+ * \param[in] f matrix function to compute.
+ */
+ MatrixFunctionAtomic(StemFunction f) : m_f(f) { }
+
+ /** \brief Compute matrix function of atomic matrix
+ * \param[in] A argument of matrix function, should be upper triangular and atomic
+ * \returns f(A), the matrix function evaluated at the given matrix
+ */
+ MatrixType compute(const MatrixType& A);
+
+ private:
+ StemFunction* m_f;
+};
+
+template <typename MatrixType>
+typename NumTraits<typename MatrixType::Scalar>::Real matrix_function_compute_mu(const MatrixType& A)
+{
+ typedef typename plain_col_type<MatrixType>::type VectorType;
+ typename MatrixType::Index rows = A.rows();
+ const MatrixType N = MatrixType::Identity(rows, rows) - A;
+ VectorType e = VectorType::Ones(rows);
+ N.template triangularView<Upper>().solveInPlace(e);
+ return e.cwiseAbs().maxCoeff();
+}
+
+template <typename MatrixType>
+MatrixType MatrixFunctionAtomic<MatrixType>::compute(const MatrixType& A)
+{
+ // TODO: Use that A is upper triangular
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ typedef typename MatrixType::Index Index;
+ Index rows = A.rows();
+ Scalar avgEival = A.trace() / Scalar(RealScalar(rows));
+ MatrixType Ashifted = A - avgEival * MatrixType::Identity(rows, rows);
+ RealScalar mu = matrix_function_compute_mu(Ashifted);
+ MatrixType F = m_f(avgEival, 0) * MatrixType::Identity(rows, rows);
+ MatrixType P = Ashifted;
+ MatrixType Fincr;
+ for (Index s = 1; s < 1.1 * rows + 10; s++) { // upper limit is fairly arbitrary
+ Fincr = m_f(avgEival, static_cast<int>(s)) * P;
+ F += Fincr;
+ P = Scalar(RealScalar(1.0/(s + 1))) * P * Ashifted;
+
+ // test whether Taylor series converged
+ const RealScalar F_norm = F.cwiseAbs().rowwise().sum().maxCoeff();
+ const RealScalar Fincr_norm = Fincr.cwiseAbs().rowwise().sum().maxCoeff();
+ if (Fincr_norm < NumTraits<Scalar>::epsilon() * F_norm) {
+ RealScalar delta = 0;
+ RealScalar rfactorial = 1;
+ for (Index r = 0; r < rows; r++) {
+ RealScalar mx = 0;
+ for (Index i = 0; i < rows; i++)
+ mx = (std::max)(mx, std::abs(m_f(Ashifted(i, i) + avgEival, static_cast<int>(s+r))));
+ if (r != 0)
+ rfactorial *= RealScalar(r);
+ delta = (std::max)(delta, mx / rfactorial);
+ }
+ const RealScalar P_norm = P.cwiseAbs().rowwise().sum().maxCoeff();
+ if (mu * delta * P_norm < NumTraits<Scalar>::epsilon() * F_norm) // series converged
+ break;
+ }
+ }
+ return F;
+}
+
+/** \brief Find cluster in \p clusters containing some value
+ * \param[in] key Value to find
+ * \returns Iterator to cluster containing \p key, or \c clusters.end() if no cluster in \p m_clusters
+ * contains \p key.
+ */
+template <typename Index, typename ListOfClusters>
+typename ListOfClusters::iterator matrix_function_find_cluster(Index key, ListOfClusters& clusters)
+{
+ typename std::list<Index>::iterator j;
+ for (typename ListOfClusters::iterator i = clusters.begin(); i != clusters.end(); ++i) {
+ j = std::find(i->begin(), i->end(), key);
+ if (j != i->end())
+ return i;
+ }
+ return clusters.end();
+}
+
+/** \brief Partition eigenvalues in clusters of ei'vals close to each other
+ *
+ * \param[in] eivals Eigenvalues
+ * \param[out] clusters Resulting partition of eigenvalues
+ *
+ * The partition satisfies the following two properties:
+ * # Any eigenvalue in a certain cluster is at most matrix_function_separation() away from another eigenvalue
+ * in the same cluster.
+ * # The distance between two eigenvalues in different clusters is more than matrix_function_separation().
+ * The implementation follows Algorithm 4.1 in the paper of Davies and Higham.
+ */
+template <typename EivalsType, typename Cluster>
+void matrix_function_partition_eigenvalues(const EivalsType& eivals, std::list<Cluster>& clusters)
+{
+ typedef typename EivalsType::Index Index;
+ typedef typename EivalsType::RealScalar RealScalar;
+ for (Index i=0; i<eivals.rows(); ++i) {
+ // Find cluster containing i-th ei'val, adding a new cluster if necessary
+ typename std::list<Cluster>::iterator qi = matrix_function_find_cluster(i, clusters);
+ if (qi == clusters.end()) {
+ Cluster l;
+ l.push_back(i);
+ clusters.push_back(l);
+ qi = clusters.end();
+ --qi;
+ }
+
+ // Look for other element to add to the set
+ for (Index j=i+1; j<eivals.rows(); ++j) {
+ if (abs(eivals(j) - eivals(i)) <= RealScalar(matrix_function_separation)
+ && std::find(qi->begin(), qi->end(), j) == qi->end()) {
+ typename std::list<Cluster>::iterator qj = matrix_function_find_cluster(j, clusters);
+ if (qj == clusters.end()) {
+ qi->push_back(j);
+ } else {
+ qi->insert(qi->end(), qj->begin(), qj->end());
+ clusters.erase(qj);
+ }
+ }
+ }
+ }
+}
+
+/** \brief Compute size of each cluster given a partitioning */
+template <typename ListOfClusters, typename Index>
+void matrix_function_compute_cluster_size(const ListOfClusters& clusters, Matrix<Index, Dynamic, 1>& clusterSize)
+{
+ const Index numClusters = static_cast<Index>(clusters.size());
+ clusterSize.setZero(numClusters);
+ Index clusterIndex = 0;
+ for (typename ListOfClusters::const_iterator cluster = clusters.begin(); cluster != clusters.end(); ++cluster) {
+ clusterSize[clusterIndex] = cluster->size();
+ ++clusterIndex;
+ }
+}
+
+/** \brief Compute start of each block using clusterSize */
+template <typename VectorType>
+void matrix_function_compute_block_start(const VectorType& clusterSize, VectorType& blockStart)
+{
+ blockStart.resize(clusterSize.rows());
+ blockStart(0) = 0;
+ for (typename VectorType::Index i = 1; i < clusterSize.rows(); i++) {
+ blockStart(i) = blockStart(i-1) + clusterSize(i-1);
+ }
+}
+
+/** \brief Compute mapping of eigenvalue indices to cluster indices */
+template <typename EivalsType, typename ListOfClusters, typename VectorType>
+void matrix_function_compute_map(const EivalsType& eivals, const ListOfClusters& clusters, VectorType& eivalToCluster)
+{
+ typedef typename EivalsType::Index Index;
+ eivalToCluster.resize(eivals.rows());
+ Index clusterIndex = 0;
+ for (typename ListOfClusters::const_iterator cluster = clusters.begin(); cluster != clusters.end(); ++cluster) {
+ for (Index i = 0; i < eivals.rows(); ++i) {
+ if (std::find(cluster->begin(), cluster->end(), i) != cluster->end()) {
+ eivalToCluster[i] = clusterIndex;
+ }
+ }
+ ++clusterIndex;
+ }
+}
+
+/** \brief Compute permutation which groups ei'vals in same cluster together */
+template <typename DynVectorType, typename VectorType>
+void matrix_function_compute_permutation(const DynVectorType& blockStart, const DynVectorType& eivalToCluster, VectorType& permutation)
+{
+ typedef typename VectorType::Index Index;
+ DynVectorType indexNextEntry = blockStart;
+ permutation.resize(eivalToCluster.rows());
+ for (Index i = 0; i < eivalToCluster.rows(); i++) {
+ Index cluster = eivalToCluster[i];
+ permutation[i] = indexNextEntry[cluster];
+ ++indexNextEntry[cluster];
+ }
+}
+
+/** \brief Permute Schur decomposition in U and T according to permutation */
+template <typename VectorType, typename MatrixType>
+void matrix_function_permute_schur(VectorType& permutation, MatrixType& U, MatrixType& T)
+{
+ typedef typename VectorType::Index Index;
+ for (Index i = 0; i < permutation.rows() - 1; i++) {
+ Index j;
+ for (j = i; j < permutation.rows(); j++) {
+ if (permutation(j) == i) break;
+ }
+ eigen_assert(permutation(j) == i);
+ for (Index k = j-1; k >= i; k--) {
+ JacobiRotation<typename MatrixType::Scalar> rotation;
+ rotation.makeGivens(T(k, k+1), T(k+1, k+1) - T(k, k));
+ T.applyOnTheLeft(k, k+1, rotation.adjoint());
+ T.applyOnTheRight(k, k+1, rotation);
+ U.applyOnTheRight(k, k+1, rotation);
+ std::swap(permutation.coeffRef(k), permutation.coeffRef(k+1));
+ }
+ }
+}
+
+/** \brief Compute block diagonal part of matrix function.
+ *
+ * This routine computes the matrix function applied to the block diagonal part of \p T (which should be
+ * upper triangular), with the blocking given by \p blockStart and \p clusterSize. The matrix function of
+ * each diagonal block is computed by \p atomic. The off-diagonal parts of \p fT are set to zero.
+ */
+template <typename MatrixType, typename AtomicType, typename VectorType>
+void matrix_function_compute_block_atomic(const MatrixType& T, AtomicType& atomic, const VectorType& blockStart, const VectorType& clusterSize, MatrixType& fT)
+{
+ fT.setZero(T.rows(), T.cols());
+ for (typename VectorType::Index i = 0; i < clusterSize.rows(); ++i) {
+ fT.block(blockStart(i), blockStart(i), clusterSize(i), clusterSize(i))
+ = atomic.compute(T.block(blockStart(i), blockStart(i), clusterSize(i), clusterSize(i)));
+ }
+}
+
+/** \brief Solve a triangular Sylvester equation AX + XB = C
+ *
+ * \param[in] A the matrix A; should be square and upper triangular
+ * \param[in] B the matrix B; should be square and upper triangular
+ * \param[in] C the matrix C; should have correct size.
+ *
+ * \returns the solution X.
+ *
+ * If A is m-by-m and B is n-by-n, then both C and X are m-by-n. The (i,j)-th component of the Sylvester
+ * equation is
+ * \f[
+ * \sum_{k=i}^m A_{ik} X_{kj} + \sum_{k=1}^j X_{ik} B_{kj} = C_{ij}.
+ * \f]
+ * This can be re-arranged to yield:
+ * \f[
+ * X_{ij} = \frac{1}{A_{ii} + B_{jj}} \Bigl( C_{ij}
+ * - \sum_{k=i+1}^m A_{ik} X_{kj} - \sum_{k=1}^{j-1} X_{ik} B_{kj} \Bigr).
+ * \f]
+ * It is assumed that A and B are such that the numerator is never zero (otherwise the Sylvester equation
+ * does not have a unique solution). In that case, these equations can be evaluated in the order
+ * \f$ i=m,\ldots,1 \f$ and \f$ j=1,\ldots,n \f$.
+ */
+template <typename MatrixType>
+MatrixType matrix_function_solve_triangular_sylvester(const MatrixType& A, const MatrixType& B, const MatrixType& C)
+{
+ eigen_assert(A.rows() == A.cols());
+ eigen_assert(A.isUpperTriangular());
+ eigen_assert(B.rows() == B.cols());
+ eigen_assert(B.isUpperTriangular());
+ eigen_assert(C.rows() == A.rows());
+ eigen_assert(C.cols() == B.rows());
+
+ typedef typename MatrixType::Index Index;
+ typedef typename MatrixType::Scalar Scalar;
+
+ Index m = A.rows();
+ Index n = B.rows();
+ MatrixType X(m, n);
+
+ for (Index i = m - 1; i >= 0; --i) {
+ for (Index j = 0; j < n; ++j) {
+
+ // Compute AX = \sum_{k=i+1}^m A_{ik} X_{kj}
+ Scalar AX;
+ if (i == m - 1) {
+ AX = 0;
+ } else {
+ Matrix<Scalar,1,1> AXmatrix = A.row(i).tail(m-1-i) * X.col(j).tail(m-1-i);
+ AX = AXmatrix(0,0);
+ }
+
+ // Compute XB = \sum_{k=1}^{j-1} X_{ik} B_{kj}
+ Scalar XB;
+ if (j == 0) {
+ XB = 0;
+ } else {
+ Matrix<Scalar,1,1> XBmatrix = X.row(i).head(j) * B.col(j).head(j);
+ XB = XBmatrix(0,0);
+ }
+
+ X(i,j) = (C(i,j) - AX - XB) / (A(i,i) + B(j,j));
+ }
+ }
+ return X;
+}
+
+/** \brief Compute part of matrix function above block diagonal.
+ *
+ * This routine completes the computation of \p fT, denoting a matrix function applied to the triangular
+ * matrix \p T. It assumes that the block diagonal part of \p fT has already been computed. The part below
+ * the diagonal is zero, because \p T is upper triangular.
+ */
+template <typename MatrixType, typename VectorType>
+void matrix_function_compute_above_diagonal(const MatrixType& T, const VectorType& blockStart, const VectorType& clusterSize, MatrixType& fT)
+{
+ typedef internal::traits<MatrixType> Traits;
+ typedef typename MatrixType::Scalar Scalar;
+ typedef typename MatrixType::Index Index;
+ static const int RowsAtCompileTime = Traits::RowsAtCompileTime;
+ static const int ColsAtCompileTime = Traits::ColsAtCompileTime;
+ static const int Options = MatrixType::Options;
+ typedef Matrix<Scalar, Dynamic, Dynamic, Options, RowsAtCompileTime, ColsAtCompileTime> DynMatrixType;
+
+ for (Index k = 1; k < clusterSize.rows(); k++) {
+ for (Index i = 0; i < clusterSize.rows() - k; i++) {
+ // compute (i, i+k) block
+ DynMatrixType A = T.block(blockStart(i), blockStart(i), clusterSize(i), clusterSize(i));
+ DynMatrixType B = -T.block(blockStart(i+k), blockStart(i+k), clusterSize(i+k), clusterSize(i+k));
+ DynMatrixType C = fT.block(blockStart(i), blockStart(i), clusterSize(i), clusterSize(i))
+ * T.block(blockStart(i), blockStart(i+k), clusterSize(i), clusterSize(i+k));
+ C -= T.block(blockStart(i), blockStart(i+k), clusterSize(i), clusterSize(i+k))
+ * fT.block(blockStart(i+k), blockStart(i+k), clusterSize(i+k), clusterSize(i+k));
+ for (Index m = i + 1; m < i + k; m++) {
+ C += fT.block(blockStart(i), blockStart(m), clusterSize(i), clusterSize(m))
+ * T.block(blockStart(m), blockStart(i+k), clusterSize(m), clusterSize(i+k));
+ C -= T.block(blockStart(i), blockStart(m), clusterSize(i), clusterSize(m))
+ * fT.block(blockStart(m), blockStart(i+k), clusterSize(m), clusterSize(i+k));
+ }
+ fT.block(blockStart(i), blockStart(i+k), clusterSize(i), clusterSize(i+k))
+ = matrix_function_solve_triangular_sylvester(A, B, C);
+ }
+ }
+}
+
+/** \ingroup MatrixFunctions_Module
+ * \brief Class for computing matrix functions.
+ * \tparam MatrixType type of the argument of the matrix function,
+ * expected to be an instantiation of the Matrix class template.
+ * \tparam AtomicType type for computing matrix function of atomic blocks.
+ * \tparam IsComplex used internally to select correct specialization.
+ *
+ * This class implements the Schur-Parlett algorithm for computing matrix functions. The spectrum of the
+ * matrix is divided in clustered of eigenvalues that lies close together. This class delegates the
+ * computation of the matrix function on every block corresponding to these clusters to an object of type
+ * \p AtomicType and uses these results to compute the matrix function of the whole matrix. The class
+ * \p AtomicType should have a \p compute() member function for computing the matrix function of a block.
+ *
+ * \sa class MatrixFunctionAtomic, class MatrixLogarithmAtomic
+ */
+template <typename MatrixType, int IsComplex = NumTraits<typename internal::traits<MatrixType>::Scalar>::IsComplex>
+struct matrix_function_compute
+{
+ /** \brief Compute the matrix function.
+ *
+ * \param[in] A argument of matrix function, should be a square matrix.
+ * \param[in] atomic class for computing matrix function of atomic blocks.
+ * \param[out] result the function \p f applied to \p A, as
+ * specified in the constructor.
+ *
+ * See MatrixBase::matrixFunction() for details on how this computation
+ * is implemented.
+ */
+ template <typename AtomicType, typename ResultType>
+ static void run(const MatrixType& A, AtomicType& atomic, ResultType &result);
+};
+
+/** \internal \ingroup MatrixFunctions_Module
+ * \brief Partial specialization of MatrixFunction for real matrices
+ *
+ * This converts the real matrix to a complex matrix, compute the matrix function of that matrix, and then
+ * converts the result back to a real matrix.
+ */
+template <typename MatrixType>
+struct matrix_function_compute<MatrixType, 0>
+{
+ template <typename MatA, typename AtomicType, typename ResultType>
+ static void run(const MatA& A, AtomicType& atomic, ResultType &result)
+ {
+ typedef internal::traits<MatrixType> Traits;
+ typedef typename Traits::Scalar Scalar;
+ static const int Rows = Traits::RowsAtCompileTime, Cols = Traits::ColsAtCompileTime;
+ static const int MaxRows = Traits::MaxRowsAtCompileTime, MaxCols = Traits::MaxColsAtCompileTime;
+
+ typedef std::complex<Scalar> ComplexScalar;
+ typedef Matrix<ComplexScalar, Rows, Cols, 0, MaxRows, MaxCols> ComplexMatrix;
+
+ ComplexMatrix CA = A.template cast<ComplexScalar>();
+ ComplexMatrix Cresult;
+ matrix_function_compute<ComplexMatrix>::run(CA, atomic, Cresult);
+ result = Cresult.real();
+ }
+};
+
+/** \internal \ingroup MatrixFunctions_Module
+ * \brief Partial specialization of MatrixFunction for complex matrices
+ */
+template <typename MatrixType>
+struct matrix_function_compute<MatrixType, 1>
+{
+ template <typename MatA, typename AtomicType, typename ResultType>
+ static void run(const MatA& A, AtomicType& atomic, ResultType &result)
+ {
+ typedef internal::traits<MatrixType> Traits;
+
+ // compute Schur decomposition of A
+ const ComplexSchur<MatrixType> schurOfA(A);
+ MatrixType T = schurOfA.matrixT();
+ MatrixType U = schurOfA.matrixU();
+
+ // partition eigenvalues into clusters of ei'vals "close" to each other
+ std::list<std::list<Index> > clusters;
+ matrix_function_partition_eigenvalues(T.diagonal(), clusters);
+
+ // compute size of each cluster
+ Matrix<Index, Dynamic, 1> clusterSize;
+ matrix_function_compute_cluster_size(clusters, clusterSize);
+
+ // blockStart[i] is row index at which block corresponding to i-th cluster starts
+ Matrix<Index, Dynamic, 1> blockStart;
+ matrix_function_compute_block_start(clusterSize, blockStart);
+
+ // compute map so that eivalToCluster[i] = j means that i-th ei'val is in j-th cluster
+ Matrix<Index, Dynamic, 1> eivalToCluster;
+ matrix_function_compute_map(T.diagonal(), clusters, eivalToCluster);
+
+ // compute permutation which groups ei'vals in same cluster together
+ Matrix<Index, Traits::RowsAtCompileTime, 1> permutation;
+ matrix_function_compute_permutation(blockStart, eivalToCluster, permutation);
+
+ // permute Schur decomposition
+ matrix_function_permute_schur(permutation, U, T);
+
+ // compute result
+ MatrixType fT; // matrix function applied to T
+ matrix_function_compute_block_atomic(T, atomic, blockStart, clusterSize, fT);
+ matrix_function_compute_above_diagonal(T, blockStart, clusterSize, fT);
+ result = U * (fT.template triangularView<Upper>() * U.adjoint());
+ }
+};
+
+} // end of namespace internal
+
+/** \ingroup MatrixFunctions_Module
+ *
+ * \brief Proxy for the matrix function of some matrix (expression).
+ *
+ * \tparam Derived Type of the argument to the matrix function.
+ *
+ * This class holds the argument to the matrix function until it is assigned or evaluated for some other
+ * reason (so the argument should not be changed in the meantime). It is the return type of
+ * matrixBase::matrixFunction() and related functions and most of the time this is the only way it is used.
+ */
+template<typename Derived> class MatrixFunctionReturnValue
+: public ReturnByValue<MatrixFunctionReturnValue<Derived> >
+{
+ public:
+ typedef typename Derived::Scalar Scalar;
+ typedef typename Derived::Index Index;
+ typedef typename internal::stem_function<Scalar>::type StemFunction;
+
+ protected:
+ typedef typename internal::ref_selector<Derived>::type DerivedNested;
+
+ public:
+
+ /** \brief Constructor.
+ *
+ * \param[in] A %Matrix (expression) forming the argument of the matrix function.
+ * \param[in] f Stem function for matrix function under consideration.
+ */
+ MatrixFunctionReturnValue(const Derived& A, StemFunction f) : m_A(A), m_f(f) { }
+
+ /** \brief Compute the matrix function.
+ *
+ * \param[out] result \p f applied to \p A, where \p f and \p A are as in the constructor.
+ */
+ template <typename ResultType>
+ inline void evalTo(ResultType& result) const
+ {
+ typedef typename internal::nested_eval<Derived, 10>::type NestedEvalType;
+ typedef typename internal::remove_all<NestedEvalType>::type NestedEvalTypeClean;
+ typedef internal::traits<NestedEvalTypeClean> Traits;
+ static const int RowsAtCompileTime = Traits::RowsAtCompileTime;
+ static const int ColsAtCompileTime = Traits::ColsAtCompileTime;
+ typedef std::complex<typename NumTraits<Scalar>::Real> ComplexScalar;
+ typedef Matrix<ComplexScalar, Dynamic, Dynamic, 0, RowsAtCompileTime, ColsAtCompileTime> DynMatrixType;
+
+ typedef internal::MatrixFunctionAtomic<DynMatrixType> AtomicType;
+ AtomicType atomic(m_f);
+
+ internal::matrix_function_compute<typename NestedEvalTypeClean::PlainObject>::run(m_A, atomic, result);
+ }
+
+ Index rows() const { return m_A.rows(); }
+ Index cols() const { return m_A.cols(); }
+
+ private:
+ const DerivedNested m_A;
+ StemFunction *m_f;
+};
+
+namespace internal {
+template<typename Derived>
+struct traits<MatrixFunctionReturnValue<Derived> >
+{
+ typedef typename Derived::PlainObject ReturnType;
+};
+}
+
+
+/********** MatrixBase methods **********/
+
+
+template <typename Derived>
+const MatrixFunctionReturnValue<Derived> MatrixBase<Derived>::matrixFunction(typename internal::stem_function<typename internal::traits<Derived>::Scalar>::type f) const
+{
+ eigen_assert(rows() == cols());
+ return MatrixFunctionReturnValue<Derived>(derived(), f);
+}
+
+template <typename Derived>
+const MatrixFunctionReturnValue<Derived> MatrixBase<Derived>::sin() const
+{
+ eigen_assert(rows() == cols());
+ typedef typename internal::stem_function<Scalar>::ComplexScalar ComplexScalar;
+ return MatrixFunctionReturnValue<Derived>(derived(), internal::stem_function_sin<ComplexScalar>);
+}
+
+template <typename Derived>
+const MatrixFunctionReturnValue<Derived> MatrixBase<Derived>::cos() const
+{
+ eigen_assert(rows() == cols());
+ typedef typename internal::stem_function<Scalar>::ComplexScalar ComplexScalar;
+ return MatrixFunctionReturnValue<Derived>(derived(), internal::stem_function_cos<ComplexScalar>);
+}
+
+template <typename Derived>
+const MatrixFunctionReturnValue<Derived> MatrixBase<Derived>::sinh() const
+{
+ eigen_assert(rows() == cols());
+ typedef typename internal::stem_function<Scalar>::ComplexScalar ComplexScalar;
+ return MatrixFunctionReturnValue<Derived>(derived(), internal::stem_function_sinh<ComplexScalar>);
+}
+
+template <typename Derived>
+const MatrixFunctionReturnValue<Derived> MatrixBase<Derived>::cosh() const
+{
+ eigen_assert(rows() == cols());
+ typedef typename internal::stem_function<Scalar>::ComplexScalar ComplexScalar;
+ return MatrixFunctionReturnValue<Derived>(derived(), internal::stem_function_cosh<ComplexScalar>);
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_MATRIX_FUNCTION_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/unsupported/Eigen/src/MatrixFunctions/MatrixLogarithm.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/unsupported/Eigen/src/MatrixFunctions/MatrixLogarithm.h
new file mode 100644
index 0000000..cf5fffa
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/unsupported/Eigen/src/MatrixFunctions/MatrixLogarithm.h
@@ -0,0 +1,373 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2011, 2013 Jitse Niesen <jitse@maths.leeds.ac.uk>
+// Copyright (C) 2011 Chen-Pang He <jdh8@ms63.hinet.net>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_MATRIX_LOGARITHM
+#define EIGEN_MATRIX_LOGARITHM
+
+namespace Eigen {
+
+namespace internal {
+
+template <typename Scalar>
+struct matrix_log_min_pade_degree
+{
+ static const int value = 3;
+};
+
+template <typename Scalar>
+struct matrix_log_max_pade_degree
+{
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ static const int value = std::numeric_limits<RealScalar>::digits<= 24? 5: // single precision
+ std::numeric_limits<RealScalar>::digits<= 53? 7: // double precision
+ std::numeric_limits<RealScalar>::digits<= 64? 8: // extended precision
+ std::numeric_limits<RealScalar>::digits<=106? 10: // double-double
+ 11; // quadruple precision
+};
+
+/** \brief Compute logarithm of 2x2 triangular matrix. */
+template <typename MatrixType>
+void matrix_log_compute_2x2(const MatrixType& A, MatrixType& result)
+{
+ typedef typename MatrixType::Scalar Scalar;
+ typedef typename MatrixType::RealScalar RealScalar;
+ using std::abs;
+ using std::ceil;
+ using std::imag;
+ using std::log;
+
+ Scalar logA00 = log(A(0,0));
+ Scalar logA11 = log(A(1,1));
+
+ result(0,0) = logA00;
+ result(1,0) = Scalar(0);
+ result(1,1) = logA11;
+
+ Scalar y = A(1,1) - A(0,0);
+ if (y==Scalar(0))
+ {
+ result(0,1) = A(0,1) / A(0,0);
+ }
+ else if ((abs(A(0,0)) < RealScalar(0.5)*abs(A(1,1))) || (abs(A(0,0)) > 2*abs(A(1,1))))
+ {
+ result(0,1) = A(0,1) * (logA11 - logA00) / y;
+ }
+ else
+ {
+ // computation in previous branch is inaccurate if A(1,1) \approx A(0,0)
+ int unwindingNumber = static_cast<int>(ceil((imag(logA11 - logA00) - RealScalar(EIGEN_PI)) / RealScalar(2*EIGEN_PI)));
+ result(0,1) = A(0,1) * (numext::log1p(y/A(0,0)) + Scalar(0,2*EIGEN_PI*unwindingNumber)) / y;
+ }
+}
+
+/* \brief Get suitable degree for Pade approximation. (specialized for RealScalar = float) */
+inline int matrix_log_get_pade_degree(float normTminusI)
+{
+ const float maxNormForPade[] = { 2.5111573934555054e-1 /* degree = 3 */ , 4.0535837411880493e-1,
+ 5.3149729967117310e-1 };
+ const int minPadeDegree = matrix_log_min_pade_degree<float>::value;
+ const int maxPadeDegree = matrix_log_max_pade_degree<float>::value;
+ int degree = minPadeDegree;
+ for (; degree <= maxPadeDegree; ++degree)
+ if (normTminusI <= maxNormForPade[degree - minPadeDegree])
+ break;
+ return degree;
+}
+
+/* \brief Get suitable degree for Pade approximation. (specialized for RealScalar = double) */
+inline int matrix_log_get_pade_degree(double normTminusI)
+{
+ const double maxNormForPade[] = { 1.6206284795015624e-2 /* degree = 3 */ , 5.3873532631381171e-2,
+ 1.1352802267628681e-1, 1.8662860613541288e-1, 2.642960831111435e-1 };
+ const int minPadeDegree = matrix_log_min_pade_degree<double>::value;
+ const int maxPadeDegree = matrix_log_max_pade_degree<double>::value;
+ int degree = minPadeDegree;
+ for (; degree <= maxPadeDegree; ++degree)
+ if (normTminusI <= maxNormForPade[degree - minPadeDegree])
+ break;
+ return degree;
+}
+
+/* \brief Get suitable degree for Pade approximation. (specialized for RealScalar = long double) */
+inline int matrix_log_get_pade_degree(long double normTminusI)
+{
+#if LDBL_MANT_DIG == 53 // double precision
+ const long double maxNormForPade[] = { 1.6206284795015624e-2L /* degree = 3 */ , 5.3873532631381171e-2L,
+ 1.1352802267628681e-1L, 1.8662860613541288e-1L, 2.642960831111435e-1L };
+#elif LDBL_MANT_DIG <= 64 // extended precision
+ const long double maxNormForPade[] = { 5.48256690357782863103e-3L /* degree = 3 */, 2.34559162387971167321e-2L,
+ 5.84603923897347449857e-2L, 1.08486423756725170223e-1L, 1.68385767881294446649e-1L,
+ 2.32777776523703892094e-1L };
+#elif LDBL_MANT_DIG <= 106 // double-double
+ const long double maxNormForPade[] = { 8.58970550342939562202529664318890e-5L /* degree = 3 */,
+ 9.34074328446359654039446552677759e-4L, 4.26117194647672175773064114582860e-3L,
+ 1.21546224740281848743149666560464e-2L, 2.61100544998339436713088248557444e-2L,
+ 4.66170074627052749243018566390567e-2L, 7.32585144444135027565872014932387e-2L,
+ 1.05026503471351080481093652651105e-1L };
+#else // quadruple precision
+ const long double maxNormForPade[] = { 4.7419931187193005048501568167858103e-5L /* degree = 3 */,
+ 5.8853168473544560470387769480192666e-4L, 2.9216120366601315391789493628113520e-3L,
+ 8.8415758124319434347116734705174308e-3L, 1.9850836029449446668518049562565291e-2L,
+ 3.6688019729653446926585242192447447e-2L, 5.9290962294020186998954055264528393e-2L,
+ 8.6998436081634343903250580992127677e-2L, 1.1880960220216759245467951592883642e-1L };
+#endif
+ const int minPadeDegree = matrix_log_min_pade_degree<long double>::value;
+ const int maxPadeDegree = matrix_log_max_pade_degree<long double>::value;
+ int degree = minPadeDegree;
+ for (; degree <= maxPadeDegree; ++degree)
+ if (normTminusI <= maxNormForPade[degree - minPadeDegree])
+ break;
+ return degree;
+}
+
+/* \brief Compute Pade approximation to matrix logarithm */
+template <typename MatrixType>
+void matrix_log_compute_pade(MatrixType& result, const MatrixType& T, int degree)
+{
+ typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
+ const int minPadeDegree = 3;
+ const int maxPadeDegree = 11;
+ assert(degree >= minPadeDegree && degree <= maxPadeDegree);
+
+ const RealScalar nodes[][maxPadeDegree] = {
+ { 0.1127016653792583114820734600217600L, 0.5000000000000000000000000000000000L, // degree 3
+ 0.8872983346207416885179265399782400L },
+ { 0.0694318442029737123880267555535953L, 0.3300094782075718675986671204483777L, // degree 4
+ 0.6699905217924281324013328795516223L, 0.9305681557970262876119732444464048L },
+ { 0.0469100770306680036011865608503035L, 0.2307653449471584544818427896498956L, // degree 5
+ 0.5000000000000000000000000000000000L, 0.7692346550528415455181572103501044L,
+ 0.9530899229693319963988134391496965L },
+ { 0.0337652428984239860938492227530027L, 0.1693953067668677431693002024900473L, // degree 6
+ 0.3806904069584015456847491391596440L, 0.6193095930415984543152508608403560L,
+ 0.8306046932331322568306997975099527L, 0.9662347571015760139061507772469973L },
+ { 0.0254460438286207377369051579760744L, 0.1292344072003027800680676133596058L, // degree 7
+ 0.2970774243113014165466967939615193L, 0.5000000000000000000000000000000000L,
+ 0.7029225756886985834533032060384807L, 0.8707655927996972199319323866403942L,
+ 0.9745539561713792622630948420239256L },
+ { 0.0198550717512318841582195657152635L, 0.1016667612931866302042230317620848L, // degree 8
+ 0.2372337950418355070911304754053768L, 0.4082826787521750975302619288199080L,
+ 0.5917173212478249024697380711800920L, 0.7627662049581644929088695245946232L,
+ 0.8983332387068133697957769682379152L, 0.9801449282487681158417804342847365L },
+ { 0.0159198802461869550822118985481636L, 0.0819844463366821028502851059651326L, // degree 9
+ 0.1933142836497048013456489803292629L, 0.3378732882980955354807309926783317L,
+ 0.5000000000000000000000000000000000L, 0.6621267117019044645192690073216683L,
+ 0.8066857163502951986543510196707371L, 0.9180155536633178971497148940348674L,
+ 0.9840801197538130449177881014518364L },
+ { 0.0130467357414141399610179939577740L, 0.0674683166555077446339516557882535L, // degree 10
+ 0.1602952158504877968828363174425632L, 0.2833023029353764046003670284171079L,
+ 0.4255628305091843945575869994351400L, 0.5744371694908156054424130005648600L,
+ 0.7166976970646235953996329715828921L, 0.8397047841495122031171636825574368L,
+ 0.9325316833444922553660483442117465L, 0.9869532642585858600389820060422260L },
+ { 0.0108856709269715035980309994385713L, 0.0564687001159523504624211153480364L, // degree 11
+ 0.1349239972129753379532918739844233L, 0.2404519353965940920371371652706952L,
+ 0.3652284220238275138342340072995692L, 0.5000000000000000000000000000000000L,
+ 0.6347715779761724861657659927004308L, 0.7595480646034059079628628347293048L,
+ 0.8650760027870246620467081260155767L, 0.9435312998840476495375788846519636L,
+ 0.9891143290730284964019690005614287L } };
+
+ const RealScalar weights[][maxPadeDegree] = {
+ { 0.2777777777777777777777777777777778L, 0.4444444444444444444444444444444444L, // degree 3
+ 0.2777777777777777777777777777777778L },
+ { 0.1739274225687269286865319746109997L, 0.3260725774312730713134680253890003L, // degree 4
+ 0.3260725774312730713134680253890003L, 0.1739274225687269286865319746109997L },
+ { 0.1184634425280945437571320203599587L, 0.2393143352496832340206457574178191L, // degree 5
+ 0.2844444444444444444444444444444444L, 0.2393143352496832340206457574178191L,
+ 0.1184634425280945437571320203599587L },
+ { 0.0856622461895851725201480710863665L, 0.1803807865240693037849167569188581L, // degree 6
+ 0.2339569672863455236949351719947755L, 0.2339569672863455236949351719947755L,
+ 0.1803807865240693037849167569188581L, 0.0856622461895851725201480710863665L },
+ { 0.0647424830844348466353057163395410L, 0.1398526957446383339507338857118898L, // degree 7
+ 0.1909150252525594724751848877444876L, 0.2089795918367346938775510204081633L,
+ 0.1909150252525594724751848877444876L, 0.1398526957446383339507338857118898L,
+ 0.0647424830844348466353057163395410L },
+ { 0.0506142681451881295762656771549811L, 0.1111905172266872352721779972131204L, // degree 8
+ 0.1568533229389436436689811009933007L, 0.1813418916891809914825752246385978L,
+ 0.1813418916891809914825752246385978L, 0.1568533229389436436689811009933007L,
+ 0.1111905172266872352721779972131204L, 0.0506142681451881295762656771549811L },
+ { 0.0406371941807872059859460790552618L, 0.0903240803474287020292360156214564L, // degree 9
+ 0.1303053482014677311593714347093164L, 0.1561735385200014200343152032922218L,
+ 0.1651196775006298815822625346434870L, 0.1561735385200014200343152032922218L,
+ 0.1303053482014677311593714347093164L, 0.0903240803474287020292360156214564L,
+ 0.0406371941807872059859460790552618L },
+ { 0.0333356721543440687967844049466659L, 0.0747256745752902965728881698288487L, // degree 10
+ 0.1095431812579910219977674671140816L, 0.1346333596549981775456134607847347L,
+ 0.1477621123573764350869464973256692L, 0.1477621123573764350869464973256692L,
+ 0.1346333596549981775456134607847347L, 0.1095431812579910219977674671140816L,
+ 0.0747256745752902965728881698288487L, 0.0333356721543440687967844049466659L },
+ { 0.0278342835580868332413768602212743L, 0.0627901847324523123173471496119701L, // degree 11
+ 0.0931451054638671257130488207158280L, 0.1165968822959952399592618524215876L,
+ 0.1314022722551233310903444349452546L, 0.1364625433889503153572417641681711L,
+ 0.1314022722551233310903444349452546L, 0.1165968822959952399592618524215876L,
+ 0.0931451054638671257130488207158280L, 0.0627901847324523123173471496119701L,
+ 0.0278342835580868332413768602212743L } };
+
+ MatrixType TminusI = T - MatrixType::Identity(T.rows(), T.rows());
+ result.setZero(T.rows(), T.rows());
+ for (int k = 0; k < degree; ++k) {
+ RealScalar weight = weights[degree-minPadeDegree][k];
+ RealScalar node = nodes[degree-minPadeDegree][k];
+ result += weight * (MatrixType::Identity(T.rows(), T.rows()) + node * TminusI)
+ .template triangularView<Upper>().solve(TminusI);
+ }
+}
+
+/** \brief Compute logarithm of triangular matrices with size > 2.
+ * \details This uses a inverse scale-and-square algorithm. */
+template <typename MatrixType>
+void matrix_log_compute_big(const MatrixType& A, MatrixType& result)
+{
+ typedef typename MatrixType::Scalar Scalar;
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ using std::pow;
+
+ int numberOfSquareRoots = 0;
+ int numberOfExtraSquareRoots = 0;
+ int degree;
+ MatrixType T = A, sqrtT;
+
+ int maxPadeDegree = matrix_log_max_pade_degree<Scalar>::value;
+ const RealScalar maxNormForPade = maxPadeDegree<= 5? 5.3149729967117310e-1L: // single precision
+ maxPadeDegree<= 7? 2.6429608311114350e-1L: // double precision
+ maxPadeDegree<= 8? 2.32777776523703892094e-1L: // extended precision
+ maxPadeDegree<=10? 1.05026503471351080481093652651105e-1L: // double-double
+ 1.1880960220216759245467951592883642e-1L; // quadruple precision
+
+ while (true) {
+ RealScalar normTminusI = (T - MatrixType::Identity(T.rows(), T.rows())).cwiseAbs().colwise().sum().maxCoeff();
+ if (normTminusI < maxNormForPade) {
+ degree = matrix_log_get_pade_degree(normTminusI);
+ int degree2 = matrix_log_get_pade_degree(normTminusI / RealScalar(2));
+ if ((degree - degree2 <= 1) || (numberOfExtraSquareRoots == 1))
+ break;
+ ++numberOfExtraSquareRoots;
+ }
+ matrix_sqrt_triangular(T, sqrtT);
+ T = sqrtT.template triangularView<Upper>();
+ ++numberOfSquareRoots;
+ }
+
+ matrix_log_compute_pade(result, T, degree);
+ result *= pow(RealScalar(2), numberOfSquareRoots);
+}
+
+/** \ingroup MatrixFunctions_Module
+ * \class MatrixLogarithmAtomic
+ * \brief Helper class for computing matrix logarithm of atomic matrices.
+ *
+ * Here, an atomic matrix is a triangular matrix whose diagonal entries are close to each other.
+ *
+ * \sa class MatrixFunctionAtomic, MatrixBase::log()
+ */
+template <typename MatrixType>
+class MatrixLogarithmAtomic
+{
+public:
+ /** \brief Compute matrix logarithm of atomic matrix
+ * \param[in] A argument of matrix logarithm, should be upper triangular and atomic
+ * \returns The logarithm of \p A.
+ */
+ MatrixType compute(const MatrixType& A);
+};
+
+template <typename MatrixType>
+MatrixType MatrixLogarithmAtomic<MatrixType>::compute(const MatrixType& A)
+{
+ using std::log;
+ MatrixType result(A.rows(), A.rows());
+ if (A.rows() == 1)
+ result(0,0) = log(A(0,0));
+ else if (A.rows() == 2)
+ matrix_log_compute_2x2(A, result);
+ else
+ matrix_log_compute_big(A, result);
+ return result;
+}
+
+} // end of namespace internal
+
+/** \ingroup MatrixFunctions_Module
+ *
+ * \brief Proxy for the matrix logarithm of some matrix (expression).
+ *
+ * \tparam Derived Type of the argument to the matrix function.
+ *
+ * This class holds the argument to the matrix function until it is
+ * assigned or evaluated for some other reason (so the argument
+ * should not be changed in the meantime). It is the return type of
+ * MatrixBase::log() and most of the time this is the only way it
+ * is used.
+ */
+template<typename Derived> class MatrixLogarithmReturnValue
+: public ReturnByValue<MatrixLogarithmReturnValue<Derived> >
+{
+public:
+ typedef typename Derived::Scalar Scalar;
+ typedef typename Derived::Index Index;
+
+protected:
+ typedef typename internal::ref_selector<Derived>::type DerivedNested;
+
+public:
+
+ /** \brief Constructor.
+ *
+ * \param[in] A %Matrix (expression) forming the argument of the matrix logarithm.
+ */
+ explicit MatrixLogarithmReturnValue(const Derived& A) : m_A(A) { }
+
+ /** \brief Compute the matrix logarithm.
+ *
+ * \param[out] result Logarithm of \c A, where \c A is as specified in the constructor.
+ */
+ template <typename ResultType>
+ inline void evalTo(ResultType& result) const
+ {
+ typedef typename internal::nested_eval<Derived, 10>::type DerivedEvalType;
+ typedef typename internal::remove_all<DerivedEvalType>::type DerivedEvalTypeClean;
+ typedef internal::traits<DerivedEvalTypeClean> Traits;
+ static const int RowsAtCompileTime = Traits::RowsAtCompileTime;
+ static const int ColsAtCompileTime = Traits::ColsAtCompileTime;
+ typedef std::complex<typename NumTraits<Scalar>::Real> ComplexScalar;
+ typedef Matrix<ComplexScalar, Dynamic, Dynamic, 0, RowsAtCompileTime, ColsAtCompileTime> DynMatrixType;
+ typedef internal::MatrixLogarithmAtomic<DynMatrixType> AtomicType;
+ AtomicType atomic;
+
+ internal::matrix_function_compute<typename DerivedEvalTypeClean::PlainObject>::run(m_A, atomic, result);
+ }
+
+ Index rows() const { return m_A.rows(); }
+ Index cols() const { return m_A.cols(); }
+
+private:
+ const DerivedNested m_A;
+};
+
+namespace internal {
+ template<typename Derived>
+ struct traits<MatrixLogarithmReturnValue<Derived> >
+ {
+ typedef typename Derived::PlainObject ReturnType;
+ };
+}
+
+
+/********** MatrixBase method **********/
+
+
+template <typename Derived>
+const MatrixLogarithmReturnValue<Derived> MatrixBase<Derived>::log() const
+{
+ eigen_assert(rows() == cols());
+ return MatrixLogarithmReturnValue<Derived>(derived());
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_MATRIX_LOGARITHM
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/unsupported/Eigen/src/MatrixFunctions/MatrixPower.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/unsupported/Eigen/src/MatrixFunctions/MatrixPower.h
new file mode 100644
index 0000000..a3273da
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/unsupported/Eigen/src/MatrixFunctions/MatrixPower.h
@@ -0,0 +1,709 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2012, 2013 Chen-Pang He <jdh8@ms63.hinet.net>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_MATRIX_POWER
+#define EIGEN_MATRIX_POWER
+
+namespace Eigen {
+
+template<typename MatrixType> class MatrixPower;
+
+/**
+ * \ingroup MatrixFunctions_Module
+ *
+ * \brief Proxy for the matrix power of some matrix.
+ *
+ * \tparam MatrixType type of the base, a matrix.
+ *
+ * This class holds the arguments to the matrix power until it is
+ * assigned or evaluated for some other reason (so the argument
+ * should not be changed in the meantime). It is the return type of
+ * MatrixPower::operator() and related functions and most of the
+ * time this is the only way it is used.
+ */
+/* TODO This class is only used by MatrixPower, so it should be nested
+ * into MatrixPower, like MatrixPower::ReturnValue. However, my
+ * compiler complained about unused template parameter in the
+ * following declaration in namespace internal.
+ *
+ * template<typename MatrixType>
+ * struct traits<MatrixPower<MatrixType>::ReturnValue>;
+ */
+template<typename MatrixType>
+class MatrixPowerParenthesesReturnValue : public ReturnByValue< MatrixPowerParenthesesReturnValue<MatrixType> >
+{
+ public:
+ typedef typename MatrixType::RealScalar RealScalar;
+ typedef typename MatrixType::Index Index;
+
+ /**
+ * \brief Constructor.
+ *
+ * \param[in] pow %MatrixPower storing the base.
+ * \param[in] p scalar, the exponent of the matrix power.
+ */
+ MatrixPowerParenthesesReturnValue(MatrixPower<MatrixType>& pow, RealScalar p) : m_pow(pow), m_p(p)
+ { }
+
+ /**
+ * \brief Compute the matrix power.
+ *
+ * \param[out] result
+ */
+ template<typename ResultType>
+ inline void evalTo(ResultType& result) const
+ { m_pow.compute(result, m_p); }
+
+ Index rows() const { return m_pow.rows(); }
+ Index cols() const { return m_pow.cols(); }
+
+ private:
+ MatrixPower<MatrixType>& m_pow;
+ const RealScalar m_p;
+};
+
+/**
+ * \ingroup MatrixFunctions_Module
+ *
+ * \brief Class for computing matrix powers.
+ *
+ * \tparam MatrixType type of the base, expected to be an instantiation
+ * of the Matrix class template.
+ *
+ * This class is capable of computing triangular real/complex matrices
+ * raised to a power in the interval \f$ (-1, 1) \f$.
+ *
+ * \note Currently this class is only used by MatrixPower. One may
+ * insist that this be nested into MatrixPower. This class is here to
+ * faciliate future development of triangular matrix functions.
+ */
+template<typename MatrixType>
+class MatrixPowerAtomic : internal::noncopyable
+{
+ private:
+ enum {
+ RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+ MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime
+ };
+ typedef typename MatrixType::Scalar Scalar;
+ typedef typename MatrixType::RealScalar RealScalar;
+ typedef std::complex<RealScalar> ComplexScalar;
+ typedef typename MatrixType::Index Index;
+ typedef Block<MatrixType,Dynamic,Dynamic> ResultType;
+
+ const MatrixType& m_A;
+ RealScalar m_p;
+
+ void computePade(int degree, const MatrixType& IminusT, ResultType& res) const;
+ void compute2x2(ResultType& res, RealScalar p) const;
+ void computeBig(ResultType& res) const;
+ static int getPadeDegree(float normIminusT);
+ static int getPadeDegree(double normIminusT);
+ static int getPadeDegree(long double normIminusT);
+ static ComplexScalar computeSuperDiag(const ComplexScalar&, const ComplexScalar&, RealScalar p);
+ static RealScalar computeSuperDiag(RealScalar, RealScalar, RealScalar p);
+
+ public:
+ /**
+ * \brief Constructor.
+ *
+ * \param[in] T the base of the matrix power.
+ * \param[in] p the exponent of the matrix power, should be in
+ * \f$ (-1, 1) \f$.
+ *
+ * The class stores a reference to T, so it should not be changed
+ * (or destroyed) before evaluation. Only the upper triangular
+ * part of T is read.
+ */
+ MatrixPowerAtomic(const MatrixType& T, RealScalar p);
+
+ /**
+ * \brief Compute the matrix power.
+ *
+ * \param[out] res \f$ A^p \f$ where A and p are specified in the
+ * constructor.
+ */
+ void compute(ResultType& res) const;
+};
+
+template<typename MatrixType>
+MatrixPowerAtomic<MatrixType>::MatrixPowerAtomic(const MatrixType& T, RealScalar p) :
+ m_A(T), m_p(p)
+{
+ eigen_assert(T.rows() == T.cols());
+ eigen_assert(p > -1 && p < 1);
+}
+
+template<typename MatrixType>
+void MatrixPowerAtomic<MatrixType>::compute(ResultType& res) const
+{
+ using std::pow;
+ switch (m_A.rows()) {
+ case 0:
+ break;
+ case 1:
+ res(0,0) = pow(m_A(0,0), m_p);
+ break;
+ case 2:
+ compute2x2(res, m_p);
+ break;
+ default:
+ computeBig(res);
+ }
+}
+
+template<typename MatrixType>
+void MatrixPowerAtomic<MatrixType>::computePade(int degree, const MatrixType& IminusT, ResultType& res) const
+{
+ int i = 2*degree;
+ res = (m_p-degree) / (2*i-2) * IminusT;
+
+ for (--i; i; --i) {
+ res = (MatrixType::Identity(IminusT.rows(), IminusT.cols()) + res).template triangularView<Upper>()
+ .solve((i==1 ? -m_p : i&1 ? (-m_p-i/2)/(2*i) : (m_p-i/2)/(2*i-2)) * IminusT).eval();
+ }
+ res += MatrixType::Identity(IminusT.rows(), IminusT.cols());
+}
+
+// This function assumes that res has the correct size (see bug 614)
+template<typename MatrixType>
+void MatrixPowerAtomic<MatrixType>::compute2x2(ResultType& res, RealScalar p) const
+{
+ using std::abs;
+ using std::pow;
+ res.coeffRef(0,0) = pow(m_A.coeff(0,0), p);
+
+ for (Index i=1; i < m_A.cols(); ++i) {
+ res.coeffRef(i,i) = pow(m_A.coeff(i,i), p);
+ if (m_A.coeff(i-1,i-1) == m_A.coeff(i,i))
+ res.coeffRef(i-1,i) = p * pow(m_A.coeff(i,i), p-1);
+ else if (2*abs(m_A.coeff(i-1,i-1)) < abs(m_A.coeff(i,i)) || 2*abs(m_A.coeff(i,i)) < abs(m_A.coeff(i-1,i-1)))
+ res.coeffRef(i-1,i) = (res.coeff(i,i)-res.coeff(i-1,i-1)) / (m_A.coeff(i,i)-m_A.coeff(i-1,i-1));
+ else
+ res.coeffRef(i-1,i) = computeSuperDiag(m_A.coeff(i,i), m_A.coeff(i-1,i-1), p);
+ res.coeffRef(i-1,i) *= m_A.coeff(i-1,i);
+ }
+}
+
+template<typename MatrixType>
+void MatrixPowerAtomic<MatrixType>::computeBig(ResultType& res) const
+{
+ using std::ldexp;
+ const int digits = std::numeric_limits<RealScalar>::digits;
+ const RealScalar maxNormForPade = digits <= 24? 4.3386528e-1L // single precision
+ : digits <= 53? 2.789358995219730e-1L // double precision
+ : digits <= 64? 2.4471944416607995472e-1L // extended precision
+ : digits <= 106? 1.1016843812851143391275867258512e-1L // double-double
+ : 9.134603732914548552537150753385375e-2L; // quadruple precision
+ MatrixType IminusT, sqrtT, T = m_A.template triangularView<Upper>();
+ RealScalar normIminusT;
+ int degree, degree2, numberOfSquareRoots = 0;
+ bool hasExtraSquareRoot = false;
+
+ for (Index i=0; i < m_A.cols(); ++i)
+ eigen_assert(m_A(i,i) != RealScalar(0));
+
+ while (true) {
+ IminusT = MatrixType::Identity(m_A.rows(), m_A.cols()) - T;
+ normIminusT = IminusT.cwiseAbs().colwise().sum().maxCoeff();
+ if (normIminusT < maxNormForPade) {
+ degree = getPadeDegree(normIminusT);
+ degree2 = getPadeDegree(normIminusT/2);
+ if (degree - degree2 <= 1 || hasExtraSquareRoot)
+ break;
+ hasExtraSquareRoot = true;
+ }
+ matrix_sqrt_triangular(T, sqrtT);
+ T = sqrtT.template triangularView<Upper>();
+ ++numberOfSquareRoots;
+ }
+ computePade(degree, IminusT, res);
+
+ for (; numberOfSquareRoots; --numberOfSquareRoots) {
+ compute2x2(res, ldexp(m_p, -numberOfSquareRoots));
+ res = res.template triangularView<Upper>() * res;
+ }
+ compute2x2(res, m_p);
+}
+
+template<typename MatrixType>
+inline int MatrixPowerAtomic<MatrixType>::getPadeDegree(float normIminusT)
+{
+ const float maxNormForPade[] = { 2.8064004e-1f /* degree = 3 */ , 4.3386528e-1f };
+ int degree = 3;
+ for (; degree <= 4; ++degree)
+ if (normIminusT <= maxNormForPade[degree - 3])
+ break;
+ return degree;
+}
+
+template<typename MatrixType>
+inline int MatrixPowerAtomic<MatrixType>::getPadeDegree(double normIminusT)
+{
+ const double maxNormForPade[] = { 1.884160592658218e-2 /* degree = 3 */ , 6.038881904059573e-2, 1.239917516308172e-1,
+ 1.999045567181744e-1, 2.789358995219730e-1 };
+ int degree = 3;
+ for (; degree <= 7; ++degree)
+ if (normIminusT <= maxNormForPade[degree - 3])
+ break;
+ return degree;
+}
+
+template<typename MatrixType>
+inline int MatrixPowerAtomic<MatrixType>::getPadeDegree(long double normIminusT)
+{
+#if LDBL_MANT_DIG == 53
+ const int maxPadeDegree = 7;
+ const double maxNormForPade[] = { 1.884160592658218e-2L /* degree = 3 */ , 6.038881904059573e-2L, 1.239917516308172e-1L,
+ 1.999045567181744e-1L, 2.789358995219730e-1L };
+#elif LDBL_MANT_DIG <= 64
+ const int maxPadeDegree = 8;
+ const long double maxNormForPade[] = { 6.3854693117491799460e-3L /* degree = 3 */ , 2.6394893435456973676e-2L,
+ 6.4216043030404063729e-2L, 1.1701165502926694307e-1L, 1.7904284231268670284e-1L, 2.4471944416607995472e-1L };
+#elif LDBL_MANT_DIG <= 106
+ const int maxPadeDegree = 10;
+ const double maxNormForPade[] = { 1.0007161601787493236741409687186e-4L /* degree = 3 */ ,
+ 1.0007161601787493236741409687186e-3L, 4.7069769360887572939882574746264e-3L, 1.3220386624169159689406653101695e-2L,
+ 2.8063482381631737920612944054906e-2L, 4.9625993951953473052385361085058e-2L, 7.7367040706027886224557538328171e-2L,
+ 1.1016843812851143391275867258512e-1L };
+#else
+ const int maxPadeDegree = 10;
+ const double maxNormForPade[] = { 5.524506147036624377378713555116378e-5L /* degree = 3 */ ,
+ 6.640600568157479679823602193345995e-4L, 3.227716520106894279249709728084626e-3L,
+ 9.619593944683432960546978734646284e-3L, 2.134595382433742403911124458161147e-2L,
+ 3.908166513900489428442993794761185e-2L, 6.266780814639442865832535460550138e-2L,
+ 9.134603732914548552537150753385375e-2L };
+#endif
+ int degree = 3;
+ for (; degree <= maxPadeDegree; ++degree)
+ if (normIminusT <= maxNormForPade[degree - 3])
+ break;
+ return degree;
+}
+
+template<typename MatrixType>
+inline typename MatrixPowerAtomic<MatrixType>::ComplexScalar
+MatrixPowerAtomic<MatrixType>::computeSuperDiag(const ComplexScalar& curr, const ComplexScalar& prev, RealScalar p)
+{
+ using std::ceil;
+ using std::exp;
+ using std::log;
+ using std::sinh;
+
+ ComplexScalar logCurr = log(curr);
+ ComplexScalar logPrev = log(prev);
+ int unwindingNumber = ceil((numext::imag(logCurr - logPrev) - RealScalar(EIGEN_PI)) / RealScalar(2*EIGEN_PI));
+ ComplexScalar w = numext::log1p((curr-prev)/prev)/RealScalar(2) + ComplexScalar(0, EIGEN_PI*unwindingNumber);
+ return RealScalar(2) * exp(RealScalar(0.5) * p * (logCurr + logPrev)) * sinh(p * w) / (curr - prev);
+}
+
+template<typename MatrixType>
+inline typename MatrixPowerAtomic<MatrixType>::RealScalar
+MatrixPowerAtomic<MatrixType>::computeSuperDiag(RealScalar curr, RealScalar prev, RealScalar p)
+{
+ using std::exp;
+ using std::log;
+ using std::sinh;
+
+ RealScalar w = numext::log1p((curr-prev)/prev)/RealScalar(2);
+ return 2 * exp(p * (log(curr) + log(prev)) / 2) * sinh(p * w) / (curr - prev);
+}
+
+/**
+ * \ingroup MatrixFunctions_Module
+ *
+ * \brief Class for computing matrix powers.
+ *
+ * \tparam MatrixType type of the base, expected to be an instantiation
+ * of the Matrix class template.
+ *
+ * This class is capable of computing real/complex matrices raised to
+ * an arbitrary real power. Meanwhile, it saves the result of Schur
+ * decomposition if an non-integral power has even been calculated.
+ * Therefore, if you want to compute multiple (>= 2) matrix powers
+ * for the same matrix, using the class directly is more efficient than
+ * calling MatrixBase::pow().
+ *
+ * Example:
+ * \include MatrixPower_optimal.cpp
+ * Output: \verbinclude MatrixPower_optimal.out
+ */
+template<typename MatrixType>
+class MatrixPower : internal::noncopyable
+{
+ private:
+ typedef typename MatrixType::Scalar Scalar;
+ typedef typename MatrixType::RealScalar RealScalar;
+ typedef typename MatrixType::Index Index;
+
+ public:
+ /**
+ * \brief Constructor.
+ *
+ * \param[in] A the base of the matrix power.
+ *
+ * The class stores a reference to A, so it should not be changed
+ * (or destroyed) before evaluation.
+ */
+ explicit MatrixPower(const MatrixType& A) :
+ m_A(A),
+ m_conditionNumber(0),
+ m_rank(A.cols()),
+ m_nulls(0)
+ { eigen_assert(A.rows() == A.cols()); }
+
+ /**
+ * \brief Returns the matrix power.
+ *
+ * \param[in] p exponent, a real scalar.
+ * \return The expression \f$ A^p \f$, where A is specified in the
+ * constructor.
+ */
+ const MatrixPowerParenthesesReturnValue<MatrixType> operator()(RealScalar p)
+ { return MatrixPowerParenthesesReturnValue<MatrixType>(*this, p); }
+
+ /**
+ * \brief Compute the matrix power.
+ *
+ * \param[in] p exponent, a real scalar.
+ * \param[out] res \f$ A^p \f$ where A is specified in the
+ * constructor.
+ */
+ template<typename ResultType>
+ void compute(ResultType& res, RealScalar p);
+
+ Index rows() const { return m_A.rows(); }
+ Index cols() const { return m_A.cols(); }
+
+ private:
+ typedef std::complex<RealScalar> ComplexScalar;
+ typedef Matrix<ComplexScalar, Dynamic, Dynamic, 0,
+ MatrixType::RowsAtCompileTime, MatrixType::ColsAtCompileTime> ComplexMatrix;
+
+ /** \brief Reference to the base of matrix power. */
+ typename MatrixType::Nested m_A;
+
+ /** \brief Temporary storage. */
+ MatrixType m_tmp;
+
+ /** \brief Store the result of Schur decomposition. */
+ ComplexMatrix m_T, m_U;
+
+ /** \brief Store fractional power of m_T. */
+ ComplexMatrix m_fT;
+
+ /**
+ * \brief Condition number of m_A.
+ *
+ * It is initialized as 0 to avoid performing unnecessary Schur
+ * decomposition, which is the bottleneck.
+ */
+ RealScalar m_conditionNumber;
+
+ /** \brief Rank of m_A. */
+ Index m_rank;
+
+ /** \brief Rank deficiency of m_A. */
+ Index m_nulls;
+
+ /**
+ * \brief Split p into integral part and fractional part.
+ *
+ * \param[in] p The exponent.
+ * \param[out] p The fractional part ranging in \f$ (-1, 1) \f$.
+ * \param[out] intpart The integral part.
+ *
+ * Only if the fractional part is nonzero, it calls initialize().
+ */
+ void split(RealScalar& p, RealScalar& intpart);
+
+ /** \brief Perform Schur decomposition for fractional power. */
+ void initialize();
+
+ template<typename ResultType>
+ void computeIntPower(ResultType& res, RealScalar p);
+
+ template<typename ResultType>
+ void computeFracPower(ResultType& res, RealScalar p);
+
+ template<int Rows, int Cols, int Options, int MaxRows, int MaxCols>
+ static void revertSchur(
+ Matrix<ComplexScalar, Rows, Cols, Options, MaxRows, MaxCols>& res,
+ const ComplexMatrix& T,
+ const ComplexMatrix& U);
+
+ template<int Rows, int Cols, int Options, int MaxRows, int MaxCols>
+ static void revertSchur(
+ Matrix<RealScalar, Rows, Cols, Options, MaxRows, MaxCols>& res,
+ const ComplexMatrix& T,
+ const ComplexMatrix& U);
+};
+
+template<typename MatrixType>
+template<typename ResultType>
+void MatrixPower<MatrixType>::compute(ResultType& res, RealScalar p)
+{
+ using std::pow;
+ switch (cols()) {
+ case 0:
+ break;
+ case 1:
+ res(0,0) = pow(m_A.coeff(0,0), p);
+ break;
+ default:
+ RealScalar intpart;
+ split(p, intpart);
+
+ res = MatrixType::Identity(rows(), cols());
+ computeIntPower(res, intpart);
+ if (p) computeFracPower(res, p);
+ }
+}
+
+template<typename MatrixType>
+void MatrixPower<MatrixType>::split(RealScalar& p, RealScalar& intpart)
+{
+ using std::floor;
+ using std::pow;
+
+ intpart = floor(p);
+ p -= intpart;
+
+ // Perform Schur decomposition if it is not yet performed and the power is
+ // not an integer.
+ if (!m_conditionNumber && p)
+ initialize();
+
+ // Choose the more stable of intpart = floor(p) and intpart = ceil(p).
+ if (p > RealScalar(0.5) && p > (1-p) * pow(m_conditionNumber, p)) {
+ --p;
+ ++intpart;
+ }
+}
+
+template<typename MatrixType>
+void MatrixPower<MatrixType>::initialize()
+{
+ const ComplexSchur<MatrixType> schurOfA(m_A);
+ JacobiRotation<ComplexScalar> rot;
+ ComplexScalar eigenvalue;
+
+ m_fT.resizeLike(m_A);
+ m_T = schurOfA.matrixT();
+ m_U = schurOfA.matrixU();
+ m_conditionNumber = m_T.diagonal().array().abs().maxCoeff() / m_T.diagonal().array().abs().minCoeff();
+
+ // Move zero eigenvalues to the bottom right corner.
+ for (Index i = cols()-1; i>=0; --i) {
+ if (m_rank <= 2)
+ return;
+ if (m_T.coeff(i,i) == RealScalar(0)) {
+ for (Index j=i+1; j < m_rank; ++j) {
+ eigenvalue = m_T.coeff(j,j);
+ rot.makeGivens(m_T.coeff(j-1,j), eigenvalue);
+ m_T.applyOnTheRight(j-1, j, rot);
+ m_T.applyOnTheLeft(j-1, j, rot.adjoint());
+ m_T.coeffRef(j-1,j-1) = eigenvalue;
+ m_T.coeffRef(j,j) = RealScalar(0);
+ m_U.applyOnTheRight(j-1, j, rot);
+ }
+ --m_rank;
+ }
+ }
+
+ m_nulls = rows() - m_rank;
+ if (m_nulls) {
+ eigen_assert(m_T.bottomRightCorner(m_nulls, m_nulls).isZero()
+ && "Base of matrix power should be invertible or with a semisimple zero eigenvalue.");
+ m_fT.bottomRows(m_nulls).fill(RealScalar(0));
+ }
+}
+
+template<typename MatrixType>
+template<typename ResultType>
+void MatrixPower<MatrixType>::computeIntPower(ResultType& res, RealScalar p)
+{
+ using std::abs;
+ using std::fmod;
+ RealScalar pp = abs(p);
+
+ if (p<0)
+ m_tmp = m_A.inverse();
+ else
+ m_tmp = m_A;
+
+ while (true) {
+ if (fmod(pp, 2) >= 1)
+ res = m_tmp * res;
+ pp /= 2;
+ if (pp < 1)
+ break;
+ m_tmp *= m_tmp;
+ }
+}
+
+template<typename MatrixType>
+template<typename ResultType>
+void MatrixPower<MatrixType>::computeFracPower(ResultType& res, RealScalar p)
+{
+ Block<ComplexMatrix,Dynamic,Dynamic> blockTp(m_fT, 0, 0, m_rank, m_rank);
+ eigen_assert(m_conditionNumber);
+ eigen_assert(m_rank + m_nulls == rows());
+
+ MatrixPowerAtomic<ComplexMatrix>(m_T.topLeftCorner(m_rank, m_rank), p).compute(blockTp);
+ if (m_nulls) {
+ m_fT.topRightCorner(m_rank, m_nulls) = m_T.topLeftCorner(m_rank, m_rank).template triangularView<Upper>()
+ .solve(blockTp * m_T.topRightCorner(m_rank, m_nulls));
+ }
+ revertSchur(m_tmp, m_fT, m_U);
+ res = m_tmp * res;
+}
+
+template<typename MatrixType>
+template<int Rows, int Cols, int Options, int MaxRows, int MaxCols>
+inline void MatrixPower<MatrixType>::revertSchur(
+ Matrix<ComplexScalar, Rows, Cols, Options, MaxRows, MaxCols>& res,
+ const ComplexMatrix& T,
+ const ComplexMatrix& U)
+{ res.noalias() = U * (T.template triangularView<Upper>() * U.adjoint()); }
+
+template<typename MatrixType>
+template<int Rows, int Cols, int Options, int MaxRows, int MaxCols>
+inline void MatrixPower<MatrixType>::revertSchur(
+ Matrix<RealScalar, Rows, Cols, Options, MaxRows, MaxCols>& res,
+ const ComplexMatrix& T,
+ const ComplexMatrix& U)
+{ res.noalias() = (U * (T.template triangularView<Upper>() * U.adjoint())).real(); }
+
+/**
+ * \ingroup MatrixFunctions_Module
+ *
+ * \brief Proxy for the matrix power of some matrix (expression).
+ *
+ * \tparam Derived type of the base, a matrix (expression).
+ *
+ * This class holds the arguments to the matrix power until it is
+ * assigned or evaluated for some other reason (so the argument
+ * should not be changed in the meantime). It is the return type of
+ * MatrixBase::pow() and related functions and most of the
+ * time this is the only way it is used.
+ */
+template<typename Derived>
+class MatrixPowerReturnValue : public ReturnByValue< MatrixPowerReturnValue<Derived> >
+{
+ public:
+ typedef typename Derived::PlainObject PlainObject;
+ typedef typename Derived::RealScalar RealScalar;
+ typedef typename Derived::Index Index;
+
+ /**
+ * \brief Constructor.
+ *
+ * \param[in] A %Matrix (expression), the base of the matrix power.
+ * \param[in] p real scalar, the exponent of the matrix power.
+ */
+ MatrixPowerReturnValue(const Derived& A, RealScalar p) : m_A(A), m_p(p)
+ { }
+
+ /**
+ * \brief Compute the matrix power.
+ *
+ * \param[out] result \f$ A^p \f$ where \p A and \p p are as in the
+ * constructor.
+ */
+ template<typename ResultType>
+ inline void evalTo(ResultType& result) const
+ { MatrixPower<PlainObject>(m_A.eval()).compute(result, m_p); }
+
+ Index rows() const { return m_A.rows(); }
+ Index cols() const { return m_A.cols(); }
+
+ private:
+ const Derived& m_A;
+ const RealScalar m_p;
+};
+
+/**
+ * \ingroup MatrixFunctions_Module
+ *
+ * \brief Proxy for the matrix power of some matrix (expression).
+ *
+ * \tparam Derived type of the base, a matrix (expression).
+ *
+ * This class holds the arguments to the matrix power until it is
+ * assigned or evaluated for some other reason (so the argument
+ * should not be changed in the meantime). It is the return type of
+ * MatrixBase::pow() and related functions and most of the
+ * time this is the only way it is used.
+ */
+template<typename Derived>
+class MatrixComplexPowerReturnValue : public ReturnByValue< MatrixComplexPowerReturnValue<Derived> >
+{
+ public:
+ typedef typename Derived::PlainObject PlainObject;
+ typedef typename std::complex<typename Derived::RealScalar> ComplexScalar;
+ typedef typename Derived::Index Index;
+
+ /**
+ * \brief Constructor.
+ *
+ * \param[in] A %Matrix (expression), the base of the matrix power.
+ * \param[in] p complex scalar, the exponent of the matrix power.
+ */
+ MatrixComplexPowerReturnValue(const Derived& A, const ComplexScalar& p) : m_A(A), m_p(p)
+ { }
+
+ /**
+ * \brief Compute the matrix power.
+ *
+ * Because \p p is complex, \f$ A^p \f$ is simply evaluated as \f$
+ * \exp(p \log(A)) \f$.
+ *
+ * \param[out] result \f$ A^p \f$ where \p A and \p p are as in the
+ * constructor.
+ */
+ template<typename ResultType>
+ inline void evalTo(ResultType& result) const
+ { result = (m_p * m_A.log()).exp(); }
+
+ Index rows() const { return m_A.rows(); }
+ Index cols() const { return m_A.cols(); }
+
+ private:
+ const Derived& m_A;
+ const ComplexScalar m_p;
+};
+
+namespace internal {
+
+template<typename MatrixPowerType>
+struct traits< MatrixPowerParenthesesReturnValue<MatrixPowerType> >
+{ typedef typename MatrixPowerType::PlainObject ReturnType; };
+
+template<typename Derived>
+struct traits< MatrixPowerReturnValue<Derived> >
+{ typedef typename Derived::PlainObject ReturnType; };
+
+template<typename Derived>
+struct traits< MatrixComplexPowerReturnValue<Derived> >
+{ typedef typename Derived::PlainObject ReturnType; };
+
+}
+
+template<typename Derived>
+const MatrixPowerReturnValue<Derived> MatrixBase<Derived>::pow(const RealScalar& p) const
+{ return MatrixPowerReturnValue<Derived>(derived(), p); }
+
+template<typename Derived>
+const MatrixComplexPowerReturnValue<Derived> MatrixBase<Derived>::pow(const std::complex<RealScalar>& p) const
+{ return MatrixComplexPowerReturnValue<Derived>(derived(), p); }
+
+} // namespace Eigen
+
+#endif // EIGEN_MATRIX_POWER
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/unsupported/Eigen/src/MatrixFunctions/MatrixSquareRoot.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/unsupported/Eigen/src/MatrixFunctions/MatrixSquareRoot.h
new file mode 100644
index 0000000..2e5abda
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/unsupported/Eigen/src/MatrixFunctions/MatrixSquareRoot.h
@@ -0,0 +1,366 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2011, 2013 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_MATRIX_SQUARE_ROOT
+#define EIGEN_MATRIX_SQUARE_ROOT
+
+namespace Eigen {
+
+namespace internal {
+
+// pre: T.block(i,i,2,2) has complex conjugate eigenvalues
+// post: sqrtT.block(i,i,2,2) is square root of T.block(i,i,2,2)
+template <typename MatrixType, typename ResultType>
+void matrix_sqrt_quasi_triangular_2x2_diagonal_block(const MatrixType& T, typename MatrixType::Index i, ResultType& sqrtT)
+{
+ // TODO: This case (2-by-2 blocks with complex conjugate eigenvalues) is probably hidden somewhere
+ // in EigenSolver. If we expose it, we could call it directly from here.
+ typedef typename traits<MatrixType>::Scalar Scalar;
+ Matrix<Scalar,2,2> block = T.template block<2,2>(i,i);
+ EigenSolver<Matrix<Scalar,2,2> > es(block);
+ sqrtT.template block<2,2>(i,i)
+ = (es.eigenvectors() * es.eigenvalues().cwiseSqrt().asDiagonal() * es.eigenvectors().inverse()).real();
+}
+
+// pre: block structure of T is such that (i,j) is a 1x1 block,
+// all blocks of sqrtT to left of and below (i,j) are correct
+// post: sqrtT(i,j) has the correct value
+template <typename MatrixType, typename ResultType>
+void matrix_sqrt_quasi_triangular_1x1_off_diagonal_block(const MatrixType& T, typename MatrixType::Index i, typename MatrixType::Index j, ResultType& sqrtT)
+{
+ typedef typename traits<MatrixType>::Scalar Scalar;
+ Scalar tmp = (sqrtT.row(i).segment(i+1,j-i-1) * sqrtT.col(j).segment(i+1,j-i-1)).value();
+ sqrtT.coeffRef(i,j) = (T.coeff(i,j) - tmp) / (sqrtT.coeff(i,i) + sqrtT.coeff(j,j));
+}
+
+// similar to compute1x1offDiagonalBlock()
+template <typename MatrixType, typename ResultType>
+void matrix_sqrt_quasi_triangular_1x2_off_diagonal_block(const MatrixType& T, typename MatrixType::Index i, typename MatrixType::Index j, ResultType& sqrtT)
+{
+ typedef typename traits<MatrixType>::Scalar Scalar;
+ Matrix<Scalar,1,2> rhs = T.template block<1,2>(i,j);
+ if (j-i > 1)
+ rhs -= sqrtT.block(i, i+1, 1, j-i-1) * sqrtT.block(i+1, j, j-i-1, 2);
+ Matrix<Scalar,2,2> A = sqrtT.coeff(i,i) * Matrix<Scalar,2,2>::Identity();
+ A += sqrtT.template block<2,2>(j,j).transpose();
+ sqrtT.template block<1,2>(i,j).transpose() = A.fullPivLu().solve(rhs.transpose());
+}
+
+// similar to compute1x1offDiagonalBlock()
+template <typename MatrixType, typename ResultType>
+void matrix_sqrt_quasi_triangular_2x1_off_diagonal_block(const MatrixType& T, typename MatrixType::Index i, typename MatrixType::Index j, ResultType& sqrtT)
+{
+ typedef typename traits<MatrixType>::Scalar Scalar;
+ Matrix<Scalar,2,1> rhs = T.template block<2,1>(i,j);
+ if (j-i > 2)
+ rhs -= sqrtT.block(i, i+2, 2, j-i-2) * sqrtT.block(i+2, j, j-i-2, 1);
+ Matrix<Scalar,2,2> A = sqrtT.coeff(j,j) * Matrix<Scalar,2,2>::Identity();
+ A += sqrtT.template block<2,2>(i,i);
+ sqrtT.template block<2,1>(i,j) = A.fullPivLu().solve(rhs);
+}
+
+// solves the equation A X + X B = C where all matrices are 2-by-2
+template <typename MatrixType>
+void matrix_sqrt_quasi_triangular_solve_auxiliary_equation(MatrixType& X, const MatrixType& A, const MatrixType& B, const MatrixType& C)
+{
+ typedef typename traits<MatrixType>::Scalar Scalar;
+ Matrix<Scalar,4,4> coeffMatrix = Matrix<Scalar,4,4>::Zero();
+ coeffMatrix.coeffRef(0,0) = A.coeff(0,0) + B.coeff(0,0);
+ coeffMatrix.coeffRef(1,1) = A.coeff(0,0) + B.coeff(1,1);
+ coeffMatrix.coeffRef(2,2) = A.coeff(1,1) + B.coeff(0,0);
+ coeffMatrix.coeffRef(3,3) = A.coeff(1,1) + B.coeff(1,1);
+ coeffMatrix.coeffRef(0,1) = B.coeff(1,0);
+ coeffMatrix.coeffRef(0,2) = A.coeff(0,1);
+ coeffMatrix.coeffRef(1,0) = B.coeff(0,1);
+ coeffMatrix.coeffRef(1,3) = A.coeff(0,1);
+ coeffMatrix.coeffRef(2,0) = A.coeff(1,0);
+ coeffMatrix.coeffRef(2,3) = B.coeff(1,0);
+ coeffMatrix.coeffRef(3,1) = A.coeff(1,0);
+ coeffMatrix.coeffRef(3,2) = B.coeff(0,1);
+
+ Matrix<Scalar,4,1> rhs;
+ rhs.coeffRef(0) = C.coeff(0,0);
+ rhs.coeffRef(1) = C.coeff(0,1);
+ rhs.coeffRef(2) = C.coeff(1,0);
+ rhs.coeffRef(3) = C.coeff(1,1);
+
+ Matrix<Scalar,4,1> result;
+ result = coeffMatrix.fullPivLu().solve(rhs);
+
+ X.coeffRef(0,0) = result.coeff(0);
+ X.coeffRef(0,1) = result.coeff(1);
+ X.coeffRef(1,0) = result.coeff(2);
+ X.coeffRef(1,1) = result.coeff(3);
+}
+
+// similar to compute1x1offDiagonalBlock()
+template <typename MatrixType, typename ResultType>
+void matrix_sqrt_quasi_triangular_2x2_off_diagonal_block(const MatrixType& T, typename MatrixType::Index i, typename MatrixType::Index j, ResultType& sqrtT)
+{
+ typedef typename traits<MatrixType>::Scalar Scalar;
+ Matrix<Scalar,2,2> A = sqrtT.template block<2,2>(i,i);
+ Matrix<Scalar,2,2> B = sqrtT.template block<2,2>(j,j);
+ Matrix<Scalar,2,2> C = T.template block<2,2>(i,j);
+ if (j-i > 2)
+ C -= sqrtT.block(i, i+2, 2, j-i-2) * sqrtT.block(i+2, j, j-i-2, 2);
+ Matrix<Scalar,2,2> X;
+ matrix_sqrt_quasi_triangular_solve_auxiliary_equation(X, A, B, C);
+ sqrtT.template block<2,2>(i,j) = X;
+}
+
+// pre: T is quasi-upper-triangular and sqrtT is a zero matrix of the same size
+// post: the diagonal blocks of sqrtT are the square roots of the diagonal blocks of T
+template <typename MatrixType, typename ResultType>
+void matrix_sqrt_quasi_triangular_diagonal(const MatrixType& T, ResultType& sqrtT)
+{
+ using std::sqrt;
+ const Index size = T.rows();
+ for (Index i = 0; i < size; i++) {
+ if (i == size - 1 || T.coeff(i+1, i) == 0) {
+ eigen_assert(T(i,i) >= 0);
+ sqrtT.coeffRef(i,i) = sqrt(T.coeff(i,i));
+ }
+ else {
+ matrix_sqrt_quasi_triangular_2x2_diagonal_block(T, i, sqrtT);
+ ++i;
+ }
+ }
+}
+
+// pre: T is quasi-upper-triangular and diagonal blocks of sqrtT are square root of diagonal blocks of T.
+// post: sqrtT is the square root of T.
+template <typename MatrixType, typename ResultType>
+void matrix_sqrt_quasi_triangular_off_diagonal(const MatrixType& T, ResultType& sqrtT)
+{
+ const Index size = T.rows();
+ for (Index j = 1; j < size; j++) {
+ if (T.coeff(j, j-1) != 0) // if T(j-1:j, j-1:j) is a 2-by-2 block
+ continue;
+ for (Index i = j-1; i >= 0; i--) {
+ if (i > 0 && T.coeff(i, i-1) != 0) // if T(i-1:i, i-1:i) is a 2-by-2 block
+ continue;
+ bool iBlockIs2x2 = (i < size - 1) && (T.coeff(i+1, i) != 0);
+ bool jBlockIs2x2 = (j < size - 1) && (T.coeff(j+1, j) != 0);
+ if (iBlockIs2x2 && jBlockIs2x2)
+ matrix_sqrt_quasi_triangular_2x2_off_diagonal_block(T, i, j, sqrtT);
+ else if (iBlockIs2x2 && !jBlockIs2x2)
+ matrix_sqrt_quasi_triangular_2x1_off_diagonal_block(T, i, j, sqrtT);
+ else if (!iBlockIs2x2 && jBlockIs2x2)
+ matrix_sqrt_quasi_triangular_1x2_off_diagonal_block(T, i, j, sqrtT);
+ else if (!iBlockIs2x2 && !jBlockIs2x2)
+ matrix_sqrt_quasi_triangular_1x1_off_diagonal_block(T, i, j, sqrtT);
+ }
+ }
+}
+
+} // end of namespace internal
+
+/** \ingroup MatrixFunctions_Module
+ * \brief Compute matrix square root of quasi-triangular matrix.
+ *
+ * \tparam MatrixType type of \p arg, the argument of matrix square root,
+ * expected to be an instantiation of the Matrix class template.
+ * \tparam ResultType type of \p result, where result is to be stored.
+ * \param[in] arg argument of matrix square root.
+ * \param[out] result matrix square root of upper Hessenberg part of \p arg.
+ *
+ * This function computes the square root of the upper quasi-triangular matrix stored in the upper
+ * Hessenberg part of \p arg. Only the upper Hessenberg part of \p result is updated, the rest is
+ * not touched. See MatrixBase::sqrt() for details on how this computation is implemented.
+ *
+ * \sa MatrixSquareRoot, MatrixSquareRootQuasiTriangular
+ */
+template <typename MatrixType, typename ResultType>
+void matrix_sqrt_quasi_triangular(const MatrixType &arg, ResultType &result)
+{
+ eigen_assert(arg.rows() == arg.cols());
+ result.resize(arg.rows(), arg.cols());
+ internal::matrix_sqrt_quasi_triangular_diagonal(arg, result);
+ internal::matrix_sqrt_quasi_triangular_off_diagonal(arg, result);
+}
+
+
+/** \ingroup MatrixFunctions_Module
+ * \brief Compute matrix square root of triangular matrix.
+ *
+ * \tparam MatrixType type of \p arg, the argument of matrix square root,
+ * expected to be an instantiation of the Matrix class template.
+ * \tparam ResultType type of \p result, where result is to be stored.
+ * \param[in] arg argument of matrix square root.
+ * \param[out] result matrix square root of upper triangular part of \p arg.
+ *
+ * Only the upper triangular part (including the diagonal) of \p result is updated, the rest is not
+ * touched. See MatrixBase::sqrt() for details on how this computation is implemented.
+ *
+ * \sa MatrixSquareRoot, MatrixSquareRootQuasiTriangular
+ */
+template <typename MatrixType, typename ResultType>
+void matrix_sqrt_triangular(const MatrixType &arg, ResultType &result)
+{
+ using std::sqrt;
+ typedef typename MatrixType::Scalar Scalar;
+
+ eigen_assert(arg.rows() == arg.cols());
+
+ // Compute square root of arg and store it in upper triangular part of result
+ // This uses that the square root of triangular matrices can be computed directly.
+ result.resize(arg.rows(), arg.cols());
+ for (Index i = 0; i < arg.rows(); i++) {
+ result.coeffRef(i,i) = sqrt(arg.coeff(i,i));
+ }
+ for (Index j = 1; j < arg.cols(); j++) {
+ for (Index i = j-1; i >= 0; i--) {
+ // if i = j-1, then segment has length 0 so tmp = 0
+ Scalar tmp = (result.row(i).segment(i+1,j-i-1) * result.col(j).segment(i+1,j-i-1)).value();
+ // denominator may be zero if original matrix is singular
+ result.coeffRef(i,j) = (arg.coeff(i,j) - tmp) / (result.coeff(i,i) + result.coeff(j,j));
+ }
+ }
+}
+
+
+namespace internal {
+
+/** \ingroup MatrixFunctions_Module
+ * \brief Helper struct for computing matrix square roots of general matrices.
+ * \tparam MatrixType type of the argument of the matrix square root,
+ * expected to be an instantiation of the Matrix class template.
+ *
+ * \sa MatrixSquareRootTriangular, MatrixSquareRootQuasiTriangular, MatrixBase::sqrt()
+ */
+template <typename MatrixType, int IsComplex = NumTraits<typename internal::traits<MatrixType>::Scalar>::IsComplex>
+struct matrix_sqrt_compute
+{
+ /** \brief Compute the matrix square root
+ *
+ * \param[in] arg matrix whose square root is to be computed.
+ * \param[out] result square root of \p arg.
+ *
+ * See MatrixBase::sqrt() for details on how this computation is implemented.
+ */
+ template <typename ResultType> static void run(const MatrixType &arg, ResultType &result);
+};
+
+
+// ********** Partial specialization for real matrices **********
+
+template <typename MatrixType>
+struct matrix_sqrt_compute<MatrixType, 0>
+{
+ template <typename ResultType>
+ static void run(const MatrixType &arg, ResultType &result)
+ {
+ eigen_assert(arg.rows() == arg.cols());
+
+ // Compute Schur decomposition of arg
+ const RealSchur<MatrixType> schurOfA(arg);
+ const MatrixType& T = schurOfA.matrixT();
+ const MatrixType& U = schurOfA.matrixU();
+
+ // Compute square root of T
+ MatrixType sqrtT = MatrixType::Zero(arg.rows(), arg.cols());
+ matrix_sqrt_quasi_triangular(T, sqrtT);
+
+ // Compute square root of arg
+ result = U * sqrtT * U.adjoint();
+ }
+};
+
+
+// ********** Partial specialization for complex matrices **********
+
+template <typename MatrixType>
+struct matrix_sqrt_compute<MatrixType, 1>
+{
+ template <typename ResultType>
+ static void run(const MatrixType &arg, ResultType &result)
+ {
+ eigen_assert(arg.rows() == arg.cols());
+
+ // Compute Schur decomposition of arg
+ const ComplexSchur<MatrixType> schurOfA(arg);
+ const MatrixType& T = schurOfA.matrixT();
+ const MatrixType& U = schurOfA.matrixU();
+
+ // Compute square root of T
+ MatrixType sqrtT;
+ matrix_sqrt_triangular(T, sqrtT);
+
+ // Compute square root of arg
+ result = U * (sqrtT.template triangularView<Upper>() * U.adjoint());
+ }
+};
+
+} // end namespace internal
+
+/** \ingroup MatrixFunctions_Module
+ *
+ * \brief Proxy for the matrix square root of some matrix (expression).
+ *
+ * \tparam Derived Type of the argument to the matrix square root.
+ *
+ * This class holds the argument to the matrix square root until it
+ * is assigned or evaluated for some other reason (so the argument
+ * should not be changed in the meantime). It is the return type of
+ * MatrixBase::sqrt() and most of the time this is the only way it is
+ * used.
+ */
+template<typename Derived> class MatrixSquareRootReturnValue
+: public ReturnByValue<MatrixSquareRootReturnValue<Derived> >
+{
+ protected:
+ typedef typename internal::ref_selector<Derived>::type DerivedNested;
+
+ public:
+ /** \brief Constructor.
+ *
+ * \param[in] src %Matrix (expression) forming the argument of the
+ * matrix square root.
+ */
+ explicit MatrixSquareRootReturnValue(const Derived& src) : m_src(src) { }
+
+ /** \brief Compute the matrix square root.
+ *
+ * \param[out] result the matrix square root of \p src in the
+ * constructor.
+ */
+ template <typename ResultType>
+ inline void evalTo(ResultType& result) const
+ {
+ typedef typename internal::nested_eval<Derived, 10>::type DerivedEvalType;
+ typedef typename internal::remove_all<DerivedEvalType>::type DerivedEvalTypeClean;
+ DerivedEvalType tmp(m_src);
+ internal::matrix_sqrt_compute<DerivedEvalTypeClean>::run(tmp, result);
+ }
+
+ Index rows() const { return m_src.rows(); }
+ Index cols() const { return m_src.cols(); }
+
+ protected:
+ const DerivedNested m_src;
+};
+
+namespace internal {
+template<typename Derived>
+struct traits<MatrixSquareRootReturnValue<Derived> >
+{
+ typedef typename Derived::PlainObject ReturnType;
+};
+}
+
+template <typename Derived>
+const MatrixSquareRootReturnValue<Derived> MatrixBase<Derived>::sqrt() const
+{
+ eigen_assert(rows() == cols());
+ return MatrixSquareRootReturnValue<Derived>(derived());
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_MATRIX_FUNCTION
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/unsupported/Eigen/src/MatrixFunctions/StemFunction.h b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/unsupported/Eigen/src/MatrixFunctions/StemFunction.h
new file mode 100644
index 0000000..7604df9
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/eigeninclude/unsupported/Eigen/src/MatrixFunctions/StemFunction.h
@@ -0,0 +1,117 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010, 2013 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_STEM_FUNCTION
+#define EIGEN_STEM_FUNCTION
+
+namespace Eigen {
+
+namespace internal {
+
+/** \brief The exponential function (and its derivatives). */
+template <typename Scalar>
+Scalar stem_function_exp(Scalar x, int)
+{
+ using std::exp;
+ return exp(x);
+}
+
+/** \brief Cosine (and its derivatives). */
+template <typename Scalar>
+Scalar stem_function_cos(Scalar x, int n)
+{
+ using std::cos;
+ using std::sin;
+ Scalar res;
+
+ switch (n % 4) {
+ case 0:
+ res = std::cos(x);
+ break;
+ case 1:
+ res = -std::sin(x);
+ break;
+ case 2:
+ res = -std::cos(x);
+ break;
+ case 3:
+ res = std::sin(x);
+ break;
+ }
+ return res;
+}
+
+/** \brief Sine (and its derivatives). */
+template <typename Scalar>
+Scalar stem_function_sin(Scalar x, int n)
+{
+ using std::cos;
+ using std::sin;
+ Scalar res;
+
+ switch (n % 4) {
+ case 0:
+ res = std::sin(x);
+ break;
+ case 1:
+ res = std::cos(x);
+ break;
+ case 2:
+ res = -std::sin(x);
+ break;
+ case 3:
+ res = -std::cos(x);
+ break;
+ }
+ return res;
+}
+
+/** \brief Hyperbolic cosine (and its derivatives). */
+template <typename Scalar>
+Scalar stem_function_cosh(Scalar x, int n)
+{
+ using std::cosh;
+ using std::sinh;
+ Scalar res;
+
+ switch (n % 2) {
+ case 0:
+ res = std::cosh(x);
+ break;
+ case 1:
+ res = std::sinh(x);
+ break;
+ }
+ return res;
+}
+
+/** \brief Hyperbolic sine (and its derivatives). */
+template <typename Scalar>
+Scalar stem_function_sinh(Scalar x, int n)
+{
+ using std::cosh;
+ using std::sinh;
+ Scalar res;
+
+ switch (n % 2) {
+ case 0:
+ res = std::sinh(x);
+ break;
+ case 1:
+ res = std::cosh(x);
+ break;
+ }
+ return res;
+}
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_STEM_FUNCTION
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/AlignOf.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/AlignOf.h
deleted file mode 100644
index 6ecb22c..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/AlignOf.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: llvm/AlignOf.h is deprecated; include wpi/AlignOf.h instead"
-#else
-#warning "llvm/AlignOf.h is deprecated; include wpi/AlignOf.h instead"
-#endif
-// clang-format on
-
-#include "wpi/AlignOf.h"
-
-namespace llvm = wpi;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/ArrayRef.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/ArrayRef.h
deleted file mode 100644
index 9cf71a6..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/ArrayRef.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: llvm/ArrayRef.h is deprecated; include wpi/ArrayRef.h instead"
-#else
-#warning "llvm/ArrayRef.h is deprecated; include wpi/ArrayRef.h instead"
-#endif
-// clang-format on
-
-#include "wpi/ArrayRef.h"
-
-namespace llvm = wpi;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/Compiler.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/Compiler.h
deleted file mode 100644
index 658e7e0..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/Compiler.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: llvm/Compiler.h is deprecated; include wpi/Compiler.h instead"
-#else
-#warning "llvm/Compiler.h is deprecated; include wpi/Compiler.h instead"
-#endif
-// clang-format on
-
-#include "wpi/Compiler.h"
-
-namespace llvm = wpi;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/ConvertUTF.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/ConvertUTF.h
deleted file mode 100644
index 18645f7..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/ConvertUTF.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: llvm/ConvertUTF.h is deprecated; include wpi/ConvertUTF.h instead"
-#else
-#warning "llvm/ConvertUTF.h is deprecated; include wpi/ConvertUTF.h instead"
-#endif
-// clang-format on
-
-#include "wpi/ConvertUTF.h"
-
-namespace llvm = wpi;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/DenseMap.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/DenseMap.h
deleted file mode 100644
index cf609a9..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/DenseMap.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: llvm/DenseMap.h is deprecated; include wpi/DenseMap.h instead"
-#else
-#warning "llvm/DenseMap.h is deprecated; include wpi/DenseMap.h instead"
-#endif
-// clang-format on
-
-#include "wpi/DenseMap.h"
-
-namespace llvm = wpi;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/DenseMapInfo.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/DenseMapInfo.h
deleted file mode 100644
index ab582fb..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/DenseMapInfo.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: llvm/DenseMapInfo.h is deprecated; include wpi/DenseMapInfo.h instead"
-#else
-#warning "llvm/DenseMapInfo.h is deprecated; include wpi/DenseMapInfo.h instead"
-#endif
-// clang-format on
-
-#include "wpi/DenseMapInfo.h"
-
-namespace llvm = wpi;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/EpochTracker.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/EpochTracker.h
deleted file mode 100644
index b9351c4..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/EpochTracker.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: llvm/EpochTracker.h is deprecated; include wpi/EpochTracker.h instead"
-#else
-#warning "llvm/EpochTracker.h is deprecated; include wpi/EpochTracker.h instead"
-#endif
-// clang-format on
-
-#include "wpi/EpochTracker.h"
-
-namespace llvm = wpi;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/FileSystem.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/FileSystem.h
deleted file mode 100644
index 41a8a0f..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/FileSystem.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: llvm/FileSystem.h is deprecated; include wpi/FileSystem.h instead"
-#else
-#warning "llvm/FileSystem.h is deprecated; include wpi/FileSystem.h instead"
-#endif
-// clang-format on
-
-#include "wpi/FileSystem.h"
-
-namespace llvm = wpi;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/Format.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/Format.h
deleted file mode 100644
index 7494722..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/Format.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: llvm/Format.h is deprecated; include wpi/Format.h instead"
-#else
-#warning "llvm/Format.h is deprecated; include wpi/Format.h instead"
-#endif
-// clang-format on
-
-#include "wpi/Format.h"
-
-namespace llvm = wpi;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/Hashing.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/Hashing.h
deleted file mode 100644
index 3e9d464..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/Hashing.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: llvm/Hashing.h is deprecated; include wpi/Hashing.h instead"
-#else
-#warning "llvm/Hashing.h is deprecated; include wpi/Hashing.h instead"
-#endif
-// clang-format on
-
-#include "wpi/Hashing.h"
-
-namespace llvm = wpi;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/IntrusiveRefCntPtr.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/IntrusiveRefCntPtr.h
deleted file mode 100644
index 6a98483..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/IntrusiveRefCntPtr.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: llvm/IntrusiveRefCntPtr.h is deprecated; include wpi/IntrusiveRefCntPtr.h instead"
-#else
-#warning "llvm/IntrusiveRefCntPtr.h is deprecated; include wpi/IntrusiveRefCntPtr.h instead"
-#endif
-// clang-format on
-
-#include "wpi/IntrusiveRefCntPtr.h"
-
-namespace llvm = wpi;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/MathExtras.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/MathExtras.h
deleted file mode 100644
index 49b7419..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/MathExtras.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: llvm/MathExtras.h is deprecated; include wpi/MathExtras.h instead"
-#else
-#warning "llvm/MathExtras.h is deprecated; include wpi/MathExtras.h instead"
-#endif
-// clang-format on
-
-#include "wpi/MathExtras.h"
-
-namespace llvm = wpi;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/Path.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/Path.h
deleted file mode 100644
index 85aaf59..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/Path.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: llvm/Path.h is deprecated; include wpi/Path.h instead"
-#else
-#warning "llvm/Path.h is deprecated; include wpi/Path.h instead"
-#endif
-// clang-format on
-
-#include "wpi/Path.h"
-
-namespace llvm = wpi;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/PointerLikeTypeTraits.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/PointerLikeTypeTraits.h
deleted file mode 100644
index b0f460a..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/PointerLikeTypeTraits.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: llvm/PointerLikeTypeTraits.h is deprecated; include wpi/PointerLikeTypeTraits.h instead"
-#else
-#warning "llvm/PointerLikeTypeTraits.h is deprecated; include wpi/PointerLikeTypeTraits.h instead"
-#endif
-// clang-format on
-
-#include "wpi/PointerLikeTypeTraits.h"
-
-namespace llvm = wpi;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/STLExtras.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/STLExtras.h
deleted file mode 100644
index 87ea631..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/STLExtras.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: llvm/STLExtras.h is deprecated; include wpi/STLExtras.h instead"
-#else
-#warning "llvm/STLExtras.h is deprecated; include wpi/STLExtras.h instead"
-#endif
-// clang-format on
-
-#include "wpi/STLExtras.h"
-
-namespace llvm = wpi;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/SmallPtrSet.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/SmallPtrSet.h
deleted file mode 100644
index 546b04e..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/SmallPtrSet.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: llvm/SmallPtrSet.h is deprecated; include wpi/SmallPtrSet.h instead"
-#else
-#warning "llvm/SmallPtrSet.h is deprecated; include wpi/SmallPtrSet.h instead"
-#endif
-// clang-format on
-
-#include "wpi/SmallPtrSet.h"
-
-namespace llvm = wpi;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/SmallSet.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/SmallSet.h
deleted file mode 100644
index c431bd5..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/SmallSet.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: llvm/SmallSet.h is deprecated; include wpi/SmallSet.h instead"
-#else
-#warning "llvm/SmallSet.h is deprecated; include wpi/SmallSet.h instead"
-#endif
-// clang-format on
-
-#include "wpi/SmallSet.h"
-
-namespace llvm = wpi;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/SmallString.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/SmallString.h
deleted file mode 100644
index 7679f6b..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/SmallString.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: llvm/SmallString.h is deprecated; include wpi/SmallString.h instead"
-#else
-#warning "llvm/SmallString.h is deprecated; include wpi/SmallString.h instead"
-#endif
-// clang-format on
-
-#include "wpi/SmallString.h"
-
-namespace llvm = wpi;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/SmallVector.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/SmallVector.h
deleted file mode 100644
index 9291933..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/SmallVector.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: llvm/SmallVector.h is deprecated; include wpi/SmallVector.h instead"
-#else
-#warning "llvm/SmallVector.h is deprecated; include wpi/SmallVector.h instead"
-#endif
-// clang-format on
-
-#include "wpi/SmallVector.h"
-
-namespace llvm = wpi;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/StringExtras.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/StringExtras.h
deleted file mode 100644
index 4fcfdd6..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/StringExtras.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: llvm/StringExtras.h is deprecated; include wpi/StringExtras.h instead"
-#else
-#warning "llvm/StringExtras.h is deprecated; include wpi/StringExtras.h instead"
-#endif
-// clang-format on
-
-#include "wpi/StringExtras.h"
-
-namespace llvm = wpi;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/StringMap.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/StringMap.h
deleted file mode 100644
index 4fd06aa..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/StringMap.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: llvm/StringMap.h is deprecated; include wpi/StringMap.h instead"
-#else
-#warning "llvm/StringMap.h is deprecated; include wpi/StringMap.h instead"
-#endif
-// clang-format on
-
-#include "wpi/StringMap.h"
-
-namespace llvm = wpi;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/StringRef.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/StringRef.h
deleted file mode 100644
index 74f44b5..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/StringRef.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: llvm/StringRef.h is deprecated; include wpi/StringRef.h instead"
-#else
-#warning "llvm/StringRef.h is deprecated; include wpi/StringRef.h instead"
-#endif
-// clang-format on
-
-#include "wpi/StringRef.h"
-
-namespace llvm = wpi;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/Twine.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/Twine.h
deleted file mode 100644
index ddd40a4..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/Twine.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: llvm/Twine.h is deprecated; include wpi/Twine.h instead"
-#else
-#warning "llvm/Twine.h is deprecated; include wpi/Twine.h instead"
-#endif
-// clang-format on
-
-#include "wpi/Twine.h"
-
-namespace llvm = wpi;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/WindowsError.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/WindowsError.h
deleted file mode 100644
index 1f7c618..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/WindowsError.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: llvm/WindowsError.h is deprecated; include wpi/WindowsError.h instead"
-#else
-#warning "llvm/WindowsError.h is deprecated; include wpi/WindowsError.h instead"
-#endif
-// clang-format on
-
-#include "wpi/WindowsError.h"
-
-namespace llvm = wpi;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/iterator_range.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/iterator_range.h
deleted file mode 100644
index acd9d7d..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/iterator_range.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: llvm/iterator_range.h is deprecated; include wpi/iterator_range.h instead"
-#else
-#warning "llvm/iterator_range.h is deprecated; include wpi/iterator_range.h instead"
-#endif
-// clang-format on
-
-#include "wpi/iterator_range.h"
-
-namespace llvm = wpi;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/raw_os_ostream.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/raw_os_ostream.h
deleted file mode 100644
index b9e7fd6..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/raw_os_ostream.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: llvm/raw_os_ostream.h is deprecated; include wpi/raw_os_ostream.h instead"
-#else
-#warning "llvm/raw_os_ostream.h is deprecated; include wpi/raw_os_ostream.h instead"
-#endif
-// clang-format on
-
-#include "wpi/raw_os_ostream.h"
-
-namespace llvm = wpi;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/raw_ostream.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/raw_ostream.h
deleted file mode 100644
index 3781bd7..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/raw_ostream.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: llvm/raw_ostream.h is deprecated; include wpi/raw_ostream.h instead"
-#else
-#warning "llvm/raw_ostream.h is deprecated; include wpi/raw_ostream.h instead"
-#endif
-// clang-format on
-
-#include "wpi/raw_ostream.h"
-
-namespace llvm = wpi;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/type_traits.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/type_traits.h
deleted file mode 100644
index e662e0e..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/llvm/type_traits.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: llvm/type_traits.h is deprecated; include wpi/type_traits.h instead"
-#else
-#warning "llvm/type_traits.h is deprecated; include wpi/type_traits.h instead"
-#endif
-// clang-format on
-
-#include "wpi/type_traits.h"
-
-namespace llvm = wpi;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/Base64.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/Base64.h
deleted file mode 100644
index 54f6702..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/Base64.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: support/Base64.h is deprecated; include wpi/Base64.h instead"
-#else
-#warning "support/Base64.h is deprecated; include wpi/Base64.h instead"
-#endif
-
-// clang-format on
-
-#include "wpi/Base64.h"
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/ConcurrentQueue.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/ConcurrentQueue.h
deleted file mode 100644
index 77f5eba..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/ConcurrentQueue.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: support/ConcurrentQueue.h is deprecated; include wpi/ConcurrentQueue.h instead"
-#else
-#warning "support/ConcurrentQueue.h is deprecated; include wpi/ConcurrentQueue.h instead"
-#endif
-
-// clang-format on
-
-#include "wpi/ConcurrentQueue.h"
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/HttpUtil.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/HttpUtil.h
deleted file mode 100644
index d8e2be0..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/HttpUtil.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: support/HttpUtil.h is deprecated; include wpi/HttpUtil.h instead"
-#else
-#warning "support/HttpUtil.h is deprecated; include wpi/HttpUtil.h instead"
-#endif
-
-// clang-format on
-
-#include "wpi/HttpUtil.h"
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/HttpUtil.inl b/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/HttpUtil.inl
deleted file mode 100644
index 8210c25..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/HttpUtil.inl
+++ /dev/null
@@ -1,18 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: support/HttpUtil.inl is deprecated; include wpi/HttpUtil.inl instead"
-#else
-#warning "support/HttpUtil.inl is deprecated; include wpi/HttpUtil.inl instead"
-#endif
-// clang-format on
-
-#include "wpi/HttpUtil.inl"
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/Logger.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/Logger.h
deleted file mode 100644
index 5bf2cdf..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/Logger.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: support/Logger.h is deprecated; include wpi/Logger.h instead"
-#else
-#warning "support/Logger.h is deprecated; include wpi/Logger.h instead"
-#endif
-
-// clang-format on
-
-#include "wpi/Logger.h"
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/SafeThread.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/SafeThread.h
deleted file mode 100644
index cceaf57..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/SafeThread.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: support/SafeThread.h is deprecated; include wpi/SafeThread.h instead"
-#else
-#warning "support/SafeThread.h is deprecated; include wpi/SafeThread.h instead"
-#endif
-
-// clang-format on
-
-#include "wpi/SafeThread.h"
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/UidVector.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/UidVector.h
deleted file mode 100644
index d5d4806..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/UidVector.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: support/UidVector.h is deprecated; include wpi/UidVector.h instead"
-#else
-#warning "support/UidVector.h is deprecated; include wpi/UidVector.h instead"
-#endif
-
-// clang-format on
-
-#include "wpi/UidVector.h"
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/atomic_static.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/atomic_static.h
deleted file mode 100644
index 27ec4b1..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/atomic_static.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: support/atomic_static.h is deprecated; include wpi/atomic_static.h instead"
-#else
-#warning "support/atomic_static.h is deprecated; include wpi/atomic_static.h instead"
-#endif
-
-// clang-format on
-
-#include "wpi/atomic_static.h"
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/condition_variable.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/condition_variable.h
deleted file mode 100644
index 434f797..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/condition_variable.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: support/condition_variable.h is deprecated; include wpi/condition_variable.h instead"
-#else
-#warning "support/condition_variable.h is deprecated; include wpi/condition_variable.h instead"
-#endif
-
-// clang-format on
-
-#include "wpi/condition_variable.h"
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/deprecated.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/deprecated.h
deleted file mode 100644
index c130df4..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/deprecated.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: support/deprecated.h is deprecated; include wpi/deprecated.h instead"
-#else
-#warning "support/deprecated.h is deprecated; include wpi/deprecated.h instead"
-#endif
-
-// clang-format on
-
-#include "wpi/deprecated.h"
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/hostname.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/hostname.h
deleted file mode 100644
index 33160a1..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/hostname.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: support/hostname.h is deprecated; include wpi/hostname.h instead"
-#else
-#warning "support/hostname.h is deprecated; include wpi/hostname.h instead"
-#endif
-
-// clang-format on
-
-#include "wpi/hostname.h"
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/jni_util.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/jni_util.h
deleted file mode 100644
index e5f8633..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/jni_util.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: support/jni_util.h is deprecated; include wpi/jni_util.h instead"
-#else
-#warning "support/jni_util.h is deprecated; include wpi/jni_util.h instead"
-#endif
-
-// clang-format on
-
-#include "wpi/jni_util.h"
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/json.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/json.h
deleted file mode 100644
index e98f04f..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/json.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: support/json.h is deprecated; include wpi/json.h instead"
-#else
-#warning "support/json.h is deprecated; include wpi/json.h instead"
-#endif
-
-// clang-format on
-
-#include "wpi/json.h"
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/leb128.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/leb128.h
deleted file mode 100644
index ccf0422..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/leb128.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: support/leb128.h is deprecated; include wpi/leb128.h instead"
-#else
-#warning "support/leb128.h is deprecated; include wpi/leb128.h instead"
-#endif
-
-// clang-format on
-
-#include "wpi/leb128.h"
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/mutex.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/mutex.h
deleted file mode 100644
index cd6118b..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/mutex.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: support/mutex.h is deprecated; include wpi/mutex.h instead"
-#else
-#warning "support/mutex.h is deprecated; include wpi/mutex.h instead"
-#endif
-
-// clang-format on
-
-#include "wpi/mutex.h"
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/priority_mutex.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/priority_mutex.h
deleted file mode 100644
index 6b86e02..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/priority_mutex.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: support/priority_mutex.h is deprecated; include wpi/priority_mutex.h instead"
-#else
-#warning "support/priority_mutex.h is deprecated; include wpi/priority_mutex.h instead"
-#endif
-
-// clang-format on
-
-#include "wpi/priority_mutex.h"
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/raw_istream.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/raw_istream.h
deleted file mode 100644
index 9451baf..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/raw_istream.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: support/raw_istream.h is deprecated; include wpi/raw_istream.h instead"
-#else
-#warning "support/raw_istream.h is deprecated; include wpi/raw_istream.h instead"
-#endif
-
-// clang-format on
-
-#include "wpi/raw_istream.h"
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/raw_socket_istream.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/raw_socket_istream.h
deleted file mode 100644
index bf8ca02..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/raw_socket_istream.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: support/raw_socket_istream.h is deprecated; include wpi/raw_socket_istream.h instead"
-#else
-#warning "support/raw_socket_istream.h is deprecated; include wpi/raw_socket_istream.h instead"
-#endif
-
-// clang-format on
-
-#include "wpi/raw_socket_istream.h"
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/raw_socket_ostream.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/raw_socket_ostream.h
deleted file mode 100644
index 4070d55..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/raw_socket_ostream.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: support/raw_socket_ostream.h is deprecated; include wpi/raw_socket_ostream.h instead"
-#else
-#warning "support/raw_socket_ostream.h is deprecated; include wpi/raw_socket_ostream.h instead"
-#endif
-
-// clang-format on
-
-#include "wpi/raw_socket_ostream.h"
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/sha1.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/sha1.h
deleted file mode 100644
index b755a4e..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/sha1.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: support/sha1.h is deprecated; include wpi/sha1.h instead"
-#else
-#warning "support/sha1.h is deprecated; include wpi/sha1.h instead"
-#endif
-
-// clang-format on
-
-#include "wpi/sha1.h"
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/timestamp.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/timestamp.h
deleted file mode 100644
index 0ae505a..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/support/timestamp.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: support/timestamp.h is deprecated; include wpi/timestamp.h instead"
-#else
-#warning "support/timestamp.h is deprecated; include wpi/timestamp.h instead"
-#endif
-
-// clang-format on
-
-#include "wpi/timestamp.h"
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/tcpsockets/NetworkAcceptor.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/tcpsockets/NetworkAcceptor.h
deleted file mode 100644
index 8a87f7b..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/tcpsockets/NetworkAcceptor.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: tcpsockets/NetworkAcceptor.h is deprecated; include wpi/NetworkAcceptor.h instead"
-#else
-#warning "tcpsockets/NetworkAcceptor.h is deprecated; include wpi/NetworkAcceptor.h instead"
-#endif
-
-// clang-format on
-
-#include "wpi/NetworkAcceptor.h"
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/tcpsockets/NetworkStream.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/tcpsockets/NetworkStream.h
deleted file mode 100644
index 3e9d306..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/tcpsockets/NetworkStream.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: tcpsockets/NetworkStream.h is deprecated; include wpi/NetworkStream.h instead"
-#else
-#warning "tcpsockets/NetworkStream.h is deprecated; include wpi/NetworkStream.h instead"
-#endif
-
-// clang-format on
-
-#include "wpi/NetworkStream.h"
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/tcpsockets/SocketError.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/tcpsockets/SocketError.h
deleted file mode 100644
index 0ffe322..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/tcpsockets/SocketError.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: tcpsockets/SocketError.h is deprecated; include wpi/SocketError.h instead"
-#else
-#warning "tcpsockets/SocketError.h is deprecated; include wpi/SocketError.h instead"
-#endif
-
-// clang-format on
-
-#include "wpi/SocketError.h"
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/tcpsockets/TCPAcceptor.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/tcpsockets/TCPAcceptor.h
deleted file mode 100644
index 4544e04..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/tcpsockets/TCPAcceptor.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: tcpsockets/TCPAcceptor.h is deprecated; include wpi/TCPAcceptor.h instead"
-#else
-#warning "tcpsockets/TCPAcceptor.h is deprecated; include wpi/TCPAcceptor.h instead"
-#endif
-
-// clang-format on
-
-#include "wpi/TCPAcceptor.h"
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/tcpsockets/TCPConnector.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/tcpsockets/TCPConnector.h
deleted file mode 100644
index a988872..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/tcpsockets/TCPConnector.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: tcpsockets/TCPConnector.h is deprecated; include wpi/TCPConnector.h instead"
-#else
-#warning "tcpsockets/TCPConnector.h is deprecated; include wpi/TCPConnector.h instead"
-#endif
-
-// clang-format on
-
-#include "wpi/TCPConnector.h"
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/tcpsockets/TCPStream.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/tcpsockets/TCPStream.h
deleted file mode 100644
index 74af7fa..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/tcpsockets/TCPStream.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: tcpsockets/TCPStream.h is deprecated; include wpi/TCPStream.h instead"
-#else
-#warning "tcpsockets/TCPStream.h is deprecated; include wpi/TCPStream.h instead"
-#endif
-
-// clang-format on
-
-#include "wpi/TCPStream.h"
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/udpsockets/UDPClient.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/udpsockets/UDPClient.h
deleted file mode 100644
index c70a13b..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/udpsockets/UDPClient.h
+++ /dev/null
@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: udpsockets/UDPClient.h is deprecated; include wpi/UDPClient.h instead"
-#else
-#warning "udpsockets/UDPClient.h is deprecated; include wpi/UDPClient.h instead"
-#endif
-
-// clang-format on
-
-#include "wpi/UDPClient.h"
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/units/units.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/units/units.h
new file mode 100644
index 0000000..4e4bdbd
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/units/units.h
@@ -0,0 +1,4857 @@
+//--------------------------------------------------------------------------------------------------
+//
+// Units: A compile-time c++14 unit conversion library with no dependencies
+//
+//--------------------------------------------------------------------------------------------------
+//
+// The MIT License (MIT)
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+// and associated documentation files (the "Software"), to deal in the Software without
+// restriction, including without limitation the rights to use, copy, modify, merge, publish,
+// distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in all copies or
+// substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+// BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+// NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+// DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//
+//--------------------------------------------------------------------------------------------------
+//
+// Copyright (c) 2016 Nic Holthaus
+//
+//--------------------------------------------------------------------------------------------------
+//
+// ATTRIBUTION:
+// Parts of this work have been adapted from:
+// http://stackoverflow.com/questions/35069778/create-comparison-trait-for-template-classes-whose-parameters-are-in-a-different
+// http://stackoverflow.com/questions/28253399/check-traits-for-all-variadic-template-arguments/28253503
+// http://stackoverflow.com/questions/36321295/rational-approximation-of-square-root-of-stdratio-at-compile-time?noredirect=1#comment60266601_36321295
+//
+//--------------------------------------------------------------------------------------------------
+//
+/// @file units.h
+/// @brief Complete implementation of `units` - a compile-time, header-only, unit conversion
+/// library built on c++14 with no dependencies.
+//
+//--------------------------------------------------------------------------------------------------
+
+#pragma once
+
+#ifndef units_h__
+#define units_h__
+
+#ifdef _MSC_VER
+# pragma push_macro("pascal")
+# undef pascal
+# if _MSC_VER <= 1800
+# define _ALLOW_KEYWORD_MACROS
+# pragma warning(push)
+# pragma warning(disable : 4520)
+# pragma push_macro("constexpr")
+# define constexpr /*constexpr*/
+# pragma push_macro("noexcept")
+# define noexcept throw()
+# endif // _MSC_VER < 1800
+#endif // _MSC_VER
+
+#if !defined(_MSC_VER) || _MSC_VER > 1800
+# define UNIT_HAS_LITERAL_SUPPORT
+# define UNIT_HAS_VARIADIC_TEMPLATE_SUPPORT
+#endif
+
+#ifndef UNIT_LIB_DEFAULT_TYPE
+# define UNIT_LIB_DEFAULT_TYPE double
+#endif
+
+//--------------------
+// INCLUDES
+//--------------------
+
+#include <chrono>
+#include <ratio>
+#include <type_traits>
+#include <cstdint>
+#include <cmath>
+#include <limits>
+
+#if !defined(UNIT_LIB_DISABLE_IOSTREAM)
+ #include <iostream>
+ #include <string>
+ #include <locale>
+
+ //------------------------------
+ // STRING FORMATTER
+ //------------------------------
+
+ namespace units
+ {
+ namespace detail
+ {
+ template <typename T> std::string to_string(const T& t)
+ {
+ std::string str{ std::to_string(t) };
+ int offset{ 1 };
+
+ // remove trailing decimal points for integer value units. Locale aware!
+ struct lconv * lc;
+ lc = localeconv();
+ char decimalPoint = *lc->decimal_point;
+ if (str.find_last_not_of('0') == str.find(decimalPoint)) { offset = 0; }
+ str.erase(str.find_last_not_of('0') + offset, std::string::npos);
+ return str;
+ }
+ }
+ }
+#endif
+
+namespace units
+{
+ template<typename T> inline constexpr const char* name(const T&);
+ template<typename T> inline constexpr const char* abbreviation(const T&);
+}
+
+//------------------------------
+// MACROS
+//------------------------------
+
+/**
+ * @def UNIT_ADD_UNIT_TAGS(namespaceName,nameSingular, namePlural, abbreviation, definition)
+ * @brief Helper macro for generating the boiler-plate code generating the tags of a new unit.
+ * @details The macro generates singular, plural, and abbreviated forms
+ * of the unit definition (e.g. `meter`, `meters`, and `m`), as aliases for the
+ * unit tag.
+ * @param namespaceName namespace in which the new units will be encapsulated.
+ * @param nameSingular singular version of the unit name, e.g. 'meter'
+ * @param namePlural - plural version of the unit name, e.g. 'meters'
+ * @param abbreviation - abbreviated unit name, e.g. 'm'
+ * @param definition - the variadic parameter is used for the definition of the unit
+ * (e.g. `unit<std::ratio<1>, units::category::length_unit>`)
+ * @note a variadic template is used for the definition to allow templates with
+ * commas to be easily expanded. All the variadic 'arguments' should together
+ * comprise the unit definition.
+ */
+#define UNIT_ADD_UNIT_TAGS(namespaceName,nameSingular, namePlural, abbreviation, /*definition*/...)\
+ namespace namespaceName\
+ {\
+ /** @name Units (full names plural) */ /** @{ */ typedef __VA_ARGS__ namePlural; /** @} */\
+ /** @name Units (full names singular) */ /** @{ */ typedef namePlural nameSingular; /** @} */\
+ /** @name Units (abbreviated) */ /** @{ */ typedef namePlural abbreviation; /** @} */\
+ }
+
+/**
+ * @def UNIT_ADD_UNIT_DEFINITION(namespaceName,nameSingular)
+ * @brief Macro for generating the boiler-plate code for the unit_t type definition.
+ * @details The macro generates the definition of the unit container types, e.g. `meter_t`
+ * @param namespaceName namespace in which the new units will be encapsulated.
+ * @param nameSingular singular version of the unit name, e.g. 'meter'
+ */
+#define UNIT_ADD_UNIT_DEFINITION(namespaceName,nameSingular)\
+ namespace namespaceName\
+ {\
+ /** @name Unit Containers */ /** @{ */ typedef unit_t<nameSingular> nameSingular ## _t; /** @} */\
+ }
+
+/**
+ * @def UNIT_ADD_CUSTOM_TYPE_UNIT_DEFINITION(namespaceName,nameSingular,underlyingType)
+ * @brief Macro for generating the boiler-plate code for a unit_t type definition with a non-default underlying type.
+ * @details The macro generates the definition of the unit container types, e.g. `meter_t`
+ * @param namespaceName namespace in which the new units will be encapsulated.
+ * @param nameSingular singular version of the unit name, e.g. 'meter'
+ * @param underlyingType the underlying type
+ */
+#define UNIT_ADD_CUSTOM_TYPE_UNIT_DEFINITION(namespaceName,nameSingular, underlyingType)\
+ namespace namespaceName\
+ {\
+ /** @name Unit Containers */ /** @{ */ typedef unit_t<nameSingular,underlyingType> nameSingular ## _t; /** @} */\
+ }
+/**
+ * @def UNIT_ADD_IO(namespaceName,nameSingular, abbreviation)
+ * @brief Macro for generating the boiler-plate code needed for I/O for a new unit.
+ * @details The macro generates the code to insert units into an ostream. It
+ * prints both the value and abbreviation of the unit when invoked.
+ * @param namespaceName namespace in which the new units will be encapsulated.
+ * @param nameSingular singular version of the unit name, e.g. 'meter'
+ * @param abbrev - abbreviated unit name, e.g. 'm'
+ * @note When UNIT_LIB_DISABLE_IOSTREAM is defined, the macro does not generate any code
+ */
+#if defined(UNIT_LIB_DISABLE_IOSTREAM)
+ #define UNIT_ADD_IO(namespaceName, nameSingular, abbrev)
+#else
+ #define UNIT_ADD_IO(namespaceName, nameSingular, abbrev)\
+ namespace namespaceName\
+ {\
+ inline std::ostream& operator<<(std::ostream& os, const nameSingular ## _t& obj) \
+ {\
+ os << obj() << " "#abbrev; return os; \
+ }\
+ inline std::string to_string(const nameSingular ## _t& obj)\
+ {\
+ return units::detail::to_string(obj()) + std::string(" "#abbrev);\
+ }\
+ }
+#endif
+
+ /**
+ * @def UNIT_ADD_NAME(namespaceName,nameSingular,abbreviation)
+ * @brief Macro for generating constexpr names/abbreviations for units.
+ * @details The macro generates names for units. E.g. name() of 1_m would be "meter", and
+ * abbreviation would be "m".
+ * @param namespaceName namespace in which the new units will be encapsulated. All literal values
+ * are placed in the `units::literals` namespace.
+ * @param nameSingular singular version of the unit name, e.g. 'meter'
+ * @param abbreviation - abbreviated unit name, e.g. 'm'
+ */
+#define UNIT_ADD_NAME(namespaceName, nameSingular, abbrev)\
+template<> inline constexpr const char* name(const namespaceName::nameSingular ## _t&)\
+{\
+ return #nameSingular;\
+}\
+template<> inline constexpr const char* abbreviation(const namespaceName::nameSingular ## _t&)\
+{\
+ return #abbrev;\
+}
+
+/**
+ * @def UNIT_ADD_LITERALS(namespaceName,nameSingular,abbreviation)
+ * @brief Macro for generating user-defined literals for units.
+ * @details The macro generates user-defined literals for units. A literal suffix is created
+ * using the abbreviation (e.g. `10.0_m`).
+ * @param namespaceName namespace in which the new units will be encapsulated. All literal values
+ * are placed in the `units::literals` namespace.
+ * @param nameSingular singular version of the unit name, e.g. 'meter'
+ * @param abbreviation - abbreviated unit name, e.g. 'm'
+ * @note When UNIT_HAS_LITERAL_SUPPORT is not defined, the macro does not generate any code
+ */
+#if defined(UNIT_HAS_LITERAL_SUPPORT)
+ #define UNIT_ADD_LITERALS(namespaceName, nameSingular, abbreviation)\
+ namespace literals\
+ {\
+ inline constexpr namespaceName::nameSingular ## _t operator""_ ## abbreviation(long double d)\
+ {\
+ return namespaceName::nameSingular ## _t(static_cast<namespaceName::nameSingular ## _t::underlying_type>(d));\
+ }\
+ inline constexpr namespaceName::nameSingular ## _t operator""_ ## abbreviation (unsigned long long d)\
+ {\
+ return namespaceName::nameSingular ## _t(static_cast<namespaceName::nameSingular ## _t::underlying_type>(d));\
+ }\
+ }
+#else
+ #define UNIT_ADD_LITERALS(namespaceName, nameSingular, abbreviation)
+#endif
+
+/**
+ * @def UNIT_ADD(namespaceName,nameSingular, namePlural, abbreviation, definition)
+ * @brief Macro for generating the boiler-plate code needed for a new unit.
+ * @details The macro generates singular, plural, and abbreviated forms
+ * of the unit definition (e.g. `meter`, `meters`, and `m`), as well as the
+ * appropriately named unit container (e.g. `meter_t`). A literal suffix is created
+ * using the abbreviation (e.g. `10.0_m`). It also defines a class-specific
+ * cout function which prints both the value and abbreviation of the unit when invoked.
+ * @param namespaceName namespace in which the new units will be encapsulated. All literal values
+ * are placed in the `units::literals` namespace.
+ * @param nameSingular singular version of the unit name, e.g. 'meter'
+ * @param namePlural - plural version of the unit name, e.g. 'meters'
+ * @param abbreviation - abbreviated unit name, e.g. 'm'
+ * @param definition - the variadic parameter is used for the definition of the unit
+ * (e.g. `unit<std::ratio<1>, units::category::length_unit>`)
+ * @note a variadic template is used for the definition to allow templates with
+ * commas to be easily expanded. All the variadic 'arguments' should together
+ * comprise the unit definition.
+ */
+#define UNIT_ADD(namespaceName, nameSingular, namePlural, abbreviation, /*definition*/...)\
+ UNIT_ADD_UNIT_TAGS(namespaceName,nameSingular, namePlural, abbreviation, __VA_ARGS__)\
+ UNIT_ADD_UNIT_DEFINITION(namespaceName,nameSingular)\
+ UNIT_ADD_NAME(namespaceName,nameSingular, abbreviation)\
+ UNIT_ADD_IO(namespaceName,nameSingular, abbreviation)\
+ UNIT_ADD_LITERALS(namespaceName,nameSingular, abbreviation)
+
+/**
+ * @def UNIT_ADD_WITH_CUSTOM_TYPE(namespaceName,nameSingular, namePlural, abbreviation, underlyingType, definition)
+ * @brief Macro for generating the boiler-plate code needed for a new unit with a non-default underlying type.
+ * @details The macro generates singular, plural, and abbreviated forms
+ * of the unit definition (e.g. `meter`, `meters`, and `m`), as well as the
+ * appropriately named unit container (e.g. `meter_t`). A literal suffix is created
+ * using the abbreviation (e.g. `10.0_m`). It also defines a class-specific
+ * cout function which prints both the value and abbreviation of the unit when invoked.
+ * @param namespaceName namespace in which the new units will be encapsulated. All literal values
+ * are placed in the `units::literals` namespace.
+ * @param nameSingular singular version of the unit name, e.g. 'meter'
+ * @param namePlural - plural version of the unit name, e.g. 'meters'
+ * @param abbreviation - abbreviated unit name, e.g. 'm'
+ * @param underlyingType - the underlying type, e.g. 'int' or 'float'
+ * @param definition - the variadic parameter is used for the definition of the unit
+ * (e.g. `unit<std::ratio<1>, units::category::length_unit>`)
+ * @note a variadic template is used for the definition to allow templates with
+ * commas to be easily expanded. All the variadic 'arguments' should together
+ * comprise the unit definition.
+ */
+#define UNIT_ADD_WITH_CUSTOM_TYPE(namespaceName, nameSingular, namePlural, abbreviation, underlyingType, /*definition*/...)\
+ UNIT_ADD_UNIT_TAGS(namespaceName,nameSingular, namePlural, abbreviation, __VA_ARGS__)\
+ UNIT_ADD_CUSTOM_TYPE_UNIT_DEFINITION(namespaceName,nameSingular,underlyingType)\
+ UNIT_ADD_IO(namespaceName,nameSingular, abbreviation)\
+ UNIT_ADD_LITERALS(namespaceName,nameSingular, abbreviation)
+
+/**
+ * @def UNIT_ADD_DECIBEL(namespaceName, nameSingular, abbreviation)
+ * @brief Macro to create decibel container and literals for an existing unit type.
+ * @details This macro generates the decibel unit container, cout overload, and literal definitions.
+ * @param namespaceName namespace in which the new units will be encapsulated. All literal values
+ * are placed in the `units::literals` namespace.
+ * @param nameSingular singular version of the base unit name, e.g. 'watt'
+ * @param abbreviation - abbreviated decibel unit name, e.g. 'dBW'
+ */
+#define UNIT_ADD_DECIBEL(namespaceName, nameSingular, abbreviation)\
+ namespace namespaceName\
+ {\
+ /** @name Unit Containers */ /** @{ */ typedef unit_t<nameSingular, UNIT_LIB_DEFAULT_TYPE, units::decibel_scale> abbreviation ## _t; /** @} */\
+ }\
+ UNIT_ADD_IO(namespaceName, abbreviation, abbreviation)\
+ UNIT_ADD_LITERALS(namespaceName, abbreviation, abbreviation)
+
+/**
+ * @def UNIT_ADD_CATEGORY_TRAIT(unitCategory, baseUnit)
+ * @brief Macro to create the `is_category_unit` type trait.
+ * @details This trait allows users to test whether a given type matches
+ * an intended category. This macro comprises all the boiler-plate
+ * code necessary to do so.
+ * @param unitCategory The name of the category of unit, e.g. length or mass.
+ */
+
+#define UNIT_ADD_CATEGORY_TRAIT_DETAIL(unitCategory)\
+ namespace traits\
+ {\
+ /** @cond */\
+ namespace detail\
+ {\
+ template<typename T> struct is_ ## unitCategory ## _unit_impl : std::false_type {};\
+ template<typename C, typename U, typename P, typename T>\
+ struct is_ ## unitCategory ## _unit_impl<units::unit<C, U, P, T>> : std::is_same<units::traits::base_unit_of<typename units::traits::unit_traits<units::unit<C, U, P, T>>::base_unit_type>, units::category::unitCategory ## _unit>::type {};\
+ template<typename U, typename S, template<typename> class N>\
+ struct is_ ## unitCategory ## _unit_impl<units::unit_t<U, S, N>> : std::is_same<units::traits::base_unit_of<typename units::traits::unit_t_traits<units::unit_t<U, S, N>>::unit_type>, units::category::unitCategory ## _unit>::type {};\
+ }\
+ /** @endcond */\
+ }
+
+#if defined(UNIT_HAS_VARIADIC_TEMPLATE_SUPPORT)
+#define UNIT_ADD_IS_UNIT_CATEGORY_TRAIT(unitCategory)\
+ namespace traits\
+ {\
+ template<typename... T> struct is_ ## unitCategory ## _unit : std::integral_constant<bool, units::all_true<units::traits::detail::is_ ## unitCategory ## _unit_impl<std::decay_t<T>>::value...>::value> {};\
+ }
+#else
+#define UNIT_ADD_IS_UNIT_CATEGORY_TRAIT(unitCategory)\
+ namespace traits\
+ {\
+ template<typename T1, typename T2 = T1, typename T3 = T1>\
+ struct is_ ## unitCategory ## _unit : std::integral_constant<bool, units::traits::detail::is_ ## unitCategory ## _unit_impl<typename std::decay<T1>::type>::value &&\
+ units::traits::detail::is_ ## unitCategory ## _unit_impl<typename std::decay<T2>::type>::value &&\
+ units::traits::detail::is_ ## unitCategory ## _unit_impl<typename std::decay<T3>::type>::value>{};\
+ }
+#endif
+
+#define UNIT_ADD_CATEGORY_TRAIT(unitCategory)\
+ UNIT_ADD_CATEGORY_TRAIT_DETAIL(unitCategory)\
+ /** @ingroup TypeTraits*/\
+ /** @brief Trait which tests whether a type represents a unit of unitCategory*/\
+ /** @details Inherits from `std::true_type` or `std::false_type`. Use `is_ ## unitCategory ## _unit<T>::value` to test the unit represents a unitCategory quantity.*/\
+ /** @tparam T one or more types to test*/\
+ UNIT_ADD_IS_UNIT_CATEGORY_TRAIT(unitCategory)
+
+/**
+ * @def UNIT_ADD_WITH_METRIC_PREFIXES(nameSingular, namePlural, abbreviation, definition)
+ * @brief Macro for generating the boiler-plate code needed for a new unit, including its metric
+ * prefixes from femto to peta.
+ * @details See UNIT_ADD. In addition to generating the unit definition and containers '(e.g. `meters` and 'meter_t',
+ * it also creates corresponding units with metric suffixes such as `millimeters`, and `millimeter_t`), as well as the
+ * literal suffixes (e.g. `10.0_mm`).
+ * @param namespaceName namespace in which the new units will be encapsulated. All literal values
+ * are placed in the `units::literals` namespace.
+ * @param nameSingular singular version of the unit name, e.g. 'meter'
+ * @param namePlural - plural version of the unit name, e.g. 'meters'
+ * @param abbreviation - abbreviated unit name, e.g. 'm'
+ * @param definition - the variadic parameter is used for the definition of the unit
+ * (e.g. `unit<std::ratio<1>, units::category::length_unit>`)
+ * @note a variadic template is used for the definition to allow templates with
+ * commas to be easily expanded. All the variadic 'arguments' should together
+ * comprise the unit definition.
+ */
+#define UNIT_ADD_WITH_METRIC_PREFIXES(namespaceName, nameSingular, namePlural, abbreviation, /*definition*/...)\
+ UNIT_ADD(namespaceName, nameSingular, namePlural, abbreviation, __VA_ARGS__)\
+ UNIT_ADD(namespaceName, femto ## nameSingular, femto ## namePlural, f ## abbreviation, femto<namePlural>)\
+ UNIT_ADD(namespaceName, pico ## nameSingular, pico ## namePlural, p ## abbreviation, pico<namePlural>)\
+ UNIT_ADD(namespaceName, nano ## nameSingular, nano ## namePlural, n ## abbreviation, nano<namePlural>)\
+ UNIT_ADD(namespaceName, micro ## nameSingular, micro ## namePlural, u ## abbreviation, micro<namePlural>)\
+ UNIT_ADD(namespaceName, milli ## nameSingular, milli ## namePlural, m ## abbreviation, milli<namePlural>)\
+ UNIT_ADD(namespaceName, centi ## nameSingular, centi ## namePlural, c ## abbreviation, centi<namePlural>)\
+ UNIT_ADD(namespaceName, deci ## nameSingular, deci ## namePlural, d ## abbreviation, deci<namePlural>)\
+ UNIT_ADD(namespaceName, deca ## nameSingular, deca ## namePlural, da ## abbreviation, deca<namePlural>)\
+ UNIT_ADD(namespaceName, hecto ## nameSingular, hecto ## namePlural, h ## abbreviation, hecto<namePlural>)\
+ UNIT_ADD(namespaceName, kilo ## nameSingular, kilo ## namePlural, k ## abbreviation, kilo<namePlural>)\
+ UNIT_ADD(namespaceName, mega ## nameSingular, mega ## namePlural, M ## abbreviation, mega<namePlural>)\
+ UNIT_ADD(namespaceName, giga ## nameSingular, giga ## namePlural, G ## abbreviation, giga<namePlural>)\
+ UNIT_ADD(namespaceName, tera ## nameSingular, tera ## namePlural, T ## abbreviation, tera<namePlural>)\
+ UNIT_ADD(namespaceName, peta ## nameSingular, peta ## namePlural, P ## abbreviation, peta<namePlural>)\
+
+ /**
+ * @def UNIT_ADD_WITH_METRIC_AND_BINARY_PREFIXES(nameSingular, namePlural, abbreviation, definition)
+ * @brief Macro for generating the boiler-plate code needed for a new unit, including its metric
+ * prefixes from femto to peta, and binary prefixes from kibi to exbi.
+ * @details See UNIT_ADD. In addition to generating the unit definition and containers '(e.g. `bytes` and 'byte_t',
+ * it also creates corresponding units with metric suffixes such as `millimeters`, and `millimeter_t`), as well as the
+ * literal suffixes (e.g. `10.0_B`).
+ * @param namespaceName namespace in which the new units will be encapsulated. All literal values
+ * are placed in the `units::literals` namespace.
+ * @param nameSingular singular version of the unit name, e.g. 'byte'
+ * @param namePlural - plural version of the unit name, e.g. 'bytes'
+ * @param abbreviation - abbreviated unit name, e.g. 'B'
+ * @param definition - the variadic parameter is used for the definition of the unit
+ * (e.g. `unit<std::ratio<1>, units::category::data_unit>`)
+ * @note a variadic template is used for the definition to allow templates with
+ * commas to be easily expanded. All the variadic 'arguments' should together
+ * comprise the unit definition.
+ */
+#define UNIT_ADD_WITH_METRIC_AND_BINARY_PREFIXES(namespaceName, nameSingular, namePlural, abbreviation, /*definition*/...)\
+ UNIT_ADD_WITH_METRIC_PREFIXES(namespaceName, nameSingular, namePlural, abbreviation, __VA_ARGS__)\
+ UNIT_ADD(namespaceName, kibi ## nameSingular, kibi ## namePlural, Ki ## abbreviation, kibi<namePlural>)\
+ UNIT_ADD(namespaceName, mebi ## nameSingular, mebi ## namePlural, Mi ## abbreviation, mebi<namePlural>)\
+ UNIT_ADD(namespaceName, gibi ## nameSingular, gibi ## namePlural, Gi ## abbreviation, gibi<namePlural>)\
+ UNIT_ADD(namespaceName, tebi ## nameSingular, tebi ## namePlural, Ti ## abbreviation, tebi<namePlural>)\
+ UNIT_ADD(namespaceName, pebi ## nameSingular, pebi ## namePlural, Pi ## abbreviation, pebi<namePlural>)\
+ UNIT_ADD(namespaceName, exbi ## nameSingular, exbi ## namePlural, Ei ## abbreviation, exbi<namePlural>)
+
+//--------------------
+// UNITS NAMESPACE
+//--------------------
+
+/**
+ * @namespace units
+ * @brief Unit Conversion Library namespace
+ */
+namespace units
+{
+ //----------------------------------
+ // DOXYGEN
+ //----------------------------------
+
+ /**
+ * @defgroup UnitContainers Unit Containers
+ * @brief Defines a series of classes which contain dimensioned values. Unit containers
+ * store a value, and support various arithmetic operations.
+ */
+
+ /**
+ * @defgroup UnitTypes Unit Types
+ * @brief Defines a series of classes which represent units. These types are tags used by
+ * the conversion function, to create compound units, or to create `unit_t` types.
+ * By themselves, they are not containers and have no stored value.
+ */
+
+ /**
+ * @defgroup UnitManipulators Unit Manipulators
+ * @brief Defines a series of classes used to manipulate unit types, such as `inverse<>`, `squared<>`, and metric prefixes.
+ * Unit manipulators can be chained together, e.g. `inverse<squared<pico<time::seconds>>>` to
+ * represent picoseconds^-2.
+ */
+
+ /**
+ * @defgroup CompileTimeUnitManipulators Compile-time Unit Manipulators
+ * @brief Defines a series of classes used to manipulate `unit_value_t` types at compile-time, such as `unit_value_add<>`, `unit_value_sqrt<>`, etc.
+ * Compile-time manipulators can be chained together, e.g. `unit_value_sqrt<unit_value_add<unit_value_power<a, 2>, unit_value_power<b, 2>>>` to
+ * represent `c = sqrt(a^2 + b^2).
+ */
+
+ /**
+ * @defgroup UnitMath Unit Math
+ * @brief Defines a collection of unit-enabled, strongly-typed versions of `<cmath>` functions.
+ * @details Includes most c++11 extensions.
+ */
+
+ /**
+ * @defgroup Conversion Explicit Conversion
+ * @brief Functions used to convert values of one logical type to another.
+ */
+
+ /**
+ * @defgroup TypeTraits Type Traits
+ * @brief Defines a series of classes to obtain unit type information at compile-time.
+ */
+
+ //------------------------------
+ // FORWARD DECLARATIONS
+ //------------------------------
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace constants
+ {
+ namespace detail
+ {
+ static constexpr const UNIT_LIB_DEFAULT_TYPE PI_VAL = 3.14159265358979323846264338327950288419716939937510;
+ }
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ //------------------------------
+ // RATIO TRAITS
+ //------------------------------
+
+ /**
+ * @ingroup TypeTraits
+ * @{
+ */
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace detail
+ {
+ /// has_num implementation.
+ template<class T>
+ struct has_num_impl
+ {
+ template<class U>
+ static constexpr auto test(U*)->std::is_integral<decltype(U::num)> {return std::is_integral<decltype(U::num)>{}; }
+ template<typename>
+ static constexpr std::false_type test(...) { return std::false_type{}; }
+
+ using type = decltype(test<T>(0));
+ };
+ }
+
+ /**
+ * @brief Trait which checks for the existence of a static numerator.
+ * @details Inherits from `std::true_type` or `std::false_type`. Use `has_num<T>::value` to test
+ * whether `class T` has a numerator static member.
+ */
+ template<class T>
+ struct has_num : units::detail::has_num_impl<T>::type {};
+
+ namespace detail
+ {
+ /// has_den implementation.
+ template<class T>
+ struct has_den_impl
+ {
+ template<class U>
+ static constexpr auto test(U*)->std::is_integral<decltype(U::den)> { return std::is_integral<decltype(U::den)>{}; }
+ template<typename>
+ static constexpr std::false_type test(...) { return std::false_type{}; }
+
+ using type = decltype(test<T>(0));
+ };
+ }
+
+ /**
+ * @brief Trait which checks for the existence of a static denominator.
+ * @details Inherits from `std::true_type` or `std::false_type`. Use `has_den<T>::value` to test
+ * whether `class T` has a denominator static member.
+ */
+ template<class T>
+ struct has_den : units::detail::has_den_impl<T>::type {};
+
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ namespace traits
+ {
+ /**
+ * @brief Trait that tests whether a type represents a std::ratio.
+ * @details Inherits from `std::true_type` or `std::false_type`. Use `is_ratio<T>::value` to test
+ * whether `class T` implements a std::ratio.
+ */
+ template<class T>
+ struct is_ratio : std::integral_constant<bool,
+ has_num<T>::value &&
+ has_den<T>::value>
+ {};
+ }
+
+ //------------------------------
+ // UNIT TRAITS
+ //------------------------------
+
+ /** @cond */ // DOXYGEN IGNORE
+ /**
+ * @brief void type.
+ * @details Helper class for creating type traits.
+ */
+ template<class ...>
+ struct void_t { typedef void type; };
+
+ /**
+ * @brief parameter pack for boolean arguments.
+ */
+ template<bool...> struct bool_pack {};
+
+ /**
+ * @brief Trait which tests that a set of other traits are all true.
+ */
+ template<bool... Args>
+ struct all_true : std::is_same<units::bool_pack<true, Args...>, units::bool_pack<Args..., true>> {};
+ /** @endcond */ // DOXYGEN IGNORE
+
+ /**
+ * @brief namespace representing type traits which can access the properties of types provided by the units library.
+ */
+ namespace traits
+ {
+#ifdef FOR_DOXYGEN_PURPOSES_ONLY
+ /**
+ * @ingroup TypeTraits
+ * @brief Traits class defining the properties of units.
+ * @details The units library determines certain properties of the units passed to
+ * them and what they represent by using the members of the corresponding
+ * unit_traits instantiation.
+ */
+ template<class T>
+ struct unit_traits
+ {
+ typedef typename T::base_unit_type base_unit_type; ///< Unit type that the unit was derived from. May be a `base_unit` or another `unit`. Use the `base_unit_of` trait to find the SI base unit type. This will be `void` if type `T` is not a unit.
+ typedef typename T::conversion_ratio conversion_ratio; ///< `std::ratio` representing the conversion factor to the `base_unit_type`. This will be `void` if type `T` is not a unit.
+ typedef typename T::pi_exponent_ratio pi_exponent_ratio; ///< `std::ratio` representing the exponent of pi to be used in the conversion. This will be `void` if type `T` is not a unit.
+ typedef typename T::translation_ratio translation_ratio; ///< `std::ratio` representing a datum translation to the base unit (i.e. degrees C to degrees F conversion). This will be `void` if type `T` is not a unit.
+ };
+#endif
+ /** @cond */ // DOXYGEN IGNORE
+ /**
+ * @brief unit traits implementation for classes which are not units.
+ */
+ template<class T, typename = void>
+ struct unit_traits
+ {
+ typedef void base_unit_type;
+ typedef void conversion_ratio;
+ typedef void pi_exponent_ratio;
+ typedef void translation_ratio;
+ };
+
+ template<class T>
+ struct unit_traits
+ <T, typename void_t<
+ typename T::base_unit_type,
+ typename T::conversion_ratio,
+ typename T::pi_exponent_ratio,
+ typename T::translation_ratio>::type>
+ {
+ typedef typename T::base_unit_type base_unit_type; ///< Unit type that the unit was derived from. May be a `base_unit` or another `unit`. Use the `base_unit_of` trait to find the SI base unit type. This will be `void` if type `T` is not a unit.
+ typedef typename T::conversion_ratio conversion_ratio; ///< `std::ratio` representing the conversion factor to the `base_unit_type`. This will be `void` if type `T` is not a unit.
+ typedef typename T::pi_exponent_ratio pi_exponent_ratio; ///< `std::ratio` representing the exponent of pi to be used in the conversion. This will be `void` if type `T` is not a unit.
+ typedef typename T::translation_ratio translation_ratio; ///< `std::ratio` representing a datum translation to the base unit (i.e. degrees C to degrees F conversion). This will be `void` if type `T` is not a unit.
+ };
+ /** @endcond */ // END DOXYGEN IGNORE
+ }
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace detail
+ {
+ /**
+ * @brief helper type to identify base units.
+ * @details A non-templated base class for `base_unit` which enables RTTI testing.
+ */
+ struct _base_unit_t {};
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ namespace traits
+ {
+ /**
+ * @ingroup TypeTraits
+ * @brief Trait which tests if a class is a `base_unit` type.
+ * @details Inherits from `std::true_type` or `std::false_type`. Use `is_base_unit<T>::value` to test
+ * whether `class T` implements a `base_unit`.
+ */
+ template<class T>
+ struct is_base_unit : std::is_base_of<units::detail::_base_unit_t, T> {};
+ }
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace detail
+ {
+ /**
+ * @brief helper type to identify units.
+ * @details A non-templated base class for `unit` which enables RTTI testing.
+ */
+ struct _unit {};
+
+ template<std::intmax_t Num, std::intmax_t Den = 1>
+ using meter_ratio = std::ratio<Num, Den>;
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ namespace traits
+ {
+ /**
+ * @ingroup TypeTraits
+ * @brief Traits which tests if a class is a `unit`
+ * @details Inherits from `std::true_type` or `std::false_type`. Use `is_unit<T>::value` to test
+ * whether `class T` implements a `unit`.
+ */
+ template<class T>
+ struct is_unit : std::is_base_of<units::detail::_unit, T>::type {};
+ }
+
+ /** @} */ // end of TypeTraits
+
+ //------------------------------
+ // BASE UNIT CLASS
+ //------------------------------
+
+ /**
+ * @ingroup UnitTypes
+ * @brief Class representing SI base unit types.
+ * @details Base units are represented by a combination of `std::ratio` template parameters, each
+ * describing the exponent of the type of unit they represent. Example: meters per second
+ * would be described by a +1 exponent for meters, and a -1 exponent for seconds, thus:
+ * `base_unit<std::ratio<1>, std::ratio<0>, std::ratio<-1>>`
+ * @tparam Meter `std::ratio` representing the exponent value for meters.
+ * @tparam Kilogram `std::ratio` representing the exponent value for kilograms.
+ * @tparam Second `std::ratio` representing the exponent value for seconds.
+ * @tparam Radian `std::ratio` representing the exponent value for radians. Although radians are not SI base units, they are included because radians are described by the SI as m * m^-1, which would make them indistinguishable from scalars.
+ * @tparam Ampere `std::ratio` representing the exponent value for amperes.
+ * @tparam Kelvin `std::ratio` representing the exponent value for Kelvin.
+ * @tparam Mole `std::ratio` representing the exponent value for moles.
+ * @tparam Candela `std::ratio` representing the exponent value for candelas.
+ * @tparam Byte `std::ratio` representing the exponent value for bytes.
+ * @sa category for type aliases for SI base_unit types.
+ */
+ template<class Meter = detail::meter_ratio<0>,
+ class Kilogram = std::ratio<0>,
+ class Second = std::ratio<0>,
+ class Radian = std::ratio<0>,
+ class Ampere = std::ratio<0>,
+ class Kelvin = std::ratio<0>,
+ class Mole = std::ratio<0>,
+ class Candela = std::ratio<0>,
+ class Byte = std::ratio<0>>
+ struct base_unit : units::detail::_base_unit_t
+ {
+ static_assert(traits::is_ratio<Meter>::value, "Template parameter `Meter` must be a `std::ratio` representing the exponent of meters the unit has");
+ static_assert(traits::is_ratio<Kilogram>::value, "Template parameter `Kilogram` must be a `std::ratio` representing the exponent of kilograms the unit has");
+ static_assert(traits::is_ratio<Second>::value, "Template parameter `Second` must be a `std::ratio` representing the exponent of seconds the unit has");
+ static_assert(traits::is_ratio<Ampere>::value, "Template parameter `Ampere` must be a `std::ratio` representing the exponent of amperes the unit has");
+ static_assert(traits::is_ratio<Kelvin>::value, "Template parameter `Kelvin` must be a `std::ratio` representing the exponent of kelvin the unit has");
+ static_assert(traits::is_ratio<Candela>::value, "Template parameter `Candela` must be a `std::ratio` representing the exponent of candelas the unit has");
+ static_assert(traits::is_ratio<Mole>::value, "Template parameter `Mole` must be a `std::ratio` representing the exponent of moles the unit has");
+ static_assert(traits::is_ratio<Radian>::value, "Template parameter `Radian` must be a `std::ratio` representing the exponent of radians the unit has");
+ static_assert(traits::is_ratio<Byte>::value, "Template parameter `Byte` must be a `std::ratio` representing the exponent of bytes the unit has");
+
+ typedef Meter meter_ratio;
+ typedef Kilogram kilogram_ratio;
+ typedef Second second_ratio;
+ typedef Radian radian_ratio;
+ typedef Ampere ampere_ratio;
+ typedef Kelvin kelvin_ratio;
+ typedef Mole mole_ratio;
+ typedef Candela candela_ratio;
+ typedef Byte byte_ratio;
+ };
+
+ //------------------------------
+ // UNIT CATEGORIES
+ //------------------------------
+
+ /**
+ * @brief namespace representing the implemented base and derived unit types. These will not generally be needed by library users.
+ * @sa base_unit for the definition of the category parameters.
+ */
+ namespace category
+ {
+ // SCALAR (DIMENSIONLESS) TYPES
+ typedef base_unit<> scalar_unit; ///< Represents a quantity with no dimension.
+ typedef base_unit<> dimensionless_unit; ///< Represents a quantity with no dimension.
+
+ // SI BASE UNIT TYPES
+ // METERS KILOGRAMS SECONDS RADIANS AMPERES KELVIN MOLE CANDELA BYTE --- CATEGORY
+ typedef base_unit<detail::meter_ratio<1>> length_unit; ///< Represents an SI base unit of length
+ typedef base_unit<detail::meter_ratio<0>, std::ratio<1>> mass_unit; ///< Represents an SI base unit of mass
+ typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<1>> time_unit; ///< Represents an SI base unit of time
+ typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<1>> angle_unit; ///< Represents an SI base unit of angle
+ typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<1>> current_unit; ///< Represents an SI base unit of current
+ typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<1>> temperature_unit; ///< Represents an SI base unit of temperature
+ typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<1>> substance_unit; ///< Represents an SI base unit of amount of substance
+ typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<1>> luminous_intensity_unit; ///< Represents an SI base unit of luminous intensity
+
+ // SI DERIVED UNIT TYPES
+ // METERS KILOGRAMS SECONDS RADIANS AMPERES KELVIN MOLE CANDELA BYTE --- CATEGORY
+ typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<2>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>> solid_angle_unit; ///< Represents an SI derived unit of solid angle
+ typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<-1>> frequency_unit; ///< Represents an SI derived unit of frequency
+ typedef base_unit<detail::meter_ratio<1>, std::ratio<0>, std::ratio<-1>> velocity_unit; ///< Represents an SI derived unit of velocity
+ typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<-1>, std::ratio<1>> angular_velocity_unit; ///< Represents an SI derived unit of angular velocity
+ typedef base_unit<detail::meter_ratio<1>, std::ratio<0>, std::ratio<-2>> acceleration_unit; ///< Represents an SI derived unit of acceleration
+ typedef base_unit<detail::meter_ratio<1>, std::ratio<1>, std::ratio<-2>> force_unit; ///< Represents an SI derived unit of force
+ typedef base_unit<detail::meter_ratio<-1>, std::ratio<1>, std::ratio<-2>> pressure_unit; ///< Represents an SI derived unit of pressure
+ typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<1>, std::ratio<0>, std::ratio<1>> charge_unit; ///< Represents an SI derived unit of charge
+ typedef base_unit<detail::meter_ratio<2>, std::ratio<1>, std::ratio<-2>> energy_unit; ///< Represents an SI derived unit of energy
+ typedef base_unit<detail::meter_ratio<2>, std::ratio<1>, std::ratio<-3>> power_unit; ///< Represents an SI derived unit of power
+ typedef base_unit<detail::meter_ratio<2>, std::ratio<1>, std::ratio<-3>, std::ratio<0>, std::ratio<-1>> voltage_unit; ///< Represents an SI derived unit of voltage
+ typedef base_unit<detail::meter_ratio<-2>, std::ratio<-1>, std::ratio<4>, std::ratio<0>, std::ratio<2>> capacitance_unit; ///< Represents an SI derived unit of capacitance
+ typedef base_unit<detail::meter_ratio<2>, std::ratio<1>, std::ratio<-3>, std::ratio<0>, std::ratio<-2>> impedance_unit; ///< Represents an SI derived unit of impedance
+ typedef base_unit<detail::meter_ratio<-2>, std::ratio<-1>, std::ratio<3>, std::ratio<0>, std::ratio<2>> conductance_unit; ///< Represents an SI derived unit of conductance
+ typedef base_unit<detail::meter_ratio<2>, std::ratio<1>, std::ratio<-2>, std::ratio<0>, std::ratio<-1>> magnetic_flux_unit; ///< Represents an SI derived unit of magnetic flux
+ typedef base_unit<detail::meter_ratio<0>, std::ratio<1>, std::ratio<-2>, std::ratio<0>, std::ratio<-1>> magnetic_field_strength_unit; ///< Represents an SI derived unit of magnetic field strength
+ typedef base_unit<detail::meter_ratio<2>, std::ratio<1>, std::ratio<-2>, std::ratio<0>, std::ratio<-2>> inductance_unit; ///< Represents an SI derived unit of inductance
+ typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<2>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<1>> luminous_flux_unit; ///< Represents an SI derived unit of luminous flux
+ typedef base_unit<detail::meter_ratio<-2>, std::ratio<0>, std::ratio<0>, std::ratio<2>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<1>> illuminance_unit; ///< Represents an SI derived unit of illuminance
+ typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<-1>> radioactivity_unit; ///< Represents an SI derived unit of radioactivity
+
+ // OTHER UNIT TYPES
+ // METERS KILOGRAMS SECONDS RADIANS AMPERES KELVIN MOLE CANDELA BYTE --- CATEGORY
+ typedef base_unit<detail::meter_ratio<2>, std::ratio<1>, std::ratio<-2>> torque_unit; ///< Represents an SI derived unit of torque
+ typedef base_unit<detail::meter_ratio<2>> area_unit; ///< Represents an SI derived unit of area
+ typedef base_unit<detail::meter_ratio<3>> volume_unit; ///< Represents an SI derived unit of volume
+ typedef base_unit<detail::meter_ratio<-3>, std::ratio<1>> density_unit; ///< Represents an SI derived unit of density
+ typedef base_unit<> concentration_unit; ///< Represents a unit of concentration
+ typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<1>> data_unit; ///< Represents a unit of data size
+ typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<-1>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<1>> data_transfer_rate_unit; ///< Represents a unit of data transfer rate
+ }
+
+ //------------------------------
+ // UNIT CLASSES
+ //------------------------------
+
+ /** @cond */ // DOXYGEN IGNORE
+ /**
+ * @brief unit type template specialization for units derived from base units.
+ */
+ template <class, class, class, class> struct unit;
+ template<class Conversion, class... Exponents, class PiExponent, class Translation>
+ struct unit<Conversion, base_unit<Exponents...>, PiExponent, Translation> : units::detail::_unit
+ {
+ static_assert(traits::is_ratio<Conversion>::value, "Template parameter `Conversion` must be a `std::ratio` representing the conversion factor to `BaseUnit`.");
+ static_assert(traits::is_ratio<PiExponent>::value, "Template parameter `PiExponent` must be a `std::ratio` representing the exponents of Pi the unit has.");
+ static_assert(traits::is_ratio<Translation>::value, "Template parameter `Translation` must be a `std::ratio` representing an additive translation required by the unit conversion.");
+
+ typedef typename units::base_unit<Exponents...> base_unit_type;
+ typedef Conversion conversion_ratio;
+ typedef Translation translation_ratio;
+ typedef PiExponent pi_exponent_ratio;
+ };
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ /**
+ * @brief Type representing an arbitrary unit.
+ * @ingroup UnitTypes
+ * @details `unit` types are used as tags for the `conversion` function. They are *not* containers
+ * (see `unit_t` for a container class). Each unit is defined by:
+ *
+ * - A `std::ratio` defining the conversion factor to the base unit type. (e.g. `std::ratio<1,12>` for inches to feet)
+ * - A base unit that the unit is derived from (or a unit category. Must be of type `unit` or `base_unit`)
+ * - An exponent representing factors of PI required by the conversion. (e.g. `std::ratio<-1>` for a radians to degrees conversion)
+ * - a ratio representing a datum translation required for the conversion (e.g. `std::ratio<32>` for a farenheit to celsius conversion)
+ *
+ * Typically, a specific unit, like `meters`, would be implemented as a type alias
+ * of `unit`, i.e. `using meters = unit<std::ratio<1>, units::category::length_unit`, or
+ * `using inches = unit<std::ratio<1,12>, feet>`.
+ * @tparam Conversion std::ratio representing scalar multiplication factor.
+ * @tparam BaseUnit Unit type which this unit is derived from. May be a `base_unit`, or another `unit`.
+ * @tparam PiExponent std::ratio representing the exponent of pi required by the conversion.
+ * @tparam Translation std::ratio representing any datum translation required by the conversion.
+ */
+ template<class Conversion, class BaseUnit, class PiExponent = std::ratio<0>, class Translation = std::ratio<0>>
+ struct unit : units::detail::_unit
+ {
+ static_assert(traits::is_unit<BaseUnit>::value, "Template parameter `BaseUnit` must be a `unit` type.");
+ static_assert(traits::is_ratio<Conversion>::value, "Template parameter `Conversion` must be a `std::ratio` representing the conversion factor to `BaseUnit`.");
+ static_assert(traits::is_ratio<PiExponent>::value, "Template parameter `PiExponent` must be a `std::ratio` representing the exponents of Pi the unit has.");
+
+ typedef typename units::traits::unit_traits<BaseUnit>::base_unit_type base_unit_type;
+ typedef typename std::ratio_multiply<typename BaseUnit::conversion_ratio, Conversion> conversion_ratio;
+ typedef typename std::ratio_add<typename BaseUnit::pi_exponent_ratio, PiExponent> pi_exponent_ratio;
+ typedef typename std::ratio_add<std::ratio_multiply<typename BaseUnit::conversion_ratio, Translation>, typename BaseUnit::translation_ratio> translation_ratio;
+ };
+
+ //------------------------------
+ // BASE UNIT MANIPULATORS
+ //------------------------------
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace detail
+ {
+ /**
+ * @brief base_unit_of trait implementation
+ * @details recursively seeks base_unit type that a unit is derived from. Since units can be
+ * derived from other units, the `base_unit_type` typedef may not represent this value.
+ */
+ template<class> struct base_unit_of_impl;
+ template<class Conversion, class BaseUnit, class PiExponent, class Translation>
+ struct base_unit_of_impl<unit<Conversion, BaseUnit, PiExponent, Translation>> : base_unit_of_impl<BaseUnit> {};
+ template<class... Exponents>
+ struct base_unit_of_impl<base_unit<Exponents...>>
+ {
+ typedef base_unit<Exponents...> type;
+ };
+ template<>
+ struct base_unit_of_impl<void>
+ {
+ typedef void type;
+ };
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ namespace traits
+ {
+ /**
+ * @brief Trait which returns the `base_unit` type that a unit is originally derived from.
+ * @details Since units can be derived from other `unit` types in addition to `base_unit` types,
+ * the `base_unit_type` typedef will not always be a `base_unit` (or unit category).
+ * Since compatible
+ */
+ template<class U>
+ using base_unit_of = typename units::detail::base_unit_of_impl<U>::type;
+ }
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace detail
+ {
+ /**
+ * @brief implementation of base_unit_multiply
+ * @details 'multiples' (adds exponent ratios of) two base unit types. Base units can be found
+ * using `base_unit_of`.
+ */
+ template<class, class> struct base_unit_multiply_impl;
+ template<class... Exponents1, class... Exponents2>
+ struct base_unit_multiply_impl<base_unit<Exponents1...>, base_unit<Exponents2...>> {
+ using type = base_unit<std::ratio_add<Exponents1, Exponents2>...>;
+ };
+
+ /**
+ * @brief represents type of two base units multiplied together
+ */
+ template<class U1, class U2>
+ using base_unit_multiply = typename base_unit_multiply_impl<U1, U2>::type;
+
+ /**
+ * @brief implementation of base_unit_divide
+ * @details 'dived' (subtracts exponent ratios of) two base unit types. Base units can be found
+ * using `base_unit_of`.
+ */
+ template<class, class> struct base_unit_divide_impl;
+ template<class... Exponents1, class... Exponents2>
+ struct base_unit_divide_impl<base_unit<Exponents1...>, base_unit<Exponents2...>> {
+ using type = base_unit<std::ratio_subtract<Exponents1, Exponents2>...>;
+ };
+
+ /**
+ * @brief represents the resulting type of `base_unit` U1 divided by U2.
+ */
+ template<class U1, class U2>
+ using base_unit_divide = typename base_unit_divide_impl<U1, U2>::type;
+
+ /**
+ * @brief implementation of inverse_base
+ * @details multiplies all `base_unit` exponent ratios by -1. The resulting type represents
+ * the inverse base unit of the given `base_unit` type.
+ */
+ template<class> struct inverse_base_impl;
+
+ template<class... Exponents>
+ struct inverse_base_impl<base_unit<Exponents...>> {
+ using type = base_unit<std::ratio_multiply<Exponents, std::ratio<-1>>...>;
+ };
+
+ /**
+ * @brief represent the inverse type of `class U`
+ * @details E.g. if `U` is `length_unit`, then `inverse<U>` will represent `length_unit^-1`.
+ */
+ template<class U> using inverse_base = typename inverse_base_impl<U>::type;
+
+ /**
+ * @brief implementation of `squared_base`
+ * @details multiplies all the exponent ratios of the given class by 2. The resulting type is
+ * equivalent to the given type squared.
+ */
+ template<class U> struct squared_base_impl;
+ template<class... Exponents>
+ struct squared_base_impl<base_unit<Exponents...>> {
+ using type = base_unit<std::ratio_multiply<Exponents, std::ratio<2>>...>;
+ };
+
+ /**
+ * @brief represents the type of a `base_unit` squared.
+ * @details E.g. `squared<length_unit>` will represent `length_unit^2`.
+ */
+ template<class U> using squared_base = typename squared_base_impl<U>::type;
+
+ /**
+ * @brief implementation of `cubed_base`
+ * @details multiplies all the exponent ratios of the given class by 3. The resulting type is
+ * equivalent to the given type cubed.
+ */
+ template<class U> struct cubed_base_impl;
+ template<class... Exponents>
+ struct cubed_base_impl<base_unit<Exponents...>> {
+ using type = base_unit<std::ratio_multiply<Exponents, std::ratio<3>>...>;
+ };
+
+ /**
+ * @brief represents the type of a `base_unit` cubed.
+ * @details E.g. `cubed<length_unit>` will represent `length_unit^3`.
+ */
+ template<class U> using cubed_base = typename cubed_base_impl<U>::type;
+
+ /**
+ * @brief implementation of `sqrt_base`
+ * @details divides all the exponent ratios of the given class by 2. The resulting type is
+ * equivalent to the square root of the given type.
+ */
+ template<class U> struct sqrt_base_impl;
+ template<class... Exponents>
+ struct sqrt_base_impl<base_unit<Exponents...>> {
+ using type = base_unit<std::ratio_divide<Exponents, std::ratio<2>>...>;
+ };
+
+ /**
+ * @brief represents the square-root type of a `base_unit`.
+ * @details E.g. `sqrt<length_unit>` will represent `length_unit^(1/2)`.
+ */
+ template<class U> using sqrt_base = typename sqrt_base_impl<U>::type;
+
+ /**
+ * @brief implementation of `cbrt_base`
+ * @details divides all the exponent ratios of the given class by 3. The resulting type is
+ * equivalent to the given type's cube-root.
+ */
+ template<class U> struct cbrt_base_impl;
+ template<class... Exponents>
+ struct cbrt_base_impl<base_unit<Exponents...>> {
+ using type = base_unit<std::ratio_divide<Exponents, std::ratio<3>>...>;
+ };
+
+ /**
+ * @brief represents the cube-root type of a `base_unit` .
+ * @details E.g. `cbrt<length_unit>` will represent `length_unit^(1/3)`.
+ */
+ template<class U> using cbrt_base = typename cbrt_base_impl<U>::type;
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ //------------------------------
+ // UNIT MANIPULATORS
+ //------------------------------
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace detail
+ {
+ /**
+ * @brief implementation of `unit_multiply`.
+ * @details multiplies two units. The base unit becomes the base units of each with their exponents
+ * added together. The conversion factors of each are multiplied by each other. Pi exponent ratios
+ * are added, and datum translations are removed.
+ */
+ template<class Unit1, class Unit2>
+ struct unit_multiply_impl
+ {
+ using type = unit < std::ratio_multiply<typename Unit1::conversion_ratio, typename Unit2::conversion_ratio>,
+ base_unit_multiply <traits::base_unit_of<typename Unit1::base_unit_type>, traits::base_unit_of<typename Unit2::base_unit_type>>,
+ std::ratio_add<typename Unit1::pi_exponent_ratio, typename Unit2::pi_exponent_ratio>,
+ std::ratio < 0 >> ;
+ };
+
+ /**
+ * @brief represents the type of two units multiplied together.
+ * @details recalculates conversion and exponent ratios at compile-time.
+ */
+ template<class U1, class U2>
+ using unit_multiply = typename unit_multiply_impl<U1, U2>::type;
+
+ /**
+ * @brief implementation of `unit_divide`.
+ * @details divides two units. The base unit becomes the base units of each with their exponents
+ * subtracted from each other. The conversion factors of each are divided by each other. Pi exponent ratios
+ * are subtracted, and datum translations are removed.
+ */
+ template<class Unit1, class Unit2>
+ struct unit_divide_impl
+ {
+ using type = unit < std::ratio_divide<typename Unit1::conversion_ratio, typename Unit2::conversion_ratio>,
+ base_unit_divide<traits::base_unit_of<typename Unit1::base_unit_type>, traits::base_unit_of<typename Unit2::base_unit_type>>,
+ std::ratio_subtract<typename Unit1::pi_exponent_ratio, typename Unit2::pi_exponent_ratio>,
+ std::ratio < 0 >> ;
+ };
+
+ /**
+ * @brief represents the type of two units divided by each other.
+ * @details recalculates conversion and exponent ratios at compile-time.
+ */
+ template<class U1, class U2>
+ using unit_divide = typename unit_divide_impl<U1, U2>::type;
+
+ /**
+ * @brief implementation of `inverse`
+ * @details inverts a unit (equivalent to 1/unit). The `base_unit` and pi exponents are all multiplied by
+ * -1. The conversion ratio numerator and denominator are swapped. Datum translation
+ * ratios are removed.
+ */
+ template<class Unit>
+ struct inverse_impl
+ {
+ using type = unit < std::ratio<Unit::conversion_ratio::den, Unit::conversion_ratio::num>,
+ inverse_base<traits::base_unit_of<typename units::traits::unit_traits<Unit>::base_unit_type>>,
+ std::ratio_multiply<typename units::traits::unit_traits<Unit>::pi_exponent_ratio, std::ratio<-1>>,
+ std::ratio < 0 >> ; // inverses are rates or change, the translation factor goes away.
+ };
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ /**
+ * @brief represents the inverse unit type of `class U`.
+ * @ingroup UnitManipulators
+ * @tparam U `unit` type to invert.
+ * @details E.g. `inverse<meters>` will represent meters^-1 (i.e. 1/meters).
+ */
+ template<class U> using inverse = typename units::detail::inverse_impl<U>::type;
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace detail
+ {
+ /**
+ * @brief implementation of `squared`
+ * @details Squares the conversion ratio, `base_unit` exponents, pi exponents, and removes
+ * datum translation ratios.
+ */
+ template<class Unit>
+ struct squared_impl
+ {
+ static_assert(traits::is_unit<Unit>::value, "Template parameter `Unit` must be a `unit` type.");
+ using Conversion = typename Unit::conversion_ratio;
+ using type = unit < std::ratio_multiply<Conversion, Conversion>,
+ squared_base<traits::base_unit_of<typename Unit::base_unit_type>>,
+ std::ratio_multiply<typename Unit::pi_exponent_ratio, std::ratio<2>>,
+ typename Unit::translation_ratio
+ > ;
+ };
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ /**
+ * @brief represents the unit type of `class U` squared
+ * @ingroup UnitManipulators
+ * @tparam U `unit` type to square.
+ * @details E.g. `square<meters>` will represent meters^2.
+ */
+ template<class U>
+ using squared = typename units::detail::squared_impl<U>::type;
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace detail
+ {
+ /**
+ * @brief implementation of `cubed`
+ * @details Cubes the conversion ratio, `base_unit` exponents, pi exponents, and removes
+ * datum translation ratios.
+ */
+ template<class Unit>
+ struct cubed_impl
+ {
+ static_assert(traits::is_unit<Unit>::value, "Template parameter `Unit` must be a `unit` type.");
+ using Conversion = typename Unit::conversion_ratio;
+ using type = unit < std::ratio_multiply<Conversion, std::ratio_multiply<Conversion, Conversion>>,
+ cubed_base<traits::base_unit_of<typename Unit::base_unit_type>>,
+ std::ratio_multiply<typename Unit::pi_exponent_ratio, std::ratio<3>>,
+ typename Unit::translation_ratio> ;
+ };
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ /**
+ * @brief represents the type of `class U` cubed.
+ * @ingroup UnitManipulators
+ * @tparam U `unit` type to cube.
+ * @details E.g. `cubed<meters>` will represent meters^3.
+ */
+ template<class U>
+ using cubed = typename units::detail::cubed_impl<U>::type;
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace detail
+ {
+ //----------------------------------
+ // RATIO_SQRT IMPLEMENTATION
+ //----------------------------------
+
+ using Zero = std::ratio<0>;
+ using One = std::ratio<1>;
+ template <typename R> using Square = std::ratio_multiply<R, R>;
+
+ // Find the largest std::integer N such that Predicate<N>::value is true.
+ template <template <std::intmax_t N> class Predicate, typename enabled = void>
+ struct BinarySearch {
+ template <std::intmax_t N>
+ struct SafeDouble_ {
+ static constexpr const std::intmax_t value = 2 * N;
+ static_assert(value > 0, "Overflows when computing 2 * N");
+ };
+
+ template <intmax_t Lower, intmax_t Upper, typename Condition1 = void, typename Condition2 = void>
+ struct DoubleSidedSearch_ : DoubleSidedSearch_<Lower, Upper,
+ std::integral_constant<bool, (Upper - Lower == 1)>,
+ std::integral_constant<bool, ((Upper - Lower>1 && Predicate<Lower + (Upper - Lower) / 2>::value))>> {};
+
+ template <intmax_t Lower, intmax_t Upper>
+ struct DoubleSidedSearch_<Lower, Upper, std::false_type, std::false_type> : DoubleSidedSearch_<Lower, Lower + (Upper - Lower) / 2> {};
+
+ template <intmax_t Lower, intmax_t Upper, typename Condition2>
+ struct DoubleSidedSearch_<Lower, Upper, std::true_type, Condition2> : std::integral_constant<intmax_t, Lower>{};
+
+ template <intmax_t Lower, intmax_t Upper, typename Condition1>
+ struct DoubleSidedSearch_<Lower, Upper, Condition1, std::true_type> : DoubleSidedSearch_<Lower + (Upper - Lower) / 2, Upper>{};
+
+ template <std::intmax_t Lower, class enabled1 = void>
+ struct SingleSidedSearch_ : SingleSidedSearch_<Lower, std::integral_constant<bool, Predicate<SafeDouble_<Lower>::value>::value>>{};
+
+ template <std::intmax_t Lower>
+ struct SingleSidedSearch_<Lower, std::false_type> : DoubleSidedSearch_<Lower, SafeDouble_<Lower>::value> {};
+
+ template <std::intmax_t Lower>
+ struct SingleSidedSearch_<Lower, std::true_type> : SingleSidedSearch_<SafeDouble_<Lower>::value>{};
+
+ static constexpr const std::intmax_t value = SingleSidedSearch_<1>::value;
+ };
+
+ template <template <std::intmax_t N> class Predicate>
+ struct BinarySearch<Predicate, std::enable_if_t<!Predicate<1>::value>> : std::integral_constant<std::intmax_t, 0>{};
+
+ // Find largest std::integer N such that N<=sqrt(R)
+ template <typename R>
+ struct Integer {
+ template <std::intmax_t N> using Predicate_ = std::ratio_less_equal<std::ratio<N>, std::ratio_divide<R, std::ratio<N>>>;
+ static constexpr const std::intmax_t value = BinarySearch<Predicate_>::value;
+ };
+
+ template <typename R>
+ struct IsPerfectSquare {
+ static constexpr const std::intmax_t DenSqrt_ = Integer<std::ratio<R::den>>::value;
+ static constexpr const std::intmax_t NumSqrt_ = Integer<std::ratio<R::num>>::value;
+ static constexpr const bool value =( DenSqrt_ * DenSqrt_ == R::den && NumSqrt_ * NumSqrt_ == R::num);
+ using Sqrt = std::ratio<NumSqrt_, DenSqrt_>;
+ };
+
+ // Represents sqrt(P)-Q.
+ template <typename Tp, typename Tq>
+ struct Remainder {
+ using P = Tp;
+ using Q = Tq;
+ };
+
+ // Represents 1/R = I + Rem where R is a Remainder.
+ template <typename R>
+ struct Reciprocal {
+ using P_ = typename R::P;
+ using Q_ = typename R::Q;
+ using Den_ = std::ratio_subtract<P_, Square<Q_>>;
+ using A_ = std::ratio_divide<Q_, Den_>;
+ using B_ = std::ratio_divide<P_, Square<Den_>>;
+ static constexpr const std::intmax_t I_ = (A_::num + Integer<std::ratio_multiply<B_, Square<std::ratio<A_::den>>>>::value) / A_::den;
+ using I = std::ratio<I_>;
+ using Rem = Remainder<B_, std::ratio_subtract<I, A_>>;
+ };
+
+ // Expands sqrt(R) to continued fraction:
+ // f(x)=C1+1/(C2+1/(C3+1/(...+1/(Cn+x)))) = (U*x+V)/(W*x+1) and sqrt(R)=f(Rem).
+ // The error |f(Rem)-V| = |(U-W*V)x/(W*x+1)| <= |U-W*V|*Rem <= |U-W*V|/I' where
+ // I' is the std::integer part of reciprocal of Rem.
+ template <typename Tr, std::intmax_t N>
+ struct ContinuedFraction {
+ template <typename T>
+ using Abs_ = std::conditional_t<std::ratio_less<T, Zero>::value, std::ratio_subtract<Zero, T>, T>;
+
+ using R = Tr;
+ using Last_ = ContinuedFraction<R, N - 1>;
+ using Reciprocal_ = Reciprocal<typename Last_::Rem>;
+ using Rem = typename Reciprocal_::Rem;
+ using I_ = typename Reciprocal_::I;
+ using Den_ = std::ratio_add<typename Last_::W, I_>;
+ using U = std::ratio_divide<typename Last_::V, Den_>;
+ using V = std::ratio_divide<std::ratio_add<typename Last_::U, std::ratio_multiply<typename Last_::V, I_>>, Den_>;
+ using W = std::ratio_divide<One, Den_>;
+ using Error = Abs_<std::ratio_divide<std::ratio_subtract<U, std::ratio_multiply<V, W>>, typename Reciprocal<Rem>::I>>;
+ };
+
+ template <typename Tr>
+ struct ContinuedFraction<Tr, 1> {
+ using R = Tr;
+ using U = One;
+ using V = std::ratio<Integer<R>::value>;
+ using W = Zero;
+ using Rem = Remainder<R, V>;
+ using Error = std::ratio_divide<One, typename Reciprocal<Rem>::I>;
+ };
+
+ template <typename R, typename Eps, std::intmax_t N = 1, typename enabled = void>
+ struct Sqrt_ : Sqrt_<R, Eps, N + 1> {};
+
+ template <typename R, typename Eps, std::intmax_t N>
+ struct Sqrt_<R, Eps, N, std::enable_if_t<std::ratio_less_equal<typename ContinuedFraction<R, N>::Error, Eps>::value>> {
+ using type = typename ContinuedFraction<R, N>::V;
+ };
+
+ template <typename R, typename Eps, typename enabled = void>
+ struct Sqrt {
+ static_assert(std::ratio_greater_equal<R, Zero>::value, "R can't be negative");
+ };
+
+ template <typename R, typename Eps>
+ struct Sqrt<R, Eps, std::enable_if_t<std::ratio_greater_equal<R, Zero>::value && IsPerfectSquare<R>::value>> {
+ using type = typename IsPerfectSquare<R>::Sqrt;
+ };
+
+ template <typename R, typename Eps>
+ struct Sqrt<R, Eps, std::enable_if_t<(std::ratio_greater_equal<R, Zero>::value && !IsPerfectSquare<R>::value)>> : Sqrt_<R, Eps>{};
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ /**
+ * @ingroup TypeTraits
+ * @brief Calculate square root of a ratio at compile-time
+ * @details Calculates a rational approximation of the square root of the ratio. The error
+ * in the calculation is bounded by 1/epsilon (Eps). E.g. for the default value
+ * of 10000000000, the maximum error will be a/10000000000, or 1e-8, or said another way,
+ * the error will be on the order of 10^-9. Since these calculations are done at
+ * compile time, it is advisable to set epsilon to the highest value that does not
+ * cause an integer overflow in the calculation. If you can't compile `ratio_sqrt`
+ * due to overflow errors, reducing the value of epsilon sufficiently will correct
+ * the problem.\n\n
+ * `ratio_sqrt` is guaranteed to converge for all values of `Ratio` which do not
+ * overflow.
+ * @note This function provides a rational approximation, _NOT_ an exact value.
+ * @tparam Ratio ratio to take the square root of. This can represent any rational value,
+ * _not_ just integers or values with integer roots.
+ * @tparam Eps Value of epsilon, which represents the inverse of the maximum allowable
+ * error. This value should be chosen to be as high as possible before
+ * integer overflow errors occur in the compiler.
+ */
+ template<typename Ratio, std::intmax_t Eps = 10000000000>
+ using ratio_sqrt = typename units::detail::Sqrt<Ratio, std::ratio<1, Eps>>::type;
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace detail
+ {
+ /**
+ * @brief implementation of `sqrt`
+ * @details square roots the conversion ratio, `base_unit` exponents, pi exponents, and removes
+ * datum translation ratios.
+ */
+ template<class Unit, std::intmax_t Eps>
+ struct sqrt_impl
+ {
+ static_assert(traits::is_unit<Unit>::value, "Template parameter `Unit` must be a `unit` type.");
+ using Conversion = typename Unit::conversion_ratio;
+ using type = unit <ratio_sqrt<Conversion, Eps>,
+ sqrt_base<traits::base_unit_of<typename Unit::base_unit_type>>,
+ std::ratio_divide<typename Unit::pi_exponent_ratio, std::ratio<2>>,
+ typename Unit::translation_ratio>;
+ };
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ /**
+ * @ingroup UnitManipulators
+ * @brief represents the square root of type `class U`.
+ * @details Calculates a rational approximation of the square root of the unit. The error
+ * in the calculation is bounded by 1/epsilon (Eps). E.g. for the default value
+ * of 10000000000, the maximum error will be a/10000000000, or 1e-8, or said another way,
+ * the error will be on the order of 10^-9. Since these calculations are done at
+ * compile time, it is advisable to set epsilon to the highest value that does not
+ * cause an integer overflow in the calculation. If you can't compile `ratio_sqrt`
+ * due to overflow errors, reducing the value of epsilon sufficiently will correct
+ * the problem.\n\n
+ * `ratio_sqrt` is guaranteed to converge for all values of `Ratio` which do not
+ * overflow.
+ * @tparam U `unit` type to take the square root of.
+ * @tparam Eps Value of epsilon, which represents the inverse of the maximum allowable
+ * error. This value should be chosen to be as high as possible before
+ * integer overflow errors occur in the compiler.
+ * @note USE WITH CAUTION. The is an approximate value. In general, squared<sqrt<meter>> != meter,
+ * i.e. the operation is not reversible, and it will result in propogated approximations.
+ * Use only when absolutely necessary.
+ */
+ template<class U, std::intmax_t Eps = 10000000000>
+ using square_root = typename units::detail::sqrt_impl<U, Eps>::type;
+
+ //------------------------------
+ // COMPOUND UNITS
+ //------------------------------
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace detail
+ {
+ /**
+ * @brief implementation of compound_unit
+ * @details multiplies a variadic list of units together, and is inherited from the resulting
+ * type.
+ */
+ template<class U, class... Us> struct compound_impl;
+ template<class U> struct compound_impl<U> { using type = U; };
+ template<class U1, class U2, class...Us>
+ struct compound_impl<U1, U2, Us...>
+ : compound_impl<unit_multiply<U1, U2>, Us...> {};
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ /**
+ * @brief Represents a unit type made up from other units.
+ * @details Compound units are formed by multiplying the units of all the types provided in
+ * the template argument. Types provided must inherit from `unit`. A compound unit can
+ * be formed from any number of other units, and unit manipulators like `inverse` and
+ * `squared` are supported. E.g. to specify acceleration, on could create
+ * `using acceleration = compound_unit<length::meters, inverse<squared<seconds>>;`
+ * @tparam U... units which, when multiplied together, form the desired compound unit.
+ * @ingroup UnitTypes
+ */
+ template<class U, class... Us>
+ using compound_unit = typename units::detail::compound_impl<U, Us...>::type;
+
+ //------------------------------
+ // PREFIXES
+ //------------------------------
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace detail
+ {
+ /**
+ * @brief prefix applicator.
+ * @details creates a unit type from a prefix and a unit
+ */
+ template<class Ratio, class Unit>
+ struct prefix
+ {
+ static_assert(traits::is_ratio<Ratio>::value, "Template parameter `Ratio` must be a `std::ratio`.");
+ static_assert(traits::is_unit<Unit>::value, "Template parameter `Unit` must be a `unit` type.");
+ typedef typename units::unit<Ratio, Unit> type;
+ };
+
+ /// recursive exponential implementation
+ template <int N, class U>
+ struct power_of_ratio
+ {
+ typedef std::ratio_multiply<U, typename power_of_ratio<N - 1, U>::type> type;
+ };
+
+ /// End recursion
+ template <class U>
+ struct power_of_ratio<1, U>
+ {
+ typedef U type;
+ };
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ /**
+ * @ingroup UnitManipulators
+ * @{
+ * @ingroup Decimal Prefixes
+ * @{
+ */
+ template<class U> using atto = typename units::detail::prefix<std::atto, U>::type; ///< Represents the type of `class U` with the metric 'atto' prefix appended. @details E.g. atto<meters> represents meters*10^-18 @tparam U unit type to apply the prefix to.
+ template<class U> using femto = typename units::detail::prefix<std::femto,U>::type; ///< Represents the type of `class U` with the metric 'femto' prefix appended. @details E.g. femto<meters> represents meters*10^-15 @tparam U unit type to apply the prefix to.
+ template<class U> using pico = typename units::detail::prefix<std::pico, U>::type; ///< Represents the type of `class U` with the metric 'pico' prefix appended. @details E.g. pico<meters> represents meters*10^-12 @tparam U unit type to apply the prefix to.
+ template<class U> using nano = typename units::detail::prefix<std::nano, U>::type; ///< Represents the type of `class U` with the metric 'nano' prefix appended. @details E.g. nano<meters> represents meters*10^-9 @tparam U unit type to apply the prefix to.
+ template<class U> using micro = typename units::detail::prefix<std::micro,U>::type; ///< Represents the type of `class U` with the metric 'micro' prefix appended. @details E.g. micro<meters> represents meters*10^-6 @tparam U unit type to apply the prefix to.
+ template<class U> using milli = typename units::detail::prefix<std::milli,U>::type; ///< Represents the type of `class U` with the metric 'milli' prefix appended. @details E.g. milli<meters> represents meters*10^-3 @tparam U unit type to apply the prefix to.
+ template<class U> using centi = typename units::detail::prefix<std::centi,U>::type; ///< Represents the type of `class U` with the metric 'centi' prefix appended. @details E.g. centi<meters> represents meters*10^-2 @tparam U unit type to apply the prefix to.
+ template<class U> using deci = typename units::detail::prefix<std::deci, U>::type; ///< Represents the type of `class U` with the metric 'deci' prefix appended. @details E.g. deci<meters> represents meters*10^-1 @tparam U unit type to apply the prefix to.
+ template<class U> using deca = typename units::detail::prefix<std::deca, U>::type; ///< Represents the type of `class U` with the metric 'deca' prefix appended. @details E.g. deca<meters> represents meters*10^1 @tparam U unit type to apply the prefix to.
+ template<class U> using hecto = typename units::detail::prefix<std::hecto,U>::type; ///< Represents the type of `class U` with the metric 'hecto' prefix appended. @details E.g. hecto<meters> represents meters*10^2 @tparam U unit type to apply the prefix to.
+ template<class U> using kilo = typename units::detail::prefix<std::kilo, U>::type; ///< Represents the type of `class U` with the metric 'kilo' prefix appended. @details E.g. kilo<meters> represents meters*10^3 @tparam U unit type to apply the prefix to.
+ template<class U> using mega = typename units::detail::prefix<std::mega, U>::type; ///< Represents the type of `class U` with the metric 'mega' prefix appended. @details E.g. mega<meters> represents meters*10^6 @tparam U unit type to apply the prefix to.
+ template<class U> using giga = typename units::detail::prefix<std::giga, U>::type; ///< Represents the type of `class U` with the metric 'giga' prefix appended. @details E.g. giga<meters> represents meters*10^9 @tparam U unit type to apply the prefix to.
+ template<class U> using tera = typename units::detail::prefix<std::tera, U>::type; ///< Represents the type of `class U` with the metric 'tera' prefix appended. @details E.g. tera<meters> represents meters*10^12 @tparam U unit type to apply the prefix to.
+ template<class U> using peta = typename units::detail::prefix<std::peta, U>::type; ///< Represents the type of `class U` with the metric 'peta' prefix appended. @details E.g. peta<meters> represents meters*10^15 @tparam U unit type to apply the prefix to.
+ template<class U> using exa = typename units::detail::prefix<std::exa, U>::type; ///< Represents the type of `class U` with the metric 'exa' prefix appended. @details E.g. exa<meters> represents meters*10^18 @tparam U unit type to apply the prefix to.
+ /** @} @} */
+
+ /**
+ * @ingroup UnitManipulators
+ * @{
+ * @ingroup Binary Prefixes
+ * @{
+ */
+ template<class U> using kibi = typename units::detail::prefix<std::ratio<1024>, U>::type; ///< Represents the type of `class U` with the binary 'kibi' prefix appended. @details E.g. kibi<bytes> represents bytes*2^10 @tparam U unit type to apply the prefix to.
+ template<class U> using mebi = typename units::detail::prefix<std::ratio<1048576>, U>::type; ///< Represents the type of `class U` with the binary 'mibi' prefix appended. @details E.g. mebi<bytes> represents bytes*2^20 @tparam U unit type to apply the prefix to.
+ template<class U> using gibi = typename units::detail::prefix<std::ratio<1073741824>, U>::type; ///< Represents the type of `class U` with the binary 'gibi' prefix appended. @details E.g. gibi<bytes> represents bytes*2^30 @tparam U unit type to apply the prefix to.
+ template<class U> using tebi = typename units::detail::prefix<std::ratio<1099511627776>, U>::type; ///< Represents the type of `class U` with the binary 'tebi' prefix appended. @details E.g. tebi<bytes> represents bytes*2^40 @tparam U unit type to apply the prefix to.
+ template<class U> using pebi = typename units::detail::prefix<std::ratio<1125899906842624>, U>::type; ///< Represents the type of `class U` with the binary 'pebi' prefix appended. @details E.g. pebi<bytes> represents bytes*2^50 @tparam U unit type to apply the prefix to.
+ template<class U> using exbi = typename units::detail::prefix<std::ratio<1152921504606846976>, U>::type; ///< Represents the type of `class U` with the binary 'exbi' prefix appended. @details E.g. exbi<bytes> represents bytes*2^60 @tparam U unit type to apply the prefix to.
+ /** @} @} */
+
+ //------------------------------
+ // CONVERSION TRAITS
+ //------------------------------
+
+ namespace traits
+ {
+ /**
+ * @ingroup TypeTraits
+ * @brief Trait which checks whether two units can be converted to each other
+ * @details Inherits from `std::true_type` or `std::false_type`. Use `is_convertible_unit<U1, U2>::value` to test
+ * whether `class U1` is convertible to `class U2`. Note: convertible has both the semantic meaning,
+ * (i.e. meters can be converted to feet), and the c++ meaning of conversion (type meters can be
+ * converted to type feet). Conversion is always symmetric, so if U1 is convertible to U2, then
+ * U2 will be convertible to U1.
+ * @tparam U1 Unit to convert from.
+ * @tparam U2 Unit to convert to.
+ * @sa is_convertible_unit_t
+ */
+ template<class U1, class U2>
+ struct is_convertible_unit : std::is_same <traits::base_unit_of<typename units::traits::unit_traits<U1>::base_unit_type>,
+ base_unit_of<typename units::traits::unit_traits<U2>::base_unit_type >> {};
+ }
+
+ //------------------------------
+ // CONVERSION FUNCTION
+ //------------------------------
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace detail
+ {
+ constexpr inline UNIT_LIB_DEFAULT_TYPE pow(UNIT_LIB_DEFAULT_TYPE x, unsigned long long y)
+ {
+ return y == 0 ? 1.0 : x * pow(x, y - 1);
+ }
+
+ constexpr inline UNIT_LIB_DEFAULT_TYPE abs(UNIT_LIB_DEFAULT_TYPE x)
+ {
+ return x < 0 ? -x : x;
+ }
+
+ /// convert dispatch for units which are both the same
+ template<class UnitFrom, class UnitTo, class Ratio, class PiRatio, class Translation, typename T>
+ static inline constexpr T convert(const T& value, std::true_type, std::false_type, std::false_type) noexcept
+ {
+ return value;
+ }
+
+ /// convert dispatch for units which are both the same
+ template<class UnitFrom, class UnitTo, class Ratio, class PiRatio, class Translation, typename T>
+ static inline constexpr T convert(const T& value, std::true_type, std::false_type, std::true_type) noexcept
+ {
+ return value;
+ }
+
+ /// convert dispatch for units which are both the same
+ template<class UnitFrom, class UnitTo, class Ratio, class PiRatio, class Translation, typename T>
+ static inline constexpr T convert(const T& value, std::true_type, std::true_type, std::false_type) noexcept
+ {
+ return value;
+ }
+
+ /// convert dispatch for units which are both the same
+ template<class UnitFrom, class UnitTo, class Ratio, class PiRatio, class Translation, typename T>
+ static inline constexpr T convert(const T& value, std::true_type, std::true_type, std::true_type) noexcept
+ {
+ return value;
+ }
+
+ /// convert dispatch for units of different types w/ no translation and no PI
+ template<class UnitFrom, class UnitTo, class Ratio, class PiRatio, class Translation, typename T>
+ static inline constexpr T convert(const T& value, std::false_type, std::false_type, std::false_type) noexcept
+ {
+ return ((value * Ratio::num) / Ratio::den);
+ }
+
+ /// convert dispatch for units of different types w/ no translation, but has PI in numerator
+ // constepxr with PI in numerator
+ template<class UnitFrom, class UnitTo, class Ratio, class PiRatio, class Translation, typename T>
+ static inline constexpr
+ std::enable_if_t<(PiRatio::num / PiRatio::den >= 1 && PiRatio::num % PiRatio::den == 0), T>
+ convert(const T& value, std::false_type, std::true_type, std::false_type) noexcept
+ {
+ return ((value * pow(constants::detail::PI_VAL, PiRatio::num / PiRatio::den) * Ratio::num) / Ratio::den);
+ }
+
+ /// convert dispatch for units of different types w/ no translation, but has PI in denominator
+ // constexpr with PI in denominator
+ template<class UnitFrom, class UnitTo, class Ratio, class PiRatio, class Translation, typename T>
+ static inline constexpr
+ std::enable_if_t<(PiRatio::num / PiRatio::den <= -1 && PiRatio::num % PiRatio::den == 0), T>
+ convert(const T& value, std::false_type, std::true_type, std::false_type) noexcept
+ {
+ return (value * Ratio::num) / (Ratio::den * pow(constants::detail::PI_VAL, -PiRatio::num / PiRatio::den));
+ }
+
+ /// convert dispatch for units of different types w/ no translation, but has PI in numerator
+ // Not constexpr - uses std::pow
+ template<class UnitFrom, class UnitTo, class Ratio, class PiRatio, class Translation, typename T>
+ static inline // sorry, this can't be constexpr!
+ std::enable_if_t<(PiRatio::num / PiRatio::den < 1 && PiRatio::num / PiRatio::den > -1), T>
+ convert(const T& value, std::false_type, std::true_type, std::false_type) noexcept
+ {
+ return ((value * std::pow(constants::detail::PI_VAL, PiRatio::num / PiRatio::den) * Ratio::num) / Ratio::den);
+ }
+
+ /// convert dispatch for units of different types with a translation, but no PI
+ template<class UnitFrom, class UnitTo, class Ratio, class PiRatio, class Translation, typename T>
+ static inline constexpr T convert(const T& value, std::false_type, std::false_type, std::true_type) noexcept
+ {
+ return ((value * Ratio::num) / Ratio::den) + (static_cast<UNIT_LIB_DEFAULT_TYPE>(Translation::num) / Translation::den);
+ }
+
+ /// convert dispatch for units of different types with a translation AND PI
+ template<class UnitFrom, class UnitTo, class Ratio, class PiRatio, class Translation, typename T>
+ static inline constexpr T convert(const T& value, const std::false_type, const std::true_type, const std::true_type) noexcept
+ {
+ return ((value * std::pow(constants::detail::PI_VAL, PiRatio::num / PiRatio::den) * Ratio::num) / Ratio::den) + (static_cast<UNIT_LIB_DEFAULT_TYPE>(Translation::num) / Translation::den);
+ }
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ /**
+ * @ingroup Conversion
+ * @brief converts a <i>value</i> from one type to another.
+ * @details Converts a <i>value</i> of a built-in arithmetic type to another unit. This does not change
+ * the type of <i>value</i>, only what it contains. E.g. @code double result = convert<length::meters, length::feet>(1.0); // result == 3.28084 @endcode
+ * @sa unit_t for implicit conversion of unit containers.
+ * @tparam UnitFrom unit tag to convert <i>value</i> from. Must be a `unit` type (i.e. is_unit<UnitFrom>::value == true),
+ * and must be convertible to `UnitTo` (i.e. is_convertible_unit<UnitFrom, UnitTo>::value == true).
+ * @tparam UnitTo unit tag to convert <i>value</i> to. Must be a `unit` type (i.e. is_unit<UnitTo>::value == true),
+ * and must be convertible from `UnitFrom` (i.e. is_convertible_unit<UnitFrom, UnitTo>::value == true).
+ * @tparam T type of <i>value</i>. It is inferred from <i>value</i>, and is expected to be a built-in arithmetic type.
+ * @param[in] value Arithmetic value to convert from `UnitFrom` to `UnitTo`. The value should represent
+ * a quantity in units of `UnitFrom`.
+ * @returns value, converted from units of `UnitFrom` to `UnitTo`.
+ */
+ template<class UnitFrom, class UnitTo, typename T = UNIT_LIB_DEFAULT_TYPE>
+ static inline constexpr T convert(const T& value) noexcept
+ {
+ static_assert(traits::is_unit<UnitFrom>::value, "Template parameter `UnitFrom` must be a `unit` type.");
+ static_assert(traits::is_unit<UnitTo>::value, "Template parameter `UnitTo` must be a `unit` type.");
+ static_assert(traits::is_convertible_unit<UnitFrom, UnitTo>::value, "Units are not compatible.");
+
+ using Ratio = std::ratio_divide<typename UnitFrom::conversion_ratio, typename UnitTo::conversion_ratio>;
+ using PiRatio = std::ratio_subtract<typename UnitFrom::pi_exponent_ratio, typename UnitTo::pi_exponent_ratio>;
+ using Translation = std::ratio_divide<std::ratio_subtract<typename UnitFrom::translation_ratio, typename UnitTo::translation_ratio>, typename UnitTo::conversion_ratio>;
+
+ using isSame = typename std::is_same<std::decay_t<UnitFrom>, std::decay_t<UnitTo>>::type;
+ using piRequired = std::integral_constant<bool, !(std::is_same<std::ratio<0>, PiRatio>::value)>;
+ using translationRequired = std::integral_constant<bool, !(std::is_same<std::ratio<0>, Translation>::value)>;
+
+ return units::detail::convert<UnitFrom, UnitTo, Ratio, PiRatio, Translation, T>
+ (value, isSame{}, piRequired{}, translationRequired{});
+ }
+
+ //----------------------------------
+ // NON-LINEAR SCALE TRAITS
+ //----------------------------------
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace traits
+ {
+ namespace detail
+ {
+ /**
+ * @brief implementation of has_operator_parenthesis
+ * @details checks that operator() returns the same type as `Ret`
+ */
+ template<class T, class Ret>
+ struct has_operator_parenthesis_impl
+ {
+ template<class U>
+ static constexpr auto test(U*) -> decltype(std::declval<U>()()) { return decltype(std::declval<U>()()){}; }
+ template<typename>
+ static constexpr std::false_type test(...) { return std::false_type{}; }
+
+ using type = typename std::is_same<Ret, decltype(test<T>(0))>::type;
+ };
+ }
+
+ /**
+ * @brief checks that `class T` has an `operator()` member which returns `Ret`
+ * @details used as part of the linear_scale concept.
+ */
+ template<class T, class Ret>
+ struct has_operator_parenthesis : traits::detail::has_operator_parenthesis_impl<T, Ret>::type {};
+ }
+
+ namespace traits
+ {
+ namespace detail
+ {
+ /**
+ * @brief implementation of has_value_member
+ * @details checks for a member named `m_member` with type `Ret`
+ */
+ template<class T, class Ret>
+ struct has_value_member_impl
+ {
+ template<class U>
+ static constexpr auto test(U* p) -> decltype(p->m_value) { return p->m_value; }
+ template<typename>
+ static constexpr auto test(...)->std::false_type { return std::false_type{}; }
+
+ using type = typename std::is_same<std::decay_t<Ret>, std::decay_t<decltype(test<T>(0))>>::type;
+ };
+ }
+
+ /**
+ * @brief checks for a member named `m_member` with type `Ret`
+ * @details used as part of the linear_scale concept checker.
+ */
+ template<class T, class Ret>
+ struct has_value_member : traits::detail::has_value_member_impl<T, Ret>::type {};
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ namespace traits
+ {
+ /**
+ * @ingroup TypeTraits
+ * @brief Trait which tests that `class T` meets the requirements for a non-linear scale
+ * @details A non-linear scale must:
+ * - be default constructible
+ * - have an `operator()` member which returns the non-linear value stored in the scale
+ * - have an accessible `m_value` member type which stores the linearized value in the scale.
+ *
+ * Linear/nonlinear scales are used by `units::unit` to store values and scale them
+ * if they represent things like dB.
+ */
+ template<class T, class Ret>
+ struct is_nonlinear_scale : std::integral_constant<bool,
+ std::is_default_constructible<T>::value &&
+ has_operator_parenthesis<T, Ret>::value &&
+ has_value_member<T, Ret>::value &&
+ std::is_trivial<T>::value>
+ {};
+ }
+
+ //------------------------------
+ // UNIT_T TYPE TRAITS
+ //------------------------------
+
+ namespace traits
+ {
+#ifdef FOR_DOXYGEN_PURPOSOES_ONLY
+ /**
+ * @ingroup TypeTraits
+ * @brief Trait for accessing the publically defined types of `units::unit_t`
+ * @details The units library determines certain properties of the unit_t types passed to them
+ * and what they represent by using the members of the corresponding unit_t_traits instantiation.
+ */
+ template<typename T>
+ struct unit_t_traits
+ {
+ typedef typename T::non_linear_scale_type non_linear_scale_type; ///< Type of the unit_t non_linear_scale (e.g. linear_scale, decibel_scale). This property is used to enable the proper linear or logarithmic arithmetic functions.
+ typedef typename T::underlying_type underlying_type; ///< Underlying storage type of the `unit_t`, e.g. `double`.
+ typedef typename T::value_type value_type; ///< Synonym for underlying type. May be removed in future versions. Prefer underlying_type.
+ typedef typename T::unit_type unit_type; ///< Type of unit the `unit_t` represents, e.g. `meters`
+ };
+#endif
+
+ /** @cond */ // DOXYGEN IGNORE
+ /**
+ * @brief unit_t_traits specialization for things which are not unit_t
+ * @details
+ */
+ template<typename T, typename = void>
+ struct unit_t_traits
+ {
+ typedef void non_linear_scale_type;
+ typedef void underlying_type;
+ typedef void value_type;
+ typedef void unit_type;
+ };
+
+ /**
+ * @ingroup TypeTraits
+ * @brief Trait for accessing the publically defined types of `units::unit_t`
+ * @details
+ */
+ template<typename T>
+ struct unit_t_traits <T, typename void_t<
+ typename T::non_linear_scale_type,
+ typename T::underlying_type,
+ typename T::value_type,
+ typename T::unit_type>::type>
+ {
+ typedef typename T::non_linear_scale_type non_linear_scale_type;
+ typedef typename T::underlying_type underlying_type;
+ typedef typename T::value_type value_type;
+ typedef typename T::unit_type unit_type;
+ };
+ /** @endcond */ // END DOXYGEN IGNORE
+ }
+
+ namespace traits
+ {
+ /**
+ * @ingroup TypeTraits
+ * @brief Trait which tests whether two container types derived from `unit_t` are convertible to each other
+ * @details Inherits from `std::true_type` or `std::false_type`. Use `is_convertible_unit_t<U1, U2>::value` to test
+ * whether `class U1` is convertible to `class U2`. Note: convertible has both the semantic meaning,
+ * (i.e. meters can be converted to feet), and the c++ meaning of conversion (type meters can be
+ * converted to type feet). Conversion is always symmetric, so if U1 is convertible to U2, then
+ * U2 will be convertible to U1.
+ * @tparam U1 Unit to convert from.
+ * @tparam U2 Unit to convert to.
+ * @sa is_convertible_unit
+ */
+ template<class U1, class U2>
+ struct is_convertible_unit_t : std::integral_constant<bool,
+ is_convertible_unit<typename units::traits::unit_t_traits<U1>::unit_type, typename units::traits::unit_t_traits<U2>::unit_type>::value>
+ {};
+ }
+
+ //----------------------------------
+ // UNIT TYPE
+ //----------------------------------
+
+ /** @cond */ // DOXYGEN IGNORE
+ // forward declaration
+ template<typename T> struct linear_scale;
+ template<typename T> struct decibel_scale;
+
+ namespace detail
+ {
+ /**
+ * @brief helper type to identify units.
+ * @details A non-templated base class for `unit` which enables RTTI testing.
+ */
+ struct _unit_t {};
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ namespace traits
+ {
+ // forward declaration
+ #if !defined(_MSC_VER) || _MSC_VER > 1800 // bug in VS2013 prevents this from working
+ template<typename... T> struct is_dimensionless_unit;
+ #else
+ template<typename T1, typename T2 = T1, typename T3 = T1> struct is_dimensionless_unit;
+ #endif
+
+ /**
+ * @ingroup TypeTraits
+ * @brief Traits which tests if a class is a `unit`
+ * @details Inherits from `std::true_type` or `std::false_type`. Use `is_unit<T>::value` to test
+ * whether `class T` implements a `unit`.
+ */
+ template<class T>
+ struct is_unit_t : std::is_base_of<units::detail::_unit_t, T>::type {};
+ }
+
+ /**
+ * @ingroup UnitContainers
+ * @brief Container for values which represent quantities of a given unit.
+ * @details Stores a value which represents a quantity in the given units. Unit containers
+ * (except scalar values) are *not* convertible to built-in c++ types, in order to
+ * provide type safety in dimensional analysis. Unit containers *are* implicitly
+ * convertible to other compatible unit container types. Unit containers support
+ * various types of arithmetic operations, depending on their scale type.
+ *
+ * The value of a `unit_t` can only be changed on construction, or by assignment
+ * from another `unit_t` type. If necessary, the underlying value can be accessed
+ * using `operator()`: @code
+ * meter_t m(5.0);
+ * double val = m(); // val == 5.0 @endcode.
+ * @tparam Units unit tag for which type of units the `unit_t` represents (e.g. meters)
+ * @tparam T underlying type of the storage. Defaults to double.
+ * @tparam NonLinearScale optional scale class for the units. Defaults to linear (i.e. does
+ * not scale the unit value). Examples of non-linear scales could be logarithmic,
+ * decibel, or richter scales. Non-linear scales must adhere to the non-linear-scale
+ * concept, i.e. `is_nonlinear_scale<...>::value` must be `true`.
+ * @sa
+ * - \ref lengthContainers "length unit containers"
+ * - \ref massContainers "mass unit containers"
+ * - \ref timeContainers "time unit containers"
+ * - \ref angleContainers "angle unit containers"
+ * - \ref currentContainers "current unit containers"
+ * - \ref temperatureContainers "temperature unit containers"
+ * - \ref substanceContainers "substance unit containers"
+ * - \ref luminousIntensityContainers "luminous intensity unit containers"
+ * - \ref solidAngleContainers "solid angle unit containers"
+ * - \ref frequencyContainers "frequency unit containers"
+ * - \ref velocityContainers "velocity unit containers"
+ * - \ref angularVelocityContainers "angular velocity unit containers"
+ * - \ref accelerationContainers "acceleration unit containers"
+ * - \ref forceContainers "force unit containers"
+ * - \ref pressureContainers "pressure unit containers"
+ * - \ref chargeContainers "charge unit containers"
+ * - \ref energyContainers "energy unit containers"
+ * - \ref powerContainers "power unit containers"
+ * - \ref voltageContainers "voltage unit containers"
+ * - \ref capacitanceContainers "capacitance unit containers"
+ * - \ref impedanceContainers "impedance unit containers"
+ * - \ref magneticFluxContainers "magnetic flux unit containers"
+ * - \ref magneticFieldStrengthContainers "magnetic field strength unit containers"
+ * - \ref inductanceContainers "inductance unit containers"
+ * - \ref luminousFluxContainers "luminous flux unit containers"
+ * - \ref illuminanceContainers "illuminance unit containers"
+ * - \ref radiationContainers "radiation unit containers"
+ * - \ref torqueContainers "torque unit containers"
+ * - \ref areaContainers "area unit containers"
+ * - \ref volumeContainers "volume unit containers"
+ * - \ref densityContainers "density unit containers"
+ * - \ref concentrationContainers "concentration unit containers"
+ * - \ref constantContainers "constant unit containers"
+ */
+ template<class Units, typename T = UNIT_LIB_DEFAULT_TYPE, template<typename> class NonLinearScale = linear_scale>
+ class unit_t : public NonLinearScale<T>, units::detail::_unit_t
+ {
+ static_assert(traits::is_unit<Units>::value, "Template parameter `Units` must be a unit tag. Check that you aren't using a unit type (_t).");
+ static_assert(traits::is_nonlinear_scale<NonLinearScale<T>, T>::value, "Template parameter `NonLinearScale` does not conform to the `is_nonlinear_scale` concept.");
+
+ protected:
+
+ using nls = NonLinearScale<T>;
+ using nls::m_value;
+
+ public:
+
+ typedef NonLinearScale<T> non_linear_scale_type; ///< Type of the non-linear scale of the unit_t (e.g. linear_scale)
+ typedef T underlying_type; ///< Type of the underlying storage of the unit_t (e.g. double)
+ typedef T value_type; ///< Synonym for underlying type. May be removed in future versions. Prefer underlying_type.
+ typedef Units unit_type; ///< Type of `unit` the `unit_t` represents (e.g. meters)
+
+ /**
+ * @ingroup Constructors
+ * @brief default constructor.
+ */
+ constexpr unit_t() = default;
+
+ /**
+ * @brief constructor
+ * @details constructs a new unit_t using the non-linear scale's constructor.
+ * @param[in] value unit value magnitude.
+ * @param[in] args additional constructor arguments are forwarded to the non-linear scale constructor. Which
+ * args are required depends on which scale is used. For the default (linear) scale,
+ * no additional args are necessary.
+ */
+ template<class... Args>
+ inline explicit constexpr unit_t(const T value, const Args&... args) noexcept : nls(value, args...)
+ {
+
+ }
+
+ /**
+ * @brief constructor
+ * @details enable implicit conversions from T types ONLY for linear scalar units
+ * @param[in] value value of the unit_t
+ */
+ template<class Ty, class = typename std::enable_if<traits::is_dimensionless_unit<Units>::value && std::is_arithmetic<Ty>::value>::type>
+ inline constexpr unit_t(const Ty value) noexcept : nls(value)
+ {
+
+ }
+
+ /**
+ * @brief chrono constructor
+ * @details enable implicit conversions from std::chrono::duration types ONLY for time units
+ * @param[in] value value of the unit_t
+ */
+ template<class Rep, class Period, class = std::enable_if_t<std::is_arithmetic<Rep>::value && traits::is_ratio<Period>::value>>
+ inline constexpr unit_t(const std::chrono::duration<Rep, Period>& value) noexcept :
+ nls(units::convert<unit<std::ratio<1,1000000000>, category::time_unit>, Units>(static_cast<T>(std::chrono::duration_cast<std::chrono::nanoseconds>(value).count())))
+ {
+
+ }
+
+ /**
+ * @brief copy constructor (converting)
+ * @details performs implicit unit conversions if required.
+ * @param[in] rhs unit to copy.
+ */
+ template<class UnitsRhs, typename Ty, template<typename> class NlsRhs>
+ inline constexpr unit_t(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) noexcept :
+ nls(units::convert<UnitsRhs, Units, T>(rhs.m_value), std::true_type() /*store linear value*/)
+ {
+
+ }
+
+ /**
+ * @brief assignment
+ * @details performs implicit unit conversions if required
+ * @param[in] rhs unit to copy.
+ */
+ template<class UnitsRhs, typename Ty, template<typename> class NlsRhs>
+ inline unit_t& operator=(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) noexcept
+ {
+ nls::m_value = units::convert<UnitsRhs, Units, T>(rhs.m_value);
+ return *this;
+ }
+
+ /**
+ * @brief assignment
+ * @details performs implicit conversions from built-in types ONLY for scalar units
+ * @param[in] rhs value to copy.
+ */
+ template<class Ty, class = std::enable_if_t<traits::is_dimensionless_unit<Units>::value && std::is_arithmetic<Ty>::value>>
+ inline unit_t& operator=(const Ty& rhs) noexcept
+ {
+ nls::m_value = rhs;
+ return *this;
+ }
+
+ /**
+ * @brief less-than
+ * @details compares the linearized value of two units. Performs unit conversions if necessary.
+ * @param[in] rhs right-hand side unit for the comparison
+ * @returns true IFF the value of `this` is less than the value of `rhs`
+ */
+ template<class UnitsRhs, typename Ty, template<typename> class NlsRhs>
+ inline constexpr bool operator<(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) const noexcept
+ {
+ return (nls::m_value < units::convert<UnitsRhs, Units>(rhs.m_value));
+ }
+
+ /**
+ * @brief less-than or equal
+ * @details compares the linearized value of two units. Performs unit conversions if necessary.
+ * @param[in] rhs right-hand side unit for the comparison
+ * @returns true IFF the value of `this` is less than or equal to the value of `rhs`
+ */
+ template<class UnitsRhs, typename Ty, template<typename> class NlsRhs>
+ inline constexpr bool operator<=(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) const noexcept
+ {
+ return (nls::m_value <= units::convert<UnitsRhs, Units>(rhs.m_value));
+ }
+
+ /**
+ * @brief greater-than
+ * @details compares the linearized value of two units. Performs unit conversions if necessary.
+ * @param[in] rhs right-hand side unit for the comparison
+ * @returns true IFF the value of `this` is greater than the value of `rhs`
+ */
+ template<class UnitsRhs, typename Ty, template<typename> class NlsRhs>
+ inline constexpr bool operator>(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) const noexcept
+ {
+ return (nls::m_value > units::convert<UnitsRhs, Units>(rhs.m_value));
+ }
+
+ /**
+ * @brief greater-than or equal
+ * @details compares the linearized value of two units. Performs unit conversions if necessary.
+ * @param[in] rhs right-hand side unit for the comparison
+ * @returns true IFF the value of `this` is greater than or equal to the value of `rhs`
+ */
+ template<class UnitsRhs, typename Ty, template<typename> class NlsRhs>
+ inline constexpr bool operator>=(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) const noexcept
+ {
+ return (nls::m_value >= units::convert<UnitsRhs, Units>(rhs.m_value));
+ }
+
+ /**
+ * @brief equality
+ * @details compares the linearized value of two units. Performs unit conversions if necessary.
+ * @param[in] rhs right-hand side unit for the comparison
+ * @returns true IFF the value of `this` exactly equal to the value of rhs.
+ * @note This may not be suitable for all applications when the underlying_type of unit_t is a double.
+ */
+ template<class UnitsRhs, typename Ty, template<typename> class NlsRhs, std::enable_if_t<std::is_floating_point<T>::value || std::is_floating_point<Ty>::value, int> = 0>
+ inline constexpr bool operator==(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) const noexcept
+ {
+ return detail::abs(nls::m_value - units::convert<UnitsRhs, Units>(rhs.m_value)) < std::numeric_limits<T>::epsilon() *
+ detail::abs(nls::m_value + units::convert<UnitsRhs, Units>(rhs.m_value)) ||
+ detail::abs(nls::m_value - units::convert<UnitsRhs, Units>(rhs.m_value)) < std::numeric_limits<T>::min();
+ }
+
+ template<class UnitsRhs, typename Ty, template<typename> class NlsRhs, std::enable_if_t<std::is_integral<T>::value && std::is_integral<Ty>::value, int> = 0>
+ inline constexpr bool operator==(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) const noexcept
+ {
+ return nls::m_value == units::convert<UnitsRhs, Units>(rhs.m_value);
+ }
+
+ /**
+ * @brief inequality
+ * @details compares the linearized value of two units. Performs unit conversions if necessary.
+ * @param[in] rhs right-hand side unit for the comparison
+ * @returns true IFF the value of `this` is not equal to the value of rhs.
+ * @note This may not be suitable for all applications when the underlying_type of unit_t is a double.
+ */
+ template<class UnitsRhs, typename Ty, template<typename> class NlsRhs>
+ inline constexpr bool operator!=(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) const noexcept
+ {
+ return !(*this == rhs);
+ }
+
+ /**
+ * @brief unit value
+ * @returns value of the unit in it's underlying, non-safe type.
+ */
+ inline constexpr underlying_type value() const noexcept
+ {
+ return static_cast<underlying_type>(*this);
+ }
+
+ /**
+ * @brief unit value
+ * @returns value of the unit converted to an arithmetic, non-safe type.
+ */
+ template<typename Ty, class = std::enable_if_t<std::is_arithmetic<Ty>::value>>
+ inline constexpr Ty to() const noexcept
+ {
+ return static_cast<Ty>(*this);
+ }
+
+ /**
+ * @brief linearized unit value
+ * @returns linearized value of unit which has a non-linear scale. For `unit_t` types with
+ * linear scales, this is equivalent to `value`.
+ */
+ template<typename Ty, class = std::enable_if_t<std::is_arithmetic<Ty>::value>>
+ inline constexpr Ty toLinearized() const noexcept
+ {
+ return static_cast<Ty>(m_value);
+ }
+
+ /**
+ * @brief conversion
+ * @details Converts to a different unit container. Units can be converted to other containers
+ * implicitly, but this can be used in cases where explicit notation of a conversion
+ * is beneficial, or where an r-value container is needed.
+ * @tparam U unit (not unit_t) to convert to
+ * @returns a unit container with the specified units containing the equivalent value to
+ * *this.
+ */
+ template<class U>
+ inline constexpr unit_t<U> convert() const noexcept
+ {
+ static_assert(traits::is_unit<U>::value, "Template parameter `U` must be a unit type.");
+ return unit_t<U>(*this);
+ }
+
+ /**
+ * @brief implicit type conversion.
+ * @details only enabled for scalar unit types.
+ */
+ template<class Ty, std::enable_if_t<traits::is_dimensionless_unit<Units>::value && std::is_arithmetic<Ty>::value, int> = 0>
+ inline constexpr operator Ty() const noexcept
+ {
+ // this conversion also resolves any PI exponents, by converting from a non-zero PI ratio to a zero-pi ratio.
+ return static_cast<Ty>(units::convert<Units, unit<std::ratio<1>, units::category::scalar_unit>>((*this)()));
+ }
+
+ /**
+ * @brief explicit type conversion.
+ * @details only enabled for non-dimensionless unit types.
+ */
+ template<class Ty, std::enable_if_t<!traits::is_dimensionless_unit<Units>::value && std::is_arithmetic<Ty>::value, int> = 0>
+ inline constexpr explicit operator Ty() const noexcept
+ {
+ return static_cast<Ty>((*this)());
+ }
+
+ /**
+ * @brief chrono implicit type conversion.
+ * @details only enabled for time unit types.
+ */
+ template<typename U = Units, std::enable_if_t<units::traits::is_convertible_unit<U, unit<std::ratio<1>, category::time_unit>>::value, int> = 0>
+ inline constexpr operator std::chrono::nanoseconds() const noexcept
+ {
+ return std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::duration<double, std::nano>(units::convert<Units, unit<std::ratio<1,1000000000>, category::time_unit>>((*this)())));
+ }
+
+ /**
+ * @brief returns the unit name
+ */
+ inline constexpr const char* name() const noexcept
+ {
+ return units::name(*this);
+ }
+
+ /**
+ * @brief returns the unit abbreviation
+ */
+ inline constexpr const char* abbreviation() const noexcept
+ {
+ return units::abbreviation(*this);
+ }
+
+ public:
+
+ template<class U, typename Ty, template<typename> class Nlt>
+ friend class unit_t;
+ };
+
+ //------------------------------
+ // UNIT_T NON-MEMBER FUNCTIONS
+ //------------------------------
+
+ /**
+ * @ingroup UnitContainers
+ * @brief Constructs a unit container from an arithmetic type.
+ * @details make_unit can be used to construct a unit container from an arithmetic type, as an alternative to
+ * using the explicit constructor. Unlike the explicit constructor it forces the user to explicitly
+ * specify the units.
+ * @tparam UnitType Type to construct.
+ * @tparam Ty Arithmetic type.
+ * @param[in] value Arithmetic value that represents a quantity in units of `UnitType`.
+ */
+ template<class UnitType, typename T, class = std::enable_if_t<std::is_arithmetic<T>::value>>
+ inline constexpr UnitType make_unit(const T value) noexcept
+ {
+ static_assert(traits::is_unit_t<UnitType>::value, "Template parameter `UnitType` must be a unit type (_t).");
+
+ return UnitType(value);
+ }
+
+#if !defined(UNIT_LIB_DISABLE_IOSTREAM)
+ template<class Units, typename T, template<typename> class NonLinearScale>
+ inline std::ostream& operator<<(std::ostream& os, const unit_t<Units, T, NonLinearScale>& obj) noexcept
+ {
+ using BaseUnits = unit<std::ratio<1>, typename traits::unit_traits<Units>::base_unit_type>;
+ os << convert<Units, BaseUnits>(obj());
+
+ if (traits::unit_traits<Units>::base_unit_type::meter_ratio::num != 0) { os << " m"; }
+ if (traits::unit_traits<Units>::base_unit_type::meter_ratio::num != 0 &&
+ traits::unit_traits<Units>::base_unit_type::meter_ratio::num != 1) { os << "^" << traits::unit_traits<Units>::base_unit_type::meter_ratio::num; }
+ if (traits::unit_traits<Units>::base_unit_type::meter_ratio::den != 1) { os << "/" << traits::unit_traits<Units>::base_unit_type::meter_ratio::den; }
+
+ if (traits::unit_traits<Units>::base_unit_type::kilogram_ratio::num != 0) { os << " kg"; }
+ if (traits::unit_traits<Units>::base_unit_type::kilogram_ratio::num != 0 &&
+ traits::unit_traits<Units>::base_unit_type::kilogram_ratio::num != 1) { os << "^" << traits::unit_traits<Units>::base_unit_type::kilogram_ratio::num; }
+ if (traits::unit_traits<Units>::base_unit_type::kilogram_ratio::den != 1) { os << "/" << traits::unit_traits<Units>::base_unit_type::kilogram_ratio::den; }
+
+ if (traits::unit_traits<Units>::base_unit_type::second_ratio::num != 0) { os << " s"; }
+ if (traits::unit_traits<Units>::base_unit_type::second_ratio::num != 0 &&
+ traits::unit_traits<Units>::base_unit_type::second_ratio::num != 1) { os << "^" << traits::unit_traits<Units>::base_unit_type::second_ratio::num; }
+ if (traits::unit_traits<Units>::base_unit_type::second_ratio::den != 1) { os << "/" << traits::unit_traits<Units>::base_unit_type::second_ratio::den; }
+
+ if (traits::unit_traits<Units>::base_unit_type::ampere_ratio::num != 0) { os << " A"; }
+ if (traits::unit_traits<Units>::base_unit_type::ampere_ratio::num != 0 &&
+ traits::unit_traits<Units>::base_unit_type::ampere_ratio::num != 1) { os << "^" << traits::unit_traits<Units>::base_unit_type::ampere_ratio::num; }
+ if (traits::unit_traits<Units>::base_unit_type::ampere_ratio::den != 1) { os << "/" << traits::unit_traits<Units>::base_unit_type::ampere_ratio::den; }
+
+ if (traits::unit_traits<Units>::base_unit_type::kelvin_ratio::num != 0) { os << " K"; }
+ if (traits::unit_traits<Units>::base_unit_type::kelvin_ratio::num != 0 &&
+ traits::unit_traits<Units>::base_unit_type::kelvin_ratio::num != 1) { os << "^" << traits::unit_traits<Units>::base_unit_type::kelvin_ratio::num; }
+ if (traits::unit_traits<Units>::base_unit_type::kelvin_ratio::den != 1) { os << "/" << traits::unit_traits<Units>::base_unit_type::kelvin_ratio::den; }
+
+ if (traits::unit_traits<Units>::base_unit_type::mole_ratio::num != 0) { os << " mol"; }
+ if (traits::unit_traits<Units>::base_unit_type::mole_ratio::num != 0 &&
+ traits::unit_traits<Units>::base_unit_type::mole_ratio::num != 1) { os << "^" << traits::unit_traits<Units>::base_unit_type::mole_ratio::num; }
+ if (traits::unit_traits<Units>::base_unit_type::mole_ratio::den != 1) { os << "/" << traits::unit_traits<Units>::base_unit_type::mole_ratio::den; }
+
+ if (traits::unit_traits<Units>::base_unit_type::candela_ratio::num != 0) { os << " cd"; }
+ if (traits::unit_traits<Units>::base_unit_type::candela_ratio::num != 0 &&
+ traits::unit_traits<Units>::base_unit_type::candela_ratio::num != 1) { os << "^" << traits::unit_traits<Units>::base_unit_type::candela_ratio::num; }
+ if (traits::unit_traits<Units>::base_unit_type::candela_ratio::den != 1) { os << "/" << traits::unit_traits<Units>::base_unit_type::candela_ratio::den; }
+
+ if (traits::unit_traits<Units>::base_unit_type::radian_ratio::num != 0) { os << " rad"; }
+ if (traits::unit_traits<Units>::base_unit_type::radian_ratio::num != 0 &&
+ traits::unit_traits<Units>::base_unit_type::radian_ratio::num != 1) { os << "^" << traits::unit_traits<Units>::base_unit_type::radian_ratio::num; }
+ if (traits::unit_traits<Units>::base_unit_type::radian_ratio::den != 1) { os << "/" << traits::unit_traits<Units>::base_unit_type::radian_ratio::den; }
+
+ if (traits::unit_traits<Units>::base_unit_type::byte_ratio::num != 0) { os << " b"; }
+ if (traits::unit_traits<Units>::base_unit_type::byte_ratio::num != 0 &&
+ traits::unit_traits<Units>::base_unit_type::byte_ratio::num != 1) { os << "^" << traits::unit_traits<Units>::base_unit_type::byte_ratio::num; }
+ if (traits::unit_traits<Units>::base_unit_type::byte_ratio::den != 1) { os << "/" << traits::unit_traits<Units>::base_unit_type::byte_ratio::den; }
+
+ return os;
+ }
+#endif
+
+ template<class Units, typename T, template<typename> class NonLinearScale, typename RhsType>
+ inline unit_t<Units, T, NonLinearScale>& operator+=(unit_t<Units, T, NonLinearScale>& lhs, const RhsType& rhs) noexcept
+ {
+ static_assert(traits::is_convertible_unit_t<unit_t<Units, T, NonLinearScale>, RhsType>::value ||
+ (traits::is_dimensionless_unit<decltype(lhs)>::value && std::is_arithmetic<RhsType>::value),
+ "parameters are not compatible units.");
+
+ lhs = lhs + rhs;
+ return lhs;
+ }
+
+ template<class Units, typename T, template<typename> class NonLinearScale, typename RhsType>
+ inline unit_t<Units, T, NonLinearScale>& operator-=(unit_t<Units, T, NonLinearScale>& lhs, const RhsType& rhs) noexcept
+ {
+ static_assert(traits::is_convertible_unit_t<unit_t<Units, T, NonLinearScale>, RhsType>::value ||
+ (traits::is_dimensionless_unit<decltype(lhs)>::value && std::is_arithmetic<RhsType>::value),
+ "parameters are not compatible units.");
+
+ lhs = lhs - rhs;
+ return lhs;
+ }
+
+ template<class Units, typename T, template<typename> class NonLinearScale, typename RhsType>
+ inline unit_t<Units, T, NonLinearScale>& operator*=(unit_t<Units, T, NonLinearScale>& lhs, const RhsType& rhs) noexcept
+ {
+ static_assert((traits::is_dimensionless_unit<RhsType>::value || std::is_arithmetic<RhsType>::value),
+ "right-hand side parameter must be dimensionless.");
+
+ lhs = lhs * rhs;
+ return lhs;
+ }
+
+ template<class Units, typename T, template<typename> class NonLinearScale, typename RhsType>
+ inline unit_t<Units, T, NonLinearScale>& operator/=(unit_t<Units, T, NonLinearScale>& lhs, const RhsType& rhs) noexcept
+ {
+ static_assert((traits::is_dimensionless_unit<RhsType>::value || std::is_arithmetic<RhsType>::value),
+ "right-hand side parameter must be dimensionless.");
+
+ lhs = lhs / rhs;
+ return lhs;
+ }
+
+ //------------------------------
+ // UNIT_T UNARY OPERATORS
+ //------------------------------
+
+ // unary addition: +T
+ template<class Units, typename T, template<typename> class NonLinearScale>
+ inline unit_t<Units, T, NonLinearScale> operator+(const unit_t<Units, T, NonLinearScale>& u) noexcept
+ {
+ return u;
+ }
+
+ // prefix increment: ++T
+ template<class Units, typename T, template<typename> class NonLinearScale>
+ inline unit_t<Units, T, NonLinearScale>& operator++(unit_t<Units, T, NonLinearScale>& u) noexcept
+ {
+ u = unit_t<Units, T, NonLinearScale>(u() + 1);
+ return u;
+ }
+
+ // postfix increment: T++
+ template<class Units, typename T, template<typename> class NonLinearScale>
+ inline unit_t<Units, T, NonLinearScale> operator++(unit_t<Units, T, NonLinearScale>& u, int) noexcept
+ {
+ auto ret = u;
+ u = unit_t<Units, T, NonLinearScale>(u() + 1);
+ return ret;
+ }
+
+ // unary addition: -T
+ template<class Units, typename T, template<typename> class NonLinearScale>
+ inline unit_t<Units, T, NonLinearScale> operator-(const unit_t<Units, T, NonLinearScale>& u) noexcept
+ {
+ return unit_t<Units, T, NonLinearScale>(-u());
+ }
+
+ // prefix increment: --T
+ template<class Units, typename T, template<typename> class NonLinearScale>
+ inline unit_t<Units, T, NonLinearScale>& operator--(unit_t<Units, T, NonLinearScale>& u) noexcept
+ {
+ u = unit_t<Units, T, NonLinearScale>(u() - 1);
+ return u;
+ }
+
+ // postfix increment: T--
+ template<class Units, typename T, template<typename> class NonLinearScale>
+ inline unit_t<Units, T, NonLinearScale> operator--(unit_t<Units, T, NonLinearScale>& u, int) noexcept
+ {
+ auto ret = u;
+ u = unit_t<Units, T, NonLinearScale>(u() - 1);
+ return ret;
+ }
+
+ //------------------------------
+ // UNIT_CAST
+ //------------------------------
+
+ /**
+ * @ingroup Conversion
+ * @brief Casts a unit container to an arithmetic type.
+ * @details unit_cast can be used to remove the strong typing from a unit class, and convert it
+ * to a built-in arithmetic type. This may be useful for compatibility with libraries
+ * and legacy code that don't support `unit_t` types. E.g
+ * @code meter_t unitVal(5);
+ * double value = units::unit_cast<double>(unitVal); // value = 5.0
+ * @endcode
+ * @tparam T Type to cast the unit type to. Must be a built-in arithmetic type.
+ * @param value Unit value to cast.
+ * @sa unit_t::to
+ */
+ template<typename T, typename Units, class = std::enable_if_t<std::is_arithmetic<T>::value && traits::is_unit_t<Units>::value>>
+ inline constexpr T unit_cast(const Units& value) noexcept
+ {
+ return static_cast<T>(value);
+ }
+
+ //------------------------------
+ // NON-LINEAR SCALE TRAITS
+ //------------------------------
+
+ // forward declaration
+ template<typename T> struct decibel_scale;
+
+ namespace traits
+ {
+ /**
+ * @ingroup TypeTraits
+ * @brief Trait which tests whether a type is inherited from a linear scale.
+ * @details Inherits from `std::true_type` or `std::false_type`. Use `has_linear_scale<U1 [, U2, ...]>::value` to test
+ * one or more types to see if they represent unit_t's whose scale is linear.
+ * @tparam T one or more types to test.
+ */
+#if !defined(_MSC_VER) || _MSC_VER > 1800 // bug in VS2013 prevents this from working
+ template<typename... T>
+ struct has_linear_scale : std::integral_constant<bool, units::all_true<std::is_base_of<units::linear_scale<typename units::traits::unit_t_traits<T>::underlying_type>, T>::value...>::value > {};
+#else
+ template<typename T1, typename T2 = T1, typename T3 = T1>
+ struct has_linear_scale : std::integral_constant<bool,
+ std::is_base_of<units::linear_scale<typename units::traits::unit_t_traits<T1>::underlying_type>, T1>::value &&
+ std::is_base_of<units::linear_scale<typename units::traits::unit_t_traits<T2>::underlying_type>, T2>::value &&
+ std::is_base_of<units::linear_scale<typename units::traits::unit_t_traits<T3>::underlying_type>, T3>::value> {};
+#endif
+
+ /**
+ * @ingroup TypeTraits
+ * @brief Trait which tests whether a type is inherited from a decibel scale.
+ * @details Inherits from `std::true_type` or `std::false_type`. Use `has_decibel_scale<U1 [, U2, ...]>::value` to test
+ * one or more types to see if they represent unit_t's whose scale is in decibels.
+ * @tparam T one or more types to test.
+ */
+#if !defined(_MSC_VER) || _MSC_VER > 1800 // bug in VS2013 prevents this from working
+ template<typename... T>
+ struct has_decibel_scale : std::integral_constant<bool, units::all_true<std::is_base_of<units::decibel_scale<typename units::traits::unit_t_traits<T>::underlying_type>, T>::value...>::value> {};
+#else
+ template<typename T1, typename T2 = T1, typename T3 = T1>
+ struct has_decibel_scale : std::integral_constant<bool,
+ std::is_base_of<units::decibel_scale<typename units::traits::unit_t_traits<T1>::underlying_type>, T1>::value &&
+ std::is_base_of<units::decibel_scale<typename units::traits::unit_t_traits<T2>::underlying_type>, T2>::value &&
+ std::is_base_of<units::decibel_scale<typename units::traits::unit_t_traits<T2>::underlying_type>, T3>::value> {};
+#endif
+
+ /**
+ * @ingroup TypeTraits
+ * @brief Trait which tests whether two types has the same non-linear scale.
+ * @details Inherits from `std::true_type` or `std::false_type`. Use `is_same_scale<U1 , U2>::value` to test
+ * whether two types have the same non-linear scale.
+ * @tparam T1 left hand type.
+ * @tparam T2 right hand type
+ */
+ template<typename T1, typename T2>
+ struct is_same_scale : std::integral_constant<bool,
+ std::is_same<typename units::traits::unit_t_traits<T1>::non_linear_scale_type, typename units::traits::unit_t_traits<T2>::non_linear_scale_type>::value>
+ {};
+ }
+
+ //----------------------------------
+ // NON-LINEAR SCALES
+ //----------------------------------
+
+ // Non-linear transforms are used to pre and post scale units which are defined in terms of non-
+ // linear functions of their current value. A good example of a non-linear scale would be a
+ // logarithmic or decibel scale
+
+ //------------------------------
+ // LINEAR SCALE
+ //------------------------------
+
+ /**
+ * @brief unit_t scale which is linear
+ * @details Represents units on a linear scale. This is the appropriate unit_t scale for almost
+ * all units almost all of the time.
+ * @tparam T underlying storage type
+ * @sa unit_t
+ */
+ template<typename T>
+ struct linear_scale
+ {
+ inline constexpr linear_scale() = default; ///< default constructor.
+ inline constexpr linear_scale(const linear_scale&) = default;
+ inline ~linear_scale() = default;
+ inline linear_scale& operator=(const linear_scale&) = default;
+#if defined(_MSC_VER) && (_MSC_VER > 1800)
+ inline constexpr linear_scale(linear_scale&&) = default;
+ inline linear_scale& operator=(linear_scale&&) = default;
+#endif
+ template<class... Args>
+ inline constexpr linear_scale(const T& value, Args&&...) noexcept : m_value(value) {} ///< constructor.
+ inline constexpr T operator()() const noexcept { return m_value; } ///< returns value.
+
+ T m_value; ///< linearized value.
+ };
+
+ //----------------------------------
+ // SCALAR (LINEAR) UNITS
+ //----------------------------------
+
+ // Scalar units are the *ONLY* units implicitly convertible to/from built-in types.
+ namespace dimensionless
+ {
+ typedef unit<std::ratio<1>, units::category::scalar_unit> scalar;
+ typedef unit<std::ratio<1>, units::category::dimensionless_unit> dimensionless;
+
+ typedef unit_t<scalar> scalar_t;
+ typedef scalar_t dimensionless_t;
+ }
+
+// ignore the redeclaration of the default template parameters
+#if defined(_MSC_VER)
+# pragma warning(push)
+# pragma warning(disable : 4348)
+#endif
+ UNIT_ADD_CATEGORY_TRAIT(scalar)
+ UNIT_ADD_CATEGORY_TRAIT(dimensionless)
+#if defined(_MSC_VER)
+# pragma warning(pop)
+#endif
+
+ //------------------------------
+ // LINEAR ARITHMETIC
+ //------------------------------
+
+ template<class UnitTypeLhs, class UnitTypeRhs, std::enable_if_t<!traits::is_same_scale<UnitTypeLhs, UnitTypeRhs>::value, int> = 0>
+ constexpr inline int operator+(const UnitTypeLhs& /* lhs */, const UnitTypeRhs& /* rhs */) noexcept
+ {
+ static_assert(traits::is_same_scale<UnitTypeLhs, UnitTypeRhs>::value, "Cannot add units with different linear/non-linear scales.");
+ return 0;
+ }
+
+ /// Addition operator for unit_t types with a linear_scale.
+ template<class UnitTypeLhs, class UnitTypeRhs, std::enable_if_t<traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value, int> = 0>
+ inline constexpr UnitTypeLhs operator+(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept
+ {
+ using UnitsLhs = typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
+ using UnitsRhs = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
+ return UnitTypeLhs(lhs() + convert<UnitsRhs, UnitsLhs>(rhs()));
+ }
+
+ /// Addition operator for scalar unit_t types with a linear_scale. Scalar types can be implicitly converted to built-in types.
+ template<typename T, std::enable_if_t<std::is_arithmetic<T>::value, int> = 0>
+ inline constexpr dimensionless::scalar_t operator+(const dimensionless::scalar_t& lhs, T rhs) noexcept
+ {
+ return dimensionless::scalar_t(lhs() + rhs);
+ }
+
+ /// Addition operator for scalar unit_t types with a linear_scale. Scalar types can be implicitly converted to built-in types.
+ template<typename T, std::enable_if_t<std::is_arithmetic<T>::value, int> = 0>
+ inline constexpr dimensionless::scalar_t operator+(T lhs, const dimensionless::scalar_t& rhs) noexcept
+ {
+ return dimensionless::scalar_t(lhs + rhs());
+ }
+
+ /// Subtraction operator for unit_t types with a linear_scale.
+ template<class UnitTypeLhs, class UnitTypeRhs, std::enable_if_t<traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value, int> = 0>
+ inline constexpr UnitTypeLhs operator-(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept
+ {
+ using UnitsLhs = typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
+ using UnitsRhs = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
+ return UnitTypeLhs(lhs() - convert<UnitsRhs, UnitsLhs>(rhs()));
+ }
+
+ /// Subtraction operator for scalar unit_t types with a linear_scale. Scalar types can be implicitly converted to built-in types.
+ template<typename T, std::enable_if_t<std::is_arithmetic<T>::value, int> = 0>
+ inline constexpr dimensionless::scalar_t operator-(const dimensionless::scalar_t& lhs, T rhs) noexcept
+ {
+ return dimensionless::scalar_t(lhs() - rhs);
+ }
+
+ /// Subtraction operator for scalar unit_t types with a linear_scale. Scalar types can be implicitly converted to built-in types.
+ template<typename T, std::enable_if_t<std::is_arithmetic<T>::value, int> = 0>
+ inline constexpr dimensionless::scalar_t operator-(T lhs, const dimensionless::scalar_t& rhs) noexcept
+ {
+ return dimensionless::scalar_t(lhs - rhs());
+ }
+
+ /// Multiplication type for convertible unit_t types with a linear scale. @returns the multiplied value, with the same type as left-hand side unit.
+ template<class UnitTypeLhs, class UnitTypeRhs,
+ std::enable_if_t<traits::is_convertible_unit_t<UnitTypeLhs, UnitTypeRhs>::value && traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value, int> = 0>
+ inline constexpr auto operator*(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<compound_unit<squared<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type>>>
+ {
+ using UnitsLhs = typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
+ using UnitsRhs = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
+ return unit_t<compound_unit<squared<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type>>>
+ (lhs() * convert<UnitsRhs, UnitsLhs>(rhs()));
+ }
+
+ /// Multiplication type for non-convertible unit_t types with a linear scale. @returns the multiplied value, whose type is a compound unit of the left and right hand side values.
+ template<class UnitTypeLhs, class UnitTypeRhs,
+ std::enable_if_t<!traits::is_convertible_unit_t<UnitTypeLhs, UnitTypeRhs>::value && traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value && !traits::is_dimensionless_unit<UnitTypeLhs>::value && !traits::is_dimensionless_unit<UnitTypeRhs>::value, int> = 0>
+ inline constexpr auto operator*(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<compound_unit<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type, typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type>>
+ {
+ using UnitsLhs = typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
+ using UnitsRhs = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
+ return unit_t<compound_unit<UnitsLhs, UnitsRhs>>
+ (lhs() * rhs());
+ }
+
+ /// Multiplication by a dimensionless unit for unit_t types with a linear scale.
+ template<class UnitTypeLhs, typename UnitTypeRhs,
+ std::enable_if_t<traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value && !traits::is_dimensionless_unit<UnitTypeLhs>::value && traits::is_dimensionless_unit<UnitTypeRhs>::value, int> = 0>
+ inline constexpr UnitTypeLhs operator*(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept
+ {
+ // the cast makes sure factors of PI are handled as expected
+ return UnitTypeLhs(lhs() * static_cast<UNIT_LIB_DEFAULT_TYPE>(rhs));
+ }
+
+ /// Multiplication by a dimensionless unit for unit_t types with a linear scale.
+ template<class UnitTypeLhs, typename UnitTypeRhs,
+ std::enable_if_t<traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value && traits::is_dimensionless_unit<UnitTypeLhs>::value && !traits::is_dimensionless_unit<UnitTypeRhs>::value, int> = 0>
+ inline constexpr UnitTypeRhs operator*(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept
+ {
+ // the cast makes sure factors of PI are handled as expected
+ return UnitTypeRhs(static_cast<UNIT_LIB_DEFAULT_TYPE>(lhs) * rhs());
+ }
+
+ /// Multiplication by a scalar for unit_t types with a linear scale.
+ template<class UnitTypeLhs, typename T,
+ std::enable_if_t<std::is_arithmetic<T>::value && traits::has_linear_scale<UnitTypeLhs>::value, int> = 0>
+ inline constexpr UnitTypeLhs operator*(const UnitTypeLhs& lhs, T rhs) noexcept
+ {
+ return UnitTypeLhs(lhs() * rhs);
+ }
+
+ /// Multiplication by a scalar for unit_t types with a linear scale.
+ template<class UnitTypeRhs, typename T,
+ std::enable_if_t<std::is_arithmetic<T>::value && traits::has_linear_scale<UnitTypeRhs>::value, int> = 0>
+ inline constexpr UnitTypeRhs operator*(T lhs, const UnitTypeRhs& rhs) noexcept
+ {
+ return UnitTypeRhs(lhs * rhs());
+ }
+
+ /// Division for convertible unit_t types with a linear scale. @returns the lhs divided by rhs value, whose type is a scalar
+ template<class UnitTypeLhs, class UnitTypeRhs,
+ std::enable_if_t<traits::is_convertible_unit_t<UnitTypeLhs, UnitTypeRhs>::value && traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value, int> = 0>
+ inline constexpr dimensionless::scalar_t operator/(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept
+ {
+ using UnitsLhs = typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
+ using UnitsRhs = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
+ return dimensionless::scalar_t(lhs() / convert<UnitsRhs, UnitsLhs>(rhs()));
+ }
+
+ /// Division for non-convertible unit_t types with a linear scale. @returns the lhs divided by the rhs, with a compound unit type of lhs/rhs
+ template<class UnitTypeLhs, class UnitTypeRhs,
+ std::enable_if_t<!traits::is_convertible_unit_t<UnitTypeLhs, UnitTypeRhs>::value && traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value && !traits::is_dimensionless_unit<UnitTypeLhs>::value && !traits::is_dimensionless_unit<UnitTypeRhs>::value, int> = 0>
+ inline constexpr auto operator/(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<compound_unit<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type, inverse<typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type>>>
+ {
+ using UnitsLhs = typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
+ using UnitsRhs = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
+ return unit_t<compound_unit<UnitsLhs, inverse<UnitsRhs>>>
+ (lhs() / rhs());
+ }
+
+ /// Division by a dimensionless unit for unit_t types with a linear scale
+ template<class UnitTypeLhs, class UnitTypeRhs,
+ std::enable_if_t<traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value && !traits::is_dimensionless_unit<UnitTypeLhs>::value && traits::is_dimensionless_unit<UnitTypeRhs>::value, int> = 0>
+ inline constexpr UnitTypeLhs operator/(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept
+ {
+ return UnitTypeLhs(lhs() / static_cast<UNIT_LIB_DEFAULT_TYPE>(rhs));
+ }
+
+ /// Division of a dimensionless unit by a unit_t type with a linear scale
+ template<class UnitTypeLhs, class UnitTypeRhs,
+ std::enable_if_t<traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value && traits::is_dimensionless_unit<UnitTypeLhs>::value && !traits::is_dimensionless_unit<UnitTypeRhs>::value, int> = 0>
+ inline constexpr auto operator/(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<inverse<typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type>>
+ {
+ return unit_t<inverse<typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type>>
+ (static_cast<UNIT_LIB_DEFAULT_TYPE>(lhs) / rhs());
+ }
+
+ /// Division by a scalar for unit_t types with a linear scale
+ template<class UnitTypeLhs, typename T,
+ std::enable_if_t<std::is_arithmetic<T>::value && traits::has_linear_scale<UnitTypeLhs>::value, int> = 0>
+ inline constexpr UnitTypeLhs operator/(const UnitTypeLhs& lhs, T rhs) noexcept
+ {
+ return UnitTypeLhs(lhs() / rhs);
+ }
+
+ /// Division of a scalar by a unit_t type with a linear scale
+ template<class UnitTypeRhs, typename T,
+ std::enable_if_t<std::is_arithmetic<T>::value && traits::has_linear_scale<UnitTypeRhs>::value, int> = 0>
+ inline constexpr auto operator/(T lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<inverse<typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type>>
+ {
+ using UnitsRhs = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
+ return unit_t<inverse<UnitsRhs>>
+ (lhs / rhs());
+ }
+
+ //----------------------------------
+ // SCALAR COMPARISONS
+ //----------------------------------
+
+ template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+ constexpr bool operator==(const UNIT_LIB_DEFAULT_TYPE lhs, const Units& rhs) noexcept
+ {
+ return detail::abs(lhs - static_cast<UNIT_LIB_DEFAULT_TYPE>(rhs)) < std::numeric_limits<UNIT_LIB_DEFAULT_TYPE>::epsilon() * detail::abs(lhs + static_cast<UNIT_LIB_DEFAULT_TYPE>(rhs)) ||
+ detail::abs(lhs - static_cast<UNIT_LIB_DEFAULT_TYPE>(rhs)) < std::numeric_limits<UNIT_LIB_DEFAULT_TYPE>::min();
+ }
+
+ template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+ constexpr bool operator==(const Units& lhs, const UNIT_LIB_DEFAULT_TYPE rhs) noexcept
+ {
+ return detail::abs(static_cast<UNIT_LIB_DEFAULT_TYPE>(lhs) - rhs) < std::numeric_limits<UNIT_LIB_DEFAULT_TYPE>::epsilon() * detail::abs(static_cast<UNIT_LIB_DEFAULT_TYPE>(lhs) + rhs) ||
+ detail::abs(static_cast<UNIT_LIB_DEFAULT_TYPE>(lhs) - rhs) < std::numeric_limits<UNIT_LIB_DEFAULT_TYPE>::min();
+ }
+
+ template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+ constexpr bool operator!=(const UNIT_LIB_DEFAULT_TYPE lhs, const Units& rhs) noexcept
+ {
+ return!(lhs == static_cast<UNIT_LIB_DEFAULT_TYPE>(rhs));
+ }
+
+ template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+ constexpr bool operator!=(const Units& lhs, const UNIT_LIB_DEFAULT_TYPE rhs) noexcept
+ {
+ return !(static_cast<UNIT_LIB_DEFAULT_TYPE>(lhs) == rhs);
+ }
+
+ template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+ constexpr bool operator>=(const UNIT_LIB_DEFAULT_TYPE lhs, const Units& rhs) noexcept
+ {
+ return std::isgreaterequal(lhs, static_cast<UNIT_LIB_DEFAULT_TYPE>(rhs));
+ }
+
+ template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+ constexpr bool operator>=(const Units& lhs, const UNIT_LIB_DEFAULT_TYPE rhs) noexcept
+ {
+ return std::isgreaterequal(static_cast<UNIT_LIB_DEFAULT_TYPE>(lhs), rhs);
+ }
+
+ template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+ constexpr bool operator>(const UNIT_LIB_DEFAULT_TYPE lhs, const Units& rhs) noexcept
+ {
+ return lhs > static_cast<UNIT_LIB_DEFAULT_TYPE>(rhs);
+ }
+
+ template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+ constexpr bool operator>(const Units& lhs, const UNIT_LIB_DEFAULT_TYPE rhs) noexcept
+ {
+ return static_cast<UNIT_LIB_DEFAULT_TYPE>(lhs) > rhs;
+ }
+
+ template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+ constexpr bool operator<=(const UNIT_LIB_DEFAULT_TYPE lhs, const Units& rhs) noexcept
+ {
+ return std::islessequal(lhs, static_cast<UNIT_LIB_DEFAULT_TYPE>(rhs));
+ }
+
+ template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+ constexpr bool operator<=(const Units& lhs, const UNIT_LIB_DEFAULT_TYPE rhs) noexcept
+ {
+ return std::islessequal(static_cast<UNIT_LIB_DEFAULT_TYPE>(lhs), rhs);
+ }
+
+ template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+ constexpr bool operator<(const UNIT_LIB_DEFAULT_TYPE lhs, const Units& rhs) noexcept
+ {
+ return lhs < static_cast<UNIT_LIB_DEFAULT_TYPE>(rhs);
+ }
+
+ template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+ constexpr bool operator<(const Units& lhs, const UNIT_LIB_DEFAULT_TYPE rhs) noexcept
+ {
+ return static_cast<UNIT_LIB_DEFAULT_TYPE>(lhs) < rhs;
+ }
+
+ //----------------------------------
+ // POW
+ //----------------------------------
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace detail
+ {
+ /// recursive exponential implementation
+ template <int N, class U> struct power_of_unit
+ {
+ typedef typename units::detail::unit_multiply<U, typename power_of_unit<N - 1, U>::type> type;
+ };
+
+ /// End recursion
+ template <class U> struct power_of_unit<1, U>
+ {
+ typedef U type;
+ };
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ namespace math
+ {
+ /**
+ * @brief computes the value of <i>value</i> raised to the <i>power</i>
+ * @details Only implemented for linear_scale units. <i>Power</i> must be known at compile time, so the resulting unit type can be deduced.
+ * @tparam power exponential power to raise <i>value</i> by.
+ * @param[in] value `unit_t` derived type to raise to the given <i>power</i>
+ * @returns new unit_t, raised to the given exponent
+ */
+ template<int power, class UnitType, class = typename std::enable_if<traits::has_linear_scale<UnitType>::value, int>>
+ inline auto pow(const UnitType& value) noexcept -> unit_t<typename units::detail::power_of_unit<power, typename units::traits::unit_t_traits<UnitType>::unit_type>::type, typename units::traits::unit_t_traits<UnitType>::underlying_type, linear_scale>
+ {
+ return unit_t<typename units::detail::power_of_unit<power, typename units::traits::unit_t_traits<UnitType>::unit_type>::type, typename units::traits::unit_t_traits<UnitType>::underlying_type, linear_scale>
+ (std::pow(value(), power));
+ }
+
+ /**
+ * @brief computes the value of <i>value</i> raised to the <i>power</i> as a constexpr
+ * @details Only implemented for linear_scale units. <i>Power</i> must be known at compile time, so the resulting unit type can be deduced.
+ * Additionally, the power must be <i>a positive, integral, value</i>.
+ * @tparam power exponential power to raise <i>value</i> by.
+ * @param[in] value `unit_t` derived type to raise to the given <i>power</i>
+ * @returns new unit_t, raised to the given exponent
+ */
+ template<int power, class UnitType, class = typename std::enable_if<traits::has_linear_scale<UnitType>::value, int>>
+ inline constexpr auto cpow(const UnitType& value) noexcept -> unit_t<typename units::detail::power_of_unit<power, typename units::traits::unit_t_traits<UnitType>::unit_type>::type, typename units::traits::unit_t_traits<UnitType>::underlying_type, linear_scale>
+ {
+ static_assert(power >= 0, "cpow cannot accept negative numbers. Try units::math::pow instead.");
+ return unit_t<typename units::detail::power_of_unit<power, typename units::traits::unit_t_traits<UnitType>::unit_type>::type, typename units::traits::unit_t_traits<UnitType>::underlying_type, linear_scale>
+ (detail::pow(value(), power));
+ }
+ }
+
+ //------------------------------
+ // DECIBEL SCALE
+ //------------------------------
+
+ /**
+ * @brief unit_t scale for representing decibel values.
+ * @details internally stores linearized values. `operator()` returns the value in dB.
+ * @tparam T underlying storage type
+ * @sa unit_t
+ */
+ template<typename T>
+ struct decibel_scale
+ {
+ inline constexpr decibel_scale() = default;
+ inline constexpr decibel_scale(const decibel_scale&) = default;
+ inline ~decibel_scale() = default;
+ inline decibel_scale& operator=(const decibel_scale&) = default;
+#if defined(_MSC_VER) && (_MSC_VER > 1800)
+ inline constexpr decibel_scale(decibel_scale&&) = default;
+ inline decibel_scale& operator=(decibel_scale&&) = default;
+#endif
+ inline constexpr decibel_scale(const T value) noexcept : m_value(std::pow(10, value / 10)) {}
+ template<class... Args>
+ inline constexpr decibel_scale(const T value, std::true_type, Args&&...) noexcept : m_value(value) {}
+ inline constexpr T operator()() const noexcept { return 10 * std::log10(m_value); }
+
+ T m_value; ///< linearized value
+ };
+
+ //------------------------------
+ // SCALAR (DECIBEL) UNITS
+ //------------------------------
+
+ /**
+ * @brief namespace for unit types and containers for units that have no dimension (scalar units)
+ * @sa See unit_t for more information on unit type containers.
+ */
+ namespace dimensionless
+ {
+ typedef unit_t<scalar, UNIT_LIB_DEFAULT_TYPE, decibel_scale> dB_t;
+#if !defined(UNIT_LIB_DISABLE_IOSTREAM)
+ inline std::ostream& operator<<(std::ostream& os, const dB_t& obj) { os << obj() << " dB"; return os; }
+#endif
+ typedef dB_t dBi_t;
+ }
+
+ //------------------------------
+ // DECIBEL ARITHMETIC
+ //------------------------------
+
+ /// Addition for convertible unit_t types with a decibel_scale
+ template<class UnitTypeLhs, class UnitTypeRhs,
+ std::enable_if_t<traits::has_decibel_scale<UnitTypeLhs, UnitTypeRhs>::value, int> = 0>
+ constexpr inline auto operator+(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<compound_unit<squared<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type>>, typename units::traits::unit_t_traits<UnitTypeLhs>::underlying_type, decibel_scale>
+ {
+ using LhsUnits = typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
+ using RhsUnits = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
+ using underlying_type = typename units::traits::unit_t_traits<UnitTypeLhs>::underlying_type;
+
+ return unit_t<compound_unit<squared<LhsUnits>>, underlying_type, decibel_scale>
+ (lhs.template toLinearized<underlying_type>() * convert<RhsUnits, LhsUnits>(rhs.template toLinearized<underlying_type>()), std::true_type());
+ }
+
+ /// Addition between unit_t types with a decibel_scale and dimensionless dB units
+ template<class UnitTypeLhs, std::enable_if_t<traits::has_decibel_scale<UnitTypeLhs>::value && !traits::is_dimensionless_unit<UnitTypeLhs>::value, int> = 0>
+ constexpr inline UnitTypeLhs operator+(const UnitTypeLhs& lhs, const dimensionless::dB_t& rhs) noexcept
+ {
+ using underlying_type = typename units::traits::unit_t_traits<UnitTypeLhs>::underlying_type;
+ return UnitTypeLhs(lhs.template toLinearized<underlying_type>() * rhs.template toLinearized<underlying_type>(), std::true_type());
+ }
+
+ /// Addition between unit_t types with a decibel_scale and dimensionless dB units
+ template<class UnitTypeRhs, std::enable_if_t<traits::has_decibel_scale<UnitTypeRhs>::value && !traits::is_dimensionless_unit<UnitTypeRhs>::value, int> = 0>
+ constexpr inline UnitTypeRhs operator+(const dimensionless::dB_t& lhs, const UnitTypeRhs& rhs) noexcept
+ {
+ using underlying_type = typename units::traits::unit_t_traits<UnitTypeRhs>::underlying_type;
+ return UnitTypeRhs(lhs.template toLinearized<underlying_type>() * rhs.template toLinearized<underlying_type>(), std::true_type());
+ }
+
+ /// Subtraction for convertible unit_t types with a decibel_scale
+ template<class UnitTypeLhs, class UnitTypeRhs, std::enable_if_t<traits::has_decibel_scale<UnitTypeLhs, UnitTypeRhs>::value, int> = 0>
+ constexpr inline auto operator-(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<compound_unit<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type, inverse<typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type>>, typename units::traits::unit_t_traits<UnitTypeLhs>::underlying_type, decibel_scale>
+ {
+ using LhsUnits = typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
+ using RhsUnits = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
+ using underlying_type = typename units::traits::unit_t_traits<UnitTypeLhs>::underlying_type;
+
+ return unit_t<compound_unit<LhsUnits, inverse<RhsUnits>>, underlying_type, decibel_scale>
+ (lhs.template toLinearized<underlying_type>() / convert<RhsUnits, LhsUnits>(rhs.template toLinearized<underlying_type>()), std::true_type());
+ }
+
+ /// Subtraction between unit_t types with a decibel_scale and dimensionless dB units
+ template<class UnitTypeLhs, std::enable_if_t<traits::has_decibel_scale<UnitTypeLhs>::value && !traits::is_dimensionless_unit<UnitTypeLhs>::value, int> = 0>
+ constexpr inline UnitTypeLhs operator-(const UnitTypeLhs& lhs, const dimensionless::dB_t& rhs) noexcept
+ {
+ using underlying_type = typename units::traits::unit_t_traits<UnitTypeLhs>::underlying_type;
+ return UnitTypeLhs(lhs.template toLinearized<underlying_type>() / rhs.template toLinearized<underlying_type>(), std::true_type());
+ }
+
+ /// Subtraction between unit_t types with a decibel_scale and dimensionless dB units
+ template<class UnitTypeRhs, std::enable_if_t<traits::has_decibel_scale<UnitTypeRhs>::value && !traits::is_dimensionless_unit<UnitTypeRhs>::value, int> = 0>
+ constexpr inline auto operator-(const dimensionless::dB_t& lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<inverse<typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type>, typename units::traits::unit_t_traits<UnitTypeRhs>::underlying_type, decibel_scale>
+ {
+ using RhsUnits = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
+ using underlying_type = typename units::traits::unit_t_traits<RhsUnits>::underlying_type;
+
+ return unit_t<inverse<RhsUnits>, underlying_type, decibel_scale>
+ (lhs.template toLinearized<underlying_type>() / rhs.template toLinearized<underlying_type>(), std::true_type());
+ }
+
+ //----------------------------------
+ // UNIT RATIO CLASS
+ //----------------------------------
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace detail
+ {
+ template<class Units>
+ struct _unit_value_t {};
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ namespace traits
+ {
+#ifdef FOR_DOXYGEN_PURPOSES_ONLY
+ /**
+ * @ingroup TypeTraits
+ * @brief Trait for accessing the publically defined types of `units::unit_value_t_traits`
+ * @details The units library determines certain properties of the `unit_value_t` types passed to
+ * them and what they represent by using the members of the corresponding `unit_value_t_traits`
+ * instantiation.
+ */
+ template<typename T>
+ struct unit_value_t_traits
+ {
+ typedef typename T::unit_type unit_type; ///< Dimension represented by the `unit_value_t`.
+ typedef typename T::ratio ratio; ///< Quantity represented by the `unit_value_t`, expressed as arational number.
+ };
+#endif
+
+ /** @cond */ // DOXYGEN IGNORE
+ /**
+ * @brief unit_value_t_traits specialization for things which are not unit_t
+ * @details
+ */
+ template<typename T, typename = void>
+ struct unit_value_t_traits
+ {
+ typedef void unit_type;
+ typedef void ratio;
+ };
+
+ /**
+ * @ingroup TypeTraits
+ * @brief Trait for accessing the publically defined types of `units::unit_value_t_traits`
+ * @details
+ */
+ template<typename T>
+ struct unit_value_t_traits <T, typename void_t<
+ typename T::unit_type,
+ typename T::ratio>::type>
+ {
+ typedef typename T::unit_type unit_type;
+ typedef typename T::ratio ratio;
+ };
+ /** @endcond */ // END DOXYGEN IGNORE
+ }
+
+ //------------------------------------------------------------------------------
+ // COMPILE-TIME UNIT VALUES AND ARITHMETIC
+ //------------------------------------------------------------------------------
+
+ /**
+ * @ingroup UnitContainers
+ * @brief Stores a rational unit value as a compile-time constant
+ * @details unit_value_t is useful for performing compile-time arithmetic on known
+ * unit quantities.
+ * @tparam Units units represented by the `unit_value_t`
+ * @tparam Num numerator of the represented value.
+ * @tparam Denom denominator of the represented value.
+ * @sa unit_value_t_traits to access information about the properties of the class,
+ * such as it's unit type and rational value.
+ * @note This is intentionally identical in concept to a `std::ratio`.
+ *
+ */
+ template<typename Units, std::uintmax_t Num, std::uintmax_t Denom = 1>
+ struct unit_value_t : units::detail::_unit_value_t<Units>
+ {
+ typedef Units unit_type;
+ typedef std::ratio<Num, Denom> ratio;
+
+ static_assert(traits::is_unit<Units>::value, "Template parameter `Units` must be a unit type.");
+ static constexpr const unit_t<Units> value() { return unit_t<Units>((UNIT_LIB_DEFAULT_TYPE)ratio::num / ratio::den); }
+ };
+
+ namespace traits
+ {
+ /**
+ * @ingroup TypeTraits
+ * @brief Trait which tests whether a type is a unit_value_t representing the given unit type.
+ * @details e.g. `is_unit_value_t<meters, myType>::value` would test that `myType` is a
+ * `unit_value_t<meters>`.
+ * @tparam Units units that the `unit_value_t` is supposed to have.
+ * @tparam T type to test.
+ */
+ template<typename T, typename Units = typename traits::unit_value_t_traits<T>::unit_type>
+ struct is_unit_value_t : std::integral_constant<bool,
+ std::is_base_of<units::detail::_unit_value_t<Units>, T>::value>
+ {};
+
+ /**
+ * @ingroup TypeTraits
+ * @brief Trait which tests whether type T is a unit_value_t with a unit type in the given category.
+ * @details e.g. `is_unit_value_t_category<units::category::length, unit_value_t<feet>>::value` would be true
+ */
+ template<typename Category, typename T>
+ struct is_unit_value_t_category : std::integral_constant<bool,
+ std::is_same<units::traits::base_unit_of<typename traits::unit_value_t_traits<T>::unit_type>, Category>::value>
+ {
+ static_assert(is_base_unit<Category>::value, "Template parameter `Category` must be a `base_unit` type.");
+ };
+ }
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace detail
+ {
+ // base class for common arithmetic
+ template<class U1, class U2>
+ struct unit_value_arithmetic
+ {
+ static_assert(traits::is_unit_value_t<U1>::value, "Template parameter `U1` must be a `unit_value_t` type.");
+ static_assert(traits::is_unit_value_t<U2>::value, "Template parameter `U2` must be a `unit_value_t` type.");
+
+ using _UNIT1 = typename traits::unit_value_t_traits<U1>::unit_type;
+ using _UNIT2 = typename traits::unit_value_t_traits<U2>::unit_type;
+ using _CONV1 = typename units::traits::unit_traits<_UNIT1>::conversion_ratio;
+ using _CONV2 = typename units::traits::unit_traits<_UNIT2>::conversion_ratio;
+ using _RATIO1 = typename traits::unit_value_t_traits<U1>::ratio;
+ using _RATIO2 = typename traits::unit_value_t_traits<U2>::ratio;
+ using _RATIO2CONV = typename std::ratio_divide<std::ratio_multiply<_RATIO2, _CONV2>, _CONV1>;
+ using _PI_EXP = std::ratio_subtract<typename units::traits::unit_traits<_UNIT2>::pi_exponent_ratio, typename units::traits::unit_traits<_UNIT1>::pi_exponent_ratio>;
+ };
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ /**
+ * @ingroup CompileTimeUnitManipulators
+ * @brief adds two unit_value_t types at compile-time
+ * @details The resulting unit will the the `unit_type` of `U1`
+ * @tparam U1 left-hand `unit_value_t`
+ * @tparam U2 right-hand `unit_value_t`
+ * @sa unit_value_t_traits to access information about the properties of the class,
+ * such as it's unit type and rational value.
+ * @note very similar in concept to `std::ratio_add`
+ */
+ template<class U1, class U2>
+ struct unit_value_add : units::detail::unit_value_arithmetic<U1, U2>, units::detail::_unit_value_t<typename traits::unit_value_t_traits<U1>::unit_type>
+ {
+ /** @cond */ // DOXYGEN IGNORE
+ using Base = units::detail::unit_value_arithmetic<U1, U2>;
+ typedef typename Base::_UNIT1 unit_type;
+ using ratio = std::ratio_add<typename Base::_RATIO1, typename Base::_RATIO2CONV>;
+
+ static_assert(traits::is_convertible_unit<typename Base::_UNIT1, typename Base::_UNIT2>::value, "Unit types are not compatible.");
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ /**
+ * @brief Value of sum
+ * @details Returns the calculated value of the sum of `U1` and `U2`, in the same
+ * units as `U1`.
+ * @returns Value of the sum in the appropriate units.
+ */
+ static constexpr const unit_t<unit_type> value() noexcept
+ {
+ using UsePi = std::integral_constant<bool, Base::_PI_EXP::num != 0>;
+ return value(UsePi());
+ }
+
+ /** @cond */ // DOXYGEN IGNORE
+ // value if PI isn't involved
+ static constexpr const unit_t<unit_type> value(std::false_type) noexcept
+ {
+ return unit_t<unit_type>((UNIT_LIB_DEFAULT_TYPE)ratio::num / ratio::den);
+ }
+
+ // value if PI *is* involved
+ static constexpr const unit_t<unit_type> value(std::true_type) noexcept
+ {
+ return unit_t<unit_type>(((UNIT_LIB_DEFAULT_TYPE)Base::_RATIO1::num / Base::_RATIO1::den) +
+ ((UNIT_LIB_DEFAULT_TYPE)Base::_RATIO2CONV::num / Base::_RATIO2CONV::den) * std::pow(units::constants::detail::PI_VAL, ((UNIT_LIB_DEFAULT_TYPE)Base::_PI_EXP::num / Base::_PI_EXP::den)));
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+ };
+
+ /**
+ * @ingroup CompileTimeUnitManipulators
+ * @brief subtracts two unit_value_t types at compile-time
+ * @details The resulting unit will the the `unit_type` of `U1`
+ * @tparam U1 left-hand `unit_value_t`
+ * @tparam U2 right-hand `unit_value_t`
+ * @sa unit_value_t_traits to access information about the properties of the class,
+ * such as it's unit type and rational value.
+ * @note very similar in concept to `std::ratio_subtract`
+ */
+ template<class U1, class U2>
+ struct unit_value_subtract : units::detail::unit_value_arithmetic<U1, U2>, units::detail::_unit_value_t<typename traits::unit_value_t_traits<U1>::unit_type>
+ {
+ /** @cond */ // DOXYGEN IGNORE
+ using Base = units::detail::unit_value_arithmetic<U1, U2>;
+
+ typedef typename Base::_UNIT1 unit_type;
+ using ratio = std::ratio_subtract<typename Base::_RATIO1, typename Base::_RATIO2CONV>;
+
+ static_assert(traits::is_convertible_unit<typename Base::_UNIT1, typename Base::_UNIT2>::value, "Unit types are not compatible.");
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ /**
+ * @brief Value of difference
+ * @details Returns the calculated value of the difference of `U1` and `U2`, in the same
+ * units as `U1`.
+ * @returns Value of the difference in the appropriate units.
+ */
+ static constexpr const unit_t<unit_type> value() noexcept
+ {
+ using UsePi = std::integral_constant<bool, Base::_PI_EXP::num != 0>;
+ return value(UsePi());
+ }
+
+ /** @cond */ // DOXYGEN IGNORE
+ // value if PI isn't involved
+ static constexpr const unit_t<unit_type> value(std::false_type) noexcept
+ {
+ return unit_t<unit_type>((UNIT_LIB_DEFAULT_TYPE)ratio::num / ratio::den);
+ }
+
+ // value if PI *is* involved
+ static constexpr const unit_t<unit_type> value(std::true_type) noexcept
+ {
+ return unit_t<unit_type>(((UNIT_LIB_DEFAULT_TYPE)Base::_RATIO1::num / Base::_RATIO1::den) - ((UNIT_LIB_DEFAULT_TYPE)Base::_RATIO2CONV::num / Base::_RATIO2CONV::den)
+ * std::pow(units::constants::detail::PI_VAL, ((UNIT_LIB_DEFAULT_TYPE)Base::_PI_EXP::num / Base::_PI_EXP::den)));
+ }
+ /** @endcond */ // END DOXYGEN IGNORE };
+ };
+
+ /**
+ * @ingroup CompileTimeUnitManipulators
+ * @brief multiplies two unit_value_t types at compile-time
+ * @details The resulting unit will the the `unit_type` of `U1 * U2`
+ * @tparam U1 left-hand `unit_value_t`
+ * @tparam U2 right-hand `unit_value_t`
+ * @sa unit_value_t_traits to access information about the properties of the class,
+ * such as it's unit type and rational value.
+ * @note very similar in concept to `std::ratio_multiply`
+ */
+ template<class U1, class U2>
+ struct unit_value_multiply : units::detail::unit_value_arithmetic<U1, U2>,
+ units::detail::_unit_value_t<typename std::conditional<traits::is_convertible_unit<typename traits::unit_value_t_traits<U1>::unit_type,
+ typename traits::unit_value_t_traits<U2>::unit_type>::value, compound_unit<squared<typename traits::unit_value_t_traits<U1>::unit_type>>,
+ compound_unit<typename traits::unit_value_t_traits<U1>::unit_type, typename traits::unit_value_t_traits<U2>::unit_type>>::type>
+ {
+ /** @cond */ // DOXYGEN IGNORE
+ using Base = units::detail::unit_value_arithmetic<U1, U2>;
+
+ using unit_type = std::conditional_t<traits::is_convertible_unit<typename Base::_UNIT1, typename Base::_UNIT2>::value, compound_unit<squared<typename Base::_UNIT1>>, compound_unit<typename Base::_UNIT1, typename Base::_UNIT2>>;
+ using ratio = std::conditional_t<traits::is_convertible_unit<typename Base::_UNIT1, typename Base::_UNIT2>::value, std::ratio_multiply<typename Base::_RATIO1, typename Base::_RATIO2CONV>, std::ratio_multiply<typename Base::_RATIO1, typename Base::_RATIO2>>;
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ /**
+ * @brief Value of product
+ * @details Returns the calculated value of the product of `U1` and `U2`, in units
+ * of `U1 x U2`.
+ * @returns Value of the product in the appropriate units.
+ */
+ static constexpr const unit_t<unit_type> value() noexcept
+ {
+ using UsePi = std::integral_constant<bool, Base::_PI_EXP::num != 0>;
+ return value(UsePi());
+ }
+
+ /** @cond */ // DOXYGEN IGNORE
+ // value if PI isn't involved
+ static constexpr const unit_t<unit_type> value(std::false_type) noexcept
+ {
+ return unit_t<unit_type>((UNIT_LIB_DEFAULT_TYPE)ratio::num / ratio::den);
+ }
+
+ // value if PI *is* involved
+ static constexpr const unit_t<unit_type> value(std::true_type) noexcept
+ {
+ return unit_t<unit_type>(((UNIT_LIB_DEFAULT_TYPE)ratio::num / ratio::den) * std::pow(units::constants::detail::PI_VAL, ((UNIT_LIB_DEFAULT_TYPE)Base::_PI_EXP::num / Base::_PI_EXP::den)));
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+ };
+
+ /**
+ * @ingroup CompileTimeUnitManipulators
+ * @brief divides two unit_value_t types at compile-time
+ * @details The resulting unit will the the `unit_type` of `U1`
+ * @tparam U1 left-hand `unit_value_t`
+ * @tparam U2 right-hand `unit_value_t`
+ * @sa unit_value_t_traits to access information about the properties of the class,
+ * such as it's unit type and rational value.
+ * @note very similar in concept to `std::ratio_divide`
+ */
+ template<class U1, class U2>
+ struct unit_value_divide : units::detail::unit_value_arithmetic<U1, U2>,
+ units::detail::_unit_value_t<typename std::conditional<traits::is_convertible_unit<typename traits::unit_value_t_traits<U1>::unit_type,
+ typename traits::unit_value_t_traits<U2>::unit_type>::value, dimensionless::scalar, compound_unit<typename traits::unit_value_t_traits<U1>::unit_type,
+ inverse<typename traits::unit_value_t_traits<U2>::unit_type>>>::type>
+ {
+ /** @cond */ // DOXYGEN IGNORE
+ using Base = units::detail::unit_value_arithmetic<U1, U2>;
+
+ using unit_type = std::conditional_t<traits::is_convertible_unit<typename Base::_UNIT1, typename Base::_UNIT2>::value, dimensionless::scalar, compound_unit<typename Base::_UNIT1, inverse<typename Base::_UNIT2>>>;
+ using ratio = std::conditional_t<traits::is_convertible_unit<typename Base::_UNIT1, typename Base::_UNIT2>::value, std::ratio_divide<typename Base::_RATIO1, typename Base::_RATIO2CONV>, std::ratio_divide<typename Base::_RATIO1, typename Base::_RATIO2>>;
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ /**
+ * @brief Value of quotient
+ * @details Returns the calculated value of the quotient of `U1` and `U2`, in units
+ * of `U1 x U2`.
+ * @returns Value of the quotient in the appropriate units.
+ */
+ static constexpr const unit_t<unit_type> value() noexcept
+ {
+ using UsePi = std::integral_constant<bool, Base::_PI_EXP::num != 0>;
+ return value(UsePi());
+ }
+
+ /** @cond */ // DOXYGEN IGNORE
+ // value if PI isn't involved
+ static constexpr const unit_t<unit_type> value(std::false_type) noexcept
+ {
+ return unit_t<unit_type>((UNIT_LIB_DEFAULT_TYPE)ratio::num / ratio::den);
+ }
+
+ // value if PI *is* involved
+ static constexpr const unit_t<unit_type> value(std::true_type) noexcept
+ {
+ return unit_t<unit_type>(((UNIT_LIB_DEFAULT_TYPE)ratio::num / ratio::den) * std::pow(units::constants::detail::PI_VAL, ((UNIT_LIB_DEFAULT_TYPE)Base::_PI_EXP::num / Base::_PI_EXP::den)));
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+ };
+
+ /**
+ * @ingroup CompileTimeUnitManipulators
+ * @brief raises unit_value_to a power at compile-time
+ * @details The resulting unit will the `unit_type` of `U1` squared
+ * @tparam U1 `unit_value_t` to take the exponentiation of.
+ * @sa unit_value_t_traits to access information about the properties of the class,
+ * such as it's unit type and rational value.
+ * @note very similar in concept to `units::math::pow`
+ */
+ template<class U1, int power>
+ struct unit_value_power : units::detail::unit_value_arithmetic<U1, U1>, units::detail::_unit_value_t<typename units::detail::power_of_unit<power, typename traits::unit_value_t_traits<U1>::unit_type>::type>
+ {
+ /** @cond */ // DOXYGEN IGNORE
+ using Base = units::detail::unit_value_arithmetic<U1, U1>;
+
+ using unit_type = typename units::detail::power_of_unit<power, typename Base::_UNIT1>::type;
+ using ratio = typename units::detail::power_of_ratio<power, typename Base::_RATIO1>::type;
+ using pi_exponent = std::ratio_multiply<std::ratio<power>, typename Base::_UNIT1::pi_exponent_ratio>;
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ /**
+ * @brief Value of exponentiation
+ * @details Returns the calculated value of the exponentiation of `U1`, in units
+ * of `U1^power`.
+ * @returns Value of the exponentiation in the appropriate units.
+ */
+ static constexpr const unit_t<unit_type> value() noexcept
+ {
+ using UsePi = std::integral_constant<bool, Base::_PI_EXP::num != 0>;
+ return value(UsePi());
+ }
+
+ /** @cond */ // DOXYGEN IGNORE
+ // value if PI isn't involved
+ static constexpr const unit_t<unit_type> value(std::false_type) noexcept
+ {
+ return unit_t<unit_type>((UNIT_LIB_DEFAULT_TYPE)ratio::num / ratio::den);
+ }
+
+ // value if PI *is* involved
+ static constexpr const unit_t<unit_type> value(std::true_type) noexcept
+ {
+ return unit_t<unit_type>(((UNIT_LIB_DEFAULT_TYPE)ratio::num / ratio::den) * std::pow(units::constants::detail::PI_VAL, ((UNIT_LIB_DEFAULT_TYPE)pi_exponent::num / pi_exponent::den)));
+ }
+ /** @endcond */ // END DOXYGEN IGNORE };
+ };
+
+ /**
+ * @ingroup CompileTimeUnitManipulators
+ * @brief calculates square root of unit_value_t at compile-time
+ * @details The resulting unit will the square root `unit_type` of `U1`
+ * @tparam U1 `unit_value_t` to take the square root of.
+ * @sa unit_value_t_traits to access information about the properties of the class,
+ * such as it's unit type and rational value.
+ * @note very similar in concept to `units::ratio_sqrt`
+ */
+ template<class U1, std::intmax_t Eps = 10000000000>
+ struct unit_value_sqrt : units::detail::unit_value_arithmetic<U1, U1>, units::detail::_unit_value_t<square_root<typename traits::unit_value_t_traits<U1>::unit_type, Eps>>
+ {
+ /** @cond */ // DOXYGEN IGNORE
+ using Base = units::detail::unit_value_arithmetic<U1, U1>;
+
+ using unit_type = square_root<typename Base::_UNIT1, Eps>;
+ using ratio = ratio_sqrt<typename Base::_RATIO1, Eps>;
+ using pi_exponent = ratio_sqrt<typename Base::_UNIT1::pi_exponent_ratio, Eps>;
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ /**
+ * @brief Value of square root
+ * @details Returns the calculated value of the square root of `U1`, in units
+ * of `U1^1/2`.
+ * @returns Value of the square root in the appropriate units.
+ */
+ static constexpr const unit_t<unit_type> value() noexcept
+ {
+ using UsePi = std::integral_constant<bool, Base::_PI_EXP::num != 0>;
+ return value(UsePi());
+ }
+
+ /** @cond */ // DOXYGEN IGNORE
+ // value if PI isn't involved
+ static constexpr const unit_t<unit_type> value(std::false_type) noexcept
+ {
+ return unit_t<unit_type>((UNIT_LIB_DEFAULT_TYPE)ratio::num / ratio::den);
+ }
+
+ // value if PI *is* involved
+ static constexpr const unit_t<unit_type> value(std::true_type) noexcept
+ {
+ return unit_t<unit_type>(((UNIT_LIB_DEFAULT_TYPE)ratio::num / ratio::den) * std::pow(units::constants::detail::PI_VAL, ((UNIT_LIB_DEFAULT_TYPE)pi_exponent::num / pi_exponent::den)));
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+ };
+
+ //------------------------------
+ // LITERALS
+ //------------------------------
+
+ /**
+ * @namespace units::literals
+ * @brief namespace for unit literal definitions of all categories.
+ * @details Literals allow for declaring unit types using suffix values. For example, a type
+ * of `meter_t(6.2)` could be declared as `6.2_m`. All literals use an underscore
+ * followed by the abbreviation for the unit. To enable literal syntax in your code,
+ * include the statement `using namespace units::literals`.
+ * @anchor unitLiterals
+ * @sa See unit_t for more information on unit type containers.
+ */
+
+ //------------------------------
+ // LENGTH UNITS
+ //------------------------------
+
+ /**
+ * @namespace units::length
+ * @brief namespace for unit types and containers representing length values
+ * @details The SI unit for length is `meters`, and the corresponding `base_unit` category is
+ * `length_unit`.
+ * @anchor lengthContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_LENGTH_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(length, meter, meters, m, unit<std::ratio<1>, units::category::length_unit>)
+ UNIT_ADD(length, foot, feet, ft, unit<std::ratio<381, 1250>, meters>)
+ UNIT_ADD(length, mil, mils, mil, unit<std::ratio<1000>, feet>)
+ UNIT_ADD(length, inch, inches, in, unit<std::ratio<1, 12>, feet>)
+ UNIT_ADD(length, mile, miles, mi, unit<std::ratio<5280>, feet>)
+ UNIT_ADD(length, nauticalMile, nauticalMiles, nmi, unit<std::ratio<1852>, meters>)
+ UNIT_ADD(length, astronicalUnit, astronicalUnits, au, unit<std::ratio<149597870700>, meters>)
+ UNIT_ADD(length, lightyear, lightyears, ly, unit<std::ratio<9460730472580800>, meters>)
+ UNIT_ADD(length, parsec, parsecs, pc, unit<std::ratio<648000>, astronicalUnits, std::ratio<-1>>)
+ UNIT_ADD(length, angstrom, angstroms, angstrom, unit<std::ratio<1, 10>, nanometers>)
+ UNIT_ADD(length, cubit, cubits, cbt, unit<std::ratio<18>, inches>)
+ UNIT_ADD(length, fathom, fathoms, ftm, unit<std::ratio<6>, feet>)
+ UNIT_ADD(length, chain, chains, ch, unit<std::ratio<66>, feet>)
+ UNIT_ADD(length, furlong, furlongs, fur, unit<std::ratio<10>, chains>)
+ UNIT_ADD(length, hand, hands, hand, unit<std::ratio<4>, inches>)
+ UNIT_ADD(length, league, leagues, lea, unit<std::ratio<3>, miles>)
+ UNIT_ADD(length, nauticalLeague, nauticalLeagues, nl, unit<std::ratio<3>, nauticalMiles>)
+ UNIT_ADD(length, yard, yards, yd, unit<std::ratio<3>, feet>)
+
+ UNIT_ADD_CATEGORY_TRAIT(length)
+#endif
+
+ //------------------------------
+ // MASS UNITS
+ //------------------------------
+
+ /**
+ * @namespace units::mass
+ * @brief namespace for unit types and containers representing mass values
+ * @details The SI unit for mass is `kilograms`, and the corresponding `base_unit` category is
+ * `mass_unit`.
+ * @anchor massContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_MASS_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(mass, gram, grams, g, unit<std::ratio<1, 1000>, units::category::mass_unit>)
+ UNIT_ADD(mass, metric_ton, metric_tons, t, unit<std::ratio<1000>, kilograms>)
+ UNIT_ADD(mass, pound, pounds, lb, unit<std::ratio<45359237, 100000000>, kilograms>)
+ UNIT_ADD(mass, long_ton, long_tons, ln_t, unit<std::ratio<2240>, pounds>)
+ UNIT_ADD(mass, short_ton, short_tons, sh_t, unit<std::ratio<2000>, pounds>)
+ UNIT_ADD(mass, stone, stone, st, unit<std::ratio<14>, pounds>)
+ UNIT_ADD(mass, ounce, ounces, oz, unit<std::ratio<1, 16>, pounds>)
+ UNIT_ADD(mass, carat, carats, ct, unit<std::ratio<200>, milligrams>)
+ UNIT_ADD(mass, slug, slugs, slug, unit<std::ratio<145939029, 10000000>, kilograms>)
+
+ UNIT_ADD_CATEGORY_TRAIT(mass)
+#endif
+
+ //------------------------------
+ // TIME UNITS
+ //------------------------------
+
+ /**
+ * @namespace units::time
+ * @brief namespace for unit types and containers representing time values
+ * @details The SI unit for time is `seconds`, and the corresponding `base_unit` category is
+ * `time_unit`.
+ * @anchor timeContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_TIME_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(time, second, seconds, s, unit<std::ratio<1>, units::category::time_unit>)
+ UNIT_ADD(time, minute, minutes, min, unit<std::ratio<60>, seconds>)
+ UNIT_ADD(time, hour, hours, hr, unit<std::ratio<60>, minutes>)
+ UNIT_ADD(time, day, days, d, unit<std::ratio<24>, hours>)
+ UNIT_ADD(time, week, weeks, wk, unit<std::ratio<7>, days>)
+ UNIT_ADD(time, year, years, yr, unit<std::ratio<365>, days>)
+ UNIT_ADD(time, julian_year, julian_years, a_j, unit<std::ratio<31557600>, seconds>)
+ UNIT_ADD(time, gregorian_year, gregorian_years, a_g, unit<std::ratio<31556952>, seconds>)
+
+ UNIT_ADD_CATEGORY_TRAIT(time)
+#endif
+
+ //------------------------------
+ // ANGLE UNITS
+ //------------------------------
+
+ /**
+ * @namespace units::angle
+ * @brief namespace for unit types and containers representing angle values
+ * @details The SI unit for angle is `radians`, and the corresponding `base_unit` category is
+ * `angle_unit`.
+ * @anchor angleContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ANGLE_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(angle, radian, radians, rad, unit<std::ratio<1>, units::category::angle_unit>)
+ UNIT_ADD(angle, degree, degrees, deg, unit<std::ratio<1, 180>, radians, std::ratio<1>>)
+ UNIT_ADD(angle, arcminute, arcminutes, arcmin, unit<std::ratio<1, 60>, degrees>)
+ UNIT_ADD(angle, arcsecond, arcseconds, arcsec, unit<std::ratio<1, 60>, arcminutes>)
+ UNIT_ADD(angle, milliarcsecond, milliarcseconds, mas, milli<arcseconds>)
+ UNIT_ADD(angle, turn, turns, tr, unit<std::ratio<2>, radians, std::ratio<1>>)
+ UNIT_ADD(angle, gradian, gradians, gon, unit<std::ratio<1, 400>, turns>)
+
+ UNIT_ADD_CATEGORY_TRAIT(angle)
+#endif
+
+ //------------------------------
+ // UNITS OF CURRENT
+ //------------------------------
+ /**
+ * @namespace units::current
+ * @brief namespace for unit types and containers representing current values
+ * @details The SI unit for current is `amperes`, and the corresponding `base_unit` category is
+ * `current_unit`.
+ * @anchor currentContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_CURRENT_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(current, ampere, amperes, A, unit<std::ratio<1>, units::category::current_unit>)
+
+ UNIT_ADD_CATEGORY_TRAIT(current)
+#endif
+
+ //------------------------------
+ // UNITS OF TEMPERATURE
+ //------------------------------
+
+ // NOTE: temperature units have special conversion overloads, since they
+ // require translations and aren't a reversible transform.
+
+ /**
+ * @namespace units::temperature
+ * @brief namespace for unit types and containers representing temperature values
+ * @details The SI unit for temperature is `kelvin`, and the corresponding `base_unit` category is
+ * `temperature_unit`.
+ * @anchor temperatureContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_TEMPERATURE_UNITS)
+ UNIT_ADD(temperature, kelvin, kelvin, K, unit<std::ratio<1>, units::category::temperature_unit>)
+ UNIT_ADD(temperature, celsius, celsius, degC, unit<std::ratio<1>, kelvin, std::ratio<0>, std::ratio<27315, 100>>)
+ UNIT_ADD(temperature, fahrenheit, fahrenheit, degF, unit<std::ratio<5, 9>, celsius, std::ratio<0>, std::ratio<-160, 9>>)
+ UNIT_ADD(temperature, reaumur, reaumur, Re, unit<std::ratio<10, 8>, celsius>)
+ UNIT_ADD(temperature, rankine, rankine, Ra, unit<std::ratio<5, 9>, kelvin>)
+
+ UNIT_ADD_CATEGORY_TRAIT(temperature)
+#endif
+
+ //------------------------------
+ // UNITS OF AMOUNT OF SUBSTANCE
+ //------------------------------
+
+ /**
+ * @namespace units::substance
+ * @brief namespace for unit types and containers representing substance values
+ * @details The SI unit for substance is `moles`, and the corresponding `base_unit` category is
+ * `substance_unit`.
+ * @anchor substanceContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_SUBSTANCE_UNITS)
+ UNIT_ADD(substance, mole, moles, mol, unit<std::ratio<1>, units::category::substance_unit>)
+
+ UNIT_ADD_CATEGORY_TRAIT(substance)
+#endif
+
+ //------------------------------
+ // UNITS OF LUMINOUS INTENSITY
+ //------------------------------
+
+ /**
+ * @namespace units::luminous_intensity
+ * @brief namespace for unit types and containers representing luminous_intensity values
+ * @details The SI unit for luminous_intensity is `candelas`, and the corresponding `base_unit` category is
+ * `luminous_intensity_unit`.
+ * @anchor luminousIntensityContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_LUMINOUS_INTENSITY_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(luminous_intensity, candela, candelas, cd, unit<std::ratio<1>, units::category::luminous_intensity_unit>)
+
+ UNIT_ADD_CATEGORY_TRAIT(luminous_intensity)
+#endif
+
+ //------------------------------
+ // UNITS OF SOLID ANGLE
+ //------------------------------
+
+ /**
+ * @namespace units::solid_angle
+ * @brief namespace for unit types and containers representing solid_angle values
+ * @details The SI unit for solid_angle is `steradians`, and the corresponding `base_unit` category is
+ * `solid_angle_unit`.
+ * @anchor solidAngleContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_SOLID_ANGLE_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(solid_angle, steradian, steradians, sr, unit<std::ratio<1>, units::category::solid_angle_unit>)
+ UNIT_ADD(solid_angle, degree_squared, degrees_squared, sq_deg, squared<angle::degrees>)
+ UNIT_ADD(solid_angle, spat, spats, sp, unit<std::ratio<4>, steradians, std::ratio<1>>)
+
+ UNIT_ADD_CATEGORY_TRAIT(solid_angle)
+#endif
+
+ //------------------------------
+ // FREQUENCY UNITS
+ //------------------------------
+
+ /**
+ * @namespace units::frequency
+ * @brief namespace for unit types and containers representing frequency values
+ * @details The SI unit for frequency is `hertz`, and the corresponding `base_unit` category is
+ * `frequency_unit`.
+ * @anchor frequencyContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_FREQUENCY_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(frequency, hertz, hertz, Hz, unit<std::ratio<1>, units::category::frequency_unit>)
+
+ UNIT_ADD_CATEGORY_TRAIT(frequency)
+#endif
+
+ //------------------------------
+ // VELOCITY UNITS
+ //------------------------------
+
+ /**
+ * @namespace units::velocity
+ * @brief namespace for unit types and containers representing velocity values
+ * @details The SI unit for velocity is `meters_per_second`, and the corresponding `base_unit` category is
+ * `velocity_unit`.
+ * @anchor velocityContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_VELOCITY_UNITS)
+ UNIT_ADD(velocity, meters_per_second, meters_per_second, mps, unit<std::ratio<1>, units::category::velocity_unit>)
+ UNIT_ADD(velocity, feet_per_second, feet_per_second, fps, compound_unit<length::feet, inverse<time::seconds>>)
+ UNIT_ADD(velocity, miles_per_hour, miles_per_hour, mph, compound_unit<length::miles, inverse<time::hour>>)
+ UNIT_ADD(velocity, kilometers_per_hour, kilometers_per_hour, kph, compound_unit<length::kilometers, inverse<time::hour>>)
+ UNIT_ADD(velocity, knot, knots, kts, compound_unit<length::nauticalMiles, inverse<time::hour>>)
+
+ UNIT_ADD_CATEGORY_TRAIT(velocity)
+#endif
+
+ //------------------------------
+ // ANGULAR VELOCITY UNITS
+ //------------------------------
+
+ /**
+ * @namespace units::angular_velocity
+ * @brief namespace for unit types and containers representing angular velocity values
+ * @details The SI unit for angular velocity is `radians_per_second`, and the corresponding `base_unit` category is
+ * `angular_velocity_unit`.
+ * @anchor angularVelocityContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ANGULAR_VELOCITY_UNITS)
+ UNIT_ADD(angular_velocity, radians_per_second, radians_per_second, rad_per_s, unit<std::ratio<1>, units::category::angular_velocity_unit>)
+ UNIT_ADD(angular_velocity, degrees_per_second, degrees_per_second, deg_per_s, compound_unit<angle::degrees, inverse<time::seconds>>)
+ UNIT_ADD(angular_velocity, revolutions_per_minute, revolutions_per_minute, rpm, unit<std::ratio<2, 60>, radians_per_second, std::ratio<1>>)
+ UNIT_ADD(angular_velocity, milliarcseconds_per_year, milliarcseconds_per_year, mas_per_yr, compound_unit<angle::milliarcseconds, inverse<time::year>>)
+
+ UNIT_ADD_CATEGORY_TRAIT(angular_velocity)
+#endif
+
+ //------------------------------
+ // UNITS OF ACCELERATION
+ //------------------------------
+
+ /**
+ * @namespace units::acceleration
+ * @brief namespace for unit types and containers representing acceleration values
+ * @details The SI unit for acceleration is `meters_per_second_squared`, and the corresponding `base_unit` category is
+ * `acceleration_unit`.
+ * @anchor accelerationContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ACCELERATION_UNITS)
+ UNIT_ADD(acceleration, meters_per_second_squared, meters_per_second_squared, mps_sq, unit<std::ratio<1>, units::category::acceleration_unit>)
+ UNIT_ADD(acceleration, feet_per_second_squared, feet_per_second_squared, fps_sq, compound_unit<length::feet, inverse<squared<time::seconds>>>)
+ UNIT_ADD(acceleration, standard_gravity, standard_gravity, SG, unit<std::ratio<980665, 100000>, meters_per_second_squared>)
+
+ UNIT_ADD_CATEGORY_TRAIT(acceleration)
+#endif
+
+ //------------------------------
+ // UNITS OF FORCE
+ //------------------------------
+
+ /**
+ * @namespace units::force
+ * @brief namespace for unit types and containers representing force values
+ * @details The SI unit for force is `newtons`, and the corresponding `base_unit` category is
+ * `force_unit`.
+ * @anchor forceContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_FORCE_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(force, newton, newtons, N, unit<std::ratio<1>, units::category::force_unit>)
+ UNIT_ADD(force, pound, pounds, lbf, compound_unit<mass::slug, length::foot, inverse<squared<time::seconds>>>)
+ UNIT_ADD(force, dyne, dynes, dyn, unit<std::ratio<1, 100000>, newtons>)
+ UNIT_ADD(force, kilopond, kiloponds, kp, compound_unit<acceleration::standard_gravity, mass::kilograms>)
+ UNIT_ADD(force, poundal, poundals, pdl, compound_unit<mass::pound, length::foot, inverse<squared<time::seconds>>>)
+
+ UNIT_ADD_CATEGORY_TRAIT(force)
+#endif
+
+ //------------------------------
+ // UNITS OF PRESSURE
+ //------------------------------
+
+ /**
+ * @namespace units::pressure
+ * @brief namespace for unit types and containers representing pressure values
+ * @details The SI unit for pressure is `pascals`, and the corresponding `base_unit` category is
+ * `pressure_unit`.
+ * @anchor pressureContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_PRESSURE_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(pressure, pascal, pascals, Pa, unit<std::ratio<1>, units::category::pressure_unit>)
+ UNIT_ADD(pressure, bar, bars, bar, unit<std::ratio<100>, kilo<pascals>>)
+ UNIT_ADD(pressure, mbar, mbars, mbar, unit<std::ratio<1>, milli<bar>>)
+ UNIT_ADD(pressure, atmosphere, atmospheres, atm, unit<std::ratio<101325>, pascals>)
+ UNIT_ADD(pressure, pounds_per_square_inch, pounds_per_square_inch, psi, compound_unit<force::pounds, inverse<squared<length::inch>>>)
+ UNIT_ADD(pressure, torr, torrs, torr, unit<std::ratio<1, 760>, atmospheres>)
+
+ UNIT_ADD_CATEGORY_TRAIT(pressure)
+#endif
+
+ //------------------------------
+ // UNITS OF CHARGE
+ //------------------------------
+
+ /**
+ * @namespace units::charge
+ * @brief namespace for unit types and containers representing charge values
+ * @details The SI unit for charge is `coulombs`, and the corresponding `base_unit` category is
+ * `charge_unit`.
+ * @anchor chargeContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_CHARGE_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(charge, coulomb, coulombs, C, unit<std::ratio<1>, units::category::charge_unit>)
+ UNIT_ADD_WITH_METRIC_PREFIXES(charge, ampere_hour, ampere_hours, Ah, compound_unit<current::ampere, time::hours>)
+
+ UNIT_ADD_CATEGORY_TRAIT(charge)
+#endif
+
+ //------------------------------
+ // UNITS OF ENERGY
+ //------------------------------
+
+ /**
+ * @namespace units::energy
+ * @brief namespace for unit types and containers representing energy values
+ * @details The SI unit for energy is `joules`, and the corresponding `base_unit` category is
+ * `energy_unit`.
+ * @anchor energyContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ENERGY_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(energy, joule, joules, J, unit<std::ratio<1>, units::category::energy_unit>)
+ UNIT_ADD_WITH_METRIC_PREFIXES(energy, calorie, calories, cal, unit<std::ratio<4184, 1000>, joules>)
+ UNIT_ADD(energy, kilowatt_hour, kilowatt_hours, kWh, unit<std::ratio<36, 10>, megajoules>)
+ UNIT_ADD(energy, watt_hour, watt_hours, Wh, unit<std::ratio<1, 1000>, kilowatt_hours>)
+ UNIT_ADD(energy, british_thermal_unit, british_thermal_units, BTU, unit<std::ratio<105505585262, 100000000>, joules>)
+ UNIT_ADD(energy, british_thermal_unit_iso, british_thermal_units_iso, BTU_iso, unit<std::ratio<1055056, 1000>, joules>)
+ UNIT_ADD(energy, british_thermal_unit_59, british_thermal_units_59, BTU59, unit<std::ratio<1054804, 1000>, joules>)
+ UNIT_ADD(energy, therm, therms, thm, unit<std::ratio<100000>, british_thermal_units_59>)
+ UNIT_ADD(energy, foot_pound, foot_pounds, ftlbf, unit<std::ratio<13558179483314004, 10000000000000000>, joules>)
+
+ UNIT_ADD_CATEGORY_TRAIT(energy)
+#endif
+
+ //------------------------------
+ // UNITS OF POWER
+ //------------------------------
+
+ /**
+ * @namespace units::power
+ * @brief namespace for unit types and containers representing power values
+ * @details The SI unit for power is `watts`, and the corresponding `base_unit` category is
+ * `power_unit`.
+ * @anchor powerContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_POWER_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(power, watt, watts, W, unit<std::ratio<1>, units::category::power_unit>)
+ UNIT_ADD(power, horsepower, horsepower, hp, unit<std::ratio<7457, 10>, watts>)
+ UNIT_ADD_DECIBEL(power, watt, dBW)
+ UNIT_ADD_DECIBEL(power, milliwatt, dBm)
+
+ UNIT_ADD_CATEGORY_TRAIT(power)
+#endif
+
+ //------------------------------
+ // UNITS OF VOLTAGE
+ //------------------------------
+
+ /**
+ * @namespace units::voltage
+ * @brief namespace for unit types and containers representing voltage values
+ * @details The SI unit for voltage is `volts`, and the corresponding `base_unit` category is
+ * `voltage_unit`.
+ * @anchor voltageContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_VOLTAGE_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(voltage, volt, volts, V, unit<std::ratio<1>, units::category::voltage_unit>)
+ UNIT_ADD(voltage, statvolt, statvolts, statV, unit<std::ratio<1000000, 299792458>, volts>)
+ UNIT_ADD(voltage, abvolt, abvolts, abV, unit<std::ratio<1, 100000000>, volts>)
+
+ UNIT_ADD_CATEGORY_TRAIT(voltage)
+#endif
+
+ //------------------------------
+ // UNITS OF CAPACITANCE
+ //------------------------------
+
+ /**
+ * @namespace units::capacitance
+ * @brief namespace for unit types and containers representing capacitance values
+ * @details The SI unit for capacitance is `farads`, and the corresponding `base_unit` category is
+ * `capacitance_unit`.
+ * @anchor capacitanceContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_CAPACITANCE_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(capacitance, farad, farads, F, unit<std::ratio<1>, units::category::capacitance_unit>)
+
+ UNIT_ADD_CATEGORY_TRAIT(capacitance)
+#endif
+
+ //------------------------------
+ // UNITS OF IMPEDANCE
+ //------------------------------
+
+ /**
+ * @namespace units::impedance
+ * @brief namespace for unit types and containers representing impedance values
+ * @details The SI unit for impedance is `ohms`, and the corresponding `base_unit` category is
+ * `impedance_unit`.
+ * @anchor impedanceContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_IMPEDANCE_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(impedance, ohm, ohms, Ohm, unit<std::ratio<1>, units::category::impedance_unit>)
+
+ UNIT_ADD_CATEGORY_TRAIT(impedance)
+#endif
+
+ //------------------------------
+ // UNITS OF CONDUCTANCE
+ //------------------------------
+
+ /**
+ * @namespace units::conductance
+ * @brief namespace for unit types and containers representing conductance values
+ * @details The SI unit for conductance is `siemens`, and the corresponding `base_unit` category is
+ * `conductance_unit`.
+ * @anchor conductanceContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_CONDUCTANCE_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(conductance, siemens, siemens, S, unit<std::ratio<1>, units::category::conductance_unit>)
+
+ UNIT_ADD_CATEGORY_TRAIT(conductance)
+#endif
+
+ //------------------------------
+ // UNITS OF MAGNETIC FLUX
+ //------------------------------
+
+ /**
+ * @namespace units::magnetic_flux
+ * @brief namespace for unit types and containers representing magnetic_flux values
+ * @details The SI unit for magnetic_flux is `webers`, and the corresponding `base_unit` category is
+ * `magnetic_flux_unit`.
+ * @anchor magneticFluxContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_MAGNETIC_FLUX_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(magnetic_flux, weber, webers, Wb, unit<std::ratio<1>, units::category::magnetic_flux_unit>)
+ UNIT_ADD(magnetic_flux, maxwell, maxwells, Mx, unit<std::ratio<1, 100000000>, webers>)
+
+ UNIT_ADD_CATEGORY_TRAIT(magnetic_flux)
+#endif
+
+ //----------------------------------------
+ // UNITS OF MAGNETIC FIELD STRENGTH
+ //----------------------------------------
+
+ /**
+ * @namespace units::magnetic_field_strength
+ * @brief namespace for unit types and containers representing magnetic_field_strength values
+ * @details The SI unit for magnetic_field_strength is `teslas`, and the corresponding `base_unit` category is
+ * `magnetic_field_strength_unit`.
+ * @anchor magneticFieldStrengthContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+ // Unfortunately `_T` is a WINAPI macro, so we have to use `_Te` as the tesla abbreviation.
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_MAGNETIC_FIELD_STRENGTH_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(magnetic_field_strength, tesla, teslas, Te, unit<std::ratio<1>, units::category::magnetic_field_strength_unit>)
+ UNIT_ADD(magnetic_field_strength, gauss, gauss, G, compound_unit<magnetic_flux::maxwell, inverse<squared<length::centimeter>>>)
+
+ UNIT_ADD_CATEGORY_TRAIT(magnetic_field_strength)
+#endif
+
+ //------------------------------
+ // UNITS OF INDUCTANCE
+ //------------------------------
+
+ /**
+ * @namespace units::inductance
+ * @brief namespace for unit types and containers representing inductance values
+ * @details The SI unit for inductance is `henrys`, and the corresponding `base_unit` category is
+ * `inductance_unit`.
+ * @anchor inductanceContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_INDUCTANCE_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(inductance, henry, henries, H, unit<std::ratio<1>, units::category::inductance_unit>)
+
+ UNIT_ADD_CATEGORY_TRAIT(inductance)
+#endif
+
+ //------------------------------
+ // UNITS OF LUMINOUS FLUX
+ //------------------------------
+
+ /**
+ * @namespace units::luminous_flux
+ * @brief namespace for unit types and containers representing luminous_flux values
+ * @details The SI unit for luminous_flux is `lumens`, and the corresponding `base_unit` category is
+ * `luminous_flux_unit`.
+ * @anchor luminousFluxContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_LUMINOUS_FLUX_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(luminous_flux, lumen, lumens, lm, unit<std::ratio<1>, units::category::luminous_flux_unit>)
+
+ UNIT_ADD_CATEGORY_TRAIT(luminous_flux)
+#endif
+
+ //------------------------------
+ // UNITS OF ILLUMINANCE
+ //------------------------------
+
+ /**
+ * @namespace units::illuminance
+ * @brief namespace for unit types and containers representing illuminance values
+ * @details The SI unit for illuminance is `luxes`, and the corresponding `base_unit` category is
+ * `illuminance_unit`.
+ * @anchor illuminanceContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ILLUMINANCE_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(illuminance, lux, luxes, lx, unit<std::ratio<1>, units::category::illuminance_unit>)
+ UNIT_ADD(illuminance, footcandle, footcandles, fc, compound_unit<luminous_flux::lumen, inverse<squared<length::foot>>>)
+ UNIT_ADD(illuminance, lumens_per_square_inch, lumens_per_square_inch, lm_per_in_sq, compound_unit<luminous_flux::lumen, inverse<squared<length::inch>>>)
+ UNIT_ADD(illuminance, phot, phots, ph, compound_unit<luminous_flux::lumens, inverse<squared<length::centimeter>>>)
+
+ UNIT_ADD_CATEGORY_TRAIT(illuminance)
+#endif
+
+ //------------------------------
+ // UNITS OF RADIATION
+ //------------------------------
+
+ /**
+ * @namespace units::radiation
+ * @brief namespace for unit types and containers representing radiation values
+ * @details The SI units for radiation are:
+ * - source activity: becquerel
+ * - absorbed dose: gray
+ * - equivalent dose: sievert
+ * @anchor radiationContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_RADIATION_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(radiation, becquerel, becquerels, Bq, unit<std::ratio<1>, units::frequency::hertz>)
+ UNIT_ADD_WITH_METRIC_PREFIXES(radiation, gray, grays, Gy, compound_unit<energy::joules, inverse<mass::kilogram>>)
+ UNIT_ADD_WITH_METRIC_PREFIXES(radiation, sievert, sieverts, Sv, unit<std::ratio<1>, grays>)
+ UNIT_ADD(radiation, curie, curies, Ci, unit<std::ratio<37>, gigabecquerels>)
+ UNIT_ADD(radiation, rutherford, rutherfords, rd, unit<std::ratio<1>, megabecquerels>)
+ UNIT_ADD(radiation, rad, rads, rads, unit<std::ratio<1>, centigrays>)
+
+ UNIT_ADD_CATEGORY_TRAIT(radioactivity)
+#endif
+
+ //------------------------------
+ // UNITS OF TORQUE
+ //------------------------------
+
+ /**
+ * @namespace units::torque
+ * @brief namespace for unit types and containers representing torque values
+ * @details The SI unit for torque is `newton_meters`, and the corresponding `base_unit` category is
+ * `torque_units`.
+ * @anchor torqueContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_TORQUE_UNITS)
+ UNIT_ADD(torque, newton_meter, newton_meters, Nm, unit<std::ratio<1>, units::energy::joule>)
+ UNIT_ADD(torque, foot_pound, foot_pounds, ftlb, compound_unit<length::foot, force::pounds>)
+ UNIT_ADD(torque, foot_poundal, foot_poundals, ftpdl, compound_unit<length::foot, force::poundal>)
+ UNIT_ADD(torque, inch_pound, inch_pounds, inlb, compound_unit<length::inch, force::pounds>)
+ UNIT_ADD(torque, meter_kilogram, meter_kilograms, mkgf, compound_unit<length::meter, force::kiloponds>)
+
+ UNIT_ADD_CATEGORY_TRAIT(torque)
+#endif
+
+ //------------------------------
+ // AREA UNITS
+ //------------------------------
+
+ /**
+ * @namespace units::area
+ * @brief namespace for unit types and containers representing area values
+ * @details The SI unit for area is `square_meters`, and the corresponding `base_unit` category is
+ * `area_unit`.
+ * @anchor areaContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_AREA_UNITS)
+ UNIT_ADD(area, square_meter, square_meters, sq_m, unit<std::ratio<1>, units::category::area_unit>)
+ UNIT_ADD(area, square_foot, square_feet, sq_ft, squared<length::feet>)
+ UNIT_ADD(area, square_inch, square_inches, sq_in, squared<length::inch>)
+ UNIT_ADD(area, square_mile, square_miles, sq_mi, squared<length::miles>)
+ UNIT_ADD(area, square_kilometer, square_kilometers, sq_km, squared<length::kilometers>)
+ UNIT_ADD(area, hectare, hectares, ha, unit<std::ratio<10000>, square_meters>)
+ UNIT_ADD(area, acre, acres, acre, unit<std::ratio<43560>, square_feet>)
+
+ UNIT_ADD_CATEGORY_TRAIT(area)
+#endif
+
+ //------------------------------
+ // UNITS OF VOLUME
+ //------------------------------
+
+ /**
+ * @namespace units::volume
+ * @brief namespace for unit types and containers representing volume values
+ * @details The SI unit for volume is `cubic_meters`, and the corresponding `base_unit` category is
+ * `volume_unit`.
+ * @anchor volumeContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_VOLUME_UNITS)
+ UNIT_ADD(volume, cubic_meter, cubic_meters, cu_m, unit<std::ratio<1>, units::category::volume_unit>)
+ UNIT_ADD(volume, cubic_millimeter, cubic_millimeters, cu_mm, cubed<length::millimeter>)
+ UNIT_ADD(volume, cubic_kilometer, cubic_kilometers, cu_km, cubed<length::kilometer>)
+ UNIT_ADD_WITH_METRIC_PREFIXES(volume, liter, liters, L, cubed<deci<length::meter>>)
+ UNIT_ADD(volume, cubic_inch, cubic_inches, cu_in, cubed<length::inches>)
+ UNIT_ADD(volume, cubic_foot, cubic_feet, cu_ft, cubed<length::feet>)
+ UNIT_ADD(volume, cubic_yard, cubic_yards, cu_yd, cubed<length::yards>)
+ UNIT_ADD(volume, cubic_mile, cubic_miles, cu_mi, cubed<length::miles>)
+ UNIT_ADD(volume, gallon, gallons, gal, unit<std::ratio<231>, cubic_inches>)
+ UNIT_ADD(volume, quart, quarts, qt, unit<std::ratio<1, 4>, gallons>)
+ UNIT_ADD(volume, pint, pints, pt, unit<std::ratio<1, 2>, quarts>)
+ UNIT_ADD(volume, cup, cups, c, unit<std::ratio<1, 2>, pints>)
+ UNIT_ADD(volume, fluid_ounce, fluid_ounces, fl_oz, unit<std::ratio<1, 8>, cups>)
+ UNIT_ADD(volume, barrel, barrels, bl, unit<std::ratio<42>, gallons>)
+ UNIT_ADD(volume, bushel, bushels, bu, unit<std::ratio<215042, 100>, cubic_inches>)
+ UNIT_ADD(volume, cord, cords, cord, unit<std::ratio<128>, cubic_feet>)
+ UNIT_ADD(volume, cubic_fathom, cubic_fathoms, cu_fm, cubed<length::fathom>)
+ UNIT_ADD(volume, tablespoon, tablespoons, tbsp, unit<std::ratio<1, 2>, fluid_ounces>)
+ UNIT_ADD(volume, teaspoon, teaspoons, tsp, unit<std::ratio<1, 6>, fluid_ounces>)
+ UNIT_ADD(volume, pinch, pinches, pinch, unit<std::ratio<1, 8>, teaspoons>)
+ UNIT_ADD(volume, dash, dashes, dash, unit<std::ratio<1, 2>, pinches>)
+ UNIT_ADD(volume, drop, drops, drop, unit<std::ratio<1, 360>, fluid_ounces>)
+ UNIT_ADD(volume, fifth, fifths, fifth, unit<std::ratio<1, 5>, gallons>)
+ UNIT_ADD(volume, dram, drams, dr, unit<std::ratio<1, 8>, fluid_ounces>)
+ UNIT_ADD(volume, gill, gills, gi, unit<std::ratio<4>, fluid_ounces>)
+ UNIT_ADD(volume, peck, pecks, pk, unit<std::ratio<1, 4>, bushels>)
+ UNIT_ADD(volume, sack, sacks, sacks, unit<std::ratio<3>, bushels>)
+ UNIT_ADD(volume, shot, shots, shots, unit<std::ratio<3, 2>, fluid_ounces>)
+ UNIT_ADD(volume, strike, strikes, strikes, unit<std::ratio<2>, bushels>)
+
+ UNIT_ADD_CATEGORY_TRAIT(volume)
+#endif
+
+ //------------------------------
+ // UNITS OF DENSITY
+ //------------------------------
+
+ /**
+ * @namespace units::density
+ * @brief namespace for unit types and containers representing density values
+ * @details The SI unit for density is `kilograms_per_cubic_meter`, and the corresponding `base_unit` category is
+ * `density_unit`.
+ * @anchor densityContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_DENSITY_UNITS)
+ UNIT_ADD(density, kilograms_per_cubic_meter, kilograms_per_cubic_meter, kg_per_cu_m, unit<std::ratio<1>, units::category::density_unit>)
+ UNIT_ADD(density, grams_per_milliliter, grams_per_milliliter, g_per_mL, compound_unit<mass::grams, inverse<volume::milliliter>>)
+ UNIT_ADD(density, kilograms_per_liter, kilograms_per_liter, kg_per_L, unit<std::ratio<1>, compound_unit<mass::grams, inverse<volume::milliliter>>>)
+ UNIT_ADD(density, ounces_per_cubic_foot, ounces_per_cubic_foot, oz_per_cu_ft, compound_unit<mass::ounces, inverse<volume::cubic_foot>>)
+ UNIT_ADD(density, ounces_per_cubic_inch, ounces_per_cubic_inch, oz_per_cu_in, compound_unit<mass::ounces, inverse<volume::cubic_inch>>)
+ UNIT_ADD(density, ounces_per_gallon, ounces_per_gallon, oz_per_gal, compound_unit<mass::ounces, inverse<volume::gallon>>)
+ UNIT_ADD(density, pounds_per_cubic_foot, pounds_per_cubic_foot, lb_per_cu_ft, compound_unit<mass::pounds, inverse<volume::cubic_foot>>)
+ UNIT_ADD(density, pounds_per_cubic_inch, pounds_per_cubic_inch, lb_per_cu_in, compound_unit<mass::pounds, inverse<volume::cubic_inch>>)
+ UNIT_ADD(density, pounds_per_gallon, pounds_per_gallon, lb_per_gal, compound_unit<mass::pounds, inverse<volume::gallon>>)
+ UNIT_ADD(density, slugs_per_cubic_foot, slugs_per_cubic_foot, slug_per_cu_ft, compound_unit<mass::slugs, inverse<volume::cubic_foot>>)
+
+ UNIT_ADD_CATEGORY_TRAIT(density)
+#endif
+
+ //------------------------------
+ // UNITS OF CONCENTRATION
+ //------------------------------
+
+ /**
+ * @namespace units::concentration
+ * @brief namespace for unit types and containers representing concentration values
+ * @details The SI unit for concentration is `parts_per_million`, and the corresponding `base_unit` category is
+ * `scalar_unit`.
+ * @anchor concentrationContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_CONCENTRATION_UNITS)
+ UNIT_ADD(concentration, ppm, parts_per_million, ppm, unit<std::ratio<1, 1000000>, units::category::scalar_unit>)
+ UNIT_ADD(concentration, ppb, parts_per_billion, ppb, unit<std::ratio<1, 1000>, parts_per_million>)
+ UNIT_ADD(concentration, ppt, parts_per_trillion, ppt, unit<std::ratio<1, 1000>, parts_per_billion>)
+ UNIT_ADD(concentration, percent, percent, pct, unit<std::ratio<1, 100>, units::category::scalar_unit>)
+
+ UNIT_ADD_CATEGORY_TRAIT(concentration)
+#endif
+
+ //------------------------------
+ // UNITS OF DATA
+ //------------------------------
+
+ /**
+ * @namespace units::data
+ * @brief namespace for unit types and containers representing data values
+ * @details The base unit for data is `bytes`, and the corresponding `base_unit` category is
+ * `data_unit`.
+ * @anchor dataContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_DATA_UNITS)
+ UNIT_ADD_WITH_METRIC_AND_BINARY_PREFIXES(data, byte, bytes, B, unit<std::ratio<1>, units::category::data_unit>)
+ UNIT_ADD(data, exabyte, exabytes, EB, unit<std::ratio<1000>, petabytes>)
+ UNIT_ADD_WITH_METRIC_AND_BINARY_PREFIXES(data, bit, bits, b, unit<std::ratio<1, 8>, byte>)
+ UNIT_ADD(data, exabit, exabits, Eb, unit<std::ratio<1000>, petabits>)
+
+ UNIT_ADD_CATEGORY_TRAIT(data)
+#endif
+
+ //------------------------------
+ // UNITS OF DATA TRANSFER
+ //------------------------------
+
+ /**
+ * @namespace units::data_transfer_rate
+ * @brief namespace for unit types and containers representing data values
+ * @details The base unit for data is `bytes`, and the corresponding `base_unit` category is
+ * `data_unit`.
+ * @anchor dataContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_DATA_TRANSFER_RATE_UNITS)
+ UNIT_ADD_WITH_METRIC_AND_BINARY_PREFIXES(data_transfer_rate, bytes_per_second, bytes_per_second, Bps, unit<std::ratio<1>, units::category::data_transfer_rate_unit>)
+ UNIT_ADD(data_transfer_rate, exabytes_per_second, exabytes_per_second, EBps, unit<std::ratio<1000>, petabytes_per_second>)
+ UNIT_ADD_WITH_METRIC_AND_BINARY_PREFIXES(data_transfer_rate, bits_per_second, bits_per_second, bps, unit<std::ratio<1, 8>, bytes_per_second>)
+ UNIT_ADD(data_transfer_rate, exabits_per_second, exabits_per_second, Ebps, unit<std::ratio<1000>, petabits_per_second>)
+
+ UNIT_ADD_CATEGORY_TRAIT(data_transfer_rate)
+#endif
+
+ //------------------------------
+ // CONSTANTS
+ //------------------------------
+
+ /**
+ * @brief namespace for physical constants like PI and Avogadro's Number.
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS)
+ namespace constants
+ {
+ /**
+ * @name Unit Containers
+ * @anchor constantContainers
+ * @{
+ */
+ using PI = unit<std::ratio<1>, dimensionless::scalar, std::ratio<1>>;
+
+ static constexpr const unit_t<PI> pi(1); ///< Ratio of a circle's circumference to its diameter.
+ static constexpr const velocity::meters_per_second_t c(299792458.0); ///< Speed of light in vacuum.
+ static constexpr const unit_t<compound_unit<cubed<length::meters>, inverse<mass::kilogram>, inverse<squared<time::seconds>>>> G(6.67408e-11); ///< Newtonian constant of gravitation.
+ static constexpr const unit_t<compound_unit<energy::joule, time::seconds>> h(6.626070040e-34); ///< Planck constant.
+ static constexpr const unit_t<compound_unit<force::newtons, inverse<squared<current::ampere>>>> mu0(pi * 4.0e-7 * force::newton_t(1) / units::math::cpow<2>(current::ampere_t(1))); ///< vacuum permeability.
+ static constexpr const unit_t<compound_unit<capacitance::farad, inverse<length::meter>>> epsilon0(1.0 / (mu0 * math::cpow<2>(c))); ///< vacuum permitivity.
+ static constexpr const impedance::ohm_t Z0(mu0 * c); ///< characteristic impedance of vacuum.
+ static constexpr const unit_t<compound_unit<force::newtons, area::square_meter, inverse<squared<charge::coulomb>>>> k_e(1.0 / (4 * pi * epsilon0)); ///< Coulomb's constant.
+ static constexpr const charge::coulomb_t e(1.6021766208e-19); ///< elementary charge.
+ static constexpr const mass::kilogram_t m_e(9.10938356e-31); ///< electron mass.
+ static constexpr const mass::kilogram_t m_p(1.672621898e-27); ///< proton mass.
+ static constexpr const unit_t<compound_unit<energy::joules, inverse<magnetic_field_strength::tesla>>> mu_B(e * h / (4 * pi *m_e)); ///< Bohr magneton.
+ static constexpr const unit_t<inverse<substance::mol>> N_A(6.022140857e23); ///< Avagadro's Number.
+ static constexpr const unit_t<compound_unit<energy::joules, inverse<temperature::kelvin>, inverse<substance::moles>>> R(8.3144598); ///< Gas constant.
+ static constexpr const unit_t<compound_unit<energy::joules, inverse<temperature::kelvin>>> k_B(R / N_A); ///< Boltzmann constant.
+ static constexpr const unit_t<compound_unit<charge::coulomb, inverse<substance::mol>>> F(N_A * e); ///< Faraday constant.
+ static constexpr const unit_t<compound_unit<power::watts, inverse<area::square_meters>, inverse<squared<squared<temperature::kelvin>>>>> sigma((2 * math::cpow<5>(pi) * math::cpow<4>(R)) / (15 * math::cpow<3>(h) * math::cpow<2>(c) * math::cpow<4>(N_A))); ///< Stefan-Boltzmann constant.
+ /** @} */
+ }
+#endif
+
+ //----------------------------------
+ // UNIT-ENABLED CMATH FUNCTIONS
+ //----------------------------------
+
+ /**
+ * @brief namespace for unit-enabled versions of the `<cmath>` library
+ * @details Includes trigonometric functions, exponential/log functions, rounding functions, etc.
+ * @sa See `unit_t` for more information on unit type containers.
+ */
+ namespace math
+ {
+
+ //----------------------------------
+ // MIN/MAX FUNCTIONS
+ //----------------------------------
+
+ template<class UnitTypeLhs, class UnitTypeRhs>
+ UnitTypeLhs min(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs)
+ {
+ static_assert(traits::is_convertible_unit_t<UnitTypeLhs, UnitTypeRhs>::value, "Unit types are not compatible.");
+ UnitTypeLhs r(rhs);
+ return (lhs < r ? lhs : r);
+ }
+
+ template<class UnitTypeLhs, class UnitTypeRhs>
+ UnitTypeLhs max(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs)
+ {
+ static_assert(traits::is_convertible_unit_t<UnitTypeLhs, UnitTypeRhs>::value, "Unit types are not compatible.");
+ UnitTypeLhs r(rhs);
+ return (lhs > r ? lhs : r);
+ }
+
+ //----------------------------------
+ // TRIGONOMETRIC FUNCTIONS
+ //----------------------------------
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute cosine
+ * @details The input value can be in any unit of angle, including radians or degrees.
+ * @tparam AngleUnit any `unit_t` type of `category::angle_unit`.
+ * @param[in] angle angle to compute the cosine of
+ * @returns Returns the cosine of <i>angle</i>
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ANGLE_UNITS)
+ template<class AngleUnit>
+ dimensionless::scalar_t cos(const AngleUnit angle) noexcept
+ {
+ static_assert(traits::is_angle_unit<AngleUnit>::value, "Type `AngleUnit` must be a unit of angle derived from `unit_t`.");
+ return dimensionless::scalar_t(std::cos(angle.template convert<angle::radian>()()));
+ }
+#endif
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute sine
+ * @details The input value can be in any unit of angle, including radians or degrees.
+ * @tparam AngleUnit any `unit_t` type of `category::angle_unit`.
+ * @param[in] angle angle to compute the since of
+ * @returns Returns the sine of <i>angle</i>
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ANGLE_UNITS)
+ template<class AngleUnit>
+ dimensionless::scalar_t sin(const AngleUnit angle) noexcept
+ {
+ static_assert(traits::is_angle_unit<AngleUnit>::value, "Type `AngleUnit` must be a unit of angle derived from `unit_t`.");
+ return dimensionless::scalar_t(std::sin(angle.template convert<angle::radian>()()));
+ }
+#endif
+ /**
+ * @ingroup UnitMath
+ * @brief Compute tangent
+ * @details The input value can be in any unit of angle, including radians or degrees.
+ * @tparam AngleUnit any `unit_t` type of `category::angle_unit`.
+ * @param[in] angle angle to compute the tangent of
+ * @returns Returns the tangent of <i>angle</i>
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ANGLE_UNITS)
+ template<class AngleUnit>
+ dimensionless::scalar_t tan(const AngleUnit angle) noexcept
+ {
+ static_assert(traits::is_angle_unit<AngleUnit>::value, "Type `AngleUnit` must be a unit of angle derived from `unit_t`.");
+ return dimensionless::scalar_t(std::tan(angle.template convert<angle::radian>()()));
+ }
+#endif
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute arc cosine
+ * @details Returns the principal value of the arc cosine of x, expressed in radians.
+ * @param[in] x Value whose arc cosine is computed, in the interval [-1,+1].
+ * @returns Principal arc cosine of x, in the interval [0,pi] radians.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ANGLE_UNITS)
+ template<class ScalarUnit>
+ angle::radian_t acos(const ScalarUnit x) noexcept
+ {
+ static_assert(traits::is_dimensionless_unit<ScalarUnit>::value, "Type `ScalarUnit` must be a dimensionless unit derived from `unit_t`.");
+ return angle::radian_t(std::acos(x()));
+ }
+#endif
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute arc sine
+ * @details Returns the principal value of the arc sine of x, expressed in radians.
+ * @param[in] x Value whose arc sine is computed, in the interval [-1,+1].
+ * @returns Principal arc sine of x, in the interval [-pi/2,+pi/2] radians.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ANGLE_UNITS)
+ template<class ScalarUnit>
+ angle::radian_t asin(const ScalarUnit x) noexcept
+ {
+ static_assert(traits::is_dimensionless_unit<ScalarUnit>::value, "Type `ScalarUnit` must be a dimensionless unit derived from `unit_t`.");
+ return angle::radian_t(std::asin(x()));
+ }
+#endif
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute arc tangent
+ * @details Returns the principal value of the arc tangent of x, expressed in radians.
+ * Notice that because of the sign ambiguity, the function cannot determine with
+ * certainty in which quadrant the angle falls only by its tangent value. See
+ * atan2 for an alternative that takes a fractional argument instead.
+ * @tparam AngleUnit any `unit_t` type of `category::angle_unit`.
+ * @param[in] x Value whose arc tangent is computed, in the interval [-1,+1].
+ * @returns Principal arc tangent of x, in the interval [-pi/2,+pi/2] radians.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ANGLE_UNITS)
+ template<class ScalarUnit>
+ angle::radian_t atan(const ScalarUnit x) noexcept
+ {
+ static_assert(traits::is_dimensionless_unit<ScalarUnit>::value, "Type `ScalarUnit` must be a dimensionless unit derived from `unit_t`.");
+ return angle::radian_t(std::atan(x()));
+ }
+#endif
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute arc tangent with two parameters
+ * @details To compute the value, the function takes into account the sign of both arguments in order to determine the quadrant.
+ * @param[in] y y-component of the triangle expressed.
+ * @param[in] x x-component of the triangle expressed.
+ * @returns Returns the principal value of the arc tangent of <i>y/x</i>, expressed in radians.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ANGLE_UNITS)
+ template<class Y, class X>
+ angle::radian_t atan2(const Y y, const X x) noexcept
+ {
+ static_assert(traits::is_dimensionless_unit<decltype(y/x)>::value, "The quantity y/x must yield a dimensionless ratio.");
+
+ // X and Y could be different length units, so normalize them
+ return angle::radian_t(std::atan2(y.template convert<typename units::traits::unit_t_traits<X>::unit_type>()(), x()));
+ }
+#endif
+
+ //----------------------------------
+ // HYPERBOLIC TRIG FUNCTIONS
+ //----------------------------------
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute hyperbolic cosine
+ * @details The input value can be in any unit of angle, including radians or degrees.
+ * @tparam AngleUnit any `unit_t` type of `category::angle_unit`.
+ * @param[in] angle angle to compute the hyperbolic cosine of
+ * @returns Returns the hyperbolic cosine of <i>angle</i>
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ANGLE_UNITS)
+ template<class AngleUnit>
+ dimensionless::scalar_t cosh(const AngleUnit angle) noexcept
+ {
+ static_assert(traits::is_angle_unit<AngleUnit>::value, "Type `AngleUnit` must be a unit of angle derived from `unit_t`.");
+ return dimensionless::scalar_t(std::cosh(angle.template convert<angle::radian>()()));
+ }
+#endif
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute hyperbolic sine
+ * @details The input value can be in any unit of angle, including radians or degrees.
+ * @tparam AngleUnit any `unit_t` type of `category::angle_unit`.
+ * @param[in] angle angle to compute the hyperbolic sine of
+ * @returns Returns the hyperbolic sine of <i>angle</i>
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ANGLE_UNITS)
+ template<class AngleUnit>
+ dimensionless::scalar_t sinh(const AngleUnit angle) noexcept
+ {
+ static_assert(traits::is_angle_unit<AngleUnit>::value, "Type `AngleUnit` must be a unit of angle derived from `unit_t`.");
+ return dimensionless::scalar_t(std::sinh(angle.template convert<angle::radian>()()));
+ }
+#endif
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute hyperbolic tangent
+ * @details The input value can be in any unit of angle, including radians or degrees.
+ * @tparam AngleUnit any `unit_t` type of `category::angle_unit`.
+ * @param[in] angle angle to compute the hyperbolic tangent of
+ * @returns Returns the hyperbolic tangent of <i>angle</i>
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ANGLE_UNITS)
+ template<class AngleUnit>
+ dimensionless::scalar_t tanh(const AngleUnit angle) noexcept
+ {
+ static_assert(traits::is_angle_unit<AngleUnit>::value, "Type `AngleUnit` must be a unit of angle derived from `unit_t`.");
+ return dimensionless::scalar_t(std::tanh(angle.template convert<angle::radian>()()));
+ }
+#endif
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute arc hyperbolic cosine
+ * @details Returns the nonnegative arc hyperbolic cosine of x, expressed in radians.
+ * @param[in] x Value whose arc hyperbolic cosine is computed. If the argument is less
+ * than 1, a domain error occurs.
+ * @returns Nonnegative arc hyperbolic cosine of x, in the interval [0,+INFINITY] radians.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ANGLE_UNITS)
+ template<class ScalarUnit>
+ angle::radian_t acosh(const ScalarUnit x) noexcept
+ {
+ static_assert(traits::is_dimensionless_unit<ScalarUnit>::value, "Type `ScalarUnit` must be a dimensionless unit derived from `unit_t`.");
+ return angle::radian_t(std::acosh(x()));
+ }
+#endif
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute arc hyperbolic sine
+ * @details Returns the arc hyperbolic sine of x, expressed in radians.
+ * @param[in] x Value whose arc hyperbolic sine is computed.
+ * @returns Arc hyperbolic sine of x, in radians.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ANGLE_UNITS)
+ template<class ScalarUnit>
+ angle::radian_t asinh(const ScalarUnit x) noexcept
+ {
+ static_assert(traits::is_dimensionless_unit<ScalarUnit>::value, "Type `ScalarUnit` must be a dimensionless unit derived from `unit_t`.");
+ return angle::radian_t(std::asinh(x()));
+ }
+#endif
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute arc hyperbolic tangent
+ * @details Returns the arc hyperbolic tangent of x, expressed in radians.
+ * @param[in] x Value whose arc hyperbolic tangent is computed, in the interval [-1,+1].
+ * If the argument is out of this interval, a domain error occurs. For
+ * values of -1 and +1, a pole error may occur.
+ * @returns units::angle::radian_t
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ANGLE_UNITS)
+ template<class ScalarUnit>
+ angle::radian_t atanh(const ScalarUnit x) noexcept
+ {
+ static_assert(traits::is_dimensionless_unit<ScalarUnit>::value, "Type `ScalarUnit` must be a dimensionless unit derived from `unit_t`.");
+ return angle::radian_t(std::atanh(x()));
+ }
+#endif
+
+ //----------------------------------
+ // TRANSCENDENTAL FUNCTIONS
+ //----------------------------------
+
+ // it makes NO SENSE to put dimensioned units into a transcendental function, and if you think it does you are
+ // demonstrably wrong. https://en.wikipedia.org/wiki/Transcendental_function#Dimensional_analysis
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute exponential function
+ * @details Returns the base-e exponential function of x, which is e raised to the power x: ex.
+ * @param[in] x scalar value of the exponent.
+ * @returns Exponential value of x.
+ * If the magnitude of the result is too large to be represented by a value of the return type, the
+ * function returns HUGE_VAL (or HUGE_VALF or HUGE_VALL) with the proper sign, and an overflow range error occurs
+ */
+ template<class ScalarUnit>
+ dimensionless::scalar_t exp(const ScalarUnit x) noexcept
+ {
+ static_assert(traits::is_dimensionless_unit<ScalarUnit>::value, "Type `ScalarUnit` must be a dimensionless unit derived from `unit_t`.");
+ return dimensionless::scalar_t(std::exp(x()));
+ }
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute natural logarithm
+ * @details Returns the natural logarithm of x.
+ * @param[in] x scalar value whose logarithm is calculated. If the argument is negative, a
+ * domain error occurs.
+ * @sa log10 for more common base-10 logarithms
+ * @returns Natural logarithm of x.
+ */
+ template<class ScalarUnit>
+ dimensionless::scalar_t log(const ScalarUnit x) noexcept
+ {
+ static_assert(traits::is_dimensionless_unit<ScalarUnit>::value, "Type `ScalarUnit` must be a dimensionless unit derived from `unit_t`.");
+ return dimensionless::scalar_t(std::log(x()));
+ }
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute common logarithm
+ * @details Returns the common (base-10) logarithm of x.
+ * @param[in] x Value whose logarithm is calculated. If the argument is negative, a
+ * domain error occurs.
+ * @returns Common logarithm of x.
+ */
+ template<class ScalarUnit>
+ dimensionless::scalar_t log10(const ScalarUnit x) noexcept
+ {
+ static_assert(traits::is_dimensionless_unit<ScalarUnit>::value, "Type `ScalarUnit` must be a dimensionless unit derived from `unit_t`.");
+ return dimensionless::scalar_t(std::log10(x()));
+ }
+
+ /**
+ * @ingroup UnitMath
+ * @brief Break into fractional and integral parts.
+ * @details The integer part is stored in the object pointed by intpart, and the
+ * fractional part is returned by the function. Both parts have the same sign
+ * as x.
+ * @param[in] x scalar value to break into parts.
+ * @param[in] intpart Pointer to an object (of the same type as x) where the integral part
+ * is stored with the same sign as x.
+ * @returns The fractional part of x, with the same sign.
+ */
+ template<class ScalarUnit>
+ dimensionless::scalar_t modf(const ScalarUnit x, ScalarUnit* intpart) noexcept
+ {
+ static_assert(traits::is_dimensionless_unit<ScalarUnit>::value, "Type `ScalarUnit` must be a dimensionless unit derived from `unit_t`.");
+
+ UNIT_LIB_DEFAULT_TYPE intp;
+ dimensionless::scalar_t fracpart = dimensionless::scalar_t(std::modf(x(), &intp));
+ *intpart = intp;
+ return fracpart;
+ }
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute binary exponential function
+ * @details Returns the base-2 exponential function of x, which is 2 raised to the power x: 2^x.
+ * 2param[in] x Value of the exponent.
+ * @returns 2 raised to the power of x.
+ */
+ template<class ScalarUnit>
+ dimensionless::scalar_t exp2(const ScalarUnit x) noexcept
+ {
+ static_assert(traits::is_dimensionless_unit<ScalarUnit>::value, "Type `ScalarUnit` must be a dimensionless unit derived from `unit_t`.");
+ return dimensionless::scalar_t(std::exp2(x()));
+ }
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute exponential minus one
+ * @details Returns e raised to the power x minus one: e^x-1. For small magnitude values
+ * of x, expm1 may be more accurate than exp(x)-1.
+ * @param[in] x Value of the exponent.
+ * @returns e raised to the power of x, minus one.
+ */
+ template<class ScalarUnit>
+ dimensionless::scalar_t expm1(const ScalarUnit x) noexcept
+ {
+ static_assert(traits::is_dimensionless_unit<ScalarUnit>::value, "Type `ScalarUnit` must be a dimensionless unit derived from `unit_t`.");
+ return dimensionless::scalar_t(std::expm1(x()));
+ }
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute logarithm plus one
+ * @details Returns the natural logarithm of one plus x. For small magnitude values of
+ * x, logp1 may be more accurate than log(1+x).
+ * @param[in] x Value whose logarithm is calculated. If the argument is less than -1, a
+ * domain error occurs.
+ * @returns The natural logarithm of (1+x).
+ */
+ template<class ScalarUnit>
+ dimensionless::scalar_t log1p(const ScalarUnit x) noexcept
+ {
+ static_assert(traits::is_dimensionless_unit<ScalarUnit>::value, "Type `ScalarUnit` must be a dimensionless unit derived from `unit_t`.");
+ return dimensionless::scalar_t(std::log1p(x()));
+ }
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute binary logarithm
+ * @details Returns the binary (base-2) logarithm of x.
+ * @param[in] x Value whose logarithm is calculated. If the argument is negative, a
+ * domain error occurs.
+ * @returns The binary logarithm of x: log2x.
+ */
+ template<class ScalarUnit>
+ dimensionless::scalar_t log2(const ScalarUnit x) noexcept
+ {
+ static_assert(traits::is_dimensionless_unit<ScalarUnit>::value, "Type `ScalarUnit` must be a dimensionless unit derived from `unit_t`.");
+ return dimensionless::scalar_t(std::log2(x()));
+ }
+
+ //----------------------------------
+ // POWER FUNCTIONS
+ //----------------------------------
+
+ /* pow is implemented earlier in the library since a lot of the unit definitions depend on it */
+
+ /**
+ * @ingroup UnitMath
+ * @brief computes the square root of <i>value</i>
+ * @details Only implemented for linear_scale units.
+ * @param[in] value `unit_t` derived type to compute the square root of.
+ * @returns new unit_t, whose units are the square root of value's. E.g. if values
+ * had units of `square_meter`, then the return type will have units of
+ * `meter`.
+ * @note `sqrt` provides a _rational approximation_ of the square root of <i>value</i>.
+ * In some cases, _both_ the returned value _and_ conversion factor of the returned
+ * unit type may have errors no larger than `1e-10`.
+ */
+ template<class UnitType, std::enable_if_t<units::traits::has_linear_scale<UnitType>::value, int> = 0>
+ inline auto sqrt(const UnitType& value) noexcept -> unit_t<square_root<typename units::traits::unit_t_traits<UnitType>::unit_type>, typename units::traits::unit_t_traits<UnitType>::underlying_type, linear_scale>
+ {
+ return unit_t<square_root<typename units::traits::unit_t_traits<UnitType>::unit_type>, typename units::traits::unit_t_traits<UnitType>::underlying_type, linear_scale>
+ (std::sqrt(value()));
+ }
+
+ /**
+ * @ingroup UnitMath
+ * @brief Computes the square root of the sum-of-squares of x and y.
+ * @details Only implemented for linear_scale units.
+ * @param[in] x unit_t type value
+ * @param[in] y unit_t type value
+ * @returns square root of the sum-of-squares of x and y in the same units
+ * as x.
+ */
+ template<class UnitTypeLhs, class UnitTypeRhs, std::enable_if_t<units::traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value, int> = 0>
+ inline UnitTypeLhs hypot(const UnitTypeLhs& x, const UnitTypeRhs& y)
+ {
+ static_assert(traits::is_convertible_unit_t<UnitTypeLhs, UnitTypeRhs>::value, "Parameters of hypot() function are not compatible units.");
+ return UnitTypeLhs(std::hypot(x(), y.template convert<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type>()()));
+ }
+
+ //----------------------------------
+ // ROUNDING FUNCTIONS
+ //----------------------------------
+
+ /**
+ * @ingroup UnitMath
+ * @brief Round up value
+ * @details Rounds x upward, returning the smallest integral value that is not less than x.
+ * @param[in] x Unit value to round up.
+ * @returns The smallest integral value that is not less than x.
+ */
+ template<class UnitType, class = std::enable_if_t<traits::is_unit_t<UnitType>::value>>
+ UnitType ceil(const UnitType x) noexcept
+ {
+ return UnitType(std::ceil(x()));
+ }
+
+ /**
+ * @ingroup UnitMath
+ * @brief Round down value
+ * @details Rounds x downward, returning the largest integral value that is not greater than x.
+ * @param[in] x Unit value to round down.
+ * @returns The value of x rounded downward.
+ */
+ template<class UnitType, class = std::enable_if_t<traits::is_unit_t<UnitType>::value>>
+ UnitType floor(const UnitType x) noexcept
+ {
+ return UnitType(std::floor(x()));
+ }
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute remainder of division
+ * @details Returns the floating-point remainder of numer/denom (rounded towards zero).
+ * @param[in] numer Value of the quotient numerator.
+ * @param[in] denom Value of the quotient denominator.
+ * @returns The remainder of dividing the arguments.
+ */
+ template<class UnitTypeLhs, class UnitTypeRhs, class = std::enable_if_t<traits::is_unit_t<UnitTypeLhs>::value && traits::is_unit_t<UnitTypeRhs>::value>>
+ UnitTypeLhs fmod(const UnitTypeLhs numer, const UnitTypeRhs denom) noexcept
+ {
+ static_assert(traits::is_convertible_unit_t<UnitTypeLhs, UnitTypeRhs>::value, "Parameters of fmod() function are not compatible units.");
+ return UnitTypeLhs(std::fmod(numer(), denom.template convert<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type>()()));
+ }
+
+ /**
+ * @ingroup UnitMath
+ * @brief Truncate value
+ * @details Rounds x toward zero, returning the nearest integral value that is not
+ * larger in magnitude than x. Effectively rounds towards 0.
+ * @param[in] x Value to truncate
+ * @returns The nearest integral value that is not larger in magnitude than x.
+ */
+ template<class UnitType, class = std::enable_if_t<traits::is_unit_t<UnitType>::value>>
+ UnitType trunc(const UnitType x) noexcept
+ {
+ return UnitType(std::trunc(x()));
+ }
+
+
+ /**
+ * @ingroup UnitMath
+ * @brief Round to nearest
+ * @details Returns the integral value that is nearest to x, with halfway cases rounded
+ * away from zero.
+ * @param[in] x value to round.
+ * @returns The value of x rounded to the nearest integral.
+ */
+ template<class UnitType, class = std::enable_if_t<traits::is_unit_t<UnitType>::value>>
+ UnitType round(const UnitType x) noexcept
+ {
+ return UnitType(std::round(x()));
+ }
+
+ //----------------------------------
+ // FLOATING POINT MANIPULATION
+ //----------------------------------
+
+ /**
+ * @ingroup UnitMath
+ * @brief Copy sign
+ * @details Returns a value with the magnitude and dimension of x, and the sign of y.
+ * Values x and y do not have to be compatible units.
+ * @param[in] x Value with the magnitude of the resulting value.
+ * @param[in] y Value with the sign of the resulting value.
+ * @returns value with the magnitude and dimension of x, and the sign of y.
+ */
+ template<class UnitTypeLhs, class UnitTypeRhs, class = std::enable_if_t<traits::is_unit_t<UnitTypeLhs>::value && traits::is_unit_t<UnitTypeRhs>::value>>
+ UnitTypeLhs copysign(const UnitTypeLhs x, const UnitTypeRhs y) noexcept
+ {
+ return UnitTypeLhs(std::copysign(x(), y())); // no need for conversion to get the correct sign.
+ }
+
+ /// Overload to copy the sign from a raw double
+ template<class UnitTypeLhs, class = std::enable_if_t<traits::is_unit_t<UnitTypeLhs>::value>>
+ UnitTypeLhs copysign(const UnitTypeLhs x, const UNIT_LIB_DEFAULT_TYPE y) noexcept
+ {
+ return UnitTypeLhs(std::copysign(x(), y));
+ }
+
+ //----------------------------------
+ // MIN / MAX / DIFFERENCE
+ //----------------------------------
+
+ /**
+ * @ingroup UnitMath
+ * @brief Positive difference
+ * @details The function returns x-y if x>y, and zero otherwise, in the same units as x.
+ * Values x and y do not have to be the same type of units, but they do have to
+ * be compatible.
+ * @param[in] x Values whose difference is calculated.
+ * @param[in] y Values whose difference is calculated.
+ * @returns The positive difference between x and y.
+ */
+ template<class UnitTypeLhs, class UnitTypeRhs, class = std::enable_if_t<traits::is_unit_t<UnitTypeLhs>::value && traits::is_unit_t<UnitTypeRhs>::value>>
+ UnitTypeLhs fdim(const UnitTypeLhs x, const UnitTypeRhs y) noexcept
+ {
+ static_assert(traits::is_convertible_unit_t<UnitTypeLhs, UnitTypeRhs>::value, "Parameters of fdim() function are not compatible units.");
+ return UnitTypeLhs(std::fdim(x(), y.template convert<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type>()()));
+ }
+
+ /**
+ * @ingroup UnitMath
+ * @brief Maximum value
+ * @details Returns the larger of its arguments: either x or y, in the same units as x.
+ * Values x and y do not have to be the same type of units, but they do have to
+ * be compatible.
+ * @param[in] x Values among which the function selects a maximum.
+ * @param[in] y Values among which the function selects a maximum.
+ * @returns The maximum numeric value of its arguments.
+ */
+ template<class UnitTypeLhs, class UnitTypeRhs, class = std::enable_if_t<traits::is_unit_t<UnitTypeLhs>::value && traits::is_unit_t<UnitTypeRhs>::value>>
+ UnitTypeLhs fmax(const UnitTypeLhs x, const UnitTypeRhs y) noexcept
+ {
+ static_assert(traits::is_convertible_unit_t<UnitTypeLhs, UnitTypeRhs>::value, "Parameters of fmax() function are not compatible units.");
+ return UnitTypeLhs(std::fmax(x(), y.template convert<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type>()()));
+ }
+
+ /**
+ * @ingroup UnitMath
+ * @brief Minimum value
+ * @details Returns the smaller of its arguments: either x or y, in the same units as x.
+ * If one of the arguments in a NaN, the other is returned.
+ * Values x and y do not have to be the same type of units, but they do have to
+ * be compatible.
+ * @param[in] x Values among which the function selects a minimum.
+ * @param[in] y Values among which the function selects a minimum.
+ * @returns The minimum numeric value of its arguments.
+ */
+ template<class UnitTypeLhs, class UnitTypeRhs, class = std::enable_if_t<traits::is_unit_t<UnitTypeLhs>::value && traits::is_unit_t<UnitTypeRhs>::value>>
+ UnitTypeLhs fmin(const UnitTypeLhs x, const UnitTypeRhs y) noexcept
+ {
+ static_assert(traits::is_convertible_unit_t<UnitTypeLhs, UnitTypeRhs>::value, "Parameters of fmin() function are not compatible units.");
+ return UnitTypeLhs(std::fmin(x(), y.template convert<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type>()()));
+ }
+
+ //----------------------------------
+ // OTHER FUNCTIONS
+ //----------------------------------
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute absolute value
+ * @details Returns the absolute value of x, i.e. |x|.
+ * @param[in] x Value whose absolute value is returned.
+ * @returns The absolute value of x.
+ */
+ template<class UnitType, class = std::enable_if_t<traits::is_unit_t<UnitType>::value>>
+ UnitType fabs(const UnitType x) noexcept
+ {
+ return UnitType(std::fabs(x()));
+ }
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute absolute value
+ * @details Returns the absolute value of x, i.e. |x|.
+ * @param[in] x Value whose absolute value is returned.
+ * @returns The absolute value of x.
+ */
+ template<class UnitType, class = std::enable_if_t<traits::is_unit_t<UnitType>::value>>
+ UnitType abs(const UnitType x) noexcept
+ {
+ return UnitType(std::fabs(x()));
+ }
+
+ /**
+ * @ingroup UnitMath
+ * @brief Multiply-add
+ * @details Returns x*y+z. The function computes the result without losing precision in
+ * any intermediate result. The resulting unit type is a compound unit of x* y.
+ * @param[in] x Values to be multiplied.
+ * @param[in] y Values to be multiplied.
+ * @param[in] z Value to be added.
+ * @returns The result of x*y+z
+ */
+ template<class UnitTypeLhs, class UnitMultiply, class UnitAdd, class = std::enable_if_t<traits::is_unit_t<UnitTypeLhs>::value && traits::is_unit_t<UnitMultiply>::value && traits::is_unit_t<UnitAdd>::value>>
+ auto fma(const UnitTypeLhs x, const UnitMultiply y, const UnitAdd z) noexcept -> decltype(x * y)
+ {
+ using resultType = decltype(x * y);
+ static_assert(traits::is_convertible_unit_t<compound_unit<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type, typename units::traits::unit_t_traits<UnitMultiply>::unit_type>, typename units::traits::unit_t_traits<UnitAdd>::unit_type>::value, "Unit types are not compatible.");
+ return resultType(std::fma(x(), y(), resultType(z)()));
+ }
+
+ } // end namespace math
+} // end namespace units
+
+//------------------------------
+// std::numeric_limits
+//------------------------------
+
+namespace std
+{
+ template<class Units, typename T, template<typename> class NonLinearScale>
+ class numeric_limits<units::unit_t<Units, T, NonLinearScale>>
+ {
+ public:
+ static constexpr units::unit_t<Units, T, NonLinearScale> min()
+ {
+ return units::unit_t<Units, T, NonLinearScale>(std::numeric_limits<T>::min());
+ }
+ static constexpr units::unit_t<Units, T, NonLinearScale> max()
+ {
+ return units::unit_t<Units, T, NonLinearScale>(std::numeric_limits<T>::max());
+ }
+ static constexpr units::unit_t<Units, T, NonLinearScale> lowest()
+ {
+ return units::unit_t<Units, T, NonLinearScale>(std::numeric_limits<T>::lowest());
+ }
+ };
+}
+
+#ifdef _MSC_VER
+# if _MSC_VER <= 1800
+# pragma warning(pop)
+# undef constexpr
+# pragma pop_macro("constexpr")
+# undef noexcept
+# pragma pop_macro("noexcept")
+# undef _ALLOW_KEYWORD_MACROS
+# endif // _MSC_VER < 1800
+# pragma pop_macro("pascal")
+#endif // _MSC_VER
+
+#endif // units_h__
+
+// For Emacs
+// Local Variables:
+// Mode: C++
+// c-basic-offset: 2
+// fill-column: 116
+// tab-width: 4
+// End:
+
+using namespace units::literals;
+
+namespace units {
+using namespace acceleration;
+using namespace angular_velocity;
+using namespace length;
+using namespace time;
+using namespace velocity;
+using namespace acceleration;
+using namespace angle;
+using namespace voltage;
+} // namespace units
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/uv.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/uv.h
deleted file mode 100644
index 0d62c18..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/uv.h
+++ /dev/null
@@ -1,1581 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-/* See https://github.com/libuv/libuv#documentation for documentation. */
-
-#ifndef UV_H
-#define UV_H
-
-#ifdef _WIN32
- /* Windows - set up dll import/export decorators. */
-# if defined(BUILDING_UV_SHARED)
- /* Building shared library. */
-# define UV_EXTERN __declspec(dllexport)
-# elif defined(USING_UV_SHARED)
- /* Using shared library. */
-# define UV_EXTERN __declspec(dllimport)
-# else
- /* Building static library. */
-# define UV_EXTERN /* nothing */
-# endif
-#elif __GNUC__ >= 4
-# define UV_EXTERN __attribute__((visibility("default")))
-#else
-# define UV_EXTERN /* nothing */
-#endif
-
-#include "uv/errno.h"
-#include "uv/version.h"
-#include <stddef.h>
-#include <stdio.h>
-
-#include <stdint.h>
-
-#if defined(_WIN32)
-# include "uv/win.h"
-#else
-# include "uv/unix.h"
-#endif
-
-/* Expand this list if necessary. */
-#define UV_ERRNO_MAP(XX) \
- XX(E2BIG, "argument list too long") \
- XX(EACCES, "permission denied") \
- XX(EADDRINUSE, "address already in use") \
- XX(EADDRNOTAVAIL, "address not available") \
- XX(EAFNOSUPPORT, "address family not supported") \
- XX(EAGAIN, "resource temporarily unavailable") \
- XX(EAI_ADDRFAMILY, "address family not supported") \
- XX(EAI_AGAIN, "temporary failure") \
- XX(EAI_BADFLAGS, "bad ai_flags value") \
- XX(EAI_BADHINTS, "invalid value for hints") \
- XX(EAI_CANCELED, "request canceled") \
- XX(EAI_FAIL, "permanent failure") \
- XX(EAI_FAMILY, "ai_family not supported") \
- XX(EAI_MEMORY, "out of memory") \
- XX(EAI_NODATA, "no address") \
- XX(EAI_NONAME, "unknown node or service") \
- XX(EAI_OVERFLOW, "argument buffer overflow") \
- XX(EAI_PROTOCOL, "resolved protocol is unknown") \
- XX(EAI_SERVICE, "service not available for socket type") \
- XX(EAI_SOCKTYPE, "socket type not supported") \
- XX(EALREADY, "connection already in progress") \
- XX(EBADF, "bad file descriptor") \
- XX(EBUSY, "resource busy or locked") \
- XX(ECANCELED, "operation canceled") \
- XX(ECHARSET, "invalid Unicode character") \
- XX(ECONNABORTED, "software caused connection abort") \
- XX(ECONNREFUSED, "connection refused") \
- XX(ECONNRESET, "connection reset by peer") \
- XX(EDESTADDRREQ, "destination address required") \
- XX(EEXIST, "file already exists") \
- XX(EFAULT, "bad address in system call argument") \
- XX(EFBIG, "file too large") \
- XX(EHOSTUNREACH, "host is unreachable") \
- XX(EINTR, "interrupted system call") \
- XX(EINVAL, "invalid argument") \
- XX(EIO, "i/o error") \
- XX(EISCONN, "socket is already connected") \
- XX(EISDIR, "illegal operation on a directory") \
- XX(ELOOP, "too many symbolic links encountered") \
- XX(EMFILE, "too many open files") \
- XX(EMSGSIZE, "message too long") \
- XX(ENAMETOOLONG, "name too long") \
- XX(ENETDOWN, "network is down") \
- XX(ENETUNREACH, "network is unreachable") \
- XX(ENFILE, "file table overflow") \
- XX(ENOBUFS, "no buffer space available") \
- XX(ENODEV, "no such device") \
- XX(ENOENT, "no such file or directory") \
- XX(ENOMEM, "not enough memory") \
- XX(ENONET, "machine is not on the network") \
- XX(ENOPROTOOPT, "protocol not available") \
- XX(ENOSPC, "no space left on device") \
- XX(ENOSYS, "function not implemented") \
- XX(ENOTCONN, "socket is not connected") \
- XX(ENOTDIR, "not a directory") \
- XX(ENOTEMPTY, "directory not empty") \
- XX(ENOTSOCK, "socket operation on non-socket") \
- XX(ENOTSUP, "operation not supported on socket") \
- XX(EPERM, "operation not permitted") \
- XX(EPIPE, "broken pipe") \
- XX(EPROTO, "protocol error") \
- XX(EPROTONOSUPPORT, "protocol not supported") \
- XX(EPROTOTYPE, "protocol wrong type for socket") \
- XX(ERANGE, "result too large") \
- XX(EROFS, "read-only file system") \
- XX(ESHUTDOWN, "cannot send after transport endpoint shutdown") \
- XX(ESPIPE, "invalid seek") \
- XX(ESRCH, "no such process") \
- XX(ETIMEDOUT, "connection timed out") \
- XX(ETXTBSY, "text file is busy") \
- XX(EXDEV, "cross-device link not permitted") \
- XX(UNKNOWN, "unknown error") \
- XX(EOF, "end of file") \
- XX(ENXIO, "no such device or address") \
- XX(EMLINK, "too many links") \
- XX(EHOSTDOWN, "host is down") \
- XX(EREMOTEIO, "remote I/O error") \
- XX(ENOTTY, "inappropriate ioctl for device") \
- XX(EFTYPE, "inappropriate file type or format") \
-
-#define UV_HANDLE_TYPE_MAP(XX) \
- XX(ASYNC, async) \
- XX(CHECK, check) \
- XX(FS_EVENT, fs_event) \
- XX(FS_POLL, fs_poll) \
- XX(HANDLE, handle) \
- XX(IDLE, idle) \
- XX(NAMED_PIPE, pipe) \
- XX(POLL, poll) \
- XX(PREPARE, prepare) \
- XX(PROCESS, process) \
- XX(STREAM, stream) \
- XX(TCP, tcp) \
- XX(TIMER, timer) \
- XX(TTY, tty) \
- XX(UDP, udp) \
- XX(SIGNAL, signal) \
-
-#define UV_REQ_TYPE_MAP(XX) \
- XX(REQ, req) \
- XX(CONNECT, connect) \
- XX(WRITE, write) \
- XX(SHUTDOWN, shutdown) \
- XX(UDP_SEND, udp_send) \
- XX(FS, fs) \
- XX(WORK, work) \
- XX(GETADDRINFO, getaddrinfo) \
- XX(GETNAMEINFO, getnameinfo) \
-
-typedef enum {
-#define XX(code, _) UV_ ## code = UV__ ## code,
- UV_ERRNO_MAP(XX)
-#undef XX
- UV_ERRNO_MAX = UV__EOF - 1
-} uv_errno_t;
-
-typedef enum {
- UV_UNKNOWN_HANDLE = 0,
-#define XX(uc, lc) UV_##uc,
- UV_HANDLE_TYPE_MAP(XX)
-#undef XX
- UV_FILE,
- UV_HANDLE_TYPE_MAX
-} uv_handle_type;
-
-typedef enum {
- UV_UNKNOWN_REQ = 0,
-#define XX(uc, lc) UV_##uc,
- UV_REQ_TYPE_MAP(XX)
-#undef XX
- UV_REQ_TYPE_PRIVATE
- UV_REQ_TYPE_MAX
-} uv_req_type;
-
-
-/* Handle types. */
-typedef struct uv_loop_s uv_loop_t;
-typedef struct uv_handle_s uv_handle_t;
-typedef struct uv_stream_s uv_stream_t;
-typedef struct uv_tcp_s uv_tcp_t;
-typedef struct uv_udp_s uv_udp_t;
-typedef struct uv_pipe_s uv_pipe_t;
-typedef struct uv_tty_s uv_tty_t;
-typedef struct uv_poll_s uv_poll_t;
-typedef struct uv_timer_s uv_timer_t;
-typedef struct uv_prepare_s uv_prepare_t;
-typedef struct uv_check_s uv_check_t;
-typedef struct uv_idle_s uv_idle_t;
-typedef struct uv_async_s uv_async_t;
-typedef struct uv_process_s uv_process_t;
-typedef struct uv_fs_event_s uv_fs_event_t;
-typedef struct uv_fs_poll_s uv_fs_poll_t;
-typedef struct uv_signal_s uv_signal_t;
-
-/* Request types. */
-typedef struct uv_req_s uv_req_t;
-typedef struct uv_getaddrinfo_s uv_getaddrinfo_t;
-typedef struct uv_getnameinfo_s uv_getnameinfo_t;
-typedef struct uv_shutdown_s uv_shutdown_t;
-typedef struct uv_write_s uv_write_t;
-typedef struct uv_connect_s uv_connect_t;
-typedef struct uv_udp_send_s uv_udp_send_t;
-typedef struct uv_fs_s uv_fs_t;
-typedef struct uv_work_s uv_work_t;
-
-/* None of the above. */
-typedef struct uv_cpu_info_s uv_cpu_info_t;
-typedef struct uv_interface_address_s uv_interface_address_t;
-typedef struct uv_dirent_s uv_dirent_t;
-typedef struct uv_passwd_s uv_passwd_t;
-
-typedef enum {
- UV_LOOP_BLOCK_SIGNAL
-} uv_loop_option;
-
-typedef enum {
- UV_RUN_DEFAULT = 0,
- UV_RUN_ONCE,
- UV_RUN_NOWAIT
-} uv_run_mode;
-
-
-UV_EXTERN unsigned int uv_version(void);
-UV_EXTERN const char* uv_version_string(void);
-
-typedef void* (*uv_malloc_func)(size_t size);
-typedef void* (*uv_realloc_func)(void* ptr, size_t size);
-typedef void* (*uv_calloc_func)(size_t count, size_t size);
-typedef void (*uv_free_func)(void* ptr);
-
-UV_EXTERN int uv_replace_allocator(uv_malloc_func malloc_func,
- uv_realloc_func realloc_func,
- uv_calloc_func calloc_func,
- uv_free_func free_func);
-
-UV_EXTERN uv_loop_t* uv_default_loop(void);
-UV_EXTERN int uv_loop_init(uv_loop_t* loop);
-UV_EXTERN int uv_loop_close(uv_loop_t* loop);
-/*
- * NOTE:
- * This function is DEPRECATED (to be removed after 0.12), users should
- * allocate the loop manually and use uv_loop_init instead.
- */
-UV_EXTERN uv_loop_t* uv_loop_new(void);
-/*
- * NOTE:
- * This function is DEPRECATED (to be removed after 0.12). Users should use
- * uv_loop_close and free the memory manually instead.
- */
-UV_EXTERN void uv_loop_delete(uv_loop_t*);
-UV_EXTERN size_t uv_loop_size(void);
-UV_EXTERN int uv_loop_alive(const uv_loop_t* loop);
-UV_EXTERN int uv_loop_configure(uv_loop_t* loop, uv_loop_option option, ...);
-UV_EXTERN int uv_loop_fork(uv_loop_t* loop);
-
-UV_EXTERN int uv_run(uv_loop_t*, uv_run_mode mode);
-UV_EXTERN void uv_stop(uv_loop_t*);
-
-UV_EXTERN void uv_ref(uv_handle_t*);
-UV_EXTERN void uv_unref(uv_handle_t*);
-UV_EXTERN int uv_has_ref(const uv_handle_t*);
-
-UV_EXTERN void uv_update_time(uv_loop_t*);
-UV_EXTERN uint64_t uv_now(const uv_loop_t*);
-
-UV_EXTERN int uv_backend_fd(const uv_loop_t*);
-UV_EXTERN int uv_backend_timeout(const uv_loop_t*);
-
-typedef void (*uv_alloc_cb)(uv_handle_t* handle,
- size_t suggested_size,
- uv_buf_t* buf);
-typedef void (*uv_read_cb)(uv_stream_t* stream,
- ssize_t nread,
- const uv_buf_t* buf);
-typedef void (*uv_write_cb)(uv_write_t* req, int status);
-typedef void (*uv_connect_cb)(uv_connect_t* req, int status);
-typedef void (*uv_shutdown_cb)(uv_shutdown_t* req, int status);
-typedef void (*uv_connection_cb)(uv_stream_t* server, int status);
-typedef void (*uv_close_cb)(uv_handle_t* handle);
-typedef void (*uv_poll_cb)(uv_poll_t* handle, int status, int events);
-typedef void (*uv_timer_cb)(uv_timer_t* handle);
-typedef void (*uv_async_cb)(uv_async_t* handle);
-typedef void (*uv_prepare_cb)(uv_prepare_t* handle);
-typedef void (*uv_check_cb)(uv_check_t* handle);
-typedef void (*uv_idle_cb)(uv_idle_t* handle);
-typedef void (*uv_exit_cb)(uv_process_t*, int64_t exit_status, int term_signal);
-typedef void (*uv_walk_cb)(uv_handle_t* handle, void* arg);
-typedef void (*uv_fs_cb)(uv_fs_t* req);
-typedef void (*uv_work_cb)(uv_work_t* req);
-typedef void (*uv_after_work_cb)(uv_work_t* req, int status);
-typedef void (*uv_getaddrinfo_cb)(uv_getaddrinfo_t* req,
- int status,
- struct addrinfo* res);
-typedef void (*uv_getnameinfo_cb)(uv_getnameinfo_t* req,
- int status,
- const char* hostname,
- const char* service);
-
-typedef struct {
- long tv_sec;
- long tv_nsec;
-} uv_timespec_t;
-
-
-typedef struct {
- uint64_t st_dev;
- uint64_t st_mode;
- uint64_t st_nlink;
- uint64_t st_uid;
- uint64_t st_gid;
- uint64_t st_rdev;
- uint64_t st_ino;
- uint64_t st_size;
- uint64_t st_blksize;
- uint64_t st_blocks;
- uint64_t st_flags;
- uint64_t st_gen;
- uv_timespec_t st_atim;
- uv_timespec_t st_mtim;
- uv_timespec_t st_ctim;
- uv_timespec_t st_birthtim;
-} uv_stat_t;
-
-
-typedef void (*uv_fs_event_cb)(uv_fs_event_t* handle,
- const char* filename,
- int events,
- int status);
-
-typedef void (*uv_fs_poll_cb)(uv_fs_poll_t* handle,
- int status,
- const uv_stat_t* prev,
- const uv_stat_t* curr);
-
-typedef void (*uv_signal_cb)(uv_signal_t* handle, int signum);
-
-
-typedef enum {
- UV_LEAVE_GROUP = 0,
- UV_JOIN_GROUP
-} uv_membership;
-
-
-UV_EXTERN int uv_translate_sys_error(int sys_errno);
-
-UV_EXTERN const char* uv_strerror(int err);
-UV_EXTERN const char* uv_err_name(int err);
-
-
-#define UV_REQ_FIELDS \
- /* public */ \
- void* data; \
- /* read-only */ \
- uv_req_type type; \
- /* private */ \
- void* reserved[6]; \
- UV_REQ_PRIVATE_FIELDS \
-
-/* Abstract base class of all requests. */
-struct uv_req_s {
- UV_REQ_FIELDS
-};
-
-
-/* Platform-specific request types. */
-UV_PRIVATE_REQ_TYPES
-
-
-UV_EXTERN int uv_shutdown(uv_shutdown_t* req,
- uv_stream_t* handle,
- uv_shutdown_cb cb);
-
-struct uv_shutdown_s {
- UV_REQ_FIELDS
- uv_stream_t* handle;
- uv_shutdown_cb cb;
- UV_SHUTDOWN_PRIVATE_FIELDS
-};
-
-
-#define UV_HANDLE_FIELDS \
- /* public */ \
- void* data; \
- /* read-only */ \
- uv_loop_t* loop; \
- uv_handle_type type; \
- /* private */ \
- uv_close_cb close_cb; \
- void* handle_queue[2]; \
- union { \
- int fd; \
- void* reserved[4]; \
- } u; \
- UV_HANDLE_PRIVATE_FIELDS \
-
-/* The abstract base class of all handles. */
-struct uv_handle_s {
- UV_HANDLE_FIELDS
-};
-
-UV_EXTERN size_t uv_handle_size(uv_handle_type type);
-UV_EXTERN uv_handle_type uv_handle_get_type(const uv_handle_t* handle);
-UV_EXTERN const char* uv_handle_type_name(uv_handle_type type);
-UV_EXTERN void* uv_handle_get_data(const uv_handle_t* handle);
-UV_EXTERN uv_loop_t* uv_handle_get_loop(const uv_handle_t* handle);
-UV_EXTERN void uv_handle_set_data(uv_handle_t* handle, void* data);
-
-UV_EXTERN size_t uv_req_size(uv_req_type type);
-UV_EXTERN void* uv_req_get_data(const uv_req_t* req);
-UV_EXTERN void uv_req_set_data(uv_req_t* req, void* data);
-UV_EXTERN uv_req_type uv_req_get_type(const uv_req_t* req);
-UV_EXTERN const char* uv_req_type_name(uv_req_type type);
-
-UV_EXTERN int uv_is_active(const uv_handle_t* handle);
-
-UV_EXTERN void uv_walk(uv_loop_t* loop, uv_walk_cb walk_cb, void* arg);
-
-/* Helpers for ad hoc debugging, no API/ABI stability guaranteed. */
-UV_EXTERN void uv_print_all_handles(uv_loop_t* loop, FILE* stream);
-UV_EXTERN void uv_print_active_handles(uv_loop_t* loop, FILE* stream);
-
-UV_EXTERN void uv_close(uv_handle_t* handle, uv_close_cb close_cb);
-
-UV_EXTERN int uv_send_buffer_size(uv_handle_t* handle, int* value);
-UV_EXTERN int uv_recv_buffer_size(uv_handle_t* handle, int* value);
-
-UV_EXTERN int uv_fileno(const uv_handle_t* handle, uv_os_fd_t* fd);
-
-UV_EXTERN uv_buf_t uv_buf_init(char* base, unsigned int len);
-
-
-#define UV_STREAM_FIELDS \
- /* number of bytes queued for writing */ \
- size_t write_queue_size; \
- uv_alloc_cb alloc_cb; \
- uv_read_cb read_cb; \
- /* private */ \
- UV_STREAM_PRIVATE_FIELDS
-
-/*
- * uv_stream_t is a subclass of uv_handle_t.
- *
- * uv_stream is an abstract class.
- *
- * uv_stream_t is the parent class of uv_tcp_t, uv_pipe_t and uv_tty_t.
- */
-struct uv_stream_s {
- UV_HANDLE_FIELDS
- UV_STREAM_FIELDS
-};
-
-UV_EXTERN size_t uv_stream_get_write_queue_size(const uv_stream_t* stream);
-
-UV_EXTERN int uv_listen(uv_stream_t* stream, int backlog, uv_connection_cb cb);
-UV_EXTERN int uv_accept(uv_stream_t* server, uv_stream_t* client);
-
-UV_EXTERN int uv_read_start(uv_stream_t*,
- uv_alloc_cb alloc_cb,
- uv_read_cb read_cb);
-UV_EXTERN int uv_read_stop(uv_stream_t*);
-
-UV_EXTERN int uv_write(uv_write_t* req,
- uv_stream_t* handle,
- const uv_buf_t bufs[],
- unsigned int nbufs,
- uv_write_cb cb);
-UV_EXTERN int uv_write2(uv_write_t* req,
- uv_stream_t* handle,
- const uv_buf_t bufs[],
- unsigned int nbufs,
- uv_stream_t* send_handle,
- uv_write_cb cb);
-UV_EXTERN int uv_try_write(uv_stream_t* handle,
- const uv_buf_t bufs[],
- unsigned int nbufs);
-
-/* uv_write_t is a subclass of uv_req_t. */
-struct uv_write_s {
- UV_REQ_FIELDS
- uv_write_cb cb;
- uv_stream_t* send_handle; /* TODO: make private and unix-only in v2.x. */
- uv_stream_t* handle;
- UV_WRITE_PRIVATE_FIELDS
-};
-
-
-UV_EXTERN int uv_is_readable(const uv_stream_t* handle);
-UV_EXTERN int uv_is_writable(const uv_stream_t* handle);
-
-UV_EXTERN int uv_stream_set_blocking(uv_stream_t* handle, int blocking);
-
-UV_EXTERN int uv_is_closing(const uv_handle_t* handle);
-
-
-/*
- * uv_tcp_t is a subclass of uv_stream_t.
- *
- * Represents a TCP stream or TCP server.
- */
-struct uv_tcp_s {
- UV_HANDLE_FIELDS
- UV_STREAM_FIELDS
- UV_TCP_PRIVATE_FIELDS
-};
-
-UV_EXTERN int uv_tcp_init(uv_loop_t*, uv_tcp_t* handle);
-UV_EXTERN int uv_tcp_init_ex(uv_loop_t*, uv_tcp_t* handle, unsigned int flags);
-UV_EXTERN int uv_tcp_open(uv_tcp_t* handle, uv_os_sock_t sock);
-UV_EXTERN int uv_tcp_nodelay(uv_tcp_t* handle, int enable);
-UV_EXTERN int uv_tcp_keepalive(uv_tcp_t* handle,
- int enable,
- unsigned int delay);
-UV_EXTERN int uv_tcp_simultaneous_accepts(uv_tcp_t* handle, int enable);
-
-enum uv_tcp_flags {
- /* Used with uv_tcp_bind, when an IPv6 address is used. */
- UV_TCP_IPV6ONLY = 1
-};
-
-UV_EXTERN int uv_tcp_bind(uv_tcp_t* handle,
- const struct sockaddr* addr,
- unsigned int flags);
-UV_EXTERN int uv_tcp_getsockname(const uv_tcp_t* handle,
- struct sockaddr* name,
- int* namelen);
-UV_EXTERN int uv_tcp_getpeername(const uv_tcp_t* handle,
- struct sockaddr* name,
- int* namelen);
-UV_EXTERN int uv_tcp_connect(uv_connect_t* req,
- uv_tcp_t* handle,
- const struct sockaddr* addr,
- uv_connect_cb cb);
-
-/* uv_connect_t is a subclass of uv_req_t. */
-struct uv_connect_s {
- UV_REQ_FIELDS
- uv_connect_cb cb;
- uv_stream_t* handle;
- UV_CONNECT_PRIVATE_FIELDS
-};
-
-
-/*
- * UDP support.
- */
-
-enum uv_udp_flags {
- /* Disables dual stack mode. */
- UV_UDP_IPV6ONLY = 1,
- /*
- * Indicates message was truncated because read buffer was too small. The
- * remainder was discarded by the OS. Used in uv_udp_recv_cb.
- */
- UV_UDP_PARTIAL = 2,
- /*
- * Indicates if SO_REUSEADDR will be set when binding the handle.
- * This sets the SO_REUSEPORT socket flag on the BSDs and OS X. On other
- * Unix platforms, it sets the SO_REUSEADDR flag. What that means is that
- * multiple threads or processes can bind to the same address without error
- * (provided they all set the flag) but only the last one to bind will receive
- * any traffic, in effect "stealing" the port from the previous listener.
- */
- UV_UDP_REUSEADDR = 4
-};
-
-typedef void (*uv_udp_send_cb)(uv_udp_send_t* req, int status);
-typedef void (*uv_udp_recv_cb)(uv_udp_t* handle,
- ssize_t nread,
- const uv_buf_t* buf,
- const struct sockaddr* addr,
- unsigned flags);
-
-/* uv_udp_t is a subclass of uv_handle_t. */
-struct uv_udp_s {
- UV_HANDLE_FIELDS
- /* read-only */
- /*
- * Number of bytes queued for sending. This field strictly shows how much
- * information is currently queued.
- */
- size_t send_queue_size;
- /*
- * Number of send requests currently in the queue awaiting to be processed.
- */
- size_t send_queue_count;
- UV_UDP_PRIVATE_FIELDS
-};
-
-/* uv_udp_send_t is a subclass of uv_req_t. */
-struct uv_udp_send_s {
- UV_REQ_FIELDS
- uv_udp_t* handle;
- uv_udp_send_cb cb;
- UV_UDP_SEND_PRIVATE_FIELDS
-};
-
-UV_EXTERN int uv_udp_init(uv_loop_t*, uv_udp_t* handle);
-UV_EXTERN int uv_udp_init_ex(uv_loop_t*, uv_udp_t* handle, unsigned int flags);
-UV_EXTERN int uv_udp_open(uv_udp_t* handle, uv_os_sock_t sock);
-UV_EXTERN int uv_udp_bind(uv_udp_t* handle,
- const struct sockaddr* addr,
- unsigned int flags);
-
-UV_EXTERN int uv_udp_getsockname(const uv_udp_t* handle,
- struct sockaddr* name,
- int* namelen);
-UV_EXTERN int uv_udp_set_membership(uv_udp_t* handle,
- const char* multicast_addr,
- const char* interface_addr,
- uv_membership membership);
-UV_EXTERN int uv_udp_set_multicast_loop(uv_udp_t* handle, int on);
-UV_EXTERN int uv_udp_set_multicast_ttl(uv_udp_t* handle, int ttl);
-UV_EXTERN int uv_udp_set_multicast_interface(uv_udp_t* handle,
- const char* interface_addr);
-UV_EXTERN int uv_udp_set_broadcast(uv_udp_t* handle, int on);
-UV_EXTERN int uv_udp_set_ttl(uv_udp_t* handle, int ttl);
-UV_EXTERN int uv_udp_send(uv_udp_send_t* req,
- uv_udp_t* handle,
- const uv_buf_t bufs[],
- unsigned int nbufs,
- const struct sockaddr* addr,
- uv_udp_send_cb send_cb);
-UV_EXTERN int uv_udp_try_send(uv_udp_t* handle,
- const uv_buf_t bufs[],
- unsigned int nbufs,
- const struct sockaddr* addr);
-UV_EXTERN int uv_udp_recv_start(uv_udp_t* handle,
- uv_alloc_cb alloc_cb,
- uv_udp_recv_cb recv_cb);
-UV_EXTERN int uv_udp_recv_stop(uv_udp_t* handle);
-UV_EXTERN size_t uv_udp_get_send_queue_size(const uv_udp_t* handle);
-UV_EXTERN size_t uv_udp_get_send_queue_count(const uv_udp_t* handle);
-
-
-/*
- * uv_tty_t is a subclass of uv_stream_t.
- *
- * Representing a stream for the console.
- */
-struct uv_tty_s {
- UV_HANDLE_FIELDS
- UV_STREAM_FIELDS
- UV_TTY_PRIVATE_FIELDS
-};
-
-typedef enum {
- /* Initial/normal terminal mode */
- UV_TTY_MODE_NORMAL,
- /* Raw input mode (On Windows, ENABLE_WINDOW_INPUT is also enabled) */
- UV_TTY_MODE_RAW,
- /* Binary-safe I/O mode for IPC (Unix-only) */
- UV_TTY_MODE_IO
-} uv_tty_mode_t;
-
-UV_EXTERN int uv_tty_init(uv_loop_t*, uv_tty_t*, uv_file fd, int readable);
-UV_EXTERN int uv_tty_set_mode(uv_tty_t*, uv_tty_mode_t mode);
-UV_EXTERN int uv_tty_reset_mode(void);
-UV_EXTERN int uv_tty_get_winsize(uv_tty_t*, int* width, int* height);
-
-inline int uv_tty_set_mode(uv_tty_t* handle, int mode) {
- return uv_tty_set_mode(handle, static_cast<uv_tty_mode_t>(mode));
-}
-
-UV_EXTERN uv_handle_type uv_guess_handle(uv_file file);
-
-/*
- * uv_pipe_t is a subclass of uv_stream_t.
- *
- * Representing a pipe stream or pipe server. On Windows this is a Named
- * Pipe. On Unix this is a Unix domain socket.
- */
-struct uv_pipe_s {
- UV_HANDLE_FIELDS
- UV_STREAM_FIELDS
- int ipc; /* non-zero if this pipe is used for passing handles */
- UV_PIPE_PRIVATE_FIELDS
-};
-
-UV_EXTERN int uv_pipe_init(uv_loop_t*, uv_pipe_t* handle, int ipc);
-UV_EXTERN int uv_pipe_open(uv_pipe_t*, uv_file file);
-UV_EXTERN int uv_pipe_bind(uv_pipe_t* handle, const char* name);
-UV_EXTERN void uv_pipe_connect(uv_connect_t* req,
- uv_pipe_t* handle,
- const char* name,
- uv_connect_cb cb);
-UV_EXTERN int uv_pipe_getsockname(const uv_pipe_t* handle,
- char* buffer,
- size_t* size);
-UV_EXTERN int uv_pipe_getpeername(const uv_pipe_t* handle,
- char* buffer,
- size_t* size);
-UV_EXTERN void uv_pipe_pending_instances(uv_pipe_t* handle, int count);
-UV_EXTERN int uv_pipe_pending_count(uv_pipe_t* handle);
-UV_EXTERN uv_handle_type uv_pipe_pending_type(uv_pipe_t* handle);
-UV_EXTERN int uv_pipe_chmod(uv_pipe_t* handle, int flags);
-
-
-struct uv_poll_s {
- UV_HANDLE_FIELDS
- uv_poll_cb poll_cb;
- UV_POLL_PRIVATE_FIELDS
-};
-
-enum uv_poll_event {
- UV_READABLE = 1,
- UV_WRITABLE = 2,
- UV_DISCONNECT = 4,
- UV_PRIORITIZED = 8
-};
-
-UV_EXTERN int uv_poll_init(uv_loop_t* loop, uv_poll_t* handle, int fd);
-UV_EXTERN int uv_poll_init_socket(uv_loop_t* loop,
- uv_poll_t* handle,
- uv_os_sock_t socket);
-UV_EXTERN int uv_poll_start(uv_poll_t* handle, int events, uv_poll_cb cb);
-UV_EXTERN int uv_poll_stop(uv_poll_t* handle);
-
-
-struct uv_prepare_s {
- UV_HANDLE_FIELDS
- UV_PREPARE_PRIVATE_FIELDS
-};
-
-UV_EXTERN int uv_prepare_init(uv_loop_t*, uv_prepare_t* prepare);
-UV_EXTERN int uv_prepare_start(uv_prepare_t* prepare, uv_prepare_cb cb);
-UV_EXTERN int uv_prepare_stop(uv_prepare_t* prepare);
-
-
-struct uv_check_s {
- UV_HANDLE_FIELDS
- UV_CHECK_PRIVATE_FIELDS
-};
-
-UV_EXTERN int uv_check_init(uv_loop_t*, uv_check_t* check);
-UV_EXTERN int uv_check_start(uv_check_t* check, uv_check_cb cb);
-UV_EXTERN int uv_check_stop(uv_check_t* check);
-
-
-struct uv_idle_s {
- UV_HANDLE_FIELDS
- UV_IDLE_PRIVATE_FIELDS
-};
-
-UV_EXTERN int uv_idle_init(uv_loop_t*, uv_idle_t* idle);
-UV_EXTERN int uv_idle_start(uv_idle_t* idle, uv_idle_cb cb);
-UV_EXTERN int uv_idle_stop(uv_idle_t* idle);
-
-
-struct uv_async_s {
- UV_HANDLE_FIELDS
- UV_ASYNC_PRIVATE_FIELDS
-};
-
-UV_EXTERN int uv_async_init(uv_loop_t*,
- uv_async_t* async,
- uv_async_cb async_cb);
-UV_EXTERN int uv_async_send(uv_async_t* async);
-
-
-/*
- * uv_timer_t is a subclass of uv_handle_t.
- *
- * Used to get woken up at a specified time in the future.
- */
-struct uv_timer_s {
- UV_HANDLE_FIELDS
- UV_TIMER_PRIVATE_FIELDS
-};
-
-UV_EXTERN int uv_timer_init(uv_loop_t*, uv_timer_t* handle);
-UV_EXTERN int uv_timer_start(uv_timer_t* handle,
- uv_timer_cb cb,
- uint64_t timeout,
- uint64_t repeat);
-UV_EXTERN int uv_timer_stop(uv_timer_t* handle);
-UV_EXTERN int uv_timer_again(uv_timer_t* handle);
-UV_EXTERN void uv_timer_set_repeat(uv_timer_t* handle, uint64_t repeat);
-UV_EXTERN uint64_t uv_timer_get_repeat(const uv_timer_t* handle);
-
-
-/*
- * uv_getaddrinfo_t is a subclass of uv_req_t.
- *
- * Request object for uv_getaddrinfo.
- */
-struct uv_getaddrinfo_s {
- UV_REQ_FIELDS
- /* read-only */
- uv_loop_t* loop;
- /* struct addrinfo* addrinfo is marked as private, but it really isn't. */
- UV_GETADDRINFO_PRIVATE_FIELDS
-};
-
-
-UV_EXTERN int uv_getaddrinfo(uv_loop_t* loop,
- uv_getaddrinfo_t* req,
- uv_getaddrinfo_cb getaddrinfo_cb,
- const char* node,
- const char* service,
- const struct addrinfo* hints);
-UV_EXTERN void uv_freeaddrinfo(struct addrinfo* ai);
-
-
-/*
-* uv_getnameinfo_t is a subclass of uv_req_t.
-*
-* Request object for uv_getnameinfo.
-*/
-struct uv_getnameinfo_s {
- UV_REQ_FIELDS
- /* read-only */
- uv_loop_t* loop;
- /* host and service are marked as private, but they really aren't. */
- UV_GETNAMEINFO_PRIVATE_FIELDS
-};
-
-UV_EXTERN int uv_getnameinfo(uv_loop_t* loop,
- uv_getnameinfo_t* req,
- uv_getnameinfo_cb getnameinfo_cb,
- const struct sockaddr* addr,
- int flags);
-
-
-/* uv_spawn() options. */
-typedef enum {
- UV_IGNORE = 0x00,
- UV_CREATE_PIPE = 0x01,
- UV_INHERIT_FD = 0x02,
- UV_INHERIT_STREAM = 0x04,
-
- /*
- * When UV_CREATE_PIPE is specified, UV_READABLE_PIPE and UV_WRITABLE_PIPE
- * determine the direction of flow, from the child process' perspective. Both
- * flags may be specified to create a duplex data stream.
- */
- UV_READABLE_PIPE = 0x10,
- UV_WRITABLE_PIPE = 0x20,
-
- /*
- * Open the child pipe handle in overlapped mode on Windows.
- * On Unix it is silently ignored.
- */
- UV_OVERLAPPED_PIPE = 0x40
-} uv_stdio_flags;
-
-typedef struct uv_stdio_container_s {
- uv_stdio_flags flags;
-
- union {
- uv_stream_t* stream;
- int fd;
- } data;
-} uv_stdio_container_t;
-
-typedef struct uv_process_options_s {
- uv_exit_cb exit_cb; /* Called after the process exits. */
- const char* file; /* Path to program to execute. */
- /*
- * Command line arguments. args[0] should be the path to the program. On
- * Windows this uses CreateProcess which concatenates the arguments into a
- * string this can cause some strange errors. See the note at
- * windows_verbatim_arguments.
- */
- char** args;
- /*
- * This will be set as the environ variable in the subprocess. If this is
- * NULL then the parents environ will be used.
- */
- char** env;
- /*
- * If non-null this represents a directory the subprocess should execute
- * in. Stands for current working directory.
- */
- const char* cwd;
- /*
- * Various flags that control how uv_spawn() behaves. See the definition of
- * `enum uv_process_flags` below.
- */
- unsigned int flags;
- /*
- * The `stdio` field points to an array of uv_stdio_container_t structs that
- * describe the file descriptors that will be made available to the child
- * process. The convention is that stdio[0] points to stdin, fd 1 is used for
- * stdout, and fd 2 is stderr.
- *
- * Note that on windows file descriptors greater than 2 are available to the
- * child process only if the child processes uses the MSVCRT runtime.
- */
- int stdio_count;
- uv_stdio_container_t* stdio;
- /*
- * Libuv can change the child process' user/group id. This happens only when
- * the appropriate bits are set in the flags fields. This is not supported on
- * windows; uv_spawn() will fail and set the error to UV_ENOTSUP.
- */
- uv_uid_t uid;
- uv_gid_t gid;
-} uv_process_options_t;
-
-/*
- * These are the flags that can be used for the uv_process_options.flags field.
- */
-enum uv_process_flags {
- /*
- * Set the child process' user id. The user id is supplied in the `uid` field
- * of the options struct. This does not work on windows; setting this flag
- * will cause uv_spawn() to fail.
- */
- UV_PROCESS_SETUID = (1 << 0),
- /*
- * Set the child process' group id. The user id is supplied in the `gid`
- * field of the options struct. This does not work on windows; setting this
- * flag will cause uv_spawn() to fail.
- */
- UV_PROCESS_SETGID = (1 << 1),
- /*
- * Do not wrap any arguments in quotes, or perform any other escaping, when
- * converting the argument list into a command line string. This option is
- * only meaningful on Windows systems. On Unix it is silently ignored.
- */
- UV_PROCESS_WINDOWS_VERBATIM_ARGUMENTS = (1 << 2),
- /*
- * Spawn the child process in a detached state - this will make it a process
- * group leader, and will effectively enable the child to keep running after
- * the parent exits. Note that the child process will still keep the
- * parent's event loop alive unless the parent process calls uv_unref() on
- * the child's process handle.
- */
- UV_PROCESS_DETACHED = (1 << 3),
- /*
- * Hide the subprocess console window that would normally be created. This
- * option is only meaningful on Windows systems. On Unix it is silently
- * ignored.
- */
- UV_PROCESS_WINDOWS_HIDE = (1 << 4)
-};
-
-/*
- * uv_process_t is a subclass of uv_handle_t.
- */
-struct uv_process_s {
- UV_HANDLE_FIELDS
- uv_exit_cb exit_cb;
- int pid;
- UV_PROCESS_PRIVATE_FIELDS
-};
-
-UV_EXTERN int uv_spawn(uv_loop_t* loop,
- uv_process_t* handle,
- const uv_process_options_t* options);
-UV_EXTERN int uv_process_kill(uv_process_t*, int signum);
-UV_EXTERN int uv_kill(int pid, int signum);
-UV_EXTERN uv_pid_t uv_process_get_pid(const uv_process_t*);
-
-
-/*
- * uv_work_t is a subclass of uv_req_t.
- */
-struct uv_work_s {
- UV_REQ_FIELDS
- uv_loop_t* loop;
- uv_work_cb work_cb;
- uv_after_work_cb after_work_cb;
- UV_WORK_PRIVATE_FIELDS
-};
-
-UV_EXTERN int uv_queue_work(uv_loop_t* loop,
- uv_work_t* req,
- uv_work_cb work_cb,
- uv_after_work_cb after_work_cb);
-
-UV_EXTERN int uv_cancel(uv_req_t* req);
-
-
-struct uv_cpu_times_s {
- uint64_t user;
- uint64_t nice;
- uint64_t sys;
- uint64_t idle;
- uint64_t irq;
-};
-
-struct uv_cpu_info_s {
- char* model;
- int speed;
- struct uv_cpu_times_s cpu_times;
-};
-
-struct uv_interface_address_s {
- char* name;
- char phys_addr[6];
- int is_internal;
- union {
- struct sockaddr_in address4;
- struct sockaddr_in6 address6;
- } address;
- union {
- struct sockaddr_in netmask4;
- struct sockaddr_in6 netmask6;
- } netmask;
-};
-
-struct uv_passwd_s {
- char* username;
- long uid;
- long gid;
- char* shell;
- char* homedir;
-};
-
-typedef enum {
- UV_DIRENT_UNKNOWN,
- UV_DIRENT_FILE,
- UV_DIRENT_DIR,
- UV_DIRENT_LINK,
- UV_DIRENT_FIFO,
- UV_DIRENT_SOCKET,
- UV_DIRENT_CHAR,
- UV_DIRENT_BLOCK
-} uv_dirent_type_t;
-
-struct uv_dirent_s {
- const char* name;
- uv_dirent_type_t type;
-};
-
-UV_EXTERN char** uv_setup_args(int argc, char** argv);
-UV_EXTERN int uv_get_process_title(char* buffer, size_t size);
-UV_EXTERN int uv_set_process_title(const char* title);
-UV_EXTERN int uv_resident_set_memory(size_t* rss);
-UV_EXTERN int uv_uptime(double* uptime);
-UV_EXTERN uv_os_fd_t uv_get_osfhandle(int fd);
-
-typedef struct {
- long tv_sec;
- long tv_usec;
-} uv_timeval_t;
-
-typedef struct {
- uv_timeval_t ru_utime; /* user CPU time used */
- uv_timeval_t ru_stime; /* system CPU time used */
- uint64_t ru_maxrss; /* maximum resident set size */
- uint64_t ru_ixrss; /* integral shared memory size */
- uint64_t ru_idrss; /* integral unshared data size */
- uint64_t ru_isrss; /* integral unshared stack size */
- uint64_t ru_minflt; /* page reclaims (soft page faults) */
- uint64_t ru_majflt; /* page faults (hard page faults) */
- uint64_t ru_nswap; /* swaps */
- uint64_t ru_inblock; /* block input operations */
- uint64_t ru_oublock; /* block output operations */
- uint64_t ru_msgsnd; /* IPC messages sent */
- uint64_t ru_msgrcv; /* IPC messages received */
- uint64_t ru_nsignals; /* signals received */
- uint64_t ru_nvcsw; /* voluntary context switches */
- uint64_t ru_nivcsw; /* involuntary context switches */
-} uv_rusage_t;
-
-UV_EXTERN int uv_getrusage(uv_rusage_t* rusage);
-
-UV_EXTERN int uv_os_homedir(char* buffer, size_t* size);
-UV_EXTERN int uv_os_tmpdir(char* buffer, size_t* size);
-UV_EXTERN int uv_os_get_passwd(uv_passwd_t* pwd);
-UV_EXTERN void uv_os_free_passwd(uv_passwd_t* pwd);
-UV_EXTERN uv_pid_t uv_os_getpid(void);
-UV_EXTERN uv_pid_t uv_os_getppid(void);
-
-UV_EXTERN int uv_cpu_info(uv_cpu_info_t** cpu_infos, int* count);
-UV_EXTERN void uv_free_cpu_info(uv_cpu_info_t* cpu_infos, int count);
-
-UV_EXTERN int uv_interface_addresses(uv_interface_address_t** addresses,
- int* count);
-UV_EXTERN void uv_free_interface_addresses(uv_interface_address_t* addresses,
- int count);
-
-UV_EXTERN int uv_os_getenv(const char* name, char* buffer, size_t* size);
-UV_EXTERN int uv_os_setenv(const char* name, const char* value);
-UV_EXTERN int uv_os_unsetenv(const char* name);
-
-UV_EXTERN int uv_os_gethostname(char* buffer, size_t* size);
-
-
-typedef enum {
- UV_FS_UNKNOWN = -1,
- UV_FS_CUSTOM,
- UV_FS_OPEN,
- UV_FS_CLOSE,
- UV_FS_READ,
- UV_FS_WRITE,
- UV_FS_SENDFILE,
- UV_FS_STAT,
- UV_FS_LSTAT,
- UV_FS_FSTAT,
- UV_FS_FTRUNCATE,
- UV_FS_UTIME,
- UV_FS_FUTIME,
- UV_FS_ACCESS,
- UV_FS_CHMOD,
- UV_FS_FCHMOD,
- UV_FS_FSYNC,
- UV_FS_FDATASYNC,
- UV_FS_UNLINK,
- UV_FS_RMDIR,
- UV_FS_MKDIR,
- UV_FS_MKDTEMP,
- UV_FS_RENAME,
- UV_FS_SCANDIR,
- UV_FS_LINK,
- UV_FS_SYMLINK,
- UV_FS_READLINK,
- UV_FS_CHOWN,
- UV_FS_FCHOWN,
- UV_FS_LCHOWN,
- UV_FS_REALPATH,
- UV_FS_COPYFILE
-} uv_fs_type;
-
-/* uv_fs_t is a subclass of uv_req_t. */
-struct uv_fs_s {
- UV_REQ_FIELDS
- uv_fs_type fs_type;
- uv_loop_t* loop;
- uv_fs_cb cb;
- ssize_t result;
- void* ptr;
- const char* path;
- uv_stat_t statbuf; /* Stores the result of uv_fs_stat() and uv_fs_fstat(). */
- UV_FS_PRIVATE_FIELDS
-};
-
-UV_EXTERN uv_fs_type uv_fs_get_type(const uv_fs_t*);
-UV_EXTERN ssize_t uv_fs_get_result(const uv_fs_t*);
-UV_EXTERN void* uv_fs_get_ptr(const uv_fs_t*);
-UV_EXTERN const char* uv_fs_get_path(const uv_fs_t*);
-UV_EXTERN uv_stat_t* uv_fs_get_statbuf(uv_fs_t*);
-
-UV_EXTERN void uv_fs_req_cleanup(uv_fs_t* req);
-UV_EXTERN int uv_fs_close(uv_loop_t* loop,
- uv_fs_t* req,
- uv_file file,
- uv_fs_cb cb);
-UV_EXTERN int uv_fs_open(uv_loop_t* loop,
- uv_fs_t* req,
- const char* path,
- int flags,
- int mode,
- uv_fs_cb cb);
-UV_EXTERN int uv_fs_read(uv_loop_t* loop,
- uv_fs_t* req,
- uv_file file,
- const uv_buf_t bufs[],
- unsigned int nbufs,
- int64_t offset,
- uv_fs_cb cb);
-UV_EXTERN int uv_fs_unlink(uv_loop_t* loop,
- uv_fs_t* req,
- const char* path,
- uv_fs_cb cb);
-UV_EXTERN int uv_fs_write(uv_loop_t* loop,
- uv_fs_t* req,
- uv_file file,
- const uv_buf_t bufs[],
- unsigned int nbufs,
- int64_t offset,
- uv_fs_cb cb);
-/*
- * This flag can be used with uv_fs_copyfile() to return an error if the
- * destination already exists.
- */
-#define UV_FS_COPYFILE_EXCL 0x0001
-
-/*
- * This flag can be used with uv_fs_copyfile() to attempt to create a reflink.
- * If copy-on-write is not supported, a fallback copy mechanism is used.
- */
-#define UV_FS_COPYFILE_FICLONE 0x0002
-
-/*
- * This flag can be used with uv_fs_copyfile() to attempt to create a reflink.
- * If copy-on-write is not supported, an error is returned.
- */
-#define UV_FS_COPYFILE_FICLONE_FORCE 0x0004
-
-UV_EXTERN int uv_fs_copyfile(uv_loop_t* loop,
- uv_fs_t* req,
- const char* path,
- const char* new_path,
- int flags,
- uv_fs_cb cb);
-UV_EXTERN int uv_fs_mkdir(uv_loop_t* loop,
- uv_fs_t* req,
- const char* path,
- int mode,
- uv_fs_cb cb);
-UV_EXTERN int uv_fs_mkdtemp(uv_loop_t* loop,
- uv_fs_t* req,
- const char* tpl,
- uv_fs_cb cb);
-UV_EXTERN int uv_fs_rmdir(uv_loop_t* loop,
- uv_fs_t* req,
- const char* path,
- uv_fs_cb cb);
-UV_EXTERN int uv_fs_scandir(uv_loop_t* loop,
- uv_fs_t* req,
- const char* path,
- int flags,
- uv_fs_cb cb);
-UV_EXTERN int uv_fs_scandir_next(uv_fs_t* req,
- uv_dirent_t* ent);
-UV_EXTERN int uv_fs_stat(uv_loop_t* loop,
- uv_fs_t* req,
- const char* path,
- uv_fs_cb cb);
-UV_EXTERN int uv_fs_fstat(uv_loop_t* loop,
- uv_fs_t* req,
- uv_file file,
- uv_fs_cb cb);
-UV_EXTERN int uv_fs_rename(uv_loop_t* loop,
- uv_fs_t* req,
- const char* path,
- const char* new_path,
- uv_fs_cb cb);
-UV_EXTERN int uv_fs_fsync(uv_loop_t* loop,
- uv_fs_t* req,
- uv_file file,
- uv_fs_cb cb);
-UV_EXTERN int uv_fs_fdatasync(uv_loop_t* loop,
- uv_fs_t* req,
- uv_file file,
- uv_fs_cb cb);
-UV_EXTERN int uv_fs_ftruncate(uv_loop_t* loop,
- uv_fs_t* req,
- uv_file file,
- int64_t offset,
- uv_fs_cb cb);
-UV_EXTERN int uv_fs_sendfile(uv_loop_t* loop,
- uv_fs_t* req,
- uv_file out_fd,
- uv_file in_fd,
- int64_t in_offset,
- size_t length,
- uv_fs_cb cb);
-UV_EXTERN int uv_fs_access(uv_loop_t* loop,
- uv_fs_t* req,
- const char* path,
- int mode,
- uv_fs_cb cb);
-UV_EXTERN int uv_fs_chmod(uv_loop_t* loop,
- uv_fs_t* req,
- const char* path,
- int mode,
- uv_fs_cb cb);
-UV_EXTERN int uv_fs_utime(uv_loop_t* loop,
- uv_fs_t* req,
- const char* path,
- double atime,
- double mtime,
- uv_fs_cb cb);
-UV_EXTERN int uv_fs_futime(uv_loop_t* loop,
- uv_fs_t* req,
- uv_file file,
- double atime,
- double mtime,
- uv_fs_cb cb);
-UV_EXTERN int uv_fs_lstat(uv_loop_t* loop,
- uv_fs_t* req,
- const char* path,
- uv_fs_cb cb);
-UV_EXTERN int uv_fs_link(uv_loop_t* loop,
- uv_fs_t* req,
- const char* path,
- const char* new_path,
- uv_fs_cb cb);
-
-/*
- * This flag can be used with uv_fs_symlink() on Windows to specify whether
- * path argument points to a directory.
- */
-#define UV_FS_SYMLINK_DIR 0x0001
-
-/*
- * This flag can be used with uv_fs_symlink() on Windows to specify whether
- * the symlink is to be created using junction points.
- */
-#define UV_FS_SYMLINK_JUNCTION 0x0002
-
-UV_EXTERN int uv_fs_symlink(uv_loop_t* loop,
- uv_fs_t* req,
- const char* path,
- const char* new_path,
- int flags,
- uv_fs_cb cb);
-UV_EXTERN int uv_fs_readlink(uv_loop_t* loop,
- uv_fs_t* req,
- const char* path,
- uv_fs_cb cb);
-UV_EXTERN int uv_fs_realpath(uv_loop_t* loop,
- uv_fs_t* req,
- const char* path,
- uv_fs_cb cb);
-UV_EXTERN int uv_fs_fchmod(uv_loop_t* loop,
- uv_fs_t* req,
- uv_file file,
- int mode,
- uv_fs_cb cb);
-UV_EXTERN int uv_fs_chown(uv_loop_t* loop,
- uv_fs_t* req,
- const char* path,
- uv_uid_t uid,
- uv_gid_t gid,
- uv_fs_cb cb);
-UV_EXTERN int uv_fs_fchown(uv_loop_t* loop,
- uv_fs_t* req,
- uv_file file,
- uv_uid_t uid,
- uv_gid_t gid,
- uv_fs_cb cb);
-UV_EXTERN int uv_fs_lchown(uv_loop_t* loop,
- uv_fs_t* req,
- const char* path,
- uv_uid_t uid,
- uv_gid_t gid,
- uv_fs_cb cb);
-
-
-enum uv_fs_event {
- UV_RENAME = 1,
- UV_CHANGE = 2
-};
-
-
-struct uv_fs_event_s {
- UV_HANDLE_FIELDS
- /* private */
- char* path;
- UV_FS_EVENT_PRIVATE_FIELDS
-};
-
-
-/*
- * uv_fs_stat() based polling file watcher.
- */
-struct uv_fs_poll_s {
- UV_HANDLE_FIELDS
- /* Private, don't touch. */
- void* poll_ctx;
-};
-
-UV_EXTERN int uv_fs_poll_init(uv_loop_t* loop, uv_fs_poll_t* handle);
-UV_EXTERN int uv_fs_poll_start(uv_fs_poll_t* handle,
- uv_fs_poll_cb poll_cb,
- const char* path,
- unsigned int interval);
-UV_EXTERN int uv_fs_poll_stop(uv_fs_poll_t* handle);
-UV_EXTERN int uv_fs_poll_getpath(uv_fs_poll_t* handle,
- char* buffer,
- size_t* size);
-
-
-struct uv_signal_s {
- UV_HANDLE_FIELDS
- uv_signal_cb signal_cb;
- int signum;
- UV_SIGNAL_PRIVATE_FIELDS
-};
-
-UV_EXTERN int uv_signal_init(uv_loop_t* loop, uv_signal_t* handle);
-UV_EXTERN int uv_signal_start(uv_signal_t* handle,
- uv_signal_cb signal_cb,
- int signum);
-UV_EXTERN int uv_signal_start_oneshot(uv_signal_t* handle,
- uv_signal_cb signal_cb,
- int signum);
-UV_EXTERN int uv_signal_stop(uv_signal_t* handle);
-
-UV_EXTERN void uv_loadavg(double avg[3]);
-
-
-/*
- * Flags to be passed to uv_fs_event_start().
- */
-enum uv_fs_event_flags {
- /*
- * By default, if the fs event watcher is given a directory name, we will
- * watch for all events in that directory. This flags overrides this behavior
- * and makes fs_event report only changes to the directory entry itself. This
- * flag does not affect individual files watched.
- * This flag is currently not implemented yet on any backend.
- */
- UV_FS_EVENT_WATCH_ENTRY = 1,
-
- /*
- * By default uv_fs_event will try to use a kernel interface such as inotify
- * or kqueue to detect events. This may not work on remote filesystems such
- * as NFS mounts. This flag makes fs_event fall back to calling stat() on a
- * regular interval.
- * This flag is currently not implemented yet on any backend.
- */
- UV_FS_EVENT_STAT = 2,
-
- /*
- * By default, event watcher, when watching directory, is not registering
- * (is ignoring) changes in it's subdirectories.
- * This flag will override this behaviour on platforms that support it.
- */
- UV_FS_EVENT_RECURSIVE = 4
-};
-
-
-UV_EXTERN int uv_fs_event_init(uv_loop_t* loop, uv_fs_event_t* handle);
-UV_EXTERN int uv_fs_event_start(uv_fs_event_t* handle,
- uv_fs_event_cb cb,
- const char* path,
- unsigned int flags);
-UV_EXTERN int uv_fs_event_stop(uv_fs_event_t* handle);
-UV_EXTERN int uv_fs_event_getpath(uv_fs_event_t* handle,
- char* buffer,
- size_t* size);
-
-UV_EXTERN int uv_ip4_addr(const char* ip, int port, struct sockaddr_in* addr);
-UV_EXTERN int uv_ip6_addr(const char* ip, int port, struct sockaddr_in6* addr);
-
-UV_EXTERN int uv_ip4_name(const struct sockaddr_in* src, char* dst, size_t size);
-UV_EXTERN int uv_ip6_name(const struct sockaddr_in6* src, char* dst, size_t size);
-
-UV_EXTERN int uv_inet_ntop(int af, const void* src, char* dst, size_t size);
-UV_EXTERN int uv_inet_pton(int af, const char* src, void* dst);
-
-#if defined(IF_NAMESIZE)
-# define UV_IF_NAMESIZE (IF_NAMESIZE + 1)
-#elif defined(IFNAMSIZ)
-# define UV_IF_NAMESIZE (IFNAMSIZ + 1)
-#else
-# define UV_IF_NAMESIZE (16 + 1)
-#endif
-
-UV_EXTERN int uv_if_indextoname(unsigned int ifindex,
- char* buffer,
- size_t* size);
-UV_EXTERN int uv_if_indextoiid(unsigned int ifindex,
- char* buffer,
- size_t* size);
-
-UV_EXTERN int uv_exepath(char* buffer, size_t* size);
-
-UV_EXTERN int uv_cwd(char* buffer, size_t* size);
-
-UV_EXTERN int uv_chdir(const char* dir);
-
-UV_EXTERN uint64_t uv_get_free_memory(void);
-UV_EXTERN uint64_t uv_get_total_memory(void);
-
-UV_EXTERN uint64_t uv_hrtime(void);
-
-UV_EXTERN void uv_disable_stdio_inheritance(void);
-
-UV_EXTERN int uv_dlopen(const char* filename, uv_lib_t* lib);
-UV_EXTERN void uv_dlclose(uv_lib_t* lib);
-UV_EXTERN int uv_dlsym(uv_lib_t* lib, const char* name, void** ptr);
-UV_EXTERN const char* uv_dlerror(const uv_lib_t* lib);
-
-UV_EXTERN int uv_mutex_init(uv_mutex_t* handle);
-UV_EXTERN int uv_mutex_init_recursive(uv_mutex_t* handle);
-UV_EXTERN void uv_mutex_destroy(uv_mutex_t* handle);
-UV_EXTERN void uv_mutex_lock(uv_mutex_t* handle);
-UV_EXTERN int uv_mutex_trylock(uv_mutex_t* handle);
-UV_EXTERN void uv_mutex_unlock(uv_mutex_t* handle);
-
-UV_EXTERN int uv_rwlock_init(uv_rwlock_t* rwlock);
-UV_EXTERN void uv_rwlock_destroy(uv_rwlock_t* rwlock);
-UV_EXTERN void uv_rwlock_rdlock(uv_rwlock_t* rwlock);
-UV_EXTERN int uv_rwlock_tryrdlock(uv_rwlock_t* rwlock);
-UV_EXTERN void uv_rwlock_rdunlock(uv_rwlock_t* rwlock);
-UV_EXTERN void uv_rwlock_wrlock(uv_rwlock_t* rwlock);
-UV_EXTERN int uv_rwlock_trywrlock(uv_rwlock_t* rwlock);
-UV_EXTERN void uv_rwlock_wrunlock(uv_rwlock_t* rwlock);
-
-UV_EXTERN int uv_sem_init(uv_sem_t* sem, unsigned int value);
-UV_EXTERN void uv_sem_destroy(uv_sem_t* sem);
-UV_EXTERN void uv_sem_post(uv_sem_t* sem);
-UV_EXTERN void uv_sem_wait(uv_sem_t* sem);
-UV_EXTERN int uv_sem_trywait(uv_sem_t* sem);
-
-UV_EXTERN int uv_cond_init(uv_cond_t* cond);
-UV_EXTERN void uv_cond_destroy(uv_cond_t* cond);
-UV_EXTERN void uv_cond_signal(uv_cond_t* cond);
-UV_EXTERN void uv_cond_broadcast(uv_cond_t* cond);
-
-UV_EXTERN int uv_barrier_init(uv_barrier_t* barrier, unsigned int count);
-UV_EXTERN void uv_barrier_destroy(uv_barrier_t* barrier);
-UV_EXTERN int uv_barrier_wait(uv_barrier_t* barrier);
-
-UV_EXTERN void uv_cond_wait(uv_cond_t* cond, uv_mutex_t* mutex);
-UV_EXTERN int uv_cond_timedwait(uv_cond_t* cond,
- uv_mutex_t* mutex,
- uint64_t timeout);
-
-UV_EXTERN void uv_once(uv_once_t* guard, void (*callback)(void));
-
-UV_EXTERN int uv_key_create(uv_key_t* key);
-UV_EXTERN void uv_key_delete(uv_key_t* key);
-UV_EXTERN void* uv_key_get(uv_key_t* key);
-UV_EXTERN void uv_key_set(uv_key_t* key, void* value);
-
-typedef void (*uv_thread_cb)(void* arg);
-
-UV_EXTERN int uv_thread_create(uv_thread_t* tid, uv_thread_cb entry, void* arg);
-UV_EXTERN uv_thread_t uv_thread_self(void);
-UV_EXTERN int uv_thread_join(uv_thread_t *tid);
-UV_EXTERN int uv_thread_equal(const uv_thread_t* t1, const uv_thread_t* t2);
-
-/* The presence of these unions force similar struct layout. */
-#define XX(_, name) uv_ ## name ## _t name;
-union uv_any_handle {
- UV_HANDLE_TYPE_MAP(XX)
-};
-
-union uv_any_req {
- UV_REQ_TYPE_MAP(XX)
-};
-#undef XX
-
-
-struct uv_loop_s {
- /* User data - use this for whatever. */
- void* data;
- /* Loop reference counting. */
- unsigned int active_handles;
- void* handle_queue[2];
- union {
- void* unused[2];
- unsigned int count;
- } active_reqs;
- /* Internal flag to signal loop stop. */
- unsigned int stop_flag;
- UV_LOOP_PRIVATE_FIELDS
-};
-
-UV_EXTERN void* uv_loop_get_data(const uv_loop_t*);
-UV_EXTERN void uv_loop_set_data(uv_loop_t*, void* data);
-
-/* Don't export the private CPP symbols. */
-#undef UV_HANDLE_TYPE_PRIVATE
-#undef UV_REQ_TYPE_PRIVATE
-#undef UV_REQ_PRIVATE_FIELDS
-#undef UV_STREAM_PRIVATE_FIELDS
-#undef UV_TCP_PRIVATE_FIELDS
-#undef UV_PREPARE_PRIVATE_FIELDS
-#undef UV_CHECK_PRIVATE_FIELDS
-#undef UV_IDLE_PRIVATE_FIELDS
-#undef UV_ASYNC_PRIVATE_FIELDS
-#undef UV_TIMER_PRIVATE_FIELDS
-#undef UV_GETADDRINFO_PRIVATE_FIELDS
-#undef UV_GETNAMEINFO_PRIVATE_FIELDS
-#undef UV_FS_REQ_PRIVATE_FIELDS
-#undef UV_WORK_PRIVATE_FIELDS
-#undef UV_FS_EVENT_PRIVATE_FIELDS
-#undef UV_SIGNAL_PRIVATE_FIELDS
-#undef UV_LOOP_PRIVATE_FIELDS
-#undef UV_LOOP_PRIVATE_PLATFORM_FIELDS
-#undef UV__ERR
-
-#endif /* UV_H */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/uv/pthread-barrier.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/uv/pthread-barrier.h
deleted file mode 100644
index 07db9b8..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/uv/pthread-barrier.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/*
-Copyright (c) 2016, Kari Tristan Helgason <kthelgason@gmail.com>
-
-Permission to use, copy, modify, and/or distribute this software for any
-purpose with or without fee is hereby granted, provided that the above
-copyright notice and this permission notice appear in all copies.
-
-THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
-WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
-MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
-ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
-WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
-ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
-OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
-*/
-
-#ifndef _UV_PTHREAD_BARRIER_
-#define _UV_PTHREAD_BARRIER_
-#include <errno.h>
-#include <pthread.h>
-#if !defined(__MVS__)
-#include <semaphore.h> /* sem_t */
-#endif
-
-#define PTHREAD_BARRIER_SERIAL_THREAD 0x12345
-#define UV__PTHREAD_BARRIER_FALLBACK 1
-
-/*
- * To maintain ABI compatibility with
- * libuv v1.x struct is padded according
- * to target platform
- */
-#if defined(__ANDROID__)
-# define UV_BARRIER_STRUCT_PADDING \
- sizeof(pthread_mutex_t) + \
- sizeof(pthread_cond_t) + \
- sizeof(unsigned int) - \
- sizeof(void *)
-#elif defined(__APPLE__)
-# define UV_BARRIER_STRUCT_PADDING \
- sizeof(pthread_mutex_t) + \
- 2 * sizeof(sem_t) + \
- 2 * sizeof(unsigned int) - \
- sizeof(void *)
-#else
-# define UV_BARRIER_STRUCT_PADDING 0
-#endif
-
-typedef struct {
- pthread_mutex_t mutex;
- pthread_cond_t cond;
- unsigned threshold;
- unsigned in;
- unsigned out;
-} _uv_barrier;
-
-typedef struct {
- _uv_barrier* b;
- char _pad[UV_BARRIER_STRUCT_PADDING];
-} pthread_barrier_t;
-
-int pthread_barrier_init(pthread_barrier_t* barrier,
- const void* barrier_attr,
- unsigned count);
-
-int pthread_barrier_wait(pthread_barrier_t* barrier);
-int pthread_barrier_destroy(pthread_barrier_t *barrier);
-
-#endif /* _UV_PTHREAD_BARRIER_ */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/uv/unix.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/uv/unix.h
deleted file mode 100644
index 5dae6dd..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/uv/unix.h
+++ /dev/null
@@ -1,458 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#ifndef UV_UNIX_H
-#define UV_UNIX_H
-
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <fcntl.h>
-#include <dirent.h>
-
-#include <sys/socket.h>
-#include <netinet/in.h>
-#include <netinet/tcp.h>
-#include <arpa/inet.h>
-#include <netdb.h>
-
-#include <termios.h>
-#include <pwd.h>
-
-#if !defined(__MVS__)
-#include <semaphore.h>
-#endif
-#include <pthread.h>
-#include <signal.h>
-
-#include "uv/threadpool.h"
-
-#if defined(__linux__)
-# include "uv/linux.h"
-#elif defined(__PASE__)
-# include "uv/posix.h"
-#elif defined(__APPLE__)
-# include "uv/darwin.h"
-#elif defined(__DragonFly__) || \
- defined(__FreeBSD__) || \
- defined(__FreeBSD_kernel__) || \
- defined(__OpenBSD__) || \
- defined(__NetBSD__)
-# include "uv/bsd.h"
-#elif defined(__CYGWIN__) || defined(__MSYS__)
-# include "uv/posix.h"
-#endif
-
-#ifndef PTHREAD_BARRIER_SERIAL_THREAD
-# include "uv/pthread-barrier.h"
-#endif
-
-#ifndef NI_MAXHOST
-# define NI_MAXHOST 1025
-#endif
-
-#ifndef NI_MAXSERV
-# define NI_MAXSERV 32
-#endif
-
-#ifndef UV_IO_PRIVATE_PLATFORM_FIELDS
-# define UV_IO_PRIVATE_PLATFORM_FIELDS /* empty */
-#endif
-
-struct uv__io_s;
-struct uv_loop_s;
-
-typedef void (*uv__io_cb)(struct uv_loop_s* loop,
- struct uv__io_s* w,
- unsigned int events);
-typedef struct uv__io_s uv__io_t;
-
-struct uv__io_s {
- uv__io_cb cb;
- void* pending_queue[2];
- void* watcher_queue[2];
- unsigned int pevents; /* Pending event mask i.e. mask at next tick. */
- unsigned int events; /* Current event mask. */
- int fd;
- UV_IO_PRIVATE_PLATFORM_FIELDS
-};
-
-#ifndef UV_PLATFORM_SEM_T
-# define UV_PLATFORM_SEM_T sem_t
-#endif
-
-#ifndef UV_PLATFORM_LOOP_FIELDS
-# define UV_PLATFORM_LOOP_FIELDS /* empty */
-#endif
-
-#ifndef UV_PLATFORM_FS_EVENT_FIELDS
-# define UV_PLATFORM_FS_EVENT_FIELDS /* empty */
-#endif
-
-#ifndef UV_STREAM_PRIVATE_PLATFORM_FIELDS
-# define UV_STREAM_PRIVATE_PLATFORM_FIELDS /* empty */
-#endif
-
-/* Note: May be cast to struct iovec. See writev(2). */
-typedef struct uv_buf_t {
- char* base;
- size_t len;
-} uv_buf_t;
-
-typedef int uv_file;
-typedef int uv_os_sock_t;
-typedef int uv_os_fd_t;
-typedef pid_t uv_pid_t;
-
-#define UV_ONCE_INIT PTHREAD_ONCE_INIT
-
-typedef pthread_once_t uv_once_t;
-typedef pthread_t uv_thread_t;
-typedef pthread_mutex_t uv_mutex_t;
-typedef pthread_rwlock_t uv_rwlock_t;
-typedef UV_PLATFORM_SEM_T uv_sem_t;
-typedef pthread_cond_t uv_cond_t;
-typedef pthread_key_t uv_key_t;
-typedef pthread_barrier_t uv_barrier_t;
-
-
-/* Platform-specific definitions for uv_spawn support. */
-typedef gid_t uv_gid_t;
-typedef uid_t uv_uid_t;
-
-typedef struct dirent uv__dirent_t;
-
-#if defined(DT_UNKNOWN)
-# define HAVE_DIRENT_TYPES
-# if defined(DT_REG)
-# define UV__DT_FILE DT_REG
-# else
-# define UV__DT_FILE -1
-# endif
-# if defined(DT_DIR)
-# define UV__DT_DIR DT_DIR
-# else
-# define UV__DT_DIR -2
-# endif
-# if defined(DT_LNK)
-# define UV__DT_LINK DT_LNK
-# else
-# define UV__DT_LINK -3
-# endif
-# if defined(DT_FIFO)
-# define UV__DT_FIFO DT_FIFO
-# else
-# define UV__DT_FIFO -4
-# endif
-# if defined(DT_SOCK)
-# define UV__DT_SOCKET DT_SOCK
-# else
-# define UV__DT_SOCKET -5
-# endif
-# if defined(DT_CHR)
-# define UV__DT_CHAR DT_CHR
-# else
-# define UV__DT_CHAR -6
-# endif
-# if defined(DT_BLK)
-# define UV__DT_BLOCK DT_BLK
-# else
-# define UV__DT_BLOCK -7
-# endif
-#endif
-
-/* Platform-specific definitions for uv_dlopen support. */
-#define UV_DYNAMIC /* empty */
-
-typedef struct {
- void* handle;
- char* errmsg;
-} uv_lib_t;
-
-#define UV_LOOP_PRIVATE_FIELDS \
- unsigned long flags; \
- int backend_fd; \
- void* pending_queue[2]; \
- void* watcher_queue[2]; \
- uv__io_t** watchers; \
- unsigned int nwatchers; \
- unsigned int nfds; \
- void* wq[2]; \
- uv_mutex_t wq_mutex; \
- uv_async_t wq_async; \
- uv_rwlock_t cloexec_lock; \
- uv_handle_t* closing_handles; \
- void* process_handles[2]; \
- void* prepare_handles[2]; \
- void* check_handles[2]; \
- void* idle_handles[2]; \
- void* async_handles[2]; \
- void (*async_unused)(void); /* TODO(bnoordhuis) Remove in libuv v2. */ \
- uv__io_t async_io_watcher; \
- int async_wfd; \
- struct { \
- void* min; \
- unsigned int nelts; \
- } timer_heap; \
- uint64_t timer_counter; \
- uint64_t time; \
- int signal_pipefd[2]; \
- uv__io_t signal_io_watcher; \
- uv_signal_t child_watcher; \
- int emfile_fd; \
- UV_PLATFORM_LOOP_FIELDS \
-
-#define UV_REQ_TYPE_PRIVATE /* empty */
-
-#define UV_REQ_PRIVATE_FIELDS /* empty */
-
-#define UV_PRIVATE_REQ_TYPES /* empty */
-
-#define UV_WRITE_PRIVATE_FIELDS \
- void* queue[2]; \
- unsigned int write_index; \
- uv_buf_t* bufs; \
- unsigned int nbufs; \
- int error; \
- uv_buf_t bufsml[4]; \
-
-#define UV_CONNECT_PRIVATE_FIELDS \
- void* queue[2]; \
-
-#define UV_SHUTDOWN_PRIVATE_FIELDS /* empty */
-
-#define UV_UDP_SEND_PRIVATE_FIELDS \
- void* queue[2]; \
- struct sockaddr_storage addr; \
- unsigned int nbufs; \
- uv_buf_t* bufs; \
- ssize_t status; \
- uv_udp_send_cb send_cb; \
- uv_buf_t bufsml[4]; \
-
-#define UV_HANDLE_PRIVATE_FIELDS \
- uv_handle_t* next_closing; \
- unsigned int flags; \
-
-#define UV_STREAM_PRIVATE_FIELDS \
- uv_connect_t *connect_req; \
- uv_shutdown_t *shutdown_req; \
- uv__io_t io_watcher; \
- void* write_queue[2]; \
- void* write_completed_queue[2]; \
- uv_connection_cb connection_cb; \
- int delayed_error; \
- int accepted_fd; \
- void* queued_fds; \
- UV_STREAM_PRIVATE_PLATFORM_FIELDS \
-
-#define UV_TCP_PRIVATE_FIELDS /* empty */
-
-#define UV_UDP_PRIVATE_FIELDS \
- uv_alloc_cb alloc_cb; \
- uv_udp_recv_cb recv_cb; \
- uv__io_t io_watcher; \
- void* write_queue[2]; \
- void* write_completed_queue[2]; \
-
-#define UV_PIPE_PRIVATE_FIELDS \
- const char* pipe_fname; /* strdup'ed */
-
-#define UV_POLL_PRIVATE_FIELDS \
- uv__io_t io_watcher;
-
-#define UV_PREPARE_PRIVATE_FIELDS \
- uv_prepare_cb prepare_cb; \
- void* queue[2]; \
-
-#define UV_CHECK_PRIVATE_FIELDS \
- uv_check_cb check_cb; \
- void* queue[2]; \
-
-#define UV_IDLE_PRIVATE_FIELDS \
- uv_idle_cb idle_cb; \
- void* queue[2]; \
-
-#define UV_ASYNC_PRIVATE_FIELDS \
- uv_async_cb async_cb; \
- void* queue[2]; \
- int pending; \
-
-#define UV_TIMER_PRIVATE_FIELDS \
- uv_timer_cb timer_cb; \
- void* heap_node[3]; \
- uint64_t timeout; \
- uint64_t repeat; \
- uint64_t start_id;
-
-#define UV_GETADDRINFO_PRIVATE_FIELDS \
- struct uv__work work_req; \
- uv_getaddrinfo_cb cb; \
- struct addrinfo* hints; \
- char* hostname; \
- char* service; \
- struct addrinfo* addrinfo; \
- int retcode;
-
-#define UV_GETNAMEINFO_PRIVATE_FIELDS \
- struct uv__work work_req; \
- uv_getnameinfo_cb getnameinfo_cb; \
- struct sockaddr_storage storage; \
- int flags; \
- char host[NI_MAXHOST]; \
- char service[NI_MAXSERV]; \
- int retcode;
-
-#define UV_PROCESS_PRIVATE_FIELDS \
- void* queue[2]; \
- int status; \
-
-#define UV_FS_PRIVATE_FIELDS \
- const char *new_path; \
- uv_file file; \
- int flags; \
- mode_t mode; \
- unsigned int nbufs; \
- uv_buf_t* bufs; \
- off_t off; \
- uv_uid_t uid; \
- uv_gid_t gid; \
- double atime; \
- double mtime; \
- struct uv__work work_req; \
- uv_buf_t bufsml[4]; \
-
-#define UV_WORK_PRIVATE_FIELDS \
- struct uv__work work_req;
-
-#define UV_TTY_PRIVATE_FIELDS \
- struct termios orig_termios; \
- int mode;
-
-#define UV_SIGNAL_PRIVATE_FIELDS \
- /* RB_ENTRY(uv_signal_s) tree_entry; */ \
- struct { \
- struct uv_signal_s* rbe_left; \
- struct uv_signal_s* rbe_right; \
- struct uv_signal_s* rbe_parent; \
- int rbe_color; \
- } tree_entry; \
- /* Use two counters here so we don have to fiddle with atomics. */ \
- unsigned int caught_signals; \
- unsigned int dispatched_signals;
-
-#define UV_FS_EVENT_PRIVATE_FIELDS \
- uv_fs_event_cb cb; \
- UV_PLATFORM_FS_EVENT_FIELDS \
-
-/* fs open() flags supported on this platform: */
-#if defined(O_APPEND)
-# define UV_FS_O_APPEND O_APPEND
-#else
-# define UV_FS_O_APPEND 0
-#endif
-#if defined(O_CREAT)
-# define UV_FS_O_CREAT O_CREAT
-#else
-# define UV_FS_O_CREAT 0
-#endif
-#if defined(O_DIRECT)
-# define UV_FS_O_DIRECT O_DIRECT
-#else
-# define UV_FS_O_DIRECT 0
-#endif
-#if defined(O_DIRECTORY)
-# define UV_FS_O_DIRECTORY O_DIRECTORY
-#else
-# define UV_FS_O_DIRECTORY 0
-#endif
-#if defined(O_DSYNC)
-# define UV_FS_O_DSYNC O_DSYNC
-#else
-# define UV_FS_O_DSYNC 0
-#endif
-#if defined(O_EXCL)
-# define UV_FS_O_EXCL O_EXCL
-#else
-# define UV_FS_O_EXCL 0
-#endif
-#if defined(O_EXLOCK)
-# define UV_FS_O_EXLOCK O_EXLOCK
-#else
-# define UV_FS_O_EXLOCK 0
-#endif
-#if defined(O_NOATIME)
-# define UV_FS_O_NOATIME O_NOATIME
-#else
-# define UV_FS_O_NOATIME 0
-#endif
-#if defined(O_NOCTTY)
-# define UV_FS_O_NOCTTY O_NOCTTY
-#else
-# define UV_FS_O_NOCTTY 0
-#endif
-#if defined(O_NOFOLLOW)
-# define UV_FS_O_NOFOLLOW O_NOFOLLOW
-#else
-# define UV_FS_O_NOFOLLOW 0
-#endif
-#if defined(O_NONBLOCK)
-# define UV_FS_O_NONBLOCK O_NONBLOCK
-#else
-# define UV_FS_O_NONBLOCK 0
-#endif
-#if defined(O_RDONLY)
-# define UV_FS_O_RDONLY O_RDONLY
-#else
-# define UV_FS_O_RDONLY 0
-#endif
-#if defined(O_RDWR)
-# define UV_FS_O_RDWR O_RDWR
-#else
-# define UV_FS_O_RDWR 0
-#endif
-#if defined(O_SYMLINK)
-# define UV_FS_O_SYMLINK O_SYMLINK
-#else
-# define UV_FS_O_SYMLINK 0
-#endif
-#if defined(O_SYNC)
-# define UV_FS_O_SYNC O_SYNC
-#else
-# define UV_FS_O_SYNC 0
-#endif
-#if defined(O_TRUNC)
-# define UV_FS_O_TRUNC O_TRUNC
-#else
-# define UV_FS_O_TRUNC 0
-#endif
-#if defined(O_WRONLY)
-# define UV_FS_O_WRONLY O_WRONLY
-#else
-# define UV_FS_O_WRONLY 0
-#endif
-
-/* fs open() flags supported on other platforms: */
-#define UV_FS_O_RANDOM 0
-#define UV_FS_O_SHORT_LIVED 0
-#define UV_FS_O_SEQUENTIAL 0
-#define UV_FS_O_TEMPORARY 0
-
-#endif /* UV_UNIX_H */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/uv/version.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/uv/version.h
deleted file mode 100644
index 0b82971..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/uv/version.h
+++ /dev/null
@@ -1,43 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#ifndef UV_VERSION_H
-#define UV_VERSION_H
-
- /*
- * Versions with the same major number are ABI stable. API is allowed to
- * evolve between minor releases, but only in a backwards compatible way.
- * Make sure you update the -soname directives in configure.ac
- * and uv.gyp whenever you bump UV_VERSION_MAJOR or UV_VERSION_MINOR (but
- * not UV_VERSION_PATCH.)
- */
-
-#define UV_VERSION_MAJOR 1
-#define UV_VERSION_MINOR 21
-#define UV_VERSION_PATCH 0
-#define UV_VERSION_IS_RELEASE 1
-#define UV_VERSION_SUFFIX ""
-
-#define UV_VERSION_HEX ((UV_VERSION_MAJOR << 16) | \
- (UV_VERSION_MINOR << 8) | \
- (UV_VERSION_PATCH))
-
-#endif /* UV_VERSION_H */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/uv/win.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/uv/win.h
deleted file mode 100644
index 87f1e78..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/uv/win.h
+++ /dev/null
@@ -1,673 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#ifndef _WIN32_WINNT
-# define _WIN32_WINNT 0x0600
-#endif
-
-#if !defined(_SSIZE_T_) && !defined(_SSIZE_T_DEFINED)
-typedef intptr_t ssize_t;
-# define _SSIZE_T_
-# define _SSIZE_T_DEFINED
-#endif
-
-#include <winsock2.h>
-
-#if defined(__MINGW32__) && !defined(__MINGW64_VERSION_MAJOR)
-typedef struct pollfd {
- SOCKET fd;
- short events;
- short revents;
-} WSAPOLLFD, *PWSAPOLLFD, *LPWSAPOLLFD;
-#endif
-
-#ifndef LOCALE_INVARIANT
-# define LOCALE_INVARIANT 0x007f
-#endif
-
-#include <mswsock.h>
-#include <ws2tcpip.h>
-#include <windows.h>
-
-#include <process.h>
-#include <signal.h>
-#include <fcntl.h>
-#include <sys/stat.h>
-
-#include <stdint.h>
-
-#include "uv/tree.h"
-#include "uv/threadpool.h"
-
-#define MAX_PIPENAME_LEN 256
-
-#ifndef S_IFLNK
-# define S_IFLNK 0xA000
-#endif
-
-/* Additional signals supported by uv_signal and or uv_kill. The CRT defines
- * the following signals already:
- *
- * #define SIGINT 2
- * #define SIGILL 4
- * #define SIGABRT_COMPAT 6
- * #define SIGFPE 8
- * #define SIGSEGV 11
- * #define SIGTERM 15
- * #define SIGBREAK 21
- * #define SIGABRT 22
- *
- * The additional signals have values that are common on other Unix
- * variants (Linux and Darwin)
- */
-#define SIGHUP 1
-#define SIGKILL 9
-#define SIGWINCH 28
-
-/* The CRT defines SIGABRT_COMPAT as 6, which equals SIGABRT on many unix-like
- * platforms. However MinGW doesn't define it, so we do. */
-#ifndef SIGABRT_COMPAT
-# define SIGABRT_COMPAT 6
-#endif
-
-/*
- * Guids and typedefs for winsock extension functions
- * Mingw32 doesn't have these :-(
- */
-#ifndef WSAID_ACCEPTEX
-# define WSAID_ACCEPTEX \
- {0xb5367df1, 0xcbac, 0x11cf, \
- {0x95, 0xca, 0x00, 0x80, 0x5f, 0x48, 0xa1, 0x92}}
-
-# define WSAID_CONNECTEX \
- {0x25a207b9, 0xddf3, 0x4660, \
- {0x8e, 0xe9, 0x76, 0xe5, 0x8c, 0x74, 0x06, 0x3e}}
-
-# define WSAID_GETACCEPTEXSOCKADDRS \
- {0xb5367df2, 0xcbac, 0x11cf, \
- {0x95, 0xca, 0x00, 0x80, 0x5f, 0x48, 0xa1, 0x92}}
-
-# define WSAID_DISCONNECTEX \
- {0x7fda2e11, 0x8630, 0x436f, \
- {0xa0, 0x31, 0xf5, 0x36, 0xa6, 0xee, 0xc1, 0x57}}
-
-# define WSAID_TRANSMITFILE \
- {0xb5367df0, 0xcbac, 0x11cf, \
- {0x95, 0xca, 0x00, 0x80, 0x5f, 0x48, 0xa1, 0x92}}
-
- typedef BOOL (PASCAL *LPFN_ACCEPTEX)
- (SOCKET sListenSocket,
- SOCKET sAcceptSocket,
- PVOID lpOutputBuffer,
- DWORD dwReceiveDataLength,
- DWORD dwLocalAddressLength,
- DWORD dwRemoteAddressLength,
- LPDWORD lpdwBytesReceived,
- LPOVERLAPPED lpOverlapped);
-
- typedef BOOL (PASCAL *LPFN_CONNECTEX)
- (SOCKET s,
- const struct sockaddr* name,
- int namelen,
- PVOID lpSendBuffer,
- DWORD dwSendDataLength,
- LPDWORD lpdwBytesSent,
- LPOVERLAPPED lpOverlapped);
-
- typedef void (PASCAL *LPFN_GETACCEPTEXSOCKADDRS)
- (PVOID lpOutputBuffer,
- DWORD dwReceiveDataLength,
- DWORD dwLocalAddressLength,
- DWORD dwRemoteAddressLength,
- LPSOCKADDR* LocalSockaddr,
- LPINT LocalSockaddrLength,
- LPSOCKADDR* RemoteSockaddr,
- LPINT RemoteSockaddrLength);
-
- typedef BOOL (PASCAL *LPFN_DISCONNECTEX)
- (SOCKET hSocket,
- LPOVERLAPPED lpOverlapped,
- DWORD dwFlags,
- DWORD reserved);
-
- typedef BOOL (PASCAL *LPFN_TRANSMITFILE)
- (SOCKET hSocket,
- HANDLE hFile,
- DWORD nNumberOfBytesToWrite,
- DWORD nNumberOfBytesPerSend,
- LPOVERLAPPED lpOverlapped,
- LPTRANSMIT_FILE_BUFFERS lpTransmitBuffers,
- DWORD dwFlags);
-
- typedef PVOID RTL_SRWLOCK;
- typedef RTL_SRWLOCK SRWLOCK, *PSRWLOCK;
-#endif
-
-typedef int (WSAAPI* LPFN_WSARECV)
- (SOCKET socket,
- LPWSABUF buffers,
- DWORD buffer_count,
- LPDWORD bytes,
- LPDWORD flags,
- LPWSAOVERLAPPED overlapped,
- LPWSAOVERLAPPED_COMPLETION_ROUTINE completion_routine);
-
-typedef int (WSAAPI* LPFN_WSARECVFROM)
- (SOCKET socket,
- LPWSABUF buffers,
- DWORD buffer_count,
- LPDWORD bytes,
- LPDWORD flags,
- struct sockaddr* addr,
- LPINT addr_len,
- LPWSAOVERLAPPED overlapped,
- LPWSAOVERLAPPED_COMPLETION_ROUTINE completion_routine);
-
-#ifndef _NTDEF_
- typedef LONG NTSTATUS;
- typedef NTSTATUS *PNTSTATUS;
-#endif
-
-#ifndef RTL_CONDITION_VARIABLE_INIT
- typedef PVOID CONDITION_VARIABLE, *PCONDITION_VARIABLE;
-#endif
-
-typedef struct _AFD_POLL_HANDLE_INFO {
- HANDLE Handle;
- ULONG Events;
- NTSTATUS Status;
-} AFD_POLL_HANDLE_INFO, *PAFD_POLL_HANDLE_INFO;
-
-typedef struct _AFD_POLL_INFO {
- LARGE_INTEGER Timeout;
- ULONG NumberOfHandles;
- ULONG Exclusive;
- AFD_POLL_HANDLE_INFO Handles[1];
-} AFD_POLL_INFO, *PAFD_POLL_INFO;
-
-#define UV_MSAFD_PROVIDER_COUNT 3
-
-
-/**
- * It should be possible to cast uv_buf_t[] to WSABUF[]
- * see http://msdn.microsoft.com/en-us/library/ms741542(v=vs.85).aspx
- */
-typedef struct uv_buf_t {
- ULONG len;
- char* base;
-} uv_buf_t;
-
-typedef int uv_file;
-typedef SOCKET uv_os_sock_t;
-typedef HANDLE uv_os_fd_t;
-typedef int uv_pid_t;
-
-typedef HANDLE uv_thread_t;
-
-typedef HANDLE uv_sem_t;
-
-typedef CRITICAL_SECTION uv_mutex_t;
-
-/* This condition variable implementation is based on the SetEvent solution
- * (section 3.2) at http://www.cs.wustl.edu/~schmidt/win32-cv-1.html
- * We could not use the SignalObjectAndWait solution (section 3.4) because
- * it want the 2nd argument (type uv_mutex_t) of uv_cond_wait() and
- * uv_cond_timedwait() to be HANDLEs, but we use CRITICAL_SECTIONs.
- */
-
-typedef union {
- CONDITION_VARIABLE cond_var;
- struct {
- unsigned int waiters_count;
- CRITICAL_SECTION waiters_count_lock;
- HANDLE signal_event;
- HANDLE broadcast_event;
- } unused_; /* TODO: retained for ABI compatibility; remove me in v2.x. */
-} uv_cond_t;
-
-typedef union {
- struct {
- unsigned int num_readers_;
- CRITICAL_SECTION num_readers_lock_;
- HANDLE write_semaphore_;
- } state_;
- /* TODO: remove me in v2.x. */
- struct {
- SRWLOCK unused_;
- } unused1_;
- /* TODO: remove me in v2.x. */
- struct {
- uv_mutex_t unused1_;
- uv_mutex_t unused2_;
- } unused2_;
-} uv_rwlock_t;
-
-typedef struct {
- unsigned int n;
- unsigned int count;
- uv_mutex_t mutex;
- uv_sem_t turnstile1;
- uv_sem_t turnstile2;
-} uv_barrier_t;
-
-typedef struct {
- DWORD tls_index;
-} uv_key_t;
-
-#define UV_ONCE_INIT { 0, NULL }
-
-typedef struct uv_once_s {
- unsigned char ran;
- HANDLE event;
-} uv_once_t;
-
-/* Platform-specific definitions for uv_spawn support. */
-typedef unsigned char uv_uid_t;
-typedef unsigned char uv_gid_t;
-
-typedef struct uv__dirent_s {
- int d_type;
- char d_name[1];
-} uv__dirent_t;
-
-#define HAVE_DIRENT_TYPES
-#define UV__DT_DIR UV_DIRENT_DIR
-#define UV__DT_FILE UV_DIRENT_FILE
-#define UV__DT_LINK UV_DIRENT_LINK
-#define UV__DT_FIFO UV_DIRENT_FIFO
-#define UV__DT_SOCKET UV_DIRENT_SOCKET
-#define UV__DT_CHAR UV_DIRENT_CHAR
-#define UV__DT_BLOCK UV_DIRENT_BLOCK
-
-/* Platform-specific definitions for uv_dlopen support. */
-#define UV_DYNAMIC FAR WINAPI
-typedef struct {
- HMODULE handle;
- char* errmsg;
-} uv_lib_t;
-
-RB_HEAD(uv_timer_tree_s, uv_timer_s);
-
-#define UV_LOOP_PRIVATE_FIELDS \
- /* The loop's I/O completion port */ \
- HANDLE iocp; \
- /* The current time according to the event loop. in msecs. */ \
- uint64_t time; \
- /* Tail of a single-linked circular queue of pending reqs. If the queue */ \
- /* is empty, tail_ is NULL. If there is only one item, */ \
- /* tail_->next_req == tail_ */ \
- uv_req_t* pending_reqs_tail; \
- /* Head of a single-linked list of closed handles */ \
- uv_handle_t* endgame_handles; \
- /* The head of the timers tree */ \
- struct uv_timer_tree_s timers; \
- /* Lists of active loop (prepare / check / idle) watchers */ \
- uv_prepare_t* prepare_handles; \
- uv_check_t* check_handles; \
- uv_idle_t* idle_handles; \
- /* This pointer will refer to the prepare/check/idle handle whose */ \
- /* callback is scheduled to be called next. This is needed to allow */ \
- /* safe removal from one of the lists above while that list being */ \
- /* iterated over. */ \
- uv_prepare_t* next_prepare_handle; \
- uv_check_t* next_check_handle; \
- uv_idle_t* next_idle_handle; \
- /* This handle holds the peer sockets for the fast variant of uv_poll_t */ \
- SOCKET poll_peer_sockets[UV_MSAFD_PROVIDER_COUNT]; \
- /* Counter to keep track of active tcp streams */ \
- unsigned int active_tcp_streams; \
- /* Counter to keep track of active udp streams */ \
- unsigned int active_udp_streams; \
- /* Counter to started timer */ \
- uint64_t timer_counter; \
- /* Threadpool */ \
- void* wq[2]; \
- uv_mutex_t wq_mutex; \
- uv_async_t wq_async;
-
-#define UV_REQ_TYPE_PRIVATE \
- /* TODO: remove the req suffix */ \
- UV_ACCEPT, \
- UV_FS_EVENT_REQ, \
- UV_POLL_REQ, \
- UV_PROCESS_EXIT, \
- UV_READ, \
- UV_UDP_RECV, \
- UV_WAKEUP, \
- UV_SIGNAL_REQ,
-
-#define UV_REQ_PRIVATE_FIELDS \
- union { \
- /* Used by I/O operations */ \
- struct { \
- OVERLAPPED overlapped; \
- size_t queued_bytes; \
- } io; \
- } u; \
- struct uv_req_s* next_req;
-
-#define UV_WRITE_PRIVATE_FIELDS \
- int coalesced; \
- uv_buf_t write_buffer; \
- HANDLE event_handle; \
- HANDLE wait_handle;
-
-#define UV_CONNECT_PRIVATE_FIELDS \
- /* empty */
-
-#define UV_SHUTDOWN_PRIVATE_FIELDS \
- /* empty */
-
-#define UV_UDP_SEND_PRIVATE_FIELDS \
- /* empty */
-
-#define UV_PRIVATE_REQ_TYPES \
- typedef struct uv_pipe_accept_s { \
- UV_REQ_FIELDS \
- HANDLE pipeHandle; \
- struct uv_pipe_accept_s* next_pending; \
- } uv_pipe_accept_t; \
- \
- typedef struct uv_tcp_accept_s { \
- UV_REQ_FIELDS \
- SOCKET accept_socket; \
- char accept_buffer[sizeof(struct sockaddr_storage) * 2 + 32]; \
- HANDLE event_handle; \
- HANDLE wait_handle; \
- struct uv_tcp_accept_s* next_pending; \
- } uv_tcp_accept_t; \
- \
- typedef struct uv_read_s { \
- UV_REQ_FIELDS \
- HANDLE event_handle; \
- HANDLE wait_handle; \
- } uv_read_t;
-
-#define uv_stream_connection_fields \
- unsigned int write_reqs_pending; \
- uv_shutdown_t* shutdown_req;
-
-#define uv_stream_server_fields \
- uv_connection_cb connection_cb;
-
-#define UV_STREAM_PRIVATE_FIELDS \
- unsigned int reqs_pending; \
- int activecnt; \
- uv_read_t read_req; \
- union { \
- struct { uv_stream_connection_fields } conn; \
- struct { uv_stream_server_fields } serv; \
- } stream;
-
-#define uv_tcp_server_fields \
- uv_tcp_accept_t* accept_reqs; \
- unsigned int processed_accepts; \
- uv_tcp_accept_t* pending_accepts; \
- LPFN_ACCEPTEX func_acceptex;
-
-#define uv_tcp_connection_fields \
- uv_buf_t read_buffer; \
- LPFN_CONNECTEX func_connectex;
-
-#define UV_TCP_PRIVATE_FIELDS \
- SOCKET socket; \
- int delayed_error; \
- union { \
- struct { uv_tcp_server_fields } serv; \
- struct { uv_tcp_connection_fields } conn; \
- } tcp;
-
-#define UV_UDP_PRIVATE_FIELDS \
- SOCKET socket; \
- unsigned int reqs_pending; \
- int activecnt; \
- uv_req_t recv_req; \
- uv_buf_t recv_buffer; \
- struct sockaddr_storage recv_from; \
- int recv_from_len; \
- uv_udp_recv_cb recv_cb; \
- uv_alloc_cb alloc_cb; \
- LPFN_WSARECV func_wsarecv; \
- LPFN_WSARECVFROM func_wsarecvfrom;
-
-#define uv_pipe_server_fields \
- int pending_instances; \
- uv_pipe_accept_t* accept_reqs; \
- uv_pipe_accept_t* pending_accepts;
-
-#define uv_pipe_connection_fields \
- uv_timer_t* eof_timer; \
- uv_write_t dummy; /* TODO: retained for ABI compat; remove this in v2.x. */ \
- DWORD ipc_remote_pid; \
- union { \
- uint32_t payload_remaining; \
- uint64_t dummy; /* TODO: retained for ABI compat; remove this in v2.x. */ \
- } ipc_data_frame; \
- void* ipc_xfer_queue[2]; \
- int ipc_xfer_queue_length; \
- uv_write_t* non_overlapped_writes_tail; \
- CRITICAL_SECTION readfile_thread_lock; \
- volatile HANDLE readfile_thread_handle;
-
-#define UV_PIPE_PRIVATE_FIELDS \
- HANDLE handle; \
- WCHAR* name; \
- union { \
- struct { uv_pipe_server_fields } serv; \
- struct { uv_pipe_connection_fields } conn; \
- } pipe;
-
-/* TODO: put the parser states in an union - TTY handles are always half-duplex
- * so read-state can safely overlap write-state. */
-#define UV_TTY_PRIVATE_FIELDS \
- HANDLE handle; \
- union { \
- struct { \
- /* Used for readable TTY handles */ \
- /* TODO: remove me in v2.x. */ \
- HANDLE unused_; \
- uv_buf_t read_line_buffer; \
- HANDLE read_raw_wait; \
- /* Fields used for translating win keystrokes into vt100 characters */ \
- char last_key[8]; \
- unsigned char last_key_offset; \
- unsigned char last_key_len; \
- WCHAR last_utf16_high_surrogate; \
- INPUT_RECORD last_input_record; \
- } rd; \
- struct { \
- /* Used for writable TTY handles */ \
- /* utf8-to-utf16 conversion state */ \
- unsigned int utf8_codepoint; \
- unsigned char utf8_bytes_left; \
- /* eol conversion state */ \
- unsigned char previous_eol; \
- /* ansi parser state */ \
- unsigned char ansi_parser_state; \
- unsigned char ansi_csi_argc; \
- unsigned short ansi_csi_argv[4]; \
- COORD saved_position; \
- WORD saved_attributes; \
- } wr; \
- } tty;
-
-#define UV_POLL_PRIVATE_FIELDS \
- SOCKET socket; \
- /* Used in fast mode */ \
- SOCKET peer_socket; \
- AFD_POLL_INFO afd_poll_info_1; \
- AFD_POLL_INFO afd_poll_info_2; \
- /* Used in fast and slow mode. */ \
- uv_req_t poll_req_1; \
- uv_req_t poll_req_2; \
- unsigned char submitted_events_1; \
- unsigned char submitted_events_2; \
- unsigned char mask_events_1; \
- unsigned char mask_events_2; \
- unsigned char events;
-
-#define UV_TIMER_PRIVATE_FIELDS \
- RB_ENTRY(uv_timer_s) tree_entry; \
- uint64_t due; \
- uint64_t repeat; \
- uint64_t start_id; \
- uv_timer_cb timer_cb;
-
-#define UV_ASYNC_PRIVATE_FIELDS \
- struct uv_req_s async_req; \
- uv_async_cb async_cb; \
- /* char to avoid alignment issues */ \
- char volatile async_sent;
-
-#define UV_PREPARE_PRIVATE_FIELDS \
- uv_prepare_t* prepare_prev; \
- uv_prepare_t* prepare_next; \
- uv_prepare_cb prepare_cb;
-
-#define UV_CHECK_PRIVATE_FIELDS \
- uv_check_t* check_prev; \
- uv_check_t* check_next; \
- uv_check_cb check_cb;
-
-#define UV_IDLE_PRIVATE_FIELDS \
- uv_idle_t* idle_prev; \
- uv_idle_t* idle_next; \
- uv_idle_cb idle_cb;
-
-#define UV_HANDLE_PRIVATE_FIELDS \
- uv_handle_t* endgame_next; \
- unsigned int flags;
-
-#define UV_GETADDRINFO_PRIVATE_FIELDS \
- struct uv__work work_req; \
- uv_getaddrinfo_cb getaddrinfo_cb; \
- void* alloc; \
- WCHAR* node; \
- WCHAR* service; \
- /* The addrinfoW field is used to store a pointer to the hints, and */ \
- /* later on to store the result of GetAddrInfoW. The final result will */ \
- /* be converted to struct addrinfo* and stored in the addrinfo field. */ \
- struct addrinfoW* addrinfow; \
- struct addrinfo* addrinfo; \
- int retcode;
-
-#define UV_GETNAMEINFO_PRIVATE_FIELDS \
- struct uv__work work_req; \
- uv_getnameinfo_cb getnameinfo_cb; \
- struct sockaddr_storage storage; \
- int flags; \
- char host[NI_MAXHOST]; \
- char service[NI_MAXSERV]; \
- int retcode;
-
-#define UV_PROCESS_PRIVATE_FIELDS \
- struct uv_process_exit_s { \
- UV_REQ_FIELDS \
- } exit_req; \
- BYTE* child_stdio_buffer; \
- int exit_signal; \
- HANDLE wait_handle; \
- HANDLE process_handle; \
- volatile char exit_cb_pending;
-
-#define UV_FS_PRIVATE_FIELDS \
- struct uv__work work_req; \
- int flags; \
- DWORD sys_errno_; \
- union { \
- /* TODO: remove me in 0.9. */ \
- WCHAR* pathw; \
- int fd; \
- } file; \
- union { \
- struct { \
- int mode; \
- WCHAR* new_pathw; \
- int file_flags; \
- int fd_out; \
- unsigned int nbufs; \
- uv_buf_t* bufs; \
- int64_t offset; \
- uv_buf_t bufsml[4]; \
- } info; \
- struct { \
- double atime; \
- double mtime; \
- } time; \
- } fs;
-
-#define UV_WORK_PRIVATE_FIELDS \
- struct uv__work work_req;
-
-#define UV_FS_EVENT_PRIVATE_FIELDS \
- struct uv_fs_event_req_s { \
- UV_REQ_FIELDS \
- } req; \
- HANDLE dir_handle; \
- int req_pending; \
- uv_fs_event_cb cb; \
- WCHAR* filew; \
- WCHAR* short_filew; \
- WCHAR* dirw; \
- char* buffer;
-
-#define UV_SIGNAL_PRIVATE_FIELDS \
- RB_ENTRY(uv_signal_s) tree_entry; \
- struct uv_req_s signal_req; \
- unsigned long pending_signum;
-
-#ifndef F_OK
-#define F_OK 0
-#endif
-#ifndef R_OK
-#define R_OK 4
-#endif
-#ifndef W_OK
-#define W_OK 2
-#endif
-#ifndef X_OK
-#define X_OK 1
-#endif
-
-/* fs open() flags supported on this platform: */
-#define UV_FS_O_APPEND _O_APPEND
-#define UV_FS_O_CREAT _O_CREAT
-#define UV_FS_O_EXCL _O_EXCL
-#define UV_FS_O_RANDOM _O_RANDOM
-#define UV_FS_O_RDONLY _O_RDONLY
-#define UV_FS_O_RDWR _O_RDWR
-#define UV_FS_O_SEQUENTIAL _O_SEQUENTIAL
-#define UV_FS_O_SHORT_LIVED _O_SHORT_LIVED
-#define UV_FS_O_TEMPORARY _O_TEMPORARY
-#define UV_FS_O_TRUNC _O_TRUNC
-#define UV_FS_O_WRONLY _O_WRONLY
-
-/* fs open() flags supported on other platforms (or mapped on this platform): */
-#define UV_FS_O_DIRECT 0x02000000 /* FILE_FLAG_NO_BUFFERING */
-#define UV_FS_O_DIRECTORY 0
-#define UV_FS_O_DSYNC 0x04000000 /* FILE_FLAG_WRITE_THROUGH */
-#define UV_FS_O_EXLOCK 0x10000000 /* EXCLUSIVE SHARING MODE */
-#define UV_FS_O_NOATIME 0
-#define UV_FS_O_NOCTTY 0
-#define UV_FS_O_NOFOLLOW 0
-#define UV_FS_O_NONBLOCK 0
-#define UV_FS_O_SYMLINK 0
-#define UV_FS_O_SYNC 0x08000000 /* FILE_FLAG_WRITE_THROUGH */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/AlignOf.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/AlignOf.h
index 4ce34cd..adddd13 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/AlignOf.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/AlignOf.h
@@ -34,7 +34,7 @@
template<std::size_t Alignment, std::size_t Size>
struct AlignedCharArray {
- LLVM_ALIGNAS(Alignment) char buffer[Size];
+ alignas(Alignment) char buffer[Size];
};
#else // _MSC_VER
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/ArrayRef.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/ArrayRef.h
index 08f413d..c94312e 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/ArrayRef.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/ArrayRef.h
@@ -11,7 +11,6 @@
#define WPIUTIL_WPI_ARRAYREF_H
#include "wpi/Hashing.h"
-#include "wpi/optional.h"
#include "wpi/SmallVector.h"
#include "wpi/STLExtras.h"
#include "wpi/Compiler.h"
@@ -22,10 +21,12 @@
#include <initializer_list>
#include <iterator>
#include <memory>
+#include <optional>
#include <type_traits>
#include <vector>
namespace wpi {
+
/// ArrayRef - Represent a constant reference to an array (0 or more elements
/// consecutively in memory), i.e. a start pointer and a length. It allows
/// various APIs to take consecutive elements easily and conveniently.
@@ -61,7 +62,7 @@
/*implicit*/ ArrayRef() = default;
/// Construct an empty ArrayRef from nullopt.
- /*implicit*/ ArrayRef(nullopt_t) {}
+ /*implicit*/ ArrayRef(std::nullopt_t) {}
/// Construct an ArrayRef from a single element.
/*implicit*/ ArrayRef(const T &OneElt)
@@ -97,11 +98,6 @@
template <size_t N>
/*implicit*/ constexpr ArrayRef(const T (&Arr)[N]) : Data(Arr), Length(N) {}
- /// Construct an ArrayRef from a std::initializer_list.
- /*implicit*/ ArrayRef(const std::initializer_list<T> &Vec)
- : Data(Vec.begin() == Vec.end() ? (T*)nullptr : Vec.begin()),
- Length(Vec.size()) {}
-
/// Construct an ArrayRef<const T*> from ArrayRef<T*>. This uses SFINAE to
/// ensure that only ArrayRefs of pointers can be converted.
template <typename U>
@@ -297,7 +293,7 @@
/*implicit*/ MutableArrayRef() = default;
/// Construct an empty MutableArrayRef from nullopt.
- /*implicit*/ MutableArrayRef(nullopt_t) : ArrayRef<T>() {}
+ /*implicit*/ MutableArrayRef(std::nullopt_t) : ArrayRef<T>() {}
/// Construct an MutableArrayRef from a single element.
/*implicit*/ MutableArrayRef(T &OneElt) : ArrayRef<T>(OneElt) {}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Chrono.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Chrono.h
new file mode 100644
index 0000000..4593e85
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Chrono.h
@@ -0,0 +1,63 @@
+//===- llvm/Support/Chrono.h - Utilities for Timing Manipulation-*- C++ -*-===//
+//
+// The LLVM Compiler Infrastructure
+//
+// This file is distributed under the University of Illinois Open Source
+// License. See LICENSE.TXT for details.
+//
+//===----------------------------------------------------------------------===//
+
+#ifndef WPIUTIL_WPI_CHRONO_H
+#define WPIUTIL_WPI_CHRONO_H
+
+#include "wpi/Compiler.h"
+
+#include <chrono>
+#include <ctime>
+
+namespace wpi {
+
+class raw_ostream;
+
+namespace sys {
+
+/// A time point on the system clock. This is provided for two reasons:
+/// - to insulate us agains subtle differences in behavoir to differences in
+/// system clock precision (which is implementation-defined and differs between
+/// platforms).
+/// - to shorten the type name
+/// The default precision is nanoseconds. If need a specific precision specify
+/// it explicitly. If unsure, use the default. If you need a time point on a
+/// clock other than the system_clock, use std::chrono directly.
+template <typename D = std::chrono::nanoseconds>
+using TimePoint = std::chrono::time_point<std::chrono::system_clock, D>;
+
+/// Convert a TimePoint to std::time_t
+LLVM_ATTRIBUTE_ALWAYS_INLINE std::time_t toTimeT(TimePoint<> TP) {
+ using namespace std::chrono;
+ return system_clock::to_time_t(
+ time_point_cast<system_clock::time_point::duration>(TP));
+}
+
+/// Convert a std::time_t to a TimePoint
+LLVM_ATTRIBUTE_ALWAYS_INLINE TimePoint<std::chrono::seconds>
+toTimePoint(std::time_t T) {
+ using namespace std::chrono;
+ return time_point_cast<seconds>(system_clock::from_time_t(T));
+}
+
+/// Convert a std::time_t + nanoseconds to a TimePoint
+LLVM_ATTRIBUTE_ALWAYS_INLINE TimePoint<>
+toTimePoint(std::time_t T, uint32_t nsec) {
+ using namespace std::chrono;
+ return time_point_cast<nanoseconds>(system_clock::from_time_t(T))
+ + nanoseconds(nsec);
+}
+
+} // namespace sys
+
+raw_ostream &operator<<(raw_ostream &OS, sys::TimePoint<> TP);
+
+} // namespace wpi
+
+#endif // WPIUTIL_WPI_CHRONO_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Compiler.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Compiler.h
index 6e13ef4..5ceb605 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Compiler.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Compiler.h
@@ -15,6 +15,9 @@
#ifndef WPIUTIL_WPI_COMPILER_H
#define WPIUTIL_WPI_COMPILER_H
+#include <new>
+#include <stddef.h>
+
#if defined(_MSC_VER)
#include <sal.h>
#endif
@@ -117,6 +120,11 @@
#ifndef LLVM_NODISCARD
#if __cplusplus > 201402L && __has_cpp_attribute(nodiscard)
#define LLVM_NODISCARD [[nodiscard]]
+// Detect MSVC directly, since __cplusplus still defaults to old version
+#elif _MSVC_LANG >= 201703L
+#define LLVM_NODISCARD [[nodiscard]]
+#elif _MSC_VER
+#define LLVM_NODISCARD
#elif !__cplusplus
// Workaround for llvm.org/PR23435, since clang 3.6 and below emit a spurious
// error when __has_cpp_attribute is given a scoped attribute in C mode.
@@ -236,6 +244,11 @@
#ifndef LLVM_FALLTHROUGH
#if __cplusplus > 201402L && __has_cpp_attribute(fallthrough)
#define LLVM_FALLTHROUGH [[fallthrough]]
+// Detect MSVC directly, since __cplusplus still defaults to old version
+#elif _MSVC_LANG >= 201703L
+#define LLVM_FALLTHROUGH [[fallthrough]]
+#elif _MSC_VER
+#define LLVM_FALLTHROUGH
#elif __has_cpp_attribute(gnu::fallthrough)
#define LLVM_FALLTHROUGH [[gnu::fallthrough]]
#elif !__cplusplus
@@ -287,6 +300,41 @@
#endif
#endif
+/// LLVM_BUILTIN_TRAP - On compilers which support it, expands to an expression
+/// which causes the program to exit abnormally.
+#ifndef LLVM_BUILTIN_TRAP
+#if __has_builtin(__builtin_trap) || LLVM_GNUC_PREREQ(4, 3, 0)
+# define LLVM_BUILTIN_TRAP __builtin_trap()
+#elif defined(_MSC_VER)
+// The __debugbreak intrinsic is supported by MSVC, does not require forward
+// declarations involving platform-specific typedefs (unlike RaiseException),
+// results in a call to vectored exception handlers, and encodes to a short
+// instruction that still causes the trapping behavior we want.
+# define LLVM_BUILTIN_TRAP __debugbreak()
+#else
+# define LLVM_BUILTIN_TRAP *(volatile int*)0x11 = 0
+#endif
+#endif
+
+/// LLVM_BUILTIN_DEBUGTRAP - On compilers which support it, expands to
+/// an expression which causes the program to break while running
+/// under a debugger.
+#ifndef LLVM_BUILTIN_DEBUGTRAP
+#if __has_builtin(__builtin_debugtrap)
+# define LLVM_BUILTIN_DEBUGTRAP __builtin_debugtrap()
+#elif defined(_MSC_VER)
+// The __debugbreak intrinsic is supported by MSVC and breaks while
+// running under the debugger, and also supports invoking a debugger
+// when the OS is configured appropriately.
+# define LLVM_BUILTIN_DEBUGTRAP __debugbreak()
+#else
+// Just continue execution when built with compilers that have no
+// support. This is a debugging aid and not intended to force the
+// program to abort if encountered.
+# define LLVM_BUILTIN_DEBUGTRAP
+#endif
+#endif
+
/// \macro LLVM_ASSUME_ALIGNED
/// Returns a pointer with an assumed alignment.
#ifndef LLVM_ASSUME_ALIGNED
@@ -423,4 +471,46 @@
#endif
#endif
+namespace wpi {
+
+/// Allocate a buffer of memory with the given size and alignment.
+///
+/// When the compiler supports aligned operator new, this will use it to to
+/// handle even over-aligned allocations.
+///
+/// However, this doesn't make any attempt to leverage the fancier techniques
+/// like posix_memalign due to portability. It is mostly intended to allow
+/// compatibility with platforms that, after aligned allocation was added, use
+/// reduced default alignment.
+inline void *allocate_buffer(size_t Size, size_t Alignment) {
+ return ::operator new(Size
+#ifdef __cpp_aligned_new
+ ,
+ std::align_val_t(Alignment)
+#endif
+ );
+}
+
+/// Deallocate a buffer of memory with the given size and alignment.
+///
+/// If supported, this will used the sized delete operator. Also if supported,
+/// this will pass the alignment to the delete operator.
+///
+/// The pointer must have been allocated with the corresponding new operator,
+/// most likely using the above helper.
+inline void deallocate_buffer(void *Ptr, size_t Size, size_t Alignment) {
+ ::operator delete(Ptr
+#ifdef __cpp_sized_deallocation
+ ,
+ Size
+#endif
+#ifdef __cpp_aligned_new
+ ,
+ std::align_val_t(Alignment)
+#endif
+ );
+}
+
+} // End namespace wpi
+
#endif
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/ConvertUTF.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/ConvertUTF.h
index c09e71a..a9bdb60 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/ConvertUTF.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/ConvertUTF.h
@@ -95,6 +95,7 @@
#include <cstddef>
#include <string>
+#include <system_error>
// Wrap everything in namespace wpi so that programs can link with wpiutil and
// their own version of the unicode libraries.
@@ -245,6 +246,21 @@
bool convertUTF8ToUTF16String(StringRef SrcUTF8,
SmallVectorImpl<UTF16> &DstUTF16);
+#if defined(_WIN32)
+namespace sys {
+namespace windows {
+std::error_code UTF8ToUTF16(StringRef utf8, SmallVectorImpl<wchar_t> &utf16);
+/// Convert to UTF16 from the current code page used in the system
+std::error_code CurCPToUTF16(StringRef utf8, SmallVectorImpl<wchar_t> &utf16);
+std::error_code UTF16ToUTF8(const wchar_t *utf16, size_t utf16_len,
+ SmallVectorImpl<char> &utf8);
+/// Convert from UTF16 to the current code page used in the system
+std::error_code UTF16ToCurCP(const wchar_t *utf16, size_t utf16_len,
+ SmallVectorImpl<char> &utf8);
+} // namespace windows
+} // namespace sys
+#endif
+
} /* end namespace wpi */
#endif
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Demangle.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Demangle.h
new file mode 100644
index 0000000..b0e1134
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Demangle.h
@@ -0,0 +1,25 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#ifndef WPIUTIL_WPI_DEMANGLE_H_
+#define WPIUTIL_WPI_DEMANGLE_H_
+
+#include <string>
+
+namespace wpi {
+
+/**
+ * Demangle a C++ symbol.
+ *
+ * @param mangledSymbol the mangled symbol.
+ * @return The demangled symbol, or mangledSymbol if demangling fails.
+ */
+std::string Demangle(char const* mangledSymbol);
+
+} // namespace wpi
+
+#endif // WPIUTIL_WPI_DEMANGLE_H_
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/DenseMap.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/DenseMap.h
index 2853217..12bb712 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/DenseMap.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/DenseMap.h
@@ -46,9 +46,10 @@
} // end namespace detail
-template <
- typename KeyT, typename ValueT, typename KeyInfoT = DenseMapInfo<KeyT>,
- typename Bucket = detail::DenseMapPair<KeyT, ValueT>, bool IsConst = false>
+template <typename KeyT, typename ValueT,
+ typename KeyInfoT = DenseMapInfo<KeyT>,
+ typename Bucket = wpi::detail::DenseMapPair<KeyT, ValueT>,
+ bool IsConst = false>
class DenseMapIterator;
template <typename DerivedT, typename KeyT, typename ValueT, typename KeyInfoT,
@@ -351,7 +352,7 @@
return 0;
// +1 is required because of the strict equality.
// For example if NumEntries is 48, we need to return 401.
- return NextPowerOf2(NumEntries * 4 / 3 + 1);
+ return static_cast<unsigned>(NextPowerOf2(NumEntries * 4 / 3 + 1));
}
void moveFromOldBuckets(BucketT *OldBucketsBegin, BucketT *OldBucketsEnd) {
@@ -389,7 +390,7 @@
setNumTombstones(other.getNumTombstones());
if (isPodLike<KeyT>::value && isPodLike<ValueT>::value)
- memcpy(getBuckets(), other.getBuckets(),
+ memcpy(reinterpret_cast<void *>(getBuckets()), other.getBuckets(),
getNumBuckets() * sizeof(BucketT));
else
for (size_t i = 0; i < getNumBuckets(); ++i) {
@@ -627,9 +628,43 @@
}
};
+/// Equality comparison for DenseMap.
+///
+/// Iterates over elements of LHS confirming that each (key, value) pair in LHS
+/// is also in RHS, and that no additional pairs are in RHS.
+/// Equivalent to N calls to RHS.find and N value comparisons. Amortized
+/// complexity is linear, worst case is O(N^2) (if every hash collides).
+template <typename DerivedT, typename KeyT, typename ValueT, typename KeyInfoT,
+ typename BucketT>
+bool operator==(
+ const DenseMapBase<DerivedT, KeyT, ValueT, KeyInfoT, BucketT> &LHS,
+ const DenseMapBase<DerivedT, KeyT, ValueT, KeyInfoT, BucketT> &RHS) {
+ if (LHS.size() != RHS.size())
+ return false;
+
+ for (auto &KV : LHS) {
+ auto I = RHS.find(KV.first);
+ if (I == RHS.end() || I->second != KV.second)
+ return false;
+ }
+
+ return true;
+}
+
+/// Inequality comparison for DenseMap.
+///
+/// Equivalent to !(LHS == RHS). See operator== for performance notes.
+template <typename DerivedT, typename KeyT, typename ValueT, typename KeyInfoT,
+ typename BucketT>
+bool operator!=(
+ const DenseMapBase<DerivedT, KeyT, ValueT, KeyInfoT, BucketT> &LHS,
+ const DenseMapBase<DerivedT, KeyT, ValueT, KeyInfoT, BucketT> &RHS) {
+ return !(LHS == RHS);
+}
+
template <typename KeyT, typename ValueT,
typename KeyInfoT = DenseMapInfo<KeyT>,
- typename BucketT = detail::DenseMapPair<KeyT, ValueT>>
+ typename BucketT = wpi::detail::DenseMapPair<KeyT, ValueT>>
class DenseMap : public DenseMapBase<DenseMap<KeyT, ValueT, KeyInfoT, BucketT>,
KeyT, ValueT, KeyInfoT, BucketT> {
friend class DenseMapBase<DenseMap, KeyT, ValueT, KeyInfoT, BucketT>;
@@ -664,6 +699,11 @@
this->insert(I, E);
}
+ DenseMap(std::initializer_list<typename BaseT::value_type> Vals) {
+ init(Vals.size());
+ this->insert(Vals.begin(), Vals.end());
+ }
+
~DenseMap() {
this->destroyAll();
operator delete(Buckets);
@@ -737,7 +777,7 @@
// Reduce the number of buckets.
unsigned NewNumBuckets = 0;
if (OldNumEntries)
- NewNumBuckets = std::max(64, 1 << (Log2_32_Ceil(OldNumEntries) + 1));
+ NewNumBuckets = (std::max)(64, 1 << (Log2_32_Ceil(OldNumEntries) + 1));
if (NewNumBuckets == NumBuckets) {
this->BaseT::initEmpty();
return;
@@ -786,7 +826,7 @@
template <typename KeyT, typename ValueT, unsigned InlineBuckets = 4,
typename KeyInfoT = DenseMapInfo<KeyT>,
- typename BucketT = detail::DenseMapPair<KeyT, ValueT>>
+ typename BucketT = wpi::detail::DenseMapPair<KeyT, ValueT>>
class SmallDenseMap
: public DenseMapBase<
SmallDenseMap<KeyT, ValueT, InlineBuckets, KeyInfoT, BucketT>, KeyT,
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/DenseMapInfo.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/DenseMapInfo.h
index e4bf986..81ccdc7 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/DenseMapInfo.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/DenseMapInfo.h
@@ -262,6 +262,13 @@
}
};
+template <> struct DenseMapInfo<hash_code> {
+ static inline hash_code getEmptyKey() { return hash_code(-1); }
+ static inline hash_code getTombstoneKey() { return hash_code(-2); }
+ static unsigned getHashValue(hash_code val) { return static_cast<unsigned>(val); }
+ static bool isEqual(hash_code LHS, hash_code RHS) { return LHS == RHS; }
+};
+
} // end namespace wpi
#endif // LLVM_ADT_DENSEMAPINFO_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Endian.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Endian.h
new file mode 100644
index 0000000..365209c
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Endian.h
@@ -0,0 +1,425 @@
+//===- Endian.h - Utilities for IO with endian specific data ----*- C++ -*-===//
+//
+// The LLVM Compiler Infrastructure
+//
+// This file is distributed under the University of Illinois Open Source
+// License. See LICENSE.TXT for details.
+//
+//===----------------------------------------------------------------------===//
+//
+// This file declares generic functions to read and write endian specific data.
+//
+//===----------------------------------------------------------------------===//
+
+#ifndef WPIUTIL_WPI_ENDIAN_H
+#define WPIUTIL_WPI_ENDIAN_H
+
+#include "wpi/AlignOf.h"
+#include "wpi/Compiler.h"
+#include "wpi/SwapByteOrder.h"
+
+#if defined(__linux__) || defined(__GNU__)
+#include <endian.h>
+#endif
+
+#include <cassert>
+#include <cstddef>
+#include <cstdint>
+#include <cstring>
+#include <type_traits>
+
+namespace wpi {
+namespace support {
+
+enum endianness {big, little, native};
+
+// These are named values for common alignments.
+enum {aligned = 0, unaligned = 1};
+
+namespace detail {
+
+/// ::value is either alignment, or alignof(T) if alignment is 0.
+template<class T, int alignment>
+struct PickAlignment {
+ enum { value = alignment == 0 ? alignof(T) : alignment };
+};
+
+} // end namespace detail
+
+namespace endian {
+
+constexpr endianness system_endianness() {
+#ifdef _WIN32
+ return little;
+#elif defined(__BYTE_ORDER) && defined(__BIG_ENDIAN) && __BYTE_ORDER == __BIG_ENDIAN
+ return big;
+#else
+ return little;
+#endif
+}
+
+template <typename value_type>
+inline value_type byte_swap(value_type value, endianness endian) {
+ if ((endian != native) && (endian != system_endianness()))
+ sys::swapByteOrder(value);
+ return value;
+}
+
+/// Swap the bytes of value to match the given endianness.
+template<typename value_type, endianness endian>
+inline value_type byte_swap(value_type value) {
+ return byte_swap(value, endian);
+}
+
+/// Read a value of a particular endianness from memory.
+template <typename value_type, std::size_t alignment>
+inline value_type read(const void *memory, endianness endian) {
+ value_type ret;
+
+ memcpy(&ret,
+ LLVM_ASSUME_ALIGNED(
+ memory, (detail::PickAlignment<value_type, alignment>::value)),
+ sizeof(value_type));
+ return byte_swap<value_type>(ret, endian);
+}
+
+template<typename value_type,
+ endianness endian,
+ std::size_t alignment>
+inline value_type read(const void *memory) {
+ return read<value_type, alignment>(memory, endian);
+}
+
+/// Read a value of a particular endianness from a buffer, and increment the
+/// buffer past that value.
+template <typename value_type, std::size_t alignment, typename CharT>
+inline value_type readNext(const CharT *&memory, endianness endian) {
+ value_type ret = read<value_type, alignment>(memory, endian);
+ memory += sizeof(value_type);
+ return ret;
+}
+
+template<typename value_type, endianness endian, std::size_t alignment,
+ typename CharT>
+inline value_type readNext(const CharT *&memory) {
+ return readNext<value_type, alignment, CharT>(memory, endian);
+}
+
+/// Write a value to memory with a particular endianness.
+template <typename value_type, std::size_t alignment>
+inline void write(void *memory, value_type value, endianness endian) {
+ value = byte_swap<value_type>(value, endian);
+ memcpy(LLVM_ASSUME_ALIGNED(
+ memory, (detail::PickAlignment<value_type, alignment>::value)),
+ &value, sizeof(value_type));
+}
+
+template<typename value_type,
+ endianness endian,
+ std::size_t alignment>
+inline void write(void *memory, value_type value) {
+ write<value_type, alignment>(memory, value, endian);
+}
+
+template <typename value_type>
+using make_unsigned_t = typename std::make_unsigned<value_type>::type;
+
+/// Read a value of a particular endianness from memory, for a location
+/// that starts at the given bit offset within the first byte.
+template <typename value_type, endianness endian, std::size_t alignment>
+inline value_type readAtBitAlignment(const void *memory, uint64_t startBit) {
+ assert(startBit < 8);
+ if (startBit == 0)
+ return read<value_type, endian, alignment>(memory);
+ else {
+ // Read two values and compose the result from them.
+ value_type val[2];
+ memcpy(&val[0],
+ LLVM_ASSUME_ALIGNED(
+ memory, (detail::PickAlignment<value_type, alignment>::value)),
+ sizeof(value_type) * 2);
+ val[0] = byte_swap<value_type, endian>(val[0]);
+ val[1] = byte_swap<value_type, endian>(val[1]);
+
+ // Shift bits from the lower value into place.
+ make_unsigned_t<value_type> lowerVal = val[0] >> startBit;
+ // Mask off upper bits after right shift in case of signed type.
+ make_unsigned_t<value_type> numBitsFirstVal =
+ (sizeof(value_type) * 8) - startBit;
+ lowerVal &= ((make_unsigned_t<value_type>)1 << numBitsFirstVal) - 1;
+
+ // Get the bits from the upper value.
+ make_unsigned_t<value_type> upperVal =
+ val[1] & (((make_unsigned_t<value_type>)1 << startBit) - 1);
+ // Shift them in to place.
+ upperVal <<= numBitsFirstVal;
+
+ return lowerVal | upperVal;
+ }
+}
+
+/// Write a value to memory with a particular endianness, for a location
+/// that starts at the given bit offset within the first byte.
+template <typename value_type, endianness endian, std::size_t alignment>
+inline void writeAtBitAlignment(void *memory, value_type value,
+ uint64_t startBit) {
+ assert(startBit < 8);
+ if (startBit == 0)
+ write<value_type, endian, alignment>(memory, value);
+ else {
+ // Read two values and shift the result into them.
+ value_type val[2];
+ memcpy(&val[0],
+ LLVM_ASSUME_ALIGNED(
+ memory, (detail::PickAlignment<value_type, alignment>::value)),
+ sizeof(value_type) * 2);
+ val[0] = byte_swap<value_type, endian>(val[0]);
+ val[1] = byte_swap<value_type, endian>(val[1]);
+
+ // Mask off any existing bits in the upper part of the lower value that
+ // we want to replace.
+ val[0] &= ((make_unsigned_t<value_type>)1 << startBit) - 1;
+ make_unsigned_t<value_type> numBitsFirstVal =
+ (sizeof(value_type) * 8) - startBit;
+ make_unsigned_t<value_type> lowerVal = value;
+ if (startBit > 0) {
+ // Mask off the upper bits in the new value that are not going to go into
+ // the lower value. This avoids a left shift of a negative value, which
+ // is undefined behavior.
+ lowerVal &= (((make_unsigned_t<value_type>)1 << numBitsFirstVal) - 1);
+ // Now shift the new bits into place
+ lowerVal <<= startBit;
+ }
+ val[0] |= lowerVal;
+
+ // Mask off any existing bits in the lower part of the upper value that
+ // we want to replace.
+ val[1] &= ~(((make_unsigned_t<value_type>)1 << startBit) - 1);
+ // Next shift the bits that go into the upper value into position.
+ make_unsigned_t<value_type> upperVal = value >> numBitsFirstVal;
+ // Mask off upper bits after right shift in case of signed type.
+ upperVal &= ((make_unsigned_t<value_type>)1 << startBit) - 1;
+ val[1] |= upperVal;
+
+ // Finally, rewrite values.
+ val[0] = byte_swap<value_type, endian>(val[0]);
+ val[1] = byte_swap<value_type, endian>(val[1]);
+ memcpy(LLVM_ASSUME_ALIGNED(
+ memory, (detail::PickAlignment<value_type, alignment>::value)),
+ &val[0], sizeof(value_type) * 2);
+ }
+}
+
+} // end namespace endian
+
+namespace detail {
+
+template<typename value_type,
+ endianness endian,
+ std::size_t alignment>
+struct packed_endian_specific_integral {
+ packed_endian_specific_integral() = default;
+
+ explicit packed_endian_specific_integral(value_type val) { *this = val; }
+
+ operator value_type() const {
+ return endian::read<value_type, endian, alignment>(
+ (const void*)Value.buffer);
+ }
+
+ void operator=(value_type newValue) {
+ endian::write<value_type, endian, alignment>(
+ (void*)Value.buffer, newValue);
+ }
+
+ packed_endian_specific_integral &operator+=(value_type newValue) {
+ *this = *this + newValue;
+ return *this;
+ }
+
+ packed_endian_specific_integral &operator-=(value_type newValue) {
+ *this = *this - newValue;
+ return *this;
+ }
+
+ packed_endian_specific_integral &operator|=(value_type newValue) {
+ *this = *this | newValue;
+ return *this;
+ }
+
+ packed_endian_specific_integral &operator&=(value_type newValue) {
+ *this = *this & newValue;
+ return *this;
+ }
+
+private:
+ AlignedCharArray<PickAlignment<value_type, alignment>::value,
+ sizeof(value_type)> Value;
+
+public:
+ struct ref {
+ explicit ref(void *Ptr) : Ptr(Ptr) {}
+
+ operator value_type() const {
+ return endian::read<value_type, endian, alignment>(Ptr);
+ }
+
+ void operator=(value_type NewValue) {
+ endian::write<value_type, endian, alignment>(Ptr, NewValue);
+ }
+
+ private:
+ void *Ptr;
+ };
+};
+
+} // end namespace detail
+
+using ulittle16_t =
+ detail::packed_endian_specific_integral<uint16_t, little, unaligned>;
+using ulittle32_t =
+ detail::packed_endian_specific_integral<uint32_t, little, unaligned>;
+using ulittle64_t =
+ detail::packed_endian_specific_integral<uint64_t, little, unaligned>;
+
+using little16_t =
+ detail::packed_endian_specific_integral<int16_t, little, unaligned>;
+using little32_t =
+ detail::packed_endian_specific_integral<int32_t, little, unaligned>;
+using little64_t =
+ detail::packed_endian_specific_integral<int64_t, little, unaligned>;
+
+using aligned_ulittle16_t =
+ detail::packed_endian_specific_integral<uint16_t, little, aligned>;
+using aligned_ulittle32_t =
+ detail::packed_endian_specific_integral<uint32_t, little, aligned>;
+using aligned_ulittle64_t =
+ detail::packed_endian_specific_integral<uint64_t, little, aligned>;
+
+using aligned_little16_t =
+ detail::packed_endian_specific_integral<int16_t, little, aligned>;
+using aligned_little32_t =
+ detail::packed_endian_specific_integral<int32_t, little, aligned>;
+using aligned_little64_t =
+ detail::packed_endian_specific_integral<int64_t, little, aligned>;
+
+using ubig16_t =
+ detail::packed_endian_specific_integral<uint16_t, big, unaligned>;
+using ubig32_t =
+ detail::packed_endian_specific_integral<uint32_t, big, unaligned>;
+using ubig64_t =
+ detail::packed_endian_specific_integral<uint64_t, big, unaligned>;
+
+using big16_t =
+ detail::packed_endian_specific_integral<int16_t, big, unaligned>;
+using big32_t =
+ detail::packed_endian_specific_integral<int32_t, big, unaligned>;
+using big64_t =
+ detail::packed_endian_specific_integral<int64_t, big, unaligned>;
+
+using aligned_ubig16_t =
+ detail::packed_endian_specific_integral<uint16_t, big, aligned>;
+using aligned_ubig32_t =
+ detail::packed_endian_specific_integral<uint32_t, big, aligned>;
+using aligned_ubig64_t =
+ detail::packed_endian_specific_integral<uint64_t, big, aligned>;
+
+using aligned_big16_t =
+ detail::packed_endian_specific_integral<int16_t, big, aligned>;
+using aligned_big32_t =
+ detail::packed_endian_specific_integral<int32_t, big, aligned>;
+using aligned_big64_t =
+ detail::packed_endian_specific_integral<int64_t, big, aligned>;
+
+using unaligned_uint16_t =
+ detail::packed_endian_specific_integral<uint16_t, native, unaligned>;
+using unaligned_uint32_t =
+ detail::packed_endian_specific_integral<uint32_t, native, unaligned>;
+using unaligned_uint64_t =
+ detail::packed_endian_specific_integral<uint64_t, native, unaligned>;
+
+using unaligned_int16_t =
+ detail::packed_endian_specific_integral<int16_t, native, unaligned>;
+using unaligned_int32_t =
+ detail::packed_endian_specific_integral<int32_t, native, unaligned>;
+using unaligned_int64_t =
+ detail::packed_endian_specific_integral<int64_t, native, unaligned>;
+
+namespace endian {
+
+template <typename T> inline T read(const void *P, endianness E) {
+ return read<T, unaligned>(P, E);
+}
+
+template <typename T, endianness E> inline T read(const void *P) {
+ return *(const detail::packed_endian_specific_integral<T, E, unaligned> *)P;
+}
+
+inline uint16_t read16(const void *P, endianness E) {
+ return read<uint16_t>(P, E);
+}
+inline uint32_t read32(const void *P, endianness E) {
+ return read<uint32_t>(P, E);
+}
+inline uint64_t read64(const void *P, endianness E) {
+ return read<uint64_t>(P, E);
+}
+
+template <endianness E> inline uint16_t read16(const void *P) {
+ return read<uint16_t, E>(P);
+}
+template <endianness E> inline uint32_t read32(const void *P) {
+ return read<uint32_t, E>(P);
+}
+template <endianness E> inline uint64_t read64(const void *P) {
+ return read<uint64_t, E>(P);
+}
+
+inline uint16_t read16le(const void *P) { return read16<little>(P); }
+inline uint32_t read32le(const void *P) { return read32<little>(P); }
+inline uint64_t read64le(const void *P) { return read64<little>(P); }
+inline uint16_t read16be(const void *P) { return read16<big>(P); }
+inline uint32_t read32be(const void *P) { return read32<big>(P); }
+inline uint64_t read64be(const void *P) { return read64<big>(P); }
+
+template <typename T> inline void write(void *P, T V, endianness E) {
+ write<T, unaligned>(P, V, E);
+}
+
+template <typename T, endianness E> inline void write(void *P, T V) {
+ *(detail::packed_endian_specific_integral<T, E, unaligned> *)P = V;
+}
+
+inline void write16(void *P, uint16_t V, endianness E) {
+ write<uint16_t>(P, V, E);
+}
+inline void write32(void *P, uint32_t V, endianness E) {
+ write<uint32_t>(P, V, E);
+}
+inline void write64(void *P, uint64_t V, endianness E) {
+ write<uint64_t>(P, V, E);
+}
+
+template <endianness E> inline void write16(void *P, uint16_t V) {
+ write<uint16_t, E>(P, V);
+}
+template <endianness E> inline void write32(void *P, uint32_t V) {
+ write<uint32_t, E>(P, V);
+}
+template <endianness E> inline void write64(void *P, uint64_t V) {
+ write<uint64_t, E>(P, V);
+}
+
+inline void write16le(void *P, uint16_t V) { write16<little>(P, V); }
+inline void write32le(void *P, uint32_t V) { write32<little>(P, V); }
+inline void write64le(void *P, uint64_t V) { write64<little>(P, V); }
+inline void write16be(void *P, uint16_t V) { write16<big>(P, V); }
+inline void write32be(void *P, uint32_t V) { write32<big>(P, V); }
+inline void write64be(void *P, uint64_t V) { write64<big>(P, V); }
+
+} // end namespace endian
+
+} // end namespace support
+} // end namespace wpi
+
+#endif // WPIUTIL_WPI_ENDIAN_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Errc.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Errc.h
new file mode 100644
index 0000000..ebce58a
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Errc.h
@@ -0,0 +1,87 @@
+//===- llvm/Support/Errc.h - Defines the llvm::errc enum --------*- C++ -*-===//
+//
+// The LLVM Compiler Infrastructure
+//
+// This file is distributed under the University of Illinois Open Source
+// License. See LICENSE.TXT for details.
+//
+//===----------------------------------------------------------------------===//
+//
+// While std::error_code works OK on all platforms we use, there are some
+// some problems with std::errc that can be avoided by using our own
+// enumeration:
+//
+// * std::errc is a namespace in some implementations. That meas that ADL
+// doesn't work and it is sometimes necessary to write std::make_error_code
+// or in templates:
+// using std::make_error_code;
+// make_error_code(...);
+//
+// with this enum it is safe to always just use make_error_code.
+//
+// * Some implementations define fewer names than others. This header has
+// the intersection of all the ones we support.
+//
+// * std::errc is just marked with is_error_condition_enum. This means that
+// common patters like AnErrorCode == errc::no_such_file_or_directory take
+// 4 virtual calls instead of two comparisons.
+//===----------------------------------------------------------------------===//
+
+#ifndef WPIUTIL_WPI_ERRC_H
+#define WPIUTIL_WPI_ERRC_H
+
+#include <system_error>
+
+namespace wpi {
+enum class errc {
+ argument_list_too_long = int(std::errc::argument_list_too_long),
+ argument_out_of_domain = int(std::errc::argument_out_of_domain),
+ bad_address = int(std::errc::bad_address),
+ bad_file_descriptor = int(std::errc::bad_file_descriptor),
+ broken_pipe = int(std::errc::broken_pipe),
+ device_or_resource_busy = int(std::errc::device_or_resource_busy),
+ directory_not_empty = int(std::errc::directory_not_empty),
+ executable_format_error = int(std::errc::executable_format_error),
+ file_exists = int(std::errc::file_exists),
+ file_too_large = int(std::errc::file_too_large),
+ filename_too_long = int(std::errc::filename_too_long),
+ function_not_supported = int(std::errc::function_not_supported),
+ illegal_byte_sequence = int(std::errc::illegal_byte_sequence),
+ inappropriate_io_control_operation =
+ int(std::errc::inappropriate_io_control_operation),
+ interrupted = int(std::errc::interrupted),
+ invalid_argument = int(std::errc::invalid_argument),
+ invalid_seek = int(std::errc::invalid_seek),
+ io_error = int(std::errc::io_error),
+ is_a_directory = int(std::errc::is_a_directory),
+ no_child_process = int(std::errc::no_child_process),
+ no_lock_available = int(std::errc::no_lock_available),
+ no_space_on_device = int(std::errc::no_space_on_device),
+ no_such_device_or_address = int(std::errc::no_such_device_or_address),
+ no_such_device = int(std::errc::no_such_device),
+ no_such_file_or_directory = int(std::errc::no_such_file_or_directory),
+ no_such_process = int(std::errc::no_such_process),
+ not_a_directory = int(std::errc::not_a_directory),
+ not_enough_memory = int(std::errc::not_enough_memory),
+ not_supported = int(std::errc::not_supported),
+ operation_not_permitted = int(std::errc::operation_not_permitted),
+ permission_denied = int(std::errc::permission_denied),
+ read_only_file_system = int(std::errc::read_only_file_system),
+ resource_deadlock_would_occur = int(std::errc::resource_deadlock_would_occur),
+ resource_unavailable_try_again =
+ int(std::errc::resource_unavailable_try_again),
+ result_out_of_range = int(std::errc::result_out_of_range),
+ too_many_files_open_in_system = int(std::errc::too_many_files_open_in_system),
+ too_many_files_open = int(std::errc::too_many_files_open),
+ too_many_links = int(std::errc::too_many_links)
+};
+
+inline std::error_code make_error_code(errc E) {
+ return std::error_code(static_cast<int>(E), std::generic_category());
+}
+}
+
+namespace std {
+template <> struct is_error_code_enum<wpi::errc> : std::true_type {};
+}
+#endif
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Errno.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Errno.h
new file mode 100644
index 0000000..042d432
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Errno.h
@@ -0,0 +1,38 @@
+//===- llvm/Support/Errno.h - Portable+convenient errno handling -*- C++ -*-===//
+//
+// The LLVM Compiler Infrastructure
+//
+// This file is distributed under the University of Illinois Open Source
+// License. See LICENSE.TXT for details.
+//
+//===----------------------------------------------------------------------===//
+//
+// This file declares some portable and convenient functions to deal with errno.
+//
+//===----------------------------------------------------------------------===//
+
+#ifndef WPIUTIL_WPI_ERRNO_H
+#define WPIUTIL_WPI_ERRNO_H
+
+#include <cerrno>
+#include <string>
+#include <type_traits>
+
+namespace wpi {
+namespace sys {
+
+template <typename FailT, typename Fun, typename... Args>
+inline auto RetryAfterSignal(const FailT &Fail, const Fun &F,
+ const Args &... As) -> decltype(F(As...)) {
+ decltype(F(As...)) Res;
+ do {
+ errno = 0;
+ Res = F(As...);
+ } while (Res == Fail && errno == EINTR);
+ return Res;
+}
+
+} // namespace sys
+} // namespace wpi
+
+#endif // WPIUTIL_WPI_ERRNO_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Error.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Error.h
new file mode 100644
index 0000000..1821a49
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Error.h
@@ -0,0 +1,1197 @@
+//===- llvm/Support/Error.h - Recoverable error handling --------*- C++ -*-===//
+//
+// The LLVM Compiler Infrastructure
+//
+// This file is distributed under the University of Illinois Open Source
+// License. See LICENSE.TXT for details.
+//
+//===----------------------------------------------------------------------===//
+//
+// This file defines an API used to report recoverable errors.
+//
+//===----------------------------------------------------------------------===//
+
+#ifndef WPIUTIL_WPI_ERROR_H
+#define WPIUTIL_WPI_ERROR_H
+
+#include "wpi/STLExtras.h"
+#include "wpi/SmallVector.h"
+#include "wpi/StringExtras.h"
+#include "wpi/Twine.h"
+#include "wpi/AlignOf.h"
+#include "wpi/Compiler.h"
+#include "wpi/ErrorHandling.h"
+#include "wpi/ErrorOr.h"
+#include "wpi/Format.h"
+#include "wpi/raw_ostream.h"
+#include <algorithm>
+#include <cassert>
+#include <cstdint>
+#include <cstdlib>
+#include <functional>
+#include <memory>
+#include <new>
+#include <string>
+#include <system_error>
+#include <type_traits>
+#include <utility>
+#include <vector>
+
+namespace wpi {
+
+class ErrorSuccess;
+
+/// Base class for error info classes. Do not extend this directly: Extend
+/// the ErrorInfo template subclass instead.
+class ErrorInfoBase {
+public:
+ virtual ~ErrorInfoBase() = default;
+
+ /// Print an error message to an output stream.
+ virtual void log(raw_ostream &OS) const = 0;
+
+ /// Return the error message as a string.
+ virtual std::string message() const {
+ std::string Msg;
+ raw_string_ostream OS(Msg);
+ log(OS);
+ return OS.str();
+ }
+
+ /// Convert this error to a std::error_code.
+ ///
+ /// This is a temporary crutch to enable interaction with code still
+ /// using std::error_code. It will be removed in the future.
+ virtual std::error_code convertToErrorCode() const = 0;
+
+ // Returns the class ID for this type.
+ static const void *classID() { return &ID; }
+
+ // Returns the class ID for the dynamic type of this ErrorInfoBase instance.
+ virtual const void *dynamicClassID() const = 0;
+
+ // Check whether this instance is a subclass of the class identified by
+ // ClassID.
+ virtual bool isA(const void *const ClassID) const {
+ return ClassID == classID();
+ }
+
+ // Check whether this instance is a subclass of ErrorInfoT.
+ template <typename ErrorInfoT> bool isA() const {
+ return isA(ErrorInfoT::classID());
+ }
+
+private:
+ virtual void anchor();
+
+ static char ID;
+};
+
+/// Lightweight error class with error context and mandatory checking.
+///
+/// Instances of this class wrap a ErrorInfoBase pointer. Failure states
+/// are represented by setting the pointer to a ErrorInfoBase subclass
+/// instance containing information describing the failure. Success is
+/// represented by a null pointer value.
+///
+/// Instances of Error also contains a 'Checked' flag, which must be set
+/// before the destructor is called, otherwise the destructor will trigger a
+/// runtime error. This enforces at runtime the requirement that all Error
+/// instances be checked or returned to the caller.
+///
+/// There are two ways to set the checked flag, depending on what state the
+/// Error instance is in. For Error instances indicating success, it
+/// is sufficient to invoke the boolean conversion operator. E.g.:
+///
+/// @code{.cpp}
+/// Error foo(<...>);
+///
+/// if (auto E = foo(<...>))
+/// return E; // <- Return E if it is in the error state.
+/// // We have verified that E was in the success state. It can now be safely
+/// // destroyed.
+/// @endcode
+///
+/// A success value *can not* be dropped. For example, just calling 'foo(<...>)'
+/// without testing the return value will raise a runtime error, even if foo
+/// returns success.
+///
+/// For Error instances representing failure, you must use either the
+/// handleErrors or handleAllErrors function with a typed handler. E.g.:
+///
+/// @code{.cpp}
+/// class MyErrorInfo : public ErrorInfo<MyErrorInfo> {
+/// // Custom error info.
+/// };
+///
+/// Error foo(<...>) { return make_error<MyErrorInfo>(...); }
+///
+/// auto E = foo(<...>); // <- foo returns failure with MyErrorInfo.
+/// auto NewE =
+/// handleErrors(E,
+/// [](const MyErrorInfo &M) {
+/// // Deal with the error.
+/// },
+/// [](std::unique_ptr<OtherError> M) -> Error {
+/// if (canHandle(*M)) {
+/// // handle error.
+/// return Error::success();
+/// }
+/// // Couldn't handle this error instance. Pass it up the stack.
+/// return Error(std::move(M));
+/// );
+/// // Note - we must check or return NewE in case any of the handlers
+/// // returned a new error.
+/// @endcode
+///
+/// The handleAllErrors function is identical to handleErrors, except
+/// that it has a void return type, and requires all errors to be handled and
+/// no new errors be returned. It prevents errors (assuming they can all be
+/// handled) from having to be bubbled all the way to the top-level.
+///
+/// *All* Error instances must be checked before destruction, even if
+/// they're moved-assigned or constructed from Success values that have already
+/// been checked. This enforces checking through all levels of the call stack.
+class LLVM_NODISCARD Error {
+ // Both ErrorList and FileError need to be able to yank ErrorInfoBase
+ // pointers out of this class to add to the error list.
+ friend class ErrorList;
+ friend class FileError;
+
+ // handleErrors needs to be able to set the Checked flag.
+ template <typename... HandlerTs>
+ friend Error handleErrors(Error E, HandlerTs &&... Handlers);
+
+ // Expected<T> needs to be able to steal the payload when constructed from an
+ // error.
+ template <typename T> friend class Expected;
+
+protected:
+ /// Create a success value. Prefer using 'Error::success()' for readability
+ Error() {
+ setPtr(nullptr);
+ setChecked(false);
+ }
+
+public:
+ /// Create a success value.
+ static ErrorSuccess success();
+
+ // Errors are not copy-constructable.
+ Error(const Error &Other) = delete;
+
+ /// Move-construct an error value. The newly constructed error is considered
+ /// unchecked, even if the source error had been checked. The original error
+ /// becomes a checked Success value, regardless of its original state.
+ Error(Error &&Other) noexcept {
+ setChecked(true);
+ *this = std::move(Other);
+ }
+
+ /// Create an error value. Prefer using the 'make_error' function, but
+ /// this constructor can be useful when "re-throwing" errors from handlers.
+ Error(std::unique_ptr<ErrorInfoBase> Payload) {
+ setPtr(Payload.release());
+ setChecked(false);
+ }
+
+ // Errors are not copy-assignable.
+ Error &operator=(const Error &Other) = delete;
+
+ /// Move-assign an error value. The current error must represent success, you
+ /// you cannot overwrite an unhandled error. The current error is then
+ /// considered unchecked. The source error becomes a checked success value,
+ /// regardless of its original state.
+ Error &operator=(Error &&Other) noexcept {
+ // Don't allow overwriting of unchecked values.
+ assertIsChecked();
+ setPtr(Other.getPtr());
+
+ // This Error is unchecked, even if the source error was checked.
+ setChecked(false);
+
+ // Null out Other's payload and set its checked bit.
+ Other.setPtr(nullptr);
+ Other.setChecked(true);
+
+ return *this;
+ }
+
+ /// Destroy a Error. Fails with a call to abort() if the error is
+ /// unchecked.
+ ~Error() {
+ assertIsChecked();
+ delete getPtr();
+ }
+
+ /// Bool conversion. Returns true if this Error is in a failure state,
+ /// and false if it is in an accept state. If the error is in a Success state
+ /// it will be considered checked.
+ explicit operator bool() {
+ setChecked(getPtr() == nullptr);
+ return getPtr() != nullptr;
+ }
+
+ /// Check whether one error is a subclass of another.
+ template <typename ErrT> bool isA() const {
+ return getPtr() && getPtr()->isA(ErrT::classID());
+ }
+
+ /// Returns the dynamic class id of this error, or null if this is a success
+ /// value.
+ const void* dynamicClassID() const {
+ if (!getPtr())
+ return nullptr;
+ return getPtr()->dynamicClassID();
+ }
+
+private:
+ void assertIsChecked() {
+ }
+
+ ErrorInfoBase *getPtr() const {
+ return reinterpret_cast<ErrorInfoBase*>(
+ reinterpret_cast<uintptr_t>(Payload) &
+ ~static_cast<uintptr_t>(0x1));
+ }
+
+ void setPtr(ErrorInfoBase *EI) {
+ Payload = EI;
+ }
+
+ bool getChecked() const {
+ return true;
+ }
+
+ void setChecked(bool V) {
+ Payload = reinterpret_cast<ErrorInfoBase*>(
+ (reinterpret_cast<uintptr_t>(Payload) &
+ ~static_cast<uintptr_t>(0x1)) |
+ (V ? 0 : 1));
+ }
+
+ std::unique_ptr<ErrorInfoBase> takePayload() {
+ std::unique_ptr<ErrorInfoBase> Tmp(getPtr());
+ setPtr(nullptr);
+ setChecked(true);
+ return Tmp;
+ }
+
+ friend raw_ostream &operator<<(raw_ostream &OS, const Error &E) {
+ if (auto P = E.getPtr())
+ P->log(OS);
+ else
+ OS << "success";
+ return OS;
+ }
+
+ ErrorInfoBase *Payload = nullptr;
+};
+
+/// Subclass of Error for the sole purpose of identifying the success path in
+/// the type system. This allows to catch invalid conversion to Expected<T> at
+/// compile time.
+class ErrorSuccess final : public Error {};
+
+inline ErrorSuccess Error::success() { return ErrorSuccess(); }
+
+/// Make a Error instance representing failure using the given error info
+/// type.
+template <typename ErrT, typename... ArgTs> Error make_error(ArgTs &&... Args) {
+ return Error(std::make_unique<ErrT>(std::forward<ArgTs>(Args)...));
+}
+
+/// Base class for user error types. Users should declare their error types
+/// like:
+///
+/// class MyError : public ErrorInfo<MyError> {
+/// ....
+/// };
+///
+/// This class provides an implementation of the ErrorInfoBase::kind
+/// method, which is used by the Error RTTI system.
+template <typename ThisErrT, typename ParentErrT = ErrorInfoBase>
+class ErrorInfo : public ParentErrT {
+public:
+ using ParentErrT::ParentErrT; // inherit constructors
+
+ static const void *classID() { return &ThisErrT::ID; }
+
+ const void *dynamicClassID() const override { return &ThisErrT::ID; }
+
+ bool isA(const void *const ClassID) const override {
+ return ClassID == classID() || ParentErrT::isA(ClassID);
+ }
+};
+
+/// Special ErrorInfo subclass representing a list of ErrorInfos.
+/// Instances of this class are constructed by joinError.
+class ErrorList final : public ErrorInfo<ErrorList> {
+ // handleErrors needs to be able to iterate the payload list of an
+ // ErrorList.
+ template <typename... HandlerTs>
+ friend Error handleErrors(Error E, HandlerTs &&... Handlers);
+
+ // joinErrors is implemented in terms of join.
+ friend Error joinErrors(Error, Error);
+
+public:
+ void log(raw_ostream &OS) const override {
+ OS << "Multiple errors:\n";
+ for (auto &ErrPayload : Payloads) {
+ ErrPayload->log(OS);
+ OS << "\n";
+ }
+ }
+
+ std::error_code convertToErrorCode() const override;
+
+ // Used by ErrorInfo::classID.
+ static char ID;
+
+private:
+ ErrorList(std::unique_ptr<ErrorInfoBase> Payload1,
+ std::unique_ptr<ErrorInfoBase> Payload2) {
+ assert(!Payload1->isA<ErrorList>() && !Payload2->isA<ErrorList>() &&
+ "ErrorList constructor payloads should be singleton errors");
+ Payloads.push_back(std::move(Payload1));
+ Payloads.push_back(std::move(Payload2));
+ }
+
+ static Error join(Error E1, Error E2) {
+ if (!E1)
+ return E2;
+ if (!E2)
+ return E1;
+ if (E1.isA<ErrorList>()) {
+ auto &E1List = static_cast<ErrorList &>(*E1.getPtr());
+ if (E2.isA<ErrorList>()) {
+ auto E2Payload = E2.takePayload();
+ auto &E2List = static_cast<ErrorList &>(*E2Payload);
+ for (auto &Payload : E2List.Payloads)
+ E1List.Payloads.push_back(std::move(Payload));
+ } else
+ E1List.Payloads.push_back(E2.takePayload());
+
+ return E1;
+ }
+ if (E2.isA<ErrorList>()) {
+ auto &E2List = static_cast<ErrorList &>(*E2.getPtr());
+ E2List.Payloads.insert(E2List.Payloads.begin(), E1.takePayload());
+ return E2;
+ }
+ return Error(std::unique_ptr<ErrorList>(
+ new ErrorList(E1.takePayload(), E2.takePayload())));
+ }
+
+ std::vector<std::unique_ptr<ErrorInfoBase>> Payloads;
+};
+
+/// Concatenate errors. The resulting Error is unchecked, and contains the
+/// ErrorInfo(s), if any, contained in E1, followed by the
+/// ErrorInfo(s), if any, contained in E2.
+inline Error joinErrors(Error E1, Error E2) {
+ return ErrorList::join(std::move(E1), std::move(E2));
+}
+
+/// Tagged union holding either a T or a Error.
+///
+/// This class parallels ErrorOr, but replaces error_code with Error. Since
+/// Error cannot be copied, this class replaces getError() with
+/// takeError(). It also adds an bool errorIsA<ErrT>() method for testing the
+/// error class type.
+template <class T> class LLVM_NODISCARD Expected {
+ template <class T1> friend class ExpectedAsOutParameter;
+ template <class OtherT> friend class Expected;
+
+ static const bool isRef = std::is_reference<T>::value;
+
+ using wrap = std::reference_wrapper<typename std::remove_reference<T>::type>;
+
+ using error_type = std::unique_ptr<ErrorInfoBase>;
+
+public:
+ using storage_type = typename std::conditional<isRef, wrap, T>::type;
+ using value_type = T;
+
+private:
+ using reference = typename std::remove_reference<T>::type &;
+ using const_reference = const typename std::remove_reference<T>::type &;
+ using pointer = typename std::remove_reference<T>::type *;
+ using const_pointer = const typename std::remove_reference<T>::type *;
+
+public:
+ /// Create an Expected<T> error value from the given Error.
+ Expected(Error Err)
+ : HasError(true)
+ {
+ assert(Err && "Cannot create Expected<T> from Error success value.");
+ new (getErrorStorage()) error_type(Err.takePayload());
+ }
+
+ /// Forbid to convert from Error::success() implicitly, this avoids having
+ /// Expected<T> foo() { return Error::success(); } which compiles otherwise
+ /// but triggers the assertion above.
+ Expected(ErrorSuccess) = delete;
+
+ /// Create an Expected<T> success value from the given OtherT value, which
+ /// must be convertible to T.
+ template <typename OtherT>
+ Expected(OtherT &&Val,
+ typename std::enable_if<std::is_convertible<OtherT, T>::value>::type
+ * = nullptr)
+ : HasError(false)
+ {
+ new (getStorage()) storage_type(std::forward<OtherT>(Val));
+ }
+
+ /// Move construct an Expected<T> value.
+ Expected(Expected &&Other) { moveConstruct(std::move(Other)); }
+
+ /// Move construct an Expected<T> value from an Expected<OtherT>, where OtherT
+ /// must be convertible to T.
+ template <class OtherT>
+ Expected(Expected<OtherT> &&Other,
+ typename std::enable_if<std::is_convertible<OtherT, T>::value>::type
+ * = nullptr) {
+ moveConstruct(std::move(Other));
+ }
+
+ /// Move construct an Expected<T> value from an Expected<OtherT>, where OtherT
+ /// isn't convertible to T.
+ template <class OtherT>
+ explicit Expected(
+ Expected<OtherT> &&Other,
+ typename std::enable_if<!std::is_convertible<OtherT, T>::value>::type * =
+ nullptr) {
+ moveConstruct(std::move(Other));
+ }
+
+ /// Move-assign from another Expected<T>.
+ Expected &operator=(Expected &&Other) {
+ moveAssign(std::move(Other));
+ return *this;
+ }
+
+ /// Destroy an Expected<T>.
+ ~Expected() {
+ assertIsChecked();
+ if (!HasError)
+ getStorage()->~storage_type();
+ else
+ getErrorStorage()->~error_type();
+ }
+
+ /// Return false if there is an error.
+ explicit operator bool() {
+ return !HasError;
+ }
+
+ /// Returns a reference to the stored T value.
+ reference get() {
+ assertIsChecked();
+ return *getStorage();
+ }
+
+ /// Returns a const reference to the stored T value.
+ const_reference get() const {
+ assertIsChecked();
+ return const_cast<Expected<T> *>(this)->get();
+ }
+
+ /// Check that this Expected<T> is an error of type ErrT.
+ template <typename ErrT> bool errorIsA() const {
+ return HasError && (*getErrorStorage())->template isA<ErrT>();
+ }
+
+ /// Take ownership of the stored error.
+ /// After calling this the Expected<T> is in an indeterminate state that can
+ /// only be safely destructed. No further calls (beside the destructor) should
+ /// be made on the Expected<T> vaule.
+ Error takeError() {
+ return HasError ? Error(std::move(*getErrorStorage())) : Error::success();
+ }
+
+ /// Returns a pointer to the stored T value.
+ pointer operator->() {
+ assertIsChecked();
+ return toPointer(getStorage());
+ }
+
+ /// Returns a const pointer to the stored T value.
+ const_pointer operator->() const {
+ assertIsChecked();
+ return toPointer(getStorage());
+ }
+
+ /// Returns a reference to the stored T value.
+ reference operator*() {
+ assertIsChecked();
+ return *getStorage();
+ }
+
+ /// Returns a const reference to the stored T value.
+ const_reference operator*() const {
+ assertIsChecked();
+ return *getStorage();
+ }
+
+private:
+ template <class T1>
+ static bool compareThisIfSameType(const T1 &a, const T1 &b) {
+ return &a == &b;
+ }
+
+ template <class T1, class T2>
+ static bool compareThisIfSameType(const T1 &a, const T2 &b) {
+ return false;
+ }
+
+ template <class OtherT> void moveConstruct(Expected<OtherT> &&Other) {
+ HasError = Other.HasError;
+
+ if (!HasError)
+ new (getStorage()) storage_type(std::move(*Other.getStorage()));
+ else
+ new (getErrorStorage()) error_type(std::move(*Other.getErrorStorage()));
+ }
+
+ template <class OtherT> void moveAssign(Expected<OtherT> &&Other) {
+ assertIsChecked();
+
+ if (compareThisIfSameType(*this, Other))
+ return;
+
+ this->~Expected();
+ new (this) Expected(std::move(Other));
+ }
+
+ pointer toPointer(pointer Val) { return Val; }
+
+ const_pointer toPointer(const_pointer Val) const { return Val; }
+
+ pointer toPointer(wrap *Val) { return &Val->get(); }
+
+ const_pointer toPointer(const wrap *Val) const { return &Val->get(); }
+
+ storage_type *getStorage() {
+ assert(!HasError && "Cannot get value when an error exists!");
+ return reinterpret_cast<storage_type *>(TStorage.buffer);
+ }
+
+ const storage_type *getStorage() const {
+ assert(!HasError && "Cannot get value when an error exists!");
+ return reinterpret_cast<const storage_type *>(TStorage.buffer);
+ }
+
+ error_type *getErrorStorage() {
+ assert(HasError && "Cannot get error when a value exists!");
+ return reinterpret_cast<error_type *>(ErrorStorage.buffer);
+ }
+
+ const error_type *getErrorStorage() const {
+ assert(HasError && "Cannot get error when a value exists!");
+ return reinterpret_cast<const error_type *>(ErrorStorage.buffer);
+ }
+
+ // Used by ExpectedAsOutParameter to reset the checked flag.
+ void setUnchecked() {
+ }
+
+ void assertIsChecked() {
+ }
+
+ union {
+ AlignedCharArrayUnion<storage_type> TStorage;
+ AlignedCharArrayUnion<error_type> ErrorStorage;
+ };
+ bool HasError : 1;
+};
+
+/// Report a serious error, calling any installed error handler. See
+/// ErrorHandling.h.
+LLVM_ATTRIBUTE_NORETURN void report_fatal_error(Error Err,
+ bool gen_crash_diag = true);
+
+/// Report a fatal error if Err is a failure value.
+///
+/// This function can be used to wrap calls to fallible functions ONLY when it
+/// is known that the Error will always be a success value. E.g.
+///
+/// @code{.cpp}
+/// // foo only attempts the fallible operation if DoFallibleOperation is
+/// // true. If DoFallibleOperation is false then foo always returns
+/// // Error::success().
+/// Error foo(bool DoFallibleOperation);
+///
+/// cantFail(foo(false));
+/// @endcode
+inline void cantFail(Error Err, const char *Msg = nullptr) {
+ if (Err) {
+ if (!Msg)
+ Msg = "Failure value returned from cantFail wrapped call";
+ wpi_unreachable(Msg);
+ }
+}
+
+/// Report a fatal error if ValOrErr is a failure value, otherwise unwraps and
+/// returns the contained value.
+///
+/// This function can be used to wrap calls to fallible functions ONLY when it
+/// is known that the Error will always be a success value. E.g.
+///
+/// @code{.cpp}
+/// // foo only attempts the fallible operation if DoFallibleOperation is
+/// // true. If DoFallibleOperation is false then foo always returns an int.
+/// Expected<int> foo(bool DoFallibleOperation);
+///
+/// int X = cantFail(foo(false));
+/// @endcode
+template <typename T>
+T cantFail(Expected<T> ValOrErr, const char *Msg = nullptr) {
+ if (ValOrErr)
+ return std::move(*ValOrErr);
+ else {
+ if (!Msg)
+ Msg = "Failure value returned from cantFail wrapped call";
+ wpi_unreachable(Msg);
+ }
+}
+
+/// Report a fatal error if ValOrErr is a failure value, otherwise unwraps and
+/// returns the contained reference.
+///
+/// This function can be used to wrap calls to fallible functions ONLY when it
+/// is known that the Error will always be a success value. E.g.
+///
+/// @code{.cpp}
+/// // foo only attempts the fallible operation if DoFallibleOperation is
+/// // true. If DoFallibleOperation is false then foo always returns a Bar&.
+/// Expected<Bar&> foo(bool DoFallibleOperation);
+///
+/// Bar &X = cantFail(foo(false));
+/// @endcode
+template <typename T>
+T& cantFail(Expected<T&> ValOrErr, const char *Msg = nullptr) {
+ if (ValOrErr)
+ return *ValOrErr;
+ else {
+ if (!Msg)
+ Msg = "Failure value returned from cantFail wrapped call";
+ wpi_unreachable(Msg);
+ }
+}
+
+/// Helper for testing applicability of, and applying, handlers for
+/// ErrorInfo types.
+template <typename HandlerT>
+class ErrorHandlerTraits
+ : public ErrorHandlerTraits<decltype(
+ &std::remove_reference<HandlerT>::type::operator())> {};
+
+// Specialization functions of the form 'Error (const ErrT&)'.
+template <typename ErrT> class ErrorHandlerTraits<Error (&)(ErrT &)> {
+public:
+ static bool appliesTo(const ErrorInfoBase &E) {
+ return E.template isA<ErrT>();
+ }
+
+ template <typename HandlerT>
+ static Error apply(HandlerT &&H, std::unique_ptr<ErrorInfoBase> E) {
+ assert(appliesTo(*E) && "Applying incorrect handler");
+ return H(static_cast<ErrT &>(*E));
+ }
+};
+
+// Specialization functions of the form 'void (const ErrT&)'.
+template <typename ErrT> class ErrorHandlerTraits<void (&)(ErrT &)> {
+public:
+ static bool appliesTo(const ErrorInfoBase &E) {
+ return E.template isA<ErrT>();
+ }
+
+ template <typename HandlerT>
+ static Error apply(HandlerT &&H, std::unique_ptr<ErrorInfoBase> E) {
+ assert(appliesTo(*E) && "Applying incorrect handler");
+ H(static_cast<ErrT &>(*E));
+ return Error::success();
+ }
+};
+
+/// Specialization for functions of the form 'Error (std::unique_ptr<ErrT>)'.
+template <typename ErrT>
+class ErrorHandlerTraits<Error (&)(std::unique_ptr<ErrT>)> {
+public:
+ static bool appliesTo(const ErrorInfoBase &E) {
+ return E.template isA<ErrT>();
+ }
+
+ template <typename HandlerT>
+ static Error apply(HandlerT &&H, std::unique_ptr<ErrorInfoBase> E) {
+ assert(appliesTo(*E) && "Applying incorrect handler");
+ std::unique_ptr<ErrT> SubE(static_cast<ErrT *>(E.release()));
+ return H(std::move(SubE));
+ }
+};
+
+/// Specialization for functions of the form 'void (std::unique_ptr<ErrT>)'.
+template <typename ErrT>
+class ErrorHandlerTraits<void (&)(std::unique_ptr<ErrT>)> {
+public:
+ static bool appliesTo(const ErrorInfoBase &E) {
+ return E.template isA<ErrT>();
+ }
+
+ template <typename HandlerT>
+ static Error apply(HandlerT &&H, std::unique_ptr<ErrorInfoBase> E) {
+ assert(appliesTo(*E) && "Applying incorrect handler");
+ std::unique_ptr<ErrT> SubE(static_cast<ErrT *>(E.release()));
+ H(std::move(SubE));
+ return Error::success();
+ }
+};
+
+// Specialization for member functions of the form 'RetT (const ErrT&)'.
+template <typename C, typename RetT, typename ErrT>
+class ErrorHandlerTraits<RetT (C::*)(ErrT &)>
+ : public ErrorHandlerTraits<RetT (&)(ErrT &)> {};
+
+// Specialization for member functions of the form 'RetT (const ErrT&) const'.
+template <typename C, typename RetT, typename ErrT>
+class ErrorHandlerTraits<RetT (C::*)(ErrT &) const>
+ : public ErrorHandlerTraits<RetT (&)(ErrT &)> {};
+
+// Specialization for member functions of the form 'RetT (const ErrT&)'.
+template <typename C, typename RetT, typename ErrT>
+class ErrorHandlerTraits<RetT (C::*)(const ErrT &)>
+ : public ErrorHandlerTraits<RetT (&)(ErrT &)> {};
+
+// Specialization for member functions of the form 'RetT (const ErrT&) const'.
+template <typename C, typename RetT, typename ErrT>
+class ErrorHandlerTraits<RetT (C::*)(const ErrT &) const>
+ : public ErrorHandlerTraits<RetT (&)(ErrT &)> {};
+
+/// Specialization for member functions of the form
+/// 'RetT (std::unique_ptr<ErrT>)'.
+template <typename C, typename RetT, typename ErrT>
+class ErrorHandlerTraits<RetT (C::*)(std::unique_ptr<ErrT>)>
+ : public ErrorHandlerTraits<RetT (&)(std::unique_ptr<ErrT>)> {};
+
+/// Specialization for member functions of the form
+/// 'RetT (std::unique_ptr<ErrT>) const'.
+template <typename C, typename RetT, typename ErrT>
+class ErrorHandlerTraits<RetT (C::*)(std::unique_ptr<ErrT>) const>
+ : public ErrorHandlerTraits<RetT (&)(std::unique_ptr<ErrT>)> {};
+
+inline Error handleErrorImpl(std::unique_ptr<ErrorInfoBase> Payload) {
+ return Error(std::move(Payload));
+}
+
+template <typename HandlerT, typename... HandlerTs>
+Error handleErrorImpl(std::unique_ptr<ErrorInfoBase> Payload,
+ HandlerT &&Handler, HandlerTs &&... Handlers) {
+ if (ErrorHandlerTraits<HandlerT>::appliesTo(*Payload))
+ return ErrorHandlerTraits<HandlerT>::apply(std::forward<HandlerT>(Handler),
+ std::move(Payload));
+ return handleErrorImpl(std::move(Payload),
+ std::forward<HandlerTs>(Handlers)...);
+}
+
+/// Pass the ErrorInfo(s) contained in E to their respective handlers. Any
+/// unhandled errors (or Errors returned by handlers) are re-concatenated and
+/// returned.
+/// Because this function returns an error, its result must also be checked
+/// or returned. If you intend to handle all errors use handleAllErrors
+/// (which returns void, and will abort() on unhandled errors) instead.
+template <typename... HandlerTs>
+Error handleErrors(Error E, HandlerTs &&... Hs) {
+ if (!E)
+ return Error::success();
+
+ std::unique_ptr<ErrorInfoBase> Payload = E.takePayload();
+
+ if (Payload->isA<ErrorList>()) {
+ ErrorList &List = static_cast<ErrorList &>(*Payload);
+ Error R;
+ for (auto &P : List.Payloads)
+ R = ErrorList::join(
+ std::move(R),
+ handleErrorImpl(std::move(P), std::forward<HandlerTs>(Hs)...));
+ return R;
+ }
+
+ return handleErrorImpl(std::move(Payload), std::forward<HandlerTs>(Hs)...);
+}
+
+/// Behaves the same as handleErrors, except that by contract all errors
+/// *must* be handled by the given handlers (i.e. there must be no remaining
+/// errors after running the handlers, or wpi_unreachable is called).
+template <typename... HandlerTs>
+void handleAllErrors(Error E, HandlerTs &&... Handlers) {
+ cantFail(handleErrors(std::move(E), std::forward<HandlerTs>(Handlers)...));
+}
+
+/// Check that E is a non-error, then drop it.
+/// If E is an error, wpi_unreachable will be called.
+inline void handleAllErrors(Error E) {
+ cantFail(std::move(E));
+}
+
+/// Handle any errors (if present) in an Expected<T>, then try a recovery path.
+///
+/// If the incoming value is a success value it is returned unmodified. If it
+/// is a failure value then it the contained error is passed to handleErrors.
+/// If handleErrors is able to handle the error then the RecoveryPath functor
+/// is called to supply the final result. If handleErrors is not able to
+/// handle all errors then the unhandled errors are returned.
+///
+/// This utility enables the follow pattern:
+///
+/// @code{.cpp}
+/// enum FooStrategy { Aggressive, Conservative };
+/// Expected<Foo> foo(FooStrategy S);
+///
+/// auto ResultOrErr =
+/// handleExpected(
+/// foo(Aggressive),
+/// []() { return foo(Conservative); },
+/// [](AggressiveStrategyError&) {
+/// // Implicitly conusme this - we'll recover by using a conservative
+/// // strategy.
+/// });
+///
+/// @endcode
+template <typename T, typename RecoveryFtor, typename... HandlerTs>
+Expected<T> handleExpected(Expected<T> ValOrErr, RecoveryFtor &&RecoveryPath,
+ HandlerTs &&... Handlers) {
+ if (ValOrErr)
+ return ValOrErr;
+
+ if (auto Err = handleErrors(ValOrErr.takeError(),
+ std::forward<HandlerTs>(Handlers)...))
+ return std::move(Err);
+
+ return RecoveryPath();
+}
+
+/// Log all errors (if any) in E to OS. If there are any errors, ErrorBanner
+/// will be printed before the first one is logged. A newline will be printed
+/// after each error.
+///
+/// This function is compatible with the helpers from Support/WithColor.h. You
+/// can pass any of them as the OS. Please consider using them instead of
+/// including 'error: ' in the ErrorBanner.
+///
+/// This is useful in the base level of your program to allow clean termination
+/// (allowing clean deallocation of resources, etc.), while reporting error
+/// information to the user.
+void logAllUnhandledErrors(Error E, raw_ostream &OS, Twine ErrorBanner = {});
+
+/// Write all error messages (if any) in E to a string. The newline character
+/// is used to separate error messages.
+inline std::string toString(Error E) {
+ SmallVector<std::string, 2> Errors;
+ handleAllErrors(std::move(E), [&Errors](const ErrorInfoBase &EI) {
+ Errors.push_back(EI.message());
+ });
+ return join(Errors.begin(), Errors.end(), "\n");
+}
+
+/// Consume a Error without doing anything. This method should be used
+/// only where an error can be considered a reasonable and expected return
+/// value.
+///
+/// Uses of this method are potentially indicative of design problems: If it's
+/// legitimate to do nothing while processing an "error", the error-producer
+/// might be more clearly refactored to return an Optional<T>.
+inline void consumeError(Error Err) {
+ handleAllErrors(std::move(Err), [](const ErrorInfoBase &) {});
+}
+
+/// Helper for converting an Error to a bool.
+///
+/// This method returns true if Err is in an error state, or false if it is
+/// in a success state. Puts Err in a checked state in both cases (unlike
+/// Error::operator bool(), which only does this for success states).
+inline bool errorToBool(Error Err) {
+ bool IsError = static_cast<bool>(Err);
+ if (IsError)
+ consumeError(std::move(Err));
+ return IsError;
+}
+
+/// Helper for Errors used as out-parameters.
+///
+/// This helper is for use with the Error-as-out-parameter idiom, where an error
+/// is passed to a function or method by reference, rather than being returned.
+/// In such cases it is helpful to set the checked bit on entry to the function
+/// so that the error can be written to (unchecked Errors abort on assignment)
+/// and clear the checked bit on exit so that clients cannot accidentally forget
+/// to check the result. This helper performs these actions automatically using
+/// RAII:
+///
+/// @code{.cpp}
+/// Result foo(Error &Err) {
+/// ErrorAsOutParameter ErrAsOutParam(&Err); // 'Checked' flag set
+/// // <body of foo>
+/// // <- 'Checked' flag auto-cleared when ErrAsOutParam is destructed.
+/// }
+/// @endcode
+///
+/// ErrorAsOutParameter takes an Error* rather than Error& so that it can be
+/// used with optional Errors (Error pointers that are allowed to be null). If
+/// ErrorAsOutParameter took an Error reference, an instance would have to be
+/// created inside every condition that verified that Error was non-null. By
+/// taking an Error pointer we can just create one instance at the top of the
+/// function.
+class ErrorAsOutParameter {
+public:
+ ErrorAsOutParameter(Error *Err) : Err(Err) {
+ // Raise the checked bit if Err is success.
+ if (Err)
+ (void)!!*Err;
+ }
+
+ ~ErrorAsOutParameter() {
+ // Clear the checked bit.
+ if (Err && !*Err)
+ *Err = Error::success();
+ }
+
+private:
+ Error *Err;
+};
+
+/// Helper for Expected<T>s used as out-parameters.
+///
+/// See ErrorAsOutParameter.
+template <typename T>
+class ExpectedAsOutParameter {
+public:
+ ExpectedAsOutParameter(Expected<T> *ValOrErr)
+ : ValOrErr(ValOrErr) {
+ if (ValOrErr)
+ (void)!!*ValOrErr;
+ }
+
+ ~ExpectedAsOutParameter() {
+ if (ValOrErr)
+ ValOrErr->setUnchecked();
+ }
+
+private:
+ Expected<T> *ValOrErr;
+};
+
+/// This class wraps a std::error_code in a Error.
+///
+/// This is useful if you're writing an interface that returns a Error
+/// (or Expected) and you want to call code that still returns
+/// std::error_codes.
+class ECError : public ErrorInfo<ECError> {
+ friend Error errorCodeToError(std::error_code);
+
+ virtual void anchor() override;
+
+public:
+ void setErrorCode(std::error_code EC) { this->EC = EC; }
+ std::error_code convertToErrorCode() const override { return EC; }
+ void log(raw_ostream &OS) const override { OS << EC.message(); }
+
+ // Used by ErrorInfo::classID.
+ static char ID;
+
+protected:
+ ECError() = default;
+ ECError(std::error_code EC) : EC(EC) {}
+
+ std::error_code EC;
+};
+
+/// The value returned by this function can be returned from convertToErrorCode
+/// for Error values where no sensible translation to std::error_code exists.
+/// It should only be used in this situation, and should never be used where a
+/// sensible conversion to std::error_code is available, as attempts to convert
+/// to/from this error will result in a fatal error. (i.e. it is a programmatic
+///error to try to convert such a value).
+std::error_code inconvertibleErrorCode();
+
+/// Helper for converting an std::error_code to a Error.
+Error errorCodeToError(std::error_code EC);
+
+/// Helper for converting an ECError to a std::error_code.
+///
+/// This method requires that Err be Error() or an ECError, otherwise it
+/// will trigger a call to abort().
+std::error_code errorToErrorCode(Error Err);
+
+/// Convert an ErrorOr<T> to an Expected<T>.
+template <typename T> Expected<T> errorOrToExpected(ErrorOr<T> &&EO) {
+ if (auto EC = EO.getError())
+ return errorCodeToError(EC);
+ return std::move(*EO);
+}
+
+/// Convert an Expected<T> to an ErrorOr<T>.
+template <typename T> ErrorOr<T> expectedToErrorOr(Expected<T> &&E) {
+ if (auto Err = E.takeError())
+ return errorToErrorCode(std::move(Err));
+ return std::move(*E);
+}
+
+/// This class wraps a string in an Error.
+///
+/// StringError is useful in cases where the client is not expected to be able
+/// to consume the specific error message programmatically (for example, if the
+/// error message is to be presented to the user).
+///
+/// StringError can also be used when additional information is to be printed
+/// along with a error_code message. Depending on the constructor called, this
+/// class can either display:
+/// 1. the error_code message (ECError behavior)
+/// 2. a string
+/// 3. the error_code message and a string
+///
+/// These behaviors are useful when subtyping is required; for example, when a
+/// specific library needs an explicit error type. In the example below,
+/// PDBError is derived from StringError:
+///
+/// @code{.cpp}
+/// Expected<int> foo() {
+/// return wpi::make_error<PDBError>(pdb_error_code::dia_failed_loading,
+/// "Additional information");
+/// }
+/// @endcode
+///
+class StringError : public ErrorInfo<StringError> {
+public:
+ static char ID;
+
+ // Prints EC + S and converts to EC
+ StringError(std::error_code EC, const Twine &S = Twine());
+
+ // Prints S and converts to EC
+ StringError(const Twine &S, std::error_code EC);
+
+ void log(raw_ostream &OS) const override;
+ std::error_code convertToErrorCode() const override;
+
+ const std::string &getMessage() const { return Msg; }
+
+private:
+ std::string Msg;
+ std::error_code EC;
+ const bool PrintMsgOnly = false;
+};
+
+/// Create formatted StringError object.
+template <typename... Ts>
+Error createStringError(std::error_code EC, char const *Fmt,
+ const Ts &... Vals) {
+ std::string Buffer;
+ raw_string_ostream Stream(Buffer);
+ Stream << format(Fmt, Vals...);
+ return make_error<StringError>(Stream.str(), EC);
+}
+
+Error createStringError(std::error_code EC, char const *Msg);
+
+/// This class wraps a filename and another Error.
+///
+/// In some cases, an error needs to live along a 'source' name, in order to
+/// show more detailed information to the user.
+class FileError final : public ErrorInfo<FileError> {
+
+ friend Error createFileError(std::string, Error);
+
+public:
+ void log(raw_ostream &OS) const override {
+ assert(Err && !FileName.empty() && "Trying to log after takeError().");
+ OS << "'" << FileName << "': ";
+ Err->log(OS);
+ }
+
+ Error takeError() { return Error(std::move(Err)); }
+
+ std::error_code convertToErrorCode() const override;
+
+ // Used by ErrorInfo::classID.
+ static char ID;
+
+private:
+ FileError(std::string F, std::unique_ptr<ErrorInfoBase> E) {
+ assert(E && "Cannot create FileError from Error success value.");
+ assert(!F.empty() &&
+ "The file name provided to FileError must not be empty.");
+ FileName = F;
+ Err = std::move(E);
+ }
+
+ static Error build(std::string F, Error E) {
+ return Error(std::unique_ptr<FileError>(new FileError(F, E.takePayload())));
+ }
+
+ std::string FileName;
+ std::unique_ptr<ErrorInfoBase> Err;
+};
+
+/// Concatenate a source file path and/or name with an Error. The resulting
+/// Error is unchecked.
+inline Error createFileError(std::string F, Error E) {
+ return FileError::build(F, std::move(E));
+}
+
+Error createFileError(std::string F, ErrorSuccess) = delete;
+
+/// Helper for check-and-exit error handling.
+///
+/// For tool use only. NOT FOR USE IN LIBRARY CODE.
+///
+class ExitOnError {
+public:
+ /// Create an error on exit helper.
+ ExitOnError(std::string Banner = "", int DefaultErrorExitCode = 1)
+ : Banner(std::move(Banner)),
+ GetExitCode([=](const Error &) { return DefaultErrorExitCode; }) {}
+
+ /// Set the banner string for any errors caught by operator().
+ void setBanner(std::string Banner) { this->Banner = std::move(Banner); }
+
+ /// Set the exit-code mapper function.
+ void setExitCodeMapper(std::function<int(const Error &)> GetExitCode) {
+ this->GetExitCode = std::move(GetExitCode);
+ }
+
+ /// Check Err. If it's in a failure state log the error(s) and exit.
+ void operator()(Error Err) const { checkError(std::move(Err)); }
+
+ /// Check E. If it's in a success state then return the contained value. If
+ /// it's in a failure state log the error(s) and exit.
+ template <typename T> T operator()(Expected<T> &&E) const {
+ checkError(E.takeError());
+ return std::move(*E);
+ }
+
+ /// Check E. If it's in a success state then return the contained reference. If
+ /// it's in a failure state log the error(s) and exit.
+ template <typename T> T& operator()(Expected<T&> &&E) const {
+ checkError(E.takeError());
+ return *E;
+ }
+
+private:
+ void checkError(Error Err) const {
+ if (Err) {
+ int ExitCode = GetExitCode(Err);
+ logAllUnhandledErrors(std::move(Err), errs(), Banner);
+ exit(ExitCode);
+ }
+ }
+
+ std::string Banner;
+ std::function<int(const Error &)> GetExitCode;
+};
+
+} // end namespace wpi
+
+#endif // WPIUTIL_WPI_ERROR_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/ErrorHandling.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/ErrorHandling.h
new file mode 100644
index 0000000..ef5843b
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/ErrorHandling.h
@@ -0,0 +1,144 @@
+//===- llvm/Support/ErrorHandling.h - Fatal error handling ------*- C++ -*-===//
+//
+// The LLVM Compiler Infrastructure
+//
+// This file is distributed under the University of Illinois Open Source
+// License. See LICENSE.TXT for details.
+//
+//===----------------------------------------------------------------------===//
+//
+// This file defines an API used to indicate fatal error conditions. Non-fatal
+// errors (most of them) should be handled through LLVMContext.
+//
+//===----------------------------------------------------------------------===//
+
+#ifndef WPIUTIL_WPI_ERRORHANDLING_H
+#define WPIUTIL_WPI_ERRORHANDLING_H
+
+#include "wpi/Compiler.h"
+#include <string>
+
+namespace wpi {
+class StringRef;
+ class Twine;
+
+ /// An error handler callback.
+ typedef void (*fatal_error_handler_t)(void *user_data,
+ const std::string& reason,
+ bool gen_crash_diag);
+
+ /// install_fatal_error_handler - Installs a new error handler to be used
+ /// whenever a serious (non-recoverable) error is encountered by LLVM.
+ ///
+ /// If no error handler is installed the default is to print the error message
+ /// to stderr, and call exit(1). If an error handler is installed then it is
+ /// the handler's responsibility to log the message, it will no longer be
+ /// printed to stderr. If the error handler returns, then exit(1) will be
+ /// called.
+ ///
+ /// It is dangerous to naively use an error handler which throws an exception.
+ /// Even though some applications desire to gracefully recover from arbitrary
+ /// faults, blindly throwing exceptions through unfamiliar code isn't a way to
+ /// achieve this.
+ ///
+ /// \param user_data - An argument which will be passed to the install error
+ /// handler.
+ void install_fatal_error_handler(fatal_error_handler_t handler,
+ void *user_data = nullptr);
+
+ /// Restores default error handling behaviour.
+ void remove_fatal_error_handler();
+
+ /// ScopedFatalErrorHandler - This is a simple helper class which just
+ /// calls install_fatal_error_handler in its constructor and
+ /// remove_fatal_error_handler in its destructor.
+ struct ScopedFatalErrorHandler {
+ explicit ScopedFatalErrorHandler(fatal_error_handler_t handler,
+ void *user_data = nullptr) {
+ install_fatal_error_handler(handler, user_data);
+ }
+
+ ~ScopedFatalErrorHandler() { remove_fatal_error_handler(); }
+ };
+
+/// Reports a serious error, calling any installed error handler. These
+/// functions are intended to be used for error conditions which are outside
+/// the control of the compiler (I/O errors, invalid user input, etc.)
+///
+/// If no error handler is installed the default is to print the message to
+/// standard error, followed by a newline.
+/// After the error handler is called this function will call exit(1), it
+/// does not return.
+LLVM_ATTRIBUTE_NORETURN void report_fatal_error(const char *reason,
+ bool gen_crash_diag = true);
+LLVM_ATTRIBUTE_NORETURN void report_fatal_error(const std::string &reason,
+ bool gen_crash_diag = true);
+LLVM_ATTRIBUTE_NORETURN void report_fatal_error(StringRef reason,
+ bool gen_crash_diag = true);
+LLVM_ATTRIBUTE_NORETURN void report_fatal_error(const Twine &reason,
+ bool gen_crash_diag = true);
+
+/// Installs a new bad alloc error handler that should be used whenever a
+/// bad alloc error, e.g. failing malloc/calloc, is encountered by LLVM.
+///
+/// The user can install a bad alloc handler, in order to define the behavior
+/// in case of failing allocations, e.g. throwing an exception. Note that this
+/// handler must not trigger any additional allocations itself.
+///
+/// If no error handler is installed the default is to print the error message
+/// to stderr, and call exit(1). If an error handler is installed then it is
+/// the handler's responsibility to log the message, it will no longer be
+/// printed to stderr. If the error handler returns, then exit(1) will be
+/// called.
+///
+///
+/// \param user_data - An argument which will be passed to the installed error
+/// handler.
+void install_bad_alloc_error_handler(fatal_error_handler_t handler,
+ void *user_data = nullptr);
+
+/// Restores default bad alloc error handling behavior.
+void remove_bad_alloc_error_handler();
+
+void install_out_of_memory_new_handler();
+
+/// Reports a bad alloc error, calling any user defined bad alloc
+/// error handler. In contrast to the generic 'report_fatal_error'
+/// functions, this function is expected to return, e.g. the user
+/// defined error handler throws an exception.
+///
+/// Note: When throwing an exception in the bad alloc handler, make sure that
+/// the following unwind succeeds, e.g. do not trigger additional allocations
+/// in the unwind chain.
+///
+/// If no error handler is installed (default), then a bad_alloc exception
+/// is thrown, if LLVM is compiled with exception support, otherwise an
+/// assertion is called.
+void report_bad_alloc_error(const char *Reason, bool GenCrashDiag = true);
+
+/// This function calls abort(), and prints the optional message to stderr.
+/// Use the wpi_unreachable macro (that adds location info), instead of
+/// calling this function directly.
+LLVM_ATTRIBUTE_NORETURN void
+wpi_unreachable_internal(const char *msg = nullptr, const char *file = nullptr,
+ unsigned line = 0);
+}
+
+/// Marks that the current location is not supposed to be reachable.
+/// In !NDEBUG builds, prints the message and location info to stderr.
+/// In NDEBUG builds, becomes an optimizer hint that the current location
+/// is not supposed to be reachable. On compilers that don't support
+/// such hints, prints a reduced message instead.
+///
+/// Use this instead of assert(0). It conveys intent more clearly and
+/// allows compilers to omit some unnecessary code.
+#ifndef NDEBUG
+#define wpi_unreachable(msg) \
+ ::wpi::wpi_unreachable_internal(msg, __FILE__, __LINE__)
+#elif defined(LLVM_BUILTIN_UNREACHABLE)
+#define wpi_unreachable(msg) LLVM_BUILTIN_UNREACHABLE
+#else
+#define wpi_unreachable(msg) ::wpi::wpi_unreachable_internal()
+#endif
+
+#endif
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/ErrorOr.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/ErrorOr.h
index 1a878d1..e1803fd 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/ErrorOr.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/ErrorOr.h
@@ -24,18 +24,6 @@
namespace wpi {
-/// Stores a reference that can be changed.
-template <typename T>
-class ReferenceStorage {
- T *Storage;
-
-public:
- ReferenceStorage(T &Ref) : Storage(&Ref) {}
-
- operator T &() const { return *Storage; }
- T &get() const { return *Storage; }
-};
-
/// Represents either an error or a value T.
///
/// ErrorOr<T> is a pointer-like class that represents the result of an
@@ -71,7 +59,7 @@
static const bool isRef = std::is_reference<T>::value;
- using wrap = ReferenceStorage<typename std::remove_reference<T>::type>;
+ using wrap = std::reference_wrapper<typename std::remove_reference<T>::type>;
public:
using storage_type = typename std::conditional<isRef, wrap, T>::type;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/FileSystem.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/FileSystem.h
index 626aaaa..668eea6 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/FileSystem.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/FileSystem.h
@@ -27,9 +27,12 @@
#ifndef WPIUTIL_WPI_FILESYSTEM_H
#define WPIUTIL_WPI_FILESYSTEM_H
+#include "wpi/Chrono.h"
#include "wpi/SmallString.h"
#include "wpi/StringRef.h"
#include "wpi/Twine.h"
+#include "wpi/Error.h"
+#include "wpi/ErrorHandling.h"
#include "wpi/ErrorOr.h"
#include <cassert>
#include <cstdint>
@@ -47,6 +50,15 @@
namespace sys {
namespace fs {
+#if defined(_WIN32)
+// A Win32 HANDLE is a typedef of void*
+using file_t = void *;
+#else
+using file_t = int;
+#endif
+
+extern const file_t kInvalidFile;
+
/// An enumeration for the file system's view of the type.
enum class file_type {
status_error,
@@ -61,6 +73,13 @@
type_unknown
};
+/// space_info - Self explanatory.
+struct space_info {
+ uint64_t capacity;
+ uint64_t free;
+ uint64_t available;
+};
+
enum perms {
no_perms = 0,
owner_read = 0400,
@@ -137,6 +156,8 @@
#ifndef _WIN32
time_t fs_st_atime = 0;
time_t fs_st_mtime = 0;
+ uint32_t fs_st_atime_nsec = 0;
+ uint32_t fs_st_mtime_nsec = 0;
uid_t fs_st_uid = 0;
gid_t fs_st_gid = 0;
off_t fs_st_size = 0;
@@ -157,9 +178,12 @@
explicit basic_file_status(file_type Type) : Type(Type) {}
#ifndef _WIN32
- basic_file_status(file_type Type, perms Perms, time_t ATime, time_t MTime,
+ basic_file_status(file_type Type, perms Perms, time_t ATime,
+ uint32_t ATimeNSec, time_t MTime, uint32_t MTimeNSec,
uid_t UID, gid_t GID, off_t Size)
- : fs_st_atime(ATime), fs_st_mtime(MTime), fs_st_uid(UID), fs_st_gid(GID),
+ : fs_st_atime(ATime), fs_st_mtime(MTime),
+ fs_st_atime_nsec(ATimeNSec), fs_st_mtime_nsec(MTimeNSec),
+ fs_st_uid(UID), fs_st_gid(GID),
fs_st_size(Size), Type(Type), Perms(Perms) {}
#else
basic_file_status(file_type Type, perms Perms, uint32_t LastAccessTimeHigh,
@@ -177,6 +201,21 @@
file_type type() const { return Type; }
perms permissions() const { return Perms; }
+ /// The file access time as reported from the underlying file system.
+ ///
+ /// Also see comments on \c getLastModificationTime() related to the precision
+ /// of the returned value.
+ TimePoint<> getLastAccessedTime() const;
+
+ /// The file modification time as reported from the underlying file system.
+ ///
+ /// The returned value allows for nanosecond precision but the actual
+ /// resolution is an implementation detail of the underlying file system.
+ /// There is no guarantee for what kind of resolution you can expect, the
+ /// resolution can differ across platforms and even across mountpoints on the
+ /// same machine.
+ TimePoint<> getLastModificationTime() const;
+
#ifndef _WIN32
uint32_t getUser() const { return fs_st_uid; }
uint32_t getGroup() const { return fs_st_gid; }
@@ -222,8 +261,11 @@
#ifndef _WIN32
file_status(file_type Type, perms Perms, dev_t Dev, nlink_t Links, ino_t Ino,
- time_t ATime, time_t MTime, uid_t UID, gid_t GID, off_t Size)
- : basic_file_status(Type, Perms, ATime, MTime, UID, GID, Size),
+ time_t ATime, uint32_t ATimeNSec,
+ time_t MTime, uint32_t MTimeNSec,
+ uid_t UID, gid_t GID, off_t Size)
+ : basic_file_status(Type, Perms, ATime, ATimeNSec, MTime, MTimeNSec,
+ UID, GID, Size),
fs_st_dev(Dev), fs_st_nlinks(Links), fs_st_ino(Ino) {}
#else
file_status(file_type Type, perms Perms, uint32_t LinkCount,
@@ -256,10 +298,7 @@
/// relative/../path => <current-directory>/relative/../path
///
/// @param path A path that is modified to be an absolute path.
-/// @returns errc::success if \a path has been made absolute, otherwise a
-/// platform-specific error_code.
-std::error_code make_absolute(const Twine ¤t_directory,
- SmallVectorImpl<char> &path);
+void make_absolute(const Twine ¤t_directory, SmallVectorImpl<char> &path);
/// Make \a path an absolute path.
///
@@ -349,6 +388,14 @@
/// Does status represent a directory?
///
+/// @param Path The path to get the type of.
+/// @param Follow For symbolic links, indicates whether to return the file type
+/// of the link itself, or of the target.
+/// @returns A value from the file_type enumeration indicating the type of file.
+file_type get_file_type(const Twine &Path, bool Follow = true);
+
+/// Does status represent a directory?
+///
/// @param status A basic_file_status previously returned from status.
/// @returns status.type() == file_type::directory_file.
bool is_directory(const basic_file_status &status);
@@ -462,32 +509,55 @@
/// platform-specific error_code.
std::error_code status_known(const Twine &path, bool &result);
+enum CreationDisposition : unsigned {
+ /// CD_CreateAlways - When opening a file:
+ /// * If it already exists, truncate it.
+ /// * If it does not already exist, create a new file.
+ CD_CreateAlways = 0,
+
+ /// CD_CreateNew - When opening a file:
+ /// * If it already exists, fail.
+ /// * If it does not already exist, create a new file.
+ CD_CreateNew = 1,
+
+ /// CD_OpenExisting - When opening a file:
+ /// * If it already exists, open the file with the offset set to 0.
+ /// * If it does not already exist, fail.
+ CD_OpenExisting = 2,
+
+ /// CD_OpenAlways - When opening a file:
+ /// * If it already exists, open the file with the offset set to 0.
+ /// * If it does not already exist, create a new file.
+ CD_OpenAlways = 3,
+};
+
+enum FileAccess : unsigned {
+ FA_Read = 1,
+ FA_Write = 2,
+};
+
enum OpenFlags : unsigned {
- F_None = 0,
-
- /// F_Excl - When opening a file, this flag makes raw_fd_ostream
- /// report an error if the file already exists.
- F_Excl = 1,
-
- /// F_Append - When opening a file, if it already exists append to the
- /// existing file instead of returning an error. This may not be specified
- /// with F_Excl.
- F_Append = 2,
-
- /// F_NoTrunc - When opening a file, if it already exists don't truncate
- /// the file contents. F_Append implies F_NoTrunc, but F_Append seeks to
- /// the end of the file, which F_NoTrunc doesn't.
- F_NoTrunc = 4,
+ OF_None = 0,
+ F_None = 0, // For compatibility
/// The file should be opened in text mode on platforms that make this
/// distinction.
- F_Text = 8,
+ OF_Text = 1,
+ F_Text = 1, // For compatibility
- /// Open the file for read and write.
- F_RW = 16,
+ /// The file should be opened in append mode.
+ OF_Append = 2,
+ F_Append = 2, // For compatibility
/// Delete the file on close. Only makes a difference on windows.
- F_Delete = 32
+ OF_Delete = 4,
+
+ /// When a child process is launched, this file should remain open in the
+ /// child process.
+ OF_ChildInherit = 8,
+
+ /// Force files Atime to be updated on access. Only makes a difference on windows.
+ OF_UpdateAtime = 16,
};
inline OpenFlags operator|(OpenFlags A, OpenFlags B) {
@@ -499,6 +569,95 @@
return A;
}
+inline FileAccess operator|(FileAccess A, FileAccess B) {
+ return FileAccess(unsigned(A) | unsigned(B));
+}
+
+inline FileAccess &operator|=(FileAccess &A, FileAccess B) {
+ A = A | B;
+ return A;
+}
+
+/// @brief Opens a file with the specified creation disposition, access mode,
+/// and flags and returns a file descriptor.
+///
+/// The caller is responsible for closing the file descriptor once they are
+/// finished with it.
+///
+/// @param Name The path of the file to open, relative or absolute.
+/// @param ResultFD If the file could be opened successfully, its descriptor
+/// is stored in this location. Otherwise, this is set to -1.
+/// @param Disp Value specifying the existing-file behavior.
+/// @param Access Value specifying whether to open the file in read, write, or
+/// read-write mode.
+/// @param Flags Additional flags.
+/// @param Mode The access permissions of the file, represented in octal.
+/// @returns errc::success if \a Name has been opened, otherwise a
+/// platform-specific error_code.
+std::error_code openFile(const Twine &Name, int &ResultFD,
+ CreationDisposition Disp, FileAccess Access,
+ OpenFlags Flags, unsigned Mode = 0666);
+
+/// @brief Opens a file with the specified creation disposition, access mode,
+/// and flags and returns a platform-specific file object.
+///
+/// The caller is responsible for closing the file object once they are
+/// finished with it.
+///
+/// @param Name The path of the file to open, relative or absolute.
+/// @param Disp Value specifying the existing-file behavior.
+/// @param Access Value specifying whether to open the file in read, write, or
+/// read-write mode.
+/// @param Flags Additional flags.
+/// @param Mode The access permissions of the file, represented in octal.
+/// @returns errc::success if \a Name has been opened, otherwise a
+/// platform-specific error_code.
+Expected<file_t> openNativeFile(const Twine &Name, CreationDisposition Disp,
+ FileAccess Access, OpenFlags Flags,
+ unsigned Mode = 0666);
+
+/// @brief Opens the file with the given name in a write-only or read-write
+/// mode, returning its open file descriptor. If the file does not exist, it
+/// is created.
+///
+/// The caller is responsible for closing the file descriptor once they are
+/// finished with it.
+///
+/// @param Name The path of the file to open, relative or absolute.
+/// @param ResultFD If the file could be opened successfully, its descriptor
+/// is stored in this location. Otherwise, this is set to -1.
+/// @param Flags Additional flags used to determine whether the file should be
+/// opened in, for example, read-write or in write-only mode.
+/// @param Mode The access permissions of the file, represented in octal.
+/// @returns errc::success if \a Name has been opened, otherwise a
+/// platform-specific error_code.
+inline std::error_code
+openFileForWrite(const Twine &Name, int &ResultFD,
+ CreationDisposition Disp = CD_CreateAlways,
+ OpenFlags Flags = OF_None, unsigned Mode = 0666) {
+ return openFile(Name, ResultFD, Disp, FA_Write, Flags, Mode);
+}
+
+/// @brief Opens the file with the given name in a write-only or read-write
+/// mode, returning its open file descriptor. If the file does not exist, it
+/// is created.
+///
+/// The caller is responsible for closing the freeing the file once they are
+/// finished with it.
+///
+/// @param Name The path of the file to open, relative or absolute.
+/// @param Flags Additional flags used to determine whether the file should be
+/// opened in, for example, read-write or in write-only mode.
+/// @param Mode The access permissions of the file, represented in octal.
+/// @returns a platform-specific file descriptor if \a Name has been opened,
+/// otherwise an error object.
+inline Expected<file_t> openNativeFileForWrite(const Twine &Name,
+ CreationDisposition Disp,
+ OpenFlags Flags,
+ unsigned Mode = 0666) {
+ return openNativeFile(Name, Disp, FA_Write, Flags, Mode);
+}
+
/// @brief Opens the file with the given name in a write-only or read-write
/// mode, returning its open file descriptor. If the file does not exist, it
/// is created.
@@ -514,8 +673,32 @@
/// @param Mode The access permissions of the file, represented in octal.
/// @returns errc::success if \a Name has been opened, otherwise a
/// platform-specific error_code.
-std::error_code openFileForWrite(const Twine &Name, int &ResultFD,
- OpenFlags Flags, unsigned Mode = 0666);
+inline std::error_code openFileForReadWrite(const Twine &Name, int &ResultFD,
+ CreationDisposition Disp,
+ OpenFlags Flags,
+ unsigned Mode = 0666) {
+ return openFile(Name, ResultFD, Disp, FA_Write | FA_Read, Flags, Mode);
+}
+
+/// @brief Opens the file with the given name in a write-only or read-write
+/// mode, returning its open file descriptor. If the file does not exist, it
+/// is created.
+///
+/// The caller is responsible for closing the freeing the file once they are
+/// finished with it.
+///
+/// @param Name The path of the file to open, relative or absolute.
+/// @param Flags Additional flags used to determine whether the file should be
+/// opened in, for example, read-write or in write-only mode.
+/// @param Mode The access permissions of the file, represented in octal.
+/// @returns a platform-specific file descriptor if \a Name has been opened,
+/// otherwise an error object.
+inline Expected<file_t> openNativeFileForReadWrite(const Twine &Name,
+ CreationDisposition Disp,
+ OpenFlags Flags,
+ unsigned Mode = 0666) {
+ return openNativeFile(Name, Disp, FA_Write | FA_Read, Flags, Mode);
+}
/// @brief Opens the file with the given name in a read-only mode, returning
/// its open file descriptor.
@@ -532,10 +715,79 @@
/// @returns errc::success if \a Name has been opened, otherwise a
/// platform-specific error_code.
std::error_code openFileForRead(const Twine &Name, int &ResultFD,
+ OpenFlags Flags = OF_None,
SmallVectorImpl<char> *RealPath = nullptr);
+/// @brief Opens the file with the given name in a read-only mode, returning
+/// its open file descriptor.
+///
+/// The caller is responsible for closing the freeing the file once they are
+/// finished with it.
+///
+/// @param Name The path of the file to open, relative or absolute.
+/// @param RealPath If nonnull, extra work is done to determine the real path
+/// of the opened file, and that path is stored in this
+/// location.
+/// @returns a platform-specific file descriptor if \a Name has been opened,
+/// otherwise an error object.
+Expected<file_t>
+openNativeFileForRead(const Twine &Name, OpenFlags Flags = OF_None,
+ SmallVectorImpl<char> *RealPath = nullptr);
+
+/// @brief Close the file object. This should be used instead of ::close for
+/// portability.
+///
+/// @param F On input, this is the file to close. On output, the file is
+/// set to kInvalidFile.
+void closeFile(file_t &F);
+
std::error_code getUniqueID(const Twine Path, UniqueID &Result);
+/// This class represents a memory mapped file. It is based on
+/// boost::iostreams::mapped_file.
+class mapped_file_region {
+public:
+ enum mapmode {
+ readonly, ///< May only access map via const_data as read only.
+ readwrite, ///< May access map via data and modify it. Written to path.
+ priv ///< May modify via data, but changes are lost on destruction.
+ };
+
+private:
+ /// Platform-specific mapping state.
+ size_t Size;
+ void *Mapping;
+#ifdef _WIN32
+ void *FileHandle;
+#endif
+ mapmode Mode;
+
+ std::error_code init(int FD, uint64_t Offset, mapmode Mode);
+
+public:
+ mapped_file_region() = delete;
+ mapped_file_region(mapped_file_region&) = delete;
+ mapped_file_region &operator =(mapped_file_region&) = delete;
+
+ /// \param fd An open file descriptor to map. mapped_file_region takes
+ /// ownership if closefd is true. It must have been opended in the correct
+ /// mode.
+ mapped_file_region(int fd, mapmode mode, size_t length, uint64_t offset,
+ std::error_code &ec);
+
+ ~mapped_file_region();
+
+ size_t size() const;
+ char *data() const;
+
+ /// Get a const view of the data. Modifying this memory has undefined
+ /// behavior.
+ const char *const_data() const;
+
+ /// \returns The minimum alignment offset must be.
+ static int alignment();
+};
+
/// @}
/// @name Iterators
/// @{
@@ -545,33 +797,37 @@
/// called.
class directory_entry {
std::string Path;
- bool FollowSymlinks;
- basic_file_status Status;
+ file_type Type; // Most platforms can provide this.
+ bool FollowSymlinks; // Affects the behavior of status().
+ basic_file_status Status; // If available.
public:
- explicit directory_entry(const Twine &path, bool follow_symlinks = true,
- basic_file_status st = basic_file_status())
- : Path(path.str()), FollowSymlinks(follow_symlinks), Status(st) {}
+ explicit directory_entry(const Twine &Path, bool FollowSymlinks = true,
+ file_type Type = file_type::type_unknown,
+ basic_file_status Status = basic_file_status())
+ : Path(Path.str()), Type(Type), FollowSymlinks(FollowSymlinks),
+ Status(Status) {}
directory_entry() = default;
- void assign(const Twine &path, basic_file_status st = basic_file_status()) {
- Path = path.str();
- Status = st;
- }
-
- void replace_filename(const Twine &filename,
- basic_file_status st = basic_file_status());
+ void replace_filename(const Twine &Filename, file_type Type,
+ basic_file_status Status = basic_file_status());
const std::string &path() const { return Path; }
ErrorOr<basic_file_status> status() const;
+ file_type type() const {
+ if (Type != file_type::type_unknown)
+ return Type;
+ auto S = status();
+ return S ? S->type() : file_type::type_unknown;
+ }
- bool operator==(const directory_entry& rhs) const { return Path == rhs.Path; }
- bool operator!=(const directory_entry& rhs) const { return !(*this == rhs); }
- bool operator< (const directory_entry& rhs) const;
- bool operator<=(const directory_entry& rhs) const;
- bool operator> (const directory_entry& rhs) const;
- bool operator>=(const directory_entry& rhs) const;
+ bool operator==(const directory_entry& RHS) const { return Path == RHS.Path; }
+ bool operator!=(const directory_entry& RHS) const { return !(*this == RHS); }
+ bool operator< (const directory_entry& RHS) const;
+ bool operator<=(const directory_entry& RHS) const;
+ bool operator> (const directory_entry& RHS) const;
+ bool operator>=(const directory_entry& RHS) const;
};
namespace detail {
@@ -609,7 +865,6 @@
SmallString<128> path_storage;
ec = detail::directory_iterator_construct(
*State, path.toStringRef(path_storage), FollowSymlinks);
- update_error_code_for_current_entry(ec);
}
explicit directory_iterator(const directory_entry &de, std::error_code &ec,
@@ -618,7 +873,6 @@
State = std::make_shared<detail::DirIterState>();
ec = detail::directory_iterator_construct(
*State, de.path(), FollowSymlinks);
- update_error_code_for_current_entry(ec);
}
/// Construct end iterator.
@@ -627,7 +881,6 @@
// No operator++ because we need error_code.
directory_iterator &increment(std::error_code &ec) {
ec = directory_iterator_increment(*State);
- update_error_code_for_current_entry(ec);
return *this;
}
@@ -647,26 +900,6 @@
bool operator!=(const directory_iterator &RHS) const {
return !(*this == RHS);
}
- // Other members as required by
- // C++ Std, 24.1.1 Input iterators [input.iterators]
-
-private:
- // Checks if current entry is valid and populates error code. For example,
- // current entry may not exist due to broken symbol links.
- void update_error_code_for_current_entry(std::error_code &ec) {
- // Bail out if error has already occured earlier to avoid overwriting it.
- if (ec)
- return;
-
- // Empty directory entry is used to mark the end of an interation, it's not
- // an error.
- if (State->CurrentEntry == directory_entry())
- return;
-
- ErrorOr<basic_file_status> status = State->CurrentEntry.status();
- if (!status)
- ec = status.getError();
- }
};
namespace detail {
@@ -704,8 +937,15 @@
if (State->HasNoPushRequest)
State->HasNoPushRequest = false;
else {
- ErrorOr<basic_file_status> status = State->Stack.top()->status();
- if (status && is_directory(*status)) {
+ file_type type = State->Stack.top()->type();
+ if (type == file_type::symlink_file && Follow) {
+ // Resolve the symlink: is it a directory to recurse into?
+ ErrorOr<basic_file_status> status = State->Stack.top()->status();
+ if (status)
+ type = status->type();
+ // Otherwise broken symlink, and we'll continue.
+ }
+ if (type == file_type::directory_file) {
State->Stack.push(directory_iterator(*State->Stack.top(), ec, Follow));
if (State->Stack.top() != end_itr) {
++State->Level;
@@ -772,8 +1012,6 @@
bool operator!=(const recursive_directory_iterator &RHS) const {
return !(*this == RHS);
}
- // Other members as required by
- // C++ Std, 24.1.1 Input iterators [input.iterators]
};
/// @}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Format.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Format.h
index 34dd8d8..cb8b26b 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Format.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Format.h
@@ -24,12 +24,13 @@
#define WPIUTIL_WPI_FORMAT_H
#include "wpi/ArrayRef.h"
-#include "wpi/STLExtras.h"
#include "wpi/StringRef.h"
#include <cassert>
#include <cstdint>
#include <cstdio>
+#include <optional>
#include <tuple>
+#include <utility>
namespace wpi {
@@ -92,9 +93,9 @@
template <std::size_t... Is>
int snprint_tuple(char *Buffer, unsigned BufferSize,
- index_sequence<Is...>) const {
+ std::index_sequence<Is...>) const {
#ifdef _MSC_VER
- return _snprintf(Buffer, BufferSize, Fmt, std::get<Is>(Vals)...);
+ return _snprintf_s(Buffer, BufferSize, BufferSize, Fmt, std::get<Is>(Vals)...);
#else
#ifdef __GNUC__
#pragma GCC diagnostic push
@@ -114,7 +115,7 @@
}
int snprint(char *Buffer, unsigned BufferSize) const override {
- return snprint_tuple(Buffer, BufferSize, index_sequence_for<Ts...>());
+ return snprint_tuple(Buffer, BufferSize, std::index_sequence_for<Ts...>());
}
};
@@ -223,7 +224,7 @@
ArrayRef<uint8_t> Bytes;
// If not nullopt, display offsets for each line relative to starting value.
- optional<uint64_t> FirstByteOffset;
+ std::optional<uint64_t> FirstByteOffset;
uint32_t IndentLevel; // Number of characters to indent each line.
uint32_t NumPerLine; // Number of bytes to show per line.
uint8_t ByteGroupSize; // How many hex bytes are grouped without spaces
@@ -232,7 +233,7 @@
friend class raw_ostream;
public:
- FormattedBytes(ArrayRef<uint8_t> B, uint32_t IL, optional<uint64_t> O,
+ FormattedBytes(ArrayRef<uint8_t> B, uint32_t IL, std::optional<uint64_t> O,
uint32_t NPL, uint8_t BGS, bool U, bool A)
: Bytes(B), FirstByteOffset(O), IndentLevel(IL), NumPerLine(NPL),
ByteGroupSize(BGS), Upper(U), ASCII(A) {
@@ -243,7 +244,7 @@
};
inline FormattedBytes
-format_bytes(ArrayRef<uint8_t> Bytes, optional<uint64_t> FirstByteOffset = nullopt,
+format_bytes(ArrayRef<uint8_t> Bytes, std::optional<uint64_t> FirstByteOffset = std::nullopt,
uint32_t NumPerLine = 16, uint8_t ByteGroupSize = 4,
uint32_t IndentLevel = 0, bool Upper = false) {
return FormattedBytes(Bytes, IndentLevel, FirstByteOffset, NumPerLine,
@@ -252,7 +253,7 @@
inline FormattedBytes
format_bytes_with_ascii(ArrayRef<uint8_t> Bytes,
- optional<uint64_t> FirstByteOffset = nullopt,
+ std::optional<uint64_t> FirstByteOffset = std::nullopt,
uint32_t NumPerLine = 16, uint8_t ByteGroupSize = 4,
uint32_t IndentLevel = 0, bool Upper = false) {
return FormattedBytes(Bytes, IndentLevel, FirstByteOffset, NumPerLine,
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/FunctionExtras.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/FunctionExtras.h
new file mode 100644
index 0000000..8e45cda
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/FunctionExtras.h
@@ -0,0 +1,303 @@
+//===- FunctionExtras.h - Function type erasure utilities -------*- C++ -*-===//
+//
+// The LLVM Compiler Infrastructure
+//
+// This file is distributed under the University of Illinois Open Source
+// License. See LICENSE.TXT for details.
+//
+//===----------------------------------------------------------------------===//
+/// \file
+/// This file provides a collection of function (or more generally, callable)
+/// type erasure utilities supplementing those provided by the standard library
+/// in `<function>`.
+///
+/// It provides `unique_function`, which works like `std::function` but supports
+/// move-only callable objects.
+///
+/// Future plans:
+/// - Add a `function` that provides const, volatile, and ref-qualified support,
+/// which doesn't work with `std::function`.
+/// - Provide support for specifying multiple signatures to type erase callable
+/// objects with an overload set, such as those produced by generic lambdas.
+/// - Expand to include a copyable utility that directly replaces std::function
+/// but brings the above improvements.
+///
+/// Note that LLVM's utilities are greatly simplified by not supporting
+/// allocators.
+///
+/// If the standard library ever begins to provide comparable facilities we can
+/// consider switching to those.
+///
+//===----------------------------------------------------------------------===//
+
+#ifndef WPIUTIL_WPI_FUNCTION_EXTRAS_H
+#define WPIUTIL_WPI_FUNCTION_EXTRAS_H
+
+#include "wpi/Compiler.h"
+#include "wpi/PointerIntPair.h"
+#include "wpi/PointerUnion.h"
+#include <memory>
+
+namespace wpi {
+
+template <typename FunctionT> class unique_function;
+
+// GCC warns on OutOfLineStorage
+#if defined(__GNUC__) && !defined(__clang__)
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
+#endif
+
+template <typename ReturnT, typename... ParamTs>
+class unique_function<ReturnT(ParamTs...)> {
+ static constexpr size_t InlineStorageSize = sizeof(void *) * 4;
+
+ // MSVC has a bug and ICEs if we give it a particular dependent value
+ // expression as part of the `std::conditional` below. To work around this,
+ // we build that into a template struct's constexpr bool.
+ template <typename T> struct IsSizeLessThanThresholdT {
+ static constexpr bool value = sizeof(T) <= (2 * sizeof(void *));
+ };
+
+ // Provide a type function to map parameters that won't observe extra copies
+ // or moves and which are small enough to likely pass in register to values
+ // and all other types to l-value reference types. We use this to compute the
+ // types used in our erased call utility to minimize copies and moves unless
+ // doing so would force things unnecessarily into memory.
+ //
+ // The heuristic used is related to common ABI register passing conventions.
+ // It doesn't have to be exact though, and in one way it is more strict
+ // because we want to still be able to observe either moves *or* copies.
+ template <typename T>
+ using AdjustedParamT = typename std::conditional<
+ !std::is_reference<T>::value &&
+ std::is_trivially_copy_constructible<T>::value &&
+ std::is_trivially_move_constructible<T>::value &&
+ IsSizeLessThanThresholdT<T>::value,
+ T, T &>::type;
+
+ // The type of the erased function pointer we use as a callback to dispatch to
+ // the stored callable when it is trivial to move and destroy.
+ using CallPtrT = ReturnT (*)(void *CallableAddr,
+ AdjustedParamT<ParamTs>... Params);
+ using MovePtrT = void (*)(void *LHSCallableAddr, void *RHSCallableAddr);
+ using DestroyPtrT = void (*)(void *CallableAddr);
+
+ /// A struct to hold a single trivial callback with sufficient alignment for
+ /// our bitpacking.
+ struct alignas(8) TrivialCallback {
+ CallPtrT CallPtr;
+ };
+
+ /// A struct we use to aggregate three callbacks when we need full set of
+ /// operations.
+ struct alignas(8) NonTrivialCallbacks {
+ CallPtrT CallPtr;
+ MovePtrT MovePtr;
+ DestroyPtrT DestroyPtr;
+ };
+
+ // Create a pointer union between either a pointer to a static trivial call
+ // pointer in a struct or a pointer to a static struct of the call, move, and
+ // destroy pointers.
+ using CallbackPointerUnionT =
+ PointerUnion<TrivialCallback *, NonTrivialCallbacks *>;
+
+ // The main storage buffer. This will either have a pointer to out-of-line
+ // storage or an inline buffer storing the callable.
+ union StorageUnionT {
+ // For out-of-line storage we keep a pointer to the underlying storage and
+ // the size. This is enough to deallocate the memory.
+ struct OutOfLineStorageT {
+ void *StoragePtr;
+ size_t Size;
+ size_t Alignment;
+ } OutOfLineStorage;
+ static_assert(
+ sizeof(OutOfLineStorageT) <= InlineStorageSize,
+ "Should always use all of the out-of-line storage for inline storage!");
+
+ // For in-line storage, we just provide an aligned character buffer. We
+ // provide four pointers worth of storage here.
+ typename std::aligned_storage<InlineStorageSize, alignof(void *)>::type
+ InlineStorage;
+ } StorageUnion;
+
+ // A compressed pointer to either our dispatching callback or our table of
+ // dispatching callbacks and the flag for whether the callable itself is
+ // stored inline or not.
+ PointerIntPair<CallbackPointerUnionT, 1, bool> CallbackAndInlineFlag;
+
+ bool isInlineStorage() const { return CallbackAndInlineFlag.getInt(); }
+
+ bool isTrivialCallback() const {
+ return CallbackAndInlineFlag.getPointer().template is<TrivialCallback *>();
+ }
+
+ CallPtrT getTrivialCallback() const {
+ return CallbackAndInlineFlag.getPointer().template get<TrivialCallback *>()->CallPtr;
+ }
+
+ NonTrivialCallbacks *getNonTrivialCallbacks() const {
+ return CallbackAndInlineFlag.getPointer()
+ .template get<NonTrivialCallbacks *>();
+ }
+
+ void *getInlineStorage() { return &StorageUnion.InlineStorage; }
+
+ void *getOutOfLineStorage() {
+ return StorageUnion.OutOfLineStorage.StoragePtr;
+ }
+ size_t getOutOfLineStorageSize() const {
+ return StorageUnion.OutOfLineStorage.Size;
+ }
+ size_t getOutOfLineStorageAlignment() const {
+ return StorageUnion.OutOfLineStorage.Alignment;
+ }
+
+ void setOutOfLineStorage(void *Ptr, size_t Size, size_t Alignment) {
+ StorageUnion.OutOfLineStorage = {Ptr, Size, Alignment};
+ }
+
+ template <typename CallableT>
+ static ReturnT CallImpl(void *CallableAddr, AdjustedParamT<ParamTs>... Params) {
+ return (*reinterpret_cast<CallableT *>(CallableAddr))(
+ std::forward<ParamTs>(Params)...);
+ }
+
+ template <typename CallableT>
+ static void MoveImpl(void *LHSCallableAddr, void *RHSCallableAddr) noexcept {
+ new (LHSCallableAddr)
+ CallableT(std::move(*reinterpret_cast<CallableT *>(RHSCallableAddr)));
+ }
+
+ template <typename CallableT>
+ static void DestroyImpl(void *CallableAddr) noexcept {
+ reinterpret_cast<CallableT *>(CallableAddr)->~CallableT();
+ }
+
+public:
+ unique_function() = default;
+ unique_function(std::nullptr_t /*null_callable*/) {}
+
+ ~unique_function() {
+ if (!CallbackAndInlineFlag.getPointer())
+ return;
+
+ // Cache this value so we don't re-check it after type-erased operations.
+ bool IsInlineStorage = isInlineStorage();
+
+ if (!isTrivialCallback())
+ getNonTrivialCallbacks()->DestroyPtr(
+ IsInlineStorage ? getInlineStorage() : getOutOfLineStorage());
+
+ if (!IsInlineStorage)
+ deallocate_buffer(getOutOfLineStorage(), getOutOfLineStorageSize(),
+ getOutOfLineStorageAlignment());
+ }
+
+ unique_function(unique_function &&RHS) noexcept {
+ // Copy the callback and inline flag.
+ CallbackAndInlineFlag = RHS.CallbackAndInlineFlag;
+
+ // If the RHS is empty, just copying the above is sufficient.
+ if (!RHS)
+ return;
+
+ if (!isInlineStorage()) {
+ // The out-of-line case is easiest to move.
+ StorageUnion.OutOfLineStorage = RHS.StorageUnion.OutOfLineStorage;
+ } else if (isTrivialCallback()) {
+ // Move is trivial, just memcpy the bytes across.
+ memcpy(getInlineStorage(), RHS.getInlineStorage(), InlineStorageSize);
+ } else {
+ // Non-trivial move, so dispatch to a type-erased implementation.
+ getNonTrivialCallbacks()->MovePtr(getInlineStorage(),
+ RHS.getInlineStorage());
+ }
+
+ // Clear the old callback and inline flag to get back to as-if-null.
+ RHS.CallbackAndInlineFlag = {};
+
+#ifndef NDEBUG
+ // In debug builds, we also scribble across the rest of the storage.
+ memset(RHS.getInlineStorage(), 0xAD, InlineStorageSize);
+#endif
+ }
+
+ unique_function &operator=(unique_function &&RHS) noexcept {
+ if (this == &RHS)
+ return *this;
+
+ // Because we don't try to provide any exception safety guarantees we can
+ // implement move assignment very simply by first destroying the current
+ // object and then move-constructing over top of it.
+ this->~unique_function();
+ new (this) unique_function(std::move(RHS));
+ return *this;
+ }
+
+ template <typename CallableT> unique_function(CallableT Callable) {
+ bool IsInlineStorage = true;
+ void *CallableAddr = getInlineStorage();
+ if (sizeof(CallableT) > InlineStorageSize ||
+ alignof(CallableT) > alignof(decltype(StorageUnion.InlineStorage))) {
+ IsInlineStorage = false;
+ // Allocate out-of-line storage. FIXME: Use an explicit alignment
+ // parameter in C++17 mode.
+ auto Size = sizeof(CallableT);
+ auto Alignment = alignof(CallableT);
+ CallableAddr = allocate_buffer(Size, Alignment);
+ setOutOfLineStorage(CallableAddr, Size, Alignment);
+ }
+
+ // Now move into the storage.
+ new (CallableAddr) CallableT(std::move(Callable));
+
+ // See if we can create a trivial callback. We need the callable to be
+ // trivially moved and trivially destroyed so that we don't have to store
+ // type erased callbacks for those operations.
+ //
+ // FIXME: We should use constexpr if here and below to avoid instantiating
+ // the non-trivial static objects when unnecessary. While the linker should
+ // remove them, it is still wasteful.
+ if (std::is_trivially_move_constructible<CallableT>::value &&
+ std::is_trivially_destructible<CallableT>::value) {
+ // We need to create a nicely aligned object. We use a static variable
+ // for this because it is a trivial struct.
+ static TrivialCallback Callback = { &CallImpl<CallableT> };
+
+ CallbackAndInlineFlag = {&Callback, IsInlineStorage};
+ return;
+ }
+
+ // Otherwise, we need to point at an object that contains all the different
+ // type erased behaviors needed. Create a static instance of the struct type
+ // here and then use a pointer to that.
+ static NonTrivialCallbacks Callbacks = {
+ &CallImpl<CallableT>, &MoveImpl<CallableT>, &DestroyImpl<CallableT>};
+
+ CallbackAndInlineFlag = {&Callbacks, IsInlineStorage};
+ }
+
+ ReturnT operator()(ParamTs... Params) {
+ void *CallableAddr =
+ isInlineStorage() ? getInlineStorage() : getOutOfLineStorage();
+
+ return (isTrivialCallback()
+ ? getTrivialCallback()
+ : getNonTrivialCallbacks()->CallPtr)(CallableAddr, Params...);
+ }
+
+ explicit operator bool() const {
+ return (bool)CallbackAndInlineFlag.getPointer();
+ }
+};
+
+#if defined(__GNUC__) && !defined(__clang__)
+#pragma GCC diagnostic pop
+#endif
+
+} // end namespace wpi
+
+#endif // WPIUTIL_WPI_FUNCTION_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Hashing.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Hashing.h
index 8ae30d1..d59d695 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Hashing.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Hashing.h
@@ -45,14 +45,21 @@
#ifndef WPIUTIL_WPI_HASHING_H
#define WPIUTIL_WPI_HASHING_H
+#include "wpi/Endian.h"
+#include "wpi/SwapByteOrder.h"
#include "wpi/type_traits.h"
+#include <stdint.h>
#include <algorithm>
#include <cassert>
-#include <cstdint>
#include <cstring>
#include <string>
#include <utility>
+#ifdef _WIN32
+#pragma warning(push)
+#pragma warning(disable : 26495)
+#endif
+
namespace wpi {
/// An opaque object representing a hash code.
@@ -131,7 +138,7 @@
/// undone. This makes it thread-hostile and very hard to use outside of
/// immediately on start of a simple program designed for reproducible
/// behavior.
-void set_fixed_execution_hash_seed(size_t fixed_value);
+void set_fixed_execution_hash_seed(uint64_t fixed_value);
// All of the implementation details of actually computing the various hash
@@ -143,16 +150,16 @@
inline uint64_t fetch64(const char *p) {
uint64_t result;
memcpy(&result, p, sizeof(result));
- //if (sys::IsBigEndianHost)
- // sys::swapByteOrder(result);
+ if (support::endian::system_endianness() == support::big)
+ sys::swapByteOrder(result);
return result;
}
inline uint32_t fetch32(const char *p) {
uint32_t result;
memcpy(&result, p, sizeof(result));
- //if (sys::IsBigEndianHost)
- // sys::swapByteOrder(result);
+ if (support::endian::system_endianness() == support::big)
+ sys::swapByteOrder(result);
return result;
}
@@ -190,7 +197,7 @@
uint8_t b = s[len >> 1];
uint8_t c = s[len - 1];
uint32_t y = static_cast<uint32_t>(a) + (static_cast<uint32_t>(b) << 8);
- uint32_t z = len + (static_cast<uint32_t>(c) << 2);
+ uint32_t z = static_cast<uint32_t>(len + (static_cast<uint64_t>(c) << 2));
return shift_mix(y * k2 ^ z * k3 ^ seed) * k2;
}
@@ -314,9 +321,9 @@
/// This variable can be set using the \see wpi::set_fixed_execution_seed
/// function. See that function for details. Do not, under any circumstances,
/// set or read this variable.
-extern size_t fixed_seed_override;
+extern uint64_t fixed_seed_override;
-inline size_t get_execution_seed() {
+inline uint64_t get_execution_seed() {
// FIXME: This needs to be a per-execution seed. This is just a placeholder
// implementation. Switching to a per-execution seed is likely to flush out
// instability bugs and so will happen as its own commit.
@@ -324,8 +331,7 @@
// However, if there is a fixed seed override set the first time this is
// called, return that instead of the per-execution seed.
const uint64_t seed_prime = 0xff51afd7ed558ccdULL;
- static size_t seed = fixed_seed_override ? fixed_seed_override
- : (size_t)seed_prime;
+ static uint64_t seed = fixed_seed_override ? fixed_seed_override : seed_prime;
return seed;
}
@@ -400,7 +406,7 @@
/// combining them, this (as an optimization) directly combines the integers.
template <typename InputIteratorT>
hash_code hash_combine_range_impl(InputIteratorT first, InputIteratorT last) {
- const size_t seed = get_execution_seed();
+ const uint64_t seed = get_execution_seed();
char buffer[64], *buffer_ptr = buffer;
char *const buffer_end = std::end(buffer);
while (first != last && store_and_advance(buffer_ptr, buffer_end,
@@ -444,7 +450,7 @@
template <typename ValueT>
typename std::enable_if<is_hashable_data<ValueT>::value, hash_code>::type
hash_combine_range_impl(ValueT *first, ValueT *last) {
- const size_t seed = get_execution_seed();
+ const uint64_t seed = get_execution_seed();
const char *s_begin = reinterpret_cast<const char *>(first);
const char *s_end = reinterpret_cast<const char *>(last);
const size_t length = std::distance(s_begin, s_end);
@@ -494,7 +500,7 @@
struct hash_combine_recursive_helper {
char buffer[64];
hash_state state;
- const size_t seed;
+ const uint64_t seed;
public:
/// Construct a recursive hash combining helper.
@@ -567,7 +573,7 @@
// Check whether the entire set of values fit in the buffer. If so, we'll
// use the optimized short hashing routine and skip state entirely.
if (length == 0)
- return hash_short(buffer, buffer_ptr - buffer, seed);
+ return static_cast<size_t>(hash_short(buffer, buffer_ptr - buffer, seed));
// Mix the final buffer, rotating it if we did a partial fill in order to
// simulate doing a mix of the last 64-bytes. That is how the algorithm
@@ -579,7 +585,7 @@
state.mix(buffer);
length += buffer_ptr - buffer;
- return state.finalize(length);
+ return static_cast<size_t>(state.finalize(length));
}
};
@@ -618,7 +624,7 @@
const uint64_t seed = get_execution_seed();
const char *s = reinterpret_cast<const char *>(&value);
const uint64_t a = fetch32(s);
- return hash_16_bytes(seed + (a << 3), fetch32(s + 4));
+ return static_cast<size_t>(hash_16_bytes(seed + (a << 3), fetch32(s + 4)));
}
} // namespace detail
@@ -656,4 +662,8 @@
} // namespace wpi
+#ifdef _WIN32
+#pragma warning(pop)
+#endif
+
#endif
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/HttpUtil.inl b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/HttpUtil.inl
index cfeb9b3..ce118b0 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/HttpUtil.inl
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/HttpUtil.inl
@@ -36,9 +36,9 @@
pathOs << '&';
}
SmallString<64> escapeBuf;
- pathOs << EscapeURI(GetFirst(param), escapeBuf);
+ pathOs << EscapeURI(GetFirst(param), escapeBuf, false);
if (!GetSecond(param).empty()) {
- pathOs << '=' << EscapeURI(GetSecond(param), escapeBuf);
+ pathOs << '=' << EscapeURI(GetSecond(param), escapeBuf, false);
}
}
}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/ManagedStatic.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/ManagedStatic.h
new file mode 100644
index 0000000..b99ad66
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/ManagedStatic.h
@@ -0,0 +1,97 @@
+//===-- llvm/Support/ManagedStatic.h - Static Global wrapper ----*- C++ -*-===//
+//
+// The LLVM Compiler Infrastructure
+//
+// This file is distributed under the University of Illinois Open Source
+// License. See LICENSE.TXT for details.
+//
+//===----------------------------------------------------------------------===//
+//
+// This file defines the ManagedStatic class and the wpi_shutdown() function.
+//
+//===----------------------------------------------------------------------===//
+
+#ifndef WPIUTIL_WPI_MANAGEDSTATIC_H
+#define WPIUTIL_WPI_MANAGEDSTATIC_H
+
+#include <atomic>
+#include <cstddef>
+
+namespace wpi {
+
+/// object_creator - Helper method for ManagedStatic.
+template <class C> struct object_creator {
+ static void *call() { return new C(); }
+};
+
+/// object_deleter - Helper method for ManagedStatic.
+///
+template <typename T> struct object_deleter {
+ static void call(void *Ptr) { delete (T *)Ptr; }
+};
+template <typename T, size_t N> struct object_deleter<T[N]> {
+ static void call(void *Ptr) { delete[](T *)Ptr; }
+};
+
+/// ManagedStaticBase - Common base class for ManagedStatic instances.
+class ManagedStaticBase {
+protected:
+ // This should only be used as a static variable, which guarantees that this
+ // will be zero initialized.
+ mutable std::atomic<void *> Ptr;
+ mutable void (*DeleterFn)(void*);
+ mutable const ManagedStaticBase *Next;
+
+ void RegisterManagedStatic(void *(*creator)(), void (*deleter)(void*)) const;
+
+public:
+ /// isConstructed - Return true if this object has not been created yet.
+ bool isConstructed() const { return Ptr != nullptr; }
+
+ void destroy() const;
+};
+
+/// ManagedStatic - This transparently changes the behavior of global statics to
+/// be lazily constructed on demand (good for reducing startup times of dynamic
+/// libraries that link in LLVM components) and for making destruction be
+/// explicit through the wpi_shutdown() function call.
+///
+template <class C, class Creator = object_creator<C>,
+ class Deleter = object_deleter<C>>
+class ManagedStatic : public ManagedStaticBase {
+public:
+ // Accessors.
+ C &operator*() {
+ void *Tmp = Ptr.load(std::memory_order_acquire);
+ if (!Tmp)
+ RegisterManagedStatic(Creator::call, Deleter::call);
+
+ return *static_cast<C *>(Ptr.load(std::memory_order_relaxed));
+ }
+
+ C *operator->() { return &**this; }
+
+ const C &operator*() const {
+ void *Tmp = Ptr.load(std::memory_order_acquire);
+ if (!Tmp)
+ RegisterManagedStatic(Creator::call, Deleter::call);
+
+ return *static_cast<C *>(Ptr.load(std::memory_order_relaxed));
+ }
+
+ const C *operator->() const { return &**this; }
+};
+
+/// wpi_shutdown - Deallocate and destroy all ManagedStatic variables.
+void wpi_shutdown();
+
+/// wpi_shutdown_obj - This is a simple helper class that calls
+/// wpi_shutdown() when it is destroyed.
+struct wpi_shutdown_obj {
+ wpi_shutdown_obj() = default;
+ ~wpi_shutdown_obj() { wpi_shutdown(); }
+};
+
+} // end namespace wpi
+
+#endif // WPIUTIL_WPI_MANAGEDSTATIC_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/MathExtras.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/MathExtras.h
index 1ab43aa..4dda434 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/MathExtras.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/MathExtras.h
@@ -25,7 +25,15 @@
#include <type_traits>
#ifdef _MSC_VER
-#include <intrin.h>
+// Declare these intrinsics manually rather including intrin.h. It's very
+// expensive, and MathExtras.h is popular.
+// #include <intrin.h>
+extern "C" {
+unsigned char _BitScanForward(unsigned long *_Index, unsigned long _Mask);
+unsigned char _BitScanForward64(unsigned long *_Index, unsigned __int64 _Mask);
+unsigned char _BitScanReverse(unsigned long *_Index, unsigned long _Mask);
+unsigned char _BitScanReverse64(unsigned long *_Index, unsigned __int64 _Mask);
+}
#endif
namespace wpi {
@@ -50,7 +58,7 @@
// Bisection method.
std::size_t ZeroBits = 0;
T Shift = std::numeric_limits<T>::digits >> 1;
- T Mask = std::numeric_limits<T>::max() >> Shift;
+ T Mask = (std::numeric_limits<T>::max)() >> Shift;
while (Shift) {
if ((Val & Mask) == 0) {
Val >>= Shift;
@@ -191,7 +199,7 @@
/// valid arguments.
template <typename T> T findFirstSet(T Val, ZeroBehavior ZB = ZB_Max) {
if (ZB == ZB_Max && Val == 0)
- return std::numeric_limits<T>::max();
+ return (std::numeric_limits<T>::max)();
return countTrailingZeros(Val, ZB_Undefined);
}
@@ -232,7 +240,7 @@
/// valid arguments.
template <typename T> T findLastSet(T Val, ZeroBehavior ZB = ZB_Max) {
if (ZB == ZB_Max && Val == 0)
- return std::numeric_limits<T>::max();
+ return (std::numeric_limits<T>::max)();
// Use ^ instead of - because both gcc and llvm can remove the associated ^
// in the __builtin_clz intrinsic on x86.
@@ -362,6 +370,11 @@
return UINT64_MAX >> (64 - N);
}
+#ifdef _WIN32
+#pragma warning(push)
+#pragma warning(disable : 4146)
+#endif
+
/// Gets the minimum value for a N-bit signed integer.
inline int64_t minIntN(int64_t N) {
assert(N > 0 && N <= 64 && "integer width out of range");
@@ -369,6 +382,10 @@
return -(UINT64_C(1)<<(N-1));
}
+#ifdef _WIN32
+#pragma warning(pop)
+#endif
+
/// Gets the maximum value for a N-bit signed integer.
inline int64_t maxIntN(int64_t N) {
assert(N > 0 && N <= 64 && "integer width out of range");
@@ -511,26 +528,26 @@
/// (32 bit edition.)
/// Ex. Log2_32(32) == 5, Log2_32(1) == 0, Log2_32(0) == -1, Log2_32(6) == 2
inline unsigned Log2_32(uint32_t Value) {
- return 31 - countLeadingZeros(Value);
+ return static_cast<unsigned>(31 - countLeadingZeros(Value));
}
/// Return the floor log base 2 of the specified value, -1 if the value is zero.
/// (64 bit edition.)
inline unsigned Log2_64(uint64_t Value) {
- return 63 - countLeadingZeros(Value);
+ return static_cast<unsigned>(63 - countLeadingZeros(Value));
}
/// Return the ceil log base 2 of the specified value, 32 if the value is zero.
/// (32 bit edition).
/// Ex. Log2_32_Ceil(32) == 5, Log2_32_Ceil(1) == 0, Log2_32_Ceil(6) == 3
inline unsigned Log2_32_Ceil(uint32_t Value) {
- return 32 - countLeadingZeros(Value - 1);
+ return static_cast<unsigned>(32 - countLeadingZeros(Value - 1));
}
/// Return the ceil log base 2 of the specified value, 64 if the value is zero.
/// (64 bit edition.)
inline unsigned Log2_64_Ceil(uint64_t Value) {
- return 64 - countLeadingZeros(Value - 1);
+ return static_cast<unsigned>(64 - countLeadingZeros(Value - 1));
}
/// Return the greatest common divisor of the values using Euclid's algorithm.
@@ -739,7 +756,7 @@
template <typename T>
typename std::enable_if<std::is_unsigned<T>::value, T>::type
AbsoluteDifference(T X, T Y) {
- return std::max(X, Y) - std::min(X, Y);
+ return (std::max)(X, Y) - (std::min)(X, Y);
}
/// Add two unsigned integers, X and Y, of type T. Clamp the result to the
@@ -754,7 +771,7 @@
T Z = X + Y;
Overflowed = (Z < X || Z < Y);
if (Overflowed)
- return std::numeric_limits<T>::max();
+ return (std::numeric_limits<T>::max)();
else
return Z;
}
@@ -779,7 +796,7 @@
// Special case: if X or Y is 0, Log2_64 gives -1, and Log2Z
// will necessarily be less than Log2Max as desired.
int Log2Z = Log2_64(X) + Log2_64(Y);
- const T Max = std::numeric_limits<T>::max();
+ const T Max = (std::numeric_limits<T>::max)();
int Log2Max = Log2_64(Max);
if (Log2Z < Log2Max) {
return X * Y;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/MemAlloc.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/MemAlloc.h
new file mode 100644
index 0000000..addccb5
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/MemAlloc.h
@@ -0,0 +1,61 @@
+//===- MemAlloc.h - Memory allocation functions -----------------*- C++ -*-===//
+//
+// The LLVM Compiler Infrastructure
+//
+// This file is distributed under the University of Illinois Open Source
+// License. See LICENSE.TXT for details.
+//
+//===----------------------------------------------------------------------===//
+/// \file
+///
+/// This file defines counterparts of C library allocation functions defined in
+/// the namespace 'std'. The new allocation functions crash on allocation
+/// failure instead of returning null pointer.
+///
+//===----------------------------------------------------------------------===//
+
+#ifndef WPIUTIL_WPI_MEMALLOC_H
+#define WPIUTIL_WPI_MEMALLOC_H
+
+#include "wpi/Compiler.h"
+#include "wpi/ErrorHandling.h"
+#include <cstdlib>
+
+namespace wpi {
+
+#ifdef _WIN32
+#pragma warning(push)
+// Warning on NONNULL, report is not known to abort
+#pragma warning(disable : 6387)
+#pragma warning(disable : 28196)
+#pragma warning(disable : 28183)
+#endif
+
+LLVM_ATTRIBUTE_RETURNS_NONNULL inline void *safe_malloc(size_t Sz) {
+ void *Result = std::malloc(Sz);
+ if (Result == nullptr)
+ report_bad_alloc_error("Allocation failed");
+ return Result;
+}
+
+LLVM_ATTRIBUTE_RETURNS_NONNULL inline void *safe_calloc(size_t Count,
+ size_t Sz) {
+ void *Result = std::calloc(Count, Sz);
+ if (Result == nullptr)
+ report_bad_alloc_error("Allocation failed");
+ return Result;
+}
+
+LLVM_ATTRIBUTE_RETURNS_NONNULL inline void *safe_realloc(void *Ptr, size_t Sz) {
+ void *Result = std::realloc(Ptr, Sz);
+ if (Result == nullptr)
+ report_bad_alloc_error("Allocation failed");
+ return Result;
+}
+
+#ifdef _WIN32
+#pragma warning(pop)
+#endif
+
+}
+#endif
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/NativeFormatting.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/NativeFormatting.h
index 3407e75..976adc8 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/NativeFormatting.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/NativeFormatting.h
@@ -10,10 +10,10 @@
#ifndef WPIUTIL_WPI_NATIVE_FORMATTING_H
#define WPIUTIL_WPI_NATIVE_FORMATTING_H
-#include "wpi/optional.h"
#include "wpi/raw_ostream.h"
#include <cstdint>
+#include <optional>
namespace wpi {
enum class FloatStyle { Exponent, ExponentUpper, Fixed, Percent };
@@ -40,9 +40,9 @@
IntegerStyle Style);
void write_hex(raw_ostream &S, uint64_t N, HexPrintStyle Style,
- optional<size_t> Width = nullopt);
+ std::optional<size_t> Width = std::nullopt);
void write_double(raw_ostream &S, double D, FloatStyle Style,
- optional<size_t> Precision = nullopt);
+ std::optional<size_t> Precision = std::nullopt);
}
#endif
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Path.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Path.h
index 8f62369..2a8e94c 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Path.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Path.h
@@ -20,6 +20,13 @@
#include "wpi/iterator.h"
#include <cstdint>
#include <iterator>
+#include <system_error>
+
+#ifdef _WIN32
+// Disable iterator deprecation warning
+#pragma warning(push)
+#pragma warning(disable : 4996)
+#endif
namespace wpi {
namespace sys {
@@ -360,22 +367,6 @@
/// @result True if a home directory is set, false otherwise.
bool home_directory(SmallVectorImpl<char> &result);
-/// Get the user's cache directory.
-///
-/// Expect the resulting path to be a directory shared with other
-/// applications/services used by the user. Params \p Path1 to \p Path3 can be
-/// used to append additional directory names to the resulting path. Recommended
-/// pattern is <user_cache_directory>/<vendor>/<application>.
-///
-/// @param Result Holds the resulting path.
-/// @param Path1 Additional path to be appended to the user's cache directory
-/// path. "" can be used to append nothing.
-/// @param Path2 Second additional path to be appended.
-/// @param Path3 Third additional path to be appended.
-/// @result True if a cache directory path is set, false otherwise.
-bool user_cache_directory(SmallVectorImpl<char> &Result, const Twine &Path1,
- const Twine &Path2 = "", const Twine &Path3 = "");
-
/// Has root name?
///
/// root_name != ""
@@ -467,8 +458,16 @@
bool remove_dots(SmallVectorImpl<char> &path, bool remove_dot_dot = false,
Style style = Style::native);
+#if defined(_WIN32)
+std::error_code widenPath(const Twine &Path8, SmallVectorImpl<wchar_t> &Path16);
+#endif
+
} // end namespace path
} // end namespace sys
} // end namespace wpi
+#ifdef _WIN32
+#pragma warning(pop)
+#endif
+
#endif
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/PointerIntPair.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/PointerIntPair.h
new file mode 100644
index 0000000..e6a1212
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/PointerIntPair.h
@@ -0,0 +1,235 @@
+//===- llvm/ADT/PointerIntPair.h - Pair for pointer and int -----*- C++ -*-===//
+//
+// The LLVM Compiler Infrastructure
+//
+// This file is distributed under the University of Illinois Open Source
+// License. See LICENSE.TXT for details.
+//
+//===----------------------------------------------------------------------===//
+//
+// This file defines the PointerIntPair class.
+//
+//===----------------------------------------------------------------------===//
+
+#ifndef WPIUTIL_WPI_POINTERINTPAIR_H
+#define WPIUTIL_WPI_POINTERINTPAIR_H
+
+#include "wpi/PointerLikeTypeTraits.h"
+#include <cassert>
+#include <cstdint>
+#include <limits>
+
+namespace wpi {
+
+template <typename T> struct DenseMapInfo;
+template <typename PointerT, unsigned IntBits, typename PtrTraits>
+struct PointerIntPairInfo;
+
+/// PointerIntPair - This class implements a pair of a pointer and small
+/// integer. It is designed to represent this in the space required by one
+/// pointer by bitmangling the integer into the low part of the pointer. This
+/// can only be done for small integers: typically up to 3 bits, but it depends
+/// on the number of bits available according to PointerLikeTypeTraits for the
+/// type.
+///
+/// Note that PointerIntPair always puts the IntVal part in the highest bits
+/// possible. For example, PointerIntPair<void*, 1, bool> will put the bit for
+/// the bool into bit #2, not bit #0, which allows the low two bits to be used
+/// for something else. For example, this allows:
+/// PointerIntPair<PointerIntPair<void*, 1, bool>, 1, bool>
+/// ... and the two bools will land in different bits.
+template <typename PointerTy, unsigned IntBits, typename IntType = unsigned,
+ typename PtrTraits = PointerLikeTypeTraits<PointerTy>,
+ typename Info = PointerIntPairInfo<PointerTy, IntBits, PtrTraits>>
+class PointerIntPair {
+ // Used by MSVC visualizer and generally helpful for debugging/visualizing.
+ using InfoTy = Info;
+ intptr_t Value = 0;
+
+public:
+ constexpr PointerIntPair() = default;
+
+ PointerIntPair(PointerTy PtrVal, IntType IntVal) {
+ setPointerAndInt(PtrVal, IntVal);
+ }
+
+ explicit PointerIntPair(PointerTy PtrVal) { initWithPointer(PtrVal); }
+
+ PointerTy getPointer() const { return Info::getPointer(Value); }
+
+ IntType getInt() const { return (IntType)Info::getInt(Value); }
+
+ void setPointer(PointerTy PtrVal) {
+ Value = Info::updatePointer(Value, PtrVal);
+ }
+
+ void setInt(IntType IntVal) {
+ Value = Info::updateInt(Value, static_cast<intptr_t>(IntVal));
+ }
+
+ void initWithPointer(PointerTy PtrVal) {
+ Value = Info::updatePointer(0, PtrVal);
+ }
+
+ void setPointerAndInt(PointerTy PtrVal, IntType IntVal) {
+ Value = Info::updateInt(Info::updatePointer(0, PtrVal),
+ static_cast<intptr_t>(IntVal));
+ }
+
+ PointerTy const *getAddrOfPointer() const {
+ return const_cast<PointerIntPair *>(this)->getAddrOfPointer();
+ }
+
+ PointerTy *getAddrOfPointer() {
+ assert(Value == reinterpret_cast<intptr_t>(getPointer()) &&
+ "Can only return the address if IntBits is cleared and "
+ "PtrTraits doesn't change the pointer");
+ return reinterpret_cast<PointerTy *>(&Value);
+ }
+
+ void *getOpaqueValue() const { return reinterpret_cast<void *>(Value); }
+
+ void setFromOpaqueValue(void *Val) {
+ Value = reinterpret_cast<intptr_t>(Val);
+ }
+
+ static PointerIntPair getFromOpaqueValue(void *V) {
+ PointerIntPair P;
+ P.setFromOpaqueValue(V);
+ return P;
+ }
+
+ // Allow PointerIntPairs to be created from const void * if and only if the
+ // pointer type could be created from a const void *.
+ static PointerIntPair getFromOpaqueValue(const void *V) {
+ (void)PtrTraits::getFromVoidPointer(V);
+ return getFromOpaqueValue(const_cast<void *>(V));
+ }
+
+ bool operator==(const PointerIntPair &RHS) const {
+ return Value == RHS.Value;
+ }
+
+ bool operator!=(const PointerIntPair &RHS) const {
+ return Value != RHS.Value;
+ }
+
+ bool operator<(const PointerIntPair &RHS) const { return Value < RHS.Value; }
+ bool operator>(const PointerIntPair &RHS) const { return Value > RHS.Value; }
+
+ bool operator<=(const PointerIntPair &RHS) const {
+ return Value <= RHS.Value;
+ }
+
+ bool operator>=(const PointerIntPair &RHS) const {
+ return Value >= RHS.Value;
+ }
+};
+
+template <typename PointerT, unsigned IntBits, typename PtrTraits>
+struct PointerIntPairInfo {
+ static_assert(PtrTraits::NumLowBitsAvailable <
+ std::numeric_limits<uintptr_t>::digits,
+ "cannot use a pointer type that has all bits free");
+ static_assert(IntBits <= PtrTraits::NumLowBitsAvailable,
+ "PointerIntPair with integer size too large for pointer");
+ enum : uintptr_t {
+ /// PointerBitMask - The bits that come from the pointer.
+ PointerBitMask =
+ ~(uintptr_t)(((intptr_t)1 << PtrTraits::NumLowBitsAvailable) - 1),
+
+ /// IntShift - The number of low bits that we reserve for other uses, and
+ /// keep zero.
+ IntShift = (uintptr_t)PtrTraits::NumLowBitsAvailable - IntBits,
+
+ /// IntMask - This is the unshifted mask for valid bits of the int type.
+ IntMask = (uintptr_t)(((intptr_t)1 << IntBits) - 1),
+
+ // ShiftedIntMask - This is the bits for the integer shifted in place.
+ ShiftedIntMask = (uintptr_t)(IntMask << IntShift)
+ };
+
+ static PointerT getPointer(intptr_t Value) {
+ return PtrTraits::getFromVoidPointer(
+ reinterpret_cast<void *>(Value & PointerBitMask));
+ }
+
+ static intptr_t getInt(intptr_t Value) {
+ return (Value >> IntShift) & IntMask;
+ }
+
+ static intptr_t updatePointer(intptr_t OrigValue, PointerT Ptr) {
+ intptr_t PtrWord =
+ reinterpret_cast<intptr_t>(PtrTraits::getAsVoidPointer(Ptr));
+ assert((PtrWord & ~PointerBitMask) == 0 &&
+ "Pointer is not sufficiently aligned");
+ // Preserve all low bits, just update the pointer.
+ return PtrWord | (OrigValue & ~PointerBitMask);
+ }
+
+ static intptr_t updateInt(intptr_t OrigValue, intptr_t Int) {
+ intptr_t IntWord = static_cast<intptr_t>(Int);
+ assert((IntWord & ~IntMask) == 0 && "Integer too large for field");
+
+ // Preserve all bits other than the ones we are updating.
+ return (OrigValue & ~ShiftedIntMask) | IntWord << IntShift;
+ }
+};
+
+template <typename T> struct isPodLike;
+template <typename PointerTy, unsigned IntBits, typename IntType>
+struct isPodLike<PointerIntPair<PointerTy, IntBits, IntType>> {
+ static const bool value = true;
+};
+
+// Provide specialization of DenseMapInfo for PointerIntPair.
+template <typename PointerTy, unsigned IntBits, typename IntType>
+struct DenseMapInfo<PointerIntPair<PointerTy, IntBits, IntType>> {
+ using Ty = PointerIntPair<PointerTy, IntBits, IntType>;
+
+ static Ty getEmptyKey() {
+ uintptr_t Val = static_cast<uintptr_t>(-1);
+ Val <<= PointerLikeTypeTraits<Ty>::NumLowBitsAvailable;
+ return Ty::getFromOpaqueValue(reinterpret_cast<void *>(Val));
+ }
+
+ static Ty getTombstoneKey() {
+ uintptr_t Val = static_cast<uintptr_t>(-2);
+ Val <<= PointerLikeTypeTraits<PointerTy>::NumLowBitsAvailable;
+ return Ty::getFromOpaqueValue(reinterpret_cast<void *>(Val));
+ }
+
+ static unsigned getHashValue(Ty V) {
+ uintptr_t IV = reinterpret_cast<uintptr_t>(V.getOpaqueValue());
+ return unsigned(IV) ^ unsigned(IV >> 9);
+ }
+
+ static bool isEqual(const Ty &LHS, const Ty &RHS) { return LHS == RHS; }
+};
+
+// Teach SmallPtrSet that PointerIntPair is "basically a pointer".
+template <typename PointerTy, unsigned IntBits, typename IntType,
+ typename PtrTraits>
+struct PointerLikeTypeTraits<
+ PointerIntPair<PointerTy, IntBits, IntType, PtrTraits>> {
+ static inline void *
+ getAsVoidPointer(const PointerIntPair<PointerTy, IntBits, IntType> &P) {
+ return P.getOpaqueValue();
+ }
+
+ static inline PointerIntPair<PointerTy, IntBits, IntType>
+ getFromVoidPointer(void *P) {
+ return PointerIntPair<PointerTy, IntBits, IntType>::getFromOpaqueValue(P);
+ }
+
+ static inline PointerIntPair<PointerTy, IntBits, IntType>
+ getFromVoidPointer(const void *P) {
+ return PointerIntPair<PointerTy, IntBits, IntType>::getFromOpaqueValue(P);
+ }
+
+ enum { NumLowBitsAvailable = PtrTraits::NumLowBitsAvailable - IntBits };
+};
+
+} // end namespace wpi
+
+#endif // WPIUTIL_WPI_POINTERINTPAIR_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/PointerLikeTypeTraits.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/PointerLikeTypeTraits.h
index 9098954..fa136e0 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/PointerLikeTypeTraits.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/PointerLikeTypeTraits.h
@@ -112,6 +112,39 @@
enum { NumLowBitsAvailable = 0 };
};
+/// Provide suitable custom traits struct for function pointers.
+///
+/// Function pointers can't be directly given these traits as functions can't
+/// have their alignment computed with `alignof` and we need different casting.
+///
+/// To rely on higher alignment for a specialized use, you can provide a
+/// customized form of this template explicitly with higher alignment, and
+/// potentially use alignment attributes on functions to satisfy that.
+template <int Alignment, typename FunctionPointerT>
+struct FunctionPointerLikeTypeTraits {
+ enum { NumLowBitsAvailable = detail::ConstantLog2<Alignment>::value };
+ static inline void *getAsVoidPointer(FunctionPointerT P) {
+ assert((reinterpret_cast<uintptr_t>(P) &
+ ~((uintptr_t)-1 << NumLowBitsAvailable)) == 0 &&
+ "Alignment not satisfied for an actual function pointer!");
+ return reinterpret_cast<void *>(P);
+ }
+ static inline FunctionPointerT getFromVoidPointer(void *P) {
+ return reinterpret_cast<FunctionPointerT>(P);
+ }
+};
+
+/// Provide a default specialization for function pointers that assumes 4-byte
+/// alignment.
+///
+/// We assume here that functions used with this are always at least 4-byte
+/// aligned. This means that, for example, thumb functions won't work or systems
+/// with weird unaligned function pointers won't work. But all practical systems
+/// we support satisfy this requirement.
+template <typename ReturnT, typename... ParamTs>
+struct PointerLikeTypeTraits<ReturnT (*)(ParamTs...)>
+ : FunctionPointerLikeTypeTraits<4, ReturnT (*)(ParamTs...)> {};
+
} // end namespace wpi
#endif
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/PointerUnion.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/PointerUnion.h
new file mode 100644
index 0000000..8d6e580
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/PointerUnion.h
@@ -0,0 +1,491 @@
+//===- llvm/ADT/PointerUnion.h - Discriminated Union of 2 Ptrs --*- C++ -*-===//
+//
+// The LLVM Compiler Infrastructure
+//
+// This file is distributed under the University of Illinois Open Source
+// License. See LICENSE.TXT for details.
+//
+//===----------------------------------------------------------------------===//
+//
+// This file defines the PointerUnion class, which is a discriminated union of
+// pointer types.
+//
+//===----------------------------------------------------------------------===//
+
+#ifndef WPIUTIL_WPI_POINTERUNION_H
+#define WPIUTIL_WPI_POINTERUNION_H
+
+#include "wpi/DenseMapInfo.h"
+#include "wpi/PointerIntPair.h"
+#include "wpi/PointerLikeTypeTraits.h"
+#include <cassert>
+#include <cstddef>
+#include <cstdint>
+
+namespace wpi {
+
+template <typename T> struct PointerUnionTypeSelectorReturn {
+ using Return = T;
+};
+
+/// Get a type based on whether two types are the same or not.
+///
+/// For:
+///
+/// \code
+/// using Ret = typename PointerUnionTypeSelector<T1, T2, EQ, NE>::Return;
+/// \endcode
+///
+/// Ret will be EQ type if T1 is same as T2 or NE type otherwise.
+template <typename T1, typename T2, typename RET_EQ, typename RET_NE>
+struct PointerUnionTypeSelector {
+ using Return = typename PointerUnionTypeSelectorReturn<RET_NE>::Return;
+};
+
+template <typename T, typename RET_EQ, typename RET_NE>
+struct PointerUnionTypeSelector<T, T, RET_EQ, RET_NE> {
+ using Return = typename PointerUnionTypeSelectorReturn<RET_EQ>::Return;
+};
+
+template <typename T1, typename T2, typename RET_EQ, typename RET_NE>
+struct PointerUnionTypeSelectorReturn<
+ PointerUnionTypeSelector<T1, T2, RET_EQ, RET_NE>> {
+ using Return =
+ typename PointerUnionTypeSelector<T1, T2, RET_EQ, RET_NE>::Return;
+};
+
+/// Provide PointerLikeTypeTraits for void* that is used by PointerUnion
+/// for the two template arguments.
+template <typename PT1, typename PT2> class PointerUnionUIntTraits {
+public:
+ static inline void *getAsVoidPointer(void *P) { return P; }
+ static inline void *getFromVoidPointer(void *P) { return P; }
+
+ enum {
+ PT1BitsAv = (int)(PointerLikeTypeTraits<PT1>::NumLowBitsAvailable),
+ PT2BitsAv = (int)(PointerLikeTypeTraits<PT2>::NumLowBitsAvailable),
+ NumLowBitsAvailable = PT1BitsAv < PT2BitsAv ? PT1BitsAv : PT2BitsAv
+ };
+};
+
+/// A discriminated union of two pointer types, with the discriminator in the
+/// low bit of the pointer.
+///
+/// This implementation is extremely efficient in space due to leveraging the
+/// low bits of the pointer, while exposing a natural and type-safe API.
+///
+/// Common use patterns would be something like this:
+/// PointerUnion<int*, float*> P;
+/// P = (int*)0;
+/// printf("%d %d", P.is<int*>(), P.is<float*>()); // prints "1 0"
+/// X = P.get<int*>(); // ok.
+/// Y = P.get<float*>(); // runtime assertion failure.
+/// Z = P.get<double*>(); // compile time failure.
+/// P = (float*)0;
+/// Y = P.get<float*>(); // ok.
+/// X = P.get<int*>(); // runtime assertion failure.
+template <typename PT1, typename PT2> class PointerUnion {
+public:
+ using ValTy =
+ PointerIntPair<void *, 1, bool, PointerUnionUIntTraits<PT1, PT2>>;
+
+private:
+ ValTy Val;
+
+ struct IsPT1 {
+ static const int Num = 0;
+ };
+ struct IsPT2 {
+ static const int Num = 1;
+ };
+ template <typename T> struct UNION_DOESNT_CONTAIN_TYPE {};
+
+public:
+ PointerUnion() = default;
+ PointerUnion(PT1 V)
+ : Val(const_cast<void *>(
+ PointerLikeTypeTraits<PT1>::getAsVoidPointer(V))) {}
+ PointerUnion(PT2 V)
+ : Val(const_cast<void *>(PointerLikeTypeTraits<PT2>::getAsVoidPointer(V)),
+ 1) {}
+
+ /// Test if the pointer held in the union is null, regardless of
+ /// which type it is.
+ bool isNull() const {
+ // Convert from the void* to one of the pointer types, to make sure that
+ // we recursively strip off low bits if we have a nested PointerUnion.
+ return !PointerLikeTypeTraits<PT1>::getFromVoidPointer(Val.getPointer());
+ }
+
+ explicit operator bool() const { return !isNull(); }
+
+ /// Test if the Union currently holds the type matching T.
+ template <typename T> int is() const {
+ using Ty = typename ::wpi::PointerUnionTypeSelector<
+ PT1, T, IsPT1,
+ ::wpi::PointerUnionTypeSelector<PT2, T, IsPT2,
+ UNION_DOESNT_CONTAIN_TYPE<T>>>::Return;
+ int TyNo = Ty::Num;
+ return static_cast<int>(Val.getInt()) == TyNo;
+ }
+
+ /// Returns the value of the specified pointer type.
+ ///
+ /// If the specified pointer type is incorrect, assert.
+ template <typename T> T get() const {
+ assert(is<T>() && "Invalid accessor called");
+ return PointerLikeTypeTraits<T>::getFromVoidPointer(Val.getPointer());
+ }
+
+ /// Returns the current pointer if it is of the specified pointer type,
+ /// otherwises returns null.
+ template <typename T> T dyn_cast() const {
+ if (is<T>())
+ return get<T>();
+ return T();
+ }
+
+ /// If the union is set to the first pointer type get an address pointing to
+ /// it.
+ PT1 const *getAddrOfPtr1() const {
+ return const_cast<PointerUnion *>(this)->getAddrOfPtr1();
+ }
+
+ /// If the union is set to the first pointer type get an address pointing to
+ /// it.
+ PT1 *getAddrOfPtr1() {
+ assert(is<PT1>() && "Val is not the first pointer");
+ assert(
+ get<PT1>() == Val.getPointer() &&
+ "Can't get the address because PointerLikeTypeTraits changes the ptr");
+ return const_cast<PT1 *>(
+ reinterpret_cast<const PT1 *>(Val.getAddrOfPointer()));
+ }
+
+ /// Assignment from nullptr which just clears the union.
+ const PointerUnion &operator=(std::nullptr_t) {
+ Val.initWithPointer(nullptr);
+ return *this;
+ }
+
+ /// Assignment operators - Allow assigning into this union from either
+ /// pointer type, setting the discriminator to remember what it came from.
+ const PointerUnion &operator=(const PT1 &RHS) {
+ Val.initWithPointer(
+ const_cast<void *>(PointerLikeTypeTraits<PT1>::getAsVoidPointer(RHS)));
+ return *this;
+ }
+ const PointerUnion &operator=(const PT2 &RHS) {
+ Val.setPointerAndInt(
+ const_cast<void *>(PointerLikeTypeTraits<PT2>::getAsVoidPointer(RHS)),
+ 1);
+ return *this;
+ }
+
+ void *getOpaqueValue() const { return Val.getOpaqueValue(); }
+ static inline PointerUnion getFromOpaqueValue(void *VP) {
+ PointerUnion V;
+ V.Val = ValTy::getFromOpaqueValue(VP);
+ return V;
+ }
+};
+
+template <typename PT1, typename PT2>
+bool operator==(PointerUnion<PT1, PT2> lhs, PointerUnion<PT1, PT2> rhs) {
+ return lhs.getOpaqueValue() == rhs.getOpaqueValue();
+}
+
+template <typename PT1, typename PT2>
+bool operator!=(PointerUnion<PT1, PT2> lhs, PointerUnion<PT1, PT2> rhs) {
+ return lhs.getOpaqueValue() != rhs.getOpaqueValue();
+}
+
+template <typename PT1, typename PT2>
+bool operator<(PointerUnion<PT1, PT2> lhs, PointerUnion<PT1, PT2> rhs) {
+ return lhs.getOpaqueValue() < rhs.getOpaqueValue();
+}
+
+// Teach SmallPtrSet that PointerUnion is "basically a pointer", that has
+// # low bits available = min(PT1bits,PT2bits)-1.
+template <typename PT1, typename PT2>
+struct PointerLikeTypeTraits<PointerUnion<PT1, PT2>> {
+ static inline void *getAsVoidPointer(const PointerUnion<PT1, PT2> &P) {
+ return P.getOpaqueValue();
+ }
+
+ static inline PointerUnion<PT1, PT2> getFromVoidPointer(void *P) {
+ return PointerUnion<PT1, PT2>::getFromOpaqueValue(P);
+ }
+
+ // The number of bits available are the min of the two pointer types.
+ enum {
+ NumLowBitsAvailable = PointerLikeTypeTraits<
+ typename PointerUnion<PT1, PT2>::ValTy>::NumLowBitsAvailable
+ };
+};
+
+/// A pointer union of three pointer types. See documentation for PointerUnion
+/// for usage.
+template <typename PT1, typename PT2, typename PT3> class PointerUnion3 {
+public:
+ using InnerUnion = PointerUnion<PT1, PT2>;
+ using ValTy = PointerUnion<InnerUnion, PT3>;
+
+private:
+ ValTy Val;
+
+ struct IsInnerUnion {
+ ValTy Val;
+
+ IsInnerUnion(ValTy val) : Val(val) {}
+
+ template <typename T> int is() const {
+ return Val.template is<InnerUnion>() &&
+ Val.template get<InnerUnion>().template is<T>();
+ }
+
+ template <typename T> T get() const {
+ return Val.template get<InnerUnion>().template get<T>();
+ }
+ };
+
+ struct IsPT3 {
+ ValTy Val;
+
+ IsPT3(ValTy val) : Val(val) {}
+
+ template <typename T> int is() const { return Val.template is<T>(); }
+ template <typename T> T get() const { return Val.template get<T>(); }
+ };
+
+public:
+ PointerUnion3() = default;
+ PointerUnion3(PT1 V) { Val = InnerUnion(V); }
+ PointerUnion3(PT2 V) { Val = InnerUnion(V); }
+ PointerUnion3(PT3 V) { Val = V; }
+
+ /// Test if the pointer held in the union is null, regardless of
+ /// which type it is.
+ bool isNull() const { return Val.isNull(); }
+ explicit operator bool() const { return !isNull(); }
+
+ /// Test if the Union currently holds the type matching T.
+ template <typename T> int is() const {
+ // If T is PT1/PT2 choose IsInnerUnion otherwise choose IsPT3.
+ using Ty = typename ::wpi::PointerUnionTypeSelector<
+ PT1, T, IsInnerUnion,
+ ::wpi::PointerUnionTypeSelector<PT2, T, IsInnerUnion, IsPT3>>::Return;
+ return Ty(Val).template is<T>();
+ }
+
+ /// Returns the value of the specified pointer type.
+ ///
+ /// If the specified pointer type is incorrect, assert.
+ template <typename T> T get() const {
+ assert(is<T>() && "Invalid accessor called");
+ // If T is PT1/PT2 choose IsInnerUnion otherwise choose IsPT3.
+ using Ty = typename ::wpi::PointerUnionTypeSelector<
+ PT1, T, IsInnerUnion,
+ ::wpi::PointerUnionTypeSelector<PT2, T, IsInnerUnion, IsPT3>>::Return;
+ return Ty(Val).template get<T>();
+ }
+
+ /// Returns the current pointer if it is of the specified pointer type,
+ /// otherwises returns null.
+ template <typename T> T dyn_cast() const {
+ if (is<T>())
+ return get<T>();
+ return T();
+ }
+
+ /// Assignment from nullptr which just clears the union.
+ const PointerUnion3 &operator=(std::nullptr_t) {
+ Val = nullptr;
+ return *this;
+ }
+
+ /// Assignment operators - Allow assigning into this union from either
+ /// pointer type, setting the discriminator to remember what it came from.
+ const PointerUnion3 &operator=(const PT1 &RHS) {
+ Val = InnerUnion(RHS);
+ return *this;
+ }
+ const PointerUnion3 &operator=(const PT2 &RHS) {
+ Val = InnerUnion(RHS);
+ return *this;
+ }
+ const PointerUnion3 &operator=(const PT3 &RHS) {
+ Val = RHS;
+ return *this;
+ }
+
+ void *getOpaqueValue() const { return Val.getOpaqueValue(); }
+ static inline PointerUnion3 getFromOpaqueValue(void *VP) {
+ PointerUnion3 V;
+ V.Val = ValTy::getFromOpaqueValue(VP);
+ return V;
+ }
+};
+
+// Teach SmallPtrSet that PointerUnion3 is "basically a pointer", that has
+// # low bits available = min(PT1bits,PT2bits,PT2bits)-2.
+template <typename PT1, typename PT2, typename PT3>
+struct PointerLikeTypeTraits<PointerUnion3<PT1, PT2, PT3>> {
+ static inline void *getAsVoidPointer(const PointerUnion3<PT1, PT2, PT3> &P) {
+ return P.getOpaqueValue();
+ }
+
+ static inline PointerUnion3<PT1, PT2, PT3> getFromVoidPointer(void *P) {
+ return PointerUnion3<PT1, PT2, PT3>::getFromOpaqueValue(P);
+ }
+
+ // The number of bits available are the min of the two pointer types.
+ enum {
+ NumLowBitsAvailable = PointerLikeTypeTraits<
+ typename PointerUnion3<PT1, PT2, PT3>::ValTy>::NumLowBitsAvailable
+ };
+};
+
+template <typename PT1, typename PT2, typename PT3>
+bool operator<(PointerUnion3<PT1, PT2, PT3> lhs,
+ PointerUnion3<PT1, PT2, PT3> rhs) {
+ return lhs.getOpaqueValue() < rhs.getOpaqueValue();
+}
+
+/// A pointer union of four pointer types. See documentation for PointerUnion
+/// for usage.
+template <typename PT1, typename PT2, typename PT3, typename PT4>
+class PointerUnion4 {
+public:
+ using InnerUnion1 = PointerUnion<PT1, PT2>;
+ using InnerUnion2 = PointerUnion<PT3, PT4>;
+ using ValTy = PointerUnion<InnerUnion1, InnerUnion2>;
+
+private:
+ ValTy Val;
+
+public:
+ PointerUnion4() = default;
+ PointerUnion4(PT1 V) { Val = InnerUnion1(V); }
+ PointerUnion4(PT2 V) { Val = InnerUnion1(V); }
+ PointerUnion4(PT3 V) { Val = InnerUnion2(V); }
+ PointerUnion4(PT4 V) { Val = InnerUnion2(V); }
+
+ /// Test if the pointer held in the union is null, regardless of
+ /// which type it is.
+ bool isNull() const { return Val.isNull(); }
+ explicit operator bool() const { return !isNull(); }
+
+ /// Test if the Union currently holds the type matching T.
+ template <typename T> int is() const {
+ // If T is PT1/PT2 choose InnerUnion1 otherwise choose InnerUnion2.
+ using Ty = typename ::wpi::PointerUnionTypeSelector<
+ PT1, T, InnerUnion1,
+ ::wpi::PointerUnionTypeSelector<PT2, T, InnerUnion1,
+ InnerUnion2>>::Return;
+ return Val.template is<Ty>() && Val.template get<Ty>().template is<T>();
+ }
+
+ /// Returns the value of the specified pointer type.
+ ///
+ /// If the specified pointer type is incorrect, assert.
+ template <typename T> T get() const {
+ assert(is<T>() && "Invalid accessor called");
+ // If T is PT1/PT2 choose InnerUnion1 otherwise choose InnerUnion2.
+ using Ty = typename ::wpi::PointerUnionTypeSelector<
+ PT1, T, InnerUnion1,
+ ::wpi::PointerUnionTypeSelector<PT2, T, InnerUnion1,
+ InnerUnion2>>::Return;
+ return Val.template get<Ty>().template get<T>();
+ }
+
+ /// Returns the current pointer if it is of the specified pointer type,
+ /// otherwises returns null.
+ template <typename T> T dyn_cast() const {
+ if (is<T>())
+ return get<T>();
+ return T();
+ }
+
+ /// Assignment from nullptr which just clears the union.
+ const PointerUnion4 &operator=(std::nullptr_t) {
+ Val = nullptr;
+ return *this;
+ }
+
+ /// Assignment operators - Allow assigning into this union from either
+ /// pointer type, setting the discriminator to remember what it came from.
+ const PointerUnion4 &operator=(const PT1 &RHS) {
+ Val = InnerUnion1(RHS);
+ return *this;
+ }
+ const PointerUnion4 &operator=(const PT2 &RHS) {
+ Val = InnerUnion1(RHS);
+ return *this;
+ }
+ const PointerUnion4 &operator=(const PT3 &RHS) {
+ Val = InnerUnion2(RHS);
+ return *this;
+ }
+ const PointerUnion4 &operator=(const PT4 &RHS) {
+ Val = InnerUnion2(RHS);
+ return *this;
+ }
+
+ void *getOpaqueValue() const { return Val.getOpaqueValue(); }
+ static inline PointerUnion4 getFromOpaqueValue(void *VP) {
+ PointerUnion4 V;
+ V.Val = ValTy::getFromOpaqueValue(VP);
+ return V;
+ }
+};
+
+// Teach SmallPtrSet that PointerUnion4 is "basically a pointer", that has
+// # low bits available = min(PT1bits,PT2bits,PT2bits)-2.
+template <typename PT1, typename PT2, typename PT3, typename PT4>
+struct PointerLikeTypeTraits<PointerUnion4<PT1, PT2, PT3, PT4>> {
+ static inline void *
+ getAsVoidPointer(const PointerUnion4<PT1, PT2, PT3, PT4> &P) {
+ return P.getOpaqueValue();
+ }
+
+ static inline PointerUnion4<PT1, PT2, PT3, PT4> getFromVoidPointer(void *P) {
+ return PointerUnion4<PT1, PT2, PT3, PT4>::getFromOpaqueValue(P);
+ }
+
+ // The number of bits available are the min of the two pointer types.
+ enum {
+ NumLowBitsAvailable = PointerLikeTypeTraits<
+ typename PointerUnion4<PT1, PT2, PT3, PT4>::ValTy>::NumLowBitsAvailable
+ };
+};
+
+// Teach DenseMap how to use PointerUnions as keys.
+template <typename T, typename U> struct DenseMapInfo<PointerUnion<T, U>> {
+ using Pair = PointerUnion<T, U>;
+ using FirstInfo = DenseMapInfo<T>;
+ using SecondInfo = DenseMapInfo<U>;
+
+ static inline Pair getEmptyKey() { return Pair(FirstInfo::getEmptyKey()); }
+
+ static inline Pair getTombstoneKey() {
+ return Pair(FirstInfo::getTombstoneKey());
+ }
+
+ static unsigned getHashValue(const Pair &PairVal) {
+ intptr_t key = (intptr_t)PairVal.getOpaqueValue();
+ return DenseMapInfo<intptr_t>::getHashValue(key);
+ }
+
+ static bool isEqual(const Pair &LHS, const Pair &RHS) {
+ return LHS.template is<T>() == RHS.template is<T>() &&
+ (LHS.template is<T>() ? FirstInfo::isEqual(LHS.template get<T>(),
+ RHS.template get<T>())
+ : SecondInfo::isEqual(LHS.template get<U>(),
+ RHS.template get<U>()));
+ }
+};
+
+} // end namespace wpi
+
+#endif // WPIUTIL_WPI_POINTERUNION_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/PortForwarder.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/PortForwarder.h
new file mode 100644
index 0000000..9ee6ce6
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/PortForwarder.h
@@ -0,0 +1,62 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#ifndef WPIUTIL_WPI_PORTFORWARDER_H_
+#define WPIUTIL_WPI_PORTFORWARDER_H_
+
+#pragma once
+
+#include <memory>
+
+#include "wpi/Twine.h"
+
+namespace wpi {
+
+/**
+ * Forward ports to another host. This is primarily useful for accessing
+ * Ethernet-connected devices from a computer tethered to the RoboRIO USB port.
+ */
+class PortForwarder {
+ public:
+ PortForwarder(const PortForwarder&) = delete;
+ PortForwarder& operator=(const PortForwarder&) = delete;
+
+ /**
+ * Get an instance of the PortForwarder class.
+ *
+ * This is a singleton to guarantee that there is only a single instance
+ * regardless of how many times GetInstance is called.
+ */
+ static PortForwarder& GetInstance();
+
+ /**
+ * Forward a local TCP port to a remote host and port.
+ * Note that local ports less than 1024 won't work as a normal user.
+ *
+ * @param port local port number
+ * @param remoteHost remote IP address / DNS name
+ * @param remotePort remote port number
+ */
+ void Add(unsigned int port, const Twine& remoteHost, unsigned int remotePort);
+
+ /**
+ * Stop TCP forwarding on a port.
+ *
+ * @param port local port number
+ */
+ void Remove(unsigned int port);
+
+ private:
+ PortForwarder();
+
+ struct Impl;
+ std::unique_ptr<Impl> m_impl;
+};
+
+} // namespace wpi
+
+#endif // WPIUTIL_WPI_PORTFORWARDER_H_
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/STLExtras.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/STLExtras.h
index b020222..d7ddd92 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/STLExtras.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/STLExtras.h
@@ -20,7 +20,7 @@
#include "wpi/SmallVector.h"
#include "wpi/iterator.h"
#include "wpi/iterator_range.h"
-#include "wpi/optional.h"
+#include "wpi/ErrorHandling.h"
#include <algorithm>
#include <cassert>
#include <cstddef>
@@ -31,6 +31,7 @@
#include <iterator>
#include <limits>
#include <memory>
+#include <optional>
#include <tuple>
#include <type_traits>
#include <utility>
@@ -53,6 +54,20 @@
} // end namespace detail
//===----------------------------------------------------------------------===//
+// Extra additions to <type_traits>
+//===----------------------------------------------------------------------===//
+
+template <typename T> struct make_const_ptr {
+ using type =
+ typename std::add_pointer<typename std::add_const<T>::type>::type;
+};
+
+template <typename T> struct make_const_ref {
+ using type = typename std::add_lvalue_reference<
+ typename std::add_const<T>::type>::type;
+};
+
+//===----------------------------------------------------------------------===//
// Extra additions to <functional>
//===----------------------------------------------------------------------===//
@@ -176,6 +191,12 @@
adl_detail::adl_swap(std::forward<T>(lhs), std::forward<T>(rhs));
}
+/// Test whether \p RangeOrContainer is empty. Similar to C++17 std::empty.
+template <typename T>
+constexpr bool empty(const T &RangeOrContainer) {
+ return adl_begin(RangeOrContainer) == adl_end(RangeOrContainer);
+}
+
// mapped_iterator - This is a simple iterator adapter that causes a function to
// be applied whenever operator* is invoked on the iterator.
@@ -403,10 +424,8 @@
// forward declarations required by zip_shortest/zip_first
template <typename R, typename UnaryPredicate>
bool all_of(R &&range, UnaryPredicate P);
-
-template <size_t... I> struct index_sequence;
-
-template <class... Ts> struct index_sequence_for;
+template <typename R, typename UnaryPredicate>
+bool any_of(R &&range, UnaryPredicate P);
namespace detail {
@@ -442,38 +461,38 @@
std::tuple<Iters...> iterators;
protected:
- template <size_t... Ns> value_type deref(index_sequence<Ns...>) const {
+ template <size_t... Ns> value_type deref(std::index_sequence<Ns...>) const {
return value_type(*std::get<Ns>(iterators)...);
}
template <size_t... Ns>
- decltype(iterators) tup_inc(index_sequence<Ns...>) const {
+ decltype(iterators) tup_inc(std::index_sequence<Ns...>) const {
return std::tuple<Iters...>(std::next(std::get<Ns>(iterators))...);
}
template <size_t... Ns>
- decltype(iterators) tup_dec(index_sequence<Ns...>) const {
+ decltype(iterators) tup_dec(std::index_sequence<Ns...>) const {
return std::tuple<Iters...>(std::prev(std::get<Ns>(iterators))...);
}
public:
zip_common(Iters &&... ts) : iterators(std::forward<Iters>(ts)...) {}
- value_type operator*() { return deref(index_sequence_for<Iters...>{}); }
+ value_type operator*() { return deref(std::index_sequence_for<Iters...>{}); }
const value_type operator*() const {
- return deref(index_sequence_for<Iters...>{});
+ return deref(std::index_sequence_for<Iters...>{});
}
ZipType &operator++() {
- iterators = tup_inc(index_sequence_for<Iters...>{});
+ iterators = tup_inc(std::index_sequence_for<Iters...>{});
return *reinterpret_cast<ZipType *>(this);
}
ZipType &operator--() {
static_assert(Base::IsBidirectional,
"All inner iterators must be at least bidirectional.");
- iterators = tup_dec(index_sequence_for<Iters...>{});
+ iterators = tup_dec(std::index_sequence_for<Iters...>{});
return *reinterpret_cast<ZipType *>(this);
}
};
@@ -492,7 +511,7 @@
template <typename... Iters>
class zip_shortest : public zip_common<zip_shortest<Iters...>, Iters...> {
template <size_t... Ns>
- bool test(const zip_shortest<Iters...> &other, index_sequence<Ns...>) const {
+ bool test(const zip_shortest<Iters...> &other, std::index_sequence<Ns...>) const {
return all_of(std::initializer_list<bool>{std::get<Ns>(this->iterators) !=
std::get<Ns>(other.iterators)...},
identity<bool>{});
@@ -504,7 +523,7 @@
zip_shortest(Iters &&... ts) : Base(std::forward<Iters>(ts)...) {}
bool operator==(const zip_shortest<Iters...> &other) const {
- return !test(other, index_sequence_for<Iters...>{});
+ return !test(other, std::index_sequence_for<Iters...>{});
}
};
@@ -520,18 +539,18 @@
private:
std::tuple<Args...> ts;
- template <size_t... Ns> iterator begin_impl(index_sequence<Ns...>) const {
+ template <size_t... Ns> iterator begin_impl(std::index_sequence<Ns...>) const {
return iterator(std::begin(std::get<Ns>(ts))...);
}
- template <size_t... Ns> iterator end_impl(index_sequence<Ns...>) const {
+ template <size_t... Ns> iterator end_impl(std::index_sequence<Ns...>) const {
return iterator(std::end(std::get<Ns>(ts))...);
}
public:
zippy(Args &&... ts_) : ts(std::forward<Args>(ts_)...) {}
- iterator begin() const { return begin_impl(index_sequence_for<Args...>{}); }
- iterator end() const { return end_impl(index_sequence_for<Args...>{}); }
+ iterator begin() const { return begin_impl(std::index_sequence_for<Args...>{}); }
+ iterator end() const { return end_impl(std::index_sequence_for<Args...>{}); }
};
} // end namespace detail
@@ -553,6 +572,132 @@
std::forward<T>(t), std::forward<U>(u), std::forward<Args>(args)...);
}
+namespace detail {
+template <typename Iter>
+static Iter next_or_end(const Iter &I, const Iter &End) {
+ if (I == End)
+ return End;
+ return std::next(I);
+}
+
+template <typename Iter>
+static auto deref_or_none(const Iter &I, const Iter &End)
+ -> std::optional<typename std::remove_const<
+ typename std::remove_reference<decltype(*I)>::type>::type> {
+ if (I == End)
+ return std::nullopt;
+ return *I;
+}
+
+template <typename Iter> struct ZipLongestItemType {
+ using type =
+ std::optional<typename std::remove_const<typename std::remove_reference<
+ decltype(*std::declval<Iter>())>::type>::type>;
+};
+
+template <typename... Iters> struct ZipLongestTupleType {
+ using type = std::tuple<typename ZipLongestItemType<Iters>::type...>;
+};
+
+template <typename... Iters>
+class zip_longest_iterator
+ : public iterator_facade_base<
+ zip_longest_iterator<Iters...>,
+ typename std::common_type<
+ std::forward_iterator_tag,
+ typename std::iterator_traits<Iters>::iterator_category...>::type,
+ typename ZipLongestTupleType<Iters...>::type,
+ typename std::iterator_traits<typename std::tuple_element<
+ 0, std::tuple<Iters...>>::type>::difference_type,
+ typename ZipLongestTupleType<Iters...>::type *,
+ typename ZipLongestTupleType<Iters...>::type> {
+public:
+ using value_type = typename ZipLongestTupleType<Iters...>::type;
+
+private:
+ std::tuple<Iters...> iterators;
+ std::tuple<Iters...> end_iterators;
+
+ template <size_t... Ns>
+ bool test(const zip_longest_iterator<Iters...> &other,
+ std::index_sequence<Ns...>) const {
+ return wpi::any_of(
+ std::initializer_list<bool>{std::get<Ns>(this->iterators) !=
+ std::get<Ns>(other.iterators)...},
+ identity<bool>{});
+ }
+
+ template <size_t... Ns> value_type deref(std::index_sequence<Ns...>) const {
+ return value_type(
+ deref_or_none(std::get<Ns>(iterators), std::get<Ns>(end_iterators))...);
+ }
+
+ template <size_t... Ns>
+ decltype(iterators) tup_inc(std::index_sequence<Ns...>) const {
+ return std::tuple<Iters...>(
+ next_or_end(std::get<Ns>(iterators), std::get<Ns>(end_iterators))...);
+ }
+
+public:
+ zip_longest_iterator(std::pair<Iters &&, Iters &&>... ts)
+ : iterators(std::forward<Iters>(ts.first)...),
+ end_iterators(std::forward<Iters>(ts.second)...) {}
+
+ value_type operator*() { return deref(std::index_sequence_for<Iters...>{}); }
+
+ value_type operator*() const { return deref(std::index_sequence_for<Iters...>{}); }
+
+ zip_longest_iterator<Iters...> &operator++() {
+ iterators = tup_inc(std::index_sequence_for<Iters...>{});
+ return *this;
+ }
+
+ bool operator==(const zip_longest_iterator<Iters...> &other) const {
+ return !test(other, std::index_sequence_for<Iters...>{});
+ }
+};
+
+template <typename... Args> class zip_longest_range {
+public:
+ using iterator =
+ zip_longest_iterator<decltype(adl_begin(std::declval<Args>()))...>;
+ using iterator_category = typename iterator::iterator_category;
+ using value_type = typename iterator::value_type;
+ using difference_type = typename iterator::difference_type;
+ using pointer = typename iterator::pointer;
+ using reference = typename iterator::reference;
+
+private:
+ std::tuple<Args...> ts;
+
+ template <size_t... Ns> iterator begin_impl(std::index_sequence<Ns...>) const {
+ return iterator(std::make_pair(adl_begin(std::get<Ns>(ts)),
+ adl_end(std::get<Ns>(ts)))...);
+ }
+
+ template <size_t... Ns> iterator end_impl(std::index_sequence<Ns...>) const {
+ return iterator(std::make_pair(adl_end(std::get<Ns>(ts)),
+ adl_end(std::get<Ns>(ts)))...);
+ }
+
+public:
+ zip_longest_range(Args &&... ts_) : ts(std::forward<Args>(ts_)...) {}
+
+ iterator begin() const { return begin_impl(std::index_sequence_for<Args...>{}); }
+ iterator end() const { return end_impl(std::index_sequence_for<Args...>{}); }
+};
+} // namespace detail
+
+/// Iterate over two or more iterators at the same time. Iteration continues
+/// until all iterators reach the end. The std::optional only contains a value
+/// if the iterator has not reached the end.
+template <typename T, typename U, typename... Args>
+detail::zip_longest_range<T, U, Args...> zip_longest(T &&t, U &&u,
+ Args &&... args) {
+ return detail::zip_longest_range<T, U, Args...>(
+ std::forward<T>(t), std::forward<U>(u), std::forward<Args>(args)...);
+}
+
/// Iterator wrapper that concatenates sequences together.
///
/// This can concatenate different iterators, even with different types, into
@@ -575,25 +720,27 @@
/// Note that something like iterator_range seems nice at first here, but the
/// range properties are of little benefit and end up getting in the way
/// because we need to do mutation on the current iterators.
- std::tuple<std::pair<IterTs, IterTs>...> IterPairs;
+ std::tuple<IterTs...> Begins;
+ std::tuple<IterTs...> Ends;
/// Attempts to increment a specific iterator.
///
/// Returns true if it was able to increment the iterator. Returns false if
/// the iterator is already at the end iterator.
template <size_t Index> bool incrementHelper() {
- auto &IterPair = std::get<Index>(IterPairs);
- if (IterPair.first == IterPair.second)
+ auto &Begin = std::get<Index>(Begins);
+ auto &End = std::get<Index>(Ends);
+ if (Begin == End)
return false;
- ++IterPair.first;
+ ++Begin;
return true;
}
/// Increments the first non-end iterator.
///
/// It is an error to call this with all iterators at the end.
- template <size_t... Ns> void increment(index_sequence<Ns...>) {
+ template <size_t... Ns> void increment(std::index_sequence<Ns...>) {
// Build a sequence of functions to increment each iterator if possible.
bool (concat_iterator::*IncrementHelperFns[])() = {
&concat_iterator::incrementHelper<Ns>...};
@@ -610,18 +757,19 @@
/// dereferences the iterator and returns the address of the resulting
/// reference.
template <size_t Index> ValueT *getHelper() const {
- auto &IterPair = std::get<Index>(IterPairs);
- if (IterPair.first == IterPair.second)
+ auto &Begin = std::get<Index>(Begins);
+ auto &End = std::get<Index>(Ends);
+ if (Begin == End)
return nullptr;
- return &*IterPair.first;
+ return &*Begin;
}
/// Finds the first non-end iterator, dereferences, and returns the resulting
/// reference.
///
/// It is an error to call this with all iterators at the end.
- template <size_t... Ns> ValueT &get(index_sequence<Ns...>) const {
+ template <size_t... Ns> ValueT &get(std::index_sequence<Ns...>) const {
// Build a sequence of functions to get from iterator if possible.
ValueT *(concat_iterator::*GetHelperFns[])() const = {
&concat_iterator::getHelper<Ns>...};
@@ -641,19 +789,19 @@
/// iterators.
template <typename... RangeTs>
explicit concat_iterator(RangeTs &&... Ranges)
- : IterPairs({std::begin(Ranges), std::end(Ranges)}...) {}
+ : Begins(std::begin(Ranges)...), Ends(std::end(Ranges)...) {}
using BaseT::operator++;
concat_iterator &operator++() {
- increment(index_sequence_for<IterTs...>());
+ increment(std::index_sequence_for<IterTs...>());
return *this;
}
- ValueT &operator*() const { return get(index_sequence_for<IterTs...>()); }
+ ValueT &operator*() const { return get(std::index_sequence_for<IterTs...>()); }
bool operator==(const concat_iterator &RHS) const {
- return IterPairs == RHS.IterPairs;
+ return Begins == RHS.Begins && Ends == RHS.Ends;
}
};
@@ -673,10 +821,10 @@
private:
std::tuple<RangeTs...> Ranges;
- template <size_t... Ns> iterator begin_impl(index_sequence<Ns...>) {
+ template <size_t... Ns> iterator begin_impl(std::index_sequence<Ns...>) {
return iterator(std::get<Ns>(Ranges)...);
}
- template <size_t... Ns> iterator end_impl(index_sequence<Ns...>) {
+ template <size_t... Ns> iterator end_impl(std::index_sequence<Ns...>) {
return iterator(make_range(std::end(std::get<Ns>(Ranges)),
std::end(std::get<Ns>(Ranges)))...);
}
@@ -685,8 +833,8 @@
concat_range(RangeTs &&... Ranges)
: Ranges(std::forward<RangeTs>(Ranges)...) {}
- iterator begin() { return begin_impl(index_sequence_for<RangeTs...>{}); }
- iterator end() { return end_impl(index_sequence_for<RangeTs...>{}); }
+ iterator begin() { return begin_impl(std::index_sequence_for<RangeTs...>{}); }
+ iterator end() { return end_impl(std::index_sequence_for<RangeTs...>{}); }
};
} // end namespace detail
@@ -722,28 +870,19 @@
}
};
-// A subset of N3658. More stuff can be added as-needed.
+/// \brief Function object to apply a binary function to the first component of
+/// a std::pair.
+template<typename FuncTy>
+struct on_first {
+ FuncTy func;
-/// Represents a compile-time sequence of integers.
-template <class T, T... I> struct integer_sequence {
- using value_type = T;
-
- static constexpr size_t size() { return sizeof...(I); }
+ template <typename T>
+ auto operator()(const T &lhs, const T &rhs) const
+ -> decltype(func(lhs.first, rhs.first)) {
+ return func(lhs.first, rhs.first);
+ }
};
-/// Alias for the common case of a sequence of size_ts.
-template <size_t... I>
-struct index_sequence : integer_sequence<std::size_t, I...> {};
-
-template <std::size_t N, std::size_t... I>
-struct build_index_impl : build_index_impl<N - 1, N - 1, I...> {};
-template <std::size_t... I>
-struct build_index_impl<0, I...> : index_sequence<I...> {};
-
-/// Creates a compile-time integer sequence for a parameter pack.
-template <class... Ts>
-struct index_sequence_for : build_index_impl<sizeof...(Ts)> {};
-
/// Utility type to build an inheritance chain that makes it easy to rank
/// overload candidates.
template <int N> struct rank : rank<N - 1> {};
@@ -862,6 +1001,18 @@
C.clear();
}
+/// Get the size of a range. This is a wrapper function around std::distance
+/// which is only enabled when the operation is O(1).
+template <typename R>
+auto size(R &&Range, typename std::enable_if<
+ std::is_same<typename std::iterator_traits<decltype(
+ Range.begin())>::iterator_category,
+ std::random_access_iterator_tag>::value,
+ void>::type * = nullptr)
+ -> decltype(std::distance(Range.begin(), Range.end())) {
+ return std::distance(Range.begin(), Range.end());
+}
+
/// Provide wrappers to std::for_each which take ranges instead of having to
/// pass begin/end explicitly.
template <typename R, typename UnaryPredicate>
@@ -972,6 +1123,33 @@
return std::lower_bound(adl_begin(Range), adl_end(Range), I);
}
+template <typename R, typename ForwardIt, typename Compare>
+auto lower_bound(R &&Range, ForwardIt I, Compare C)
+ -> decltype(adl_begin(Range)) {
+ return std::lower_bound(adl_begin(Range), adl_end(Range), I, C);
+}
+
+/// Provide wrappers to std::upper_bound which take ranges instead of having to
+/// pass begin/end explicitly.
+template <typename R, typename ForwardIt>
+auto upper_bound(R &&Range, ForwardIt I) -> decltype(adl_begin(Range)) {
+ return std::upper_bound(adl_begin(Range), adl_end(Range), I);
+}
+
+template <typename R, typename ForwardIt, typename Compare>
+auto upper_bound(R &&Range, ForwardIt I, Compare C)
+ -> decltype(adl_begin(Range)) {
+ return std::upper_bound(adl_begin(Range), adl_end(Range), I, C);
+}
+/// Wrapper function around std::equal to detect if all elements
+/// in a container are same.
+template <typename R>
+bool is_splat(R &&Range) {
+ size_t range_size = size(Range);
+ return range_size != 0 && (range_size == 1 ||
+ std::equal(adl_begin(Range) + 1, adl_end(Range), adl_begin(Range)));
+}
+
/// Given a range of type R, iterate the entire range and return a
/// SmallVector with elements of the vector. This is useful, for example,
/// when you want to iterate a range and then sort the results.
@@ -993,57 +1171,10 @@
C.erase(remove_if(C, P), C.end());
}
-/// Get the size of a range. This is a wrapper function around std::distance
-/// which is only enabled when the operation is O(1).
-template <typename R>
-auto size(R &&Range, typename std::enable_if<
- std::is_same<typename std::iterator_traits<decltype(
- Range.begin())>::iterator_category,
- std::random_access_iterator_tag>::value,
- void>::type * = nullptr)
- -> decltype(std::distance(Range.begin(), Range.end())) {
- return std::distance(Range.begin(), Range.end());
-}
-
//===----------------------------------------------------------------------===//
// Extra additions to <memory>
//===----------------------------------------------------------------------===//
-// Implement make_unique according to N3656.
-
-/// Constructs a `new T()` with the given args and returns a
-/// `unique_ptr<T>` which owns the object.
-///
-/// Example:
-///
-/// auto p = make_unique<int>();
-/// auto p = make_unique<std::tuple<int, int>>(0, 1);
-template <class T, class... Args>
-typename std::enable_if<!std::is_array<T>::value, std::unique_ptr<T>>::type
-make_unique(Args &&... args) {
- return std::unique_ptr<T>(new T(std::forward<Args>(args)...));
-}
-
-/// Constructs a `new T[n]` with the given args and returns a
-/// `unique_ptr<T[]>` which owns the object.
-///
-/// \param n size of the new array.
-///
-/// Example:
-///
-/// auto p = make_unique<int[]>(2); // value-initializes the array with 0's.
-template <class T>
-typename std::enable_if<std::is_array<T>::value && std::extent<T>::value == 0,
- std::unique_ptr<T>>::type
-make_unique(size_t n) {
- return std::unique_ptr<T>(new typename std::remove_extent<T>::type[n]());
-}
-
-/// This function isn't used and is only here to provide better compile errors.
-template <class T, class... Args>
-typename std::enable_if<std::extent<T>::value != 0>::type
-make_unique(Args &&...) = delete;
-
struct FreeDeleter {
void operator()(void* v) {
::free(v);
@@ -1057,20 +1188,6 @@
}
};
-/// A functor like C++14's std::less<void> in its absence.
-struct less {
- template <typename A, typename B> bool operator()(A &&a, B &&b) const {
- return std::forward<A>(a) < std::forward<B>(b);
- }
-};
-
-/// A functor like C++14's std::equal<void> in its absence.
-struct equal {
- template <typename A, typename B> bool operator()(A &&a, B &&b) const {
- return std::forward<A>(a) == std::forward<B>(b);
- }
-};
-
/// Binary functor that adapts to any other binary functor after dereferencing
/// operands.
template <typename T> struct deref {
@@ -1109,7 +1226,7 @@
ValueOfRange<R> &value() { return *Iter; }
private:
- std::size_t Index = std::numeric_limits<std::size_t>::max();
+ std::size_t Index = (std::numeric_limits<std::size_t>::max)();
IterOfRange<R> Iter;
};
@@ -1124,7 +1241,7 @@
public:
explicit enumerator_iter(IterOfRange<R> EndIter)
- : Result(std::numeric_limits<size_t>::max(), EndIter) {}
+ : Result((std::numeric_limits<size_t>::max)(), EndIter) {}
enumerator_iter(std::size_t Index, IterOfRange<R> Iter)
: Result(Index, Iter) {}
@@ -1133,7 +1250,7 @@
const result_type &operator*() const { return Result; }
enumerator_iter<R> &operator++() {
- assert(Result.Index != std::numeric_limits<size_t>::max());
+ assert(Result.Index != (std::numeric_limits<size_t>::max)());
++Result.Iter;
++Result.Index;
return *this;
@@ -1192,29 +1309,38 @@
return detail::enumerator<R>(std::forward<R>(TheRange));
}
-namespace detail {
-
-template <typename F, typename Tuple, std::size_t... I>
-auto apply_tuple_impl(F &&f, Tuple &&t, index_sequence<I...>)
- -> decltype(std::forward<F>(f)(std::get<I>(std::forward<Tuple>(t))...)) {
- return std::forward<F>(f)(std::get<I>(std::forward<Tuple>(t))...);
+/// Return true if the sequence [Begin, End) has exactly N items. Runs in O(N)
+/// time. Not meant for use with random-access iterators.
+template <typename IterTy>
+bool hasNItems(
+ IterTy &&Begin, IterTy &&End, unsigned N,
+ typename std::enable_if<
+ !std::is_same<
+ typename std::iterator_traits<typename std::remove_reference<
+ decltype(Begin)>::type>::iterator_category,
+ std::random_access_iterator_tag>::value,
+ void>::type * = nullptr) {
+ for (; N; --N, ++Begin)
+ if (Begin == End)
+ return false; // Too few.
+ return Begin == End;
}
-} // end namespace detail
-
-/// Given an input tuple (a1, a2, ..., an), pass the arguments of the
-/// tuple variadically to f as if by calling f(a1, a2, ..., an) and
-/// return the result.
-template <typename F, typename Tuple>
-auto apply_tuple(F &&f, Tuple &&t) -> decltype(detail::apply_tuple_impl(
- std::forward<F>(f), std::forward<Tuple>(t),
- build_index_impl<
- std::tuple_size<typename std::decay<Tuple>::type>::value>{})) {
- using Indices = build_index_impl<
- std::tuple_size<typename std::decay<Tuple>::type>::value>;
-
- return detail::apply_tuple_impl(std::forward<F>(f), std::forward<Tuple>(t),
- Indices{});
+/// Return true if the sequence [Begin, End) has N or more items. Runs in O(N)
+/// time. Not meant for use with random-access iterators.
+template <typename IterTy>
+bool hasNItemsOrMore(
+ IterTy &&Begin, IterTy &&End, unsigned N,
+ typename std::enable_if<
+ !std::is_same<
+ typename std::iterator_traits<typename std::remove_reference<
+ decltype(Begin)>::type>::iterator_category,
+ std::random_access_iterator_tag>::value,
+ void>::type * = nullptr) {
+ for (; N; --N, ++Begin)
+ if (Begin == End)
+ return false; // Too few.
+ return true;
}
} // end namespace wpi
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/SafeThread.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/SafeThread.h
index ec4e2e1..d4b48f7 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/SafeThread.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/SafeThread.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -27,6 +27,7 @@
mutable wpi::mutex m_mutex;
std::atomic_bool m_active{true};
wpi::condition_variable m_cond;
+ std::thread::id m_threadId;
};
namespace detail {
@@ -67,7 +68,7 @@
: SafeThreadOwnerBase() {
swap(*this, other);
}
- SafeThreadOwnerBase& operator=(SafeThreadOwnerBase other) noexcept {
+ SafeThreadOwnerBase& operator=(SafeThreadOwnerBase&& other) noexcept {
swap(*this, other);
return *this;
}
@@ -83,7 +84,7 @@
protected:
void Start(std::shared_ptr<SafeThread> thr);
- std::shared_ptr<SafeThread> GetThread() const;
+ std::shared_ptr<SafeThread> GetThreadSharedPtr() const;
private:
mutable wpi::mutex m_mutex;
@@ -107,7 +108,12 @@
using Proxy = typename detail::SafeThreadProxy<T>;
Proxy GetThread() const {
- return Proxy(detail::SafeThreadOwnerBase::GetThread());
+ return Proxy(detail::SafeThreadOwnerBase::GetThreadSharedPtr());
+ }
+
+ std::shared_ptr<T> GetThreadSharedPtr() const {
+ return std::static_pointer_cast<T>(
+ detail::SafeThreadOwnerBase::GetThreadSharedPtr());
}
};
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Signal.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Signal.h
index 8ef89bd..d8109ff 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Signal.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Signal.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -548,9 +548,7 @@
}
SignalBase & operator=(SignalBase && o) {
- lock_type lock1(m_mutex, std::defer_lock);
- lock_type lock2(o.m_mutex, std::defer_lock);
- std::lock(lock1, lock2);
+ std::scoped_lock lock(m_mutex, o.m_mutex);
std::swap(m_func, o.m_func);
m_block.store(o.m_block.exchange(m_block.load()));
@@ -570,7 +568,7 @@
* @param a... arguments to emit
*/
template <typename... A>
- void operator()(A && ... a) {
+ void operator()(A && ... a) const {
lock_type lock(m_mutex);
if (!m_block && m_func) m_func(std::forward<A>(a)...);
}
@@ -799,7 +797,7 @@
private:
std::function<void(T...)> m_func;
- Lockable m_mutex;
+ mutable Lockable m_mutex;
std::atomic<bool> m_block;
};
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/SmallSet.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/SmallSet.h
index 87fd287..dca204e 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/SmallSet.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/SmallSet.h
@@ -14,24 +14,123 @@
#ifndef WPIUTIL_WPI_SMALLSET_H
#define WPIUTIL_WPI_SMALLSET_H
-#include "wpi/optional.h"
#include "wpi/SmallPtrSet.h"
#include "wpi/SmallVector.h"
#include "wpi/Compiler.h"
+#include "wpi/iterator.h"
+#include "wpi/type_traits.h"
#include <cstddef>
#include <functional>
+#include <optional>
#include <set>
+#include <type_traits>
#include <utility>
namespace wpi {
+/// SmallSetIterator - This class implements a const_iterator for SmallSet by
+/// delegating to the underlying SmallVector or Set iterators.
+template <typename T, unsigned N, typename C>
+class SmallSetIterator
+ : public iterator_facade_base<SmallSetIterator<T, N, C>,
+ std::forward_iterator_tag, T> {
+private:
+ using SetIterTy = typename std::set<T, C>::const_iterator;
+ using VecIterTy = typename SmallVector<T, N>::const_iterator;
+ using SelfTy = SmallSetIterator<T, N, C>;
+
+ /// Iterators to the parts of the SmallSet containing the data. They are set
+ /// depending on isSmall.
+ union {
+ SetIterTy SetIter;
+ VecIterTy VecIter;
+ };
+
+ bool isSmall;
+
+public:
+ SmallSetIterator(SetIterTy SetIter) : SetIter(SetIter), isSmall(false) {}
+
+ SmallSetIterator(VecIterTy VecIter) : VecIter(VecIter), isSmall(true) {}
+
+ // Spell out destructor, copy/move constructor and assignment operators for
+ // MSVC STL, where set<T>::const_iterator is not trivially copy constructible.
+ ~SmallSetIterator() {
+ if (isSmall)
+ VecIter.~VecIterTy();
+ else
+ SetIter.~SetIterTy();
+ }
+
+ SmallSetIterator(const SmallSetIterator &Other) : isSmall(Other.isSmall) {
+ if (isSmall)
+ VecIter = Other.VecIter;
+ else
+ // Use placement new, to make sure SetIter is properly constructed, even
+ // if it is not trivially copy-able (e.g. in MSVC).
+ new (&SetIter) SetIterTy(Other.SetIter);
+ }
+
+ SmallSetIterator(SmallSetIterator &&Other) : isSmall(Other.isSmall) {
+ if (isSmall)
+ VecIter = std::move(Other.VecIter);
+ else
+ // Use placement new, to make sure SetIter is properly constructed, even
+ // if it is not trivially copy-able (e.g. in MSVC).
+ new (&SetIter) SetIterTy(std::move(Other.SetIter));
+ }
+
+ SmallSetIterator& operator=(const SmallSetIterator& Other) {
+ // Call destructor for SetIter, so it gets properly destroyed if it is
+ // not trivially destructible in case we are setting VecIter.
+ if (!isSmall)
+ SetIter.~SetIterTy();
+
+ isSmall = Other.isSmall;
+ if (isSmall)
+ VecIter = Other.VecIter;
+ else
+ new (&SetIter) SetIterTy(Other.SetIter);
+ return *this;
+ }
+
+ SmallSetIterator& operator=(SmallSetIterator&& Other) {
+ // Call destructor for SetIter, so it gets properly destroyed if it is
+ // not trivially destructible in case we are setting VecIter.
+ if (!isSmall)
+ SetIter.~SetIterTy();
+
+ isSmall = Other.isSmall;
+ if (isSmall)
+ VecIter = std::move(Other.VecIter);
+ else
+ new (&SetIter) SetIterTy(std::move(Other.SetIter));
+ return *this;
+ }
+
+ bool operator==(const SmallSetIterator &RHS) const {
+ if (isSmall != RHS.isSmall)
+ return false;
+ if (isSmall)
+ return VecIter == RHS.VecIter;
+ return SetIter == RHS.SetIter;
+ }
+
+ SmallSetIterator &operator++() { // Preincrement
+ if (isSmall)
+ VecIter++;
+ else
+ SetIter++;
+ return *this;
+ }
+
+ const T &operator*() const { return isSmall ? *VecIter : *SetIter; }
+};
+
/// SmallSet - This maintains a set of unique values, optimizing for the case
/// when the set is small (less than N). In this case, the set can be
/// maintained with no mallocs. If the set gets large, we expand to using an
/// std::set to maintain reasonable lookup times.
-///
-/// Note that this set does not provide a way to iterate over members in the
-/// set.
template <typename T, unsigned N, typename C = std::less<T>>
class SmallSet {
/// Use a SmallVector to hold the elements here (even though it will never
@@ -50,6 +149,7 @@
public:
using size_type = size_t;
+ using const_iterator = SmallSetIterator<T, N, C>;
SmallSet() = default;
@@ -78,16 +178,16 @@
/// concept.
// FIXME: Add iterators that abstract over the small and large form, and then
// return those here.
- std::pair<nullopt_t, bool> insert(const T &V) {
+ std::pair<std::nullopt_t, bool> insert(const T &V) {
if (!isSmall())
- return std::make_pair(nullopt, Set.insert(V).second);
+ return std::make_pair(std::nullopt, Set.insert(V).second);
VIterator I = vfind(V);
if (I != Vector.end()) // Don't reinsert if it already exists.
- return std::make_pair(nullopt, false);
+ return std::make_pair(std::nullopt, false);
if (Vector.size() < N) {
Vector.push_back(V);
- return std::make_pair(nullopt, true);
+ return std::make_pair(std::nullopt, true);
}
// Otherwise, grow from vector to set.
@@ -96,7 +196,7 @@
Vector.pop_back();
}
Set.insert(V);
- return std::make_pair(nullopt, true);
+ return std::make_pair(std::nullopt, true);
}
template <typename IterT>
@@ -121,6 +221,18 @@
Set.clear();
}
+ const_iterator begin() const {
+ if (isSmall())
+ return {Vector.begin()};
+ return {Set.begin()};
+ }
+
+ const_iterator end() const {
+ if (isSmall())
+ return {Vector.end()};
+ return {Set.end()};
+ }
+
private:
bool isSmall() const { return Set.empty(); }
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/SmallVector.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/SmallVector.h
index 3c5ad39..430f85a 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/SmallVector.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/SmallVector.h
@@ -26,7 +26,7 @@
#include "wpi/AlignOf.h"
#include "wpi/Compiler.h"
#include "wpi/MathExtras.h"
-#include "wpi/memory.h"
+#include "wpi/MemAlloc.h"
#include "wpi/type_traits.h"
#include <algorithm>
#include <cassert>
@@ -45,28 +45,44 @@
/// This is all the non-templated stuff common to all SmallVectors.
class SmallVectorBase {
protected:
- void *BeginX, *EndX, *CapacityX;
+ void *BeginX;
+ unsigned Size = 0, Capacity;
-protected:
- SmallVectorBase(void *FirstEl, size_t Size)
- : BeginX(FirstEl), EndX(FirstEl), CapacityX((char*)FirstEl+Size) {}
+ SmallVectorBase() = delete;
+ SmallVectorBase(void *FirstEl, size_t Capacity)
+ : BeginX(FirstEl), Capacity(static_cast<unsigned>(Capacity)) {}
/// This is an implementation of the grow() method which only works
/// on POD-like data types and is out of line to reduce code duplication.
- void grow_pod(void *FirstEl, size_t MinSizeInBytes, size_t TSize);
+ void grow_pod(void *FirstEl, size_t MinCapacity, size_t TSize);
public:
- /// This returns size()*sizeof(T).
- size_t size_in_bytes() const {
- return size_t((char*)EndX - (char*)BeginX);
- }
+ LLVM_ATTRIBUTE_ALWAYS_INLINE
+ size_t size() const { return Size; }
+ LLVM_ATTRIBUTE_ALWAYS_INLINE
+ size_t capacity() const { return Capacity; }
- /// capacity_in_bytes - This returns capacity()*sizeof(T).
- size_t capacity_in_bytes() const {
- return size_t((char*)CapacityX - (char*)BeginX);
- }
+ LLVM_NODISCARD bool empty() const { return !Size; }
- LLVM_NODISCARD bool empty() const { return BeginX == EndX; }
+ /// Set the array size to \p N, which the current array must have enough
+ /// capacity for.
+ ///
+ /// This does not construct or destroy any elements in the vector.
+ ///
+ /// Clients can use this in conjunction with capacity() to write past the end
+ /// of the buffer when they know that more elements are available, and only
+ /// update the size later. This avoids the cost of value initializing elements
+ /// which will only be overwritten.
+ void set_size(size_t Size) {
+ assert(Size <= capacity());
+ this->Size = static_cast<unsigned>(Size);
+ }
+};
+
+/// Figure out the offset of the first element.
+template <class T, typename = void> struct SmallVectorAlignmentAndSize {
+ AlignedCharArrayUnion<SmallVectorBase> Base;
+ AlignedCharArrayUnion<T> FirstEl;
};
/// This is the part of SmallVectorTemplateBase which does not depend on whether
@@ -74,36 +90,34 @@
/// to avoid unnecessarily requiring T to be complete.
template <typename T, typename = void>
class SmallVectorTemplateCommon : public SmallVectorBase {
-private:
- template <typename, unsigned> friend struct SmallVectorStorage;
-
- // Allocate raw space for N elements of type T. If T has a ctor or dtor, we
- // don't want it to be automatically run, so we need to represent the space as
- // something else. Use an array of char of sufficient alignment.
- using U = AlignedCharArrayUnion<T>;
- U FirstEl;
+ /// Find the address of the first element. For this pointer math to be valid
+ /// with small-size of 0 for T with lots of alignment, it's important that
+ /// SmallVectorStorage is properly-aligned even for small-size of 0.
+ void *getFirstEl() const {
+ return const_cast<void *>(reinterpret_cast<const void *>(
+ reinterpret_cast<const char *>(this) +
+ offsetof(SmallVectorAlignmentAndSize<T>, FirstEl)));
+ }
// Space after 'FirstEl' is clobbered, do not add any instance vars after it.
protected:
- SmallVectorTemplateCommon(size_t Size) : SmallVectorBase(&FirstEl, Size) {}
+ SmallVectorTemplateCommon(size_t Size)
+ : SmallVectorBase(getFirstEl(), Size) {}
- void grow_pod(size_t MinSizeInBytes, size_t TSize) {
- SmallVectorBase::grow_pod(&FirstEl, MinSizeInBytes, TSize);
+ void grow_pod(size_t MinCapacity, size_t TSize) {
+ SmallVectorBase::grow_pod(getFirstEl(), MinCapacity, TSize);
}
/// Return true if this is a smallvector which has not had dynamic
/// memory allocated for it.
- bool isSmall() const {
- return BeginX == static_cast<const void*>(&FirstEl);
- }
+ bool isSmall() const { return BeginX == getFirstEl(); }
/// Put this vector in a state of being small.
void resetToSmall() {
- BeginX = EndX = CapacityX = &FirstEl;
+ BeginX = getFirstEl();
+ Size = Capacity = 0; // FIXME: Setting Capacity to 0 is suspect.
}
- void setEnd(T *P) { this->EndX = P; }
-
public:
using size_type = size_t;
using difference_type = ptrdiff_t;
@@ -125,27 +139,20 @@
LLVM_ATTRIBUTE_ALWAYS_INLINE
const_iterator begin() const { return (const_iterator)this->BeginX; }
LLVM_ATTRIBUTE_ALWAYS_INLINE
- iterator end() { return (iterator)this->EndX; }
+ iterator end() { return begin() + size(); }
LLVM_ATTRIBUTE_ALWAYS_INLINE
- const_iterator end() const { return (const_iterator)this->EndX; }
+ const_iterator end() const { return begin() + size(); }
-protected:
- iterator capacity_ptr() { return (iterator)this->CapacityX; }
- const_iterator capacity_ptr() const { return (const_iterator)this->CapacityX;}
-
-public:
// reverse iterator creation methods.
reverse_iterator rbegin() { return reverse_iterator(end()); }
const_reverse_iterator rbegin() const{ return const_reverse_iterator(end()); }
reverse_iterator rend() { return reverse_iterator(begin()); }
const_reverse_iterator rend() const { return const_reverse_iterator(begin());}
- LLVM_ATTRIBUTE_ALWAYS_INLINE
- size_type size() const { return end()-begin(); }
+ size_type size_in_bytes() const { return size() * sizeof(T); }
size_type max_size() const { return size_type(-1) / sizeof(T); }
- /// Return the total number of elements in the currently allocated buffer.
- size_t capacity() const { return capacity_ptr() - begin(); }
+ size_t capacity_in_bytes() const { return capacity() * sizeof(T); }
/// Return a pointer to the vector's buffer, even if empty().
pointer data() { return pointer(begin()); }
@@ -184,7 +191,7 @@
/// SmallVectorTemplateBase<isPodLike = false> - This is where we put method
/// implementations that are designed to work with non-POD-like T's.
-template <typename T, bool isPodLike>
+template <typename T, bool = isPodLike<T>::value>
class SmallVectorTemplateBase : public SmallVectorTemplateCommon<T> {
protected:
SmallVectorTemplateBase(size_t Size) : SmallVectorTemplateCommon<T>(Size) {}
@@ -218,21 +225,21 @@
public:
void push_back(const T &Elt) {
- if (LLVM_UNLIKELY(this->EndX >= this->CapacityX))
+ if (LLVM_UNLIKELY(this->size() >= this->capacity()))
this->grow();
::new ((void*) this->end()) T(Elt);
- this->setEnd(this->end()+1);
+ this->set_size(this->size() + 1);
}
void push_back(T &&Elt) {
- if (LLVM_UNLIKELY(this->EndX >= this->CapacityX))
+ if (LLVM_UNLIKELY(this->size() >= this->capacity()))
this->grow();
::new ((void*) this->end()) T(::std::move(Elt));
- this->setEnd(this->end()+1);
+ this->set_size(this->size() + 1);
}
void pop_back() {
- this->setEnd(this->end()-1);
+ this->set_size(this->size() - 1);
this->end()->~T();
}
};
@@ -240,13 +247,13 @@
// Define this out-of-line to dissuade the C++ compiler from inlining it.
template <typename T, bool isPodLike>
void SmallVectorTemplateBase<T, isPodLike>::grow(size_t MinSize) {
- size_t CurCapacity = this->capacity();
- size_t CurSize = this->size();
+ if (MinSize > UINT32_MAX)
+ report_bad_alloc_error("SmallVector capacity overflow during allocation");
+
// Always grow, even from zero.
- size_t NewCapacity = size_t(NextPowerOf2(CurCapacity+2));
- if (NewCapacity < MinSize)
- NewCapacity = MinSize;
- T *NewElts = static_cast<T*>(CheckedMalloc(NewCapacity*sizeof(T)));
+ size_t NewCapacity = size_t(NextPowerOf2(this->capacity() + 2));
+ NewCapacity = (std::min)((std::max)(NewCapacity, MinSize), size_t(UINT32_MAX));
+ T *NewElts = static_cast<T*>(wpi::safe_malloc(NewCapacity*sizeof(T)));
// Move the elements over.
this->uninitialized_move(this->begin(), this->end(), NewElts);
@@ -258,9 +265,8 @@
if (!this->isSmall())
free(this->begin());
- this->setEnd(NewElts+CurSize);
this->BeginX = NewElts;
- this->CapacityX = this->begin()+NewCapacity;
+ this->Capacity = static_cast<unsigned>(NewCapacity);
}
@@ -302,33 +308,29 @@
// use memcpy here. Note that I and E are iterators and thus might be
// invalid for memcpy if they are equal.
if (I != E)
- memcpy(Dest, I, (E - I) * sizeof(T));
+ memcpy(reinterpret_cast<void *>(Dest), I, (E - I) * sizeof(T));
}
/// Double the size of the allocated memory, guaranteeing space for at
/// least one more element or MinSize if specified.
- void grow(size_t MinSize = 0) {
- this->grow_pod(MinSize*sizeof(T), sizeof(T));
- }
+ void grow(size_t MinSize = 0) { this->grow_pod(MinSize, sizeof(T)); }
public:
void push_back(const T &Elt) {
- if (LLVM_UNLIKELY(this->EndX >= this->CapacityX))
+ if (LLVM_UNLIKELY(this->size() >= this->capacity()))
this->grow();
- memcpy(this->end(), &Elt, sizeof(T));
- this->setEnd(this->end()+1);
+ memcpy(reinterpret_cast<void *>(this->end()), &Elt, sizeof(T));
+ this->set_size(this->size() + 1);
}
- void pop_back() {
- this->setEnd(this->end()-1);
- }
+ void pop_back() { this->set_size(this->size() - 1); }
};
/// This class consists of common code factored out of the SmallVector class to
/// reduce code duplication based on the SmallVector 'N' template parameter.
template <typename T>
-class SmallVectorImpl : public SmallVectorTemplateBase<T, isPodLike<T>::value> {
- using SuperClass = SmallVectorTemplateBase<T, isPodLike<T>::value>;
+class SmallVectorImpl : public SmallVectorTemplateBase<T> {
+ using SuperClass = SmallVectorTemplateBase<T>;
public:
using iterator = typename SuperClass::iterator;
@@ -338,8 +340,7 @@
protected:
// Default ctor - Initialize to empty.
explicit SmallVectorImpl(unsigned N)
- : SmallVectorTemplateBase<T, isPodLike<T>::value>(N*sizeof(T)) {
- }
+ : SmallVectorTemplateBase<T, isPodLike<T>::value>(N) {}
public:
SmallVectorImpl(const SmallVectorImpl &) = delete;
@@ -353,31 +354,31 @@
void clear() {
this->destroy_range(this->begin(), this->end());
- this->EndX = this->BeginX;
+ this->Size = 0;
}
void resize(size_type N) {
if (N < this->size()) {
this->destroy_range(this->begin()+N, this->end());
- this->setEnd(this->begin()+N);
+ this->set_size(N);
} else if (N > this->size()) {
if (this->capacity() < N)
this->grow(N);
for (auto I = this->end(), E = this->begin() + N; I != E; ++I)
new (&*I) T();
- this->setEnd(this->begin()+N);
+ this->set_size(N);
}
}
void resize(size_type N, const T &NV) {
if (N < this->size()) {
this->destroy_range(this->begin()+N, this->end());
- this->setEnd(this->begin()+N);
+ this->set_size(N);
} else if (N > this->size()) {
if (this->capacity() < N)
this->grow(N);
std::uninitialized_fill(this->end(), this->begin()+N, NV);
- this->setEnd(this->begin()+N);
+ this->set_size(N);
}
}
@@ -402,23 +403,23 @@
void append(in_iter in_start, in_iter in_end) {
size_type NumInputs = std::distance(in_start, in_end);
// Grow allocated space if needed.
- if (NumInputs > size_type(this->capacity_ptr()-this->end()))
+ if (NumInputs > this->capacity() - this->size())
this->grow(this->size()+NumInputs);
// Copy the new elements over.
this->uninitialized_copy(in_start, in_end, this->end());
- this->setEnd(this->end() + NumInputs);
+ this->set_size(this->size() + NumInputs);
}
/// Add the specified range to the end of the SmallVector.
void append(size_type NumInputs, const T &Elt) {
// Grow allocated space if needed.
- if (NumInputs > size_type(this->capacity_ptr()-this->end()))
+ if (NumInputs > this->capacity() - this->size())
this->grow(this->size()+NumInputs);
// Copy the new elements over.
std::uninitialized_fill_n(this->end(), NumInputs, Elt);
- this->setEnd(this->end() + NumInputs);
+ this->set_size(this->size() + NumInputs);
}
void append(std::initializer_list<T> IL) {
@@ -432,7 +433,7 @@
clear();
if (this->capacity() < NumElts)
this->grow(NumElts);
- this->setEnd(this->begin()+NumElts);
+ this->set_size(NumElts);
std::uninitialized_fill(this->begin(), this->end(), Elt);
}
@@ -479,7 +480,7 @@
iterator I = std::move(E, this->end(), S);
// Drop the last elts.
this->destroy_range(I, this->end());
- this->setEnd(I);
+ this->set_size(I - this->begin());
return(N);
}
@@ -492,7 +493,7 @@
assert(I >= this->begin() && "Insertion iterator is out of bounds.");
assert(I <= this->end() && "Inserting past the end of the vector.");
- if (this->EndX >= this->CapacityX) {
+ if (this->size() >= this->capacity()) {
size_t EltNo = I-this->begin();
this->grow();
I = this->begin()+EltNo;
@@ -501,12 +502,12 @@
::new ((void*) this->end()) T(::std::move(this->back()));
// Push everything else over.
std::move_backward(I, this->end()-1, this->end());
- this->setEnd(this->end()+1);
+ this->set_size(this->size() + 1);
// If we just moved the element we're inserting, be sure to update
// the reference.
T *EltPtr = &Elt;
- if (I <= EltPtr && EltPtr < this->EndX)
+ if (I <= EltPtr && EltPtr < this->end())
++EltPtr;
*I = ::std::move(*EltPtr);
@@ -522,7 +523,7 @@
assert(I >= this->begin() && "Insertion iterator is out of bounds.");
assert(I <= this->end() && "Inserting past the end of the vector.");
- if (this->EndX >= this->CapacityX) {
+ if (this->size() >= this->capacity()) {
size_t EltNo = I-this->begin();
this->grow();
I = this->begin()+EltNo;
@@ -530,12 +531,12 @@
::new ((void*) this->end()) T(std::move(this->back()));
// Push everything else over.
std::move_backward(I, this->end()-1, this->end());
- this->setEnd(this->end()+1);
+ this->set_size(this->size() + 1);
// If we just moved the element we're inserting, be sure to update
// the reference.
const T *EltPtr = &Elt;
- if (I <= EltPtr && EltPtr < this->EndX)
+ if (I <= EltPtr && EltPtr < this->end())
++EltPtr;
*I = *EltPtr;
@@ -581,7 +582,7 @@
// Move over the elements that we're about to overwrite.
T *OldEnd = this->end();
- this->setEnd(this->end() + NumToInsert);
+ this->set_size(this->size() + NumToInsert);
size_t NumOverwritten = OldEnd-I;
this->uninitialized_move(I, OldEnd, this->end()-NumOverwritten);
@@ -638,7 +639,7 @@
// Move over the elements that we're about to overwrite.
T *OldEnd = this->end();
- this->setEnd(this->end() + NumToInsert);
+ this->set_size(this->size() + NumToInsert);
size_t NumOverwritten = OldEnd-I;
this->uninitialized_move(I, OldEnd, this->end()-NumOverwritten);
@@ -658,10 +659,10 @@
}
template <typename... ArgTypes> void emplace_back(ArgTypes &&... Args) {
- if (LLVM_UNLIKELY(this->EndX >= this->CapacityX))
+ if (LLVM_UNLIKELY(this->size() >= this->capacity()))
this->grow();
::new ((void *)this->end()) T(std::forward<ArgTypes>(Args)...);
- this->setEnd(this->end() + 1);
+ this->set_size(this->size() + 1);
}
SmallVectorImpl &operator=(const SmallVectorImpl &RHS);
@@ -680,20 +681,6 @@
return std::lexicographical_compare(this->begin(), this->end(),
RHS.begin(), RHS.end());
}
-
- /// Set the array size to \p N, which the current array must have enough
- /// capacity for.
- ///
- /// This does not construct or destroy any elements in the vector.
- ///
- /// Clients can use this in conjunction with capacity() to write past the end
- /// of the buffer when they know that more elements are available, and only
- /// update the size later. This avoids the cost of value initializing elements
- /// which will only be overwritten.
- void set_size(size_type N) {
- assert(N <= this->capacity());
- this->setEnd(this->begin() + N);
- }
};
template <typename T>
@@ -703,8 +690,8 @@
// We can only avoid copying elements if neither vector is small.
if (!this->isSmall() && !RHS.isSmall()) {
std::swap(this->BeginX, RHS.BeginX);
- std::swap(this->EndX, RHS.EndX);
- std::swap(this->CapacityX, RHS.CapacityX);
+ std::swap(this->Size, RHS.Size);
+ std::swap(this->Capacity, RHS.Capacity);
return;
}
if (RHS.size() > this->capacity())
@@ -722,15 +709,15 @@
if (this->size() > RHS.size()) {
size_t EltDiff = this->size() - RHS.size();
this->uninitialized_copy(this->begin()+NumShared, this->end(), RHS.end());
- RHS.setEnd(RHS.end()+EltDiff);
+ RHS.set_size(RHS.size() + EltDiff);
this->destroy_range(this->begin()+NumShared, this->end());
- this->setEnd(this->begin()+NumShared);
+ this->set_size(NumShared);
} else if (RHS.size() > this->size()) {
size_t EltDiff = RHS.size() - this->size();
this->uninitialized_copy(RHS.begin()+NumShared, RHS.end(), this->end());
- this->setEnd(this->end() + EltDiff);
+ this->set_size(this->size() + EltDiff);
this->destroy_range(RHS.begin()+NumShared, RHS.end());
- RHS.setEnd(RHS.begin()+NumShared);
+ RHS.set_size(NumShared);
}
}
@@ -756,7 +743,7 @@
this->destroy_range(NewEnd, this->end());
// Trim.
- this->setEnd(NewEnd);
+ this->set_size(RHSSize);
return *this;
}
@@ -766,7 +753,7 @@
if (this->capacity() < RHSSize) {
// Destroy current elements.
this->destroy_range(this->begin(), this->end());
- this->setEnd(this->begin());
+ this->set_size(0);
CurSize = 0;
this->grow(RHSSize);
} else if (CurSize) {
@@ -779,7 +766,7 @@
this->begin()+CurSize);
// Set end.
- this->setEnd(this->begin()+RHSSize);
+ this->set_size(RHSSize);
return *this;
}
@@ -793,8 +780,8 @@
this->destroy_range(this->begin(), this->end());
if (!this->isSmall()) free(this->begin());
this->BeginX = RHS.BeginX;
- this->EndX = RHS.EndX;
- this->CapacityX = RHS.CapacityX;
+ this->Size = RHS.Size;
+ this->Capacity = RHS.Capacity;
RHS.resetToSmall();
return *this;
}
@@ -811,7 +798,7 @@
// Destroy excess elements and trim the bounds.
this->destroy_range(NewEnd, this->end());
- this->setEnd(NewEnd);
+ this->set_size(RHSSize);
// Clear the RHS.
RHS.clear();
@@ -826,7 +813,7 @@
if (this->capacity() < RHSSize) {
// Destroy current elements.
this->destroy_range(this->begin(), this->end());
- this->setEnd(this->begin());
+ this->set_size(0);
CurSize = 0;
this->grow(RHSSize);
} else if (CurSize) {
@@ -839,22 +826,23 @@
this->begin()+CurSize);
// Set end.
- this->setEnd(this->begin()+RHSSize);
+ this->set_size(RHSSize);
RHS.clear();
return *this;
}
-/// Storage for the SmallVector elements which aren't contained in
-/// SmallVectorTemplateCommon. There are 'N-1' elements here. The remaining '1'
-/// element is in the base class. This is specialized for the N=1 and N=0 cases
+/// Storage for the SmallVector elements. This is specialized for the N=0 case
/// to avoid allocating unnecessary storage.
template <typename T, unsigned N>
struct SmallVectorStorage {
- typename SmallVectorTemplateCommon<T>::U InlineElts[N - 1];
+ AlignedCharArrayUnion<T> InlineElts[N];
};
-template <typename T> struct SmallVectorStorage<T, 1> {};
-template <typename T> struct SmallVectorStorage<T, 0> {};
+
+/// We need the storage to be properly aligned even for small-size of 0 so that
+/// the pointer math in \a SmallVectorTemplateCommon::getFirstEl() is
+/// well-defined.
+template <typename T> struct alignas(alignof(T)) SmallVectorStorage<T, 0> {};
/// This is a 'vector' (really, a variable-sized array), optimized
/// for the case when the array is small. It contains some number of elements
@@ -865,10 +853,7 @@
/// Note that this does not attempt to be exception safe.
///
template <typename T, unsigned N>
-class SmallVector : public SmallVectorImpl<T> {
- /// Inline space for elements which aren't stored in the base class.
- SmallVectorStorage<T, N> Storage;
-
+class SmallVector : public SmallVectorImpl<T>, SmallVectorStorage<T, N> {
public:
SmallVector() : SmallVectorImpl<T>(N) {}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/StackTrace.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/StackTrace.h
new file mode 100644
index 0000000..56a3770
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/StackTrace.h
@@ -0,0 +1,24 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#ifndef WPIUTIL_WPI_STACKTRACE_H_
+#define WPIUTIL_WPI_STACKTRACE_H_
+
+#include <string>
+
+namespace wpi {
+
+/**
+ * Get a stack trace, ignoring the first "offset" symbols.
+ *
+ * @param offset The number of symbols at the top of the stack to ignore
+ */
+std::string GetStackTrace(int offset);
+
+} // namespace wpi
+
+#endif // WPIUTIL_WPI_STACKTRACE_H_
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/StringExtras.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/StringExtras.h
index 10d6aff..f420e2a 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/StringExtras.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/StringExtras.h
@@ -60,14 +60,14 @@
if (C >= '0' && C <= '9') return C-'0';
if (C >= 'a' && C <= 'f') return C-'a'+10U;
if (C >= 'A' && C <= 'F') return C-'A'+10U;
- return -1U;
+ return (std::numeric_limits<unsigned>::max)();
}
/// Checks if character \p C is one of the 10 decimal digits.
inline bool isDigit(char C) { return C >= '0' && C <= '9'; }
/// Checks if character \p C is a hexadecimal numeric character.
-inline bool isHexDigit(char C) { return hexDigitValue(C) != -1U; }
+inline bool isHexDigit(char C) { return hexDigitValue(C) != (std::numeric_limits<unsigned>::max)(); }
/// Checks if character \p C is a valid letter as classified by "C" locale.
inline bool isAlpha(char C) {
@@ -78,6 +78,26 @@
/// lowercase letter as classified by "C" locale.
inline bool isAlnum(char C) { return isAlpha(C) || isDigit(C); }
+/// Checks whether character \p C is valid ASCII (high bit is zero).
+inline bool isASCII(char C) { return static_cast<unsigned char>(C) <= 127; }
+
+/// Checks whether all characters in S are ASCII.
+inline bool isASCII(wpi::StringRef S) {
+ for (char C : S)
+ if (LLVM_UNLIKELY(!isASCII(C)))
+ return false;
+ return true;
+}
+
+/// Checks whether character \p C is printable.
+///
+/// Locale-independent version of the C standard library isprint whose results
+/// may differ on different platforms.
+inline bool isPrint(char C) {
+ unsigned char UC = static_cast<unsigned char>(C);
+ return (0x20 <= UC) && (UC <= 0x7E);
+}
+
/// Returns the corresponding lowercase character if \p x is uppercase.
inline char toLower(char x) {
if (x >= 'A' && x <= 'Z')
@@ -109,28 +129,29 @@
/// Convert buffer \p Input to its hexadecimal representation.
/// The returned string is double the size of \p Input.
-inline std::string toHex(StringRef Input) {
+inline std::string toHex(StringRef Input, bool LowerCase = false) {
static const char *const LUT = "0123456789ABCDEF";
+ const uint8_t Offset = LowerCase ? 32 : 0;
size_t Length = Input.size();
std::string Output;
Output.reserve(2 * Length);
for (size_t i = 0; i < Length; ++i) {
const unsigned char c = Input[i];
- Output.push_back(LUT[c >> 4]);
- Output.push_back(LUT[c & 15]);
+ Output.push_back(LUT[c >> 4] | Offset);
+ Output.push_back(LUT[c & 15] | Offset);
}
return Output;
}
-inline std::string toHex(ArrayRef<uint8_t> Input) {
- return toHex(toStringRef(Input));
+inline std::string toHex(ArrayRef<uint8_t> Input, bool LowerCase = false) {
+ return toHex(toStringRef(Input), LowerCase);
}
inline uint8_t hexFromNibbles(char MSB, char LSB) {
unsigned U1 = hexDigitValue(MSB);
unsigned U2 = hexDigitValue(LSB);
- assert(U1 != -1U && U2 != -1U);
+ assert(U1 != (std::numeric_limits<unsigned>::max)() && U2 != (std::numeric_limits<unsigned>::max)());
return static_cast<uint8_t>((U1 << 4) | U2);
}
@@ -264,9 +285,13 @@
}
}
-/// PrintEscapedString - Print each character of the specified string, escaping
-/// it if it is not printable or if it is an escape char.
-void PrintEscapedString(StringRef Name, raw_ostream &Out);
+/// Print each character of the specified string, escaping it if it is not
+/// printable or if it is an escape char.
+void printEscapedString(StringRef Name, raw_ostream &Out);
+
+/// Print each character of the specified string, escaping HTML special
+/// characters.
+void printHTMLEscaped(StringRef String, raw_ostream &Out);
/// printLowerCase - Print each character as lowercase if it is uppercase.
void printLowerCase(StringRef String, raw_ostream &Out);
@@ -377,4 +402,4 @@
} // end namespace wpi
-#endif // LLVM_ADT_STRINGEXTRAS_H
+#endif // WPIUTIL_WPI_STRINGEXTRAS_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/StringMap.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/StringMap.h
index 80110dc..dbfe8ed 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/StringMap.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/StringMap.h
@@ -18,9 +18,10 @@
#include "wpi/StringRef.h"
#include "wpi/iterator.h"
#include "wpi/iterator_range.h"
+#include "wpi/MemAlloc.h"
#include "wpi/PointerLikeTypeTraits.h"
+#include "wpi/ErrorHandling.h"
#include "wpi/deprecated.h"
-#include "wpi/memory.h"
#include <algorithm>
#include <cassert>
#include <cstdint>
@@ -63,7 +64,7 @@
protected:
explicit StringMapImpl(unsigned itemSize)
: ItemSize(itemSize) {}
- StringMapImpl(StringMapImpl &&RHS)
+ StringMapImpl(StringMapImpl &&RHS) noexcept
: TheTable(RHS.TheTable), NumBuckets(RHS.NumBuckets),
NumItems(RHS.NumItems), NumTombstones(RHS.NumTombstones),
ItemSize(RHS.ItemSize) {
@@ -163,7 +164,7 @@
size_t AllocSize = sizeof(StringMapEntry) + KeyLength + 1;
StringMapEntry *NewItem =
- static_cast<StringMapEntry*>(CheckedMalloc(AllocSize));
+ static_cast<StringMapEntry*>(safe_malloc(AllocSize));
// Construct the value.
new (NewItem) StringMapEntry(KeyLength, std::forward<InitTy>(InitVals)...);
@@ -358,12 +359,6 @@
return try_emplace(KV.first, std::move(KV.second));
}
- template <typename... ArgsTy>
- WPI_DEPRECATED("use try_emplace instead")
- std::pair<iterator, bool> emplace_second(StringRef Key, ArgsTy &&... Args) {
- return try_emplace(Key, std::forward<ArgsTy>(Args)...);
- }
-
/// Emplace a new element for the specified key into the map if the key isn't
/// already in the map. The bool component of the returned pair is true
/// if and only if the insertion takes place, and the iterator component of
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/StringRef.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/StringRef.h
index 5c8729d..60fb789 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/StringRef.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/StringRef.h
@@ -130,7 +130,7 @@
/// empty - Check if the string is empty.
LLVM_NODISCARD
LLVM_ATTRIBUTE_ALWAYS_INLINE
- bool empty() const noexcept { return size() == 0; }
+ bool empty() const noexcept { return Length == 0; }
/// size - Get the string size.
LLVM_NODISCARD
@@ -183,7 +183,7 @@
LLVM_ATTRIBUTE_ALWAYS_INLINE
int compare(StringRef RHS) const noexcept {
// Check the prefix for a mismatch.
- if (int Res = compareMemory(Data, RHS.Data, std::min(Length, RHS.Length)))
+ if (int Res = compareMemory(Data, RHS.Data, (std::min)(Length, RHS.Length)))
return Res < 0 ? -1 : 1;
// Otherwise the prefixes match, so we only need to check the lengths.
@@ -274,7 +274,7 @@
LLVM_NODISCARD
LLVM_ATTRIBUTE_ALWAYS_INLINE
size_t find(char C, size_t From = 0) const noexcept {
- size_t FindBegin = std::min(From, Length);
+ size_t FindBegin = (std::min)(From, Length);
if (FindBegin < Length) { // Avoid calling memchr with nullptr.
// Just forward to memchr, which is faster than a hand-rolled loop.
if (const void *P = ::memchr(Data + FindBegin, C, Length - FindBegin))
@@ -336,7 +336,7 @@
/// found.
LLVM_NODISCARD
size_t rfind(char C, size_t From = npos) const noexcept {
- From = std::min(From, Length);
+ From = (std::min)(From, Length);
size_t i = From;
while (i != 0) {
--i;
@@ -554,8 +554,8 @@
LLVM_NODISCARD
LLVM_ATTRIBUTE_ALWAYS_INLINE
StringRef substr(size_t Start, size_t N = npos) const noexcept {
- Start = std::min(Start, Length);
- return StringRef(Data + Start, std::min(N, Length - Start));
+ Start = (std::min)(Start, Length);
+ return StringRef(Data + Start, (std::min)(N, Length - Start));
}
/// Return a StringRef equal to 'this' but with only the first \p N
@@ -666,8 +666,8 @@
LLVM_NODISCARD
LLVM_ATTRIBUTE_ALWAYS_INLINE
StringRef slice(size_t Start, size_t End) const noexcept {
- Start = std::min(Start, Length);
- End = std::min(std::max(Start, End), Length);
+ Start = (std::min)(Start, Length);
+ End = (std::min)((std::max)(Start, End), Length);
return StringRef(Data + Start, End - Start);
}
@@ -683,10 +683,7 @@
/// \returns The split substrings.
LLVM_NODISCARD
std::pair<StringRef, StringRef> split(char Separator) const {
- size_t Idx = find(Separator);
- if (Idx == npos)
- return std::make_pair(*this, StringRef());
- return std::make_pair(slice(0, Idx), slice(Idx+1, npos));
+ return split(StringRef(&Separator, 1));
}
/// Split into two substrings around the first occurrence of a separator
@@ -707,6 +704,24 @@
return std::make_pair(slice(0, Idx), slice(Idx + Separator.size(), npos));
}
+ /// Split into two substrings around the last occurrence of a separator
+ /// string.
+ ///
+ /// If \p Separator is in the string, then the result is a pair (LHS, RHS)
+ /// such that (*this == LHS + Separator + RHS) is true and RHS is
+ /// minimal. If \p Separator is not in the string, then the result is a
+ /// pair (LHS, RHS) where (*this == LHS) and (RHS == "").
+ ///
+ /// \param Separator - The string to split on.
+ /// \return - The split substrings.
+ LLVM_NODISCARD
+ std::pair<StringRef, StringRef> rsplit(StringRef Separator) const {
+ size_t Idx = rfind(Separator);
+ if (Idx == npos)
+ return std::make_pair(*this, StringRef());
+ return std::make_pair(slice(0, Idx), slice(Idx + Separator.size(), npos));
+ }
+
/// Split into substrings around the occurrences of a separator string.
///
/// Each substring is stored in \p A. If \p MaxSplit is >= 0, at most
@@ -754,38 +769,35 @@
/// \return - The split substrings.
LLVM_NODISCARD
std::pair<StringRef, StringRef> rsplit(char Separator) const {
- size_t Idx = rfind(Separator);
- if (Idx == npos)
- return std::make_pair(*this, StringRef());
- return std::make_pair(slice(0, Idx), slice(Idx+1, npos));
+ return rsplit(StringRef(&Separator, 1));
}
/// Return string with consecutive \p Char characters starting from the
/// the left removed.
LLVM_NODISCARD
StringRef ltrim(char Char) const noexcept {
- return drop_front(std::min(Length, find_first_not_of(Char)));
+ return drop_front((std::min)(Length, find_first_not_of(Char)));
}
/// Return string with consecutive characters in \p Chars starting from
/// the left removed.
LLVM_NODISCARD
StringRef ltrim(StringRef Chars = " \t\n\v\f\r") const noexcept {
- return drop_front(std::min(Length, find_first_not_of(Chars)));
+ return drop_front((std::min)(Length, find_first_not_of(Chars)));
}
/// Return string with consecutive \p Char characters starting from the
/// right removed.
LLVM_NODISCARD
StringRef rtrim(char Char) const noexcept {
- return drop_back(size() - std::min(Length, find_last_not_of(Char) + 1));
+ return drop_back(size() - (std::min)(Length, find_last_not_of(Char) + 1));
}
/// Return string with consecutive characters in \p Chars starting from
/// the right removed.
LLVM_NODISCARD
StringRef rtrim(StringRef Chars = " \t\n\v\f\r") const noexcept {
- return drop_back(size() - std::min(Length, find_last_not_of(Chars) + 1));
+ return drop_back(size() - (std::min)(Length, find_last_not_of(Chars) + 1));
}
/// Return string with consecutive \p Char characters starting from the
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/SwapByteOrder.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/SwapByteOrder.h
new file mode 100644
index 0000000..50ad832
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/SwapByteOrder.h
@@ -0,0 +1,127 @@
+//===- SwapByteOrder.h - Generic and optimized byte swaps -------*- C++ -*-===//
+//
+// The LLVM Compiler Infrastructure
+//
+// This file is distributed under the University of Illinois Open Source
+// License. See LICENSE.TXT for details.
+//
+//===----------------------------------------------------------------------===//
+//
+// This file declares generic and optimized functions to swap the byte order of
+// an integral type.
+//
+//===----------------------------------------------------------------------===//
+
+#ifndef WPIUTIL_WPI_SWAPBYTEORDER_H
+#define WPIUTIL_WPI_SWAPBYTEORDER_H
+
+#include "wpi/Compiler.h"
+#include <cstddef>
+#include <stdint.h>
+#if defined(_MSC_VER) && !defined(_DEBUG)
+#include <stdlib.h>
+#endif
+
+namespace wpi {
+namespace sys {
+
+/// SwapByteOrder_16 - This function returns a byte-swapped representation of
+/// the 16-bit argument.
+inline uint16_t SwapByteOrder_16(uint16_t value) {
+#if defined(_MSC_VER) && !defined(_DEBUG)
+ // The DLL version of the runtime lacks these functions (bug!?), but in a
+ // release build they're replaced with BSWAP instructions anyway.
+ return _byteswap_ushort(value);
+#else
+ uint16_t Hi = value << 8;
+ uint16_t Lo = value >> 8;
+ return Hi | Lo;
+#endif
+}
+
+/// SwapByteOrder_32 - This function returns a byte-swapped representation of
+/// the 32-bit argument.
+inline uint32_t SwapByteOrder_32(uint32_t value) {
+#if defined(__llvm__) || (LLVM_GNUC_PREREQ(4, 3, 0) && !defined(__ICC))
+ return __builtin_bswap32(value);
+#elif defined(_MSC_VER) && !defined(_DEBUG)
+ return _byteswap_ulong(value);
+#else
+ uint32_t Byte0 = value & 0x000000FF;
+ uint32_t Byte1 = value & 0x0000FF00;
+ uint32_t Byte2 = value & 0x00FF0000;
+ uint32_t Byte3 = value & 0xFF000000;
+ return (Byte0 << 24) | (Byte1 << 8) | (Byte2 >> 8) | (Byte3 >> 24);
+#endif
+}
+
+/// SwapByteOrder_64 - This function returns a byte-swapped representation of
+/// the 64-bit argument.
+inline uint64_t SwapByteOrder_64(uint64_t value) {
+#if defined(__llvm__) || (LLVM_GNUC_PREREQ(4, 3, 0) && !defined(__ICC))
+ return __builtin_bswap64(value);
+#elif defined(_MSC_VER) && !defined(_DEBUG)
+ return _byteswap_uint64(value);
+#else
+ uint64_t Hi = SwapByteOrder_32(uint32_t(value));
+ uint32_t Lo = SwapByteOrder_32(uint32_t(value >> 32));
+ return (Hi << 32) | Lo;
+#endif
+}
+
+inline unsigned char getSwappedBytes(unsigned char C) { return C; }
+inline signed char getSwappedBytes(signed char C) { return C; }
+inline char getSwappedBytes(char C) { return C; }
+
+inline unsigned short getSwappedBytes(unsigned short C) { return SwapByteOrder_16(C); }
+inline signed short getSwappedBytes( signed short C) { return SwapByteOrder_16(C); }
+
+inline unsigned int getSwappedBytes(unsigned int C) { return SwapByteOrder_32(C); }
+inline signed int getSwappedBytes( signed int C) { return SwapByteOrder_32(C); }
+
+#if __LONG_MAX__ == __INT_MAX__
+inline unsigned long getSwappedBytes(unsigned long C) { return SwapByteOrder_32(C); }
+inline signed long getSwappedBytes( signed long C) { return SwapByteOrder_32(C); }
+#elif __LONG_MAX__ == __LONG_LONG_MAX__
+inline unsigned long getSwappedBytes(unsigned long C) { return SwapByteOrder_64(C); }
+inline signed long getSwappedBytes( signed long C) { return SwapByteOrder_64(C); }
+#else
+#error "Unknown long size!"
+#endif
+
+inline unsigned long long getSwappedBytes(unsigned long long C) {
+ return SwapByteOrder_64(C);
+}
+inline signed long long getSwappedBytes(signed long long C) {
+ return SwapByteOrder_64(C);
+}
+
+inline float getSwappedBytes(float C) {
+ union {
+ uint32_t i;
+ float f;
+ } in, out;
+ in.f = C;
+ out.i = SwapByteOrder_32(in.i);
+ return out.f;
+}
+
+inline double getSwappedBytes(double C) {
+ union {
+ uint64_t i;
+ double d;
+ } in, out;
+ in.d = C;
+ out.i = SwapByteOrder_64(in.i);
+ return out.d;
+}
+
+template<typename T>
+inline void swapByteOrder(T &Value) {
+ Value = getSwappedBytes(Value);
+}
+
+} // end namespace sys
+} // end namespace wpi
+
+#endif
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Twine.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Twine.h
index bbf3a0f..a5b7e97 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Twine.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/Twine.h
@@ -12,10 +12,16 @@
#include "wpi/SmallVector.h"
#include "wpi/StringRef.h"
+#include "wpi/ErrorHandling.h"
#include <cassert>
#include <cstdint>
#include <string>
+#ifdef _WIN32
+#pragma warning(push)
+#pragma warning(disable : 26495)
+#endif
+
namespace wpi {
class raw_ostream;
@@ -530,4 +536,8 @@
} // end namespace wpi
+#ifdef _WIN32
+#pragma warning(pop)
+#endif
+
#endif // LLVM_ADT_TWINE_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/UidVector.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/UidVector.h
index ead1246..077dc27 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/UidVector.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/UidVector.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -41,7 +41,7 @@
return *this;
}
- UidVectorIterator operator++(int)noexcept {
+ UidVectorIterator operator++(int) noexcept {
UidVectorIterator it = *this;
++it;
return it;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/VersionTuple.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/VersionTuple.h
new file mode 100644
index 0000000..e54ca92
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/VersionTuple.h
@@ -0,0 +1,154 @@
+//===- VersionTuple.h - Version Number Handling -----------------*- C++ -*-===//
+//
+// The LLVM Compiler Infrastructure
+//
+// This file is distributed under the University of Illinois Open Source
+// License. See LICENSE.TXT for details.
+//
+//===----------------------------------------------------------------------===//
+///
+/// \file
+/// Defines the llvm::VersionTuple class, which represents a version in
+/// the form major[.minor[.subminor]].
+///
+//===----------------------------------------------------------------------===//
+#ifndef WPIUTIL_WPI_VERSIONTUPLE_H
+#define WPIUTIL_WPI_VERSIONTUPLE_H
+
+#include "wpi/StringRef.h"
+#include "wpi/raw_ostream.h"
+#include <optional>
+#include <string>
+#include <tuple>
+
+namespace wpi {
+
+/// Represents a version number in the form major[.minor[.subminor[.build]]].
+class VersionTuple {
+ unsigned Major : 32;
+
+ unsigned Minor : 31;
+ unsigned HasMinor : 1;
+
+ unsigned Subminor : 31;
+ unsigned HasSubminor : 1;
+
+ unsigned Build : 31;
+ unsigned HasBuild : 1;
+
+public:
+ VersionTuple()
+ : Major(0), Minor(0), HasMinor(false), Subminor(0), HasSubminor(false),
+ Build(0), HasBuild(false) {}
+
+ explicit VersionTuple(unsigned Major)
+ : Major(Major), Minor(0), HasMinor(false), Subminor(0),
+ HasSubminor(false), Build(0), HasBuild(false) {}
+
+ explicit VersionTuple(unsigned Major, unsigned Minor)
+ : Major(Major), Minor(Minor), HasMinor(true), Subminor(0),
+ HasSubminor(false), Build(0), HasBuild(false) {}
+
+ explicit VersionTuple(unsigned Major, unsigned Minor, unsigned Subminor)
+ : Major(Major), Minor(Minor), HasMinor(true), Subminor(Subminor),
+ HasSubminor(true), Build(0), HasBuild(false) {}
+
+ explicit VersionTuple(unsigned Major, unsigned Minor, unsigned Subminor,
+ unsigned Build)
+ : Major(Major), Minor(Minor), HasMinor(true), Subminor(Subminor),
+ HasSubminor(true), Build(Build), HasBuild(true) {}
+
+ /// Determine whether this version information is empty
+ /// (e.g., all version components are zero).
+ bool empty() const {
+ return Major == 0 && Minor == 0 && Subminor == 0 && Build == 0;
+ }
+
+ /// Retrieve the major version number.
+ unsigned getMajor() const { return Major; }
+
+ /// Retrieve the minor version number, if provided.
+ std::optional<unsigned> getMinor() const {
+ if (!HasMinor)
+ return std::nullopt;
+ return Minor;
+ }
+
+ /// Retrieve the subminor version number, if provided.
+ std::optional<unsigned> getSubminor() const {
+ if (!HasSubminor)
+ return std::nullopt;
+ return Subminor;
+ }
+
+ /// Retrieve the build version number, if provided.
+ std::optional<unsigned> getBuild() const {
+ if (!HasBuild)
+ return std::nullopt;
+ return Build;
+ }
+
+ /// Determine if two version numbers are equivalent. If not
+ /// provided, minor and subminor version numbers are considered to be zero.
+ friend bool operator==(const VersionTuple &X, const VersionTuple &Y) {
+ return X.Major == Y.Major && X.Minor == Y.Minor &&
+ X.Subminor == Y.Subminor && X.Build == Y.Build;
+ }
+
+ /// Determine if two version numbers are not equivalent.
+ ///
+ /// If not provided, minor and subminor version numbers are considered to be
+ /// zero.
+ friend bool operator!=(const VersionTuple &X, const VersionTuple &Y) {
+ return !(X == Y);
+ }
+
+ /// Determine whether one version number precedes another.
+ ///
+ /// If not provided, minor and subminor version numbers are considered to be
+ /// zero.
+ friend bool operator<(const VersionTuple &X, const VersionTuple &Y) {
+ return std::tie(X.Major, X.Minor, X.Subminor, X.Build) <
+ std::tie(Y.Major, Y.Minor, Y.Subminor, Y.Build);
+ }
+
+ /// Determine whether one version number follows another.
+ ///
+ /// If not provided, minor and subminor version numbers are considered to be
+ /// zero.
+ friend bool operator>(const VersionTuple &X, const VersionTuple &Y) {
+ return Y < X;
+ }
+
+ /// Determine whether one version number precedes or is
+ /// equivalent to another.
+ ///
+ /// If not provided, minor and subminor version numbers are considered to be
+ /// zero.
+ friend bool operator<=(const VersionTuple &X, const VersionTuple &Y) {
+ return !(Y < X);
+ }
+
+ /// Determine whether one version number follows or is
+ /// equivalent to another.
+ ///
+ /// If not provided, minor and subminor version numbers are considered to be
+ /// zero.
+ friend bool operator>=(const VersionTuple &X, const VersionTuple &Y) {
+ return !(X < Y);
+ }
+
+ /// Retrieve a string representation of the version number.
+ std::string getAsString() const;
+
+ /// Try to parse the given string as a version number.
+ /// \returns \c true if the string does not match the regular expression
+ /// [0-9]+(\.[0-9]+){0,3}
+ bool tryParse(StringRef string);
+};
+
+/// Print a version number.
+raw_ostream &operator<<(raw_ostream &Out, const VersionTuple &V);
+
+} // end namespace wpi
+#endif // WPIUTIL_WPI_VERSIONTUPLE_H
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/WebSocket.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/WebSocket.h
index 418c134..8347d0c 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/WebSocket.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/WebSocket.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -11,6 +11,7 @@
#include <stdint.h>
#include <functional>
+#include <initializer_list>
#include <memory>
#include <string>
#include <utility>
@@ -75,7 +76,7 @@
* Client connection options.
*/
struct ClientOptions {
- ClientOptions() : handshakeTimeout{uv::Timer::Time::max()} {}
+ ClientOptions() : handshakeTimeout{(uv::Timer::Time::max)()} {}
/** Timeout for the handshake request. */
uv::Timer::Time handshakeTimeout;
@@ -100,6 +101,25 @@
const ClientOptions& options = ClientOptions{});
/**
+ * Starts a client connection by performing the initial client handshake.
+ * An open event is emitted when the handshake completes.
+ * This sets the stream user data to the websocket.
+ * @param stream Connection stream
+ * @param uri The Request-URI to send
+ * @param host The host or host:port to send
+ * @param protocols The list of subprotocols
+ * @param options Handshake options
+ */
+ static std::shared_ptr<WebSocket> CreateClient(
+ uv::Stream& stream, const Twine& uri, const Twine& host,
+ std::initializer_list<StringRef> protocols,
+ const ClientOptions& options = ClientOptions{}) {
+ return CreateClient(stream, uri, host,
+ makeArrayRef(protocols.begin(), protocols.end()),
+ options);
+ }
+
+ /**
* Starts a server connection by performing the initial server side handshake.
* This should be called after the HTTP headers have been received.
* An open event is emitted when the handshake completes.
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/WebSocketServer.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/WebSocketServer.h
index c324c99..a58a2c9 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/WebSocketServer.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/WebSocketServer.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,6 +9,7 @@
#define WPIUTIL_WPI_WEBSOCKETSERVER_H_
#include <functional>
+#include <initializer_list>
#include <memory>
#include <string>
#include <utility>
@@ -57,6 +58,20 @@
std::pair<bool, StringRef> MatchProtocol(ArrayRef<StringRef> protocols);
/**
+ * Try to find a match to the list of sub-protocols provided by the client.
+ * The list is priority ordered, so the first match wins.
+ * Only valid during and after the upgrade event.
+ * @param protocols Acceptable protocols
+ * @return Pair; first item is true if a match was made, false if not.
+ * Second item is the matched protocol if a match was made, otherwise
+ * is empty.
+ */
+ std::pair<bool, StringRef> MatchProtocol(
+ std::initializer_list<StringRef> protocols) {
+ return MatchProtocol(makeArrayRef(protocols.begin(), protocols.end()));
+ }
+
+ /**
* Accept the upgrade. Disconnect other readers (such as the HttpParser
* reader) before calling this. See also WebSocket::CreateServer().
* @param stream Connection stream
@@ -126,6 +141,22 @@
const ServerOptions& options = ServerOptions{});
/**
+ * Starts a dedicated WebSocket server on the provided connection. The
+ * connection should be an accepted client stream.
+ * This also sets the stream user data to the socket server.
+ * A connected event is emitted when the connection is opened.
+ * @param stream Connection stream
+ * @param protocols Acceptable subprotocols
+ * @param options Handshake options
+ */
+ static std::shared_ptr<WebSocketServer> Create(
+ uv::Stream& stream, std::initializer_list<StringRef> protocols,
+ const ServerOptions& options = ServerOptions{}) {
+ return Create(stream, makeArrayRef(protocols.begin(), protocols.end()),
+ options);
+ }
+
+ /**
* Connected event. First parameter is the URL, second is the websocket.
*/
sig::Signal<StringRef, WebSocket&> connected;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/WorkerThread.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/WorkerThread.h
index 9a04f1a..4db94c4 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/WorkerThread.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/WorkerThread.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -14,7 +14,6 @@
#include <utility>
#include <vector>
-#include "wpi/STLExtras.h"
#include "wpi/SafeThread.h"
#include "wpi/future.h"
#include "wpi/uv/Async.h"
@@ -107,7 +106,7 @@
template <typename R, typename... T>
void RunWorkerThreadRequest(WorkerThreadThread<R, T...>& thr,
WorkerThreadRequest<R, T...>& req) {
- R result = apply_tuple(req.work, std::move(req.params));
+ R result = std::apply(req.work, std::move(req.params));
if (req.afterWork) {
if (auto async = thr.m_async.m_async.lock())
async->Send(std::move(req.afterWork), std::move(result));
@@ -119,7 +118,7 @@
template <typename... T>
void RunWorkerThreadRequest(WorkerThreadThread<void, T...>& thr,
WorkerThreadRequest<void, T...>& req) {
- apply_tuple(req.work, req.params);
+ std::apply(req.work, req.params);
if (req.afterWork) {
if (auto async = thr.m_async.m_async.lock())
async->Send(std::move(req.afterWork));
@@ -132,7 +131,7 @@
void WorkerThreadThread<R, T...>::Main() {
std::vector<Request> requests;
while (m_active) {
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
m_cond.wait(lock, [&] { return !m_active || !m_requests.empty(); });
if (!m_active) break;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/circular_buffer.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/circular_buffer.h
new file mode 100644
index 0000000..097d5f6
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/circular_buffer.h
@@ -0,0 +1,62 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <cstddef>
+#include <vector>
+
+namespace wpi {
+
+/**
+ * This is a simple circular buffer so we don't need to "bucket brigade" copy
+ * old values.
+ */
+template <class T>
+class circular_buffer {
+ public:
+ explicit circular_buffer(size_t size);
+
+ using value_type = T;
+ using reference = value_type&;
+ using const_reference = const value_type&;
+ using pointer = value_type*;
+ using size_type = size_t;
+ using iterator_category = std::forward_iterator_tag;
+ using difference_type = std::ptrdiff_t;
+
+ size_type size() const;
+ T& front();
+ const T& front() const;
+ T& back();
+ const T& back() const;
+ void push_front(T value);
+ void push_back(T value);
+ T pop_front();
+ T pop_back();
+ void resize(size_t size);
+ void reset();
+
+ T& operator[](size_t index);
+ const T& operator[](size_t index) const;
+
+ private:
+ std::vector<T> m_data;
+
+ // Index of element at front of buffer
+ size_t m_front = 0;
+
+ // Number of elements used in buffer
+ size_t m_length = 0;
+
+ size_t ModuloInc(size_t index);
+ size_t ModuloDec(size_t index);
+};
+
+} // namespace wpi
+
+#include "wpi/circular_buffer.inc"
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/circular_buffer.inc b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/circular_buffer.inc
new file mode 100644
index 0000000..7f029e4
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/circular_buffer.inc
@@ -0,0 +1,239 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <algorithm>
+
+namespace wpi {
+
+template <class T>
+circular_buffer<T>::circular_buffer(size_t size) : m_data(size, 0) {}
+
+/**
+ * Returns number of elements in buffer
+ */
+template <class T>
+typename circular_buffer<T>::size_type circular_buffer<T>::size() const {
+ return m_length;
+}
+
+/**
+ * Returns value at front of buffer
+ */
+template <class T>
+T& circular_buffer<T>::front() {
+ return (*this)[0];
+}
+
+/**
+ * Returns value at front of buffer
+ */
+template <class T>
+const T& circular_buffer<T>::front() const {
+ return (*this)[0];
+}
+
+/**
+ * Returns value at back of buffer
+ */
+template <class T>
+T& circular_buffer<T>::back() {
+ // If there are no elements in the buffer, do nothing
+ if (m_length == 0) {
+ return 0;
+ }
+
+ return m_data[(m_front + m_length - 1) % m_data.size()];
+}
+
+/**
+ * Returns value at back of buffer
+ */
+template <class T>
+const T& circular_buffer<T>::back() const {
+ // If there are no elements in the buffer, do nothing
+ if (m_length == 0) {
+ return 0;
+ }
+
+ return m_data[(m_front + m_length - 1) % m_data.size()];
+}
+
+/**
+ * Push new value onto front of the buffer. The value at the back is overwritten
+ * if the buffer is full.
+ */
+template <class T>
+void circular_buffer<T>::push_front(T value) {
+ if (m_data.size() == 0) {
+ return;
+ }
+
+ m_front = ModuloDec(m_front);
+
+ m_data[m_front] = value;
+
+ if (m_length < m_data.size()) {
+ m_length++;
+ }
+}
+
+/**
+ * Push new value onto back of the buffer. The value at the front is overwritten
+ * if the buffer is full.
+ */
+template <class T>
+void circular_buffer<T>::push_back(T value) {
+ if (m_data.size() == 0) {
+ return;
+ }
+
+ m_data[(m_front + m_length) % m_data.size()] = value;
+
+ if (m_length < m_data.size()) {
+ m_length++;
+ } else {
+ // Increment front if buffer is full to maintain size
+ m_front = ModuloInc(m_front);
+ }
+}
+
+/**
+ * Pop value at front of buffer.
+ */
+template <class T>
+T circular_buffer<T>::pop_front() {
+ // If there are no elements in the buffer, do nothing
+ if (m_length == 0) {
+ return 0;
+ }
+
+ T& temp = m_data[m_front];
+ m_front = ModuloInc(m_front);
+ m_length--;
+ return temp;
+}
+
+/**
+ * Pop value at back of buffer.
+ */
+template <class T>
+T circular_buffer<T>::pop_back() {
+ // If there are no elements in the buffer, do nothing
+ if (m_length == 0) {
+ return 0;
+ }
+
+ m_length--;
+ return m_data[(m_front + m_length) % m_data.size()];
+}
+
+/**
+ * Resizes internal buffer to given size.
+ */
+template <class T>
+void circular_buffer<T>::resize(size_t size) {
+ if (size > m_data.size()) {
+ // Find end of buffer
+ size_t insertLocation = (m_front + m_length) % m_data.size();
+
+ // If insertion location precedes front of buffer, push front index back
+ if (insertLocation <= m_front) {
+ m_front += size - m_data.size();
+ }
+
+ // Add elements to end of buffer
+ m_data.insert(m_data.begin() + insertLocation, size - m_data.size(), 0);
+ } else if (size < m_data.size()) {
+ /* 1) Shift element block start at "front" left as many blocks as were
+ * removed up to but not exceeding buffer[0]
+ * 2) Shrink buffer, which will remove even more elements automatically if
+ * necessary
+ */
+ size_t elemsToRemove = m_data.size() - size;
+ auto frontIter = m_data.begin() + m_front;
+ if (m_front < elemsToRemove) {
+ /* Remove elements from end of buffer before shifting start of element
+ * block. Doing so saves a few copies.
+ */
+ m_data.erase(frontIter + size, m_data.end());
+
+ // Shift start of element block to left
+ m_data.erase(m_data.begin(), frontIter);
+
+ // Update metadata
+ m_front = 0;
+ } else {
+ // Shift start of element block to left
+ m_data.erase(frontIter - elemsToRemove, frontIter);
+
+ // Update metadata
+ m_front -= elemsToRemove;
+ }
+
+ /* Length only changes during a shrink if all unused spaces have been
+ * removed. Length decreases as used spaces are removed to meet the
+ * required size.
+ */
+ if (m_length > size) {
+ m_length = size;
+ }
+ }
+}
+
+/**
+ * Sets internal buffer contents to zero.
+ */
+template <class T>
+void circular_buffer<T>::reset() {
+ std::fill(m_data.begin(), m_data.end(), 0);
+ m_front = 0;
+ m_length = 0;
+}
+
+/**
+ * @return Element at index starting from front of buffer.
+ */
+template <class T>
+T& circular_buffer<T>::operator[](size_t index) {
+ return m_data[(m_front + index) % m_data.size()];
+}
+
+/**
+ * @return Element at index starting from front of buffer.
+ */
+template <class T>
+const T& circular_buffer<T>::operator[](size_t index) const {
+ return m_data[(m_front + index) % m_data.size()];
+}
+
+/**
+ * Increment an index modulo the length of the buffer.
+ *
+ * @return The result of the modulo operation.
+ */
+template <class T>
+size_t circular_buffer<T>::ModuloInc(size_t index) {
+ return (index + 1) % m_data.size();
+}
+
+/**
+ * Decrement an index modulo the length of the buffer.
+ *
+ * @return The result of the modulo operation.
+ */
+template <class T>
+size_t circular_buffer<T>::ModuloDec(size_t index) {
+ if (index == 0) {
+ return m_data.size() - 1;
+ } else {
+ return index - 1;
+ }
+}
+
+} // namespace wpi
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/deprecated.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/deprecated.h
index 51f2163..6d77dde 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/deprecated.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/deprecated.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -8,26 +8,8 @@
#ifndef WPIUTIL_WPI_DEPRECATED_H_
#define WPIUTIL_WPI_DEPRECATED_H_
-// [[deprecated(msg)]] is a C++14 feature not supported by MSVC or GCC < 4.9.
-// We provide an equivalent warning implementation for those compilers here.
#ifndef WPI_DEPRECATED
-#if defined(_MSC_VER)
-#define WPI_DEPRECATED(msg) __declspec(deprecated(msg))
-#elif defined(__GNUC__)
-#if __GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ > 8)
-#if __cplusplus > 201103L
#define WPI_DEPRECATED(msg) [[deprecated(msg)]]
-#else
-#define WPI_DEPRECATED(msg) [[gnu::deprecated(msg)]]
-#endif
-#else
-#define WPI_DEPRECATED(msg) __attribute__((deprecated(msg)))
-#endif
-#elif __cplusplus > 201103L
-#define WPI_DEPRECATED(msg) [[deprecated(msg)]]
-#else
-#define WPI_DEPRECATED(msg) /*nothing*/
-#endif
#endif
#endif // WPIUTIL_WPI_DEPRECATED_H_
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/future.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/future.h
index 04e7e45..db46d58 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/future.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/future.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -695,7 +695,7 @@
template <typename T>
future<T> PromiseFactory<T>::MakeReadyFuture(T&& value) {
- std::unique_lock<wpi::mutex> lock(GetResultMutex());
+ std::unique_lock lock(GetResultMutex());
uint64_t req = CreateErasedRequest();
m_results.emplace_back(std::piecewise_construct, std::forward_as_tuple(req),
std::forward_as_tuple(std::move(value)));
@@ -709,7 +709,7 @@
template <typename T>
void PromiseFactory<T>::SetValue(uint64_t request, const T& value) {
- std::unique_lock<wpi::mutex> lock(GetResultMutex());
+ std::unique_lock lock(GetResultMutex());
if (!EraseRequest(request)) return;
auto it = std::find_if(m_thens.begin(), m_thens.end(),
[=](const auto& x) { return x.request == request; });
@@ -728,7 +728,7 @@
template <typename T>
void PromiseFactory<T>::SetValue(uint64_t request, T&& value) {
- std::unique_lock<wpi::mutex> lock(GetResultMutex());
+ std::unique_lock lock(GetResultMutex());
if (!EraseRequest(request)) return;
auto it = std::find_if(m_thens.begin(), m_thens.end(),
[=](const auto& x) { return x.request == request; });
@@ -748,7 +748,7 @@
template <typename T>
void PromiseFactory<T>::SetThen(uint64_t request, uint64_t outRequest,
ThenFunction func) {
- std::unique_lock<wpi::mutex> lock(GetResultMutex());
+ std::unique_lock lock(GetResultMutex());
auto it = std::find_if(m_results.begin(), m_results.end(),
[=](const auto& r) { return r.first == request; });
if (it != m_results.end()) {
@@ -762,7 +762,7 @@
template <typename T>
bool PromiseFactory<T>::IsReady(uint64_t request) noexcept {
- std::unique_lock<wpi::mutex> lock(GetResultMutex());
+ std::unique_lock lock(GetResultMutex());
auto it = std::find_if(m_results.begin(), m_results.end(),
[=](const auto& r) { return r.first == request; });
return it != m_results.end();
@@ -771,7 +771,7 @@
template <typename T>
T PromiseFactory<T>::GetResult(uint64_t request) {
// wait for response
- std::unique_lock<wpi::mutex> lock(GetResultMutex());
+ std::unique_lock lock(GetResultMutex());
while (IsActive()) {
// Did we get a response to *our* request?
auto it = std::find_if(m_results.begin(), m_results.end(),
@@ -791,7 +791,7 @@
template <typename T>
void PromiseFactory<T>::WaitResult(uint64_t request) {
// wait for response
- std::unique_lock<wpi::mutex> lock(GetResultMutex());
+ std::unique_lock lock(GetResultMutex());
while (IsActive()) {
// Did we get a response to *our* request?
auto it = std::find_if(m_results.begin(), m_results.end(),
@@ -807,7 +807,7 @@
bool PromiseFactory<T>::WaitResultUntil(
uint64_t request,
const std::chrono::time_point<Clock, Duration>& timeout_time) {
- std::unique_lock<wpi::mutex> lock(GetResultMutex());
+ std::unique_lock lock(GetResultMutex());
bool timeout = false;
while (IsActive()) {
// Did we get a response to *our* request?
@@ -839,7 +839,7 @@
bool PromiseFactory<void>::WaitResultUntil(
uint64_t request,
const std::chrono::time_point<Clock, Duration>& timeout_time) {
- std::unique_lock<wpi::mutex> lock(GetResultMutex());
+ std::unique_lock lock(GetResultMutex());
bool timeout = false;
while (IsActive()) {
// Did we get a response to *our* request?
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/iterator.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/iterator.h
index 2bae588..70bbdab 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/iterator.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/iterator.h
@@ -202,9 +202,7 @@
typename ReferenceT = typename std::conditional<
std::is_same<T, typename std::iterator_traits<
WrappedIteratorT>::value_type>::value,
- typename std::iterator_traits<WrappedIteratorT>::reference, T &>::type,
- // Don't provide these, they are mostly to act as aliases below.
- typename WrappedTraitsT = std::iterator_traits<WrappedIteratorT>>
+ typename std::iterator_traits<WrappedIteratorT>::reference, T &>::type>
class iterator_adaptor_base
: public iterator_facade_base<DerivedT, IteratorCategoryT, T,
DifferenceTypeT, PointerT, ReferenceT> {
@@ -288,7 +286,7 @@
decltype(**std::declval<WrappedIteratorT>())>::type>
struct pointee_iterator
: iterator_adaptor_base<
- pointee_iterator<WrappedIteratorT>, WrappedIteratorT,
+ pointee_iterator<WrappedIteratorT, T>, WrappedIteratorT,
typename std::iterator_traits<WrappedIteratorT>::iterator_category,
T> {
pointee_iterator() = default;
@@ -311,8 +309,10 @@
template <typename WrappedIteratorT,
typename T = decltype(&*std::declval<WrappedIteratorT>())>
class pointer_iterator
- : public iterator_adaptor_base<pointer_iterator<WrappedIteratorT>,
- WrappedIteratorT, T> {
+ : public iterator_adaptor_base<
+ pointer_iterator<WrappedIteratorT, T>, WrappedIteratorT,
+ typename std::iterator_traits<WrappedIteratorT>::iterator_category,
+ T> {
mutable T Ptr;
public:
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/iterator_range.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/iterator_range.h
index e43c1f7..78a60c2 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/iterator_range.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/iterator_range.h
@@ -59,9 +59,10 @@
return iterator_range<T>(std::move(p.first), std::move(p.second));
}
-template<typename T>
-iterator_range<decltype(begin(std::declval<T>()))> drop_begin(T &&t, int n) {
- return make_range(std::next(begin(t), n), end(t));
+template <typename T>
+iterator_range<decltype(adl_begin(std::declval<T>()))> drop_begin(T &&t,
+ int n) {
+ return make_range(std::next(adl_begin(t), n), adl_end(t));
}
}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/jni_util.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/jni_util.h
index 7cb6c65..15f59be 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/jni_util.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/jni_util.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -38,15 +38,6 @@
std::string GetJavaStackTrace(JNIEnv* env, std::string* func = nullptr,
StringRef excludeFuncPrefix = StringRef());
-// Shim for backwards compatibility
-template <const char* excludeFuncPrefix>
-WPI_DEPRECATED("use StringRef function instead")
-std::string GetJavaStackTrace(JNIEnv* env, std::string* func) {
- return GetJavaStackTrace(
- env, func,
- excludeFuncPrefix == nullptr ? StringRef() : excludeFuncPrefix);
-}
-
// Finds a class and keep it as a global reference.
// Use with caution, as the destructor does NOT call DeleteGlobalRef due
// to potential shutdown issues with doing so.
@@ -419,7 +410,7 @@
return jarr;
}
- // Other MakeJ*Array conversions.
+// Other MakeJ*Array conversions.
#define WPI_JNI_MAKEJARRAY(T, F) \
inline T##Array MakeJ##F##Array(JNIEnv* env, ArrayRef<T> arr) { \
@@ -517,7 +508,7 @@
reinterpret_cast<void**>(&env), &args);
if (rs != JNI_OK) return;
- std::unique_lock<wpi::mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
while (m_active) {
m_cond.wait(lock, [&] { return !(m_active && m_queue.empty()); });
if (!m_active) break;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/json.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/json.h
index a3aa776..a6368b7 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/json.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/json.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Modifications Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Modifications Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -163,14 +163,6 @@
#define JSON_UNLIKELY(x) x
#endif
-// C++ language standard detection
-#if (defined(__cplusplus) && __cplusplus >= 201703L) || (defined(_HAS_CXX17) && _HAS_CXX17 == 1) // fix for issue #464
- #define JSON_HAS_CPP_17
- #define JSON_HAS_CPP_14
-#elif (defined(__cplusplus) && __cplusplus >= 201402L) || (defined(_HAS_CXX14) && _HAS_CXX14 == 1)
- #define JSON_HAS_CPP_14
-#endif
-
/*!
@brief Helper to determine whether there's a key_type for T.
@@ -219,57 +211,6 @@
template<typename T>
using uncvref_t = typename std::remove_cv<typename std::remove_reference<T>::type>::type;
-// implementation of C++14 index_sequence and affiliates
-// source: https://stackoverflow.com/a/32223343
-template<std::size_t... Ints>
-struct index_sequence
-{
- using type = index_sequence;
- using value_type = std::size_t;
- static constexpr std::size_t size() noexcept
- {
- return sizeof...(Ints);
- }
-};
-
-template<class Sequence1, class Sequence2>
-struct merge_and_renumber;
-
-template<std::size_t... I1, std::size_t... I2>
-struct merge_and_renumber<index_sequence<I1...>, index_sequence<I2...>>
- : index_sequence < I1..., (sizeof...(I1) + I2)... > {};
-
-template<std::size_t N>
-struct make_index_sequence
- : merge_and_renumber < typename make_index_sequence < N / 2 >::type,
- typename make_index_sequence < N - N / 2 >::type > {};
-
-template<> struct make_index_sequence<0> : index_sequence<> {};
-template<> struct make_index_sequence<1> : index_sequence<0> {};
-
-template<typename... Ts>
-using index_sequence_for = make_index_sequence<sizeof...(Ts)>;
-
-/*
-Implementation of two C++17 constructs: conjunction, negation. This is needed
-to avoid evaluating all the traits in a condition
-
-For example: not std::is_same<void, T>::value and has_value_type<T>::value
-will not compile when T = void (on MSVC at least). Whereas
-conjunction<negation<std::is_same<void, T>>, has_value_type<T>>::value will
-stop evaluating if negation<...>::value == false
-
-Please note that those constructs must be used with caution, since symbols can
-become very long quickly (which can slow down compilation and cause MSVC
-internal compiler errors). Only use it when you have to (see example ahead).
-*/
-template<class...> struct conjunction : std::true_type {};
-template<class B1> struct conjunction<B1> : B1 {};
-template<class B1, class... Bn>
-struct conjunction<B1, Bn...> : std::conditional<bool(B1::value), conjunction<Bn...>, B1>::type {};
-
-template<class B> struct negation : std::integral_constant<bool, not B::value> {};
-
// dispatch utility (taken from ranges-v3)
template<unsigned N> struct priority_tag : priority_tag < N - 1 > {};
template<> struct priority_tag<0> {};
@@ -306,7 +247,7 @@
struct is_compatible_object_type
{
static auto constexpr value = is_compatible_object_type_impl <
- conjunction<negation<std::is_same<void, CompatibleObjectType>>,
+ std::conjunction<std::negation<std::is_same<void, CompatibleObjectType>>,
has_mapped_type<CompatibleObjectType>,
has_key_type<CompatibleObjectType>>::value,
typename BasicJsonType::object_t, CompatibleObjectType >::value;
@@ -325,12 +266,12 @@
struct is_compatible_array_type
{
static auto constexpr value =
- conjunction<negation<std::is_same<void, CompatibleArrayType>>,
- negation<is_compatible_object_type<
+ std::conjunction<std::negation<std::is_same<void, CompatibleArrayType>>,
+ std::negation<is_compatible_object_type<
BasicJsonType, CompatibleArrayType>>,
- negation<std::is_constructible<StringRef,
+ std::negation<std::is_constructible<StringRef,
CompatibleArrayType>>,
- negation<is_json_nested_type<BasicJsonType, CompatibleArrayType>>,
+ std::negation<is_json_nested_type<BasicJsonType, CompatibleArrayType>>,
has_value_type<CompatibleArrayType>,
has_iterator<CompatibleArrayType>>::value;
};
@@ -422,7 +363,7 @@
template <typename BasicJsonType, typename CompatibleType>
struct is_compatible_type
- : conjunction<is_complete_type<CompatibleType>,
+ : std::conjunction<is_complete_type<CompatibleType>,
is_compatible_complete_type<BasicJsonType, CompatibleType>>
{
};
@@ -1035,7 +976,7 @@
}
template<typename BasicJsonType, typename Tuple, std::size_t... Idx>
-void from_json_tuple_impl(const BasicJsonType& j, Tuple& t, index_sequence<Idx...>)
+void from_json_tuple_impl(const BasicJsonType& j, Tuple& t, std::index_sequence<Idx...>)
{
t = std::make_tuple(j.at(Idx).template get<typename std::tuple_element<Idx, Tuple>::type>()...);
}
@@ -1043,7 +984,7 @@
template<typename BasicJsonType, typename... Args>
void from_json(const BasicJsonType& j, std::tuple<Args...>& t)
{
- from_json_tuple_impl(j, t, index_sequence_for<Args...> {});
+ from_json_tuple_impl(j, t, std::index_sequence_for<Args...> {});
}
struct from_json_fn
@@ -1355,7 +1296,7 @@
}
template<typename BasicJsonType, typename Tuple, std::size_t... Idx>
-void to_json_tuple_impl(BasicJsonType& j, const Tuple& t, index_sequence<Idx...>)
+void to_json_tuple_impl(BasicJsonType& j, const Tuple& t, std::index_sequence<Idx...>)
{
j = {std::get<Idx>(t)...};
}
@@ -1363,7 +1304,7 @@
template<typename BasicJsonType, typename... Args>
void to_json(BasicJsonType& j, const std::tuple<Args...>& t)
{
- to_json_tuple_impl(j, t, index_sequence_for<Args...> {});
+ to_json_tuple_impl(j, t, std::index_sequence_for<Args...> {});
}
struct to_json_fn
@@ -2860,13 +2801,9 @@
/// the template arguments passed to class @ref json.
/// @{
-#if defined(JSON_HAS_CPP_14)
// Use transparent comparator if possible, combined with perfect forwarding
// on find() and count() calls prevents unnecessary string construction.
using object_comparator_t = std::less<>;
-#else
- using object_comparator_t = std::less<std::string>;
-#endif
/*!
@brief a type for an object
@@ -2962,12 +2899,14 @@
{
std::allocator<T> alloc;
- auto deleter = [&](T * object)
- {
- alloc.deallocate(object, 1);
- };
- std::unique_ptr<T, decltype(deleter)> object(alloc.allocate(1), deleter);
- alloc.construct(object.get(), std::forward<Args>(args)...);
+ using AllocatorTraits = std::allocator_traits<std::allocator<T>>;
+
+ auto deleter = [&](T * object)
+ {
+ AllocatorTraits::deallocate(alloc, object, 1);
+ };
+ std::unique_ptr<T, decltype(deleter)> object(AllocatorTraits::allocate(alloc, 1), deleter);
+ AllocatorTraits::construct(alloc, object.get(), std::forward<Args>(args)...);
assert(object != nullptr);
return object.release();
}
@@ -4672,9 +4611,7 @@
#ifndef _MSC_VER // fix for issue #167 operator<< ambiguity under VS2015
and not std::is_same<ValueType, std::initializer_list<std::string::value_type>>::value
#endif
-#if defined(JSON_HAS_CPP_17)
and not std::is_same<ValueType, typename std::string_view>::value
-#endif
, int >::type = 0 >
operator ValueType() const
{
@@ -5318,8 +5255,8 @@
if (is_string())
{
std::allocator<std::string> alloc;
- alloc.destroy(m_value.string);
- alloc.deallocate(m_value.string, 1);
+ std::allocator_traits<decltype(alloc)>::destroy(alloc, m_value.string);
+ std::allocator_traits<decltype(alloc)>::deallocate(alloc, m_value.string, 1);
m_value.string = nullptr;
}
@@ -5422,8 +5359,8 @@
if (is_string())
{
std::allocator<std::string> alloc;
- alloc.destroy(m_value.string);
- alloc.deallocate(m_value.string, 1);
+ std::allocator_traits<decltype(alloc)>::destroy(alloc, m_value.string);
+ std::allocator_traits<decltype(alloc)>::deallocate(alloc, m_value.string, 1);
m_value.string = nullptr;
}
@@ -8077,7 +8014,7 @@
@since version 1.0.0
*/
template<>
-inline void swap(wpi::json& j1,
+inline void swap<wpi::json>(wpi::json& j1,
wpi::json& j2) noexcept(
is_nothrow_move_constructible<wpi::json>::value and
is_nothrow_move_assignable<wpi::json>::value
@@ -8174,8 +8111,6 @@
#undef JSON_TRY
#undef JSON_LIKELY
#undef JSON_UNLIKELY
-#undef JSON_HAS_CPP_14
-#undef JSON_HAS_CPP_17
#undef NLOHMANN_BASIC_JSON_TPL_DECLARATION
#undef NLOHMANN_BASIC_JSON_TPL
#undef NLOHMANN_JSON_HAS_HELPER
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/math b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/math
new file mode 100644
index 0000000..d9c18c7
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/math
@@ -0,0 +1,67 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <type_traits>
+
+namespace wpi::math {
+
+template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
+inline constexpr T e_v = 2.718281828459045235360287471352662498L;
+
+template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
+inline constexpr T log2e_v = 1.442695040888963407359924681001892137L;
+
+template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
+inline constexpr T log10e_v = 0.434294481903251827651128918916605082L;
+
+template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
+inline constexpr T pi_v = 3.141592653589793238462643383279502884L;
+
+template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
+inline constexpr T inv_pi_v = 0.318309886183790671537767526745028724L;
+
+template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
+inline constexpr T inv_sqrtpi_v = 0.564189583547756286948079451560772586L;
+
+template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
+inline constexpr T ln2_v = 0.693147180559945309417232121458176568L;
+
+template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
+inline constexpr T ln10_v = 2.302585092994045684017991454684364208L;
+
+template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
+inline constexpr T sqrt2_v = 1.414213562373095048801688724209698078L;
+
+template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
+inline constexpr T sqrt3_v = 1.732050807568877293527446341505872366L;
+
+template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
+inline constexpr T inv_sqrt3_v = 0.577350269189625764509148780501957456L;
+
+template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
+inline constexpr T egamma_v = 0.577215664901532860606512090082402431L;
+
+template <typename T, typename = std::enable_if_t<std::is_floating_point_v<T>>>
+inline constexpr T phi_v = 1.618033988749894848204586834365638117L;
+
+inline constexpr double e = e_v<double>;
+inline constexpr double log2e = log2e_v<double>;
+inline constexpr double log10e = log10e_v<double>;
+inline constexpr double pi = pi_v<double>;
+inline constexpr double inv_pi = inv_pi_v<double>;
+inline constexpr double inv_sqrtpi = inv_sqrtpi_v<double>;
+inline constexpr double ln2 = ln2_v<double>;
+inline constexpr double ln10 = ln10_v<double>;
+inline constexpr double sqrt2 = sqrt2_v<double>;
+inline constexpr double sqrt3 = sqrt3_v<double>;
+inline constexpr double inv_sqrt3 = inv_sqrt3_v<double>;
+inline constexpr double egamma = egamma_v<double>;
+inline constexpr double phi = phi_v<double>;
+
+} // namespace wpi::math
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/memory.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/memory.h
deleted file mode 100644
index 325b5d7..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/memory.h
+++ /dev/null
@@ -1,40 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
-/* Open Source Software - may be modified and shared by FRC teams. The code */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project. */
-/*----------------------------------------------------------------------------*/
-
-#ifndef WPIUTIL_WPI_MEMORY_H_
-#define WPIUTIL_WPI_MEMORY_H_
-
-#include <cstdlib>
-
-namespace wpi {
-
-/**
- * Wrapper around std::calloc that calls std::terminate on out of memory.
- * @param num number of objects to allocate
- * @param size number of bytes per object to allocate
- * @return Pointer to beginning of newly allocated memory.
- */
-void* CheckedCalloc(size_t num, size_t size);
-
-/**
- * Wrapper around std::malloc that calls std::terminate on out of memory.
- * @param size number of bytes to allocate
- * @return Pointer to beginning of newly allocated memory.
- */
-void* CheckedMalloc(size_t size);
-
-/**
- * Wrapper around std::realloc that calls std::terminate on out of memory.
- * @param ptr memory previously allocated
- * @param size number of bytes to allocate
- * @return Pointer to beginning of newly allocated memory.
- */
-void* CheckedRealloc(void* ptr, size_t size);
-
-} // namespace wpi
-
-#endif // WPIUTIL_WPI_MEMORY_H_
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/optional.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/optional.h
index ed14b45..a92f22c 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/optional.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/optional.h
@@ -1,913 +1,35 @@
-// Copyright (C) 2011 - 2012 Andrzej Krzemienski.
-//
-// Use, modification, and distribution is subject to the Boost Software
-// License, Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
-// http://www.boost.org/LICENSE_1_0.txt)
-//
-// The idea and interface is based on Boost.Optional library
-// authored by Fernando Luis Cacciola Carballal
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
-# ifndef WPIUTIL_WPI_OPTIONAL_H
-# define WPIUTIL_WPI_OPTIONAL_H
+#ifndef WPIUTIL_WPI_OPTIONAL_H_
+#define WPIUTIL_WPI_OPTIONAL_H_
-# include <utility>
-# include <type_traits>
-# include <initializer_list>
-# include <cassert>
-# include <functional>
-# include <string>
-# include <stdexcept>
+// clang-format off
-# define TR2_OPTIONAL_REQUIRES(...) typename std::enable_if<__VA_ARGS__::value, bool>::type = false
-
-# if defined __GNUC__ || (defined _MSC_VER) && (_MSC_VER >= 1910)
-# define OPTIONAL_HAS_CONSTEXPR_INIT_LIST 1
-# define OPTIONAL_CONSTEXPR_INIT_LIST constexpr
-# else
-# define OPTIONAL_HAS_CONSTEXPR_INIT_LIST 0
-# define OPTIONAL_CONSTEXPR_INIT_LIST
-# endif
-
-# if defined __clang__ && (defined __cplusplus) && (__cplusplus != 201103L)
-# define OPTIONAL_HAS_MOVE_ACCESSORS 1
-# else
-# define OPTIONAL_HAS_MOVE_ACCESSORS 0
-# endif
-
-namespace wpi{
-
-// 20.5.4, optional for object types
-template <class T> class optional;
-
-// 20.5.5, optional for lvalue reference types
-template <class T> class optional<T&>;
-
-
-// workaround: std utility functions aren't constexpr yet
-template <class T> inline constexpr T&& constexpr_forward(typename std::remove_reference<T>::type& t) noexcept
-{
- return static_cast<T&&>(t);
-}
-
-template <class T> inline constexpr T&& constexpr_forward(typename std::remove_reference<T>::type&& t) noexcept
-{
- static_assert(!std::is_lvalue_reference<T>::value, "!!");
- return static_cast<T&&>(t);
-}
-
-template <class T> inline constexpr typename std::remove_reference<T>::type&& constexpr_move(T&& t) noexcept
-{
- return static_cast<typename std::remove_reference<T>::type&&>(t);
-}
-
-
-#if defined NDEBUG
-# define TR2_OPTIONAL_ASSERTED_EXPRESSION(CHECK, EXPR) (EXPR)
+#ifdef _MSC_VER
+#pragma message("warning: wpi/optional.h is deprecated; include <optional> instead")
#else
-# define TR2_OPTIONAL_ASSERTED_EXPRESSION(CHECK, EXPR) ((CHECK) ? (EXPR) : ([]{assert(!#CHECK);}(), (EXPR)))
+#warning "wpi/optional.h is deprecated; include <optional> instead"
#endif
+#include <optional>
-namespace detail_
-{
+namespace wpi {
-// static_addressof: a constexpr version of addressof
template <typename T>
-struct has_overloaded_addressof
-{
- template <class X>
- constexpr static bool has_overload(...) { return false; }
-
- template <class X, size_t S = sizeof(std::declval<X&>().operator&()) >
- constexpr static bool has_overload(bool) { return true; }
+using optional [[deprecated("use std::optional")]] = std::optional<T>;
- constexpr static bool value = has_overload<T>(true);
-};
+using nullopt_t [[deprecated("use std::nullopt_t")]] = std::nullopt_t;
-template <typename T, TR2_OPTIONAL_REQUIRES(!has_overloaded_addressof<T>)>
-constexpr T* static_addressof(T& ref)
-{
- return &ref;
-}
+[[deprecated("use std::nullopt")]] inline constexpr std::nullopt_t nullopt =
+ std::nullopt;
-template <typename T, TR2_OPTIONAL_REQUIRES(has_overloaded_addressof<T>)>
-T* static_addressof(T& ref)
-{
- return std::addressof(ref);
-}
+} // namespace wpi
+// clang-format on
-// the call to convert<A>(b) has return type A and converts b to type A iff b decltype(b) is implicitly convertible to A
-template <class U>
-constexpr U convert(U v) { return v; }
-
-
-namespace swap_ns
-{
- using std::swap;
-
- template <class T>
- void adl_swap(T& t, T& u) noexcept(noexcept(swap(t, u)))
- {
- swap(t, u);
- }
-
-} // namespace swap_ns
-
-} // namespace detail
-
-
-constexpr struct trivial_init_t{} trivial_init{};
-
-
-// 20.5.6, In-place construction
-constexpr struct in_place_t{} in_place{};
-
-
-// 20.5.7, Disengaged state indicator
-struct nullopt_t
-{
- struct init{};
- constexpr explicit nullopt_t(init){}
-};
-constexpr nullopt_t nullopt{nullopt_t::init()};
-
-
-// 20.5.8, class bad_optional_access
-class bad_optional_access : public std::logic_error {
-public:
- explicit bad_optional_access(const std::string& what_arg) : logic_error{what_arg} {}
- explicit bad_optional_access(const char* what_arg) : logic_error{what_arg} {}
-};
-
-
-template <class T>
-union storage_t
-{
- unsigned char dummy_;
- T value_;
-
- constexpr storage_t( trivial_init_t ) noexcept : dummy_() {};
-
- template <class... Args>
- constexpr storage_t( Args&&... args ) : value_(constexpr_forward<Args>(args)...) {}
-
- ~storage_t(){}
-};
-
-
-template <class T>
-union constexpr_storage_t
-{
- unsigned char dummy_;
- T value_;
-
- constexpr constexpr_storage_t( trivial_init_t ) noexcept : dummy_() {};
-
- template <class... Args>
- constexpr constexpr_storage_t( Args&&... args ) : value_(constexpr_forward<Args>(args)...) {}
-
- ~constexpr_storage_t() = default;
-};
-
-
-template <class T>
-struct optional_base
-{
- bool init_;
- storage_t<T> storage_;
-
- constexpr optional_base() noexcept : init_(false), storage_(trivial_init) {};
-
- explicit constexpr optional_base(const T& v) : init_(true), storage_(v) {}
-
- explicit constexpr optional_base(T&& v) : init_(true), storage_(constexpr_move(v)) {}
-
- template <class... Args> explicit optional_base(in_place_t, Args&&... args)
- : init_(true), storage_(constexpr_forward<Args>(args)...) {}
-
- template <class U, class... Args, TR2_OPTIONAL_REQUIRES(std::is_constructible<T, std::initializer_list<U>>)>
- explicit optional_base(in_place_t, std::initializer_list<U> il, Args&&... args)
- : init_(true), storage_(il, std::forward<Args>(args)...) {}
-
- ~optional_base() { if (init_) storage_.value_.T::~T(); }
-};
-
-
-template <class T>
-struct constexpr_optional_base
-{
- bool init_;
- constexpr_storage_t<T> storage_;
-
- constexpr constexpr_optional_base() noexcept : init_(false), storage_(trivial_init) {};
-
- explicit constexpr constexpr_optional_base(const T& v) : init_(true), storage_(v) {}
-
- explicit constexpr constexpr_optional_base(T&& v) : init_(true), storage_(constexpr_move(v)) {}
-
- template <class... Args> explicit constexpr constexpr_optional_base(in_place_t, Args&&... args)
- : init_(true), storage_(constexpr_forward<Args>(args)...) {}
-
- template <class U, class... Args, TR2_OPTIONAL_REQUIRES(std::is_constructible<T, std::initializer_list<U>>)>
- OPTIONAL_CONSTEXPR_INIT_LIST explicit constexpr_optional_base(in_place_t, std::initializer_list<U> il, Args&&... args)
- : init_(true), storage_(il, std::forward<Args>(args)...) {}
-
- ~constexpr_optional_base() = default;
-};
-
-template <class T>
-using OptionalBase = typename std::conditional<
- std::is_trivially_destructible<T>::value, // if possible
- constexpr_optional_base<typename std::remove_const<T>::type>, // use base with trivial destructor
- optional_base<typename std::remove_const<T>::type>
->::type;
-
-
-
-template <class T>
-class optional : private OptionalBase<T>
-{
- static_assert( !std::is_same<typename std::decay<T>::type, nullopt_t>::value, "bad T" );
- static_assert( !std::is_same<typename std::decay<T>::type, in_place_t>::value, "bad T" );
-
-
- constexpr bool initialized() const noexcept { return OptionalBase<T>::init_; }
- typename std::remove_const<T>::type* dataptr() { return std::addressof(OptionalBase<T>::storage_.value_); }
- constexpr const T* dataptr() const { return detail_::static_addressof(OptionalBase<T>::storage_.value_); }
-
- constexpr const T& contained_val() const& { return OptionalBase<T>::storage_.value_; }
-# if OPTIONAL_HAS_MOVE_ACCESSORS == 1
- constexpr T&& contained_val() && { return std::move(OptionalBase<T>::storage_.value_); }
- constexpr T& contained_val() & { return OptionalBase<T>::storage_.value_; }
-# else
- T& contained_val() & { return OptionalBase<T>::storage_.value_; }
- T&& contained_val() && { return std::move(OptionalBase<T>::storage_.value_); }
-# endif
-
- void clear() noexcept {
- if (initialized()) dataptr()->T::~T();
- OptionalBase<T>::init_ = false;
- }
-
- template <class... Args>
- void initialize(Args&&... args) noexcept(noexcept(T(std::forward<Args>(args)...)))
- {
- assert(!OptionalBase<T>::init_);
- ::new (static_cast<void*>(dataptr())) T(std::forward<Args>(args)...);
- OptionalBase<T>::init_ = true;
- }
-
- template <class U, class... Args>
- void initialize(std::initializer_list<U> il, Args&&... args) noexcept(noexcept(T(il, std::forward<Args>(args)...)))
- {
- assert(!OptionalBase<T>::init_);
- ::new (static_cast<void*>(dataptr())) T(il, std::forward<Args>(args)...);
- OptionalBase<T>::init_ = true;
- }
-
-public:
- typedef T value_type;
-
- // 20.5.5.1, constructors
- constexpr optional() noexcept : OptionalBase<T>() {};
- constexpr optional(nullopt_t) noexcept : OptionalBase<T>() {};
-
- optional(const optional& rhs)
- : OptionalBase<T>()
- {
- if (rhs.initialized()) {
- ::new (static_cast<void*>(dataptr())) T(*rhs);
- OptionalBase<T>::init_ = true;
- }
- }
-
- optional(optional&& rhs) noexcept(std::is_nothrow_move_constructible<T>::value)
- : OptionalBase<T>()
- {
- if (rhs.initialized()) {
- ::new (static_cast<void*>(dataptr())) T(std::move(*rhs));
- OptionalBase<T>::init_ = true;
- }
- }
-
- constexpr optional(const T& v) : OptionalBase<T>(v) {}
-
- constexpr optional(T&& v) : OptionalBase<T>(constexpr_move(v)) {}
-
- template <class... Args>
- explicit constexpr optional(in_place_t, Args&&... args)
- : OptionalBase<T>(in_place_t{}, constexpr_forward<Args>(args)...) {}
-
- template <class U, class... Args, TR2_OPTIONAL_REQUIRES(std::is_constructible<T, std::initializer_list<U>>)>
- OPTIONAL_CONSTEXPR_INIT_LIST explicit optional(in_place_t, std::initializer_list<U> il, Args&&... args)
- : OptionalBase<T>(in_place_t{}, il, constexpr_forward<Args>(args)...) {}
-
- // 20.5.4.2, Destructor
- ~optional() = default;
-
- // 20.5.4.3, assignment
- optional& operator=(nullopt_t) noexcept
- {
- clear();
- return *this;
- }
-
- optional& operator=(const optional& rhs)
- {
- if (initialized() == true && rhs.initialized() == false) clear();
- else if (initialized() == false && rhs.initialized() == true) initialize(*rhs);
- else if (initialized() == true && rhs.initialized() == true) contained_val() = *rhs;
- return *this;
- }
-
- optional& operator=(optional&& rhs)
- noexcept(std::is_nothrow_move_assignable<T>::value && std::is_nothrow_move_constructible<T>::value)
- {
- if (initialized() == true && rhs.initialized() == false) clear();
- else if (initialized() == false && rhs.initialized() == true) initialize(std::move(*rhs));
- else if (initialized() == true && rhs.initialized() == true) contained_val() = std::move(*rhs);
- return *this;
- }
-
- template <class U>
- auto operator=(U&& v)
- -> typename std::enable_if
- <
- std::is_same<typename std::decay<U>::type, T>::value,
- optional&
- >::type
- {
- if (initialized()) { contained_val() = std::forward<U>(v); }
- else { initialize(std::forward<U>(v)); }
- return *this;
- }
-
-
- template <class... Args>
- void emplace(Args&&... args)
- {
- clear();
- initialize(std::forward<Args>(args)...);
- }
-
- template <class U, class... Args>
- void emplace(std::initializer_list<U> il, Args&&... args)
- {
- clear();
- initialize<U, Args...>(il, std::forward<Args>(args)...);
- }
-
- // 20.5.4.4, Swap
- void swap(optional<T>& rhs) noexcept(std::is_nothrow_move_constructible<T>::value
- && noexcept(detail_::swap_ns::adl_swap(std::declval<T&>(), std::declval<T&>())))
- {
- if (initialized() == true && rhs.initialized() == false) { rhs.initialize(std::move(**this)); clear(); }
- else if (initialized() == false && rhs.initialized() == true) { initialize(std::move(*rhs)); rhs.clear(); }
- else if (initialized() == true && rhs.initialized() == true) { using std::swap; swap(**this, *rhs); }
- }
-
- // 20.5.4.5, Observers
-
- explicit constexpr operator bool() const noexcept { return initialized(); }
- constexpr bool has_value() const noexcept { return initialized(); }
-
- constexpr T const* operator ->() const {
- return TR2_OPTIONAL_ASSERTED_EXPRESSION(initialized(), dataptr());
- }
-
-# if OPTIONAL_HAS_MOVE_ACCESSORS == 1
-
- constexpr T* operator ->() {
- assert (initialized());
- return dataptr();
- }
-
- constexpr T const& operator *() const& {
- return TR2_OPTIONAL_ASSERTED_EXPRESSION(initialized(), contained_val());
- }
-
- constexpr T& operator *() & {
- assert (initialized());
- return contained_val();
- }
-
- constexpr T&& operator *() && {
- assert (initialized());
- return constexpr_move(contained_val());
- }
-
- constexpr T const& value() const& {
- return initialized() ? contained_val() : (throw bad_optional_access("bad optional access"), contained_val());
- }
-
- constexpr T& value() & {
- return initialized() ? contained_val() : (throw bad_optional_access("bad optional access"), contained_val());
- }
-
- constexpr T&& value() && {
- if (!initialized()) throw bad_optional_access("bad optional access");
- return std::move(contained_val());
- }
-
-# else
-
- T* operator ->() {
- assert (initialized());
- return dataptr();
- }
-
- constexpr T const& operator *() const {
- return TR2_OPTIONAL_ASSERTED_EXPRESSION(initialized(), contained_val());
- }
-
- T& operator *() {
- assert (initialized());
- return contained_val();
- }
-
- constexpr T const& value() const {
- return initialized() ? contained_val() : (throw bad_optional_access("bad optional access"), contained_val());
- }
-
- T& value() {
- return initialized() ? contained_val() : (throw bad_optional_access("bad optional access"), contained_val());
- }
-
-# endif
-
- template <class V>
- constexpr T value_or(V&& v) const&
- {
- return *this ? **this : detail_::convert<T>(constexpr_forward<V>(v));
- }
-
-# if OPTIONAL_HAS_MOVE_ACCESSORS == 1
-
- template <class V>
- constexpr T value_or(V&& v) &&
- {
- return *this ? constexpr_move(const_cast<optional<T>&>(*this).contained_val()) : detail_::convert<T>(constexpr_forward<V>(v));
- }
-
-# else
-
- template <class V>
- T value_or(V&& v) &&
- {
- return *this ? constexpr_move(const_cast<optional<T>&>(*this).contained_val()) : detail_::convert<T>(constexpr_forward<V>(v));
- }
-
-# endif
-
- // 20.6.3.6, modifiers
- void reset() noexcept { clear(); }
-};
-
-
-template <class T>
-class optional<T&>
-{
- static_assert( !std::is_same<T, nullopt_t>::value, "bad T" );
- static_assert( !std::is_same<T, in_place_t>::value, "bad T" );
- T* ref;
-
-public:
-
- // 20.5.5.1, construction/destruction
- constexpr optional() noexcept : ref(nullptr) {}
-
- constexpr optional(nullopt_t) noexcept : ref(nullptr) {}
-
- constexpr optional(T& v) noexcept : ref(detail_::static_addressof(v)) {}
-
- optional(T&&) = delete;
-
- constexpr optional(const optional& rhs) noexcept : ref(rhs.ref) {}
-
- explicit constexpr optional(in_place_t, T& v) noexcept : ref(detail_::static_addressof(v)) {}
-
- explicit optional(in_place_t, T&&) = delete;
-
- ~optional() = default;
-
- // 20.5.5.2, mutation
- optional& operator=(nullopt_t) noexcept {
- ref = nullptr;
- return *this;
- }
-
- // optional& operator=(const optional& rhs) noexcept {
- // ref = rhs.ref;
- // return *this;
- // }
-
- // optional& operator=(optional&& rhs) noexcept {
- // ref = rhs.ref;
- // return *this;
- // }
-
- template <typename U>
- auto operator=(U&& rhs) noexcept
- -> typename std::enable_if
- <
- std::is_same<typename std::decay<U>::type, optional<T&>>::value,
- optional&
- >::type
- {
- ref = rhs.ref;
- return *this;
- }
-
- template <typename U>
- auto operator=(U&& rhs) noexcept
- -> typename std::enable_if
- <
- !std::is_same<typename std::decay<U>::type, optional<T&>>::value,
- optional&
- >::type
- = delete;
-
- void emplace(T& v) noexcept {
- ref = detail_::static_addressof(v);
- }
-
- void emplace(T&&) = delete;
-
-
- void swap(optional<T&>& rhs) noexcept
- {
- std::swap(ref, rhs.ref);
- }
-
- // 20.5.5.3, observers
- constexpr T* operator->() const {
- return TR2_OPTIONAL_ASSERTED_EXPRESSION(ref, ref);
- }
-
- constexpr T& operator*() const {
- return TR2_OPTIONAL_ASSERTED_EXPRESSION(ref, *ref);
- }
-
- constexpr T& value() const {
- return ref ? *ref : (throw bad_optional_access("bad optional access"), *ref);
- }
-
- explicit constexpr operator bool() const noexcept {
- return ref != nullptr;
- }
-
- constexpr bool has_value() const noexcept {
- return ref != nullptr;
- }
-
- template <class V>
- constexpr typename std::decay<T>::type value_or(V&& v) const
- {
- return *this ? **this : detail_::convert<typename std::decay<T>::type>(constexpr_forward<V>(v));
- }
-
- // x.x.x.x, modifiers
- void reset() noexcept { ref = nullptr; }
-};
-
-
-template <class T>
-class optional<T&&>
-{
- static_assert( sizeof(T) == 0, "optional rvalue references disallowed" );
-};
-
-
-// 20.5.8, Relational operators
-template <class T> constexpr bool operator==(const optional<T>& x, const optional<T>& y)
-{
- return bool(x) != bool(y) ? false : bool(x) == false ? true : *x == *y;
-}
-
-template <class T> constexpr bool operator!=(const optional<T>& x, const optional<T>& y)
-{
- return !(x == y);
-}
-
-template <class T> constexpr bool operator<(const optional<T>& x, const optional<T>& y)
-{
- return (!y) ? false : (!x) ? true : *x < *y;
-}
-
-template <class T> constexpr bool operator>(const optional<T>& x, const optional<T>& y)
-{
- return (y < x);
-}
-
-template <class T> constexpr bool operator<=(const optional<T>& x, const optional<T>& y)
-{
- return !(y < x);
-}
-
-template <class T> constexpr bool operator>=(const optional<T>& x, const optional<T>& y)
-{
- return !(x < y);
-}
-
-
-// 20.5.9, Comparison with nullopt
-template <class T> constexpr bool operator==(const optional<T>& x, nullopt_t) noexcept
-{
- return (!x);
-}
-
-template <class T> constexpr bool operator==(nullopt_t, const optional<T>& x) noexcept
-{
- return (!x);
-}
-
-template <class T> constexpr bool operator!=(const optional<T>& x, nullopt_t) noexcept
-{
- return bool(x);
-}
-
-template <class T> constexpr bool operator!=(nullopt_t, const optional<T>& x) noexcept
-{
- return bool(x);
-}
-
-template <class T> constexpr bool operator<(const optional<T>&, nullopt_t) noexcept
-{
- return false;
-}
-
-template <class T> constexpr bool operator<(nullopt_t, const optional<T>& x) noexcept
-{
- return bool(x);
-}
-
-template <class T> constexpr bool operator<=(const optional<T>& x, nullopt_t) noexcept
-{
- return (!x);
-}
-
-template <class T> constexpr bool operator<=(nullopt_t, const optional<T>&) noexcept
-{
- return true;
-}
-
-template <class T> constexpr bool operator>(const optional<T>& x, nullopt_t) noexcept
-{
- return bool(x);
-}
-
-template <class T> constexpr bool operator>(nullopt_t, const optional<T>&) noexcept
-{
- return false;
-}
-
-template <class T> constexpr bool operator>=(const optional<T>&, nullopt_t) noexcept
-{
- return true;
-}
-
-template <class T> constexpr bool operator>=(nullopt_t, const optional<T>& x) noexcept
-{
- return (!x);
-}
-
-
-
-// 20.5.10, Comparison with T
-template <class T> constexpr bool operator==(const optional<T>& x, const T& v)
-{
- return bool(x) ? *x == v : false;
-}
-
-template <class T> constexpr bool operator==(const T& v, const optional<T>& x)
-{
- return bool(x) ? v == *x : false;
-}
-
-template <class T> constexpr bool operator!=(const optional<T>& x, const T& v)
-{
- return bool(x) ? *x != v : true;
-}
-
-template <class T> constexpr bool operator!=(const T& v, const optional<T>& x)
-{
- return bool(x) ? v != *x : true;
-}
-
-template <class T> constexpr bool operator<(const optional<T>& x, const T& v)
-{
- return bool(x) ? *x < v : true;
-}
-
-template <class T> constexpr bool operator>(const T& v, const optional<T>& x)
-{
- return bool(x) ? v > *x : true;
-}
-
-template <class T> constexpr bool operator>(const optional<T>& x, const T& v)
-{
- return bool(x) ? *x > v : false;
-}
-
-template <class T> constexpr bool operator<(const T& v, const optional<T>& x)
-{
- return bool(x) ? v < *x : false;
-}
-
-template <class T> constexpr bool operator>=(const optional<T>& x, const T& v)
-{
- return bool(x) ? *x >= v : false;
-}
-
-template <class T> constexpr bool operator<=(const T& v, const optional<T>& x)
-{
- return bool(x) ? v <= *x : false;
-}
-
-template <class T> constexpr bool operator<=(const optional<T>& x, const T& v)
-{
- return bool(x) ? *x <= v : true;
-}
-
-template <class T> constexpr bool operator>=(const T& v, const optional<T>& x)
-{
- return bool(x) ? v >= *x : true;
-}
-
-
-// Comparison of optional<T&> with T
-template <class T> constexpr bool operator==(const optional<T&>& x, const T& v)
-{
- return bool(x) ? *x == v : false;
-}
-
-template <class T> constexpr bool operator==(const T& v, const optional<T&>& x)
-{
- return bool(x) ? v == *x : false;
-}
-
-template <class T> constexpr bool operator!=(const optional<T&>& x, const T& v)
-{
- return bool(x) ? *x != v : true;
-}
-
-template <class T> constexpr bool operator!=(const T& v, const optional<T&>& x)
-{
- return bool(x) ? v != *x : true;
-}
-
-template <class T> constexpr bool operator<(const optional<T&>& x, const T& v)
-{
- return bool(x) ? *x < v : true;
-}
-
-template <class T> constexpr bool operator>(const T& v, const optional<T&>& x)
-{
- return bool(x) ? v > *x : true;
-}
-
-template <class T> constexpr bool operator>(const optional<T&>& x, const T& v)
-{
- return bool(x) ? *x > v : false;
-}
-
-template <class T> constexpr bool operator<(const T& v, const optional<T&>& x)
-{
- return bool(x) ? v < *x : false;
-}
-
-template <class T> constexpr bool operator>=(const optional<T&>& x, const T& v)
-{
- return bool(x) ? *x >= v : false;
-}
-
-template <class T> constexpr bool operator<=(const T& v, const optional<T&>& x)
-{
- return bool(x) ? v <= *x : false;
-}
-
-template <class T> constexpr bool operator<=(const optional<T&>& x, const T& v)
-{
- return bool(x) ? *x <= v : true;
-}
-
-template <class T> constexpr bool operator>=(const T& v, const optional<T&>& x)
-{
- return bool(x) ? v >= *x : true;
-}
-
-// Comparison of optional<T const&> with T
-template <class T> constexpr bool operator==(const optional<const T&>& x, const T& v)
-{
- return bool(x) ? *x == v : false;
-}
-
-template <class T> constexpr bool operator==(const T& v, const optional<const T&>& x)
-{
- return bool(x) ? v == *x : false;
-}
-
-template <class T> constexpr bool operator!=(const optional<const T&>& x, const T& v)
-{
- return bool(x) ? *x != v : true;
-}
-
-template <class T> constexpr bool operator!=(const T& v, const optional<const T&>& x)
-{
- return bool(x) ? v != *x : true;
-}
-
-template <class T> constexpr bool operator<(const optional<const T&>& x, const T& v)
-{
- return bool(x) ? *x < v : true;
-}
-
-template <class T> constexpr bool operator>(const T& v, const optional<const T&>& x)
-{
- return bool(x) ? v > *x : true;
-}
-
-template <class T> constexpr bool operator>(const optional<const T&>& x, const T& v)
-{
- return bool(x) ? *x > v : false;
-}
-
-template <class T> constexpr bool operator<(const T& v, const optional<const T&>& x)
-{
- return bool(x) ? v < *x : false;
-}
-
-template <class T> constexpr bool operator>=(const optional<const T&>& x, const T& v)
-{
- return bool(x) ? *x >= v : false;
-}
-
-template <class T> constexpr bool operator<=(const T& v, const optional<const T&>& x)
-{
- return bool(x) ? v <= *x : false;
-}
-
-template <class T> constexpr bool operator<=(const optional<const T&>& x, const T& v)
-{
- return bool(x) ? *x <= v : true;
-}
-
-template <class T> constexpr bool operator>=(const T& v, const optional<const T&>& x)
-{
- return bool(x) ? v >= *x : true;
-}
-
-
-// 20.5.12, Specialized algorithms
-template <class T>
-void swap(optional<T>& x, optional<T>& y) noexcept(noexcept(x.swap(y)))
-{
- x.swap(y);
-}
-
-
-template <class T>
-constexpr optional<typename std::decay<T>::type> make_optional(T&& v)
-{
- return optional<typename std::decay<T>::type>(constexpr_forward<T>(v));
-}
-
-template <class X>
-constexpr optional<X&> make_optional(std::reference_wrapper<X> v)
-{
- return optional<X&>(v.get());
-}
-
-
-} // namespace wpi
-
-namespace std
-{
- template <typename T>
- struct hash<wpi::optional<T>>
- {
- typedef typename hash<T>::result_type result_type;
- typedef wpi::optional<T> argument_type;
-
- constexpr result_type operator()(argument_type const& arg) const {
- return arg ? std::hash<T>{}(*arg) : result_type{};
- }
- };
-
- template <typename T>
- struct hash<wpi::optional<T&>>
- {
- typedef typename hash<T>::result_type result_type;
- typedef wpi::optional<T&> argument_type;
-
- constexpr result_type operator()(argument_type const& arg) const {
- return arg ? std::hash<T>{}(*arg) : result_type{};
- }
- };
-}
-
-# undef TR2_OPTIONAL_REQUIRES
-# undef TR2_OPTIONAL_ASSERTED_EXPRESSION
-
-# endif //WPIUTIL_WPI_OPTIONAL_H
+#endif // WPIUTIL_WPI_OPTIONAL_H_
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/priority_mutex.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/priority_mutex.h
index 4e23fac..bb16289 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/priority_mutex.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/priority_mutex.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,7 +7,7 @@
#pragma once
-// Allows usage with std::lock_guard without including <mutex> separately
+// Allows usage with std::scoped_lock without including <mutex> separately
#ifdef __linux__
#include <pthread.h>
#endif
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/raw_istream.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/raw_istream.h
index 1e6faf9..7fbbe0b 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/raw_istream.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/raw_istream.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -49,7 +49,7 @@
}
size_t readsome(void* data, size_t len) {
- size_t readlen = std::min(in_avail(), len);
+ size_t readlen = (std::min)(in_avail(), len);
if (readlen == 0) return 0;
read_impl(data, readlen);
return m_read_count;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/raw_ostream.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/raw_ostream.h
index 9e14d6d..bb577fe 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/raw_ostream.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/raw_ostream.h
@@ -34,7 +34,9 @@
namespace sys {
namespace fs {
+enum FileAccess : unsigned;
enum OpenFlags : unsigned;
+enum CreationDisposition : unsigned;
} // end namespace fs
} // end namespace sys
@@ -239,7 +241,7 @@
raw_ostream &write_hex(unsigned long long N);
/// Output \p Str, turning '\\', '\t', '\n', '"', and anything that doesn't
- /// satisfy std::isprint into an escape sequence.
+ /// satisfy wpi::isPrint into an escape sequence.
raw_ostream &write_escaped(StringRef Str, bool UseHexEscapes = false);
raw_ostream &write(unsigned char C);
@@ -389,12 +391,18 @@
int FD;
bool ShouldClose;
+ bool SupportsSeeking;
+
+#ifdef _WIN32
+ /// True if this fd refers to a Windows console device. Mintty and other
+ /// terminal emulators are TTYs, but they are not consoles.
+ bool IsWindowsConsole = false;
+#endif
+
std::error_code EC;
uint64_t pos;
- bool SupportsSeeking;
-
/// See raw_ostream::write_impl.
void write_impl(const char *Ptr, size_t Size) override;
@@ -419,15 +427,22 @@
/// \p Flags allows optional flags to control how the file will be opened.
///
/// As a special case, if Filename is "-", then the stream will use
- /// STDOUT_FILENO instead of opening a file. Note that it will still consider
- /// itself to own the file descriptor. In particular, it will close the
- /// file descriptor when it is done (this is necessary to detect
- /// output errors).
+ /// STDOUT_FILENO instead of opening a file. This will not close the stdout
+ /// descriptor.
+ raw_fd_ostream(StringRef Filename, std::error_code &EC);
raw_fd_ostream(StringRef Filename, std::error_code &EC,
+ sys::fs::CreationDisposition Disp);
+ raw_fd_ostream(StringRef Filename, std::error_code &EC,
+ sys::fs::FileAccess Access);
+ raw_fd_ostream(StringRef Filename, std::error_code &EC,
+ sys::fs::OpenFlags Flags);
+ raw_fd_ostream(StringRef Filename, std::error_code &EC,
+ sys::fs::CreationDisposition Disp, sys::fs::FileAccess Access,
sys::fs::OpenFlags Flags);
/// FD is the file descriptor that this writes to. If ShouldClose is true,
- /// this closes the file when the stream is destroyed.
+ /// this closes the file when the stream is destroyed. If FD is for stdout or
+ /// stderr, it will not be closed.
raw_fd_ostream(int fd, bool shouldClose, bool unbuffered=false);
~raw_fd_ostream() override;
@@ -653,6 +668,8 @@
raw_ostream &OS;
SmallVector<char, 0> Buffer;
+ virtual void anchor() override;
+
public:
buffer_ostream(raw_ostream &OS) : raw_svector_ostream(Buffer), OS(OS) {}
~buffer_ostream() override { OS << str(); }
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/Async.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/Async.h
index 3ea3e5d..2da870d 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/Async.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/Async.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -16,7 +16,6 @@
#include <utility>
#include <vector>
-#include "wpi/STLExtras.h"
#include "wpi/Signal.h"
#include "wpi/mutex.h"
#include "wpi/uv/Handle.h"
@@ -69,8 +68,8 @@
int err =
uv_async_init(loop->GetRaw(), h->GetRaw(), [](uv_async_t* handle) {
auto& h = *static_cast<Async*>(handle->data);
- std::lock_guard<wpi::mutex> lock(h.m_mutex);
- for (auto&& v : h.m_data) apply_tuple(h.wakeup, v);
+ std::scoped_lock lock(h.m_mutex);
+ for (auto&& v : h.m_data) std::apply(h.wakeup, v);
h.m_data.clear();
});
if (err < 0) {
@@ -97,7 +96,7 @@
}
{
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
m_data.emplace_back(std::forward_as_tuple(std::forward<U>(u)...));
}
if (loop) this->Invoke(&uv_async_send, this->GetRaw());
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/AsyncFunction.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/AsyncFunction.h
index 6430856..4510b84 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/AsyncFunction.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/AsyncFunction.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -18,7 +18,6 @@
#include <utility>
#include <vector>
-#include "wpi/STLExtras.h"
#include "wpi/future.h"
#include "wpi/mutex.h"
#include "wpi/uv/Handle.h"
@@ -82,7 +81,7 @@
int err =
uv_async_init(loop->GetRaw(), h->GetRaw(), [](uv_async_t* handle) {
auto& h = *static_cast<AsyncFunction*>(handle->data);
- std::unique_lock<wpi::mutex> lock(h.m_mutex);
+ std::unique_lock lock(h.m_mutex);
if (!h.m_params.empty()) {
// for each set of parameters in the input queue, call the wakeup
@@ -91,9 +90,9 @@
for (auto&& v : h.m_params) {
auto p = h.m_promises.CreatePromise(v.first);
if (h.wakeup)
- apply_tuple(h.wakeup,
- std::tuple_cat(std::make_tuple(std::move(p)),
- std::move(v.second)));
+ std::apply(h.wakeup,
+ std::tuple_cat(std::make_tuple(std::move(p)),
+ std::move(v.second)));
}
h.m_params.clear();
// wake up any threads that might be waiting for the result
@@ -133,7 +132,7 @@
// add the parameters to the input queue
{
- std::lock_guard<wpi::mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
m_params.emplace_back(std::piecewise_construct,
std::forward_as_tuple(req),
std::forward_as_tuple(std::forward<U>(u)...));
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/Buffer.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/Buffer.h
index b500c0f..51acd76 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/Buffer.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/Buffer.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -40,11 +40,11 @@
: Buffer{reinterpret_cast<const char*>(arr.data()), arr.size()} {}
Buffer(char* base_, size_t len_) {
base = base_;
- len = len_;
+ len = static_cast<decltype(len)>(len_);
}
Buffer(const char* base_, size_t len_) {
base = const_cast<char*>(base_);
- len = len_;
+ len = static_cast<decltype(len)>(len_);
}
ArrayRef<char> data() const { return ArrayRef<char>{base, len}; }
@@ -108,6 +108,9 @@
*/
explicit SimpleBufferPool(size_t size = 4096) : m_size{size} {}
+ SimpleBufferPool(const SimpleBufferPool& other) = delete;
+ SimpleBufferPool& operator=(const SimpleBufferPool& other) = delete;
+
/**
* Allocate a buffer.
*/
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/Handle.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/Handle.h
index 046c155..9d91d37 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/Handle.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/Handle.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -120,6 +120,29 @@
void Close() noexcept;
/**
+ * Set if the loop is closing.
+ *
+ * This is set during EventLoopRunner.Stop(), and can be used for other cases
+ * to indicate the loop should be closing. For instance for a uv_walk loop can
+ * use this to close existing handles.
+ *
+ * @param loopClosing true to set the loop currently in closing stages.
+ */
+ void SetLoopClosing(bool loopClosing) noexcept {
+ m_loopClosing = loopClosing;
+ }
+
+ /**
+ * Get the loop closing status.
+ *
+ * This can be used from closed() in order to tell if a closing loop is the
+ * reason for the close, or another reason.
+ *
+ * @return true if the loop is closing, otherwise false.
+ */
+ bool IsLoopClosing() const noexcept { return m_loopClosing; }
+
+ /**
* Reference the given handle.
*
* References are idempotent, that is, if a handle is already referenced
@@ -212,7 +235,7 @@
* Report an error.
* @param err Error code
*/
- void ReportError(int err) { error(Error(err)); }
+ void ReportError(int err) const { error(Error(err)); }
protected:
explicit Handle(uv_handle_t* uv_handle) : m_uv_handle{uv_handle} {
@@ -227,7 +250,7 @@
static void DefaultFreeBuf(Buffer& buf);
template <typename F, typename... Args>
- bool Invoke(F&& f, Args&&... args) {
+ bool Invoke(F&& f, Args&&... args) const {
auto err = std::forward<F>(f)(std::forward<Args>(args)...);
if (err < 0) ReportError(err);
return err == 0;
@@ -237,6 +260,7 @@
std::shared_ptr<Handle> m_self;
uv_handle_t* m_uv_handle;
bool m_closed = false;
+ bool m_loopClosing = false;
std::function<Buffer(size_t)> m_allocBuf{&Buffer::Allocate};
std::function<void(Buffer&)> m_freeBuf{&DefaultFreeBuf};
std::shared_ptr<void> m_data;
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/Pipe.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/Pipe.h
index 304ccbb..72fc23b 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/Pipe.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/Pipe.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/Process.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/Process.h
index e3a2ec3..47d09df 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/Process.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/Process.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -10,6 +10,7 @@
#include <uv.h>
+#include <initializer_list>
#include <memory>
#include <string>
@@ -243,6 +244,11 @@
static std::shared_ptr<Process> SpawnArray(Loop& loop, const Twine& file,
ArrayRef<Option> options);
+ static std::shared_ptr<Process> SpawnArray(
+ Loop& loop, const Twine& file, std::initializer_list<Option> options) {
+ return SpawnArray(loop, file, makeArrayRef(options.begin(), options.end()));
+ }
+
template <typename... Args>
static std::shared_ptr<Process> Spawn(Loop& loop, const Twine& file,
const Args&... options) {
@@ -268,6 +274,12 @@
return SpawnArray(*loop, file, options);
}
+ static std::shared_ptr<Process> SpawnArray(
+ const std::shared_ptr<Loop>& loop, const Twine& file,
+ std::initializer_list<Option> options) {
+ return SpawnArray(*loop, file, options);
+ }
+
template <typename... Args>
static std::shared_ptr<Process> Spawn(const std::shared_ptr<Loop>& loop,
const Twine& file,
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/Stream.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/Stream.h
index 28e2ef7..be8120d 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/Stream.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/Stream.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -11,6 +11,7 @@
#include <uv.h>
#include <functional>
+#include <initializer_list>
#include <memory>
#include "wpi/ArrayRef.h"
@@ -135,6 +136,27 @@
*
* Data are written in order. The lifetime of the data pointers passed in
* the `bufs` parameter must exceed the lifetime of the write request.
+ * An easy way to ensure this is to have the write request keep track of
+ * the data and use either its Complete() function or destructor to free the
+ * data.
+ *
+ * The finish signal will be emitted on the request object when the data
+ * has been written (or if an error occurs).
+ * The error signal will be emitted on the request object in case of errors.
+ *
+ * @param bufs The buffers to be written to the stream.
+ * @param req write request
+ */
+ void Write(std::initializer_list<Buffer> bufs,
+ const std::shared_ptr<WriteReq>& req) {
+ Write(makeArrayRef(bufs.begin(), bufs.end()), req);
+ }
+
+ /**
+ * Write data to the stream.
+ *
+ * Data are written in order. The lifetime of the data pointers passed in
+ * the `bufs` parameter must exceed the lifetime of the write request.
* The callback can be used to free data after the request completes.
*
* The callback will be called when the data has been written (even if an
@@ -147,6 +169,24 @@
std::function<void(MutableArrayRef<Buffer>, Error)> callback);
/**
+ * Write data to the stream.
+ *
+ * Data are written in order. The lifetime of the data pointers passed in
+ * the `bufs` parameter must exceed the lifetime of the write request.
+ * The callback can be used to free data after the request completes.
+ *
+ * The callback will be called when the data has been written (even if an
+ * error occurred). Errors will be reported to the stream error handler.
+ *
+ * @param bufs The buffers to be written to the stream.
+ * @param callback Callback function to call when the write completes
+ */
+ void Write(std::initializer_list<Buffer> bufs,
+ std::function<void(MutableArrayRef<Buffer>, Error)> callback) {
+ Write(makeArrayRef(bufs.begin(), bufs.end()), callback);
+ }
+
+ /**
* Queue a write request if it can be completed immediately.
*
* Same as `Write()`, but won’t queue a write request if it can’t be
@@ -159,6 +199,20 @@
int TryWrite(ArrayRef<Buffer> bufs);
/**
+ * Queue a write request if it can be completed immediately.
+ *
+ * Same as `Write()`, but won’t queue a write request if it can’t be
+ * completed immediately.
+ * An error signal will be emitted in case of errors.
+ *
+ * @param bufs The buffers to be written to the stream.
+ * @return Number of bytes written.
+ */
+ int TryWrite(std::initializer_list<Buffer> bufs) {
+ return TryWrite(makeArrayRef(bufs.begin(), bufs.end()));
+ }
+
+ /**
* Check if the stream is readable.
* @return True if the stream is readable, false otherwise.
*/
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/Tcp.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/Tcp.h
index 067c0fd..56c2b8f 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/Tcp.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/Tcp.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -130,7 +130,8 @@
* @return True in case of success, false otherwise.
*/
bool SetKeepAlive(bool enable, Time time = Time{0}) {
- return uv_tcp_keepalive(GetRaw(), enable, time.count()) == 0;
+ return uv_tcp_keepalive(GetRaw(), enable,
+ static_cast<unsigned>(time.count())) == 0;
}
/**
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/Udp.h b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/Udp.h
index 7ceb0bb..2544c50 100644
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/Udp.h
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/include/wpi/uv/Udp.h
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -116,6 +116,49 @@
void Bind6(const Twine& ip, unsigned int port, unsigned int flags = 0);
/**
+ * Associate the handle to a remote address and port, so every message sent
+ * by this handle is automatically sent to that destination.
+ *
+ * @param addr Initialized `sockaddr_in` or `sockaddr_in6` data structure.
+ */
+ void Connect(const sockaddr& addr) {
+ Invoke(&uv_udp_connect, GetRaw(), &addr);
+ }
+
+ void Connect(const sockaddr_in& addr) {
+ Connect(reinterpret_cast<const sockaddr&>(addr));
+ }
+
+ void Connect(const sockaddr_in6& addr) {
+ Connect(reinterpret_cast<const sockaddr&>(addr));
+ }
+
+ /**
+ * Associate the handle to an IPv4 address and port, so every message sent
+ * by this handle is automatically sent to that destination.
+ *
+ * @param ip The address to which to bind.
+ * @param port The port to which to bind.
+ */
+ void Connect(const Twine& ip, unsigned int port);
+
+ /**
+ * Associate the handle to an IPv6 address and port, so every message sent
+ * by this handle is automatically sent to that destination.
+ *
+ * @param ip The address to which to bind.
+ * @param port The port to which to bind.
+ * @param flags Optional additional flags.
+ */
+ void Connect6(const Twine& ip, unsigned int port);
+
+ /**
+ * Get the remote IP and port on connected UDP handles.
+ * @return The address (will be zeroed if an error occurred).
+ */
+ sockaddr_storage GetPeer();
+
+ /**
* Get the current address to which the handle is bound.
* @return The address (will be zeroed if an error occurred).
*/
@@ -205,6 +248,15 @@
}
/**
+ * Variant of Send() for connected sockets. Cannot be used with
+ * connectionless sockets.
+ *
+ * @param bufs The buffers to be written to the stream.
+ * @param req write request
+ */
+ void Send(ArrayRef<Buffer> bufs, const std::shared_ptr<UdpSendReq>& req);
+
+ /**
* Send data over the UDP socket. If the socket has not previously been bound
* with Bind() it will be bound to 0.0.0.0 (the "all interfaces" IPv4 address)
* and a random port number.
@@ -235,6 +287,16 @@
}
/**
+ * Variant of Send() for connected sockets. Cannot be used with
+ * connectionless sockets.
+ *
+ * @param bufs The buffers to be written to the stream.
+ * @param callback Callback function to call when the data has been sent.
+ */
+ void Send(ArrayRef<Buffer> bufs,
+ std::function<void(MutableArrayRef<Buffer>, Error)> callback);
+
+ /**
* Same as Send(), but won't queue a send request if it can't be completed
* immediately.
*
@@ -244,7 +306,8 @@
* @return Number of bytes sent.
*/
int TrySend(const sockaddr& addr, ArrayRef<Buffer> bufs) {
- int val = uv_udp_try_send(GetRaw(), bufs.data(), bufs.size(), &addr);
+ int val = uv_udp_try_send(GetRaw(), bufs.data(),
+ static_cast<unsigned>(bufs.size()), &addr);
if (val < 0) {
this->ReportError(val);
return 0;
@@ -261,6 +324,23 @@
}
/**
+ * Variant of TrySend() for connected sockets. Cannot be used with
+ * connectionless sockets.
+ *
+ * @param bufs The buffers to be written to the stream.
+ * @return Number of bytes sent.
+ */
+ int TrySend(ArrayRef<Buffer> bufs) {
+ int val = uv_udp_try_send(GetRaw(), bufs.data(),
+ static_cast<unsigned>(bufs.size()), nullptr);
+ if (val < 0) {
+ this->ReportError(val);
+ return 0;
+ }
+ return val;
+ }
+
+ /**
* Prepare for receiving data. If the socket has not previously been bound
* with Bind() it is bound to 0.0.0.0 (the "all interfaces" IPv4 address) and
* a random port number.
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/fs-poll.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/fs-poll.cpp
deleted file mode 100644
index 61cc737..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/fs-poll.cpp
+++ /dev/null
@@ -1,256 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include "uv.h"
-#include "uv-common.h"
-
-#include <assert.h>
-#include <stdlib.h>
-#include <string.h>
-
-struct poll_ctx {
- uv_fs_poll_t* parent_handle; /* NULL if parent has been stopped or closed */
- int busy_polling;
- unsigned int interval;
- uint64_t start_time;
- uv_loop_t* loop;
- uv_fs_poll_cb poll_cb;
- uv_timer_t timer_handle;
- uv_fs_t fs_req; /* TODO(bnoordhuis) mark fs_req internal */
- uv_stat_t statbuf;
- char path[1]; /* variable length */
-};
-
-static int statbuf_eq(const uv_stat_t* a, const uv_stat_t* b);
-static void poll_cb(uv_fs_t* req);
-static void timer_cb(uv_timer_t* timer);
-static void timer_close_cb(uv_handle_t* handle);
-
-static uv_stat_t zero_statbuf;
-
-
-int uv_fs_poll_init(uv_loop_t* loop, uv_fs_poll_t* handle) {
- uv__handle_init(loop, (uv_handle_t*)handle, UV_FS_POLL);
- return 0;
-}
-
-
-int uv_fs_poll_start(uv_fs_poll_t* handle,
- uv_fs_poll_cb cb,
- const char* path,
- unsigned int interval) {
- struct poll_ctx* ctx;
- uv_loop_t* loop;
- size_t len;
- int err;
-
- if (uv__is_active(handle))
- return 0;
-
- loop = handle->loop;
- len = strlen(path);
- ctx = (struct poll_ctx*)uv__calloc(1, sizeof(*ctx) + len);
-
- if (ctx == NULL)
- return UV_ENOMEM;
-
- ctx->loop = loop;
- ctx->poll_cb = cb;
- ctx->interval = interval ? interval : 1;
- ctx->start_time = uv_now(loop);
- ctx->parent_handle = handle;
- memcpy(ctx->path, path, len + 1);
-
- err = uv_timer_init(loop, &ctx->timer_handle);
- if (err < 0)
- goto error;
-
- ctx->timer_handle.flags |= UV__HANDLE_INTERNAL;
- uv__handle_unref(&ctx->timer_handle);
-
- err = uv_fs_stat(loop, &ctx->fs_req, ctx->path, poll_cb);
- if (err < 0)
- goto error;
-
- handle->poll_ctx = ctx;
- uv__handle_start(handle);
-
- return 0;
-
-error:
- uv__free(ctx);
- return err;
-}
-
-
-int uv_fs_poll_stop(uv_fs_poll_t* handle) {
- struct poll_ctx* ctx;
-
- if (!uv__is_active(handle))
- return 0;
-
- ctx = (struct poll_ctx*)handle->poll_ctx;
- assert(ctx != NULL);
- assert(ctx->parent_handle != NULL);
- ctx->parent_handle = NULL;
- handle->poll_ctx = NULL;
-
- /* Close the timer if it's active. If it's inactive, there's a stat request
- * in progress and poll_cb will take care of the cleanup.
- */
- if (uv__is_active(&ctx->timer_handle))
- uv_close((uv_handle_t*)&ctx->timer_handle, timer_close_cb);
-
- uv__handle_stop(handle);
-
- return 0;
-}
-
-
-int uv_fs_poll_getpath(uv_fs_poll_t* handle, char* buffer, size_t* size) {
- struct poll_ctx* ctx;
- size_t required_len;
-
- if (!uv__is_active(handle)) {
- *size = 0;
- return UV_EINVAL;
- }
-
- ctx = (struct poll_ctx*)handle->poll_ctx;
- assert(ctx != NULL);
-
- required_len = strlen(ctx->path);
- if (required_len >= *size) {
- *size = required_len + 1;
- return UV_ENOBUFS;
- }
-
- memcpy(buffer, ctx->path, required_len);
- *size = required_len;
- buffer[required_len] = '\0';
-
- return 0;
-}
-
-
-void uv__fs_poll_close(uv_fs_poll_t* handle) {
- uv_fs_poll_stop(handle);
-}
-
-
-static void timer_cb(uv_timer_t* timer) {
- struct poll_ctx* ctx;
-
- ctx = container_of(timer, struct poll_ctx, timer_handle);
- assert(ctx->parent_handle != NULL);
- assert(ctx->parent_handle->poll_ctx == ctx);
- ctx->start_time = uv_now(ctx->loop);
-
- if (uv_fs_stat(ctx->loop, &ctx->fs_req, ctx->path, poll_cb))
- abort();
-}
-
-
-static void poll_cb(uv_fs_t* req) {
- uv_stat_t* statbuf;
- struct poll_ctx* ctx;
- uint64_t interval;
-
- ctx = container_of(req, struct poll_ctx, fs_req);
-
- if (ctx->parent_handle == NULL) { /* handle has been stopped or closed */
- uv_close((uv_handle_t*)&ctx->timer_handle, timer_close_cb);
- uv_fs_req_cleanup(req);
- return;
- }
-
- if (req->result != 0) {
- if (ctx->busy_polling != req->result) {
- ctx->poll_cb(ctx->parent_handle,
- req->result,
- &ctx->statbuf,
- &zero_statbuf);
- ctx->busy_polling = req->result;
- }
- goto out;
- }
-
- statbuf = &req->statbuf;
-
- if (ctx->busy_polling != 0)
- if (ctx->busy_polling < 0 || !statbuf_eq(&ctx->statbuf, statbuf))
- ctx->poll_cb(ctx->parent_handle, 0, &ctx->statbuf, statbuf);
-
- ctx->statbuf = *statbuf;
- ctx->busy_polling = 1;
-
-out:
- uv_fs_req_cleanup(req);
-
- if (ctx->parent_handle == NULL) { /* handle has been stopped by callback */
- uv_close((uv_handle_t*)&ctx->timer_handle, timer_close_cb);
- return;
- }
-
- /* Reschedule timer, subtract the delay from doing the stat(). */
- interval = ctx->interval;
- interval -= (uv_now(ctx->loop) - ctx->start_time) % interval;
-
- if (uv_timer_start(&ctx->timer_handle, timer_cb, interval, 0))
- abort();
-}
-
-
-static void timer_close_cb(uv_handle_t* handle) {
- uv__free(container_of(handle, struct poll_ctx, timer_handle));
-}
-
-
-static int statbuf_eq(const uv_stat_t* a, const uv_stat_t* b) {
- return a->st_ctim.tv_nsec == b->st_ctim.tv_nsec
- && a->st_mtim.tv_nsec == b->st_mtim.tv_nsec
- && a->st_birthtim.tv_nsec == b->st_birthtim.tv_nsec
- && a->st_ctim.tv_sec == b->st_ctim.tv_sec
- && a->st_mtim.tv_sec == b->st_mtim.tv_sec
- && a->st_birthtim.tv_sec == b->st_birthtim.tv_sec
- && a->st_size == b->st_size
- && a->st_mode == b->st_mode
- && a->st_uid == b->st_uid
- && a->st_gid == b->st_gid
- && a->st_ino == b->st_ino
- && a->st_dev == b->st_dev
- && a->st_flags == b->st_flags
- && a->st_gen == b->st_gen;
-}
-
-
-#if defined(_WIN32)
-
-#include "win/internal.h"
-#include "win/handle-inl.h"
-
-void uv__fs_poll_endgame(uv_loop_t* loop, uv_fs_poll_t* handle) {
- assert(handle->flags & UV__HANDLE_CLOSING);
- assert(!(handle->flags & UV_HANDLE_CLOSED));
- uv__handle_close(handle);
-}
-
-#endif /* _WIN32 */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/include/uv.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/include/uv.h
new file mode 100644
index 0000000..ccf62c8
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/include/uv.h
@@ -0,0 +1,1683 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+/* See https://github.com/libuv/libuv#documentation for documentation. */
+
+#ifndef UV_H
+#define UV_H
+
+#ifdef _WIN32
+ /* Windows - set up dll import/export decorators. */
+# if defined(BUILDING_UV_SHARED)
+ /* Building shared library. */
+# define UV_EXTERN __declspec(dllexport)
+# elif defined(USING_UV_SHARED)
+ /* Using shared library. */
+# define UV_EXTERN __declspec(dllimport)
+# else
+ /* Building static library. */
+# define UV_EXTERN /* nothing */
+# endif
+#elif __GNUC__ >= 4
+# define UV_EXTERN __attribute__((visibility("default")))
+#else
+# define UV_EXTERN /* nothing */
+#endif
+
+#include "uv/errno.h"
+#include "uv/version.h"
+#include <stddef.h>
+#include <stdio.h>
+
+#include <stdint.h>
+
+#if defined(_WIN32)
+# include "uv/win.h"
+#else
+# include "uv/unix.h"
+#endif
+
+/* Expand this list if necessary. */
+#define UV_ERRNO_MAP(XX) \
+ XX(E2BIG, "argument list too long") \
+ XX(EACCES, "permission denied") \
+ XX(EADDRINUSE, "address already in use") \
+ XX(EADDRNOTAVAIL, "address not available") \
+ XX(EAFNOSUPPORT, "address family not supported") \
+ XX(EAGAIN, "resource temporarily unavailable") \
+ XX(EAI_ADDRFAMILY, "address family not supported") \
+ XX(EAI_AGAIN, "temporary failure") \
+ XX(EAI_BADFLAGS, "bad ai_flags value") \
+ XX(EAI_BADHINTS, "invalid value for hints") \
+ XX(EAI_CANCELED, "request canceled") \
+ XX(EAI_FAIL, "permanent failure") \
+ XX(EAI_FAMILY, "ai_family not supported") \
+ XX(EAI_MEMORY, "out of memory") \
+ XX(EAI_NODATA, "no address") \
+ XX(EAI_NONAME, "unknown node or service") \
+ XX(EAI_OVERFLOW, "argument buffer overflow") \
+ XX(EAI_PROTOCOL, "resolved protocol is unknown") \
+ XX(EAI_SERVICE, "service not available for socket type") \
+ XX(EAI_SOCKTYPE, "socket type not supported") \
+ XX(EALREADY, "connection already in progress") \
+ XX(EBADF, "bad file descriptor") \
+ XX(EBUSY, "resource busy or locked") \
+ XX(ECANCELED, "operation canceled") \
+ XX(ECHARSET, "invalid Unicode character") \
+ XX(ECONNABORTED, "software caused connection abort") \
+ XX(ECONNREFUSED, "connection refused") \
+ XX(ECONNRESET, "connection reset by peer") \
+ XX(EDESTADDRREQ, "destination address required") \
+ XX(EEXIST, "file already exists") \
+ XX(EFAULT, "bad address in system call argument") \
+ XX(EFBIG, "file too large") \
+ XX(EHOSTUNREACH, "host is unreachable") \
+ XX(EINTR, "interrupted system call") \
+ XX(EINVAL, "invalid argument") \
+ XX(EIO, "i/o error") \
+ XX(EISCONN, "socket is already connected") \
+ XX(EISDIR, "illegal operation on a directory") \
+ XX(ELOOP, "too many symbolic links encountered") \
+ XX(EMFILE, "too many open files") \
+ XX(EMSGSIZE, "message too long") \
+ XX(ENAMETOOLONG, "name too long") \
+ XX(ENETDOWN, "network is down") \
+ XX(ENETUNREACH, "network is unreachable") \
+ XX(ENFILE, "file table overflow") \
+ XX(ENOBUFS, "no buffer space available") \
+ XX(ENODEV, "no such device") \
+ XX(ENOENT, "no such file or directory") \
+ XX(ENOMEM, "not enough memory") \
+ XX(ENONET, "machine is not on the network") \
+ XX(ENOPROTOOPT, "protocol not available") \
+ XX(ENOSPC, "no space left on device") \
+ XX(ENOSYS, "function not implemented") \
+ XX(ENOTCONN, "socket is not connected") \
+ XX(ENOTDIR, "not a directory") \
+ XX(ENOTEMPTY, "directory not empty") \
+ XX(ENOTSOCK, "socket operation on non-socket") \
+ XX(ENOTSUP, "operation not supported on socket") \
+ XX(EPERM, "operation not permitted") \
+ XX(EPIPE, "broken pipe") \
+ XX(EPROTO, "protocol error") \
+ XX(EPROTONOSUPPORT, "protocol not supported") \
+ XX(EPROTOTYPE, "protocol wrong type for socket") \
+ XX(ERANGE, "result too large") \
+ XX(EROFS, "read-only file system") \
+ XX(ESHUTDOWN, "cannot send after transport endpoint shutdown") \
+ XX(ESPIPE, "invalid seek") \
+ XX(ESRCH, "no such process") \
+ XX(ETIMEDOUT, "connection timed out") \
+ XX(ETXTBSY, "text file is busy") \
+ XX(EXDEV, "cross-device link not permitted") \
+ XX(UNKNOWN, "unknown error") \
+ XX(EOF, "end of file") \
+ XX(ENXIO, "no such device or address") \
+ XX(EMLINK, "too many links") \
+ XX(EHOSTDOWN, "host is down") \
+ XX(EREMOTEIO, "remote I/O error") \
+ XX(ENOTTY, "inappropriate ioctl for device") \
+ XX(EFTYPE, "inappropriate file type or format") \
+
+#define UV_HANDLE_TYPE_MAP(XX) \
+ XX(ASYNC, async) \
+ XX(CHECK, check) \
+ XX(FS_EVENT, fs_event) \
+ XX(FS_POLL, fs_poll) \
+ XX(HANDLE, handle) \
+ XX(IDLE, idle) \
+ XX(NAMED_PIPE, pipe) \
+ XX(POLL, poll) \
+ XX(PREPARE, prepare) \
+ XX(PROCESS, process) \
+ XX(STREAM, stream) \
+ XX(TCP, tcp) \
+ XX(TIMER, timer) \
+ XX(TTY, tty) \
+ XX(UDP, udp) \
+ XX(SIGNAL, signal) \
+
+#define UV_REQ_TYPE_MAP(XX) \
+ XX(REQ, req) \
+ XX(CONNECT, connect) \
+ XX(WRITE, write) \
+ XX(SHUTDOWN, shutdown) \
+ XX(UDP_SEND, udp_send) \
+ XX(FS, fs) \
+ XX(WORK, work) \
+ XX(GETADDRINFO, getaddrinfo) \
+ XX(GETNAMEINFO, getnameinfo) \
+
+typedef enum {
+#define XX(code, _) UV_ ## code = UV__ ## code,
+ UV_ERRNO_MAP(XX)
+#undef XX
+ UV_ERRNO_MAX = UV__EOF - 1
+} uv_errno_t;
+
+typedef enum {
+ UV_UNKNOWN_HANDLE = 0,
+#define XX(uc, lc) UV_##uc,
+ UV_HANDLE_TYPE_MAP(XX)
+#undef XX
+ UV_FILE,
+ UV_HANDLE_TYPE_MAX
+} uv_handle_type;
+
+typedef enum {
+ UV_UNKNOWN_REQ = 0,
+#define XX(uc, lc) UV_##uc,
+ UV_REQ_TYPE_MAP(XX)
+#undef XX
+ UV_REQ_TYPE_PRIVATE
+ UV_REQ_TYPE_MAX
+} uv_req_type;
+
+
+/* Handle types. */
+typedef struct uv_loop_s uv_loop_t;
+typedef struct uv_handle_s uv_handle_t;
+typedef struct uv_dir_s uv_dir_t;
+typedef struct uv_stream_s uv_stream_t;
+typedef struct uv_tcp_s uv_tcp_t;
+typedef struct uv_udp_s uv_udp_t;
+typedef struct uv_pipe_s uv_pipe_t;
+typedef struct uv_tty_s uv_tty_t;
+typedef struct uv_poll_s uv_poll_t;
+typedef struct uv_timer_s uv_timer_t;
+typedef struct uv_prepare_s uv_prepare_t;
+typedef struct uv_check_s uv_check_t;
+typedef struct uv_idle_s uv_idle_t;
+typedef struct uv_async_s uv_async_t;
+typedef struct uv_process_s uv_process_t;
+typedef struct uv_fs_event_s uv_fs_event_t;
+typedef struct uv_fs_poll_s uv_fs_poll_t;
+typedef struct uv_signal_s uv_signal_t;
+
+/* Request types. */
+typedef struct uv_req_s uv_req_t;
+typedef struct uv_getaddrinfo_s uv_getaddrinfo_t;
+typedef struct uv_getnameinfo_s uv_getnameinfo_t;
+typedef struct uv_shutdown_s uv_shutdown_t;
+typedef struct uv_write_s uv_write_t;
+typedef struct uv_connect_s uv_connect_t;
+typedef struct uv_udp_send_s uv_udp_send_t;
+typedef struct uv_fs_s uv_fs_t;
+typedef struct uv_work_s uv_work_t;
+
+/* None of the above. */
+typedef struct uv_cpu_info_s uv_cpu_info_t;
+typedef struct uv_interface_address_s uv_interface_address_t;
+typedef struct uv_dirent_s uv_dirent_t;
+typedef struct uv_passwd_s uv_passwd_t;
+typedef struct uv_utsname_s uv_utsname_t;
+
+typedef enum {
+ UV_LOOP_BLOCK_SIGNAL
+} uv_loop_option;
+
+typedef enum {
+ UV_RUN_DEFAULT = 0,
+ UV_RUN_ONCE,
+ UV_RUN_NOWAIT
+} uv_run_mode;
+
+
+UV_EXTERN unsigned int uv_version(void);
+UV_EXTERN const char* uv_version_string(void);
+
+typedef void* (*uv_malloc_func)(size_t size);
+typedef void* (*uv_realloc_func)(void* ptr, size_t size);
+typedef void* (*uv_calloc_func)(size_t count, size_t size);
+typedef void (*uv_free_func)(void* ptr);
+
+UV_EXTERN int uv_replace_allocator(uv_malloc_func malloc_func,
+ uv_realloc_func realloc_func,
+ uv_calloc_func calloc_func,
+ uv_free_func free_func);
+
+UV_EXTERN uv_loop_t* uv_default_loop(void);
+UV_EXTERN int uv_loop_init(uv_loop_t* loop);
+UV_EXTERN int uv_loop_close(uv_loop_t* loop);
+/*
+ * NOTE:
+ * This function is DEPRECATED (to be removed after 0.12), users should
+ * allocate the loop manually and use uv_loop_init instead.
+ */
+UV_EXTERN uv_loop_t* uv_loop_new(void);
+/*
+ * NOTE:
+ * This function is DEPRECATED (to be removed after 0.12). Users should use
+ * uv_loop_close and free the memory manually instead.
+ */
+UV_EXTERN void uv_loop_delete(uv_loop_t*);
+UV_EXTERN size_t uv_loop_size(void);
+UV_EXTERN int uv_loop_alive(const uv_loop_t* loop);
+UV_EXTERN int uv_loop_configure(uv_loop_t* loop, uv_loop_option option, ...);
+UV_EXTERN int uv_loop_fork(uv_loop_t* loop);
+
+UV_EXTERN int uv_run(uv_loop_t*, uv_run_mode mode);
+UV_EXTERN void uv_stop(uv_loop_t*);
+
+UV_EXTERN void uv_ref(uv_handle_t*);
+UV_EXTERN void uv_unref(uv_handle_t*);
+UV_EXTERN int uv_has_ref(const uv_handle_t*);
+
+UV_EXTERN void uv_update_time(uv_loop_t*);
+UV_EXTERN uint64_t uv_now(const uv_loop_t*);
+
+UV_EXTERN int uv_backend_fd(const uv_loop_t*);
+UV_EXTERN int uv_backend_timeout(const uv_loop_t*);
+
+typedef void (*uv_alloc_cb)(uv_handle_t* handle,
+ size_t suggested_size,
+ uv_buf_t* buf);
+typedef void (*uv_read_cb)(uv_stream_t* stream,
+ ssize_t nread,
+ const uv_buf_t* buf);
+typedef void (*uv_write_cb)(uv_write_t* req, int status);
+typedef void (*uv_connect_cb)(uv_connect_t* req, int status);
+typedef void (*uv_shutdown_cb)(uv_shutdown_t* req, int status);
+typedef void (*uv_connection_cb)(uv_stream_t* server, int status);
+typedef void (*uv_close_cb)(uv_handle_t* handle);
+typedef void (*uv_poll_cb)(uv_poll_t* handle, int status, int events);
+typedef void (*uv_timer_cb)(uv_timer_t* handle);
+typedef void (*uv_async_cb)(uv_async_t* handle);
+typedef void (*uv_prepare_cb)(uv_prepare_t* handle);
+typedef void (*uv_check_cb)(uv_check_t* handle);
+typedef void (*uv_idle_cb)(uv_idle_t* handle);
+typedef void (*uv_exit_cb)(uv_process_t*, int64_t exit_status, int term_signal);
+typedef void (*uv_walk_cb)(uv_handle_t* handle, void* arg);
+typedef void (*uv_fs_cb)(uv_fs_t* req);
+typedef void (*uv_work_cb)(uv_work_t* req);
+typedef void (*uv_after_work_cb)(uv_work_t* req, int status);
+typedef void (*uv_getaddrinfo_cb)(uv_getaddrinfo_t* req,
+ int status,
+ struct addrinfo* res);
+typedef void (*uv_getnameinfo_cb)(uv_getnameinfo_t* req,
+ int status,
+ const char* hostname,
+ const char* service);
+
+typedef struct {
+ long tv_sec;
+ long tv_nsec;
+} uv_timespec_t;
+
+
+typedef struct {
+ uint64_t st_dev;
+ uint64_t st_mode;
+ uint64_t st_nlink;
+ uint64_t st_uid;
+ uint64_t st_gid;
+ uint64_t st_rdev;
+ uint64_t st_ino;
+ uint64_t st_size;
+ uint64_t st_blksize;
+ uint64_t st_blocks;
+ uint64_t st_flags;
+ uint64_t st_gen;
+ uv_timespec_t st_atim;
+ uv_timespec_t st_mtim;
+ uv_timespec_t st_ctim;
+ uv_timespec_t st_birthtim;
+} uv_stat_t;
+
+
+typedef void (*uv_fs_event_cb)(uv_fs_event_t* handle,
+ const char* filename,
+ int events,
+ int status);
+
+typedef void (*uv_fs_poll_cb)(uv_fs_poll_t* handle,
+ int status,
+ const uv_stat_t* prev,
+ const uv_stat_t* curr);
+
+typedef void (*uv_signal_cb)(uv_signal_t* handle, int signum);
+
+
+typedef enum {
+ UV_LEAVE_GROUP = 0,
+ UV_JOIN_GROUP
+} uv_membership;
+
+
+UV_EXTERN int uv_translate_sys_error(int sys_errno);
+
+UV_EXTERN const char* uv_strerror(int err);
+UV_EXTERN char* uv_strerror_r(int err, char* buf, size_t buflen);
+
+UV_EXTERN const char* uv_err_name(int err);
+UV_EXTERN char* uv_err_name_r(int err, char* buf, size_t buflen);
+
+
+#define UV_REQ_FIELDS \
+ /* public */ \
+ void* data; \
+ /* read-only */ \
+ uv_req_type type; \
+ /* private */ \
+ void* reserved[6]; \
+ UV_REQ_PRIVATE_FIELDS \
+
+/* Abstract base class of all requests. */
+struct uv_req_s {
+ UV_REQ_FIELDS
+};
+
+
+/* Platform-specific request types. */
+UV_PRIVATE_REQ_TYPES
+
+
+UV_EXTERN int uv_shutdown(uv_shutdown_t* req,
+ uv_stream_t* handle,
+ uv_shutdown_cb cb);
+
+struct uv_shutdown_s {
+ UV_REQ_FIELDS
+ uv_stream_t* handle;
+ uv_shutdown_cb cb;
+ UV_SHUTDOWN_PRIVATE_FIELDS
+};
+
+
+#define UV_HANDLE_FIELDS \
+ /* public */ \
+ void* data; \
+ /* read-only */ \
+ uv_loop_t* loop; \
+ uv_handle_type type; \
+ /* private */ \
+ uv_close_cb close_cb; \
+ void* handle_queue[2]; \
+ union { \
+ int fd; \
+ void* reserved[4]; \
+ } u; \
+ UV_HANDLE_PRIVATE_FIELDS \
+
+/* The abstract base class of all handles. */
+struct uv_handle_s {
+ UV_HANDLE_FIELDS
+};
+
+UV_EXTERN size_t uv_handle_size(uv_handle_type type);
+UV_EXTERN uv_handle_type uv_handle_get_type(const uv_handle_t* handle);
+UV_EXTERN const char* uv_handle_type_name(uv_handle_type type);
+UV_EXTERN void* uv_handle_get_data(const uv_handle_t* handle);
+UV_EXTERN uv_loop_t* uv_handle_get_loop(const uv_handle_t* handle);
+UV_EXTERN void uv_handle_set_data(uv_handle_t* handle, void* data);
+
+UV_EXTERN size_t uv_req_size(uv_req_type type);
+UV_EXTERN void* uv_req_get_data(const uv_req_t* req);
+UV_EXTERN void uv_req_set_data(uv_req_t* req, void* data);
+UV_EXTERN uv_req_type uv_req_get_type(const uv_req_t* req);
+UV_EXTERN const char* uv_req_type_name(uv_req_type type);
+
+UV_EXTERN int uv_is_active(const uv_handle_t* handle);
+
+UV_EXTERN void uv_walk(uv_loop_t* loop, uv_walk_cb walk_cb, void* arg);
+
+/* Helpers for ad hoc debugging, no API/ABI stability guaranteed. */
+UV_EXTERN void uv_print_all_handles(uv_loop_t* loop, FILE* stream);
+UV_EXTERN void uv_print_active_handles(uv_loop_t* loop, FILE* stream);
+
+UV_EXTERN void uv_close(uv_handle_t* handle, uv_close_cb close_cb);
+
+UV_EXTERN int uv_send_buffer_size(uv_handle_t* handle, int* value);
+UV_EXTERN int uv_recv_buffer_size(uv_handle_t* handle, int* value);
+
+UV_EXTERN int uv_fileno(const uv_handle_t* handle, uv_os_fd_t* fd);
+
+UV_EXTERN uv_buf_t uv_buf_init(char* base, unsigned int len);
+
+
+#define UV_STREAM_FIELDS \
+ /* number of bytes queued for writing */ \
+ size_t write_queue_size; \
+ uv_alloc_cb alloc_cb; \
+ uv_read_cb read_cb; \
+ /* private */ \
+ UV_STREAM_PRIVATE_FIELDS
+
+/*
+ * uv_stream_t is a subclass of uv_handle_t.
+ *
+ * uv_stream is an abstract class.
+ *
+ * uv_stream_t is the parent class of uv_tcp_t, uv_pipe_t and uv_tty_t.
+ */
+struct uv_stream_s {
+ UV_HANDLE_FIELDS
+ UV_STREAM_FIELDS
+};
+
+UV_EXTERN size_t uv_stream_get_write_queue_size(const uv_stream_t* stream);
+
+UV_EXTERN int uv_listen(uv_stream_t* stream, int backlog, uv_connection_cb cb);
+UV_EXTERN int uv_accept(uv_stream_t* server, uv_stream_t* client);
+
+UV_EXTERN int uv_read_start(uv_stream_t*,
+ uv_alloc_cb alloc_cb,
+ uv_read_cb read_cb);
+UV_EXTERN int uv_read_stop(uv_stream_t*);
+
+UV_EXTERN int uv_write(uv_write_t* req,
+ uv_stream_t* handle,
+ const uv_buf_t bufs[],
+ unsigned int nbufs,
+ uv_write_cb cb);
+UV_EXTERN int uv_write2(uv_write_t* req,
+ uv_stream_t* handle,
+ const uv_buf_t bufs[],
+ unsigned int nbufs,
+ uv_stream_t* send_handle,
+ uv_write_cb cb);
+UV_EXTERN int uv_try_write(uv_stream_t* handle,
+ const uv_buf_t bufs[],
+ unsigned int nbufs);
+
+/* uv_write_t is a subclass of uv_req_t. */
+struct uv_write_s {
+ UV_REQ_FIELDS
+ uv_write_cb cb;
+ uv_stream_t* send_handle; /* TODO: make private and unix-only in v2.x. */
+ uv_stream_t* handle;
+ UV_WRITE_PRIVATE_FIELDS
+};
+
+
+UV_EXTERN int uv_is_readable(const uv_stream_t* handle);
+UV_EXTERN int uv_is_writable(const uv_stream_t* handle);
+
+UV_EXTERN int uv_stream_set_blocking(uv_stream_t* handle, int blocking);
+
+UV_EXTERN int uv_is_closing(const uv_handle_t* handle);
+
+
+/*
+ * uv_tcp_t is a subclass of uv_stream_t.
+ *
+ * Represents a TCP stream or TCP server.
+ */
+struct uv_tcp_s {
+ UV_HANDLE_FIELDS
+ UV_STREAM_FIELDS
+ UV_TCP_PRIVATE_FIELDS
+};
+
+UV_EXTERN int uv_tcp_init(uv_loop_t*, uv_tcp_t* handle);
+UV_EXTERN int uv_tcp_init_ex(uv_loop_t*, uv_tcp_t* handle, unsigned int flags);
+UV_EXTERN int uv_tcp_open(uv_tcp_t* handle, uv_os_sock_t sock);
+UV_EXTERN int uv_tcp_nodelay(uv_tcp_t* handle, int enable);
+UV_EXTERN int uv_tcp_keepalive(uv_tcp_t* handle,
+ int enable,
+ unsigned int delay);
+UV_EXTERN int uv_tcp_simultaneous_accepts(uv_tcp_t* handle, int enable);
+
+enum uv_tcp_flags {
+ /* Used with uv_tcp_bind, when an IPv6 address is used. */
+ UV_TCP_IPV6ONLY = 1
+};
+
+UV_EXTERN int uv_tcp_bind(uv_tcp_t* handle,
+ const struct sockaddr* addr,
+ unsigned int flags);
+UV_EXTERN int uv_tcp_getsockname(const uv_tcp_t* handle,
+ struct sockaddr* name,
+ int* namelen);
+UV_EXTERN int uv_tcp_getpeername(const uv_tcp_t* handle,
+ struct sockaddr* name,
+ int* namelen);
+UV_EXTERN int uv_tcp_connect(uv_connect_t* req,
+ uv_tcp_t* handle,
+ const struct sockaddr* addr,
+ uv_connect_cb cb);
+
+/* uv_connect_t is a subclass of uv_req_t. */
+struct uv_connect_s {
+ UV_REQ_FIELDS
+ uv_connect_cb cb;
+ uv_stream_t* handle;
+ UV_CONNECT_PRIVATE_FIELDS
+};
+
+
+/*
+ * UDP support.
+ */
+
+enum uv_udp_flags {
+ /* Disables dual stack mode. */
+ UV_UDP_IPV6ONLY = 1,
+ /*
+ * Indicates message was truncated because read buffer was too small. The
+ * remainder was discarded by the OS. Used in uv_udp_recv_cb.
+ */
+ UV_UDP_PARTIAL = 2,
+ /*
+ * Indicates if SO_REUSEADDR will be set when binding the handle.
+ * This sets the SO_REUSEPORT socket flag on the BSDs and OS X. On other
+ * Unix platforms, it sets the SO_REUSEADDR flag. What that means is that
+ * multiple threads or processes can bind to the same address without error
+ * (provided they all set the flag) but only the last one to bind will receive
+ * any traffic, in effect "stealing" the port from the previous listener.
+ */
+ UV_UDP_REUSEADDR = 4
+};
+
+typedef void (*uv_udp_send_cb)(uv_udp_send_t* req, int status);
+typedef void (*uv_udp_recv_cb)(uv_udp_t* handle,
+ ssize_t nread,
+ const uv_buf_t* buf,
+ const struct sockaddr* addr,
+ unsigned flags);
+
+/* uv_udp_t is a subclass of uv_handle_t. */
+struct uv_udp_s {
+ UV_HANDLE_FIELDS
+ /* read-only */
+ /*
+ * Number of bytes queued for sending. This field strictly shows how much
+ * information is currently queued.
+ */
+ size_t send_queue_size;
+ /*
+ * Number of send requests currently in the queue awaiting to be processed.
+ */
+ size_t send_queue_count;
+ UV_UDP_PRIVATE_FIELDS
+};
+
+/* uv_udp_send_t is a subclass of uv_req_t. */
+struct uv_udp_send_s {
+ UV_REQ_FIELDS
+ uv_udp_t* handle;
+ uv_udp_send_cb cb;
+ UV_UDP_SEND_PRIVATE_FIELDS
+};
+
+UV_EXTERN int uv_udp_init(uv_loop_t*, uv_udp_t* handle);
+UV_EXTERN int uv_udp_init_ex(uv_loop_t*, uv_udp_t* handle, unsigned int flags);
+UV_EXTERN int uv_udp_open(uv_udp_t* handle, uv_os_sock_t sock);
+UV_EXTERN int uv_udp_bind(uv_udp_t* handle,
+ const struct sockaddr* addr,
+ unsigned int flags);
+UV_EXTERN int uv_udp_connect(uv_udp_t* handle, const struct sockaddr* addr);
+
+UV_EXTERN int uv_udp_getpeername(const uv_udp_t* handle,
+ struct sockaddr* name,
+ int* namelen);
+UV_EXTERN int uv_udp_getsockname(const uv_udp_t* handle,
+ struct sockaddr* name,
+ int* namelen);
+UV_EXTERN int uv_udp_set_membership(uv_udp_t* handle,
+ const char* multicast_addr,
+ const char* interface_addr,
+ uv_membership membership);
+UV_EXTERN int uv_udp_set_multicast_loop(uv_udp_t* handle, int on);
+UV_EXTERN int uv_udp_set_multicast_ttl(uv_udp_t* handle, int ttl);
+UV_EXTERN int uv_udp_set_multicast_interface(uv_udp_t* handle,
+ const char* interface_addr);
+UV_EXTERN int uv_udp_set_broadcast(uv_udp_t* handle, int on);
+UV_EXTERN int uv_udp_set_ttl(uv_udp_t* handle, int ttl);
+UV_EXTERN int uv_udp_send(uv_udp_send_t* req,
+ uv_udp_t* handle,
+ const uv_buf_t bufs[],
+ unsigned int nbufs,
+ const struct sockaddr* addr,
+ uv_udp_send_cb send_cb);
+UV_EXTERN int uv_udp_try_send(uv_udp_t* handle,
+ const uv_buf_t bufs[],
+ unsigned int nbufs,
+ const struct sockaddr* addr);
+UV_EXTERN int uv_udp_recv_start(uv_udp_t* handle,
+ uv_alloc_cb alloc_cb,
+ uv_udp_recv_cb recv_cb);
+UV_EXTERN int uv_udp_recv_stop(uv_udp_t* handle);
+UV_EXTERN size_t uv_udp_get_send_queue_size(const uv_udp_t* handle);
+UV_EXTERN size_t uv_udp_get_send_queue_count(const uv_udp_t* handle);
+
+
+/*
+ * uv_tty_t is a subclass of uv_stream_t.
+ *
+ * Representing a stream for the console.
+ */
+struct uv_tty_s {
+ UV_HANDLE_FIELDS
+ UV_STREAM_FIELDS
+ UV_TTY_PRIVATE_FIELDS
+};
+
+typedef enum {
+ /* Initial/normal terminal mode */
+ UV_TTY_MODE_NORMAL,
+ /* Raw input mode (On Windows, ENABLE_WINDOW_INPUT is also enabled) */
+ UV_TTY_MODE_RAW,
+ /* Binary-safe I/O mode for IPC (Unix-only) */
+ UV_TTY_MODE_IO
+} uv_tty_mode_t;
+
+UV_EXTERN int uv_tty_init(uv_loop_t*, uv_tty_t*, uv_file fd, int readable);
+UV_EXTERN int uv_tty_set_mode(uv_tty_t*, uv_tty_mode_t mode);
+UV_EXTERN int uv_tty_reset_mode(void);
+UV_EXTERN int uv_tty_get_winsize(uv_tty_t*, int* width, int* height);
+
+inline int uv_tty_set_mode(uv_tty_t* handle, int mode) {
+ return uv_tty_set_mode(handle, static_cast<uv_tty_mode_t>(mode));
+}
+
+UV_EXTERN uv_handle_type uv_guess_handle(uv_file file);
+
+/*
+ * uv_pipe_t is a subclass of uv_stream_t.
+ *
+ * Representing a pipe stream or pipe server. On Windows this is a Named
+ * Pipe. On Unix this is a Unix domain socket.
+ */
+struct uv_pipe_s {
+ UV_HANDLE_FIELDS
+ UV_STREAM_FIELDS
+ int ipc; /* non-zero if this pipe is used for passing handles */
+ UV_PIPE_PRIVATE_FIELDS
+};
+
+UV_EXTERN int uv_pipe_init(uv_loop_t*, uv_pipe_t* handle, int ipc);
+UV_EXTERN int uv_pipe_open(uv_pipe_t*, uv_file file);
+UV_EXTERN int uv_pipe_bind(uv_pipe_t* handle, const char* name);
+UV_EXTERN void uv_pipe_connect(uv_connect_t* req,
+ uv_pipe_t* handle,
+ const char* name,
+ uv_connect_cb cb);
+UV_EXTERN int uv_pipe_getsockname(const uv_pipe_t* handle,
+ char* buffer,
+ size_t* size);
+UV_EXTERN int uv_pipe_getpeername(const uv_pipe_t* handle,
+ char* buffer,
+ size_t* size);
+UV_EXTERN void uv_pipe_pending_instances(uv_pipe_t* handle, int count);
+UV_EXTERN int uv_pipe_pending_count(uv_pipe_t* handle);
+UV_EXTERN uv_handle_type uv_pipe_pending_type(uv_pipe_t* handle);
+UV_EXTERN int uv_pipe_chmod(uv_pipe_t* handle, int flags);
+
+
+struct uv_poll_s {
+ UV_HANDLE_FIELDS
+ uv_poll_cb poll_cb;
+ UV_POLL_PRIVATE_FIELDS
+};
+
+enum uv_poll_event {
+ UV_READABLE = 1,
+ UV_WRITABLE = 2,
+ UV_DISCONNECT = 4,
+ UV_PRIORITIZED = 8
+};
+
+UV_EXTERN int uv_poll_init(uv_loop_t* loop, uv_poll_t* handle, int fd);
+UV_EXTERN int uv_poll_init_socket(uv_loop_t* loop,
+ uv_poll_t* handle,
+ uv_os_sock_t socket);
+UV_EXTERN int uv_poll_start(uv_poll_t* handle, int events, uv_poll_cb cb);
+UV_EXTERN int uv_poll_stop(uv_poll_t* handle);
+
+
+struct uv_prepare_s {
+ UV_HANDLE_FIELDS
+ UV_PREPARE_PRIVATE_FIELDS
+};
+
+UV_EXTERN int uv_prepare_init(uv_loop_t*, uv_prepare_t* prepare);
+UV_EXTERN int uv_prepare_start(uv_prepare_t* prepare, uv_prepare_cb cb);
+UV_EXTERN int uv_prepare_stop(uv_prepare_t* prepare);
+
+
+struct uv_check_s {
+ UV_HANDLE_FIELDS
+ UV_CHECK_PRIVATE_FIELDS
+};
+
+UV_EXTERN int uv_check_init(uv_loop_t*, uv_check_t* check);
+UV_EXTERN int uv_check_start(uv_check_t* check, uv_check_cb cb);
+UV_EXTERN int uv_check_stop(uv_check_t* check);
+
+
+struct uv_idle_s {
+ UV_HANDLE_FIELDS
+ UV_IDLE_PRIVATE_FIELDS
+};
+
+UV_EXTERN int uv_idle_init(uv_loop_t*, uv_idle_t* idle);
+UV_EXTERN int uv_idle_start(uv_idle_t* idle, uv_idle_cb cb);
+UV_EXTERN int uv_idle_stop(uv_idle_t* idle);
+
+
+struct uv_async_s {
+ UV_HANDLE_FIELDS
+ UV_ASYNC_PRIVATE_FIELDS
+};
+
+UV_EXTERN int uv_async_init(uv_loop_t*,
+ uv_async_t* async,
+ uv_async_cb async_cb);
+UV_EXTERN int uv_async_send(uv_async_t* async);
+
+
+/*
+ * uv_timer_t is a subclass of uv_handle_t.
+ *
+ * Used to get woken up at a specified time in the future.
+ */
+struct uv_timer_s {
+ UV_HANDLE_FIELDS
+ UV_TIMER_PRIVATE_FIELDS
+};
+
+UV_EXTERN int uv_timer_init(uv_loop_t*, uv_timer_t* handle);
+UV_EXTERN int uv_timer_start(uv_timer_t* handle,
+ uv_timer_cb cb,
+ uint64_t timeout,
+ uint64_t repeat);
+UV_EXTERN int uv_timer_stop(uv_timer_t* handle);
+UV_EXTERN int uv_timer_again(uv_timer_t* handle);
+UV_EXTERN void uv_timer_set_repeat(uv_timer_t* handle, uint64_t repeat);
+UV_EXTERN uint64_t uv_timer_get_repeat(const uv_timer_t* handle);
+
+
+/*
+ * uv_getaddrinfo_t is a subclass of uv_req_t.
+ *
+ * Request object for uv_getaddrinfo.
+ */
+struct uv_getaddrinfo_s {
+ UV_REQ_FIELDS
+ /* read-only */
+ uv_loop_t* loop;
+ /* struct addrinfo* addrinfo is marked as private, but it really isn't. */
+ UV_GETADDRINFO_PRIVATE_FIELDS
+};
+
+
+UV_EXTERN int uv_getaddrinfo(uv_loop_t* loop,
+ uv_getaddrinfo_t* req,
+ uv_getaddrinfo_cb getaddrinfo_cb,
+ const char* node,
+ const char* service,
+ const struct addrinfo* hints);
+UV_EXTERN void uv_freeaddrinfo(struct addrinfo* ai);
+
+
+/*
+* uv_getnameinfo_t is a subclass of uv_req_t.
+*
+* Request object for uv_getnameinfo.
+*/
+struct uv_getnameinfo_s {
+ UV_REQ_FIELDS
+ /* read-only */
+ uv_loop_t* loop;
+ /* host and service are marked as private, but they really aren't. */
+ UV_GETNAMEINFO_PRIVATE_FIELDS
+};
+
+UV_EXTERN int uv_getnameinfo(uv_loop_t* loop,
+ uv_getnameinfo_t* req,
+ uv_getnameinfo_cb getnameinfo_cb,
+ const struct sockaddr* addr,
+ int flags);
+
+
+/* uv_spawn() options. */
+typedef enum {
+ UV_IGNORE = 0x00,
+ UV_CREATE_PIPE = 0x01,
+ UV_INHERIT_FD = 0x02,
+ UV_INHERIT_STREAM = 0x04,
+
+ /*
+ * When UV_CREATE_PIPE is specified, UV_READABLE_PIPE and UV_WRITABLE_PIPE
+ * determine the direction of flow, from the child process' perspective. Both
+ * flags may be specified to create a duplex data stream.
+ */
+ UV_READABLE_PIPE = 0x10,
+ UV_WRITABLE_PIPE = 0x20,
+
+ /*
+ * Open the child pipe handle in overlapped mode on Windows.
+ * On Unix it is silently ignored.
+ */
+ UV_OVERLAPPED_PIPE = 0x40
+} uv_stdio_flags;
+
+typedef struct uv_stdio_container_s {
+ uv_stdio_flags flags;
+
+ union {
+ uv_stream_t* stream;
+ int fd;
+ } data;
+} uv_stdio_container_t;
+
+typedef struct uv_process_options_s {
+ uv_exit_cb exit_cb; /* Called after the process exits. */
+ const char* file; /* Path to program to execute. */
+ /*
+ * Command line arguments. args[0] should be the path to the program. On
+ * Windows this uses CreateProcess which concatenates the arguments into a
+ * string this can cause some strange errors. See the note at
+ * windows_verbatim_arguments.
+ */
+ char** args;
+ /*
+ * This will be set as the environ variable in the subprocess. If this is
+ * NULL then the parents environ will be used.
+ */
+ char** env;
+ /*
+ * If non-null this represents a directory the subprocess should execute
+ * in. Stands for current working directory.
+ */
+ const char* cwd;
+ /*
+ * Various flags that control how uv_spawn() behaves. See the definition of
+ * `enum uv_process_flags` below.
+ */
+ unsigned int flags;
+ /*
+ * The `stdio` field points to an array of uv_stdio_container_t structs that
+ * describe the file descriptors that will be made available to the child
+ * process. The convention is that stdio[0] points to stdin, fd 1 is used for
+ * stdout, and fd 2 is stderr.
+ *
+ * Note that on windows file descriptors greater than 2 are available to the
+ * child process only if the child processes uses the MSVCRT runtime.
+ */
+ int stdio_count;
+ uv_stdio_container_t* stdio;
+ /*
+ * Libuv can change the child process' user/group id. This happens only when
+ * the appropriate bits are set in the flags fields. This is not supported on
+ * windows; uv_spawn() will fail and set the error to UV_ENOTSUP.
+ */
+ uv_uid_t uid;
+ uv_gid_t gid;
+} uv_process_options_t;
+
+/*
+ * These are the flags that can be used for the uv_process_options.flags field.
+ */
+enum uv_process_flags {
+ /*
+ * Set the child process' user id. The user id is supplied in the `uid` field
+ * of the options struct. This does not work on windows; setting this flag
+ * will cause uv_spawn() to fail.
+ */
+ UV_PROCESS_SETUID = (1 << 0),
+ /*
+ * Set the child process' group id. The user id is supplied in the `gid`
+ * field of the options struct. This does not work on windows; setting this
+ * flag will cause uv_spawn() to fail.
+ */
+ UV_PROCESS_SETGID = (1 << 1),
+ /*
+ * Do not wrap any arguments in quotes, or perform any other escaping, when
+ * converting the argument list into a command line string. This option is
+ * only meaningful on Windows systems. On Unix it is silently ignored.
+ */
+ UV_PROCESS_WINDOWS_VERBATIM_ARGUMENTS = (1 << 2),
+ /*
+ * Spawn the child process in a detached state - this will make it a process
+ * group leader, and will effectively enable the child to keep running after
+ * the parent exits. Note that the child process will still keep the
+ * parent's event loop alive unless the parent process calls uv_unref() on
+ * the child's process handle.
+ */
+ UV_PROCESS_DETACHED = (1 << 3),
+ /*
+ * Hide the subprocess window that would normally be created. This option is
+ * only meaningful on Windows systems. On Unix it is silently ignored.
+ */
+ UV_PROCESS_WINDOWS_HIDE = (1 << 4),
+ /*
+ * Hide the subprocess console window that would normally be created. This
+ * option is only meaningful on Windows systems. On Unix it is silently
+ * ignored.
+ */
+ UV_PROCESS_WINDOWS_HIDE_CONSOLE = (1 << 5),
+ /*
+ * Hide the subprocess GUI window that would normally be created. This
+ * option is only meaningful on Windows systems. On Unix it is silently
+ * ignored.
+ */
+ UV_PROCESS_WINDOWS_HIDE_GUI = (1 << 6)
+};
+
+/*
+ * uv_process_t is a subclass of uv_handle_t.
+ */
+struct uv_process_s {
+ UV_HANDLE_FIELDS
+ uv_exit_cb exit_cb;
+ int pid;
+ UV_PROCESS_PRIVATE_FIELDS
+};
+
+UV_EXTERN int uv_spawn(uv_loop_t* loop,
+ uv_process_t* handle,
+ const uv_process_options_t* options);
+UV_EXTERN int uv_process_kill(uv_process_t*, int signum);
+UV_EXTERN int uv_kill(int pid, int signum);
+UV_EXTERN uv_pid_t uv_process_get_pid(const uv_process_t*);
+
+
+/*
+ * uv_work_t is a subclass of uv_req_t.
+ */
+struct uv_work_s {
+ UV_REQ_FIELDS
+ uv_loop_t* loop;
+ uv_work_cb work_cb;
+ uv_after_work_cb after_work_cb;
+ UV_WORK_PRIVATE_FIELDS
+};
+
+UV_EXTERN int uv_queue_work(uv_loop_t* loop,
+ uv_work_t* req,
+ uv_work_cb work_cb,
+ uv_after_work_cb after_work_cb);
+
+UV_EXTERN int uv_cancel(uv_req_t* req);
+
+
+struct uv_cpu_times_s {
+ uint64_t user;
+ uint64_t nice;
+ uint64_t sys;
+ uint64_t idle;
+ uint64_t irq;
+};
+
+struct uv_cpu_info_s {
+ char* model;
+ int speed;
+ struct uv_cpu_times_s cpu_times;
+};
+
+struct uv_interface_address_s {
+ char* name;
+ char phys_addr[6];
+ int is_internal;
+ union {
+ struct sockaddr_in address4;
+ struct sockaddr_in6 address6;
+ } address;
+ union {
+ struct sockaddr_in netmask4;
+ struct sockaddr_in6 netmask6;
+ } netmask;
+};
+
+struct uv_passwd_s {
+ char* username;
+ long uid;
+ long gid;
+ char* shell;
+ char* homedir;
+};
+
+struct uv_utsname_s {
+ char sysname[256];
+ char release[256];
+ char version[256];
+ char machine[256];
+ /* This struct does not contain the nodename and domainname fields present in
+ the utsname type. domainname is a GNU extension. Both fields are referred
+ to as meaningless in the docs. */
+};
+
+typedef enum {
+ UV_DIRENT_UNKNOWN,
+ UV_DIRENT_FILE,
+ UV_DIRENT_DIR,
+ UV_DIRENT_LINK,
+ UV_DIRENT_FIFO,
+ UV_DIRENT_SOCKET,
+ UV_DIRENT_CHAR,
+ UV_DIRENT_BLOCK
+} uv_dirent_type_t;
+
+struct uv_dirent_s {
+ const char* name;
+ uv_dirent_type_t type;
+};
+
+UV_EXTERN char** uv_setup_args(int argc, char** argv);
+UV_EXTERN int uv_get_process_title(char* buffer, size_t size);
+UV_EXTERN int uv_set_process_title(const char* title);
+UV_EXTERN int uv_resident_set_memory(size_t* rss);
+UV_EXTERN int uv_uptime(double* uptime);
+UV_EXTERN uv_os_fd_t uv_get_osfhandle(int fd);
+UV_EXTERN int uv_open_osfhandle(uv_os_fd_t os_fd);
+
+typedef struct {
+ long tv_sec;
+ long tv_usec;
+} uv_timeval_t;
+
+typedef struct {
+ int64_t tv_sec;
+ int32_t tv_usec;
+} uv_timeval64_t;
+
+typedef struct {
+ uv_timeval_t ru_utime; /* user CPU time used */
+ uv_timeval_t ru_stime; /* system CPU time used */
+ uint64_t ru_maxrss; /* maximum resident set size */
+ uint64_t ru_ixrss; /* integral shared memory size */
+ uint64_t ru_idrss; /* integral unshared data size */
+ uint64_t ru_isrss; /* integral unshared stack size */
+ uint64_t ru_minflt; /* page reclaims (soft page faults) */
+ uint64_t ru_majflt; /* page faults (hard page faults) */
+ uint64_t ru_nswap; /* swaps */
+ uint64_t ru_inblock; /* block input operations */
+ uint64_t ru_oublock; /* block output operations */
+ uint64_t ru_msgsnd; /* IPC messages sent */
+ uint64_t ru_msgrcv; /* IPC messages received */
+ uint64_t ru_nsignals; /* signals received */
+ uint64_t ru_nvcsw; /* voluntary context switches */
+ uint64_t ru_nivcsw; /* involuntary context switches */
+} uv_rusage_t;
+
+UV_EXTERN int uv_getrusage(uv_rusage_t* rusage);
+
+UV_EXTERN int uv_os_homedir(char* buffer, size_t* size);
+UV_EXTERN int uv_os_tmpdir(char* buffer, size_t* size);
+UV_EXTERN int uv_os_get_passwd(uv_passwd_t* pwd);
+UV_EXTERN void uv_os_free_passwd(uv_passwd_t* pwd);
+UV_EXTERN uv_pid_t uv_os_getpid(void);
+UV_EXTERN uv_pid_t uv_os_getppid(void);
+
+#define UV_PRIORITY_LOW 19
+#define UV_PRIORITY_BELOW_NORMAL 10
+#define UV_PRIORITY_NORMAL 0
+#define UV_PRIORITY_ABOVE_NORMAL -7
+#define UV_PRIORITY_HIGH -14
+#define UV_PRIORITY_HIGHEST -20
+
+UV_EXTERN int uv_os_getpriority(uv_pid_t pid, int* priority);
+UV_EXTERN int uv_os_setpriority(uv_pid_t pid, int priority);
+
+UV_EXTERN int uv_cpu_info(uv_cpu_info_t** cpu_infos, int* count);
+UV_EXTERN void uv_free_cpu_info(uv_cpu_info_t* cpu_infos, int count);
+
+UV_EXTERN int uv_interface_addresses(uv_interface_address_t** addresses,
+ int* count);
+UV_EXTERN void uv_free_interface_addresses(uv_interface_address_t* addresses,
+ int count);
+
+UV_EXTERN int uv_os_getenv(const char* name, char* buffer, size_t* size);
+UV_EXTERN int uv_os_setenv(const char* name, const char* value);
+UV_EXTERN int uv_os_unsetenv(const char* name);
+
+#ifdef MAXHOSTNAMELEN
+# define UV_MAXHOSTNAMESIZE (MAXHOSTNAMELEN + 1)
+#else
+ /*
+ Fallback for the maximum hostname size, including the null terminator. The
+ Windows gethostname() documentation states that 256 bytes will always be
+ large enough to hold the null-terminated hostname.
+ */
+# define UV_MAXHOSTNAMESIZE 256
+#endif
+
+UV_EXTERN int uv_os_gethostname(char* buffer, size_t* size);
+
+UV_EXTERN int uv_os_uname(uv_utsname_t* buffer);
+
+
+typedef enum {
+ UV_FS_UNKNOWN = -1,
+ UV_FS_CUSTOM,
+ UV_FS_OPEN,
+ UV_FS_CLOSE,
+ UV_FS_READ,
+ UV_FS_WRITE,
+ UV_FS_SENDFILE,
+ UV_FS_STAT,
+ UV_FS_LSTAT,
+ UV_FS_FSTAT,
+ UV_FS_FTRUNCATE,
+ UV_FS_UTIME,
+ UV_FS_FUTIME,
+ UV_FS_ACCESS,
+ UV_FS_CHMOD,
+ UV_FS_FCHMOD,
+ UV_FS_FSYNC,
+ UV_FS_FDATASYNC,
+ UV_FS_UNLINK,
+ UV_FS_RMDIR,
+ UV_FS_MKDIR,
+ UV_FS_MKDTEMP,
+ UV_FS_RENAME,
+ UV_FS_SCANDIR,
+ UV_FS_LINK,
+ UV_FS_SYMLINK,
+ UV_FS_READLINK,
+ UV_FS_CHOWN,
+ UV_FS_FCHOWN,
+ UV_FS_REALPATH,
+ UV_FS_COPYFILE,
+ UV_FS_LCHOWN,
+ UV_FS_OPENDIR,
+ UV_FS_READDIR,
+ UV_FS_CLOSEDIR
+} uv_fs_type;
+
+struct uv_dir_s {
+ uv_dirent_t* dirents;
+ size_t nentries;
+ void* reserved[4];
+ UV_DIR_PRIVATE_FIELDS
+};
+
+/* uv_fs_t is a subclass of uv_req_t. */
+struct uv_fs_s {
+ UV_REQ_FIELDS
+ uv_fs_type fs_type;
+ uv_loop_t* loop;
+ uv_fs_cb cb;
+ ssize_t result;
+ void* ptr;
+ const char* path;
+ uv_stat_t statbuf; /* Stores the result of uv_fs_stat() and uv_fs_fstat(). */
+ UV_FS_PRIVATE_FIELDS
+};
+
+UV_EXTERN uv_fs_type uv_fs_get_type(const uv_fs_t*);
+UV_EXTERN ssize_t uv_fs_get_result(const uv_fs_t*);
+UV_EXTERN void* uv_fs_get_ptr(const uv_fs_t*);
+UV_EXTERN const char* uv_fs_get_path(const uv_fs_t*);
+UV_EXTERN uv_stat_t* uv_fs_get_statbuf(uv_fs_t*);
+
+UV_EXTERN void uv_fs_req_cleanup(uv_fs_t* req);
+UV_EXTERN int uv_fs_close(uv_loop_t* loop,
+ uv_fs_t* req,
+ uv_file file,
+ uv_fs_cb cb);
+UV_EXTERN int uv_fs_open(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ int flags,
+ int mode,
+ uv_fs_cb cb);
+UV_EXTERN int uv_fs_read(uv_loop_t* loop,
+ uv_fs_t* req,
+ uv_file file,
+ const uv_buf_t bufs[],
+ unsigned int nbufs,
+ int64_t offset,
+ uv_fs_cb cb);
+UV_EXTERN int uv_fs_unlink(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ uv_fs_cb cb);
+UV_EXTERN int uv_fs_write(uv_loop_t* loop,
+ uv_fs_t* req,
+ uv_file file,
+ const uv_buf_t bufs[],
+ unsigned int nbufs,
+ int64_t offset,
+ uv_fs_cb cb);
+/*
+ * This flag can be used with uv_fs_copyfile() to return an error if the
+ * destination already exists.
+ */
+#define UV_FS_COPYFILE_EXCL 0x0001
+
+/*
+ * This flag can be used with uv_fs_copyfile() to attempt to create a reflink.
+ * If copy-on-write is not supported, a fallback copy mechanism is used.
+ */
+#define UV_FS_COPYFILE_FICLONE 0x0002
+
+/*
+ * This flag can be used with uv_fs_copyfile() to attempt to create a reflink.
+ * If copy-on-write is not supported, an error is returned.
+ */
+#define UV_FS_COPYFILE_FICLONE_FORCE 0x0004
+
+UV_EXTERN int uv_fs_copyfile(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ const char* new_path,
+ int flags,
+ uv_fs_cb cb);
+UV_EXTERN int uv_fs_mkdir(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ int mode,
+ uv_fs_cb cb);
+UV_EXTERN int uv_fs_mkdtemp(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* tpl,
+ uv_fs_cb cb);
+UV_EXTERN int uv_fs_rmdir(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ uv_fs_cb cb);
+UV_EXTERN int uv_fs_scandir(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ int flags,
+ uv_fs_cb cb);
+UV_EXTERN int uv_fs_scandir_next(uv_fs_t* req,
+ uv_dirent_t* ent);
+UV_EXTERN int uv_fs_opendir(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ uv_fs_cb cb);
+UV_EXTERN int uv_fs_readdir(uv_loop_t* loop,
+ uv_fs_t* req,
+ uv_dir_t* dir,
+ uv_fs_cb cb);
+UV_EXTERN int uv_fs_closedir(uv_loop_t* loop,
+ uv_fs_t* req,
+ uv_dir_t* dir,
+ uv_fs_cb cb);
+UV_EXTERN int uv_fs_stat(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ uv_fs_cb cb);
+UV_EXTERN int uv_fs_fstat(uv_loop_t* loop,
+ uv_fs_t* req,
+ uv_file file,
+ uv_fs_cb cb);
+UV_EXTERN int uv_fs_rename(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ const char* new_path,
+ uv_fs_cb cb);
+UV_EXTERN int uv_fs_fsync(uv_loop_t* loop,
+ uv_fs_t* req,
+ uv_file file,
+ uv_fs_cb cb);
+UV_EXTERN int uv_fs_fdatasync(uv_loop_t* loop,
+ uv_fs_t* req,
+ uv_file file,
+ uv_fs_cb cb);
+UV_EXTERN int uv_fs_ftruncate(uv_loop_t* loop,
+ uv_fs_t* req,
+ uv_file file,
+ int64_t offset,
+ uv_fs_cb cb);
+UV_EXTERN int uv_fs_sendfile(uv_loop_t* loop,
+ uv_fs_t* req,
+ uv_file out_fd,
+ uv_file in_fd,
+ int64_t in_offset,
+ size_t length,
+ uv_fs_cb cb);
+UV_EXTERN int uv_fs_access(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ int mode,
+ uv_fs_cb cb);
+UV_EXTERN int uv_fs_chmod(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ int mode,
+ uv_fs_cb cb);
+UV_EXTERN int uv_fs_utime(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ double atime,
+ double mtime,
+ uv_fs_cb cb);
+UV_EXTERN int uv_fs_futime(uv_loop_t* loop,
+ uv_fs_t* req,
+ uv_file file,
+ double atime,
+ double mtime,
+ uv_fs_cb cb);
+UV_EXTERN int uv_fs_lstat(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ uv_fs_cb cb);
+UV_EXTERN int uv_fs_link(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ const char* new_path,
+ uv_fs_cb cb);
+
+/*
+ * This flag can be used with uv_fs_symlink() on Windows to specify whether
+ * path argument points to a directory.
+ */
+#define UV_FS_SYMLINK_DIR 0x0001
+
+/*
+ * This flag can be used with uv_fs_symlink() on Windows to specify whether
+ * the symlink is to be created using junction points.
+ */
+#define UV_FS_SYMLINK_JUNCTION 0x0002
+
+UV_EXTERN int uv_fs_symlink(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ const char* new_path,
+ int flags,
+ uv_fs_cb cb);
+UV_EXTERN int uv_fs_readlink(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ uv_fs_cb cb);
+UV_EXTERN int uv_fs_realpath(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ uv_fs_cb cb);
+UV_EXTERN int uv_fs_fchmod(uv_loop_t* loop,
+ uv_fs_t* req,
+ uv_file file,
+ int mode,
+ uv_fs_cb cb);
+UV_EXTERN int uv_fs_chown(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ uv_uid_t uid,
+ uv_gid_t gid,
+ uv_fs_cb cb);
+UV_EXTERN int uv_fs_fchown(uv_loop_t* loop,
+ uv_fs_t* req,
+ uv_file file,
+ uv_uid_t uid,
+ uv_gid_t gid,
+ uv_fs_cb cb);
+UV_EXTERN int uv_fs_lchown(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ uv_uid_t uid,
+ uv_gid_t gid,
+ uv_fs_cb cb);
+
+
+enum uv_fs_event {
+ UV_RENAME = 1,
+ UV_CHANGE = 2
+};
+
+
+struct uv_fs_event_s {
+ UV_HANDLE_FIELDS
+ /* private */
+ char* path;
+ UV_FS_EVENT_PRIVATE_FIELDS
+};
+
+
+/*
+ * uv_fs_stat() based polling file watcher.
+ */
+struct uv_fs_poll_s {
+ UV_HANDLE_FIELDS
+ /* Private, don't touch. */
+ void* poll_ctx;
+};
+
+UV_EXTERN int uv_fs_poll_init(uv_loop_t* loop, uv_fs_poll_t* handle);
+UV_EXTERN int uv_fs_poll_start(uv_fs_poll_t* handle,
+ uv_fs_poll_cb poll_cb,
+ const char* path,
+ unsigned int interval);
+UV_EXTERN int uv_fs_poll_stop(uv_fs_poll_t* handle);
+UV_EXTERN int uv_fs_poll_getpath(uv_fs_poll_t* handle,
+ char* buffer,
+ size_t* size);
+
+
+struct uv_signal_s {
+ UV_HANDLE_FIELDS
+ uv_signal_cb signal_cb;
+ int signum;
+ UV_SIGNAL_PRIVATE_FIELDS
+};
+
+UV_EXTERN int uv_signal_init(uv_loop_t* loop, uv_signal_t* handle);
+UV_EXTERN int uv_signal_start(uv_signal_t* handle,
+ uv_signal_cb signal_cb,
+ int signum);
+UV_EXTERN int uv_signal_start_oneshot(uv_signal_t* handle,
+ uv_signal_cb signal_cb,
+ int signum);
+UV_EXTERN int uv_signal_stop(uv_signal_t* handle);
+
+UV_EXTERN void uv_loadavg(double avg[3]);
+
+
+/*
+ * Flags to be passed to uv_fs_event_start().
+ */
+enum uv_fs_event_flags {
+ /*
+ * By default, if the fs event watcher is given a directory name, we will
+ * watch for all events in that directory. This flags overrides this behavior
+ * and makes fs_event report only changes to the directory entry itself. This
+ * flag does not affect individual files watched.
+ * This flag is currently not implemented yet on any backend.
+ */
+ UV_FS_EVENT_WATCH_ENTRY = 1,
+
+ /*
+ * By default uv_fs_event will try to use a kernel interface such as inotify
+ * or kqueue to detect events. This may not work on remote filesystems such
+ * as NFS mounts. This flag makes fs_event fall back to calling stat() on a
+ * regular interval.
+ * This flag is currently not implemented yet on any backend.
+ */
+ UV_FS_EVENT_STAT = 2,
+
+ /*
+ * By default, event watcher, when watching directory, is not registering
+ * (is ignoring) changes in it's subdirectories.
+ * This flag will override this behaviour on platforms that support it.
+ */
+ UV_FS_EVENT_RECURSIVE = 4
+};
+
+
+UV_EXTERN int uv_fs_event_init(uv_loop_t* loop, uv_fs_event_t* handle);
+UV_EXTERN int uv_fs_event_start(uv_fs_event_t* handle,
+ uv_fs_event_cb cb,
+ const char* path,
+ unsigned int flags);
+UV_EXTERN int uv_fs_event_stop(uv_fs_event_t* handle);
+UV_EXTERN int uv_fs_event_getpath(uv_fs_event_t* handle,
+ char* buffer,
+ size_t* size);
+
+UV_EXTERN int uv_ip4_addr(const char* ip, int port, struct sockaddr_in* addr);
+UV_EXTERN int uv_ip6_addr(const char* ip, int port, struct sockaddr_in6* addr);
+
+UV_EXTERN int uv_ip4_name(const struct sockaddr_in* src, char* dst, size_t size);
+UV_EXTERN int uv_ip6_name(const struct sockaddr_in6* src, char* dst, size_t size);
+
+UV_EXTERN int uv_inet_ntop(int af, const void* src, char* dst, size_t size);
+UV_EXTERN int uv_inet_pton(int af, const char* src, void* dst);
+
+#if defined(IF_NAMESIZE)
+# define UV_IF_NAMESIZE (IF_NAMESIZE + 1)
+#elif defined(IFNAMSIZ)
+# define UV_IF_NAMESIZE (IFNAMSIZ + 1)
+#else
+# define UV_IF_NAMESIZE (16 + 1)
+#endif
+
+UV_EXTERN int uv_if_indextoname(unsigned int ifindex,
+ char* buffer,
+ size_t* size);
+UV_EXTERN int uv_if_indextoiid(unsigned int ifindex,
+ char* buffer,
+ size_t* size);
+
+UV_EXTERN int uv_exepath(char* buffer, size_t* size);
+
+UV_EXTERN int uv_cwd(char* buffer, size_t* size);
+
+UV_EXTERN int uv_chdir(const char* dir);
+
+UV_EXTERN uint64_t uv_get_free_memory(void);
+UV_EXTERN uint64_t uv_get_total_memory(void);
+UV_EXTERN uint64_t uv_get_constrained_memory(void);
+
+UV_EXTERN uint64_t uv_hrtime(void);
+
+UV_EXTERN void uv_disable_stdio_inheritance(void);
+
+UV_EXTERN int uv_dlopen(const char* filename, uv_lib_t* lib);
+UV_EXTERN void uv_dlclose(uv_lib_t* lib);
+UV_EXTERN int uv_dlsym(uv_lib_t* lib, const char* name, void** ptr);
+UV_EXTERN const char* uv_dlerror(const uv_lib_t* lib);
+
+UV_EXTERN int uv_mutex_init(uv_mutex_t* handle);
+UV_EXTERN int uv_mutex_init_recursive(uv_mutex_t* handle);
+UV_EXTERN void uv_mutex_destroy(uv_mutex_t* handle);
+UV_EXTERN void uv_mutex_lock(uv_mutex_t* handle);
+UV_EXTERN int uv_mutex_trylock(uv_mutex_t* handle);
+UV_EXTERN void uv_mutex_unlock(uv_mutex_t* handle);
+
+UV_EXTERN int uv_rwlock_init(uv_rwlock_t* rwlock);
+UV_EXTERN void uv_rwlock_destroy(uv_rwlock_t* rwlock);
+UV_EXTERN void uv_rwlock_rdlock(uv_rwlock_t* rwlock);
+UV_EXTERN int uv_rwlock_tryrdlock(uv_rwlock_t* rwlock);
+UV_EXTERN void uv_rwlock_rdunlock(uv_rwlock_t* rwlock);
+UV_EXTERN void uv_rwlock_wrlock(uv_rwlock_t* rwlock);
+UV_EXTERN int uv_rwlock_trywrlock(uv_rwlock_t* rwlock);
+UV_EXTERN void uv_rwlock_wrunlock(uv_rwlock_t* rwlock);
+
+UV_EXTERN int uv_sem_init(uv_sem_t* sem, unsigned int value);
+UV_EXTERN void uv_sem_destroy(uv_sem_t* sem);
+UV_EXTERN void uv_sem_post(uv_sem_t* sem);
+UV_EXTERN void uv_sem_wait(uv_sem_t* sem);
+UV_EXTERN int uv_sem_trywait(uv_sem_t* sem);
+
+UV_EXTERN int uv_cond_init(uv_cond_t* cond);
+UV_EXTERN void uv_cond_destroy(uv_cond_t* cond);
+UV_EXTERN void uv_cond_signal(uv_cond_t* cond);
+UV_EXTERN void uv_cond_broadcast(uv_cond_t* cond);
+
+UV_EXTERN int uv_barrier_init(uv_barrier_t* barrier, unsigned int count);
+UV_EXTERN void uv_barrier_destroy(uv_barrier_t* barrier);
+UV_EXTERN int uv_barrier_wait(uv_barrier_t* barrier);
+
+UV_EXTERN void uv_cond_wait(uv_cond_t* cond, uv_mutex_t* mutex);
+UV_EXTERN int uv_cond_timedwait(uv_cond_t* cond,
+ uv_mutex_t* mutex,
+ uint64_t timeout);
+
+UV_EXTERN void uv_once(uv_once_t* guard, void (*callback)(void));
+
+UV_EXTERN int uv_key_create(uv_key_t* key);
+UV_EXTERN void uv_key_delete(uv_key_t* key);
+UV_EXTERN void* uv_key_get(uv_key_t* key);
+UV_EXTERN void uv_key_set(uv_key_t* key, void* value);
+
+UV_EXTERN int uv_gettimeofday(uv_timeval64_t* tv);
+
+typedef void (*uv_thread_cb)(void* arg);
+
+UV_EXTERN int uv_thread_create(uv_thread_t* tid, uv_thread_cb entry, void* arg);
+
+typedef enum {
+ UV_THREAD_NO_FLAGS = 0x00,
+ UV_THREAD_HAS_STACK_SIZE = 0x01
+} uv_thread_create_flags;
+
+struct uv_thread_options_s {
+ unsigned int flags;
+ size_t stack_size;
+ /* More fields may be added at any time. */
+};
+
+typedef struct uv_thread_options_s uv_thread_options_t;
+
+UV_EXTERN int uv_thread_create_ex(uv_thread_t* tid,
+ const uv_thread_options_t* params,
+ uv_thread_cb entry,
+ void* arg);
+UV_EXTERN uv_thread_t uv_thread_self(void);
+UV_EXTERN int uv_thread_join(uv_thread_t *tid);
+UV_EXTERN int uv_thread_equal(const uv_thread_t* t1, const uv_thread_t* t2);
+
+/* The presence of these unions force similar struct layout. */
+#define XX(_, name) uv_ ## name ## _t name;
+union uv_any_handle {
+ UV_HANDLE_TYPE_MAP(XX)
+};
+
+union uv_any_req {
+ UV_REQ_TYPE_MAP(XX)
+};
+#undef XX
+
+
+struct uv_loop_s {
+ /* User data - use this for whatever. */
+ void* data;
+ /* Loop reference counting. */
+ unsigned int active_handles;
+ void* handle_queue[2];
+ union {
+ void* unused[2];
+ unsigned int count;
+ } active_reqs;
+ /* Internal flag to signal loop stop. */
+ unsigned int stop_flag;
+ UV_LOOP_PRIVATE_FIELDS
+};
+
+UV_EXTERN void* uv_loop_get_data(const uv_loop_t*);
+UV_EXTERN void uv_loop_set_data(uv_loop_t*, void* data);
+
+/* Don't export the private CPP symbols. */
+#undef UV_HANDLE_TYPE_PRIVATE
+#undef UV_REQ_TYPE_PRIVATE
+#undef UV_REQ_PRIVATE_FIELDS
+#undef UV_STREAM_PRIVATE_FIELDS
+#undef UV_TCP_PRIVATE_FIELDS
+#undef UV_PREPARE_PRIVATE_FIELDS
+#undef UV_CHECK_PRIVATE_FIELDS
+#undef UV_IDLE_PRIVATE_FIELDS
+#undef UV_ASYNC_PRIVATE_FIELDS
+#undef UV_TIMER_PRIVATE_FIELDS
+#undef UV_GETADDRINFO_PRIVATE_FIELDS
+#undef UV_GETNAMEINFO_PRIVATE_FIELDS
+#undef UV_FS_REQ_PRIVATE_FIELDS
+#undef UV_WORK_PRIVATE_FIELDS
+#undef UV_FS_EVENT_PRIVATE_FIELDS
+#undef UV_SIGNAL_PRIVATE_FIELDS
+#undef UV_LOOP_PRIVATE_FIELDS
+#undef UV_LOOP_PRIVATE_PLATFORM_FIELDS
+#undef UV__ERR
+
+#endif /* UV_H */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/uv/android-ifaddrs.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/include/uv/android-ifaddrs.h
similarity index 100%
rename from third_party/allwpilib_2019/wpiutil/src/main/native/include/uv/android-ifaddrs.h
rename to third_party/allwpilib_2019/wpiutil/src/main/native/libuv/include/uv/android-ifaddrs.h
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/uv/bsd.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/include/uv/bsd.h
similarity index 100%
rename from third_party/allwpilib_2019/wpiutil/src/main/native/include/uv/bsd.h
rename to third_party/allwpilib_2019/wpiutil/src/main/native/libuv/include/uv/bsd.h
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/uv/darwin.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/include/uv/darwin.h
similarity index 100%
rename from third_party/allwpilib_2019/wpiutil/src/main/native/include/uv/darwin.h
rename to third_party/allwpilib_2019/wpiutil/src/main/native/libuv/include/uv/darwin.h
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/uv/errno.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/include/uv/errno.h
similarity index 100%
rename from third_party/allwpilib_2019/wpiutil/src/main/native/include/uv/errno.h
rename to third_party/allwpilib_2019/wpiutil/src/main/native/libuv/include/uv/errno.h
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/uv/linux.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/include/uv/linux.h
similarity index 100%
rename from third_party/allwpilib_2019/wpiutil/src/main/native/include/uv/linux.h
rename to third_party/allwpilib_2019/wpiutil/src/main/native/libuv/include/uv/linux.h
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/uv/posix.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/include/uv/posix.h
similarity index 100%
rename from third_party/allwpilib_2019/wpiutil/src/main/native/include/uv/posix.h
rename to third_party/allwpilib_2019/wpiutil/src/main/native/libuv/include/uv/posix.h
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/uv/threadpool.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/include/uv/threadpool.h
similarity index 100%
rename from third_party/allwpilib_2019/wpiutil/src/main/native/include/uv/threadpool.h
rename to third_party/allwpilib_2019/wpiutil/src/main/native/libuv/include/uv/threadpool.h
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/include/uv/tree.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/include/uv/tree.h
similarity index 100%
rename from third_party/allwpilib_2019/wpiutil/src/main/native/include/uv/tree.h
rename to third_party/allwpilib_2019/wpiutil/src/main/native/libuv/include/uv/tree.h
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/include/uv/unix.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/include/uv/unix.h
new file mode 100644
index 0000000..504bab7
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/include/uv/unix.h
@@ -0,0 +1,483 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#ifndef UV_UNIX_H
+#define UV_UNIX_H
+
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <dirent.h>
+
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <netinet/tcp.h>
+#include <arpa/inet.h>
+#include <netdb.h> /* MAXHOSTNAMELEN on Solaris */
+
+#include <termios.h>
+#include <pwd.h>
+
+#if !defined(__MVS__)
+#include <semaphore.h>
+#include <sys/param.h> /* MAXHOSTNAMELEN on Linux and the BSDs */
+#endif
+#include <pthread.h>
+#include <signal.h>
+
+#include "uv/threadpool.h"
+
+#if defined(__linux__)
+# include "uv/linux.h"
+#elif defined(__APPLE__)
+# include "uv/darwin.h"
+#elif defined(__DragonFly__) || \
+ defined(__FreeBSD__) || \
+ defined(__FreeBSD_kernel__) || \
+ defined(__OpenBSD__) || \
+ defined(__NetBSD__)
+# include "uv/bsd.h"
+#elif defined(__PASE__) || \
+ defined(__CYGWIN__) || \
+ defined(__MSYS__) || \
+ defined(__GNU__)
+# include "uv/posix.h"
+#elif defined(__HAIKU__)
+# include "uv/posix.h"
+#endif
+
+#ifndef NI_MAXHOST
+# define NI_MAXHOST 1025
+#endif
+
+#ifndef NI_MAXSERV
+# define NI_MAXSERV 32
+#endif
+
+#ifndef UV_IO_PRIVATE_PLATFORM_FIELDS
+# define UV_IO_PRIVATE_PLATFORM_FIELDS /* empty */
+#endif
+
+struct uv__io_s;
+struct uv_loop_s;
+
+typedef void (*uv__io_cb)(struct uv_loop_s* loop,
+ struct uv__io_s* w,
+ unsigned int events);
+typedef struct uv__io_s uv__io_t;
+
+struct uv__io_s {
+ uv__io_cb cb;
+ void* pending_queue[2];
+ void* watcher_queue[2];
+ unsigned int pevents; /* Pending event mask i.e. mask at next tick. */
+ unsigned int events; /* Current event mask. */
+ int fd;
+ UV_IO_PRIVATE_PLATFORM_FIELDS
+};
+
+#ifndef UV_PLATFORM_SEM_T
+# define UV_PLATFORM_SEM_T sem_t
+#endif
+
+#ifndef UV_PLATFORM_LOOP_FIELDS
+# define UV_PLATFORM_LOOP_FIELDS /* empty */
+#endif
+
+#ifndef UV_PLATFORM_FS_EVENT_FIELDS
+# define UV_PLATFORM_FS_EVENT_FIELDS /* empty */
+#endif
+
+#ifndef UV_STREAM_PRIVATE_PLATFORM_FIELDS
+# define UV_STREAM_PRIVATE_PLATFORM_FIELDS /* empty */
+#endif
+
+/* Note: May be cast to struct iovec. See writev(2). */
+typedef struct uv_buf_t {
+ char* base;
+ size_t len;
+} uv_buf_t;
+
+typedef int uv_file;
+typedef int uv_os_sock_t;
+typedef int uv_os_fd_t;
+typedef pid_t uv_pid_t;
+
+#define UV_ONCE_INIT PTHREAD_ONCE_INIT
+
+typedef pthread_once_t uv_once_t;
+typedef pthread_t uv_thread_t;
+typedef pthread_mutex_t uv_mutex_t;
+typedef pthread_rwlock_t uv_rwlock_t;
+typedef UV_PLATFORM_SEM_T uv_sem_t;
+typedef pthread_cond_t uv_cond_t;
+typedef pthread_key_t uv_key_t;
+
+/* Note: guard clauses should match uv_barrier_init's in src/unix/thread.c. */
+#if defined(_AIX) || \
+ defined(__OpenBSD__) || \
+ !defined(PTHREAD_BARRIER_SERIAL_THREAD)
+/* TODO(bnoordhuis) Merge into uv_barrier_t in v2. */
+struct _uv_barrier {
+ uv_mutex_t mutex;
+ uv_cond_t cond;
+ unsigned threshold;
+ unsigned in;
+ unsigned out;
+};
+
+typedef struct {
+ struct _uv_barrier* b;
+# if defined(PTHREAD_BARRIER_SERIAL_THREAD)
+ /* TODO(bnoordhuis) Remove padding in v2. */
+ char pad[sizeof(pthread_barrier_t) - sizeof(struct _uv_barrier*)];
+# endif
+} uv_barrier_t;
+#else
+typedef pthread_barrier_t uv_barrier_t;
+#endif
+
+/* Platform-specific definitions for uv_spawn support. */
+typedef gid_t uv_gid_t;
+typedef uid_t uv_uid_t;
+
+typedef struct dirent uv__dirent_t;
+
+#define UV_DIR_PRIVATE_FIELDS \
+ DIR* dir;
+
+#if defined(DT_UNKNOWN)
+# define HAVE_DIRENT_TYPES
+# if defined(DT_REG)
+# define UV__DT_FILE DT_REG
+# else
+# define UV__DT_FILE -1
+# endif
+# if defined(DT_DIR)
+# define UV__DT_DIR DT_DIR
+# else
+# define UV__DT_DIR -2
+# endif
+# if defined(DT_LNK)
+# define UV__DT_LINK DT_LNK
+# else
+# define UV__DT_LINK -3
+# endif
+# if defined(DT_FIFO)
+# define UV__DT_FIFO DT_FIFO
+# else
+# define UV__DT_FIFO -4
+# endif
+# if defined(DT_SOCK)
+# define UV__DT_SOCKET DT_SOCK
+# else
+# define UV__DT_SOCKET -5
+# endif
+# if defined(DT_CHR)
+# define UV__DT_CHAR DT_CHR
+# else
+# define UV__DT_CHAR -6
+# endif
+# if defined(DT_BLK)
+# define UV__DT_BLOCK DT_BLK
+# else
+# define UV__DT_BLOCK -7
+# endif
+#endif
+
+/* Platform-specific definitions for uv_dlopen support. */
+#define UV_DYNAMIC /* empty */
+
+typedef struct {
+ void* handle;
+ char* errmsg;
+} uv_lib_t;
+
+#define UV_LOOP_PRIVATE_FIELDS \
+ unsigned long flags; \
+ int backend_fd; \
+ void* pending_queue[2]; \
+ void* watcher_queue[2]; \
+ void** watchers; \
+ unsigned int nwatchers; \
+ unsigned int nfds; \
+ void* wq[2]; \
+ uv_mutex_t wq_mutex; \
+ uv_async_t wq_async; \
+ uv_rwlock_t cloexec_lock; \
+ uv_handle_t* closing_handles; \
+ void* process_handles[2]; \
+ void* prepare_handles[2]; \
+ void* check_handles[2]; \
+ void* idle_handles[2]; \
+ void* async_handles[2]; \
+ void (*async_unused)(void); /* TODO(bnoordhuis) Remove in libuv v2. */ \
+ uv__io_t async_io_watcher; \
+ int async_wfd; \
+ struct { \
+ void* min; \
+ unsigned int nelts; \
+ } timer_heap; \
+ uint64_t timer_counter; \
+ uint64_t time; \
+ int signal_pipefd[2]; \
+ uv__io_t signal_io_watcher; \
+ uv_signal_t child_watcher; \
+ int emfile_fd; \
+ UV_PLATFORM_LOOP_FIELDS \
+
+#define UV_REQ_TYPE_PRIVATE /* empty */
+
+#define UV_REQ_PRIVATE_FIELDS /* empty */
+
+#define UV_PRIVATE_REQ_TYPES /* empty */
+
+#define UV_WRITE_PRIVATE_FIELDS \
+ void* queue[2]; \
+ unsigned int write_index; \
+ uv_buf_t* bufs; \
+ unsigned int nbufs; \
+ int error; \
+ uv_buf_t bufsml[4]; \
+
+#define UV_CONNECT_PRIVATE_FIELDS \
+ void* queue[2]; \
+
+#define UV_SHUTDOWN_PRIVATE_FIELDS /* empty */
+
+#define UV_UDP_SEND_PRIVATE_FIELDS \
+ void* queue[2]; \
+ struct sockaddr_storage addr; \
+ unsigned int nbufs; \
+ uv_buf_t* bufs; \
+ ssize_t status; \
+ uv_udp_send_cb send_cb; \
+ uv_buf_t bufsml[4]; \
+
+#define UV_HANDLE_PRIVATE_FIELDS \
+ uv_handle_t* next_closing; \
+ unsigned int flags; \
+
+#define UV_STREAM_PRIVATE_FIELDS \
+ uv_connect_t *connect_req; \
+ uv_shutdown_t *shutdown_req; \
+ uv__io_t io_watcher; \
+ void* write_queue[2]; \
+ void* write_completed_queue[2]; \
+ uv_connection_cb connection_cb; \
+ int delayed_error; \
+ int accepted_fd; \
+ void* queued_fds; \
+ UV_STREAM_PRIVATE_PLATFORM_FIELDS \
+
+#define UV_TCP_PRIVATE_FIELDS /* empty */
+
+#define UV_UDP_PRIVATE_FIELDS \
+ uv_alloc_cb alloc_cb; \
+ uv_udp_recv_cb recv_cb; \
+ uv__io_t io_watcher; \
+ void* write_queue[2]; \
+ void* write_completed_queue[2]; \
+
+#define UV_PIPE_PRIVATE_FIELDS \
+ const char* pipe_fname; /* strdup'ed */
+
+#define UV_POLL_PRIVATE_FIELDS \
+ uv__io_t io_watcher;
+
+#define UV_PREPARE_PRIVATE_FIELDS \
+ uv_prepare_cb prepare_cb; \
+ void* queue[2]; \
+
+#define UV_CHECK_PRIVATE_FIELDS \
+ uv_check_cb check_cb; \
+ void* queue[2]; \
+
+#define UV_IDLE_PRIVATE_FIELDS \
+ uv_idle_cb idle_cb; \
+ void* queue[2]; \
+
+#define UV_ASYNC_PRIVATE_FIELDS \
+ uv_async_cb async_cb; \
+ void* queue[2]; \
+ int pending; \
+
+#define UV_TIMER_PRIVATE_FIELDS \
+ uv_timer_cb timer_cb; \
+ void* heap_node[3]; \
+ uint64_t timeout; \
+ uint64_t repeat; \
+ uint64_t start_id;
+
+#define UV_GETADDRINFO_PRIVATE_FIELDS \
+ struct uv__work work_req; \
+ uv_getaddrinfo_cb cb; \
+ struct addrinfo* hints; \
+ char* hostname; \
+ char* service; \
+ struct addrinfo* addrinfo; \
+ int retcode;
+
+#define UV_GETNAMEINFO_PRIVATE_FIELDS \
+ struct uv__work work_req; \
+ uv_getnameinfo_cb getnameinfo_cb; \
+ struct sockaddr_storage storage; \
+ int flags; \
+ char host[NI_MAXHOST]; \
+ char service[NI_MAXSERV]; \
+ int retcode;
+
+#define UV_PROCESS_PRIVATE_FIELDS \
+ void* queue[2]; \
+ int status; \
+
+#define UV_FS_PRIVATE_FIELDS \
+ const char *new_path; \
+ uv_file file; \
+ int flags; \
+ mode_t mode; \
+ unsigned int nbufs; \
+ uv_buf_t* bufs; \
+ off_t off; \
+ uv_uid_t uid; \
+ uv_gid_t gid; \
+ double atime; \
+ double mtime; \
+ struct uv__work work_req; \
+ uv_buf_t bufsml[4]; \
+
+#define UV_WORK_PRIVATE_FIELDS \
+ struct uv__work work_req;
+
+#define UV_TTY_PRIVATE_FIELDS \
+ struct termios orig_termios; \
+ int mode;
+
+#define UV_SIGNAL_PRIVATE_FIELDS \
+ /* RB_ENTRY(uv_signal_s) tree_entry; */ \
+ struct { \
+ struct uv_signal_s* rbe_left; \
+ struct uv_signal_s* rbe_right; \
+ struct uv_signal_s* rbe_parent; \
+ int rbe_color; \
+ } tree_entry; \
+ /* Use two counters here so we don have to fiddle with atomics. */ \
+ unsigned int caught_signals; \
+ unsigned int dispatched_signals;
+
+#define UV_FS_EVENT_PRIVATE_FIELDS \
+ uv_fs_event_cb cb; \
+ UV_PLATFORM_FS_EVENT_FIELDS \
+
+/* fs open() flags supported on this platform: */
+#if defined(O_APPEND)
+# define UV_FS_O_APPEND O_APPEND
+#else
+# define UV_FS_O_APPEND 0
+#endif
+#if defined(O_CREAT)
+# define UV_FS_O_CREAT O_CREAT
+#else
+# define UV_FS_O_CREAT 0
+#endif
+#if defined(O_DIRECT)
+# define UV_FS_O_DIRECT O_DIRECT
+#else
+# define UV_FS_O_DIRECT 0
+#endif
+#if defined(O_DIRECTORY)
+# define UV_FS_O_DIRECTORY O_DIRECTORY
+#else
+# define UV_FS_O_DIRECTORY 0
+#endif
+#if defined(O_DSYNC)
+# define UV_FS_O_DSYNC O_DSYNC
+#else
+# define UV_FS_O_DSYNC 0
+#endif
+#if defined(O_EXCL)
+# define UV_FS_O_EXCL O_EXCL
+#else
+# define UV_FS_O_EXCL 0
+#endif
+#if defined(O_EXLOCK)
+# define UV_FS_O_EXLOCK O_EXLOCK
+#else
+# define UV_FS_O_EXLOCK 0
+#endif
+#if defined(O_NOATIME)
+# define UV_FS_O_NOATIME O_NOATIME
+#else
+# define UV_FS_O_NOATIME 0
+#endif
+#if defined(O_NOCTTY)
+# define UV_FS_O_NOCTTY O_NOCTTY
+#else
+# define UV_FS_O_NOCTTY 0
+#endif
+#if defined(O_NOFOLLOW)
+# define UV_FS_O_NOFOLLOW O_NOFOLLOW
+#else
+# define UV_FS_O_NOFOLLOW 0
+#endif
+#if defined(O_NONBLOCK)
+# define UV_FS_O_NONBLOCK O_NONBLOCK
+#else
+# define UV_FS_O_NONBLOCK 0
+#endif
+#if defined(O_RDONLY)
+# define UV_FS_O_RDONLY O_RDONLY
+#else
+# define UV_FS_O_RDONLY 0
+#endif
+#if defined(O_RDWR)
+# define UV_FS_O_RDWR O_RDWR
+#else
+# define UV_FS_O_RDWR 0
+#endif
+#if defined(O_SYMLINK)
+# define UV_FS_O_SYMLINK O_SYMLINK
+#else
+# define UV_FS_O_SYMLINK 0
+#endif
+#if defined(O_SYNC)
+# define UV_FS_O_SYNC O_SYNC
+#else
+# define UV_FS_O_SYNC 0
+#endif
+#if defined(O_TRUNC)
+# define UV_FS_O_TRUNC O_TRUNC
+#else
+# define UV_FS_O_TRUNC 0
+#endif
+#if defined(O_WRONLY)
+# define UV_FS_O_WRONLY O_WRONLY
+#else
+# define UV_FS_O_WRONLY 0
+#endif
+
+/* fs open() flags supported on other platforms: */
+#define UV_FS_O_RANDOM 0
+#define UV_FS_O_SHORT_LIVED 0
+#define UV_FS_O_SEQUENTIAL 0
+#define UV_FS_O_TEMPORARY 0
+
+#endif /* UV_UNIX_H */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/include/uv/version.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/include/uv/version.h
new file mode 100644
index 0000000..bf992d2
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/include/uv/version.h
@@ -0,0 +1,43 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#ifndef UV_VERSION_H
+#define UV_VERSION_H
+
+ /*
+ * Versions with the same major number are ABI stable. API is allowed to
+ * evolve between minor releases, but only in a backwards compatible way.
+ * Make sure you update the -soname directives in configure.ac
+ * and uv.gyp whenever you bump UV_VERSION_MAJOR or UV_VERSION_MINOR (but
+ * not UV_VERSION_PATCH.)
+ */
+
+#define UV_VERSION_MAJOR 1
+#define UV_VERSION_MINOR 30
+#define UV_VERSION_PATCH 1
+#define UV_VERSION_IS_RELEASE 1
+#define UV_VERSION_SUFFIX ""
+
+#define UV_VERSION_HEX ((UV_VERSION_MAJOR << 16) | \
+ (UV_VERSION_MINOR << 8) | \
+ (UV_VERSION_PATCH))
+
+#endif /* UV_VERSION_H */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/include/uv/win.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/include/uv/win.h
new file mode 100644
index 0000000..ca5242f
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/include/uv/win.h
@@ -0,0 +1,691 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#ifndef _WIN32_WINNT
+# define _WIN32_WINNT 0x0600
+#endif
+
+#if !defined(_SSIZE_T_) && !defined(_SSIZE_T_DEFINED)
+typedef intptr_t ssize_t;
+# define SSIZE_MAX INTPTR_MAX
+# define _SSIZE_T_
+# define _SSIZE_T_DEFINED
+#endif
+
+#include <winsock2.h>
+
+#if defined(__MINGW32__) && !defined(__MINGW64_VERSION_MAJOR)
+typedef struct pollfd {
+ SOCKET fd;
+ short events;
+ short revents;
+} WSAPOLLFD, *PWSAPOLLFD, *LPWSAPOLLFD;
+#endif
+
+#ifndef LOCALE_INVARIANT
+# define LOCALE_INVARIANT 0x007f
+#endif
+
+#include <mswsock.h>
+#include <ws2tcpip.h>
+#include <windows.h>
+
+#include <process.h>
+#include <signal.h>
+#include <fcntl.h>
+#include <sys/stat.h>
+
+#include <stdint.h>
+
+#include "uv/tree.h"
+#include "uv/threadpool.h"
+
+#define MAX_PIPENAME_LEN 256
+
+#ifndef S_IFLNK
+# define S_IFLNK 0xA000
+#endif
+
+/* Additional signals supported by uv_signal and or uv_kill. The CRT defines
+ * the following signals already:
+ *
+ * #define SIGINT 2
+ * #define SIGILL 4
+ * #define SIGABRT_COMPAT 6
+ * #define SIGFPE 8
+ * #define SIGSEGV 11
+ * #define SIGTERM 15
+ * #define SIGBREAK 21
+ * #define SIGABRT 22
+ *
+ * The additional signals have values that are common on other Unix
+ * variants (Linux and Darwin)
+ */
+#define SIGHUP 1
+#define SIGKILL 9
+#define SIGWINCH 28
+
+/* Redefine NSIG to take SIGWINCH into consideration */
+#if defined(NSIG) && NSIG <= SIGWINCH
+# undef NSIG
+#endif
+#ifndef NSIG
+# define NSIG SIGWINCH + 1
+#endif
+
+/* The CRT defines SIGABRT_COMPAT as 6, which equals SIGABRT on many unix-like
+ * platforms. However MinGW doesn't define it, so we do. */
+#ifndef SIGABRT_COMPAT
+# define SIGABRT_COMPAT 6
+#endif
+
+/*
+ * Guids and typedefs for winsock extension functions
+ * Mingw32 doesn't have these :-(
+ */
+#ifndef WSAID_ACCEPTEX
+# define WSAID_ACCEPTEX \
+ {0xb5367df1, 0xcbac, 0x11cf, \
+ {0x95, 0xca, 0x00, 0x80, 0x5f, 0x48, 0xa1, 0x92}}
+
+# define WSAID_CONNECTEX \
+ {0x25a207b9, 0xddf3, 0x4660, \
+ {0x8e, 0xe9, 0x76, 0xe5, 0x8c, 0x74, 0x06, 0x3e}}
+
+# define WSAID_GETACCEPTEXSOCKADDRS \
+ {0xb5367df2, 0xcbac, 0x11cf, \
+ {0x95, 0xca, 0x00, 0x80, 0x5f, 0x48, 0xa1, 0x92}}
+
+# define WSAID_DISCONNECTEX \
+ {0x7fda2e11, 0x8630, 0x436f, \
+ {0xa0, 0x31, 0xf5, 0x36, 0xa6, 0xee, 0xc1, 0x57}}
+
+# define WSAID_TRANSMITFILE \
+ {0xb5367df0, 0xcbac, 0x11cf, \
+ {0x95, 0xca, 0x00, 0x80, 0x5f, 0x48, 0xa1, 0x92}}
+
+ typedef BOOL (PASCAL *LPFN_ACCEPTEX)
+ (SOCKET sListenSocket,
+ SOCKET sAcceptSocket,
+ PVOID lpOutputBuffer,
+ DWORD dwReceiveDataLength,
+ DWORD dwLocalAddressLength,
+ DWORD dwRemoteAddressLength,
+ LPDWORD lpdwBytesReceived,
+ LPOVERLAPPED lpOverlapped);
+
+ typedef BOOL (PASCAL *LPFN_CONNECTEX)
+ (SOCKET s,
+ const struct sockaddr* name,
+ int namelen,
+ PVOID lpSendBuffer,
+ DWORD dwSendDataLength,
+ LPDWORD lpdwBytesSent,
+ LPOVERLAPPED lpOverlapped);
+
+ typedef void (PASCAL *LPFN_GETACCEPTEXSOCKADDRS)
+ (PVOID lpOutputBuffer,
+ DWORD dwReceiveDataLength,
+ DWORD dwLocalAddressLength,
+ DWORD dwRemoteAddressLength,
+ LPSOCKADDR* LocalSockaddr,
+ LPINT LocalSockaddrLength,
+ LPSOCKADDR* RemoteSockaddr,
+ LPINT RemoteSockaddrLength);
+
+ typedef BOOL (PASCAL *LPFN_DISCONNECTEX)
+ (SOCKET hSocket,
+ LPOVERLAPPED lpOverlapped,
+ DWORD dwFlags,
+ DWORD reserved);
+
+ typedef BOOL (PASCAL *LPFN_TRANSMITFILE)
+ (SOCKET hSocket,
+ HANDLE hFile,
+ DWORD nNumberOfBytesToWrite,
+ DWORD nNumberOfBytesPerSend,
+ LPOVERLAPPED lpOverlapped,
+ LPTRANSMIT_FILE_BUFFERS lpTransmitBuffers,
+ DWORD dwFlags);
+
+ typedef PVOID RTL_SRWLOCK;
+ typedef RTL_SRWLOCK SRWLOCK, *PSRWLOCK;
+#endif
+
+typedef int (WSAAPI* LPFN_WSARECV)
+ (SOCKET socket,
+ LPWSABUF buffers,
+ DWORD buffer_count,
+ LPDWORD bytes,
+ LPDWORD flags,
+ LPWSAOVERLAPPED overlapped,
+ LPWSAOVERLAPPED_COMPLETION_ROUTINE completion_routine);
+
+typedef int (WSAAPI* LPFN_WSARECVFROM)
+ (SOCKET socket,
+ LPWSABUF buffers,
+ DWORD buffer_count,
+ LPDWORD bytes,
+ LPDWORD flags,
+ struct sockaddr* addr,
+ LPINT addr_len,
+ LPWSAOVERLAPPED overlapped,
+ LPWSAOVERLAPPED_COMPLETION_ROUTINE completion_routine);
+
+#pragma warning(push)
+#pragma warning(disable : 28251)
+
+#ifndef _NTDEF_
+ typedef LONG NTSTATUS;
+ typedef NTSTATUS *PNTSTATUS;
+#endif
+
+#pragma warning(pop)
+
+#ifndef RTL_CONDITION_VARIABLE_INIT
+ typedef PVOID CONDITION_VARIABLE, *PCONDITION_VARIABLE;
+#endif
+
+typedef struct _AFD_POLL_HANDLE_INFO {
+ HANDLE Handle;
+ ULONG Events;
+ NTSTATUS Status;
+} AFD_POLL_HANDLE_INFO, *PAFD_POLL_HANDLE_INFO;
+
+typedef struct _AFD_POLL_INFO {
+ LARGE_INTEGER Timeout;
+ ULONG NumberOfHandles;
+ ULONG Exclusive;
+ AFD_POLL_HANDLE_INFO Handles[1];
+} AFD_POLL_INFO, *PAFD_POLL_INFO;
+
+#define UV_MSAFD_PROVIDER_COUNT 3
+
+
+/**
+ * It should be possible to cast uv_buf_t[] to WSABUF[]
+ * see http://msdn.microsoft.com/en-us/library/ms741542(v=vs.85).aspx
+ */
+typedef struct uv_buf_t {
+ ULONG len;
+ char* base;
+} uv_buf_t;
+
+typedef int uv_file;
+typedef SOCKET uv_os_sock_t;
+typedef HANDLE uv_os_fd_t;
+typedef int uv_pid_t;
+
+typedef HANDLE uv_thread_t;
+
+typedef HANDLE uv_sem_t;
+
+typedef CRITICAL_SECTION uv_mutex_t;
+
+/* This condition variable implementation is based on the SetEvent solution
+ * (section 3.2) at http://www.cs.wustl.edu/~schmidt/win32-cv-1.html
+ * We could not use the SignalObjectAndWait solution (section 3.4) because
+ * it want the 2nd argument (type uv_mutex_t) of uv_cond_wait() and
+ * uv_cond_timedwait() to be HANDLEs, but we use CRITICAL_SECTIONs.
+ */
+
+typedef union {
+ CONDITION_VARIABLE cond_var;
+ struct {
+ unsigned int waiters_count;
+ CRITICAL_SECTION waiters_count_lock;
+ HANDLE signal_event;
+ HANDLE broadcast_event;
+ } unused_; /* TODO: retained for ABI compatibility; remove me in v2.x. */
+} uv_cond_t;
+
+typedef union {
+ struct {
+ unsigned int num_readers_;
+ CRITICAL_SECTION num_readers_lock_;
+ HANDLE write_semaphore_;
+ } state_;
+ /* TODO: remove me in v2.x. */
+ struct {
+ SRWLOCK unused_;
+ } unused1_;
+ /* TODO: remove me in v2.x. */
+ struct {
+ uv_mutex_t unused1_;
+ uv_mutex_t unused2_;
+ } unused2_;
+} uv_rwlock_t;
+
+typedef struct {
+ unsigned int n;
+ unsigned int count;
+ uv_mutex_t mutex;
+ uv_sem_t turnstile1;
+ uv_sem_t turnstile2;
+} uv_barrier_t;
+
+typedef struct {
+ DWORD tls_index;
+} uv_key_t;
+
+#define UV_ONCE_INIT { 0, NULL }
+
+typedef struct uv_once_s {
+ unsigned char ran;
+ HANDLE event;
+} uv_once_t;
+
+/* Platform-specific definitions for uv_spawn support. */
+typedef unsigned char uv_uid_t;
+typedef unsigned char uv_gid_t;
+
+typedef struct uv__dirent_s {
+ int d_type;
+ char d_name[1];
+} uv__dirent_t;
+
+#define UV_DIR_PRIVATE_FIELDS \
+ HANDLE dir_handle; \
+ WIN32_FIND_DATAW find_data; \
+ BOOL need_find_call;
+
+#define HAVE_DIRENT_TYPES
+#define UV__DT_DIR UV_DIRENT_DIR
+#define UV__DT_FILE UV_DIRENT_FILE
+#define UV__DT_LINK UV_DIRENT_LINK
+#define UV__DT_FIFO UV_DIRENT_FIFO
+#define UV__DT_SOCKET UV_DIRENT_SOCKET
+#define UV__DT_CHAR UV_DIRENT_CHAR
+#define UV__DT_BLOCK UV_DIRENT_BLOCK
+
+/* Platform-specific definitions for uv_dlopen support. */
+#define UV_DYNAMIC FAR WINAPI
+typedef struct {
+ HMODULE handle;
+ char* errmsg;
+} uv_lib_t;
+
+#define UV_LOOP_PRIVATE_FIELDS \
+ /* The loop's I/O completion port */ \
+ HANDLE iocp; \
+ /* The current time according to the event loop. in msecs. */ \
+ uint64_t time; \
+ /* Tail of a single-linked circular queue of pending reqs. If the queue */ \
+ /* is empty, tail_ is NULL. If there is only one item, */ \
+ /* tail_->next_req == tail_ */ \
+ uv_req_t* pending_reqs_tail; \
+ /* Head of a single-linked list of closed handles */ \
+ uv_handle_t* endgame_handles; \
+ /* TODO(bnoordhuis) Stop heap-allocating |timer_heap| in libuv v2.x. */ \
+ void* timer_heap; \
+ /* Lists of active loop (prepare / check / idle) watchers */ \
+ uv_prepare_t* prepare_handles; \
+ uv_check_t* check_handles; \
+ uv_idle_t* idle_handles; \
+ /* This pointer will refer to the prepare/check/idle handle whose */ \
+ /* callback is scheduled to be called next. This is needed to allow */ \
+ /* safe removal from one of the lists above while that list being */ \
+ /* iterated over. */ \
+ uv_prepare_t* next_prepare_handle; \
+ uv_check_t* next_check_handle; \
+ uv_idle_t* next_idle_handle; \
+ /* This handle holds the peer sockets for the fast variant of uv_poll_t */ \
+ SOCKET poll_peer_sockets[UV_MSAFD_PROVIDER_COUNT]; \
+ /* Counter to keep track of active tcp streams */ \
+ unsigned int active_tcp_streams; \
+ /* Counter to keep track of active udp streams */ \
+ unsigned int active_udp_streams; \
+ /* Counter to started timer */ \
+ uint64_t timer_counter; \
+ /* Threadpool */ \
+ void* wq[2]; \
+ uv_mutex_t wq_mutex; \
+ uv_async_t wq_async;
+
+#define UV_REQ_TYPE_PRIVATE \
+ /* TODO: remove the req suffix */ \
+ UV_ACCEPT, \
+ UV_FS_EVENT_REQ, \
+ UV_POLL_REQ, \
+ UV_PROCESS_EXIT, \
+ UV_READ, \
+ UV_UDP_RECV, \
+ UV_WAKEUP, \
+ UV_SIGNAL_REQ,
+
+#define UV_REQ_PRIVATE_FIELDS \
+ union { \
+ /* Used by I/O operations */ \
+ struct { \
+ OVERLAPPED overlapped; \
+ size_t queued_bytes; \
+ } io; \
+ } u; \
+ struct uv_req_s* next_req;
+
+#define UV_WRITE_PRIVATE_FIELDS \
+ int coalesced; \
+ uv_buf_t write_buffer; \
+ HANDLE event_handle; \
+ HANDLE wait_handle;
+
+#define UV_CONNECT_PRIVATE_FIELDS \
+ /* empty */
+
+#define UV_SHUTDOWN_PRIVATE_FIELDS \
+ /* empty */
+
+#define UV_UDP_SEND_PRIVATE_FIELDS \
+ /* empty */
+
+#define UV_PRIVATE_REQ_TYPES \
+ typedef struct uv_pipe_accept_s { \
+ UV_REQ_FIELDS \
+ HANDLE pipeHandle; \
+ struct uv_pipe_accept_s* next_pending; \
+ } uv_pipe_accept_t; \
+ \
+ typedef struct uv_tcp_accept_s { \
+ UV_REQ_FIELDS \
+ SOCKET accept_socket; \
+ char accept_buffer[sizeof(struct sockaddr_storage) * 2 + 32]; \
+ HANDLE event_handle; \
+ HANDLE wait_handle; \
+ struct uv_tcp_accept_s* next_pending; \
+ } uv_tcp_accept_t; \
+ \
+ typedef struct uv_read_s { \
+ UV_REQ_FIELDS \
+ HANDLE event_handle; \
+ HANDLE wait_handle; \
+ } uv_read_t;
+
+#define uv_stream_connection_fields \
+ unsigned int write_reqs_pending; \
+ uv_shutdown_t* shutdown_req;
+
+#define uv_stream_server_fields \
+ uv_connection_cb connection_cb;
+
+#define UV_STREAM_PRIVATE_FIELDS \
+ unsigned int reqs_pending; \
+ int activecnt; \
+ uv_read_t read_req; \
+ union { \
+ struct { uv_stream_connection_fields } conn; \
+ struct { uv_stream_server_fields } serv; \
+ } stream;
+
+#define uv_tcp_server_fields \
+ uv_tcp_accept_t* accept_reqs; \
+ unsigned int processed_accepts; \
+ uv_tcp_accept_t* pending_accepts; \
+ LPFN_ACCEPTEX func_acceptex;
+
+#define uv_tcp_connection_fields \
+ uv_buf_t read_buffer; \
+ LPFN_CONNECTEX func_connectex;
+
+#define UV_TCP_PRIVATE_FIELDS \
+ SOCKET socket; \
+ int delayed_error; \
+ union { \
+ struct { uv_tcp_server_fields } serv; \
+ struct { uv_tcp_connection_fields } conn; \
+ } tcp;
+
+#define UV_UDP_PRIVATE_FIELDS \
+ SOCKET socket; \
+ unsigned int reqs_pending; \
+ int activecnt; \
+ uv_req_t recv_req; \
+ uv_buf_t recv_buffer; \
+ struct sockaddr_storage recv_from; \
+ int recv_from_len; \
+ uv_udp_recv_cb recv_cb; \
+ uv_alloc_cb alloc_cb; \
+ LPFN_WSARECV func_wsarecv; \
+ LPFN_WSARECVFROM func_wsarecvfrom;
+
+#define uv_pipe_server_fields \
+ int pending_instances; \
+ uv_pipe_accept_t* accept_reqs; \
+ uv_pipe_accept_t* pending_accepts;
+
+#define uv_pipe_connection_fields \
+ uv_timer_t* eof_timer; \
+ uv_write_t dummy; /* TODO: retained for ABI compat; remove this in v2.x. */ \
+ DWORD ipc_remote_pid; \
+ union { \
+ uint32_t payload_remaining; \
+ uint64_t dummy; /* TODO: retained for ABI compat; remove this in v2.x. */ \
+ } ipc_data_frame; \
+ void* ipc_xfer_queue[2]; \
+ int ipc_xfer_queue_length; \
+ uv_write_t* non_overlapped_writes_tail; \
+ CRITICAL_SECTION readfile_thread_lock; \
+ volatile HANDLE readfile_thread_handle;
+
+#define UV_PIPE_PRIVATE_FIELDS \
+ HANDLE handle; \
+ WCHAR* name; \
+ union { \
+ struct { uv_pipe_server_fields } serv; \
+ struct { uv_pipe_connection_fields } conn; \
+ } pipe;
+
+/* TODO: put the parser states in an union - TTY handles are always half-duplex
+ * so read-state can safely overlap write-state. */
+#define UV_TTY_PRIVATE_FIELDS \
+ HANDLE handle; \
+ union { \
+ struct { \
+ /* Used for readable TTY handles */ \
+ /* TODO: remove me in v2.x. */ \
+ HANDLE unused_; \
+ uv_buf_t read_line_buffer; \
+ HANDLE read_raw_wait; \
+ /* Fields used for translating win keystrokes into vt100 characters */ \
+ char last_key[8]; \
+ unsigned char last_key_offset; \
+ unsigned char last_key_len; \
+ WCHAR last_utf16_high_surrogate; \
+ INPUT_RECORD last_input_record; \
+ } rd; \
+ struct { \
+ /* Used for writable TTY handles */ \
+ /* utf8-to-utf16 conversion state */ \
+ unsigned int utf8_codepoint; \
+ unsigned char utf8_bytes_left; \
+ /* eol conversion state */ \
+ unsigned char previous_eol; \
+ /* ansi parser state */ \
+ unsigned char ansi_parser_state; \
+ unsigned char ansi_csi_argc; \
+ unsigned short ansi_csi_argv[4]; \
+ COORD saved_position; \
+ WORD saved_attributes; \
+ } wr; \
+ } tty;
+
+#define UV_POLL_PRIVATE_FIELDS \
+ SOCKET socket; \
+ /* Used in fast mode */ \
+ SOCKET peer_socket; \
+ AFD_POLL_INFO afd_poll_info_1; \
+ AFD_POLL_INFO afd_poll_info_2; \
+ /* Used in fast and slow mode. */ \
+ uv_req_t poll_req_1; \
+ uv_req_t poll_req_2; \
+ unsigned char submitted_events_1; \
+ unsigned char submitted_events_2; \
+ unsigned char mask_events_1; \
+ unsigned char mask_events_2; \
+ unsigned char events;
+
+#define UV_TIMER_PRIVATE_FIELDS \
+ void* heap_node[3]; \
+ int unused; \
+ uint64_t timeout; \
+ uint64_t repeat; \
+ uint64_t start_id; \
+ uv_timer_cb timer_cb;
+
+#define UV_ASYNC_PRIVATE_FIELDS \
+ struct uv_req_s async_req; \
+ uv_async_cb async_cb; \
+ /* char to avoid alignment issues */ \
+ char volatile async_sent;
+
+#define UV_PREPARE_PRIVATE_FIELDS \
+ uv_prepare_t* prepare_prev; \
+ uv_prepare_t* prepare_next; \
+ uv_prepare_cb prepare_cb;
+
+#define UV_CHECK_PRIVATE_FIELDS \
+ uv_check_t* check_prev; \
+ uv_check_t* check_next; \
+ uv_check_cb check_cb;
+
+#define UV_IDLE_PRIVATE_FIELDS \
+ uv_idle_t* idle_prev; \
+ uv_idle_t* idle_next; \
+ uv_idle_cb idle_cb;
+
+#define UV_HANDLE_PRIVATE_FIELDS \
+ uv_handle_t* endgame_next; \
+ unsigned int flags;
+
+#define UV_GETADDRINFO_PRIVATE_FIELDS \
+ struct uv__work work_req; \
+ uv_getaddrinfo_cb getaddrinfo_cb; \
+ void* alloc; \
+ WCHAR* node; \
+ WCHAR* service; \
+ /* The addrinfoW field is used to store a pointer to the hints, and */ \
+ /* later on to store the result of GetAddrInfoW. The final result will */ \
+ /* be converted to struct addrinfo* and stored in the addrinfo field. */ \
+ struct addrinfoW* addrinfow; \
+ struct addrinfo* addrinfo; \
+ int retcode;
+
+#define UV_GETNAMEINFO_PRIVATE_FIELDS \
+ struct uv__work work_req; \
+ uv_getnameinfo_cb getnameinfo_cb; \
+ struct sockaddr_storage storage; \
+ int flags; \
+ char host[NI_MAXHOST]; \
+ char service[NI_MAXSERV]; \
+ int retcode;
+
+#define UV_PROCESS_PRIVATE_FIELDS \
+ struct uv_process_exit_s { \
+ UV_REQ_FIELDS \
+ } exit_req; \
+ BYTE* child_stdio_buffer; \
+ int exit_signal; \
+ HANDLE wait_handle; \
+ HANDLE process_handle; \
+ volatile char exit_cb_pending;
+
+#define UV_FS_PRIVATE_FIELDS \
+ struct uv__work work_req; \
+ int flags; \
+ DWORD sys_errno_; \
+ union { \
+ /* TODO: remove me in 0.9. */ \
+ WCHAR* pathw; \
+ int fd; \
+ } file; \
+ union { \
+ struct { \
+ int mode; \
+ WCHAR* new_pathw; \
+ int file_flags; \
+ int fd_out; \
+ unsigned int nbufs; \
+ uv_buf_t* bufs; \
+ int64_t offset; \
+ uv_buf_t bufsml[4]; \
+ } info; \
+ struct { \
+ double atime; \
+ double mtime; \
+ } time; \
+ } fs;
+
+#define UV_WORK_PRIVATE_FIELDS \
+ struct uv__work work_req;
+
+#define UV_FS_EVENT_PRIVATE_FIELDS \
+ struct uv_fs_event_req_s { \
+ UV_REQ_FIELDS \
+ } req; \
+ HANDLE dir_handle; \
+ int req_pending; \
+ uv_fs_event_cb cb; \
+ WCHAR* filew; \
+ WCHAR* short_filew; \
+ WCHAR* dirw; \
+ char* buffer;
+
+#define UV_SIGNAL_PRIVATE_FIELDS \
+ RB_ENTRY(uv_signal_s) tree_entry; \
+ struct uv_req_s signal_req; \
+ unsigned long pending_signum;
+
+#ifndef F_OK
+#define F_OK 0
+#endif
+#ifndef R_OK
+#define R_OK 4
+#endif
+#ifndef W_OK
+#define W_OK 2
+#endif
+#ifndef X_OK
+#define X_OK 1
+#endif
+
+/* fs open() flags supported on this platform: */
+#define UV_FS_O_APPEND _O_APPEND
+#define UV_FS_O_CREAT _O_CREAT
+#define UV_FS_O_EXCL _O_EXCL
+#define UV_FS_O_RANDOM _O_RANDOM
+#define UV_FS_O_RDONLY _O_RDONLY
+#define UV_FS_O_RDWR _O_RDWR
+#define UV_FS_O_SEQUENTIAL _O_SEQUENTIAL
+#define UV_FS_O_SHORT_LIVED _O_SHORT_LIVED
+#define UV_FS_O_TEMPORARY _O_TEMPORARY
+#define UV_FS_O_TRUNC _O_TRUNC
+#define UV_FS_O_WRONLY _O_WRONLY
+
+/* fs open() flags supported on other platforms (or mapped on this platform): */
+#define UV_FS_O_DIRECT 0x02000000 /* FILE_FLAG_NO_BUFFERING */
+#define UV_FS_O_DIRECTORY 0
+#define UV_FS_O_DSYNC 0x04000000 /* FILE_FLAG_WRITE_THROUGH */
+#define UV_FS_O_EXLOCK 0x10000000 /* EXCLUSIVE SHARING MODE */
+#define UV_FS_O_NOATIME 0
+#define UV_FS_O_NOCTTY 0
+#define UV_FS_O_NOFOLLOW 0
+#define UV_FS_O_NONBLOCK 0
+#define UV_FS_O_SYMLINK 0
+#define UV_FS_O_SYNC 0x08000000 /* FILE_FLAG_WRITE_THROUGH */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/inet.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/inet.cpp
deleted file mode 100644
index 79d6232..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/inet.cpp
+++ /dev/null
@@ -1,310 +0,0 @@
-/*
- * Copyright (c) 2004 by Internet Systems Consortium, Inc. ("ISC")
- * Copyright (c) 1996-1999 by Internet Software Consortium.
- *
- * Permission to use, copy, modify, and distribute this software for any
- * purpose with or without fee is hereby granted, provided that the above
- * copyright notice and this permission notice appear in all copies.
- *
- * THE SOFTWARE IS PROVIDED "AS IS" AND ISC DISCLAIMS ALL WARRANTIES
- * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL ISC BE LIABLE FOR
- * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
- * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
- * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT
- * OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
- */
-
-#include <stdio.h>
-#include <string.h>
-
-#if defined(_MSC_VER) && _MSC_VER < 1600
-# include "uv/stdint-msvc2008.h"
-#else
-# include <stdint.h>
-#endif
-
-#include "uv.h"
-#include "uv-common.h"
-
-#define UV__INET_ADDRSTRLEN 16
-#define UV__INET6_ADDRSTRLEN 46
-
-
-static int inet_ntop4(const unsigned char *src, char *dst, size_t size);
-static int inet_ntop6(const unsigned char *src, char *dst, size_t size);
-static int inet_pton4(const char *src, unsigned char *dst);
-static int inet_pton6(const char *src, unsigned char *dst);
-
-
-int uv_inet_ntop(int af, const void* src, char* dst, size_t size) {
- switch (af) {
- case AF_INET:
- return (inet_ntop4((const unsigned char*)src, dst, size));
- case AF_INET6:
- return (inet_ntop6((const unsigned char*)src, dst, size));
- default:
- return UV_EAFNOSUPPORT;
- }
- /* NOTREACHED */
-}
-
-
-static int inet_ntop4(const unsigned char *src, char *dst, size_t size) {
- static const char fmt[] = "%u.%u.%u.%u";
- char tmp[UV__INET_ADDRSTRLEN];
- int l;
-
- l = snprintf(tmp, sizeof(tmp), fmt, src[0], src[1], src[2], src[3]);
- if (l <= 0 || (size_t) l >= size) {
- return UV_ENOSPC;
- }
- strncpy(dst, tmp, size);
- dst[size - 1] = '\0';
- return 0;
-}
-
-
-static int inet_ntop6(const unsigned char *src, char *dst, size_t size) {
- /*
- * Note that int32_t and int16_t need only be "at least" large enough
- * to contain a value of the specified size. On some systems, like
- * Crays, there is no such thing as an integer variable with 16 bits.
- * Keep this in mind if you think this function should have been coded
- * to use pointer overlays. All the world's not a VAX.
- */
- char tmp[UV__INET6_ADDRSTRLEN], *tp;
- struct { int base, len; } best, cur;
- unsigned int words[sizeof(struct in6_addr) / sizeof(uint16_t)];
- int i;
-
- /*
- * Preprocess:
- * Copy the input (bytewise) array into a wordwise array.
- * Find the longest run of 0x00's in src[] for :: shorthanding.
- */
- memset(words, '\0', sizeof words);
- for (i = 0; i < (int) sizeof(struct in6_addr); i++)
- words[i / 2] |= (src[i] << ((1 - (i % 2)) << 3));
- best.base = -1;
- best.len = 0;
- cur.base = -1;
- cur.len = 0;
- for (i = 0; i < (int) ARRAY_SIZE(words); i++) {
- if (words[i] == 0) {
- if (cur.base == -1)
- cur.base = i, cur.len = 1;
- else
- cur.len++;
- } else {
- if (cur.base != -1) {
- if (best.base == -1 || cur.len > best.len)
- best = cur;
- cur.base = -1;
- }
- }
- }
- if (cur.base != -1) {
- if (best.base == -1 || cur.len > best.len)
- best = cur;
- }
- if (best.base != -1 && best.len < 2)
- best.base = -1;
-
- /*
- * Format the result.
- */
- tp = tmp;
- for (i = 0; i < (int) ARRAY_SIZE(words); i++) {
- /* Are we inside the best run of 0x00's? */
- if (best.base != -1 && i >= best.base &&
- i < (best.base + best.len)) {
- if (i == best.base)
- *tp++ = ':';
- continue;
- }
- /* Are we following an initial run of 0x00s or any real hex? */
- if (i != 0)
- *tp++ = ':';
- /* Is this address an encapsulated IPv4? */
- if (i == 6 && best.base == 0 && (best.len == 6 ||
- (best.len == 7 && words[7] != 0x0001) ||
- (best.len == 5 && words[5] == 0xffff))) {
- int err = inet_ntop4(src+12, tp, sizeof tmp - (tp - tmp));
- if (err)
- return err;
- tp += strlen(tp);
- break;
- }
- tp += sprintf(tp, "%x", words[i]);
- }
- /* Was it a trailing run of 0x00's? */
- if (best.base != -1 && (best.base + best.len) == ARRAY_SIZE(words))
- *tp++ = ':';
- *tp++ = '\0';
-
- /*
- * Check for overflow, copy, and we're done.
- */
- if ((size_t)(tp - tmp) > size) {
- return UV_ENOSPC;
- }
- strcpy(dst, tmp);
- return 0;
-}
-
-
-int uv_inet_pton(int af, const char* src, void* dst) {
- if (src == NULL || dst == NULL)
- return UV_EINVAL;
-
- switch (af) {
- case AF_INET:
- return (inet_pton4(src, (unsigned char*)dst));
- case AF_INET6: {
- int len;
- char tmp[UV__INET6_ADDRSTRLEN], *s;
- const char *p;
- s = (char*) src;
- p = strchr(src, '%');
- if (p != NULL) {
- s = tmp;
- len = p - src;
- if (len > UV__INET6_ADDRSTRLEN-1)
- return UV_EINVAL;
- memcpy(s, src, len);
- s[len] = '\0';
- }
- return inet_pton6(s, (unsigned char*)dst);
- }
- default:
- return UV_EAFNOSUPPORT;
- }
- /* NOTREACHED */
-}
-
-
-static int inet_pton4(const char *src, unsigned char *dst) {
- static const char digits[] = "0123456789";
- int saw_digit, octets, ch;
- unsigned char tmp[sizeof(struct in_addr)], *tp;
-
- saw_digit = 0;
- octets = 0;
- *(tp = tmp) = 0;
- while ((ch = *src++) != '\0') {
- const char *pch;
-
- if ((pch = strchr(digits, ch)) != NULL) {
- unsigned int nw = *tp * 10 + (pch - digits);
-
- if (saw_digit && *tp == 0)
- return UV_EINVAL;
- if (nw > 255)
- return UV_EINVAL;
- *tp = nw;
- if (!saw_digit) {
- if (++octets > 4)
- return UV_EINVAL;
- saw_digit = 1;
- }
- } else if (ch == '.' && saw_digit) {
- if (octets == 4)
- return UV_EINVAL;
- *++tp = 0;
- saw_digit = 0;
- } else
- return UV_EINVAL;
- }
- if (octets < 4)
- return UV_EINVAL;
- memcpy(dst, tmp, sizeof(struct in_addr));
- return 0;
-}
-
-
-static int inet_pton6(const char *src, unsigned char *dst) {
- static const char xdigits_l[] = "0123456789abcdef",
- xdigits_u[] = "0123456789ABCDEF";
- unsigned char tmp[sizeof(struct in6_addr)], *tp, *endp, *colonp;
- const char *xdigits, *curtok;
- int ch, seen_xdigits;
- unsigned int val;
-
- memset((tp = tmp), '\0', sizeof tmp);
- endp = tp + sizeof tmp;
- colonp = NULL;
- /* Leading :: requires some special handling. */
- if (*src == ':')
- if (*++src != ':')
- return UV_EINVAL;
- curtok = src;
- seen_xdigits = 0;
- val = 0;
- while ((ch = *src++) != '\0') {
- const char *pch;
-
- if ((pch = strchr((xdigits = xdigits_l), ch)) == NULL)
- pch = strchr((xdigits = xdigits_u), ch);
- if (pch != NULL) {
- val <<= 4;
- val |= (pch - xdigits);
- if (++seen_xdigits > 4)
- return UV_EINVAL;
- continue;
- }
- if (ch == ':') {
- curtok = src;
- if (!seen_xdigits) {
- if (colonp)
- return UV_EINVAL;
- colonp = tp;
- continue;
- } else if (*src == '\0') {
- return UV_EINVAL;
- }
- if (tp + sizeof(uint16_t) > endp)
- return UV_EINVAL;
- *tp++ = (unsigned char) (val >> 8) & 0xff;
- *tp++ = (unsigned char) val & 0xff;
- seen_xdigits = 0;
- val = 0;
- continue;
- }
- if (ch == '.' && ((tp + sizeof(struct in_addr)) <= endp)) {
- int err = inet_pton4(curtok, tp);
- if (err == 0) {
- tp += sizeof(struct in_addr);
- seen_xdigits = 0;
- break; /*%< '\\0' was seen by inet_pton4(). */
- }
- }
- return UV_EINVAL;
- }
- if (seen_xdigits) {
- if (tp + sizeof(uint16_t) > endp)
- return UV_EINVAL;
- *tp++ = (unsigned char) (val >> 8) & 0xff;
- *tp++ = (unsigned char) val & 0xff;
- }
- if (colonp != NULL) {
- /*
- * Since some memmove()'s erroneously fail to handle
- * overlapping regions, we'll do the shift by hand.
- */
- const int n = tp - colonp;
- int i;
-
- if (tp == endp)
- return UV_EINVAL;
- for (i = 1; i <= n; i++) {
- endp[- i] = colonp[n - i];
- colonp[n - i] = 0;
- }
- tp = endp;
- }
- if (tp != endp)
- return UV_EINVAL;
- memcpy(dst, tmp, sizeof tmp);
- return 0;
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/fs-poll.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/fs-poll.cpp
new file mode 100644
index 0000000..14d64de
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/fs-poll.cpp
@@ -0,0 +1,288 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include "uv.h"
+#include "uv-common.h"
+
+#ifdef _WIN32
+#include "win/internal.h"
+#include "win/handle-inl.h"
+#define uv__make_close_pending(h) uv_want_endgame((h)->loop, (h))
+#else
+#include "unix/internal.h"
+#endif
+
+#include <assert.h>
+#include <stdlib.h>
+#include <string.h>
+
+
+struct poll_ctx {
+ uv_fs_poll_t* parent_handle;
+ int busy_polling;
+ unsigned int interval;
+ uint64_t start_time;
+ uv_loop_t* loop;
+ uv_fs_poll_cb poll_cb;
+ uv_timer_t timer_handle;
+ uv_fs_t fs_req; /* TODO(bnoordhuis) mark fs_req internal */
+ uv_stat_t statbuf;
+ struct poll_ctx* previous; /* context from previous start()..stop() period */
+ char path[1]; /* variable length */
+};
+
+static int statbuf_eq(const uv_stat_t* a, const uv_stat_t* b);
+static void poll_cb(uv_fs_t* req);
+static void timer_cb(uv_timer_t* timer);
+static void timer_close_cb(uv_handle_t* handle);
+
+static uv_stat_t zero_statbuf;
+
+
+int uv_fs_poll_init(uv_loop_t* loop, uv_fs_poll_t* handle) {
+ uv__handle_init(loop, (uv_handle_t*)handle, UV_FS_POLL);
+ handle->poll_ctx = NULL;
+ return 0;
+}
+
+
+int uv_fs_poll_start(uv_fs_poll_t* handle,
+ uv_fs_poll_cb cb,
+ const char* path,
+ unsigned int interval) {
+ struct poll_ctx* ctx;
+ uv_loop_t* loop;
+ size_t len;
+ int err;
+
+ if (uv_is_active((uv_handle_t*)handle))
+ return 0;
+
+ loop = handle->loop;
+ len = strlen(path);
+ ctx = (struct poll_ctx*)uv__calloc(1, sizeof(*ctx) + len);
+
+ if (ctx == NULL)
+ return UV_ENOMEM;
+
+ ctx->loop = loop;
+ ctx->poll_cb = cb;
+ ctx->interval = interval ? interval : 1;
+ ctx->start_time = uv_now(loop);
+ ctx->parent_handle = handle;
+ memcpy(ctx->path, path, len + 1);
+
+ err = uv_timer_init(loop, &ctx->timer_handle);
+ if (err < 0)
+ goto error;
+
+ ctx->timer_handle.flags |= UV_HANDLE_INTERNAL;
+ uv__handle_unref(&ctx->timer_handle);
+
+ err = uv_fs_stat(loop, &ctx->fs_req, ctx->path, poll_cb);
+ if (err < 0)
+ goto error;
+
+ if (handle->poll_ctx != NULL)
+ ctx->previous = (struct poll_ctx*)handle->poll_ctx;
+ handle->poll_ctx = ctx;
+ uv__handle_start(handle);
+
+ return 0;
+
+error:
+ uv__free(ctx);
+ return err;
+}
+
+
+int uv_fs_poll_stop(uv_fs_poll_t* handle) {
+ struct poll_ctx* ctx;
+
+ if (!uv_is_active((uv_handle_t*)handle))
+ return 0;
+
+ ctx = (struct poll_ctx*)handle->poll_ctx;
+ assert(ctx != NULL);
+ assert(ctx->parent_handle == handle);
+
+ /* Close the timer if it's active. If it's inactive, there's a stat request
+ * in progress and poll_cb will take care of the cleanup.
+ */
+ if (uv_is_active((uv_handle_t*)&ctx->timer_handle))
+ uv_close((uv_handle_t*)&ctx->timer_handle, timer_close_cb);
+
+ uv__handle_stop(handle);
+
+ return 0;
+}
+
+
+int uv_fs_poll_getpath(uv_fs_poll_t* handle, char* buffer, size_t* size) {
+ struct poll_ctx* ctx;
+ size_t required_len;
+
+ if (!uv_is_active((uv_handle_t*)handle)) {
+ *size = 0;
+ return UV_EINVAL;
+ }
+
+ ctx = (struct poll_ctx*)handle->poll_ctx;
+ assert(ctx != NULL);
+
+ required_len = strlen(ctx->path);
+ if (required_len >= *size) {
+ *size = required_len + 1;
+ return UV_ENOBUFS;
+ }
+
+ memcpy(buffer, ctx->path, required_len);
+ *size = required_len;
+ buffer[required_len] = '\0';
+
+ return 0;
+}
+
+
+void uv__fs_poll_close(uv_fs_poll_t* handle) {
+ uv_fs_poll_stop(handle);
+
+ if (handle->poll_ctx == NULL)
+ uv__make_close_pending((uv_handle_t*)handle);
+}
+
+
+static void timer_cb(uv_timer_t* timer) {
+ struct poll_ctx* ctx;
+
+ ctx = container_of(timer, struct poll_ctx, timer_handle);
+ assert(ctx->parent_handle != NULL);
+ assert(ctx->parent_handle->poll_ctx == ctx);
+ ctx->start_time = uv_now(ctx->loop);
+
+ if (uv_fs_stat(ctx->loop, &ctx->fs_req, ctx->path, poll_cb))
+ abort();
+}
+
+
+static void poll_cb(uv_fs_t* req) {
+ uv_stat_t* statbuf;
+ struct poll_ctx* ctx;
+ uint64_t interval;
+ uv_fs_poll_t* handle;
+
+ ctx = container_of(req, struct poll_ctx, fs_req);
+ handle = ctx->parent_handle;
+
+ if (!uv_is_active((uv_handle_t*)handle) || uv__is_closing(handle))
+ goto out;
+
+ if (req->result != 0) {
+ if (ctx->busy_polling != req->result) {
+ ctx->poll_cb(ctx->parent_handle,
+ req->result,
+ &ctx->statbuf,
+ &zero_statbuf);
+ ctx->busy_polling = req->result;
+ }
+ goto out;
+ }
+
+ statbuf = &req->statbuf;
+
+ if (ctx->busy_polling != 0)
+ if (ctx->busy_polling < 0 || !statbuf_eq(&ctx->statbuf, statbuf))
+ ctx->poll_cb(ctx->parent_handle, 0, &ctx->statbuf, statbuf);
+
+ ctx->statbuf = *statbuf;
+ ctx->busy_polling = 1;
+
+out:
+ uv_fs_req_cleanup(req);
+
+ if (!uv_is_active((uv_handle_t*)handle) || uv__is_closing(handle)) {
+ uv_close((uv_handle_t*)&ctx->timer_handle, timer_close_cb);
+ return;
+ }
+
+ /* Reschedule timer, subtract the delay from doing the stat(). */
+ interval = ctx->interval;
+ interval -= (uv_now(ctx->loop) - ctx->start_time) % interval;
+
+ if (uv_timer_start(&ctx->timer_handle, timer_cb, interval, 0))
+ abort();
+}
+
+
+static void timer_close_cb(uv_handle_t* timer) {
+ struct poll_ctx* ctx;
+ struct poll_ctx* it;
+ struct poll_ctx* last;
+ uv_fs_poll_t* handle;
+
+ ctx = container_of(timer, struct poll_ctx, timer_handle);
+ handle = ctx->parent_handle;
+ if (ctx == handle->poll_ctx) {
+ handle->poll_ctx = ctx->previous;
+ if (handle->poll_ctx == NULL && uv__is_closing(handle))
+ uv__make_close_pending((uv_handle_t*)handle);
+ } else {
+ for (last = (struct poll_ctx*)handle->poll_ctx, it = last->previous;
+ it != ctx;
+ last = it, it = it->previous) {
+ assert(last->previous != NULL);
+ }
+ last->previous = ctx->previous;
+ }
+ uv__free(ctx);
+}
+
+
+static int statbuf_eq(const uv_stat_t* a, const uv_stat_t* b) {
+ return a->st_ctim.tv_nsec == b->st_ctim.tv_nsec
+ && a->st_mtim.tv_nsec == b->st_mtim.tv_nsec
+ && a->st_birthtim.tv_nsec == b->st_birthtim.tv_nsec
+ && a->st_ctim.tv_sec == b->st_ctim.tv_sec
+ && a->st_mtim.tv_sec == b->st_mtim.tv_sec
+ && a->st_birthtim.tv_sec == b->st_birthtim.tv_sec
+ && a->st_size == b->st_size
+ && a->st_mode == b->st_mode
+ && a->st_uid == b->st_uid
+ && a->st_gid == b->st_gid
+ && a->st_ino == b->st_ino
+ && a->st_dev == b->st_dev
+ && a->st_flags == b->st_flags
+ && a->st_gen == b->st_gen;
+}
+
+
+#if defined(_WIN32)
+
+#include "win/internal.h"
+#include "win/handle-inl.h"
+
+void uv__fs_poll_endgame(uv_loop_t* loop, uv_fs_poll_t* handle) {
+ assert(handle->flags & UV_HANDLE_CLOSING);
+ assert(!(handle->flags & UV_HANDLE_CLOSED));
+ uv__handle_close(handle);
+}
+
+#endif /* _WIN32 */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/heap-inl.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/heap-inl.h
similarity index 100%
rename from third_party/allwpilib_2019/wpiutil/src/main/native/libuv/heap-inl.h
rename to third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/heap-inl.h
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/idna.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/idna.cpp
new file mode 100644
index 0000000..6b2406c
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/idna.cpp
@@ -0,0 +1,291 @@
+/* Copyright (c) 2011, 2018 Ben Noordhuis <info@bnoordhuis.nl>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+/* Derived from https://github.com/bnoordhuis/punycode
+ * but updated to support IDNA 2008.
+ */
+
+#include "uv.h"
+#include "idna.h"
+#include <string.h>
+
+static unsigned uv__utf8_decode1_slow(const char** p,
+ const char* pe,
+ unsigned a) {
+ unsigned b;
+ unsigned c;
+ unsigned d;
+ unsigned min;
+
+ if (a > 0xF7)
+ return -1;
+
+ switch (*p - pe) {
+ default:
+ if (a > 0xEF) {
+ min = 0x10000;
+ a = a & 7;
+ b = (unsigned char) *(*p)++;
+ c = (unsigned char) *(*p)++;
+ d = (unsigned char) *(*p)++;
+ break;
+ }
+ /* Fall through. */
+ case 2:
+ if (a > 0xDF) {
+ min = 0x800;
+ b = 0x80 | (a & 15);
+ c = (unsigned char) *(*p)++;
+ d = (unsigned char) *(*p)++;
+ a = 0;
+ break;
+ }
+ /* Fall through. */
+ case 1:
+ if (a > 0xBF) {
+ min = 0x80;
+ b = 0x80;
+ c = 0x80 | (a & 31);
+ d = (unsigned char) *(*p)++;
+ a = 0;
+ break;
+ }
+ return -1; /* Invalid continuation byte. */
+ }
+
+ if (0x80 != (0xC0 & (b ^ c ^ d)))
+ return -1; /* Invalid sequence. */
+
+ b &= 63;
+ c &= 63;
+ d &= 63;
+ a = (a << 18) | (b << 12) | (c << 6) | d;
+
+ if (a < min)
+ return -1; /* Overlong sequence. */
+
+ if (a > 0x10FFFF)
+ return -1; /* Four-byte sequence > U+10FFFF. */
+
+ if (a >= 0xD800 && a <= 0xDFFF)
+ return -1; /* Surrogate pair. */
+
+ return a;
+}
+
+unsigned uv__utf8_decode1(const char** p, const char* pe) {
+ unsigned a;
+
+ a = (unsigned char) *(*p)++;
+
+ if (a < 128)
+ return a; /* ASCII, common case. */
+
+ return uv__utf8_decode1_slow(p, pe, a);
+}
+
+#define foreach_codepoint(c, p, pe) \
+ for (; (void) (*p <= pe && (c = uv__utf8_decode1(p, pe))), *p <= pe;)
+
+static int uv__idna_toascii_label(const char* s, const char* se,
+ char** d, char* de) {
+ static const char alphabet[] = "abcdefghijklmnopqrstuvwxyz0123456789";
+ const char* ss;
+ unsigned c = 0;
+ unsigned h;
+ unsigned k;
+ unsigned n;
+ unsigned m;
+ unsigned q;
+ unsigned t;
+ unsigned x;
+ unsigned y;
+ unsigned bias;
+ unsigned delta;
+ unsigned todo;
+ int first;
+
+ h = 0;
+ ss = s;
+ todo = 0;
+
+ foreach_codepoint(c, &s, se) {
+ if (c < 128)
+ h++;
+ else if (c == (unsigned) -1)
+ return UV_EINVAL;
+ else
+ todo++;
+ }
+
+ if (todo > 0) {
+ if (*d < de) *(*d)++ = 'x';
+ if (*d < de) *(*d)++ = 'n';
+ if (*d < de) *(*d)++ = '-';
+ if (*d < de) *(*d)++ = '-';
+ }
+
+ x = 0;
+ s = ss;
+ foreach_codepoint(c, &s, se) {
+ if (c > 127)
+ continue;
+
+ if (*d < de)
+ *(*d)++ = c;
+
+ if (++x == h)
+ break; /* Visited all ASCII characters. */
+ }
+
+ if (todo == 0)
+ return h;
+
+ /* Only write separator when we've written ASCII characters first. */
+ if (h > 0)
+ if (*d < de)
+ *(*d)++ = '-';
+
+ n = 128;
+ bias = 72;
+ delta = 0;
+ first = 1;
+
+ while (todo > 0) {
+ m = -1;
+ s = ss;
+ foreach_codepoint(c, &s, se)
+ if (c >= n)
+ if (c < m)
+ m = c;
+
+ x = m - n;
+ y = h + 1;
+
+ if (x > ~delta / y)
+ return UV_E2BIG; /* Overflow. */
+
+ delta += x * y;
+ n = m;
+
+ s = ss;
+ foreach_codepoint(c, &s, se) {
+ if (c < n)
+ if (++delta == 0)
+ return UV_E2BIG; /* Overflow. */
+
+ if (c != n)
+ continue;
+
+ for (k = 36, q = delta; /* empty */; k += 36) {
+ t = 1;
+
+ if (k > bias)
+ t = k - bias;
+
+ if (t > 26)
+ t = 26;
+
+ if (q < t)
+ break;
+
+ /* TODO(bnoordhuis) Since 1 <= t <= 26 and therefore
+ * 10 <= y <= 35, we can optimize the long division
+ * into a table-based reciprocal multiplication.
+ */
+ x = q - t;
+ y = 36 - t; /* 10 <= y <= 35 since 1 <= t <= 26. */
+ q = x / y;
+ t = t + x % y; /* 1 <= t <= 35 because of y. */
+
+ if (*d < de)
+ *(*d)++ = alphabet[t];
+ }
+
+ if (*d < de)
+ *(*d)++ = alphabet[q];
+
+ delta /= 2;
+
+ if (first) {
+ delta /= 350;
+ first = 0;
+ }
+
+ /* No overflow check is needed because |delta| was just
+ * divided by 2 and |delta+delta >= delta + delta/h|.
+ */
+ h++;
+ delta += delta / h;
+
+ for (bias = 0; delta > 35 * 26 / 2; bias += 36)
+ delta /= 35;
+
+ bias += 36 * delta / (delta + 38);
+ delta = 0;
+ todo--;
+ }
+
+ delta++;
+ n++;
+ }
+
+ return 0;
+}
+
+#undef foreach_codepoint
+
+long uv__idna_toascii(const char* s, const char* se, char* d, char* de) {
+ const char* si;
+ const char* st;
+ unsigned c;
+ char* ds;
+ int rc;
+
+ ds = d;
+
+ for (si = s; si < se; /* empty */) {
+ st = si;
+ c = uv__utf8_decode1(&si, se);
+
+ if (c != '.')
+ if (c != 0x3002) /* 。 */
+ if (c != 0xFF0E) /* ． */
+ if (c != 0xFF61) /* ｡ */
+ continue;
+
+ rc = uv__idna_toascii_label(s, st, &d, de);
+
+ if (rc < 0)
+ return rc;
+
+ if (d < de)
+ *d++ = '.';
+
+ s = si;
+ }
+
+ if (s < se) {
+ rc = uv__idna_toascii_label(s, se, &d, de);
+
+ if (rc < 0)
+ return rc;
+ }
+
+ if (d < de)
+ *d++ = '\0';
+
+ return d - ds; /* Number of bytes written. */
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/idna.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/idna.h
new file mode 100644
index 0000000..8e0c592
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/idna.h
@@ -0,0 +1,31 @@
+/* Copyright (c) 2011, 2018 Ben Noordhuis <info@bnoordhuis.nl>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#ifndef UV_SRC_IDNA_H_
+#define UV_SRC_IDNA_H_
+
+/* Decode a single codepoint. Returns the codepoint or UINT32_MAX on error.
+ * |p| is updated on success _and_ error, i.e., bad multi-byte sequences are
+ * skipped in their entirety, not just the first bad byte.
+ */
+unsigned uv__utf8_decode1(const char** p, const char* pe);
+
+/* Convert a UTF-8 domain name to IDNA 2008 / Punycode. A return value >= 0
+ * is the number of bytes written to |d|, including the trailing nul byte.
+ * A return value < 0 is a libuv error code. |s| and |d| can not overlap.
+ */
+long uv__idna_toascii(const char* s, const char* se, char* d, char* de);
+
+#endif /* UV_SRC_IDNA_H_ */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/inet.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/inet.cpp
new file mode 100644
index 0000000..167ec11
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/inet.cpp
@@ -0,0 +1,307 @@
+/*
+ * Copyright (c) 2004 by Internet Systems Consortium, Inc. ("ISC")
+ * Copyright (c) 1996-1999 by Internet Software Consortium.
+ *
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND ISC DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL ISC BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT
+ * OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <stdio.h>
+#include <string.h>
+
+#if defined(_MSC_VER) && _MSC_VER < 1600
+# include "uv/stdint-msvc2008.h"
+#else
+# include <stdint.h>
+#endif
+
+#include "uv.h"
+#include "uv-common.h"
+
+#ifdef _WIN32
+#pragma warning(disable : 6001)
+#endif
+
+#define UV__INET_ADDRSTRLEN 16
+#define UV__INET6_ADDRSTRLEN 46
+
+
+static int inet_ntop4(const unsigned char *src, char *dst, size_t size);
+static int inet_ntop6(const unsigned char *src, char *dst, size_t size);
+static int inet_pton4(const char *src, unsigned char *dst);
+static int inet_pton6(const char *src, unsigned char *dst);
+
+
+int uv_inet_ntop(int af, const void* src, char* dst, size_t size) {
+ switch (af) {
+ case AF_INET:
+ return (inet_ntop4((const unsigned char*)src, dst, size));
+ case AF_INET6:
+ return (inet_ntop6((const unsigned char*)src, dst, size));
+ default:
+ return UV_EAFNOSUPPORT;
+ }
+ /* NOTREACHED */
+}
+
+
+static int inet_ntop4(const unsigned char *src, char *dst, size_t size) {
+ static const char fmt[] = "%u.%u.%u.%u";
+ char tmp[UV__INET_ADDRSTRLEN];
+ int l;
+
+ l = snprintf(tmp, sizeof(tmp), fmt, src[0], src[1], src[2], src[3]);
+ if (l <= 0 || (size_t) l >= size) {
+ return UV_ENOSPC;
+ }
+ uv__strscpy(dst, tmp, size);
+ return 0;
+}
+
+
+static int inet_ntop6(const unsigned char *src, char *dst, size_t size) {
+ /*
+ * Note that int32_t and int16_t need only be "at least" large enough
+ * to contain a value of the specified size. On some systems, like
+ * Crays, there is no such thing as an integer variable with 16 bits.
+ * Keep this in mind if you think this function should have been coded
+ * to use pointer overlays. All the world's not a VAX.
+ */
+ char tmp[UV__INET6_ADDRSTRLEN], *tp;
+ struct { int base, len; } best, cur;
+ unsigned int words[sizeof(struct in6_addr) / sizeof(uint16_t)];
+ int i;
+
+ /*
+ * Preprocess:
+ * Copy the input (bytewise) array into a wordwise array.
+ * Find the longest run of 0x00's in src[] for :: shorthanding.
+ */
+ memset(words, '\0', sizeof words);
+ for (i = 0; i < (int) sizeof(struct in6_addr); i++)
+ words[i / 2] |= (src[i] << ((1 - (i % 2)) << 3));
+ best.base = -1;
+ best.len = 0;
+ cur.base = -1;
+ cur.len = 0;
+ for (i = 0; i < (int) ARRAY_SIZE(words); i++) {
+ if (words[i] == 0) {
+ if (cur.base == -1)
+ cur.base = i, cur.len = 1;
+ else
+ cur.len++;
+ } else {
+ if (cur.base != -1) {
+ if (best.base == -1 || cur.len > best.len)
+ best = cur;
+ cur.base = -1;
+ }
+ }
+ }
+ if (cur.base != -1) {
+ if (best.base == -1 || cur.len > best.len)
+ best = cur;
+ }
+ if (best.base != -1 && best.len < 2)
+ best.base = -1;
+
+ /*
+ * Format the result.
+ */
+ tp = tmp;
+ for (i = 0; i < (int) ARRAY_SIZE(words); i++) {
+ /* Are we inside the best run of 0x00's? */
+ if (best.base != -1 && i >= best.base &&
+ i < (best.base + best.len)) {
+ if (i == best.base)
+ *tp++ = ':';
+ continue;
+ }
+ /* Are we following an initial run of 0x00s or any real hex? */
+ if (i != 0)
+ *tp++ = ':';
+ /* Is this address an encapsulated IPv4? */
+ if (i == 6 && best.base == 0 && (best.len == 6 ||
+ (best.len == 7 && words[7] != 0x0001) ||
+ (best.len == 5 && words[5] == 0xffff))) {
+ int err = inet_ntop4(src+12, tp, sizeof tmp - (tp - tmp));
+ if (err)
+ return err;
+ tp += strlen(tp);
+ break;
+ }
+ tp += sprintf(tp, "%x", words[i]);
+ }
+ /* Was it a trailing run of 0x00's? */
+ if (best.base != -1 && (best.base + best.len) == ARRAY_SIZE(words))
+ *tp++ = ':';
+ *tp++ = '\0';
+ if (UV_E2BIG == uv__strscpy(dst, tmp, size))
+ return UV_ENOSPC;
+ return 0;
+}
+
+
+int uv_inet_pton(int af, const char* src, void* dst) {
+ if (src == NULL || dst == NULL)
+ return UV_EINVAL;
+
+ switch (af) {
+ case AF_INET:
+ return (inet_pton4(src, (unsigned char*)dst));
+ case AF_INET6: {
+ int len;
+ char tmp[UV__INET6_ADDRSTRLEN], *s;
+ const char *p;
+ s = (char*) src;
+ p = strchr(src, '%');
+ if (p != NULL) {
+ s = tmp;
+ len = p - src;
+ if (len > UV__INET6_ADDRSTRLEN-1)
+ return UV_EINVAL;
+ memcpy(s, src, len);
+ s[len] = '\0';
+ }
+ return inet_pton6(s, (unsigned char*)dst);
+ }
+ default:
+ return UV_EAFNOSUPPORT;
+ }
+ /* NOTREACHED */
+}
+
+
+static int inet_pton4(const char *src, unsigned char *dst) {
+ static const char digits[] = "0123456789";
+ int saw_digit, octets, ch;
+ unsigned char tmp[sizeof(struct in_addr)], *tp;
+
+ saw_digit = 0;
+ octets = 0;
+ *(tp = tmp) = 0;
+ while ((ch = *src++) != '\0') {
+ const char *pch;
+
+ if ((pch = strchr(digits, ch)) != NULL) {
+ unsigned int nw = *tp * 10 + (pch - digits);
+
+ if (saw_digit && *tp == 0)
+ return UV_EINVAL;
+ if (nw > 255)
+ return UV_EINVAL;
+ *tp = nw;
+ if (!saw_digit) {
+ if (++octets > 4)
+ return UV_EINVAL;
+ saw_digit = 1;
+ }
+ } else if (ch == '.' && saw_digit) {
+ if (octets == 4)
+ return UV_EINVAL;
+ *++tp = 0;
+ saw_digit = 0;
+ } else
+ return UV_EINVAL;
+ }
+ if (octets < 4)
+ return UV_EINVAL;
+ memcpy(dst, tmp, sizeof(struct in_addr));
+ return 0;
+}
+
+
+static int inet_pton6(const char *src, unsigned char *dst) {
+ static const char xdigits_l[] = "0123456789abcdef",
+ xdigits_u[] = "0123456789ABCDEF";
+ unsigned char tmp[sizeof(struct in6_addr)], *tp, *endp, *colonp;
+ const char *xdigits, *curtok;
+ int ch, seen_xdigits;
+ unsigned int val;
+
+ memset((tp = tmp), '\0', sizeof tmp);
+ endp = tp + sizeof tmp;
+ colonp = NULL;
+ /* Leading :: requires some special handling. */
+ if (*src == ':')
+ if (*++src != ':')
+ return UV_EINVAL;
+ curtok = src;
+ seen_xdigits = 0;
+ val = 0;
+ while ((ch = *src++) != '\0') {
+ const char *pch;
+
+ if ((pch = strchr((xdigits = xdigits_l), ch)) == NULL)
+ pch = strchr((xdigits = xdigits_u), ch);
+ if (pch != NULL) {
+ val <<= 4;
+ val |= (pch - xdigits);
+ if (++seen_xdigits > 4)
+ return UV_EINVAL;
+ continue;
+ }
+ if (ch == ':') {
+ curtok = src;
+ if (!seen_xdigits) {
+ if (colonp)
+ return UV_EINVAL;
+ colonp = tp;
+ continue;
+ } else if (*src == '\0') {
+ return UV_EINVAL;
+ }
+ if (tp + sizeof(uint16_t) > endp)
+ return UV_EINVAL;
+ *tp++ = (unsigned char) (val >> 8) & 0xff;
+ *tp++ = (unsigned char) val & 0xff;
+ seen_xdigits = 0;
+ val = 0;
+ continue;
+ }
+ if (ch == '.' && ((tp + sizeof(struct in_addr)) <= endp)) {
+ int err = inet_pton4(curtok, tp);
+ if (err == 0) {
+ tp += sizeof(struct in_addr);
+ seen_xdigits = 0;
+ break; /*%< '\\0' was seen by inet_pton4(). */
+ }
+ }
+ return UV_EINVAL;
+ }
+ if (seen_xdigits) {
+ if (tp + sizeof(uint16_t) > endp)
+ return UV_EINVAL;
+ *tp++ = (unsigned char) (val >> 8) & 0xff;
+ *tp++ = (unsigned char) val & 0xff;
+ }
+ if (colonp != NULL) {
+ /*
+ * Since some memmove()'s erroneously fail to handle
+ * overlapping regions, we'll do the shift by hand.
+ */
+ const int n = tp - colonp;
+ int i;
+
+ if (tp == endp)
+ return UV_EINVAL;
+ for (i = 1; i <= n; i++) {
+ endp[- i] = colonp[n - i];
+ colonp[n - i] = 0;
+ }
+ tp = endp;
+ }
+ if (tp != endp)
+ return UV_EINVAL;
+ memcpy(dst, tmp, sizeof tmp);
+ return 0;
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/queue.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/queue.h
similarity index 100%
rename from third_party/allwpilib_2019/wpiutil/src/main/native/libuv/queue.h
rename to third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/queue.h
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/strscpy.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/strscpy.cpp
new file mode 100644
index 0000000..4a9e863
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/strscpy.cpp
@@ -0,0 +1,17 @@
+#include "strscpy.h"
+#include <limits.h> /* SSIZE_MAX */
+
+ssize_t uv__strscpy(char* d, const char* s, size_t n) {
+ size_t i;
+
+ for (i = 0; i < n; i++)
+ if ('\0' == (d[i] = s[i]))
+ return i > SSIZE_MAX ? (ssize_t) UV_E2BIG : (ssize_t) i;
+
+ if (i == 0)
+ return 0;
+
+ d[--i] = '\0';
+
+ return UV_E2BIG;
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/strscpy.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/strscpy.h
new file mode 100644
index 0000000..fbe0a39
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/strscpy.h
@@ -0,0 +1,18 @@
+#ifndef UV_STRSCPY_H_
+#define UV_STRSCPY_H_
+
+/* Include uv.h for its definitions of size_t and ssize_t.
+ * size_t can be obtained directly from <stddef.h> but ssize_t requires
+ * some hoop jumping on Windows that I didn't want to duplicate here.
+ */
+#include "uv.h"
+
+/* Copies up to |n-1| bytes from |d| to |s| and always zero-terminates
+ * the result, except when |n==0|. Returns the number of bytes copied
+ * or UV_E2BIG if |d| is too small.
+ *
+ * See https://www.kernel.org/doc/htmldocs/kernel-api/API-strscpy.html
+ */
+ssize_t uv__strscpy(char* d, const char* s, size_t n);
+
+#endif /* UV_STRSCPY_H_ */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/threadpool.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/threadpool.cpp
new file mode 100644
index 0000000..515bf40
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/threadpool.cpp
@@ -0,0 +1,388 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include "uv-common.h"
+
+#if !defined(_WIN32)
+# include "unix/internal.h"
+#endif
+
+#include <stdlib.h>
+
+#ifdef _WIN32
+#pragma warning(disable: 6001 6011)
+#endif
+
+#define MAX_THREADPOOL_SIZE 1024
+
+static uv_once_t once = UV_ONCE_INIT;
+static uv_cond_t cond;
+static uv_mutex_t mutex;
+static unsigned int idle_threads;
+static unsigned int slow_io_work_running;
+static unsigned int nthreads;
+static uv_thread_t* threads;
+static uv_thread_t default_threads[4];
+static QUEUE exit_message;
+static QUEUE wq;
+static QUEUE run_slow_work_message;
+static QUEUE slow_io_pending_wq;
+
+static unsigned int slow_work_thread_threshold(void) {
+ return (nthreads + 1) / 2;
+}
+
+static void uv__cancelled(struct uv__work* w) {
+ abort();
+}
+
+
+/* To avoid deadlock with uv_cancel() it's crucial that the worker
+ * never holds the global mutex and the loop-local mutex at the same time.
+ */
+static void worker(void* arg) {
+ struct uv__work* w;
+ QUEUE* q;
+ int is_slow_work;
+
+ uv_sem_post((uv_sem_t*) arg);
+ arg = NULL;
+
+ uv_mutex_lock(&mutex);
+ for (;;) {
+ /* `mutex` should always be locked at this point. */
+
+ /* Keep waiting while either no work is present or only slow I/O
+ and we're at the threshold for that. */
+ while (QUEUE_EMPTY(&wq) ||
+ (QUEUE_HEAD(&wq) == &run_slow_work_message &&
+ QUEUE_NEXT(&run_slow_work_message) == &wq &&
+ slow_io_work_running >= slow_work_thread_threshold())) {
+ idle_threads += 1;
+ uv_cond_wait(&cond, &mutex);
+ idle_threads -= 1;
+ }
+
+ q = QUEUE_HEAD(&wq);
+ if (q == &exit_message) {
+ uv_cond_signal(&cond);
+ uv_mutex_unlock(&mutex);
+ break;
+ }
+
+ QUEUE_REMOVE(q);
+ QUEUE_INIT(q); /* Signal uv_cancel() that the work req is executing. */
+
+ is_slow_work = 0;
+ if (q == &run_slow_work_message) {
+ /* If we're at the slow I/O threshold, re-schedule until after all
+ other work in the queue is done. */
+ if (slow_io_work_running >= slow_work_thread_threshold()) {
+ QUEUE_INSERT_TAIL(&wq, q);
+ continue;
+ }
+
+ /* If we encountered a request to run slow I/O work but there is none
+ to run, that means it's cancelled => Start over. */
+ if (QUEUE_EMPTY(&slow_io_pending_wq))
+ continue;
+
+ is_slow_work = 1;
+ slow_io_work_running++;
+
+ q = QUEUE_HEAD(&slow_io_pending_wq);
+ QUEUE_REMOVE(q);
+ QUEUE_INIT(q);
+
+ /* If there is more slow I/O work, schedule it to be run as well. */
+ if (!QUEUE_EMPTY(&slow_io_pending_wq)) {
+ QUEUE_INSERT_TAIL(&wq, &run_slow_work_message);
+ if (idle_threads > 0)
+ uv_cond_signal(&cond);
+ }
+ }
+
+ uv_mutex_unlock(&mutex);
+
+ w = QUEUE_DATA(q, struct uv__work, wq);
+ w->work(w);
+
+ uv_mutex_lock(&w->loop->wq_mutex);
+ w->work = NULL; /* Signal uv_cancel() that the work req is done
+ executing. */
+ QUEUE_INSERT_TAIL(&w->loop->wq, &w->wq);
+ uv_async_send(&w->loop->wq_async);
+ uv_mutex_unlock(&w->loop->wq_mutex);
+
+ /* Lock `mutex` since that is expected at the start of the next
+ * iteration. */
+ uv_mutex_lock(&mutex);
+ if (is_slow_work) {
+ /* `slow_io_work_running` is protected by `mutex`. */
+ slow_io_work_running--;
+ }
+ }
+}
+
+
+static void post(QUEUE* q, enum uv__work_kind kind) {
+ uv_mutex_lock(&mutex);
+ if (kind == UV__WORK_SLOW_IO) {
+ /* Insert into a separate queue. */
+ QUEUE_INSERT_TAIL(&slow_io_pending_wq, q);
+ if (!QUEUE_EMPTY(&run_slow_work_message)) {
+ /* Running slow I/O tasks is already scheduled => Nothing to do here.
+ The worker that runs said other task will schedule this one as well. */
+ uv_mutex_unlock(&mutex);
+ return;
+ }
+ q = &run_slow_work_message;
+ }
+
+ QUEUE_INSERT_TAIL(&wq, q);
+ if (idle_threads > 0)
+ uv_cond_signal(&cond);
+ uv_mutex_unlock(&mutex);
+}
+
+
+#ifndef _WIN32
+UV_DESTRUCTOR(static void cleanup(void)) {
+ unsigned int i;
+
+ if (nthreads == 0)
+ return;
+
+ post(&exit_message, UV__WORK_CPU);
+
+ for (i = 0; i < nthreads; i++)
+ if (uv_thread_join(threads + i))
+ abort();
+
+ if (threads != default_threads)
+ uv__free(threads);
+
+ uv_mutex_destroy(&mutex);
+ uv_cond_destroy(&cond);
+
+ threads = NULL;
+ nthreads = 0;
+}
+#endif
+
+
+static void init_threads(void) {
+ unsigned int i;
+ const char* val;
+ uv_sem_t sem;
+
+ nthreads = ARRAY_SIZE(default_threads);
+ val = getenv("UV_THREADPOOL_SIZE");
+ if (val != NULL)
+ nthreads = atoi(val);
+ if (nthreads == 0)
+ nthreads = 1;
+ if (nthreads > MAX_THREADPOOL_SIZE)
+ nthreads = MAX_THREADPOOL_SIZE;
+
+ threads = default_threads;
+ if (nthreads > ARRAY_SIZE(default_threads)) {
+ threads = (uv_thread_t*)uv__malloc(nthreads * sizeof(threads[0]));
+ if (threads == NULL) {
+ nthreads = ARRAY_SIZE(default_threads);
+ threads = default_threads;
+ }
+ }
+
+ if (uv_cond_init(&cond))
+ abort();
+
+ if (uv_mutex_init(&mutex))
+ abort();
+
+ QUEUE_INIT(&wq);
+ QUEUE_INIT(&slow_io_pending_wq);
+ QUEUE_INIT(&run_slow_work_message);
+
+ if (uv_sem_init(&sem, 0))
+ abort();
+
+ for (i = 0; i < nthreads; i++)
+ if (uv_thread_create(threads + i, worker, &sem))
+ abort();
+
+ for (i = 0; i < nthreads; i++)
+ uv_sem_wait(&sem);
+
+ uv_sem_destroy(&sem);
+}
+
+
+#ifndef _WIN32
+static void reset_once(void) {
+ uv_once_t child_once = UV_ONCE_INIT;
+ memcpy(&once, &child_once, sizeof(child_once));
+}
+#endif
+
+
+static void init_once(void) {
+#ifndef _WIN32
+ /* Re-initialize the threadpool after fork.
+ * Note that this discards the global mutex and condition as well
+ * as the work queue.
+ */
+ if (pthread_atfork(NULL, NULL, &reset_once))
+ abort();
+#endif
+ init_threads();
+}
+
+
+void uv__work_submit(uv_loop_t* loop,
+ struct uv__work* w,
+ enum uv__work_kind kind,
+ void (*work)(struct uv__work* w),
+ void (*done)(struct uv__work* w, int status)) {
+ uv_once(&once, init_once);
+ w->loop = loop;
+ w->work = work;
+ w->done = done;
+ post(&w->wq, kind);
+}
+
+
+static int uv__work_cancel(uv_loop_t* loop, uv_req_t* req, struct uv__work* w) {
+ int cancelled;
+
+ uv_mutex_lock(&mutex);
+ uv_mutex_lock(&w->loop->wq_mutex);
+
+ cancelled = !QUEUE_EMPTY(&w->wq) && w->work != NULL;
+ if (cancelled)
+ QUEUE_REMOVE(&w->wq);
+
+ uv_mutex_unlock(&w->loop->wq_mutex);
+ uv_mutex_unlock(&mutex);
+
+ if (!cancelled)
+ return UV_EBUSY;
+
+ w->work = uv__cancelled;
+ uv_mutex_lock(&loop->wq_mutex);
+ QUEUE_INSERT_TAIL(&loop->wq, &w->wq);
+ uv_async_send(&loop->wq_async);
+ uv_mutex_unlock(&loop->wq_mutex);
+
+ return 0;
+}
+
+
+void uv__work_done(uv_async_t* handle) {
+ struct uv__work* w;
+ uv_loop_t* loop;
+ QUEUE* q;
+ QUEUE wq;
+ int err;
+
+ loop = container_of(handle, uv_loop_t, wq_async);
+ uv_mutex_lock(&loop->wq_mutex);
+ QUEUE_MOVE(&loop->wq, &wq);
+ uv_mutex_unlock(&loop->wq_mutex);
+
+ while (!QUEUE_EMPTY(&wq)) {
+ q = QUEUE_HEAD(&wq);
+ QUEUE_REMOVE(q);
+
+ w = container_of(q, struct uv__work, wq);
+ err = (w->work == uv__cancelled) ? UV_ECANCELED : 0;
+ w->done(w, err);
+ }
+}
+
+
+static void uv__queue_work(struct uv__work* w) {
+ uv_work_t* req = container_of(w, uv_work_t, work_req);
+
+ req->work_cb(req);
+}
+
+
+static void uv__queue_done(struct uv__work* w, int err) {
+ uv_work_t* req;
+
+ req = container_of(w, uv_work_t, work_req);
+ uv__req_unregister(req->loop, req);
+
+ if (req->after_work_cb == NULL)
+ return;
+
+ req->after_work_cb(req, err);
+}
+
+
+int uv_queue_work(uv_loop_t* loop,
+ uv_work_t* req,
+ uv_work_cb work_cb,
+ uv_after_work_cb after_work_cb) {
+ if (work_cb == NULL)
+ return UV_EINVAL;
+
+ uv__req_init(loop, req, UV_WORK);
+ req->loop = loop;
+ req->work_cb = work_cb;
+ req->after_work_cb = after_work_cb;
+ uv__work_submit(loop,
+ &req->work_req,
+ UV__WORK_CPU,
+ uv__queue_work,
+ uv__queue_done);
+ return 0;
+}
+
+
+int uv_cancel(uv_req_t* req) {
+ struct uv__work* wreq;
+ uv_loop_t* loop;
+
+ switch (req->type) {
+ case UV_FS:
+ loop = ((uv_fs_t*) req)->loop;
+ wreq = &((uv_fs_t*) req)->work_req;
+ break;
+ case UV_GETADDRINFO:
+ loop = ((uv_getaddrinfo_t*) req)->loop;
+ wreq = &((uv_getaddrinfo_t*) req)->work_req;
+ break;
+ case UV_GETNAMEINFO:
+ loop = ((uv_getnameinfo_t*) req)->loop;
+ wreq = &((uv_getnameinfo_t*) req)->work_req;
+ break;
+ case UV_WORK:
+ loop = ((uv_work_t*) req)->loop;
+ wreq = &((uv_work_t*) req)->work_req;
+ break;
+ default:
+ return UV_EINVAL;
+ }
+
+ return uv__work_cancel(loop, req, wreq);
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/timer.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/timer.cpp
new file mode 100644
index 0000000..dd78bcb
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/timer.cpp
@@ -0,0 +1,181 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include "uv.h"
+#include "uv-common.h"
+#include "heap-inl.h"
+
+#include <assert.h>
+#include <limits.h>
+
+
+static struct heap *timer_heap(const uv_loop_t* loop) {
+#ifdef _WIN32
+ return (struct heap*) loop->timer_heap;
+#else
+ return (struct heap*) &loop->timer_heap;
+#endif
+}
+
+
+static int timer_less_than(const struct heap_node* ha,
+ const struct heap_node* hb) {
+ const uv_timer_t* a;
+ const uv_timer_t* b;
+
+ a = container_of(ha, uv_timer_t, heap_node);
+ b = container_of(hb, uv_timer_t, heap_node);
+
+ if (a->timeout < b->timeout)
+ return 1;
+ if (b->timeout < a->timeout)
+ return 0;
+
+ /* Compare start_id when both have the same timeout. start_id is
+ * allocated with loop->timer_counter in uv_timer_start().
+ */
+ if (a->start_id < b->start_id)
+ return 1;
+ if (b->start_id < a->start_id)
+ return 0;
+
+ return 0;
+}
+
+
+int uv_timer_init(uv_loop_t* loop, uv_timer_t* handle) {
+ uv__handle_init(loop, (uv_handle_t*)handle, UV_TIMER);
+ handle->timer_cb = NULL;
+ handle->repeat = 0;
+ return 0;
+}
+
+
+int uv_timer_start(uv_timer_t* handle,
+ uv_timer_cb cb,
+ uint64_t timeout,
+ uint64_t repeat) {
+ uint64_t clamped_timeout;
+
+ if (cb == NULL)
+ return UV_EINVAL;
+
+ if (uv__is_active(handle))
+ uv_timer_stop(handle);
+
+ clamped_timeout = handle->loop->time + timeout;
+ if (clamped_timeout < timeout)
+ clamped_timeout = (uint64_t) -1;
+
+ handle->timer_cb = cb;
+ handle->timeout = clamped_timeout;
+ handle->repeat = repeat;
+ /* start_id is the second index to be compared in uv__timer_cmp() */
+ handle->start_id = handle->loop->timer_counter++;
+
+ heap_insert(timer_heap(handle->loop),
+ (struct heap_node*) &handle->heap_node,
+ timer_less_than);
+ uv__handle_start(handle);
+
+ return 0;
+}
+
+
+int uv_timer_stop(uv_timer_t* handle) {
+ if (!uv__is_active(handle))
+ return 0;
+
+ heap_remove(timer_heap(handle->loop),
+ (struct heap_node*) &handle->heap_node,
+ timer_less_than);
+ uv__handle_stop(handle);
+
+ return 0;
+}
+
+
+int uv_timer_again(uv_timer_t* handle) {
+ if (handle->timer_cb == NULL)
+ return UV_EINVAL;
+
+ if (handle->repeat) {
+ uv_timer_stop(handle);
+ uv_timer_start(handle, handle->timer_cb, handle->repeat, handle->repeat);
+ }
+
+ return 0;
+}
+
+
+void uv_timer_set_repeat(uv_timer_t* handle, uint64_t repeat) {
+ handle->repeat = repeat;
+}
+
+
+uint64_t uv_timer_get_repeat(const uv_timer_t* handle) {
+ return handle->repeat;
+}
+
+
+int uv__next_timeout(const uv_loop_t* loop) {
+ const struct heap_node* heap_node;
+ const uv_timer_t* handle;
+ uint64_t diff;
+
+ heap_node = heap_min(timer_heap(loop));
+ if (heap_node == NULL)
+ return -1; /* block indefinitely */
+
+ handle = container_of(heap_node, uv_timer_t, heap_node);
+ if (handle->timeout <= loop->time)
+ return 0;
+
+ diff = handle->timeout - loop->time;
+ if (diff > INT_MAX)
+ diff = INT_MAX;
+
+ return (int) diff;
+}
+
+
+void uv__run_timers(uv_loop_t* loop) {
+ struct heap_node* heap_node;
+ uv_timer_t* handle;
+
+ for (;;) {
+ heap_node = heap_min(timer_heap(loop));
+ if (heap_node == NULL)
+ break;
+
+ handle = container_of(heap_node, uv_timer_t, heap_node);
+ if (handle->timeout > loop->time)
+ break;
+
+ uv_timer_stop(handle);
+ uv_timer_again(handle);
+ handle->timer_cb(handle);
+ }
+}
+
+
+void uv__timer_close(uv_timer_t* handle) {
+ uv_timer_stop(handle);
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/android-ifaddrs.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/android-ifaddrs.cpp
similarity index 100%
rename from third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/android-ifaddrs.cpp
rename to third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/android-ifaddrs.cpp
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/async.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/async.cpp
new file mode 100644
index 0000000..a5c47bc
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/async.cpp
@@ -0,0 +1,298 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+/* This file contains both the uv__async internal infrastructure and the
+ * user-facing uv_async_t functions.
+ */
+
+#include "uv.h"
+#include "internal.h"
+#include "atomic-ops.h"
+
+#include <errno.h>
+#include <stdio.h> /* snprintf() */
+#include <assert.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+
+static void uv__async_send(uv_loop_t* loop);
+static int uv__async_start(uv_loop_t* loop);
+static int uv__async_eventfd(void);
+
+
+int uv_async_init(uv_loop_t* loop, uv_async_t* handle, uv_async_cb async_cb) {
+ int err;
+
+ err = uv__async_start(loop);
+ if (err)
+ return err;
+
+ uv__handle_init(loop, (uv_handle_t*)handle, UV_ASYNC);
+ handle->async_cb = async_cb;
+ handle->pending = 0;
+
+ QUEUE_INSERT_TAIL(&loop->async_handles, &handle->queue);
+ uv__handle_start(handle);
+
+ return 0;
+}
+
+
+int uv_async_send(uv_async_t* handle) {
+ /* Do a cheap read first. */
+ if (ACCESS_ONCE(int, handle->pending) != 0)
+ return 0;
+
+ /* Tell the other thread we're busy with the handle. */
+ if (cmpxchgi(&handle->pending, 0, 1) != 0)
+ return 0;
+
+ /* Wake up the other thread's event loop. */
+ uv__async_send(handle->loop);
+
+ /* Tell the other thread we're done. */
+ if (cmpxchgi(&handle->pending, 1, 2) != 1)
+ abort();
+
+ return 0;
+}
+
+
+/* Only call this from the event loop thread. */
+static int uv__async_spin(uv_async_t* handle) {
+ int rc;
+
+ for (;;) {
+ /* rc=0 -- handle is not pending.
+ * rc=1 -- handle is pending, other thread is still working with it.
+ * rc=2 -- handle is pending, other thread is done.
+ */
+ rc = cmpxchgi(&handle->pending, 2, 0);
+
+ if (rc != 1)
+ return rc;
+
+ /* Other thread is busy with this handle, spin until it's done. */
+ cpu_relax();
+ }
+}
+
+
+void uv__async_close(uv_async_t* handle) {
+ uv__async_spin(handle);
+ QUEUE_REMOVE(&handle->queue);
+ uv__handle_stop(handle);
+}
+
+
+static void uv__async_io(uv_loop_t* loop, uv__io_t* w, unsigned int events) {
+ char buf[1024];
+ ssize_t r;
+ QUEUE queue;
+ QUEUE* q;
+ uv_async_t* h;
+
+ assert(w == &loop->async_io_watcher);
+
+ for (;;) {
+ r = read(w->fd, buf, sizeof(buf));
+
+ if (r == sizeof(buf))
+ continue;
+
+ if (r != -1)
+ break;
+
+ if (errno == EAGAIN || errno == EWOULDBLOCK)
+ break;
+
+ if (errno == EINTR)
+ continue;
+
+ abort();
+ }
+
+ QUEUE_MOVE(&loop->async_handles, &queue);
+ while (!QUEUE_EMPTY(&queue)) {
+ q = QUEUE_HEAD(&queue);
+ h = QUEUE_DATA(q, uv_async_t, queue);
+
+ QUEUE_REMOVE(q);
+ QUEUE_INSERT_TAIL(&loop->async_handles, q);
+
+ if (0 == uv__async_spin(h))
+ continue; /* Not pending. */
+
+ if (h->async_cb == NULL)
+ continue;
+
+ h->async_cb(h);
+ }
+}
+
+
+static void uv__async_send(uv_loop_t* loop) {
+ const void* buf;
+ ssize_t len;
+ int fd;
+ int r;
+
+ buf = "";
+ len = 1;
+ fd = loop->async_wfd;
+
+#if defined(__linux__)
+ if (fd == -1) {
+ static const uint64_t val = 1;
+ buf = &val;
+ len = sizeof(val);
+ fd = loop->async_io_watcher.fd; /* eventfd */
+ }
+#endif
+
+ do
+ r = write(fd, buf, len);
+ while (r == -1 && errno == EINTR);
+
+ if (r == len)
+ return;
+
+ if (r == -1)
+ if (errno == EAGAIN || errno == EWOULDBLOCK)
+ return;
+
+ abort();
+}
+
+
+static int uv__async_start(uv_loop_t* loop) {
+ int pipefd[2];
+ int err;
+
+ if (loop->async_io_watcher.fd != -1)
+ return 0;
+
+ err = uv__async_eventfd();
+ if (err >= 0) {
+ pipefd[0] = err;
+ pipefd[1] = -1;
+ }
+ else if (err == UV_ENOSYS) {
+ err = uv__make_pipe(pipefd, UV__F_NONBLOCK);
+#if defined(__linux__)
+ /* Save a file descriptor by opening one of the pipe descriptors as
+ * read/write through the procfs. That file descriptor can then
+ * function as both ends of the pipe.
+ */
+ if (err == 0) {
+ char buf[32];
+ int fd;
+
+ snprintf(buf, sizeof(buf), "/proc/self/fd/%d", pipefd[0]);
+ fd = uv__open_cloexec(buf, O_RDWR);
+ if (fd >= 0) {
+ uv__close(pipefd[0]);
+ uv__close(pipefd[1]);
+ pipefd[0] = fd;
+ pipefd[1] = fd;
+ }
+ }
+#endif
+ }
+
+ if (err < 0)
+ return err;
+
+ uv__io_init(&loop->async_io_watcher, uv__async_io, pipefd[0]);
+ uv__io_start(loop, &loop->async_io_watcher, POLLIN);
+ loop->async_wfd = pipefd[1];
+
+ return 0;
+}
+
+
+int uv__async_fork(uv_loop_t* loop) {
+ if (loop->async_io_watcher.fd == -1) /* never started */
+ return 0;
+
+ uv__async_stop(loop);
+
+ return uv__async_start(loop);
+}
+
+
+void uv__async_stop(uv_loop_t* loop) {
+ if (loop->async_io_watcher.fd == -1)
+ return;
+
+ if (loop->async_wfd != -1) {
+ if (loop->async_wfd != loop->async_io_watcher.fd)
+ uv__close(loop->async_wfd);
+ loop->async_wfd = -1;
+ }
+
+ uv__io_stop(loop, &loop->async_io_watcher, POLLIN);
+ uv__close(loop->async_io_watcher.fd);
+ loop->async_io_watcher.fd = -1;
+}
+
+
+static int uv__async_eventfd(void) {
+#if defined(__linux__)
+ static int no_eventfd2;
+ static int no_eventfd;
+ int fd;
+
+ if (no_eventfd2)
+ goto skip_eventfd2;
+
+ fd = uv__eventfd2(0, UV__EFD_CLOEXEC | UV__EFD_NONBLOCK);
+ if (fd != -1)
+ return fd;
+
+ if (errno != ENOSYS)
+ return UV__ERR(errno);
+
+ no_eventfd2 = 1;
+
+skip_eventfd2:
+
+ if (no_eventfd)
+ goto skip_eventfd;
+
+ fd = uv__eventfd(0);
+ if (fd != -1) {
+ uv__cloexec(fd, 1);
+ uv__nonblock(fd, 1);
+ return fd;
+ }
+
+ if (errno != ENOSYS)
+ return UV__ERR(errno);
+
+ no_eventfd = 1;
+
+skip_eventfd:
+
+#endif
+
+ return UV_ENOSYS;
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/atomic-ops.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/atomic-ops.h
new file mode 100644
index 0000000..541a6c8
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/atomic-ops.h
@@ -0,0 +1,63 @@
+/* Copyright (c) 2013, Ben Noordhuis <info@bnoordhuis.nl>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#ifndef UV_ATOMIC_OPS_H_
+#define UV_ATOMIC_OPS_H_
+
+#include "internal.h" /* UV_UNUSED */
+
+#if defined(__SUNPRO_C) || defined(__SUNPRO_CC)
+#include <atomic.h>
+#endif
+
+UV_UNUSED(static int cmpxchgi(int* ptr, int oldval, int newval));
+UV_UNUSED(static void cpu_relax(void));
+
+/* Prefer hand-rolled assembly over the gcc builtins because the latter also
+ * issue full memory barriers.
+ */
+UV_UNUSED(static int cmpxchgi(int* ptr, int oldval, int newval)) {
+#if defined(__i386__) || defined(__x86_64__)
+ int out;
+ __asm__ __volatile__ ("lock; cmpxchg %2, %1;"
+ : "=a" (out), "+m" (*(volatile int*) ptr)
+ : "r" (newval), "0" (oldval)
+ : "memory");
+ return out;
+#elif defined(_AIX) && defined(__xlC__)
+ const int out = (*(volatile int*) ptr);
+ __compare_and_swap(ptr, &oldval, newval);
+ return out;
+#elif defined(__MVS__)
+ unsigned int op4;
+ if (__plo_CSST(ptr, (unsigned int*) &oldval, newval,
+ (unsigned int*) ptr, *ptr, &op4))
+ return oldval;
+ else
+ return op4;
+#elif defined(__SUNPRO_C) || defined(__SUNPRO_CC)
+ return atomic_cas_uint((uint_t *)ptr, (uint_t)oldval, (uint_t)newval);
+#else
+ return __sync_val_compare_and_swap(ptr, oldval, newval);
+#endif
+}
+
+UV_UNUSED(static void cpu_relax(void)) {
+#if defined(__i386__) || defined(__x86_64__)
+ __asm__ __volatile__ ("rep; nop"); /* a.k.a. PAUSE */
+#endif
+}
+
+#endif /* UV_ATOMIC_OPS_H_ */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/bsd-ifaddrs.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/bsd-ifaddrs.cpp
new file mode 100644
index 0000000..a01aa8d
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/bsd-ifaddrs.cpp
@@ -0,0 +1,159 @@
+/* Copyright libuv project contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include "uv.h"
+#include "internal.h"
+
+#include <errno.h>
+#include <stddef.h>
+
+#include <ifaddrs.h>
+#include <net/if.h>
+#if !defined(__CYGWIN__) && !defined(__MSYS__)
+#include <net/if_dl.h>
+#endif
+
+#if defined(__HAIKU__)
+#define IFF_RUNNING IFF_LINK
+#endif
+
+static int uv__ifaddr_exclude(struct ifaddrs *ent, int exclude_type) {
+ if (!((ent->ifa_flags & IFF_UP) && (ent->ifa_flags & IFF_RUNNING)))
+ return 1;
+ if (ent->ifa_addr == NULL)
+ return 1;
+#if !defined(__CYGWIN__) && !defined(__MSYS__)
+ /*
+ * If `exclude_type` is `UV__EXCLUDE_IFPHYS`, just see whether `sa_family`
+ * equals to `AF_LINK` or not. Otherwise, the result depends on the operation
+ * system with `AF_LINK` or `PF_INET`.
+ */
+ if (exclude_type == UV__EXCLUDE_IFPHYS)
+ return (ent->ifa_addr->sa_family != AF_LINK);
+#endif
+#if defined(__APPLE__) || defined(__FreeBSD__) || defined(__DragonFly__) || \
+ defined(__HAIKU__)
+ /*
+ * On BSD getifaddrs returns information related to the raw underlying
+ * devices. We're not interested in this information.
+ */
+ if (ent->ifa_addr->sa_family == AF_LINK)
+ return 1;
+#elif defined(__NetBSD__) || defined(__OpenBSD__)
+ if (ent->ifa_addr->sa_family != PF_INET &&
+ ent->ifa_addr->sa_family != PF_INET6)
+ return 1;
+#endif
+ return 0;
+}
+
+int uv_interface_addresses(uv_interface_address_t** addresses, int* count) {
+ struct ifaddrs* addrs;
+ struct ifaddrs* ent;
+ uv_interface_address_t* address;
+ int i;
+
+ *count = 0;
+ *addresses = NULL;
+
+ if (getifaddrs(&addrs) != 0)
+ return UV__ERR(errno);
+
+ /* Count the number of interfaces */
+ for (ent = addrs; ent != NULL; ent = ent->ifa_next) {
+ if (uv__ifaddr_exclude(ent, UV__EXCLUDE_IFADDR))
+ continue;
+ (*count)++;
+ }
+
+ if (*count == 0) {
+ freeifaddrs(addrs);
+ return 0;
+ }
+
+ /* Make sure the memory is initiallized to zero using calloc() */
+ *addresses = (uv_interface_address_t*)uv__calloc(*count, sizeof(**addresses));
+
+ if (*addresses == NULL) {
+ freeifaddrs(addrs);
+ return UV_ENOMEM;
+ }
+
+ address = *addresses;
+
+ for (ent = addrs; ent != NULL; ent = ent->ifa_next) {
+ if (uv__ifaddr_exclude(ent, UV__EXCLUDE_IFADDR))
+ continue;
+
+ address->name = uv__strdup(ent->ifa_name);
+
+ if (ent->ifa_addr->sa_family == AF_INET6) {
+ address->address.address6 = *((struct sockaddr_in6*) ent->ifa_addr);
+ } else {
+ address->address.address4 = *((struct sockaddr_in*) ent->ifa_addr);
+ }
+
+ if (ent->ifa_netmask->sa_family == AF_INET6) {
+ address->netmask.netmask6 = *((struct sockaddr_in6*) ent->ifa_netmask);
+ } else {
+ address->netmask.netmask4 = *((struct sockaddr_in*) ent->ifa_netmask);
+ }
+
+ address->is_internal = !!(ent->ifa_flags & IFF_LOOPBACK);
+
+ address++;
+ }
+
+#if !(defined(__CYGWIN__) || defined(__MSYS__))
+ /* Fill in physical addresses for each interface */
+ for (ent = addrs; ent != NULL; ent = ent->ifa_next) {
+ if (uv__ifaddr_exclude(ent, UV__EXCLUDE_IFPHYS))
+ continue;
+
+ address = *addresses;
+
+ for (i = 0; i < *count; i++) {
+ if (strcmp(address->name, ent->ifa_name) == 0) {
+ struct sockaddr_dl* sa_addr;
+ sa_addr = (struct sockaddr_dl*)(ent->ifa_addr);
+ memcpy(address->phys_addr, LLADDR(sa_addr), sizeof(address->phys_addr));
+ }
+ address++;
+ }
+ }
+#endif
+
+ freeifaddrs(addrs);
+
+ return 0;
+}
+
+
+void uv_free_interface_addresses(uv_interface_address_t* addresses,
+ int count) {
+ int i;
+
+ for (i = 0; i < count; i++) {
+ uv__free(addresses[i].name);
+ }
+
+ uv__free(addresses);
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/core.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/core.cpp
new file mode 100644
index 0000000..77bb337
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/core.cpp
@@ -0,0 +1,1509 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include "uv.h"
+#include "internal.h"
+
+#include <stddef.h> /* NULL */
+#include <stdio.h> /* printf */
+#include <stdlib.h>
+#include <string.h> /* strerror */
+#include <errno.h>
+#include <assert.h>
+#include <unistd.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <sys/un.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include <limits.h> /* INT_MAX, PATH_MAX, IOV_MAX */
+#include <sys/uio.h> /* writev */
+#include <sys/resource.h> /* getrusage */
+#include <pwd.h>
+#include <sys/utsname.h>
+#include <sys/time.h>
+
+#ifdef __sun
+# include <sys/filio.h>
+# include <sys/types.h>
+# include <sys/wait.h>
+#endif
+
+#ifdef __APPLE__
+# include <mach-o/dyld.h> /* _NSGetExecutablePath */
+# include <sys/filio.h>
+# if defined(O_CLOEXEC)
+# define UV__O_CLOEXEC O_CLOEXEC
+# endif
+#endif
+
+#if defined(__DragonFly__) || \
+ defined(__FreeBSD__) || \
+ defined(__FreeBSD_kernel__) || \
+ defined(__NetBSD__)
+# include <sys/sysctl.h>
+# include <sys/filio.h>
+# include <sys/wait.h>
+# define UV__O_CLOEXEC O_CLOEXEC
+# if defined(__FreeBSD__) && __FreeBSD__ >= 10
+# define uv__accept4 accept4
+# endif
+# if defined(__NetBSD__)
+# define uv__accept4(a, b, c, d) paccept((a), (b), (c), NULL, (d))
+# endif
+# if (defined(__FreeBSD__) && __FreeBSD__ >= 10) || defined(__NetBSD__)
+# define UV__SOCK_NONBLOCK SOCK_NONBLOCK
+# define UV__SOCK_CLOEXEC SOCK_CLOEXEC
+# endif
+# if !defined(F_DUP2FD_CLOEXEC) && defined(_F_DUP2FD_CLOEXEC)
+# define F_DUP2FD_CLOEXEC _F_DUP2FD_CLOEXEC
+# endif
+#endif
+
+#if defined(__ANDROID_API__) && __ANDROID_API__ < 21
+# include <dlfcn.h> /* for dlsym */
+#endif
+
+#if defined(__MVS__)
+#include <sys/ioctl.h>
+#endif
+
+#if defined(__linux__)
+#include <sys/syscall.h>
+#endif
+
+static int uv__run_pending(uv_loop_t* loop);
+
+/* Verify that uv_buf_t is ABI-compatible with struct iovec. */
+STATIC_ASSERT(sizeof(uv_buf_t) == sizeof(struct iovec));
+STATIC_ASSERT(sizeof(&((uv_buf_t*) 0)->base) ==
+ sizeof(((struct iovec*) 0)->iov_base));
+STATIC_ASSERT(sizeof(&((uv_buf_t*) 0)->len) ==
+ sizeof(((struct iovec*) 0)->iov_len));
+STATIC_ASSERT(offsetof(uv_buf_t, base) == offsetof(struct iovec, iov_base));
+STATIC_ASSERT(offsetof(uv_buf_t, len) == offsetof(struct iovec, iov_len));
+
+
+uint64_t uv_hrtime(void) {
+ return uv__hrtime(UV_CLOCK_PRECISE);
+}
+
+
+void uv_close(uv_handle_t* handle, uv_close_cb close_cb) {
+ assert(!uv__is_closing(handle));
+
+ handle->flags |= UV_HANDLE_CLOSING;
+ handle->close_cb = close_cb;
+
+ switch (handle->type) {
+ case UV_NAMED_PIPE:
+ uv__pipe_close((uv_pipe_t*)handle);
+ break;
+
+ case UV_TTY:
+ uv__stream_close((uv_stream_t*)handle);
+ break;
+
+ case UV_TCP:
+ uv__tcp_close((uv_tcp_t*)handle);
+ break;
+
+ case UV_UDP:
+ uv__udp_close((uv_udp_t*)handle);
+ break;
+
+ case UV_PREPARE:
+ uv__prepare_close((uv_prepare_t*)handle);
+ break;
+
+ case UV_CHECK:
+ uv__check_close((uv_check_t*)handle);
+ break;
+
+ case UV_IDLE:
+ uv__idle_close((uv_idle_t*)handle);
+ break;
+
+ case UV_ASYNC:
+ uv__async_close((uv_async_t*)handle);
+ break;
+
+ case UV_TIMER:
+ uv__timer_close((uv_timer_t*)handle);
+ break;
+
+ case UV_PROCESS:
+ uv__process_close((uv_process_t*)handle);
+ break;
+
+ case UV_FS_EVENT:
+ uv__fs_event_close((uv_fs_event_t*)handle);
+ break;
+
+ case UV_POLL:
+ uv__poll_close((uv_poll_t*)handle);
+ break;
+
+ case UV_FS_POLL:
+ uv__fs_poll_close((uv_fs_poll_t*)handle);
+ /* Poll handles use file system requests, and one of them may still be
+ * running. The poll code will call uv__make_close_pending() for us. */
+ return;
+
+ case UV_SIGNAL:
+ uv__signal_close((uv_signal_t*) handle);
+ /* Signal handles may not be closed immediately. The signal code will
+ * itself close uv__make_close_pending whenever appropriate. */
+ return;
+
+ default:
+ assert(0);
+ }
+
+ uv__make_close_pending(handle);
+}
+
+int uv__socket_sockopt(uv_handle_t* handle, int optname, int* value) {
+ int r;
+ int fd;
+ socklen_t len;
+
+ if (handle == NULL || value == NULL)
+ return UV_EINVAL;
+
+ if (handle->type == UV_TCP || handle->type == UV_NAMED_PIPE)
+ fd = uv__stream_fd((uv_stream_t*) handle);
+ else if (handle->type == UV_UDP)
+ fd = ((uv_udp_t *) handle)->io_watcher.fd;
+ else
+ return UV_ENOTSUP;
+
+ len = sizeof(*value);
+
+ if (*value == 0)
+ r = getsockopt(fd, SOL_SOCKET, optname, value, &len);
+ else
+ r = setsockopt(fd, SOL_SOCKET, optname, (const void*) value, len);
+
+ if (r < 0)
+ return UV__ERR(errno);
+
+ return 0;
+}
+
+void uv__make_close_pending(uv_handle_t* handle) {
+ assert(handle->flags & UV_HANDLE_CLOSING);
+ assert(!(handle->flags & UV_HANDLE_CLOSED));
+ handle->next_closing = handle->loop->closing_handles;
+ handle->loop->closing_handles = handle;
+}
+
+int uv__getiovmax(void) {
+#if defined(IOV_MAX)
+ return IOV_MAX;
+#elif defined(_SC_IOV_MAX)
+ static int iovmax = -1;
+ if (iovmax == -1) {
+ iovmax = sysconf(_SC_IOV_MAX);
+ /* On some embedded devices (arm-linux-uclibc based ip camera),
+ * sysconf(_SC_IOV_MAX) can not get the correct value. The return
+ * value is -1 and the errno is EINPROGRESS. Degrade the value to 1.
+ */
+ if (iovmax == -1) iovmax = 1;
+ }
+ return iovmax;
+#else
+ return 1024;
+#endif
+}
+
+
+static void uv__finish_close(uv_handle_t* handle) {
+ /* Note: while the handle is in the UV_HANDLE_CLOSING state now, it's still
+ * possible for it to be active in the sense that uv__is_active() returns
+ * true.
+ *
+ * A good example is when the user calls uv_shutdown(), immediately followed
+ * by uv_close(). The handle is considered active at this point because the
+ * completion of the shutdown req is still pending.
+ */
+ assert(handle->flags & UV_HANDLE_CLOSING);
+ assert(!(handle->flags & UV_HANDLE_CLOSED));
+ handle->flags |= UV_HANDLE_CLOSED;
+
+ switch (handle->type) {
+ case UV_PREPARE:
+ case UV_CHECK:
+ case UV_IDLE:
+ case UV_ASYNC:
+ case UV_TIMER:
+ case UV_PROCESS:
+ case UV_FS_EVENT:
+ case UV_FS_POLL:
+ case UV_POLL:
+ case UV_SIGNAL:
+ break;
+
+ case UV_NAMED_PIPE:
+ case UV_TCP:
+ case UV_TTY:
+ uv__stream_destroy((uv_stream_t*)handle);
+ break;
+
+ case UV_UDP:
+ uv__udp_finish_close((uv_udp_t*)handle);
+ break;
+
+ default:
+ assert(0);
+ break;
+ }
+
+ uv__handle_unref(handle);
+ QUEUE_REMOVE(&handle->handle_queue);
+
+ if (handle->close_cb) {
+ handle->close_cb(handle);
+ }
+}
+
+
+static void uv__run_closing_handles(uv_loop_t* loop) {
+ uv_handle_t* p;
+ uv_handle_t* q;
+
+ p = loop->closing_handles;
+ loop->closing_handles = NULL;
+
+ while (p) {
+ q = p->next_closing;
+ uv__finish_close(p);
+ p = q;
+ }
+}
+
+
+int uv_is_closing(const uv_handle_t* handle) {
+ return uv__is_closing(handle);
+}
+
+
+int uv_backend_fd(const uv_loop_t* loop) {
+ return loop->backend_fd;
+}
+
+
+int uv_backend_timeout(const uv_loop_t* loop) {
+ if (loop->stop_flag != 0)
+ return 0;
+
+ if (!uv__has_active_handles(loop) && !uv__has_active_reqs(loop))
+ return 0;
+
+ if (!QUEUE_EMPTY(&loop->idle_handles))
+ return 0;
+
+ if (!QUEUE_EMPTY(&loop->pending_queue))
+ return 0;
+
+ if (loop->closing_handles)
+ return 0;
+
+ return uv__next_timeout(loop);
+}
+
+
+static int uv__loop_alive(const uv_loop_t* loop) {
+ return uv__has_active_handles(loop) ||
+ uv__has_active_reqs(loop) ||
+ loop->closing_handles != NULL;
+}
+
+
+int uv_loop_alive(const uv_loop_t* loop) {
+ return uv__loop_alive(loop);
+}
+
+
+int uv_run(uv_loop_t* loop, uv_run_mode mode) {
+ int timeout;
+ int r;
+ int ran_pending;
+
+ r = uv__loop_alive(loop);
+ if (!r)
+ uv__update_time(loop);
+
+ while (r != 0 && loop->stop_flag == 0) {
+ uv__update_time(loop);
+ uv__run_timers(loop);
+ ran_pending = uv__run_pending(loop);
+ uv__run_idle(loop);
+ uv__run_prepare(loop);
+
+ timeout = 0;
+ if ((mode == UV_RUN_ONCE && !ran_pending) || mode == UV_RUN_DEFAULT)
+ timeout = uv_backend_timeout(loop);
+
+ uv__io_poll(loop, timeout);
+ uv__run_check(loop);
+ uv__run_closing_handles(loop);
+
+ if (mode == UV_RUN_ONCE) {
+ /* UV_RUN_ONCE implies forward progress: at least one callback must have
+ * been invoked when it returns. uv__io_poll() can return without doing
+ * I/O (meaning: no callbacks) when its timeout expires - which means we
+ * have pending timers that satisfy the forward progress constraint.
+ *
+ * UV_RUN_NOWAIT makes no guarantees about progress so it's omitted from
+ * the check.
+ */
+ uv__update_time(loop);
+ uv__run_timers(loop);
+ }
+
+ r = uv__loop_alive(loop);
+ if (mode == UV_RUN_ONCE || mode == UV_RUN_NOWAIT)
+ break;
+ }
+
+ /* The if statement lets gcc compile it to a conditional store. Avoids
+ * dirtying a cache line.
+ */
+ if (loop->stop_flag != 0)
+ loop->stop_flag = 0;
+
+ return r;
+}
+
+
+void uv_update_time(uv_loop_t* loop) {
+ uv__update_time(loop);
+}
+
+
+int uv_is_active(const uv_handle_t* handle) {
+ return uv__is_active(handle);
+}
+
+
+/* Open a socket in non-blocking close-on-exec mode, atomically if possible. */
+int uv__socket(int domain, int type, int protocol) {
+ int sockfd;
+ int err;
+
+#if defined(SOCK_NONBLOCK) && defined(SOCK_CLOEXEC)
+ sockfd = socket(domain, type | SOCK_NONBLOCK | SOCK_CLOEXEC, protocol);
+ if (sockfd != -1)
+ return sockfd;
+
+ if (errno != EINVAL)
+ return UV__ERR(errno);
+#endif
+
+ sockfd = socket(domain, type, protocol);
+ if (sockfd == -1)
+ return UV__ERR(errno);
+
+ err = uv__nonblock(sockfd, 1);
+ if (err == 0)
+ err = uv__cloexec(sockfd, 1);
+
+ if (err) {
+ uv__close(sockfd);
+ return err;
+ }
+
+#if defined(SO_NOSIGPIPE)
+ {
+ int on = 1;
+ setsockopt(sockfd, SOL_SOCKET, SO_NOSIGPIPE, &on, sizeof(on));
+ }
+#endif
+
+ return sockfd;
+}
+
+/* get a file pointer to a file in read-only and close-on-exec mode */
+FILE* uv__open_file(const char* path) {
+ int fd;
+ FILE* fp;
+
+ fd = uv__open_cloexec(path, O_RDONLY);
+ if (fd < 0)
+ return NULL;
+
+ fp = fdopen(fd, "r");
+ if (fp == NULL)
+ uv__close(fd);
+
+ return fp;
+}
+
+
+int uv__accept(int sockfd) {
+ int peerfd;
+ int err;
+
+ assert(sockfd >= 0);
+
+ while (1) {
+#if defined(__linux__) || \
+ (defined(__FreeBSD__) && __FreeBSD__ >= 10) || \
+ defined(__NetBSD__)
+ static int no_accept4;
+
+ if (no_accept4)
+ goto skip;
+
+ peerfd = uv__accept4(sockfd,
+ NULL,
+ NULL,
+ UV__SOCK_NONBLOCK|UV__SOCK_CLOEXEC);
+ if (peerfd != -1)
+ return peerfd;
+
+ if (errno == EINTR)
+ continue;
+
+ if (errno != ENOSYS)
+ return UV__ERR(errno);
+
+ no_accept4 = 1;
+skip:
+#endif
+
+ peerfd = accept(sockfd, NULL, NULL);
+ if (peerfd == -1) {
+ if (errno == EINTR)
+ continue;
+ return UV__ERR(errno);
+ }
+
+ err = uv__cloexec(peerfd, 1);
+ if (err == 0)
+ err = uv__nonblock(peerfd, 1);
+
+ if (err) {
+ uv__close(peerfd);
+ return err;
+ }
+
+ return peerfd;
+ }
+}
+
+
+#if defined(__APPLE__)
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdollar-in-identifier-extension"
+#if defined(__LP64__)
+ extern "C" int close$NOCANCEL(int);
+#else
+ extern "C" int close$NOCANCEL$UNIX2003(int);
+#endif
+#pragma GCC diagnostic pop
+#endif
+
+/* close() on macos has the "interesting" quirk that it fails with EINTR
+ * without closing the file descriptor when a thread is in the cancel state.
+ * That's why libuv calls close$NOCANCEL() instead.
+ *
+ * glibc on linux has a similar issue: close() is a cancellation point and
+ * will unwind the thread when it's in the cancel state. Work around that
+ * by making the system call directly. Musl libc is unaffected.
+ */
+int uv__close_nocancel(int fd) {
+#if defined(__APPLE__)
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdollar-in-identifier-extension"
+#if defined(__LP64__)
+ return close$NOCANCEL(fd);
+#else
+ return close$NOCANCEL$UNIX2003(fd);
+#endif
+#pragma GCC diagnostic pop
+#elif defined(__linux__)
+ return syscall(SYS_close, fd);
+#else
+ return close(fd);
+#endif
+}
+
+
+int uv__close_nocheckstdio(int fd) {
+ int saved_errno;
+ int rc;
+
+ assert(fd > -1); /* Catch uninitialized io_watcher.fd bugs. */
+
+ saved_errno = errno;
+ rc = uv__close_nocancel(fd);
+ if (rc == -1) {
+ rc = UV__ERR(errno);
+ if (rc == UV_EINTR || rc == UV__ERR(EINPROGRESS))
+ rc = 0; /* The close is in progress, not an error. */
+ errno = saved_errno;
+ }
+
+ return rc;
+}
+
+
+int uv__close(int fd) {
+ assert(fd > STDERR_FILENO); /* Catch stdio close bugs. */
+#if defined(__MVS__)
+ SAVE_ERRNO(epoll_file_close(fd));
+#endif
+ return uv__close_nocheckstdio(fd);
+}
+
+
+int uv__nonblock_ioctl(int fd, int set) {
+ int r;
+
+ do
+ r = ioctl(fd, FIONBIO, &set);
+ while (r == -1 && errno == EINTR);
+
+ if (r)
+ return UV__ERR(errno);
+
+ return 0;
+}
+
+
+#if !defined(__CYGWIN__) && !defined(__MSYS__) && !defined(__HAIKU__)
+int uv__cloexec_ioctl(int fd, int set) {
+ int r;
+
+ do
+ r = ioctl(fd, set ? FIOCLEX : FIONCLEX);
+ while (r == -1 && errno == EINTR);
+
+ if (r)
+ return UV__ERR(errno);
+
+ return 0;
+}
+#endif
+
+
+int uv__nonblock_fcntl(int fd, int set) {
+ int flags;
+ int r;
+
+ do
+ r = fcntl(fd, F_GETFL);
+ while (r == -1 && errno == EINTR);
+
+ if (r == -1)
+ return UV__ERR(errno);
+
+ /* Bail out now if already set/clear. */
+ if (!!(r & O_NONBLOCK) == !!set)
+ return 0;
+
+ if (set)
+ flags = r | O_NONBLOCK;
+ else
+ flags = r & ~O_NONBLOCK;
+
+ do
+ r = fcntl(fd, F_SETFL, flags);
+ while (r == -1 && errno == EINTR);
+
+ if (r)
+ return UV__ERR(errno);
+
+ return 0;
+}
+
+
+int uv__cloexec_fcntl(int fd, int set) {
+ int flags;
+ int r;
+
+ do
+ r = fcntl(fd, F_GETFD);
+ while (r == -1 && errno == EINTR);
+
+ if (r == -1)
+ return UV__ERR(errno);
+
+ /* Bail out now if already set/clear. */
+ if (!!(r & FD_CLOEXEC) == !!set)
+ return 0;
+
+ if (set)
+ flags = r | FD_CLOEXEC;
+ else
+ flags = r & ~FD_CLOEXEC;
+
+ do
+ r = fcntl(fd, F_SETFD, flags);
+ while (r == -1 && errno == EINTR);
+
+ if (r)
+ return UV__ERR(errno);
+
+ return 0;
+}
+
+
+ssize_t uv__recvmsg(int fd, struct msghdr* msg, int flags) {
+ struct cmsghdr* cmsg;
+ ssize_t rc;
+ int* pfd;
+ int* end;
+#if defined(__linux__)
+ static int no_msg_cmsg_cloexec;
+ if (no_msg_cmsg_cloexec == 0) {
+ rc = recvmsg(fd, msg, flags | 0x40000000); /* MSG_CMSG_CLOEXEC */
+ if (rc != -1)
+ return rc;
+ if (errno != EINVAL)
+ return UV__ERR(errno);
+ rc = recvmsg(fd, msg, flags);
+ if (rc == -1)
+ return UV__ERR(errno);
+ no_msg_cmsg_cloexec = 1;
+ } else {
+ rc = recvmsg(fd, msg, flags);
+ }
+#else
+ rc = recvmsg(fd, msg, flags);
+#endif
+ if (rc == -1)
+ return UV__ERR(errno);
+ if (msg->msg_controllen == 0)
+ return rc;
+ for (cmsg = CMSG_FIRSTHDR(msg); cmsg != NULL; cmsg = CMSG_NXTHDR(msg, cmsg))
+ if (cmsg->cmsg_type == SCM_RIGHTS)
+ for (pfd = (int*) CMSG_DATA(cmsg),
+ end = (int*) ((char*) cmsg + cmsg->cmsg_len);
+ pfd < end;
+ pfd += 1)
+ uv__cloexec(*pfd, 1);
+ return rc;
+}
+
+
+int uv_cwd(char* buffer, size_t* size) {
+ char scratch[1 + UV__PATH_MAX];
+
+ if (buffer == NULL || size == NULL)
+ return UV_EINVAL;
+
+ /* Try to read directly into the user's buffer first... */
+ if (getcwd(buffer, *size) != NULL)
+ goto fixup;
+
+ if (errno != ERANGE)
+ return UV__ERR(errno);
+
+ /* ...or into scratch space if the user's buffer is too small
+ * so we can report how much space to provide on the next try.
+ */
+ if (getcwd(scratch, sizeof(scratch)) == NULL)
+ return UV__ERR(errno);
+
+ buffer = scratch;
+
+fixup:
+
+ *size = strlen(buffer);
+
+ if (*size > 1 && buffer[*size - 1] == '/') {
+ *size -= 1;
+ buffer[*size] = '\0';
+ }
+
+ if (buffer == scratch) {
+ *size += 1;
+ return UV_ENOBUFS;
+ }
+
+ return 0;
+}
+
+
+int uv_chdir(const char* dir) {
+ if (chdir(dir))
+ return UV__ERR(errno);
+
+ return 0;
+}
+
+
+void uv_disable_stdio_inheritance(void) {
+ int fd;
+
+ /* Set the CLOEXEC flag on all open descriptors. Unconditionally try the
+ * first 16 file descriptors. After that, bail out after the first error.
+ */
+ for (fd = 0; ; fd++)
+ if (uv__cloexec(fd, 1) && fd > 15)
+ break;
+}
+
+
+int uv_fileno(const uv_handle_t* handle, uv_os_fd_t* fd) {
+ int fd_out;
+
+ switch (handle->type) {
+ case UV_TCP:
+ case UV_NAMED_PIPE:
+ case UV_TTY:
+ fd_out = uv__stream_fd((uv_stream_t*) handle);
+ break;
+
+ case UV_UDP:
+ fd_out = ((uv_udp_t *) handle)->io_watcher.fd;
+ break;
+
+ case UV_POLL:
+ fd_out = ((uv_poll_t *) handle)->io_watcher.fd;
+ break;
+
+ default:
+ return UV_EINVAL;
+ }
+
+ if (uv__is_closing(handle) || fd_out == -1)
+ return UV_EBADF;
+
+ *fd = fd_out;
+ return 0;
+}
+
+
+static int uv__run_pending(uv_loop_t* loop) {
+ QUEUE* q;
+ QUEUE pq;
+ uv__io_t* w;
+
+ if (QUEUE_EMPTY(&loop->pending_queue))
+ return 0;
+
+ QUEUE_MOVE(&loop->pending_queue, &pq);
+
+ while (!QUEUE_EMPTY(&pq)) {
+ q = QUEUE_HEAD(&pq);
+ QUEUE_REMOVE(q);
+ QUEUE_INIT(q);
+ w = QUEUE_DATA(q, uv__io_t, pending_queue);
+ w->cb(loop, w, POLLOUT);
+ }
+
+ return 1;
+}
+
+
+static unsigned int next_power_of_two(unsigned int val) {
+ val -= 1;
+ val |= val >> 1;
+ val |= val >> 2;
+ val |= val >> 4;
+ val |= val >> 8;
+ val |= val >> 16;
+ val += 1;
+ return val;
+}
+
+static void maybe_resize(uv_loop_t* loop, unsigned int len) {
+ void** watchers;
+ void* fake_watcher_list;
+ void* fake_watcher_count;
+ unsigned int nwatchers;
+ unsigned int i;
+
+ if (len <= loop->nwatchers)
+ return;
+
+ /* Preserve fake watcher list and count at the end of the watchers */
+ if (loop->watchers != NULL) {
+ fake_watcher_list = loop->watchers[loop->nwatchers];
+ fake_watcher_count = loop->watchers[loop->nwatchers + 1];
+ } else {
+ fake_watcher_list = NULL;
+ fake_watcher_count = NULL;
+ }
+
+ nwatchers = next_power_of_two(len + 2) - 2;
+ watchers = (void**)
+ uv__realloc(loop->watchers, (nwatchers + 2) * sizeof(loop->watchers[0]));
+
+ if (watchers == NULL)
+ abort();
+ for (i = loop->nwatchers; i < nwatchers; i++)
+ watchers[i] = NULL;
+ watchers[nwatchers] = fake_watcher_list;
+ watchers[nwatchers + 1] = fake_watcher_count;
+
+ loop->watchers = watchers;
+ loop->nwatchers = nwatchers;
+}
+
+
+void uv__io_init(uv__io_t* w, uv__io_cb cb, int fd) {
+ assert(cb != NULL);
+ assert(fd >= -1);
+ QUEUE_INIT(&w->pending_queue);
+ QUEUE_INIT(&w->watcher_queue);
+ w->cb = cb;
+ w->fd = fd;
+ w->events = 0;
+ w->pevents = 0;
+
+#if defined(UV_HAVE_KQUEUE)
+ w->rcount = 0;
+ w->wcount = 0;
+#endif /* defined(UV_HAVE_KQUEUE) */
+}
+
+
+void uv__io_start(uv_loop_t* loop, uv__io_t* w, unsigned int events) {
+ assert(0 == (events & ~(POLLIN | POLLOUT | UV__POLLRDHUP | UV__POLLPRI)));
+ assert(0 != events);
+ assert(w->fd >= 0);
+ assert(w->fd < INT_MAX);
+
+ w->pevents |= events;
+ maybe_resize(loop, w->fd + 1);
+
+#if !defined(__sun)
+ /* The event ports backend needs to rearm all file descriptors on each and
+ * every tick of the event loop but the other backends allow us to
+ * short-circuit here if the event mask is unchanged.
+ */
+ if (w->events == w->pevents)
+ return;
+#endif
+
+ if (QUEUE_EMPTY(&w->watcher_queue))
+ QUEUE_INSERT_TAIL(&loop->watcher_queue, &w->watcher_queue);
+
+ if (loop->watchers[w->fd] == NULL) {
+ loop->watchers[w->fd] = w;
+ loop->nfds++;
+ }
+}
+
+
+void uv__io_stop(uv_loop_t* loop, uv__io_t* w, unsigned int events) {
+ assert(0 == (events & ~(POLLIN | POLLOUT | UV__POLLRDHUP | UV__POLLPRI)));
+ assert(0 != events);
+
+ if (w->fd == -1)
+ return;
+
+ assert(w->fd >= 0);
+
+ /* Happens when uv__io_stop() is called on a handle that was never started. */
+ if ((unsigned) w->fd >= loop->nwatchers)
+ return;
+
+ w->pevents &= ~events;
+
+ if (w->pevents == 0) {
+ QUEUE_REMOVE(&w->watcher_queue);
+ QUEUE_INIT(&w->watcher_queue);
+
+ if (loop->watchers[w->fd] != NULL) {
+ assert(loop->watchers[w->fd] == w);
+ assert(loop->nfds > 0);
+ loop->watchers[w->fd] = NULL;
+ loop->nfds--;
+ w->events = 0;
+ }
+ }
+ else if (QUEUE_EMPTY(&w->watcher_queue))
+ QUEUE_INSERT_TAIL(&loop->watcher_queue, &w->watcher_queue);
+}
+
+
+void uv__io_close(uv_loop_t* loop, uv__io_t* w) {
+ uv__io_stop(loop, w, POLLIN | POLLOUT | UV__POLLRDHUP | UV__POLLPRI);
+ QUEUE_REMOVE(&w->pending_queue);
+
+ /* Remove stale events for this file descriptor */
+ if (w->fd != -1)
+ uv__platform_invalidate_fd(loop, w->fd);
+}
+
+
+void uv__io_feed(uv_loop_t* loop, uv__io_t* w) {
+ if (QUEUE_EMPTY(&w->pending_queue))
+ QUEUE_INSERT_TAIL(&loop->pending_queue, &w->pending_queue);
+}
+
+
+int uv__io_active(const uv__io_t* w, unsigned int events) {
+ assert(0 == (events & ~(POLLIN | POLLOUT | UV__POLLRDHUP | UV__POLLPRI)));
+ assert(0 != events);
+ return 0 != (w->pevents & events);
+}
+
+
+int uv__fd_exists(uv_loop_t* loop, int fd) {
+ return (unsigned) fd < loop->nwatchers && loop->watchers[fd] != NULL;
+}
+
+
+int uv_getrusage(uv_rusage_t* rusage) {
+ struct rusage usage;
+
+ if (getrusage(RUSAGE_SELF, &usage))
+ return UV__ERR(errno);
+
+ rusage->ru_utime.tv_sec = usage.ru_utime.tv_sec;
+ rusage->ru_utime.tv_usec = usage.ru_utime.tv_usec;
+
+ rusage->ru_stime.tv_sec = usage.ru_stime.tv_sec;
+ rusage->ru_stime.tv_usec = usage.ru_stime.tv_usec;
+
+#if !defined(__MVS__) && !defined(__HAIKU__)
+ rusage->ru_maxrss = usage.ru_maxrss;
+ rusage->ru_ixrss = usage.ru_ixrss;
+ rusage->ru_idrss = usage.ru_idrss;
+ rusage->ru_isrss = usage.ru_isrss;
+ rusage->ru_minflt = usage.ru_minflt;
+ rusage->ru_majflt = usage.ru_majflt;
+ rusage->ru_nswap = usage.ru_nswap;
+ rusage->ru_inblock = usage.ru_inblock;
+ rusage->ru_oublock = usage.ru_oublock;
+ rusage->ru_msgsnd = usage.ru_msgsnd;
+ rusage->ru_msgrcv = usage.ru_msgrcv;
+ rusage->ru_nsignals = usage.ru_nsignals;
+ rusage->ru_nvcsw = usage.ru_nvcsw;
+ rusage->ru_nivcsw = usage.ru_nivcsw;
+#endif
+
+ return 0;
+}
+
+
+int uv__open_cloexec(const char* path, int flags) {
+ int err;
+ int fd;
+
+#if defined(UV__O_CLOEXEC)
+ static int no_cloexec;
+
+ if (!no_cloexec) {
+ fd = open(path, flags | UV__O_CLOEXEC);
+ if (fd != -1)
+ return fd;
+
+ if (errno != EINVAL)
+ return UV__ERR(errno);
+
+ /* O_CLOEXEC not supported. */
+ no_cloexec = 1;
+ }
+#endif
+
+ fd = open(path, flags);
+ if (fd == -1)
+ return UV__ERR(errno);
+
+ err = uv__cloexec(fd, 1);
+ if (err) {
+ uv__close(fd);
+ return err;
+ }
+
+ return fd;
+}
+
+
+int uv__dup2_cloexec(int oldfd, int newfd) {
+ int r;
+#if (defined(__FreeBSD__) && __FreeBSD__ >= 10) || defined(__NetBSD__)
+ r = dup3(oldfd, newfd, O_CLOEXEC);
+ if (r == -1)
+ return UV__ERR(errno);
+ return r;
+#elif defined(__FreeBSD__) && defined(F_DUP2FD_CLOEXEC)
+ r = fcntl(oldfd, F_DUP2FD_CLOEXEC, newfd);
+ if (r != -1)
+ return r;
+ if (errno != EINVAL)
+ return UV__ERR(errno);
+ /* Fall through. */
+#elif defined(__linux__)
+ static int no_dup3;
+ if (!no_dup3) {
+ do
+ r = uv__dup3(oldfd, newfd, UV__O_CLOEXEC);
+ while (r == -1 && errno == EBUSY);
+ if (r != -1)
+ return r;
+ if (errno != ENOSYS)
+ return UV__ERR(errno);
+ /* Fall through. */
+ no_dup3 = 1;
+ }
+#endif
+ {
+ int err;
+ do
+ r = dup2(oldfd, newfd);
+#if defined(__linux__)
+ while (r == -1 && errno == EBUSY);
+#else
+ while (0); /* Never retry. */
+#endif
+
+ if (r == -1)
+ return UV__ERR(errno);
+
+ err = uv__cloexec(newfd, 1);
+ if (err) {
+ uv__close(newfd);
+ return err;
+ }
+
+ return r;
+ }
+}
+
+
+int uv_os_homedir(char* buffer, size_t* size) {
+ uv_passwd_t pwd;
+ size_t len;
+ int r;
+
+ /* Check if the HOME environment variable is set first. The task of
+ performing input validation on buffer and size is taken care of by
+ uv_os_getenv(). */
+ r = uv_os_getenv("HOME", buffer, size);
+
+ if (r != UV_ENOENT)
+ return r;
+
+ /* HOME is not set, so call uv__getpwuid_r() */
+ r = uv__getpwuid_r(&pwd);
+
+ if (r != 0) {
+ return r;
+ }
+
+ len = strlen(pwd.homedir);
+
+ if (len >= *size) {
+ *size = len + 1;
+ uv_os_free_passwd(&pwd);
+ return UV_ENOBUFS;
+ }
+
+ memcpy(buffer, pwd.homedir, len + 1);
+ *size = len;
+ uv_os_free_passwd(&pwd);
+
+ return 0;
+}
+
+
+int uv_os_tmpdir(char* buffer, size_t* size) {
+ const char* buf;
+ size_t len;
+
+ if (buffer == NULL || size == NULL || *size == 0)
+ return UV_EINVAL;
+
+#define CHECK_ENV_VAR(name) \
+ do { \
+ buf = getenv(name); \
+ if (buf != NULL) \
+ goto return_buffer; \
+ } \
+ while (0)
+
+ /* Check the TMPDIR, TMP, TEMP, and TEMPDIR environment variables in order */
+ CHECK_ENV_VAR("TMPDIR");
+ CHECK_ENV_VAR("TMP");
+ CHECK_ENV_VAR("TEMP");
+ CHECK_ENV_VAR("TEMPDIR");
+
+#undef CHECK_ENV_VAR
+
+ /* No temp environment variables defined */
+ #if defined(__ANDROID__)
+ buf = "/data/local/tmp";
+ #else
+ buf = "/tmp";
+ #endif
+
+return_buffer:
+ len = strlen(buf);
+
+ if (len >= *size) {
+ *size = len + 1;
+ return UV_ENOBUFS;
+ }
+
+ /* The returned directory should not have a trailing slash. */
+ if (len > 1 && buf[len - 1] == '/') {
+ len--;
+ }
+
+ memcpy(buffer, buf, len + 1);
+ buffer[len] = '\0';
+ *size = len;
+
+ return 0;
+}
+
+
+int uv__getpwuid_r(uv_passwd_t* pwd) {
+ struct passwd pw;
+ struct passwd* result;
+ char* buf;
+ uid_t uid;
+ size_t bufsize;
+ size_t name_size;
+ size_t homedir_size;
+ size_t shell_size;
+ long initsize;
+ int r;
+#if defined(__ANDROID_API__) && __ANDROID_API__ < 21
+ int (*getpwuid_r)(uid_t, struct passwd*, char*, size_t, struct passwd**);
+
+ getpwuid_r = dlsym(RTLD_DEFAULT, "getpwuid_r");
+ if (getpwuid_r == NULL)
+ return UV_ENOSYS;
+#endif
+
+ if (pwd == NULL)
+ return UV_EINVAL;
+
+ initsize = sysconf(_SC_GETPW_R_SIZE_MAX);
+
+ if (initsize <= 0)
+ bufsize = 4096;
+ else
+ bufsize = (size_t) initsize;
+
+ uid = geteuid();
+ buf = NULL;
+
+ for (;;) {
+ uv__free(buf);
+ buf = (char*)uv__malloc(bufsize);
+
+ if (buf == NULL)
+ return UV_ENOMEM;
+
+ r = getpwuid_r(uid, &pw, buf, bufsize, &result);
+
+ if (r != ERANGE)
+ break;
+
+ bufsize *= 2;
+ }
+
+ if (r != 0) {
+ uv__free(buf);
+ return -r;
+ }
+
+ if (result == NULL) {
+ uv__free(buf);
+ return UV_ENOENT;
+ }
+
+ /* Allocate memory for the username, shell, and home directory */
+ name_size = strlen(pw.pw_name) + 1;
+ homedir_size = strlen(pw.pw_dir) + 1;
+ shell_size = strlen(pw.pw_shell) + 1;
+ pwd->username = (char*)uv__malloc(name_size + homedir_size + shell_size);
+
+ if (pwd->username == NULL) {
+ uv__free(buf);
+ return UV_ENOMEM;
+ }
+
+ /* Copy the username */
+ memcpy(pwd->username, pw.pw_name, name_size);
+
+ /* Copy the home directory */
+ pwd->homedir = pwd->username + name_size;
+ memcpy(pwd->homedir, pw.pw_dir, homedir_size);
+
+ /* Copy the shell */
+ pwd->shell = pwd->homedir + homedir_size;
+ memcpy(pwd->shell, pw.pw_shell, shell_size);
+
+ /* Copy the uid and gid */
+ pwd->uid = pw.pw_uid;
+ pwd->gid = pw.pw_gid;
+
+ uv__free(buf);
+
+ return 0;
+}
+
+
+void uv_os_free_passwd(uv_passwd_t* pwd) {
+ if (pwd == NULL)
+ return;
+
+ /*
+ The memory for name, shell, and homedir are allocated in a single
+ uv__malloc() call. The base of the pointer is stored in pwd->username, so
+ that is the field that needs to be freed.
+ */
+ uv__free(pwd->username);
+ pwd->username = NULL;
+ pwd->shell = NULL;
+ pwd->homedir = NULL;
+}
+
+
+int uv_os_get_passwd(uv_passwd_t* pwd) {
+ return uv__getpwuid_r(pwd);
+}
+
+
+int uv_translate_sys_error(int sys_errno) {
+ /* If < 0 then it's already a libuv error. */
+ return sys_errno <= 0 ? sys_errno : -sys_errno;
+}
+
+
+int uv_os_getenv(const char* name, char* buffer, size_t* size) {
+ char* var;
+ size_t len;
+
+ if (name == NULL || buffer == NULL || size == NULL || *size == 0)
+ return UV_EINVAL;
+
+ var = getenv(name);
+
+ if (var == NULL)
+ return UV_ENOENT;
+
+ len = strlen(var);
+
+ if (len >= *size) {
+ *size = len + 1;
+ return UV_ENOBUFS;
+ }
+
+ memcpy(buffer, var, len + 1);
+ *size = len;
+
+ return 0;
+}
+
+
+int uv_os_setenv(const char* name, const char* value) {
+ if (name == NULL || value == NULL)
+ return UV_EINVAL;
+
+ if (setenv(name, value, 1) != 0)
+ return UV__ERR(errno);
+
+ return 0;
+}
+
+
+int uv_os_unsetenv(const char* name) {
+ if (name == NULL)
+ return UV_EINVAL;
+
+ if (unsetenv(name) != 0)
+ return UV__ERR(errno);
+
+ return 0;
+}
+
+
+int uv_os_gethostname(char* buffer, size_t* size) {
+ /*
+ On some platforms, if the input buffer is not large enough, gethostname()
+ succeeds, but truncates the result. libuv can detect this and return ENOBUFS
+ instead by creating a large enough buffer and comparing the hostname length
+ to the size input.
+ */
+ char buf[UV_MAXHOSTNAMESIZE];
+ size_t len;
+
+ if (buffer == NULL || size == NULL || *size == 0)
+ return UV_EINVAL;
+
+ if (gethostname(buf, sizeof(buf)) != 0)
+ return UV__ERR(errno);
+
+ buf[sizeof(buf) - 1] = '\0'; /* Null terminate, just to be safe. */
+ len = strlen(buf);
+
+ if (len >= *size) {
+ *size = len + 1;
+ return UV_ENOBUFS;
+ }
+
+ memcpy(buffer, buf, len + 1);
+ *size = len;
+ return 0;
+}
+
+
+uv_os_fd_t uv_get_osfhandle(int fd) {
+ return fd;
+}
+
+int uv_open_osfhandle(uv_os_fd_t os_fd) {
+ return os_fd;
+}
+
+uv_pid_t uv_os_getpid(void) {
+ return getpid();
+}
+
+
+uv_pid_t uv_os_getppid(void) {
+ return getppid();
+}
+
+
+int uv_os_getpriority(uv_pid_t pid, int* priority) {
+ int r;
+
+ if (priority == NULL)
+ return UV_EINVAL;
+
+ errno = 0;
+ r = getpriority(PRIO_PROCESS, (int) pid);
+
+ if (r == -1 && errno != 0)
+ return UV__ERR(errno);
+
+ *priority = r;
+ return 0;
+}
+
+
+int uv_os_setpriority(uv_pid_t pid, int priority) {
+ if (priority < UV_PRIORITY_HIGHEST || priority > UV_PRIORITY_LOW)
+ return UV_EINVAL;
+
+ if (setpriority(PRIO_PROCESS, (int) pid, priority) != 0)
+ return UV__ERR(errno);
+
+ return 0;
+}
+
+
+int uv_os_uname(uv_utsname_t* buffer) {
+ struct utsname buf;
+ int r;
+
+ if (buffer == NULL)
+ return UV_EINVAL;
+
+ if (uname(&buf) == -1) {
+ r = UV__ERR(errno);
+ goto error;
+ }
+
+ r = uv__strscpy(buffer->sysname, buf.sysname, sizeof(buffer->sysname));
+ if (r == UV_E2BIG)
+ goto error;
+
+#ifdef _AIX
+ r = snprintf(buffer->release,
+ sizeof(buffer->release),
+ "%s.%s",
+ buf.version,
+ buf.release);
+ if (r >= sizeof(buffer->release)) {
+ r = UV_E2BIG;
+ goto error;
+ }
+#else
+ r = uv__strscpy(buffer->release, buf.release, sizeof(buffer->release));
+ if (r == UV_E2BIG)
+ goto error;
+#endif
+
+ r = uv__strscpy(buffer->version, buf.version, sizeof(buffer->version));
+ if (r == UV_E2BIG)
+ goto error;
+
+#if defined(_AIX) || defined(__PASE__)
+ r = uv__strscpy(buffer->machine, "ppc64", sizeof(buffer->machine));
+#else
+ r = uv__strscpy(buffer->machine, buf.machine, sizeof(buffer->machine));
+#endif
+
+ if (r == UV_E2BIG)
+ goto error;
+
+ return 0;
+
+error:
+ buffer->sysname[0] = '\0';
+ buffer->release[0] = '\0';
+ buffer->version[0] = '\0';
+ buffer->machine[0] = '\0';
+ return r;
+}
+
+int uv__getsockpeername(const uv_handle_t* handle,
+ uv__peersockfunc func,
+ struct sockaddr* name,
+ int* namelen) {
+ socklen_t socklen;
+ uv_os_fd_t fd;
+ int r;
+
+ r = uv_fileno(handle, &fd);
+ if (r < 0)
+ return r;
+
+ /* sizeof(socklen_t) != sizeof(int) on some systems. */
+ socklen = (socklen_t) *namelen;
+
+ if (func(fd, name, &socklen))
+ return UV__ERR(errno);
+
+ *namelen = (int) socklen;
+ return 0;
+}
+
+int uv_gettimeofday(uv_timeval64_t* tv) {
+ struct timeval time;
+
+ if (tv == NULL)
+ return UV_EINVAL;
+
+ if (gettimeofday(&time, NULL) != 0)
+ return UV__ERR(errno);
+
+ tv->tv_sec = (int64_t) time.tv_sec;
+ tv->tv_usec = (int32_t) time.tv_usec;
+ return 0;
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/cygwin.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/cygwin.cpp
new file mode 100644
index 0000000..6b5cfb7
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/cygwin.cpp
@@ -0,0 +1,58 @@
+/* Copyright libuv project contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include "uv.h"
+#include "internal.h"
+
+#include <sys/sysinfo.h>
+#include <unistd.h>
+
+int uv_uptime(double* uptime) {
+ struct sysinfo info;
+
+ if (sysinfo(&info) < 0)
+ return UV__ERR(errno);
+
+ *uptime = info.uptime;
+ return 0;
+}
+
+int uv_resident_set_memory(size_t* rss) {
+ /* FIXME: read /proc/meminfo? */
+ *rss = 0;
+ return 0;
+}
+
+int uv_cpu_info(uv_cpu_info_t** cpu_infos, int* count) {
+ /* FIXME: read /proc/stat? */
+ *cpu_infos = NULL;
+ *count = 0;
+ return UV_ENOSYS;
+}
+
+void uv_free_cpu_info(uv_cpu_info_t* cpu_infos, int count) {
+ (void)cpu_infos;
+ (void)count;
+}
+
+uint64_t uv_get_constrained_memory(void) {
+ return 0; /* Memory constraints are unknown. */
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/darwin-proctitle.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/darwin-proctitle.cpp
new file mode 100644
index 0000000..f05d9f9
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/darwin-proctitle.cpp
@@ -0,0 +1,199 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include "uv.h"
+#include "internal.h"
+
+#include <dlfcn.h>
+#include <errno.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include <TargetConditionals.h>
+
+#if !TARGET_OS_IPHONE
+# include <CoreFoundation/CoreFoundation.h>
+# include <ApplicationServices/ApplicationServices.h>
+#endif
+
+#define S(s) pCFStringCreateWithCString(NULL, (s), kCFStringEncodingUTF8)
+
+
+static int (*dynamic_pthread_setname_np)(const char* name);
+#if !TARGET_OS_IPHONE
+static CFStringRef (*pCFStringCreateWithCString)(CFAllocatorRef,
+ const char*,
+ CFStringEncoding);
+static CFBundleRef (*pCFBundleGetBundleWithIdentifier)(CFStringRef);
+static void *(*pCFBundleGetDataPointerForName)(CFBundleRef, CFStringRef);
+static void *(*pCFBundleGetFunctionPointerForName)(CFBundleRef, CFStringRef);
+static CFTypeRef (*pLSGetCurrentApplicationASN)(void);
+static OSStatus (*pLSSetApplicationInformationItem)(int,
+ CFTypeRef,
+ CFStringRef,
+ CFStringRef,
+ CFDictionaryRef*);
+static void* application_services_handle;
+static void* core_foundation_handle;
+static CFBundleRef launch_services_bundle;
+static CFStringRef* display_name_key;
+static CFDictionaryRef (*pCFBundleGetInfoDictionary)(CFBundleRef);
+static CFBundleRef (*pCFBundleGetMainBundle)(void);
+static CFBundleRef hi_services_bundle;
+static OSStatus (*pSetApplicationIsDaemon)(int);
+static CFDictionaryRef (*pLSApplicationCheckIn)(int, CFDictionaryRef);
+static void (*pLSSetApplicationLaunchServicesServerConnectionStatus)(uint64_t,
+ void*);
+
+
+UV_DESTRUCTOR(static void uv__set_process_title_platform_fini(void)) {
+ if (core_foundation_handle != NULL) {
+ dlclose(core_foundation_handle);
+ core_foundation_handle = NULL;
+ }
+
+ if (application_services_handle != NULL) {
+ dlclose(application_services_handle);
+ application_services_handle = NULL;
+ }
+}
+#endif /* !TARGET_OS_IPHONE */
+
+
+void uv__set_process_title_platform_init(void) {
+ /* pthread_setname_np() first appeared in OS X 10.6 and iOS 3.2. */
+ *(void **)(&dynamic_pthread_setname_np) =
+ dlsym(RTLD_DEFAULT, "pthread_setname_np");
+
+#if !TARGET_OS_IPHONE
+ application_services_handle = dlopen("/System/Library/Frameworks/"
+ "ApplicationServices.framework/"
+ "Versions/A/ApplicationServices",
+ RTLD_LAZY | RTLD_LOCAL);
+ core_foundation_handle = dlopen("/System/Library/Frameworks/"
+ "CoreFoundation.framework/"
+ "Versions/A/CoreFoundation",
+ RTLD_LAZY | RTLD_LOCAL);
+
+ if (application_services_handle == NULL || core_foundation_handle == NULL)
+ goto out;
+
+ *(void **)(&pCFStringCreateWithCString) =
+ dlsym(core_foundation_handle, "CFStringCreateWithCString");
+ *(void **)(&pCFBundleGetBundleWithIdentifier) =
+ dlsym(core_foundation_handle, "CFBundleGetBundleWithIdentifier");
+ *(void **)(&pCFBundleGetDataPointerForName) =
+ dlsym(core_foundation_handle, "CFBundleGetDataPointerForName");
+ *(void **)(&pCFBundleGetFunctionPointerForName) =
+ dlsym(core_foundation_handle, "CFBundleGetFunctionPointerForName");
+
+ if (pCFStringCreateWithCString == NULL ||
+ pCFBundleGetBundleWithIdentifier == NULL ||
+ pCFBundleGetDataPointerForName == NULL ||
+ pCFBundleGetFunctionPointerForName == NULL) {
+ goto out;
+ }
+
+ launch_services_bundle =
+ pCFBundleGetBundleWithIdentifier(S("com.apple.LaunchServices"));
+
+ if (launch_services_bundle == NULL)
+ goto out;
+
+ *(void **)(&pLSGetCurrentApplicationASN) =
+ pCFBundleGetFunctionPointerForName(launch_services_bundle,
+ S("_LSGetCurrentApplicationASN"));
+
+ if (pLSGetCurrentApplicationASN == NULL)
+ goto out;
+
+ *(void **)(&pLSSetApplicationInformationItem) =
+ pCFBundleGetFunctionPointerForName(launch_services_bundle,
+ S("_LSSetApplicationInformationItem"));
+
+ if (pLSSetApplicationInformationItem == NULL)
+ goto out;
+
+ display_name_key = (CFStringRef*)
+ pCFBundleGetDataPointerForName(launch_services_bundle,
+ S("_kLSDisplayNameKey"));
+
+ if (display_name_key == NULL || *display_name_key == NULL)
+ goto out;
+
+ *(void **)(&pCFBundleGetInfoDictionary) = dlsym(core_foundation_handle,
+ "CFBundleGetInfoDictionary");
+ *(void **)(&pCFBundleGetMainBundle) = dlsym(core_foundation_handle,
+ "CFBundleGetMainBundle");
+
+ if (pCFBundleGetInfoDictionary == NULL || pCFBundleGetMainBundle == NULL)
+ goto out;
+
+ /* Black 10.9 magic, to remove (Not responding) mark in Activity Monitor */
+ hi_services_bundle =
+ pCFBundleGetBundleWithIdentifier(S("com.apple.HIServices"));
+
+ if (hi_services_bundle == NULL)
+ goto out;
+
+ *(void **)(&pSetApplicationIsDaemon) = pCFBundleGetFunctionPointerForName(
+ hi_services_bundle,
+ S("SetApplicationIsDaemon"));
+ *(void **)(&pLSApplicationCheckIn) = pCFBundleGetFunctionPointerForName(
+ launch_services_bundle,
+ S("_LSApplicationCheckIn"));
+ *(void **)(&pLSSetApplicationLaunchServicesServerConnectionStatus) =
+ pCFBundleGetFunctionPointerForName(
+ launch_services_bundle,
+ S("_LSSetApplicationLaunchServicesServerConnectionStatus"));
+
+ if (pSetApplicationIsDaemon == NULL ||
+ pLSApplicationCheckIn == NULL ||
+ pLSSetApplicationLaunchServicesServerConnectionStatus == NULL) {
+ goto out;
+ }
+
+ return;
+
+out:
+ uv__set_process_title_platform_fini();
+#endif /* !TARGET_OS_IPHONE */
+}
+
+
+void uv__set_process_title(const char* title) {
+#if !TARGET_OS_IPHONE
+ if (core_foundation_handle != NULL && pSetApplicationIsDaemon(1) != noErr) {
+ CFTypeRef asn;
+ pLSSetApplicationLaunchServicesServerConnectionStatus(0, NULL);
+ pLSApplicationCheckIn(/* Magic value */ -2,
+ pCFBundleGetInfoDictionary(pCFBundleGetMainBundle()));
+ asn = pLSGetCurrentApplicationASN();
+ pLSSetApplicationInformationItem(/* Magic value */ -2, asn,
+ *display_name_key, S(title), NULL);
+ }
+#endif /* !TARGET_OS_IPHONE */
+
+ if (dynamic_pthread_setname_np != NULL) {
+ char namebuf[64]; /* MAXTHREADNAMESIZE */
+ uv__strscpy(namebuf, title, sizeof(namebuf));
+ dynamic_pthread_setname_np(namebuf);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/darwin.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/darwin.cpp
new file mode 100644
index 0000000..2282d91
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/darwin.cpp
@@ -0,0 +1,236 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include "uv.h"
+#include "internal.h"
+
+#include <assert.h>
+#include <stdint.h>
+#include <errno.h>
+
+#include <mach/mach.h>
+#include <mach/mach_time.h>
+#include <mach-o/dyld.h> /* _NSGetExecutablePath */
+#include <sys/resource.h>
+#include <sys/sysctl.h>
+#include <unistd.h> /* sysconf */
+
+
+int uv__platform_loop_init(uv_loop_t* loop) {
+ loop->cf_state = NULL;
+
+ if (uv__kqueue_init(loop))
+ return UV__ERR(errno);
+
+ return 0;
+}
+
+
+void uv__platform_loop_delete(uv_loop_t* loop) {
+ uv__fsevents_loop_delete(loop);
+}
+
+
+uint64_t uv__hrtime(uv_clocktype_t type) {
+ static mach_timebase_info_data_t info;
+
+ if ((ACCESS_ONCE(uint32_t, info.numer) == 0 ||
+ ACCESS_ONCE(uint32_t, info.denom) == 0) &&
+ mach_timebase_info(&info) != KERN_SUCCESS)
+ abort();
+
+ return mach_absolute_time() * info.numer / info.denom;
+}
+
+
+int uv_exepath(char* buffer, size_t* size) {
+ /* realpath(exepath) may be > PATH_MAX so double it to be on the safe side. */
+ char abspath[PATH_MAX * 2 + 1];
+ char exepath[PATH_MAX + 1];
+ uint32_t exepath_size;
+ size_t abspath_size;
+
+ if (buffer == NULL || size == NULL || *size == 0)
+ return UV_EINVAL;
+
+ exepath_size = sizeof(exepath);
+ if (_NSGetExecutablePath(exepath, &exepath_size))
+ return UV_EIO;
+
+ if (realpath(exepath, abspath) != abspath)
+ return UV__ERR(errno);
+
+ abspath_size = strlen(abspath);
+ if (abspath_size == 0)
+ return UV_EIO;
+
+ *size -= 1;
+ if (*size > abspath_size)
+ *size = abspath_size;
+
+ memcpy(buffer, abspath, *size);
+ buffer[*size] = '\0';
+
+ return 0;
+}
+
+
+uint64_t uv_get_free_memory(void) {
+ vm_statistics_data_t info;
+ mach_msg_type_number_t count = sizeof(info) / sizeof(integer_t);
+
+ if (host_statistics(mach_host_self(), HOST_VM_INFO,
+ (host_info_t)&info, &count) != KERN_SUCCESS) {
+ return UV_EINVAL; /* FIXME(bnoordhuis) Translate error. */
+ }
+
+ return (uint64_t) info.free_count * sysconf(_SC_PAGESIZE);
+}
+
+
+uint64_t uv_get_total_memory(void) {
+ uint64_t info;
+ int which[] = {CTL_HW, HW_MEMSIZE};
+ size_t size = sizeof(info);
+
+ if (sysctl(which, 2, &info, &size, NULL, 0))
+ return UV__ERR(errno);
+
+ return (uint64_t) info;
+}
+
+
+uint64_t uv_get_constrained_memory(void) {
+ return 0; /* Memory constraints are unknown. */
+}
+
+
+void uv_loadavg(double avg[3]) {
+ struct loadavg info;
+ size_t size = sizeof(info);
+ int which[] = {CTL_VM, VM_LOADAVG};
+
+ if (sysctl(which, 2, &info, &size, NULL, 0) < 0) return;
+
+ avg[0] = (double) info.ldavg[0] / info.fscale;
+ avg[1] = (double) info.ldavg[1] / info.fscale;
+ avg[2] = (double) info.ldavg[2] / info.fscale;
+}
+
+
+int uv_resident_set_memory(size_t* rss) {
+ mach_msg_type_number_t count;
+ task_basic_info_data_t info;
+ kern_return_t err;
+
+ count = TASK_BASIC_INFO_COUNT;
+ err = task_info(mach_task_self(),
+ TASK_BASIC_INFO,
+ (task_info_t) &info,
+ &count);
+ (void) &err;
+ /* task_info(TASK_BASIC_INFO) cannot really fail. Anything other than
+ * KERN_SUCCESS implies a libuv bug.
+ */
+ assert(err == KERN_SUCCESS);
+ *rss = info.resident_size;
+
+ return 0;
+}
+
+
+int uv_uptime(double* uptime) {
+ time_t now;
+ struct timeval info;
+ size_t size = sizeof(info);
+ static int which[] = {CTL_KERN, KERN_BOOTTIME};
+
+ if (sysctl(which, 2, &info, &size, NULL, 0))
+ return UV__ERR(errno);
+
+ now = time(NULL);
+ *uptime = now - info.tv_sec;
+
+ return 0;
+}
+
+int uv_cpu_info(uv_cpu_info_t** cpu_infos, int* count) {
+ unsigned int ticks = (unsigned int)sysconf(_SC_CLK_TCK),
+ multiplier = ((uint64_t)1000L / ticks);
+ char model[512];
+ uint64_t cpuspeed;
+ size_t size;
+ unsigned int i;
+ natural_t numcpus;
+ mach_msg_type_number_t msg_type;
+ processor_cpu_load_info_data_t *info;
+ uv_cpu_info_t* cpu_info;
+
+ size = sizeof(model);
+ if (sysctlbyname("machdep.cpu.brand_string", &model, &size, NULL, 0) &&
+ sysctlbyname("hw.model", &model, &size, NULL, 0)) {
+ return UV__ERR(errno);
+ }
+
+ size = sizeof(cpuspeed);
+ if (sysctlbyname("hw.cpufrequency", &cpuspeed, &size, NULL, 0))
+ return UV__ERR(errno);
+
+ if (host_processor_info(mach_host_self(), PROCESSOR_CPU_LOAD_INFO, &numcpus,
+ (processor_info_array_t*)&info,
+ &msg_type) != KERN_SUCCESS) {
+ return UV_EINVAL; /* FIXME(bnoordhuis) Translate error. */
+ }
+
+ *cpu_infos = (uv_cpu_info_t*)uv__malloc(numcpus * sizeof(**cpu_infos));
+ if (!(*cpu_infos)) {
+ vm_deallocate(mach_task_self(), (vm_address_t)info, msg_type);
+ return UV_ENOMEM;
+ }
+
+ *count = numcpus;
+
+ for (i = 0; i < numcpus; i++) {
+ cpu_info = &(*cpu_infos)[i];
+
+ cpu_info->cpu_times.user = (uint64_t)(info[i].cpu_ticks[0]) * multiplier;
+ cpu_info->cpu_times.nice = (uint64_t)(info[i].cpu_ticks[3]) * multiplier;
+ cpu_info->cpu_times.sys = (uint64_t)(info[i].cpu_ticks[1]) * multiplier;
+ cpu_info->cpu_times.idle = (uint64_t)(info[i].cpu_ticks[2]) * multiplier;
+ cpu_info->cpu_times.irq = 0;
+
+ cpu_info->model = uv__strdup(model);
+ cpu_info->speed = cpuspeed/1000000;
+ }
+ vm_deallocate(mach_task_self(), (vm_address_t)info, msg_type);
+
+ return 0;
+}
+
+
+void uv_free_cpu_info(uv_cpu_info_t* cpu_infos, int count) {
+ int i;
+
+ for (i = 0; i < count; i++) {
+ uv__free(cpu_infos[i].model);
+ }
+
+ uv__free(cpu_infos);
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/dl.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/dl.cpp
similarity index 100%
rename from third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/dl.cpp
rename to third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/dl.cpp
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/freebsd.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/freebsd.cpp
new file mode 100644
index 0000000..c401145
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/freebsd.cpp
@@ -0,0 +1,301 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include "uv.h"
+#include "internal.h"
+
+#include <assert.h>
+#include <string.h>
+#include <errno.h>
+
+#include <paths.h>
+#include <sys/user.h>
+#include <sys/types.h>
+#include <sys/resource.h>
+#include <sys/sysctl.h>
+#include <vm/vm_param.h> /* VM_LOADAVG */
+#include <time.h>
+#include <stdlib.h>
+#include <unistd.h> /* sysconf */
+#include <fcntl.h>
+
+#ifndef CPUSTATES
+# define CPUSTATES 5U
+#endif
+#ifndef CP_USER
+# define CP_USER 0
+# define CP_NICE 1
+# define CP_SYS 2
+# define CP_IDLE 3
+# define CP_INTR 4
+#endif
+
+
+int uv__platform_loop_init(uv_loop_t* loop) {
+ return uv__kqueue_init(loop);
+}
+
+
+void uv__platform_loop_delete(uv_loop_t* loop) {
+}
+
+
+#ifdef __DragonFly__
+int uv_exepath(char* buffer, size_t* size) {
+ char abspath[PATH_MAX * 2 + 1];
+ ssize_t abspath_size;
+
+ if (buffer == NULL || size == NULL || *size == 0)
+ return UV_EINVAL;
+
+ abspath_size = readlink("/proc/curproc/file", abspath, sizeof(abspath));
+ if (abspath_size < 0)
+ return UV__ERR(errno);
+
+ assert(abspath_size > 0);
+ *size -= 1;
+
+ if (*size > abspath_size)
+ *size = abspath_size;
+
+ memcpy(buffer, abspath, *size);
+ buffer[*size] = '\0';
+
+ return 0;
+}
+#else
+int uv_exepath(char* buffer, size_t* size) {
+ char abspath[PATH_MAX * 2 + 1];
+ int mib[4];
+ size_t abspath_size;
+
+ if (buffer == NULL || size == NULL || *size == 0)
+ return UV_EINVAL;
+
+ mib[0] = CTL_KERN;
+ mib[1] = KERN_PROC;
+ mib[2] = KERN_PROC_PATHNAME;
+ mib[3] = -1;
+
+ abspath_size = sizeof abspath;
+ if (sysctl(mib, 4, abspath, &abspath_size, NULL, 0))
+ return UV__ERR(errno);
+
+ assert(abspath_size > 0);
+ abspath_size -= 1;
+ *size -= 1;
+
+ if (*size > abspath_size)
+ *size = abspath_size;
+
+ memcpy(buffer, abspath, *size);
+ buffer[*size] = '\0';
+
+ return 0;
+}
+#endif
+
+uint64_t uv_get_free_memory(void) {
+ int freecount;
+ size_t size = sizeof(freecount);
+
+ if (sysctlbyname("vm.stats.vm.v_free_count", &freecount, &size, NULL, 0))
+ return UV__ERR(errno);
+
+ return (uint64_t) freecount * sysconf(_SC_PAGESIZE);
+
+}
+
+
+uint64_t uv_get_total_memory(void) {
+ unsigned long info;
+ int which[] = {CTL_HW, HW_PHYSMEM};
+
+ size_t size = sizeof(info);
+
+ if (sysctl(which, 2, &info, &size, NULL, 0))
+ return UV__ERR(errno);
+
+ return (uint64_t) info;
+}
+
+
+uint64_t uv_get_constrained_memory(void) {
+ return 0; /* Memory constraints are unknown. */
+}
+
+
+void uv_loadavg(double avg[3]) {
+ struct loadavg info;
+ size_t size = sizeof(info);
+ int which[] = {CTL_VM, VM_LOADAVG};
+
+ if (sysctl(which, 2, &info, &size, NULL, 0) < 0) return;
+
+ avg[0] = (double) info.ldavg[0] / info.fscale;
+ avg[1] = (double) info.ldavg[1] / info.fscale;
+ avg[2] = (double) info.ldavg[2] / info.fscale;
+}
+
+
+int uv_resident_set_memory(size_t* rss) {
+ struct kinfo_proc kinfo;
+ size_t page_size;
+ size_t kinfo_size;
+ int mib[4];
+
+ mib[0] = CTL_KERN;
+ mib[1] = KERN_PROC;
+ mib[2] = KERN_PROC_PID;
+ mib[3] = getpid();
+
+ kinfo_size = sizeof(kinfo);
+
+ if (sysctl(mib, 4, &kinfo, &kinfo_size, NULL, 0))
+ return UV__ERR(errno);
+
+ page_size = getpagesize();
+
+#ifdef __DragonFly__
+ *rss = kinfo.kp_vm_rssize * page_size;
+#else
+ *rss = kinfo.ki_rssize * page_size;
+#endif
+
+ return 0;
+}
+
+
+int uv_uptime(double* uptime) {
+ int r;
+ struct timespec sp;
+ r = clock_gettime(CLOCK_MONOTONIC, &sp);
+ if (r)
+ return UV__ERR(errno);
+
+ *uptime = sp.tv_sec;
+ return 0;
+}
+
+
+int uv_cpu_info(uv_cpu_info_t** cpu_infos, int* count) {
+ unsigned int ticks = (unsigned int)sysconf(_SC_CLK_TCK),
+ multiplier = ((uint64_t)1000L / ticks), cpuspeed, maxcpus,
+ cur = 0;
+ uv_cpu_info_t* cpu_info;
+ const char* maxcpus_key;
+ const char* cptimes_key;
+ const char* model_key;
+ char model[512];
+ long* cp_times;
+ int numcpus;
+ size_t size;
+ int i;
+
+#if defined(__DragonFly__)
+ /* This is not quite correct but DragonFlyBSD doesn't seem to have anything
+ * comparable to kern.smp.maxcpus or kern.cp_times (kern.cp_time is a total,
+ * not per CPU). At least this stops uv_cpu_info() from failing completely.
+ */
+ maxcpus_key = "hw.ncpu";
+ cptimes_key = "kern.cp_time";
+#else
+ maxcpus_key = "kern.smp.maxcpus";
+ cptimes_key = "kern.cp_times";
+#endif
+
+#if defined(__arm__) || defined(__aarch64__)
+ /* The key hw.model and hw.clockrate are not available on FreeBSD ARM. */
+ model_key = "hw.machine";
+ cpuspeed = 0;
+#else
+ model_key = "hw.model";
+
+ size = sizeof(cpuspeed);
+ if (sysctlbyname("hw.clockrate", &cpuspeed, &size, NULL, 0))
+ return -errno;
+#endif
+
+ size = sizeof(model);
+ if (sysctlbyname(model_key, &model, &size, NULL, 0))
+ return UV__ERR(errno);
+
+ size = sizeof(numcpus);
+ if (sysctlbyname("hw.ncpu", &numcpus, &size, NULL, 0))
+ return UV__ERR(errno);
+
+ *cpu_infos = (uv_cpu_info_t*)uv__malloc(numcpus * sizeof(**cpu_infos));
+ if (!(*cpu_infos))
+ return UV_ENOMEM;
+
+ *count = numcpus;
+
+ /* kern.cp_times on FreeBSD i386 gives an array up to maxcpus instead of
+ * ncpu.
+ */
+ size = sizeof(maxcpus);
+ if (sysctlbyname(maxcpus_key, &maxcpus, &size, NULL, 0)) {
+ uv__free(*cpu_infos);
+ return UV__ERR(errno);
+ }
+
+ size = maxcpus * CPUSTATES * sizeof(long);
+
+ cp_times = (long*)uv__malloc(size);
+ if (cp_times == NULL) {
+ uv__free(*cpu_infos);
+ return UV_ENOMEM;
+ }
+
+ if (sysctlbyname(cptimes_key, cp_times, &size, NULL, 0)) {
+ uv__free(cp_times);
+ uv__free(*cpu_infos);
+ return UV__ERR(errno);
+ }
+
+ for (i = 0; i < numcpus; i++) {
+ cpu_info = &(*cpu_infos)[i];
+
+ cpu_info->cpu_times.user = (uint64_t)(cp_times[CP_USER+cur]) * multiplier;
+ cpu_info->cpu_times.nice = (uint64_t)(cp_times[CP_NICE+cur]) * multiplier;
+ cpu_info->cpu_times.sys = (uint64_t)(cp_times[CP_SYS+cur]) * multiplier;
+ cpu_info->cpu_times.idle = (uint64_t)(cp_times[CP_IDLE+cur]) * multiplier;
+ cpu_info->cpu_times.irq = (uint64_t)(cp_times[CP_INTR+cur]) * multiplier;
+
+ cpu_info->model = uv__strdup(model);
+ cpu_info->speed = cpuspeed;
+
+ cur+=CPUSTATES;
+ }
+
+ uv__free(cp_times);
+ return 0;
+}
+
+
+void uv_free_cpu_info(uv_cpu_info_t* cpu_infos, int count) {
+ int i;
+
+ for (i = 0; i < count; i++) {
+ uv__free(cpu_infos[i].model);
+ }
+
+ uv__free(cpu_infos);
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/fs.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/fs.cpp
new file mode 100644
index 0000000..36871ee
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/fs.cpp
@@ -0,0 +1,1860 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+/* Caveat emptor: this file deviates from the libuv convention of returning
+ * negated errno codes. Most uv_fs_*() functions map directly to the system
+ * call of the same name. For more complex wrappers, it's easier to just
+ * return -1 with errno set. The dispatcher in uv__fs_work() takes care of
+ * getting the errno to the right place (req->result or as the return value.)
+ */
+
+#include "uv.h"
+#include "internal.h"
+
+#include <errno.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <limits.h> /* PATH_MAX */
+
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <sys/stat.h>
+#include <sys/time.h>
+#include <sys/uio.h>
+#include <pthread.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <poll.h>
+
+#if defined(__DragonFly__) || \
+ defined(__FreeBSD__) || \
+ defined(__FreeBSD_kernel__) || \
+ defined(__OpenBSD__) || \
+ defined(__NetBSD__)
+# define HAVE_PREADV 1
+#else
+# define HAVE_PREADV 0
+#endif
+
+#if defined(__linux__) || defined(__sun)
+# include <sys/sendfile.h>
+#endif
+
+#if defined(__APPLE__)
+# include <sys/sysctl.h>
+#elif defined(__linux__) && !defined(FICLONE)
+# include <sys/ioctl.h>
+# define FICLONE _IOW(0x94, 9, int)
+#endif
+
+#if defined(_AIX) && !defined(_AIX71)
+# include <utime.h>
+#endif
+
+#if defined(_AIX) && _XOPEN_SOURCE <= 600
+extern char *mkdtemp(char *template); /* See issue #740 on AIX < 7 */
+#endif
+
+#define INIT(subtype) \
+ do { \
+ if (req == NULL) \
+ return UV_EINVAL; \
+ UV_REQ_INIT(req, UV_FS); \
+ req->fs_type = UV_FS_ ## subtype; \
+ req->result = 0; \
+ req->ptr = NULL; \
+ req->loop = loop; \
+ req->path = NULL; \
+ req->new_path = NULL; \
+ req->bufs = NULL; \
+ req->cb = cb; \
+ } \
+ while (0)
+
+#define PATH \
+ do { \
+ assert(path != NULL); \
+ if (cb == NULL) { \
+ req->path = path; \
+ } else { \
+ req->path = uv__strdup(path); \
+ if (req->path == NULL) \
+ return UV_ENOMEM; \
+ } \
+ } \
+ while (0)
+
+#define PATH2 \
+ do { \
+ if (cb == NULL) { \
+ req->path = path; \
+ req->new_path = new_path; \
+ } else { \
+ size_t path_len; \
+ size_t new_path_len; \
+ path_len = strlen(path) + 1; \
+ new_path_len = strlen(new_path) + 1; \
+ req->path = (char*)uv__malloc(path_len + new_path_len); \
+ if (req->path == NULL) \
+ return UV_ENOMEM; \
+ req->new_path = req->path + path_len; \
+ memcpy((void*) req->path, path, path_len); \
+ memcpy((void*) req->new_path, new_path, new_path_len); \
+ } \
+ } \
+ while (0)
+
+#define POST \
+ do { \
+ if (cb != NULL) { \
+ uv__req_register(loop, req); \
+ uv__work_submit(loop, \
+ &req->work_req, \
+ UV__WORK_FAST_IO, \
+ uv__fs_work, \
+ uv__fs_done); \
+ return 0; \
+ } \
+ else { \
+ uv__fs_work(&req->work_req); \
+ return req->result; \
+ } \
+ } \
+ while (0)
+
+
+static int uv__fs_close(int fd) {
+ int rc;
+
+ rc = uv__close_nocancel(fd);
+ if (rc == -1)
+ if (errno == EINTR || errno == EINPROGRESS)
+ rc = 0; /* The close is in progress, not an error. */
+
+ return rc;
+}
+
+
+static ssize_t uv__fs_fsync(uv_fs_t* req) {
+#if defined(__APPLE__)
+ /* Apple's fdatasync and fsync explicitly do NOT flush the drive write cache
+ * to the drive platters. This is in contrast to Linux's fdatasync and fsync
+ * which do, according to recent man pages. F_FULLFSYNC is Apple's equivalent
+ * for flushing buffered data to permanent storage. If F_FULLFSYNC is not
+ * supported by the file system we fall back to F_BARRIERFSYNC or fsync().
+ * This is the same approach taken by sqlite, except sqlite does not issue
+ * an F_BARRIERFSYNC call.
+ */
+ int r;
+
+ r = fcntl(req->file, F_FULLFSYNC);
+ if (r != 0)
+ r = fcntl(req->file, 85 /* F_BARRIERFSYNC */); /* fsync + barrier */
+ if (r != 0)
+ r = fsync(req->file);
+ return r;
+#else
+ return fsync(req->file);
+#endif
+}
+
+
+static ssize_t uv__fs_fdatasync(uv_fs_t* req) {
+#if defined(__linux__) || defined(__sun) || defined(__NetBSD__)
+ return fdatasync(req->file);
+#elif defined(__APPLE__)
+ /* See the comment in uv__fs_fsync. */
+ return uv__fs_fsync(req);
+#else
+ return fsync(req->file);
+#endif
+}
+
+
+static ssize_t uv__fs_futime(uv_fs_t* req) {
+#if defined(__linux__) \
+ || defined(_AIX71) \
+ || defined(__HAIKU__)
+ /* utimesat() has nanosecond resolution but we stick to microseconds
+ * for the sake of consistency with other platforms.
+ */
+ struct timespec ts[2];
+ ts[0].tv_sec = req->atime;
+ ts[0].tv_nsec = (uint64_t)(req->atime * 1000000) % 1000000 * 1000;
+ ts[1].tv_sec = req->mtime;
+ ts[1].tv_nsec = (uint64_t)(req->mtime * 1000000) % 1000000 * 1000;
+ return futimens(req->file, ts);
+#elif defined(__APPLE__) \
+ || defined(__DragonFly__) \
+ || defined(__FreeBSD__) \
+ || defined(__FreeBSD_kernel__) \
+ || defined(__NetBSD__) \
+ || defined(__OpenBSD__) \
+ || defined(__sun)
+ struct timeval tv[2];
+ tv[0].tv_sec = req->atime;
+ tv[0].tv_usec = (uint64_t)(req->atime * 1000000) % 1000000;
+ tv[1].tv_sec = req->mtime;
+ tv[1].tv_usec = (uint64_t)(req->mtime * 1000000) % 1000000;
+# if defined(__sun)
+ return futimesat(req->file, NULL, tv);
+# else
+ return futimes(req->file, tv);
+# endif
+#elif defined(__MVS__)
+ attrib_t atr;
+ memset(&atr, 0, sizeof(atr));
+ atr.att_mtimechg = 1;
+ atr.att_atimechg = 1;
+ atr.att_mtime = req->mtime;
+ atr.att_atime = req->atime;
+ return __fchattr(req->file, &atr, sizeof(atr));
+#else
+ errno = ENOSYS;
+ return -1;
+#endif
+}
+
+
+static ssize_t uv__fs_mkdtemp(uv_fs_t* req) {
+ return mkdtemp((char*) req->path) ? 0 : -1;
+}
+
+
+static ssize_t uv__fs_open(uv_fs_t* req) {
+ static int no_cloexec_support;
+ int r;
+
+ /* Try O_CLOEXEC before entering locks */
+ if (no_cloexec_support == 0) {
+#ifdef O_CLOEXEC
+ r = open(req->path, req->flags | O_CLOEXEC, req->mode);
+ if (r >= 0)
+ return r;
+ if (errno != EINVAL)
+ return r;
+ no_cloexec_support = 1;
+#endif /* O_CLOEXEC */
+ }
+
+ if (req->cb != NULL)
+ uv_rwlock_rdlock(&req->loop->cloexec_lock);
+
+ r = open(req->path, req->flags, req->mode);
+
+ /* In case of failure `uv__cloexec` will leave error in `errno`,
+ * so it is enough to just set `r` to `-1`.
+ */
+ if (r >= 0 && uv__cloexec(r, 1) != 0) {
+ r = uv__close(r);
+ if (r != 0)
+ abort();
+ r = -1;
+ }
+
+ if (req->cb != NULL)
+ uv_rwlock_rdunlock(&req->loop->cloexec_lock);
+
+ return r;
+}
+
+
+static ssize_t uv__fs_preadv(uv_file fd,
+ uv_buf_t* bufs,
+ unsigned int nbufs,
+ off_t off) {
+ uv_buf_t* buf;
+ uv_buf_t* end;
+ ssize_t result;
+ ssize_t rc;
+ size_t pos;
+
+ assert(nbufs > 0);
+
+ result = 0;
+ pos = 0;
+ buf = bufs + 0;
+ end = bufs + nbufs;
+
+ for (;;) {
+ do
+ rc = pread(fd, buf->base + pos, buf->len - pos, off + result);
+ while (rc == -1 && errno == EINTR);
+
+ if (rc == 0)
+ break;
+
+ if (rc == -1 && result == 0)
+ return UV__ERR(errno);
+
+ if (rc == -1)
+ break; /* We read some data so return that, ignore the error. */
+
+ pos += rc;
+ result += rc;
+
+ if (pos < buf->len)
+ continue;
+
+ pos = 0;
+ buf += 1;
+
+ if (buf == end)
+ break;
+ }
+
+ return result;
+}
+
+
+static ssize_t uv__fs_read(uv_fs_t* req) {
+#if defined(__linux__)
+ static int no_preadv;
+#endif
+ unsigned int iovmax;
+ ssize_t result;
+
+ iovmax = uv__getiovmax();
+ if (req->nbufs > iovmax)
+ req->nbufs = iovmax;
+
+ if (req->off < 0) {
+ if (req->nbufs == 1)
+ result = read(req->file, req->bufs[0].base, req->bufs[0].len);
+ else
+ result = readv(req->file, (struct iovec*) req->bufs, req->nbufs);
+ } else {
+ if (req->nbufs == 1) {
+ result = pread(req->file, req->bufs[0].base, req->bufs[0].len, req->off);
+ goto done;
+ }
+
+#if HAVE_PREADV
+ result = preadv(req->file, (struct iovec*) req->bufs, req->nbufs, req->off);
+#else
+# if defined(__linux__)
+ if (no_preadv) retry:
+# endif
+ {
+ result = uv__fs_preadv(req->file, req->bufs, req->nbufs, req->off);
+ }
+# if defined(__linux__)
+ else {
+ result = uv__preadv(req->file,
+ (struct iovec*)req->bufs,
+ req->nbufs,
+ req->off);
+ if (result == -1 && errno == ENOSYS) {
+ no_preadv = 1;
+ goto retry;
+ }
+ }
+# endif
+#endif
+ }
+
+done:
+ /* Early cleanup of bufs allocation, since we're done with it. */
+ if (req->bufs != req->bufsml)
+ uv__free(req->bufs);
+
+ req->bufs = NULL;
+ req->nbufs = 0;
+
+#ifdef __PASE__
+ /* PASE returns EOPNOTSUPP when reading a directory, convert to EISDIR */
+ if (result == -1 && errno == EOPNOTSUPP) {
+ struct stat buf;
+ ssize_t rc;
+ rc = fstat(req->file, &buf);
+ if (rc == 0 && S_ISDIR(buf.st_mode)) {
+ errno = EISDIR;
+ }
+ }
+#endif
+
+ return result;
+}
+
+
+#if defined(__APPLE__) && !defined(MAC_OS_X_VERSION_10_8)
+#define UV_CONST_DIRENT uv__dirent_t
+#else
+#define UV_CONST_DIRENT const uv__dirent_t
+#endif
+
+
+static int uv__fs_scandir_filter(UV_CONST_DIRENT* dent) {
+ return strcmp(dent->d_name, ".") != 0 && strcmp(dent->d_name, "..") != 0;
+}
+
+
+static int uv__fs_scandir_sort(UV_CONST_DIRENT** a, UV_CONST_DIRENT** b) {
+ return strcmp((*a)->d_name, (*b)->d_name);
+}
+
+
+static ssize_t uv__fs_scandir(uv_fs_t* req) {
+ uv__dirent_t** dents;
+ int n;
+
+ dents = NULL;
+ n = scandir(req->path, &dents, uv__fs_scandir_filter, uv__fs_scandir_sort);
+
+ /* NOTE: We will use nbufs as an index field */
+ req->nbufs = 0;
+
+ if (n == 0) {
+ /* OS X still needs to deallocate some memory.
+ * Memory was allocated using the system allocator, so use free() here.
+ */
+ free(dents);
+ dents = NULL;
+ } else if (n == -1) {
+ return n;
+ }
+
+ req->ptr = dents;
+
+ return n;
+}
+
+static int uv__fs_opendir(uv_fs_t* req) {
+ uv_dir_t* dir;
+
+ dir = (uv_dir_t*)uv__malloc(sizeof(*dir));
+ if (dir == NULL)
+ goto error;
+
+ dir->dir = opendir(req->path);
+ if (dir->dir == NULL)
+ goto error;
+
+ req->ptr = dir;
+ return 0;
+
+error:
+ uv__free(dir);
+ req->ptr = NULL;
+ return -1;
+}
+
+static int uv__fs_readdir(uv_fs_t* req) {
+ uv_dir_t* dir;
+ uv_dirent_t* dirent;
+ struct dirent* res;
+ unsigned int dirent_idx;
+ unsigned int i;
+
+ dir = (uv_dir_t*)req->ptr;
+ dirent_idx = 0;
+
+ while (dirent_idx < dir->nentries) {
+ /* readdir() returns NULL on end of directory, as well as on error. errno
+ is used to differentiate between the two conditions. */
+ errno = 0;
+ res = readdir(dir->dir);
+
+ if (res == NULL) {
+ if (errno != 0)
+ goto error;
+ break;
+ }
+
+ if (strcmp(res->d_name, ".") == 0 || strcmp(res->d_name, "..") == 0)
+ continue;
+
+ dirent = &dir->dirents[dirent_idx];
+ dirent->name = uv__strdup(res->d_name);
+
+ if (dirent->name == NULL)
+ goto error;
+
+ dirent->type = uv__fs_get_dirent_type(res);
+ ++dirent_idx;
+ }
+
+ return dirent_idx;
+
+error:
+ for (i = 0; i < dirent_idx; ++i) {
+ uv__free((char*) dir->dirents[i].name);
+ dir->dirents[i].name = NULL;
+ }
+
+ return -1;
+}
+
+static int uv__fs_closedir(uv_fs_t* req) {
+ uv_dir_t* dir;
+
+ dir = (uv_dir_t*)req->ptr;
+
+ if (dir->dir != NULL) {
+ closedir(dir->dir);
+ dir->dir = NULL;
+ }
+
+ uv__free(req->ptr);
+ req->ptr = NULL;
+ return 0;
+}
+
+static ssize_t uv__fs_pathmax_size(const char* path) {
+ ssize_t pathmax;
+
+ pathmax = pathconf(path, _PC_PATH_MAX);
+
+ if (pathmax == -1)
+ pathmax = UV__PATH_MAX;
+
+ return pathmax;
+}
+
+static ssize_t uv__fs_readlink(uv_fs_t* req) {
+ ssize_t maxlen;
+ ssize_t len;
+ char* buf;
+ char* newbuf;
+
+#if defined(_POSIX_PATH_MAX) || defined(PATH_MAX)
+ maxlen = uv__fs_pathmax_size(req->path);
+#else
+ /* We may not have a real PATH_MAX. Read size of link. */
+ struct stat st;
+ int ret;
+ ret = lstat(req->path, &st);
+ if (ret != 0)
+ return -1;
+ if (!S_ISLNK(st.st_mode)) {
+ errno = EINVAL;
+ return -1;
+ }
+
+ maxlen = st.st_size;
+
+ /* According to readlink(2) lstat can report st_size == 0
+ for some symlinks, such as those in /proc or /sys. */
+ if (maxlen == 0)
+ maxlen = uv__fs_pathmax_size(req->path);
+#endif
+
+ buf = (char*)uv__malloc(maxlen);
+
+ if (buf == NULL) {
+ errno = ENOMEM;
+ return -1;
+ }
+
+#if defined(__MVS__)
+ len = os390_readlink(req->path, buf, maxlen);
+#else
+ len = readlink(req->path, buf, maxlen);
+#endif
+
+ if (len == -1) {
+ uv__free(buf);
+ return -1;
+ }
+
+ /* Uncommon case: resize to make room for the trailing nul byte. */
+ if (len == maxlen) {
+ newbuf = (char*)uv__realloc(buf, len + 1);
+
+ if (newbuf == NULL) {
+ uv__free(buf);
+ return -1;
+ }
+
+ buf = newbuf;
+ }
+
+ buf[len] = '\0';
+ req->ptr = buf;
+
+ return 0;
+}
+
+static ssize_t uv__fs_realpath(uv_fs_t* req) {
+ char* buf;
+
+#if defined(_POSIX_VERSION) && _POSIX_VERSION >= 200809L
+ buf = realpath(req->path, NULL);
+ if (buf == NULL)
+ return -1;
+#else
+ ssize_t len;
+
+ len = uv__fs_pathmax_size(req->path);
+ buf = (char*)uv__malloc(len + 1);
+
+ if (buf == NULL) {
+ errno = ENOMEM;
+ return -1;
+ }
+
+ if (realpath(req->path, buf) == NULL) {
+ uv__free(buf);
+ return -1;
+ }
+#endif
+
+ req->ptr = buf;
+
+ return 0;
+}
+
+static ssize_t uv__fs_sendfile_emul(uv_fs_t* req) {
+ struct pollfd pfd;
+ int use_pread;
+ off_t offset;
+ ssize_t nsent;
+ ssize_t nread;
+ ssize_t nwritten;
+ size_t buflen;
+ size_t len;
+ ssize_t n;
+ int in_fd;
+ int out_fd;
+ char buf[8192];
+
+ len = req->bufsml[0].len;
+ in_fd = req->flags;
+ out_fd = req->file;
+ offset = req->off;
+ use_pread = 1;
+
+ /* Here are the rules regarding errors:
+ *
+ * 1. Read errors are reported only if nsent==0, otherwise we return nsent.
+ * The user needs to know that some data has already been sent, to stop
+ * them from sending it twice.
+ *
+ * 2. Write errors are always reported. Write errors are bad because they
+ * mean data loss: we've read data but now we can't write it out.
+ *
+ * We try to use pread() and fall back to regular read() if the source fd
+ * doesn't support positional reads, for example when it's a pipe fd.
+ *
+ * If we get EAGAIN when writing to the target fd, we poll() on it until
+ * it becomes writable again.
+ *
+ * FIXME: If we get a write error when use_pread==1, it should be safe to
+ * return the number of sent bytes instead of an error because pread()
+ * is, in theory, idempotent. However, special files in /dev or /proc
+ * may support pread() but not necessarily return the same data on
+ * successive reads.
+ *
+ * FIXME: There is no way now to signal that we managed to send *some* data
+ * before a write error.
+ */
+ for (nsent = 0; (size_t) nsent < len; ) {
+ buflen = len - nsent;
+
+ if (buflen > sizeof(buf))
+ buflen = sizeof(buf);
+
+ do
+ if (use_pread)
+ nread = pread(in_fd, buf, buflen, offset);
+ else
+ nread = read(in_fd, buf, buflen);
+ while (nread == -1 && errno == EINTR);
+
+ if (nread == 0)
+ goto out;
+
+ if (nread == -1) {
+ if (use_pread && nsent == 0 && (errno == EIO || errno == ESPIPE)) {
+ use_pread = 0;
+ continue;
+ }
+
+ if (nsent == 0)
+ nsent = -1;
+
+ goto out;
+ }
+
+ for (nwritten = 0; nwritten < nread; ) {
+ do
+ n = write(out_fd, buf + nwritten, nread - nwritten);
+ while (n == -1 && errno == EINTR);
+
+ if (n != -1) {
+ nwritten += n;
+ continue;
+ }
+
+ if (errno != EAGAIN && errno != EWOULDBLOCK) {
+ nsent = -1;
+ goto out;
+ }
+
+ pfd.fd = out_fd;
+ pfd.events = POLLOUT;
+ pfd.revents = 0;
+
+ do
+ n = poll(&pfd, 1, -1);
+ while (n == -1 && errno == EINTR);
+
+ if (n == -1 || (pfd.revents & ~POLLOUT) != 0) {
+ errno = EIO;
+ nsent = -1;
+ goto out;
+ }
+ }
+
+ offset += nread;
+ nsent += nread;
+ }
+
+out:
+ if (nsent != -1)
+ req->off = offset;
+
+ return nsent;
+}
+
+
+static ssize_t uv__fs_sendfile(uv_fs_t* req) {
+ int in_fd;
+ int out_fd;
+
+ in_fd = req->flags;
+ out_fd = req->file;
+
+#if defined(__linux__) || defined(__sun)
+ {
+ off_t off;
+ ssize_t r;
+
+ off = req->off;
+ r = sendfile(out_fd, in_fd, &off, req->bufsml[0].len);
+
+ /* sendfile() on SunOS returns EINVAL if the target fd is not a socket but
+ * it still writes out data. Fortunately, we can detect it by checking if
+ * the offset has been updated.
+ */
+ if (r != -1 || off > req->off) {
+ r = off - req->off;
+ req->off = off;
+ return r;
+ }
+
+ if (errno == EINVAL ||
+ errno == EIO ||
+ errno == ENOTSOCK ||
+ errno == EXDEV) {
+ errno = 0;
+ return uv__fs_sendfile_emul(req);
+ }
+
+ return -1;
+ }
+#elif defined(__APPLE__) || \
+ defined(__DragonFly__) || \
+ defined(__FreeBSD__) || \
+ defined(__FreeBSD_kernel__)
+ {
+ off_t len;
+ ssize_t r;
+
+ /* sendfile() on FreeBSD and Darwin returns EAGAIN if the target fd is in
+ * non-blocking mode and not all data could be written. If a non-zero
+ * number of bytes have been sent, we don't consider it an error.
+ */
+
+#if defined(__FreeBSD__) || defined(__DragonFly__)
+ len = 0;
+ r = sendfile(in_fd, out_fd, req->off, req->bufsml[0].len, NULL, &len, 0);
+#elif defined(__FreeBSD_kernel__)
+ len = 0;
+ r = bsd_sendfile(in_fd,
+ out_fd,
+ req->off,
+ req->bufsml[0].len,
+ NULL,
+ &len,
+ 0);
+#else
+ /* The darwin sendfile takes len as an input for the length to send,
+ * so make sure to initialize it with the caller's value. */
+ len = req->bufsml[0].len;
+ r = sendfile(in_fd, out_fd, req->off, &len, NULL, 0);
+#endif
+
+ /*
+ * The man page for sendfile(2) on DragonFly states that `len` contains
+ * a meaningful value ONLY in case of EAGAIN and EINTR.
+ * Nothing is said about it's value in case of other errors, so better
+ * not depend on the potential wrong assumption that is was not modified
+ * by the syscall.
+ */
+ if (r == 0 || ((errno == EAGAIN || errno == EINTR) && len != 0)) {
+ req->off += len;
+ return (ssize_t) len;
+ }
+
+ if (errno == EINVAL ||
+ errno == EIO ||
+ errno == ENOTSOCK ||
+ errno == EXDEV) {
+ errno = 0;
+ return uv__fs_sendfile_emul(req);
+ }
+
+ return -1;
+ }
+#else
+ /* Squelch compiler warnings. */
+ (void) &in_fd;
+ (void) &out_fd;
+
+ return uv__fs_sendfile_emul(req);
+#endif
+}
+
+
+static ssize_t uv__fs_utime(uv_fs_t* req) {
+#if defined(__linux__) \
+ || defined(_AIX71) \
+ || defined(__sun) \
+ || defined(__HAIKU__)
+ /* utimesat() has nanosecond resolution but we stick to microseconds
+ * for the sake of consistency with other platforms.
+ */
+ struct timespec ts[2];
+ ts[0].tv_sec = req->atime;
+ ts[0].tv_nsec = (uint64_t)(req->atime * 1000000) % 1000000 * 1000;
+ ts[1].tv_sec = req->mtime;
+ ts[1].tv_nsec = (uint64_t)(req->mtime * 1000000) % 1000000 * 1000;
+ return utimensat(AT_FDCWD, req->path, ts, 0);
+#elif defined(__APPLE__) \
+ || defined(__DragonFly__) \
+ || defined(__FreeBSD__) \
+ || defined(__FreeBSD_kernel__) \
+ || defined(__NetBSD__) \
+ || defined(__OpenBSD__)
+ struct timeval tv[2];
+ tv[0].tv_sec = req->atime;
+ tv[0].tv_usec = (uint64_t)(req->atime * 1000000) % 1000000;
+ tv[1].tv_sec = req->mtime;
+ tv[1].tv_usec = (uint64_t)(req->mtime * 1000000) % 1000000;
+ return utimes(req->path, tv);
+#elif defined(_AIX) \
+ && !defined(_AIX71)
+ struct utimbuf buf;
+ buf.actime = req->atime;
+ buf.modtime = req->mtime;
+ return utime(req->path, &buf);
+#elif defined(__MVS__)
+ attrib_t atr;
+ memset(&atr, 0, sizeof(atr));
+ atr.att_mtimechg = 1;
+ atr.att_atimechg = 1;
+ atr.att_mtime = req->mtime;
+ atr.att_atime = req->atime;
+ return __lchattr((char*) req->path, &atr, sizeof(atr));
+#else
+ errno = ENOSYS;
+ return -1;
+#endif
+}
+
+
+static ssize_t uv__fs_write(uv_fs_t* req) {
+#if defined(__linux__)
+ static int no_pwritev;
+#endif
+ ssize_t r;
+
+ /* Serialize writes on OS X, concurrent write() and pwrite() calls result in
+ * data loss. We can't use a per-file descriptor lock, the descriptor may be
+ * a dup().
+ */
+#if defined(__APPLE__)
+ static pthread_mutex_t lock = PTHREAD_MUTEX_INITIALIZER;
+
+ if (pthread_mutex_lock(&lock))
+ abort();
+#endif
+
+ if (req->off < 0) {
+ if (req->nbufs == 1)
+ r = write(req->file, req->bufs[0].base, req->bufs[0].len);
+ else
+ r = writev(req->file, (struct iovec*) req->bufs, req->nbufs);
+ } else {
+ if (req->nbufs == 1) {
+ r = pwrite(req->file, req->bufs[0].base, req->bufs[0].len, req->off);
+ goto done;
+ }
+#if HAVE_PREADV
+ r = pwritev(req->file, (struct iovec*) req->bufs, req->nbufs, req->off);
+#else
+# if defined(__linux__)
+ if (no_pwritev) retry:
+# endif
+ {
+ r = pwrite(req->file, req->bufs[0].base, req->bufs[0].len, req->off);
+ }
+# if defined(__linux__)
+ else {
+ r = uv__pwritev(req->file,
+ (struct iovec*) req->bufs,
+ req->nbufs,
+ req->off);
+ if (r == -1 && errno == ENOSYS) {
+ no_pwritev = 1;
+ goto retry;
+ }
+ }
+# endif
+#endif
+ }
+
+done:
+#if defined(__APPLE__)
+ if (pthread_mutex_unlock(&lock))
+ abort();
+#endif
+
+ return r;
+}
+
+static ssize_t uv__fs_copyfile(uv_fs_t* req) {
+ uv_fs_t fs_req;
+ uv_file srcfd;
+ uv_file dstfd;
+ struct stat src_statsbuf;
+ struct stat dst_statsbuf;
+ int dst_flags;
+ int result;
+ int err;
+ size_t bytes_to_send;
+ int64_t in_offset;
+
+ dstfd = -1;
+ err = 0;
+
+ /* Open the source file. */
+ srcfd = uv_fs_open(NULL, &fs_req, req->path, O_RDONLY, 0, NULL);
+ uv_fs_req_cleanup(&fs_req);
+
+ if (srcfd < 0)
+ return srcfd;
+
+ /* Get the source file's mode. */
+ if (fstat(srcfd, &src_statsbuf)) {
+ err = UV__ERR(errno);
+ goto out;
+ }
+
+ dst_flags = O_WRONLY | O_CREAT | O_TRUNC;
+
+ if (req->flags & UV_FS_COPYFILE_EXCL)
+ dst_flags |= O_EXCL;
+
+ /* Open the destination file. */
+ dstfd = uv_fs_open(NULL,
+ &fs_req,
+ req->new_path,
+ dst_flags,
+ src_statsbuf.st_mode,
+ NULL);
+ uv_fs_req_cleanup(&fs_req);
+
+ if (dstfd < 0) {
+ err = dstfd;
+ goto out;
+ }
+
+ /* Get the destination file's mode. */
+ if (fstat(dstfd, &dst_statsbuf)) {
+ err = UV__ERR(errno);
+ goto out;
+ }
+
+ /* Check if srcfd and dstfd refer to the same file */
+ if (src_statsbuf.st_dev == dst_statsbuf.st_dev &&
+ src_statsbuf.st_ino == dst_statsbuf.st_ino) {
+ goto out;
+ }
+
+ if (fchmod(dstfd, src_statsbuf.st_mode) == -1) {
+ err = UV__ERR(errno);
+ goto out;
+ }
+
+#ifdef FICLONE
+ if (req->flags & UV_FS_COPYFILE_FICLONE ||
+ req->flags & UV_FS_COPYFILE_FICLONE_FORCE) {
+ if (ioctl(dstfd, FICLONE, srcfd) == -1) {
+ /* If an error occurred that the sendfile fallback also won't handle, or
+ this is a force clone then exit. Otherwise, fall through to try using
+ sendfile(). */
+ if (errno != ENOTTY && errno != EOPNOTSUPP && errno != EXDEV) {
+ err = UV__ERR(errno);
+ goto out;
+ } else if (req->flags & UV_FS_COPYFILE_FICLONE_FORCE) {
+ err = UV_ENOTSUP;
+ goto out;
+ }
+ } else {
+ goto out;
+ }
+ }
+#else
+ if (req->flags & UV_FS_COPYFILE_FICLONE_FORCE) {
+ err = UV_ENOSYS;
+ goto out;
+ }
+#endif
+
+ bytes_to_send = src_statsbuf.st_size;
+ in_offset = 0;
+ while (bytes_to_send != 0) {
+ err = uv_fs_sendfile(NULL,
+ &fs_req,
+ dstfd,
+ srcfd,
+ in_offset,
+ bytes_to_send,
+ NULL);
+ uv_fs_req_cleanup(&fs_req);
+ if (err < 0)
+ break;
+ bytes_to_send -= fs_req.result;
+ in_offset += fs_req.result;
+ }
+
+out:
+ if (err < 0)
+ result = err;
+ else
+ result = 0;
+
+ /* Close the source file. */
+ err = uv__close_nocheckstdio(srcfd);
+
+ /* Don't overwrite any existing errors. */
+ if (err != 0 && result == 0)
+ result = err;
+
+ /* Close the destination file if it is open. */
+ if (dstfd >= 0) {
+ err = uv__close_nocheckstdio(dstfd);
+
+ /* Don't overwrite any existing errors. */
+ if (err != 0 && result == 0)
+ result = err;
+
+ /* Remove the destination file if something went wrong. */
+ if (result != 0) {
+ uv_fs_unlink(NULL, &fs_req, req->new_path, NULL);
+ /* Ignore the unlink return value, as an error already happened. */
+ uv_fs_req_cleanup(&fs_req);
+ }
+ }
+
+ if (result == 0)
+ return 0;
+
+ errno = UV__ERR(result);
+ return -1;
+}
+
+static void uv__to_stat(struct stat* src, uv_stat_t* dst) {
+ dst->st_dev = src->st_dev;
+ dst->st_mode = src->st_mode;
+ dst->st_nlink = src->st_nlink;
+ dst->st_uid = src->st_uid;
+ dst->st_gid = src->st_gid;
+ dst->st_rdev = src->st_rdev;
+ dst->st_ino = src->st_ino;
+ dst->st_size = src->st_size;
+ dst->st_blksize = src->st_blksize;
+ dst->st_blocks = src->st_blocks;
+
+#if defined(__APPLE__)
+ dst->st_atim.tv_sec = src->st_atimespec.tv_sec;
+ dst->st_atim.tv_nsec = src->st_atimespec.tv_nsec;
+ dst->st_mtim.tv_sec = src->st_mtimespec.tv_sec;
+ dst->st_mtim.tv_nsec = src->st_mtimespec.tv_nsec;
+ dst->st_ctim.tv_sec = src->st_ctimespec.tv_sec;
+ dst->st_ctim.tv_nsec = src->st_ctimespec.tv_nsec;
+ dst->st_birthtim.tv_sec = src->st_birthtimespec.tv_sec;
+ dst->st_birthtim.tv_nsec = src->st_birthtimespec.tv_nsec;
+ dst->st_flags = src->st_flags;
+ dst->st_gen = src->st_gen;
+#elif defined(__ANDROID__)
+ dst->st_atim.tv_sec = src->st_atime;
+ dst->st_atim.tv_nsec = src->st_atimensec;
+ dst->st_mtim.tv_sec = src->st_mtime;
+ dst->st_mtim.tv_nsec = src->st_mtimensec;
+ dst->st_ctim.tv_sec = src->st_ctime;
+ dst->st_ctim.tv_nsec = src->st_ctimensec;
+ dst->st_birthtim.tv_sec = src->st_ctime;
+ dst->st_birthtim.tv_nsec = src->st_ctimensec;
+ dst->st_flags = 0;
+ dst->st_gen = 0;
+#elif !defined(_AIX) && ( \
+ defined(__DragonFly__) || \
+ defined(__FreeBSD__) || \
+ defined(__OpenBSD__) || \
+ defined(__NetBSD__) || \
+ defined(_GNU_SOURCE) || \
+ defined(_BSD_SOURCE) || \
+ defined(_SVID_SOURCE) || \
+ defined(_XOPEN_SOURCE) || \
+ defined(_DEFAULT_SOURCE))
+ dst->st_atim.tv_sec = src->st_atim.tv_sec;
+ dst->st_atim.tv_nsec = src->st_atim.tv_nsec;
+ dst->st_mtim.tv_sec = src->st_mtim.tv_sec;
+ dst->st_mtim.tv_nsec = src->st_mtim.tv_nsec;
+ dst->st_ctim.tv_sec = src->st_ctim.tv_sec;
+ dst->st_ctim.tv_nsec = src->st_ctim.tv_nsec;
+# if defined(__FreeBSD__) || \
+ defined(__NetBSD__)
+ dst->st_birthtim.tv_sec = src->st_birthtim.tv_sec;
+ dst->st_birthtim.tv_nsec = src->st_birthtim.tv_nsec;
+ dst->st_flags = src->st_flags;
+ dst->st_gen = src->st_gen;
+# else
+ dst->st_birthtim.tv_sec = src->st_ctim.tv_sec;
+ dst->st_birthtim.tv_nsec = src->st_ctim.tv_nsec;
+ dst->st_flags = 0;
+ dst->st_gen = 0;
+# endif
+#else
+ dst->st_atim.tv_sec = src->st_atime;
+ dst->st_atim.tv_nsec = 0;
+ dst->st_mtim.tv_sec = src->st_mtime;
+ dst->st_mtim.tv_nsec = 0;
+ dst->st_ctim.tv_sec = src->st_ctime;
+ dst->st_ctim.tv_nsec = 0;
+ dst->st_birthtim.tv_sec = src->st_ctime;
+ dst->st_birthtim.tv_nsec = 0;
+ dst->st_flags = 0;
+ dst->st_gen = 0;
+#endif
+}
+
+
+static int uv__fs_statx(int fd,
+ const char* path,
+ int is_fstat,
+ int is_lstat,
+ uv_stat_t* buf) {
+ STATIC_ASSERT(UV_ENOSYS != -1);
+#ifdef __linux__
+ static int no_statx;
+ struct uv__statx statxbuf;
+ int dirfd;
+ int flags;
+ int mode;
+ int rc;
+
+ if (no_statx)
+ return UV_ENOSYS;
+
+ dirfd = AT_FDCWD;
+ flags = 0; /* AT_STATX_SYNC_AS_STAT */
+ mode = 0xFFF; /* STATX_BASIC_STATS + STATX_BTIME */
+
+ if (is_fstat) {
+ dirfd = fd;
+ flags |= 0x1000; /* AT_EMPTY_PATH */
+ }
+
+ if (is_lstat)
+ flags |= AT_SYMLINK_NOFOLLOW;
+
+ rc = uv__statx(dirfd, path, flags, mode, &statxbuf);
+
+ if (rc == -1) {
+ /* EPERM happens when a seccomp filter rejects the system call.
+ * Has been observed with libseccomp < 2.3.3 and docker < 18.04.
+ */
+ if (errno != EINVAL && errno != EPERM && errno != ENOSYS)
+ return -1;
+
+ no_statx = 1;
+ return UV_ENOSYS;
+ }
+
+ buf->st_dev = 256 * statxbuf.stx_dev_major + statxbuf.stx_dev_minor;
+ buf->st_mode = statxbuf.stx_mode;
+ buf->st_nlink = statxbuf.stx_nlink;
+ buf->st_uid = statxbuf.stx_uid;
+ buf->st_gid = statxbuf.stx_gid;
+ buf->st_rdev = statxbuf.stx_rdev_major;
+ buf->st_ino = statxbuf.stx_ino;
+ buf->st_size = statxbuf.stx_size;
+ buf->st_blksize = statxbuf.stx_blksize;
+ buf->st_blocks = statxbuf.stx_blocks;
+ buf->st_atim.tv_sec = statxbuf.stx_atime.tv_sec;
+ buf->st_atim.tv_nsec = statxbuf.stx_atime.tv_nsec;
+ buf->st_mtim.tv_sec = statxbuf.stx_mtime.tv_sec;
+ buf->st_mtim.tv_nsec = statxbuf.stx_mtime.tv_nsec;
+ buf->st_ctim.tv_sec = statxbuf.stx_ctime.tv_sec;
+ buf->st_ctim.tv_nsec = statxbuf.stx_ctime.tv_nsec;
+ buf->st_birthtim.tv_sec = statxbuf.stx_btime.tv_sec;
+ buf->st_birthtim.tv_nsec = statxbuf.stx_btime.tv_nsec;
+ buf->st_flags = 0;
+ buf->st_gen = 0;
+
+ return 0;
+#else
+ return UV_ENOSYS;
+#endif /* __linux__ */
+}
+
+
+static int uv__fs_stat(const char *path, uv_stat_t *buf) {
+ struct stat pbuf;
+ int ret;
+
+ ret = uv__fs_statx(-1, path, /* is_fstat */ 0, /* is_lstat */ 0, buf);
+ if (ret != UV_ENOSYS)
+ return ret;
+
+ ret = stat(path, &pbuf);
+ if (ret == 0)
+ uv__to_stat(&pbuf, buf);
+
+ return ret;
+}
+
+
+static int uv__fs_lstat(const char *path, uv_stat_t *buf) {
+ struct stat pbuf;
+ int ret;
+
+ ret = uv__fs_statx(-1, path, /* is_fstat */ 0, /* is_lstat */ 1, buf);
+ if (ret != UV_ENOSYS)
+ return ret;
+
+ ret = lstat(path, &pbuf);
+ if (ret == 0)
+ uv__to_stat(&pbuf, buf);
+
+ return ret;
+}
+
+
+static int uv__fs_fstat(int fd, uv_stat_t *buf) {
+ struct stat pbuf;
+ int ret;
+
+ ret = uv__fs_statx(fd, "", /* is_fstat */ 1, /* is_lstat */ 0, buf);
+ if (ret != UV_ENOSYS)
+ return ret;
+
+ ret = fstat(fd, &pbuf);
+ if (ret == 0)
+ uv__to_stat(&pbuf, buf);
+
+ return ret;
+}
+
+static size_t uv__fs_buf_offset(uv_buf_t* bufs, size_t size) {
+ size_t offset;
+ /* Figure out which bufs are done */
+ for (offset = 0; size > 0 && bufs[offset].len <= size; ++offset)
+ size -= bufs[offset].len;
+
+ /* Fix a partial read/write */
+ if (size > 0) {
+ bufs[offset].base += size;
+ bufs[offset].len -= size;
+ }
+ return offset;
+}
+
+static ssize_t uv__fs_write_all(uv_fs_t* req) {
+ unsigned int iovmax;
+ unsigned int nbufs;
+ uv_buf_t* bufs;
+ ssize_t total;
+ ssize_t result;
+
+ iovmax = uv__getiovmax();
+ nbufs = req->nbufs;
+ bufs = req->bufs;
+ total = 0;
+
+ while (nbufs > 0) {
+ req->nbufs = nbufs;
+ if (req->nbufs > iovmax)
+ req->nbufs = iovmax;
+
+ do
+ result = uv__fs_write(req);
+ while (result < 0 && errno == EINTR);
+
+ if (result <= 0) {
+ if (total == 0)
+ total = result;
+ break;
+ }
+
+ if (req->off >= 0)
+ req->off += result;
+
+ req->nbufs = uv__fs_buf_offset(req->bufs, result);
+ req->bufs += req->nbufs;
+ nbufs -= req->nbufs;
+ total += result;
+ }
+
+ if (bufs != req->bufsml)
+ uv__free(bufs);
+
+ req->bufs = NULL;
+ req->nbufs = 0;
+
+ return total;
+}
+
+
+static void uv__fs_work(struct uv__work* w) {
+ int retry_on_eintr;
+ uv_fs_t* req;
+ ssize_t r;
+
+ req = container_of(w, uv_fs_t, work_req);
+ retry_on_eintr = !(req->fs_type == UV_FS_CLOSE ||
+ req->fs_type == UV_FS_READ);
+
+ do {
+ errno = 0;
+
+#define X(type, action) \
+ case UV_FS_ ## type: \
+ r = action; \
+ break;
+
+ switch (req->fs_type) {
+ X(ACCESS, access(req->path, req->flags));
+ X(CHMOD, chmod(req->path, req->mode));
+ X(CHOWN, chown(req->path, req->uid, req->gid));
+ X(CLOSE, uv__fs_close(req->file));
+ X(COPYFILE, uv__fs_copyfile(req));
+ X(FCHMOD, fchmod(req->file, req->mode));
+ X(FCHOWN, fchown(req->file, req->uid, req->gid));
+ X(LCHOWN, lchown(req->path, req->uid, req->gid));
+ X(FDATASYNC, uv__fs_fdatasync(req));
+ X(FSTAT, uv__fs_fstat(req->file, &req->statbuf));
+ X(FSYNC, uv__fs_fsync(req));
+ X(FTRUNCATE, ftruncate(req->file, req->off));
+ X(FUTIME, uv__fs_futime(req));
+ X(LSTAT, uv__fs_lstat(req->path, &req->statbuf));
+ X(LINK, link(req->path, req->new_path));
+ X(MKDIR, mkdir(req->path, req->mode));
+ X(MKDTEMP, uv__fs_mkdtemp(req));
+ X(OPEN, uv__fs_open(req));
+ X(READ, uv__fs_read(req));
+ X(SCANDIR, uv__fs_scandir(req));
+ X(OPENDIR, uv__fs_opendir(req));
+ X(READDIR, uv__fs_readdir(req));
+ X(CLOSEDIR, uv__fs_closedir(req));
+ X(READLINK, uv__fs_readlink(req));
+ X(REALPATH, uv__fs_realpath(req));
+ X(RENAME, rename(req->path, req->new_path));
+ X(RMDIR, rmdir(req->path));
+ X(SENDFILE, uv__fs_sendfile(req));
+ X(STAT, uv__fs_stat(req->path, &req->statbuf));
+ X(SYMLINK, symlink(req->path, req->new_path));
+ X(UNLINK, unlink(req->path));
+ X(UTIME, uv__fs_utime(req));
+ X(WRITE, uv__fs_write_all(req));
+ default: abort();
+ }
+#undef X
+ } while (r == -1 && errno == EINTR && retry_on_eintr);
+
+ if (r == -1)
+ req->result = UV__ERR(errno);
+ else
+ req->result = r;
+
+ if (r == 0 && (req->fs_type == UV_FS_STAT ||
+ req->fs_type == UV_FS_FSTAT ||
+ req->fs_type == UV_FS_LSTAT)) {
+ req->ptr = &req->statbuf;
+ }
+}
+
+
+static void uv__fs_done(struct uv__work* w, int status) {
+ uv_fs_t* req;
+
+ req = container_of(w, uv_fs_t, work_req);
+ uv__req_unregister(req->loop, req);
+
+ if (status == UV_ECANCELED) {
+ assert(req->result == 0);
+ req->result = UV_ECANCELED;
+ }
+
+ req->cb(req);
+}
+
+
+int uv_fs_access(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ int flags,
+ uv_fs_cb cb) {
+ INIT(ACCESS);
+ PATH;
+ req->flags = flags;
+ POST;
+}
+
+
+int uv_fs_chmod(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ int mode,
+ uv_fs_cb cb) {
+ INIT(CHMOD);
+ PATH;
+ req->mode = mode;
+ POST;
+}
+
+
+int uv_fs_chown(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ uv_uid_t uid,
+ uv_gid_t gid,
+ uv_fs_cb cb) {
+ INIT(CHOWN);
+ PATH;
+ req->uid = uid;
+ req->gid = gid;
+ POST;
+}
+
+
+int uv_fs_close(uv_loop_t* loop, uv_fs_t* req, uv_file file, uv_fs_cb cb) {
+ INIT(CLOSE);
+ req->file = file;
+ POST;
+}
+
+
+int uv_fs_fchmod(uv_loop_t* loop,
+ uv_fs_t* req,
+ uv_file file,
+ int mode,
+ uv_fs_cb cb) {
+ INIT(FCHMOD);
+ req->file = file;
+ req->mode = mode;
+ POST;
+}
+
+
+int uv_fs_fchown(uv_loop_t* loop,
+ uv_fs_t* req,
+ uv_file file,
+ uv_uid_t uid,
+ uv_gid_t gid,
+ uv_fs_cb cb) {
+ INIT(FCHOWN);
+ req->file = file;
+ req->uid = uid;
+ req->gid = gid;
+ POST;
+}
+
+
+int uv_fs_lchown(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ uv_uid_t uid,
+ uv_gid_t gid,
+ uv_fs_cb cb) {
+ INIT(LCHOWN);
+ PATH;
+ req->uid = uid;
+ req->gid = gid;
+ POST;
+}
+
+
+int uv_fs_fdatasync(uv_loop_t* loop, uv_fs_t* req, uv_file file, uv_fs_cb cb) {
+ INIT(FDATASYNC);
+ req->file = file;
+ POST;
+}
+
+
+int uv_fs_fstat(uv_loop_t* loop, uv_fs_t* req, uv_file file, uv_fs_cb cb) {
+ INIT(FSTAT);
+ req->file = file;
+ POST;
+}
+
+
+int uv_fs_fsync(uv_loop_t* loop, uv_fs_t* req, uv_file file, uv_fs_cb cb) {
+ INIT(FSYNC);
+ req->file = file;
+ POST;
+}
+
+
+int uv_fs_ftruncate(uv_loop_t* loop,
+ uv_fs_t* req,
+ uv_file file,
+ int64_t off,
+ uv_fs_cb cb) {
+ INIT(FTRUNCATE);
+ req->file = file;
+ req->off = off;
+ POST;
+}
+
+
+int uv_fs_futime(uv_loop_t* loop,
+ uv_fs_t* req,
+ uv_file file,
+ double atime,
+ double mtime,
+ uv_fs_cb cb) {
+ INIT(FUTIME);
+ req->file = file;
+ req->atime = atime;
+ req->mtime = mtime;
+ POST;
+}
+
+
+int uv_fs_lstat(uv_loop_t* loop, uv_fs_t* req, const char* path, uv_fs_cb cb) {
+ INIT(LSTAT);
+ PATH;
+ POST;
+}
+
+
+int uv_fs_link(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ const char* new_path,
+ uv_fs_cb cb) {
+ INIT(LINK);
+ PATH2;
+ POST;
+}
+
+
+int uv_fs_mkdir(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ int mode,
+ uv_fs_cb cb) {
+ INIT(MKDIR);
+ PATH;
+ req->mode = mode;
+ POST;
+}
+
+
+int uv_fs_mkdtemp(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* tpl,
+ uv_fs_cb cb) {
+ INIT(MKDTEMP);
+ req->path = uv__strdup(tpl);
+ if (req->path == NULL)
+ return UV_ENOMEM;
+ POST;
+}
+
+
+int uv_fs_open(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ int flags,
+ int mode,
+ uv_fs_cb cb) {
+ INIT(OPEN);
+ PATH;
+ req->flags = flags;
+ req->mode = mode;
+ POST;
+}
+
+
+int uv_fs_read(uv_loop_t* loop, uv_fs_t* req,
+ uv_file file,
+ const uv_buf_t bufs[],
+ unsigned int nbufs,
+ int64_t off,
+ uv_fs_cb cb) {
+ INIT(READ);
+
+ if (bufs == NULL || nbufs == 0)
+ return UV_EINVAL;
+
+ req->file = file;
+
+ req->nbufs = nbufs;
+ req->bufs = req->bufsml;
+ if (nbufs > ARRAY_SIZE(req->bufsml))
+ req->bufs = (uv_buf_t*)uv__malloc(nbufs * sizeof(*bufs));
+
+ if (req->bufs == NULL)
+ return UV_ENOMEM;
+
+ memcpy(req->bufs, bufs, nbufs * sizeof(*bufs));
+
+ req->off = off;
+ POST;
+}
+
+
+int uv_fs_scandir(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ int flags,
+ uv_fs_cb cb) {
+ INIT(SCANDIR);
+ PATH;
+ req->flags = flags;
+ POST;
+}
+
+int uv_fs_opendir(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ uv_fs_cb cb) {
+ INIT(OPENDIR);
+ PATH;
+ POST;
+}
+
+int uv_fs_readdir(uv_loop_t* loop,
+ uv_fs_t* req,
+ uv_dir_t* dir,
+ uv_fs_cb cb) {
+ INIT(READDIR);
+
+ if (dir == NULL || dir->dir == NULL || dir->dirents == NULL)
+ return UV_EINVAL;
+
+ req->ptr = dir;
+ POST;
+}
+
+int uv_fs_closedir(uv_loop_t* loop,
+ uv_fs_t* req,
+ uv_dir_t* dir,
+ uv_fs_cb cb) {
+ INIT(CLOSEDIR);
+
+ if (dir == NULL)
+ return UV_EINVAL;
+
+ req->ptr = dir;
+ POST;
+}
+
+int uv_fs_readlink(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ uv_fs_cb cb) {
+ INIT(READLINK);
+ PATH;
+ POST;
+}
+
+
+int uv_fs_realpath(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char * path,
+ uv_fs_cb cb) {
+ INIT(REALPATH);
+ PATH;
+ POST;
+}
+
+
+int uv_fs_rename(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ const char* new_path,
+ uv_fs_cb cb) {
+ INIT(RENAME);
+ PATH2;
+ POST;
+}
+
+
+int uv_fs_rmdir(uv_loop_t* loop, uv_fs_t* req, const char* path, uv_fs_cb cb) {
+ INIT(RMDIR);
+ PATH;
+ POST;
+}
+
+
+int uv_fs_sendfile(uv_loop_t* loop,
+ uv_fs_t* req,
+ uv_file out_fd,
+ uv_file in_fd,
+ int64_t off,
+ size_t len,
+ uv_fs_cb cb) {
+ INIT(SENDFILE);
+ req->flags = in_fd; /* hack */
+ req->file = out_fd;
+ req->off = off;
+ req->bufsml[0].len = len;
+ POST;
+}
+
+
+int uv_fs_stat(uv_loop_t* loop, uv_fs_t* req, const char* path, uv_fs_cb cb) {
+ INIT(STAT);
+ PATH;
+ POST;
+}
+
+
+int uv_fs_symlink(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ const char* new_path,
+ int flags,
+ uv_fs_cb cb) {
+ INIT(SYMLINK);
+ PATH2;
+ req->flags = flags;
+ POST;
+}
+
+
+int uv_fs_unlink(uv_loop_t* loop, uv_fs_t* req, const char* path, uv_fs_cb cb) {
+ INIT(UNLINK);
+ PATH;
+ POST;
+}
+
+
+int uv_fs_utime(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ double atime,
+ double mtime,
+ uv_fs_cb cb) {
+ INIT(UTIME);
+ PATH;
+ req->atime = atime;
+ req->mtime = mtime;
+ POST;
+}
+
+
+int uv_fs_write(uv_loop_t* loop,
+ uv_fs_t* req,
+ uv_file file,
+ const uv_buf_t bufs[],
+ unsigned int nbufs,
+ int64_t off,
+ uv_fs_cb cb) {
+ INIT(WRITE);
+
+ if (bufs == NULL || nbufs == 0)
+ return UV_EINVAL;
+
+ req->file = file;
+
+ req->nbufs = nbufs;
+ req->bufs = req->bufsml;
+ if (nbufs > ARRAY_SIZE(req->bufsml))
+ req->bufs = (uv_buf_t*)uv__malloc(nbufs * sizeof(*bufs));
+
+ if (req->bufs == NULL)
+ return UV_ENOMEM;
+
+ memcpy(req->bufs, bufs, nbufs * sizeof(*bufs));
+
+ req->off = off;
+ POST;
+}
+
+
+void uv_fs_req_cleanup(uv_fs_t* req) {
+ if (req == NULL)
+ return;
+
+ /* Only necessary for asychronous requests, i.e., requests with a callback.
+ * Synchronous ones don't copy their arguments and have req->path and
+ * req->new_path pointing to user-owned memory. UV_FS_MKDTEMP is the
+ * exception to the rule, it always allocates memory.
+ */
+ if (req->path != NULL && (req->cb != NULL || req->fs_type == UV_FS_MKDTEMP))
+ uv__free((void*) req->path); /* Memory is shared with req->new_path. */
+
+ req->path = NULL;
+ req->new_path = NULL;
+
+ if (req->fs_type == UV_FS_READDIR && req->ptr != NULL)
+ uv__fs_readdir_cleanup(req);
+
+ if (req->fs_type == UV_FS_SCANDIR && req->ptr != NULL)
+ uv__fs_scandir_cleanup(req);
+
+ if (req->bufs != req->bufsml)
+ uv__free(req->bufs);
+ req->bufs = NULL;
+
+ if (req->fs_type != UV_FS_OPENDIR && req->ptr != &req->statbuf)
+ uv__free(req->ptr);
+ req->ptr = NULL;
+}
+
+
+int uv_fs_copyfile(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ const char* new_path,
+ int flags,
+ uv_fs_cb cb) {
+ INIT(COPYFILE);
+
+ if (flags & ~(UV_FS_COPYFILE_EXCL |
+ UV_FS_COPYFILE_FICLONE |
+ UV_FS_COPYFILE_FICLONE_FORCE)) {
+ return UV_EINVAL;
+ }
+
+ PATH2;
+ req->flags = flags;
+ POST;
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/fsevents.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/fsevents.cpp
new file mode 100644
index 0000000..32d280f
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/fsevents.cpp
@@ -0,0 +1,922 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include "uv.h"
+#include "internal.h"
+
+#if TARGET_OS_IPHONE || MAC_OS_X_VERSION_MAX_ALLOWED < 1070
+
+/* iOS (currently) doesn't provide the FSEvents-API (nor CoreServices) */
+/* macOS prior to 10.7 doesn't provide the full FSEvents API so use kqueue */
+
+int uv__fsevents_init(uv_fs_event_t* handle) {
+ return 0;
+}
+
+
+int uv__fsevents_close(uv_fs_event_t* handle) {
+ return 0;
+}
+
+
+void uv__fsevents_loop_delete(uv_loop_t* loop) {
+}
+
+#else /* TARGET_OS_IPHONE */
+
+#include <dlfcn.h>
+#include <assert.h>
+#include <stdlib.h>
+#include <pthread.h>
+
+#include <CoreFoundation/CFRunLoop.h>
+#include <CoreServices/CoreServices.h>
+
+/* These are macros to avoid "initializer element is not constant" errors
+ * with old versions of gcc.
+ */
+#define kFSEventsModified (kFSEventStreamEventFlagItemFinderInfoMod | \
+ kFSEventStreamEventFlagItemModified | \
+ kFSEventStreamEventFlagItemInodeMetaMod | \
+ kFSEventStreamEventFlagItemChangeOwner | \
+ kFSEventStreamEventFlagItemXattrMod)
+
+#define kFSEventsRenamed (kFSEventStreamEventFlagItemCreated | \
+ kFSEventStreamEventFlagItemRemoved | \
+ kFSEventStreamEventFlagItemRenamed)
+
+#define kFSEventsSystem (kFSEventStreamEventFlagUserDropped | \
+ kFSEventStreamEventFlagKernelDropped | \
+ kFSEventStreamEventFlagEventIdsWrapped | \
+ kFSEventStreamEventFlagHistoryDone | \
+ kFSEventStreamEventFlagMount | \
+ kFSEventStreamEventFlagUnmount | \
+ kFSEventStreamEventFlagRootChanged)
+
+typedef struct uv__fsevents_event_s uv__fsevents_event_t;
+typedef struct uv__cf_loop_signal_s uv__cf_loop_signal_t;
+typedef struct uv__cf_loop_state_s uv__cf_loop_state_t;
+
+enum uv__cf_loop_signal_type_e {
+ kUVCFLoopSignalRegular,
+ kUVCFLoopSignalClosing
+};
+typedef enum uv__cf_loop_signal_type_e uv__cf_loop_signal_type_t;
+
+struct uv__cf_loop_signal_s {
+ QUEUE member;
+ uv_fs_event_t* handle;
+ uv__cf_loop_signal_type_t type;
+};
+
+struct uv__fsevents_event_s {
+ QUEUE member;
+ int events;
+ char path[1];
+};
+
+struct uv__cf_loop_state_s {
+ CFRunLoopRef loop;
+ CFRunLoopSourceRef signal_source;
+ int fsevent_need_reschedule;
+ FSEventStreamRef fsevent_stream;
+ uv_sem_t fsevent_sem;
+ uv_mutex_t fsevent_mutex;
+ void* fsevent_handles[2];
+ unsigned int fsevent_handle_count;
+};
+
+/* Forward declarations */
+static void uv__cf_loop_cb(void* arg);
+static void* uv__cf_loop_runner(void* arg);
+static int uv__cf_loop_signal(uv_loop_t* loop,
+ uv_fs_event_t* handle,
+ uv__cf_loop_signal_type_t type);
+
+/* Lazy-loaded by uv__fsevents_global_init(). */
+static CFArrayRef (*pCFArrayCreate)(CFAllocatorRef,
+ const void**,
+ CFIndex,
+ const CFArrayCallBacks*);
+static void (*pCFRelease)(CFTypeRef);
+static void (*pCFRunLoopAddSource)(CFRunLoopRef,
+ CFRunLoopSourceRef,
+ CFStringRef);
+static CFRunLoopRef (*pCFRunLoopGetCurrent)(void);
+static void (*pCFRunLoopRemoveSource)(CFRunLoopRef,
+ CFRunLoopSourceRef,
+ CFStringRef);
+static void (*pCFRunLoopRun)(void);
+static CFRunLoopSourceRef (*pCFRunLoopSourceCreate)(CFAllocatorRef,
+ CFIndex,
+ CFRunLoopSourceContext*);
+static void (*pCFRunLoopSourceSignal)(CFRunLoopSourceRef);
+static void (*pCFRunLoopStop)(CFRunLoopRef);
+static void (*pCFRunLoopWakeUp)(CFRunLoopRef);
+static CFStringRef (*pCFStringCreateWithFileSystemRepresentation)(
+ CFAllocatorRef,
+ const char*);
+static CFStringEncoding (*pCFStringGetSystemEncoding)(void);
+static CFStringRef (*pkCFRunLoopDefaultMode);
+static FSEventStreamRef (*pFSEventStreamCreate)(CFAllocatorRef,
+ FSEventStreamCallback,
+ FSEventStreamContext*,
+ CFArrayRef,
+ FSEventStreamEventId,
+ CFTimeInterval,
+ FSEventStreamCreateFlags);
+static void (*pFSEventStreamFlushSync)(FSEventStreamRef);
+static void (*pFSEventStreamInvalidate)(FSEventStreamRef);
+static void (*pFSEventStreamRelease)(FSEventStreamRef);
+static void (*pFSEventStreamScheduleWithRunLoop)(FSEventStreamRef,
+ CFRunLoopRef,
+ CFStringRef);
+static Boolean (*pFSEventStreamStart)(FSEventStreamRef);
+static void (*pFSEventStreamStop)(FSEventStreamRef);
+
+#define UV__FSEVENTS_PROCESS(handle, block) \
+ do { \
+ QUEUE events; \
+ QUEUE* q; \
+ uv__fsevents_event_t* event; \
+ int err; \
+ uv_mutex_lock(&(handle)->cf_mutex); \
+ /* Split-off all events and empty original queue */ \
+ QUEUE_MOVE(&(handle)->cf_events, &events); \
+ /* Get error (if any) and zero original one */ \
+ err = (handle)->cf_error; \
+ (handle)->cf_error = 0; \
+ uv_mutex_unlock(&(handle)->cf_mutex); \
+ /* Loop through events, deallocating each after processing */ \
+ while (!QUEUE_EMPTY(&events)) { \
+ q = QUEUE_HEAD(&events); \
+ event = QUEUE_DATA(q, uv__fsevents_event_t, member); \
+ QUEUE_REMOVE(q); \
+ /* NOTE: Checking uv__is_active() is required here, because handle \
+ * callback may close handle and invoking it after it will lead to \
+ * incorrect behaviour */ \
+ if (!uv__is_closing((handle)) && uv__is_active((handle))) \
+ block \
+ /* Free allocated data */ \
+ uv__free(event); \
+ } \
+ if (err != 0 && !uv__is_closing((handle)) && uv__is_active((handle))) \
+ (handle)->cb((handle), NULL, 0, err); \
+ } while (0)
+
+
+/* Runs in UV loop's thread, when there're events to report to handle */
+static void uv__fsevents_cb(uv_async_t* cb) {
+ uv_fs_event_t* handle;
+
+ handle = (uv_fs_event_t*)cb->data;
+
+ UV__FSEVENTS_PROCESS(handle, {
+ handle->cb(handle, event->path[0] ? event->path : NULL, event->events, 0);
+ });
+}
+
+
+/* Runs in CF thread, pushed event into handle's event list */
+static void uv__fsevents_push_event(uv_fs_event_t* handle,
+ QUEUE* events,
+ int err) {
+ assert(events != NULL || err != 0);
+ uv_mutex_lock(&handle->cf_mutex);
+
+ /* Concatenate two queues */
+ if (events != NULL)
+ QUEUE_ADD(&handle->cf_events, events);
+
+ /* Propagate error */
+ if (err != 0)
+ handle->cf_error = err;
+ uv_mutex_unlock(&handle->cf_mutex);
+
+ uv_async_send(handle->cf_cb);
+}
+
+
+/* Runs in CF thread, when there're events in FSEventStream */
+static void uv__fsevents_event_cb(ConstFSEventStreamRef streamRef,
+ void* info,
+ size_t numEvents,
+ void* eventPaths,
+ const FSEventStreamEventFlags eventFlags[],
+ const FSEventStreamEventId eventIds[]) {
+ size_t i;
+ int len;
+ char** paths;
+ char* path;
+ char* pos;
+ uv_fs_event_t* handle;
+ QUEUE* q;
+ uv_loop_t* loop;
+ uv__cf_loop_state_t* state;
+ uv__fsevents_event_t* event;
+ FSEventStreamEventFlags flags;
+ QUEUE head;
+
+ loop = (uv_loop_t*)info;
+ state = (uv__cf_loop_state_t*)loop->cf_state;
+ assert(state != NULL);
+ paths = (char**)eventPaths;
+
+ /* For each handle */
+ uv_mutex_lock(&state->fsevent_mutex);
+ QUEUE_FOREACH(q, &state->fsevent_handles) {
+ handle = QUEUE_DATA(q, uv_fs_event_t, cf_member);
+ QUEUE_INIT(&head);
+
+ /* Process and filter out events */
+ for (i = 0; i < numEvents; i++) {
+ flags = eventFlags[i];
+
+ /* Ignore system events */
+ if (flags & kFSEventsSystem)
+ continue;
+
+ path = paths[i];
+ len = strlen(path);
+
+ if (handle->realpath_len == 0)
+ continue; /* This should be unreachable */
+
+ /* Filter out paths that are outside handle's request */
+ if (len < handle->realpath_len)
+ continue;
+
+ if (handle->realpath_len != len &&
+ path[handle->realpath_len] != '/')
+ /* Make sure that realpath actually named a directory,
+ * or that we matched the whole string */
+ continue;
+
+ if (memcmp(path, handle->realpath, handle->realpath_len) != 0)
+ continue;
+
+ if (!(handle->realpath_len == 1 && handle->realpath[0] == '/')) {
+ /* Remove common prefix, unless the watched folder is "/" */
+ path += handle->realpath_len;
+ len -= handle->realpath_len;
+
+ /* Ignore events with path equal to directory itself */
+ if (len <= 1 && (flags & kFSEventStreamEventFlagItemIsDir))
+ continue;
+
+ if (len == 0) {
+ /* Since we're using fsevents to watch the file itself,
+ * realpath == path, and we now need to get the basename of the file back
+ * (for commonality with other codepaths and platforms). */
+ while (len < handle->realpath_len && path[-1] != '/') {
+ path--;
+ len++;
+ }
+ /* Created and Removed seem to be always set, but don't make sense */
+ flags &= ~kFSEventsRenamed;
+ } else {
+ /* Skip forward slash */
+ path++;
+ len--;
+ }
+ }
+
+ /* Do not emit events from subdirectories (without option set) */
+ if ((handle->cf_flags & UV_FS_EVENT_RECURSIVE) == 0 && *path != '\0') {
+ pos = strchr(path + 1, '/');
+ if (pos != NULL)
+ continue;
+ }
+
+ event = (uv__fsevents_event_t*)uv__malloc(sizeof(*event) + len);
+ if (event == NULL)
+ break;
+
+ memset(event, 0, sizeof(*event));
+ memcpy(event->path, path, len + 1);
+ event->events = UV_RENAME;
+
+ if (0 == (flags & kFSEventsRenamed)) {
+ if (0 != (flags & kFSEventsModified) ||
+ 0 == (flags & kFSEventStreamEventFlagItemIsDir))
+ event->events = UV_CHANGE;
+ }
+
+ QUEUE_INSERT_TAIL(&head, &event->member);
+ }
+
+ if (!QUEUE_EMPTY(&head))
+ uv__fsevents_push_event(handle, &head, 0);
+ }
+ uv_mutex_unlock(&state->fsevent_mutex);
+}
+
+
+/* Runs in CF thread */
+static int uv__fsevents_create_stream(uv_loop_t* loop, CFArrayRef paths) {
+ uv__cf_loop_state_t* state;
+ FSEventStreamContext ctx;
+ FSEventStreamRef ref;
+ CFAbsoluteTime latency;
+ FSEventStreamCreateFlags flags;
+
+ /* Initialize context */
+ ctx.version = 0;
+ ctx.info = loop;
+ ctx.retain = NULL;
+ ctx.release = NULL;
+ ctx.copyDescription = NULL;
+
+ latency = 0.05;
+
+ /* Explanation of selected flags:
+ * 1. NoDefer - without this flag, events that are happening continuously
+ * (i.e. each event is happening after time interval less than `latency`,
+ * counted from previous event), will be deferred and passed to callback
+ * once they'll either fill whole OS buffer, or when this continuous stream
+ * will stop (i.e. there'll be delay between events, bigger than
+ * `latency`).
+ * Specifying this flag will invoke callback after `latency` time passed
+ * since event.
+ * 2. FileEvents - fire callback for file changes too (by default it is firing
+ * it only for directory changes).
+ */
+ flags = kFSEventStreamCreateFlagNoDefer | kFSEventStreamCreateFlagFileEvents;
+
+ /*
+ * NOTE: It might sound like a good idea to remember last seen StreamEventId,
+ * but in reality one dir might have last StreamEventId less than, the other,
+ * that is being watched now. Which will cause FSEventStream API to report
+ * changes to files from the past.
+ */
+ ref = pFSEventStreamCreate(NULL,
+ &uv__fsevents_event_cb,
+ &ctx,
+ paths,
+ kFSEventStreamEventIdSinceNow,
+ latency,
+ flags);
+ assert(ref != NULL);
+
+ state = (uv__cf_loop_state_t*)loop->cf_state;
+ pFSEventStreamScheduleWithRunLoop(ref,
+ state->loop,
+ *pkCFRunLoopDefaultMode);
+ if (!pFSEventStreamStart(ref)) {
+ pFSEventStreamInvalidate(ref);
+ pFSEventStreamRelease(ref);
+ return UV_EMFILE;
+ }
+
+ state->fsevent_stream = ref;
+ return 0;
+}
+
+
+/* Runs in CF thread */
+static void uv__fsevents_destroy_stream(uv_loop_t* loop) {
+ uv__cf_loop_state_t* state;
+
+ state = (uv__cf_loop_state_t*)loop->cf_state;
+
+ if (state->fsevent_stream == NULL)
+ return;
+
+ /* Stop emitting events */
+ pFSEventStreamStop(state->fsevent_stream);
+
+ /* Release stream */
+ pFSEventStreamInvalidate(state->fsevent_stream);
+ pFSEventStreamRelease(state->fsevent_stream);
+ state->fsevent_stream = NULL;
+}
+
+
+/* Runs in CF thread, when there're new fsevent handles to add to stream */
+static void uv__fsevents_reschedule(uv_fs_event_t* handle,
+ uv__cf_loop_signal_type_t type) {
+ uv__cf_loop_state_t* state;
+ QUEUE* q;
+ uv_fs_event_t* curr;
+ CFArrayRef cf_paths;
+ CFStringRef* paths;
+ unsigned int i;
+ int err;
+ unsigned int path_count;
+
+ state = (uv__cf_loop_state_t*)handle->loop->cf_state;
+ paths = NULL;
+ cf_paths = NULL;
+ err = 0;
+ /* NOTE: `i` is used in deallocation loop below */
+ i = 0;
+
+ /* Optimization to prevent O(n^2) time spent when starting to watch
+ * many files simultaneously
+ */
+ uv_mutex_lock(&state->fsevent_mutex);
+ if (state->fsevent_need_reschedule == 0) {
+ uv_mutex_unlock(&state->fsevent_mutex);
+ goto final;
+ }
+ state->fsevent_need_reschedule = 0;
+ uv_mutex_unlock(&state->fsevent_mutex);
+
+ /* Destroy previous FSEventStream */
+ uv__fsevents_destroy_stream(handle->loop);
+
+ /* Any failure below will be a memory failure */
+ err = UV_ENOMEM;
+
+ /* Create list of all watched paths */
+ uv_mutex_lock(&state->fsevent_mutex);
+ path_count = state->fsevent_handle_count;
+ if (path_count != 0) {
+ paths = (CFStringRef*)uv__malloc(sizeof(*paths) * path_count);
+ if (paths == NULL) {
+ uv_mutex_unlock(&state->fsevent_mutex);
+ goto final;
+ }
+
+ q = &state->fsevent_handles;
+ for (; i < path_count; i++) {
+ q = QUEUE_NEXT(q);
+ assert(q != &state->fsevent_handles);
+ curr = QUEUE_DATA(q, uv_fs_event_t, cf_member);
+
+ assert(curr->realpath != NULL);
+ paths[i] =
+ pCFStringCreateWithFileSystemRepresentation(NULL, curr->realpath);
+ if (paths[i] == NULL) {
+ uv_mutex_unlock(&state->fsevent_mutex);
+ goto final;
+ }
+ }
+ }
+ uv_mutex_unlock(&state->fsevent_mutex);
+ err = 0;
+
+ if (path_count != 0) {
+ /* Create new FSEventStream */
+ cf_paths = pCFArrayCreate(NULL, (const void**) paths, path_count, NULL);
+ if (cf_paths == NULL) {
+ err = UV_ENOMEM;
+ goto final;
+ }
+ err = uv__fsevents_create_stream(handle->loop, cf_paths);
+ }
+
+final:
+ /* Deallocate all paths in case of failure */
+ if (err != 0) {
+ if (cf_paths == NULL) {
+ while (i != 0)
+ pCFRelease(paths[--i]);
+ uv__free(paths);
+ } else {
+ /* CFArray takes ownership of both strings and original C-array */
+ pCFRelease(cf_paths);
+ }
+
+ /* Broadcast error to all handles */
+ uv_mutex_lock(&state->fsevent_mutex);
+ QUEUE_FOREACH(q, &state->fsevent_handles) {
+ curr = QUEUE_DATA(q, uv_fs_event_t, cf_member);
+ uv__fsevents_push_event(curr, NULL, err);
+ }
+ uv_mutex_unlock(&state->fsevent_mutex);
+ }
+
+ /*
+ * Main thread will block until the removal of handle from the list,
+ * we must tell it when we're ready.
+ *
+ * NOTE: This is coupled with `uv_sem_wait()` in `uv__fsevents_close`
+ */
+ if (type == kUVCFLoopSignalClosing)
+ uv_sem_post(&state->fsevent_sem);
+}
+
+
+static int uv__fsevents_global_init(void) {
+ static pthread_mutex_t global_init_mutex = PTHREAD_MUTEX_INITIALIZER;
+ static void* core_foundation_handle;
+ static void* core_services_handle;
+ int err;
+
+ err = 0;
+ pthread_mutex_lock(&global_init_mutex);
+ if (core_foundation_handle != NULL)
+ goto out;
+
+ /* The libraries are never unloaded because we currently don't have a good
+ * mechanism for keeping a reference count. It's unlikely to be an issue
+ * but if it ever becomes one, we can turn the dynamic library handles into
+ * per-event loop properties and have the dynamic linker keep track for us.
+ */
+ err = UV_ENOSYS;
+ core_foundation_handle = dlopen("/System/Library/Frameworks/"
+ "CoreFoundation.framework/"
+ "Versions/A/CoreFoundation",
+ RTLD_LAZY | RTLD_LOCAL);
+ if (core_foundation_handle == NULL)
+ goto out;
+
+ core_services_handle = dlopen("/System/Library/Frameworks/"
+ "CoreServices.framework/"
+ "Versions/A/CoreServices",
+ RTLD_LAZY | RTLD_LOCAL);
+ if (core_services_handle == NULL)
+ goto out;
+
+ err = UV_ENOENT;
+#define V(handle, symbol) \
+ do { \
+ *(void **)(&p ## symbol) = dlsym((handle), #symbol); \
+ if (p ## symbol == NULL) \
+ goto out; \
+ } \
+ while (0)
+ V(core_foundation_handle, CFArrayCreate);
+ V(core_foundation_handle, CFRelease);
+ V(core_foundation_handle, CFRunLoopAddSource);
+ V(core_foundation_handle, CFRunLoopGetCurrent);
+ V(core_foundation_handle, CFRunLoopRemoveSource);
+ V(core_foundation_handle, CFRunLoopRun);
+ V(core_foundation_handle, CFRunLoopSourceCreate);
+ V(core_foundation_handle, CFRunLoopSourceSignal);
+ V(core_foundation_handle, CFRunLoopStop);
+ V(core_foundation_handle, CFRunLoopWakeUp);
+ V(core_foundation_handle, CFStringCreateWithFileSystemRepresentation);
+ V(core_foundation_handle, CFStringGetSystemEncoding);
+ V(core_foundation_handle, kCFRunLoopDefaultMode);
+ V(core_services_handle, FSEventStreamCreate);
+ V(core_services_handle, FSEventStreamFlushSync);
+ V(core_services_handle, FSEventStreamInvalidate);
+ V(core_services_handle, FSEventStreamRelease);
+ V(core_services_handle, FSEventStreamScheduleWithRunLoop);
+ V(core_services_handle, FSEventStreamStart);
+ V(core_services_handle, FSEventStreamStop);
+#undef V
+ err = 0;
+
+out:
+ if (err && core_services_handle != NULL) {
+ dlclose(core_services_handle);
+ core_services_handle = NULL;
+ }
+
+ if (err && core_foundation_handle != NULL) {
+ dlclose(core_foundation_handle);
+ core_foundation_handle = NULL;
+ }
+
+ pthread_mutex_unlock(&global_init_mutex);
+ return err;
+}
+
+
+/* Runs in UV loop */
+static int uv__fsevents_loop_init(uv_loop_t* loop) {
+ CFRunLoopSourceContext ctx;
+ uv__cf_loop_state_t* state;
+ pthread_attr_t attr_storage;
+ pthread_attr_t* attr;
+ int err;
+
+ if (loop->cf_state != NULL)
+ return 0;
+
+ err = uv__fsevents_global_init();
+ if (err)
+ return err;
+
+ state = (uv__cf_loop_state_t*)uv__calloc(1, sizeof(*state));
+ if (state == NULL)
+ return UV_ENOMEM;
+
+ err = uv_mutex_init(&loop->cf_mutex);
+ if (err)
+ goto fail_mutex_init;
+
+ err = uv_sem_init(&loop->cf_sem, 0);
+ if (err)
+ goto fail_sem_init;
+
+ QUEUE_INIT(&loop->cf_signals);
+
+ err = uv_sem_init(&state->fsevent_sem, 0);
+ if (err)
+ goto fail_fsevent_sem_init;
+
+ err = uv_mutex_init(&state->fsevent_mutex);
+ if (err)
+ goto fail_fsevent_mutex_init;
+
+ QUEUE_INIT(&state->fsevent_handles);
+ state->fsevent_need_reschedule = 0;
+ state->fsevent_handle_count = 0;
+
+ memset(&ctx, 0, sizeof(ctx));
+ ctx.info = loop;
+ ctx.perform = uv__cf_loop_cb;
+ state->signal_source = pCFRunLoopSourceCreate(NULL, 0, &ctx);
+ if (state->signal_source == NULL) {
+ err = UV_ENOMEM;
+ goto fail_signal_source_create;
+ }
+
+ /* In the unlikely event that pthread_attr_init() fails, create the thread
+ * with the default stack size. We'll use a little more address space but
+ * that in itself is not a fatal error.
+ */
+ attr = &attr_storage;
+ if (pthread_attr_init(attr))
+ attr = NULL;
+
+ if (attr != NULL)
+ if (pthread_attr_setstacksize(attr, 4 * PTHREAD_STACK_MIN))
+ abort();
+
+ loop->cf_state = state;
+
+ /* uv_thread_t is an alias for pthread_t. */
+ err = UV__ERR(pthread_create(&loop->cf_thread, attr, uv__cf_loop_runner, loop));
+
+ if (attr != NULL)
+ pthread_attr_destroy(attr);
+
+ if (err)
+ goto fail_thread_create;
+
+ /* Synchronize threads */
+ uv_sem_wait(&loop->cf_sem);
+ return 0;
+
+fail_thread_create:
+ loop->cf_state = NULL;
+
+fail_signal_source_create:
+ uv_mutex_destroy(&state->fsevent_mutex);
+
+fail_fsevent_mutex_init:
+ uv_sem_destroy(&state->fsevent_sem);
+
+fail_fsevent_sem_init:
+ uv_sem_destroy(&loop->cf_sem);
+
+fail_sem_init:
+ uv_mutex_destroy(&loop->cf_mutex);
+
+fail_mutex_init:
+ uv__free(state);
+ return err;
+}
+
+
+/* Runs in UV loop */
+void uv__fsevents_loop_delete(uv_loop_t* loop) {
+ uv__cf_loop_signal_t* s;
+ uv__cf_loop_state_t* state;
+ QUEUE* q;
+
+ if (loop->cf_state == NULL)
+ return;
+
+ if (uv__cf_loop_signal(loop, NULL, kUVCFLoopSignalRegular) != 0)
+ abort();
+
+ uv_thread_join(&loop->cf_thread);
+ uv_sem_destroy(&loop->cf_sem);
+ uv_mutex_destroy(&loop->cf_mutex);
+
+ /* Free any remaining data */
+ while (!QUEUE_EMPTY(&loop->cf_signals)) {
+ q = QUEUE_HEAD(&loop->cf_signals);
+ s = QUEUE_DATA(q, uv__cf_loop_signal_t, member);
+ QUEUE_REMOVE(q);
+ uv__free(s);
+ }
+
+ /* Destroy state */
+ state = (uv__cf_loop_state_t*)loop->cf_state;
+ uv_sem_destroy(&state->fsevent_sem);
+ uv_mutex_destroy(&state->fsevent_mutex);
+ pCFRelease(state->signal_source);
+ uv__free(state);
+ loop->cf_state = NULL;
+}
+
+
+/* Runs in CF thread. This is the CF loop's body */
+static void* uv__cf_loop_runner(void* arg) {
+ uv_loop_t* loop;
+ uv__cf_loop_state_t* state;
+
+ loop = (uv_loop_t*)arg;
+ state = (uv__cf_loop_state_t*)loop->cf_state;
+ state->loop = pCFRunLoopGetCurrent();
+
+ pCFRunLoopAddSource(state->loop,
+ state->signal_source,
+ *pkCFRunLoopDefaultMode);
+
+ uv_sem_post(&loop->cf_sem);
+
+ pCFRunLoopRun();
+ pCFRunLoopRemoveSource(state->loop,
+ state->signal_source,
+ *pkCFRunLoopDefaultMode);
+
+ return NULL;
+}
+
+
+/* Runs in CF thread, executed after `uv__cf_loop_signal()` */
+static void uv__cf_loop_cb(void* arg) {
+ uv_loop_t* loop;
+ uv__cf_loop_state_t* state;
+ QUEUE* item;
+ QUEUE split_head;
+ uv__cf_loop_signal_t* s;
+
+ loop = (uv_loop_t*)arg;
+ state = (uv__cf_loop_state_t*)loop->cf_state;
+
+ uv_mutex_lock(&loop->cf_mutex);
+ QUEUE_MOVE(&loop->cf_signals, &split_head);
+ uv_mutex_unlock(&loop->cf_mutex);
+
+ while (!QUEUE_EMPTY(&split_head)) {
+ item = QUEUE_HEAD(&split_head);
+ QUEUE_REMOVE(item);
+
+ s = QUEUE_DATA(item, uv__cf_loop_signal_t, member);
+
+ /* This was a termination signal */
+ if (s->handle == NULL)
+ pCFRunLoopStop(state->loop);
+ else
+ uv__fsevents_reschedule(s->handle, s->type);
+
+ uv__free(s);
+ }
+}
+
+
+/* Runs in UV loop to notify CF thread */
+int uv__cf_loop_signal(uv_loop_t* loop,
+ uv_fs_event_t* handle,
+ uv__cf_loop_signal_type_t type) {
+ uv__cf_loop_signal_t* item;
+ uv__cf_loop_state_t* state;
+
+ item = (uv__cf_loop_signal_t*)uv__malloc(sizeof(*item));
+ if (item == NULL)
+ return UV_ENOMEM;
+
+ item->handle = handle;
+ item->type = type;
+
+ uv_mutex_lock(&loop->cf_mutex);
+ QUEUE_INSERT_TAIL(&loop->cf_signals, &item->member);
+ uv_mutex_unlock(&loop->cf_mutex);
+
+ state = (uv__cf_loop_state_t*)loop->cf_state;
+ assert(state != NULL);
+ pCFRunLoopSourceSignal(state->signal_source);
+ pCFRunLoopWakeUp(state->loop);
+
+ return 0;
+}
+
+
+/* Runs in UV loop to initialize handle */
+int uv__fsevents_init(uv_fs_event_t* handle) {
+ int err;
+ uv__cf_loop_state_t* state;
+
+ err = uv__fsevents_loop_init(handle->loop);
+ if (err)
+ return err;
+
+ /* Get absolute path to file */
+ handle->realpath = realpath(handle->path, NULL);
+ if (handle->realpath == NULL)
+ return UV__ERR(errno);
+ handle->realpath_len = strlen(handle->realpath);
+
+ /* Initialize event queue */
+ QUEUE_INIT(&handle->cf_events);
+ handle->cf_error = 0;
+
+ /*
+ * Events will occur in other thread.
+ * Initialize callback for getting them back into event loop's thread
+ */
+ handle->cf_cb = (uv_async_t*)uv__malloc(sizeof(*handle->cf_cb));
+ if (handle->cf_cb == NULL) {
+ err = UV_ENOMEM;
+ goto fail_cf_cb_malloc;
+ }
+
+ handle->cf_cb->data = handle;
+ uv_async_init(handle->loop, handle->cf_cb, uv__fsevents_cb);
+ handle->cf_cb->flags |= UV_HANDLE_INTERNAL;
+ uv_unref((uv_handle_t*) handle->cf_cb);
+
+ err = uv_mutex_init(&handle->cf_mutex);
+ if (err)
+ goto fail_cf_mutex_init;
+
+ /* Insert handle into the list */
+ state = (uv__cf_loop_state_t*)handle->loop->cf_state;
+ uv_mutex_lock(&state->fsevent_mutex);
+ QUEUE_INSERT_TAIL(&state->fsevent_handles, &handle->cf_member);
+ state->fsevent_handle_count++;
+ state->fsevent_need_reschedule = 1;
+ uv_mutex_unlock(&state->fsevent_mutex);
+
+ /* Reschedule FSEventStream */
+ assert(handle != NULL);
+ err = uv__cf_loop_signal(handle->loop, handle, kUVCFLoopSignalRegular);
+ if (err)
+ goto fail_loop_signal;
+
+ return 0;
+
+fail_loop_signal:
+ uv_mutex_destroy(&handle->cf_mutex);
+
+fail_cf_mutex_init:
+ uv__free(handle->cf_cb);
+ handle->cf_cb = NULL;
+
+fail_cf_cb_malloc:
+ uv__free(handle->realpath);
+ handle->realpath = NULL;
+ handle->realpath_len = 0;
+
+ return err;
+}
+
+
+/* Runs in UV loop to de-initialize handle */
+int uv__fsevents_close(uv_fs_event_t* handle) {
+ int err;
+ uv__cf_loop_state_t* state;
+
+ if (handle->cf_cb == NULL)
+ return UV_EINVAL;
+
+ /* Remove handle from the list */
+ state = (uv__cf_loop_state_t*)handle->loop->cf_state;
+ uv_mutex_lock(&state->fsevent_mutex);
+ QUEUE_REMOVE(&handle->cf_member);
+ state->fsevent_handle_count--;
+ state->fsevent_need_reschedule = 1;
+ uv_mutex_unlock(&state->fsevent_mutex);
+
+ /* Reschedule FSEventStream */
+ assert(handle != NULL);
+ err = uv__cf_loop_signal(handle->loop, handle, kUVCFLoopSignalClosing);
+ if (err)
+ return UV__ERR(err);
+
+ /* Wait for deinitialization */
+ uv_sem_wait(&state->fsevent_sem);
+
+ uv_close((uv_handle_t*) handle->cf_cb, (uv_close_cb) uv__free);
+ handle->cf_cb = NULL;
+
+ /* Free data in queue */
+ UV__FSEVENTS_PROCESS(handle, {
+ /* NOP */
+ });
+
+ uv_mutex_destroy(&handle->cf_mutex);
+ uv__free(handle->realpath);
+ handle->realpath = NULL;
+ handle->realpath_len = 0;
+
+ return 0;
+}
+
+#endif /* TARGET_OS_IPHONE */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/getaddrinfo.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/getaddrinfo.cpp
new file mode 100644
index 0000000..9a26b45
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/getaddrinfo.cpp
@@ -0,0 +1,255 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+/* Expose glibc-specific EAI_* error codes. Needs to be defined before we
+ * include any headers.
+ */
+#ifndef _GNU_SOURCE
+# define _GNU_SOURCE
+#endif
+
+#include "uv.h"
+#include "internal.h"
+#include "idna.h"
+
+#include <errno.h>
+#include <stddef.h> /* NULL */
+#include <stdlib.h>
+#include <string.h>
+#include <net/if.h> /* if_indextoname() */
+
+/* EAI_* constants. */
+#include <netdb.h>
+
+
+int uv__getaddrinfo_translate_error(int sys_err) {
+ switch (sys_err) {
+ case 0: return 0;
+#if defined(EAI_ADDRFAMILY)
+ case EAI_ADDRFAMILY: return UV_EAI_ADDRFAMILY;
+#endif
+#if defined(EAI_AGAIN)
+ case EAI_AGAIN: return UV_EAI_AGAIN;
+#endif
+#if defined(EAI_BADFLAGS)
+ case EAI_BADFLAGS: return UV_EAI_BADFLAGS;
+#endif
+#if defined(EAI_BADHINTS)
+ case EAI_BADHINTS: return UV_EAI_BADHINTS;
+#endif
+#if defined(EAI_CANCELED)
+ case EAI_CANCELED: return UV_EAI_CANCELED;
+#endif
+#if defined(EAI_FAIL)
+ case EAI_FAIL: return UV_EAI_FAIL;
+#endif
+#if defined(EAI_FAMILY)
+ case EAI_FAMILY: return UV_EAI_FAMILY;
+#endif
+#if defined(EAI_MEMORY)
+ case EAI_MEMORY: return UV_EAI_MEMORY;
+#endif
+#if defined(EAI_NODATA)
+ case EAI_NODATA: return UV_EAI_NODATA;
+#endif
+#if defined(EAI_NONAME)
+# if !defined(EAI_NODATA) || EAI_NODATA != EAI_NONAME
+ case EAI_NONAME: return UV_EAI_NONAME;
+# endif
+#endif
+#if defined(EAI_OVERFLOW)
+ case EAI_OVERFLOW: return UV_EAI_OVERFLOW;
+#endif
+#if defined(EAI_PROTOCOL)
+ case EAI_PROTOCOL: return UV_EAI_PROTOCOL;
+#endif
+#if defined(EAI_SERVICE)
+ case EAI_SERVICE: return UV_EAI_SERVICE;
+#endif
+#if defined(EAI_SOCKTYPE)
+ case EAI_SOCKTYPE: return UV_EAI_SOCKTYPE;
+#endif
+#if defined(EAI_SYSTEM)
+ case EAI_SYSTEM: return UV__ERR(errno);
+#endif
+ }
+ assert(!"unknown EAI_* error code");
+ abort();
+#ifndef __SUNPRO_C
+ return 0; /* Pacify compiler. */
+#endif
+}
+
+
+static void uv__getaddrinfo_work(struct uv__work* w) {
+ uv_getaddrinfo_t* req;
+ int err;
+
+ req = container_of(w, uv_getaddrinfo_t, work_req);
+ err = getaddrinfo(req->hostname, req->service, req->hints, &req->addrinfo);
+ req->retcode = uv__getaddrinfo_translate_error(err);
+}
+
+
+static void uv__getaddrinfo_done(struct uv__work* w, int status) {
+ uv_getaddrinfo_t* req;
+
+ req = container_of(w, uv_getaddrinfo_t, work_req);
+ uv__req_unregister(req->loop, req);
+
+ /* See initialization in uv_getaddrinfo(). */
+ if (req->hints)
+ uv__free(req->hints);
+ else if (req->service)
+ uv__free(req->service);
+ else if (req->hostname)
+ uv__free(req->hostname);
+ else
+ assert(0);
+
+ req->hints = NULL;
+ req->service = NULL;
+ req->hostname = NULL;
+
+ if (status == UV_ECANCELED) {
+ assert(req->retcode == 0);
+ req->retcode = UV_EAI_CANCELED;
+ }
+
+ if (req->cb)
+ req->cb(req, req->retcode, req->addrinfo);
+}
+
+
+int uv_getaddrinfo(uv_loop_t* loop,
+ uv_getaddrinfo_t* req,
+ uv_getaddrinfo_cb cb,
+ const char* hostname,
+ const char* service,
+ const struct addrinfo* hints) {
+ char hostname_ascii[256];
+ size_t hostname_len;
+ size_t service_len;
+ size_t hints_len;
+ size_t len;
+ char* buf;
+ long rc;
+
+ if (req == NULL || (hostname == NULL && service == NULL))
+ return UV_EINVAL;
+
+ /* FIXME(bnoordhuis) IDNA does not seem to work z/OS,
+ * probably because it uses EBCDIC rather than ASCII.
+ */
+#ifdef __MVS__
+ (void) &hostname_ascii;
+#else
+ if (hostname != NULL) {
+ rc = uv__idna_toascii(hostname,
+ hostname + strlen(hostname),
+ hostname_ascii,
+ hostname_ascii + sizeof(hostname_ascii));
+ if (rc < 0)
+ return rc;
+ hostname = hostname_ascii;
+ }
+#endif
+
+ hostname_len = hostname ? strlen(hostname) + 1 : 0;
+ service_len = service ? strlen(service) + 1 : 0;
+ hints_len = hints ? sizeof(*hints) : 0;
+ buf = (char*)uv__malloc(hostname_len + service_len + hints_len);
+
+ if (buf == NULL)
+ return UV_ENOMEM;
+
+ uv__req_init(loop, req, UV_GETADDRINFO);
+ req->loop = loop;
+ req->cb = cb;
+ req->addrinfo = NULL;
+ req->hints = NULL;
+ req->service = NULL;
+ req->hostname = NULL;
+ req->retcode = 0;
+
+ /* order matters, see uv_getaddrinfo_done() */
+ len = 0;
+
+ if (hints) {
+ req->hints = (struct addrinfo*)memcpy(buf + len, hints, sizeof(*hints));
+ len += sizeof(*hints);
+ }
+
+ if (service) {
+ req->service = (char*)memcpy(buf + len, service, service_len);
+ len += service_len;
+ }
+
+ if (hostname)
+ req->hostname = (char*)memcpy(buf + len, hostname, hostname_len);
+
+ if (cb) {
+ uv__work_submit(loop,
+ &req->work_req,
+ UV__WORK_SLOW_IO,
+ uv__getaddrinfo_work,
+ uv__getaddrinfo_done);
+ return 0;
+ } else {
+ uv__getaddrinfo_work(&req->work_req);
+ uv__getaddrinfo_done(&req->work_req, 0);
+ return req->retcode;
+ }
+}
+
+
+void uv_freeaddrinfo(struct addrinfo* ai) {
+ if (ai)
+ freeaddrinfo(ai);
+}
+
+
+int uv_if_indextoname(unsigned int ifindex, char* buffer, size_t* size) {
+ char ifname_buf[UV_IF_NAMESIZE];
+ size_t len;
+
+ if (buffer == NULL || size == NULL || *size == 0)
+ return UV_EINVAL;
+
+ if (if_indextoname(ifindex, ifname_buf) == NULL)
+ return UV__ERR(errno);
+
+ len = strnlen(ifname_buf, sizeof(ifname_buf));
+
+ if (*size <= len) {
+ *size = len + 1;
+ return UV_ENOBUFS;
+ }
+
+ memcpy(buffer, ifname_buf, len);
+ buffer[len] = '\0';
+ *size = len;
+
+ return 0;
+}
+
+int uv_if_indextoiid(unsigned int ifindex, char* buffer, size_t* size) {
+ return uv_if_indextoname(ifindex, buffer, size);
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/getnameinfo.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/getnameinfo.cpp
new file mode 100644
index 0000000..991002a
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/getnameinfo.cpp
@@ -0,0 +1,121 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+*
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to
+* deal in the Software without restriction, including without limitation the
+* rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+* sell copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+*
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+*
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+* IN THE SOFTWARE.
+*/
+
+#include <assert.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+
+#include "uv.h"
+#include "internal.h"
+
+
+static void uv__getnameinfo_work(struct uv__work* w) {
+ uv_getnameinfo_t* req;
+ int err;
+ socklen_t salen;
+
+ req = container_of(w, uv_getnameinfo_t, work_req);
+
+ if (req->storage.ss_family == AF_INET)
+ salen = sizeof(struct sockaddr_in);
+ else if (req->storage.ss_family == AF_INET6)
+ salen = sizeof(struct sockaddr_in6);
+ else
+ abort();
+
+ err = getnameinfo((struct sockaddr*) &req->storage,
+ salen,
+ req->host,
+ sizeof(req->host),
+ req->service,
+ sizeof(req->service),
+ req->flags);
+ req->retcode = uv__getaddrinfo_translate_error(err);
+}
+
+static void uv__getnameinfo_done(struct uv__work* w, int status) {
+ uv_getnameinfo_t* req;
+ char* host;
+ char* service;
+
+ req = container_of(w, uv_getnameinfo_t, work_req);
+ uv__req_unregister(req->loop, req);
+ host = service = NULL;
+
+ if (status == UV_ECANCELED) {
+ assert(req->retcode == 0);
+ req->retcode = UV_EAI_CANCELED;
+ } else if (req->retcode == 0) {
+ host = req->host;
+ service = req->service;
+ }
+
+ if (req->getnameinfo_cb)
+ req->getnameinfo_cb(req, req->retcode, host, service);
+}
+
+/*
+* Entry point for getnameinfo
+* return 0 if a callback will be made
+* return error code if validation fails
+*/
+int uv_getnameinfo(uv_loop_t* loop,
+ uv_getnameinfo_t* req,
+ uv_getnameinfo_cb getnameinfo_cb,
+ const struct sockaddr* addr,
+ int flags) {
+ if (req == NULL || addr == NULL)
+ return UV_EINVAL;
+
+ if (addr->sa_family == AF_INET) {
+ memcpy(&req->storage,
+ addr,
+ sizeof(struct sockaddr_in));
+ } else if (addr->sa_family == AF_INET6) {
+ memcpy(&req->storage,
+ addr,
+ sizeof(struct sockaddr_in6));
+ } else {
+ return UV_EINVAL;
+ }
+
+ uv__req_init(loop, (uv_req_t*)req, UV_GETNAMEINFO);
+
+ req->getnameinfo_cb = getnameinfo_cb;
+ req->flags = flags;
+ req->type = UV_GETNAMEINFO;
+ req->loop = loop;
+ req->retcode = 0;
+
+ if (getnameinfo_cb) {
+ uv__work_submit(loop,
+ &req->work_req,
+ UV__WORK_SLOW_IO,
+ uv__getnameinfo_work,
+ uv__getnameinfo_done);
+ return 0;
+ } else {
+ uv__getnameinfo_work(&req->work_req);
+ uv__getnameinfo_done(&req->work_req, 0);
+ return req->retcode;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/ibmi.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/ibmi.cpp
new file mode 100644
index 0000000..4b0be2d
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/ibmi.cpp
@@ -0,0 +1,249 @@
+/* Copyright libuv project contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include "uv.h"
+#include "internal.h"
+
+#include <stdio.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <string.h>
+#include <assert.h>
+#include <errno.h>
+
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <sys/ioctl.h>
+#include <net/if.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+
+#include <sys/time.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <utmp.h>
+#include <libgen.h>
+
+#include <sys/protosw.h>
+#include <procinfo.h>
+#include <sys/proc.h>
+#include <sys/procfs.h>
+
+#include <ctype.h>
+
+#include <sys/mntctl.h>
+#include <sys/vmount.h>
+#include <limits.h>
+#include <strings.h>
+#include <sys/vnode.h>
+
+#include <as400_protos.h>
+
+
+typedef struct {
+ int bytes_available;
+ int bytes_returned;
+ char current_date_and_time[8];
+ char system_name[8];
+ char elapsed_time[6];
+ char restricted_state_flag;
+ char reserved;
+ int percent_processing_unit_used;
+ int jobs_in_system;
+ int percent_permanent_addresses;
+ int percent_temporary_addresses;
+ int system_asp;
+ int percent_system_asp_used;
+ int total_auxiliary_storage;
+ int current_unprotected_storage_used;
+ int maximum_unprotected_storage_used;
+ int percent_db_capability;
+ int main_storage_size;
+ int number_of_partitions;
+ int partition_identifier;
+ int reserved1;
+ int current_processing_capacity;
+ char processor_sharing_attribute;
+ char reserved2[3];
+ int number_of_processors;
+ int active_jobs_in_system;
+ int active_threads_in_system;
+ int maximum_jobs_in_system;
+ int percent_temporary_256mb_segments_used;
+ int percent_temporary_4gb_segments_used;
+ int percent_permanent_256mb_segments_used;
+ int percent_permanent_4gb_segments_used;
+ int percent_current_interactive_performance;
+ int percent_uncapped_cpu_capacity_used;
+ int percent_shared_processor_pool_used;
+ long main_storage_size_long;
+} SSTS0200;
+
+
+static int get_ibmi_system_status(SSTS0200* rcvr) {
+ /* rcvrlen is input parameter 2 to QWCRSSTS */
+ unsigned int rcvrlen = sizeof(*rcvr);
+
+ /* format is input parameter 3 to QWCRSSTS ("SSTS0200" in EBCDIC) */
+ unsigned char format[] = {0xE2, 0xE2, 0xE3, 0xE2, 0xF0, 0xF2, 0xF0, 0xF0};
+
+ /* reset_status is input parameter 4 to QWCRSSTS ("*NO " in EBCDIC) */
+ unsigned char reset_status[] = {
+ 0x5C, 0xD5, 0xD6, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40
+ };
+
+ /* errcode is input parameter 5 to QWCRSSTS */
+ struct _errcode {
+ int bytes_provided;
+ int bytes_available;
+ char msgid[7];
+ } errcode;
+
+ /* qwcrssts_pointer is the 16-byte tagged system pointer to QWCRSSTS */
+ ILEpointer __attribute__((aligned(16))) qwcrssts_pointer;
+
+ /* qwcrssts_argv is the array of argument pointers to QWCRSSTS */
+ void* qwcrssts_argv[6];
+
+ /* Set the IBM i pointer to the QSYS/QWCRSSTS *PGM object */
+ int rc = _RSLOBJ2(&qwcrssts_pointer, RSLOBJ_TS_PGM, "QWCRSSTS", "QSYS");
+
+ if (rc != 0)
+ return rc;
+
+ /* initialize the QWCRSSTS returned info structure */
+ memset(rcvr, 0, sizeof(*rcvr));
+
+ /* initialize the QWCRSSTS error code structure */
+ memset(&errcode, 0, sizeof(errcode));
+ errcode.bytes_provided = sizeof(errcode);
+
+ /* initialize the array of argument pointers for the QWCRSSTS API */
+ qwcrssts_argv[0] = rcvr;
+ qwcrssts_argv[1] = &rcvrlen;
+ qwcrssts_argv[2] = &format;
+ qwcrssts_argv[3] = &reset_status;
+ qwcrssts_argv[4] = &errcode;
+ qwcrssts_argv[5] = NULL;
+
+ /* Call the IBM i QWCRSSTS API from PASE */
+ rc = _PGMCALL(&qwcrssts_pointer, (void**)&qwcrssts_argv, 0);
+
+ return rc;
+}
+
+
+uint64_t uv_get_free_memory(void) {
+ SSTS0200 rcvr;
+
+ if (get_ibmi_system_status(&rcvr))
+ return 0;
+
+ /* The amount of main storage, in kilobytes, in the system. */
+ uint64_t main_storage_size = rcvr.main_storage_size;
+
+ /* The current amount of storage in use for temporary objects.
+ * in millions (M) of bytes.
+ */
+ uint64_t current_unprotected_storage_used =
+ rcvr.current_unprotected_storage_used * 1024ULL;
+
+ uint64_t free_storage_size =
+ (main_storage_size - current_unprotected_storage_used) * 1024ULL;
+
+ return free_storage_size < 0 ? 0 : free_storage_size;
+}
+
+
+uint64_t uv_get_total_memory(void) {
+ SSTS0200 rcvr;
+
+ if (get_ibmi_system_status(&rcvr))
+ return 0;
+
+ return (uint64_t)rcvr.main_storage_size * 1024ULL;
+}
+
+
+uint64_t uv_get_constrained_memory(void) {
+ return 0; /* Memory constraints are unknown. */
+}
+
+
+void uv_loadavg(double avg[3]) {
+ SSTS0200 rcvr;
+
+ if (get_ibmi_system_status(&rcvr)) {
+ avg[0] = avg[1] = avg[2] = 0;
+ return;
+ }
+
+ /* The average (in tenths) of the elapsed time during which the processing
+ * units were in use. For example, a value of 411 in binary would be 41.1%.
+ * This percentage could be greater than 100% for an uncapped partition.
+ */
+ double processing_unit_used_percent =
+ rcvr.percent_processing_unit_used / 1000.0;
+
+ avg[0] = avg[1] = avg[2] = processing_unit_used_percent;
+}
+
+
+int uv_resident_set_memory(size_t* rss) {
+ *rss = 0;
+ return 0;
+}
+
+
+int uv_uptime(double* uptime) {
+ return UV_ENOSYS;
+}
+
+
+int uv_cpu_info(uv_cpu_info_t** cpu_infos, int* count) {
+ unsigned int numcpus, idx = 0;
+ uv_cpu_info_t* cpu_info;
+
+ *cpu_infos = NULL;
+ *count = 0;
+
+ numcpus = sysconf(_SC_NPROCESSORS_ONLN);
+
+ *cpu_infos = (uv_cpu_info_t*)uv__malloc(numcpus * sizeof(uv_cpu_info_t));
+ if (!*cpu_infos) {
+ return UV_ENOMEM;
+ }
+
+ cpu_info = *cpu_infos;
+ for (idx = 0; idx < numcpus; idx++) {
+ cpu_info->speed = 0;
+ cpu_info->model = uv__strdup("unknown");
+ cpu_info->cpu_times.user = 0;
+ cpu_info->cpu_times.sys = 0;
+ cpu_info->cpu_times.idle = 0;
+ cpu_info->cpu_times.irq = 0;
+ cpu_info->cpu_times.nice = 0;
+ cpu_info++;
+ }
+ *count = numcpus;
+
+ return 0;
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/internal.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/internal.h
new file mode 100644
index 0000000..13ca2e6
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/internal.h
@@ -0,0 +1,329 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#ifndef UV_UNIX_INTERNAL_H_
+#define UV_UNIX_INTERNAL_H_
+
+#include "uv-common.h"
+
+#include <assert.h>
+#include <limits.h> /* _POSIX_PATH_MAX, PATH_MAX */
+#include <stdlib.h> /* abort */
+#include <string.h> /* strrchr */
+#include <fcntl.h> /* O_CLOEXEC, may be */
+#include <stdio.h>
+#include <errno.h>
+
+#if defined(__STRICT_ANSI__)
+# define inline __inline
+#endif
+
+#if defined(__linux__)
+# include "linux-syscalls.h"
+#endif /* __linux__ */
+
+#if defined(__MVS__)
+# include "os390-syscalls.h"
+#endif /* __MVS__ */
+
+#if defined(__sun)
+# include <sys/port.h>
+# include <port.h>
+#endif /* __sun */
+
+#if defined(_AIX)
+# define reqevents events
+# define rtnevents revents
+# include <sys/poll.h>
+#else
+# include <poll.h>
+#endif /* _AIX */
+
+#if defined(__APPLE__) && !TARGET_OS_IPHONE
+# include <AvailabilityMacros.h>
+#endif
+
+#if defined(_POSIX_PATH_MAX)
+# define UV__PATH_MAX _POSIX_PATH_MAX
+#elif defined(PATH_MAX)
+# define UV__PATH_MAX PATH_MAX
+#else
+# define UV__PATH_MAX 8192
+#endif
+
+#if defined(__ANDROID__)
+int uv__pthread_sigmask(int how, const sigset_t* set, sigset_t* oset);
+# ifdef pthread_sigmask
+# undef pthread_sigmask
+# endif
+# define pthread_sigmask(how, set, oldset) uv__pthread_sigmask(how, set, oldset)
+#endif
+
+#define ACCESS_ONCE(type, var) \
+ (*(volatile type*) &(var))
+
+#define ROUND_UP(a, b) \
+ ((a) % (b) ? ((a) + (b)) - ((a) % (b)) : (a))
+
+#define UNREACHABLE() \
+ do { \
+ assert(0 && "unreachable code"); \
+ abort(); \
+ } \
+ while (0)
+
+#define SAVE_ERRNO(block) \
+ do { \
+ int _saved_errno = errno; \
+ do { block; } while (0); \
+ errno = _saved_errno; \
+ } \
+ while (0)
+
+/* The __clang__ and __INTEL_COMPILER checks are superfluous because they
+ * define __GNUC__. They are here to convey to you, dear reader, that these
+ * macros are enabled when compiling with clang or icc.
+ */
+#if defined(__clang__) || \
+ defined(__GNUC__) || \
+ defined(__INTEL_COMPILER)
+# define UV_DESTRUCTOR(declaration) __attribute__((destructor)) declaration
+# define UV_UNUSED(declaration) __attribute__((unused)) declaration
+#else
+# define UV_DESTRUCTOR(declaration) declaration
+# define UV_UNUSED(declaration) declaration
+#endif
+
+/* Leans on the fact that, on Linux, POLLRDHUP == EPOLLRDHUP. */
+#ifdef POLLRDHUP
+# define UV__POLLRDHUP POLLRDHUP
+#else
+# define UV__POLLRDHUP 0x2000
+#endif
+
+#ifdef POLLPRI
+# define UV__POLLPRI POLLPRI
+#else
+# define UV__POLLPRI 0
+#endif
+
+#if !defined(O_CLOEXEC) && defined(__FreeBSD__)
+/*
+ * It may be that we are just missing `__POSIX_VISIBLE >= 200809`.
+ * Try using fixed value const and give up, if it doesn't work
+ */
+# define O_CLOEXEC 0x00100000
+#endif
+
+typedef struct uv__stream_queued_fds_s uv__stream_queued_fds_t;
+
+/* loop flags */
+enum {
+ UV_LOOP_BLOCK_SIGPROF = 1
+};
+
+/* flags of excluding ifaddr */
+enum {
+ UV__EXCLUDE_IFPHYS,
+ UV__EXCLUDE_IFADDR
+};
+
+typedef enum {
+ UV_CLOCK_PRECISE = 0, /* Use the highest resolution clock available. */
+ UV_CLOCK_FAST = 1 /* Use the fastest clock with <= 1ms granularity. */
+} uv_clocktype_t;
+
+struct uv__stream_queued_fds_s {
+ unsigned int size;
+ unsigned int offset;
+ int fds[1];
+};
+
+
+#if defined(_AIX) || \
+ defined(__APPLE__) || \
+ defined(__DragonFly__) || \
+ defined(__FreeBSD__) || \
+ defined(__FreeBSD_kernel__) || \
+ defined(__linux__) || \
+ defined(__OpenBSD__) || \
+ defined(__NetBSD__)
+#define uv__cloexec uv__cloexec_ioctl
+#define uv__nonblock uv__nonblock_ioctl
+#define UV__NONBLOCK_IS_IOCTL
+#else
+#define uv__cloexec uv__cloexec_fcntl
+#define uv__nonblock uv__nonblock_fcntl
+#define UV__NONBLOCK_IS_FCNTL
+#endif
+
+/* On Linux, uv__nonblock_fcntl() and uv__nonblock_ioctl() do not commute
+ * when O_NDELAY is not equal to O_NONBLOCK. Case in point: linux/sparc32
+ * and linux/sparc64, where O_NDELAY is O_NONBLOCK + another bit.
+ *
+ * Libuv uses uv__nonblock_fcntl() directly sometimes so ensure that it
+ * commutes with uv__nonblock().
+ */
+#if defined(__linux__) && O_NDELAY != O_NONBLOCK
+#undef uv__nonblock
+#define uv__nonblock uv__nonblock_fcntl
+#undef UV__NONBLOCK_IS_IOCTL
+#define UV__NONBLOCK_IS_FCNTL
+#endif
+
+/* core */
+int uv__cloexec_ioctl(int fd, int set);
+int uv__cloexec_fcntl(int fd, int set);
+int uv__nonblock_ioctl(int fd, int set);
+int uv__nonblock_fcntl(int fd, int set);
+int uv__close(int fd); /* preserves errno */
+int uv__close_nocheckstdio(int fd);
+int uv__close_nocancel(int fd);
+int uv__socket(int domain, int type, int protocol);
+ssize_t uv__recvmsg(int fd, struct msghdr *msg, int flags);
+void uv__make_close_pending(uv_handle_t* handle);
+int uv__getiovmax(void);
+
+void uv__io_init(uv__io_t* w, uv__io_cb cb, int fd);
+void uv__io_start(uv_loop_t* loop, uv__io_t* w, unsigned int events);
+void uv__io_stop(uv_loop_t* loop, uv__io_t* w, unsigned int events);
+void uv__io_close(uv_loop_t* loop, uv__io_t* w);
+void uv__io_feed(uv_loop_t* loop, uv__io_t* w);
+int uv__io_active(const uv__io_t* w, unsigned int events);
+int uv__io_check_fd(uv_loop_t* loop, int fd);
+void uv__io_poll(uv_loop_t* loop, int timeout); /* in milliseconds or -1 */
+int uv__io_fork(uv_loop_t* loop);
+int uv__fd_exists(uv_loop_t* loop, int fd);
+
+/* async */
+void uv__async_stop(uv_loop_t* loop);
+int uv__async_fork(uv_loop_t* loop);
+
+
+/* loop */
+void uv__run_idle(uv_loop_t* loop);
+void uv__run_check(uv_loop_t* loop);
+void uv__run_prepare(uv_loop_t* loop);
+
+/* stream */
+void uv__stream_init(uv_loop_t* loop, uv_stream_t* stream,
+ uv_handle_type type);
+int uv__stream_open(uv_stream_t*, int fd, int flags);
+void uv__stream_destroy(uv_stream_t* stream);
+#if defined(__APPLE__)
+int uv__stream_try_select(uv_stream_t* stream, int* fd);
+#endif /* defined(__APPLE__) */
+void uv__server_io(uv_loop_t* loop, uv__io_t* w, unsigned int events);
+int uv__accept(int sockfd);
+int uv__dup2_cloexec(int oldfd, int newfd);
+int uv__open_cloexec(const char* path, int flags);
+
+/* tcp */
+int uv_tcp_listen(uv_tcp_t* tcp, int backlog, uv_connection_cb cb);
+int uv__tcp_nodelay(int fd, int on);
+int uv__tcp_keepalive(int fd, int on, unsigned int delay);
+
+/* pipe */
+int uv_pipe_listen(uv_pipe_t* handle, int backlog, uv_connection_cb cb);
+
+/* signal */
+void uv__signal_close(uv_signal_t* handle);
+void uv__signal_global_once_init(void);
+void uv__signal_loop_cleanup(uv_loop_t* loop);
+int uv__signal_loop_fork(uv_loop_t* loop);
+
+/* platform specific */
+uint64_t uv__hrtime(uv_clocktype_t type);
+int uv__kqueue_init(uv_loop_t* loop);
+int uv__platform_loop_init(uv_loop_t* loop);
+void uv__platform_loop_delete(uv_loop_t* loop);
+void uv__platform_invalidate_fd(uv_loop_t* loop, int fd);
+
+/* various */
+void uv__async_close(uv_async_t* handle);
+void uv__check_close(uv_check_t* handle);
+void uv__fs_event_close(uv_fs_event_t* handle);
+void uv__idle_close(uv_idle_t* handle);
+void uv__pipe_close(uv_pipe_t* handle);
+void uv__poll_close(uv_poll_t* handle);
+void uv__prepare_close(uv_prepare_t* handle);
+void uv__process_close(uv_process_t* handle);
+void uv__stream_close(uv_stream_t* handle);
+void uv__tcp_close(uv_tcp_t* handle);
+void uv__udp_close(uv_udp_t* handle);
+void uv__udp_finish_close(uv_udp_t* handle);
+uv_handle_type uv__handle_type(int fd);
+FILE* uv__open_file(const char* path);
+int uv__getpwuid_r(uv_passwd_t* pwd);
+
+
+#if defined(__APPLE__)
+int uv___stream_fd(const uv_stream_t* handle);
+#define uv__stream_fd(handle) (uv___stream_fd((const uv_stream_t*) (handle)))
+#else
+#define uv__stream_fd(handle) ((handle)->io_watcher.fd)
+#endif /* defined(__APPLE__) */
+
+#ifdef UV__O_NONBLOCK
+# define UV__F_NONBLOCK UV__O_NONBLOCK
+#else
+# define UV__F_NONBLOCK 1
+#endif
+
+int uv__make_socketpair(int fds[2], int flags);
+int uv__make_pipe(int fds[2], int flags);
+
+#if defined(__APPLE__)
+
+int uv__fsevents_init(uv_fs_event_t* handle);
+int uv__fsevents_close(uv_fs_event_t* handle);
+void uv__fsevents_loop_delete(uv_loop_t* loop);
+
+#endif /* defined(__APPLE__) */
+
+UV_UNUSED(static void uv__update_time(uv_loop_t* loop)) {
+ /* Use a fast time source if available. We only need millisecond precision.
+ */
+ loop->time = uv__hrtime(UV_CLOCK_FAST) / 1000000;
+}
+
+UV_UNUSED(static const char* uv__basename_r(const char* path)) {
+ const char* s;
+
+ s = strrchr(path, '/');
+ if (s == NULL)
+ return (char*) path;
+
+ return s + 1;
+}
+
+#if defined(__linux__)
+int uv__inotify_fork(uv_loop_t* loop, void* old_watchers);
+#endif
+
+typedef int (*uv__peersockfunc)(int, struct sockaddr*, socklen_t*);
+
+int uv__getsockpeername(const uv_handle_t* handle,
+ uv__peersockfunc func,
+ struct sockaddr* name,
+ int* namelen);
+
+#endif /* UV_UNIX_INTERNAL_H_ */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/kqueue.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/kqueue.cpp
new file mode 100644
index 0000000..4c4268b
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/kqueue.cpp
@@ -0,0 +1,536 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include "uv.h"
+#include "internal.h"
+
+#include <assert.h>
+#include <stdlib.h>
+#include <string.h>
+#include <errno.h>
+
+#include <sys/sysctl.h>
+#include <sys/types.h>
+#include <sys/event.h>
+#include <sys/time.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <time.h>
+
+/*
+ * Required on
+ * - Until at least FreeBSD 11.0
+ * - Older versions of Mac OS X
+ *
+ * http://www.boost.org/doc/libs/1_61_0/boost/asio/detail/kqueue_reactor.hpp
+ */
+#ifndef EV_OOBAND
+#define EV_OOBAND EV_FLAG1
+#endif
+
+static void uv__fs_event(uv_loop_t* loop, uv__io_t* w, unsigned int fflags);
+
+
+int uv__kqueue_init(uv_loop_t* loop) {
+ loop->backend_fd = kqueue();
+ if (loop->backend_fd == -1)
+ return UV__ERR(errno);
+
+ uv__cloexec(loop->backend_fd, 1);
+
+ return 0;
+}
+
+
+#if defined(__APPLE__) && MAC_OS_X_VERSION_MAX_ALLOWED >= 1070
+static int uv__has_forked_with_cfrunloop;
+#endif
+
+int uv__io_fork(uv_loop_t* loop) {
+ int err;
+ loop->backend_fd = -1;
+ err = uv__kqueue_init(loop);
+ if (err)
+ return err;
+
+#if defined(__APPLE__) && MAC_OS_X_VERSION_MAX_ALLOWED >= 1070
+ if (loop->cf_state != NULL) {
+ /* We cannot start another CFRunloop and/or thread in the child
+ process; CF aborts if you try or if you try to touch the thread
+ at all to kill it. So the best we can do is ignore it from now
+ on. This means we can't watch directories in the same way
+ anymore (like other BSDs). It also means we cannot properly
+ clean up the allocated resources; calling
+ uv__fsevents_loop_delete from uv_loop_close will crash the
+ process. So we sidestep the issue by pretending like we never
+ started it in the first place.
+ */
+ uv__has_forked_with_cfrunloop = 1;
+ uv__free(loop->cf_state);
+ loop->cf_state = NULL;
+ }
+#endif /* #if defined(__APPLE__) && MAC_OS_X_VERSION_MAX_ALLOWED >= 1070 */
+ return err;
+}
+
+
+int uv__io_check_fd(uv_loop_t* loop, int fd) {
+ struct kevent ev;
+ int rc;
+
+ rc = 0;
+ EV_SET(&ev, fd, EVFILT_READ, EV_ADD, 0, 0, 0);
+ if (kevent(loop->backend_fd, &ev, 1, NULL, 0, NULL))
+ rc = UV__ERR(errno);
+
+ EV_SET(&ev, fd, EVFILT_READ, EV_DELETE, 0, 0, 0);
+ if (rc == 0)
+ if (kevent(loop->backend_fd, &ev, 1, NULL, 0, NULL))
+ abort();
+
+ return rc;
+}
+
+
+void uv__io_poll(uv_loop_t* loop, int timeout) {
+ struct kevent events[1024];
+ struct kevent* ev;
+ struct timespec spec;
+ unsigned int nevents;
+ unsigned int revents;
+ QUEUE* q;
+ uv__io_t* w;
+ sigset_t* pset;
+ sigset_t set;
+ uint64_t base;
+ uint64_t diff;
+ int have_signals;
+ int filter;
+ int fflags;
+ int count;
+ int nfds;
+ int fd;
+ int op;
+ int i;
+
+ if (loop->nfds == 0) {
+ assert(QUEUE_EMPTY(&loop->watcher_queue));
+ return;
+ }
+
+ nevents = 0;
+
+ while (!QUEUE_EMPTY(&loop->watcher_queue)) {
+ q = QUEUE_HEAD(&loop->watcher_queue);
+ QUEUE_REMOVE(q);
+ QUEUE_INIT(q);
+
+ w = QUEUE_DATA(q, uv__io_t, watcher_queue);
+ assert(w->pevents != 0);
+ assert(w->fd >= 0);
+ assert(w->fd < (int) loop->nwatchers);
+
+ if ((w->events & POLLIN) == 0 && (w->pevents & POLLIN) != 0) {
+ filter = EVFILT_READ;
+ fflags = 0;
+ op = EV_ADD;
+
+ if (w->cb == uv__fs_event) {
+ filter = EVFILT_VNODE;
+ fflags = NOTE_ATTRIB | NOTE_WRITE | NOTE_RENAME
+ | NOTE_DELETE | NOTE_EXTEND | NOTE_REVOKE;
+ op = EV_ADD | EV_ONESHOT; /* Stop the event from firing repeatedly. */
+ }
+
+ EV_SET(events + nevents, w->fd, filter, op, fflags, 0, 0);
+
+ if (++nevents == ARRAY_SIZE(events)) {
+ if (kevent(loop->backend_fd, events, nevents, NULL, 0, NULL))
+ abort();
+ nevents = 0;
+ }
+ }
+
+ if ((w->events & POLLOUT) == 0 && (w->pevents & POLLOUT) != 0) {
+ EV_SET(events + nevents, w->fd, EVFILT_WRITE, EV_ADD, 0, 0, 0);
+
+ if (++nevents == ARRAY_SIZE(events)) {
+ if (kevent(loop->backend_fd, events, nevents, NULL, 0, NULL))
+ abort();
+ nevents = 0;
+ }
+ }
+
+ if ((w->events & UV__POLLPRI) == 0 && (w->pevents & UV__POLLPRI) != 0) {
+ EV_SET(events + nevents, w->fd, EV_OOBAND, EV_ADD, 0, 0, 0);
+
+ if (++nevents == ARRAY_SIZE(events)) {
+ if (kevent(loop->backend_fd, events, nevents, NULL, 0, NULL))
+ abort();
+ nevents = 0;
+ }
+ }
+
+ w->events = w->pevents;
+ }
+
+ pset = NULL;
+ if (loop->flags & UV_LOOP_BLOCK_SIGPROF) {
+ pset = &set;
+ sigemptyset(pset);
+ sigaddset(pset, SIGPROF);
+ }
+
+ assert(timeout >= -1);
+ base = loop->time;
+ count = 48; /* Benchmarks suggest this gives the best throughput. */
+
+ for (;; nevents = 0) {
+ if (timeout != -1) {
+ spec.tv_sec = timeout / 1000;
+ spec.tv_nsec = (timeout % 1000) * 1000000;
+ }
+
+ if (pset != NULL)
+ pthread_sigmask(SIG_BLOCK, pset, NULL);
+
+ nfds = kevent(loop->backend_fd,
+ events,
+ nevents,
+ events,
+ ARRAY_SIZE(events),
+ timeout == -1 ? NULL : &spec);
+
+ if (pset != NULL)
+ pthread_sigmask(SIG_UNBLOCK, pset, NULL);
+
+ /* Update loop->time unconditionally. It's tempting to skip the update when
+ * timeout == 0 (i.e. non-blocking poll) but there is no guarantee that the
+ * operating system didn't reschedule our process while in the syscall.
+ */
+ SAVE_ERRNO(uv__update_time(loop));
+
+ if (nfds == 0) {
+ assert(timeout != -1);
+ return;
+ }
+
+ if (nfds == -1) {
+ if (errno != EINTR)
+ abort();
+
+ if (timeout == 0)
+ return;
+
+ if (timeout == -1)
+ continue;
+
+ /* Interrupted by a signal. Update timeout and poll again. */
+ goto update_timeout;
+ }
+
+ have_signals = 0;
+ nevents = 0;
+
+ assert(loop->watchers != NULL);
+ loop->watchers[loop->nwatchers] = (uv__io_t*) events;
+ loop->watchers[loop->nwatchers + 1] = (uv__io_t*) (uintptr_t) nfds;
+ for (i = 0; i < nfds; i++) {
+ ev = events + i;
+ fd = ev->ident;
+ /* Skip invalidated events, see uv__platform_invalidate_fd */
+ if (fd == -1)
+ continue;
+ w = (uv__io_t*)loop->watchers[fd];
+
+ if (w == NULL) {
+ /* File descriptor that we've stopped watching, disarm it.
+ * TODO: batch up. */
+ struct kevent events[1];
+
+ EV_SET(events + 0, fd, ev->filter, EV_DELETE, 0, 0, 0);
+ if (kevent(loop->backend_fd, events, 1, NULL, 0, NULL))
+ if (errno != EBADF && errno != ENOENT)
+ abort();
+
+ continue;
+ }
+
+ if (ev->filter == EVFILT_VNODE) {
+ assert(w->events == POLLIN);
+ assert(w->pevents == POLLIN);
+ w->cb(loop, w, ev->fflags); /* XXX always uv__fs_event() */
+ nevents++;
+ continue;
+ }
+
+ revents = 0;
+
+ if (ev->filter == EVFILT_READ) {
+ if (w->pevents & POLLIN) {
+ revents |= POLLIN;
+ w->rcount = ev->data;
+ } else {
+ /* TODO batch up */
+ struct kevent events[1];
+ EV_SET(events + 0, fd, ev->filter, EV_DELETE, 0, 0, 0);
+ if (kevent(loop->backend_fd, events, 1, NULL, 0, NULL))
+ if (errno != ENOENT)
+ abort();
+ }
+ }
+
+ if (ev->filter == EV_OOBAND) {
+ if (w->pevents & UV__POLLPRI) {
+ revents |= UV__POLLPRI;
+ w->rcount = ev->data;
+ } else {
+ /* TODO batch up */
+ struct kevent events[1];
+ EV_SET(events + 0, fd, ev->filter, EV_DELETE, 0, 0, 0);
+ if (kevent(loop->backend_fd, events, 1, NULL, 0, NULL))
+ if (errno != ENOENT)
+ abort();
+ }
+ }
+
+ if (ev->filter == EVFILT_WRITE) {
+ if (w->pevents & POLLOUT) {
+ revents |= POLLOUT;
+ w->wcount = ev->data;
+ } else {
+ /* TODO batch up */
+ struct kevent events[1];
+ EV_SET(events + 0, fd, ev->filter, EV_DELETE, 0, 0, 0);
+ if (kevent(loop->backend_fd, events, 1, NULL, 0, NULL))
+ if (errno != ENOENT)
+ abort();
+ }
+ }
+
+ if (ev->flags & EV_ERROR)
+ revents |= POLLERR;
+
+ if ((ev->flags & EV_EOF) && (w->pevents & UV__POLLRDHUP))
+ revents |= UV__POLLRDHUP;
+
+ if (revents == 0)
+ continue;
+
+ /* Run signal watchers last. This also affects child process watchers
+ * because those are implemented in terms of signal watchers.
+ */
+ if (w == &loop->signal_io_watcher)
+ have_signals = 1;
+ else
+ w->cb(loop, w, revents);
+
+ nevents++;
+ }
+
+ if (have_signals != 0)
+ loop->signal_io_watcher.cb(loop, &loop->signal_io_watcher, POLLIN);
+
+ loop->watchers[loop->nwatchers] = NULL;
+ loop->watchers[loop->nwatchers + 1] = NULL;
+
+ if (have_signals != 0)
+ return; /* Event loop should cycle now so don't poll again. */
+
+ if (nevents != 0) {
+ if (nfds == ARRAY_SIZE(events) && --count != 0) {
+ /* Poll for more events but don't block this time. */
+ timeout = 0;
+ continue;
+ }
+ return;
+ }
+
+ if (timeout == 0)
+ return;
+
+ if (timeout == -1)
+ continue;
+
+update_timeout:
+ assert(timeout > 0);
+
+ diff = loop->time - base;
+ if (diff >= (uint64_t) timeout)
+ return;
+
+ timeout -= diff;
+ }
+}
+
+
+void uv__platform_invalidate_fd(uv_loop_t* loop, int fd) {
+ struct kevent* events;
+ uintptr_t i;
+ uintptr_t nfds;
+
+ assert(loop->watchers != NULL);
+ assert(fd >= 0);
+
+ events = (struct kevent*) loop->watchers[loop->nwatchers];
+ nfds = (uintptr_t) loop->watchers[loop->nwatchers + 1];
+ if (events == NULL)
+ return;
+
+ /* Invalidate events with same file descriptor */
+ for (i = 0; i < nfds; i++)
+ if ((int) events[i].ident == fd)
+ events[i].ident = -1;
+}
+
+
+static void uv__fs_event(uv_loop_t* loop, uv__io_t* w, unsigned int fflags) {
+ uv_fs_event_t* handle;
+ struct kevent ev;
+ int events;
+ const char* path;
+#if defined(F_GETPATH)
+ /* MAXPATHLEN == PATH_MAX but the former is what XNU calls it internally. */
+ char pathbuf[MAXPATHLEN];
+#endif
+
+ handle = container_of(w, uv_fs_event_t, event_watcher);
+
+ if (fflags & (NOTE_ATTRIB | NOTE_EXTEND))
+ events = UV_CHANGE;
+ else
+ events = UV_RENAME;
+
+ path = NULL;
+#if defined(F_GETPATH)
+ /* Also works when the file has been unlinked from the file system. Passing
+ * in the path when the file has been deleted is arguably a little strange
+ * but it's consistent with what the inotify backend does.
+ */
+ if (fcntl(handle->event_watcher.fd, F_GETPATH, pathbuf) == 0)
+ path = uv__basename_r(pathbuf);
+#endif
+ handle->cb(handle, path, events, 0);
+
+ if (handle->event_watcher.fd == -1)
+ return;
+
+ /* Watcher operates in one-shot mode, re-arm it. */
+ fflags = NOTE_ATTRIB | NOTE_WRITE | NOTE_RENAME
+ | NOTE_DELETE | NOTE_EXTEND | NOTE_REVOKE;
+
+ EV_SET(&ev, w->fd, EVFILT_VNODE, EV_ADD | EV_ONESHOT, fflags, 0, 0);
+
+ if (kevent(loop->backend_fd, &ev, 1, NULL, 0, NULL))
+ abort();
+}
+
+
+int uv_fs_event_init(uv_loop_t* loop, uv_fs_event_t* handle) {
+ uv__handle_init(loop, (uv_handle_t*)handle, UV_FS_EVENT);
+ return 0;
+}
+
+
+int uv_fs_event_start(uv_fs_event_t* handle,
+ uv_fs_event_cb cb,
+ const char* path,
+ unsigned int flags) {
+ int fd;
+
+ if (uv__is_active(handle))
+ return UV_EINVAL;
+
+#if defined(__APPLE__) && MAC_OS_X_VERSION_MAX_ALLOWED >= 1070
+ /* Nullify field to perform checks later */
+ handle->cf_cb = NULL;
+ handle->realpath = NULL;
+ handle->realpath_len = 0;
+ handle->cf_flags = flags;
+
+ if (!uv__has_forked_with_cfrunloop) {
+ int r;
+ /* The fallback fd is not used */
+ handle->event_watcher.fd = -1;
+ handle->path = uv__strdup(path);
+ if (handle->path == NULL)
+ return UV_ENOMEM;
+ handle->cb = cb;
+ r = uv__fsevents_init(handle);
+ if (r == 0) {
+ uv__handle_start(handle);
+ } else {
+ uv__free(handle->path);
+ handle->path = NULL;
+ }
+ return r;
+ }
+#endif /* #if defined(__APPLE__) && MAC_OS_X_VERSION_MAX_ALLOWED >= 1070 */
+
+ /* TODO open asynchronously - but how do we report back errors? */
+ fd = open(path, O_RDONLY);
+ if (fd == -1)
+ return UV__ERR(errno);
+
+ handle->path = uv__strdup(path);
+ if (handle->path == NULL) {
+ uv__close_nocheckstdio(fd);
+ return UV_ENOMEM;
+ }
+
+ handle->cb = cb;
+ uv__handle_start(handle);
+ uv__io_init(&handle->event_watcher, uv__fs_event, fd);
+ uv__io_start(handle->loop, &handle->event_watcher, POLLIN);
+
+ return 0;
+}
+
+
+int uv_fs_event_stop(uv_fs_event_t* handle) {
+ int r;
+ r = 0;
+
+ if (!uv__is_active(handle))
+ return 0;
+
+ uv__handle_stop(handle);
+
+#if defined(__APPLE__) && MAC_OS_X_VERSION_MAX_ALLOWED >= 1070
+ if (!uv__has_forked_with_cfrunloop)
+ r = uv__fsevents_close(handle);
+#endif
+
+ if (handle->event_watcher.fd != -1) {
+ uv__io_close(handle->loop, &handle->event_watcher);
+ uv__close(handle->event_watcher.fd);
+ handle->event_watcher.fd = -1;
+ }
+
+ uv__free(handle->path);
+ handle->path = NULL;
+
+ return r;
+}
+
+
+void uv__fs_event_close(uv_fs_event_t* handle) {
+ uv_fs_event_stop(handle);
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/linux-core.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/linux-core.cpp
new file mode 100644
index 0000000..8a26782
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/linux-core.cpp
@@ -0,0 +1,1062 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+/* We lean on the fact that POLL{IN,OUT,ERR,HUP} correspond with their
+ * EPOLL* counterparts. We use the POLL* variants in this file because that
+ * is what libuv uses elsewhere.
+ */
+
+#include "uv.h"
+#include "internal.h"
+
+#include <inttypes.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <assert.h>
+#include <errno.h>
+
+#include <net/if.h>
+#include <sys/epoll.h>
+#include <sys/param.h>
+#include <sys/prctl.h>
+#include <sys/sysinfo.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <time.h>
+
+#define HAVE_IFADDRS_H 1
+
+#ifdef __UCLIBC__
+# if __UCLIBC_MAJOR__ < 0 && __UCLIBC_MINOR__ < 9 && __UCLIBC_SUBLEVEL__ < 32
+# undef HAVE_IFADDRS_H
+# endif
+#endif
+
+#ifdef HAVE_IFADDRS_H
+# if defined(__ANDROID__)
+# include "uv/android-ifaddrs.h"
+# else
+# include <ifaddrs.h>
+# endif
+# include <sys/socket.h>
+# include <net/ethernet.h>
+# include <netpacket/packet.h>
+#endif /* HAVE_IFADDRS_H */
+
+/* Available from 2.6.32 onwards. */
+#ifndef CLOCK_MONOTONIC_COARSE
+# define CLOCK_MONOTONIC_COARSE 6
+#endif
+
+#ifdef __FRC_ROBORIO__
+#include "wpi/timestamp.h"
+#endif
+
+/* This is rather annoying: CLOCK_BOOTTIME lives in <linux/time.h> but we can't
+ * include that file because it conflicts with <time.h>. We'll just have to
+ * define it ourselves.
+ */
+#ifndef CLOCK_BOOTTIME
+# define CLOCK_BOOTTIME 7
+#endif
+
+static int read_models(unsigned int numcpus, uv_cpu_info_t* ci);
+static int read_times(FILE* statfile_fp,
+ unsigned int numcpus,
+ uv_cpu_info_t* ci);
+static void read_speeds(unsigned int numcpus, uv_cpu_info_t* ci);
+static uint64_t read_cpufreq(unsigned int cpunum);
+
+
+int uv__platform_loop_init(uv_loop_t* loop) {
+ int fd;
+
+ /* It was reported that EPOLL_CLOEXEC is not defined on Android API < 21,
+ * a.k.a. Lollipop. Since EPOLL_CLOEXEC is an alias for O_CLOEXEC on all
+ * architectures, we just use that instead.
+ */
+ fd = epoll_create1(O_CLOEXEC);
+
+ /* epoll_create1() can fail either because it's not implemented (old kernel)
+ * or because it doesn't understand the O_CLOEXEC flag.
+ */
+ if (fd == -1 && (errno == ENOSYS || errno == EINVAL)) {
+ fd = epoll_create(256);
+
+ if (fd != -1)
+ uv__cloexec(fd, 1);
+ }
+
+ loop->backend_fd = fd;
+ loop->inotify_fd = -1;
+ loop->inotify_watchers = NULL;
+
+ if (fd == -1)
+ return UV__ERR(errno);
+
+ return 0;
+}
+
+
+int uv__io_fork(uv_loop_t* loop) {
+ int err;
+ void* old_watchers;
+
+ old_watchers = loop->inotify_watchers;
+
+ uv__close(loop->backend_fd);
+ loop->backend_fd = -1;
+ uv__platform_loop_delete(loop);
+
+ err = uv__platform_loop_init(loop);
+ if (err)
+ return err;
+
+ return uv__inotify_fork(loop, old_watchers);
+}
+
+
+void uv__platform_loop_delete(uv_loop_t* loop) {
+ if (loop->inotify_fd == -1) return;
+ uv__io_stop(loop, &loop->inotify_read_watcher, POLLIN);
+ uv__close(loop->inotify_fd);
+ loop->inotify_fd = -1;
+}
+
+
+void uv__platform_invalidate_fd(uv_loop_t* loop, int fd) {
+ struct epoll_event* events;
+ struct epoll_event dummy;
+ uintptr_t i;
+ uintptr_t nfds;
+
+ assert(loop->watchers != NULL);
+ assert(fd >= 0);
+
+ events = (struct epoll_event*) loop->watchers[loop->nwatchers];
+ nfds = (uintptr_t) loop->watchers[loop->nwatchers + 1];
+ if (events != NULL)
+ /* Invalidate events with same file descriptor */
+ for (i = 0; i < nfds; i++)
+ if (events[i].data.fd == fd)
+ events[i].data.fd = -1;
+
+ /* Remove the file descriptor from the epoll.
+ * This avoids a problem where the same file description remains open
+ * in another process, causing repeated junk epoll events.
+ *
+ * We pass in a dummy epoll_event, to work around a bug in old kernels.
+ */
+ if (loop->backend_fd >= 0) {
+ /* Work around a bug in kernels 3.10 to 3.19 where passing a struct that
+ * has the EPOLLWAKEUP flag set generates spurious audit syslog warnings.
+ */
+ memset(&dummy, 0, sizeof(dummy));
+ epoll_ctl(loop->backend_fd, EPOLL_CTL_DEL, fd, &dummy);
+ }
+}
+
+
+int uv__io_check_fd(uv_loop_t* loop, int fd) {
+ struct epoll_event e;
+ int rc;
+
+ memset(&e, 0, sizeof(e));
+ e.events = POLLIN;
+ e.data.fd = -1;
+
+ rc = 0;
+ if (epoll_ctl(loop->backend_fd, EPOLL_CTL_ADD, fd, &e))
+ if (errno != EEXIST)
+ rc = UV__ERR(errno);
+
+ if (rc == 0)
+ if (epoll_ctl(loop->backend_fd, EPOLL_CTL_DEL, fd, &e))
+ abort();
+
+ return rc;
+}
+
+
+void uv__io_poll(uv_loop_t* loop, int timeout) {
+ /* A bug in kernels < 2.6.37 makes timeouts larger than ~30 minutes
+ * effectively infinite on 32 bits architectures. To avoid blocking
+ * indefinitely, we cap the timeout and poll again if necessary.
+ *
+ * Note that "30 minutes" is a simplification because it depends on
+ * the value of CONFIG_HZ. The magic constant assumes CONFIG_HZ=1200,
+ * that being the largest value I have seen in the wild (and only once.)
+ */
+ static const int max_safe_timeout = 1789569;
+ struct epoll_event events[1024];
+ struct epoll_event* pe;
+ struct epoll_event e;
+ int real_timeout;
+ QUEUE* q;
+ uv__io_t* w;
+ sigset_t sigset;
+ sigset_t* psigset;
+ uint64_t base;
+ int have_signals;
+ int nevents;
+ int count;
+ int nfds;
+ int fd;
+ int op;
+ int i;
+
+ if (loop->nfds == 0) {
+ assert(QUEUE_EMPTY(&loop->watcher_queue));
+ return;
+ }
+
+ memset(&e, 0, sizeof(e));
+
+ while (!QUEUE_EMPTY(&loop->watcher_queue)) {
+ q = QUEUE_HEAD(&loop->watcher_queue);
+ QUEUE_REMOVE(q);
+ QUEUE_INIT(q);
+
+ w = QUEUE_DATA(q, uv__io_t, watcher_queue);
+ assert(w->pevents != 0);
+ assert(w->fd >= 0);
+ assert(w->fd < (int) loop->nwatchers);
+
+ e.events = w->pevents;
+ e.data.fd = w->fd;
+
+ if (w->events == 0)
+ op = EPOLL_CTL_ADD;
+ else
+ op = EPOLL_CTL_MOD;
+
+ /* XXX Future optimization: do EPOLL_CTL_MOD lazily if we stop watching
+ * events, skip the syscall and squelch the events after epoll_wait().
+ */
+ if (epoll_ctl(loop->backend_fd, op, w->fd, &e)) {
+ if (errno != EEXIST)
+ abort();
+
+ assert(op == EPOLL_CTL_ADD);
+
+ /* We've reactivated a file descriptor that's been watched before. */
+ if (epoll_ctl(loop->backend_fd, EPOLL_CTL_MOD, w->fd, &e))
+ abort();
+ }
+
+ w->events = w->pevents;
+ }
+
+ psigset = NULL;
+ if (loop->flags & UV_LOOP_BLOCK_SIGPROF) {
+ sigemptyset(&sigset);
+ sigaddset(&sigset, SIGPROF);
+ psigset = &sigset;
+ }
+
+ assert(timeout >= -1);
+ base = loop->time;
+ count = 48; /* Benchmarks suggest this gives the best throughput. */
+ real_timeout = timeout;
+
+ for (;;) {
+ /* See the comment for max_safe_timeout for an explanation of why
+ * this is necessary. Executive summary: kernel bug workaround.
+ */
+ if (sizeof(int32_t) == sizeof(long) && timeout >= max_safe_timeout)
+ timeout = max_safe_timeout;
+
+ nfds = epoll_pwait(loop->backend_fd,
+ events,
+ ARRAY_SIZE(events),
+ timeout,
+ psigset);
+
+ /* Update loop->time unconditionally. It's tempting to skip the update when
+ * timeout == 0 (i.e. non-blocking poll) but there is no guarantee that the
+ * operating system didn't reschedule our process while in the syscall.
+ */
+ SAVE_ERRNO(uv__update_time(loop));
+
+ if (nfds == 0) {
+ assert(timeout != -1);
+
+ if (timeout == 0)
+ return;
+
+ /* We may have been inside the system call for longer than |timeout|
+ * milliseconds so we need to update the timestamp to avoid drift.
+ */
+ goto update_timeout;
+ }
+
+ if (nfds == -1) {
+ if (errno != EINTR)
+ abort();
+
+ if (timeout == -1)
+ continue;
+
+ if (timeout == 0)
+ return;
+
+ /* Interrupted by a signal. Update timeout and poll again. */
+ goto update_timeout;
+ }
+
+ have_signals = 0;
+ nevents = 0;
+
+ assert(loop->watchers != NULL);
+ loop->watchers[loop->nwatchers] = events;
+ loop->watchers[loop->nwatchers + 1] = (void*) (uintptr_t) nfds;
+ for (i = 0; i < nfds; i++) {
+ pe = events + i;
+ fd = pe->data.fd;
+
+ /* Skip invalidated events, see uv__platform_invalidate_fd */
+ if (fd == -1)
+ continue;
+
+ assert(fd >= 0);
+ assert((unsigned) fd < loop->nwatchers);
+
+ w = (uv__io_t*)loop->watchers[fd];
+
+ if (w == NULL) {
+ /* File descriptor that we've stopped watching, disarm it.
+ *
+ * Ignore all errors because we may be racing with another thread
+ * when the file descriptor is closed.
+ */
+ epoll_ctl(loop->backend_fd, EPOLL_CTL_DEL, fd, pe);
+ continue;
+ }
+
+ /* Give users only events they're interested in. Prevents spurious
+ * callbacks when previous callback invocation in this loop has stopped
+ * the current watcher. Also, filters out events that users has not
+ * requested us to watch.
+ */
+ pe->events &= w->pevents | POLLERR | POLLHUP;
+
+ /* Work around an epoll quirk where it sometimes reports just the
+ * EPOLLERR or EPOLLHUP event. In order to force the event loop to
+ * move forward, we merge in the read/write events that the watcher
+ * is interested in; uv__read() and uv__write() will then deal with
+ * the error or hangup in the usual fashion.
+ *
+ * Note to self: happens when epoll reports EPOLLIN|EPOLLHUP, the user
+ * reads the available data, calls uv_read_stop(), then sometime later
+ * calls uv_read_start() again. By then, libuv has forgotten about the
+ * hangup and the kernel won't report EPOLLIN again because there's
+ * nothing left to read. If anything, libuv is to blame here. The
+ * current hack is just a quick bandaid; to properly fix it, libuv
+ * needs to remember the error/hangup event. We should get that for
+ * free when we switch over to edge-triggered I/O.
+ */
+ if (pe->events == POLLERR || pe->events == POLLHUP)
+ pe->events |=
+ w->pevents & (POLLIN | POLLOUT | UV__POLLRDHUP | UV__POLLPRI);
+
+ if (pe->events != 0) {
+ /* Run signal watchers last. This also affects child process watchers
+ * because those are implemented in terms of signal watchers.
+ */
+ if (w == &loop->signal_io_watcher)
+ have_signals = 1;
+ else
+ w->cb(loop, w, pe->events);
+
+ nevents++;
+ }
+ }
+
+ if (have_signals != 0)
+ loop->signal_io_watcher.cb(loop, &loop->signal_io_watcher, POLLIN);
+
+ loop->watchers[loop->nwatchers] = NULL;
+ loop->watchers[loop->nwatchers + 1] = NULL;
+
+ if (have_signals != 0)
+ return; /* Event loop should cycle now so don't poll again. */
+
+ if (nevents != 0) {
+ if (nfds == ARRAY_SIZE(events) && --count != 0) {
+ /* Poll for more events but don't block this time. */
+ timeout = 0;
+ continue;
+ }
+ return;
+ }
+
+ if (timeout == 0)
+ return;
+
+ if (timeout == -1)
+ continue;
+
+update_timeout:
+ assert(timeout > 0);
+
+ real_timeout -= (loop->time - base);
+ if (real_timeout <= 0)
+ return;
+
+ timeout = real_timeout;
+ }
+}
+
+
+uint64_t uv__hrtime(uv_clocktype_t type) {
+#ifdef __FRC_ROBORIO__
+ return wpi::Now() * 1000u;
+#else
+ static clock_t fast_clock_id = -1;
+ struct timespec t;
+ clock_t clock_id;
+
+ /* Prefer CLOCK_MONOTONIC_COARSE if available but only when it has
+ * millisecond granularity or better. CLOCK_MONOTONIC_COARSE is
+ * serviced entirely from the vDSO, whereas CLOCK_MONOTONIC may
+ * decide to make a costly system call.
+ */
+ /* TODO(bnoordhuis) Use CLOCK_MONOTONIC_COARSE for UV_CLOCK_PRECISE
+ * when it has microsecond granularity or better (unlikely).
+ */
+ if (type == UV_CLOCK_FAST && fast_clock_id == -1) {
+ if (clock_getres(CLOCK_MONOTONIC_COARSE, &t) == 0 &&
+ t.tv_nsec <= 1 * 1000 * 1000) {
+ fast_clock_id = CLOCK_MONOTONIC_COARSE;
+ } else {
+ fast_clock_id = CLOCK_MONOTONIC;
+ }
+ }
+
+ clock_id = CLOCK_MONOTONIC;
+ if (type == UV_CLOCK_FAST)
+ clock_id = fast_clock_id;
+
+ if (clock_gettime(clock_id, &t))
+ return 0; /* Not really possible. */
+
+ return t.tv_sec * (uint64_t) 1e9 + t.tv_nsec;
+#endif
+}
+
+
+int uv_resident_set_memory(size_t* rss) {
+ char buf[1024];
+ const char* s;
+ ssize_t n;
+ long val;
+ int fd;
+ int i;
+
+ do
+ fd = open("/proc/self/stat", O_RDONLY);
+ while (fd == -1 && errno == EINTR);
+
+ if (fd == -1)
+ return UV__ERR(errno);
+
+ do
+ n = read(fd, buf, sizeof(buf) - 1);
+ while (n == -1 && errno == EINTR);
+
+ uv__close(fd);
+ if (n == -1)
+ return UV__ERR(errno);
+ buf[n] = '\0';
+
+ s = strchr(buf, ' ');
+ if (s == NULL)
+ goto err;
+
+ s += 1;
+ if (*s != '(')
+ goto err;
+
+ s = strchr(s, ')');
+ if (s == NULL)
+ goto err;
+
+ for (i = 1; i <= 22; i++) {
+ s = strchr(s + 1, ' ');
+ if (s == NULL)
+ goto err;
+ }
+
+ errno = 0;
+ val = strtol(s, NULL, 10);
+ if (errno != 0)
+ goto err;
+ if (val < 0)
+ goto err;
+
+ *rss = val * getpagesize();
+ return 0;
+
+err:
+ return UV_EINVAL;
+}
+
+
+int uv_uptime(double* uptime) {
+ static volatile int no_clock_boottime;
+ struct timespec now;
+ int r;
+
+ /* Try CLOCK_BOOTTIME first, fall back to CLOCK_MONOTONIC if not available
+ * (pre-2.6.39 kernels). CLOCK_MONOTONIC doesn't increase when the system
+ * is suspended.
+ */
+ if (no_clock_boottime) {
+ retry: r = clock_gettime(CLOCK_MONOTONIC, &now);
+ }
+ else if ((r = clock_gettime(CLOCK_BOOTTIME, &now)) && errno == EINVAL) {
+ no_clock_boottime = 1;
+ goto retry;
+ }
+
+ if (r)
+ return UV__ERR(errno);
+
+ *uptime = now.tv_sec;
+ return 0;
+}
+
+
+static int uv__cpu_num(FILE* statfile_fp, unsigned int* numcpus) {
+ unsigned int num;
+ char buf[1024];
+
+ if (!fgets(buf, sizeof(buf), statfile_fp))
+ return UV_EIO;
+
+ num = 0;
+ while (fgets(buf, sizeof(buf), statfile_fp)) {
+ if (strncmp(buf, "cpu", 3))
+ break;
+ num++;
+ }
+
+ if (num == 0)
+ return UV_EIO;
+
+ *numcpus = num;
+ return 0;
+}
+
+
+int uv_cpu_info(uv_cpu_info_t** cpu_infos, int* count) {
+ unsigned int numcpus;
+ uv_cpu_info_t* ci;
+ int err;
+ FILE* statfile_fp;
+
+ *cpu_infos = NULL;
+ *count = 0;
+
+ statfile_fp = uv__open_file("/proc/stat");
+ if (statfile_fp == NULL)
+ return UV__ERR(errno);
+
+ err = uv__cpu_num(statfile_fp, &numcpus);
+ if (err < 0)
+ goto out;
+
+ err = UV_ENOMEM;
+ ci = (uv_cpu_info_t*)uv__calloc(numcpus, sizeof(*ci));
+ if (ci == NULL)
+ goto out;
+
+ err = read_models(numcpus, ci);
+ if (err == 0)
+ err = read_times(statfile_fp, numcpus, ci);
+
+ if (err) {
+ uv_free_cpu_info(ci, numcpus);
+ goto out;
+ }
+
+ /* read_models() on x86 also reads the CPU speed from /proc/cpuinfo.
+ * We don't check for errors here. Worst case, the field is left zero.
+ */
+ if (ci[0].speed == 0)
+ read_speeds(numcpus, ci);
+
+ *cpu_infos = ci;
+ *count = numcpus;
+ err = 0;
+
+out:
+
+ if (fclose(statfile_fp))
+ if (errno != EINTR && errno != EINPROGRESS)
+ abort();
+
+ return err;
+}
+
+
+static void read_speeds(unsigned int numcpus, uv_cpu_info_t* ci) {
+ unsigned int num;
+
+ for (num = 0; num < numcpus; num++)
+ ci[num].speed = read_cpufreq(num) / 1000;
+}
+
+
+/* Also reads the CPU frequency on x86. The other architectures only have
+ * a BogoMIPS field, which may not be very accurate.
+ *
+ * Note: Simply returns on error, uv_cpu_info() takes care of the cleanup.
+ */
+static int read_models(unsigned int numcpus, uv_cpu_info_t* ci) {
+ static const char model_marker[] = "model name\t: ";
+ static const char speed_marker[] = "cpu MHz\t\t: ";
+ const char* inferred_model;
+ unsigned int model_idx;
+ unsigned int speed_idx;
+ char buf[1024];
+ char* model;
+ FILE* fp;
+
+ /* Most are unused on non-ARM, non-MIPS and non-x86 architectures. */
+ (void) &model_marker;
+ (void) &speed_marker;
+ (void) &speed_idx;
+ (void) &model;
+ (void) &buf;
+ (void) &fp;
+
+ model_idx = 0;
+ speed_idx = 0;
+
+#if defined(__arm__) || \
+ defined(__i386__) || \
+ defined(__mips__) || \
+ defined(__x86_64__)
+ fp = uv__open_file("/proc/cpuinfo");
+ if (fp == NULL)
+ return UV__ERR(errno);
+
+ while (fgets(buf, sizeof(buf), fp)) {
+ if (model_idx < numcpus) {
+ if (strncmp(buf, model_marker, sizeof(model_marker) - 1) == 0) {
+ model = buf + sizeof(model_marker) - 1;
+ model = uv__strndup(model, strlen(model) - 1); /* Strip newline. */
+ if (model == NULL) {
+ fclose(fp);
+ return UV_ENOMEM;
+ }
+ ci[model_idx++].model = model;
+ continue;
+ }
+ }
+#if defined(__arm__) || defined(__mips__)
+ if (model_idx < numcpus) {
+#if defined(__arm__)
+ /* Fallback for pre-3.8 kernels. */
+ static const char model_marker[] = "Processor\t: ";
+#else /* defined(__mips__) */
+ static const char model_marker[] = "cpu model\t\t: ";
+#endif
+ if (strncmp(buf, model_marker, sizeof(model_marker) - 1) == 0) {
+ model = buf + sizeof(model_marker) - 1;
+ model = uv__strndup(model, strlen(model) - 1); /* Strip newline. */
+ if (model == NULL) {
+ fclose(fp);
+ return UV_ENOMEM;
+ }
+ ci[model_idx++].model = model;
+ continue;
+ }
+ }
+#else /* !__arm__ && !__mips__ */
+ if (speed_idx < numcpus) {
+ if (strncmp(buf, speed_marker, sizeof(speed_marker) - 1) == 0) {
+ ci[speed_idx++].speed = atoi(buf + sizeof(speed_marker) - 1);
+ continue;
+ }
+ }
+#endif /* __arm__ || __mips__ */
+ }
+
+ fclose(fp);
+#endif /* __arm__ || __i386__ || __mips__ || __x86_64__ */
+
+ /* Now we want to make sure that all the models contain *something* because
+ * it's not safe to leave them as null. Copy the last entry unless there
+ * isn't one, in that case we simply put "unknown" into everything.
+ */
+ inferred_model = "unknown";
+ if (model_idx > 0)
+ inferred_model = ci[model_idx - 1].model;
+
+ while (model_idx < numcpus) {
+ model = uv__strndup(inferred_model, strlen(inferred_model));
+ if (model == NULL)
+ return UV_ENOMEM;
+ ci[model_idx++].model = model;
+ }
+
+ return 0;
+}
+
+
+static int read_times(FILE* statfile_fp,
+ unsigned int numcpus,
+ uv_cpu_info_t* ci) {
+ struct uv_cpu_times_s ts;
+ uint64_t clock_ticks;
+ uint64_t user;
+ uint64_t nice;
+ uint64_t sys;
+ uint64_t idle;
+ uint64_t dummy;
+ uint64_t irq;
+ uint64_t num;
+ uint64_t len;
+ char buf[1024];
+
+ clock_ticks = sysconf(_SC_CLK_TCK);
+ assert(clock_ticks != (uint64_t) -1);
+ assert(clock_ticks != 0);
+
+ rewind(statfile_fp);
+
+ if (!fgets(buf, sizeof(buf), statfile_fp))
+ abort();
+
+ num = 0;
+
+ while (fgets(buf, sizeof(buf), statfile_fp)) {
+ if (num >= numcpus)
+ break;
+
+ if (strncmp(buf, "cpu", 3))
+ break;
+
+ /* skip "cpu<num> " marker */
+ {
+ unsigned int n;
+ int r = sscanf(buf, "cpu%u ", &n);
+ assert(r == 1);
+ (void) r; /* silence build warning */
+ for (len = sizeof("cpu0"); n /= 10; len++);
+ }
+
+ /* Line contains user, nice, system, idle, iowait, irq, softirq, steal,
+ * guest, guest_nice but we're only interested in the first four + irq.
+ *
+ * Don't use %*s to skip fields or %ll to read straight into the uint64_t
+ * fields, they're not allowed in C89 mode.
+ */
+ if (6 != sscanf(buf + len,
+ "%" PRIu64 " %" PRIu64 " %" PRIu64
+ "%" PRIu64 " %" PRIu64 " %" PRIu64,
+ &user,
+ &nice,
+ &sys,
+ &idle,
+ &dummy,
+ &irq))
+ abort();
+
+ ts.user = clock_ticks * user;
+ ts.nice = clock_ticks * nice;
+ ts.sys = clock_ticks * sys;
+ ts.idle = clock_ticks * idle;
+ ts.irq = clock_ticks * irq;
+ ci[num++].cpu_times = ts;
+ }
+ assert(num == numcpus);
+
+ return 0;
+}
+
+
+static uint64_t read_cpufreq(unsigned int cpunum) {
+ uint64_t val;
+ char buf[1024];
+ FILE* fp;
+
+ snprintf(buf,
+ sizeof(buf),
+ "/sys/devices/system/cpu/cpu%u/cpufreq/scaling_cur_freq",
+ cpunum);
+
+ fp = uv__open_file(buf);
+ if (fp == NULL)
+ return 0;
+
+ if (fscanf(fp, "%" PRIu64, &val) != 1)
+ val = 0;
+
+ fclose(fp);
+
+ return val;
+}
+
+
+void uv_free_cpu_info(uv_cpu_info_t* cpu_infos, int count) {
+ int i;
+
+ for (i = 0; i < count; i++) {
+ uv__free(cpu_infos[i].model);
+ }
+
+ uv__free(cpu_infos);
+}
+
+static int uv__ifaddr_exclude(struct ifaddrs *ent, int exclude_type) {
+ if (!((ent->ifa_flags & IFF_UP) && (ent->ifa_flags & IFF_RUNNING)))
+ return 1;
+ if (ent->ifa_addr == NULL)
+ return 1;
+ /*
+ * On Linux getifaddrs returns information related to the raw underlying
+ * devices. We're not interested in this information yet.
+ */
+ if (ent->ifa_addr->sa_family == PF_PACKET)
+ return exclude_type;
+ return !exclude_type;
+}
+
+int uv_interface_addresses(uv_interface_address_t** addresses, int* count) {
+#ifndef HAVE_IFADDRS_H
+ *count = 0;
+ *addresses = NULL;
+ return UV_ENOSYS;
+#else
+ struct ifaddrs *addrs, *ent;
+ uv_interface_address_t* address;
+ int i;
+ struct sockaddr_ll *sll;
+
+ *count = 0;
+ *addresses = NULL;
+
+ if (getifaddrs(&addrs))
+ return UV__ERR(errno);
+
+ /* Count the number of interfaces */
+ for (ent = addrs; ent != NULL; ent = ent->ifa_next) {
+ if (uv__ifaddr_exclude(ent, UV__EXCLUDE_IFADDR))
+ continue;
+
+ (*count)++;
+ }
+
+ if (*count == 0) {
+ freeifaddrs(addrs);
+ return 0;
+ }
+
+ /* Make sure the memory is initiallized to zero using calloc() */
+ *addresses = (uv_interface_address_t*)uv__calloc(*count, sizeof(**addresses));
+ if (!(*addresses)) {
+ freeifaddrs(addrs);
+ return UV_ENOMEM;
+ }
+
+ address = *addresses;
+
+ for (ent = addrs; ent != NULL; ent = ent->ifa_next) {
+ if (uv__ifaddr_exclude(ent, UV__EXCLUDE_IFADDR))
+ continue;
+
+ address->name = uv__strdup(ent->ifa_name);
+
+ if (ent->ifa_addr->sa_family == AF_INET6) {
+ address->address.address6 = *((struct sockaddr_in6*) ent->ifa_addr);
+ } else {
+ address->address.address4 = *((struct sockaddr_in*) ent->ifa_addr);
+ }
+
+ if (ent->ifa_netmask->sa_family == AF_INET6) {
+ address->netmask.netmask6 = *((struct sockaddr_in6*) ent->ifa_netmask);
+ } else {
+ address->netmask.netmask4 = *((struct sockaddr_in*) ent->ifa_netmask);
+ }
+
+ address->is_internal = !!(ent->ifa_flags & IFF_LOOPBACK);
+
+ address++;
+ }
+
+ /* Fill in physical addresses for each interface */
+ for (ent = addrs; ent != NULL; ent = ent->ifa_next) {
+ if (uv__ifaddr_exclude(ent, UV__EXCLUDE_IFPHYS))
+ continue;
+
+ address = *addresses;
+
+ for (i = 0; i < (*count); i++) {
+ size_t namelen = strlen(ent->ifa_name);
+ /* Alias interface share the same physical address */
+ if (strncmp(address->name, ent->ifa_name, namelen) == 0 &&
+ (address->name[namelen] == 0 || address->name[namelen] == ':')) {
+ sll = (struct sockaddr_ll*)ent->ifa_addr;
+ memcpy(address->phys_addr, sll->sll_addr, sizeof(address->phys_addr));
+ }
+ address++;
+ }
+ }
+
+ freeifaddrs(addrs);
+
+ return 0;
+#endif
+}
+
+
+void uv_free_interface_addresses(uv_interface_address_t* addresses,
+ int count) {
+ int i;
+
+ for (i = 0; i < count; i++) {
+ uv__free(addresses[i].name);
+ }
+
+ uv__free(addresses);
+}
+
+
+void uv__set_process_title(const char* title) {
+#if defined(PR_SET_NAME)
+ prctl(PR_SET_NAME, title); /* Only copies first 16 characters. */
+#endif
+}
+
+
+static uint64_t uv__read_proc_meminfo(const char* what) {
+ uint64_t rc;
+ ssize_t n;
+ char* p;
+ int fd;
+ char buf[4096]; /* Large enough to hold all of /proc/meminfo. */
+
+ rc = 0;
+ fd = uv__open_cloexec("/proc/meminfo", O_RDONLY);
+
+ if (fd == -1)
+ return 0;
+
+ n = read(fd, buf, sizeof(buf) - 1);
+
+ if (n <= 0)
+ goto out;
+
+ buf[n] = '\0';
+ p = strstr(buf, what);
+
+ if (p == NULL)
+ goto out;
+
+ p += strlen(what);
+
+ if (1 != sscanf(p, "%" PRIu64 " kB", &rc))
+ goto out;
+
+ rc *= 1024;
+
+out:
+
+ if (uv__close_nocheckstdio(fd))
+ abort();
+
+ return rc;
+}
+
+
+uint64_t uv_get_free_memory(void) {
+ struct sysinfo info;
+ uint64_t rc;
+
+ rc = uv__read_proc_meminfo("MemFree:");
+
+ if (rc != 0)
+ return rc;
+
+ if (0 == sysinfo(&info))
+ return (uint64_t) info.freeram * info.mem_unit;
+
+ return 0;
+}
+
+
+uint64_t uv_get_total_memory(void) {
+ struct sysinfo info;
+ uint64_t rc;
+
+ rc = uv__read_proc_meminfo("MemTotal:");
+
+ if (rc != 0)
+ return rc;
+
+ if (0 == sysinfo(&info))
+ return (uint64_t) info.totalram * info.mem_unit;
+
+ return 0;
+}
+
+
+static uint64_t uv__read_cgroups_uint64(const char* cgroup, const char* param) {
+ char filename[256];
+ uint64_t rc;
+ int fd;
+ ssize_t n;
+ char buf[32]; /* Large enough to hold an encoded uint64_t. */
+
+ snprintf(filename, 256, "/sys/fs/cgroup/%s/%s", cgroup, param);
+
+ rc = 0;
+ fd = uv__open_cloexec(filename, O_RDONLY);
+
+ if (fd < 0)
+ return 0;
+
+ n = read(fd, buf, sizeof(buf) - 1);
+
+ if (n > 0) {
+ buf[n] = '\0';
+ sscanf(buf, "%" PRIu64, &rc);
+ }
+
+ if (uv__close_nocheckstdio(fd))
+ abort();
+
+ return rc;
+}
+
+
+uint64_t uv_get_constrained_memory(void) {
+ /*
+ * This might return 0 if there was a problem getting the memory limit from
+ * cgroups. This is OK because a return value of 0 signifies that the memory
+ * limit is unknown.
+ */
+ return uv__read_cgroups_uint64("memory", "memory.limit_in_bytes");
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/linux-inotify.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/linux-inotify.cpp
new file mode 100644
index 0000000..ed484cc
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/linux-inotify.cpp
@@ -0,0 +1,354 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include "uv.h"
+#include "uv/tree.h"
+#include "internal.h"
+
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <assert.h>
+#include <errno.h>
+
+#include <sys/types.h>
+#include <unistd.h>
+
+struct watcher_list {
+ RB_ENTRY(watcher_list) entry;
+ QUEUE watchers;
+ int iterating;
+ char* path;
+ int wd;
+};
+
+struct watcher_root {
+ struct watcher_list* rbh_root;
+};
+#define CAST(p) ((struct watcher_root*)(p))
+
+
+static int compare_watchers(const struct watcher_list* a,
+ const struct watcher_list* b) {
+ if (a->wd < b->wd) return -1;
+ if (a->wd > b->wd) return 1;
+ return 0;
+}
+
+
+RB_GENERATE_STATIC(watcher_root, watcher_list, entry, compare_watchers)
+
+
+static void uv__inotify_read(uv_loop_t* loop,
+ uv__io_t* w,
+ unsigned int revents);
+
+static void maybe_free_watcher_list(struct watcher_list* w,
+ uv_loop_t* loop);
+
+static int new_inotify_fd(void) {
+ int err;
+ int fd;
+
+ fd = uv__inotify_init1(UV__IN_NONBLOCK | UV__IN_CLOEXEC);
+ if (fd != -1)
+ return fd;
+
+ if (errno != ENOSYS)
+ return UV__ERR(errno);
+
+ fd = uv__inotify_init();
+ if (fd == -1)
+ return UV__ERR(errno);
+
+ err = uv__cloexec(fd, 1);
+ if (err == 0)
+ err = uv__nonblock(fd, 1);
+
+ if (err) {
+ uv__close(fd);
+ return err;
+ }
+
+ return fd;
+}
+
+
+static int init_inotify(uv_loop_t* loop) {
+ int err;
+
+ if (loop->inotify_fd != -1)
+ return 0;
+
+ err = new_inotify_fd();
+ if (err < 0)
+ return err;
+
+ loop->inotify_fd = err;
+ uv__io_init(&loop->inotify_read_watcher, uv__inotify_read, loop->inotify_fd);
+ uv__io_start(loop, &loop->inotify_read_watcher, POLLIN);
+
+ return 0;
+}
+
+
+int uv__inotify_fork(uv_loop_t* loop, void* old_watchers) {
+ /* Open the inotify_fd, and re-arm all the inotify watchers. */
+ int err;
+ struct watcher_list* tmp_watcher_list_iter;
+ struct watcher_list* watcher_list;
+ struct watcher_list tmp_watcher_list;
+ QUEUE queue;
+ QUEUE* q;
+ uv_fs_event_t* handle;
+ char* tmp_path;
+
+ if (old_watchers != NULL) {
+ /* We must restore the old watcher list to be able to close items
+ * out of it.
+ */
+ loop->inotify_watchers = old_watchers;
+
+ QUEUE_INIT(&tmp_watcher_list.watchers);
+ /* Note that the queue we use is shared with the start and stop()
+ * functions, making QUEUE_FOREACH unsafe to use. So we use the
+ * QUEUE_MOVE trick to safely iterate. Also don't free the watcher
+ * list until we're done iterating. c.f. uv__inotify_read.
+ */
+ RB_FOREACH_SAFE(watcher_list, watcher_root,
+ CAST(&old_watchers), tmp_watcher_list_iter) {
+ watcher_list->iterating = 1;
+ QUEUE_MOVE(&watcher_list->watchers, &queue);
+ while (!QUEUE_EMPTY(&queue)) {
+ q = QUEUE_HEAD(&queue);
+ handle = QUEUE_DATA(q, uv_fs_event_t, watchers);
+ /* It's critical to keep a copy of path here, because it
+ * will be set to NULL by stop() and then deallocated by
+ * maybe_free_watcher_list
+ */
+ tmp_path = uv__strdup(handle->path);
+ assert(tmp_path != NULL);
+ QUEUE_REMOVE(q);
+ QUEUE_INSERT_TAIL(&watcher_list->watchers, q);
+ uv_fs_event_stop(handle);
+
+ QUEUE_INSERT_TAIL(&tmp_watcher_list.watchers, &handle->watchers);
+ handle->path = tmp_path;
+ }
+ watcher_list->iterating = 0;
+ maybe_free_watcher_list(watcher_list, loop);
+ }
+
+ QUEUE_MOVE(&tmp_watcher_list.watchers, &queue);
+ while (!QUEUE_EMPTY(&queue)) {
+ q = QUEUE_HEAD(&queue);
+ QUEUE_REMOVE(q);
+ handle = QUEUE_DATA(q, uv_fs_event_t, watchers);
+ tmp_path = handle->path;
+ handle->path = NULL;
+ err = uv_fs_event_start(handle, handle->cb, tmp_path, 0);
+ uv__free(tmp_path);
+ if (err)
+ return err;
+ }
+ }
+
+ return 0;
+}
+
+
+static struct watcher_list* find_watcher(uv_loop_t* loop, int wd) {
+ struct watcher_list w;
+ w.wd = wd;
+ return RB_FIND(watcher_root, CAST(&loop->inotify_watchers), &w);
+}
+
+static void maybe_free_watcher_list(struct watcher_list* w, uv_loop_t* loop) {
+ /* if the watcher_list->watchers is being iterated over, we can't free it. */
+ if ((!w->iterating) && QUEUE_EMPTY(&w->watchers)) {
+ /* No watchers left for this path. Clean up. */
+ RB_REMOVE(watcher_root, CAST(&loop->inotify_watchers), w);
+ uv__inotify_rm_watch(loop->inotify_fd, w->wd);
+ uv__free(w);
+ }
+}
+
+static void uv__inotify_read(uv_loop_t* loop,
+ uv__io_t* dummy,
+ unsigned int events) {
+ const struct uv__inotify_event* e;
+ struct watcher_list* w;
+ uv_fs_event_t* h;
+ QUEUE queue;
+ QUEUE* q;
+ const char* path;
+ ssize_t size;
+ const char *p;
+ /* needs to be large enough for sizeof(inotify_event) + strlen(path) */
+ char buf[4096];
+
+ while (1) {
+ do
+ size = read(loop->inotify_fd, buf, sizeof(buf));
+ while (size == -1 && errno == EINTR);
+
+ if (size == -1) {
+ assert(errno == EAGAIN || errno == EWOULDBLOCK);
+ break;
+ }
+
+ assert(size > 0); /* pre-2.6.21 thing, size=0 == read buffer too small */
+
+ /* Now we have one or more inotify_event structs. */
+ for (p = buf; p < buf + size; p += sizeof(*e) + e->len) {
+ e = (const struct uv__inotify_event*)p;
+
+ events = 0;
+ if (e->mask & (UV__IN_ATTRIB|UV__IN_MODIFY))
+ events |= UV_CHANGE;
+ if (e->mask & ~(UV__IN_ATTRIB|UV__IN_MODIFY))
+ events |= UV_RENAME;
+
+ w = find_watcher(loop, e->wd);
+ if (w == NULL)
+ continue; /* Stale event, no watchers left. */
+
+ /* inotify does not return the filename when monitoring a single file
+ * for modifications. Repurpose the filename for API compatibility.
+ * I'm not convinced this is a good thing, maybe it should go.
+ */
+ path = e->len ? (const char*) (e + 1) : uv__basename_r(w->path);
+
+ /* We're about to iterate over the queue and call user's callbacks.
+ * What can go wrong?
+ * A callback could call uv_fs_event_stop()
+ * and the queue can change under our feet.
+ * So, we use QUEUE_MOVE() trick to safely iterate over the queue.
+ * And we don't free the watcher_list until we're done iterating.
+ *
+ * First,
+ * tell uv_fs_event_stop() (that could be called from a user's callback)
+ * not to free watcher_list.
+ */
+ w->iterating = 1;
+ QUEUE_MOVE(&w->watchers, &queue);
+ while (!QUEUE_EMPTY(&queue)) {
+ q = QUEUE_HEAD(&queue);
+ h = QUEUE_DATA(q, uv_fs_event_t, watchers);
+
+ QUEUE_REMOVE(q);
+ QUEUE_INSERT_TAIL(&w->watchers, q);
+
+ h->cb(h, path, events, 0);
+ }
+ /* done iterating, time to (maybe) free empty watcher_list */
+ w->iterating = 0;
+ maybe_free_watcher_list(w, loop);
+ }
+ }
+}
+
+
+int uv_fs_event_init(uv_loop_t* loop, uv_fs_event_t* handle) {
+ uv__handle_init(loop, (uv_handle_t*)handle, UV_FS_EVENT);
+ return 0;
+}
+
+
+int uv_fs_event_start(uv_fs_event_t* handle,
+ uv_fs_event_cb cb,
+ const char* path,
+ unsigned int flags) {
+ struct watcher_list* w;
+ size_t len;
+ int events;
+ int err;
+ int wd;
+
+ if (uv__is_active(handle))
+ return UV_EINVAL;
+
+ err = init_inotify(handle->loop);
+ if (err)
+ return err;
+
+ events = UV__IN_ATTRIB
+ | UV__IN_CREATE
+ | UV__IN_MODIFY
+ | UV__IN_DELETE
+ | UV__IN_DELETE_SELF
+ | UV__IN_MOVE_SELF
+ | UV__IN_MOVED_FROM
+ | UV__IN_MOVED_TO;
+
+ wd = uv__inotify_add_watch(handle->loop->inotify_fd, path, events);
+ if (wd == -1)
+ return UV__ERR(errno);
+
+ w = find_watcher(handle->loop, wd);
+ if (w)
+ goto no_insert;
+
+ len = strlen(path) + 1;
+ w = (watcher_list*)uv__malloc(sizeof(*w) + len);
+ if (w == NULL)
+ return UV_ENOMEM;
+
+ w->wd = wd;
+ w->path = (char*)memcpy(w + 1, path, len);
+ QUEUE_INIT(&w->watchers);
+ w->iterating = 0;
+ RB_INSERT(watcher_root, CAST(&handle->loop->inotify_watchers), w);
+
+no_insert:
+ uv__handle_start(handle);
+ QUEUE_INSERT_TAIL(&w->watchers, &handle->watchers);
+ handle->path = w->path;
+ handle->cb = cb;
+ handle->wd = wd;
+
+ return 0;
+}
+
+
+int uv_fs_event_stop(uv_fs_event_t* handle) {
+ struct watcher_list* w;
+
+ if (!uv__is_active(handle))
+ return 0;
+
+ w = find_watcher(handle->loop, handle->wd);
+ assert(w != NULL);
+
+ handle->wd = -1;
+ handle->path = NULL;
+ uv__handle_stop(handle);
+ QUEUE_REMOVE(&handle->watchers);
+
+ maybe_free_watcher_list(w, handle->loop);
+
+ return 0;
+}
+
+
+void uv__fs_event_close(uv_fs_event_t* handle) {
+ uv_fs_event_stop(handle);
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/linux-syscalls.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/linux-syscalls.cpp
new file mode 100644
index 0000000..5637cf9
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/linux-syscalls.cpp
@@ -0,0 +1,369 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include "linux-syscalls.h"
+#include <unistd.h>
+#include <signal.h>
+#include <sys/syscall.h>
+#include <sys/types.h>
+#include <errno.h>
+
+#if defined(__has_feature)
+# if __has_feature(memory_sanitizer)
+# define MSAN_ACTIVE 1
+# include <sanitizer/msan_interface.h>
+# endif
+#endif
+
+#if defined(__i386__)
+# ifndef __NR_socketcall
+# define __NR_socketcall 102
+# endif
+#endif
+
+#if defined(__arm__)
+# if defined(__thumb__) || defined(__ARM_EABI__)
+# define UV_SYSCALL_BASE 0
+# else
+# define UV_SYSCALL_BASE 0x900000
+# endif
+#endif /* __arm__ */
+
+#ifndef __NR_accept4
+# if defined(__x86_64__)
+# define __NR_accept4 288
+# elif defined(__i386__)
+ /* Nothing. Handled through socketcall(). */
+# elif defined(__arm__)
+# define __NR_accept4 (UV_SYSCALL_BASE + 366)
+# endif
+#endif /* __NR_accept4 */
+
+#ifndef __NR_eventfd
+# if defined(__x86_64__)
+# define __NR_eventfd 284
+# elif defined(__i386__)
+# define __NR_eventfd 323
+# elif defined(__arm__)
+# define __NR_eventfd (UV_SYSCALL_BASE + 351)
+# endif
+#endif /* __NR_eventfd */
+
+#ifndef __NR_eventfd2
+# if defined(__x86_64__)
+# define __NR_eventfd2 290
+# elif defined(__i386__)
+# define __NR_eventfd2 328
+# elif defined(__arm__)
+# define __NR_eventfd2 (UV_SYSCALL_BASE + 356)
+# endif
+#endif /* __NR_eventfd2 */
+
+#ifndef __NR_inotify_init
+# if defined(__x86_64__)
+# define __NR_inotify_init 253
+# elif defined(__i386__)
+# define __NR_inotify_init 291
+# elif defined(__arm__)
+# define __NR_inotify_init (UV_SYSCALL_BASE + 316)
+# endif
+#endif /* __NR_inotify_init */
+
+#ifndef __NR_inotify_init1
+# if defined(__x86_64__)
+# define __NR_inotify_init1 294
+# elif defined(__i386__)
+# define __NR_inotify_init1 332
+# elif defined(__arm__)
+# define __NR_inotify_init1 (UV_SYSCALL_BASE + 360)
+# endif
+#endif /* __NR_inotify_init1 */
+
+#ifndef __NR_inotify_add_watch
+# if defined(__x86_64__)
+# define __NR_inotify_add_watch 254
+# elif defined(__i386__)
+# define __NR_inotify_add_watch 292
+# elif defined(__arm__)
+# define __NR_inotify_add_watch (UV_SYSCALL_BASE + 317)
+# endif
+#endif /* __NR_inotify_add_watch */
+
+#ifndef __NR_inotify_rm_watch
+# if defined(__x86_64__)
+# define __NR_inotify_rm_watch 255
+# elif defined(__i386__)
+# define __NR_inotify_rm_watch 293
+# elif defined(__arm__)
+# define __NR_inotify_rm_watch (UV_SYSCALL_BASE + 318)
+# endif
+#endif /* __NR_inotify_rm_watch */
+
+#ifndef __NR_pipe2
+# if defined(__x86_64__)
+# define __NR_pipe2 293
+# elif defined(__i386__)
+# define __NR_pipe2 331
+# elif defined(__arm__)
+# define __NR_pipe2 (UV_SYSCALL_BASE + 359)
+# endif
+#endif /* __NR_pipe2 */
+
+#ifndef __NR_recvmmsg
+# if defined(__x86_64__)
+# define __NR_recvmmsg 299
+# elif defined(__i386__)
+# define __NR_recvmmsg 337
+# elif defined(__arm__)
+# define __NR_recvmmsg (UV_SYSCALL_BASE + 365)
+# endif
+#endif /* __NR_recvmsg */
+
+#ifndef __NR_sendmmsg
+# if defined(__x86_64__)
+# define __NR_sendmmsg 307
+# elif defined(__i386__)
+# define __NR_sendmmsg 345
+# elif defined(__arm__)
+# define __NR_sendmmsg (UV_SYSCALL_BASE + 374)
+# endif
+#endif /* __NR_sendmmsg */
+
+#ifndef __NR_utimensat
+# if defined(__x86_64__)
+# define __NR_utimensat 280
+# elif defined(__i386__)
+# define __NR_utimensat 320
+# elif defined(__arm__)
+# define __NR_utimensat (UV_SYSCALL_BASE + 348)
+# endif
+#endif /* __NR_utimensat */
+
+#ifndef __NR_preadv
+# if defined(__x86_64__)
+# define __NR_preadv 295
+# elif defined(__i386__)
+# define __NR_preadv 333
+# elif defined(__arm__)
+# define __NR_preadv (UV_SYSCALL_BASE + 361)
+# endif
+#endif /* __NR_preadv */
+
+#ifndef __NR_pwritev
+# if defined(__x86_64__)
+# define __NR_pwritev 296
+# elif defined(__i386__)
+# define __NR_pwritev 334
+# elif defined(__arm__)
+# define __NR_pwritev (UV_SYSCALL_BASE + 362)
+# endif
+#endif /* __NR_pwritev */
+
+#ifndef __NR_dup3
+# if defined(__x86_64__)
+# define __NR_dup3 292
+# elif defined(__i386__)
+# define __NR_dup3 330
+# elif defined(__arm__)
+# define __NR_dup3 (UV_SYSCALL_BASE + 358)
+# endif
+#endif /* __NR_pwritev */
+
+#ifndef __NR_statx
+# if defined(__x86_64__)
+# define __NR_statx 332
+# elif defined(__i386__)
+# define __NR_statx 383
+# elif defined(__aarch64__)
+# define __NR_statx 397
+# elif defined(__arm__)
+# define __NR_statx (UV_SYSCALL_BASE + 397)
+# elif defined(__ppc__)
+# define __NR_statx 383
+# elif defined(__s390__)
+# define __NR_statx 379
+# endif
+#endif /* __NR_statx */
+
+int uv__accept4(int fd, struct sockaddr* addr, socklen_t* addrlen, int flags) {
+#if defined(__i386__)
+ unsigned long args[4];
+ int r;
+
+ args[0] = (unsigned long) fd;
+ args[1] = (unsigned long) addr;
+ args[2] = (unsigned long) addrlen;
+ args[3] = (unsigned long) flags;
+
+ r = syscall(__NR_socketcall, 18 /* SYS_ACCEPT4 */, args);
+
+ /* socketcall() raises EINVAL when SYS_ACCEPT4 is not supported but so does
+ * a bad flags argument. Try to distinguish between the two cases.
+ */
+ if (r == -1)
+ if (errno == EINVAL)
+ if ((flags & ~(UV__SOCK_CLOEXEC|UV__SOCK_NONBLOCK)) == 0)
+ errno = ENOSYS;
+
+ return r;
+#elif defined(__NR_accept4)
+ return syscall(__NR_accept4, fd, addr, addrlen, flags);
+#else
+ return errno = ENOSYS, -1;
+#endif
+}
+
+
+int uv__eventfd(unsigned int count) {
+#if defined(__NR_eventfd)
+ return syscall(__NR_eventfd, count);
+#else
+ return errno = ENOSYS, -1;
+#endif
+}
+
+
+int uv__eventfd2(unsigned int count, int flags) {
+#if defined(__NR_eventfd2)
+ return syscall(__NR_eventfd2, count, flags);
+#else
+ return errno = ENOSYS, -1;
+#endif
+}
+
+
+int uv__inotify_init(void) {
+#if defined(__NR_inotify_init)
+ return syscall(__NR_inotify_init);
+#else
+ return errno = ENOSYS, -1;
+#endif
+}
+
+
+int uv__inotify_init1(int flags) {
+#if defined(__NR_inotify_init1)
+ return syscall(__NR_inotify_init1, flags);
+#else
+ return errno = ENOSYS, -1;
+#endif
+}
+
+
+int uv__inotify_add_watch(int fd, const char* path, uint32_t mask) {
+#if defined(__NR_inotify_add_watch)
+ return syscall(__NR_inotify_add_watch, fd, path, mask);
+#else
+ return errno = ENOSYS, -1;
+#endif
+}
+
+
+int uv__inotify_rm_watch(int fd, int32_t wd) {
+#if defined(__NR_inotify_rm_watch)
+ return syscall(__NR_inotify_rm_watch, fd, wd);
+#else
+ return errno = ENOSYS, -1;
+#endif
+}
+
+
+int uv__pipe2(int pipefd[2], int flags) {
+#if defined(__NR_pipe2)
+ int result;
+ result = syscall(__NR_pipe2, pipefd, flags);
+#if MSAN_ACTIVE
+ if (!result)
+ __msan_unpoison(pipefd, sizeof(int[2]));
+#endif
+ return result;
+#else
+ return errno = ENOSYS, -1;
+#endif
+}
+
+
+int uv__sendmmsg(int fd,
+ struct uv__mmsghdr* mmsg,
+ unsigned int vlen,
+ unsigned int flags) {
+#if defined(__NR_sendmmsg)
+ return syscall(__NR_sendmmsg, fd, mmsg, vlen, flags);
+#else
+ return errno = ENOSYS, -1;
+#endif
+}
+
+
+int uv__recvmmsg(int fd,
+ struct uv__mmsghdr* mmsg,
+ unsigned int vlen,
+ unsigned int flags,
+ struct timespec* timeout) {
+#if defined(__NR_recvmmsg)
+ return syscall(__NR_recvmmsg, fd, mmsg, vlen, flags, timeout);
+#else
+ return errno = ENOSYS, -1;
+#endif
+}
+
+
+ssize_t uv__preadv(int fd, const struct iovec *iov, int iovcnt, int64_t offset) {
+#if defined(__NR_preadv)
+ return syscall(__NR_preadv, fd, iov, iovcnt, (long)offset, (long)(offset >> 32));
+#else
+ return errno = ENOSYS, -1;
+#endif
+}
+
+
+ssize_t uv__pwritev(int fd, const struct iovec *iov, int iovcnt, int64_t offset) {
+#if defined(__NR_pwritev)
+ return syscall(__NR_pwritev, fd, iov, iovcnt, (long)offset, (long)(offset >> 32));
+#else
+ return errno = ENOSYS, -1;
+#endif
+}
+
+
+int uv__dup3(int oldfd, int newfd, int flags) {
+#if defined(__NR_dup3)
+ return syscall(__NR_dup3, oldfd, newfd, flags);
+#else
+ return errno = ENOSYS, -1;
+#endif
+}
+
+
+int uv__statx(int dirfd,
+ const char* path,
+ int flags,
+ unsigned int mask,
+ struct uv__statx* statxbuf) {
+ /* __NR_statx make Android box killed by SIGSYS.
+ * That looks like a seccomp2 sandbox filter rejecting the system call.
+ */
+#if defined(__NR_statx) && !defined(__ANDROID__)
+ return syscall(__NR_statx, dirfd, path, flags, mask, statxbuf);
+#else
+ return errno = ENOSYS, -1;
+#endif
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/linux-syscalls.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/linux-syscalls.h
new file mode 100644
index 0000000..7e58bfa
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/linux-syscalls.h
@@ -0,0 +1,152 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#ifndef UV_LINUX_SYSCALL_H_
+#define UV_LINUX_SYSCALL_H_
+
+#undef _GNU_SOURCE
+#define _GNU_SOURCE
+
+#include <stdint.h>
+#include <signal.h>
+#include <sys/types.h>
+#include <sys/time.h>
+#include <sys/socket.h>
+
+#if defined(__alpha__)
+# define UV__O_CLOEXEC 0x200000
+#elif defined(__hppa__)
+# define UV__O_CLOEXEC 0x200000
+#elif defined(__sparc__)
+# define UV__O_CLOEXEC 0x400000
+#else
+# define UV__O_CLOEXEC 0x80000
+#endif
+
+#if defined(__alpha__)
+# define UV__O_NONBLOCK 0x4
+#elif defined(__hppa__)
+# define UV__O_NONBLOCK O_NONBLOCK
+#elif defined(__mips__)
+# define UV__O_NONBLOCK 0x80
+#elif defined(__sparc__)
+# define UV__O_NONBLOCK 0x4000
+#else
+# define UV__O_NONBLOCK 0x800
+#endif
+
+#define UV__EFD_CLOEXEC UV__O_CLOEXEC
+#define UV__EFD_NONBLOCK UV__O_NONBLOCK
+
+#define UV__IN_CLOEXEC UV__O_CLOEXEC
+#define UV__IN_NONBLOCK UV__O_NONBLOCK
+
+#define UV__SOCK_CLOEXEC UV__O_CLOEXEC
+#if defined(SOCK_NONBLOCK)
+# define UV__SOCK_NONBLOCK SOCK_NONBLOCK
+#else
+# define UV__SOCK_NONBLOCK UV__O_NONBLOCK
+#endif
+
+/* inotify flags */
+#define UV__IN_ACCESS 0x001
+#define UV__IN_MODIFY 0x002
+#define UV__IN_ATTRIB 0x004
+#define UV__IN_CLOSE_WRITE 0x008
+#define UV__IN_CLOSE_NOWRITE 0x010
+#define UV__IN_OPEN 0x020
+#define UV__IN_MOVED_FROM 0x040
+#define UV__IN_MOVED_TO 0x080
+#define UV__IN_CREATE 0x100
+#define UV__IN_DELETE 0x200
+#define UV__IN_DELETE_SELF 0x400
+#define UV__IN_MOVE_SELF 0x800
+
+struct uv__statx_timestamp {
+ int64_t tv_sec;
+ uint32_t tv_nsec;
+ int32_t unused0;
+};
+
+struct uv__statx {
+ uint32_t stx_mask;
+ uint32_t stx_blksize;
+ uint64_t stx_attributes;
+ uint32_t stx_nlink;
+ uint32_t stx_uid;
+ uint32_t stx_gid;
+ uint16_t stx_mode;
+ uint16_t unused0;
+ uint64_t stx_ino;
+ uint64_t stx_size;
+ uint64_t stx_blocks;
+ uint64_t stx_attributes_mask;
+ struct uv__statx_timestamp stx_atime;
+ struct uv__statx_timestamp stx_btime;
+ struct uv__statx_timestamp stx_ctime;
+ struct uv__statx_timestamp stx_mtime;
+ uint32_t stx_rdev_major;
+ uint32_t stx_rdev_minor;
+ uint32_t stx_dev_major;
+ uint32_t stx_dev_minor;
+ uint64_t unused1[14];
+};
+
+struct uv__inotify_event {
+ int32_t wd;
+ uint32_t mask;
+ uint32_t cookie;
+ uint32_t len;
+ /* char name[0]; */
+};
+
+struct uv__mmsghdr {
+ struct msghdr msg_hdr;
+ unsigned int msg_len;
+};
+
+int uv__accept4(int fd, struct sockaddr* addr, socklen_t* addrlen, int flags);
+int uv__eventfd(unsigned int count);
+int uv__eventfd2(unsigned int count, int flags);
+int uv__inotify_init(void);
+int uv__inotify_init1(int flags);
+int uv__inotify_add_watch(int fd, const char* path, uint32_t mask);
+int uv__inotify_rm_watch(int fd, int32_t wd);
+int uv__pipe2(int pipefd[2], int flags);
+int uv__recvmmsg(int fd,
+ struct uv__mmsghdr* mmsg,
+ unsigned int vlen,
+ unsigned int flags,
+ struct timespec* timeout);
+int uv__sendmmsg(int fd,
+ struct uv__mmsghdr* mmsg,
+ unsigned int vlen,
+ unsigned int flags);
+ssize_t uv__preadv(int fd, const struct iovec *iov, int iovcnt, int64_t offset);
+ssize_t uv__pwritev(int fd, const struct iovec *iov, int iovcnt, int64_t offset);
+int uv__dup3(int oldfd, int newfd, int flags);
+int uv__statx(int dirfd,
+ const char* path,
+ int flags,
+ unsigned int mask,
+ struct uv__statx* statxbuf);
+
+#endif /* UV_LINUX_SYSCALL_H_ */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/loop-watcher.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/loop-watcher.cpp
similarity index 100%
rename from third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/loop-watcher.cpp
rename to third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/loop-watcher.cpp
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/loop.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/loop.cpp
new file mode 100644
index 0000000..7a037d1
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/loop.cpp
@@ -0,0 +1,194 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include "uv.h"
+#include "uv/tree.h"
+#include "internal.h"
+#include "heap-inl.h"
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+
+int uv_loop_init(uv_loop_t* loop) {
+ void* saved_data;
+ int err;
+
+
+ saved_data = loop->data;
+ memset(loop, 0, sizeof(*loop));
+ loop->data = saved_data;
+
+ heap_init((struct heap*) &loop->timer_heap);
+ QUEUE_INIT(&loop->wq);
+ QUEUE_INIT(&loop->idle_handles);
+ QUEUE_INIT(&loop->async_handles);
+ QUEUE_INIT(&loop->check_handles);
+ QUEUE_INIT(&loop->prepare_handles);
+ QUEUE_INIT(&loop->handle_queue);
+
+ loop->active_handles = 0;
+ loop->active_reqs.count = 0;
+ loop->nfds = 0;
+ loop->watchers = NULL;
+ loop->nwatchers = 0;
+ QUEUE_INIT(&loop->pending_queue);
+ QUEUE_INIT(&loop->watcher_queue);
+
+ loop->closing_handles = NULL;
+ uv__update_time(loop);
+ loop->async_io_watcher.fd = -1;
+ loop->async_wfd = -1;
+ loop->signal_pipefd[0] = -1;
+ loop->signal_pipefd[1] = -1;
+ loop->backend_fd = -1;
+ loop->emfile_fd = -1;
+
+ loop->timer_counter = 0;
+ loop->stop_flag = 0;
+
+ err = uv__platform_loop_init(loop);
+ if (err)
+ return err;
+
+ uv__signal_global_once_init();
+ err = uv_signal_init(loop, &loop->child_watcher);
+ if (err)
+ goto fail_signal_init;
+
+ uv__handle_unref(&loop->child_watcher);
+ loop->child_watcher.flags |= UV_HANDLE_INTERNAL;
+ QUEUE_INIT(&loop->process_handles);
+
+ err = uv_rwlock_init(&loop->cloexec_lock);
+ if (err)
+ goto fail_rwlock_init;
+
+ err = uv_mutex_init(&loop->wq_mutex);
+ if (err)
+ goto fail_mutex_init;
+
+ err = uv_async_init(loop, &loop->wq_async, uv__work_done);
+ if (err)
+ goto fail_async_init;
+
+ uv__handle_unref(&loop->wq_async);
+ loop->wq_async.flags |= UV_HANDLE_INTERNAL;
+
+ return 0;
+
+fail_async_init:
+ uv_mutex_destroy(&loop->wq_mutex);
+
+fail_mutex_init:
+ uv_rwlock_destroy(&loop->cloexec_lock);
+
+fail_rwlock_init:
+ uv__signal_loop_cleanup(loop);
+
+fail_signal_init:
+ uv__platform_loop_delete(loop);
+
+ return err;
+}
+
+
+int uv_loop_fork(uv_loop_t* loop) {
+ int err;
+ unsigned int i;
+ uv__io_t* w;
+
+ err = uv__io_fork(loop);
+ if (err)
+ return err;
+
+ err = uv__async_fork(loop);
+ if (err)
+ return err;
+
+ err = uv__signal_loop_fork(loop);
+ if (err)
+ return err;
+
+ /* Rearm all the watchers that aren't re-queued by the above. */
+ for (i = 0; i < loop->nwatchers; i++) {
+ w = (uv__io_t*)loop->watchers[i];
+ if (w == NULL)
+ continue;
+
+ if (w->pevents != 0 && QUEUE_EMPTY(&w->watcher_queue)) {
+ w->events = 0; /* Force re-registration in uv__io_poll. */
+ QUEUE_INSERT_TAIL(&loop->watcher_queue, &w->watcher_queue);
+ }
+ }
+
+ return 0;
+}
+
+
+void uv__loop_close(uv_loop_t* loop) {
+ uv__signal_loop_cleanup(loop);
+ uv__platform_loop_delete(loop);
+ uv__async_stop(loop);
+
+ if (loop->emfile_fd != -1) {
+ uv__close(loop->emfile_fd);
+ loop->emfile_fd = -1;
+ }
+
+ if (loop->backend_fd != -1) {
+ uv__close(loop->backend_fd);
+ loop->backend_fd = -1;
+ }
+
+ uv_mutex_lock(&loop->wq_mutex);
+ assert(QUEUE_EMPTY(&loop->wq) && "thread pool work queue not empty!");
+ assert(!uv__has_active_reqs(loop));
+ uv_mutex_unlock(&loop->wq_mutex);
+ uv_mutex_destroy(&loop->wq_mutex);
+
+ /*
+ * Note that all thread pool stuff is finished at this point and
+ * it is safe to just destroy rw lock
+ */
+ uv_rwlock_destroy(&loop->cloexec_lock);
+
+#if 0
+ assert(QUEUE_EMPTY(&loop->pending_queue));
+ assert(QUEUE_EMPTY(&loop->watcher_queue));
+ assert(loop->nfds == 0);
+#endif
+
+ uv__free(loop->watchers);
+ loop->watchers = NULL;
+ loop->nwatchers = 0;
+}
+
+
+int uv__loop_configure(uv_loop_t* loop, uv_loop_option option, va_list ap) {
+ if (option != UV_LOOP_BLOCK_SIGNAL)
+ return UV_ENOSYS;
+
+ if (va_arg(ap, int) != SIGPROF)
+ return UV_EINVAL;
+
+ loop->flags |= UV_LOOP_BLOCK_SIGPROF;
+ return 0;
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/netbsd.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/netbsd.cpp
new file mode 100644
index 0000000..fb89843
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/netbsd.cpp
@@ -0,0 +1,247 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include "uv.h"
+#include "internal.h"
+
+#include <assert.h>
+#include <string.h>
+#include <errno.h>
+
+#include <kvm.h>
+#include <paths.h>
+#include <unistd.h>
+#include <time.h>
+#include <stdlib.h>
+#include <fcntl.h>
+
+#include <sys/resource.h>
+#include <sys/types.h>
+#include <sys/sysctl.h>
+#include <uvm/uvm_extern.h>
+
+#include <unistd.h>
+#include <time.h>
+
+
+int uv__platform_loop_init(uv_loop_t* loop) {
+ return uv__kqueue_init(loop);
+}
+
+
+void uv__platform_loop_delete(uv_loop_t* loop) {
+}
+
+
+void uv_loadavg(double avg[3]) {
+ struct loadavg info;
+ size_t size = sizeof(info);
+ int which[] = {CTL_VM, VM_LOADAVG};
+
+ if (sysctl(which, 2, &info, &size, NULL, 0) == -1) return;
+
+ avg[0] = (double) info.ldavg[0] / info.fscale;
+ avg[1] = (double) info.ldavg[1] / info.fscale;
+ avg[2] = (double) info.ldavg[2] / info.fscale;
+}
+
+
+int uv_exepath(char* buffer, size_t* size) {
+ /* Intermediate buffer, retrieving partial path name does not work
+ * As of NetBSD-8(beta), vnode->path translator does not handle files
+ * with longer names than 31 characters.
+ */
+ char int_buf[PATH_MAX];
+ size_t int_size;
+ int mib[4];
+
+ if (buffer == NULL || size == NULL || *size == 0)
+ return UV_EINVAL;
+
+ mib[0] = CTL_KERN;
+ mib[1] = KERN_PROC_ARGS;
+ mib[2] = -1;
+ mib[3] = KERN_PROC_PATHNAME;
+ int_size = ARRAY_SIZE(int_buf);
+
+ if (sysctl(mib, 4, int_buf, &int_size, NULL, 0))
+ return UV__ERR(errno);
+
+ /* Copy string from the intermediate buffer to outer one with appropriate
+ * length.
+ */
+ /* TODO(bnoordhuis) Check uv__strscpy() return value. */
+ uv__strscpy(buffer, int_buf, *size);
+
+ /* Set new size. */
+ *size = strlen(buffer);
+
+ return 0;
+}
+
+
+uint64_t uv_get_free_memory(void) {
+ struct uvmexp info;
+ size_t size = sizeof(info);
+ int which[] = {CTL_VM, VM_UVMEXP};
+
+ if (sysctl(which, 2, &info, &size, NULL, 0))
+ return UV__ERR(errno);
+
+ return (uint64_t) info.free * sysconf(_SC_PAGESIZE);
+}
+
+
+uint64_t uv_get_total_memory(void) {
+#if defined(HW_PHYSMEM64)
+ uint64_t info;
+ int which[] = {CTL_HW, HW_PHYSMEM64};
+#else
+ unsigned int info;
+ int which[] = {CTL_HW, HW_PHYSMEM};
+#endif
+ size_t size = sizeof(info);
+
+ if (sysctl(which, 2, &info, &size, NULL, 0))
+ return UV__ERR(errno);
+
+ return (uint64_t) info;
+}
+
+
+uint64_t uv_get_constrained_memory(void) {
+ return 0; /* Memory constraints are unknown. */
+}
+
+
+int uv_resident_set_memory(size_t* rss) {
+ kvm_t *kd = NULL;
+ struct kinfo_proc2 *kinfo = NULL;
+ pid_t pid;
+ int nprocs;
+ int max_size = sizeof(struct kinfo_proc2);
+ int page_size;
+
+ page_size = getpagesize();
+ pid = getpid();
+
+ kd = kvm_open(NULL, NULL, NULL, KVM_NO_FILES, "kvm_open");
+
+ if (kd == NULL) goto error;
+
+ kinfo = kvm_getproc2(kd, KERN_PROC_PID, pid, max_size, &nprocs);
+ if (kinfo == NULL) goto error;
+
+ *rss = kinfo->p_vm_rssize * page_size;
+
+ kvm_close(kd);
+
+ return 0;
+
+error:
+ if (kd) kvm_close(kd);
+ return UV_EPERM;
+}
+
+
+int uv_uptime(double* uptime) {
+ time_t now;
+ struct timeval info;
+ size_t size = sizeof(info);
+ static int which[] = {CTL_KERN, KERN_BOOTTIME};
+
+ if (sysctl(which, 2, &info, &size, NULL, 0))
+ return UV__ERR(errno);
+
+ now = time(NULL);
+
+ *uptime = (double)(now - info.tv_sec);
+ return 0;
+}
+
+
+int uv_cpu_info(uv_cpu_info_t** cpu_infos, int* count) {
+ unsigned int ticks = (unsigned int)sysconf(_SC_CLK_TCK);
+ unsigned int multiplier = ((uint64_t)1000L / ticks);
+ unsigned int cur = 0;
+ uv_cpu_info_t* cpu_info;
+ u_int64_t* cp_times;
+ char model[512];
+ u_int64_t cpuspeed;
+ int numcpus;
+ size_t size;
+ int i;
+
+ size = sizeof(model);
+ if (sysctlbyname("machdep.cpu_brand", &model, &size, NULL, 0) &&
+ sysctlbyname("hw.model", &model, &size, NULL, 0)) {
+ return UV__ERR(errno);
+ }
+
+ size = sizeof(numcpus);
+ if (sysctlbyname("hw.ncpu", &numcpus, &size, NULL, 0))
+ return UV__ERR(errno);
+ *count = numcpus;
+
+ /* Only i386 and amd64 have machdep.tsc_freq */
+ size = sizeof(cpuspeed);
+ if (sysctlbyname("machdep.tsc_freq", &cpuspeed, &size, NULL, 0))
+ cpuspeed = 0;
+
+ size = numcpus * CPUSTATES * sizeof(*cp_times);
+ cp_times = (u_int64_t*)uv__malloc(size);
+ if (cp_times == NULL)
+ return UV_ENOMEM;
+
+ if (sysctlbyname("kern.cp_time", cp_times, &size, NULL, 0))
+ return UV__ERR(errno);
+
+ *cpu_infos = (uv_cpu_info_t*)uv__malloc(numcpus * sizeof(**cpu_infos));
+ if (!(*cpu_infos)) {
+ uv__free(cp_times);
+ uv__free(*cpu_infos);
+ return UV_ENOMEM;
+ }
+
+ for (i = 0; i < numcpus; i++) {
+ cpu_info = &(*cpu_infos)[i];
+ cpu_info->cpu_times.user = (uint64_t)(cp_times[CP_USER+cur]) * multiplier;
+ cpu_info->cpu_times.nice = (uint64_t)(cp_times[CP_NICE+cur]) * multiplier;
+ cpu_info->cpu_times.sys = (uint64_t)(cp_times[CP_SYS+cur]) * multiplier;
+ cpu_info->cpu_times.idle = (uint64_t)(cp_times[CP_IDLE+cur]) * multiplier;
+ cpu_info->cpu_times.irq = (uint64_t)(cp_times[CP_INTR+cur]) * multiplier;
+ cpu_info->model = uv__strdup(model);
+ cpu_info->speed = (int)(cpuspeed/(uint64_t) 1e6);
+ cur += CPUSTATES;
+ }
+ uv__free(cp_times);
+ return 0;
+}
+
+
+void uv_free_cpu_info(uv_cpu_info_t* cpu_infos, int count) {
+ int i;
+
+ for (i = 0; i < count; i++) {
+ uv__free(cpu_infos[i].model);
+ }
+
+ uv__free(cpu_infos);
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/no-fsevents.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/no-fsevents.cpp
similarity index 100%
rename from third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/no-fsevents.cpp
rename to third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/no-fsevents.cpp
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/no-proctitle.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/no-proctitle.cpp
similarity index 100%
rename from third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/no-proctitle.cpp
rename to third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/no-proctitle.cpp
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/openbsd.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/openbsd.cpp
new file mode 100644
index 0000000..f13ad8c
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/openbsd.cpp
@@ -0,0 +1,249 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include "uv.h"
+#include "internal.h"
+
+#include <sys/types.h>
+#include <sys/param.h>
+#include <sys/resource.h>
+#include <sys/sched.h>
+#include <sys/time.h>
+#include <sys/sysctl.h>
+
+#include <errno.h>
+#include <fcntl.h>
+#include <paths.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+
+
+int uv__platform_loop_init(uv_loop_t* loop) {
+ return uv__kqueue_init(loop);
+}
+
+
+void uv__platform_loop_delete(uv_loop_t* loop) {
+}
+
+
+void uv_loadavg(double avg[3]) {
+ struct loadavg info;
+ size_t size = sizeof(info);
+ int which[] = {CTL_VM, VM_LOADAVG};
+
+ if (sysctl(which, 2, &info, &size, NULL, 0) < 0) return;
+
+ avg[0] = (double) info.ldavg[0] / info.fscale;
+ avg[1] = (double) info.ldavg[1] / info.fscale;
+ avg[2] = (double) info.ldavg[2] / info.fscale;
+}
+
+
+int uv_exepath(char* buffer, size_t* size) {
+ int mib[4];
+ char **argsbuf = NULL;
+ char **argsbuf_tmp;
+ size_t argsbuf_size = 100U;
+ size_t exepath_size;
+ pid_t mypid;
+ int err;
+
+ if (buffer == NULL || size == NULL || *size == 0)
+ return UV_EINVAL;
+
+ mypid = getpid();
+ for (;;) {
+ err = UV_ENOMEM;
+ argsbuf_tmp = (char**)uv__realloc(argsbuf, argsbuf_size);
+ if (argsbuf_tmp == NULL)
+ goto out;
+ argsbuf = argsbuf_tmp;
+ mib[0] = CTL_KERN;
+ mib[1] = KERN_PROC_ARGS;
+ mib[2] = mypid;
+ mib[3] = KERN_PROC_ARGV;
+ if (sysctl(mib, 4, argsbuf, &argsbuf_size, NULL, 0) == 0) {
+ break;
+ }
+ if (errno != ENOMEM) {
+ err = UV__ERR(errno);
+ goto out;
+ }
+ argsbuf_size *= 2U;
+ }
+
+ if (argsbuf[0] == NULL) {
+ err = UV_EINVAL; /* FIXME(bnoordhuis) More appropriate error. */
+ goto out;
+ }
+
+ *size -= 1;
+ exepath_size = strlen(argsbuf[0]);
+ if (*size > exepath_size)
+ *size = exepath_size;
+
+ memcpy(buffer, argsbuf[0], *size);
+ buffer[*size] = '\0';
+ err = 0;
+
+out:
+ uv__free(argsbuf);
+
+ return err;
+}
+
+
+uint64_t uv_get_free_memory(void) {
+ struct uvmexp info;
+ size_t size = sizeof(info);
+ int which[] = {CTL_VM, VM_UVMEXP};
+
+ if (sysctl(which, 2, &info, &size, NULL, 0))
+ return UV__ERR(errno);
+
+ return (uint64_t) info.free * sysconf(_SC_PAGESIZE);
+}
+
+
+uint64_t uv_get_total_memory(void) {
+ uint64_t info;
+ int which[] = {CTL_HW, HW_PHYSMEM64};
+ size_t size = sizeof(info);
+
+ if (sysctl(which, 2, &info, &size, NULL, 0))
+ return UV__ERR(errno);
+
+ return (uint64_t) info;
+}
+
+
+uint64_t uv_get_constrained_memory(void) {
+ return 0; /* Memory constraints are unknown. */
+}
+
+
+int uv_resident_set_memory(size_t* rss) {
+ struct kinfo_proc kinfo;
+ size_t page_size = getpagesize();
+ size_t size = sizeof(struct kinfo_proc);
+ int mib[6];
+
+ mib[0] = CTL_KERN;
+ mib[1] = KERN_PROC;
+ mib[2] = KERN_PROC_PID;
+ mib[3] = getpid();
+ mib[4] = sizeof(struct kinfo_proc);
+ mib[5] = 1;
+
+ if (sysctl(mib, 6, &kinfo, &size, NULL, 0) < 0)
+ return UV__ERR(errno);
+
+ *rss = kinfo.p_vm_rssize * page_size;
+ return 0;
+}
+
+
+int uv_uptime(double* uptime) {
+ time_t now;
+ struct timeval info;
+ size_t size = sizeof(info);
+ static int which[] = {CTL_KERN, KERN_BOOTTIME};
+
+ if (sysctl(which, 2, &info, &size, NULL, 0))
+ return UV__ERR(errno);
+
+ now = time(NULL);
+
+ *uptime = (double)(now - info.tv_sec);
+ return 0;
+}
+
+
+int uv_cpu_info(uv_cpu_info_t** cpu_infos, int* count) {
+ unsigned int ticks = (unsigned int)sysconf(_SC_CLK_TCK),
+ multiplier = ((uint64_t)1000L / ticks), cpuspeed;
+ uint64_t info[CPUSTATES];
+ char model[512];
+ int numcpus = 1;
+ int which[] = {CTL_HW,HW_MODEL,0};
+ size_t size;
+ int i;
+ uv_cpu_info_t* cpu_info;
+
+ size = sizeof(model);
+ if (sysctl(which, 2, &model, &size, NULL, 0))
+ return UV__ERR(errno);
+
+ which[1] = HW_NCPU;
+ size = sizeof(numcpus);
+ if (sysctl(which, 2, &numcpus, &size, NULL, 0))
+ return UV__ERR(errno);
+
+ *cpu_infos = (uv_cpu_info_t*)uv__malloc(numcpus * sizeof(**cpu_infos));
+ if (!(*cpu_infos))
+ return UV_ENOMEM;
+
+ *count = numcpus;
+
+ which[1] = HW_CPUSPEED;
+ size = sizeof(cpuspeed);
+ if (sysctl(which, 2, &cpuspeed, &size, NULL, 0)) {
+ uv__free(*cpu_infos);
+ return UV__ERR(errno);
+ }
+
+ size = sizeof(info);
+ which[0] = CTL_KERN;
+ which[1] = KERN_CPTIME2;
+ for (i = 0; i < numcpus; i++) {
+ which[2] = i;
+ size = sizeof(info);
+ if (sysctl(which, 3, &info, &size, NULL, 0)) {
+ uv__free(*cpu_infos);
+ return UV__ERR(errno);
+ }
+
+ cpu_info = &(*cpu_infos)[i];
+
+ cpu_info->cpu_times.user = (uint64_t)(info[CP_USER]) * multiplier;
+ cpu_info->cpu_times.nice = (uint64_t)(info[CP_NICE]) * multiplier;
+ cpu_info->cpu_times.sys = (uint64_t)(info[CP_SYS]) * multiplier;
+ cpu_info->cpu_times.idle = (uint64_t)(info[CP_IDLE]) * multiplier;
+ cpu_info->cpu_times.irq = (uint64_t)(info[CP_INTR]) * multiplier;
+
+ cpu_info->model = uv__strdup(model);
+ cpu_info->speed = cpuspeed;
+ }
+
+ return 0;
+}
+
+
+void uv_free_cpu_info(uv_cpu_info_t* cpu_infos, int count) {
+ int i;
+
+ for (i = 0; i < count; i++) {
+ uv__free(cpu_infos[i].model);
+ }
+
+ uv__free(cpu_infos);
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/pipe.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/pipe.cpp
new file mode 100644
index 0000000..c21033a
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/pipe.cpp
@@ -0,0 +1,377 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include "uv.h"
+#include "internal.h"
+
+#include <assert.h>
+#include <errno.h>
+#include <string.h>
+#include <sys/un.h>
+#include <unistd.h>
+#include <stdlib.h>
+
+
+int uv_pipe_init(uv_loop_t* loop, uv_pipe_t* handle, int ipc) {
+ uv__stream_init(loop, (uv_stream_t*)handle, UV_NAMED_PIPE);
+ handle->shutdown_req = NULL;
+ handle->connect_req = NULL;
+ handle->pipe_fname = NULL;
+ handle->ipc = ipc;
+ return 0;
+}
+
+
+int uv_pipe_bind(uv_pipe_t* handle, const char* name) {
+ struct sockaddr_un saddr;
+ const char* pipe_fname;
+ int sockfd;
+ int err;
+
+ pipe_fname = NULL;
+
+ /* Already bound? */
+ if (uv__stream_fd(handle) >= 0)
+ return UV_EINVAL;
+
+ /* Make a copy of the file name, it outlives this function's scope. */
+ pipe_fname = uv__strdup(name);
+ if (pipe_fname == NULL)
+ return UV_ENOMEM;
+
+ /* We've got a copy, don't touch the original any more. */
+ name = NULL;
+
+ err = uv__socket(AF_UNIX, SOCK_STREAM, 0);
+ if (err < 0)
+ goto err_socket;
+ sockfd = err;
+
+ memset(&saddr, 0, sizeof saddr);
+ uv__strscpy(saddr.sun_path, pipe_fname, sizeof(saddr.sun_path));
+ saddr.sun_family = AF_UNIX;
+
+ if (bind(sockfd, (struct sockaddr*)&saddr, sizeof saddr)) {
+ err = UV__ERR(errno);
+ /* Convert ENOENT to EACCES for compatibility with Windows. */
+ if (err == UV_ENOENT)
+ err = UV_EACCES;
+
+ uv__close(sockfd);
+ goto err_socket;
+ }
+
+ /* Success. */
+ handle->flags |= UV_HANDLE_BOUND;
+ handle->pipe_fname = pipe_fname; /* Is a strdup'ed copy. */
+ handle->io_watcher.fd = sockfd;
+ return 0;
+
+err_socket:
+ uv__free((void*)pipe_fname);
+ return err;
+}
+
+
+int uv_pipe_listen(uv_pipe_t* handle, int backlog, uv_connection_cb cb) {
+ if (uv__stream_fd(handle) == -1)
+ return UV_EINVAL;
+
+#if defined(__MVS__)
+ /* On zOS, backlog=0 has undefined behaviour */
+ if (backlog == 0)
+ backlog = 1;
+ else if (backlog < 0)
+ backlog = SOMAXCONN;
+#endif
+
+ if (listen(uv__stream_fd(handle), backlog))
+ return UV__ERR(errno);
+
+ handle->connection_cb = cb;
+ handle->io_watcher.cb = uv__server_io;
+ uv__io_start(handle->loop, &handle->io_watcher, POLLIN);
+ return 0;
+}
+
+
+void uv__pipe_close(uv_pipe_t* handle) {
+ if (handle->pipe_fname) {
+ /*
+ * Unlink the file system entity before closing the file descriptor.
+ * Doing it the other way around introduces a race where our process
+ * unlinks a socket with the same name that's just been created by
+ * another thread or process.
+ */
+ unlink(handle->pipe_fname);
+ uv__free((void*)handle->pipe_fname);
+ handle->pipe_fname = NULL;
+ }
+
+ uv__stream_close((uv_stream_t*)handle);
+}
+
+
+int uv_pipe_open(uv_pipe_t* handle, uv_file fd) {
+ int flags;
+ int mode;
+ int err;
+ flags = 0;
+
+ if (uv__fd_exists(handle->loop, fd))
+ return UV_EEXIST;
+
+ do
+ mode = fcntl(fd, F_GETFL);
+ while (mode == -1 && errno == EINTR);
+
+ if (mode == -1)
+ return UV__ERR(errno); /* according to docs, must be EBADF */
+
+ err = uv__nonblock(fd, 1);
+ if (err)
+ return err;
+
+#if defined(__APPLE__)
+ err = uv__stream_try_select((uv_stream_t*) handle, &fd);
+ if (err)
+ return err;
+#endif /* defined(__APPLE__) */
+
+ mode &= O_ACCMODE;
+ if (mode != O_WRONLY)
+ flags |= UV_HANDLE_READABLE;
+ if (mode != O_RDONLY)
+ flags |= UV_HANDLE_WRITABLE;
+
+ return uv__stream_open((uv_stream_t*)handle, fd, flags);
+}
+
+
+void uv_pipe_connect(uv_connect_t* req,
+ uv_pipe_t* handle,
+ const char* name,
+ uv_connect_cb cb) {
+ struct sockaddr_un saddr;
+ int new_sock;
+ int err;
+ int r;
+
+ new_sock = (uv__stream_fd(handle) == -1);
+
+ if (new_sock) {
+ err = uv__socket(AF_UNIX, SOCK_STREAM, 0);
+ if (err < 0)
+ goto out;
+ handle->io_watcher.fd = err;
+ }
+
+ memset(&saddr, 0, sizeof saddr);
+ uv__strscpy(saddr.sun_path, name, sizeof(saddr.sun_path));
+ saddr.sun_family = AF_UNIX;
+
+ do {
+ r = connect(uv__stream_fd(handle),
+ (struct sockaddr*)&saddr, sizeof saddr);
+ }
+ while (r == -1 && errno == EINTR);
+
+ if (r == -1 && errno != EINPROGRESS) {
+ err = UV__ERR(errno);
+#if defined(__CYGWIN__) || defined(__MSYS__)
+ /* EBADF is supposed to mean that the socket fd is bad, but
+ Cygwin reports EBADF instead of ENOTSOCK when the file is
+ not a socket. We do not expect to see a bad fd here
+ (e.g. due to new_sock), so translate the error. */
+ if (err == UV_EBADF)
+ err = UV_ENOTSOCK;
+#endif
+ goto out;
+ }
+
+ err = 0;
+ if (new_sock) {
+ err = uv__stream_open((uv_stream_t*)handle,
+ uv__stream_fd(handle),
+ UV_HANDLE_READABLE | UV_HANDLE_WRITABLE);
+ }
+
+ if (err == 0)
+ uv__io_start(handle->loop, &handle->io_watcher, POLLOUT);
+
+out:
+ handle->delayed_error = err;
+ handle->connect_req = req;
+
+ uv__req_init(handle->loop, req, UV_CONNECT);
+ req->handle = (uv_stream_t*)handle;
+ req->cb = cb;
+ QUEUE_INIT(&req->queue);
+
+ /* Force callback to run on next tick in case of error. */
+ if (err)
+ uv__io_feed(handle->loop, &handle->io_watcher);
+
+}
+
+
+static int uv__pipe_getsockpeername(const uv_pipe_t* handle,
+ uv__peersockfunc func,
+ char* buffer,
+ size_t* size) {
+ struct sockaddr_un sa;
+ socklen_t addrlen;
+ int err;
+
+ addrlen = sizeof(sa);
+ memset(&sa, 0, addrlen);
+ err = uv__getsockpeername((const uv_handle_t*) handle,
+ func,
+ (struct sockaddr*) &sa,
+ (int*) &addrlen);
+ if (err < 0) {
+ *size = 0;
+ return err;
+ }
+
+#if defined(__linux__)
+ if (sa.sun_path[0] == 0)
+ /* Linux abstract namespace */
+ addrlen -= offsetof(struct sockaddr_un, sun_path);
+ else
+#endif
+ addrlen = strlen(sa.sun_path);
+
+
+ if (addrlen >= *size) {
+ *size = addrlen + 1;
+ return UV_ENOBUFS;
+ }
+
+ memcpy(buffer, sa.sun_path, addrlen);
+ *size = addrlen;
+
+ /* only null-terminate if it's not an abstract socket */
+ if (buffer[0] != '\0')
+ buffer[addrlen] = '\0';
+
+ return 0;
+}
+
+
+int uv_pipe_getsockname(const uv_pipe_t* handle, char* buffer, size_t* size) {
+ return uv__pipe_getsockpeername(handle, getsockname, buffer, size);
+}
+
+
+int uv_pipe_getpeername(const uv_pipe_t* handle, char* buffer, size_t* size) {
+ return uv__pipe_getsockpeername(handle, getpeername, buffer, size);
+}
+
+
+void uv_pipe_pending_instances(uv_pipe_t* handle, int count) {
+}
+
+
+int uv_pipe_pending_count(uv_pipe_t* handle) {
+ uv__stream_queued_fds_t* queued_fds;
+
+ if (!handle->ipc)
+ return 0;
+
+ if (handle->accepted_fd == -1)
+ return 0;
+
+ if (handle->queued_fds == NULL)
+ return 1;
+
+ queued_fds = (uv__stream_queued_fds_t*)(handle->queued_fds);
+ return queued_fds->offset + 1;
+}
+
+
+uv_handle_type uv_pipe_pending_type(uv_pipe_t* handle) {
+ if (!handle->ipc)
+ return UV_UNKNOWN_HANDLE;
+
+ if (handle->accepted_fd == -1)
+ return UV_UNKNOWN_HANDLE;
+ else
+ return uv__handle_type(handle->accepted_fd);
+}
+
+
+int uv_pipe_chmod(uv_pipe_t* handle, int mode) {
+ unsigned desired_mode;
+ struct stat pipe_stat;
+ char* name_buffer;
+ size_t name_len;
+ int r;
+
+ if (handle == NULL || uv__stream_fd(handle) == -1)
+ return UV_EBADF;
+
+ if (mode != UV_READABLE &&
+ mode != UV_WRITABLE &&
+ mode != (UV_WRITABLE | UV_READABLE))
+ return UV_EINVAL;
+
+ /* Unfortunately fchmod does not work on all platforms, we will use chmod. */
+ name_len = 0;
+ r = uv_pipe_getsockname(handle, NULL, &name_len);
+ if (r != UV_ENOBUFS)
+ return r;
+
+ name_buffer = (char*)uv__malloc(name_len);
+ if (name_buffer == NULL)
+ return UV_ENOMEM;
+
+ r = uv_pipe_getsockname(handle, name_buffer, &name_len);
+ if (r != 0) {
+ uv__free(name_buffer);
+ return r;
+ }
+
+ /* stat must be used as fstat has a bug on Darwin */
+ if (stat(name_buffer, &pipe_stat) == -1) {
+ uv__free(name_buffer);
+ return -errno;
+ }
+
+ desired_mode = 0;
+ if (mode & UV_READABLE)
+ desired_mode |= S_IRUSR | S_IRGRP | S_IROTH;
+ if (mode & UV_WRITABLE)
+ desired_mode |= S_IWUSR | S_IWGRP | S_IWOTH;
+
+ /* Exit early if pipe already has desired mode. */
+ if ((pipe_stat.st_mode & desired_mode) == desired_mode) {
+ uv__free(name_buffer);
+ return 0;
+ }
+
+ pipe_stat.st_mode |= desired_mode;
+
+ r = chmod(name_buffer, pipe_stat.st_mode);
+ uv__free(name_buffer);
+
+ return r != -1 ? 0 : UV__ERR(errno);
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/poll.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/poll.cpp
similarity index 100%
rename from third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/poll.cpp
rename to third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/poll.cpp
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/posix-hrtime.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/posix-hrtime.cpp
similarity index 100%
rename from third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/posix-hrtime.cpp
rename to third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/posix-hrtime.cpp
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/posix-poll.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/posix-poll.cpp
new file mode 100644
index 0000000..b932f91
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/posix-poll.cpp
@@ -0,0 +1,336 @@
+/* Copyright libuv project contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include "uv.h"
+#include "internal.h"
+
+/* POSIX defines poll() as a portable way to wait on file descriptors.
+ * Here we maintain a dynamically sized array of file descriptors and
+ * events to pass as the first argument to poll().
+ */
+
+#include <assert.h>
+#include <stddef.h>
+#include <stdint.h>
+#include <errno.h>
+#include <unistd.h>
+
+int uv__platform_loop_init(uv_loop_t* loop) {
+ loop->poll_fds = NULL;
+ loop->poll_fds_used = 0;
+ loop->poll_fds_size = 0;
+ loop->poll_fds_iterating = 0;
+ return 0;
+}
+
+void uv__platform_loop_delete(uv_loop_t* loop) {
+ uv__free(loop->poll_fds);
+ loop->poll_fds = NULL;
+}
+
+int uv__io_fork(uv_loop_t* loop) {
+ uv__platform_loop_delete(loop);
+ return uv__platform_loop_init(loop);
+}
+
+/* Allocate or dynamically resize our poll fds array. */
+static void uv__pollfds_maybe_resize(uv_loop_t* loop) {
+ size_t i;
+ size_t n;
+ struct pollfd* p;
+
+ if (loop->poll_fds_used < loop->poll_fds_size)
+ return;
+
+ n = loop->poll_fds_size ? loop->poll_fds_size * 2 : 64;
+ p = (struct pollfd*)uv__realloc(loop->poll_fds, n * sizeof(*loop->poll_fds));
+ if (p == NULL)
+ abort();
+
+ loop->poll_fds = p;
+ for (i = loop->poll_fds_size; i < n; i++) {
+ loop->poll_fds[i].fd = -1;
+ loop->poll_fds[i].events = 0;
+ loop->poll_fds[i].revents = 0;
+ }
+ loop->poll_fds_size = n;
+}
+
+/* Primitive swap operation on poll fds array elements. */
+static void uv__pollfds_swap(uv_loop_t* loop, size_t l, size_t r) {
+ struct pollfd pfd;
+ pfd = loop->poll_fds[l];
+ loop->poll_fds[l] = loop->poll_fds[r];
+ loop->poll_fds[r] = pfd;
+}
+
+/* Add a watcher's fd to our poll fds array with its pending events. */
+static void uv__pollfds_add(uv_loop_t* loop, uv__io_t* w) {
+ size_t i;
+ struct pollfd* pe;
+
+ /* If the fd is already in the set just update its events. */
+ assert(!loop->poll_fds_iterating);
+ for (i = 0; i < loop->poll_fds_used; ++i) {
+ if (loop->poll_fds[i].fd == w->fd) {
+ loop->poll_fds[i].events = w->pevents;
+ return;
+ }
+ }
+
+ /* Otherwise, allocate a new slot in the set for the fd. */
+ uv__pollfds_maybe_resize(loop);
+ pe = &loop->poll_fds[loop->poll_fds_used++];
+ pe->fd = w->fd;
+ pe->events = w->pevents;
+}
+
+/* Remove a watcher's fd from our poll fds array. */
+static void uv__pollfds_del(uv_loop_t* loop, int fd) {
+ size_t i;
+ assert(!loop->poll_fds_iterating);
+ for (i = 0; i < loop->poll_fds_used;) {
+ if (loop->poll_fds[i].fd == fd) {
+ /* swap to last position and remove */
+ --loop->poll_fds_used;
+ uv__pollfds_swap(loop, i, loop->poll_fds_used);
+ loop->poll_fds[loop->poll_fds_used].fd = -1;
+ loop->poll_fds[loop->poll_fds_used].events = 0;
+ loop->poll_fds[loop->poll_fds_used].revents = 0;
+ /* This method is called with an fd of -1 to purge the invalidated fds,
+ * so we may possibly have multiples to remove.
+ */
+ if (-1 != fd)
+ return;
+ } else {
+ /* We must only increment the loop counter when the fds do not match.
+ * Otherwise, when we are purging an invalidated fd, the value just
+ * swapped here from the previous end of the array will be skipped.
+ */
+ ++i;
+ }
+ }
+}
+
+
+void uv__io_poll(uv_loop_t* loop, int timeout) {
+ sigset_t* pset;
+ sigset_t set;
+ uint64_t time_base;
+ uint64_t time_diff;
+ QUEUE* q;
+ uv__io_t* w;
+ size_t i;
+ unsigned int nevents;
+ int nfds;
+ int have_signals;
+ struct pollfd* pe;
+ int fd;
+
+ if (loop->nfds == 0) {
+ assert(QUEUE_EMPTY(&loop->watcher_queue));
+ return;
+ }
+
+ /* Take queued watchers and add their fds to our poll fds array. */
+ while (!QUEUE_EMPTY(&loop->watcher_queue)) {
+ q = QUEUE_HEAD(&loop->watcher_queue);
+ QUEUE_REMOVE(q);
+ QUEUE_INIT(q);
+
+ w = QUEUE_DATA(q, uv__io_t, watcher_queue);
+ assert(w->pevents != 0);
+ assert(w->fd >= 0);
+ assert(w->fd < (int) loop->nwatchers);
+
+ uv__pollfds_add(loop, w);
+
+ w->events = w->pevents;
+ }
+
+ /* Prepare a set of signals to block around poll(), if any. */
+ pset = NULL;
+ if (loop->flags & UV_LOOP_BLOCK_SIGPROF) {
+ pset = &set;
+ sigemptyset(pset);
+ sigaddset(pset, SIGPROF);
+ }
+
+ assert(timeout >= -1);
+ time_base = loop->time;
+
+ /* Loop calls to poll() and processing of results. If we get some
+ * results from poll() but they turn out not to be interesting to
+ * our caller then we need to loop around and poll() again.
+ */
+ for (;;) {
+ if (pset != NULL)
+ if (pthread_sigmask(SIG_BLOCK, pset, NULL))
+ abort();
+ nfds = poll(loop->poll_fds, (nfds_t)loop->poll_fds_used, timeout);
+ if (pset != NULL)
+ if (pthread_sigmask(SIG_UNBLOCK, pset, NULL))
+ abort();
+
+ /* Update loop->time unconditionally. It's tempting to skip the update when
+ * timeout == 0 (i.e. non-blocking poll) but there is no guarantee that the
+ * operating system didn't reschedule our process while in the syscall.
+ */
+ SAVE_ERRNO(uv__update_time(loop));
+
+ if (nfds == 0) {
+ assert(timeout != -1);
+ return;
+ }
+
+ if (nfds == -1) {
+ if (errno != EINTR)
+ abort();
+
+ if (timeout == -1)
+ continue;
+
+ if (timeout == 0)
+ return;
+
+ /* Interrupted by a signal. Update timeout and poll again. */
+ goto update_timeout;
+ }
+
+ /* Tell uv__platform_invalidate_fd not to manipulate our array
+ * while we are iterating over it.
+ */
+ loop->poll_fds_iterating = 1;
+
+ /* Initialize a count of events that we care about. */
+ nevents = 0;
+ have_signals = 0;
+
+ /* Loop over the entire poll fds array looking for returned events. */
+ for (i = 0; i < loop->poll_fds_used; i++) {
+ pe = loop->poll_fds + i;
+ fd = pe->fd;
+
+ /* Skip invalidated events, see uv__platform_invalidate_fd. */
+ if (fd == -1)
+ continue;
+
+ assert(fd >= 0);
+ assert((unsigned) fd < loop->nwatchers);
+
+ w = loop->watchers[fd];
+
+ if (w == NULL) {
+ /* File descriptor that we've stopped watching, ignore. */
+ uv__platform_invalidate_fd(loop, fd);
+ continue;
+ }
+
+ /* Filter out events that user has not requested us to watch
+ * (e.g. POLLNVAL).
+ */
+ pe->revents &= w->pevents | POLLERR | POLLHUP;
+
+ if (pe->revents != 0) {
+ /* Run signal watchers last. */
+ if (w == &loop->signal_io_watcher) {
+ have_signals = 1;
+ } else {
+ w->cb(loop, w, pe->revents);
+ }
+
+ nevents++;
+ }
+ }
+
+ if (have_signals != 0)
+ loop->signal_io_watcher.cb(loop, &loop->signal_io_watcher, POLLIN);
+
+ loop->poll_fds_iterating = 0;
+
+ /* Purge invalidated fds from our poll fds array. */
+ uv__pollfds_del(loop, -1);
+
+ if (have_signals != 0)
+ return; /* Event loop should cycle now so don't poll again. */
+
+ if (nevents != 0)
+ return;
+
+ if (timeout == 0)
+ return;
+
+ if (timeout == -1)
+ continue;
+
+update_timeout:
+ assert(timeout > 0);
+
+ time_diff = loop->time - time_base;
+ if (time_diff >= (uint64_t) timeout)
+ return;
+
+ timeout -= time_diff;
+ }
+}
+
+/* Remove the given fd from our poll fds array because no one
+ * is interested in its events anymore.
+ */
+void uv__platform_invalidate_fd(uv_loop_t* loop, int fd) {
+ size_t i;
+
+ assert(fd >= 0);
+
+ if (loop->poll_fds_iterating) {
+ /* uv__io_poll is currently iterating. Just invalidate fd. */
+ for (i = 0; i < loop->poll_fds_used; i++)
+ if (loop->poll_fds[i].fd == fd) {
+ loop->poll_fds[i].fd = -1;
+ loop->poll_fds[i].events = 0;
+ loop->poll_fds[i].revents = 0;
+ }
+ } else {
+ /* uv__io_poll is not iterating. Delete fd from the set. */
+ uv__pollfds_del(loop, fd);
+ }
+}
+
+/* Check whether the given fd is supported by poll(). */
+int uv__io_check_fd(uv_loop_t* loop, int fd) {
+ struct pollfd p[1];
+ int rv;
+
+ p[0].fd = fd;
+ p[0].events = POLLIN;
+
+ do
+ rv = poll(p, 1, 0);
+ while (rv == -1 && (errno == EINTR || errno == EAGAIN));
+
+ if (rv == -1)
+ return UV__ERR(errno);
+
+ if (p[0].revents & POLLNVAL)
+ return UV_EINVAL;
+
+ return 0;
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/process.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/process.cpp
new file mode 100644
index 0000000..87dac7f
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/process.cpp
@@ -0,0 +1,603 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include "uv.h"
+#include "internal.h"
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <assert.h>
+#include <errno.h>
+
+#include <sys/types.h>
+#include <sys/wait.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <poll.h>
+
+#if defined(__APPLE__) && !TARGET_OS_IPHONE
+# include <crt_externs.h>
+# define environ (*_NSGetEnviron())
+#else
+extern char **environ;
+#endif
+
+#if defined(__linux__) || defined(__GLIBC__)
+# include <grp.h>
+#endif
+
+
+static void uv__chld(uv_signal_t* handle, int signum) {
+ uv_process_t* process;
+ uv_loop_t* loop;
+ int exit_status;
+ int term_signal;
+ int status;
+ pid_t pid;
+ QUEUE pending;
+ QUEUE* q;
+ QUEUE* h;
+
+ assert(signum == SIGCHLD);
+
+ QUEUE_INIT(&pending);
+ loop = handle->loop;
+
+ h = &loop->process_handles;
+ q = QUEUE_HEAD(h);
+ while (q != h) {
+ process = QUEUE_DATA(q, uv_process_t, queue);
+ q = QUEUE_NEXT(q);
+
+ do
+ pid = waitpid(process->pid, &status, WNOHANG);
+ while (pid == -1 && errno == EINTR);
+
+ if (pid == 0)
+ continue;
+
+ if (pid == -1) {
+ if (errno != ECHILD)
+ abort();
+ continue;
+ }
+
+ process->status = status;
+ QUEUE_REMOVE(&process->queue);
+ QUEUE_INSERT_TAIL(&pending, &process->queue);
+ }
+
+ h = &pending;
+ q = QUEUE_HEAD(h);
+ while (q != h) {
+ process = QUEUE_DATA(q, uv_process_t, queue);
+ q = QUEUE_NEXT(q);
+
+ QUEUE_REMOVE(&process->queue);
+ QUEUE_INIT(&process->queue);
+ uv__handle_stop(process);
+
+ if (process->exit_cb == NULL)
+ continue;
+
+ exit_status = 0;
+ if (WIFEXITED(process->status))
+ exit_status = WEXITSTATUS(process->status);
+
+ term_signal = 0;
+ if (WIFSIGNALED(process->status))
+ term_signal = WTERMSIG(process->status);
+
+ process->exit_cb(process, exit_status, term_signal);
+ }
+ assert(QUEUE_EMPTY(&pending));
+}
+
+
+int uv__make_socketpair(int fds[2], int flags) {
+#if defined(__linux__)
+ static int no_cloexec;
+
+ if (no_cloexec)
+ goto skip;
+
+ if (socketpair(AF_UNIX, SOCK_STREAM | UV__SOCK_CLOEXEC | flags, 0, fds) == 0)
+ return 0;
+
+ /* Retry on EINVAL, it means SOCK_CLOEXEC is not supported.
+ * Anything else is a genuine error.
+ */
+ if (errno != EINVAL)
+ return UV__ERR(errno);
+
+ no_cloexec = 1;
+
+skip:
+#endif
+
+ if (socketpair(AF_UNIX, SOCK_STREAM, 0, fds))
+ return UV__ERR(errno);
+
+ uv__cloexec(fds[0], 1);
+ uv__cloexec(fds[1], 1);
+
+ if (flags & UV__F_NONBLOCK) {
+ uv__nonblock(fds[0], 1);
+ uv__nonblock(fds[1], 1);
+ }
+
+ return 0;
+}
+
+
+int uv__make_pipe(int fds[2], int flags) {
+#if defined(__linux__)
+ static int no_pipe2;
+
+ if (no_pipe2)
+ goto skip;
+
+ if (uv__pipe2(fds, flags | UV__O_CLOEXEC) == 0)
+ return 0;
+
+ if (errno != ENOSYS)
+ return UV__ERR(errno);
+
+ no_pipe2 = 1;
+
+skip:
+#endif
+
+ if (pipe(fds))
+ return UV__ERR(errno);
+
+ uv__cloexec(fds[0], 1);
+ uv__cloexec(fds[1], 1);
+
+ if (flags & UV__F_NONBLOCK) {
+ uv__nonblock(fds[0], 1);
+ uv__nonblock(fds[1], 1);
+ }
+
+ return 0;
+}
+
+
+/*
+ * Used for initializing stdio streams like options.stdin_stream. Returns
+ * zero on success. See also the cleanup section in uv_spawn().
+ */
+static int uv__process_init_stdio(uv_stdio_container_t* container, int fds[2]) {
+ int mask;
+ int fd;
+
+ mask = UV_IGNORE | UV_CREATE_PIPE | UV_INHERIT_FD | UV_INHERIT_STREAM;
+
+ switch (container->flags & mask) {
+ case UV_IGNORE:
+ return 0;
+
+ case UV_CREATE_PIPE:
+ assert(container->data.stream != NULL);
+ if (container->data.stream->type != UV_NAMED_PIPE)
+ return UV_EINVAL;
+ else
+ return uv__make_socketpair(fds, 0);
+
+ case UV_INHERIT_FD:
+ case UV_INHERIT_STREAM:
+ if (container->flags & UV_INHERIT_FD)
+ fd = container->data.fd;
+ else
+ fd = uv__stream_fd(container->data.stream);
+
+ if (fd == -1)
+ return UV_EINVAL;
+
+ fds[1] = fd;
+ return 0;
+
+ default:
+ assert(0 && "Unexpected flags");
+ return UV_EINVAL;
+ }
+}
+
+
+static int uv__process_open_stream(uv_stdio_container_t* container,
+ int pipefds[2]) {
+ int flags;
+ int err;
+
+ if (!(container->flags & UV_CREATE_PIPE) || pipefds[0] < 0)
+ return 0;
+
+ err = uv__close(pipefds[1]);
+ if (err != 0)
+ abort();
+
+ pipefds[1] = -1;
+ uv__nonblock(pipefds[0], 1);
+
+ flags = 0;
+ if (container->flags & UV_WRITABLE_PIPE)
+ flags |= UV_HANDLE_READABLE;
+ if (container->flags & UV_READABLE_PIPE)
+ flags |= UV_HANDLE_WRITABLE;
+
+ return uv__stream_open(container->data.stream, pipefds[0], flags);
+}
+
+
+static void uv__process_close_stream(uv_stdio_container_t* container) {
+ if (!(container->flags & UV_CREATE_PIPE)) return;
+ uv__stream_close(container->data.stream);
+}
+
+
+static void uv__write_int(int fd, int val) {
+ ssize_t n;
+
+ do
+ n = write(fd, &val, sizeof(val));
+ while (n == -1 && errno == EINTR);
+
+ if (n == -1 && errno == EPIPE)
+ return; /* parent process has quit */
+
+ assert(n == sizeof(val));
+}
+
+
+#if !(defined(__APPLE__) && (TARGET_OS_TV || TARGET_OS_WATCH))
+/* execvp is marked __WATCHOS_PROHIBITED __TVOS_PROHIBITED, so must be
+ * avoided. Since this isn't called on those targets, the function
+ * doesn't even need to be defined for them.
+ */
+static void uv__process_child_init(const uv_process_options_t* options,
+ int stdio_count,
+ int (*pipes)[2],
+ int error_fd) {
+ sigset_t set;
+ int close_fd;
+ int use_fd;
+ int err;
+ int fd;
+ int n;
+
+ if (options->flags & UV_PROCESS_DETACHED)
+ setsid();
+
+ /* First duplicate low numbered fds, since it's not safe to duplicate them,
+ * they could get replaced. Example: swapping stdout and stderr; without
+ * this fd 2 (stderr) would be duplicated into fd 1, thus making both
+ * stdout and stderr go to the same fd, which was not the intention. */
+ for (fd = 0; fd < stdio_count; fd++) {
+ use_fd = pipes[fd][1];
+ if (use_fd < 0 || use_fd >= fd)
+ continue;
+ pipes[fd][1] = fcntl(use_fd, F_DUPFD, stdio_count);
+ if (pipes[fd][1] == -1) {
+ uv__write_int(error_fd, UV__ERR(errno));
+ _exit(127);
+ }
+ }
+
+ for (fd = 0; fd < stdio_count; fd++) {
+ close_fd = pipes[fd][0];
+ use_fd = pipes[fd][1];
+
+ if (use_fd < 0) {
+ if (fd >= 3)
+ continue;
+ else {
+ /* redirect stdin, stdout and stderr to /dev/null even if UV_IGNORE is
+ * set
+ */
+ use_fd = open("/dev/null", fd == 0 ? O_RDONLY : O_RDWR);
+ close_fd = use_fd;
+
+ if (use_fd < 0) {
+ uv__write_int(error_fd, UV__ERR(errno));
+ _exit(127);
+ }
+ }
+ }
+
+ if (fd == use_fd)
+ uv__cloexec_fcntl(use_fd, 0);
+ else
+ fd = dup2(use_fd, fd);
+
+ if (fd == -1) {
+ uv__write_int(error_fd, UV__ERR(errno));
+ _exit(127);
+ }
+
+ if (fd <= 2)
+ uv__nonblock_fcntl(fd, 0);
+
+ if (close_fd >= stdio_count)
+ uv__close(close_fd);
+ }
+
+ for (fd = 0; fd < stdio_count; fd++) {
+ use_fd = pipes[fd][1];
+
+ if (use_fd >= stdio_count)
+ uv__close(use_fd);
+ }
+
+ if (options->cwd != NULL && chdir(options->cwd)) {
+ uv__write_int(error_fd, UV__ERR(errno));
+ _exit(127);
+ }
+
+ if (options->flags & (UV_PROCESS_SETUID | UV_PROCESS_SETGID)) {
+ /* When dropping privileges from root, the `setgroups` call will
+ * remove any extraneous groups. If we don't call this, then
+ * even though our uid has dropped, we may still have groups
+ * that enable us to do super-user things. This will fail if we
+ * aren't root, so don't bother checking the return value, this
+ * is just done as an optimistic privilege dropping function.
+ */
+ SAVE_ERRNO(setgroups(0, NULL));
+ }
+
+ if ((options->flags & UV_PROCESS_SETGID) && setgid(options->gid)) {
+ uv__write_int(error_fd, UV__ERR(errno));
+ _exit(127);
+ }
+
+ if ((options->flags & UV_PROCESS_SETUID) && setuid(options->uid)) {
+ uv__write_int(error_fd, UV__ERR(errno));
+ _exit(127);
+ }
+
+ if (options->env != NULL) {
+ environ = options->env;
+ }
+
+ /* Reset signal disposition. Use a hard-coded limit because NSIG
+ * is not fixed on Linux: it's either 32, 34 or 64, depending on
+ * whether RT signals are enabled. We are not allowed to touch
+ * RT signal handlers, glibc uses them internally.
+ */
+ for (n = 1; n < 32; n += 1) {
+ if (n == SIGKILL || n == SIGSTOP)
+ continue; /* Can't be changed. */
+
+#if defined(__HAIKU__)
+ if (n == SIGKILLTHR)
+ continue; /* Can't be changed. */
+#endif
+
+ if (SIG_ERR != signal(n, SIG_DFL))
+ continue;
+
+ uv__write_int(error_fd, UV__ERR(errno));
+ _exit(127);
+ }
+
+ /* Reset signal mask. */
+ sigemptyset(&set);
+ err = pthread_sigmask(SIG_SETMASK, &set, NULL);
+
+ if (err != 0) {
+ uv__write_int(error_fd, UV__ERR(err));
+ _exit(127);
+ }
+
+ execvp(options->file, options->args);
+ uv__write_int(error_fd, UV__ERR(errno));
+ _exit(127);
+}
+#endif
+
+
+int uv_spawn(uv_loop_t* loop,
+ uv_process_t* process,
+ const uv_process_options_t* options) {
+#if defined(__APPLE__) && (TARGET_OS_TV || TARGET_OS_WATCH)
+ /* fork is marked __WATCHOS_PROHIBITED __TVOS_PROHIBITED. */
+ return UV_ENOSYS;
+#else
+ int signal_pipe[2] = { -1, -1 };
+ int pipes_storage[8][2];
+ int (*pipes)[2];
+ int stdio_count;
+ ssize_t r;
+ pid_t pid;
+ int err;
+ int exec_errorno;
+ int i;
+ int status;
+
+ assert(options->file != NULL);
+ assert(!(options->flags & ~(UV_PROCESS_DETACHED |
+ UV_PROCESS_SETGID |
+ UV_PROCESS_SETUID |
+ UV_PROCESS_WINDOWS_HIDE |
+ UV_PROCESS_WINDOWS_HIDE_CONSOLE |
+ UV_PROCESS_WINDOWS_HIDE_GUI |
+ UV_PROCESS_WINDOWS_VERBATIM_ARGUMENTS)));
+
+ uv__handle_init(loop, (uv_handle_t*)process, UV_PROCESS);
+ QUEUE_INIT(&process->queue);
+
+ stdio_count = options->stdio_count;
+ if (stdio_count < 3)
+ stdio_count = 3;
+
+ err = UV_ENOMEM;
+ pipes = pipes_storage;
+ if (stdio_count > (int) ARRAY_SIZE(pipes_storage))
+ pipes = (int (*)[2])uv__malloc(stdio_count * sizeof(*pipes));
+
+ if (pipes == NULL)
+ goto error;
+
+ for (i = 0; i < stdio_count; i++) {
+ pipes[i][0] = -1;
+ pipes[i][1] = -1;
+ }
+
+ for (i = 0; i < options->stdio_count; i++) {
+ err = uv__process_init_stdio(options->stdio + i, pipes[i]);
+ if (err)
+ goto error;
+ }
+
+ /* This pipe is used by the parent to wait until
+ * the child has called `execve()`. We need this
+ * to avoid the following race condition:
+ *
+ * if ((pid = fork()) > 0) {
+ * kill(pid, SIGTERM);
+ * }
+ * else if (pid == 0) {
+ * execve("/bin/cat", argp, envp);
+ * }
+ *
+ * The parent sends a signal immediately after forking.
+ * Since the child may not have called `execve()` yet,
+ * there is no telling what process receives the signal,
+ * our fork or /bin/cat.
+ *
+ * To avoid ambiguity, we create a pipe with both ends
+ * marked close-on-exec. Then, after the call to `fork()`,
+ * the parent polls the read end until it EOFs or errors with EPIPE.
+ */
+ err = uv__make_pipe(signal_pipe, 0);
+ if (err)
+ goto error;
+
+ uv_signal_start(&loop->child_watcher, uv__chld, SIGCHLD);
+
+ /* Acquire write lock to prevent opening new fds in worker threads */
+ uv_rwlock_wrlock(&loop->cloexec_lock);
+ pid = fork();
+
+ if (pid == -1) {
+ err = UV__ERR(errno);
+ uv_rwlock_wrunlock(&loop->cloexec_lock);
+ uv__close(signal_pipe[0]);
+ uv__close(signal_pipe[1]);
+ goto error;
+ }
+
+ if (pid == 0) {
+ uv__process_child_init(options, stdio_count, pipes, signal_pipe[1]);
+ abort();
+ }
+
+ /* Release lock in parent process */
+ uv_rwlock_wrunlock(&loop->cloexec_lock);
+ uv__close(signal_pipe[1]);
+
+ process->status = 0;
+ exec_errorno = 0;
+ do
+ r = read(signal_pipe[0], &exec_errorno, sizeof(exec_errorno));
+ while (r == -1 && errno == EINTR);
+
+ if (r == 0)
+ ; /* okay, EOF */
+ else if (r == sizeof(exec_errorno)) {
+ do
+ err = waitpid(pid, &status, 0); /* okay, read errorno */
+ while (err == -1 && errno == EINTR);
+ assert(err == pid);
+ } else if (r == -1 && errno == EPIPE) {
+ do
+ err = waitpid(pid, &status, 0); /* okay, got EPIPE */
+ while (err == -1 && errno == EINTR);
+ assert(err == pid);
+ } else
+ abort();
+
+ uv__close_nocheckstdio(signal_pipe[0]);
+
+ for (i = 0; i < options->stdio_count; i++) {
+ err = uv__process_open_stream(options->stdio + i, pipes[i]);
+ if (err == 0)
+ continue;
+
+ while (i--)
+ uv__process_close_stream(options->stdio + i);
+
+ goto error;
+ }
+
+ /* Only activate this handle if exec() happened successfully */
+ if (exec_errorno == 0) {
+ QUEUE_INSERT_TAIL(&loop->process_handles, &process->queue);
+ uv__handle_start(process);
+ }
+
+ process->pid = pid;
+ process->exit_cb = options->exit_cb;
+
+ if (pipes != pipes_storage)
+ uv__free(pipes);
+
+ return exec_errorno;
+
+error:
+ if (pipes != NULL) {
+ for (i = 0; i < stdio_count; i++) {
+ if (i < options->stdio_count)
+ if (options->stdio[i].flags & (UV_INHERIT_FD | UV_INHERIT_STREAM))
+ continue;
+ if (pipes[i][0] != -1)
+ uv__close_nocheckstdio(pipes[i][0]);
+ if (pipes[i][1] != -1)
+ uv__close_nocheckstdio(pipes[i][1]);
+ }
+
+ if (pipes != pipes_storage)
+ uv__free(pipes);
+ }
+
+ return err;
+#endif
+}
+
+
+int uv_process_kill(uv_process_t* process, int signum) {
+ return uv_kill(process->pid, signum);
+}
+
+
+int uv_kill(int pid, int signum) {
+ if (kill(pid, signum))
+ return UV__ERR(errno);
+ else
+ return 0;
+}
+
+
+void uv__process_close(uv_process_t* handle) {
+ QUEUE_REMOVE(&handle->queue);
+ uv__handle_stop(handle);
+ if (QUEUE_EMPTY(&handle->loop->process_handles))
+ uv_signal_stop(&handle->loop->child_watcher);
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/procfs-exepath.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/procfs-exepath.cpp
similarity index 100%
rename from third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/procfs-exepath.cpp
rename to third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/procfs-exepath.cpp
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/proctitle.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/proctitle.cpp
new file mode 100644
index 0000000..b09808f
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/proctitle.cpp
@@ -0,0 +1,136 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include "uv.h"
+#include "internal.h"
+
+#include <stdlib.h>
+#include <string.h>
+
+extern void uv__set_process_title_platform_init(void);
+extern void uv__set_process_title(const char* title);
+
+static uv_mutex_t process_title_mutex;
+static uv_once_t process_title_mutex_once = UV_ONCE_INIT;
+static void* args_mem;
+
+static struct {
+ char* str;
+ size_t len;
+} process_title;
+
+
+static void init_process_title_mutex_once(void) {
+ uv_mutex_init(&process_title_mutex);
+#ifdef __APPLE__
+ uv__set_process_title_platform_init();
+#endif
+}
+
+
+char** uv_setup_args(int argc, char** argv) {
+ char** new_argv;
+ size_t size;
+ char* s;
+ int i;
+
+ if (argc <= 0)
+ return argv;
+
+ /* Calculate how much memory we need for the argv strings. */
+ size = 0;
+ for (i = 0; i < argc; i++)
+ size += strlen(argv[i]) + 1;
+
+#if defined(__MVS__)
+ /* argv is not adjacent. So just use argv[0] */
+ process_title.str = argv[0];
+ process_title.len = strlen(argv[0]);
+#else
+ process_title.str = argv[0];
+ process_title.len = argv[argc - 1] + strlen(argv[argc - 1]) - argv[0];
+ assert(process_title.len + 1 == size); /* argv memory should be adjacent. */
+#endif
+
+ /* Add space for the argv pointers. */
+ size += (argc + 1) * sizeof(char*);
+
+ new_argv = (char**)uv__malloc(size);
+ if (new_argv == NULL)
+ return argv;
+ args_mem = new_argv;
+
+ /* Copy over the strings and set up the pointer table. */
+ s = (char*) &new_argv[argc + 1];
+ for (i = 0; i < argc; i++) {
+ size = strlen(argv[i]) + 1;
+ memcpy(s, argv[i], size);
+ new_argv[i] = s;
+ s += size;
+ }
+ new_argv[i] = NULL;
+
+ return new_argv;
+}
+
+
+int uv_set_process_title(const char* title) {
+ uv_once(&process_title_mutex_once, init_process_title_mutex_once);
+ uv_mutex_lock(&process_title_mutex);
+
+ if (process_title.len != 0) {
+ /* No need to terminate, byte after is always '\0'. */
+ strncpy(process_title.str, title, process_title.len);
+ uv__set_process_title(title);
+ }
+
+ uv_mutex_unlock(&process_title_mutex);
+
+ return 0;
+}
+
+
+int uv_get_process_title(char* buffer, size_t size) {
+ if (buffer == NULL || size == 0)
+ return UV_EINVAL;
+
+ uv_once(&process_title_mutex_once, init_process_title_mutex_once);
+ uv_mutex_lock(&process_title_mutex);
+
+ if (size <= process_title.len) {
+ uv_mutex_unlock(&process_title_mutex);
+ return UV_ENOBUFS;
+ }
+
+ if (process_title.len != 0)
+ memcpy(buffer, process_title.str, process_title.len + 1);
+
+ buffer[process_title.len] = '\0';
+
+ uv_mutex_unlock(&process_title_mutex);
+
+ return 0;
+}
+
+
+UV_DESTRUCTOR(static void free_args_mem(void)) {
+ uv__free(args_mem); /* Keep valgrind happy. */
+ args_mem = NULL;
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/pthread-fixes.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/pthread-fixes.cpp
similarity index 100%
rename from third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/pthread-fixes.cpp
rename to third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/pthread-fixes.cpp
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/signal.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/signal.cpp
new file mode 100644
index 0000000..ec2639a
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/signal.cpp
@@ -0,0 +1,574 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include "uv.h"
+#include "internal.h"
+
+#include <assert.h>
+#include <errno.h>
+#include <signal.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+
+#ifndef SA_RESTART
+# define SA_RESTART 0
+#endif
+
+typedef struct {
+ uv_signal_t* handle;
+ int signum;
+} uv__signal_msg_t;
+
+RB_HEAD(uv__signal_tree_s, uv_signal_s);
+
+
+static int uv__signal_unlock(void);
+static int uv__signal_start(uv_signal_t* handle,
+ uv_signal_cb signal_cb,
+ int signum,
+ int oneshot);
+static void uv__signal_event(uv_loop_t* loop, uv__io_t* w, unsigned int events);
+static int uv__signal_compare(uv_signal_t* w1, uv_signal_t* w2);
+static void uv__signal_stop(uv_signal_t* handle);
+static void uv__signal_unregister_handler(int signum);
+
+
+static uv_once_t uv__signal_global_init_guard = UV_ONCE_INIT;
+static struct uv__signal_tree_s uv__signal_tree =
+ RB_INITIALIZER(uv__signal_tree);
+static int uv__signal_lock_pipefd[2] = { -1, -1 };
+
+RB_GENERATE_STATIC(uv__signal_tree_s,
+ uv_signal_s, tree_entry,
+ uv__signal_compare)
+
+static void uv__signal_global_reinit(void);
+
+static void uv__signal_global_init(void) {
+ if (uv__signal_lock_pipefd[0] == -1)
+ /* pthread_atfork can register before and after handlers, one
+ * for each child. This only registers one for the child. That
+ * state is both persistent and cumulative, so if we keep doing
+ * it the handler functions will be called multiple times. Thus
+ * we only want to do it once.
+ */
+ if (pthread_atfork(NULL, NULL, &uv__signal_global_reinit))
+ abort();
+
+ uv__signal_global_reinit();
+}
+
+
+UV_DESTRUCTOR(static void uv__signal_global_fini(void)) {
+ /* We can only use signal-safe functions here.
+ * That includes read/write and close, fortunately.
+ * We do all of this directly here instead of resetting
+ * uv__signal_global_init_guard because
+ * uv__signal_global_once_init is only called from uv_loop_init
+ * and this needs to function in existing loops.
+ */
+ if (uv__signal_lock_pipefd[0] != -1) {
+ uv__close(uv__signal_lock_pipefd[0]);
+ uv__signal_lock_pipefd[0] = -1;
+ }
+
+ if (uv__signal_lock_pipefd[1] != -1) {
+ uv__close(uv__signal_lock_pipefd[1]);
+ uv__signal_lock_pipefd[1] = -1;
+ }
+}
+
+
+static void uv__signal_global_reinit(void) {
+ uv__signal_global_fini();
+
+ if (uv__make_pipe(uv__signal_lock_pipefd, 0))
+ abort();
+
+ if (uv__signal_unlock())
+ abort();
+}
+
+
+void uv__signal_global_once_init(void) {
+ uv_once(&uv__signal_global_init_guard, uv__signal_global_init);
+}
+
+
+static int uv__signal_lock(void) {
+ int r;
+ char data;
+
+ do {
+ r = read(uv__signal_lock_pipefd[0], &data, sizeof data);
+ } while (r < 0 && errno == EINTR);
+
+ return (r < 0) ? -1 : 0;
+}
+
+
+static int uv__signal_unlock(void) {
+ int r;
+ char data = 42;
+
+ do {
+ r = write(uv__signal_lock_pipefd[1], &data, sizeof data);
+ } while (r < 0 && errno == EINTR);
+
+ return (r < 0) ? -1 : 0;
+}
+
+
+static void uv__signal_block_and_lock(sigset_t* saved_sigmask) {
+ sigset_t new_mask;
+
+ if (sigfillset(&new_mask))
+ abort();
+
+ if (pthread_sigmask(SIG_SETMASK, &new_mask, saved_sigmask))
+ abort();
+
+ if (uv__signal_lock())
+ abort();
+}
+
+
+static void uv__signal_unlock_and_unblock(sigset_t* saved_sigmask) {
+ if (uv__signal_unlock())
+ abort();
+
+ if (pthread_sigmask(SIG_SETMASK, saved_sigmask, NULL))
+ abort();
+}
+
+
+static uv_signal_t* uv__signal_first_handle(int signum) {
+ /* This function must be called with the signal lock held. */
+ uv_signal_t lookup;
+ uv_signal_t* handle;
+
+ lookup.signum = signum;
+ lookup.flags = 0;
+ lookup.loop = NULL;
+
+ handle = RB_NFIND(uv__signal_tree_s, &uv__signal_tree, &lookup);
+
+ if (handle != NULL && handle->signum == signum)
+ return handle;
+
+ return NULL;
+}
+
+
+static void uv__signal_handler(int signum) {
+ uv__signal_msg_t msg;
+ uv_signal_t* handle;
+ int saved_errno;
+
+ saved_errno = errno;
+ memset(&msg, 0, sizeof msg);
+
+ if (uv__signal_lock()) {
+ errno = saved_errno;
+ return;
+ }
+
+ for (handle = uv__signal_first_handle(signum);
+ handle != NULL && handle->signum == signum;
+ handle = RB_NEXT(uv__signal_tree_s, &uv__signal_tree, handle)) {
+ int r;
+
+ msg.signum = signum;
+ msg.handle = handle;
+
+ /* write() should be atomic for small data chunks, so the entire message
+ * should be written at once. In theory the pipe could become full, in
+ * which case the user is out of luck.
+ */
+ do {
+ r = write(handle->loop->signal_pipefd[1], &msg, sizeof msg);
+ } while (r == -1 && errno == EINTR);
+
+ assert(r == sizeof msg ||
+ (r == -1 && (errno == EAGAIN || errno == EWOULDBLOCK)));
+
+ if (r != -1)
+ handle->caught_signals++;
+ }
+
+ uv__signal_unlock();
+ errno = saved_errno;
+}
+
+
+static int uv__signal_register_handler(int signum, int oneshot) {
+ /* When this function is called, the signal lock must be held. */
+ struct sigaction sa;
+
+ /* XXX use a separate signal stack? */
+ memset(&sa, 0, sizeof(sa));
+ if (sigfillset(&sa.sa_mask))
+ abort();
+ sa.sa_handler = uv__signal_handler;
+ sa.sa_flags = SA_RESTART;
+ if (oneshot)
+ sa.sa_flags |= SA_RESETHAND;
+
+ /* XXX save old action so we can restore it later on? */
+ if (sigaction(signum, &sa, NULL))
+ return UV__ERR(errno);
+
+ return 0;
+}
+
+
+static void uv__signal_unregister_handler(int signum) {
+ /* When this function is called, the signal lock must be held. */
+ struct sigaction sa;
+
+ memset(&sa, 0, sizeof(sa));
+ sa.sa_handler = SIG_DFL;
+
+ /* sigaction can only fail with EINVAL or EFAULT; an attempt to deregister a
+ * signal implies that it was successfully registered earlier, so EINVAL
+ * should never happen.
+ */
+ if (sigaction(signum, &sa, NULL))
+ abort();
+}
+
+
+static int uv__signal_loop_once_init(uv_loop_t* loop) {
+ int err;
+
+ /* Return if already initialized. */
+ if (loop->signal_pipefd[0] != -1)
+ return 0;
+
+ err = uv__make_pipe(loop->signal_pipefd, UV__F_NONBLOCK);
+ if (err)
+ return err;
+
+ uv__io_init(&loop->signal_io_watcher,
+ uv__signal_event,
+ loop->signal_pipefd[0]);
+ uv__io_start(loop, &loop->signal_io_watcher, POLLIN);
+
+ return 0;
+}
+
+
+int uv__signal_loop_fork(uv_loop_t* loop) {
+ uv__io_stop(loop, &loop->signal_io_watcher, POLLIN);
+ uv__close(loop->signal_pipefd[0]);
+ uv__close(loop->signal_pipefd[1]);
+ loop->signal_pipefd[0] = -1;
+ loop->signal_pipefd[1] = -1;
+ return uv__signal_loop_once_init(loop);
+}
+
+
+void uv__signal_loop_cleanup(uv_loop_t* loop) {
+ QUEUE* q;
+
+ /* Stop all the signal watchers that are still attached to this loop. This
+ * ensures that the (shared) signal tree doesn't contain any invalid entries
+ * entries, and that signal handlers are removed when appropriate.
+ * It's safe to use QUEUE_FOREACH here because the handles and the handle
+ * queue are not modified by uv__signal_stop().
+ */
+ QUEUE_FOREACH(q, &loop->handle_queue) {
+ uv_handle_t* handle = QUEUE_DATA(q, uv_handle_t, handle_queue);
+
+ if (handle->type == UV_SIGNAL)
+ uv__signal_stop((uv_signal_t*) handle);
+ }
+
+ if (loop->signal_pipefd[0] != -1) {
+ uv__close(loop->signal_pipefd[0]);
+ loop->signal_pipefd[0] = -1;
+ }
+
+ if (loop->signal_pipefd[1] != -1) {
+ uv__close(loop->signal_pipefd[1]);
+ loop->signal_pipefd[1] = -1;
+ }
+}
+
+
+int uv_signal_init(uv_loop_t* loop, uv_signal_t* handle) {
+ int err;
+
+ err = uv__signal_loop_once_init(loop);
+ if (err)
+ return err;
+
+ uv__handle_init(loop, (uv_handle_t*) handle, UV_SIGNAL);
+ handle->signum = 0;
+ handle->caught_signals = 0;
+ handle->dispatched_signals = 0;
+
+ return 0;
+}
+
+
+void uv__signal_close(uv_signal_t* handle) {
+
+ uv__signal_stop(handle);
+
+ /* If there are any caught signals "trapped" in the signal pipe, we can't
+ * call the close callback yet. Otherwise, add the handle to the finish_close
+ * queue.
+ */
+ if (handle->caught_signals == handle->dispatched_signals) {
+ uv__make_close_pending((uv_handle_t*) handle);
+ }
+}
+
+
+int uv_signal_start(uv_signal_t* handle, uv_signal_cb signal_cb, int signum) {
+ return uv__signal_start(handle, signal_cb, signum, 0);
+}
+
+
+int uv_signal_start_oneshot(uv_signal_t* handle,
+ uv_signal_cb signal_cb,
+ int signum) {
+ return uv__signal_start(handle, signal_cb, signum, 1);
+}
+
+
+static int uv__signal_start(uv_signal_t* handle,
+ uv_signal_cb signal_cb,
+ int signum,
+ int oneshot) {
+ sigset_t saved_sigmask;
+ int err;
+ uv_signal_t* first_handle;
+
+ assert(!uv__is_closing(handle));
+
+ /* If the user supplies signum == 0, then return an error already. If the
+ * signum is otherwise invalid then uv__signal_register will find out
+ * eventually.
+ */
+ if (signum == 0)
+ return UV_EINVAL;
+
+ /* Short circuit: if the signal watcher is already watching {signum} don't
+ * go through the process of deregistering and registering the handler.
+ * Additionally, this avoids pending signals getting lost in the small
+ * time frame that handle->signum == 0.
+ */
+ if (signum == handle->signum) {
+ handle->signal_cb = signal_cb;
+ return 0;
+ }
+
+ /* If the signal handler was already active, stop it first. */
+ if (handle->signum != 0) {
+ uv__signal_stop(handle);
+ }
+
+ uv__signal_block_and_lock(&saved_sigmask);
+
+ /* If at this point there are no active signal watchers for this signum (in
+ * any of the loops), it's time to try and register a handler for it here.
+ * Also in case there's only one-shot handlers and a regular handler comes in.
+ */
+ first_handle = uv__signal_first_handle(signum);
+ if (first_handle == NULL ||
+ (!oneshot && (first_handle->flags & UV_SIGNAL_ONE_SHOT))) {
+ err = uv__signal_register_handler(signum, oneshot);
+ if (err) {
+ /* Registering the signal handler failed. Must be an invalid signal. */
+ uv__signal_unlock_and_unblock(&saved_sigmask);
+ return err;
+ }
+ }
+
+ handle->signum = signum;
+ if (oneshot)
+ handle->flags |= UV_SIGNAL_ONE_SHOT;
+
+ RB_INSERT(uv__signal_tree_s, &uv__signal_tree, handle);
+
+ uv__signal_unlock_and_unblock(&saved_sigmask);
+
+ handle->signal_cb = signal_cb;
+ uv__handle_start(handle);
+
+ return 0;
+}
+
+
+static void uv__signal_event(uv_loop_t* loop,
+ uv__io_t* w,
+ unsigned int events) {
+ uv__signal_msg_t* msg;
+ uv_signal_t* handle;
+ char buf[sizeof(uv__signal_msg_t) * 32];
+ size_t bytes, end, i;
+ int r;
+
+ bytes = 0;
+ end = 0;
+
+ do {
+ r = read(loop->signal_pipefd[0], buf + bytes, sizeof(buf) - bytes);
+
+ if (r == -1 && errno == EINTR)
+ continue;
+
+ if (r == -1 && (errno == EAGAIN || errno == EWOULDBLOCK)) {
+ /* If there are bytes in the buffer already (which really is extremely
+ * unlikely if possible at all) we can't exit the function here. We'll
+ * spin until more bytes are read instead.
+ */
+ if (bytes > 0)
+ continue;
+
+ /* Otherwise, there was nothing there. */
+ return;
+ }
+
+ /* Other errors really should never happen. */
+ if (r == -1)
+ abort();
+
+ bytes += r;
+
+ /* `end` is rounded down to a multiple of sizeof(uv__signal_msg_t). */
+ end = (bytes / sizeof(uv__signal_msg_t)) * sizeof(uv__signal_msg_t);
+
+ for (i = 0; i < end; i += sizeof(uv__signal_msg_t)) {
+ msg = (uv__signal_msg_t*) (buf + i);
+ handle = msg->handle;
+
+ if (msg->signum == handle->signum) {
+ assert(!(handle->flags & UV_HANDLE_CLOSING));
+ handle->signal_cb(handle, handle->signum);
+ }
+
+ handle->dispatched_signals++;
+
+ if (handle->flags & UV_SIGNAL_ONE_SHOT)
+ uv__signal_stop(handle);
+
+ /* If uv_close was called while there were caught signals that were not
+ * yet dispatched, the uv__finish_close was deferred. Make close pending
+ * now if this has happened.
+ */
+ if ((handle->flags & UV_HANDLE_CLOSING) &&
+ (handle->caught_signals == handle->dispatched_signals)) {
+ uv__make_close_pending((uv_handle_t*) handle);
+ }
+ }
+
+ bytes -= end;
+
+ /* If there are any "partial" messages left, move them to the start of the
+ * the buffer, and spin. This should not happen.
+ */
+ if (bytes) {
+ memmove(buf, buf + end, bytes);
+ continue;
+ }
+ } while (end == sizeof buf);
+}
+
+
+static int uv__signal_compare(uv_signal_t* w1, uv_signal_t* w2) {
+ int f1;
+ int f2;
+ /* Compare signums first so all watchers with the same signnum end up
+ * adjacent.
+ */
+ if (w1->signum < w2->signum) return -1;
+ if (w1->signum > w2->signum) return 1;
+
+ /* Handlers without UV_SIGNAL_ONE_SHOT set will come first, so if the first
+ * handler returned is a one-shot handler, the rest will be too.
+ */
+ f1 = w1->flags & UV_SIGNAL_ONE_SHOT;
+ f2 = w2->flags & UV_SIGNAL_ONE_SHOT;
+ if (f1 < f2) return -1;
+ if (f1 > f2) return 1;
+
+ /* Sort by loop pointer, so we can easily look up the first item after
+ * { .signum = x, .loop = NULL }.
+ */
+ if (w1->loop < w2->loop) return -1;
+ if (w1->loop > w2->loop) return 1;
+
+ if (w1 < w2) return -1;
+ if (w1 > w2) return 1;
+
+ return 0;
+}
+
+
+int uv_signal_stop(uv_signal_t* handle) {
+ assert(!uv__is_closing(handle));
+ uv__signal_stop(handle);
+ return 0;
+}
+
+
+static void uv__signal_stop(uv_signal_t* handle) {
+ uv_signal_t* removed_handle;
+ sigset_t saved_sigmask;
+ uv_signal_t* first_handle;
+ int rem_oneshot;
+ int first_oneshot;
+ int ret;
+
+ /* If the watcher wasn't started, this is a no-op. */
+ if (handle->signum == 0)
+ return;
+
+ uv__signal_block_and_lock(&saved_sigmask);
+
+ removed_handle = RB_REMOVE(uv__signal_tree_s, &uv__signal_tree, handle);
+ assert(removed_handle == handle);
+ (void) removed_handle;
+
+ /* Check if there are other active signal watchers observing this signal. If
+ * not, unregister the signal handler.
+ */
+ first_handle = uv__signal_first_handle(handle->signum);
+ if (first_handle == NULL) {
+ uv__signal_unregister_handler(handle->signum);
+ } else {
+ rem_oneshot = handle->flags & UV_SIGNAL_ONE_SHOT;
+ first_oneshot = first_handle->flags & UV_SIGNAL_ONE_SHOT;
+ if (first_oneshot && !rem_oneshot) {
+ ret = uv__signal_register_handler(handle->signum, 1);
+ assert(ret == 0);
+ (void) ret;
+ }
+ }
+
+ uv__signal_unlock_and_unblock(&saved_sigmask);
+
+ handle->signum = 0;
+ uv__handle_stop(handle);
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/spinlock.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/spinlock.h
similarity index 100%
rename from third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/spinlock.h
rename to third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/spinlock.h
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/stream.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/stream.cpp
new file mode 100644
index 0000000..f3a8e66
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/stream.cpp
@@ -0,0 +1,1689 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include "uv.h"
+#include "internal.h"
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <assert.h>
+#include <errno.h>
+
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <sys/uio.h>
+#include <sys/un.h>
+#include <unistd.h>
+#include <limits.h> /* IOV_MAX */
+
+#if defined(__APPLE__)
+# include <sys/event.h>
+# include <sys/time.h>
+# include <sys/select.h>
+
+/* Forward declaration */
+typedef struct uv__stream_select_s uv__stream_select_t;
+
+struct uv__stream_select_s {
+ uv_stream_t* stream;
+ uv_thread_t thread;
+ uv_sem_t close_sem;
+ uv_sem_t async_sem;
+ uv_async_t async;
+ int events;
+ int fake_fd;
+ int int_fd;
+ int fd;
+ fd_set* sread;
+ size_t sread_sz;
+ fd_set* swrite;
+ size_t swrite_sz;
+};
+
+/* Due to a possible kernel bug at least in OS X 10.10 "Yosemite",
+ * EPROTOTYPE can be returned while trying to write to a socket that is
+ * shutting down. If we retry the write, we should get the expected EPIPE
+ * instead.
+ */
+# define RETRY_ON_WRITE_ERROR(errno) (errno == EINTR || errno == EPROTOTYPE)
+# define IS_TRANSIENT_WRITE_ERROR(errno, send_handle) \
+ (errno == EAGAIN || errno == EWOULDBLOCK || errno == ENOBUFS || \
+ (errno == EMSGSIZE && send_handle != NULL))
+#else
+# define RETRY_ON_WRITE_ERROR(errno) (errno == EINTR)
+# define IS_TRANSIENT_WRITE_ERROR(errno, send_handle) \
+ (errno == EAGAIN || errno == EWOULDBLOCK || errno == ENOBUFS)
+#endif /* defined(__APPLE__) */
+
+static void uv__stream_connect(uv_stream_t*);
+static void uv__write(uv_stream_t* stream);
+static void uv__read(uv_stream_t* stream);
+static void uv__stream_io(uv_loop_t* loop, uv__io_t* w, unsigned int events);
+static void uv__write_callbacks(uv_stream_t* stream);
+static size_t uv__write_req_size(uv_write_t* req);
+
+
+void uv__stream_init(uv_loop_t* loop,
+ uv_stream_t* stream,
+ uv_handle_type type) {
+ int err;
+
+ uv__handle_init(loop, (uv_handle_t*)stream, type);
+ stream->read_cb = NULL;
+ stream->alloc_cb = NULL;
+ stream->close_cb = NULL;
+ stream->connection_cb = NULL;
+ stream->connect_req = NULL;
+ stream->shutdown_req = NULL;
+ stream->accepted_fd = -1;
+ stream->queued_fds = NULL;
+ stream->delayed_error = 0;
+ QUEUE_INIT(&stream->write_queue);
+ QUEUE_INIT(&stream->write_completed_queue);
+ stream->write_queue_size = 0;
+
+ if (loop->emfile_fd == -1) {
+ err = uv__open_cloexec("/dev/null", O_RDONLY);
+ if (err < 0)
+ /* In the rare case that "/dev/null" isn't mounted open "/"
+ * instead.
+ */
+ err = uv__open_cloexec("/", O_RDONLY);
+ if (err >= 0)
+ loop->emfile_fd = err;
+ }
+
+#if defined(__APPLE__)
+ stream->select = NULL;
+#endif /* defined(__APPLE_) */
+
+ uv__io_init(&stream->io_watcher, uv__stream_io, -1);
+}
+
+
+static void uv__stream_osx_interrupt_select(uv_stream_t* stream) {
+#if defined(__APPLE__)
+ /* Notify select() thread about state change */
+ uv__stream_select_t* s;
+ int r;
+
+ s = (uv__stream_select_t*)stream->select;
+ if (s == NULL)
+ return;
+
+ /* Interrupt select() loop
+ * NOTE: fake_fd and int_fd are socketpair(), thus writing to one will
+ * emit read event on other side
+ */
+ do
+ r = write(s->fake_fd, "x", 1);
+ while (r == -1 && errno == EINTR);
+
+ assert(r == 1);
+#else /* !defined(__APPLE__) */
+ /* No-op on any other platform */
+#endif /* !defined(__APPLE__) */
+}
+
+
+#if defined(__APPLE__)
+static void uv__stream_osx_select(void* arg) {
+ uv_stream_t* stream;
+ uv__stream_select_t* s;
+ char buf[1024];
+ int events;
+ int fd;
+ int r;
+ int max_fd;
+
+ stream = (uv_stream_t*)arg;
+ s = (uv__stream_select_t*)stream->select;
+ fd = s->fd;
+
+ if (fd > s->int_fd)
+ max_fd = fd;
+ else
+ max_fd = s->int_fd;
+
+ while (1) {
+ /* Terminate on semaphore */
+ if (uv_sem_trywait(&s->close_sem) == 0)
+ break;
+
+ /* Watch fd using select(2) */
+ memset(s->sread, 0, s->sread_sz);
+ memset(s->swrite, 0, s->swrite_sz);
+
+ if (uv__io_active(&stream->io_watcher, POLLIN))
+ FD_SET(fd, s->sread);
+ if (uv__io_active(&stream->io_watcher, POLLOUT))
+ FD_SET(fd, s->swrite);
+ FD_SET(s->int_fd, s->sread);
+
+ /* Wait indefinitely for fd events */
+ r = select(max_fd + 1, s->sread, s->swrite, NULL, NULL);
+ if (r == -1) {
+ if (errno == EINTR)
+ continue;
+
+ /* XXX: Possible?! */
+ abort();
+ }
+
+ /* Ignore timeouts */
+ if (r == 0)
+ continue;
+
+ /* Empty socketpair's buffer in case of interruption */
+ if (FD_ISSET(s->int_fd, s->sread))
+ while (1) {
+ r = read(s->int_fd, buf, sizeof(buf));
+
+ if (r == sizeof(buf))
+ continue;
+
+ if (r != -1)
+ break;
+
+ if (errno == EAGAIN || errno == EWOULDBLOCK)
+ break;
+
+ if (errno == EINTR)
+ continue;
+
+ abort();
+ }
+
+ /* Handle events */
+ events = 0;
+ if (FD_ISSET(fd, s->sread))
+ events |= POLLIN;
+ if (FD_ISSET(fd, s->swrite))
+ events |= POLLOUT;
+
+ assert(events != 0 || FD_ISSET(s->int_fd, s->sread));
+ if (events != 0) {
+ ACCESS_ONCE(int, s->events) = events;
+
+ uv_async_send(&s->async);
+ uv_sem_wait(&s->async_sem);
+
+ /* Should be processed at this stage */
+ assert((s->events == 0) || (stream->flags & UV_HANDLE_CLOSING));
+ }
+ }
+}
+
+
+static void uv__stream_osx_select_cb(uv_async_t* handle) {
+ uv__stream_select_t* s;
+ uv_stream_t* stream;
+ int events;
+
+ s = container_of(handle, uv__stream_select_t, async);
+ stream = s->stream;
+
+ /* Get and reset stream's events */
+ events = s->events;
+ ACCESS_ONCE(int, s->events) = 0;
+
+ assert(events != 0);
+ assert(events == (events & (POLLIN | POLLOUT)));
+
+ /* Invoke callback on event-loop */
+ if ((events & POLLIN) && uv__io_active(&stream->io_watcher, POLLIN))
+ uv__stream_io(stream->loop, &stream->io_watcher, POLLIN);
+
+ if ((events & POLLOUT) && uv__io_active(&stream->io_watcher, POLLOUT))
+ uv__stream_io(stream->loop, &stream->io_watcher, POLLOUT);
+
+ if (stream->flags & UV_HANDLE_CLOSING)
+ return;
+
+ /* NOTE: It is important to do it here, otherwise `select()` might be called
+ * before the actual `uv__read()`, leading to the blocking syscall
+ */
+ uv_sem_post(&s->async_sem);
+}
+
+
+static void uv__stream_osx_cb_close(uv_handle_t* async) {
+ uv__stream_select_t* s;
+
+ s = container_of(async, uv__stream_select_t, async);
+ uv__free(s);
+}
+
+
+int uv__stream_try_select(uv_stream_t* stream, int* fd) {
+ /*
+ * kqueue doesn't work with some files from /dev mount on osx.
+ * select(2) in separate thread for those fds
+ */
+
+ struct kevent filter[1];
+ struct kevent events[1];
+ struct timespec timeout;
+ uv__stream_select_t* s;
+ int fds[2];
+ int err;
+ int ret;
+ int kq;
+ int old_fd;
+ int max_fd;
+ size_t sread_sz;
+ size_t swrite_sz;
+
+ kq = kqueue();
+ if (kq == -1) {
+ perror("(libuv) kqueue()");
+ return UV__ERR(errno);
+ }
+
+ EV_SET(&filter[0], *fd, EVFILT_READ, EV_ADD | EV_ENABLE, 0, 0, 0);
+
+ /* Use small timeout, because we only want to capture EINVALs */
+ timeout.tv_sec = 0;
+ timeout.tv_nsec = 1;
+
+ do
+ ret = kevent(kq, filter, 1, events, 1, &timeout);
+ while (ret == -1 && errno == EINTR);
+
+ uv__close(kq);
+
+ if (ret == -1)
+ return UV__ERR(errno);
+
+ if (ret == 0 || (events[0].flags & EV_ERROR) == 0 || events[0].data != EINVAL)
+ return 0;
+
+ /* At this point we definitely know that this fd won't work with kqueue */
+
+ /*
+ * Create fds for io watcher and to interrupt the select() loop.
+ * NOTE: do it ahead of malloc below to allocate enough space for fd_sets
+ */
+ if (socketpair(AF_UNIX, SOCK_STREAM, 0, fds))
+ return UV__ERR(errno);
+
+ max_fd = *fd;
+ if (fds[1] > max_fd)
+ max_fd = fds[1];
+
+ sread_sz = ROUND_UP(max_fd + 1, sizeof(uint32_t) * NBBY) / NBBY;
+ swrite_sz = sread_sz;
+
+ s = (uv__stream_select_t*)uv__malloc(sizeof(*s) + sread_sz + swrite_sz);
+ if (s == NULL) {
+ err = UV_ENOMEM;
+ goto failed_malloc;
+ }
+
+ s->events = 0;
+ s->fd = *fd;
+ s->sread = (fd_set*) ((char*) s + sizeof(*s));
+ s->sread_sz = sread_sz;
+ s->swrite = (fd_set*) ((char*) s->sread + sread_sz);
+ s->swrite_sz = swrite_sz;
+
+ err = uv_async_init(stream->loop, &s->async, uv__stream_osx_select_cb);
+ if (err)
+ goto failed_async_init;
+
+ s->async.flags |= UV_HANDLE_INTERNAL;
+ uv__handle_unref(&s->async);
+
+ err = uv_sem_init(&s->close_sem, 0);
+ if (err != 0)
+ goto failed_close_sem_init;
+
+ err = uv_sem_init(&s->async_sem, 0);
+ if (err != 0)
+ goto failed_async_sem_init;
+
+ s->fake_fd = fds[0];
+ s->int_fd = fds[1];
+
+ old_fd = *fd;
+ s->stream = stream;
+ stream->select = s;
+ *fd = s->fake_fd;
+
+ err = uv_thread_create(&s->thread, uv__stream_osx_select, stream);
+ if (err != 0)
+ goto failed_thread_create;
+
+ return 0;
+
+failed_thread_create:
+ s->stream = NULL;
+ stream->select = NULL;
+ *fd = old_fd;
+
+ uv_sem_destroy(&s->async_sem);
+
+failed_async_sem_init:
+ uv_sem_destroy(&s->close_sem);
+
+failed_close_sem_init:
+ uv__close(fds[0]);
+ uv__close(fds[1]);
+ uv_close((uv_handle_t*) &s->async, uv__stream_osx_cb_close);
+ return err;
+
+failed_async_init:
+ uv__free(s);
+
+failed_malloc:
+ uv__close(fds[0]);
+ uv__close(fds[1]);
+
+ return err;
+}
+#endif /* defined(__APPLE__) */
+
+
+int uv__stream_open(uv_stream_t* stream, int fd, int flags) {
+#if defined(__APPLE__)
+ int enable;
+#endif
+
+ if (!(stream->io_watcher.fd == -1 || stream->io_watcher.fd == fd))
+ return UV_EBUSY;
+
+ assert(fd >= 0);
+ stream->flags |= flags;
+
+ if (stream->type == UV_TCP) {
+ if ((stream->flags & UV_HANDLE_TCP_NODELAY) && uv__tcp_nodelay(fd, 1))
+ return UV__ERR(errno);
+
+ /* TODO Use delay the user passed in. */
+ if ((stream->flags & UV_HANDLE_TCP_KEEPALIVE) &&
+ uv__tcp_keepalive(fd, 1, 60)) {
+ return UV__ERR(errno);
+ }
+ }
+
+#if defined(__APPLE__)
+ enable = 1;
+ if (setsockopt(fd, SOL_SOCKET, SO_OOBINLINE, &enable, sizeof(enable)) &&
+ errno != ENOTSOCK &&
+ errno != EINVAL) {
+ return UV__ERR(errno);
+ }
+#endif
+
+ stream->io_watcher.fd = fd;
+
+ return 0;
+}
+
+
+void uv__stream_flush_write_queue(uv_stream_t* stream, int error) {
+ uv_write_t* req;
+ QUEUE* q;
+ while (!QUEUE_EMPTY(&stream->write_queue)) {
+ q = QUEUE_HEAD(&stream->write_queue);
+ QUEUE_REMOVE(q);
+
+ req = QUEUE_DATA(q, uv_write_t, queue);
+ req->error = error;
+
+ QUEUE_INSERT_TAIL(&stream->write_completed_queue, &req->queue);
+ }
+}
+
+
+void uv__stream_destroy(uv_stream_t* stream) {
+ assert(!uv__io_active(&stream->io_watcher, POLLIN | POLLOUT));
+ assert(stream->flags & UV_HANDLE_CLOSED);
+
+ if (stream->connect_req) {
+ uv__req_unregister(stream->loop, stream->connect_req);
+ stream->connect_req->cb(stream->connect_req, UV_ECANCELED);
+ stream->connect_req = NULL;
+ }
+
+ uv__stream_flush_write_queue(stream, UV_ECANCELED);
+ uv__write_callbacks(stream);
+
+ if (stream->shutdown_req) {
+ /* The ECANCELED error code is a lie, the shutdown(2) syscall is a
+ * fait accompli at this point. Maybe we should revisit this in v0.11.
+ * A possible reason for leaving it unchanged is that it informs the
+ * callee that the handle has been destroyed.
+ */
+ uv__req_unregister(stream->loop, stream->shutdown_req);
+ stream->shutdown_req->cb(stream->shutdown_req, UV_ECANCELED);
+ stream->shutdown_req = NULL;
+ }
+
+ assert(stream->write_queue_size == 0);
+}
+
+
+/* Implements a best effort approach to mitigating accept() EMFILE errors.
+ * We have a spare file descriptor stashed away that we close to get below
+ * the EMFILE limit. Next, we accept all pending connections and close them
+ * immediately to signal the clients that we're overloaded - and we are, but
+ * we still keep on trucking.
+ *
+ * There is one caveat: it's not reliable in a multi-threaded environment.
+ * The file descriptor limit is per process. Our party trick fails if another
+ * thread opens a file or creates a socket in the time window between us
+ * calling close() and accept().
+ */
+static int uv__emfile_trick(uv_loop_t* loop, int accept_fd) {
+ int err;
+ int emfile_fd;
+
+ if (loop->emfile_fd == -1)
+ return UV_EMFILE;
+
+ uv__close(loop->emfile_fd);
+ loop->emfile_fd = -1;
+
+ do {
+ err = uv__accept(accept_fd);
+ if (err >= 0)
+ uv__close(err);
+ } while (err >= 0 || err == UV_EINTR);
+
+ emfile_fd = uv__open_cloexec("/", O_RDONLY);
+ if (emfile_fd >= 0)
+ loop->emfile_fd = emfile_fd;
+
+ return err;
+}
+
+
+#if defined(UV_HAVE_KQUEUE)
+# define UV_DEC_BACKLOG(w) w->rcount--;
+#else
+# define UV_DEC_BACKLOG(w) /* no-op */
+#endif /* defined(UV_HAVE_KQUEUE) */
+
+
+void uv__server_io(uv_loop_t* loop, uv__io_t* w, unsigned int events) {
+ uv_stream_t* stream;
+ int err;
+
+ stream = container_of(w, uv_stream_t, io_watcher);
+ assert(events & POLLIN);
+ assert(stream->accepted_fd == -1);
+ assert(!(stream->flags & UV_HANDLE_CLOSING));
+
+ uv__io_start(stream->loop, &stream->io_watcher, POLLIN);
+
+ /* connection_cb can close the server socket while we're
+ * in the loop so check it on each iteration.
+ */
+ while (uv__stream_fd(stream) != -1) {
+ assert(stream->accepted_fd == -1);
+
+#if defined(UV_HAVE_KQUEUE)
+ if (w->rcount <= 0)
+ return;
+#endif /* defined(UV_HAVE_KQUEUE) */
+
+ err = uv__accept(uv__stream_fd(stream));
+ if (err < 0) {
+ if (err == UV_EAGAIN || err == UV__ERR(EWOULDBLOCK))
+ return; /* Not an error. */
+
+ if (err == UV_ECONNABORTED)
+ continue; /* Ignore. Nothing we can do about that. */
+
+ if (err == UV_EMFILE || err == UV_ENFILE) {
+ err = uv__emfile_trick(loop, uv__stream_fd(stream));
+ if (err == UV_EAGAIN || err == UV__ERR(EWOULDBLOCK))
+ break;
+ }
+
+ stream->connection_cb(stream, err);
+ continue;
+ }
+
+ UV_DEC_BACKLOG(w)
+ stream->accepted_fd = err;
+ stream->connection_cb(stream, 0);
+
+ if (stream->accepted_fd != -1) {
+ /* The user hasn't yet accepted called uv_accept() */
+ uv__io_stop(loop, &stream->io_watcher, POLLIN);
+ return;
+ }
+
+ if (stream->type == UV_TCP &&
+ (stream->flags & UV_HANDLE_TCP_SINGLE_ACCEPT)) {
+ /* Give other processes a chance to accept connections. */
+ struct timespec timeout = { 0, 1 };
+ nanosleep(&timeout, NULL);
+ }
+ }
+}
+
+
+#undef UV_DEC_BACKLOG
+
+
+int uv_accept(uv_stream_t* server, uv_stream_t* client) {
+ int err;
+
+ assert(server->loop == client->loop);
+
+ if (server->accepted_fd == -1)
+ return UV_EAGAIN;
+
+ switch (client->type) {
+ case UV_NAMED_PIPE:
+ case UV_TCP:
+ err = uv__stream_open(client,
+ server->accepted_fd,
+ UV_HANDLE_READABLE | UV_HANDLE_WRITABLE);
+ if (err) {
+ /* TODO handle error */
+ uv__close(server->accepted_fd);
+ goto done;
+ }
+ break;
+
+ case UV_UDP:
+ err = uv_udp_open((uv_udp_t*) client, server->accepted_fd);
+ if (err) {
+ uv__close(server->accepted_fd);
+ goto done;
+ }
+ break;
+
+ default:
+ return UV_EINVAL;
+ }
+
+ client->flags |= UV_HANDLE_BOUND;
+
+done:
+ /* Process queued fds */
+ if (server->queued_fds != NULL) {
+ uv__stream_queued_fds_t* queued_fds;
+
+ queued_fds = (uv__stream_queued_fds_t*)(server->queued_fds);
+
+ /* Read first */
+ server->accepted_fd = queued_fds->fds[0];
+
+ /* All read, free */
+ assert(queued_fds->offset > 0);
+ if (--queued_fds->offset == 0) {
+ uv__free(queued_fds);
+ server->queued_fds = NULL;
+ } else {
+ /* Shift rest */
+ memmove(queued_fds->fds,
+ queued_fds->fds + 1,
+ queued_fds->offset * sizeof(*queued_fds->fds));
+ }
+ } else {
+ server->accepted_fd = -1;
+ if (err == 0)
+ uv__io_start(server->loop, &server->io_watcher, POLLIN);
+ }
+ return err;
+}
+
+
+int uv_listen(uv_stream_t* stream, int backlog, uv_connection_cb cb) {
+ int err;
+
+ switch (stream->type) {
+ case UV_TCP:
+ err = uv_tcp_listen((uv_tcp_t*)stream, backlog, cb);
+ break;
+
+ case UV_NAMED_PIPE:
+ err = uv_pipe_listen((uv_pipe_t*)stream, backlog, cb);
+ break;
+
+ default:
+ err = UV_EINVAL;
+ }
+
+ if (err == 0)
+ uv__handle_start(stream);
+
+ return err;
+}
+
+
+static void uv__drain(uv_stream_t* stream) {
+ uv_shutdown_t* req;
+ int err;
+
+ assert(QUEUE_EMPTY(&stream->write_queue));
+ uv__io_stop(stream->loop, &stream->io_watcher, POLLOUT);
+ uv__stream_osx_interrupt_select(stream);
+
+ /* Shutdown? */
+ if ((stream->flags & UV_HANDLE_SHUTTING) &&
+ !(stream->flags & UV_HANDLE_CLOSING) &&
+ !(stream->flags & UV_HANDLE_SHUT)) {
+ assert(stream->shutdown_req);
+
+ req = stream->shutdown_req;
+ stream->shutdown_req = NULL;
+ stream->flags &= ~UV_HANDLE_SHUTTING;
+ uv__req_unregister(stream->loop, req);
+
+ err = 0;
+ if (shutdown(uv__stream_fd(stream), SHUT_WR))
+ err = UV__ERR(errno);
+
+ if (err == 0)
+ stream->flags |= UV_HANDLE_SHUT;
+
+ if (req->cb != NULL)
+ req->cb(req, err);
+ }
+}
+
+
+static ssize_t uv__writev(int fd, struct iovec* vec, size_t n) {
+ if (n == 1)
+ return write(fd, vec->iov_base, vec->iov_len);
+ else
+ return writev(fd, vec, n);
+}
+
+
+static size_t uv__write_req_size(uv_write_t* req) {
+ size_t size;
+
+ assert(req->bufs != NULL);
+ size = uv__count_bufs(req->bufs + req->write_index,
+ req->nbufs - req->write_index);
+ assert(req->handle->write_queue_size >= size);
+
+ return size;
+}
+
+
+/* Returns 1 if all write request data has been written, or 0 if there is still
+ * more data to write.
+ *
+ * Note: the return value only says something about the *current* request.
+ * There may still be other write requests sitting in the queue.
+ */
+static int uv__write_req_update(uv_stream_t* stream,
+ uv_write_t* req,
+ size_t n) {
+ uv_buf_t* buf;
+ size_t len;
+
+ assert(n <= stream->write_queue_size);
+ stream->write_queue_size -= n;
+
+ buf = req->bufs + req->write_index;
+
+ do {
+ len = n < buf->len ? n : buf->len;
+ buf->base += len;
+ buf->len -= len;
+ buf += (buf->len == 0); /* Advance to next buffer if this one is empty. */
+ n -= len;
+ } while (n > 0);
+
+ req->write_index = buf - req->bufs;
+
+ return req->write_index == req->nbufs;
+}
+
+
+static void uv__write_req_finish(uv_write_t* req) {
+ uv_stream_t* stream = req->handle;
+
+ /* Pop the req off tcp->write_queue. */
+ QUEUE_REMOVE(&req->queue);
+
+ /* Only free when there was no error. On error, we touch up write_queue_size
+ * right before making the callback. The reason we don't do that right away
+ * is that a write_queue_size > 0 is our only way to signal to the user that
+ * they should stop writing - which they should if we got an error. Something
+ * to revisit in future revisions of the libuv API.
+ */
+ if (req->error == 0) {
+ if (req->bufs != req->bufsml)
+ uv__free(req->bufs);
+ req->bufs = NULL;
+ }
+
+ /* Add it to the write_completed_queue where it will have its
+ * callback called in the near future.
+ */
+ QUEUE_INSERT_TAIL(&stream->write_completed_queue, &req->queue);
+ uv__io_feed(stream->loop, &stream->io_watcher);
+}
+
+
+static int uv__handle_fd(uv_handle_t* handle) {
+ switch (handle->type) {
+ case UV_NAMED_PIPE:
+ case UV_TCP:
+ return ((uv_stream_t*) handle)->io_watcher.fd;
+
+ case UV_UDP:
+ return ((uv_udp_t*) handle)->io_watcher.fd;
+
+ default:
+ return -1;
+ }
+}
+
+static void uv__write(uv_stream_t* stream) {
+ struct iovec* iov;
+ QUEUE* q;
+ uv_write_t* req;
+ int iovmax;
+ int iovcnt;
+ ssize_t n;
+ int err;
+
+start:
+
+ assert(uv__stream_fd(stream) >= 0);
+
+ if (QUEUE_EMPTY(&stream->write_queue))
+ return;
+
+ q = QUEUE_HEAD(&stream->write_queue);
+ req = QUEUE_DATA(q, uv_write_t, queue);
+ assert(req->handle == stream);
+
+ /*
+ * Cast to iovec. We had to have our own uv_buf_t instead of iovec
+ * because Windows's WSABUF is not an iovec.
+ */
+ assert(sizeof(uv_buf_t) == sizeof(struct iovec));
+ iov = (struct iovec*) &(req->bufs[req->write_index]);
+ iovcnt = req->nbufs - req->write_index;
+
+ iovmax = uv__getiovmax();
+
+ /* Limit iov count to avoid EINVALs from writev() */
+ if (iovcnt > iovmax)
+ iovcnt = iovmax;
+
+ /*
+ * Now do the actual writev. Note that we've been updating the pointers
+ * inside the iov each time we write. So there is no need to offset it.
+ */
+
+ if (req->send_handle) {
+ int fd_to_send;
+ struct msghdr msg;
+ struct cmsghdr *cmsg;
+ union {
+ char data[64];
+ struct cmsghdr alias;
+ } scratch;
+
+ if (uv__is_closing(req->send_handle)) {
+ err = UV_EBADF;
+ goto error;
+ }
+
+ fd_to_send = uv__handle_fd((uv_handle_t*) req->send_handle);
+
+ memset(&scratch, 0, sizeof(scratch));
+
+ assert(fd_to_send >= 0);
+
+ msg.msg_name = NULL;
+ msg.msg_namelen = 0;
+ msg.msg_iov = iov;
+ msg.msg_iovlen = iovcnt;
+ msg.msg_flags = 0;
+
+ msg.msg_control = &scratch.alias;
+ msg.msg_controllen = CMSG_SPACE(sizeof(fd_to_send));
+
+ cmsg = CMSG_FIRSTHDR(&msg);
+ cmsg->cmsg_level = SOL_SOCKET;
+ cmsg->cmsg_type = SCM_RIGHTS;
+ cmsg->cmsg_len = CMSG_LEN(sizeof(fd_to_send));
+
+ /* silence aliasing warning */
+ {
+ void* pv = CMSG_DATA(cmsg);
+ int* pi = (int*)pv;
+ *pi = fd_to_send;
+ }
+
+ do
+ n = sendmsg(uv__stream_fd(stream), &msg, 0);
+ while (n == -1 && RETRY_ON_WRITE_ERROR(errno));
+
+ /* Ensure the handle isn't sent again in case this is a partial write. */
+ if (n >= 0)
+ req->send_handle = NULL;
+ } else {
+ do
+ n = uv__writev(uv__stream_fd(stream), iov, iovcnt);
+ while (n == -1 && RETRY_ON_WRITE_ERROR(errno));
+ }
+
+ if (n == -1 && !IS_TRANSIENT_WRITE_ERROR(errno, req->send_handle)) {
+ err = UV__ERR(errno);
+ goto error;
+ }
+
+ if (n >= 0 && uv__write_req_update(stream, req, n)) {
+ uv__write_req_finish(req);
+ return; /* TODO(bnoordhuis) Start trying to write the next request. */
+ }
+
+ /* If this is a blocking stream, try again. */
+ if (stream->flags & UV_HANDLE_BLOCKING_WRITES)
+ goto start;
+
+ /* We're not done. */
+ uv__io_start(stream->loop, &stream->io_watcher, POLLOUT);
+
+ /* Notify select() thread about state change */
+ uv__stream_osx_interrupt_select(stream);
+
+ return;
+
+error:
+ req->error = err;
+ uv__write_req_finish(req);
+ uv__io_stop(stream->loop, &stream->io_watcher, POLLOUT);
+ if (!uv__io_active(&stream->io_watcher, POLLIN))
+ uv__handle_stop(stream);
+ uv__stream_osx_interrupt_select(stream);
+}
+
+
+static void uv__write_callbacks(uv_stream_t* stream) {
+ uv_write_t* req;
+ QUEUE* q;
+ QUEUE pq;
+
+ if (QUEUE_EMPTY(&stream->write_completed_queue))
+ return;
+
+ QUEUE_MOVE(&stream->write_completed_queue, &pq);
+
+ while (!QUEUE_EMPTY(&pq)) {
+ /* Pop a req off write_completed_queue. */
+ q = QUEUE_HEAD(&pq);
+ req = QUEUE_DATA(q, uv_write_t, queue);
+ QUEUE_REMOVE(q);
+ uv__req_unregister(stream->loop, req);
+
+ if (req->bufs != NULL) {
+ stream->write_queue_size -= uv__write_req_size(req);
+ if (req->bufs != req->bufsml)
+ uv__free(req->bufs);
+ req->bufs = NULL;
+ }
+
+ /* NOTE: call callback AFTER freeing the request data. */
+ if (req->cb)
+ req->cb(req, req->error);
+ }
+}
+
+
+uv_handle_type uv__handle_type(int fd) {
+ struct sockaddr_storage ss;
+ socklen_t sslen;
+ socklen_t len;
+ int type;
+
+ memset(&ss, 0, sizeof(ss));
+ sslen = sizeof(ss);
+
+ if (getsockname(fd, (struct sockaddr*)&ss, &sslen))
+ return UV_UNKNOWN_HANDLE;
+
+ len = sizeof type;
+
+ if (getsockopt(fd, SOL_SOCKET, SO_TYPE, &type, &len))
+ return UV_UNKNOWN_HANDLE;
+
+ if (type == SOCK_STREAM) {
+#if defined(_AIX) || defined(__DragonFly__)
+ /* on AIX/DragonFly the getsockname call returns an empty sa structure
+ * for sockets of type AF_UNIX. For all other types it will
+ * return a properly filled in structure.
+ */
+ if (sslen == 0)
+ return UV_NAMED_PIPE;
+#endif
+ switch (ss.ss_family) {
+ case AF_UNIX:
+ return UV_NAMED_PIPE;
+ case AF_INET:
+ case AF_INET6:
+ return UV_TCP;
+ }
+ }
+
+ if (type == SOCK_DGRAM &&
+ (ss.ss_family == AF_INET || ss.ss_family == AF_INET6))
+ return UV_UDP;
+
+ return UV_UNKNOWN_HANDLE;
+}
+
+
+static void uv__stream_eof(uv_stream_t* stream, const uv_buf_t* buf) {
+ stream->flags |= UV_HANDLE_READ_EOF;
+ uv__io_stop(stream->loop, &stream->io_watcher, POLLIN);
+ if (!uv__io_active(&stream->io_watcher, POLLOUT))
+ uv__handle_stop(stream);
+ uv__stream_osx_interrupt_select(stream);
+ stream->read_cb(stream, UV_EOF, buf);
+ stream->flags &= ~UV_HANDLE_READING;
+}
+
+
+static int uv__stream_queue_fd(uv_stream_t* stream, int fd) {
+ uv__stream_queued_fds_t* queued_fds;
+ unsigned int queue_size;
+
+ queued_fds = (uv__stream_queued_fds_t*)stream->queued_fds;
+ if (queued_fds == NULL) {
+ queue_size = 8;
+ queued_fds = (uv__stream_queued_fds_t*)
+ uv__malloc((queue_size - 1) * sizeof(*queued_fds->fds) +
+ sizeof(*queued_fds));
+ if (queued_fds == NULL)
+ return UV_ENOMEM;
+ queued_fds->size = queue_size;
+ queued_fds->offset = 0;
+ stream->queued_fds = queued_fds;
+
+ /* Grow */
+ } else if (queued_fds->size == queued_fds->offset) {
+ queue_size = queued_fds->size + 8;
+ queued_fds = (uv__stream_queued_fds_t*)
+ uv__realloc(queued_fds, (queue_size - 1) * sizeof(*queued_fds->fds) +
+ sizeof(*queued_fds));
+
+ /*
+ * Allocation failure, report back.
+ * NOTE: if it is fatal - sockets will be closed in uv__stream_close
+ */
+ if (queued_fds == NULL)
+ return UV_ENOMEM;
+ queued_fds->size = queue_size;
+ stream->queued_fds = queued_fds;
+ }
+
+ /* Put fd in a queue */
+ queued_fds->fds[queued_fds->offset++] = fd;
+
+ return 0;
+}
+
+
+#define UV__CMSG_FD_COUNT 64
+#define UV__CMSG_FD_SIZE (UV__CMSG_FD_COUNT * sizeof(int))
+
+
+static int uv__stream_recv_cmsg(uv_stream_t* stream, struct msghdr* msg) {
+ struct cmsghdr* cmsg;
+
+ for (cmsg = CMSG_FIRSTHDR(msg); cmsg != NULL; cmsg = CMSG_NXTHDR(msg, cmsg)) {
+ char* start;
+ char* end;
+ int err;
+ void* pv;
+ int* pi;
+ unsigned int i;
+ unsigned int count;
+
+ if (cmsg->cmsg_type != SCM_RIGHTS) {
+ fprintf(stderr, "ignoring non-SCM_RIGHTS ancillary data: %d\n",
+ cmsg->cmsg_type);
+ continue;
+ }
+
+ /* silence aliasing warning */
+ pv = CMSG_DATA(cmsg);
+ pi = (int*)pv;
+
+ /* Count available fds */
+ start = (char*) cmsg;
+ end = (char*) cmsg + cmsg->cmsg_len;
+ count = 0;
+ while (start + CMSG_LEN(count * sizeof(*pi)) < end)
+ count++;
+ assert(start + CMSG_LEN(count * sizeof(*pi)) == end);
+
+ for (i = 0; i < count; i++) {
+ /* Already has accepted fd, queue now */
+ if (stream->accepted_fd != -1) {
+ err = uv__stream_queue_fd(stream, pi[i]);
+ if (err != 0) {
+ /* Close rest */
+ for (; i < count; i++)
+ uv__close(pi[i]);
+ return err;
+ }
+ } else {
+ stream->accepted_fd = pi[i];
+ }
+ }
+ }
+
+ return 0;
+}
+
+
+#ifdef __clang__
+# pragma clang diagnostic push
+# pragma clang diagnostic ignored "-Wgnu-folding-constant"
+# pragma clang diagnostic ignored "-Wvla-extension"
+#endif
+
+static void uv__read(uv_stream_t* stream) {
+ uv_buf_t buf;
+ ssize_t nread;
+ struct msghdr msg;
+ char cmsg_space[CMSG_SPACE(UV__CMSG_FD_SIZE)];
+ int count;
+ int err;
+ int is_ipc;
+
+ stream->flags &= ~UV_HANDLE_READ_PARTIAL;
+
+ /* Prevent loop starvation when the data comes in as fast as (or faster than)
+ * we can read it. XXX Need to rearm fd if we switch to edge-triggered I/O.
+ */
+ count = 32;
+
+ is_ipc = stream->type == UV_NAMED_PIPE && ((uv_pipe_t*) stream)->ipc;
+
+ /* XXX: Maybe instead of having UV_HANDLE_READING we just test if
+ * tcp->read_cb is NULL or not?
+ */
+ while (stream->read_cb
+ && (stream->flags & UV_HANDLE_READING)
+ && (count-- > 0)) {
+ assert(stream->alloc_cb != NULL);
+
+ buf = uv_buf_init(NULL, 0);
+ stream->alloc_cb((uv_handle_t*)stream, 64 * 1024, &buf);
+ if (buf.base == NULL || buf.len == 0) {
+ /* User indicates it can't or won't handle the read. */
+ stream->read_cb(stream, UV_ENOBUFS, &buf);
+ return;
+ }
+
+ assert(buf.base != NULL);
+ assert(uv__stream_fd(stream) >= 0);
+
+ if (!is_ipc) {
+ do {
+ nread = read(uv__stream_fd(stream), buf.base, buf.len);
+ }
+ while (nread < 0 && errno == EINTR);
+ } else {
+ /* ipc uses recvmsg */
+ msg.msg_flags = 0;
+ msg.msg_iov = (struct iovec*) &buf;
+ msg.msg_iovlen = 1;
+ msg.msg_name = NULL;
+ msg.msg_namelen = 0;
+ /* Set up to receive a descriptor even if one isn't in the message */
+ msg.msg_controllen = sizeof(cmsg_space);
+ msg.msg_control = cmsg_space;
+
+ do {
+ nread = uv__recvmsg(uv__stream_fd(stream), &msg, 0);
+ }
+ while (nread < 0 && errno == EINTR);
+ }
+
+ if (nread < 0) {
+ /* Error */
+ if (errno == EAGAIN || errno == EWOULDBLOCK) {
+ /* Wait for the next one. */
+ if (stream->flags & UV_HANDLE_READING) {
+ uv__io_start(stream->loop, &stream->io_watcher, POLLIN);
+ uv__stream_osx_interrupt_select(stream);
+ }
+ stream->read_cb(stream, 0, &buf);
+#if defined(__CYGWIN__) || defined(__MSYS__)
+ } else if (errno == ECONNRESET && stream->type == UV_NAMED_PIPE) {
+ uv__stream_eof(stream, &buf);
+ return;
+#endif
+ } else {
+ /* Error. User should call uv_close(). */
+ stream->read_cb(stream, UV__ERR(errno), &buf);
+ if (stream->flags & UV_HANDLE_READING) {
+ stream->flags &= ~UV_HANDLE_READING;
+ uv__io_stop(stream->loop, &stream->io_watcher, POLLIN);
+ if (!uv__io_active(&stream->io_watcher, POLLOUT))
+ uv__handle_stop(stream);
+ uv__stream_osx_interrupt_select(stream);
+ }
+ }
+ return;
+ } else if (nread == 0) {
+ uv__stream_eof(stream, &buf);
+ return;
+ } else {
+ /* Successful read */
+ ssize_t buflen = buf.len;
+
+ if (is_ipc) {
+ err = uv__stream_recv_cmsg(stream, &msg);
+ if (err != 0) {
+ stream->read_cb(stream, err, &buf);
+ return;
+ }
+ }
+
+#if defined(__MVS__)
+ if (is_ipc && msg.msg_controllen > 0) {
+ uv_buf_t blankbuf;
+ int nread;
+ struct iovec *old;
+
+ blankbuf.base = 0;
+ blankbuf.len = 0;
+ old = msg.msg_iov;
+ msg.msg_iov = (struct iovec*) &blankbuf;
+ nread = 0;
+ do {
+ nread = uv__recvmsg(uv__stream_fd(stream), &msg, 0);
+ err = uv__stream_recv_cmsg(stream, &msg);
+ if (err != 0) {
+ stream->read_cb(stream, err, &buf);
+ msg.msg_iov = old;
+ return;
+ }
+ } while (nread == 0 && msg.msg_controllen > 0);
+ msg.msg_iov = old;
+ }
+#endif
+ stream->read_cb(stream, nread, &buf);
+
+ /* Return if we didn't fill the buffer, there is no more data to read. */
+ if (nread < buflen) {
+ stream->flags |= UV_HANDLE_READ_PARTIAL;
+ return;
+ }
+ }
+ }
+}
+
+
+#ifdef __clang__
+# pragma clang diagnostic pop
+#endif
+
+#undef UV__CMSG_FD_COUNT
+#undef UV__CMSG_FD_SIZE
+
+
+int uv_shutdown(uv_shutdown_t* req, uv_stream_t* stream, uv_shutdown_cb cb) {
+ assert(stream->type == UV_TCP ||
+ stream->type == UV_TTY ||
+ stream->type == UV_NAMED_PIPE);
+
+ if (!(stream->flags & UV_HANDLE_WRITABLE) ||
+ stream->flags & UV_HANDLE_SHUT ||
+ stream->flags & UV_HANDLE_SHUTTING ||
+ uv__is_closing(stream)) {
+ return UV_ENOTCONN;
+ }
+
+ assert(uv__stream_fd(stream) >= 0);
+
+ /* Initialize request */
+ uv__req_init(stream->loop, req, UV_SHUTDOWN);
+ req->handle = stream;
+ req->cb = cb;
+ stream->shutdown_req = req;
+ stream->flags |= UV_HANDLE_SHUTTING;
+
+ uv__io_start(stream->loop, &stream->io_watcher, POLLOUT);
+ uv__stream_osx_interrupt_select(stream);
+
+ return 0;
+}
+
+
+static void uv__stream_io(uv_loop_t* loop, uv__io_t* w, unsigned int events) {
+ uv_stream_t* stream;
+
+ stream = container_of(w, uv_stream_t, io_watcher);
+
+ assert(stream->type == UV_TCP ||
+ stream->type == UV_NAMED_PIPE ||
+ stream->type == UV_TTY);
+ assert(!(stream->flags & UV_HANDLE_CLOSING));
+
+ if (stream->connect_req) {
+ uv__stream_connect(stream);
+ return;
+ }
+
+ assert(uv__stream_fd(stream) >= 0);
+
+ /* Ignore POLLHUP here. Even if it's set, there may still be data to read. */
+ if (events & (POLLIN | POLLERR | POLLHUP))
+ uv__read(stream);
+
+ if (uv__stream_fd(stream) == -1)
+ return; /* read_cb closed stream. */
+
+ /* Short-circuit iff POLLHUP is set, the user is still interested in read
+ * events and uv__read() reported a partial read but not EOF. If the EOF
+ * flag is set, uv__read() called read_cb with err=UV_EOF and we don't
+ * have to do anything. If the partial read flag is not set, we can't
+ * report the EOF yet because there is still data to read.
+ */
+ if ((events & POLLHUP) &&
+ (stream->flags & UV_HANDLE_READING) &&
+ (stream->flags & UV_HANDLE_READ_PARTIAL) &&
+ !(stream->flags & UV_HANDLE_READ_EOF)) {
+ uv_buf_t buf = { NULL, 0 };
+ uv__stream_eof(stream, &buf);
+ }
+
+ if (uv__stream_fd(stream) == -1)
+ return; /* read_cb closed stream. */
+
+ if (events & (POLLOUT | POLLERR | POLLHUP)) {
+ uv__write(stream);
+ uv__write_callbacks(stream);
+
+ /* Write queue drained. */
+ if (QUEUE_EMPTY(&stream->write_queue))
+ uv__drain(stream);
+ }
+}
+
+
+/**
+ * We get called here from directly following a call to connect(2).
+ * In order to determine if we've errored out or succeeded must call
+ * getsockopt.
+ */
+static void uv__stream_connect(uv_stream_t* stream) {
+ int error;
+ uv_connect_t* req = stream->connect_req;
+ socklen_t errorsize = sizeof(int);
+
+ assert(stream->type == UV_TCP || stream->type == UV_NAMED_PIPE);
+ assert(req);
+
+ if (stream->delayed_error) {
+ /* To smooth over the differences between unixes errors that
+ * were reported synchronously on the first connect can be delayed
+ * until the next tick--which is now.
+ */
+ error = stream->delayed_error;
+ stream->delayed_error = 0;
+ } else {
+ /* Normal situation: we need to get the socket error from the kernel. */
+ assert(uv__stream_fd(stream) >= 0);
+ getsockopt(uv__stream_fd(stream),
+ SOL_SOCKET,
+ SO_ERROR,
+ &error,
+ &errorsize);
+ error = UV__ERR(error);
+ }
+
+ if (error == UV__ERR(EINPROGRESS))
+ return;
+
+ stream->connect_req = NULL;
+ uv__req_unregister(stream->loop, req);
+
+ if (error < 0 || QUEUE_EMPTY(&stream->write_queue)) {
+ uv__io_stop(stream->loop, &stream->io_watcher, POLLOUT);
+ }
+
+ if (req->cb)
+ req->cb(req, error);
+
+ if (uv__stream_fd(stream) == -1)
+ return;
+
+ if (error < 0) {
+ uv__stream_flush_write_queue(stream, UV_ECANCELED);
+ uv__write_callbacks(stream);
+ }
+}
+
+
+int uv_write2(uv_write_t* req,
+ uv_stream_t* stream,
+ const uv_buf_t bufs[],
+ unsigned int nbufs,
+ uv_stream_t* send_handle,
+ uv_write_cb cb) {
+ int empty_queue;
+
+ assert(nbufs > 0);
+ assert((stream->type == UV_TCP ||
+ stream->type == UV_NAMED_PIPE ||
+ stream->type == UV_TTY) &&
+ "uv_write (unix) does not yet support other types of streams");
+
+ if (uv__stream_fd(stream) < 0)
+ return UV_EBADF;
+
+ if (!(stream->flags & UV_HANDLE_WRITABLE))
+ return -EPIPE;
+
+ if (send_handle) {
+ if (stream->type != UV_NAMED_PIPE || !((uv_pipe_t*)stream)->ipc)
+ return UV_EINVAL;
+
+ /* XXX We abuse uv_write2() to send over UDP handles to child processes.
+ * Don't call uv__stream_fd() on those handles, it's a macro that on OS X
+ * evaluates to a function that operates on a uv_stream_t with a couple of
+ * OS X specific fields. On other Unices it does (handle)->io_watcher.fd,
+ * which works but only by accident.
+ */
+ if (uv__handle_fd((uv_handle_t*) send_handle) < 0)
+ return UV_EBADF;
+
+#if defined(__CYGWIN__) || defined(__MSYS__)
+ /* Cygwin recvmsg always sets msg_controllen to zero, so we cannot send it.
+ See https://github.com/mirror/newlib-cygwin/blob/86fc4bf0/winsup/cygwin/fhandler_socket.cc#L1736-L1743 */
+ return UV_ENOSYS;
+#endif
+ }
+
+ /* It's legal for write_queue_size > 0 even when the write_queue is empty;
+ * it means there are error-state requests in the write_completed_queue that
+ * will touch up write_queue_size later, see also uv__write_req_finish().
+ * We could check that write_queue is empty instead but that implies making
+ * a write() syscall when we know that the handle is in error mode.
+ */
+ empty_queue = (stream->write_queue_size == 0);
+
+ /* Initialize the req */
+ uv__req_init(stream->loop, req, UV_WRITE);
+ req->cb = cb;
+ req->handle = stream;
+ req->error = 0;
+ req->send_handle = send_handle;
+ QUEUE_INIT(&req->queue);
+
+ req->bufs = req->bufsml;
+ if (nbufs > ARRAY_SIZE(req->bufsml))
+ req->bufs = (uv_buf_t*)uv__malloc(nbufs * sizeof(bufs[0]));
+
+ if (req->bufs == NULL)
+ return UV_ENOMEM;
+
+ memcpy(req->bufs, bufs, nbufs * sizeof(bufs[0]));
+ req->nbufs = nbufs;
+ req->write_index = 0;
+ stream->write_queue_size += uv__count_bufs(bufs, nbufs);
+
+ /* Append the request to write_queue. */
+ QUEUE_INSERT_TAIL(&stream->write_queue, &req->queue);
+
+ /* If the queue was empty when this function began, we should attempt to
+ * do the write immediately. Otherwise start the write_watcher and wait
+ * for the fd to become writable.
+ */
+ if (stream->connect_req) {
+ /* Still connecting, do nothing. */
+ }
+ else if (empty_queue) {
+ uv__write(stream);
+ }
+ else {
+ /*
+ * blocking streams should never have anything in the queue.
+ * if this assert fires then somehow the blocking stream isn't being
+ * sufficiently flushed in uv__write.
+ */
+ assert(!(stream->flags & UV_HANDLE_BLOCKING_WRITES));
+ uv__io_start(stream->loop, &stream->io_watcher, POLLOUT);
+ uv__stream_osx_interrupt_select(stream);
+ }
+
+ return 0;
+}
+
+
+/* The buffers to be written must remain valid until the callback is called.
+ * This is not required for the uv_buf_t array.
+ */
+int uv_write(uv_write_t* req,
+ uv_stream_t* handle,
+ const uv_buf_t bufs[],
+ unsigned int nbufs,
+ uv_write_cb cb) {
+ return uv_write2(req, handle, bufs, nbufs, NULL, cb);
+}
+
+
+void uv_try_write_cb(uv_write_t* req, int status) {
+ /* Should not be called */
+ abort();
+}
+
+
+int uv_try_write(uv_stream_t* stream,
+ const uv_buf_t bufs[],
+ unsigned int nbufs) {
+ int r;
+ int has_pollout;
+ size_t written;
+ size_t req_size;
+ uv_write_t req;
+
+ /* Connecting or already writing some data */
+ if (stream->connect_req != NULL || stream->write_queue_size != 0)
+ return UV_EAGAIN;
+
+ has_pollout = uv__io_active(&stream->io_watcher, POLLOUT);
+
+ r = uv_write(&req, stream, bufs, nbufs, uv_try_write_cb);
+ if (r != 0)
+ return r;
+
+ /* Remove not written bytes from write queue size */
+ written = uv__count_bufs(bufs, nbufs);
+ if (req.bufs != NULL)
+ req_size = uv__write_req_size(&req);
+ else
+ req_size = 0;
+ written -= req_size;
+ stream->write_queue_size -= req_size;
+
+ /* Unqueue request, regardless of immediateness */
+ QUEUE_REMOVE(&req.queue);
+ uv__req_unregister(stream->loop, &req);
+ if (req.bufs != req.bufsml)
+ uv__free(req.bufs);
+ req.bufs = NULL;
+
+ /* Do not poll for writable, if we wasn't before calling this */
+ if (!has_pollout) {
+ uv__io_stop(stream->loop, &stream->io_watcher, POLLOUT);
+ uv__stream_osx_interrupt_select(stream);
+ }
+
+ if (written == 0 && req_size != 0)
+ return req.error < 0 ? req.error : UV_EAGAIN;
+ else
+ return written;
+}
+
+
+int uv_read_start(uv_stream_t* stream,
+ uv_alloc_cb alloc_cb,
+ uv_read_cb read_cb) {
+ assert(stream->type == UV_TCP || stream->type == UV_NAMED_PIPE ||
+ stream->type == UV_TTY);
+
+ if (stream->flags & UV_HANDLE_CLOSING)
+ return UV_EINVAL;
+
+ if (!(stream->flags & UV_HANDLE_READABLE))
+ return -ENOTCONN;
+
+ /* The UV_HANDLE_READING flag is irrelevant of the state of the tcp - it just
+ * expresses the desired state of the user.
+ */
+ stream->flags |= UV_HANDLE_READING;
+
+ /* TODO: try to do the read inline? */
+ /* TODO: keep track of tcp state. If we've gotten a EOF then we should
+ * not start the IO watcher.
+ */
+ assert(uv__stream_fd(stream) >= 0);
+ assert(alloc_cb);
+
+ stream->read_cb = read_cb;
+ stream->alloc_cb = alloc_cb;
+
+ uv__io_start(stream->loop, &stream->io_watcher, POLLIN);
+ uv__handle_start(stream);
+ uv__stream_osx_interrupt_select(stream);
+
+ return 0;
+}
+
+
+int uv_read_stop(uv_stream_t* stream) {
+ if (!(stream->flags & UV_HANDLE_READING))
+ return 0;
+
+ stream->flags &= ~UV_HANDLE_READING;
+ uv__io_stop(stream->loop, &stream->io_watcher, POLLIN);
+ if (!uv__io_active(&stream->io_watcher, POLLOUT))
+ uv__handle_stop(stream);
+ uv__stream_osx_interrupt_select(stream);
+
+ stream->read_cb = NULL;
+ stream->alloc_cb = NULL;
+ return 0;
+}
+
+
+int uv_is_readable(const uv_stream_t* stream) {
+ return !!(stream->flags & UV_HANDLE_READABLE);
+}
+
+
+int uv_is_writable(const uv_stream_t* stream) {
+ return !!(stream->flags & UV_HANDLE_WRITABLE);
+}
+
+
+#if defined(__APPLE__)
+int uv___stream_fd(const uv_stream_t* handle) {
+ const uv__stream_select_t* s;
+
+ assert(handle->type == UV_TCP ||
+ handle->type == UV_TTY ||
+ handle->type == UV_NAMED_PIPE);
+
+ s = (const uv__stream_select_t*)handle->select;
+ if (s != NULL)
+ return s->fd;
+
+ return handle->io_watcher.fd;
+}
+#endif /* defined(__APPLE__) */
+
+
+void uv__stream_close(uv_stream_t* handle) {
+ unsigned int i;
+ uv__stream_queued_fds_t* queued_fds;
+
+#if defined(__APPLE__)
+ /* Terminate select loop first */
+ if (handle->select != NULL) {
+ uv__stream_select_t* s;
+
+ s = (uv__stream_select_t*)handle->select;
+
+ uv_sem_post(&s->close_sem);
+ uv_sem_post(&s->async_sem);
+ uv__stream_osx_interrupt_select(handle);
+ uv_thread_join(&s->thread);
+ uv_sem_destroy(&s->close_sem);
+ uv_sem_destroy(&s->async_sem);
+ uv__close(s->fake_fd);
+ uv__close(s->int_fd);
+ uv_close((uv_handle_t*) &s->async, uv__stream_osx_cb_close);
+
+ handle->select = NULL;
+ }
+#endif /* defined(__APPLE__) */
+
+ uv__io_close(handle->loop, &handle->io_watcher);
+ uv_read_stop(handle);
+ uv__handle_stop(handle);
+ handle->flags &= ~(UV_HANDLE_READABLE | UV_HANDLE_WRITABLE);
+
+ if (handle->io_watcher.fd != -1) {
+ /* Don't close stdio file descriptors. Nothing good comes from it. */
+ if (handle->io_watcher.fd > STDERR_FILENO)
+ uv__close(handle->io_watcher.fd);
+ handle->io_watcher.fd = -1;
+ }
+
+ if (handle->accepted_fd != -1) {
+ uv__close(handle->accepted_fd);
+ handle->accepted_fd = -1;
+ }
+
+ /* Close all queued fds */
+ if (handle->queued_fds != NULL) {
+ queued_fds = (uv__stream_queued_fds_t*)(handle->queued_fds);
+ for (i = 0; i < queued_fds->offset; i++)
+ uv__close(queued_fds->fds[i]);
+ uv__free(handle->queued_fds);
+ handle->queued_fds = NULL;
+ }
+
+ assert(!uv__io_active(&handle->io_watcher, POLLIN | POLLOUT));
+}
+
+
+int uv_stream_set_blocking(uv_stream_t* handle, int blocking) {
+ /* Don't need to check the file descriptor, uv__nonblock()
+ * will fail with EBADF if it's not valid.
+ */
+ return uv__nonblock(uv__stream_fd(handle), !blocking);
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/sysinfo-loadavg.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/sysinfo-loadavg.cpp
similarity index 100%
rename from third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/sysinfo-loadavg.cpp
rename to third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/sysinfo-loadavg.cpp
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/tcp.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/tcp.cpp
new file mode 100644
index 0000000..8cedcd6
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/tcp.cpp
@@ -0,0 +1,433 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include "uv.h"
+#include "internal.h"
+
+#include <stdlib.h>
+#include <unistd.h>
+#include <assert.h>
+#include <errno.h>
+
+
+static int new_socket(uv_tcp_t* handle, int domain, unsigned long flags) {
+ struct sockaddr_storage saddr;
+ socklen_t slen;
+ int sockfd;
+ int err;
+
+ err = uv__socket(domain, SOCK_STREAM, 0);
+ if (err < 0)
+ return err;
+ sockfd = err;
+
+ err = uv__stream_open((uv_stream_t*) handle, sockfd, flags);
+ if (err) {
+ uv__close(sockfd);
+ return err;
+ }
+
+ if (flags & UV_HANDLE_BOUND) {
+ /* Bind this new socket to an arbitrary port */
+ slen = sizeof(saddr);
+ memset(&saddr, 0, sizeof(saddr));
+ if (getsockname(uv__stream_fd(handle), (struct sockaddr*) &saddr, &slen)) {
+ uv__close(sockfd);
+ return UV__ERR(errno);
+ }
+
+ if (bind(uv__stream_fd(handle), (struct sockaddr*) &saddr, slen)) {
+ uv__close(sockfd);
+ return UV__ERR(errno);
+ }
+ }
+
+ return 0;
+}
+
+
+static int maybe_new_socket(uv_tcp_t* handle, int domain, unsigned long flags) {
+ struct sockaddr_storage saddr;
+ socklen_t slen;
+
+ if (domain == AF_UNSPEC) {
+ handle->flags |= flags;
+ return 0;
+ }
+
+ if (uv__stream_fd(handle) != -1) {
+
+ if (flags & UV_HANDLE_BOUND) {
+
+ if (handle->flags & UV_HANDLE_BOUND) {
+ /* It is already bound to a port. */
+ handle->flags |= flags;
+ return 0;
+ }
+
+ /* Query to see if tcp socket is bound. */
+ slen = sizeof(saddr);
+ memset(&saddr, 0, sizeof(saddr));
+ if (getsockname(uv__stream_fd(handle), (struct sockaddr*) &saddr, &slen))
+ return UV__ERR(errno);
+
+ if ((saddr.ss_family == AF_INET6 &&
+ ((struct sockaddr_in6*) &saddr)->sin6_port != 0) ||
+ (saddr.ss_family == AF_INET &&
+ ((struct sockaddr_in*) &saddr)->sin_port != 0)) {
+ /* Handle is already bound to a port. */
+ handle->flags |= flags;
+ return 0;
+ }
+
+ /* Bind to arbitrary port */
+ if (bind(uv__stream_fd(handle), (struct sockaddr*) &saddr, slen))
+ return UV__ERR(errno);
+ }
+
+ handle->flags |= flags;
+ return 0;
+ }
+
+ return new_socket(handle, domain, flags);
+}
+
+
+int uv_tcp_init_ex(uv_loop_t* loop, uv_tcp_t* tcp, unsigned int flags) {
+ int domain;
+
+ /* Use the lower 8 bits for the domain */
+ domain = flags & 0xFF;
+ if (domain != AF_INET && domain != AF_INET6 && domain != AF_UNSPEC)
+ return UV_EINVAL;
+
+ if (flags & ~0xFF)
+ return UV_EINVAL;
+
+ uv__stream_init(loop, (uv_stream_t*)tcp, UV_TCP);
+
+ /* If anything fails beyond this point we need to remove the handle from
+ * the handle queue, since it was added by uv__handle_init in uv_stream_init.
+ */
+
+ if (domain != AF_UNSPEC) {
+ int err = maybe_new_socket(tcp, domain, 0);
+ if (err) {
+ QUEUE_REMOVE(&tcp->handle_queue);
+ return err;
+ }
+ }
+
+ return 0;
+}
+
+
+int uv_tcp_init(uv_loop_t* loop, uv_tcp_t* tcp) {
+ return uv_tcp_init_ex(loop, tcp, AF_UNSPEC);
+}
+
+
+int uv__tcp_bind(uv_tcp_t* tcp,
+ const struct sockaddr* addr,
+ unsigned int addrlen,
+ unsigned int flags) {
+ int err;
+ int on;
+
+ /* Cannot set IPv6-only mode on non-IPv6 socket. */
+ if ((flags & UV_TCP_IPV6ONLY) && addr->sa_family != AF_INET6)
+ return UV_EINVAL;
+
+ err = maybe_new_socket(tcp, addr->sa_family, 0);
+ if (err)
+ return err;
+
+ on = 1;
+ if (setsockopt(tcp->io_watcher.fd, SOL_SOCKET, SO_REUSEADDR, &on, sizeof(on)))
+ return UV__ERR(errno);
+
+#ifndef __OpenBSD__
+#ifdef IPV6_V6ONLY
+ if (addr->sa_family == AF_INET6) {
+ on = (flags & UV_TCP_IPV6ONLY) != 0;
+ if (setsockopt(tcp->io_watcher.fd,
+ IPPROTO_IPV6,
+ IPV6_V6ONLY,
+ &on,
+ sizeof on) == -1) {
+#if defined(__MVS__)
+ if (errno == EOPNOTSUPP)
+ return UV_EINVAL;
+#endif
+ return UV__ERR(errno);
+ }
+ }
+#endif
+#endif
+
+ errno = 0;
+ if (bind(tcp->io_watcher.fd, addr, addrlen) && errno != EADDRINUSE) {
+ if (errno == EAFNOSUPPORT)
+ /* OSX, other BSDs and SunoS fail with EAFNOSUPPORT when binding a
+ * socket created with AF_INET to an AF_INET6 address or vice versa. */
+ return UV_EINVAL;
+ return UV__ERR(errno);
+ }
+ tcp->delayed_error = UV__ERR(errno);
+
+ tcp->flags |= UV_HANDLE_BOUND;
+ if (addr->sa_family == AF_INET6)
+ tcp->flags |= UV_HANDLE_IPV6;
+
+ return 0;
+}
+
+
+int uv__tcp_connect(uv_connect_t* req,
+ uv_tcp_t* handle,
+ const struct sockaddr* addr,
+ unsigned int addrlen,
+ uv_connect_cb cb) {
+ int err;
+ int r;
+
+ assert(handle->type == UV_TCP);
+
+ if (handle->connect_req != NULL)
+ return UV_EALREADY; /* FIXME(bnoordhuis) UV_EINVAL or maybe UV_EBUSY. */
+
+ err = maybe_new_socket(handle,
+ addr->sa_family,
+ UV_HANDLE_READABLE | UV_HANDLE_WRITABLE);
+ if (err)
+ return err;
+
+ handle->delayed_error = 0;
+
+ do {
+ errno = 0;
+ r = connect(uv__stream_fd(handle), addr, addrlen);
+ } while (r == -1 && errno == EINTR);
+
+ /* We not only check the return value, but also check the errno != 0.
+ * Because in rare cases connect() will return -1 but the errno
+ * is 0 (for example, on Android 4.3, OnePlus phone A0001_12_150227)
+ * and actually the tcp three-way handshake is completed.
+ */
+ if (r == -1 && errno != 0) {
+ if (errno == EINPROGRESS)
+ ; /* not an error */
+ else if (errno == ECONNREFUSED
+#if defined(__OpenBSD__)
+ || errno == EINVAL
+#endif
+ )
+ /* If we get ECONNREFUSED (Solaris) or EINVAL (OpenBSD) wait until the
+ * next tick to report the error. Solaris and OpenBSD wants to report
+ * immediately -- other unixes want to wait.
+ */
+ handle->delayed_error = UV__ERR(ECONNREFUSED);
+ else
+ return UV__ERR(errno);
+ }
+
+ uv__req_init(handle->loop, req, UV_CONNECT);
+ req->cb = cb;
+ req->handle = (uv_stream_t*) handle;
+ QUEUE_INIT(&req->queue);
+ handle->connect_req = req;
+
+ uv__io_start(handle->loop, &handle->io_watcher, POLLOUT);
+
+ if (handle->delayed_error)
+ uv__io_feed(handle->loop, &handle->io_watcher);
+
+ return 0;
+}
+
+
+int uv_tcp_open(uv_tcp_t* handle, uv_os_sock_t sock) {
+ int err;
+
+ if (uv__fd_exists(handle->loop, sock))
+ return UV_EEXIST;
+
+ err = uv__nonblock(sock, 1);
+ if (err)
+ return err;
+
+ return uv__stream_open((uv_stream_t*)handle,
+ sock,
+ UV_HANDLE_READABLE | UV_HANDLE_WRITABLE);
+}
+
+
+int uv_tcp_getsockname(const uv_tcp_t* handle,
+ struct sockaddr* name,
+ int* namelen) {
+
+ if (handle->delayed_error)
+ return handle->delayed_error;
+
+ return uv__getsockpeername((const uv_handle_t*) handle,
+ getsockname,
+ name,
+ namelen);
+}
+
+
+int uv_tcp_getpeername(const uv_tcp_t* handle,
+ struct sockaddr* name,
+ int* namelen) {
+
+ if (handle->delayed_error)
+ return handle->delayed_error;
+
+ return uv__getsockpeername((const uv_handle_t*) handle,
+ getpeername,
+ name,
+ namelen);
+}
+
+
+int uv_tcp_listen(uv_tcp_t* tcp, int backlog, uv_connection_cb cb) {
+ static int single_accept = -1;
+ unsigned long flags;
+ int err;
+
+ if (tcp->delayed_error)
+ return tcp->delayed_error;
+
+ if (single_accept == -1) {
+ const char* val = getenv("UV_TCP_SINGLE_ACCEPT");
+ single_accept = (val != NULL && atoi(val) != 0); /* Off by default. */
+ }
+
+ if (single_accept)
+ tcp->flags |= UV_HANDLE_TCP_SINGLE_ACCEPT;
+
+ flags = 0;
+#if defined(__MVS__)
+ /* on zOS the listen call does not bind automatically
+ if the socket is unbound. Hence the manual binding to
+ an arbitrary port is required to be done manually
+ */
+ flags |= UV_HANDLE_BOUND;
+#endif
+ err = maybe_new_socket(tcp, AF_INET, flags);
+ if (err)
+ return err;
+
+ if (listen(tcp->io_watcher.fd, backlog))
+ return UV__ERR(errno);
+
+ tcp->connection_cb = cb;
+ tcp->flags |= UV_HANDLE_BOUND;
+
+ /* Start listening for connections. */
+ tcp->io_watcher.cb = uv__server_io;
+ uv__io_start(tcp->loop, &tcp->io_watcher, POLLIN);
+
+ return 0;
+}
+
+
+int uv__tcp_nodelay(int fd, int on) {
+ if (setsockopt(fd, IPPROTO_TCP, TCP_NODELAY, &on, sizeof(on)))
+ return UV__ERR(errno);
+ return 0;
+}
+
+
+int uv__tcp_keepalive(int fd, int on, unsigned int delay) {
+ if (setsockopt(fd, SOL_SOCKET, SO_KEEPALIVE, &on, sizeof(on)))
+ return UV__ERR(errno);
+
+#ifdef TCP_KEEPIDLE
+ if (on && setsockopt(fd, IPPROTO_TCP, TCP_KEEPIDLE, &delay, sizeof(delay)))
+ return UV__ERR(errno);
+#endif
+
+ /* Solaris/SmartOS, if you don't support keep-alive,
+ * then don't advertise it in your system headers...
+ */
+ /* FIXME(bnoordhuis) That's possibly because sizeof(delay) should be 1. */
+#if defined(TCP_KEEPALIVE) && !defined(__sun)
+ if (on && setsockopt(fd, IPPROTO_TCP, TCP_KEEPALIVE, &delay, sizeof(delay)))
+ return UV__ERR(errno);
+#endif
+
+ return 0;
+}
+
+
+int uv_tcp_nodelay(uv_tcp_t* handle, int on) {
+ int err;
+
+ if (uv__stream_fd(handle) != -1) {
+ err = uv__tcp_nodelay(uv__stream_fd(handle), on);
+ if (err)
+ return err;
+ }
+
+ if (on)
+ handle->flags |= UV_HANDLE_TCP_NODELAY;
+ else
+ handle->flags &= ~UV_HANDLE_TCP_NODELAY;
+
+ return 0;
+}
+
+
+int uv_tcp_keepalive(uv_tcp_t* handle, int on, unsigned int delay) {
+ int err;
+
+ if (uv__stream_fd(handle) != -1) {
+ err =uv__tcp_keepalive(uv__stream_fd(handle), on, delay);
+ if (err)
+ return err;
+ }
+
+ if (on)
+ handle->flags |= UV_HANDLE_TCP_KEEPALIVE;
+ else
+ handle->flags &= ~UV_HANDLE_TCP_KEEPALIVE;
+
+ /* TODO Store delay if uv__stream_fd(handle) == -1 but don't want to enlarge
+ * uv_tcp_t with an int that's almost never used...
+ */
+
+ return 0;
+}
+
+
+int uv_tcp_simultaneous_accepts(uv_tcp_t* handle, int enable) {
+ if (enable)
+ handle->flags &= ~UV_HANDLE_TCP_SINGLE_ACCEPT;
+ else
+ handle->flags |= UV_HANDLE_TCP_SINGLE_ACCEPT;
+ return 0;
+}
+
+
+void uv__tcp_close(uv_tcp_t* handle) {
+ uv__stream_close((uv_stream_t*)handle);
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/thread.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/thread.cpp
new file mode 100644
index 0000000..05f6c90
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/thread.cpp
@@ -0,0 +1,844 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include "uv.h"
+#include "internal.h"
+
+#include <pthread.h>
+#include <assert.h>
+#include <errno.h>
+
+#include <sys/time.h>
+#include <sys/resource.h> /* getrlimit() */
+#include <unistd.h> /* getpagesize() */
+
+#include <limits.h>
+
+#ifdef __MVS__
+#include <sys/ipc.h>
+#include <sys/sem.h>
+#endif
+
+#if defined(__GLIBC__) && !defined(__UCLIBC__)
+#include <gnu/libc-version.h> /* gnu_get_libc_version() */
+#endif
+
+#undef NANOSEC
+#define NANOSEC ((uint64_t) 1e9)
+
+#if defined(PTHREAD_BARRIER_SERIAL_THREAD)
+STATIC_ASSERT(sizeof(uv_barrier_t) == sizeof(pthread_barrier_t));
+#endif
+
+/* Note: guard clauses should match uv_barrier_t's in include/uv/unix.h. */
+#if defined(_AIX) || \
+ defined(__OpenBSD__) || \
+ !defined(PTHREAD_BARRIER_SERIAL_THREAD)
+int uv_barrier_init(uv_barrier_t* barrier, unsigned int count) {
+ struct _uv_barrier* b;
+ int rc;
+
+ if (barrier == NULL || count == 0)
+ return UV_EINVAL;
+
+ b = (_uv_barrier*)uv__malloc(sizeof(*b));
+ if (b == NULL)
+ return UV_ENOMEM;
+
+ b->in = 0;
+ b->out = 0;
+ b->threshold = count;
+
+ rc = uv_mutex_init(&b->mutex);
+ if (rc != 0)
+ goto error2;
+
+ rc = uv_cond_init(&b->cond);
+ if (rc != 0)
+ goto error;
+
+ barrier->b = b;
+ return 0;
+
+error:
+ uv_mutex_destroy(&b->mutex);
+error2:
+ uv__free(b);
+ return rc;
+}
+
+int uv_barrier_wait(uv_barrier_t* barrier) {
+ struct _uv_barrier* b;
+ int last;
+
+ if (barrier == NULL || barrier->b == NULL)
+ return UV_EINVAL;
+
+ b = barrier->b;
+ /* Lock the mutex*/
+ uv_mutex_lock(&b->mutex);
+
+ if (++b->in == b->threshold) {
+ b->in = 0;
+ b->out = b->threshold;
+ uv_cond_signal(&b->cond);
+ } else {
+ do
+ uv_cond_wait(&b->cond, &b->mutex);
+ while (b->in != 0);
+ }
+
+ last = (--b->out == 0);
+ if (!last)
+ uv_cond_signal(&b->cond); /* Not needed for last thread. */
+
+ uv_mutex_unlock(&b->mutex);
+ return last;
+}
+
+void uv_barrier_destroy(uv_barrier_t* barrier) {
+ struct _uv_barrier* b;
+
+ b = barrier->b;
+ uv_mutex_lock(&b->mutex);
+
+ assert(b->in == 0);
+ assert(b->out == 0);
+
+ if (b->in != 0 || b->out != 0)
+ abort();
+
+ uv_mutex_unlock(&b->mutex);
+ uv_mutex_destroy(&b->mutex);
+ uv_cond_destroy(&b->cond);
+
+ uv__free(barrier->b);
+ barrier->b = NULL;
+}
+
+#else
+
+int uv_barrier_init(uv_barrier_t* barrier, unsigned int count) {
+ return UV__ERR(pthread_barrier_init(barrier, NULL, count));
+}
+
+
+int uv_barrier_wait(uv_barrier_t* barrier) {
+ int rc;
+
+ rc = pthread_barrier_wait(barrier);
+ if (rc != 0)
+ if (rc != PTHREAD_BARRIER_SERIAL_THREAD)
+ abort();
+
+ return rc == PTHREAD_BARRIER_SERIAL_THREAD;
+}
+
+
+void uv_barrier_destroy(uv_barrier_t* barrier) {
+ if (pthread_barrier_destroy(barrier))
+ abort();
+}
+
+#endif
+
+
+/* On MacOS, threads other than the main thread are created with a reduced
+ * stack size by default. Adjust to RLIMIT_STACK aligned to the page size.
+ *
+ * On Linux, threads created by musl have a much smaller stack than threads
+ * created by glibc (80 vs. 2048 or 4096 kB.) Follow glibc for consistency.
+ */
+static size_t thread_stack_size(void) {
+#if defined(__APPLE__) || defined(__linux__)
+ struct rlimit lim;
+
+ if (getrlimit(RLIMIT_STACK, &lim))
+ abort();
+
+ if (lim.rlim_cur != RLIM_INFINITY) {
+ /* pthread_attr_setstacksize() expects page-aligned values. */
+ lim.rlim_cur -= lim.rlim_cur % (rlim_t) getpagesize();
+
+ /* Musl's PTHREAD_STACK_MIN is 2 KB on all architectures, which is
+ * too small to safely receive signals on.
+ *
+ * Musl's PTHREAD_STACK_MIN + MINSIGSTKSZ == 8192 on arm64 (which has
+ * the largest MINSIGSTKSZ of the architectures that musl supports) so
+ * let's use that as a lower bound.
+ *
+ * We use a hardcoded value because PTHREAD_STACK_MIN + MINSIGSTKSZ
+ * is between 28 and 133 KB when compiling against glibc, depending
+ * on the architecture.
+ */
+ if (lim.rlim_cur >= 8192)
+ if (lim.rlim_cur >= PTHREAD_STACK_MIN)
+ return lim.rlim_cur;
+ }
+#endif
+
+#if !defined(__linux__)
+ return 0;
+#elif defined(__PPC__) || defined(__ppc__) || defined(__powerpc__)
+ return 4 << 20; /* glibc default. */
+#else
+ return 2 << 20; /* glibc default. */
+#endif
+}
+
+
+int uv_thread_create(uv_thread_t *tid, void (*entry)(void *arg), void *arg) {
+ uv_thread_options_t params;
+ params.flags = UV_THREAD_NO_FLAGS;
+ return uv_thread_create_ex(tid, ¶ms, entry, arg);
+}
+
+int uv_thread_create_ex(uv_thread_t* tid,
+ const uv_thread_options_t* params,
+ void (*entry)(void *arg),
+ void *arg) {
+ int err;
+ pthread_attr_t* attr;
+ pthread_attr_t attr_storage;
+ size_t pagesize;
+ size_t stack_size;
+
+ stack_size =
+ params->flags & UV_THREAD_HAS_STACK_SIZE ? params->stack_size : 0;
+
+ attr = NULL;
+ if (stack_size == 0) {
+ stack_size = thread_stack_size();
+ } else {
+ pagesize = (size_t)getpagesize();
+ /* Round up to the nearest page boundary. */
+ stack_size = (stack_size + pagesize - 1) &~ (pagesize - 1);
+#ifdef PTHREAD_STACK_MIN
+ if (stack_size < PTHREAD_STACK_MIN)
+ stack_size = PTHREAD_STACK_MIN;
+#endif
+ }
+
+ if (stack_size > 0) {
+ attr = &attr_storage;
+
+ if (pthread_attr_init(attr))
+ abort();
+
+ if (pthread_attr_setstacksize(attr, stack_size))
+ abort();
+ }
+
+ err = pthread_create(tid, attr, (void*(*)(void*)) (void(*)(void)) entry, arg);
+
+ if (attr != NULL)
+ pthread_attr_destroy(attr);
+
+ return UV__ERR(err);
+}
+
+
+uv_thread_t uv_thread_self(void) {
+ return pthread_self();
+}
+
+int uv_thread_join(uv_thread_t *tid) {
+ return UV__ERR(pthread_join(*tid, NULL));
+}
+
+
+int uv_thread_equal(const uv_thread_t* t1, const uv_thread_t* t2) {
+ return pthread_equal(*t1, *t2);
+}
+
+
+int uv_mutex_init(uv_mutex_t* mutex) {
+#if defined(NDEBUG) || !defined(PTHREAD_MUTEX_ERRORCHECK)
+ return UV__ERR(pthread_mutex_init(mutex, NULL));
+#else
+ pthread_mutexattr_t attr;
+ int err;
+
+ if (pthread_mutexattr_init(&attr))
+ abort();
+
+ if (pthread_mutexattr_settype(&attr, PTHREAD_MUTEX_ERRORCHECK))
+ abort();
+
+ err = pthread_mutex_init(mutex, &attr);
+
+ if (pthread_mutexattr_destroy(&attr))
+ abort();
+
+ return UV__ERR(err);
+#endif
+}
+
+
+int uv_mutex_init_recursive(uv_mutex_t* mutex) {
+ pthread_mutexattr_t attr;
+ int err;
+
+ if (pthread_mutexattr_init(&attr))
+ abort();
+
+ if (pthread_mutexattr_settype(&attr, PTHREAD_MUTEX_RECURSIVE))
+ abort();
+
+ err = pthread_mutex_init(mutex, &attr);
+
+ if (pthread_mutexattr_destroy(&attr))
+ abort();
+
+ return UV__ERR(err);
+}
+
+
+void uv_mutex_destroy(uv_mutex_t* mutex) {
+ if (pthread_mutex_destroy(mutex))
+ abort();
+}
+
+
+void uv_mutex_lock(uv_mutex_t* mutex) {
+ if (pthread_mutex_lock(mutex))
+ abort();
+}
+
+
+int uv_mutex_trylock(uv_mutex_t* mutex) {
+ int err;
+
+ err = pthread_mutex_trylock(mutex);
+ if (err) {
+ if (err != EBUSY && err != EAGAIN)
+ abort();
+ return UV_EBUSY;
+ }
+
+ return 0;
+}
+
+
+void uv_mutex_unlock(uv_mutex_t* mutex) {
+ if (pthread_mutex_unlock(mutex))
+ abort();
+}
+
+
+int uv_rwlock_init(uv_rwlock_t* rwlock) {
+ return UV__ERR(pthread_rwlock_init(rwlock, NULL));
+}
+
+
+void uv_rwlock_destroy(uv_rwlock_t* rwlock) {
+ if (pthread_rwlock_destroy(rwlock))
+ abort();
+}
+
+
+void uv_rwlock_rdlock(uv_rwlock_t* rwlock) {
+ if (pthread_rwlock_rdlock(rwlock))
+ abort();
+}
+
+
+int uv_rwlock_tryrdlock(uv_rwlock_t* rwlock) {
+ int err;
+
+ err = pthread_rwlock_tryrdlock(rwlock);
+ if (err) {
+ if (err != EBUSY && err != EAGAIN)
+ abort();
+ return UV_EBUSY;
+ }
+
+ return 0;
+}
+
+
+void uv_rwlock_rdunlock(uv_rwlock_t* rwlock) {
+ if (pthread_rwlock_unlock(rwlock))
+ abort();
+}
+
+
+void uv_rwlock_wrlock(uv_rwlock_t* rwlock) {
+ if (pthread_rwlock_wrlock(rwlock))
+ abort();
+}
+
+
+int uv_rwlock_trywrlock(uv_rwlock_t* rwlock) {
+ int err;
+
+ err = pthread_rwlock_trywrlock(rwlock);
+ if (err) {
+ if (err != EBUSY && err != EAGAIN)
+ abort();
+ return UV_EBUSY;
+ }
+
+ return 0;
+}
+
+
+void uv_rwlock_wrunlock(uv_rwlock_t* rwlock) {
+ if (pthread_rwlock_unlock(rwlock))
+ abort();
+}
+
+
+void uv_once(uv_once_t* guard, void (*callback)(void)) {
+ if (pthread_once(guard, callback))
+ abort();
+}
+
+#if defined(__APPLE__) && defined(__MACH__)
+
+int uv_sem_init(uv_sem_t* sem, unsigned int value) {
+ kern_return_t err;
+
+ err = semaphore_create(mach_task_self(), sem, SYNC_POLICY_FIFO, value);
+ if (err == KERN_SUCCESS)
+ return 0;
+ if (err == KERN_INVALID_ARGUMENT)
+ return UV_EINVAL;
+ if (err == KERN_RESOURCE_SHORTAGE)
+ return UV_ENOMEM;
+
+ abort();
+ return UV_EINVAL; /* Satisfy the compiler. */
+}
+
+
+void uv_sem_destroy(uv_sem_t* sem) {
+ if (semaphore_destroy(mach_task_self(), *sem))
+ abort();
+}
+
+
+void uv_sem_post(uv_sem_t* sem) {
+ if (semaphore_signal(*sem))
+ abort();
+}
+
+
+void uv_sem_wait(uv_sem_t* sem) {
+ int r;
+
+ do
+ r = semaphore_wait(*sem);
+ while (r == KERN_ABORTED);
+
+ if (r != KERN_SUCCESS)
+ abort();
+}
+
+
+int uv_sem_trywait(uv_sem_t* sem) {
+ mach_timespec_t interval;
+ kern_return_t err;
+
+ interval.tv_sec = 0;
+ interval.tv_nsec = 0;
+
+ err = semaphore_timedwait(*sem, interval);
+ if (err == KERN_SUCCESS)
+ return 0;
+ if (err == KERN_OPERATION_TIMED_OUT)
+ return UV_EAGAIN;
+
+ abort();
+ return UV_EINVAL; /* Satisfy the compiler. */
+}
+
+#else /* !(defined(__APPLE__) && defined(__MACH__)) */
+
+#if defined(__GLIBC__) && !defined(__UCLIBC__)
+
+/* Hack around https://sourceware.org/bugzilla/show_bug.cgi?id=12674
+ * by providing a custom implementation for glibc < 2.21 in terms of other
+ * concurrency primitives.
+ * Refs: https://github.com/nodejs/node/issues/19903 */
+
+/* To preserve ABI compatibility, we treat the uv_sem_t as storage for
+ * a pointer to the actual struct we're using underneath. */
+
+static uv_once_t glibc_version_check_once = UV_ONCE_INIT;
+static int platform_needs_custom_semaphore = 0;
+
+static void glibc_version_check(void) {
+ const char* version = gnu_get_libc_version();
+ platform_needs_custom_semaphore =
+ version[0] == '2' && version[1] == '.' &&
+ atoi(version + 2) < 21;
+}
+
+#elif defined(__MVS__)
+
+#define platform_needs_custom_semaphore 1
+
+#else /* !defined(__GLIBC__) && !defined(__MVS__) */
+
+#define platform_needs_custom_semaphore 0
+
+#endif
+
+typedef struct uv_semaphore_s {
+ uv_mutex_t mutex;
+ uv_cond_t cond;
+ unsigned int value;
+} uv_semaphore_t;
+
+#if (defined(__GLIBC__) && !defined(__UCLIBC__)) || \
+ platform_needs_custom_semaphore
+STATIC_ASSERT(sizeof(uv_sem_t) >= sizeof(uv_semaphore_t*));
+#endif
+
+static int uv__custom_sem_init(uv_sem_t* sem_, unsigned int value) {
+ int err;
+ uv_semaphore_t* sem;
+
+ sem = (uv_semaphore_t*)uv__malloc(sizeof(*sem));
+ if (sem == NULL)
+ return UV_ENOMEM;
+
+ if ((err = uv_mutex_init(&sem->mutex)) != 0) {
+ uv__free(sem);
+ return err;
+ }
+
+ if ((err = uv_cond_init(&sem->cond)) != 0) {
+ uv_mutex_destroy(&sem->mutex);
+ uv__free(sem);
+ return err;
+ }
+
+ sem->value = value;
+ *(uv_semaphore_t**)sem_ = sem;
+ return 0;
+}
+
+
+static void uv__custom_sem_destroy(uv_sem_t* sem_) {
+ uv_semaphore_t* sem;
+
+ sem = *(uv_semaphore_t**)sem_;
+ uv_cond_destroy(&sem->cond);
+ uv_mutex_destroy(&sem->mutex);
+ uv__free(sem);
+}
+
+
+static void uv__custom_sem_post(uv_sem_t* sem_) {
+ uv_semaphore_t* sem;
+
+ sem = *(uv_semaphore_t**)sem_;
+ uv_mutex_lock(&sem->mutex);
+ sem->value++;
+ if (sem->value == 1)
+ uv_cond_signal(&sem->cond);
+ uv_mutex_unlock(&sem->mutex);
+}
+
+
+static void uv__custom_sem_wait(uv_sem_t* sem_) {
+ uv_semaphore_t* sem;
+
+ sem = *(uv_semaphore_t**)sem_;
+ uv_mutex_lock(&sem->mutex);
+ while (sem->value == 0)
+ uv_cond_wait(&sem->cond, &sem->mutex);
+ sem->value--;
+ uv_mutex_unlock(&sem->mutex);
+}
+
+
+static int uv__custom_sem_trywait(uv_sem_t* sem_) {
+ uv_semaphore_t* sem;
+
+ sem = *(uv_semaphore_t**)sem_;
+ if (uv_mutex_trylock(&sem->mutex) != 0)
+ return UV_EAGAIN;
+
+ if (sem->value == 0) {
+ uv_mutex_unlock(&sem->mutex);
+ return UV_EAGAIN;
+ }
+
+ sem->value--;
+ uv_mutex_unlock(&sem->mutex);
+
+ return 0;
+}
+
+static int uv__sem_init(uv_sem_t* sem, unsigned int value) {
+ if (sem_init(sem, 0, value))
+ return UV__ERR(errno);
+ return 0;
+}
+
+
+static void uv__sem_destroy(uv_sem_t* sem) {
+ if (sem_destroy(sem))
+ abort();
+}
+
+
+static void uv__sem_post(uv_sem_t* sem) {
+ if (sem_post(sem))
+ abort();
+}
+
+
+static void uv__sem_wait(uv_sem_t* sem) {
+ int r;
+
+ do
+ r = sem_wait(sem);
+ while (r == -1 && errno == EINTR);
+
+ if (r)
+ abort();
+}
+
+
+static int uv__sem_trywait(uv_sem_t* sem) {
+ int r;
+
+ do
+ r = sem_trywait(sem);
+ while (r == -1 && errno == EINTR);
+
+ if (r) {
+ if (errno == EAGAIN)
+ return UV_EAGAIN;
+ abort();
+ }
+
+ return 0;
+}
+
+int uv_sem_init(uv_sem_t* sem, unsigned int value) {
+#if defined(__GLIBC__) && !defined(__UCLIBC__)
+ uv_once(&glibc_version_check_once, glibc_version_check);
+#endif
+
+ if (platform_needs_custom_semaphore)
+ return uv__custom_sem_init(sem, value);
+ else
+ return uv__sem_init(sem, value);
+}
+
+
+void uv_sem_destroy(uv_sem_t* sem) {
+ if (platform_needs_custom_semaphore)
+ uv__custom_sem_destroy(sem);
+ else
+ uv__sem_destroy(sem);
+}
+
+
+void uv_sem_post(uv_sem_t* sem) {
+ if (platform_needs_custom_semaphore)
+ uv__custom_sem_post(sem);
+ else
+ uv__sem_post(sem);
+}
+
+
+void uv_sem_wait(uv_sem_t* sem) {
+ if (platform_needs_custom_semaphore)
+ uv__custom_sem_wait(sem);
+ else
+ uv__sem_wait(sem);
+}
+
+
+int uv_sem_trywait(uv_sem_t* sem) {
+ if (platform_needs_custom_semaphore)
+ return uv__custom_sem_trywait(sem);
+ else
+ return uv__sem_trywait(sem);
+}
+
+#endif /* defined(__APPLE__) && defined(__MACH__) */
+
+
+#if defined(__APPLE__) && defined(__MACH__) || defined(__MVS__)
+
+int uv_cond_init(uv_cond_t* cond) {
+ return UV__ERR(pthread_cond_init(cond, NULL));
+}
+
+#else /* !(defined(__APPLE__) && defined(__MACH__)) */
+
+int uv_cond_init(uv_cond_t* cond) {
+ pthread_condattr_t attr;
+ int err;
+
+ err = pthread_condattr_init(&attr);
+ if (err)
+ return UV__ERR(err);
+
+#if !(defined(__ANDROID_API__) && __ANDROID_API__ < 21)
+ err = pthread_condattr_setclock(&attr, CLOCK_MONOTONIC);
+ if (err)
+ goto error2;
+#endif
+
+ err = pthread_cond_init(cond, &attr);
+ if (err)
+ goto error2;
+
+ err = pthread_condattr_destroy(&attr);
+ if (err)
+ goto error;
+
+ return 0;
+
+error:
+ pthread_cond_destroy(cond);
+error2:
+ pthread_condattr_destroy(&attr);
+ return UV__ERR(err);
+}
+
+#endif /* defined(__APPLE__) && defined(__MACH__) */
+
+void uv_cond_destroy(uv_cond_t* cond) {
+#if defined(__APPLE__) && defined(__MACH__)
+ /* It has been reported that destroying condition variables that have been
+ * signalled but not waited on can sometimes result in application crashes.
+ * See https://codereview.chromium.org/1323293005.
+ */
+ pthread_mutex_t mutex;
+ struct timespec ts;
+ int err;
+
+ if (pthread_mutex_init(&mutex, NULL))
+ abort();
+
+ if (pthread_mutex_lock(&mutex))
+ abort();
+
+ ts.tv_sec = 0;
+ ts.tv_nsec = 1;
+
+ err = pthread_cond_timedwait_relative_np(cond, &mutex, &ts);
+ if (err != 0 && err != ETIMEDOUT)
+ abort();
+
+ if (pthread_mutex_unlock(&mutex))
+ abort();
+
+ if (pthread_mutex_destroy(&mutex))
+ abort();
+#endif /* defined(__APPLE__) && defined(__MACH__) */
+
+ if (pthread_cond_destroy(cond))
+ abort();
+}
+
+void uv_cond_signal(uv_cond_t* cond) {
+ if (pthread_cond_signal(cond))
+ abort();
+}
+
+void uv_cond_broadcast(uv_cond_t* cond) {
+ if (pthread_cond_broadcast(cond))
+ abort();
+}
+
+void uv_cond_wait(uv_cond_t* cond, uv_mutex_t* mutex) {
+ if (pthread_cond_wait(cond, mutex))
+ abort();
+}
+
+
+int uv_cond_timedwait(uv_cond_t* cond, uv_mutex_t* mutex, uint64_t timeout) {
+ int r;
+ struct timespec ts;
+#if defined(__MVS__)
+ struct timeval tv;
+#endif
+
+#if defined(__APPLE__) && defined(__MACH__)
+ ts.tv_sec = timeout / NANOSEC;
+ ts.tv_nsec = timeout % NANOSEC;
+ r = pthread_cond_timedwait_relative_np(cond, mutex, &ts);
+#else
+#if defined(__MVS__)
+ if (gettimeofday(&tv, NULL))
+ abort();
+ timeout += tv.tv_sec * NANOSEC + tv.tv_usec * 1e3;
+#else
+ timeout += uv__hrtime(UV_CLOCK_PRECISE);
+#endif
+ ts.tv_sec = timeout / NANOSEC;
+ ts.tv_nsec = timeout % NANOSEC;
+#if defined(__ANDROID_API__) && __ANDROID_API__ < 21
+
+ /*
+ * The bionic pthread implementation doesn't support CLOCK_MONOTONIC,
+ * but has this alternative function instead.
+ */
+ r = pthread_cond_timedwait_monotonic_np(cond, mutex, &ts);
+#else
+ r = pthread_cond_timedwait(cond, mutex, &ts);
+#endif /* __ANDROID_API__ */
+#endif
+
+
+ if (r == 0)
+ return 0;
+
+ if (r == ETIMEDOUT)
+ return UV_ETIMEDOUT;
+
+ abort();
+#ifndef __SUNPRO_C
+ return UV_EINVAL; /* Satisfy the compiler. */
+#endif
+}
+
+
+int uv_key_create(uv_key_t* key) {
+ return UV__ERR(pthread_key_create(key, NULL));
+}
+
+
+void uv_key_delete(uv_key_t* key) {
+ if (pthread_key_delete(*key))
+ abort();
+}
+
+
+void* uv_key_get(uv_key_t* key) {
+ return pthread_getspecific(*key);
+}
+
+
+void uv_key_set(uv_key_t* key, void* value) {
+ if (pthread_setspecific(*key, value))
+ abort();
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/tty.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/tty.cpp
new file mode 100644
index 0000000..74d3d75
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/tty.cpp
@@ -0,0 +1,367 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include "uv.h"
+#include "internal.h"
+#include "spinlock.h"
+
+#include <stdlib.h>
+#include <assert.h>
+#include <unistd.h>
+#include <termios.h>
+#include <errno.h>
+#include <sys/ioctl.h>
+
+#if defined(__MVS__) && !defined(IMAXBEL)
+#define IMAXBEL 0
+#endif
+
+static int orig_termios_fd = -1;
+static struct termios orig_termios;
+static uv_spinlock_t termios_spinlock = UV_SPINLOCK_INITIALIZER;
+
+static int uv__tty_is_slave(const int fd) {
+ int result;
+#if defined(__linux__) || defined(__FreeBSD__) || defined(__FreeBSD_kernel__)
+ int dummy;
+
+ result = ioctl(fd, TIOCGPTN, &dummy) != 0;
+#elif defined(__APPLE__)
+ char dummy[256];
+
+ result = ioctl(fd, TIOCPTYGNAME, &dummy) != 0;
+#elif defined(__NetBSD__)
+ /*
+ * NetBSD as an extension returns with ptsname(3) and ptsname_r(3) the slave
+ * device name for both descriptors, the master one and slave one.
+ *
+ * Implement function to compare major device number with pts devices.
+ *
+ * The major numbers are machine-dependent, on NetBSD/amd64 they are
+ * respectively:
+ * - master tty: ptc - major 6
+ * - slave tty: pts - major 5
+ */
+
+ struct stat sb;
+ /* Lookup device's major for the pts driver and cache it. */
+ static devmajor_t pts = NODEVMAJOR;
+
+ if (pts == NODEVMAJOR) {
+ pts = getdevmajor("pts", S_IFCHR);
+ if (pts == NODEVMAJOR)
+ abort();
+ }
+
+ /* Lookup stat structure behind the file descriptor. */
+ if (fstat(fd, &sb) != 0)
+ abort();
+
+ /* Assert character device. */
+ if (!S_ISCHR(sb.st_mode))
+ abort();
+
+ /* Assert valid major. */
+ if (major(sb.st_rdev) == NODEVMAJOR)
+ abort();
+
+ result = (pts == major(sb.st_rdev));
+#else
+ /* Fallback to ptsname
+ */
+ result = ptsname(fd) == NULL;
+#endif
+ return result;
+}
+
+int uv_tty_init(uv_loop_t* loop, uv_tty_t* tty, int fd, int unused) {
+ uv_handle_type type;
+ int flags;
+ int newfd;
+ int r;
+ int saved_flags;
+ int mode;
+ char path[256];
+ (void)unused; /* deprecated parameter is no longer needed */
+
+ /* File descriptors that refer to files cannot be monitored with epoll.
+ * That restriction also applies to character devices like /dev/random
+ * (but obviously not /dev/tty.)
+ */
+ type = uv_guess_handle(fd);
+ if (type == UV_FILE || type == UV_UNKNOWN_HANDLE)
+ return UV_EINVAL;
+
+ flags = 0;
+ newfd = -1;
+
+ /* Save the fd flags in case we need to restore them due to an error. */
+ do
+ saved_flags = fcntl(fd, F_GETFL);
+ while (saved_flags == -1 && errno == EINTR);
+
+ if (saved_flags == -1)
+ return UV__ERR(errno);
+ mode = saved_flags & O_ACCMODE;
+
+ /* Reopen the file descriptor when it refers to a tty. This lets us put the
+ * tty in non-blocking mode without affecting other processes that share it
+ * with us.
+ *
+ * Example: `node | cat` - if we put our fd 0 in non-blocking mode, it also
+ * affects fd 1 of `cat` because both file descriptors refer to the same
+ * struct file in the kernel. When we reopen our fd 0, it points to a
+ * different struct file, hence changing its properties doesn't affect
+ * other processes.
+ */
+ if (type == UV_TTY) {
+ /* Reopening a pty in master mode won't work either because the reopened
+ * pty will be in slave mode (*BSD) or reopening will allocate a new
+ * master/slave pair (Linux). Therefore check if the fd points to a
+ * slave device.
+ */
+ if (uv__tty_is_slave(fd) && ttyname_r(fd, path, sizeof(path)) == 0)
+ r = uv__open_cloexec(path, mode);
+ else
+ r = -1;
+
+ if (r < 0) {
+ /* fallback to using blocking writes */
+ if (mode != O_RDONLY)
+ flags |= UV_HANDLE_BLOCKING_WRITES;
+ goto skip;
+ }
+
+ newfd = r;
+
+ r = uv__dup2_cloexec(newfd, fd);
+ if (r < 0 && r != UV_EINVAL) {
+ /* EINVAL means newfd == fd which could conceivably happen if another
+ * thread called close(fd) between our calls to isatty() and open().
+ * That's a rather unlikely event but let's handle it anyway.
+ */
+ uv__close(newfd);
+ return r;
+ }
+
+ fd = newfd;
+ }
+
+skip:
+ uv__stream_init(loop, (uv_stream_t*) tty, UV_TTY);
+
+ /* If anything fails beyond this point we need to remove the handle from
+ * the handle queue, since it was added by uv__handle_init in uv_stream_init.
+ */
+
+ if (!(flags & UV_HANDLE_BLOCKING_WRITES))
+ uv__nonblock(fd, 1);
+
+#if defined(__APPLE__)
+ r = uv__stream_try_select((uv_stream_t*) tty, &fd);
+ if (r) {
+ int rc = r;
+ if (newfd != -1)
+ uv__close(newfd);
+ QUEUE_REMOVE(&tty->handle_queue);
+ do
+ r = fcntl(fd, F_SETFL, saved_flags);
+ while (r == -1 && errno == EINTR);
+ return rc;
+ }
+#endif
+
+ if (mode != O_WRONLY)
+ flags |= UV_HANDLE_READABLE;
+ if (mode != O_RDONLY)
+ flags |= UV_HANDLE_WRITABLE;
+
+ uv__stream_open((uv_stream_t*) tty, fd, flags);
+ tty->mode = UV_TTY_MODE_NORMAL;
+
+ return 0;
+}
+
+static void uv__tty_make_raw(struct termios* tio) {
+ assert(tio != NULL);
+
+#if defined __sun || defined __MVS__
+ /*
+ * This implementation of cfmakeraw for Solaris and derivatives is taken from
+ * http://www.perkin.org.uk/posts/solaris-portability-cfmakeraw.html.
+ */
+ tio->c_iflag &= ~(IMAXBEL | IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR |
+ IGNCR | ICRNL | IXON);
+ tio->c_oflag &= ~OPOST;
+ tio->c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN);
+ tio->c_cflag &= ~(CSIZE | PARENB);
+ tio->c_cflag |= CS8;
+#else
+ cfmakeraw(tio);
+#endif /* #ifdef __sun */
+}
+
+int uv_tty_set_mode(uv_tty_t* tty, uv_tty_mode_t mode) {
+ struct termios tmp;
+ int fd;
+
+ if (tty->mode == (int) mode)
+ return 0;
+
+ fd = uv__stream_fd(tty);
+ if (tty->mode == UV_TTY_MODE_NORMAL && mode != UV_TTY_MODE_NORMAL) {
+ if (tcgetattr(fd, &tty->orig_termios))
+ return UV__ERR(errno);
+
+ /* This is used for uv_tty_reset_mode() */
+ uv_spinlock_lock(&termios_spinlock);
+ if (orig_termios_fd == -1) {
+ orig_termios = tty->orig_termios;
+ orig_termios_fd = fd;
+ }
+ uv_spinlock_unlock(&termios_spinlock);
+ }
+
+ tmp = tty->orig_termios;
+ switch (mode) {
+ case UV_TTY_MODE_NORMAL:
+ break;
+ case UV_TTY_MODE_RAW:
+ tmp.c_iflag &= ~(BRKINT | ICRNL | INPCK | ISTRIP | IXON);
+ tmp.c_oflag |= (ONLCR);
+ tmp.c_cflag |= (CS8);
+ tmp.c_lflag &= ~(ECHO | ICANON | IEXTEN | ISIG);
+ tmp.c_cc[VMIN] = 1;
+ tmp.c_cc[VTIME] = 0;
+ break;
+ case UV_TTY_MODE_IO:
+ uv__tty_make_raw(&tmp);
+ break;
+ }
+
+ /* Apply changes after draining */
+ if (tcsetattr(fd, TCSADRAIN, &tmp))
+ return UV__ERR(errno);
+
+ tty->mode = mode;
+ return 0;
+}
+
+
+int uv_tty_get_winsize(uv_tty_t* tty, int* width, int* height) {
+ struct winsize ws;
+ int err;
+
+ do
+ err = ioctl(uv__stream_fd(tty), TIOCGWINSZ, &ws);
+ while (err == -1 && errno == EINTR);
+
+ if (err == -1)
+ return UV__ERR(errno);
+
+ *width = ws.ws_col;
+ *height = ws.ws_row;
+
+ return 0;
+}
+
+
+uv_handle_type uv_guess_handle(uv_file file) {
+ struct sockaddr sa;
+ struct stat s;
+ socklen_t len;
+ int type;
+
+ if (file < 0)
+ return UV_UNKNOWN_HANDLE;
+
+ if (isatty(file))
+ return UV_TTY;
+
+ if (fstat(file, &s))
+ return UV_UNKNOWN_HANDLE;
+
+ if (S_ISREG(s.st_mode))
+ return UV_FILE;
+
+ if (S_ISCHR(s.st_mode))
+ return UV_FILE; /* XXX UV_NAMED_PIPE? */
+
+ if (S_ISFIFO(s.st_mode))
+ return UV_NAMED_PIPE;
+
+ if (!S_ISSOCK(s.st_mode))
+ return UV_UNKNOWN_HANDLE;
+
+ len = sizeof(type);
+ if (getsockopt(file, SOL_SOCKET, SO_TYPE, &type, &len))
+ return UV_UNKNOWN_HANDLE;
+
+ len = sizeof(sa);
+ if (getsockname(file, &sa, &len))
+ return UV_UNKNOWN_HANDLE;
+
+ if (type == SOCK_DGRAM)
+ if (sa.sa_family == AF_INET || sa.sa_family == AF_INET6)
+ return UV_UDP;
+
+ if (type == SOCK_STREAM) {
+#if defined(_AIX) || defined(__DragonFly__)
+ /* on AIX/DragonFly the getsockname call returns an empty sa structure
+ * for sockets of type AF_UNIX. For all other types it will
+ * return a properly filled in structure.
+ */
+ if (len == 0)
+ return UV_NAMED_PIPE;
+#endif /* defined(_AIX) || defined(__DragonFly__) */
+
+ if (sa.sa_family == AF_INET || sa.sa_family == AF_INET6)
+ return UV_TCP;
+ if (sa.sa_family == AF_UNIX)
+ return UV_NAMED_PIPE;
+ }
+
+ return UV_UNKNOWN_HANDLE;
+}
+
+
+/* This function is async signal-safe, meaning that it's safe to call from
+ * inside a signal handler _unless_ execution was inside uv_tty_set_mode()'s
+ * critical section when the signal was raised.
+ */
+int uv_tty_reset_mode(void) {
+ int saved_errno;
+ int err;
+
+ saved_errno = errno;
+ if (!uv_spinlock_trylock(&termios_spinlock))
+ return UV_EBUSY; /* In uv_tty_set_mode(). */
+
+ err = 0;
+ if (orig_termios_fd != -1)
+ if (tcsetattr(orig_termios_fd, TCSANOW, &orig_termios))
+ err = UV__ERR(errno);
+
+ uv_spinlock_unlock(&termios_spinlock);
+ errno = saved_errno;
+
+ return err;
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/udp.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/udp.cpp
new file mode 100644
index 0000000..5c03ae1
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/unix/udp.cpp
@@ -0,0 +1,999 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include "uv.h"
+#include "internal.h"
+
+#include <assert.h>
+#include <string.h>
+#include <errno.h>
+#include <stdlib.h>
+#include <unistd.h>
+#if defined(__MVS__)
+#include <xti.h>
+#endif
+#include <sys/un.h>
+
+#if defined(IPV6_JOIN_GROUP) && !defined(IPV6_ADD_MEMBERSHIP)
+# define IPV6_ADD_MEMBERSHIP IPV6_JOIN_GROUP
+#endif
+
+#if defined(IPV6_LEAVE_GROUP) && !defined(IPV6_DROP_MEMBERSHIP)
+# define IPV6_DROP_MEMBERSHIP IPV6_LEAVE_GROUP
+#endif
+
+
+static void uv__udp_run_completed(uv_udp_t* handle);
+static void uv__udp_io(uv_loop_t* loop, uv__io_t* w, unsigned int revents);
+static void uv__udp_recvmsg(uv_udp_t* handle);
+static void uv__udp_sendmsg(uv_udp_t* handle);
+static int uv__udp_maybe_deferred_bind(uv_udp_t* handle,
+ int domain,
+ unsigned int flags);
+
+
+void uv__udp_close(uv_udp_t* handle) {
+ uv__io_close(handle->loop, &handle->io_watcher);
+ uv__handle_stop(handle);
+
+ if (handle->io_watcher.fd != -1) {
+ uv__close(handle->io_watcher.fd);
+ handle->io_watcher.fd = -1;
+ }
+}
+
+
+void uv__udp_finish_close(uv_udp_t* handle) {
+ uv_udp_send_t* req;
+ QUEUE* q;
+
+ assert(!uv__io_active(&handle->io_watcher, POLLIN | POLLOUT));
+ assert(handle->io_watcher.fd == -1);
+
+ while (!QUEUE_EMPTY(&handle->write_queue)) {
+ q = QUEUE_HEAD(&handle->write_queue);
+ QUEUE_REMOVE(q);
+
+ req = QUEUE_DATA(q, uv_udp_send_t, queue);
+ req->status = UV_ECANCELED;
+ QUEUE_INSERT_TAIL(&handle->write_completed_queue, &req->queue);
+ }
+
+ uv__udp_run_completed(handle);
+
+ assert(handle->send_queue_size == 0);
+ assert(handle->send_queue_count == 0);
+
+ /* Now tear down the handle. */
+ handle->recv_cb = NULL;
+ handle->alloc_cb = NULL;
+ /* but _do not_ touch close_cb */
+}
+
+
+static void uv__udp_run_completed(uv_udp_t* handle) {
+ uv_udp_send_t* req;
+ QUEUE* q;
+
+ assert(!(handle->flags & UV_HANDLE_UDP_PROCESSING));
+ handle->flags |= UV_HANDLE_UDP_PROCESSING;
+
+ while (!QUEUE_EMPTY(&handle->write_completed_queue)) {
+ q = QUEUE_HEAD(&handle->write_completed_queue);
+ QUEUE_REMOVE(q);
+
+ req = QUEUE_DATA(q, uv_udp_send_t, queue);
+ uv__req_unregister(handle->loop, req);
+
+ handle->send_queue_size -= uv__count_bufs(req->bufs, req->nbufs);
+ handle->send_queue_count--;
+
+ if (req->bufs != req->bufsml)
+ uv__free(req->bufs);
+ req->bufs = NULL;
+
+ if (req->send_cb == NULL)
+ continue;
+
+ /* req->status >= 0 == bytes written
+ * req->status < 0 == errno
+ */
+ if (req->status >= 0)
+ req->send_cb(req, 0);
+ else
+ req->send_cb(req, req->status);
+ }
+
+ if (QUEUE_EMPTY(&handle->write_queue)) {
+ /* Pending queue and completion queue empty, stop watcher. */
+ uv__io_stop(handle->loop, &handle->io_watcher, POLLOUT);
+ if (!uv__io_active(&handle->io_watcher, POLLIN))
+ uv__handle_stop(handle);
+ }
+
+ handle->flags &= ~UV_HANDLE_UDP_PROCESSING;
+}
+
+
+static void uv__udp_io(uv_loop_t* loop, uv__io_t* w, unsigned int revents) {
+ uv_udp_t* handle;
+
+ handle = container_of(w, uv_udp_t, io_watcher);
+ assert(handle->type == UV_UDP);
+
+ if (revents & POLLIN)
+ uv__udp_recvmsg(handle);
+
+ if (revents & POLLOUT) {
+ uv__udp_sendmsg(handle);
+ uv__udp_run_completed(handle);
+ }
+}
+
+
+static void uv__udp_recvmsg(uv_udp_t* handle) {
+ struct sockaddr_storage peer;
+ struct msghdr h;
+ ssize_t nread;
+ uv_buf_t buf;
+ int flags;
+ int count;
+
+ assert(handle->recv_cb != NULL);
+ assert(handle->alloc_cb != NULL);
+
+ /* Prevent loop starvation when the data comes in as fast as (or faster than)
+ * we can read it. XXX Need to rearm fd if we switch to edge-triggered I/O.
+ */
+ count = 32;
+
+ memset(&h, 0, sizeof(h));
+ h.msg_name = &peer;
+
+ do {
+ buf = uv_buf_init(NULL, 0);
+ handle->alloc_cb((uv_handle_t*) handle, 64 * 1024, &buf);
+ if (buf.base == NULL || buf.len == 0) {
+ handle->recv_cb(handle, UV_ENOBUFS, &buf, NULL, 0);
+ return;
+ }
+ assert(buf.base != NULL);
+
+ h.msg_namelen = sizeof(peer);
+ h.msg_iov = (iovec*) &buf;
+ h.msg_iovlen = 1;
+
+ do {
+ nread = recvmsg(handle->io_watcher.fd, &h, 0);
+ }
+ while (nread == -1 && errno == EINTR);
+
+ if (nread == -1) {
+ if (errno == EAGAIN || errno == EWOULDBLOCK)
+ handle->recv_cb(handle, 0, &buf, NULL, 0);
+ else
+ handle->recv_cb(handle, UV__ERR(errno), &buf, NULL, 0);
+ }
+ else {
+ const struct sockaddr *addr;
+ if (h.msg_namelen == 0)
+ addr = NULL;
+ else
+ addr = (const struct sockaddr*) &peer;
+
+ flags = 0;
+ if (h.msg_flags & MSG_TRUNC)
+ flags |= UV_UDP_PARTIAL;
+
+ handle->recv_cb(handle, nread, &buf, addr, flags);
+ }
+ }
+ /* recv_cb callback may decide to pause or close the handle */
+ while (nread != -1
+ && count-- > 0
+ && handle->io_watcher.fd != -1
+ && handle->recv_cb != NULL);
+}
+
+
+static void uv__udp_sendmsg(uv_udp_t* handle) {
+ uv_udp_send_t* req;
+ QUEUE* q;
+ struct msghdr h;
+ ssize_t size;
+
+ while (!QUEUE_EMPTY(&handle->write_queue)) {
+ q = QUEUE_HEAD(&handle->write_queue);
+ assert(q != NULL);
+
+ req = QUEUE_DATA(q, uv_udp_send_t, queue);
+ assert(req != NULL);
+
+ memset(&h, 0, sizeof h);
+ if (req->addr.ss_family == AF_UNSPEC) {
+ h.msg_name = NULL;
+ h.msg_namelen = 0;
+ } else {
+ h.msg_name = &req->addr;
+ if (req->addr.ss_family == AF_INET6)
+ h.msg_namelen = sizeof(struct sockaddr_in6);
+ else if (req->addr.ss_family == AF_INET)
+ h.msg_namelen = sizeof(struct sockaddr_in);
+ else if (req->addr.ss_family == AF_UNIX)
+ h.msg_namelen = sizeof(struct sockaddr_un);
+ else {
+ assert(0 && "unsupported address family");
+ abort();
+ }
+ }
+ h.msg_iov = (struct iovec*) req->bufs;
+ h.msg_iovlen = req->nbufs;
+
+ do {
+ size = sendmsg(handle->io_watcher.fd, &h, 0);
+ } while (size == -1 && errno == EINTR);
+
+ if (size == -1) {
+ if (errno == EAGAIN || errno == EWOULDBLOCK || errno == ENOBUFS)
+ break;
+ }
+
+ req->status = (size == -1 ? UV__ERR(errno) : size);
+
+ /* Sending a datagram is an atomic operation: either all data
+ * is written or nothing is (and EMSGSIZE is raised). That is
+ * why we don't handle partial writes. Just pop the request
+ * off the write queue and onto the completed queue, done.
+ */
+ QUEUE_REMOVE(&req->queue);
+ QUEUE_INSERT_TAIL(&handle->write_completed_queue, &req->queue);
+ uv__io_feed(handle->loop, &handle->io_watcher);
+ }
+}
+
+
+/* On the BSDs, SO_REUSEPORT implies SO_REUSEADDR but with some additional
+ * refinements for programs that use multicast.
+ *
+ * Linux as of 3.9 has a SO_REUSEPORT socket option but with semantics that
+ * are different from the BSDs: it _shares_ the port rather than steal it
+ * from the current listener. While useful, it's not something we can emulate
+ * on other platforms so we don't enable it.
+ *
+ * zOS does not support getsockname with SO_REUSEPORT option when using
+ * AF_UNIX.
+ */
+static int uv__set_reuse(int fd) {
+ int yes;
+ yes = 1;
+
+#if defined(SO_REUSEPORT) && defined(__MVS__)
+ struct sockaddr_in sockfd;
+ unsigned int sockfd_len = sizeof(sockfd);
+ if (getsockname(fd, (struct sockaddr*) &sockfd, &sockfd_len) == -1)
+ return UV__ERR(errno);
+ if (sockfd.sin_family == AF_UNIX) {
+ if (setsockopt(fd, SOL_SOCKET, SO_REUSEADDR, &yes, sizeof(yes)))
+ return UV__ERR(errno);
+ } else {
+ if (setsockopt(fd, SOL_SOCKET, SO_REUSEPORT, &yes, sizeof(yes)))
+ return UV__ERR(errno);
+ }
+#elif defined(SO_REUSEPORT) && !defined(__linux__)
+ if (setsockopt(fd, SOL_SOCKET, SO_REUSEPORT, &yes, sizeof(yes)))
+ return UV__ERR(errno);
+#else
+ if (setsockopt(fd, SOL_SOCKET, SO_REUSEADDR, &yes, sizeof(yes)))
+ return UV__ERR(errno);
+#endif
+
+ return 0;
+}
+
+
+int uv__udp_bind(uv_udp_t* handle,
+ const struct sockaddr* addr,
+ unsigned int addrlen,
+ unsigned int flags) {
+ int err;
+ int yes;
+ int fd;
+
+ /* Check for bad flags. */
+ if (flags & ~(UV_UDP_IPV6ONLY | UV_UDP_REUSEADDR))
+ return UV_EINVAL;
+
+ /* Cannot set IPv6-only mode on non-IPv6 socket. */
+ if ((flags & UV_UDP_IPV6ONLY) && addr->sa_family != AF_INET6)
+ return UV_EINVAL;
+
+ fd = handle->io_watcher.fd;
+ if (fd == -1) {
+ err = uv__socket(addr->sa_family, SOCK_DGRAM, 0);
+ if (err < 0)
+ return err;
+ fd = err;
+ handle->io_watcher.fd = fd;
+ }
+
+ if (flags & UV_UDP_REUSEADDR) {
+ err = uv__set_reuse(fd);
+ if (err)
+ return err;
+ }
+
+ if (flags & UV_UDP_IPV6ONLY) {
+#ifdef IPV6_V6ONLY
+ yes = 1;
+ if (setsockopt(fd, IPPROTO_IPV6, IPV6_V6ONLY, &yes, sizeof yes) == -1) {
+ err = UV__ERR(errno);
+ return err;
+ }
+#else
+ err = UV_ENOTSUP;
+ return err;
+#endif
+ }
+
+ if (bind(fd, addr, addrlen)) {
+ err = UV__ERR(errno);
+ if (errno == EAFNOSUPPORT)
+ /* OSX, other BSDs and SunoS fail with EAFNOSUPPORT when binding a
+ * socket created with AF_INET to an AF_INET6 address or vice versa. */
+ err = UV_EINVAL;
+ return err;
+ }
+
+ if (addr->sa_family == AF_INET6)
+ handle->flags |= UV_HANDLE_IPV6;
+
+ handle->flags |= UV_HANDLE_BOUND;
+ return 0;
+}
+
+
+static int uv__udp_maybe_deferred_bind(uv_udp_t* handle,
+ int domain,
+ unsigned int flags) {
+ union {
+ struct sockaddr_in6 in6;
+ struct sockaddr_in in;
+ struct sockaddr addr;
+ } taddr;
+ socklen_t addrlen;
+
+ if (handle->io_watcher.fd != -1)
+ return 0;
+
+ switch (domain) {
+ case AF_INET:
+ {
+ struct sockaddr_in* addr = &taddr.in;
+ memset(addr, 0, sizeof *addr);
+ addr->sin_family = AF_INET;
+ addr->sin_addr.s_addr = INADDR_ANY;
+ addrlen = sizeof *addr;
+ break;
+ }
+ case AF_INET6:
+ {
+ struct sockaddr_in6* addr = &taddr.in6;
+ memset(addr, 0, sizeof *addr);
+ addr->sin6_family = AF_INET6;
+ addr->sin6_addr = in6addr_any;
+ addrlen = sizeof *addr;
+ break;
+ }
+ default:
+ assert(0 && "unsupported address family");
+ abort();
+ }
+
+ return uv__udp_bind(handle, &taddr.addr, addrlen, flags);
+}
+
+
+int uv__udp_connect(uv_udp_t* handle,
+ const struct sockaddr* addr,
+ unsigned int addrlen) {
+ int err;
+
+ err = uv__udp_maybe_deferred_bind(handle, addr->sa_family, 0);
+ if (err)
+ return err;
+
+ do {
+ errno = 0;
+ err = connect(handle->io_watcher.fd, addr, addrlen);
+ } while (err == -1 && errno == EINTR);
+
+ if (err)
+ return UV__ERR(errno);
+
+ handle->flags |= UV_HANDLE_UDP_CONNECTED;
+
+ return 0;
+}
+
+
+int uv__udp_disconnect(uv_udp_t* handle) {
+ int r;
+ struct sockaddr addr;
+
+ memset(&addr, 0, sizeof(addr));
+
+ addr.sa_family = AF_UNSPEC;
+
+ do {
+ errno = 0;
+ r = connect(handle->io_watcher.fd, &addr, sizeof(addr));
+ } while (r == -1 && errno == EINTR);
+
+ if (r == -1 && errno != EAFNOSUPPORT)
+ return UV__ERR(errno);
+
+ handle->flags &= ~UV_HANDLE_UDP_CONNECTED;
+ return 0;
+}
+
+
+int uv__udp_send(uv_udp_send_t* req,
+ uv_udp_t* handle,
+ const uv_buf_t bufs[],
+ unsigned int nbufs,
+ const struct sockaddr* addr,
+ unsigned int addrlen,
+ uv_udp_send_cb send_cb) {
+ int err;
+ int empty_queue;
+
+ assert(nbufs > 0);
+
+ if (addr) {
+ err = uv__udp_maybe_deferred_bind(handle, addr->sa_family, 0);
+ if (err)
+ return err;
+ }
+
+ /* It's legal for send_queue_count > 0 even when the write_queue is empty;
+ * it means there are error-state requests in the write_completed_queue that
+ * will touch up send_queue_size/count later.
+ */
+ empty_queue = (handle->send_queue_count == 0);
+
+ uv__req_init(handle->loop, req, UV_UDP_SEND);
+ assert(addrlen <= sizeof(req->addr));
+ if (addr == NULL)
+ req->addr.ss_family = AF_UNSPEC;
+ else
+ memcpy(&req->addr, addr, addrlen);
+ req->send_cb = send_cb;
+ req->handle = handle;
+ req->nbufs = nbufs;
+
+ req->bufs = req->bufsml;
+ if (nbufs > ARRAY_SIZE(req->bufsml))
+ req->bufs = (uv_buf_t*)uv__malloc(nbufs * sizeof(bufs[0]));
+
+ if (req->bufs == NULL) {
+ uv__req_unregister(handle->loop, req);
+ return UV_ENOMEM;
+ }
+
+ memcpy(req->bufs, bufs, nbufs * sizeof(bufs[0]));
+ handle->send_queue_size += uv__count_bufs(req->bufs, req->nbufs);
+ handle->send_queue_count++;
+ QUEUE_INSERT_TAIL(&handle->write_queue, &req->queue);
+ uv__handle_start(handle);
+
+ if (empty_queue && !(handle->flags & UV_HANDLE_UDP_PROCESSING)) {
+ uv__udp_sendmsg(handle);
+
+ /* `uv__udp_sendmsg` may not be able to do non-blocking write straight
+ * away. In such cases the `io_watcher` has to be queued for asynchronous
+ * write.
+ */
+ if (!QUEUE_EMPTY(&handle->write_queue))
+ uv__io_start(handle->loop, &handle->io_watcher, POLLOUT);
+ } else {
+ uv__io_start(handle->loop, &handle->io_watcher, POLLOUT);
+ }
+
+ return 0;
+}
+
+
+int uv__udp_try_send(uv_udp_t* handle,
+ const uv_buf_t bufs[],
+ unsigned int nbufs,
+ const struct sockaddr* addr,
+ unsigned int addrlen) {
+ int err;
+ struct msghdr h;
+ ssize_t size;
+
+ assert(nbufs > 0);
+
+ /* already sending a message */
+ if (handle->send_queue_count != 0)
+ return UV_EAGAIN;
+
+ if (addr) {
+ err = uv__udp_maybe_deferred_bind(handle, addr->sa_family, 0);
+ if (err)
+ return err;
+ } else {
+ assert(handle->flags & UV_HANDLE_UDP_CONNECTED);
+ }
+
+ memset(&h, 0, sizeof h);
+ h.msg_name = (struct sockaddr*) addr;
+ h.msg_namelen = addrlen;
+ h.msg_iov = (struct iovec*) bufs;
+ h.msg_iovlen = nbufs;
+
+ do {
+ size = sendmsg(handle->io_watcher.fd, &h, 0);
+ } while (size == -1 && errno == EINTR);
+
+ if (size == -1) {
+ if (errno == EAGAIN || errno == EWOULDBLOCK || errno == ENOBUFS)
+ return UV_EAGAIN;
+ else
+ return UV__ERR(errno);
+ }
+
+ return size;
+}
+
+
+static int uv__udp_set_membership4(uv_udp_t* handle,
+ const struct sockaddr_in* multicast_addr,
+ const char* interface_addr,
+ uv_membership membership) {
+ struct ip_mreq mreq;
+ int optname;
+ int err;
+
+ memset(&mreq, 0, sizeof mreq);
+
+ if (interface_addr) {
+ err = uv_inet_pton(AF_INET, interface_addr, &mreq.imr_interface.s_addr);
+ if (err)
+ return err;
+ } else {
+ mreq.imr_interface.s_addr = htonl(INADDR_ANY);
+ }
+
+ mreq.imr_multiaddr.s_addr = multicast_addr->sin_addr.s_addr;
+
+ switch (membership) {
+ case UV_JOIN_GROUP:
+ optname = IP_ADD_MEMBERSHIP;
+ break;
+ case UV_LEAVE_GROUP:
+ optname = IP_DROP_MEMBERSHIP;
+ break;
+ default:
+ return UV_EINVAL;
+ }
+
+ if (setsockopt(handle->io_watcher.fd,
+ IPPROTO_IP,
+ optname,
+ &mreq,
+ sizeof(mreq))) {
+#if defined(__MVS__)
+ if (errno == ENXIO)
+ return UV_ENODEV;
+#endif
+ return UV__ERR(errno);
+ }
+
+ return 0;
+}
+
+
+static int uv__udp_set_membership6(uv_udp_t* handle,
+ const struct sockaddr_in6* multicast_addr,
+ const char* interface_addr,
+ uv_membership membership) {
+ int optname;
+ struct ipv6_mreq mreq;
+ struct sockaddr_in6 addr6;
+
+ memset(&mreq, 0, sizeof mreq);
+
+ if (interface_addr) {
+ if (uv_ip6_addr(interface_addr, 0, &addr6))
+ return UV_EINVAL;
+ mreq.ipv6mr_interface = addr6.sin6_scope_id;
+ } else {
+ mreq.ipv6mr_interface = 0;
+ }
+
+ mreq.ipv6mr_multiaddr = multicast_addr->sin6_addr;
+
+ switch (membership) {
+ case UV_JOIN_GROUP:
+ optname = IPV6_ADD_MEMBERSHIP;
+ break;
+ case UV_LEAVE_GROUP:
+ optname = IPV6_DROP_MEMBERSHIP;
+ break;
+ default:
+ return UV_EINVAL;
+ }
+
+ if (setsockopt(handle->io_watcher.fd,
+ IPPROTO_IPV6,
+ optname,
+ &mreq,
+ sizeof(mreq))) {
+#if defined(__MVS__)
+ if (errno == ENXIO)
+ return UV_ENODEV;
+#endif
+ return UV__ERR(errno);
+ }
+
+ return 0;
+}
+
+
+int uv_udp_init_ex(uv_loop_t* loop, uv_udp_t* handle, unsigned int flags) {
+ int domain;
+ int err;
+ int fd;
+
+ /* Use the lower 8 bits for the domain */
+ domain = flags & 0xFF;
+ if (domain != AF_INET && domain != AF_INET6 && domain != AF_UNSPEC)
+ return UV_EINVAL;
+
+ if (flags & ~0xFF)
+ return UV_EINVAL;
+
+ if (domain != AF_UNSPEC) {
+ err = uv__socket(domain, SOCK_DGRAM, 0);
+ if (err < 0)
+ return err;
+ fd = err;
+ } else {
+ fd = -1;
+ }
+
+ uv__handle_init(loop, (uv_handle_t*)handle, UV_UDP);
+ handle->alloc_cb = NULL;
+ handle->recv_cb = NULL;
+ handle->send_queue_size = 0;
+ handle->send_queue_count = 0;
+ uv__io_init(&handle->io_watcher, uv__udp_io, fd);
+ QUEUE_INIT(&handle->write_queue);
+ QUEUE_INIT(&handle->write_completed_queue);
+
+ return 0;
+}
+
+
+int uv_udp_init(uv_loop_t* loop, uv_udp_t* handle) {
+ return uv_udp_init_ex(loop, handle, AF_UNSPEC);
+}
+
+
+int uv_udp_open(uv_udp_t* handle, uv_os_sock_t sock) {
+ int err;
+
+ /* Check for already active socket. */
+ if (handle->io_watcher.fd != -1)
+ return UV_EBUSY;
+
+ if (uv__fd_exists(handle->loop, sock))
+ return UV_EEXIST;
+
+ err = uv__nonblock(sock, 1);
+ if (err)
+ return err;
+
+ err = uv__set_reuse(sock);
+ if (err)
+ return err;
+
+ handle->io_watcher.fd = sock;
+ if (uv__udp_is_connected(handle))
+ handle->flags |= UV_HANDLE_UDP_CONNECTED;
+
+ return 0;
+}
+
+
+int uv_udp_set_membership(uv_udp_t* handle,
+ const char* multicast_addr,
+ const char* interface_addr,
+ uv_membership membership) {
+ int err;
+ struct sockaddr_in addr4;
+ struct sockaddr_in6 addr6;
+
+ if (uv_ip4_addr(multicast_addr, 0, &addr4) == 0) {
+ err = uv__udp_maybe_deferred_bind(handle, AF_INET, UV_UDP_REUSEADDR);
+ if (err)
+ return err;
+ return uv__udp_set_membership4(handle, &addr4, interface_addr, membership);
+ } else if (uv_ip6_addr(multicast_addr, 0, &addr6) == 0) {
+ err = uv__udp_maybe_deferred_bind(handle, AF_INET6, UV_UDP_REUSEADDR);
+ if (err)
+ return err;
+ return uv__udp_set_membership6(handle, &addr6, interface_addr, membership);
+ } else {
+ return UV_EINVAL;
+ }
+}
+
+static int uv__setsockopt(uv_udp_t* handle,
+ int option4,
+ int option6,
+ const void* val,
+ size_t size) {
+ int r;
+
+ if (handle->flags & UV_HANDLE_IPV6)
+ r = setsockopt(handle->io_watcher.fd,
+ IPPROTO_IPV6,
+ option6,
+ val,
+ size);
+ else
+ r = setsockopt(handle->io_watcher.fd,
+ IPPROTO_IP,
+ option4,
+ val,
+ size);
+ if (r)
+ return UV__ERR(errno);
+
+ return 0;
+}
+
+static int uv__setsockopt_maybe_char(uv_udp_t* handle,
+ int option4,
+ int option6,
+ int val) {
+#if defined(__sun) || defined(_AIX) || defined(__MVS__)
+ char arg = val;
+#elif defined(__OpenBSD__)
+ unsigned char arg = val;
+#else
+ int arg = val;
+#endif
+
+ if (val < 0 || val > 255)
+ return UV_EINVAL;
+
+ return uv__setsockopt(handle, option4, option6, &arg, sizeof(arg));
+}
+
+
+int uv_udp_set_broadcast(uv_udp_t* handle, int on) {
+ if (setsockopt(handle->io_watcher.fd,
+ SOL_SOCKET,
+ SO_BROADCAST,
+ &on,
+ sizeof(on))) {
+ return UV__ERR(errno);
+ }
+
+ return 0;
+}
+
+
+int uv_udp_set_ttl(uv_udp_t* handle, int ttl) {
+ if (ttl < 1 || ttl > 255)
+ return UV_EINVAL;
+
+#if defined(__MVS__)
+ if (!(handle->flags & UV_HANDLE_IPV6))
+ return UV_ENOTSUP; /* zOS does not support setting ttl for IPv4 */
+#endif
+
+/*
+ * On Solaris and derivatives such as SmartOS, the length of socket options
+ * is sizeof(int) for IP_TTL and IPV6_UNICAST_HOPS,
+ * so hardcode the size of these options on this platform,
+ * and use the general uv__setsockopt_maybe_char call on other platforms.
+ */
+#if defined(__sun) || defined(_AIX) || defined(__OpenBSD__) || \
+ defined(__MVS__)
+
+ return uv__setsockopt(handle,
+ IP_TTL,
+ IPV6_UNICAST_HOPS,
+ &ttl,
+ sizeof(ttl));
+
+#else /* !(defined(__sun) || defined(_AIX) || defined (__OpenBSD__) ||
+ defined(__MVS__)) */
+
+ return uv__setsockopt_maybe_char(handle,
+ IP_TTL,
+ IPV6_UNICAST_HOPS,
+ ttl);
+
+#endif /* defined(__sun) || defined(_AIX) || defined (__OpenBSD__) ||
+ defined(__MVS__) */
+}
+
+
+int uv_udp_set_multicast_ttl(uv_udp_t* handle, int ttl) {
+/*
+ * On Solaris and derivatives such as SmartOS, the length of socket options
+ * is sizeof(int) for IPV6_MULTICAST_HOPS and sizeof(char) for
+ * IP_MULTICAST_TTL, so hardcode the size of the option in the IPv6 case,
+ * and use the general uv__setsockopt_maybe_char call otherwise.
+ */
+#if defined(__sun) || defined(_AIX) || defined(__OpenBSD__) || \
+ defined(__MVS__)
+ if (handle->flags & UV_HANDLE_IPV6)
+ return uv__setsockopt(handle,
+ IP_MULTICAST_TTL,
+ IPV6_MULTICAST_HOPS,
+ &ttl,
+ sizeof(ttl));
+#endif /* defined(__sun) || defined(_AIX) || defined(__OpenBSD__) || \
+ defined(__MVS__) */
+
+ return uv__setsockopt_maybe_char(handle,
+ IP_MULTICAST_TTL,
+ IPV6_MULTICAST_HOPS,
+ ttl);
+}
+
+
+int uv_udp_set_multicast_loop(uv_udp_t* handle, int on) {
+/*
+ * On Solaris and derivatives such as SmartOS, the length of socket options
+ * is sizeof(int) for IPV6_MULTICAST_LOOP and sizeof(char) for
+ * IP_MULTICAST_LOOP, so hardcode the size of the option in the IPv6 case,
+ * and use the general uv__setsockopt_maybe_char call otherwise.
+ */
+#if defined(__sun) || defined(_AIX) || defined(__OpenBSD__) || \
+ defined(__MVS__)
+ if (handle->flags & UV_HANDLE_IPV6)
+ return uv__setsockopt(handle,
+ IP_MULTICAST_LOOP,
+ IPV6_MULTICAST_LOOP,
+ &on,
+ sizeof(on));
+#endif /* defined(__sun) || defined(_AIX) ||defined(__OpenBSD__) ||
+ defined(__MVS__) */
+
+ return uv__setsockopt_maybe_char(handle,
+ IP_MULTICAST_LOOP,
+ IPV6_MULTICAST_LOOP,
+ on);
+}
+
+int uv_udp_set_multicast_interface(uv_udp_t* handle, const char* interface_addr) {
+ struct sockaddr_storage addr_st;
+ struct sockaddr_in* addr4;
+ struct sockaddr_in6* addr6;
+
+ addr4 = (struct sockaddr_in*) &addr_st;
+ addr6 = (struct sockaddr_in6*) &addr_st;
+
+ if (!interface_addr) {
+ memset(&addr_st, 0, sizeof addr_st);
+ if (handle->flags & UV_HANDLE_IPV6) {
+ addr_st.ss_family = AF_INET6;
+ addr6->sin6_scope_id = 0;
+ } else {
+ addr_st.ss_family = AF_INET;
+ addr4->sin_addr.s_addr = htonl(INADDR_ANY);
+ }
+ } else if (uv_ip4_addr(interface_addr, 0, addr4) == 0) {
+ /* nothing, address was parsed */
+ } else if (uv_ip6_addr(interface_addr, 0, addr6) == 0) {
+ /* nothing, address was parsed */
+ } else {
+ return UV_EINVAL;
+ }
+
+ if (addr_st.ss_family == AF_INET) {
+ if (setsockopt(handle->io_watcher.fd,
+ IPPROTO_IP,
+ IP_MULTICAST_IF,
+ (void*) &addr4->sin_addr,
+ sizeof(addr4->sin_addr)) == -1) {
+ return UV__ERR(errno);
+ }
+ } else if (addr_st.ss_family == AF_INET6) {
+ if (setsockopt(handle->io_watcher.fd,
+ IPPROTO_IPV6,
+ IPV6_MULTICAST_IF,
+ &addr6->sin6_scope_id,
+ sizeof(addr6->sin6_scope_id)) == -1) {
+ return UV__ERR(errno);
+ }
+ } else {
+ assert(0 && "unexpected address family");
+ abort();
+ }
+
+ return 0;
+}
+
+int uv_udp_getpeername(const uv_udp_t* handle,
+ struct sockaddr* name,
+ int* namelen) {
+
+ return uv__getsockpeername((const uv_handle_t*) handle,
+ getpeername,
+ name,
+ namelen);
+}
+
+int uv_udp_getsockname(const uv_udp_t* handle,
+ struct sockaddr* name,
+ int* namelen) {
+
+ return uv__getsockpeername((const uv_handle_t*) handle,
+ getsockname,
+ name,
+ namelen);
+}
+
+
+int uv__udp_recv_start(uv_udp_t* handle,
+ uv_alloc_cb alloc_cb,
+ uv_udp_recv_cb recv_cb) {
+ int err;
+
+ if (alloc_cb == NULL || recv_cb == NULL)
+ return UV_EINVAL;
+
+ if (uv__io_active(&handle->io_watcher, POLLIN))
+ return UV_EALREADY; /* FIXME(bnoordhuis) Should be UV_EBUSY. */
+
+ err = uv__udp_maybe_deferred_bind(handle, AF_INET, 0);
+ if (err)
+ return err;
+
+ handle->alloc_cb = alloc_cb;
+ handle->recv_cb = recv_cb;
+
+ uv__io_start(handle->loop, &handle->io_watcher, POLLIN);
+ uv__handle_start(handle);
+
+ return 0;
+}
+
+
+int uv__udp_recv_stop(uv_udp_t* handle) {
+ uv__io_stop(handle->loop, &handle->io_watcher, POLLIN);
+
+ if (!uv__io_active(&handle->io_watcher, POLLOUT))
+ uv__handle_stop(handle);
+
+ handle->alloc_cb = NULL;
+ handle->recv_cb = NULL;
+
+ return 0;
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/uv-common.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/uv-common.cpp
new file mode 100644
index 0000000..3c65476
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/uv-common.cpp
@@ -0,0 +1,797 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include "uv.h"
+#include "uv-common.h"
+
+#include <assert.h>
+#include <errno.h>
+#include <stdarg.h>
+#include <stddef.h> /* NULL */
+#include <stdio.h>
+#include <stdlib.h> /* malloc */
+#include <string.h> /* memset */
+
+#if defined(_WIN32)
+# include <malloc.h> /* malloc */
+#else
+# include <net/if.h> /* if_nametoindex */
+# include <sys/un.h> /* AF_UNIX, sockaddr_un */
+#endif
+
+
+typedef struct {
+ uv_malloc_func local_malloc;
+ uv_realloc_func local_realloc;
+ uv_calloc_func local_calloc;
+ uv_free_func local_free;
+} uv__allocator_t;
+
+static uv__allocator_t uv__allocator = {
+ malloc,
+ realloc,
+ calloc,
+ free,
+};
+
+char* uv__strdup(const char* s) {
+ size_t len = strlen(s) + 1;
+ char* m = (char*)uv__malloc(len);
+ if (m == NULL)
+ return NULL;
+ return (char*)memcpy(m, s, len);
+}
+
+char* uv__strndup(const char* s, size_t n) {
+ char* m;
+ size_t len = strlen(s);
+ if (n < len)
+ len = n;
+ m = (char*)uv__malloc(len + 1);
+ if (m == NULL)
+ return NULL;
+ m[len] = '\0';
+ return (char*)memcpy(m, s, len);
+}
+
+void* uv__malloc(size_t size) {
+ if (size > 0)
+ return uv__allocator.local_malloc(size);
+ return NULL;
+}
+
+void uv__free(void* ptr) {
+ int saved_errno;
+
+ /* Libuv expects that free() does not clobber errno. The system allocator
+ * honors that assumption but custom allocators may not be so careful.
+ */
+ saved_errno = errno;
+ uv__allocator.local_free(ptr);
+ errno = saved_errno;
+}
+
+void* uv__calloc(size_t count, size_t size) {
+ return uv__allocator.local_calloc(count, size);
+}
+
+void* uv__realloc(void* ptr, size_t size) {
+ if (size > 0)
+ return uv__allocator.local_realloc(ptr, size);
+ uv__free(ptr);
+ return NULL;
+}
+
+int uv_replace_allocator(uv_malloc_func malloc_func,
+ uv_realloc_func realloc_func,
+ uv_calloc_func calloc_func,
+ uv_free_func free_func) {
+ if (malloc_func == NULL || realloc_func == NULL ||
+ calloc_func == NULL || free_func == NULL) {
+ return UV_EINVAL;
+ }
+
+ uv__allocator.local_malloc = malloc_func;
+ uv__allocator.local_realloc = realloc_func;
+ uv__allocator.local_calloc = calloc_func;
+ uv__allocator.local_free = free_func;
+
+ return 0;
+}
+
+#define XX(uc, lc) case UV_##uc: return sizeof(uv_##lc##_t);
+
+size_t uv_handle_size(uv_handle_type type) {
+ switch (type) {
+ UV_HANDLE_TYPE_MAP(XX)
+ default:
+ return -1;
+ }
+}
+
+size_t uv_req_size(uv_req_type type) {
+ switch(type) {
+ UV_REQ_TYPE_MAP(XX)
+ default:
+ return -1;
+ }
+}
+
+#undef XX
+
+
+size_t uv_loop_size(void) {
+ return sizeof(uv_loop_t);
+}
+
+
+uv_buf_t uv_buf_init(char* base, unsigned int len) {
+ uv_buf_t buf;
+ buf.base = base;
+ buf.len = len;
+ return buf;
+}
+
+
+static const char* uv__unknown_err_code(int err) {
+ char buf[32];
+ char* copy;
+
+ snprintf(buf, sizeof(buf), "Unknown system error %d", err);
+ copy = uv__strdup(buf);
+
+ return copy != NULL ? copy : "Unknown system error";
+}
+
+#define UV_ERR_NAME_GEN_R(name, _) \
+case UV_## name: \
+ uv__strscpy(buf, #name, buflen); break;
+char* uv_err_name_r(int err, char* buf, size_t buflen) {
+ switch (err) {
+ UV_ERRNO_MAP(UV_ERR_NAME_GEN_R)
+ default: snprintf(buf, buflen, "Unknown system error %d", err);
+ }
+ return buf;
+}
+#undef UV_ERR_NAME_GEN_R
+
+
+#define UV_ERR_NAME_GEN(name, _) case UV_ ## name: return #name;
+const char* uv_err_name(int err) {
+ switch (err) {
+ UV_ERRNO_MAP(UV_ERR_NAME_GEN)
+ }
+ return uv__unknown_err_code(err);
+}
+#undef UV_ERR_NAME_GEN
+
+
+#define UV_STRERROR_GEN_R(name, msg) \
+case UV_ ## name: \
+ snprintf(buf, buflen, "%s", msg); break;
+char* uv_strerror_r(int err, char* buf, size_t buflen) {
+ switch (err) {
+ UV_ERRNO_MAP(UV_STRERROR_GEN_R)
+ default: snprintf(buf, buflen, "Unknown system error %d", err);
+ }
+ return buf;
+}
+#undef UV_STRERROR_GEN_R
+
+
+#define UV_STRERROR_GEN(name, msg) case UV_ ## name: return msg;
+const char* uv_strerror(int err) {
+ switch (err) {
+ UV_ERRNO_MAP(UV_STRERROR_GEN)
+ }
+ return uv__unknown_err_code(err);
+}
+#undef UV_STRERROR_GEN
+
+
+int uv_ip4_addr(const char* ip, int port, struct sockaddr_in* addr) {
+ memset(addr, 0, sizeof(*addr));
+ addr->sin_family = AF_INET;
+ addr->sin_port = htons(port);
+ return uv_inet_pton(AF_INET, ip, &(addr->sin_addr.s_addr));
+}
+
+
+int uv_ip6_addr(const char* ip, int port, struct sockaddr_in6* addr) {
+ char address_part[40];
+ size_t address_part_size;
+ const char* zone_index;
+
+ memset(addr, 0, sizeof(*addr));
+ addr->sin6_family = AF_INET6;
+ addr->sin6_port = htons(port);
+#ifdef SIN6_LEN
+ addr->sin6_len = sizeof(*addr);
+#endif
+
+ zone_index = strchr(ip, '%');
+ if (zone_index != NULL) {
+ address_part_size = zone_index - ip;
+ if (address_part_size >= sizeof(address_part))
+ address_part_size = sizeof(address_part) - 1;
+
+ memcpy(address_part, ip, address_part_size);
+ address_part[address_part_size] = '\0';
+ ip = address_part;
+
+ zone_index++; /* skip '%' */
+ /* NOTE: unknown interface (id=0) is silently ignored */
+#ifdef _WIN32
+ addr->sin6_scope_id = atoi(zone_index);
+#else
+ addr->sin6_scope_id = if_nametoindex(zone_index);
+#endif
+ }
+
+ return uv_inet_pton(AF_INET6, ip, &addr->sin6_addr);
+}
+
+
+int uv_ip4_name(const struct sockaddr_in* src, char* dst, size_t size) {
+ return uv_inet_ntop(AF_INET, &src->sin_addr, dst, size);
+}
+
+
+int uv_ip6_name(const struct sockaddr_in6* src, char* dst, size_t size) {
+ return uv_inet_ntop(AF_INET6, &src->sin6_addr, dst, size);
+}
+
+
+int uv_tcp_bind(uv_tcp_t* handle,
+ const struct sockaddr* addr,
+ unsigned int flags) {
+ unsigned int addrlen;
+
+ if (handle->type != UV_TCP)
+ return UV_EINVAL;
+
+ if (addr->sa_family == AF_INET)
+ addrlen = sizeof(struct sockaddr_in);
+ else if (addr->sa_family == AF_INET6)
+ addrlen = sizeof(struct sockaddr_in6);
+ else
+ return UV_EINVAL;
+
+ return uv__tcp_bind(handle, addr, addrlen, flags);
+}
+
+
+int uv_udp_bind(uv_udp_t* handle,
+ const struct sockaddr* addr,
+ unsigned int flags) {
+ unsigned int addrlen;
+
+ if (handle->type != UV_UDP)
+ return UV_EINVAL;
+
+ if (addr->sa_family == AF_INET)
+ addrlen = sizeof(struct sockaddr_in);
+ else if (addr->sa_family == AF_INET6)
+ addrlen = sizeof(struct sockaddr_in6);
+ else
+ return UV_EINVAL;
+
+ return uv__udp_bind(handle, addr, addrlen, flags);
+}
+
+
+int uv_tcp_connect(uv_connect_t* req,
+ uv_tcp_t* handle,
+ const struct sockaddr* addr,
+ uv_connect_cb cb) {
+ unsigned int addrlen;
+
+ if (handle->type != UV_TCP)
+ return UV_EINVAL;
+
+ if (addr->sa_family == AF_INET)
+ addrlen = sizeof(struct sockaddr_in);
+ else if (addr->sa_family == AF_INET6)
+ addrlen = sizeof(struct sockaddr_in6);
+ else
+ return UV_EINVAL;
+
+ return uv__tcp_connect(req, handle, addr, addrlen, cb);
+}
+
+
+int uv_udp_connect(uv_udp_t* handle, const struct sockaddr* addr) {
+ unsigned int addrlen;
+
+ if (handle->type != UV_UDP)
+ return UV_EINVAL;
+
+ /* Disconnect the handle */
+ if (addr == NULL) {
+ if (!(handle->flags & UV_HANDLE_UDP_CONNECTED))
+ return UV_ENOTCONN;
+
+ return uv__udp_disconnect(handle);
+ }
+
+ if (addr->sa_family == AF_INET)
+ addrlen = sizeof(struct sockaddr_in);
+ else if (addr->sa_family == AF_INET6)
+ addrlen = sizeof(struct sockaddr_in6);
+ else
+ return UV_EINVAL;
+
+ if (handle->flags & UV_HANDLE_UDP_CONNECTED)
+ return UV_EISCONN;
+
+ return uv__udp_connect(handle, addr, addrlen);
+}
+
+
+int uv__udp_is_connected(uv_udp_t* handle) {
+ struct sockaddr_storage addr;
+ int addrlen;
+ if (handle->type != UV_UDP)
+ return 0;
+
+ addrlen = sizeof(addr);
+ if (uv_udp_getpeername(handle, (struct sockaddr*) &addr, &addrlen) != 0)
+ return 0;
+
+ return addrlen > 0;
+}
+
+
+int uv__udp_check_before_send(uv_udp_t* handle, const struct sockaddr* addr) {
+ unsigned int addrlen;
+
+ if (handle->type != UV_UDP)
+ return UV_EINVAL;
+
+ if (addr != NULL && (handle->flags & UV_HANDLE_UDP_CONNECTED))
+ return UV_EISCONN;
+
+ if (addr == NULL && !(handle->flags & UV_HANDLE_UDP_CONNECTED))
+ return UV_EDESTADDRREQ;
+
+ if (addr != NULL) {
+ if (addr->sa_family == AF_INET)
+ addrlen = sizeof(struct sockaddr_in);
+ else if (addr->sa_family == AF_INET6)
+ addrlen = sizeof(struct sockaddr_in6);
+#if defined(AF_UNIX) && !defined(_WIN32)
+ else if (addr->sa_family == AF_UNIX)
+ addrlen = sizeof(struct sockaddr_un);
+#endif
+ else
+ return UV_EINVAL;
+ } else {
+ addrlen = 0;
+ }
+
+ return addrlen;
+}
+
+
+int uv_udp_send(uv_udp_send_t* req,
+ uv_udp_t* handle,
+ const uv_buf_t bufs[],
+ unsigned int nbufs,
+ const struct sockaddr* addr,
+ uv_udp_send_cb send_cb) {
+ int addrlen;
+
+ addrlen = uv__udp_check_before_send(handle, addr);
+ if (addrlen < 0)
+ return addrlen;
+
+ return uv__udp_send(req, handle, bufs, nbufs, addr, addrlen, send_cb);
+}
+
+
+int uv_udp_try_send(uv_udp_t* handle,
+ const uv_buf_t bufs[],
+ unsigned int nbufs,
+ const struct sockaddr* addr) {
+ int addrlen;
+
+ addrlen = uv__udp_check_before_send(handle, addr);
+ if (addrlen < 0)
+ return addrlen;
+
+ return uv__udp_try_send(handle, bufs, nbufs, addr, addrlen);
+}
+
+
+int uv_udp_recv_start(uv_udp_t* handle,
+ uv_alloc_cb alloc_cb,
+ uv_udp_recv_cb recv_cb) {
+ if (handle->type != UV_UDP || alloc_cb == NULL || recv_cb == NULL)
+ return UV_EINVAL;
+ else
+ return uv__udp_recv_start(handle, alloc_cb, recv_cb);
+}
+
+
+int uv_udp_recv_stop(uv_udp_t* handle) {
+ if (handle->type != UV_UDP)
+ return UV_EINVAL;
+ else
+ return uv__udp_recv_stop(handle);
+}
+
+
+void uv_walk(uv_loop_t* loop, uv_walk_cb walk_cb, void* arg) {
+ QUEUE queue;
+ QUEUE* q;
+ uv_handle_t* h;
+
+ QUEUE_MOVE(&loop->handle_queue, &queue);
+ while (!QUEUE_EMPTY(&queue)) {
+ q = QUEUE_HEAD(&queue);
+ h = QUEUE_DATA(q, uv_handle_t, handle_queue);
+
+ QUEUE_REMOVE(q);
+ QUEUE_INSERT_TAIL(&loop->handle_queue, q);
+
+ if (h->flags & UV_HANDLE_INTERNAL) continue;
+ walk_cb(h, arg);
+ }
+}
+
+
+static void uv__print_handles(uv_loop_t* loop, int only_active, FILE* stream) {
+ const char* type;
+ QUEUE* q;
+ uv_handle_t* h;
+
+ if (loop == NULL)
+ loop = uv_default_loop();
+
+ QUEUE_FOREACH(q, &loop->handle_queue) {
+ h = QUEUE_DATA(q, uv_handle_t, handle_queue);
+
+ if (only_active && !uv__is_active(h))
+ continue;
+
+ switch (h->type) {
+#define X(uc, lc) case UV_##uc: type = #lc; break;
+ UV_HANDLE_TYPE_MAP(X)
+#undef X
+ default: type = "<unknown>";
+ }
+
+ fprintf(stream,
+ "[%c%c%c] %-8s %p\n",
+ "R-"[!(h->flags & UV_HANDLE_REF)],
+ "A-"[!(h->flags & UV_HANDLE_ACTIVE)],
+ "I-"[!(h->flags & UV_HANDLE_INTERNAL)],
+ type,
+ (void*)h);
+ }
+}
+
+
+void uv_print_all_handles(uv_loop_t* loop, FILE* stream) {
+ uv__print_handles(loop, 0, stream);
+}
+
+
+void uv_print_active_handles(uv_loop_t* loop, FILE* stream) {
+ uv__print_handles(loop, 1, stream);
+}
+
+
+void uv_ref(uv_handle_t* handle) {
+ uv__handle_ref(handle);
+}
+
+
+void uv_unref(uv_handle_t* handle) {
+ uv__handle_unref(handle);
+}
+
+
+int uv_has_ref(const uv_handle_t* handle) {
+ return uv__has_ref(handle);
+}
+
+
+void uv_stop(uv_loop_t* loop) {
+ loop->stop_flag = 1;
+}
+
+
+uint64_t uv_now(const uv_loop_t* loop) {
+ return loop->time;
+}
+
+
+
+size_t uv__count_bufs(const uv_buf_t bufs[], unsigned int nbufs) {
+ unsigned int i;
+ size_t bytes;
+
+ bytes = 0;
+ for (i = 0; i < nbufs; i++)
+ bytes += (size_t) bufs[i].len;
+
+ return bytes;
+}
+
+int uv_recv_buffer_size(uv_handle_t* handle, int* value) {
+ return uv__socket_sockopt(handle, SO_RCVBUF, value);
+}
+
+int uv_send_buffer_size(uv_handle_t* handle, int *value) {
+ return uv__socket_sockopt(handle, SO_SNDBUF, value);
+}
+
+int uv_fs_event_getpath(uv_fs_event_t* handle, char* buffer, size_t* size) {
+ size_t required_len;
+
+ if (!uv__is_active(handle)) {
+ *size = 0;
+ return UV_EINVAL;
+ }
+
+ required_len = strlen(handle->path);
+ if (required_len >= *size) {
+ *size = required_len + 1;
+ return UV_ENOBUFS;
+ }
+
+ memcpy(buffer, handle->path, required_len);
+ *size = required_len;
+ buffer[required_len] = '\0';
+
+ return 0;
+}
+
+/* The windows implementation does not have the same structure layout as
+ * the unix implementation (nbufs is not directly inside req but is
+ * contained in a nested union/struct) so this function locates it.
+*/
+static unsigned int* uv__get_nbufs(uv_fs_t* req) {
+#ifdef _WIN32
+ return &req->fs.info.nbufs;
+#else
+ return &req->nbufs;
+#endif
+}
+
+/* uv_fs_scandir() uses the system allocator to allocate memory on non-Windows
+ * systems. So, the memory should be released using free(). On Windows,
+ * uv__malloc() is used, so use uv__free() to free memory.
+*/
+#ifdef _WIN32
+# define uv__fs_scandir_free uv__free
+#else
+# define uv__fs_scandir_free free
+#endif
+
+void uv__fs_scandir_cleanup(uv_fs_t* req) {
+ uv__dirent_t** dents;
+
+ unsigned int* nbufs = uv__get_nbufs(req);
+
+ dents = (uv__dirent_t**)(req->ptr);
+ if (*nbufs > 0 && *nbufs != (unsigned int) req->result)
+ (*nbufs)--;
+ for (; *nbufs < (unsigned int) req->result; (*nbufs)++)
+ uv__fs_scandir_free(dents[*nbufs]);
+
+ uv__fs_scandir_free(req->ptr);
+ req->ptr = NULL;
+}
+
+
+int uv_fs_scandir_next(uv_fs_t* req, uv_dirent_t* ent) {
+ uv__dirent_t** dents;
+ uv__dirent_t* dent;
+ unsigned int* nbufs;
+
+ /* Check to see if req passed */
+ if (req->result < 0)
+ return req->result;
+
+ /* Ptr will be null if req was canceled or no files found */
+ if (!req->ptr)
+ return UV_EOF;
+
+ nbufs = uv__get_nbufs(req);
+ assert(nbufs);
+
+ dents = (uv__dirent_t**)(req->ptr);
+
+ /* Free previous entity */
+ if (*nbufs > 0)
+ uv__fs_scandir_free(dents[*nbufs - 1]);
+
+ /* End was already reached */
+ if (*nbufs == (unsigned int) req->result) {
+ uv__fs_scandir_free(dents);
+ req->ptr = NULL;
+ return UV_EOF;
+ }
+
+ dent = dents[(*nbufs)++];
+
+ ent->name = dent->d_name;
+ ent->type = uv__fs_get_dirent_type(dent);
+
+ return 0;
+}
+
+uv_dirent_type_t uv__fs_get_dirent_type(uv__dirent_t* dent) {
+ uv_dirent_type_t type;
+
+#ifdef HAVE_DIRENT_TYPES
+ switch (dent->d_type) {
+ case UV__DT_DIR:
+ type = UV_DIRENT_DIR;
+ break;
+ case UV__DT_FILE:
+ type = UV_DIRENT_FILE;
+ break;
+ case UV__DT_LINK:
+ type = UV_DIRENT_LINK;
+ break;
+ case UV__DT_FIFO:
+ type = UV_DIRENT_FIFO;
+ break;
+ case UV__DT_SOCKET:
+ type = UV_DIRENT_SOCKET;
+ break;
+ case UV__DT_CHAR:
+ type = UV_DIRENT_CHAR;
+ break;
+ case UV__DT_BLOCK:
+ type = UV_DIRENT_BLOCK;
+ break;
+ default:
+ type = UV_DIRENT_UNKNOWN;
+ }
+#else
+ type = UV_DIRENT_UNKNOWN;
+#endif
+
+ return type;
+}
+
+void uv__fs_readdir_cleanup(uv_fs_t* req) {
+ uv_dir_t* dir;
+ uv_dirent_t* dirents;
+ int i;
+
+ if (req->ptr == NULL)
+ return;
+
+ dir = (uv_dir_t*)req->ptr;
+ dirents = dir->dirents;
+ req->ptr = NULL;
+
+ if (dirents == NULL)
+ return;
+
+ for (i = 0; i < req->result; ++i) {
+ uv__free((char*) dirents[i].name);
+ dirents[i].name = NULL;
+ }
+}
+
+
+#ifdef __clang__
+# pragma clang diagnostic push
+# pragma clang diagnostic ignored "-Wvarargs"
+#endif
+
+int uv_loop_configure(uv_loop_t* loop, uv_loop_option option, ...) {
+ va_list ap;
+ int err;
+
+ va_start(ap, option);
+ /* Any platform-agnostic options should be handled here. */
+ err = uv__loop_configure(loop, option, ap);
+ va_end(ap);
+
+ return err;
+}
+
+#ifdef __clang__
+# pragma clang diagnostic pop
+#endif
+
+
+static uv_loop_t default_loop_struct;
+static uv_loop_t* default_loop_ptr;
+
+
+uv_loop_t* uv_default_loop(void) {
+ if (default_loop_ptr != NULL)
+ return default_loop_ptr;
+
+ if (uv_loop_init(&default_loop_struct))
+ return NULL;
+
+ default_loop_ptr = &default_loop_struct;
+ return default_loop_ptr;
+}
+
+
+uv_loop_t* uv_loop_new(void) {
+ uv_loop_t* loop;
+
+ loop = (uv_loop_t*)uv__malloc(sizeof(*loop));
+ if (loop == NULL)
+ return NULL;
+
+ if (uv_loop_init(loop)) {
+ uv__free(loop);
+ return NULL;
+ }
+
+ return loop;
+}
+
+
+int uv_loop_close(uv_loop_t* loop) {
+ QUEUE* q;
+ uv_handle_t* h;
+#ifndef NDEBUG
+ void* saved_data;
+#endif
+
+ if (uv__has_active_reqs(loop))
+ return UV_EBUSY;
+
+ QUEUE_FOREACH(q, &loop->handle_queue) {
+ h = QUEUE_DATA(q, uv_handle_t, handle_queue);
+ if (!(h->flags & UV_HANDLE_INTERNAL))
+ return UV_EBUSY;
+ }
+
+ uv__loop_close(loop);
+
+#ifndef NDEBUG
+ saved_data = loop->data;
+ memset(loop, -1, sizeof(*loop));
+ loop->data = saved_data;
+#endif
+ if (loop == default_loop_ptr)
+ default_loop_ptr = NULL;
+
+ return 0;
+}
+
+
+void uv_loop_delete(uv_loop_t* loop) {
+ uv_loop_t* default_loop;
+ int err;
+
+ default_loop = default_loop_ptr;
+
+ err = uv_loop_close(loop);
+ (void) err; /* Squelch compiler warnings. */
+ assert(err == 0);
+ if (loop != default_loop)
+ uv__free(loop);
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/uv-common.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/uv-common.h
new file mode 100644
index 0000000..f788161
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/uv-common.h
@@ -0,0 +1,326 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+/*
+ * This file is private to libuv. It provides common functionality to both
+ * Windows and Unix backends.
+ */
+
+#ifndef UV_COMMON_H_
+#define UV_COMMON_H_
+
+#include <assert.h>
+#include <stdarg.h>
+#include <stddef.h>
+
+#if defined(_MSC_VER) && _MSC_VER < 1600
+# include "uv/stdint-msvc2008.h"
+#else
+# include <stdint.h>
+#endif
+
+#include "uv.h"
+#include "uv/tree.h"
+#include "queue.h"
+#include "strscpy.h"
+
+#if EDOM > 0
+# define UV__ERR(x) (-(x))
+#else
+# define UV__ERR(x) (x)
+#endif
+
+#if !defined(snprintf) && defined(_MSC_VER) && _MSC_VER < 1900
+extern int snprintf(char*, size_t, const char*, ...);
+#endif
+
+#define ARRAY_SIZE(a) (sizeof(a) / sizeof((a)[0]))
+
+#define container_of(ptr, type, member) \
+ ((type *) ((char *) (ptr) - offsetof(type, member)))
+
+#define STATIC_ASSERT(expr) \
+ void uv__static_assert(int static_assert_failed[1 - 2 * !(expr)])
+
+/* Handle flags. Some flags are specific to Windows or UNIX. */
+enum {
+ /* Used by all handles. */
+ UV_HANDLE_CLOSING = 0x00000001,
+ UV_HANDLE_CLOSED = 0x00000002,
+ UV_HANDLE_ACTIVE = 0x00000004,
+ UV_HANDLE_REF = 0x00000008,
+ UV_HANDLE_INTERNAL = 0x00000010,
+ UV_HANDLE_ENDGAME_QUEUED = 0x00000020,
+
+ /* Used by streams. */
+ UV_HANDLE_LISTENING = 0x00000040,
+ UV_HANDLE_CONNECTION = 0x00000080,
+ UV_HANDLE_SHUTTING = 0x00000100,
+ UV_HANDLE_SHUT = 0x00000200,
+ UV_HANDLE_READ_PARTIAL = 0x00000400,
+ UV_HANDLE_READ_EOF = 0x00000800,
+
+ /* Used by streams and UDP handles. */
+ UV_HANDLE_READING = 0x00001000,
+ UV_HANDLE_BOUND = 0x00002000,
+ UV_HANDLE_READABLE = 0x00004000,
+ UV_HANDLE_WRITABLE = 0x00008000,
+ UV_HANDLE_READ_PENDING = 0x00010000,
+ UV_HANDLE_SYNC_BYPASS_IOCP = 0x00020000,
+ UV_HANDLE_ZERO_READ = 0x00040000,
+ UV_HANDLE_EMULATE_IOCP = 0x00080000,
+ UV_HANDLE_BLOCKING_WRITES = 0x00100000,
+ UV_HANDLE_CANCELLATION_PENDING = 0x00200000,
+
+ /* Used by uv_tcp_t and uv_udp_t handles */
+ UV_HANDLE_IPV6 = 0x00400000,
+
+ /* Only used by uv_tcp_t handles. */
+ UV_HANDLE_TCP_NODELAY = 0x01000000,
+ UV_HANDLE_TCP_KEEPALIVE = 0x02000000,
+ UV_HANDLE_TCP_SINGLE_ACCEPT = 0x04000000,
+ UV_HANDLE_TCP_ACCEPT_STATE_CHANGING = 0x08000000,
+ UV_HANDLE_TCP_SOCKET_CLOSED = 0x10000000,
+ UV_HANDLE_SHARED_TCP_SOCKET = 0x20000000,
+
+ /* Only used by uv_udp_t handles. */
+ UV_HANDLE_UDP_PROCESSING = 0x01000000,
+ UV_HANDLE_UDP_CONNECTED = 0x02000000,
+
+ /* Only used by uv_pipe_t handles. */
+ UV_HANDLE_NON_OVERLAPPED_PIPE = 0x01000000,
+ UV_HANDLE_PIPESERVER = 0x02000000,
+
+ /* Only used by uv_tty_t handles. */
+ UV_HANDLE_TTY_READABLE = 0x01000000,
+ UV_HANDLE_TTY_RAW = 0x02000000,
+ UV_HANDLE_TTY_SAVED_POSITION = 0x04000000,
+ UV_HANDLE_TTY_SAVED_ATTRIBUTES = 0x08000000,
+
+ /* Only used by uv_signal_t handles. */
+ UV_SIGNAL_ONE_SHOT_DISPATCHED = 0x01000000,
+ UV_SIGNAL_ONE_SHOT = 0x02000000,
+
+ /* Only used by uv_poll_t handles. */
+ UV_HANDLE_POLL_SLOW = 0x01000000
+};
+
+int uv__loop_configure(uv_loop_t* loop, uv_loop_option option, va_list ap);
+
+void uv__loop_close(uv_loop_t* loop);
+
+int uv__tcp_bind(uv_tcp_t* tcp,
+ const struct sockaddr* addr,
+ unsigned int addrlen,
+ unsigned int flags);
+
+int uv__tcp_connect(uv_connect_t* req,
+ uv_tcp_t* handle,
+ const struct sockaddr* addr,
+ unsigned int addrlen,
+ uv_connect_cb cb);
+
+int uv__udp_bind(uv_udp_t* handle,
+ const struct sockaddr* addr,
+ unsigned int addrlen,
+ unsigned int flags);
+
+int uv__udp_connect(uv_udp_t* handle,
+ const struct sockaddr* addr,
+ unsigned int addrlen);
+
+int uv__udp_disconnect(uv_udp_t* handle);
+
+int uv__udp_is_connected(uv_udp_t* handle);
+
+int uv__udp_send(uv_udp_send_t* req,
+ uv_udp_t* handle,
+ const uv_buf_t bufs[],
+ unsigned int nbufs,
+ const struct sockaddr* addr,
+ unsigned int addrlen,
+ uv_udp_send_cb send_cb);
+
+int uv__udp_try_send(uv_udp_t* handle,
+ const uv_buf_t bufs[],
+ unsigned int nbufs,
+ const struct sockaddr* addr,
+ unsigned int addrlen);
+
+int uv__udp_recv_start(uv_udp_t* handle, uv_alloc_cb alloccb,
+ uv_udp_recv_cb recv_cb);
+
+int uv__udp_recv_stop(uv_udp_t* handle);
+
+void uv__fs_poll_close(uv_fs_poll_t* handle);
+
+int uv__getaddrinfo_translate_error(int sys_err); /* EAI_* error. */
+
+enum uv__work_kind {
+ UV__WORK_CPU,
+ UV__WORK_FAST_IO,
+ UV__WORK_SLOW_IO
+};
+
+void uv__work_submit(uv_loop_t* loop,
+ struct uv__work *w,
+ enum uv__work_kind kind,
+ void (*work)(struct uv__work *w),
+ void (*done)(struct uv__work *w, int status));
+
+void uv__work_done(uv_async_t* handle);
+
+size_t uv__count_bufs(const uv_buf_t bufs[], unsigned int nbufs);
+
+int uv__socket_sockopt(uv_handle_t* handle, int optname, int* value);
+
+void uv__fs_scandir_cleanup(uv_fs_t* req);
+void uv__fs_readdir_cleanup(uv_fs_t* req);
+uv_dirent_type_t uv__fs_get_dirent_type(uv__dirent_t* dent);
+
+int uv__next_timeout(const uv_loop_t* loop);
+void uv__run_timers(uv_loop_t* loop);
+void uv__timer_close(uv_timer_t* handle);
+
+#define uv__has_active_reqs(loop) \
+ ((loop)->active_reqs.count > 0)
+
+#define uv__req_register(loop, req) \
+ do { \
+ (loop)->active_reqs.count++; \
+ } \
+ while (0)
+
+#define uv__req_unregister(loop, req) \
+ do { \
+ assert(uv__has_active_reqs(loop)); \
+ (loop)->active_reqs.count--; \
+ } \
+ while (0)
+
+#define uv__has_active_handles(loop) \
+ ((loop)->active_handles > 0)
+
+#define uv__active_handle_add(h) \
+ do { \
+ (h)->loop->active_handles++; \
+ } \
+ while (0)
+
+#define uv__active_handle_rm(h) \
+ do { \
+ (h)->loop->active_handles--; \
+ } \
+ while (0)
+
+#define uv__is_active(h) \
+ (((h)->flags & UV_HANDLE_ACTIVE) != 0)
+
+#define uv__is_closing(h) \
+ (((h)->flags & (UV_HANDLE_CLOSING | UV_HANDLE_CLOSED)) != 0)
+
+#define uv__handle_start(h) \
+ do { \
+ if (((h)->flags & UV_HANDLE_ACTIVE) != 0) break; \
+ (h)->flags |= UV_HANDLE_ACTIVE; \
+ if (((h)->flags & UV_HANDLE_REF) != 0) uv__active_handle_add(h); \
+ } \
+ while (0)
+
+#define uv__handle_stop(h) \
+ do { \
+ if (((h)->flags & UV_HANDLE_ACTIVE) == 0) break; \
+ (h)->flags &= ~UV_HANDLE_ACTIVE; \
+ if (((h)->flags & UV_HANDLE_REF) != 0) uv__active_handle_rm(h); \
+ } \
+ while (0)
+
+#define uv__handle_ref(h) \
+ do { \
+ if (((h)->flags & UV_HANDLE_REF) != 0) break; \
+ (h)->flags |= UV_HANDLE_REF; \
+ if (((h)->flags & UV_HANDLE_CLOSING) != 0) break; \
+ if (((h)->flags & UV_HANDLE_ACTIVE) != 0) uv__active_handle_add(h); \
+ } \
+ while (0)
+
+#define uv__handle_unref(h) \
+ do { \
+ if (((h)->flags & UV_HANDLE_REF) == 0) break; \
+ (h)->flags &= ~UV_HANDLE_REF; \
+ if (((h)->flags & UV_HANDLE_CLOSING) != 0) break; \
+ if (((h)->flags & UV_HANDLE_ACTIVE) != 0) uv__active_handle_rm(h); \
+ } \
+ while (0)
+
+#define uv__has_ref(h) \
+ (((h)->flags & UV_HANDLE_REF) != 0)
+
+#if defined(_WIN32)
+# define uv__handle_platform_init(h) ((h)->u.fd = -1)
+#else
+# define uv__handle_platform_init(h) ((h)->next_closing = NULL)
+#endif
+
+#define uv__handle_init(loop_, h, type_) \
+ do { \
+ (h)->loop = (loop_); \
+ (h)->type = (type_); \
+ (h)->flags = UV_HANDLE_REF; /* Ref the loop when active. */ \
+ QUEUE_INSERT_TAIL(&(loop_)->handle_queue, &(h)->handle_queue); \
+ uv__handle_platform_init(h); \
+ } \
+ while (0)
+
+/* Note: uses an open-coded version of SET_REQ_SUCCESS() because of
+ * a circular dependency between src/uv-common.h and src/win/internal.h.
+ */
+#if defined(_WIN32)
+# define UV_REQ_INIT(req, typ) \
+ do { \
+ (req)->type = (typ); \
+ (req)->u.io.overlapped.Internal = 0; /* SET_REQ_SUCCESS() */ \
+ } \
+ while (0)
+#else
+# define UV_REQ_INIT(req, typ) \
+ do { \
+ (req)->type = (typ); \
+ } \
+ while (0)
+#endif
+
+#define uv__req_init(loop, req, typ) \
+ do { \
+ UV_REQ_INIT(req, typ); \
+ uv__req_register(loop, req); \
+ } \
+ while (0)
+
+/* Allocator prototypes */
+void *uv__calloc(size_t count, size_t size);
+char *uv__strdup(const char* s);
+char *uv__strndup(const char* s, size_t n);
+void* uv__malloc(size_t size);
+void uv__free(void* ptr);
+void* uv__realloc(void* ptr, size_t size);
+
+#endif /* UV_COMMON_H_ */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/uv-data-getter-setters.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/uv-data-getter-setters.cpp
new file mode 100644
index 0000000..c302566
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/uv-data-getter-setters.cpp
@@ -0,0 +1,98 @@
+#include "uv.h"
+
+const char* uv_handle_type_name(uv_handle_type type) {
+ switch (type) {
+#define XX(uc,lc) case UV_##uc: return #lc;
+ UV_HANDLE_TYPE_MAP(XX)
+#undef XX
+ case UV_FILE: return "file";
+ case UV_HANDLE_TYPE_MAX:
+ case UV_UNKNOWN_HANDLE: return NULL;
+ }
+ return NULL;
+}
+
+uv_handle_type uv_handle_get_type(const uv_handle_t* handle) {
+ return handle->type;
+}
+
+void* uv_handle_get_data(const uv_handle_t* handle) {
+ return handle->data;
+}
+
+uv_loop_t* uv_handle_get_loop(const uv_handle_t* handle) {
+ return handle->loop;
+}
+
+void uv_handle_set_data(uv_handle_t* handle, void* data) {
+ handle->data = data;
+}
+
+const char* uv_req_type_name(uv_req_type type) {
+ switch (type) {
+#define XX(uc,lc) case UV_##uc: return #lc;
+ UV_REQ_TYPE_MAP(XX)
+#undef XX
+ case UV_REQ_TYPE_MAX:
+ case UV_UNKNOWN_REQ:
+ default: /* UV_REQ_TYPE_PRIVATE */
+ break;
+ }
+ return NULL;
+}
+
+uv_req_type uv_req_get_type(const uv_req_t* req) {
+ return req->type;
+}
+
+void* uv_req_get_data(const uv_req_t* req) {
+ return req->data;
+}
+
+void uv_req_set_data(uv_req_t* req, void* data) {
+ req->data = data;
+}
+
+size_t uv_stream_get_write_queue_size(const uv_stream_t* stream) {
+ return stream->write_queue_size;
+}
+
+size_t uv_udp_get_send_queue_size(const uv_udp_t* handle) {
+ return handle->send_queue_size;
+}
+
+size_t uv_udp_get_send_queue_count(const uv_udp_t* handle) {
+ return handle->send_queue_count;
+}
+
+uv_pid_t uv_process_get_pid(const uv_process_t* proc) {
+ return proc->pid;
+}
+
+uv_fs_type uv_fs_get_type(const uv_fs_t* req) {
+ return req->fs_type;
+}
+
+ssize_t uv_fs_get_result(const uv_fs_t* req) {
+ return req->result;
+}
+
+void* uv_fs_get_ptr(const uv_fs_t* req) {
+ return req->ptr;
+}
+
+const char* uv_fs_get_path(const uv_fs_t* req) {
+ return req->path;
+}
+
+uv_stat_t* uv_fs_get_statbuf(uv_fs_t* req) {
+ return &req->statbuf;
+}
+
+void* uv_loop_get_data(const uv_loop_t* loop) {
+ return loop->data;
+}
+
+void uv_loop_set_data(uv_loop_t* loop, void* data) {
+ loop->data = data;
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/version.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/version.cpp
similarity index 100%
rename from third_party/allwpilib_2019/wpiutil/src/main/native/libuv/version.cpp
rename to third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/version.cpp
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/async.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/async.cpp
new file mode 100644
index 0000000..d787f66
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/async.cpp
@@ -0,0 +1,98 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include <assert.h>
+
+#include "uv.h"
+#include "internal.h"
+#include "atomicops-inl.h"
+#include "handle-inl.h"
+#include "req-inl.h"
+
+
+void uv_async_endgame(uv_loop_t* loop, uv_async_t* handle) {
+ if (handle->flags & UV_HANDLE_CLOSING &&
+ !handle->async_sent) {
+ assert(!(handle->flags & UV_HANDLE_CLOSED));
+ uv__handle_close(handle);
+ }
+}
+
+
+int uv_async_init(uv_loop_t* loop, uv_async_t* handle, uv_async_cb async_cb) {
+ uv_req_t* req;
+
+ uv__handle_init(loop, (uv_handle_t*) handle, UV_ASYNC);
+ handle->async_sent = 0;
+ handle->async_cb = async_cb;
+
+ req = &handle->async_req;
+ UV_REQ_INIT(req, UV_WAKEUP);
+ req->data = handle;
+
+ uv__handle_start(handle);
+
+ return 0;
+}
+
+
+void uv_async_close(uv_loop_t* loop, uv_async_t* handle) {
+ if (!((uv_async_t*)handle)->async_sent) {
+ uv_want_endgame(loop, (uv_handle_t*) handle);
+ }
+
+ uv__handle_closing(handle);
+}
+
+
+int uv_async_send(uv_async_t* handle) {
+ uv_loop_t* loop = handle->loop;
+
+ if (handle->type != UV_ASYNC) {
+ /* Can't set errno because that's not thread-safe. */
+ return -1;
+ }
+
+ /* The user should make sure never to call uv_async_send to a closing or
+ * closed handle. */
+ assert(!(handle->flags & UV_HANDLE_CLOSING));
+
+ if (!uv__atomic_exchange_set(&handle->async_sent)) {
+ POST_COMPLETION_FOR_REQ(loop, &handle->async_req);
+ }
+
+ return 0;
+}
+
+
+void uv_process_async_wakeup_req(uv_loop_t* loop, uv_async_t* handle,
+ uv_req_t* req) {
+ assert(handle->type == UV_ASYNC);
+ assert(req->type == UV_WAKEUP);
+
+ handle->async_sent = 0;
+
+ if (handle->flags & UV_HANDLE_CLOSING) {
+ uv_want_endgame(loop, (uv_handle_t*)handle);
+ } else if (handle->async_cb != NULL) {
+ handle->async_cb(handle);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/atomicops-inl.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/atomicops-inl.h
similarity index 100%
rename from third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/atomicops-inl.h
rename to third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/atomicops-inl.h
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/core.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/core.cpp
new file mode 100644
index 0000000..1e162dd
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/core.cpp
@@ -0,0 +1,654 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include <assert.h>
+#include <errno.h>
+#include <limits.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#if defined(_MSC_VER) || defined(__MINGW64_VERSION_MAJOR)
+#include <crtdbg.h>
+#endif
+
+#include "uv.h"
+#include "internal.h"
+#include "queue.h"
+#include "handle-inl.h"
+#include "heap-inl.h"
+#include "req-inl.h"
+
+/* uv_once initialization guards */
+static uv_once_t uv_init_guard_ = UV_ONCE_INIT;
+
+
+#if defined(_DEBUG) && (defined(_MSC_VER) || defined(__MINGW64_VERSION_MAJOR))
+/* Our crt debug report handler allows us to temporarily disable asserts
+ * just for the current thread.
+ */
+
+UV_THREAD_LOCAL int uv__crt_assert_enabled = TRUE;
+
+static int uv__crt_dbg_report_handler(int report_type, char *message, int *ret_val) {
+ if (uv__crt_assert_enabled || report_type != _CRT_ASSERT)
+ return FALSE;
+
+ if (ret_val) {
+ /* Set ret_val to 0 to continue with normal execution.
+ * Set ret_val to 1 to trigger a breakpoint.
+ */
+
+ if(IsDebuggerPresent())
+ *ret_val = 1;
+ else
+ *ret_val = 0;
+ }
+
+ /* Don't call _CrtDbgReport. */
+ return TRUE;
+}
+#else
+UV_THREAD_LOCAL int uv__crt_assert_enabled = FALSE;
+#endif
+
+
+#if !defined(__MINGW32__) || __MSVCRT_VERSION__ >= 0x800
+static void uv__crt_invalid_parameter_handler(const wchar_t* expression,
+ const wchar_t* function, const wchar_t * file, unsigned int line,
+ uintptr_t reserved) {
+ /* No-op. */
+}
+#endif
+
+static uv_loop_t** uv__loops;
+static int uv__loops_size;
+static int uv__loops_capacity;
+#define UV__LOOPS_CHUNK_SIZE 8
+static uv_mutex_t uv__loops_lock;
+
+static void uv__loops_init(void) {
+ uv_mutex_init(&uv__loops_lock);
+}
+
+static int uv__loops_add(uv_loop_t* loop) {
+ uv_loop_t** new_loops;
+ int new_capacity, i;
+
+ uv_mutex_lock(&uv__loops_lock);
+
+ if (uv__loops_size == uv__loops_capacity) {
+ new_capacity = uv__loops_capacity + UV__LOOPS_CHUNK_SIZE;
+ new_loops = (uv_loop_t**)
+ uv__realloc(uv__loops, sizeof(uv_loop_t*) * new_capacity);
+ if (!new_loops)
+ goto failed_loops_realloc;
+ uv__loops = new_loops;
+ for (i = uv__loops_capacity; i < new_capacity; ++i)
+ uv__loops[i] = NULL;
+ uv__loops_capacity = new_capacity;
+ }
+ uv__loops[uv__loops_size] = loop;
+ ++uv__loops_size;
+
+ uv_mutex_unlock(&uv__loops_lock);
+ return 0;
+
+failed_loops_realloc:
+ uv_mutex_unlock(&uv__loops_lock);
+ return ERROR_OUTOFMEMORY;
+}
+
+static void uv__loops_remove(uv_loop_t* loop) {
+ int loop_index;
+ int smaller_capacity;
+ uv_loop_t** new_loops;
+
+ uv_mutex_lock(&uv__loops_lock);
+
+ for (loop_index = 0; loop_index < uv__loops_size; ++loop_index) {
+ if (uv__loops[loop_index] == loop)
+ break;
+ }
+ /* If loop was not found, ignore */
+ if (loop_index == uv__loops_size)
+ goto loop_removed;
+
+ uv__loops[loop_index] = uv__loops[uv__loops_size - 1];
+ uv__loops[uv__loops_size - 1] = NULL;
+ --uv__loops_size;
+
+ if (uv__loops_size == 0) {
+ uv__loops_capacity = 0;
+ uv__free(uv__loops);
+ uv__loops = NULL;
+ goto loop_removed;
+ }
+
+ /* If we didn't grow to big skip downsizing */
+ if (uv__loops_capacity < 4 * UV__LOOPS_CHUNK_SIZE)
+ goto loop_removed;
+
+ /* Downsize only if more than half of buffer is free */
+ smaller_capacity = uv__loops_capacity / 2;
+ if (uv__loops_size >= smaller_capacity)
+ goto loop_removed;
+ new_loops = (uv_loop_t**)
+ uv__realloc(uv__loops, sizeof(uv_loop_t*) * smaller_capacity);
+ if (!new_loops)
+ goto loop_removed;
+ uv__loops = new_loops;
+ uv__loops_capacity = smaller_capacity;
+
+loop_removed:
+ uv_mutex_unlock(&uv__loops_lock);
+}
+
+void uv__wake_all_loops(void) {
+ int i;
+ uv_loop_t* loop;
+
+ uv_mutex_lock(&uv__loops_lock);
+ for (i = 0; i < uv__loops_size; ++i) {
+ loop = uv__loops[i];
+ assert(loop);
+ if (loop->iocp != INVALID_HANDLE_VALUE)
+ PostQueuedCompletionStatus(loop->iocp, 0, 0, NULL);
+ }
+ uv_mutex_unlock(&uv__loops_lock);
+}
+
+static void uv_init(void) {
+ /* Tell Windows that we will handle critical errors. */
+ SetErrorMode(SEM_FAILCRITICALERRORS | SEM_NOGPFAULTERRORBOX |
+ SEM_NOOPENFILEERRORBOX);
+
+ /* Tell the CRT to not exit the application when an invalid parameter is
+ * passed. The main issue is that invalid FDs will trigger this behavior.
+ */
+#if !defined(__MINGW32__) || __MSVCRT_VERSION__ >= 0x800
+ _set_invalid_parameter_handler(uv__crt_invalid_parameter_handler);
+#endif
+
+ /* We also need to setup our debug report handler because some CRT
+ * functions (eg _get_osfhandle) raise an assert when called with invalid
+ * FDs even though they return the proper error code in the release build.
+ */
+#if defined(_DEBUG) && (defined(_MSC_VER) || defined(__MINGW64_VERSION_MAJOR))
+ _CrtSetReportHook(uv__crt_dbg_report_handler);
+#endif
+
+ /* Initialize tracking of all uv loops */
+ uv__loops_init();
+
+ /* Fetch winapi function pointers. This must be done first because other
+ * initialization code might need these function pointers to be loaded.
+ */
+ uv_winapi_init();
+
+ /* Initialize winsock */
+ uv_winsock_init();
+
+ /* Initialize FS */
+ uv_fs_init();
+
+ /* Initialize signal stuff */
+ uv_signals_init();
+
+ /* Initialize console */
+ uv_console_init();
+
+ /* Initialize utilities */
+ uv__util_init();
+
+ /* Initialize system wakeup detection */
+ uv__init_detect_system_wakeup();
+}
+
+
+int uv_loop_init(uv_loop_t* loop) {
+ struct heap* timer_heap;
+ int err;
+
+ /* Initialize libuv itself first */
+ uv__once_init();
+
+ /* Create an I/O completion port */
+ loop->iocp = CreateIoCompletionPort(INVALID_HANDLE_VALUE, NULL, 0, 1);
+ if (loop->iocp == NULL)
+ return uv_translate_sys_error(GetLastError());
+
+ /* To prevent uninitialized memory access, loop->time must be initialized
+ * to zero before calling uv_update_time for the first time.
+ */
+ loop->time = 0;
+ uv_update_time(loop);
+
+ QUEUE_INIT(&loop->wq);
+ QUEUE_INIT(&loop->handle_queue);
+ loop->active_reqs.count = 0;
+ loop->active_handles = 0;
+
+ loop->pending_reqs_tail = NULL;
+
+ loop->endgame_handles = NULL;
+
+ loop->timer_heap = timer_heap = (heap*)uv__malloc(sizeof(*timer_heap));
+ if (timer_heap == NULL) {
+ err = UV_ENOMEM;
+ goto fail_timers_alloc;
+ }
+
+ heap_init(timer_heap);
+
+ loop->check_handles = NULL;
+ loop->prepare_handles = NULL;
+ loop->idle_handles = NULL;
+
+ loop->next_prepare_handle = NULL;
+ loop->next_check_handle = NULL;
+ loop->next_idle_handle = NULL;
+
+ memset(&loop->poll_peer_sockets, 0, sizeof loop->poll_peer_sockets);
+
+ loop->active_tcp_streams = 0;
+ loop->active_udp_streams = 0;
+
+ loop->timer_counter = 0;
+ loop->stop_flag = 0;
+
+ err = uv_mutex_init(&loop->wq_mutex);
+ if (err)
+ goto fail_mutex_init;
+
+ err = uv_async_init(loop, &loop->wq_async, uv__work_done);
+ if (err)
+ goto fail_async_init;
+
+ uv__handle_unref(&loop->wq_async);
+ loop->wq_async.flags |= UV_HANDLE_INTERNAL;
+
+ err = uv__loops_add(loop);
+ if (err)
+ goto fail_async_init;
+
+ return 0;
+
+fail_async_init:
+ uv_mutex_destroy(&loop->wq_mutex);
+
+fail_mutex_init:
+ uv__free(timer_heap);
+ loop->timer_heap = NULL;
+
+fail_timers_alloc:
+ CloseHandle(loop->iocp);
+ loop->iocp = INVALID_HANDLE_VALUE;
+
+ return err;
+}
+
+
+void uv_update_time(uv_loop_t* loop) {
+ uint64_t new_time = uv__hrtime(1000);
+ assert(new_time >= loop->time);
+ loop->time = new_time;
+}
+
+
+void uv__once_init(void) {
+ uv_once(&uv_init_guard_, uv_init);
+}
+
+
+void uv__loop_close(uv_loop_t* loop) {
+ size_t i;
+
+ uv__loops_remove(loop);
+
+ /* close the async handle without needing an extra loop iteration */
+ assert(!loop->wq_async.async_sent);
+ loop->wq_async.close_cb = NULL;
+ uv__handle_closing(&loop->wq_async);
+ uv__handle_close(&loop->wq_async);
+
+ for (i = 0; i < ARRAY_SIZE(loop->poll_peer_sockets); i++) {
+ SOCKET sock = loop->poll_peer_sockets[i];
+ if (sock != 0 && sock != INVALID_SOCKET)
+ closesocket(sock);
+ }
+
+ uv_mutex_lock(&loop->wq_mutex);
+ assert(QUEUE_EMPTY(&loop->wq) && "thread pool work queue not empty!");
+ assert(!uv__has_active_reqs(loop));
+ uv_mutex_unlock(&loop->wq_mutex);
+ uv_mutex_destroy(&loop->wq_mutex);
+
+ uv__free(loop->timer_heap);
+ loop->timer_heap = NULL;
+
+ CloseHandle(loop->iocp);
+}
+
+
+int uv__loop_configure(uv_loop_t* loop, uv_loop_option option, va_list ap) {
+ return UV_ENOSYS;
+}
+
+
+int uv_backend_fd(const uv_loop_t* loop) {
+ return -1;
+}
+
+
+int uv_loop_fork(uv_loop_t* loop) {
+ return UV_ENOSYS;
+}
+
+
+int uv_backend_timeout(const uv_loop_t* loop) {
+ if (loop->stop_flag != 0)
+ return 0;
+
+ if (!uv__has_active_handles(loop) && !uv__has_active_reqs(loop))
+ return 0;
+
+ if (loop->pending_reqs_tail)
+ return 0;
+
+ if (loop->endgame_handles)
+ return 0;
+
+ if (loop->idle_handles)
+ return 0;
+
+ return uv__next_timeout(loop);
+}
+
+
+static void uv__poll_wine(uv_loop_t* loop, DWORD timeout) {
+ DWORD bytes;
+ ULONG_PTR key;
+ OVERLAPPED* overlapped;
+ uv_req_t* req;
+ int repeat;
+ uint64_t timeout_time;
+
+ timeout_time = loop->time + timeout;
+
+ for (repeat = 0; ; repeat++) {
+ GetQueuedCompletionStatus(loop->iocp,
+ &bytes,
+ &key,
+ &overlapped,
+ timeout);
+
+ if (overlapped) {
+ /* Package was dequeued */
+ req = uv_overlapped_to_req(overlapped);
+ uv_insert_pending_req(loop, req);
+
+ /* Some time might have passed waiting for I/O,
+ * so update the loop time here.
+ */
+ uv_update_time(loop);
+ } else if (GetLastError() != WAIT_TIMEOUT) {
+ /* Serious error */
+ uv_fatal_error(GetLastError(), "GetQueuedCompletionStatus");
+ } else if (timeout > 0) {
+ /* GetQueuedCompletionStatus can occasionally return a little early.
+ * Make sure that the desired timeout target time is reached.
+ */
+ uv_update_time(loop);
+ if (timeout_time > loop->time) {
+ timeout = (DWORD)(timeout_time - loop->time);
+ /* The first call to GetQueuedCompletionStatus should return very
+ * close to the target time and the second should reach it, but
+ * this is not stated in the documentation. To make sure a busy
+ * loop cannot happen, the timeout is increased exponentially
+ * starting on the third round.
+ */
+ timeout += repeat ? (1 << (repeat - 1)) : 0;
+ continue;
+ }
+ }
+ break;
+ }
+}
+
+
+static void uv__poll(uv_loop_t* loop, DWORD timeout) {
+ BOOL success;
+ uv_req_t* req;
+ OVERLAPPED_ENTRY overlappeds[128];
+ ULONG count;
+ ULONG i;
+ int repeat;
+ uint64_t timeout_time;
+
+ timeout_time = loop->time + timeout;
+
+ for (repeat = 0; ; repeat++) {
+ success = GetQueuedCompletionStatusEx(loop->iocp,
+ overlappeds,
+ ARRAY_SIZE(overlappeds),
+ &count,
+ timeout,
+ FALSE);
+
+ if (success) {
+ for (i = 0; i < count; i++) {
+ /* Package was dequeued, but see if it is not a empty package
+ * meant only to wake us up.
+ */
+ if (overlappeds[i].lpOverlapped) {
+ req = uv_overlapped_to_req(overlappeds[i].lpOverlapped);
+ uv_insert_pending_req(loop, req);
+ }
+ }
+
+ /* Some time might have passed waiting for I/O,
+ * so update the loop time here.
+ */
+ uv_update_time(loop);
+ } else if (GetLastError() != WAIT_TIMEOUT) {
+ /* Serious error */
+ uv_fatal_error(GetLastError(), "GetQueuedCompletionStatusEx");
+ } else if (timeout > 0) {
+ /* GetQueuedCompletionStatus can occasionally return a little early.
+ * Make sure that the desired timeout target time is reached.
+ */
+ uv_update_time(loop);
+ if (timeout_time > loop->time) {
+ timeout = (DWORD)(timeout_time - loop->time);
+ /* The first call to GetQueuedCompletionStatus should return very
+ * close to the target time and the second should reach it, but
+ * this is not stated in the documentation. To make sure a busy
+ * loop cannot happen, the timeout is increased exponentially
+ * starting on the third round.
+ */
+ timeout += repeat ? (1 << (repeat - 1)) : 0;
+ continue;
+ }
+ }
+ break;
+ }
+}
+
+
+static int uv__loop_alive(const uv_loop_t* loop) {
+ return uv__has_active_handles(loop) ||
+ uv__has_active_reqs(loop) ||
+ loop->endgame_handles != NULL;
+}
+
+
+int uv_loop_alive(const uv_loop_t* loop) {
+ return uv__loop_alive(loop);
+}
+
+
+int uv_run(uv_loop_t *loop, uv_run_mode mode) {
+ DWORD timeout;
+ int r;
+ int ran_pending;
+
+ r = uv__loop_alive(loop);
+ if (!r)
+ uv_update_time(loop);
+
+ while (r != 0 && loop->stop_flag == 0) {
+ uv_update_time(loop);
+ uv__run_timers(loop);
+
+ ran_pending = uv_process_reqs(loop);
+ uv_idle_invoke(loop);
+ uv_prepare_invoke(loop);
+
+ timeout = 0;
+ if ((mode == UV_RUN_ONCE && !ran_pending) || mode == UV_RUN_DEFAULT)
+ timeout = uv_backend_timeout(loop);
+
+ if (pGetQueuedCompletionStatusEx)
+ uv__poll(loop, timeout);
+ else
+ uv__poll_wine(loop, timeout);
+
+
+ uv_check_invoke(loop);
+ uv_process_endgames(loop);
+
+ if (mode == UV_RUN_ONCE) {
+ /* UV_RUN_ONCE implies forward progress: at least one callback must have
+ * been invoked when it returns. uv__io_poll() can return without doing
+ * I/O (meaning: no callbacks) when its timeout expires - which means we
+ * have pending timers that satisfy the forward progress constraint.
+ *
+ * UV_RUN_NOWAIT makes no guarantees about progress so it's omitted from
+ * the check.
+ */
+ uv__run_timers(loop);
+ }
+
+ r = uv__loop_alive(loop);
+ if (mode == UV_RUN_ONCE || mode == UV_RUN_NOWAIT)
+ break;
+ }
+
+ /* The if statement lets the compiler compile it to a conditional store.
+ * Avoids dirtying a cache line.
+ */
+ if (loop->stop_flag != 0)
+ loop->stop_flag = 0;
+
+ return r;
+}
+
+
+int uv_fileno(const uv_handle_t* handle, uv_os_fd_t* fd) {
+ uv_os_fd_t fd_out;
+
+ switch (handle->type) {
+ case UV_TCP:
+ fd_out = (uv_os_fd_t)((uv_tcp_t*) handle)->socket;
+ break;
+
+ case UV_NAMED_PIPE:
+ fd_out = ((uv_pipe_t*) handle)->handle;
+ break;
+
+ case UV_TTY:
+ fd_out = ((uv_tty_t*) handle)->handle;
+ break;
+
+ case UV_UDP:
+ fd_out = (uv_os_fd_t)((uv_udp_t*) handle)->socket;
+ break;
+
+ case UV_POLL:
+ fd_out = (uv_os_fd_t)((uv_poll_t*) handle)->socket;
+ break;
+
+ default:
+ return UV_EINVAL;
+ }
+
+ if (uv_is_closing(handle) || fd_out == INVALID_HANDLE_VALUE)
+ return UV_EBADF;
+
+ *fd = fd_out;
+ return 0;
+}
+
+
+int uv__socket_sockopt(uv_handle_t* handle, int optname, int* value) {
+ int r;
+ int len;
+ SOCKET socket;
+
+ if (handle == NULL || value == NULL)
+ return UV_EINVAL;
+
+ if (handle->type == UV_TCP)
+ socket = ((uv_tcp_t*) handle)->socket;
+ else if (handle->type == UV_UDP)
+ socket = ((uv_udp_t*) handle)->socket;
+ else
+ return UV_ENOTSUP;
+
+ len = sizeof(*value);
+
+ if (*value == 0)
+ r = getsockopt(socket, SOL_SOCKET, optname, (char*) value, &len);
+ else
+ r = setsockopt(socket, SOL_SOCKET, optname, (const char*) value, len);
+
+ if (r == SOCKET_ERROR)
+ return uv_translate_sys_error(WSAGetLastError());
+
+ return 0;
+}
+
+int uv_cpumask_size(void) {
+ return (int)(sizeof(DWORD_PTR) * 8);
+}
+
+int uv__getsockpeername(const uv_handle_t* handle,
+ uv__peersockfunc func,
+ struct sockaddr* name,
+ int* namelen,
+ int delayed_error) {
+
+ int result;
+ uv_os_fd_t fd;
+
+ result = uv_fileno(handle, &fd);
+ if (result != 0)
+ return result;
+
+ if (delayed_error)
+ return uv_translate_sys_error(delayed_error);
+
+ result = func((SOCKET) fd, name, namelen);
+ if (result != 0)
+ return uv_translate_sys_error(WSAGetLastError());
+
+ return 0;
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/detect-wakeup.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/detect-wakeup.cpp
similarity index 100%
rename from third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/detect-wakeup.cpp
rename to third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/detect-wakeup.cpp
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/dl.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/dl.cpp
new file mode 100644
index 0000000..676be4d
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/dl.cpp
@@ -0,0 +1,136 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include "uv.h"
+#include "internal.h"
+
+static int uv__dlerror(uv_lib_t* lib, const char* filename, DWORD errorno);
+
+
+int uv_dlopen(const char* filename, uv_lib_t* lib) {
+ WCHAR filename_w[32768];
+
+ lib->handle = NULL;
+ lib->errmsg = NULL;
+
+ if (!MultiByteToWideChar(CP_UTF8,
+ 0,
+ filename,
+ -1,
+ filename_w,
+ ARRAY_SIZE(filename_w))) {
+ return uv__dlerror(lib, filename, GetLastError());
+ }
+
+ lib->handle = LoadLibraryExW(filename_w, NULL, LOAD_WITH_ALTERED_SEARCH_PATH);
+ if (lib->handle == NULL) {
+ return uv__dlerror(lib, filename, GetLastError());
+ }
+
+ return 0;
+}
+
+
+void uv_dlclose(uv_lib_t* lib) {
+ if (lib->errmsg) {
+ LocalFree((void*)lib->errmsg);
+ lib->errmsg = NULL;
+ }
+
+ if (lib->handle) {
+ /* Ignore errors. No good way to signal them without leaking memory. */
+ FreeLibrary(lib->handle);
+ lib->handle = NULL;
+ }
+}
+
+
+int uv_dlsym(uv_lib_t* lib, const char* name, void** ptr) {
+ /* Cast though integer to suppress pedantic warning about forbidden cast. */
+ *ptr = (void*)(uintptr_t) GetProcAddress(lib->handle, name);
+ return uv__dlerror(lib, "", *ptr ? 0 : GetLastError());
+}
+
+
+const char* uv_dlerror(const uv_lib_t* lib) {
+ return lib->errmsg ? lib->errmsg : "no error";
+}
+
+
+static void uv__format_fallback_error(uv_lib_t* lib, int errorno){
+ static const CHAR fallback_error[] = "error: %1!d!";
+ DWORD_PTR args[1];
+ args[0] = (DWORD_PTR) errorno;
+
+ FormatMessageA(FORMAT_MESSAGE_FROM_STRING |
+ FORMAT_MESSAGE_ARGUMENT_ARRAY |
+ FORMAT_MESSAGE_ALLOCATE_BUFFER,
+ fallback_error, 0, 0,
+ (LPSTR) &lib->errmsg,
+ 0, (va_list*) args);
+}
+
+
+
+static int uv__dlerror(uv_lib_t* lib, const char* filename, DWORD errorno) {
+ DWORD_PTR arg;
+ DWORD res;
+ char* msg;
+
+ if (lib->errmsg) {
+ LocalFree(lib->errmsg);
+ lib->errmsg = NULL;
+ }
+
+ if (errorno == 0)
+ return 0;
+
+ res = FormatMessageA(FORMAT_MESSAGE_ALLOCATE_BUFFER |
+ FORMAT_MESSAGE_FROM_SYSTEM |
+ FORMAT_MESSAGE_IGNORE_INSERTS, NULL, errorno,
+ MAKELANGID(LANG_ENGLISH, SUBLANG_ENGLISH_US),
+ (LPSTR) &lib->errmsg, 0, NULL);
+
+ if (!res && (GetLastError() == ERROR_MUI_FILE_NOT_FOUND ||
+ GetLastError() == ERROR_RESOURCE_TYPE_NOT_FOUND)) {
+ res = FormatMessageA(FORMAT_MESSAGE_ALLOCATE_BUFFER |
+ FORMAT_MESSAGE_FROM_SYSTEM |
+ FORMAT_MESSAGE_IGNORE_INSERTS, NULL, errorno,
+ 0, (LPSTR) &lib->errmsg, 0, NULL);
+ }
+
+ if (res && errorno == ERROR_BAD_EXE_FORMAT && strstr(lib->errmsg, "%1")) {
+ msg = lib->errmsg;
+ lib->errmsg = NULL;
+ arg = (DWORD_PTR) filename;
+ res = FormatMessageA(FORMAT_MESSAGE_ALLOCATE_BUFFER |
+ FORMAT_MESSAGE_ARGUMENT_ARRAY |
+ FORMAT_MESSAGE_FROM_STRING,
+ msg,
+ 0, 0, (LPSTR) &lib->errmsg, 0, (va_list*) &arg);
+ LocalFree(msg);
+ }
+
+ if (!res)
+ uv__format_fallback_error(lib, errorno);
+
+ return -1;
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/error.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/error.cpp
similarity index 100%
rename from third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/error.cpp
rename to third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/error.cpp
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/fs-event.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/fs-event.cpp
new file mode 100644
index 0000000..b9ec025
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/fs-event.cpp
@@ -0,0 +1,591 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#define _CRT_NONSTDC_NO_WARNINGS
+
+#include <assert.h>
+#include <errno.h>
+#include <stdio.h>
+#include <string.h>
+
+#include "uv.h"
+#include "internal.h"
+#include "handle-inl.h"
+#include "req-inl.h"
+
+
+const unsigned int uv_directory_watcher_buffer_size = 4096;
+
+
+static void uv_fs_event_queue_readdirchanges(uv_loop_t* loop,
+ uv_fs_event_t* handle) {
+ assert(handle->dir_handle != INVALID_HANDLE_VALUE);
+ assert(!handle->req_pending);
+
+ memset(&(handle->req.u.io.overlapped), 0,
+ sizeof(handle->req.u.io.overlapped));
+ if (!ReadDirectoryChangesW(handle->dir_handle,
+ handle->buffer,
+ uv_directory_watcher_buffer_size,
+ (handle->flags & UV_FS_EVENT_RECURSIVE) ? TRUE : FALSE,
+ FILE_NOTIFY_CHANGE_FILE_NAME |
+ FILE_NOTIFY_CHANGE_DIR_NAME |
+ FILE_NOTIFY_CHANGE_ATTRIBUTES |
+ FILE_NOTIFY_CHANGE_SIZE |
+ FILE_NOTIFY_CHANGE_LAST_WRITE |
+ FILE_NOTIFY_CHANGE_LAST_ACCESS |
+ FILE_NOTIFY_CHANGE_CREATION |
+ FILE_NOTIFY_CHANGE_SECURITY,
+ NULL,
+ &handle->req.u.io.overlapped,
+ NULL)) {
+ /* Make this req pending reporting an error. */
+ SET_REQ_ERROR(&handle->req, GetLastError());
+ uv_insert_pending_req(loop, (uv_req_t*)&handle->req);
+ }
+
+ handle->req_pending = 1;
+}
+
+static void uv_relative_path(const WCHAR* filename,
+ const WCHAR* dir,
+ WCHAR** relpath) {
+ size_t relpathlen;
+ size_t filenamelen = wcslen(filename);
+ size_t dirlen = wcslen(dir);
+ assert(!_wcsnicmp(filename, dir, dirlen));
+ if (dirlen > 0 && dir[dirlen - 1] == '\\')
+ dirlen--;
+ relpathlen = filenamelen - dirlen - 1;
+ *relpath = (WCHAR*)uv__malloc((relpathlen + 1) * sizeof(WCHAR));
+ if (!*relpath)
+ uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
+ wcsncpy(*relpath, filename + dirlen + 1, relpathlen);
+ (*relpath)[relpathlen] = L'\0';
+}
+
+static int uv_split_path(const WCHAR* filename, WCHAR** dir,
+ WCHAR** file) {
+ size_t len, i;
+
+ if (filename == NULL) {
+ if (dir != NULL)
+ *dir = NULL;
+ *file = NULL;
+ return 0;
+ }
+
+ len = wcslen(filename);
+ i = len;
+ while (i > 0 && filename[--i] != '\\' && filename[i] != '/');
+
+ if (i == 0) {
+ if (dir) {
+ *dir = (WCHAR*)uv__malloc((MAX_PATH + 1) * sizeof(WCHAR));
+ if (!*dir) {
+ uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
+ }
+
+ if (!GetCurrentDirectoryW(MAX_PATH, *dir)) {
+ uv__free(*dir);
+ *dir = NULL;
+ return -1;
+ }
+ }
+
+ *file = wcsdup(filename);
+ } else {
+ if (dir) {
+ *dir = (WCHAR*)uv__malloc((i + 2) * sizeof(WCHAR));
+ if (!*dir) {
+ uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
+ }
+ wcsncpy(*dir, filename, i + 1);
+ (*dir)[i + 1] = L'\0';
+ }
+
+ *file = (WCHAR*)uv__malloc((len - i) * sizeof(WCHAR));
+ if (!*file) {
+ uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
+ }
+ wcsncpy(*file, filename + i + 1, len - i - 1);
+ (*file)[len - i - 1] = L'\0';
+ }
+
+ return 0;
+}
+
+
+int uv_fs_event_init(uv_loop_t* loop, uv_fs_event_t* handle) {
+ uv__handle_init(loop, (uv_handle_t*) handle, UV_FS_EVENT);
+ handle->dir_handle = INVALID_HANDLE_VALUE;
+ handle->buffer = NULL;
+ handle->req_pending = 0;
+ handle->filew = NULL;
+ handle->short_filew = NULL;
+ handle->dirw = NULL;
+
+ UV_REQ_INIT(&handle->req, UV_FS_EVENT_REQ);
+ handle->req.data = handle;
+
+ return 0;
+}
+
+
+int uv_fs_event_start(uv_fs_event_t* handle,
+ uv_fs_event_cb cb,
+ const char* path,
+ unsigned int flags) {
+ int name_size, is_path_dir, size;
+ DWORD attr, last_error;
+ WCHAR* dir = NULL, *dir_to_watch, *pathw = NULL;
+ WCHAR short_path_buffer[MAX_PATH];
+ WCHAR* short_path, *long_path;
+
+ if (uv__is_active(handle))
+ return UV_EINVAL;
+
+ handle->cb = cb;
+ handle->path = uv__strdup(path);
+ if (!handle->path) {
+ uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
+ }
+
+ uv__handle_start(handle);
+
+ /* Convert name to UTF16. */
+
+ name_size = MultiByteToWideChar(CP_UTF8, 0, path, -1, NULL, 0) *
+ sizeof(WCHAR);
+ pathw = (WCHAR*)uv__malloc(name_size);
+ if (!pathw) {
+ uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
+ }
+
+ if (!MultiByteToWideChar(CP_UTF8,
+ 0,
+ path,
+ -1,
+ pathw,
+ name_size / sizeof(WCHAR))) {
+ return uv_translate_sys_error(GetLastError());
+ }
+
+ /* Determine whether path is a file or a directory. */
+ attr = GetFileAttributesW(pathw);
+ if (attr == INVALID_FILE_ATTRIBUTES) {
+ last_error = GetLastError();
+ goto error;
+ }
+
+ is_path_dir = (attr & FILE_ATTRIBUTE_DIRECTORY) ? 1 : 0;
+
+ if (is_path_dir) {
+ /* path is a directory, so that's the directory that we will watch. */
+
+ /* Convert to long path. */
+ size = GetLongPathNameW(pathw, NULL, 0);
+
+ if (size) {
+ long_path = (WCHAR*)uv__malloc(size * sizeof(WCHAR));
+ if (!long_path) {
+ uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
+ }
+
+ size = GetLongPathNameW(pathw, long_path, size);
+ if (size) {
+ long_path[size] = '\0';
+ } else {
+ uv__free(long_path);
+ long_path = NULL;
+ }
+
+ if (long_path) {
+ uv__free(pathw);
+ pathw = long_path;
+ }
+ }
+
+ dir_to_watch = pathw;
+ } else {
+ /*
+ * path is a file. So we split path into dir & file parts, and
+ * watch the dir directory.
+ */
+
+ /* Convert to short path. */
+ if (GetShortPathNameW(pathw,
+ short_path_buffer,
+ ARRAY_SIZE(short_path_buffer))) {
+ short_path = short_path_buffer;
+ } else {
+ short_path = NULL;
+ }
+
+ if (uv_split_path(pathw, &dir, &handle->filew) != 0) {
+ last_error = GetLastError();
+ goto error;
+ }
+
+ if (uv_split_path(short_path, NULL, &handle->short_filew) != 0) {
+ last_error = GetLastError();
+ goto error;
+ }
+
+ dir_to_watch = dir;
+ uv__free(pathw);
+ pathw = NULL;
+ }
+
+ handle->dir_handle = CreateFileW(dir_to_watch,
+ FILE_LIST_DIRECTORY,
+ FILE_SHARE_READ | FILE_SHARE_DELETE |
+ FILE_SHARE_WRITE,
+ NULL,
+ OPEN_EXISTING,
+ FILE_FLAG_BACKUP_SEMANTICS |
+ FILE_FLAG_OVERLAPPED,
+ NULL);
+
+ if (dir) {
+ uv__free(dir);
+ dir = NULL;
+ }
+
+ if (handle->dir_handle == INVALID_HANDLE_VALUE) {
+ last_error = GetLastError();
+ goto error;
+ }
+
+ if (CreateIoCompletionPort(handle->dir_handle,
+ handle->loop->iocp,
+ (ULONG_PTR)handle,
+ 0) == NULL) {
+ last_error = GetLastError();
+ goto error;
+ }
+
+ if (!handle->buffer) {
+ handle->buffer = (char*)uv__malloc(uv_directory_watcher_buffer_size);
+ }
+ if (!handle->buffer) {
+ uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
+ }
+
+ memset(&(handle->req.u.io.overlapped), 0,
+ sizeof(handle->req.u.io.overlapped));
+
+ if (!ReadDirectoryChangesW(handle->dir_handle,
+ handle->buffer,
+ uv_directory_watcher_buffer_size,
+ (flags & UV_FS_EVENT_RECURSIVE) ? TRUE : FALSE,
+ FILE_NOTIFY_CHANGE_FILE_NAME |
+ FILE_NOTIFY_CHANGE_DIR_NAME |
+ FILE_NOTIFY_CHANGE_ATTRIBUTES |
+ FILE_NOTIFY_CHANGE_SIZE |
+ FILE_NOTIFY_CHANGE_LAST_WRITE |
+ FILE_NOTIFY_CHANGE_LAST_ACCESS |
+ FILE_NOTIFY_CHANGE_CREATION |
+ FILE_NOTIFY_CHANGE_SECURITY,
+ NULL,
+ &handle->req.u.io.overlapped,
+ NULL)) {
+ last_error = GetLastError();
+ goto error;
+ }
+
+ assert(is_path_dir ? pathw != NULL : pathw == NULL);
+ handle->dirw = pathw;
+ handle->req_pending = 1;
+ return 0;
+
+error:
+ if (handle->path) {
+ uv__free(handle->path);
+ handle->path = NULL;
+ }
+
+ if (handle->filew) {
+ uv__free(handle->filew);
+ handle->filew = NULL;
+ }
+
+ if (handle->short_filew) {
+ uv__free(handle->short_filew);
+ handle->short_filew = NULL;
+ }
+
+ uv__free(pathw);
+
+ if (handle->dir_handle != INVALID_HANDLE_VALUE) {
+ CloseHandle(handle->dir_handle);
+ handle->dir_handle = INVALID_HANDLE_VALUE;
+ }
+
+ if (handle->buffer) {
+ uv__free(handle->buffer);
+ handle->buffer = NULL;
+ }
+
+ if (uv__is_active(handle))
+ uv__handle_stop(handle);
+
+ return uv_translate_sys_error(last_error);
+}
+
+
+int uv_fs_event_stop(uv_fs_event_t* handle) {
+ if (!uv__is_active(handle))
+ return 0;
+
+ if (handle->dir_handle != INVALID_HANDLE_VALUE) {
+ CloseHandle(handle->dir_handle);
+ handle->dir_handle = INVALID_HANDLE_VALUE;
+ }
+
+ uv__handle_stop(handle);
+
+ if (handle->filew) {
+ uv__free(handle->filew);
+ handle->filew = NULL;
+ }
+
+ if (handle->short_filew) {
+ uv__free(handle->short_filew);
+ handle->short_filew = NULL;
+ }
+
+ if (handle->path) {
+ uv__free(handle->path);
+ handle->path = NULL;
+ }
+
+ if (handle->dirw) {
+ uv__free(handle->dirw);
+ handle->dirw = NULL;
+ }
+
+ return 0;
+}
+
+
+static int file_info_cmp(WCHAR* str, WCHAR* file_name, size_t file_name_len) {
+ size_t str_len;
+
+ if (str == NULL)
+ return -1;
+
+ str_len = wcslen(str);
+
+ /*
+ Since we only care about equality, return early if the strings
+ aren't the same length
+ */
+ if (str_len != (file_name_len / sizeof(WCHAR)))
+ return -1;
+
+ return _wcsnicmp(str, file_name, str_len);
+}
+
+
+void uv_process_fs_event_req(uv_loop_t* loop, uv_req_t* req,
+ uv_fs_event_t* handle) {
+ FILE_NOTIFY_INFORMATION* file_info;
+ int err, sizew, size;
+ char* filename = NULL;
+ WCHAR* filenamew = NULL;
+ WCHAR* long_filenamew = NULL;
+ DWORD offset = 0;
+
+ assert(req->type == UV_FS_EVENT_REQ);
+ assert(handle->req_pending);
+ handle->req_pending = 0;
+
+ /* Don't report any callbacks if:
+ * - We're closing, just push the handle onto the endgame queue
+ * - We are not active, just ignore the callback
+ */
+ if (!uv__is_active(handle)) {
+ if (handle->flags & UV_HANDLE_CLOSING) {
+ uv_want_endgame(loop, (uv_handle_t*) handle);
+ }
+ return;
+ }
+
+ file_info = (FILE_NOTIFY_INFORMATION*)(handle->buffer + offset);
+
+ if (REQ_SUCCESS(req)) {
+ if (req->u.io.overlapped.InternalHigh > 0) {
+ do {
+ file_info = (FILE_NOTIFY_INFORMATION*)((char*)file_info + offset);
+ assert(!filename);
+ assert(!filenamew);
+ assert(!long_filenamew);
+
+ /*
+ * Fire the event only if we were asked to watch a directory,
+ * or if the filename filter matches.
+ */
+ if (handle->dirw ||
+ file_info_cmp(handle->filew,
+ file_info->FileName,
+ file_info->FileNameLength) == 0 ||
+ file_info_cmp(handle->short_filew,
+ file_info->FileName,
+ file_info->FileNameLength) == 0) {
+
+ if (handle->dirw) {
+ /*
+ * We attempt to resolve the long form of the file name explicitly.
+ * We only do this for file names that might still exist on disk.
+ * If this fails, we use the name given by ReadDirectoryChangesW.
+ * This may be the long form or the 8.3 short name in some cases.
+ */
+ if (file_info->Action != FILE_ACTION_REMOVED &&
+ file_info->Action != FILE_ACTION_RENAMED_OLD_NAME) {
+ /* Construct a full path to the file. */
+ size = wcslen(handle->dirw) +
+ file_info->FileNameLength / sizeof(WCHAR) + 2;
+
+ filenamew = (WCHAR*)uv__malloc(size * sizeof(WCHAR));
+ if (!filenamew) {
+ uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
+ }
+
+ _snwprintf(filenamew, size, L"%s\\%.*s", handle->dirw,
+ file_info->FileNameLength / (DWORD)sizeof(WCHAR),
+ file_info->FileName);
+
+ filenamew[size - 1] = L'\0';
+
+ /* Convert to long name. */
+ size = GetLongPathNameW(filenamew, NULL, 0);
+
+ if (size) {
+ long_filenamew = (WCHAR*)uv__malloc(size * sizeof(WCHAR));
+ if (!long_filenamew) {
+ uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
+ }
+
+ size = GetLongPathNameW(filenamew, long_filenamew, size);
+ if (size) {
+ long_filenamew[size] = '\0';
+ } else {
+ uv__free(long_filenamew);
+ long_filenamew = NULL;
+ }
+ }
+
+ uv__free(filenamew);
+
+ if (long_filenamew) {
+ /* Get the file name out of the long path. */
+ uv_relative_path(long_filenamew,
+ handle->dirw,
+ &filenamew);
+ uv__free(long_filenamew);
+ long_filenamew = filenamew;
+ sizew = -1;
+ } else {
+ /* We couldn't get the long filename, use the one reported. */
+ filenamew = file_info->FileName;
+ sizew = file_info->FileNameLength / sizeof(WCHAR);
+ }
+ } else {
+ /*
+ * Removed or renamed events cannot be resolved to the long form.
+ * We therefore use the name given by ReadDirectoryChangesW.
+ * This may be the long form or the 8.3 short name in some cases.
+ */
+ filenamew = file_info->FileName;
+ sizew = file_info->FileNameLength / sizeof(WCHAR);
+ }
+ } else {
+ /* We already have the long name of the file, so just use it. */
+ filenamew = handle->filew;
+ sizew = -1;
+ }
+
+ /* Convert the filename to utf8. */
+ uv__convert_utf16_to_utf8(filenamew, sizew, &filename);
+
+ switch (file_info->Action) {
+ case FILE_ACTION_ADDED:
+ case FILE_ACTION_REMOVED:
+ case FILE_ACTION_RENAMED_OLD_NAME:
+ case FILE_ACTION_RENAMED_NEW_NAME:
+ handle->cb(handle, filename, UV_RENAME, 0);
+ break;
+
+ case FILE_ACTION_MODIFIED:
+ handle->cb(handle, filename, UV_CHANGE, 0);
+ break;
+ }
+
+ uv__free(filename);
+ filename = NULL;
+ uv__free(long_filenamew);
+ long_filenamew = NULL;
+ filenamew = NULL;
+ }
+
+ offset = file_info->NextEntryOffset;
+ } while (offset && !(handle->flags & UV_HANDLE_CLOSING));
+ } else {
+ handle->cb(handle, NULL, UV_CHANGE, 0);
+ }
+ } else {
+ err = GET_REQ_ERROR(req);
+ handle->cb(handle, NULL, 0, uv_translate_sys_error(err));
+ }
+
+ if (!(handle->flags & UV_HANDLE_CLOSING)) {
+ uv_fs_event_queue_readdirchanges(loop, handle);
+ } else {
+ uv_want_endgame(loop, (uv_handle_t*)handle);
+ }
+}
+
+
+void uv_fs_event_close(uv_loop_t* loop, uv_fs_event_t* handle) {
+ uv_fs_event_stop(handle);
+
+ uv__handle_closing(handle);
+
+ if (!handle->req_pending) {
+ uv_want_endgame(loop, (uv_handle_t*)handle);
+ }
+
+}
+
+
+void uv_fs_event_endgame(uv_loop_t* loop, uv_fs_event_t* handle) {
+ if ((handle->flags & UV_HANDLE_CLOSING) && !handle->req_pending) {
+ assert(!(handle->flags & UV_HANDLE_CLOSED));
+
+ if (handle->buffer) {
+ uv__free(handle->buffer);
+ handle->buffer = NULL;
+ }
+
+ uv__handle_close(handle);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/fs.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/fs.cpp
new file mode 100644
index 0000000..6b9e37b
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/fs.cpp
@@ -0,0 +1,2721 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#define _CRT_NONSTDC_NO_WARNINGS
+
+#include <assert.h>
+#include <stdlib.h>
+#include <direct.h>
+#include <errno.h>
+#include <fcntl.h>
+#include <io.h>
+#include <limits.h>
+#include <sys/stat.h>
+#include <sys/utime.h>
+#include <stdio.h>
+
+#include "uv.h"
+#include "internal.h"
+#include "req-inl.h"
+#include "handle-inl.h"
+
+#include <wincrypt.h>
+
+#pragma comment(lib, "Advapi32.lib")
+
+#define UV_FS_FREE_PATHS 0x0002
+#define UV_FS_FREE_PTR 0x0008
+#define UV_FS_CLEANEDUP 0x0010
+
+
+#define INIT(subtype) \
+ do { \
+ if (req == NULL) \
+ return UV_EINVAL; \
+ uv_fs_req_init(loop, req, subtype, cb); \
+ } \
+ while (0)
+
+#define POST \
+ do { \
+ if (cb != NULL) { \
+ uv__req_register(loop, req); \
+ uv__work_submit(loop, \
+ &req->work_req, \
+ UV__WORK_FAST_IO, \
+ uv__fs_work, \
+ uv__fs_done); \
+ return 0; \
+ } else { \
+ uv__fs_work(&req->work_req); \
+ return req->result; \
+ } \
+ } \
+ while (0)
+
+#define SET_REQ_RESULT(req, result_value) \
+ do { \
+ req->result = (result_value); \
+ if (req->result == -1) { \
+ req->sys_errno_ = _doserrno; \
+ req->result = uv_translate_sys_error(req->sys_errno_); \
+ } \
+ } while (0)
+
+#define SET_REQ_WIN32_ERROR(req, sys_errno) \
+ do { \
+ req->sys_errno_ = (sys_errno); \
+ req->result = uv_translate_sys_error(req->sys_errno_); \
+ } while (0)
+
+#define SET_REQ_UV_ERROR(req, uv_errno, sys_errno) \
+ do { \
+ req->result = (uv_errno); \
+ req->sys_errno_ = (sys_errno); \
+ } while (0)
+
+#define VERIFY_FD(fd, req) \
+ if (fd == -1) { \
+ req->result = UV_EBADF; \
+ req->sys_errno_ = ERROR_INVALID_HANDLE; \
+ return; \
+ }
+
+#define MILLIONu (1000U * 1000U)
+#define BILLIONu (1000U * 1000U * 1000U)
+
+#define FILETIME_TO_UINT(filetime) \
+ (*((uint64_t*) &(filetime)) - (uint64_t) 116444736 * BILLIONu)
+
+#define FILETIME_TO_TIME_T(filetime) \
+ (FILETIME_TO_UINT(filetime) / (10u * MILLIONu))
+
+#define FILETIME_TO_TIME_NS(filetime, secs) \
+ ((FILETIME_TO_UINT(filetime) - (secs * (uint64_t) 10 * MILLIONu)) * 100U)
+
+#define FILETIME_TO_TIMESPEC(ts, filetime) \
+ do { \
+ (ts).tv_sec = (long) FILETIME_TO_TIME_T(filetime); \
+ (ts).tv_nsec = (long) FILETIME_TO_TIME_NS(filetime, (ts).tv_sec); \
+ } while(0)
+
+#define TIME_T_TO_FILETIME(time, filetime_ptr) \
+ do { \
+ uint64_t bigtime = ((uint64_t) ((time) * (uint64_t) 10 * MILLIONu)) + \
+ (uint64_t) 116444736 * BILLIONu; \
+ (filetime_ptr)->dwLowDateTime = bigtime & 0xFFFFFFFF; \
+ (filetime_ptr)->dwHighDateTime = bigtime >> 32; \
+ } while(0)
+
+#define IS_SLASH(c) ((c) == L'\\' || (c) == L'/')
+#define IS_LETTER(c) (((c) >= L'a' && (c) <= L'z') || \
+ ((c) >= L'A' && (c) <= L'Z'))
+
+const WCHAR JUNCTION_PREFIX[] = L"\\??\\";
+const WCHAR JUNCTION_PREFIX_LEN = 4;
+
+const WCHAR LONG_PATH_PREFIX[] = L"\\\\?\\";
+const WCHAR LONG_PATH_PREFIX_LEN = 4;
+
+const WCHAR UNC_PATH_PREFIX[] = L"\\\\?\\UNC\\";
+const WCHAR UNC_PATH_PREFIX_LEN = 8;
+
+static int uv__file_symlink_usermode_flag = SYMBOLIC_LINK_FLAG_ALLOW_UNPRIVILEGED_CREATE;
+
+void uv_fs_init(void) {
+ _fmode = _O_BINARY;
+}
+
+
+INLINE static int fs__capture_path(uv_fs_t* req, const char* path,
+ const char* new_path, const int copy_path) {
+ char* buf;
+ char* pos;
+ ssize_t buf_sz = 0, path_len = 0, pathw_len = 0, new_pathw_len = 0;
+
+ /* new_path can only be set if path is also set. */
+ assert(new_path == NULL || path != NULL);
+
+ if (path != NULL) {
+ pathw_len = MultiByteToWideChar(CP_UTF8,
+ 0,
+ path,
+ -1,
+ NULL,
+ 0);
+ if (pathw_len == 0) {
+ return GetLastError();
+ }
+
+ buf_sz += pathw_len * sizeof(WCHAR);
+ }
+
+ if (path != NULL && copy_path) {
+ path_len = 1 + strlen(path);
+ buf_sz += path_len;
+ }
+
+ if (new_path != NULL) {
+ new_pathw_len = MultiByteToWideChar(CP_UTF8,
+ 0,
+ new_path,
+ -1,
+ NULL,
+ 0);
+ if (new_pathw_len == 0) {
+ return GetLastError();
+ }
+
+ buf_sz += new_pathw_len * sizeof(WCHAR);
+ }
+
+
+ if (buf_sz == 0) {
+ req->file.pathw = NULL;
+ req->fs.info.new_pathw = NULL;
+ req->path = NULL;
+ return 0;
+ }
+
+ buf = (char*) uv__malloc(buf_sz);
+ if (buf == NULL) {
+ return ERROR_OUTOFMEMORY;
+ }
+
+ pos = buf;
+
+ if (path != NULL) {
+ DWORD r = MultiByteToWideChar(CP_UTF8,
+ 0,
+ path,
+ -1,
+ (WCHAR*) pos,
+ pathw_len);
+ assert(r == (DWORD) pathw_len);
+ req->file.pathw = (WCHAR*) pos;
+ pos += r * sizeof(WCHAR);
+ } else {
+ req->file.pathw = NULL;
+ }
+
+ if (new_path != NULL) {
+ DWORD r = MultiByteToWideChar(CP_UTF8,
+ 0,
+ new_path,
+ -1,
+ (WCHAR*) pos,
+ new_pathw_len);
+ assert(r == (DWORD) new_pathw_len);
+ req->fs.info.new_pathw = (WCHAR*) pos;
+ pos += r * sizeof(WCHAR);
+ } else {
+ req->fs.info.new_pathw = NULL;
+ }
+
+ req->path = path;
+ if (path != NULL && copy_path) {
+ memcpy(pos, path, path_len);
+ assert(path_len == buf_sz - (pos - buf));
+ req->path = pos;
+ }
+
+ req->flags |= UV_FS_FREE_PATHS;
+
+ return 0;
+}
+
+
+
+INLINE static void uv_fs_req_init(uv_loop_t* loop, uv_fs_t* req,
+ uv_fs_type fs_type, const uv_fs_cb cb) {
+ uv__once_init();
+ UV_REQ_INIT(req, UV_FS);
+ req->loop = loop;
+ req->flags = 0;
+ req->fs_type = fs_type;
+ req->result = 0;
+ req->ptr = NULL;
+ req->path = NULL;
+ req->cb = cb;
+ memset(&req->fs, 0, sizeof(req->fs));
+}
+
+
+static int fs__wide_to_utf8(WCHAR* w_source_ptr,
+ DWORD w_source_len,
+ char** target_ptr,
+ uint64_t* target_len_ptr) {
+ int r;
+ int target_len;
+ char* target;
+ target_len = WideCharToMultiByte(CP_UTF8,
+ 0,
+ w_source_ptr,
+ w_source_len,
+ NULL,
+ 0,
+ NULL,
+ NULL);
+
+ if (target_len == 0) {
+ return -1;
+ }
+
+ if (target_len_ptr != NULL) {
+ *target_len_ptr = target_len;
+ }
+
+ if (target_ptr == NULL) {
+ return 0;
+ }
+
+ target = (char*)uv__malloc(target_len + 1);
+ if (target == NULL) {
+ SetLastError(ERROR_OUTOFMEMORY);
+ return -1;
+ }
+
+ r = WideCharToMultiByte(CP_UTF8,
+ 0,
+ w_source_ptr,
+ w_source_len,
+ target,
+ target_len,
+ NULL,
+ NULL);
+ assert(r == target_len);
+ target[target_len] = '\0';
+ *target_ptr = target;
+ return 0;
+}
+
+
+INLINE static int fs__readlink_handle(HANDLE handle, char** target_ptr,
+ uint64_t* target_len_ptr) {
+ char buffer[MAXIMUM_REPARSE_DATA_BUFFER_SIZE];
+ REPARSE_DATA_BUFFER* reparse_data = (REPARSE_DATA_BUFFER*) buffer;
+ WCHAR* w_target;
+ DWORD w_target_len;
+ DWORD bytes;
+
+ if (!DeviceIoControl(handle,
+ FSCTL_GET_REPARSE_POINT,
+ NULL,
+ 0,
+ buffer,
+ sizeof buffer,
+ &bytes,
+ NULL)) {
+ return -1;
+ }
+
+ if (reparse_data->ReparseTag == IO_REPARSE_TAG_SYMLINK) {
+ /* Real symlink */
+ w_target = reparse_data->SymbolicLinkReparseBuffer.PathBuffer +
+ (reparse_data->SymbolicLinkReparseBuffer.SubstituteNameOffset /
+ sizeof(WCHAR));
+ w_target_len =
+ reparse_data->SymbolicLinkReparseBuffer.SubstituteNameLength /
+ sizeof(WCHAR);
+
+ /* Real symlinks can contain pretty much everything, but the only thing we
+ * really care about is undoing the implicit conversion to an NT namespaced
+ * path that CreateSymbolicLink will perform on absolute paths. If the path
+ * is win32-namespaced then the user must have explicitly made it so, and
+ * we better just return the unmodified reparse data. */
+ if (w_target_len >= 4 &&
+ w_target[0] == L'\\' &&
+ w_target[1] == L'?' &&
+ w_target[2] == L'?' &&
+ w_target[3] == L'\\') {
+ /* Starts with \??\ */
+ if (w_target_len >= 6 &&
+ ((w_target[4] >= L'A' && w_target[4] <= L'Z') ||
+ (w_target[4] >= L'a' && w_target[4] <= L'z')) &&
+ w_target[5] == L':' &&
+ (w_target_len == 6 || w_target[6] == L'\\')) {
+ /* \??\<drive>:\ */
+ w_target += 4;
+ w_target_len -= 4;
+
+ } else if (w_target_len >= 8 &&
+ (w_target[4] == L'U' || w_target[4] == L'u') &&
+ (w_target[5] == L'N' || w_target[5] == L'n') &&
+ (w_target[6] == L'C' || w_target[6] == L'c') &&
+ w_target[7] == L'\\') {
+ /* \??\UNC\<server>\<share>\ - make sure the final path looks like
+ * \\<server>\<share>\ */
+ w_target += 6;
+ w_target[0] = L'\\';
+ w_target_len -= 6;
+ }
+ }
+
+ } else if (reparse_data->ReparseTag == IO_REPARSE_TAG_MOUNT_POINT) {
+ /* Junction. */
+ w_target = reparse_data->MountPointReparseBuffer.PathBuffer +
+ (reparse_data->MountPointReparseBuffer.SubstituteNameOffset /
+ sizeof(WCHAR));
+ w_target_len = reparse_data->MountPointReparseBuffer.SubstituteNameLength /
+ sizeof(WCHAR);
+
+ /* Only treat junctions that look like \??\<drive>:\ as symlink. Junctions
+ * can also be used as mount points, like \??\Volume{<guid>}, but that's
+ * confusing for programs since they wouldn't be able to actually
+ * understand such a path when returned by uv_readlink(). UNC paths are
+ * never valid for junctions so we don't care about them. */
+ if (!(w_target_len >= 6 &&
+ w_target[0] == L'\\' &&
+ w_target[1] == L'?' &&
+ w_target[2] == L'?' &&
+ w_target[3] == L'\\' &&
+ ((w_target[4] >= L'A' && w_target[4] <= L'Z') ||
+ (w_target[4] >= L'a' && w_target[4] <= L'z')) &&
+ w_target[5] == L':' &&
+ (w_target_len == 6 || w_target[6] == L'\\'))) {
+ SetLastError(ERROR_SYMLINK_NOT_SUPPORTED);
+ return -1;
+ }
+
+ /* Remove leading \??\ */
+ w_target += 4;
+ w_target_len -= 4;
+
+ } else {
+ /* Reparse tag does not indicate a symlink. */
+ SetLastError(ERROR_SYMLINK_NOT_SUPPORTED);
+ return -1;
+ }
+
+ return fs__wide_to_utf8(w_target, w_target_len, target_ptr, target_len_ptr);
+}
+
+
+void fs__open(uv_fs_t* req) {
+ DWORD access;
+ DWORD share;
+ DWORD disposition;
+ DWORD attributes = 0;
+ HANDLE file;
+ int fd, current_umask;
+ int flags = req->fs.info.file_flags;
+
+ /* Obtain the active umask. umask() never fails and returns the previous
+ * umask. */
+ current_umask = umask(0);
+ umask(current_umask);
+
+ /* convert flags and mode to CreateFile parameters */
+ switch (flags & (UV_FS_O_RDONLY | UV_FS_O_WRONLY | UV_FS_O_RDWR)) {
+ case UV_FS_O_RDONLY:
+ access = FILE_GENERIC_READ;
+ break;
+ case UV_FS_O_WRONLY:
+ access = FILE_GENERIC_WRITE;
+ break;
+ case UV_FS_O_RDWR:
+ access = FILE_GENERIC_READ | FILE_GENERIC_WRITE;
+ break;
+ default:
+ goto einval;
+ }
+
+ if (flags & UV_FS_O_APPEND) {
+ access &= ~FILE_WRITE_DATA;
+ access |= FILE_APPEND_DATA;
+ }
+
+ /*
+ * Here is where we deviate significantly from what CRT's _open()
+ * does. We indiscriminately use all the sharing modes, to match
+ * UNIX semantics. In particular, this ensures that the file can
+ * be deleted even whilst it's open, fixing issue #1449.
+ * We still support exclusive sharing mode, since it is necessary
+ * for opening raw block devices, otherwise Windows will prevent
+ * any attempt to write past the master boot record.
+ */
+ if (flags & UV_FS_O_EXLOCK) {
+ share = 0;
+ } else {
+ share = FILE_SHARE_READ | FILE_SHARE_WRITE | FILE_SHARE_DELETE;
+ }
+
+ switch (flags & (UV_FS_O_CREAT | UV_FS_O_EXCL | UV_FS_O_TRUNC)) {
+ case 0:
+ case UV_FS_O_EXCL:
+ disposition = OPEN_EXISTING;
+ break;
+ case UV_FS_O_CREAT:
+ disposition = OPEN_ALWAYS;
+ break;
+ case UV_FS_O_CREAT | UV_FS_O_EXCL:
+ case UV_FS_O_CREAT | UV_FS_O_TRUNC | UV_FS_O_EXCL:
+ disposition = CREATE_NEW;
+ break;
+ case UV_FS_O_TRUNC:
+ case UV_FS_O_TRUNC | UV_FS_O_EXCL:
+ disposition = TRUNCATE_EXISTING;
+ break;
+ case UV_FS_O_CREAT | UV_FS_O_TRUNC:
+ disposition = CREATE_ALWAYS;
+ break;
+ default:
+ goto einval;
+ }
+
+ attributes |= FILE_ATTRIBUTE_NORMAL;
+ if (flags & UV_FS_O_CREAT) {
+ if (!((req->fs.info.mode & ~current_umask) & _S_IWRITE)) {
+ attributes |= FILE_ATTRIBUTE_READONLY;
+ }
+ }
+
+ if (flags & UV_FS_O_TEMPORARY ) {
+ attributes |= FILE_FLAG_DELETE_ON_CLOSE | FILE_ATTRIBUTE_TEMPORARY;
+ access |= DELETE;
+ }
+
+ if (flags & UV_FS_O_SHORT_LIVED) {
+ attributes |= FILE_ATTRIBUTE_TEMPORARY;
+ }
+
+ switch (flags & (UV_FS_O_SEQUENTIAL | UV_FS_O_RANDOM)) {
+ case 0:
+ break;
+ case UV_FS_O_SEQUENTIAL:
+ attributes |= FILE_FLAG_SEQUENTIAL_SCAN;
+ break;
+ case UV_FS_O_RANDOM:
+ attributes |= FILE_FLAG_RANDOM_ACCESS;
+ break;
+ default:
+ goto einval;
+ }
+
+ if (flags & UV_FS_O_DIRECT) {
+ /*
+ * FILE_APPEND_DATA and FILE_FLAG_NO_BUFFERING are mutually exclusive.
+ * Windows returns 87, ERROR_INVALID_PARAMETER if these are combined.
+ *
+ * FILE_APPEND_DATA is included in FILE_GENERIC_WRITE:
+ *
+ * FILE_GENERIC_WRITE = STANDARD_RIGHTS_WRITE |
+ * FILE_WRITE_DATA |
+ * FILE_WRITE_ATTRIBUTES |
+ * FILE_WRITE_EA |
+ * FILE_APPEND_DATA |
+ * SYNCHRONIZE
+ *
+ * Note: Appends are also permitted by FILE_WRITE_DATA.
+ *
+ * In order for direct writes and direct appends to succeed, we therefore
+ * exclude FILE_APPEND_DATA if FILE_WRITE_DATA is specified, and otherwise
+ * fail if the user's sole permission is a direct append, since this
+ * particular combination is invalid.
+ */
+ if (access & FILE_APPEND_DATA) {
+ if (access & FILE_WRITE_DATA) {
+ access &= ~FILE_APPEND_DATA;
+ } else {
+ goto einval;
+ }
+ }
+ attributes |= FILE_FLAG_NO_BUFFERING;
+ }
+
+ switch (flags & (UV_FS_O_DSYNC | UV_FS_O_SYNC)) {
+ case 0:
+ break;
+ case UV_FS_O_DSYNC:
+ case UV_FS_O_SYNC:
+ attributes |= FILE_FLAG_WRITE_THROUGH;
+ break;
+ default:
+ goto einval;
+ }
+
+ /* Setting this flag makes it possible to open a directory. */
+ attributes |= FILE_FLAG_BACKUP_SEMANTICS;
+
+ file = CreateFileW(req->file.pathw,
+ access,
+ share,
+ NULL,
+ disposition,
+ attributes,
+ NULL);
+ if (file == INVALID_HANDLE_VALUE) {
+ DWORD error = GetLastError();
+ if (error == ERROR_FILE_EXISTS && (flags & UV_FS_O_CREAT) &&
+ !(flags & UV_FS_O_EXCL)) {
+ /* Special case: when ERROR_FILE_EXISTS happens and UV_FS_O_CREAT was
+ * specified, it means the path referred to a directory. */
+ SET_REQ_UV_ERROR(req, UV_EISDIR, error);
+ } else {
+ SET_REQ_WIN32_ERROR(req, GetLastError());
+ }
+ return;
+ }
+
+ fd = _open_osfhandle((intptr_t) file, flags);
+ if (fd < 0) {
+ /* The only known failure mode for _open_osfhandle() is EMFILE, in which
+ * case GetLastError() will return zero. However we'll try to handle other
+ * errors as well, should they ever occur.
+ */
+ if (errno == EMFILE)
+ SET_REQ_UV_ERROR(req, UV_EMFILE, ERROR_TOO_MANY_OPEN_FILES);
+ else if (GetLastError() != ERROR_SUCCESS)
+ SET_REQ_WIN32_ERROR(req, GetLastError());
+ else
+ SET_REQ_WIN32_ERROR(req, UV_UNKNOWN);
+ CloseHandle(file);
+ return;
+ }
+
+ SET_REQ_RESULT(req, fd);
+ return;
+
+ einval:
+ SET_REQ_UV_ERROR(req, UV_EINVAL, ERROR_INVALID_PARAMETER);
+}
+
+void fs__close(uv_fs_t* req) {
+ int fd = req->file.fd;
+ int result;
+
+ VERIFY_FD(fd, req);
+
+ if (fd > 2)
+ result = _close(fd);
+ else
+ result = 0;
+
+ /* _close doesn't set _doserrno on failure, but it does always set errno
+ * to EBADF on failure.
+ */
+ if (result == -1) {
+ assert(errno == EBADF);
+ SET_REQ_UV_ERROR(req, UV_EBADF, ERROR_INVALID_HANDLE);
+ } else {
+ req->result = 0;
+ }
+}
+
+
+void fs__read(uv_fs_t* req) {
+ int fd = req->file.fd;
+ int64_t offset = req->fs.info.offset;
+ HANDLE handle;
+ OVERLAPPED overlapped, *overlapped_ptr;
+ LARGE_INTEGER offset_;
+ DWORD bytes;
+ DWORD error;
+ int result;
+ unsigned int index;
+ LARGE_INTEGER original_position;
+ LARGE_INTEGER zero_offset;
+ int restore_position;
+
+ VERIFY_FD(fd, req);
+
+ zero_offset.QuadPart = 0;
+ restore_position = 0;
+ handle = uv__get_osfhandle(fd);
+
+ if (handle == INVALID_HANDLE_VALUE) {
+ SET_REQ_WIN32_ERROR(req, ERROR_INVALID_HANDLE);
+ return;
+ }
+
+ if (offset != -1) {
+ memset(&overlapped, 0, sizeof overlapped);
+ overlapped_ptr = &overlapped;
+ if (SetFilePointerEx(handle, zero_offset, &original_position,
+ FILE_CURRENT)) {
+ restore_position = 1;
+ }
+ } else {
+ overlapped_ptr = NULL;
+ }
+
+ index = 0;
+ bytes = 0;
+ do {
+ DWORD incremental_bytes;
+
+ if (offset != -1) {
+ offset_.QuadPart = offset + bytes;
+ overlapped.Offset = offset_.LowPart;
+ overlapped.OffsetHigh = offset_.HighPart;
+ }
+
+ result = ReadFile(handle,
+ req->fs.info.bufs[index].base,
+ req->fs.info.bufs[index].len,
+ &incremental_bytes,
+ overlapped_ptr);
+ bytes += incremental_bytes;
+ ++index;
+ } while (result && index < req->fs.info.nbufs);
+
+ if (restore_position)
+ SetFilePointerEx(handle, original_position, NULL, FILE_BEGIN);
+
+ if (result || bytes > 0) {
+ SET_REQ_RESULT(req, bytes);
+ } else {
+ error = GetLastError();
+ if (error == ERROR_HANDLE_EOF) {
+ SET_REQ_RESULT(req, bytes);
+ } else {
+ SET_REQ_WIN32_ERROR(req, error);
+ }
+ }
+}
+
+
+void fs__write(uv_fs_t* req) {
+ int fd = req->file.fd;
+ int64_t offset = req->fs.info.offset;
+ HANDLE handle;
+ OVERLAPPED overlapped, *overlapped_ptr;
+ LARGE_INTEGER offset_;
+ DWORD bytes;
+ int result;
+ unsigned int index;
+ LARGE_INTEGER original_position;
+ LARGE_INTEGER zero_offset;
+ int restore_position;
+
+ VERIFY_FD(fd, req);
+
+ zero_offset.QuadPart = 0;
+ restore_position = 0;
+ handle = uv__get_osfhandle(fd);
+ if (handle == INVALID_HANDLE_VALUE) {
+ SET_REQ_WIN32_ERROR(req, ERROR_INVALID_HANDLE);
+ return;
+ }
+
+ if (offset != -1) {
+ memset(&overlapped, 0, sizeof overlapped);
+ overlapped_ptr = &overlapped;
+ if (SetFilePointerEx(handle, zero_offset, &original_position,
+ FILE_CURRENT)) {
+ restore_position = 1;
+ }
+ } else {
+ overlapped_ptr = NULL;
+ }
+
+ index = 0;
+ bytes = 0;
+ do {
+ DWORD incremental_bytes;
+
+ if (offset != -1) {
+ offset_.QuadPart = offset + bytes;
+ overlapped.Offset = offset_.LowPart;
+ overlapped.OffsetHigh = offset_.HighPart;
+ }
+
+ result = WriteFile(handle,
+ req->fs.info.bufs[index].base,
+ req->fs.info.bufs[index].len,
+ &incremental_bytes,
+ overlapped_ptr);
+ bytes += incremental_bytes;
+ ++index;
+ } while (result && index < req->fs.info.nbufs);
+
+ if (restore_position)
+ SetFilePointerEx(handle, original_position, NULL, FILE_BEGIN);
+
+ if (result || bytes > 0) {
+ SET_REQ_RESULT(req, bytes);
+ } else {
+ SET_REQ_WIN32_ERROR(req, GetLastError());
+ }
+}
+
+
+void fs__rmdir(uv_fs_t* req) {
+ int result = _wrmdir(req->file.pathw);
+ SET_REQ_RESULT(req, result);
+}
+
+
+void fs__unlink(uv_fs_t* req) {
+ const WCHAR* pathw = req->file.pathw;
+ HANDLE handle;
+ BY_HANDLE_FILE_INFORMATION info;
+ FILE_DISPOSITION_INFORMATION disposition;
+ IO_STATUS_BLOCK iosb;
+ NTSTATUS status;
+
+ handle = CreateFileW(pathw,
+ FILE_READ_ATTRIBUTES | FILE_WRITE_ATTRIBUTES | DELETE,
+ FILE_SHARE_READ | FILE_SHARE_WRITE | FILE_SHARE_DELETE,
+ NULL,
+ OPEN_EXISTING,
+ FILE_FLAG_OPEN_REPARSE_POINT | FILE_FLAG_BACKUP_SEMANTICS,
+ NULL);
+
+ if (handle == INVALID_HANDLE_VALUE) {
+ SET_REQ_WIN32_ERROR(req, GetLastError());
+ return;
+ }
+
+ if (!GetFileInformationByHandle(handle, &info)) {
+ SET_REQ_WIN32_ERROR(req, GetLastError());
+ CloseHandle(handle);
+ return;
+ }
+
+ if (info.dwFileAttributes & FILE_ATTRIBUTE_DIRECTORY) {
+ /* Do not allow deletion of directories, unless it is a symlink. When the
+ * path refers to a non-symlink directory, report EPERM as mandated by
+ * POSIX.1. */
+
+ /* Check if it is a reparse point. If it's not, it's a normal directory. */
+ if (!(info.dwFileAttributes & FILE_ATTRIBUTE_REPARSE_POINT)) {
+ SET_REQ_WIN32_ERROR(req, ERROR_ACCESS_DENIED);
+ CloseHandle(handle);
+ return;
+ }
+
+ /* Read the reparse point and check if it is a valid symlink. If not, don't
+ * unlink. */
+ if (fs__readlink_handle(handle, NULL, NULL) < 0) {
+ DWORD error = GetLastError();
+ if (error == ERROR_SYMLINK_NOT_SUPPORTED)
+ error = ERROR_ACCESS_DENIED;
+ SET_REQ_WIN32_ERROR(req, error);
+ CloseHandle(handle);
+ return;
+ }
+ }
+
+ if (info.dwFileAttributes & FILE_ATTRIBUTE_READONLY) {
+ /* Remove read-only attribute */
+ FILE_BASIC_INFORMATION basic = { 0 };
+
+ basic.FileAttributes = (info.dwFileAttributes & ~FILE_ATTRIBUTE_READONLY) |
+ FILE_ATTRIBUTE_ARCHIVE;
+
+ status = pNtSetInformationFile(handle,
+ &iosb,
+ &basic,
+ sizeof basic,
+ FileBasicInformation);
+ if (!NT_SUCCESS(status)) {
+ SET_REQ_WIN32_ERROR(req, pRtlNtStatusToDosError(status));
+ CloseHandle(handle);
+ return;
+ }
+ }
+
+ /* Try to set the delete flag. */
+ disposition.DeleteFile = TRUE;
+ status = pNtSetInformationFile(handle,
+ &iosb,
+ &disposition,
+ sizeof disposition,
+ FileDispositionInformation);
+ if (NT_SUCCESS(status)) {
+ SET_REQ_SUCCESS(req);
+ } else {
+ SET_REQ_WIN32_ERROR(req, pRtlNtStatusToDosError(status));
+ }
+
+ CloseHandle(handle);
+}
+
+
+void fs__mkdir(uv_fs_t* req) {
+ /* TODO: use req->mode. */
+ int result = _wmkdir(req->file.pathw);
+ SET_REQ_RESULT(req, result);
+}
+
+
+/* OpenBSD original: lib/libc/stdio/mktemp.c */
+void fs__mkdtemp(uv_fs_t* req) {
+ static const WCHAR *tempchars =
+ L"abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ0123456789";
+ static const size_t num_chars = 62;
+ static const size_t num_x = 6;
+ WCHAR *cp, *ep;
+ unsigned int tries, i;
+ size_t len;
+ HCRYPTPROV h_crypt_prov;
+ uint64_t v;
+ BOOL released;
+
+ len = wcslen(req->file.pathw);
+ ep = req->file.pathw + len;
+ if (len < num_x || wcsncmp(ep - num_x, L"XXXXXX", num_x)) {
+ SET_REQ_UV_ERROR(req, UV_EINVAL, ERROR_INVALID_PARAMETER);
+ return;
+ }
+
+ if (!CryptAcquireContext(&h_crypt_prov, NULL, NULL, PROV_RSA_FULL,
+ CRYPT_VERIFYCONTEXT)) {
+ SET_REQ_WIN32_ERROR(req, GetLastError());
+ return;
+ }
+
+ tries = TMP_MAX;
+ do {
+ if (!CryptGenRandom(h_crypt_prov, sizeof(v), (BYTE*) &v)) {
+ SET_REQ_WIN32_ERROR(req, GetLastError());
+ break;
+ }
+
+ cp = ep - num_x;
+ for (i = 0; i < num_x; i++) {
+ *cp++ = tempchars[v % num_chars];
+ v /= num_chars;
+ }
+
+ if (_wmkdir(req->file.pathw) == 0) {
+ len = strlen(req->path);
+ wcstombs((char*) req->path + len - num_x, ep - num_x, num_x);
+ SET_REQ_RESULT(req, 0);
+ break;
+ } else if (errno != EEXIST) {
+ SET_REQ_RESULT(req, -1);
+ break;
+ }
+ } while (--tries);
+
+ released = CryptReleaseContext(h_crypt_prov, 0);
+ assert(released);
+ if (tries == 0) {
+ SET_REQ_RESULT(req, -1);
+ }
+}
+
+
+void fs__scandir(uv_fs_t* req) {
+ static const size_t dirents_initial_size = 32;
+
+ HANDLE dir_handle = INVALID_HANDLE_VALUE;
+
+ uv__dirent_t** dirents = NULL;
+ size_t dirents_size = 0;
+ size_t dirents_used = 0;
+
+ IO_STATUS_BLOCK iosb;
+ NTSTATUS status;
+
+ /* Buffer to hold directory entries returned by NtQueryDirectoryFile.
+ * It's important that this buffer can hold at least one entry, regardless
+ * of the length of the file names present in the enumerated directory.
+ * A file name is at most 256 WCHARs long.
+ * According to MSDN, the buffer must be aligned at an 8-byte boundary.
+ */
+#if _MSC_VER
+ __declspec(align(8)) char buffer[8192];
+#else
+ __attribute__ ((aligned (8))) char buffer[8192];
+#endif
+
+ STATIC_ASSERT(sizeof buffer >=
+ sizeof(FILE_DIRECTORY_INFORMATION) + 256 * sizeof(WCHAR));
+
+ /* Open the directory. */
+ dir_handle =
+ CreateFileW(req->file.pathw,
+ FILE_LIST_DIRECTORY | SYNCHRONIZE,
+ FILE_SHARE_READ | FILE_SHARE_WRITE | FILE_SHARE_DELETE,
+ NULL,
+ OPEN_EXISTING,
+ FILE_FLAG_BACKUP_SEMANTICS,
+ NULL);
+ if (dir_handle == INVALID_HANDLE_VALUE)
+ goto win32_error;
+
+ /* Read the first chunk. */
+ status = pNtQueryDirectoryFile(dir_handle,
+ NULL,
+ NULL,
+ NULL,
+ &iosb,
+ &buffer,
+ sizeof buffer,
+ FileDirectoryInformation,
+ FALSE,
+ NULL,
+ TRUE);
+
+ /* If the handle is not a directory, we'll get STATUS_INVALID_PARAMETER.
+ * This should be reported back as UV_ENOTDIR.
+ */
+ if (status == STATUS_INVALID_PARAMETER)
+ goto not_a_directory_error;
+
+ while (NT_SUCCESS(status)) {
+ char* position = buffer;
+ size_t next_entry_offset = 0;
+
+ do {
+ FILE_DIRECTORY_INFORMATION* info;
+ uv__dirent_t* dirent;
+
+ size_t wchar_len;
+ size_t utf8_len;
+
+ /* Obtain a pointer to the current directory entry. */
+ position += next_entry_offset;
+ info = (FILE_DIRECTORY_INFORMATION*) position;
+
+ /* Fetch the offset to the next directory entry. */
+ next_entry_offset = info->NextEntryOffset;
+
+ /* Compute the length of the filename in WCHARs. */
+ wchar_len = info->FileNameLength / sizeof info->FileName[0];
+
+ /* Skip over '.' and '..' entries. It has been reported that
+ * the SharePoint driver includes the terminating zero byte in
+ * the filename length. Strip those first.
+ */
+ while (wchar_len > 0 && info->FileName[wchar_len - 1] == L'\0')
+ wchar_len -= 1;
+
+ if (wchar_len == 0)
+ continue;
+ if (wchar_len == 1 && info->FileName[0] == L'.')
+ continue;
+ if (wchar_len == 2 && info->FileName[0] == L'.' &&
+ info->FileName[1] == L'.')
+ continue;
+
+ /* Compute the space required to store the filename as UTF-8. */
+ utf8_len = WideCharToMultiByte(
+ CP_UTF8, 0, &info->FileName[0], wchar_len, NULL, 0, NULL, NULL);
+ if (utf8_len == 0)
+ goto win32_error;
+
+ /* Resize the dirent array if needed. */
+ if (dirents_used >= dirents_size) {
+ size_t new_dirents_size =
+ dirents_size == 0 ? dirents_initial_size : dirents_size << 1;
+ uv__dirent_t** new_dirents = (uv__dirent_t**)
+ uv__realloc(dirents, new_dirents_size * sizeof *dirents);
+
+ if (new_dirents == NULL)
+ goto out_of_memory_error;
+
+ dirents_size = new_dirents_size;
+ dirents = new_dirents;
+ }
+
+ /* Allocate space for the uv dirent structure. The dirent structure
+ * includes room for the first character of the filename, but `utf8_len`
+ * doesn't count the NULL terminator at this point.
+ */
+ dirent = (uv__dirent_t*)uv__malloc(sizeof *dirent + utf8_len);
+ if (dirent == NULL)
+ goto out_of_memory_error;
+
+ dirents[dirents_used++] = dirent;
+
+ /* Convert file name to UTF-8. */
+ if (WideCharToMultiByte(CP_UTF8,
+ 0,
+ &info->FileName[0],
+ wchar_len,
+ &dirent->d_name[0],
+ utf8_len,
+ NULL,
+ NULL) == 0)
+ goto win32_error;
+
+ /* Add a null terminator to the filename. */
+ dirent->d_name[utf8_len] = '\0';
+
+ /* Fill out the type field. */
+ if (info->FileAttributes & FILE_ATTRIBUTE_DEVICE)
+ dirent->d_type = UV__DT_CHAR;
+ else if (info->FileAttributes & FILE_ATTRIBUTE_REPARSE_POINT)
+ dirent->d_type = UV__DT_LINK;
+ else if (info->FileAttributes & FILE_ATTRIBUTE_DIRECTORY)
+ dirent->d_type = UV__DT_DIR;
+ else
+ dirent->d_type = UV__DT_FILE;
+ } while (next_entry_offset != 0);
+
+ /* Read the next chunk. */
+ status = pNtQueryDirectoryFile(dir_handle,
+ NULL,
+ NULL,
+ NULL,
+ &iosb,
+ &buffer,
+ sizeof buffer,
+ FileDirectoryInformation,
+ FALSE,
+ NULL,
+ FALSE);
+
+ /* After the first pNtQueryDirectoryFile call, the function may return
+ * STATUS_SUCCESS even if the buffer was too small to hold at least one
+ * directory entry.
+ */
+ if (status == STATUS_SUCCESS && iosb.Information == 0)
+ status = STATUS_BUFFER_OVERFLOW;
+ }
+
+ if (status != STATUS_NO_MORE_FILES)
+ goto nt_error;
+
+ CloseHandle(dir_handle);
+
+ /* Store the result in the request object. */
+ req->ptr = dirents;
+ if (dirents != NULL)
+ req->flags |= UV_FS_FREE_PTR;
+
+ SET_REQ_RESULT(req, dirents_used);
+
+ /* `nbufs` will be used as index by uv_fs_scandir_next. */
+ req->fs.info.nbufs = 0;
+
+ return;
+
+nt_error:
+ SET_REQ_WIN32_ERROR(req, pRtlNtStatusToDosError(status));
+ goto cleanup;
+
+win32_error:
+ SET_REQ_WIN32_ERROR(req, GetLastError());
+ goto cleanup;
+
+not_a_directory_error:
+ SET_REQ_UV_ERROR(req, UV_ENOTDIR, ERROR_DIRECTORY);
+ goto cleanup;
+
+out_of_memory_error:
+ SET_REQ_UV_ERROR(req, UV_ENOMEM, ERROR_OUTOFMEMORY);
+ goto cleanup;
+
+cleanup:
+ if (dir_handle != INVALID_HANDLE_VALUE)
+ CloseHandle(dir_handle);
+ while (dirents_used > 0)
+ uv__free(dirents[--dirents_used]);
+ if (dirents != NULL)
+ uv__free(dirents);
+}
+
+void fs__opendir(uv_fs_t* req) {
+ WCHAR* pathw;
+ size_t len;
+ const WCHAR* fmt;
+ WCHAR* find_path;
+ uv_dir_t* dir;
+
+ pathw = req->file.pathw;
+ dir = NULL;
+ find_path = NULL;
+
+ /* Figure out whether path is a file or a directory. */
+ if (!(GetFileAttributesW(pathw) & FILE_ATTRIBUTE_DIRECTORY)) {
+ SET_REQ_UV_ERROR(req, UV_ENOTDIR, ERROR_DIRECTORY);
+ goto error;
+ }
+
+ dir = (uv_dir_t*)uv__malloc(sizeof(*dir));
+ if (dir == NULL) {
+ SET_REQ_UV_ERROR(req, UV_ENOMEM, ERROR_OUTOFMEMORY);
+ goto error;
+ }
+
+ len = wcslen(pathw);
+
+ if (len == 0)
+ fmt = L"./*";
+ else if (IS_SLASH(pathw[len - 1]))
+ fmt = L"%s*";
+ else
+ fmt = L"%s\\*";
+
+ find_path = (WCHAR*)uv__malloc(sizeof(WCHAR) * (len + 4));
+ if (find_path == NULL) {
+ SET_REQ_UV_ERROR(req, UV_ENOMEM, ERROR_OUTOFMEMORY);
+ goto error;
+ }
+
+ _snwprintf(find_path, len + 3, fmt, pathw);
+ dir->dir_handle = FindFirstFileW(find_path, &dir->find_data);
+ uv__free(find_path);
+ find_path = NULL;
+ if (dir->dir_handle == INVALID_HANDLE_VALUE &&
+ GetLastError() != ERROR_FILE_NOT_FOUND) {
+ SET_REQ_WIN32_ERROR(req, GetLastError());
+ goto error;
+ }
+
+ dir->need_find_call = FALSE;
+ req->ptr = dir;
+ SET_REQ_RESULT(req, 0);
+ return;
+
+error:
+ uv__free(dir);
+ uv__free(find_path);
+ req->ptr = NULL;
+}
+
+void fs__readdir(uv_fs_t* req) {
+ uv_dir_t* dir;
+ uv_dirent_t* dirents;
+ uv__dirent_t dent;
+ unsigned int dirent_idx;
+ PWIN32_FIND_DATAW find_data;
+ unsigned int i;
+ int r;
+
+ req->flags |= UV_FS_FREE_PTR;
+ dir = (uv_dir_t*)req->ptr;
+ dirents = dir->dirents;
+ memset(dirents, 0, dir->nentries * sizeof(*dir->dirents));
+ find_data = &dir->find_data;
+ dirent_idx = 0;
+
+ while (dirent_idx < dir->nentries) {
+ if (dir->need_find_call && FindNextFileW(dir->dir_handle, find_data) == 0) {
+ if (GetLastError() == ERROR_NO_MORE_FILES)
+ break;
+ goto error;
+ }
+
+ /* Skip "." and ".." entries. */
+ if (find_data->cFileName[0] == L'.' &&
+ (find_data->cFileName[1] == L'\0' ||
+ (find_data->cFileName[1] == L'.' &&
+ find_data->cFileName[2] == L'\0'))) {
+ dir->need_find_call = TRUE;
+ continue;
+ }
+
+ r = uv__convert_utf16_to_utf8((const WCHAR*) &find_data->cFileName,
+ -1,
+ (char**) &dirents[dirent_idx].name);
+ if (r != 0)
+ goto error;
+
+ /* Copy file type. */
+ if ((find_data->dwFileAttributes & FILE_ATTRIBUTE_DIRECTORY) != 0)
+ dent.d_type = UV__DT_DIR;
+ else if ((find_data->dwFileAttributes & FILE_ATTRIBUTE_REPARSE_POINT) != 0)
+ dent.d_type = UV__DT_LINK;
+ else if ((find_data->dwFileAttributes & FILE_ATTRIBUTE_DEVICE) != 0)
+ dent.d_type = UV__DT_CHAR;
+ else
+ dent.d_type = UV__DT_FILE;
+
+ dirents[dirent_idx].type = uv__fs_get_dirent_type(&dent);
+ dir->need_find_call = TRUE;
+ ++dirent_idx;
+ }
+
+ SET_REQ_RESULT(req, dirent_idx);
+ return;
+
+error:
+ SET_REQ_WIN32_ERROR(req, GetLastError());
+ for (i = 0; i < dirent_idx; ++i) {
+ uv__free((char*) dirents[i].name);
+ dirents[i].name = NULL;
+ }
+}
+
+void fs__closedir(uv_fs_t* req) {
+ uv_dir_t* dir;
+
+ dir = (uv_dir_t*)req->ptr;
+ FindClose(dir->dir_handle);
+ uv__free(req->ptr);
+ SET_REQ_RESULT(req, 0);
+}
+
+INLINE static int fs__stat_handle(HANDLE handle, uv_stat_t* statbuf,
+ int do_lstat) {
+ FILE_ALL_INFORMATION file_info;
+ FILE_FS_VOLUME_INFORMATION volume_info;
+ NTSTATUS nt_status;
+ IO_STATUS_BLOCK io_status;
+
+ nt_status = pNtQueryInformationFile(handle,
+ &io_status,
+ &file_info,
+ sizeof file_info,
+ FileAllInformation);
+
+ /* Buffer overflow (a warning status code) is expected here. */
+ if (NT_ERROR(nt_status)) {
+ SetLastError(pRtlNtStatusToDosError(nt_status));
+ return -1;
+ }
+
+ nt_status = pNtQueryVolumeInformationFile(handle,
+ &io_status,
+ &volume_info,
+ sizeof volume_info,
+ FileFsVolumeInformation);
+
+ /* Buffer overflow (a warning status code) is expected here. */
+ if (io_status.Status == STATUS_NOT_IMPLEMENTED) {
+ statbuf->st_dev = 0;
+ } else if (NT_ERROR(nt_status)) {
+ SetLastError(pRtlNtStatusToDosError(nt_status));
+ return -1;
+ } else {
+ statbuf->st_dev = volume_info.VolumeSerialNumber;
+ }
+
+ /* Todo: st_mode should probably always be 0666 for everyone. We might also
+ * want to report 0777 if the file is a .exe or a directory.
+ *
+ * Currently it's based on whether the 'readonly' attribute is set, which
+ * makes little sense because the semantics are so different: the 'read-only'
+ * flag is just a way for a user to protect against accidental deletion, and
+ * serves no security purpose. Windows uses ACLs for that.
+ *
+ * Also people now use uv_fs_chmod() to take away the writable bit for good
+ * reasons. Windows however just makes the file read-only, which makes it
+ * impossible to delete the file afterwards, since read-only files can't be
+ * deleted.
+ *
+ * IOW it's all just a clusterfuck and we should think of something that
+ * makes slightly more sense.
+ *
+ * And uv_fs_chmod should probably just fail on windows or be a total no-op.
+ * There's nothing sensible it can do anyway.
+ */
+ statbuf->st_mode = 0;
+
+ /*
+ * On Windows, FILE_ATTRIBUTE_REPARSE_POINT is a general purpose mechanism
+ * by which filesystem drivers can intercept and alter file system requests.
+ *
+ * The only reparse points we care about are symlinks and mount points, both
+ * of which are treated as POSIX symlinks. Further, we only care when
+ * invoked via lstat, which seeks information about the link instead of its
+ * target. Otherwise, reparse points must be treated as regular files.
+ */
+ if (do_lstat &&
+ (file_info.BasicInformation.FileAttributes & FILE_ATTRIBUTE_REPARSE_POINT)) {
+ /*
+ * If reading the link fails, the reparse point is not a symlink and needs
+ * to be treated as a regular file. The higher level lstat function will
+ * detect this failure and retry without do_lstat if appropriate.
+ */
+ if (fs__readlink_handle(handle, NULL, &statbuf->st_size) != 0)
+ return -1;
+ statbuf->st_mode |= S_IFLNK;
+ }
+
+ if (statbuf->st_mode == 0) {
+ if (file_info.BasicInformation.FileAttributes & FILE_ATTRIBUTE_DIRECTORY) {
+ statbuf->st_mode |= _S_IFDIR;
+ statbuf->st_size = 0;
+ } else {
+ statbuf->st_mode |= _S_IFREG;
+ statbuf->st_size = file_info.StandardInformation.EndOfFile.QuadPart;
+ }
+ }
+
+ if (file_info.BasicInformation.FileAttributes & FILE_ATTRIBUTE_READONLY)
+ statbuf->st_mode |= _S_IREAD | (_S_IREAD >> 3) | (_S_IREAD >> 6);
+ else
+ statbuf->st_mode |= (_S_IREAD | _S_IWRITE) | ((_S_IREAD | _S_IWRITE) >> 3) |
+ ((_S_IREAD | _S_IWRITE) >> 6);
+
+ FILETIME_TO_TIMESPEC(statbuf->st_atim, file_info.BasicInformation.LastAccessTime);
+ FILETIME_TO_TIMESPEC(statbuf->st_ctim, file_info.BasicInformation.ChangeTime);
+ FILETIME_TO_TIMESPEC(statbuf->st_mtim, file_info.BasicInformation.LastWriteTime);
+ FILETIME_TO_TIMESPEC(statbuf->st_birthtim, file_info.BasicInformation.CreationTime);
+
+ statbuf->st_ino = file_info.InternalInformation.IndexNumber.QuadPart;
+
+ /* st_blocks contains the on-disk allocation size in 512-byte units. */
+ statbuf->st_blocks =
+ (uint64_t) file_info.StandardInformation.AllocationSize.QuadPart >> 9;
+
+ statbuf->st_nlink = file_info.StandardInformation.NumberOfLinks;
+
+ /* The st_blksize is supposed to be the 'optimal' number of bytes for reading
+ * and writing to the disk. That is, for any definition of 'optimal' - it's
+ * supposed to at least avoid read-update-write behavior when writing to the
+ * disk.
+ *
+ * However nobody knows this and even fewer people actually use this value,
+ * and in order to fill it out we'd have to make another syscall to query the
+ * volume for FILE_FS_SECTOR_SIZE_INFORMATION.
+ *
+ * Therefore we'll just report a sensible value that's quite commonly okay
+ * on modern hardware.
+ *
+ * 4096 is the minimum required to be compatible with newer Advanced Format
+ * drives (which have 4096 bytes per physical sector), and to be backwards
+ * compatible with older drives (which have 512 bytes per physical sector).
+ */
+ statbuf->st_blksize = 4096;
+
+ /* Todo: set st_flags to something meaningful. Also provide a wrapper for
+ * chattr(2).
+ */
+ statbuf->st_flags = 0;
+
+ /* Windows has nothing sensible to say about these values, so they'll just
+ * remain empty.
+ */
+ statbuf->st_gid = 0;
+ statbuf->st_uid = 0;
+ statbuf->st_rdev = 0;
+ statbuf->st_gen = 0;
+
+ return 0;
+}
+
+
+INLINE static void fs__stat_prepare_path(WCHAR* pathw) {
+ size_t len = wcslen(pathw);
+
+ /* TODO: ignore namespaced paths. */
+ if (len > 1 && pathw[len - 2] != L':' &&
+ (pathw[len - 1] == L'\\' || pathw[len - 1] == L'/')) {
+ pathw[len - 1] = '\0';
+ }
+}
+
+
+INLINE static DWORD fs__stat_impl_from_path(WCHAR* path,
+ int do_lstat,
+ uv_stat_t* statbuf) {
+ HANDLE handle;
+ DWORD flags;
+ DWORD ret;
+
+ flags = FILE_FLAG_BACKUP_SEMANTICS;
+ if (do_lstat)
+ flags |= FILE_FLAG_OPEN_REPARSE_POINT;
+
+ handle = CreateFileW(path,
+ FILE_READ_ATTRIBUTES,
+ FILE_SHARE_READ | FILE_SHARE_WRITE | FILE_SHARE_DELETE,
+ NULL,
+ OPEN_EXISTING,
+ flags,
+ NULL);
+
+ if (handle == INVALID_HANDLE_VALUE)
+ ret = GetLastError();
+ else if (fs__stat_handle(handle, statbuf, do_lstat) != 0)
+ ret = GetLastError();
+ else
+ ret = 0;
+
+ CloseHandle(handle);
+ return ret;
+}
+
+
+INLINE static void fs__stat_impl(uv_fs_t* req, int do_lstat) {
+ DWORD error;
+
+ error = fs__stat_impl_from_path(req->file.pathw, do_lstat, &req->statbuf);
+ if (error != 0) {
+ if (do_lstat &&
+ (error == ERROR_SYMLINK_NOT_SUPPORTED ||
+ error == ERROR_NOT_A_REPARSE_POINT)) {
+ /* We opened a reparse point but it was not a symlink. Try again. */
+ fs__stat_impl(req, 0);
+ } else {
+ /* Stat failed. */
+ SET_REQ_WIN32_ERROR(req, error);
+ }
+
+ return;
+ }
+
+ req->ptr = &req->statbuf;
+ req->result = 0;
+}
+
+
+static void fs__stat(uv_fs_t* req) {
+ fs__stat_prepare_path(req->file.pathw);
+ fs__stat_impl(req, 0);
+}
+
+
+static void fs__lstat(uv_fs_t* req) {
+ fs__stat_prepare_path(req->file.pathw);
+ fs__stat_impl(req, 1);
+}
+
+
+static void fs__fstat(uv_fs_t* req) {
+ int fd = req->file.fd;
+ HANDLE handle;
+
+ VERIFY_FD(fd, req);
+
+ handle = uv__get_osfhandle(fd);
+
+ if (handle == INVALID_HANDLE_VALUE) {
+ SET_REQ_WIN32_ERROR(req, ERROR_INVALID_HANDLE);
+ return;
+ }
+
+ if (fs__stat_handle(handle, &req->statbuf, 0) != 0) {
+ SET_REQ_WIN32_ERROR(req, GetLastError());
+ return;
+ }
+
+ req->ptr = &req->statbuf;
+ req->result = 0;
+}
+
+
+static void fs__rename(uv_fs_t* req) {
+ if (!MoveFileExW(req->file.pathw, req->fs.info.new_pathw, MOVEFILE_REPLACE_EXISTING)) {
+ SET_REQ_WIN32_ERROR(req, GetLastError());
+ return;
+ }
+
+ SET_REQ_RESULT(req, 0);
+}
+
+
+INLINE static void fs__sync_impl(uv_fs_t* req) {
+ int fd = req->file.fd;
+ int result;
+
+ VERIFY_FD(fd, req);
+
+ result = FlushFileBuffers(uv__get_osfhandle(fd)) ? 0 : -1;
+ if (result == -1) {
+ SET_REQ_WIN32_ERROR(req, GetLastError());
+ } else {
+ SET_REQ_RESULT(req, result);
+ }
+}
+
+
+static void fs__fsync(uv_fs_t* req) {
+ fs__sync_impl(req);
+}
+
+
+static void fs__fdatasync(uv_fs_t* req) {
+ fs__sync_impl(req);
+}
+
+
+static void fs__ftruncate(uv_fs_t* req) {
+ int fd = req->file.fd;
+ HANDLE handle;
+ NTSTATUS status;
+ IO_STATUS_BLOCK io_status;
+ FILE_END_OF_FILE_INFORMATION eof_info;
+
+ VERIFY_FD(fd, req);
+
+ handle = uv__get_osfhandle(fd);
+
+ eof_info.EndOfFile.QuadPart = req->fs.info.offset;
+
+ status = pNtSetInformationFile(handle,
+ &io_status,
+ &eof_info,
+ sizeof eof_info,
+ FileEndOfFileInformation);
+
+ if (NT_SUCCESS(status)) {
+ SET_REQ_RESULT(req, 0);
+ } else {
+ SET_REQ_WIN32_ERROR(req, pRtlNtStatusToDosError(status));
+ }
+}
+
+
+static void fs__copyfile(uv_fs_t* req) {
+ int flags;
+ int overwrite;
+ uv_stat_t statbuf;
+ uv_stat_t new_statbuf;
+
+ flags = req->fs.info.file_flags;
+
+ if (flags & UV_FS_COPYFILE_FICLONE_FORCE) {
+ SET_REQ_UV_ERROR(req, UV_ENOSYS, ERROR_NOT_SUPPORTED);
+ return;
+ }
+
+ overwrite = flags & UV_FS_COPYFILE_EXCL;
+
+ if (CopyFileW(req->file.pathw, req->fs.info.new_pathw, overwrite) != 0) {
+ SET_REQ_RESULT(req, 0);
+ return;
+ }
+
+ SET_REQ_WIN32_ERROR(req, GetLastError());
+ if (req->result != UV_EBUSY)
+ return;
+
+ /* if error UV_EBUSY check if src and dst file are the same */
+ if (fs__stat_impl_from_path(req->file.pathw, 0, &statbuf) != 0 ||
+ fs__stat_impl_from_path(req->fs.info.new_pathw, 0, &new_statbuf) != 0) {
+ return;
+ }
+
+ if (statbuf.st_dev == new_statbuf.st_dev &&
+ statbuf.st_ino == new_statbuf.st_ino) {
+ SET_REQ_RESULT(req, 0);
+ }
+}
+
+
+static void fs__sendfile(uv_fs_t* req) {
+ int fd_in = req->file.fd, fd_out = req->fs.info.fd_out;
+ size_t length = req->fs.info.bufsml[0].len;
+ int64_t offset = req->fs.info.offset;
+ const size_t max_buf_size = 65536;
+ size_t buf_size = length < max_buf_size ? length : max_buf_size;
+ int n, result = 0;
+ int64_t result_offset = 0;
+ char* buf = (char*) uv__malloc(buf_size);
+ if (!buf) {
+ uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
+ }
+
+ if (offset != -1) {
+ result_offset = _lseeki64(fd_in, offset, SEEK_SET);
+ }
+
+ if (result_offset == -1) {
+ result = -1;
+ } else {
+ while (length > 0) {
+ n = _read(fd_in, buf, length < buf_size ? length : buf_size);
+ if (n == 0) {
+ break;
+ } else if (n == -1) {
+ result = -1;
+ break;
+ }
+
+ length -= n;
+
+ n = _write(fd_out, buf, n);
+ if (n == -1) {
+ result = -1;
+ break;
+ }
+
+ result += n;
+ }
+ }
+
+ uv__free(buf);
+
+ SET_REQ_RESULT(req, result);
+}
+
+
+static void fs__access(uv_fs_t* req) {
+ DWORD attr = GetFileAttributesW(req->file.pathw);
+
+ if (attr == INVALID_FILE_ATTRIBUTES) {
+ SET_REQ_WIN32_ERROR(req, GetLastError());
+ return;
+ }
+
+ /*
+ * Access is possible if
+ * - write access wasn't requested,
+ * - or the file isn't read-only,
+ * - or it's a directory.
+ * (Directories cannot be read-only on Windows.)
+ */
+ if (!(req->fs.info.mode & W_OK) ||
+ !(attr & FILE_ATTRIBUTE_READONLY) ||
+ (attr & FILE_ATTRIBUTE_DIRECTORY)) {
+ SET_REQ_RESULT(req, 0);
+ } else {
+ SET_REQ_WIN32_ERROR(req, UV_EPERM);
+ }
+
+}
+
+
+static void fs__chmod(uv_fs_t* req) {
+ int result = _wchmod(req->file.pathw, req->fs.info.mode);
+ SET_REQ_RESULT(req, result);
+}
+
+
+static void fs__fchmod(uv_fs_t* req) {
+ int fd = req->file.fd;
+ int clear_archive_flag;
+ HANDLE handle;
+ NTSTATUS nt_status;
+ IO_STATUS_BLOCK io_status;
+ FILE_BASIC_INFORMATION file_info;
+
+ VERIFY_FD(fd, req);
+
+ handle = ReOpenFile(uv__get_osfhandle(fd), FILE_WRITE_ATTRIBUTES, 0, 0);
+ if (handle == INVALID_HANDLE_VALUE) {
+ SET_REQ_WIN32_ERROR(req, GetLastError());
+ return;
+ }
+
+ nt_status = pNtQueryInformationFile(handle,
+ &io_status,
+ &file_info,
+ sizeof file_info,
+ FileBasicInformation);
+
+ if (!NT_SUCCESS(nt_status)) {
+ SET_REQ_WIN32_ERROR(req, pRtlNtStatusToDosError(nt_status));
+ goto fchmod_cleanup;
+ }
+
+ /* Test if the Archive attribute is cleared */
+ if ((file_info.FileAttributes & FILE_ATTRIBUTE_ARCHIVE) == 0) {
+ /* Set Archive flag, otherwise setting or clearing the read-only
+ flag will not work */
+ file_info.FileAttributes |= FILE_ATTRIBUTE_ARCHIVE;
+ nt_status = pNtSetInformationFile(handle,
+ &io_status,
+ &file_info,
+ sizeof file_info,
+ FileBasicInformation);
+ if (!NT_SUCCESS(nt_status)) {
+ SET_REQ_WIN32_ERROR(req, pRtlNtStatusToDosError(nt_status));
+ goto fchmod_cleanup;
+ }
+ /* Remeber to clear the flag later on */
+ clear_archive_flag = 1;
+ } else {
+ clear_archive_flag = 0;
+ }
+
+ if (req->fs.info.mode & _S_IWRITE) {
+ file_info.FileAttributes &= ~FILE_ATTRIBUTE_READONLY;
+ } else {
+ file_info.FileAttributes |= FILE_ATTRIBUTE_READONLY;
+ }
+
+ nt_status = pNtSetInformationFile(handle,
+ &io_status,
+ &file_info,
+ sizeof file_info,
+ FileBasicInformation);
+
+ if (!NT_SUCCESS(nt_status)) {
+ SET_REQ_WIN32_ERROR(req, pRtlNtStatusToDosError(nt_status));
+ goto fchmod_cleanup;
+ }
+
+ if (clear_archive_flag) {
+ file_info.FileAttributes &= ~FILE_ATTRIBUTE_ARCHIVE;
+ if (file_info.FileAttributes == 0) {
+ file_info.FileAttributes = FILE_ATTRIBUTE_NORMAL;
+ }
+ nt_status = pNtSetInformationFile(handle,
+ &io_status,
+ &file_info,
+ sizeof file_info,
+ FileBasicInformation);
+ if (!NT_SUCCESS(nt_status)) {
+ SET_REQ_WIN32_ERROR(req, pRtlNtStatusToDosError(nt_status));
+ goto fchmod_cleanup;
+ }
+ }
+
+ SET_REQ_SUCCESS(req);
+fchmod_cleanup:
+ CloseHandle(handle);
+}
+
+
+INLINE static int fs__utime_handle(HANDLE handle, double atime, double mtime) {
+ FILETIME filetime_a, filetime_m;
+
+ TIME_T_TO_FILETIME(atime, &filetime_a);
+ TIME_T_TO_FILETIME(mtime, &filetime_m);
+
+ if (!SetFileTime(handle, NULL, &filetime_a, &filetime_m)) {
+ return -1;
+ }
+
+ return 0;
+}
+
+
+static void fs__utime(uv_fs_t* req) {
+ HANDLE handle;
+
+ handle = CreateFileW(req->file.pathw,
+ FILE_WRITE_ATTRIBUTES,
+ FILE_SHARE_READ | FILE_SHARE_WRITE | FILE_SHARE_DELETE,
+ NULL,
+ OPEN_EXISTING,
+ FILE_FLAG_BACKUP_SEMANTICS,
+ NULL);
+
+ if (handle == INVALID_HANDLE_VALUE) {
+ SET_REQ_WIN32_ERROR(req, GetLastError());
+ return;
+ }
+
+ if (fs__utime_handle(handle, req->fs.time.atime, req->fs.time.mtime) != 0) {
+ SET_REQ_WIN32_ERROR(req, GetLastError());
+ CloseHandle(handle);
+ return;
+ }
+
+ CloseHandle(handle);
+
+ req->result = 0;
+}
+
+
+static void fs__futime(uv_fs_t* req) {
+ int fd = req->file.fd;
+ HANDLE handle;
+ VERIFY_FD(fd, req);
+
+ handle = uv__get_osfhandle(fd);
+
+ if (handle == INVALID_HANDLE_VALUE) {
+ SET_REQ_WIN32_ERROR(req, ERROR_INVALID_HANDLE);
+ return;
+ }
+
+ if (fs__utime_handle(handle, req->fs.time.atime, req->fs.time.mtime) != 0) {
+ SET_REQ_WIN32_ERROR(req, GetLastError());
+ return;
+ }
+
+ req->result = 0;
+}
+
+
+static void fs__link(uv_fs_t* req) {
+ DWORD r = CreateHardLinkW(req->fs.info.new_pathw, req->file.pathw, NULL);
+ if (r == 0) {
+ SET_REQ_WIN32_ERROR(req, GetLastError());
+ } else {
+ req->result = 0;
+ }
+}
+
+
+static void fs__create_junction(uv_fs_t* req, const WCHAR* path,
+ const WCHAR* new_path) {
+ HANDLE handle = INVALID_HANDLE_VALUE;
+ REPARSE_DATA_BUFFER *buffer = NULL;
+ int created = 0;
+ int target_len;
+ int is_absolute, is_long_path;
+ int needed_buf_size, used_buf_size, used_data_size, path_buf_len;
+ int start, len, i;
+ int add_slash;
+ DWORD bytes;
+ WCHAR* path_buf;
+
+ target_len = wcslen(path);
+ is_long_path = wcsncmp(path, LONG_PATH_PREFIX, LONG_PATH_PREFIX_LEN) == 0;
+
+ if (is_long_path) {
+ is_absolute = 1;
+ } else {
+ is_absolute = target_len >= 3 && IS_LETTER(path[0]) &&
+ path[1] == L':' && IS_SLASH(path[2]);
+ }
+
+ if (!is_absolute) {
+ /* Not supporting relative paths */
+ SET_REQ_UV_ERROR(req, UV_EINVAL, ERROR_NOT_SUPPORTED);
+ return;
+ }
+
+ /* Do a pessimistic calculation of the required buffer size */
+ needed_buf_size =
+ FIELD_OFFSET(REPARSE_DATA_BUFFER, MountPointReparseBuffer.PathBuffer) +
+ JUNCTION_PREFIX_LEN * sizeof(WCHAR) +
+ 2 * (target_len + 2) * sizeof(WCHAR);
+
+ /* Allocate the buffer */
+ buffer = (REPARSE_DATA_BUFFER*)uv__malloc(needed_buf_size);
+ if (!buffer) {
+ uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
+ }
+
+ /* Grab a pointer to the part of the buffer where filenames go */
+ path_buf = (WCHAR*)&(buffer->MountPointReparseBuffer.PathBuffer);
+ path_buf_len = 0;
+
+ /* Copy the substitute (internal) target path */
+ start = path_buf_len;
+
+ wcsncpy((WCHAR*)&path_buf[path_buf_len], JUNCTION_PREFIX,
+ JUNCTION_PREFIX_LEN);
+ path_buf_len += JUNCTION_PREFIX_LEN;
+
+ add_slash = 0;
+ for (i = is_long_path ? LONG_PATH_PREFIX_LEN : 0; path[i] != L'\0'; i++) {
+ if (IS_SLASH(path[i])) {
+ add_slash = 1;
+ continue;
+ }
+
+ if (add_slash) {
+ path_buf[path_buf_len++] = L'\\';
+ add_slash = 0;
+ }
+
+ path_buf[path_buf_len++] = path[i];
+ }
+ path_buf[path_buf_len++] = L'\\';
+ len = path_buf_len - start;
+
+ /* Set the info about the substitute name */
+ buffer->MountPointReparseBuffer.SubstituteNameOffset = start * sizeof(WCHAR);
+ buffer->MountPointReparseBuffer.SubstituteNameLength = len * sizeof(WCHAR);
+
+ /* Insert null terminator */
+ path_buf[path_buf_len++] = L'\0';
+
+ /* Copy the print name of the target path */
+ start = path_buf_len;
+ add_slash = 0;
+ for (i = is_long_path ? LONG_PATH_PREFIX_LEN : 0; path[i] != L'\0'; i++) {
+ if (IS_SLASH(path[i])) {
+ add_slash = 1;
+ continue;
+ }
+
+ if (add_slash) {
+ path_buf[path_buf_len++] = L'\\';
+ add_slash = 0;
+ }
+
+ path_buf[path_buf_len++] = path[i];
+ }
+ len = path_buf_len - start;
+ if (len == 2) {
+ path_buf[path_buf_len++] = L'\\';
+ len++;
+ }
+
+ /* Set the info about the print name */
+ buffer->MountPointReparseBuffer.PrintNameOffset = start * sizeof(WCHAR);
+ buffer->MountPointReparseBuffer.PrintNameLength = len * sizeof(WCHAR);
+
+ /* Insert another null terminator */
+ path_buf[path_buf_len++] = L'\0';
+
+ /* Calculate how much buffer space was actually used */
+ used_buf_size = FIELD_OFFSET(REPARSE_DATA_BUFFER, MountPointReparseBuffer.PathBuffer) +
+ path_buf_len * sizeof(WCHAR);
+ used_data_size = used_buf_size -
+ FIELD_OFFSET(REPARSE_DATA_BUFFER, MountPointReparseBuffer);
+
+ /* Put general info in the data buffer */
+ buffer->ReparseTag = IO_REPARSE_TAG_MOUNT_POINT;
+ buffer->ReparseDataLength = used_data_size;
+ buffer->Reserved = 0;
+
+ /* Create a new directory */
+ if (!CreateDirectoryW(new_path, NULL)) {
+ SET_REQ_WIN32_ERROR(req, GetLastError());
+ goto error;
+ }
+ created = 1;
+
+ /* Open the directory */
+ handle = CreateFileW(new_path,
+ GENERIC_WRITE,
+ 0,
+ NULL,
+ OPEN_EXISTING,
+ FILE_FLAG_BACKUP_SEMANTICS |
+ FILE_FLAG_OPEN_REPARSE_POINT,
+ NULL);
+ if (handle == INVALID_HANDLE_VALUE) {
+ SET_REQ_WIN32_ERROR(req, GetLastError());
+ goto error;
+ }
+
+ /* Create the actual reparse point */
+ if (!DeviceIoControl(handle,
+ FSCTL_SET_REPARSE_POINT,
+ buffer,
+ used_buf_size,
+ NULL,
+ 0,
+ &bytes,
+ NULL)) {
+ SET_REQ_WIN32_ERROR(req, GetLastError());
+ goto error;
+ }
+
+ /* Clean up */
+ CloseHandle(handle);
+ uv__free(buffer);
+
+ SET_REQ_RESULT(req, 0);
+ return;
+
+error:
+ uv__free(buffer);
+
+ if (handle != INVALID_HANDLE_VALUE) {
+ CloseHandle(handle);
+ }
+
+ if (created) {
+ RemoveDirectoryW(new_path);
+ }
+}
+
+
+static void fs__symlink(uv_fs_t* req) {
+ WCHAR* pathw;
+ WCHAR* new_pathw;
+ int flags;
+ int err;
+
+ pathw = req->file.pathw;
+ new_pathw = req->fs.info.new_pathw;
+
+ if (req->fs.info.file_flags & UV_FS_SYMLINK_JUNCTION) {
+ fs__create_junction(req, pathw, new_pathw);
+ return;
+ }
+
+ if (req->fs.info.file_flags & UV_FS_SYMLINK_DIR)
+ flags = SYMBOLIC_LINK_FLAG_DIRECTORY | uv__file_symlink_usermode_flag;
+ else
+ flags = uv__file_symlink_usermode_flag;
+
+ if (CreateSymbolicLinkW(new_pathw, pathw, flags)) {
+ SET_REQ_RESULT(req, 0);
+ return;
+ }
+
+ /* Something went wrong. We will test if it is because of user-mode
+ * symlinks.
+ */
+ err = GetLastError();
+ if (err == ERROR_INVALID_PARAMETER &&
+ flags & SYMBOLIC_LINK_FLAG_ALLOW_UNPRIVILEGED_CREATE) {
+ /* This system does not support user-mode symlinks. We will clear the
+ * unsupported flag and retry.
+ */
+ uv__file_symlink_usermode_flag = 0;
+ fs__symlink(req);
+ } else {
+ SET_REQ_WIN32_ERROR(req, err);
+ }
+}
+
+
+static void fs__readlink(uv_fs_t* req) {
+ HANDLE handle;
+
+ handle = CreateFileW(req->file.pathw,
+ 0,
+ 0,
+ NULL,
+ OPEN_EXISTING,
+ FILE_FLAG_OPEN_REPARSE_POINT | FILE_FLAG_BACKUP_SEMANTICS,
+ NULL);
+
+ if (handle == INVALID_HANDLE_VALUE) {
+ SET_REQ_WIN32_ERROR(req, GetLastError());
+ return;
+ }
+
+ if (fs__readlink_handle(handle, (char**) &req->ptr, NULL) != 0) {
+ SET_REQ_WIN32_ERROR(req, GetLastError());
+ CloseHandle(handle);
+ return;
+ }
+
+ req->flags |= UV_FS_FREE_PTR;
+ SET_REQ_RESULT(req, 0);
+
+ CloseHandle(handle);
+}
+
+
+static ssize_t fs__realpath_handle(HANDLE handle, char** realpath_ptr) {
+ int r;
+ DWORD w_realpath_len;
+ WCHAR* w_realpath_ptr = NULL;
+ WCHAR* w_realpath_buf;
+
+ w_realpath_len = GetFinalPathNameByHandleW(handle, NULL, 0, VOLUME_NAME_DOS);
+ if (w_realpath_len == 0) {
+ return -1;
+ }
+
+ w_realpath_buf = (WCHAR*)uv__malloc((w_realpath_len + 1) * sizeof(WCHAR));
+ if (w_realpath_buf == NULL) {
+ SetLastError(ERROR_OUTOFMEMORY);
+ return -1;
+ }
+ w_realpath_ptr = w_realpath_buf;
+
+ if (GetFinalPathNameByHandleW(
+ handle, w_realpath_ptr, w_realpath_len, VOLUME_NAME_DOS) == 0) {
+ uv__free(w_realpath_buf);
+ SetLastError(ERROR_INVALID_HANDLE);
+ return -1;
+ }
+
+ /* convert UNC path to long path */
+ if (wcsncmp(w_realpath_ptr,
+ UNC_PATH_PREFIX,
+ UNC_PATH_PREFIX_LEN) == 0) {
+ w_realpath_ptr += 6;
+ *w_realpath_ptr = L'\\';
+ w_realpath_len -= 6;
+ } else if (wcsncmp(w_realpath_ptr,
+ LONG_PATH_PREFIX,
+ LONG_PATH_PREFIX_LEN) == 0) {
+ w_realpath_ptr += 4;
+ w_realpath_len -= 4;
+ } else {
+ uv__free(w_realpath_buf);
+ SetLastError(ERROR_INVALID_HANDLE);
+ return -1;
+ }
+
+ r = fs__wide_to_utf8(w_realpath_ptr, w_realpath_len, realpath_ptr, NULL);
+ uv__free(w_realpath_buf);
+ return r;
+}
+
+static void fs__realpath(uv_fs_t* req) {
+ HANDLE handle;
+
+ handle = CreateFileW(req->file.pathw,
+ 0,
+ 0,
+ NULL,
+ OPEN_EXISTING,
+ FILE_ATTRIBUTE_NORMAL | FILE_FLAG_BACKUP_SEMANTICS,
+ NULL);
+ if (handle == INVALID_HANDLE_VALUE) {
+ SET_REQ_WIN32_ERROR(req, GetLastError());
+ return;
+ }
+
+ if (fs__realpath_handle(handle, (char**) &req->ptr) == -1) {
+ CloseHandle(handle);
+ SET_REQ_WIN32_ERROR(req, GetLastError());
+ return;
+ }
+
+ CloseHandle(handle);
+ req->flags |= UV_FS_FREE_PTR;
+ SET_REQ_RESULT(req, 0);
+}
+
+
+static void fs__chown(uv_fs_t* req) {
+ req->result = 0;
+}
+
+
+static void fs__fchown(uv_fs_t* req) {
+ req->result = 0;
+}
+
+
+static void fs__lchown(uv_fs_t* req) {
+ req->result = 0;
+}
+
+static void uv__fs_work(struct uv__work* w) {
+ uv_fs_t* req;
+
+ req = container_of(w, uv_fs_t, work_req);
+ assert(req->type == UV_FS);
+
+#define XX(uc, lc) case UV_FS_##uc: fs__##lc(req); break;
+ switch (req->fs_type) {
+ XX(OPEN, open)
+ XX(CLOSE, close)
+ XX(READ, read)
+ XX(WRITE, write)
+ XX(COPYFILE, copyfile)
+ XX(SENDFILE, sendfile)
+ XX(STAT, stat)
+ XX(LSTAT, lstat)
+ XX(FSTAT, fstat)
+ XX(FTRUNCATE, ftruncate)
+ XX(UTIME, utime)
+ XX(FUTIME, futime)
+ XX(ACCESS, access)
+ XX(CHMOD, chmod)
+ XX(FCHMOD, fchmod)
+ XX(FSYNC, fsync)
+ XX(FDATASYNC, fdatasync)
+ XX(UNLINK, unlink)
+ XX(RMDIR, rmdir)
+ XX(MKDIR, mkdir)
+ XX(MKDTEMP, mkdtemp)
+ XX(RENAME, rename)
+ XX(SCANDIR, scandir)
+ XX(READDIR, readdir)
+ XX(OPENDIR, opendir)
+ XX(CLOSEDIR, closedir)
+ XX(LINK, link)
+ XX(SYMLINK, symlink)
+ XX(READLINK, readlink)
+ XX(REALPATH, realpath)
+ XX(CHOWN, chown)
+ XX(FCHOWN, fchown);
+ XX(LCHOWN, lchown);
+ default:
+ assert(!"bad uv_fs_type");
+ }
+}
+
+
+static void uv__fs_done(struct uv__work* w, int status) {
+ uv_fs_t* req;
+
+ req = container_of(w, uv_fs_t, work_req);
+ uv__req_unregister(req->loop, req);
+
+ if (status == UV_ECANCELED) {
+ assert(req->result == 0);
+ req->result = UV_ECANCELED;
+ }
+
+ req->cb(req);
+}
+
+
+void uv_fs_req_cleanup(uv_fs_t* req) {
+ if (req == NULL)
+ return;
+
+ if (req->flags & UV_FS_CLEANEDUP)
+ return;
+
+ if (req->flags & UV_FS_FREE_PATHS)
+ uv__free(req->file.pathw);
+
+ if (req->flags & UV_FS_FREE_PTR) {
+ if (req->fs_type == UV_FS_SCANDIR && req->ptr != NULL)
+ uv__fs_scandir_cleanup(req);
+ else if (req->fs_type == UV_FS_READDIR)
+ uv__fs_readdir_cleanup(req);
+ else
+ uv__free(req->ptr);
+ }
+
+ if (req->fs.info.bufs != req->fs.info.bufsml)
+ uv__free(req->fs.info.bufs);
+
+ req->path = NULL;
+ req->file.pathw = NULL;
+ req->fs.info.new_pathw = NULL;
+ req->fs.info.bufs = NULL;
+ req->ptr = NULL;
+
+ req->flags |= UV_FS_CLEANEDUP;
+}
+
+
+int uv_fs_open(uv_loop_t* loop, uv_fs_t* req, const char* path, int flags,
+ int mode, uv_fs_cb cb) {
+ int err;
+
+ INIT(UV_FS_OPEN);
+ err = fs__capture_path(req, path, NULL, cb != NULL);
+ if (err) {
+ return uv_translate_sys_error(err);
+ }
+
+ req->fs.info.file_flags = flags;
+ req->fs.info.mode = mode;
+ POST;
+}
+
+
+int uv_fs_close(uv_loop_t* loop, uv_fs_t* req, uv_file fd, uv_fs_cb cb) {
+ INIT(UV_FS_CLOSE);
+ req->file.fd = fd;
+ POST;
+}
+
+
+int uv_fs_read(uv_loop_t* loop,
+ uv_fs_t* req,
+ uv_file fd,
+ const uv_buf_t bufs[],
+ unsigned int nbufs,
+ int64_t offset,
+ uv_fs_cb cb) {
+ INIT(UV_FS_READ);
+
+ if (bufs == NULL || nbufs == 0)
+ return UV_EINVAL;
+
+ req->file.fd = fd;
+
+ req->fs.info.nbufs = nbufs;
+ req->fs.info.bufs = req->fs.info.bufsml;
+ if (nbufs > ARRAY_SIZE(req->fs.info.bufsml))
+ req->fs.info.bufs = (uv_buf_t*)uv__malloc(nbufs * sizeof(*bufs));
+
+ if (req->fs.info.bufs == NULL)
+ return UV_ENOMEM;
+
+ memcpy(req->fs.info.bufs, bufs, nbufs * sizeof(*bufs));
+
+ req->fs.info.offset = offset;
+ POST;
+}
+
+
+int uv_fs_write(uv_loop_t* loop,
+ uv_fs_t* req,
+ uv_file fd,
+ const uv_buf_t bufs[],
+ unsigned int nbufs,
+ int64_t offset,
+ uv_fs_cb cb) {
+ INIT(UV_FS_WRITE);
+
+ if (bufs == NULL || nbufs == 0)
+ return UV_EINVAL;
+
+ req->file.fd = fd;
+
+ req->fs.info.nbufs = nbufs;
+ req->fs.info.bufs = req->fs.info.bufsml;
+ if (nbufs > ARRAY_SIZE(req->fs.info.bufsml))
+ req->fs.info.bufs = (uv_buf_t*)uv__malloc(nbufs * sizeof(*bufs));
+
+ if (req->fs.info.bufs == NULL)
+ return UV_ENOMEM;
+
+ memcpy(req->fs.info.bufs, bufs, nbufs * sizeof(*bufs));
+
+ req->fs.info.offset = offset;
+ POST;
+}
+
+
+int uv_fs_unlink(uv_loop_t* loop, uv_fs_t* req, const char* path,
+ uv_fs_cb cb) {
+ int err;
+
+ INIT(UV_FS_UNLINK);
+ err = fs__capture_path(req, path, NULL, cb != NULL);
+ if (err) {
+ return uv_translate_sys_error(err);
+ }
+
+ POST;
+}
+
+
+int uv_fs_mkdir(uv_loop_t* loop, uv_fs_t* req, const char* path, int mode,
+ uv_fs_cb cb) {
+ int err;
+
+ INIT(UV_FS_MKDIR);
+ err = fs__capture_path(req, path, NULL, cb != NULL);
+ if (err) {
+ return uv_translate_sys_error(err);
+ }
+
+ req->fs.info.mode = mode;
+ POST;
+}
+
+
+int uv_fs_mkdtemp(uv_loop_t* loop, uv_fs_t* req, const char* tpl,
+ uv_fs_cb cb) {
+ int err;
+
+ INIT(UV_FS_MKDTEMP);
+ err = fs__capture_path(req, tpl, NULL, TRUE);
+ if (err)
+ return uv_translate_sys_error(err);
+
+ POST;
+}
+
+
+int uv_fs_rmdir(uv_loop_t* loop, uv_fs_t* req, const char* path, uv_fs_cb cb) {
+ int err;
+
+ INIT(UV_FS_RMDIR);
+ err = fs__capture_path(req, path, NULL, cb != NULL);
+ if (err) {
+ return uv_translate_sys_error(err);
+ }
+
+ POST;
+}
+
+
+int uv_fs_scandir(uv_loop_t* loop, uv_fs_t* req, const char* path, int flags,
+ uv_fs_cb cb) {
+ int err;
+
+ INIT(UV_FS_SCANDIR);
+ err = fs__capture_path(req, path, NULL, cb != NULL);
+ if (err) {
+ return uv_translate_sys_error(err);
+ }
+
+ req->fs.info.file_flags = flags;
+ POST;
+}
+
+int uv_fs_opendir(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ uv_fs_cb cb) {
+ int err;
+
+ INIT(UV_FS_OPENDIR);
+ err = fs__capture_path(req, path, NULL, cb != NULL);
+ if (err)
+ return uv_translate_sys_error(err);
+ POST;
+}
+
+int uv_fs_readdir(uv_loop_t* loop,
+ uv_fs_t* req,
+ uv_dir_t* dir,
+ uv_fs_cb cb) {
+ INIT(UV_FS_READDIR);
+
+ if (dir == NULL ||
+ dir->dirents == NULL ||
+ dir->dir_handle == INVALID_HANDLE_VALUE) {
+ return UV_EINVAL;
+ }
+
+ req->ptr = dir;
+ POST;
+}
+
+int uv_fs_closedir(uv_loop_t* loop,
+ uv_fs_t* req,
+ uv_dir_t* dir,
+ uv_fs_cb cb) {
+ INIT(UV_FS_CLOSEDIR);
+ if (dir == NULL)
+ return UV_EINVAL;
+ req->ptr = dir;
+ POST;
+}
+
+int uv_fs_link(uv_loop_t* loop, uv_fs_t* req, const char* path,
+ const char* new_path, uv_fs_cb cb) {
+ int err;
+
+ INIT(UV_FS_LINK);
+ err = fs__capture_path(req, path, new_path, cb != NULL);
+ if (err) {
+ return uv_translate_sys_error(err);
+ }
+
+ POST;
+}
+
+
+int uv_fs_symlink(uv_loop_t* loop, uv_fs_t* req, const char* path,
+ const char* new_path, int flags, uv_fs_cb cb) {
+ int err;
+
+ INIT(UV_FS_SYMLINK);
+ err = fs__capture_path(req, path, new_path, cb != NULL);
+ if (err) {
+ return uv_translate_sys_error(err);
+ }
+
+ req->fs.info.file_flags = flags;
+ POST;
+}
+
+
+int uv_fs_readlink(uv_loop_t* loop, uv_fs_t* req, const char* path,
+ uv_fs_cb cb) {
+ int err;
+
+ INIT(UV_FS_READLINK);
+ err = fs__capture_path(req, path, NULL, cb != NULL);
+ if (err) {
+ return uv_translate_sys_error(err);
+ }
+
+ POST;
+}
+
+
+int uv_fs_realpath(uv_loop_t* loop, uv_fs_t* req, const char* path,
+ uv_fs_cb cb) {
+ int err;
+
+ INIT(UV_FS_REALPATH);
+
+ if (!path) {
+ return UV_EINVAL;
+ }
+
+ err = fs__capture_path(req, path, NULL, cb != NULL);
+ if (err) {
+ return uv_translate_sys_error(err);
+ }
+
+ POST;
+}
+
+
+int uv_fs_chown(uv_loop_t* loop, uv_fs_t* req, const char* path, uv_uid_t uid,
+ uv_gid_t gid, uv_fs_cb cb) {
+ int err;
+
+ INIT(UV_FS_CHOWN);
+ err = fs__capture_path(req, path, NULL, cb != NULL);
+ if (err) {
+ return uv_translate_sys_error(err);
+ }
+
+ POST;
+}
+
+
+int uv_fs_fchown(uv_loop_t* loop, uv_fs_t* req, uv_file fd, uv_uid_t uid,
+ uv_gid_t gid, uv_fs_cb cb) {
+ INIT(UV_FS_FCHOWN);
+ POST;
+}
+
+
+int uv_fs_lchown(uv_loop_t* loop, uv_fs_t* req, const char* path, uv_uid_t uid,
+ uv_gid_t gid, uv_fs_cb cb) {
+ int err;
+
+ INIT(UV_FS_LCHOWN);
+ err = fs__capture_path(req, path, NULL, cb != NULL);
+ if (err) {
+ return uv_translate_sys_error(err);
+ }
+ POST;
+}
+
+
+int uv_fs_stat(uv_loop_t* loop, uv_fs_t* req, const char* path, uv_fs_cb cb) {
+ int err;
+
+ INIT(UV_FS_STAT);
+ err = fs__capture_path(req, path, NULL, cb != NULL);
+ if (err) {
+ return uv_translate_sys_error(err);
+ }
+
+ POST;
+}
+
+
+int uv_fs_lstat(uv_loop_t* loop, uv_fs_t* req, const char* path, uv_fs_cb cb) {
+ int err;
+
+ INIT(UV_FS_LSTAT);
+ err = fs__capture_path(req, path, NULL, cb != NULL);
+ if (err) {
+ return uv_translate_sys_error(err);
+ }
+
+ POST;
+}
+
+
+int uv_fs_fstat(uv_loop_t* loop, uv_fs_t* req, uv_file fd, uv_fs_cb cb) {
+ INIT(UV_FS_FSTAT);
+ req->file.fd = fd;
+ POST;
+}
+
+
+int uv_fs_rename(uv_loop_t* loop, uv_fs_t* req, const char* path,
+ const char* new_path, uv_fs_cb cb) {
+ int err;
+
+ INIT(UV_FS_RENAME);
+ err = fs__capture_path(req, path, new_path, cb != NULL);
+ if (err) {
+ return uv_translate_sys_error(err);
+ }
+
+ POST;
+}
+
+
+int uv_fs_fsync(uv_loop_t* loop, uv_fs_t* req, uv_file fd, uv_fs_cb cb) {
+ INIT(UV_FS_FSYNC);
+ req->file.fd = fd;
+ POST;
+}
+
+
+int uv_fs_fdatasync(uv_loop_t* loop, uv_fs_t* req, uv_file fd, uv_fs_cb cb) {
+ INIT(UV_FS_FDATASYNC);
+ req->file.fd = fd;
+ POST;
+}
+
+
+int uv_fs_ftruncate(uv_loop_t* loop, uv_fs_t* req, uv_file fd,
+ int64_t offset, uv_fs_cb cb) {
+ INIT(UV_FS_FTRUNCATE);
+ req->file.fd = fd;
+ req->fs.info.offset = offset;
+ POST;
+}
+
+
+int uv_fs_copyfile(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ const char* new_path,
+ int flags,
+ uv_fs_cb cb) {
+ int err;
+
+ INIT(UV_FS_COPYFILE);
+
+ if (flags & ~(UV_FS_COPYFILE_EXCL |
+ UV_FS_COPYFILE_FICLONE |
+ UV_FS_COPYFILE_FICLONE_FORCE)) {
+ return UV_EINVAL;
+ }
+
+ err = fs__capture_path(req, path, new_path, cb != NULL);
+
+ if (err)
+ return uv_translate_sys_error(err);
+
+ req->fs.info.file_flags = flags;
+ POST;
+}
+
+
+int uv_fs_sendfile(uv_loop_t* loop, uv_fs_t* req, uv_file fd_out,
+ uv_file fd_in, int64_t in_offset, size_t length, uv_fs_cb cb) {
+ INIT(UV_FS_SENDFILE);
+ req->file.fd = fd_in;
+ req->fs.info.fd_out = fd_out;
+ req->fs.info.offset = in_offset;
+ req->fs.info.bufsml[0].len = length;
+ POST;
+}
+
+
+int uv_fs_access(uv_loop_t* loop,
+ uv_fs_t* req,
+ const char* path,
+ int flags,
+ uv_fs_cb cb) {
+ int err;
+
+ INIT(UV_FS_ACCESS);
+ err = fs__capture_path(req, path, NULL, cb != NULL);
+ if (err)
+ return uv_translate_sys_error(err);
+
+ req->fs.info.mode = flags;
+ POST;
+}
+
+
+int uv_fs_chmod(uv_loop_t* loop, uv_fs_t* req, const char* path, int mode,
+ uv_fs_cb cb) {
+ int err;
+
+ INIT(UV_FS_CHMOD);
+ err = fs__capture_path(req, path, NULL, cb != NULL);
+ if (err) {
+ return uv_translate_sys_error(err);
+ }
+
+ req->fs.info.mode = mode;
+ POST;
+}
+
+
+int uv_fs_fchmod(uv_loop_t* loop, uv_fs_t* req, uv_file fd, int mode,
+ uv_fs_cb cb) {
+ INIT(UV_FS_FCHMOD);
+ req->file.fd = fd;
+ req->fs.info.mode = mode;
+ POST;
+}
+
+
+int uv_fs_utime(uv_loop_t* loop, uv_fs_t* req, const char* path, double atime,
+ double mtime, uv_fs_cb cb) {
+ int err;
+
+ INIT(UV_FS_UTIME);
+ err = fs__capture_path(req, path, NULL, cb != NULL);
+ if (err) {
+ return uv_translate_sys_error(err);
+ }
+
+ req->fs.time.atime = atime;
+ req->fs.time.mtime = mtime;
+ POST;
+}
+
+
+int uv_fs_futime(uv_loop_t* loop, uv_fs_t* req, uv_file fd, double atime,
+ double mtime, uv_fs_cb cb) {
+ INIT(UV_FS_FUTIME);
+ req->file.fd = fd;
+ req->fs.time.atime = atime;
+ req->fs.time.mtime = mtime;
+ POST;
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/getaddrinfo.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/getaddrinfo.cpp
new file mode 100644
index 0000000..dfab860
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/getaddrinfo.cpp
@@ -0,0 +1,463 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include <assert.h>
+
+#include "uv.h"
+#include "internal.h"
+#include "req-inl.h"
+#include "idna.h"
+
+/* EAI_* constants. */
+#include <winsock2.h>
+
+/* Needed for ConvertInterfaceIndexToLuid and ConvertInterfaceLuidToNameA */
+#include <iphlpapi.h>
+
+int uv__getaddrinfo_translate_error(int sys_err) {
+ switch (sys_err) {
+ case 0: return 0;
+ case WSATRY_AGAIN: return UV_EAI_AGAIN;
+ case WSAEINVAL: return UV_EAI_BADFLAGS;
+ case WSANO_RECOVERY: return UV_EAI_FAIL;
+ case WSAEAFNOSUPPORT: return UV_EAI_FAMILY;
+ case WSA_NOT_ENOUGH_MEMORY: return UV_EAI_MEMORY;
+ case WSAHOST_NOT_FOUND: return UV_EAI_NONAME;
+ case WSATYPE_NOT_FOUND: return UV_EAI_SERVICE;
+ case WSAESOCKTNOSUPPORT: return UV_EAI_SOCKTYPE;
+ default: return uv_translate_sys_error(sys_err);
+ }
+}
+
+
+/*
+ * MinGW is missing this
+ */
+#if !defined(_MSC_VER) && !defined(__MINGW64_VERSION_MAJOR)
+ typedef struct addrinfoW {
+ int ai_flags;
+ int ai_family;
+ int ai_socktype;
+ int ai_protocol;
+ size_t ai_addrlen;
+ WCHAR* ai_canonname;
+ struct sockaddr* ai_addr;
+ struct addrinfoW* ai_next;
+ } ADDRINFOW, *PADDRINFOW;
+
+ DECLSPEC_IMPORT int WSAAPI GetAddrInfoW(const WCHAR* node,
+ const WCHAR* service,
+ const ADDRINFOW* hints,
+ PADDRINFOW* result);
+
+ DECLSPEC_IMPORT void WSAAPI FreeAddrInfoW(PADDRINFOW pAddrInfo);
+#endif
+
+
+/* Adjust size value to be multiple of 4. Use to keep pointer aligned.
+ * Do we need different versions of this for different architectures? */
+#define ALIGNED_SIZE(X) ((((X) + 3) >> 2) << 2)
+
+#ifndef NDIS_IF_MAX_STRING_SIZE
+#define NDIS_IF_MAX_STRING_SIZE IF_MAX_STRING_SIZE
+#endif
+
+static void uv__getaddrinfo_work(struct uv__work* w) {
+ uv_getaddrinfo_t* req;
+ struct addrinfoW* hints;
+ int err;
+
+ req = container_of(w, uv_getaddrinfo_t, work_req);
+ hints = req->addrinfow;
+ req->addrinfow = NULL;
+ err = GetAddrInfoW(req->node, req->service, hints, &req->addrinfow);
+ req->retcode = uv__getaddrinfo_translate_error(err);
+}
+
+
+/*
+ * Called from uv_run when complete. Call user specified callback
+ * then free returned addrinfo
+ * Returned addrinfo strings are converted from UTF-16 to UTF-8.
+ *
+ * To minimize allocation we calculate total size required,
+ * and copy all structs and referenced strings into the one block.
+ * Each size calculation is adjusted to avoid unaligned pointers.
+ */
+static void uv__getaddrinfo_done(struct uv__work* w, int status) {
+ uv_getaddrinfo_t* req;
+ int addrinfo_len = 0;
+ int name_len = 0;
+ size_t addrinfo_struct_len = ALIGNED_SIZE(sizeof(struct addrinfo));
+ struct addrinfoW* addrinfow_ptr;
+ struct addrinfo* addrinfo_ptr;
+ char* alloc_ptr = NULL;
+ char* cur_ptr = NULL;
+
+ req = container_of(w, uv_getaddrinfo_t, work_req);
+
+ /* release input parameter memory */
+ uv__free(req->alloc);
+ req->alloc = NULL;
+
+ if (status == UV_ECANCELED) {
+ assert(req->retcode == 0);
+ req->retcode = UV_EAI_CANCELED;
+ goto complete;
+ }
+
+ if (req->retcode == 0) {
+ /* Convert addrinfoW to addrinfo. First calculate required length. */
+ addrinfow_ptr = req->addrinfow;
+ while (addrinfow_ptr != NULL) {
+ addrinfo_len += addrinfo_struct_len +
+ ALIGNED_SIZE(addrinfow_ptr->ai_addrlen);
+ if (addrinfow_ptr->ai_canonname != NULL) {
+ name_len = WideCharToMultiByte(CP_UTF8,
+ 0,
+ addrinfow_ptr->ai_canonname,
+ -1,
+ NULL,
+ 0,
+ NULL,
+ NULL);
+ if (name_len == 0) {
+ req->retcode = uv_translate_sys_error(GetLastError());
+ goto complete;
+ }
+ addrinfo_len += ALIGNED_SIZE(name_len);
+ }
+ addrinfow_ptr = addrinfow_ptr->ai_next;
+ }
+
+ /* allocate memory for addrinfo results */
+ alloc_ptr = (char*)uv__malloc(addrinfo_len);
+
+ /* do conversions */
+ if (alloc_ptr != NULL) {
+ cur_ptr = alloc_ptr;
+ addrinfow_ptr = req->addrinfow;
+
+ while (addrinfow_ptr != NULL) {
+ /* copy addrinfo struct data */
+ assert(cur_ptr + addrinfo_struct_len <= alloc_ptr + addrinfo_len);
+ addrinfo_ptr = (struct addrinfo*)cur_ptr;
+ addrinfo_ptr->ai_family = addrinfow_ptr->ai_family;
+ addrinfo_ptr->ai_socktype = addrinfow_ptr->ai_socktype;
+ addrinfo_ptr->ai_protocol = addrinfow_ptr->ai_protocol;
+ addrinfo_ptr->ai_flags = addrinfow_ptr->ai_flags;
+ addrinfo_ptr->ai_addrlen = addrinfow_ptr->ai_addrlen;
+ addrinfo_ptr->ai_canonname = NULL;
+ addrinfo_ptr->ai_addr = NULL;
+ addrinfo_ptr->ai_next = NULL;
+
+ cur_ptr += addrinfo_struct_len;
+
+ /* copy sockaddr */
+ if (addrinfo_ptr->ai_addrlen > 0) {
+ assert(cur_ptr + addrinfo_ptr->ai_addrlen <=
+ alloc_ptr + addrinfo_len);
+ memcpy(cur_ptr, addrinfow_ptr->ai_addr, addrinfo_ptr->ai_addrlen);
+ addrinfo_ptr->ai_addr = (struct sockaddr*)cur_ptr;
+ cur_ptr += ALIGNED_SIZE(addrinfo_ptr->ai_addrlen);
+ }
+
+ /* convert canonical name to UTF-8 */
+ if (addrinfow_ptr->ai_canonname != NULL) {
+ name_len = WideCharToMultiByte(CP_UTF8,
+ 0,
+ addrinfow_ptr->ai_canonname,
+ -1,
+ NULL,
+ 0,
+ NULL,
+ NULL);
+ assert(name_len > 0);
+ assert(cur_ptr + name_len <= alloc_ptr + addrinfo_len);
+ name_len = WideCharToMultiByte(CP_UTF8,
+ 0,
+ addrinfow_ptr->ai_canonname,
+ -1,
+ cur_ptr,
+ name_len,
+ NULL,
+ NULL);
+ assert(name_len > 0);
+ addrinfo_ptr->ai_canonname = cur_ptr;
+ cur_ptr += ALIGNED_SIZE(name_len);
+ }
+ assert(cur_ptr <= alloc_ptr + addrinfo_len);
+
+ /* set next ptr */
+ addrinfow_ptr = addrinfow_ptr->ai_next;
+ if (addrinfow_ptr != NULL) {
+ addrinfo_ptr->ai_next = (struct addrinfo*)cur_ptr;
+ }
+ }
+ req->addrinfo = (struct addrinfo*)alloc_ptr;
+ } else {
+ req->retcode = UV_EAI_MEMORY;
+ }
+ }
+
+ /* return memory to system */
+ if (req->addrinfow != NULL) {
+ FreeAddrInfoW(req->addrinfow);
+ req->addrinfow = NULL;
+ }
+
+complete:
+ uv__req_unregister(req->loop, req);
+
+ /* finally do callback with converted result */
+ if (req->getaddrinfo_cb)
+ req->getaddrinfo_cb(req, req->retcode, req->addrinfo);
+}
+
+
+void uv_freeaddrinfo(struct addrinfo* ai) {
+ char* alloc_ptr = (char*)ai;
+
+ /* release copied result memory */
+ uv__free(alloc_ptr);
+}
+
+
+/*
+ * Entry point for getaddrinfo
+ * we convert the UTF-8 strings to UNICODE
+ * and save the UNICODE string pointers in the req
+ * We also copy hints so that caller does not need to keep memory until the
+ * callback.
+ * return 0 if a callback will be made
+ * return error code if validation fails
+ *
+ * To minimize allocation we calculate total size required,
+ * and copy all structs and referenced strings into the one block.
+ * Each size calculation is adjusted to avoid unaligned pointers.
+ */
+int uv_getaddrinfo(uv_loop_t* loop,
+ uv_getaddrinfo_t* req,
+ uv_getaddrinfo_cb getaddrinfo_cb,
+ const char* node,
+ const char* service,
+ const struct addrinfo* hints) {
+ char hostname_ascii[256];
+ int nodesize = 0;
+ int servicesize = 0;
+ int hintssize = 0;
+ char* alloc_ptr = NULL;
+ int err;
+ long rc;
+
+ if (req == NULL || (node == NULL && service == NULL)) {
+ return UV_EINVAL;
+ }
+
+ UV_REQ_INIT(req, UV_GETADDRINFO);
+ req->getaddrinfo_cb = getaddrinfo_cb;
+ req->addrinfo = NULL;
+ req->loop = loop;
+ req->retcode = 0;
+
+ /* calculate required memory size for all input values */
+ if (node != NULL) {
+ rc = uv__idna_toascii(node,
+ node + strlen(node),
+ hostname_ascii,
+ hostname_ascii + sizeof(hostname_ascii));
+ if (rc < 0)
+ return rc;
+ nodesize = ALIGNED_SIZE(MultiByteToWideChar(CP_UTF8, 0, hostname_ascii,
+ -1, NULL, 0) * sizeof(WCHAR));
+ if (nodesize == 0) {
+ err = GetLastError();
+ goto error;
+ }
+ node = hostname_ascii;
+ }
+
+ if (service != NULL) {
+ servicesize = ALIGNED_SIZE(MultiByteToWideChar(CP_UTF8,
+ 0,
+ service,
+ -1,
+ NULL,
+ 0) *
+ sizeof(WCHAR));
+ if (servicesize == 0) {
+ err = GetLastError();
+ goto error;
+ }
+ }
+ if (hints != NULL) {
+ hintssize = ALIGNED_SIZE(sizeof(struct addrinfoW));
+ }
+
+ /* allocate memory for inputs, and partition it as needed */
+ alloc_ptr = (char*)uv__malloc(nodesize + servicesize + hintssize);
+ if (!alloc_ptr) {
+ err = WSAENOBUFS;
+ goto error;
+ }
+
+ /* save alloc_ptr now so we can free if error */
+ req->alloc = (void*)alloc_ptr;
+
+ /* Convert node string to UTF16 into allocated memory and save pointer in the
+ * request. */
+ if (node != NULL) {
+ req->node = (WCHAR*)alloc_ptr;
+ if (MultiByteToWideChar(CP_UTF8,
+ 0,
+ node,
+ -1,
+ (WCHAR*) alloc_ptr,
+ nodesize / sizeof(WCHAR)) == 0) {
+ err = GetLastError();
+ goto error;
+ }
+ alloc_ptr += nodesize;
+ } else {
+ req->node = NULL;
+ }
+
+ /* Convert service string to UTF16 into allocated memory and save pointer in
+ * the req. */
+ if (service != NULL) {
+ req->service = (WCHAR*)alloc_ptr;
+ if (MultiByteToWideChar(CP_UTF8,
+ 0,
+ service,
+ -1,
+ (WCHAR*) alloc_ptr,
+ servicesize / sizeof(WCHAR)) == 0) {
+ err = GetLastError();
+ goto error;
+ }
+ alloc_ptr += servicesize;
+ } else {
+ req->service = NULL;
+ }
+
+ /* copy hints to allocated memory and save pointer in req */
+ if (hints != NULL) {
+ req->addrinfow = (struct addrinfoW*)alloc_ptr;
+ req->addrinfow->ai_family = hints->ai_family;
+ req->addrinfow->ai_socktype = hints->ai_socktype;
+ req->addrinfow->ai_protocol = hints->ai_protocol;
+ req->addrinfow->ai_flags = hints->ai_flags;
+ req->addrinfow->ai_addrlen = 0;
+ req->addrinfow->ai_canonname = NULL;
+ req->addrinfow->ai_addr = NULL;
+ req->addrinfow->ai_next = NULL;
+ } else {
+ req->addrinfow = NULL;
+ }
+
+ uv__req_register(loop, req);
+
+ if (getaddrinfo_cb) {
+ uv__work_submit(loop,
+ &req->work_req,
+ UV__WORK_SLOW_IO,
+ uv__getaddrinfo_work,
+ uv__getaddrinfo_done);
+ return 0;
+ } else {
+ uv__getaddrinfo_work(&req->work_req);
+ uv__getaddrinfo_done(&req->work_req, 0);
+ return req->retcode;
+ }
+
+error:
+ if (req != NULL) {
+ uv__free(req->alloc);
+ req->alloc = NULL;
+ }
+ return uv_translate_sys_error(err);
+}
+
+int uv_if_indextoname(unsigned int ifindex, char* buffer, size_t* size) {
+ NET_LUID luid;
+ wchar_t wname[NDIS_IF_MAX_STRING_SIZE + 1]; /* Add one for the NUL. */
+ DWORD bufsize;
+ int r;
+
+ if (buffer == NULL || size == NULL || *size == 0)
+ return UV_EINVAL;
+
+ r = ConvertInterfaceIndexToLuid(ifindex, &luid);
+
+ if (r != 0)
+ return uv_translate_sys_error(r);
+
+ r = ConvertInterfaceLuidToNameW(&luid, wname, ARRAY_SIZE(wname));
+
+ if (r != 0)
+ return uv_translate_sys_error(r);
+
+ /* Check how much space we need */
+ bufsize = WideCharToMultiByte(CP_UTF8, 0, wname, -1, NULL, 0, NULL, NULL);
+
+ if (bufsize == 0) {
+ return uv_translate_sys_error(GetLastError());
+ } else if (bufsize > *size) {
+ *size = bufsize;
+ return UV_ENOBUFS;
+ }
+
+ /* Convert to UTF-8 */
+ bufsize = WideCharToMultiByte(CP_UTF8,
+ 0,
+ wname,
+ -1,
+ buffer,
+ *size,
+ NULL,
+ NULL);
+
+ if (bufsize == 0)
+ return uv_translate_sys_error(GetLastError());
+
+ *size = bufsize - 1;
+ return 0;
+}
+
+int uv_if_indextoiid(unsigned int ifindex, char* buffer, size_t* size) {
+ int r;
+
+ if (buffer == NULL || size == NULL || *size == 0)
+ return UV_EINVAL;
+
+ r = snprintf(buffer, *size, "%d", ifindex);
+
+ if (r < 0)
+ return uv_translate_sys_error(r);
+
+ if (r >= (int) *size) {
+ *size = r + 1;
+ return UV_ENOBUFS;
+ }
+
+ *size = r;
+ return 0;
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/getnameinfo.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/getnameinfo.cpp
new file mode 100644
index 0000000..b377338
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/getnameinfo.cpp
@@ -0,0 +1,157 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+*
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to
+* deal in the Software without restriction, including without limitation the
+* rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+* sell copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+*
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+*
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+* IN THE SOFTWARE.
+*/
+
+#include <assert.h>
+#include <stdio.h>
+
+#include "uv.h"
+#include "internal.h"
+#include "req-inl.h"
+
+#ifndef GetNameInfo
+int WSAAPI GetNameInfoW(
+ const SOCKADDR *pSockaddr,
+ socklen_t SockaddrLength,
+ PWCHAR pNodeBuffer,
+ DWORD NodeBufferSize,
+ PWCHAR pServiceBuffer,
+ DWORD ServiceBufferSize,
+ INT Flags
+);
+#endif
+
+static void uv__getnameinfo_work(struct uv__work* w) {
+ uv_getnameinfo_t* req;
+ WCHAR host[NI_MAXHOST];
+ WCHAR service[NI_MAXSERV];
+ int ret;
+
+ req = container_of(w, uv_getnameinfo_t, work_req);
+ if (GetNameInfoW((struct sockaddr*)&req->storage,
+ sizeof(req->storage),
+ host,
+ ARRAY_SIZE(host),
+ service,
+ ARRAY_SIZE(service),
+ req->flags)) {
+ ret = WSAGetLastError();
+ req->retcode = uv__getaddrinfo_translate_error(ret);
+ return;
+ }
+
+ ret = WideCharToMultiByte(CP_UTF8,
+ 0,
+ host,
+ -1,
+ req->host,
+ sizeof(req->host),
+ NULL,
+ NULL);
+ if (ret == 0) {
+ req->retcode = uv_translate_sys_error(GetLastError());
+ return;
+ }
+
+ ret = WideCharToMultiByte(CP_UTF8,
+ 0,
+ service,
+ -1,
+ req->service,
+ sizeof(req->service),
+ NULL,
+ NULL);
+ if (ret == 0) {
+ req->retcode = uv_translate_sys_error(GetLastError());
+ }
+}
+
+
+/*
+* Called from uv_run when complete.
+*/
+static void uv__getnameinfo_done(struct uv__work* w, int status) {
+ uv_getnameinfo_t* req;
+ char* host;
+ char* service;
+
+ req = container_of(w, uv_getnameinfo_t, work_req);
+ uv__req_unregister(req->loop, req);
+ host = service = NULL;
+
+ if (status == UV_ECANCELED) {
+ assert(req->retcode == 0);
+ req->retcode = UV_EAI_CANCELED;
+ } else if (req->retcode == 0) {
+ host = req->host;
+ service = req->service;
+ }
+
+ if (req->getnameinfo_cb)
+ req->getnameinfo_cb(req, req->retcode, host, service);
+}
+
+
+/*
+* Entry point for getnameinfo
+* return 0 if a callback will be made
+* return error code if validation fails
+*/
+int uv_getnameinfo(uv_loop_t* loop,
+ uv_getnameinfo_t* req,
+ uv_getnameinfo_cb getnameinfo_cb,
+ const struct sockaddr* addr,
+ int flags) {
+ if (req == NULL || addr == NULL)
+ return UV_EINVAL;
+
+ if (addr->sa_family == AF_INET) {
+ memcpy(&req->storage,
+ addr,
+ sizeof(struct sockaddr_in));
+ } else if (addr->sa_family == AF_INET6) {
+ memcpy(&req->storage,
+ addr,
+ sizeof(struct sockaddr_in6));
+ } else {
+ return UV_EINVAL;
+ }
+
+ UV_REQ_INIT(req, UV_GETNAMEINFO);
+ uv__req_register(loop, req);
+
+ req->getnameinfo_cb = getnameinfo_cb;
+ req->flags = flags;
+ req->loop = loop;
+ req->retcode = 0;
+
+ if (getnameinfo_cb) {
+ uv__work_submit(loop,
+ &req->work_req,
+ UV__WORK_SLOW_IO,
+ uv__getnameinfo_work,
+ uv__getnameinfo_done);
+ return 0;
+ } else {
+ uv__getnameinfo_work(&req->work_req);
+ uv__getnameinfo_done(&req->work_req, 0);
+ return req->retcode;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/handle-inl.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/handle-inl.h
new file mode 100644
index 0000000..82c657d
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/handle-inl.h
@@ -0,0 +1,180 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#ifndef UV_WIN_HANDLE_INL_H_
+#define UV_WIN_HANDLE_INL_H_
+
+#include <assert.h>
+#include <io.h>
+
+#include "uv.h"
+#include "internal.h"
+
+
+#define DECREASE_ACTIVE_COUNT(loop, handle) \
+ do { \
+ if (--(handle)->activecnt == 0 && \
+ !((handle)->flags & UV_HANDLE_CLOSING)) { \
+ uv__handle_stop((handle)); \
+ } \
+ assert((handle)->activecnt >= 0); \
+ } while (0)
+
+
+#define INCREASE_ACTIVE_COUNT(loop, handle) \
+ do { \
+ if ((handle)->activecnt++ == 0) { \
+ uv__handle_start((handle)); \
+ } \
+ assert((handle)->activecnt > 0); \
+ } while (0)
+
+
+#define DECREASE_PENDING_REQ_COUNT(handle) \
+ do { \
+ assert(handle->reqs_pending > 0); \
+ handle->reqs_pending--; \
+ \
+ if (handle->flags & UV_HANDLE_CLOSING && \
+ handle->reqs_pending == 0) { \
+ uv_want_endgame(loop, (uv_handle_t*)handle); \
+ } \
+ } while (0)
+
+
+#define uv__handle_closing(handle) \
+ do { \
+ assert(!((handle)->flags & UV_HANDLE_CLOSING)); \
+ \
+ if (!(((handle)->flags & UV_HANDLE_ACTIVE) && \
+ ((handle)->flags & UV_HANDLE_REF))) \
+ uv__active_handle_add((uv_handle_t*) (handle)); \
+ \
+ (handle)->flags |= UV_HANDLE_CLOSING; \
+ (handle)->flags &= ~UV_HANDLE_ACTIVE; \
+ } while (0)
+
+
+#define uv__handle_close(handle) \
+ do { \
+ QUEUE_REMOVE(&(handle)->handle_queue); \
+ uv__active_handle_rm((uv_handle_t*) (handle)); \
+ \
+ (handle)->flags |= UV_HANDLE_CLOSED; \
+ \
+ if ((handle)->close_cb) \
+ (handle)->close_cb((uv_handle_t*) (handle)); \
+ } while (0)
+
+
+INLINE static void uv_want_endgame(uv_loop_t* loop, uv_handle_t* handle) {
+ if (!(handle->flags & UV_HANDLE_ENDGAME_QUEUED)) {
+ handle->flags |= UV_HANDLE_ENDGAME_QUEUED;
+
+ handle->endgame_next = loop->endgame_handles;
+ loop->endgame_handles = handle;
+ }
+}
+
+
+INLINE static void uv_process_endgames(uv_loop_t* loop) {
+ uv_handle_t* handle;
+
+ while (loop->endgame_handles) {
+ handle = loop->endgame_handles;
+ loop->endgame_handles = handle->endgame_next;
+
+ handle->flags &= ~UV_HANDLE_ENDGAME_QUEUED;
+
+ switch (handle->type) {
+ case UV_TCP:
+ uv_tcp_endgame(loop, (uv_tcp_t*) handle);
+ break;
+
+ case UV_NAMED_PIPE:
+ uv_pipe_endgame(loop, (uv_pipe_t*) handle);
+ break;
+
+ case UV_TTY:
+ uv_tty_endgame(loop, (uv_tty_t*) handle);
+ break;
+
+ case UV_UDP:
+ uv_udp_endgame(loop, (uv_udp_t*) handle);
+ break;
+
+ case UV_POLL:
+ uv_poll_endgame(loop, (uv_poll_t*) handle);
+ break;
+
+ case UV_TIMER:
+ uv__timer_close((uv_timer_t*) handle);
+ uv__handle_close(handle);
+ break;
+
+ case UV_PREPARE:
+ case UV_CHECK:
+ case UV_IDLE:
+ uv_loop_watcher_endgame(loop, handle);
+ break;
+
+ case UV_ASYNC:
+ uv_async_endgame(loop, (uv_async_t*) handle);
+ break;
+
+ case UV_SIGNAL:
+ uv_signal_endgame(loop, (uv_signal_t*) handle);
+ break;
+
+ case UV_PROCESS:
+ uv_process_endgame(loop, (uv_process_t*) handle);
+ break;
+
+ case UV_FS_EVENT:
+ uv_fs_event_endgame(loop, (uv_fs_event_t*) handle);
+ break;
+
+ case UV_FS_POLL:
+ uv__fs_poll_endgame(loop, (uv_fs_poll_t*) handle);
+ break;
+
+ default:
+ assert(0);
+ break;
+ }
+ }
+}
+
+INLINE static HANDLE uv__get_osfhandle(int fd)
+{
+ /* _get_osfhandle() raises an assert in debug builds if the FD is invalid.
+ * But it also correctly checks the FD and returns INVALID_HANDLE_VALUE for
+ * invalid FDs in release builds (or if you let the assert continue). So this
+ * wrapper function disables asserts when calling _get_osfhandle. */
+
+ HANDLE handle;
+ UV_BEGIN_DISABLE_CRT_ASSERT();
+ handle = (HANDLE) _get_osfhandle(fd);
+ UV_END_DISABLE_CRT_ASSERT();
+ return handle;
+}
+
+#endif /* UV_WIN_HANDLE_INL_H_ */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/handle.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/handle.cpp
new file mode 100644
index 0000000..61e4df6
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/handle.cpp
@@ -0,0 +1,162 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include <assert.h>
+#include <io.h>
+#include <stdlib.h>
+
+#include "uv.h"
+#include "internal.h"
+#include "handle-inl.h"
+
+
+uv_handle_type uv_guess_handle(uv_file file) {
+ HANDLE handle;
+ DWORD mode;
+
+ if (file < 0) {
+ return UV_UNKNOWN_HANDLE;
+ }
+
+ handle = uv__get_osfhandle(file);
+
+ switch (GetFileType(handle)) {
+ case FILE_TYPE_CHAR:
+ if (GetConsoleMode(handle, &mode)) {
+ return UV_TTY;
+ } else {
+ return UV_FILE;
+ }
+
+ case FILE_TYPE_PIPE:
+ return UV_NAMED_PIPE;
+
+ case FILE_TYPE_DISK:
+ return UV_FILE;
+
+ default:
+ return UV_UNKNOWN_HANDLE;
+ }
+}
+
+
+int uv_is_active(const uv_handle_t* handle) {
+ return (handle->flags & UV_HANDLE_ACTIVE) &&
+ !(handle->flags & UV_HANDLE_CLOSING);
+}
+
+
+void uv_close(uv_handle_t* handle, uv_close_cb cb) {
+ uv_loop_t* loop = handle->loop;
+
+ if (handle->flags & UV_HANDLE_CLOSING) {
+ assert(0);
+ return;
+ }
+
+ handle->close_cb = cb;
+
+ /* Handle-specific close actions */
+ switch (handle->type) {
+ case UV_TCP:
+ uv_tcp_close(loop, (uv_tcp_t*)handle);
+ return;
+
+ case UV_NAMED_PIPE:
+ uv_pipe_close(loop, (uv_pipe_t*) handle);
+ return;
+
+ case UV_TTY:
+ uv_tty_close((uv_tty_t*) handle);
+ return;
+
+ case UV_UDP:
+ uv_udp_close(loop, (uv_udp_t*) handle);
+ return;
+
+ case UV_POLL:
+ uv_poll_close(loop, (uv_poll_t*) handle);
+ return;
+
+ case UV_TIMER:
+ uv_timer_stop((uv_timer_t*)handle);
+ uv__handle_closing(handle);
+ uv_want_endgame(loop, handle);
+ return;
+
+ case UV_PREPARE:
+ uv_prepare_stop((uv_prepare_t*)handle);
+ uv__handle_closing(handle);
+ uv_want_endgame(loop, handle);
+ return;
+
+ case UV_CHECK:
+ uv_check_stop((uv_check_t*)handle);
+ uv__handle_closing(handle);
+ uv_want_endgame(loop, handle);
+ return;
+
+ case UV_IDLE:
+ uv_idle_stop((uv_idle_t*)handle);
+ uv__handle_closing(handle);
+ uv_want_endgame(loop, handle);
+ return;
+
+ case UV_ASYNC:
+ uv_async_close(loop, (uv_async_t*) handle);
+ return;
+
+ case UV_SIGNAL:
+ uv_signal_close(loop, (uv_signal_t*) handle);
+ return;
+
+ case UV_PROCESS:
+ uv_process_close(loop, (uv_process_t*) handle);
+ return;
+
+ case UV_FS_EVENT:
+ uv_fs_event_close(loop, (uv_fs_event_t*) handle);
+ return;
+
+ case UV_FS_POLL:
+ uv__fs_poll_close((uv_fs_poll_t*) handle);
+ uv__handle_closing(handle);
+ return;
+
+ default:
+ /* Not supported */
+ abort();
+ }
+}
+
+
+int uv_is_closing(const uv_handle_t* handle) {
+ return !!(handle->flags & (UV_HANDLE_CLOSING | UV_HANDLE_CLOSED));
+}
+
+
+uv_os_fd_t uv_get_osfhandle(int fd) {
+ return uv__get_osfhandle(fd);
+}
+
+int uv_open_osfhandle(uv_os_fd_t os_fd) {
+ return _open_osfhandle((intptr_t) os_fd, 0);
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/internal.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/internal.h
new file mode 100644
index 0000000..70ddaa5
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/internal.h
@@ -0,0 +1,342 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#ifndef UV_WIN_INTERNAL_H_
+#define UV_WIN_INTERNAL_H_
+
+#include "uv.h"
+#include "../uv-common.h"
+
+#include "uv/tree.h"
+#include "winapi.h"
+#include "winsock.h"
+
+#ifdef _MSC_VER
+# define INLINE __inline
+# define UV_THREAD_LOCAL __declspec( thread )
+#else
+# define INLINE inline
+# define UV_THREAD_LOCAL __thread
+#endif
+
+
+#ifdef _DEBUG
+
+extern UV_THREAD_LOCAL int uv__crt_assert_enabled;
+
+#define UV_BEGIN_DISABLE_CRT_ASSERT() \
+ { \
+ int uv__saved_crt_assert_enabled = uv__crt_assert_enabled; \
+ uv__crt_assert_enabled = FALSE;
+
+
+#define UV_END_DISABLE_CRT_ASSERT() \
+ uv__crt_assert_enabled = uv__saved_crt_assert_enabled; \
+ }
+
+#else
+#define UV_BEGIN_DISABLE_CRT_ASSERT()
+#define UV_END_DISABLE_CRT_ASSERT()
+#endif
+
+/*
+ * TCP
+ */
+
+typedef enum {
+ UV__IPC_SOCKET_XFER_NONE = 0,
+ UV__IPC_SOCKET_XFER_TCP_CONNECTION,
+ UV__IPC_SOCKET_XFER_TCP_SERVER
+} uv__ipc_socket_xfer_type_t;
+
+typedef struct {
+ WSAPROTOCOL_INFOW socket_info;
+ uint32_t delayed_error;
+} uv__ipc_socket_xfer_info_t;
+
+int uv_tcp_listen(uv_tcp_t* handle, int backlog, uv_connection_cb cb);
+int uv_tcp_accept(uv_tcp_t* server, uv_tcp_t* client);
+int uv_tcp_read_start(uv_tcp_t* handle, uv_alloc_cb alloc_cb,
+ uv_read_cb read_cb);
+int uv_tcp_write(uv_loop_t* loop, uv_write_t* req, uv_tcp_t* handle,
+ const uv_buf_t bufs[], unsigned int nbufs, uv_write_cb cb);
+int uv__tcp_try_write(uv_tcp_t* handle, const uv_buf_t bufs[],
+ unsigned int nbufs);
+
+void uv_process_tcp_read_req(uv_loop_t* loop, uv_tcp_t* handle, uv_req_t* req);
+void uv_process_tcp_write_req(uv_loop_t* loop, uv_tcp_t* handle,
+ uv_write_t* req);
+void uv_process_tcp_accept_req(uv_loop_t* loop, uv_tcp_t* handle,
+ uv_req_t* req);
+void uv_process_tcp_connect_req(uv_loop_t* loop, uv_tcp_t* handle,
+ uv_connect_t* req);
+
+void uv_tcp_close(uv_loop_t* loop, uv_tcp_t* tcp);
+void uv_tcp_endgame(uv_loop_t* loop, uv_tcp_t* handle);
+
+int uv__tcp_xfer_export(uv_tcp_t* handle,
+ int pid,
+ uv__ipc_socket_xfer_type_t* xfer_type,
+ uv__ipc_socket_xfer_info_t* xfer_info);
+int uv__tcp_xfer_import(uv_tcp_t* tcp,
+ uv__ipc_socket_xfer_type_t xfer_type,
+ uv__ipc_socket_xfer_info_t* xfer_info);
+
+
+/*
+ * UDP
+ */
+void uv_process_udp_recv_req(uv_loop_t* loop, uv_udp_t* handle, uv_req_t* req);
+void uv_process_udp_send_req(uv_loop_t* loop, uv_udp_t* handle,
+ uv_udp_send_t* req);
+
+void uv_udp_close(uv_loop_t* loop, uv_udp_t* handle);
+void uv_udp_endgame(uv_loop_t* loop, uv_udp_t* handle);
+
+
+/*
+ * Pipes
+ */
+int uv_stdio_pipe_server(uv_loop_t* loop, uv_pipe_t* handle, DWORD access,
+ char* name, size_t nameSize);
+
+int uv_pipe_listen(uv_pipe_t* handle, int backlog, uv_connection_cb cb);
+int uv_pipe_accept(uv_pipe_t* server, uv_stream_t* client);
+int uv_pipe_read_start(uv_pipe_t* handle, uv_alloc_cb alloc_cb,
+ uv_read_cb read_cb);
+void uv__pipe_read_stop(uv_pipe_t* handle);
+int uv__pipe_write(uv_loop_t* loop,
+ uv_write_t* req,
+ uv_pipe_t* handle,
+ const uv_buf_t bufs[],
+ size_t nbufs,
+ uv_stream_t* send_handle,
+ uv_write_cb cb);
+
+void uv_process_pipe_read_req(uv_loop_t* loop, uv_pipe_t* handle,
+ uv_req_t* req);
+void uv_process_pipe_write_req(uv_loop_t* loop, uv_pipe_t* handle,
+ uv_write_t* req);
+void uv_process_pipe_accept_req(uv_loop_t* loop, uv_pipe_t* handle,
+ uv_req_t* raw_req);
+void uv_process_pipe_connect_req(uv_loop_t* loop, uv_pipe_t* handle,
+ uv_connect_t* req);
+void uv_process_pipe_shutdown_req(uv_loop_t* loop, uv_pipe_t* handle,
+ uv_shutdown_t* req);
+
+void uv_pipe_close(uv_loop_t* loop, uv_pipe_t* handle);
+void uv_pipe_cleanup(uv_loop_t* loop, uv_pipe_t* handle);
+void uv_pipe_endgame(uv_loop_t* loop, uv_pipe_t* handle);
+
+
+/*
+ * TTY
+ */
+void uv_console_init(void);
+
+int uv_tty_read_start(uv_tty_t* handle, uv_alloc_cb alloc_cb,
+ uv_read_cb read_cb);
+int uv_tty_read_stop(uv_tty_t* handle);
+int uv_tty_write(uv_loop_t* loop, uv_write_t* req, uv_tty_t* handle,
+ const uv_buf_t bufs[], unsigned int nbufs, uv_write_cb cb);
+int uv__tty_try_write(uv_tty_t* handle, const uv_buf_t bufs[],
+ unsigned int nbufs);
+void uv_tty_close(uv_tty_t* handle);
+
+void uv_process_tty_read_req(uv_loop_t* loop, uv_tty_t* handle,
+ uv_req_t* req);
+void uv_process_tty_write_req(uv_loop_t* loop, uv_tty_t* handle,
+ uv_write_t* req);
+/*
+ * uv_process_tty_accept_req() is a stub to keep DELEGATE_STREAM_REQ working
+ * TODO: find a way to remove it
+ */
+void uv_process_tty_accept_req(uv_loop_t* loop, uv_tty_t* handle,
+ uv_req_t* raw_req);
+/*
+ * uv_process_tty_connect_req() is a stub to keep DELEGATE_STREAM_REQ working
+ * TODO: find a way to remove it
+ */
+void uv_process_tty_connect_req(uv_loop_t* loop, uv_tty_t* handle,
+ uv_connect_t* req);
+
+void uv_tty_endgame(uv_loop_t* loop, uv_tty_t* handle);
+
+
+/*
+ * Poll watchers
+ */
+void uv_process_poll_req(uv_loop_t* loop, uv_poll_t* handle,
+ uv_req_t* req);
+
+int uv_poll_close(uv_loop_t* loop, uv_poll_t* handle);
+void uv_poll_endgame(uv_loop_t* loop, uv_poll_t* handle);
+
+
+/*
+ * Loop watchers
+ */
+void uv_loop_watcher_endgame(uv_loop_t* loop, uv_handle_t* handle);
+
+void uv_prepare_invoke(uv_loop_t* loop);
+void uv_check_invoke(uv_loop_t* loop);
+void uv_idle_invoke(uv_loop_t* loop);
+
+void uv__once_init(void);
+
+
+/*
+ * Async watcher
+ */
+void uv_async_close(uv_loop_t* loop, uv_async_t* handle);
+void uv_async_endgame(uv_loop_t* loop, uv_async_t* handle);
+
+void uv_process_async_wakeup_req(uv_loop_t* loop, uv_async_t* handle,
+ uv_req_t* req);
+
+
+/*
+ * Signal watcher
+ */
+void uv_signals_init(void);
+int uv__signal_dispatch(int signum);
+
+void uv_signal_close(uv_loop_t* loop, uv_signal_t* handle);
+void uv_signal_endgame(uv_loop_t* loop, uv_signal_t* handle);
+
+void uv_process_signal_req(uv_loop_t* loop, uv_signal_t* handle,
+ uv_req_t* req);
+
+
+/*
+ * Spawn
+ */
+void uv_process_proc_exit(uv_loop_t* loop, uv_process_t* handle);
+void uv_process_close(uv_loop_t* loop, uv_process_t* handle);
+void uv_process_endgame(uv_loop_t* loop, uv_process_t* handle);
+
+
+/*
+ * Error
+ */
+int uv_translate_sys_error(int sys_errno);
+
+
+/*
+ * FS
+ */
+void uv_fs_init(void);
+
+
+/*
+ * FS Event
+ */
+void uv_process_fs_event_req(uv_loop_t* loop, uv_req_t* req,
+ uv_fs_event_t* handle);
+void uv_fs_event_close(uv_loop_t* loop, uv_fs_event_t* handle);
+void uv_fs_event_endgame(uv_loop_t* loop, uv_fs_event_t* handle);
+
+
+/*
+ * Stat poller.
+ */
+void uv__fs_poll_endgame(uv_loop_t* loop, uv_fs_poll_t* handle);
+
+
+/*
+ * Utilities.
+ */
+void uv__util_init(void);
+
+uint64_t uv__hrtime(double scale);
+__declspec(noreturn) void uv_fatal_error(const int errorno, const char* syscall);
+int uv__getpwuid_r(uv_passwd_t* pwd);
+int uv__convert_utf16_to_utf8(const WCHAR* utf16, int utf16len, char** utf8);
+int uv__convert_utf8_to_utf16(const char* utf8, int utf8len, WCHAR** utf16);
+
+typedef int (WINAPI *uv__peersockfunc)(SOCKET, struct sockaddr*, int*);
+
+int uv__getsockpeername(const uv_handle_t* handle,
+ uv__peersockfunc func,
+ struct sockaddr* name,
+ int* namelen,
+ int delayed_error);
+
+
+/*
+ * Process stdio handles.
+ */
+int uv__stdio_create(uv_loop_t* loop,
+ const uv_process_options_t* options,
+ BYTE** buffer_ptr);
+void uv__stdio_destroy(BYTE* buffer);
+void uv__stdio_noinherit(BYTE* buffer);
+int uv__stdio_verify(BYTE* buffer, WORD size);
+WORD uv__stdio_size(BYTE* buffer);
+HANDLE uv__stdio_handle(BYTE* buffer, int fd);
+
+
+/*
+ * Winapi and ntapi utility functions
+ */
+void uv_winapi_init(void);
+
+
+/*
+ * Winsock utility functions
+ */
+void uv_winsock_init(void);
+
+int uv_ntstatus_to_winsock_error(NTSTATUS status);
+
+BOOL uv_get_acceptex_function(SOCKET socket, LPFN_ACCEPTEX* target);
+BOOL uv_get_connectex_function(SOCKET socket, LPFN_CONNECTEX* target);
+
+int WSAAPI uv_wsarecv_workaround(SOCKET socket, WSABUF* buffers,
+ DWORD buffer_count, DWORD* bytes, DWORD* flags, WSAOVERLAPPED *overlapped,
+ LPWSAOVERLAPPED_COMPLETION_ROUTINE completion_routine);
+int WSAAPI uv_wsarecvfrom_workaround(SOCKET socket, WSABUF* buffers,
+ DWORD buffer_count, DWORD* bytes, DWORD* flags, struct sockaddr* addr,
+ int* addr_len, WSAOVERLAPPED *overlapped,
+ LPWSAOVERLAPPED_COMPLETION_ROUTINE completion_routine);
+
+int WSAAPI uv_msafd_poll(SOCKET socket, AFD_POLL_INFO* info_in,
+ AFD_POLL_INFO* info_out, OVERLAPPED* overlapped);
+
+/* Whether there are any non-IFS LSPs stacked on TCP */
+extern int uv_tcp_non_ifs_lsp_ipv4;
+extern int uv_tcp_non_ifs_lsp_ipv6;
+
+/* Ip address used to bind to any port at any interface */
+extern struct sockaddr_in uv_addr_ip4_any_;
+extern struct sockaddr_in6 uv_addr_ip6_any_;
+
+/*
+ * Wake all loops with fake message
+ */
+void uv__wake_all_loops(void);
+
+/*
+ * Init system wake-up detection
+ */
+void uv__init_detect_system_wakeup(void);
+
+#endif /* UV_WIN_INTERNAL_H_ */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/loop-watcher.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/loop-watcher.cpp
new file mode 100644
index 0000000..ad7fbea
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/loop-watcher.cpp
@@ -0,0 +1,122 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include <assert.h>
+
+#include "uv.h"
+#include "internal.h"
+#include "handle-inl.h"
+
+
+void uv_loop_watcher_endgame(uv_loop_t* loop, uv_handle_t* handle) {
+ if (handle->flags & UV_HANDLE_CLOSING) {
+ assert(!(handle->flags & UV_HANDLE_CLOSED));
+ handle->flags |= UV_HANDLE_CLOSED;
+ uv__handle_close(handle);
+ }
+}
+
+
+#define UV_LOOP_WATCHER_DEFINE(name, NAME) \
+ int uv_##name##_init(uv_loop_t* loop, uv_##name##_t* handle) { \
+ uv__handle_init(loop, (uv_handle_t*) handle, UV_##NAME); \
+ \
+ return 0; \
+ } \
+ \
+ \
+ int uv_##name##_start(uv_##name##_t* handle, uv_##name##_cb cb) { \
+ uv_loop_t* loop = handle->loop; \
+ uv_##name##_t* old_head; \
+ \
+ assert(handle->type == UV_##NAME); \
+ \
+ if (uv__is_active(handle)) \
+ return 0; \
+ \
+ if (cb == NULL) \
+ return UV_EINVAL; \
+ \
+ old_head = loop->name##_handles; \
+ \
+ handle->name##_next = old_head; \
+ handle->name##_prev = NULL; \
+ \
+ if (old_head) { \
+ old_head->name##_prev = handle; \
+ } \
+ \
+ loop->name##_handles = handle; \
+ \
+ handle->name##_cb = cb; \
+ uv__handle_start(handle); \
+ \
+ return 0; \
+ } \
+ \
+ \
+ int uv_##name##_stop(uv_##name##_t* handle) { \
+ uv_loop_t* loop = handle->loop; \
+ \
+ assert(handle->type == UV_##NAME); \
+ \
+ if (!uv__is_active(handle)) \
+ return 0; \
+ \
+ /* Update loop head if needed */ \
+ if (loop->name##_handles == handle) { \
+ loop->name##_handles = handle->name##_next; \
+ } \
+ \
+ /* Update the iterator-next pointer of needed */ \
+ if (loop->next_##name##_handle == handle) { \
+ loop->next_##name##_handle = handle->name##_next; \
+ } \
+ \
+ if (handle->name##_prev) { \
+ handle->name##_prev->name##_next = handle->name##_next; \
+ } \
+ if (handle->name##_next) { \
+ handle->name##_next->name##_prev = handle->name##_prev; \
+ } \
+ \
+ uv__handle_stop(handle); \
+ \
+ return 0; \
+ } \
+ \
+ \
+ void uv_##name##_invoke(uv_loop_t* loop) { \
+ uv_##name##_t* handle; \
+ \
+ (loop)->next_##name##_handle = (loop)->name##_handles; \
+ \
+ while ((loop)->next_##name##_handle != NULL) { \
+ handle = (loop)->next_##name##_handle; \
+ (loop)->next_##name##_handle = handle->name##_next; \
+ \
+ handle->name##_cb(handle); \
+ } \
+ }
+
+UV_LOOP_WATCHER_DEFINE(prepare, PREPARE)
+UV_LOOP_WATCHER_DEFINE(check, CHECK)
+UV_LOOP_WATCHER_DEFINE(idle, IDLE)
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/pipe.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/pipe.cpp
new file mode 100644
index 0000000..0c03a06
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/pipe.cpp
@@ -0,0 +1,2388 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#define _CRT_NONSTDC_NO_WARNINGS
+
+#include <assert.h>
+#include <io.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include "handle-inl.h"
+#include "internal.h"
+#include "req-inl.h"
+#include "stream-inl.h"
+#include "uv-common.h"
+#include "uv.h"
+
+#include <aclapi.h>
+#include <accctrl.h>
+
+/* A zero-size buffer for use by uv_pipe_read */
+static char uv_zero_[] = "";
+
+/* Null uv_buf_t */
+static const uv_buf_t uv_null_buf_ = { 0, NULL };
+
+/* The timeout that the pipe will wait for the remote end to write data when
+ * the local ends wants to shut it down. */
+static const int64_t eof_timeout = 50; /* ms */
+
+static const int default_pending_pipe_instances = 4;
+
+/* Pipe prefix */
+static char pipe_prefix[] = "\\\\?\\pipe";
+static const int pipe_prefix_len = sizeof(pipe_prefix) - 1;
+
+/* IPC incoming xfer queue item. */
+typedef struct {
+ uv__ipc_socket_xfer_type_t xfer_type;
+ uv__ipc_socket_xfer_info_t xfer_info;
+ QUEUE member;
+} uv__ipc_xfer_queue_item_t;
+
+/* IPC frame header flags. */
+/* clang-format off */
+enum {
+ UV__IPC_FRAME_HAS_DATA = 0x01,
+ UV__IPC_FRAME_HAS_SOCKET_XFER = 0x02,
+ UV__IPC_FRAME_XFER_IS_TCP_CONNECTION = 0x04,
+ /* These are combinations of the flags above. */
+ UV__IPC_FRAME_XFER_FLAGS = 0x06,
+ UV__IPC_FRAME_VALID_FLAGS = 0x07
+};
+/* clang-format on */
+
+/* IPC frame header. */
+typedef struct {
+ uint32_t flags;
+ uint32_t reserved1; /* Ignored. */
+ uint32_t data_length; /* Must be zero if there is no data. */
+ uint32_t reserved2; /* Must be zero. */
+} uv__ipc_frame_header_t;
+
+/* To implement the IPC protocol correctly, these structures must have exactly
+ * the right size. */
+STATIC_ASSERT(sizeof(uv__ipc_frame_header_t) == 16);
+STATIC_ASSERT(sizeof(uv__ipc_socket_xfer_info_t) == 632);
+
+/* Coalesced write request. */
+typedef struct {
+ uv_write_t req; /* Internal heap-allocated write request. */
+ uv_write_t* user_req; /* Pointer to user-specified uv_write_t. */
+} uv__coalesced_write_t;
+
+
+static void eof_timer_init(uv_pipe_t* pipe);
+static void eof_timer_start(uv_pipe_t* pipe);
+static void eof_timer_stop(uv_pipe_t* pipe);
+static void eof_timer_cb(uv_timer_t* timer);
+static void eof_timer_destroy(uv_pipe_t* pipe);
+static void eof_timer_close_cb(uv_handle_t* handle);
+
+
+static void uv_unique_pipe_name(char* ptr, char* name, size_t size) {
+ snprintf(name, size, "\\\\?\\pipe\\uv\\%p-%lu", ptr, GetCurrentProcessId());
+}
+
+
+int uv_pipe_init(uv_loop_t* loop, uv_pipe_t* handle, int ipc) {
+ uv_stream_init(loop, (uv_stream_t*)handle, UV_NAMED_PIPE);
+
+ handle->reqs_pending = 0;
+ handle->handle = INVALID_HANDLE_VALUE;
+ handle->name = NULL;
+ handle->pipe.conn.ipc_remote_pid = 0;
+ handle->pipe.conn.ipc_data_frame.payload_remaining = 0;
+ QUEUE_INIT(&handle->pipe.conn.ipc_xfer_queue);
+ handle->pipe.conn.ipc_xfer_queue_length = 0;
+ handle->ipc = ipc;
+ handle->pipe.conn.non_overlapped_writes_tail = NULL;
+
+ return 0;
+}
+
+
+static void uv_pipe_connection_init(uv_pipe_t* handle) {
+ uv_connection_init((uv_stream_t*) handle);
+ handle->read_req.data = handle;
+ handle->pipe.conn.eof_timer = NULL;
+ assert(!(handle->flags & UV_HANDLE_PIPESERVER));
+ if (handle->flags & UV_HANDLE_NON_OVERLAPPED_PIPE) {
+ handle->pipe.conn.readfile_thread_handle = NULL;
+ InitializeCriticalSection(&handle->pipe.conn.readfile_thread_lock);
+ }
+}
+
+
+static HANDLE open_named_pipe(const WCHAR* name, DWORD* duplex_flags) {
+ HANDLE pipeHandle;
+
+ /*
+ * Assume that we have a duplex pipe first, so attempt to
+ * connect with GENERIC_READ | GENERIC_WRITE.
+ */
+ pipeHandle = CreateFileW(name,
+ GENERIC_READ | GENERIC_WRITE,
+ 0,
+ NULL,
+ OPEN_EXISTING,
+ FILE_FLAG_OVERLAPPED,
+ NULL);
+ if (pipeHandle != INVALID_HANDLE_VALUE) {
+ *duplex_flags = UV_HANDLE_READABLE | UV_HANDLE_WRITABLE;
+ return pipeHandle;
+ }
+
+ /*
+ * If the pipe is not duplex CreateFileW fails with
+ * ERROR_ACCESS_DENIED. In that case try to connect
+ * as a read-only or write-only.
+ */
+ if (GetLastError() == ERROR_ACCESS_DENIED) {
+ pipeHandle = CreateFileW(name,
+ GENERIC_READ | FILE_WRITE_ATTRIBUTES,
+ 0,
+ NULL,
+ OPEN_EXISTING,
+ FILE_FLAG_OVERLAPPED,
+ NULL);
+
+ if (pipeHandle != INVALID_HANDLE_VALUE) {
+ *duplex_flags = UV_HANDLE_READABLE;
+ return pipeHandle;
+ }
+ }
+
+ if (GetLastError() == ERROR_ACCESS_DENIED) {
+ pipeHandle = CreateFileW(name,
+ GENERIC_WRITE | FILE_READ_ATTRIBUTES,
+ 0,
+ NULL,
+ OPEN_EXISTING,
+ FILE_FLAG_OVERLAPPED,
+ NULL);
+
+ if (pipeHandle != INVALID_HANDLE_VALUE) {
+ *duplex_flags = UV_HANDLE_WRITABLE;
+ return pipeHandle;
+ }
+ }
+
+ return INVALID_HANDLE_VALUE;
+}
+
+
+static void close_pipe(uv_pipe_t* pipe) {
+ assert(pipe->u.fd == -1 || pipe->u.fd > 2);
+ if (pipe->u.fd == -1)
+ CloseHandle(pipe->handle);
+ else
+ close(pipe->u.fd);
+
+ pipe->u.fd = -1;
+ pipe->handle = INVALID_HANDLE_VALUE;
+}
+
+
+int uv_stdio_pipe_server(uv_loop_t* loop, uv_pipe_t* handle, DWORD access,
+ char* name, size_t nameSize) {
+ HANDLE pipeHandle;
+ int err;
+ char* ptr = (char*)handle;
+
+ for (;;) {
+ uv_unique_pipe_name(ptr, name, nameSize);
+
+ pipeHandle = CreateNamedPipeA(name,
+ access | FILE_FLAG_OVERLAPPED | FILE_FLAG_FIRST_PIPE_INSTANCE | WRITE_DAC,
+ PIPE_TYPE_BYTE | PIPE_READMODE_BYTE | PIPE_WAIT, 1, 65536, 65536, 0,
+ NULL);
+
+ if (pipeHandle != INVALID_HANDLE_VALUE) {
+ /* No name collisions. We're done. */
+ break;
+ }
+
+ err = GetLastError();
+ if (err != ERROR_PIPE_BUSY && err != ERROR_ACCESS_DENIED) {
+ goto error;
+ }
+
+ /* Pipe name collision. Increment the pointer and try again. */
+ ptr++;
+ }
+
+ if (CreateIoCompletionPort(pipeHandle,
+ loop->iocp,
+ (ULONG_PTR)handle,
+ 0) == NULL) {
+ err = GetLastError();
+ goto error;
+ }
+
+ uv_pipe_connection_init(handle);
+ handle->handle = pipeHandle;
+
+ return 0;
+
+ error:
+ if (pipeHandle != INVALID_HANDLE_VALUE) {
+ CloseHandle(pipeHandle);
+ }
+
+ return err;
+}
+
+
+static int uv_set_pipe_handle(uv_loop_t* loop,
+ uv_pipe_t* handle,
+ HANDLE pipeHandle,
+ int fd,
+ DWORD duplex_flags) {
+ NTSTATUS nt_status;
+ IO_STATUS_BLOCK io_status;
+ FILE_MODE_INFORMATION mode_info;
+ DWORD mode = PIPE_READMODE_BYTE | PIPE_WAIT;
+ DWORD current_mode = 0;
+ DWORD err = 0;
+
+ if (!(handle->flags & UV_HANDLE_PIPESERVER) &&
+ handle->handle != INVALID_HANDLE_VALUE)
+ return UV_EBUSY;
+
+ if (!SetNamedPipeHandleState(pipeHandle, &mode, NULL, NULL)) {
+ err = GetLastError();
+ if (err == ERROR_ACCESS_DENIED) {
+ /*
+ * SetNamedPipeHandleState can fail if the handle doesn't have either
+ * GENERIC_WRITE or FILE_WRITE_ATTRIBUTES.
+ * But if the handle already has the desired wait and blocking modes
+ * we can continue.
+ */
+ if (!GetNamedPipeHandleState(pipeHandle, ¤t_mode, NULL, NULL,
+ NULL, NULL, 0)) {
+ return -1;
+ } else if (current_mode & PIPE_NOWAIT) {
+ SetLastError(ERROR_ACCESS_DENIED);
+ return -1;
+ }
+ } else {
+ /* If this returns ERROR_INVALID_PARAMETER we probably opened
+ * something that is not a pipe. */
+ if (err == ERROR_INVALID_PARAMETER) {
+ SetLastError(WSAENOTSOCK);
+ }
+ return -1;
+ }
+ }
+
+ /* Check if the pipe was created with FILE_FLAG_OVERLAPPED. */
+ nt_status = pNtQueryInformationFile(pipeHandle,
+ &io_status,
+ &mode_info,
+ sizeof(mode_info),
+ FileModeInformation);
+ if (nt_status != STATUS_SUCCESS) {
+ return -1;
+ }
+
+ if (mode_info.Mode & FILE_SYNCHRONOUS_IO_ALERT ||
+ mode_info.Mode & FILE_SYNCHRONOUS_IO_NONALERT) {
+ /* Non-overlapped pipe. */
+ handle->flags |= UV_HANDLE_NON_OVERLAPPED_PIPE;
+ } else {
+ /* Overlapped pipe. Try to associate with IOCP. */
+ if (CreateIoCompletionPort(pipeHandle,
+ loop->iocp,
+ (ULONG_PTR)handle,
+ 0) == NULL) {
+ handle->flags |= UV_HANDLE_EMULATE_IOCP;
+ }
+ }
+
+ handle->handle = pipeHandle;
+ handle->u.fd = fd;
+ handle->flags |= duplex_flags;
+
+ return 0;
+}
+
+
+static DWORD WINAPI pipe_shutdown_thread_proc(void* parameter) {
+ uv_loop_t* loop;
+ uv_pipe_t* handle;
+ uv_shutdown_t* req;
+
+ req = (uv_shutdown_t*) parameter;
+ assert(req);
+ handle = (uv_pipe_t*) req->handle;
+ assert(handle);
+ loop = handle->loop;
+ assert(loop);
+
+ FlushFileBuffers(handle->handle);
+
+ /* Post completed */
+ POST_COMPLETION_FOR_REQ(loop, req);
+
+ return 0;
+}
+
+
+void uv_pipe_endgame(uv_loop_t* loop, uv_pipe_t* handle) {
+ int err;
+ DWORD result;
+ uv_shutdown_t* req;
+ NTSTATUS nt_status;
+ IO_STATUS_BLOCK io_status;
+ FILE_PIPE_LOCAL_INFORMATION pipe_info;
+ uv__ipc_xfer_queue_item_t* xfer_queue_item;
+
+ if ((handle->flags & UV_HANDLE_CONNECTION) &&
+ handle->stream.conn.shutdown_req != NULL &&
+ handle->stream.conn.write_reqs_pending == 0) {
+ req = handle->stream.conn.shutdown_req;
+
+ /* Clear the shutdown_req field so we don't go here again. */
+ handle->stream.conn.shutdown_req = NULL;
+
+ if (handle->flags & UV_HANDLE_CLOSING) {
+ UNREGISTER_HANDLE_REQ(loop, handle, req);
+
+ /* Already closing. Cancel the shutdown. */
+ if (req->cb) {
+ req->cb(req, UV_ECANCELED);
+ }
+
+ DECREASE_PENDING_REQ_COUNT(handle);
+ return;
+ }
+
+ /* Try to avoid flushing the pipe buffer in the thread pool. */
+ nt_status = pNtQueryInformationFile(handle->handle,
+ &io_status,
+ &pipe_info,
+ sizeof pipe_info,
+ FilePipeLocalInformation);
+
+ if (nt_status != STATUS_SUCCESS) {
+ /* Failure */
+ UNREGISTER_HANDLE_REQ(loop, handle, req);
+
+ handle->flags |= UV_HANDLE_WRITABLE; /* Questionable */
+ if (req->cb) {
+ err = pRtlNtStatusToDosError(nt_status);
+ req->cb(req, uv_translate_sys_error(err));
+ }
+
+ DECREASE_PENDING_REQ_COUNT(handle);
+ return;
+ }
+
+ if (pipe_info.OutboundQuota == pipe_info.WriteQuotaAvailable) {
+ /* Short-circuit, no need to call FlushFileBuffers. */
+ uv_insert_pending_req(loop, (uv_req_t*) req);
+ return;
+ }
+
+ /* Run FlushFileBuffers in the thread pool. */
+ result = QueueUserWorkItem(pipe_shutdown_thread_proc,
+ req,
+ WT_EXECUTELONGFUNCTION);
+ if (result) {
+ return;
+
+ } else {
+ /* Failure. */
+ UNREGISTER_HANDLE_REQ(loop, handle, req);
+
+ handle->flags |= UV_HANDLE_WRITABLE; /* Questionable */
+ if (req->cb) {
+ err = GetLastError();
+ req->cb(req, uv_translate_sys_error(err));
+ }
+
+ DECREASE_PENDING_REQ_COUNT(handle);
+ return;
+ }
+ }
+
+ if (handle->flags & UV_HANDLE_CLOSING &&
+ handle->reqs_pending == 0) {
+ assert(!(handle->flags & UV_HANDLE_CLOSED));
+
+ if (handle->flags & UV_HANDLE_CONNECTION) {
+ /* Free pending sockets */
+ while (!QUEUE_EMPTY(&handle->pipe.conn.ipc_xfer_queue)) {
+ QUEUE* q;
+ SOCKET socket;
+
+ q = QUEUE_HEAD(&handle->pipe.conn.ipc_xfer_queue);
+ QUEUE_REMOVE(q);
+ xfer_queue_item = QUEUE_DATA(q, uv__ipc_xfer_queue_item_t, member);
+
+ /* Materialize socket and close it */
+ socket = WSASocketW(FROM_PROTOCOL_INFO,
+ FROM_PROTOCOL_INFO,
+ FROM_PROTOCOL_INFO,
+ &xfer_queue_item->xfer_info.socket_info,
+ 0,
+ WSA_FLAG_OVERLAPPED);
+ uv__free(xfer_queue_item);
+
+ if (socket != INVALID_SOCKET)
+ closesocket(socket);
+ }
+ handle->pipe.conn.ipc_xfer_queue_length = 0;
+
+ if (handle->flags & UV_HANDLE_EMULATE_IOCP) {
+ if (handle->read_req.wait_handle != INVALID_HANDLE_VALUE) {
+ UnregisterWait(handle->read_req.wait_handle);
+ handle->read_req.wait_handle = INVALID_HANDLE_VALUE;
+ }
+ if (handle->read_req.event_handle) {
+ CloseHandle(handle->read_req.event_handle);
+ handle->read_req.event_handle = NULL;
+ }
+ }
+
+ if (handle->flags & UV_HANDLE_NON_OVERLAPPED_PIPE)
+ DeleteCriticalSection(&handle->pipe.conn.readfile_thread_lock);
+ }
+
+ if (handle->flags & UV_HANDLE_PIPESERVER) {
+ assert(handle->pipe.serv.accept_reqs);
+ uv__free(handle->pipe.serv.accept_reqs);
+ handle->pipe.serv.accept_reqs = NULL;
+ }
+
+ uv__handle_close(handle);
+ }
+}
+
+
+void uv_pipe_pending_instances(uv_pipe_t* handle, int count) {
+ if (handle->flags & UV_HANDLE_BOUND)
+ return;
+ handle->pipe.serv.pending_instances = count;
+ handle->flags |= UV_HANDLE_PIPESERVER;
+}
+
+
+/* Creates a pipe server. */
+int uv_pipe_bind(uv_pipe_t* handle, const char* name) {
+ uv_loop_t* loop = handle->loop;
+ int i, err, nameSize;
+ uv_pipe_accept_t* req;
+
+ if (handle->flags & UV_HANDLE_BOUND) {
+ return UV_EINVAL;
+ }
+
+ if (!name) {
+ return UV_EINVAL;
+ }
+
+ if (!(handle->flags & UV_HANDLE_PIPESERVER)) {
+ handle->pipe.serv.pending_instances = default_pending_pipe_instances;
+ }
+
+ handle->pipe.serv.accept_reqs = (uv_pipe_accept_t*)
+ uv__malloc(sizeof(uv_pipe_accept_t) * handle->pipe.serv.pending_instances);
+ if (!handle->pipe.serv.accept_reqs) {
+ uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
+ }
+
+ for (i = 0; i < handle->pipe.serv.pending_instances; i++) {
+ req = &handle->pipe.serv.accept_reqs[i];
+ UV_REQ_INIT(req, UV_ACCEPT);
+ req->data = handle;
+ req->pipeHandle = INVALID_HANDLE_VALUE;
+ req->next_pending = NULL;
+ }
+
+ /* Convert name to UTF16. */
+ nameSize = MultiByteToWideChar(CP_UTF8, 0, name, -1, NULL, 0) * sizeof(WCHAR);
+ handle->name = (WCHAR*)uv__malloc(nameSize);
+ if (!handle->name) {
+ uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
+ }
+
+ if (!MultiByteToWideChar(CP_UTF8,
+ 0,
+ name,
+ -1,
+ handle->name,
+ nameSize / sizeof(WCHAR))) {
+ err = GetLastError();
+ goto error;
+ }
+
+ /*
+ * Attempt to create the first pipe with FILE_FLAG_FIRST_PIPE_INSTANCE.
+ * If this fails then there's already a pipe server for the given pipe name.
+ */
+ handle->pipe.serv.accept_reqs[0].pipeHandle = CreateNamedPipeW(handle->name,
+ PIPE_ACCESS_DUPLEX | FILE_FLAG_OVERLAPPED |
+ FILE_FLAG_FIRST_PIPE_INSTANCE | WRITE_DAC,
+ PIPE_TYPE_BYTE | PIPE_READMODE_BYTE | PIPE_WAIT,
+ PIPE_UNLIMITED_INSTANCES, 65536, 65536, 0, NULL);
+
+ if (handle->pipe.serv.accept_reqs[0].pipeHandle == INVALID_HANDLE_VALUE) {
+ err = GetLastError();
+ if (err == ERROR_ACCESS_DENIED) {
+ err = WSAEADDRINUSE; /* Translates to UV_EADDRINUSE. */
+ } else if (err == ERROR_PATH_NOT_FOUND || err == ERROR_INVALID_NAME) {
+ err = WSAEACCES; /* Translates to UV_EACCES. */
+ }
+ goto error;
+ }
+
+ if (uv_set_pipe_handle(loop,
+ handle,
+ handle->pipe.serv.accept_reqs[0].pipeHandle,
+ -1,
+ 0)) {
+ err = GetLastError();
+ goto error;
+ }
+
+ handle->pipe.serv.pending_accepts = NULL;
+ handle->flags |= UV_HANDLE_PIPESERVER;
+ handle->flags |= UV_HANDLE_BOUND;
+
+ return 0;
+
+error:
+ if (handle->name) {
+ uv__free(handle->name);
+ handle->name = NULL;
+ }
+
+ if (handle->pipe.serv.accept_reqs[0].pipeHandle != INVALID_HANDLE_VALUE) {
+ CloseHandle(handle->pipe.serv.accept_reqs[0].pipeHandle);
+ handle->pipe.serv.accept_reqs[0].pipeHandle = INVALID_HANDLE_VALUE;
+ }
+
+ return uv_translate_sys_error(err);
+}
+
+
+static DWORD WINAPI pipe_connect_thread_proc(void* parameter) {
+ uv_loop_t* loop;
+ uv_pipe_t* handle;
+ uv_connect_t* req;
+ HANDLE pipeHandle = INVALID_HANDLE_VALUE;
+ DWORD duplex_flags;
+
+ req = (uv_connect_t*) parameter;
+ assert(req);
+ handle = (uv_pipe_t*) req->handle;
+ assert(handle);
+ loop = handle->loop;
+ assert(loop);
+
+ /* We're here because CreateFile on a pipe returned ERROR_PIPE_BUSY. We wait
+ * for the pipe to become available with WaitNamedPipe. */
+ while (WaitNamedPipeW(handle->name, 30000)) {
+ /* The pipe is now available, try to connect. */
+ pipeHandle = open_named_pipe(handle->name, &duplex_flags);
+ if (pipeHandle != INVALID_HANDLE_VALUE) {
+ break;
+ }
+
+ SwitchToThread();
+ }
+
+ if (pipeHandle != INVALID_HANDLE_VALUE &&
+ !uv_set_pipe_handle(loop, handle, pipeHandle, -1, duplex_flags)) {
+ SET_REQ_SUCCESS(req);
+ } else {
+ SET_REQ_ERROR(req, GetLastError());
+ }
+
+ /* Post completed */
+ POST_COMPLETION_FOR_REQ(loop, req);
+
+ return 0;
+}
+
+
+void uv_pipe_connect(uv_connect_t* req, uv_pipe_t* handle,
+ const char* name, uv_connect_cb cb) {
+ uv_loop_t* loop = handle->loop;
+ int err, nameSize;
+ HANDLE pipeHandle = INVALID_HANDLE_VALUE;
+ DWORD duplex_flags;
+
+ UV_REQ_INIT(req, UV_CONNECT);
+ req->handle = (uv_stream_t*) handle;
+ req->cb = cb;
+
+ /* Convert name to UTF16. */
+ nameSize = MultiByteToWideChar(CP_UTF8, 0, name, -1, NULL, 0) * sizeof(WCHAR);
+ handle->name = (WCHAR*)uv__malloc(nameSize);
+ if (!handle->name) {
+ uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
+ }
+
+ if (!MultiByteToWideChar(CP_UTF8,
+ 0,
+ name,
+ -1,
+ handle->name,
+ nameSize / sizeof(WCHAR))) {
+ err = GetLastError();
+ goto error;
+ }
+
+ pipeHandle = open_named_pipe(handle->name, &duplex_flags);
+ if (pipeHandle == INVALID_HANDLE_VALUE) {
+ if (GetLastError() == ERROR_PIPE_BUSY) {
+ /* Wait for the server to make a pipe instance available. */
+ if (!QueueUserWorkItem(&pipe_connect_thread_proc,
+ req,
+ WT_EXECUTELONGFUNCTION)) {
+ err = GetLastError();
+ goto error;
+ }
+
+ REGISTER_HANDLE_REQ(loop, handle, req);
+ handle->reqs_pending++;
+
+ return;
+ }
+
+ err = GetLastError();
+ goto error;
+ }
+
+ assert(pipeHandle != INVALID_HANDLE_VALUE);
+
+ if (uv_set_pipe_handle(loop,
+ (uv_pipe_t*) req->handle,
+ pipeHandle,
+ -1,
+ duplex_flags)) {
+ err = GetLastError();
+ goto error;
+ }
+
+ SET_REQ_SUCCESS(req);
+ uv_insert_pending_req(loop, (uv_req_t*) req);
+ handle->reqs_pending++;
+ REGISTER_HANDLE_REQ(loop, handle, req);
+ return;
+
+error:
+ if (handle->name) {
+ uv__free(handle->name);
+ handle->name = NULL;
+ }
+
+ if (pipeHandle != INVALID_HANDLE_VALUE) {
+ CloseHandle(pipeHandle);
+ }
+
+ /* Make this req pending reporting an error. */
+ SET_REQ_ERROR(req, err);
+ uv_insert_pending_req(loop, (uv_req_t*) req);
+ handle->reqs_pending++;
+ REGISTER_HANDLE_REQ(loop, handle, req);
+ return;
+}
+
+
+void uv__pipe_interrupt_read(uv_pipe_t* handle) {
+ BOOL r;
+
+ if (!(handle->flags & UV_HANDLE_READ_PENDING))
+ return; /* No pending reads. */
+ if (handle->flags & UV_HANDLE_CANCELLATION_PENDING)
+ return; /* Already cancelled. */
+ if (handle->handle == INVALID_HANDLE_VALUE)
+ return; /* Pipe handle closed. */
+
+ if (!(handle->flags & UV_HANDLE_NON_OVERLAPPED_PIPE)) {
+ /* Cancel asynchronous read. */
+ r = CancelIoEx(handle->handle, &handle->read_req.u.io.overlapped);
+ assert(r || GetLastError() == ERROR_NOT_FOUND);
+
+ } else {
+ /* Cancel synchronous read (which is happening in the thread pool). */
+ HANDLE thread;
+ volatile HANDLE* thread_ptr = &handle->pipe.conn.readfile_thread_handle;
+
+ EnterCriticalSection(&handle->pipe.conn.readfile_thread_lock);
+
+ thread = *thread_ptr;
+ if (thread == NULL) {
+ /* The thread pool thread has not yet reached the point of blocking, we
+ * can pre-empt it by setting thread_handle to INVALID_HANDLE_VALUE. */
+ *thread_ptr = INVALID_HANDLE_VALUE;
+
+ } else {
+ /* Spin until the thread has acknowledged (by setting the thread to
+ * INVALID_HANDLE_VALUE) that it is past the point of blocking. */
+ while (thread != INVALID_HANDLE_VALUE) {
+ r = CancelSynchronousIo(thread);
+ assert(r || GetLastError() == ERROR_NOT_FOUND);
+ SwitchToThread(); /* Yield thread. */
+ thread = *thread_ptr;
+ }
+ }
+
+ LeaveCriticalSection(&handle->pipe.conn.readfile_thread_lock);
+ }
+
+ /* Set flag to indicate that read has been cancelled. */
+ handle->flags |= UV_HANDLE_CANCELLATION_PENDING;
+}
+
+
+void uv__pipe_read_stop(uv_pipe_t* handle) {
+ handle->flags &= ~UV_HANDLE_READING;
+ DECREASE_ACTIVE_COUNT(handle->loop, handle);
+
+ uv__pipe_interrupt_read(handle);
+}
+
+
+/* Cleans up uv_pipe_t (server or connection) and all resources associated with
+ * it. */
+void uv_pipe_cleanup(uv_loop_t* loop, uv_pipe_t* handle) {
+ int i;
+ HANDLE pipeHandle;
+
+ uv__pipe_interrupt_read(handle);
+
+ if (handle->name) {
+ uv__free(handle->name);
+ handle->name = NULL;
+ }
+
+ if (handle->flags & UV_HANDLE_PIPESERVER) {
+ for (i = 0; i < handle->pipe.serv.pending_instances; i++) {
+ pipeHandle = handle->pipe.serv.accept_reqs[i].pipeHandle;
+ if (pipeHandle != INVALID_HANDLE_VALUE) {
+ CloseHandle(pipeHandle);
+ handle->pipe.serv.accept_reqs[i].pipeHandle = INVALID_HANDLE_VALUE;
+ }
+ }
+ handle->handle = INVALID_HANDLE_VALUE;
+ }
+
+ if (handle->flags & UV_HANDLE_CONNECTION) {
+ handle->flags &= ~UV_HANDLE_WRITABLE;
+ eof_timer_destroy(handle);
+ }
+
+ if ((handle->flags & UV_HANDLE_CONNECTION)
+ && handle->handle != INVALID_HANDLE_VALUE)
+ close_pipe(handle);
+}
+
+
+void uv_pipe_close(uv_loop_t* loop, uv_pipe_t* handle) {
+ if (handle->flags & UV_HANDLE_READING) {
+ handle->flags &= ~UV_HANDLE_READING;
+ DECREASE_ACTIVE_COUNT(loop, handle);
+ }
+
+ if (handle->flags & UV_HANDLE_LISTENING) {
+ handle->flags &= ~UV_HANDLE_LISTENING;
+ DECREASE_ACTIVE_COUNT(loop, handle);
+ }
+
+ uv_pipe_cleanup(loop, handle);
+
+ if (handle->reqs_pending == 0) {
+ uv_want_endgame(loop, (uv_handle_t*) handle);
+ }
+
+ handle->flags &= ~(UV_HANDLE_READABLE | UV_HANDLE_WRITABLE);
+ uv__handle_closing(handle);
+}
+
+
+static void uv_pipe_queue_accept(uv_loop_t* loop, uv_pipe_t* handle,
+ uv_pipe_accept_t* req, BOOL firstInstance) {
+ assert(handle->flags & UV_HANDLE_LISTENING);
+
+ if (!firstInstance) {
+ assert(req->pipeHandle == INVALID_HANDLE_VALUE);
+
+ req->pipeHandle = CreateNamedPipeW(handle->name,
+ PIPE_ACCESS_DUPLEX | FILE_FLAG_OVERLAPPED | WRITE_DAC,
+ PIPE_TYPE_BYTE | PIPE_READMODE_BYTE | PIPE_WAIT,
+ PIPE_UNLIMITED_INSTANCES, 65536, 65536, 0, NULL);
+
+ if (req->pipeHandle == INVALID_HANDLE_VALUE) {
+ SET_REQ_ERROR(req, GetLastError());
+ uv_insert_pending_req(loop, (uv_req_t*) req);
+ handle->reqs_pending++;
+ return;
+ }
+
+ if (uv_set_pipe_handle(loop, handle, req->pipeHandle, -1, 0)) {
+ CloseHandle(req->pipeHandle);
+ req->pipeHandle = INVALID_HANDLE_VALUE;
+ SET_REQ_ERROR(req, GetLastError());
+ uv_insert_pending_req(loop, (uv_req_t*) req);
+ handle->reqs_pending++;
+ return;
+ }
+ }
+
+ assert(req->pipeHandle != INVALID_HANDLE_VALUE);
+
+ /* Prepare the overlapped structure. */
+ memset(&(req->u.io.overlapped), 0, sizeof(req->u.io.overlapped));
+
+ if (!ConnectNamedPipe(req->pipeHandle, &req->u.io.overlapped) &&
+ GetLastError() != ERROR_IO_PENDING) {
+ if (GetLastError() == ERROR_PIPE_CONNECTED) {
+ SET_REQ_SUCCESS(req);
+ } else {
+ CloseHandle(req->pipeHandle);
+ req->pipeHandle = INVALID_HANDLE_VALUE;
+ /* Make this req pending reporting an error. */
+ SET_REQ_ERROR(req, GetLastError());
+ }
+ uv_insert_pending_req(loop, (uv_req_t*) req);
+ handle->reqs_pending++;
+ return;
+ }
+
+ /* Wait for completion via IOCP */
+ handle->reqs_pending++;
+}
+
+
+int uv_pipe_accept(uv_pipe_t* server, uv_stream_t* client) {
+ uv_loop_t* loop = server->loop;
+ uv_pipe_t* pipe_client;
+ uv_pipe_accept_t* req;
+ QUEUE* q;
+ uv__ipc_xfer_queue_item_t* item;
+ int err;
+
+ if (server->ipc) {
+ if (QUEUE_EMPTY(&server->pipe.conn.ipc_xfer_queue)) {
+ /* No valid pending sockets. */
+ return WSAEWOULDBLOCK;
+ }
+
+ q = QUEUE_HEAD(&server->pipe.conn.ipc_xfer_queue);
+ QUEUE_REMOVE(q);
+ server->pipe.conn.ipc_xfer_queue_length--;
+ item = QUEUE_DATA(q, uv__ipc_xfer_queue_item_t, member);
+
+ err = uv__tcp_xfer_import(
+ (uv_tcp_t*) client, item->xfer_type, &item->xfer_info);
+ if (err != 0)
+ return err;
+
+ uv__free(item);
+
+ } else {
+ pipe_client = (uv_pipe_t*)client;
+
+ /* Find a connection instance that has been connected, but not yet
+ * accepted. */
+ req = server->pipe.serv.pending_accepts;
+
+ if (!req) {
+ /* No valid connections found, so we error out. */
+ return WSAEWOULDBLOCK;
+ }
+
+ /* Initialize the client handle and copy the pipeHandle to the client */
+ uv_pipe_connection_init(pipe_client);
+ pipe_client->handle = req->pipeHandle;
+ pipe_client->flags |= UV_HANDLE_READABLE | UV_HANDLE_WRITABLE;
+
+ /* Prepare the req to pick up a new connection */
+ server->pipe.serv.pending_accepts = req->next_pending;
+ req->next_pending = NULL;
+ req->pipeHandle = INVALID_HANDLE_VALUE;
+
+ if (!(server->flags & UV_HANDLE_CLOSING)) {
+ uv_pipe_queue_accept(loop, server, req, FALSE);
+ }
+ }
+
+ return 0;
+}
+
+
+/* Starts listening for connections for the given pipe. */
+int uv_pipe_listen(uv_pipe_t* handle, int backlog, uv_connection_cb cb) {
+ uv_loop_t* loop = handle->loop;
+ int i;
+
+ if (handle->flags & UV_HANDLE_LISTENING) {
+ handle->stream.serv.connection_cb = cb;
+ }
+
+ if (!(handle->flags & UV_HANDLE_BOUND)) {
+ return WSAEINVAL;
+ }
+
+ if (handle->flags & UV_HANDLE_READING) {
+ return WSAEISCONN;
+ }
+
+ if (!(handle->flags & UV_HANDLE_PIPESERVER)) {
+ return ERROR_NOT_SUPPORTED;
+ }
+
+ handle->flags |= UV_HANDLE_LISTENING;
+ INCREASE_ACTIVE_COUNT(loop, handle);
+ handle->stream.serv.connection_cb = cb;
+
+ /* First pipe handle should have already been created in uv_pipe_bind */
+ assert(handle->pipe.serv.accept_reqs[0].pipeHandle != INVALID_HANDLE_VALUE);
+
+ for (i = 0; i < handle->pipe.serv.pending_instances; i++) {
+ uv_pipe_queue_accept(loop, handle, &handle->pipe.serv.accept_reqs[i], i == 0);
+ }
+
+ return 0;
+}
+
+
+static DWORD WINAPI uv_pipe_zero_readfile_thread_proc(void* arg) {
+ uv_read_t* req = (uv_read_t*) arg;
+ uv_pipe_t* handle = (uv_pipe_t*) req->data;
+ uv_loop_t* loop = handle->loop;
+ volatile HANDLE* thread_ptr = &handle->pipe.conn.readfile_thread_handle;
+ CRITICAL_SECTION* lock = &handle->pipe.conn.readfile_thread_lock;
+ HANDLE thread;
+ DWORD bytes;
+ DWORD err;
+
+ assert(req->type == UV_READ);
+ assert(handle->type == UV_NAMED_PIPE);
+
+ err = 0;
+
+ /* Create a handle to the current thread. */
+ if (!DuplicateHandle(GetCurrentProcess(),
+ GetCurrentThread(),
+ GetCurrentProcess(),
+ &thread,
+ 0,
+ FALSE,
+ DUPLICATE_SAME_ACCESS)) {
+ err = GetLastError();
+ goto out1;
+ }
+
+ /* The lock needs to be held when thread handle is modified. */
+ EnterCriticalSection(lock);
+ if (*thread_ptr == INVALID_HANDLE_VALUE) {
+ /* uv__pipe_interrupt_read() cancelled reading before we got here. */
+ err = ERROR_OPERATION_ABORTED;
+ } else {
+ /* Let main thread know which worker thread is doing the blocking read. */
+ assert(*thread_ptr == NULL);
+ *thread_ptr = thread;
+ }
+ LeaveCriticalSection(lock);
+
+ if (err)
+ goto out2;
+
+ /* Block the thread until data is available on the pipe, or the read is
+ * cancelled. */
+ if (!ReadFile(handle->handle, &uv_zero_, 0, &bytes, NULL))
+ err = GetLastError();
+
+ /* Let the main thread know the worker is past the point of blocking. */
+ assert(thread == *thread_ptr);
+ *thread_ptr = INVALID_HANDLE_VALUE;
+
+ /* Briefly acquire the mutex. Since the main thread holds the lock while it
+ * is spinning trying to cancel this thread's I/O, we will block here until
+ * it stops doing that. */
+ EnterCriticalSection(lock);
+ LeaveCriticalSection(lock);
+
+out2:
+ /* Close the handle to the current thread. */
+ CloseHandle(thread);
+
+out1:
+ /* Set request status and post a completion record to the IOCP. */
+ if (err)
+ SET_REQ_ERROR(req, err);
+ else
+ SET_REQ_SUCCESS(req);
+ POST_COMPLETION_FOR_REQ(loop, req);
+
+ return 0;
+}
+
+
+static DWORD WINAPI uv_pipe_writefile_thread_proc(void* parameter) {
+ int result;
+ DWORD bytes;
+ uv_write_t* req = (uv_write_t*) parameter;
+ uv_pipe_t* handle = (uv_pipe_t*) req->handle;
+ uv_loop_t* loop = handle->loop;
+
+ assert(req != NULL);
+ assert(req->type == UV_WRITE);
+ assert(handle->type == UV_NAMED_PIPE);
+ assert(req->write_buffer.base);
+
+ result = WriteFile(handle->handle,
+ req->write_buffer.base,
+ req->write_buffer.len,
+ &bytes,
+ NULL);
+
+ if (!result) {
+ SET_REQ_ERROR(req, GetLastError());
+ }
+
+ POST_COMPLETION_FOR_REQ(loop, req);
+ return 0;
+}
+
+
+static void CALLBACK post_completion_read_wait(void* context, BOOLEAN timed_out) {
+ uv_read_t* req;
+ uv_tcp_t* handle;
+
+ req = (uv_read_t*) context;
+ assert(req != NULL);
+ handle = (uv_tcp_t*)req->data;
+ assert(handle != NULL);
+ assert(!timed_out);
+
+ if (!PostQueuedCompletionStatus(handle->loop->iocp,
+ req->u.io.overlapped.InternalHigh,
+ 0,
+ &req->u.io.overlapped)) {
+ uv_fatal_error(GetLastError(), "PostQueuedCompletionStatus");
+ }
+}
+
+
+static void CALLBACK post_completion_write_wait(void* context, BOOLEAN timed_out) {
+ uv_write_t* req;
+ uv_tcp_t* handle;
+
+ req = (uv_write_t*) context;
+ assert(req != NULL);
+ handle = (uv_tcp_t*)req->handle;
+ assert(handle != NULL);
+ assert(!timed_out);
+
+ if (!PostQueuedCompletionStatus(handle->loop->iocp,
+ req->u.io.overlapped.InternalHigh,
+ 0,
+ &req->u.io.overlapped)) {
+ uv_fatal_error(GetLastError(), "PostQueuedCompletionStatus");
+ }
+}
+
+
+static void uv_pipe_queue_read(uv_loop_t* loop, uv_pipe_t* handle) {
+ uv_read_t* req;
+ int result;
+
+ assert(handle->flags & UV_HANDLE_READING);
+ assert(!(handle->flags & UV_HANDLE_READ_PENDING));
+
+ assert(handle->handle != INVALID_HANDLE_VALUE);
+
+ req = &handle->read_req;
+
+ if (handle->flags & UV_HANDLE_NON_OVERLAPPED_PIPE) {
+ handle->pipe.conn.readfile_thread_handle = NULL; /* Reset cancellation. */
+ if (!QueueUserWorkItem(&uv_pipe_zero_readfile_thread_proc,
+ req,
+ WT_EXECUTELONGFUNCTION)) {
+ /* Make this req pending reporting an error. */
+ SET_REQ_ERROR(req, GetLastError());
+ goto error;
+ }
+ } else {
+ memset(&req->u.io.overlapped, 0, sizeof(req->u.io.overlapped));
+ if (handle->flags & UV_HANDLE_EMULATE_IOCP) {
+ req->u.io.overlapped.hEvent = (HANDLE) ((uintptr_t) req->event_handle | 1);
+ }
+
+ /* Do 0-read */
+ result = ReadFile(handle->handle,
+ &uv_zero_,
+ 0,
+ NULL,
+ &req->u.io.overlapped);
+
+ if (!result && GetLastError() != ERROR_IO_PENDING) {
+ /* Make this req pending reporting an error. */
+ SET_REQ_ERROR(req, GetLastError());
+ goto error;
+ }
+
+ if (handle->flags & UV_HANDLE_EMULATE_IOCP) {
+ if (!req->event_handle) {
+ req->event_handle = CreateEvent(NULL, 0, 0, NULL);
+ if (!req->event_handle) {
+ uv_fatal_error(GetLastError(), "CreateEvent");
+ }
+ }
+ if (req->wait_handle == INVALID_HANDLE_VALUE) {
+ if (!RegisterWaitForSingleObject(&req->wait_handle,
+ req->u.io.overlapped.hEvent, post_completion_read_wait, (void*) req,
+ INFINITE, WT_EXECUTEINWAITTHREAD)) {
+ SET_REQ_ERROR(req, GetLastError());
+ goto error;
+ }
+ }
+ }
+ }
+
+ /* Start the eof timer if there is one */
+ eof_timer_start(handle);
+ handle->flags |= UV_HANDLE_READ_PENDING;
+ handle->reqs_pending++;
+ return;
+
+error:
+ uv_insert_pending_req(loop, (uv_req_t*)req);
+ handle->flags |= UV_HANDLE_READ_PENDING;
+ handle->reqs_pending++;
+}
+
+
+int uv_pipe_read_start(uv_pipe_t* handle,
+ uv_alloc_cb alloc_cb,
+ uv_read_cb read_cb) {
+ uv_loop_t* loop = handle->loop;
+
+ handle->flags |= UV_HANDLE_READING;
+ INCREASE_ACTIVE_COUNT(loop, handle);
+ handle->read_cb = read_cb;
+ handle->alloc_cb = alloc_cb;
+
+ /* If reading was stopped and then started again, there could still be a read
+ * request pending. */
+ if (!(handle->flags & UV_HANDLE_READ_PENDING))
+ uv_pipe_queue_read(loop, handle);
+
+ return 0;
+}
+
+
+static void uv_insert_non_overlapped_write_req(uv_pipe_t* handle,
+ uv_write_t* req) {
+ req->next_req = NULL;
+ if (handle->pipe.conn.non_overlapped_writes_tail) {
+ req->next_req =
+ handle->pipe.conn.non_overlapped_writes_tail->next_req;
+ handle->pipe.conn.non_overlapped_writes_tail->next_req = (uv_req_t*)req;
+ handle->pipe.conn.non_overlapped_writes_tail = req;
+ } else {
+ req->next_req = (uv_req_t*)req;
+ handle->pipe.conn.non_overlapped_writes_tail = req;
+ }
+}
+
+
+static uv_write_t* uv_remove_non_overlapped_write_req(uv_pipe_t* handle) {
+ uv_write_t* req;
+
+ if (handle->pipe.conn.non_overlapped_writes_tail) {
+ req = (uv_write_t*)handle->pipe.conn.non_overlapped_writes_tail->next_req;
+
+ if (req == handle->pipe.conn.non_overlapped_writes_tail) {
+ handle->pipe.conn.non_overlapped_writes_tail = NULL;
+ } else {
+ handle->pipe.conn.non_overlapped_writes_tail->next_req =
+ req->next_req;
+ }
+
+ return req;
+ } else {
+ /* queue empty */
+ return NULL;
+ }
+}
+
+
+static void uv_queue_non_overlapped_write(uv_pipe_t* handle) {
+ uv_write_t* req = uv_remove_non_overlapped_write_req(handle);
+ if (req) {
+ if (!QueueUserWorkItem(&uv_pipe_writefile_thread_proc,
+ req,
+ WT_EXECUTELONGFUNCTION)) {
+ uv_fatal_error(GetLastError(), "QueueUserWorkItem");
+ }
+ }
+}
+
+
+static int uv__build_coalesced_write_req(uv_write_t* user_req,
+ const uv_buf_t bufs[],
+ size_t nbufs,
+ uv_write_t** req_out,
+ uv_buf_t* write_buf_out) {
+ /* Pack into a single heap-allocated buffer:
+ * (a) a uv_write_t structure where libuv stores the actual state.
+ * (b) a pointer to the original uv_write_t.
+ * (c) data from all `bufs` entries.
+ */
+ char* heap_buffer;
+ size_t heap_buffer_length, heap_buffer_offset;
+ uv__coalesced_write_t* coalesced_write_req; /* (a) + (b) */
+ char* data_start; /* (c) */
+ size_t data_length;
+ unsigned int i;
+
+ /* Compute combined size of all combined buffers from `bufs`. */
+ data_length = 0;
+ for (i = 0; i < nbufs; i++)
+ data_length += bufs[i].len;
+
+ /* The total combined size of data buffers should not exceed UINT32_MAX,
+ * because WriteFile() won't accept buffers larger than that. */
+ if (data_length > UINT32_MAX)
+ return WSAENOBUFS; /* Maps to UV_ENOBUFS. */
+
+ /* Compute heap buffer size. */
+ heap_buffer_length = sizeof *coalesced_write_req + /* (a) + (b) */
+ data_length; /* (c) */
+
+ /* Allocate buffer. */
+ heap_buffer = (char*)uv__malloc(heap_buffer_length);
+ if (heap_buffer == NULL)
+ return ERROR_NOT_ENOUGH_MEMORY; /* Maps to UV_ENOMEM. */
+
+ /* Copy uv_write_t information to the buffer. */
+ coalesced_write_req = (uv__coalesced_write_t*) heap_buffer;
+ coalesced_write_req->req = *user_req; /* copy (a) */
+ coalesced_write_req->req.coalesced = 1;
+ coalesced_write_req->user_req = user_req; /* copy (b) */
+ heap_buffer_offset = sizeof *coalesced_write_req; /* offset (a) + (b) */
+
+ /* Copy data buffers to the heap buffer. */
+ data_start = &heap_buffer[heap_buffer_offset];
+ for (i = 0; i < nbufs; i++) {
+ memcpy(&heap_buffer[heap_buffer_offset],
+ bufs[i].base,
+ bufs[i].len); /* copy (c) */
+ heap_buffer_offset += bufs[i].len; /* offset (c) */
+ }
+ assert(heap_buffer_offset == heap_buffer_length);
+
+ /* Set out arguments and return. */
+ *req_out = &coalesced_write_req->req;
+ *write_buf_out = uv_buf_init(data_start, (unsigned int) data_length);
+ return 0;
+}
+
+
+static int uv__pipe_write_data(uv_loop_t* loop,
+ uv_write_t* req,
+ uv_pipe_t* handle,
+ const uv_buf_t bufs[],
+ size_t nbufs,
+ uv_write_cb cb,
+ int copy_always) {
+ int err;
+ int result;
+ uv_buf_t write_buf;
+
+ assert(handle->handle != INVALID_HANDLE_VALUE);
+
+ UV_REQ_INIT(req, UV_WRITE);
+ req->handle = (uv_stream_t*) handle;
+ req->send_handle = NULL;
+ req->cb = cb;
+ /* Private fields. */
+ req->coalesced = 0;
+ req->event_handle = NULL;
+ req->wait_handle = INVALID_HANDLE_VALUE;
+ memset(&req->u.io.overlapped, 0, sizeof(req->u.io.overlapped));
+ req->write_buffer = uv_null_buf_;
+
+ if (nbufs == 0) {
+ /* Write empty buffer. */
+ write_buf = uv_null_buf_;
+ } else if (nbufs == 1 && !copy_always) {
+ /* Write directly from bufs[0]. */
+ write_buf = bufs[0];
+ } else {
+ /* Coalesce all `bufs` into one big buffer. This also creates a new
+ * write-request structure that replaces the old one. */
+ err = uv__build_coalesced_write_req(req, bufs, nbufs, &req, &write_buf);
+ if (err != 0)
+ return err;
+ }
+
+ if ((handle->flags &
+ (UV_HANDLE_BLOCKING_WRITES | UV_HANDLE_NON_OVERLAPPED_PIPE)) ==
+ (UV_HANDLE_BLOCKING_WRITES | UV_HANDLE_NON_OVERLAPPED_PIPE)) {
+ DWORD bytes;
+ result =
+ WriteFile(handle->handle, write_buf.base, write_buf.len, &bytes, NULL);
+
+ if (!result) {
+ err = GetLastError();
+ return err;
+ } else {
+ /* Request completed immediately. */
+ req->u.io.queued_bytes = 0;
+ }
+
+ REGISTER_HANDLE_REQ(loop, handle, req);
+ handle->reqs_pending++;
+ handle->stream.conn.write_reqs_pending++;
+ POST_COMPLETION_FOR_REQ(loop, req);
+ return 0;
+ } else if (handle->flags & UV_HANDLE_NON_OVERLAPPED_PIPE) {
+ req->write_buffer = write_buf;
+ uv_insert_non_overlapped_write_req(handle, req);
+ if (handle->stream.conn.write_reqs_pending == 0) {
+ uv_queue_non_overlapped_write(handle);
+ }
+
+ /* Request queued by the kernel. */
+ req->u.io.queued_bytes = write_buf.len;
+ handle->write_queue_size += req->u.io.queued_bytes;
+ } else if (handle->flags & UV_HANDLE_BLOCKING_WRITES) {
+ /* Using overlapped IO, but wait for completion before returning */
+ req->u.io.overlapped.hEvent = CreateEvent(NULL, 1, 0, NULL);
+ if (!req->u.io.overlapped.hEvent) {
+ uv_fatal_error(GetLastError(), "CreateEvent");
+ }
+
+ result = WriteFile(handle->handle,
+ write_buf.base,
+ write_buf.len,
+ NULL,
+ &req->u.io.overlapped);
+
+ if (!result && GetLastError() != ERROR_IO_PENDING) {
+ err = GetLastError();
+ CloseHandle(req->u.io.overlapped.hEvent);
+ return err;
+ }
+
+ if (result) {
+ /* Request completed immediately. */
+ req->u.io.queued_bytes = 0;
+ } else {
+ /* Request queued by the kernel. */
+ req->u.io.queued_bytes = write_buf.len;
+ handle->write_queue_size += req->u.io.queued_bytes;
+ if (WaitForSingleObject(req->u.io.overlapped.hEvent, INFINITE) !=
+ WAIT_OBJECT_0) {
+ err = GetLastError();
+ CloseHandle(req->u.io.overlapped.hEvent);
+ return err;
+ }
+ }
+ CloseHandle(req->u.io.overlapped.hEvent);
+
+ REGISTER_HANDLE_REQ(loop, handle, req);
+ handle->reqs_pending++;
+ handle->stream.conn.write_reqs_pending++;
+ return 0;
+ } else {
+ result = WriteFile(handle->handle,
+ write_buf.base,
+ write_buf.len,
+ NULL,
+ &req->u.io.overlapped);
+
+ if (!result && GetLastError() != ERROR_IO_PENDING) {
+ return GetLastError();
+ }
+
+ if (result) {
+ /* Request completed immediately. */
+ req->u.io.queued_bytes = 0;
+ } else {
+ /* Request queued by the kernel. */
+ req->u.io.queued_bytes = write_buf.len;
+ handle->write_queue_size += req->u.io.queued_bytes;
+ }
+
+ if (handle->flags & UV_HANDLE_EMULATE_IOCP) {
+ req->event_handle = CreateEvent(NULL, 0, 0, NULL);
+ if (!req->event_handle) {
+ uv_fatal_error(GetLastError(), "CreateEvent");
+ }
+ if (!RegisterWaitForSingleObject(&req->wait_handle,
+ req->u.io.overlapped.hEvent, post_completion_write_wait, (void*) req,
+ INFINITE, WT_EXECUTEINWAITTHREAD)) {
+ return GetLastError();
+ }
+ }
+ }
+
+ REGISTER_HANDLE_REQ(loop, handle, req);
+ handle->reqs_pending++;
+ handle->stream.conn.write_reqs_pending++;
+
+ return 0;
+}
+
+
+static DWORD uv__pipe_get_ipc_remote_pid(uv_pipe_t* handle) {
+ DWORD* pid = &handle->pipe.conn.ipc_remote_pid;
+
+ /* If the both ends of the IPC pipe are owned by the same process,
+ * the remote end pid may not yet be set. If so, do it here.
+ * TODO: this is weird; it'd probably better to use a handshake. */
+ if (*pid == 0)
+ *pid = GetCurrentProcessId();
+
+ return *pid;
+}
+
+
+int uv__pipe_write_ipc(uv_loop_t* loop,
+ uv_write_t* req,
+ uv_pipe_t* handle,
+ const uv_buf_t data_bufs[],
+ size_t data_buf_count,
+ uv_stream_t* send_handle,
+ uv_write_cb cb) {
+ uv_buf_t stack_bufs[6];
+ uv_buf_t* bufs;
+ size_t buf_count, buf_index;
+ uv__ipc_frame_header_t frame_header;
+ uv__ipc_socket_xfer_type_t xfer_type = UV__IPC_SOCKET_XFER_NONE;
+ uv__ipc_socket_xfer_info_t xfer_info;
+ uint64_t data_length;
+ size_t i;
+ int err;
+
+ /* Compute the combined size of data buffers. */
+ data_length = 0;
+ for (i = 0; i < data_buf_count; i++)
+ data_length += data_bufs[i].len;
+ if (data_length > UINT32_MAX)
+ return WSAENOBUFS; /* Maps to UV_ENOBUFS. */
+
+ /* Prepare the frame's socket xfer payload. */
+ if (send_handle != NULL) {
+ uv_tcp_t* send_tcp_handle = (uv_tcp_t*) send_handle;
+
+ /* Verify that `send_handle` it is indeed a tcp handle. */
+ if (send_tcp_handle->type != UV_TCP)
+ return ERROR_NOT_SUPPORTED;
+
+ /* Export the tcp handle. */
+ err = uv__tcp_xfer_export(send_tcp_handle,
+ uv__pipe_get_ipc_remote_pid(handle),
+ &xfer_type,
+ &xfer_info);
+ if (err != 0)
+ return err;
+ }
+
+ /* Compute the number of uv_buf_t's required. */
+ buf_count = 1 + data_buf_count; /* Frame header and data buffers. */
+ if (send_handle != NULL)
+ buf_count += 1; /* One extra for the socket xfer information. */
+
+ /* Use the on-stack buffer array if it is big enough; otherwise allocate
+ * space for it on the heap. */
+ if (buf_count < ARRAY_SIZE(stack_bufs)) {
+ /* Use on-stack buffer array. */
+ bufs = stack_bufs;
+ } else {
+ /* Use heap-allocated buffer array. */
+ bufs = (uv_buf_t*)uv__calloc(buf_count, sizeof(uv_buf_t));
+ if (bufs == NULL)
+ return ERROR_NOT_ENOUGH_MEMORY; /* Maps to UV_ENOMEM. */
+ }
+ buf_index = 0;
+
+ /* Initialize frame header and add it to the buffers list. */
+ memset(&frame_header, 0, sizeof frame_header);
+ bufs[buf_index++] = uv_buf_init((char*) &frame_header, sizeof frame_header);
+
+ if (send_handle != NULL) {
+ /* Add frame header flags. */
+ switch (xfer_type) {
+ case UV__IPC_SOCKET_XFER_TCP_CONNECTION:
+ frame_header.flags |= UV__IPC_FRAME_HAS_SOCKET_XFER |
+ UV__IPC_FRAME_XFER_IS_TCP_CONNECTION;
+ break;
+ case UV__IPC_SOCKET_XFER_TCP_SERVER:
+ frame_header.flags |= UV__IPC_FRAME_HAS_SOCKET_XFER;
+ break;
+ default:
+ assert(0); /* Unreachable. */
+ }
+ /* Add xfer info buffer. */
+ bufs[buf_index++] = uv_buf_init((char*) &xfer_info, sizeof xfer_info);
+ }
+
+ if (data_length > 0) {
+ /* Update frame header. */
+ frame_header.flags |= UV__IPC_FRAME_HAS_DATA;
+ frame_header.data_length = (uint32_t) data_length;
+ /* Add data buffers to buffers list. */
+ for (i = 0; i < data_buf_count; i++)
+ bufs[buf_index++] = data_bufs[i];
+ }
+
+ /* Write buffers. We set the `always_copy` flag, so it is not a problem that
+ * some of the written data lives on the stack. */
+ err = uv__pipe_write_data(loop, req, handle, bufs, buf_count, cb, 1);
+
+ /* If we had to heap-allocate the bufs array, free it now. */
+ if (bufs != stack_bufs) {
+ uv__free(bufs);
+ }
+
+ return err;
+}
+
+
+int uv__pipe_write(uv_loop_t* loop,
+ uv_write_t* req,
+ uv_pipe_t* handle,
+ const uv_buf_t bufs[],
+ size_t nbufs,
+ uv_stream_t* send_handle,
+ uv_write_cb cb) {
+ if (handle->ipc) {
+ /* IPC pipe write: use framing protocol. */
+ return uv__pipe_write_ipc(loop, req, handle, bufs, nbufs, send_handle, cb);
+ } else {
+ /* Non-IPC pipe write: put data on the wire directly. */
+ assert(send_handle == NULL);
+ return uv__pipe_write_data(loop, req, handle, bufs, nbufs, cb, 0);
+ }
+}
+
+
+static void uv_pipe_read_eof(uv_loop_t* loop, uv_pipe_t* handle,
+ uv_buf_t buf) {
+ /* If there is an eof timer running, we don't need it any more, so discard
+ * it. */
+ eof_timer_destroy(handle);
+
+ handle->flags &= ~UV_HANDLE_READABLE;
+ uv_read_stop((uv_stream_t*) handle);
+
+ handle->read_cb((uv_stream_t*) handle, UV_EOF, &buf);
+}
+
+
+static void uv_pipe_read_error(uv_loop_t* loop, uv_pipe_t* handle, int error,
+ uv_buf_t buf) {
+ /* If there is an eof timer running, we don't need it any more, so discard
+ * it. */
+ eof_timer_destroy(handle);
+
+ uv_read_stop((uv_stream_t*) handle);
+
+ handle->read_cb((uv_stream_t*)handle, uv_translate_sys_error(error), &buf);
+}
+
+
+static void uv_pipe_read_error_or_eof(uv_loop_t* loop, uv_pipe_t* handle,
+ int error, uv_buf_t buf) {
+ if (error == ERROR_BROKEN_PIPE) {
+ uv_pipe_read_eof(loop, handle, buf);
+ } else {
+ uv_pipe_read_error(loop, handle, error, buf);
+ }
+}
+
+
+static void uv__pipe_queue_ipc_xfer_info(
+ uv_pipe_t* handle,
+ uv__ipc_socket_xfer_type_t xfer_type,
+ uv__ipc_socket_xfer_info_t* xfer_info) {
+ uv__ipc_xfer_queue_item_t* item;
+
+ item = (uv__ipc_xfer_queue_item_t*) uv__malloc(sizeof(*item));
+ if (item == NULL)
+ uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
+
+ item->xfer_type = xfer_type;
+ item->xfer_info = *xfer_info;
+
+ QUEUE_INSERT_TAIL(&handle->pipe.conn.ipc_xfer_queue, &item->member);
+ handle->pipe.conn.ipc_xfer_queue_length++;
+}
+
+
+/* Read an exact number of bytes from a pipe. If an error or end-of-file is
+ * encountered before the requested number of bytes are read, an error is
+ * returned. */
+static int uv__pipe_read_exactly(HANDLE h, void* buffer, DWORD count) {
+ DWORD bytes_read, bytes_read_now;
+
+ bytes_read = 0;
+ while (bytes_read < count) {
+ if (!ReadFile(h,
+ (char*) buffer + bytes_read,
+ count - bytes_read,
+ &bytes_read_now,
+ NULL)) {
+ return GetLastError();
+ }
+
+ bytes_read += bytes_read_now;
+ }
+
+ assert(bytes_read == count);
+ return 0;
+}
+
+
+static DWORD uv__pipe_read_data(uv_loop_t* loop,
+ uv_pipe_t* handle,
+ DWORD suggested_bytes,
+ DWORD max_bytes) {
+ DWORD bytes_read;
+ uv_buf_t buf;
+
+ /* Ask the user for a buffer to read data into. */
+ buf = uv_buf_init(NULL, 0);
+ handle->alloc_cb((uv_handle_t*) handle, suggested_bytes, &buf);
+ if (buf.base == NULL || buf.len == 0) {
+ handle->read_cb((uv_stream_t*) handle, UV_ENOBUFS, &buf);
+ return 0; /* Break out of read loop. */
+ }
+
+ /* Ensure we read at most the smaller of:
+ * (a) the length of the user-allocated buffer.
+ * (b) the maximum data length as specified by the `max_bytes` argument.
+ */
+ if (max_bytes > buf.len)
+ max_bytes = buf.len;
+
+ /* Read into the user buffer. */
+ if (!ReadFile(handle->handle, buf.base, max_bytes, &bytes_read, NULL)) {
+ uv_pipe_read_error_or_eof(loop, handle, GetLastError(), buf);
+ return 0; /* Break out of read loop. */
+ }
+
+ /* Call the read callback. */
+ handle->read_cb((uv_stream_t*) handle, bytes_read, &buf);
+
+ return bytes_read;
+}
+
+
+static DWORD uv__pipe_read_ipc(uv_loop_t* loop, uv_pipe_t* handle) {
+ uint32_t* data_remaining = &handle->pipe.conn.ipc_data_frame.payload_remaining;
+ int err;
+
+ if (*data_remaining > 0) {
+ /* Read frame data payload. */
+ DWORD bytes_read =
+ uv__pipe_read_data(loop, handle, *data_remaining, *data_remaining);
+ *data_remaining -= bytes_read;
+ return bytes_read;
+
+ } else {
+ /* Start of a new IPC frame. */
+ uv__ipc_frame_header_t frame_header;
+ uint32_t xfer_flags;
+ uv__ipc_socket_xfer_type_t xfer_type;
+ uv__ipc_socket_xfer_info_t xfer_info;
+
+ /* Read the IPC frame header. */
+ err = uv__pipe_read_exactly(
+ handle->handle, &frame_header, sizeof frame_header);
+ if (err)
+ goto error;
+
+ /* Validate that flags are valid. */
+ if ((frame_header.flags & ~UV__IPC_FRAME_VALID_FLAGS) != 0)
+ goto invalid;
+ /* Validate that reserved2 is zero. */
+ if (frame_header.reserved2 != 0)
+ goto invalid;
+
+ /* Parse xfer flags. */
+ xfer_flags = frame_header.flags & UV__IPC_FRAME_XFER_FLAGS;
+ if (xfer_flags & UV__IPC_FRAME_HAS_SOCKET_XFER) {
+ /* Socket coming -- determine the type. */
+ xfer_type = xfer_flags & UV__IPC_FRAME_XFER_IS_TCP_CONNECTION
+ ? UV__IPC_SOCKET_XFER_TCP_CONNECTION
+ : UV__IPC_SOCKET_XFER_TCP_SERVER;
+ } else if (xfer_flags == 0) {
+ /* No socket. */
+ xfer_type = UV__IPC_SOCKET_XFER_NONE;
+ } else {
+ /* Invalid flags. */
+ goto invalid;
+ }
+
+ /* Parse data frame information. */
+ if (frame_header.flags & UV__IPC_FRAME_HAS_DATA) {
+ *data_remaining = frame_header.data_length;
+ } else if (frame_header.data_length != 0) {
+ /* Data length greater than zero but data flag not set -- invalid. */
+ goto invalid;
+ }
+
+ /* If no socket xfer info follows, return here. Data will be read in a
+ * subsequent invocation of uv__pipe_read_ipc(). */
+ if (xfer_type == UV__IPC_SOCKET_XFER_NONE)
+ return sizeof frame_header; /* Number of bytes read. */
+
+ /* Read transferred socket information. */
+ err = uv__pipe_read_exactly(handle->handle, &xfer_info, sizeof xfer_info);
+ if (err)
+ goto error;
+
+ /* Store the pending socket info. */
+ uv__pipe_queue_ipc_xfer_info(handle, xfer_type, &xfer_info);
+
+ /* Return number of bytes read. */
+ return sizeof frame_header + sizeof xfer_info;
+ }
+
+invalid:
+ /* Invalid frame. */
+ err = WSAECONNABORTED; /* Maps to UV_ECONNABORTED. */
+
+error:
+ uv_pipe_read_error_or_eof(loop, handle, err, uv_null_buf_);
+ return 0; /* Break out of read loop. */
+}
+
+
+void uv_process_pipe_read_req(uv_loop_t* loop,
+ uv_pipe_t* handle,
+ uv_req_t* req) {
+ assert(handle->type == UV_NAMED_PIPE);
+
+ handle->flags &= ~(UV_HANDLE_READ_PENDING | UV_HANDLE_CANCELLATION_PENDING);
+ DECREASE_PENDING_REQ_COUNT(handle);
+ eof_timer_stop(handle);
+
+ /* At this point, we're done with bookkeeping. If the user has stopped
+ * reading the pipe in the meantime, there is nothing left to do, since there
+ * is no callback that we can call. */
+ if (!(handle->flags & UV_HANDLE_READING))
+ return;
+
+ if (!REQ_SUCCESS(req)) {
+ /* An error occurred doing the zero-read. */
+ DWORD err = GET_REQ_ERROR(req);
+
+ /* If the read was cancelled by uv__pipe_interrupt_read(), the request may
+ * indicate an ERROR_OPERATION_ABORTED error. This error isn't relevant to
+ * the user; we'll start a new zero-read at the end of this function. */
+ if (err != ERROR_OPERATION_ABORTED)
+ uv_pipe_read_error_or_eof(loop, handle, err, uv_null_buf_);
+
+ } else {
+ /* The zero-read completed without error, indicating there is data
+ * available in the kernel buffer. */
+ DWORD avail;
+
+ /* Get the number of bytes available. */
+ avail = 0;
+ if (!PeekNamedPipe(handle->handle, NULL, 0, NULL, &avail, NULL))
+ uv_pipe_read_error_or_eof(loop, handle, GetLastError(), uv_null_buf_);
+
+ /* Read until we've either read all the bytes available, or the 'reading'
+ * flag is cleared. */
+ while (avail > 0 && handle->flags & UV_HANDLE_READING) {
+ /* Depending on the type of pipe, read either IPC frames or raw data. */
+ DWORD bytes_read =
+ handle->ipc ? uv__pipe_read_ipc(loop, handle)
+ : uv__pipe_read_data(loop, handle, avail, (DWORD) -1);
+
+ /* If no bytes were read, treat this as an indication that an error
+ * occurred, and break out of the read loop. */
+ if (bytes_read == 0)
+ break;
+
+ /* It is possible that more bytes were read than we thought were
+ * available. To prevent `avail` from underflowing, break out of the loop
+ * if this is the case. */
+ if (bytes_read > avail)
+ break;
+
+ /* Recompute the number of bytes available. */
+ avail -= bytes_read;
+ }
+ }
+
+ /* Start another zero-read request if necessary. */
+ if ((handle->flags & UV_HANDLE_READING) &&
+ !(handle->flags & UV_HANDLE_READ_PENDING)) {
+ uv_pipe_queue_read(loop, handle);
+ }
+}
+
+
+void uv_process_pipe_write_req(uv_loop_t* loop, uv_pipe_t* handle,
+ uv_write_t* req) {
+ int err;
+
+ assert(handle->type == UV_NAMED_PIPE);
+
+ assert(handle->write_queue_size >= req->u.io.queued_bytes);
+ handle->write_queue_size -= req->u.io.queued_bytes;
+
+ UNREGISTER_HANDLE_REQ(loop, handle, req);
+
+ if (handle->flags & UV_HANDLE_EMULATE_IOCP) {
+ if (req->wait_handle != INVALID_HANDLE_VALUE) {
+ UnregisterWait(req->wait_handle);
+ req->wait_handle = INVALID_HANDLE_VALUE;
+ }
+ if (req->event_handle) {
+ CloseHandle(req->event_handle);
+ req->event_handle = NULL;
+ }
+ }
+
+ err = GET_REQ_ERROR(req);
+
+ /* If this was a coalesced write, extract pointer to the user_provided
+ * uv_write_t structure so we can pass the expected pointer to the callback,
+ * then free the heap-allocated write req. */
+ if (req->coalesced) {
+ uv__coalesced_write_t* coalesced_write =
+ container_of(req, uv__coalesced_write_t, req);
+ req = coalesced_write->user_req;
+ uv__free(coalesced_write);
+ }
+ if (req->cb) {
+ req->cb(req, uv_translate_sys_error(err));
+ }
+
+ handle->stream.conn.write_reqs_pending--;
+
+ if (handle->flags & UV_HANDLE_NON_OVERLAPPED_PIPE &&
+ handle->pipe.conn.non_overlapped_writes_tail) {
+ assert(handle->stream.conn.write_reqs_pending > 0);
+ uv_queue_non_overlapped_write(handle);
+ }
+
+ if (handle->stream.conn.shutdown_req != NULL &&
+ handle->stream.conn.write_reqs_pending == 0) {
+ uv_want_endgame(loop, (uv_handle_t*)handle);
+ }
+
+ DECREASE_PENDING_REQ_COUNT(handle);
+}
+
+
+void uv_process_pipe_accept_req(uv_loop_t* loop, uv_pipe_t* handle,
+ uv_req_t* raw_req) {
+ uv_pipe_accept_t* req = (uv_pipe_accept_t*) raw_req;
+
+ assert(handle->type == UV_NAMED_PIPE);
+
+ if (handle->flags & UV_HANDLE_CLOSING) {
+ /* The req->pipeHandle should be freed already in uv_pipe_cleanup(). */
+ assert(req->pipeHandle == INVALID_HANDLE_VALUE);
+ DECREASE_PENDING_REQ_COUNT(handle);
+ return;
+ }
+
+ if (REQ_SUCCESS(req)) {
+ assert(req->pipeHandle != INVALID_HANDLE_VALUE);
+ req->next_pending = handle->pipe.serv.pending_accepts;
+ handle->pipe.serv.pending_accepts = req;
+
+ if (handle->stream.serv.connection_cb) {
+ handle->stream.serv.connection_cb((uv_stream_t*)handle, 0);
+ }
+ } else {
+ if (req->pipeHandle != INVALID_HANDLE_VALUE) {
+ CloseHandle(req->pipeHandle);
+ req->pipeHandle = INVALID_HANDLE_VALUE;
+ }
+ if (!(handle->flags & UV_HANDLE_CLOSING)) {
+ uv_pipe_queue_accept(loop, handle, req, FALSE);
+ }
+ }
+
+ DECREASE_PENDING_REQ_COUNT(handle);
+}
+
+
+void uv_process_pipe_connect_req(uv_loop_t* loop, uv_pipe_t* handle,
+ uv_connect_t* req) {
+ int err;
+
+ assert(handle->type == UV_NAMED_PIPE);
+
+ UNREGISTER_HANDLE_REQ(loop, handle, req);
+
+ if (req->cb) {
+ err = 0;
+ if (REQ_SUCCESS(req)) {
+ uv_pipe_connection_init(handle);
+ } else {
+ err = GET_REQ_ERROR(req);
+ }
+ req->cb(req, uv_translate_sys_error(err));
+ }
+
+ DECREASE_PENDING_REQ_COUNT(handle);
+}
+
+
+void uv_process_pipe_shutdown_req(uv_loop_t* loop, uv_pipe_t* handle,
+ uv_shutdown_t* req) {
+ assert(handle->type == UV_NAMED_PIPE);
+
+ UNREGISTER_HANDLE_REQ(loop, handle, req);
+
+ if (handle->flags & UV_HANDLE_READABLE) {
+ /* Initialize and optionally start the eof timer. Only do this if the pipe
+ * is readable and we haven't seen EOF come in ourselves. */
+ eof_timer_init(handle);
+
+ /* If reading start the timer right now. Otherwise uv_pipe_queue_read will
+ * start it. */
+ if (handle->flags & UV_HANDLE_READ_PENDING) {
+ eof_timer_start(handle);
+ }
+
+ } else {
+ /* This pipe is not readable. We can just close it to let the other end
+ * know that we're done writing. */
+ close_pipe(handle);
+ }
+
+ if (req->cb) {
+ req->cb(req, 0);
+ }
+
+ DECREASE_PENDING_REQ_COUNT(handle);
+}
+
+
+static void eof_timer_init(uv_pipe_t* pipe) {
+ int r;
+
+ assert(pipe->pipe.conn.eof_timer == NULL);
+ assert(pipe->flags & UV_HANDLE_CONNECTION);
+
+ pipe->pipe.conn.eof_timer = (uv_timer_t*) uv__malloc(sizeof *pipe->pipe.conn.eof_timer);
+
+ r = uv_timer_init(pipe->loop, pipe->pipe.conn.eof_timer);
+ assert(r == 0); /* timers can't fail */
+ pipe->pipe.conn.eof_timer->data = pipe;
+ uv_unref((uv_handle_t*) pipe->pipe.conn.eof_timer);
+}
+
+
+static void eof_timer_start(uv_pipe_t* pipe) {
+ assert(pipe->flags & UV_HANDLE_CONNECTION);
+
+ if (pipe->pipe.conn.eof_timer != NULL) {
+ uv_timer_start(pipe->pipe.conn.eof_timer, eof_timer_cb, eof_timeout, 0);
+ }
+}
+
+
+static void eof_timer_stop(uv_pipe_t* pipe) {
+ assert(pipe->flags & UV_HANDLE_CONNECTION);
+
+ if (pipe->pipe.conn.eof_timer != NULL) {
+ uv_timer_stop(pipe->pipe.conn.eof_timer);
+ }
+}
+
+
+static void eof_timer_cb(uv_timer_t* timer) {
+ uv_pipe_t* pipe = (uv_pipe_t*) timer->data;
+ uv_loop_t* loop = timer->loop;
+
+ assert(pipe->type == UV_NAMED_PIPE);
+
+ /* This should always be true, since we start the timer only in
+ * uv_pipe_queue_read after successfully calling ReadFile, or in
+ * uv_process_pipe_shutdown_req if a read is pending, and we always
+ * immediately stop the timer in uv_process_pipe_read_req. */
+ assert(pipe->flags & UV_HANDLE_READ_PENDING);
+
+ /* If there are many packets coming off the iocp then the timer callback may
+ * be called before the read request is coming off the queue. Therefore we
+ * check here if the read request has completed but will be processed later.
+ */
+ if ((pipe->flags & UV_HANDLE_READ_PENDING) &&
+ HasOverlappedIoCompleted(&pipe->read_req.u.io.overlapped)) {
+ return;
+ }
+
+ /* Force both ends off the pipe. */
+ close_pipe(pipe);
+
+ /* Stop reading, so the pending read that is going to fail will not be
+ * reported to the user. */
+ uv_read_stop((uv_stream_t*) pipe);
+
+ /* Report the eof and update flags. This will get reported even if the user
+ * stopped reading in the meantime. TODO: is that okay? */
+ uv_pipe_read_eof(loop, pipe, uv_null_buf_);
+}
+
+
+static void eof_timer_destroy(uv_pipe_t* pipe) {
+ assert(pipe->flags & UV_HANDLE_CONNECTION);
+
+ if (pipe->pipe.conn.eof_timer) {
+ uv_close((uv_handle_t*) pipe->pipe.conn.eof_timer, eof_timer_close_cb);
+ pipe->pipe.conn.eof_timer = NULL;
+ }
+}
+
+
+static void eof_timer_close_cb(uv_handle_t* handle) {
+ assert(handle->type == UV_TIMER);
+ uv__free(handle);
+}
+
+
+int uv_pipe_open(uv_pipe_t* pipe, uv_file file) {
+ HANDLE os_handle = uv__get_osfhandle(file);
+ NTSTATUS nt_status;
+ IO_STATUS_BLOCK io_status;
+ FILE_ACCESS_INFORMATION access;
+ DWORD duplex_flags = 0;
+
+ if (os_handle == INVALID_HANDLE_VALUE)
+ return UV_EBADF;
+
+ uv__once_init();
+ /* In order to avoid closing a stdio file descriptor 0-2, duplicate the
+ * underlying OS handle and forget about the original fd.
+ * We could also opt to use the original OS handle and just never close it,
+ * but then there would be no reliable way to cancel pending read operations
+ * upon close.
+ */
+ if (file <= 2) {
+ if (!DuplicateHandle(INVALID_HANDLE_VALUE,
+ os_handle,
+ INVALID_HANDLE_VALUE,
+ &os_handle,
+ 0,
+ FALSE,
+ DUPLICATE_SAME_ACCESS))
+ return uv_translate_sys_error(GetLastError());
+ file = -1;
+ }
+
+ /* Determine what kind of permissions we have on this handle.
+ * Cygwin opens the pipe in message mode, but we can support it,
+ * just query the access flags and set the stream flags accordingly.
+ */
+ nt_status = pNtQueryInformationFile(os_handle,
+ &io_status,
+ &access,
+ sizeof(access),
+ FileAccessInformation);
+ if (nt_status != STATUS_SUCCESS)
+ return UV_EINVAL;
+
+ if (pipe->ipc) {
+ if (!(access.AccessFlags & FILE_WRITE_DATA) ||
+ !(access.AccessFlags & FILE_READ_DATA)) {
+ return UV_EINVAL;
+ }
+ }
+
+ if (access.AccessFlags & FILE_WRITE_DATA)
+ duplex_flags |= UV_HANDLE_WRITABLE;
+ if (access.AccessFlags & FILE_READ_DATA)
+ duplex_flags |= UV_HANDLE_READABLE;
+
+ if (os_handle == INVALID_HANDLE_VALUE ||
+ uv_set_pipe_handle(pipe->loop,
+ pipe,
+ os_handle,
+ file,
+ duplex_flags) == -1) {
+ return UV_EINVAL;
+ }
+
+ uv_pipe_connection_init(pipe);
+
+ if (pipe->ipc) {
+ assert(!(pipe->flags & UV_HANDLE_NON_OVERLAPPED_PIPE));
+ pipe->pipe.conn.ipc_remote_pid = uv_os_getppid();
+ assert(pipe->pipe.conn.ipc_remote_pid != (DWORD) -1);
+ }
+ return 0;
+}
+
+
+static int uv__pipe_getname(const uv_pipe_t* handle, char* buffer, size_t* size) {
+ NTSTATUS nt_status;
+ IO_STATUS_BLOCK io_status;
+ FILE_NAME_INFORMATION tmp_name_info;
+ FILE_NAME_INFORMATION* name_info;
+ WCHAR* name_buf;
+ unsigned int addrlen;
+ unsigned int name_size;
+ unsigned int name_len;
+ int err;
+
+ uv__once_init();
+ name_info = NULL;
+
+ if (handle->handle == INVALID_HANDLE_VALUE) {
+ *size = 0;
+ return UV_EINVAL;
+ }
+
+ /* NtQueryInformationFile will block if another thread is performing a
+ * blocking operation on the queried handle. If the pipe handle is
+ * synchronous, there may be a worker thread currently calling ReadFile() on
+ * the pipe handle, which could cause a deadlock. To avoid this, interrupt
+ * the read. */
+ if (handle->flags & UV_HANDLE_CONNECTION &&
+ handle->flags & UV_HANDLE_NON_OVERLAPPED_PIPE) {
+ uv__pipe_interrupt_read((uv_pipe_t*) handle); /* cast away const warning */
+ }
+
+ nt_status = pNtQueryInformationFile(handle->handle,
+ &io_status,
+ &tmp_name_info,
+ sizeof tmp_name_info,
+ FileNameInformation);
+ if (nt_status == STATUS_BUFFER_OVERFLOW) {
+ name_size = sizeof(*name_info) + tmp_name_info.FileNameLength;
+ name_info = (FILE_NAME_INFORMATION*)uv__malloc(name_size);
+ if (!name_info) {
+ *size = 0;
+ err = UV_ENOMEM;
+ goto cleanup;
+ }
+
+ nt_status = pNtQueryInformationFile(handle->handle,
+ &io_status,
+ name_info,
+ name_size,
+ FileNameInformation);
+ }
+
+ if (nt_status != STATUS_SUCCESS) {
+ *size = 0;
+ err = uv_translate_sys_error(pRtlNtStatusToDosError(nt_status));
+ goto error;
+ }
+
+ if (!name_info) {
+ /* the struct on stack was used */
+ name_buf = tmp_name_info.FileName;
+ name_len = tmp_name_info.FileNameLength;
+ } else {
+ name_buf = name_info->FileName;
+ name_len = name_info->FileNameLength;
+ }
+
+ if (name_len == 0) {
+ *size = 0;
+ err = 0;
+ goto error;
+ }
+
+ name_len /= sizeof(WCHAR);
+
+ /* check how much space we need */
+ addrlen = WideCharToMultiByte(CP_UTF8,
+ 0,
+ name_buf,
+ name_len,
+ NULL,
+ 0,
+ NULL,
+ NULL);
+ if (!addrlen) {
+ *size = 0;
+ err = uv_translate_sys_error(GetLastError());
+ goto error;
+ } else if (pipe_prefix_len + addrlen >= *size) {
+ /* "\\\\.\\pipe" + name */
+ *size = pipe_prefix_len + addrlen + 1;
+ err = UV_ENOBUFS;
+ goto error;
+ }
+
+ memcpy(buffer, pipe_prefix, pipe_prefix_len);
+ addrlen = WideCharToMultiByte(CP_UTF8,
+ 0,
+ name_buf,
+ name_len,
+ buffer+pipe_prefix_len,
+ *size-pipe_prefix_len,
+ NULL,
+ NULL);
+ if (!addrlen) {
+ *size = 0;
+ err = uv_translate_sys_error(GetLastError());
+ goto error;
+ }
+
+ addrlen += pipe_prefix_len;
+ *size = addrlen;
+ buffer[addrlen] = '\0';
+
+ err = 0;
+
+error:
+ uv__free(name_info);
+
+cleanup:
+ return err;
+}
+
+
+int uv_pipe_pending_count(uv_pipe_t* handle) {
+ if (!handle->ipc)
+ return 0;
+ return handle->pipe.conn.ipc_xfer_queue_length;
+}
+
+
+int uv_pipe_getsockname(const uv_pipe_t* handle, char* buffer, size_t* size) {
+ if (handle->flags & UV_HANDLE_BOUND)
+ return uv__pipe_getname(handle, buffer, size);
+
+ if (handle->flags & UV_HANDLE_CONNECTION ||
+ handle->handle != INVALID_HANDLE_VALUE) {
+ *size = 0;
+ return 0;
+ }
+
+ return UV_EBADF;
+}
+
+
+int uv_pipe_getpeername(const uv_pipe_t* handle, char* buffer, size_t* size) {
+ /* emulate unix behaviour */
+ if (handle->flags & UV_HANDLE_BOUND)
+ return UV_ENOTCONN;
+
+ if (handle->handle != INVALID_HANDLE_VALUE)
+ return uv__pipe_getname(handle, buffer, size);
+
+ return UV_EBADF;
+}
+
+
+uv_handle_type uv_pipe_pending_type(uv_pipe_t* handle) {
+ if (!handle->ipc)
+ return UV_UNKNOWN_HANDLE;
+ if (handle->pipe.conn.ipc_xfer_queue_length == 0)
+ return UV_UNKNOWN_HANDLE;
+ else
+ return UV_TCP;
+}
+
+int uv_pipe_chmod(uv_pipe_t* handle, int mode) {
+ SID_IDENTIFIER_AUTHORITY sid_world = { SECURITY_WORLD_SID_AUTHORITY };
+ PACL old_dacl, new_dacl;
+ PSECURITY_DESCRIPTOR sd;
+ EXPLICIT_ACCESS ea;
+ PSID everyone;
+ int error;
+
+ if (handle == NULL || handle->handle == INVALID_HANDLE_VALUE)
+ return UV_EBADF;
+
+ if (mode != UV_READABLE &&
+ mode != UV_WRITABLE &&
+ mode != (UV_WRITABLE | UV_READABLE))
+ return UV_EINVAL;
+
+ if (!AllocateAndInitializeSid(&sid_world,
+ 1,
+ SECURITY_WORLD_RID,
+ 0, 0, 0, 0, 0, 0, 0,
+ &everyone)) {
+ error = GetLastError();
+ goto done;
+ }
+
+ if (GetSecurityInfo(handle->handle,
+ SE_KERNEL_OBJECT,
+ DACL_SECURITY_INFORMATION,
+ NULL,
+ NULL,
+ &old_dacl,
+ NULL,
+ &sd)) {
+ error = GetLastError();
+ goto clean_sid;
+ }
+
+ memset(&ea, 0, sizeof(EXPLICIT_ACCESS));
+ if (mode & UV_READABLE)
+ ea.grfAccessPermissions |= GENERIC_READ | FILE_WRITE_ATTRIBUTES;
+ if (mode & UV_WRITABLE)
+ ea.grfAccessPermissions |= GENERIC_WRITE | FILE_READ_ATTRIBUTES;
+ ea.grfAccessPermissions |= SYNCHRONIZE;
+ ea.grfAccessMode = SET_ACCESS;
+ ea.grfInheritance = NO_INHERITANCE;
+ ea.Trustee.TrusteeForm = TRUSTEE_IS_SID;
+ ea.Trustee.TrusteeType = TRUSTEE_IS_WELL_KNOWN_GROUP;
+ ea.Trustee.ptstrName = (LPTSTR)everyone;
+
+ if (SetEntriesInAcl(1, &ea, old_dacl, &new_dacl)) {
+ error = GetLastError();
+ goto clean_sd;
+ }
+
+ if (SetSecurityInfo(handle->handle,
+ SE_KERNEL_OBJECT,
+ DACL_SECURITY_INFORMATION,
+ NULL,
+ NULL,
+ new_dacl,
+ NULL)) {
+ error = GetLastError();
+ goto clean_dacl;
+ }
+
+ error = 0;
+
+clean_dacl:
+ LocalFree((HLOCAL) new_dacl);
+clean_sd:
+ LocalFree((HLOCAL) sd);
+clean_sid:
+ FreeSid(everyone);
+done:
+ return uv_translate_sys_error(error);
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/poll.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/poll.cpp
new file mode 100644
index 0000000..3c66786
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/poll.cpp
@@ -0,0 +1,643 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include <assert.h>
+#include <io.h>
+
+#include "uv.h"
+#include "internal.h"
+#include "handle-inl.h"
+#include "req-inl.h"
+
+
+static const GUID uv_msafd_provider_ids[UV_MSAFD_PROVIDER_COUNT] = {
+ {0xe70f1aa0, 0xab8b, 0x11cf,
+ {0x8c, 0xa3, 0x00, 0x80, 0x5f, 0x48, 0xa1, 0x92}},
+ {0xf9eab0c0, 0x26d4, 0x11d0,
+ {0xbb, 0xbf, 0x00, 0xaa, 0x00, 0x6c, 0x34, 0xe4}},
+ {0x9fc48064, 0x7298, 0x43e4,
+ {0xb7, 0xbd, 0x18, 0x1f, 0x20, 0x89, 0x79, 0x2a}}
+};
+
+typedef struct uv_single_fd_set_s {
+ unsigned int fd_count;
+ SOCKET fd_array[1];
+} uv_single_fd_set_t;
+
+
+static OVERLAPPED overlapped_dummy_;
+static uv_once_t overlapped_dummy_init_guard_ = UV_ONCE_INIT;
+
+static AFD_POLL_INFO afd_poll_info_dummy_;
+
+
+static void uv__init_overlapped_dummy(void) {
+ HANDLE event;
+
+ event = CreateEvent(NULL, TRUE, TRUE, NULL);
+ if (event == NULL)
+ uv_fatal_error(GetLastError(), "CreateEvent");
+
+ memset(&overlapped_dummy_, 0, sizeof overlapped_dummy_);
+ overlapped_dummy_.hEvent = (HANDLE) ((uintptr_t) event | 1);
+}
+
+
+static OVERLAPPED* uv__get_overlapped_dummy(void) {
+ uv_once(&overlapped_dummy_init_guard_, uv__init_overlapped_dummy);
+ return &overlapped_dummy_;
+}
+
+
+static AFD_POLL_INFO* uv__get_afd_poll_info_dummy(void) {
+ return &afd_poll_info_dummy_;
+}
+
+
+static void uv__fast_poll_submit_poll_req(uv_loop_t* loop, uv_poll_t* handle) {
+ uv_req_t* req;
+ AFD_POLL_INFO* afd_poll_info;
+ int result;
+
+ /* Find a yet unsubmitted req to submit. */
+ if (handle->submitted_events_1 == 0) {
+ req = &handle->poll_req_1;
+ afd_poll_info = &handle->afd_poll_info_1;
+ handle->submitted_events_1 = handle->events;
+ handle->mask_events_1 = 0;
+ handle->mask_events_2 = handle->events;
+ } else if (handle->submitted_events_2 == 0) {
+ req = &handle->poll_req_2;
+ afd_poll_info = &handle->afd_poll_info_2;
+ handle->submitted_events_2 = handle->events;
+ handle->mask_events_1 = handle->events;
+ handle->mask_events_2 = 0;
+ } else {
+ /* Just wait until there's an unsubmitted req. This will happen almost
+ * immediately as one of the 2 outstanding requests is about to return.
+ * When this happens, uv__fast_poll_process_poll_req will be called, and
+ * the pending events, if needed, will be processed in a subsequent
+ * request. */
+ return;
+ }
+
+ /* Setting Exclusive to TRUE makes the other poll request return if there is
+ * any. */
+ afd_poll_info->Exclusive = TRUE;
+ afd_poll_info->NumberOfHandles = 1;
+ afd_poll_info->Timeout.QuadPart = INT64_MAX;
+ afd_poll_info->Handles[0].Handle = (HANDLE) handle->socket;
+ afd_poll_info->Handles[0].Status = 0;
+ afd_poll_info->Handles[0].Events = 0;
+
+ if (handle->events & UV_READABLE) {
+ afd_poll_info->Handles[0].Events |= AFD_POLL_RECEIVE |
+ AFD_POLL_DISCONNECT | AFD_POLL_ACCEPT | AFD_POLL_ABORT;
+ } else {
+ if (handle->events & UV_DISCONNECT) {
+ afd_poll_info->Handles[0].Events |= AFD_POLL_DISCONNECT;
+ }
+ }
+ if (handle->events & UV_WRITABLE) {
+ afd_poll_info->Handles[0].Events |= AFD_POLL_SEND | AFD_POLL_CONNECT_FAIL;
+ }
+
+ memset(&req->u.io.overlapped, 0, sizeof req->u.io.overlapped);
+
+ result = uv_msafd_poll((SOCKET) handle->peer_socket,
+ afd_poll_info,
+ afd_poll_info,
+ &req->u.io.overlapped);
+ if (result != 0 && WSAGetLastError() != WSA_IO_PENDING) {
+ /* Queue this req, reporting an error. */
+ SET_REQ_ERROR(req, WSAGetLastError());
+ uv_insert_pending_req(loop, req);
+ }
+}
+
+
+static int uv__fast_poll_cancel_poll_req(uv_loop_t* loop, uv_poll_t* handle) {
+ AFD_POLL_INFO afd_poll_info;
+ int result;
+
+ afd_poll_info.Exclusive = TRUE;
+ afd_poll_info.NumberOfHandles = 1;
+ afd_poll_info.Timeout.QuadPart = INT64_MAX;
+ afd_poll_info.Handles[0].Handle = (HANDLE) handle->socket;
+ afd_poll_info.Handles[0].Status = 0;
+ afd_poll_info.Handles[0].Events = AFD_POLL_ALL;
+
+ result = uv_msafd_poll(handle->socket,
+ &afd_poll_info,
+ uv__get_afd_poll_info_dummy(),
+ uv__get_overlapped_dummy());
+
+ if (result == SOCKET_ERROR) {
+ DWORD error = WSAGetLastError();
+ if (error != WSA_IO_PENDING)
+ return error;
+ }
+
+ return 0;
+}
+
+
+static void uv__fast_poll_process_poll_req(uv_loop_t* loop, uv_poll_t* handle,
+ uv_req_t* req) {
+ unsigned char mask_events;
+ AFD_POLL_INFO* afd_poll_info;
+
+ if (req == &handle->poll_req_1) {
+ afd_poll_info = &handle->afd_poll_info_1;
+ handle->submitted_events_1 = 0;
+ mask_events = handle->mask_events_1;
+ } else if (req == &handle->poll_req_2) {
+ afd_poll_info = &handle->afd_poll_info_2;
+ handle->submitted_events_2 = 0;
+ mask_events = handle->mask_events_2;
+ } else {
+ assert(0);
+ return;
+ }
+
+ /* Report an error unless the select was just interrupted. */
+ if (!REQ_SUCCESS(req)) {
+ DWORD error = GET_REQ_SOCK_ERROR(req);
+ if (error != WSAEINTR && handle->events != 0) {
+ handle->events = 0; /* Stop the watcher */
+ handle->poll_cb(handle, uv_translate_sys_error(error), 0);
+ }
+
+ } else if (afd_poll_info->NumberOfHandles >= 1) {
+ unsigned char events = 0;
+
+ if ((afd_poll_info->Handles[0].Events & (AFD_POLL_RECEIVE |
+ AFD_POLL_DISCONNECT | AFD_POLL_ACCEPT | AFD_POLL_ABORT)) != 0) {
+ events |= UV_READABLE;
+ if ((afd_poll_info->Handles[0].Events & AFD_POLL_DISCONNECT) != 0) {
+ events |= UV_DISCONNECT;
+ }
+ }
+ if ((afd_poll_info->Handles[0].Events & (AFD_POLL_SEND |
+ AFD_POLL_CONNECT_FAIL)) != 0) {
+ events |= UV_WRITABLE;
+ }
+
+ events &= handle->events & ~mask_events;
+
+ if (afd_poll_info->Handles[0].Events & AFD_POLL_LOCAL_CLOSE) {
+ /* Stop polling. */
+ handle->events = 0;
+ if (uv__is_active(handle))
+ uv__handle_stop(handle);
+ }
+
+ if (events != 0) {
+ handle->poll_cb(handle, 0, events);
+ }
+ }
+
+ if ((handle->events & ~(handle->submitted_events_1 |
+ handle->submitted_events_2)) != 0) {
+ uv__fast_poll_submit_poll_req(loop, handle);
+ } else if ((handle->flags & UV_HANDLE_CLOSING) &&
+ handle->submitted_events_1 == 0 &&
+ handle->submitted_events_2 == 0) {
+ uv_want_endgame(loop, (uv_handle_t*) handle);
+ }
+}
+
+
+static int uv__fast_poll_set(uv_loop_t* loop, uv_poll_t* handle, int events) {
+ assert(handle->type == UV_POLL);
+ assert(!(handle->flags & UV_HANDLE_CLOSING));
+ assert((events & ~(UV_READABLE | UV_WRITABLE | UV_DISCONNECT)) == 0);
+
+ handle->events = events;
+
+ if (handle->events != 0) {
+ uv__handle_start(handle);
+ } else {
+ uv__handle_stop(handle);
+ }
+
+ if ((handle->events & ~(handle->submitted_events_1 |
+ handle->submitted_events_2)) != 0) {
+ uv__fast_poll_submit_poll_req(handle->loop, handle);
+ }
+
+ return 0;
+}
+
+
+static int uv__fast_poll_close(uv_loop_t* loop, uv_poll_t* handle) {
+ handle->events = 0;
+ uv__handle_closing(handle);
+
+ if (handle->submitted_events_1 == 0 &&
+ handle->submitted_events_2 == 0) {
+ uv_want_endgame(loop, (uv_handle_t*) handle);
+ return 0;
+ } else {
+ /* Cancel outstanding poll requests by executing another, unique poll
+ * request that forces the outstanding ones to return. */
+ return uv__fast_poll_cancel_poll_req(loop, handle);
+ }
+}
+
+
+static SOCKET uv__fast_poll_create_peer_socket(HANDLE iocp,
+ WSAPROTOCOL_INFOW* protocol_info) {
+ SOCKET sock = 0;
+
+ sock = WSASocketW(protocol_info->iAddressFamily,
+ protocol_info->iSocketType,
+ protocol_info->iProtocol,
+ protocol_info,
+ 0,
+ WSA_FLAG_OVERLAPPED);
+ if (sock == INVALID_SOCKET) {
+ return INVALID_SOCKET;
+ }
+
+ if (!SetHandleInformation((HANDLE) sock, HANDLE_FLAG_INHERIT, 0)) {
+ goto error;
+ };
+
+ if (CreateIoCompletionPort((HANDLE) sock,
+ iocp,
+ (ULONG_PTR) sock,
+ 0) == NULL) {
+ goto error;
+ }
+
+ return sock;
+
+ error:
+ closesocket(sock);
+ return INVALID_SOCKET;
+}
+
+
+static SOCKET uv__fast_poll_get_peer_socket(uv_loop_t* loop,
+ WSAPROTOCOL_INFOW* protocol_info) {
+ int index, i;
+ SOCKET peer_socket;
+
+ index = -1;
+ for (i = 0; (size_t) i < ARRAY_SIZE(uv_msafd_provider_ids); i++) {
+ if (memcmp((void*) &protocol_info->ProviderId,
+ (void*) &uv_msafd_provider_ids[i],
+ sizeof protocol_info->ProviderId) == 0) {
+ index = i;
+ }
+ }
+
+ /* Check if the protocol uses an msafd socket. */
+ if (index < 0) {
+ return INVALID_SOCKET;
+ }
+
+ /* If we didn't (try) to create a peer socket yet, try to make one. Don't try
+ * again if the peer socket creation failed earlier for the same protocol. */
+ peer_socket = loop->poll_peer_sockets[index];
+ if (peer_socket == 0) {
+ peer_socket = uv__fast_poll_create_peer_socket(loop->iocp, protocol_info);
+ loop->poll_peer_sockets[index] = peer_socket;
+ }
+
+ return peer_socket;
+}
+
+
+static DWORD WINAPI uv__slow_poll_thread_proc(void* arg) {
+ uv_req_t* req = (uv_req_t*) arg;
+ uv_poll_t* handle = (uv_poll_t*) req->data;
+ unsigned char reported_events;
+ int r;
+ uv_single_fd_set_t rfds, wfds, efds;
+ struct timeval timeout;
+
+ assert(handle->type == UV_POLL);
+ assert(req->type == UV_POLL_REQ);
+
+ if (handle->events & UV_READABLE) {
+ rfds.fd_count = 1;
+ rfds.fd_array[0] = handle->socket;
+ } else {
+ rfds.fd_count = 0;
+ }
+
+ if (handle->events & UV_WRITABLE) {
+ wfds.fd_count = 1;
+ wfds.fd_array[0] = handle->socket;
+ efds.fd_count = 1;
+ efds.fd_array[0] = handle->socket;
+ } else {
+ wfds.fd_count = 0;
+ efds.fd_count = 0;
+ }
+
+ /* Make the select() time out after 3 minutes. If select() hangs because the
+ * user closed the socket, we will at least not hang indefinitely. */
+ timeout.tv_sec = 3 * 60;
+ timeout.tv_usec = 0;
+
+ r = select(1, (fd_set*) &rfds, (fd_set*) &wfds, (fd_set*) &efds, &timeout);
+ if (r == SOCKET_ERROR) {
+ /* Queue this req, reporting an error. */
+ SET_REQ_ERROR(&handle->poll_req_1, WSAGetLastError());
+ POST_COMPLETION_FOR_REQ(handle->loop, req);
+ return 0;
+ }
+
+ reported_events = 0;
+
+ if (r > 0) {
+ if (rfds.fd_count > 0) {
+ assert(rfds.fd_count == 1);
+ assert(rfds.fd_array[0] == handle->socket);
+ reported_events |= UV_READABLE;
+ }
+
+ if (wfds.fd_count > 0) {
+ assert(wfds.fd_count == 1);
+ assert(wfds.fd_array[0] == handle->socket);
+ reported_events |= UV_WRITABLE;
+ } else if (efds.fd_count > 0) {
+ assert(efds.fd_count == 1);
+ assert(efds.fd_array[0] == handle->socket);
+ reported_events |= UV_WRITABLE;
+ }
+ }
+
+ SET_REQ_SUCCESS(req);
+ req->u.io.overlapped.InternalHigh = (DWORD) reported_events;
+ POST_COMPLETION_FOR_REQ(handle->loop, req);
+
+ return 0;
+}
+
+
+static void uv__slow_poll_submit_poll_req(uv_loop_t* loop, uv_poll_t* handle) {
+ uv_req_t* req;
+
+ /* Find a yet unsubmitted req to submit. */
+ if (handle->submitted_events_1 == 0) {
+ req = &handle->poll_req_1;
+ handle->submitted_events_1 = handle->events;
+ handle->mask_events_1 = 0;
+ handle->mask_events_2 = handle->events;
+ } else if (handle->submitted_events_2 == 0) {
+ req = &handle->poll_req_2;
+ handle->submitted_events_2 = handle->events;
+ handle->mask_events_1 = handle->events;
+ handle->mask_events_2 = 0;
+ } else {
+ assert(0);
+ return;
+ }
+
+ if (!QueueUserWorkItem(uv__slow_poll_thread_proc,
+ (void*) req,
+ WT_EXECUTELONGFUNCTION)) {
+ /* Make this req pending, reporting an error. */
+ SET_REQ_ERROR(req, GetLastError());
+ uv_insert_pending_req(loop, req);
+ }
+}
+
+
+
+static void uv__slow_poll_process_poll_req(uv_loop_t* loop, uv_poll_t* handle,
+ uv_req_t* req) {
+ unsigned char mask_events;
+ int err;
+
+ if (req == &handle->poll_req_1) {
+ handle->submitted_events_1 = 0;
+ mask_events = handle->mask_events_1;
+ } else if (req == &handle->poll_req_2) {
+ handle->submitted_events_2 = 0;
+ mask_events = handle->mask_events_2;
+ } else {
+ assert(0);
+ return;
+ }
+
+ if (!REQ_SUCCESS(req)) {
+ /* Error. */
+ if (handle->events != 0) {
+ err = GET_REQ_ERROR(req);
+ handle->events = 0; /* Stop the watcher */
+ handle->poll_cb(handle, uv_translate_sys_error(err), 0);
+ }
+ } else {
+ /* Got some events. */
+ int events = req->u.io.overlapped.InternalHigh & handle->events & ~mask_events;
+ if (events != 0) {
+ handle->poll_cb(handle, 0, events);
+ }
+ }
+
+ if ((handle->events & ~(handle->submitted_events_1 |
+ handle->submitted_events_2)) != 0) {
+ uv__slow_poll_submit_poll_req(loop, handle);
+ } else if ((handle->flags & UV_HANDLE_CLOSING) &&
+ handle->submitted_events_1 == 0 &&
+ handle->submitted_events_2 == 0) {
+ uv_want_endgame(loop, (uv_handle_t*) handle);
+ }
+}
+
+
+static int uv__slow_poll_set(uv_loop_t* loop, uv_poll_t* handle, int events) {
+ assert(handle->type == UV_POLL);
+ assert(!(handle->flags & UV_HANDLE_CLOSING));
+ assert((events & ~(UV_READABLE | UV_WRITABLE)) == 0);
+
+ handle->events = events;
+
+ if (handle->events != 0) {
+ uv__handle_start(handle);
+ } else {
+ uv__handle_stop(handle);
+ }
+
+ if ((handle->events &
+ ~(handle->submitted_events_1 | handle->submitted_events_2)) != 0) {
+ uv__slow_poll_submit_poll_req(handle->loop, handle);
+ }
+
+ return 0;
+}
+
+
+static int uv__slow_poll_close(uv_loop_t* loop, uv_poll_t* handle) {
+ handle->events = 0;
+ uv__handle_closing(handle);
+
+ if (handle->submitted_events_1 == 0 &&
+ handle->submitted_events_2 == 0) {
+ uv_want_endgame(loop, (uv_handle_t*) handle);
+ }
+
+ return 0;
+}
+
+
+int uv_poll_init(uv_loop_t* loop, uv_poll_t* handle, int fd) {
+ return uv_poll_init_socket(loop, handle, (SOCKET) uv__get_osfhandle(fd));
+}
+
+
+int uv_poll_init_socket(uv_loop_t* loop, uv_poll_t* handle,
+ uv_os_sock_t socket) {
+ WSAPROTOCOL_INFOW protocol_info;
+ int len;
+ SOCKET peer_socket, base_socket;
+ DWORD bytes;
+ DWORD yes = 1;
+
+ /* Set the socket to nonblocking mode */
+ if (ioctlsocket(socket, FIONBIO, &yes) == SOCKET_ERROR)
+ return uv_translate_sys_error(WSAGetLastError());
+
+/* Try to obtain a base handle for the socket. This increases this chances that
+ * we find an AFD handle and are able to use the fast poll mechanism. This will
+ * always fail on windows XP/2k3, since they don't support the. SIO_BASE_HANDLE
+ * ioctl. */
+#ifndef NDEBUG
+ base_socket = INVALID_SOCKET;
+#endif
+
+ if (WSAIoctl(socket,
+ SIO_BASE_HANDLE,
+ NULL,
+ 0,
+ &base_socket,
+ sizeof base_socket,
+ &bytes,
+ NULL,
+ NULL) == 0) {
+ assert(base_socket != 0 && base_socket != INVALID_SOCKET);
+ socket = base_socket;
+ }
+
+ uv__handle_init(loop, (uv_handle_t*) handle, UV_POLL);
+ handle->socket = socket;
+ handle->events = 0;
+
+ /* Obtain protocol information about the socket. */
+ len = sizeof protocol_info;
+ if (getsockopt(socket,
+ SOL_SOCKET,
+ SO_PROTOCOL_INFOW,
+ (char*) &protocol_info,
+ &len) != 0) {
+ return uv_translate_sys_error(WSAGetLastError());
+ }
+
+ /* Get the peer socket that is needed to enable fast poll. If the returned
+ * value is NULL, the protocol is not implemented by MSAFD and we'll have to
+ * use slow mode. */
+ peer_socket = uv__fast_poll_get_peer_socket(loop, &protocol_info);
+
+ if (peer_socket != INVALID_SOCKET) {
+ /* Initialize fast poll specific fields. */
+ handle->peer_socket = peer_socket;
+ } else {
+ /* Initialize slow poll specific fields. */
+ handle->flags |= UV_HANDLE_POLL_SLOW;
+ }
+
+ /* Initialize 2 poll reqs. */
+ handle->submitted_events_1 = 0;
+ UV_REQ_INIT(&handle->poll_req_1, UV_POLL_REQ);
+ handle->poll_req_1.data = handle;
+
+ handle->submitted_events_2 = 0;
+ UV_REQ_INIT(&handle->poll_req_2, UV_POLL_REQ);
+ handle->poll_req_2.data = handle;
+
+ return 0;
+}
+
+
+int uv_poll_start(uv_poll_t* handle, int events, uv_poll_cb cb) {
+ int err;
+
+ if (!(handle->flags & UV_HANDLE_POLL_SLOW)) {
+ err = uv__fast_poll_set(handle->loop, handle, events);
+ } else {
+ err = uv__slow_poll_set(handle->loop, handle, events);
+ }
+
+ if (err) {
+ return uv_translate_sys_error(err);
+ }
+
+ handle->poll_cb = cb;
+
+ return 0;
+}
+
+
+int uv_poll_stop(uv_poll_t* handle) {
+ int err;
+
+ if (!(handle->flags & UV_HANDLE_POLL_SLOW)) {
+ err = uv__fast_poll_set(handle->loop, handle, 0);
+ } else {
+ err = uv__slow_poll_set(handle->loop, handle, 0);
+ }
+
+ return uv_translate_sys_error(err);
+}
+
+
+void uv_process_poll_req(uv_loop_t* loop, uv_poll_t* handle, uv_req_t* req) {
+ if (!(handle->flags & UV_HANDLE_POLL_SLOW)) {
+ uv__fast_poll_process_poll_req(loop, handle, req);
+ } else {
+ uv__slow_poll_process_poll_req(loop, handle, req);
+ }
+}
+
+
+int uv_poll_close(uv_loop_t* loop, uv_poll_t* handle) {
+ if (!(handle->flags & UV_HANDLE_POLL_SLOW)) {
+ return uv__fast_poll_close(loop, handle);
+ } else {
+ return uv__slow_poll_close(loop, handle);
+ }
+}
+
+
+void uv_poll_endgame(uv_loop_t* loop, uv_poll_t* handle) {
+ assert(handle->flags & UV_HANDLE_CLOSING);
+ assert(!(handle->flags & UV_HANDLE_CLOSED));
+
+ assert(handle->submitted_events_1 == 0);
+ assert(handle->submitted_events_2 == 0);
+
+ uv__handle_close(handle);
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/process-stdio.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/process-stdio.cpp
new file mode 100644
index 0000000..4701938
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/process-stdio.cpp
@@ -0,0 +1,512 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include <assert.h>
+#include <io.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "uv.h"
+#include "internal.h"
+#include "handle-inl.h"
+
+
+/*
+ * The `child_stdio_buffer` buffer has the following layout:
+ * int number_of_fds
+ * unsigned char crt_flags[number_of_fds]
+ * HANDLE os_handle[number_of_fds]
+ */
+#define CHILD_STDIO_SIZE(count) \
+ (sizeof(int) + \
+ sizeof(unsigned char) * (count) + \
+ sizeof(uintptr_t) * (count))
+
+#define CHILD_STDIO_COUNT(buffer) \
+ *((unsigned int*) (buffer))
+
+#define CHILD_STDIO_CRT_FLAGS(buffer, fd) \
+ *((unsigned char*) (buffer) + sizeof(int) + fd)
+
+#define CHILD_STDIO_HANDLE(buffer, fd) \
+ *((HANDLE*) ((unsigned char*) (buffer) + \
+ sizeof(int) + \
+ sizeof(unsigned char) * \
+ CHILD_STDIO_COUNT((buffer)) + \
+ sizeof(HANDLE) * (fd)))
+
+
+/* CRT file descriptor mode flags */
+#define FOPEN 0x01
+#define FEOFLAG 0x02
+#define FCRLF 0x04
+#define FPIPE 0x08
+#define FNOINHERIT 0x10
+#define FAPPEND 0x20
+#define FDEV 0x40
+#define FTEXT 0x80
+
+
+/*
+ * Clear the HANDLE_FLAG_INHERIT flag from all HANDLEs that were inherited
+ * the parent process. Don't check for errors - the stdio handles may not be
+ * valid, or may be closed already. There is no guarantee that this function
+ * does a perfect job.
+ */
+void uv_disable_stdio_inheritance(void) {
+ HANDLE handle;
+ STARTUPINFOW si;
+
+ /* Make the windows stdio handles non-inheritable. */
+ handle = GetStdHandle(STD_INPUT_HANDLE);
+ if (handle != NULL && handle != INVALID_HANDLE_VALUE)
+ SetHandleInformation(handle, HANDLE_FLAG_INHERIT, 0);
+
+ handle = GetStdHandle(STD_OUTPUT_HANDLE);
+ if (handle != NULL && handle != INVALID_HANDLE_VALUE)
+ SetHandleInformation(handle, HANDLE_FLAG_INHERIT, 0);
+
+ handle = GetStdHandle(STD_ERROR_HANDLE);
+ if (handle != NULL && handle != INVALID_HANDLE_VALUE)
+ SetHandleInformation(handle, HANDLE_FLAG_INHERIT, 0);
+
+ /* Make inherited CRT FDs non-inheritable. */
+ GetStartupInfoW(&si);
+ if (uv__stdio_verify(si.lpReserved2, si.cbReserved2))
+ uv__stdio_noinherit(si.lpReserved2);
+}
+
+
+static int uv__create_stdio_pipe_pair(uv_loop_t* loop,
+ uv_pipe_t* server_pipe, HANDLE* child_pipe_ptr, unsigned int flags) {
+ char pipe_name[64];
+ SECURITY_ATTRIBUTES sa;
+ DWORD server_access = 0;
+ DWORD client_access = 0;
+ HANDLE child_pipe = INVALID_HANDLE_VALUE;
+ int err;
+ BOOL overlap;
+
+ if (flags & UV_READABLE_PIPE) {
+ /* The server needs inbound access too, otherwise CreateNamedPipe() won't
+ * give us the FILE_READ_ATTRIBUTES permission. We need that to probe the
+ * state of the write buffer when we're trying to shutdown the pipe. */
+ server_access |= PIPE_ACCESS_OUTBOUND | PIPE_ACCESS_INBOUND;
+ client_access |= GENERIC_READ | FILE_WRITE_ATTRIBUTES;
+ }
+ if (flags & UV_WRITABLE_PIPE) {
+ server_access |= PIPE_ACCESS_INBOUND;
+ client_access |= GENERIC_WRITE | FILE_READ_ATTRIBUTES;
+ }
+
+ /* Create server pipe handle. */
+ err = uv_stdio_pipe_server(loop,
+ server_pipe,
+ server_access,
+ pipe_name,
+ sizeof(pipe_name));
+ if (err)
+ goto error;
+
+ /* Create child pipe handle. */
+ sa.nLength = sizeof sa;
+ sa.lpSecurityDescriptor = NULL;
+ sa.bInheritHandle = TRUE;
+
+ overlap = server_pipe->ipc || (flags & UV_OVERLAPPED_PIPE);
+ child_pipe = CreateFileA(pipe_name,
+ client_access,
+ 0,
+ &sa,
+ OPEN_EXISTING,
+ overlap ? FILE_FLAG_OVERLAPPED : 0,
+ NULL);
+ if (child_pipe == INVALID_HANDLE_VALUE) {
+ err = GetLastError();
+ goto error;
+ }
+
+#ifndef NDEBUG
+ /* Validate that the pipe was opened in the right mode. */
+ {
+ DWORD mode;
+ BOOL r = GetNamedPipeHandleState(child_pipe,
+ &mode,
+ NULL,
+ NULL,
+ NULL,
+ NULL,
+ 0);
+ assert(r == TRUE);
+ assert(mode == (PIPE_READMODE_BYTE | PIPE_WAIT));
+ }
+#endif
+
+ /* Do a blocking ConnectNamedPipe. This should not block because we have both
+ * ends of the pipe created. */
+ if (!ConnectNamedPipe(server_pipe->handle, NULL)) {
+ if (GetLastError() != ERROR_PIPE_CONNECTED) {
+ err = GetLastError();
+ goto error;
+ }
+ }
+
+ /* The server end is now readable and/or writable. */
+ if (flags & UV_READABLE_PIPE)
+ server_pipe->flags |= UV_HANDLE_WRITABLE;
+ if (flags & UV_WRITABLE_PIPE)
+ server_pipe->flags |= UV_HANDLE_READABLE;
+
+ *child_pipe_ptr = child_pipe;
+ return 0;
+
+ error:
+ if (server_pipe->handle != INVALID_HANDLE_VALUE) {
+ uv_pipe_cleanup(loop, server_pipe);
+ }
+
+ if (child_pipe != INVALID_HANDLE_VALUE) {
+ CloseHandle(child_pipe);
+ }
+
+ return err;
+}
+
+
+static int uv__duplicate_handle(uv_loop_t* loop, HANDLE handle, HANDLE* dup) {
+ HANDLE current_process;
+
+
+ /* _get_osfhandle will sometimes return -2 in case of an error. This seems to
+ * happen when fd <= 2 and the process' corresponding stdio handle is set to
+ * NULL. Unfortunately DuplicateHandle will happily duplicate (HANDLE) -2, so
+ * this situation goes unnoticed until someone tries to use the duplicate.
+ * Therefore we filter out known-invalid handles here. */
+ if (handle == INVALID_HANDLE_VALUE ||
+ handle == NULL ||
+ handle == (HANDLE) -2) {
+ *dup = INVALID_HANDLE_VALUE;
+ return ERROR_INVALID_HANDLE;
+ }
+
+ current_process = GetCurrentProcess();
+
+ if (!DuplicateHandle(current_process,
+ handle,
+ current_process,
+ dup,
+ 0,
+ TRUE,
+ DUPLICATE_SAME_ACCESS)) {
+ *dup = INVALID_HANDLE_VALUE;
+ return GetLastError();
+ }
+
+ return 0;
+}
+
+
+static int uv__duplicate_fd(uv_loop_t* loop, int fd, HANDLE* dup) {
+ HANDLE handle;
+
+ if (fd == -1) {
+ *dup = INVALID_HANDLE_VALUE;
+ return ERROR_INVALID_HANDLE;
+ }
+
+ handle = uv__get_osfhandle(fd);
+ return uv__duplicate_handle(loop, handle, dup);
+}
+
+
+int uv__create_nul_handle(HANDLE* handle_ptr,
+ DWORD access) {
+ HANDLE handle;
+ SECURITY_ATTRIBUTES sa;
+
+ sa.nLength = sizeof sa;
+ sa.lpSecurityDescriptor = NULL;
+ sa.bInheritHandle = TRUE;
+
+ handle = CreateFileW(L"NUL",
+ access,
+ FILE_SHARE_READ | FILE_SHARE_WRITE,
+ &sa,
+ OPEN_EXISTING,
+ 0,
+ NULL);
+ if (handle == INVALID_HANDLE_VALUE) {
+ return GetLastError();
+ }
+
+ *handle_ptr = handle;
+ return 0;
+}
+
+
+int uv__stdio_create(uv_loop_t* loop,
+ const uv_process_options_t* options,
+ BYTE** buffer_ptr) {
+ BYTE* buffer;
+ int count, i;
+ int err;
+
+ count = options->stdio_count;
+
+ if (count < 0 || count > 255) {
+ /* Only support FDs 0-255 */
+ return ERROR_NOT_SUPPORTED;
+ } else if (count < 3) {
+ /* There should always be at least 3 stdio handles. */
+ count = 3;
+ }
+
+ /* Allocate the child stdio buffer */
+ buffer = (BYTE*) uv__malloc(CHILD_STDIO_SIZE(count));
+ if (buffer == NULL) {
+ return ERROR_OUTOFMEMORY;
+ }
+
+ /* Prepopulate the buffer with INVALID_HANDLE_VALUE handles so we can clean
+ * up on failure. */
+ CHILD_STDIO_COUNT(buffer) = count;
+ for (i = 0; i < count; i++) {
+ CHILD_STDIO_CRT_FLAGS(buffer, i) = 0;
+ CHILD_STDIO_HANDLE(buffer, i) = INVALID_HANDLE_VALUE;
+ }
+
+ for (i = 0; i < count; i++) {
+ uv_stdio_container_t fdopt;
+ if (i < options->stdio_count) {
+ fdopt = options->stdio[i];
+ } else {
+ fdopt.flags = UV_IGNORE;
+ }
+
+ switch (fdopt.flags & (UV_IGNORE | UV_CREATE_PIPE | UV_INHERIT_FD |
+ UV_INHERIT_STREAM)) {
+ case UV_IGNORE:
+ /* Starting a process with no stdin/stout/stderr can confuse it. So no
+ * matter what the user specified, we make sure the first three FDs are
+ * always open in their typical modes, e. g. stdin be readable and
+ * stdout/err should be writable. For FDs > 2, don't do anything - all
+ * handles in the stdio buffer are initialized with.
+ * INVALID_HANDLE_VALUE, which should be okay. */
+ if (i <= 2) {
+ DWORD access = (i == 0) ? FILE_GENERIC_READ :
+ FILE_GENERIC_WRITE | FILE_READ_ATTRIBUTES;
+
+ err = uv__create_nul_handle(&CHILD_STDIO_HANDLE(buffer, i),
+ access);
+ if (err)
+ goto error;
+
+ CHILD_STDIO_CRT_FLAGS(buffer, i) = FOPEN | FDEV;
+ }
+ break;
+
+ case UV_CREATE_PIPE: {
+ /* Create a pair of two connected pipe ends; one end is turned into an
+ * uv_pipe_t for use by the parent. The other one is given to the
+ * child. */
+ uv_pipe_t* parent_pipe = (uv_pipe_t*) fdopt.data.stream;
+ HANDLE child_pipe = INVALID_HANDLE_VALUE;
+
+ /* Create a new, connected pipe pair. stdio[i]. stream should point to
+ * an uninitialized, but not connected pipe handle. */
+ assert(fdopt.data.stream->type == UV_NAMED_PIPE);
+ assert(!(fdopt.data.stream->flags & UV_HANDLE_CONNECTION));
+ assert(!(fdopt.data.stream->flags & UV_HANDLE_PIPESERVER));
+
+ err = uv__create_stdio_pipe_pair(loop,
+ parent_pipe,
+ &child_pipe,
+ fdopt.flags);
+ if (err)
+ goto error;
+
+ CHILD_STDIO_HANDLE(buffer, i) = child_pipe;
+ CHILD_STDIO_CRT_FLAGS(buffer, i) = FOPEN | FPIPE;
+ break;
+ }
+
+ case UV_INHERIT_FD: {
+ /* Inherit a raw FD. */
+ HANDLE child_handle;
+
+ /* Make an inheritable duplicate of the handle. */
+ err = uv__duplicate_fd(loop, fdopt.data.fd, &child_handle);
+ if (err) {
+ /* If fdopt. data. fd is not valid and fd <= 2, then ignore the
+ * error. */
+ if (fdopt.data.fd <= 2 && err == ERROR_INVALID_HANDLE) {
+ CHILD_STDIO_CRT_FLAGS(buffer, i) = 0;
+ CHILD_STDIO_HANDLE(buffer, i) = INVALID_HANDLE_VALUE;
+ break;
+ }
+ goto error;
+ }
+
+ /* Figure out what the type is. */
+ switch (GetFileType(child_handle)) {
+ case FILE_TYPE_DISK:
+ CHILD_STDIO_CRT_FLAGS(buffer, i) = FOPEN;
+ break;
+
+ case FILE_TYPE_PIPE:
+ CHILD_STDIO_CRT_FLAGS(buffer, i) = FOPEN | FPIPE;
+ break;
+
+ case FILE_TYPE_CHAR:
+ case FILE_TYPE_REMOTE:
+ CHILD_STDIO_CRT_FLAGS(buffer, i) = FOPEN | FDEV;
+ break;
+
+ case FILE_TYPE_UNKNOWN:
+ if (GetLastError() != 0) {
+ err = GetLastError();
+ CloseHandle(child_handle);
+ goto error;
+ }
+ CHILD_STDIO_CRT_FLAGS(buffer, i) = FOPEN | FDEV;
+ break;
+
+ default:
+ assert(0);
+ return -1;
+ }
+
+ CHILD_STDIO_HANDLE(buffer, i) = child_handle;
+ break;
+ }
+
+ case UV_INHERIT_STREAM: {
+ /* Use an existing stream as the stdio handle for the child. */
+ HANDLE stream_handle, child_handle;
+ unsigned char crt_flags;
+ uv_stream_t* stream = fdopt.data.stream;
+
+ /* Leech the handle out of the stream. */
+ if (stream->type == UV_TTY) {
+ stream_handle = ((uv_tty_t*) stream)->handle;
+ crt_flags = FOPEN | FDEV;
+ } else if (stream->type == UV_NAMED_PIPE &&
+ stream->flags & UV_HANDLE_CONNECTION) {
+ stream_handle = ((uv_pipe_t*) stream)->handle;
+ crt_flags = FOPEN | FPIPE;
+ } else {
+ stream_handle = INVALID_HANDLE_VALUE;
+ crt_flags = 0;
+ }
+
+ if (stream_handle == NULL ||
+ stream_handle == INVALID_HANDLE_VALUE) {
+ /* The handle is already closed, or not yet created, or the stream
+ * type is not supported. */
+ err = ERROR_NOT_SUPPORTED;
+ goto error;
+ }
+
+ /* Make an inheritable copy of the handle. */
+ err = uv__duplicate_handle(loop, stream_handle, &child_handle);
+ if (err)
+ goto error;
+
+ CHILD_STDIO_HANDLE(buffer, i) = child_handle;
+ CHILD_STDIO_CRT_FLAGS(buffer, i) = crt_flags;
+ break;
+ }
+
+ default:
+ assert(0);
+ return -1;
+ }
+ }
+
+ *buffer_ptr = buffer;
+ return 0;
+
+ error:
+ uv__stdio_destroy(buffer);
+ return err;
+}
+
+
+void uv__stdio_destroy(BYTE* buffer) {
+ int i, count;
+
+ count = CHILD_STDIO_COUNT(buffer);
+ for (i = 0; i < count; i++) {
+ HANDLE handle = CHILD_STDIO_HANDLE(buffer, i);
+ if (handle != INVALID_HANDLE_VALUE) {
+ CloseHandle(handle);
+ }
+ }
+
+ uv__free(buffer);
+}
+
+
+void uv__stdio_noinherit(BYTE* buffer) {
+ int i, count;
+
+ count = CHILD_STDIO_COUNT(buffer);
+ for (i = 0; i < count; i++) {
+ HANDLE handle = CHILD_STDIO_HANDLE(buffer, i);
+ if (handle != INVALID_HANDLE_VALUE) {
+ SetHandleInformation(handle, HANDLE_FLAG_INHERIT, 0);
+ }
+ }
+}
+
+
+int uv__stdio_verify(BYTE* buffer, WORD size) {
+ unsigned int count;
+
+ /* Check the buffer pointer. */
+ if (buffer == NULL)
+ return 0;
+
+ /* Verify that the buffer is at least big enough to hold the count. */
+ if (size < CHILD_STDIO_SIZE(0))
+ return 0;
+
+ /* Verify if the count is within range. */
+ count = CHILD_STDIO_COUNT(buffer);
+ if (count > 256)
+ return 0;
+
+ /* Verify that the buffer size is big enough to hold info for N FDs. */
+ if (size < CHILD_STDIO_SIZE(count))
+ return 0;
+
+ return 1;
+}
+
+
+WORD uv__stdio_size(BYTE* buffer) {
+ return (WORD) CHILD_STDIO_SIZE(CHILD_STDIO_COUNT((buffer)));
+}
+
+
+HANDLE uv__stdio_handle(BYTE* buffer, int fd) {
+ return CHILD_STDIO_HANDLE(buffer, fd);
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/process.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/process.cpp
new file mode 100644
index 0000000..3b8675a
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/process.cpp
@@ -0,0 +1,1284 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#define _CRT_NONSTDC_NO_WARNINGS
+
+#include <assert.h>
+#include <io.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <signal.h>
+#include <limits.h>
+#include <wchar.h>
+#include <malloc.h> /* alloca */
+
+#include "uv.h"
+#include "internal.h"
+#include "handle-inl.h"
+#include "req-inl.h"
+
+#define SIGKILL 9
+
+
+typedef struct env_var {
+ const WCHAR* const wide;
+ const WCHAR* const wide_eq;
+ const size_t len; /* including null or '=' */
+} env_var_t;
+
+#define E_V(str) { L##str, L##str L"=", sizeof(str) }
+
+static const env_var_t required_vars[] = { /* keep me sorted */
+ E_V("HOMEDRIVE"),
+ E_V("HOMEPATH"),
+ E_V("LOGONSERVER"),
+ E_V("PATH"),
+ E_V("SYSTEMDRIVE"),
+ E_V("SYSTEMROOT"),
+ E_V("TEMP"),
+ E_V("USERDOMAIN"),
+ E_V("USERNAME"),
+ E_V("USERPROFILE"),
+ E_V("WINDIR"),
+};
+static size_t n_required_vars = ARRAY_SIZE(required_vars);
+
+
+static HANDLE uv_global_job_handle_;
+static uv_once_t uv_global_job_handle_init_guard_ = UV_ONCE_INIT;
+
+
+static void uv__init_global_job_handle(void) {
+ /* Create a job object and set it up to kill all contained processes when
+ * it's closed. Since this handle is made non-inheritable and we're not
+ * giving it to anyone, we're the only process holding a reference to it.
+ * That means that if this process exits it is closed and all the processes
+ * it contains are killed. All processes created with uv_spawn that are not
+ * spawned with the UV_PROCESS_DETACHED flag are assigned to this job.
+ *
+ * We're setting the JOB_OBJECT_LIMIT_SILENT_BREAKAWAY_OK flag so only the
+ * processes that we explicitly add are affected, and *their* subprocesses
+ * are not. This ensures that our child processes are not limited in their
+ * ability to use job control on Windows versions that don't deal with
+ * nested jobs (prior to Windows 8 / Server 2012). It also lets our child
+ * processes created detached processes without explicitly breaking away
+ * from job control (which uv_spawn doesn't, either).
+ */
+ SECURITY_ATTRIBUTES attr;
+ JOBOBJECT_EXTENDED_LIMIT_INFORMATION info;
+
+ memset(&attr, 0, sizeof attr);
+ attr.bInheritHandle = FALSE;
+
+ memset(&info, 0, sizeof info);
+ info.BasicLimitInformation.LimitFlags =
+ JOB_OBJECT_LIMIT_BREAKAWAY_OK |
+ JOB_OBJECT_LIMIT_SILENT_BREAKAWAY_OK |
+ JOB_OBJECT_LIMIT_DIE_ON_UNHANDLED_EXCEPTION |
+ JOB_OBJECT_LIMIT_KILL_ON_JOB_CLOSE;
+
+ uv_global_job_handle_ = CreateJobObjectW(&attr, NULL);
+ if (uv_global_job_handle_ == NULL)
+ uv_fatal_error(GetLastError(), "CreateJobObjectW");
+
+ if (!SetInformationJobObject(uv_global_job_handle_,
+ JobObjectExtendedLimitInformation,
+ &info,
+ sizeof info))
+ uv_fatal_error(GetLastError(), "SetInformationJobObject");
+}
+
+
+static int uv_utf8_to_utf16_alloc(const char* s, WCHAR** ws_ptr) {
+ int ws_len, r;
+ WCHAR* ws;
+
+ ws_len = MultiByteToWideChar(CP_UTF8,
+ 0,
+ s,
+ -1,
+ NULL,
+ 0);
+ if (ws_len <= 0) {
+ return GetLastError();
+ }
+
+ ws = (WCHAR*) uv__malloc(ws_len * sizeof(WCHAR));
+ if (ws == NULL) {
+ return ERROR_OUTOFMEMORY;
+ }
+
+ r = MultiByteToWideChar(CP_UTF8,
+ 0,
+ s,
+ -1,
+ ws,
+ ws_len);
+ assert(r == ws_len);
+
+ *ws_ptr = ws;
+ return 0;
+}
+
+
+static void uv_process_init(uv_loop_t* loop, uv_process_t* handle) {
+ uv__handle_init(loop, (uv_handle_t*) handle, UV_PROCESS);
+ handle->exit_cb = NULL;
+ handle->pid = 0;
+ handle->exit_signal = 0;
+ handle->wait_handle = INVALID_HANDLE_VALUE;
+ handle->process_handle = INVALID_HANDLE_VALUE;
+ handle->child_stdio_buffer = NULL;
+ handle->exit_cb_pending = 0;
+
+ UV_REQ_INIT(&handle->exit_req, UV_PROCESS_EXIT);
+ handle->exit_req.data = handle;
+}
+
+
+/*
+ * Path search functions
+ */
+
+/*
+ * Helper function for search_path
+ */
+static WCHAR* search_path_join_test(const WCHAR* dir,
+ size_t dir_len,
+ const WCHAR* name,
+ size_t name_len,
+ const WCHAR* ext,
+ size_t ext_len,
+ const WCHAR* cwd,
+ size_t cwd_len) {
+ WCHAR *result, *result_pos;
+ DWORD attrs;
+ if (dir_len > 2 && dir[0] == L'\\' && dir[1] == L'\\') {
+ /* It's a UNC path so ignore cwd */
+ cwd_len = 0;
+ } else if (dir_len >= 1 && (dir[0] == L'/' || dir[0] == L'\\')) {
+ /* It's a full path without drive letter, use cwd's drive letter only */
+ cwd_len = 2;
+ } else if (dir_len >= 2 && dir[1] == L':' &&
+ (dir_len < 3 || (dir[2] != L'/' && dir[2] != L'\\'))) {
+ /* It's a relative path with drive letter (ext.g. D:../some/file)
+ * Replace drive letter in dir by full cwd if it points to the same drive,
+ * otherwise use the dir only.
+ */
+ if (cwd_len < 2 || _wcsnicmp(cwd, dir, 2) != 0) {
+ cwd_len = 0;
+ } else {
+ dir += 2;
+ dir_len -= 2;
+ }
+ } else if (dir_len > 2 && dir[1] == L':') {
+ /* It's an absolute path with drive letter
+ * Don't use the cwd at all
+ */
+ cwd_len = 0;
+ }
+
+ /* Allocate buffer for output */
+ result = result_pos = (WCHAR*)uv__malloc(sizeof(WCHAR) *
+ (cwd_len + 1 + dir_len + 1 + name_len + 1 + ext_len + 1));
+
+ /* Copy cwd */
+ wcsncpy(result_pos, cwd, cwd_len);
+ result_pos += cwd_len;
+
+ /* Add a path separator if cwd didn't end with one */
+ if (cwd_len && wcsrchr(L"\\/:", result_pos[-1]) == NULL) {
+ result_pos[0] = L'\\';
+ result_pos++;
+ }
+
+ /* Copy dir */
+ wcsncpy(result_pos, dir, dir_len);
+ result_pos += dir_len;
+
+ /* Add a separator if the dir didn't end with one */
+ if (dir_len && wcsrchr(L"\\/:", result_pos[-1]) == NULL) {
+ result_pos[0] = L'\\';
+ result_pos++;
+ }
+
+ /* Copy filename */
+ wcsncpy(result_pos, name, name_len);
+ result_pos += name_len;
+
+ if (ext_len) {
+ /* Add a dot if the filename didn't end with one */
+ if (name_len && result_pos[-1] != '.') {
+ result_pos[0] = L'.';
+ result_pos++;
+ }
+
+ /* Copy extension */
+ wcsncpy(result_pos, ext, ext_len);
+ result_pos += ext_len;
+ }
+
+ /* Null terminator */
+ result_pos[0] = L'\0';
+
+ attrs = GetFileAttributesW(result);
+
+ if (attrs != INVALID_FILE_ATTRIBUTES &&
+ !(attrs & FILE_ATTRIBUTE_DIRECTORY)) {
+ return result;
+ }
+
+ uv__free(result);
+ return NULL;
+}
+
+
+/*
+ * Helper function for search_path
+ */
+static WCHAR* path_search_walk_ext(const WCHAR *dir,
+ size_t dir_len,
+ const WCHAR *name,
+ size_t name_len,
+ WCHAR *cwd,
+ size_t cwd_len,
+ int name_has_ext) {
+ WCHAR* result;
+
+ /* If the name itself has a nonempty extension, try this extension first */
+ if (name_has_ext) {
+ result = search_path_join_test(dir, dir_len,
+ name, name_len,
+ L"", 0,
+ cwd, cwd_len);
+ if (result != NULL) {
+ return result;
+ }
+ }
+
+ /* Try .com extension */
+ result = search_path_join_test(dir, dir_len,
+ name, name_len,
+ L"com", 3,
+ cwd, cwd_len);
+ if (result != NULL) {
+ return result;
+ }
+
+ /* Try .exe extension */
+ result = search_path_join_test(dir, dir_len,
+ name, name_len,
+ L"exe", 3,
+ cwd, cwd_len);
+ if (result != NULL) {
+ return result;
+ }
+
+ return NULL;
+}
+
+
+/*
+ * search_path searches the system path for an executable filename -
+ * the windows API doesn't provide this as a standalone function nor as an
+ * option to CreateProcess.
+ *
+ * It tries to return an absolute filename.
+ *
+ * Furthermore, it tries to follow the semantics that cmd.exe, with this
+ * exception that PATHEXT environment variable isn't used. Since CreateProcess
+ * can start only .com and .exe files, only those extensions are tried. This
+ * behavior equals that of msvcrt's spawn functions.
+ *
+ * - Do not search the path if the filename already contains a path (either
+ * relative or absolute).
+ *
+ * - If there's really only a filename, check the current directory for file,
+ * then search all path directories.
+ *
+ * - If filename specified has *any* extension, search for the file with the
+ * specified extension first.
+ *
+ * - If the literal filename is not found in a directory, try *appending*
+ * (not replacing) .com first and then .exe.
+ *
+ * - The path variable may contain relative paths; relative paths are relative
+ * to the cwd.
+ *
+ * - Directories in path may or may not end with a trailing backslash.
+ *
+ * - CMD does not trim leading/trailing whitespace from path/pathex entries
+ * nor from the environment variables as a whole.
+ *
+ * - When cmd.exe cannot read a directory, it will just skip it and go on
+ * searching. However, unlike posix-y systems, it will happily try to run a
+ * file that is not readable/executable; if the spawn fails it will not
+ * continue searching.
+ *
+ * UNC path support: we are dealing with UNC paths in both the path and the
+ * filename. This is a deviation from what cmd.exe does (it does not let you
+ * start a program by specifying an UNC path on the command line) but this is
+ * really a pointless restriction.
+ *
+ */
+static WCHAR* search_path(const WCHAR *file,
+ WCHAR *cwd,
+ const WCHAR *path) {
+ int file_has_dir;
+ WCHAR* result = NULL;
+ WCHAR *file_name_start;
+ WCHAR *dot;
+ const WCHAR *dir_start, *dir_end, *dir_path;
+ size_t dir_len;
+ int name_has_ext;
+
+ size_t file_len = wcslen(file);
+ size_t cwd_len = wcslen(cwd);
+
+ /* If the caller supplies an empty filename,
+ * we're not gonna return c:\windows\.exe -- GFY!
+ */
+ if (file_len == 0
+ || (file_len == 1 && file[0] == L'.')) {
+ return NULL;
+ }
+
+ /* Find the start of the filename so we can split the directory from the
+ * name. */
+ for (file_name_start = (WCHAR*)file + file_len;
+ file_name_start > file
+ && file_name_start[-1] != L'\\'
+ && file_name_start[-1] != L'/'
+ && file_name_start[-1] != L':';
+ file_name_start--);
+
+ file_has_dir = file_name_start != file;
+
+ /* Check if the filename includes an extension */
+ dot = wcschr(file_name_start, L'.');
+ name_has_ext = (dot != NULL && dot[1] != L'\0');
+
+ if (file_has_dir) {
+ /* The file has a path inside, don't use path */
+ result = path_search_walk_ext(
+ file, file_name_start - file,
+ file_name_start, file_len - (file_name_start - file),
+ cwd, cwd_len,
+ name_has_ext);
+
+ } else {
+ dir_end = path;
+
+ /* The file is really only a name; look in cwd first, then scan path */
+ result = path_search_walk_ext(L"", 0,
+ file, file_len,
+ cwd, cwd_len,
+ name_has_ext);
+
+ while (result == NULL) {
+ if (*dir_end == L'\0') {
+ break;
+ }
+
+ /* Skip the separator that dir_end now points to */
+ if (dir_end != path || *path == L';') {
+ dir_end++;
+ }
+
+ /* Next slice starts just after where the previous one ended */
+ dir_start = dir_end;
+
+ /* If path is quoted, find quote end */
+ if (*dir_start == L'"' || *dir_start == L'\'') {
+ dir_end = wcschr(dir_start + 1, *dir_start);
+ if (dir_end == NULL) {
+ dir_end = wcschr(dir_start, L'\0');
+ }
+ }
+ /* Slice until the next ; or \0 is found */
+ dir_end = wcschr(dir_end, L';');
+ if (dir_end == NULL) {
+ dir_end = wcschr(dir_start, L'\0');
+ }
+
+ /* If the slice is zero-length, don't bother */
+ if (dir_end - dir_start == 0) {
+ continue;
+ }
+
+ dir_path = dir_start;
+ dir_len = dir_end - dir_start;
+
+ /* Adjust if the path is quoted. */
+ if (dir_path[0] == '"' || dir_path[0] == '\'') {
+ ++dir_path;
+ --dir_len;
+ }
+
+ if (dir_path[dir_len - 1] == '"' || dir_path[dir_len - 1] == '\'') {
+ --dir_len;
+ }
+
+ result = path_search_walk_ext(dir_path, dir_len,
+ file, file_len,
+ cwd, cwd_len,
+ name_has_ext);
+ }
+ }
+
+ return result;
+}
+
+
+/*
+ * Quotes command line arguments
+ * Returns a pointer to the end (next char to be written) of the buffer
+ */
+WCHAR* quote_cmd_arg(const WCHAR *source, WCHAR *target) {
+ size_t len = wcslen(source);
+ size_t i;
+ int quote_hit;
+ WCHAR* start;
+
+ if (len == 0) {
+ /* Need double quotation for empty argument */
+ *(target++) = L'"';
+ *(target++) = L'"';
+ return target;
+ }
+
+ if (NULL == wcspbrk(source, L" \t\"")) {
+ /* No quotation needed */
+ wcsncpy(target, source, len);
+ target += len;
+ return target;
+ }
+
+ if (NULL == wcspbrk(source, L"\"\\")) {
+ /*
+ * No embedded double quotes or backlashes, so I can just wrap
+ * quote marks around the whole thing.
+ */
+ *(target++) = L'"';
+ wcsncpy(target, source, len);
+ target += len;
+ *(target++) = L'"';
+ return target;
+ }
+
+ /*
+ * Expected input/output:
+ * input : hello"world
+ * output: "hello\"world"
+ * input : hello""world
+ * output: "hello\"\"world"
+ * input : hello\world
+ * output: hello\world
+ * input : hello\\world
+ * output: hello\\world
+ * input : hello\"world
+ * output: "hello\\\"world"
+ * input : hello\\"world
+ * output: "hello\\\\\"world"
+ * input : hello world\
+ * output: "hello world\\"
+ */
+
+ *(target++) = L'"';
+ start = target;
+ quote_hit = 1;
+
+ for (i = len; i > 0; --i) {
+ *(target++) = source[i - 1];
+
+ if (quote_hit && source[i - 1] == L'\\') {
+ *(target++) = L'\\';
+ } else if(source[i - 1] == L'"') {
+ quote_hit = 1;
+ *(target++) = L'\\';
+ } else {
+ quote_hit = 0;
+ }
+ }
+ target[0] = L'\0';
+ wcsrev(start);
+ *(target++) = L'"';
+ return target;
+}
+
+
+int make_program_args(char** args, int verbatim_arguments, WCHAR** dst_ptr) {
+ char** arg;
+ WCHAR* dst = NULL;
+ WCHAR* temp_buffer = NULL;
+ size_t dst_len = 0;
+ size_t temp_buffer_len = 0;
+ WCHAR* pos;
+ int arg_count = 0;
+ int err = 0;
+
+ /* Count the required size. */
+ for (arg = args; *arg; arg++) {
+ DWORD arg_len;
+
+ arg_len = MultiByteToWideChar(CP_UTF8,
+ 0,
+ *arg,
+ -1,
+ NULL,
+ 0);
+ if (arg_len == 0) {
+ return GetLastError();
+ }
+
+ dst_len += arg_len;
+
+ if (arg_len > temp_buffer_len)
+ temp_buffer_len = arg_len;
+
+ arg_count++;
+ }
+
+ /* Adjust for potential quotes. Also assume the worst-case scenario that
+ * every character needs escaping, so we need twice as much space. */
+ dst_len = dst_len * 2 + arg_count * 2;
+
+ /* Allocate buffer for the final command line. */
+ dst = (WCHAR*) uv__malloc(dst_len * sizeof(WCHAR));
+ if (dst == NULL) {
+ err = ERROR_OUTOFMEMORY;
+ goto error;
+ }
+
+ /* Allocate temporary working buffer. */
+ temp_buffer = (WCHAR*) uv__malloc(temp_buffer_len * sizeof(WCHAR));
+ if (temp_buffer == NULL) {
+ err = ERROR_OUTOFMEMORY;
+ goto error;
+ }
+
+ pos = dst;
+ for (arg = args; *arg; arg++) {
+ DWORD arg_len;
+
+ /* Convert argument to wide char. */
+ arg_len = MultiByteToWideChar(CP_UTF8,
+ 0,
+ *arg,
+ -1,
+ temp_buffer,
+ (int) (dst + dst_len - pos));
+ if (arg_len == 0) {
+ err = GetLastError();
+ goto error;
+ }
+
+ if (verbatim_arguments) {
+ /* Copy verbatim. */
+ wcscpy(pos, temp_buffer);
+ pos += arg_len - 1;
+ } else {
+ /* Quote/escape, if needed. */
+ pos = quote_cmd_arg(temp_buffer, pos);
+ }
+
+ *pos++ = *(arg + 1) ? L' ' : L'\0';
+ }
+
+ uv__free(temp_buffer);
+
+ *dst_ptr = dst;
+ return 0;
+
+error:
+ uv__free(dst);
+ uv__free(temp_buffer);
+ return err;
+}
+
+
+int env_strncmp(const wchar_t* a, int na, const wchar_t* b) {
+ const wchar_t* a_eq;
+ const wchar_t* b_eq;
+ wchar_t* A;
+ wchar_t* B;
+ int nb;
+ int r;
+
+ if (na < 0) {
+ a_eq = wcschr(a, L'=');
+ assert(a_eq);
+ na = (int)(long)(a_eq - a);
+ } else {
+ na--;
+ }
+ b_eq = wcschr(b, L'=');
+ assert(b_eq);
+ nb = b_eq - b;
+
+ A = (wchar_t*)alloca((na+1) * sizeof(wchar_t));
+ B = (wchar_t*)alloca((nb+1) * sizeof(wchar_t));
+
+ r = LCMapStringW(LOCALE_INVARIANT, LCMAP_UPPERCASE, a, na, A, na);
+ assert(r==na);
+ A[na] = L'\0';
+ r = LCMapStringW(LOCALE_INVARIANT, LCMAP_UPPERCASE, b, nb, B, nb);
+ assert(r==nb);
+ B[nb] = L'\0';
+
+ while (1) {
+ wchar_t AA = *A++;
+ wchar_t BB = *B++;
+ if (AA < BB) {
+ return -1;
+ } else if (AA > BB) {
+ return 1;
+ } else if (!AA && !BB) {
+ return 0;
+ }
+ }
+}
+
+
+static int qsort_wcscmp(const void *a, const void *b) {
+ wchar_t* astr = *(wchar_t* const*)a;
+ wchar_t* bstr = *(wchar_t* const*)b;
+ return env_strncmp(astr, -1, bstr);
+}
+
+
+/*
+ * The way windows takes environment variables is different than what C does;
+ * Windows wants a contiguous block of null-terminated strings, terminated
+ * with an additional null.
+ *
+ * Windows has a few "essential" environment variables. winsock will fail
+ * to initialize if SYSTEMROOT is not defined; some APIs make reference to
+ * TEMP. SYSTEMDRIVE is probably also important. We therefore ensure that
+ * these get defined if the input environment block does not contain any
+ * values for them.
+ *
+ * Also add variables known to Cygwin to be required for correct
+ * subprocess operation in many cases:
+ * https://github.com/Alexpux/Cygwin/blob/b266b04fbbd3a595f02ea149e4306d3ab9b1fe3d/winsup/cygwin/environ.cc#L955
+ *
+ */
+int make_program_env(char* env_block[], WCHAR** dst_ptr) {
+ WCHAR* dst;
+ WCHAR* ptr;
+ char** env;
+ size_t env_len = 0;
+ int len;
+ size_t i;
+ DWORD var_size;
+ size_t env_block_count = 1; /* 1 for null-terminator */
+ WCHAR* dst_copy;
+ WCHAR** ptr_copy;
+ WCHAR** env_copy;
+ DWORD* required_vars_value_len =
+ (DWORD*)alloca(n_required_vars * sizeof(DWORD*));
+
+ /* first pass: determine size in UTF-16 */
+ for (env = env_block; *env; env++) {
+ int len;
+ if (strchr(*env, '=')) {
+ len = MultiByteToWideChar(CP_UTF8,
+ 0,
+ *env,
+ -1,
+ NULL,
+ 0);
+ if (len <= 0) {
+ return GetLastError();
+ }
+ env_len += len;
+ env_block_count++;
+ }
+ }
+
+ /* second pass: copy to UTF-16 environment block */
+ dst_copy = (WCHAR*)uv__malloc(env_len * sizeof(WCHAR));
+ if (!dst_copy) {
+ return ERROR_OUTOFMEMORY;
+ }
+ env_copy = (WCHAR**)alloca(env_block_count * sizeof(WCHAR*));
+
+ ptr = dst_copy;
+ ptr_copy = env_copy;
+ for (env = env_block; *env; env++) {
+ if (strchr(*env, '=')) {
+ len = MultiByteToWideChar(CP_UTF8,
+ 0,
+ *env,
+ -1,
+ ptr,
+ (int) (env_len - (ptr - dst_copy)));
+ if (len <= 0) {
+ DWORD err = GetLastError();
+ uv__free(dst_copy);
+ return err;
+ }
+ *ptr_copy++ = ptr;
+ ptr += len;
+ }
+ }
+ *ptr_copy = NULL;
+ assert(env_len == (size_t) (ptr - dst_copy));
+
+ /* sort our (UTF-16) copy */
+ qsort(env_copy, env_block_count-1, sizeof(wchar_t*), qsort_wcscmp);
+
+ /* third pass: check for required variables */
+ for (ptr_copy = env_copy, i = 0; i < n_required_vars; ) {
+ int cmp;
+ if (!*ptr_copy) {
+ cmp = -1;
+ } else {
+ cmp = env_strncmp(required_vars[i].wide_eq,
+ required_vars[i].len,
+ *ptr_copy);
+ }
+ if (cmp < 0) {
+ /* missing required var */
+ var_size = GetEnvironmentVariableW(required_vars[i].wide, NULL, 0);
+ required_vars_value_len[i] = var_size;
+ if (var_size != 0) {
+ env_len += required_vars[i].len;
+ env_len += var_size;
+ }
+ i++;
+ } else {
+ ptr_copy++;
+ if (cmp == 0)
+ i++;
+ }
+ }
+
+ /* final pass: copy, in sort order, and inserting required variables */
+ dst = (WCHAR*)uv__malloc((1+env_len) * sizeof(WCHAR));
+ if (!dst) {
+ uv__free(dst_copy);
+ return ERROR_OUTOFMEMORY;
+ }
+
+ for (ptr = dst, ptr_copy = env_copy, i = 0;
+ *ptr_copy || i < n_required_vars;
+ ptr += len) {
+ int cmp;
+ if (i >= n_required_vars) {
+ cmp = 1;
+ } else if (!*ptr_copy) {
+ cmp = -1;
+ } else {
+ cmp = env_strncmp(required_vars[i].wide_eq,
+ required_vars[i].len,
+ *ptr_copy);
+ }
+ if (cmp < 0) {
+ /* missing required var */
+ len = required_vars_value_len[i];
+ if (len) {
+ wcscpy(ptr, required_vars[i].wide_eq);
+ ptr += required_vars[i].len;
+ var_size = GetEnvironmentVariableW(required_vars[i].wide,
+ ptr,
+ (int) (env_len - (ptr - dst)));
+ if (var_size != (DWORD) (len - 1)) { /* TODO: handle race condition? */
+ uv_fatal_error(GetLastError(), "GetEnvironmentVariableW");
+ }
+ }
+ i++;
+ } else {
+ /* copy var from env_block */
+ len = wcslen(*ptr_copy) + 1;
+ wmemcpy(ptr, *ptr_copy, len);
+ ptr_copy++;
+ if (cmp == 0)
+ i++;
+ }
+ }
+
+ /* Terminate with an extra NULL. */
+ assert(env_len == (size_t) (ptr - dst));
+ *ptr = L'\0';
+
+ uv__free(dst_copy);
+ *dst_ptr = dst;
+ return 0;
+}
+
+/*
+ * Attempt to find the value of the PATH environment variable in the child's
+ * preprocessed environment.
+ *
+ * If found, a pointer into `env` is returned. If not found, NULL is returned.
+ */
+static WCHAR* find_path(WCHAR *env) {
+ for (; env != NULL && *env != 0; env += wcslen(env) + 1) {
+ if ((env[0] == L'P' || env[0] == L'p') &&
+ (env[1] == L'A' || env[1] == L'a') &&
+ (env[2] == L'T' || env[2] == L't') &&
+ (env[3] == L'H' || env[3] == L'h') &&
+ (env[4] == L'=')) {
+ return &env[5];
+ }
+ }
+
+ return NULL;
+}
+
+/*
+ * Called on Windows thread-pool thread to indicate that
+ * a child process has exited.
+ */
+static void CALLBACK exit_wait_callback(void* data, BOOLEAN didTimeout) {
+ uv_process_t* process = (uv_process_t*) data;
+ uv_loop_t* loop = process->loop;
+
+ assert(didTimeout == FALSE);
+ assert(process);
+ assert(!process->exit_cb_pending);
+
+ process->exit_cb_pending = 1;
+
+ /* Post completed */
+ POST_COMPLETION_FOR_REQ(loop, &process->exit_req);
+}
+
+
+/* Called on main thread after a child process has exited. */
+void uv_process_proc_exit(uv_loop_t* loop, uv_process_t* handle) {
+ int64_t exit_code;
+ DWORD status;
+
+ assert(handle->exit_cb_pending);
+ handle->exit_cb_pending = 0;
+
+ /* If we're closing, don't call the exit callback. Just schedule a close
+ * callback now. */
+ if (handle->flags & UV_HANDLE_CLOSING) {
+ uv_want_endgame(loop, (uv_handle_t*) handle);
+ return;
+ }
+
+ /* Unregister from process notification. */
+ if (handle->wait_handle != INVALID_HANDLE_VALUE) {
+ UnregisterWait(handle->wait_handle);
+ handle->wait_handle = INVALID_HANDLE_VALUE;
+ }
+
+ /* Set the handle to inactive: no callbacks will be made after the exit
+ * callback. */
+ uv__handle_stop(handle);
+
+ if (GetExitCodeProcess(handle->process_handle, &status)) {
+ exit_code = status;
+ } else {
+ /* Unable to obtain the exit code. This should never happen. */
+ exit_code = uv_translate_sys_error(GetLastError());
+ }
+
+ /* Fire the exit callback. */
+ if (handle->exit_cb) {
+ handle->exit_cb(handle, exit_code, handle->exit_signal);
+ }
+}
+
+
+void uv_process_close(uv_loop_t* loop, uv_process_t* handle) {
+ uv__handle_closing(handle);
+
+ if (handle->wait_handle != INVALID_HANDLE_VALUE) {
+ /* This blocks until either the wait was cancelled, or the callback has
+ * completed. */
+ BOOL r = UnregisterWaitEx(handle->wait_handle, INVALID_HANDLE_VALUE);
+ if (!r) {
+ /* This should never happen, and if it happens, we can't recover... */
+ uv_fatal_error(GetLastError(), "UnregisterWaitEx");
+ }
+
+ handle->wait_handle = INVALID_HANDLE_VALUE;
+ }
+
+ if (!handle->exit_cb_pending) {
+ uv_want_endgame(loop, (uv_handle_t*)handle);
+ }
+}
+
+
+void uv_process_endgame(uv_loop_t* loop, uv_process_t* handle) {
+ assert(!handle->exit_cb_pending);
+ assert(handle->flags & UV_HANDLE_CLOSING);
+ assert(!(handle->flags & UV_HANDLE_CLOSED));
+
+ /* Clean-up the process handle. */
+ CloseHandle(handle->process_handle);
+
+ uv__handle_close(handle);
+}
+
+
+int uv_spawn(uv_loop_t* loop,
+ uv_process_t* process,
+ const uv_process_options_t* options) {
+ int i;
+ int err = 0;
+ WCHAR* path = NULL, *alloc_path = NULL;
+ BOOL result;
+ WCHAR* application_path = NULL, *application = NULL, *arguments = NULL,
+ *env = NULL, *cwd = NULL;
+ STARTUPINFOW startup;
+ PROCESS_INFORMATION info;
+ DWORD process_flags;
+
+ uv_process_init(loop, process);
+ process->exit_cb = options->exit_cb;
+
+ if (options->flags & (UV_PROCESS_SETGID | UV_PROCESS_SETUID)) {
+ return UV_ENOTSUP;
+ }
+
+ if (options->file == NULL ||
+ options->args == NULL) {
+ return UV_EINVAL;
+ }
+
+ assert(options->file != NULL);
+ assert(!(options->flags & ~(UV_PROCESS_DETACHED |
+ UV_PROCESS_SETGID |
+ UV_PROCESS_SETUID |
+ UV_PROCESS_WINDOWS_HIDE |
+ UV_PROCESS_WINDOWS_HIDE_CONSOLE |
+ UV_PROCESS_WINDOWS_HIDE_GUI |
+ UV_PROCESS_WINDOWS_VERBATIM_ARGUMENTS)));
+
+ err = uv_utf8_to_utf16_alloc(options->file, &application);
+ if (err)
+ goto done;
+
+ err = make_program_args(
+ options->args,
+ options->flags & UV_PROCESS_WINDOWS_VERBATIM_ARGUMENTS,
+ &arguments);
+ if (err)
+ goto done;
+
+ if (options->env) {
+ err = make_program_env(options->env, &env);
+ if (err)
+ goto done;
+ }
+
+ if (options->cwd) {
+ /* Explicit cwd */
+ err = uv_utf8_to_utf16_alloc(options->cwd, &cwd);
+ if (err)
+ goto done;
+
+ } else {
+ /* Inherit cwd */
+ DWORD cwd_len, r;
+
+ cwd_len = GetCurrentDirectoryW(0, NULL);
+ if (!cwd_len) {
+ err = GetLastError();
+ goto done;
+ }
+
+ cwd = (WCHAR*) uv__malloc(cwd_len * sizeof(WCHAR));
+ if (cwd == NULL) {
+ err = ERROR_OUTOFMEMORY;
+ goto done;
+ }
+
+ r = GetCurrentDirectoryW(cwd_len, cwd);
+ if (r == 0 || r >= cwd_len) {
+ err = GetLastError();
+ goto done;
+ }
+ }
+
+ /* Get PATH environment variable. */
+ path = find_path(env);
+ if (path == NULL) {
+ DWORD path_len, r;
+
+ path_len = GetEnvironmentVariableW(L"PATH", NULL, 0);
+ if (path_len == 0) {
+ err = GetLastError();
+ goto done;
+ }
+
+ alloc_path = (WCHAR*) uv__malloc(path_len * sizeof(WCHAR));
+ if (alloc_path == NULL) {
+ err = ERROR_OUTOFMEMORY;
+ goto done;
+ }
+ path = alloc_path;
+
+ r = GetEnvironmentVariableW(L"PATH", path, path_len);
+ if (r == 0 || r >= path_len) {
+ err = GetLastError();
+ goto done;
+ }
+ }
+
+ err = uv__stdio_create(loop, options, &process->child_stdio_buffer);
+ if (err)
+ goto done;
+
+ application_path = search_path(application,
+ cwd,
+ path);
+ if (application_path == NULL) {
+ /* Not found. */
+ err = ERROR_FILE_NOT_FOUND;
+ goto done;
+ }
+
+ startup.cb = sizeof(startup);
+ startup.lpReserved = NULL;
+ startup.lpDesktop = NULL;
+ startup.lpTitle = NULL;
+ startup.dwFlags = STARTF_USESTDHANDLES | STARTF_USESHOWWINDOW;
+
+ startup.cbReserved2 = uv__stdio_size(process->child_stdio_buffer);
+ startup.lpReserved2 = (BYTE*) process->child_stdio_buffer;
+
+ startup.hStdInput = uv__stdio_handle(process->child_stdio_buffer, 0);
+ startup.hStdOutput = uv__stdio_handle(process->child_stdio_buffer, 1);
+ startup.hStdError = uv__stdio_handle(process->child_stdio_buffer, 2);
+
+ process_flags = CREATE_UNICODE_ENVIRONMENT;
+
+ if ((options->flags & UV_PROCESS_WINDOWS_HIDE_CONSOLE) ||
+ (options->flags & UV_PROCESS_WINDOWS_HIDE)) {
+ /* Avoid creating console window if stdio is not inherited. */
+ for (i = 0; i < options->stdio_count; i++) {
+ if (options->stdio[i].flags & UV_INHERIT_FD)
+ break;
+ if (i == options->stdio_count - 1)
+ process_flags |= CREATE_NO_WINDOW;
+ }
+ }
+ if ((options->flags & UV_PROCESS_WINDOWS_HIDE_GUI) ||
+ (options->flags & UV_PROCESS_WINDOWS_HIDE)) {
+ /* Use SW_HIDE to avoid any potential process window. */
+ startup.wShowWindow = SW_HIDE;
+ } else {
+ startup.wShowWindow = SW_SHOWDEFAULT;
+ }
+
+ if (options->flags & UV_PROCESS_DETACHED) {
+ /* Note that we're not setting the CREATE_BREAKAWAY_FROM_JOB flag. That
+ * means that libuv might not let you create a fully daemonized process
+ * when run under job control. However the type of job control that libuv
+ * itself creates doesn't trickle down to subprocesses so they can still
+ * daemonize.
+ *
+ * A reason to not do this is that CREATE_BREAKAWAY_FROM_JOB makes the
+ * CreateProcess call fail if we're under job control that doesn't allow
+ * breakaway.
+ */
+ process_flags |= DETACHED_PROCESS | CREATE_NEW_PROCESS_GROUP;
+ }
+
+ if (!CreateProcessW(application_path,
+ arguments,
+ NULL,
+ NULL,
+ 1,
+ process_flags,
+ env,
+ cwd,
+ &startup,
+ &info)) {
+ /* CreateProcessW failed. */
+ err = GetLastError();
+ goto done;
+ }
+
+ /* Spawn succeeded. Beyond this point, failure is reported asynchronously. */
+
+ process->process_handle = info.hProcess;
+ process->pid = info.dwProcessId;
+
+ /* If the process isn't spawned as detached, assign to the global job object
+ * so windows will kill it when the parent process dies. */
+ if (!(options->flags & UV_PROCESS_DETACHED)) {
+ uv_once(&uv_global_job_handle_init_guard_, uv__init_global_job_handle);
+
+ if (!AssignProcessToJobObject(uv_global_job_handle_, info.hProcess)) {
+ /* AssignProcessToJobObject might fail if this process is under job
+ * control and the job doesn't have the
+ * JOB_OBJECT_LIMIT_SILENT_BREAKAWAY_OK flag set, on a Windows version
+ * that doesn't support nested jobs.
+ *
+ * When that happens we just swallow the error and continue without
+ * establishing a kill-child-on-parent-exit relationship, otherwise
+ * there would be no way for libuv applications run under job control
+ * to spawn processes at all.
+ */
+ DWORD err = GetLastError();
+ if (err != ERROR_ACCESS_DENIED)
+ uv_fatal_error(err, "AssignProcessToJobObject");
+ }
+ }
+
+ /* Set IPC pid to all IPC pipes. */
+ for (i = 0; i < options->stdio_count; i++) {
+ const uv_stdio_container_t* fdopt = &options->stdio[i];
+ if (fdopt->flags & UV_CREATE_PIPE &&
+ fdopt->data.stream->type == UV_NAMED_PIPE &&
+ ((uv_pipe_t*) fdopt->data.stream)->ipc) {
+ ((uv_pipe_t*) fdopt->data.stream)->pipe.conn.ipc_remote_pid =
+ info.dwProcessId;
+ }
+ }
+
+ /* Setup notifications for when the child process exits. */
+ result = RegisterWaitForSingleObject(&process->wait_handle,
+ process->process_handle, exit_wait_callback, (void*)process, INFINITE,
+ WT_EXECUTEINWAITTHREAD | WT_EXECUTEONLYONCE);
+ if (!result) {
+ uv_fatal_error(GetLastError(), "RegisterWaitForSingleObject");
+ }
+
+ CloseHandle(info.hThread);
+
+ assert(!err);
+
+ /* Make the handle active. It will remain active until the exit callback is
+ * made or the handle is closed, whichever happens first. */
+ uv__handle_start(process);
+
+ /* Cleanup, whether we succeeded or failed. */
+ done:
+ uv__free(application);
+ uv__free(application_path);
+ uv__free(arguments);
+ uv__free(cwd);
+ uv__free(env);
+ uv__free(alloc_path);
+
+ if (process->child_stdio_buffer != NULL) {
+ /* Clean up child stdio handles. */
+ uv__stdio_destroy(process->child_stdio_buffer);
+ process->child_stdio_buffer = NULL;
+ }
+
+ return uv_translate_sys_error(err);
+}
+
+
+static int uv__kill(HANDLE process_handle, int signum) {
+ if (signum < 0 || signum >= NSIG) {
+ return UV_EINVAL;
+ }
+
+ switch (signum) {
+ case SIGTERM:
+ case SIGKILL:
+ case SIGINT: {
+ /* Unconditionally terminate the process. On Windows, killed processes
+ * normally return 1. */
+ DWORD status;
+ int err;
+
+ if (TerminateProcess(process_handle, 1))
+ return 0;
+
+ /* If the process already exited before TerminateProcess was called,.
+ * TerminateProcess will fail with ERROR_ACCESS_DENIED. */
+ err = GetLastError();
+ if (err == ERROR_ACCESS_DENIED &&
+ GetExitCodeProcess(process_handle, &status) &&
+ status != STILL_ACTIVE) {
+ return UV_ESRCH;
+ }
+
+ return uv_translate_sys_error(err);
+ }
+
+ case 0: {
+ /* Health check: is the process still alive? */
+ DWORD status;
+
+ if (!GetExitCodeProcess(process_handle, &status))
+ return uv_translate_sys_error(GetLastError());
+
+ if (status != STILL_ACTIVE)
+ return UV_ESRCH;
+
+ return 0;
+ }
+
+ default:
+ /* Unsupported signal. */
+ return UV_ENOSYS;
+ }
+}
+
+
+int uv_process_kill(uv_process_t* process, int signum) {
+ int err;
+
+ if (process->process_handle == INVALID_HANDLE_VALUE) {
+ return UV_EINVAL;
+ }
+
+ err = uv__kill(process->process_handle, signum);
+ if (err) {
+ return err; /* err is already translated. */
+ }
+
+ process->exit_signal = signum;
+
+ return 0;
+}
+
+
+int uv_kill(int pid, int signum) {
+ int err;
+ HANDLE process_handle;
+
+ if (pid == 0) {
+ process_handle = GetCurrentProcess();
+ } else {
+ process_handle = OpenProcess(PROCESS_TERMINATE | PROCESS_QUERY_INFORMATION,
+ FALSE,
+ pid);
+ }
+
+ if (process_handle == NULL) {
+ err = GetLastError();
+ if (err == ERROR_INVALID_PARAMETER) {
+ return UV_ESRCH;
+ } else {
+ return uv_translate_sys_error(err);
+ }
+ }
+
+ err = uv__kill(process_handle, signum);
+ CloseHandle(process_handle);
+
+ return err; /* err is already translated. */
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/req-inl.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/req-inl.h
similarity index 100%
rename from third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/req-inl.h
rename to third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/req-inl.h
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/signal.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/signal.cpp
new file mode 100644
index 0000000..276dc60
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/signal.cpp
@@ -0,0 +1,277 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include <assert.h>
+#include <signal.h>
+
+#include "uv.h"
+#include "internal.h"
+#include "handle-inl.h"
+#include "req-inl.h"
+
+
+RB_HEAD(uv_signal_tree_s, uv_signal_s);
+
+static struct uv_signal_tree_s uv__signal_tree = RB_INITIALIZER(uv__signal_tree);
+static CRITICAL_SECTION uv__signal_lock;
+
+static BOOL WINAPI uv__signal_control_handler(DWORD type);
+
+int uv__signal_start(uv_signal_t* handle,
+ uv_signal_cb signal_cb,
+ int signum,
+ int oneshot);
+
+void uv_signals_init(void) {
+ InitializeCriticalSection(&uv__signal_lock);
+ if (!SetConsoleCtrlHandler(uv__signal_control_handler, TRUE))
+ abort();
+}
+
+
+static int uv__signal_compare(uv_signal_t* w1, uv_signal_t* w2) {
+ /* Compare signums first so all watchers with the same signnum end up
+ * adjacent. */
+ if (w1->signum < w2->signum) return -1;
+ if (w1->signum > w2->signum) return 1;
+
+ /* Sort by loop pointer, so we can easily look up the first item after
+ * { .signum = x, .loop = NULL }. */
+ if ((uintptr_t) w1->loop < (uintptr_t) w2->loop) return -1;
+ if ((uintptr_t) w1->loop > (uintptr_t) w2->loop) return 1;
+
+ if ((uintptr_t) w1 < (uintptr_t) w2) return -1;
+ if ((uintptr_t) w1 > (uintptr_t) w2) return 1;
+
+ return 0;
+}
+
+
+RB_GENERATE_STATIC(uv_signal_tree_s, uv_signal_s, tree_entry, uv__signal_compare)
+
+
+/*
+ * Dispatches signal {signum} to all active uv_signal_t watchers in all loops.
+ * Returns 1 if the signal was dispatched to any watcher, or 0 if there were
+ * no active signal watchers observing this signal.
+ */
+int uv__signal_dispatch(int signum) {
+ uv_signal_t lookup;
+ uv_signal_t* handle;
+ int dispatched;
+
+ dispatched = 0;
+
+ EnterCriticalSection(&uv__signal_lock);
+
+ lookup.signum = signum;
+ lookup.loop = NULL;
+
+ for (handle = RB_NFIND(uv_signal_tree_s, &uv__signal_tree, &lookup);
+ handle != NULL && handle->signum == signum;
+ handle = RB_NEXT(uv_signal_tree_s, &uv__signal_tree, handle)) {
+ unsigned long previous = InterlockedExchange(
+ (volatile LONG*) &handle->pending_signum, signum);
+
+ if (handle->flags & UV_SIGNAL_ONE_SHOT_DISPATCHED)
+ continue;
+
+ if (!previous) {
+ POST_COMPLETION_FOR_REQ(handle->loop, &handle->signal_req);
+ }
+
+ dispatched = 1;
+ if (handle->flags & UV_SIGNAL_ONE_SHOT)
+ handle->flags |= UV_SIGNAL_ONE_SHOT_DISPATCHED;
+ }
+
+ LeaveCriticalSection(&uv__signal_lock);
+
+ return dispatched;
+}
+
+
+static BOOL WINAPI uv__signal_control_handler(DWORD type) {
+ switch (type) {
+ case CTRL_C_EVENT:
+ return uv__signal_dispatch(SIGINT);
+
+ case CTRL_BREAK_EVENT:
+ return uv__signal_dispatch(SIGBREAK);
+
+ case CTRL_CLOSE_EVENT:
+ if (uv__signal_dispatch(SIGHUP)) {
+ /* Windows will terminate the process after the control handler
+ * returns. After that it will just terminate our process. Therefore
+ * block the signal handler so the main loop has some time to pick up
+ * the signal and do something for a few seconds. */
+ Sleep(INFINITE);
+ return TRUE;
+ }
+ return FALSE;
+
+ case CTRL_LOGOFF_EVENT:
+ case CTRL_SHUTDOWN_EVENT:
+ /* These signals are only sent to services. Services have their own
+ * notification mechanism, so there's no point in handling these. */
+
+ default:
+ /* We don't handle these. */
+ return FALSE;
+ }
+}
+
+
+int uv_signal_init(uv_loop_t* loop, uv_signal_t* handle) {
+ uv__handle_init(loop, (uv_handle_t*) handle, UV_SIGNAL);
+ handle->pending_signum = 0;
+ handle->signum = 0;
+ handle->signal_cb = NULL;
+
+ UV_REQ_INIT(&handle->signal_req, UV_SIGNAL_REQ);
+ handle->signal_req.data = handle;
+
+ return 0;
+}
+
+
+int uv_signal_stop(uv_signal_t* handle) {
+ uv_signal_t* removed_handle;
+
+ /* If the watcher wasn't started, this is a no-op. */
+ if (handle->signum == 0)
+ return 0;
+
+ EnterCriticalSection(&uv__signal_lock);
+
+ removed_handle = RB_REMOVE(uv_signal_tree_s, &uv__signal_tree, handle);
+ assert(removed_handle == handle);
+
+ LeaveCriticalSection(&uv__signal_lock);
+
+ handle->signum = 0;
+ uv__handle_stop(handle);
+
+ return 0;
+}
+
+
+int uv_signal_start(uv_signal_t* handle, uv_signal_cb signal_cb, int signum) {
+ return uv__signal_start(handle, signal_cb, signum, 0);
+}
+
+
+int uv_signal_start_oneshot(uv_signal_t* handle,
+ uv_signal_cb signal_cb,
+ int signum) {
+ return uv__signal_start(handle, signal_cb, signum, 1);
+}
+
+
+int uv__signal_start(uv_signal_t* handle,
+ uv_signal_cb signal_cb,
+ int signum,
+ int oneshot) {
+ /* Test for invalid signal values. */
+ if (signum <= 0 || signum >= NSIG)
+ return UV_EINVAL;
+
+ /* Short circuit: if the signal watcher is already watching {signum} don't go
+ * through the process of deregistering and registering the handler.
+ * Additionally, this avoids pending signals getting lost in the (small) time
+ * frame that handle->signum == 0. */
+ if (signum == handle->signum) {
+ handle->signal_cb = signal_cb;
+ return 0;
+ }
+
+ /* If the signal handler was already active, stop it first. */
+ if (handle->signum != 0) {
+ int r = uv_signal_stop(handle);
+ /* uv_signal_stop is infallible. */
+ assert(r == 0);
+ }
+
+ EnterCriticalSection(&uv__signal_lock);
+
+ handle->signum = signum;
+ if (oneshot)
+ handle->flags |= UV_SIGNAL_ONE_SHOT;
+
+ RB_INSERT(uv_signal_tree_s, &uv__signal_tree, handle);
+
+ LeaveCriticalSection(&uv__signal_lock);
+
+ handle->signal_cb = signal_cb;
+ uv__handle_start(handle);
+
+ return 0;
+}
+
+
+void uv_process_signal_req(uv_loop_t* loop, uv_signal_t* handle,
+ uv_req_t* req) {
+ long dispatched_signum;
+
+ assert(handle->type == UV_SIGNAL);
+ assert(req->type == UV_SIGNAL_REQ);
+
+ dispatched_signum = InterlockedExchange(
+ (volatile LONG*) &handle->pending_signum, 0);
+ assert(dispatched_signum != 0);
+
+ /* Check if the pending signal equals the signum that we are watching for.
+ * These can get out of sync when the handler is stopped and restarted while
+ * the signal_req is pending. */
+ if (dispatched_signum == handle->signum)
+ handle->signal_cb(handle, dispatched_signum);
+
+ if (handle->flags & UV_SIGNAL_ONE_SHOT)
+ uv_signal_stop(handle);
+
+ if (handle->flags & UV_HANDLE_CLOSING) {
+ /* When it is closing, it must be stopped at this point. */
+ assert(handle->signum == 0);
+ uv_want_endgame(loop, (uv_handle_t*) handle);
+ }
+}
+
+
+void uv_signal_close(uv_loop_t* loop, uv_signal_t* handle) {
+ uv_signal_stop(handle);
+ uv__handle_closing(handle);
+
+ if (handle->pending_signum == 0) {
+ uv_want_endgame(loop, (uv_handle_t*) handle);
+ }
+}
+
+
+void uv_signal_endgame(uv_loop_t* loop, uv_signal_t* handle) {
+ assert(handle->flags & UV_HANDLE_CLOSING);
+ assert(!(handle->flags & UV_HANDLE_CLOSED));
+
+ assert(handle->signum == 0);
+ assert(handle->pending_signum == 0);
+
+ handle->flags |= UV_HANDLE_CLOSED;
+
+ uv__handle_close(handle);
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/snprintf.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/snprintf.cpp
similarity index 100%
rename from third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/snprintf.cpp
rename to third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/snprintf.cpp
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/stream-inl.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/stream-inl.h
similarity index 100%
rename from third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/stream-inl.h
rename to third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/stream-inl.h
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/stream.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/stream.cpp
new file mode 100644
index 0000000..7656627
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/stream.cpp
@@ -0,0 +1,240 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include <assert.h>
+
+#include "uv.h"
+#include "internal.h"
+#include "handle-inl.h"
+#include "req-inl.h"
+
+
+int uv_listen(uv_stream_t* stream, int backlog, uv_connection_cb cb) {
+ int err;
+
+ err = ERROR_INVALID_PARAMETER;
+ switch (stream->type) {
+ case UV_TCP:
+ err = uv_tcp_listen((uv_tcp_t*)stream, backlog, cb);
+ break;
+ case UV_NAMED_PIPE:
+ err = uv_pipe_listen((uv_pipe_t*)stream, backlog, cb);
+ break;
+ default:
+ assert(0);
+ }
+
+ return uv_translate_sys_error(err);
+}
+
+
+int uv_accept(uv_stream_t* server, uv_stream_t* client) {
+ int err;
+
+ err = ERROR_INVALID_PARAMETER;
+ switch (server->type) {
+ case UV_TCP:
+ err = uv_tcp_accept((uv_tcp_t*)server, (uv_tcp_t*)client);
+ break;
+ case UV_NAMED_PIPE:
+ err = uv_pipe_accept((uv_pipe_t*)server, client);
+ break;
+ default:
+ assert(0);
+ }
+
+ return uv_translate_sys_error(err);
+}
+
+
+int uv_read_start(uv_stream_t* handle, uv_alloc_cb alloc_cb,
+ uv_read_cb read_cb) {
+ int err;
+
+ if (handle->flags & UV_HANDLE_READING) {
+ return UV_EALREADY;
+ }
+
+ if (!(handle->flags & UV_HANDLE_READABLE)) {
+ return UV_ENOTCONN;
+ }
+
+ err = ERROR_INVALID_PARAMETER;
+ switch (handle->type) {
+ case UV_TCP:
+ err = uv_tcp_read_start((uv_tcp_t*)handle, alloc_cb, read_cb);
+ break;
+ case UV_NAMED_PIPE:
+ err = uv_pipe_read_start((uv_pipe_t*)handle, alloc_cb, read_cb);
+ break;
+ case UV_TTY:
+ err = uv_tty_read_start((uv_tty_t*) handle, alloc_cb, read_cb);
+ break;
+ default:
+ assert(0);
+ }
+
+ return uv_translate_sys_error(err);
+}
+
+
+int uv_read_stop(uv_stream_t* handle) {
+ int err;
+
+ if (!(handle->flags & UV_HANDLE_READING))
+ return 0;
+
+ err = 0;
+ if (handle->type == UV_TTY) {
+ err = uv_tty_read_stop((uv_tty_t*) handle);
+ } else if (handle->type == UV_NAMED_PIPE) {
+ uv__pipe_read_stop((uv_pipe_t*) handle);
+ } else {
+ handle->flags &= ~UV_HANDLE_READING;
+ DECREASE_ACTIVE_COUNT(handle->loop, handle);
+ }
+
+ return uv_translate_sys_error(err);
+}
+
+
+int uv_write(uv_write_t* req,
+ uv_stream_t* handle,
+ const uv_buf_t bufs[],
+ unsigned int nbufs,
+ uv_write_cb cb) {
+ uv_loop_t* loop = handle->loop;
+ int err;
+
+ if (!(handle->flags & UV_HANDLE_WRITABLE)) {
+ return UV_EPIPE;
+ }
+
+ err = ERROR_INVALID_PARAMETER;
+ switch (handle->type) {
+ case UV_TCP:
+ err = uv_tcp_write(loop, req, (uv_tcp_t*) handle, bufs, nbufs, cb);
+ break;
+ case UV_NAMED_PIPE:
+ err = uv__pipe_write(
+ loop, req, (uv_pipe_t*) handle, bufs, nbufs, NULL, cb);
+ break;
+ case UV_TTY:
+ err = uv_tty_write(loop, req, (uv_tty_t*) handle, bufs, nbufs, cb);
+ break;
+ default:
+ assert(0);
+ }
+
+ return uv_translate_sys_error(err);
+}
+
+
+int uv_write2(uv_write_t* req,
+ uv_stream_t* handle,
+ const uv_buf_t bufs[],
+ unsigned int nbufs,
+ uv_stream_t* send_handle,
+ uv_write_cb cb) {
+ uv_loop_t* loop = handle->loop;
+ int err;
+
+ if (send_handle == NULL) {
+ return uv_write(req, handle, bufs, nbufs, cb);
+ }
+
+ if (handle->type != UV_NAMED_PIPE || !((uv_pipe_t*) handle)->ipc) {
+ return UV_EINVAL;
+ } else if (!(handle->flags & UV_HANDLE_WRITABLE)) {
+ return UV_EPIPE;
+ }
+
+ err = uv__pipe_write(
+ loop, req, (uv_pipe_t*) handle, bufs, nbufs, send_handle, cb);
+ return uv_translate_sys_error(err);
+}
+
+
+int uv_try_write(uv_stream_t* stream,
+ const uv_buf_t bufs[],
+ unsigned int nbufs) {
+ if (stream->flags & UV_HANDLE_CLOSING)
+ return UV_EBADF;
+ if (!(stream->flags & UV_HANDLE_WRITABLE))
+ return UV_EPIPE;
+
+ switch (stream->type) {
+ case UV_TCP:
+ return uv__tcp_try_write((uv_tcp_t*) stream, bufs, nbufs);
+ case UV_TTY:
+ return uv__tty_try_write((uv_tty_t*) stream, bufs, nbufs);
+ case UV_NAMED_PIPE:
+ return UV_EAGAIN;
+ default:
+ assert(0);
+ return UV_ENOSYS;
+ }
+}
+
+
+int uv_shutdown(uv_shutdown_t* req, uv_stream_t* handle, uv_shutdown_cb cb) {
+ uv_loop_t* loop = handle->loop;
+
+ if (!(handle->flags & UV_HANDLE_WRITABLE)) {
+ return UV_EPIPE;
+ }
+
+ UV_REQ_INIT(req, UV_SHUTDOWN);
+ req->handle = handle;
+ req->cb = cb;
+
+ handle->flags &= ~UV_HANDLE_WRITABLE;
+ handle->stream.conn.shutdown_req = req;
+ handle->reqs_pending++;
+ REGISTER_HANDLE_REQ(loop, handle, req);
+
+ uv_want_endgame(loop, (uv_handle_t*)handle);
+
+ return 0;
+}
+
+
+int uv_is_readable(const uv_stream_t* handle) {
+ return !!(handle->flags & UV_HANDLE_READABLE);
+}
+
+
+int uv_is_writable(const uv_stream_t* handle) {
+ return !!(handle->flags & UV_HANDLE_WRITABLE);
+}
+
+
+int uv_stream_set_blocking(uv_stream_t* handle, int blocking) {
+ if (handle->type != UV_NAMED_PIPE)
+ return UV_EINVAL;
+
+ if (blocking != 0)
+ handle->flags |= UV_HANDLE_BLOCKING_WRITES;
+ else
+ handle->flags &= ~UV_HANDLE_BLOCKING_WRITES;
+
+ return 0;
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/tcp.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/tcp.cpp
new file mode 100644
index 0000000..f2cb527
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/tcp.cpp
@@ -0,0 +1,1505 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include <assert.h>
+#include <stdlib.h>
+
+#include "uv.h"
+#include "internal.h"
+#include "handle-inl.h"
+#include "stream-inl.h"
+#include "req-inl.h"
+
+
+/*
+ * Threshold of active tcp streams for which to preallocate tcp read buffers.
+ * (Due to node slab allocator performing poorly under this pattern,
+ * the optimization is temporarily disabled (threshold=0). This will be
+ * revisited once node allocator is improved.)
+ */
+const unsigned int uv_active_tcp_streams_threshold = 0;
+
+/*
+ * Number of simultaneous pending AcceptEx calls.
+ */
+const unsigned int uv_simultaneous_server_accepts = 32;
+
+/* A zero-size buffer for use by uv_tcp_read */
+static char uv_zero_[] = "";
+
+static int uv__tcp_nodelay(uv_tcp_t* handle, SOCKET socket, int enable) {
+ if (setsockopt(socket,
+ IPPROTO_TCP,
+ TCP_NODELAY,
+ (const char*)&enable,
+ sizeof enable) == -1) {
+ return WSAGetLastError();
+ }
+ return 0;
+}
+
+
+static int uv__tcp_keepalive(uv_tcp_t* handle, SOCKET socket, int enable, unsigned int delay) {
+ if (setsockopt(socket,
+ SOL_SOCKET,
+ SO_KEEPALIVE,
+ (const char*)&enable,
+ sizeof enable) == -1) {
+ return WSAGetLastError();
+ }
+
+ if (enable && setsockopt(socket,
+ IPPROTO_TCP,
+ TCP_KEEPALIVE,
+ (const char*)&delay,
+ sizeof delay) == -1) {
+ return WSAGetLastError();
+ }
+
+ return 0;
+}
+
+
+static int uv_tcp_set_socket(uv_loop_t* loop,
+ uv_tcp_t* handle,
+ SOCKET socket,
+ int family,
+ int imported) {
+ DWORD yes = 1;
+ int non_ifs_lsp;
+ int err;
+
+ if (handle->socket != INVALID_SOCKET)
+ return UV_EBUSY;
+
+ /* Set the socket to nonblocking mode */
+ if (ioctlsocket(socket, FIONBIO, &yes) == SOCKET_ERROR) {
+ return WSAGetLastError();
+ }
+
+ /* Make the socket non-inheritable */
+ if (!SetHandleInformation((HANDLE) socket, HANDLE_FLAG_INHERIT, 0))
+ return GetLastError();
+
+ /* Associate it with the I/O completion port. Use uv_handle_t pointer as
+ * completion key. */
+ if (CreateIoCompletionPort((HANDLE)socket,
+ loop->iocp,
+ (ULONG_PTR)socket,
+ 0) == NULL) {
+ if (imported) {
+ handle->flags |= UV_HANDLE_EMULATE_IOCP;
+ } else {
+ return GetLastError();
+ }
+ }
+
+ if (family == AF_INET6) {
+ non_ifs_lsp = uv_tcp_non_ifs_lsp_ipv6;
+ } else {
+ non_ifs_lsp = uv_tcp_non_ifs_lsp_ipv4;
+ }
+
+ if (!(handle->flags & UV_HANDLE_EMULATE_IOCP) && !non_ifs_lsp) {
+ UCHAR sfcnm_flags =
+ FILE_SKIP_SET_EVENT_ON_HANDLE | FILE_SKIP_COMPLETION_PORT_ON_SUCCESS;
+ if (!SetFileCompletionNotificationModes((HANDLE) socket, sfcnm_flags))
+ return GetLastError();
+ handle->flags |= UV_HANDLE_SYNC_BYPASS_IOCP;
+ }
+
+ if (handle->flags & UV_HANDLE_TCP_NODELAY) {
+ err = uv__tcp_nodelay(handle, socket, 1);
+ if (err)
+ return err;
+ }
+
+ /* TODO: Use stored delay. */
+ if (handle->flags & UV_HANDLE_TCP_KEEPALIVE) {
+ err = uv__tcp_keepalive(handle, socket, 1, 60);
+ if (err)
+ return err;
+ }
+
+ handle->socket = socket;
+
+ if (family == AF_INET6) {
+ handle->flags |= UV_HANDLE_IPV6;
+ } else {
+ assert(!(handle->flags & UV_HANDLE_IPV6));
+ }
+
+ return 0;
+}
+
+
+int uv_tcp_init_ex(uv_loop_t* loop, uv_tcp_t* handle, unsigned int flags) {
+ int domain;
+
+ /* Use the lower 8 bits for the domain */
+ domain = flags & 0xFF;
+ if (domain != AF_INET && domain != AF_INET6 && domain != AF_UNSPEC)
+ return UV_EINVAL;
+
+ if (flags & ~0xFF)
+ return UV_EINVAL;
+
+ uv_stream_init(loop, (uv_stream_t*) handle, UV_TCP);
+ handle->tcp.serv.accept_reqs = NULL;
+ handle->tcp.serv.pending_accepts = NULL;
+ handle->socket = INVALID_SOCKET;
+ handle->reqs_pending = 0;
+ handle->tcp.serv.func_acceptex = NULL;
+ handle->tcp.conn.func_connectex = NULL;
+ handle->tcp.serv.processed_accepts = 0;
+ handle->delayed_error = 0;
+
+ /* If anything fails beyond this point we need to remove the handle from
+ * the handle queue, since it was added by uv__handle_init in uv_stream_init.
+ */
+
+ if (domain != AF_UNSPEC) {
+ SOCKET sock;
+ DWORD err;
+
+ sock = socket(domain, SOCK_STREAM, 0);
+ if (sock == INVALID_SOCKET) {
+ err = WSAGetLastError();
+ QUEUE_REMOVE(&handle->handle_queue);
+ return uv_translate_sys_error(err);
+ }
+
+ err = uv_tcp_set_socket(handle->loop, handle, sock, domain, 0);
+ if (err) {
+ closesocket(sock);
+ QUEUE_REMOVE(&handle->handle_queue);
+ return uv_translate_sys_error(err);
+ }
+
+ }
+
+ return 0;
+}
+
+
+int uv_tcp_init(uv_loop_t* loop, uv_tcp_t* handle) {
+ return uv_tcp_init_ex(loop, handle, AF_UNSPEC);
+}
+
+
+void uv_tcp_endgame(uv_loop_t* loop, uv_tcp_t* handle) {
+ int err;
+ unsigned int i;
+ uv_tcp_accept_t* req;
+
+ if (handle->flags & UV_HANDLE_CONNECTION &&
+ handle->stream.conn.shutdown_req != NULL &&
+ handle->stream.conn.write_reqs_pending == 0) {
+
+ UNREGISTER_HANDLE_REQ(loop, handle, handle->stream.conn.shutdown_req);
+
+ err = 0;
+ if (handle->flags & UV_HANDLE_CLOSING) {
+ err = ERROR_OPERATION_ABORTED;
+ } else if (shutdown(handle->socket, SD_SEND) == SOCKET_ERROR) {
+ err = WSAGetLastError();
+ }
+
+ if (handle->stream.conn.shutdown_req->cb) {
+ handle->stream.conn.shutdown_req->cb(handle->stream.conn.shutdown_req,
+ uv_translate_sys_error(err));
+ }
+
+ handle->stream.conn.shutdown_req = NULL;
+ DECREASE_PENDING_REQ_COUNT(handle);
+ return;
+ }
+
+ if (handle->flags & UV_HANDLE_CLOSING &&
+ handle->reqs_pending == 0) {
+ assert(!(handle->flags & UV_HANDLE_CLOSED));
+
+ if (!(handle->flags & UV_HANDLE_TCP_SOCKET_CLOSED)) {
+ closesocket(handle->socket);
+ handle->socket = INVALID_SOCKET;
+ handle->flags |= UV_HANDLE_TCP_SOCKET_CLOSED;
+ }
+
+ if (!(handle->flags & UV_HANDLE_CONNECTION) && handle->tcp.serv.accept_reqs) {
+ if (handle->flags & UV_HANDLE_EMULATE_IOCP) {
+ for (i = 0; i < uv_simultaneous_server_accepts; i++) {
+ req = &handle->tcp.serv.accept_reqs[i];
+ if (req->wait_handle != INVALID_HANDLE_VALUE) {
+ UnregisterWait(req->wait_handle);
+ req->wait_handle = INVALID_HANDLE_VALUE;
+ }
+ if (req->event_handle) {
+ CloseHandle(req->event_handle);
+ req->event_handle = NULL;
+ }
+ }
+ }
+
+ uv__free(handle->tcp.serv.accept_reqs);
+ handle->tcp.serv.accept_reqs = NULL;
+ }
+
+ if (handle->flags & UV_HANDLE_CONNECTION &&
+ handle->flags & UV_HANDLE_EMULATE_IOCP) {
+ if (handle->read_req.wait_handle != INVALID_HANDLE_VALUE) {
+ UnregisterWait(handle->read_req.wait_handle);
+ handle->read_req.wait_handle = INVALID_HANDLE_VALUE;
+ }
+ if (handle->read_req.event_handle) {
+ CloseHandle(handle->read_req.event_handle);
+ handle->read_req.event_handle = NULL;
+ }
+ }
+
+ uv__handle_close(handle);
+ loop->active_tcp_streams--;
+ }
+}
+
+
+/* Unlike on Unix, here we don't set SO_REUSEADDR, because it doesn't just
+ * allow binding to addresses that are in use by sockets in TIME_WAIT, it
+ * effectively allows 'stealing' a port which is in use by another application.
+ *
+ * SO_EXCLUSIVEADDRUSE is also not good here because it does check all sockets,
+ * regardless of state, so we'd get an error even if the port is in use by a
+ * socket in TIME_WAIT state.
+ *
+ * See issue #1360.
+ *
+ */
+static int uv_tcp_try_bind(uv_tcp_t* handle,
+ const struct sockaddr* addr,
+ unsigned int addrlen,
+ unsigned int flags) {
+ DWORD err;
+ int r;
+
+ if (handle->socket == INVALID_SOCKET) {
+ SOCKET sock;
+
+ /* Cannot set IPv6-only mode on non-IPv6 socket. */
+ if ((flags & UV_TCP_IPV6ONLY) && addr->sa_family != AF_INET6)
+ return ERROR_INVALID_PARAMETER;
+
+ sock = socket(addr->sa_family, SOCK_STREAM, 0);
+ if (sock == INVALID_SOCKET) {
+ return WSAGetLastError();
+ }
+
+ err = uv_tcp_set_socket(handle->loop, handle, sock, addr->sa_family, 0);
+ if (err) {
+ closesocket(sock);
+ return err;
+ }
+ }
+
+#ifdef IPV6_V6ONLY
+ if (addr->sa_family == AF_INET6) {
+ int on;
+
+ on = (flags & UV_TCP_IPV6ONLY) != 0;
+
+ /* TODO: how to handle errors? This may fail if there is no ipv4 stack
+ * available, or when run on XP/2003 which have no support for dualstack
+ * sockets. For now we're silently ignoring the error. */
+ setsockopt(handle->socket,
+ IPPROTO_IPV6,
+ IPV6_V6ONLY,
+ (const char*)&on,
+ sizeof on);
+ }
+#endif
+
+ r = bind(handle->socket, addr, addrlen);
+
+ if (r == SOCKET_ERROR) {
+ err = WSAGetLastError();
+ if (err == WSAEADDRINUSE) {
+ /* Some errors are not to be reported until connect() or listen() */
+ handle->delayed_error = err;
+ } else {
+ return err;
+ }
+ }
+
+ handle->flags |= UV_HANDLE_BOUND;
+
+ return 0;
+}
+
+
+static void CALLBACK post_completion(void* context, BOOLEAN timed_out) {
+ uv_req_t* req;
+ uv_tcp_t* handle;
+
+ req = (uv_req_t*) context;
+ assert(req != NULL);
+ handle = (uv_tcp_t*)req->data;
+ assert(handle != NULL);
+ assert(!timed_out);
+
+ if (!PostQueuedCompletionStatus(handle->loop->iocp,
+ req->u.io.overlapped.InternalHigh,
+ 0,
+ &req->u.io.overlapped)) {
+ uv_fatal_error(GetLastError(), "PostQueuedCompletionStatus");
+ }
+}
+
+
+static void CALLBACK post_write_completion(void* context, BOOLEAN timed_out) {
+ uv_write_t* req;
+ uv_tcp_t* handle;
+
+ req = (uv_write_t*) context;
+ assert(req != NULL);
+ handle = (uv_tcp_t*)req->handle;
+ assert(handle != NULL);
+ assert(!timed_out);
+
+ if (!PostQueuedCompletionStatus(handle->loop->iocp,
+ req->u.io.overlapped.InternalHigh,
+ 0,
+ &req->u.io.overlapped)) {
+ uv_fatal_error(GetLastError(), "PostQueuedCompletionStatus");
+ }
+}
+
+
+static void uv_tcp_queue_accept(uv_tcp_t* handle, uv_tcp_accept_t* req) {
+ uv_loop_t* loop = handle->loop;
+ BOOL success;
+ DWORD bytes;
+ SOCKET accept_socket;
+ short family;
+
+ assert(handle->flags & UV_HANDLE_LISTENING);
+ assert(req->accept_socket == INVALID_SOCKET);
+
+ /* choose family and extension function */
+ if (handle->flags & UV_HANDLE_IPV6) {
+ family = AF_INET6;
+ } else {
+ family = AF_INET;
+ }
+
+ /* Open a socket for the accepted connection. */
+ accept_socket = socket(family, SOCK_STREAM, 0);
+ if (accept_socket == INVALID_SOCKET) {
+ SET_REQ_ERROR(req, WSAGetLastError());
+ uv_insert_pending_req(loop, (uv_req_t*)req);
+ handle->reqs_pending++;
+ return;
+ }
+
+ /* Make the socket non-inheritable */
+ if (!SetHandleInformation((HANDLE) accept_socket, HANDLE_FLAG_INHERIT, 0)) {
+ SET_REQ_ERROR(req, GetLastError());
+ uv_insert_pending_req(loop, (uv_req_t*)req);
+ handle->reqs_pending++;
+ closesocket(accept_socket);
+ return;
+ }
+
+ /* Prepare the overlapped structure. */
+ memset(&(req->u.io.overlapped), 0, sizeof(req->u.io.overlapped));
+ if (handle->flags & UV_HANDLE_EMULATE_IOCP) {
+ req->u.io.overlapped.hEvent = (HANDLE) ((ULONG_PTR) req->event_handle | 1);
+ }
+
+ success = handle->tcp.serv.func_acceptex(handle->socket,
+ accept_socket,
+ (void*)req->accept_buffer,
+ 0,
+ sizeof(struct sockaddr_storage),
+ sizeof(struct sockaddr_storage),
+ &bytes,
+ &req->u.io.overlapped);
+
+ if (UV_SUCCEEDED_WITHOUT_IOCP(success)) {
+ /* Process the req without IOCP. */
+ req->accept_socket = accept_socket;
+ handle->reqs_pending++;
+ uv_insert_pending_req(loop, (uv_req_t*)req);
+ } else if (UV_SUCCEEDED_WITH_IOCP(success)) {
+ /* The req will be processed with IOCP. */
+ req->accept_socket = accept_socket;
+ handle->reqs_pending++;
+ if (handle->flags & UV_HANDLE_EMULATE_IOCP &&
+ req->wait_handle == INVALID_HANDLE_VALUE &&
+ !RegisterWaitForSingleObject(&req->wait_handle,
+ req->event_handle, post_completion, (void*) req,
+ INFINITE, WT_EXECUTEINWAITTHREAD)) {
+ SET_REQ_ERROR(req, GetLastError());
+ uv_insert_pending_req(loop, (uv_req_t*)req);
+ }
+ } else {
+ /* Make this req pending reporting an error. */
+ SET_REQ_ERROR(req, WSAGetLastError());
+ uv_insert_pending_req(loop, (uv_req_t*)req);
+ handle->reqs_pending++;
+ /* Destroy the preallocated client socket. */
+ closesocket(accept_socket);
+ /* Destroy the event handle */
+ if (handle->flags & UV_HANDLE_EMULATE_IOCP) {
+ CloseHandle(req->u.io.overlapped.hEvent);
+ req->event_handle = NULL;
+ }
+ }
+}
+
+
+static void uv_tcp_queue_read(uv_loop_t* loop, uv_tcp_t* handle) {
+ uv_read_t* req;
+ uv_buf_t buf;
+ int result;
+ DWORD bytes, flags;
+
+ assert(handle->flags & UV_HANDLE_READING);
+ assert(!(handle->flags & UV_HANDLE_READ_PENDING));
+
+ req = &handle->read_req;
+ memset(&req->u.io.overlapped, 0, sizeof(req->u.io.overlapped));
+
+ /*
+ * Preallocate a read buffer if the number of active streams is below
+ * the threshold.
+ */
+ if (loop->active_tcp_streams < uv_active_tcp_streams_threshold) {
+ handle->flags &= ~UV_HANDLE_ZERO_READ;
+ handle->tcp.conn.read_buffer = uv_buf_init(NULL, 0);
+ handle->alloc_cb((uv_handle_t*) handle, 65536, &handle->tcp.conn.read_buffer);
+ if (handle->tcp.conn.read_buffer.base == NULL ||
+ handle->tcp.conn.read_buffer.len == 0) {
+ handle->read_cb((uv_stream_t*) handle, UV_ENOBUFS, &handle->tcp.conn.read_buffer);
+ return;
+ }
+ assert(handle->tcp.conn.read_buffer.base != NULL);
+ buf = handle->tcp.conn.read_buffer;
+ } else {
+ handle->flags |= UV_HANDLE_ZERO_READ;
+ buf.base = (char*) &uv_zero_;
+ buf.len = 0;
+ }
+
+ /* Prepare the overlapped structure. */
+ memset(&(req->u.io.overlapped), 0, sizeof(req->u.io.overlapped));
+ if (handle->flags & UV_HANDLE_EMULATE_IOCP) {
+ assert(req->event_handle);
+ req->u.io.overlapped.hEvent = (HANDLE) ((ULONG_PTR) req->event_handle | 1);
+ }
+
+ flags = 0;
+ result = WSARecv(handle->socket,
+ (WSABUF*)&buf,
+ 1,
+ &bytes,
+ &flags,
+ &req->u.io.overlapped,
+ NULL);
+
+ if (UV_SUCCEEDED_WITHOUT_IOCP(result == 0)) {
+ /* Process the req without IOCP. */
+ handle->flags |= UV_HANDLE_READ_PENDING;
+ req->u.io.overlapped.InternalHigh = bytes;
+ handle->reqs_pending++;
+ uv_insert_pending_req(loop, (uv_req_t*)req);
+ } else if (UV_SUCCEEDED_WITH_IOCP(result == 0)) {
+ /* The req will be processed with IOCP. */
+ handle->flags |= UV_HANDLE_READ_PENDING;
+ handle->reqs_pending++;
+ if (handle->flags & UV_HANDLE_EMULATE_IOCP &&
+ req->wait_handle == INVALID_HANDLE_VALUE &&
+ !RegisterWaitForSingleObject(&req->wait_handle,
+ req->event_handle, post_completion, (void*) req,
+ INFINITE, WT_EXECUTEINWAITTHREAD)) {
+ SET_REQ_ERROR(req, GetLastError());
+ uv_insert_pending_req(loop, (uv_req_t*)req);
+ }
+ } else {
+ /* Make this req pending reporting an error. */
+ SET_REQ_ERROR(req, WSAGetLastError());
+ uv_insert_pending_req(loop, (uv_req_t*)req);
+ handle->reqs_pending++;
+ }
+}
+
+
+int uv_tcp_listen(uv_tcp_t* handle, int backlog, uv_connection_cb cb) {
+ unsigned int i, simultaneous_accepts;
+ uv_tcp_accept_t* req;
+ int err;
+
+ assert(backlog > 0);
+
+ if (handle->flags & UV_HANDLE_LISTENING) {
+ handle->stream.serv.connection_cb = cb;
+ }
+
+ if (handle->flags & UV_HANDLE_READING) {
+ return WSAEISCONN;
+ }
+
+ if (handle->delayed_error) {
+ return handle->delayed_error;
+ }
+
+ if (!(handle->flags & UV_HANDLE_BOUND)) {
+ err = uv_tcp_try_bind(handle,
+ (const struct sockaddr*) &uv_addr_ip4_any_,
+ sizeof(uv_addr_ip4_any_),
+ 0);
+ if (err)
+ return err;
+ if (handle->delayed_error)
+ return handle->delayed_error;
+ }
+
+ if (!handle->tcp.serv.func_acceptex) {
+ if (!uv_get_acceptex_function(handle->socket, &handle->tcp.serv.func_acceptex)) {
+ return WSAEAFNOSUPPORT;
+ }
+ }
+
+ if (!(handle->flags & UV_HANDLE_SHARED_TCP_SOCKET) &&
+ listen(handle->socket, backlog) == SOCKET_ERROR) {
+ return WSAGetLastError();
+ }
+
+ handle->flags |= UV_HANDLE_LISTENING;
+ handle->stream.serv.connection_cb = cb;
+ INCREASE_ACTIVE_COUNT(loop, handle);
+
+ simultaneous_accepts = handle->flags & UV_HANDLE_TCP_SINGLE_ACCEPT ? 1
+ : uv_simultaneous_server_accepts;
+
+ if(!handle->tcp.serv.accept_reqs) {
+ handle->tcp.serv.accept_reqs = (uv_tcp_accept_t*)
+ uv__malloc(uv_simultaneous_server_accepts * sizeof(uv_tcp_accept_t));
+ if (!handle->tcp.serv.accept_reqs) {
+ uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
+ }
+
+ for (i = 0; i < simultaneous_accepts; i++) {
+ req = &handle->tcp.serv.accept_reqs[i];
+ UV_REQ_INIT(req, UV_ACCEPT);
+ req->accept_socket = INVALID_SOCKET;
+ req->data = handle;
+
+ req->wait_handle = INVALID_HANDLE_VALUE;
+ if (handle->flags & UV_HANDLE_EMULATE_IOCP) {
+ req->event_handle = CreateEvent(NULL, 0, 0, NULL);
+ if (!req->event_handle) {
+ uv_fatal_error(GetLastError(), "CreateEvent");
+ }
+ } else {
+ req->event_handle = NULL;
+ }
+
+ uv_tcp_queue_accept(handle, req);
+ }
+
+ /* Initialize other unused requests too, because uv_tcp_endgame doesn't
+ * know how many requests were initialized, so it will try to clean up
+ * {uv_simultaneous_server_accepts} requests. */
+ for (i = simultaneous_accepts; i < uv_simultaneous_server_accepts; i++) {
+ req = &handle->tcp.serv.accept_reqs[i];
+ UV_REQ_INIT(req, UV_ACCEPT);
+ req->accept_socket = INVALID_SOCKET;
+ req->data = handle;
+ req->wait_handle = INVALID_HANDLE_VALUE;
+ req->event_handle = NULL;
+ }
+ }
+
+ return 0;
+}
+
+
+int uv_tcp_accept(uv_tcp_t* server, uv_tcp_t* client) {
+ uv_loop_t* loop = server->loop;
+ int err = 0;
+ int family;
+
+ uv_tcp_accept_t* req = server->tcp.serv.pending_accepts;
+
+ if (!req) {
+ /* No valid connections found, so we error out. */
+ return WSAEWOULDBLOCK;
+ }
+
+ if (req->accept_socket == INVALID_SOCKET) {
+ return WSAENOTCONN;
+ }
+
+ if (server->flags & UV_HANDLE_IPV6) {
+ family = AF_INET6;
+ } else {
+ family = AF_INET;
+ }
+
+ err = uv_tcp_set_socket(client->loop,
+ client,
+ req->accept_socket,
+ family,
+ 0);
+ if (err) {
+ closesocket(req->accept_socket);
+ } else {
+ uv_connection_init((uv_stream_t*) client);
+ /* AcceptEx() implicitly binds the accepted socket. */
+ client->flags |= UV_HANDLE_BOUND | UV_HANDLE_READABLE | UV_HANDLE_WRITABLE;
+ }
+
+ /* Prepare the req to pick up a new connection */
+ server->tcp.serv.pending_accepts = req->next_pending;
+ req->next_pending = NULL;
+ req->accept_socket = INVALID_SOCKET;
+
+ if (!(server->flags & UV_HANDLE_CLOSING)) {
+ /* Check if we're in a middle of changing the number of pending accepts. */
+ if (!(server->flags & UV_HANDLE_TCP_ACCEPT_STATE_CHANGING)) {
+ uv_tcp_queue_accept(server, req);
+ } else {
+ /* We better be switching to a single pending accept. */
+ assert(server->flags & UV_HANDLE_TCP_SINGLE_ACCEPT);
+
+ server->tcp.serv.processed_accepts++;
+
+ if (server->tcp.serv.processed_accepts >= uv_simultaneous_server_accepts) {
+ server->tcp.serv.processed_accepts = 0;
+ /*
+ * All previously queued accept requests are now processed.
+ * We now switch to queueing just a single accept.
+ */
+ uv_tcp_queue_accept(server, &server->tcp.serv.accept_reqs[0]);
+ server->flags &= ~UV_HANDLE_TCP_ACCEPT_STATE_CHANGING;
+ server->flags |= UV_HANDLE_TCP_SINGLE_ACCEPT;
+ }
+ }
+ }
+
+ loop->active_tcp_streams++;
+
+ return err;
+}
+
+
+int uv_tcp_read_start(uv_tcp_t* handle, uv_alloc_cb alloc_cb,
+ uv_read_cb read_cb) {
+ uv_loop_t* loop = handle->loop;
+
+ handle->flags |= UV_HANDLE_READING;
+ handle->read_cb = read_cb;
+ handle->alloc_cb = alloc_cb;
+ INCREASE_ACTIVE_COUNT(loop, handle);
+
+ /* If reading was stopped and then started again, there could still be a read
+ * request pending. */
+ if (!(handle->flags & UV_HANDLE_READ_PENDING)) {
+ if (handle->flags & UV_HANDLE_EMULATE_IOCP &&
+ !handle->read_req.event_handle) {
+ handle->read_req.event_handle = CreateEvent(NULL, 0, 0, NULL);
+ if (!handle->read_req.event_handle) {
+ uv_fatal_error(GetLastError(), "CreateEvent");
+ }
+ }
+ uv_tcp_queue_read(loop, handle);
+ }
+
+ return 0;
+}
+
+
+static int uv_tcp_try_connect(uv_connect_t* req,
+ uv_tcp_t* handle,
+ const struct sockaddr* addr,
+ unsigned int addrlen,
+ uv_connect_cb cb) {
+ uv_loop_t* loop = handle->loop;
+ const struct sockaddr* bind_addr;
+ struct sockaddr_storage converted;
+ BOOL success;
+ DWORD bytes;
+ int err;
+
+ err = uv__convert_to_localhost_if_unspecified(addr, &converted);
+ if (err)
+ return err;
+
+ if (handle->delayed_error) {
+ return handle->delayed_error;
+ }
+
+ if (!(handle->flags & UV_HANDLE_BOUND)) {
+ if (addrlen == sizeof(uv_addr_ip4_any_)) {
+ bind_addr = (const struct sockaddr*) &uv_addr_ip4_any_;
+ } else if (addrlen == sizeof(uv_addr_ip6_any_)) {
+ bind_addr = (const struct sockaddr*) &uv_addr_ip6_any_;
+ } else {
+ abort();
+ }
+ err = uv_tcp_try_bind(handle, bind_addr, addrlen, 0);
+ if (err)
+ return err;
+ if (handle->delayed_error)
+ return handle->delayed_error;
+ }
+
+ if (!handle->tcp.conn.func_connectex) {
+ if (!uv_get_connectex_function(handle->socket, &handle->tcp.conn.func_connectex)) {
+ return WSAEAFNOSUPPORT;
+ }
+ }
+
+ UV_REQ_INIT(req, UV_CONNECT);
+ req->handle = (uv_stream_t*) handle;
+ req->cb = cb;
+ memset(&req->u.io.overlapped, 0, sizeof(req->u.io.overlapped));
+
+ success = handle->tcp.conn.func_connectex(handle->socket,
+ (const struct sockaddr*) &converted,
+ addrlen,
+ NULL,
+ 0,
+ &bytes,
+ &req->u.io.overlapped);
+
+ if (UV_SUCCEEDED_WITHOUT_IOCP(success)) {
+ /* Process the req without IOCP. */
+ handle->reqs_pending++;
+ REGISTER_HANDLE_REQ(loop, handle, req);
+ uv_insert_pending_req(loop, (uv_req_t*)req);
+ } else if (UV_SUCCEEDED_WITH_IOCP(success)) {
+ /* The req will be processed with IOCP. */
+ handle->reqs_pending++;
+ REGISTER_HANDLE_REQ(loop, handle, req);
+ } else {
+ return WSAGetLastError();
+ }
+
+ return 0;
+}
+
+
+int uv_tcp_getsockname(const uv_tcp_t* handle,
+ struct sockaddr* name,
+ int* namelen) {
+
+ return uv__getsockpeername((const uv_handle_t*) handle,
+ getsockname,
+ name,
+ namelen,
+ handle->delayed_error);
+}
+
+
+int uv_tcp_getpeername(const uv_tcp_t* handle,
+ struct sockaddr* name,
+ int* namelen) {
+
+ return uv__getsockpeername((const uv_handle_t*) handle,
+ getpeername,
+ name,
+ namelen,
+ handle->delayed_error);
+}
+
+
+int uv_tcp_write(uv_loop_t* loop,
+ uv_write_t* req,
+ uv_tcp_t* handle,
+ const uv_buf_t bufs[],
+ unsigned int nbufs,
+ uv_write_cb cb) {
+ int result;
+ DWORD bytes;
+
+ UV_REQ_INIT(req, UV_WRITE);
+ req->handle = (uv_stream_t*) handle;
+ req->cb = cb;
+
+ /* Prepare the overlapped structure. */
+ memset(&(req->u.io.overlapped), 0, sizeof(req->u.io.overlapped));
+ if (handle->flags & UV_HANDLE_EMULATE_IOCP) {
+ req->event_handle = CreateEvent(NULL, 0, 0, NULL);
+ if (!req->event_handle) {
+ uv_fatal_error(GetLastError(), "CreateEvent");
+ }
+ req->u.io.overlapped.hEvent = (HANDLE) ((ULONG_PTR) req->event_handle | 1);
+ req->wait_handle = INVALID_HANDLE_VALUE;
+ }
+
+ result = WSASend(handle->socket,
+ (WSABUF*) bufs,
+ nbufs,
+ &bytes,
+ 0,
+ &req->u.io.overlapped,
+ NULL);
+
+ if (UV_SUCCEEDED_WITHOUT_IOCP(result == 0)) {
+ /* Request completed immediately. */
+ req->u.io.queued_bytes = 0;
+ handle->reqs_pending++;
+ handle->stream.conn.write_reqs_pending++;
+ REGISTER_HANDLE_REQ(loop, handle, req);
+ uv_insert_pending_req(loop, (uv_req_t*) req);
+ } else if (UV_SUCCEEDED_WITH_IOCP(result == 0)) {
+ /* Request queued by the kernel. */
+ req->u.io.queued_bytes = uv__count_bufs(bufs, nbufs);
+ handle->reqs_pending++;
+ handle->stream.conn.write_reqs_pending++;
+ REGISTER_HANDLE_REQ(loop, handle, req);
+ handle->write_queue_size += req->u.io.queued_bytes;
+ if (handle->flags & UV_HANDLE_EMULATE_IOCP &&
+ !RegisterWaitForSingleObject(&req->wait_handle,
+ req->event_handle, post_write_completion, (void*) req,
+ INFINITE, WT_EXECUTEINWAITTHREAD | WT_EXECUTEONLYONCE)) {
+ SET_REQ_ERROR(req, GetLastError());
+ uv_insert_pending_req(loop, (uv_req_t*)req);
+ }
+ } else {
+ /* Send failed due to an error, report it later */
+ req->u.io.queued_bytes = 0;
+ handle->reqs_pending++;
+ handle->stream.conn.write_reqs_pending++;
+ REGISTER_HANDLE_REQ(loop, handle, req);
+ SET_REQ_ERROR(req, WSAGetLastError());
+ uv_insert_pending_req(loop, (uv_req_t*) req);
+ }
+
+ return 0;
+}
+
+
+int uv__tcp_try_write(uv_tcp_t* handle,
+ const uv_buf_t bufs[],
+ unsigned int nbufs) {
+ int result;
+ DWORD bytes;
+
+ if (handle->stream.conn.write_reqs_pending > 0)
+ return UV_EAGAIN;
+
+ result = WSASend(handle->socket,
+ (WSABUF*) bufs,
+ nbufs,
+ &bytes,
+ 0,
+ NULL,
+ NULL);
+
+ if (result == SOCKET_ERROR)
+ return uv_translate_sys_error(WSAGetLastError());
+ else
+ return bytes;
+}
+
+
+void uv_process_tcp_read_req(uv_loop_t* loop, uv_tcp_t* handle,
+ uv_req_t* req) {
+ DWORD bytes, flags, err;
+ uv_buf_t buf;
+ int count;
+
+ assert(handle->type == UV_TCP);
+
+ handle->flags &= ~UV_HANDLE_READ_PENDING;
+
+ if (!REQ_SUCCESS(req)) {
+ /* An error occurred doing the read. */
+ if ((handle->flags & UV_HANDLE_READING) ||
+ !(handle->flags & UV_HANDLE_ZERO_READ)) {
+ handle->flags &= ~UV_HANDLE_READING;
+ DECREASE_ACTIVE_COUNT(loop, handle);
+ buf = (handle->flags & UV_HANDLE_ZERO_READ) ?
+ uv_buf_init(NULL, 0) : handle->tcp.conn.read_buffer;
+
+ err = GET_REQ_SOCK_ERROR(req);
+
+ if (err == WSAECONNABORTED) {
+ /* Turn WSAECONNABORTED into UV_ECONNRESET to be consistent with Unix.
+ */
+ err = WSAECONNRESET;
+ }
+
+ handle->read_cb((uv_stream_t*)handle,
+ uv_translate_sys_error(err),
+ &buf);
+ }
+ } else {
+ if (!(handle->flags & UV_HANDLE_ZERO_READ)) {
+ /* The read was done with a non-zero buffer length. */
+ if (req->u.io.overlapped.InternalHigh > 0) {
+ /* Successful read */
+ handle->read_cb((uv_stream_t*)handle,
+ req->u.io.overlapped.InternalHigh,
+ &handle->tcp.conn.read_buffer);
+ /* Read again only if bytes == buf.len */
+ if (req->u.io.overlapped.InternalHigh < handle->tcp.conn.read_buffer.len) {
+ goto done;
+ }
+ } else {
+ /* Connection closed */
+ if (handle->flags & UV_HANDLE_READING) {
+ handle->flags &= ~UV_HANDLE_READING;
+ DECREASE_ACTIVE_COUNT(loop, handle);
+ }
+ handle->flags &= ~UV_HANDLE_READABLE;
+
+ buf.base = 0;
+ buf.len = 0;
+ handle->read_cb((uv_stream_t*)handle, UV_EOF, &handle->tcp.conn.read_buffer);
+ goto done;
+ }
+ }
+
+ /* Do nonblocking reads until the buffer is empty */
+ count = 32;
+ while ((handle->flags & UV_HANDLE_READING) && (count-- > 0)) {
+ buf = uv_buf_init(NULL, 0);
+ handle->alloc_cb((uv_handle_t*) handle, 65536, &buf);
+ if (buf.base == NULL || buf.len == 0) {
+ handle->read_cb((uv_stream_t*) handle, UV_ENOBUFS, &buf);
+ break;
+ }
+ assert(buf.base != NULL);
+
+ flags = 0;
+ if (WSARecv(handle->socket,
+ (WSABUF*)&buf,
+ 1,
+ &bytes,
+ &flags,
+ NULL,
+ NULL) != SOCKET_ERROR) {
+ if (bytes > 0) {
+ /* Successful read */
+ handle->read_cb((uv_stream_t*)handle, bytes, &buf);
+ /* Read again only if bytes == buf.len */
+ if (bytes < buf.len) {
+ break;
+ }
+ } else {
+ /* Connection closed */
+ handle->flags &= ~(UV_HANDLE_READING | UV_HANDLE_READABLE);
+ DECREASE_ACTIVE_COUNT(loop, handle);
+
+ handle->read_cb((uv_stream_t*)handle, UV_EOF, &buf);
+ break;
+ }
+ } else {
+ err = WSAGetLastError();
+ if (err == WSAEWOULDBLOCK) {
+ /* Read buffer was completely empty, report a 0-byte read. */
+ handle->read_cb((uv_stream_t*)handle, 0, &buf);
+ } else {
+ /* Ouch! serious error. */
+ handle->flags &= ~UV_HANDLE_READING;
+ DECREASE_ACTIVE_COUNT(loop, handle);
+
+ if (err == WSAECONNABORTED) {
+ /* Turn WSAECONNABORTED into UV_ECONNRESET to be consistent with
+ * Unix. */
+ err = WSAECONNRESET;
+ }
+
+ handle->read_cb((uv_stream_t*)handle,
+ uv_translate_sys_error(err),
+ &buf);
+ }
+ break;
+ }
+ }
+
+done:
+ /* Post another read if still reading and not closing. */
+ if ((handle->flags & UV_HANDLE_READING) &&
+ !(handle->flags & UV_HANDLE_READ_PENDING)) {
+ uv_tcp_queue_read(loop, handle);
+ }
+ }
+
+ DECREASE_PENDING_REQ_COUNT(handle);
+}
+
+
+void uv_process_tcp_write_req(uv_loop_t* loop, uv_tcp_t* handle,
+ uv_write_t* req) {
+ int err;
+
+ assert(handle->type == UV_TCP);
+
+ assert(handle->write_queue_size >= req->u.io.queued_bytes);
+ handle->write_queue_size -= req->u.io.queued_bytes;
+
+ UNREGISTER_HANDLE_REQ(loop, handle, req);
+
+ if (handle->flags & UV_HANDLE_EMULATE_IOCP) {
+ if (req->wait_handle != INVALID_HANDLE_VALUE) {
+ UnregisterWait(req->wait_handle);
+ req->wait_handle = INVALID_HANDLE_VALUE;
+ }
+ if (req->event_handle) {
+ CloseHandle(req->event_handle);
+ req->event_handle = NULL;
+ }
+ }
+
+ if (req->cb) {
+ err = uv_translate_sys_error(GET_REQ_SOCK_ERROR(req));
+ if (err == UV_ECONNABORTED) {
+ /* use UV_ECANCELED for consistency with Unix */
+ err = UV_ECANCELED;
+ }
+ req->cb(req, err);
+ }
+
+ handle->stream.conn.write_reqs_pending--;
+ if (handle->stream.conn.shutdown_req != NULL &&
+ handle->stream.conn.write_reqs_pending == 0) {
+ uv_want_endgame(loop, (uv_handle_t*)handle);
+ }
+
+ DECREASE_PENDING_REQ_COUNT(handle);
+}
+
+
+void uv_process_tcp_accept_req(uv_loop_t* loop, uv_tcp_t* handle,
+ uv_req_t* raw_req) {
+ uv_tcp_accept_t* req = (uv_tcp_accept_t*) raw_req;
+ int err;
+
+ assert(handle->type == UV_TCP);
+
+ /* If handle->accepted_socket is not a valid socket, then uv_queue_accept
+ * must have failed. This is a serious error. We stop accepting connections
+ * and report this error to the connection callback. */
+ if (req->accept_socket == INVALID_SOCKET) {
+ if (handle->flags & UV_HANDLE_LISTENING) {
+ handle->flags &= ~UV_HANDLE_LISTENING;
+ DECREASE_ACTIVE_COUNT(loop, handle);
+ if (handle->stream.serv.connection_cb) {
+ err = GET_REQ_SOCK_ERROR(req);
+ handle->stream.serv.connection_cb((uv_stream_t*)handle,
+ uv_translate_sys_error(err));
+ }
+ }
+ } else if (REQ_SUCCESS(req) &&
+ setsockopt(req->accept_socket,
+ SOL_SOCKET,
+ SO_UPDATE_ACCEPT_CONTEXT,
+ (char*)&handle->socket,
+ sizeof(handle->socket)) == 0) {
+ req->next_pending = handle->tcp.serv.pending_accepts;
+ handle->tcp.serv.pending_accepts = req;
+
+ /* Accept and SO_UPDATE_ACCEPT_CONTEXT were successful. */
+ if (handle->stream.serv.connection_cb) {
+ handle->stream.serv.connection_cb((uv_stream_t*)handle, 0);
+ }
+ } else {
+ /* Error related to accepted socket is ignored because the server socket
+ * may still be healthy. If the server socket is broken uv_queue_accept
+ * will detect it. */
+ closesocket(req->accept_socket);
+ req->accept_socket = INVALID_SOCKET;
+ if (handle->flags & UV_HANDLE_LISTENING) {
+ uv_tcp_queue_accept(handle, req);
+ }
+ }
+
+ DECREASE_PENDING_REQ_COUNT(handle);
+}
+
+
+void uv_process_tcp_connect_req(uv_loop_t* loop, uv_tcp_t* handle,
+ uv_connect_t* req) {
+ int err;
+
+ assert(handle->type == UV_TCP);
+
+ UNREGISTER_HANDLE_REQ(loop, handle, req);
+
+ err = 0;
+ if (REQ_SUCCESS(req)) {
+ if (handle->flags & UV_HANDLE_CLOSING) {
+ /* use UV_ECANCELED for consistency with Unix */
+ err = ERROR_OPERATION_ABORTED;
+ } else if (setsockopt(handle->socket,
+ SOL_SOCKET,
+ SO_UPDATE_CONNECT_CONTEXT,
+ NULL,
+ 0) == 0) {
+ uv_connection_init((uv_stream_t*)handle);
+ handle->flags |= UV_HANDLE_READABLE | UV_HANDLE_WRITABLE;
+ loop->active_tcp_streams++;
+ } else {
+ err = WSAGetLastError();
+ }
+ } else {
+ err = GET_REQ_SOCK_ERROR(req);
+ }
+ req->cb(req, uv_translate_sys_error(err));
+
+ DECREASE_PENDING_REQ_COUNT(handle);
+}
+
+
+int uv__tcp_xfer_export(uv_tcp_t* handle,
+ int target_pid,
+ uv__ipc_socket_xfer_type_t* xfer_type,
+ uv__ipc_socket_xfer_info_t* xfer_info) {
+ if (handle->flags & UV_HANDLE_CONNECTION) {
+ *xfer_type = UV__IPC_SOCKET_XFER_TCP_CONNECTION;
+ } else {
+ *xfer_type = UV__IPC_SOCKET_XFER_TCP_SERVER;
+ /* We're about to share the socket with another process. Because this is a
+ * listening socket, we assume that the other process will be accepting
+ * connections on it. Thus, before sharing the socket with another process,
+ * we call listen here in the parent process. */
+ if (!(handle->flags & UV_HANDLE_LISTENING)) {
+ if (!(handle->flags & UV_HANDLE_BOUND)) {
+ return ERROR_NOT_SUPPORTED;
+ }
+ if (handle->delayed_error == 0 &&
+ listen(handle->socket, SOMAXCONN) == SOCKET_ERROR) {
+ handle->delayed_error = WSAGetLastError();
+ }
+ }
+ }
+
+ if (WSADuplicateSocketW(handle->socket, target_pid, &xfer_info->socket_info))
+ return WSAGetLastError();
+ xfer_info->delayed_error = handle->delayed_error;
+
+ /* Mark the local copy of the handle as 'shared' so we behave in a way that's
+ * friendly to the process(es) that we share the socket with. */
+ handle->flags |= UV_HANDLE_SHARED_TCP_SOCKET;
+
+ return 0;
+}
+
+
+int uv__tcp_xfer_import(uv_tcp_t* tcp,
+ uv__ipc_socket_xfer_type_t xfer_type,
+ uv__ipc_socket_xfer_info_t* xfer_info) {
+ int err;
+ SOCKET socket;
+
+ assert(xfer_type == UV__IPC_SOCKET_XFER_TCP_SERVER ||
+ xfer_type == UV__IPC_SOCKET_XFER_TCP_CONNECTION);
+
+ socket = WSASocketW(FROM_PROTOCOL_INFO,
+ FROM_PROTOCOL_INFO,
+ FROM_PROTOCOL_INFO,
+ &xfer_info->socket_info,
+ 0,
+ WSA_FLAG_OVERLAPPED);
+
+ if (socket == INVALID_SOCKET) {
+ return WSAGetLastError();
+ }
+
+ err = uv_tcp_set_socket(
+ tcp->loop, tcp, socket, xfer_info->socket_info.iAddressFamily, 1);
+ if (err) {
+ closesocket(socket);
+ return err;
+ }
+
+ tcp->delayed_error = xfer_info->delayed_error;
+ tcp->flags |= UV_HANDLE_BOUND | UV_HANDLE_SHARED_TCP_SOCKET;
+
+ if (xfer_type == UV__IPC_SOCKET_XFER_TCP_CONNECTION) {
+ uv_connection_init((uv_stream_t*)tcp);
+ tcp->flags |= UV_HANDLE_READABLE | UV_HANDLE_WRITABLE;
+ }
+
+ tcp->loop->active_tcp_streams++;
+ return 0;
+}
+
+
+int uv_tcp_nodelay(uv_tcp_t* handle, int enable) {
+ int err;
+
+ if (handle->socket != INVALID_SOCKET) {
+ err = uv__tcp_nodelay(handle, handle->socket, enable);
+ if (err)
+ return err;
+ }
+
+ if (enable) {
+ handle->flags |= UV_HANDLE_TCP_NODELAY;
+ } else {
+ handle->flags &= ~UV_HANDLE_TCP_NODELAY;
+ }
+
+ return 0;
+}
+
+
+int uv_tcp_keepalive(uv_tcp_t* handle, int enable, unsigned int delay) {
+ int err;
+
+ if (handle->socket != INVALID_SOCKET) {
+ err = uv__tcp_keepalive(handle, handle->socket, enable, delay);
+ if (err)
+ return err;
+ }
+
+ if (enable) {
+ handle->flags |= UV_HANDLE_TCP_KEEPALIVE;
+ } else {
+ handle->flags &= ~UV_HANDLE_TCP_KEEPALIVE;
+ }
+
+ /* TODO: Store delay if handle->socket isn't created yet. */
+
+ return 0;
+}
+
+
+int uv_tcp_simultaneous_accepts(uv_tcp_t* handle, int enable) {
+ if (handle->flags & UV_HANDLE_CONNECTION) {
+ return UV_EINVAL;
+ }
+
+ /* Check if we're already in the desired mode. */
+ if ((enable && !(handle->flags & UV_HANDLE_TCP_SINGLE_ACCEPT)) ||
+ (!enable && handle->flags & UV_HANDLE_TCP_SINGLE_ACCEPT)) {
+ return 0;
+ }
+
+ /* Don't allow switching from single pending accept to many. */
+ if (enable) {
+ return UV_ENOTSUP;
+ }
+
+ /* Check if we're in a middle of changing the number of pending accepts. */
+ if (handle->flags & UV_HANDLE_TCP_ACCEPT_STATE_CHANGING) {
+ return 0;
+ }
+
+ handle->flags |= UV_HANDLE_TCP_SINGLE_ACCEPT;
+
+ /* Flip the changing flag if we have already queued multiple accepts. */
+ if (handle->flags & UV_HANDLE_LISTENING) {
+ handle->flags |= UV_HANDLE_TCP_ACCEPT_STATE_CHANGING;
+ }
+
+ return 0;
+}
+
+
+static int uv_tcp_try_cancel_io(uv_tcp_t* tcp) {
+ SOCKET socket = tcp->socket;
+ int non_ifs_lsp;
+
+ /* Check if we have any non-IFS LSPs stacked on top of TCP */
+ non_ifs_lsp = (tcp->flags & UV_HANDLE_IPV6) ? uv_tcp_non_ifs_lsp_ipv6 :
+ uv_tcp_non_ifs_lsp_ipv4;
+
+ /* If there are non-ifs LSPs then try to obtain a base handle for the socket.
+ * This will always fail on Windows XP/3k. */
+ if (non_ifs_lsp) {
+ DWORD bytes;
+ if (WSAIoctl(socket,
+ SIO_BASE_HANDLE,
+ NULL,
+ 0,
+ &socket,
+ sizeof socket,
+ &bytes,
+ NULL,
+ NULL) != 0) {
+ /* Failed. We can't do CancelIo. */
+ return -1;
+ }
+ }
+
+ assert(socket != 0 && socket != INVALID_SOCKET);
+
+ if (!CancelIo((HANDLE) socket)) {
+ return GetLastError();
+ }
+
+ /* It worked. */
+ return 0;
+}
+
+
+void uv_tcp_close(uv_loop_t* loop, uv_tcp_t* tcp) {
+ int close_socket = 1;
+
+ if (tcp->flags & UV_HANDLE_READ_PENDING) {
+ /* In order for winsock to do a graceful close there must not be any any
+ * pending reads, or the socket must be shut down for writing */
+ if (!(tcp->flags & UV_HANDLE_SHARED_TCP_SOCKET)) {
+ /* Just do shutdown on non-shared sockets, which ensures graceful close. */
+ shutdown(tcp->socket, SD_SEND);
+
+ } else if (uv_tcp_try_cancel_io(tcp) == 0) {
+ /* In case of a shared socket, we try to cancel all outstanding I/O,. If
+ * that works, don't close the socket yet - wait for the read req to
+ * return and close the socket in uv_tcp_endgame. */
+ close_socket = 0;
+
+ } else {
+ /* When cancelling isn't possible - which could happen when an LSP is
+ * present on an old Windows version, we will have to close the socket
+ * with a read pending. That is not nice because trailing sent bytes may
+ * not make it to the other side. */
+ }
+
+ } else if ((tcp->flags & UV_HANDLE_SHARED_TCP_SOCKET) &&
+ tcp->tcp.serv.accept_reqs != NULL) {
+ /* Under normal circumstances closesocket() will ensure that all pending
+ * accept reqs are canceled. However, when the socket is shared the
+ * presence of another reference to the socket in another process will keep
+ * the accept reqs going, so we have to ensure that these are canceled. */
+ if (uv_tcp_try_cancel_io(tcp) != 0) {
+ /* When cancellation is not possible, there is another option: we can
+ * close the incoming sockets, which will also cancel the accept
+ * operations. However this is not cool because we might inadvertently
+ * close a socket that just accepted a new connection, which will cause
+ * the connection to be aborted. */
+ unsigned int i;
+ for (i = 0; i < uv_simultaneous_server_accepts; i++) {
+ uv_tcp_accept_t* req = &tcp->tcp.serv.accept_reqs[i];
+ if (req->accept_socket != INVALID_SOCKET &&
+ !HasOverlappedIoCompleted(&req->u.io.overlapped)) {
+ closesocket(req->accept_socket);
+ req->accept_socket = INVALID_SOCKET;
+ }
+ }
+ }
+ }
+
+ if (tcp->flags & UV_HANDLE_READING) {
+ tcp->flags &= ~UV_HANDLE_READING;
+ DECREASE_ACTIVE_COUNT(loop, tcp);
+ }
+
+ if (tcp->flags & UV_HANDLE_LISTENING) {
+ tcp->flags &= ~UV_HANDLE_LISTENING;
+ DECREASE_ACTIVE_COUNT(loop, tcp);
+ }
+
+ if (close_socket) {
+ closesocket(tcp->socket);
+ tcp->socket = INVALID_SOCKET;
+ tcp->flags |= UV_HANDLE_TCP_SOCKET_CLOSED;
+ }
+
+ tcp->flags &= ~(UV_HANDLE_READABLE | UV_HANDLE_WRITABLE);
+ uv__handle_closing(tcp);
+
+ if (tcp->reqs_pending == 0) {
+ uv_want_endgame(tcp->loop, (uv_handle_t*)tcp);
+ }
+}
+
+
+int uv_tcp_open(uv_tcp_t* handle, uv_os_sock_t sock) {
+ WSAPROTOCOL_INFOW protocol_info;
+ int opt_len;
+ int err;
+ struct sockaddr_storage saddr;
+ int saddr_len;
+
+ /* Detect the address family of the socket. */
+ opt_len = (int) sizeof protocol_info;
+ if (getsockopt(sock,
+ SOL_SOCKET,
+ SO_PROTOCOL_INFOW,
+ (char*) &protocol_info,
+ &opt_len) == SOCKET_ERROR) {
+ return uv_translate_sys_error(GetLastError());
+ }
+
+ err = uv_tcp_set_socket(handle->loop,
+ handle,
+ sock,
+ protocol_info.iAddressFamily,
+ 1);
+ if (err) {
+ return uv_translate_sys_error(err);
+ }
+
+ /* Support already active socket. */
+ saddr_len = sizeof(saddr);
+ if (!uv_tcp_getsockname(handle, (struct sockaddr*) &saddr, &saddr_len)) {
+ /* Socket is already bound. */
+ handle->flags |= UV_HANDLE_BOUND;
+ saddr_len = sizeof(saddr);
+ if (!uv_tcp_getpeername(handle, (struct sockaddr*) &saddr, &saddr_len)) {
+ /* Socket is already connected. */
+ uv_connection_init((uv_stream_t*) handle);
+ handle->flags |= UV_HANDLE_READABLE | UV_HANDLE_WRITABLE;
+ }
+ }
+
+ return 0;
+}
+
+
+/* This function is an egress point, i.e. it returns libuv errors rather than
+ * system errors.
+ */
+int uv__tcp_bind(uv_tcp_t* handle,
+ const struct sockaddr* addr,
+ unsigned int addrlen,
+ unsigned int flags) {
+ int err;
+
+ err = uv_tcp_try_bind(handle, addr, addrlen, flags);
+ if (err)
+ return uv_translate_sys_error(err);
+
+ return 0;
+}
+
+
+/* This function is an egress point, i.e. it returns libuv errors rather than
+ * system errors.
+ */
+int uv__tcp_connect(uv_connect_t* req,
+ uv_tcp_t* handle,
+ const struct sockaddr* addr,
+ unsigned int addrlen,
+ uv_connect_cb cb) {
+ int err;
+
+ err = uv_tcp_try_connect(req, handle, addr, addrlen, cb);
+ if (err)
+ return uv_translate_sys_error(err);
+
+ return 0;
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/thread.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/thread.cpp
new file mode 100644
index 0000000..72af03c
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/thread.cpp
@@ -0,0 +1,520 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include <assert.h>
+#include <limits.h>
+#include <stdlib.h>
+
+#if defined(__MINGW64_VERSION_MAJOR)
+/* MemoryBarrier expands to __mm_mfence in some cases (x86+sse2), which may
+ * require this header in some versions of mingw64. */
+#include <intrin.h>
+#endif
+
+#include "uv.h"
+#include "internal.h"
+
+static void uv__once_inner(uv_once_t* guard, void (*callback)(void)) {
+ DWORD result;
+ HANDLE existing_event, created_event;
+
+ created_event = CreateEvent(NULL, 1, 0, NULL);
+ if (created_event == 0) {
+ /* Could fail in a low-memory situation? */
+ uv_fatal_error(GetLastError(), "CreateEvent");
+ }
+
+ existing_event = InterlockedCompareExchangePointer(&guard->event,
+ created_event,
+ NULL);
+
+ if (existing_event == NULL) {
+ /* We won the race */
+ callback();
+
+ result = SetEvent(created_event);
+ assert(result);
+ guard->ran = 1;
+
+ } else {
+ /* We lost the race. Destroy the event we created and wait for the existing
+ * one to become signaled. */
+ CloseHandle(created_event);
+ result = WaitForSingleObject(existing_event, INFINITE);
+ assert(result == WAIT_OBJECT_0);
+ }
+}
+
+
+void uv_once(uv_once_t* guard, void (*callback)(void)) {
+ /* Fast case - avoid WaitForSingleObject. */
+ if (guard->ran) {
+ return;
+ }
+
+ uv__once_inner(guard, callback);
+}
+
+
+/* Verify that uv_thread_t can be stored in a TLS slot. */
+STATIC_ASSERT(sizeof(uv_thread_t) <= sizeof(void*));
+
+static uv_key_t uv__current_thread_key;
+static uv_once_t uv__current_thread_init_guard = UV_ONCE_INIT;
+
+
+static void uv__init_current_thread_key(void) {
+ if (uv_key_create(&uv__current_thread_key))
+ abort();
+}
+
+
+struct thread_ctx {
+ void (*entry)(void* arg);
+ void* arg;
+ uv_thread_t self;
+};
+
+
+static UINT __stdcall uv__thread_start(void* arg) {
+ struct thread_ctx *ctx_p;
+ struct thread_ctx ctx;
+
+ ctx_p = (struct thread_ctx*)arg;
+ ctx = *ctx_p;
+ uv__free(ctx_p);
+
+ uv_once(&uv__current_thread_init_guard, uv__init_current_thread_key);
+ uv_key_set(&uv__current_thread_key, (void*) ctx.self);
+
+ ctx.entry(ctx.arg);
+
+ return 0;
+}
+
+
+int uv_thread_create(uv_thread_t *tid, void (*entry)(void *arg), void *arg) {
+ uv_thread_options_t params;
+ params.flags = UV_THREAD_NO_FLAGS;
+ return uv_thread_create_ex(tid, ¶ms, entry, arg);
+}
+
+int uv_thread_create_ex(uv_thread_t* tid,
+ const uv_thread_options_t* params,
+ void (*entry)(void *arg),
+ void *arg) {
+ struct thread_ctx* ctx;
+ int err;
+ HANDLE thread;
+ SYSTEM_INFO sysinfo;
+ size_t stack_size;
+ size_t pagesize;
+
+ stack_size =
+ params->flags & UV_THREAD_HAS_STACK_SIZE ? params->stack_size : 0;
+
+ if (stack_size != 0) {
+ GetNativeSystemInfo(&sysinfo);
+ pagesize = (size_t)sysinfo.dwPageSize;
+ /* Round up to the nearest page boundary. */
+ stack_size = (stack_size + pagesize - 1) &~ (pagesize - 1);
+
+ if ((unsigned)stack_size != stack_size)
+ return UV_EINVAL;
+ }
+
+ ctx = (struct thread_ctx*)uv__malloc(sizeof(*ctx));
+ if (ctx == NULL)
+ return UV_ENOMEM;
+
+ ctx->entry = entry;
+ ctx->arg = arg;
+
+ /* Create the thread in suspended state so we have a chance to pass
+ * its own creation handle to it */
+ thread = (HANDLE) _beginthreadex(NULL,
+ (unsigned)stack_size,
+ uv__thread_start,
+ ctx,
+ CREATE_SUSPENDED,
+ NULL);
+ if (thread == NULL) {
+ err = errno;
+ uv__free(ctx);
+ } else {
+ err = 0;
+ *tid = thread;
+ ctx->self = thread;
+ ResumeThread(thread);
+ }
+
+ switch (err) {
+ case 0:
+ return 0;
+ case EACCES:
+ return UV_EACCES;
+ case EAGAIN:
+ return UV_EAGAIN;
+ case EINVAL:
+ return UV_EINVAL;
+ }
+
+ return UV_EIO;
+}
+
+
+uv_thread_t uv_thread_self(void) {
+ uv_once(&uv__current_thread_init_guard, uv__init_current_thread_key);
+ return (uv_thread_t) uv_key_get(&uv__current_thread_key);
+}
+
+
+int uv_thread_join(uv_thread_t *tid) {
+ if (WaitForSingleObject(*tid, INFINITE))
+ return uv_translate_sys_error(GetLastError());
+ else {
+ CloseHandle(*tid);
+ *tid = 0;
+ MemoryBarrier(); /* For feature parity with pthread_join(). */
+ return 0;
+ }
+}
+
+
+int uv_thread_equal(const uv_thread_t* t1, const uv_thread_t* t2) {
+ return *t1 == *t2;
+}
+
+
+int uv_mutex_init(uv_mutex_t* mutex) {
+ InitializeCriticalSection(mutex);
+ return 0;
+}
+
+
+int uv_mutex_init_recursive(uv_mutex_t* mutex) {
+ return uv_mutex_init(mutex);
+}
+
+
+void uv_mutex_destroy(uv_mutex_t* mutex) {
+ DeleteCriticalSection(mutex);
+}
+
+
+void uv_mutex_lock(uv_mutex_t* mutex) {
+ EnterCriticalSection(mutex);
+}
+
+
+int uv_mutex_trylock(uv_mutex_t* mutex) {
+ if (TryEnterCriticalSection(mutex))
+ return 0;
+ else
+ return UV_EBUSY;
+}
+
+
+void uv_mutex_unlock(uv_mutex_t* mutex) {
+ LeaveCriticalSection(mutex);
+}
+
+
+int uv_rwlock_init(uv_rwlock_t* rwlock) {
+ /* Initialize the semaphore that acts as the write lock. */
+ HANDLE handle = CreateSemaphoreW(NULL, 1, 1, NULL);
+ if (handle == NULL)
+ return uv_translate_sys_error(GetLastError());
+ rwlock->state_.write_semaphore_ = handle;
+
+ /* Initialize the critical section protecting the reader count. */
+ InitializeCriticalSection(&rwlock->state_.num_readers_lock_);
+
+ /* Initialize the reader count. */
+ rwlock->state_.num_readers_ = 0;
+
+ return 0;
+}
+
+
+void uv_rwlock_destroy(uv_rwlock_t* rwlock) {
+ DeleteCriticalSection(&rwlock->state_.num_readers_lock_);
+ CloseHandle(rwlock->state_.write_semaphore_);
+}
+
+
+void uv_rwlock_rdlock(uv_rwlock_t* rwlock) {
+ /* Acquire the lock that protects the reader count. */
+ EnterCriticalSection(&rwlock->state_.num_readers_lock_);
+
+ /* Increase the reader count, and lock for write if this is the first
+ * reader.
+ */
+ if (++rwlock->state_.num_readers_ == 1) {
+ DWORD r = WaitForSingleObject(rwlock->state_.write_semaphore_, INFINITE);
+ if (r != WAIT_OBJECT_0)
+ uv_fatal_error(GetLastError(), "WaitForSingleObject");
+ }
+
+ /* Release the lock that protects the reader count. */
+ LeaveCriticalSection(&rwlock->state_.num_readers_lock_);
+}
+
+
+int uv_rwlock_tryrdlock(uv_rwlock_t* rwlock) {
+ int err;
+
+ if (!TryEnterCriticalSection(&rwlock->state_.num_readers_lock_))
+ return UV_EBUSY;
+
+ err = 0;
+
+ if (rwlock->state_.num_readers_ == 0) {
+ /* Currently there are no other readers, which means that the write lock
+ * needs to be acquired.
+ */
+ DWORD r = WaitForSingleObject(rwlock->state_.write_semaphore_, 0);
+ if (r == WAIT_OBJECT_0)
+ rwlock->state_.num_readers_++;
+ else if (r == WAIT_TIMEOUT)
+ err = UV_EBUSY;
+ else if (r == WAIT_FAILED)
+ uv_fatal_error(GetLastError(), "WaitForSingleObject");
+
+ } else {
+ /* The write lock has already been acquired because there are other
+ * active readers.
+ */
+ rwlock->state_.num_readers_++;
+ }
+
+ LeaveCriticalSection(&rwlock->state_.num_readers_lock_);
+ return err;
+}
+
+
+void uv_rwlock_rdunlock(uv_rwlock_t* rwlock) {
+ EnterCriticalSection(&rwlock->state_.num_readers_lock_);
+
+ if (--rwlock->state_.num_readers_ == 0) {
+ if (!ReleaseSemaphore(rwlock->state_.write_semaphore_, 1, NULL))
+ uv_fatal_error(GetLastError(), "ReleaseSemaphore");
+ }
+
+ LeaveCriticalSection(&rwlock->state_.num_readers_lock_);
+}
+
+
+void uv_rwlock_wrlock(uv_rwlock_t* rwlock) {
+ DWORD r = WaitForSingleObject(rwlock->state_.write_semaphore_, INFINITE);
+ if (r != WAIT_OBJECT_0)
+ uv_fatal_error(GetLastError(), "WaitForSingleObject");
+}
+
+
+int uv_rwlock_trywrlock(uv_rwlock_t* rwlock) {
+ DWORD r = WaitForSingleObject(rwlock->state_.write_semaphore_, 0);
+ if (r == WAIT_OBJECT_0)
+ return 0;
+ else if (r == WAIT_TIMEOUT)
+ return UV_EBUSY;
+ else
+ uv_fatal_error(GetLastError(), "WaitForSingleObject");
+}
+
+
+void uv_rwlock_wrunlock(uv_rwlock_t* rwlock) {
+ if (!ReleaseSemaphore(rwlock->state_.write_semaphore_, 1, NULL))
+ uv_fatal_error(GetLastError(), "ReleaseSemaphore");
+}
+
+
+int uv_sem_init(uv_sem_t* sem, unsigned int value) {
+ *sem = CreateSemaphore(NULL, value, INT_MAX, NULL);
+ if (*sem == NULL)
+ return uv_translate_sys_error(GetLastError());
+ else
+ return 0;
+}
+
+
+void uv_sem_destroy(uv_sem_t* sem) {
+ if (!CloseHandle(*sem))
+ abort();
+}
+
+
+void uv_sem_post(uv_sem_t* sem) {
+ if (!ReleaseSemaphore(*sem, 1, NULL))
+ abort();
+}
+
+
+void uv_sem_wait(uv_sem_t* sem) {
+ if (WaitForSingleObject(*sem, INFINITE) != WAIT_OBJECT_0)
+ abort();
+}
+
+
+int uv_sem_trywait(uv_sem_t* sem) {
+ DWORD r = WaitForSingleObject(*sem, 0);
+
+ if (r == WAIT_OBJECT_0)
+ return 0;
+
+ if (r == WAIT_TIMEOUT)
+ return UV_EAGAIN;
+
+ abort();
+ return -1; /* Satisfy the compiler. */
+}
+
+
+int uv_cond_init(uv_cond_t* cond) {
+ InitializeConditionVariable(&cond->cond_var);
+ return 0;
+}
+
+
+void uv_cond_destroy(uv_cond_t* cond) {
+ /* nothing to do */
+ (void) &cond;
+}
+
+
+void uv_cond_signal(uv_cond_t* cond) {
+ WakeConditionVariable(&cond->cond_var);
+}
+
+
+void uv_cond_broadcast(uv_cond_t* cond) {
+ WakeAllConditionVariable(&cond->cond_var);
+}
+
+
+void uv_cond_wait(uv_cond_t* cond, uv_mutex_t* mutex) {
+ if (!SleepConditionVariableCS(&cond->cond_var, mutex, INFINITE))
+ abort();
+}
+
+int uv_cond_timedwait(uv_cond_t* cond, uv_mutex_t* mutex, uint64_t timeout) {
+ if (SleepConditionVariableCS(&cond->cond_var, mutex, (DWORD)(timeout / 1e6)))
+ return 0;
+ if (GetLastError() != ERROR_TIMEOUT)
+ abort();
+ return UV_ETIMEDOUT;
+}
+
+
+int uv_barrier_init(uv_barrier_t* barrier, unsigned int count) {
+ int err;
+
+ barrier->n = count;
+ barrier->count = 0;
+
+ err = uv_mutex_init(&barrier->mutex);
+ if (err)
+ return err;
+
+ err = uv_sem_init(&barrier->turnstile1, 0);
+ if (err)
+ goto error2;
+
+ err = uv_sem_init(&barrier->turnstile2, 1);
+ if (err)
+ goto error;
+
+ return 0;
+
+error:
+ uv_sem_destroy(&barrier->turnstile1);
+error2:
+ uv_mutex_destroy(&barrier->mutex);
+ return err;
+
+}
+
+
+void uv_barrier_destroy(uv_barrier_t* barrier) {
+ uv_sem_destroy(&barrier->turnstile2);
+ uv_sem_destroy(&barrier->turnstile1);
+ uv_mutex_destroy(&barrier->mutex);
+}
+
+
+int uv_barrier_wait(uv_barrier_t* barrier) {
+ int serial_thread;
+
+ uv_mutex_lock(&barrier->mutex);
+ if (++barrier->count == barrier->n) {
+ uv_sem_wait(&barrier->turnstile2);
+ uv_sem_post(&barrier->turnstile1);
+ }
+ uv_mutex_unlock(&barrier->mutex);
+
+ uv_sem_wait(&barrier->turnstile1);
+ uv_sem_post(&barrier->turnstile1);
+
+ uv_mutex_lock(&barrier->mutex);
+ serial_thread = (--barrier->count == 0);
+ if (serial_thread) {
+ uv_sem_wait(&barrier->turnstile1);
+ uv_sem_post(&barrier->turnstile2);
+ }
+ uv_mutex_unlock(&barrier->mutex);
+
+ uv_sem_wait(&barrier->turnstile2);
+ uv_sem_post(&barrier->turnstile2);
+ return serial_thread;
+}
+
+
+int uv_key_create(uv_key_t* key) {
+ key->tls_index = TlsAlloc();
+ if (key->tls_index == TLS_OUT_OF_INDEXES)
+ return UV_ENOMEM;
+ return 0;
+}
+
+
+void uv_key_delete(uv_key_t* key) {
+ if (TlsFree(key->tls_index) == FALSE)
+ abort();
+ key->tls_index = TLS_OUT_OF_INDEXES;
+}
+
+
+void* uv_key_get(uv_key_t* key) {
+ void* value;
+
+ value = TlsGetValue(key->tls_index);
+ if (value == NULL)
+ if (GetLastError() != ERROR_SUCCESS)
+ abort();
+
+ return value;
+}
+
+
+void uv_key_set(uv_key_t* key, void* value) {
+ if (TlsSetValue(key->tls_index, value) == FALSE)
+ abort();
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/tty.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/tty.cpp
new file mode 100644
index 0000000..e4d7ac9
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/tty.cpp
@@ -0,0 +1,2335 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#define _CRT_NONSTDC_NO_WARNINGS
+
+#include <assert.h>
+#include <io.h>
+#include <string.h>
+#include <stdlib.h>
+
+#if defined(_MSC_VER) && _MSC_VER < 1600
+# include "uv/stdint-msvc2008.h"
+#else
+# include <stdint.h>
+#endif
+
+#ifndef COMMON_LVB_REVERSE_VIDEO
+# define COMMON_LVB_REVERSE_VIDEO 0x4000
+#endif
+
+#include "uv.h"
+#include "internal.h"
+#include "handle-inl.h"
+#include "stream-inl.h"
+#include "req-inl.h"
+
+#pragma comment(lib, "User32.lib")
+
+#ifndef InterlockedOr
+# define InterlockedOr _InterlockedOr
+#endif
+
+#define UNICODE_REPLACEMENT_CHARACTER (0xfffd)
+
+#define ANSI_NORMAL 0x00
+#define ANSI_ESCAPE_SEEN 0x02
+#define ANSI_CSI 0x04
+#define ANSI_ST_CONTROL 0x08
+#define ANSI_IGNORE 0x10
+#define ANSI_IN_ARG 0x20
+#define ANSI_IN_STRING 0x40
+#define ANSI_BACKSLASH_SEEN 0x80
+
+#define MAX_INPUT_BUFFER_LENGTH 8192
+#define MAX_CONSOLE_CHAR 8192
+
+#ifndef ENABLE_VIRTUAL_TERMINAL_PROCESSING
+#define ENABLE_VIRTUAL_TERMINAL_PROCESSING 0x0004
+#endif
+
+static void uv_tty_capture_initial_style(CONSOLE_SCREEN_BUFFER_INFO* info);
+static void uv_tty_update_virtual_window(CONSOLE_SCREEN_BUFFER_INFO* info);
+static int uv__cancel_read_console(uv_tty_t* handle);
+
+
+/* Null uv_buf_t */
+static const uv_buf_t uv_null_buf_ = { 0, NULL };
+
+enum uv__read_console_status_e {
+ NOT_STARTED,
+ IN_PROGRESS,
+ TRAP_REQUESTED,
+ COMPLETED
+};
+
+static volatile LONG uv__read_console_status = NOT_STARTED;
+static volatile LONG uv__restore_screen_state;
+static CONSOLE_SCREEN_BUFFER_INFO uv__saved_screen_state;
+
+
+/*
+ * The console virtual window.
+ *
+ * Normally cursor movement in windows is relative to the console screen buffer,
+ * e.g. the application is allowed to overwrite the 'history'. This is very
+ * inconvenient, it makes absolute cursor movement pretty useless. There is
+ * also the concept of 'client rect' which is defined by the actual size of
+ * the console window and the scroll position of the screen buffer, but it's
+ * very volatile because it changes when the user scrolls.
+ *
+ * To make cursor movement behave sensibly we define a virtual window to which
+ * cursor movement is confined. The virtual window is always as wide as the
+ * console screen buffer, but it's height is defined by the size of the
+ * console window. The top of the virtual window aligns with the position
+ * of the caret when the first stdout/err handle is created, unless that would
+ * mean that it would extend beyond the bottom of the screen buffer - in that
+ * that case it's located as far down as possible.
+ *
+ * When the user writes a long text or many newlines, such that the output
+ * reaches beyond the bottom of the virtual window, the virtual window is
+ * shifted downwards, but not resized.
+ *
+ * Since all tty i/o happens on the same console, this window is shared
+ * between all stdout/stderr handles.
+ */
+
+static int uv_tty_virtual_offset = -1;
+static int uv_tty_virtual_height = -1;
+static int uv_tty_virtual_width = -1;
+
+/* The console window size
+ * We keep this separate from uv_tty_virtual_*. We use those values to only
+ * handle signalling SIGWINCH
+ */
+
+static HANDLE uv__tty_console_handle = INVALID_HANDLE_VALUE;
+static int uv__tty_console_height = -1;
+static int uv__tty_console_width = -1;
+
+static DWORD WINAPI uv__tty_console_resize_message_loop_thread(void* param);
+static void CALLBACK uv__tty_console_resize_event(HWINEVENTHOOK hWinEventHook,
+ DWORD event,
+ HWND hwnd,
+ LONG idObject,
+ LONG idChild,
+ DWORD dwEventThread,
+ DWORD dwmsEventTime);
+
+/* We use a semaphore rather than a mutex or critical section because in some
+ cases (uv__cancel_read_console) we need take the lock in the main thread and
+ release it in another thread. Using a semaphore ensures that in such
+ scenario the main thread will still block when trying to acquire the lock. */
+static uv_sem_t uv_tty_output_lock;
+
+static WORD uv_tty_default_text_attributes =
+ FOREGROUND_RED | FOREGROUND_GREEN | FOREGROUND_BLUE;
+
+static char uv_tty_default_fg_color = 7;
+static char uv_tty_default_bg_color = 0;
+static char uv_tty_default_fg_bright = 0;
+static char uv_tty_default_bg_bright = 0;
+static char uv_tty_default_inverse = 0;
+
+typedef enum {
+ UV_SUPPORTED,
+ UV_UNCHECKED,
+ UV_UNSUPPORTED
+} uv_vtermstate_t;
+/* Determine whether or not ANSI support is enabled. */
+static uv_vtermstate_t uv__vterm_state = UV_UNCHECKED;
+static void uv__determine_vterm_state(HANDLE handle);
+
+void uv_console_init(void) {
+ if (uv_sem_init(&uv_tty_output_lock, 1))
+ abort();
+ uv__tty_console_handle = CreateFileW(L"CONOUT$",
+ GENERIC_READ | GENERIC_WRITE,
+ FILE_SHARE_WRITE,
+ 0,
+ OPEN_EXISTING,
+ 0,
+ 0);
+ if (uv__tty_console_handle != INVALID_HANDLE_VALUE) {
+ QueueUserWorkItem(uv__tty_console_resize_message_loop_thread,
+ NULL,
+ WT_EXECUTELONGFUNCTION);
+ }
+}
+
+
+int uv_tty_init(uv_loop_t* loop, uv_tty_t* tty, uv_file fd, int unused) {
+ BOOL readable;
+ DWORD NumberOfEvents;
+ HANDLE handle;
+ CONSOLE_SCREEN_BUFFER_INFO screen_buffer_info;
+ (void)unused;
+
+ uv__once_init();
+ handle = (HANDLE) uv__get_osfhandle(fd);
+ if (handle == INVALID_HANDLE_VALUE)
+ return UV_EBADF;
+
+ if (fd <= 2) {
+ /* In order to avoid closing a stdio file descriptor 0-2, duplicate the
+ * underlying OS handle and forget about the original fd.
+ * We could also opt to use the original OS handle and just never close it,
+ * but then there would be no reliable way to cancel pending read operations
+ * upon close.
+ */
+ if (!DuplicateHandle(INVALID_HANDLE_VALUE,
+ handle,
+ INVALID_HANDLE_VALUE,
+ &handle,
+ 0,
+ FALSE,
+ DUPLICATE_SAME_ACCESS))
+ return uv_translate_sys_error(GetLastError());
+ fd = -1;
+ }
+
+ readable = GetNumberOfConsoleInputEvents(handle, &NumberOfEvents);
+ if (!readable) {
+ /* Obtain the screen buffer info with the output handle. */
+ if (!GetConsoleScreenBufferInfo(handle, &screen_buffer_info)) {
+ return uv_translate_sys_error(GetLastError());
+ }
+
+ /* Obtain the tty_output_lock because the virtual window state is shared
+ * between all uv_tty_t handles. */
+ uv_sem_wait(&uv_tty_output_lock);
+
+ if (uv__vterm_state == UV_UNCHECKED)
+ uv__determine_vterm_state(handle);
+
+ /* Remember the original console text attributes. */
+ uv_tty_capture_initial_style(&screen_buffer_info);
+
+ uv_tty_update_virtual_window(&screen_buffer_info);
+
+ uv_sem_post(&uv_tty_output_lock);
+ }
+
+
+ uv_stream_init(loop, (uv_stream_t*) tty, UV_TTY);
+ uv_connection_init((uv_stream_t*) tty);
+
+ tty->handle = handle;
+ tty->u.fd = fd;
+ tty->reqs_pending = 0;
+ tty->flags |= UV_HANDLE_BOUND;
+
+ if (readable) {
+ /* Initialize TTY input specific fields. */
+ tty->flags |= UV_HANDLE_TTY_READABLE | UV_HANDLE_READABLE;
+ /* TODO: remove me in v2.x. */
+ tty->tty.rd.unused_ = NULL;
+ tty->tty.rd.read_line_buffer = uv_null_buf_;
+ tty->tty.rd.read_raw_wait = NULL;
+
+ /* Init keycode-to-vt100 mapper state. */
+ tty->tty.rd.last_key_len = 0;
+ tty->tty.rd.last_key_offset = 0;
+ tty->tty.rd.last_utf16_high_surrogate = 0;
+ memset(&tty->tty.rd.last_input_record, 0, sizeof tty->tty.rd.last_input_record);
+ } else {
+ /* TTY output specific fields. */
+ tty->flags |= UV_HANDLE_WRITABLE;
+
+ /* Init utf8-to-utf16 conversion state. */
+ tty->tty.wr.utf8_bytes_left = 0;
+ tty->tty.wr.utf8_codepoint = 0;
+
+ /* Initialize eol conversion state */
+ tty->tty.wr.previous_eol = 0;
+
+ /* Init ANSI parser state. */
+ tty->tty.wr.ansi_parser_state = ANSI_NORMAL;
+ }
+
+ return 0;
+}
+
+
+/* Set the default console text attributes based on how the console was
+ * configured when libuv started.
+ */
+static void uv_tty_capture_initial_style(CONSOLE_SCREEN_BUFFER_INFO* info) {
+ static int style_captured = 0;
+
+ /* Only do this once.
+ Assumption: Caller has acquired uv_tty_output_lock. */
+ if (style_captured)
+ return;
+
+ /* Save raw win32 attributes. */
+ uv_tty_default_text_attributes = info->wAttributes;
+
+ /* Convert black text on black background to use white text. */
+ if (uv_tty_default_text_attributes == 0)
+ uv_tty_default_text_attributes = 7;
+
+ /* Convert Win32 attributes to ANSI colors. */
+ uv_tty_default_fg_color = 0;
+ uv_tty_default_bg_color = 0;
+ uv_tty_default_fg_bright = 0;
+ uv_tty_default_bg_bright = 0;
+ uv_tty_default_inverse = 0;
+
+ if (uv_tty_default_text_attributes & FOREGROUND_RED)
+ uv_tty_default_fg_color |= 1;
+
+ if (uv_tty_default_text_attributes & FOREGROUND_GREEN)
+ uv_tty_default_fg_color |= 2;
+
+ if (uv_tty_default_text_attributes & FOREGROUND_BLUE)
+ uv_tty_default_fg_color |= 4;
+
+ if (uv_tty_default_text_attributes & BACKGROUND_RED)
+ uv_tty_default_bg_color |= 1;
+
+ if (uv_tty_default_text_attributes & BACKGROUND_GREEN)
+ uv_tty_default_bg_color |= 2;
+
+ if (uv_tty_default_text_attributes & BACKGROUND_BLUE)
+ uv_tty_default_bg_color |= 4;
+
+ if (uv_tty_default_text_attributes & FOREGROUND_INTENSITY)
+ uv_tty_default_fg_bright = 1;
+
+ if (uv_tty_default_text_attributes & BACKGROUND_INTENSITY)
+ uv_tty_default_bg_bright = 1;
+
+ if (uv_tty_default_text_attributes & COMMON_LVB_REVERSE_VIDEO)
+ uv_tty_default_inverse = 1;
+
+ style_captured = 1;
+}
+
+
+int uv_tty_set_mode(uv_tty_t* tty, uv_tty_mode_t mode) {
+ DWORD flags;
+ unsigned char was_reading;
+ uv_alloc_cb alloc_cb;
+ uv_read_cb read_cb;
+ int err;
+
+ if (!(tty->flags & UV_HANDLE_TTY_READABLE)) {
+ return UV_EINVAL;
+ }
+
+ if (!!mode == !!(tty->flags & UV_HANDLE_TTY_RAW)) {
+ return 0;
+ }
+
+ switch (mode) {
+ case UV_TTY_MODE_NORMAL:
+ flags = ENABLE_ECHO_INPUT | ENABLE_LINE_INPUT | ENABLE_PROCESSED_INPUT;
+ break;
+ case UV_TTY_MODE_RAW:
+ flags = ENABLE_WINDOW_INPUT;
+ break;
+ case UV_TTY_MODE_IO:
+ return UV_ENOTSUP;
+ default:
+ return UV_EINVAL;
+ }
+
+ /* If currently reading, stop, and restart reading. */
+ if (tty->flags & UV_HANDLE_READING) {
+ was_reading = 1;
+ alloc_cb = tty->alloc_cb;
+ read_cb = tty->read_cb;
+ err = uv_tty_read_stop(tty);
+ if (err) {
+ return uv_translate_sys_error(err);
+ }
+ } else {
+ was_reading = 0;
+ alloc_cb = NULL;
+ read_cb = NULL;
+ }
+
+ uv_sem_wait(&uv_tty_output_lock);
+ if (!SetConsoleMode(tty->handle, flags)) {
+ err = uv_translate_sys_error(GetLastError());
+ uv_sem_post(&uv_tty_output_lock);
+ return err;
+ }
+ uv_sem_post(&uv_tty_output_lock);
+
+ /* Update flag. */
+ tty->flags &= ~UV_HANDLE_TTY_RAW;
+ tty->flags |= mode ? UV_HANDLE_TTY_RAW : 0;
+
+ /* If we just stopped reading, restart. */
+ if (was_reading) {
+ err = uv_tty_read_start(tty, alloc_cb, read_cb);
+ if (err) {
+ return uv_translate_sys_error(err);
+ }
+ }
+
+ return 0;
+}
+
+
+int uv_tty_get_winsize(uv_tty_t* tty, int* width, int* height) {
+ CONSOLE_SCREEN_BUFFER_INFO info;
+
+ if (!GetConsoleScreenBufferInfo(tty->handle, &info)) {
+ return uv_translate_sys_error(GetLastError());
+ }
+
+ uv_sem_wait(&uv_tty_output_lock);
+ uv_tty_update_virtual_window(&info);
+ uv_sem_post(&uv_tty_output_lock);
+
+ *width = uv_tty_virtual_width;
+ *height = uv_tty_virtual_height;
+
+ return 0;
+}
+
+
+static void CALLBACK uv_tty_post_raw_read(void* data, BOOLEAN didTimeout) {
+ uv_loop_t* loop;
+ uv_tty_t* handle;
+ uv_req_t* req;
+
+ assert(data);
+ assert(!didTimeout);
+
+ req = (uv_req_t*) data;
+ handle = (uv_tty_t*) req->data;
+ loop = handle->loop;
+
+ UnregisterWait(handle->tty.rd.read_raw_wait);
+ handle->tty.rd.read_raw_wait = NULL;
+
+ SET_REQ_SUCCESS(req);
+ POST_COMPLETION_FOR_REQ(loop, req);
+}
+
+
+static void uv_tty_queue_read_raw(uv_loop_t* loop, uv_tty_t* handle) {
+ uv_read_t* req;
+ BOOL r;
+
+ assert(handle->flags & UV_HANDLE_READING);
+ assert(!(handle->flags & UV_HANDLE_READ_PENDING));
+
+ assert(handle->handle && handle->handle != INVALID_HANDLE_VALUE);
+
+ handle->tty.rd.read_line_buffer = uv_null_buf_;
+
+ req = &handle->read_req;
+ memset(&req->u.io.overlapped, 0, sizeof(req->u.io.overlapped));
+
+ r = RegisterWaitForSingleObject(&handle->tty.rd.read_raw_wait,
+ handle->handle,
+ uv_tty_post_raw_read,
+ (void*) req,
+ INFINITE,
+ WT_EXECUTEINWAITTHREAD | WT_EXECUTEONLYONCE);
+ if (!r) {
+ handle->tty.rd.read_raw_wait = NULL;
+ SET_REQ_ERROR(req, GetLastError());
+ uv_insert_pending_req(loop, (uv_req_t*)req);
+ }
+
+ handle->flags |= UV_HANDLE_READ_PENDING;
+ handle->reqs_pending++;
+}
+
+
+static DWORD CALLBACK uv_tty_line_read_thread(void* data) {
+ uv_loop_t* loop;
+ uv_tty_t* handle;
+ uv_req_t* req;
+ DWORD bytes, read_bytes;
+ WCHAR utf16[MAX_INPUT_BUFFER_LENGTH / 3];
+ DWORD chars, read_chars;
+ LONG status;
+ COORD pos;
+ BOOL read_console_success;
+
+ assert(data);
+
+ req = (uv_req_t*) data;
+ handle = (uv_tty_t*) req->data;
+ loop = handle->loop;
+
+ assert(handle->tty.rd.read_line_buffer.base != NULL);
+ assert(handle->tty.rd.read_line_buffer.len > 0);
+
+ /* ReadConsole can't handle big buffers. */
+ if (handle->tty.rd.read_line_buffer.len < MAX_INPUT_BUFFER_LENGTH) {
+ bytes = handle->tty.rd.read_line_buffer.len;
+ } else {
+ bytes = MAX_INPUT_BUFFER_LENGTH;
+ }
+
+ /* At last, unicode! One utf-16 codeunit never takes more than 3 utf-8
+ * codeunits to encode. */
+ chars = bytes / 3;
+
+ status = InterlockedExchange(&uv__read_console_status, IN_PROGRESS);
+ if (status == TRAP_REQUESTED) {
+ SET_REQ_SUCCESS(req);
+ req->u.io.overlapped.InternalHigh = 0;
+ POST_COMPLETION_FOR_REQ(loop, req);
+ return 0;
+ }
+
+ read_console_success = ReadConsoleW(handle->handle,
+ (void*) utf16,
+ chars,
+ &read_chars,
+ NULL);
+
+ if (read_console_success) {
+ read_bytes = WideCharToMultiByte(CP_UTF8,
+ 0,
+ utf16,
+ read_chars,
+ handle->tty.rd.read_line_buffer.base,
+ bytes,
+ NULL,
+ NULL);
+ SET_REQ_SUCCESS(req);
+ req->u.io.overlapped.InternalHigh = read_bytes;
+ } else {
+ SET_REQ_ERROR(req, GetLastError());
+ }
+
+ status = InterlockedExchange(&uv__read_console_status, COMPLETED);
+
+ if (status == TRAP_REQUESTED) {
+ /* If we canceled the read by sending a VK_RETURN event, restore the
+ screen state to undo the visual effect of the VK_RETURN */
+ if (read_console_success && InterlockedOr(&uv__restore_screen_state, 0)) {
+ HANDLE active_screen_buffer;
+ active_screen_buffer = CreateFileA("conout$",
+ GENERIC_READ | GENERIC_WRITE,
+ FILE_SHARE_READ | FILE_SHARE_WRITE,
+ NULL,
+ OPEN_EXISTING,
+ FILE_ATTRIBUTE_NORMAL,
+ NULL);
+ if (active_screen_buffer != INVALID_HANDLE_VALUE) {
+ pos = uv__saved_screen_state.dwCursorPosition;
+
+ /* If the cursor was at the bottom line of the screen buffer, the
+ VK_RETURN would have caused the buffer contents to scroll up by one
+ line. The right position to reset the cursor to is therefore one line
+ higher */
+ if (pos.Y == uv__saved_screen_state.dwSize.Y - 1)
+ pos.Y--;
+
+ SetConsoleCursorPosition(active_screen_buffer, pos);
+ CloseHandle(active_screen_buffer);
+ }
+ }
+ uv_sem_post(&uv_tty_output_lock);
+ }
+ POST_COMPLETION_FOR_REQ(loop, req);
+ return 0;
+}
+
+
+static void uv_tty_queue_read_line(uv_loop_t* loop, uv_tty_t* handle) {
+ uv_read_t* req;
+ BOOL r;
+
+ assert(handle->flags & UV_HANDLE_READING);
+ assert(!(handle->flags & UV_HANDLE_READ_PENDING));
+ assert(handle->handle && handle->handle != INVALID_HANDLE_VALUE);
+
+ req = &handle->read_req;
+ memset(&req->u.io.overlapped, 0, sizeof(req->u.io.overlapped));
+
+ handle->tty.rd.read_line_buffer = uv_buf_init(NULL, 0);
+ handle->alloc_cb((uv_handle_t*) handle, 8192, &handle->tty.rd.read_line_buffer);
+ if (handle->tty.rd.read_line_buffer.base == NULL ||
+ handle->tty.rd.read_line_buffer.len == 0) {
+ handle->read_cb((uv_stream_t*) handle,
+ UV_ENOBUFS,
+ &handle->tty.rd.read_line_buffer);
+ return;
+ }
+ assert(handle->tty.rd.read_line_buffer.base != NULL);
+
+ /* Reset flags No locking is required since there cannot be a line read
+ in progress. We are also relying on the memory barrier provided by
+ QueueUserWorkItem*/
+ uv__restore_screen_state = FALSE;
+ uv__read_console_status = NOT_STARTED;
+ r = QueueUserWorkItem(uv_tty_line_read_thread,
+ (void*) req,
+ WT_EXECUTELONGFUNCTION);
+ if (!r) {
+ SET_REQ_ERROR(req, GetLastError());
+ uv_insert_pending_req(loop, (uv_req_t*)req);
+ }
+
+ handle->flags |= UV_HANDLE_READ_PENDING;
+ handle->reqs_pending++;
+}
+
+
+static void uv_tty_queue_read(uv_loop_t* loop, uv_tty_t* handle) {
+ if (handle->flags & UV_HANDLE_TTY_RAW) {
+ uv_tty_queue_read_raw(loop, handle);
+ } else {
+ uv_tty_queue_read_line(loop, handle);
+ }
+}
+
+
+static const char* get_vt100_fn_key(DWORD code, char shift, char ctrl,
+ size_t* len) {
+#define VK_CASE(vk, normal_str, shift_str, ctrl_str, shift_ctrl_str) \
+ case (vk): \
+ if (shift && ctrl) { \
+ *len = sizeof shift_ctrl_str; \
+ return "\033" shift_ctrl_str; \
+ } else if (shift) { \
+ *len = sizeof shift_str ; \
+ return "\033" shift_str; \
+ } else if (ctrl) { \
+ *len = sizeof ctrl_str; \
+ return "\033" ctrl_str; \
+ } else { \
+ *len = sizeof normal_str; \
+ return "\033" normal_str; \
+ }
+
+ switch (code) {
+ /* These mappings are the same as Cygwin's. Unmodified and alt-modified
+ * keypad keys comply with linux console, modifiers comply with xterm
+ * modifier usage. F1. f12 and shift-f1. f10 comply with linux console, f6.
+ * f12 with and without modifiers comply with rxvt. */
+ VK_CASE(VK_INSERT, "[2~", "[2;2~", "[2;5~", "[2;6~")
+ VK_CASE(VK_END, "[4~", "[4;2~", "[4;5~", "[4;6~")
+ VK_CASE(VK_DOWN, "[B", "[1;2B", "[1;5B", "[1;6B")
+ VK_CASE(VK_NEXT, "[6~", "[6;2~", "[6;5~", "[6;6~")
+ VK_CASE(VK_LEFT, "[D", "[1;2D", "[1;5D", "[1;6D")
+ VK_CASE(VK_CLEAR, "[G", "[1;2G", "[1;5G", "[1;6G")
+ VK_CASE(VK_RIGHT, "[C", "[1;2C", "[1;5C", "[1;6C")
+ VK_CASE(VK_UP, "[A", "[1;2A", "[1;5A", "[1;6A")
+ VK_CASE(VK_HOME, "[1~", "[1;2~", "[1;5~", "[1;6~")
+ VK_CASE(VK_PRIOR, "[5~", "[5;2~", "[5;5~", "[5;6~")
+ VK_CASE(VK_DELETE, "[3~", "[3;2~", "[3;5~", "[3;6~")
+ VK_CASE(VK_NUMPAD0, "[2~", "[2;2~", "[2;5~", "[2;6~")
+ VK_CASE(VK_NUMPAD1, "[4~", "[4;2~", "[4;5~", "[4;6~")
+ VK_CASE(VK_NUMPAD2, "[B", "[1;2B", "[1;5B", "[1;6B")
+ VK_CASE(VK_NUMPAD3, "[6~", "[6;2~", "[6;5~", "[6;6~")
+ VK_CASE(VK_NUMPAD4, "[D", "[1;2D", "[1;5D", "[1;6D")
+ VK_CASE(VK_NUMPAD5, "[G", "[1;2G", "[1;5G", "[1;6G")
+ VK_CASE(VK_NUMPAD6, "[C", "[1;2C", "[1;5C", "[1;6C")
+ VK_CASE(VK_NUMPAD7, "[A", "[1;2A", "[1;5A", "[1;6A")
+ VK_CASE(VK_NUMPAD8, "[1~", "[1;2~", "[1;5~", "[1;6~")
+ VK_CASE(VK_NUMPAD9, "[5~", "[5;2~", "[5;5~", "[5;6~")
+ VK_CASE(VK_DECIMAL, "[3~", "[3;2~", "[3;5~", "[3;6~")
+ VK_CASE(VK_F1, "[[A", "[23~", "[11^", "[23^" )
+ VK_CASE(VK_F2, "[[B", "[24~", "[12^", "[24^" )
+ VK_CASE(VK_F3, "[[C", "[25~", "[13^", "[25^" )
+ VK_CASE(VK_F4, "[[D", "[26~", "[14^", "[26^" )
+ VK_CASE(VK_F5, "[[E", "[28~", "[15^", "[28^" )
+ VK_CASE(VK_F6, "[17~", "[29~", "[17^", "[29^" )
+ VK_CASE(VK_F7, "[18~", "[31~", "[18^", "[31^" )
+ VK_CASE(VK_F8, "[19~", "[32~", "[19^", "[32^" )
+ VK_CASE(VK_F9, "[20~", "[33~", "[20^", "[33^" )
+ VK_CASE(VK_F10, "[21~", "[34~", "[21^", "[34^" )
+ VK_CASE(VK_F11, "[23~", "[23$", "[23^", "[23@" )
+ VK_CASE(VK_F12, "[24~", "[24$", "[24^", "[24@" )
+
+ default:
+ *len = 0;
+ return NULL;
+ }
+#undef VK_CASE
+}
+
+
+void uv_process_tty_read_raw_req(uv_loop_t* loop, uv_tty_t* handle,
+ uv_req_t* req) {
+ /* Shortcut for handle->tty.rd.last_input_record.Event.KeyEvent. */
+#define KEV handle->tty.rd.last_input_record.Event.KeyEvent
+
+ DWORD records_left, records_read;
+ uv_buf_t buf;
+ off_t buf_used;
+
+ assert(handle->type == UV_TTY);
+ assert(handle->flags & UV_HANDLE_TTY_READABLE);
+ handle->flags &= ~UV_HANDLE_READ_PENDING;
+
+ if (!(handle->flags & UV_HANDLE_READING) ||
+ !(handle->flags & UV_HANDLE_TTY_RAW)) {
+ goto out;
+ }
+
+ if (!REQ_SUCCESS(req)) {
+ /* An error occurred while waiting for the event. */
+ if ((handle->flags & UV_HANDLE_READING)) {
+ handle->flags &= ~UV_HANDLE_READING;
+ handle->read_cb((uv_stream_t*)handle,
+ uv_translate_sys_error(GET_REQ_ERROR(req)),
+ &uv_null_buf_);
+ }
+ goto out;
+ }
+
+ /* Fetch the number of events */
+ if (!GetNumberOfConsoleInputEvents(handle->handle, &records_left)) {
+ handle->flags &= ~UV_HANDLE_READING;
+ DECREASE_ACTIVE_COUNT(loop, handle);
+ handle->read_cb((uv_stream_t*)handle,
+ uv_translate_sys_error(GetLastError()),
+ &uv_null_buf_);
+ goto out;
+ }
+
+ /* Windows sends a lot of events that we're not interested in, so buf will be
+ * allocated on demand, when there's actually something to emit. */
+ buf = uv_null_buf_;
+ buf_used = 0;
+
+ while ((records_left > 0 || handle->tty.rd.last_key_len > 0) &&
+ (handle->flags & UV_HANDLE_READING)) {
+ if (handle->tty.rd.last_key_len == 0) {
+ /* Read the next input record */
+ if (!ReadConsoleInputW(handle->handle,
+ &handle->tty.rd.last_input_record,
+ 1,
+ &records_read)) {
+ handle->flags &= ~UV_HANDLE_READING;
+ DECREASE_ACTIVE_COUNT(loop, handle);
+ handle->read_cb((uv_stream_t*) handle,
+ uv_translate_sys_error(GetLastError()),
+ &buf);
+ goto out;
+ }
+ records_left--;
+
+ /* Ignore other events that are not key events. */
+ if (handle->tty.rd.last_input_record.EventType != KEY_EVENT) {
+ continue;
+ }
+
+ /* Ignore keyup events, unless the left alt key was held and a valid
+ * unicode character was emitted. */
+ if (!KEV.bKeyDown &&
+ (KEV.wVirtualKeyCode != VK_MENU ||
+ KEV.uChar.UnicodeChar == 0)) {
+ continue;
+ }
+
+ /* Ignore keypresses to numpad number keys if the left alt is held
+ * because the user is composing a character, or windows simulating this.
+ */
+ if ((KEV.dwControlKeyState & LEFT_ALT_PRESSED) &&
+ !(KEV.dwControlKeyState & ENHANCED_KEY) &&
+ (KEV.wVirtualKeyCode == VK_INSERT ||
+ KEV.wVirtualKeyCode == VK_END ||
+ KEV.wVirtualKeyCode == VK_DOWN ||
+ KEV.wVirtualKeyCode == VK_NEXT ||
+ KEV.wVirtualKeyCode == VK_LEFT ||
+ KEV.wVirtualKeyCode == VK_CLEAR ||
+ KEV.wVirtualKeyCode == VK_RIGHT ||
+ KEV.wVirtualKeyCode == VK_HOME ||
+ KEV.wVirtualKeyCode == VK_UP ||
+ KEV.wVirtualKeyCode == VK_PRIOR ||
+ KEV.wVirtualKeyCode == VK_NUMPAD0 ||
+ KEV.wVirtualKeyCode == VK_NUMPAD1 ||
+ KEV.wVirtualKeyCode == VK_NUMPAD2 ||
+ KEV.wVirtualKeyCode == VK_NUMPAD3 ||
+ KEV.wVirtualKeyCode == VK_NUMPAD4 ||
+ KEV.wVirtualKeyCode == VK_NUMPAD5 ||
+ KEV.wVirtualKeyCode == VK_NUMPAD6 ||
+ KEV.wVirtualKeyCode == VK_NUMPAD7 ||
+ KEV.wVirtualKeyCode == VK_NUMPAD8 ||
+ KEV.wVirtualKeyCode == VK_NUMPAD9)) {
+ continue;
+ }
+
+ if (KEV.uChar.UnicodeChar != 0) {
+ int prefix_len, char_len;
+
+ /* Character key pressed */
+ if (KEV.uChar.UnicodeChar >= 0xD800 &&
+ KEV.uChar.UnicodeChar < 0xDC00) {
+ /* UTF-16 high surrogate */
+ handle->tty.rd.last_utf16_high_surrogate = KEV.uChar.UnicodeChar;
+ continue;
+ }
+
+ /* Prefix with \u033 if alt was held, but alt was not used as part a
+ * compose sequence. */
+ if ((KEV.dwControlKeyState & (LEFT_ALT_PRESSED | RIGHT_ALT_PRESSED))
+ && !(KEV.dwControlKeyState & (LEFT_CTRL_PRESSED |
+ RIGHT_CTRL_PRESSED)) && KEV.bKeyDown) {
+ handle->tty.rd.last_key[0] = '\033';
+ prefix_len = 1;
+ } else {
+ prefix_len = 0;
+ }
+
+ if (KEV.uChar.UnicodeChar >= 0xDC00 &&
+ KEV.uChar.UnicodeChar < 0xE000) {
+ /* UTF-16 surrogate pair */
+ WCHAR utf16_buffer[2];
+ utf16_buffer[0] = handle->tty.rd.last_utf16_high_surrogate;
+ utf16_buffer[1] = KEV.uChar.UnicodeChar;
+ char_len = WideCharToMultiByte(CP_UTF8,
+ 0,
+ utf16_buffer,
+ 2,
+ &handle->tty.rd.last_key[prefix_len],
+ sizeof handle->tty.rd.last_key,
+ NULL,
+ NULL);
+ } else {
+ /* Single UTF-16 character */
+ char_len = WideCharToMultiByte(CP_UTF8,
+ 0,
+ &KEV.uChar.UnicodeChar,
+ 1,
+ &handle->tty.rd.last_key[prefix_len],
+ sizeof handle->tty.rd.last_key,
+ NULL,
+ NULL);
+ }
+
+ /* Whatever happened, the last character wasn't a high surrogate. */
+ handle->tty.rd.last_utf16_high_surrogate = 0;
+
+ /* If the utf16 character(s) couldn't be converted something must be
+ * wrong. */
+ if (!char_len) {
+ handle->flags &= ~UV_HANDLE_READING;
+ DECREASE_ACTIVE_COUNT(loop, handle);
+ handle->read_cb((uv_stream_t*) handle,
+ uv_translate_sys_error(GetLastError()),
+ &buf);
+ goto out;
+ }
+
+ handle->tty.rd.last_key_len = (unsigned char) (prefix_len + char_len);
+ handle->tty.rd.last_key_offset = 0;
+ continue;
+
+ } else {
+ /* Function key pressed */
+ const char* vt100;
+ size_t prefix_len, vt100_len;
+
+ vt100 = get_vt100_fn_key(KEV.wVirtualKeyCode,
+ !!(KEV.dwControlKeyState & SHIFT_PRESSED),
+ !!(KEV.dwControlKeyState & (
+ LEFT_CTRL_PRESSED |
+ RIGHT_CTRL_PRESSED)),
+ &vt100_len);
+
+ /* If we were unable to map to a vt100 sequence, just ignore. */
+ if (!vt100) {
+ continue;
+ }
+
+ /* Prefix with \x033 when the alt key was held. */
+ if (KEV.dwControlKeyState & (LEFT_ALT_PRESSED | RIGHT_ALT_PRESSED)) {
+ handle->tty.rd.last_key[0] = '\033';
+ prefix_len = 1;
+ } else {
+ prefix_len = 0;
+ }
+
+ /* Copy the vt100 sequence to the handle buffer. */
+ assert(prefix_len + vt100_len < sizeof handle->tty.rd.last_key);
+ memcpy(&handle->tty.rd.last_key[prefix_len], vt100, vt100_len);
+
+ handle->tty.rd.last_key_len = (unsigned char) (prefix_len + vt100_len);
+ handle->tty.rd.last_key_offset = 0;
+ continue;
+ }
+ } else {
+ /* Copy any bytes left from the last keypress to the user buffer. */
+ if (handle->tty.rd.last_key_offset < handle->tty.rd.last_key_len) {
+ /* Allocate a buffer if needed */
+ if (buf_used == 0) {
+ buf = uv_buf_init(NULL, 0);
+ handle->alloc_cb((uv_handle_t*) handle, 1024, &buf);
+ if (buf.base == NULL || buf.len == 0) {
+ handle->read_cb((uv_stream_t*) handle, UV_ENOBUFS, &buf);
+ goto out;
+ }
+ assert(buf.base != NULL);
+ }
+
+ buf.base[buf_used++] = handle->tty.rd.last_key[handle->tty.rd.last_key_offset++];
+
+ /* If the buffer is full, emit it */
+ if ((size_t) buf_used == buf.len) {
+ handle->read_cb((uv_stream_t*) handle, buf_used, &buf);
+ buf = uv_null_buf_;
+ buf_used = 0;
+ }
+
+ continue;
+ }
+
+ /* Apply dwRepeat from the last input record. */
+ if (--KEV.wRepeatCount > 0) {
+ handle->tty.rd.last_key_offset = 0;
+ continue;
+ }
+
+ handle->tty.rd.last_key_len = 0;
+ continue;
+ }
+ }
+
+ /* Send the buffer back to the user */
+ if (buf_used > 0) {
+ handle->read_cb((uv_stream_t*) handle, buf_used, &buf);
+ }
+
+ out:
+ /* Wait for more input events. */
+ if ((handle->flags & UV_HANDLE_READING) &&
+ !(handle->flags & UV_HANDLE_READ_PENDING)) {
+ uv_tty_queue_read(loop, handle);
+ }
+
+ DECREASE_PENDING_REQ_COUNT(handle);
+
+#undef KEV
+}
+
+
+
+void uv_process_tty_read_line_req(uv_loop_t* loop, uv_tty_t* handle,
+ uv_req_t* req) {
+ uv_buf_t buf;
+
+ assert(handle->type == UV_TTY);
+ assert(handle->flags & UV_HANDLE_TTY_READABLE);
+
+ buf = handle->tty.rd.read_line_buffer;
+
+ handle->flags &= ~UV_HANDLE_READ_PENDING;
+ handle->tty.rd.read_line_buffer = uv_null_buf_;
+
+ if (!REQ_SUCCESS(req)) {
+ /* Read was not successful */
+ if (handle->flags & UV_HANDLE_READING) {
+ /* Real error */
+ handle->flags &= ~UV_HANDLE_READING;
+ DECREASE_ACTIVE_COUNT(loop, handle);
+ handle->read_cb((uv_stream_t*) handle,
+ uv_translate_sys_error(GET_REQ_ERROR(req)),
+ &buf);
+ }
+ } else {
+ if (!(handle->flags & UV_HANDLE_CANCELLATION_PENDING) &&
+ req->u.io.overlapped.InternalHigh != 0) {
+ /* Read successful. TODO: read unicode, convert to utf-8 */
+ DWORD bytes = req->u.io.overlapped.InternalHigh;
+ handle->read_cb((uv_stream_t*) handle, bytes, &buf);
+ }
+ handle->flags &= ~UV_HANDLE_CANCELLATION_PENDING;
+ }
+
+ /* Wait for more input events. */
+ if ((handle->flags & UV_HANDLE_READING) &&
+ !(handle->flags & UV_HANDLE_READ_PENDING)) {
+ uv_tty_queue_read(loop, handle);
+ }
+
+ DECREASE_PENDING_REQ_COUNT(handle);
+}
+
+
+void uv_process_tty_read_req(uv_loop_t* loop, uv_tty_t* handle,
+ uv_req_t* req) {
+ assert(handle->type == UV_TTY);
+ assert(handle->flags & UV_HANDLE_TTY_READABLE);
+
+ /* If the read_line_buffer member is zero, it must have been an raw read.
+ * Otherwise it was a line-buffered read. FIXME: This is quite obscure. Use a
+ * flag or something. */
+ if (handle->tty.rd.read_line_buffer.len == 0) {
+ uv_process_tty_read_raw_req(loop, handle, req);
+ } else {
+ uv_process_tty_read_line_req(loop, handle, req);
+ }
+}
+
+
+int uv_tty_read_start(uv_tty_t* handle, uv_alloc_cb alloc_cb,
+ uv_read_cb read_cb) {
+ uv_loop_t* loop = handle->loop;
+
+ if (!(handle->flags & UV_HANDLE_TTY_READABLE)) {
+ return ERROR_INVALID_PARAMETER;
+ }
+
+ handle->flags |= UV_HANDLE_READING;
+ INCREASE_ACTIVE_COUNT(loop, handle);
+ handle->read_cb = read_cb;
+ handle->alloc_cb = alloc_cb;
+
+ /* If reading was stopped and then started again, there could still be a read
+ * request pending. */
+ if (handle->flags & UV_HANDLE_READ_PENDING) {
+ return 0;
+ }
+
+ /* Maybe the user stopped reading half-way while processing key events.
+ * Short-circuit if this could be the case. */
+ if (handle->tty.rd.last_key_len > 0) {
+ SET_REQ_SUCCESS(&handle->read_req);
+ uv_insert_pending_req(handle->loop, (uv_req_t*) &handle->read_req);
+ /* Make sure no attempt is made to insert it again until it's handled. */
+ handle->flags |= UV_HANDLE_READ_PENDING;
+ handle->reqs_pending++;
+ return 0;
+ }
+
+ uv_tty_queue_read(loop, handle);
+
+ return 0;
+}
+
+
+int uv_tty_read_stop(uv_tty_t* handle) {
+ INPUT_RECORD record;
+ DWORD written, err;
+
+ handle->flags &= ~UV_HANDLE_READING;
+ DECREASE_ACTIVE_COUNT(handle->loop, handle);
+
+ if (!(handle->flags & UV_HANDLE_READ_PENDING))
+ return 0;
+
+ if (handle->flags & UV_HANDLE_TTY_RAW) {
+ /* Cancel raw read. Write some bullshit event to force the console wait to
+ * return. */
+ memset(&record, 0, sizeof record);
+ record.EventType = FOCUS_EVENT;
+ if (!WriteConsoleInputW(handle->handle, &record, 1, &written)) {
+ return GetLastError();
+ }
+ } else if (!(handle->flags & UV_HANDLE_CANCELLATION_PENDING)) {
+ /* Cancel line-buffered read if not already pending */
+ err = uv__cancel_read_console(handle);
+ if (err)
+ return err;
+
+ handle->flags |= UV_HANDLE_CANCELLATION_PENDING;
+ }
+
+ return 0;
+}
+
+static int uv__cancel_read_console(uv_tty_t* handle) {
+ HANDLE active_screen_buffer = INVALID_HANDLE_VALUE;
+ INPUT_RECORD record;
+ DWORD written;
+ DWORD err = 0;
+ LONG status;
+
+ assert(!(handle->flags & UV_HANDLE_CANCELLATION_PENDING));
+
+ /* Hold the output lock during the cancellation, to ensure that further
+ writes don't interfere with the screen state. It will be the ReadConsole
+ thread's responsibility to release the lock. */
+ uv_sem_wait(&uv_tty_output_lock);
+ status = InterlockedExchange(&uv__read_console_status, TRAP_REQUESTED);
+ if (status != IN_PROGRESS) {
+ /* Either we have managed to set a trap for the other thread before
+ ReadConsole is called, or ReadConsole has returned because the user
+ has pressed ENTER. In either case, there is nothing else to do. */
+ uv_sem_post(&uv_tty_output_lock);
+ return 0;
+ }
+
+ /* Save screen state before sending the VK_RETURN event */
+ active_screen_buffer = CreateFileA("conout$",
+ GENERIC_READ | GENERIC_WRITE,
+ FILE_SHARE_READ | FILE_SHARE_WRITE,
+ NULL,
+ OPEN_EXISTING,
+ FILE_ATTRIBUTE_NORMAL,
+ NULL);
+
+ if (active_screen_buffer != INVALID_HANDLE_VALUE &&
+ GetConsoleScreenBufferInfo(active_screen_buffer,
+ &uv__saved_screen_state)) {
+ InterlockedOr(&uv__restore_screen_state, 1);
+ }
+
+ /* Write enter key event to force the console wait to return. */
+ record.EventType = KEY_EVENT;
+ record.Event.KeyEvent.bKeyDown = TRUE;
+ record.Event.KeyEvent.wRepeatCount = 1;
+ record.Event.KeyEvent.wVirtualKeyCode = VK_RETURN;
+ record.Event.KeyEvent.wVirtualScanCode =
+ MapVirtualKeyW(VK_RETURN, MAPVK_VK_TO_VSC);
+ record.Event.KeyEvent.uChar.UnicodeChar = L'\r';
+ record.Event.KeyEvent.dwControlKeyState = 0;
+ if (!WriteConsoleInputW(handle->handle, &record, 1, &written))
+ err = GetLastError();
+
+ if (active_screen_buffer != INVALID_HANDLE_VALUE)
+ CloseHandle(active_screen_buffer);
+
+ return err;
+}
+
+
+static void uv_tty_update_virtual_window(CONSOLE_SCREEN_BUFFER_INFO* info) {
+ uv_tty_virtual_width = info->dwSize.X;
+ uv_tty_virtual_height = info->srWindow.Bottom - info->srWindow.Top + 1;
+
+ /* Recompute virtual window offset row. */
+ if (uv_tty_virtual_offset == -1) {
+ uv_tty_virtual_offset = info->dwCursorPosition.Y;
+ } else if (uv_tty_virtual_offset < info->dwCursorPosition.Y -
+ uv_tty_virtual_height + 1) {
+ /* If suddenly find the cursor outside of the virtual window, it must have
+ * somehow scrolled. Update the virtual window offset. */
+ uv_tty_virtual_offset = info->dwCursorPosition.Y -
+ uv_tty_virtual_height + 1;
+ }
+ if (uv_tty_virtual_offset + uv_tty_virtual_height > info->dwSize.Y) {
+ uv_tty_virtual_offset = info->dwSize.Y - uv_tty_virtual_height;
+ }
+ if (uv_tty_virtual_offset < 0) {
+ uv_tty_virtual_offset = 0;
+ }
+}
+
+
+static COORD uv_tty_make_real_coord(uv_tty_t* handle,
+ CONSOLE_SCREEN_BUFFER_INFO* info, int x, unsigned char x_relative, int y,
+ unsigned char y_relative) {
+ COORD result;
+
+ uv_tty_update_virtual_window(info);
+
+ /* Adjust y position */
+ if (y_relative) {
+ y = info->dwCursorPosition.Y + y;
+ } else {
+ y = uv_tty_virtual_offset + y;
+ }
+ /* Clip y to virtual client rectangle */
+ if (y < uv_tty_virtual_offset) {
+ y = uv_tty_virtual_offset;
+ } else if (y >= uv_tty_virtual_offset + uv_tty_virtual_height) {
+ y = uv_tty_virtual_offset + uv_tty_virtual_height - 1;
+ }
+
+ /* Adjust x */
+ if (x_relative) {
+ x = info->dwCursorPosition.X + x;
+ }
+ /* Clip x */
+ if (x < 0) {
+ x = 0;
+ } else if (x >= uv_tty_virtual_width) {
+ x = uv_tty_virtual_width - 1;
+ }
+
+ result.X = (unsigned short) x;
+ result.Y = (unsigned short) y;
+ return result;
+}
+
+
+static int uv_tty_emit_text(uv_tty_t* handle, WCHAR buffer[], DWORD length,
+ DWORD* error) {
+ DWORD written;
+
+ if (*error != ERROR_SUCCESS) {
+ return -1;
+ }
+
+ if (!WriteConsoleW(handle->handle,
+ (void*) buffer,
+ length,
+ &written,
+ NULL)) {
+ *error = GetLastError();
+ return -1;
+ }
+
+ return 0;
+}
+
+
+static int uv_tty_move_caret(uv_tty_t* handle, int x, unsigned char x_relative,
+ int y, unsigned char y_relative, DWORD* error) {
+ CONSOLE_SCREEN_BUFFER_INFO info;
+ COORD pos;
+
+ if (*error != ERROR_SUCCESS) {
+ return -1;
+ }
+
+ retry:
+ if (!GetConsoleScreenBufferInfo(handle->handle, &info)) {
+ *error = GetLastError();
+ }
+
+ pos = uv_tty_make_real_coord(handle, &info, x, x_relative, y, y_relative);
+
+ if (!SetConsoleCursorPosition(handle->handle, pos)) {
+ if (GetLastError() == ERROR_INVALID_PARAMETER) {
+ /* The console may be resized - retry */
+ goto retry;
+ } else {
+ *error = GetLastError();
+ return -1;
+ }
+ }
+
+ return 0;
+}
+
+
+static int uv_tty_reset(uv_tty_t* handle, DWORD* error) {
+ const COORD origin = {0, 0};
+ const WORD char_attrs = uv_tty_default_text_attributes;
+ CONSOLE_SCREEN_BUFFER_INFO info;
+ DWORD count, written;
+
+ if (*error != ERROR_SUCCESS) {
+ return -1;
+ }
+
+ /* Reset original text attributes. */
+ if (!SetConsoleTextAttribute(handle->handle, char_attrs)) {
+ *error = GetLastError();
+ return -1;
+ }
+
+ /* Move the cursor position to (0, 0). */
+ if (!SetConsoleCursorPosition(handle->handle, origin)) {
+ *error = GetLastError();
+ return -1;
+ }
+
+ /* Clear the screen buffer. */
+ retry:
+ if (!GetConsoleScreenBufferInfo(handle->handle, &info)) {
+ *error = GetLastError();
+ return -1;
+ }
+
+ count = info.dwSize.X * info.dwSize.Y;
+
+ if (!(FillConsoleOutputCharacterW(handle->handle,
+ L'\x20',
+ count,
+ origin,
+ &written) &&
+ FillConsoleOutputAttribute(handle->handle,
+ char_attrs,
+ written,
+ origin,
+ &written))) {
+ if (GetLastError() == ERROR_INVALID_PARAMETER) {
+ /* The console may be resized - retry */
+ goto retry;
+ } else {
+ *error = GetLastError();
+ return -1;
+ }
+ }
+
+ /* Move the virtual window up to the top. */
+ uv_tty_virtual_offset = 0;
+ uv_tty_update_virtual_window(&info);
+
+ return 0;
+}
+
+
+static int uv_tty_clear(uv_tty_t* handle, int dir, char entire_screen,
+ DWORD* error) {
+ CONSOLE_SCREEN_BUFFER_INFO info;
+ COORD start, end;
+ DWORD count, written;
+
+ int x1, x2, y1, y2;
+ int x1r, x2r, y1r, y2r;
+
+ if (*error != ERROR_SUCCESS) {
+ return -1;
+ }
+
+ if (dir == 0) {
+ /* Clear from current position */
+ x1 = 0;
+ x1r = 1;
+ } else {
+ /* Clear from column 0 */
+ x1 = 0;
+ x1r = 0;
+ }
+
+ if (dir == 1) {
+ /* Clear to current position */
+ x2 = 0;
+ x2r = 1;
+ } else {
+ /* Clear to end of row. We pretend the console is 65536 characters wide,
+ * uv_tty_make_real_coord will clip it to the actual console width. */
+ x2 = 0xffff;
+ x2r = 0;
+ }
+
+ if (!entire_screen) {
+ /* Stay on our own row */
+ y1 = y2 = 0;
+ y1r = y2r = 1;
+ } else {
+ /* Apply columns direction to row */
+ y1 = x1;
+ y1r = x1r;
+ y2 = x2;
+ y2r = x2r;
+ }
+
+ retry:
+ if (!GetConsoleScreenBufferInfo(handle->handle, &info)) {
+ *error = GetLastError();
+ return -1;
+ }
+
+ start = uv_tty_make_real_coord(handle, &info, x1, x1r, y1, y1r);
+ end = uv_tty_make_real_coord(handle, &info, x2, x2r, y2, y2r);
+ count = (end.Y * info.dwSize.X + end.X) -
+ (start.Y * info.dwSize.X + start.X) + 1;
+
+ if (!(FillConsoleOutputCharacterW(handle->handle,
+ L'\x20',
+ count,
+ start,
+ &written) &&
+ FillConsoleOutputAttribute(handle->handle,
+ info.wAttributes,
+ written,
+ start,
+ &written))) {
+ if (GetLastError() == ERROR_INVALID_PARAMETER) {
+ /* The console may be resized - retry */
+ goto retry;
+ } else {
+ *error = GetLastError();
+ return -1;
+ }
+ }
+
+ return 0;
+}
+
+#define FLIP_FGBG \
+ do { \
+ WORD fg = info.wAttributes & 0xF; \
+ WORD bg = info.wAttributes & 0xF0; \
+ info.wAttributes &= 0xFF00; \
+ info.wAttributes |= fg << 4; \
+ info.wAttributes |= bg >> 4; \
+ } while (0)
+
+static int uv_tty_set_style(uv_tty_t* handle, DWORD* error) {
+ unsigned short argc = handle->tty.wr.ansi_csi_argc;
+ unsigned short* argv = handle->tty.wr.ansi_csi_argv;
+ int i;
+ CONSOLE_SCREEN_BUFFER_INFO info;
+
+ char fg_color = -1, bg_color = -1;
+ char fg_bright = -1, bg_bright = -1;
+ char inverse = -1;
+
+ if (argc == 0) {
+ /* Reset mode */
+ fg_color = uv_tty_default_fg_color;
+ bg_color = uv_tty_default_bg_color;
+ fg_bright = uv_tty_default_fg_bright;
+ bg_bright = uv_tty_default_bg_bright;
+ inverse = uv_tty_default_inverse;
+ }
+
+ for (i = 0; i < argc; i++) {
+ short arg = argv[i];
+
+ if (arg == 0) {
+ /* Reset mode */
+ fg_color = uv_tty_default_fg_color;
+ bg_color = uv_tty_default_bg_color;
+ fg_bright = uv_tty_default_fg_bright;
+ bg_bright = uv_tty_default_bg_bright;
+ inverse = uv_tty_default_inverse;
+
+ } else if (arg == 1) {
+ /* Foreground bright on */
+ fg_bright = 1;
+
+ } else if (arg == 2) {
+ /* Both bright off */
+ fg_bright = 0;
+ bg_bright = 0;
+
+ } else if (arg == 5) {
+ /* Background bright on */
+ bg_bright = 1;
+
+ } else if (arg == 7) {
+ /* Inverse: on */
+ inverse = 1;
+
+ } else if (arg == 21 || arg == 22) {
+ /* Foreground bright off */
+ fg_bright = 0;
+
+ } else if (arg == 25) {
+ /* Background bright off */
+ bg_bright = 0;
+
+ } else if (arg == 27) {
+ /* Inverse: off */
+ inverse = 0;
+
+ } else if (arg >= 30 && arg <= 37) {
+ /* Set foreground color */
+ fg_color = arg - 30;
+
+ } else if (arg == 39) {
+ /* Default text color */
+ fg_color = uv_tty_default_fg_color;
+ fg_bright = uv_tty_default_fg_bright;
+
+ } else if (arg >= 40 && arg <= 47) {
+ /* Set background color */
+ bg_color = arg - 40;
+
+ } else if (arg == 49) {
+ /* Default background color */
+ bg_color = uv_tty_default_bg_color;
+ bg_bright = uv_tty_default_bg_bright;
+
+ } else if (arg >= 90 && arg <= 97) {
+ /* Set bold foreground color */
+ fg_bright = 1;
+ fg_color = arg - 90;
+
+ } else if (arg >= 100 && arg <= 107) {
+ /* Set bold background color */
+ bg_bright = 1;
+ bg_color = arg - 100;
+
+ }
+ }
+
+ if (fg_color == -1 && bg_color == -1 && fg_bright == -1 &&
+ bg_bright == -1 && inverse == -1) {
+ /* Nothing changed */
+ return 0;
+ }
+
+ if (!GetConsoleScreenBufferInfo(handle->handle, &info)) {
+ *error = GetLastError();
+ return -1;
+ }
+
+ if ((info.wAttributes & COMMON_LVB_REVERSE_VIDEO) > 0) {
+ FLIP_FGBG;
+ }
+
+ if (fg_color != -1) {
+ info.wAttributes &= ~(FOREGROUND_RED | FOREGROUND_GREEN | FOREGROUND_BLUE);
+ if (fg_color & 1) info.wAttributes |= FOREGROUND_RED;
+ if (fg_color & 2) info.wAttributes |= FOREGROUND_GREEN;
+ if (fg_color & 4) info.wAttributes |= FOREGROUND_BLUE;
+ }
+
+ if (fg_bright != -1) {
+ if (fg_bright) {
+ info.wAttributes |= FOREGROUND_INTENSITY;
+ } else {
+ info.wAttributes &= ~FOREGROUND_INTENSITY;
+ }
+ }
+
+ if (bg_color != -1) {
+ info.wAttributes &= ~(BACKGROUND_RED | BACKGROUND_GREEN | BACKGROUND_BLUE);
+ if (bg_color & 1) info.wAttributes |= BACKGROUND_RED;
+ if (bg_color & 2) info.wAttributes |= BACKGROUND_GREEN;
+ if (bg_color & 4) info.wAttributes |= BACKGROUND_BLUE;
+ }
+
+ if (bg_bright != -1) {
+ if (bg_bright) {
+ info.wAttributes |= BACKGROUND_INTENSITY;
+ } else {
+ info.wAttributes &= ~BACKGROUND_INTENSITY;
+ }
+ }
+
+ if (inverse != -1) {
+ if (inverse) {
+ info.wAttributes |= COMMON_LVB_REVERSE_VIDEO;
+ } else {
+ info.wAttributes &= ~COMMON_LVB_REVERSE_VIDEO;
+ }
+ }
+
+ if ((info.wAttributes & COMMON_LVB_REVERSE_VIDEO) > 0) {
+ FLIP_FGBG;
+ }
+
+ if (!SetConsoleTextAttribute(handle->handle, info.wAttributes)) {
+ *error = GetLastError();
+ return -1;
+ }
+
+ return 0;
+}
+
+
+static int uv_tty_save_state(uv_tty_t* handle, unsigned char save_attributes,
+ DWORD* error) {
+ CONSOLE_SCREEN_BUFFER_INFO info;
+
+ if (*error != ERROR_SUCCESS) {
+ return -1;
+ }
+
+ if (!GetConsoleScreenBufferInfo(handle->handle, &info)) {
+ *error = GetLastError();
+ return -1;
+ }
+
+ uv_tty_update_virtual_window(&info);
+
+ handle->tty.wr.saved_position.X = info.dwCursorPosition.X;
+ handle->tty.wr.saved_position.Y = info.dwCursorPosition.Y - uv_tty_virtual_offset;
+ handle->flags |= UV_HANDLE_TTY_SAVED_POSITION;
+
+ if (save_attributes) {
+ handle->tty.wr.saved_attributes = info.wAttributes &
+ (FOREGROUND_INTENSITY | BACKGROUND_INTENSITY);
+ handle->flags |= UV_HANDLE_TTY_SAVED_ATTRIBUTES;
+ }
+
+ return 0;
+}
+
+
+static int uv_tty_restore_state(uv_tty_t* handle,
+ unsigned char restore_attributes, DWORD* error) {
+ CONSOLE_SCREEN_BUFFER_INFO info;
+ WORD new_attributes;
+
+ if (*error != ERROR_SUCCESS) {
+ return -1;
+ }
+
+ if (handle->flags & UV_HANDLE_TTY_SAVED_POSITION) {
+ if (uv_tty_move_caret(handle,
+ handle->tty.wr.saved_position.X,
+ 0,
+ handle->tty.wr.saved_position.Y,
+ 0,
+ error) != 0) {
+ return -1;
+ }
+ }
+
+ if (restore_attributes &&
+ (handle->flags & UV_HANDLE_TTY_SAVED_ATTRIBUTES)) {
+ if (!GetConsoleScreenBufferInfo(handle->handle, &info)) {
+ *error = GetLastError();
+ return -1;
+ }
+
+ new_attributes = info.wAttributes;
+ new_attributes &= ~(FOREGROUND_INTENSITY | BACKGROUND_INTENSITY);
+ new_attributes |= handle->tty.wr.saved_attributes;
+
+ if (!SetConsoleTextAttribute(handle->handle, new_attributes)) {
+ *error = GetLastError();
+ return -1;
+ }
+ }
+
+ return 0;
+}
+
+static int uv_tty_set_cursor_visibility(uv_tty_t* handle,
+ BOOL visible,
+ DWORD* error) {
+ CONSOLE_CURSOR_INFO cursor_info;
+
+ if (!GetConsoleCursorInfo(handle->handle, &cursor_info)) {
+ *error = GetLastError();
+ return -1;
+ }
+
+ cursor_info.bVisible = visible;
+
+ if (!SetConsoleCursorInfo(handle->handle, &cursor_info)) {
+ *error = GetLastError();
+ return -1;
+ }
+
+ return 0;
+}
+
+static int uv_tty_write_bufs(uv_tty_t* handle,
+ const uv_buf_t bufs[],
+ unsigned int nbufs,
+ DWORD* error) {
+ /* We can only write 8k characters at a time. Windows can't handle much more
+ * characters in a single console write anyway. */
+ WCHAR utf16_buf[MAX_CONSOLE_CHAR];
+ WCHAR* utf16_buffer;
+ DWORD utf16_buf_used = 0;
+ unsigned int i, len, max_len, pos;
+ int allocate = 0;
+
+#define FLUSH_TEXT() \
+ do { \
+ pos = 0; \
+ do { \
+ len = utf16_buf_used - pos; \
+ if (len > MAX_CONSOLE_CHAR) \
+ len = MAX_CONSOLE_CHAR; \
+ uv_tty_emit_text(handle, &utf16_buffer[pos], len, error); \
+ pos += len; \
+ } while (pos < utf16_buf_used); \
+ if (allocate) { \
+ uv__free(utf16_buffer); \
+ allocate = 0; \
+ utf16_buffer = utf16_buf; \
+ } \
+ utf16_buf_used = 0; \
+ } while (0)
+
+#define ENSURE_BUFFER_SPACE(wchars_needed) \
+ if (wchars_needed > ARRAY_SIZE(utf16_buf) - utf16_buf_used) { \
+ FLUSH_TEXT(); \
+ }
+
+ /* Cache for fast access */
+ unsigned char utf8_bytes_left = handle->tty.wr.utf8_bytes_left;
+ unsigned int utf8_codepoint = handle->tty.wr.utf8_codepoint;
+ unsigned char previous_eol = handle->tty.wr.previous_eol;
+ unsigned char ansi_parser_state = handle->tty.wr.ansi_parser_state;
+
+ /* Store the error here. If we encounter an error, stop trying to do i/o but
+ * keep parsing the buffer so we leave the parser in a consistent state. */
+ *error = ERROR_SUCCESS;
+
+ utf16_buffer = utf16_buf;
+
+ uv_sem_wait(&uv_tty_output_lock);
+
+ for (i = 0; i < nbufs; i++) {
+ uv_buf_t buf = bufs[i];
+ unsigned int j;
+
+ if (uv__vterm_state == UV_SUPPORTED && buf.len > 0) {
+ utf16_buf_used = MultiByteToWideChar(CP_UTF8,
+ 0,
+ buf.base,
+ buf.len,
+ NULL,
+ 0);
+
+ if (utf16_buf_used == 0) {
+ *error = GetLastError();
+ break;
+ }
+
+ max_len = (utf16_buf_used + 1) * sizeof(WCHAR);
+ allocate = max_len > MAX_CONSOLE_CHAR;
+ if (allocate)
+ utf16_buffer = (WCHAR*)uv__malloc(max_len);
+ if (!MultiByteToWideChar(CP_UTF8,
+ 0,
+ buf.base,
+ buf.len,
+ utf16_buffer,
+ utf16_buf_used)) {
+ if (allocate)
+ uv__free(utf16_buffer);
+ *error = GetLastError();
+ break;
+ }
+
+ FLUSH_TEXT();
+
+ continue;
+ }
+
+ for (j = 0; j < buf.len; j++) {
+ unsigned char c = buf.base[j];
+
+ /* Run the character through the utf8 decoder We happily accept non
+ * shortest form encodings and invalid code points - there's no real harm
+ * that can be done. */
+ if (utf8_bytes_left == 0) {
+ /* Read utf-8 start byte */
+ DWORD first_zero_bit;
+ unsigned char not_c = ~c;
+#ifdef _MSC_VER /* msvc */
+ if (_BitScanReverse(&first_zero_bit, not_c)) {
+#else /* assume gcc */
+ if (c != 0) {
+ first_zero_bit = (sizeof(int) * 8) - 1 - __builtin_clz(not_c);
+#endif
+ if (first_zero_bit == 7) {
+ /* Ascii - pass right through */
+ utf8_codepoint = (unsigned int) c;
+
+ } else if (first_zero_bit <= 5) {
+ /* Multibyte sequence */
+ utf8_codepoint = (0xff >> (8 - first_zero_bit)) & c;
+ utf8_bytes_left = (char) (6 - first_zero_bit);
+
+ } else {
+ /* Invalid continuation */
+ utf8_codepoint = UNICODE_REPLACEMENT_CHARACTER;
+ }
+
+ } else {
+ /* 0xff -- invalid */
+ utf8_codepoint = UNICODE_REPLACEMENT_CHARACTER;
+ }
+
+ } else if ((c & 0xc0) == 0x80) {
+ /* Valid continuation of utf-8 multibyte sequence */
+ utf8_bytes_left--;
+ utf8_codepoint <<= 6;
+ utf8_codepoint |= ((unsigned int) c & 0x3f);
+
+ } else {
+ /* Start byte where continuation was expected. */
+ utf8_bytes_left = 0;
+ utf8_codepoint = UNICODE_REPLACEMENT_CHARACTER;
+ /* Patch buf offset so this character will be parsed again as a start
+ * byte. */
+ j--;
+ }
+
+ /* Maybe we need to parse more bytes to find a character. */
+ if (utf8_bytes_left != 0) {
+ continue;
+ }
+
+ /* Parse vt100/ansi escape codes */
+ if (ansi_parser_state == ANSI_NORMAL) {
+ switch (utf8_codepoint) {
+ case '\033':
+ ansi_parser_state = ANSI_ESCAPE_SEEN;
+ continue;
+
+ case 0233:
+ ansi_parser_state = ANSI_CSI;
+ handle->tty.wr.ansi_csi_argc = 0;
+ continue;
+ }
+
+ } else if (ansi_parser_state == ANSI_ESCAPE_SEEN) {
+ switch (utf8_codepoint) {
+ case '[':
+ ansi_parser_state = ANSI_CSI;
+ handle->tty.wr.ansi_csi_argc = 0;
+ continue;
+
+ case '^':
+ case '_':
+ case 'P':
+ case ']':
+ /* Not supported, but we'll have to parse until we see a stop code,
+ * e. g. ESC \ or BEL. */
+ ansi_parser_state = ANSI_ST_CONTROL;
+ continue;
+
+ case '\033':
+ /* Ignore double escape. */
+ continue;
+
+ case 'c':
+ /* Full console reset. */
+ FLUSH_TEXT();
+ uv_tty_reset(handle, error);
+ ansi_parser_state = ANSI_NORMAL;
+ continue;
+
+ case '7':
+ /* Save the cursor position and text attributes. */
+ FLUSH_TEXT();
+ uv_tty_save_state(handle, 1, error);
+ ansi_parser_state = ANSI_NORMAL;
+ continue;
+
+ case '8':
+ /* Restore the cursor position and text attributes */
+ FLUSH_TEXT();
+ uv_tty_restore_state(handle, 1, error);
+ ansi_parser_state = ANSI_NORMAL;
+ continue;
+
+ default:
+ if (utf8_codepoint >= '@' && utf8_codepoint <= '_') {
+ /* Single-char control. */
+ ansi_parser_state = ANSI_NORMAL;
+ continue;
+ } else {
+ /* Invalid - proceed as normal, */
+ ansi_parser_state = ANSI_NORMAL;
+ }
+ }
+
+ } else if (ansi_parser_state & ANSI_CSI) {
+ if (!(ansi_parser_state & ANSI_IGNORE)) {
+ if (utf8_codepoint >= '0' && utf8_codepoint <= '9') {
+ /* Parsing a numerical argument */
+
+ if (!(ansi_parser_state & ANSI_IN_ARG)) {
+ /* We were not currently parsing a number */
+
+ /* Check for too many arguments */
+ if (handle->tty.wr.ansi_csi_argc >= ARRAY_SIZE(handle->tty.wr.ansi_csi_argv)) {
+ ansi_parser_state |= ANSI_IGNORE;
+ continue;
+ }
+
+ ansi_parser_state |= ANSI_IN_ARG;
+ handle->tty.wr.ansi_csi_argc++;
+ handle->tty.wr.ansi_csi_argv[handle->tty.wr.ansi_csi_argc - 1] =
+ (unsigned short) utf8_codepoint - '0';
+ continue;
+ } else {
+ /* We were already parsing a number. Parse next digit. */
+ uint32_t value = 10 *
+ handle->tty.wr.ansi_csi_argv[handle->tty.wr.ansi_csi_argc - 1];
+
+ /* Check for overflow. */
+ if (value > UINT16_MAX) {
+ ansi_parser_state |= ANSI_IGNORE;
+ continue;
+ }
+
+ handle->tty.wr.ansi_csi_argv[handle->tty.wr.ansi_csi_argc - 1] =
+ (unsigned short) value + (utf8_codepoint - '0');
+ continue;
+ }
+
+ } else if (utf8_codepoint == ';') {
+ /* Denotes the end of an argument. */
+ if (ansi_parser_state & ANSI_IN_ARG) {
+ ansi_parser_state &= ~ANSI_IN_ARG;
+ continue;
+
+ } else {
+ /* If ANSI_IN_ARG is not set, add another argument and default it
+ * to 0. */
+
+ /* Check for too many arguments */
+ if (handle->tty.wr.ansi_csi_argc >= ARRAY_SIZE(handle->tty.wr.ansi_csi_argv)) {
+ ansi_parser_state |= ANSI_IGNORE;
+ continue;
+ }
+
+ handle->tty.wr.ansi_csi_argc++;
+ handle->tty.wr.ansi_csi_argv[handle->tty.wr.ansi_csi_argc - 1] = 0;
+ continue;
+ }
+
+ } else if (utf8_codepoint == '?' && !(ansi_parser_state & ANSI_IN_ARG) &&
+ handle->tty.wr.ansi_csi_argc == 0) {
+ /* Ignores '?' if it is the first character after CSI[. This is an
+ * extension character from the VT100 codeset that is supported and
+ * used by most ANSI terminals today. */
+ continue;
+
+ } else if (utf8_codepoint >= '@' && utf8_codepoint <= '~' &&
+ (handle->tty.wr.ansi_csi_argc > 0 || utf8_codepoint != '[')) {
+ int x, y, d;
+
+ /* Command byte */
+ switch (utf8_codepoint) {
+ case 'A':
+ /* cursor up */
+ FLUSH_TEXT();
+ y = -(handle->tty.wr.ansi_csi_argc ? handle->tty.wr.ansi_csi_argv[0] : 1);
+ uv_tty_move_caret(handle, 0, 1, y, 1, error);
+ break;
+
+ case 'B':
+ /* cursor down */
+ FLUSH_TEXT();
+ y = handle->tty.wr.ansi_csi_argc ? handle->tty.wr.ansi_csi_argv[0] : 1;
+ uv_tty_move_caret(handle, 0, 1, y, 1, error);
+ break;
+
+ case 'C':
+ /* cursor forward */
+ FLUSH_TEXT();
+ x = handle->tty.wr.ansi_csi_argc ? handle->tty.wr.ansi_csi_argv[0] : 1;
+ uv_tty_move_caret(handle, x, 1, 0, 1, error);
+ break;
+
+ case 'D':
+ /* cursor back */
+ FLUSH_TEXT();
+ x = -(handle->tty.wr.ansi_csi_argc ? handle->tty.wr.ansi_csi_argv[0] : 1);
+ uv_tty_move_caret(handle, x, 1, 0, 1, error);
+ break;
+
+ case 'E':
+ /* cursor next line */
+ FLUSH_TEXT();
+ y = handle->tty.wr.ansi_csi_argc ? handle->tty.wr.ansi_csi_argv[0] : 1;
+ uv_tty_move_caret(handle, 0, 0, y, 1, error);
+ break;
+
+ case 'F':
+ /* cursor previous line */
+ FLUSH_TEXT();
+ y = -(handle->tty.wr.ansi_csi_argc ? handle->tty.wr.ansi_csi_argv[0] : 1);
+ uv_tty_move_caret(handle, 0, 0, y, 1, error);
+ break;
+
+ case 'G':
+ /* cursor horizontal move absolute */
+ FLUSH_TEXT();
+ x = (handle->tty.wr.ansi_csi_argc >= 1 && handle->tty.wr.ansi_csi_argv[0])
+ ? handle->tty.wr.ansi_csi_argv[0] - 1 : 0;
+ uv_tty_move_caret(handle, x, 0, 0, 1, error);
+ break;
+
+ case 'H':
+ case 'f':
+ /* cursor move absolute */
+ FLUSH_TEXT();
+ y = (handle->tty.wr.ansi_csi_argc >= 1 && handle->tty.wr.ansi_csi_argv[0])
+ ? handle->tty.wr.ansi_csi_argv[0] - 1 : 0;
+ x = (handle->tty.wr.ansi_csi_argc >= 2 && handle->tty.wr.ansi_csi_argv[1])
+ ? handle->tty.wr.ansi_csi_argv[1] - 1 : 0;
+ uv_tty_move_caret(handle, x, 0, y, 0, error);
+ break;
+
+ case 'J':
+ /* Erase screen */
+ FLUSH_TEXT();
+ d = handle->tty.wr.ansi_csi_argc ? handle->tty.wr.ansi_csi_argv[0] : 0;
+ if (d >= 0 && d <= 2) {
+ uv_tty_clear(handle, d, 1, error);
+ }
+ break;
+
+ case 'K':
+ /* Erase line */
+ FLUSH_TEXT();
+ d = handle->tty.wr.ansi_csi_argc ? handle->tty.wr.ansi_csi_argv[0] : 0;
+ if (d >= 0 && d <= 2) {
+ uv_tty_clear(handle, d, 0, error);
+ }
+ break;
+
+ case 'm':
+ /* Set style */
+ FLUSH_TEXT();
+ uv_tty_set_style(handle, error);
+ break;
+
+ case 's':
+ /* Save the cursor position. */
+ FLUSH_TEXT();
+ uv_tty_save_state(handle, 0, error);
+ break;
+
+ case 'u':
+ /* Restore the cursor position */
+ FLUSH_TEXT();
+ uv_tty_restore_state(handle, 0, error);
+ break;
+
+ case 'l':
+ /* Hide the cursor */
+ if (handle->tty.wr.ansi_csi_argc == 1 &&
+ handle->tty.wr.ansi_csi_argv[0] == 25) {
+ FLUSH_TEXT();
+ uv_tty_set_cursor_visibility(handle, 0, error);
+ }
+ break;
+
+ case 'h':
+ /* Show the cursor */
+ if (handle->tty.wr.ansi_csi_argc == 1 &&
+ handle->tty.wr.ansi_csi_argv[0] == 25) {
+ FLUSH_TEXT();
+ uv_tty_set_cursor_visibility(handle, 1, error);
+ }
+ break;
+ }
+
+ /* Sequence ended - go back to normal state. */
+ ansi_parser_state = ANSI_NORMAL;
+ continue;
+
+ } else {
+ /* We don't support commands that use private mode characters or
+ * intermediaries. Ignore the rest of the sequence. */
+ ansi_parser_state |= ANSI_IGNORE;
+ continue;
+ }
+ } else {
+ /* We're ignoring this command. Stop only on command character. */
+ if (utf8_codepoint >= '@' && utf8_codepoint <= '~') {
+ ansi_parser_state = ANSI_NORMAL;
+ }
+ continue;
+ }
+
+ } else if (ansi_parser_state & ANSI_ST_CONTROL) {
+ /* Unsupported control code.
+ * Ignore everything until we see `BEL` or `ESC \`. */
+ if (ansi_parser_state & ANSI_IN_STRING) {
+ if (!(ansi_parser_state & ANSI_BACKSLASH_SEEN)) {
+ if (utf8_codepoint == '"') {
+ ansi_parser_state &= ~ANSI_IN_STRING;
+ } else if (utf8_codepoint == '\\') {
+ ansi_parser_state |= ANSI_BACKSLASH_SEEN;
+ }
+ } else {
+ ansi_parser_state &= ~ANSI_BACKSLASH_SEEN;
+ }
+ } else {
+ if (utf8_codepoint == '\007' || (utf8_codepoint == '\\' &&
+ (ansi_parser_state & ANSI_ESCAPE_SEEN))) {
+ /* End of sequence */
+ ansi_parser_state = ANSI_NORMAL;
+ } else if (utf8_codepoint == '\033') {
+ /* Escape character */
+ ansi_parser_state |= ANSI_ESCAPE_SEEN;
+ } else if (utf8_codepoint == '"') {
+ /* String starting */
+ ansi_parser_state |= ANSI_IN_STRING;
+ ansi_parser_state &= ~ANSI_ESCAPE_SEEN;
+ ansi_parser_state &= ~ANSI_BACKSLASH_SEEN;
+ } else {
+ ansi_parser_state &= ~ANSI_ESCAPE_SEEN;
+ }
+ }
+ continue;
+ } else {
+ /* Inconsistent state */
+ abort();
+ }
+
+ /* We wouldn't mind emitting utf-16 surrogate pairs. Too bad, the windows
+ * console doesn't really support UTF-16, so just emit the replacement
+ * character. */
+ if (utf8_codepoint > 0xffff) {
+ utf8_codepoint = UNICODE_REPLACEMENT_CHARACTER;
+ }
+
+ if (utf8_codepoint == 0x0a || utf8_codepoint == 0x0d) {
+ /* EOL conversion - emit \r\n when we see \n. */
+
+ if (utf8_codepoint == 0x0a && previous_eol != 0x0d) {
+ /* \n was not preceded by \r; print \r\n. */
+ ENSURE_BUFFER_SPACE(2);
+ utf16_buf[utf16_buf_used++] = L'\r';
+ utf16_buf[utf16_buf_used++] = L'\n';
+ } else if (utf8_codepoint == 0x0d && previous_eol == 0x0a) {
+ /* \n was followed by \r; do not print the \r, since the source was
+ * either \r\n\r (so the second \r is redundant) or was \n\r (so the
+ * \n was processed by the last case and an \r automatically
+ * inserted). */
+ } else {
+ /* \r without \n; print \r as-is. */
+ ENSURE_BUFFER_SPACE(1);
+ utf16_buf[utf16_buf_used++] = (WCHAR) utf8_codepoint;
+ }
+
+ previous_eol = (char) utf8_codepoint;
+
+ } else if (utf8_codepoint <= 0xffff) {
+ /* Encode character into utf-16 buffer. */
+ ENSURE_BUFFER_SPACE(1);
+ utf16_buf[utf16_buf_used++] = (WCHAR) utf8_codepoint;
+ previous_eol = 0;
+ }
+ }
+ }
+
+ /* Flush remaining characters */
+ FLUSH_TEXT();
+
+ /* Copy cached values back to struct. */
+ handle->tty.wr.utf8_bytes_left = utf8_bytes_left;
+ handle->tty.wr.utf8_codepoint = utf8_codepoint;
+ handle->tty.wr.previous_eol = previous_eol;
+ handle->tty.wr.ansi_parser_state = ansi_parser_state;
+
+ uv_sem_post(&uv_tty_output_lock);
+
+ if (*error == STATUS_SUCCESS) {
+ return 0;
+ } else {
+ return -1;
+ }
+
+#undef FLUSH_TEXT
+}
+
+
+int uv_tty_write(uv_loop_t* loop,
+ uv_write_t* req,
+ uv_tty_t* handle,
+ const uv_buf_t bufs[],
+ unsigned int nbufs,
+ uv_write_cb cb) {
+ DWORD error;
+
+ UV_REQ_INIT(req, UV_WRITE);
+ req->handle = (uv_stream_t*) handle;
+ req->cb = cb;
+
+ handle->reqs_pending++;
+ handle->stream.conn.write_reqs_pending++;
+ REGISTER_HANDLE_REQ(loop, handle, req);
+
+ req->u.io.queued_bytes = 0;
+
+ if (!uv_tty_write_bufs(handle, bufs, nbufs, &error)) {
+ SET_REQ_SUCCESS(req);
+ } else {
+ SET_REQ_ERROR(req, error);
+ }
+
+ uv_insert_pending_req(loop, (uv_req_t*) req);
+
+ return 0;
+}
+
+
+int uv__tty_try_write(uv_tty_t* handle,
+ const uv_buf_t bufs[],
+ unsigned int nbufs) {
+ DWORD error;
+
+ if (handle->stream.conn.write_reqs_pending > 0)
+ return UV_EAGAIN;
+
+ if (uv_tty_write_bufs(handle, bufs, nbufs, &error))
+ return uv_translate_sys_error(error);
+
+ return uv__count_bufs(bufs, nbufs);
+}
+
+
+void uv_process_tty_write_req(uv_loop_t* loop, uv_tty_t* handle,
+ uv_write_t* req) {
+ int err;
+
+ handle->write_queue_size -= req->u.io.queued_bytes;
+ UNREGISTER_HANDLE_REQ(loop, handle, req);
+
+ if (req->cb) {
+ err = GET_REQ_ERROR(req);
+ req->cb(req, uv_translate_sys_error(err));
+ }
+
+ handle->stream.conn.write_reqs_pending--;
+ if (handle->stream.conn.shutdown_req != NULL &&
+ handle->stream.conn.write_reqs_pending == 0) {
+ uv_want_endgame(loop, (uv_handle_t*)handle);
+ }
+
+ DECREASE_PENDING_REQ_COUNT(handle);
+}
+
+
+void uv_tty_close(uv_tty_t* handle) {
+ assert(handle->u.fd == -1 || handle->u.fd > 2);
+ if (handle->flags & UV_HANDLE_READING)
+ uv_tty_read_stop(handle);
+
+ if (handle->u.fd == -1)
+ CloseHandle(handle->handle);
+ else
+ close(handle->u.fd);
+
+ handle->u.fd = -1;
+ handle->handle = INVALID_HANDLE_VALUE;
+ handle->flags &= ~(UV_HANDLE_READABLE | UV_HANDLE_WRITABLE);
+ uv__handle_closing(handle);
+
+ if (handle->reqs_pending == 0) {
+ uv_want_endgame(handle->loop, (uv_handle_t*) handle);
+ }
+}
+
+
+void uv_tty_endgame(uv_loop_t* loop, uv_tty_t* handle) {
+ if (!(handle->flags & UV_HANDLE_TTY_READABLE) &&
+ handle->stream.conn.shutdown_req != NULL &&
+ handle->stream.conn.write_reqs_pending == 0) {
+ UNREGISTER_HANDLE_REQ(loop, handle, handle->stream.conn.shutdown_req);
+
+ /* TTY shutdown is really just a no-op */
+ if (handle->stream.conn.shutdown_req->cb) {
+ if (handle->flags & UV_HANDLE_CLOSING) {
+ handle->stream.conn.shutdown_req->cb(handle->stream.conn.shutdown_req, UV_ECANCELED);
+ } else {
+ handle->stream.conn.shutdown_req->cb(handle->stream.conn.shutdown_req, 0);
+ }
+ }
+
+ handle->stream.conn.shutdown_req = NULL;
+
+ DECREASE_PENDING_REQ_COUNT(handle);
+ return;
+ }
+
+ if (handle->flags & UV_HANDLE_CLOSING &&
+ handle->reqs_pending == 0) {
+ /* The wait handle used for raw reading should be unregistered when the
+ * wait callback runs. */
+ assert(!(handle->flags & UV_HANDLE_TTY_READABLE) ||
+ handle->tty.rd.read_raw_wait == NULL);
+
+ assert(!(handle->flags & UV_HANDLE_CLOSED));
+ uv__handle_close(handle);
+ }
+}
+
+
+/*
+ * uv_process_tty_accept_req() is a stub to keep DELEGATE_STREAM_REQ working
+ * TODO: find a way to remove it
+ */
+void uv_process_tty_accept_req(uv_loop_t* loop, uv_tty_t* handle,
+ uv_req_t* raw_req) {
+ abort();
+}
+
+
+/*
+ * uv_process_tty_connect_req() is a stub to keep DELEGATE_STREAM_REQ working
+ * TODO: find a way to remove it
+ */
+void uv_process_tty_connect_req(uv_loop_t* loop, uv_tty_t* handle,
+ uv_connect_t* req) {
+ abort();
+}
+
+
+int uv_tty_reset_mode(void) {
+ /* Not necessary to do anything. */
+ return 0;
+}
+
+/* Determine whether or not this version of windows supports
+ * proper ANSI color codes. Should be supported as of windows
+ * 10 version 1511, build number 10.0.10586.
+ */
+static void uv__determine_vterm_state(HANDLE handle) {
+ DWORD dwMode = 0;
+
+ if (!GetConsoleMode(handle, &dwMode)) {
+ uv__vterm_state = UV_UNSUPPORTED;
+ return;
+ }
+
+ dwMode |= ENABLE_VIRTUAL_TERMINAL_PROCESSING;
+ if (!SetConsoleMode(handle, dwMode)) {
+ uv__vterm_state = UV_UNSUPPORTED;
+ return;
+ }
+
+ uv__vterm_state = UV_SUPPORTED;
+}
+
+static DWORD WINAPI uv__tty_console_resize_message_loop_thread(void* param) {
+ CONSOLE_SCREEN_BUFFER_INFO sb_info;
+ MSG msg;
+
+ if (!GetConsoleScreenBufferInfo(uv__tty_console_handle, &sb_info))
+ return 0;
+
+ uv__tty_console_width = sb_info.dwSize.X;
+ uv__tty_console_height = sb_info.srWindow.Bottom - sb_info.srWindow.Top + 1;
+
+ if (pSetWinEventHook == NULL)
+ return 0;
+
+ if (!pSetWinEventHook(EVENT_CONSOLE_LAYOUT,
+ EVENT_CONSOLE_LAYOUT,
+ NULL,
+ uv__tty_console_resize_event,
+ 0,
+ 0,
+ WINEVENT_OUTOFCONTEXT))
+ return 0;
+
+ while (GetMessage(&msg, NULL, 0, 0)) {
+ TranslateMessage(&msg);
+ DispatchMessage(&msg);
+ }
+ return 0;
+}
+
+static void CALLBACK uv__tty_console_resize_event(HWINEVENTHOOK hWinEventHook,
+ DWORD event,
+ HWND hwnd,
+ LONG idObject,
+ LONG idChild,
+ DWORD dwEventThread,
+ DWORD dwmsEventTime) {
+ CONSOLE_SCREEN_BUFFER_INFO sb_info;
+ int width, height;
+
+ if (!GetConsoleScreenBufferInfo(uv__tty_console_handle, &sb_info))
+ return;
+
+ width = sb_info.dwSize.X;
+ height = sb_info.srWindow.Bottom - sb_info.srWindow.Top + 1;
+
+ if (width != uv__tty_console_width || height != uv__tty_console_height) {
+ uv__tty_console_width = width;
+ uv__tty_console_height = height;
+ uv__signal_dispatch(SIGWINCH);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/udp.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/udp.cpp
new file mode 100644
index 0000000..8aeeab3
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/udp.cpp
@@ -0,0 +1,1035 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include <assert.h>
+#include <stdlib.h>
+
+#include "uv.h"
+#include "internal.h"
+#include "handle-inl.h"
+#include "stream-inl.h"
+#include "req-inl.h"
+
+
+/*
+ * Threshold of active udp streams for which to preallocate udp read buffers.
+ */
+const unsigned int uv_active_udp_streams_threshold = 0;
+
+/* A zero-size buffer for use by uv_udp_read */
+static char uv_zero_[] = "";
+int uv_udp_getpeername(const uv_udp_t* handle,
+ struct sockaddr* name,
+ int* namelen) {
+
+ return uv__getsockpeername((const uv_handle_t*) handle,
+ getpeername,
+ name,
+ namelen,
+ 0);
+}
+
+
+int uv_udp_getsockname(const uv_udp_t* handle,
+ struct sockaddr* name,
+ int* namelen) {
+
+ return uv__getsockpeername((const uv_handle_t*) handle,
+ getsockname,
+ name,
+ namelen,
+ 0);
+}
+
+
+static int uv_udp_set_socket(uv_loop_t* loop, uv_udp_t* handle, SOCKET socket,
+ int family) {
+ DWORD yes = 1;
+ WSAPROTOCOL_INFOW info;
+ int opt_len;
+
+ if (handle->socket != INVALID_SOCKET)
+ return UV_EBUSY;
+
+ /* Set the socket to nonblocking mode */
+ if (ioctlsocket(socket, FIONBIO, &yes) == SOCKET_ERROR) {
+ return WSAGetLastError();
+ }
+
+ /* Make the socket non-inheritable */
+ if (!SetHandleInformation((HANDLE)socket, HANDLE_FLAG_INHERIT, 0)) {
+ return GetLastError();
+ }
+
+ /* Associate it with the I/O completion port. Use uv_handle_t pointer as
+ * completion key. */
+ if (CreateIoCompletionPort((HANDLE)socket,
+ loop->iocp,
+ (ULONG_PTR)socket,
+ 0) == NULL) {
+ return GetLastError();
+ }
+
+ /* All known Windows that support SetFileCompletionNotificationModes have a
+ * bug that makes it impossible to use this function in conjunction with
+ * datagram sockets. We can work around that but only if the user is using
+ * the default UDP driver (AFD) and has no other. LSPs stacked on top. Here
+ * we check whether that is the case. */
+ opt_len = (int) sizeof info;
+ if (getsockopt(
+ socket, SOL_SOCKET, SO_PROTOCOL_INFOW, (char*) &info, &opt_len) ==
+ SOCKET_ERROR) {
+ return GetLastError();
+ }
+
+ if (info.ProtocolChain.ChainLen == 1) {
+ if (SetFileCompletionNotificationModes(
+ (HANDLE) socket,
+ FILE_SKIP_SET_EVENT_ON_HANDLE |
+ FILE_SKIP_COMPLETION_PORT_ON_SUCCESS)) {
+ handle->flags |= UV_HANDLE_SYNC_BYPASS_IOCP;
+ handle->func_wsarecv = uv_wsarecv_workaround;
+ handle->func_wsarecvfrom = uv_wsarecvfrom_workaround;
+ } else if (GetLastError() != ERROR_INVALID_FUNCTION) {
+ return GetLastError();
+ }
+ }
+
+ handle->socket = socket;
+
+ if (family == AF_INET6) {
+ handle->flags |= UV_HANDLE_IPV6;
+ } else {
+ assert(!(handle->flags & UV_HANDLE_IPV6));
+ }
+
+ return 0;
+}
+
+
+int uv_udp_init_ex(uv_loop_t* loop, uv_udp_t* handle, unsigned int flags) {
+ int domain;
+
+ /* Use the lower 8 bits for the domain */
+ domain = flags & 0xFF;
+ if (domain != AF_INET && domain != AF_INET6 && domain != AF_UNSPEC)
+ return UV_EINVAL;
+
+ if (flags & ~0xFF)
+ return UV_EINVAL;
+
+ uv__handle_init(loop, (uv_handle_t*) handle, UV_UDP);
+ handle->socket = INVALID_SOCKET;
+ handle->reqs_pending = 0;
+ handle->activecnt = 0;
+ handle->func_wsarecv = WSARecv;
+ handle->func_wsarecvfrom = WSARecvFrom;
+ handle->send_queue_size = 0;
+ handle->send_queue_count = 0;
+ UV_REQ_INIT(&handle->recv_req, UV_UDP_RECV);
+ handle->recv_req.data = handle;
+
+ /* If anything fails beyond this point we need to remove the handle from
+ * the handle queue, since it was added by uv__handle_init.
+ */
+
+ if (domain != AF_UNSPEC) {
+ SOCKET sock;
+ DWORD err;
+
+ sock = socket(domain, SOCK_DGRAM, 0);
+ if (sock == INVALID_SOCKET) {
+ err = WSAGetLastError();
+ QUEUE_REMOVE(&handle->handle_queue);
+ return uv_translate_sys_error(err);
+ }
+
+ err = uv_udp_set_socket(handle->loop, handle, sock, domain);
+ if (err) {
+ closesocket(sock);
+ QUEUE_REMOVE(&handle->handle_queue);
+ return uv_translate_sys_error(err);
+ }
+ }
+
+ return 0;
+}
+
+
+int uv_udp_init(uv_loop_t* loop, uv_udp_t* handle) {
+ return uv_udp_init_ex(loop, handle, AF_UNSPEC);
+}
+
+
+void uv_udp_close(uv_loop_t* loop, uv_udp_t* handle) {
+ uv_udp_recv_stop(handle);
+ closesocket(handle->socket);
+ handle->socket = INVALID_SOCKET;
+
+ uv__handle_closing(handle);
+
+ if (handle->reqs_pending == 0) {
+ uv_want_endgame(loop, (uv_handle_t*) handle);
+ }
+}
+
+
+void uv_udp_endgame(uv_loop_t* loop, uv_udp_t* handle) {
+ if (handle->flags & UV_HANDLE_CLOSING &&
+ handle->reqs_pending == 0) {
+ assert(!(handle->flags & UV_HANDLE_CLOSED));
+ uv__handle_close(handle);
+ }
+}
+
+
+static int uv_udp_maybe_bind(uv_udp_t* handle,
+ const struct sockaddr* addr,
+ unsigned int addrlen,
+ unsigned int flags) {
+ int r;
+ int err;
+ DWORD no = 0;
+
+ if (handle->flags & UV_HANDLE_BOUND)
+ return 0;
+
+ if ((flags & UV_UDP_IPV6ONLY) && addr->sa_family != AF_INET6) {
+ /* UV_UDP_IPV6ONLY is supported only for IPV6 sockets */
+ return ERROR_INVALID_PARAMETER;
+ }
+
+ if (handle->socket == INVALID_SOCKET) {
+ SOCKET sock = socket(addr->sa_family, SOCK_DGRAM, 0);
+ if (sock == INVALID_SOCKET) {
+ return WSAGetLastError();
+ }
+
+ err = uv_udp_set_socket(handle->loop, handle, sock, addr->sa_family);
+ if (err) {
+ closesocket(sock);
+ return err;
+ }
+ }
+
+ if (flags & UV_UDP_REUSEADDR) {
+ DWORD yes = 1;
+ /* Set SO_REUSEADDR on the socket. */
+ if (setsockopt(handle->socket,
+ SOL_SOCKET,
+ SO_REUSEADDR,
+ (char*) &yes,
+ sizeof yes) == SOCKET_ERROR) {
+ err = WSAGetLastError();
+ return err;
+ }
+ }
+
+ if (addr->sa_family == AF_INET6)
+ handle->flags |= UV_HANDLE_IPV6;
+
+ if (addr->sa_family == AF_INET6 && !(flags & UV_UDP_IPV6ONLY)) {
+ /* On windows IPV6ONLY is on by default. If the user doesn't specify it
+ * libuv turns it off. */
+
+ /* TODO: how to handle errors? This may fail if there is no ipv4 stack
+ * available, or when run on XP/2003 which have no support for dualstack
+ * sockets. For now we're silently ignoring the error. */
+ setsockopt(handle->socket,
+ IPPROTO_IPV6,
+ IPV6_V6ONLY,
+ (char*) &no,
+ sizeof no);
+ }
+
+ r = bind(handle->socket, addr, addrlen);
+ if (r == SOCKET_ERROR) {
+ return WSAGetLastError();
+ }
+
+ handle->flags |= UV_HANDLE_BOUND;
+
+ return 0;
+}
+
+
+static void uv_udp_queue_recv(uv_loop_t* loop, uv_udp_t* handle) {
+ uv_req_t* req;
+ uv_buf_t buf;
+ DWORD bytes, flags;
+ int result;
+
+ assert(handle->flags & UV_HANDLE_READING);
+ assert(!(handle->flags & UV_HANDLE_READ_PENDING));
+
+ req = &handle->recv_req;
+ memset(&req->u.io.overlapped, 0, sizeof(req->u.io.overlapped));
+
+ /*
+ * Preallocate a read buffer if the number of active streams is below
+ * the threshold.
+ */
+ if (loop->active_udp_streams < uv_active_udp_streams_threshold) {
+ handle->flags &= ~UV_HANDLE_ZERO_READ;
+
+ handle->recv_buffer = uv_buf_init(NULL, 0);
+ handle->alloc_cb((uv_handle_t*) handle, 65536, &handle->recv_buffer);
+ if (handle->recv_buffer.base == NULL || handle->recv_buffer.len == 0) {
+ handle->recv_cb(handle, UV_ENOBUFS, &handle->recv_buffer, NULL, 0);
+ return;
+ }
+ assert(handle->recv_buffer.base != NULL);
+
+ buf = handle->recv_buffer;
+ memset(&handle->recv_from, 0, sizeof handle->recv_from);
+ handle->recv_from_len = sizeof handle->recv_from;
+ flags = 0;
+
+ result = handle->func_wsarecvfrom(handle->socket,
+ (WSABUF*) &buf,
+ 1,
+ &bytes,
+ &flags,
+ (struct sockaddr*) &handle->recv_from,
+ &handle->recv_from_len,
+ &req->u.io.overlapped,
+ NULL);
+
+ if (UV_SUCCEEDED_WITHOUT_IOCP(result == 0)) {
+ /* Process the req without IOCP. */
+ handle->flags |= UV_HANDLE_READ_PENDING;
+ req->u.io.overlapped.InternalHigh = bytes;
+ handle->reqs_pending++;
+ uv_insert_pending_req(loop, req);
+ } else if (UV_SUCCEEDED_WITH_IOCP(result == 0)) {
+ /* The req will be processed with IOCP. */
+ handle->flags |= UV_HANDLE_READ_PENDING;
+ handle->reqs_pending++;
+ } else {
+ /* Make this req pending reporting an error. */
+ SET_REQ_ERROR(req, WSAGetLastError());
+ uv_insert_pending_req(loop, req);
+ handle->reqs_pending++;
+ }
+
+ } else {
+ handle->flags |= UV_HANDLE_ZERO_READ;
+
+ buf.base = (char*) uv_zero_;
+ buf.len = 0;
+ flags = MSG_PEEK;
+
+ result = handle->func_wsarecv(handle->socket,
+ (WSABUF*) &buf,
+ 1,
+ &bytes,
+ &flags,
+ &req->u.io.overlapped,
+ NULL);
+
+ if (UV_SUCCEEDED_WITHOUT_IOCP(result == 0)) {
+ /* Process the req without IOCP. */
+ handle->flags |= UV_HANDLE_READ_PENDING;
+ req->u.io.overlapped.InternalHigh = bytes;
+ handle->reqs_pending++;
+ uv_insert_pending_req(loop, req);
+ } else if (UV_SUCCEEDED_WITH_IOCP(result == 0)) {
+ /* The req will be processed with IOCP. */
+ handle->flags |= UV_HANDLE_READ_PENDING;
+ handle->reqs_pending++;
+ } else {
+ /* Make this req pending reporting an error. */
+ SET_REQ_ERROR(req, WSAGetLastError());
+ uv_insert_pending_req(loop, req);
+ handle->reqs_pending++;
+ }
+ }
+}
+
+
+int uv__udp_recv_start(uv_udp_t* handle, uv_alloc_cb alloc_cb,
+ uv_udp_recv_cb recv_cb) {
+ uv_loop_t* loop = handle->loop;
+ int err;
+
+ if (handle->flags & UV_HANDLE_READING) {
+ return UV_EALREADY;
+ }
+
+ err = uv_udp_maybe_bind(handle,
+ (const struct sockaddr*) &uv_addr_ip4_any_,
+ sizeof(uv_addr_ip4_any_),
+ 0);
+ if (err)
+ return uv_translate_sys_error(err);
+
+ handle->flags |= UV_HANDLE_READING;
+ INCREASE_ACTIVE_COUNT(loop, handle);
+ loop->active_udp_streams++;
+
+ handle->recv_cb = recv_cb;
+ handle->alloc_cb = alloc_cb;
+
+ /* If reading was stopped and then started again, there could still be a recv
+ * request pending. */
+ if (!(handle->flags & UV_HANDLE_READ_PENDING))
+ uv_udp_queue_recv(loop, handle);
+
+ return 0;
+}
+
+
+int uv__udp_recv_stop(uv_udp_t* handle) {
+ if (handle->flags & UV_HANDLE_READING) {
+ handle->flags &= ~UV_HANDLE_READING;
+ handle->loop->active_udp_streams--;
+ DECREASE_ACTIVE_COUNT(loop, handle);
+ }
+
+ return 0;
+}
+
+
+static int uv__send(uv_udp_send_t* req,
+ uv_udp_t* handle,
+ const uv_buf_t bufs[],
+ unsigned int nbufs,
+ const struct sockaddr* addr,
+ unsigned int addrlen,
+ uv_udp_send_cb cb) {
+ uv_loop_t* loop = handle->loop;
+ DWORD result, bytes;
+
+ UV_REQ_INIT(req, UV_UDP_SEND);
+ req->handle = handle;
+ req->cb = cb;
+ memset(&req->u.io.overlapped, 0, sizeof(req->u.io.overlapped));
+
+ result = WSASendTo(handle->socket,
+ (WSABUF*)bufs,
+ nbufs,
+ &bytes,
+ 0,
+ addr,
+ addrlen,
+ &req->u.io.overlapped,
+ NULL);
+
+ if (UV_SUCCEEDED_WITHOUT_IOCP(result == 0)) {
+ /* Request completed immediately. */
+ req->u.io.queued_bytes = 0;
+ handle->reqs_pending++;
+ handle->send_queue_size += req->u.io.queued_bytes;
+ handle->send_queue_count++;
+ REGISTER_HANDLE_REQ(loop, handle, req);
+ uv_insert_pending_req(loop, (uv_req_t*)req);
+ } else if (UV_SUCCEEDED_WITH_IOCP(result == 0)) {
+ /* Request queued by the kernel. */
+ req->u.io.queued_bytes = uv__count_bufs(bufs, nbufs);
+ handle->reqs_pending++;
+ handle->send_queue_size += req->u.io.queued_bytes;
+ handle->send_queue_count++;
+ REGISTER_HANDLE_REQ(loop, handle, req);
+ } else {
+ /* Send failed due to an error. */
+ return WSAGetLastError();
+ }
+
+ return 0;
+}
+
+
+void uv_process_udp_recv_req(uv_loop_t* loop, uv_udp_t* handle,
+ uv_req_t* req) {
+ uv_buf_t buf;
+ int partial;
+
+ assert(handle->type == UV_UDP);
+
+ handle->flags &= ~UV_HANDLE_READ_PENDING;
+
+ if (!REQ_SUCCESS(req)) {
+ DWORD err = GET_REQ_SOCK_ERROR(req);
+ if (err == WSAEMSGSIZE) {
+ /* Not a real error, it just indicates that the received packet was
+ * bigger than the receive buffer. */
+ } else if (err == WSAECONNRESET || err == WSAENETRESET) {
+ /* A previous sendto operation failed; ignore this error. If zero-reading
+ * we need to call WSARecv/WSARecvFrom _without_ the. MSG_PEEK flag to
+ * clear out the error queue. For nonzero reads, immediately queue a new
+ * receive. */
+ if (!(handle->flags & UV_HANDLE_ZERO_READ)) {
+ goto done;
+ }
+ } else {
+ /* A real error occurred. Report the error to the user only if we're
+ * currently reading. */
+ if (handle->flags & UV_HANDLE_READING) {
+ uv_udp_recv_stop(handle);
+ buf = (handle->flags & UV_HANDLE_ZERO_READ) ?
+ uv_buf_init(NULL, 0) : handle->recv_buffer;
+ handle->recv_cb(handle, uv_translate_sys_error(err), &buf, NULL, 0);
+ }
+ goto done;
+ }
+ }
+
+ if (!(handle->flags & UV_HANDLE_ZERO_READ)) {
+ /* Successful read */
+ partial = !REQ_SUCCESS(req);
+ handle->recv_cb(handle,
+ req->u.io.overlapped.InternalHigh,
+ &handle->recv_buffer,
+ (const struct sockaddr*) &handle->recv_from,
+ partial ? UV_UDP_PARTIAL : 0);
+ } else if (handle->flags & UV_HANDLE_READING) {
+ DWORD bytes, err, flags;
+ struct sockaddr_storage from;
+ int from_len;
+
+ /* Do a nonblocking receive.
+ * TODO: try to read multiple datagrams at once. FIONREAD maybe? */
+ buf = uv_buf_init(NULL, 0);
+ handle->alloc_cb((uv_handle_t*) handle, 65536, &buf);
+ if (buf.base == NULL || buf.len == 0) {
+ handle->recv_cb(handle, UV_ENOBUFS, &buf, NULL, 0);
+ goto done;
+ }
+ assert(buf.base != NULL);
+
+ memset(&from, 0, sizeof from);
+ from_len = sizeof from;
+
+ flags = 0;
+
+ if (WSARecvFrom(handle->socket,
+ (WSABUF*)&buf,
+ 1,
+ &bytes,
+ &flags,
+ (struct sockaddr*) &from,
+ &from_len,
+ NULL,
+ NULL) != SOCKET_ERROR) {
+
+ /* Message received */
+ handle->recv_cb(handle, bytes, &buf, (const struct sockaddr*) &from, 0);
+ } else {
+ err = WSAGetLastError();
+ if (err == WSAEMSGSIZE) {
+ /* Message truncated */
+ handle->recv_cb(handle,
+ bytes,
+ &buf,
+ (const struct sockaddr*) &from,
+ UV_UDP_PARTIAL);
+ } else if (err == WSAEWOULDBLOCK) {
+ /* Kernel buffer empty */
+ handle->recv_cb(handle, 0, &buf, NULL, 0);
+ } else if (err == WSAECONNRESET || err == WSAENETRESET) {
+ /* WSAECONNRESET/WSANETRESET is ignored because this just indicates
+ * that a previous sendto operation failed.
+ */
+ handle->recv_cb(handle, 0, &buf, NULL, 0);
+ } else {
+ /* Any other error that we want to report back to the user. */
+ uv_udp_recv_stop(handle);
+ handle->recv_cb(handle, uv_translate_sys_error(err), &buf, NULL, 0);
+ }
+ }
+ }
+
+done:
+ /* Post another read if still reading and not closing. */
+ if ((handle->flags & UV_HANDLE_READING) &&
+ !(handle->flags & UV_HANDLE_READ_PENDING)) {
+ uv_udp_queue_recv(loop, handle);
+ }
+
+ DECREASE_PENDING_REQ_COUNT(handle);
+}
+
+
+void uv_process_udp_send_req(uv_loop_t* loop, uv_udp_t* handle,
+ uv_udp_send_t* req) {
+ int err;
+
+ assert(handle->type == UV_UDP);
+
+ assert(handle->send_queue_size >= req->u.io.queued_bytes);
+ assert(handle->send_queue_count >= 1);
+ handle->send_queue_size -= req->u.io.queued_bytes;
+ handle->send_queue_count--;
+
+ UNREGISTER_HANDLE_REQ(loop, handle, req);
+
+ if (req->cb) {
+ err = 0;
+ if (!REQ_SUCCESS(req)) {
+ err = GET_REQ_SOCK_ERROR(req);
+ }
+ req->cb(req, uv_translate_sys_error(err));
+ }
+
+ DECREASE_PENDING_REQ_COUNT(handle);
+}
+
+
+static int uv__udp_set_membership4(uv_udp_t* handle,
+ const struct sockaddr_in* multicast_addr,
+ const char* interface_addr,
+ uv_membership membership) {
+ int err;
+ int optname;
+ struct ip_mreq mreq;
+
+ if (handle->flags & UV_HANDLE_IPV6)
+ return UV_EINVAL;
+
+ /* If the socket is unbound, bind to inaddr_any. */
+ err = uv_udp_maybe_bind(handle,
+ (const struct sockaddr*) &uv_addr_ip4_any_,
+ sizeof(uv_addr_ip4_any_),
+ UV_UDP_REUSEADDR);
+ if (err)
+ return uv_translate_sys_error(err);
+
+ memset(&mreq, 0, sizeof mreq);
+
+ if (interface_addr) {
+ err = uv_inet_pton(AF_INET, interface_addr, &mreq.imr_interface.s_addr);
+ if (err)
+ return err;
+ } else {
+ mreq.imr_interface.s_addr = htonl(INADDR_ANY);
+ }
+
+ mreq.imr_multiaddr.s_addr = multicast_addr->sin_addr.s_addr;
+
+ switch (membership) {
+ case UV_JOIN_GROUP:
+ optname = IP_ADD_MEMBERSHIP;
+ break;
+ case UV_LEAVE_GROUP:
+ optname = IP_DROP_MEMBERSHIP;
+ break;
+ default:
+ return UV_EINVAL;
+ }
+
+ if (setsockopt(handle->socket,
+ IPPROTO_IP,
+ optname,
+ (char*) &mreq,
+ sizeof mreq) == SOCKET_ERROR) {
+ return uv_translate_sys_error(WSAGetLastError());
+ }
+
+ return 0;
+}
+
+
+int uv__udp_set_membership6(uv_udp_t* handle,
+ const struct sockaddr_in6* multicast_addr,
+ const char* interface_addr,
+ uv_membership membership) {
+ int optname;
+ int err;
+ struct ipv6_mreq mreq;
+ struct sockaddr_in6 addr6;
+
+ if ((handle->flags & UV_HANDLE_BOUND) && !(handle->flags & UV_HANDLE_IPV6))
+ return UV_EINVAL;
+
+ err = uv_udp_maybe_bind(handle,
+ (const struct sockaddr*) &uv_addr_ip6_any_,
+ sizeof(uv_addr_ip6_any_),
+ UV_UDP_REUSEADDR);
+
+ if (err)
+ return uv_translate_sys_error(err);
+
+ memset(&mreq, 0, sizeof(mreq));
+
+ if (interface_addr) {
+ if (uv_ip6_addr(interface_addr, 0, &addr6))
+ return UV_EINVAL;
+ mreq.ipv6mr_interface = addr6.sin6_scope_id;
+ } else {
+ mreq.ipv6mr_interface = 0;
+ }
+
+ mreq.ipv6mr_multiaddr = multicast_addr->sin6_addr;
+
+ switch (membership) {
+ case UV_JOIN_GROUP:
+ optname = IPV6_ADD_MEMBERSHIP;
+ break;
+ case UV_LEAVE_GROUP:
+ optname = IPV6_DROP_MEMBERSHIP;
+ break;
+ default:
+ return UV_EINVAL;
+ }
+
+ if (setsockopt(handle->socket,
+ IPPROTO_IPV6,
+ optname,
+ (char*) &mreq,
+ sizeof mreq) == SOCKET_ERROR) {
+ return uv_translate_sys_error(WSAGetLastError());
+ }
+
+ return 0;
+}
+
+
+int uv_udp_set_membership(uv_udp_t* handle,
+ const char* multicast_addr,
+ const char* interface_addr,
+ uv_membership membership) {
+ struct sockaddr_in addr4;
+ struct sockaddr_in6 addr6;
+
+ if (uv_ip4_addr(multicast_addr, 0, &addr4) == 0)
+ return uv__udp_set_membership4(handle, &addr4, interface_addr, membership);
+ else if (uv_ip6_addr(multicast_addr, 0, &addr6) == 0)
+ return uv__udp_set_membership6(handle, &addr6, interface_addr, membership);
+ else
+ return UV_EINVAL;
+}
+
+
+int uv_udp_set_multicast_interface(uv_udp_t* handle, const char* interface_addr) {
+ struct sockaddr_storage addr_st;
+ struct sockaddr_in* addr4;
+ struct sockaddr_in6* addr6;
+
+ addr4 = (struct sockaddr_in*) &addr_st;
+ addr6 = (struct sockaddr_in6*) &addr_st;
+
+ if (!interface_addr) {
+ memset(&addr_st, 0, sizeof addr_st);
+ if (handle->flags & UV_HANDLE_IPV6) {
+ addr_st.ss_family = AF_INET6;
+ addr6->sin6_scope_id = 0;
+ } else {
+ addr_st.ss_family = AF_INET;
+ addr4->sin_addr.s_addr = htonl(INADDR_ANY);
+ }
+ } else if (uv_ip4_addr(interface_addr, 0, addr4) == 0) {
+ /* nothing, address was parsed */
+ } else if (uv_ip6_addr(interface_addr, 0, addr6) == 0) {
+ /* nothing, address was parsed */
+ } else {
+ return UV_EINVAL;
+ }
+
+ if (handle->socket == INVALID_SOCKET)
+ return UV_EBADF;
+
+ if (addr_st.ss_family == AF_INET) {
+ if (setsockopt(handle->socket,
+ IPPROTO_IP,
+ IP_MULTICAST_IF,
+ (char*) &addr4->sin_addr,
+ sizeof(addr4->sin_addr)) == SOCKET_ERROR) {
+ return uv_translate_sys_error(WSAGetLastError());
+ }
+ } else if (addr_st.ss_family == AF_INET6) {
+ if (setsockopt(handle->socket,
+ IPPROTO_IPV6,
+ IPV6_MULTICAST_IF,
+ (char*) &addr6->sin6_scope_id,
+ sizeof(addr6->sin6_scope_id)) == SOCKET_ERROR) {
+ return uv_translate_sys_error(WSAGetLastError());
+ }
+ } else {
+ assert(0 && "unexpected address family");
+ abort();
+ }
+
+ return 0;
+}
+
+
+int uv_udp_set_broadcast(uv_udp_t* handle, int value) {
+ BOOL optval = (BOOL) value;
+
+ if (handle->socket == INVALID_SOCKET)
+ return UV_EBADF;
+
+ if (setsockopt(handle->socket,
+ SOL_SOCKET,
+ SO_BROADCAST,
+ (char*) &optval,
+ sizeof optval)) {
+ return uv_translate_sys_error(WSAGetLastError());
+ }
+
+ return 0;
+}
+
+
+int uv__udp_is_bound(uv_udp_t* handle) {
+ struct sockaddr_storage addr;
+ int addrlen;
+
+ addrlen = sizeof(addr);
+ if (uv_udp_getsockname(handle, (struct sockaddr*) &addr, &addrlen) != 0)
+ return 0;
+
+ return addrlen > 0;
+}
+
+
+int uv_udp_open(uv_udp_t* handle, uv_os_sock_t sock) {
+ WSAPROTOCOL_INFOW protocol_info;
+ int opt_len;
+ int err;
+
+ /* Detect the address family of the socket. */
+ opt_len = (int) sizeof protocol_info;
+ if (getsockopt(sock,
+ SOL_SOCKET,
+ SO_PROTOCOL_INFOW,
+ (char*) &protocol_info,
+ &opt_len) == SOCKET_ERROR) {
+ return uv_translate_sys_error(GetLastError());
+ }
+
+ err = uv_udp_set_socket(handle->loop,
+ handle,
+ sock,
+ protocol_info.iAddressFamily);
+ if (err)
+ return uv_translate_sys_error(err);
+
+ if (uv__udp_is_bound(handle))
+ handle->flags |= UV_HANDLE_BOUND;
+
+ if (uv__udp_is_connected(handle))
+ handle->flags |= UV_HANDLE_UDP_CONNECTED;
+
+ return 0;
+}
+
+
+#define SOCKOPT_SETTER(name, option4, option6, validate) \
+ int uv_udp_set_##name(uv_udp_t* handle, int value) { \
+ DWORD optval = (DWORD) value; \
+ \
+ if (!(validate(value))) { \
+ return UV_EINVAL; \
+ } \
+ \
+ if (handle->socket == INVALID_SOCKET) \
+ return UV_EBADF; \
+ \
+ if (!(handle->flags & UV_HANDLE_IPV6)) { \
+ /* Set IPv4 socket option */ \
+ if (setsockopt(handle->socket, \
+ IPPROTO_IP, \
+ option4, \
+ (char*) &optval, \
+ sizeof optval)) { \
+ return uv_translate_sys_error(WSAGetLastError()); \
+ } \
+ } else { \
+ /* Set IPv6 socket option */ \
+ if (setsockopt(handle->socket, \
+ IPPROTO_IPV6, \
+ option6, \
+ (char*) &optval, \
+ sizeof optval)) { \
+ return uv_translate_sys_error(WSAGetLastError()); \
+ } \
+ } \
+ return 0; \
+ }
+
+#define VALIDATE_TTL(value) ((value) >= 1 && (value) <= 255)
+#define VALIDATE_MULTICAST_TTL(value) ((value) >= -1 && (value) <= 255)
+#define VALIDATE_MULTICAST_LOOP(value) (1)
+
+SOCKOPT_SETTER(ttl,
+ IP_TTL,
+ IPV6_HOPLIMIT,
+ VALIDATE_TTL)
+SOCKOPT_SETTER(multicast_ttl,
+ IP_MULTICAST_TTL,
+ IPV6_MULTICAST_HOPS,
+ VALIDATE_MULTICAST_TTL)
+SOCKOPT_SETTER(multicast_loop,
+ IP_MULTICAST_LOOP,
+ IPV6_MULTICAST_LOOP,
+ VALIDATE_MULTICAST_LOOP)
+
+#undef SOCKOPT_SETTER
+#undef VALIDATE_TTL
+#undef VALIDATE_MULTICAST_TTL
+#undef VALIDATE_MULTICAST_LOOP
+
+
+/* This function is an egress point, i.e. it returns libuv errors rather than
+ * system errors.
+ */
+int uv__udp_bind(uv_udp_t* handle,
+ const struct sockaddr* addr,
+ unsigned int addrlen,
+ unsigned int flags) {
+ int err;
+
+ err = uv_udp_maybe_bind(handle, addr, addrlen, flags);
+ if (err)
+ return uv_translate_sys_error(err);
+
+ return 0;
+}
+
+
+int uv__udp_connect(uv_udp_t* handle,
+ const struct sockaddr* addr,
+ unsigned int addrlen) {
+ const struct sockaddr* bind_addr;
+ int err;
+
+ if (!(handle->flags & UV_HANDLE_BOUND)) {
+ if (addrlen == sizeof(uv_addr_ip4_any_))
+ bind_addr = (const struct sockaddr*) &uv_addr_ip4_any_;
+ else if (addrlen == sizeof(uv_addr_ip6_any_))
+ bind_addr = (const struct sockaddr*) &uv_addr_ip6_any_;
+ else
+ return UV_EINVAL;
+
+ err = uv_udp_maybe_bind(handle, bind_addr, addrlen, 0);
+ if (err)
+ return uv_translate_sys_error(err);
+ }
+
+ err = connect(handle->socket, addr, addrlen);
+ if (err)
+ return uv_translate_sys_error(err);
+
+ handle->flags |= UV_HANDLE_UDP_CONNECTED;
+
+ return 0;
+}
+
+
+int uv__udp_disconnect(uv_udp_t* handle) {
+ int err;
+ struct sockaddr addr;
+
+ memset(&addr, 0, sizeof(addr));
+
+ err = connect(handle->socket, &addr, sizeof(addr));
+ if (err)
+ return uv_translate_sys_error(err);
+
+ handle->flags &= ~UV_HANDLE_UDP_CONNECTED;
+ return 0;
+}
+
+
+/* This function is an egress point, i.e. it returns libuv errors rather than
+ * system errors.
+ */
+int uv__udp_send(uv_udp_send_t* req,
+ uv_udp_t* handle,
+ const uv_buf_t bufs[],
+ unsigned int nbufs,
+ const struct sockaddr* addr,
+ unsigned int addrlen,
+ uv_udp_send_cb send_cb) {
+ const struct sockaddr* bind_addr;
+ int err;
+
+ if (!(handle->flags & UV_HANDLE_BOUND)) {
+ if (addrlen == sizeof(uv_addr_ip4_any_))
+ bind_addr = (const struct sockaddr*) &uv_addr_ip4_any_;
+ else if (addrlen == sizeof(uv_addr_ip6_any_))
+ bind_addr = (const struct sockaddr*) &uv_addr_ip6_any_;
+ else
+ return UV_EINVAL;
+
+ err = uv_udp_maybe_bind(handle, bind_addr, addrlen, 0);
+ if (err)
+ return uv_translate_sys_error(err);
+ }
+
+ err = uv__send(req, handle, bufs, nbufs, addr, addrlen, send_cb);
+ if (err)
+ return uv_translate_sys_error(err);
+
+ return 0;
+}
+
+
+int uv__udp_try_send(uv_udp_t* handle,
+ const uv_buf_t bufs[],
+ unsigned int nbufs,
+ const struct sockaddr* addr,
+ unsigned int addrlen) {
+ DWORD bytes;
+ const struct sockaddr* bind_addr;
+ struct sockaddr_storage converted;
+ int err;
+
+ assert(nbufs > 0);
+
+ if (addr != NULL) {
+ err = uv__convert_to_localhost_if_unspecified(addr, &converted);
+ if (err)
+ return err;
+ }
+
+ /* Already sending a message.*/
+ if (handle->send_queue_count != 0)
+ return UV_EAGAIN;
+
+ if (!(handle->flags & UV_HANDLE_BOUND)) {
+ if (addrlen == sizeof(uv_addr_ip4_any_))
+ bind_addr = (const struct sockaddr*) &uv_addr_ip4_any_;
+ else if (addrlen == sizeof(uv_addr_ip6_any_))
+ bind_addr = (const struct sockaddr*) &uv_addr_ip6_any_;
+ else
+ return UV_EINVAL;
+ err = uv_udp_maybe_bind(handle, bind_addr, addrlen, 0);
+ if (err)
+ return uv_translate_sys_error(err);
+ }
+
+ err = WSASendTo(handle->socket,
+ (WSABUF*)bufs,
+ nbufs,
+ &bytes,
+ 0,
+ (const struct sockaddr*) &converted,
+ addrlen,
+ NULL,
+ NULL);
+
+ if (err)
+ return uv_translate_sys_error(WSAGetLastError());
+
+ return bytes;
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/util.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/util.cpp
new file mode 100644
index 0000000..b5afb1d
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/util.cpp
@@ -0,0 +1,1811 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include <assert.h>
+#include <direct.h>
+#include <limits.h>
+#include <stdio.h>
+#include <string.h>
+#include <time.h>
+#include <wchar.h>
+
+#include "uv.h"
+#include "internal.h"
+
+#include <winsock2.h>
+#include <winperf.h>
+#include <iphlpapi.h>
+#include <psapi.h>
+#include <tlhelp32.h>
+#include <windows.h>
+#include <userenv.h>
+#include <math.h>
+
+/*
+ * Max title length; the only thing MSDN tells us about the maximum length
+ * of the console title is that it is smaller than 64K. However in practice
+ * it is much smaller, and there is no way to figure out what the exact length
+ * of the title is or can be, at least not on XP. To make it even more
+ * annoying, GetConsoleTitle fails when the buffer to be read into is bigger
+ * than the actual maximum length. So we make a conservative guess here;
+ * just don't put the novel you're writing in the title, unless the plot
+ * survives truncation.
+ */
+#define MAX_TITLE_LENGTH 8192
+
+/* The number of nanoseconds in one second. */
+#define UV__NANOSEC 1000000000
+
+/* Max user name length, from iphlpapi.h */
+#ifndef UNLEN
+# define UNLEN 256
+#endif
+
+
+/* Maximum environment variable size, including the terminating null */
+#define MAX_ENV_VAR_LENGTH 32767
+
+/* Cached copy of the process title, plus a mutex guarding it. */
+static char *process_title;
+static CRITICAL_SECTION process_title_lock;
+
+#pragma comment(lib, "Advapi32.lib")
+#pragma comment(lib, "IPHLPAPI.lib")
+#pragma comment(lib, "Psapi.lib")
+#pragma comment(lib, "Userenv.lib")
+#pragma comment(lib, "kernel32.lib")
+
+/* Interval (in seconds) of the high-resolution clock. */
+static double hrtime_interval_ = 0;
+
+
+/*
+ * One-time initialization code for functionality defined in util.c.
+ */
+void uv__util_init(void) {
+ LARGE_INTEGER perf_frequency;
+
+ /* Initialize process title access mutex. */
+ InitializeCriticalSection(&process_title_lock);
+
+ /* Retrieve high-resolution timer frequency
+ * and precompute its reciprocal.
+ */
+ if (QueryPerformanceFrequency(&perf_frequency)) {
+ hrtime_interval_ = 1.0 / perf_frequency.QuadPart;
+ } else {
+ hrtime_interval_= 0;
+ }
+}
+
+
+int uv_exepath(char* buffer, size_t* size_ptr) {
+ int utf8_len, utf16_buffer_len, utf16_len;
+ WCHAR* utf16_buffer;
+ int err;
+
+ if (buffer == NULL || size_ptr == NULL || *size_ptr == 0) {
+ return UV_EINVAL;
+ }
+
+ if (*size_ptr > 32768) {
+ /* Windows paths can never be longer than this. */
+ utf16_buffer_len = 32768;
+ } else {
+ utf16_buffer_len = (int) *size_ptr;
+ }
+
+ utf16_buffer = (WCHAR*) uv__malloc(sizeof(WCHAR) * utf16_buffer_len);
+ if (!utf16_buffer) {
+ return UV_ENOMEM;
+ }
+
+ /* Get the path as UTF-16. */
+ utf16_len = GetModuleFileNameW(NULL, utf16_buffer, utf16_buffer_len);
+ if (utf16_len <= 0) {
+ err = GetLastError();
+ goto error;
+ }
+
+ /* utf16_len contains the length, *not* including the terminating null. */
+ utf16_buffer[utf16_len] = L'\0';
+
+ /* Convert to UTF-8 */
+ utf8_len = WideCharToMultiByte(CP_UTF8,
+ 0,
+ utf16_buffer,
+ -1,
+ buffer,
+ (int) *size_ptr,
+ NULL,
+ NULL);
+ if (utf8_len == 0) {
+ err = GetLastError();
+ goto error;
+ }
+
+ uv__free(utf16_buffer);
+
+ /* utf8_len *does* include the terminating null at this point, but the
+ * returned size shouldn't. */
+ *size_ptr = utf8_len - 1;
+ return 0;
+
+ error:
+ uv__free(utf16_buffer);
+ return uv_translate_sys_error(err);
+}
+
+
+int uv_cwd(char* buffer, size_t* size) {
+ DWORD utf16_len;
+ WCHAR utf16_buffer[MAX_PATH];
+ int r;
+
+ if (buffer == NULL || size == NULL) {
+ return UV_EINVAL;
+ }
+
+ utf16_len = GetCurrentDirectoryW(MAX_PATH, utf16_buffer);
+ if (utf16_len == 0) {
+ return uv_translate_sys_error(GetLastError());
+ } else if (utf16_len > MAX_PATH) {
+ /* This should be impossible; however the CRT has a code path to deal with
+ * this scenario, so I added a check anyway. */
+ return UV_EIO;
+ }
+
+ /* utf16_len contains the length, *not* including the terminating null. */
+ utf16_buffer[utf16_len] = L'\0';
+
+ /* The returned directory should not have a trailing slash, unless it points
+ * at a drive root, like c:\. Remove it if needed. */
+ if (utf16_buffer[utf16_len - 1] == L'\\' &&
+ !(utf16_len == 3 && utf16_buffer[1] == L':')) {
+ utf16_len--;
+ utf16_buffer[utf16_len] = L'\0';
+ }
+
+ /* Check how much space we need */
+ r = WideCharToMultiByte(CP_UTF8,
+ 0,
+ utf16_buffer,
+ -1,
+ NULL,
+ 0,
+ NULL,
+ NULL);
+ if (r == 0) {
+ return uv_translate_sys_error(GetLastError());
+ } else if (r > (int) *size) {
+ *size = r;
+ return UV_ENOBUFS;
+ }
+
+ /* Convert to UTF-8 */
+ r = WideCharToMultiByte(CP_UTF8,
+ 0,
+ utf16_buffer,
+ -1,
+ buffer,
+ *size > INT_MAX ? INT_MAX : (int) *size,
+ NULL,
+ NULL);
+ if (r == 0) {
+ return uv_translate_sys_error(GetLastError());
+ }
+
+ *size = r - 1;
+ return 0;
+}
+
+
+int uv_chdir(const char* dir) {
+ WCHAR utf16_buffer[MAX_PATH];
+ size_t utf16_len;
+ WCHAR drive_letter, env_var[4];
+
+ if (dir == NULL) {
+ return UV_EINVAL;
+ }
+
+ if (MultiByteToWideChar(CP_UTF8,
+ 0,
+ dir,
+ -1,
+ utf16_buffer,
+ MAX_PATH) == 0) {
+ DWORD error = GetLastError();
+ /* The maximum length of the current working directory is 260 chars,
+ * including terminating null. If it doesn't fit, the path name must be too
+ * long. */
+ if (error == ERROR_INSUFFICIENT_BUFFER) {
+ return UV_ENAMETOOLONG;
+ } else {
+ return uv_translate_sys_error(error);
+ }
+ }
+
+ if (!SetCurrentDirectoryW(utf16_buffer)) {
+ return uv_translate_sys_error(GetLastError());
+ }
+
+ /* Windows stores the drive-local path in an "hidden" environment variable,
+ * which has the form "=C:=C:\Windows". SetCurrentDirectory does not update
+ * this, so we'll have to do it. */
+ utf16_len = GetCurrentDirectoryW(MAX_PATH, utf16_buffer);
+ if (utf16_len == 0) {
+ return uv_translate_sys_error(GetLastError());
+ } else if (utf16_len > MAX_PATH) {
+ return UV_EIO;
+ }
+
+ /* The returned directory should not have a trailing slash, unless it points
+ * at a drive root, like c:\. Remove it if needed. */
+ if (utf16_buffer[utf16_len - 1] == L'\\' &&
+ !(utf16_len == 3 && utf16_buffer[1] == L':')) {
+ utf16_len--;
+ utf16_buffer[utf16_len] = L'\0';
+ }
+
+ if (utf16_len < 2 || utf16_buffer[1] != L':') {
+ /* Doesn't look like a drive letter could be there - probably an UNC path.
+ * TODO: Need to handle win32 namespaces like \\?\C:\ ? */
+ drive_letter = 0;
+ } else if (utf16_buffer[0] >= L'A' && utf16_buffer[0] <= L'Z') {
+ drive_letter = utf16_buffer[0];
+ } else if (utf16_buffer[0] >= L'a' && utf16_buffer[0] <= L'z') {
+ /* Convert to uppercase. */
+ drive_letter = utf16_buffer[0] - L'a' + L'A';
+ } else {
+ /* Not valid. */
+ drive_letter = 0;
+ }
+
+ if (drive_letter != 0) {
+ /* Construct the environment variable name and set it. */
+ env_var[0] = L'=';
+ env_var[1] = drive_letter;
+ env_var[2] = L':';
+ env_var[3] = L'\0';
+
+ if (!SetEnvironmentVariableW(env_var, utf16_buffer)) {
+ return uv_translate_sys_error(GetLastError());
+ }
+ }
+
+ return 0;
+}
+
+
+void uv_loadavg(double avg[3]) {
+ /* Can't be implemented */
+ avg[0] = avg[1] = avg[2] = 0;
+}
+
+
+uint64_t uv_get_free_memory(void) {
+ MEMORYSTATUSEX memory_status;
+ memory_status.dwLength = sizeof(memory_status);
+
+ if (!GlobalMemoryStatusEx(&memory_status)) {
+ return -1;
+ }
+
+ return (uint64_t)memory_status.ullAvailPhys;
+}
+
+
+uint64_t uv_get_total_memory(void) {
+ MEMORYSTATUSEX memory_status;
+ memory_status.dwLength = sizeof(memory_status);
+
+ if (!GlobalMemoryStatusEx(&memory_status)) {
+ return -1;
+ }
+
+ return (uint64_t)memory_status.ullTotalPhys;
+}
+
+
+uint64_t uv_get_constrained_memory(void) {
+ return 0; /* Memory constraints are unknown. */
+}
+
+
+uv_pid_t uv_os_getpid(void) {
+ return GetCurrentProcessId();
+}
+
+
+uv_pid_t uv_os_getppid(void) {
+ int parent_pid = -1;
+ HANDLE handle;
+ PROCESSENTRY32 pe;
+ DWORD current_pid = GetCurrentProcessId();
+
+ pe.dwSize = sizeof(PROCESSENTRY32);
+ handle = CreateToolhelp32Snapshot(TH32CS_SNAPPROCESS, 0);
+
+ if (Process32First(handle, &pe)) {
+ do {
+ if (pe.th32ProcessID == current_pid) {
+ parent_pid = pe.th32ParentProcessID;
+ break;
+ }
+ } while( Process32Next(handle, &pe));
+ }
+
+ CloseHandle(handle);
+ return parent_pid;
+}
+
+
+char** uv_setup_args(int argc, char** argv) {
+ return argv;
+}
+
+
+int uv_set_process_title(const char* title) {
+ int err;
+ int length;
+ WCHAR* title_w = NULL;
+
+ uv__once_init();
+
+ /* Find out how big the buffer for the wide-char title must be */
+ length = MultiByteToWideChar(CP_UTF8, 0, title, -1, NULL, 0);
+ if (!length) {
+ err = GetLastError();
+ goto done;
+ }
+
+ /* Convert to wide-char string */
+ title_w = (WCHAR*)uv__malloc(sizeof(WCHAR) * length);
+ if (!title_w) {
+ uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
+ }
+
+ length = MultiByteToWideChar(CP_UTF8, 0, title, -1, title_w, length);
+ if (!length) {
+ err = GetLastError();
+ goto done;
+ }
+
+ /* If the title must be truncated insert a \0 terminator there */
+ if (length > MAX_TITLE_LENGTH) {
+ title_w[MAX_TITLE_LENGTH - 1] = L'\0';
+ }
+
+ if (!SetConsoleTitleW(title_w)) {
+ err = GetLastError();
+ goto done;
+ }
+
+ EnterCriticalSection(&process_title_lock);
+ uv__free(process_title);
+ process_title = uv__strdup(title);
+ LeaveCriticalSection(&process_title_lock);
+
+ err = 0;
+
+done:
+ uv__free(title_w);
+ return uv_translate_sys_error(err);
+}
+
+
+static int uv__get_process_title(void) {
+ WCHAR title_w[MAX_TITLE_LENGTH];
+
+ if (!GetConsoleTitleW(title_w, sizeof(title_w) / sizeof(WCHAR))) {
+ return -1;
+ }
+
+ if (uv__convert_utf16_to_utf8(title_w, -1, &process_title) != 0)
+ return -1;
+
+ return 0;
+}
+
+
+int uv_get_process_title(char* buffer, size_t size) {
+ size_t len;
+
+ if (buffer == NULL || size == 0)
+ return UV_EINVAL;
+
+ uv__once_init();
+
+ EnterCriticalSection(&process_title_lock);
+ /*
+ * If the process_title was never read before nor explicitly set,
+ * we must query it with getConsoleTitleW
+ */
+ if (!process_title && uv__get_process_title() == -1) {
+ LeaveCriticalSection(&process_title_lock);
+ return uv_translate_sys_error(GetLastError());
+ }
+
+ assert(process_title);
+ len = strlen(process_title) + 1;
+
+ if (size < len) {
+ LeaveCriticalSection(&process_title_lock);
+ return UV_ENOBUFS;
+ }
+
+ memcpy(buffer, process_title, len);
+ LeaveCriticalSection(&process_title_lock);
+
+ return 0;
+}
+
+
+uint64_t uv_hrtime(void) {
+ uv__once_init();
+ return uv__hrtime(UV__NANOSEC);
+}
+
+uint64_t uv__hrtime(double scale) {
+ LARGE_INTEGER counter;
+
+ /* If the performance interval is zero, there's no support. */
+ if (hrtime_interval_ == 0) {
+ return 0;
+ }
+
+ if (!QueryPerformanceCounter(&counter)) {
+ return 0;
+ }
+
+ /* Because we have no guarantee about the order of magnitude of the
+ * performance counter interval, integer math could cause this computation
+ * to overflow. Therefore we resort to floating point math.
+ */
+ return (uint64_t) ((double) counter.QuadPart * hrtime_interval_ * scale);
+}
+
+
+int uv_resident_set_memory(size_t* rss) {
+ HANDLE current_process;
+ PROCESS_MEMORY_COUNTERS pmc;
+
+ current_process = GetCurrentProcess();
+
+ if (!GetProcessMemoryInfo(current_process, &pmc, sizeof(pmc))) {
+ return uv_translate_sys_error(GetLastError());
+ }
+
+ *rss = pmc.WorkingSetSize;
+
+ return 0;
+}
+
+
+int uv_uptime(double* uptime) {
+ BYTE stack_buffer[4096];
+ BYTE* malloced_buffer = NULL;
+ BYTE* buffer = (BYTE*) stack_buffer;
+ size_t buffer_size = sizeof(stack_buffer);
+ DWORD data_size;
+
+ PERF_DATA_BLOCK* data_block;
+ PERF_OBJECT_TYPE* object_type;
+ PERF_COUNTER_DEFINITION* counter_definition;
+
+ DWORD i;
+
+ for (;;) {
+ LONG result;
+
+ data_size = (DWORD) buffer_size;
+ result = RegQueryValueExW(HKEY_PERFORMANCE_DATA,
+ L"2",
+ NULL,
+ NULL,
+ buffer,
+ &data_size);
+ if (result == ERROR_SUCCESS) {
+ break;
+ } else if (result != ERROR_MORE_DATA) {
+ *uptime = 0;
+ return uv_translate_sys_error(result);
+ }
+
+ buffer_size *= 2;
+ /* Don't let the buffer grow infinitely. */
+ if (buffer_size > 1 << 20) {
+ goto internalError;
+ }
+
+ uv__free(malloced_buffer);
+
+ buffer = malloced_buffer = (BYTE*) uv__malloc(buffer_size);
+ if (malloced_buffer == NULL) {
+ *uptime = 0;
+ return UV_ENOMEM;
+ }
+ }
+
+ if (data_size < sizeof(*data_block))
+ goto internalError;
+
+ data_block = (PERF_DATA_BLOCK*) buffer;
+
+ if (wmemcmp(data_block->Signature, L"PERF", 4) != 0)
+ goto internalError;
+
+ if (data_size < data_block->HeaderLength + sizeof(*object_type))
+ goto internalError;
+
+ object_type = (PERF_OBJECT_TYPE*) (buffer + data_block->HeaderLength);
+
+ if (object_type->NumInstances != PERF_NO_INSTANCES)
+ goto internalError;
+
+ counter_definition = (PERF_COUNTER_DEFINITION*) (buffer +
+ data_block->HeaderLength + object_type->HeaderLength);
+ for (i = 0; i < object_type->NumCounters; i++) {
+ if ((BYTE*) counter_definition + sizeof(*counter_definition) >
+ buffer + data_size) {
+ break;
+ }
+
+ if (counter_definition->CounterNameTitleIndex == 674 &&
+ counter_definition->CounterSize == sizeof(uint64_t)) {
+ if (counter_definition->CounterOffset + sizeof(uint64_t) > data_size ||
+ !(counter_definition->CounterType & PERF_OBJECT_TIMER)) {
+ goto internalError;
+ } else {
+ BYTE* address = (BYTE*) object_type + object_type->DefinitionLength +
+ counter_definition->CounterOffset;
+ uint64_t value = *((uint64_t*) address);
+ *uptime = floor((double) (object_type->PerfTime.QuadPart - value) /
+ (double) object_type->PerfFreq.QuadPart);
+ uv__free(malloced_buffer);
+ return 0;
+ }
+ }
+
+ counter_definition = (PERF_COUNTER_DEFINITION*)
+ ((BYTE*) counter_definition + counter_definition->ByteLength);
+ }
+
+ /* If we get here, the uptime value was not found. */
+ uv__free(malloced_buffer);
+ *uptime = 0;
+ return UV_ENOSYS;
+
+ internalError:
+ uv__free(malloced_buffer);
+ *uptime = 0;
+ return UV_EIO;
+}
+
+
+int uv_cpu_info(uv_cpu_info_t** cpu_infos_ptr, int* cpu_count_ptr) {
+ uv_cpu_info_t* cpu_infos;
+ SYSTEM_PROCESSOR_PERFORMANCE_INFORMATION* sppi;
+ DWORD sppi_size;
+ SYSTEM_INFO system_info;
+ DWORD cpu_count, i;
+ NTSTATUS status;
+ ULONG result_size;
+ int err;
+ uv_cpu_info_t* cpu_info;
+
+ cpu_infos = NULL;
+ cpu_count = 0;
+ sppi = NULL;
+
+ uv__once_init();
+
+ GetSystemInfo(&system_info);
+ cpu_count = system_info.dwNumberOfProcessors;
+
+ cpu_infos = (uv_cpu_info_t*)uv__calloc(cpu_count, sizeof *cpu_infos);
+ if (cpu_infos == NULL) {
+ err = ERROR_OUTOFMEMORY;
+ goto error;
+ }
+
+ sppi_size = cpu_count * sizeof(*sppi);
+ sppi = (SYSTEM_PROCESSOR_PERFORMANCE_INFORMATION*)uv__malloc(sppi_size);
+ if (sppi == NULL) {
+ err = ERROR_OUTOFMEMORY;
+ goto error;
+ }
+
+ status = pNtQuerySystemInformation(SystemProcessorPerformanceInformation,
+ sppi,
+ sppi_size,
+ &result_size);
+ if (!NT_SUCCESS(status)) {
+ err = pRtlNtStatusToDosError(status);
+ goto error;
+ }
+
+ assert(result_size == sppi_size);
+
+ for (i = 0; i < cpu_count; i++) {
+ WCHAR key_name[128];
+ HKEY processor_key;
+ DWORD cpu_speed;
+ DWORD cpu_speed_size = sizeof(cpu_speed);
+ WCHAR cpu_brand[256];
+ DWORD cpu_brand_size = sizeof(cpu_brand);
+ size_t len;
+
+ len = _snwprintf(key_name,
+ ARRAY_SIZE(key_name),
+ L"HARDWARE\\DESCRIPTION\\System\\CentralProcessor\\%d",
+ i);
+
+ assert(len > 0 && len < ARRAY_SIZE(key_name));
+
+ err = RegOpenKeyExW(HKEY_LOCAL_MACHINE,
+ key_name,
+ 0,
+ KEY_QUERY_VALUE,
+ &processor_key);
+ if (err != ERROR_SUCCESS) {
+ goto error;
+ }
+
+ err = RegQueryValueExW(processor_key,
+ L"~MHz",
+ NULL,
+ NULL,
+ (BYTE*)&cpu_speed,
+ &cpu_speed_size);
+ if (err != ERROR_SUCCESS) {
+ RegCloseKey(processor_key);
+ goto error;
+ }
+
+ err = RegQueryValueExW(processor_key,
+ L"ProcessorNameString",
+ NULL,
+ NULL,
+ (BYTE*)&cpu_brand,
+ &cpu_brand_size);
+ RegCloseKey(processor_key);
+ if (err != ERROR_SUCCESS)
+ goto error;
+
+ cpu_info = &cpu_infos[i];
+ cpu_info->speed = cpu_speed;
+ cpu_info->cpu_times.user = sppi[i].UserTime.QuadPart / 10000;
+ cpu_info->cpu_times.sys = (sppi[i].KernelTime.QuadPart -
+ sppi[i].IdleTime.QuadPart) / 10000;
+ cpu_info->cpu_times.idle = sppi[i].IdleTime.QuadPart / 10000;
+ cpu_info->cpu_times.irq = sppi[i].InterruptTime.QuadPart / 10000;
+ cpu_info->cpu_times.nice = 0;
+
+ uv__convert_utf16_to_utf8(cpu_brand,
+ cpu_brand_size / sizeof(WCHAR),
+ &(cpu_info->model));
+ }
+
+ uv__free(sppi);
+
+ *cpu_count_ptr = cpu_count;
+ *cpu_infos_ptr = cpu_infos;
+
+ return 0;
+
+ error:
+ if (cpu_infos != NULL) {
+ /* This is safe because the cpu_infos array is zeroed on allocation. */
+ for (i = 0; i < cpu_count; i++)
+ uv__free(cpu_infos[i].model);
+ }
+
+ uv__free(cpu_infos);
+ uv__free(sppi);
+
+ return uv_translate_sys_error(err);
+}
+
+
+void uv_free_cpu_info(uv_cpu_info_t* cpu_infos, int count) {
+ int i;
+
+ for (i = 0; i < count; i++) {
+ uv__free(cpu_infos[i].model);
+ }
+
+ uv__free(cpu_infos);
+}
+
+
+static int is_windows_version_or_greater(DWORD os_major,
+ DWORD os_minor,
+ WORD service_pack_major,
+ WORD service_pack_minor) {
+ OSVERSIONINFOEX osvi;
+ DWORDLONG condition_mask = 0;
+ int op = VER_GREATER_EQUAL;
+
+ /* Initialize the OSVERSIONINFOEX structure. */
+ ZeroMemory(&osvi, sizeof(OSVERSIONINFOEX));
+ osvi.dwOSVersionInfoSize = sizeof(OSVERSIONINFOEX);
+ osvi.dwMajorVersion = os_major;
+ osvi.dwMinorVersion = os_minor;
+ osvi.wServicePackMajor = service_pack_major;
+ osvi.wServicePackMinor = service_pack_minor;
+
+ /* Initialize the condition mask. */
+ VER_SET_CONDITION(condition_mask, VER_MAJORVERSION, op);
+ VER_SET_CONDITION(condition_mask, VER_MINORVERSION, op);
+ VER_SET_CONDITION(condition_mask, VER_SERVICEPACKMAJOR, op);
+ VER_SET_CONDITION(condition_mask, VER_SERVICEPACKMINOR, op);
+
+ /* Perform the test. */
+ return (int) VerifyVersionInfo(
+ &osvi,
+ VER_MAJORVERSION | VER_MINORVERSION |
+ VER_SERVICEPACKMAJOR | VER_SERVICEPACKMINOR,
+ condition_mask);
+}
+
+
+static int address_prefix_match(int family,
+ struct sockaddr* address,
+ struct sockaddr* prefix_address,
+ int prefix_len) {
+ uint8_t* address_data;
+ uint8_t* prefix_address_data;
+ int i;
+
+ assert(address->sa_family == family);
+ assert(prefix_address->sa_family == family);
+
+ if (family == AF_INET6) {
+ address_data = (uint8_t*) &(((struct sockaddr_in6 *) address)->sin6_addr);
+ prefix_address_data =
+ (uint8_t*) &(((struct sockaddr_in6 *) prefix_address)->sin6_addr);
+ } else {
+ address_data = (uint8_t*) &(((struct sockaddr_in *) address)->sin_addr);
+ prefix_address_data =
+ (uint8_t*) &(((struct sockaddr_in *) prefix_address)->sin_addr);
+ }
+
+ for (i = 0; i < prefix_len >> 3; i++) {
+ if (address_data[i] != prefix_address_data[i])
+ return 0;
+ }
+
+ if (prefix_len % 8)
+ return prefix_address_data[i] ==
+ (address_data[i] & (0xff << (8 - prefix_len % 8)));
+
+ return 1;
+}
+
+
+int uv_interface_addresses(uv_interface_address_t** addresses_ptr,
+ int* count_ptr) {
+ IP_ADAPTER_ADDRESSES* win_address_buf;
+ ULONG win_address_buf_size;
+ IP_ADAPTER_ADDRESSES* adapter;
+
+ uv_interface_address_t* uv_address_buf;
+ char* name_buf;
+ size_t uv_address_buf_size;
+ uv_interface_address_t* uv_address;
+
+ int count;
+
+ int is_vista_or_greater;
+ ULONG flags;
+
+ *addresses_ptr = NULL;
+ *count_ptr = 0;
+
+ is_vista_or_greater = is_windows_version_or_greater(6, 0, 0, 0);
+ if (is_vista_or_greater) {
+ flags = GAA_FLAG_SKIP_ANYCAST | GAA_FLAG_SKIP_MULTICAST |
+ GAA_FLAG_SKIP_DNS_SERVER;
+ } else {
+ /* We need at least XP SP1. */
+ if (!is_windows_version_or_greater(5, 1, 1, 0))
+ return UV_ENOTSUP;
+
+ flags = GAA_FLAG_SKIP_ANYCAST | GAA_FLAG_SKIP_MULTICAST |
+ GAA_FLAG_SKIP_DNS_SERVER | GAA_FLAG_INCLUDE_PREFIX;
+ }
+
+
+ /* Fetch the size of the adapters reported by windows, and then get the list
+ * itself. */
+ win_address_buf_size = 0;
+ win_address_buf = NULL;
+
+ for (;;) {
+ ULONG r;
+
+ /* If win_address_buf is 0, then GetAdaptersAddresses will fail with.
+ * ERROR_BUFFER_OVERFLOW, and the required buffer size will be stored in
+ * win_address_buf_size. */
+ r = GetAdaptersAddresses(AF_UNSPEC,
+ flags,
+ NULL,
+ win_address_buf,
+ &win_address_buf_size);
+
+ if (r == ERROR_SUCCESS)
+ break;
+
+ uv__free(win_address_buf);
+
+ switch (r) {
+ case ERROR_BUFFER_OVERFLOW:
+ /* This happens when win_address_buf is NULL or too small to hold all
+ * adapters. */
+ win_address_buf =
+ (IP_ADAPTER_ADDRESSES*)uv__malloc(win_address_buf_size);
+ if (win_address_buf == NULL)
+ return UV_ENOMEM;
+
+ continue;
+
+ case ERROR_NO_DATA: {
+ /* No adapters were found. */
+ uv_address_buf = (uv_interface_address_t*)uv__malloc(1);
+ if (uv_address_buf == NULL)
+ return UV_ENOMEM;
+
+ *count_ptr = 0;
+ *addresses_ptr = uv_address_buf;
+
+ return 0;
+ }
+
+ case ERROR_ADDRESS_NOT_ASSOCIATED:
+ return UV_EAGAIN;
+
+ case ERROR_INVALID_PARAMETER:
+ /* MSDN says:
+ * "This error is returned for any of the following conditions: the
+ * SizePointer parameter is NULL, the Address parameter is not
+ * AF_INET, AF_INET6, or AF_UNSPEC, or the address information for
+ * the parameters requested is greater than ULONG_MAX."
+ * Since the first two conditions are not met, it must be that the
+ * adapter data is too big.
+ */
+ return UV_ENOBUFS;
+
+ default:
+ /* Other (unspecified) errors can happen, but we don't have any special
+ * meaning for them. */
+ assert(r != ERROR_SUCCESS);
+ return uv_translate_sys_error(r);
+ }
+ }
+
+ /* Count the number of enabled interfaces and compute how much space is
+ * needed to store their info. */
+ count = 0;
+ uv_address_buf_size = 0;
+
+ for (adapter = win_address_buf;
+ adapter != NULL;
+ adapter = adapter->Next) {
+ IP_ADAPTER_UNICAST_ADDRESS* unicast_address;
+ int name_size;
+
+ /* Interfaces that are not 'up' should not be reported. Also skip
+ * interfaces that have no associated unicast address, as to avoid
+ * allocating space for the name for this interface. */
+ if (adapter->OperStatus != IfOperStatusUp ||
+ adapter->FirstUnicastAddress == NULL)
+ continue;
+
+ /* Compute the size of the interface name. */
+ name_size = WideCharToMultiByte(CP_UTF8,
+ 0,
+ adapter->FriendlyName,
+ -1,
+ NULL,
+ 0,
+ NULL,
+ FALSE);
+ if (name_size <= 0) {
+ uv__free(win_address_buf);
+ return uv_translate_sys_error(GetLastError());
+ }
+ uv_address_buf_size += name_size;
+
+ /* Count the number of addresses associated with this interface, and
+ * compute the size. */
+ for (unicast_address = (IP_ADAPTER_UNICAST_ADDRESS*)
+ adapter->FirstUnicastAddress;
+ unicast_address != NULL;
+ unicast_address = unicast_address->Next) {
+ count++;
+ uv_address_buf_size += sizeof(uv_interface_address_t);
+ }
+ }
+
+ /* Allocate space to store interface data plus adapter names. */
+ uv_address_buf = (uv_interface_address_t*)uv__malloc(uv_address_buf_size);
+ if (uv_address_buf == NULL) {
+ uv__free(win_address_buf);
+ return UV_ENOMEM;
+ }
+
+ /* Compute the start of the uv_interface_address_t array, and the place in
+ * the buffer where the interface names will be stored. */
+ uv_address = uv_address_buf;
+ name_buf = (char*) (uv_address_buf + count);
+
+ /* Fill out the output buffer. */
+ for (adapter = win_address_buf;
+ adapter != NULL;
+ adapter = adapter->Next) {
+ IP_ADAPTER_UNICAST_ADDRESS* unicast_address;
+ int name_size;
+ size_t max_name_size;
+
+ if (adapter->OperStatus != IfOperStatusUp ||
+ adapter->FirstUnicastAddress == NULL)
+ continue;
+
+ /* Convert the interface name to UTF8. */
+ max_name_size = (char*) uv_address_buf + uv_address_buf_size - name_buf;
+ if (max_name_size > (size_t) INT_MAX)
+ max_name_size = INT_MAX;
+ name_size = WideCharToMultiByte(CP_UTF8,
+ 0,
+ adapter->FriendlyName,
+ -1,
+ name_buf,
+ (int) max_name_size,
+ NULL,
+ FALSE);
+ if (name_size <= 0) {
+ uv__free(win_address_buf);
+ uv__free(uv_address_buf);
+ return uv_translate_sys_error(GetLastError());
+ }
+
+ /* Add an uv_interface_address_t element for every unicast address. */
+ for (unicast_address = (IP_ADAPTER_UNICAST_ADDRESS*)
+ adapter->FirstUnicastAddress;
+ unicast_address != NULL;
+ unicast_address = unicast_address->Next) {
+ struct sockaddr* sa;
+ ULONG prefix_len;
+
+ sa = unicast_address->Address.lpSockaddr;
+
+ /* XP has no OnLinkPrefixLength field. */
+ if (is_vista_or_greater) {
+ prefix_len =
+ ((IP_ADAPTER_UNICAST_ADDRESS_LH*) unicast_address)->OnLinkPrefixLength;
+ } else {
+ /* Prior to Windows Vista the FirstPrefix pointed to the list with
+ * single prefix for each IP address assigned to the adapter.
+ * Order of FirstPrefix does not match order of FirstUnicastAddress,
+ * so we need to find corresponding prefix.
+ */
+ IP_ADAPTER_PREFIX* prefix;
+ prefix_len = 0;
+
+ for (prefix = adapter->FirstPrefix; prefix; prefix = prefix->Next) {
+ /* We want the longest matching prefix. */
+ if (prefix->Address.lpSockaddr->sa_family != sa->sa_family ||
+ prefix->PrefixLength <= prefix_len)
+ continue;
+
+ if (address_prefix_match(sa->sa_family, sa,
+ prefix->Address.lpSockaddr, prefix->PrefixLength)) {
+ prefix_len = prefix->PrefixLength;
+ }
+ }
+
+ /* If there is no matching prefix information, return a single-host
+ * subnet mask (e.g. 255.255.255.255 for IPv4).
+ */
+ if (!prefix_len)
+ prefix_len = (sa->sa_family == AF_INET6) ? 128 : 32;
+ }
+
+ memset(uv_address, 0, sizeof *uv_address);
+
+ uv_address->name = name_buf;
+
+ if (adapter->PhysicalAddressLength == sizeof(uv_address->phys_addr)) {
+ memcpy(uv_address->phys_addr,
+ adapter->PhysicalAddress,
+ sizeof(uv_address->phys_addr));
+ }
+
+ uv_address->is_internal =
+ (adapter->IfType == IF_TYPE_SOFTWARE_LOOPBACK);
+
+ if (sa->sa_family == AF_INET6) {
+ uv_address->address.address6 = *((struct sockaddr_in6 *) sa);
+
+ uv_address->netmask.netmask6.sin6_family = AF_INET6;
+ memset(uv_address->netmask.netmask6.sin6_addr.s6_addr, 0xff, prefix_len >> 3);
+ /* This check ensures that we don't write past the size of the data. */
+ if (prefix_len % 8) {
+ uv_address->netmask.netmask6.sin6_addr.s6_addr[prefix_len >> 3] =
+ 0xff << (8 - prefix_len % 8);
+ }
+
+ } else {
+ uv_address->address.address4 = *((struct sockaddr_in *) sa);
+
+ uv_address->netmask.netmask4.sin_family = AF_INET;
+ uv_address->netmask.netmask4.sin_addr.s_addr = (prefix_len > 0) ?
+ htonl(0xffffffff << (32 - prefix_len)) : 0;
+ }
+
+ uv_address++;
+ }
+
+ name_buf += name_size;
+ }
+
+ uv__free(win_address_buf);
+
+ *addresses_ptr = uv_address_buf;
+ *count_ptr = count;
+
+ return 0;
+}
+
+
+void uv_free_interface_addresses(uv_interface_address_t* addresses,
+ int count) {
+ uv__free(addresses);
+}
+
+
+int uv_getrusage(uv_rusage_t *uv_rusage) {
+ FILETIME createTime, exitTime, kernelTime, userTime;
+ SYSTEMTIME kernelSystemTime, userSystemTime;
+ PROCESS_MEMORY_COUNTERS memCounters;
+ IO_COUNTERS ioCounters;
+ int ret;
+
+ ret = GetProcessTimes(GetCurrentProcess(), &createTime, &exitTime, &kernelTime, &userTime);
+ if (ret == 0) {
+ return uv_translate_sys_error(GetLastError());
+ }
+
+ ret = FileTimeToSystemTime(&kernelTime, &kernelSystemTime);
+ if (ret == 0) {
+ return uv_translate_sys_error(GetLastError());
+ }
+
+ ret = FileTimeToSystemTime(&userTime, &userSystemTime);
+ if (ret == 0) {
+ return uv_translate_sys_error(GetLastError());
+ }
+
+ ret = GetProcessMemoryInfo(GetCurrentProcess(),
+ &memCounters,
+ sizeof(memCounters));
+ if (ret == 0) {
+ return uv_translate_sys_error(GetLastError());
+ }
+
+ ret = GetProcessIoCounters(GetCurrentProcess(), &ioCounters);
+ if (ret == 0) {
+ return uv_translate_sys_error(GetLastError());
+ }
+
+ memset(uv_rusage, 0, sizeof(*uv_rusage));
+
+ uv_rusage->ru_utime.tv_sec = userSystemTime.wHour * 3600 +
+ userSystemTime.wMinute * 60 +
+ userSystemTime.wSecond;
+ uv_rusage->ru_utime.tv_usec = userSystemTime.wMilliseconds * 1000;
+
+ uv_rusage->ru_stime.tv_sec = kernelSystemTime.wHour * 3600 +
+ kernelSystemTime.wMinute * 60 +
+ kernelSystemTime.wSecond;
+ uv_rusage->ru_stime.tv_usec = kernelSystemTime.wMilliseconds * 1000;
+
+ uv_rusage->ru_majflt = (uint64_t) memCounters.PageFaultCount;
+ uv_rusage->ru_maxrss = (uint64_t) memCounters.PeakWorkingSetSize / 1024;
+
+ uv_rusage->ru_oublock = (uint64_t) ioCounters.WriteOperationCount;
+ uv_rusage->ru_inblock = (uint64_t) ioCounters.ReadOperationCount;
+
+ return 0;
+}
+
+
+int uv_os_homedir(char* buffer, size_t* size) {
+ uv_passwd_t pwd;
+ size_t len;
+ int r;
+
+ /* Check if the USERPROFILE environment variable is set first. The task of
+ performing input validation on buffer and size is taken care of by
+ uv_os_getenv(). */
+ r = uv_os_getenv("USERPROFILE", buffer, size);
+
+ /* Don't return an error if USERPROFILE was not found. */
+ if (r != UV_ENOENT)
+ return r;
+
+ /* USERPROFILE is not set, so call uv__getpwuid_r() */
+ r = uv__getpwuid_r(&pwd);
+
+ if (r != 0) {
+ return r;
+ }
+
+ len = strlen(pwd.homedir);
+
+ if (len >= *size) {
+ *size = len + 1;
+ uv_os_free_passwd(&pwd);
+ return UV_ENOBUFS;
+ }
+
+ memcpy(buffer, pwd.homedir, len + 1);
+ *size = len;
+ uv_os_free_passwd(&pwd);
+
+ return 0;
+}
+
+
+int uv_os_tmpdir(char* buffer, size_t* size) {
+ wchar_t path[MAX_PATH + 1];
+ DWORD bufsize;
+ size_t len;
+
+ if (buffer == NULL || size == NULL || *size == 0)
+ return UV_EINVAL;
+
+ len = GetTempPathW(MAX_PATH + 1, path);
+
+ if (len == 0) {
+ return uv_translate_sys_error(GetLastError());
+ } else if (len > MAX_PATH + 1) {
+ /* This should not be possible */
+ return UV_EIO;
+ }
+
+ /* The returned directory should not have a trailing slash, unless it points
+ * at a drive root, like c:\. Remove it if needed. */
+ if (path[len - 1] == L'\\' &&
+ !(len == 3 && path[1] == L':')) {
+ len--;
+ path[len] = L'\0';
+ }
+
+ /* Check how much space we need */
+ bufsize = WideCharToMultiByte(CP_UTF8, 0, path, -1, NULL, 0, NULL, NULL);
+
+ if (bufsize == 0) {
+ return uv_translate_sys_error(GetLastError());
+ } else if (bufsize > *size) {
+ *size = bufsize;
+ return UV_ENOBUFS;
+ }
+
+ /* Convert to UTF-8 */
+ bufsize = WideCharToMultiByte(CP_UTF8,
+ 0,
+ path,
+ -1,
+ buffer,
+ *size,
+ NULL,
+ NULL);
+
+ if (bufsize == 0)
+ return uv_translate_sys_error(GetLastError());
+
+ *size = bufsize - 1;
+ return 0;
+}
+
+
+void uv_os_free_passwd(uv_passwd_t* pwd) {
+ if (pwd == NULL)
+ return;
+
+ uv__free(pwd->username);
+ uv__free(pwd->homedir);
+ pwd->username = NULL;
+ pwd->homedir = NULL;
+}
+
+
+/*
+ * Converts a UTF-16 string into a UTF-8 one. The resulting string is
+ * null-terminated.
+ *
+ * If utf16 is null terminated, utf16len can be set to -1, otherwise it must
+ * be specified.
+ */
+int uv__convert_utf16_to_utf8(const WCHAR* utf16, int utf16len, char** utf8) {
+ DWORD bufsize;
+
+ if (utf16 == NULL)
+ return UV_EINVAL;
+
+ /* Check how much space we need */
+ bufsize = WideCharToMultiByte(CP_UTF8,
+ 0,
+ utf16,
+ utf16len,
+ NULL,
+ 0,
+ NULL,
+ NULL);
+
+ if (bufsize == 0)
+ return uv_translate_sys_error(GetLastError());
+
+ /* Allocate the destination buffer adding an extra byte for the terminating
+ * NULL. If utf16len is not -1 WideCharToMultiByte will not add it, so
+ * we do it ourselves always, just in case. */
+ *utf8 = (char*)uv__malloc(bufsize + 1);
+
+ if (*utf8 == NULL)
+ return UV_ENOMEM;
+
+ /* Convert to UTF-8 */
+ bufsize = WideCharToMultiByte(CP_UTF8,
+ 0,
+ utf16,
+ utf16len,
+ *utf8,
+ bufsize,
+ NULL,
+ NULL);
+
+ if (bufsize == 0) {
+ uv__free(*utf8);
+ *utf8 = NULL;
+ return uv_translate_sys_error(GetLastError());
+ }
+
+ (*utf8)[bufsize] = '\0';
+ return 0;
+}
+
+
+/*
+ * Converts a UTF-8 string into a UTF-16 one. The resulting string is
+ * null-terminated.
+ *
+ * If utf8 is null terminated, utf8len can be set to -1, otherwise it must
+ * be specified.
+ */
+int uv__convert_utf8_to_utf16(const char* utf8, int utf8len, WCHAR** utf16) {
+ int bufsize;
+
+ if (utf8 == NULL)
+ return UV_EINVAL;
+
+ /* Check how much space we need */
+ bufsize = MultiByteToWideChar(CP_UTF8, 0, utf8, utf8len, NULL, 0);
+
+ if (bufsize == 0)
+ return uv_translate_sys_error(GetLastError());
+
+ /* Allocate the destination buffer adding an extra byte for the terminating
+ * NULL. If utf8len is not -1 MultiByteToWideChar will not add it, so
+ * we do it ourselves always, just in case. */
+ *utf16 = (WCHAR*)uv__malloc(sizeof(WCHAR) * (bufsize + 1));
+
+ if (*utf16 == NULL)
+ return UV_ENOMEM;
+
+ /* Convert to UTF-16 */
+ bufsize = MultiByteToWideChar(CP_UTF8, 0, utf8, utf8len, *utf16, bufsize);
+
+ if (bufsize == 0) {
+ uv__free(*utf16);
+ *utf16 = NULL;
+ return uv_translate_sys_error(GetLastError());
+ }
+
+ (*utf16)[bufsize] = '\0';
+ return 0;
+}
+
+
+int uv__getpwuid_r(uv_passwd_t* pwd) {
+ HANDLE token;
+ wchar_t username[UNLEN + 1];
+ wchar_t path[MAX_PATH];
+ DWORD bufsize;
+ int r;
+
+ if (pwd == NULL)
+ return UV_EINVAL;
+
+ /* Get the home directory using GetUserProfileDirectoryW() */
+ if (OpenProcessToken(GetCurrentProcess(), TOKEN_READ, &token) == 0)
+ return uv_translate_sys_error(GetLastError());
+
+ bufsize = ARRAY_SIZE(path);
+ if (!GetUserProfileDirectoryW(token, path, &bufsize)) {
+ r = GetLastError();
+ CloseHandle(token);
+
+ /* This should not be possible */
+ if (r == ERROR_INSUFFICIENT_BUFFER)
+ return UV_ENOMEM;
+
+ return uv_translate_sys_error(r);
+ }
+
+ CloseHandle(token);
+
+ /* Get the username using GetUserNameW() */
+ bufsize = ARRAY_SIZE(username);
+ if (!GetUserNameW(username, &bufsize)) {
+ r = GetLastError();
+
+ /* This should not be possible */
+ if (r == ERROR_INSUFFICIENT_BUFFER)
+ return UV_ENOMEM;
+
+ return uv_translate_sys_error(r);
+ }
+
+ pwd->homedir = NULL;
+ r = uv__convert_utf16_to_utf8(path, -1, &pwd->homedir);
+
+ if (r != 0)
+ return r;
+
+ pwd->username = NULL;
+ r = uv__convert_utf16_to_utf8(username, -1, &pwd->username);
+
+ if (r != 0) {
+ uv__free(pwd->homedir);
+ return r;
+ }
+
+ pwd->shell = NULL;
+ pwd->uid = -1;
+ pwd->gid = -1;
+
+ return 0;
+}
+
+
+int uv_os_get_passwd(uv_passwd_t* pwd) {
+ return uv__getpwuid_r(pwd);
+}
+
+
+int uv_os_getenv(const char* name, char* buffer, size_t* size) {
+ wchar_t var[MAX_ENV_VAR_LENGTH];
+ wchar_t* name_w;
+ DWORD bufsize;
+ size_t len;
+ int r;
+
+ if (name == NULL || buffer == NULL || size == NULL || *size == 0)
+ return UV_EINVAL;
+
+ r = uv__convert_utf8_to_utf16(name, -1, &name_w);
+
+ if (r != 0)
+ return r;
+
+ len = GetEnvironmentVariableW(name_w, var, MAX_ENV_VAR_LENGTH);
+ uv__free(name_w);
+ assert(len < MAX_ENV_VAR_LENGTH); /* len does not include the null */
+
+ if (len == 0) {
+ r = GetLastError();
+
+ if (r == ERROR_ENVVAR_NOT_FOUND)
+ return UV_ENOENT;
+
+ return uv_translate_sys_error(r);
+ }
+
+ /* Check how much space we need */
+ bufsize = WideCharToMultiByte(CP_UTF8, 0, var, -1, NULL, 0, NULL, NULL);
+
+ if (bufsize == 0) {
+ return uv_translate_sys_error(GetLastError());
+ } else if (bufsize > *size) {
+ *size = bufsize;
+ return UV_ENOBUFS;
+ }
+
+ /* Convert to UTF-8 */
+ bufsize = WideCharToMultiByte(CP_UTF8,
+ 0,
+ var,
+ -1,
+ buffer,
+ *size,
+ NULL,
+ NULL);
+
+ if (bufsize == 0)
+ return uv_translate_sys_error(GetLastError());
+
+ *size = bufsize - 1;
+ return 0;
+}
+
+
+int uv_os_setenv(const char* name, const char* value) {
+ wchar_t* name_w;
+ wchar_t* value_w;
+ int r;
+
+ if (name == NULL || value == NULL)
+ return UV_EINVAL;
+
+ r = uv__convert_utf8_to_utf16(name, -1, &name_w);
+
+ if (r != 0)
+ return r;
+
+ r = uv__convert_utf8_to_utf16(value, -1, &value_w);
+
+ if (r != 0) {
+ uv__free(name_w);
+ return r;
+ }
+
+ r = SetEnvironmentVariableW(name_w, value_w);
+ uv__free(name_w);
+ uv__free(value_w);
+
+ if (r == 0)
+ return uv_translate_sys_error(GetLastError());
+
+ return 0;
+}
+
+
+int uv_os_unsetenv(const char* name) {
+ wchar_t* name_w;
+ int r;
+
+ if (name == NULL)
+ return UV_EINVAL;
+
+ r = uv__convert_utf8_to_utf16(name, -1, &name_w);
+
+ if (r != 0)
+ return r;
+
+ r = SetEnvironmentVariableW(name_w, NULL);
+ uv__free(name_w);
+
+ if (r == 0)
+ return uv_translate_sys_error(GetLastError());
+
+ return 0;
+}
+
+
+int uv_os_gethostname(char* buffer, size_t* size) {
+ char buf[UV_MAXHOSTNAMESIZE];
+ size_t len;
+
+ if (buffer == NULL || size == NULL || *size == 0)
+ return UV_EINVAL;
+
+ uv__once_init(); /* Initialize winsock */
+
+ if (gethostname(buf, sizeof(buf)) != 0)
+ return uv_translate_sys_error(WSAGetLastError());
+
+ buf[sizeof(buf) - 1] = '\0'; /* Null terminate, just to be safe. */
+ len = strlen(buf);
+
+ if (len >= *size) {
+ *size = len + 1;
+ return UV_ENOBUFS;
+ }
+
+ memcpy(buffer, buf, len + 1);
+ *size = len;
+ return 0;
+}
+
+
+static int uv__get_handle(uv_pid_t pid, int access, HANDLE* handle) {
+ int r;
+
+ if (pid == 0)
+ *handle = GetCurrentProcess();
+ else
+ *handle = OpenProcess(access, FALSE, pid);
+
+ if (*handle == NULL) {
+ r = GetLastError();
+
+ if (r == ERROR_INVALID_PARAMETER)
+ return UV_ESRCH;
+ else
+ return uv_translate_sys_error(r);
+ }
+
+ return 0;
+}
+
+
+int uv_os_getpriority(uv_pid_t pid, int* priority) {
+ HANDLE handle;
+ int r;
+
+ if (priority == NULL)
+ return UV_EINVAL;
+
+ r = uv__get_handle(pid, PROCESS_QUERY_LIMITED_INFORMATION, &handle);
+
+ if (r != 0)
+ return r;
+
+ r = GetPriorityClass(handle);
+
+ if (r == 0) {
+ r = uv_translate_sys_error(GetLastError());
+ } else {
+ /* Map Windows priority classes to Unix nice values. */
+ if (r == REALTIME_PRIORITY_CLASS)
+ *priority = UV_PRIORITY_HIGHEST;
+ else if (r == HIGH_PRIORITY_CLASS)
+ *priority = UV_PRIORITY_HIGH;
+ else if (r == ABOVE_NORMAL_PRIORITY_CLASS)
+ *priority = UV_PRIORITY_ABOVE_NORMAL;
+ else if (r == NORMAL_PRIORITY_CLASS)
+ *priority = UV_PRIORITY_NORMAL;
+ else if (r == BELOW_NORMAL_PRIORITY_CLASS)
+ *priority = UV_PRIORITY_BELOW_NORMAL;
+ else /* IDLE_PRIORITY_CLASS */
+ *priority = UV_PRIORITY_LOW;
+
+ r = 0;
+ }
+
+ CloseHandle(handle);
+ return r;
+}
+
+
+int uv_os_setpriority(uv_pid_t pid, int priority) {
+ HANDLE handle;
+ int priority_class;
+ int r;
+
+ /* Map Unix nice values to Windows priority classes. */
+ if (priority < UV_PRIORITY_HIGHEST || priority > UV_PRIORITY_LOW)
+ return UV_EINVAL;
+ else if (priority < UV_PRIORITY_HIGH)
+ priority_class = REALTIME_PRIORITY_CLASS;
+ else if (priority < UV_PRIORITY_ABOVE_NORMAL)
+ priority_class = HIGH_PRIORITY_CLASS;
+ else if (priority < UV_PRIORITY_NORMAL)
+ priority_class = ABOVE_NORMAL_PRIORITY_CLASS;
+ else if (priority < UV_PRIORITY_BELOW_NORMAL)
+ priority_class = NORMAL_PRIORITY_CLASS;
+ else if (priority < UV_PRIORITY_LOW)
+ priority_class = BELOW_NORMAL_PRIORITY_CLASS;
+ else
+ priority_class = IDLE_PRIORITY_CLASS;
+
+ r = uv__get_handle(pid, PROCESS_SET_INFORMATION, &handle);
+
+ if (r != 0)
+ return r;
+
+ if (SetPriorityClass(handle, priority_class) == 0)
+ r = uv_translate_sys_error(GetLastError());
+
+ CloseHandle(handle);
+ return r;
+}
+
+
+int uv_os_uname(uv_utsname_t* buffer) {
+ /* Implementation loosely based on
+ https://github.com/gagern/gnulib/blob/master/lib/uname.c */
+ OSVERSIONINFOW os_info;
+ SYSTEM_INFO system_info;
+ HKEY registry_key;
+ WCHAR product_name_w[256];
+ DWORD product_name_w_size;
+ int version_size;
+ int processor_level;
+ int r;
+
+ if (buffer == NULL)
+ return UV_EINVAL;
+
+ uv__once_init();
+ os_info.dwOSVersionInfoSize = sizeof(os_info);
+ os_info.szCSDVersion[0] = L'\0';
+
+ /* Try calling RtlGetVersion(), and fall back to the deprecated GetVersionEx()
+ if RtlGetVersion() is not available. */
+ if (pRtlGetVersion) {
+ pRtlGetVersion(&os_info);
+ } else {
+ /* Silence GetVersionEx() deprecation warning. */
+ #pragma warning(suppress : 4996)
+ if (GetVersionExW(&os_info) == 0) {
+ r = uv_translate_sys_error(GetLastError());
+ goto error;
+ }
+ }
+
+ /* Populate the version field. */
+ version_size = 0;
+ r = RegOpenKeyExW(HKEY_LOCAL_MACHINE,
+ L"SOFTWARE\\Microsoft\\Windows NT\\CurrentVersion",
+ 0,
+ KEY_QUERY_VALUE,
+ ®istry_key);
+
+ if (r == ERROR_SUCCESS) {
+ product_name_w_size = sizeof(product_name_w);
+ r = RegGetValueW(registry_key,
+ NULL,
+ L"ProductName",
+ RRF_RT_REG_SZ,
+ NULL,
+ (PVOID) product_name_w,
+ &product_name_w_size);
+ RegCloseKey(registry_key);
+
+ if (r == ERROR_SUCCESS) {
+ version_size = WideCharToMultiByte(CP_UTF8,
+ 0,
+ product_name_w,
+ -1,
+ buffer->version,
+ sizeof(buffer->version),
+ NULL,
+ NULL);
+ if (version_size == 0) {
+ r = uv_translate_sys_error(GetLastError());
+ goto error;
+ }
+ }
+ }
+
+ /* Append service pack information to the version if present. */
+ if (os_info.szCSDVersion[0] != L'\0') {
+ if (version_size > 0)
+ buffer->version[version_size - 1] = ' ';
+
+ if (WideCharToMultiByte(CP_UTF8,
+ 0,
+ os_info.szCSDVersion,
+ -1,
+ buffer->version + version_size,
+ sizeof(buffer->version) - version_size,
+ NULL,
+ NULL) == 0) {
+ r = uv_translate_sys_error(GetLastError());
+ goto error;
+ }
+ }
+
+ /* Populate the sysname field. */
+#ifdef __MINGW32__
+ r = snprintf(buffer->sysname,
+ sizeof(buffer->sysname),
+ "MINGW32_NT-%u.%u",
+ (unsigned int) os_info.dwMajorVersion,
+ (unsigned int) os_info.dwMinorVersion);
+ assert(r < sizeof(buffer->sysname));
+#else
+ uv__strscpy(buffer->sysname, "Windows_NT", sizeof(buffer->sysname));
+#endif
+
+ /* Populate the release field. */
+ r = snprintf(buffer->release,
+ sizeof(buffer->release),
+ "%d.%d.%d",
+ (unsigned int) os_info.dwMajorVersion,
+ (unsigned int) os_info.dwMinorVersion,
+ (unsigned int) os_info.dwBuildNumber);
+ assert(r < sizeof(buffer->release));
+
+ /* Populate the machine field. */
+ GetSystemInfo(&system_info);
+
+ switch (system_info.wProcessorArchitecture) {
+ case PROCESSOR_ARCHITECTURE_AMD64:
+ uv__strscpy(buffer->machine, "x86_64", sizeof(buffer->machine));
+ break;
+ case PROCESSOR_ARCHITECTURE_IA64:
+ uv__strscpy(buffer->machine, "ia64", sizeof(buffer->machine));
+ break;
+ case PROCESSOR_ARCHITECTURE_INTEL:
+ uv__strscpy(buffer->machine, "i386", sizeof(buffer->machine));
+
+ if (system_info.wProcessorLevel > 3) {
+ processor_level = system_info.wProcessorLevel < 6 ?
+ system_info.wProcessorLevel : 6;
+ buffer->machine[1] = '0' + processor_level;
+ }
+
+ break;
+ case PROCESSOR_ARCHITECTURE_IA32_ON_WIN64:
+ uv__strscpy(buffer->machine, "i686", sizeof(buffer->machine));
+ break;
+ case PROCESSOR_ARCHITECTURE_MIPS:
+ uv__strscpy(buffer->machine, "mips", sizeof(buffer->machine));
+ break;
+ case PROCESSOR_ARCHITECTURE_ALPHA:
+ case PROCESSOR_ARCHITECTURE_ALPHA64:
+ uv__strscpy(buffer->machine, "alpha", sizeof(buffer->machine));
+ break;
+ case PROCESSOR_ARCHITECTURE_PPC:
+ uv__strscpy(buffer->machine, "powerpc", sizeof(buffer->machine));
+ break;
+ case PROCESSOR_ARCHITECTURE_SHX:
+ uv__strscpy(buffer->machine, "sh", sizeof(buffer->machine));
+ break;
+ case PROCESSOR_ARCHITECTURE_ARM:
+ uv__strscpy(buffer->machine, "arm", sizeof(buffer->machine));
+ break;
+ default:
+ uv__strscpy(buffer->machine, "unknown", sizeof(buffer->machine));
+ break;
+ }
+
+ return 0;
+
+error:
+ buffer->sysname[0] = '\0';
+ buffer->release[0] = '\0';
+ buffer->version[0] = '\0';
+ buffer->machine[0] = '\0';
+ return r;
+}
+
+int uv_gettimeofday(uv_timeval64_t* tv) {
+ /* Based on https://doxygen.postgresql.org/gettimeofday_8c_source.html */
+ const uint64_t epoch = (uint64_t) 116444736000000000ULL;
+ FILETIME file_time;
+ ULARGE_INTEGER ularge;
+
+ if (tv == NULL)
+ return UV_EINVAL;
+
+ GetSystemTimeAsFileTime(&file_time);
+ ularge.LowPart = file_time.dwLowDateTime;
+ ularge.HighPart = file_time.dwHighDateTime;
+ tv->tv_sec = (int64_t) ((ularge.QuadPart - epoch) / 10000000L);
+ tv->tv_usec = (int32_t) (((ularge.QuadPart - epoch) % 10000000L) / 10);
+ return 0;
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/winapi.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/winapi.cpp
new file mode 100644
index 0000000..fbbbcee
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/winapi.cpp
@@ -0,0 +1,130 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include <assert.h>
+
+#include "uv.h"
+#include "internal.h"
+
+
+/* Ntdll function pointers */
+sRtlGetVersion pRtlGetVersion;
+sRtlNtStatusToDosError pRtlNtStatusToDosError;
+sNtDeviceIoControlFile pNtDeviceIoControlFile;
+sNtQueryInformationFile pNtQueryInformationFile;
+sNtSetInformationFile pNtSetInformationFile;
+sNtQueryVolumeInformationFile pNtQueryVolumeInformationFile;
+sNtQueryDirectoryFile pNtQueryDirectoryFile;
+sNtQuerySystemInformation pNtQuerySystemInformation;
+
+/* Kernel32 function pointers */
+sGetQueuedCompletionStatusEx pGetQueuedCompletionStatusEx;
+
+/* Powrprof.dll function pointer */
+sPowerRegisterSuspendResumeNotification pPowerRegisterSuspendResumeNotification;
+
+/* User32.dll function pointer */
+sSetWinEventHook pSetWinEventHook;
+
+
+void uv_winapi_init(void) {
+ HMODULE ntdll_module;
+ HMODULE powrprof_module;
+ HMODULE user32_module;
+ HMODULE kernel32_module;
+
+ ntdll_module = GetModuleHandleA("ntdll.dll");
+ if (ntdll_module == NULL) {
+ uv_fatal_error(GetLastError(), "GetModuleHandleA");
+ }
+
+ pRtlGetVersion = (sRtlGetVersion) GetProcAddress(ntdll_module,
+ "RtlGetVersion");
+
+ pRtlNtStatusToDosError = (sRtlNtStatusToDosError) GetProcAddress(
+ ntdll_module,
+ "RtlNtStatusToDosError");
+ if (pRtlNtStatusToDosError == NULL) {
+ uv_fatal_error(GetLastError(), "GetProcAddress");
+ }
+
+ pNtDeviceIoControlFile = (sNtDeviceIoControlFile) GetProcAddress(
+ ntdll_module,
+ "NtDeviceIoControlFile");
+ if (pNtDeviceIoControlFile == NULL) {
+ uv_fatal_error(GetLastError(), "GetProcAddress");
+ }
+
+ pNtQueryInformationFile = (sNtQueryInformationFile) GetProcAddress(
+ ntdll_module,
+ "NtQueryInformationFile");
+ if (pNtQueryInformationFile == NULL) {
+ uv_fatal_error(GetLastError(), "GetProcAddress");
+ }
+
+ pNtSetInformationFile = (sNtSetInformationFile) GetProcAddress(
+ ntdll_module,
+ "NtSetInformationFile");
+ if (pNtSetInformationFile == NULL) {
+ uv_fatal_error(GetLastError(), "GetProcAddress");
+ }
+
+ pNtQueryVolumeInformationFile = (sNtQueryVolumeInformationFile)
+ GetProcAddress(ntdll_module, "NtQueryVolumeInformationFile");
+ if (pNtQueryVolumeInformationFile == NULL) {
+ uv_fatal_error(GetLastError(), "GetProcAddress");
+ }
+
+ pNtQueryDirectoryFile = (sNtQueryDirectoryFile)
+ GetProcAddress(ntdll_module, "NtQueryDirectoryFile");
+ if (pNtQueryVolumeInformationFile == NULL) {
+ uv_fatal_error(GetLastError(), "GetProcAddress");
+ }
+
+ pNtQuerySystemInformation = (sNtQuerySystemInformation) GetProcAddress(
+ ntdll_module,
+ "NtQuerySystemInformation");
+ if (pNtQuerySystemInformation == NULL) {
+ uv_fatal_error(GetLastError(), "GetProcAddress");
+ }
+
+ kernel32_module = GetModuleHandleA("kernel32.dll");
+ if (kernel32_module == NULL) {
+ uv_fatal_error(GetLastError(), "GetModuleHandleA");
+ }
+
+ pGetQueuedCompletionStatusEx = (sGetQueuedCompletionStatusEx) GetProcAddress(
+ kernel32_module,
+ "GetQueuedCompletionStatusEx");
+
+ powrprof_module = LoadLibraryA("powrprof.dll");
+ if (powrprof_module != NULL) {
+ pPowerRegisterSuspendResumeNotification = (sPowerRegisterSuspendResumeNotification)
+ GetProcAddress(powrprof_module, "PowerRegisterSuspendResumeNotification");
+ }
+
+ user32_module = LoadLibraryA("user32.dll");
+ if (user32_module != NULL) {
+ pSetWinEventHook = (sSetWinEventHook)
+ GetProcAddress(user32_module, "SetWinEventHook");
+ }
+
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/winapi.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/winapi.h
new file mode 100644
index 0000000..82c5ed4
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/winapi.h
@@ -0,0 +1,4731 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#ifndef UV_WIN_WINAPI_H_
+#define UV_WIN_WINAPI_H_
+
+#include <windows.h>
+
+
+/*
+ * Ntdll headers
+ */
+#ifndef STATUS_SEVERITY_SUCCESS
+# define STATUS_SEVERITY_SUCCESS 0x0
+#endif
+
+#ifndef STATUS_SEVERITY_INFORMATIONAL
+# define STATUS_SEVERITY_INFORMATIONAL 0x1
+#endif
+
+#ifndef STATUS_SEVERITY_WARNING
+# define STATUS_SEVERITY_WARNING 0x2
+#endif
+
+#ifndef STATUS_SEVERITY_ERROR
+# define STATUS_SEVERITY_ERROR 0x3
+#endif
+
+#ifndef FACILITY_NTWIN32
+# define FACILITY_NTWIN32 0x7
+#endif
+
+#ifndef NT_SUCCESS
+# define NT_SUCCESS(status) (((NTSTATUS) (status)) >= 0)
+#endif
+
+#ifndef NT_INFORMATION
+# define NT_INFORMATION(status) ((((ULONG) (status)) >> 30) == 1)
+#endif
+
+#ifndef NT_WARNING
+# define NT_WARNING(status) ((((ULONG) (status)) >> 30) == 2)
+#endif
+
+#ifndef NT_ERROR
+# define NT_ERROR(status) ((((ULONG) (status)) >> 30) == 3)
+#endif
+
+#ifndef STATUS_SUCCESS
+# define STATUS_SUCCESS ((NTSTATUS) 0x00000000L)
+#endif
+
+#ifndef STATUS_WAIT_0
+# define STATUS_WAIT_0 ((NTSTATUS) 0x00000000L)
+#endif
+
+#ifndef STATUS_WAIT_1
+# define STATUS_WAIT_1 ((NTSTATUS) 0x00000001L)
+#endif
+
+#ifndef STATUS_WAIT_2
+# define STATUS_WAIT_2 ((NTSTATUS) 0x00000002L)
+#endif
+
+#ifndef STATUS_WAIT_3
+# define STATUS_WAIT_3 ((NTSTATUS) 0x00000003L)
+#endif
+
+#ifndef STATUS_WAIT_63
+# define STATUS_WAIT_63 ((NTSTATUS) 0x0000003FL)
+#endif
+
+#ifndef STATUS_ABANDONED
+# define STATUS_ABANDONED ((NTSTATUS) 0x00000080L)
+#endif
+
+#ifndef STATUS_ABANDONED_WAIT_0
+# define STATUS_ABANDONED_WAIT_0 ((NTSTATUS) 0x00000080L)
+#endif
+
+#ifndef STATUS_ABANDONED_WAIT_63
+# define STATUS_ABANDONED_WAIT_63 ((NTSTATUS) 0x000000BFL)
+#endif
+
+#ifndef STATUS_USER_APC
+# define STATUS_USER_APC ((NTSTATUS) 0x000000C0L)
+#endif
+
+#ifndef STATUS_KERNEL_APC
+# define STATUS_KERNEL_APC ((NTSTATUS) 0x00000100L)
+#endif
+
+#ifndef STATUS_ALERTED
+# define STATUS_ALERTED ((NTSTATUS) 0x00000101L)
+#endif
+
+#ifndef STATUS_TIMEOUT
+# define STATUS_TIMEOUT ((NTSTATUS) 0x00000102L)
+#endif
+
+#ifndef STATUS_PENDING
+# define STATUS_PENDING ((NTSTATUS) 0x00000103L)
+#endif
+
+#ifndef STATUS_REPARSE
+# define STATUS_REPARSE ((NTSTATUS) 0x00000104L)
+#endif
+
+#ifndef STATUS_MORE_ENTRIES
+# define STATUS_MORE_ENTRIES ((NTSTATUS) 0x00000105L)
+#endif
+
+#ifndef STATUS_NOT_ALL_ASSIGNED
+# define STATUS_NOT_ALL_ASSIGNED ((NTSTATUS) 0x00000106L)
+#endif
+
+#ifndef STATUS_SOME_NOT_MAPPED
+# define STATUS_SOME_NOT_MAPPED ((NTSTATUS) 0x00000107L)
+#endif
+
+#ifndef STATUS_OPLOCK_BREAK_IN_PROGRESS
+# define STATUS_OPLOCK_BREAK_IN_PROGRESS ((NTSTATUS) 0x00000108L)
+#endif
+
+#ifndef STATUS_VOLUME_MOUNTED
+# define STATUS_VOLUME_MOUNTED ((NTSTATUS) 0x00000109L)
+#endif
+
+#ifndef STATUS_RXACT_COMMITTED
+# define STATUS_RXACT_COMMITTED ((NTSTATUS) 0x0000010AL)
+#endif
+
+#ifndef STATUS_NOTIFY_CLEANUP
+# define STATUS_NOTIFY_CLEANUP ((NTSTATUS) 0x0000010BL)
+#endif
+
+#ifndef STATUS_NOTIFY_ENUM_DIR
+# define STATUS_NOTIFY_ENUM_DIR ((NTSTATUS) 0x0000010CL)
+#endif
+
+#ifndef STATUS_NO_QUOTAS_FOR_ACCOUNT
+# define STATUS_NO_QUOTAS_FOR_ACCOUNT ((NTSTATUS) 0x0000010DL)
+#endif
+
+#ifndef STATUS_PRIMARY_TRANSPORT_CONNECT_FAILED
+# define STATUS_PRIMARY_TRANSPORT_CONNECT_FAILED ((NTSTATUS) 0x0000010EL)
+#endif
+
+#ifndef STATUS_PAGE_FAULT_TRANSITION
+# define STATUS_PAGE_FAULT_TRANSITION ((NTSTATUS) 0x00000110L)
+#endif
+
+#ifndef STATUS_PAGE_FAULT_DEMAND_ZERO
+# define STATUS_PAGE_FAULT_DEMAND_ZERO ((NTSTATUS) 0x00000111L)
+#endif
+
+#ifndef STATUS_PAGE_FAULT_COPY_ON_WRITE
+# define STATUS_PAGE_FAULT_COPY_ON_WRITE ((NTSTATUS) 0x00000112L)
+#endif
+
+#ifndef STATUS_PAGE_FAULT_GUARD_PAGE
+# define STATUS_PAGE_FAULT_GUARD_PAGE ((NTSTATUS) 0x00000113L)
+#endif
+
+#ifndef STATUS_PAGE_FAULT_PAGING_FILE
+# define STATUS_PAGE_FAULT_PAGING_FILE ((NTSTATUS) 0x00000114L)
+#endif
+
+#ifndef STATUS_CACHE_PAGE_LOCKED
+# define STATUS_CACHE_PAGE_LOCKED ((NTSTATUS) 0x00000115L)
+#endif
+
+#ifndef STATUS_CRASH_DUMP
+# define STATUS_CRASH_DUMP ((NTSTATUS) 0x00000116L)
+#endif
+
+#ifndef STATUS_BUFFER_ALL_ZEROS
+# define STATUS_BUFFER_ALL_ZEROS ((NTSTATUS) 0x00000117L)
+#endif
+
+#ifndef STATUS_REPARSE_OBJECT
+# define STATUS_REPARSE_OBJECT ((NTSTATUS) 0x00000118L)
+#endif
+
+#ifndef STATUS_RESOURCE_REQUIREMENTS_CHANGED
+# define STATUS_RESOURCE_REQUIREMENTS_CHANGED ((NTSTATUS) 0x00000119L)
+#endif
+
+#ifndef STATUS_TRANSLATION_COMPLETE
+# define STATUS_TRANSLATION_COMPLETE ((NTSTATUS) 0x00000120L)
+#endif
+
+#ifndef STATUS_DS_MEMBERSHIP_EVALUATED_LOCALLY
+# define STATUS_DS_MEMBERSHIP_EVALUATED_LOCALLY ((NTSTATUS) 0x00000121L)
+#endif
+
+#ifndef STATUS_NOTHING_TO_TERMINATE
+# define STATUS_NOTHING_TO_TERMINATE ((NTSTATUS) 0x00000122L)
+#endif
+
+#ifndef STATUS_PROCESS_NOT_IN_JOB
+# define STATUS_PROCESS_NOT_IN_JOB ((NTSTATUS) 0x00000123L)
+#endif
+
+#ifndef STATUS_PROCESS_IN_JOB
+# define STATUS_PROCESS_IN_JOB ((NTSTATUS) 0x00000124L)
+#endif
+
+#ifndef STATUS_VOLSNAP_HIBERNATE_READY
+# define STATUS_VOLSNAP_HIBERNATE_READY ((NTSTATUS) 0x00000125L)
+#endif
+
+#ifndef STATUS_FSFILTER_OP_COMPLETED_SUCCESSFULLY
+# define STATUS_FSFILTER_OP_COMPLETED_SUCCESSFULLY ((NTSTATUS) 0x00000126L)
+#endif
+
+#ifndef STATUS_INTERRUPT_VECTOR_ALREADY_CONNECTED
+# define STATUS_INTERRUPT_VECTOR_ALREADY_CONNECTED ((NTSTATUS) 0x00000127L)
+#endif
+
+#ifndef STATUS_INTERRUPT_STILL_CONNECTED
+# define STATUS_INTERRUPT_STILL_CONNECTED ((NTSTATUS) 0x00000128L)
+#endif
+
+#ifndef STATUS_PROCESS_CLONED
+# define STATUS_PROCESS_CLONED ((NTSTATUS) 0x00000129L)
+#endif
+
+#ifndef STATUS_FILE_LOCKED_WITH_ONLY_READERS
+# define STATUS_FILE_LOCKED_WITH_ONLY_READERS ((NTSTATUS) 0x0000012AL)
+#endif
+
+#ifndef STATUS_FILE_LOCKED_WITH_WRITERS
+# define STATUS_FILE_LOCKED_WITH_WRITERS ((NTSTATUS) 0x0000012BL)
+#endif
+
+#ifndef STATUS_RESOURCEMANAGER_READ_ONLY
+# define STATUS_RESOURCEMANAGER_READ_ONLY ((NTSTATUS) 0x00000202L)
+#endif
+
+#ifndef STATUS_RING_PREVIOUSLY_EMPTY
+# define STATUS_RING_PREVIOUSLY_EMPTY ((NTSTATUS) 0x00000210L)
+#endif
+
+#ifndef STATUS_RING_PREVIOUSLY_FULL
+# define STATUS_RING_PREVIOUSLY_FULL ((NTSTATUS) 0x00000211L)
+#endif
+
+#ifndef STATUS_RING_PREVIOUSLY_ABOVE_QUOTA
+# define STATUS_RING_PREVIOUSLY_ABOVE_QUOTA ((NTSTATUS) 0x00000212L)
+#endif
+
+#ifndef STATUS_RING_NEWLY_EMPTY
+# define STATUS_RING_NEWLY_EMPTY ((NTSTATUS) 0x00000213L)
+#endif
+
+#ifndef STATUS_RING_SIGNAL_OPPOSITE_ENDPOINT
+# define STATUS_RING_SIGNAL_OPPOSITE_ENDPOINT ((NTSTATUS) 0x00000214L)
+#endif
+
+#ifndef STATUS_OPLOCK_SWITCHED_TO_NEW_HANDLE
+# define STATUS_OPLOCK_SWITCHED_TO_NEW_HANDLE ((NTSTATUS) 0x00000215L)
+#endif
+
+#ifndef STATUS_OPLOCK_HANDLE_CLOSED
+# define STATUS_OPLOCK_HANDLE_CLOSED ((NTSTATUS) 0x00000216L)
+#endif
+
+#ifndef STATUS_WAIT_FOR_OPLOCK
+# define STATUS_WAIT_FOR_OPLOCK ((NTSTATUS) 0x00000367L)
+#endif
+
+#ifndef STATUS_OBJECT_NAME_EXISTS
+# define STATUS_OBJECT_NAME_EXISTS ((NTSTATUS) 0x40000000L)
+#endif
+
+#ifndef STATUS_THREAD_WAS_SUSPENDED
+# define STATUS_THREAD_WAS_SUSPENDED ((NTSTATUS) 0x40000001L)
+#endif
+
+#ifndef STATUS_WORKING_SET_LIMIT_RANGE
+# define STATUS_WORKING_SET_LIMIT_RANGE ((NTSTATUS) 0x40000002L)
+#endif
+
+#ifndef STATUS_IMAGE_NOT_AT_BASE
+# define STATUS_IMAGE_NOT_AT_BASE ((NTSTATUS) 0x40000003L)
+#endif
+
+#ifndef STATUS_RXACT_STATE_CREATED
+# define STATUS_RXACT_STATE_CREATED ((NTSTATUS) 0x40000004L)
+#endif
+
+#ifndef STATUS_SEGMENT_NOTIFICATION
+# define STATUS_SEGMENT_NOTIFICATION ((NTSTATUS) 0x40000005L)
+#endif
+
+#ifndef STATUS_LOCAL_USER_SESSION_KEY
+# define STATUS_LOCAL_USER_SESSION_KEY ((NTSTATUS) 0x40000006L)
+#endif
+
+#ifndef STATUS_BAD_CURRENT_DIRECTORY
+# define STATUS_BAD_CURRENT_DIRECTORY ((NTSTATUS) 0x40000007L)
+#endif
+
+#ifndef STATUS_SERIAL_MORE_WRITES
+# define STATUS_SERIAL_MORE_WRITES ((NTSTATUS) 0x40000008L)
+#endif
+
+#ifndef STATUS_REGISTRY_RECOVERED
+# define STATUS_REGISTRY_RECOVERED ((NTSTATUS) 0x40000009L)
+#endif
+
+#ifndef STATUS_FT_READ_RECOVERY_FROM_BACKUP
+# define STATUS_FT_READ_RECOVERY_FROM_BACKUP ((NTSTATUS) 0x4000000AL)
+#endif
+
+#ifndef STATUS_FT_WRITE_RECOVERY
+# define STATUS_FT_WRITE_RECOVERY ((NTSTATUS) 0x4000000BL)
+#endif
+
+#ifndef STATUS_SERIAL_COUNTER_TIMEOUT
+# define STATUS_SERIAL_COUNTER_TIMEOUT ((NTSTATUS) 0x4000000CL)
+#endif
+
+#ifndef STATUS_NULL_LM_PASSWORD
+# define STATUS_NULL_LM_PASSWORD ((NTSTATUS) 0x4000000DL)
+#endif
+
+#ifndef STATUS_IMAGE_MACHINE_TYPE_MISMATCH
+# define STATUS_IMAGE_MACHINE_TYPE_MISMATCH ((NTSTATUS) 0x4000000EL)
+#endif
+
+#ifndef STATUS_RECEIVE_PARTIAL
+# define STATUS_RECEIVE_PARTIAL ((NTSTATUS) 0x4000000FL)
+#endif
+
+#ifndef STATUS_RECEIVE_EXPEDITED
+# define STATUS_RECEIVE_EXPEDITED ((NTSTATUS) 0x40000010L)
+#endif
+
+#ifndef STATUS_RECEIVE_PARTIAL_EXPEDITED
+# define STATUS_RECEIVE_PARTIAL_EXPEDITED ((NTSTATUS) 0x40000011L)
+#endif
+
+#ifndef STATUS_EVENT_DONE
+# define STATUS_EVENT_DONE ((NTSTATUS) 0x40000012L)
+#endif
+
+#ifndef STATUS_EVENT_PENDING
+# define STATUS_EVENT_PENDING ((NTSTATUS) 0x40000013L)
+#endif
+
+#ifndef STATUS_CHECKING_FILE_SYSTEM
+# define STATUS_CHECKING_FILE_SYSTEM ((NTSTATUS) 0x40000014L)
+#endif
+
+#ifndef STATUS_FATAL_APP_EXIT
+# define STATUS_FATAL_APP_EXIT ((NTSTATUS) 0x40000015L)
+#endif
+
+#ifndef STATUS_PREDEFINED_HANDLE
+# define STATUS_PREDEFINED_HANDLE ((NTSTATUS) 0x40000016L)
+#endif
+
+#ifndef STATUS_WAS_UNLOCKED
+# define STATUS_WAS_UNLOCKED ((NTSTATUS) 0x40000017L)
+#endif
+
+#ifndef STATUS_SERVICE_NOTIFICATION
+# define STATUS_SERVICE_NOTIFICATION ((NTSTATUS) 0x40000018L)
+#endif
+
+#ifndef STATUS_WAS_LOCKED
+# define STATUS_WAS_LOCKED ((NTSTATUS) 0x40000019L)
+#endif
+
+#ifndef STATUS_LOG_HARD_ERROR
+# define STATUS_LOG_HARD_ERROR ((NTSTATUS) 0x4000001AL)
+#endif
+
+#ifndef STATUS_ALREADY_WIN32
+# define STATUS_ALREADY_WIN32 ((NTSTATUS) 0x4000001BL)
+#endif
+
+#ifndef STATUS_WX86_UNSIMULATE
+# define STATUS_WX86_UNSIMULATE ((NTSTATUS) 0x4000001CL)
+#endif
+
+#ifndef STATUS_WX86_CONTINUE
+# define STATUS_WX86_CONTINUE ((NTSTATUS) 0x4000001DL)
+#endif
+
+#ifndef STATUS_WX86_SINGLE_STEP
+# define STATUS_WX86_SINGLE_STEP ((NTSTATUS) 0x4000001EL)
+#endif
+
+#ifndef STATUS_WX86_BREAKPOINT
+# define STATUS_WX86_BREAKPOINT ((NTSTATUS) 0x4000001FL)
+#endif
+
+#ifndef STATUS_WX86_EXCEPTION_CONTINUE
+# define STATUS_WX86_EXCEPTION_CONTINUE ((NTSTATUS) 0x40000020L)
+#endif
+
+#ifndef STATUS_WX86_EXCEPTION_LASTCHANCE
+# define STATUS_WX86_EXCEPTION_LASTCHANCE ((NTSTATUS) 0x40000021L)
+#endif
+
+#ifndef STATUS_WX86_EXCEPTION_CHAIN
+# define STATUS_WX86_EXCEPTION_CHAIN ((NTSTATUS) 0x40000022L)
+#endif
+
+#ifndef STATUS_IMAGE_MACHINE_TYPE_MISMATCH_EXE
+# define STATUS_IMAGE_MACHINE_TYPE_MISMATCH_EXE ((NTSTATUS) 0x40000023L)
+#endif
+
+#ifndef STATUS_NO_YIELD_PERFORMED
+# define STATUS_NO_YIELD_PERFORMED ((NTSTATUS) 0x40000024L)
+#endif
+
+#ifndef STATUS_TIMER_RESUME_IGNORED
+# define STATUS_TIMER_RESUME_IGNORED ((NTSTATUS) 0x40000025L)
+#endif
+
+#ifndef STATUS_ARBITRATION_UNHANDLED
+# define STATUS_ARBITRATION_UNHANDLED ((NTSTATUS) 0x40000026L)
+#endif
+
+#ifndef STATUS_CARDBUS_NOT_SUPPORTED
+# define STATUS_CARDBUS_NOT_SUPPORTED ((NTSTATUS) 0x40000027L)
+#endif
+
+#ifndef STATUS_WX86_CREATEWX86TIB
+# define STATUS_WX86_CREATEWX86TIB ((NTSTATUS) 0x40000028L)
+#endif
+
+#ifndef STATUS_MP_PROCESSOR_MISMATCH
+# define STATUS_MP_PROCESSOR_MISMATCH ((NTSTATUS) 0x40000029L)
+#endif
+
+#ifndef STATUS_HIBERNATED
+# define STATUS_HIBERNATED ((NTSTATUS) 0x4000002AL)
+#endif
+
+#ifndef STATUS_RESUME_HIBERNATION
+# define STATUS_RESUME_HIBERNATION ((NTSTATUS) 0x4000002BL)
+#endif
+
+#ifndef STATUS_FIRMWARE_UPDATED
+# define STATUS_FIRMWARE_UPDATED ((NTSTATUS) 0x4000002CL)
+#endif
+
+#ifndef STATUS_DRIVERS_LEAKING_LOCKED_PAGES
+# define STATUS_DRIVERS_LEAKING_LOCKED_PAGES ((NTSTATUS) 0x4000002DL)
+#endif
+
+#ifndef STATUS_MESSAGE_RETRIEVED
+# define STATUS_MESSAGE_RETRIEVED ((NTSTATUS) 0x4000002EL)
+#endif
+
+#ifndef STATUS_SYSTEM_POWERSTATE_TRANSITION
+# define STATUS_SYSTEM_POWERSTATE_TRANSITION ((NTSTATUS) 0x4000002FL)
+#endif
+
+#ifndef STATUS_ALPC_CHECK_COMPLETION_LIST
+# define STATUS_ALPC_CHECK_COMPLETION_LIST ((NTSTATUS) 0x40000030L)
+#endif
+
+#ifndef STATUS_SYSTEM_POWERSTATE_COMPLEX_TRANSITION
+# define STATUS_SYSTEM_POWERSTATE_COMPLEX_TRANSITION ((NTSTATUS) 0x40000031L)
+#endif
+
+#ifndef STATUS_ACCESS_AUDIT_BY_POLICY
+# define STATUS_ACCESS_AUDIT_BY_POLICY ((NTSTATUS) 0x40000032L)
+#endif
+
+#ifndef STATUS_ABANDON_HIBERFILE
+# define STATUS_ABANDON_HIBERFILE ((NTSTATUS) 0x40000033L)
+#endif
+
+#ifndef STATUS_BIZRULES_NOT_ENABLED
+# define STATUS_BIZRULES_NOT_ENABLED ((NTSTATUS) 0x40000034L)
+#endif
+
+#ifndef STATUS_GUARD_PAGE_VIOLATION
+# define STATUS_GUARD_PAGE_VIOLATION ((NTSTATUS) 0x80000001L)
+#endif
+
+#ifndef STATUS_DATATYPE_MISALIGNMENT
+# define STATUS_DATATYPE_MISALIGNMENT ((NTSTATUS) 0x80000002L)
+#endif
+
+#ifndef STATUS_BREAKPOINT
+# define STATUS_BREAKPOINT ((NTSTATUS) 0x80000003L)
+#endif
+
+#ifndef STATUS_SINGLE_STEP
+# define STATUS_SINGLE_STEP ((NTSTATUS) 0x80000004L)
+#endif
+
+#ifndef STATUS_BUFFER_OVERFLOW
+# define STATUS_BUFFER_OVERFLOW ((NTSTATUS) 0x80000005L)
+#endif
+
+#ifndef STATUS_NO_MORE_FILES
+# define STATUS_NO_MORE_FILES ((NTSTATUS) 0x80000006L)
+#endif
+
+#ifndef STATUS_WAKE_SYSTEM_DEBUGGER
+# define STATUS_WAKE_SYSTEM_DEBUGGER ((NTSTATUS) 0x80000007L)
+#endif
+
+#ifndef STATUS_HANDLES_CLOSED
+# define STATUS_HANDLES_CLOSED ((NTSTATUS) 0x8000000AL)
+#endif
+
+#ifndef STATUS_NO_INHERITANCE
+# define STATUS_NO_INHERITANCE ((NTSTATUS) 0x8000000BL)
+#endif
+
+#ifndef STATUS_GUID_SUBSTITUTION_MADE
+# define STATUS_GUID_SUBSTITUTION_MADE ((NTSTATUS) 0x8000000CL)
+#endif
+
+#ifndef STATUS_PARTIAL_COPY
+# define STATUS_PARTIAL_COPY ((NTSTATUS) 0x8000000DL)
+#endif
+
+#ifndef STATUS_DEVICE_PAPER_EMPTY
+# define STATUS_DEVICE_PAPER_EMPTY ((NTSTATUS) 0x8000000EL)
+#endif
+
+#ifndef STATUS_DEVICE_POWERED_OFF
+# define STATUS_DEVICE_POWERED_OFF ((NTSTATUS) 0x8000000FL)
+#endif
+
+#ifndef STATUS_DEVICE_OFF_LINE
+# define STATUS_DEVICE_OFF_LINE ((NTSTATUS) 0x80000010L)
+#endif
+
+#ifndef STATUS_DEVICE_BUSY
+# define STATUS_DEVICE_BUSY ((NTSTATUS) 0x80000011L)
+#endif
+
+#ifndef STATUS_NO_MORE_EAS
+# define STATUS_NO_MORE_EAS ((NTSTATUS) 0x80000012L)
+#endif
+
+#ifndef STATUS_INVALID_EA_NAME
+# define STATUS_INVALID_EA_NAME ((NTSTATUS) 0x80000013L)
+#endif
+
+#ifndef STATUS_EA_LIST_INCONSISTENT
+# define STATUS_EA_LIST_INCONSISTENT ((NTSTATUS) 0x80000014L)
+#endif
+
+#ifndef STATUS_INVALID_EA_FLAG
+# define STATUS_INVALID_EA_FLAG ((NTSTATUS) 0x80000015L)
+#endif
+
+#ifndef STATUS_VERIFY_REQUIRED
+# define STATUS_VERIFY_REQUIRED ((NTSTATUS) 0x80000016L)
+#endif
+
+#ifndef STATUS_EXTRANEOUS_INFORMATION
+# define STATUS_EXTRANEOUS_INFORMATION ((NTSTATUS) 0x80000017L)
+#endif
+
+#ifndef STATUS_RXACT_COMMIT_NECESSARY
+# define STATUS_RXACT_COMMIT_NECESSARY ((NTSTATUS) 0x80000018L)
+#endif
+
+#ifndef STATUS_NO_MORE_ENTRIES
+# define STATUS_NO_MORE_ENTRIES ((NTSTATUS) 0x8000001AL)
+#endif
+
+#ifndef STATUS_FILEMARK_DETECTED
+# define STATUS_FILEMARK_DETECTED ((NTSTATUS) 0x8000001BL)
+#endif
+
+#ifndef STATUS_MEDIA_CHANGED
+# define STATUS_MEDIA_CHANGED ((NTSTATUS) 0x8000001CL)
+#endif
+
+#ifndef STATUS_BUS_RESET
+# define STATUS_BUS_RESET ((NTSTATUS) 0x8000001DL)
+#endif
+
+#ifndef STATUS_END_OF_MEDIA
+# define STATUS_END_OF_MEDIA ((NTSTATUS) 0x8000001EL)
+#endif
+
+#ifndef STATUS_BEGINNING_OF_MEDIA
+# define STATUS_BEGINNING_OF_MEDIA ((NTSTATUS) 0x8000001FL)
+#endif
+
+#ifndef STATUS_MEDIA_CHECK
+# define STATUS_MEDIA_CHECK ((NTSTATUS) 0x80000020L)
+#endif
+
+#ifndef STATUS_SETMARK_DETECTED
+# define STATUS_SETMARK_DETECTED ((NTSTATUS) 0x80000021L)
+#endif
+
+#ifndef STATUS_NO_DATA_DETECTED
+# define STATUS_NO_DATA_DETECTED ((NTSTATUS) 0x80000022L)
+#endif
+
+#ifndef STATUS_REDIRECTOR_HAS_OPEN_HANDLES
+# define STATUS_REDIRECTOR_HAS_OPEN_HANDLES ((NTSTATUS) 0x80000023L)
+#endif
+
+#ifndef STATUS_SERVER_HAS_OPEN_HANDLES
+# define STATUS_SERVER_HAS_OPEN_HANDLES ((NTSTATUS) 0x80000024L)
+#endif
+
+#ifndef STATUS_ALREADY_DISCONNECTED
+# define STATUS_ALREADY_DISCONNECTED ((NTSTATUS) 0x80000025L)
+#endif
+
+#ifndef STATUS_LONGJUMP
+# define STATUS_LONGJUMP ((NTSTATUS) 0x80000026L)
+#endif
+
+#ifndef STATUS_CLEANER_CARTRIDGE_INSTALLED
+# define STATUS_CLEANER_CARTRIDGE_INSTALLED ((NTSTATUS) 0x80000027L)
+#endif
+
+#ifndef STATUS_PLUGPLAY_QUERY_VETOED
+# define STATUS_PLUGPLAY_QUERY_VETOED ((NTSTATUS) 0x80000028L)
+#endif
+
+#ifndef STATUS_UNWIND_CONSOLIDATE
+# define STATUS_UNWIND_CONSOLIDATE ((NTSTATUS) 0x80000029L)
+#endif
+
+#ifndef STATUS_REGISTRY_HIVE_RECOVERED
+# define STATUS_REGISTRY_HIVE_RECOVERED ((NTSTATUS) 0x8000002AL)
+#endif
+
+#ifndef STATUS_DLL_MIGHT_BE_INSECURE
+# define STATUS_DLL_MIGHT_BE_INSECURE ((NTSTATUS) 0x8000002BL)
+#endif
+
+#ifndef STATUS_DLL_MIGHT_BE_INCOMPATIBLE
+# define STATUS_DLL_MIGHT_BE_INCOMPATIBLE ((NTSTATUS) 0x8000002CL)
+#endif
+
+#ifndef STATUS_STOPPED_ON_SYMLINK
+# define STATUS_STOPPED_ON_SYMLINK ((NTSTATUS) 0x8000002DL)
+#endif
+
+#ifndef STATUS_CANNOT_GRANT_REQUESTED_OPLOCK
+# define STATUS_CANNOT_GRANT_REQUESTED_OPLOCK ((NTSTATUS) 0x8000002EL)
+#endif
+
+#ifndef STATUS_NO_ACE_CONDITION
+# define STATUS_NO_ACE_CONDITION ((NTSTATUS) 0x8000002FL)
+#endif
+
+#ifndef STATUS_UNSUCCESSFUL
+# define STATUS_UNSUCCESSFUL ((NTSTATUS) 0xC0000001L)
+#endif
+
+#ifndef STATUS_NOT_IMPLEMENTED
+# define STATUS_NOT_IMPLEMENTED ((NTSTATUS) 0xC0000002L)
+#endif
+
+#ifndef STATUS_INVALID_INFO_CLASS
+# define STATUS_INVALID_INFO_CLASS ((NTSTATUS) 0xC0000003L)
+#endif
+
+#ifndef STATUS_INFO_LENGTH_MISMATCH
+# define STATUS_INFO_LENGTH_MISMATCH ((NTSTATUS) 0xC0000004L)
+#endif
+
+#ifndef STATUS_ACCESS_VIOLATION
+# define STATUS_ACCESS_VIOLATION ((NTSTATUS) 0xC0000005L)
+#endif
+
+#ifndef STATUS_IN_PAGE_ERROR
+# define STATUS_IN_PAGE_ERROR ((NTSTATUS) 0xC0000006L)
+#endif
+
+#ifndef STATUS_PAGEFILE_QUOTA
+# define STATUS_PAGEFILE_QUOTA ((NTSTATUS) 0xC0000007L)
+#endif
+
+#ifndef STATUS_INVALID_HANDLE
+# define STATUS_INVALID_HANDLE ((NTSTATUS) 0xC0000008L)
+#endif
+
+#ifndef STATUS_BAD_INITIAL_STACK
+# define STATUS_BAD_INITIAL_STACK ((NTSTATUS) 0xC0000009L)
+#endif
+
+#ifndef STATUS_BAD_INITIAL_PC
+# define STATUS_BAD_INITIAL_PC ((NTSTATUS) 0xC000000AL)
+#endif
+
+#ifndef STATUS_INVALID_CID
+# define STATUS_INVALID_CID ((NTSTATUS) 0xC000000BL)
+#endif
+
+#ifndef STATUS_TIMER_NOT_CANCELED
+# define STATUS_TIMER_NOT_CANCELED ((NTSTATUS) 0xC000000CL)
+#endif
+
+#ifndef STATUS_INVALID_PARAMETER
+# define STATUS_INVALID_PARAMETER ((NTSTATUS) 0xC000000DL)
+#endif
+
+#ifndef STATUS_NO_SUCH_DEVICE
+# define STATUS_NO_SUCH_DEVICE ((NTSTATUS) 0xC000000EL)
+#endif
+
+#ifndef STATUS_NO_SUCH_FILE
+# define STATUS_NO_SUCH_FILE ((NTSTATUS) 0xC000000FL)
+#endif
+
+#ifndef STATUS_INVALID_DEVICE_REQUEST
+# define STATUS_INVALID_DEVICE_REQUEST ((NTSTATUS) 0xC0000010L)
+#endif
+
+#ifndef STATUS_END_OF_FILE
+# define STATUS_END_OF_FILE ((NTSTATUS) 0xC0000011L)
+#endif
+
+#ifndef STATUS_WRONG_VOLUME
+# define STATUS_WRONG_VOLUME ((NTSTATUS) 0xC0000012L)
+#endif
+
+#ifndef STATUS_NO_MEDIA_IN_DEVICE
+# define STATUS_NO_MEDIA_IN_DEVICE ((NTSTATUS) 0xC0000013L)
+#endif
+
+#ifndef STATUS_UNRECOGNIZED_MEDIA
+# define STATUS_UNRECOGNIZED_MEDIA ((NTSTATUS) 0xC0000014L)
+#endif
+
+#ifndef STATUS_NONEXISTENT_SECTOR
+# define STATUS_NONEXISTENT_SECTOR ((NTSTATUS) 0xC0000015L)
+#endif
+
+#ifndef STATUS_MORE_PROCESSING_REQUIRED
+# define STATUS_MORE_PROCESSING_REQUIRED ((NTSTATUS) 0xC0000016L)
+#endif
+
+#ifndef STATUS_NO_MEMORY
+# define STATUS_NO_MEMORY ((NTSTATUS) 0xC0000017L)
+#endif
+
+#ifndef STATUS_CONFLICTING_ADDRESSES
+# define STATUS_CONFLICTING_ADDRESSES ((NTSTATUS) 0xC0000018L)
+#endif
+
+#ifndef STATUS_NOT_MAPPED_VIEW
+# define STATUS_NOT_MAPPED_VIEW ((NTSTATUS) 0xC0000019L)
+#endif
+
+#ifndef STATUS_UNABLE_TO_FREE_VM
+# define STATUS_UNABLE_TO_FREE_VM ((NTSTATUS) 0xC000001AL)
+#endif
+
+#ifndef STATUS_UNABLE_TO_DELETE_SECTION
+# define STATUS_UNABLE_TO_DELETE_SECTION ((NTSTATUS) 0xC000001BL)
+#endif
+
+#ifndef STATUS_INVALID_SYSTEM_SERVICE
+# define STATUS_INVALID_SYSTEM_SERVICE ((NTSTATUS) 0xC000001CL)
+#endif
+
+#ifndef STATUS_ILLEGAL_INSTRUCTION
+# define STATUS_ILLEGAL_INSTRUCTION ((NTSTATUS) 0xC000001DL)
+#endif
+
+#ifndef STATUS_INVALID_LOCK_SEQUENCE
+# define STATUS_INVALID_LOCK_SEQUENCE ((NTSTATUS) 0xC000001EL)
+#endif
+
+#ifndef STATUS_INVALID_VIEW_SIZE
+# define STATUS_INVALID_VIEW_SIZE ((NTSTATUS) 0xC000001FL)
+#endif
+
+#ifndef STATUS_INVALID_FILE_FOR_SECTION
+# define STATUS_INVALID_FILE_FOR_SECTION ((NTSTATUS) 0xC0000020L)
+#endif
+
+#ifndef STATUS_ALREADY_COMMITTED
+# define STATUS_ALREADY_COMMITTED ((NTSTATUS) 0xC0000021L)
+#endif
+
+#ifndef STATUS_ACCESS_DENIED
+# define STATUS_ACCESS_DENIED ((NTSTATUS) 0xC0000022L)
+#endif
+
+#ifndef STATUS_BUFFER_TOO_SMALL
+# define STATUS_BUFFER_TOO_SMALL ((NTSTATUS) 0xC0000023L)
+#endif
+
+#ifndef STATUS_OBJECT_TYPE_MISMATCH
+# define STATUS_OBJECT_TYPE_MISMATCH ((NTSTATUS) 0xC0000024L)
+#endif
+
+#ifndef STATUS_NONCONTINUABLE_EXCEPTION
+# define STATUS_NONCONTINUABLE_EXCEPTION ((NTSTATUS) 0xC0000025L)
+#endif
+
+#ifndef STATUS_INVALID_DISPOSITION
+# define STATUS_INVALID_DISPOSITION ((NTSTATUS) 0xC0000026L)
+#endif
+
+#ifndef STATUS_UNWIND
+# define STATUS_UNWIND ((NTSTATUS) 0xC0000027L)
+#endif
+
+#ifndef STATUS_BAD_STACK
+# define STATUS_BAD_STACK ((NTSTATUS) 0xC0000028L)
+#endif
+
+#ifndef STATUS_INVALID_UNWIND_TARGET
+# define STATUS_INVALID_UNWIND_TARGET ((NTSTATUS) 0xC0000029L)
+#endif
+
+#ifndef STATUS_NOT_LOCKED
+# define STATUS_NOT_LOCKED ((NTSTATUS) 0xC000002AL)
+#endif
+
+#ifndef STATUS_PARITY_ERROR
+# define STATUS_PARITY_ERROR ((NTSTATUS) 0xC000002BL)
+#endif
+
+#ifndef STATUS_UNABLE_TO_DECOMMIT_VM
+# define STATUS_UNABLE_TO_DECOMMIT_VM ((NTSTATUS) 0xC000002CL)
+#endif
+
+#ifndef STATUS_NOT_COMMITTED
+# define STATUS_NOT_COMMITTED ((NTSTATUS) 0xC000002DL)
+#endif
+
+#ifndef STATUS_INVALID_PORT_ATTRIBUTES
+# define STATUS_INVALID_PORT_ATTRIBUTES ((NTSTATUS) 0xC000002EL)
+#endif
+
+#ifndef STATUS_PORT_MESSAGE_TOO_LONG
+# define STATUS_PORT_MESSAGE_TOO_LONG ((NTSTATUS) 0xC000002FL)
+#endif
+
+#ifndef STATUS_INVALID_PARAMETER_MIX
+# define STATUS_INVALID_PARAMETER_MIX ((NTSTATUS) 0xC0000030L)
+#endif
+
+#ifndef STATUS_INVALID_QUOTA_LOWER
+# define STATUS_INVALID_QUOTA_LOWER ((NTSTATUS) 0xC0000031L)
+#endif
+
+#ifndef STATUS_DISK_CORRUPT_ERROR
+# define STATUS_DISK_CORRUPT_ERROR ((NTSTATUS) 0xC0000032L)
+#endif
+
+#ifndef STATUS_OBJECT_NAME_INVALID
+# define STATUS_OBJECT_NAME_INVALID ((NTSTATUS) 0xC0000033L)
+#endif
+
+#ifndef STATUS_OBJECT_NAME_NOT_FOUND
+# define STATUS_OBJECT_NAME_NOT_FOUND ((NTSTATUS) 0xC0000034L)
+#endif
+
+#ifndef STATUS_OBJECT_NAME_COLLISION
+# define STATUS_OBJECT_NAME_COLLISION ((NTSTATUS) 0xC0000035L)
+#endif
+
+#ifndef STATUS_PORT_DISCONNECTED
+# define STATUS_PORT_DISCONNECTED ((NTSTATUS) 0xC0000037L)
+#endif
+
+#ifndef STATUS_DEVICE_ALREADY_ATTACHED
+# define STATUS_DEVICE_ALREADY_ATTACHED ((NTSTATUS) 0xC0000038L)
+#endif
+
+#ifndef STATUS_OBJECT_PATH_INVALID
+# define STATUS_OBJECT_PATH_INVALID ((NTSTATUS) 0xC0000039L)
+#endif
+
+#ifndef STATUS_OBJECT_PATH_NOT_FOUND
+# define STATUS_OBJECT_PATH_NOT_FOUND ((NTSTATUS) 0xC000003AL)
+#endif
+
+#ifndef STATUS_OBJECT_PATH_SYNTAX_BAD
+# define STATUS_OBJECT_PATH_SYNTAX_BAD ((NTSTATUS) 0xC000003BL)
+#endif
+
+#ifndef STATUS_DATA_OVERRUN
+# define STATUS_DATA_OVERRUN ((NTSTATUS) 0xC000003CL)
+#endif
+
+#ifndef STATUS_DATA_LATE_ERROR
+# define STATUS_DATA_LATE_ERROR ((NTSTATUS) 0xC000003DL)
+#endif
+
+#ifndef STATUS_DATA_ERROR
+# define STATUS_DATA_ERROR ((NTSTATUS) 0xC000003EL)
+#endif
+
+#ifndef STATUS_CRC_ERROR
+# define STATUS_CRC_ERROR ((NTSTATUS) 0xC000003FL)
+#endif
+
+#ifndef STATUS_SECTION_TOO_BIG
+# define STATUS_SECTION_TOO_BIG ((NTSTATUS) 0xC0000040L)
+#endif
+
+#ifndef STATUS_PORT_CONNECTION_REFUSED
+# define STATUS_PORT_CONNECTION_REFUSED ((NTSTATUS) 0xC0000041L)
+#endif
+
+#ifndef STATUS_INVALID_PORT_HANDLE
+# define STATUS_INVALID_PORT_HANDLE ((NTSTATUS) 0xC0000042L)
+#endif
+
+#ifndef STATUS_SHARING_VIOLATION
+# define STATUS_SHARING_VIOLATION ((NTSTATUS) 0xC0000043L)
+#endif
+
+#ifndef STATUS_QUOTA_EXCEEDED
+# define STATUS_QUOTA_EXCEEDED ((NTSTATUS) 0xC0000044L)
+#endif
+
+#ifndef STATUS_INVALID_PAGE_PROTECTION
+# define STATUS_INVALID_PAGE_PROTECTION ((NTSTATUS) 0xC0000045L)
+#endif
+
+#ifndef STATUS_MUTANT_NOT_OWNED
+# define STATUS_MUTANT_NOT_OWNED ((NTSTATUS) 0xC0000046L)
+#endif
+
+#ifndef STATUS_SEMAPHORE_LIMIT_EXCEEDED
+# define STATUS_SEMAPHORE_LIMIT_EXCEEDED ((NTSTATUS) 0xC0000047L)
+#endif
+
+#ifndef STATUS_PORT_ALREADY_SET
+# define STATUS_PORT_ALREADY_SET ((NTSTATUS) 0xC0000048L)
+#endif
+
+#ifndef STATUS_SECTION_NOT_IMAGE
+# define STATUS_SECTION_NOT_IMAGE ((NTSTATUS) 0xC0000049L)
+#endif
+
+#ifndef STATUS_SUSPEND_COUNT_EXCEEDED
+# define STATUS_SUSPEND_COUNT_EXCEEDED ((NTSTATUS) 0xC000004AL)
+#endif
+
+#ifndef STATUS_THREAD_IS_TERMINATING
+# define STATUS_THREAD_IS_TERMINATING ((NTSTATUS) 0xC000004BL)
+#endif
+
+#ifndef STATUS_BAD_WORKING_SET_LIMIT
+# define STATUS_BAD_WORKING_SET_LIMIT ((NTSTATUS) 0xC000004CL)
+#endif
+
+#ifndef STATUS_INCOMPATIBLE_FILE_MAP
+# define STATUS_INCOMPATIBLE_FILE_MAP ((NTSTATUS) 0xC000004DL)
+#endif
+
+#ifndef STATUS_SECTION_PROTECTION
+# define STATUS_SECTION_PROTECTION ((NTSTATUS) 0xC000004EL)
+#endif
+
+#ifndef STATUS_EAS_NOT_SUPPORTED
+# define STATUS_EAS_NOT_SUPPORTED ((NTSTATUS) 0xC000004FL)
+#endif
+
+#ifndef STATUS_EA_TOO_LARGE
+# define STATUS_EA_TOO_LARGE ((NTSTATUS) 0xC0000050L)
+#endif
+
+#ifndef STATUS_NONEXISTENT_EA_ENTRY
+# define STATUS_NONEXISTENT_EA_ENTRY ((NTSTATUS) 0xC0000051L)
+#endif
+
+#ifndef STATUS_NO_EAS_ON_FILE
+# define STATUS_NO_EAS_ON_FILE ((NTSTATUS) 0xC0000052L)
+#endif
+
+#ifndef STATUS_EA_CORRUPT_ERROR
+# define STATUS_EA_CORRUPT_ERROR ((NTSTATUS) 0xC0000053L)
+#endif
+
+#ifndef STATUS_FILE_LOCK_CONFLICT
+# define STATUS_FILE_LOCK_CONFLICT ((NTSTATUS) 0xC0000054L)
+#endif
+
+#ifndef STATUS_LOCK_NOT_GRANTED
+# define STATUS_LOCK_NOT_GRANTED ((NTSTATUS) 0xC0000055L)
+#endif
+
+#ifndef STATUS_DELETE_PENDING
+# define STATUS_DELETE_PENDING ((NTSTATUS) 0xC0000056L)
+#endif
+
+#ifndef STATUS_CTL_FILE_NOT_SUPPORTED
+# define STATUS_CTL_FILE_NOT_SUPPORTED ((NTSTATUS) 0xC0000057L)
+#endif
+
+#ifndef STATUS_UNKNOWN_REVISION
+# define STATUS_UNKNOWN_REVISION ((NTSTATUS) 0xC0000058L)
+#endif
+
+#ifndef STATUS_REVISION_MISMATCH
+# define STATUS_REVISION_MISMATCH ((NTSTATUS) 0xC0000059L)
+#endif
+
+#ifndef STATUS_INVALID_OWNER
+# define STATUS_INVALID_OWNER ((NTSTATUS) 0xC000005AL)
+#endif
+
+#ifndef STATUS_INVALID_PRIMARY_GROUP
+# define STATUS_INVALID_PRIMARY_GROUP ((NTSTATUS) 0xC000005BL)
+#endif
+
+#ifndef STATUS_NO_IMPERSONATION_TOKEN
+# define STATUS_NO_IMPERSONATION_TOKEN ((NTSTATUS) 0xC000005CL)
+#endif
+
+#ifndef STATUS_CANT_DISABLE_MANDATORY
+# define STATUS_CANT_DISABLE_MANDATORY ((NTSTATUS) 0xC000005DL)
+#endif
+
+#ifndef STATUS_NO_LOGON_SERVERS
+# define STATUS_NO_LOGON_SERVERS ((NTSTATUS) 0xC000005EL)
+#endif
+
+#ifndef STATUS_NO_SUCH_LOGON_SESSION
+# define STATUS_NO_SUCH_LOGON_SESSION ((NTSTATUS) 0xC000005FL)
+#endif
+
+#ifndef STATUS_NO_SUCH_PRIVILEGE
+# define STATUS_NO_SUCH_PRIVILEGE ((NTSTATUS) 0xC0000060L)
+#endif
+
+#ifndef STATUS_PRIVILEGE_NOT_HELD
+# define STATUS_PRIVILEGE_NOT_HELD ((NTSTATUS) 0xC0000061L)
+#endif
+
+#ifndef STATUS_INVALID_ACCOUNT_NAME
+# define STATUS_INVALID_ACCOUNT_NAME ((NTSTATUS) 0xC0000062L)
+#endif
+
+#ifndef STATUS_USER_EXISTS
+# define STATUS_USER_EXISTS ((NTSTATUS) 0xC0000063L)
+#endif
+
+#ifndef STATUS_NO_SUCH_USER
+# define STATUS_NO_SUCH_USER ((NTSTATUS) 0xC0000064L)
+#endif
+
+#ifndef STATUS_GROUP_EXISTS
+# define STATUS_GROUP_EXISTS ((NTSTATUS) 0xC0000065L)
+#endif
+
+#ifndef STATUS_NO_SUCH_GROUP
+# define STATUS_NO_SUCH_GROUP ((NTSTATUS) 0xC0000066L)
+#endif
+
+#ifndef STATUS_MEMBER_IN_GROUP
+# define STATUS_MEMBER_IN_GROUP ((NTSTATUS) 0xC0000067L)
+#endif
+
+#ifndef STATUS_MEMBER_NOT_IN_GROUP
+# define STATUS_MEMBER_NOT_IN_GROUP ((NTSTATUS) 0xC0000068L)
+#endif
+
+#ifndef STATUS_LAST_ADMIN
+# define STATUS_LAST_ADMIN ((NTSTATUS) 0xC0000069L)
+#endif
+
+#ifndef STATUS_WRONG_PASSWORD
+# define STATUS_WRONG_PASSWORD ((NTSTATUS) 0xC000006AL)
+#endif
+
+#ifndef STATUS_ILL_FORMED_PASSWORD
+# define STATUS_ILL_FORMED_PASSWORD ((NTSTATUS) 0xC000006BL)
+#endif
+
+#ifndef STATUS_PASSWORD_RESTRICTION
+# define STATUS_PASSWORD_RESTRICTION ((NTSTATUS) 0xC000006CL)
+#endif
+
+#ifndef STATUS_LOGON_FAILURE
+# define STATUS_LOGON_FAILURE ((NTSTATUS) 0xC000006DL)
+#endif
+
+#ifndef STATUS_ACCOUNT_RESTRICTION
+# define STATUS_ACCOUNT_RESTRICTION ((NTSTATUS) 0xC000006EL)
+#endif
+
+#ifndef STATUS_INVALID_LOGON_HOURS
+# define STATUS_INVALID_LOGON_HOURS ((NTSTATUS) 0xC000006FL)
+#endif
+
+#ifndef STATUS_INVALID_WORKSTATION
+# define STATUS_INVALID_WORKSTATION ((NTSTATUS) 0xC0000070L)
+#endif
+
+#ifndef STATUS_PASSWORD_EXPIRED
+# define STATUS_PASSWORD_EXPIRED ((NTSTATUS) 0xC0000071L)
+#endif
+
+#ifndef STATUS_ACCOUNT_DISABLED
+# define STATUS_ACCOUNT_DISABLED ((NTSTATUS) 0xC0000072L)
+#endif
+
+#ifndef STATUS_NONE_MAPPED
+# define STATUS_NONE_MAPPED ((NTSTATUS) 0xC0000073L)
+#endif
+
+#ifndef STATUS_TOO_MANY_LUIDS_REQUESTED
+# define STATUS_TOO_MANY_LUIDS_REQUESTED ((NTSTATUS) 0xC0000074L)
+#endif
+
+#ifndef STATUS_LUIDS_EXHAUSTED
+# define STATUS_LUIDS_EXHAUSTED ((NTSTATUS) 0xC0000075L)
+#endif
+
+#ifndef STATUS_INVALID_SUB_AUTHORITY
+# define STATUS_INVALID_SUB_AUTHORITY ((NTSTATUS) 0xC0000076L)
+#endif
+
+#ifndef STATUS_INVALID_ACL
+# define STATUS_INVALID_ACL ((NTSTATUS) 0xC0000077L)
+#endif
+
+#ifndef STATUS_INVALID_SID
+# define STATUS_INVALID_SID ((NTSTATUS) 0xC0000078L)
+#endif
+
+#ifndef STATUS_INVALID_SECURITY_DESCR
+# define STATUS_INVALID_SECURITY_DESCR ((NTSTATUS) 0xC0000079L)
+#endif
+
+#ifndef STATUS_PROCEDURE_NOT_FOUND
+# define STATUS_PROCEDURE_NOT_FOUND ((NTSTATUS) 0xC000007AL)
+#endif
+
+#ifndef STATUS_INVALID_IMAGE_FORMAT
+# define STATUS_INVALID_IMAGE_FORMAT ((NTSTATUS) 0xC000007BL)
+#endif
+
+#ifndef STATUS_NO_TOKEN
+# define STATUS_NO_TOKEN ((NTSTATUS) 0xC000007CL)
+#endif
+
+#ifndef STATUS_BAD_INHERITANCE_ACL
+# define STATUS_BAD_INHERITANCE_ACL ((NTSTATUS) 0xC000007DL)
+#endif
+
+#ifndef STATUS_RANGE_NOT_LOCKED
+# define STATUS_RANGE_NOT_LOCKED ((NTSTATUS) 0xC000007EL)
+#endif
+
+#ifndef STATUS_DISK_FULL
+# define STATUS_DISK_FULL ((NTSTATUS) 0xC000007FL)
+#endif
+
+#ifndef STATUS_SERVER_DISABLED
+# define STATUS_SERVER_DISABLED ((NTSTATUS) 0xC0000080L)
+#endif
+
+#ifndef STATUS_SERVER_NOT_DISABLED
+# define STATUS_SERVER_NOT_DISABLED ((NTSTATUS) 0xC0000081L)
+#endif
+
+#ifndef STATUS_TOO_MANY_GUIDS_REQUESTED
+# define STATUS_TOO_MANY_GUIDS_REQUESTED ((NTSTATUS) 0xC0000082L)
+#endif
+
+#ifndef STATUS_GUIDS_EXHAUSTED
+# define STATUS_GUIDS_EXHAUSTED ((NTSTATUS) 0xC0000083L)
+#endif
+
+#ifndef STATUS_INVALID_ID_AUTHORITY
+# define STATUS_INVALID_ID_AUTHORITY ((NTSTATUS) 0xC0000084L)
+#endif
+
+#ifndef STATUS_AGENTS_EXHAUSTED
+# define STATUS_AGENTS_EXHAUSTED ((NTSTATUS) 0xC0000085L)
+#endif
+
+#ifndef STATUS_INVALID_VOLUME_LABEL
+# define STATUS_INVALID_VOLUME_LABEL ((NTSTATUS) 0xC0000086L)
+#endif
+
+#ifndef STATUS_SECTION_NOT_EXTENDED
+# define STATUS_SECTION_NOT_EXTENDED ((NTSTATUS) 0xC0000087L)
+#endif
+
+#ifndef STATUS_NOT_MAPPED_DATA
+# define STATUS_NOT_MAPPED_DATA ((NTSTATUS) 0xC0000088L)
+#endif
+
+#ifndef STATUS_RESOURCE_DATA_NOT_FOUND
+# define STATUS_RESOURCE_DATA_NOT_FOUND ((NTSTATUS) 0xC0000089L)
+#endif
+
+#ifndef STATUS_RESOURCE_TYPE_NOT_FOUND
+# define STATUS_RESOURCE_TYPE_NOT_FOUND ((NTSTATUS) 0xC000008AL)
+#endif
+
+#ifndef STATUS_RESOURCE_NAME_NOT_FOUND
+# define STATUS_RESOURCE_NAME_NOT_FOUND ((NTSTATUS) 0xC000008BL)
+#endif
+
+#ifndef STATUS_ARRAY_BOUNDS_EXCEEDED
+# define STATUS_ARRAY_BOUNDS_EXCEEDED ((NTSTATUS) 0xC000008CL)
+#endif
+
+#ifndef STATUS_FLOAT_DENORMAL_OPERAND
+# define STATUS_FLOAT_DENORMAL_OPERAND ((NTSTATUS) 0xC000008DL)
+#endif
+
+#ifndef STATUS_FLOAT_DIVIDE_BY_ZERO
+# define STATUS_FLOAT_DIVIDE_BY_ZERO ((NTSTATUS) 0xC000008EL)
+#endif
+
+#ifndef STATUS_FLOAT_INEXACT_RESULT
+# define STATUS_FLOAT_INEXACT_RESULT ((NTSTATUS) 0xC000008FL)
+#endif
+
+#ifndef STATUS_FLOAT_INVALID_OPERATION
+# define STATUS_FLOAT_INVALID_OPERATION ((NTSTATUS) 0xC0000090L)
+#endif
+
+#ifndef STATUS_FLOAT_OVERFLOW
+# define STATUS_FLOAT_OVERFLOW ((NTSTATUS) 0xC0000091L)
+#endif
+
+#ifndef STATUS_FLOAT_STACK_CHECK
+# define STATUS_FLOAT_STACK_CHECK ((NTSTATUS) 0xC0000092L)
+#endif
+
+#ifndef STATUS_FLOAT_UNDERFLOW
+# define STATUS_FLOAT_UNDERFLOW ((NTSTATUS) 0xC0000093L)
+#endif
+
+#ifndef STATUS_INTEGER_DIVIDE_BY_ZERO
+# define STATUS_INTEGER_DIVIDE_BY_ZERO ((NTSTATUS) 0xC0000094L)
+#endif
+
+#ifndef STATUS_INTEGER_OVERFLOW
+# define STATUS_INTEGER_OVERFLOW ((NTSTATUS) 0xC0000095L)
+#endif
+
+#ifndef STATUS_PRIVILEGED_INSTRUCTION
+# define STATUS_PRIVILEGED_INSTRUCTION ((NTSTATUS) 0xC0000096L)
+#endif
+
+#ifndef STATUS_TOO_MANY_PAGING_FILES
+# define STATUS_TOO_MANY_PAGING_FILES ((NTSTATUS) 0xC0000097L)
+#endif
+
+#ifndef STATUS_FILE_INVALID
+# define STATUS_FILE_INVALID ((NTSTATUS) 0xC0000098L)
+#endif
+
+#ifndef STATUS_ALLOTTED_SPACE_EXCEEDED
+# define STATUS_ALLOTTED_SPACE_EXCEEDED ((NTSTATUS) 0xC0000099L)
+#endif
+
+#ifndef STATUS_INSUFFICIENT_RESOURCES
+# define STATUS_INSUFFICIENT_RESOURCES ((NTSTATUS) 0xC000009AL)
+#endif
+
+#ifndef STATUS_DFS_EXIT_PATH_FOUND
+# define STATUS_DFS_EXIT_PATH_FOUND ((NTSTATUS) 0xC000009BL)
+#endif
+
+#ifndef STATUS_DEVICE_DATA_ERROR
+# define STATUS_DEVICE_DATA_ERROR ((NTSTATUS) 0xC000009CL)
+#endif
+
+#ifndef STATUS_DEVICE_NOT_CONNECTED
+# define STATUS_DEVICE_NOT_CONNECTED ((NTSTATUS) 0xC000009DL)
+#endif
+
+#ifndef STATUS_DEVICE_POWER_FAILURE
+# define STATUS_DEVICE_POWER_FAILURE ((NTSTATUS) 0xC000009EL)
+#endif
+
+#ifndef STATUS_FREE_VM_NOT_AT_BASE
+# define STATUS_FREE_VM_NOT_AT_BASE ((NTSTATUS) 0xC000009FL)
+#endif
+
+#ifndef STATUS_MEMORY_NOT_ALLOCATED
+# define STATUS_MEMORY_NOT_ALLOCATED ((NTSTATUS) 0xC00000A0L)
+#endif
+
+#ifndef STATUS_WORKING_SET_QUOTA
+# define STATUS_WORKING_SET_QUOTA ((NTSTATUS) 0xC00000A1L)
+#endif
+
+#ifndef STATUS_MEDIA_WRITE_PROTECTED
+# define STATUS_MEDIA_WRITE_PROTECTED ((NTSTATUS) 0xC00000A2L)
+#endif
+
+#ifndef STATUS_DEVICE_NOT_READY
+# define STATUS_DEVICE_NOT_READY ((NTSTATUS) 0xC00000A3L)
+#endif
+
+#ifndef STATUS_INVALID_GROUP_ATTRIBUTES
+# define STATUS_INVALID_GROUP_ATTRIBUTES ((NTSTATUS) 0xC00000A4L)
+#endif
+
+#ifndef STATUS_BAD_IMPERSONATION_LEVEL
+# define STATUS_BAD_IMPERSONATION_LEVEL ((NTSTATUS) 0xC00000A5L)
+#endif
+
+#ifndef STATUS_CANT_OPEN_ANONYMOUS
+# define STATUS_CANT_OPEN_ANONYMOUS ((NTSTATUS) 0xC00000A6L)
+#endif
+
+#ifndef STATUS_BAD_VALIDATION_CLASS
+# define STATUS_BAD_VALIDATION_CLASS ((NTSTATUS) 0xC00000A7L)
+#endif
+
+#ifndef STATUS_BAD_TOKEN_TYPE
+# define STATUS_BAD_TOKEN_TYPE ((NTSTATUS) 0xC00000A8L)
+#endif
+
+#ifndef STATUS_BAD_MASTER_BOOT_RECORD
+# define STATUS_BAD_MASTER_BOOT_RECORD ((NTSTATUS) 0xC00000A9L)
+#endif
+
+#ifndef STATUS_INSTRUCTION_MISALIGNMENT
+# define STATUS_INSTRUCTION_MISALIGNMENT ((NTSTATUS) 0xC00000AAL)
+#endif
+
+#ifndef STATUS_INSTANCE_NOT_AVAILABLE
+# define STATUS_INSTANCE_NOT_AVAILABLE ((NTSTATUS) 0xC00000ABL)
+#endif
+
+#ifndef STATUS_PIPE_NOT_AVAILABLE
+# define STATUS_PIPE_NOT_AVAILABLE ((NTSTATUS) 0xC00000ACL)
+#endif
+
+#ifndef STATUS_INVALID_PIPE_STATE
+# define STATUS_INVALID_PIPE_STATE ((NTSTATUS) 0xC00000ADL)
+#endif
+
+#ifndef STATUS_PIPE_BUSY
+# define STATUS_PIPE_BUSY ((NTSTATUS) 0xC00000AEL)
+#endif
+
+#ifndef STATUS_ILLEGAL_FUNCTION
+# define STATUS_ILLEGAL_FUNCTION ((NTSTATUS) 0xC00000AFL)
+#endif
+
+#ifndef STATUS_PIPE_DISCONNECTED
+# define STATUS_PIPE_DISCONNECTED ((NTSTATUS) 0xC00000B0L)
+#endif
+
+#ifndef STATUS_PIPE_CLOSING
+# define STATUS_PIPE_CLOSING ((NTSTATUS) 0xC00000B1L)
+#endif
+
+#ifndef STATUS_PIPE_CONNECTED
+# define STATUS_PIPE_CONNECTED ((NTSTATUS) 0xC00000B2L)
+#endif
+
+#ifndef STATUS_PIPE_LISTENING
+# define STATUS_PIPE_LISTENING ((NTSTATUS) 0xC00000B3L)
+#endif
+
+#ifndef STATUS_INVALID_READ_MODE
+# define STATUS_INVALID_READ_MODE ((NTSTATUS) 0xC00000B4L)
+#endif
+
+#ifndef STATUS_IO_TIMEOUT
+# define STATUS_IO_TIMEOUT ((NTSTATUS) 0xC00000B5L)
+#endif
+
+#ifndef STATUS_FILE_FORCED_CLOSED
+# define STATUS_FILE_FORCED_CLOSED ((NTSTATUS) 0xC00000B6L)
+#endif
+
+#ifndef STATUS_PROFILING_NOT_STARTED
+# define STATUS_PROFILING_NOT_STARTED ((NTSTATUS) 0xC00000B7L)
+#endif
+
+#ifndef STATUS_PROFILING_NOT_STOPPED
+# define STATUS_PROFILING_NOT_STOPPED ((NTSTATUS) 0xC00000B8L)
+#endif
+
+#ifndef STATUS_COULD_NOT_INTERPRET
+# define STATUS_COULD_NOT_INTERPRET ((NTSTATUS) 0xC00000B9L)
+#endif
+
+#ifndef STATUS_FILE_IS_A_DIRECTORY
+# define STATUS_FILE_IS_A_DIRECTORY ((NTSTATUS) 0xC00000BAL)
+#endif
+
+#ifndef STATUS_NOT_SUPPORTED
+# define STATUS_NOT_SUPPORTED ((NTSTATUS) 0xC00000BBL)
+#endif
+
+#ifndef STATUS_REMOTE_NOT_LISTENING
+# define STATUS_REMOTE_NOT_LISTENING ((NTSTATUS) 0xC00000BCL)
+#endif
+
+#ifndef STATUS_DUPLICATE_NAME
+# define STATUS_DUPLICATE_NAME ((NTSTATUS) 0xC00000BDL)
+#endif
+
+#ifndef STATUS_BAD_NETWORK_PATH
+# define STATUS_BAD_NETWORK_PATH ((NTSTATUS) 0xC00000BEL)
+#endif
+
+#ifndef STATUS_NETWORK_BUSY
+# define STATUS_NETWORK_BUSY ((NTSTATUS) 0xC00000BFL)
+#endif
+
+#ifndef STATUS_DEVICE_DOES_NOT_EXIST
+# define STATUS_DEVICE_DOES_NOT_EXIST ((NTSTATUS) 0xC00000C0L)
+#endif
+
+#ifndef STATUS_TOO_MANY_COMMANDS
+# define STATUS_TOO_MANY_COMMANDS ((NTSTATUS) 0xC00000C1L)
+#endif
+
+#ifndef STATUS_ADAPTER_HARDWARE_ERROR
+# define STATUS_ADAPTER_HARDWARE_ERROR ((NTSTATUS) 0xC00000C2L)
+#endif
+
+#ifndef STATUS_INVALID_NETWORK_RESPONSE
+# define STATUS_INVALID_NETWORK_RESPONSE ((NTSTATUS) 0xC00000C3L)
+#endif
+
+#ifndef STATUS_UNEXPECTED_NETWORK_ERROR
+# define STATUS_UNEXPECTED_NETWORK_ERROR ((NTSTATUS) 0xC00000C4L)
+#endif
+
+#ifndef STATUS_BAD_REMOTE_ADAPTER
+# define STATUS_BAD_REMOTE_ADAPTER ((NTSTATUS) 0xC00000C5L)
+#endif
+
+#ifndef STATUS_PRINT_QUEUE_FULL
+# define STATUS_PRINT_QUEUE_FULL ((NTSTATUS) 0xC00000C6L)
+#endif
+
+#ifndef STATUS_NO_SPOOL_SPACE
+# define STATUS_NO_SPOOL_SPACE ((NTSTATUS) 0xC00000C7L)
+#endif
+
+#ifndef STATUS_PRINT_CANCELLED
+# define STATUS_PRINT_CANCELLED ((NTSTATUS) 0xC00000C8L)
+#endif
+
+#ifndef STATUS_NETWORK_NAME_DELETED
+# define STATUS_NETWORK_NAME_DELETED ((NTSTATUS) 0xC00000C9L)
+#endif
+
+#ifndef STATUS_NETWORK_ACCESS_DENIED
+# define STATUS_NETWORK_ACCESS_DENIED ((NTSTATUS) 0xC00000CAL)
+#endif
+
+#ifndef STATUS_BAD_DEVICE_TYPE
+# define STATUS_BAD_DEVICE_TYPE ((NTSTATUS) 0xC00000CBL)
+#endif
+
+#ifndef STATUS_BAD_NETWORK_NAME
+# define STATUS_BAD_NETWORK_NAME ((NTSTATUS) 0xC00000CCL)
+#endif
+
+#ifndef STATUS_TOO_MANY_NAMES
+# define STATUS_TOO_MANY_NAMES ((NTSTATUS) 0xC00000CDL)
+#endif
+
+#ifndef STATUS_TOO_MANY_SESSIONS
+# define STATUS_TOO_MANY_SESSIONS ((NTSTATUS) 0xC00000CEL)
+#endif
+
+#ifndef STATUS_SHARING_PAUSED
+# define STATUS_SHARING_PAUSED ((NTSTATUS) 0xC00000CFL)
+#endif
+
+#ifndef STATUS_REQUEST_NOT_ACCEPTED
+# define STATUS_REQUEST_NOT_ACCEPTED ((NTSTATUS) 0xC00000D0L)
+#endif
+
+#ifndef STATUS_REDIRECTOR_PAUSED
+# define STATUS_REDIRECTOR_PAUSED ((NTSTATUS) 0xC00000D1L)
+#endif
+
+#ifndef STATUS_NET_WRITE_FAULT
+# define STATUS_NET_WRITE_FAULT ((NTSTATUS) 0xC00000D2L)
+#endif
+
+#ifndef STATUS_PROFILING_AT_LIMIT
+# define STATUS_PROFILING_AT_LIMIT ((NTSTATUS) 0xC00000D3L)
+#endif
+
+#ifndef STATUS_NOT_SAME_DEVICE
+# define STATUS_NOT_SAME_DEVICE ((NTSTATUS) 0xC00000D4L)
+#endif
+
+#ifndef STATUS_FILE_RENAMED
+# define STATUS_FILE_RENAMED ((NTSTATUS) 0xC00000D5L)
+#endif
+
+#ifndef STATUS_VIRTUAL_CIRCUIT_CLOSED
+# define STATUS_VIRTUAL_CIRCUIT_CLOSED ((NTSTATUS) 0xC00000D6L)
+#endif
+
+#ifndef STATUS_NO_SECURITY_ON_OBJECT
+# define STATUS_NO_SECURITY_ON_OBJECT ((NTSTATUS) 0xC00000D7L)
+#endif
+
+#ifndef STATUS_CANT_WAIT
+# define STATUS_CANT_WAIT ((NTSTATUS) 0xC00000D8L)
+#endif
+
+#ifndef STATUS_PIPE_EMPTY
+# define STATUS_PIPE_EMPTY ((NTSTATUS) 0xC00000D9L)
+#endif
+
+#ifndef STATUS_CANT_ACCESS_DOMAIN_INFO
+# define STATUS_CANT_ACCESS_DOMAIN_INFO ((NTSTATUS) 0xC00000DAL)
+#endif
+
+#ifndef STATUS_CANT_TERMINATE_SELF
+# define STATUS_CANT_TERMINATE_SELF ((NTSTATUS) 0xC00000DBL)
+#endif
+
+#ifndef STATUS_INVALID_SERVER_STATE
+# define STATUS_INVALID_SERVER_STATE ((NTSTATUS) 0xC00000DCL)
+#endif
+
+#ifndef STATUS_INVALID_DOMAIN_STATE
+# define STATUS_INVALID_DOMAIN_STATE ((NTSTATUS) 0xC00000DDL)
+#endif
+
+#ifndef STATUS_INVALID_DOMAIN_ROLE
+# define STATUS_INVALID_DOMAIN_ROLE ((NTSTATUS) 0xC00000DEL)
+#endif
+
+#ifndef STATUS_NO_SUCH_DOMAIN
+# define STATUS_NO_SUCH_DOMAIN ((NTSTATUS) 0xC00000DFL)
+#endif
+
+#ifndef STATUS_DOMAIN_EXISTS
+# define STATUS_DOMAIN_EXISTS ((NTSTATUS) 0xC00000E0L)
+#endif
+
+#ifndef STATUS_DOMAIN_LIMIT_EXCEEDED
+# define STATUS_DOMAIN_LIMIT_EXCEEDED ((NTSTATUS) 0xC00000E1L)
+#endif
+
+#ifndef STATUS_OPLOCK_NOT_GRANTED
+# define STATUS_OPLOCK_NOT_GRANTED ((NTSTATUS) 0xC00000E2L)
+#endif
+
+#ifndef STATUS_INVALID_OPLOCK_PROTOCOL
+# define STATUS_INVALID_OPLOCK_PROTOCOL ((NTSTATUS) 0xC00000E3L)
+#endif
+
+#ifndef STATUS_INTERNAL_DB_CORRUPTION
+# define STATUS_INTERNAL_DB_CORRUPTION ((NTSTATUS) 0xC00000E4L)
+#endif
+
+#ifndef STATUS_INTERNAL_ERROR
+# define STATUS_INTERNAL_ERROR ((NTSTATUS) 0xC00000E5L)
+#endif
+
+#ifndef STATUS_GENERIC_NOT_MAPPED
+# define STATUS_GENERIC_NOT_MAPPED ((NTSTATUS) 0xC00000E6L)
+#endif
+
+#ifndef STATUS_BAD_DESCRIPTOR_FORMAT
+# define STATUS_BAD_DESCRIPTOR_FORMAT ((NTSTATUS) 0xC00000E7L)
+#endif
+
+#ifndef STATUS_INVALID_USER_BUFFER
+# define STATUS_INVALID_USER_BUFFER ((NTSTATUS) 0xC00000E8L)
+#endif
+
+#ifndef STATUS_UNEXPECTED_IO_ERROR
+# define STATUS_UNEXPECTED_IO_ERROR ((NTSTATUS) 0xC00000E9L)
+#endif
+
+#ifndef STATUS_UNEXPECTED_MM_CREATE_ERR
+# define STATUS_UNEXPECTED_MM_CREATE_ERR ((NTSTATUS) 0xC00000EAL)
+#endif
+
+#ifndef STATUS_UNEXPECTED_MM_MAP_ERROR
+# define STATUS_UNEXPECTED_MM_MAP_ERROR ((NTSTATUS) 0xC00000EBL)
+#endif
+
+#ifndef STATUS_UNEXPECTED_MM_EXTEND_ERR
+# define STATUS_UNEXPECTED_MM_EXTEND_ERR ((NTSTATUS) 0xC00000ECL)
+#endif
+
+#ifndef STATUS_NOT_LOGON_PROCESS
+# define STATUS_NOT_LOGON_PROCESS ((NTSTATUS) 0xC00000EDL)
+#endif
+
+#ifndef STATUS_LOGON_SESSION_EXISTS
+# define STATUS_LOGON_SESSION_EXISTS ((NTSTATUS) 0xC00000EEL)
+#endif
+
+#ifndef STATUS_INVALID_PARAMETER_1
+# define STATUS_INVALID_PARAMETER_1 ((NTSTATUS) 0xC00000EFL)
+#endif
+
+#ifndef STATUS_INVALID_PARAMETER_2
+# define STATUS_INVALID_PARAMETER_2 ((NTSTATUS) 0xC00000F0L)
+#endif
+
+#ifndef STATUS_INVALID_PARAMETER_3
+# define STATUS_INVALID_PARAMETER_3 ((NTSTATUS) 0xC00000F1L)
+#endif
+
+#ifndef STATUS_INVALID_PARAMETER_4
+# define STATUS_INVALID_PARAMETER_4 ((NTSTATUS) 0xC00000F2L)
+#endif
+
+#ifndef STATUS_INVALID_PARAMETER_5
+# define STATUS_INVALID_PARAMETER_5 ((NTSTATUS) 0xC00000F3L)
+#endif
+
+#ifndef STATUS_INVALID_PARAMETER_6
+# define STATUS_INVALID_PARAMETER_6 ((NTSTATUS) 0xC00000F4L)
+#endif
+
+#ifndef STATUS_INVALID_PARAMETER_7
+# define STATUS_INVALID_PARAMETER_7 ((NTSTATUS) 0xC00000F5L)
+#endif
+
+#ifndef STATUS_INVALID_PARAMETER_8
+# define STATUS_INVALID_PARAMETER_8 ((NTSTATUS) 0xC00000F6L)
+#endif
+
+#ifndef STATUS_INVALID_PARAMETER_9
+# define STATUS_INVALID_PARAMETER_9 ((NTSTATUS) 0xC00000F7L)
+#endif
+
+#ifndef STATUS_INVALID_PARAMETER_10
+# define STATUS_INVALID_PARAMETER_10 ((NTSTATUS) 0xC00000F8L)
+#endif
+
+#ifndef STATUS_INVALID_PARAMETER_11
+# define STATUS_INVALID_PARAMETER_11 ((NTSTATUS) 0xC00000F9L)
+#endif
+
+#ifndef STATUS_INVALID_PARAMETER_12
+# define STATUS_INVALID_PARAMETER_12 ((NTSTATUS) 0xC00000FAL)
+#endif
+
+#ifndef STATUS_REDIRECTOR_NOT_STARTED
+# define STATUS_REDIRECTOR_NOT_STARTED ((NTSTATUS) 0xC00000FBL)
+#endif
+
+#ifndef STATUS_REDIRECTOR_STARTED
+# define STATUS_REDIRECTOR_STARTED ((NTSTATUS) 0xC00000FCL)
+#endif
+
+#ifndef STATUS_STACK_OVERFLOW
+# define STATUS_STACK_OVERFLOW ((NTSTATUS) 0xC00000FDL)
+#endif
+
+#ifndef STATUS_NO_SUCH_PACKAGE
+# define STATUS_NO_SUCH_PACKAGE ((NTSTATUS) 0xC00000FEL)
+#endif
+
+#ifndef STATUS_BAD_FUNCTION_TABLE
+# define STATUS_BAD_FUNCTION_TABLE ((NTSTATUS) 0xC00000FFL)
+#endif
+
+#ifndef STATUS_VARIABLE_NOT_FOUND
+# define STATUS_VARIABLE_NOT_FOUND ((NTSTATUS) 0xC0000100L)
+#endif
+
+#ifndef STATUS_DIRECTORY_NOT_EMPTY
+# define STATUS_DIRECTORY_NOT_EMPTY ((NTSTATUS) 0xC0000101L)
+#endif
+
+#ifndef STATUS_FILE_CORRUPT_ERROR
+# define STATUS_FILE_CORRUPT_ERROR ((NTSTATUS) 0xC0000102L)
+#endif
+
+#ifndef STATUS_NOT_A_DIRECTORY
+# define STATUS_NOT_A_DIRECTORY ((NTSTATUS) 0xC0000103L)
+#endif
+
+#ifndef STATUS_BAD_LOGON_SESSION_STATE
+# define STATUS_BAD_LOGON_SESSION_STATE ((NTSTATUS) 0xC0000104L)
+#endif
+
+#ifndef STATUS_LOGON_SESSION_COLLISION
+# define STATUS_LOGON_SESSION_COLLISION ((NTSTATUS) 0xC0000105L)
+#endif
+
+#ifndef STATUS_NAME_TOO_LONG
+# define STATUS_NAME_TOO_LONG ((NTSTATUS) 0xC0000106L)
+#endif
+
+#ifndef STATUS_FILES_OPEN
+# define STATUS_FILES_OPEN ((NTSTATUS) 0xC0000107L)
+#endif
+
+#ifndef STATUS_CONNECTION_IN_USE
+# define STATUS_CONNECTION_IN_USE ((NTSTATUS) 0xC0000108L)
+#endif
+
+#ifndef STATUS_MESSAGE_NOT_FOUND
+# define STATUS_MESSAGE_NOT_FOUND ((NTSTATUS) 0xC0000109L)
+#endif
+
+#ifndef STATUS_PROCESS_IS_TERMINATING
+# define STATUS_PROCESS_IS_TERMINATING ((NTSTATUS) 0xC000010AL)
+#endif
+
+#ifndef STATUS_INVALID_LOGON_TYPE
+# define STATUS_INVALID_LOGON_TYPE ((NTSTATUS) 0xC000010BL)
+#endif
+
+#ifndef STATUS_NO_GUID_TRANSLATION
+# define STATUS_NO_GUID_TRANSLATION ((NTSTATUS) 0xC000010CL)
+#endif
+
+#ifndef STATUS_CANNOT_IMPERSONATE
+# define STATUS_CANNOT_IMPERSONATE ((NTSTATUS) 0xC000010DL)
+#endif
+
+#ifndef STATUS_IMAGE_ALREADY_LOADED
+# define STATUS_IMAGE_ALREADY_LOADED ((NTSTATUS) 0xC000010EL)
+#endif
+
+#ifndef STATUS_ABIOS_NOT_PRESENT
+# define STATUS_ABIOS_NOT_PRESENT ((NTSTATUS) 0xC000010FL)
+#endif
+
+#ifndef STATUS_ABIOS_LID_NOT_EXIST
+# define STATUS_ABIOS_LID_NOT_EXIST ((NTSTATUS) 0xC0000110L)
+#endif
+
+#ifndef STATUS_ABIOS_LID_ALREADY_OWNED
+# define STATUS_ABIOS_LID_ALREADY_OWNED ((NTSTATUS) 0xC0000111L)
+#endif
+
+#ifndef STATUS_ABIOS_NOT_LID_OWNER
+# define STATUS_ABIOS_NOT_LID_OWNER ((NTSTATUS) 0xC0000112L)
+#endif
+
+#ifndef STATUS_ABIOS_INVALID_COMMAND
+# define STATUS_ABIOS_INVALID_COMMAND ((NTSTATUS) 0xC0000113L)
+#endif
+
+#ifndef STATUS_ABIOS_INVALID_LID
+# define STATUS_ABIOS_INVALID_LID ((NTSTATUS) 0xC0000114L)
+#endif
+
+#ifndef STATUS_ABIOS_SELECTOR_NOT_AVAILABLE
+# define STATUS_ABIOS_SELECTOR_NOT_AVAILABLE ((NTSTATUS) 0xC0000115L)
+#endif
+
+#ifndef STATUS_ABIOS_INVALID_SELECTOR
+# define STATUS_ABIOS_INVALID_SELECTOR ((NTSTATUS) 0xC0000116L)
+#endif
+
+#ifndef STATUS_NO_LDT
+# define STATUS_NO_LDT ((NTSTATUS) 0xC0000117L)
+#endif
+
+#ifndef STATUS_INVALID_LDT_SIZE
+# define STATUS_INVALID_LDT_SIZE ((NTSTATUS) 0xC0000118L)
+#endif
+
+#ifndef STATUS_INVALID_LDT_OFFSET
+# define STATUS_INVALID_LDT_OFFSET ((NTSTATUS) 0xC0000119L)
+#endif
+
+#ifndef STATUS_INVALID_LDT_DESCRIPTOR
+# define STATUS_INVALID_LDT_DESCRIPTOR ((NTSTATUS) 0xC000011AL)
+#endif
+
+#ifndef STATUS_INVALID_IMAGE_NE_FORMAT
+# define STATUS_INVALID_IMAGE_NE_FORMAT ((NTSTATUS) 0xC000011BL)
+#endif
+
+#ifndef STATUS_RXACT_INVALID_STATE
+# define STATUS_RXACT_INVALID_STATE ((NTSTATUS) 0xC000011CL)
+#endif
+
+#ifndef STATUS_RXACT_COMMIT_FAILURE
+# define STATUS_RXACT_COMMIT_FAILURE ((NTSTATUS) 0xC000011DL)
+#endif
+
+#ifndef STATUS_MAPPED_FILE_SIZE_ZERO
+# define STATUS_MAPPED_FILE_SIZE_ZERO ((NTSTATUS) 0xC000011EL)
+#endif
+
+#ifndef STATUS_TOO_MANY_OPENED_FILES
+# define STATUS_TOO_MANY_OPENED_FILES ((NTSTATUS) 0xC000011FL)
+#endif
+
+#ifndef STATUS_CANCELLED
+# define STATUS_CANCELLED ((NTSTATUS) 0xC0000120L)
+#endif
+
+#ifndef STATUS_CANNOT_DELETE
+# define STATUS_CANNOT_DELETE ((NTSTATUS) 0xC0000121L)
+#endif
+
+#ifndef STATUS_INVALID_COMPUTER_NAME
+# define STATUS_INVALID_COMPUTER_NAME ((NTSTATUS) 0xC0000122L)
+#endif
+
+#ifndef STATUS_FILE_DELETED
+# define STATUS_FILE_DELETED ((NTSTATUS) 0xC0000123L)
+#endif
+
+#ifndef STATUS_SPECIAL_ACCOUNT
+# define STATUS_SPECIAL_ACCOUNT ((NTSTATUS) 0xC0000124L)
+#endif
+
+#ifndef STATUS_SPECIAL_GROUP
+# define STATUS_SPECIAL_GROUP ((NTSTATUS) 0xC0000125L)
+#endif
+
+#ifndef STATUS_SPECIAL_USER
+# define STATUS_SPECIAL_USER ((NTSTATUS) 0xC0000126L)
+#endif
+
+#ifndef STATUS_MEMBERS_PRIMARY_GROUP
+# define STATUS_MEMBERS_PRIMARY_GROUP ((NTSTATUS) 0xC0000127L)
+#endif
+
+#ifndef STATUS_FILE_CLOSED
+# define STATUS_FILE_CLOSED ((NTSTATUS) 0xC0000128L)
+#endif
+
+#ifndef STATUS_TOO_MANY_THREADS
+# define STATUS_TOO_MANY_THREADS ((NTSTATUS) 0xC0000129L)
+#endif
+
+#ifndef STATUS_THREAD_NOT_IN_PROCESS
+# define STATUS_THREAD_NOT_IN_PROCESS ((NTSTATUS) 0xC000012AL)
+#endif
+
+#ifndef STATUS_TOKEN_ALREADY_IN_USE
+# define STATUS_TOKEN_ALREADY_IN_USE ((NTSTATUS) 0xC000012BL)
+#endif
+
+#ifndef STATUS_PAGEFILE_QUOTA_EXCEEDED
+# define STATUS_PAGEFILE_QUOTA_EXCEEDED ((NTSTATUS) 0xC000012CL)
+#endif
+
+#ifndef STATUS_COMMITMENT_LIMIT
+# define STATUS_COMMITMENT_LIMIT ((NTSTATUS) 0xC000012DL)
+#endif
+
+#ifndef STATUS_INVALID_IMAGE_LE_FORMAT
+# define STATUS_INVALID_IMAGE_LE_FORMAT ((NTSTATUS) 0xC000012EL)
+#endif
+
+#ifndef STATUS_INVALID_IMAGE_NOT_MZ
+# define STATUS_INVALID_IMAGE_NOT_MZ ((NTSTATUS) 0xC000012FL)
+#endif
+
+#ifndef STATUS_INVALID_IMAGE_PROTECT
+# define STATUS_INVALID_IMAGE_PROTECT ((NTSTATUS) 0xC0000130L)
+#endif
+
+#ifndef STATUS_INVALID_IMAGE_WIN_16
+# define STATUS_INVALID_IMAGE_WIN_16 ((NTSTATUS) 0xC0000131L)
+#endif
+
+#ifndef STATUS_LOGON_SERVER_CONFLICT
+# define STATUS_LOGON_SERVER_CONFLICT ((NTSTATUS) 0xC0000132L)
+#endif
+
+#ifndef STATUS_TIME_DIFFERENCE_AT_DC
+# define STATUS_TIME_DIFFERENCE_AT_DC ((NTSTATUS) 0xC0000133L)
+#endif
+
+#ifndef STATUS_SYNCHRONIZATION_REQUIRED
+# define STATUS_SYNCHRONIZATION_REQUIRED ((NTSTATUS) 0xC0000134L)
+#endif
+
+#ifndef STATUS_DLL_NOT_FOUND
+# define STATUS_DLL_NOT_FOUND ((NTSTATUS) 0xC0000135L)
+#endif
+
+#ifndef STATUS_OPEN_FAILED
+# define STATUS_OPEN_FAILED ((NTSTATUS) 0xC0000136L)
+#endif
+
+#ifndef STATUS_IO_PRIVILEGE_FAILED
+# define STATUS_IO_PRIVILEGE_FAILED ((NTSTATUS) 0xC0000137L)
+#endif
+
+#ifndef STATUS_ORDINAL_NOT_FOUND
+# define STATUS_ORDINAL_NOT_FOUND ((NTSTATUS) 0xC0000138L)
+#endif
+
+#ifndef STATUS_ENTRYPOINT_NOT_FOUND
+# define STATUS_ENTRYPOINT_NOT_FOUND ((NTSTATUS) 0xC0000139L)
+#endif
+
+#ifndef STATUS_CONTROL_C_EXIT
+# define STATUS_CONTROL_C_EXIT ((NTSTATUS) 0xC000013AL)
+#endif
+
+#ifndef STATUS_LOCAL_DISCONNECT
+# define STATUS_LOCAL_DISCONNECT ((NTSTATUS) 0xC000013BL)
+#endif
+
+#ifndef STATUS_REMOTE_DISCONNECT
+# define STATUS_REMOTE_DISCONNECT ((NTSTATUS) 0xC000013CL)
+#endif
+
+#ifndef STATUS_REMOTE_RESOURCES
+# define STATUS_REMOTE_RESOURCES ((NTSTATUS) 0xC000013DL)
+#endif
+
+#ifndef STATUS_LINK_FAILED
+# define STATUS_LINK_FAILED ((NTSTATUS) 0xC000013EL)
+#endif
+
+#ifndef STATUS_LINK_TIMEOUT
+# define STATUS_LINK_TIMEOUT ((NTSTATUS) 0xC000013FL)
+#endif
+
+#ifndef STATUS_INVALID_CONNECTION
+# define STATUS_INVALID_CONNECTION ((NTSTATUS) 0xC0000140L)
+#endif
+
+#ifndef STATUS_INVALID_ADDRESS
+# define STATUS_INVALID_ADDRESS ((NTSTATUS) 0xC0000141L)
+#endif
+
+#ifndef STATUS_DLL_INIT_FAILED
+# define STATUS_DLL_INIT_FAILED ((NTSTATUS) 0xC0000142L)
+#endif
+
+#ifndef STATUS_MISSING_SYSTEMFILE
+# define STATUS_MISSING_SYSTEMFILE ((NTSTATUS) 0xC0000143L)
+#endif
+
+#ifndef STATUS_UNHANDLED_EXCEPTION
+# define STATUS_UNHANDLED_EXCEPTION ((NTSTATUS) 0xC0000144L)
+#endif
+
+#ifndef STATUS_APP_INIT_FAILURE
+# define STATUS_APP_INIT_FAILURE ((NTSTATUS) 0xC0000145L)
+#endif
+
+#ifndef STATUS_PAGEFILE_CREATE_FAILED
+# define STATUS_PAGEFILE_CREATE_FAILED ((NTSTATUS) 0xC0000146L)
+#endif
+
+#ifndef STATUS_NO_PAGEFILE
+# define STATUS_NO_PAGEFILE ((NTSTATUS) 0xC0000147L)
+#endif
+
+#ifndef STATUS_INVALID_LEVEL
+# define STATUS_INVALID_LEVEL ((NTSTATUS) 0xC0000148L)
+#endif
+
+#ifndef STATUS_WRONG_PASSWORD_CORE
+# define STATUS_WRONG_PASSWORD_CORE ((NTSTATUS) 0xC0000149L)
+#endif
+
+#ifndef STATUS_ILLEGAL_FLOAT_CONTEXT
+# define STATUS_ILLEGAL_FLOAT_CONTEXT ((NTSTATUS) 0xC000014AL)
+#endif
+
+#ifndef STATUS_PIPE_BROKEN
+# define STATUS_PIPE_BROKEN ((NTSTATUS) 0xC000014BL)
+#endif
+
+#ifndef STATUS_REGISTRY_CORRUPT
+# define STATUS_REGISTRY_CORRUPT ((NTSTATUS) 0xC000014CL)
+#endif
+
+#ifndef STATUS_REGISTRY_IO_FAILED
+# define STATUS_REGISTRY_IO_FAILED ((NTSTATUS) 0xC000014DL)
+#endif
+
+#ifndef STATUS_NO_EVENT_PAIR
+# define STATUS_NO_EVENT_PAIR ((NTSTATUS) 0xC000014EL)
+#endif
+
+#ifndef STATUS_UNRECOGNIZED_VOLUME
+# define STATUS_UNRECOGNIZED_VOLUME ((NTSTATUS) 0xC000014FL)
+#endif
+
+#ifndef STATUS_SERIAL_NO_DEVICE_INITED
+# define STATUS_SERIAL_NO_DEVICE_INITED ((NTSTATUS) 0xC0000150L)
+#endif
+
+#ifndef STATUS_NO_SUCH_ALIAS
+# define STATUS_NO_SUCH_ALIAS ((NTSTATUS) 0xC0000151L)
+#endif
+
+#ifndef STATUS_MEMBER_NOT_IN_ALIAS
+# define STATUS_MEMBER_NOT_IN_ALIAS ((NTSTATUS) 0xC0000152L)
+#endif
+
+#ifndef STATUS_MEMBER_IN_ALIAS
+# define STATUS_MEMBER_IN_ALIAS ((NTSTATUS) 0xC0000153L)
+#endif
+
+#ifndef STATUS_ALIAS_EXISTS
+# define STATUS_ALIAS_EXISTS ((NTSTATUS) 0xC0000154L)
+#endif
+
+#ifndef STATUS_LOGON_NOT_GRANTED
+# define STATUS_LOGON_NOT_GRANTED ((NTSTATUS) 0xC0000155L)
+#endif
+
+#ifndef STATUS_TOO_MANY_SECRETS
+# define STATUS_TOO_MANY_SECRETS ((NTSTATUS) 0xC0000156L)
+#endif
+
+#ifndef STATUS_SECRET_TOO_LONG
+# define STATUS_SECRET_TOO_LONG ((NTSTATUS) 0xC0000157L)
+#endif
+
+#ifndef STATUS_INTERNAL_DB_ERROR
+# define STATUS_INTERNAL_DB_ERROR ((NTSTATUS) 0xC0000158L)
+#endif
+
+#ifndef STATUS_FULLSCREEN_MODE
+# define STATUS_FULLSCREEN_MODE ((NTSTATUS) 0xC0000159L)
+#endif
+
+#ifndef STATUS_TOO_MANY_CONTEXT_IDS
+# define STATUS_TOO_MANY_CONTEXT_IDS ((NTSTATUS) 0xC000015AL)
+#endif
+
+#ifndef STATUS_LOGON_TYPE_NOT_GRANTED
+# define STATUS_LOGON_TYPE_NOT_GRANTED ((NTSTATUS) 0xC000015BL)
+#endif
+
+#ifndef STATUS_NOT_REGISTRY_FILE
+# define STATUS_NOT_REGISTRY_FILE ((NTSTATUS) 0xC000015CL)
+#endif
+
+#ifndef STATUS_NT_CROSS_ENCRYPTION_REQUIRED
+# define STATUS_NT_CROSS_ENCRYPTION_REQUIRED ((NTSTATUS) 0xC000015DL)
+#endif
+
+#ifndef STATUS_DOMAIN_CTRLR_CONFIG_ERROR
+# define STATUS_DOMAIN_CTRLR_CONFIG_ERROR ((NTSTATUS) 0xC000015EL)
+#endif
+
+#ifndef STATUS_FT_MISSING_MEMBER
+# define STATUS_FT_MISSING_MEMBER ((NTSTATUS) 0xC000015FL)
+#endif
+
+#ifndef STATUS_ILL_FORMED_SERVICE_ENTRY
+# define STATUS_ILL_FORMED_SERVICE_ENTRY ((NTSTATUS) 0xC0000160L)
+#endif
+
+#ifndef STATUS_ILLEGAL_CHARACTER
+# define STATUS_ILLEGAL_CHARACTER ((NTSTATUS) 0xC0000161L)
+#endif
+
+#ifndef STATUS_UNMAPPABLE_CHARACTER
+# define STATUS_UNMAPPABLE_CHARACTER ((NTSTATUS) 0xC0000162L)
+#endif
+
+#ifndef STATUS_UNDEFINED_CHARACTER
+# define STATUS_UNDEFINED_CHARACTER ((NTSTATUS) 0xC0000163L)
+#endif
+
+#ifndef STATUS_FLOPPY_VOLUME
+# define STATUS_FLOPPY_VOLUME ((NTSTATUS) 0xC0000164L)
+#endif
+
+#ifndef STATUS_FLOPPY_ID_MARK_NOT_FOUND
+# define STATUS_FLOPPY_ID_MARK_NOT_FOUND ((NTSTATUS) 0xC0000165L)
+#endif
+
+#ifndef STATUS_FLOPPY_WRONG_CYLINDER
+# define STATUS_FLOPPY_WRONG_CYLINDER ((NTSTATUS) 0xC0000166L)
+#endif
+
+#ifndef STATUS_FLOPPY_UNKNOWN_ERROR
+# define STATUS_FLOPPY_UNKNOWN_ERROR ((NTSTATUS) 0xC0000167L)
+#endif
+
+#ifndef STATUS_FLOPPY_BAD_REGISTERS
+# define STATUS_FLOPPY_BAD_REGISTERS ((NTSTATUS) 0xC0000168L)
+#endif
+
+#ifndef STATUS_DISK_RECALIBRATE_FAILED
+# define STATUS_DISK_RECALIBRATE_FAILED ((NTSTATUS) 0xC0000169L)
+#endif
+
+#ifndef STATUS_DISK_OPERATION_FAILED
+# define STATUS_DISK_OPERATION_FAILED ((NTSTATUS) 0xC000016AL)
+#endif
+
+#ifndef STATUS_DISK_RESET_FAILED
+# define STATUS_DISK_RESET_FAILED ((NTSTATUS) 0xC000016BL)
+#endif
+
+#ifndef STATUS_SHARED_IRQ_BUSY
+# define STATUS_SHARED_IRQ_BUSY ((NTSTATUS) 0xC000016CL)
+#endif
+
+#ifndef STATUS_FT_ORPHANING
+# define STATUS_FT_ORPHANING ((NTSTATUS) 0xC000016DL)
+#endif
+
+#ifndef STATUS_BIOS_FAILED_TO_CONNECT_INTERRUPT
+# define STATUS_BIOS_FAILED_TO_CONNECT_INTERRUPT ((NTSTATUS) 0xC000016EL)
+#endif
+
+#ifndef STATUS_PARTITION_FAILURE
+# define STATUS_PARTITION_FAILURE ((NTSTATUS) 0xC0000172L)
+#endif
+
+#ifndef STATUS_INVALID_BLOCK_LENGTH
+# define STATUS_INVALID_BLOCK_LENGTH ((NTSTATUS) 0xC0000173L)
+#endif
+
+#ifndef STATUS_DEVICE_NOT_PARTITIONED
+# define STATUS_DEVICE_NOT_PARTITIONED ((NTSTATUS) 0xC0000174L)
+#endif
+
+#ifndef STATUS_UNABLE_TO_LOCK_MEDIA
+# define STATUS_UNABLE_TO_LOCK_MEDIA ((NTSTATUS) 0xC0000175L)
+#endif
+
+#ifndef STATUS_UNABLE_TO_UNLOAD_MEDIA
+# define STATUS_UNABLE_TO_UNLOAD_MEDIA ((NTSTATUS) 0xC0000176L)
+#endif
+
+#ifndef STATUS_EOM_OVERFLOW
+# define STATUS_EOM_OVERFLOW ((NTSTATUS) 0xC0000177L)
+#endif
+
+#ifndef STATUS_NO_MEDIA
+# define STATUS_NO_MEDIA ((NTSTATUS) 0xC0000178L)
+#endif
+
+#ifndef STATUS_NO_SUCH_MEMBER
+# define STATUS_NO_SUCH_MEMBER ((NTSTATUS) 0xC000017AL)
+#endif
+
+#ifndef STATUS_INVALID_MEMBER
+# define STATUS_INVALID_MEMBER ((NTSTATUS) 0xC000017BL)
+#endif
+
+#ifndef STATUS_KEY_DELETED
+# define STATUS_KEY_DELETED ((NTSTATUS) 0xC000017CL)
+#endif
+
+#ifndef STATUS_NO_LOG_SPACE
+# define STATUS_NO_LOG_SPACE ((NTSTATUS) 0xC000017DL)
+#endif
+
+#ifndef STATUS_TOO_MANY_SIDS
+# define STATUS_TOO_MANY_SIDS ((NTSTATUS) 0xC000017EL)
+#endif
+
+#ifndef STATUS_LM_CROSS_ENCRYPTION_REQUIRED
+# define STATUS_LM_CROSS_ENCRYPTION_REQUIRED ((NTSTATUS) 0xC000017FL)
+#endif
+
+#ifndef STATUS_KEY_HAS_CHILDREN
+# define STATUS_KEY_HAS_CHILDREN ((NTSTATUS) 0xC0000180L)
+#endif
+
+#ifndef STATUS_CHILD_MUST_BE_VOLATILE
+# define STATUS_CHILD_MUST_BE_VOLATILE ((NTSTATUS) 0xC0000181L)
+#endif
+
+#ifndef STATUS_DEVICE_CONFIGURATION_ERROR
+# define STATUS_DEVICE_CONFIGURATION_ERROR ((NTSTATUS) 0xC0000182L)
+#endif
+
+#ifndef STATUS_DRIVER_INTERNAL_ERROR
+# define STATUS_DRIVER_INTERNAL_ERROR ((NTSTATUS) 0xC0000183L)
+#endif
+
+#ifndef STATUS_INVALID_DEVICE_STATE
+# define STATUS_INVALID_DEVICE_STATE ((NTSTATUS) 0xC0000184L)
+#endif
+
+#ifndef STATUS_IO_DEVICE_ERROR
+# define STATUS_IO_DEVICE_ERROR ((NTSTATUS) 0xC0000185L)
+#endif
+
+#ifndef STATUS_DEVICE_PROTOCOL_ERROR
+# define STATUS_DEVICE_PROTOCOL_ERROR ((NTSTATUS) 0xC0000186L)
+#endif
+
+#ifndef STATUS_BACKUP_CONTROLLER
+# define STATUS_BACKUP_CONTROLLER ((NTSTATUS) 0xC0000187L)
+#endif
+
+#ifndef STATUS_LOG_FILE_FULL
+# define STATUS_LOG_FILE_FULL ((NTSTATUS) 0xC0000188L)
+#endif
+
+#ifndef STATUS_TOO_LATE
+# define STATUS_TOO_LATE ((NTSTATUS) 0xC0000189L)
+#endif
+
+#ifndef STATUS_NO_TRUST_LSA_SECRET
+# define STATUS_NO_TRUST_LSA_SECRET ((NTSTATUS) 0xC000018AL)
+#endif
+
+#ifndef STATUS_NO_TRUST_SAM_ACCOUNT
+# define STATUS_NO_TRUST_SAM_ACCOUNT ((NTSTATUS) 0xC000018BL)
+#endif
+
+#ifndef STATUS_TRUSTED_DOMAIN_FAILURE
+# define STATUS_TRUSTED_DOMAIN_FAILURE ((NTSTATUS) 0xC000018CL)
+#endif
+
+#ifndef STATUS_TRUSTED_RELATIONSHIP_FAILURE
+# define STATUS_TRUSTED_RELATIONSHIP_FAILURE ((NTSTATUS) 0xC000018DL)
+#endif
+
+#ifndef STATUS_EVENTLOG_FILE_CORRUPT
+# define STATUS_EVENTLOG_FILE_CORRUPT ((NTSTATUS) 0xC000018EL)
+#endif
+
+#ifndef STATUS_EVENTLOG_CANT_START
+# define STATUS_EVENTLOG_CANT_START ((NTSTATUS) 0xC000018FL)
+#endif
+
+#ifndef STATUS_TRUST_FAILURE
+# define STATUS_TRUST_FAILURE ((NTSTATUS) 0xC0000190L)
+#endif
+
+#ifndef STATUS_MUTANT_LIMIT_EXCEEDED
+# define STATUS_MUTANT_LIMIT_EXCEEDED ((NTSTATUS) 0xC0000191L)
+#endif
+
+#ifndef STATUS_NETLOGON_NOT_STARTED
+# define STATUS_NETLOGON_NOT_STARTED ((NTSTATUS) 0xC0000192L)
+#endif
+
+#ifndef STATUS_ACCOUNT_EXPIRED
+# define STATUS_ACCOUNT_EXPIRED ((NTSTATUS) 0xC0000193L)
+#endif
+
+#ifndef STATUS_POSSIBLE_DEADLOCK
+# define STATUS_POSSIBLE_DEADLOCK ((NTSTATUS) 0xC0000194L)
+#endif
+
+#ifndef STATUS_NETWORK_CREDENTIAL_CONFLICT
+# define STATUS_NETWORK_CREDENTIAL_CONFLICT ((NTSTATUS) 0xC0000195L)
+#endif
+
+#ifndef STATUS_REMOTE_SESSION_LIMIT
+# define STATUS_REMOTE_SESSION_LIMIT ((NTSTATUS) 0xC0000196L)
+#endif
+
+#ifndef STATUS_EVENTLOG_FILE_CHANGED
+# define STATUS_EVENTLOG_FILE_CHANGED ((NTSTATUS) 0xC0000197L)
+#endif
+
+#ifndef STATUS_NOLOGON_INTERDOMAIN_TRUST_ACCOUNT
+# define STATUS_NOLOGON_INTERDOMAIN_TRUST_ACCOUNT ((NTSTATUS) 0xC0000198L)
+#endif
+
+#ifndef STATUS_NOLOGON_WORKSTATION_TRUST_ACCOUNT
+# define STATUS_NOLOGON_WORKSTATION_TRUST_ACCOUNT ((NTSTATUS) 0xC0000199L)
+#endif
+
+#ifndef STATUS_NOLOGON_SERVER_TRUST_ACCOUNT
+# define STATUS_NOLOGON_SERVER_TRUST_ACCOUNT ((NTSTATUS) 0xC000019AL)
+#endif
+
+#ifndef STATUS_DOMAIN_TRUST_INCONSISTENT
+# define STATUS_DOMAIN_TRUST_INCONSISTENT ((NTSTATUS) 0xC000019BL)
+#endif
+
+#ifndef STATUS_FS_DRIVER_REQUIRED
+# define STATUS_FS_DRIVER_REQUIRED ((NTSTATUS) 0xC000019CL)
+#endif
+
+#ifndef STATUS_IMAGE_ALREADY_LOADED_AS_DLL
+# define STATUS_IMAGE_ALREADY_LOADED_AS_DLL ((NTSTATUS) 0xC000019DL)
+#endif
+
+#ifndef STATUS_INCOMPATIBLE_WITH_GLOBAL_SHORT_NAME_REGISTRY_SETTING
+# define STATUS_INCOMPATIBLE_WITH_GLOBAL_SHORT_NAME_REGISTRY_SETTING ((NTSTATUS) 0xC000019EL)
+#endif
+
+#ifndef STATUS_SHORT_NAMES_NOT_ENABLED_ON_VOLUME
+# define STATUS_SHORT_NAMES_NOT_ENABLED_ON_VOLUME ((NTSTATUS) 0xC000019FL)
+#endif
+
+#ifndef STATUS_SECURITY_STREAM_IS_INCONSISTENT
+# define STATUS_SECURITY_STREAM_IS_INCONSISTENT ((NTSTATUS) 0xC00001A0L)
+#endif
+
+#ifndef STATUS_INVALID_LOCK_RANGE
+# define STATUS_INVALID_LOCK_RANGE ((NTSTATUS) 0xC00001A1L)
+#endif
+
+#ifndef STATUS_INVALID_ACE_CONDITION
+# define STATUS_INVALID_ACE_CONDITION ((NTSTATUS) 0xC00001A2L)
+#endif
+
+#ifndef STATUS_IMAGE_SUBSYSTEM_NOT_PRESENT
+# define STATUS_IMAGE_SUBSYSTEM_NOT_PRESENT ((NTSTATUS) 0xC00001A3L)
+#endif
+
+#ifndef STATUS_NOTIFICATION_GUID_ALREADY_DEFINED
+# define STATUS_NOTIFICATION_GUID_ALREADY_DEFINED ((NTSTATUS) 0xC00001A4L)
+#endif
+
+#ifndef STATUS_NETWORK_OPEN_RESTRICTION
+# define STATUS_NETWORK_OPEN_RESTRICTION ((NTSTATUS) 0xC0000201L)
+#endif
+
+#ifndef STATUS_NO_USER_SESSION_KEY
+# define STATUS_NO_USER_SESSION_KEY ((NTSTATUS) 0xC0000202L)
+#endif
+
+#ifndef STATUS_USER_SESSION_DELETED
+# define STATUS_USER_SESSION_DELETED ((NTSTATUS) 0xC0000203L)
+#endif
+
+#ifndef STATUS_RESOURCE_LANG_NOT_FOUND
+# define STATUS_RESOURCE_LANG_NOT_FOUND ((NTSTATUS) 0xC0000204L)
+#endif
+
+#ifndef STATUS_INSUFF_SERVER_RESOURCES
+# define STATUS_INSUFF_SERVER_RESOURCES ((NTSTATUS) 0xC0000205L)
+#endif
+
+#ifndef STATUS_INVALID_BUFFER_SIZE
+# define STATUS_INVALID_BUFFER_SIZE ((NTSTATUS) 0xC0000206L)
+#endif
+
+#ifndef STATUS_INVALID_ADDRESS_COMPONENT
+# define STATUS_INVALID_ADDRESS_COMPONENT ((NTSTATUS) 0xC0000207L)
+#endif
+
+#ifndef STATUS_INVALID_ADDRESS_WILDCARD
+# define STATUS_INVALID_ADDRESS_WILDCARD ((NTSTATUS) 0xC0000208L)
+#endif
+
+#ifndef STATUS_TOO_MANY_ADDRESSES
+# define STATUS_TOO_MANY_ADDRESSES ((NTSTATUS) 0xC0000209L)
+#endif
+
+#ifndef STATUS_ADDRESS_ALREADY_EXISTS
+# define STATUS_ADDRESS_ALREADY_EXISTS ((NTSTATUS) 0xC000020AL)
+#endif
+
+#ifndef STATUS_ADDRESS_CLOSED
+# define STATUS_ADDRESS_CLOSED ((NTSTATUS) 0xC000020BL)
+#endif
+
+#ifndef STATUS_CONNECTION_DISCONNECTED
+# define STATUS_CONNECTION_DISCONNECTED ((NTSTATUS) 0xC000020CL)
+#endif
+
+#ifndef STATUS_CONNECTION_RESET
+# define STATUS_CONNECTION_RESET ((NTSTATUS) 0xC000020DL)
+#endif
+
+#ifndef STATUS_TOO_MANY_NODES
+# define STATUS_TOO_MANY_NODES ((NTSTATUS) 0xC000020EL)
+#endif
+
+#ifndef STATUS_TRANSACTION_ABORTED
+# define STATUS_TRANSACTION_ABORTED ((NTSTATUS) 0xC000020FL)
+#endif
+
+#ifndef STATUS_TRANSACTION_TIMED_OUT
+# define STATUS_TRANSACTION_TIMED_OUT ((NTSTATUS) 0xC0000210L)
+#endif
+
+#ifndef STATUS_TRANSACTION_NO_RELEASE
+# define STATUS_TRANSACTION_NO_RELEASE ((NTSTATUS) 0xC0000211L)
+#endif
+
+#ifndef STATUS_TRANSACTION_NO_MATCH
+# define STATUS_TRANSACTION_NO_MATCH ((NTSTATUS) 0xC0000212L)
+#endif
+
+#ifndef STATUS_TRANSACTION_RESPONDED
+# define STATUS_TRANSACTION_RESPONDED ((NTSTATUS) 0xC0000213L)
+#endif
+
+#ifndef STATUS_TRANSACTION_INVALID_ID
+# define STATUS_TRANSACTION_INVALID_ID ((NTSTATUS) 0xC0000214L)
+#endif
+
+#ifndef STATUS_TRANSACTION_INVALID_TYPE
+# define STATUS_TRANSACTION_INVALID_TYPE ((NTSTATUS) 0xC0000215L)
+#endif
+
+#ifndef STATUS_NOT_SERVER_SESSION
+# define STATUS_NOT_SERVER_SESSION ((NTSTATUS) 0xC0000216L)
+#endif
+
+#ifndef STATUS_NOT_CLIENT_SESSION
+# define STATUS_NOT_CLIENT_SESSION ((NTSTATUS) 0xC0000217L)
+#endif
+
+#ifndef STATUS_CANNOT_LOAD_REGISTRY_FILE
+# define STATUS_CANNOT_LOAD_REGISTRY_FILE ((NTSTATUS) 0xC0000218L)
+#endif
+
+#ifndef STATUS_DEBUG_ATTACH_FAILED
+# define STATUS_DEBUG_ATTACH_FAILED ((NTSTATUS) 0xC0000219L)
+#endif
+
+#ifndef STATUS_SYSTEM_PROCESS_TERMINATED
+# define STATUS_SYSTEM_PROCESS_TERMINATED ((NTSTATUS) 0xC000021AL)
+#endif
+
+#ifndef STATUS_DATA_NOT_ACCEPTED
+# define STATUS_DATA_NOT_ACCEPTED ((NTSTATUS) 0xC000021BL)
+#endif
+
+#ifndef STATUS_NO_BROWSER_SERVERS_FOUND
+# define STATUS_NO_BROWSER_SERVERS_FOUND ((NTSTATUS) 0xC000021CL)
+#endif
+
+#ifndef STATUS_VDM_HARD_ERROR
+# define STATUS_VDM_HARD_ERROR ((NTSTATUS) 0xC000021DL)
+#endif
+
+#ifndef STATUS_DRIVER_CANCEL_TIMEOUT
+# define STATUS_DRIVER_CANCEL_TIMEOUT ((NTSTATUS) 0xC000021EL)
+#endif
+
+#ifndef STATUS_REPLY_MESSAGE_MISMATCH
+# define STATUS_REPLY_MESSAGE_MISMATCH ((NTSTATUS) 0xC000021FL)
+#endif
+
+#ifndef STATUS_MAPPED_ALIGNMENT
+# define STATUS_MAPPED_ALIGNMENT ((NTSTATUS) 0xC0000220L)
+#endif
+
+#ifndef STATUS_IMAGE_CHECKSUM_MISMATCH
+# define STATUS_IMAGE_CHECKSUM_MISMATCH ((NTSTATUS) 0xC0000221L)
+#endif
+
+#ifndef STATUS_LOST_WRITEBEHIND_DATA
+# define STATUS_LOST_WRITEBEHIND_DATA ((NTSTATUS) 0xC0000222L)
+#endif
+
+#ifndef STATUS_CLIENT_SERVER_PARAMETERS_INVALID
+# define STATUS_CLIENT_SERVER_PARAMETERS_INVALID ((NTSTATUS) 0xC0000223L)
+#endif
+
+#ifndef STATUS_PASSWORD_MUST_CHANGE
+# define STATUS_PASSWORD_MUST_CHANGE ((NTSTATUS) 0xC0000224L)
+#endif
+
+#ifndef STATUS_NOT_FOUND
+# define STATUS_NOT_FOUND ((NTSTATUS) 0xC0000225L)
+#endif
+
+#ifndef STATUS_NOT_TINY_STREAM
+# define STATUS_NOT_TINY_STREAM ((NTSTATUS) 0xC0000226L)
+#endif
+
+#ifndef STATUS_RECOVERY_FAILURE
+# define STATUS_RECOVERY_FAILURE ((NTSTATUS) 0xC0000227L)
+#endif
+
+#ifndef STATUS_STACK_OVERFLOW_READ
+# define STATUS_STACK_OVERFLOW_READ ((NTSTATUS) 0xC0000228L)
+#endif
+
+#ifndef STATUS_FAIL_CHECK
+# define STATUS_FAIL_CHECK ((NTSTATUS) 0xC0000229L)
+#endif
+
+#ifndef STATUS_DUPLICATE_OBJECTID
+# define STATUS_DUPLICATE_OBJECTID ((NTSTATUS) 0xC000022AL)
+#endif
+
+#ifndef STATUS_OBJECTID_EXISTS
+# define STATUS_OBJECTID_EXISTS ((NTSTATUS) 0xC000022BL)
+#endif
+
+#ifndef STATUS_CONVERT_TO_LARGE
+# define STATUS_CONVERT_TO_LARGE ((NTSTATUS) 0xC000022CL)
+#endif
+
+#ifndef STATUS_RETRY
+# define STATUS_RETRY ((NTSTATUS) 0xC000022DL)
+#endif
+
+#ifndef STATUS_FOUND_OUT_OF_SCOPE
+# define STATUS_FOUND_OUT_OF_SCOPE ((NTSTATUS) 0xC000022EL)
+#endif
+
+#ifndef STATUS_ALLOCATE_BUCKET
+# define STATUS_ALLOCATE_BUCKET ((NTSTATUS) 0xC000022FL)
+#endif
+
+#ifndef STATUS_PROPSET_NOT_FOUND
+# define STATUS_PROPSET_NOT_FOUND ((NTSTATUS) 0xC0000230L)
+#endif
+
+#ifndef STATUS_MARSHALL_OVERFLOW
+# define STATUS_MARSHALL_OVERFLOW ((NTSTATUS) 0xC0000231L)
+#endif
+
+#ifndef STATUS_INVALID_VARIANT
+# define STATUS_INVALID_VARIANT ((NTSTATUS) 0xC0000232L)
+#endif
+
+#ifndef STATUS_DOMAIN_CONTROLLER_NOT_FOUND
+# define STATUS_DOMAIN_CONTROLLER_NOT_FOUND ((NTSTATUS) 0xC0000233L)
+#endif
+
+#ifndef STATUS_ACCOUNT_LOCKED_OUT
+# define STATUS_ACCOUNT_LOCKED_OUT ((NTSTATUS) 0xC0000234L)
+#endif
+
+#ifndef STATUS_HANDLE_NOT_CLOSABLE
+# define STATUS_HANDLE_NOT_CLOSABLE ((NTSTATUS) 0xC0000235L)
+#endif
+
+#ifndef STATUS_CONNECTION_REFUSED
+# define STATUS_CONNECTION_REFUSED ((NTSTATUS) 0xC0000236L)
+#endif
+
+#ifndef STATUS_GRACEFUL_DISCONNECT
+# define STATUS_GRACEFUL_DISCONNECT ((NTSTATUS) 0xC0000237L)
+#endif
+
+#ifndef STATUS_ADDRESS_ALREADY_ASSOCIATED
+# define STATUS_ADDRESS_ALREADY_ASSOCIATED ((NTSTATUS) 0xC0000238L)
+#endif
+
+#ifndef STATUS_ADDRESS_NOT_ASSOCIATED
+# define STATUS_ADDRESS_NOT_ASSOCIATED ((NTSTATUS) 0xC0000239L)
+#endif
+
+#ifndef STATUS_CONNECTION_INVALID
+# define STATUS_CONNECTION_INVALID ((NTSTATUS) 0xC000023AL)
+#endif
+
+#ifndef STATUS_CONNECTION_ACTIVE
+# define STATUS_CONNECTION_ACTIVE ((NTSTATUS) 0xC000023BL)
+#endif
+
+#ifndef STATUS_NETWORK_UNREACHABLE
+# define STATUS_NETWORK_UNREACHABLE ((NTSTATUS) 0xC000023CL)
+#endif
+
+#ifndef STATUS_HOST_UNREACHABLE
+# define STATUS_HOST_UNREACHABLE ((NTSTATUS) 0xC000023DL)
+#endif
+
+#ifndef STATUS_PROTOCOL_UNREACHABLE
+# define STATUS_PROTOCOL_UNREACHABLE ((NTSTATUS) 0xC000023EL)
+#endif
+
+#ifndef STATUS_PORT_UNREACHABLE
+# define STATUS_PORT_UNREACHABLE ((NTSTATUS) 0xC000023FL)
+#endif
+
+#ifndef STATUS_REQUEST_ABORTED
+# define STATUS_REQUEST_ABORTED ((NTSTATUS) 0xC0000240L)
+#endif
+
+#ifndef STATUS_CONNECTION_ABORTED
+# define STATUS_CONNECTION_ABORTED ((NTSTATUS) 0xC0000241L)
+#endif
+
+#ifndef STATUS_BAD_COMPRESSION_BUFFER
+# define STATUS_BAD_COMPRESSION_BUFFER ((NTSTATUS) 0xC0000242L)
+#endif
+
+#ifndef STATUS_USER_MAPPED_FILE
+# define STATUS_USER_MAPPED_FILE ((NTSTATUS) 0xC0000243L)
+#endif
+
+#ifndef STATUS_AUDIT_FAILED
+# define STATUS_AUDIT_FAILED ((NTSTATUS) 0xC0000244L)
+#endif
+
+#ifndef STATUS_TIMER_RESOLUTION_NOT_SET
+# define STATUS_TIMER_RESOLUTION_NOT_SET ((NTSTATUS) 0xC0000245L)
+#endif
+
+#ifndef STATUS_CONNECTION_COUNT_LIMIT
+# define STATUS_CONNECTION_COUNT_LIMIT ((NTSTATUS) 0xC0000246L)
+#endif
+
+#ifndef STATUS_LOGIN_TIME_RESTRICTION
+# define STATUS_LOGIN_TIME_RESTRICTION ((NTSTATUS) 0xC0000247L)
+#endif
+
+#ifndef STATUS_LOGIN_WKSTA_RESTRICTION
+# define STATUS_LOGIN_WKSTA_RESTRICTION ((NTSTATUS) 0xC0000248L)
+#endif
+
+#ifndef STATUS_IMAGE_MP_UP_MISMATCH
+# define STATUS_IMAGE_MP_UP_MISMATCH ((NTSTATUS) 0xC0000249L)
+#endif
+
+#ifndef STATUS_INSUFFICIENT_LOGON_INFO
+# define STATUS_INSUFFICIENT_LOGON_INFO ((NTSTATUS) 0xC0000250L)
+#endif
+
+#ifndef STATUS_BAD_DLL_ENTRYPOINT
+# define STATUS_BAD_DLL_ENTRYPOINT ((NTSTATUS) 0xC0000251L)
+#endif
+
+#ifndef STATUS_BAD_SERVICE_ENTRYPOINT
+# define STATUS_BAD_SERVICE_ENTRYPOINT ((NTSTATUS) 0xC0000252L)
+#endif
+
+#ifndef STATUS_LPC_REPLY_LOST
+# define STATUS_LPC_REPLY_LOST ((NTSTATUS) 0xC0000253L)
+#endif
+
+#ifndef STATUS_IP_ADDRESS_CONFLICT1
+# define STATUS_IP_ADDRESS_CONFLICT1 ((NTSTATUS) 0xC0000254L)
+#endif
+
+#ifndef STATUS_IP_ADDRESS_CONFLICT2
+# define STATUS_IP_ADDRESS_CONFLICT2 ((NTSTATUS) 0xC0000255L)
+#endif
+
+#ifndef STATUS_REGISTRY_QUOTA_LIMIT
+# define STATUS_REGISTRY_QUOTA_LIMIT ((NTSTATUS) 0xC0000256L)
+#endif
+
+#ifndef STATUS_PATH_NOT_COVERED
+# define STATUS_PATH_NOT_COVERED ((NTSTATUS) 0xC0000257L)
+#endif
+
+#ifndef STATUS_NO_CALLBACK_ACTIVE
+# define STATUS_NO_CALLBACK_ACTIVE ((NTSTATUS) 0xC0000258L)
+#endif
+
+#ifndef STATUS_LICENSE_QUOTA_EXCEEDED
+# define STATUS_LICENSE_QUOTA_EXCEEDED ((NTSTATUS) 0xC0000259L)
+#endif
+
+#ifndef STATUS_PWD_TOO_SHORT
+# define STATUS_PWD_TOO_SHORT ((NTSTATUS) 0xC000025AL)
+#endif
+
+#ifndef STATUS_PWD_TOO_RECENT
+# define STATUS_PWD_TOO_RECENT ((NTSTATUS) 0xC000025BL)
+#endif
+
+#ifndef STATUS_PWD_HISTORY_CONFLICT
+# define STATUS_PWD_HISTORY_CONFLICT ((NTSTATUS) 0xC000025CL)
+#endif
+
+#ifndef STATUS_PLUGPLAY_NO_DEVICE
+# define STATUS_PLUGPLAY_NO_DEVICE ((NTSTATUS) 0xC000025EL)
+#endif
+
+#ifndef STATUS_UNSUPPORTED_COMPRESSION
+# define STATUS_UNSUPPORTED_COMPRESSION ((NTSTATUS) 0xC000025FL)
+#endif
+
+#ifndef STATUS_INVALID_HW_PROFILE
+# define STATUS_INVALID_HW_PROFILE ((NTSTATUS) 0xC0000260L)
+#endif
+
+#ifndef STATUS_INVALID_PLUGPLAY_DEVICE_PATH
+# define STATUS_INVALID_PLUGPLAY_DEVICE_PATH ((NTSTATUS) 0xC0000261L)
+#endif
+
+#ifndef STATUS_DRIVER_ORDINAL_NOT_FOUND
+# define STATUS_DRIVER_ORDINAL_NOT_FOUND ((NTSTATUS) 0xC0000262L)
+#endif
+
+#ifndef STATUS_DRIVER_ENTRYPOINT_NOT_FOUND
+# define STATUS_DRIVER_ENTRYPOINT_NOT_FOUND ((NTSTATUS) 0xC0000263L)
+#endif
+
+#ifndef STATUS_RESOURCE_NOT_OWNED
+# define STATUS_RESOURCE_NOT_OWNED ((NTSTATUS) 0xC0000264L)
+#endif
+
+#ifndef STATUS_TOO_MANY_LINKS
+# define STATUS_TOO_MANY_LINKS ((NTSTATUS) 0xC0000265L)
+#endif
+
+#ifndef STATUS_QUOTA_LIST_INCONSISTENT
+# define STATUS_QUOTA_LIST_INCONSISTENT ((NTSTATUS) 0xC0000266L)
+#endif
+
+#ifndef STATUS_FILE_IS_OFFLINE
+# define STATUS_FILE_IS_OFFLINE ((NTSTATUS) 0xC0000267L)
+#endif
+
+#ifndef STATUS_EVALUATION_EXPIRATION
+# define STATUS_EVALUATION_EXPIRATION ((NTSTATUS) 0xC0000268L)
+#endif
+
+#ifndef STATUS_ILLEGAL_DLL_RELOCATION
+# define STATUS_ILLEGAL_DLL_RELOCATION ((NTSTATUS) 0xC0000269L)
+#endif
+
+#ifndef STATUS_LICENSE_VIOLATION
+# define STATUS_LICENSE_VIOLATION ((NTSTATUS) 0xC000026AL)
+#endif
+
+#ifndef STATUS_DLL_INIT_FAILED_LOGOFF
+# define STATUS_DLL_INIT_FAILED_LOGOFF ((NTSTATUS) 0xC000026BL)
+#endif
+
+#ifndef STATUS_DRIVER_UNABLE_TO_LOAD
+# define STATUS_DRIVER_UNABLE_TO_LOAD ((NTSTATUS) 0xC000026CL)
+#endif
+
+#ifndef STATUS_DFS_UNAVAILABLE
+# define STATUS_DFS_UNAVAILABLE ((NTSTATUS) 0xC000026DL)
+#endif
+
+#ifndef STATUS_VOLUME_DISMOUNTED
+# define STATUS_VOLUME_DISMOUNTED ((NTSTATUS) 0xC000026EL)
+#endif
+
+#ifndef STATUS_WX86_INTERNAL_ERROR
+# define STATUS_WX86_INTERNAL_ERROR ((NTSTATUS) 0xC000026FL)
+#endif
+
+#ifndef STATUS_WX86_FLOAT_STACK_CHECK
+# define STATUS_WX86_FLOAT_STACK_CHECK ((NTSTATUS) 0xC0000270L)
+#endif
+
+#ifndef STATUS_VALIDATE_CONTINUE
+# define STATUS_VALIDATE_CONTINUE ((NTSTATUS) 0xC0000271L)
+#endif
+
+#ifndef STATUS_NO_MATCH
+# define STATUS_NO_MATCH ((NTSTATUS) 0xC0000272L)
+#endif
+
+#ifndef STATUS_NO_MORE_MATCHES
+# define STATUS_NO_MORE_MATCHES ((NTSTATUS) 0xC0000273L)
+#endif
+
+#ifndef STATUS_NOT_A_REPARSE_POINT
+# define STATUS_NOT_A_REPARSE_POINT ((NTSTATUS) 0xC0000275L)
+#endif
+
+#ifndef STATUS_IO_REPARSE_TAG_INVALID
+# define STATUS_IO_REPARSE_TAG_INVALID ((NTSTATUS) 0xC0000276L)
+#endif
+
+#ifndef STATUS_IO_REPARSE_TAG_MISMATCH
+# define STATUS_IO_REPARSE_TAG_MISMATCH ((NTSTATUS) 0xC0000277L)
+#endif
+
+#ifndef STATUS_IO_REPARSE_DATA_INVALID
+# define STATUS_IO_REPARSE_DATA_INVALID ((NTSTATUS) 0xC0000278L)
+#endif
+
+#ifndef STATUS_IO_REPARSE_TAG_NOT_HANDLED
+# define STATUS_IO_REPARSE_TAG_NOT_HANDLED ((NTSTATUS) 0xC0000279L)
+#endif
+
+#ifndef STATUS_REPARSE_POINT_NOT_RESOLVED
+# define STATUS_REPARSE_POINT_NOT_RESOLVED ((NTSTATUS) 0xC0000280L)
+#endif
+
+#ifndef STATUS_DIRECTORY_IS_A_REPARSE_POINT
+# define STATUS_DIRECTORY_IS_A_REPARSE_POINT ((NTSTATUS) 0xC0000281L)
+#endif
+
+#ifndef STATUS_RANGE_LIST_CONFLICT
+# define STATUS_RANGE_LIST_CONFLICT ((NTSTATUS) 0xC0000282L)
+#endif
+
+#ifndef STATUS_SOURCE_ELEMENT_EMPTY
+# define STATUS_SOURCE_ELEMENT_EMPTY ((NTSTATUS) 0xC0000283L)
+#endif
+
+#ifndef STATUS_DESTINATION_ELEMENT_FULL
+# define STATUS_DESTINATION_ELEMENT_FULL ((NTSTATUS) 0xC0000284L)
+#endif
+
+#ifndef STATUS_ILLEGAL_ELEMENT_ADDRESS
+# define STATUS_ILLEGAL_ELEMENT_ADDRESS ((NTSTATUS) 0xC0000285L)
+#endif
+
+#ifndef STATUS_MAGAZINE_NOT_PRESENT
+# define STATUS_MAGAZINE_NOT_PRESENT ((NTSTATUS) 0xC0000286L)
+#endif
+
+#ifndef STATUS_REINITIALIZATION_NEEDED
+# define STATUS_REINITIALIZATION_NEEDED ((NTSTATUS) 0xC0000287L)
+#endif
+
+#ifndef STATUS_DEVICE_REQUIRES_CLEANING
+# define STATUS_DEVICE_REQUIRES_CLEANING ((NTSTATUS) 0x80000288L)
+#endif
+
+#ifndef STATUS_DEVICE_DOOR_OPEN
+# define STATUS_DEVICE_DOOR_OPEN ((NTSTATUS) 0x80000289L)
+#endif
+
+#ifndef STATUS_ENCRYPTION_FAILED
+# define STATUS_ENCRYPTION_FAILED ((NTSTATUS) 0xC000028AL)
+#endif
+
+#ifndef STATUS_DECRYPTION_FAILED
+# define STATUS_DECRYPTION_FAILED ((NTSTATUS) 0xC000028BL)
+#endif
+
+#ifndef STATUS_RANGE_NOT_FOUND
+# define STATUS_RANGE_NOT_FOUND ((NTSTATUS) 0xC000028CL)
+#endif
+
+#ifndef STATUS_NO_RECOVERY_POLICY
+# define STATUS_NO_RECOVERY_POLICY ((NTSTATUS) 0xC000028DL)
+#endif
+
+#ifndef STATUS_NO_EFS
+# define STATUS_NO_EFS ((NTSTATUS) 0xC000028EL)
+#endif
+
+#ifndef STATUS_WRONG_EFS
+# define STATUS_WRONG_EFS ((NTSTATUS) 0xC000028FL)
+#endif
+
+#ifndef STATUS_NO_USER_KEYS
+# define STATUS_NO_USER_KEYS ((NTSTATUS) 0xC0000290L)
+#endif
+
+#ifndef STATUS_FILE_NOT_ENCRYPTED
+# define STATUS_FILE_NOT_ENCRYPTED ((NTSTATUS) 0xC0000291L)
+#endif
+
+#ifndef STATUS_NOT_EXPORT_FORMAT
+# define STATUS_NOT_EXPORT_FORMAT ((NTSTATUS) 0xC0000292L)
+#endif
+
+#ifndef STATUS_FILE_ENCRYPTED
+# define STATUS_FILE_ENCRYPTED ((NTSTATUS) 0xC0000293L)
+#endif
+
+#ifndef STATUS_WAKE_SYSTEM
+# define STATUS_WAKE_SYSTEM ((NTSTATUS) 0x40000294L)
+#endif
+
+#ifndef STATUS_WMI_GUID_NOT_FOUND
+# define STATUS_WMI_GUID_NOT_FOUND ((NTSTATUS) 0xC0000295L)
+#endif
+
+#ifndef STATUS_WMI_INSTANCE_NOT_FOUND
+# define STATUS_WMI_INSTANCE_NOT_FOUND ((NTSTATUS) 0xC0000296L)
+#endif
+
+#ifndef STATUS_WMI_ITEMID_NOT_FOUND
+# define STATUS_WMI_ITEMID_NOT_FOUND ((NTSTATUS) 0xC0000297L)
+#endif
+
+#ifndef STATUS_WMI_TRY_AGAIN
+# define STATUS_WMI_TRY_AGAIN ((NTSTATUS) 0xC0000298L)
+#endif
+
+#ifndef STATUS_SHARED_POLICY
+# define STATUS_SHARED_POLICY ((NTSTATUS) 0xC0000299L)
+#endif
+
+#ifndef STATUS_POLICY_OBJECT_NOT_FOUND
+# define STATUS_POLICY_OBJECT_NOT_FOUND ((NTSTATUS) 0xC000029AL)
+#endif
+
+#ifndef STATUS_POLICY_ONLY_IN_DS
+# define STATUS_POLICY_ONLY_IN_DS ((NTSTATUS) 0xC000029BL)
+#endif
+
+#ifndef STATUS_VOLUME_NOT_UPGRADED
+# define STATUS_VOLUME_NOT_UPGRADED ((NTSTATUS) 0xC000029CL)
+#endif
+
+#ifndef STATUS_REMOTE_STORAGE_NOT_ACTIVE
+# define STATUS_REMOTE_STORAGE_NOT_ACTIVE ((NTSTATUS) 0xC000029DL)
+#endif
+
+#ifndef STATUS_REMOTE_STORAGE_MEDIA_ERROR
+# define STATUS_REMOTE_STORAGE_MEDIA_ERROR ((NTSTATUS) 0xC000029EL)
+#endif
+
+#ifndef STATUS_NO_TRACKING_SERVICE
+# define STATUS_NO_TRACKING_SERVICE ((NTSTATUS) 0xC000029FL)
+#endif
+
+#ifndef STATUS_SERVER_SID_MISMATCH
+# define STATUS_SERVER_SID_MISMATCH ((NTSTATUS) 0xC00002A0L)
+#endif
+
+#ifndef STATUS_DS_NO_ATTRIBUTE_OR_VALUE
+# define STATUS_DS_NO_ATTRIBUTE_OR_VALUE ((NTSTATUS) 0xC00002A1L)
+#endif
+
+#ifndef STATUS_DS_INVALID_ATTRIBUTE_SYNTAX
+# define STATUS_DS_INVALID_ATTRIBUTE_SYNTAX ((NTSTATUS) 0xC00002A2L)
+#endif
+
+#ifndef STATUS_DS_ATTRIBUTE_TYPE_UNDEFINED
+# define STATUS_DS_ATTRIBUTE_TYPE_UNDEFINED ((NTSTATUS) 0xC00002A3L)
+#endif
+
+#ifndef STATUS_DS_ATTRIBUTE_OR_VALUE_EXISTS
+# define STATUS_DS_ATTRIBUTE_OR_VALUE_EXISTS ((NTSTATUS) 0xC00002A4L)
+#endif
+
+#ifndef STATUS_DS_BUSY
+# define STATUS_DS_BUSY ((NTSTATUS) 0xC00002A5L)
+#endif
+
+#ifndef STATUS_DS_UNAVAILABLE
+# define STATUS_DS_UNAVAILABLE ((NTSTATUS) 0xC00002A6L)
+#endif
+
+#ifndef STATUS_DS_NO_RIDS_ALLOCATED
+# define STATUS_DS_NO_RIDS_ALLOCATED ((NTSTATUS) 0xC00002A7L)
+#endif
+
+#ifndef STATUS_DS_NO_MORE_RIDS
+# define STATUS_DS_NO_MORE_RIDS ((NTSTATUS) 0xC00002A8L)
+#endif
+
+#ifndef STATUS_DS_INCORRECT_ROLE_OWNER
+# define STATUS_DS_INCORRECT_ROLE_OWNER ((NTSTATUS) 0xC00002A9L)
+#endif
+
+#ifndef STATUS_DS_RIDMGR_INIT_ERROR
+# define STATUS_DS_RIDMGR_INIT_ERROR ((NTSTATUS) 0xC00002AAL)
+#endif
+
+#ifndef STATUS_DS_OBJ_CLASS_VIOLATION
+# define STATUS_DS_OBJ_CLASS_VIOLATION ((NTSTATUS) 0xC00002ABL)
+#endif
+
+#ifndef STATUS_DS_CANT_ON_NON_LEAF
+# define STATUS_DS_CANT_ON_NON_LEAF ((NTSTATUS) 0xC00002ACL)
+#endif
+
+#ifndef STATUS_DS_CANT_ON_RDN
+# define STATUS_DS_CANT_ON_RDN ((NTSTATUS) 0xC00002ADL)
+#endif
+
+#ifndef STATUS_DS_CANT_MOD_OBJ_CLASS
+# define STATUS_DS_CANT_MOD_OBJ_CLASS ((NTSTATUS) 0xC00002AEL)
+#endif
+
+#ifndef STATUS_DS_CROSS_DOM_MOVE_FAILED
+# define STATUS_DS_CROSS_DOM_MOVE_FAILED ((NTSTATUS) 0xC00002AFL)
+#endif
+
+#ifndef STATUS_DS_GC_NOT_AVAILABLE
+# define STATUS_DS_GC_NOT_AVAILABLE ((NTSTATUS) 0xC00002B0L)
+#endif
+
+#ifndef STATUS_DIRECTORY_SERVICE_REQUIRED
+# define STATUS_DIRECTORY_SERVICE_REQUIRED ((NTSTATUS) 0xC00002B1L)
+#endif
+
+#ifndef STATUS_REPARSE_ATTRIBUTE_CONFLICT
+# define STATUS_REPARSE_ATTRIBUTE_CONFLICT ((NTSTATUS) 0xC00002B2L)
+#endif
+
+#ifndef STATUS_CANT_ENABLE_DENY_ONLY
+# define STATUS_CANT_ENABLE_DENY_ONLY ((NTSTATUS) 0xC00002B3L)
+#endif
+
+#ifndef STATUS_FLOAT_MULTIPLE_FAULTS
+# define STATUS_FLOAT_MULTIPLE_FAULTS ((NTSTATUS) 0xC00002B4L)
+#endif
+
+#ifndef STATUS_FLOAT_MULTIPLE_TRAPS
+# define STATUS_FLOAT_MULTIPLE_TRAPS ((NTSTATUS) 0xC00002B5L)
+#endif
+
+#ifndef STATUS_DEVICE_REMOVED
+# define STATUS_DEVICE_REMOVED ((NTSTATUS) 0xC00002B6L)
+#endif
+
+#ifndef STATUS_JOURNAL_DELETE_IN_PROGRESS
+# define STATUS_JOURNAL_DELETE_IN_PROGRESS ((NTSTATUS) 0xC00002B7L)
+#endif
+
+#ifndef STATUS_JOURNAL_NOT_ACTIVE
+# define STATUS_JOURNAL_NOT_ACTIVE ((NTSTATUS) 0xC00002B8L)
+#endif
+
+#ifndef STATUS_NOINTERFACE
+# define STATUS_NOINTERFACE ((NTSTATUS) 0xC00002B9L)
+#endif
+
+#ifndef STATUS_DS_ADMIN_LIMIT_EXCEEDED
+# define STATUS_DS_ADMIN_LIMIT_EXCEEDED ((NTSTATUS) 0xC00002C1L)
+#endif
+
+#ifndef STATUS_DRIVER_FAILED_SLEEP
+# define STATUS_DRIVER_FAILED_SLEEP ((NTSTATUS) 0xC00002C2L)
+#endif
+
+#ifndef STATUS_MUTUAL_AUTHENTICATION_FAILED
+# define STATUS_MUTUAL_AUTHENTICATION_FAILED ((NTSTATUS) 0xC00002C3L)
+#endif
+
+#ifndef STATUS_CORRUPT_SYSTEM_FILE
+# define STATUS_CORRUPT_SYSTEM_FILE ((NTSTATUS) 0xC00002C4L)
+#endif
+
+#ifndef STATUS_DATATYPE_MISALIGNMENT_ERROR
+# define STATUS_DATATYPE_MISALIGNMENT_ERROR ((NTSTATUS) 0xC00002C5L)
+#endif
+
+#ifndef STATUS_WMI_READ_ONLY
+# define STATUS_WMI_READ_ONLY ((NTSTATUS) 0xC00002C6L)
+#endif
+
+#ifndef STATUS_WMI_SET_FAILURE
+# define STATUS_WMI_SET_FAILURE ((NTSTATUS) 0xC00002C7L)
+#endif
+
+#ifndef STATUS_COMMITMENT_MINIMUM
+# define STATUS_COMMITMENT_MINIMUM ((NTSTATUS) 0xC00002C8L)
+#endif
+
+#ifndef STATUS_REG_NAT_CONSUMPTION
+# define STATUS_REG_NAT_CONSUMPTION ((NTSTATUS) 0xC00002C9L)
+#endif
+
+#ifndef STATUS_TRANSPORT_FULL
+# define STATUS_TRANSPORT_FULL ((NTSTATUS) 0xC00002CAL)
+#endif
+
+#ifndef STATUS_DS_SAM_INIT_FAILURE
+# define STATUS_DS_SAM_INIT_FAILURE ((NTSTATUS) 0xC00002CBL)
+#endif
+
+#ifndef STATUS_ONLY_IF_CONNECTED
+# define STATUS_ONLY_IF_CONNECTED ((NTSTATUS) 0xC00002CCL)
+#endif
+
+#ifndef STATUS_DS_SENSITIVE_GROUP_VIOLATION
+# define STATUS_DS_SENSITIVE_GROUP_VIOLATION ((NTSTATUS) 0xC00002CDL)
+#endif
+
+#ifndef STATUS_PNP_RESTART_ENUMERATION
+# define STATUS_PNP_RESTART_ENUMERATION ((NTSTATUS) 0xC00002CEL)
+#endif
+
+#ifndef STATUS_JOURNAL_ENTRY_DELETED
+# define STATUS_JOURNAL_ENTRY_DELETED ((NTSTATUS) 0xC00002CFL)
+#endif
+
+#ifndef STATUS_DS_CANT_MOD_PRIMARYGROUPID
+# define STATUS_DS_CANT_MOD_PRIMARYGROUPID ((NTSTATUS) 0xC00002D0L)
+#endif
+
+#ifndef STATUS_SYSTEM_IMAGE_BAD_SIGNATURE
+# define STATUS_SYSTEM_IMAGE_BAD_SIGNATURE ((NTSTATUS) 0xC00002D1L)
+#endif
+
+#ifndef STATUS_PNP_REBOOT_REQUIRED
+# define STATUS_PNP_REBOOT_REQUIRED ((NTSTATUS) 0xC00002D2L)
+#endif
+
+#ifndef STATUS_POWER_STATE_INVALID
+# define STATUS_POWER_STATE_INVALID ((NTSTATUS) 0xC00002D3L)
+#endif
+
+#ifndef STATUS_DS_INVALID_GROUP_TYPE
+# define STATUS_DS_INVALID_GROUP_TYPE ((NTSTATUS) 0xC00002D4L)
+#endif
+
+#ifndef STATUS_DS_NO_NEST_GLOBALGROUP_IN_MIXEDDOMAIN
+# define STATUS_DS_NO_NEST_GLOBALGROUP_IN_MIXEDDOMAIN ((NTSTATUS) 0xC00002D5L)
+#endif
+
+#ifndef STATUS_DS_NO_NEST_LOCALGROUP_IN_MIXEDDOMAIN
+# define STATUS_DS_NO_NEST_LOCALGROUP_IN_MIXEDDOMAIN ((NTSTATUS) 0xC00002D6L)
+#endif
+
+#ifndef STATUS_DS_GLOBAL_CANT_HAVE_LOCAL_MEMBER
+# define STATUS_DS_GLOBAL_CANT_HAVE_LOCAL_MEMBER ((NTSTATUS) 0xC00002D7L)
+#endif
+
+#ifndef STATUS_DS_GLOBAL_CANT_HAVE_UNIVERSAL_MEMBER
+# define STATUS_DS_GLOBAL_CANT_HAVE_UNIVERSAL_MEMBER ((NTSTATUS) 0xC00002D8L)
+#endif
+
+#ifndef STATUS_DS_UNIVERSAL_CANT_HAVE_LOCAL_MEMBER
+# define STATUS_DS_UNIVERSAL_CANT_HAVE_LOCAL_MEMBER ((NTSTATUS) 0xC00002D9L)
+#endif
+
+#ifndef STATUS_DS_GLOBAL_CANT_HAVE_CROSSDOMAIN_MEMBER
+# define STATUS_DS_GLOBAL_CANT_HAVE_CROSSDOMAIN_MEMBER ((NTSTATUS) 0xC00002DAL)
+#endif
+
+#ifndef STATUS_DS_LOCAL_CANT_HAVE_CROSSDOMAIN_LOCAL_MEMBER
+# define STATUS_DS_LOCAL_CANT_HAVE_CROSSDOMAIN_LOCAL_MEMBER ((NTSTATUS) 0xC00002DBL)
+#endif
+
+#ifndef STATUS_DS_HAVE_PRIMARY_MEMBERS
+# define STATUS_DS_HAVE_PRIMARY_MEMBERS ((NTSTATUS) 0xC00002DCL)
+#endif
+
+#ifndef STATUS_WMI_NOT_SUPPORTED
+# define STATUS_WMI_NOT_SUPPORTED ((NTSTATUS) 0xC00002DDL)
+#endif
+
+#ifndef STATUS_INSUFFICIENT_POWER
+# define STATUS_INSUFFICIENT_POWER ((NTSTATUS) 0xC00002DEL)
+#endif
+
+#ifndef STATUS_SAM_NEED_BOOTKEY_PASSWORD
+# define STATUS_SAM_NEED_BOOTKEY_PASSWORD ((NTSTATUS) 0xC00002DFL)
+#endif
+
+#ifndef STATUS_SAM_NEED_BOOTKEY_FLOPPY
+# define STATUS_SAM_NEED_BOOTKEY_FLOPPY ((NTSTATUS) 0xC00002E0L)
+#endif
+
+#ifndef STATUS_DS_CANT_START
+# define STATUS_DS_CANT_START ((NTSTATUS) 0xC00002E1L)
+#endif
+
+#ifndef STATUS_DS_INIT_FAILURE
+# define STATUS_DS_INIT_FAILURE ((NTSTATUS) 0xC00002E2L)
+#endif
+
+#ifndef STATUS_SAM_INIT_FAILURE
+# define STATUS_SAM_INIT_FAILURE ((NTSTATUS) 0xC00002E3L)
+#endif
+
+#ifndef STATUS_DS_GC_REQUIRED
+# define STATUS_DS_GC_REQUIRED ((NTSTATUS) 0xC00002E4L)
+#endif
+
+#ifndef STATUS_DS_LOCAL_MEMBER_OF_LOCAL_ONLY
+# define STATUS_DS_LOCAL_MEMBER_OF_LOCAL_ONLY ((NTSTATUS) 0xC00002E5L)
+#endif
+
+#ifndef STATUS_DS_NO_FPO_IN_UNIVERSAL_GROUPS
+# define STATUS_DS_NO_FPO_IN_UNIVERSAL_GROUPS ((NTSTATUS) 0xC00002E6L)
+#endif
+
+#ifndef STATUS_DS_MACHINE_ACCOUNT_QUOTA_EXCEEDED
+# define STATUS_DS_MACHINE_ACCOUNT_QUOTA_EXCEEDED ((NTSTATUS) 0xC00002E7L)
+#endif
+
+#ifndef STATUS_MULTIPLE_FAULT_VIOLATION
+# define STATUS_MULTIPLE_FAULT_VIOLATION ((NTSTATUS) 0xC00002E8L)
+#endif
+
+#ifndef STATUS_CURRENT_DOMAIN_NOT_ALLOWED
+# define STATUS_CURRENT_DOMAIN_NOT_ALLOWED ((NTSTATUS) 0xC00002E9L)
+#endif
+
+#ifndef STATUS_CANNOT_MAKE
+# define STATUS_CANNOT_MAKE ((NTSTATUS) 0xC00002EAL)
+#endif
+
+#ifndef STATUS_SYSTEM_SHUTDOWN
+# define STATUS_SYSTEM_SHUTDOWN ((NTSTATUS) 0xC00002EBL)
+#endif
+
+#ifndef STATUS_DS_INIT_FAILURE_CONSOLE
+# define STATUS_DS_INIT_FAILURE_CONSOLE ((NTSTATUS) 0xC00002ECL)
+#endif
+
+#ifndef STATUS_DS_SAM_INIT_FAILURE_CONSOLE
+# define STATUS_DS_SAM_INIT_FAILURE_CONSOLE ((NTSTATUS) 0xC00002EDL)
+#endif
+
+#ifndef STATUS_UNFINISHED_CONTEXT_DELETED
+# define STATUS_UNFINISHED_CONTEXT_DELETED ((NTSTATUS) 0xC00002EEL)
+#endif
+
+#ifndef STATUS_NO_TGT_REPLY
+# define STATUS_NO_TGT_REPLY ((NTSTATUS) 0xC00002EFL)
+#endif
+
+#ifndef STATUS_OBJECTID_NOT_FOUND
+# define STATUS_OBJECTID_NOT_FOUND ((NTSTATUS) 0xC00002F0L)
+#endif
+
+#ifndef STATUS_NO_IP_ADDRESSES
+# define STATUS_NO_IP_ADDRESSES ((NTSTATUS) 0xC00002F1L)
+#endif
+
+#ifndef STATUS_WRONG_CREDENTIAL_HANDLE
+# define STATUS_WRONG_CREDENTIAL_HANDLE ((NTSTATUS) 0xC00002F2L)
+#endif
+
+#ifndef STATUS_CRYPTO_SYSTEM_INVALID
+# define STATUS_CRYPTO_SYSTEM_INVALID ((NTSTATUS) 0xC00002F3L)
+#endif
+
+#ifndef STATUS_MAX_REFERRALS_EXCEEDED
+# define STATUS_MAX_REFERRALS_EXCEEDED ((NTSTATUS) 0xC00002F4L)
+#endif
+
+#ifndef STATUS_MUST_BE_KDC
+# define STATUS_MUST_BE_KDC ((NTSTATUS) 0xC00002F5L)
+#endif
+
+#ifndef STATUS_STRONG_CRYPTO_NOT_SUPPORTED
+# define STATUS_STRONG_CRYPTO_NOT_SUPPORTED ((NTSTATUS) 0xC00002F6L)
+#endif
+
+#ifndef STATUS_TOO_MANY_PRINCIPALS
+# define STATUS_TOO_MANY_PRINCIPALS ((NTSTATUS) 0xC00002F7L)
+#endif
+
+#ifndef STATUS_NO_PA_DATA
+# define STATUS_NO_PA_DATA ((NTSTATUS) 0xC00002F8L)
+#endif
+
+#ifndef STATUS_PKINIT_NAME_MISMATCH
+# define STATUS_PKINIT_NAME_MISMATCH ((NTSTATUS) 0xC00002F9L)
+#endif
+
+#ifndef STATUS_SMARTCARD_LOGON_REQUIRED
+# define STATUS_SMARTCARD_LOGON_REQUIRED ((NTSTATUS) 0xC00002FAL)
+#endif
+
+#ifndef STATUS_KDC_INVALID_REQUEST
+# define STATUS_KDC_INVALID_REQUEST ((NTSTATUS) 0xC00002FBL)
+#endif
+
+#ifndef STATUS_KDC_UNABLE_TO_REFER
+# define STATUS_KDC_UNABLE_TO_REFER ((NTSTATUS) 0xC00002FCL)
+#endif
+
+#ifndef STATUS_KDC_UNKNOWN_ETYPE
+# define STATUS_KDC_UNKNOWN_ETYPE ((NTSTATUS) 0xC00002FDL)
+#endif
+
+#ifndef STATUS_SHUTDOWN_IN_PROGRESS
+# define STATUS_SHUTDOWN_IN_PROGRESS ((NTSTATUS) 0xC00002FEL)
+#endif
+
+#ifndef STATUS_SERVER_SHUTDOWN_IN_PROGRESS
+# define STATUS_SERVER_SHUTDOWN_IN_PROGRESS ((NTSTATUS) 0xC00002FFL)
+#endif
+
+#ifndef STATUS_NOT_SUPPORTED_ON_SBS
+# define STATUS_NOT_SUPPORTED_ON_SBS ((NTSTATUS) 0xC0000300L)
+#endif
+
+#ifndef STATUS_WMI_GUID_DISCONNECTED
+# define STATUS_WMI_GUID_DISCONNECTED ((NTSTATUS) 0xC0000301L)
+#endif
+
+#ifndef STATUS_WMI_ALREADY_DISABLED
+# define STATUS_WMI_ALREADY_DISABLED ((NTSTATUS) 0xC0000302L)
+#endif
+
+#ifndef STATUS_WMI_ALREADY_ENABLED
+# define STATUS_WMI_ALREADY_ENABLED ((NTSTATUS) 0xC0000303L)
+#endif
+
+#ifndef STATUS_MFT_TOO_FRAGMENTED
+# define STATUS_MFT_TOO_FRAGMENTED ((NTSTATUS) 0xC0000304L)
+#endif
+
+#ifndef STATUS_COPY_PROTECTION_FAILURE
+# define STATUS_COPY_PROTECTION_FAILURE ((NTSTATUS) 0xC0000305L)
+#endif
+
+#ifndef STATUS_CSS_AUTHENTICATION_FAILURE
+# define STATUS_CSS_AUTHENTICATION_FAILURE ((NTSTATUS) 0xC0000306L)
+#endif
+
+#ifndef STATUS_CSS_KEY_NOT_PRESENT
+# define STATUS_CSS_KEY_NOT_PRESENT ((NTSTATUS) 0xC0000307L)
+#endif
+
+#ifndef STATUS_CSS_KEY_NOT_ESTABLISHED
+# define STATUS_CSS_KEY_NOT_ESTABLISHED ((NTSTATUS) 0xC0000308L)
+#endif
+
+#ifndef STATUS_CSS_SCRAMBLED_SECTOR
+# define STATUS_CSS_SCRAMBLED_SECTOR ((NTSTATUS) 0xC0000309L)
+#endif
+
+#ifndef STATUS_CSS_REGION_MISMATCH
+# define STATUS_CSS_REGION_MISMATCH ((NTSTATUS) 0xC000030AL)
+#endif
+
+#ifndef STATUS_CSS_RESETS_EXHAUSTED
+# define STATUS_CSS_RESETS_EXHAUSTED ((NTSTATUS) 0xC000030BL)
+#endif
+
+#ifndef STATUS_PKINIT_FAILURE
+# define STATUS_PKINIT_FAILURE ((NTSTATUS) 0xC0000320L)
+#endif
+
+#ifndef STATUS_SMARTCARD_SUBSYSTEM_FAILURE
+# define STATUS_SMARTCARD_SUBSYSTEM_FAILURE ((NTSTATUS) 0xC0000321L)
+#endif
+
+#ifndef STATUS_NO_KERB_KEY
+# define STATUS_NO_KERB_KEY ((NTSTATUS) 0xC0000322L)
+#endif
+
+#ifndef STATUS_HOST_DOWN
+# define STATUS_HOST_DOWN ((NTSTATUS) 0xC0000350L)
+#endif
+
+#ifndef STATUS_UNSUPPORTED_PREAUTH
+# define STATUS_UNSUPPORTED_PREAUTH ((NTSTATUS) 0xC0000351L)
+#endif
+
+#ifndef STATUS_EFS_ALG_BLOB_TOO_BIG
+# define STATUS_EFS_ALG_BLOB_TOO_BIG ((NTSTATUS) 0xC0000352L)
+#endif
+
+#ifndef STATUS_PORT_NOT_SET
+# define STATUS_PORT_NOT_SET ((NTSTATUS) 0xC0000353L)
+#endif
+
+#ifndef STATUS_DEBUGGER_INACTIVE
+# define STATUS_DEBUGGER_INACTIVE ((NTSTATUS) 0xC0000354L)
+#endif
+
+#ifndef STATUS_DS_VERSION_CHECK_FAILURE
+# define STATUS_DS_VERSION_CHECK_FAILURE ((NTSTATUS) 0xC0000355L)
+#endif
+
+#ifndef STATUS_AUDITING_DISABLED
+# define STATUS_AUDITING_DISABLED ((NTSTATUS) 0xC0000356L)
+#endif
+
+#ifndef STATUS_PRENT4_MACHINE_ACCOUNT
+# define STATUS_PRENT4_MACHINE_ACCOUNT ((NTSTATUS) 0xC0000357L)
+#endif
+
+#ifndef STATUS_DS_AG_CANT_HAVE_UNIVERSAL_MEMBER
+# define STATUS_DS_AG_CANT_HAVE_UNIVERSAL_MEMBER ((NTSTATUS) 0xC0000358L)
+#endif
+
+#ifndef STATUS_INVALID_IMAGE_WIN_32
+# define STATUS_INVALID_IMAGE_WIN_32 ((NTSTATUS) 0xC0000359L)
+#endif
+
+#ifndef STATUS_INVALID_IMAGE_WIN_64
+# define STATUS_INVALID_IMAGE_WIN_64 ((NTSTATUS) 0xC000035AL)
+#endif
+
+#ifndef STATUS_BAD_BINDINGS
+# define STATUS_BAD_BINDINGS ((NTSTATUS) 0xC000035BL)
+#endif
+
+#ifndef STATUS_NETWORK_SESSION_EXPIRED
+# define STATUS_NETWORK_SESSION_EXPIRED ((NTSTATUS) 0xC000035CL)
+#endif
+
+#ifndef STATUS_APPHELP_BLOCK
+# define STATUS_APPHELP_BLOCK ((NTSTATUS) 0xC000035DL)
+#endif
+
+#ifndef STATUS_ALL_SIDS_FILTERED
+# define STATUS_ALL_SIDS_FILTERED ((NTSTATUS) 0xC000035EL)
+#endif
+
+#ifndef STATUS_NOT_SAFE_MODE_DRIVER
+# define STATUS_NOT_SAFE_MODE_DRIVER ((NTSTATUS) 0xC000035FL)
+#endif
+
+#ifndef STATUS_ACCESS_DISABLED_BY_POLICY_DEFAULT
+# define STATUS_ACCESS_DISABLED_BY_POLICY_DEFAULT ((NTSTATUS) 0xC0000361L)
+#endif
+
+#ifndef STATUS_ACCESS_DISABLED_BY_POLICY_PATH
+# define STATUS_ACCESS_DISABLED_BY_POLICY_PATH ((NTSTATUS) 0xC0000362L)
+#endif
+
+#ifndef STATUS_ACCESS_DISABLED_BY_POLICY_PUBLISHER
+# define STATUS_ACCESS_DISABLED_BY_POLICY_PUBLISHER ((NTSTATUS) 0xC0000363L)
+#endif
+
+#ifndef STATUS_ACCESS_DISABLED_BY_POLICY_OTHER
+# define STATUS_ACCESS_DISABLED_BY_POLICY_OTHER ((NTSTATUS) 0xC0000364L)
+#endif
+
+#ifndef STATUS_FAILED_DRIVER_ENTRY
+# define STATUS_FAILED_DRIVER_ENTRY ((NTSTATUS) 0xC0000365L)
+#endif
+
+#ifndef STATUS_DEVICE_ENUMERATION_ERROR
+# define STATUS_DEVICE_ENUMERATION_ERROR ((NTSTATUS) 0xC0000366L)
+#endif
+
+#ifndef STATUS_MOUNT_POINT_NOT_RESOLVED
+# define STATUS_MOUNT_POINT_NOT_RESOLVED ((NTSTATUS) 0xC0000368L)
+#endif
+
+#ifndef STATUS_INVALID_DEVICE_OBJECT_PARAMETER
+# define STATUS_INVALID_DEVICE_OBJECT_PARAMETER ((NTSTATUS) 0xC0000369L)
+#endif
+
+#ifndef STATUS_MCA_OCCURED
+# define STATUS_MCA_OCCURED ((NTSTATUS) 0xC000036AL)
+#endif
+
+#ifndef STATUS_DRIVER_BLOCKED_CRITICAL
+# define STATUS_DRIVER_BLOCKED_CRITICAL ((NTSTATUS) 0xC000036BL)
+#endif
+
+#ifndef STATUS_DRIVER_BLOCKED
+# define STATUS_DRIVER_BLOCKED ((NTSTATUS) 0xC000036CL)
+#endif
+
+#ifndef STATUS_DRIVER_DATABASE_ERROR
+# define STATUS_DRIVER_DATABASE_ERROR ((NTSTATUS) 0xC000036DL)
+#endif
+
+#ifndef STATUS_SYSTEM_HIVE_TOO_LARGE
+# define STATUS_SYSTEM_HIVE_TOO_LARGE ((NTSTATUS) 0xC000036EL)
+#endif
+
+#ifndef STATUS_INVALID_IMPORT_OF_NON_DLL
+# define STATUS_INVALID_IMPORT_OF_NON_DLL ((NTSTATUS) 0xC000036FL)
+#endif
+
+#ifndef STATUS_DS_SHUTTING_DOWN
+# define STATUS_DS_SHUTTING_DOWN ((NTSTATUS) 0x40000370L)
+#endif
+
+#ifndef STATUS_NO_SECRETS
+# define STATUS_NO_SECRETS ((NTSTATUS) 0xC0000371L)
+#endif
+
+#ifndef STATUS_ACCESS_DISABLED_NO_SAFER_UI_BY_POLICY
+# define STATUS_ACCESS_DISABLED_NO_SAFER_UI_BY_POLICY ((NTSTATUS) 0xC0000372L)
+#endif
+
+#ifndef STATUS_FAILED_STACK_SWITCH
+# define STATUS_FAILED_STACK_SWITCH ((NTSTATUS) 0xC0000373L)
+#endif
+
+#ifndef STATUS_HEAP_CORRUPTION
+# define STATUS_HEAP_CORRUPTION ((NTSTATUS) 0xC0000374L)
+#endif
+
+#ifndef STATUS_SMARTCARD_WRONG_PIN
+# define STATUS_SMARTCARD_WRONG_PIN ((NTSTATUS) 0xC0000380L)
+#endif
+
+#ifndef STATUS_SMARTCARD_CARD_BLOCKED
+# define STATUS_SMARTCARD_CARD_BLOCKED ((NTSTATUS) 0xC0000381L)
+#endif
+
+#ifndef STATUS_SMARTCARD_CARD_NOT_AUTHENTICATED
+# define STATUS_SMARTCARD_CARD_NOT_AUTHENTICATED ((NTSTATUS) 0xC0000382L)
+#endif
+
+#ifndef STATUS_SMARTCARD_NO_CARD
+# define STATUS_SMARTCARD_NO_CARD ((NTSTATUS) 0xC0000383L)
+#endif
+
+#ifndef STATUS_SMARTCARD_NO_KEY_CONTAINER
+# define STATUS_SMARTCARD_NO_KEY_CONTAINER ((NTSTATUS) 0xC0000384L)
+#endif
+
+#ifndef STATUS_SMARTCARD_NO_CERTIFICATE
+# define STATUS_SMARTCARD_NO_CERTIFICATE ((NTSTATUS) 0xC0000385L)
+#endif
+
+#ifndef STATUS_SMARTCARD_NO_KEYSET
+# define STATUS_SMARTCARD_NO_KEYSET ((NTSTATUS) 0xC0000386L)
+#endif
+
+#ifndef STATUS_SMARTCARD_IO_ERROR
+# define STATUS_SMARTCARD_IO_ERROR ((NTSTATUS) 0xC0000387L)
+#endif
+
+#ifndef STATUS_DOWNGRADE_DETECTED
+# define STATUS_DOWNGRADE_DETECTED ((NTSTATUS) 0xC0000388L)
+#endif
+
+#ifndef STATUS_SMARTCARD_CERT_REVOKED
+# define STATUS_SMARTCARD_CERT_REVOKED ((NTSTATUS) 0xC0000389L)
+#endif
+
+#ifndef STATUS_ISSUING_CA_UNTRUSTED
+# define STATUS_ISSUING_CA_UNTRUSTED ((NTSTATUS) 0xC000038AL)
+#endif
+
+#ifndef STATUS_REVOCATION_OFFLINE_C
+# define STATUS_REVOCATION_OFFLINE_C ((NTSTATUS) 0xC000038BL)
+#endif
+
+#ifndef STATUS_PKINIT_CLIENT_FAILURE
+# define STATUS_PKINIT_CLIENT_FAILURE ((NTSTATUS) 0xC000038CL)
+#endif
+
+#ifndef STATUS_SMARTCARD_CERT_EXPIRED
+# define STATUS_SMARTCARD_CERT_EXPIRED ((NTSTATUS) 0xC000038DL)
+#endif
+
+#ifndef STATUS_DRIVER_FAILED_PRIOR_UNLOAD
+# define STATUS_DRIVER_FAILED_PRIOR_UNLOAD ((NTSTATUS) 0xC000038EL)
+#endif
+
+#ifndef STATUS_SMARTCARD_SILENT_CONTEXT
+# define STATUS_SMARTCARD_SILENT_CONTEXT ((NTSTATUS) 0xC000038FL)
+#endif
+
+#ifndef STATUS_PER_USER_TRUST_QUOTA_EXCEEDED
+# define STATUS_PER_USER_TRUST_QUOTA_EXCEEDED ((NTSTATUS) 0xC0000401L)
+#endif
+
+#ifndef STATUS_ALL_USER_TRUST_QUOTA_EXCEEDED
+# define STATUS_ALL_USER_TRUST_QUOTA_EXCEEDED ((NTSTATUS) 0xC0000402L)
+#endif
+
+#ifndef STATUS_USER_DELETE_TRUST_QUOTA_EXCEEDED
+# define STATUS_USER_DELETE_TRUST_QUOTA_EXCEEDED ((NTSTATUS) 0xC0000403L)
+#endif
+
+#ifndef STATUS_DS_NAME_NOT_UNIQUE
+# define STATUS_DS_NAME_NOT_UNIQUE ((NTSTATUS) 0xC0000404L)
+#endif
+
+#ifndef STATUS_DS_DUPLICATE_ID_FOUND
+# define STATUS_DS_DUPLICATE_ID_FOUND ((NTSTATUS) 0xC0000405L)
+#endif
+
+#ifndef STATUS_DS_GROUP_CONVERSION_ERROR
+# define STATUS_DS_GROUP_CONVERSION_ERROR ((NTSTATUS) 0xC0000406L)
+#endif
+
+#ifndef STATUS_VOLSNAP_PREPARE_HIBERNATE
+# define STATUS_VOLSNAP_PREPARE_HIBERNATE ((NTSTATUS) 0xC0000407L)
+#endif
+
+#ifndef STATUS_USER2USER_REQUIRED
+# define STATUS_USER2USER_REQUIRED ((NTSTATUS) 0xC0000408L)
+#endif
+
+#ifndef STATUS_STACK_BUFFER_OVERRUN
+# define STATUS_STACK_BUFFER_OVERRUN ((NTSTATUS) 0xC0000409L)
+#endif
+
+#ifndef STATUS_NO_S4U_PROT_SUPPORT
+# define STATUS_NO_S4U_PROT_SUPPORT ((NTSTATUS) 0xC000040AL)
+#endif
+
+#ifndef STATUS_CROSSREALM_DELEGATION_FAILURE
+# define STATUS_CROSSREALM_DELEGATION_FAILURE ((NTSTATUS) 0xC000040BL)
+#endif
+
+#ifndef STATUS_REVOCATION_OFFLINE_KDC
+# define STATUS_REVOCATION_OFFLINE_KDC ((NTSTATUS) 0xC000040CL)
+#endif
+
+#ifndef STATUS_ISSUING_CA_UNTRUSTED_KDC
+# define STATUS_ISSUING_CA_UNTRUSTED_KDC ((NTSTATUS) 0xC000040DL)
+#endif
+
+#ifndef STATUS_KDC_CERT_EXPIRED
+# define STATUS_KDC_CERT_EXPIRED ((NTSTATUS) 0xC000040EL)
+#endif
+
+#ifndef STATUS_KDC_CERT_REVOKED
+# define STATUS_KDC_CERT_REVOKED ((NTSTATUS) 0xC000040FL)
+#endif
+
+#ifndef STATUS_PARAMETER_QUOTA_EXCEEDED
+# define STATUS_PARAMETER_QUOTA_EXCEEDED ((NTSTATUS) 0xC0000410L)
+#endif
+
+#ifndef STATUS_HIBERNATION_FAILURE
+# define STATUS_HIBERNATION_FAILURE ((NTSTATUS) 0xC0000411L)
+#endif
+
+#ifndef STATUS_DELAY_LOAD_FAILED
+# define STATUS_DELAY_LOAD_FAILED ((NTSTATUS) 0xC0000412L)
+#endif
+
+#ifndef STATUS_AUTHENTICATION_FIREWALL_FAILED
+# define STATUS_AUTHENTICATION_FIREWALL_FAILED ((NTSTATUS) 0xC0000413L)
+#endif
+
+#ifndef STATUS_VDM_DISALLOWED
+# define STATUS_VDM_DISALLOWED ((NTSTATUS) 0xC0000414L)
+#endif
+
+#ifndef STATUS_HUNG_DISPLAY_DRIVER_THREAD
+# define STATUS_HUNG_DISPLAY_DRIVER_THREAD ((NTSTATUS) 0xC0000415L)
+#endif
+
+#ifndef STATUS_INSUFFICIENT_RESOURCE_FOR_SPECIFIED_SHARED_SECTION_SIZE
+# define STATUS_INSUFFICIENT_RESOURCE_FOR_SPECIFIED_SHARED_SECTION_SIZE ((NTSTATUS) 0xC0000416L)
+#endif
+
+#ifndef STATUS_INVALID_CRUNTIME_PARAMETER
+# define STATUS_INVALID_CRUNTIME_PARAMETER ((NTSTATUS) 0xC0000417L)
+#endif
+
+#ifndef STATUS_NTLM_BLOCKED
+# define STATUS_NTLM_BLOCKED ((NTSTATUS) 0xC0000418L)
+#endif
+
+#ifndef STATUS_DS_SRC_SID_EXISTS_IN_FOREST
+# define STATUS_DS_SRC_SID_EXISTS_IN_FOREST ((NTSTATUS) 0xC0000419L)
+#endif
+
+#ifndef STATUS_DS_DOMAIN_NAME_EXISTS_IN_FOREST
+# define STATUS_DS_DOMAIN_NAME_EXISTS_IN_FOREST ((NTSTATUS) 0xC000041AL)
+#endif
+
+#ifndef STATUS_DS_FLAT_NAME_EXISTS_IN_FOREST
+# define STATUS_DS_FLAT_NAME_EXISTS_IN_FOREST ((NTSTATUS) 0xC000041BL)
+#endif
+
+#ifndef STATUS_INVALID_USER_PRINCIPAL_NAME
+# define STATUS_INVALID_USER_PRINCIPAL_NAME ((NTSTATUS) 0xC000041CL)
+#endif
+
+#ifndef STATUS_FATAL_USER_CALLBACK_EXCEPTION
+# define STATUS_FATAL_USER_CALLBACK_EXCEPTION ((NTSTATUS) 0xC000041DL)
+#endif
+
+#ifndef STATUS_ASSERTION_FAILURE
+# define STATUS_ASSERTION_FAILURE ((NTSTATUS) 0xC0000420L)
+#endif
+
+#ifndef STATUS_VERIFIER_STOP
+# define STATUS_VERIFIER_STOP ((NTSTATUS) 0xC0000421L)
+#endif
+
+#ifndef STATUS_CALLBACK_POP_STACK
+# define STATUS_CALLBACK_POP_STACK ((NTSTATUS) 0xC0000423L)
+#endif
+
+#ifndef STATUS_INCOMPATIBLE_DRIVER_BLOCKED
+# define STATUS_INCOMPATIBLE_DRIVER_BLOCKED ((NTSTATUS) 0xC0000424L)
+#endif
+
+#ifndef STATUS_HIVE_UNLOADED
+# define STATUS_HIVE_UNLOADED ((NTSTATUS) 0xC0000425L)
+#endif
+
+#ifndef STATUS_COMPRESSION_DISABLED
+# define STATUS_COMPRESSION_DISABLED ((NTSTATUS) 0xC0000426L)
+#endif
+
+#ifndef STATUS_FILE_SYSTEM_LIMITATION
+# define STATUS_FILE_SYSTEM_LIMITATION ((NTSTATUS) 0xC0000427L)
+#endif
+
+#ifndef STATUS_INVALID_IMAGE_HASH
+# define STATUS_INVALID_IMAGE_HASH ((NTSTATUS) 0xC0000428L)
+#endif
+
+#ifndef STATUS_NOT_CAPABLE
+# define STATUS_NOT_CAPABLE ((NTSTATUS) 0xC0000429L)
+#endif
+
+#ifndef STATUS_REQUEST_OUT_OF_SEQUENCE
+# define STATUS_REQUEST_OUT_OF_SEQUENCE ((NTSTATUS) 0xC000042AL)
+#endif
+
+#ifndef STATUS_IMPLEMENTATION_LIMIT
+# define STATUS_IMPLEMENTATION_LIMIT ((NTSTATUS) 0xC000042BL)
+#endif
+
+#ifndef STATUS_ELEVATION_REQUIRED
+# define STATUS_ELEVATION_REQUIRED ((NTSTATUS) 0xC000042CL)
+#endif
+
+#ifndef STATUS_NO_SECURITY_CONTEXT
+# define STATUS_NO_SECURITY_CONTEXT ((NTSTATUS) 0xC000042DL)
+#endif
+
+#ifndef STATUS_PKU2U_CERT_FAILURE
+# define STATUS_PKU2U_CERT_FAILURE ((NTSTATUS) 0xC000042FL)
+#endif
+
+#ifndef STATUS_BEYOND_VDL
+# define STATUS_BEYOND_VDL ((NTSTATUS) 0xC0000432L)
+#endif
+
+#ifndef STATUS_ENCOUNTERED_WRITE_IN_PROGRESS
+# define STATUS_ENCOUNTERED_WRITE_IN_PROGRESS ((NTSTATUS) 0xC0000433L)
+#endif
+
+#ifndef STATUS_PTE_CHANGED
+# define STATUS_PTE_CHANGED ((NTSTATUS) 0xC0000434L)
+#endif
+
+#ifndef STATUS_PURGE_FAILED
+# define STATUS_PURGE_FAILED ((NTSTATUS) 0xC0000435L)
+#endif
+
+#ifndef STATUS_CRED_REQUIRES_CONFIRMATION
+# define STATUS_CRED_REQUIRES_CONFIRMATION ((NTSTATUS) 0xC0000440L)
+#endif
+
+#ifndef STATUS_CS_ENCRYPTION_INVALID_SERVER_RESPONSE
+# define STATUS_CS_ENCRYPTION_INVALID_SERVER_RESPONSE ((NTSTATUS) 0xC0000441L)
+#endif
+
+#ifndef STATUS_CS_ENCRYPTION_UNSUPPORTED_SERVER
+# define STATUS_CS_ENCRYPTION_UNSUPPORTED_SERVER ((NTSTATUS) 0xC0000442L)
+#endif
+
+#ifndef STATUS_CS_ENCRYPTION_EXISTING_ENCRYPTED_FILE
+# define STATUS_CS_ENCRYPTION_EXISTING_ENCRYPTED_FILE ((NTSTATUS) 0xC0000443L)
+#endif
+
+#ifndef STATUS_CS_ENCRYPTION_NEW_ENCRYPTED_FILE
+# define STATUS_CS_ENCRYPTION_NEW_ENCRYPTED_FILE ((NTSTATUS) 0xC0000444L)
+#endif
+
+#ifndef STATUS_CS_ENCRYPTION_FILE_NOT_CSE
+# define STATUS_CS_ENCRYPTION_FILE_NOT_CSE ((NTSTATUS) 0xC0000445L)
+#endif
+
+#ifndef STATUS_INVALID_LABEL
+# define STATUS_INVALID_LABEL ((NTSTATUS) 0xC0000446L)
+#endif
+
+#ifndef STATUS_DRIVER_PROCESS_TERMINATED
+# define STATUS_DRIVER_PROCESS_TERMINATED ((NTSTATUS) 0xC0000450L)
+#endif
+
+#ifndef STATUS_AMBIGUOUS_SYSTEM_DEVICE
+# define STATUS_AMBIGUOUS_SYSTEM_DEVICE ((NTSTATUS) 0xC0000451L)
+#endif
+
+#ifndef STATUS_SYSTEM_DEVICE_NOT_FOUND
+# define STATUS_SYSTEM_DEVICE_NOT_FOUND ((NTSTATUS) 0xC0000452L)
+#endif
+
+#ifndef STATUS_RESTART_BOOT_APPLICATION
+# define STATUS_RESTART_BOOT_APPLICATION ((NTSTATUS) 0xC0000453L)
+#endif
+
+#ifndef STATUS_INSUFFICIENT_NVRAM_RESOURCES
+# define STATUS_INSUFFICIENT_NVRAM_RESOURCES ((NTSTATUS) 0xC0000454L)
+#endif
+
+#ifndef STATUS_INVALID_TASK_NAME
+# define STATUS_INVALID_TASK_NAME ((NTSTATUS) 0xC0000500L)
+#endif
+
+#ifndef STATUS_INVALID_TASK_INDEX
+# define STATUS_INVALID_TASK_INDEX ((NTSTATUS) 0xC0000501L)
+#endif
+
+#ifndef STATUS_THREAD_ALREADY_IN_TASK
+# define STATUS_THREAD_ALREADY_IN_TASK ((NTSTATUS) 0xC0000502L)
+#endif
+
+#ifndef STATUS_CALLBACK_BYPASS
+# define STATUS_CALLBACK_BYPASS ((NTSTATUS) 0xC0000503L)
+#endif
+
+#ifndef STATUS_FAIL_FAST_EXCEPTION
+# define STATUS_FAIL_FAST_EXCEPTION ((NTSTATUS) 0xC0000602L)
+#endif
+
+#ifndef STATUS_IMAGE_CERT_REVOKED
+# define STATUS_IMAGE_CERT_REVOKED ((NTSTATUS) 0xC0000603L)
+#endif
+
+#ifndef STATUS_PORT_CLOSED
+# define STATUS_PORT_CLOSED ((NTSTATUS) 0xC0000700L)
+#endif
+
+#ifndef STATUS_MESSAGE_LOST
+# define STATUS_MESSAGE_LOST ((NTSTATUS) 0xC0000701L)
+#endif
+
+#ifndef STATUS_INVALID_MESSAGE
+# define STATUS_INVALID_MESSAGE ((NTSTATUS) 0xC0000702L)
+#endif
+
+#ifndef STATUS_REQUEST_CANCELED
+# define STATUS_REQUEST_CANCELED ((NTSTATUS) 0xC0000703L)
+#endif
+
+#ifndef STATUS_RECURSIVE_DISPATCH
+# define STATUS_RECURSIVE_DISPATCH ((NTSTATUS) 0xC0000704L)
+#endif
+
+#ifndef STATUS_LPC_RECEIVE_BUFFER_EXPECTED
+# define STATUS_LPC_RECEIVE_BUFFER_EXPECTED ((NTSTATUS) 0xC0000705L)
+#endif
+
+#ifndef STATUS_LPC_INVALID_CONNECTION_USAGE
+# define STATUS_LPC_INVALID_CONNECTION_USAGE ((NTSTATUS) 0xC0000706L)
+#endif
+
+#ifndef STATUS_LPC_REQUESTS_NOT_ALLOWED
+# define STATUS_LPC_REQUESTS_NOT_ALLOWED ((NTSTATUS) 0xC0000707L)
+#endif
+
+#ifndef STATUS_RESOURCE_IN_USE
+# define STATUS_RESOURCE_IN_USE ((NTSTATUS) 0xC0000708L)
+#endif
+
+#ifndef STATUS_HARDWARE_MEMORY_ERROR
+# define STATUS_HARDWARE_MEMORY_ERROR ((NTSTATUS) 0xC0000709L)
+#endif
+
+#ifndef STATUS_THREADPOOL_HANDLE_EXCEPTION
+# define STATUS_THREADPOOL_HANDLE_EXCEPTION ((NTSTATUS) 0xC000070AL)
+#endif
+
+#ifndef STATUS_THREADPOOL_SET_EVENT_ON_COMPLETION_FAILED
+# define STATUS_THREADPOOL_SET_EVENT_ON_COMPLETION_FAILED ((NTSTATUS) 0xC000070BL)
+#endif
+
+#ifndef STATUS_THREADPOOL_RELEASE_SEMAPHORE_ON_COMPLETION_FAILED
+# define STATUS_THREADPOOL_RELEASE_SEMAPHORE_ON_COMPLETION_FAILED ((NTSTATUS) 0xC000070CL)
+#endif
+
+#ifndef STATUS_THREADPOOL_RELEASE_MUTEX_ON_COMPLETION_FAILED
+# define STATUS_THREADPOOL_RELEASE_MUTEX_ON_COMPLETION_FAILED ((NTSTATUS) 0xC000070DL)
+#endif
+
+#ifndef STATUS_THREADPOOL_FREE_LIBRARY_ON_COMPLETION_FAILED
+# define STATUS_THREADPOOL_FREE_LIBRARY_ON_COMPLETION_FAILED ((NTSTATUS) 0xC000070EL)
+#endif
+
+#ifndef STATUS_THREADPOOL_RELEASED_DURING_OPERATION
+# define STATUS_THREADPOOL_RELEASED_DURING_OPERATION ((NTSTATUS) 0xC000070FL)
+#endif
+
+#ifndef STATUS_CALLBACK_RETURNED_WHILE_IMPERSONATING
+# define STATUS_CALLBACK_RETURNED_WHILE_IMPERSONATING ((NTSTATUS) 0xC0000710L)
+#endif
+
+#ifndef STATUS_APC_RETURNED_WHILE_IMPERSONATING
+# define STATUS_APC_RETURNED_WHILE_IMPERSONATING ((NTSTATUS) 0xC0000711L)
+#endif
+
+#ifndef STATUS_PROCESS_IS_PROTECTED
+# define STATUS_PROCESS_IS_PROTECTED ((NTSTATUS) 0xC0000712L)
+#endif
+
+#ifndef STATUS_MCA_EXCEPTION
+# define STATUS_MCA_EXCEPTION ((NTSTATUS) 0xC0000713L)
+#endif
+
+#ifndef STATUS_CERTIFICATE_MAPPING_NOT_UNIQUE
+# define STATUS_CERTIFICATE_MAPPING_NOT_UNIQUE ((NTSTATUS) 0xC0000714L)
+#endif
+
+#ifndef STATUS_SYMLINK_CLASS_DISABLED
+# define STATUS_SYMLINK_CLASS_DISABLED ((NTSTATUS) 0xC0000715L)
+#endif
+
+#ifndef STATUS_INVALID_IDN_NORMALIZATION
+# define STATUS_INVALID_IDN_NORMALIZATION ((NTSTATUS) 0xC0000716L)
+#endif
+
+#ifndef STATUS_NO_UNICODE_TRANSLATION
+# define STATUS_NO_UNICODE_TRANSLATION ((NTSTATUS) 0xC0000717L)
+#endif
+
+#ifndef STATUS_ALREADY_REGISTERED
+# define STATUS_ALREADY_REGISTERED ((NTSTATUS) 0xC0000718L)
+#endif
+
+#ifndef STATUS_CONTEXT_MISMATCH
+# define STATUS_CONTEXT_MISMATCH ((NTSTATUS) 0xC0000719L)
+#endif
+
+#ifndef STATUS_PORT_ALREADY_HAS_COMPLETION_LIST
+# define STATUS_PORT_ALREADY_HAS_COMPLETION_LIST ((NTSTATUS) 0xC000071AL)
+#endif
+
+#ifndef STATUS_CALLBACK_RETURNED_THREAD_PRIORITY
+# define STATUS_CALLBACK_RETURNED_THREAD_PRIORITY ((NTSTATUS) 0xC000071BL)
+#endif
+
+#ifndef STATUS_INVALID_THREAD
+# define STATUS_INVALID_THREAD ((NTSTATUS) 0xC000071CL)
+#endif
+
+#ifndef STATUS_CALLBACK_RETURNED_TRANSACTION
+# define STATUS_CALLBACK_RETURNED_TRANSACTION ((NTSTATUS) 0xC000071DL)
+#endif
+
+#ifndef STATUS_CALLBACK_RETURNED_LDR_LOCK
+# define STATUS_CALLBACK_RETURNED_LDR_LOCK ((NTSTATUS) 0xC000071EL)
+#endif
+
+#ifndef STATUS_CALLBACK_RETURNED_LANG
+# define STATUS_CALLBACK_RETURNED_LANG ((NTSTATUS) 0xC000071FL)
+#endif
+
+#ifndef STATUS_CALLBACK_RETURNED_PRI_BACK
+# define STATUS_CALLBACK_RETURNED_PRI_BACK ((NTSTATUS) 0xC0000720L)
+#endif
+
+#ifndef STATUS_CALLBACK_RETURNED_THREAD_AFFINITY
+# define STATUS_CALLBACK_RETURNED_THREAD_AFFINITY ((NTSTATUS) 0xC0000721L)
+#endif
+
+#ifndef STATUS_DISK_REPAIR_DISABLED
+# define STATUS_DISK_REPAIR_DISABLED ((NTSTATUS) 0xC0000800L)
+#endif
+
+#ifndef STATUS_DS_DOMAIN_RENAME_IN_PROGRESS
+# define STATUS_DS_DOMAIN_RENAME_IN_PROGRESS ((NTSTATUS) 0xC0000801L)
+#endif
+
+#ifndef STATUS_DISK_QUOTA_EXCEEDED
+# define STATUS_DISK_QUOTA_EXCEEDED ((NTSTATUS) 0xC0000802L)
+#endif
+
+#ifndef STATUS_DATA_LOST_REPAIR
+# define STATUS_DATA_LOST_REPAIR ((NTSTATUS) 0x80000803L)
+#endif
+
+#ifndef STATUS_CONTENT_BLOCKED
+# define STATUS_CONTENT_BLOCKED ((NTSTATUS) 0xC0000804L)
+#endif
+
+#ifndef STATUS_BAD_CLUSTERS
+# define STATUS_BAD_CLUSTERS ((NTSTATUS) 0xC0000805L)
+#endif
+
+#ifndef STATUS_VOLUME_DIRTY
+# define STATUS_VOLUME_DIRTY ((NTSTATUS) 0xC0000806L)
+#endif
+
+#ifndef STATUS_FILE_CHECKED_OUT
+# define STATUS_FILE_CHECKED_OUT ((NTSTATUS) 0xC0000901L)
+#endif
+
+#ifndef STATUS_CHECKOUT_REQUIRED
+# define STATUS_CHECKOUT_REQUIRED ((NTSTATUS) 0xC0000902L)
+#endif
+
+#ifndef STATUS_BAD_FILE_TYPE
+# define STATUS_BAD_FILE_TYPE ((NTSTATUS) 0xC0000903L)
+#endif
+
+#ifndef STATUS_FILE_TOO_LARGE
+# define STATUS_FILE_TOO_LARGE ((NTSTATUS) 0xC0000904L)
+#endif
+
+#ifndef STATUS_FORMS_AUTH_REQUIRED
+# define STATUS_FORMS_AUTH_REQUIRED ((NTSTATUS) 0xC0000905L)
+#endif
+
+#ifndef STATUS_VIRUS_INFECTED
+# define STATUS_VIRUS_INFECTED ((NTSTATUS) 0xC0000906L)
+#endif
+
+#ifndef STATUS_VIRUS_DELETED
+# define STATUS_VIRUS_DELETED ((NTSTATUS) 0xC0000907L)
+#endif
+
+#ifndef STATUS_BAD_MCFG_TABLE
+# define STATUS_BAD_MCFG_TABLE ((NTSTATUS) 0xC0000908L)
+#endif
+
+#ifndef STATUS_CANNOT_BREAK_OPLOCK
+# define STATUS_CANNOT_BREAK_OPLOCK ((NTSTATUS) 0xC0000909L)
+#endif
+
+#ifndef STATUS_WOW_ASSERTION
+# define STATUS_WOW_ASSERTION ((NTSTATUS) 0xC0009898L)
+#endif
+
+#ifndef STATUS_INVALID_SIGNATURE
+# define STATUS_INVALID_SIGNATURE ((NTSTATUS) 0xC000A000L)
+#endif
+
+#ifndef STATUS_HMAC_NOT_SUPPORTED
+# define STATUS_HMAC_NOT_SUPPORTED ((NTSTATUS) 0xC000A001L)
+#endif
+
+#ifndef STATUS_AUTH_TAG_MISMATCH
+# define STATUS_AUTH_TAG_MISMATCH ((NTSTATUS) 0xC000A002L)
+#endif
+
+#ifndef STATUS_IPSEC_QUEUE_OVERFLOW
+# define STATUS_IPSEC_QUEUE_OVERFLOW ((NTSTATUS) 0xC000A010L)
+#endif
+
+#ifndef STATUS_ND_QUEUE_OVERFLOW
+# define STATUS_ND_QUEUE_OVERFLOW ((NTSTATUS) 0xC000A011L)
+#endif
+
+#ifndef STATUS_HOPLIMIT_EXCEEDED
+# define STATUS_HOPLIMIT_EXCEEDED ((NTSTATUS) 0xC000A012L)
+#endif
+
+#ifndef STATUS_PROTOCOL_NOT_SUPPORTED
+# define STATUS_PROTOCOL_NOT_SUPPORTED ((NTSTATUS) 0xC000A013L)
+#endif
+
+#ifndef STATUS_FASTPATH_REJECTED
+# define STATUS_FASTPATH_REJECTED ((NTSTATUS) 0xC000A014L)
+#endif
+
+#ifndef STATUS_LOST_WRITEBEHIND_DATA_NETWORK_DISCONNECTED
+# define STATUS_LOST_WRITEBEHIND_DATA_NETWORK_DISCONNECTED ((NTSTATUS) 0xC000A080L)
+#endif
+
+#ifndef STATUS_LOST_WRITEBEHIND_DATA_NETWORK_SERVER_ERROR
+# define STATUS_LOST_WRITEBEHIND_DATA_NETWORK_SERVER_ERROR ((NTSTATUS) 0xC000A081L)
+#endif
+
+#ifndef STATUS_LOST_WRITEBEHIND_DATA_LOCAL_DISK_ERROR
+# define STATUS_LOST_WRITEBEHIND_DATA_LOCAL_DISK_ERROR ((NTSTATUS) 0xC000A082L)
+#endif
+
+#ifndef STATUS_XML_PARSE_ERROR
+# define STATUS_XML_PARSE_ERROR ((NTSTATUS) 0xC000A083L)
+#endif
+
+#ifndef STATUS_XMLDSIG_ERROR
+# define STATUS_XMLDSIG_ERROR ((NTSTATUS) 0xC000A084L)
+#endif
+
+#ifndef STATUS_WRONG_COMPARTMENT
+# define STATUS_WRONG_COMPARTMENT ((NTSTATUS) 0xC000A085L)
+#endif
+
+#ifndef STATUS_AUTHIP_FAILURE
+# define STATUS_AUTHIP_FAILURE ((NTSTATUS) 0xC000A086L)
+#endif
+
+#ifndef STATUS_DS_OID_MAPPED_GROUP_CANT_HAVE_MEMBERS
+# define STATUS_DS_OID_MAPPED_GROUP_CANT_HAVE_MEMBERS ((NTSTATUS) 0xC000A087L)
+#endif
+
+#ifndef STATUS_DS_OID_NOT_FOUND
+# define STATUS_DS_OID_NOT_FOUND ((NTSTATUS) 0xC000A088L)
+#endif
+
+#ifndef STATUS_HASH_NOT_SUPPORTED
+# define STATUS_HASH_NOT_SUPPORTED ((NTSTATUS) 0xC000A100L)
+#endif
+
+#ifndef STATUS_HASH_NOT_PRESENT
+# define STATUS_HASH_NOT_PRESENT ((NTSTATUS) 0xC000A101L)
+#endif
+
+/* This is not the NTSTATUS_FROM_WIN32 that the DDK provides, because the DDK
+ * got it wrong! */
+#ifdef NTSTATUS_FROM_WIN32
+# undef NTSTATUS_FROM_WIN32
+#endif
+#define NTSTATUS_FROM_WIN32(error) ((NTSTATUS) (error) <= 0 ? \
+ ((NTSTATUS) (error)) : ((NTSTATUS) (((error) & 0x0000FFFF) | \
+ (FACILITY_NTWIN32 << 16) | ERROR_SEVERITY_WARNING)))
+
+#ifndef JOB_OBJECT_LIMIT_PROCESS_MEMORY
+# define JOB_OBJECT_LIMIT_PROCESS_MEMORY 0x00000100
+#endif
+#ifndef JOB_OBJECT_LIMIT_JOB_MEMORY
+# define JOB_OBJECT_LIMIT_JOB_MEMORY 0x00000200
+#endif
+#ifndef JOB_OBJECT_LIMIT_DIE_ON_UNHANDLED_EXCEPTION
+# define JOB_OBJECT_LIMIT_DIE_ON_UNHANDLED_EXCEPTION 0x00000400
+#endif
+#ifndef JOB_OBJECT_LIMIT_BREAKAWAY_OK
+# define JOB_OBJECT_LIMIT_BREAKAWAY_OK 0x00000800
+#endif
+#ifndef JOB_OBJECT_LIMIT_SILENT_BREAKAWAY_OK
+# define JOB_OBJECT_LIMIT_SILENT_BREAKAWAY_OK 0x00001000
+#endif
+#ifndef JOB_OBJECT_LIMIT_KILL_ON_JOB_CLOSE
+# define JOB_OBJECT_LIMIT_KILL_ON_JOB_CLOSE 0x00002000
+#endif
+
+#ifndef SYMBOLIC_LINK_FLAG_ALLOW_UNPRIVILEGED_CREATE
+# define SYMBOLIC_LINK_FLAG_ALLOW_UNPRIVILEGED_CREATE 0x00000002
+#endif
+
+/* from winternl.h */
+#if !defined(__UNICODE_STRING_DEFINED) && defined(__MINGW32_)
+#define __UNICODE_STRING_DEFINED
+#endif
+typedef struct _UNICODE_STRING {
+ USHORT Length;
+ USHORT MaximumLength;
+ PWSTR Buffer;
+} UNICODE_STRING, *PUNICODE_STRING;
+
+typedef const UNICODE_STRING *PCUNICODE_STRING;
+
+/* from ntifs.h */
+#ifndef DEVICE_TYPE
+# define DEVICE_TYPE DWORD
+#endif
+
+/* MinGW already has a definition for REPARSE_DATA_BUFFER, but mingw-w64 does
+ * not.
+ */
+#if defined(_MSC_VER) || defined(__MINGW64_VERSION_MAJOR)
+ typedef struct _REPARSE_DATA_BUFFER {
+ ULONG ReparseTag;
+ USHORT ReparseDataLength;
+ USHORT Reserved;
+ union {
+ struct {
+ USHORT SubstituteNameOffset;
+ USHORT SubstituteNameLength;
+ USHORT PrintNameOffset;
+ USHORT PrintNameLength;
+ ULONG Flags;
+ WCHAR PathBuffer[1];
+ } SymbolicLinkReparseBuffer;
+ struct {
+ USHORT SubstituteNameOffset;
+ USHORT SubstituteNameLength;
+ USHORT PrintNameOffset;
+ USHORT PrintNameLength;
+ WCHAR PathBuffer[1];
+ } MountPointReparseBuffer;
+ struct {
+ UCHAR DataBuffer[1];
+ } GenericReparseBuffer;
+ };
+ } REPARSE_DATA_BUFFER, *PREPARSE_DATA_BUFFER;
+#endif
+
+typedef struct _IO_STATUS_BLOCK {
+ union {
+ NTSTATUS Status;
+ PVOID Pointer;
+ };
+ ULONG_PTR Information;
+} IO_STATUS_BLOCK, *PIO_STATUS_BLOCK;
+
+typedef enum _FILE_INFORMATION_CLASS {
+ FileDirectoryInformation = 1,
+ FileFullDirectoryInformation,
+ FileBothDirectoryInformation,
+ FileBasicInformation,
+ FileStandardInformation,
+ FileInternalInformation,
+ FileEaInformation,
+ FileAccessInformation,
+ FileNameInformation,
+ FileRenameInformation,
+ FileLinkInformation,
+ FileNamesInformation,
+ FileDispositionInformation,
+ FilePositionInformation,
+ FileFullEaInformation,
+ FileModeInformation,
+ FileAlignmentInformation,
+ FileAllInformation,
+ FileAllocationInformation,
+ FileEndOfFileInformation,
+ FileAlternateNameInformation,
+ FileStreamInformation,
+ FilePipeInformation,
+ FilePipeLocalInformation,
+ FilePipeRemoteInformation,
+ FileMailslotQueryInformation,
+ FileMailslotSetInformation,
+ FileCompressionInformation,
+ FileObjectIdInformation,
+ FileCompletionInformation,
+ FileMoveClusterInformation,
+ FileQuotaInformation,
+ FileReparsePointInformation,
+ FileNetworkOpenInformation,
+ FileAttributeTagInformation,
+ FileTrackingInformation,
+ FileIdBothDirectoryInformation,
+ FileIdFullDirectoryInformation,
+ FileValidDataLengthInformation,
+ FileShortNameInformation,
+ FileIoCompletionNotificationInformation,
+ FileIoStatusBlockRangeInformation,
+ FileIoPriorityHintInformation,
+ FileSfioReserveInformation,
+ FileSfioVolumeInformation,
+ FileHardLinkInformation,
+ FileProcessIdsUsingFileInformation,
+ FileNormalizedNameInformation,
+ FileNetworkPhysicalNameInformation,
+ FileIdGlobalTxDirectoryInformation,
+ FileIsRemoteDeviceInformation,
+ FileAttributeCacheInformation,
+ FileNumaNodeInformation,
+ FileStandardLinkInformation,
+ FileRemoteProtocolInformation,
+ FileMaximumInformation
+} FILE_INFORMATION_CLASS, *PFILE_INFORMATION_CLASS;
+
+typedef struct _FILE_DIRECTORY_INFORMATION {
+ ULONG NextEntryOffset;
+ ULONG FileIndex;
+ LARGE_INTEGER CreationTime;
+ LARGE_INTEGER LastAccessTime;
+ LARGE_INTEGER LastWriteTime;
+ LARGE_INTEGER ChangeTime;
+ LARGE_INTEGER EndOfFile;
+ LARGE_INTEGER AllocationSize;
+ ULONG FileAttributes;
+ ULONG FileNameLength;
+ WCHAR FileName[1];
+} FILE_DIRECTORY_INFORMATION, *PFILE_DIRECTORY_INFORMATION;
+
+typedef struct _FILE_BOTH_DIR_INFORMATION {
+ ULONG NextEntryOffset;
+ ULONG FileIndex;
+ LARGE_INTEGER CreationTime;
+ LARGE_INTEGER LastAccessTime;
+ LARGE_INTEGER LastWriteTime;
+ LARGE_INTEGER ChangeTime;
+ LARGE_INTEGER EndOfFile;
+ LARGE_INTEGER AllocationSize;
+ ULONG FileAttributes;
+ ULONG FileNameLength;
+ ULONG EaSize;
+ CCHAR ShortNameLength;
+ WCHAR ShortName[12];
+ WCHAR FileName[1];
+} FILE_BOTH_DIR_INFORMATION, *PFILE_BOTH_DIR_INFORMATION;
+
+typedef struct _FILE_BASIC_INFORMATION {
+ LARGE_INTEGER CreationTime;
+ LARGE_INTEGER LastAccessTime;
+ LARGE_INTEGER LastWriteTime;
+ LARGE_INTEGER ChangeTime;
+ DWORD FileAttributes;
+} FILE_BASIC_INFORMATION, *PFILE_BASIC_INFORMATION;
+
+typedef struct _FILE_STANDARD_INFORMATION {
+ LARGE_INTEGER AllocationSize;
+ LARGE_INTEGER EndOfFile;
+ ULONG NumberOfLinks;
+ BOOLEAN DeletePending;
+ BOOLEAN Directory;
+} FILE_STANDARD_INFORMATION, *PFILE_STANDARD_INFORMATION;
+
+typedef struct _FILE_INTERNAL_INFORMATION {
+ LARGE_INTEGER IndexNumber;
+} FILE_INTERNAL_INFORMATION, *PFILE_INTERNAL_INFORMATION;
+
+typedef struct _FILE_EA_INFORMATION {
+ ULONG EaSize;
+} FILE_EA_INFORMATION, *PFILE_EA_INFORMATION;
+
+typedef struct _FILE_ACCESS_INFORMATION {
+ ACCESS_MASK AccessFlags;
+} FILE_ACCESS_INFORMATION, *PFILE_ACCESS_INFORMATION;
+
+typedef struct _FILE_POSITION_INFORMATION {
+ LARGE_INTEGER CurrentByteOffset;
+} FILE_POSITION_INFORMATION, *PFILE_POSITION_INFORMATION;
+
+typedef struct _FILE_MODE_INFORMATION {
+ ULONG Mode;
+} FILE_MODE_INFORMATION, *PFILE_MODE_INFORMATION;
+
+typedef struct _FILE_ALIGNMENT_INFORMATION {
+ ULONG AlignmentRequirement;
+} FILE_ALIGNMENT_INFORMATION, *PFILE_ALIGNMENT_INFORMATION;
+
+typedef struct _FILE_NAME_INFORMATION {
+ ULONG FileNameLength;
+ WCHAR FileName[1];
+} FILE_NAME_INFORMATION, *PFILE_NAME_INFORMATION;
+
+typedef struct _FILE_END_OF_FILE_INFORMATION {
+ LARGE_INTEGER EndOfFile;
+} FILE_END_OF_FILE_INFORMATION, *PFILE_END_OF_FILE_INFORMATION;
+
+typedef struct _FILE_ALL_INFORMATION {
+ FILE_BASIC_INFORMATION BasicInformation;
+ FILE_STANDARD_INFORMATION StandardInformation;
+ FILE_INTERNAL_INFORMATION InternalInformation;
+ FILE_EA_INFORMATION EaInformation;
+ FILE_ACCESS_INFORMATION AccessInformation;
+ FILE_POSITION_INFORMATION PositionInformation;
+ FILE_MODE_INFORMATION ModeInformation;
+ FILE_ALIGNMENT_INFORMATION AlignmentInformation;
+ FILE_NAME_INFORMATION NameInformation;
+} FILE_ALL_INFORMATION, *PFILE_ALL_INFORMATION;
+
+typedef struct _FILE_DISPOSITION_INFORMATION {
+ BOOLEAN DeleteFile;
+} FILE_DISPOSITION_INFORMATION, *PFILE_DISPOSITION_INFORMATION;
+
+typedef struct _FILE_PIPE_LOCAL_INFORMATION {
+ ULONG NamedPipeType;
+ ULONG NamedPipeConfiguration;
+ ULONG MaximumInstances;
+ ULONG CurrentInstances;
+ ULONG InboundQuota;
+ ULONG ReadDataAvailable;
+ ULONG OutboundQuota;
+ ULONG WriteQuotaAvailable;
+ ULONG NamedPipeState;
+ ULONG NamedPipeEnd;
+} FILE_PIPE_LOCAL_INFORMATION, *PFILE_PIPE_LOCAL_INFORMATION;
+
+#define FILE_SYNCHRONOUS_IO_ALERT 0x00000010
+#define FILE_SYNCHRONOUS_IO_NONALERT 0x00000020
+
+typedef enum _FS_INFORMATION_CLASS {
+ FileFsVolumeInformation = 1,
+ FileFsLabelInformation = 2,
+ FileFsSizeInformation = 3,
+ FileFsDeviceInformation = 4,
+ FileFsAttributeInformation = 5,
+ FileFsControlInformation = 6,
+ FileFsFullSizeInformation = 7,
+ FileFsObjectIdInformation = 8,
+ FileFsDriverPathInformation = 9,
+ FileFsVolumeFlagsInformation = 10,
+ FileFsSectorSizeInformation = 11
+} FS_INFORMATION_CLASS, *PFS_INFORMATION_CLASS;
+
+typedef struct _FILE_FS_VOLUME_INFORMATION {
+ LARGE_INTEGER VolumeCreationTime;
+ ULONG VolumeSerialNumber;
+ ULONG VolumeLabelLength;
+ BOOLEAN SupportsObjects;
+ WCHAR VolumeLabel[1];
+} FILE_FS_VOLUME_INFORMATION, *PFILE_FS_VOLUME_INFORMATION;
+
+typedef struct _FILE_FS_LABEL_INFORMATION {
+ ULONG VolumeLabelLength;
+ WCHAR VolumeLabel[1];
+} FILE_FS_LABEL_INFORMATION, *PFILE_FS_LABEL_INFORMATION;
+
+typedef struct _FILE_FS_SIZE_INFORMATION {
+ LARGE_INTEGER TotalAllocationUnits;
+ LARGE_INTEGER AvailableAllocationUnits;
+ ULONG SectorsPerAllocationUnit;
+ ULONG BytesPerSector;
+} FILE_FS_SIZE_INFORMATION, *PFILE_FS_SIZE_INFORMATION;
+
+typedef struct _FILE_FS_DEVICE_INFORMATION {
+ DEVICE_TYPE DeviceType;
+ ULONG Characteristics;
+} FILE_FS_DEVICE_INFORMATION, *PFILE_FS_DEVICE_INFORMATION;
+
+typedef struct _FILE_FS_ATTRIBUTE_INFORMATION {
+ ULONG FileSystemAttributes;
+ LONG MaximumComponentNameLength;
+ ULONG FileSystemNameLength;
+ WCHAR FileSystemName[1];
+} FILE_FS_ATTRIBUTE_INFORMATION, *PFILE_FS_ATTRIBUTE_INFORMATION;
+
+typedef struct _FILE_FS_CONTROL_INFORMATION {
+ LARGE_INTEGER FreeSpaceStartFiltering;
+ LARGE_INTEGER FreeSpaceThreshold;
+ LARGE_INTEGER FreeSpaceStopFiltering;
+ LARGE_INTEGER DefaultQuotaThreshold;
+ LARGE_INTEGER DefaultQuotaLimit;
+ ULONG FileSystemControlFlags;
+} FILE_FS_CONTROL_INFORMATION, *PFILE_FS_CONTROL_INFORMATION;
+
+typedef struct _FILE_FS_FULL_SIZE_INFORMATION {
+ LARGE_INTEGER TotalAllocationUnits;
+ LARGE_INTEGER CallerAvailableAllocationUnits;
+ LARGE_INTEGER ActualAvailableAllocationUnits;
+ ULONG SectorsPerAllocationUnit;
+ ULONG BytesPerSector;
+} FILE_FS_FULL_SIZE_INFORMATION, *PFILE_FS_FULL_SIZE_INFORMATION;
+
+typedef struct _FILE_FS_OBJECTID_INFORMATION {
+ UCHAR ObjectId[16];
+ UCHAR ExtendedInfo[48];
+} FILE_FS_OBJECTID_INFORMATION, *PFILE_FS_OBJECTID_INFORMATION;
+
+typedef struct _FILE_FS_DRIVER_PATH_INFORMATION {
+ BOOLEAN DriverInPath;
+ ULONG DriverNameLength;
+ WCHAR DriverName[1];
+} FILE_FS_DRIVER_PATH_INFORMATION, *PFILE_FS_DRIVER_PATH_INFORMATION;
+
+typedef struct _FILE_FS_VOLUME_FLAGS_INFORMATION {
+ ULONG Flags;
+} FILE_FS_VOLUME_FLAGS_INFORMATION, *PFILE_FS_VOLUME_FLAGS_INFORMATION;
+
+typedef struct _FILE_FS_SECTOR_SIZE_INFORMATION {
+ ULONG LogicalBytesPerSector;
+ ULONG PhysicalBytesPerSectorForAtomicity;
+ ULONG PhysicalBytesPerSectorForPerformance;
+ ULONG FileSystemEffectivePhysicalBytesPerSectorForAtomicity;
+ ULONG Flags;
+ ULONG ByteOffsetForSectorAlignment;
+ ULONG ByteOffsetForPartitionAlignment;
+} FILE_FS_SECTOR_SIZE_INFORMATION, *PFILE_FS_SECTOR_SIZE_INFORMATION;
+
+typedef struct _SYSTEM_PROCESSOR_PERFORMANCE_INFORMATION {
+ LARGE_INTEGER IdleTime;
+ LARGE_INTEGER KernelTime;
+ LARGE_INTEGER UserTime;
+ LARGE_INTEGER DpcTime;
+ LARGE_INTEGER InterruptTime;
+ ULONG InterruptCount;
+} SYSTEM_PROCESSOR_PERFORMANCE_INFORMATION, *PSYSTEM_PROCESSOR_PERFORMANCE_INFORMATION;
+
+#ifndef SystemProcessorPerformanceInformation
+# define SystemProcessorPerformanceInformation 8
+#endif
+
+#ifndef FILE_DEVICE_FILE_SYSTEM
+# define FILE_DEVICE_FILE_SYSTEM 0x00000009
+#endif
+
+#ifndef FILE_DEVICE_NETWORK
+# define FILE_DEVICE_NETWORK 0x00000012
+#endif
+
+#ifndef METHOD_BUFFERED
+# define METHOD_BUFFERED 0
+#endif
+
+#ifndef METHOD_IN_DIRECT
+# define METHOD_IN_DIRECT 1
+#endif
+
+#ifndef METHOD_OUT_DIRECT
+# define METHOD_OUT_DIRECT 2
+#endif
+
+#ifndef METHOD_NEITHER
+#define METHOD_NEITHER 3
+#endif
+
+#ifndef METHOD_DIRECT_TO_HARDWARE
+# define METHOD_DIRECT_TO_HARDWARE METHOD_IN_DIRECT
+#endif
+
+#ifndef METHOD_DIRECT_FROM_HARDWARE
+# define METHOD_DIRECT_FROM_HARDWARE METHOD_OUT_DIRECT
+#endif
+
+#ifndef FILE_ANY_ACCESS
+# define FILE_ANY_ACCESS 0
+#endif
+
+#ifndef FILE_SPECIAL_ACCESS
+# define FILE_SPECIAL_ACCESS (FILE_ANY_ACCESS)
+#endif
+
+#ifndef FILE_READ_ACCESS
+# define FILE_READ_ACCESS 0x0001
+#endif
+
+#ifndef FILE_WRITE_ACCESS
+# define FILE_WRITE_ACCESS 0x0002
+#endif
+
+#ifndef CTL_CODE
+# define CTL_CODE(device_type, function, method, access) \
+ (((device_type) << 16) | ((access) << 14) | ((function) << 2) | (method))
+#endif
+
+#ifndef FSCTL_SET_REPARSE_POINT
+# define FSCTL_SET_REPARSE_POINT CTL_CODE(FILE_DEVICE_FILE_SYSTEM, \
+ 41, \
+ METHOD_BUFFERED, \
+ FILE_SPECIAL_ACCESS)
+#endif
+
+#ifndef FSCTL_GET_REPARSE_POINT
+# define FSCTL_GET_REPARSE_POINT CTL_CODE(FILE_DEVICE_FILE_SYSTEM, \
+ 42, \
+ METHOD_BUFFERED, \
+ FILE_ANY_ACCESS)
+#endif
+
+#ifndef FSCTL_DELETE_REPARSE_POINT
+# define FSCTL_DELETE_REPARSE_POINT CTL_CODE(FILE_DEVICE_FILE_SYSTEM, \
+ 43, \
+ METHOD_BUFFERED, \
+ FILE_SPECIAL_ACCESS)
+#endif
+
+#ifndef IO_REPARSE_TAG_SYMLINK
+# define IO_REPARSE_TAG_SYMLINK (0xA000000CL)
+#endif
+
+typedef VOID (NTAPI *PIO_APC_ROUTINE)
+ (PVOID ApcContext,
+ PIO_STATUS_BLOCK IoStatusBlock,
+ ULONG Reserved);
+
+typedef NTSTATUS (NTAPI *sRtlGetVersion)
+ (PRTL_OSVERSIONINFOW lpVersionInformation);
+
+typedef ULONG (NTAPI *sRtlNtStatusToDosError)
+ (NTSTATUS Status);
+
+typedef NTSTATUS (NTAPI *sNtDeviceIoControlFile)
+ (HANDLE FileHandle,
+ HANDLE Event,
+ PIO_APC_ROUTINE ApcRoutine,
+ PVOID ApcContext,
+ PIO_STATUS_BLOCK IoStatusBlock,
+ ULONG IoControlCode,
+ PVOID InputBuffer,
+ ULONG InputBufferLength,
+ PVOID OutputBuffer,
+ ULONG OutputBufferLength);
+
+typedef NTSTATUS (NTAPI *sNtQueryInformationFile)
+ (HANDLE FileHandle,
+ PIO_STATUS_BLOCK IoStatusBlock,
+ PVOID FileInformation,
+ ULONG Length,
+ FILE_INFORMATION_CLASS FileInformationClass);
+
+typedef NTSTATUS (NTAPI *sNtSetInformationFile)
+ (HANDLE FileHandle,
+ PIO_STATUS_BLOCK IoStatusBlock,
+ PVOID FileInformation,
+ ULONG Length,
+ FILE_INFORMATION_CLASS FileInformationClass);
+
+typedef NTSTATUS (NTAPI *sNtQueryVolumeInformationFile)
+ (HANDLE FileHandle,
+ PIO_STATUS_BLOCK IoStatusBlock,
+ PVOID FsInformation,
+ ULONG Length,
+ FS_INFORMATION_CLASS FsInformationClass);
+
+typedef NTSTATUS (NTAPI *sNtQuerySystemInformation)
+ (UINT SystemInformationClass,
+ PVOID SystemInformation,
+ ULONG SystemInformationLength,
+ PULONG ReturnLength);
+
+typedef NTSTATUS (NTAPI *sNtQueryDirectoryFile)
+ (HANDLE FileHandle,
+ HANDLE Event,
+ PIO_APC_ROUTINE ApcRoutine,
+ PVOID ApcContext,
+ PIO_STATUS_BLOCK IoStatusBlock,
+ PVOID FileInformation,
+ ULONG Length,
+ FILE_INFORMATION_CLASS FileInformationClass,
+ BOOLEAN ReturnSingleEntry,
+ PUNICODE_STRING FileName,
+ BOOLEAN RestartScan
+ );
+
+/*
+ * Kernel32 headers
+ */
+#ifndef FILE_SKIP_COMPLETION_PORT_ON_SUCCESS
+# define FILE_SKIP_COMPLETION_PORT_ON_SUCCESS 0x1
+#endif
+
+#ifndef FILE_SKIP_SET_EVENT_ON_HANDLE
+# define FILE_SKIP_SET_EVENT_ON_HANDLE 0x2
+#endif
+
+#ifndef SYMBOLIC_LINK_FLAG_DIRECTORY
+# define SYMBOLIC_LINK_FLAG_DIRECTORY 0x1
+#endif
+
+#if defined(__MINGW32__) && !defined(__MINGW64_VERSION_MAJOR)
+ typedef struct _OVERLAPPED_ENTRY {
+ ULONG_PTR lpCompletionKey;
+ LPOVERLAPPED lpOverlapped;
+ ULONG_PTR Internal;
+ DWORD dwNumberOfBytesTransferred;
+ } OVERLAPPED_ENTRY, *LPOVERLAPPED_ENTRY;
+#endif
+
+/* from wincon.h */
+#ifndef ENABLE_INSERT_MODE
+# define ENABLE_INSERT_MODE 0x20
+#endif
+
+#ifndef ENABLE_QUICK_EDIT_MODE
+# define ENABLE_QUICK_EDIT_MODE 0x40
+#endif
+
+#ifndef ENABLE_EXTENDED_FLAGS
+# define ENABLE_EXTENDED_FLAGS 0x80
+#endif
+
+/* from winerror.h */
+#ifndef ERROR_ELEVATION_REQUIRED
+# define ERROR_ELEVATION_REQUIRED 740
+#endif
+
+#ifndef ERROR_SYMLINK_NOT_SUPPORTED
+# define ERROR_SYMLINK_NOT_SUPPORTED 1464
+#endif
+
+#ifndef ERROR_MUI_FILE_NOT_FOUND
+# define ERROR_MUI_FILE_NOT_FOUND 15100
+#endif
+
+#ifndef ERROR_MUI_INVALID_FILE
+# define ERROR_MUI_INVALID_FILE 15101
+#endif
+
+#ifndef ERROR_MUI_INVALID_RC_CONFIG
+# define ERROR_MUI_INVALID_RC_CONFIG 15102
+#endif
+
+#ifndef ERROR_MUI_INVALID_LOCALE_NAME
+# define ERROR_MUI_INVALID_LOCALE_NAME 15103
+#endif
+
+#ifndef ERROR_MUI_INVALID_ULTIMATEFALLBACK_NAME
+# define ERROR_MUI_INVALID_ULTIMATEFALLBACK_NAME 15104
+#endif
+
+#ifndef ERROR_MUI_FILE_NOT_LOADED
+# define ERROR_MUI_FILE_NOT_LOADED 15105
+#endif
+
+typedef BOOL (WINAPI *sGetQueuedCompletionStatusEx)
+ (HANDLE CompletionPort,
+ LPOVERLAPPED_ENTRY lpCompletionPortEntries,
+ ULONG ulCount,
+ PULONG ulNumEntriesRemoved,
+ DWORD dwMilliseconds,
+ BOOL fAlertable);
+
+/* from powerbase.h */
+#ifndef DEVICE_NOTIFY_CALLBACK
+# define DEVICE_NOTIFY_CALLBACK 2
+#endif
+
+#ifndef PBT_APMRESUMEAUTOMATIC
+# define PBT_APMRESUMEAUTOMATIC 18
+#endif
+
+#ifndef PBT_APMRESUMESUSPEND
+# define PBT_APMRESUMESUSPEND 7
+#endif
+
+typedef ULONG CALLBACK _DEVICE_NOTIFY_CALLBACK_ROUTINE(
+ PVOID Context,
+ ULONG Type,
+ PVOID Setting
+);
+typedef _DEVICE_NOTIFY_CALLBACK_ROUTINE* _PDEVICE_NOTIFY_CALLBACK_ROUTINE;
+
+typedef struct _DEVICE_NOTIFY_SUBSCRIBE_PARAMETERS {
+ _PDEVICE_NOTIFY_CALLBACK_ROUTINE Callback;
+ PVOID Context;
+} _DEVICE_NOTIFY_SUBSCRIBE_PARAMETERS, *_PDEVICE_NOTIFY_SUBSCRIBE_PARAMETERS;
+
+typedef PVOID _HPOWERNOTIFY;
+typedef _HPOWERNOTIFY *_PHPOWERNOTIFY;
+
+typedef DWORD (WINAPI *sPowerRegisterSuspendResumeNotification)
+ (DWORD Flags,
+ HANDLE Recipient,
+ _PHPOWERNOTIFY RegistrationHandle);
+
+/* from Winuser.h */
+typedef VOID (CALLBACK* WINEVENTPROC)
+ (HWINEVENTHOOK hWinEventHook,
+ DWORD event,
+ HWND hwnd,
+ LONG idObject,
+ LONG idChild,
+ DWORD idEventThread,
+ DWORD dwmsEventTime);
+
+typedef HWINEVENTHOOK (WINAPI *sSetWinEventHook)
+ (UINT eventMin,
+ UINT eventMax,
+ HMODULE hmodWinEventProc,
+ WINEVENTPROC lpfnWinEventProc,
+ DWORD idProcess,
+ DWORD idThread,
+ UINT dwflags);
+
+
+/* Ntdll function pointers */
+extern sRtlGetVersion pRtlGetVersion;
+extern sRtlNtStatusToDosError pRtlNtStatusToDosError;
+extern sNtDeviceIoControlFile pNtDeviceIoControlFile;
+extern sNtQueryInformationFile pNtQueryInformationFile;
+extern sNtSetInformationFile pNtSetInformationFile;
+extern sNtQueryVolumeInformationFile pNtQueryVolumeInformationFile;
+extern sNtQueryDirectoryFile pNtQueryDirectoryFile;
+extern sNtQuerySystemInformation pNtQuerySystemInformation;
+
+/* Kernel32 function pointers */
+extern sGetQueuedCompletionStatusEx pGetQueuedCompletionStatusEx;
+
+/* Powrprof.dll function pointer */
+extern sPowerRegisterSuspendResumeNotification pPowerRegisterSuspendResumeNotification;
+
+/* User32.dll function pointer */
+extern sSetWinEventHook pSetWinEventHook;
+
+#endif /* UV_WIN_WINAPI_H_ */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/winsock.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/winsock.cpp
new file mode 100644
index 0000000..668e3b6
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/winsock.cpp
@@ -0,0 +1,596 @@
+/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#include <assert.h>
+#include <stdlib.h>
+
+#include "uv.h"
+#include "internal.h"
+
+
+#pragma comment(lib, "Ws2_32.lib")
+
+/* Whether there are any non-IFS LSPs stacked on TCP */
+int uv_tcp_non_ifs_lsp_ipv4;
+int uv_tcp_non_ifs_lsp_ipv6;
+
+/* Ip address used to bind to any port at any interface */
+struct sockaddr_in uv_addr_ip4_any_;
+struct sockaddr_in6 uv_addr_ip6_any_;
+
+
+/*
+ * Retrieves the pointer to a winsock extension function.
+ */
+static BOOL uv_get_extension_function(SOCKET socket, GUID guid,
+ void **target) {
+ int result;
+ DWORD bytes;
+
+ result = WSAIoctl(socket,
+ SIO_GET_EXTENSION_FUNCTION_POINTER,
+ &guid,
+ sizeof(guid),
+ (void*)target,
+ sizeof(*target),
+ &bytes,
+ NULL,
+ NULL);
+
+ if (result == SOCKET_ERROR) {
+ *target = NULL;
+ return FALSE;
+ } else {
+ return TRUE;
+ }
+}
+
+
+BOOL uv_get_acceptex_function(SOCKET socket, LPFN_ACCEPTEX* target) {
+ const GUID wsaid_acceptex = WSAID_ACCEPTEX;
+ return uv_get_extension_function(socket, wsaid_acceptex, (void**)target);
+}
+
+
+BOOL uv_get_connectex_function(SOCKET socket, LPFN_CONNECTEX* target) {
+ const GUID wsaid_connectex = WSAID_CONNECTEX;
+ return uv_get_extension_function(socket, wsaid_connectex, (void**)target);
+}
+
+
+static int error_means_no_support(DWORD error) {
+ return error == WSAEPROTONOSUPPORT || error == WSAESOCKTNOSUPPORT ||
+ error == WSAEPFNOSUPPORT || error == WSAEAFNOSUPPORT;
+}
+
+
+void uv_winsock_init(void) {
+ WSADATA wsa_data;
+ int errorno;
+ SOCKET dummy;
+ WSAPROTOCOL_INFOW protocol_info;
+ int opt_len;
+
+ /* Set implicit binding address used by connectEx */
+ if (uv_ip4_addr("0.0.0.0", 0, &uv_addr_ip4_any_)) {
+ abort();
+ }
+
+ if (uv_ip6_addr("::", 0, &uv_addr_ip6_any_)) {
+ abort();
+ }
+
+ /* Skip initialization in safe mode without network support */
+ if (1 == GetSystemMetrics(SM_CLEANBOOT)) return;
+
+ /* Initialize winsock */
+ errorno = WSAStartup(MAKEWORD(2, 2), &wsa_data);
+ if (errorno != 0) {
+ uv_fatal_error(errorno, "WSAStartup");
+ }
+
+ /* Detect non-IFS LSPs */
+ dummy = socket(AF_INET, SOCK_STREAM, IPPROTO_IP);
+
+ if (dummy != INVALID_SOCKET) {
+ opt_len = (int) sizeof protocol_info;
+ if (getsockopt(dummy,
+ SOL_SOCKET,
+ SO_PROTOCOL_INFOW,
+ (char*) &protocol_info,
+ &opt_len) == SOCKET_ERROR)
+ uv_fatal_error(WSAGetLastError(), "getsockopt");
+
+ if (!(protocol_info.dwServiceFlags1 & XP1_IFS_HANDLES))
+ uv_tcp_non_ifs_lsp_ipv4 = 1;
+
+ if (closesocket(dummy) == SOCKET_ERROR)
+ uv_fatal_error(WSAGetLastError(), "closesocket");
+
+ } else if (!error_means_no_support(WSAGetLastError())) {
+ /* Any error other than "socket type not supported" is fatal. */
+ uv_fatal_error(WSAGetLastError(), "socket");
+ }
+
+ /* Detect IPV6 support and non-IFS LSPs */
+ dummy = socket(AF_INET6, SOCK_STREAM, IPPROTO_IP);
+
+ if (dummy != INVALID_SOCKET) {
+ opt_len = (int) sizeof protocol_info;
+ if (getsockopt(dummy,
+ SOL_SOCKET,
+ SO_PROTOCOL_INFOW,
+ (char*) &protocol_info,
+ &opt_len) == SOCKET_ERROR)
+ uv_fatal_error(WSAGetLastError(), "getsockopt");
+
+ if (!(protocol_info.dwServiceFlags1 & XP1_IFS_HANDLES))
+ uv_tcp_non_ifs_lsp_ipv6 = 1;
+
+ if (closesocket(dummy) == SOCKET_ERROR)
+ uv_fatal_error(WSAGetLastError(), "closesocket");
+
+ } else if (!error_means_no_support(WSAGetLastError())) {
+ /* Any error other than "socket type not supported" is fatal. */
+ uv_fatal_error(WSAGetLastError(), "socket");
+ }
+}
+
+
+int uv_ntstatus_to_winsock_error(NTSTATUS status) {
+ switch (status) {
+ case STATUS_SUCCESS:
+ return ERROR_SUCCESS;
+
+ case STATUS_PENDING:
+ return ERROR_IO_PENDING;
+
+ case STATUS_INVALID_HANDLE:
+ case STATUS_OBJECT_TYPE_MISMATCH:
+ return WSAENOTSOCK;
+
+ case STATUS_INSUFFICIENT_RESOURCES:
+ case STATUS_PAGEFILE_QUOTA:
+ case STATUS_COMMITMENT_LIMIT:
+ case STATUS_WORKING_SET_QUOTA:
+ case STATUS_NO_MEMORY:
+ case STATUS_QUOTA_EXCEEDED:
+ case STATUS_TOO_MANY_PAGING_FILES:
+ case STATUS_REMOTE_RESOURCES:
+ return WSAENOBUFS;
+
+ case STATUS_TOO_MANY_ADDRESSES:
+ case STATUS_SHARING_VIOLATION:
+ case STATUS_ADDRESS_ALREADY_EXISTS:
+ return WSAEADDRINUSE;
+
+ case STATUS_LINK_TIMEOUT:
+ case STATUS_IO_TIMEOUT:
+ case STATUS_TIMEOUT:
+ return WSAETIMEDOUT;
+
+ case STATUS_GRACEFUL_DISCONNECT:
+ return WSAEDISCON;
+
+ case STATUS_REMOTE_DISCONNECT:
+ case STATUS_CONNECTION_RESET:
+ case STATUS_LINK_FAILED:
+ case STATUS_CONNECTION_DISCONNECTED:
+ case STATUS_PORT_UNREACHABLE:
+ case STATUS_HOPLIMIT_EXCEEDED:
+ return WSAECONNRESET;
+
+ case STATUS_LOCAL_DISCONNECT:
+ case STATUS_TRANSACTION_ABORTED:
+ case STATUS_CONNECTION_ABORTED:
+ return WSAECONNABORTED;
+
+ case STATUS_BAD_NETWORK_PATH:
+ case STATUS_NETWORK_UNREACHABLE:
+ case STATUS_PROTOCOL_UNREACHABLE:
+ return WSAENETUNREACH;
+
+ case STATUS_HOST_UNREACHABLE:
+ return WSAEHOSTUNREACH;
+
+ case STATUS_CANCELLED:
+ case STATUS_REQUEST_ABORTED:
+ return WSAEINTR;
+
+ case STATUS_BUFFER_OVERFLOW:
+ case STATUS_INVALID_BUFFER_SIZE:
+ return WSAEMSGSIZE;
+
+ case STATUS_BUFFER_TOO_SMALL:
+ case STATUS_ACCESS_VIOLATION:
+ return WSAEFAULT;
+
+ case STATUS_DEVICE_NOT_READY:
+ case STATUS_REQUEST_NOT_ACCEPTED:
+ return WSAEWOULDBLOCK;
+
+ case STATUS_INVALID_NETWORK_RESPONSE:
+ case STATUS_NETWORK_BUSY:
+ case STATUS_NO_SUCH_DEVICE:
+ case STATUS_NO_SUCH_FILE:
+ case STATUS_OBJECT_PATH_NOT_FOUND:
+ case STATUS_OBJECT_NAME_NOT_FOUND:
+ case STATUS_UNEXPECTED_NETWORK_ERROR:
+ return WSAENETDOWN;
+
+ case STATUS_INVALID_CONNECTION:
+ return WSAENOTCONN;
+
+ case STATUS_REMOTE_NOT_LISTENING:
+ case STATUS_CONNECTION_REFUSED:
+ return WSAECONNREFUSED;
+
+ case STATUS_PIPE_DISCONNECTED:
+ return WSAESHUTDOWN;
+
+ case STATUS_CONFLICTING_ADDRESSES:
+ case STATUS_INVALID_ADDRESS:
+ case STATUS_INVALID_ADDRESS_COMPONENT:
+ return WSAEADDRNOTAVAIL;
+
+ case STATUS_NOT_SUPPORTED:
+ case STATUS_NOT_IMPLEMENTED:
+ return WSAEOPNOTSUPP;
+
+ case STATUS_ACCESS_DENIED:
+ return WSAEACCES;
+
+ default:
+ if ((status & (FACILITY_NTWIN32 << 16)) == (FACILITY_NTWIN32 << 16) &&
+ (status & (ERROR_SEVERITY_ERROR | ERROR_SEVERITY_WARNING))) {
+ /* It's a windows error that has been previously mapped to an ntstatus
+ * code. */
+ return (DWORD) (status & 0xffff);
+ } else {
+ /* The default fallback for unmappable ntstatus codes. */
+ return WSAEINVAL;
+ }
+ }
+}
+
+
+/*
+ * This function provides a workaround for a bug in the winsock implementation
+ * of WSARecv. The problem is that when SetFileCompletionNotificationModes is
+ * used to avoid IOCP notifications of completed reads, WSARecv does not
+ * reliably indicate whether we can expect a completion package to be posted
+ * when the receive buffer is smaller than the received datagram.
+ *
+ * However it is desirable to use SetFileCompletionNotificationModes because
+ * it yields a massive performance increase.
+ *
+ * This function provides a workaround for that bug, but it only works for the
+ * specific case that we need it for. E.g. it assumes that the "avoid iocp"
+ * bit has been set, and supports only overlapped operation. It also requires
+ * the user to use the default msafd driver, doesn't work when other LSPs are
+ * stacked on top of it.
+ */
+int WSAAPI uv_wsarecv_workaround(SOCKET socket, WSABUF* buffers,
+ DWORD buffer_count, DWORD* bytes, DWORD* flags, WSAOVERLAPPED *overlapped,
+ LPWSAOVERLAPPED_COMPLETION_ROUTINE completion_routine) {
+ NTSTATUS status;
+ void* apc_context;
+ IO_STATUS_BLOCK* iosb = (IO_STATUS_BLOCK*) &overlapped->Internal;
+ AFD_RECV_INFO info;
+ DWORD error;
+
+ if (overlapped == NULL || completion_routine != NULL) {
+ WSASetLastError(WSAEINVAL);
+ return SOCKET_ERROR;
+ }
+
+ info.BufferArray = buffers;
+ info.BufferCount = buffer_count;
+ info.AfdFlags = AFD_OVERLAPPED;
+ info.TdiFlags = TDI_RECEIVE_NORMAL;
+
+ if (*flags & MSG_PEEK) {
+ info.TdiFlags |= TDI_RECEIVE_PEEK;
+ }
+
+ if (*flags & MSG_PARTIAL) {
+ info.TdiFlags |= TDI_RECEIVE_PARTIAL;
+ }
+
+ if (!((intptr_t) overlapped->hEvent & 1)) {
+ apc_context = (void*) overlapped;
+ } else {
+ apc_context = NULL;
+ }
+
+ iosb->Status = STATUS_PENDING;
+ iosb->Pointer = 0;
+
+ status = pNtDeviceIoControlFile((HANDLE) socket,
+ overlapped->hEvent,
+ NULL,
+ apc_context,
+ iosb,
+ IOCTL_AFD_RECEIVE,
+ &info,
+ sizeof(info),
+ NULL,
+ 0);
+
+ *flags = 0;
+ *bytes = (DWORD) iosb->Information;
+
+ switch (status) {
+ case STATUS_SUCCESS:
+ error = ERROR_SUCCESS;
+ break;
+
+ case STATUS_PENDING:
+ error = WSA_IO_PENDING;
+ break;
+
+ case STATUS_BUFFER_OVERFLOW:
+ error = WSAEMSGSIZE;
+ break;
+
+ case STATUS_RECEIVE_EXPEDITED:
+ error = ERROR_SUCCESS;
+ *flags = MSG_OOB;
+ break;
+
+ case STATUS_RECEIVE_PARTIAL_EXPEDITED:
+ error = ERROR_SUCCESS;
+ *flags = MSG_PARTIAL | MSG_OOB;
+ break;
+
+ case STATUS_RECEIVE_PARTIAL:
+ error = ERROR_SUCCESS;
+ *flags = MSG_PARTIAL;
+ break;
+
+ default:
+ error = uv_ntstatus_to_winsock_error(status);
+ break;
+ }
+
+ WSASetLastError(error);
+
+ if (error == ERROR_SUCCESS) {
+ return 0;
+ } else {
+ return SOCKET_ERROR;
+ }
+}
+
+
+/* See description of uv_wsarecv_workaround. */
+int WSAAPI uv_wsarecvfrom_workaround(SOCKET socket, WSABUF* buffers,
+ DWORD buffer_count, DWORD* bytes, DWORD* flags, struct sockaddr* addr,
+ int* addr_len, WSAOVERLAPPED *overlapped,
+ LPWSAOVERLAPPED_COMPLETION_ROUTINE completion_routine) {
+ NTSTATUS status;
+ void* apc_context;
+ IO_STATUS_BLOCK* iosb = (IO_STATUS_BLOCK*) &overlapped->Internal;
+ AFD_RECV_DATAGRAM_INFO info;
+ DWORD error;
+
+ if (overlapped == NULL || addr == NULL || addr_len == NULL ||
+ completion_routine != NULL) {
+ WSASetLastError(WSAEINVAL);
+ return SOCKET_ERROR;
+ }
+
+ info.BufferArray = buffers;
+ info.BufferCount = buffer_count;
+ info.AfdFlags = AFD_OVERLAPPED;
+ info.TdiFlags = TDI_RECEIVE_NORMAL;
+ info.Address = addr;
+ info.AddressLength = addr_len;
+
+ if (*flags & MSG_PEEK) {
+ info.TdiFlags |= TDI_RECEIVE_PEEK;
+ }
+
+ if (*flags & MSG_PARTIAL) {
+ info.TdiFlags |= TDI_RECEIVE_PARTIAL;
+ }
+
+ if (!((intptr_t) overlapped->hEvent & 1)) {
+ apc_context = (void*) overlapped;
+ } else {
+ apc_context = NULL;
+ }
+
+ iosb->Status = STATUS_PENDING;
+ iosb->Pointer = 0;
+
+ status = pNtDeviceIoControlFile((HANDLE) socket,
+ overlapped->hEvent,
+ NULL,
+ apc_context,
+ iosb,
+ IOCTL_AFD_RECEIVE_DATAGRAM,
+ &info,
+ sizeof(info),
+ NULL,
+ 0);
+
+ *flags = 0;
+ *bytes = (DWORD) iosb->Information;
+
+ switch (status) {
+ case STATUS_SUCCESS:
+ error = ERROR_SUCCESS;
+ break;
+
+ case STATUS_PENDING:
+ error = WSA_IO_PENDING;
+ break;
+
+ case STATUS_BUFFER_OVERFLOW:
+ error = WSAEMSGSIZE;
+ break;
+
+ case STATUS_RECEIVE_EXPEDITED:
+ error = ERROR_SUCCESS;
+ *flags = MSG_OOB;
+ break;
+
+ case STATUS_RECEIVE_PARTIAL_EXPEDITED:
+ error = ERROR_SUCCESS;
+ *flags = MSG_PARTIAL | MSG_OOB;
+ break;
+
+ case STATUS_RECEIVE_PARTIAL:
+ error = ERROR_SUCCESS;
+ *flags = MSG_PARTIAL;
+ break;
+
+ default:
+ error = uv_ntstatus_to_winsock_error(status);
+ break;
+ }
+
+ WSASetLastError(error);
+
+ if (error == ERROR_SUCCESS) {
+ return 0;
+ } else {
+ return SOCKET_ERROR;
+ }
+}
+
+
+int WSAAPI uv_msafd_poll(SOCKET socket, AFD_POLL_INFO* info_in,
+ AFD_POLL_INFO* info_out, OVERLAPPED* overlapped) {
+ IO_STATUS_BLOCK iosb;
+ IO_STATUS_BLOCK* iosb_ptr;
+ HANDLE event = NULL;
+ void* apc_context;
+ NTSTATUS status;
+ DWORD error;
+
+ if (overlapped != NULL) {
+ /* Overlapped operation. */
+ iosb_ptr = (IO_STATUS_BLOCK*) &overlapped->Internal;
+ event = overlapped->hEvent;
+
+ /* Do not report iocp completion if hEvent is tagged. */
+ if ((uintptr_t) event & 1) {
+ event = (HANDLE)((uintptr_t) event & ~(uintptr_t) 1);
+ apc_context = NULL;
+ } else {
+ apc_context = overlapped;
+ }
+
+ } else {
+ /* Blocking operation. */
+ iosb_ptr = &iosb;
+ event = CreateEvent(NULL, FALSE, FALSE, NULL);
+ if (event == NULL) {
+ return SOCKET_ERROR;
+ }
+ apc_context = NULL;
+ }
+
+ iosb_ptr->Status = STATUS_PENDING;
+ status = pNtDeviceIoControlFile((HANDLE) socket,
+ event,
+ NULL,
+ apc_context,
+ iosb_ptr,
+ IOCTL_AFD_POLL,
+ info_in,
+ sizeof *info_in,
+ info_out,
+ sizeof *info_out);
+
+ if (overlapped == NULL) {
+ /* If this is a blocking operation, wait for the event to become signaled,
+ * and then grab the real status from the io status block. */
+ if (status == STATUS_PENDING) {
+ DWORD r = WaitForSingleObject(event, INFINITE);
+
+ if (r == WAIT_FAILED) {
+ DWORD saved_error = GetLastError();
+ CloseHandle(event);
+ WSASetLastError(saved_error);
+ return SOCKET_ERROR;
+ }
+
+ status = iosb.Status;
+ }
+
+ CloseHandle(event);
+ }
+
+ switch (status) {
+ case STATUS_SUCCESS:
+ error = ERROR_SUCCESS;
+ break;
+
+ case STATUS_PENDING:
+ error = WSA_IO_PENDING;
+ break;
+
+ default:
+ error = uv_ntstatus_to_winsock_error(status);
+ break;
+ }
+
+ WSASetLastError(error);
+
+ if (error == ERROR_SUCCESS) {
+ return 0;
+ } else {
+ return SOCKET_ERROR;
+ }
+}
+
+int uv__convert_to_localhost_if_unspecified(const struct sockaddr* addr,
+ struct sockaddr_storage* storage) {
+ struct sockaddr_in* dest4;
+ struct sockaddr_in6* dest6;
+
+ if (addr == NULL)
+ return UV_EINVAL;
+
+ switch (addr->sa_family) {
+ case AF_INET:
+ dest4 = (struct sockaddr_in*) storage;
+ memcpy(dest4, addr, sizeof(*dest4));
+ if (dest4->sin_addr.s_addr == 0)
+ dest4->sin_addr.s_addr = htonl(INADDR_LOOPBACK);
+ return 0;
+ case AF_INET6:
+ dest6 = (struct sockaddr_in6*) storage;
+ memcpy(dest6, addr, sizeof(*dest6));
+ if (memcmp(&dest6->sin6_addr,
+ &uv_addr_ip6_any_.sin6_addr,
+ sizeof(uv_addr_ip6_any_.sin6_addr)) == 0) {
+ struct in6_addr init_sin6_addr = IN6ADDR_LOOPBACK_INIT;
+ dest6->sin6_addr = init_sin6_addr;
+ }
+ return 0;
+ default:
+ return UV_EINVAL;
+ }
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/winsock.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/winsock.h
similarity index 100%
rename from third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/winsock.h
rename to third_party/allwpilib_2019/wpiutil/src/main/native/libuv/src/win/winsock.h
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/threadpool.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/threadpool.cpp
deleted file mode 100644
index 3b4b7cf..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/threadpool.cpp
+++ /dev/null
@@ -1,318 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include "uv-common.h"
-
-#if !defined(_WIN32)
-# include "unix/internal.h"
-#endif
-
-#include <stdlib.h>
-
-#define MAX_THREADPOOL_SIZE 128
-
-static uv_once_t once = UV_ONCE_INIT;
-static uv_cond_t cond;
-static uv_mutex_t mutex;
-static unsigned int idle_threads;
-static unsigned int nthreads;
-static uv_thread_t* threads;
-static uv_thread_t default_threads[4];
-static QUEUE exit_message;
-static QUEUE wq;
-
-
-static void uv__cancelled(struct uv__work* w) {
- abort();
-}
-
-
-/* To avoid deadlock with uv_cancel() it's crucial that the worker
- * never holds the global mutex and the loop-local mutex at the same time.
- */
-static void worker(void* arg) {
- struct uv__work* w;
- QUEUE* q;
-
- uv_sem_post((uv_sem_t*) arg);
- arg = NULL;
-
- for (;;) {
- uv_mutex_lock(&mutex);
-
- while (QUEUE_EMPTY(&wq)) {
- idle_threads += 1;
- uv_cond_wait(&cond, &mutex);
- idle_threads -= 1;
- }
-
- q = QUEUE_HEAD(&wq);
-
- if (q == &exit_message)
- uv_cond_signal(&cond);
- else {
- QUEUE_REMOVE(q);
- QUEUE_INIT(q); /* Signal uv_cancel() that the work req is
- executing. */
- }
-
- uv_mutex_unlock(&mutex);
-
- if (q == &exit_message)
- break;
-
- w = QUEUE_DATA(q, struct uv__work, wq);
- w->work(w);
-
- uv_mutex_lock(&w->loop->wq_mutex);
- w->work = NULL; /* Signal uv_cancel() that the work req is done
- executing. */
- QUEUE_INSERT_TAIL(&w->loop->wq, &w->wq);
- uv_async_send(&w->loop->wq_async);
- uv_mutex_unlock(&w->loop->wq_mutex);
- }
-}
-
-
-static void post(QUEUE* q) {
- uv_mutex_lock(&mutex);
- QUEUE_INSERT_TAIL(&wq, q);
- if (idle_threads > 0)
- uv_cond_signal(&cond);
- uv_mutex_unlock(&mutex);
-}
-
-
-#ifndef _WIN32
-UV_DESTRUCTOR(static void cleanup(void)) {
- unsigned int i;
-
- if (nthreads == 0)
- return;
-
- post(&exit_message);
-
- for (i = 0; i < nthreads; i++)
- if (uv_thread_join(threads + i))
- abort();
-
- if (threads != default_threads)
- uv__free(threads);
-
- uv_mutex_destroy(&mutex);
- uv_cond_destroy(&cond);
-
- threads = NULL;
- nthreads = 0;
-}
-#endif
-
-
-static void init_threads(void) {
- unsigned int i;
- const char* val;
- uv_sem_t sem;
-
- nthreads = ARRAY_SIZE(default_threads);
- val = getenv("UV_THREADPOOL_SIZE");
- if (val != NULL)
- nthreads = atoi(val);
- if (nthreads == 0)
- nthreads = 1;
- if (nthreads > MAX_THREADPOOL_SIZE)
- nthreads = MAX_THREADPOOL_SIZE;
-
- threads = default_threads;
- if (nthreads > ARRAY_SIZE(default_threads)) {
- threads = (uv_thread_t*)uv__malloc(nthreads * sizeof(threads[0]));
- if (threads == NULL) {
- nthreads = ARRAY_SIZE(default_threads);
- threads = default_threads;
- }
- }
-
- if (uv_cond_init(&cond))
- abort();
-
- if (uv_mutex_init(&mutex))
- abort();
-
- QUEUE_INIT(&wq);
-
- if (uv_sem_init(&sem, 0))
- abort();
-
- for (i = 0; i < nthreads; i++)
- if (uv_thread_create(threads + i, worker, &sem))
- abort();
-
- for (i = 0; i < nthreads; i++)
- uv_sem_wait(&sem);
-
- uv_sem_destroy(&sem);
-}
-
-
-#ifndef _WIN32
-static void reset_once(void) {
- uv_once_t child_once = UV_ONCE_INIT;
- memcpy(&once, &child_once, sizeof(child_once));
-}
-#endif
-
-
-static void init_once(void) {
-#ifndef _WIN32
- /* Re-initialize the threadpool after fork.
- * Note that this discards the global mutex and condition as well
- * as the work queue.
- */
- if (pthread_atfork(NULL, NULL, &reset_once))
- abort();
-#endif
- init_threads();
-}
-
-
-void uv__work_submit(uv_loop_t* loop,
- struct uv__work* w,
- void (*work)(struct uv__work* w),
- void (*done)(struct uv__work* w, int status)) {
- uv_once(&once, init_once);
- w->loop = loop;
- w->work = work;
- w->done = done;
- post(&w->wq);
-}
-
-
-static int uv__work_cancel(uv_loop_t* loop, uv_req_t* req, struct uv__work* w) {
- int cancelled;
-
- uv_mutex_lock(&mutex);
- uv_mutex_lock(&w->loop->wq_mutex);
-
- cancelled = !QUEUE_EMPTY(&w->wq) && w->work != NULL;
- if (cancelled)
- QUEUE_REMOVE(&w->wq);
-
- uv_mutex_unlock(&w->loop->wq_mutex);
- uv_mutex_unlock(&mutex);
-
- if (!cancelled)
- return UV_EBUSY;
-
- w->work = uv__cancelled;
- uv_mutex_lock(&loop->wq_mutex);
- QUEUE_INSERT_TAIL(&loop->wq, &w->wq);
- uv_async_send(&loop->wq_async);
- uv_mutex_unlock(&loop->wq_mutex);
-
- return 0;
-}
-
-
-void uv__work_done(uv_async_t* handle) {
- struct uv__work* w;
- uv_loop_t* loop;
- QUEUE* q;
- QUEUE wq;
- int err;
-
- loop = container_of(handle, uv_loop_t, wq_async);
- uv_mutex_lock(&loop->wq_mutex);
- QUEUE_MOVE(&loop->wq, &wq);
- uv_mutex_unlock(&loop->wq_mutex);
-
- while (!QUEUE_EMPTY(&wq)) {
- q = QUEUE_HEAD(&wq);
- QUEUE_REMOVE(q);
-
- w = container_of(q, struct uv__work, wq);
- err = (w->work == uv__cancelled) ? UV_ECANCELED : 0;
- w->done(w, err);
- }
-}
-
-
-static void uv__queue_work(struct uv__work* w) {
- uv_work_t* req = container_of(w, uv_work_t, work_req);
-
- req->work_cb(req);
-}
-
-
-static void uv__queue_done(struct uv__work* w, int err) {
- uv_work_t* req;
-
- req = container_of(w, uv_work_t, work_req);
- uv__req_unregister(req->loop, req);
-
- if (req->after_work_cb == NULL)
- return;
-
- req->after_work_cb(req, err);
-}
-
-
-int uv_queue_work(uv_loop_t* loop,
- uv_work_t* req,
- uv_work_cb work_cb,
- uv_after_work_cb after_work_cb) {
- if (work_cb == NULL)
- return UV_EINVAL;
-
- uv__req_init(loop, req, UV_WORK);
- req->loop = loop;
- req->work_cb = work_cb;
- req->after_work_cb = after_work_cb;
- uv__work_submit(loop, &req->work_req, uv__queue_work, uv__queue_done);
- return 0;
-}
-
-
-int uv_cancel(uv_req_t* req) {
- struct uv__work* wreq;
- uv_loop_t* loop;
-
- switch (req->type) {
- case UV_FS:
- loop = ((uv_fs_t*) req)->loop;
- wreq = &((uv_fs_t*) req)->work_req;
- break;
- case UV_GETADDRINFO:
- loop = ((uv_getaddrinfo_t*) req)->loop;
- wreq = &((uv_getaddrinfo_t*) req)->work_req;
- break;
- case UV_GETNAMEINFO:
- loop = ((uv_getnameinfo_t*) req)->loop;
- wreq = &((uv_getnameinfo_t*) req)->work_req;
- break;
- case UV_WORK:
- loop = ((uv_work_t*) req)->loop;
- wreq = &((uv_work_t*) req)->work_req;
- break;
- default:
- return UV_EINVAL;
- }
-
- return uv__work_cancel(loop, req, wreq);
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/async.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/async.cpp
deleted file mode 100644
index 0b450ae..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/async.cpp
+++ /dev/null
@@ -1,269 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-/* This file contains both the uv__async internal infrastructure and the
- * user-facing uv_async_t functions.
- */
-
-#include "uv.h"
-#include "internal.h"
-#include "atomic-ops.h"
-
-#include <errno.h>
-#include <stdio.h> /* snprintf() */
-#include <assert.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-
-static void uv__async_send(uv_loop_t* loop);
-static int uv__async_start(uv_loop_t* loop);
-static int uv__async_eventfd(void);
-
-
-int uv_async_init(uv_loop_t* loop, uv_async_t* handle, uv_async_cb async_cb) {
- int err;
-
- err = uv__async_start(loop);
- if (err)
- return err;
-
- uv__handle_init(loop, (uv_handle_t*)handle, UV_ASYNC);
- handle->async_cb = async_cb;
- handle->pending = 0;
-
- QUEUE_INSERT_TAIL(&loop->async_handles, &handle->queue);
- uv__handle_start(handle);
-
- return 0;
-}
-
-
-int uv_async_send(uv_async_t* handle) {
- /* Do a cheap read first. */
- if (ACCESS_ONCE(int, handle->pending) != 0)
- return 0;
-
- if (cmpxchgi(&handle->pending, 0, 1) == 0)
- uv__async_send(handle->loop);
-
- return 0;
-}
-
-
-void uv__async_close(uv_async_t* handle) {
- QUEUE_REMOVE(&handle->queue);
- uv__handle_stop(handle);
-}
-
-
-static void uv__async_io(uv_loop_t* loop, uv__io_t* w, unsigned int events) {
- char buf[1024];
- ssize_t r;
- QUEUE queue;
- QUEUE* q;
- uv_async_t* h;
-
- assert(w == &loop->async_io_watcher);
-
- for (;;) {
- r = read(w->fd, buf, sizeof(buf));
-
- if (r == sizeof(buf))
- continue;
-
- if (r != -1)
- break;
-
- if (errno == EAGAIN || errno == EWOULDBLOCK)
- break;
-
- if (errno == EINTR)
- continue;
-
- abort();
- }
-
- QUEUE_MOVE(&loop->async_handles, &queue);
- while (!QUEUE_EMPTY(&queue)) {
- q = QUEUE_HEAD(&queue);
- h = QUEUE_DATA(q, uv_async_t, queue);
-
- QUEUE_REMOVE(q);
- QUEUE_INSERT_TAIL(&loop->async_handles, q);
-
- if (cmpxchgi(&h->pending, 1, 0) == 0)
- continue;
-
- if (h->async_cb == NULL)
- continue;
-
- h->async_cb(h);
- }
-}
-
-
-static void uv__async_send(uv_loop_t* loop) {
- const void* buf;
- ssize_t len;
- int fd;
- int r;
-
- buf = "";
- len = 1;
- fd = loop->async_wfd;
-
-#if defined(__linux__)
- if (fd == -1) {
- static const uint64_t val = 1;
- buf = &val;
- len = sizeof(val);
- fd = loop->async_io_watcher.fd; /* eventfd */
- }
-#endif
-
- do
- r = write(fd, buf, len);
- while (r == -1 && errno == EINTR);
-
- if (r == len)
- return;
-
- if (r == -1)
- if (errno == EAGAIN || errno == EWOULDBLOCK)
- return;
-
- abort();
-}
-
-
-static int uv__async_start(uv_loop_t* loop) {
- int pipefd[2];
- int err;
-
- if (loop->async_io_watcher.fd != -1)
- return 0;
-
- err = uv__async_eventfd();
- if (err >= 0) {
- pipefd[0] = err;
- pipefd[1] = -1;
- }
- else if (err == UV_ENOSYS) {
- err = uv__make_pipe(pipefd, UV__F_NONBLOCK);
-#if defined(__linux__)
- /* Save a file descriptor by opening one of the pipe descriptors as
- * read/write through the procfs. That file descriptor can then
- * function as both ends of the pipe.
- */
- if (err == 0) {
- char buf[32];
- int fd;
-
- snprintf(buf, sizeof(buf), "/proc/self/fd/%d", pipefd[0]);
- fd = uv__open_cloexec(buf, O_RDWR);
- if (fd >= 0) {
- uv__close(pipefd[0]);
- uv__close(pipefd[1]);
- pipefd[0] = fd;
- pipefd[1] = fd;
- }
- }
-#endif
- }
-
- if (err < 0)
- return err;
-
- uv__io_init(&loop->async_io_watcher, uv__async_io, pipefd[0]);
- uv__io_start(loop, &loop->async_io_watcher, POLLIN);
- loop->async_wfd = pipefd[1];
-
- return 0;
-}
-
-
-int uv__async_fork(uv_loop_t* loop) {
- if (loop->async_io_watcher.fd == -1) /* never started */
- return 0;
-
- uv__async_stop(loop);
-
- return uv__async_start(loop);
-}
-
-
-void uv__async_stop(uv_loop_t* loop) {
- if (loop->async_io_watcher.fd == -1)
- return;
-
- if (loop->async_wfd != -1) {
- if (loop->async_wfd != loop->async_io_watcher.fd)
- uv__close(loop->async_wfd);
- loop->async_wfd = -1;
- }
-
- uv__io_stop(loop, &loop->async_io_watcher, POLLIN);
- uv__close(loop->async_io_watcher.fd);
- loop->async_io_watcher.fd = -1;
-}
-
-
-static int uv__async_eventfd(void) {
-#if defined(__linux__)
- static int no_eventfd2;
- static int no_eventfd;
- int fd;
-
- if (no_eventfd2)
- goto skip_eventfd2;
-
- fd = uv__eventfd2(0, UV__EFD_CLOEXEC | UV__EFD_NONBLOCK);
- if (fd != -1)
- return fd;
-
- if (errno != ENOSYS)
- return UV__ERR(errno);
-
- no_eventfd2 = 1;
-
-skip_eventfd2:
-
- if (no_eventfd)
- goto skip_eventfd;
-
- fd = uv__eventfd(0);
- if (fd != -1) {
- uv__cloexec(fd, 1);
- uv__nonblock(fd, 1);
- return fd;
- }
-
- if (errno != ENOSYS)
- return UV__ERR(errno);
-
- no_eventfd = 1;
-
-skip_eventfd:
-
-#endif
-
- return UV_ENOSYS;
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/atomic-ops.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/atomic-ops.h
deleted file mode 100644
index 7cac1f9..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/atomic-ops.h
+++ /dev/null
@@ -1,100 +0,0 @@
-/* Copyright (c) 2013, Ben Noordhuis <info@bnoordhuis.nl>
- *
- * Permission to use, copy, modify, and/or distribute this software for any
- * purpose with or without fee is hereby granted, provided that the above
- * copyright notice and this permission notice appear in all copies.
- *
- * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
- * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
- * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
- * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
- * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
- * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
- */
-
-#ifndef UV_ATOMIC_OPS_H_
-#define UV_ATOMIC_OPS_H_
-
-#include "internal.h" /* UV_UNUSED */
-
-#if defined(__SUNPRO_C) || defined(__SUNPRO_CC)
-#include <atomic.h>
-#endif
-
-UV_UNUSED(static int cmpxchgi(int* ptr, int oldval, int newval));
-UV_UNUSED(static long cmpxchgl(long* ptr, long oldval, long newval));
-UV_UNUSED(static void cpu_relax(void));
-
-/* Prefer hand-rolled assembly over the gcc builtins because the latter also
- * issue full memory barriers.
- */
-UV_UNUSED(static int cmpxchgi(int* ptr, int oldval, int newval)) {
-#if defined(__i386__) || defined(__x86_64__)
- int out;
- __asm__ __volatile__ ("lock; cmpxchg %2, %1;"
- : "=a" (out), "+m" (*(volatile int*) ptr)
- : "r" (newval), "0" (oldval)
- : "memory");
- return out;
-#elif defined(_AIX) && defined(__xlC__)
- const int out = (*(volatile int*) ptr);
- __compare_and_swap(ptr, &oldval, newval);
- return out;
-#elif defined(__MVS__)
- unsigned int op4;
- if (__plo_CSST(ptr, (unsigned int*) &oldval, newval,
- (unsigned int*) ptr, *ptr, &op4))
- return oldval;
- else
- return op4;
-#elif defined(__SUNPRO_C) || defined(__SUNPRO_CC)
- return atomic_cas_uint(ptr, oldval, newval);
-#else
- return __sync_val_compare_and_swap(ptr, oldval, newval);
-#endif
-}
-
-UV_UNUSED(static long cmpxchgl(long* ptr, long oldval, long newval)) {
-#if defined(__i386__) || defined(__x86_64__)
- long out;
- __asm__ __volatile__ ("lock; cmpxchg %2, %1;"
- : "=a" (out), "+m" (*(volatile long*) ptr)
- : "r" (newval), "0" (oldval)
- : "memory");
- return out;
-#elif defined(_AIX) && defined(__xlC__)
- const long out = (*(volatile int*) ptr);
-# if defined(__64BIT__)
- __compare_and_swaplp(ptr, &oldval, newval);
-# else
- __compare_and_swap(ptr, &oldval, newval);
-# endif /* if defined(__64BIT__) */
- return out;
-#elif defined (__MVS__)
-#ifdef _LP64
- unsigned long long op4;
- if (__plo_CSSTGR(ptr, (unsigned long long*) &oldval, newval,
- (unsigned long long*) ptr, *ptr, &op4))
-#else
- unsigned long op4;
- if (__plo_CSST(ptr, (unsigned int*) &oldval, newval,
- (unsigned int*) ptr, *ptr, &op4))
-#endif
- return oldval;
- else
- return op4;
-#elif defined(__SUNPRO_C) || defined(__SUNPRO_CC)
- return atomic_cas_ulong(ptr, oldval, newval);
-#else
- return __sync_val_compare_and_swap(ptr, oldval, newval);
-#endif
-}
-
-UV_UNUSED(static void cpu_relax(void)) {
-#if defined(__i386__) || defined(__x86_64__)
- __asm__ __volatile__ ("rep; nop"); /* a.k.a. PAUSE */
-#endif
-}
-
-#endif /* UV_ATOMIC_OPS_H_ */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/bsd-ifaddrs.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/bsd-ifaddrs.cpp
deleted file mode 100644
index 3d885e1..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/bsd-ifaddrs.cpp
+++ /dev/null
@@ -1,153 +0,0 @@
-/* Copyright libuv project contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include "uv.h"
-#include "internal.h"
-
-#include <errno.h>
-#include <stddef.h>
-
-#include <ifaddrs.h>
-#include <net/if.h>
-#if !defined(__CYGWIN__) && !defined(__MSYS__)
-#include <net/if_dl.h>
-#endif
-
-static int uv__ifaddr_exclude(struct ifaddrs *ent, int exclude_type) {
- if (!((ent->ifa_flags & IFF_UP) && (ent->ifa_flags & IFF_RUNNING)))
- return 1;
- if (ent->ifa_addr == NULL)
- return 1;
-#if !defined(__CYGWIN__) && !defined(__MSYS__)
- /*
- * If `exclude_type` is `UV__EXCLUDE_IFPHYS`, just see whether `sa_family`
- * equals to `AF_LINK` or not. Otherwise, the result depends on the operation
- * system with `AF_LINK` or `PF_INET`.
- */
- if (exclude_type == UV__EXCLUDE_IFPHYS)
- return (ent->ifa_addr->sa_family != AF_LINK);
-#endif
-#if defined(__APPLE__) || defined(__FreeBSD__) || defined(__DragonFly__)
- /*
- * On BSD getifaddrs returns information related to the raw underlying
- * devices. We're not interested in this information.
- */
- if (ent->ifa_addr->sa_family == AF_LINK)
- return 1;
-#elif defined(__NetBSD__)
- if (ent->ifa_addr->sa_family != PF_INET &&
- ent->ifa_addr->sa_family != PF_INET6)
- return 1;
-#elif defined(__OpenBSD__)
- if (ent->ifa_addr->sa_family != PF_INET)
- return 1;
-#endif
- return 0;
-}
-
-int uv_interface_addresses(uv_interface_address_t** addresses, int* count) {
- struct ifaddrs* addrs;
- struct ifaddrs* ent;
- uv_interface_address_t* address;
- int i;
-
- if (getifaddrs(&addrs) != 0)
- return UV__ERR(errno);
-
- *count = 0;
-
- /* Count the number of interfaces */
- for (ent = addrs; ent != NULL; ent = ent->ifa_next) {
- if (uv__ifaddr_exclude(ent, UV__EXCLUDE_IFADDR))
- continue;
- (*count)++;
- }
-
- *addresses =
- (uv_interface_address_t*)uv__malloc(*count * sizeof(**addresses));
-
- if (*addresses == NULL) {
- freeifaddrs(addrs);
- return UV_ENOMEM;
- }
-
- address = *addresses;
-
- for (ent = addrs; ent != NULL; ent = ent->ifa_next) {
- if (uv__ifaddr_exclude(ent, UV__EXCLUDE_IFADDR))
- continue;
-
- address->name = uv__strdup(ent->ifa_name);
-
- if (ent->ifa_addr->sa_family == AF_INET6) {
- address->address.address6 = *((struct sockaddr_in6*) ent->ifa_addr);
- } else {
- address->address.address4 = *((struct sockaddr_in*) ent->ifa_addr);
- }
-
- if (ent->ifa_netmask->sa_family == AF_INET6) {
- address->netmask.netmask6 = *((struct sockaddr_in6*) ent->ifa_netmask);
- } else {
- address->netmask.netmask4 = *((struct sockaddr_in*) ent->ifa_netmask);
- }
-
- address->is_internal = !!(ent->ifa_flags & IFF_LOOPBACK);
-
- address++;
- }
-
- /* Fill in physical addresses for each interface */
- for (ent = addrs; ent != NULL; ent = ent->ifa_next) {
- if (uv__ifaddr_exclude(ent, UV__EXCLUDE_IFPHYS))
- continue;
-
- address = *addresses;
-
- for (i = 0; i < *count; i++) {
- if (strcmp(address->name, ent->ifa_name) == 0) {
-#if defined(__CYGWIN__) || defined(__MSYS__)
- memset(address->phys_addr, 0, sizeof(address->phys_addr));
-#else
- struct sockaddr_dl* sa_addr;
- sa_addr = (struct sockaddr_dl*)(ent->ifa_addr);
- memcpy(address->phys_addr, LLADDR(sa_addr), sizeof(address->phys_addr));
-#endif
- }
- address++;
- }
- }
-
- freeifaddrs(addrs);
-
- return 0;
-}
-
-
-void uv_free_interface_addresses(uv_interface_address_t* addresses,
- int count) {
- int i;
-
- for (i = 0; i < count; i++) {
- uv__free(addresses[i].name);
- }
-
- uv__free(addresses);
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/core.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/core.cpp
deleted file mode 100644
index df36747..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/core.cpp
+++ /dev/null
@@ -1,1347 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include "uv.h"
-#include "internal.h"
-
-#include <stddef.h> /* NULL */
-#include <stdio.h> /* printf */
-#include <stdlib.h>
-#include <string.h> /* strerror */
-#include <errno.h>
-#include <assert.h>
-#include <unistd.h>
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <fcntl.h>
-#include <sys/ioctl.h>
-#include <sys/socket.h>
-#include <sys/un.h>
-#include <netinet/in.h>
-#include <arpa/inet.h>
-#include <limits.h> /* INT_MAX, PATH_MAX, IOV_MAX */
-#include <sys/uio.h> /* writev */
-#include <sys/resource.h> /* getrusage */
-#include <pwd.h>
-
-#ifdef __sun
-# include <netdb.h> /* MAXHOSTNAMELEN on Solaris */
-# include <sys/filio.h>
-# include <sys/types.h>
-# include <sys/wait.h>
-#endif
-
-#ifdef __APPLE__
-# include <mach-o/dyld.h> /* _NSGetExecutablePath */
-# include <sys/filio.h>
-# if defined(O_CLOEXEC)
-# define UV__O_CLOEXEC O_CLOEXEC
-# endif
-#endif
-
-#if defined(__DragonFly__) || \
- defined(__FreeBSD__) || \
- defined(__FreeBSD_kernel__) || \
- defined(__NetBSD__)
-# include <sys/sysctl.h>
-# include <sys/filio.h>
-# include <sys/wait.h>
-# define UV__O_CLOEXEC O_CLOEXEC
-# if defined(__FreeBSD__) && __FreeBSD__ >= 10
-# define uv__accept4 accept4
-# endif
-# if defined(__NetBSD__)
-# define uv__accept4(a, b, c, d) paccept((a), (b), (c), NULL, (d))
-# endif
-# if (defined(__FreeBSD__) && __FreeBSD__ >= 10) || defined(__NetBSD__)
-# define UV__SOCK_NONBLOCK SOCK_NONBLOCK
-# define UV__SOCK_CLOEXEC SOCK_CLOEXEC
-# endif
-# if !defined(F_DUP2FD_CLOEXEC) && defined(_F_DUP2FD_CLOEXEC)
-# define F_DUP2FD_CLOEXEC _F_DUP2FD_CLOEXEC
-# endif
-#endif
-
-#if defined(__ANDROID_API__) && __ANDROID_API__ < 21
-# include <dlfcn.h> /* for dlsym */
-#endif
-
-#if defined(__MVS__)
-#include <sys/ioctl.h>
-#endif
-
-#if !defined(__MVS__)
-#include <sys/param.h> /* MAXHOSTNAMELEN on Linux and the BSDs */
-#endif
-
-/* Fallback for the maximum hostname length */
-#ifndef MAXHOSTNAMELEN
-# define MAXHOSTNAMELEN 256
-#endif
-
-static int uv__run_pending(uv_loop_t* loop);
-
-/* Verify that uv_buf_t is ABI-compatible with struct iovec. */
-STATIC_ASSERT(sizeof(uv_buf_t) == sizeof(struct iovec));
-STATIC_ASSERT(sizeof(&((uv_buf_t*) 0)->base) ==
- sizeof(((struct iovec*) 0)->iov_base));
-STATIC_ASSERT(sizeof(&((uv_buf_t*) 0)->len) ==
- sizeof(((struct iovec*) 0)->iov_len));
-STATIC_ASSERT(offsetof(uv_buf_t, base) == offsetof(struct iovec, iov_base));
-STATIC_ASSERT(offsetof(uv_buf_t, len) == offsetof(struct iovec, iov_len));
-
-
-uint64_t uv_hrtime(void) {
- return uv__hrtime(UV_CLOCK_PRECISE);
-}
-
-
-void uv_close(uv_handle_t* handle, uv_close_cb close_cb) {
- assert(!uv__is_closing(handle));
-
- handle->flags |= UV_CLOSING;
- handle->close_cb = close_cb;
-
- switch (handle->type) {
- case UV_NAMED_PIPE:
- uv__pipe_close((uv_pipe_t*)handle);
- break;
-
- case UV_TTY:
- uv__stream_close((uv_stream_t*)handle);
- break;
-
- case UV_TCP:
- uv__tcp_close((uv_tcp_t*)handle);
- break;
-
- case UV_UDP:
- uv__udp_close((uv_udp_t*)handle);
- break;
-
- case UV_PREPARE:
- uv__prepare_close((uv_prepare_t*)handle);
- break;
-
- case UV_CHECK:
- uv__check_close((uv_check_t*)handle);
- break;
-
- case UV_IDLE:
- uv__idle_close((uv_idle_t*)handle);
- break;
-
- case UV_ASYNC:
- uv__async_close((uv_async_t*)handle);
- break;
-
- case UV_TIMER:
- uv__timer_close((uv_timer_t*)handle);
- break;
-
- case UV_PROCESS:
- uv__process_close((uv_process_t*)handle);
- break;
-
- case UV_FS_EVENT:
- uv__fs_event_close((uv_fs_event_t*)handle);
- break;
-
- case UV_POLL:
- uv__poll_close((uv_poll_t*)handle);
- break;
-
- case UV_FS_POLL:
- uv__fs_poll_close((uv_fs_poll_t*)handle);
- break;
-
- case UV_SIGNAL:
- uv__signal_close((uv_signal_t*) handle);
- /* Signal handles may not be closed immediately. The signal code will
- * itself close uv__make_close_pending whenever appropriate. */
- return;
-
- default:
- assert(0);
- }
-
- uv__make_close_pending(handle);
-}
-
-int uv__socket_sockopt(uv_handle_t* handle, int optname, int* value) {
- int r;
- int fd;
- socklen_t len;
-
- if (handle == NULL || value == NULL)
- return UV_EINVAL;
-
- if (handle->type == UV_TCP || handle->type == UV_NAMED_PIPE)
- fd = uv__stream_fd((uv_stream_t*) handle);
- else if (handle->type == UV_UDP)
- fd = ((uv_udp_t *) handle)->io_watcher.fd;
- else
- return UV_ENOTSUP;
-
- len = sizeof(*value);
-
- if (*value == 0)
- r = getsockopt(fd, SOL_SOCKET, optname, value, &len);
- else
- r = setsockopt(fd, SOL_SOCKET, optname, (const void*) value, len);
-
- if (r < 0)
- return UV__ERR(errno);
-
- return 0;
-}
-
-void uv__make_close_pending(uv_handle_t* handle) {
- assert(handle->flags & UV_CLOSING);
- assert(!(handle->flags & UV_CLOSED));
- handle->next_closing = handle->loop->closing_handles;
- handle->loop->closing_handles = handle;
-}
-
-int uv__getiovmax(void) {
-#if defined(IOV_MAX)
- return IOV_MAX;
-#elif defined(_SC_IOV_MAX)
- static int iovmax = -1;
- if (iovmax == -1) {
- iovmax = sysconf(_SC_IOV_MAX);
- /* On some embedded devices (arm-linux-uclibc based ip camera),
- * sysconf(_SC_IOV_MAX) can not get the correct value. The return
- * value is -1 and the errno is EINPROGRESS. Degrade the value to 1.
- */
- if (iovmax == -1) iovmax = 1;
- }
- return iovmax;
-#else
- return 1024;
-#endif
-}
-
-
-static void uv__finish_close(uv_handle_t* handle) {
- /* Note: while the handle is in the UV_CLOSING state now, it's still possible
- * for it to be active in the sense that uv__is_active() returns true.
- * A good example is when the user calls uv_shutdown(), immediately followed
- * by uv_close(). The handle is considered active at this point because the
- * completion of the shutdown req is still pending.
- */
- assert(handle->flags & UV_CLOSING);
- assert(!(handle->flags & UV_CLOSED));
- handle->flags |= UV_CLOSED;
-
- switch (handle->type) {
- case UV_PREPARE:
- case UV_CHECK:
- case UV_IDLE:
- case UV_ASYNC:
- case UV_TIMER:
- case UV_PROCESS:
- case UV_FS_EVENT:
- case UV_FS_POLL:
- case UV_POLL:
- case UV_SIGNAL:
- break;
-
- case UV_NAMED_PIPE:
- case UV_TCP:
- case UV_TTY:
- uv__stream_destroy((uv_stream_t*)handle);
- break;
-
- case UV_UDP:
- uv__udp_finish_close((uv_udp_t*)handle);
- break;
-
- default:
- assert(0);
- break;
- }
-
- uv__handle_unref(handle);
- QUEUE_REMOVE(&handle->handle_queue);
-
- if (handle->close_cb) {
- handle->close_cb(handle);
- }
-}
-
-
-static void uv__run_closing_handles(uv_loop_t* loop) {
- uv_handle_t* p;
- uv_handle_t* q;
-
- p = loop->closing_handles;
- loop->closing_handles = NULL;
-
- while (p) {
- q = p->next_closing;
- uv__finish_close(p);
- p = q;
- }
-}
-
-
-int uv_is_closing(const uv_handle_t* handle) {
- return uv__is_closing(handle);
-}
-
-
-int uv_backend_fd(const uv_loop_t* loop) {
- return loop->backend_fd;
-}
-
-
-int uv_backend_timeout(const uv_loop_t* loop) {
- if (loop->stop_flag != 0)
- return 0;
-
- if (!uv__has_active_handles(loop) && !uv__has_active_reqs(loop))
- return 0;
-
- if (!QUEUE_EMPTY(&loop->idle_handles))
- return 0;
-
- if (!QUEUE_EMPTY(&loop->pending_queue))
- return 0;
-
- if (loop->closing_handles)
- return 0;
-
- return uv__next_timeout(loop);
-}
-
-
-static int uv__loop_alive(const uv_loop_t* loop) {
- return uv__has_active_handles(loop) ||
- uv__has_active_reqs(loop) ||
- loop->closing_handles != NULL;
-}
-
-
-int uv_loop_alive(const uv_loop_t* loop) {
- return uv__loop_alive(loop);
-}
-
-
-int uv_run(uv_loop_t* loop, uv_run_mode mode) {
- int timeout;
- int r;
- int ran_pending;
-
- r = uv__loop_alive(loop);
- if (!r)
- uv__update_time(loop);
-
- while (r != 0 && loop->stop_flag == 0) {
- uv__update_time(loop);
- uv__run_timers(loop);
- ran_pending = uv__run_pending(loop);
- uv__run_idle(loop);
- uv__run_prepare(loop);
-
- timeout = 0;
- if ((mode == UV_RUN_ONCE && !ran_pending) || mode == UV_RUN_DEFAULT)
- timeout = uv_backend_timeout(loop);
-
- uv__io_poll(loop, timeout);
- uv__run_check(loop);
- uv__run_closing_handles(loop);
-
- if (mode == UV_RUN_ONCE) {
- /* UV_RUN_ONCE implies forward progress: at least one callback must have
- * been invoked when it returns. uv__io_poll() can return without doing
- * I/O (meaning: no callbacks) when its timeout expires - which means we
- * have pending timers that satisfy the forward progress constraint.
- *
- * UV_RUN_NOWAIT makes no guarantees about progress so it's omitted from
- * the check.
- */
- uv__update_time(loop);
- uv__run_timers(loop);
- }
-
- r = uv__loop_alive(loop);
- if (mode == UV_RUN_ONCE || mode == UV_RUN_NOWAIT)
- break;
- }
-
- /* The if statement lets gcc compile it to a conditional store. Avoids
- * dirtying a cache line.
- */
- if (loop->stop_flag != 0)
- loop->stop_flag = 0;
-
- return r;
-}
-
-
-void uv_update_time(uv_loop_t* loop) {
- uv__update_time(loop);
-}
-
-
-int uv_is_active(const uv_handle_t* handle) {
- return uv__is_active(handle);
-}
-
-
-/* Open a socket in non-blocking close-on-exec mode, atomically if possible. */
-int uv__socket(int domain, int type, int protocol) {
- int sockfd;
- int err;
-
-#if defined(SOCK_NONBLOCK) && defined(SOCK_CLOEXEC)
- sockfd = socket(domain, type | SOCK_NONBLOCK | SOCK_CLOEXEC, protocol);
- if (sockfd != -1)
- return sockfd;
-
- if (errno != EINVAL)
- return UV__ERR(errno);
-#endif
-
- sockfd = socket(domain, type, protocol);
- if (sockfd == -1)
- return UV__ERR(errno);
-
- err = uv__nonblock(sockfd, 1);
- if (err == 0)
- err = uv__cloexec(sockfd, 1);
-
- if (err) {
- uv__close(sockfd);
- return err;
- }
-
-#if defined(SO_NOSIGPIPE)
- {
- int on = 1;
- setsockopt(sockfd, SOL_SOCKET, SO_NOSIGPIPE, &on, sizeof(on));
- }
-#endif
-
- return sockfd;
-}
-
-/* get a file pointer to a file in read-only and close-on-exec mode */
-FILE* uv__open_file(const char* path) {
- int fd;
- FILE* fp;
-
- fd = uv__open_cloexec(path, O_RDONLY);
- if (fd < 0)
- return NULL;
-
- fp = fdopen(fd, "r");
- if (fp == NULL)
- uv__close(fd);
-
- return fp;
-}
-
-
-int uv__accept(int sockfd) {
- int peerfd;
- int err;
-
- assert(sockfd >= 0);
-
- while (1) {
-#if defined(__linux__) || \
- (defined(__FreeBSD__) && __FreeBSD__ >= 10) || \
- defined(__NetBSD__)
- static int no_accept4;
-
- if (no_accept4)
- goto skip;
-
- peerfd = uv__accept4(sockfd,
- NULL,
- NULL,
- UV__SOCK_NONBLOCK|UV__SOCK_CLOEXEC);
- if (peerfd != -1)
- return peerfd;
-
- if (errno == EINTR)
- continue;
-
- if (errno != ENOSYS)
- return UV__ERR(errno);
-
- no_accept4 = 1;
-skip:
-#endif
-
- peerfd = accept(sockfd, NULL, NULL);
- if (peerfd == -1) {
- if (errno == EINTR)
- continue;
- return UV__ERR(errno);
- }
-
- err = uv__cloexec(peerfd, 1);
- if (err == 0)
- err = uv__nonblock(peerfd, 1);
-
- if (err) {
- uv__close(peerfd);
- return err;
- }
-
- return peerfd;
- }
-}
-
-
-int uv__close_nocheckstdio(int fd) {
- int saved_errno;
- int rc;
-
- assert(fd > -1); /* Catch uninitialized io_watcher.fd bugs. */
-
- saved_errno = errno;
- rc = close(fd);
- if (rc == -1) {
- rc = UV__ERR(errno);
- if (rc == UV_EINTR || rc == UV__ERR(EINPROGRESS))
- rc = 0; /* The close is in progress, not an error. */
- errno = saved_errno;
- }
-
- return rc;
-}
-
-
-int uv__close(int fd) {
- assert(fd > STDERR_FILENO); /* Catch stdio close bugs. */
-#if defined(__MVS__)
- SAVE_ERRNO(epoll_file_close(fd));
-#endif
- return uv__close_nocheckstdio(fd);
-}
-
-
-int uv__nonblock_ioctl(int fd, int set) {
- int r;
-
- do
- r = ioctl(fd, FIONBIO, &set);
- while (r == -1 && errno == EINTR);
-
- if (r)
- return UV__ERR(errno);
-
- return 0;
-}
-
-
-#if !defined(__CYGWIN__) && !defined(__MSYS__)
-int uv__cloexec_ioctl(int fd, int set) {
- int r;
-
- do
- r = ioctl(fd, set ? FIOCLEX : FIONCLEX);
- while (r == -1 && errno == EINTR);
-
- if (r)
- return UV__ERR(errno);
-
- return 0;
-}
-#endif
-
-
-int uv__nonblock_fcntl(int fd, int set) {
- int flags;
- int r;
-
- do
- r = fcntl(fd, F_GETFL);
- while (r == -1 && errno == EINTR);
-
- if (r == -1)
- return UV__ERR(errno);
-
- /* Bail out now if already set/clear. */
- if (!!(r & O_NONBLOCK) == !!set)
- return 0;
-
- if (set)
- flags = r | O_NONBLOCK;
- else
- flags = r & ~O_NONBLOCK;
-
- do
- r = fcntl(fd, F_SETFL, flags);
- while (r == -1 && errno == EINTR);
-
- if (r)
- return UV__ERR(errno);
-
- return 0;
-}
-
-
-int uv__cloexec_fcntl(int fd, int set) {
- int flags;
- int r;
-
- do
- r = fcntl(fd, F_GETFD);
- while (r == -1 && errno == EINTR);
-
- if (r == -1)
- return UV__ERR(errno);
-
- /* Bail out now if already set/clear. */
- if (!!(r & FD_CLOEXEC) == !!set)
- return 0;
-
- if (set)
- flags = r | FD_CLOEXEC;
- else
- flags = r & ~FD_CLOEXEC;
-
- do
- r = fcntl(fd, F_SETFD, flags);
- while (r == -1 && errno == EINTR);
-
- if (r)
- return UV__ERR(errno);
-
- return 0;
-}
-
-
-/* This function is not execve-safe, there is a race window
- * between the call to dup() and fcntl(FD_CLOEXEC).
- */
-int uv__dup(int fd) {
- int err;
-
- fd = dup(fd);
-
- if (fd == -1)
- return UV__ERR(errno);
-
- err = uv__cloexec(fd, 1);
- if (err) {
- uv__close(fd);
- return err;
- }
-
- return fd;
-}
-
-
-ssize_t uv__recvmsg(int fd, struct msghdr* msg, int flags) {
- struct cmsghdr* cmsg;
- ssize_t rc;
- int* pfd;
- int* end;
-#if defined(__linux__)
- static int no_msg_cmsg_cloexec;
- if (no_msg_cmsg_cloexec == 0) {
- rc = recvmsg(fd, msg, flags | 0x40000000); /* MSG_CMSG_CLOEXEC */
- if (rc != -1)
- return rc;
- if (errno != EINVAL)
- return UV__ERR(errno);
- rc = recvmsg(fd, msg, flags);
- if (rc == -1)
- return UV__ERR(errno);
- no_msg_cmsg_cloexec = 1;
- } else {
- rc = recvmsg(fd, msg, flags);
- }
-#else
- rc = recvmsg(fd, msg, flags);
-#endif
- if (rc == -1)
- return UV__ERR(errno);
- if (msg->msg_controllen == 0)
- return rc;
- for (cmsg = CMSG_FIRSTHDR(msg); cmsg != NULL; cmsg = CMSG_NXTHDR(msg, cmsg))
- if (cmsg->cmsg_type == SCM_RIGHTS)
- for (pfd = (int*) CMSG_DATA(cmsg),
- end = (int*) ((char*) cmsg + cmsg->cmsg_len);
- pfd < end;
- pfd += 1)
- uv__cloexec(*pfd, 1);
- return rc;
-}
-
-
-int uv_cwd(char* buffer, size_t* size) {
- if (buffer == NULL || size == NULL)
- return UV_EINVAL;
-
- if (getcwd(buffer, *size) == NULL)
- return UV__ERR(errno);
-
- *size = strlen(buffer);
- if (*size > 1 && buffer[*size - 1] == '/') {
- buffer[*size-1] = '\0';
- (*size)--;
- }
-
- return 0;
-}
-
-
-int uv_chdir(const char* dir) {
- if (chdir(dir))
- return UV__ERR(errno);
-
- return 0;
-}
-
-
-void uv_disable_stdio_inheritance(void) {
- int fd;
-
- /* Set the CLOEXEC flag on all open descriptors. Unconditionally try the
- * first 16 file descriptors. After that, bail out after the first error.
- */
- for (fd = 0; ; fd++)
- if (uv__cloexec(fd, 1) && fd > 15)
- break;
-}
-
-
-int uv_fileno(const uv_handle_t* handle, uv_os_fd_t* fd) {
- int fd_out;
-
- switch (handle->type) {
- case UV_TCP:
- case UV_NAMED_PIPE:
- case UV_TTY:
- fd_out = uv__stream_fd((uv_stream_t*) handle);
- break;
-
- case UV_UDP:
- fd_out = ((uv_udp_t *) handle)->io_watcher.fd;
- break;
-
- case UV_POLL:
- fd_out = ((uv_poll_t *) handle)->io_watcher.fd;
- break;
-
- default:
- return UV_EINVAL;
- }
-
- if (uv__is_closing(handle) || fd_out == -1)
- return UV_EBADF;
-
- *fd = fd_out;
- return 0;
-}
-
-
-static int uv__run_pending(uv_loop_t* loop) {
- QUEUE* q;
- QUEUE pq;
- uv__io_t* w;
-
- if (QUEUE_EMPTY(&loop->pending_queue))
- return 0;
-
- QUEUE_MOVE(&loop->pending_queue, &pq);
-
- while (!QUEUE_EMPTY(&pq)) {
- q = QUEUE_HEAD(&pq);
- QUEUE_REMOVE(q);
- QUEUE_INIT(q);
- w = QUEUE_DATA(q, uv__io_t, pending_queue);
- w->cb(loop, w, POLLOUT);
- }
-
- return 1;
-}
-
-
-static unsigned int next_power_of_two(unsigned int val) {
- val -= 1;
- val |= val >> 1;
- val |= val >> 2;
- val |= val >> 4;
- val |= val >> 8;
- val |= val >> 16;
- val += 1;
- return val;
-}
-
-static void maybe_resize(uv_loop_t* loop, unsigned int len) {
- uv__io_t** watchers;
- void* fake_watcher_list;
- void* fake_watcher_count;
- unsigned int nwatchers;
- unsigned int i;
-
- if (len <= loop->nwatchers)
- return;
-
- /* Preserve fake watcher list and count at the end of the watchers */
- if (loop->watchers != NULL) {
- fake_watcher_list = loop->watchers[loop->nwatchers];
- fake_watcher_count = loop->watchers[loop->nwatchers + 1];
- } else {
- fake_watcher_list = NULL;
- fake_watcher_count = NULL;
- }
-
- nwatchers = next_power_of_two(len + 2) - 2;
- watchers = (uv__io_t**)
- uv__realloc(loop->watchers, (nwatchers + 2) * sizeof(loop->watchers[0]));
-
- if (watchers == NULL)
- abort();
- for (i = loop->nwatchers; i < nwatchers; i++)
- watchers[i] = NULL;
- watchers[nwatchers] = (uv__io_t*)fake_watcher_list;
- watchers[nwatchers + 1] = (uv__io_t*)fake_watcher_count;
-
- loop->watchers = watchers;
- loop->nwatchers = nwatchers;
-}
-
-
-void uv__io_init(uv__io_t* w, uv__io_cb cb, int fd) {
- assert(cb != NULL);
- assert(fd >= -1);
- QUEUE_INIT(&w->pending_queue);
- QUEUE_INIT(&w->watcher_queue);
- w->cb = cb;
- w->fd = fd;
- w->events = 0;
- w->pevents = 0;
-
-#if defined(UV_HAVE_KQUEUE)
- w->rcount = 0;
- w->wcount = 0;
-#endif /* defined(UV_HAVE_KQUEUE) */
-}
-
-
-void uv__io_start(uv_loop_t* loop, uv__io_t* w, unsigned int events) {
- assert(0 == (events & ~(POLLIN | POLLOUT | UV__POLLRDHUP | UV__POLLPRI)));
- assert(0 != events);
- assert(w->fd >= 0);
- assert(w->fd < INT_MAX);
-
- w->pevents |= events;
- maybe_resize(loop, w->fd + 1);
-
-#if !defined(__sun)
- /* The event ports backend needs to rearm all file descriptors on each and
- * every tick of the event loop but the other backends allow us to
- * short-circuit here if the event mask is unchanged.
- */
- if (w->events == w->pevents)
- return;
-#endif
-
- if (QUEUE_EMPTY(&w->watcher_queue))
- QUEUE_INSERT_TAIL(&loop->watcher_queue, &w->watcher_queue);
-
- if (loop->watchers[w->fd] == NULL) {
- loop->watchers[w->fd] = w;
- loop->nfds++;
- }
-}
-
-
-void uv__io_stop(uv_loop_t* loop, uv__io_t* w, unsigned int events) {
- assert(0 == (events & ~(POLLIN | POLLOUT | UV__POLLRDHUP | UV__POLLPRI)));
- assert(0 != events);
-
- if (w->fd == -1)
- return;
-
- assert(w->fd >= 0);
-
- /* Happens when uv__io_stop() is called on a handle that was never started. */
- if ((unsigned) w->fd >= loop->nwatchers)
- return;
-
- w->pevents &= ~events;
-
- if (w->pevents == 0) {
- QUEUE_REMOVE(&w->watcher_queue);
- QUEUE_INIT(&w->watcher_queue);
-
- if (loop->watchers[w->fd] != NULL) {
- assert(loop->watchers[w->fd] == w);
- assert(loop->nfds > 0);
- loop->watchers[w->fd] = NULL;
- loop->nfds--;
- w->events = 0;
- }
- }
- else if (QUEUE_EMPTY(&w->watcher_queue))
- QUEUE_INSERT_TAIL(&loop->watcher_queue, &w->watcher_queue);
-}
-
-
-void uv__io_close(uv_loop_t* loop, uv__io_t* w) {
- uv__io_stop(loop, w, POLLIN | POLLOUT | UV__POLLRDHUP | UV__POLLPRI);
- QUEUE_REMOVE(&w->pending_queue);
-
- /* Remove stale events for this file descriptor */
- uv__platform_invalidate_fd(loop, w->fd);
-}
-
-
-void uv__io_feed(uv_loop_t* loop, uv__io_t* w) {
- if (QUEUE_EMPTY(&w->pending_queue))
- QUEUE_INSERT_TAIL(&loop->pending_queue, &w->pending_queue);
-}
-
-
-int uv__io_active(const uv__io_t* w, unsigned int events) {
- assert(0 == (events & ~(POLLIN | POLLOUT | UV__POLLRDHUP | UV__POLLPRI)));
- assert(0 != events);
- return 0 != (w->pevents & events);
-}
-
-
-int uv__fd_exists(uv_loop_t* loop, int fd) {
- return (unsigned) fd < loop->nwatchers && loop->watchers[fd] != NULL;
-}
-
-
-int uv_getrusage(uv_rusage_t* rusage) {
- struct rusage usage;
-
- if (getrusage(RUSAGE_SELF, &usage))
- return UV__ERR(errno);
-
- rusage->ru_utime.tv_sec = usage.ru_utime.tv_sec;
- rusage->ru_utime.tv_usec = usage.ru_utime.tv_usec;
-
- rusage->ru_stime.tv_sec = usage.ru_stime.tv_sec;
- rusage->ru_stime.tv_usec = usage.ru_stime.tv_usec;
-
-#if !defined(__MVS__)
- rusage->ru_maxrss = usage.ru_maxrss;
- rusage->ru_ixrss = usage.ru_ixrss;
- rusage->ru_idrss = usage.ru_idrss;
- rusage->ru_isrss = usage.ru_isrss;
- rusage->ru_minflt = usage.ru_minflt;
- rusage->ru_majflt = usage.ru_majflt;
- rusage->ru_nswap = usage.ru_nswap;
- rusage->ru_inblock = usage.ru_inblock;
- rusage->ru_oublock = usage.ru_oublock;
- rusage->ru_msgsnd = usage.ru_msgsnd;
- rusage->ru_msgrcv = usage.ru_msgrcv;
- rusage->ru_nsignals = usage.ru_nsignals;
- rusage->ru_nvcsw = usage.ru_nvcsw;
- rusage->ru_nivcsw = usage.ru_nivcsw;
-#endif
-
- return 0;
-}
-
-
-int uv__open_cloexec(const char* path, int flags) {
- int err;
- int fd;
-
-#if defined(UV__O_CLOEXEC)
- static int no_cloexec;
-
- if (!no_cloexec) {
- fd = open(path, flags | UV__O_CLOEXEC);
- if (fd != -1)
- return fd;
-
- if (errno != EINVAL)
- return UV__ERR(errno);
-
- /* O_CLOEXEC not supported. */
- no_cloexec = 1;
- }
-#endif
-
- fd = open(path, flags);
- if (fd == -1)
- return UV__ERR(errno);
-
- err = uv__cloexec(fd, 1);
- if (err) {
- uv__close(fd);
- return err;
- }
-
- return fd;
-}
-
-
-int uv__dup2_cloexec(int oldfd, int newfd) {
- int r;
-#if (defined(__FreeBSD__) && __FreeBSD__ >= 10) || defined(__NetBSD__)
- r = dup3(oldfd, newfd, O_CLOEXEC);
- if (r == -1)
- return UV__ERR(errno);
- return r;
-#elif defined(__FreeBSD__) && defined(F_DUP2FD_CLOEXEC)
- r = fcntl(oldfd, F_DUP2FD_CLOEXEC, newfd);
- if (r != -1)
- return r;
- if (errno != EINVAL)
- return UV__ERR(errno);
- /* Fall through. */
-#elif defined(__linux__)
- static int no_dup3;
- if (!no_dup3) {
- do
- r = uv__dup3(oldfd, newfd, UV__O_CLOEXEC);
- while (r == -1 && errno == EBUSY);
- if (r != -1)
- return r;
- if (errno != ENOSYS)
- return UV__ERR(errno);
- /* Fall through. */
- no_dup3 = 1;
- }
-#endif
- {
- int err;
- do
- r = dup2(oldfd, newfd);
-#if defined(__linux__)
- while (r == -1 && errno == EBUSY);
-#else
- while (0); /* Never retry. */
-#endif
-
- if (r == -1)
- return UV__ERR(errno);
-
- err = uv__cloexec(newfd, 1);
- if (err) {
- uv__close(newfd);
- return err;
- }
-
- return r;
- }
-}
-
-
-int uv_os_homedir(char* buffer, size_t* size) {
- uv_passwd_t pwd;
- size_t len;
- int r;
-
- /* Check if the HOME environment variable is set first. The task of
- performing input validation on buffer and size is taken care of by
- uv_os_getenv(). */
- r = uv_os_getenv("HOME", buffer, size);
-
- if (r != UV_ENOENT)
- return r;
-
- /* HOME is not set, so call uv__getpwuid_r() */
- r = uv__getpwuid_r(&pwd);
-
- if (r != 0) {
- return r;
- }
-
- len = strlen(pwd.homedir);
-
- if (len >= *size) {
- *size = len + 1;
- uv_os_free_passwd(&pwd);
- return UV_ENOBUFS;
- }
-
- memcpy(buffer, pwd.homedir, len + 1);
- *size = len;
- uv_os_free_passwd(&pwd);
-
- return 0;
-}
-
-
-int uv_os_tmpdir(char* buffer, size_t* size) {
- const char* buf;
- size_t len;
-
- if (buffer == NULL || size == NULL || *size == 0)
- return UV_EINVAL;
-
-#define CHECK_ENV_VAR(name) \
- do { \
- buf = getenv(name); \
- if (buf != NULL) \
- goto return_buffer; \
- } \
- while (0)
-
- /* Check the TMPDIR, TMP, TEMP, and TEMPDIR environment variables in order */
- CHECK_ENV_VAR("TMPDIR");
- CHECK_ENV_VAR("TMP");
- CHECK_ENV_VAR("TEMP");
- CHECK_ENV_VAR("TEMPDIR");
-
-#undef CHECK_ENV_VAR
-
- /* No temp environment variables defined */
- #if defined(__ANDROID__)
- buf = "/data/local/tmp";
- #else
- buf = "/tmp";
- #endif
-
-return_buffer:
- len = strlen(buf);
-
- if (len >= *size) {
- *size = len + 1;
- return UV_ENOBUFS;
- }
-
- /* The returned directory should not have a trailing slash. */
- if (len > 1 && buf[len - 1] == '/') {
- len--;
- }
-
- memcpy(buffer, buf, len + 1);
- buffer[len] = '\0';
- *size = len;
-
- return 0;
-}
-
-
-int uv__getpwuid_r(uv_passwd_t* pwd) {
- struct passwd pw;
- struct passwd* result;
- char* buf;
- uid_t uid;
- size_t bufsize;
- size_t name_size;
- size_t homedir_size;
- size_t shell_size;
- long initsize;
- int r;
-#if defined(__ANDROID_API__) && __ANDROID_API__ < 21
- int (*getpwuid_r)(uid_t, struct passwd*, char*, size_t, struct passwd**);
-
- getpwuid_r = dlsym(RTLD_DEFAULT, "getpwuid_r");
- if (getpwuid_r == NULL)
- return UV_ENOSYS;
-#endif
-
- if (pwd == NULL)
- return UV_EINVAL;
-
- initsize = sysconf(_SC_GETPW_R_SIZE_MAX);
-
- if (initsize <= 0)
- bufsize = 4096;
- else
- bufsize = (size_t) initsize;
-
- uid = geteuid();
- buf = NULL;
-
- for (;;) {
- uv__free(buf);
- buf = (char*)uv__malloc(bufsize);
-
- if (buf == NULL)
- return UV_ENOMEM;
-
- r = getpwuid_r(uid, &pw, buf, bufsize, &result);
-
- if (r != ERANGE)
- break;
-
- bufsize *= 2;
- }
-
- if (r != 0) {
- uv__free(buf);
- return -r;
- }
-
- if (result == NULL) {
- uv__free(buf);
- return UV_ENOENT;
- }
-
- /* Allocate memory for the username, shell, and home directory */
- name_size = strlen(pw.pw_name) + 1;
- homedir_size = strlen(pw.pw_dir) + 1;
- shell_size = strlen(pw.pw_shell) + 1;
- pwd->username = (char*)uv__malloc(name_size + homedir_size + shell_size);
-
- if (pwd->username == NULL) {
- uv__free(buf);
- return UV_ENOMEM;
- }
-
- /* Copy the username */
- memcpy(pwd->username, pw.pw_name, name_size);
-
- /* Copy the home directory */
- pwd->homedir = pwd->username + name_size;
- memcpy(pwd->homedir, pw.pw_dir, homedir_size);
-
- /* Copy the shell */
- pwd->shell = pwd->homedir + homedir_size;
- memcpy(pwd->shell, pw.pw_shell, shell_size);
-
- /* Copy the uid and gid */
- pwd->uid = pw.pw_uid;
- pwd->gid = pw.pw_gid;
-
- uv__free(buf);
-
- return 0;
-}
-
-
-void uv_os_free_passwd(uv_passwd_t* pwd) {
- if (pwd == NULL)
- return;
-
- /*
- The memory for name, shell, and homedir are allocated in a single
- uv__malloc() call. The base of the pointer is stored in pwd->username, so
- that is the field that needs to be freed.
- */
- uv__free(pwd->username);
- pwd->username = NULL;
- pwd->shell = NULL;
- pwd->homedir = NULL;
-}
-
-
-int uv_os_get_passwd(uv_passwd_t* pwd) {
- return uv__getpwuid_r(pwd);
-}
-
-
-int uv_translate_sys_error(int sys_errno) {
- /* If < 0 then it's already a libuv error. */
- return sys_errno <= 0 ? sys_errno : -sys_errno;
-}
-
-
-int uv_os_getenv(const char* name, char* buffer, size_t* size) {
- char* var;
- size_t len;
-
- if (name == NULL || buffer == NULL || size == NULL || *size == 0)
- return UV_EINVAL;
-
- var = getenv(name);
-
- if (var == NULL)
- return UV_ENOENT;
-
- len = strlen(var);
-
- if (len >= *size) {
- *size = len + 1;
- return UV_ENOBUFS;
- }
-
- memcpy(buffer, var, len + 1);
- *size = len;
-
- return 0;
-}
-
-
-int uv_os_setenv(const char* name, const char* value) {
- if (name == NULL || value == NULL)
- return UV_EINVAL;
-
- if (setenv(name, value, 1) != 0)
- return UV__ERR(errno);
-
- return 0;
-}
-
-
-int uv_os_unsetenv(const char* name) {
- if (name == NULL)
- return UV_EINVAL;
-
- if (unsetenv(name) != 0)
- return UV__ERR(errno);
-
- return 0;
-}
-
-
-int uv_os_gethostname(char* buffer, size_t* size) {
- /*
- On some platforms, if the input buffer is not large enough, gethostname()
- succeeds, but truncates the result. libuv can detect this and return ENOBUFS
- instead by creating a large enough buffer and comparing the hostname length
- to the size input.
- */
- char buf[MAXHOSTNAMELEN + 1];
- size_t len;
-
- if (buffer == NULL || size == NULL || *size == 0)
- return UV_EINVAL;
-
- if (gethostname(buf, sizeof(buf)) != 0)
- return UV__ERR(errno);
-
- buf[sizeof(buf) - 1] = '\0'; /* Null terminate, just to be safe. */
- len = strlen(buf);
-
- if (len >= *size) {
- *size = len + 1;
- return UV_ENOBUFS;
- }
-
- memcpy(buffer, buf, len + 1);
- *size = len;
- return 0;
-}
-
-
-uv_os_fd_t uv_get_osfhandle(int fd) {
- return fd;
-}
-
-
-uv_pid_t uv_os_getpid(void) {
- return getpid();
-}
-
-
-uv_pid_t uv_os_getppid(void) {
- return getppid();
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/cygwin.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/cygwin.cpp
deleted file mode 100644
index 9fe4093..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/cygwin.cpp
+++ /dev/null
@@ -1,54 +0,0 @@
-/* Copyright libuv project contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include "uv.h"
-#include "internal.h"
-
-#include <sys/sysinfo.h>
-#include <unistd.h>
-
-int uv_uptime(double* uptime) {
- struct sysinfo info;
-
- if (sysinfo(&info) < 0)
- return UV__ERR(errno);
-
- *uptime = info.uptime;
- return 0;
-}
-
-int uv_resident_set_memory(size_t* rss) {
- /* FIXME: read /proc/meminfo? */
- *rss = 0;
- return UV_ENOSYS;
-}
-
-int uv_cpu_info(uv_cpu_info_t** cpu_infos, int* count) {
- /* FIXME: read /proc/stat? */
- *cpu_infos = NULL;
- *count = 0;
- return UV_ENOSYS;
-}
-
-void uv_free_cpu_info(uv_cpu_info_t* cpu_infos, int count) {
- (void)cpu_infos;
- (void)count;
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/darwin-proctitle.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/darwin-proctitle.cpp
deleted file mode 100644
index 8e43aee..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/darwin-proctitle.cpp
+++ /dev/null
@@ -1,210 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include "uv.h"
-#include "internal.h"
-
-#include <dlfcn.h>
-#include <errno.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include <TargetConditionals.h>
-
-#if !TARGET_OS_IPHONE
-# include <CoreFoundation/CoreFoundation.h>
-# include <ApplicationServices/ApplicationServices.h>
-#endif
-
-
-static int uv__pthread_setname_np(const char* name) {
- int (*dynamic_pthread_setname_np)(const char* name);
- char namebuf[64]; /* MAXTHREADNAMESIZE */
- int err;
-
- /* pthread_setname_np() first appeared in OS X 10.6 and iOS 3.2. */
- *(void **)(&dynamic_pthread_setname_np) =
- dlsym(RTLD_DEFAULT, "pthread_setname_np");
-
- if (dynamic_pthread_setname_np == NULL)
- return UV_ENOSYS;
-
- strncpy(namebuf, name, sizeof(namebuf) - 1);
- namebuf[sizeof(namebuf) - 1] = '\0';
-
- err = dynamic_pthread_setname_np(namebuf);
- if (err)
- return UV__ERR(err);
-
- return 0;
-}
-
-
-int uv__set_process_title(const char* title) {
-#if TARGET_OS_IPHONE
- return uv__pthread_setname_np(title);
-#else
- CFStringRef (*pCFStringCreateWithCString)(CFAllocatorRef,
- const char*,
- CFStringEncoding);
- CFBundleRef (*pCFBundleGetBundleWithIdentifier)(CFStringRef);
- void *(*pCFBundleGetDataPointerForName)(CFBundleRef, CFStringRef);
- void *(*pCFBundleGetFunctionPointerForName)(CFBundleRef, CFStringRef);
- CFTypeRef (*pLSGetCurrentApplicationASN)(void);
- OSStatus (*pLSSetApplicationInformationItem)(int,
- CFTypeRef,
- CFStringRef,
- CFStringRef,
- CFDictionaryRef*);
- void* application_services_handle;
- void* core_foundation_handle;
- CFBundleRef launch_services_bundle;
- CFStringRef* display_name_key;
- CFDictionaryRef (*pCFBundleGetInfoDictionary)(CFBundleRef);
- CFBundleRef (*pCFBundleGetMainBundle)(void);
- CFBundleRef hi_services_bundle;
- OSStatus (*pSetApplicationIsDaemon)(int);
- CFDictionaryRef (*pLSApplicationCheckIn)(int, CFDictionaryRef);
- void (*pLSSetApplicationLaunchServicesServerConnectionStatus)(uint64_t,
- void*);
- CFTypeRef asn;
- int err;
-
- err = UV_ENOENT;
- application_services_handle = dlopen("/System/Library/Frameworks/"
- "ApplicationServices.framework/"
- "Versions/A/ApplicationServices",
- RTLD_LAZY | RTLD_LOCAL);
- core_foundation_handle = dlopen("/System/Library/Frameworks/"
- "CoreFoundation.framework/"
- "Versions/A/CoreFoundation",
- RTLD_LAZY | RTLD_LOCAL);
-
- if (application_services_handle == NULL || core_foundation_handle == NULL)
- goto out;
-
- *(void **)(&pCFStringCreateWithCString) =
- dlsym(core_foundation_handle, "CFStringCreateWithCString");
- *(void **)(&pCFBundleGetBundleWithIdentifier) =
- dlsym(core_foundation_handle, "CFBundleGetBundleWithIdentifier");
- *(void **)(&pCFBundleGetDataPointerForName) =
- dlsym(core_foundation_handle, "CFBundleGetDataPointerForName");
- *(void **)(&pCFBundleGetFunctionPointerForName) =
- dlsym(core_foundation_handle, "CFBundleGetFunctionPointerForName");
-
- if (pCFStringCreateWithCString == NULL ||
- pCFBundleGetBundleWithIdentifier == NULL ||
- pCFBundleGetDataPointerForName == NULL ||
- pCFBundleGetFunctionPointerForName == NULL) {
- goto out;
- }
-
-#define S(s) pCFStringCreateWithCString(NULL, (s), kCFStringEncodingUTF8)
-
- launch_services_bundle =
- pCFBundleGetBundleWithIdentifier(S("com.apple.LaunchServices"));
-
- if (launch_services_bundle == NULL)
- goto out;
-
- *(void **)(&pLSGetCurrentApplicationASN) =
- pCFBundleGetFunctionPointerForName(launch_services_bundle,
- S("_LSGetCurrentApplicationASN"));
-
- if (pLSGetCurrentApplicationASN == NULL)
- goto out;
-
- *(void **)(&pLSSetApplicationInformationItem) =
- pCFBundleGetFunctionPointerForName(launch_services_bundle,
- S("_LSSetApplicationInformationItem"));
-
- if (pLSSetApplicationInformationItem == NULL)
- goto out;
-
- display_name_key = (CFStringRef*)
- pCFBundleGetDataPointerForName(launch_services_bundle,
- S("_kLSDisplayNameKey"));
-
- if (display_name_key == NULL || *display_name_key == NULL)
- goto out;
-
- *(void **)(&pCFBundleGetInfoDictionary) = dlsym(core_foundation_handle,
- "CFBundleGetInfoDictionary");
- *(void **)(&pCFBundleGetMainBundle) = dlsym(core_foundation_handle,
- "CFBundleGetMainBundle");
- if (pCFBundleGetInfoDictionary == NULL || pCFBundleGetMainBundle == NULL)
- goto out;
-
- /* Black 10.9 magic, to remove (Not responding) mark in Activity Monitor */
- hi_services_bundle =
- pCFBundleGetBundleWithIdentifier(S("com.apple.HIServices"));
- err = UV_ENOENT;
- if (hi_services_bundle == NULL)
- goto out;
-
- *(void **)(&pSetApplicationIsDaemon) = pCFBundleGetFunctionPointerForName(
- hi_services_bundle,
- S("SetApplicationIsDaemon"));
- *(void **)(&pLSApplicationCheckIn) = pCFBundleGetFunctionPointerForName(
- launch_services_bundle,
- S("_LSApplicationCheckIn"));
- *(void **)(&pLSSetApplicationLaunchServicesServerConnectionStatus) =
- pCFBundleGetFunctionPointerForName(
- launch_services_bundle,
- S("_LSSetApplicationLaunchServicesServerConnectionStatus"));
- if (pSetApplicationIsDaemon == NULL ||
- pLSApplicationCheckIn == NULL ||
- pLSSetApplicationLaunchServicesServerConnectionStatus == NULL) {
- goto out;
- }
-
- if (pSetApplicationIsDaemon(1) != noErr)
- goto out;
-
- pLSSetApplicationLaunchServicesServerConnectionStatus(0, NULL);
-
- /* Check into process manager?! */
- pLSApplicationCheckIn(-2,
- pCFBundleGetInfoDictionary(pCFBundleGetMainBundle()));
-
- asn = pLSGetCurrentApplicationASN();
-
- err = UV_EINVAL;
- if (pLSSetApplicationInformationItem(-2, /* Magic value. */
- asn,
- *display_name_key,
- S(title),
- NULL) != noErr) {
- goto out;
- }
-
- uv__pthread_setname_np(title); /* Don't care if it fails. */
- err = 0;
-
-out:
- if (core_foundation_handle != NULL)
- dlclose(core_foundation_handle);
-
- if (application_services_handle != NULL)
- dlclose(application_services_handle);
-
- return err;
-#endif /* !TARGET_OS_IPHONE */
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/darwin.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/darwin.cpp
deleted file mode 100644
index 9dc3d1b..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/darwin.cpp
+++ /dev/null
@@ -1,231 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include "uv.h"
-#include "internal.h"
-
-#include <assert.h>
-#include <stdint.h>
-#include <errno.h>
-
-#include <mach/mach.h>
-#include <mach/mach_time.h>
-#include <mach-o/dyld.h> /* _NSGetExecutablePath */
-#include <sys/resource.h>
-#include <sys/sysctl.h>
-#include <unistd.h> /* sysconf */
-
-
-int uv__platform_loop_init(uv_loop_t* loop) {
- loop->cf_state = NULL;
-
- if (uv__kqueue_init(loop))
- return UV__ERR(errno);
-
- return 0;
-}
-
-
-void uv__platform_loop_delete(uv_loop_t* loop) {
- uv__fsevents_loop_delete(loop);
-}
-
-
-uint64_t uv__hrtime(uv_clocktype_t type) {
- static mach_timebase_info_data_t info;
-
- if ((ACCESS_ONCE(uint32_t, info.numer) == 0 ||
- ACCESS_ONCE(uint32_t, info.denom) == 0) &&
- mach_timebase_info(&info) != KERN_SUCCESS)
- abort();
-
- return mach_absolute_time() * info.numer / info.denom;
-}
-
-
-int uv_exepath(char* buffer, size_t* size) {
- /* realpath(exepath) may be > PATH_MAX so double it to be on the safe side. */
- char abspath[PATH_MAX * 2 + 1];
- char exepath[PATH_MAX + 1];
- uint32_t exepath_size;
- size_t abspath_size;
-
- if (buffer == NULL || size == NULL || *size == 0)
- return UV_EINVAL;
-
- exepath_size = sizeof(exepath);
- if (_NSGetExecutablePath(exepath, &exepath_size))
- return UV_EIO;
-
- if (realpath(exepath, abspath) != abspath)
- return UV__ERR(errno);
-
- abspath_size = strlen(abspath);
- if (abspath_size == 0)
- return UV_EIO;
-
- *size -= 1;
- if (*size > abspath_size)
- *size = abspath_size;
-
- memcpy(buffer, abspath, *size);
- buffer[*size] = '\0';
-
- return 0;
-}
-
-
-uint64_t uv_get_free_memory(void) {
- vm_statistics_data_t info;
- mach_msg_type_number_t count = sizeof(info) / sizeof(integer_t);
-
- if (host_statistics(mach_host_self(), HOST_VM_INFO,
- (host_info_t)&info, &count) != KERN_SUCCESS) {
- return UV_EINVAL; /* FIXME(bnoordhuis) Translate error. */
- }
-
- return (uint64_t) info.free_count * sysconf(_SC_PAGESIZE);
-}
-
-
-uint64_t uv_get_total_memory(void) {
- uint64_t info;
- int which[] = {CTL_HW, HW_MEMSIZE};
- size_t size = sizeof(info);
-
- if (sysctl(which, 2, &info, &size, NULL, 0))
- return UV__ERR(errno);
-
- return (uint64_t) info;
-}
-
-
-void uv_loadavg(double avg[3]) {
- struct loadavg info;
- size_t size = sizeof(info);
- int which[] = {CTL_VM, VM_LOADAVG};
-
- if (sysctl(which, 2, &info, &size, NULL, 0) < 0) return;
-
- avg[0] = (double) info.ldavg[0] / info.fscale;
- avg[1] = (double) info.ldavg[1] / info.fscale;
- avg[2] = (double) info.ldavg[2] / info.fscale;
-}
-
-
-int uv_resident_set_memory(size_t* rss) {
- mach_msg_type_number_t count;
- task_basic_info_data_t info;
- kern_return_t err;
-
- count = TASK_BASIC_INFO_COUNT;
- err = task_info(mach_task_self(),
- TASK_BASIC_INFO,
- (task_info_t) &info,
- &count);
- (void) &err;
- /* task_info(TASK_BASIC_INFO) cannot really fail. Anything other than
- * KERN_SUCCESS implies a libuv bug.
- */
- assert(err == KERN_SUCCESS);
- *rss = info.resident_size;
-
- return 0;
-}
-
-
-int uv_uptime(double* uptime) {
- time_t now;
- struct timeval info;
- size_t size = sizeof(info);
- static int which[] = {CTL_KERN, KERN_BOOTTIME};
-
- if (sysctl(which, 2, &info, &size, NULL, 0))
- return UV__ERR(errno);
-
- now = time(NULL);
- *uptime = now - info.tv_sec;
-
- return 0;
-}
-
-int uv_cpu_info(uv_cpu_info_t** cpu_infos, int* count) {
- unsigned int ticks = (unsigned int)sysconf(_SC_CLK_TCK),
- multiplier = ((uint64_t)1000L / ticks);
- char model[512];
- uint64_t cpuspeed;
- size_t size;
- unsigned int i;
- natural_t numcpus;
- mach_msg_type_number_t msg_type;
- processor_cpu_load_info_data_t *info;
- uv_cpu_info_t* cpu_info;
-
- size = sizeof(model);
- if (sysctlbyname("machdep.cpu.brand_string", &model, &size, NULL, 0) &&
- sysctlbyname("hw.model", &model, &size, NULL, 0)) {
- return UV__ERR(errno);
- }
-
- size = sizeof(cpuspeed);
- if (sysctlbyname("hw.cpufrequency", &cpuspeed, &size, NULL, 0))
- return UV__ERR(errno);
-
- if (host_processor_info(mach_host_self(), PROCESSOR_CPU_LOAD_INFO, &numcpus,
- (processor_info_array_t*)&info,
- &msg_type) != KERN_SUCCESS) {
- return UV_EINVAL; /* FIXME(bnoordhuis) Translate error. */
- }
-
- *cpu_infos = (uv_cpu_info_t*)uv__malloc(numcpus * sizeof(**cpu_infos));
- if (!(*cpu_infos)) {
- vm_deallocate(mach_task_self(), (vm_address_t)info, msg_type);
- return UV_ENOMEM;
- }
-
- *count = numcpus;
-
- for (i = 0; i < numcpus; i++) {
- cpu_info = &(*cpu_infos)[i];
-
- cpu_info->cpu_times.user = (uint64_t)(info[i].cpu_ticks[0]) * multiplier;
- cpu_info->cpu_times.nice = (uint64_t)(info[i].cpu_ticks[3]) * multiplier;
- cpu_info->cpu_times.sys = (uint64_t)(info[i].cpu_ticks[1]) * multiplier;
- cpu_info->cpu_times.idle = (uint64_t)(info[i].cpu_ticks[2]) * multiplier;
- cpu_info->cpu_times.irq = 0;
-
- cpu_info->model = uv__strdup(model);
- cpu_info->speed = cpuspeed/1000000;
- }
- vm_deallocate(mach_task_self(), (vm_address_t)info, msg_type);
-
- return 0;
-}
-
-
-void uv_free_cpu_info(uv_cpu_info_t* cpu_infos, int count) {
- int i;
-
- for (i = 0; i < count; i++) {
- uv__free(cpu_infos[i].model);
- }
-
- uv__free(cpu_infos);
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/freebsd.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/freebsd.cpp
deleted file mode 100644
index 789ee2c..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/freebsd.cpp
+++ /dev/null
@@ -1,375 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include "uv.h"
-#include "internal.h"
-
-#include <assert.h>
-#include <string.h>
-#include <errno.h>
-
-#include <paths.h>
-#include <sys/user.h>
-#include <sys/types.h>
-#include <sys/resource.h>
-#include <sys/sysctl.h>
-#include <vm/vm_param.h> /* VM_LOADAVG */
-#include <time.h>
-#include <stdlib.h>
-#include <unistd.h> /* sysconf */
-#include <fcntl.h>
-
-#ifndef CPUSTATES
-# define CPUSTATES 5U
-#endif
-#ifndef CP_USER
-# define CP_USER 0
-# define CP_NICE 1
-# define CP_SYS 2
-# define CP_IDLE 3
-# define CP_INTR 4
-#endif
-
-static uv_mutex_t process_title_mutex;
-static uv_once_t process_title_mutex_once = UV_ONCE_INIT;
-static char *process_title;
-
-
-static void init_process_title_mutex_once(void) {
- uv_mutex_init(&process_title_mutex);
-}
-
-
-int uv__platform_loop_init(uv_loop_t* loop) {
- return uv__kqueue_init(loop);
-}
-
-
-void uv__platform_loop_delete(uv_loop_t* loop) {
-}
-
-
-#ifdef __DragonFly__
-int uv_exepath(char* buffer, size_t* size) {
- char abspath[PATH_MAX * 2 + 1];
- ssize_t abspath_size;
-
- if (buffer == NULL || size == NULL || *size == 0)
- return UV_EINVAL;
-
- abspath_size = readlink("/proc/curproc/file", abspath, sizeof(abspath));
- if (abspath_size < 0)
- return UV__ERR(errno);
-
- assert(abspath_size > 0);
- *size -= 1;
-
- if (*size > abspath_size)
- *size = abspath_size;
-
- memcpy(buffer, abspath, *size);
- buffer[*size] = '\0';
-
- return 0;
-}
-#else
-int uv_exepath(char* buffer, size_t* size) {
- char abspath[PATH_MAX * 2 + 1];
- int mib[4];
- size_t abspath_size;
-
- if (buffer == NULL || size == NULL || *size == 0)
- return UV_EINVAL;
-
- mib[0] = CTL_KERN;
- mib[1] = KERN_PROC;
- mib[2] = KERN_PROC_PATHNAME;
- mib[3] = -1;
-
- abspath_size = sizeof abspath;
- if (sysctl(mib, 4, abspath, &abspath_size, NULL, 0))
- return UV__ERR(errno);
-
- assert(abspath_size > 0);
- abspath_size -= 1;
- *size -= 1;
-
- if (*size > abspath_size)
- *size = abspath_size;
-
- memcpy(buffer, abspath, *size);
- buffer[*size] = '\0';
-
- return 0;
-}
-#endif
-
-uint64_t uv_get_free_memory(void) {
- int freecount;
- size_t size = sizeof(freecount);
-
- if (sysctlbyname("vm.stats.vm.v_free_count", &freecount, &size, NULL, 0))
- return UV__ERR(errno);
-
- return (uint64_t) freecount * sysconf(_SC_PAGESIZE);
-
-}
-
-
-uint64_t uv_get_total_memory(void) {
- unsigned long info;
- int which[] = {CTL_HW, HW_PHYSMEM};
-
- size_t size = sizeof(info);
-
- if (sysctl(which, 2, &info, &size, NULL, 0))
- return UV__ERR(errno);
-
- return (uint64_t) info;
-}
-
-
-void uv_loadavg(double avg[3]) {
- struct loadavg info;
- size_t size = sizeof(info);
- int which[] = {CTL_VM, VM_LOADAVG};
-
- if (sysctl(which, 2, &info, &size, NULL, 0) < 0) return;
-
- avg[0] = (double) info.ldavg[0] / info.fscale;
- avg[1] = (double) info.ldavg[1] / info.fscale;
- avg[2] = (double) info.ldavg[2] / info.fscale;
-}
-
-
-char** uv_setup_args(int argc, char** argv) {
- process_title = argc ? uv__strdup(argv[0]) : NULL;
- return argv;
-}
-
-
-int uv_set_process_title(const char* title) {
- int oid[4];
- char* new_title;
-
- new_title = uv__strdup(title);
-
- uv_once(&process_title_mutex_once, init_process_title_mutex_once);
- uv_mutex_lock(&process_title_mutex);
-
- if (process_title == NULL) {
- uv_mutex_unlock(&process_title_mutex);
- return UV_ENOMEM;
- }
-
- uv__free(process_title);
- process_title = new_title;
-
- oid[0] = CTL_KERN;
- oid[1] = KERN_PROC;
- oid[2] = KERN_PROC_ARGS;
- oid[3] = getpid();
-
- sysctl(oid,
- ARRAY_SIZE(oid),
- NULL,
- NULL,
- process_title,
- strlen(process_title) + 1);
-
- uv_mutex_unlock(&process_title_mutex);
-
- return 0;
-}
-
-
-int uv_get_process_title(char* buffer, size_t size) {
- size_t len;
-
- if (buffer == NULL || size == 0)
- return UV_EINVAL;
-
- uv_once(&process_title_mutex_once, init_process_title_mutex_once);
- uv_mutex_lock(&process_title_mutex);
-
- if (process_title) {
- len = strlen(process_title) + 1;
-
- if (size < len) {
- uv_mutex_unlock(&process_title_mutex);
- return UV_ENOBUFS;
- }
-
- memcpy(buffer, process_title, len);
- } else {
- len = 0;
- }
-
- uv_mutex_unlock(&process_title_mutex);
-
- buffer[len] = '\0';
-
- return 0;
-}
-
-int uv_resident_set_memory(size_t* rss) {
- struct kinfo_proc kinfo;
- size_t page_size;
- size_t kinfo_size;
- int mib[4];
-
- mib[0] = CTL_KERN;
- mib[1] = KERN_PROC;
- mib[2] = KERN_PROC_PID;
- mib[3] = getpid();
-
- kinfo_size = sizeof(kinfo);
-
- if (sysctl(mib, 4, &kinfo, &kinfo_size, NULL, 0))
- return UV__ERR(errno);
-
- page_size = getpagesize();
-
-#ifdef __DragonFly__
- *rss = kinfo.kp_vm_rssize * page_size;
-#else
- *rss = kinfo.ki_rssize * page_size;
-#endif
-
- return 0;
-}
-
-
-int uv_uptime(double* uptime) {
- int r;
- struct timespec sp;
- r = clock_gettime(CLOCK_MONOTONIC, &sp);
- if (r)
- return UV__ERR(errno);
-
- *uptime = sp.tv_sec;
- return 0;
-}
-
-
-int uv_cpu_info(uv_cpu_info_t** cpu_infos, int* count) {
- unsigned int ticks = (unsigned int)sysconf(_SC_CLK_TCK),
- multiplier = ((uint64_t)1000L / ticks), cpuspeed, maxcpus,
- cur = 0;
- uv_cpu_info_t* cpu_info;
- const char* maxcpus_key;
- const char* cptimes_key;
- const char* model_key;
- char model[512];
- long* cp_times;
- int numcpus;
- size_t size;
- int i;
-
-#if defined(__DragonFly__)
- /* This is not quite correct but DragonFlyBSD doesn't seem to have anything
- * comparable to kern.smp.maxcpus or kern.cp_times (kern.cp_time is a total,
- * not per CPU). At least this stops uv_cpu_info() from failing completely.
- */
- maxcpus_key = "hw.ncpu";
- cptimes_key = "kern.cp_time";
-#else
- maxcpus_key = "kern.smp.maxcpus";
- cptimes_key = "kern.cp_times";
-#endif
-
-#if defined(__arm__) || defined(__aarch64__)
- /* The key hw.model and hw.clockrate are not available on FreeBSD ARM. */
- model_key = "hw.machine";
- cpuspeed = 0;
-#else
- model_key = "hw.model";
-
- size = sizeof(cpuspeed);
- if (sysctlbyname("hw.clockrate", &cpuspeed, &size, NULL, 0))
- return -errno;
-#endif
-
- size = sizeof(model);
- if (sysctlbyname(model_key, &model, &size, NULL, 0))
- return UV__ERR(errno);
-
- size = sizeof(numcpus);
- if (sysctlbyname("hw.ncpu", &numcpus, &size, NULL, 0))
- return UV__ERR(errno);
-
- *cpu_infos = (uv_cpu_info_t*)uv__malloc(numcpus * sizeof(**cpu_infos));
- if (!(*cpu_infos))
- return UV_ENOMEM;
-
- *count = numcpus;
-
- /* kern.cp_times on FreeBSD i386 gives an array up to maxcpus instead of
- * ncpu.
- */
- size = sizeof(maxcpus);
- if (sysctlbyname(maxcpus_key, &maxcpus, &size, NULL, 0)) {
- uv__free(*cpu_infos);
- return UV__ERR(errno);
- }
-
- size = maxcpus * CPUSTATES * sizeof(long);
-
- cp_times = (long*)uv__malloc(size);
- if (cp_times == NULL) {
- uv__free(*cpu_infos);
- return UV_ENOMEM;
- }
-
- if (sysctlbyname(cptimes_key, cp_times, &size, NULL, 0)) {
- uv__free(cp_times);
- uv__free(*cpu_infos);
- return UV__ERR(errno);
- }
-
- for (i = 0; i < numcpus; i++) {
- cpu_info = &(*cpu_infos)[i];
-
- cpu_info->cpu_times.user = (uint64_t)(cp_times[CP_USER+cur]) * multiplier;
- cpu_info->cpu_times.nice = (uint64_t)(cp_times[CP_NICE+cur]) * multiplier;
- cpu_info->cpu_times.sys = (uint64_t)(cp_times[CP_SYS+cur]) * multiplier;
- cpu_info->cpu_times.idle = (uint64_t)(cp_times[CP_IDLE+cur]) * multiplier;
- cpu_info->cpu_times.irq = (uint64_t)(cp_times[CP_INTR+cur]) * multiplier;
-
- cpu_info->model = uv__strdup(model);
- cpu_info->speed = cpuspeed;
-
- cur+=CPUSTATES;
- }
-
- uv__free(cp_times);
- return 0;
-}
-
-
-void uv_free_cpu_info(uv_cpu_info_t* cpu_infos, int count) {
- int i;
-
- for (i = 0; i < count; i++) {
- uv__free(cpu_infos[i].model);
- }
-
- uv__free(cpu_infos);
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/fs.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/fs.cpp
deleted file mode 100644
index c958a83..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/fs.cpp
+++ /dev/null
@@ -1,1576 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-/* Caveat emptor: this file deviates from the libuv convention of returning
- * negated errno codes. Most uv_fs_*() functions map directly to the system
- * call of the same name. For more complex wrappers, it's easier to just
- * return -1 with errno set. The dispatcher in uv__fs_work() takes care of
- * getting the errno to the right place (req->result or as the return value.)
- */
-
-#include "uv.h"
-#include "internal.h"
-
-#include <errno.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <limits.h> /* PATH_MAX */
-
-#include <sys/types.h>
-#include <sys/socket.h>
-#include <sys/stat.h>
-#include <sys/time.h>
-#include <sys/uio.h>
-#include <pthread.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <utime.h>
-#include <poll.h>
-
-#if defined(__DragonFly__) || \
- defined(__FreeBSD__) || \
- defined(__FreeBSD_kernel_) || \
- defined(__OpenBSD__) || \
- defined(__NetBSD__)
-# define HAVE_PREADV 1
-#else
-# define HAVE_PREADV 0
-#endif
-
-#if defined(__linux__) || defined(__sun)
-# include <sys/sendfile.h>
-#endif
-
-#if defined(__APPLE__)
-# include <copyfile.h>
-#elif defined(__linux__) && !defined(FICLONE)
-# include <sys/ioctl.h>
-# define FICLONE _IOW(0x94, 9, int)
-#endif
-
-#define INIT(subtype) \
- do { \
- if (req == NULL) \
- return UV_EINVAL; \
- UV_REQ_INIT(req, UV_FS); \
- req->fs_type = UV_FS_ ## subtype; \
- req->result = 0; \
- req->ptr = NULL; \
- req->loop = loop; \
- req->path = NULL; \
- req->new_path = NULL; \
- req->bufs = NULL; \
- req->cb = cb; \
- } \
- while (0)
-
-#define PATH \
- do { \
- assert(path != NULL); \
- if (cb == NULL) { \
- req->path = path; \
- } else { \
- req->path = uv__strdup(path); \
- if (req->path == NULL) \
- return UV_ENOMEM; \
- } \
- } \
- while (0)
-
-#define PATH2 \
- do { \
- if (cb == NULL) { \
- req->path = path; \
- req->new_path = new_path; \
- } else { \
- size_t path_len; \
- size_t new_path_len; \
- path_len = strlen(path) + 1; \
- new_path_len = strlen(new_path) + 1; \
- req->path = (char*)uv__malloc(path_len + new_path_len); \
- if (req->path == NULL) \
- return UV_ENOMEM; \
- req->new_path = req->path + path_len; \
- memcpy((void*) req->path, path, path_len); \
- memcpy((void*) req->new_path, new_path, new_path_len); \
- } \
- } \
- while (0)
-
-#define POST \
- do { \
- if (cb != NULL) { \
- uv__req_register(loop, req); \
- uv__work_submit(loop, &req->work_req, uv__fs_work, uv__fs_done); \
- return 0; \
- } \
- else { \
- uv__fs_work(&req->work_req); \
- return req->result; \
- } \
- } \
- while (0)
-
-
-static ssize_t uv__fs_fsync(uv_fs_t* req) {
-#if defined(__APPLE__)
- /* Apple's fdatasync and fsync explicitly do NOT flush the drive write cache
- * to the drive platters. This is in contrast to Linux's fdatasync and fsync
- * which do, according to recent man pages. F_FULLFSYNC is Apple's equivalent
- * for flushing buffered data to permanent storage. If F_FULLFSYNC is not
- * supported by the file system we should fall back to fsync(). This is the
- * same approach taken by sqlite.
- */
- int r;
-
- r = fcntl(req->file, F_FULLFSYNC);
- if (r != 0 && errno == ENOTTY)
- r = fsync(req->file);
- return r;
-#else
- return fsync(req->file);
-#endif
-}
-
-
-static ssize_t uv__fs_fdatasync(uv_fs_t* req) {
-#if defined(__linux__) || defined(__sun) || defined(__NetBSD__)
- return fdatasync(req->file);
-#elif defined(__APPLE__)
- /* See the comment in uv__fs_fsync. */
- return uv__fs_fsync(req);
-#else
- return fsync(req->file);
-#endif
-}
-
-
-static ssize_t uv__fs_futime(uv_fs_t* req) {
-#if defined(__linux__)
- /* utimesat() has nanosecond resolution but we stick to microseconds
- * for the sake of consistency with other platforms.
- */
- static int no_utimesat;
- struct timespec ts[2];
- struct timeval tv[2];
- char path[sizeof("/proc/self/fd/") + 3 * sizeof(int)];
- int r;
-
- if (no_utimesat)
- goto skip;
-
- ts[0].tv_sec = req->atime;
- ts[0].tv_nsec = (uint64_t)(req->atime * 1000000) % 1000000 * 1000;
- ts[1].tv_sec = req->mtime;
- ts[1].tv_nsec = (uint64_t)(req->mtime * 1000000) % 1000000 * 1000;
-
- r = uv__utimesat(req->file, NULL, ts, 0);
- if (r == 0)
- return r;
-
- if (errno != ENOSYS)
- return r;
-
- no_utimesat = 1;
-
-skip:
-
- tv[0].tv_sec = req->atime;
- tv[0].tv_usec = (uint64_t)(req->atime * 1000000) % 1000000;
- tv[1].tv_sec = req->mtime;
- tv[1].tv_usec = (uint64_t)(req->mtime * 1000000) % 1000000;
- snprintf(path, sizeof(path), "/proc/self/fd/%d", (int) req->file);
-
- r = utimes(path, tv);
- if (r == 0)
- return r;
-
- switch (errno) {
- case ENOENT:
- if (fcntl(req->file, F_GETFL) == -1 && errno == EBADF)
- break;
- /* Fall through. */
-
- case EACCES:
- case ENOTDIR:
- errno = ENOSYS;
- break;
- }
-
- return r;
-
-#elif defined(__APPLE__) \
- || defined(__DragonFly__) \
- || defined(__FreeBSD__) \
- || defined(__FreeBSD_kernel__) \
- || defined(__NetBSD__) \
- || defined(__OpenBSD__) \
- || defined(__sun)
- struct timeval tv[2];
- tv[0].tv_sec = req->atime;
- tv[0].tv_usec = (uint64_t)(req->atime * 1000000) % 1000000;
- tv[1].tv_sec = req->mtime;
- tv[1].tv_usec = (uint64_t)(req->mtime * 1000000) % 1000000;
-# if defined(__sun)
- return futimesat(req->file, NULL, tv);
-# else
- return futimes(req->file, tv);
-# endif
-#elif defined(_AIX71)
- struct timespec ts[2];
- ts[0].tv_sec = req->atime;
- ts[0].tv_nsec = (uint64_t)(req->atime * 1000000) % 1000000 * 1000;
- ts[1].tv_sec = req->mtime;
- ts[1].tv_nsec = (uint64_t)(req->mtime * 1000000) % 1000000 * 1000;
- return futimens(req->file, ts);
-#elif defined(__MVS__)
- attrib_t atr;
- memset(&atr, 0, sizeof(atr));
- atr.att_mtimechg = 1;
- atr.att_atimechg = 1;
- atr.att_mtime = req->mtime;
- atr.att_atime = req->atime;
- return __fchattr(req->file, &atr, sizeof(atr));
-#else
- errno = ENOSYS;
- return -1;
-#endif
-}
-
-
-static ssize_t uv__fs_mkdtemp(uv_fs_t* req) {
- return mkdtemp((char*) req->path) ? 0 : -1;
-}
-
-
-static ssize_t uv__fs_open(uv_fs_t* req) {
- static int no_cloexec_support;
- int r;
-
- /* Try O_CLOEXEC before entering locks */
- if (no_cloexec_support == 0) {
-#ifdef O_CLOEXEC
- r = open(req->path, req->flags | O_CLOEXEC, req->mode);
- if (r >= 0)
- return r;
- if (errno != EINVAL)
- return r;
- no_cloexec_support = 1;
-#endif /* O_CLOEXEC */
- }
-
- if (req->cb != NULL)
- uv_rwlock_rdlock(&req->loop->cloexec_lock);
-
- r = open(req->path, req->flags, req->mode);
-
- /* In case of failure `uv__cloexec` will leave error in `errno`,
- * so it is enough to just set `r` to `-1`.
- */
- if (r >= 0 && uv__cloexec(r, 1) != 0) {
- r = uv__close(r);
- if (r != 0)
- abort();
- r = -1;
- }
-
- if (req->cb != NULL)
- uv_rwlock_rdunlock(&req->loop->cloexec_lock);
-
- return r;
-}
-
-
-static ssize_t uv__fs_read(uv_fs_t* req) {
-#if defined(__linux__)
- static int no_preadv;
-#endif
- ssize_t result;
-
-#if defined(_AIX)
- struct stat buf;
- if(fstat(req->file, &buf))
- return -1;
- if(S_ISDIR(buf.st_mode)) {
- errno = EISDIR;
- return -1;
- }
-#endif /* defined(_AIX) */
- if (req->off < 0) {
- if (req->nbufs == 1)
- result = read(req->file, req->bufs[0].base, req->bufs[0].len);
- else
- result = readv(req->file, (struct iovec*) req->bufs, req->nbufs);
- } else {
- if (req->nbufs == 1) {
- result = pread(req->file, req->bufs[0].base, req->bufs[0].len, req->off);
- goto done;
- }
-
-#if HAVE_PREADV
- result = preadv(req->file, (struct iovec*) req->bufs, req->nbufs, req->off);
-#else
-# if defined(__linux__)
- if (no_preadv) retry:
-# endif
- {
- off_t nread;
- size_t index;
-
- nread = 0;
- index = 0;
- result = 1;
- do {
- if (req->bufs[index].len > 0) {
- result = pread(req->file,
- req->bufs[index].base,
- req->bufs[index].len,
- req->off + nread);
- if (result > 0)
- nread += result;
- }
- index++;
- } while (index < req->nbufs && result > 0);
- if (nread > 0)
- result = nread;
- }
-# if defined(__linux__)
- else {
- result = uv__preadv(req->file,
- (struct iovec*)req->bufs,
- req->nbufs,
- req->off);
- if (result == -1 && errno == ENOSYS) {
- no_preadv = 1;
- goto retry;
- }
- }
-# endif
-#endif
- }
-
-done:
- return result;
-}
-
-
-#if defined(__APPLE__) && !defined(MAC_OS_X_VERSION_10_8)
-#define UV_CONST_DIRENT uv__dirent_t
-#else
-#define UV_CONST_DIRENT const uv__dirent_t
-#endif
-
-
-static int uv__fs_scandir_filter(UV_CONST_DIRENT* dent) {
- return strcmp(dent->d_name, ".") != 0 && strcmp(dent->d_name, "..") != 0;
-}
-
-
-static int uv__fs_scandir_sort(UV_CONST_DIRENT** a, UV_CONST_DIRENT** b) {
- return strcmp((*a)->d_name, (*b)->d_name);
-}
-
-
-static ssize_t uv__fs_scandir(uv_fs_t* req) {
- uv__dirent_t **dents;
- int n;
-
- dents = NULL;
- n = scandir(req->path, &dents, uv__fs_scandir_filter, uv__fs_scandir_sort);
-
- /* NOTE: We will use nbufs as an index field */
- req->nbufs = 0;
-
- if (n == 0) {
- /* OS X still needs to deallocate some memory.
- * Memory was allocated using the system allocator, so use free() here.
- */
- free(dents);
- dents = NULL;
- } else if (n == -1) {
- return n;
- }
-
- req->ptr = dents;
-
- return n;
-}
-
-
-static ssize_t uv__fs_pathmax_size(const char* path) {
- ssize_t pathmax;
-
- pathmax = pathconf(path, _PC_PATH_MAX);
-
- if (pathmax == -1) {
-#if defined(PATH_MAX)
- return PATH_MAX;
-#else
-#error "PATH_MAX undefined in the current platform"
-#endif
- }
-
- return pathmax;
-}
-
-static ssize_t uv__fs_readlink(uv_fs_t* req) {
- ssize_t len;
- char* buf;
-
- len = uv__fs_pathmax_size(req->path);
- buf = (char*)uv__malloc(len + 1);
-
- if (buf == NULL) {
- errno = ENOMEM;
- return -1;
- }
-
-#if defined(__MVS__)
- len = os390_readlink(req->path, buf, len);
-#else
- len = readlink(req->path, buf, len);
-#endif
-
-
- if (len == -1) {
- uv__free(buf);
- return -1;
- }
-
- buf[len] = '\0';
- req->ptr = buf;
-
- return 0;
-}
-
-static ssize_t uv__fs_realpath(uv_fs_t* req) {
- ssize_t len;
- char* buf;
-
- len = uv__fs_pathmax_size(req->path);
- buf = (char*)uv__malloc(len + 1);
-
- if (buf == NULL) {
- errno = ENOMEM;
- return -1;
- }
-
- if (realpath(req->path, buf) == NULL) {
- uv__free(buf);
- return -1;
- }
-
- req->ptr = buf;
-
- return 0;
-}
-
-static ssize_t uv__fs_sendfile_emul(uv_fs_t* req) {
- struct pollfd pfd;
- int use_pread;
- off_t offset;
- ssize_t nsent;
- ssize_t nread;
- ssize_t nwritten;
- size_t buflen;
- size_t len;
- ssize_t n;
- int in_fd;
- int out_fd;
- char buf[8192];
-
- len = req->bufsml[0].len;
- in_fd = req->flags;
- out_fd = req->file;
- offset = req->off;
- use_pread = 1;
-
- /* Here are the rules regarding errors:
- *
- * 1. Read errors are reported only if nsent==0, otherwise we return nsent.
- * The user needs to know that some data has already been sent, to stop
- * them from sending it twice.
- *
- * 2. Write errors are always reported. Write errors are bad because they
- * mean data loss: we've read data but now we can't write it out.
- *
- * We try to use pread() and fall back to regular read() if the source fd
- * doesn't support positional reads, for example when it's a pipe fd.
- *
- * If we get EAGAIN when writing to the target fd, we poll() on it until
- * it becomes writable again.
- *
- * FIXME: If we get a write error when use_pread==1, it should be safe to
- * return the number of sent bytes instead of an error because pread()
- * is, in theory, idempotent. However, special files in /dev or /proc
- * may support pread() but not necessarily return the same data on
- * successive reads.
- *
- * FIXME: There is no way now to signal that we managed to send *some* data
- * before a write error.
- */
- for (nsent = 0; (size_t) nsent < len; ) {
- buflen = len - nsent;
-
- if (buflen > sizeof(buf))
- buflen = sizeof(buf);
-
- do
- if (use_pread)
- nread = pread(in_fd, buf, buflen, offset);
- else
- nread = read(in_fd, buf, buflen);
- while (nread == -1 && errno == EINTR);
-
- if (nread == 0)
- goto out;
-
- if (nread == -1) {
- if (use_pread && nsent == 0 && (errno == EIO || errno == ESPIPE)) {
- use_pread = 0;
- continue;
- }
-
- if (nsent == 0)
- nsent = -1;
-
- goto out;
- }
-
- for (nwritten = 0; nwritten < nread; ) {
- do
- n = write(out_fd, buf + nwritten, nread - nwritten);
- while (n == -1 && errno == EINTR);
-
- if (n != -1) {
- nwritten += n;
- continue;
- }
-
- if (errno != EAGAIN && errno != EWOULDBLOCK) {
- nsent = -1;
- goto out;
- }
-
- pfd.fd = out_fd;
- pfd.events = POLLOUT;
- pfd.revents = 0;
-
- do
- n = poll(&pfd, 1, -1);
- while (n == -1 && errno == EINTR);
-
- if (n == -1 || (pfd.revents & ~POLLOUT) != 0) {
- errno = EIO;
- nsent = -1;
- goto out;
- }
- }
-
- offset += nread;
- nsent += nread;
- }
-
-out:
- if (nsent != -1)
- req->off = offset;
-
- return nsent;
-}
-
-
-static ssize_t uv__fs_sendfile(uv_fs_t* req) {
- int in_fd;
- int out_fd;
-
- in_fd = req->flags;
- out_fd = req->file;
-
-#if defined(__linux__) || defined(__sun)
- {
- off_t off;
- ssize_t r;
-
- off = req->off;
- r = sendfile(out_fd, in_fd, &off, req->bufsml[0].len);
-
- /* sendfile() on SunOS returns EINVAL if the target fd is not a socket but
- * it still writes out data. Fortunately, we can detect it by checking if
- * the offset has been updated.
- */
- if (r != -1 || off > req->off) {
- r = off - req->off;
- req->off = off;
- return r;
- }
-
- if (errno == EINVAL ||
- errno == EIO ||
- errno == ENOTSOCK ||
- errno == EXDEV) {
- errno = 0;
- return uv__fs_sendfile_emul(req);
- }
-
- return -1;
- }
-#elif defined(__APPLE__) || \
- defined(__DragonFly__) || \
- defined(__FreeBSD__) || \
- defined(__FreeBSD_kernel__)
- {
- off_t len;
- ssize_t r;
-
- /* sendfile() on FreeBSD and Darwin returns EAGAIN if the target fd is in
- * non-blocking mode and not all data could be written. If a non-zero
- * number of bytes have been sent, we don't consider it an error.
- */
-
-#if defined(__FreeBSD__) || defined(__DragonFly__)
- len = 0;
- r = sendfile(in_fd, out_fd, req->off, req->bufsml[0].len, NULL, &len, 0);
-#elif defined(__FreeBSD_kernel__)
- len = 0;
- r = bsd_sendfile(in_fd,
- out_fd,
- req->off,
- req->bufsml[0].len,
- NULL,
- &len,
- 0);
-#else
- /* The darwin sendfile takes len as an input for the length to send,
- * so make sure to initialize it with the caller's value. */
- len = req->bufsml[0].len;
- r = sendfile(in_fd, out_fd, req->off, &len, NULL, 0);
-#endif
-
- /*
- * The man page for sendfile(2) on DragonFly states that `len` contains
- * a meaningful value ONLY in case of EAGAIN and EINTR.
- * Nothing is said about it's value in case of other errors, so better
- * not depend on the potential wrong assumption that is was not modified
- * by the syscall.
- */
- if (r == 0 || ((errno == EAGAIN || errno == EINTR) && len != 0)) {
- req->off += len;
- return (ssize_t) len;
- }
-
- if (errno == EINVAL ||
- errno == EIO ||
- errno == ENOTSOCK ||
- errno == EXDEV) {
- errno = 0;
- return uv__fs_sendfile_emul(req);
- }
-
- return -1;
- }
-#else
- /* Squelch compiler warnings. */
- (void) &in_fd;
- (void) &out_fd;
-
- return uv__fs_sendfile_emul(req);
-#endif
-}
-
-
-static ssize_t uv__fs_utime(uv_fs_t* req) {
- struct utimbuf buf;
- buf.actime = req->atime;
- buf.modtime = req->mtime;
- return utime(req->path, &buf); /* TODO use utimes() where available */
-}
-
-
-static ssize_t uv__fs_write(uv_fs_t* req) {
-#if defined(__linux__)
- static int no_pwritev;
-#endif
- ssize_t r;
-
- /* Serialize writes on OS X, concurrent write() and pwrite() calls result in
- * data loss. We can't use a per-file descriptor lock, the descriptor may be
- * a dup().
- */
-#if defined(__APPLE__)
- static pthread_mutex_t lock = PTHREAD_MUTEX_INITIALIZER;
-
- if (pthread_mutex_lock(&lock))
- abort();
-#endif
-
- if (req->off < 0) {
- if (req->nbufs == 1)
- r = write(req->file, req->bufs[0].base, req->bufs[0].len);
- else
- r = writev(req->file, (struct iovec*) req->bufs, req->nbufs);
- } else {
- if (req->nbufs == 1) {
- r = pwrite(req->file, req->bufs[0].base, req->bufs[0].len, req->off);
- goto done;
- }
-#if HAVE_PREADV
- r = pwritev(req->file, (struct iovec*) req->bufs, req->nbufs, req->off);
-#else
-# if defined(__linux__)
- if (no_pwritev) retry:
-# endif
- {
- off_t written;
- size_t index;
-
- written = 0;
- index = 0;
- r = 0;
- do {
- if (req->bufs[index].len > 0) {
- r = pwrite(req->file,
- req->bufs[index].base,
- req->bufs[index].len,
- req->off + written);
- if (r > 0)
- written += r;
- }
- index++;
- } while (index < req->nbufs && r >= 0);
- if (written > 0)
- r = written;
- }
-# if defined(__linux__)
- else {
- r = uv__pwritev(req->file,
- (struct iovec*) req->bufs,
- req->nbufs,
- req->off);
- if (r == -1 && errno == ENOSYS) {
- no_pwritev = 1;
- goto retry;
- }
- }
-# endif
-#endif
- }
-
-done:
-#if defined(__APPLE__)
- if (pthread_mutex_unlock(&lock))
- abort();
-#endif
-
- return r;
-}
-
-static ssize_t uv__fs_copyfile(uv_fs_t* req) {
-#if defined(__APPLE__) && !TARGET_OS_IPHONE
- /* On macOS, use the native copyfile(3). */
- copyfile_flags_t flags;
-
- flags = COPYFILE_ALL;
-
- if (req->flags & UV_FS_COPYFILE_EXCL)
- flags |= COPYFILE_EXCL;
-
-#ifdef COPYFILE_CLONE
- if (req->flags & UV_FS_COPYFILE_FICLONE)
- flags |= COPYFILE_CLONE;
-#endif
-
- if (req->flags & UV_FS_COPYFILE_FICLONE_FORCE) {
-#ifdef COPYFILE_CLONE_FORCE
- flags |= COPYFILE_CLONE_FORCE;
-#else
- return UV_ENOSYS;
-#endif
- }
-
- return copyfile(req->path, req->new_path, NULL, flags);
-#else
- uv_fs_t fs_req;
- uv_file srcfd;
- uv_file dstfd;
- struct stat statsbuf;
- int dst_flags;
- int result;
- int err;
- size_t bytes_to_send;
- int64_t in_offset;
-
- dstfd = -1;
- err = 0;
-
- /* Open the source file. */
- srcfd = uv_fs_open(NULL, &fs_req, req->path, O_RDONLY, 0, NULL);
- uv_fs_req_cleanup(&fs_req);
-
- if (srcfd < 0)
- return srcfd;
-
- /* Get the source file's mode. */
- if (fstat(srcfd, &statsbuf)) {
- err = UV__ERR(errno);
- goto out;
- }
-
- dst_flags = O_WRONLY | O_CREAT | O_TRUNC;
-
- if (req->flags & UV_FS_COPYFILE_EXCL)
- dst_flags |= O_EXCL;
-
- /* Open the destination file. */
- dstfd = uv_fs_open(NULL,
- &fs_req,
- req->new_path,
- dst_flags,
- statsbuf.st_mode,
- NULL);
- uv_fs_req_cleanup(&fs_req);
-
- if (dstfd < 0) {
- err = dstfd;
- goto out;
- }
-
- if (fchmod(dstfd, statsbuf.st_mode) == -1) {
- err = UV__ERR(errno);
- goto out;
- }
-
-#ifdef FICLONE
- if (req->flags & UV_FS_COPYFILE_FICLONE ||
- req->flags & UV_FS_COPYFILE_FICLONE_FORCE) {
- if (ioctl(dstfd, FICLONE, srcfd) == -1) {
- /* If an error occurred that the sendfile fallback also won't handle, or
- this is a force clone then exit. Otherwise, fall through to try using
- sendfile(). */
- if (errno != ENOTTY && errno != EOPNOTSUPP && errno != EXDEV) {
- err = UV__ERR(errno);
- goto out;
- } else if (req->flags & UV_FS_COPYFILE_FICLONE_FORCE) {
- err = UV_ENOTSUP;
- goto out;
- }
- } else {
- goto out;
- }
- }
-#else
- if (req->flags & UV_FS_COPYFILE_FICLONE_FORCE) {
- err = UV_ENOSYS;
- goto out;
- }
-#endif
-
- bytes_to_send = statsbuf.st_size;
- in_offset = 0;
- while (bytes_to_send != 0) {
- err = uv_fs_sendfile(NULL,
- &fs_req,
- dstfd,
- srcfd,
- in_offset,
- bytes_to_send,
- NULL);
- uv_fs_req_cleanup(&fs_req);
- if (err < 0)
- break;
- bytes_to_send -= fs_req.result;
- in_offset += fs_req.result;
- }
-
-out:
- if (err < 0)
- result = err;
- else
- result = 0;
-
- /* Close the source file. */
- err = uv__close_nocheckstdio(srcfd);
-
- /* Don't overwrite any existing errors. */
- if (err != 0 && result == 0)
- result = err;
-
- /* Close the destination file if it is open. */
- if (dstfd >= 0) {
- err = uv__close_nocheckstdio(dstfd);
-
- /* Don't overwrite any existing errors. */
- if (err != 0 && result == 0)
- result = err;
-
- /* Remove the destination file if something went wrong. */
- if (result != 0) {
- uv_fs_unlink(NULL, &fs_req, req->new_path, NULL);
- /* Ignore the unlink return value, as an error already happened. */
- uv_fs_req_cleanup(&fs_req);
- }
- }
-
- if (result == 0)
- return 0;
-
- errno = UV__ERR(result);
- return -1;
-#endif
-}
-
-static void uv__to_stat(struct stat* src, uv_stat_t* dst) {
- dst->st_dev = src->st_dev;
- dst->st_mode = src->st_mode;
- dst->st_nlink = src->st_nlink;
- dst->st_uid = src->st_uid;
- dst->st_gid = src->st_gid;
- dst->st_rdev = src->st_rdev;
- dst->st_ino = src->st_ino;
- dst->st_size = src->st_size;
- dst->st_blksize = src->st_blksize;
- dst->st_blocks = src->st_blocks;
-
-#if defined(__APPLE__)
- dst->st_atim.tv_sec = src->st_atimespec.tv_sec;
- dst->st_atim.tv_nsec = src->st_atimespec.tv_nsec;
- dst->st_mtim.tv_sec = src->st_mtimespec.tv_sec;
- dst->st_mtim.tv_nsec = src->st_mtimespec.tv_nsec;
- dst->st_ctim.tv_sec = src->st_ctimespec.tv_sec;
- dst->st_ctim.tv_nsec = src->st_ctimespec.tv_nsec;
- dst->st_birthtim.tv_sec = src->st_birthtimespec.tv_sec;
- dst->st_birthtim.tv_nsec = src->st_birthtimespec.tv_nsec;
- dst->st_flags = src->st_flags;
- dst->st_gen = src->st_gen;
-#elif defined(__ANDROID__)
- dst->st_atim.tv_sec = src->st_atime;
- dst->st_atim.tv_nsec = src->st_atimensec;
- dst->st_mtim.tv_sec = src->st_mtime;
- dst->st_mtim.tv_nsec = src->st_mtimensec;
- dst->st_ctim.tv_sec = src->st_ctime;
- dst->st_ctim.tv_nsec = src->st_ctimensec;
- dst->st_birthtim.tv_sec = src->st_ctime;
- dst->st_birthtim.tv_nsec = src->st_ctimensec;
- dst->st_flags = 0;
- dst->st_gen = 0;
-#elif !defined(_AIX) && ( \
- defined(__DragonFly__) || \
- defined(__FreeBSD__) || \
- defined(__OpenBSD__) || \
- defined(__NetBSD__) || \
- defined(_GNU_SOURCE) || \
- defined(_BSD_SOURCE) || \
- defined(_SVID_SOURCE) || \
- defined(_XOPEN_SOURCE) || \
- defined(_DEFAULT_SOURCE))
- dst->st_atim.tv_sec = src->st_atim.tv_sec;
- dst->st_atim.tv_nsec = src->st_atim.tv_nsec;
- dst->st_mtim.tv_sec = src->st_mtim.tv_sec;
- dst->st_mtim.tv_nsec = src->st_mtim.tv_nsec;
- dst->st_ctim.tv_sec = src->st_ctim.tv_sec;
- dst->st_ctim.tv_nsec = src->st_ctim.tv_nsec;
-# if defined(__FreeBSD__) || \
- defined(__NetBSD__)
- dst->st_birthtim.tv_sec = src->st_birthtim.tv_sec;
- dst->st_birthtim.tv_nsec = src->st_birthtim.tv_nsec;
- dst->st_flags = src->st_flags;
- dst->st_gen = src->st_gen;
-# else
- dst->st_birthtim.tv_sec = src->st_ctim.tv_sec;
- dst->st_birthtim.tv_nsec = src->st_ctim.tv_nsec;
- dst->st_flags = 0;
- dst->st_gen = 0;
-# endif
-#else
- dst->st_atim.tv_sec = src->st_atime;
- dst->st_atim.tv_nsec = 0;
- dst->st_mtim.tv_sec = src->st_mtime;
- dst->st_mtim.tv_nsec = 0;
- dst->st_ctim.tv_sec = src->st_ctime;
- dst->st_ctim.tv_nsec = 0;
- dst->st_birthtim.tv_sec = src->st_ctime;
- dst->st_birthtim.tv_nsec = 0;
- dst->st_flags = 0;
- dst->st_gen = 0;
-#endif
-}
-
-
-static int uv__fs_stat(const char *path, uv_stat_t *buf) {
- struct stat pbuf;
- int ret;
-
- ret = stat(path, &pbuf);
- if (ret == 0)
- uv__to_stat(&pbuf, buf);
-
- return ret;
-}
-
-
-static int uv__fs_lstat(const char *path, uv_stat_t *buf) {
- struct stat pbuf;
- int ret;
-
- ret = lstat(path, &pbuf);
- if (ret == 0)
- uv__to_stat(&pbuf, buf);
-
- return ret;
-}
-
-
-static int uv__fs_fstat(int fd, uv_stat_t *buf) {
- struct stat pbuf;
- int ret;
-
- ret = fstat(fd, &pbuf);
- if (ret == 0)
- uv__to_stat(&pbuf, buf);
-
- return ret;
-}
-
-
-typedef ssize_t (*uv__fs_buf_iter_processor)(uv_fs_t* req);
-static ssize_t uv__fs_buf_iter(uv_fs_t* req, uv__fs_buf_iter_processor process) {
- unsigned int iovmax;
- unsigned int nbufs;
- uv_buf_t* bufs;
- ssize_t total;
- ssize_t result;
-
- iovmax = uv__getiovmax();
- nbufs = req->nbufs;
- bufs = req->bufs;
- total = 0;
-
- while (nbufs > 0) {
- req->nbufs = nbufs;
- if (req->nbufs > iovmax)
- req->nbufs = iovmax;
-
- result = process(req);
- if (result <= 0) {
- if (total == 0)
- total = result;
- break;
- }
-
- if (req->off >= 0)
- req->off += result;
-
- req->bufs += req->nbufs;
- nbufs -= req->nbufs;
- total += result;
- }
-
- if (errno == EINTR && total == -1)
- return total;
-
- if (bufs != req->bufsml)
- uv__free(bufs);
-
- req->bufs = NULL;
- req->nbufs = 0;
-
- return total;
-}
-
-
-static void uv__fs_work(struct uv__work* w) {
- int retry_on_eintr;
- uv_fs_t* req;
- ssize_t r;
-
- req = container_of(w, uv_fs_t, work_req);
- retry_on_eintr = !(req->fs_type == UV_FS_CLOSE);
-
- do {
- errno = 0;
-
-#define X(type, action) \
- case UV_FS_ ## type: \
- r = action; \
- break;
-
- switch (req->fs_type) {
- X(ACCESS, access(req->path, req->flags));
- X(CHMOD, chmod(req->path, req->mode));
- X(CHOWN, chown(req->path, req->uid, req->gid));
- X(CLOSE, close(req->file));
- X(COPYFILE, uv__fs_copyfile(req));
- X(FCHMOD, fchmod(req->file, req->mode));
- X(FCHOWN, fchown(req->file, req->uid, req->gid));
- X(LCHOWN, lchown(req->path, req->uid, req->gid));
- X(FDATASYNC, uv__fs_fdatasync(req));
- X(FSTAT, uv__fs_fstat(req->file, &req->statbuf));
- X(FSYNC, uv__fs_fsync(req));
- X(FTRUNCATE, ftruncate(req->file, req->off));
- X(FUTIME, uv__fs_futime(req));
- X(LSTAT, uv__fs_lstat(req->path, &req->statbuf));
- X(LINK, link(req->path, req->new_path));
- X(MKDIR, mkdir(req->path, req->mode));
- X(MKDTEMP, uv__fs_mkdtemp(req));
- X(OPEN, uv__fs_open(req));
- X(READ, uv__fs_buf_iter(req, uv__fs_read));
- X(SCANDIR, uv__fs_scandir(req));
- X(READLINK, uv__fs_readlink(req));
- X(REALPATH, uv__fs_realpath(req));
- X(RENAME, rename(req->path, req->new_path));
- X(RMDIR, rmdir(req->path));
- X(SENDFILE, uv__fs_sendfile(req));
- X(STAT, uv__fs_stat(req->path, &req->statbuf));
- X(SYMLINK, symlink(req->path, req->new_path));
- X(UNLINK, unlink(req->path));
- X(UTIME, uv__fs_utime(req));
- X(WRITE, uv__fs_buf_iter(req, uv__fs_write));
- default: abort();
- }
-#undef X
- } while (r == -1 && errno == EINTR && retry_on_eintr);
-
- if (r == -1)
- req->result = UV__ERR(errno);
- else
- req->result = r;
-
- if (r == 0 && (req->fs_type == UV_FS_STAT ||
- req->fs_type == UV_FS_FSTAT ||
- req->fs_type == UV_FS_LSTAT)) {
- req->ptr = &req->statbuf;
- }
-}
-
-
-static void uv__fs_done(struct uv__work* w, int status) {
- uv_fs_t* req;
-
- req = container_of(w, uv_fs_t, work_req);
- uv__req_unregister(req->loop, req);
-
- if (status == UV_ECANCELED) {
- assert(req->result == 0);
- req->result = UV_ECANCELED;
- }
-
- req->cb(req);
-}
-
-
-int uv_fs_access(uv_loop_t* loop,
- uv_fs_t* req,
- const char* path,
- int flags,
- uv_fs_cb cb) {
- INIT(ACCESS);
- PATH;
- req->flags = flags;
- POST;
-}
-
-
-int uv_fs_chmod(uv_loop_t* loop,
- uv_fs_t* req,
- const char* path,
- int mode,
- uv_fs_cb cb) {
- INIT(CHMOD);
- PATH;
- req->mode = mode;
- POST;
-}
-
-
-int uv_fs_chown(uv_loop_t* loop,
- uv_fs_t* req,
- const char* path,
- uv_uid_t uid,
- uv_gid_t gid,
- uv_fs_cb cb) {
- INIT(CHOWN);
- PATH;
- req->uid = uid;
- req->gid = gid;
- POST;
-}
-
-
-int uv_fs_close(uv_loop_t* loop, uv_fs_t* req, uv_file file, uv_fs_cb cb) {
- INIT(CLOSE);
- req->file = file;
- POST;
-}
-
-
-int uv_fs_fchmod(uv_loop_t* loop,
- uv_fs_t* req,
- uv_file file,
- int mode,
- uv_fs_cb cb) {
- INIT(FCHMOD);
- req->file = file;
- req->mode = mode;
- POST;
-}
-
-
-int uv_fs_fchown(uv_loop_t* loop,
- uv_fs_t* req,
- uv_file file,
- uv_uid_t uid,
- uv_gid_t gid,
- uv_fs_cb cb) {
- INIT(FCHOWN);
- req->file = file;
- req->uid = uid;
- req->gid = gid;
- POST;
-}
-
-
-int uv_fs_lchown(uv_loop_t* loop,
- uv_fs_t* req,
- const char* path,
- uv_uid_t uid,
- uv_gid_t gid,
- uv_fs_cb cb) {
- INIT(LCHOWN);
- PATH;
- req->uid = uid;
- req->gid = gid;
- POST;
-}
-
-
-int uv_fs_fdatasync(uv_loop_t* loop, uv_fs_t* req, uv_file file, uv_fs_cb cb) {
- INIT(FDATASYNC);
- req->file = file;
- POST;
-}
-
-
-int uv_fs_fstat(uv_loop_t* loop, uv_fs_t* req, uv_file file, uv_fs_cb cb) {
- INIT(FSTAT);
- req->file = file;
- POST;
-}
-
-
-int uv_fs_fsync(uv_loop_t* loop, uv_fs_t* req, uv_file file, uv_fs_cb cb) {
- INIT(FSYNC);
- req->file = file;
- POST;
-}
-
-
-int uv_fs_ftruncate(uv_loop_t* loop,
- uv_fs_t* req,
- uv_file file,
- int64_t off,
- uv_fs_cb cb) {
- INIT(FTRUNCATE);
- req->file = file;
- req->off = off;
- POST;
-}
-
-
-int uv_fs_futime(uv_loop_t* loop,
- uv_fs_t* req,
- uv_file file,
- double atime,
- double mtime,
- uv_fs_cb cb) {
- INIT(FUTIME);
- req->file = file;
- req->atime = atime;
- req->mtime = mtime;
- POST;
-}
-
-
-int uv_fs_lstat(uv_loop_t* loop, uv_fs_t* req, const char* path, uv_fs_cb cb) {
- INIT(LSTAT);
- PATH;
- POST;
-}
-
-
-int uv_fs_link(uv_loop_t* loop,
- uv_fs_t* req,
- const char* path,
- const char* new_path,
- uv_fs_cb cb) {
- INIT(LINK);
- PATH2;
- POST;
-}
-
-
-int uv_fs_mkdir(uv_loop_t* loop,
- uv_fs_t* req,
- const char* path,
- int mode,
- uv_fs_cb cb) {
- INIT(MKDIR);
- PATH;
- req->mode = mode;
- POST;
-}
-
-
-int uv_fs_mkdtemp(uv_loop_t* loop,
- uv_fs_t* req,
- const char* tpl,
- uv_fs_cb cb) {
- INIT(MKDTEMP);
- req->path = uv__strdup(tpl);
- if (req->path == NULL)
- return UV_ENOMEM;
- POST;
-}
-
-
-int uv_fs_open(uv_loop_t* loop,
- uv_fs_t* req,
- const char* path,
- int flags,
- int mode,
- uv_fs_cb cb) {
- INIT(OPEN);
- PATH;
- req->flags = flags;
- req->mode = mode;
- POST;
-}
-
-
-int uv_fs_read(uv_loop_t* loop, uv_fs_t* req,
- uv_file file,
- const uv_buf_t bufs[],
- unsigned int nbufs,
- int64_t off,
- uv_fs_cb cb) {
- INIT(READ);
-
- if (bufs == NULL || nbufs == 0)
- return UV_EINVAL;
-
- req->file = file;
-
- req->nbufs = nbufs;
- req->bufs = req->bufsml;
- if (nbufs > ARRAY_SIZE(req->bufsml))
- req->bufs = (uv_buf_t*)uv__malloc(nbufs * sizeof(*bufs));
-
- if (req->bufs == NULL)
- return UV_ENOMEM;
-
- memcpy(req->bufs, bufs, nbufs * sizeof(*bufs));
-
- req->off = off;
- POST;
-}
-
-
-int uv_fs_scandir(uv_loop_t* loop,
- uv_fs_t* req,
- const char* path,
- int flags,
- uv_fs_cb cb) {
- INIT(SCANDIR);
- PATH;
- req->flags = flags;
- POST;
-}
-
-
-int uv_fs_readlink(uv_loop_t* loop,
- uv_fs_t* req,
- const char* path,
- uv_fs_cb cb) {
- INIT(READLINK);
- PATH;
- POST;
-}
-
-
-int uv_fs_realpath(uv_loop_t* loop,
- uv_fs_t* req,
- const char * path,
- uv_fs_cb cb) {
- INIT(REALPATH);
- PATH;
- POST;
-}
-
-
-int uv_fs_rename(uv_loop_t* loop,
- uv_fs_t* req,
- const char* path,
- const char* new_path,
- uv_fs_cb cb) {
- INIT(RENAME);
- PATH2;
- POST;
-}
-
-
-int uv_fs_rmdir(uv_loop_t* loop, uv_fs_t* req, const char* path, uv_fs_cb cb) {
- INIT(RMDIR);
- PATH;
- POST;
-}
-
-
-int uv_fs_sendfile(uv_loop_t* loop,
- uv_fs_t* req,
- uv_file out_fd,
- uv_file in_fd,
- int64_t off,
- size_t len,
- uv_fs_cb cb) {
- INIT(SENDFILE);
- req->flags = in_fd; /* hack */
- req->file = out_fd;
- req->off = off;
- req->bufsml[0].len = len;
- POST;
-}
-
-
-int uv_fs_stat(uv_loop_t* loop, uv_fs_t* req, const char* path, uv_fs_cb cb) {
- INIT(STAT);
- PATH;
- POST;
-}
-
-
-int uv_fs_symlink(uv_loop_t* loop,
- uv_fs_t* req,
- const char* path,
- const char* new_path,
- int flags,
- uv_fs_cb cb) {
- INIT(SYMLINK);
- PATH2;
- req->flags = flags;
- POST;
-}
-
-
-int uv_fs_unlink(uv_loop_t* loop, uv_fs_t* req, const char* path, uv_fs_cb cb) {
- INIT(UNLINK);
- PATH;
- POST;
-}
-
-
-int uv_fs_utime(uv_loop_t* loop,
- uv_fs_t* req,
- const char* path,
- double atime,
- double mtime,
- uv_fs_cb cb) {
- INIT(UTIME);
- PATH;
- req->atime = atime;
- req->mtime = mtime;
- POST;
-}
-
-
-int uv_fs_write(uv_loop_t* loop,
- uv_fs_t* req,
- uv_file file,
- const uv_buf_t bufs[],
- unsigned int nbufs,
- int64_t off,
- uv_fs_cb cb) {
- INIT(WRITE);
-
- if (bufs == NULL || nbufs == 0)
- return UV_EINVAL;
-
- req->file = file;
-
- req->nbufs = nbufs;
- req->bufs = req->bufsml;
- if (nbufs > ARRAY_SIZE(req->bufsml))
- req->bufs = (uv_buf_t*)uv__malloc(nbufs * sizeof(*bufs));
-
- if (req->bufs == NULL)
- return UV_ENOMEM;
-
- memcpy(req->bufs, bufs, nbufs * sizeof(*bufs));
-
- req->off = off;
- POST;
-}
-
-
-void uv_fs_req_cleanup(uv_fs_t* req) {
- if (req == NULL)
- return;
-
- /* Only necessary for asychronous requests, i.e., requests with a callback.
- * Synchronous ones don't copy their arguments and have req->path and
- * req->new_path pointing to user-owned memory. UV_FS_MKDTEMP is the
- * exception to the rule, it always allocates memory.
- */
- if (req->path != NULL && (req->cb != NULL || req->fs_type == UV_FS_MKDTEMP))
- uv__free((void*) req->path); /* Memory is shared with req->new_path. */
-
- req->path = NULL;
- req->new_path = NULL;
-
- if (req->fs_type == UV_FS_SCANDIR && req->ptr != NULL)
- uv__fs_scandir_cleanup(req);
-
- if (req->bufs != req->bufsml)
- uv__free(req->bufs);
- req->bufs = NULL;
-
- if (req->ptr != &req->statbuf)
- uv__free(req->ptr);
- req->ptr = NULL;
-}
-
-
-int uv_fs_copyfile(uv_loop_t* loop,
- uv_fs_t* req,
- const char* path,
- const char* new_path,
- int flags,
- uv_fs_cb cb) {
- INIT(COPYFILE);
-
- if (flags & ~(UV_FS_COPYFILE_EXCL |
- UV_FS_COPYFILE_FICLONE |
- UV_FS_COPYFILE_FICLONE_FORCE)) {
- return UV_EINVAL;
- }
-
- PATH2;
- req->flags = flags;
- POST;
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/fsevents.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/fsevents.cpp
deleted file mode 100644
index 0515c73..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/fsevents.cpp
+++ /dev/null
@@ -1,919 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include "uv.h"
-#include "internal.h"
-
-#if TARGET_OS_IPHONE
-
-/* iOS (currently) doesn't provide the FSEvents-API (nor CoreServices) */
-
-int uv__fsevents_init(uv_fs_event_t* handle) {
- return 0;
-}
-
-
-int uv__fsevents_close(uv_fs_event_t* handle) {
- return 0;
-}
-
-
-void uv__fsevents_loop_delete(uv_loop_t* loop) {
-}
-
-#else /* TARGET_OS_IPHONE */
-
-#include <dlfcn.h>
-#include <assert.h>
-#include <stdlib.h>
-#include <pthread.h>
-
-#include <CoreFoundation/CFRunLoop.h>
-#include <CoreServices/CoreServices.h>
-
-/* These are macros to avoid "initializer element is not constant" errors
- * with old versions of gcc.
- */
-#define kFSEventsModified (kFSEventStreamEventFlagItemFinderInfoMod | \
- kFSEventStreamEventFlagItemModified | \
- kFSEventStreamEventFlagItemInodeMetaMod | \
- kFSEventStreamEventFlagItemChangeOwner | \
- kFSEventStreamEventFlagItemXattrMod)
-
-#define kFSEventsRenamed (kFSEventStreamEventFlagItemCreated | \
- kFSEventStreamEventFlagItemRemoved | \
- kFSEventStreamEventFlagItemRenamed)
-
-#define kFSEventsSystem (kFSEventStreamEventFlagUserDropped | \
- kFSEventStreamEventFlagKernelDropped | \
- kFSEventStreamEventFlagEventIdsWrapped | \
- kFSEventStreamEventFlagHistoryDone | \
- kFSEventStreamEventFlagMount | \
- kFSEventStreamEventFlagUnmount | \
- kFSEventStreamEventFlagRootChanged)
-
-typedef struct uv__fsevents_event_s uv__fsevents_event_t;
-typedef struct uv__cf_loop_signal_s uv__cf_loop_signal_t;
-typedef struct uv__cf_loop_state_s uv__cf_loop_state_t;
-
-enum uv__cf_loop_signal_type_e {
- kUVCFLoopSignalRegular,
- kUVCFLoopSignalClosing
-};
-typedef enum uv__cf_loop_signal_type_e uv__cf_loop_signal_type_t;
-
-struct uv__cf_loop_signal_s {
- QUEUE member;
- uv_fs_event_t* handle;
- uv__cf_loop_signal_type_t type;
-};
-
-struct uv__fsevents_event_s {
- QUEUE member;
- int events;
- char path[1];
-};
-
-struct uv__cf_loop_state_s {
- CFRunLoopRef loop;
- CFRunLoopSourceRef signal_source;
- int fsevent_need_reschedule;
- FSEventStreamRef fsevent_stream;
- uv_sem_t fsevent_sem;
- uv_mutex_t fsevent_mutex;
- void* fsevent_handles[2];
- unsigned int fsevent_handle_count;
-};
-
-/* Forward declarations */
-static void uv__cf_loop_cb(void* arg);
-static void* uv__cf_loop_runner(void* arg);
-static int uv__cf_loop_signal(uv_loop_t* loop,
- uv_fs_event_t* handle,
- uv__cf_loop_signal_type_t type);
-
-/* Lazy-loaded by uv__fsevents_global_init(). */
-static CFArrayRef (*pCFArrayCreate)(CFAllocatorRef,
- const void**,
- CFIndex,
- const CFArrayCallBacks*);
-static void (*pCFRelease)(CFTypeRef);
-static void (*pCFRunLoopAddSource)(CFRunLoopRef,
- CFRunLoopSourceRef,
- CFStringRef);
-static CFRunLoopRef (*pCFRunLoopGetCurrent)(void);
-static void (*pCFRunLoopRemoveSource)(CFRunLoopRef,
- CFRunLoopSourceRef,
- CFStringRef);
-static void (*pCFRunLoopRun)(void);
-static CFRunLoopSourceRef (*pCFRunLoopSourceCreate)(CFAllocatorRef,
- CFIndex,
- CFRunLoopSourceContext*);
-static void (*pCFRunLoopSourceSignal)(CFRunLoopSourceRef);
-static void (*pCFRunLoopStop)(CFRunLoopRef);
-static void (*pCFRunLoopWakeUp)(CFRunLoopRef);
-static CFStringRef (*pCFStringCreateWithFileSystemRepresentation)(
- CFAllocatorRef,
- const char*);
-static CFStringEncoding (*pCFStringGetSystemEncoding)(void);
-static CFStringRef (*pkCFRunLoopDefaultMode);
-static FSEventStreamRef (*pFSEventStreamCreate)(CFAllocatorRef,
- FSEventStreamCallback,
- FSEventStreamContext*,
- CFArrayRef,
- FSEventStreamEventId,
- CFTimeInterval,
- FSEventStreamCreateFlags);
-static void (*pFSEventStreamFlushSync)(FSEventStreamRef);
-static void (*pFSEventStreamInvalidate)(FSEventStreamRef);
-static void (*pFSEventStreamRelease)(FSEventStreamRef);
-static void (*pFSEventStreamScheduleWithRunLoop)(FSEventStreamRef,
- CFRunLoopRef,
- CFStringRef);
-static Boolean (*pFSEventStreamStart)(FSEventStreamRef);
-static void (*pFSEventStreamStop)(FSEventStreamRef);
-
-#define UV__FSEVENTS_PROCESS(handle, block) \
- do { \
- QUEUE events; \
- QUEUE* q; \
- uv__fsevents_event_t* event; \
- int err; \
- uv_mutex_lock(&(handle)->cf_mutex); \
- /* Split-off all events and empty original queue */ \
- QUEUE_MOVE(&(handle)->cf_events, &events); \
- /* Get error (if any) and zero original one */ \
- err = (handle)->cf_error; \
- (handle)->cf_error = 0; \
- uv_mutex_unlock(&(handle)->cf_mutex); \
- /* Loop through events, deallocating each after processing */ \
- while (!QUEUE_EMPTY(&events)) { \
- q = QUEUE_HEAD(&events); \
- event = QUEUE_DATA(q, uv__fsevents_event_t, member); \
- QUEUE_REMOVE(q); \
- /* NOTE: Checking uv__is_active() is required here, because handle \
- * callback may close handle and invoking it after it will lead to \
- * incorrect behaviour */ \
- if (!uv__is_closing((handle)) && uv__is_active((handle))) \
- block \
- /* Free allocated data */ \
- uv__free(event); \
- } \
- if (err != 0 && !uv__is_closing((handle)) && uv__is_active((handle))) \
- (handle)->cb((handle), NULL, 0, err); \
- } while (0)
-
-
-/* Runs in UV loop's thread, when there're events to report to handle */
-static void uv__fsevents_cb(uv_async_t* cb) {
- uv_fs_event_t* handle;
-
- handle = (uv_fs_event_t*)cb->data;
-
- UV__FSEVENTS_PROCESS(handle, {
- handle->cb(handle, event->path[0] ? event->path : NULL, event->events, 0);
- });
-}
-
-
-/* Runs in CF thread, pushed event into handle's event list */
-static void uv__fsevents_push_event(uv_fs_event_t* handle,
- QUEUE* events,
- int err) {
- assert(events != NULL || err != 0);
- uv_mutex_lock(&handle->cf_mutex);
-
- /* Concatenate two queues */
- if (events != NULL)
- QUEUE_ADD(&handle->cf_events, events);
-
- /* Propagate error */
- if (err != 0)
- handle->cf_error = err;
- uv_mutex_unlock(&handle->cf_mutex);
-
- uv_async_send(handle->cf_cb);
-}
-
-
-/* Runs in CF thread, when there're events in FSEventStream */
-static void uv__fsevents_event_cb(ConstFSEventStreamRef streamRef,
- void* info,
- size_t numEvents,
- void* eventPaths,
- const FSEventStreamEventFlags eventFlags[],
- const FSEventStreamEventId eventIds[]) {
- size_t i;
- int len;
- char** paths;
- char* path;
- char* pos;
- uv_fs_event_t* handle;
- QUEUE* q;
- uv_loop_t* loop;
- uv__cf_loop_state_t* state;
- uv__fsevents_event_t* event;
- FSEventStreamEventFlags flags;
- QUEUE head;
-
- loop = (uv_loop_t*)info;
- state = (uv__cf_loop_state_t*)loop->cf_state;
- assert(state != NULL);
- paths = (char**)eventPaths;
-
- /* For each handle */
- uv_mutex_lock(&state->fsevent_mutex);
- QUEUE_FOREACH(q, &state->fsevent_handles) {
- handle = QUEUE_DATA(q, uv_fs_event_t, cf_member);
- QUEUE_INIT(&head);
-
- /* Process and filter out events */
- for (i = 0; i < numEvents; i++) {
- flags = eventFlags[i];
-
- /* Ignore system events */
- if (flags & kFSEventsSystem)
- continue;
-
- path = paths[i];
- len = strlen(path);
-
- /* Filter out paths that are outside handle's request */
- if (strncmp(path, handle->realpath, handle->realpath_len) != 0)
- continue;
-
- if (handle->realpath_len > 1 || *handle->realpath != '/') {
- path += handle->realpath_len;
- len -= handle->realpath_len;
-
- /* Skip forward slash */
- if (*path != '\0') {
- path++;
- len--;
- }
- }
-
-#ifdef MAC_OS_X_VERSION_10_7
- /* Ignore events with path equal to directory itself */
- if (len == 0)
- continue;
-#else
- if (len == 0 && (flags & kFSEventStreamEventFlagItemIsDir))
- continue;
-#endif /* MAC_OS_X_VERSION_10_7 */
-
- /* Do not emit events from subdirectories (without option set) */
- if ((handle->cf_flags & UV_FS_EVENT_RECURSIVE) == 0 && *path != 0) {
- pos = strchr(path + 1, '/');
- if (pos != NULL)
- continue;
- }
-
-#ifndef MAC_OS_X_VERSION_10_7
- path = "";
- len = 0;
-#endif /* MAC_OS_X_VERSION_10_7 */
-
- event = (uv__fsevents_event_t*)uv__malloc(sizeof(*event) + len);
- if (event == NULL)
- break;
-
- memset(event, 0, sizeof(*event));
- memcpy(event->path, path, len + 1);
- event->events = UV_RENAME;
-
-#ifdef MAC_OS_X_VERSION_10_7
- if (0 != (flags & kFSEventsModified) &&
- 0 == (flags & kFSEventsRenamed)) {
- event->events = UV_CHANGE;
- }
-#else
- if (0 != (flags & kFSEventsModified) &&
- 0 != (flags & kFSEventStreamEventFlagItemIsDir) &&
- 0 == (flags & kFSEventStreamEventFlagItemRenamed)) {
- event->events = UV_CHANGE;
- }
- if (0 == (flags & kFSEventStreamEventFlagItemIsDir) &&
- 0 == (flags & kFSEventStreamEventFlagItemRenamed)) {
- event->events = UV_CHANGE;
- }
-#endif /* MAC_OS_X_VERSION_10_7 */
-
- QUEUE_INSERT_TAIL(&head, &event->member);
- }
-
- if (!QUEUE_EMPTY(&head))
- uv__fsevents_push_event(handle, &head, 0);
- }
- uv_mutex_unlock(&state->fsevent_mutex);
-}
-
-
-/* Runs in CF thread */
-static int uv__fsevents_create_stream(uv_loop_t* loop, CFArrayRef paths) {
- uv__cf_loop_state_t* state;
- FSEventStreamContext ctx;
- FSEventStreamRef ref;
- CFAbsoluteTime latency;
- FSEventStreamCreateFlags flags;
-
- /* Initialize context */
- ctx.version = 0;
- ctx.info = loop;
- ctx.retain = NULL;
- ctx.release = NULL;
- ctx.copyDescription = NULL;
-
- latency = 0.05;
-
- /* Explanation of selected flags:
- * 1. NoDefer - without this flag, events that are happening continuously
- * (i.e. each event is happening after time interval less than `latency`,
- * counted from previous event), will be deferred and passed to callback
- * once they'll either fill whole OS buffer, or when this continuous stream
- * will stop (i.e. there'll be delay between events, bigger than
- * `latency`).
- * Specifying this flag will invoke callback after `latency` time passed
- * since event.
- * 2. FileEvents - fire callback for file changes too (by default it is firing
- * it only for directory changes).
- */
- flags = kFSEventStreamCreateFlagNoDefer | kFSEventStreamCreateFlagFileEvents;
-
- /*
- * NOTE: It might sound like a good idea to remember last seen StreamEventId,
- * but in reality one dir might have last StreamEventId less than, the other,
- * that is being watched now. Which will cause FSEventStream API to report
- * changes to files from the past.
- */
- ref = pFSEventStreamCreate(NULL,
- &uv__fsevents_event_cb,
- &ctx,
- paths,
- kFSEventStreamEventIdSinceNow,
- latency,
- flags);
- assert(ref != NULL);
-
- state = (uv__cf_loop_state_t*)loop->cf_state;
- pFSEventStreamScheduleWithRunLoop(ref,
- state->loop,
- *pkCFRunLoopDefaultMode);
- if (!pFSEventStreamStart(ref)) {
- pFSEventStreamInvalidate(ref);
- pFSEventStreamRelease(ref);
- return UV_EMFILE;
- }
-
- state->fsevent_stream = ref;
- return 0;
-}
-
-
-/* Runs in CF thread */
-static void uv__fsevents_destroy_stream(uv_loop_t* loop) {
- uv__cf_loop_state_t* state;
-
- state = (uv__cf_loop_state_t*)loop->cf_state;
-
- if (state->fsevent_stream == NULL)
- return;
-
- /* Stop emitting events */
- pFSEventStreamStop(state->fsevent_stream);
-
- /* Release stream */
- pFSEventStreamInvalidate(state->fsevent_stream);
- pFSEventStreamRelease(state->fsevent_stream);
- state->fsevent_stream = NULL;
-}
-
-
-/* Runs in CF thread, when there're new fsevent handles to add to stream */
-static void uv__fsevents_reschedule(uv_fs_event_t* handle,
- uv__cf_loop_signal_type_t type) {
- uv__cf_loop_state_t* state;
- QUEUE* q;
- uv_fs_event_t* curr;
- CFArrayRef cf_paths;
- CFStringRef* paths;
- unsigned int i;
- int err;
- unsigned int path_count;
-
- state = (uv__cf_loop_state_t*)handle->loop->cf_state;
- paths = NULL;
- cf_paths = NULL;
- err = 0;
- /* NOTE: `i` is used in deallocation loop below */
- i = 0;
-
- /* Optimization to prevent O(n^2) time spent when starting to watch
- * many files simultaneously
- */
- uv_mutex_lock(&state->fsevent_mutex);
- if (state->fsevent_need_reschedule == 0) {
- uv_mutex_unlock(&state->fsevent_mutex);
- goto final;
- }
- state->fsevent_need_reschedule = 0;
- uv_mutex_unlock(&state->fsevent_mutex);
-
- /* Destroy previous FSEventStream */
- uv__fsevents_destroy_stream(handle->loop);
-
- /* Any failure below will be a memory failure */
- err = UV_ENOMEM;
-
- /* Create list of all watched paths */
- uv_mutex_lock(&state->fsevent_mutex);
- path_count = state->fsevent_handle_count;
- if (path_count != 0) {
- paths = (CFStringRef*)uv__malloc(sizeof(*paths) * path_count);
- if (paths == NULL) {
- uv_mutex_unlock(&state->fsevent_mutex);
- goto final;
- }
-
- q = &state->fsevent_handles;
- for (; i < path_count; i++) {
- q = QUEUE_NEXT(q);
- assert(q != &state->fsevent_handles);
- curr = QUEUE_DATA(q, uv_fs_event_t, cf_member);
-
- assert(curr->realpath != NULL);
- paths[i] =
- pCFStringCreateWithFileSystemRepresentation(NULL, curr->realpath);
- if (paths[i] == NULL) {
- uv_mutex_unlock(&state->fsevent_mutex);
- goto final;
- }
- }
- }
- uv_mutex_unlock(&state->fsevent_mutex);
- err = 0;
-
- if (path_count != 0) {
- /* Create new FSEventStream */
- cf_paths = pCFArrayCreate(NULL, (const void**) paths, path_count, NULL);
- if (cf_paths == NULL) {
- err = UV_ENOMEM;
- goto final;
- }
- err = uv__fsevents_create_stream(handle->loop, cf_paths);
- }
-
-final:
- /* Deallocate all paths in case of failure */
- if (err != 0) {
- if (cf_paths == NULL) {
- while (i != 0)
- pCFRelease(paths[--i]);
- uv__free(paths);
- } else {
- /* CFArray takes ownership of both strings and original C-array */
- pCFRelease(cf_paths);
- }
-
- /* Broadcast error to all handles */
- uv_mutex_lock(&state->fsevent_mutex);
- QUEUE_FOREACH(q, &state->fsevent_handles) {
- curr = QUEUE_DATA(q, uv_fs_event_t, cf_member);
- uv__fsevents_push_event(curr, NULL, err);
- }
- uv_mutex_unlock(&state->fsevent_mutex);
- }
-
- /*
- * Main thread will block until the removal of handle from the list,
- * we must tell it when we're ready.
- *
- * NOTE: This is coupled with `uv_sem_wait()` in `uv__fsevents_close`
- */
- if (type == kUVCFLoopSignalClosing)
- uv_sem_post(&state->fsevent_sem);
-}
-
-
-static int uv__fsevents_global_init(void) {
- static pthread_mutex_t global_init_mutex = PTHREAD_MUTEX_INITIALIZER;
- static void* core_foundation_handle;
- static void* core_services_handle;
- int err;
-
- err = 0;
- pthread_mutex_lock(&global_init_mutex);
- if (core_foundation_handle != NULL)
- goto out;
-
- /* The libraries are never unloaded because we currently don't have a good
- * mechanism for keeping a reference count. It's unlikely to be an issue
- * but if it ever becomes one, we can turn the dynamic library handles into
- * per-event loop properties and have the dynamic linker keep track for us.
- */
- err = UV_ENOSYS;
- core_foundation_handle = dlopen("/System/Library/Frameworks/"
- "CoreFoundation.framework/"
- "Versions/A/CoreFoundation",
- RTLD_LAZY | RTLD_LOCAL);
- if (core_foundation_handle == NULL)
- goto out;
-
- core_services_handle = dlopen("/System/Library/Frameworks/"
- "CoreServices.framework/"
- "Versions/A/CoreServices",
- RTLD_LAZY | RTLD_LOCAL);
- if (core_services_handle == NULL)
- goto out;
-
- err = UV_ENOENT;
-#define V(handle, symbol) \
- do { \
- *(void **)(&p ## symbol) = dlsym((handle), #symbol); \
- if (p ## symbol == NULL) \
- goto out; \
- } \
- while (0)
- V(core_foundation_handle, CFArrayCreate);
- V(core_foundation_handle, CFRelease);
- V(core_foundation_handle, CFRunLoopAddSource);
- V(core_foundation_handle, CFRunLoopGetCurrent);
- V(core_foundation_handle, CFRunLoopRemoveSource);
- V(core_foundation_handle, CFRunLoopRun);
- V(core_foundation_handle, CFRunLoopSourceCreate);
- V(core_foundation_handle, CFRunLoopSourceSignal);
- V(core_foundation_handle, CFRunLoopStop);
- V(core_foundation_handle, CFRunLoopWakeUp);
- V(core_foundation_handle, CFStringCreateWithFileSystemRepresentation);
- V(core_foundation_handle, CFStringGetSystemEncoding);
- V(core_foundation_handle, kCFRunLoopDefaultMode);
- V(core_services_handle, FSEventStreamCreate);
- V(core_services_handle, FSEventStreamFlushSync);
- V(core_services_handle, FSEventStreamInvalidate);
- V(core_services_handle, FSEventStreamRelease);
- V(core_services_handle, FSEventStreamScheduleWithRunLoop);
- V(core_services_handle, FSEventStreamStart);
- V(core_services_handle, FSEventStreamStop);
-#undef V
- err = 0;
-
-out:
- if (err && core_services_handle != NULL) {
- dlclose(core_services_handle);
- core_services_handle = NULL;
- }
-
- if (err && core_foundation_handle != NULL) {
- dlclose(core_foundation_handle);
- core_foundation_handle = NULL;
- }
-
- pthread_mutex_unlock(&global_init_mutex);
- return err;
-}
-
-
-/* Runs in UV loop */
-static int uv__fsevents_loop_init(uv_loop_t* loop) {
- CFRunLoopSourceContext ctx;
- uv__cf_loop_state_t* state;
- pthread_attr_t attr_storage;
- pthread_attr_t* attr;
- int err;
-
- if (loop->cf_state != NULL)
- return 0;
-
- err = uv__fsevents_global_init();
- if (err)
- return err;
-
- state = (uv__cf_loop_state_t*)uv__calloc(1, sizeof(*state));
- if (state == NULL)
- return UV_ENOMEM;
-
- err = uv_mutex_init(&loop->cf_mutex);
- if (err)
- goto fail_mutex_init;
-
- err = uv_sem_init(&loop->cf_sem, 0);
- if (err)
- goto fail_sem_init;
-
- QUEUE_INIT(&loop->cf_signals);
-
- err = uv_sem_init(&state->fsevent_sem, 0);
- if (err)
- goto fail_fsevent_sem_init;
-
- err = uv_mutex_init(&state->fsevent_mutex);
- if (err)
- goto fail_fsevent_mutex_init;
-
- QUEUE_INIT(&state->fsevent_handles);
- state->fsevent_need_reschedule = 0;
- state->fsevent_handle_count = 0;
-
- memset(&ctx, 0, sizeof(ctx));
- ctx.info = loop;
- ctx.perform = uv__cf_loop_cb;
- state->signal_source = pCFRunLoopSourceCreate(NULL, 0, &ctx);
- if (state->signal_source == NULL) {
- err = UV_ENOMEM;
- goto fail_signal_source_create;
- }
-
- /* In the unlikely event that pthread_attr_init() fails, create the thread
- * with the default stack size. We'll use a little more address space but
- * that in itself is not a fatal error.
- */
- attr = &attr_storage;
- if (pthread_attr_init(attr))
- attr = NULL;
-
- if (attr != NULL)
- if (pthread_attr_setstacksize(attr, 4 * PTHREAD_STACK_MIN))
- abort();
-
- loop->cf_state = state;
-
- /* uv_thread_t is an alias for pthread_t. */
- err = UV__ERR(pthread_create(&loop->cf_thread, attr, uv__cf_loop_runner, loop));
-
- if (attr != NULL)
- pthread_attr_destroy(attr);
-
- if (err)
- goto fail_thread_create;
-
- /* Synchronize threads */
- uv_sem_wait(&loop->cf_sem);
- return 0;
-
-fail_thread_create:
- loop->cf_state = NULL;
-
-fail_signal_source_create:
- uv_mutex_destroy(&state->fsevent_mutex);
-
-fail_fsevent_mutex_init:
- uv_sem_destroy(&state->fsevent_sem);
-
-fail_fsevent_sem_init:
- uv_sem_destroy(&loop->cf_sem);
-
-fail_sem_init:
- uv_mutex_destroy(&loop->cf_mutex);
-
-fail_mutex_init:
- uv__free(state);
- return err;
-}
-
-
-/* Runs in UV loop */
-void uv__fsevents_loop_delete(uv_loop_t* loop) {
- uv__cf_loop_signal_t* s;
- uv__cf_loop_state_t* state;
- QUEUE* q;
-
- if (loop->cf_state == NULL)
- return;
-
- if (uv__cf_loop_signal(loop, NULL, kUVCFLoopSignalRegular) != 0)
- abort();
-
- uv_thread_join(&loop->cf_thread);
- uv_sem_destroy(&loop->cf_sem);
- uv_mutex_destroy(&loop->cf_mutex);
-
- /* Free any remaining data */
- while (!QUEUE_EMPTY(&loop->cf_signals)) {
- q = QUEUE_HEAD(&loop->cf_signals);
- s = QUEUE_DATA(q, uv__cf_loop_signal_t, member);
- QUEUE_REMOVE(q);
- uv__free(s);
- }
-
- /* Destroy state */
- state = (uv__cf_loop_state_t*)loop->cf_state;
- uv_sem_destroy(&state->fsevent_sem);
- uv_mutex_destroy(&state->fsevent_mutex);
- pCFRelease(state->signal_source);
- uv__free(state);
- loop->cf_state = NULL;
-}
-
-
-/* Runs in CF thread. This is the CF loop's body */
-static void* uv__cf_loop_runner(void* arg) {
- uv_loop_t* loop;
- uv__cf_loop_state_t* state;
-
- loop = (uv_loop_t*)arg;
- state = (uv__cf_loop_state_t*)loop->cf_state;
- state->loop = pCFRunLoopGetCurrent();
-
- pCFRunLoopAddSource(state->loop,
- state->signal_source,
- *pkCFRunLoopDefaultMode);
-
- uv_sem_post(&loop->cf_sem);
-
- pCFRunLoopRun();
- pCFRunLoopRemoveSource(state->loop,
- state->signal_source,
- *pkCFRunLoopDefaultMode);
-
- return NULL;
-}
-
-
-/* Runs in CF thread, executed after `uv__cf_loop_signal()` */
-static void uv__cf_loop_cb(void* arg) {
- uv_loop_t* loop;
- uv__cf_loop_state_t* state;
- QUEUE* item;
- QUEUE split_head;
- uv__cf_loop_signal_t* s;
-
- loop = (uv_loop_t*)arg;
- state = (uv__cf_loop_state_t*)loop->cf_state;
-
- uv_mutex_lock(&loop->cf_mutex);
- QUEUE_MOVE(&loop->cf_signals, &split_head);
- uv_mutex_unlock(&loop->cf_mutex);
-
- while (!QUEUE_EMPTY(&split_head)) {
- item = QUEUE_HEAD(&split_head);
- QUEUE_REMOVE(item);
-
- s = QUEUE_DATA(item, uv__cf_loop_signal_t, member);
-
- /* This was a termination signal */
- if (s->handle == NULL)
- pCFRunLoopStop(state->loop);
- else
- uv__fsevents_reschedule(s->handle, s->type);
-
- uv__free(s);
- }
-}
-
-
-/* Runs in UV loop to notify CF thread */
-int uv__cf_loop_signal(uv_loop_t* loop,
- uv_fs_event_t* handle,
- uv__cf_loop_signal_type_t type) {
- uv__cf_loop_signal_t* item;
- uv__cf_loop_state_t* state;
-
- item = (uv__cf_loop_signal_t*)uv__malloc(sizeof(*item));
- if (item == NULL)
- return UV_ENOMEM;
-
- item->handle = handle;
- item->type = type;
-
- uv_mutex_lock(&loop->cf_mutex);
- QUEUE_INSERT_TAIL(&loop->cf_signals, &item->member);
- uv_mutex_unlock(&loop->cf_mutex);
-
- state = (uv__cf_loop_state_t*)loop->cf_state;
- assert(state != NULL);
- pCFRunLoopSourceSignal(state->signal_source);
- pCFRunLoopWakeUp(state->loop);
-
- return 0;
-}
-
-
-/* Runs in UV loop to initialize handle */
-int uv__fsevents_init(uv_fs_event_t* handle) {
- int err;
- uv__cf_loop_state_t* state;
-
- err = uv__fsevents_loop_init(handle->loop);
- if (err)
- return err;
-
- /* Get absolute path to file */
- handle->realpath = realpath(handle->path, NULL);
- if (handle->realpath == NULL)
- return UV__ERR(errno);
- handle->realpath_len = strlen(handle->realpath);
-
- /* Initialize event queue */
- QUEUE_INIT(&handle->cf_events);
- handle->cf_error = 0;
-
- /*
- * Events will occur in other thread.
- * Initialize callback for getting them back into event loop's thread
- */
- handle->cf_cb = (uv_async_t*)uv__malloc(sizeof(*handle->cf_cb));
- if (handle->cf_cb == NULL) {
- err = UV_ENOMEM;
- goto fail_cf_cb_malloc;
- }
-
- handle->cf_cb->data = handle;
- uv_async_init(handle->loop, handle->cf_cb, uv__fsevents_cb);
- handle->cf_cb->flags |= UV__HANDLE_INTERNAL;
- uv_unref((uv_handle_t*) handle->cf_cb);
-
- err = uv_mutex_init(&handle->cf_mutex);
- if (err)
- goto fail_cf_mutex_init;
-
- /* Insert handle into the list */
- state = (uv__cf_loop_state_t*)handle->loop->cf_state;
- uv_mutex_lock(&state->fsevent_mutex);
- QUEUE_INSERT_TAIL(&state->fsevent_handles, &handle->cf_member);
- state->fsevent_handle_count++;
- state->fsevent_need_reschedule = 1;
- uv_mutex_unlock(&state->fsevent_mutex);
-
- /* Reschedule FSEventStream */
- assert(handle != NULL);
- err = uv__cf_loop_signal(handle->loop, handle, kUVCFLoopSignalRegular);
- if (err)
- goto fail_loop_signal;
-
- return 0;
-
-fail_loop_signal:
- uv_mutex_destroy(&handle->cf_mutex);
-
-fail_cf_mutex_init:
- uv__free(handle->cf_cb);
- handle->cf_cb = NULL;
-
-fail_cf_cb_malloc:
- uv__free(handle->realpath);
- handle->realpath = NULL;
- handle->realpath_len = 0;
-
- return err;
-}
-
-
-/* Runs in UV loop to de-initialize handle */
-int uv__fsevents_close(uv_fs_event_t* handle) {
- int err;
- uv__cf_loop_state_t* state;
-
- if (handle->cf_cb == NULL)
- return UV_EINVAL;
-
- /* Remove handle from the list */
- state = (uv__cf_loop_state_t*)handle->loop->cf_state;
- uv_mutex_lock(&state->fsevent_mutex);
- QUEUE_REMOVE(&handle->cf_member);
- state->fsevent_handle_count--;
- state->fsevent_need_reschedule = 1;
- uv_mutex_unlock(&state->fsevent_mutex);
-
- /* Reschedule FSEventStream */
- assert(handle != NULL);
- err = uv__cf_loop_signal(handle->loop, handle, kUVCFLoopSignalClosing);
- if (err)
- return UV__ERR(err);
-
- /* Wait for deinitialization */
- uv_sem_wait(&state->fsevent_sem);
-
- uv_close((uv_handle_t*) handle->cf_cb, (uv_close_cb) uv__free);
- handle->cf_cb = NULL;
-
- /* Free data in queue */
- UV__FSEVENTS_PROCESS(handle, {
- /* NOP */
- });
-
- uv_mutex_destroy(&handle->cf_mutex);
- uv__free(handle->realpath);
- handle->realpath = NULL;
- handle->realpath_len = 0;
-
- return 0;
-}
-
-#endif /* TARGET_OS_IPHONE */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/getaddrinfo.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/getaddrinfo.cpp
deleted file mode 100644
index a39a947..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/getaddrinfo.cpp
+++ /dev/null
@@ -1,232 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-/* Expose glibc-specific EAI_* error codes. Needs to be defined before we
- * include any headers.
- */
-#ifndef _GNU_SOURCE
-# define _GNU_SOURCE
-#endif
-
-#include "uv.h"
-#include "internal.h"
-
-#include <errno.h>
-#include <stddef.h> /* NULL */
-#include <stdlib.h>
-#include <string.h>
-#include <net/if.h> /* if_indextoname() */
-
-/* EAI_* constants. */
-#include <netdb.h>
-
-
-int uv__getaddrinfo_translate_error(int sys_err) {
- switch (sys_err) {
- case 0: return 0;
-#if defined(EAI_ADDRFAMILY)
- case EAI_ADDRFAMILY: return UV_EAI_ADDRFAMILY;
-#endif
-#if defined(EAI_AGAIN)
- case EAI_AGAIN: return UV_EAI_AGAIN;
-#endif
-#if defined(EAI_BADFLAGS)
- case EAI_BADFLAGS: return UV_EAI_BADFLAGS;
-#endif
-#if defined(EAI_BADHINTS)
- case EAI_BADHINTS: return UV_EAI_BADHINTS;
-#endif
-#if defined(EAI_CANCELED)
- case EAI_CANCELED: return UV_EAI_CANCELED;
-#endif
-#if defined(EAI_FAIL)
- case EAI_FAIL: return UV_EAI_FAIL;
-#endif
-#if defined(EAI_FAMILY)
- case EAI_FAMILY: return UV_EAI_FAMILY;
-#endif
-#if defined(EAI_MEMORY)
- case EAI_MEMORY: return UV_EAI_MEMORY;
-#endif
-#if defined(EAI_NODATA)
- case EAI_NODATA: return UV_EAI_NODATA;
-#endif
-#if defined(EAI_NONAME)
-# if !defined(EAI_NODATA) || EAI_NODATA != EAI_NONAME
- case EAI_NONAME: return UV_EAI_NONAME;
-# endif
-#endif
-#if defined(EAI_OVERFLOW)
- case EAI_OVERFLOW: return UV_EAI_OVERFLOW;
-#endif
-#if defined(EAI_PROTOCOL)
- case EAI_PROTOCOL: return UV_EAI_PROTOCOL;
-#endif
-#if defined(EAI_SERVICE)
- case EAI_SERVICE: return UV_EAI_SERVICE;
-#endif
-#if defined(EAI_SOCKTYPE)
- case EAI_SOCKTYPE: return UV_EAI_SOCKTYPE;
-#endif
-#if defined(EAI_SYSTEM)
- case EAI_SYSTEM: return UV__ERR(errno);
-#endif
- }
- assert(!"unknown EAI_* error code");
- abort();
- return 0; /* Pacify compiler. */
-}
-
-
-static void uv__getaddrinfo_work(struct uv__work* w) {
- uv_getaddrinfo_t* req;
- int err;
-
- req = container_of(w, uv_getaddrinfo_t, work_req);
- err = getaddrinfo(req->hostname, req->service, req->hints, &req->addrinfo);
- req->retcode = uv__getaddrinfo_translate_error(err);
-}
-
-
-static void uv__getaddrinfo_done(struct uv__work* w, int status) {
- uv_getaddrinfo_t* req;
-
- req = container_of(w, uv_getaddrinfo_t, work_req);
- uv__req_unregister(req->loop, req);
-
- /* See initialization in uv_getaddrinfo(). */
- if (req->hints)
- uv__free(req->hints);
- else if (req->service)
- uv__free(req->service);
- else if (req->hostname)
- uv__free(req->hostname);
- else
- assert(0);
-
- req->hints = NULL;
- req->service = NULL;
- req->hostname = NULL;
-
- if (status == UV_ECANCELED) {
- assert(req->retcode == 0);
- req->retcode = UV_EAI_CANCELED;
- }
-
- if (req->cb)
- req->cb(req, req->retcode, req->addrinfo);
-}
-
-
-int uv_getaddrinfo(uv_loop_t* loop,
- uv_getaddrinfo_t* req,
- uv_getaddrinfo_cb cb,
- const char* hostname,
- const char* service,
- const struct addrinfo* hints) {
- size_t hostname_len;
- size_t service_len;
- size_t hints_len;
- size_t len;
- char* buf;
-
- if (req == NULL || (hostname == NULL && service == NULL))
- return UV_EINVAL;
-
- hostname_len = hostname ? strlen(hostname) + 1 : 0;
- service_len = service ? strlen(service) + 1 : 0;
- hints_len = hints ? sizeof(*hints) : 0;
- buf = (char*)uv__malloc(hostname_len + service_len + hints_len);
-
- if (buf == NULL)
- return UV_ENOMEM;
-
- uv__req_init(loop, req, UV_GETADDRINFO);
- req->loop = loop;
- req->cb = cb;
- req->addrinfo = NULL;
- req->hints = NULL;
- req->service = NULL;
- req->hostname = NULL;
- req->retcode = 0;
-
- /* order matters, see uv_getaddrinfo_done() */
- len = 0;
-
- if (hints) {
- req->hints = (struct addrinfo*)memcpy(buf + len, hints, sizeof(*hints));
- len += sizeof(*hints);
- }
-
- if (service) {
- req->service = (char*)memcpy(buf + len, service, service_len);
- len += service_len;
- }
-
- if (hostname)
- req->hostname = (char*)memcpy(buf + len, hostname, hostname_len);
-
- if (cb) {
- uv__work_submit(loop,
- &req->work_req,
- uv__getaddrinfo_work,
- uv__getaddrinfo_done);
- return 0;
- } else {
- uv__getaddrinfo_work(&req->work_req);
- uv__getaddrinfo_done(&req->work_req, 0);
- return req->retcode;
- }
-}
-
-
-void uv_freeaddrinfo(struct addrinfo* ai) {
- if (ai)
- freeaddrinfo(ai);
-}
-
-
-int uv_if_indextoname(unsigned int ifindex, char* buffer, size_t* size) {
- char ifname_buf[UV_IF_NAMESIZE];
- size_t len;
-
- if (buffer == NULL || size == NULL || *size == 0)
- return UV_EINVAL;
-
- if (if_indextoname(ifindex, ifname_buf) == NULL)
- return UV__ERR(errno);
-
- len = strnlen(ifname_buf, sizeof(ifname_buf));
-
- if (*size <= len) {
- *size = len + 1;
- return UV_ENOBUFS;
- }
-
- memcpy(buffer, ifname_buf, len);
- buffer[len] = '\0';
- *size = len;
-
- return 0;
-}
-
-int uv_if_indextoiid(unsigned int ifindex, char* buffer, size_t* size) {
- return uv_if_indextoname(ifindex, buffer, size);
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/getnameinfo.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/getnameinfo.cpp
deleted file mode 100644
index 9a43672..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/getnameinfo.cpp
+++ /dev/null
@@ -1,120 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
-*
-* Permission is hereby granted, free of charge, to any person obtaining a copy
-* of this software and associated documentation files (the "Software"), to
-* deal in the Software without restriction, including without limitation the
-* rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
-* sell copies of the Software, and to permit persons to whom the Software is
-* furnished to do so, subject to the following conditions:
-*
-* The above copyright notice and this permission notice shall be included in
-* all copies or substantial portions of the Software.
-*
-* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
-* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
-* IN THE SOFTWARE.
-*/
-
-#include <assert.h>
-#include <stdlib.h>
-#include <stdio.h>
-#include <string.h>
-
-#include "uv.h"
-#include "internal.h"
-
-
-static void uv__getnameinfo_work(struct uv__work* w) {
- uv_getnameinfo_t* req;
- int err;
- socklen_t salen;
-
- req = container_of(w, uv_getnameinfo_t, work_req);
-
- if (req->storage.ss_family == AF_INET)
- salen = sizeof(struct sockaddr_in);
- else if (req->storage.ss_family == AF_INET6)
- salen = sizeof(struct sockaddr_in6);
- else
- abort();
-
- err = getnameinfo((struct sockaddr*) &req->storage,
- salen,
- req->host,
- sizeof(req->host),
- req->service,
- sizeof(req->service),
- req->flags);
- req->retcode = uv__getaddrinfo_translate_error(err);
-}
-
-static void uv__getnameinfo_done(struct uv__work* w, int status) {
- uv_getnameinfo_t* req;
- char* host;
- char* service;
-
- req = container_of(w, uv_getnameinfo_t, work_req);
- uv__req_unregister(req->loop, req);
- host = service = NULL;
-
- if (status == UV_ECANCELED) {
- assert(req->retcode == 0);
- req->retcode = UV_EAI_CANCELED;
- } else if (req->retcode == 0) {
- host = req->host;
- service = req->service;
- }
-
- if (req->getnameinfo_cb)
- req->getnameinfo_cb(req, req->retcode, host, service);
-}
-
-/*
-* Entry point for getnameinfo
-* return 0 if a callback will be made
-* return error code if validation fails
-*/
-int uv_getnameinfo(uv_loop_t* loop,
- uv_getnameinfo_t* req,
- uv_getnameinfo_cb getnameinfo_cb,
- const struct sockaddr* addr,
- int flags) {
- if (req == NULL || addr == NULL)
- return UV_EINVAL;
-
- if (addr->sa_family == AF_INET) {
- memcpy(&req->storage,
- addr,
- sizeof(struct sockaddr_in));
- } else if (addr->sa_family == AF_INET6) {
- memcpy(&req->storage,
- addr,
- sizeof(struct sockaddr_in6));
- } else {
- return UV_EINVAL;
- }
-
- uv__req_init(loop, (uv_req_t*)req, UV_GETNAMEINFO);
-
- req->getnameinfo_cb = getnameinfo_cb;
- req->flags = flags;
- req->type = UV_GETNAMEINFO;
- req->loop = loop;
- req->retcode = 0;
-
- if (getnameinfo_cb) {
- uv__work_submit(loop,
- &req->work_req,
- uv__getnameinfo_work,
- uv__getnameinfo_done);
- return 0;
- } else {
- uv__getnameinfo_work(&req->work_req);
- uv__getnameinfo_done(&req->work_req, 0);
- return req->retcode;
- }
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/ibmi.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/ibmi.cpp
deleted file mode 100644
index 9b434fe..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/ibmi.cpp
+++ /dev/null
@@ -1,112 +0,0 @@
-/* Copyright libuv project contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include "uv.h"
-#include "internal.h"
-
-#include <stdio.h>
-#include <stdint.h>
-#include <stdlib.h>
-#include <string.h>
-#include <assert.h>
-#include <errno.h>
-
-#include <sys/types.h>
-#include <sys/socket.h>
-#include <sys/ioctl.h>
-#include <net/if.h>
-#include <netinet/in.h>
-#include <arpa/inet.h>
-
-#include <sys/time.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <utmp.h>
-#include <libgen.h>
-
-#include <sys/protosw.h>
-#include <procinfo.h>
-#include <sys/proc.h>
-#include <sys/procfs.h>
-
-#include <ctype.h>
-
-#include <sys/mntctl.h>
-#include <sys/vmount.h>
-#include <limits.h>
-#include <strings.h>
-#include <sys/vnode.h>
-
-uint64_t uv_get_free_memory(void) {
- return (uint64_t) sysconf(_SC_PAGESIZE) * sysconf(_SC_AVPHYS_PAGES);
-}
-
-
-uint64_t uv_get_total_memory(void) {
- return (uint64_t) sysconf(_SC_PAGESIZE) * sysconf(_SC_PHYS_PAGES);
-}
-
-
-void uv_loadavg(double avg[3]) {
- avg[0] = avg[1] = avg[2] = 0;
- return;
-}
-
-
-int uv_resident_set_memory(size_t* rss) {
- return UV_ENOSYS;
-}
-
-
-int uv_uptime(double* uptime) {
- return UV_ENOSYS;
-}
-
-
-int uv_cpu_info(uv_cpu_info_t** cpu_infos, int* count) {
- unsigned int numcpus, idx = 0;
- uv_cpu_info_t* cpu_info;
-
- *cpu_infos = NULL;
- *count = 0;
-
- numcpus = sysconf(_SC_NPROCESSORS_ONLN);
-
- *cpu_infos = (uv_cpu_info_t*)uv__malloc(numcpus * sizeof(uv_cpu_info_t));
- if (!*cpu_infos) {
- return UV_ENOMEM;
- }
-
- cpu_info = *cpu_infos;
- for (idx = 0; idx < numcpus; idx++) {
- cpu_info->speed = 0;
- cpu_info->model = uv__strdup("unknown");
- cpu_info->cpu_times.user = 0;
- cpu_info->cpu_times.sys = 0;
- cpu_info->cpu_times.idle = 0;
- cpu_info->cpu_times.irq = 0;
- cpu_info->cpu_times.nice = 0;
- cpu_info++;
- }
- *count = numcpus;
-
- return 0;
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/internal.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/internal.h
deleted file mode 100644
index 2adc66b..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/internal.h
+++ /dev/null
@@ -1,357 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#ifndef UV_UNIX_INTERNAL_H_
-#define UV_UNIX_INTERNAL_H_
-
-#include "uv-common.h"
-
-#include <assert.h>
-#include <stdlib.h> /* abort */
-#include <string.h> /* strrchr */
-#include <fcntl.h> /* O_CLOEXEC, may be */
-#include <stdio.h>
-#include <errno.h>
-
-#if defined(__STRICT_ANSI__)
-# define inline __inline
-#endif
-
-#if defined(__linux__)
-# include "linux-syscalls.h"
-#endif /* __linux__ */
-
-#if defined(__MVS__)
-# include "os390-syscalls.h"
-#endif /* __MVS__ */
-
-#if defined(__sun)
-# include <sys/port.h>
-# include <port.h>
-#endif /* __sun */
-
-#if defined(_AIX)
-# define reqevents events
-# define rtnevents revents
-# include <sys/poll.h>
-#else
-# include <poll.h>
-#endif /* _AIX */
-
-#if defined(__APPLE__) && !TARGET_OS_IPHONE
-# include <AvailabilityMacros.h>
-#endif
-
-#if defined(__ANDROID__)
-int uv__pthread_sigmask(int how, const sigset_t* set, sigset_t* oset);
-# ifdef pthread_sigmask
-# undef pthread_sigmask
-# endif
-# define pthread_sigmask(how, set, oldset) uv__pthread_sigmask(how, set, oldset)
-#endif
-
-#define ACCESS_ONCE(type, var) \
- (*(volatile type*) &(var))
-
-#define ROUND_UP(a, b) \
- ((a) % (b) ? ((a) + (b)) - ((a) % (b)) : (a))
-
-#define UNREACHABLE() \
- do { \
- assert(0 && "unreachable code"); \
- abort(); \
- } \
- while (0)
-
-#define SAVE_ERRNO(block) \
- do { \
- int _saved_errno = errno; \
- do { block; } while (0); \
- errno = _saved_errno; \
- } \
- while (0)
-
-/* The __clang__ and __INTEL_COMPILER checks are superfluous because they
- * define __GNUC__. They are here to convey to you, dear reader, that these
- * macros are enabled when compiling with clang or icc.
- */
-#if defined(__clang__) || \
- defined(__GNUC__) || \
- defined(__INTEL_COMPILER) || \
- defined(__SUNPRO_C)
-# define UV_DESTRUCTOR(declaration) __attribute__((destructor)) declaration
-# define UV_UNUSED(declaration) __attribute__((unused)) declaration
-#else
-# define UV_DESTRUCTOR(declaration) declaration
-# define UV_UNUSED(declaration) declaration
-#endif
-
-/* Leans on the fact that, on Linux, POLLRDHUP == EPOLLRDHUP. */
-#ifdef POLLRDHUP
-# define UV__POLLRDHUP POLLRDHUP
-#else
-# define UV__POLLRDHUP 0x2000
-#endif
-
-#ifdef POLLPRI
-# define UV__POLLPRI POLLPRI
-#else
-# define UV__POLLPRI 0
-#endif
-
-#if !defined(O_CLOEXEC) && defined(__FreeBSD__)
-/*
- * It may be that we are just missing `__POSIX_VISIBLE >= 200809`.
- * Try using fixed value const and give up, if it doesn't work
- */
-# define O_CLOEXEC 0x00100000
-#endif
-
-typedef struct uv__stream_queued_fds_s uv__stream_queued_fds_t;
-
-/* handle flags */
-enum {
- UV_CLOSING = 0x01, /* uv_close() called but not finished. */
- UV_CLOSED = 0x02, /* close(2) finished. */
- UV_STREAM_READING = 0x04, /* uv_read_start() called. */
- UV_STREAM_SHUTTING = 0x08, /* uv_shutdown() called but not complete. */
- UV_STREAM_SHUT = 0x10, /* Write side closed. */
- UV_STREAM_READABLE = 0x20, /* The stream is readable */
- UV_STREAM_WRITABLE = 0x40, /* The stream is writable */
- UV_STREAM_BLOCKING = 0x80, /* Synchronous writes. */
- UV_STREAM_READ_PARTIAL = 0x100, /* read(2) read less than requested. */
- UV_STREAM_READ_EOF = 0x200, /* read(2) read EOF. */
- UV_TCP_NODELAY = 0x400, /* Disable Nagle. */
- UV_TCP_KEEPALIVE = 0x800, /* Turn on keep-alive. */
- UV_TCP_SINGLE_ACCEPT = 0x1000, /* Only accept() when idle. */
- UV_HANDLE_IPV6 = 0x10000, /* Handle is bound to a IPv6 socket. */
- UV_UDP_PROCESSING = 0x20000, /* Handle is running the send callback queue. */
- UV_HANDLE_BOUND = 0x40000 /* Handle is bound to an address and port */
-};
-
-/* loop flags */
-enum {
- UV_LOOP_BLOCK_SIGPROF = 1
-};
-
-/* flags of excluding ifaddr */
-enum {
- UV__EXCLUDE_IFPHYS,
- UV__EXCLUDE_IFADDR
-};
-
-typedef enum {
- UV_CLOCK_PRECISE = 0, /* Use the highest resolution clock available. */
- UV_CLOCK_FAST = 1 /* Use the fastest clock with <= 1ms granularity. */
-} uv_clocktype_t;
-
-struct uv__stream_queued_fds_s {
- unsigned int size;
- unsigned int offset;
- int fds[1];
-};
-
-
-#if defined(_AIX) || \
- defined(__APPLE__) || \
- defined(__DragonFly__) || \
- defined(__FreeBSD__) || \
- defined(__FreeBSD_kernel__) || \
- defined(__linux__) || \
- defined(__OpenBSD__) || \
- defined(__NetBSD__)
-#define uv__cloexec uv__cloexec_ioctl
-#define uv__nonblock uv__nonblock_ioctl
-#define UV__NONBLOCK_IS_IOCTL
-#else
-#define uv__cloexec uv__cloexec_fcntl
-#define uv__nonblock uv__nonblock_fcntl
-#define UV__NONBLOCK_IS_FCNTL
-#endif
-
-/* On Linux, uv__nonblock_fcntl() and uv__nonblock_ioctl() do not commute
- * when O_NDELAY is not equal to O_NONBLOCK. Case in point: linux/sparc32
- * and linux/sparc64, where O_NDELAY is O_NONBLOCK + another bit.
- *
- * Libuv uses uv__nonblock_fcntl() directly sometimes so ensure that it
- * commutes with uv__nonblock().
- */
-#if defined(__linux__) && O_NDELAY != O_NONBLOCK
-#undef uv__nonblock
-#define uv__nonblock uv__nonblock_fcntl
-#undef UV__NONBLOCK_IS_IOCTL
-#define UV__NONBLOCK_IS_FCNTL
-#endif
-
-/* core */
-int uv__cloexec_ioctl(int fd, int set);
-int uv__cloexec_fcntl(int fd, int set);
-int uv__nonblock_ioctl(int fd, int set);
-int uv__nonblock_fcntl(int fd, int set);
-int uv__close(int fd); /* preserves errno */
-int uv__close_nocheckstdio(int fd);
-int uv__socket(int domain, int type, int protocol);
-int uv__dup(int fd);
-ssize_t uv__recvmsg(int fd, struct msghdr *msg, int flags);
-void uv__make_close_pending(uv_handle_t* handle);
-int uv__getiovmax(void);
-
-void uv__io_init(uv__io_t* w, uv__io_cb cb, int fd);
-void uv__io_start(uv_loop_t* loop, uv__io_t* w, unsigned int events);
-void uv__io_stop(uv_loop_t* loop, uv__io_t* w, unsigned int events);
-void uv__io_close(uv_loop_t* loop, uv__io_t* w);
-void uv__io_feed(uv_loop_t* loop, uv__io_t* w);
-int uv__io_active(const uv__io_t* w, unsigned int events);
-int uv__io_check_fd(uv_loop_t* loop, int fd);
-void uv__io_poll(uv_loop_t* loop, int timeout); /* in milliseconds or -1 */
-int uv__io_fork(uv_loop_t* loop);
-int uv__fd_exists(uv_loop_t* loop, int fd);
-
-/* async */
-void uv__async_stop(uv_loop_t* loop);
-int uv__async_fork(uv_loop_t* loop);
-
-
-/* loop */
-void uv__run_idle(uv_loop_t* loop);
-void uv__run_check(uv_loop_t* loop);
-void uv__run_prepare(uv_loop_t* loop);
-
-/* stream */
-void uv__stream_init(uv_loop_t* loop, uv_stream_t* stream,
- uv_handle_type type);
-int uv__stream_open(uv_stream_t*, int fd, int flags);
-void uv__stream_destroy(uv_stream_t* stream);
-#if defined(__APPLE__)
-int uv__stream_try_select(uv_stream_t* stream, int* fd);
-#endif /* defined(__APPLE__) */
-void uv__server_io(uv_loop_t* loop, uv__io_t* w, unsigned int events);
-int uv__accept(int sockfd);
-int uv__dup2_cloexec(int oldfd, int newfd);
-int uv__open_cloexec(const char* path, int flags);
-
-/* tcp */
-int uv_tcp_listen(uv_tcp_t* tcp, int backlog, uv_connection_cb cb);
-int uv__tcp_nodelay(int fd, int on);
-int uv__tcp_keepalive(int fd, int on, unsigned int delay);
-
-/* pipe */
-int uv_pipe_listen(uv_pipe_t* handle, int backlog, uv_connection_cb cb);
-
-/* timer */
-void uv__run_timers(uv_loop_t* loop);
-int uv__next_timeout(const uv_loop_t* loop);
-
-/* signal */
-void uv__signal_close(uv_signal_t* handle);
-void uv__signal_global_once_init(void);
-void uv__signal_loop_cleanup(uv_loop_t* loop);
-int uv__signal_loop_fork(uv_loop_t* loop);
-
-/* platform specific */
-uint64_t uv__hrtime(uv_clocktype_t type);
-int uv__kqueue_init(uv_loop_t* loop);
-int uv__platform_loop_init(uv_loop_t* loop);
-void uv__platform_loop_delete(uv_loop_t* loop);
-void uv__platform_invalidate_fd(uv_loop_t* loop, int fd);
-
-/* various */
-void uv__async_close(uv_async_t* handle);
-void uv__check_close(uv_check_t* handle);
-void uv__fs_event_close(uv_fs_event_t* handle);
-void uv__idle_close(uv_idle_t* handle);
-void uv__pipe_close(uv_pipe_t* handle);
-void uv__poll_close(uv_poll_t* handle);
-void uv__prepare_close(uv_prepare_t* handle);
-void uv__process_close(uv_process_t* handle);
-void uv__stream_close(uv_stream_t* handle);
-void uv__tcp_close(uv_tcp_t* handle);
-void uv__timer_close(uv_timer_t* handle);
-void uv__udp_close(uv_udp_t* handle);
-void uv__udp_finish_close(uv_udp_t* handle);
-uv_handle_type uv__handle_type(int fd);
-FILE* uv__open_file(const char* path);
-int uv__getpwuid_r(uv_passwd_t* pwd);
-
-
-#if defined(__APPLE__)
-int uv___stream_fd(const uv_stream_t* handle);
-#define uv__stream_fd(handle) (uv___stream_fd((const uv_stream_t*) (handle)))
-#else
-#define uv__stream_fd(handle) ((handle)->io_watcher.fd)
-#endif /* defined(__APPLE__) */
-
-#ifdef UV__O_NONBLOCK
-# define UV__F_NONBLOCK UV__O_NONBLOCK
-#else
-# define UV__F_NONBLOCK 1
-#endif
-
-int uv__make_socketpair(int fds[2], int flags);
-int uv__make_pipe(int fds[2], int flags);
-
-#if defined(__APPLE__)
-
-int uv__fsevents_init(uv_fs_event_t* handle);
-int uv__fsevents_close(uv_fs_event_t* handle);
-void uv__fsevents_loop_delete(uv_loop_t* loop);
-
-/* OSX < 10.7 has no file events, polyfill them */
-#ifndef MAC_OS_X_VERSION_10_7
-
-static const int kFSEventStreamCreateFlagFileEvents = 0x00000010;
-static const int kFSEventStreamEventFlagItemCreated = 0x00000100;
-static const int kFSEventStreamEventFlagItemRemoved = 0x00000200;
-static const int kFSEventStreamEventFlagItemInodeMetaMod = 0x00000400;
-static const int kFSEventStreamEventFlagItemRenamed = 0x00000800;
-static const int kFSEventStreamEventFlagItemModified = 0x00001000;
-static const int kFSEventStreamEventFlagItemFinderInfoMod = 0x00002000;
-static const int kFSEventStreamEventFlagItemChangeOwner = 0x00004000;
-static const int kFSEventStreamEventFlagItemXattrMod = 0x00008000;
-static const int kFSEventStreamEventFlagItemIsFile = 0x00010000;
-static const int kFSEventStreamEventFlagItemIsDir = 0x00020000;
-static const int kFSEventStreamEventFlagItemIsSymlink = 0x00040000;
-
-#endif /* __ENVIRONMENT_MAC_OS_X_VERSION_MIN_REQUIRED__ < 1070 */
-
-#endif /* defined(__APPLE__) */
-
-UV_UNUSED(static void uv__update_time(uv_loop_t* loop)) {
- /* Use a fast time source if available. We only need millisecond precision.
- */
- loop->time = uv__hrtime(UV_CLOCK_FAST) / 1000000;
-}
-
-UV_UNUSED(static const char* uv__basename_r(const char* path)) {
- const char* s;
-
- s = strrchr(path, '/');
- if (s == NULL)
- return (char*) path;
-
- return s + 1;
-}
-
-#if defined(__linux__)
-int uv__inotify_fork(uv_loop_t* loop, void* old_watchers);
-#endif
-
-#endif /* UV_UNIX_INTERNAL_H_ */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/kqueue.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/kqueue.cpp
deleted file mode 100644
index 6e2b2bb..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/kqueue.cpp
+++ /dev/null
@@ -1,533 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include "uv.h"
-#include "internal.h"
-
-#include <assert.h>
-#include <stdlib.h>
-#include <string.h>
-#include <errno.h>
-
-#include <sys/sysctl.h>
-#include <sys/types.h>
-#include <sys/event.h>
-#include <sys/time.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <time.h>
-
-/*
- * Required on
- * - Until at least FreeBSD 11.0
- * - Older versions of Mac OS X
- *
- * http://www.boost.org/doc/libs/1_61_0/boost/asio/detail/kqueue_reactor.hpp
- */
-#ifndef EV_OOBAND
-#define EV_OOBAND EV_FLAG1
-#endif
-
-static void uv__fs_event(uv_loop_t* loop, uv__io_t* w, unsigned int fflags);
-
-
-int uv__kqueue_init(uv_loop_t* loop) {
- loop->backend_fd = kqueue();
- if (loop->backend_fd == -1)
- return UV__ERR(errno);
-
- uv__cloexec(loop->backend_fd, 1);
-
- return 0;
-}
-
-
-#if defined(__APPLE__)
-static int uv__has_forked_with_cfrunloop;
-#endif
-
-int uv__io_fork(uv_loop_t* loop) {
- int err;
- loop->backend_fd = -1;
- err = uv__kqueue_init(loop);
- if (err)
- return err;
-
-#if defined(__APPLE__)
- if (loop->cf_state != NULL) {
- /* We cannot start another CFRunloop and/or thread in the child
- process; CF aborts if you try or if you try to touch the thread
- at all to kill it. So the best we can do is ignore it from now
- on. This means we can't watch directories in the same way
- anymore (like other BSDs). It also means we cannot properly
- clean up the allocated resources; calling
- uv__fsevents_loop_delete from uv_loop_close will crash the
- process. So we sidestep the issue by pretending like we never
- started it in the first place.
- */
- uv__has_forked_with_cfrunloop = 1;
- uv__free(loop->cf_state);
- loop->cf_state = NULL;
- }
-#endif
- return err;
-}
-
-
-int uv__io_check_fd(uv_loop_t* loop, int fd) {
- struct kevent ev;
- int rc;
-
- rc = 0;
- EV_SET(&ev, fd, EVFILT_READ, EV_ADD, 0, 0, 0);
- if (kevent(loop->backend_fd, &ev, 1, NULL, 0, NULL))
- rc = UV__ERR(errno);
-
- EV_SET(&ev, fd, EVFILT_READ, EV_DELETE, 0, 0, 0);
- if (rc == 0)
- if (kevent(loop->backend_fd, &ev, 1, NULL, 0, NULL))
- abort();
-
- return rc;
-}
-
-
-void uv__io_poll(uv_loop_t* loop, int timeout) {
- struct kevent events[1024];
- struct kevent* ev;
- struct timespec spec;
- unsigned int nevents;
- unsigned int revents;
- QUEUE* q;
- uv__io_t* w;
- sigset_t* pset;
- sigset_t set;
- uint64_t base;
- uint64_t diff;
- int have_signals;
- int filter;
- int fflags;
- int count;
- int nfds;
- int fd;
- int op;
- int i;
-
- if (loop->nfds == 0) {
- assert(QUEUE_EMPTY(&loop->watcher_queue));
- return;
- }
-
- nevents = 0;
-
- while (!QUEUE_EMPTY(&loop->watcher_queue)) {
- q = QUEUE_HEAD(&loop->watcher_queue);
- QUEUE_REMOVE(q);
- QUEUE_INIT(q);
-
- w = QUEUE_DATA(q, uv__io_t, watcher_queue);
- assert(w->pevents != 0);
- assert(w->fd >= 0);
- assert(w->fd < (int) loop->nwatchers);
-
- if ((w->events & POLLIN) == 0 && (w->pevents & POLLIN) != 0) {
- filter = EVFILT_READ;
- fflags = 0;
- op = EV_ADD;
-
- if (w->cb == uv__fs_event) {
- filter = EVFILT_VNODE;
- fflags = NOTE_ATTRIB | NOTE_WRITE | NOTE_RENAME
- | NOTE_DELETE | NOTE_EXTEND | NOTE_REVOKE;
- op = EV_ADD | EV_ONESHOT; /* Stop the event from firing repeatedly. */
- }
-
- EV_SET(events + nevents, w->fd, filter, op, fflags, 0, 0);
-
- if (++nevents == ARRAY_SIZE(events)) {
- if (kevent(loop->backend_fd, events, nevents, NULL, 0, NULL))
- abort();
- nevents = 0;
- }
- }
-
- if ((w->events & POLLOUT) == 0 && (w->pevents & POLLOUT) != 0) {
- EV_SET(events + nevents, w->fd, EVFILT_WRITE, EV_ADD, 0, 0, 0);
-
- if (++nevents == ARRAY_SIZE(events)) {
- if (kevent(loop->backend_fd, events, nevents, NULL, 0, NULL))
- abort();
- nevents = 0;
- }
- }
-
- if ((w->events & UV__POLLPRI) == 0 && (w->pevents & UV__POLLPRI) != 0) {
- EV_SET(events + nevents, w->fd, EV_OOBAND, EV_ADD, 0, 0, 0);
-
- if (++nevents == ARRAY_SIZE(events)) {
- if (kevent(loop->backend_fd, events, nevents, NULL, 0, NULL))
- abort();
- nevents = 0;
- }
- }
-
- w->events = w->pevents;
- }
-
- pset = NULL;
- if (loop->flags & UV_LOOP_BLOCK_SIGPROF) {
- pset = &set;
- sigemptyset(pset);
- sigaddset(pset, SIGPROF);
- }
-
- assert(timeout >= -1);
- base = loop->time;
- count = 48; /* Benchmarks suggest this gives the best throughput. */
-
- for (;; nevents = 0) {
- if (timeout != -1) {
- spec.tv_sec = timeout / 1000;
- spec.tv_nsec = (timeout % 1000) * 1000000;
- }
-
- if (pset != NULL)
- pthread_sigmask(SIG_BLOCK, pset, NULL);
-
- nfds = kevent(loop->backend_fd,
- events,
- nevents,
- events,
- ARRAY_SIZE(events),
- timeout == -1 ? NULL : &spec);
-
- if (pset != NULL)
- pthread_sigmask(SIG_UNBLOCK, pset, NULL);
-
- /* Update loop->time unconditionally. It's tempting to skip the update when
- * timeout == 0 (i.e. non-blocking poll) but there is no guarantee that the
- * operating system didn't reschedule our process while in the syscall.
- */
- SAVE_ERRNO(uv__update_time(loop));
-
- if (nfds == 0) {
- assert(timeout != -1);
- return;
- }
-
- if (nfds == -1) {
- if (errno != EINTR)
- abort();
-
- if (timeout == 0)
- return;
-
- if (timeout == -1)
- continue;
-
- /* Interrupted by a signal. Update timeout and poll again. */
- goto update_timeout;
- }
-
- have_signals = 0;
- nevents = 0;
-
- assert(loop->watchers != NULL);
- loop->watchers[loop->nwatchers] = (uv__io_t*) events;
- loop->watchers[loop->nwatchers + 1] = (uv__io_t*) (uintptr_t) nfds;
- for (i = 0; i < nfds; i++) {
- ev = events + i;
- fd = ev->ident;
- /* Skip invalidated events, see uv__platform_invalidate_fd */
- if (fd == -1)
- continue;
- w = loop->watchers[fd];
-
- if (w == NULL) {
- /* File descriptor that we've stopped watching, disarm it.
- * TODO: batch up. */
- struct kevent events[1];
-
- EV_SET(events + 0, fd, ev->filter, EV_DELETE, 0, 0, 0);
- if (kevent(loop->backend_fd, events, 1, NULL, 0, NULL))
- if (errno != EBADF && errno != ENOENT)
- abort();
-
- continue;
- }
-
- if (ev->filter == EVFILT_VNODE) {
- assert(w->events == POLLIN);
- assert(w->pevents == POLLIN);
- w->cb(loop, w, ev->fflags); /* XXX always uv__fs_event() */
- nevents++;
- continue;
- }
-
- revents = 0;
-
- if (ev->filter == EVFILT_READ) {
- if (w->pevents & POLLIN) {
- revents |= POLLIN;
- w->rcount = ev->data;
- } else {
- /* TODO batch up */
- struct kevent events[1];
- EV_SET(events + 0, fd, ev->filter, EV_DELETE, 0, 0, 0);
- if (kevent(loop->backend_fd, events, 1, NULL, 0, NULL))
- if (errno != ENOENT)
- abort();
- }
- }
-
- if (ev->filter == EV_OOBAND) {
- if (w->pevents & UV__POLLPRI) {
- revents |= UV__POLLPRI;
- w->rcount = ev->data;
- } else {
- /* TODO batch up */
- struct kevent events[1];
- EV_SET(events + 0, fd, ev->filter, EV_DELETE, 0, 0, 0);
- if (kevent(loop->backend_fd, events, 1, NULL, 0, NULL))
- if (errno != ENOENT)
- abort();
- }
- }
-
- if (ev->filter == EVFILT_WRITE) {
- if (w->pevents & POLLOUT) {
- revents |= POLLOUT;
- w->wcount = ev->data;
- } else {
- /* TODO batch up */
- struct kevent events[1];
- EV_SET(events + 0, fd, ev->filter, EV_DELETE, 0, 0, 0);
- if (kevent(loop->backend_fd, events, 1, NULL, 0, NULL))
- if (errno != ENOENT)
- abort();
- }
- }
-
- if (ev->flags & EV_ERROR)
- revents |= POLLERR;
-
- if ((ev->flags & EV_EOF) && (w->pevents & UV__POLLRDHUP))
- revents |= UV__POLLRDHUP;
-
- if (revents == 0)
- continue;
-
- /* Run signal watchers last. This also affects child process watchers
- * because those are implemented in terms of signal watchers.
- */
- if (w == &loop->signal_io_watcher)
- have_signals = 1;
- else
- w->cb(loop, w, revents);
-
- nevents++;
- }
-
- if (have_signals != 0)
- loop->signal_io_watcher.cb(loop, &loop->signal_io_watcher, POLLIN);
-
- loop->watchers[loop->nwatchers] = NULL;
- loop->watchers[loop->nwatchers + 1] = NULL;
-
- if (have_signals != 0)
- return; /* Event loop should cycle now so don't poll again. */
-
- if (nevents != 0) {
- if (nfds == ARRAY_SIZE(events) && --count != 0) {
- /* Poll for more events but don't block this time. */
- timeout = 0;
- continue;
- }
- return;
- }
-
- if (timeout == 0)
- return;
-
- if (timeout == -1)
- continue;
-
-update_timeout:
- assert(timeout > 0);
-
- diff = loop->time - base;
- if (diff >= (uint64_t) timeout)
- return;
-
- timeout -= diff;
- }
-}
-
-
-void uv__platform_invalidate_fd(uv_loop_t* loop, int fd) {
- struct kevent* events;
- uintptr_t i;
- uintptr_t nfds;
-
- assert(loop->watchers != NULL);
-
- events = (struct kevent*) loop->watchers[loop->nwatchers];
- nfds = (uintptr_t) loop->watchers[loop->nwatchers + 1];
- if (events == NULL)
- return;
-
- /* Invalidate events with same file descriptor */
- for (i = 0; i < nfds; i++)
- if ((int) events[i].ident == fd)
- events[i].ident = -1;
-}
-
-
-static void uv__fs_event(uv_loop_t* loop, uv__io_t* w, unsigned int fflags) {
- uv_fs_event_t* handle;
- struct kevent ev;
- int events;
- const char* path;
-#if defined(F_GETPATH)
- /* MAXPATHLEN == PATH_MAX but the former is what XNU calls it internally. */
- char pathbuf[MAXPATHLEN];
-#endif
-
- handle = container_of(w, uv_fs_event_t, event_watcher);
-
- if (fflags & (NOTE_ATTRIB | NOTE_EXTEND))
- events = UV_CHANGE;
- else
- events = UV_RENAME;
-
- path = NULL;
-#if defined(F_GETPATH)
- /* Also works when the file has been unlinked from the file system. Passing
- * in the path when the file has been deleted is arguably a little strange
- * but it's consistent with what the inotify backend does.
- */
- if (fcntl(handle->event_watcher.fd, F_GETPATH, pathbuf) == 0)
- path = uv__basename_r(pathbuf);
-#endif
- handle->cb(handle, path, events, 0);
-
- if (handle->event_watcher.fd == -1)
- return;
-
- /* Watcher operates in one-shot mode, re-arm it. */
- fflags = NOTE_ATTRIB | NOTE_WRITE | NOTE_RENAME
- | NOTE_DELETE | NOTE_EXTEND | NOTE_REVOKE;
-
- EV_SET(&ev, w->fd, EVFILT_VNODE, EV_ADD | EV_ONESHOT, fflags, 0, 0);
-
- if (kevent(loop->backend_fd, &ev, 1, NULL, 0, NULL))
- abort();
-}
-
-
-int uv_fs_event_init(uv_loop_t* loop, uv_fs_event_t* handle) {
- uv__handle_init(loop, (uv_handle_t*)handle, UV_FS_EVENT);
- return 0;
-}
-
-
-int uv_fs_event_start(uv_fs_event_t* handle,
- uv_fs_event_cb cb,
- const char* path,
- unsigned int flags) {
-#if defined(__APPLE__)
- struct stat statbuf;
-#endif /* defined(__APPLE__) */
- int fd;
-
- if (uv__is_active(handle))
- return UV_EINVAL;
-
- /* TODO open asynchronously - but how do we report back errors? */
- fd = open(path, O_RDONLY);
- if (fd == -1)
- return UV__ERR(errno);
-
- uv__handle_start(handle);
- uv__io_init(&handle->event_watcher, uv__fs_event, fd);
- handle->path = uv__strdup(path);
- handle->cb = cb;
-
-#if defined(__APPLE__)
- if (uv__has_forked_with_cfrunloop)
- goto fallback;
-
- /* Nullify field to perform checks later */
- handle->cf_cb = NULL;
- handle->realpath = NULL;
- handle->realpath_len = 0;
- handle->cf_flags = flags;
-
- if (fstat(fd, &statbuf))
- goto fallback;
- /* FSEvents works only with directories */
- if (!(statbuf.st_mode & S_IFDIR))
- goto fallback;
-
- /* The fallback fd is no longer needed */
- uv__close(fd);
- handle->event_watcher.fd = -1;
-
- return uv__fsevents_init(handle);
-
-fallback:
-#endif /* defined(__APPLE__) */
-
- uv__io_start(handle->loop, &handle->event_watcher, POLLIN);
-
- return 0;
-}
-
-
-int uv_fs_event_stop(uv_fs_event_t* handle) {
- if (!uv__is_active(handle))
- return 0;
-
- uv__handle_stop(handle);
-
-#if defined(__APPLE__)
- if (uv__has_forked_with_cfrunloop || uv__fsevents_close(handle))
-#endif /* defined(__APPLE__) */
- {
- uv__io_close(handle->loop, &handle->event_watcher);
- }
-
- uv__free(handle->path);
- handle->path = NULL;
-
- if (handle->event_watcher.fd != -1) {
- /* When FSEvents is used, we don't use the event_watcher's fd under certain
- * confitions. (see uv_fs_event_start) */
- uv__close(handle->event_watcher.fd);
- handle->event_watcher.fd = -1;
- }
-
- return 0;
-}
-
-
-void uv__fs_event_close(uv_fs_event_t* handle) {
- uv_fs_event_stop(handle);
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/linux-core.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/linux-core.cpp
deleted file mode 100644
index 3bf8beb..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/linux-core.cpp
+++ /dev/null
@@ -1,961 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-/* We lean on the fact that POLL{IN,OUT,ERR,HUP} correspond with their
- * EPOLL* counterparts. We use the POLL* variants in this file because that
- * is what libuv uses elsewhere and it avoids a dependency on <sys/epoll.h>.
- */
-
-#include "uv.h"
-#include "internal.h"
-
-#include <stdint.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <assert.h>
-#include <errno.h>
-
-#include <net/if.h>
-#include <sys/param.h>
-#include <sys/prctl.h>
-#include <sys/sysinfo.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <time.h>
-
-#define HAVE_IFADDRS_H 1
-
-#ifdef __UCLIBC__
-# if __UCLIBC_MAJOR__ < 0 && __UCLIBC_MINOR__ < 9 && __UCLIBC_SUBLEVEL__ < 32
-# undef HAVE_IFADDRS_H
-# endif
-#endif
-
-#ifdef HAVE_IFADDRS_H
-# if defined(__ANDROID__)
-# include "uv/android-ifaddrs.h"
-# else
-# include <ifaddrs.h>
-# endif
-# include <sys/socket.h>
-# include <net/ethernet.h>
-# include <netpacket/packet.h>
-#endif /* HAVE_IFADDRS_H */
-
-/* Available from 2.6.32 onwards. */
-#ifndef CLOCK_MONOTONIC_COARSE
-# define CLOCK_MONOTONIC_COARSE 6
-#endif
-
-#ifdef __FRC_ROBORIO__
-#include "wpi/timestamp.h"
-#endif
-
-/* This is rather annoying: CLOCK_BOOTTIME lives in <linux/time.h> but we can't
- * include that file because it conflicts with <time.h>. We'll just have to
- * define it ourselves.
- */
-#ifndef CLOCK_BOOTTIME
-# define CLOCK_BOOTTIME 7
-#endif
-
-static int read_models(unsigned int numcpus, uv_cpu_info_t* ci);
-static int read_times(FILE* statfile_fp,
- unsigned int numcpus,
- uv_cpu_info_t* ci);
-static void read_speeds(unsigned int numcpus, uv_cpu_info_t* ci);
-static unsigned long read_cpufreq(unsigned int cpunum);
-
-
-int uv__platform_loop_init(uv_loop_t* loop) {
- int fd;
-
- fd = uv__epoll_create1(UV__EPOLL_CLOEXEC);
-
- /* epoll_create1() can fail either because it's not implemented (old kernel)
- * or because it doesn't understand the EPOLL_CLOEXEC flag.
- */
- if (fd == -1 && (errno == ENOSYS || errno == EINVAL)) {
- fd = uv__epoll_create(256);
-
- if (fd != -1)
- uv__cloexec(fd, 1);
- }
-
- loop->backend_fd = fd;
- loop->inotify_fd = -1;
- loop->inotify_watchers = NULL;
-
- if (fd == -1)
- return UV__ERR(errno);
-
- return 0;
-}
-
-
-int uv__io_fork(uv_loop_t* loop) {
- int err;
- void* old_watchers;
-
- old_watchers = loop->inotify_watchers;
-
- uv__close(loop->backend_fd);
- loop->backend_fd = -1;
- uv__platform_loop_delete(loop);
-
- err = uv__platform_loop_init(loop);
- if (err)
- return err;
-
- return uv__inotify_fork(loop, old_watchers);
-}
-
-
-void uv__platform_loop_delete(uv_loop_t* loop) {
- if (loop->inotify_fd == -1) return;
- uv__io_stop(loop, &loop->inotify_read_watcher, POLLIN);
- uv__close(loop->inotify_fd);
- loop->inotify_fd = -1;
-}
-
-
-void uv__platform_invalidate_fd(uv_loop_t* loop, int fd) {
- struct uv__epoll_event* events;
- struct uv__epoll_event dummy;
- uintptr_t i;
- uintptr_t nfds;
-
- assert(loop->watchers != NULL);
-
- events = (struct uv__epoll_event*) loop->watchers[loop->nwatchers];
- nfds = (uintptr_t) loop->watchers[loop->nwatchers + 1];
- if (events != NULL)
- /* Invalidate events with same file descriptor */
- for (i = 0; i < nfds; i++)
- if ((int) events[i].data == fd)
- events[i].data = -1;
-
- /* Remove the file descriptor from the epoll.
- * This avoids a problem where the same file description remains open
- * in another process, causing repeated junk epoll events.
- *
- * We pass in a dummy epoll_event, to work around a bug in old kernels.
- */
- if (loop->backend_fd >= 0) {
- /* Work around a bug in kernels 3.10 to 3.19 where passing a struct that
- * has the EPOLLWAKEUP flag set generates spurious audit syslog warnings.
- */
- memset(&dummy, 0, sizeof(dummy));
- uv__epoll_ctl(loop->backend_fd, UV__EPOLL_CTL_DEL, fd, &dummy);
- }
-}
-
-
-int uv__io_check_fd(uv_loop_t* loop, int fd) {
- struct uv__epoll_event e;
- int rc;
-
- e.events = POLLIN;
- e.data = -1;
-
- rc = 0;
- if (uv__epoll_ctl(loop->backend_fd, UV__EPOLL_CTL_ADD, fd, &e))
- if (errno != EEXIST)
- rc = UV__ERR(errno);
-
- if (rc == 0)
- if (uv__epoll_ctl(loop->backend_fd, UV__EPOLL_CTL_DEL, fd, &e))
- abort();
-
- return rc;
-}
-
-
-void uv__io_poll(uv_loop_t* loop, int timeout) {
- /* A bug in kernels < 2.6.37 makes timeouts larger than ~30 minutes
- * effectively infinite on 32 bits architectures. To avoid blocking
- * indefinitely, we cap the timeout and poll again if necessary.
- *
- * Note that "30 minutes" is a simplification because it depends on
- * the value of CONFIG_HZ. The magic constant assumes CONFIG_HZ=1200,
- * that being the largest value I have seen in the wild (and only once.)
- */
- static const int max_safe_timeout = 1789569;
- static int no_epoll_pwait;
- static int no_epoll_wait;
- struct uv__epoll_event events[1024];
- struct uv__epoll_event* pe;
- struct uv__epoll_event e;
- int real_timeout;
- QUEUE* q;
- uv__io_t* w;
- sigset_t sigset;
- uint64_t sigmask;
- uint64_t base;
- int have_signals;
- int nevents;
- int count;
- int nfds;
- int fd;
- int op;
- int i;
-
- if (loop->nfds == 0) {
- assert(QUEUE_EMPTY(&loop->watcher_queue));
- return;
- }
-
- while (!QUEUE_EMPTY(&loop->watcher_queue)) {
- q = QUEUE_HEAD(&loop->watcher_queue);
- QUEUE_REMOVE(q);
- QUEUE_INIT(q);
-
- w = QUEUE_DATA(q, uv__io_t, watcher_queue);
- assert(w->pevents != 0);
- assert(w->fd >= 0);
- assert(w->fd < (int) loop->nwatchers);
-
- e.events = w->pevents;
- e.data = w->fd;
-
- if (w->events == 0)
- op = UV__EPOLL_CTL_ADD;
- else
- op = UV__EPOLL_CTL_MOD;
-
- /* XXX Future optimization: do EPOLL_CTL_MOD lazily if we stop watching
- * events, skip the syscall and squelch the events after epoll_wait().
- */
- if (uv__epoll_ctl(loop->backend_fd, op, w->fd, &e)) {
- if (errno != EEXIST)
- abort();
-
- assert(op == UV__EPOLL_CTL_ADD);
-
- /* We've reactivated a file descriptor that's been watched before. */
- if (uv__epoll_ctl(loop->backend_fd, UV__EPOLL_CTL_MOD, w->fd, &e))
- abort();
- }
-
- w->events = w->pevents;
- }
-
- sigmask = 0;
- if (loop->flags & UV_LOOP_BLOCK_SIGPROF) {
- sigemptyset(&sigset);
- sigaddset(&sigset, SIGPROF);
- sigmask |= 1 << (SIGPROF - 1);
- }
-
- assert(timeout >= -1);
- base = loop->time;
- count = 48; /* Benchmarks suggest this gives the best throughput. */
- real_timeout = timeout;
-
- for (;;) {
- /* See the comment for max_safe_timeout for an explanation of why
- * this is necessary. Executive summary: kernel bug workaround.
- */
- if (sizeof(int32_t) == sizeof(long) && timeout >= max_safe_timeout)
- timeout = max_safe_timeout;
-
- if (sigmask != 0 && no_epoll_pwait != 0)
- if (pthread_sigmask(SIG_BLOCK, &sigset, NULL))
- abort();
-
- if (no_epoll_wait != 0 || (sigmask != 0 && no_epoll_pwait == 0)) {
- nfds = uv__epoll_pwait(loop->backend_fd,
- events,
- ARRAY_SIZE(events),
- timeout,
- sigmask);
- if (nfds == -1 && errno == ENOSYS)
- no_epoll_pwait = 1;
- } else {
- nfds = uv__epoll_wait(loop->backend_fd,
- events,
- ARRAY_SIZE(events),
- timeout);
- if (nfds == -1 && errno == ENOSYS)
- no_epoll_wait = 1;
- }
-
- if (sigmask != 0 && no_epoll_pwait != 0)
- if (pthread_sigmask(SIG_UNBLOCK, &sigset, NULL))
- abort();
-
- /* Update loop->time unconditionally. It's tempting to skip the update when
- * timeout == 0 (i.e. non-blocking poll) but there is no guarantee that the
- * operating system didn't reschedule our process while in the syscall.
- */
- SAVE_ERRNO(uv__update_time(loop));
-
- if (nfds == 0) {
- assert(timeout != -1);
-
- if (timeout == 0)
- return;
-
- /* We may have been inside the system call for longer than |timeout|
- * milliseconds so we need to update the timestamp to avoid drift.
- */
- goto update_timeout;
- }
-
- if (nfds == -1) {
- if (errno == ENOSYS) {
- /* epoll_wait() or epoll_pwait() failed, try the other system call. */
- assert(no_epoll_wait == 0 || no_epoll_pwait == 0);
- continue;
- }
-
- if (errno != EINTR)
- abort();
-
- if (timeout == -1)
- continue;
-
- if (timeout == 0)
- return;
-
- /* Interrupted by a signal. Update timeout and poll again. */
- goto update_timeout;
- }
-
- have_signals = 0;
- nevents = 0;
-
- assert(loop->watchers != NULL);
- loop->watchers[loop->nwatchers] = (uv__io_t*) events;
- loop->watchers[loop->nwatchers + 1] = (uv__io_t*) (uintptr_t) nfds;
- for (i = 0; i < nfds; i++) {
- pe = events + i;
- fd = pe->data;
-
- /* Skip invalidated events, see uv__platform_invalidate_fd */
- if (fd == -1)
- continue;
-
- assert(fd >= 0);
- assert((unsigned) fd < loop->nwatchers);
-
- w = loop->watchers[fd];
-
- if (w == NULL) {
- /* File descriptor that we've stopped watching, disarm it.
- *
- * Ignore all errors because we may be racing with another thread
- * when the file descriptor is closed.
- */
- uv__epoll_ctl(loop->backend_fd, UV__EPOLL_CTL_DEL, fd, pe);
- continue;
- }
-
- /* Give users only events they're interested in. Prevents spurious
- * callbacks when previous callback invocation in this loop has stopped
- * the current watcher. Also, filters out events that users has not
- * requested us to watch.
- */
- pe->events &= w->pevents | POLLERR | POLLHUP;
-
- /* Work around an epoll quirk where it sometimes reports just the
- * EPOLLERR or EPOLLHUP event. In order to force the event loop to
- * move forward, we merge in the read/write events that the watcher
- * is interested in; uv__read() and uv__write() will then deal with
- * the error or hangup in the usual fashion.
- *
- * Note to self: happens when epoll reports EPOLLIN|EPOLLHUP, the user
- * reads the available data, calls uv_read_stop(), then sometime later
- * calls uv_read_start() again. By then, libuv has forgotten about the
- * hangup and the kernel won't report EPOLLIN again because there's
- * nothing left to read. If anything, libuv is to blame here. The
- * current hack is just a quick bandaid; to properly fix it, libuv
- * needs to remember the error/hangup event. We should get that for
- * free when we switch over to edge-triggered I/O.
- */
- if (pe->events == POLLERR || pe->events == POLLHUP)
- pe->events |=
- w->pevents & (POLLIN | POLLOUT | UV__POLLRDHUP | UV__POLLPRI);
-
- if (pe->events != 0) {
- /* Run signal watchers last. This also affects child process watchers
- * because those are implemented in terms of signal watchers.
- */
- if (w == &loop->signal_io_watcher)
- have_signals = 1;
- else
- w->cb(loop, w, pe->events);
-
- nevents++;
- }
- }
-
- if (have_signals != 0)
- loop->signal_io_watcher.cb(loop, &loop->signal_io_watcher, POLLIN);
-
- loop->watchers[loop->nwatchers] = NULL;
- loop->watchers[loop->nwatchers + 1] = NULL;
-
- if (have_signals != 0)
- return; /* Event loop should cycle now so don't poll again. */
-
- if (nevents != 0) {
- if (nfds == ARRAY_SIZE(events) && --count != 0) {
- /* Poll for more events but don't block this time. */
- timeout = 0;
- continue;
- }
- return;
- }
-
- if (timeout == 0)
- return;
-
- if (timeout == -1)
- continue;
-
-update_timeout:
- assert(timeout > 0);
-
- real_timeout -= (loop->time - base);
- if (real_timeout <= 0)
- return;
-
- timeout = real_timeout;
- }
-}
-
-
-uint64_t uv__hrtime(uv_clocktype_t type) {
-#ifdef __FRC_ROBORIO__
- return wpi::Now() * 1000u;
-#else
- static clock_t fast_clock_id = -1;
- struct timespec t;
- clock_t clock_id;
-
- /* Prefer CLOCK_MONOTONIC_COARSE if available but only when it has
- * millisecond granularity or better. CLOCK_MONOTONIC_COARSE is
- * serviced entirely from the vDSO, whereas CLOCK_MONOTONIC may
- * decide to make a costly system call.
- */
- /* TODO(bnoordhuis) Use CLOCK_MONOTONIC_COARSE for UV_CLOCK_PRECISE
- * when it has microsecond granularity or better (unlikely).
- */
- if (type == UV_CLOCK_FAST && fast_clock_id == -1) {
- if (clock_getres(CLOCK_MONOTONIC_COARSE, &t) == 0 &&
- t.tv_nsec <= 1 * 1000 * 1000) {
- fast_clock_id = CLOCK_MONOTONIC_COARSE;
- } else {
- fast_clock_id = CLOCK_MONOTONIC;
- }
- }
-
- clock_id = CLOCK_MONOTONIC;
- if (type == UV_CLOCK_FAST)
- clock_id = fast_clock_id;
-
- if (clock_gettime(clock_id, &t))
- return 0; /* Not really possible. */
-
- return t.tv_sec * (uint64_t) 1e9 + t.tv_nsec;
-#endif
-}
-
-
-int uv_resident_set_memory(size_t* rss) {
- char buf[1024];
- const char* s;
- ssize_t n;
- long val;
- int fd;
- int i;
-
- do
- fd = open("/proc/self/stat", O_RDONLY);
- while (fd == -1 && errno == EINTR);
-
- if (fd == -1)
- return UV__ERR(errno);
-
- do
- n = read(fd, buf, sizeof(buf) - 1);
- while (n == -1 && errno == EINTR);
-
- uv__close(fd);
- if (n == -1)
- return UV__ERR(errno);
- buf[n] = '\0';
-
- s = strchr(buf, ' ');
- if (s == NULL)
- goto err;
-
- s += 1;
- if (*s != '(')
- goto err;
-
- s = strchr(s, ')');
- if (s == NULL)
- goto err;
-
- for (i = 1; i <= 22; i++) {
- s = strchr(s + 1, ' ');
- if (s == NULL)
- goto err;
- }
-
- errno = 0;
- val = strtol(s, NULL, 10);
- if (errno != 0)
- goto err;
- if (val < 0)
- goto err;
-
- *rss = val * getpagesize();
- return 0;
-
-err:
- return UV_EINVAL;
-}
-
-
-int uv_uptime(double* uptime) {
- static volatile int no_clock_boottime;
- struct timespec now;
- int r;
-
- /* Try CLOCK_BOOTTIME first, fall back to CLOCK_MONOTONIC if not available
- * (pre-2.6.39 kernels). CLOCK_MONOTONIC doesn't increase when the system
- * is suspended.
- */
- if (no_clock_boottime) {
- retry: r = clock_gettime(CLOCK_MONOTONIC, &now);
- }
- else if ((r = clock_gettime(CLOCK_BOOTTIME, &now)) && errno == EINVAL) {
- no_clock_boottime = 1;
- goto retry;
- }
-
- if (r)
- return UV__ERR(errno);
-
- *uptime = now.tv_sec;
- return 0;
-}
-
-
-static int uv__cpu_num(FILE* statfile_fp, unsigned int* numcpus) {
- unsigned int num;
- char buf[1024];
-
- if (!fgets(buf, sizeof(buf), statfile_fp))
- return UV_EIO;
-
- num = 0;
- while (fgets(buf, sizeof(buf), statfile_fp)) {
- if (strncmp(buf, "cpu", 3))
- break;
- num++;
- }
-
- if (num == 0)
- return UV_EIO;
-
- *numcpus = num;
- return 0;
-}
-
-
-int uv_cpu_info(uv_cpu_info_t** cpu_infos, int* count) {
- unsigned int numcpus;
- uv_cpu_info_t* ci;
- int err;
- FILE* statfile_fp;
-
- *cpu_infos = NULL;
- *count = 0;
-
- statfile_fp = uv__open_file("/proc/stat");
- if (statfile_fp == NULL)
- return UV__ERR(errno);
-
- err = uv__cpu_num(statfile_fp, &numcpus);
- if (err < 0)
- goto out;
-
- err = UV_ENOMEM;
- ci = (uv_cpu_info_t*)uv__calloc(numcpus, sizeof(*ci));
- if (ci == NULL)
- goto out;
-
- err = read_models(numcpus, ci);
- if (err == 0)
- err = read_times(statfile_fp, numcpus, ci);
-
- if (err) {
- uv_free_cpu_info(ci, numcpus);
- goto out;
- }
-
- /* read_models() on x86 also reads the CPU speed from /proc/cpuinfo.
- * We don't check for errors here. Worst case, the field is left zero.
- */
- if (ci[0].speed == 0)
- read_speeds(numcpus, ci);
-
- *cpu_infos = ci;
- *count = numcpus;
- err = 0;
-
-out:
-
- if (fclose(statfile_fp))
- if (errno != EINTR && errno != EINPROGRESS)
- abort();
-
- return err;
-}
-
-
-static void read_speeds(unsigned int numcpus, uv_cpu_info_t* ci) {
- unsigned int num;
-
- for (num = 0; num < numcpus; num++)
- ci[num].speed = read_cpufreq(num) / 1000;
-}
-
-
-/* Also reads the CPU frequency on x86. The other architectures only have
- * a BogoMIPS field, which may not be very accurate.
- *
- * Note: Simply returns on error, uv_cpu_info() takes care of the cleanup.
- */
-static int read_models(unsigned int numcpus, uv_cpu_info_t* ci) {
- static const char model_marker[] = "model name\t: ";
- static const char speed_marker[] = "cpu MHz\t\t: ";
- const char* inferred_model;
- unsigned int model_idx;
- unsigned int speed_idx;
- char buf[1024];
- char* model;
- FILE* fp;
-
- /* Most are unused on non-ARM, non-MIPS and non-x86 architectures. */
- (void) &model_marker;
- (void) &speed_marker;
- (void) &speed_idx;
- (void) &model;
- (void) &buf;
- (void) &fp;
-
- model_idx = 0;
- speed_idx = 0;
-
-#if defined(__arm__) || \
- defined(__i386__) || \
- defined(__mips__) || \
- defined(__x86_64__)
- fp = uv__open_file("/proc/cpuinfo");
- if (fp == NULL)
- return UV__ERR(errno);
-
- while (fgets(buf, sizeof(buf), fp)) {
- if (model_idx < numcpus) {
- if (strncmp(buf, model_marker, sizeof(model_marker) - 1) == 0) {
- model = buf + sizeof(model_marker) - 1;
- model = uv__strndup(model, strlen(model) - 1); /* Strip newline. */
- if (model == NULL) {
- fclose(fp);
- return UV_ENOMEM;
- }
- ci[model_idx++].model = model;
- continue;
- }
- }
-#if defined(__arm__) || defined(__mips__)
- if (model_idx < numcpus) {
-#if defined(__arm__)
- /* Fallback for pre-3.8 kernels. */
- static const char model_marker[] = "Processor\t: ";
-#else /* defined(__mips__) */
- static const char model_marker[] = "cpu model\t\t: ";
-#endif
- if (strncmp(buf, model_marker, sizeof(model_marker) - 1) == 0) {
- model = buf + sizeof(model_marker) - 1;
- model = uv__strndup(model, strlen(model) - 1); /* Strip newline. */
- if (model == NULL) {
- fclose(fp);
- return UV_ENOMEM;
- }
- ci[model_idx++].model = model;
- continue;
- }
- }
-#else /* !__arm__ && !__mips__ */
- if (speed_idx < numcpus) {
- if (strncmp(buf, speed_marker, sizeof(speed_marker) - 1) == 0) {
- ci[speed_idx++].speed = atoi(buf + sizeof(speed_marker) - 1);
- continue;
- }
- }
-#endif /* __arm__ || __mips__ */
- }
-
- fclose(fp);
-#endif /* __arm__ || __i386__ || __mips__ || __x86_64__ */
-
- /* Now we want to make sure that all the models contain *something* because
- * it's not safe to leave them as null. Copy the last entry unless there
- * isn't one, in that case we simply put "unknown" into everything.
- */
- inferred_model = "unknown";
- if (model_idx > 0)
- inferred_model = ci[model_idx - 1].model;
-
- while (model_idx < numcpus) {
- model = uv__strndup(inferred_model, strlen(inferred_model));
- if (model == NULL)
- return UV_ENOMEM;
- ci[model_idx++].model = model;
- }
-
- return 0;
-}
-
-
-static int read_times(FILE* statfile_fp,
- unsigned int numcpus,
- uv_cpu_info_t* ci) {
- unsigned long clock_ticks;
- struct uv_cpu_times_s ts;
- unsigned long user;
- unsigned long nice;
- unsigned long sys;
- unsigned long idle;
- unsigned long dummy;
- unsigned long irq;
- unsigned int num;
- unsigned int len;
- char buf[1024];
-
- clock_ticks = sysconf(_SC_CLK_TCK);
- assert(clock_ticks != (unsigned long) -1);
- assert(clock_ticks != 0);
-
- rewind(statfile_fp);
-
- if (!fgets(buf, sizeof(buf), statfile_fp))
- abort();
-
- num = 0;
-
- while (fgets(buf, sizeof(buf), statfile_fp)) {
- if (num >= numcpus)
- break;
-
- if (strncmp(buf, "cpu", 3))
- break;
-
- /* skip "cpu<num> " marker */
- {
- unsigned int n;
- int r = sscanf(buf, "cpu%u ", &n);
- assert(r == 1);
- (void) r; /* silence build warning */
- for (len = sizeof("cpu0"); n /= 10; len++);
- }
-
- /* Line contains user, nice, system, idle, iowait, irq, softirq, steal,
- * guest, guest_nice but we're only interested in the first four + irq.
- *
- * Don't use %*s to skip fields or %ll to read straight into the uint64_t
- * fields, they're not allowed in C89 mode.
- */
- if (6 != sscanf(buf + len,
- "%lu %lu %lu %lu %lu %lu",
- &user,
- &nice,
- &sys,
- &idle,
- &dummy,
- &irq))
- abort();
-
- ts.user = clock_ticks * user;
- ts.nice = clock_ticks * nice;
- ts.sys = clock_ticks * sys;
- ts.idle = clock_ticks * idle;
- ts.irq = clock_ticks * irq;
- ci[num++].cpu_times = ts;
- }
- assert(num == numcpus);
-
- return 0;
-}
-
-
-static unsigned long read_cpufreq(unsigned int cpunum) {
- unsigned long val;
- char buf[1024];
- FILE* fp;
-
- snprintf(buf,
- sizeof(buf),
- "/sys/devices/system/cpu/cpu%u/cpufreq/scaling_cur_freq",
- cpunum);
-
- fp = uv__open_file(buf);
- if (fp == NULL)
- return 0;
-
- if (fscanf(fp, "%lu", &val) != 1)
- val = 0;
-
- fclose(fp);
-
- return val;
-}
-
-
-void uv_free_cpu_info(uv_cpu_info_t* cpu_infos, int count) {
- int i;
-
- for (i = 0; i < count; i++) {
- uv__free(cpu_infos[i].model);
- }
-
- uv__free(cpu_infos);
-}
-
-static int uv__ifaddr_exclude(struct ifaddrs *ent, int exclude_type) {
- if (!((ent->ifa_flags & IFF_UP) && (ent->ifa_flags & IFF_RUNNING)))
- return 1;
- if (ent->ifa_addr == NULL)
- return 1;
- /*
- * On Linux getifaddrs returns information related to the raw underlying
- * devices. We're not interested in this information yet.
- */
- if (ent->ifa_addr->sa_family == PF_PACKET)
- return exclude_type;
- return !exclude_type;
-}
-
-int uv_interface_addresses(uv_interface_address_t** addresses,
- int* count) {
-#ifndef HAVE_IFADDRS_H
- return UV_ENOSYS;
-#else
- struct ifaddrs *addrs, *ent;
- uv_interface_address_t* address;
- int i;
- struct sockaddr_ll *sll;
-
- if (getifaddrs(&addrs))
- return UV__ERR(errno);
-
- *count = 0;
- *addresses = NULL;
-
- /* Count the number of interfaces */
- for (ent = addrs; ent != NULL; ent = ent->ifa_next) {
- if (uv__ifaddr_exclude(ent, UV__EXCLUDE_IFADDR))
- continue;
-
- (*count)++;
- }
-
- if (*count == 0)
- return 0;
-
- *addresses =
- (uv_interface_address_t*)uv__malloc(*count * sizeof(**addresses));
- if (!(*addresses)) {
- freeifaddrs(addrs);
- return UV_ENOMEM;
- }
-
- address = *addresses;
-
- for (ent = addrs; ent != NULL; ent = ent->ifa_next) {
- if (uv__ifaddr_exclude(ent, UV__EXCLUDE_IFADDR))
- continue;
-
- address->name = uv__strdup(ent->ifa_name);
-
- if (ent->ifa_addr->sa_family == AF_INET6) {
- address->address.address6 = *((struct sockaddr_in6*) ent->ifa_addr);
- } else {
- address->address.address4 = *((struct sockaddr_in*) ent->ifa_addr);
- }
-
- if (ent->ifa_netmask->sa_family == AF_INET6) {
- address->netmask.netmask6 = *((struct sockaddr_in6*) ent->ifa_netmask);
- } else {
- address->netmask.netmask4 = *((struct sockaddr_in*) ent->ifa_netmask);
- }
-
- address->is_internal = !!(ent->ifa_flags & IFF_LOOPBACK);
-
- address++;
- }
-
- /* Fill in physical addresses for each interface */
- for (ent = addrs; ent != NULL; ent = ent->ifa_next) {
- if (uv__ifaddr_exclude(ent, UV__EXCLUDE_IFPHYS))
- continue;
-
- address = *addresses;
-
- for (i = 0; i < (*count); i++) {
- if (strcmp(address->name, ent->ifa_name) == 0) {
- sll = (struct sockaddr_ll*)ent->ifa_addr;
- memcpy(address->phys_addr, sll->sll_addr, sizeof(address->phys_addr));
- }
- address++;
- }
- }
-
- freeifaddrs(addrs);
-
- return 0;
-#endif
-}
-
-
-void uv_free_interface_addresses(uv_interface_address_t* addresses,
- int count) {
- int i;
-
- for (i = 0; i < count; i++) {
- uv__free(addresses[i].name);
- }
-
- uv__free(addresses);
-}
-
-
-void uv__set_process_title(const char* title) {
-#if defined(PR_SET_NAME)
- prctl(PR_SET_NAME, title); /* Only copies first 16 characters. */
-#endif
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/linux-inotify.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/linux-inotify.cpp
deleted file mode 100644
index 3f14974..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/linux-inotify.cpp
+++ /dev/null
@@ -1,352 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include "uv.h"
-#include "uv/tree.h"
-#include "internal.h"
-
-#include <stdint.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <assert.h>
-#include <errno.h>
-
-#include <sys/types.h>
-#include <unistd.h>
-
-struct watcher_list {
- RB_ENTRY(watcher_list) entry;
- QUEUE watchers;
- int iterating;
- char* path;
- int wd;
-};
-
-struct watcher_root {
- struct watcher_list* rbh_root;
-};
-#define CAST(p) ((struct watcher_root*)(p))
-
-
-static int compare_watchers(const struct watcher_list* a,
- const struct watcher_list* b) {
- if (a->wd < b->wd) return -1;
- if (a->wd > b->wd) return 1;
- return 0;
-}
-
-
-RB_GENERATE_STATIC(watcher_root, watcher_list, entry, compare_watchers)
-
-
-static void uv__inotify_read(uv_loop_t* loop,
- uv__io_t* w,
- unsigned int revents);
-
-static void maybe_free_watcher_list(struct watcher_list* w,
- uv_loop_t* loop);
-
-static int new_inotify_fd(void) {
- int err;
- int fd;
-
- fd = uv__inotify_init1(UV__IN_NONBLOCK | UV__IN_CLOEXEC);
- if (fd != -1)
- return fd;
-
- if (errno != ENOSYS)
- return UV__ERR(errno);
-
- fd = uv__inotify_init();
- if (fd == -1)
- return UV__ERR(errno);
-
- err = uv__cloexec(fd, 1);
- if (err == 0)
- err = uv__nonblock(fd, 1);
-
- if (err) {
- uv__close(fd);
- return err;
- }
-
- return fd;
-}
-
-
-static int init_inotify(uv_loop_t* loop) {
- int err;
-
- if (loop->inotify_fd != -1)
- return 0;
-
- err = new_inotify_fd();
- if (err < 0)
- return err;
-
- loop->inotify_fd = err;
- uv__io_init(&loop->inotify_read_watcher, uv__inotify_read, loop->inotify_fd);
- uv__io_start(loop, &loop->inotify_read_watcher, POLLIN);
-
- return 0;
-}
-
-
-int uv__inotify_fork(uv_loop_t* loop, void* old_watchers) {
- /* Open the inotify_fd, and re-arm all the inotify watchers. */
- int err;
- struct watcher_list* tmp_watcher_list_iter;
- struct watcher_list* watcher_list;
- struct watcher_list tmp_watcher_list;
- QUEUE queue;
- QUEUE* q;
- uv_fs_event_t* handle;
- char* tmp_path;
-
- if (old_watchers != NULL) {
- /* We must restore the old watcher list to be able to close items
- * out of it.
- */
- loop->inotify_watchers = old_watchers;
-
- QUEUE_INIT(&tmp_watcher_list.watchers);
- /* Note that the queue we use is shared with the start and stop()
- * functions, making QUEUE_FOREACH unsafe to use. So we use the
- * QUEUE_MOVE trick to safely iterate. Also don't free the watcher
- * list until we're done iterating. c.f. uv__inotify_read.
- */
- RB_FOREACH_SAFE(watcher_list, watcher_root,
- CAST(&old_watchers), tmp_watcher_list_iter) {
- watcher_list->iterating = 1;
- QUEUE_MOVE(&watcher_list->watchers, &queue);
- while (!QUEUE_EMPTY(&queue)) {
- q = QUEUE_HEAD(&queue);
- handle = QUEUE_DATA(q, uv_fs_event_t, watchers);
- /* It's critical to keep a copy of path here, because it
- * will be set to NULL by stop() and then deallocated by
- * maybe_free_watcher_list
- */
- tmp_path = uv__strdup(handle->path);
- assert(tmp_path != NULL);
- QUEUE_REMOVE(q);
- QUEUE_INSERT_TAIL(&watcher_list->watchers, q);
- uv_fs_event_stop(handle);
-
- QUEUE_INSERT_TAIL(&tmp_watcher_list.watchers, &handle->watchers);
- handle->path = tmp_path;
- }
- watcher_list->iterating = 0;
- maybe_free_watcher_list(watcher_list, loop);
- }
-
- QUEUE_MOVE(&tmp_watcher_list.watchers, &queue);
- while (!QUEUE_EMPTY(&queue)) {
- q = QUEUE_HEAD(&queue);
- QUEUE_REMOVE(q);
- handle = QUEUE_DATA(q, uv_fs_event_t, watchers);
- tmp_path = handle->path;
- handle->path = NULL;
- err = uv_fs_event_start(handle, handle->cb, tmp_path, 0);
- uv__free(tmp_path);
- if (err)
- return err;
- }
- }
-
- return 0;
-}
-
-
-static struct watcher_list* find_watcher(uv_loop_t* loop, int wd) {
- struct watcher_list w;
- w.wd = wd;
- return RB_FIND(watcher_root, CAST(&loop->inotify_watchers), &w);
-}
-
-static void maybe_free_watcher_list(struct watcher_list* w, uv_loop_t* loop) {
- /* if the watcher_list->watchers is being iterated over, we can't free it. */
- if ((!w->iterating) && QUEUE_EMPTY(&w->watchers)) {
- /* No watchers left for this path. Clean up. */
- RB_REMOVE(watcher_root, CAST(&loop->inotify_watchers), w);
- uv__inotify_rm_watch(loop->inotify_fd, w->wd);
- uv__free(w);
- }
-}
-
-static void uv__inotify_read(uv_loop_t* loop,
- uv__io_t* dummy,
- unsigned int events) {
- const struct uv__inotify_event* e;
- struct watcher_list* w;
- uv_fs_event_t* h;
- QUEUE queue;
- QUEUE* q;
- const char* path;
- ssize_t size;
- const char *p;
- /* needs to be large enough for sizeof(inotify_event) + strlen(path) */
- char buf[4096];
-
- while (1) {
- do
- size = read(loop->inotify_fd, buf, sizeof(buf));
- while (size == -1 && errno == EINTR);
-
- if (size == -1) {
- assert(errno == EAGAIN || errno == EWOULDBLOCK);
- break;
- }
-
- assert(size > 0); /* pre-2.6.21 thing, size=0 == read buffer too small */
-
- /* Now we have one or more inotify_event structs. */
- for (p = buf; p < buf + size; p += sizeof(*e) + e->len) {
- e = (const struct uv__inotify_event*)p;
-
- events = 0;
- if (e->mask & (UV__IN_ATTRIB|UV__IN_MODIFY))
- events |= UV_CHANGE;
- if (e->mask & ~(UV__IN_ATTRIB|UV__IN_MODIFY))
- events |= UV_RENAME;
-
- w = find_watcher(loop, e->wd);
- if (w == NULL)
- continue; /* Stale event, no watchers left. */
-
- /* inotify does not return the filename when monitoring a single file
- * for modifications. Repurpose the filename for API compatibility.
- * I'm not convinced this is a good thing, maybe it should go.
- */
- path = e->len ? (const char*) (e + 1) : uv__basename_r(w->path);
-
- /* We're about to iterate over the queue and call user's callbacks.
- * What can go wrong?
- * A callback could call uv_fs_event_stop()
- * and the queue can change under our feet.
- * So, we use QUEUE_MOVE() trick to safely iterate over the queue.
- * And we don't free the watcher_list until we're done iterating.
- *
- * First,
- * tell uv_fs_event_stop() (that could be called from a user's callback)
- * not to free watcher_list.
- */
- w->iterating = 1;
- QUEUE_MOVE(&w->watchers, &queue);
- while (!QUEUE_EMPTY(&queue)) {
- q = QUEUE_HEAD(&queue);
- h = QUEUE_DATA(q, uv_fs_event_t, watchers);
-
- QUEUE_REMOVE(q);
- QUEUE_INSERT_TAIL(&w->watchers, q);
-
- h->cb(h, path, events, 0);
- }
- /* done iterating, time to (maybe) free empty watcher_list */
- w->iterating = 0;
- maybe_free_watcher_list(w, loop);
- }
- }
-}
-
-
-int uv_fs_event_init(uv_loop_t* loop, uv_fs_event_t* handle) {
- uv__handle_init(loop, (uv_handle_t*)handle, UV_FS_EVENT);
- return 0;
-}
-
-
-int uv_fs_event_start(uv_fs_event_t* handle,
- uv_fs_event_cb cb,
- const char* path,
- unsigned int flags) {
- struct watcher_list* w;
- int events;
- int err;
- int wd;
-
- if (uv__is_active(handle))
- return UV_EINVAL;
-
- err = init_inotify(handle->loop);
- if (err)
- return err;
-
- events = UV__IN_ATTRIB
- | UV__IN_CREATE
- | UV__IN_MODIFY
- | UV__IN_DELETE
- | UV__IN_DELETE_SELF
- | UV__IN_MOVE_SELF
- | UV__IN_MOVED_FROM
- | UV__IN_MOVED_TO;
-
- wd = uv__inotify_add_watch(handle->loop->inotify_fd, path, events);
- if (wd == -1)
- return UV__ERR(errno);
-
- w = find_watcher(handle->loop, wd);
- if (w)
- goto no_insert;
-
- w = (watcher_list*)uv__malloc(sizeof(*w) + strlen(path) + 1);
- if (w == NULL)
- return UV_ENOMEM;
-
- w->wd = wd;
- w->path = strcpy((char*)(w + 1), path);
- QUEUE_INIT(&w->watchers);
- w->iterating = 0;
- RB_INSERT(watcher_root, CAST(&handle->loop->inotify_watchers), w);
-
-no_insert:
- uv__handle_start(handle);
- QUEUE_INSERT_TAIL(&w->watchers, &handle->watchers);
- handle->path = w->path;
- handle->cb = cb;
- handle->wd = wd;
-
- return 0;
-}
-
-
-int uv_fs_event_stop(uv_fs_event_t* handle) {
- struct watcher_list* w;
-
- if (!uv__is_active(handle))
- return 0;
-
- w = find_watcher(handle->loop, handle->wd);
- assert(w != NULL);
-
- handle->wd = -1;
- handle->path = NULL;
- uv__handle_stop(handle);
- QUEUE_REMOVE(&handle->watchers);
-
- maybe_free_watcher_list(w, handle->loop);
-
- return 0;
-}
-
-
-void uv__fs_event_close(uv_fs_event_t* handle) {
- uv_fs_event_stop(handle);
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/linux-syscalls.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/linux-syscalls.cpp
deleted file mode 100644
index 89998de..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/linux-syscalls.cpp
+++ /dev/null
@@ -1,471 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include "linux-syscalls.h"
-#include <unistd.h>
-#include <signal.h>
-#include <sys/syscall.h>
-#include <sys/types.h>
-#include <errno.h>
-
-#if defined(__has_feature)
-# if __has_feature(memory_sanitizer)
-# define MSAN_ACTIVE 1
-# include <sanitizer/msan_interface.h>
-# endif
-#endif
-
-#if defined(__i386__)
-# ifndef __NR_socketcall
-# define __NR_socketcall 102
-# endif
-#endif
-
-#if defined(__arm__)
-# if defined(__thumb__) || defined(__ARM_EABI__)
-# define UV_SYSCALL_BASE 0
-# else
-# define UV_SYSCALL_BASE 0x900000
-# endif
-#endif /* __arm__ */
-
-#ifndef __NR_accept4
-# if defined(__x86_64__)
-# define __NR_accept4 288
-# elif defined(__i386__)
- /* Nothing. Handled through socketcall(). */
-# elif defined(__arm__)
-# define __NR_accept4 (UV_SYSCALL_BASE + 366)
-# endif
-#endif /* __NR_accept4 */
-
-#ifndef __NR_eventfd
-# if defined(__x86_64__)
-# define __NR_eventfd 284
-# elif defined(__i386__)
-# define __NR_eventfd 323
-# elif defined(__arm__)
-# define __NR_eventfd (UV_SYSCALL_BASE + 351)
-# endif
-#endif /* __NR_eventfd */
-
-#ifndef __NR_eventfd2
-# if defined(__x86_64__)
-# define __NR_eventfd2 290
-# elif defined(__i386__)
-# define __NR_eventfd2 328
-# elif defined(__arm__)
-# define __NR_eventfd2 (UV_SYSCALL_BASE + 356)
-# endif
-#endif /* __NR_eventfd2 */
-
-#ifndef __NR_epoll_create
-# if defined(__x86_64__)
-# define __NR_epoll_create 213
-# elif defined(__i386__)
-# define __NR_epoll_create 254
-# elif defined(__arm__)
-# define __NR_epoll_create (UV_SYSCALL_BASE + 250)
-# endif
-#endif /* __NR_epoll_create */
-
-#ifndef __NR_epoll_create1
-# if defined(__x86_64__)
-# define __NR_epoll_create1 291
-# elif defined(__i386__)
-# define __NR_epoll_create1 329
-# elif defined(__arm__)
-# define __NR_epoll_create1 (UV_SYSCALL_BASE + 357)
-# endif
-#endif /* __NR_epoll_create1 */
-
-#ifndef __NR_epoll_ctl
-# if defined(__x86_64__)
-# define __NR_epoll_ctl 233 /* used to be 214 */
-# elif defined(__i386__)
-# define __NR_epoll_ctl 255
-# elif defined(__arm__)
-# define __NR_epoll_ctl (UV_SYSCALL_BASE + 251)
-# endif
-#endif /* __NR_epoll_ctl */
-
-#ifndef __NR_epoll_wait
-# if defined(__x86_64__)
-# define __NR_epoll_wait 232 /* used to be 215 */
-# elif defined(__i386__)
-# define __NR_epoll_wait 256
-# elif defined(__arm__)
-# define __NR_epoll_wait (UV_SYSCALL_BASE + 252)
-# endif
-#endif /* __NR_epoll_wait */
-
-#ifndef __NR_epoll_pwait
-# if defined(__x86_64__)
-# define __NR_epoll_pwait 281
-# elif defined(__i386__)
-# define __NR_epoll_pwait 319
-# elif defined(__arm__)
-# define __NR_epoll_pwait (UV_SYSCALL_BASE + 346)
-# endif
-#endif /* __NR_epoll_pwait */
-
-#ifndef __NR_inotify_init
-# if defined(__x86_64__)
-# define __NR_inotify_init 253
-# elif defined(__i386__)
-# define __NR_inotify_init 291
-# elif defined(__arm__)
-# define __NR_inotify_init (UV_SYSCALL_BASE + 316)
-# endif
-#endif /* __NR_inotify_init */
-
-#ifndef __NR_inotify_init1
-# if defined(__x86_64__)
-# define __NR_inotify_init1 294
-# elif defined(__i386__)
-# define __NR_inotify_init1 332
-# elif defined(__arm__)
-# define __NR_inotify_init1 (UV_SYSCALL_BASE + 360)
-# endif
-#endif /* __NR_inotify_init1 */
-
-#ifndef __NR_inotify_add_watch
-# if defined(__x86_64__)
-# define __NR_inotify_add_watch 254
-# elif defined(__i386__)
-# define __NR_inotify_add_watch 292
-# elif defined(__arm__)
-# define __NR_inotify_add_watch (UV_SYSCALL_BASE + 317)
-# endif
-#endif /* __NR_inotify_add_watch */
-
-#ifndef __NR_inotify_rm_watch
-# if defined(__x86_64__)
-# define __NR_inotify_rm_watch 255
-# elif defined(__i386__)
-# define __NR_inotify_rm_watch 293
-# elif defined(__arm__)
-# define __NR_inotify_rm_watch (UV_SYSCALL_BASE + 318)
-# endif
-#endif /* __NR_inotify_rm_watch */
-
-#ifndef __NR_pipe2
-# if defined(__x86_64__)
-# define __NR_pipe2 293
-# elif defined(__i386__)
-# define __NR_pipe2 331
-# elif defined(__arm__)
-# define __NR_pipe2 (UV_SYSCALL_BASE + 359)
-# endif
-#endif /* __NR_pipe2 */
-
-#ifndef __NR_recvmmsg
-# if defined(__x86_64__)
-# define __NR_recvmmsg 299
-# elif defined(__i386__)
-# define __NR_recvmmsg 337
-# elif defined(__arm__)
-# define __NR_recvmmsg (UV_SYSCALL_BASE + 365)
-# endif
-#endif /* __NR_recvmsg */
-
-#ifndef __NR_sendmmsg
-# if defined(__x86_64__)
-# define __NR_sendmmsg 307
-# elif defined(__i386__)
-# define __NR_sendmmsg 345
-# elif defined(__arm__)
-# define __NR_sendmmsg (UV_SYSCALL_BASE + 374)
-# endif
-#endif /* __NR_sendmmsg */
-
-#ifndef __NR_utimensat
-# if defined(__x86_64__)
-# define __NR_utimensat 280
-# elif defined(__i386__)
-# define __NR_utimensat 320
-# elif defined(__arm__)
-# define __NR_utimensat (UV_SYSCALL_BASE + 348)
-# endif
-#endif /* __NR_utimensat */
-
-#ifndef __NR_preadv
-# if defined(__x86_64__)
-# define __NR_preadv 295
-# elif defined(__i386__)
-# define __NR_preadv 333
-# elif defined(__arm__)
-# define __NR_preadv (UV_SYSCALL_BASE + 361)
-# endif
-#endif /* __NR_preadv */
-
-#ifndef __NR_pwritev
-# if defined(__x86_64__)
-# define __NR_pwritev 296
-# elif defined(__i386__)
-# define __NR_pwritev 334
-# elif defined(__arm__)
-# define __NR_pwritev (UV_SYSCALL_BASE + 362)
-# endif
-#endif /* __NR_pwritev */
-
-#ifndef __NR_dup3
-# if defined(__x86_64__)
-# define __NR_dup3 292
-# elif defined(__i386__)
-# define __NR_dup3 330
-# elif defined(__arm__)
-# define __NR_dup3 (UV_SYSCALL_BASE + 358)
-# endif
-#endif /* __NR_pwritev */
-
-
-int uv__accept4(int fd, struct sockaddr* addr, socklen_t* addrlen, int flags) {
-#if defined(__i386__)
- unsigned long args[4];
- int r;
-
- args[0] = (unsigned long) fd;
- args[1] = (unsigned long) addr;
- args[2] = (unsigned long) addrlen;
- args[3] = (unsigned long) flags;
-
- r = syscall(__NR_socketcall, 18 /* SYS_ACCEPT4 */, args);
-
- /* socketcall() raises EINVAL when SYS_ACCEPT4 is not supported but so does
- * a bad flags argument. Try to distinguish between the two cases.
- */
- if (r == -1)
- if (errno == EINVAL)
- if ((flags & ~(UV__SOCK_CLOEXEC|UV__SOCK_NONBLOCK)) == 0)
- errno = ENOSYS;
-
- return r;
-#elif defined(__NR_accept4)
- return syscall(__NR_accept4, fd, addr, addrlen, flags);
-#else
- return errno = ENOSYS, -1;
-#endif
-}
-
-
-int uv__eventfd(unsigned int count) {
-#if defined(__NR_eventfd)
- return syscall(__NR_eventfd, count);
-#else
- return errno = ENOSYS, -1;
-#endif
-}
-
-
-int uv__eventfd2(unsigned int count, int flags) {
-#if defined(__NR_eventfd2)
- return syscall(__NR_eventfd2, count, flags);
-#else
- return errno = ENOSYS, -1;
-#endif
-}
-
-
-int uv__epoll_create(int size) {
-#if defined(__NR_epoll_create)
- return syscall(__NR_epoll_create, size);
-#else
- return errno = ENOSYS, -1;
-#endif
-}
-
-
-int uv__epoll_create1(int flags) {
-#if defined(__NR_epoll_create1)
- return syscall(__NR_epoll_create1, flags);
-#else
- return errno = ENOSYS, -1;
-#endif
-}
-
-
-int uv__epoll_ctl(int epfd, int op, int fd, struct uv__epoll_event* events) {
-#if defined(__NR_epoll_ctl)
- return syscall(__NR_epoll_ctl, epfd, op, fd, events);
-#else
- return errno = ENOSYS, -1;
-#endif
-}
-
-
-int uv__epoll_wait(int epfd,
- struct uv__epoll_event* events,
- int nevents,
- int timeout) {
-#if defined(__NR_epoll_wait)
- int result;
- result = syscall(__NR_epoll_wait, epfd, events, nevents, timeout);
-#if MSAN_ACTIVE
- if (result > 0)
- __msan_unpoison(events, sizeof(events[0]) * result);
-#endif
- return result;
-#else
- return errno = ENOSYS, -1;
-#endif
-}
-
-
-int uv__epoll_pwait(int epfd,
- struct uv__epoll_event* events,
- int nevents,
- int timeout,
- uint64_t sigmask) {
-#if defined(__NR_epoll_pwait)
- int result;
- result = syscall(__NR_epoll_pwait,
- epfd,
- events,
- nevents,
- timeout,
- &sigmask,
- sizeof(sigmask));
-#if MSAN_ACTIVE
- if (result > 0)
- __msan_unpoison(events, sizeof(events[0]) * result);
-#endif
- return result;
-#else
- return errno = ENOSYS, -1;
-#endif
-}
-
-
-int uv__inotify_init(void) {
-#if defined(__NR_inotify_init)
- return syscall(__NR_inotify_init);
-#else
- return errno = ENOSYS, -1;
-#endif
-}
-
-
-int uv__inotify_init1(int flags) {
-#if defined(__NR_inotify_init1)
- return syscall(__NR_inotify_init1, flags);
-#else
- return errno = ENOSYS, -1;
-#endif
-}
-
-
-int uv__inotify_add_watch(int fd, const char* path, uint32_t mask) {
-#if defined(__NR_inotify_add_watch)
- return syscall(__NR_inotify_add_watch, fd, path, mask);
-#else
- return errno = ENOSYS, -1;
-#endif
-}
-
-
-int uv__inotify_rm_watch(int fd, int32_t wd) {
-#if defined(__NR_inotify_rm_watch)
- return syscall(__NR_inotify_rm_watch, fd, wd);
-#else
- return errno = ENOSYS, -1;
-#endif
-}
-
-
-int uv__pipe2(int pipefd[2], int flags) {
-#if defined(__NR_pipe2)
- int result;
- result = syscall(__NR_pipe2, pipefd, flags);
-#if MSAN_ACTIVE
- if (!result)
- __msan_unpoison(pipefd, sizeof(int[2]));
-#endif
- return result;
-#else
- return errno = ENOSYS, -1;
-#endif
-}
-
-
-int uv__sendmmsg(int fd,
- struct uv__mmsghdr* mmsg,
- unsigned int vlen,
- unsigned int flags) {
-#if defined(__NR_sendmmsg)
- return syscall(__NR_sendmmsg, fd, mmsg, vlen, flags);
-#else
- return errno = ENOSYS, -1;
-#endif
-}
-
-
-int uv__recvmmsg(int fd,
- struct uv__mmsghdr* mmsg,
- unsigned int vlen,
- unsigned int flags,
- struct timespec* timeout) {
-#if defined(__NR_recvmmsg)
- return syscall(__NR_recvmmsg, fd, mmsg, vlen, flags, timeout);
-#else
- return errno = ENOSYS, -1;
-#endif
-}
-
-
-int uv__utimesat(int dirfd,
- const char* path,
- const struct timespec times[2],
- int flags)
-{
-#if defined(__NR_utimensat)
- return syscall(__NR_utimensat, dirfd, path, times, flags);
-#else
- return errno = ENOSYS, -1;
-#endif
-}
-
-
-ssize_t uv__preadv(int fd, const struct iovec *iov, int iovcnt, int64_t offset) {
-#if defined(__NR_preadv)
- return syscall(__NR_preadv, fd, iov, iovcnt, (long)offset, (long)(offset >> 32));
-#else
- return errno = ENOSYS, -1;
-#endif
-}
-
-
-ssize_t uv__pwritev(int fd, const struct iovec *iov, int iovcnt, int64_t offset) {
-#if defined(__NR_pwritev)
- return syscall(__NR_pwritev, fd, iov, iovcnt, (long)offset, (long)(offset >> 32));
-#else
- return errno = ENOSYS, -1;
-#endif
-}
-
-
-int uv__dup3(int oldfd, int newfd, int flags) {
-#if defined(__NR_dup3)
- return syscall(__NR_dup3, oldfd, newfd, flags);
-#else
- return errno = ENOSYS, -1;
-#endif
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/linux-syscalls.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/linux-syscalls.h
deleted file mode 100644
index 4c095e9..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/linux-syscalls.h
+++ /dev/null
@@ -1,151 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#ifndef UV_LINUX_SYSCALL_H_
-#define UV_LINUX_SYSCALL_H_
-
-#undef _GNU_SOURCE
-#define _GNU_SOURCE
-
-#include <stdint.h>
-#include <signal.h>
-#include <sys/types.h>
-#include <sys/time.h>
-#include <sys/socket.h>
-
-#if defined(__alpha__)
-# define UV__O_CLOEXEC 0x200000
-#elif defined(__hppa__)
-# define UV__O_CLOEXEC 0x200000
-#elif defined(__sparc__)
-# define UV__O_CLOEXEC 0x400000
-#else
-# define UV__O_CLOEXEC 0x80000
-#endif
-
-#if defined(__alpha__)
-# define UV__O_NONBLOCK 0x4
-#elif defined(__hppa__)
-# define UV__O_NONBLOCK O_NONBLOCK
-#elif defined(__mips__)
-# define UV__O_NONBLOCK 0x80
-#elif defined(__sparc__)
-# define UV__O_NONBLOCK 0x4000
-#else
-# define UV__O_NONBLOCK 0x800
-#endif
-
-#define UV__EFD_CLOEXEC UV__O_CLOEXEC
-#define UV__EFD_NONBLOCK UV__O_NONBLOCK
-
-#define UV__IN_CLOEXEC UV__O_CLOEXEC
-#define UV__IN_NONBLOCK UV__O_NONBLOCK
-
-#define UV__SOCK_CLOEXEC UV__O_CLOEXEC
-#if defined(SOCK_NONBLOCK)
-# define UV__SOCK_NONBLOCK SOCK_NONBLOCK
-#else
-# define UV__SOCK_NONBLOCK UV__O_NONBLOCK
-#endif
-
-/* epoll flags */
-#define UV__EPOLL_CLOEXEC UV__O_CLOEXEC
-#define UV__EPOLL_CTL_ADD 1
-#define UV__EPOLL_CTL_DEL 2
-#define UV__EPOLL_CTL_MOD 3
-
-/* inotify flags */
-#define UV__IN_ACCESS 0x001
-#define UV__IN_MODIFY 0x002
-#define UV__IN_ATTRIB 0x004
-#define UV__IN_CLOSE_WRITE 0x008
-#define UV__IN_CLOSE_NOWRITE 0x010
-#define UV__IN_OPEN 0x020
-#define UV__IN_MOVED_FROM 0x040
-#define UV__IN_MOVED_TO 0x080
-#define UV__IN_CREATE 0x100
-#define UV__IN_DELETE 0x200
-#define UV__IN_DELETE_SELF 0x400
-#define UV__IN_MOVE_SELF 0x800
-
-#if defined(__x86_64__)
-struct uv__epoll_event {
- uint32_t events;
- uint64_t data;
-} __attribute__((packed));
-#else
-struct uv__epoll_event {
- uint32_t events;
- uint64_t data;
-};
-#endif
-
-struct uv__inotify_event {
- int32_t wd;
- uint32_t mask;
- uint32_t cookie;
- uint32_t len;
- /* char name[0]; */
-};
-
-struct uv__mmsghdr {
- struct msghdr msg_hdr;
- unsigned int msg_len;
-};
-
-int uv__accept4(int fd, struct sockaddr* addr, socklen_t* addrlen, int flags);
-int uv__eventfd(unsigned int count);
-int uv__epoll_create(int size);
-int uv__epoll_create1(int flags);
-int uv__epoll_ctl(int epfd, int op, int fd, struct uv__epoll_event *ev);
-int uv__epoll_wait(int epfd,
- struct uv__epoll_event* events,
- int nevents,
- int timeout);
-int uv__epoll_pwait(int epfd,
- struct uv__epoll_event* events,
- int nevents,
- int timeout,
- uint64_t sigmask);
-int uv__eventfd2(unsigned int count, int flags);
-int uv__inotify_init(void);
-int uv__inotify_init1(int flags);
-int uv__inotify_add_watch(int fd, const char* path, uint32_t mask);
-int uv__inotify_rm_watch(int fd, int32_t wd);
-int uv__pipe2(int pipefd[2], int flags);
-int uv__recvmmsg(int fd,
- struct uv__mmsghdr* mmsg,
- unsigned int vlen,
- unsigned int flags,
- struct timespec* timeout);
-int uv__sendmmsg(int fd,
- struct uv__mmsghdr* mmsg,
- unsigned int vlen,
- unsigned int flags);
-int uv__utimesat(int dirfd,
- const char* path,
- const struct timespec times[2],
- int flags);
-ssize_t uv__preadv(int fd, const struct iovec *iov, int iovcnt, int64_t offset);
-ssize_t uv__pwritev(int fd, const struct iovec *iov, int iovcnt, int64_t offset);
-int uv__dup3(int oldfd, int newfd, int flags);
-
-#endif /* UV_LINUX_SYSCALL_H_ */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/loop.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/loop.cpp
deleted file mode 100644
index f990403..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/loop.cpp
+++ /dev/null
@@ -1,194 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include "uv.h"
-#include "uv/tree.h"
-#include "internal.h"
-#include "heap-inl.h"
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-
-int uv_loop_init(uv_loop_t* loop) {
- void* saved_data;
- int err;
-
-
- saved_data = loop->data;
- memset(loop, 0, sizeof(*loop));
- loop->data = saved_data;
-
- heap_init((struct heap*) &loop->timer_heap);
- QUEUE_INIT(&loop->wq);
- QUEUE_INIT(&loop->idle_handles);
- QUEUE_INIT(&loop->async_handles);
- QUEUE_INIT(&loop->check_handles);
- QUEUE_INIT(&loop->prepare_handles);
- QUEUE_INIT(&loop->handle_queue);
-
- loop->active_handles = 0;
- loop->active_reqs.count = 0;
- loop->nfds = 0;
- loop->watchers = NULL;
- loop->nwatchers = 0;
- QUEUE_INIT(&loop->pending_queue);
- QUEUE_INIT(&loop->watcher_queue);
-
- loop->closing_handles = NULL;
- uv__update_time(loop);
- loop->async_io_watcher.fd = -1;
- loop->async_wfd = -1;
- loop->signal_pipefd[0] = -1;
- loop->signal_pipefd[1] = -1;
- loop->backend_fd = -1;
- loop->emfile_fd = -1;
-
- loop->timer_counter = 0;
- loop->stop_flag = 0;
-
- err = uv__platform_loop_init(loop);
- if (err)
- return err;
-
- uv__signal_global_once_init();
- err = uv_signal_init(loop, &loop->child_watcher);
- if (err)
- goto fail_signal_init;
-
- uv__handle_unref(&loop->child_watcher);
- loop->child_watcher.flags |= UV__HANDLE_INTERNAL;
- QUEUE_INIT(&loop->process_handles);
-
- err = uv_rwlock_init(&loop->cloexec_lock);
- if (err)
- goto fail_rwlock_init;
-
- err = uv_mutex_init(&loop->wq_mutex);
- if (err)
- goto fail_mutex_init;
-
- err = uv_async_init(loop, &loop->wq_async, uv__work_done);
- if (err)
- goto fail_async_init;
-
- uv__handle_unref(&loop->wq_async);
- loop->wq_async.flags |= UV__HANDLE_INTERNAL;
-
- return 0;
-
-fail_async_init:
- uv_mutex_destroy(&loop->wq_mutex);
-
-fail_mutex_init:
- uv_rwlock_destroy(&loop->cloexec_lock);
-
-fail_rwlock_init:
- uv__signal_loop_cleanup(loop);
-
-fail_signal_init:
- uv__platform_loop_delete(loop);
-
- return err;
-}
-
-
-int uv_loop_fork(uv_loop_t* loop) {
- int err;
- unsigned int i;
- uv__io_t* w;
-
- err = uv__io_fork(loop);
- if (err)
- return err;
-
- err = uv__async_fork(loop);
- if (err)
- return err;
-
- err = uv__signal_loop_fork(loop);
- if (err)
- return err;
-
- /* Rearm all the watchers that aren't re-queued by the above. */
- for (i = 0; i < loop->nwatchers; i++) {
- w = loop->watchers[i];
- if (w == NULL)
- continue;
-
- if (w->pevents != 0 && QUEUE_EMPTY(&w->watcher_queue)) {
- w->events = 0; /* Force re-registration in uv__io_poll. */
- QUEUE_INSERT_TAIL(&loop->watcher_queue, &w->watcher_queue);
- }
- }
-
- return 0;
-}
-
-
-void uv__loop_close(uv_loop_t* loop) {
- uv__signal_loop_cleanup(loop);
- uv__platform_loop_delete(loop);
- uv__async_stop(loop);
-
- if (loop->emfile_fd != -1) {
- uv__close(loop->emfile_fd);
- loop->emfile_fd = -1;
- }
-
- if (loop->backend_fd != -1) {
- uv__close(loop->backend_fd);
- loop->backend_fd = -1;
- }
-
- uv_mutex_lock(&loop->wq_mutex);
- assert(QUEUE_EMPTY(&loop->wq) && "thread pool work queue not empty!");
- assert(!uv__has_active_reqs(loop));
- uv_mutex_unlock(&loop->wq_mutex);
- uv_mutex_destroy(&loop->wq_mutex);
-
- /*
- * Note that all thread pool stuff is finished at this point and
- * it is safe to just destroy rw lock
- */
- uv_rwlock_destroy(&loop->cloexec_lock);
-
-#if 0
- assert(QUEUE_EMPTY(&loop->pending_queue));
- assert(QUEUE_EMPTY(&loop->watcher_queue));
- assert(loop->nfds == 0);
-#endif
-
- uv__free(loop->watchers);
- loop->watchers = NULL;
- loop->nwatchers = 0;
-}
-
-
-int uv__loop_configure(uv_loop_t* loop, uv_loop_option option, va_list ap) {
- if (option != UV_LOOP_BLOCK_SIGNAL)
- return UV_ENOSYS;
-
- if (va_arg(ap, int) != SIGPROF)
- return UV_EINVAL;
-
- loop->flags |= UV_LOOP_BLOCK_SIGPROF;
- return 0;
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/netbsd.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/netbsd.cpp
deleted file mode 100644
index fc9e588..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/netbsd.cpp
+++ /dev/null
@@ -1,309 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include "uv.h"
-#include "internal.h"
-
-#include <assert.h>
-#include <string.h>
-#include <errno.h>
-
-#include <kvm.h>
-#include <paths.h>
-#include <unistd.h>
-#include <time.h>
-#include <stdlib.h>
-#include <fcntl.h>
-
-#include <sys/resource.h>
-#include <sys/types.h>
-#include <sys/sysctl.h>
-#include <uvm/uvm_extern.h>
-
-#include <unistd.h>
-#include <time.h>
-
-static uv_mutex_t process_title_mutex;
-static uv_once_t process_title_mutex_once = UV_ONCE_INIT;
-static char *process_title;
-
-
-static void init_process_title_mutex_once(void) {
- uv_mutex_init(&process_title_mutex);
-}
-
-
-int uv__platform_loop_init(uv_loop_t* loop) {
- return uv__kqueue_init(loop);
-}
-
-
-void uv__platform_loop_delete(uv_loop_t* loop) {
-}
-
-
-void uv_loadavg(double avg[3]) {
- struct loadavg info;
- size_t size = sizeof(info);
- int which[] = {CTL_VM, VM_LOADAVG};
-
- if (sysctl(which, 2, &info, &size, NULL, 0) == -1) return;
-
- avg[0] = (double) info.ldavg[0] / info.fscale;
- avg[1] = (double) info.ldavg[1] / info.fscale;
- avg[2] = (double) info.ldavg[2] / info.fscale;
-}
-
-
-int uv_exepath(char* buffer, size_t* size) {
- /* Intermediate buffer, retrieving partial path name does not work
- * As of NetBSD-8(beta), vnode->path translator does not handle files
- * with longer names than 31 characters.
- */
- char int_buf[PATH_MAX];
- size_t int_size;
- int mib[4];
-
- if (buffer == NULL || size == NULL || *size == 0)
- return UV_EINVAL;
-
- mib[0] = CTL_KERN;
- mib[1] = KERN_PROC_ARGS;
- mib[2] = -1;
- mib[3] = KERN_PROC_PATHNAME;
- int_size = ARRAY_SIZE(int_buf);
-
- if (sysctl(mib, 4, int_buf, &int_size, NULL, 0))
- return UV__ERR(errno);
-
- /* Copy string from the intermediate buffer to outer one with appropriate
- * length.
- */
- strlcpy(buffer, int_buf, *size);
-
- /* Set new size. */
- *size = strlen(buffer);
-
- return 0;
-}
-
-
-uint64_t uv_get_free_memory(void) {
- struct uvmexp info;
- size_t size = sizeof(info);
- int which[] = {CTL_VM, VM_UVMEXP};
-
- if (sysctl(which, 2, &info, &size, NULL, 0))
- return UV__ERR(errno);
-
- return (uint64_t) info.free * sysconf(_SC_PAGESIZE);
-}
-
-
-uint64_t uv_get_total_memory(void) {
-#if defined(HW_PHYSMEM64)
- uint64_t info;
- int which[] = {CTL_HW, HW_PHYSMEM64};
-#else
- unsigned int info;
- int which[] = {CTL_HW, HW_PHYSMEM};
-#endif
- size_t size = sizeof(info);
-
- if (sysctl(which, 2, &info, &size, NULL, 0))
- return UV__ERR(errno);
-
- return (uint64_t) info;
-}
-
-
-char** uv_setup_args(int argc, char** argv) {
- process_title = argc ? uv__strdup(argv[0]) : NULL;
- return argv;
-}
-
-
-int uv_set_process_title(const char* title) {
- char* new_title;
-
- new_title = uv__strdup(title);
-
- uv_once(&process_title_mutex_once, init_process_title_mutex_once);
- uv_mutex_lock(&process_title_mutex);
-
- if (process_title == NULL) {
- uv_mutex_unlock(&process_title_mutex);
- return UV_ENOMEM;
- }
-
- uv__free(process_title);
- process_title = new_title;
- setproctitle("%s", title);
-
- uv_mutex_unlock(&process_title_mutex);
-
- return 0;
-}
-
-
-int uv_get_process_title(char* buffer, size_t size) {
- size_t len;
-
- if (buffer == NULL || size == 0)
- return UV_EINVAL;
-
- uv_once(&process_title_mutex_once, init_process_title_mutex_once);
- uv_mutex_lock(&process_title_mutex);
-
- if (process_title) {
- len = strlen(process_title) + 1;
-
- if (size < len) {
- uv_mutex_unlock(&process_title_mutex);
- return UV_ENOBUFS;
- }
-
- memcpy(buffer, process_title, len);
- } else {
- len = 0;
- }
-
- uv_mutex_unlock(&process_title_mutex);
-
- buffer[len] = '\0';
-
- return 0;
-}
-
-
-int uv_resident_set_memory(size_t* rss) {
- kvm_t *kd = NULL;
- struct kinfo_proc2 *kinfo = NULL;
- pid_t pid;
- int nprocs;
- int max_size = sizeof(struct kinfo_proc2);
- int page_size;
-
- page_size = getpagesize();
- pid = getpid();
-
- kd = kvm_open(NULL, NULL, NULL, KVM_NO_FILES, "kvm_open");
-
- if (kd == NULL) goto error;
-
- kinfo = kvm_getproc2(kd, KERN_PROC_PID, pid, max_size, &nprocs);
- if (kinfo == NULL) goto error;
-
- *rss = kinfo->p_vm_rssize * page_size;
-
- kvm_close(kd);
-
- return 0;
-
-error:
- if (kd) kvm_close(kd);
- return UV_EPERM;
-}
-
-
-int uv_uptime(double* uptime) {
- time_t now;
- struct timeval info;
- size_t size = sizeof(info);
- static int which[] = {CTL_KERN, KERN_BOOTTIME};
-
- if (sysctl(which, 2, &info, &size, NULL, 0))
- return UV__ERR(errno);
-
- now = time(NULL);
-
- *uptime = (double)(now - info.tv_sec);
- return 0;
-}
-
-
-int uv_cpu_info(uv_cpu_info_t** cpu_infos, int* count) {
- unsigned int ticks = (unsigned int)sysconf(_SC_CLK_TCK);
- unsigned int multiplier = ((uint64_t)1000L / ticks);
- unsigned int cur = 0;
- uv_cpu_info_t* cpu_info;
- u_int64_t* cp_times;
- char model[512];
- u_int64_t cpuspeed;
- int numcpus;
- size_t size;
- int i;
-
- size = sizeof(model);
- if (sysctlbyname("machdep.cpu_brand", &model, &size, NULL, 0) &&
- sysctlbyname("hw.model", &model, &size, NULL, 0)) {
- return UV__ERR(errno);
- }
-
- size = sizeof(numcpus);
- if (sysctlbyname("hw.ncpu", &numcpus, &size, NULL, 0))
- return UV__ERR(errno);
- *count = numcpus;
-
- /* Only i386 and amd64 have machdep.tsc_freq */
- size = sizeof(cpuspeed);
- if (sysctlbyname("machdep.tsc_freq", &cpuspeed, &size, NULL, 0))
- cpuspeed = 0;
-
- size = numcpus * CPUSTATES * sizeof(*cp_times);
- cp_times = (u_int64_t*)uv__malloc(size);
- if (cp_times == NULL)
- return UV_ENOMEM;
-
- if (sysctlbyname("kern.cp_time", cp_times, &size, NULL, 0))
- return UV__ERR(errno);
-
- *cpu_infos = (uv_cpu_info_t*)uv__malloc(numcpus * sizeof(**cpu_infos));
- if (!(*cpu_infos)) {
- uv__free(cp_times);
- uv__free(*cpu_infos);
- return UV_ENOMEM;
- }
-
- for (i = 0; i < numcpus; i++) {
- cpu_info = &(*cpu_infos)[i];
- cpu_info->cpu_times.user = (uint64_t)(cp_times[CP_USER+cur]) * multiplier;
- cpu_info->cpu_times.nice = (uint64_t)(cp_times[CP_NICE+cur]) * multiplier;
- cpu_info->cpu_times.sys = (uint64_t)(cp_times[CP_SYS+cur]) * multiplier;
- cpu_info->cpu_times.idle = (uint64_t)(cp_times[CP_IDLE+cur]) * multiplier;
- cpu_info->cpu_times.irq = (uint64_t)(cp_times[CP_INTR+cur]) * multiplier;
- cpu_info->model = uv__strdup(model);
- cpu_info->speed = (int)(cpuspeed/(uint64_t) 1e6);
- cur += CPUSTATES;
- }
- uv__free(cp_times);
- return 0;
-}
-
-
-void uv_free_cpu_info(uv_cpu_info_t* cpu_infos, int count) {
- int i;
-
- for (i = 0; i < count; i++) {
- uv__free(cpu_infos[i].model);
- }
-
- uv__free(cpu_infos);
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/openbsd.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/openbsd.cpp
deleted file mode 100644
index ecd7bbb..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/openbsd.cpp
+++ /dev/null
@@ -1,313 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include "uv.h"
-#include "internal.h"
-
-#include <sys/types.h>
-#include <sys/param.h>
-#include <sys/resource.h>
-#include <sys/sched.h>
-#include <sys/time.h>
-#include <sys/sysctl.h>
-
-#include <errno.h>
-#include <fcntl.h>
-#include <paths.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-
-
-static uv_mutex_t process_title_mutex;
-static uv_once_t process_title_mutex_once = UV_ONCE_INIT;
-static char *process_title;
-
-
-static void init_process_title_mutex_once(void) {
- uv_mutex_init(&process_title_mutex);
-}
-
-
-int uv__platform_loop_init(uv_loop_t* loop) {
- return uv__kqueue_init(loop);
-}
-
-
-void uv__platform_loop_delete(uv_loop_t* loop) {
-}
-
-
-void uv_loadavg(double avg[3]) {
- struct loadavg info;
- size_t size = sizeof(info);
- int which[] = {CTL_VM, VM_LOADAVG};
-
- if (sysctl(which, 2, &info, &size, NULL, 0) < 0) return;
-
- avg[0] = (double) info.ldavg[0] / info.fscale;
- avg[1] = (double) info.ldavg[1] / info.fscale;
- avg[2] = (double) info.ldavg[2] / info.fscale;
-}
-
-
-int uv_exepath(char* buffer, size_t* size) {
- int mib[4];
- char **argsbuf = NULL;
- char **argsbuf_tmp;
- size_t argsbuf_size = 100U;
- size_t exepath_size;
- pid_t mypid;
- int err;
-
- if (buffer == NULL || size == NULL || *size == 0)
- return UV_EINVAL;
-
- mypid = getpid();
- for (;;) {
- err = UV_ENOMEM;
- argsbuf_tmp = (char**)uv__realloc(argsbuf, argsbuf_size);
- if (argsbuf_tmp == NULL)
- goto out;
- argsbuf = argsbuf_tmp;
- mib[0] = CTL_KERN;
- mib[1] = KERN_PROC_ARGS;
- mib[2] = mypid;
- mib[3] = KERN_PROC_ARGV;
- if (sysctl(mib, 4, argsbuf, &argsbuf_size, NULL, 0) == 0) {
- break;
- }
- if (errno != ENOMEM) {
- err = UV__ERR(errno);
- goto out;
- }
- argsbuf_size *= 2U;
- }
-
- if (argsbuf[0] == NULL) {
- err = UV_EINVAL; /* FIXME(bnoordhuis) More appropriate error. */
- goto out;
- }
-
- *size -= 1;
- exepath_size = strlen(argsbuf[0]);
- if (*size > exepath_size)
- *size = exepath_size;
-
- memcpy(buffer, argsbuf[0], *size);
- buffer[*size] = '\0';
- err = 0;
-
-out:
- uv__free(argsbuf);
-
- return err;
-}
-
-
-uint64_t uv_get_free_memory(void) {
- struct uvmexp info;
- size_t size = sizeof(info);
- int which[] = {CTL_VM, VM_UVMEXP};
-
- if (sysctl(which, 2, &info, &size, NULL, 0))
- return UV__ERR(errno);
-
- return (uint64_t) info.free * sysconf(_SC_PAGESIZE);
-}
-
-
-uint64_t uv_get_total_memory(void) {
- uint64_t info;
- int which[] = {CTL_HW, HW_PHYSMEM64};
- size_t size = sizeof(info);
-
- if (sysctl(which, 2, &info, &size, NULL, 0))
- return UV__ERR(errno);
-
- return (uint64_t) info;
-}
-
-
-char** uv_setup_args(int argc, char** argv) {
- process_title = argc ? uv__strdup(argv[0]) : NULL;
- return argv;
-}
-
-
-int uv_set_process_title(const char* title) {
- char* new_title;
-
- new_title = uv__strdup(title);
-
- uv_once(&process_title_mutex_once, init_process_title_mutex_once);
- uv_mutex_lock(&process_title_mutex);
-
- if (process_title == NULL) {
- uv_mutex_unlock(&process_title_mutex);
- return UV_ENOMEM;
- }
-
- uv__free(process_title);
- process_title = new_title;
- setproctitle("%s", title);
-
- uv_mutex_unlock(&process_title_mutex);
-
- return 0;
-}
-
-
-int uv_get_process_title(char* buffer, size_t size) {
- size_t len;
-
- if (buffer == NULL || size == 0)
- return UV_EINVAL;
-
- uv_once(&process_title_mutex_once, init_process_title_mutex_once);
- uv_mutex_lock(&process_title_mutex);
-
- if (process_title) {
- len = strlen(process_title) + 1;
-
- if (size < len) {
- uv_mutex_unlock(&process_title_mutex);
- return UV_ENOBUFS;
- }
-
- memcpy(buffer, process_title, len);
- } else {
- len = 0;
- }
-
- uv_mutex_unlock(&process_title_mutex);
-
- buffer[len] = '\0';
-
- return 0;
-}
-
-
-int uv_resident_set_memory(size_t* rss) {
- struct kinfo_proc kinfo;
- size_t page_size = getpagesize();
- size_t size = sizeof(struct kinfo_proc);
- int mib[6];
-
- mib[0] = CTL_KERN;
- mib[1] = KERN_PROC;
- mib[2] = KERN_PROC_PID;
- mib[3] = getpid();
- mib[4] = sizeof(struct kinfo_proc);
- mib[5] = 1;
-
- if (sysctl(mib, 6, &kinfo, &size, NULL, 0) < 0)
- return UV__ERR(errno);
-
- *rss = kinfo.p_vm_rssize * page_size;
- return 0;
-}
-
-
-int uv_uptime(double* uptime) {
- time_t now;
- struct timeval info;
- size_t size = sizeof(info);
- static int which[] = {CTL_KERN, KERN_BOOTTIME};
-
- if (sysctl(which, 2, &info, &size, NULL, 0))
- return UV__ERR(errno);
-
- now = time(NULL);
-
- *uptime = (double)(now - info.tv_sec);
- return 0;
-}
-
-
-int uv_cpu_info(uv_cpu_info_t** cpu_infos, int* count) {
- unsigned int ticks = (unsigned int)sysconf(_SC_CLK_TCK),
- multiplier = ((uint64_t)1000L / ticks), cpuspeed;
- uint64_t info[CPUSTATES];
- char model[512];
- int numcpus = 1;
- int which[] = {CTL_HW,HW_MODEL,0};
- size_t size;
- int i;
- uv_cpu_info_t* cpu_info;
-
- size = sizeof(model);
- if (sysctl(which, 2, &model, &size, NULL, 0))
- return UV__ERR(errno);
-
- which[1] = HW_NCPU;
- size = sizeof(numcpus);
- if (sysctl(which, 2, &numcpus, &size, NULL, 0))
- return UV__ERR(errno);
-
- *cpu_infos = (uv_cpu_info_t*)uv__malloc(numcpus * sizeof(**cpu_infos));
- if (!(*cpu_infos))
- return UV_ENOMEM;
-
- *count = numcpus;
-
- which[1] = HW_CPUSPEED;
- size = sizeof(cpuspeed);
- if (sysctl(which, 2, &cpuspeed, &size, NULL, 0)) {
- uv__free(*cpu_infos);
- return UV__ERR(errno);
- }
-
- size = sizeof(info);
- which[0] = CTL_KERN;
- which[1] = KERN_CPTIME2;
- for (i = 0; i < numcpus; i++) {
- which[2] = i;
- size = sizeof(info);
- if (sysctl(which, 3, &info, &size, NULL, 0)) {
- uv__free(*cpu_infos);
- return UV__ERR(errno);
- }
-
- cpu_info = &(*cpu_infos)[i];
-
- cpu_info->cpu_times.user = (uint64_t)(info[CP_USER]) * multiplier;
- cpu_info->cpu_times.nice = (uint64_t)(info[CP_NICE]) * multiplier;
- cpu_info->cpu_times.sys = (uint64_t)(info[CP_SYS]) * multiplier;
- cpu_info->cpu_times.idle = (uint64_t)(info[CP_IDLE]) * multiplier;
- cpu_info->cpu_times.irq = (uint64_t)(info[CP_INTR]) * multiplier;
-
- cpu_info->model = uv__strdup(model);
- cpu_info->speed = cpuspeed;
- }
-
- return 0;
-}
-
-
-void uv_free_cpu_info(uv_cpu_info_t* cpu_infos, int count) {
- int i;
-
- for (i = 0; i < count; i++) {
- uv__free(cpu_infos[i].model);
- }
-
- uv__free(cpu_infos);
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/pipe.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/pipe.cpp
deleted file mode 100644
index aef5a3b..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/pipe.cpp
+++ /dev/null
@@ -1,365 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include "uv.h"
-#include "internal.h"
-
-#include <assert.h>
-#include <errno.h>
-#include <string.h>
-#include <sys/un.h>
-#include <unistd.h>
-#include <stdlib.h>
-
-
-int uv_pipe_init(uv_loop_t* loop, uv_pipe_t* handle, int ipc) {
- uv__stream_init(loop, (uv_stream_t*)handle, UV_NAMED_PIPE);
- handle->shutdown_req = NULL;
- handle->connect_req = NULL;
- handle->pipe_fname = NULL;
- handle->ipc = ipc;
- return 0;
-}
-
-
-int uv_pipe_bind(uv_pipe_t* handle, const char* name) {
- struct sockaddr_un saddr;
- const char* pipe_fname;
- int sockfd;
- int err;
-
- pipe_fname = NULL;
-
- /* Already bound? */
- if (uv__stream_fd(handle) >= 0)
- return UV_EINVAL;
-
- /* Make a copy of the file name, it outlives this function's scope. */
- pipe_fname = uv__strdup(name);
- if (pipe_fname == NULL)
- return UV_ENOMEM;
-
- /* We've got a copy, don't touch the original any more. */
- name = NULL;
-
- err = uv__socket(AF_UNIX, SOCK_STREAM, 0);
- if (err < 0)
- goto err_socket;
- sockfd = err;
-
- memset(&saddr, 0, sizeof saddr);
- strncpy(saddr.sun_path, pipe_fname, sizeof(saddr.sun_path) - 1);
- saddr.sun_path[sizeof(saddr.sun_path) - 1] = '\0';
- saddr.sun_family = AF_UNIX;
-
- if (bind(sockfd, (struct sockaddr*)&saddr, sizeof saddr)) {
- err = UV__ERR(errno);
- /* Convert ENOENT to EACCES for compatibility with Windows. */
- if (err == UV_ENOENT)
- err = UV_EACCES;
-
- uv__close(sockfd);
- goto err_socket;
- }
-
- /* Success. */
- handle->flags |= UV_HANDLE_BOUND;
- handle->pipe_fname = pipe_fname; /* Is a strdup'ed copy. */
- handle->io_watcher.fd = sockfd;
- return 0;
-
-err_socket:
- uv__free((void*)pipe_fname);
- return err;
-}
-
-
-int uv_pipe_listen(uv_pipe_t* handle, int backlog, uv_connection_cb cb) {
- if (uv__stream_fd(handle) == -1)
- return UV_EINVAL;
-
-#if defined(__MVS__)
- /* On zOS, backlog=0 has undefined behaviour */
- if (backlog == 0)
- backlog = 1;
- else if (backlog < 0)
- backlog = SOMAXCONN;
-#endif
-
- if (listen(uv__stream_fd(handle), backlog))
- return UV__ERR(errno);
-
- handle->connection_cb = cb;
- handle->io_watcher.cb = uv__server_io;
- uv__io_start(handle->loop, &handle->io_watcher, POLLIN);
- return 0;
-}
-
-
-void uv__pipe_close(uv_pipe_t* handle) {
- if (handle->pipe_fname) {
- /*
- * Unlink the file system entity before closing the file descriptor.
- * Doing it the other way around introduces a race where our process
- * unlinks a socket with the same name that's just been created by
- * another thread or process.
- */
- unlink(handle->pipe_fname);
- uv__free((void*)handle->pipe_fname);
- handle->pipe_fname = NULL;
- }
-
- uv__stream_close((uv_stream_t*)handle);
-}
-
-
-int uv_pipe_open(uv_pipe_t* handle, uv_file fd) {
- int err;
-
- if (uv__fd_exists(handle->loop, fd))
- return UV_EEXIST;
-
- err = uv__nonblock(fd, 1);
- if (err)
- return err;
-
-#if defined(__APPLE__)
- err = uv__stream_try_select((uv_stream_t*) handle, &fd);
- if (err)
- return err;
-#endif /* defined(__APPLE__) */
-
- return uv__stream_open((uv_stream_t*)handle,
- fd,
- UV_STREAM_READABLE | UV_STREAM_WRITABLE);
-}
-
-
-void uv_pipe_connect(uv_connect_t* req,
- uv_pipe_t* handle,
- const char* name,
- uv_connect_cb cb) {
- struct sockaddr_un saddr;
- int new_sock;
- int err;
- int r;
-
- new_sock = (uv__stream_fd(handle) == -1);
-
- if (new_sock) {
- err = uv__socket(AF_UNIX, SOCK_STREAM, 0);
- if (err < 0)
- goto out;
- handle->io_watcher.fd = err;
- }
-
- memset(&saddr, 0, sizeof saddr);
- strncpy(saddr.sun_path, name, sizeof(saddr.sun_path) - 1);
- saddr.sun_path[sizeof(saddr.sun_path) - 1] = '\0';
- saddr.sun_family = AF_UNIX;
-
- do {
- r = connect(uv__stream_fd(handle),
- (struct sockaddr*)&saddr, sizeof saddr);
- }
- while (r == -1 && errno == EINTR);
-
- if (r == -1 && errno != EINPROGRESS) {
- err = UV__ERR(errno);
-#if defined(__CYGWIN__) || defined(__MSYS__)
- /* EBADF is supposed to mean that the socket fd is bad, but
- Cygwin reports EBADF instead of ENOTSOCK when the file is
- not a socket. We do not expect to see a bad fd here
- (e.g. due to new_sock), so translate the error. */
- if (err == UV_EBADF)
- err = UV_ENOTSOCK;
-#endif
- goto out;
- }
-
- err = 0;
- if (new_sock) {
- err = uv__stream_open((uv_stream_t*)handle,
- uv__stream_fd(handle),
- UV_STREAM_READABLE | UV_STREAM_WRITABLE);
- }
-
- if (err == 0)
- uv__io_start(handle->loop, &handle->io_watcher, POLLIN | POLLOUT);
-
-out:
- handle->delayed_error = err;
- handle->connect_req = req;
-
- uv__req_init(handle->loop, req, UV_CONNECT);
- req->handle = (uv_stream_t*)handle;
- req->cb = cb;
- QUEUE_INIT(&req->queue);
-
- /* Force callback to run on next tick in case of error. */
- if (err)
- uv__io_feed(handle->loop, &handle->io_watcher);
-
-}
-
-
-typedef int (*uv__peersockfunc)(int, struct sockaddr*, socklen_t*);
-
-
-static int uv__pipe_getsockpeername(const uv_pipe_t* handle,
- uv__peersockfunc func,
- char* buffer,
- size_t* size) {
- struct sockaddr_un sa;
- socklen_t addrlen;
- int err;
-
- addrlen = sizeof(sa);
- memset(&sa, 0, addrlen);
- err = func(uv__stream_fd(handle), (struct sockaddr*) &sa, &addrlen);
- if (err < 0) {
- *size = 0;
- return UV__ERR(errno);
- }
-
-#if defined(__linux__)
- if (sa.sun_path[0] == 0)
- /* Linux abstract namespace */
- addrlen -= offsetof(struct sockaddr_un, sun_path);
- else
-#endif
- addrlen = strlen(sa.sun_path);
-
-
- if (addrlen >= *size) {
- *size = addrlen + 1;
- return UV_ENOBUFS;
- }
-
- memcpy(buffer, sa.sun_path, addrlen);
- *size = addrlen;
-
- /* only null-terminate if it's not an abstract socket */
- if (buffer[0] != '\0')
- buffer[addrlen] = '\0';
-
- return 0;
-}
-
-
-int uv_pipe_getsockname(const uv_pipe_t* handle, char* buffer, size_t* size) {
- return uv__pipe_getsockpeername(handle, getsockname, buffer, size);
-}
-
-
-int uv_pipe_getpeername(const uv_pipe_t* handle, char* buffer, size_t* size) {
- return uv__pipe_getsockpeername(handle, getpeername, buffer, size);
-}
-
-
-void uv_pipe_pending_instances(uv_pipe_t* handle, int count) {
-}
-
-
-int uv_pipe_pending_count(uv_pipe_t* handle) {
- uv__stream_queued_fds_t* queued_fds;
-
- if (!handle->ipc)
- return 0;
-
- if (handle->accepted_fd == -1)
- return 0;
-
- if (handle->queued_fds == NULL)
- return 1;
-
- queued_fds = (uv__stream_queued_fds_t*)(handle->queued_fds);
- return queued_fds->offset + 1;
-}
-
-
-uv_handle_type uv_pipe_pending_type(uv_pipe_t* handle) {
- if (!handle->ipc)
- return UV_UNKNOWN_HANDLE;
-
- if (handle->accepted_fd == -1)
- return UV_UNKNOWN_HANDLE;
- else
- return uv__handle_type(handle->accepted_fd);
-}
-
-
-int uv_pipe_chmod(uv_pipe_t* handle, int mode) {
- unsigned desired_mode;
- struct stat pipe_stat;
- char* name_buffer;
- size_t name_len;
- int r;
-
- if (handle == NULL || uv__stream_fd(handle) == -1)
- return UV_EBADF;
-
- if (mode != UV_READABLE &&
- mode != UV_WRITABLE &&
- mode != (UV_WRITABLE | UV_READABLE))
- return UV_EINVAL;
-
- /* Unfortunately fchmod does not work on all platforms, we will use chmod. */
- name_len = 0;
- r = uv_pipe_getsockname(handle, NULL, &name_len);
- if (r != UV_ENOBUFS)
- return r;
-
- name_buffer = (char*)uv__malloc(name_len);
- if (name_buffer == NULL)
- return UV_ENOMEM;
-
- r = uv_pipe_getsockname(handle, name_buffer, &name_len);
- if (r != 0) {
- uv__free(name_buffer);
- return r;
- }
-
- /* stat must be used as fstat has a bug on Darwin */
- if (stat(name_buffer, &pipe_stat) == -1) {
- uv__free(name_buffer);
- return -errno;
- }
-
- desired_mode = 0;
- if (mode & UV_READABLE)
- desired_mode |= S_IRUSR | S_IRGRP | S_IROTH;
- if (mode & UV_WRITABLE)
- desired_mode |= S_IWUSR | S_IWGRP | S_IWOTH;
-
- /* Exit early if pipe already has desired mode. */
- if ((pipe_stat.st_mode & desired_mode) == desired_mode) {
- uv__free(name_buffer);
- return 0;
- }
-
- pipe_stat.st_mode |= desired_mode;
-
- r = chmod(name_buffer, pipe_stat.st_mode);
- uv__free(name_buffer);
-
- return r != -1 ? 0 : UV__ERR(errno);
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/posix-poll.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/posix-poll.cpp
deleted file mode 100644
index 0f7dbfa..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/posix-poll.cpp
+++ /dev/null
@@ -1,334 +0,0 @@
-/* Copyright libuv project contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include "uv.h"
-#include "internal.h"
-
-/* POSIX defines poll() as a portable way to wait on file descriptors.
- * Here we maintain a dynamically sized array of file descriptors and
- * events to pass as the first argument to poll().
- */
-
-#include <assert.h>
-#include <stddef.h>
-#include <stdint.h>
-#include <errno.h>
-#include <unistd.h>
-
-int uv__platform_loop_init(uv_loop_t* loop) {
- loop->poll_fds = NULL;
- loop->poll_fds_used = 0;
- loop->poll_fds_size = 0;
- loop->poll_fds_iterating = 0;
- return 0;
-}
-
-void uv__platform_loop_delete(uv_loop_t* loop) {
- uv__free(loop->poll_fds);
- loop->poll_fds = NULL;
-}
-
-int uv__io_fork(uv_loop_t* loop) {
- uv__platform_loop_delete(loop);
- return uv__platform_loop_init(loop);
-}
-
-/* Allocate or dynamically resize our poll fds array. */
-static void uv__pollfds_maybe_resize(uv_loop_t* loop) {
- size_t i;
- size_t n;
- struct pollfd* p;
-
- if (loop->poll_fds_used < loop->poll_fds_size)
- return;
-
- n = loop->poll_fds_size ? loop->poll_fds_size * 2 : 64;
- p = (struct pollfd*)uv__realloc(loop->poll_fds, n * sizeof(*loop->poll_fds));
- if (p == NULL)
- abort();
-
- loop->poll_fds = p;
- for (i = loop->poll_fds_size; i < n; i++) {
- loop->poll_fds[i].fd = -1;
- loop->poll_fds[i].events = 0;
- loop->poll_fds[i].revents = 0;
- }
- loop->poll_fds_size = n;
-}
-
-/* Primitive swap operation on poll fds array elements. */
-static void uv__pollfds_swap(uv_loop_t* loop, size_t l, size_t r) {
- struct pollfd pfd;
- pfd = loop->poll_fds[l];
- loop->poll_fds[l] = loop->poll_fds[r];
- loop->poll_fds[r] = pfd;
-}
-
-/* Add a watcher's fd to our poll fds array with its pending events. */
-static void uv__pollfds_add(uv_loop_t* loop, uv__io_t* w) {
- size_t i;
- struct pollfd* pe;
-
- /* If the fd is already in the set just update its events. */
- assert(!loop->poll_fds_iterating);
- for (i = 0; i < loop->poll_fds_used; ++i) {
- if (loop->poll_fds[i].fd == w->fd) {
- loop->poll_fds[i].events = w->pevents;
- return;
- }
- }
-
- /* Otherwise, allocate a new slot in the set for the fd. */
- uv__pollfds_maybe_resize(loop);
- pe = &loop->poll_fds[loop->poll_fds_used++];
- pe->fd = w->fd;
- pe->events = w->pevents;
-}
-
-/* Remove a watcher's fd from our poll fds array. */
-static void uv__pollfds_del(uv_loop_t* loop, int fd) {
- size_t i;
- assert(!loop->poll_fds_iterating);
- for (i = 0; i < loop->poll_fds_used;) {
- if (loop->poll_fds[i].fd == fd) {
- /* swap to last position and remove */
- --loop->poll_fds_used;
- uv__pollfds_swap(loop, i, loop->poll_fds_used);
- loop->poll_fds[loop->poll_fds_used].fd = -1;
- loop->poll_fds[loop->poll_fds_used].events = 0;
- loop->poll_fds[loop->poll_fds_used].revents = 0;
- /* This method is called with an fd of -1 to purge the invalidated fds,
- * so we may possibly have multiples to remove.
- */
- if (-1 != fd)
- return;
- } else {
- /* We must only increment the loop counter when the fds do not match.
- * Otherwise, when we are purging an invalidated fd, the value just
- * swapped here from the previous end of the array will be skipped.
- */
- ++i;
- }
- }
-}
-
-
-void uv__io_poll(uv_loop_t* loop, int timeout) {
- sigset_t* pset;
- sigset_t set;
- uint64_t time_base;
- uint64_t time_diff;
- QUEUE* q;
- uv__io_t* w;
- size_t i;
- unsigned int nevents;
- int nfds;
- int have_signals;
- struct pollfd* pe;
- int fd;
-
- if (loop->nfds == 0) {
- assert(QUEUE_EMPTY(&loop->watcher_queue));
- return;
- }
-
- /* Take queued watchers and add their fds to our poll fds array. */
- while (!QUEUE_EMPTY(&loop->watcher_queue)) {
- q = QUEUE_HEAD(&loop->watcher_queue);
- QUEUE_REMOVE(q);
- QUEUE_INIT(q);
-
- w = QUEUE_DATA(q, uv__io_t, watcher_queue);
- assert(w->pevents != 0);
- assert(w->fd >= 0);
- assert(w->fd < (int) loop->nwatchers);
-
- uv__pollfds_add(loop, w);
-
- w->events = w->pevents;
- }
-
- /* Prepare a set of signals to block around poll(), if any. */
- pset = NULL;
- if (loop->flags & UV_LOOP_BLOCK_SIGPROF) {
- pset = &set;
- sigemptyset(pset);
- sigaddset(pset, SIGPROF);
- }
-
- assert(timeout >= -1);
- time_base = loop->time;
-
- /* Loop calls to poll() and processing of results. If we get some
- * results from poll() but they turn out not to be interesting to
- * our caller then we need to loop around and poll() again.
- */
- for (;;) {
- if (pset != NULL)
- if (pthread_sigmask(SIG_BLOCK, pset, NULL))
- abort();
- nfds = poll(loop->poll_fds, (nfds_t)loop->poll_fds_used, timeout);
- if (pset != NULL)
- if (pthread_sigmask(SIG_UNBLOCK, pset, NULL))
- abort();
-
- /* Update loop->time unconditionally. It's tempting to skip the update when
- * timeout == 0 (i.e. non-blocking poll) but there is no guarantee that the
- * operating system didn't reschedule our process while in the syscall.
- */
- SAVE_ERRNO(uv__update_time(loop));
-
- if (nfds == 0) {
- assert(timeout != -1);
- return;
- }
-
- if (nfds == -1) {
- if (errno != EINTR)
- abort();
-
- if (timeout == -1)
- continue;
-
- if (timeout == 0)
- return;
-
- /* Interrupted by a signal. Update timeout and poll again. */
- goto update_timeout;
- }
-
- /* Tell uv__platform_invalidate_fd not to manipulate our array
- * while we are iterating over it.
- */
- loop->poll_fds_iterating = 1;
-
- /* Initialize a count of events that we care about. */
- nevents = 0;
- have_signals = 0;
-
- /* Loop over the entire poll fds array looking for returned events. */
- for (i = 0; i < loop->poll_fds_used; i++) {
- pe = loop->poll_fds + i;
- fd = pe->fd;
-
- /* Skip invalidated events, see uv__platform_invalidate_fd. */
- if (fd == -1)
- continue;
-
- assert(fd >= 0);
- assert((unsigned) fd < loop->nwatchers);
-
- w = loop->watchers[fd];
-
- if (w == NULL) {
- /* File descriptor that we've stopped watching, ignore. */
- uv__platform_invalidate_fd(loop, fd);
- continue;
- }
-
- /* Filter out events that user has not requested us to watch
- * (e.g. POLLNVAL).
- */
- pe->revents &= w->pevents | POLLERR | POLLHUP;
-
- if (pe->revents != 0) {
- /* Run signal watchers last. */
- if (w == &loop->signal_io_watcher) {
- have_signals = 1;
- } else {
- w->cb(loop, w, pe->revents);
- }
-
- nevents++;
- }
- }
-
- if (have_signals != 0)
- loop->signal_io_watcher.cb(loop, &loop->signal_io_watcher, POLLIN);
-
- loop->poll_fds_iterating = 0;
-
- /* Purge invalidated fds from our poll fds array. */
- uv__pollfds_del(loop, -1);
-
- if (have_signals != 0)
- return; /* Event loop should cycle now so don't poll again. */
-
- if (nevents != 0)
- return;
-
- if (timeout == 0)
- return;
-
- if (timeout == -1)
- continue;
-
-update_timeout:
- assert(timeout > 0);
-
- time_diff = loop->time - time_base;
- if (time_diff >= (uint64_t) timeout)
- return;
-
- timeout -= time_diff;
- }
-}
-
-/* Remove the given fd from our poll fds array because no one
- * is interested in its events anymore.
- */
-void uv__platform_invalidate_fd(uv_loop_t* loop, int fd) {
- size_t i;
-
- if (loop->poll_fds_iterating) {
- /* uv__io_poll is currently iterating. Just invalidate fd. */
- for (i = 0; i < loop->poll_fds_used; i++)
- if (loop->poll_fds[i].fd == fd) {
- loop->poll_fds[i].fd = -1;
- loop->poll_fds[i].events = 0;
- loop->poll_fds[i].revents = 0;
- }
- } else {
- /* uv__io_poll is not iterating. Delete fd from the set. */
- uv__pollfds_del(loop, fd);
- }
-}
-
-/* Check whether the given fd is supported by poll(). */
-int uv__io_check_fd(uv_loop_t* loop, int fd) {
- struct pollfd p[1];
- int rv;
-
- p[0].fd = fd;
- p[0].events = POLLIN;
-
- do
- rv = poll(p, 1, 0);
- while (rv == -1 && (errno == EINTR || errno == EAGAIN));
-
- if (rv == -1)
- return UV__ERR(errno);
-
- if (p[0].revents & POLLNVAL)
- return UV_EINVAL;
-
- return 0;
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/process.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/process.cpp
deleted file mode 100644
index ddd9d43..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/process.cpp
+++ /dev/null
@@ -1,596 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include "uv.h"
-#include "internal.h"
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <assert.h>
-#include <errno.h>
-
-#include <sys/types.h>
-#include <sys/wait.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <poll.h>
-
-#if defined(__APPLE__) && !TARGET_OS_IPHONE
-# include <crt_externs.h>
-# define environ (*_NSGetEnviron())
-#else
-extern char **environ;
-#endif
-
-#if defined(__linux__) || defined(__GLIBC__)
-# include <grp.h>
-#endif
-
-
-static void uv__chld(uv_signal_t* handle, int signum) {
- uv_process_t* process;
- uv_loop_t* loop;
- int exit_status;
- int term_signal;
- int status;
- pid_t pid;
- QUEUE pending;
- QUEUE* q;
- QUEUE* h;
-
- assert(signum == SIGCHLD);
-
- QUEUE_INIT(&pending);
- loop = handle->loop;
-
- h = &loop->process_handles;
- q = QUEUE_HEAD(h);
- while (q != h) {
- process = QUEUE_DATA(q, uv_process_t, queue);
- q = QUEUE_NEXT(q);
-
- do
- pid = waitpid(process->pid, &status, WNOHANG);
- while (pid == -1 && errno == EINTR);
-
- if (pid == 0)
- continue;
-
- if (pid == -1) {
- if (errno != ECHILD)
- abort();
- continue;
- }
-
- process->status = status;
- QUEUE_REMOVE(&process->queue);
- QUEUE_INSERT_TAIL(&pending, &process->queue);
- }
-
- h = &pending;
- q = QUEUE_HEAD(h);
- while (q != h) {
- process = QUEUE_DATA(q, uv_process_t, queue);
- q = QUEUE_NEXT(q);
-
- QUEUE_REMOVE(&process->queue);
- QUEUE_INIT(&process->queue);
- uv__handle_stop(process);
-
- if (process->exit_cb == NULL)
- continue;
-
- exit_status = 0;
- if (WIFEXITED(process->status))
- exit_status = WEXITSTATUS(process->status);
-
- term_signal = 0;
- if (WIFSIGNALED(process->status))
- term_signal = WTERMSIG(process->status);
-
- process->exit_cb(process, exit_status, term_signal);
- }
- assert(QUEUE_EMPTY(&pending));
-}
-
-
-int uv__make_socketpair(int fds[2], int flags) {
-#if defined(__linux__)
- static int no_cloexec;
-
- if (no_cloexec)
- goto skip;
-
- if (socketpair(AF_UNIX, SOCK_STREAM | UV__SOCK_CLOEXEC | flags, 0, fds) == 0)
- return 0;
-
- /* Retry on EINVAL, it means SOCK_CLOEXEC is not supported.
- * Anything else is a genuine error.
- */
- if (errno != EINVAL)
- return UV__ERR(errno);
-
- no_cloexec = 1;
-
-skip:
-#endif
-
- if (socketpair(AF_UNIX, SOCK_STREAM, 0, fds))
- return UV__ERR(errno);
-
- uv__cloexec(fds[0], 1);
- uv__cloexec(fds[1], 1);
-
- if (flags & UV__F_NONBLOCK) {
- uv__nonblock(fds[0], 1);
- uv__nonblock(fds[1], 1);
- }
-
- return 0;
-}
-
-
-int uv__make_pipe(int fds[2], int flags) {
-#if defined(__linux__)
- static int no_pipe2;
-
- if (no_pipe2)
- goto skip;
-
- if (uv__pipe2(fds, flags | UV__O_CLOEXEC) == 0)
- return 0;
-
- if (errno != ENOSYS)
- return UV__ERR(errno);
-
- no_pipe2 = 1;
-
-skip:
-#endif
-
- if (pipe(fds))
- return UV__ERR(errno);
-
- uv__cloexec(fds[0], 1);
- uv__cloexec(fds[1], 1);
-
- if (flags & UV__F_NONBLOCK) {
- uv__nonblock(fds[0], 1);
- uv__nonblock(fds[1], 1);
- }
-
- return 0;
-}
-
-
-/*
- * Used for initializing stdio streams like options.stdin_stream. Returns
- * zero on success. See also the cleanup section in uv_spawn().
- */
-static int uv__process_init_stdio(uv_stdio_container_t* container, int fds[2]) {
- int mask;
- int fd;
-
- mask = UV_IGNORE | UV_CREATE_PIPE | UV_INHERIT_FD | UV_INHERIT_STREAM;
-
- switch (container->flags & mask) {
- case UV_IGNORE:
- return 0;
-
- case UV_CREATE_PIPE:
- assert(container->data.stream != NULL);
- if (container->data.stream->type != UV_NAMED_PIPE)
- return UV_EINVAL;
- else
- return uv__make_socketpair(fds, 0);
-
- case UV_INHERIT_FD:
- case UV_INHERIT_STREAM:
- if (container->flags & UV_INHERIT_FD)
- fd = container->data.fd;
- else
- fd = uv__stream_fd(container->data.stream);
-
- if (fd == -1)
- return UV_EINVAL;
-
- fds[1] = fd;
- return 0;
-
- default:
- assert(0 && "Unexpected flags");
- return UV_EINVAL;
- }
-}
-
-
-static int uv__process_open_stream(uv_stdio_container_t* container,
- int pipefds[2]) {
- int flags;
- int err;
-
- if (!(container->flags & UV_CREATE_PIPE) || pipefds[0] < 0)
- return 0;
-
- err = uv__close(pipefds[1]);
- if (err != 0)
- abort();
-
- pipefds[1] = -1;
- uv__nonblock(pipefds[0], 1);
-
- flags = 0;
- if (container->flags & UV_WRITABLE_PIPE)
- flags |= UV_STREAM_READABLE;
- if (container->flags & UV_READABLE_PIPE)
- flags |= UV_STREAM_WRITABLE;
-
- return uv__stream_open(container->data.stream, pipefds[0], flags);
-}
-
-
-static void uv__process_close_stream(uv_stdio_container_t* container) {
- if (!(container->flags & UV_CREATE_PIPE)) return;
- uv__stream_close((uv_stream_t*)container->data.stream);
-}
-
-
-static void uv__write_int(int fd, int val) {
- ssize_t n;
-
- do
- n = write(fd, &val, sizeof(val));
- while (n == -1 && errno == EINTR);
-
- if (n == -1 && errno == EPIPE)
- return; /* parent process has quit */
-
- assert(n == sizeof(val));
-}
-
-
-#if !(defined(__APPLE__) && (TARGET_OS_TV || TARGET_OS_WATCH))
-/* execvp is marked __WATCHOS_PROHIBITED __TVOS_PROHIBITED, so must be
- * avoided. Since this isn't called on those targets, the function
- * doesn't even need to be defined for them.
- */
-static void uv__process_child_init(const uv_process_options_t* options,
- int stdio_count,
- int (*pipes)[2],
- int error_fd) {
- sigset_t set;
- int close_fd;
- int use_fd;
- int err;
- int fd;
- int n;
-
- if (options->flags & UV_PROCESS_DETACHED)
- setsid();
-
- /* First duplicate low numbered fds, since it's not safe to duplicate them,
- * they could get replaced. Example: swapping stdout and stderr; without
- * this fd 2 (stderr) would be duplicated into fd 1, thus making both
- * stdout and stderr go to the same fd, which was not the intention. */
- for (fd = 0; fd < stdio_count; fd++) {
- use_fd = pipes[fd][1];
- if (use_fd < 0 || use_fd >= fd)
- continue;
- pipes[fd][1] = fcntl(use_fd, F_DUPFD, stdio_count);
- if (pipes[fd][1] == -1) {
- uv__write_int(error_fd, UV__ERR(errno));
- _exit(127);
- }
- }
-
- for (fd = 0; fd < stdio_count; fd++) {
- close_fd = pipes[fd][0];
- use_fd = pipes[fd][1];
-
- if (use_fd < 0) {
- if (fd >= 3)
- continue;
- else {
- /* redirect stdin, stdout and stderr to /dev/null even if UV_IGNORE is
- * set
- */
- use_fd = open("/dev/null", fd == 0 ? O_RDONLY : O_RDWR);
- close_fd = use_fd;
-
- if (use_fd == -1) {
- uv__write_int(error_fd, UV__ERR(errno));
- _exit(127);
- }
- }
- }
-
- if (fd == use_fd)
- uv__cloexec_fcntl(use_fd, 0);
- else
- fd = dup2(use_fd, fd);
-
- if (fd == -1) {
- uv__write_int(error_fd, UV__ERR(errno));
- _exit(127);
- }
-
- if (fd <= 2)
- uv__nonblock_fcntl(fd, 0);
-
- if (close_fd >= stdio_count)
- uv__close(close_fd);
- }
-
- for (fd = 0; fd < stdio_count; fd++) {
- use_fd = pipes[fd][1];
-
- if (use_fd >= stdio_count)
- uv__close(use_fd);
- }
-
- if (options->cwd != NULL && chdir(options->cwd)) {
- uv__write_int(error_fd, UV__ERR(errno));
- _exit(127);
- }
-
- if (options->flags & (UV_PROCESS_SETUID | UV_PROCESS_SETGID)) {
- /* When dropping privileges from root, the `setgroups` call will
- * remove any extraneous groups. If we don't call this, then
- * even though our uid has dropped, we may still have groups
- * that enable us to do super-user things. This will fail if we
- * aren't root, so don't bother checking the return value, this
- * is just done as an optimistic privilege dropping function.
- */
- SAVE_ERRNO(setgroups(0, NULL));
- }
-
- if ((options->flags & UV_PROCESS_SETGID) && setgid(options->gid)) {
- uv__write_int(error_fd, UV__ERR(errno));
- _exit(127);
- }
-
- if ((options->flags & UV_PROCESS_SETUID) && setuid(options->uid)) {
- uv__write_int(error_fd, UV__ERR(errno));
- _exit(127);
- }
-
- if (options->env != NULL) {
- environ = options->env;
- }
-
- /* Reset signal disposition. Use a hard-coded limit because NSIG
- * is not fixed on Linux: it's either 32, 34 or 64, depending on
- * whether RT signals are enabled. We are not allowed to touch
- * RT signal handlers, glibc uses them internally.
- */
- for (n = 1; n < 32; n += 1) {
- if (n == SIGKILL || n == SIGSTOP)
- continue; /* Can't be changed. */
-
- if (SIG_ERR != signal(n, SIG_DFL))
- continue;
-
- uv__write_int(error_fd, UV__ERR(errno));
- _exit(127);
- }
-
- /* Reset signal mask. */
- sigemptyset(&set);
- err = pthread_sigmask(SIG_SETMASK, &set, NULL);
-
- if (err != 0) {
- uv__write_int(error_fd, UV__ERR(err));
- _exit(127);
- }
-
- execvp(options->file, options->args);
- uv__write_int(error_fd, UV__ERR(errno));
- _exit(127);
-}
-#endif
-
-
-int uv_spawn(uv_loop_t* loop,
- uv_process_t* process,
- const uv_process_options_t* options) {
-#if defined(__APPLE__) && (TARGET_OS_TV || TARGET_OS_WATCH)
- /* fork is marked __WATCHOS_PROHIBITED __TVOS_PROHIBITED. */
- return UV_ENOSYS;
-#else
- int signal_pipe[2] = { -1, -1 };
- int pipes_storage[8][2];
- int (*pipes)[2];
- int stdio_count;
- ssize_t r;
- pid_t pid;
- int err;
- int exec_errorno;
- int i;
- int status;
-
- assert(options->file != NULL);
- assert(!(options->flags & ~(UV_PROCESS_DETACHED |
- UV_PROCESS_SETGID |
- UV_PROCESS_SETUID |
- UV_PROCESS_WINDOWS_HIDE |
- UV_PROCESS_WINDOWS_VERBATIM_ARGUMENTS)));
-
- uv__handle_init(loop, (uv_handle_t*)process, UV_PROCESS);
- QUEUE_INIT(&process->queue);
-
- stdio_count = options->stdio_count;
- if (stdio_count < 3)
- stdio_count = 3;
-
- err = UV_ENOMEM;
- pipes = pipes_storage;
- if (stdio_count > (int) ARRAY_SIZE(pipes_storage))
- pipes = (int (*)[2])uv__malloc(stdio_count * sizeof(*pipes));
-
- if (pipes == NULL)
- goto error;
-
- for (i = 0; i < stdio_count; i++) {
- pipes[i][0] = -1;
- pipes[i][1] = -1;
- }
-
- for (i = 0; i < options->stdio_count; i++) {
- err = uv__process_init_stdio(options->stdio + i, pipes[i]);
- if (err)
- goto error;
- }
-
- /* This pipe is used by the parent to wait until
- * the child has called `execve()`. We need this
- * to avoid the following race condition:
- *
- * if ((pid = fork()) > 0) {
- * kill(pid, SIGTERM);
- * }
- * else if (pid == 0) {
- * execve("/bin/cat", argp, envp);
- * }
- *
- * The parent sends a signal immediately after forking.
- * Since the child may not have called `execve()` yet,
- * there is no telling what process receives the signal,
- * our fork or /bin/cat.
- *
- * To avoid ambiguity, we create a pipe with both ends
- * marked close-on-exec. Then, after the call to `fork()`,
- * the parent polls the read end until it EOFs or errors with EPIPE.
- */
- err = uv__make_pipe(signal_pipe, 0);
- if (err)
- goto error;
-
- uv_signal_start(&loop->child_watcher, uv__chld, SIGCHLD);
-
- /* Acquire write lock to prevent opening new fds in worker threads */
- uv_rwlock_wrlock(&loop->cloexec_lock);
- pid = fork();
-
- if (pid == -1) {
- err = UV__ERR(errno);
- uv_rwlock_wrunlock(&loop->cloexec_lock);
- uv__close(signal_pipe[0]);
- uv__close(signal_pipe[1]);
- goto error;
- }
-
- if (pid == 0) {
- uv__process_child_init(options, stdio_count, pipes, signal_pipe[1]);
- abort();
- }
-
- /* Release lock in parent process */
- uv_rwlock_wrunlock(&loop->cloexec_lock);
- uv__close(signal_pipe[1]);
-
- process->status = 0;
- exec_errorno = 0;
- do
- r = read(signal_pipe[0], &exec_errorno, sizeof(exec_errorno));
- while (r == -1 && errno == EINTR);
-
- if (r == 0)
- ; /* okay, EOF */
- else if (r == sizeof(exec_errorno)) {
- do
- err = waitpid(pid, &status, 0); /* okay, read errorno */
- while (err == -1 && errno == EINTR);
- assert(err == pid);
- } else if (r == -1 && errno == EPIPE) {
- do
- err = waitpid(pid, &status, 0); /* okay, got EPIPE */
- while (err == -1 && errno == EINTR);
- assert(err == pid);
- } else
- abort();
-
- uv__close_nocheckstdio(signal_pipe[0]);
-
- for (i = 0; i < options->stdio_count; i++) {
- err = uv__process_open_stream(options->stdio + i, pipes[i]);
- if (err == 0)
- continue;
-
- while (i--)
- uv__process_close_stream(options->stdio + i);
-
- goto error;
- }
-
- /* Only activate this handle if exec() happened successfully */
- if (exec_errorno == 0) {
- QUEUE_INSERT_TAIL(&loop->process_handles, &process->queue);
- uv__handle_start(process);
- }
-
- process->pid = pid;
- process->exit_cb = options->exit_cb;
-
- if (pipes != pipes_storage)
- uv__free(pipes);
-
- return exec_errorno;
-
-error:
- if (pipes != NULL) {
- for (i = 0; i < stdio_count; i++) {
- if (i < options->stdio_count)
- if (options->stdio[i].flags & (UV_INHERIT_FD | UV_INHERIT_STREAM))
- continue;
- if (pipes[i][0] != -1)
- uv__close_nocheckstdio(pipes[i][0]);
- if (pipes[i][1] != -1)
- uv__close_nocheckstdio(pipes[i][1]);
- }
-
- if (pipes != pipes_storage)
- uv__free(pipes);
- }
-
- return err;
-#endif
-}
-
-
-int uv_process_kill(uv_process_t* process, int signum) {
- return uv_kill(process->pid, signum);
-}
-
-
-int uv_kill(int pid, int signum) {
- if (kill(pid, signum))
- return UV__ERR(errno);
- else
- return 0;
-}
-
-
-void uv__process_close(uv_process_t* handle) {
- QUEUE_REMOVE(&handle->queue);
- uv__handle_stop(handle);
- if (QUEUE_EMPTY(&handle->loop->process_handles))
- uv_signal_stop(&handle->loop->child_watcher);
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/proctitle.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/proctitle.cpp
deleted file mode 100644
index 25bec48..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/proctitle.cpp
+++ /dev/null
@@ -1,132 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include "uv.h"
-#include "internal.h"
-
-#include <stdlib.h>
-#include <string.h>
-
-extern void uv__set_process_title(const char* title);
-
-static uv_mutex_t process_title_mutex;
-static uv_once_t process_title_mutex_once = UV_ONCE_INIT;
-static void* args_mem;
-
-static struct {
- char* str;
- size_t len;
-} process_title;
-
-
-static void init_process_title_mutex_once(void) {
- uv_mutex_init(&process_title_mutex);
-}
-
-
-char** uv_setup_args(int argc, char** argv) {
- char** new_argv;
- size_t size;
- char* s;
- int i;
-
- if (argc <= 0)
- return argv;
-
- /* Calculate how much memory we need for the argv strings. */
- size = 0;
- for (i = 0; i < argc; i++)
- size += strlen(argv[i]) + 1;
-
-#if defined(__MVS__)
- /* argv is not adjacent. So just use argv[0] */
- process_title.str = argv[0];
- process_title.len = strlen(argv[0]);
-#else
- process_title.str = argv[0];
- process_title.len = argv[argc - 1] + strlen(argv[argc - 1]) - argv[0];
- assert(process_title.len + 1 == size); /* argv memory should be adjacent. */
-#endif
-
- /* Add space for the argv pointers. */
- size += (argc + 1) * sizeof(char*);
-
- new_argv = (char**)uv__malloc(size);
- if (new_argv == NULL)
- return argv;
- args_mem = new_argv;
-
- /* Copy over the strings and set up the pointer table. */
- s = (char*) &new_argv[argc + 1];
- for (i = 0; i < argc; i++) {
- size = strlen(argv[i]) + 1;
- memcpy(s, argv[i], size);
- new_argv[i] = s;
- s += size;
- }
- new_argv[i] = NULL;
-
- return new_argv;
-}
-
-
-int uv_set_process_title(const char* title) {
- uv_once(&process_title_mutex_once, init_process_title_mutex_once);
- uv_mutex_lock(&process_title_mutex);
-
- if (process_title.len != 0) {
- /* No need to terminate, byte after is always '\0'. */
- strncpy(process_title.str, title, process_title.len);
- uv__set_process_title(title);
- }
-
- uv_mutex_unlock(&process_title_mutex);
-
- return 0;
-}
-
-
-int uv_get_process_title(char* buffer, size_t size) {
- if (buffer == NULL || size == 0)
- return UV_EINVAL;
-
- uv_once(&process_title_mutex_once, init_process_title_mutex_once);
- uv_mutex_lock(&process_title_mutex);
-
- if (size <= process_title.len) {
- uv_mutex_unlock(&process_title_mutex);
- return UV_ENOBUFS;
- }
-
- if (process_title.len != 0)
- memcpy(buffer, process_title.str, process_title.len + 1);
-
- buffer[process_title.len] = '\0';
-
- uv_mutex_unlock(&process_title_mutex);
-
- return 0;
-}
-
-
-UV_DESTRUCTOR(static void free_args_mem(void)) {
- uv__free(args_mem); /* Keep valgrind happy. */
- args_mem = NULL;
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/signal.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/signal.cpp
deleted file mode 100644
index 8da08b8..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/signal.cpp
+++ /dev/null
@@ -1,573 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include "uv.h"
-#include "internal.h"
-
-#include <assert.h>
-#include <errno.h>
-#include <signal.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-
-#ifndef SA_RESTART
-# define SA_RESTART 0
-#endif
-
-typedef struct {
- uv_signal_t* handle;
- int signum;
-} uv__signal_msg_t;
-
-RB_HEAD(uv__signal_tree_s, uv_signal_s);
-
-
-static int uv__signal_unlock(void);
-static int uv__signal_start(uv_signal_t* handle,
- uv_signal_cb signal_cb,
- int signum,
- int oneshot);
-static void uv__signal_event(uv_loop_t* loop, uv__io_t* w, unsigned int events);
-static int uv__signal_compare(uv_signal_t* w1, uv_signal_t* w2);
-static void uv__signal_stop(uv_signal_t* handle);
-static void uv__signal_unregister_handler(int signum);
-
-
-static uv_once_t uv__signal_global_init_guard = UV_ONCE_INIT;
-static struct uv__signal_tree_s uv__signal_tree =
- RB_INITIALIZER(uv__signal_tree);
-static int uv__signal_lock_pipefd[2] = { -1, -1 };
-
-RB_GENERATE_STATIC(uv__signal_tree_s,
- uv_signal_s, tree_entry,
- uv__signal_compare)
-
-static void uv__signal_global_reinit(void);
-
-static void uv__signal_global_init(void) {
- if (uv__signal_lock_pipefd[0] == -1)
- /* pthread_atfork can register before and after handlers, one
- * for each child. This only registers one for the child. That
- * state is both persistent and cumulative, so if we keep doing
- * it the handler functions will be called multiple times. Thus
- * we only want to do it once.
- */
- if (pthread_atfork(NULL, NULL, &uv__signal_global_reinit))
- abort();
-
- uv__signal_global_reinit();
-}
-
-
-UV_DESTRUCTOR(static void uv__signal_global_fini(void)) {
- /* We can only use signal-safe functions here.
- * That includes read/write and close, fortunately.
- * We do all of this directly here instead of resetting
- * uv__signal_global_init_guard because
- * uv__signal_global_once_init is only called from uv_loop_init
- * and this needs to function in existing loops.
- */
- if (uv__signal_lock_pipefd[0] != -1) {
- uv__close(uv__signal_lock_pipefd[0]);
- uv__signal_lock_pipefd[0] = -1;
- }
-
- if (uv__signal_lock_pipefd[1] != -1) {
- uv__close(uv__signal_lock_pipefd[1]);
- uv__signal_lock_pipefd[1] = -1;
- }
-}
-
-
-static void uv__signal_global_reinit(void) {
- uv__signal_global_fini();
-
- if (uv__make_pipe(uv__signal_lock_pipefd, 0))
- abort();
-
- if (uv__signal_unlock())
- abort();
-}
-
-
-void uv__signal_global_once_init(void) {
- uv_once(&uv__signal_global_init_guard, uv__signal_global_init);
-}
-
-
-static int uv__signal_lock(void) {
- int r;
- char data;
-
- do {
- r = read(uv__signal_lock_pipefd[0], &data, sizeof data);
- } while (r < 0 && errno == EINTR);
-
- return (r < 0) ? -1 : 0;
-}
-
-
-static int uv__signal_unlock(void) {
- int r;
- char data = 42;
-
- do {
- r = write(uv__signal_lock_pipefd[1], &data, sizeof data);
- } while (r < 0 && errno == EINTR);
-
- return (r < 0) ? -1 : 0;
-}
-
-
-static void uv__signal_block_and_lock(sigset_t* saved_sigmask) {
- sigset_t new_mask;
-
- if (sigfillset(&new_mask))
- abort();
-
- if (pthread_sigmask(SIG_SETMASK, &new_mask, saved_sigmask))
- abort();
-
- if (uv__signal_lock())
- abort();
-}
-
-
-static void uv__signal_unlock_and_unblock(sigset_t* saved_sigmask) {
- if (uv__signal_unlock())
- abort();
-
- if (pthread_sigmask(SIG_SETMASK, saved_sigmask, NULL))
- abort();
-}
-
-
-static uv_signal_t* uv__signal_first_handle(int signum) {
- /* This function must be called with the signal lock held. */
- uv_signal_t lookup;
- uv_signal_t* handle;
-
- lookup.signum = signum;
- lookup.flags = 0;
- lookup.loop = NULL;
-
- handle = RB_NFIND(uv__signal_tree_s, &uv__signal_tree, &lookup);
-
- if (handle != NULL && handle->signum == signum)
- return handle;
-
- return NULL;
-}
-
-
-static void uv__signal_handler(int signum) {
- uv__signal_msg_t msg;
- uv_signal_t* handle;
- int saved_errno;
-
- saved_errno = errno;
- memset(&msg, 0, sizeof msg);
-
- if (uv__signal_lock()) {
- errno = saved_errno;
- return;
- }
-
- for (handle = uv__signal_first_handle(signum);
- handle != NULL && handle->signum == signum;
- handle = RB_NEXT(uv__signal_tree_s, &uv__signal_tree, handle)) {
- int r;
-
- msg.signum = signum;
- msg.handle = handle;
-
- /* write() should be atomic for small data chunks, so the entire message
- * should be written at once. In theory the pipe could become full, in
- * which case the user is out of luck.
- */
- do {
- r = write(handle->loop->signal_pipefd[1], &msg, sizeof msg);
- } while (r == -1 && errno == EINTR);
-
- assert(r == sizeof msg ||
- (r == -1 && (errno == EAGAIN || errno == EWOULDBLOCK)));
-
- if (r != -1)
- handle->caught_signals++;
- }
-
- uv__signal_unlock();
- errno = saved_errno;
-}
-
-
-static int uv__signal_register_handler(int signum, int oneshot) {
- /* When this function is called, the signal lock must be held. */
- struct sigaction sa;
-
- /* XXX use a separate signal stack? */
- memset(&sa, 0, sizeof(sa));
- if (sigfillset(&sa.sa_mask))
- abort();
- sa.sa_handler = uv__signal_handler;
- sa.sa_flags = SA_RESTART;
- if (oneshot)
- sa.sa_flags |= SA_RESETHAND;
-
- /* XXX save old action so we can restore it later on? */
- if (sigaction(signum, &sa, NULL))
- return UV__ERR(errno);
-
- return 0;
-}
-
-
-static void uv__signal_unregister_handler(int signum) {
- /* When this function is called, the signal lock must be held. */
- struct sigaction sa;
-
- memset(&sa, 0, sizeof(sa));
- sa.sa_handler = SIG_DFL;
-
- /* sigaction can only fail with EINVAL or EFAULT; an attempt to deregister a
- * signal implies that it was successfully registered earlier, so EINVAL
- * should never happen.
- */
- if (sigaction(signum, &sa, NULL))
- abort();
-}
-
-
-static int uv__signal_loop_once_init(uv_loop_t* loop) {
- int err;
-
- /* Return if already initialized. */
- if (loop->signal_pipefd[0] != -1)
- return 0;
-
- err = uv__make_pipe(loop->signal_pipefd, UV__F_NONBLOCK);
- if (err)
- return err;
-
- uv__io_init(&loop->signal_io_watcher,
- uv__signal_event,
- loop->signal_pipefd[0]);
- uv__io_start(loop, &loop->signal_io_watcher, POLLIN);
-
- return 0;
-}
-
-
-int uv__signal_loop_fork(uv_loop_t* loop) {
- uv__io_stop(loop, &loop->signal_io_watcher, POLLIN);
- uv__close(loop->signal_pipefd[0]);
- uv__close(loop->signal_pipefd[1]);
- loop->signal_pipefd[0] = -1;
- loop->signal_pipefd[1] = -1;
- return uv__signal_loop_once_init(loop);
-}
-
-
-void uv__signal_loop_cleanup(uv_loop_t* loop) {
- QUEUE* q;
-
- /* Stop all the signal watchers that are still attached to this loop. This
- * ensures that the (shared) signal tree doesn't contain any invalid entries
- * entries, and that signal handlers are removed when appropriate.
- * It's safe to use QUEUE_FOREACH here because the handles and the handle
- * queue are not modified by uv__signal_stop().
- */
- QUEUE_FOREACH(q, &loop->handle_queue) {
- uv_handle_t* handle = QUEUE_DATA(q, uv_handle_t, handle_queue);
-
- if (handle->type == UV_SIGNAL)
- uv__signal_stop((uv_signal_t*) handle);
- }
-
- if (loop->signal_pipefd[0] != -1) {
- uv__close(loop->signal_pipefd[0]);
- loop->signal_pipefd[0] = -1;
- }
-
- if (loop->signal_pipefd[1] != -1) {
- uv__close(loop->signal_pipefd[1]);
- loop->signal_pipefd[1] = -1;
- }
-}
-
-
-int uv_signal_init(uv_loop_t* loop, uv_signal_t* handle) {
- int err;
-
- err = uv__signal_loop_once_init(loop);
- if (err)
- return err;
-
- uv__handle_init(loop, (uv_handle_t*) handle, UV_SIGNAL);
- handle->signum = 0;
- handle->caught_signals = 0;
- handle->dispatched_signals = 0;
-
- return 0;
-}
-
-
-void uv__signal_close(uv_signal_t* handle) {
-
- uv__signal_stop(handle);
-
- /* If there are any caught signals "trapped" in the signal pipe, we can't
- * call the close callback yet. Otherwise, add the handle to the finish_close
- * queue.
- */
- if (handle->caught_signals == handle->dispatched_signals) {
- uv__make_close_pending((uv_handle_t*) handle);
- }
-}
-
-
-int uv_signal_start(uv_signal_t* handle, uv_signal_cb signal_cb, int signum) {
- return uv__signal_start(handle, signal_cb, signum, 0);
-}
-
-
-int uv_signal_start_oneshot(uv_signal_t* handle,
- uv_signal_cb signal_cb,
- int signum) {
- return uv__signal_start(handle, signal_cb, signum, 1);
-}
-
-
-static int uv__signal_start(uv_signal_t* handle,
- uv_signal_cb signal_cb,
- int signum,
- int oneshot) {
- sigset_t saved_sigmask;
- int err;
- uv_signal_t* first_handle;
-
- assert(!uv__is_closing(handle));
-
- /* If the user supplies signum == 0, then return an error already. If the
- * signum is otherwise invalid then uv__signal_register will find out
- * eventually.
- */
- if (signum == 0)
- return UV_EINVAL;
-
- /* Short circuit: if the signal watcher is already watching {signum} don't
- * go through the process of deregistering and registering the handler.
- * Additionally, this avoids pending signals getting lost in the small time
- * time frame that handle->signum == 0.
- */
- if (signum == handle->signum) {
- handle->signal_cb = signal_cb;
- return 0;
- }
-
- /* If the signal handler was already active, stop it first. */
- if (handle->signum != 0) {
- uv__signal_stop(handle);
- }
-
- uv__signal_block_and_lock(&saved_sigmask);
-
- /* If at this point there are no active signal watchers for this signum (in
- * any of the loops), it's time to try and register a handler for it here.
- * Also in case there's only one-shot handlers and a regular handler comes in.
- */
- first_handle = uv__signal_first_handle(signum);
- if (first_handle == NULL ||
- (!oneshot && (first_handle->flags & UV__SIGNAL_ONE_SHOT))) {
- err = uv__signal_register_handler(signum, oneshot);
- if (err) {
- /* Registering the signal handler failed. Must be an invalid signal. */
- uv__signal_unlock_and_unblock(&saved_sigmask);
- return err;
- }
- }
-
- handle->signum = signum;
- if (oneshot)
- handle->flags |= UV__SIGNAL_ONE_SHOT;
-
- RB_INSERT(uv__signal_tree_s, &uv__signal_tree, handle);
-
- uv__signal_unlock_and_unblock(&saved_sigmask);
-
- handle->signal_cb = signal_cb;
- uv__handle_start(handle);
-
- return 0;
-}
-
-
-static void uv__signal_event(uv_loop_t* loop,
- uv__io_t* w,
- unsigned int events) {
- uv__signal_msg_t* msg;
- uv_signal_t* handle;
- char buf[sizeof(uv__signal_msg_t) * 32];
- size_t bytes, end, i;
- int r;
-
- bytes = 0;
- end = 0;
-
- do {
- r = read(loop->signal_pipefd[0], buf + bytes, sizeof(buf) - bytes);
-
- if (r == -1 && errno == EINTR)
- continue;
-
- if (r == -1 && (errno == EAGAIN || errno == EWOULDBLOCK)) {
- /* If there are bytes in the buffer already (which really is extremely
- * unlikely if possible at all) we can't exit the function here. We'll
- * spin until more bytes are read instead.
- */
- if (bytes > 0)
- continue;
-
- /* Otherwise, there was nothing there. */
- return;
- }
-
- /* Other errors really should never happen. */
- if (r == -1)
- abort();
-
- bytes += r;
-
- /* `end` is rounded down to a multiple of sizeof(uv__signal_msg_t). */
- end = (bytes / sizeof(uv__signal_msg_t)) * sizeof(uv__signal_msg_t);
-
- for (i = 0; i < end; i += sizeof(uv__signal_msg_t)) {
- msg = (uv__signal_msg_t*) (buf + i);
- handle = msg->handle;
-
- if (msg->signum == handle->signum) {
- assert(!(handle->flags & UV_CLOSING));
- handle->signal_cb(handle, handle->signum);
- }
-
- handle->dispatched_signals++;
-
- if (handle->flags & UV__SIGNAL_ONE_SHOT)
- uv__signal_stop(handle);
-
- /* If uv_close was called while there were caught signals that were not
- * yet dispatched, the uv__finish_close was deferred. Make close pending
- * now if this has happened.
- */
- if ((handle->flags & UV_CLOSING) &&
- (handle->caught_signals == handle->dispatched_signals)) {
- uv__make_close_pending((uv_handle_t*) handle);
- }
- }
-
- bytes -= end;
-
- /* If there are any "partial" messages left, move them to the start of the
- * the buffer, and spin. This should not happen.
- */
- if (bytes) {
- memmove(buf, buf + end, bytes);
- continue;
- }
- } while (end == sizeof buf);
-}
-
-
-static int uv__signal_compare(uv_signal_t* w1, uv_signal_t* w2) {
- int f1;
- int f2;
- /* Compare signums first so all watchers with the same signnum end up
- * adjacent.
- */
- if (w1->signum < w2->signum) return -1;
- if (w1->signum > w2->signum) return 1;
-
- /* Handlers without UV__SIGNAL_ONE_SHOT set will come first, so if the first
- * handler returned is a one-shot handler, the rest will be too.
- */
- f1 = w1->flags & UV__SIGNAL_ONE_SHOT;
- f2 = w2->flags & UV__SIGNAL_ONE_SHOT;
- if (f1 < f2) return -1;
- if (f1 > f2) return 1;
-
- /* Sort by loop pointer, so we can easily look up the first item after
- * { .signum = x, .loop = NULL }.
- */
- if (w1->loop < w2->loop) return -1;
- if (w1->loop > w2->loop) return 1;
-
- if (w1 < w2) return -1;
- if (w1 > w2) return 1;
-
- return 0;
-}
-
-
-int uv_signal_stop(uv_signal_t* handle) {
- assert(!uv__is_closing(handle));
- uv__signal_stop(handle);
- return 0;
-}
-
-
-static void uv__signal_stop(uv_signal_t* handle) {
- uv_signal_t* removed_handle;
- sigset_t saved_sigmask;
- uv_signal_t* first_handle;
- int rem_oneshot;
- int first_oneshot;
- int ret;
-
- /* If the watcher wasn't started, this is a no-op. */
- if (handle->signum == 0)
- return;
-
- uv__signal_block_and_lock(&saved_sigmask);
-
- removed_handle = RB_REMOVE(uv__signal_tree_s, &uv__signal_tree, handle);
- assert(removed_handle == handle);
- (void) removed_handle;
-
- /* Check if there are other active signal watchers observing this signal. If
- * not, unregister the signal handler.
- */
- first_handle = uv__signal_first_handle(handle->signum);
- if (first_handle == NULL) {
- uv__signal_unregister_handler(handle->signum);
- } else {
- rem_oneshot = handle->flags & UV__SIGNAL_ONE_SHOT;
- first_oneshot = first_handle->flags & UV__SIGNAL_ONE_SHOT;
- if (first_oneshot && !rem_oneshot) {
- ret = uv__signal_register_handler(handle->signum, 1);
- assert(ret == 0);
- }
- }
-
- uv__signal_unlock_and_unblock(&saved_sigmask);
-
- handle->signum = 0;
- uv__handle_stop(handle);
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/stream.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/stream.cpp
deleted file mode 100644
index fd61d82..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/stream.cpp
+++ /dev/null
@@ -1,1704 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include "uv.h"
-#include "internal.h"
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <assert.h>
-#include <errno.h>
-
-#include <sys/types.h>
-#include <sys/socket.h>
-#include <sys/uio.h>
-#include <sys/un.h>
-#include <unistd.h>
-#include <limits.h> /* IOV_MAX */
-
-#if defined(__APPLE__)
-# include <sys/event.h>
-# include <sys/time.h>
-# include <sys/select.h>
-
-/* Forward declaration */
-typedef struct uv__stream_select_s uv__stream_select_t;
-
-struct uv__stream_select_s {
- uv_stream_t* stream;
- uv_thread_t thread;
- uv_sem_t close_sem;
- uv_sem_t async_sem;
- uv_async_t async;
- int events;
- int fake_fd;
- int int_fd;
- int fd;
- fd_set* sread;
- size_t sread_sz;
- fd_set* swrite;
- size_t swrite_sz;
-};
-# define WRITE_RETRY_ON_ERROR(send_handle) \
- (errno == EAGAIN || errno == EWOULDBLOCK || errno == ENOBUFS || \
- (errno == EMSGSIZE && send_handle))
-#else
-# define WRITE_RETRY_ON_ERROR(send_handle) \
- (errno == EAGAIN || errno == EWOULDBLOCK || errno == ENOBUFS)
-#endif /* defined(__APPLE__) */
-
-static void uv__stream_connect(uv_stream_t*);
-static void uv__write(uv_stream_t* stream);
-static void uv__read(uv_stream_t* stream);
-static void uv__stream_io(uv_loop_t* loop, uv__io_t* w, unsigned int events);
-static void uv__write_callbacks(uv_stream_t* stream);
-static size_t uv__write_req_size(uv_write_t* req);
-
-
-void uv__stream_init(uv_loop_t* loop,
- uv_stream_t* stream,
- uv_handle_type type) {
- int err;
-
- uv__handle_init(loop, (uv_handle_t*)stream, type);
- stream->read_cb = NULL;
- stream->alloc_cb = NULL;
- stream->close_cb = NULL;
- stream->connection_cb = NULL;
- stream->connect_req = NULL;
- stream->shutdown_req = NULL;
- stream->accepted_fd = -1;
- stream->queued_fds = NULL;
- stream->delayed_error = 0;
- QUEUE_INIT(&stream->write_queue);
- QUEUE_INIT(&stream->write_completed_queue);
- stream->write_queue_size = 0;
-
- if (loop->emfile_fd == -1) {
- err = uv__open_cloexec("/dev/null", O_RDONLY);
- if (err < 0)
- /* In the rare case that "/dev/null" isn't mounted open "/"
- * instead.
- */
- err = uv__open_cloexec("/", O_RDONLY);
- if (err >= 0)
- loop->emfile_fd = err;
- }
-
-#if defined(__APPLE__)
- stream->select = NULL;
-#endif /* defined(__APPLE_) */
-
- uv__io_init(&stream->io_watcher, uv__stream_io, -1);
-}
-
-
-static void uv__stream_osx_interrupt_select(uv_stream_t* stream) {
-#if defined(__APPLE__)
- /* Notify select() thread about state change */
- uv__stream_select_t* s;
- int r;
-
- s = (uv__stream_select_t*)stream->select;
- if (s == NULL)
- return;
-
- /* Interrupt select() loop
- * NOTE: fake_fd and int_fd are socketpair(), thus writing to one will
- * emit read event on other side
- */
- do
- r = write(s->fake_fd, "x", 1);
- while (r == -1 && errno == EINTR);
-
- assert(r == 1);
-#else /* !defined(__APPLE__) */
- /* No-op on any other platform */
-#endif /* !defined(__APPLE__) */
-}
-
-
-#if defined(__APPLE__)
-static void uv__stream_osx_select(void* arg) {
- uv_stream_t* stream;
- uv__stream_select_t* s;
- char buf[1024];
- int events;
- int fd;
- int r;
- int max_fd;
-
- stream = (uv_stream_t*)arg;
- s = (uv__stream_select_t*)stream->select;
- fd = s->fd;
-
- if (fd > s->int_fd)
- max_fd = fd;
- else
- max_fd = s->int_fd;
-
- while (1) {
- /* Terminate on semaphore */
- if (uv_sem_trywait(&s->close_sem) == 0)
- break;
-
- /* Watch fd using select(2) */
- memset(s->sread, 0, s->sread_sz);
- memset(s->swrite, 0, s->swrite_sz);
-
- if (uv__io_active(&stream->io_watcher, POLLIN))
- FD_SET(fd, s->sread);
- if (uv__io_active(&stream->io_watcher, POLLOUT))
- FD_SET(fd, s->swrite);
- FD_SET(s->int_fd, s->sread);
-
- /* Wait indefinitely for fd events */
- r = select(max_fd + 1, s->sread, s->swrite, NULL, NULL);
- if (r == -1) {
- if (errno == EINTR)
- continue;
-
- /* XXX: Possible?! */
- abort();
- }
-
- /* Ignore timeouts */
- if (r == 0)
- continue;
-
- /* Empty socketpair's buffer in case of interruption */
- if (FD_ISSET(s->int_fd, s->sread))
- while (1) {
- r = read(s->int_fd, buf, sizeof(buf));
-
- if (r == sizeof(buf))
- continue;
-
- if (r != -1)
- break;
-
- if (errno == EAGAIN || errno == EWOULDBLOCK)
- break;
-
- if (errno == EINTR)
- continue;
-
- abort();
- }
-
- /* Handle events */
- events = 0;
- if (FD_ISSET(fd, s->sread))
- events |= POLLIN;
- if (FD_ISSET(fd, s->swrite))
- events |= POLLOUT;
-
- assert(events != 0 || FD_ISSET(s->int_fd, s->sread));
- if (events != 0) {
- ACCESS_ONCE(int, s->events) = events;
-
- uv_async_send(&s->async);
- uv_sem_wait(&s->async_sem);
-
- /* Should be processed at this stage */
- assert((s->events == 0) || (stream->flags & UV_CLOSING));
- }
- }
-}
-
-
-static void uv__stream_osx_select_cb(uv_async_t* handle) {
- uv__stream_select_t* s;
- uv_stream_t* stream;
- int events;
-
- s = container_of(handle, uv__stream_select_t, async);
- stream = s->stream;
-
- /* Get and reset stream's events */
- events = s->events;
- ACCESS_ONCE(int, s->events) = 0;
-
- assert(events != 0);
- assert(events == (events & (POLLIN | POLLOUT)));
-
- /* Invoke callback on event-loop */
- if ((events & POLLIN) && uv__io_active(&stream->io_watcher, POLLIN))
- uv__stream_io(stream->loop, &stream->io_watcher, POLLIN);
-
- if ((events & POLLOUT) && uv__io_active(&stream->io_watcher, POLLOUT))
- uv__stream_io(stream->loop, &stream->io_watcher, POLLOUT);
-
- if (stream->flags & UV_CLOSING)
- return;
-
- /* NOTE: It is important to do it here, otherwise `select()` might be called
- * before the actual `uv__read()`, leading to the blocking syscall
- */
- uv_sem_post(&s->async_sem);
-}
-
-
-static void uv__stream_osx_cb_close(uv_handle_t* async) {
- uv__stream_select_t* s;
-
- s = container_of(async, uv__stream_select_t, async);
- uv__free(s);
-}
-
-
-int uv__stream_try_select(uv_stream_t* stream, int* fd) {
- /*
- * kqueue doesn't work with some files from /dev mount on osx.
- * select(2) in separate thread for those fds
- */
-
- struct kevent filter[1];
- struct kevent events[1];
- struct timespec timeout;
- uv__stream_select_t* s;
- int fds[2];
- int err;
- int ret;
- int kq;
- int old_fd;
- int max_fd;
- size_t sread_sz;
- size_t swrite_sz;
-
- kq = kqueue();
- if (kq == -1) {
- perror("(libuv) kqueue()");
- return UV__ERR(errno);
- }
-
- EV_SET(&filter[0], *fd, EVFILT_READ, EV_ADD | EV_ENABLE, 0, 0, 0);
-
- /* Use small timeout, because we only want to capture EINVALs */
- timeout.tv_sec = 0;
- timeout.tv_nsec = 1;
-
- do
- ret = kevent(kq, filter, 1, events, 1, &timeout);
- while (ret == -1 && errno == EINTR);
-
- uv__close(kq);
-
- if (ret == -1)
- return UV__ERR(errno);
-
- if (ret == 0 || (events[0].flags & EV_ERROR) == 0 || events[0].data != EINVAL)
- return 0;
-
- /* At this point we definitely know that this fd won't work with kqueue */
-
- /*
- * Create fds for io watcher and to interrupt the select() loop.
- * NOTE: do it ahead of malloc below to allocate enough space for fd_sets
- */
- if (socketpair(AF_UNIX, SOCK_STREAM, 0, fds))
- return UV__ERR(errno);
-
- max_fd = *fd;
- if (fds[1] > max_fd)
- max_fd = fds[1];
-
- sread_sz = ROUND_UP(max_fd + 1, sizeof(uint32_t) * NBBY) / NBBY;
- swrite_sz = sread_sz;
-
- s = (uv__stream_select_t*)uv__malloc(sizeof(*s) + sread_sz + swrite_sz);
- if (s == NULL) {
- err = UV_ENOMEM;
- goto failed_malloc;
- }
-
- s->events = 0;
- s->fd = *fd;
- s->sread = (fd_set*) ((char*) s + sizeof(*s));
- s->sread_sz = sread_sz;
- s->swrite = (fd_set*) ((char*) s->sread + sread_sz);
- s->swrite_sz = swrite_sz;
-
- err = uv_async_init(stream->loop, &s->async, uv__stream_osx_select_cb);
- if (err)
- goto failed_async_init;
-
- s->async.flags |= UV__HANDLE_INTERNAL;
- uv__handle_unref(&s->async);
-
- err = uv_sem_init(&s->close_sem, 0);
- if (err != 0)
- goto failed_close_sem_init;
-
- err = uv_sem_init(&s->async_sem, 0);
- if (err != 0)
- goto failed_async_sem_init;
-
- s->fake_fd = fds[0];
- s->int_fd = fds[1];
-
- old_fd = *fd;
- s->stream = stream;
- stream->select = s;
- *fd = s->fake_fd;
-
- err = uv_thread_create(&s->thread, uv__stream_osx_select, stream);
- if (err != 0)
- goto failed_thread_create;
-
- return 0;
-
-failed_thread_create:
- s->stream = NULL;
- stream->select = NULL;
- *fd = old_fd;
-
- uv_sem_destroy(&s->async_sem);
-
-failed_async_sem_init:
- uv_sem_destroy(&s->close_sem);
-
-failed_close_sem_init:
- uv__close(fds[0]);
- uv__close(fds[1]);
- uv_close((uv_handle_t*) &s->async, uv__stream_osx_cb_close);
- return err;
-
-failed_async_init:
- uv__free(s);
-
-failed_malloc:
- uv__close(fds[0]);
- uv__close(fds[1]);
-
- return err;
-}
-#endif /* defined(__APPLE__) */
-
-
-int uv__stream_open(uv_stream_t* stream, int fd, int flags) {
-#if defined(__APPLE__)
- int enable;
-#endif
-
- if (!(stream->io_watcher.fd == -1 || stream->io_watcher.fd == fd))
- return UV_EBUSY;
-
- assert(fd >= 0);
- stream->flags |= flags;
-
- if (stream->type == UV_TCP) {
- if ((stream->flags & UV_TCP_NODELAY) && uv__tcp_nodelay(fd, 1))
- return UV__ERR(errno);
-
- /* TODO Use delay the user passed in. */
- if ((stream->flags & UV_TCP_KEEPALIVE) && uv__tcp_keepalive(fd, 1, 60))
- return UV__ERR(errno);
- }
-
-#if defined(__APPLE__)
- enable = 1;
- if (setsockopt(fd, SOL_SOCKET, SO_OOBINLINE, &enable, sizeof(enable)) &&
- errno != ENOTSOCK &&
- errno != EINVAL) {
- return UV__ERR(errno);
- }
-#endif
-
- stream->io_watcher.fd = fd;
-
- return 0;
-}
-
-
-void uv__stream_flush_write_queue(uv_stream_t* stream, int error) {
- uv_write_t* req;
- QUEUE* q;
- while (!QUEUE_EMPTY(&stream->write_queue)) {
- q = QUEUE_HEAD(&stream->write_queue);
- QUEUE_REMOVE(q);
-
- req = QUEUE_DATA(q, uv_write_t, queue);
- req->error = error;
-
- QUEUE_INSERT_TAIL(&stream->write_completed_queue, &req->queue);
- }
-}
-
-
-void uv__stream_destroy(uv_stream_t* stream) {
- assert(!uv__io_active(&stream->io_watcher, POLLIN | POLLOUT));
- assert(stream->flags & UV_CLOSED);
-
- if (stream->connect_req) {
- uv__req_unregister(stream->loop, stream->connect_req);
- stream->connect_req->cb(stream->connect_req, UV_ECANCELED);
- stream->connect_req = NULL;
- }
-
- uv__stream_flush_write_queue(stream, UV_ECANCELED);
- uv__write_callbacks(stream);
-
- if (stream->shutdown_req) {
- /* The ECANCELED error code is a lie, the shutdown(2) syscall is a
- * fait accompli at this point. Maybe we should revisit this in v0.11.
- * A possible reason for leaving it unchanged is that it informs the
- * callee that the handle has been destroyed.
- */
- uv__req_unregister(stream->loop, stream->shutdown_req);
- stream->shutdown_req->cb(stream->shutdown_req, UV_ECANCELED);
- stream->shutdown_req = NULL;
- }
-
- assert(stream->write_queue_size == 0);
-}
-
-
-/* Implements a best effort approach to mitigating accept() EMFILE errors.
- * We have a spare file descriptor stashed away that we close to get below
- * the EMFILE limit. Next, we accept all pending connections and close them
- * immediately to signal the clients that we're overloaded - and we are, but
- * we still keep on trucking.
- *
- * There is one caveat: it's not reliable in a multi-threaded environment.
- * The file descriptor limit is per process. Our party trick fails if another
- * thread opens a file or creates a socket in the time window between us
- * calling close() and accept().
- */
-static int uv__emfile_trick(uv_loop_t* loop, int accept_fd) {
- int err;
- int emfile_fd;
-
- if (loop->emfile_fd == -1)
- return UV_EMFILE;
-
- uv__close(loop->emfile_fd);
- loop->emfile_fd = -1;
-
- do {
- err = uv__accept(accept_fd);
- if (err >= 0)
- uv__close(err);
- } while (err >= 0 || err == UV_EINTR);
-
- emfile_fd = uv__open_cloexec("/", O_RDONLY);
- if (emfile_fd >= 0)
- loop->emfile_fd = emfile_fd;
-
- return err;
-}
-
-
-#if defined(UV_HAVE_KQUEUE)
-# define UV_DEC_BACKLOG(w) w->rcount--;
-#else
-# define UV_DEC_BACKLOG(w) /* no-op */
-#endif /* defined(UV_HAVE_KQUEUE) */
-
-
-void uv__server_io(uv_loop_t* loop, uv__io_t* w, unsigned int events) {
- uv_stream_t* stream;
- int err;
-
- stream = container_of(w, uv_stream_t, io_watcher);
- assert(events & POLLIN);
- assert(stream->accepted_fd == -1);
- assert(!(stream->flags & UV_CLOSING));
-
- uv__io_start(stream->loop, &stream->io_watcher, POLLIN);
-
- /* connection_cb can close the server socket while we're
- * in the loop so check it on each iteration.
- */
- while (uv__stream_fd(stream) != -1) {
- assert(stream->accepted_fd == -1);
-
-#if defined(UV_HAVE_KQUEUE)
- if (w->rcount <= 0)
- return;
-#endif /* defined(UV_HAVE_KQUEUE) */
-
- err = uv__accept(uv__stream_fd(stream));
- if (err < 0) {
- if (err == UV_EAGAIN || err == UV__ERR(EWOULDBLOCK))
- return; /* Not an error. */
-
- if (err == UV_ECONNABORTED)
- continue; /* Ignore. Nothing we can do about that. */
-
- if (err == UV_EMFILE || err == UV_ENFILE) {
- err = uv__emfile_trick(loop, uv__stream_fd(stream));
- if (err == UV_EAGAIN || err == UV__ERR(EWOULDBLOCK))
- break;
- }
-
- stream->connection_cb(stream, err);
- continue;
- }
-
- UV_DEC_BACKLOG(w)
- stream->accepted_fd = err;
- stream->connection_cb(stream, 0);
-
- if (stream->accepted_fd != -1) {
- /* The user hasn't yet accepted called uv_accept() */
- uv__io_stop(loop, &stream->io_watcher, POLLIN);
- return;
- }
-
- if (stream->type == UV_TCP && (stream->flags & UV_TCP_SINGLE_ACCEPT)) {
- /* Give other processes a chance to accept connections. */
- struct timespec timeout = { 0, 1 };
- nanosleep(&timeout, NULL);
- }
- }
-}
-
-
-#undef UV_DEC_BACKLOG
-
-
-int uv_accept(uv_stream_t* server, uv_stream_t* client) {
- int err;
-
- assert(server->loop == client->loop);
-
- if (server->accepted_fd == -1)
- return UV_EAGAIN;
-
- switch (client->type) {
- case UV_NAMED_PIPE:
- case UV_TCP:
- err = uv__stream_open(client,
- server->accepted_fd,
- UV_STREAM_READABLE | UV_STREAM_WRITABLE);
- if (err) {
- /* TODO handle error */
- uv__close(server->accepted_fd);
- goto done;
- }
- break;
-
- case UV_UDP:
- err = uv_udp_open((uv_udp_t*) client, server->accepted_fd);
- if (err) {
- uv__close(server->accepted_fd);
- goto done;
- }
- break;
-
- default:
- return UV_EINVAL;
- }
-
- client->flags |= UV_HANDLE_BOUND;
-
-done:
- /* Process queued fds */
- if (server->queued_fds != NULL) {
- uv__stream_queued_fds_t* queued_fds;
-
- queued_fds = (uv__stream_queued_fds_t*)(server->queued_fds);
-
- /* Read first */
- server->accepted_fd = queued_fds->fds[0];
-
- /* All read, free */
- assert(queued_fds->offset > 0);
- if (--queued_fds->offset == 0) {
- uv__free(queued_fds);
- server->queued_fds = NULL;
- } else {
- /* Shift rest */
- memmove(queued_fds->fds,
- queued_fds->fds + 1,
- queued_fds->offset * sizeof(*queued_fds->fds));
- }
- } else {
- server->accepted_fd = -1;
- if (err == 0)
- uv__io_start(server->loop, &server->io_watcher, POLLIN);
- }
- return err;
-}
-
-
-int uv_listen(uv_stream_t* stream, int backlog, uv_connection_cb cb) {
- int err;
-
- switch (stream->type) {
- case UV_TCP:
- err = uv_tcp_listen((uv_tcp_t*)stream, backlog, cb);
- break;
-
- case UV_NAMED_PIPE:
- err = uv_pipe_listen((uv_pipe_t*)stream, backlog, cb);
- break;
-
- default:
- err = UV_EINVAL;
- }
-
- if (err == 0)
- uv__handle_start(stream);
-
- return err;
-}
-
-
-static void uv__drain(uv_stream_t* stream) {
- uv_shutdown_t* req;
- int err;
-
- assert(QUEUE_EMPTY(&stream->write_queue));
- uv__io_stop(stream->loop, &stream->io_watcher, POLLOUT);
- uv__stream_osx_interrupt_select(stream);
-
- /* Shutdown? */
- if ((stream->flags & UV_STREAM_SHUTTING) &&
- !(stream->flags & UV_CLOSING) &&
- !(stream->flags & UV_STREAM_SHUT)) {
- assert(stream->shutdown_req);
-
- req = stream->shutdown_req;
- stream->shutdown_req = NULL;
- stream->flags &= ~UV_STREAM_SHUTTING;
- uv__req_unregister(stream->loop, req);
-
- err = 0;
- if (shutdown(uv__stream_fd(stream), SHUT_WR))
- err = UV__ERR(errno);
-
- if (err == 0)
- stream->flags |= UV_STREAM_SHUT;
-
- if (req->cb != NULL)
- req->cb(req, err);
- }
-}
-
-
-static size_t uv__write_req_size(uv_write_t* req) {
- size_t size;
-
- assert(req->bufs != NULL);
- size = uv__count_bufs(req->bufs + req->write_index,
- req->nbufs - req->write_index);
- assert(req->handle->write_queue_size >= size);
-
- return size;
-}
-
-
-static void uv__write_req_finish(uv_write_t* req) {
- uv_stream_t* stream = req->handle;
-
- /* Pop the req off tcp->write_queue. */
- QUEUE_REMOVE(&req->queue);
-
- /* Only free when there was no error. On error, we touch up write_queue_size
- * right before making the callback. The reason we don't do that right away
- * is that a write_queue_size > 0 is our only way to signal to the user that
- * they should stop writing - which they should if we got an error. Something
- * to revisit in future revisions of the libuv API.
- */
- if (req->error == 0) {
- if (req->bufs != req->bufsml)
- uv__free(req->bufs);
- req->bufs = NULL;
- }
-
- /* Add it to the write_completed_queue where it will have its
- * callback called in the near future.
- */
- QUEUE_INSERT_TAIL(&stream->write_completed_queue, &req->queue);
- uv__io_feed(stream->loop, &stream->io_watcher);
-}
-
-
-static int uv__handle_fd(uv_handle_t* handle) {
- switch (handle->type) {
- case UV_NAMED_PIPE:
- case UV_TCP:
- return ((uv_stream_t*) handle)->io_watcher.fd;
-
- case UV_UDP:
- return ((uv_udp_t*) handle)->io_watcher.fd;
-
- default:
- return -1;
- }
-}
-
-static void uv__write(uv_stream_t* stream) {
- struct iovec* iov;
- QUEUE* q;
- uv_write_t* req;
- int iovmax;
- int iovcnt;
- ssize_t n;
- int err;
-
-start:
-
- assert(uv__stream_fd(stream) >= 0);
-
- if (QUEUE_EMPTY(&stream->write_queue))
- return;
-
- q = QUEUE_HEAD(&stream->write_queue);
- req = QUEUE_DATA(q, uv_write_t, queue);
- assert(req->handle == stream);
-
- /*
- * Cast to iovec. We had to have our own uv_buf_t instead of iovec
- * because Windows's WSABUF is not an iovec.
- */
- assert(sizeof(uv_buf_t) == sizeof(struct iovec));
- iov = (struct iovec*) &(req->bufs[req->write_index]);
- iovcnt = req->nbufs - req->write_index;
-
- iovmax = uv__getiovmax();
-
- /* Limit iov count to avoid EINVALs from writev() */
- if (iovcnt > iovmax)
- iovcnt = iovmax;
-
- /*
- * Now do the actual writev. Note that we've been updating the pointers
- * inside the iov each time we write. So there is no need to offset it.
- */
-
- if (req->send_handle) {
- int fd_to_send;
- struct msghdr msg;
- struct cmsghdr *cmsg;
- union {
- char data[64];
- struct cmsghdr alias;
- } scratch;
-
- if (uv__is_closing(req->send_handle)) {
- err = UV_EBADF;
- goto error;
- }
-
- fd_to_send = uv__handle_fd((uv_handle_t*) req->send_handle);
-
- memset(&scratch, 0, sizeof(scratch));
-
- assert(fd_to_send >= 0);
-
- msg.msg_name = NULL;
- msg.msg_namelen = 0;
- msg.msg_iov = iov;
- msg.msg_iovlen = iovcnt;
- msg.msg_flags = 0;
-
- msg.msg_control = &scratch.alias;
- msg.msg_controllen = CMSG_SPACE(sizeof(fd_to_send));
-
- cmsg = CMSG_FIRSTHDR(&msg);
- cmsg->cmsg_level = SOL_SOCKET;
- cmsg->cmsg_type = SCM_RIGHTS;
- cmsg->cmsg_len = CMSG_LEN(sizeof(fd_to_send));
-
- /* silence aliasing warning */
- {
- void* pv = CMSG_DATA(cmsg);
- int* pi = (int*)pv;
- *pi = fd_to_send;
- }
-
- do {
- n = sendmsg(uv__stream_fd(stream), &msg, 0);
- }
-#if defined(__APPLE__)
- /*
- * Due to a possible kernel bug at least in OS X 10.10 "Yosemite",
- * EPROTOTYPE can be returned while trying to write to a socket that is
- * shutting down. If we retry the write, we should get the expected EPIPE
- * instead.
- */
- while (n == -1 && (errno == EINTR || errno == EPROTOTYPE));
-#else
- while (n == -1 && errno == EINTR);
-#endif
- } else {
- do {
- if (iovcnt == 1) {
- n = write(uv__stream_fd(stream), iov[0].iov_base, iov[0].iov_len);
- } else {
- n = writev(uv__stream_fd(stream), iov, iovcnt);
- }
- }
-#if defined(__APPLE__)
- /*
- * Due to a possible kernel bug at least in OS X 10.10 "Yosemite",
- * EPROTOTYPE can be returned while trying to write to a socket that is
- * shutting down. If we retry the write, we should get the expected EPIPE
- * instead.
- */
- while (n == -1 && (errno == EINTR || errno == EPROTOTYPE));
-#else
- while (n == -1 && errno == EINTR);
-#endif
- }
-
- if (n < 0) {
- if (!WRITE_RETRY_ON_ERROR(req->send_handle)) {
- err = UV__ERR(errno);
- goto error;
- } else if (stream->flags & UV_STREAM_BLOCKING) {
- /* If this is a blocking stream, try again. */
- goto start;
- }
- } else {
- /* Successful write */
-
- while (n >= 0) {
- uv_buf_t* buf = &(req->bufs[req->write_index]);
- size_t len = buf->len;
-
- assert(req->write_index < req->nbufs);
-
- if ((size_t)n < len) {
- buf->base += n;
- buf->len -= n;
- stream->write_queue_size -= n;
- n = 0;
-
- /* There is more to write. */
- if (stream->flags & UV_STREAM_BLOCKING) {
- /*
- * If we're blocking then we should not be enabling the write
- * watcher - instead we need to try again.
- */
- goto start;
- } else {
- /* Break loop and ensure the watcher is pending. */
- break;
- }
-
- } else {
- /* Finished writing the buf at index req->write_index. */
- req->write_index++;
-
- assert((size_t)n >= len);
- n -= len;
-
- assert(stream->write_queue_size >= len);
- stream->write_queue_size -= len;
-
- if (req->write_index == req->nbufs) {
- /* Then we're done! */
- assert(n == 0);
- uv__write_req_finish(req);
- /* TODO: start trying to write the next request. */
- return;
- }
- }
- }
- }
-
- /* Either we've counted n down to zero or we've got EAGAIN. */
- assert(n == 0 || n == -1);
-
- /* Only non-blocking streams should use the write_watcher. */
- assert(!(stream->flags & UV_STREAM_BLOCKING));
-
- /* We're not done. */
- uv__io_start(stream->loop, &stream->io_watcher, POLLOUT);
-
- /* Notify select() thread about state change */
- uv__stream_osx_interrupt_select(stream);
-
- return;
-
-error:
- req->error = err;
- uv__write_req_finish(req);
- uv__io_stop(stream->loop, &stream->io_watcher, POLLOUT);
- if (!uv__io_active(&stream->io_watcher, POLLIN))
- uv__handle_stop(stream);
- uv__stream_osx_interrupt_select(stream);
-}
-
-
-static void uv__write_callbacks(uv_stream_t* stream) {
- uv_write_t* req;
- QUEUE* q;
-
- while (!QUEUE_EMPTY(&stream->write_completed_queue)) {
- /* Pop a req off write_completed_queue. */
- q = QUEUE_HEAD(&stream->write_completed_queue);
- req = QUEUE_DATA(q, uv_write_t, queue);
- QUEUE_REMOVE(q);
- uv__req_unregister(stream->loop, req);
-
- if (req->bufs != NULL) {
- stream->write_queue_size -= uv__write_req_size(req);
- if (req->bufs != req->bufsml)
- uv__free(req->bufs);
- req->bufs = NULL;
- }
-
- /* NOTE: call callback AFTER freeing the request data. */
- if (req->cb)
- req->cb(req, req->error);
- }
-
- assert(QUEUE_EMPTY(&stream->write_completed_queue));
-}
-
-
-uv_handle_type uv__handle_type(int fd) {
- struct sockaddr_storage ss;
- socklen_t sslen;
- socklen_t len;
- int type;
-
- memset(&ss, 0, sizeof(ss));
- sslen = sizeof(ss);
-
- if (getsockname(fd, (struct sockaddr*)&ss, &sslen))
- return UV_UNKNOWN_HANDLE;
-
- len = sizeof type;
-
- if (getsockopt(fd, SOL_SOCKET, SO_TYPE, &type, &len))
- return UV_UNKNOWN_HANDLE;
-
- if (type == SOCK_STREAM) {
-#if defined(_AIX) || defined(__DragonFly__)
- /* on AIX/DragonFly the getsockname call returns an empty sa structure
- * for sockets of type AF_UNIX. For all other types it will
- * return a properly filled in structure.
- */
- if (sslen == 0)
- return UV_NAMED_PIPE;
-#endif
- switch (ss.ss_family) {
- case AF_UNIX:
- return UV_NAMED_PIPE;
- case AF_INET:
- case AF_INET6:
- return UV_TCP;
- }
- }
-
- if (type == SOCK_DGRAM &&
- (ss.ss_family == AF_INET || ss.ss_family == AF_INET6))
- return UV_UDP;
-
- return UV_UNKNOWN_HANDLE;
-}
-
-
-static void uv__stream_eof(uv_stream_t* stream, const uv_buf_t* buf) {
- stream->flags |= UV_STREAM_READ_EOF;
- uv__io_stop(stream->loop, &stream->io_watcher, POLLIN);
- if (!uv__io_active(&stream->io_watcher, POLLOUT))
- uv__handle_stop(stream);
- uv__stream_osx_interrupt_select(stream);
- stream->read_cb(stream, UV_EOF, buf);
- stream->flags &= ~UV_STREAM_READING;
-}
-
-
-static int uv__stream_queue_fd(uv_stream_t* stream, int fd) {
- uv__stream_queued_fds_t* queued_fds;
- unsigned int queue_size;
-
- queued_fds = (uv__stream_queued_fds_t*)stream->queued_fds;
- if (queued_fds == NULL) {
- queue_size = 8;
- queued_fds = (uv__stream_queued_fds_t*)
- uv__malloc((queue_size - 1) * sizeof(*queued_fds->fds) +
- sizeof(*queued_fds));
- if (queued_fds == NULL)
- return UV_ENOMEM;
- queued_fds->size = queue_size;
- queued_fds->offset = 0;
- stream->queued_fds = queued_fds;
-
- /* Grow */
- } else if (queued_fds->size == queued_fds->offset) {
- queue_size = queued_fds->size + 8;
- queued_fds = (uv__stream_queued_fds_t*)
- uv__realloc(queued_fds, (queue_size - 1) * sizeof(*queued_fds->fds) +
- sizeof(*queued_fds));
-
- /*
- * Allocation failure, report back.
- * NOTE: if it is fatal - sockets will be closed in uv__stream_close
- */
- if (queued_fds == NULL)
- return UV_ENOMEM;
- queued_fds->size = queue_size;
- stream->queued_fds = queued_fds;
- }
-
- /* Put fd in a queue */
- queued_fds->fds[queued_fds->offset++] = fd;
-
- return 0;
-}
-
-
-#define UV__CMSG_FD_COUNT 64
-#define UV__CMSG_FD_SIZE (UV__CMSG_FD_COUNT * sizeof(int))
-
-
-static int uv__stream_recv_cmsg(uv_stream_t* stream, struct msghdr* msg) {
- struct cmsghdr* cmsg;
-
- for (cmsg = CMSG_FIRSTHDR(msg); cmsg != NULL; cmsg = CMSG_NXTHDR(msg, cmsg)) {
- char* start;
- char* end;
- int err;
- void* pv;
- int* pi;
- unsigned int i;
- unsigned int count;
-
- if (cmsg->cmsg_type != SCM_RIGHTS) {
- fprintf(stderr, "ignoring non-SCM_RIGHTS ancillary data: %d\n",
- cmsg->cmsg_type);
- continue;
- }
-
- /* silence aliasing warning */
- pv = CMSG_DATA(cmsg);
- pi = (int*)pv;
-
- /* Count available fds */
- start = (char*) cmsg;
- end = (char*) cmsg + cmsg->cmsg_len;
- count = 0;
- while (start + CMSG_LEN(count * sizeof(*pi)) < end)
- count++;
- assert(start + CMSG_LEN(count * sizeof(*pi)) == end);
-
- for (i = 0; i < count; i++) {
- /* Already has accepted fd, queue now */
- if (stream->accepted_fd != -1) {
- err = uv__stream_queue_fd(stream, pi[i]);
- if (err != 0) {
- /* Close rest */
- for (; i < count; i++)
- uv__close(pi[i]);
- return err;
- }
- } else {
- stream->accepted_fd = pi[i];
- }
- }
- }
-
- return 0;
-}
-
-
-#ifdef __clang__
-# pragma clang diagnostic push
-# pragma clang diagnostic ignored "-Wgnu-folding-constant"
-# pragma clang diagnostic ignored "-Wvla-extension"
-#endif
-
-static void uv__read(uv_stream_t* stream) {
- uv_buf_t buf;
- ssize_t nread;
- struct msghdr msg;
- char cmsg_space[CMSG_SPACE(UV__CMSG_FD_SIZE)];
- int count;
- int err;
- int is_ipc;
-
- stream->flags &= ~UV_STREAM_READ_PARTIAL;
-
- /* Prevent loop starvation when the data comes in as fast as (or faster than)
- * we can read it. XXX Need to rearm fd if we switch to edge-triggered I/O.
- */
- count = 32;
-
- is_ipc = stream->type == UV_NAMED_PIPE && ((uv_pipe_t*) stream)->ipc;
-
- /* XXX: Maybe instead of having UV_STREAM_READING we just test if
- * tcp->read_cb is NULL or not?
- */
- while (stream->read_cb
- && (stream->flags & UV_STREAM_READING)
- && (count-- > 0)) {
- assert(stream->alloc_cb != NULL);
-
- buf = uv_buf_init(NULL, 0);
- stream->alloc_cb((uv_handle_t*)stream, 64 * 1024, &buf);
- if (buf.base == NULL || buf.len == 0) {
- /* User indicates it can't or won't handle the read. */
- stream->read_cb(stream, UV_ENOBUFS, &buf);
- return;
- }
-
- assert(buf.base != NULL);
- assert(uv__stream_fd(stream) >= 0);
-
- if (!is_ipc) {
- do {
- nread = read(uv__stream_fd(stream), buf.base, buf.len);
- }
- while (nread < 0 && errno == EINTR);
- } else {
- /* ipc uses recvmsg */
- msg.msg_flags = 0;
- msg.msg_iov = (struct iovec*) &buf;
- msg.msg_iovlen = 1;
- msg.msg_name = NULL;
- msg.msg_namelen = 0;
- /* Set up to receive a descriptor even if one isn't in the message */
- msg.msg_controllen = sizeof(cmsg_space);
- msg.msg_control = cmsg_space;
-
- do {
- nread = uv__recvmsg(uv__stream_fd(stream), &msg, 0);
- }
- while (nread < 0 && errno == EINTR);
- }
-
- if (nread < 0) {
- /* Error */
- if (errno == EAGAIN || errno == EWOULDBLOCK) {
- /* Wait for the next one. */
- if (stream->flags & UV_STREAM_READING) {
- uv__io_start(stream->loop, &stream->io_watcher, POLLIN);
- uv__stream_osx_interrupt_select(stream);
- }
- stream->read_cb(stream, 0, &buf);
-#if defined(__CYGWIN__) || defined(__MSYS__)
- } else if (errno == ECONNRESET && stream->type == UV_NAMED_PIPE) {
- uv__stream_eof(stream, &buf);
- return;
-#endif
- } else {
- /* Error. User should call uv_close(). */
- stream->read_cb(stream, UV__ERR(errno), &buf);
- if (stream->flags & UV_STREAM_READING) {
- stream->flags &= ~UV_STREAM_READING;
- uv__io_stop(stream->loop, &stream->io_watcher, POLLIN);
- if (!uv__io_active(&stream->io_watcher, POLLOUT))
- uv__handle_stop(stream);
- uv__stream_osx_interrupt_select(stream);
- }
- }
- return;
- } else if (nread == 0) {
- uv__stream_eof(stream, &buf);
- return;
- } else {
- /* Successful read */
- ssize_t buflen = buf.len;
-
- if (is_ipc) {
- err = uv__stream_recv_cmsg(stream, &msg);
- if (err != 0) {
- stream->read_cb(stream, err, &buf);
- return;
- }
- }
-
-#if defined(__MVS__)
- if (is_ipc && msg.msg_controllen > 0) {
- uv_buf_t blankbuf;
- int nread;
- struct iovec *old;
-
- blankbuf.base = 0;
- blankbuf.len = 0;
- old = msg.msg_iov;
- msg.msg_iov = (struct iovec*) &blankbuf;
- nread = 0;
- do {
- nread = uv__recvmsg(uv__stream_fd(stream), &msg, 0);
- err = uv__stream_recv_cmsg(stream, &msg);
- if (err != 0) {
- stream->read_cb(stream, err, &buf);
- msg.msg_iov = old;
- return;
- }
- } while (nread == 0 && msg.msg_controllen > 0);
- msg.msg_iov = old;
- }
-#endif
- stream->read_cb(stream, nread, &buf);
-
- /* Return if we didn't fill the buffer, there is no more data to read. */
- if (nread < buflen) {
- stream->flags |= UV_STREAM_READ_PARTIAL;
- return;
- }
- }
- }
-}
-
-
-#ifdef __clang__
-# pragma clang diagnostic pop
-#endif
-
-#undef UV__CMSG_FD_COUNT
-#undef UV__CMSG_FD_SIZE
-
-
-int uv_shutdown(uv_shutdown_t* req, uv_stream_t* stream, uv_shutdown_cb cb) {
- assert(stream->type == UV_TCP ||
- stream->type == UV_TTY ||
- stream->type == UV_NAMED_PIPE);
-
- if (!(stream->flags & UV_STREAM_WRITABLE) ||
- stream->flags & UV_STREAM_SHUT ||
- stream->flags & UV_STREAM_SHUTTING ||
- uv__is_closing(stream)) {
- return UV_ENOTCONN;
- }
-
- assert(uv__stream_fd(stream) >= 0);
-
- /* Initialize request */
- uv__req_init(stream->loop, req, UV_SHUTDOWN);
- req->handle = stream;
- req->cb = cb;
- stream->shutdown_req = req;
- stream->flags |= UV_STREAM_SHUTTING;
-
- uv__io_start(stream->loop, &stream->io_watcher, POLLOUT);
- uv__stream_osx_interrupt_select(stream);
-
- return 0;
-}
-
-
-static void uv__stream_io(uv_loop_t* loop, uv__io_t* w, unsigned int events) {
- uv_stream_t* stream;
-
- stream = container_of(w, uv_stream_t, io_watcher);
-
- assert(stream->type == UV_TCP ||
- stream->type == UV_NAMED_PIPE ||
- stream->type == UV_TTY);
- assert(!(stream->flags & UV_CLOSING));
-
- if (stream->connect_req) {
- uv__stream_connect(stream);
- return;
- }
-
- assert(uv__stream_fd(stream) >= 0);
-
- /* Ignore POLLHUP here. Even if it's set, there may still be data to read. */
- if (events & (POLLIN | POLLERR | POLLHUP))
- uv__read(stream);
-
- if (uv__stream_fd(stream) == -1)
- return; /* read_cb closed stream. */
-
- /* Short-circuit iff POLLHUP is set, the user is still interested in read
- * events and uv__read() reported a partial read but not EOF. If the EOF
- * flag is set, uv__read() called read_cb with err=UV_EOF and we don't
- * have to do anything. If the partial read flag is not set, we can't
- * report the EOF yet because there is still data to read.
- */
- if ((events & POLLHUP) &&
- (stream->flags & UV_STREAM_READING) &&
- (stream->flags & UV_STREAM_READ_PARTIAL) &&
- !(stream->flags & UV_STREAM_READ_EOF)) {
- uv_buf_t buf = { NULL, 0 };
- uv__stream_eof(stream, &buf);
- }
-
- if (uv__stream_fd(stream) == -1)
- return; /* read_cb closed stream. */
-
- if (events & (POLLOUT | POLLERR | POLLHUP)) {
- uv__write(stream);
- uv__write_callbacks(stream);
-
- /* Write queue drained. */
- if (QUEUE_EMPTY(&stream->write_queue))
- uv__drain(stream);
- }
-}
-
-
-/**
- * We get called here from directly following a call to connect(2).
- * In order to determine if we've errored out or succeeded must call
- * getsockopt.
- */
-static void uv__stream_connect(uv_stream_t* stream) {
- int error;
- uv_connect_t* req = stream->connect_req;
- socklen_t errorsize = sizeof(int);
-
- assert(stream->type == UV_TCP || stream->type == UV_NAMED_PIPE);
- assert(req);
-
- if (stream->delayed_error) {
- /* To smooth over the differences between unixes errors that
- * were reported synchronously on the first connect can be delayed
- * until the next tick--which is now.
- */
- error = stream->delayed_error;
- stream->delayed_error = 0;
- } else {
- /* Normal situation: we need to get the socket error from the kernel. */
- assert(uv__stream_fd(stream) >= 0);
- getsockopt(uv__stream_fd(stream),
- SOL_SOCKET,
- SO_ERROR,
- &error,
- &errorsize);
- error = UV__ERR(error);
- }
-
- if (error == UV__ERR(EINPROGRESS))
- return;
-
- stream->connect_req = NULL;
- uv__req_unregister(stream->loop, req);
-
- if (error < 0 || QUEUE_EMPTY(&stream->write_queue)) {
- uv__io_stop(stream->loop, &stream->io_watcher, POLLOUT);
- }
-
- if (req->cb)
- req->cb(req, error);
-
- if (uv__stream_fd(stream) == -1)
- return;
-
- if (error < 0) {
- uv__stream_flush_write_queue(stream, UV_ECANCELED);
- uv__write_callbacks(stream);
- }
-}
-
-
-int uv_write2(uv_write_t* req,
- uv_stream_t* stream,
- const uv_buf_t bufs[],
- unsigned int nbufs,
- uv_stream_t* send_handle,
- uv_write_cb cb) {
- int empty_queue;
-
- assert(nbufs > 0);
- assert((stream->type == UV_TCP ||
- stream->type == UV_NAMED_PIPE ||
- stream->type == UV_TTY) &&
- "uv_write (unix) does not yet support other types of streams");
-
- if (uv__stream_fd(stream) < 0)
- return UV_EBADF;
-
- if (!(stream->flags & UV_STREAM_WRITABLE))
- return -EPIPE;
-
- if (send_handle) {
- if (stream->type != UV_NAMED_PIPE || !((uv_pipe_t*)stream)->ipc)
- return UV_EINVAL;
-
- /* XXX We abuse uv_write2() to send over UDP handles to child processes.
- * Don't call uv__stream_fd() on those handles, it's a macro that on OS X
- * evaluates to a function that operates on a uv_stream_t with a couple of
- * OS X specific fields. On other Unices it does (handle)->io_watcher.fd,
- * which works but only by accident.
- */
- if (uv__handle_fd((uv_handle_t*) send_handle) < 0)
- return UV_EBADF;
-
-#if defined(__CYGWIN__) || defined(__MSYS__)
- /* Cygwin recvmsg always sets msg_controllen to zero, so we cannot send it.
- See https://github.com/mirror/newlib-cygwin/blob/86fc4bf0/winsup/cygwin/fhandler_socket.cc#L1736-L1743 */
- return UV_ENOSYS;
-#endif
- }
-
- /* It's legal for write_queue_size > 0 even when the write_queue is empty;
- * it means there are error-state requests in the write_completed_queue that
- * will touch up write_queue_size later, see also uv__write_req_finish().
- * We could check that write_queue is empty instead but that implies making
- * a write() syscall when we know that the handle is in error mode.
- */
- empty_queue = (stream->write_queue_size == 0);
-
- /* Initialize the req */
- uv__req_init(stream->loop, req, UV_WRITE);
- req->cb = cb;
- req->handle = stream;
- req->error = 0;
- req->send_handle = send_handle;
- QUEUE_INIT(&req->queue);
-
- req->bufs = req->bufsml;
- if (nbufs > ARRAY_SIZE(req->bufsml))
- req->bufs = (uv_buf_t*)uv__malloc(nbufs * sizeof(bufs[0]));
-
- if (req->bufs == NULL)
- return UV_ENOMEM;
-
- memcpy(req->bufs, bufs, nbufs * sizeof(bufs[0]));
- req->nbufs = nbufs;
- req->write_index = 0;
- stream->write_queue_size += uv__count_bufs(bufs, nbufs);
-
- /* Append the request to write_queue. */
- QUEUE_INSERT_TAIL(&stream->write_queue, &req->queue);
-
- /* If the queue was empty when this function began, we should attempt to
- * do the write immediately. Otherwise start the write_watcher and wait
- * for the fd to become writable.
- */
- if (stream->connect_req) {
- /* Still connecting, do nothing. */
- }
- else if (empty_queue) {
- uv__write(stream);
- }
- else {
- /*
- * blocking streams should never have anything in the queue.
- * if this assert fires then somehow the blocking stream isn't being
- * sufficiently flushed in uv__write.
- */
- assert(!(stream->flags & UV_STREAM_BLOCKING));
- uv__io_start(stream->loop, &stream->io_watcher, POLLOUT);
- uv__stream_osx_interrupt_select(stream);
- }
-
- return 0;
-}
-
-
-/* The buffers to be written must remain valid until the callback is called.
- * This is not required for the uv_buf_t array.
- */
-int uv_write(uv_write_t* req,
- uv_stream_t* handle,
- const uv_buf_t bufs[],
- unsigned int nbufs,
- uv_write_cb cb) {
- return uv_write2(req, handle, bufs, nbufs, NULL, cb);
-}
-
-
-void uv_try_write_cb(uv_write_t* req, int status) {
- /* Should not be called */
- abort();
-}
-
-
-int uv_try_write(uv_stream_t* stream,
- const uv_buf_t bufs[],
- unsigned int nbufs) {
- int r;
- int has_pollout;
- size_t written;
- size_t req_size;
- uv_write_t req;
-
- /* Connecting or already writing some data */
- if (stream->connect_req != NULL || stream->write_queue_size != 0)
- return UV_EAGAIN;
-
- has_pollout = uv__io_active(&stream->io_watcher, POLLOUT);
-
- r = uv_write(&req, stream, bufs, nbufs, uv_try_write_cb);
- if (r != 0)
- return r;
-
- /* Remove not written bytes from write queue size */
- written = uv__count_bufs(bufs, nbufs);
- if (req.bufs != NULL)
- req_size = uv__write_req_size(&req);
- else
- req_size = 0;
- written -= req_size;
- stream->write_queue_size -= req_size;
-
- /* Unqueue request, regardless of immediateness */
- QUEUE_REMOVE(&req.queue);
- uv__req_unregister(stream->loop, &req);
- if (req.bufs != req.bufsml)
- uv__free(req.bufs);
- req.bufs = NULL;
-
- /* Do not poll for writable, if we wasn't before calling this */
- if (!has_pollout) {
- uv__io_stop(stream->loop, &stream->io_watcher, POLLOUT);
- uv__stream_osx_interrupt_select(stream);
- }
-
- if (written == 0 && req_size != 0)
- return UV_EAGAIN;
- else
- return written;
-}
-
-
-int uv_read_start(uv_stream_t* stream,
- uv_alloc_cb alloc_cb,
- uv_read_cb read_cb) {
- assert(stream->type == UV_TCP || stream->type == UV_NAMED_PIPE ||
- stream->type == UV_TTY);
-
- if (stream->flags & UV_CLOSING)
- return UV_EINVAL;
-
- if (!(stream->flags & UV_STREAM_READABLE))
- return -ENOTCONN;
-
- /* The UV_STREAM_READING flag is irrelevant of the state of the tcp - it just
- * expresses the desired state of the user.
- */
- stream->flags |= UV_STREAM_READING;
-
- /* TODO: try to do the read inline? */
- /* TODO: keep track of tcp state. If we've gotten a EOF then we should
- * not start the IO watcher.
- */
- assert(uv__stream_fd(stream) >= 0);
- assert(alloc_cb);
-
- stream->read_cb = read_cb;
- stream->alloc_cb = alloc_cb;
-
- uv__io_start(stream->loop, &stream->io_watcher, POLLIN);
- uv__handle_start(stream);
- uv__stream_osx_interrupt_select(stream);
-
- return 0;
-}
-
-
-int uv_read_stop(uv_stream_t* stream) {
- if (!(stream->flags & UV_STREAM_READING))
- return 0;
-
- stream->flags &= ~UV_STREAM_READING;
- uv__io_stop(stream->loop, &stream->io_watcher, POLLIN);
- if (!uv__io_active(&stream->io_watcher, POLLOUT))
- uv__handle_stop(stream);
- uv__stream_osx_interrupt_select(stream);
-
- stream->read_cb = NULL;
- stream->alloc_cb = NULL;
- return 0;
-}
-
-
-int uv_is_readable(const uv_stream_t* stream) {
- return !!(stream->flags & UV_STREAM_READABLE);
-}
-
-
-int uv_is_writable(const uv_stream_t* stream) {
- return !!(stream->flags & UV_STREAM_WRITABLE);
-}
-
-
-#if defined(__APPLE__)
-int uv___stream_fd(const uv_stream_t* handle) {
- const uv__stream_select_t* s;
-
- assert(handle->type == UV_TCP ||
- handle->type == UV_TTY ||
- handle->type == UV_NAMED_PIPE);
-
- s = (const uv__stream_select_t*)handle->select;
- if (s != NULL)
- return s->fd;
-
- return handle->io_watcher.fd;
-}
-#endif /* defined(__APPLE__) */
-
-
-void uv__stream_close(uv_stream_t* handle) {
- unsigned int i;
- uv__stream_queued_fds_t* queued_fds;
-
-#if defined(__APPLE__)
- /* Terminate select loop first */
- if (handle->select != NULL) {
- uv__stream_select_t* s;
-
- s = (uv__stream_select_t*)handle->select;
-
- uv_sem_post(&s->close_sem);
- uv_sem_post(&s->async_sem);
- uv__stream_osx_interrupt_select(handle);
- uv_thread_join(&s->thread);
- uv_sem_destroy(&s->close_sem);
- uv_sem_destroy(&s->async_sem);
- uv__close(s->fake_fd);
- uv__close(s->int_fd);
- uv_close((uv_handle_t*) &s->async, uv__stream_osx_cb_close);
-
- handle->select = NULL;
- }
-#endif /* defined(__APPLE__) */
-
- uv__io_close(handle->loop, &handle->io_watcher);
- uv_read_stop(handle);
- uv__handle_stop(handle);
-
- if (handle->io_watcher.fd != -1) {
- /* Don't close stdio file descriptors. Nothing good comes from it. */
- if (handle->io_watcher.fd > STDERR_FILENO)
- uv__close(handle->io_watcher.fd);
- handle->io_watcher.fd = -1;
- }
-
- if (handle->accepted_fd != -1) {
- uv__close(handle->accepted_fd);
- handle->accepted_fd = -1;
- }
-
- /* Close all queued fds */
- if (handle->queued_fds != NULL) {
- queued_fds = (uv__stream_queued_fds_t*)(handle->queued_fds);
- for (i = 0; i < queued_fds->offset; i++)
- uv__close(queued_fds->fds[i]);
- uv__free(handle->queued_fds);
- handle->queued_fds = NULL;
- }
-
- assert(!uv__io_active(&handle->io_watcher, POLLIN | POLLOUT));
-}
-
-
-int uv_stream_set_blocking(uv_stream_t* handle, int blocking) {
- /* Don't need to check the file descriptor, uv__nonblock()
- * will fail with EBADF if it's not valid.
- */
- return uv__nonblock(uv__stream_fd(handle), !blocking);
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/sysinfo-memory.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/sysinfo-memory.cpp
deleted file mode 100644
index 23b4fc6..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/sysinfo-memory.cpp
+++ /dev/null
@@ -1,42 +0,0 @@
-/* Copyright libuv project contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include "uv.h"
-#include "internal.h"
-
-#include <stdint.h>
-#include <sys/sysinfo.h>
-
-uint64_t uv_get_free_memory(void) {
- struct sysinfo info;
-
- if (sysinfo(&info) == 0)
- return (uint64_t) info.freeram * info.mem_unit;
- return 0;
-}
-
-uint64_t uv_get_total_memory(void) {
- struct sysinfo info;
-
- if (sysinfo(&info) == 0)
- return (uint64_t) info.totalram * info.mem_unit;
- return 0;
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/tcp.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/tcp.cpp
deleted file mode 100644
index 27a2a61..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/tcp.cpp
+++ /dev/null
@@ -1,445 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include "uv.h"
-#include "internal.h"
-
-#include <stdlib.h>
-#include <unistd.h>
-#include <assert.h>
-#include <errno.h>
-
-
-static int new_socket(uv_tcp_t* handle, int domain, unsigned long flags) {
- struct sockaddr_storage saddr;
- socklen_t slen;
- int sockfd;
- int err;
-
- err = uv__socket(domain, SOCK_STREAM, 0);
- if (err < 0)
- return err;
- sockfd = err;
-
- err = uv__stream_open((uv_stream_t*) handle, sockfd, flags);
- if (err) {
- uv__close(sockfd);
- return err;
- }
-
- if (flags & UV_HANDLE_BOUND) {
- /* Bind this new socket to an arbitrary port */
- slen = sizeof(saddr);
- memset(&saddr, 0, sizeof(saddr));
- if (getsockname(uv__stream_fd(handle), (struct sockaddr*) &saddr, &slen)) {
- uv__close(sockfd);
- return UV__ERR(errno);
- }
-
- if (bind(uv__stream_fd(handle), (struct sockaddr*) &saddr, slen)) {
- uv__close(sockfd);
- return UV__ERR(errno);
- }
- }
-
- return 0;
-}
-
-
-static int maybe_new_socket(uv_tcp_t* handle, int domain, unsigned long flags) {
- struct sockaddr_storage saddr;
- socklen_t slen;
-
- if (domain == AF_UNSPEC) {
- handle->flags |= flags;
- return 0;
- }
-
- if (uv__stream_fd(handle) != -1) {
-
- if (flags & UV_HANDLE_BOUND) {
-
- if (handle->flags & UV_HANDLE_BOUND) {
- /* It is already bound to a port. */
- handle->flags |= flags;
- return 0;
- }
-
- /* Query to see if tcp socket is bound. */
- slen = sizeof(saddr);
- memset(&saddr, 0, sizeof(saddr));
- if (getsockname(uv__stream_fd(handle), (struct sockaddr*) &saddr, &slen))
- return UV__ERR(errno);
-
- if ((saddr.ss_family == AF_INET6 &&
- ((struct sockaddr_in6*) &saddr)->sin6_port != 0) ||
- (saddr.ss_family == AF_INET &&
- ((struct sockaddr_in*) &saddr)->sin_port != 0)) {
- /* Handle is already bound to a port. */
- handle->flags |= flags;
- return 0;
- }
-
- /* Bind to arbitrary port */
- if (bind(uv__stream_fd(handle), (struct sockaddr*) &saddr, slen))
- return UV__ERR(errno);
- }
-
- handle->flags |= flags;
- return 0;
- }
-
- return new_socket(handle, domain, flags);
-}
-
-
-int uv_tcp_init_ex(uv_loop_t* loop, uv_tcp_t* tcp, unsigned int flags) {
- int domain;
-
- /* Use the lower 8 bits for the domain */
- domain = flags & 0xFF;
- if (domain != AF_INET && domain != AF_INET6 && domain != AF_UNSPEC)
- return UV_EINVAL;
-
- if (flags & ~0xFF)
- return UV_EINVAL;
-
- uv__stream_init(loop, (uv_stream_t*)tcp, UV_TCP);
-
- /* If anything fails beyond this point we need to remove the handle from
- * the handle queue, since it was added by uv__handle_init in uv_stream_init.
- */
-
- if (domain != AF_UNSPEC) {
- int err = maybe_new_socket(tcp, domain, 0);
- if (err) {
- QUEUE_REMOVE(&tcp->handle_queue);
- return err;
- }
- }
-
- return 0;
-}
-
-
-int uv_tcp_init(uv_loop_t* loop, uv_tcp_t* tcp) {
- return uv_tcp_init_ex(loop, tcp, AF_UNSPEC);
-}
-
-
-int uv__tcp_bind(uv_tcp_t* tcp,
- const struct sockaddr* addr,
- unsigned int addrlen,
- unsigned int flags) {
- int err;
- int on;
-
- /* Cannot set IPv6-only mode on non-IPv6 socket. */
- if ((flags & UV_TCP_IPV6ONLY) && addr->sa_family != AF_INET6)
- return UV_EINVAL;
-
- err = maybe_new_socket(tcp, addr->sa_family, 0);
- if (err)
- return err;
-
- on = 1;
- if (setsockopt(tcp->io_watcher.fd, SOL_SOCKET, SO_REUSEADDR, &on, sizeof(on)))
- return UV__ERR(errno);
-
-#ifndef __OpenBSD__
-#ifdef IPV6_V6ONLY
- if (addr->sa_family == AF_INET6) {
- on = (flags & UV_TCP_IPV6ONLY) != 0;
- if (setsockopt(tcp->io_watcher.fd,
- IPPROTO_IPV6,
- IPV6_V6ONLY,
- &on,
- sizeof on) == -1) {
-#if defined(__MVS__)
- if (errno == EOPNOTSUPP)
- return UV_EINVAL;
-#endif
- return UV__ERR(errno);
- }
- }
-#endif
-#endif
-
- errno = 0;
- if (bind(tcp->io_watcher.fd, addr, addrlen) && errno != EADDRINUSE) {
- if (errno == EAFNOSUPPORT)
- /* OSX, other BSDs and SunoS fail with EAFNOSUPPORT when binding a
- * socket created with AF_INET to an AF_INET6 address or vice versa. */
- return UV_EINVAL;
- return UV__ERR(errno);
- }
- tcp->delayed_error = UV__ERR(errno);
-
- tcp->flags |= UV_HANDLE_BOUND;
- if (addr->sa_family == AF_INET6)
- tcp->flags |= UV_HANDLE_IPV6;
-
- return 0;
-}
-
-
-int uv__tcp_connect(uv_connect_t* req,
- uv_tcp_t* handle,
- const struct sockaddr* addr,
- unsigned int addrlen,
- uv_connect_cb cb) {
- int err;
- int r;
-
- assert(handle->type == UV_TCP);
-
- if (handle->connect_req != NULL)
- return UV_EALREADY; /* FIXME(bnoordhuis) UV_EINVAL or maybe UV_EBUSY. */
-
- err = maybe_new_socket(handle,
- addr->sa_family,
- UV_STREAM_READABLE | UV_STREAM_WRITABLE);
- if (err)
- return err;
-
- handle->delayed_error = 0;
-
- do {
- errno = 0;
- r = connect(uv__stream_fd(handle), addr, addrlen);
- } while (r == -1 && errno == EINTR);
-
- /* We not only check the return value, but also check the errno != 0.
- * Because in rare cases connect() will return -1 but the errno
- * is 0 (for example, on Android 4.3, OnePlus phone A0001_12_150227)
- * and actually the tcp three-way handshake is completed.
- */
- if (r == -1 && errno != 0) {
- if (errno == EINPROGRESS)
- ; /* not an error */
- else if (errno == ECONNREFUSED)
- /* If we get a ECONNREFUSED wait until the next tick to report the
- * error. Solaris wants to report immediately--other unixes want to
- * wait.
- */
- handle->delayed_error = UV__ERR(errno);
- else
- return UV__ERR(errno);
- }
-
- uv__req_init(handle->loop, req, UV_CONNECT);
- req->cb = cb;
- req->handle = (uv_stream_t*) handle;
- QUEUE_INIT(&req->queue);
- handle->connect_req = req;
-
- uv__io_start(handle->loop, &handle->io_watcher, POLLOUT);
-
- if (handle->delayed_error)
- uv__io_feed(handle->loop, &handle->io_watcher);
-
- return 0;
-}
-
-
-int uv_tcp_open(uv_tcp_t* handle, uv_os_sock_t sock) {
- int err;
-
- if (uv__fd_exists(handle->loop, sock))
- return UV_EEXIST;
-
- err = uv__nonblock(sock, 1);
- if (err)
- return err;
-
- return uv__stream_open((uv_stream_t*)handle,
- sock,
- UV_STREAM_READABLE | UV_STREAM_WRITABLE);
-}
-
-
-int uv_tcp_getsockname(const uv_tcp_t* handle,
- struct sockaddr* name,
- int* namelen) {
- socklen_t socklen;
-
- if (handle->delayed_error)
- return handle->delayed_error;
-
- if (uv__stream_fd(handle) < 0)
- return UV_EINVAL; /* FIXME(bnoordhuis) UV_EBADF */
-
- /* sizeof(socklen_t) != sizeof(int) on some systems. */
- socklen = (socklen_t) *namelen;
-
- if (getsockname(uv__stream_fd(handle), name, &socklen))
- return UV__ERR(errno);
-
- *namelen = (int) socklen;
- return 0;
-}
-
-
-int uv_tcp_getpeername(const uv_tcp_t* handle,
- struct sockaddr* name,
- int* namelen) {
- socklen_t socklen;
-
- if (handle->delayed_error)
- return handle->delayed_error;
-
- if (uv__stream_fd(handle) < 0)
- return UV_EINVAL; /* FIXME(bnoordhuis) UV_EBADF */
-
- /* sizeof(socklen_t) != sizeof(int) on some systems. */
- socklen = (socklen_t) *namelen;
-
- if (getpeername(uv__stream_fd(handle), name, &socklen))
- return UV__ERR(errno);
-
- *namelen = (int) socklen;
- return 0;
-}
-
-
-int uv_tcp_listen(uv_tcp_t* tcp, int backlog, uv_connection_cb cb) {
- static int single_accept = -1;
- unsigned long flags;
- int err;
-
- if (tcp->delayed_error)
- return tcp->delayed_error;
-
- if (single_accept == -1) {
- const char* val = getenv("UV_TCP_SINGLE_ACCEPT");
- single_accept = (val != NULL && atoi(val) != 0); /* Off by default. */
- }
-
- if (single_accept)
- tcp->flags |= UV_TCP_SINGLE_ACCEPT;
-
- flags = 0;
-#if defined(__MVS__)
- /* on zOS the listen call does not bind automatically
- if the socket is unbound. Hence the manual binding to
- an arbitrary port is required to be done manually
- */
- flags |= UV_HANDLE_BOUND;
-#endif
- err = maybe_new_socket(tcp, AF_INET, flags);
- if (err)
- return err;
-
- if (listen(tcp->io_watcher.fd, backlog))
- return UV__ERR(errno);
-
- tcp->connection_cb = cb;
- tcp->flags |= UV_HANDLE_BOUND;
-
- /* Start listening for connections. */
- tcp->io_watcher.cb = uv__server_io;
- uv__io_start(tcp->loop, &tcp->io_watcher, POLLIN);
-
- return 0;
-}
-
-
-int uv__tcp_nodelay(int fd, int on) {
- if (setsockopt(fd, IPPROTO_TCP, TCP_NODELAY, &on, sizeof(on)))
- return UV__ERR(errno);
- return 0;
-}
-
-
-int uv__tcp_keepalive(int fd, int on, unsigned int delay) {
- if (setsockopt(fd, SOL_SOCKET, SO_KEEPALIVE, &on, sizeof(on)))
- return UV__ERR(errno);
-
-#ifdef TCP_KEEPIDLE
- if (on && setsockopt(fd, IPPROTO_TCP, TCP_KEEPIDLE, &delay, sizeof(delay)))
- return UV__ERR(errno);
-#endif
-
- /* Solaris/SmartOS, if you don't support keep-alive,
- * then don't advertise it in your system headers...
- */
- /* FIXME(bnoordhuis) That's possibly because sizeof(delay) should be 1. */
-#if defined(TCP_KEEPALIVE) && !defined(__sun)
- if (on && setsockopt(fd, IPPROTO_TCP, TCP_KEEPALIVE, &delay, sizeof(delay)))
- return UV__ERR(errno);
-#endif
-
- return 0;
-}
-
-
-int uv_tcp_nodelay(uv_tcp_t* handle, int on) {
- int err;
-
- if (uv__stream_fd(handle) != -1) {
- err = uv__tcp_nodelay(uv__stream_fd(handle), on);
- if (err)
- return err;
- }
-
- if (on)
- handle->flags |= UV_TCP_NODELAY;
- else
- handle->flags &= ~UV_TCP_NODELAY;
-
- return 0;
-}
-
-
-int uv_tcp_keepalive(uv_tcp_t* handle, int on, unsigned int delay) {
- int err;
-
- if (uv__stream_fd(handle) != -1) {
- err =uv__tcp_keepalive(uv__stream_fd(handle), on, delay);
- if (err)
- return err;
- }
-
- if (on)
- handle->flags |= UV_TCP_KEEPALIVE;
- else
- handle->flags &= ~UV_TCP_KEEPALIVE;
-
- /* TODO Store delay if uv__stream_fd(handle) == -1 but don't want to enlarge
- * uv_tcp_t with an int that's almost never used...
- */
-
- return 0;
-}
-
-
-int uv_tcp_simultaneous_accepts(uv_tcp_t* handle, int enable) {
- if (enable)
- handle->flags &= ~UV_TCP_SINGLE_ACCEPT;
- else
- handle->flags |= UV_TCP_SINGLE_ACCEPT;
- return 0;
-}
-
-
-void uv__tcp_close(uv_tcp_t* handle) {
- uv__stream_close((uv_stream_t*)handle);
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/thread.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/thread.cpp
deleted file mode 100644
index 988b6fc..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/thread.cpp
+++ /dev/null
@@ -1,812 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include "uv.h"
-#include "internal.h"
-
-#include <pthread.h>
-#include <assert.h>
-#include <errno.h>
-
-#include <sys/time.h>
-#include <sys/resource.h> /* getrlimit() */
-#include <unistd.h> /* getpagesize() */
-
-#include <limits.h>
-
-#ifdef __MVS__
-#include <sys/ipc.h>
-#include <sys/sem.h>
-#endif
-
-#ifdef __GLIBC__
-#include <gnu/libc-version.h> /* gnu_get_libc_version() */
-#endif
-
-#undef NANOSEC
-#define NANOSEC ((uint64_t) 1e9)
-
-
-#if defined(UV__PTHREAD_BARRIER_FALLBACK)
-/* TODO: support barrier_attr */
-int pthread_barrier_init(pthread_barrier_t* barrier,
- const void* barrier_attr,
- unsigned count) {
- int rc;
- _uv_barrier* b;
-
- if (barrier == NULL || count == 0)
- return EINVAL;
-
- if (barrier_attr != NULL)
- return ENOTSUP;
-
- b = (_uv_barrier*)uv__malloc(sizeof(*b));
- if (b == NULL)
- return ENOMEM;
-
- b->in = 0;
- b->out = 0;
- b->threshold = count;
-
- if ((rc = pthread_mutex_init(&b->mutex, NULL)) != 0)
- goto error2;
- if ((rc = pthread_cond_init(&b->cond, NULL)) != 0)
- goto error;
-
- barrier->b = b;
- return 0;
-
-error:
- pthread_mutex_destroy(&b->mutex);
-error2:
- uv__free(b);
- return rc;
-}
-
-int pthread_barrier_wait(pthread_barrier_t* barrier) {
- int rc;
- _uv_barrier* b;
-
- if (barrier == NULL || barrier->b == NULL)
- return EINVAL;
-
- b = barrier->b;
- /* Lock the mutex*/
- if ((rc = pthread_mutex_lock(&b->mutex)) != 0)
- return rc;
-
- /* Increment the count. If this is the first thread to reach the threshold,
- wake up waiters, unlock the mutex, then return
- PTHREAD_BARRIER_SERIAL_THREAD. */
- if (++b->in == b->threshold) {
- b->in = 0;
- b->out = b->threshold - 1;
- rc = pthread_cond_signal(&b->cond);
- assert(rc == 0);
-
- pthread_mutex_unlock(&b->mutex);
- return PTHREAD_BARRIER_SERIAL_THREAD;
- }
- /* Otherwise, wait for other threads until in is set to 0,
- then return 0 to indicate this is not the first thread. */
- do {
- if ((rc = pthread_cond_wait(&b->cond, &b->mutex)) != 0)
- break;
- } while (b->in != 0);
-
- /* mark thread exit */
- b->out--;
- pthread_cond_signal(&b->cond);
- pthread_mutex_unlock(&b->mutex);
- return rc;
-}
-
-int pthread_barrier_destroy(pthread_barrier_t* barrier) {
- int rc;
- _uv_barrier* b;
-
- if (barrier == NULL || barrier->b == NULL)
- return EINVAL;
-
- b = barrier->b;
-
- if ((rc = pthread_mutex_lock(&b->mutex)) != 0)
- return rc;
-
- if (b->in > 0 || b->out > 0)
- rc = EBUSY;
-
- pthread_mutex_unlock(&b->mutex);
-
- if (rc)
- return rc;
-
- pthread_cond_destroy(&b->cond);
- pthread_mutex_destroy(&b->mutex);
- uv__free(barrier->b);
- barrier->b = NULL;
- return 0;
-}
-#endif
-
-
-/* On MacOS, threads other than the main thread are created with a reduced
- * stack size by default. Adjust to RLIMIT_STACK aligned to the page size.
- *
- * On Linux, threads created by musl have a much smaller stack than threads
- * created by glibc (80 vs. 2048 or 4096 kB.) Follow glibc for consistency.
- */
-static size_t thread_stack_size(void) {
-#if defined(__APPLE__) || defined(__linux__)
- struct rlimit lim;
-
- if (getrlimit(RLIMIT_STACK, &lim))
- abort();
-
- if (lim.rlim_cur != RLIM_INFINITY) {
- /* pthread_attr_setstacksize() expects page-aligned values. */
- lim.rlim_cur -= lim.rlim_cur % (rlim_t) getpagesize();
- if (lim.rlim_cur >= PTHREAD_STACK_MIN)
- return lim.rlim_cur;
- }
-#endif
-
-#if !defined(__linux__)
- return 0;
-#elif defined(__PPC__) || defined(__ppc__) || defined(__powerpc__)
- return 4 << 20; /* glibc default. */
-#else
- return 2 << 20; /* glibc default. */
-#endif
-}
-
-
-int uv_thread_create(uv_thread_t *tid, void (*entry)(void *arg), void *arg) {
- int err;
- size_t stack_size;
- pthread_attr_t* attr;
- pthread_attr_t attr_storage;
-
- attr = NULL;
- stack_size = thread_stack_size();
-
- if (stack_size > 0) {
- attr = &attr_storage;
-
- if (pthread_attr_init(attr))
- abort();
-
- if (pthread_attr_setstacksize(attr, stack_size))
- abort();
- }
-
- err = pthread_create(tid, attr, (void*(*)(void*)) (void(*)(void)) entry, arg);
-
- if (attr != NULL)
- pthread_attr_destroy(attr);
-
- return UV__ERR(err);
-}
-
-
-uv_thread_t uv_thread_self(void) {
- return pthread_self();
-}
-
-int uv_thread_join(uv_thread_t *tid) {
- return UV__ERR(pthread_join(*tid, NULL));
-}
-
-
-int uv_thread_equal(const uv_thread_t* t1, const uv_thread_t* t2) {
- return pthread_equal(*t1, *t2);
-}
-
-
-int uv_mutex_init(uv_mutex_t* mutex) {
-#if defined(NDEBUG) || !defined(PTHREAD_MUTEX_ERRORCHECK)
- return UV__ERR(pthread_mutex_init(mutex, NULL));
-#else
- pthread_mutexattr_t attr;
- int err;
-
- if (pthread_mutexattr_init(&attr))
- abort();
-
- if (pthread_mutexattr_settype(&attr, PTHREAD_MUTEX_ERRORCHECK))
- abort();
-
- err = pthread_mutex_init(mutex, &attr);
-
- if (pthread_mutexattr_destroy(&attr))
- abort();
-
- return UV__ERR(err);
-#endif
-}
-
-
-int uv_mutex_init_recursive(uv_mutex_t* mutex) {
- pthread_mutexattr_t attr;
- int err;
-
- if (pthread_mutexattr_init(&attr))
- abort();
-
- if (pthread_mutexattr_settype(&attr, PTHREAD_MUTEX_RECURSIVE))
- abort();
-
- err = pthread_mutex_init(mutex, &attr);
-
- if (pthread_mutexattr_destroy(&attr))
- abort();
-
- return UV__ERR(err);
-}
-
-
-void uv_mutex_destroy(uv_mutex_t* mutex) {
- if (pthread_mutex_destroy(mutex))
- abort();
-}
-
-
-void uv_mutex_lock(uv_mutex_t* mutex) {
- if (pthread_mutex_lock(mutex))
- abort();
-}
-
-
-int uv_mutex_trylock(uv_mutex_t* mutex) {
- int err;
-
- err = pthread_mutex_trylock(mutex);
- if (err) {
- if (err != EBUSY && err != EAGAIN)
- abort();
- return UV_EBUSY;
- }
-
- return 0;
-}
-
-
-void uv_mutex_unlock(uv_mutex_t* mutex) {
- if (pthread_mutex_unlock(mutex))
- abort();
-}
-
-
-int uv_rwlock_init(uv_rwlock_t* rwlock) {
- return UV__ERR(pthread_rwlock_init(rwlock, NULL));
-}
-
-
-void uv_rwlock_destroy(uv_rwlock_t* rwlock) {
- if (pthread_rwlock_destroy(rwlock))
- abort();
-}
-
-
-void uv_rwlock_rdlock(uv_rwlock_t* rwlock) {
- if (pthread_rwlock_rdlock(rwlock))
- abort();
-}
-
-
-int uv_rwlock_tryrdlock(uv_rwlock_t* rwlock) {
- int err;
-
- err = pthread_rwlock_tryrdlock(rwlock);
- if (err) {
- if (err != EBUSY && err != EAGAIN)
- abort();
- return UV_EBUSY;
- }
-
- return 0;
-}
-
-
-void uv_rwlock_rdunlock(uv_rwlock_t* rwlock) {
- if (pthread_rwlock_unlock(rwlock))
- abort();
-}
-
-
-void uv_rwlock_wrlock(uv_rwlock_t* rwlock) {
- if (pthread_rwlock_wrlock(rwlock))
- abort();
-}
-
-
-int uv_rwlock_trywrlock(uv_rwlock_t* rwlock) {
- int err;
-
- err = pthread_rwlock_trywrlock(rwlock);
- if (err) {
- if (err != EBUSY && err != EAGAIN)
- abort();
- return UV_EBUSY;
- }
-
- return 0;
-}
-
-
-void uv_rwlock_wrunlock(uv_rwlock_t* rwlock) {
- if (pthread_rwlock_unlock(rwlock))
- abort();
-}
-
-
-void uv_once(uv_once_t* guard, void (*callback)(void)) {
- if (pthread_once(guard, callback))
- abort();
-}
-
-#if defined(__APPLE__) && defined(__MACH__)
-
-int uv_sem_init(uv_sem_t* sem, unsigned int value) {
- kern_return_t err;
-
- err = semaphore_create(mach_task_self(), sem, SYNC_POLICY_FIFO, value);
- if (err == KERN_SUCCESS)
- return 0;
- if (err == KERN_INVALID_ARGUMENT)
- return UV_EINVAL;
- if (err == KERN_RESOURCE_SHORTAGE)
- return UV_ENOMEM;
-
- abort();
- return UV_EINVAL; /* Satisfy the compiler. */
-}
-
-
-void uv_sem_destroy(uv_sem_t* sem) {
- if (semaphore_destroy(mach_task_self(), *sem))
- abort();
-}
-
-
-void uv_sem_post(uv_sem_t* sem) {
- if (semaphore_signal(*sem))
- abort();
-}
-
-
-void uv_sem_wait(uv_sem_t* sem) {
- int r;
-
- do
- r = semaphore_wait(*sem);
- while (r == KERN_ABORTED);
-
- if (r != KERN_SUCCESS)
- abort();
-}
-
-
-int uv_sem_trywait(uv_sem_t* sem) {
- mach_timespec_t interval;
- kern_return_t err;
-
- interval.tv_sec = 0;
- interval.tv_nsec = 0;
-
- err = semaphore_timedwait(*sem, interval);
- if (err == KERN_SUCCESS)
- return 0;
- if (err == KERN_OPERATION_TIMED_OUT)
- return UV_EAGAIN;
-
- abort();
- return UV_EINVAL; /* Satisfy the compiler. */
-}
-
-#else /* !(defined(__APPLE__) && defined(__MACH__)) */
-
-#ifdef __GLIBC__
-
-/* Hack around https://sourceware.org/bugzilla/show_bug.cgi?id=12674
- * by providing a custom implementation for glibc < 2.21 in terms of other
- * concurrency primitives.
- * Refs: https://github.com/nodejs/node/issues/19903 */
-
-/* To preserve ABI compatibility, we treat the uv_sem_t as storage for
- * a pointer to the actual struct we're using underneath. */
-
-static uv_once_t glibc_version_check_once = UV_ONCE_INIT;
-static int platform_needs_custom_semaphore = 0;
-
-static void glibc_version_check(void) {
- const char* version = gnu_get_libc_version();
- platform_needs_custom_semaphore =
- version[0] == '2' && version[1] == '.' &&
- atoi(version + 2) < 21;
-}
-
-#elif defined(__MVS__)
-
-#define platform_needs_custom_semaphore 1
-
-#else /* !defined(__GLIBC__) && !defined(__MVS__) */
-
-#define platform_needs_custom_semaphore 0
-
-#endif
-
-typedef struct uv_semaphore_s {
- uv_mutex_t mutex;
- uv_cond_t cond;
- unsigned int value;
-} uv_semaphore_t;
-
-#if defined(__GLIBC__) || platform_needs_custom_semaphore
-STATIC_ASSERT(sizeof(uv_sem_t) >= sizeof(uv_semaphore_t*));
-#endif
-
-static int uv__custom_sem_init(uv_sem_t* sem_, unsigned int value) {
- int err;
- uv_semaphore_t* sem;
-
- sem = (uv_semaphore_t*)uv__malloc(sizeof(*sem));
- if (sem == NULL)
- return UV_ENOMEM;
-
- if ((err = uv_mutex_init(&sem->mutex)) != 0) {
- uv__free(sem);
- return err;
- }
-
- if ((err = uv_cond_init(&sem->cond)) != 0) {
- uv_mutex_destroy(&sem->mutex);
- uv__free(sem);
- return err;
- }
-
- sem->value = value;
- *(uv_semaphore_t**)sem_ = sem;
- return 0;
-}
-
-
-static void uv__custom_sem_destroy(uv_sem_t* sem_) {
- uv_semaphore_t* sem;
-
- sem = *(uv_semaphore_t**)sem_;
- uv_cond_destroy(&sem->cond);
- uv_mutex_destroy(&sem->mutex);
- uv__free(sem);
-}
-
-
-static void uv__custom_sem_post(uv_sem_t* sem_) {
- uv_semaphore_t* sem;
-
- sem = *(uv_semaphore_t**)sem_;
- uv_mutex_lock(&sem->mutex);
- sem->value++;
- if (sem->value == 1)
- uv_cond_signal(&sem->cond);
- uv_mutex_unlock(&sem->mutex);
-}
-
-
-static void uv__custom_sem_wait(uv_sem_t* sem_) {
- uv_semaphore_t* sem;
-
- sem = *(uv_semaphore_t**)sem_;
- uv_mutex_lock(&sem->mutex);
- while (sem->value == 0)
- uv_cond_wait(&sem->cond, &sem->mutex);
- sem->value--;
- uv_mutex_unlock(&sem->mutex);
-}
-
-
-static int uv__custom_sem_trywait(uv_sem_t* sem_) {
- uv_semaphore_t* sem;
-
- sem = *(uv_semaphore_t**)sem_;
- if (uv_mutex_trylock(&sem->mutex) != 0)
- return UV_EAGAIN;
-
- if (sem->value == 0) {
- uv_mutex_unlock(&sem->mutex);
- return UV_EAGAIN;
- }
-
- sem->value--;
- uv_mutex_unlock(&sem->mutex);
-
- return 0;
-}
-
-static int uv__sem_init(uv_sem_t* sem, unsigned int value) {
- if (sem_init(sem, 0, value))
- return UV__ERR(errno);
- return 0;
-}
-
-
-static void uv__sem_destroy(uv_sem_t* sem) {
- if (sem_destroy(sem))
- abort();
-}
-
-
-static void uv__sem_post(uv_sem_t* sem) {
- if (sem_post(sem))
- abort();
-}
-
-
-static void uv__sem_wait(uv_sem_t* sem) {
- int r;
-
- do
- r = sem_wait(sem);
- while (r == -1 && errno == EINTR);
-
- if (r)
- abort();
-}
-
-
-static int uv__sem_trywait(uv_sem_t* sem) {
- int r;
-
- do
- r = sem_trywait(sem);
- while (r == -1 && errno == EINTR);
-
- if (r) {
- if (errno == EAGAIN)
- return UV_EAGAIN;
- abort();
- }
-
- return 0;
-}
-
-int uv_sem_init(uv_sem_t* sem, unsigned int value) {
-#ifdef __GLIBC__
- uv_once(&glibc_version_check_once, glibc_version_check);
-#endif
-
- if (platform_needs_custom_semaphore)
- return uv__custom_sem_init(sem, value);
- else
- return uv__sem_init(sem, value);
-}
-
-
-void uv_sem_destroy(uv_sem_t* sem) {
- if (platform_needs_custom_semaphore)
- uv__custom_sem_destroy(sem);
- else
- uv__sem_destroy(sem);
-}
-
-
-void uv_sem_post(uv_sem_t* sem) {
- if (platform_needs_custom_semaphore)
- uv__custom_sem_post(sem);
- else
- uv__sem_post(sem);
-}
-
-
-void uv_sem_wait(uv_sem_t* sem) {
- if (platform_needs_custom_semaphore)
- uv__custom_sem_wait(sem);
- else
- uv__sem_wait(sem);
-}
-
-
-int uv_sem_trywait(uv_sem_t* sem) {
- if (platform_needs_custom_semaphore)
- return uv__custom_sem_trywait(sem);
- else
- return uv__sem_trywait(sem);
-}
-
-#endif /* defined(__APPLE__) && defined(__MACH__) */
-
-
-#if defined(__APPLE__) && defined(__MACH__) || defined(__MVS__)
-
-int uv_cond_init(uv_cond_t* cond) {
- return UV__ERR(pthread_cond_init(cond, NULL));
-}
-
-#else /* !(defined(__APPLE__) && defined(__MACH__)) */
-
-int uv_cond_init(uv_cond_t* cond) {
- pthread_condattr_t attr;
- int err;
-
- err = pthread_condattr_init(&attr);
- if (err)
- return UV__ERR(err);
-
-#if !(defined(__ANDROID_API__) && __ANDROID_API__ < 21)
- err = pthread_condattr_setclock(&attr, CLOCK_MONOTONIC);
- if (err)
- goto error2;
-#endif
-
- err = pthread_cond_init(cond, &attr);
- if (err)
- goto error2;
-
- err = pthread_condattr_destroy(&attr);
- if (err)
- goto error;
-
- return 0;
-
-error:
- pthread_cond_destroy(cond);
-error2:
- pthread_condattr_destroy(&attr);
- return UV__ERR(err);
-}
-
-#endif /* defined(__APPLE__) && defined(__MACH__) */
-
-void uv_cond_destroy(uv_cond_t* cond) {
-#if defined(__APPLE__) && defined(__MACH__)
- /* It has been reported that destroying condition variables that have been
- * signalled but not waited on can sometimes result in application crashes.
- * See https://codereview.chromium.org/1323293005.
- */
- pthread_mutex_t mutex;
- struct timespec ts;
- int err;
-
- if (pthread_mutex_init(&mutex, NULL))
- abort();
-
- if (pthread_mutex_lock(&mutex))
- abort();
-
- ts.tv_sec = 0;
- ts.tv_nsec = 1;
-
- err = pthread_cond_timedwait_relative_np(cond, &mutex, &ts);
- if (err != 0 && err != ETIMEDOUT)
- abort();
-
- if (pthread_mutex_unlock(&mutex))
- abort();
-
- if (pthread_mutex_destroy(&mutex))
- abort();
-#endif /* defined(__APPLE__) && defined(__MACH__) */
-
- if (pthread_cond_destroy(cond))
- abort();
-}
-
-void uv_cond_signal(uv_cond_t* cond) {
- if (pthread_cond_signal(cond))
- abort();
-}
-
-void uv_cond_broadcast(uv_cond_t* cond) {
- if (pthread_cond_broadcast(cond))
- abort();
-}
-
-void uv_cond_wait(uv_cond_t* cond, uv_mutex_t* mutex) {
- if (pthread_cond_wait(cond, mutex))
- abort();
-}
-
-
-int uv_cond_timedwait(uv_cond_t* cond, uv_mutex_t* mutex, uint64_t timeout) {
- int r;
- struct timespec ts;
-#if defined(__MVS__)
- struct timeval tv;
-#endif
-
-#if defined(__APPLE__) && defined(__MACH__)
- ts.tv_sec = timeout / NANOSEC;
- ts.tv_nsec = timeout % NANOSEC;
- r = pthread_cond_timedwait_relative_np(cond, mutex, &ts);
-#else
-#if defined(__MVS__)
- if (gettimeofday(&tv, NULL))
- abort();
- timeout += tv.tv_sec * NANOSEC + tv.tv_usec * 1e3;
-#else
- timeout += uv__hrtime(UV_CLOCK_PRECISE);
-#endif
- ts.tv_sec = timeout / NANOSEC;
- ts.tv_nsec = timeout % NANOSEC;
-#if defined(__ANDROID_API__) && __ANDROID_API__ < 21
-
- /*
- * The bionic pthread implementation doesn't support CLOCK_MONOTONIC,
- * but has this alternative function instead.
- */
- r = pthread_cond_timedwait_monotonic_np(cond, mutex, &ts);
-#else
- r = pthread_cond_timedwait(cond, mutex, &ts);
-#endif /* __ANDROID_API__ */
-#endif
-
-
- if (r == 0)
- return 0;
-
- if (r == ETIMEDOUT)
- return UV_ETIMEDOUT;
-
- abort();
- return UV_EINVAL; /* Satisfy the compiler. */
-}
-
-
-int uv_barrier_init(uv_barrier_t* barrier, unsigned int count) {
- return UV__ERR(pthread_barrier_init(barrier, NULL, count));
-}
-
-
-void uv_barrier_destroy(uv_barrier_t* barrier) {
- if (pthread_barrier_destroy(barrier))
- abort();
-}
-
-
-int uv_barrier_wait(uv_barrier_t* barrier) {
- int r = pthread_barrier_wait(barrier);
- if (r && r != PTHREAD_BARRIER_SERIAL_THREAD)
- abort();
- return r == PTHREAD_BARRIER_SERIAL_THREAD;
-}
-
-
-int uv_key_create(uv_key_t* key) {
- return UV__ERR(pthread_key_create(key, NULL));
-}
-
-
-void uv_key_delete(uv_key_t* key) {
- if (pthread_key_delete(*key))
- abort();
-}
-
-
-void* uv_key_get(uv_key_t* key) {
- return pthread_getspecific(*key);
-}
-
-
-void uv_key_set(uv_key_t* key, void* value) {
- if (pthread_setspecific(*key, value))
- abort();
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/timer.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/timer.cpp
deleted file mode 100644
index 54dabfe..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/timer.cpp
+++ /dev/null
@@ -1,172 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include "uv.h"
-#include "internal.h"
-#include "heap-inl.h"
-
-#include <assert.h>
-#include <limits.h>
-
-
-static int timer_less_than(const struct heap_node* ha,
- const struct heap_node* hb) {
- const uv_timer_t* a;
- const uv_timer_t* b;
-
- a = container_of(ha, uv_timer_t, heap_node);
- b = container_of(hb, uv_timer_t, heap_node);
-
- if (a->timeout < b->timeout)
- return 1;
- if (b->timeout < a->timeout)
- return 0;
-
- /* Compare start_id when both have the same timeout. start_id is
- * allocated with loop->timer_counter in uv_timer_start().
- */
- if (a->start_id < b->start_id)
- return 1;
- if (b->start_id < a->start_id)
- return 0;
-
- return 0;
-}
-
-
-int uv_timer_init(uv_loop_t* loop, uv_timer_t* handle) {
- uv__handle_init(loop, (uv_handle_t*)handle, UV_TIMER);
- handle->timer_cb = NULL;
- handle->repeat = 0;
- return 0;
-}
-
-
-int uv_timer_start(uv_timer_t* handle,
- uv_timer_cb cb,
- uint64_t timeout,
- uint64_t repeat) {
- uint64_t clamped_timeout;
-
- if (cb == NULL)
- return UV_EINVAL;
-
- if (uv__is_active(handle))
- uv_timer_stop(handle);
-
- clamped_timeout = handle->loop->time + timeout;
- if (clamped_timeout < timeout)
- clamped_timeout = (uint64_t) -1;
-
- handle->timer_cb = cb;
- handle->timeout = clamped_timeout;
- handle->repeat = repeat;
- /* start_id is the second index to be compared in uv__timer_cmp() */
- handle->start_id = handle->loop->timer_counter++;
-
- heap_insert((struct heap*) &handle->loop->timer_heap,
- (struct heap_node*) &handle->heap_node,
- timer_less_than);
- uv__handle_start(handle);
-
- return 0;
-}
-
-
-int uv_timer_stop(uv_timer_t* handle) {
- if (!uv__is_active(handle))
- return 0;
-
- heap_remove((struct heap*) &handle->loop->timer_heap,
- (struct heap_node*) &handle->heap_node,
- timer_less_than);
- uv__handle_stop(handle);
-
- return 0;
-}
-
-
-int uv_timer_again(uv_timer_t* handle) {
- if (handle->timer_cb == NULL)
- return UV_EINVAL;
-
- if (handle->repeat) {
- uv_timer_stop(handle);
- uv_timer_start(handle, handle->timer_cb, handle->repeat, handle->repeat);
- }
-
- return 0;
-}
-
-
-void uv_timer_set_repeat(uv_timer_t* handle, uint64_t repeat) {
- handle->repeat = repeat;
-}
-
-
-uint64_t uv_timer_get_repeat(const uv_timer_t* handle) {
- return handle->repeat;
-}
-
-
-int uv__next_timeout(const uv_loop_t* loop) {
- const struct heap_node* heap_node;
- const uv_timer_t* handle;
- uint64_t diff;
-
- heap_node = heap_min((const struct heap*) &loop->timer_heap);
- if (heap_node == NULL)
- return -1; /* block indefinitely */
-
- handle = container_of(heap_node, uv_timer_t, heap_node);
- if (handle->timeout <= loop->time)
- return 0;
-
- diff = handle->timeout - loop->time;
- if (diff > INT_MAX)
- diff = INT_MAX;
-
- return diff;
-}
-
-
-void uv__run_timers(uv_loop_t* loop) {
- struct heap_node* heap_node;
- uv_timer_t* handle;
-
- for (;;) {
- heap_node = heap_min((struct heap*) &loop->timer_heap);
- if (heap_node == NULL)
- break;
-
- handle = container_of(heap_node, uv_timer_t, heap_node);
- if (handle->timeout > loop->time)
- break;
-
- uv_timer_stop(handle);
- uv_timer_again(handle);
- handle->timer_cb(handle);
- }
-}
-
-
-void uv__timer_close(uv_timer_t* handle) {
- uv_timer_stop(handle);
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/tty.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/tty.cpp
deleted file mode 100644
index f22b3b8..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/tty.cpp
+++ /dev/null
@@ -1,372 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include "uv.h"
-#include "internal.h"
-#include "spinlock.h"
-
-#include <stdlib.h>
-#include <assert.h>
-#include <unistd.h>
-#include <termios.h>
-#include <errno.h>
-#include <sys/ioctl.h>
-
-#if defined(__MVS__) && !defined(IMAXBEL)
-#define IMAXBEL 0
-#endif
-
-static int orig_termios_fd = -1;
-static struct termios orig_termios;
-static uv_spinlock_t termios_spinlock = UV_SPINLOCK_INITIALIZER;
-
-static int uv__tty_is_slave(const int fd) {
- int result;
-#if defined(__linux__) || defined(__FreeBSD__) || defined(__FreeBSD_kernel__)
- int dummy;
-
- result = ioctl(fd, TIOCGPTN, &dummy) != 0;
-#elif defined(__APPLE__)
- char dummy[256];
-
- result = ioctl(fd, TIOCPTYGNAME, &dummy) != 0;
-#elif defined(__NetBSD__)
- /*
- * NetBSD as an extension returns with ptsname(3) and ptsname_r(3) the slave
- * device name for both descriptors, the master one and slave one.
- *
- * Implement function to compare major device number with pts devices.
- *
- * The major numbers are machine-dependent, on NetBSD/amd64 they are
- * respectively:
- * - master tty: ptc - major 6
- * - slave tty: pts - major 5
- */
-
- struct stat sb;
- /* Lookup device's major for the pts driver and cache it. */
- static devmajor_t pts = NODEVMAJOR;
-
- if (pts == NODEVMAJOR) {
- pts = getdevmajor("pts", S_IFCHR);
- if (pts == NODEVMAJOR)
- abort();
- }
-
- /* Lookup stat structure behind the file descriptor. */
- if (fstat(fd, &sb) != 0)
- abort();
-
- /* Assert character device. */
- if (!S_ISCHR(sb.st_mode))
- abort();
-
- /* Assert valid major. */
- if (major(sb.st_rdev) == NODEVMAJOR)
- abort();
-
- result = (pts == major(sb.st_rdev));
-#else
- /* Fallback to ptsname
- */
- result = ptsname(fd) == NULL;
-#endif
- return result;
-}
-
-int uv_tty_init(uv_loop_t* loop, uv_tty_t* tty, int fd, int readable) {
- uv_handle_type type;
- int flags;
- int newfd;
- int r;
- int saved_flags;
- char path[256];
-
- /* File descriptors that refer to files cannot be monitored with epoll.
- * That restriction also applies to character devices like /dev/random
- * (but obviously not /dev/tty.)
- */
- type = uv_guess_handle(fd);
- if (type == UV_FILE || type == UV_UNKNOWN_HANDLE)
- return UV_EINVAL;
-
- flags = 0;
- newfd = -1;
-
- /* Reopen the file descriptor when it refers to a tty. This lets us put the
- * tty in non-blocking mode without affecting other processes that share it
- * with us.
- *
- * Example: `node | cat` - if we put our fd 0 in non-blocking mode, it also
- * affects fd 1 of `cat` because both file descriptors refer to the same
- * struct file in the kernel. When we reopen our fd 0, it points to a
- * different struct file, hence changing its properties doesn't affect
- * other processes.
- */
- if (type == UV_TTY) {
- /* Reopening a pty in master mode won't work either because the reopened
- * pty will be in slave mode (*BSD) or reopening will allocate a new
- * master/slave pair (Linux). Therefore check if the fd points to a
- * slave device.
- */
- if (uv__tty_is_slave(fd) && ttyname_r(fd, path, sizeof(path)) == 0)
- r = uv__open_cloexec(path, O_RDWR);
- else
- r = -1;
-
- if (r < 0) {
- /* fallback to using blocking writes */
- if (!readable)
- flags |= UV_STREAM_BLOCKING;
- goto skip;
- }
-
- newfd = r;
-
- r = uv__dup2_cloexec(newfd, fd);
- if (r < 0 && r != UV_EINVAL) {
- /* EINVAL means newfd == fd which could conceivably happen if another
- * thread called close(fd) between our calls to isatty() and open().
- * That's a rather unlikely event but let's handle it anyway.
- */
- uv__close(newfd);
- return r;
- }
-
- fd = newfd;
- }
-
-#if defined(__APPLE__)
- /* Save the fd flags in case we need to restore them due to an error. */
- do
- saved_flags = fcntl(fd, F_GETFL);
- while (saved_flags == -1 && errno == EINTR);
-
- if (saved_flags == -1) {
- if (newfd != -1)
- uv__close(newfd);
- return UV__ERR(errno);
- }
-#endif
-
- /* Pacify the compiler. */
- (void) &saved_flags;
-
-skip:
- uv__stream_init(loop, (uv_stream_t*) tty, UV_TTY);
-
- /* If anything fails beyond this point we need to remove the handle from
- * the handle queue, since it was added by uv__handle_init in uv_stream_init.
- */
-
- if (!(flags & UV_STREAM_BLOCKING))
- uv__nonblock(fd, 1);
-
-#if defined(__APPLE__)
- r = uv__stream_try_select((uv_stream_t*) tty, &fd);
- if (r) {
- int rc = r;
- if (newfd != -1)
- uv__close(newfd);
- QUEUE_REMOVE(&tty->handle_queue);
- do
- r = fcntl(fd, F_SETFL, saved_flags);
- while (r == -1 && errno == EINTR);
- return rc;
- }
-#endif
-
- if (readable)
- flags |= UV_STREAM_READABLE;
- else
- flags |= UV_STREAM_WRITABLE;
-
- uv__stream_open((uv_stream_t*) tty, fd, flags);
- tty->mode = UV_TTY_MODE_NORMAL;
-
- return 0;
-}
-
-static void uv__tty_make_raw(struct termios* tio) {
- assert(tio != NULL);
-
-#if defined __sun || defined __MVS__
- /*
- * This implementation of cfmakeraw for Solaris and derivatives is taken from
- * http://www.perkin.org.uk/posts/solaris-portability-cfmakeraw.html.
- */
- tio->c_iflag &= ~(IMAXBEL | IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR |
- IGNCR | ICRNL | IXON);
- tio->c_oflag &= ~OPOST;
- tio->c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN);
- tio->c_cflag &= ~(CSIZE | PARENB);
- tio->c_cflag |= CS8;
-#else
- cfmakeraw(tio);
-#endif /* #ifdef __sun */
-}
-
-int uv_tty_set_mode(uv_tty_t* tty, uv_tty_mode_t mode) {
- struct termios tmp;
- int fd;
-
- if (tty->mode == (int) mode)
- return 0;
-
- fd = uv__stream_fd(tty);
- if (tty->mode == UV_TTY_MODE_NORMAL && mode != UV_TTY_MODE_NORMAL) {
- if (tcgetattr(fd, &tty->orig_termios))
- return UV__ERR(errno);
-
- /* This is used for uv_tty_reset_mode() */
- uv_spinlock_lock(&termios_spinlock);
- if (orig_termios_fd == -1) {
- orig_termios = tty->orig_termios;
- orig_termios_fd = fd;
- }
- uv_spinlock_unlock(&termios_spinlock);
- }
-
- tmp = tty->orig_termios;
- switch (mode) {
- case UV_TTY_MODE_NORMAL:
- break;
- case UV_TTY_MODE_RAW:
- tmp.c_iflag &= ~(BRKINT | ICRNL | INPCK | ISTRIP | IXON);
- tmp.c_oflag |= (ONLCR);
- tmp.c_cflag |= (CS8);
- tmp.c_lflag &= ~(ECHO | ICANON | IEXTEN | ISIG);
- tmp.c_cc[VMIN] = 1;
- tmp.c_cc[VTIME] = 0;
- break;
- case UV_TTY_MODE_IO:
- uv__tty_make_raw(&tmp);
- break;
- }
-
- /* Apply changes after draining */
- if (tcsetattr(fd, TCSADRAIN, &tmp))
- return UV__ERR(errno);
-
- tty->mode = mode;
- return 0;
-}
-
-
-int uv_tty_get_winsize(uv_tty_t* tty, int* width, int* height) {
- struct winsize ws;
- int err;
-
- do
- err = ioctl(uv__stream_fd(tty), TIOCGWINSZ, &ws);
- while (err == -1 && errno == EINTR);
-
- if (err == -1)
- return UV__ERR(errno);
-
- *width = ws.ws_col;
- *height = ws.ws_row;
-
- return 0;
-}
-
-
-uv_handle_type uv_guess_handle(uv_file file) {
- struct sockaddr sa;
- struct stat s;
- socklen_t len;
- int type;
-
- if (file < 0)
- return UV_UNKNOWN_HANDLE;
-
- if (isatty(file))
- return UV_TTY;
-
- if (fstat(file, &s))
- return UV_UNKNOWN_HANDLE;
-
- if (S_ISREG(s.st_mode))
- return UV_FILE;
-
- if (S_ISCHR(s.st_mode))
- return UV_FILE; /* XXX UV_NAMED_PIPE? */
-
- if (S_ISFIFO(s.st_mode))
- return UV_NAMED_PIPE;
-
- if (!S_ISSOCK(s.st_mode))
- return UV_UNKNOWN_HANDLE;
-
- len = sizeof(type);
- if (getsockopt(file, SOL_SOCKET, SO_TYPE, &type, &len))
- return UV_UNKNOWN_HANDLE;
-
- len = sizeof(sa);
- if (getsockname(file, &sa, &len))
- return UV_UNKNOWN_HANDLE;
-
- if (type == SOCK_DGRAM)
- if (sa.sa_family == AF_INET || sa.sa_family == AF_INET6)
- return UV_UDP;
-
- if (type == SOCK_STREAM) {
-#if defined(_AIX) || defined(__DragonFly__)
- /* on AIX/DragonFly the getsockname call returns an empty sa structure
- * for sockets of type AF_UNIX. For all other types it will
- * return a properly filled in structure.
- */
- if (len == 0)
- return UV_NAMED_PIPE;
-#endif /* defined(_AIX) || defined(__DragonFly__) */
-
- if (sa.sa_family == AF_INET || sa.sa_family == AF_INET6)
- return UV_TCP;
- if (sa.sa_family == AF_UNIX)
- return UV_NAMED_PIPE;
- }
-
- return UV_UNKNOWN_HANDLE;
-}
-
-
-/* This function is async signal-safe, meaning that it's safe to call from
- * inside a signal handler _unless_ execution was inside uv_tty_set_mode()'s
- * critical section when the signal was raised.
- */
-int uv_tty_reset_mode(void) {
- int saved_errno;
- int err;
-
- saved_errno = errno;
- if (!uv_spinlock_trylock(&termios_spinlock))
- return UV_EBUSY; /* In uv_tty_set_mode(). */
-
- err = 0;
- if (orig_termios_fd != -1)
- if (tcsetattr(orig_termios_fd, TCSANOW, &orig_termios))
- err = UV__ERR(errno);
-
- uv_spinlock_unlock(&termios_spinlock);
- errno = saved_errno;
-
- return err;
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/udp.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/udp.cpp
deleted file mode 100644
index 7fa1403..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/unix/udp.cpp
+++ /dev/null
@@ -1,905 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include "uv.h"
-#include "internal.h"
-
-#include <assert.h>
-#include <string.h>
-#include <errno.h>
-#include <stdlib.h>
-#include <unistd.h>
-#if defined(__MVS__)
-#include <xti.h>
-#endif
-
-#if defined(IPV6_JOIN_GROUP) && !defined(IPV6_ADD_MEMBERSHIP)
-# define IPV6_ADD_MEMBERSHIP IPV6_JOIN_GROUP
-#endif
-
-#if defined(IPV6_LEAVE_GROUP) && !defined(IPV6_DROP_MEMBERSHIP)
-# define IPV6_DROP_MEMBERSHIP IPV6_LEAVE_GROUP
-#endif
-
-
-static void uv__udp_run_completed(uv_udp_t* handle);
-static void uv__udp_io(uv_loop_t* loop, uv__io_t* w, unsigned int revents);
-static void uv__udp_recvmsg(uv_udp_t* handle);
-static void uv__udp_sendmsg(uv_udp_t* handle);
-static int uv__udp_maybe_deferred_bind(uv_udp_t* handle,
- int domain,
- unsigned int flags);
-
-
-void uv__udp_close(uv_udp_t* handle) {
- uv__io_close(handle->loop, &handle->io_watcher);
- uv__handle_stop(handle);
-
- if (handle->io_watcher.fd != -1) {
- uv__close(handle->io_watcher.fd);
- handle->io_watcher.fd = -1;
- }
-}
-
-
-void uv__udp_finish_close(uv_udp_t* handle) {
- uv_udp_send_t* req;
- QUEUE* q;
-
- assert(!uv__io_active(&handle->io_watcher, POLLIN | POLLOUT));
- assert(handle->io_watcher.fd == -1);
-
- while (!QUEUE_EMPTY(&handle->write_queue)) {
- q = QUEUE_HEAD(&handle->write_queue);
- QUEUE_REMOVE(q);
-
- req = QUEUE_DATA(q, uv_udp_send_t, queue);
- req->status = UV_ECANCELED;
- QUEUE_INSERT_TAIL(&handle->write_completed_queue, &req->queue);
- }
-
- uv__udp_run_completed(handle);
-
- assert(handle->send_queue_size == 0);
- assert(handle->send_queue_count == 0);
-
- /* Now tear down the handle. */
- handle->recv_cb = NULL;
- handle->alloc_cb = NULL;
- /* but _do not_ touch close_cb */
-}
-
-
-static void uv__udp_run_completed(uv_udp_t* handle) {
- uv_udp_send_t* req;
- QUEUE* q;
-
- assert(!(handle->flags & UV_UDP_PROCESSING));
- handle->flags |= UV_UDP_PROCESSING;
-
- while (!QUEUE_EMPTY(&handle->write_completed_queue)) {
- q = QUEUE_HEAD(&handle->write_completed_queue);
- QUEUE_REMOVE(q);
-
- req = QUEUE_DATA(q, uv_udp_send_t, queue);
- uv__req_unregister(handle->loop, req);
-
- handle->send_queue_size -= uv__count_bufs(req->bufs, req->nbufs);
- handle->send_queue_count--;
-
- if (req->bufs != req->bufsml)
- uv__free(req->bufs);
- req->bufs = NULL;
-
- if (req->send_cb == NULL)
- continue;
-
- /* req->status >= 0 == bytes written
- * req->status < 0 == errno
- */
- if (req->status >= 0)
- req->send_cb(req, 0);
- else
- req->send_cb(req, req->status);
- }
-
- if (QUEUE_EMPTY(&handle->write_queue)) {
- /* Pending queue and completion queue empty, stop watcher. */
- uv__io_stop(handle->loop, &handle->io_watcher, POLLOUT);
- if (!uv__io_active(&handle->io_watcher, POLLIN))
- uv__handle_stop(handle);
- }
-
- handle->flags &= ~UV_UDP_PROCESSING;
-}
-
-
-static void uv__udp_io(uv_loop_t* loop, uv__io_t* w, unsigned int revents) {
- uv_udp_t* handle;
-
- handle = container_of(w, uv_udp_t, io_watcher);
- assert(handle->type == UV_UDP);
-
- if (revents & POLLIN)
- uv__udp_recvmsg(handle);
-
- if (revents & POLLOUT) {
- uv__udp_sendmsg(handle);
- uv__udp_run_completed(handle);
- }
-}
-
-
-static void uv__udp_recvmsg(uv_udp_t* handle) {
- struct sockaddr_storage peer;
- struct msghdr h;
- ssize_t nread;
- uv_buf_t buf;
- int flags;
- int count;
-
- assert(handle->recv_cb != NULL);
- assert(handle->alloc_cb != NULL);
-
- /* Prevent loop starvation when the data comes in as fast as (or faster than)
- * we can read it. XXX Need to rearm fd if we switch to edge-triggered I/O.
- */
- count = 32;
-
- memset(&h, 0, sizeof(h));
- h.msg_name = &peer;
-
- do {
- buf = uv_buf_init(NULL, 0);
- handle->alloc_cb((uv_handle_t*) handle, 64 * 1024, &buf);
- if (buf.base == NULL || buf.len == 0) {
- handle->recv_cb(handle, UV_ENOBUFS, &buf, NULL, 0);
- return;
- }
- assert(buf.base != NULL);
-
- h.msg_namelen = sizeof(peer);
- h.msg_iov = (iovec*) &buf;
- h.msg_iovlen = 1;
-
- do {
- nread = recvmsg(handle->io_watcher.fd, &h, 0);
- }
- while (nread == -1 && errno == EINTR);
-
- if (nread == -1) {
- if (errno == EAGAIN || errno == EWOULDBLOCK)
- handle->recv_cb(handle, 0, &buf, NULL, 0);
- else
- handle->recv_cb(handle, UV__ERR(errno), &buf, NULL, 0);
- }
- else {
- const struct sockaddr *addr;
- if (h.msg_namelen == 0)
- addr = NULL;
- else
- addr = (const struct sockaddr*) &peer;
-
- flags = 0;
- if (h.msg_flags & MSG_TRUNC)
- flags |= UV_UDP_PARTIAL;
-
- handle->recv_cb(handle, nread, &buf, addr, flags);
- }
- }
- /* recv_cb callback may decide to pause or close the handle */
- while (nread != -1
- && count-- > 0
- && handle->io_watcher.fd != -1
- && handle->recv_cb != NULL);
-}
-
-
-static void uv__udp_sendmsg(uv_udp_t* handle) {
- uv_udp_send_t* req;
- QUEUE* q;
- struct msghdr h;
- ssize_t size;
-
- while (!QUEUE_EMPTY(&handle->write_queue)) {
- q = QUEUE_HEAD(&handle->write_queue);
- assert(q != NULL);
-
- req = QUEUE_DATA(q, uv_udp_send_t, queue);
- assert(req != NULL);
-
- memset(&h, 0, sizeof h);
- h.msg_name = &req->addr;
- h.msg_namelen = (req->addr.ss_family == AF_INET6 ?
- sizeof(struct sockaddr_in6) : sizeof(struct sockaddr_in));
- h.msg_iov = (struct iovec*) req->bufs;
- h.msg_iovlen = req->nbufs;
-
- do {
- size = sendmsg(handle->io_watcher.fd, &h, 0);
- } while (size == -1 && errno == EINTR);
-
- if (size == -1) {
- if (errno == EAGAIN || errno == EWOULDBLOCK || errno == ENOBUFS)
- break;
- }
-
- req->status = (size == -1 ? UV__ERR(errno) : size);
-
- /* Sending a datagram is an atomic operation: either all data
- * is written or nothing is (and EMSGSIZE is raised). That is
- * why we don't handle partial writes. Just pop the request
- * off the write queue and onto the completed queue, done.
- */
- QUEUE_REMOVE(&req->queue);
- QUEUE_INSERT_TAIL(&handle->write_completed_queue, &req->queue);
- uv__io_feed(handle->loop, &handle->io_watcher);
- }
-}
-
-
-/* On the BSDs, SO_REUSEPORT implies SO_REUSEADDR but with some additional
- * refinements for programs that use multicast.
- *
- * Linux as of 3.9 has a SO_REUSEPORT socket option but with semantics that
- * are different from the BSDs: it _shares_ the port rather than steal it
- * from the current listener. While useful, it's not something we can emulate
- * on other platforms so we don't enable it.
- */
-static int uv__set_reuse(int fd) {
- int yes;
-
-#if defined(SO_REUSEPORT) && !defined(__linux__)
- yes = 1;
- if (setsockopt(fd, SOL_SOCKET, SO_REUSEPORT, &yes, sizeof(yes)))
- return UV__ERR(errno);
-#else
- yes = 1;
- if (setsockopt(fd, SOL_SOCKET, SO_REUSEADDR, &yes, sizeof(yes)))
- return UV__ERR(errno);
-#endif
-
- return 0;
-}
-
-
-int uv__udp_bind(uv_udp_t* handle,
- const struct sockaddr* addr,
- unsigned int addrlen,
- unsigned int flags) {
- int err;
- int yes;
- int fd;
-
- /* Check for bad flags. */
- if (flags & ~(UV_UDP_IPV6ONLY | UV_UDP_REUSEADDR))
- return UV_EINVAL;
-
- /* Cannot set IPv6-only mode on non-IPv6 socket. */
- if ((flags & UV_UDP_IPV6ONLY) && addr->sa_family != AF_INET6)
- return UV_EINVAL;
-
- fd = handle->io_watcher.fd;
- if (fd == -1) {
- err = uv__socket(addr->sa_family, SOCK_DGRAM, 0);
- if (err < 0)
- return err;
- fd = err;
- handle->io_watcher.fd = fd;
- }
-
- if (flags & UV_UDP_REUSEADDR) {
- err = uv__set_reuse(fd);
- if (err)
- return err;
- }
-
- if (flags & UV_UDP_IPV6ONLY) {
-#ifdef IPV6_V6ONLY
- yes = 1;
- if (setsockopt(fd, IPPROTO_IPV6, IPV6_V6ONLY, &yes, sizeof yes) == -1) {
- err = UV__ERR(errno);
- return err;
- }
-#else
- err = UV_ENOTSUP;
- return err;
-#endif
- }
-
- if (bind(fd, addr, addrlen)) {
- err = UV__ERR(errno);
- if (errno == EAFNOSUPPORT)
- /* OSX, other BSDs and SunoS fail with EAFNOSUPPORT when binding a
- * socket created with AF_INET to an AF_INET6 address or vice versa. */
- err = UV_EINVAL;
- return err;
- }
-
- if (addr->sa_family == AF_INET6)
- handle->flags |= UV_HANDLE_IPV6;
-
- handle->flags |= UV_HANDLE_BOUND;
- return 0;
-}
-
-
-static int uv__udp_maybe_deferred_bind(uv_udp_t* handle,
- int domain,
- unsigned int flags) {
- union {
- struct sockaddr_in6 in6;
- struct sockaddr_in in;
- struct sockaddr addr;
- } taddr;
- socklen_t addrlen;
-
- if (handle->io_watcher.fd != -1)
- return 0;
-
- switch (domain) {
- case AF_INET:
- {
- struct sockaddr_in* addr = &taddr.in;
- memset(addr, 0, sizeof *addr);
- addr->sin_family = AF_INET;
- addr->sin_addr.s_addr = INADDR_ANY;
- addrlen = sizeof *addr;
- break;
- }
- case AF_INET6:
- {
- struct sockaddr_in6* addr = &taddr.in6;
- memset(addr, 0, sizeof *addr);
- addr->sin6_family = AF_INET6;
- addr->sin6_addr = in6addr_any;
- addrlen = sizeof *addr;
- break;
- }
- default:
- assert(0 && "unsupported address family");
- abort();
- }
-
- return uv__udp_bind(handle, &taddr.addr, addrlen, flags);
-}
-
-
-int uv__udp_send(uv_udp_send_t* req,
- uv_udp_t* handle,
- const uv_buf_t bufs[],
- unsigned int nbufs,
- const struct sockaddr* addr,
- unsigned int addrlen,
- uv_udp_send_cb send_cb) {
- int err;
- int empty_queue;
-
- assert(nbufs > 0);
-
- err = uv__udp_maybe_deferred_bind(handle, addr->sa_family, 0);
- if (err)
- return err;
-
- /* It's legal for send_queue_count > 0 even when the write_queue is empty;
- * it means there are error-state requests in the write_completed_queue that
- * will touch up send_queue_size/count later.
- */
- empty_queue = (handle->send_queue_count == 0);
-
- uv__req_init(handle->loop, req, UV_UDP_SEND);
- assert(addrlen <= sizeof(req->addr));
- memcpy(&req->addr, addr, addrlen);
- req->send_cb = send_cb;
- req->handle = handle;
- req->nbufs = nbufs;
-
- req->bufs = req->bufsml;
- if (nbufs > ARRAY_SIZE(req->bufsml))
- req->bufs = (uv_buf_t*)uv__malloc(nbufs * sizeof(bufs[0]));
-
- if (req->bufs == NULL) {
- uv__req_unregister(handle->loop, req);
- return UV_ENOMEM;
- }
-
- memcpy(req->bufs, bufs, nbufs * sizeof(bufs[0]));
- handle->send_queue_size += uv__count_bufs(req->bufs, req->nbufs);
- handle->send_queue_count++;
- QUEUE_INSERT_TAIL(&handle->write_queue, &req->queue);
- uv__handle_start(handle);
-
- if (empty_queue && !(handle->flags & UV_UDP_PROCESSING)) {
- uv__udp_sendmsg(handle);
-
- /* `uv__udp_sendmsg` may not be able to do non-blocking write straight
- * away. In such cases the `io_watcher` has to be queued for asynchronous
- * write.
- */
- if (!QUEUE_EMPTY(&handle->write_queue))
- uv__io_start(handle->loop, &handle->io_watcher, POLLOUT);
- } else {
- uv__io_start(handle->loop, &handle->io_watcher, POLLOUT);
- }
-
- return 0;
-}
-
-
-int uv__udp_try_send(uv_udp_t* handle,
- const uv_buf_t bufs[],
- unsigned int nbufs,
- const struct sockaddr* addr,
- unsigned int addrlen) {
- int err;
- struct msghdr h;
- ssize_t size;
-
- assert(nbufs > 0);
-
- /* already sending a message */
- if (handle->send_queue_count != 0)
- return UV_EAGAIN;
-
- err = uv__udp_maybe_deferred_bind(handle, addr->sa_family, 0);
- if (err)
- return err;
-
- memset(&h, 0, sizeof h);
- h.msg_name = (struct sockaddr*) addr;
- h.msg_namelen = addrlen;
- h.msg_iov = (struct iovec*) bufs;
- h.msg_iovlen = nbufs;
-
- do {
- size = sendmsg(handle->io_watcher.fd, &h, 0);
- } while (size == -1 && errno == EINTR);
-
- if (size == -1) {
- if (errno == EAGAIN || errno == EWOULDBLOCK || errno == ENOBUFS)
- return UV_EAGAIN;
- else
- return UV__ERR(errno);
- }
-
- return size;
-}
-
-
-static int uv__udp_set_membership4(uv_udp_t* handle,
- const struct sockaddr_in* multicast_addr,
- const char* interface_addr,
- uv_membership membership) {
- struct ip_mreq mreq;
- int optname;
- int err;
-
- memset(&mreq, 0, sizeof mreq);
-
- if (interface_addr) {
- err = uv_inet_pton(AF_INET, interface_addr, &mreq.imr_interface.s_addr);
- if (err)
- return err;
- } else {
- mreq.imr_interface.s_addr = htonl(INADDR_ANY);
- }
-
- mreq.imr_multiaddr.s_addr = multicast_addr->sin_addr.s_addr;
-
- switch (membership) {
- case UV_JOIN_GROUP:
- optname = IP_ADD_MEMBERSHIP;
- break;
- case UV_LEAVE_GROUP:
- optname = IP_DROP_MEMBERSHIP;
- break;
- default:
- return UV_EINVAL;
- }
-
- if (setsockopt(handle->io_watcher.fd,
- IPPROTO_IP,
- optname,
- &mreq,
- sizeof(mreq))) {
-#if defined(__MVS__)
- if (errno == ENXIO)
- return UV_ENODEV;
-#endif
- return UV__ERR(errno);
- }
-
- return 0;
-}
-
-
-static int uv__udp_set_membership6(uv_udp_t* handle,
- const struct sockaddr_in6* multicast_addr,
- const char* interface_addr,
- uv_membership membership) {
- int optname;
- struct ipv6_mreq mreq;
- struct sockaddr_in6 addr6;
-
- memset(&mreq, 0, sizeof mreq);
-
- if (interface_addr) {
- if (uv_ip6_addr(interface_addr, 0, &addr6))
- return UV_EINVAL;
- mreq.ipv6mr_interface = addr6.sin6_scope_id;
- } else {
- mreq.ipv6mr_interface = 0;
- }
-
- mreq.ipv6mr_multiaddr = multicast_addr->sin6_addr;
-
- switch (membership) {
- case UV_JOIN_GROUP:
- optname = IPV6_ADD_MEMBERSHIP;
- break;
- case UV_LEAVE_GROUP:
- optname = IPV6_DROP_MEMBERSHIP;
- break;
- default:
- return UV_EINVAL;
- }
-
- if (setsockopt(handle->io_watcher.fd,
- IPPROTO_IPV6,
- optname,
- &mreq,
- sizeof(mreq))) {
-#if defined(__MVS__)
- if (errno == ENXIO)
- return UV_ENODEV;
-#endif
- return UV__ERR(errno);
- }
-
- return 0;
-}
-
-
-int uv_udp_init_ex(uv_loop_t* loop, uv_udp_t* handle, unsigned int flags) {
- int domain;
- int err;
- int fd;
-
- /* Use the lower 8 bits for the domain */
- domain = flags & 0xFF;
- if (domain != AF_INET && domain != AF_INET6 && domain != AF_UNSPEC)
- return UV_EINVAL;
-
- if (flags & ~0xFF)
- return UV_EINVAL;
-
- if (domain != AF_UNSPEC) {
- err = uv__socket(domain, SOCK_DGRAM, 0);
- if (err < 0)
- return err;
- fd = err;
- } else {
- fd = -1;
- }
-
- uv__handle_init(loop, (uv_handle_t*)handle, UV_UDP);
- handle->alloc_cb = NULL;
- handle->recv_cb = NULL;
- handle->send_queue_size = 0;
- handle->send_queue_count = 0;
- uv__io_init(&handle->io_watcher, uv__udp_io, fd);
- QUEUE_INIT(&handle->write_queue);
- QUEUE_INIT(&handle->write_completed_queue);
- return 0;
-}
-
-
-int uv_udp_init(uv_loop_t* loop, uv_udp_t* handle) {
- return uv_udp_init_ex(loop, handle, AF_UNSPEC);
-}
-
-
-int uv_udp_open(uv_udp_t* handle, uv_os_sock_t sock) {
- int err;
-
- /* Check for already active socket. */
- if (handle->io_watcher.fd != -1)
- return UV_EBUSY;
-
- if (uv__fd_exists(handle->loop, sock))
- return UV_EEXIST;
-
- err = uv__nonblock(sock, 1);
- if (err)
- return err;
-
- err = uv__set_reuse(sock);
- if (err)
- return err;
-
- handle->io_watcher.fd = sock;
- return 0;
-}
-
-
-int uv_udp_set_membership(uv_udp_t* handle,
- const char* multicast_addr,
- const char* interface_addr,
- uv_membership membership) {
- int err;
- struct sockaddr_in addr4;
- struct sockaddr_in6 addr6;
-
- if (uv_ip4_addr(multicast_addr, 0, &addr4) == 0) {
- err = uv__udp_maybe_deferred_bind(handle, AF_INET, UV_UDP_REUSEADDR);
- if (err)
- return err;
- return uv__udp_set_membership4(handle, &addr4, interface_addr, membership);
- } else if (uv_ip6_addr(multicast_addr, 0, &addr6) == 0) {
- err = uv__udp_maybe_deferred_bind(handle, AF_INET6, UV_UDP_REUSEADDR);
- if (err)
- return err;
- return uv__udp_set_membership6(handle, &addr6, interface_addr, membership);
- } else {
- return UV_EINVAL;
- }
-}
-
-static int uv__setsockopt(uv_udp_t* handle,
- int option4,
- int option6,
- const void* val,
- size_t size) {
- int r;
-
- if (handle->flags & UV_HANDLE_IPV6)
- r = setsockopt(handle->io_watcher.fd,
- IPPROTO_IPV6,
- option6,
- val,
- size);
- else
- r = setsockopt(handle->io_watcher.fd,
- IPPROTO_IP,
- option4,
- val,
- size);
- if (r)
- return UV__ERR(errno);
-
- return 0;
-}
-
-static int uv__setsockopt_maybe_char(uv_udp_t* handle,
- int option4,
- int option6,
- int val) {
-#if defined(__sun) || defined(_AIX) || defined(__MVS__)
- char arg = val;
-#elif defined(__OpenBSD__)
- unsigned char arg = val;
-#else
- int arg = val;
-#endif
-
- if (val < 0 || val > 255)
- return UV_EINVAL;
-
- return uv__setsockopt(handle, option4, option6, &arg, sizeof(arg));
-}
-
-
-int uv_udp_set_broadcast(uv_udp_t* handle, int on) {
- if (setsockopt(handle->io_watcher.fd,
- SOL_SOCKET,
- SO_BROADCAST,
- &on,
- sizeof(on))) {
- return UV__ERR(errno);
- }
-
- return 0;
-}
-
-
-int uv_udp_set_ttl(uv_udp_t* handle, int ttl) {
- if (ttl < 1 || ttl > 255)
- return UV_EINVAL;
-
-#if defined(__MVS__)
- if (!(handle->flags & UV_HANDLE_IPV6))
- return UV_ENOTSUP; /* zOS does not support setting ttl for IPv4 */
-#endif
-
-/*
- * On Solaris and derivatives such as SmartOS, the length of socket options
- * is sizeof(int) for IP_TTL and IPV6_UNICAST_HOPS,
- * so hardcode the size of these options on this platform,
- * and use the general uv__setsockopt_maybe_char call on other platforms.
- */
-#if defined(__sun) || defined(_AIX) || defined(__OpenBSD__) || \
- defined(__MVS__)
-
- return uv__setsockopt(handle,
- IP_TTL,
- IPV6_UNICAST_HOPS,
- &ttl,
- sizeof(ttl));
-#endif /* defined(__sun) || defined(_AIX) || defined (__OpenBSD__) ||
- defined(__MVS__) */
-
- return uv__setsockopt_maybe_char(handle,
- IP_TTL,
- IPV6_UNICAST_HOPS,
- ttl);
-}
-
-
-int uv_udp_set_multicast_ttl(uv_udp_t* handle, int ttl) {
-/*
- * On Solaris and derivatives such as SmartOS, the length of socket options
- * is sizeof(int) for IPV6_MULTICAST_HOPS and sizeof(char) for
- * IP_MULTICAST_TTL, so hardcode the size of the option in the IPv6 case,
- * and use the general uv__setsockopt_maybe_char call otherwise.
- */
-#if defined(__sun) || defined(_AIX) || defined(__MVS__)
- if (handle->flags & UV_HANDLE_IPV6)
- return uv__setsockopt(handle,
- IP_MULTICAST_TTL,
- IPV6_MULTICAST_HOPS,
- &ttl,
- sizeof(ttl));
-#endif /* defined(__sun) || defined(_AIX) || defined(__MVS__) */
-
- return uv__setsockopt_maybe_char(handle,
- IP_MULTICAST_TTL,
- IPV6_MULTICAST_HOPS,
- ttl);
-}
-
-
-int uv_udp_set_multicast_loop(uv_udp_t* handle, int on) {
-/*
- * On Solaris and derivatives such as SmartOS, the length of socket options
- * is sizeof(int) for IPV6_MULTICAST_LOOP and sizeof(char) for
- * IP_MULTICAST_LOOP, so hardcode the size of the option in the IPv6 case,
- * and use the general uv__setsockopt_maybe_char call otherwise.
- */
-#if defined(__sun) || defined(_AIX) || defined(__MVS__)
- if (handle->flags & UV_HANDLE_IPV6)
- return uv__setsockopt(handle,
- IP_MULTICAST_LOOP,
- IPV6_MULTICAST_LOOP,
- &on,
- sizeof(on));
-#endif /* defined(__sun) || defined(_AIX) || defined(__MVS__) */
-
- return uv__setsockopt_maybe_char(handle,
- IP_MULTICAST_LOOP,
- IPV6_MULTICAST_LOOP,
- on);
-}
-
-int uv_udp_set_multicast_interface(uv_udp_t* handle, const char* interface_addr) {
- struct sockaddr_storage addr_st;
- struct sockaddr_in* addr4;
- struct sockaddr_in6* addr6;
-
- addr4 = (struct sockaddr_in*) &addr_st;
- addr6 = (struct sockaddr_in6*) &addr_st;
-
- if (!interface_addr) {
- memset(&addr_st, 0, sizeof addr_st);
- if (handle->flags & UV_HANDLE_IPV6) {
- addr_st.ss_family = AF_INET6;
- addr6->sin6_scope_id = 0;
- } else {
- addr_st.ss_family = AF_INET;
- addr4->sin_addr.s_addr = htonl(INADDR_ANY);
- }
- } else if (uv_ip4_addr(interface_addr, 0, addr4) == 0) {
- /* nothing, address was parsed */
- } else if (uv_ip6_addr(interface_addr, 0, addr6) == 0) {
- /* nothing, address was parsed */
- } else {
- return UV_EINVAL;
- }
-
- if (addr_st.ss_family == AF_INET) {
- if (setsockopt(handle->io_watcher.fd,
- IPPROTO_IP,
- IP_MULTICAST_IF,
- (void*) &addr4->sin_addr,
- sizeof(addr4->sin_addr)) == -1) {
- return UV__ERR(errno);
- }
- } else if (addr_st.ss_family == AF_INET6) {
- if (setsockopt(handle->io_watcher.fd,
- IPPROTO_IPV6,
- IPV6_MULTICAST_IF,
- &addr6->sin6_scope_id,
- sizeof(addr6->sin6_scope_id)) == -1) {
- return UV__ERR(errno);
- }
- } else {
- assert(0 && "unexpected address family");
- abort();
- }
-
- return 0;
-}
-
-
-int uv_udp_getsockname(const uv_udp_t* handle,
- struct sockaddr* name,
- int* namelen) {
- socklen_t socklen;
-
- if (handle->io_watcher.fd == -1)
- return UV_EINVAL; /* FIXME(bnoordhuis) UV_EBADF */
-
- /* sizeof(socklen_t) != sizeof(int) on some systems. */
- socklen = (socklen_t) *namelen;
-
- if (getsockname(handle->io_watcher.fd, name, &socklen))
- return UV__ERR(errno);
-
- *namelen = (int) socklen;
- return 0;
-}
-
-
-int uv__udp_recv_start(uv_udp_t* handle,
- uv_alloc_cb alloc_cb,
- uv_udp_recv_cb recv_cb) {
- int err;
-
- if (alloc_cb == NULL || recv_cb == NULL)
- return UV_EINVAL;
-
- if (uv__io_active(&handle->io_watcher, POLLIN))
- return UV_EALREADY; /* FIXME(bnoordhuis) Should be UV_EBUSY. */
-
- err = uv__udp_maybe_deferred_bind(handle, AF_INET, 0);
- if (err)
- return err;
-
- handle->alloc_cb = alloc_cb;
- handle->recv_cb = recv_cb;
-
- uv__io_start(handle->loop, &handle->io_watcher, POLLIN);
- uv__handle_start(handle);
-
- return 0;
-}
-
-
-int uv__udp_recv_stop(uv_udp_t* handle) {
- uv__io_stop(handle->loop, &handle->io_watcher, POLLIN);
-
- if (!uv__io_active(&handle->io_watcher, POLLOUT))
- uv__handle_stop(handle);
-
- handle->alloc_cb = NULL;
- handle->recv_cb = NULL;
-
- return 0;
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/uv-common.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/uv-common.cpp
deleted file mode 100644
index 52149e4..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/uv-common.cpp
+++ /dev/null
@@ -1,673 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include "uv.h"
-#include "uv-common.h"
-
-#include <assert.h>
-#include <errno.h>
-#include <stdarg.h>
-#include <stddef.h> /* NULL */
-#include <stdio.h>
-#include <stdlib.h> /* malloc */
-#include <string.h> /* memset */
-
-#if defined(_WIN32)
-# include <malloc.h> /* malloc */
-#else
-# include <net/if.h> /* if_nametoindex */
-#endif
-
-
-typedef struct {
- uv_malloc_func local_malloc;
- uv_realloc_func local_realloc;
- uv_calloc_func local_calloc;
- uv_free_func local_free;
-} uv__allocator_t;
-
-static uv__allocator_t uv__allocator = {
- malloc,
- realloc,
- calloc,
- free,
-};
-
-char* uv__strdup(const char* s) {
- size_t len = strlen(s) + 1;
- char* m = (char*)uv__malloc(len);
- if (m == NULL)
- return NULL;
- return (char*)memcpy(m, s, len);
-}
-
-char* uv__strndup(const char* s, size_t n) {
- char* m;
- size_t len = strlen(s);
- if (n < len)
- len = n;
- m = (char*)uv__malloc(len + 1);
- if (m == NULL)
- return NULL;
- m[len] = '\0';
- return (char*)memcpy(m, s, len);
-}
-
-void* uv__malloc(size_t size) {
- return uv__allocator.local_malloc(size);
-}
-
-void uv__free(void* ptr) {
- int saved_errno;
-
- /* Libuv expects that free() does not clobber errno. The system allocator
- * honors that assumption but custom allocators may not be so careful.
- */
- saved_errno = errno;
- uv__allocator.local_free(ptr);
- errno = saved_errno;
-}
-
-void* uv__calloc(size_t count, size_t size) {
- return uv__allocator.local_calloc(count, size);
-}
-
-void* uv__realloc(void* ptr, size_t size) {
- return uv__allocator.local_realloc(ptr, size);
-}
-
-int uv_replace_allocator(uv_malloc_func malloc_func,
- uv_realloc_func realloc_func,
- uv_calloc_func calloc_func,
- uv_free_func free_func) {
- if (malloc_func == NULL || realloc_func == NULL ||
- calloc_func == NULL || free_func == NULL) {
- return UV_EINVAL;
- }
-
- uv__allocator.local_malloc = malloc_func;
- uv__allocator.local_realloc = realloc_func;
- uv__allocator.local_calloc = calloc_func;
- uv__allocator.local_free = free_func;
-
- return 0;
-}
-
-#define XX(uc, lc) case UV_##uc: return sizeof(uv_##lc##_t);
-
-size_t uv_handle_size(uv_handle_type type) {
- switch (type) {
- UV_HANDLE_TYPE_MAP(XX)
- default:
- return -1;
- }
-}
-
-size_t uv_req_size(uv_req_type type) {
- switch(type) {
- UV_REQ_TYPE_MAP(XX)
- default:
- return -1;
- }
-}
-
-#undef XX
-
-
-size_t uv_loop_size(void) {
- return sizeof(uv_loop_t);
-}
-
-
-uv_buf_t uv_buf_init(char* base, unsigned int len) {
- uv_buf_t buf;
- buf.base = base;
- buf.len = len;
- return buf;
-}
-
-
-static const char* uv__unknown_err_code(int err) {
- char buf[32];
- char* copy;
-
- snprintf(buf, sizeof(buf), "Unknown system error %d", err);
- copy = uv__strdup(buf);
-
- return copy != NULL ? copy : "Unknown system error";
-}
-
-
-#define UV_ERR_NAME_GEN(name, _) case UV_ ## name: return #name;
-const char* uv_err_name(int err) {
- switch (err) {
- UV_ERRNO_MAP(UV_ERR_NAME_GEN)
- }
- return uv__unknown_err_code(err);
-}
-#undef UV_ERR_NAME_GEN
-
-
-#define UV_STRERROR_GEN(name, msg) case UV_ ## name: return msg;
-const char* uv_strerror(int err) {
- switch (err) {
- UV_ERRNO_MAP(UV_STRERROR_GEN)
- }
- return uv__unknown_err_code(err);
-}
-#undef UV_STRERROR_GEN
-
-
-int uv_ip4_addr(const char* ip, int port, struct sockaddr_in* addr) {
- memset(addr, 0, sizeof(*addr));
- addr->sin_family = AF_INET;
- addr->sin_port = htons(port);
- return uv_inet_pton(AF_INET, ip, &(addr->sin_addr.s_addr));
-}
-
-
-int uv_ip6_addr(const char* ip, int port, struct sockaddr_in6* addr) {
- char address_part[40];
- size_t address_part_size;
- const char* zone_index;
-
- memset(addr, 0, sizeof(*addr));
- addr->sin6_family = AF_INET6;
- addr->sin6_port = htons(port);
-
- zone_index = strchr(ip, '%');
- if (zone_index != NULL) {
- address_part_size = zone_index - ip;
- if (address_part_size >= sizeof(address_part))
- address_part_size = sizeof(address_part) - 1;
-
- memcpy(address_part, ip, address_part_size);
- address_part[address_part_size] = '\0';
- ip = address_part;
-
- zone_index++; /* skip '%' */
- /* NOTE: unknown interface (id=0) is silently ignored */
-#ifdef _WIN32
- addr->sin6_scope_id = atoi(zone_index);
-#else
- addr->sin6_scope_id = if_nametoindex(zone_index);
-#endif
- }
-
- return uv_inet_pton(AF_INET6, ip, &addr->sin6_addr);
-}
-
-
-int uv_ip4_name(const struct sockaddr_in* src, char* dst, size_t size) {
- return uv_inet_ntop(AF_INET, &src->sin_addr, dst, size);
-}
-
-
-int uv_ip6_name(const struct sockaddr_in6* src, char* dst, size_t size) {
- return uv_inet_ntop(AF_INET6, &src->sin6_addr, dst, size);
-}
-
-
-int uv_tcp_bind(uv_tcp_t* handle,
- const struct sockaddr* addr,
- unsigned int flags) {
- unsigned int addrlen;
-
- if (handle->type != UV_TCP)
- return UV_EINVAL;
-
- if (addr->sa_family == AF_INET)
- addrlen = sizeof(struct sockaddr_in);
- else if (addr->sa_family == AF_INET6)
- addrlen = sizeof(struct sockaddr_in6);
- else
- return UV_EINVAL;
-
- return uv__tcp_bind(handle, addr, addrlen, flags);
-}
-
-
-int uv_udp_bind(uv_udp_t* handle,
- const struct sockaddr* addr,
- unsigned int flags) {
- unsigned int addrlen;
-
- if (handle->type != UV_UDP)
- return UV_EINVAL;
-
- if (addr->sa_family == AF_INET)
- addrlen = sizeof(struct sockaddr_in);
- else if (addr->sa_family == AF_INET6)
- addrlen = sizeof(struct sockaddr_in6);
- else
- return UV_EINVAL;
-
- return uv__udp_bind(handle, addr, addrlen, flags);
-}
-
-
-int uv_tcp_connect(uv_connect_t* req,
- uv_tcp_t* handle,
- const struct sockaddr* addr,
- uv_connect_cb cb) {
- unsigned int addrlen;
-
- if (handle->type != UV_TCP)
- return UV_EINVAL;
-
- if (addr->sa_family == AF_INET)
- addrlen = sizeof(struct sockaddr_in);
- else if (addr->sa_family == AF_INET6)
- addrlen = sizeof(struct sockaddr_in6);
- else
- return UV_EINVAL;
-
- return uv__tcp_connect(req, handle, addr, addrlen, cb);
-}
-
-
-int uv_udp_send(uv_udp_send_t* req,
- uv_udp_t* handle,
- const uv_buf_t bufs[],
- unsigned int nbufs,
- const struct sockaddr* addr,
- uv_udp_send_cb send_cb) {
- unsigned int addrlen;
-
- if (handle->type != UV_UDP)
- return UV_EINVAL;
-
- if (addr->sa_family == AF_INET)
- addrlen = sizeof(struct sockaddr_in);
- else if (addr->sa_family == AF_INET6)
- addrlen = sizeof(struct sockaddr_in6);
- else
- return UV_EINVAL;
-
- return uv__udp_send(req, handle, bufs, nbufs, addr, addrlen, send_cb);
-}
-
-
-int uv_udp_try_send(uv_udp_t* handle,
- const uv_buf_t bufs[],
- unsigned int nbufs,
- const struct sockaddr* addr) {
- unsigned int addrlen;
-
- if (handle->type != UV_UDP)
- return UV_EINVAL;
-
- if (addr->sa_family == AF_INET)
- addrlen = sizeof(struct sockaddr_in);
- else if (addr->sa_family == AF_INET6)
- addrlen = sizeof(struct sockaddr_in6);
- else
- return UV_EINVAL;
-
- return uv__udp_try_send(handle, bufs, nbufs, addr, addrlen);
-}
-
-
-int uv_udp_recv_start(uv_udp_t* handle,
- uv_alloc_cb alloc_cb,
- uv_udp_recv_cb recv_cb) {
- if (handle->type != UV_UDP || alloc_cb == NULL || recv_cb == NULL)
- return UV_EINVAL;
- else
- return uv__udp_recv_start(handle, alloc_cb, recv_cb);
-}
-
-
-int uv_udp_recv_stop(uv_udp_t* handle) {
- if (handle->type != UV_UDP)
- return UV_EINVAL;
- else
- return uv__udp_recv_stop(handle);
-}
-
-
-void uv_walk(uv_loop_t* loop, uv_walk_cb walk_cb, void* arg) {
- QUEUE queue;
- QUEUE* q;
- uv_handle_t* h;
-
- QUEUE_MOVE(&loop->handle_queue, &queue);
- while (!QUEUE_EMPTY(&queue)) {
- q = QUEUE_HEAD(&queue);
- h = QUEUE_DATA(q, uv_handle_t, handle_queue);
-
- QUEUE_REMOVE(q);
- QUEUE_INSERT_TAIL(&loop->handle_queue, q);
-
- if (h->flags & UV__HANDLE_INTERNAL) continue;
- walk_cb(h, arg);
- }
-}
-
-
-static void uv__print_handles(uv_loop_t* loop, int only_active, FILE* stream) {
- const char* type;
- QUEUE* q;
- uv_handle_t* h;
-
- if (loop == NULL)
- loop = uv_default_loop();
-
- QUEUE_FOREACH(q, &loop->handle_queue) {
- h = QUEUE_DATA(q, uv_handle_t, handle_queue);
-
- if (only_active && !uv__is_active(h))
- continue;
-
- switch (h->type) {
-#define X(uc, lc) case UV_##uc: type = #lc; break;
- UV_HANDLE_TYPE_MAP(X)
-#undef X
- default: type = "<unknown>";
- }
-
- fprintf(stream,
- "[%c%c%c] %-8s %p\n",
- "R-"[!(h->flags & UV__HANDLE_REF)],
- "A-"[!(h->flags & UV__HANDLE_ACTIVE)],
- "I-"[!(h->flags & UV__HANDLE_INTERNAL)],
- type,
- (void*)h);
- }
-}
-
-
-void uv_print_all_handles(uv_loop_t* loop, FILE* stream) {
- uv__print_handles(loop, 0, stream);
-}
-
-
-void uv_print_active_handles(uv_loop_t* loop, FILE* stream) {
- uv__print_handles(loop, 1, stream);
-}
-
-
-void uv_ref(uv_handle_t* handle) {
- uv__handle_ref(handle);
-}
-
-
-void uv_unref(uv_handle_t* handle) {
- uv__handle_unref(handle);
-}
-
-
-int uv_has_ref(const uv_handle_t* handle) {
- return uv__has_ref(handle);
-}
-
-
-void uv_stop(uv_loop_t* loop) {
- loop->stop_flag = 1;
-}
-
-
-uint64_t uv_now(const uv_loop_t* loop) {
- return loop->time;
-}
-
-
-
-size_t uv__count_bufs(const uv_buf_t bufs[], unsigned int nbufs) {
- unsigned int i;
- size_t bytes;
-
- bytes = 0;
- for (i = 0; i < nbufs; i++)
- bytes += (size_t) bufs[i].len;
-
- return bytes;
-}
-
-int uv_recv_buffer_size(uv_handle_t* handle, int* value) {
- return uv__socket_sockopt(handle, SO_RCVBUF, value);
-}
-
-int uv_send_buffer_size(uv_handle_t* handle, int *value) {
- return uv__socket_sockopt(handle, SO_SNDBUF, value);
-}
-
-int uv_fs_event_getpath(uv_fs_event_t* handle, char* buffer, size_t* size) {
- size_t required_len;
-
- if (!uv__is_active(handle)) {
- *size = 0;
- return UV_EINVAL;
- }
-
- required_len = strlen(handle->path);
- if (required_len >= *size) {
- *size = required_len + 1;
- return UV_ENOBUFS;
- }
-
- memcpy(buffer, handle->path, required_len);
- *size = required_len;
- buffer[required_len] = '\0';
-
- return 0;
-}
-
-/* The windows implementation does not have the same structure layout as
- * the unix implementation (nbufs is not directly inside req but is
- * contained in a nested union/struct) so this function locates it.
-*/
-static unsigned int* uv__get_nbufs(uv_fs_t* req) {
-#ifdef _WIN32
- return &req->fs.info.nbufs;
-#else
- return &req->nbufs;
-#endif
-}
-
-/* uv_fs_scandir() uses the system allocator to allocate memory on non-Windows
- * systems. So, the memory should be released using free(). On Windows,
- * uv__malloc() is used, so use uv__free() to free memory.
-*/
-#ifdef _WIN32
-# define uv__fs_scandir_free uv__free
-#else
-# define uv__fs_scandir_free free
-#endif
-
-void uv__fs_scandir_cleanup(uv_fs_t* req) {
- uv__dirent_t** dents;
-
- unsigned int* nbufs = uv__get_nbufs(req);
-
- dents = (uv__dirent_t**)(req->ptr);
- if (*nbufs > 0 && *nbufs != (unsigned int) req->result)
- (*nbufs)--;
- for (; *nbufs < (unsigned int) req->result; (*nbufs)++)
- uv__fs_scandir_free(dents[*nbufs]);
-
- uv__fs_scandir_free(req->ptr);
- req->ptr = NULL;
-}
-
-
-int uv_fs_scandir_next(uv_fs_t* req, uv_dirent_t* ent) {
- uv__dirent_t** dents;
- uv__dirent_t* dent;
- unsigned int* nbufs;
-
- /* Check to see if req passed */
- if (req->result < 0)
- return req->result;
-
- /* Ptr will be null if req was canceled or no files found */
- if (!req->ptr)
- return UV_EOF;
-
- nbufs = uv__get_nbufs(req);
- assert(nbufs);
-
- dents = (uv__dirent_t**)(req->ptr);
-
- /* Free previous entity */
- if (*nbufs > 0)
- uv__fs_scandir_free(dents[*nbufs - 1]);
-
- /* End was already reached */
- if (*nbufs == (unsigned int) req->result) {
- uv__fs_scandir_free(dents);
- req->ptr = NULL;
- return UV_EOF;
- }
-
- dent = dents[(*nbufs)++];
-
- ent->name = dent->d_name;
-#ifdef HAVE_DIRENT_TYPES
- switch (dent->d_type) {
- case UV__DT_DIR:
- ent->type = UV_DIRENT_DIR;
- break;
- case UV__DT_FILE:
- ent->type = UV_DIRENT_FILE;
- break;
- case UV__DT_LINK:
- ent->type = UV_DIRENT_LINK;
- break;
- case UV__DT_FIFO:
- ent->type = UV_DIRENT_FIFO;
- break;
- case UV__DT_SOCKET:
- ent->type = UV_DIRENT_SOCKET;
- break;
- case UV__DT_CHAR:
- ent->type = UV_DIRENT_CHAR;
- break;
- case UV__DT_BLOCK:
- ent->type = UV_DIRENT_BLOCK;
- break;
- default:
- ent->type = UV_DIRENT_UNKNOWN;
- }
-#else
- ent->type = UV_DIRENT_UNKNOWN;
-#endif
-
- return 0;
-}
-
-
-#ifdef __clang__
-# pragma clang diagnostic push
-# pragma clang diagnostic ignored "-Wvarargs"
-#endif
-
-int uv_loop_configure(uv_loop_t* loop, uv_loop_option option, ...) {
- va_list ap;
- int err;
-
- va_start(ap, option);
- /* Any platform-agnostic options should be handled here. */
- err = uv__loop_configure(loop, option, ap);
- va_end(ap);
-
- return err;
-}
-
-#ifdef __clang__
-# pragma clang diagnostic pop
-#endif
-
-
-static uv_loop_t default_loop_struct;
-static uv_loop_t* default_loop_ptr;
-
-
-uv_loop_t* uv_default_loop(void) {
- if (default_loop_ptr != NULL)
- return default_loop_ptr;
-
- if (uv_loop_init(&default_loop_struct))
- return NULL;
-
- default_loop_ptr = &default_loop_struct;
- return default_loop_ptr;
-}
-
-
-uv_loop_t* uv_loop_new(void) {
- uv_loop_t* loop;
-
- loop = (uv_loop_t*)uv__malloc(sizeof(*loop));
- if (loop == NULL)
- return NULL;
-
- if (uv_loop_init(loop)) {
- uv__free(loop);
- return NULL;
- }
-
- return loop;
-}
-
-
-int uv_loop_close(uv_loop_t* loop) {
- QUEUE* q;
- uv_handle_t* h;
-#ifndef NDEBUG
- void* saved_data;
-#endif
-
- if (uv__has_active_reqs(loop))
- return UV_EBUSY;
-
- QUEUE_FOREACH(q, &loop->handle_queue) {
- h = QUEUE_DATA(q, uv_handle_t, handle_queue);
- if (!(h->flags & UV__HANDLE_INTERNAL))
- return UV_EBUSY;
- }
-
- uv__loop_close(loop);
-
-#ifndef NDEBUG
- saved_data = loop->data;
- memset(loop, -1, sizeof(*loop));
- loop->data = saved_data;
-#endif
- if (loop == default_loop_ptr)
- default_loop_ptr = NULL;
-
- return 0;
-}
-
-
-void uv_loop_delete(uv_loop_t* loop) {
- uv_loop_t* default_loop;
- int err;
-
- default_loop = default_loop_ptr;
-
- err = uv_loop_close(loop);
- (void) err; /* Squelch compiler warnings. */
- assert(err == 0);
- if (loop != default_loop)
- uv__free(loop);
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/uv-common.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/uv-common.h
deleted file mode 100644
index 85bcbe6..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/uv-common.h
+++ /dev/null
@@ -1,260 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-/*
- * This file is private to libuv. It provides common functionality to both
- * Windows and Unix backends.
- */
-
-#ifndef UV_COMMON_H_
-#define UV_COMMON_H_
-
-#include <assert.h>
-#include <stdarg.h>
-#include <stddef.h>
-
-#if defined(_MSC_VER) && _MSC_VER < 1600
-# include "uv/stdint-msvc2008.h"
-#else
-# include <stdint.h>
-#endif
-
-#include "uv.h"
-#include "uv/tree.h"
-#include "queue.h"
-
-#if EDOM > 0
-# define UV__ERR(x) (-(x))
-#else
-# define UV__ERR(x) (x)
-#endif
-
-#if !defined(snprintf) && defined(_MSC_VER) && _MSC_VER < 1900
-extern int snprintf(char*, size_t, const char*, ...);
-#endif
-
-#define ARRAY_SIZE(a) (sizeof(a) / sizeof((a)[0]))
-
-#define container_of(ptr, type, member) \
- ((type *) ((char *) (ptr) - offsetof(type, member)))
-
-#define STATIC_ASSERT(expr) \
- void uv__static_assert(int static_assert_failed[1 - 2 * !(expr)])
-
-#ifndef _WIN32
-enum {
- UV__SIGNAL_ONE_SHOT = 0x80000, /* On signal reception remove sighandler */
- UV__HANDLE_INTERNAL = 0x8000,
- UV__HANDLE_ACTIVE = 0x4000,
- UV__HANDLE_REF = 0x2000,
- UV__HANDLE_CLOSING = 0 /* no-op on unix */
-};
-#else
-# define UV__SIGNAL_ONE_SHOT_DISPATCHED 0x200
-# define UV__SIGNAL_ONE_SHOT 0x100
-# define UV__HANDLE_INTERNAL 0x80
-# define UV__HANDLE_ACTIVE 0x40
-# define UV__HANDLE_REF 0x20
-# define UV__HANDLE_CLOSING 0x01
-#endif
-
-int uv__loop_configure(uv_loop_t* loop, uv_loop_option option, va_list ap);
-
-void uv__loop_close(uv_loop_t* loop);
-
-int uv__tcp_bind(uv_tcp_t* tcp,
- const struct sockaddr* addr,
- unsigned int addrlen,
- unsigned int flags);
-
-int uv__tcp_connect(uv_connect_t* req,
- uv_tcp_t* handle,
- const struct sockaddr* addr,
- unsigned int addrlen,
- uv_connect_cb cb);
-
-int uv__udp_bind(uv_udp_t* handle,
- const struct sockaddr* addr,
- unsigned int addrlen,
- unsigned int flags);
-
-int uv__udp_send(uv_udp_send_t* req,
- uv_udp_t* handle,
- const uv_buf_t bufs[],
- unsigned int nbufs,
- const struct sockaddr* addr,
- unsigned int addrlen,
- uv_udp_send_cb send_cb);
-
-int uv__udp_try_send(uv_udp_t* handle,
- const uv_buf_t bufs[],
- unsigned int nbufs,
- const struct sockaddr* addr,
- unsigned int addrlen);
-
-int uv__udp_recv_start(uv_udp_t* handle, uv_alloc_cb alloccb,
- uv_udp_recv_cb recv_cb);
-
-int uv__udp_recv_stop(uv_udp_t* handle);
-
-void uv__fs_poll_close(uv_fs_poll_t* handle);
-
-int uv__getaddrinfo_translate_error(int sys_err); /* EAI_* error. */
-
-void uv__work_submit(uv_loop_t* loop,
- struct uv__work *w,
- void (*work)(struct uv__work *w),
- void (*done)(struct uv__work *w, int status));
-
-void uv__work_done(uv_async_t* handle);
-
-size_t uv__count_bufs(const uv_buf_t bufs[], unsigned int nbufs);
-
-int uv__socket_sockopt(uv_handle_t* handle, int optname, int* value);
-
-void uv__fs_scandir_cleanup(uv_fs_t* req);
-
-#define uv__has_active_reqs(loop) \
- ((loop)->active_reqs.count > 0)
-
-#define uv__req_register(loop, req) \
- do { \
- (loop)->active_reqs.count++; \
- } \
- while (0)
-
-#define uv__req_unregister(loop, req) \
- do { \
- assert(uv__has_active_reqs(loop)); \
- (loop)->active_reqs.count--; \
- } \
- while (0)
-
-#define uv__has_active_handles(loop) \
- ((loop)->active_handles > 0)
-
-#define uv__active_handle_add(h) \
- do { \
- (h)->loop->active_handles++; \
- } \
- while (0)
-
-#define uv__active_handle_rm(h) \
- do { \
- (h)->loop->active_handles--; \
- } \
- while (0)
-
-#define uv__is_active(h) \
- (((h)->flags & UV__HANDLE_ACTIVE) != 0)
-
-#define uv__is_closing(h) \
- (((h)->flags & (UV_CLOSING | UV_CLOSED)) != 0)
-
-#define uv__handle_start(h) \
- do { \
- assert(((h)->flags & UV__HANDLE_CLOSING) == 0); \
- if (((h)->flags & UV__HANDLE_ACTIVE) != 0) break; \
- (h)->flags |= UV__HANDLE_ACTIVE; \
- if (((h)->flags & UV__HANDLE_REF) != 0) uv__active_handle_add(h); \
- } \
- while (0)
-
-#define uv__handle_stop(h) \
- do { \
- assert(((h)->flags & UV__HANDLE_CLOSING) == 0); \
- if (((h)->flags & UV__HANDLE_ACTIVE) == 0) break; \
- (h)->flags &= ~UV__HANDLE_ACTIVE; \
- if (((h)->flags & UV__HANDLE_REF) != 0) uv__active_handle_rm(h); \
- } \
- while (0)
-
-#define uv__handle_ref(h) \
- do { \
- if (((h)->flags & UV__HANDLE_REF) != 0) break; \
- (h)->flags |= UV__HANDLE_REF; \
- if (((h)->flags & UV__HANDLE_CLOSING) != 0) break; \
- if (((h)->flags & UV__HANDLE_ACTIVE) != 0) uv__active_handle_add(h); \
- } \
- while (0)
-
-#define uv__handle_unref(h) \
- do { \
- if (((h)->flags & UV__HANDLE_REF) == 0) break; \
- (h)->flags &= ~UV__HANDLE_REF; \
- if (((h)->flags & UV__HANDLE_CLOSING) != 0) break; \
- if (((h)->flags & UV__HANDLE_ACTIVE) != 0) uv__active_handle_rm(h); \
- } \
- while (0)
-
-#define uv__has_ref(h) \
- (((h)->flags & UV__HANDLE_REF) != 0)
-
-#if defined(_WIN32)
-# define uv__handle_platform_init(h) ((h)->u.fd = -1)
-#else
-# define uv__handle_platform_init(h) ((h)->next_closing = NULL)
-#endif
-
-#define uv__handle_init(loop_, h, type_) \
- do { \
- (h)->loop = (loop_); \
- (h)->type = (type_); \
- (h)->flags = UV__HANDLE_REF; /* Ref the loop when active. */ \
- QUEUE_INSERT_TAIL(&(loop_)->handle_queue, &(h)->handle_queue); \
- uv__handle_platform_init(h); \
- } \
- while (0)
-
-/* Note: uses an open-coded version of SET_REQ_SUCCESS() because of
- * a circular dependency between src/uv-common.h and src/win/internal.h.
- */
-#if defined(_WIN32)
-# define UV_REQ_INIT(req, typ) \
- do { \
- (req)->type = (typ); \
- (req)->u.io.overlapped.Internal = 0; /* SET_REQ_SUCCESS() */ \
- } \
- while (0)
-#else
-# define UV_REQ_INIT(req, typ) \
- do { \
- (req)->type = (typ); \
- } \
- while (0)
-#endif
-
-#define uv__req_init(loop, req, typ) \
- do { \
- UV_REQ_INIT(req, typ); \
- uv__req_register(loop, req); \
- } \
- while (0)
-
-/* Allocator prototypes */
-void *uv__calloc(size_t count, size_t size);
-char *uv__strdup(const char* s);
-char *uv__strndup(const char* s, size_t n);
-void* uv__malloc(size_t size);
-void uv__free(void* ptr);
-void* uv__realloc(void* ptr, size_t size);
-
-#endif /* UV_COMMON_H_ */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/uv-data-getter-setters.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/uv-data-getter-setters.cpp
deleted file mode 100644
index 533e4a2..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/uv-data-getter-setters.cpp
+++ /dev/null
@@ -1,96 +0,0 @@
-#include "uv.h"
-
-const char* uv_handle_type_name(uv_handle_type type) {
- switch (type) {
-#define XX(uc,lc) case UV_##uc: return #lc;
- UV_HANDLE_TYPE_MAP(XX)
-#undef XX
- case UV_FILE: return "file";
- case UV_HANDLE_TYPE_MAX:
- case UV_UNKNOWN_HANDLE: return NULL;
- }
- return NULL;
-}
-
-uv_handle_type uv_handle_get_type(const uv_handle_t* handle) {
- return handle->type;
-}
-
-void* uv_handle_get_data(const uv_handle_t* handle) {
- return handle->data;
-}
-
-uv_loop_t* uv_handle_get_loop(const uv_handle_t* handle) {
- return handle->loop;
-}
-
-void uv_handle_set_data(uv_handle_t* handle, void* data) {
- handle->data = data;
-}
-
-const char* uv_req_type_name(uv_req_type type) {
- switch (type) {
-#define XX(uc,lc) case UV_##uc: return #lc;
- UV_REQ_TYPE_MAP(XX)
-#undef XX
- case UV_REQ_TYPE_MAX:
- case UV_UNKNOWN_REQ: return NULL;
- }
- return NULL;
-}
-
-uv_req_type uv_req_get_type(const uv_req_t* req) {
- return req->type;
-}
-
-void* uv_req_get_data(const uv_req_t* req) {
- return req->data;
-}
-
-void uv_req_set_data(uv_req_t* req, void* data) {
- req->data = data;
-}
-
-size_t uv_stream_get_write_queue_size(const uv_stream_t* stream) {
- return stream->write_queue_size;
-}
-
-size_t uv_udp_get_send_queue_size(const uv_udp_t* handle) {
- return handle->send_queue_size;
-}
-
-size_t uv_udp_get_send_queue_count(const uv_udp_t* handle) {
- return handle->send_queue_count;
-}
-
-uv_pid_t uv_process_get_pid(const uv_process_t* proc) {
- return proc->pid;
-}
-
-uv_fs_type uv_fs_get_type(const uv_fs_t* req) {
- return req->fs_type;
-}
-
-ssize_t uv_fs_get_result(const uv_fs_t* req) {
- return req->result;
-}
-
-void* uv_fs_get_ptr(const uv_fs_t* req) {
- return req->ptr;
-}
-
-const char* uv_fs_get_path(const uv_fs_t* req) {
- return req->path;
-}
-
-uv_stat_t* uv_fs_get_statbuf(uv_fs_t* req) {
- return &req->statbuf;
-}
-
-void* uv_loop_get_data(const uv_loop_t* loop) {
- return loop->data;
-}
-
-void uv_loop_set_data(uv_loop_t* loop, void* data) {
- loop->data = data;
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/async.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/async.cpp
deleted file mode 100644
index 13d3c7b..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/async.cpp
+++ /dev/null
@@ -1,98 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include <assert.h>
-
-#include "uv.h"
-#include "internal.h"
-#include "atomicops-inl.h"
-#include "handle-inl.h"
-#include "req-inl.h"
-
-
-void uv_async_endgame(uv_loop_t* loop, uv_async_t* handle) {
- if (handle->flags & UV__HANDLE_CLOSING &&
- !handle->async_sent) {
- assert(!(handle->flags & UV_HANDLE_CLOSED));
- uv__handle_close(handle);
- }
-}
-
-
-int uv_async_init(uv_loop_t* loop, uv_async_t* handle, uv_async_cb async_cb) {
- uv_req_t* req;
-
- uv__handle_init(loop, (uv_handle_t*) handle, UV_ASYNC);
- handle->async_sent = 0;
- handle->async_cb = async_cb;
-
- req = &handle->async_req;
- UV_REQ_INIT(req, UV_WAKEUP);
- req->data = handle;
-
- uv__handle_start(handle);
-
- return 0;
-}
-
-
-void uv_async_close(uv_loop_t* loop, uv_async_t* handle) {
- if (!((uv_async_t*)handle)->async_sent) {
- uv_want_endgame(loop, (uv_handle_t*) handle);
- }
-
- uv__handle_closing(handle);
-}
-
-
-int uv_async_send(uv_async_t* handle) {
- uv_loop_t* loop = handle->loop;
-
- if (handle->type != UV_ASYNC) {
- /* Can't set errno because that's not thread-safe. */
- return -1;
- }
-
- /* The user should make sure never to call uv_async_send to a closing or
- * closed handle. */
- assert(!(handle->flags & UV__HANDLE_CLOSING));
-
- if (!uv__atomic_exchange_set(&handle->async_sent)) {
- POST_COMPLETION_FOR_REQ(loop, &handle->async_req);
- }
-
- return 0;
-}
-
-
-void uv_process_async_wakeup_req(uv_loop_t* loop, uv_async_t* handle,
- uv_req_t* req) {
- assert(handle->type == UV_ASYNC);
- assert(req->type == UV_WAKEUP);
-
- handle->async_sent = 0;
-
- if (handle->flags & UV__HANDLE_CLOSING) {
- uv_want_endgame(loop, (uv_handle_t*)handle);
- } else if (handle->async_cb != NULL) {
- handle->async_cb(handle);
- }
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/core.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/core.cpp
deleted file mode 100644
index 7020cb6..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/core.cpp
+++ /dev/null
@@ -1,550 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include <assert.h>
-#include <errno.h>
-#include <limits.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#if defined(_MSC_VER) || defined(__MINGW64_VERSION_MAJOR)
-#include <crtdbg.h>
-#endif
-
-#include "uv.h"
-#include "internal.h"
-#include "queue.h"
-#include "handle-inl.h"
-#include "req-inl.h"
-
-/* uv_once initialization guards */
-static uv_once_t uv_init_guard_ = UV_ONCE_INIT;
-
-
-#if defined(_DEBUG) && (defined(_MSC_VER) || defined(__MINGW64_VERSION_MAJOR))
-/* Our crt debug report handler allows us to temporarily disable asserts
- * just for the current thread.
- */
-
-UV_THREAD_LOCAL int uv__crt_assert_enabled = TRUE;
-
-static int uv__crt_dbg_report_handler(int report_type, char *message, int *ret_val) {
- if (uv__crt_assert_enabled || report_type != _CRT_ASSERT)
- return FALSE;
-
- if (ret_val) {
- /* Set ret_val to 0 to continue with normal execution.
- * Set ret_val to 1 to trigger a breakpoint.
- */
-
- if(IsDebuggerPresent())
- *ret_val = 1;
- else
- *ret_val = 0;
- }
-
- /* Don't call _CrtDbgReport. */
- return TRUE;
-}
-#else
-UV_THREAD_LOCAL int uv__crt_assert_enabled = FALSE;
-#endif
-
-
-#if !defined(__MINGW32__) || __MSVCRT_VERSION__ >= 0x800
-static void uv__crt_invalid_parameter_handler(const wchar_t* expression,
- const wchar_t* function, const wchar_t * file, unsigned int line,
- uintptr_t reserved) {
- /* No-op. */
-}
-#endif
-
-static uv_loop_t** uv__loops;
-static int uv__loops_size;
-static int uv__loops_capacity;
-#define UV__LOOPS_CHUNK_SIZE 8
-static uv_mutex_t uv__loops_lock;
-
-static void uv__loops_init(void) {
- uv_mutex_init(&uv__loops_lock);
-}
-
-static int uv__loops_add(uv_loop_t* loop) {
- uv_loop_t** new_loops;
- int new_capacity, i;
-
- uv_mutex_lock(&uv__loops_lock);
-
- if (uv__loops_size == uv__loops_capacity) {
- new_capacity = uv__loops_capacity + UV__LOOPS_CHUNK_SIZE;
- new_loops = (uv_loop_t**)
- uv__realloc(uv__loops, sizeof(uv_loop_t*) * new_capacity);
- if (!new_loops)
- goto failed_loops_realloc;
- uv__loops = new_loops;
- for (i = uv__loops_capacity; i < new_capacity; ++i)
- uv__loops[i] = NULL;
- uv__loops_capacity = new_capacity;
- }
- uv__loops[uv__loops_size] = loop;
- ++uv__loops_size;
-
- uv_mutex_unlock(&uv__loops_lock);
- return 0;
-
-failed_loops_realloc:
- uv_mutex_unlock(&uv__loops_lock);
- return ERROR_OUTOFMEMORY;
-}
-
-static void uv__loops_remove(uv_loop_t* loop) {
- int loop_index;
- int smaller_capacity;
- uv_loop_t** new_loops;
-
- uv_mutex_lock(&uv__loops_lock);
-
- for (loop_index = 0; loop_index < uv__loops_size; ++loop_index) {
- if (uv__loops[loop_index] == loop)
- break;
- }
- /* If loop was not found, ignore */
- if (loop_index == uv__loops_size)
- goto loop_removed;
-
- uv__loops[loop_index] = uv__loops[uv__loops_size - 1];
- uv__loops[uv__loops_size - 1] = NULL;
- --uv__loops_size;
-
- if (uv__loops_size == 0) {
- uv__loops_capacity = 0;
- uv__free(uv__loops);
- uv__loops = NULL;
- goto loop_removed;
- }
-
- /* If we didn't grow to big skip downsizing */
- if (uv__loops_capacity < 4 * UV__LOOPS_CHUNK_SIZE)
- goto loop_removed;
-
- /* Downsize only if more than half of buffer is free */
- smaller_capacity = uv__loops_capacity / 2;
- if (uv__loops_size >= smaller_capacity)
- goto loop_removed;
- new_loops = (uv_loop_t**)
- uv__realloc(uv__loops, sizeof(uv_loop_t*) * smaller_capacity);
- if (!new_loops)
- goto loop_removed;
- uv__loops = new_loops;
- uv__loops_capacity = smaller_capacity;
-
-loop_removed:
- uv_mutex_unlock(&uv__loops_lock);
-}
-
-void uv__wake_all_loops(void) {
- int i;
- uv_loop_t* loop;
-
- uv_mutex_lock(&uv__loops_lock);
- for (i = 0; i < uv__loops_size; ++i) {
- loop = uv__loops[i];
- assert(loop);
- if (loop->iocp != INVALID_HANDLE_VALUE)
- PostQueuedCompletionStatus(loop->iocp, 0, 0, NULL);
- }
- uv_mutex_unlock(&uv__loops_lock);
-}
-
-static void uv_init(void) {
- /* Tell Windows that we will handle critical errors. */
- SetErrorMode(SEM_FAILCRITICALERRORS | SEM_NOGPFAULTERRORBOX |
- SEM_NOOPENFILEERRORBOX);
-
- /* Tell the CRT to not exit the application when an invalid parameter is
- * passed. The main issue is that invalid FDs will trigger this behavior.
- */
-#if !defined(__MINGW32__) || __MSVCRT_VERSION__ >= 0x800
- _set_invalid_parameter_handler(uv__crt_invalid_parameter_handler);
-#endif
-
- /* We also need to setup our debug report handler because some CRT
- * functions (eg _get_osfhandle) raise an assert when called with invalid
- * FDs even though they return the proper error code in the release build.
- */
-#if defined(_DEBUG) && (defined(_MSC_VER) || defined(__MINGW64_VERSION_MAJOR))
- _CrtSetReportHook(uv__crt_dbg_report_handler);
-#endif
-
- /* Initialize tracking of all uv loops */
- uv__loops_init();
-
- /* Fetch winapi function pointers. This must be done first because other
- * initialization code might need these function pointers to be loaded.
- */
- uv_winapi_init();
-
- /* Initialize winsock */
- uv_winsock_init();
-
- /* Initialize FS */
- uv_fs_init();
-
- /* Initialize signal stuff */
- uv_signals_init();
-
- /* Initialize console */
- uv_console_init();
-
- /* Initialize utilities */
- uv__util_init();
-
- /* Initialize system wakeup detection */
- uv__init_detect_system_wakeup();
-}
-
-
-int uv_loop_init(uv_loop_t* loop) {
- int err;
-
- /* Initialize libuv itself first */
- uv__once_init();
-
- /* Create an I/O completion port */
- loop->iocp = CreateIoCompletionPort(INVALID_HANDLE_VALUE, NULL, 0, 1);
- if (loop->iocp == NULL)
- return uv_translate_sys_error(GetLastError());
-
- /* To prevent uninitialized memory access, loop->time must be initialized
- * to zero before calling uv_update_time for the first time.
- */
- loop->time = 0;
- uv_update_time(loop);
-
- QUEUE_INIT(&loop->wq);
- QUEUE_INIT(&loop->handle_queue);
- loop->active_reqs.count = 0;
- loop->active_handles = 0;
-
- loop->pending_reqs_tail = NULL;
-
- loop->endgame_handles = NULL;
-
- RB_INIT(&loop->timers);
-
- loop->check_handles = NULL;
- loop->prepare_handles = NULL;
- loop->idle_handles = NULL;
-
- loop->next_prepare_handle = NULL;
- loop->next_check_handle = NULL;
- loop->next_idle_handle = NULL;
-
- memset(&loop->poll_peer_sockets, 0, sizeof loop->poll_peer_sockets);
-
- loop->active_tcp_streams = 0;
- loop->active_udp_streams = 0;
-
- loop->timer_counter = 0;
- loop->stop_flag = 0;
-
- err = uv_mutex_init(&loop->wq_mutex);
- if (err)
- goto fail_mutex_init;
-
- err = uv_async_init(loop, &loop->wq_async, uv__work_done);
- if (err)
- goto fail_async_init;
-
- uv__handle_unref(&loop->wq_async);
- loop->wq_async.flags |= UV__HANDLE_INTERNAL;
-
- err = uv__loops_add(loop);
- if (err)
- goto fail_async_init;
-
- return 0;
-
-fail_async_init:
- uv_mutex_destroy(&loop->wq_mutex);
-
-fail_mutex_init:
- CloseHandle(loop->iocp);
- loop->iocp = INVALID_HANDLE_VALUE;
-
- return err;
-}
-
-
-void uv__once_init(void) {
- uv_once(&uv_init_guard_, uv_init);
-}
-
-
-void uv__loop_close(uv_loop_t* loop) {
- size_t i;
-
- uv__loops_remove(loop);
-
- /* close the async handle without needing an extra loop iteration */
- assert(!loop->wq_async.async_sent);
- loop->wq_async.close_cb = NULL;
- uv__handle_closing(&loop->wq_async);
- uv__handle_close(&loop->wq_async);
-
- for (i = 0; i < ARRAY_SIZE(loop->poll_peer_sockets); i++) {
- SOCKET sock = loop->poll_peer_sockets[i];
- if (sock != 0 && sock != INVALID_SOCKET)
- closesocket(sock);
- }
-
- uv_mutex_lock(&loop->wq_mutex);
- assert(QUEUE_EMPTY(&loop->wq) && "thread pool work queue not empty!");
- assert(!uv__has_active_reqs(loop));
- uv_mutex_unlock(&loop->wq_mutex);
- uv_mutex_destroy(&loop->wq_mutex);
-
- CloseHandle(loop->iocp);
-}
-
-
-int uv__loop_configure(uv_loop_t* loop, uv_loop_option option, va_list ap) {
- return UV_ENOSYS;
-}
-
-
-int uv_backend_fd(const uv_loop_t* loop) {
- return -1;
-}
-
-
-int uv_loop_fork(uv_loop_t* loop) {
- return UV_ENOSYS;
-}
-
-
-int uv_backend_timeout(const uv_loop_t* loop) {
- if (loop->stop_flag != 0)
- return 0;
-
- if (!uv__has_active_handles(loop) && !uv__has_active_reqs(loop))
- return 0;
-
- if (loop->pending_reqs_tail)
- return 0;
-
- if (loop->endgame_handles)
- return 0;
-
- if (loop->idle_handles)
- return 0;
-
- return uv__next_timeout(loop);
-}
-
-
-static void uv__poll(uv_loop_t* loop, DWORD timeout) {
- BOOL success;
- uv_req_t* req;
- OVERLAPPED_ENTRY overlappeds[128];
- ULONG count;
- ULONG i;
- int repeat;
- uint64_t timeout_time;
-
- timeout_time = loop->time + timeout;
-
- for (repeat = 0; ; repeat++) {
- success = GetQueuedCompletionStatusEx(loop->iocp,
- overlappeds,
- ARRAY_SIZE(overlappeds),
- &count,
- timeout,
- FALSE);
-
- if (success) {
- for (i = 0; i < count; i++) {
- /* Package was dequeued, but see if it is not a empty package
- * meant only to wake us up.
- */
- if (overlappeds[i].lpOverlapped) {
- req = uv_overlapped_to_req(overlappeds[i].lpOverlapped);
- uv_insert_pending_req(loop, req);
- }
- }
-
- /* Some time might have passed waiting for I/O,
- * so update the loop time here.
- */
- uv_update_time(loop);
- } else if (GetLastError() != WAIT_TIMEOUT) {
- /* Serious error */
- uv_fatal_error(GetLastError(), "GetQueuedCompletionStatusEx");
- } else if (timeout > 0) {
- /* GetQueuedCompletionStatus can occasionally return a little early.
- * Make sure that the desired timeout target time is reached.
- */
- uv_update_time(loop);
- if (timeout_time > loop->time) {
- timeout = (DWORD)(timeout_time - loop->time);
- /* The first call to GetQueuedCompletionStatus should return very
- * close to the target time and the second should reach it, but
- * this is not stated in the documentation. To make sure a busy
- * loop cannot happen, the timeout is increased exponentially
- * starting on the third round.
- */
- timeout += repeat ? (1 << (repeat - 1)) : 0;
- continue;
- }
- }
- break;
- }
-}
-
-
-static int uv__loop_alive(const uv_loop_t* loop) {
- return uv__has_active_handles(loop) ||
- uv__has_active_reqs(loop) ||
- loop->endgame_handles != NULL;
-}
-
-
-int uv_loop_alive(const uv_loop_t* loop) {
- return uv__loop_alive(loop);
-}
-
-
-int uv_run(uv_loop_t *loop, uv_run_mode mode) {
- DWORD timeout;
- int r;
- int ran_pending;
-
- r = uv__loop_alive(loop);
- if (!r)
- uv_update_time(loop);
-
- while (r != 0 && loop->stop_flag == 0) {
- uv_update_time(loop);
- uv_process_timers(loop);
-
- ran_pending = uv_process_reqs(loop);
- uv_idle_invoke(loop);
- uv_prepare_invoke(loop);
-
- timeout = 0;
- if ((mode == UV_RUN_ONCE && !ran_pending) || mode == UV_RUN_DEFAULT)
- timeout = uv_backend_timeout(loop);
-
- uv__poll(loop, timeout);
-
- uv_check_invoke(loop);
- uv_process_endgames(loop);
-
- if (mode == UV_RUN_ONCE) {
- /* UV_RUN_ONCE implies forward progress: at least one callback must have
- * been invoked when it returns. uv__io_poll() can return without doing
- * I/O (meaning: no callbacks) when its timeout expires - which means we
- * have pending timers that satisfy the forward progress constraint.
- *
- * UV_RUN_NOWAIT makes no guarantees about progress so it's omitted from
- * the check.
- */
- uv_process_timers(loop);
- }
-
- r = uv__loop_alive(loop);
- if (mode == UV_RUN_ONCE || mode == UV_RUN_NOWAIT)
- break;
- }
-
- /* The if statement lets the compiler compile it to a conditional store.
- * Avoids dirtying a cache line.
- */
- if (loop->stop_flag != 0)
- loop->stop_flag = 0;
-
- return r;
-}
-
-
-int uv_fileno(const uv_handle_t* handle, uv_os_fd_t* fd) {
- uv_os_fd_t fd_out;
-
- switch (handle->type) {
- case UV_TCP:
- fd_out = (uv_os_fd_t)((uv_tcp_t*) handle)->socket;
- break;
-
- case UV_NAMED_PIPE:
- fd_out = ((uv_pipe_t*) handle)->handle;
- break;
-
- case UV_TTY:
- fd_out = ((uv_tty_t*) handle)->handle;
- break;
-
- case UV_UDP:
- fd_out = (uv_os_fd_t)((uv_udp_t*) handle)->socket;
- break;
-
- case UV_POLL:
- fd_out = (uv_os_fd_t)((uv_poll_t*) handle)->socket;
- break;
-
- default:
- return UV_EINVAL;
- }
-
- if (uv_is_closing(handle) || fd_out == INVALID_HANDLE_VALUE)
- return UV_EBADF;
-
- *fd = fd_out;
- return 0;
-}
-
-
-int uv__socket_sockopt(uv_handle_t* handle, int optname, int* value) {
- int r;
- int len;
- SOCKET socket;
-
- if (handle == NULL || value == NULL)
- return UV_EINVAL;
-
- if (handle->type == UV_TCP)
- socket = ((uv_tcp_t*) handle)->socket;
- else if (handle->type == UV_UDP)
- socket = ((uv_udp_t*) handle)->socket;
- else
- return UV_ENOTSUP;
-
- len = sizeof(*value);
-
- if (*value == 0)
- r = getsockopt(socket, SOL_SOCKET, optname, (char*) value, &len);
- else
- r = setsockopt(socket, SOL_SOCKET, optname, (const char*) value, len);
-
- if (r == SOCKET_ERROR)
- return uv_translate_sys_error(WSAGetLastError());
-
- return 0;
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/dl.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/dl.cpp
deleted file mode 100644
index 97ac1c1..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/dl.cpp
+++ /dev/null
@@ -1,133 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include "uv.h"
-#include "internal.h"
-
-static int uv__dlerror(uv_lib_t* lib, const char* filename, DWORD errorno);
-
-
-int uv_dlopen(const char* filename, uv_lib_t* lib) {
- WCHAR filename_w[32768];
-
- lib->handle = NULL;
- lib->errmsg = NULL;
-
- if (!MultiByteToWideChar(CP_UTF8,
- 0,
- filename,
- -1,
- filename_w,
- ARRAY_SIZE(filename_w))) {
- return uv__dlerror(lib, filename, GetLastError());
- }
-
- lib->handle = LoadLibraryExW(filename_w, NULL, LOAD_WITH_ALTERED_SEARCH_PATH);
- if (lib->handle == NULL) {
- return uv__dlerror(lib, filename, GetLastError());
- }
-
- return 0;
-}
-
-
-void uv_dlclose(uv_lib_t* lib) {
- if (lib->errmsg) {
- LocalFree((void*)lib->errmsg);
- lib->errmsg = NULL;
- }
-
- if (lib->handle) {
- /* Ignore errors. No good way to signal them without leaking memory. */
- FreeLibrary(lib->handle);
- lib->handle = NULL;
- }
-}
-
-
-int uv_dlsym(uv_lib_t* lib, const char* name, void** ptr) {
- *ptr = (void*) GetProcAddress(lib->handle, name);
- return uv__dlerror(lib, "", *ptr ? 0 : GetLastError());
-}
-
-
-const char* uv_dlerror(const uv_lib_t* lib) {
- return lib->errmsg ? lib->errmsg : "no error";
-}
-
-
-static void uv__format_fallback_error(uv_lib_t* lib, int errorno){
- DWORD_PTR args[1] = { (DWORD_PTR) errorno };
- LPSTR fallback_error = "error: %1!d!";
-
- FormatMessageA(FORMAT_MESSAGE_FROM_STRING |
- FORMAT_MESSAGE_ARGUMENT_ARRAY |
- FORMAT_MESSAGE_ALLOCATE_BUFFER,
- fallback_error, 0, 0,
- (LPSTR) &lib->errmsg,
- 0, (va_list*) args);
-}
-
-
-
-static int uv__dlerror(uv_lib_t* lib, const char* filename, DWORD errorno) {
- DWORD_PTR arg;
- DWORD res;
- char* msg;
-
- if (lib->errmsg) {
- LocalFree(lib->errmsg);
- lib->errmsg = NULL;
- }
-
- if (errorno == 0)
- return 0;
-
- res = FormatMessageA(FORMAT_MESSAGE_ALLOCATE_BUFFER |
- FORMAT_MESSAGE_FROM_SYSTEM |
- FORMAT_MESSAGE_IGNORE_INSERTS, NULL, errorno,
- MAKELANGID(LANG_ENGLISH, SUBLANG_ENGLISH_US),
- (LPSTR) &lib->errmsg, 0, NULL);
-
- if (!res && GetLastError() == ERROR_MUI_FILE_NOT_FOUND) {
- res = FormatMessageA(FORMAT_MESSAGE_ALLOCATE_BUFFER |
- FORMAT_MESSAGE_FROM_SYSTEM |
- FORMAT_MESSAGE_IGNORE_INSERTS, NULL, errorno,
- 0, (LPSTR) &lib->errmsg, 0, NULL);
- }
-
- if (res && errorno == ERROR_BAD_EXE_FORMAT && strstr(lib->errmsg, "%1")) {
- msg = lib->errmsg;
- lib->errmsg = NULL;
- arg = (DWORD_PTR) filename;
- res = FormatMessageA(FORMAT_MESSAGE_ALLOCATE_BUFFER |
- FORMAT_MESSAGE_ARGUMENT_ARRAY |
- FORMAT_MESSAGE_FROM_STRING,
- msg,
- 0, 0, (LPSTR) &lib->errmsg, 0, (va_list*) &arg);
- LocalFree(msg);
- }
-
- if (!res)
- uv__format_fallback_error(lib, errorno);
-
- return -1;
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/fs-event.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/fs-event.cpp
deleted file mode 100644
index 9ef90f3..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/fs-event.cpp
+++ /dev/null
@@ -1,586 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include <assert.h>
-#include <errno.h>
-#include <stdio.h>
-#include <string.h>
-
-#include "uv.h"
-#include "internal.h"
-#include "handle-inl.h"
-#include "req-inl.h"
-
-
-const unsigned int uv_directory_watcher_buffer_size = 4096;
-
-
-static void uv_fs_event_queue_readdirchanges(uv_loop_t* loop,
- uv_fs_event_t* handle) {
- assert(handle->dir_handle != INVALID_HANDLE_VALUE);
- assert(!handle->req_pending);
-
- memset(&(handle->req.u.io.overlapped), 0,
- sizeof(handle->req.u.io.overlapped));
- if (!ReadDirectoryChangesW(handle->dir_handle,
- handle->buffer,
- uv_directory_watcher_buffer_size,
- (handle->flags & UV_FS_EVENT_RECURSIVE) ? TRUE : FALSE,
- FILE_NOTIFY_CHANGE_FILE_NAME |
- FILE_NOTIFY_CHANGE_DIR_NAME |
- FILE_NOTIFY_CHANGE_ATTRIBUTES |
- FILE_NOTIFY_CHANGE_SIZE |
- FILE_NOTIFY_CHANGE_LAST_WRITE |
- FILE_NOTIFY_CHANGE_LAST_ACCESS |
- FILE_NOTIFY_CHANGE_CREATION |
- FILE_NOTIFY_CHANGE_SECURITY,
- NULL,
- &handle->req.u.io.overlapped,
- NULL)) {
- /* Make this req pending reporting an error. */
- SET_REQ_ERROR(&handle->req, GetLastError());
- uv_insert_pending_req(loop, (uv_req_t*)&handle->req);
- }
-
- handle->req_pending = 1;
-}
-
-static void uv_relative_path(const WCHAR* filename,
- const WCHAR* dir,
- WCHAR** relpath) {
- size_t relpathlen;
- size_t filenamelen = wcslen(filename);
- size_t dirlen = wcslen(dir);
- assert(!_wcsnicmp(filename, dir, dirlen));
- if (dirlen > 0 && dir[dirlen - 1] == '\\')
- dirlen--;
- relpathlen = filenamelen - dirlen - 1;
- *relpath = (WCHAR*)uv__malloc((relpathlen + 1) * sizeof(WCHAR));
- if (!*relpath)
- uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
- wcsncpy(*relpath, filename + dirlen + 1, relpathlen);
- (*relpath)[relpathlen] = L'\0';
-}
-
-static int uv_split_path(const WCHAR* filename, WCHAR** dir,
- WCHAR** file) {
- size_t len, i;
-
- if (filename == NULL) {
- if (dir != NULL)
- *dir = NULL;
- *file = NULL;
- return 0;
- }
-
- len = wcslen(filename);
- i = len;
- while (i > 0 && filename[--i] != '\\' && filename[i] != '/');
-
- if (i == 0) {
- if (dir) {
- *dir = (WCHAR*)uv__malloc((MAX_PATH + 1) * sizeof(WCHAR));
- if (!*dir) {
- uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
- }
-
- if (!GetCurrentDirectoryW(MAX_PATH, *dir)) {
- uv__free(*dir);
- *dir = NULL;
- return -1;
- }
- }
-
- *file = wcsdup(filename);
- } else {
- if (dir) {
- *dir = (WCHAR*)uv__malloc((i + 2) * sizeof(WCHAR));
- if (!*dir) {
- uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
- }
- wcsncpy(*dir, filename, i + 1);
- (*dir)[i + 1] = L'\0';
- }
-
- *file = (WCHAR*)uv__malloc((len - i) * sizeof(WCHAR));
- if (!*file) {
- uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
- }
- wcsncpy(*file, filename + i + 1, len - i - 1);
- (*file)[len - i - 1] = L'\0';
- }
-
- return 0;
-}
-
-
-int uv_fs_event_init(uv_loop_t* loop, uv_fs_event_t* handle) {
- uv__handle_init(loop, (uv_handle_t*) handle, UV_FS_EVENT);
- handle->dir_handle = INVALID_HANDLE_VALUE;
- handle->buffer = NULL;
- handle->req_pending = 0;
- handle->filew = NULL;
- handle->short_filew = NULL;
- handle->dirw = NULL;
-
- UV_REQ_INIT(&handle->req, UV_FS_EVENT_REQ);
- handle->req.data = handle;
-
- return 0;
-}
-
-
-int uv_fs_event_start(uv_fs_event_t* handle,
- uv_fs_event_cb cb,
- const char* path,
- unsigned int flags) {
- int name_size, is_path_dir, size;
- DWORD attr, last_error;
- WCHAR* dir = NULL, *dir_to_watch, *pathw = NULL;
- WCHAR short_path_buffer[MAX_PATH];
- WCHAR* short_path, *long_path;
-
- if (uv__is_active(handle))
- return UV_EINVAL;
-
- handle->cb = cb;
- handle->path = uv__strdup(path);
- if (!handle->path) {
- uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
- }
-
- uv__handle_start(handle);
-
- /* Convert name to UTF16. */
-
- name_size = MultiByteToWideChar(CP_UTF8, 0, path, -1, NULL, 0) *
- sizeof(WCHAR);
- pathw = (WCHAR*)uv__malloc(name_size);
- if (!pathw) {
- uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
- }
-
- if (!MultiByteToWideChar(CP_UTF8,
- 0,
- path,
- -1,
- pathw,
- name_size / sizeof(WCHAR))) {
- return uv_translate_sys_error(GetLastError());
- }
-
- /* Determine whether path is a file or a directory. */
- attr = GetFileAttributesW(pathw);
- if (attr == INVALID_FILE_ATTRIBUTES) {
- last_error = GetLastError();
- goto error;
- }
-
- is_path_dir = (attr & FILE_ATTRIBUTE_DIRECTORY) ? 1 : 0;
-
- if (is_path_dir) {
- /* path is a directory, so that's the directory that we will watch. */
-
- /* Convert to long path. */
- size = GetLongPathNameW(pathw, NULL, 0);
-
- if (size) {
- long_path = (WCHAR*)uv__malloc(size * sizeof(WCHAR));
- if (!long_path) {
- uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
- }
-
- size = GetLongPathNameW(pathw, long_path, size);
- if (size) {
- long_path[size] = '\0';
- } else {
- uv__free(long_path);
- long_path = NULL;
- }
- }
-
- if (long_path) {
- uv__free(pathw);
- pathw = long_path;
- }
-
- dir_to_watch = pathw;
- } else {
- /*
- * path is a file. So we split path into dir & file parts, and
- * watch the dir directory.
- */
-
- /* Convert to short path. */
- short_path = short_path_buffer;
- if (!GetShortPathNameW(pathw, short_path, ARRAY_SIZE(short_path))) {
- short_path = NULL;
- }
-
- if (uv_split_path(pathw, &dir, &handle->filew) != 0) {
- last_error = GetLastError();
- goto error;
- }
-
- if (uv_split_path(short_path, NULL, &handle->short_filew) != 0) {
- last_error = GetLastError();
- goto error;
- }
-
- dir_to_watch = dir;
- uv__free(pathw);
- pathw = NULL;
- }
-
- handle->dir_handle = CreateFileW(dir_to_watch,
- FILE_LIST_DIRECTORY,
- FILE_SHARE_READ | FILE_SHARE_DELETE |
- FILE_SHARE_WRITE,
- NULL,
- OPEN_EXISTING,
- FILE_FLAG_BACKUP_SEMANTICS |
- FILE_FLAG_OVERLAPPED,
- NULL);
-
- if (dir) {
- uv__free(dir);
- dir = NULL;
- }
-
- if (handle->dir_handle == INVALID_HANDLE_VALUE) {
- last_error = GetLastError();
- goto error;
- }
-
- if (CreateIoCompletionPort(handle->dir_handle,
- handle->loop->iocp,
- (ULONG_PTR)handle,
- 0) == NULL) {
- last_error = GetLastError();
- goto error;
- }
-
- if (!handle->buffer) {
- handle->buffer = (char*)uv__malloc(uv_directory_watcher_buffer_size);
- }
- if (!handle->buffer) {
- uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
- }
-
- memset(&(handle->req.u.io.overlapped), 0,
- sizeof(handle->req.u.io.overlapped));
-
- if (!ReadDirectoryChangesW(handle->dir_handle,
- handle->buffer,
- uv_directory_watcher_buffer_size,
- (flags & UV_FS_EVENT_RECURSIVE) ? TRUE : FALSE,
- FILE_NOTIFY_CHANGE_FILE_NAME |
- FILE_NOTIFY_CHANGE_DIR_NAME |
- FILE_NOTIFY_CHANGE_ATTRIBUTES |
- FILE_NOTIFY_CHANGE_SIZE |
- FILE_NOTIFY_CHANGE_LAST_WRITE |
- FILE_NOTIFY_CHANGE_LAST_ACCESS |
- FILE_NOTIFY_CHANGE_CREATION |
- FILE_NOTIFY_CHANGE_SECURITY,
- NULL,
- &handle->req.u.io.overlapped,
- NULL)) {
- last_error = GetLastError();
- goto error;
- }
-
- assert(is_path_dir ? pathw != NULL : pathw == NULL);
- handle->dirw = pathw;
- handle->req_pending = 1;
- return 0;
-
-error:
- if (handle->path) {
- uv__free(handle->path);
- handle->path = NULL;
- }
-
- if (handle->filew) {
- uv__free(handle->filew);
- handle->filew = NULL;
- }
-
- if (handle->short_filew) {
- uv__free(handle->short_filew);
- handle->short_filew = NULL;
- }
-
- uv__free(pathw);
-
- if (handle->dir_handle != INVALID_HANDLE_VALUE) {
- CloseHandle(handle->dir_handle);
- handle->dir_handle = INVALID_HANDLE_VALUE;
- }
-
- if (handle->buffer) {
- uv__free(handle->buffer);
- handle->buffer = NULL;
- }
-
- if (uv__is_active(handle))
- uv__handle_stop(handle);
-
- return uv_translate_sys_error(last_error);
-}
-
-
-int uv_fs_event_stop(uv_fs_event_t* handle) {
- if (!uv__is_active(handle))
- return 0;
-
- if (handle->dir_handle != INVALID_HANDLE_VALUE) {
- CloseHandle(handle->dir_handle);
- handle->dir_handle = INVALID_HANDLE_VALUE;
- }
-
- uv__handle_stop(handle);
-
- if (handle->filew) {
- uv__free(handle->filew);
- handle->filew = NULL;
- }
-
- if (handle->short_filew) {
- uv__free(handle->short_filew);
- handle->short_filew = NULL;
- }
-
- if (handle->path) {
- uv__free(handle->path);
- handle->path = NULL;
- }
-
- if (handle->dirw) {
- uv__free(handle->dirw);
- handle->dirw = NULL;
- }
-
- return 0;
-}
-
-
-static int file_info_cmp(WCHAR* str, WCHAR* file_name, size_t file_name_len) {
- size_t str_len;
-
- if (str == NULL)
- return -1;
-
- str_len = wcslen(str);
-
- /*
- Since we only care about equality, return early if the strings
- aren't the same length
- */
- if (str_len != (file_name_len / sizeof(WCHAR)))
- return -1;
-
- return _wcsnicmp(str, file_name, str_len);
-}
-
-
-void uv_process_fs_event_req(uv_loop_t* loop, uv_req_t* req,
- uv_fs_event_t* handle) {
- FILE_NOTIFY_INFORMATION* file_info;
- int err, sizew, size;
- char* filename = NULL;
- WCHAR* filenamew = NULL;
- WCHAR* long_filenamew = NULL;
- DWORD offset = 0;
-
- assert(req->type == UV_FS_EVENT_REQ);
- assert(handle->req_pending);
- handle->req_pending = 0;
-
- /* Don't report any callbacks if:
- * - We're closing, just push the handle onto the endgame queue
- * - We are not active, just ignore the callback
- */
- if (!uv__is_active(handle)) {
- if (handle->flags & UV__HANDLE_CLOSING) {
- uv_want_endgame(loop, (uv_handle_t*) handle);
- }
- return;
- }
-
- file_info = (FILE_NOTIFY_INFORMATION*)(handle->buffer + offset);
-
- if (REQ_SUCCESS(req)) {
- if (req->u.io.overlapped.InternalHigh > 0) {
- do {
- file_info = (FILE_NOTIFY_INFORMATION*)((char*)file_info + offset);
- assert(!filename);
- assert(!filenamew);
- assert(!long_filenamew);
-
- /*
- * Fire the event only if we were asked to watch a directory,
- * or if the filename filter matches.
- */
- if (handle->dirw ||
- file_info_cmp(handle->filew,
- file_info->FileName,
- file_info->FileNameLength) == 0 ||
- file_info_cmp(handle->short_filew,
- file_info->FileName,
- file_info->FileNameLength) == 0) {
-
- if (handle->dirw) {
- /*
- * We attempt to resolve the long form of the file name explicitly.
- * We only do this for file names that might still exist on disk.
- * If this fails, we use the name given by ReadDirectoryChangesW.
- * This may be the long form or the 8.3 short name in some cases.
- */
- if (file_info->Action != FILE_ACTION_REMOVED &&
- file_info->Action != FILE_ACTION_RENAMED_OLD_NAME) {
- /* Construct a full path to the file. */
- size = wcslen(handle->dirw) +
- file_info->FileNameLength / sizeof(WCHAR) + 2;
-
- filenamew = (WCHAR*)uv__malloc(size * sizeof(WCHAR));
- if (!filenamew) {
- uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
- }
-
- _snwprintf(filenamew, size, L"%s\\%.*s", handle->dirw,
- file_info->FileNameLength / (DWORD)sizeof(WCHAR),
- file_info->FileName);
-
- filenamew[size - 1] = L'\0';
-
- /* Convert to long name. */
- size = GetLongPathNameW(filenamew, NULL, 0);
-
- if (size) {
- long_filenamew = (WCHAR*)uv__malloc(size * sizeof(WCHAR));
- if (!long_filenamew) {
- uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
- }
-
- size = GetLongPathNameW(filenamew, long_filenamew, size);
- if (size) {
- long_filenamew[size] = '\0';
- } else {
- uv__free(long_filenamew);
- long_filenamew = NULL;
- }
- }
-
- uv__free(filenamew);
-
- if (long_filenamew) {
- /* Get the file name out of the long path. */
- uv_relative_path(long_filenamew,
- handle->dirw,
- &filenamew);
- uv__free(long_filenamew);
- long_filenamew = filenamew;
- sizew = -1;
- } else {
- /* We couldn't get the long filename, use the one reported. */
- filenamew = file_info->FileName;
- sizew = file_info->FileNameLength / sizeof(WCHAR);
- }
- } else {
- /*
- * Removed or renamed events cannot be resolved to the long form.
- * We therefore use the name given by ReadDirectoryChangesW.
- * This may be the long form or the 8.3 short name in some cases.
- */
- filenamew = file_info->FileName;
- sizew = file_info->FileNameLength / sizeof(WCHAR);
- }
- } else {
- /* We already have the long name of the file, so just use it. */
- filenamew = handle->filew;
- sizew = -1;
- }
-
- /* Convert the filename to utf8. */
- uv__convert_utf16_to_utf8(filenamew, sizew, &filename);
-
- switch (file_info->Action) {
- case FILE_ACTION_ADDED:
- case FILE_ACTION_REMOVED:
- case FILE_ACTION_RENAMED_OLD_NAME:
- case FILE_ACTION_RENAMED_NEW_NAME:
- handle->cb(handle, filename, UV_RENAME, 0);
- break;
-
- case FILE_ACTION_MODIFIED:
- handle->cb(handle, filename, UV_CHANGE, 0);
- break;
- }
-
- uv__free(filename);
- filename = NULL;
- uv__free(long_filenamew);
- long_filenamew = NULL;
- filenamew = NULL;
- }
-
- offset = file_info->NextEntryOffset;
- } while (offset && !(handle->flags & UV__HANDLE_CLOSING));
- } else {
- handle->cb(handle, NULL, UV_CHANGE, 0);
- }
- } else {
- err = GET_REQ_ERROR(req);
- handle->cb(handle, NULL, 0, uv_translate_sys_error(err));
- }
-
- if (!(handle->flags & UV__HANDLE_CLOSING)) {
- uv_fs_event_queue_readdirchanges(loop, handle);
- } else {
- uv_want_endgame(loop, (uv_handle_t*)handle);
- }
-}
-
-
-void uv_fs_event_close(uv_loop_t* loop, uv_fs_event_t* handle) {
- uv_fs_event_stop(handle);
-
- uv__handle_closing(handle);
-
- if (!handle->req_pending) {
- uv_want_endgame(loop, (uv_handle_t*)handle);
- }
-
-}
-
-
-void uv_fs_event_endgame(uv_loop_t* loop, uv_fs_event_t* handle) {
- if ((handle->flags & UV__HANDLE_CLOSING) && !handle->req_pending) {
- assert(!(handle->flags & UV_HANDLE_CLOSED));
-
- if (handle->buffer) {
- uv__free(handle->buffer);
- handle->buffer = NULL;
- }
-
- uv__handle_close(handle);
- }
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/fs.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/fs.cpp
deleted file mode 100644
index d7698a7..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/fs.cpp
+++ /dev/null
@@ -1,2486 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include <assert.h>
-#include <stdlib.h>
-#include <direct.h>
-#include <errno.h>
-#include <fcntl.h>
-#include <io.h>
-#include <limits.h>
-#include <sys/stat.h>
-#include <sys/utime.h>
-#include <stdio.h>
-
-#include "uv.h"
-#include "internal.h"
-#include "req-inl.h"
-#include "handle-inl.h"
-
-#include <wincrypt.h>
-
-#pragma comment(lib, "Advapi32.lib")
-
-#define UV_FS_FREE_PATHS 0x0002
-#define UV_FS_FREE_PTR 0x0008
-#define UV_FS_CLEANEDUP 0x0010
-
-
-#define INIT(subtype) \
- do { \
- if (req == NULL) \
- return UV_EINVAL; \
- uv_fs_req_init(loop, req, subtype, cb); \
- } \
- while (0)
-
-#define POST \
- do { \
- if (cb != NULL) { \
- uv__req_register(loop, req); \
- uv__work_submit(loop, &req->work_req, uv__fs_work, uv__fs_done); \
- return 0; \
- } else { \
- uv__fs_work(&req->work_req); \
- return req->result; \
- } \
- } \
- while (0)
-
-#define SET_REQ_RESULT(req, result_value) \
- do { \
- req->result = (result_value); \
- if (req->result == -1) { \
- req->sys_errno_ = _doserrno; \
- req->result = uv_translate_sys_error(req->sys_errno_); \
- } \
- } while (0)
-
-#define SET_REQ_WIN32_ERROR(req, sys_errno) \
- do { \
- req->sys_errno_ = (sys_errno); \
- req->result = uv_translate_sys_error(req->sys_errno_); \
- } while (0)
-
-#define SET_REQ_UV_ERROR(req, uv_errno, sys_errno) \
- do { \
- req->result = (uv_errno); \
- req->sys_errno_ = (sys_errno); \
- } while (0)
-
-#define VERIFY_FD(fd, req) \
- if (fd == -1) { \
- req->result = UV_EBADF; \
- req->sys_errno_ = ERROR_INVALID_HANDLE; \
- return; \
- }
-
-#define FILETIME_TO_UINT(filetime) \
- (*((uint64_t*) &(filetime)) - 116444736000000000ULL)
-
-#define FILETIME_TO_TIME_T(filetime) \
- (FILETIME_TO_UINT(filetime) / 10000000ULL)
-
-#define FILETIME_TO_TIME_NS(filetime, secs) \
- ((FILETIME_TO_UINT(filetime) - (secs * 10000000ULL)) * 100)
-
-#define FILETIME_TO_TIMESPEC(ts, filetime) \
- do { \
- (ts).tv_sec = (long) FILETIME_TO_TIME_T(filetime); \
- (ts).tv_nsec = (long) FILETIME_TO_TIME_NS(filetime, (ts).tv_sec); \
- } while(0)
-
-#define TIME_T_TO_FILETIME(time, filetime_ptr) \
- do { \
- uint64_t bigtime = ((uint64_t) ((time) * 10000000ULL)) + \
- 116444736000000000ULL; \
- (filetime_ptr)->dwLowDateTime = bigtime & 0xFFFFFFFF; \
- (filetime_ptr)->dwHighDateTime = bigtime >> 32; \
- } while(0)
-
-#define IS_SLASH(c) ((c) == L'\\' || (c) == L'/')
-#define IS_LETTER(c) (((c) >= L'a' && (c) <= L'z') || \
- ((c) >= L'A' && (c) <= L'Z'))
-
-const WCHAR JUNCTION_PREFIX[] = L"\\??\\";
-const WCHAR JUNCTION_PREFIX_LEN = 4;
-
-const WCHAR LONG_PATH_PREFIX[] = L"\\\\?\\";
-const WCHAR LONG_PATH_PREFIX_LEN = 4;
-
-const WCHAR UNC_PATH_PREFIX[] = L"\\\\?\\UNC\\";
-const WCHAR UNC_PATH_PREFIX_LEN = 8;
-
-static int uv__file_symlink_usermode_flag = SYMBOLIC_LINK_FLAG_ALLOW_UNPRIVILEGED_CREATE;
-
-void uv_fs_init(void) {
- _fmode = _O_BINARY;
-}
-
-
-INLINE static int fs__capture_path(uv_fs_t* req, const char* path,
- const char* new_path, const int copy_path) {
- char* buf;
- char* pos;
- ssize_t buf_sz = 0, path_len = 0, pathw_len = 0, new_pathw_len = 0;
-
- /* new_path can only be set if path is also set. */
- assert(new_path == NULL || path != NULL);
-
- if (path != NULL) {
- pathw_len = MultiByteToWideChar(CP_UTF8,
- 0,
- path,
- -1,
- NULL,
- 0);
- if (pathw_len == 0) {
- return GetLastError();
- }
-
- buf_sz += pathw_len * sizeof(WCHAR);
- }
-
- if (path != NULL && copy_path) {
- path_len = 1 + strlen(path);
- buf_sz += path_len;
- }
-
- if (new_path != NULL) {
- new_pathw_len = MultiByteToWideChar(CP_UTF8,
- 0,
- new_path,
- -1,
- NULL,
- 0);
- if (new_pathw_len == 0) {
- return GetLastError();
- }
-
- buf_sz += new_pathw_len * sizeof(WCHAR);
- }
-
-
- if (buf_sz == 0) {
- req->file.pathw = NULL;
- req->fs.info.new_pathw = NULL;
- req->path = NULL;
- return 0;
- }
-
- buf = (char*) uv__malloc(buf_sz);
- if (buf == NULL) {
- return ERROR_OUTOFMEMORY;
- }
-
- pos = buf;
-
- if (path != NULL) {
- DWORD r = MultiByteToWideChar(CP_UTF8,
- 0,
- path,
- -1,
- (WCHAR*) pos,
- pathw_len);
- assert(r == (DWORD) pathw_len);
- req->file.pathw = (WCHAR*) pos;
- pos += r * sizeof(WCHAR);
- } else {
- req->file.pathw = NULL;
- }
-
- if (new_path != NULL) {
- DWORD r = MultiByteToWideChar(CP_UTF8,
- 0,
- new_path,
- -1,
- (WCHAR*) pos,
- new_pathw_len);
- assert(r == (DWORD) new_pathw_len);
- req->fs.info.new_pathw = (WCHAR*) pos;
- pos += r * sizeof(WCHAR);
- } else {
- req->fs.info.new_pathw = NULL;
- }
-
- req->path = path;
- if (path != NULL && copy_path) {
- memcpy(pos, path, path_len);
- assert(path_len == buf_sz - (pos - buf));
- req->path = pos;
- }
-
- req->flags |= UV_FS_FREE_PATHS;
-
- return 0;
-}
-
-
-
-INLINE static void uv_fs_req_init(uv_loop_t* loop, uv_fs_t* req,
- uv_fs_type fs_type, const uv_fs_cb cb) {
- uv__once_init();
- UV_REQ_INIT(req, UV_FS);
- req->loop = loop;
- req->flags = 0;
- req->fs_type = fs_type;
- req->result = 0;
- req->ptr = NULL;
- req->path = NULL;
- req->cb = cb;
- memset(&req->fs, 0, sizeof(req->fs));
-}
-
-
-static int fs__wide_to_utf8(WCHAR* w_source_ptr,
- DWORD w_source_len,
- char** target_ptr,
- uint64_t* target_len_ptr) {
- int r;
- int target_len;
- char* target;
- target_len = WideCharToMultiByte(CP_UTF8,
- 0,
- w_source_ptr,
- w_source_len,
- NULL,
- 0,
- NULL,
- NULL);
-
- if (target_len == 0) {
- return -1;
- }
-
- if (target_len_ptr != NULL) {
- *target_len_ptr = target_len;
- }
-
- if (target_ptr == NULL) {
- return 0;
- }
-
- target = (char*)uv__malloc(target_len + 1);
- if (target == NULL) {
- SetLastError(ERROR_OUTOFMEMORY);
- return -1;
- }
-
- r = WideCharToMultiByte(CP_UTF8,
- 0,
- w_source_ptr,
- w_source_len,
- target,
- target_len,
- NULL,
- NULL);
- assert(r == target_len);
- target[target_len] = '\0';
- *target_ptr = target;
- return 0;
-}
-
-
-INLINE static int fs__readlink_handle(HANDLE handle, char** target_ptr,
- uint64_t* target_len_ptr) {
- char buffer[MAXIMUM_REPARSE_DATA_BUFFER_SIZE];
- REPARSE_DATA_BUFFER* reparse_data = (REPARSE_DATA_BUFFER*) buffer;
- WCHAR* w_target;
- DWORD w_target_len;
- DWORD bytes;
-
- if (!DeviceIoControl(handle,
- FSCTL_GET_REPARSE_POINT,
- NULL,
- 0,
- buffer,
- sizeof buffer,
- &bytes,
- NULL)) {
- return -1;
- }
-
- if (reparse_data->ReparseTag == IO_REPARSE_TAG_SYMLINK) {
- /* Real symlink */
- w_target = reparse_data->SymbolicLinkReparseBuffer.PathBuffer +
- (reparse_data->SymbolicLinkReparseBuffer.SubstituteNameOffset /
- sizeof(WCHAR));
- w_target_len =
- reparse_data->SymbolicLinkReparseBuffer.SubstituteNameLength /
- sizeof(WCHAR);
-
- /* Real symlinks can contain pretty much everything, but the only thing we
- * really care about is undoing the implicit conversion to an NT namespaced
- * path that CreateSymbolicLink will perform on absolute paths. If the path
- * is win32-namespaced then the user must have explicitly made it so, and
- * we better just return the unmodified reparse data. */
- if (w_target_len >= 4 &&
- w_target[0] == L'\\' &&
- w_target[1] == L'?' &&
- w_target[2] == L'?' &&
- w_target[3] == L'\\') {
- /* Starts with \??\ */
- if (w_target_len >= 6 &&
- ((w_target[4] >= L'A' && w_target[4] <= L'Z') ||
- (w_target[4] >= L'a' && w_target[4] <= L'z')) &&
- w_target[5] == L':' &&
- (w_target_len == 6 || w_target[6] == L'\\')) {
- /* \??\<drive>:\ */
- w_target += 4;
- w_target_len -= 4;
-
- } else if (w_target_len >= 8 &&
- (w_target[4] == L'U' || w_target[4] == L'u') &&
- (w_target[5] == L'N' || w_target[5] == L'n') &&
- (w_target[6] == L'C' || w_target[6] == L'c') &&
- w_target[7] == L'\\') {
- /* \??\UNC\<server>\<share>\ - make sure the final path looks like
- * \\<server>\<share>\ */
- w_target += 6;
- w_target[0] = L'\\';
- w_target_len -= 6;
- }
- }
-
- } else if (reparse_data->ReparseTag == IO_REPARSE_TAG_MOUNT_POINT) {
- /* Junction. */
- w_target = reparse_data->MountPointReparseBuffer.PathBuffer +
- (reparse_data->MountPointReparseBuffer.SubstituteNameOffset /
- sizeof(WCHAR));
- w_target_len = reparse_data->MountPointReparseBuffer.SubstituteNameLength /
- sizeof(WCHAR);
-
- /* Only treat junctions that look like \??\<drive>:\ as symlink. Junctions
- * can also be used as mount points, like \??\Volume{<guid>}, but that's
- * confusing for programs since they wouldn't be able to actually
- * understand such a path when returned by uv_readlink(). UNC paths are
- * never valid for junctions so we don't care about them. */
- if (!(w_target_len >= 6 &&
- w_target[0] == L'\\' &&
- w_target[1] == L'?' &&
- w_target[2] == L'?' &&
- w_target[3] == L'\\' &&
- ((w_target[4] >= L'A' && w_target[4] <= L'Z') ||
- (w_target[4] >= L'a' && w_target[4] <= L'z')) &&
- w_target[5] == L':' &&
- (w_target_len == 6 || w_target[6] == L'\\'))) {
- SetLastError(ERROR_SYMLINK_NOT_SUPPORTED);
- return -1;
- }
-
- /* Remove leading \??\ */
- w_target += 4;
- w_target_len -= 4;
-
- } else {
- /* Reparse tag does not indicate a symlink. */
- SetLastError(ERROR_SYMLINK_NOT_SUPPORTED);
- return -1;
- }
-
- return fs__wide_to_utf8(w_target, w_target_len, target_ptr, target_len_ptr);
-}
-
-
-void fs__open(uv_fs_t* req) {
- DWORD access;
- DWORD share;
- DWORD disposition;
- DWORD attributes = 0;
- HANDLE file;
- int fd, current_umask;
- int flags = req->fs.info.file_flags;
-
- /* Obtain the active umask. umask() never fails and returns the previous
- * umask. */
- current_umask = umask(0);
- umask(current_umask);
-
- /* convert flags and mode to CreateFile parameters */
- switch (flags & (UV_FS_O_RDONLY | UV_FS_O_WRONLY | UV_FS_O_RDWR)) {
- case UV_FS_O_RDONLY:
- access = FILE_GENERIC_READ;
- break;
- case UV_FS_O_WRONLY:
- access = FILE_GENERIC_WRITE;
- break;
- case UV_FS_O_RDWR:
- access = FILE_GENERIC_READ | FILE_GENERIC_WRITE;
- break;
- default:
- goto einval;
- }
-
- if (flags & UV_FS_O_APPEND) {
- access &= ~FILE_WRITE_DATA;
- access |= FILE_APPEND_DATA;
- }
-
- /*
- * Here is where we deviate significantly from what CRT's _open()
- * does. We indiscriminately use all the sharing modes, to match
- * UNIX semantics. In particular, this ensures that the file can
- * be deleted even whilst it's open, fixing issue #1449.
- * We still support exclusive sharing mode, since it is necessary
- * for opening raw block devices, otherwise Windows will prevent
- * any attempt to write past the master boot record.
- */
- if (flags & UV_FS_O_EXLOCK) {
- share = 0;
- } else {
- share = FILE_SHARE_READ | FILE_SHARE_WRITE | FILE_SHARE_DELETE;
- }
-
- switch (flags & (UV_FS_O_CREAT | UV_FS_O_EXCL | UV_FS_O_TRUNC)) {
- case 0:
- case UV_FS_O_EXCL:
- disposition = OPEN_EXISTING;
- break;
- case UV_FS_O_CREAT:
- disposition = OPEN_ALWAYS;
- break;
- case UV_FS_O_CREAT | UV_FS_O_EXCL:
- case UV_FS_O_CREAT | UV_FS_O_TRUNC | UV_FS_O_EXCL:
- disposition = CREATE_NEW;
- break;
- case UV_FS_O_TRUNC:
- case UV_FS_O_TRUNC | UV_FS_O_EXCL:
- disposition = TRUNCATE_EXISTING;
- break;
- case UV_FS_O_CREAT | UV_FS_O_TRUNC:
- disposition = CREATE_ALWAYS;
- break;
- default:
- goto einval;
- }
-
- attributes |= FILE_ATTRIBUTE_NORMAL;
- if (flags & UV_FS_O_CREAT) {
- if (!((req->fs.info.mode & ~current_umask) & _S_IWRITE)) {
- attributes |= FILE_ATTRIBUTE_READONLY;
- }
- }
-
- if (flags & UV_FS_O_TEMPORARY ) {
- attributes |= FILE_FLAG_DELETE_ON_CLOSE | FILE_ATTRIBUTE_TEMPORARY;
- access |= DELETE;
- }
-
- if (flags & UV_FS_O_SHORT_LIVED) {
- attributes |= FILE_ATTRIBUTE_TEMPORARY;
- }
-
- switch (flags & (UV_FS_O_SEQUENTIAL | UV_FS_O_RANDOM)) {
- case 0:
- break;
- case UV_FS_O_SEQUENTIAL:
- attributes |= FILE_FLAG_SEQUENTIAL_SCAN;
- break;
- case UV_FS_O_RANDOM:
- attributes |= FILE_FLAG_RANDOM_ACCESS;
- break;
- default:
- goto einval;
- }
-
- if (flags & UV_FS_O_DIRECT) {
- attributes |= FILE_FLAG_NO_BUFFERING;
- }
-
- switch (flags & (UV_FS_O_DSYNC | UV_FS_O_SYNC)) {
- case 0:
- break;
- case UV_FS_O_DSYNC:
- case UV_FS_O_SYNC:
- attributes |= FILE_FLAG_WRITE_THROUGH;
- break;
- default:
- goto einval;
- }
-
- /* Setting this flag makes it possible to open a directory. */
- attributes |= FILE_FLAG_BACKUP_SEMANTICS;
-
- file = CreateFileW(req->file.pathw,
- access,
- share,
- NULL,
- disposition,
- attributes,
- NULL);
- if (file == INVALID_HANDLE_VALUE) {
- DWORD error = GetLastError();
- if (error == ERROR_FILE_EXISTS && (flags & UV_FS_O_CREAT) &&
- !(flags & UV_FS_O_EXCL)) {
- /* Special case: when ERROR_FILE_EXISTS happens and UV_FS_O_CREAT was
- * specified, it means the path referred to a directory. */
- SET_REQ_UV_ERROR(req, UV_EISDIR, error);
- } else {
- SET_REQ_WIN32_ERROR(req, GetLastError());
- }
- return;
- }
-
- fd = _open_osfhandle((intptr_t) file, flags);
- if (fd < 0) {
- /* The only known failure mode for _open_osfhandle() is EMFILE, in which
- * case GetLastError() will return zero. However we'll try to handle other
- * errors as well, should they ever occur.
- */
- if (errno == EMFILE)
- SET_REQ_UV_ERROR(req, UV_EMFILE, ERROR_TOO_MANY_OPEN_FILES);
- else if (GetLastError() != ERROR_SUCCESS)
- SET_REQ_WIN32_ERROR(req, GetLastError());
- else
- SET_REQ_WIN32_ERROR(req, UV_UNKNOWN);
- CloseHandle(file);
- return;
- }
-
- SET_REQ_RESULT(req, fd);
- return;
-
- einval:
- SET_REQ_UV_ERROR(req, UV_EINVAL, ERROR_INVALID_PARAMETER);
-}
-
-void fs__close(uv_fs_t* req) {
- int fd = req->file.fd;
- int result;
-
- VERIFY_FD(fd, req);
-
- if (fd > 2)
- result = _close(fd);
- else
- result = 0;
-
- /* _close doesn't set _doserrno on failure, but it does always set errno
- * to EBADF on failure.
- */
- if (result == -1) {
- assert(errno == EBADF);
- SET_REQ_UV_ERROR(req, UV_EBADF, ERROR_INVALID_HANDLE);
- } else {
- req->result = 0;
- }
-}
-
-
-void fs__read(uv_fs_t* req) {
- int fd = req->file.fd;
- int64_t offset = req->fs.info.offset;
- HANDLE handle;
- OVERLAPPED overlapped, *overlapped_ptr;
- LARGE_INTEGER offset_;
- DWORD bytes;
- DWORD error;
- int result;
- unsigned int index;
- LARGE_INTEGER original_position;
- LARGE_INTEGER zero_offset;
- int restore_position;
-
- VERIFY_FD(fd, req);
-
- zero_offset.QuadPart = 0;
- restore_position = 0;
- handle = uv__get_osfhandle(fd);
-
- if (handle == INVALID_HANDLE_VALUE) {
- SET_REQ_WIN32_ERROR(req, ERROR_INVALID_HANDLE);
- return;
- }
-
- if (offset != -1) {
- memset(&overlapped, 0, sizeof overlapped);
- overlapped_ptr = &overlapped;
- if (SetFilePointerEx(handle, zero_offset, &original_position,
- FILE_CURRENT)) {
- restore_position = 1;
- }
- } else {
- overlapped_ptr = NULL;
- }
-
- index = 0;
- bytes = 0;
- do {
- DWORD incremental_bytes;
-
- if (offset != -1) {
- offset_.QuadPart = offset + bytes;
- overlapped.Offset = offset_.LowPart;
- overlapped.OffsetHigh = offset_.HighPart;
- }
-
- result = ReadFile(handle,
- req->fs.info.bufs[index].base,
- req->fs.info.bufs[index].len,
- &incremental_bytes,
- overlapped_ptr);
- bytes += incremental_bytes;
- ++index;
- } while (result && index < req->fs.info.nbufs);
-
- if (restore_position)
- SetFilePointerEx(handle, original_position, NULL, FILE_BEGIN);
-
- if (result || bytes > 0) {
- SET_REQ_RESULT(req, bytes);
- } else {
- error = GetLastError();
- if (error == ERROR_HANDLE_EOF) {
- SET_REQ_RESULT(req, bytes);
- } else {
- SET_REQ_WIN32_ERROR(req, error);
- }
- }
-}
-
-
-void fs__write(uv_fs_t* req) {
- int fd = req->file.fd;
- int64_t offset = req->fs.info.offset;
- HANDLE handle;
- OVERLAPPED overlapped, *overlapped_ptr;
- LARGE_INTEGER offset_;
- DWORD bytes;
- int result;
- unsigned int index;
- LARGE_INTEGER original_position;
- LARGE_INTEGER zero_offset;
- int restore_position;
-
- VERIFY_FD(fd, req);
-
- zero_offset.QuadPart = 0;
- restore_position = 0;
- handle = uv__get_osfhandle(fd);
- if (handle == INVALID_HANDLE_VALUE) {
- SET_REQ_WIN32_ERROR(req, ERROR_INVALID_HANDLE);
- return;
- }
-
- if (offset != -1) {
- memset(&overlapped, 0, sizeof overlapped);
- overlapped_ptr = &overlapped;
- if (SetFilePointerEx(handle, zero_offset, &original_position,
- FILE_CURRENT)) {
- restore_position = 1;
- }
- } else {
- overlapped_ptr = NULL;
- }
-
- index = 0;
- bytes = 0;
- do {
- DWORD incremental_bytes;
-
- if (offset != -1) {
- offset_.QuadPart = offset + bytes;
- overlapped.Offset = offset_.LowPart;
- overlapped.OffsetHigh = offset_.HighPart;
- }
-
- result = WriteFile(handle,
- req->fs.info.bufs[index].base,
- req->fs.info.bufs[index].len,
- &incremental_bytes,
- overlapped_ptr);
- bytes += incremental_bytes;
- ++index;
- } while (result && index < req->fs.info.nbufs);
-
- if (restore_position)
- SetFilePointerEx(handle, original_position, NULL, FILE_BEGIN);
-
- if (result || bytes > 0) {
- SET_REQ_RESULT(req, bytes);
- } else {
- SET_REQ_WIN32_ERROR(req, GetLastError());
- }
-}
-
-
-void fs__rmdir(uv_fs_t* req) {
- int result = _wrmdir(req->file.pathw);
- SET_REQ_RESULT(req, result);
-}
-
-
-void fs__unlink(uv_fs_t* req) {
- const WCHAR* pathw = req->file.pathw;
- HANDLE handle;
- BY_HANDLE_FILE_INFORMATION info;
- FILE_DISPOSITION_INFORMATION disposition;
- IO_STATUS_BLOCK iosb;
- NTSTATUS status;
-
- handle = CreateFileW(pathw,
- FILE_READ_ATTRIBUTES | FILE_WRITE_ATTRIBUTES | DELETE,
- FILE_SHARE_READ | FILE_SHARE_WRITE | FILE_SHARE_DELETE,
- NULL,
- OPEN_EXISTING,
- FILE_FLAG_OPEN_REPARSE_POINT | FILE_FLAG_BACKUP_SEMANTICS,
- NULL);
-
- if (handle == INVALID_HANDLE_VALUE) {
- SET_REQ_WIN32_ERROR(req, GetLastError());
- return;
- }
-
- if (!GetFileInformationByHandle(handle, &info)) {
- SET_REQ_WIN32_ERROR(req, GetLastError());
- CloseHandle(handle);
- return;
- }
-
- if (info.dwFileAttributes & FILE_ATTRIBUTE_DIRECTORY) {
- /* Do not allow deletion of directories, unless it is a symlink. When the
- * path refers to a non-symlink directory, report EPERM as mandated by
- * POSIX.1. */
-
- /* Check if it is a reparse point. If it's not, it's a normal directory. */
- if (!(info.dwFileAttributes & FILE_ATTRIBUTE_REPARSE_POINT)) {
- SET_REQ_WIN32_ERROR(req, ERROR_ACCESS_DENIED);
- CloseHandle(handle);
- return;
- }
-
- /* Read the reparse point and check if it is a valid symlink. If not, don't
- * unlink. */
- if (fs__readlink_handle(handle, NULL, NULL) < 0) {
- DWORD error = GetLastError();
- if (error == ERROR_SYMLINK_NOT_SUPPORTED)
- error = ERROR_ACCESS_DENIED;
- SET_REQ_WIN32_ERROR(req, error);
- CloseHandle(handle);
- return;
- }
- }
-
- if (info.dwFileAttributes & FILE_ATTRIBUTE_READONLY) {
- /* Remove read-only attribute */
- FILE_BASIC_INFORMATION basic = { 0 };
-
- basic.FileAttributes = info.dwFileAttributes
- & ~(FILE_ATTRIBUTE_READONLY)
- | FILE_ATTRIBUTE_ARCHIVE;
-
- status = pNtSetInformationFile(handle,
- &iosb,
- &basic,
- sizeof basic,
- FileBasicInformation);
- if (!NT_SUCCESS(status)) {
- SET_REQ_WIN32_ERROR(req, pRtlNtStatusToDosError(status));
- CloseHandle(handle);
- return;
- }
- }
-
- /* Try to set the delete flag. */
- disposition.DeleteFile = TRUE;
- status = pNtSetInformationFile(handle,
- &iosb,
- &disposition,
- sizeof disposition,
- FileDispositionInformation);
- if (NT_SUCCESS(status)) {
- SET_REQ_SUCCESS(req);
- } else {
- SET_REQ_WIN32_ERROR(req, pRtlNtStatusToDosError(status));
- }
-
- CloseHandle(handle);
-}
-
-
-void fs__mkdir(uv_fs_t* req) {
- /* TODO: use req->mode. */
- int result = _wmkdir(req->file.pathw);
- SET_REQ_RESULT(req, result);
-}
-
-
-/* OpenBSD original: lib/libc/stdio/mktemp.c */
-void fs__mkdtemp(uv_fs_t* req) {
- static const WCHAR *tempchars =
- L"abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ0123456789";
- static const size_t num_chars = 62;
- static const size_t num_x = 6;
- WCHAR *cp, *ep;
- unsigned int tries, i;
- size_t len;
- HCRYPTPROV h_crypt_prov;
- uint64_t v;
- BOOL released;
-
- len = wcslen(req->file.pathw);
- ep = req->file.pathw + len;
- if (len < num_x || wcsncmp(ep - num_x, L"XXXXXX", num_x)) {
- SET_REQ_UV_ERROR(req, UV_EINVAL, ERROR_INVALID_PARAMETER);
- return;
- }
-
- if (!CryptAcquireContext(&h_crypt_prov, NULL, NULL, PROV_RSA_FULL,
- CRYPT_VERIFYCONTEXT)) {
- SET_REQ_WIN32_ERROR(req, GetLastError());
- return;
- }
-
- tries = TMP_MAX;
- do {
- if (!CryptGenRandom(h_crypt_prov, sizeof(v), (BYTE*) &v)) {
- SET_REQ_WIN32_ERROR(req, GetLastError());
- break;
- }
-
- cp = ep - num_x;
- for (i = 0; i < num_x; i++) {
- *cp++ = tempchars[v % num_chars];
- v /= num_chars;
- }
-
- if (_wmkdir(req->file.pathw) == 0) {
- len = strlen(req->path);
- wcstombs((char*) req->path + len - num_x, ep - num_x, num_x);
- SET_REQ_RESULT(req, 0);
- break;
- } else if (errno != EEXIST) {
- SET_REQ_RESULT(req, -1);
- break;
- }
- } while (--tries);
-
- released = CryptReleaseContext(h_crypt_prov, 0);
- assert(released);
- if (tries == 0) {
- SET_REQ_RESULT(req, -1);
- }
-}
-
-
-void fs__scandir(uv_fs_t* req) {
- static const size_t dirents_initial_size = 32;
-
- HANDLE dir_handle = INVALID_HANDLE_VALUE;
-
- uv__dirent_t** dirents = NULL;
- size_t dirents_size = 0;
- size_t dirents_used = 0;
-
- IO_STATUS_BLOCK iosb;
- NTSTATUS status;
-
- /* Buffer to hold directory entries returned by NtQueryDirectoryFile.
- * It's important that this buffer can hold at least one entry, regardless
- * of the length of the file names present in the enumerated directory.
- * A file name is at most 256 WCHARs long.
- * According to MSDN, the buffer must be aligned at an 8-byte boundary.
- */
-#if _MSC_VER
- __declspec(align(8)) char buffer[8192];
-#else
- __attribute__ ((aligned (8))) char buffer[8192];
-#endif
-
- STATIC_ASSERT(sizeof buffer >=
- sizeof(FILE_DIRECTORY_INFORMATION) + 256 * sizeof(WCHAR));
-
- /* Open the directory. */
- dir_handle =
- CreateFileW(req->file.pathw,
- FILE_LIST_DIRECTORY | SYNCHRONIZE,
- FILE_SHARE_READ | FILE_SHARE_WRITE | FILE_SHARE_DELETE,
- NULL,
- OPEN_EXISTING,
- FILE_FLAG_BACKUP_SEMANTICS,
- NULL);
- if (dir_handle == INVALID_HANDLE_VALUE)
- goto win32_error;
-
- /* Read the first chunk. */
- status = pNtQueryDirectoryFile(dir_handle,
- NULL,
- NULL,
- NULL,
- &iosb,
- &buffer,
- sizeof buffer,
- FileDirectoryInformation,
- FALSE,
- NULL,
- TRUE);
-
- /* If the handle is not a directory, we'll get STATUS_INVALID_PARAMETER.
- * This should be reported back as UV_ENOTDIR.
- */
- if (status == STATUS_INVALID_PARAMETER)
- goto not_a_directory_error;
-
- while (NT_SUCCESS(status)) {
- char* position = buffer;
- size_t next_entry_offset = 0;
-
- do {
- FILE_DIRECTORY_INFORMATION* info;
- uv__dirent_t* dirent;
-
- size_t wchar_len;
- size_t utf8_len;
-
- /* Obtain a pointer to the current directory entry. */
- position += next_entry_offset;
- info = (FILE_DIRECTORY_INFORMATION*) position;
-
- /* Fetch the offset to the next directory entry. */
- next_entry_offset = info->NextEntryOffset;
-
- /* Compute the length of the filename in WCHARs. */
- wchar_len = info->FileNameLength / sizeof info->FileName[0];
-
- /* Skip over '.' and '..' entries. It has been reported that
- * the SharePoint driver includes the terminating zero byte in
- * the filename length. Strip those first.
- */
- while (wchar_len > 0 && info->FileName[wchar_len - 1] == L'\0')
- wchar_len -= 1;
-
- if (wchar_len == 0)
- continue;
- if (wchar_len == 1 && info->FileName[0] == L'.')
- continue;
- if (wchar_len == 2 && info->FileName[0] == L'.' &&
- info->FileName[1] == L'.')
- continue;
-
- /* Compute the space required to store the filename as UTF-8. */
- utf8_len = WideCharToMultiByte(
- CP_UTF8, 0, &info->FileName[0], wchar_len, NULL, 0, NULL, NULL);
- if (utf8_len == 0)
- goto win32_error;
-
- /* Resize the dirent array if needed. */
- if (dirents_used >= dirents_size) {
- size_t new_dirents_size =
- dirents_size == 0 ? dirents_initial_size : dirents_size << 1;
- uv__dirent_t** new_dirents = (uv__dirent_t**)
- uv__realloc(dirents, new_dirents_size * sizeof *dirents);
-
- if (new_dirents == NULL)
- goto out_of_memory_error;
-
- dirents_size = new_dirents_size;
- dirents = new_dirents;
- }
-
- /* Allocate space for the uv dirent structure. The dirent structure
- * includes room for the first character of the filename, but `utf8_len`
- * doesn't count the NULL terminator at this point.
- */
- dirent = (uv__dirent_t*)uv__malloc(sizeof *dirent + utf8_len);
- if (dirent == NULL)
- goto out_of_memory_error;
-
- dirents[dirents_used++] = dirent;
-
- /* Convert file name to UTF-8. */
- if (WideCharToMultiByte(CP_UTF8,
- 0,
- &info->FileName[0],
- wchar_len,
- &dirent->d_name[0],
- utf8_len,
- NULL,
- NULL) == 0)
- goto win32_error;
-
- /* Add a null terminator to the filename. */
- dirent->d_name[utf8_len] = '\0';
-
- /* Fill out the type field. */
- if (info->FileAttributes & FILE_ATTRIBUTE_DEVICE)
- dirent->d_type = UV__DT_CHAR;
- else if (info->FileAttributes & FILE_ATTRIBUTE_REPARSE_POINT)
- dirent->d_type = UV__DT_LINK;
- else if (info->FileAttributes & FILE_ATTRIBUTE_DIRECTORY)
- dirent->d_type = UV__DT_DIR;
- else
- dirent->d_type = UV__DT_FILE;
- } while (next_entry_offset != 0);
-
- /* Read the next chunk. */
- status = pNtQueryDirectoryFile(dir_handle,
- NULL,
- NULL,
- NULL,
- &iosb,
- &buffer,
- sizeof buffer,
- FileDirectoryInformation,
- FALSE,
- NULL,
- FALSE);
-
- /* After the first pNtQueryDirectoryFile call, the function may return
- * STATUS_SUCCESS even if the buffer was too small to hold at least one
- * directory entry.
- */
- if (status == STATUS_SUCCESS && iosb.Information == 0)
- status = STATUS_BUFFER_OVERFLOW;
- }
-
- if (status != STATUS_NO_MORE_FILES)
- goto nt_error;
-
- CloseHandle(dir_handle);
-
- /* Store the result in the request object. */
- req->ptr = dirents;
- if (dirents != NULL)
- req->flags |= UV_FS_FREE_PTR;
-
- SET_REQ_RESULT(req, dirents_used);
-
- /* `nbufs` will be used as index by uv_fs_scandir_next. */
- req->fs.info.nbufs = 0;
-
- return;
-
-nt_error:
- SET_REQ_WIN32_ERROR(req, pRtlNtStatusToDosError(status));
- goto cleanup;
-
-win32_error:
- SET_REQ_WIN32_ERROR(req, GetLastError());
- goto cleanup;
-
-not_a_directory_error:
- SET_REQ_UV_ERROR(req, UV_ENOTDIR, ERROR_DIRECTORY);
- goto cleanup;
-
-out_of_memory_error:
- SET_REQ_UV_ERROR(req, UV_ENOMEM, ERROR_OUTOFMEMORY);
- goto cleanup;
-
-cleanup:
- if (dir_handle != INVALID_HANDLE_VALUE)
- CloseHandle(dir_handle);
- while (dirents_used > 0)
- uv__free(dirents[--dirents_used]);
- if (dirents != NULL)
- uv__free(dirents);
-}
-
-
-INLINE static int fs__stat_handle(HANDLE handle, uv_stat_t* statbuf,
- int do_lstat) {
- FILE_ALL_INFORMATION file_info;
- FILE_FS_VOLUME_INFORMATION volume_info;
- NTSTATUS nt_status;
- IO_STATUS_BLOCK io_status;
-
- nt_status = pNtQueryInformationFile(handle,
- &io_status,
- &file_info,
- sizeof file_info,
- FileAllInformation);
-
- /* Buffer overflow (a warning status code) is expected here. */
- if (NT_ERROR(nt_status)) {
- SetLastError(pRtlNtStatusToDosError(nt_status));
- return -1;
- }
-
- nt_status = pNtQueryVolumeInformationFile(handle,
- &io_status,
- &volume_info,
- sizeof volume_info,
- FileFsVolumeInformation);
-
- /* Buffer overflow (a warning status code) is expected here. */
- if (io_status.Status == STATUS_NOT_IMPLEMENTED) {
- statbuf->st_dev = 0;
- } else if (NT_ERROR(nt_status)) {
- SetLastError(pRtlNtStatusToDosError(nt_status));
- return -1;
- } else {
- statbuf->st_dev = volume_info.VolumeSerialNumber;
- }
-
- /* Todo: st_mode should probably always be 0666 for everyone. We might also
- * want to report 0777 if the file is a .exe or a directory.
- *
- * Currently it's based on whether the 'readonly' attribute is set, which
- * makes little sense because the semantics are so different: the 'read-only'
- * flag is just a way for a user to protect against accidental deletion, and
- * serves no security purpose. Windows uses ACLs for that.
- *
- * Also people now use uv_fs_chmod() to take away the writable bit for good
- * reasons. Windows however just makes the file read-only, which makes it
- * impossible to delete the file afterwards, since read-only files can't be
- * deleted.
- *
- * IOW it's all just a clusterfuck and we should think of something that
- * makes slightly more sense.
- *
- * And uv_fs_chmod should probably just fail on windows or be a total no-op.
- * There's nothing sensible it can do anyway.
- */
- statbuf->st_mode = 0;
-
- /*
- * On Windows, FILE_ATTRIBUTE_REPARSE_POINT is a general purpose mechanism
- * by which filesystem drivers can intercept and alter file system requests.
- *
- * The only reparse points we care about are symlinks and mount points, both
- * of which are treated as POSIX symlinks. Further, we only care when
- * invoked via lstat, which seeks information about the link instead of its
- * target. Otherwise, reparse points must be treated as regular files.
- */
- if (do_lstat &&
- (file_info.BasicInformation.FileAttributes & FILE_ATTRIBUTE_REPARSE_POINT)) {
- /*
- * If reading the link fails, the reparse point is not a symlink and needs
- * to be treated as a regular file. The higher level lstat function will
- * detect this failure and retry without do_lstat if appropriate.
- */
- if (fs__readlink_handle(handle, NULL, &statbuf->st_size) != 0)
- return -1;
- statbuf->st_mode |= S_IFLNK;
- }
-
- if (statbuf->st_mode == 0) {
- if (file_info.BasicInformation.FileAttributes & FILE_ATTRIBUTE_DIRECTORY) {
- statbuf->st_mode |= _S_IFDIR;
- statbuf->st_size = 0;
- } else {
- statbuf->st_mode |= _S_IFREG;
- statbuf->st_size = file_info.StandardInformation.EndOfFile.QuadPart;
- }
- }
-
- if (file_info.BasicInformation.FileAttributes & FILE_ATTRIBUTE_READONLY)
- statbuf->st_mode |= _S_IREAD | (_S_IREAD >> 3) | (_S_IREAD >> 6);
- else
- statbuf->st_mode |= (_S_IREAD | _S_IWRITE) | ((_S_IREAD | _S_IWRITE) >> 3) |
- ((_S_IREAD | _S_IWRITE) >> 6);
-
- FILETIME_TO_TIMESPEC(statbuf->st_atim, file_info.BasicInformation.LastAccessTime);
- FILETIME_TO_TIMESPEC(statbuf->st_ctim, file_info.BasicInformation.ChangeTime);
- FILETIME_TO_TIMESPEC(statbuf->st_mtim, file_info.BasicInformation.LastWriteTime);
- FILETIME_TO_TIMESPEC(statbuf->st_birthtim, file_info.BasicInformation.CreationTime);
-
- statbuf->st_ino = file_info.InternalInformation.IndexNumber.QuadPart;
-
- /* st_blocks contains the on-disk allocation size in 512-byte units. */
- statbuf->st_blocks =
- file_info.StandardInformation.AllocationSize.QuadPart >> 9ULL;
-
- statbuf->st_nlink = file_info.StandardInformation.NumberOfLinks;
-
- /* The st_blksize is supposed to be the 'optimal' number of bytes for reading
- * and writing to the disk. That is, for any definition of 'optimal' - it's
- * supposed to at least avoid read-update-write behavior when writing to the
- * disk.
- *
- * However nobody knows this and even fewer people actually use this value,
- * and in order to fill it out we'd have to make another syscall to query the
- * volume for FILE_FS_SECTOR_SIZE_INFORMATION.
- *
- * Therefore we'll just report a sensible value that's quite commonly okay
- * on modern hardware.
- *
- * 4096 is the minimum required to be compatible with newer Advanced Format
- * drives (which have 4096 bytes per physical sector), and to be backwards
- * compatible with older drives (which have 512 bytes per physical sector).
- */
- statbuf->st_blksize = 4096;
-
- /* Todo: set st_flags to something meaningful. Also provide a wrapper for
- * chattr(2).
- */
- statbuf->st_flags = 0;
-
- /* Windows has nothing sensible to say about these values, so they'll just
- * remain empty.
- */
- statbuf->st_gid = 0;
- statbuf->st_uid = 0;
- statbuf->st_rdev = 0;
- statbuf->st_gen = 0;
-
- return 0;
-}
-
-
-INLINE static void fs__stat_prepare_path(WCHAR* pathw) {
- size_t len = wcslen(pathw);
-
- /* TODO: ignore namespaced paths. */
- if (len > 1 && pathw[len - 2] != L':' &&
- (pathw[len - 1] == L'\\' || pathw[len - 1] == L'/')) {
- pathw[len - 1] = '\0';
- }
-}
-
-
-INLINE static void fs__stat_impl(uv_fs_t* req, int do_lstat) {
- HANDLE handle;
- DWORD flags;
-
- flags = FILE_FLAG_BACKUP_SEMANTICS;
- if (do_lstat) {
- flags |= FILE_FLAG_OPEN_REPARSE_POINT;
- }
-
- handle = CreateFileW(req->file.pathw,
- FILE_READ_ATTRIBUTES,
- FILE_SHARE_READ | FILE_SHARE_WRITE | FILE_SHARE_DELETE,
- NULL,
- OPEN_EXISTING,
- flags,
- NULL);
- if (handle == INVALID_HANDLE_VALUE) {
- SET_REQ_WIN32_ERROR(req, GetLastError());
- return;
- }
-
- if (fs__stat_handle(handle, &req->statbuf, do_lstat) != 0) {
- DWORD error = GetLastError();
- if (do_lstat &&
- (error == ERROR_SYMLINK_NOT_SUPPORTED ||
- error == ERROR_NOT_A_REPARSE_POINT)) {
- /* We opened a reparse point but it was not a symlink. Try again. */
- fs__stat_impl(req, 0);
-
- } else {
- /* Stat failed. */
- SET_REQ_WIN32_ERROR(req, GetLastError());
- }
-
- CloseHandle(handle);
- return;
- }
-
- req->ptr = &req->statbuf;
- req->result = 0;
- CloseHandle(handle);
-}
-
-
-static void fs__stat(uv_fs_t* req) {
- fs__stat_prepare_path(req->file.pathw);
- fs__stat_impl(req, 0);
-}
-
-
-static void fs__lstat(uv_fs_t* req) {
- fs__stat_prepare_path(req->file.pathw);
- fs__stat_impl(req, 1);
-}
-
-
-static void fs__fstat(uv_fs_t* req) {
- int fd = req->file.fd;
- HANDLE handle;
-
- VERIFY_FD(fd, req);
-
- handle = uv__get_osfhandle(fd);
-
- if (handle == INVALID_HANDLE_VALUE) {
- SET_REQ_WIN32_ERROR(req, ERROR_INVALID_HANDLE);
- return;
- }
-
- if (fs__stat_handle(handle, &req->statbuf, 0) != 0) {
- SET_REQ_WIN32_ERROR(req, GetLastError());
- return;
- }
-
- req->ptr = &req->statbuf;
- req->result = 0;
-}
-
-
-static void fs__rename(uv_fs_t* req) {
- if (!MoveFileExW(req->file.pathw, req->fs.info.new_pathw, MOVEFILE_REPLACE_EXISTING)) {
- SET_REQ_WIN32_ERROR(req, GetLastError());
- return;
- }
-
- SET_REQ_RESULT(req, 0);
-}
-
-
-INLINE static void fs__sync_impl(uv_fs_t* req) {
- int fd = req->file.fd;
- int result;
-
- VERIFY_FD(fd, req);
-
- result = FlushFileBuffers(uv__get_osfhandle(fd)) ? 0 : -1;
- if (result == -1) {
- SET_REQ_WIN32_ERROR(req, GetLastError());
- } else {
- SET_REQ_RESULT(req, result);
- }
-}
-
-
-static void fs__fsync(uv_fs_t* req) {
- fs__sync_impl(req);
-}
-
-
-static void fs__fdatasync(uv_fs_t* req) {
- fs__sync_impl(req);
-}
-
-
-static void fs__ftruncate(uv_fs_t* req) {
- int fd = req->file.fd;
- HANDLE handle;
- NTSTATUS status;
- IO_STATUS_BLOCK io_status;
- FILE_END_OF_FILE_INFORMATION eof_info;
-
- VERIFY_FD(fd, req);
-
- handle = uv__get_osfhandle(fd);
-
- eof_info.EndOfFile.QuadPart = req->fs.info.offset;
-
- status = pNtSetInformationFile(handle,
- &io_status,
- &eof_info,
- sizeof eof_info,
- FileEndOfFileInformation);
-
- if (NT_SUCCESS(status)) {
- SET_REQ_RESULT(req, 0);
- } else {
- SET_REQ_WIN32_ERROR(req, pRtlNtStatusToDosError(status));
- }
-}
-
-
-static void fs__copyfile(uv_fs_t* req) {
- int flags;
- int overwrite;
-
- flags = req->fs.info.file_flags;
-
- if (flags & UV_FS_COPYFILE_FICLONE_FORCE) {
- SET_REQ_UV_ERROR(req, UV_ENOSYS, ERROR_NOT_SUPPORTED);
- return;
- }
-
- overwrite = flags & UV_FS_COPYFILE_EXCL;
-
- if (CopyFileW(req->file.pathw, req->fs.info.new_pathw, overwrite) == 0) {
- SET_REQ_WIN32_ERROR(req, GetLastError());
- return;
- }
-
- SET_REQ_RESULT(req, 0);
-}
-
-
-static void fs__sendfile(uv_fs_t* req) {
- int fd_in = req->file.fd, fd_out = req->fs.info.fd_out;
- size_t length = req->fs.info.bufsml[0].len;
- int64_t offset = req->fs.info.offset;
- const size_t max_buf_size = 65536;
- size_t buf_size = length < max_buf_size ? length : max_buf_size;
- int n, result = 0;
- int64_t result_offset = 0;
- char* buf = (char*) uv__malloc(buf_size);
- if (!buf) {
- uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
- }
-
- if (offset != -1) {
- result_offset = _lseeki64(fd_in, offset, SEEK_SET);
- }
-
- if (result_offset == -1) {
- result = -1;
- } else {
- while (length > 0) {
- n = _read(fd_in, buf, length < buf_size ? length : buf_size);
- if (n == 0) {
- break;
- } else if (n == -1) {
- result = -1;
- break;
- }
-
- length -= n;
-
- n = _write(fd_out, buf, n);
- if (n == -1) {
- result = -1;
- break;
- }
-
- result += n;
- }
- }
-
- uv__free(buf);
-
- SET_REQ_RESULT(req, result);
-}
-
-
-static void fs__access(uv_fs_t* req) {
- DWORD attr = GetFileAttributesW(req->file.pathw);
-
- if (attr == INVALID_FILE_ATTRIBUTES) {
- SET_REQ_WIN32_ERROR(req, GetLastError());
- return;
- }
-
- /*
- * Access is possible if
- * - write access wasn't requested,
- * - or the file isn't read-only,
- * - or it's a directory.
- * (Directories cannot be read-only on Windows.)
- */
- if (!(req->fs.info.mode & W_OK) ||
- !(attr & FILE_ATTRIBUTE_READONLY) ||
- (attr & FILE_ATTRIBUTE_DIRECTORY)) {
- SET_REQ_RESULT(req, 0);
- } else {
- SET_REQ_WIN32_ERROR(req, UV_EPERM);
- }
-
-}
-
-
-static void fs__chmod(uv_fs_t* req) {
- int result = _wchmod(req->file.pathw, req->fs.info.mode);
- SET_REQ_RESULT(req, result);
-}
-
-
-static void fs__fchmod(uv_fs_t* req) {
- int fd = req->file.fd;
- int clear_archive_flag;
- HANDLE handle;
- NTSTATUS nt_status;
- IO_STATUS_BLOCK io_status;
- FILE_BASIC_INFORMATION file_info;
-
- VERIFY_FD(fd, req);
-
- handle = ReOpenFile(uv__get_osfhandle(fd), FILE_WRITE_ATTRIBUTES, 0, 0);
- if (handle == INVALID_HANDLE_VALUE) {
- SET_REQ_WIN32_ERROR(req, GetLastError());
- return;
- }
-
- nt_status = pNtQueryInformationFile(handle,
- &io_status,
- &file_info,
- sizeof file_info,
- FileBasicInformation);
-
- if (!NT_SUCCESS(nt_status)) {
- SET_REQ_WIN32_ERROR(req, pRtlNtStatusToDosError(nt_status));
- goto fchmod_cleanup;
- }
-
- /* Test if the Archive attribute is cleared */
- if ((file_info.FileAttributes & FILE_ATTRIBUTE_ARCHIVE) == 0) {
- /* Set Archive flag, otherwise setting or clearing the read-only
- flag will not work */
- file_info.FileAttributes |= FILE_ATTRIBUTE_ARCHIVE;
- nt_status = pNtSetInformationFile(handle,
- &io_status,
- &file_info,
- sizeof file_info,
- FileBasicInformation);
- if (!NT_SUCCESS(nt_status)) {
- SET_REQ_WIN32_ERROR(req, pRtlNtStatusToDosError(nt_status));
- goto fchmod_cleanup;
- }
- /* Remeber to clear the flag later on */
- clear_archive_flag = 1;
- } else {
- clear_archive_flag = 0;
- }
-
- if (req->fs.info.mode & _S_IWRITE) {
- file_info.FileAttributes &= ~FILE_ATTRIBUTE_READONLY;
- } else {
- file_info.FileAttributes |= FILE_ATTRIBUTE_READONLY;
- }
-
- nt_status = pNtSetInformationFile(handle,
- &io_status,
- &file_info,
- sizeof file_info,
- FileBasicInformation);
-
- if (!NT_SUCCESS(nt_status)) {
- SET_REQ_WIN32_ERROR(req, pRtlNtStatusToDosError(nt_status));
- goto fchmod_cleanup;
- }
-
- if (clear_archive_flag) {
- file_info.FileAttributes &= ~FILE_ATTRIBUTE_ARCHIVE;
- if (file_info.FileAttributes == 0) {
- file_info.FileAttributes = FILE_ATTRIBUTE_NORMAL;
- }
- nt_status = pNtSetInformationFile(handle,
- &io_status,
- &file_info,
- sizeof file_info,
- FileBasicInformation);
- if (!NT_SUCCESS(nt_status)) {
- SET_REQ_WIN32_ERROR(req, pRtlNtStatusToDosError(nt_status));
- goto fchmod_cleanup;
- }
- }
-
- SET_REQ_SUCCESS(req);
-fchmod_cleanup:
- CloseHandle(handle);
-}
-
-
-INLINE static int fs__utime_handle(HANDLE handle, double atime, double mtime) {
- FILETIME filetime_a, filetime_m;
-
- TIME_T_TO_FILETIME(atime, &filetime_a);
- TIME_T_TO_FILETIME(mtime, &filetime_m);
-
- if (!SetFileTime(handle, NULL, &filetime_a, &filetime_m)) {
- return -1;
- }
-
- return 0;
-}
-
-
-static void fs__utime(uv_fs_t* req) {
- HANDLE handle;
-
- handle = CreateFileW(req->file.pathw,
- FILE_WRITE_ATTRIBUTES,
- FILE_SHARE_READ | FILE_SHARE_WRITE | FILE_SHARE_DELETE,
- NULL,
- OPEN_EXISTING,
- FILE_FLAG_BACKUP_SEMANTICS,
- NULL);
-
- if (handle == INVALID_HANDLE_VALUE) {
- SET_REQ_WIN32_ERROR(req, GetLastError());
- return;
- }
-
- if (fs__utime_handle(handle, req->fs.time.atime, req->fs.time.mtime) != 0) {
- SET_REQ_WIN32_ERROR(req, GetLastError());
- CloseHandle(handle);
- return;
- }
-
- CloseHandle(handle);
-
- req->result = 0;
-}
-
-
-static void fs__futime(uv_fs_t* req) {
- int fd = req->file.fd;
- HANDLE handle;
- VERIFY_FD(fd, req);
-
- handle = uv__get_osfhandle(fd);
-
- if (handle == INVALID_HANDLE_VALUE) {
- SET_REQ_WIN32_ERROR(req, ERROR_INVALID_HANDLE);
- return;
- }
-
- if (fs__utime_handle(handle, req->fs.time.atime, req->fs.time.mtime) != 0) {
- SET_REQ_WIN32_ERROR(req, GetLastError());
- return;
- }
-
- req->result = 0;
-}
-
-
-static void fs__link(uv_fs_t* req) {
- DWORD r = CreateHardLinkW(req->fs.info.new_pathw, req->file.pathw, NULL);
- if (r == 0) {
- SET_REQ_WIN32_ERROR(req, GetLastError());
- } else {
- req->result = 0;
- }
-}
-
-
-static void fs__create_junction(uv_fs_t* req, const WCHAR* path,
- const WCHAR* new_path) {
- HANDLE handle = INVALID_HANDLE_VALUE;
- REPARSE_DATA_BUFFER *buffer = NULL;
- int created = 0;
- int target_len;
- int is_absolute, is_long_path;
- int needed_buf_size, used_buf_size, used_data_size, path_buf_len;
- int start, len, i;
- int add_slash;
- DWORD bytes;
- WCHAR* path_buf;
-
- target_len = wcslen(path);
- is_long_path = wcsncmp(path, LONG_PATH_PREFIX, LONG_PATH_PREFIX_LEN) == 0;
-
- if (is_long_path) {
- is_absolute = 1;
- } else {
- is_absolute = target_len >= 3 && IS_LETTER(path[0]) &&
- path[1] == L':' && IS_SLASH(path[2]);
- }
-
- if (!is_absolute) {
- /* Not supporting relative paths */
- SET_REQ_UV_ERROR(req, UV_EINVAL, ERROR_NOT_SUPPORTED);
- return;
- }
-
- /* Do a pessimistic calculation of the required buffer size */
- needed_buf_size =
- FIELD_OFFSET(REPARSE_DATA_BUFFER, MountPointReparseBuffer.PathBuffer) +
- JUNCTION_PREFIX_LEN * sizeof(WCHAR) +
- 2 * (target_len + 2) * sizeof(WCHAR);
-
- /* Allocate the buffer */
- buffer = (REPARSE_DATA_BUFFER*)uv__malloc(needed_buf_size);
- if (!buffer) {
- uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
- }
-
- /* Grab a pointer to the part of the buffer where filenames go */
- path_buf = (WCHAR*)&(buffer->MountPointReparseBuffer.PathBuffer);
- path_buf_len = 0;
-
- /* Copy the substitute (internal) target path */
- start = path_buf_len;
-
- wcsncpy((WCHAR*)&path_buf[path_buf_len], JUNCTION_PREFIX,
- JUNCTION_PREFIX_LEN);
- path_buf_len += JUNCTION_PREFIX_LEN;
-
- add_slash = 0;
- for (i = is_long_path ? LONG_PATH_PREFIX_LEN : 0; path[i] != L'\0'; i++) {
- if (IS_SLASH(path[i])) {
- add_slash = 1;
- continue;
- }
-
- if (add_slash) {
- path_buf[path_buf_len++] = L'\\';
- add_slash = 0;
- }
-
- path_buf[path_buf_len++] = path[i];
- }
- path_buf[path_buf_len++] = L'\\';
- len = path_buf_len - start;
-
- /* Set the info about the substitute name */
- buffer->MountPointReparseBuffer.SubstituteNameOffset = start * sizeof(WCHAR);
- buffer->MountPointReparseBuffer.SubstituteNameLength = len * sizeof(WCHAR);
-
- /* Insert null terminator */
- path_buf[path_buf_len++] = L'\0';
-
- /* Copy the print name of the target path */
- start = path_buf_len;
- add_slash = 0;
- for (i = is_long_path ? LONG_PATH_PREFIX_LEN : 0; path[i] != L'\0'; i++) {
- if (IS_SLASH(path[i])) {
- add_slash = 1;
- continue;
- }
-
- if (add_slash) {
- path_buf[path_buf_len++] = L'\\';
- add_slash = 0;
- }
-
- path_buf[path_buf_len++] = path[i];
- }
- len = path_buf_len - start;
- if (len == 2) {
- path_buf[path_buf_len++] = L'\\';
- len++;
- }
-
- /* Set the info about the print name */
- buffer->MountPointReparseBuffer.PrintNameOffset = start * sizeof(WCHAR);
- buffer->MountPointReparseBuffer.PrintNameLength = len * sizeof(WCHAR);
-
- /* Insert another null terminator */
- path_buf[path_buf_len++] = L'\0';
-
- /* Calculate how much buffer space was actually used */
- used_buf_size = FIELD_OFFSET(REPARSE_DATA_BUFFER, MountPointReparseBuffer.PathBuffer) +
- path_buf_len * sizeof(WCHAR);
- used_data_size = used_buf_size -
- FIELD_OFFSET(REPARSE_DATA_BUFFER, MountPointReparseBuffer);
-
- /* Put general info in the data buffer */
- buffer->ReparseTag = IO_REPARSE_TAG_MOUNT_POINT;
- buffer->ReparseDataLength = used_data_size;
- buffer->Reserved = 0;
-
- /* Create a new directory */
- if (!CreateDirectoryW(new_path, NULL)) {
- SET_REQ_WIN32_ERROR(req, GetLastError());
- goto error;
- }
- created = 1;
-
- /* Open the directory */
- handle = CreateFileW(new_path,
- GENERIC_WRITE,
- 0,
- NULL,
- OPEN_EXISTING,
- FILE_FLAG_BACKUP_SEMANTICS |
- FILE_FLAG_OPEN_REPARSE_POINT,
- NULL);
- if (handle == INVALID_HANDLE_VALUE) {
- SET_REQ_WIN32_ERROR(req, GetLastError());
- goto error;
- }
-
- /* Create the actual reparse point */
- if (!DeviceIoControl(handle,
- FSCTL_SET_REPARSE_POINT,
- buffer,
- used_buf_size,
- NULL,
- 0,
- &bytes,
- NULL)) {
- SET_REQ_WIN32_ERROR(req, GetLastError());
- goto error;
- }
-
- /* Clean up */
- CloseHandle(handle);
- uv__free(buffer);
-
- SET_REQ_RESULT(req, 0);
- return;
-
-error:
- uv__free(buffer);
-
- if (handle != INVALID_HANDLE_VALUE) {
- CloseHandle(handle);
- }
-
- if (created) {
- RemoveDirectoryW(new_path);
- }
-}
-
-
-static void fs__symlink(uv_fs_t* req) {
- WCHAR* pathw;
- WCHAR* new_pathw;
- int flags;
- int err;
-
- pathw = req->file.pathw;
- new_pathw = req->fs.info.new_pathw;
-
- if (req->fs.info.file_flags & UV_FS_SYMLINK_JUNCTION) {
- fs__create_junction(req, pathw, new_pathw);
- return;
- }
-
- if (req->fs.info.file_flags & UV_FS_SYMLINK_DIR)
- flags = SYMBOLIC_LINK_FLAG_DIRECTORY | uv__file_symlink_usermode_flag;
- else
- flags = uv__file_symlink_usermode_flag;
-
- if (CreateSymbolicLinkW(new_pathw, pathw, flags)) {
- SET_REQ_RESULT(req, 0);
- return;
- }
-
- /* Something went wrong. We will test if it is because of user-mode
- * symlinks.
- */
- err = GetLastError();
- if (err == ERROR_INVALID_PARAMETER &&
- flags & SYMBOLIC_LINK_FLAG_ALLOW_UNPRIVILEGED_CREATE) {
- /* This system does not support user-mode symlinks. We will clear the
- * unsupported flag and retry.
- */
- uv__file_symlink_usermode_flag = 0;
- fs__symlink(req);
- } else {
- SET_REQ_WIN32_ERROR(req, err);
- }
-}
-
-
-static void fs__readlink(uv_fs_t* req) {
- HANDLE handle;
-
- handle = CreateFileW(req->file.pathw,
- 0,
- 0,
- NULL,
- OPEN_EXISTING,
- FILE_FLAG_OPEN_REPARSE_POINT | FILE_FLAG_BACKUP_SEMANTICS,
- NULL);
-
- if (handle == INVALID_HANDLE_VALUE) {
- SET_REQ_WIN32_ERROR(req, GetLastError());
- return;
- }
-
- if (fs__readlink_handle(handle, (char**) &req->ptr, NULL) != 0) {
- SET_REQ_WIN32_ERROR(req, GetLastError());
- CloseHandle(handle);
- return;
- }
-
- req->flags |= UV_FS_FREE_PTR;
- SET_REQ_RESULT(req, 0);
-
- CloseHandle(handle);
-}
-
-
-static size_t fs__realpath_handle(HANDLE handle, char** realpath_ptr) {
- int r;
- DWORD w_realpath_len;
- WCHAR* w_realpath_ptr = NULL;
- WCHAR* w_realpath_buf;
-
- w_realpath_len = GetFinalPathNameByHandleW(handle, NULL, 0, VOLUME_NAME_DOS);
- if (w_realpath_len == 0) {
- return -1;
- }
-
- w_realpath_buf = (WCHAR*)uv__malloc((w_realpath_len + 1) * sizeof(WCHAR));
- if (w_realpath_buf == NULL) {
- SetLastError(ERROR_OUTOFMEMORY);
- return -1;
- }
- w_realpath_ptr = w_realpath_buf;
-
- if (GetFinalPathNameByHandleW(
- handle, w_realpath_ptr, w_realpath_len, VOLUME_NAME_DOS) == 0) {
- uv__free(w_realpath_buf);
- SetLastError(ERROR_INVALID_HANDLE);
- return -1;
- }
-
- /* convert UNC path to long path */
- if (wcsncmp(w_realpath_ptr,
- UNC_PATH_PREFIX,
- UNC_PATH_PREFIX_LEN) == 0) {
- w_realpath_ptr += 6;
- *w_realpath_ptr = L'\\';
- w_realpath_len -= 6;
- } else if (wcsncmp(w_realpath_ptr,
- LONG_PATH_PREFIX,
- LONG_PATH_PREFIX_LEN) == 0) {
- w_realpath_ptr += 4;
- w_realpath_len -= 4;
- } else {
- uv__free(w_realpath_buf);
- SetLastError(ERROR_INVALID_HANDLE);
- return -1;
- }
-
- r = fs__wide_to_utf8(w_realpath_ptr, w_realpath_len, realpath_ptr, NULL);
- uv__free(w_realpath_buf);
- return r;
-}
-
-static void fs__realpath(uv_fs_t* req) {
- HANDLE handle;
-
- handle = CreateFileW(req->file.pathw,
- 0,
- 0,
- NULL,
- OPEN_EXISTING,
- FILE_ATTRIBUTE_NORMAL | FILE_FLAG_BACKUP_SEMANTICS,
- NULL);
- if (handle == INVALID_HANDLE_VALUE) {
- SET_REQ_WIN32_ERROR(req, GetLastError());
- return;
- }
-
- if (fs__realpath_handle(handle, (char**) &req->ptr) == -1) {
- CloseHandle(handle);
- SET_REQ_WIN32_ERROR(req, GetLastError());
- return;
- }
-
- CloseHandle(handle);
- req->flags |= UV_FS_FREE_PTR;
- SET_REQ_RESULT(req, 0);
-}
-
-
-static void fs__chown(uv_fs_t* req) {
- req->result = 0;
-}
-
-
-static void fs__fchown(uv_fs_t* req) {
- req->result = 0;
-}
-
-
-static void fs__lchown(uv_fs_t* req) {
- req->result = 0;
-}
-
-static void uv__fs_work(struct uv__work* w) {
- uv_fs_t* req;
-
- req = container_of(w, uv_fs_t, work_req);
- assert(req->type == UV_FS);
-
-#define XX(uc, lc) case UV_FS_##uc: fs__##lc(req); break;
- switch (req->fs_type) {
- XX(OPEN, open)
- XX(CLOSE, close)
- XX(READ, read)
- XX(WRITE, write)
- XX(COPYFILE, copyfile)
- XX(SENDFILE, sendfile)
- XX(STAT, stat)
- XX(LSTAT, lstat)
- XX(FSTAT, fstat)
- XX(FTRUNCATE, ftruncate)
- XX(UTIME, utime)
- XX(FUTIME, futime)
- XX(ACCESS, access)
- XX(CHMOD, chmod)
- XX(FCHMOD, fchmod)
- XX(FSYNC, fsync)
- XX(FDATASYNC, fdatasync)
- XX(UNLINK, unlink)
- XX(RMDIR, rmdir)
- XX(MKDIR, mkdir)
- XX(MKDTEMP, mkdtemp)
- XX(RENAME, rename)
- XX(SCANDIR, scandir)
- XX(LINK, link)
- XX(SYMLINK, symlink)
- XX(READLINK, readlink)
- XX(REALPATH, realpath)
- XX(CHOWN, chown)
- XX(FCHOWN, fchown);
- XX(LCHOWN, lchown);
- default:
- assert(!"bad uv_fs_type");
- }
-}
-
-
-static void uv__fs_done(struct uv__work* w, int status) {
- uv_fs_t* req;
-
- req = container_of(w, uv_fs_t, work_req);
- uv__req_unregister(req->loop, req);
-
- if (status == UV_ECANCELED) {
- assert(req->result == 0);
- req->result = UV_ECANCELED;
- }
-
- req->cb(req);
-}
-
-
-void uv_fs_req_cleanup(uv_fs_t* req) {
- if (req == NULL)
- return;
-
- if (req->flags & UV_FS_CLEANEDUP)
- return;
-
- if (req->flags & UV_FS_FREE_PATHS)
- uv__free(req->file.pathw);
-
- if (req->flags & UV_FS_FREE_PTR) {
- if (req->fs_type == UV_FS_SCANDIR && req->ptr != NULL)
- uv__fs_scandir_cleanup(req);
- else
- uv__free(req->ptr);
- }
-
- if (req->fs.info.bufs != req->fs.info.bufsml)
- uv__free(req->fs.info.bufs);
-
- req->path = NULL;
- req->file.pathw = NULL;
- req->fs.info.new_pathw = NULL;
- req->fs.info.bufs = NULL;
- req->ptr = NULL;
-
- req->flags |= UV_FS_CLEANEDUP;
-}
-
-
-int uv_fs_open(uv_loop_t* loop, uv_fs_t* req, const char* path, int flags,
- int mode, uv_fs_cb cb) {
- int err;
-
- INIT(UV_FS_OPEN);
- err = fs__capture_path(req, path, NULL, cb != NULL);
- if (err) {
- return uv_translate_sys_error(err);
- }
-
- req->fs.info.file_flags = flags;
- req->fs.info.mode = mode;
- POST;
-}
-
-
-int uv_fs_close(uv_loop_t* loop, uv_fs_t* req, uv_file fd, uv_fs_cb cb) {
- INIT(UV_FS_CLOSE);
- req->file.fd = fd;
- POST;
-}
-
-
-int uv_fs_read(uv_loop_t* loop,
- uv_fs_t* req,
- uv_file fd,
- const uv_buf_t bufs[],
- unsigned int nbufs,
- int64_t offset,
- uv_fs_cb cb) {
- INIT(UV_FS_READ);
-
- if (bufs == NULL || nbufs == 0)
- return UV_EINVAL;
-
- req->file.fd = fd;
-
- req->fs.info.nbufs = nbufs;
- req->fs.info.bufs = req->fs.info.bufsml;
- if (nbufs > ARRAY_SIZE(req->fs.info.bufsml))
- req->fs.info.bufs = (uv_buf_t*)uv__malloc(nbufs * sizeof(*bufs));
-
- if (req->fs.info.bufs == NULL)
- return UV_ENOMEM;
-
- memcpy(req->fs.info.bufs, bufs, nbufs * sizeof(*bufs));
-
- req->fs.info.offset = offset;
- POST;
-}
-
-
-int uv_fs_write(uv_loop_t* loop,
- uv_fs_t* req,
- uv_file fd,
- const uv_buf_t bufs[],
- unsigned int nbufs,
- int64_t offset,
- uv_fs_cb cb) {
- INIT(UV_FS_WRITE);
-
- if (bufs == NULL || nbufs == 0)
- return UV_EINVAL;
-
- req->file.fd = fd;
-
- req->fs.info.nbufs = nbufs;
- req->fs.info.bufs = req->fs.info.bufsml;
- if (nbufs > ARRAY_SIZE(req->fs.info.bufsml))
- req->fs.info.bufs = (uv_buf_t*)uv__malloc(nbufs * sizeof(*bufs));
-
- if (req->fs.info.bufs == NULL)
- return UV_ENOMEM;
-
- memcpy(req->fs.info.bufs, bufs, nbufs * sizeof(*bufs));
-
- req->fs.info.offset = offset;
- POST;
-}
-
-
-int uv_fs_unlink(uv_loop_t* loop, uv_fs_t* req, const char* path,
- uv_fs_cb cb) {
- int err;
-
- INIT(UV_FS_UNLINK);
- err = fs__capture_path(req, path, NULL, cb != NULL);
- if (err) {
- return uv_translate_sys_error(err);
- }
-
- POST;
-}
-
-
-int uv_fs_mkdir(uv_loop_t* loop, uv_fs_t* req, const char* path, int mode,
- uv_fs_cb cb) {
- int err;
-
- INIT(UV_FS_MKDIR);
- err = fs__capture_path(req, path, NULL, cb != NULL);
- if (err) {
- return uv_translate_sys_error(err);
- }
-
- req->fs.info.mode = mode;
- POST;
-}
-
-
-int uv_fs_mkdtemp(uv_loop_t* loop, uv_fs_t* req, const char* tpl,
- uv_fs_cb cb) {
- int err;
-
- INIT(UV_FS_MKDTEMP);
- err = fs__capture_path(req, tpl, NULL, TRUE);
- if (err)
- return uv_translate_sys_error(err);
-
- POST;
-}
-
-
-int uv_fs_rmdir(uv_loop_t* loop, uv_fs_t* req, const char* path, uv_fs_cb cb) {
- int err;
-
- INIT(UV_FS_RMDIR);
- err = fs__capture_path(req, path, NULL, cb != NULL);
- if (err) {
- return uv_translate_sys_error(err);
- }
-
- POST;
-}
-
-
-int uv_fs_scandir(uv_loop_t* loop, uv_fs_t* req, const char* path, int flags,
- uv_fs_cb cb) {
- int err;
-
- INIT(UV_FS_SCANDIR);
- err = fs__capture_path(req, path, NULL, cb != NULL);
- if (err) {
- return uv_translate_sys_error(err);
- }
-
- req->fs.info.file_flags = flags;
- POST;
-}
-
-
-int uv_fs_link(uv_loop_t* loop, uv_fs_t* req, const char* path,
- const char* new_path, uv_fs_cb cb) {
- int err;
-
- INIT(UV_FS_LINK);
- err = fs__capture_path(req, path, new_path, cb != NULL);
- if (err) {
- return uv_translate_sys_error(err);
- }
-
- POST;
-}
-
-
-int uv_fs_symlink(uv_loop_t* loop, uv_fs_t* req, const char* path,
- const char* new_path, int flags, uv_fs_cb cb) {
- int err;
-
- INIT(UV_FS_SYMLINK);
- err = fs__capture_path(req, path, new_path, cb != NULL);
- if (err) {
- return uv_translate_sys_error(err);
- }
-
- req->fs.info.file_flags = flags;
- POST;
-}
-
-
-int uv_fs_readlink(uv_loop_t* loop, uv_fs_t* req, const char* path,
- uv_fs_cb cb) {
- int err;
-
- INIT(UV_FS_READLINK);
- err = fs__capture_path(req, path, NULL, cb != NULL);
- if (err) {
- return uv_translate_sys_error(err);
- }
-
- POST;
-}
-
-
-int uv_fs_realpath(uv_loop_t* loop, uv_fs_t* req, const char* path,
- uv_fs_cb cb) {
- int err;
-
- INIT(UV_FS_REALPATH);
-
- if (!path) {
- return UV_EINVAL;
- }
-
- err = fs__capture_path(req, path, NULL, cb != NULL);
- if (err) {
- return uv_translate_sys_error(err);
- }
-
- POST;
-}
-
-
-int uv_fs_chown(uv_loop_t* loop, uv_fs_t* req, const char* path, uv_uid_t uid,
- uv_gid_t gid, uv_fs_cb cb) {
- int err;
-
- INIT(UV_FS_CHOWN);
- err = fs__capture_path(req, path, NULL, cb != NULL);
- if (err) {
- return uv_translate_sys_error(err);
- }
-
- POST;
-}
-
-
-int uv_fs_fchown(uv_loop_t* loop, uv_fs_t* req, uv_file fd, uv_uid_t uid,
- uv_gid_t gid, uv_fs_cb cb) {
- INIT(UV_FS_FCHOWN);
- POST;
-}
-
-
-int uv_fs_lchown(uv_loop_t* loop, uv_fs_t* req, const char* path, uv_uid_t uid,
- uv_gid_t gid, uv_fs_cb cb) {
- int err;
-
- INIT(UV_FS_LCHOWN);
- err = fs__capture_path(req, path, NULL, cb != NULL);
- if (err) {
- return uv_translate_sys_error(err);
- }
- POST;
-}
-
-
-int uv_fs_stat(uv_loop_t* loop, uv_fs_t* req, const char* path, uv_fs_cb cb) {
- int err;
-
- INIT(UV_FS_STAT);
- err = fs__capture_path(req, path, NULL, cb != NULL);
- if (err) {
- return uv_translate_sys_error(err);
- }
-
- POST;
-}
-
-
-int uv_fs_lstat(uv_loop_t* loop, uv_fs_t* req, const char* path, uv_fs_cb cb) {
- int err;
-
- INIT(UV_FS_LSTAT);
- err = fs__capture_path(req, path, NULL, cb != NULL);
- if (err) {
- return uv_translate_sys_error(err);
- }
-
- POST;
-}
-
-
-int uv_fs_fstat(uv_loop_t* loop, uv_fs_t* req, uv_file fd, uv_fs_cb cb) {
- INIT(UV_FS_FSTAT);
- req->file.fd = fd;
- POST;
-}
-
-
-int uv_fs_rename(uv_loop_t* loop, uv_fs_t* req, const char* path,
- const char* new_path, uv_fs_cb cb) {
- int err;
-
- INIT(UV_FS_RENAME);
- err = fs__capture_path(req, path, new_path, cb != NULL);
- if (err) {
- return uv_translate_sys_error(err);
- }
-
- POST;
-}
-
-
-int uv_fs_fsync(uv_loop_t* loop, uv_fs_t* req, uv_file fd, uv_fs_cb cb) {
- INIT(UV_FS_FSYNC);
- req->file.fd = fd;
- POST;
-}
-
-
-int uv_fs_fdatasync(uv_loop_t* loop, uv_fs_t* req, uv_file fd, uv_fs_cb cb) {
- INIT(UV_FS_FDATASYNC);
- req->file.fd = fd;
- POST;
-}
-
-
-int uv_fs_ftruncate(uv_loop_t* loop, uv_fs_t* req, uv_file fd,
- int64_t offset, uv_fs_cb cb) {
- INIT(UV_FS_FTRUNCATE);
- req->file.fd = fd;
- req->fs.info.offset = offset;
- POST;
-}
-
-
-int uv_fs_copyfile(uv_loop_t* loop,
- uv_fs_t* req,
- const char* path,
- const char* new_path,
- int flags,
- uv_fs_cb cb) {
- int err;
-
- INIT(UV_FS_COPYFILE);
-
- if (flags & ~(UV_FS_COPYFILE_EXCL |
- UV_FS_COPYFILE_FICLONE |
- UV_FS_COPYFILE_FICLONE_FORCE)) {
- return UV_EINVAL;
- }
-
- err = fs__capture_path(req, path, new_path, cb != NULL);
-
- if (err)
- return uv_translate_sys_error(err);
-
- req->fs.info.file_flags = flags;
- POST;
-}
-
-
-int uv_fs_sendfile(uv_loop_t* loop, uv_fs_t* req, uv_file fd_out,
- uv_file fd_in, int64_t in_offset, size_t length, uv_fs_cb cb) {
- INIT(UV_FS_SENDFILE);
- req->file.fd = fd_in;
- req->fs.info.fd_out = fd_out;
- req->fs.info.offset = in_offset;
- req->fs.info.bufsml[0].len = length;
- POST;
-}
-
-
-int uv_fs_access(uv_loop_t* loop,
- uv_fs_t* req,
- const char* path,
- int flags,
- uv_fs_cb cb) {
- int err;
-
- INIT(UV_FS_ACCESS);
- err = fs__capture_path(req, path, NULL, cb != NULL);
- if (err)
- return uv_translate_sys_error(err);
-
- req->fs.info.mode = flags;
- POST;
-}
-
-
-int uv_fs_chmod(uv_loop_t* loop, uv_fs_t* req, const char* path, int mode,
- uv_fs_cb cb) {
- int err;
-
- INIT(UV_FS_CHMOD);
- err = fs__capture_path(req, path, NULL, cb != NULL);
- if (err) {
- return uv_translate_sys_error(err);
- }
-
- req->fs.info.mode = mode;
- POST;
-}
-
-
-int uv_fs_fchmod(uv_loop_t* loop, uv_fs_t* req, uv_file fd, int mode,
- uv_fs_cb cb) {
- INIT(UV_FS_FCHMOD);
- req->file.fd = fd;
- req->fs.info.mode = mode;
- POST;
-}
-
-
-int uv_fs_utime(uv_loop_t* loop, uv_fs_t* req, const char* path, double atime,
- double mtime, uv_fs_cb cb) {
- int err;
-
- INIT(UV_FS_UTIME);
- err = fs__capture_path(req, path, NULL, cb != NULL);
- if (err) {
- return uv_translate_sys_error(err);
- }
-
- req->fs.time.atime = atime;
- req->fs.time.mtime = mtime;
- POST;
-}
-
-
-int uv_fs_futime(uv_loop_t* loop, uv_fs_t* req, uv_file fd, double atime,
- double mtime, uv_fs_cb cb) {
- INIT(UV_FS_FUTIME);
- req->file.fd = fd;
- req->fs.time.atime = atime;
- req->fs.time.mtime = mtime;
- POST;
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/getaddrinfo.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/getaddrinfo.cpp
deleted file mode 100644
index 063b493..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/getaddrinfo.cpp
+++ /dev/null
@@ -1,452 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include <assert.h>
-
-#include "uv.h"
-#include "internal.h"
-#include "req-inl.h"
-
-/* EAI_* constants. */
-#include <winsock2.h>
-
-/* Needed for ConvertInterfaceIndexToLuid and ConvertInterfaceLuidToNameA */
-#include <iphlpapi.h>
-
-int uv__getaddrinfo_translate_error(int sys_err) {
- switch (sys_err) {
- case 0: return 0;
- case WSATRY_AGAIN: return UV_EAI_AGAIN;
- case WSAEINVAL: return UV_EAI_BADFLAGS;
- case WSANO_RECOVERY: return UV_EAI_FAIL;
- case WSAEAFNOSUPPORT: return UV_EAI_FAMILY;
- case WSA_NOT_ENOUGH_MEMORY: return UV_EAI_MEMORY;
- case WSAHOST_NOT_FOUND: return UV_EAI_NONAME;
- case WSATYPE_NOT_FOUND: return UV_EAI_SERVICE;
- case WSAESOCKTNOSUPPORT: return UV_EAI_SOCKTYPE;
- default: return uv_translate_sys_error(sys_err);
- }
-}
-
-
-/*
- * MinGW is missing this
- */
-#if !defined(_MSC_VER) && !defined(__MINGW64_VERSION_MAJOR)
- typedef struct addrinfoW {
- int ai_flags;
- int ai_family;
- int ai_socktype;
- int ai_protocol;
- size_t ai_addrlen;
- WCHAR* ai_canonname;
- struct sockaddr* ai_addr;
- struct addrinfoW* ai_next;
- } ADDRINFOW, *PADDRINFOW;
-
- DECLSPEC_IMPORT int WSAAPI GetAddrInfoW(const WCHAR* node,
- const WCHAR* service,
- const ADDRINFOW* hints,
- PADDRINFOW* result);
-
- DECLSPEC_IMPORT void WSAAPI FreeAddrInfoW(PADDRINFOW pAddrInfo);
-#endif
-
-
-/* Adjust size value to be multiple of 4. Use to keep pointer aligned.
- * Do we need different versions of this for different architectures? */
-#define ALIGNED_SIZE(X) ((((X) + 3) >> 2) << 2)
-
-#ifndef NDIS_IF_MAX_STRING_SIZE
-#define NDIS_IF_MAX_STRING_SIZE IF_MAX_STRING_SIZE
-#endif
-
-static void uv__getaddrinfo_work(struct uv__work* w) {
- uv_getaddrinfo_t* req;
- struct addrinfoW* hints;
- int err;
-
- req = container_of(w, uv_getaddrinfo_t, work_req);
- hints = req->addrinfow;
- req->addrinfow = NULL;
- err = GetAddrInfoW(req->node, req->service, hints, &req->addrinfow);
- req->retcode = uv__getaddrinfo_translate_error(err);
-}
-
-
-/*
- * Called from uv_run when complete. Call user specified callback
- * then free returned addrinfo
- * Returned addrinfo strings are converted from UTF-16 to UTF-8.
- *
- * To minimize allocation we calculate total size required,
- * and copy all structs and referenced strings into the one block.
- * Each size calculation is adjusted to avoid unaligned pointers.
- */
-static void uv__getaddrinfo_done(struct uv__work* w, int status) {
- uv_getaddrinfo_t* req;
- int addrinfo_len = 0;
- int name_len = 0;
- size_t addrinfo_struct_len = ALIGNED_SIZE(sizeof(struct addrinfo));
- struct addrinfoW* addrinfow_ptr;
- struct addrinfo* addrinfo_ptr;
- char* alloc_ptr = NULL;
- char* cur_ptr = NULL;
-
- req = container_of(w, uv_getaddrinfo_t, work_req);
-
- /* release input parameter memory */
- uv__free(req->alloc);
- req->alloc = NULL;
-
- if (status == UV_ECANCELED) {
- assert(req->retcode == 0);
- req->retcode = UV_EAI_CANCELED;
- goto complete;
- }
-
- if (req->retcode == 0) {
- /* Convert addrinfoW to addrinfo. First calculate required length. */
- addrinfow_ptr = req->addrinfow;
- while (addrinfow_ptr != NULL) {
- addrinfo_len += addrinfo_struct_len +
- ALIGNED_SIZE(addrinfow_ptr->ai_addrlen);
- if (addrinfow_ptr->ai_canonname != NULL) {
- name_len = WideCharToMultiByte(CP_UTF8,
- 0,
- addrinfow_ptr->ai_canonname,
- -1,
- NULL,
- 0,
- NULL,
- NULL);
- if (name_len == 0) {
- req->retcode = uv_translate_sys_error(GetLastError());
- goto complete;
- }
- addrinfo_len += ALIGNED_SIZE(name_len);
- }
- addrinfow_ptr = addrinfow_ptr->ai_next;
- }
-
- /* allocate memory for addrinfo results */
- alloc_ptr = (char*)uv__malloc(addrinfo_len);
-
- /* do conversions */
- if (alloc_ptr != NULL) {
- cur_ptr = alloc_ptr;
- addrinfow_ptr = req->addrinfow;
-
- while (addrinfow_ptr != NULL) {
- /* copy addrinfo struct data */
- assert(cur_ptr + addrinfo_struct_len <= alloc_ptr + addrinfo_len);
- addrinfo_ptr = (struct addrinfo*)cur_ptr;
- addrinfo_ptr->ai_family = addrinfow_ptr->ai_family;
- addrinfo_ptr->ai_socktype = addrinfow_ptr->ai_socktype;
- addrinfo_ptr->ai_protocol = addrinfow_ptr->ai_protocol;
- addrinfo_ptr->ai_flags = addrinfow_ptr->ai_flags;
- addrinfo_ptr->ai_addrlen = addrinfow_ptr->ai_addrlen;
- addrinfo_ptr->ai_canonname = NULL;
- addrinfo_ptr->ai_addr = NULL;
- addrinfo_ptr->ai_next = NULL;
-
- cur_ptr += addrinfo_struct_len;
-
- /* copy sockaddr */
- if (addrinfo_ptr->ai_addrlen > 0) {
- assert(cur_ptr + addrinfo_ptr->ai_addrlen <=
- alloc_ptr + addrinfo_len);
- memcpy(cur_ptr, addrinfow_ptr->ai_addr, addrinfo_ptr->ai_addrlen);
- addrinfo_ptr->ai_addr = (struct sockaddr*)cur_ptr;
- cur_ptr += ALIGNED_SIZE(addrinfo_ptr->ai_addrlen);
- }
-
- /* convert canonical name to UTF-8 */
- if (addrinfow_ptr->ai_canonname != NULL) {
- name_len = WideCharToMultiByte(CP_UTF8,
- 0,
- addrinfow_ptr->ai_canonname,
- -1,
- NULL,
- 0,
- NULL,
- NULL);
- assert(name_len > 0);
- assert(cur_ptr + name_len <= alloc_ptr + addrinfo_len);
- name_len = WideCharToMultiByte(CP_UTF8,
- 0,
- addrinfow_ptr->ai_canonname,
- -1,
- cur_ptr,
- name_len,
- NULL,
- NULL);
- assert(name_len > 0);
- addrinfo_ptr->ai_canonname = cur_ptr;
- cur_ptr += ALIGNED_SIZE(name_len);
- }
- assert(cur_ptr <= alloc_ptr + addrinfo_len);
-
- /* set next ptr */
- addrinfow_ptr = addrinfow_ptr->ai_next;
- if (addrinfow_ptr != NULL) {
- addrinfo_ptr->ai_next = (struct addrinfo*)cur_ptr;
- }
- }
- req->addrinfo = (struct addrinfo*)alloc_ptr;
- } else {
- req->retcode = UV_EAI_MEMORY;
- }
- }
-
- /* return memory to system */
- if (req->addrinfow != NULL) {
- FreeAddrInfoW(req->addrinfow);
- req->addrinfow = NULL;
- }
-
-complete:
- uv__req_unregister(req->loop, req);
-
- /* finally do callback with converted result */
- if (req->getaddrinfo_cb)
- req->getaddrinfo_cb(req, req->retcode, req->addrinfo);
-}
-
-
-void uv_freeaddrinfo(struct addrinfo* ai) {
- char* alloc_ptr = (char*)ai;
-
- /* release copied result memory */
- uv__free(alloc_ptr);
-}
-
-
-/*
- * Entry point for getaddrinfo
- * we convert the UTF-8 strings to UNICODE
- * and save the UNICODE string pointers in the req
- * We also copy hints so that caller does not need to keep memory until the
- * callback.
- * return 0 if a callback will be made
- * return error code if validation fails
- *
- * To minimize allocation we calculate total size required,
- * and copy all structs and referenced strings into the one block.
- * Each size calculation is adjusted to avoid unaligned pointers.
- */
-int uv_getaddrinfo(uv_loop_t* loop,
- uv_getaddrinfo_t* req,
- uv_getaddrinfo_cb getaddrinfo_cb,
- const char* node,
- const char* service,
- const struct addrinfo* hints) {
- int nodesize = 0;
- int servicesize = 0;
- int hintssize = 0;
- char* alloc_ptr = NULL;
- int err;
-
- if (req == NULL || (node == NULL && service == NULL)) {
- return UV_EINVAL;
- }
-
- UV_REQ_INIT(req, UV_GETADDRINFO);
- req->getaddrinfo_cb = getaddrinfo_cb;
- req->addrinfo = NULL;
- req->loop = loop;
- req->retcode = 0;
-
- /* calculate required memory size for all input values */
- if (node != NULL) {
- nodesize = ALIGNED_SIZE(MultiByteToWideChar(CP_UTF8, 0, node, -1, NULL, 0) *
- sizeof(WCHAR));
- if (nodesize == 0) {
- err = GetLastError();
- goto error;
- }
- }
-
- if (service != NULL) {
- servicesize = ALIGNED_SIZE(MultiByteToWideChar(CP_UTF8,
- 0,
- service,
- -1,
- NULL,
- 0) *
- sizeof(WCHAR));
- if (servicesize == 0) {
- err = GetLastError();
- goto error;
- }
- }
- if (hints != NULL) {
- hintssize = ALIGNED_SIZE(sizeof(struct addrinfoW));
- }
-
- /* allocate memory for inputs, and partition it as needed */
- alloc_ptr = (char*)uv__malloc(nodesize + servicesize + hintssize);
- if (!alloc_ptr) {
- err = WSAENOBUFS;
- goto error;
- }
-
- /* save alloc_ptr now so we can free if error */
- req->alloc = (void*)alloc_ptr;
-
- /* Convert node string to UTF16 into allocated memory and save pointer in the
- * request. */
- if (node != NULL) {
- req->node = (WCHAR*)alloc_ptr;
- if (MultiByteToWideChar(CP_UTF8,
- 0,
- node,
- -1,
- (WCHAR*) alloc_ptr,
- nodesize / sizeof(WCHAR)) == 0) {
- err = GetLastError();
- goto error;
- }
- alloc_ptr += nodesize;
- } else {
- req->node = NULL;
- }
-
- /* Convert service string to UTF16 into allocated memory and save pointer in
- * the req. */
- if (service != NULL) {
- req->service = (WCHAR*)alloc_ptr;
- if (MultiByteToWideChar(CP_UTF8,
- 0,
- service,
- -1,
- (WCHAR*) alloc_ptr,
- servicesize / sizeof(WCHAR)) == 0) {
- err = GetLastError();
- goto error;
- }
- alloc_ptr += servicesize;
- } else {
- req->service = NULL;
- }
-
- /* copy hints to allocated memory and save pointer in req */
- if (hints != NULL) {
- req->addrinfow = (struct addrinfoW*)alloc_ptr;
- req->addrinfow->ai_family = hints->ai_family;
- req->addrinfow->ai_socktype = hints->ai_socktype;
- req->addrinfow->ai_protocol = hints->ai_protocol;
- req->addrinfow->ai_flags = hints->ai_flags;
- req->addrinfow->ai_addrlen = 0;
- req->addrinfow->ai_canonname = NULL;
- req->addrinfow->ai_addr = NULL;
- req->addrinfow->ai_next = NULL;
- } else {
- req->addrinfow = NULL;
- }
-
- uv__req_register(loop, req);
-
- if (getaddrinfo_cb) {
- uv__work_submit(loop,
- &req->work_req,
- uv__getaddrinfo_work,
- uv__getaddrinfo_done);
- return 0;
- } else {
- uv__getaddrinfo_work(&req->work_req);
- uv__getaddrinfo_done(&req->work_req, 0);
- return req->retcode;
- }
-
-error:
- if (req != NULL) {
- uv__free(req->alloc);
- req->alloc = NULL;
- }
- return uv_translate_sys_error(err);
-}
-
-int uv_if_indextoname(unsigned int ifindex, char* buffer, size_t* size) {
- NET_LUID luid;
- wchar_t wname[NDIS_IF_MAX_STRING_SIZE + 1]; /* Add one for the NUL. */
- DWORD bufsize;
- int r;
-
- if (buffer == NULL || size == NULL || *size == 0)
- return UV_EINVAL;
-
- r = ConvertInterfaceIndexToLuid(ifindex, &luid);
-
- if (r != 0)
- return uv_translate_sys_error(r);
-
- r = ConvertInterfaceLuidToNameW(&luid, wname, ARRAY_SIZE(wname));
-
- if (r != 0)
- return uv_translate_sys_error(r);
-
- /* Check how much space we need */
- bufsize = WideCharToMultiByte(CP_UTF8, 0, wname, -1, NULL, 0, NULL, NULL);
-
- if (bufsize == 0) {
- return uv_translate_sys_error(GetLastError());
- } else if (bufsize > *size) {
- *size = bufsize;
- return UV_ENOBUFS;
- }
-
- /* Convert to UTF-8 */
- bufsize = WideCharToMultiByte(CP_UTF8,
- 0,
- wname,
- -1,
- buffer,
- *size,
- NULL,
- NULL);
-
- if (bufsize == 0)
- return uv_translate_sys_error(GetLastError());
-
- *size = bufsize - 1;
- return 0;
-}
-
-int uv_if_indextoiid(unsigned int ifindex, char* buffer, size_t* size) {
- int r;
-
- if (buffer == NULL || size == NULL || *size == 0)
- return UV_EINVAL;
-
- r = snprintf(buffer, *size, "%d", ifindex);
-
- if (r < 0)
- return uv_translate_sys_error(r);
-
- if (r >= (int) *size) {
- *size = r + 1;
- return UV_ENOBUFS;
- }
-
- *size = r;
- return 0;
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/getnameinfo.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/getnameinfo.cpp
deleted file mode 100644
index 9f10cd2..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/getnameinfo.cpp
+++ /dev/null
@@ -1,149 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
-*
-* Permission is hereby granted, free of charge, to any person obtaining a copy
-* of this software and associated documentation files (the "Software"), to
-* deal in the Software without restriction, including without limitation the
-* rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
-* sell copies of the Software, and to permit persons to whom the Software is
-* furnished to do so, subject to the following conditions:
-*
-* The above copyright notice and this permission notice shall be included in
-* all copies or substantial portions of the Software.
-*
-* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
-* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
-* IN THE SOFTWARE.
-*/
-
-#include <assert.h>
-#include <stdio.h>
-
-#include "uv.h"
-#include "internal.h"
-#include "req-inl.h"
-
-#ifndef GetNameInfo
-int WSAAPI GetNameInfoW(
- const SOCKADDR *pSockaddr,
- socklen_t SockaddrLength,
- PWCHAR pNodeBuffer,
- DWORD NodeBufferSize,
- PWCHAR pServiceBuffer,
- DWORD ServiceBufferSize,
- INT Flags
-);
-#endif
-
-static void uv__getnameinfo_work(struct uv__work* w) {
- uv_getnameinfo_t* req;
- WCHAR host[NI_MAXHOST];
- WCHAR service[NI_MAXSERV];
- int ret = 0;
-
- req = container_of(w, uv_getnameinfo_t, work_req);
- if (GetNameInfoW((struct sockaddr*)&req->storage,
- sizeof(req->storage),
- host,
- ARRAY_SIZE(host),
- service,
- ARRAY_SIZE(service),
- req->flags)) {
- ret = WSAGetLastError();
- }
- req->retcode = uv__getaddrinfo_translate_error(ret);
-
- /* convert results to UTF-8 */
- WideCharToMultiByte(CP_UTF8,
- 0,
- host,
- -1,
- req->host,
- sizeof(req->host),
- NULL,
- NULL);
-
- WideCharToMultiByte(CP_UTF8,
- 0,
- service,
- -1,
- req->service,
- sizeof(req->service),
- NULL,
- NULL);
-}
-
-
-/*
-* Called from uv_run when complete.
-*/
-static void uv__getnameinfo_done(struct uv__work* w, int status) {
- uv_getnameinfo_t* req;
- char* host;
- char* service;
-
- req = container_of(w, uv_getnameinfo_t, work_req);
- uv__req_unregister(req->loop, req);
- host = service = NULL;
-
- if (status == UV_ECANCELED) {
- assert(req->retcode == 0);
- req->retcode = UV_EAI_CANCELED;
- } else if (req->retcode == 0) {
- host = req->host;
- service = req->service;
- }
-
- if (req->getnameinfo_cb)
- req->getnameinfo_cb(req, req->retcode, host, service);
-}
-
-
-/*
-* Entry point for getnameinfo
-* return 0 if a callback will be made
-* return error code if validation fails
-*/
-int uv_getnameinfo(uv_loop_t* loop,
- uv_getnameinfo_t* req,
- uv_getnameinfo_cb getnameinfo_cb,
- const struct sockaddr* addr,
- int flags) {
- if (req == NULL || addr == NULL)
- return UV_EINVAL;
-
- if (addr->sa_family == AF_INET) {
- memcpy(&req->storage,
- addr,
- sizeof(struct sockaddr_in));
- } else if (addr->sa_family == AF_INET6) {
- memcpy(&req->storage,
- addr,
- sizeof(struct sockaddr_in6));
- } else {
- return UV_EINVAL;
- }
-
- UV_REQ_INIT(req, UV_GETNAMEINFO);
- uv__req_register(loop, req);
-
- req->getnameinfo_cb = getnameinfo_cb;
- req->flags = flags;
- req->loop = loop;
- req->retcode = 0;
-
- if (getnameinfo_cb) {
- uv__work_submit(loop,
- &req->work_req,
- uv__getnameinfo_work,
- uv__getnameinfo_done);
- return 0;
- } else {
- uv__getnameinfo_work(&req->work_req);
- uv__getnameinfo_done(&req->work_req, 0);
- return req->retcode;
- }
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/handle-inl.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/handle-inl.h
deleted file mode 100644
index ed84307..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/handle-inl.h
+++ /dev/null
@@ -1,179 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#ifndef UV_WIN_HANDLE_INL_H_
-#define UV_WIN_HANDLE_INL_H_
-
-#include <assert.h>
-#include <io.h>
-
-#include "uv.h"
-#include "internal.h"
-
-
-#define DECREASE_ACTIVE_COUNT(loop, handle) \
- do { \
- if (--(handle)->activecnt == 0 && \
- !((handle)->flags & UV__HANDLE_CLOSING)) { \
- uv__handle_stop((handle)); \
- } \
- assert((handle)->activecnt >= 0); \
- } while (0)
-
-
-#define INCREASE_ACTIVE_COUNT(loop, handle) \
- do { \
- if ((handle)->activecnt++ == 0) { \
- uv__handle_start((handle)); \
- } \
- assert((handle)->activecnt > 0); \
- } while (0)
-
-
-#define DECREASE_PENDING_REQ_COUNT(handle) \
- do { \
- assert(handle->reqs_pending > 0); \
- handle->reqs_pending--; \
- \
- if (handle->flags & UV__HANDLE_CLOSING && \
- handle->reqs_pending == 0) { \
- uv_want_endgame(loop, (uv_handle_t*)handle); \
- } \
- } while (0)
-
-
-#define uv__handle_closing(handle) \
- do { \
- assert(!((handle)->flags & UV__HANDLE_CLOSING)); \
- \
- if (!(((handle)->flags & UV__HANDLE_ACTIVE) && \
- ((handle)->flags & UV__HANDLE_REF))) \
- uv__active_handle_add((uv_handle_t*) (handle)); \
- \
- (handle)->flags |= UV__HANDLE_CLOSING; \
- (handle)->flags &= ~UV__HANDLE_ACTIVE; \
- } while (0)
-
-
-#define uv__handle_close(handle) \
- do { \
- QUEUE_REMOVE(&(handle)->handle_queue); \
- uv__active_handle_rm((uv_handle_t*) (handle)); \
- \
- (handle)->flags |= UV_HANDLE_CLOSED; \
- \
- if ((handle)->close_cb) \
- (handle)->close_cb((uv_handle_t*) (handle)); \
- } while (0)
-
-
-INLINE static void uv_want_endgame(uv_loop_t* loop, uv_handle_t* handle) {
- if (!(handle->flags & UV_HANDLE_ENDGAME_QUEUED)) {
- handle->flags |= UV_HANDLE_ENDGAME_QUEUED;
-
- handle->endgame_next = loop->endgame_handles;
- loop->endgame_handles = handle;
- }
-}
-
-
-INLINE static void uv_process_endgames(uv_loop_t* loop) {
- uv_handle_t* handle;
-
- while (loop->endgame_handles) {
- handle = loop->endgame_handles;
- loop->endgame_handles = handle->endgame_next;
-
- handle->flags &= ~UV_HANDLE_ENDGAME_QUEUED;
-
- switch (handle->type) {
- case UV_TCP:
- uv_tcp_endgame(loop, (uv_tcp_t*) handle);
- break;
-
- case UV_NAMED_PIPE:
- uv_pipe_endgame(loop, (uv_pipe_t*) handle);
- break;
-
- case UV_TTY:
- uv_tty_endgame(loop, (uv_tty_t*) handle);
- break;
-
- case UV_UDP:
- uv_udp_endgame(loop, (uv_udp_t*) handle);
- break;
-
- case UV_POLL:
- uv_poll_endgame(loop, (uv_poll_t*) handle);
- break;
-
- case UV_TIMER:
- uv_timer_endgame(loop, (uv_timer_t*) handle);
- break;
-
- case UV_PREPARE:
- case UV_CHECK:
- case UV_IDLE:
- uv_loop_watcher_endgame(loop, handle);
- break;
-
- case UV_ASYNC:
- uv_async_endgame(loop, (uv_async_t*) handle);
- break;
-
- case UV_SIGNAL:
- uv_signal_endgame(loop, (uv_signal_t*) handle);
- break;
-
- case UV_PROCESS:
- uv_process_endgame(loop, (uv_process_t*) handle);
- break;
-
- case UV_FS_EVENT:
- uv_fs_event_endgame(loop, (uv_fs_event_t*) handle);
- break;
-
- case UV_FS_POLL:
- uv__fs_poll_endgame(loop, (uv_fs_poll_t*) handle);
- break;
-
- default:
- assert(0);
- break;
- }
- }
-}
-
-INLINE static HANDLE uv__get_osfhandle(int fd)
-{
- /* _get_osfhandle() raises an assert in debug builds if the FD is invalid.
- * But it also correctly checks the FD and returns INVALID_HANDLE_VALUE for
- * invalid FDs in release builds (or if you let the assert continue). So this
- * wrapper function disables asserts when calling _get_osfhandle. */
-
- HANDLE handle;
- UV_BEGIN_DISABLE_CRT_ASSERT();
- handle = (HANDLE) _get_osfhandle(fd);
- UV_END_DISABLE_CRT_ASSERT();
- return handle;
-}
-
-#endif /* UV_WIN_HANDLE_INL_H_ */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/handle.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/handle.cpp
deleted file mode 100644
index 3915070..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/handle.cpp
+++ /dev/null
@@ -1,159 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include <assert.h>
-#include <io.h>
-#include <stdlib.h>
-
-#include "uv.h"
-#include "internal.h"
-#include "handle-inl.h"
-
-
-uv_handle_type uv_guess_handle(uv_file file) {
- HANDLE handle;
- DWORD mode;
-
- if (file < 0) {
- return UV_UNKNOWN_HANDLE;
- }
-
- handle = uv__get_osfhandle(file);
-
- switch (GetFileType(handle)) {
- case FILE_TYPE_CHAR:
- if (GetConsoleMode(handle, &mode)) {
- return UV_TTY;
- } else {
- return UV_FILE;
- }
-
- case FILE_TYPE_PIPE:
- return UV_NAMED_PIPE;
-
- case FILE_TYPE_DISK:
- return UV_FILE;
-
- default:
- return UV_UNKNOWN_HANDLE;
- }
-}
-
-
-int uv_is_active(const uv_handle_t* handle) {
- return (handle->flags & UV__HANDLE_ACTIVE) &&
- !(handle->flags & UV__HANDLE_CLOSING);
-}
-
-
-void uv_close(uv_handle_t* handle, uv_close_cb cb) {
- uv_loop_t* loop = handle->loop;
-
- if (handle->flags & UV__HANDLE_CLOSING) {
- assert(0);
- return;
- }
-
- handle->close_cb = cb;
-
- /* Handle-specific close actions */
- switch (handle->type) {
- case UV_TCP:
- uv_tcp_close(loop, (uv_tcp_t*)handle);
- return;
-
- case UV_NAMED_PIPE:
- uv_pipe_close(loop, (uv_pipe_t*) handle);
- return;
-
- case UV_TTY:
- uv_tty_close((uv_tty_t*) handle);
- return;
-
- case UV_UDP:
- uv_udp_close(loop, (uv_udp_t*) handle);
- return;
-
- case UV_POLL:
- uv_poll_close(loop, (uv_poll_t*) handle);
- return;
-
- case UV_TIMER:
- uv_timer_stop((uv_timer_t*)handle);
- uv__handle_closing(handle);
- uv_want_endgame(loop, handle);
- return;
-
- case UV_PREPARE:
- uv_prepare_stop((uv_prepare_t*)handle);
- uv__handle_closing(handle);
- uv_want_endgame(loop, handle);
- return;
-
- case UV_CHECK:
- uv_check_stop((uv_check_t*)handle);
- uv__handle_closing(handle);
- uv_want_endgame(loop, handle);
- return;
-
- case UV_IDLE:
- uv_idle_stop((uv_idle_t*)handle);
- uv__handle_closing(handle);
- uv_want_endgame(loop, handle);
- return;
-
- case UV_ASYNC:
- uv_async_close(loop, (uv_async_t*) handle);
- return;
-
- case UV_SIGNAL:
- uv_signal_close(loop, (uv_signal_t*) handle);
- return;
-
- case UV_PROCESS:
- uv_process_close(loop, (uv_process_t*) handle);
- return;
-
- case UV_FS_EVENT:
- uv_fs_event_close(loop, (uv_fs_event_t*) handle);
- return;
-
- case UV_FS_POLL:
- uv__fs_poll_close((uv_fs_poll_t*) handle);
- uv__handle_closing(handle);
- uv_want_endgame(loop, handle);
- return;
-
- default:
- /* Not supported */
- abort();
- }
-}
-
-
-int uv_is_closing(const uv_handle_t* handle) {
- return !!(handle->flags & (UV__HANDLE_CLOSING | UV_HANDLE_CLOSED));
-}
-
-
-uv_os_fd_t uv_get_osfhandle(int fd) {
- return uv__get_osfhandle(fd);
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/internal.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/internal.h
deleted file mode 100644
index fa926d9..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/internal.h
+++ /dev/null
@@ -1,398 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#ifndef UV_WIN_INTERNAL_H_
-#define UV_WIN_INTERNAL_H_
-
-#include "uv.h"
-#include "../uv-common.h"
-
-#include "uv/tree.h"
-#include "winapi.h"
-#include "winsock.h"
-
-#ifdef _MSC_VER
-# define INLINE __inline
-# define UV_THREAD_LOCAL __declspec( thread )
-#else
-# define INLINE inline
-# define UV_THREAD_LOCAL __thread
-#endif
-
-
-#ifdef _DEBUG
-
-extern UV_THREAD_LOCAL int uv__crt_assert_enabled;
-
-#define UV_BEGIN_DISABLE_CRT_ASSERT() \
- { \
- int uv__saved_crt_assert_enabled = uv__crt_assert_enabled; \
- uv__crt_assert_enabled = FALSE;
-
-
-#define UV_END_DISABLE_CRT_ASSERT() \
- uv__crt_assert_enabled = uv__saved_crt_assert_enabled; \
- }
-
-#else
-#define UV_BEGIN_DISABLE_CRT_ASSERT()
-#define UV_END_DISABLE_CRT_ASSERT()
-#endif
-
-/*
- * Handles
- * (also see handle-inl.h)
- */
-
-/* Used by all handles. */
-#define UV_HANDLE_CLOSED 0x00000002
-#define UV_HANDLE_ENDGAME_QUEUED 0x00000008
-
-/* uv-common.h: #define UV__HANDLE_CLOSING 0x00000001 */
-/* uv-common.h: #define UV__HANDLE_ACTIVE 0x00000040 */
-/* uv-common.h: #define UV__HANDLE_REF 0x00000020 */
-/* uv-common.h: #define UV_HANDLE_INTERNAL 0x00000080 */
-
-/* Used by streams and UDP handles. */
-#define UV_HANDLE_READING 0x00000100
-#define UV_HANDLE_BOUND 0x00000200
-#define UV_HANDLE_LISTENING 0x00000800
-#define UV_HANDLE_CONNECTION 0x00001000
-#define UV_HANDLE_READABLE 0x00008000
-#define UV_HANDLE_WRITABLE 0x00010000
-#define UV_HANDLE_READ_PENDING 0x00020000
-#define UV_HANDLE_SYNC_BYPASS_IOCP 0x00040000
-#define UV_HANDLE_ZERO_READ 0x00080000
-#define UV_HANDLE_EMULATE_IOCP 0x00100000
-#define UV_HANDLE_BLOCKING_WRITES 0x00200000
-#define UV_HANDLE_CANCELLATION_PENDING 0x00400000
-
-/* Used by uv_tcp_t and uv_udp_t handles */
-#define UV_HANDLE_IPV6 0x01000000
-
-/* Only used by uv_tcp_t handles. */
-#define UV_HANDLE_TCP_NODELAY 0x02000000
-#define UV_HANDLE_TCP_KEEPALIVE 0x04000000
-#define UV_HANDLE_TCP_SINGLE_ACCEPT 0x08000000
-#define UV_HANDLE_TCP_ACCEPT_STATE_CHANGING 0x10000000
-#define UV_HANDLE_TCP_SOCKET_CLOSED 0x20000000
-#define UV_HANDLE_SHARED_TCP_SOCKET 0x40000000
-
-/* Only used by uv_pipe_t handles. */
-#define UV_HANDLE_NON_OVERLAPPED_PIPE 0x01000000
-#define UV_HANDLE_PIPESERVER 0x02000000
-
-/* Only used by uv_tty_t handles. */
-#define UV_HANDLE_TTY_READABLE 0x01000000
-#define UV_HANDLE_TTY_RAW 0x02000000
-#define UV_HANDLE_TTY_SAVED_POSITION 0x04000000
-#define UV_HANDLE_TTY_SAVED_ATTRIBUTES 0x08000000
-
-/* Only used by uv_poll_t handles. */
-#define UV_HANDLE_POLL_SLOW 0x02000000
-
-
-/*
- * Requests: see req-inl.h
- */
-
-
-/*
- * Streams: see stream-inl.h
- */
-
-
-/*
- * TCP
- */
-
-typedef struct {
- WSAPROTOCOL_INFOW socket_info;
- uint32_t delayed_error;
- uint32_t flags; /* Either zero or UV_HANDLE_CONNECTION. */
-} uv__ipc_socket_xfer_info_t;
-
-int uv_tcp_listen(uv_tcp_t* handle, int backlog, uv_connection_cb cb);
-int uv_tcp_accept(uv_tcp_t* server, uv_tcp_t* client);
-int uv_tcp_read_start(uv_tcp_t* handle, uv_alloc_cb alloc_cb,
- uv_read_cb read_cb);
-int uv_tcp_write(uv_loop_t* loop, uv_write_t* req, uv_tcp_t* handle,
- const uv_buf_t bufs[], unsigned int nbufs, uv_write_cb cb);
-int uv__tcp_try_write(uv_tcp_t* handle, const uv_buf_t bufs[],
- unsigned int nbufs);
-
-void uv_process_tcp_read_req(uv_loop_t* loop, uv_tcp_t* handle, uv_req_t* req);
-void uv_process_tcp_write_req(uv_loop_t* loop, uv_tcp_t* handle,
- uv_write_t* req);
-void uv_process_tcp_accept_req(uv_loop_t* loop, uv_tcp_t* handle,
- uv_req_t* req);
-void uv_process_tcp_connect_req(uv_loop_t* loop, uv_tcp_t* handle,
- uv_connect_t* req);
-
-void uv_tcp_close(uv_loop_t* loop, uv_tcp_t* tcp);
-void uv_tcp_endgame(uv_loop_t* loop, uv_tcp_t* handle);
-
-int uv__tcp_xfer_export(uv_tcp_t* handle,
- int pid,
- uv__ipc_socket_xfer_info_t* xfer_info);
-int uv__tcp_xfer_import(uv_tcp_t* tcp, uv__ipc_socket_xfer_info_t* xfer_info);
-
-
-/*
- * UDP
- */
-void uv_process_udp_recv_req(uv_loop_t* loop, uv_udp_t* handle, uv_req_t* req);
-void uv_process_udp_send_req(uv_loop_t* loop, uv_udp_t* handle,
- uv_udp_send_t* req);
-
-void uv_udp_close(uv_loop_t* loop, uv_udp_t* handle);
-void uv_udp_endgame(uv_loop_t* loop, uv_udp_t* handle);
-
-
-/*
- * Pipes
- */
-int uv_stdio_pipe_server(uv_loop_t* loop, uv_pipe_t* handle, DWORD access,
- char* name, size_t nameSize);
-
-int uv_pipe_listen(uv_pipe_t* handle, int backlog, uv_connection_cb cb);
-int uv_pipe_accept(uv_pipe_t* server, uv_stream_t* client);
-int uv_pipe_read_start(uv_pipe_t* handle, uv_alloc_cb alloc_cb,
- uv_read_cb read_cb);
-void uv__pipe_read_stop(uv_pipe_t* handle);
-int uv__pipe_write(uv_loop_t* loop,
- uv_write_t* req,
- uv_pipe_t* handle,
- const uv_buf_t bufs[],
- size_t nbufs,
- uv_stream_t* send_handle,
- uv_write_cb cb);
-
-void uv_process_pipe_read_req(uv_loop_t* loop, uv_pipe_t* handle,
- uv_req_t* req);
-void uv_process_pipe_write_req(uv_loop_t* loop, uv_pipe_t* handle,
- uv_write_t* req);
-void uv_process_pipe_accept_req(uv_loop_t* loop, uv_pipe_t* handle,
- uv_req_t* raw_req);
-void uv_process_pipe_connect_req(uv_loop_t* loop, uv_pipe_t* handle,
- uv_connect_t* req);
-void uv_process_pipe_shutdown_req(uv_loop_t* loop, uv_pipe_t* handle,
- uv_shutdown_t* req);
-
-void uv_pipe_close(uv_loop_t* loop, uv_pipe_t* handle);
-void uv_pipe_cleanup(uv_loop_t* loop, uv_pipe_t* handle);
-void uv_pipe_endgame(uv_loop_t* loop, uv_pipe_t* handle);
-
-
-/*
- * TTY
- */
-void uv_console_init(void);
-
-int uv_tty_read_start(uv_tty_t* handle, uv_alloc_cb alloc_cb,
- uv_read_cb read_cb);
-int uv_tty_read_stop(uv_tty_t* handle);
-int uv_tty_write(uv_loop_t* loop, uv_write_t* req, uv_tty_t* handle,
- const uv_buf_t bufs[], unsigned int nbufs, uv_write_cb cb);
-int uv__tty_try_write(uv_tty_t* handle, const uv_buf_t bufs[],
- unsigned int nbufs);
-void uv_tty_close(uv_tty_t* handle);
-
-void uv_process_tty_read_req(uv_loop_t* loop, uv_tty_t* handle,
- uv_req_t* req);
-void uv_process_tty_write_req(uv_loop_t* loop, uv_tty_t* handle,
- uv_write_t* req);
-/*
- * uv_process_tty_accept_req() is a stub to keep DELEGATE_STREAM_REQ working
- * TODO: find a way to remove it
- */
-void uv_process_tty_accept_req(uv_loop_t* loop, uv_tty_t* handle,
- uv_req_t* raw_req);
-/*
- * uv_process_tty_connect_req() is a stub to keep DELEGATE_STREAM_REQ working
- * TODO: find a way to remove it
- */
-void uv_process_tty_connect_req(uv_loop_t* loop, uv_tty_t* handle,
- uv_connect_t* req);
-
-void uv_tty_endgame(uv_loop_t* loop, uv_tty_t* handle);
-
-
-/*
- * Poll watchers
- */
-void uv_process_poll_req(uv_loop_t* loop, uv_poll_t* handle,
- uv_req_t* req);
-
-int uv_poll_close(uv_loop_t* loop, uv_poll_t* handle);
-void uv_poll_endgame(uv_loop_t* loop, uv_poll_t* handle);
-
-
-/*
- * Timers
- */
-void uv_timer_endgame(uv_loop_t* loop, uv_timer_t* handle);
-
-DWORD uv__next_timeout(const uv_loop_t* loop);
-void uv_process_timers(uv_loop_t* loop);
-
-
-/*
- * Loop watchers
- */
-void uv_loop_watcher_endgame(uv_loop_t* loop, uv_handle_t* handle);
-
-void uv_prepare_invoke(uv_loop_t* loop);
-void uv_check_invoke(uv_loop_t* loop);
-void uv_idle_invoke(uv_loop_t* loop);
-
-void uv__once_init(void);
-
-
-/*
- * Async watcher
- */
-void uv_async_close(uv_loop_t* loop, uv_async_t* handle);
-void uv_async_endgame(uv_loop_t* loop, uv_async_t* handle);
-
-void uv_process_async_wakeup_req(uv_loop_t* loop, uv_async_t* handle,
- uv_req_t* req);
-
-
-/*
- * Signal watcher
- */
-void uv_signals_init(void);
-int uv__signal_dispatch(int signum);
-
-void uv_signal_close(uv_loop_t* loop, uv_signal_t* handle);
-void uv_signal_endgame(uv_loop_t* loop, uv_signal_t* handle);
-
-void uv_process_signal_req(uv_loop_t* loop, uv_signal_t* handle,
- uv_req_t* req);
-
-
-/*
- * Spawn
- */
-void uv_process_proc_exit(uv_loop_t* loop, uv_process_t* handle);
-void uv_process_close(uv_loop_t* loop, uv_process_t* handle);
-void uv_process_endgame(uv_loop_t* loop, uv_process_t* handle);
-
-
-/*
- * Error
- */
-int uv_translate_sys_error(int sys_errno);
-
-
-/*
- * FS
- */
-void uv_fs_init(void);
-
-
-/*
- * FS Event
- */
-void uv_process_fs_event_req(uv_loop_t* loop, uv_req_t* req,
- uv_fs_event_t* handle);
-void uv_fs_event_close(uv_loop_t* loop, uv_fs_event_t* handle);
-void uv_fs_event_endgame(uv_loop_t* loop, uv_fs_event_t* handle);
-
-
-/*
- * Stat poller.
- */
-void uv__fs_poll_endgame(uv_loop_t* loop, uv_fs_poll_t* handle);
-
-
-/*
- * Utilities.
- */
-void uv__util_init(void);
-
-uint64_t uv__hrtime(double scale);
-__declspec(noreturn) void uv_fatal_error(const int errorno, const char* syscall);
-int uv__getpwuid_r(uv_passwd_t* pwd);
-int uv__convert_utf16_to_utf8(const WCHAR* utf16, int utf16len, char** utf8);
-int uv__convert_utf8_to_utf16(const char* utf8, int utf8len, WCHAR** utf16);
-
-
-/*
- * Process stdio handles.
- */
-int uv__stdio_create(uv_loop_t* loop,
- const uv_process_options_t* options,
- BYTE** buffer_ptr);
-void uv__stdio_destroy(BYTE* buffer);
-void uv__stdio_noinherit(BYTE* buffer);
-int uv__stdio_verify(BYTE* buffer, WORD size);
-WORD uv__stdio_size(BYTE* buffer);
-HANDLE uv__stdio_handle(BYTE* buffer, int fd);
-
-
-/*
- * Winapi and ntapi utility functions
- */
-void uv_winapi_init(void);
-
-
-/*
- * Winsock utility functions
- */
-void uv_winsock_init(void);
-
-int uv_ntstatus_to_winsock_error(NTSTATUS status);
-
-BOOL uv_get_acceptex_function(SOCKET socket, LPFN_ACCEPTEX* target);
-BOOL uv_get_connectex_function(SOCKET socket, LPFN_CONNECTEX* target);
-
-int WSAAPI uv_wsarecv_workaround(SOCKET socket, WSABUF* buffers,
- DWORD buffer_count, DWORD* bytes, DWORD* flags, WSAOVERLAPPED *overlapped,
- LPWSAOVERLAPPED_COMPLETION_ROUTINE completion_routine);
-int WSAAPI uv_wsarecvfrom_workaround(SOCKET socket, WSABUF* buffers,
- DWORD buffer_count, DWORD* bytes, DWORD* flags, struct sockaddr* addr,
- int* addr_len, WSAOVERLAPPED *overlapped,
- LPWSAOVERLAPPED_COMPLETION_ROUTINE completion_routine);
-
-int WSAAPI uv_msafd_poll(SOCKET socket, AFD_POLL_INFO* info_in,
- AFD_POLL_INFO* info_out, OVERLAPPED* overlapped);
-
-/* Whether there are any non-IFS LSPs stacked on TCP */
-extern int uv_tcp_non_ifs_lsp_ipv4;
-extern int uv_tcp_non_ifs_lsp_ipv6;
-
-/* Ip address used to bind to any port at any interface */
-extern struct sockaddr_in uv_addr_ip4_any_;
-extern struct sockaddr_in6 uv_addr_ip6_any_;
-
-/*
- * Wake all loops with fake message
- */
-void uv__wake_all_loops(void);
-
-/*
- * Init system wake-up detection
- */
-void uv__init_detect_system_wakeup(void);
-
-#endif /* UV_WIN_INTERNAL_H_ */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/loop-watcher.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/loop-watcher.cpp
deleted file mode 100644
index 20e4509..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/loop-watcher.cpp
+++ /dev/null
@@ -1,122 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include <assert.h>
-
-#include "uv.h"
-#include "internal.h"
-#include "handle-inl.h"
-
-
-void uv_loop_watcher_endgame(uv_loop_t* loop, uv_handle_t* handle) {
- if (handle->flags & UV__HANDLE_CLOSING) {
- assert(!(handle->flags & UV_HANDLE_CLOSED));
- handle->flags |= UV_HANDLE_CLOSED;
- uv__handle_close(handle);
- }
-}
-
-
-#define UV_LOOP_WATCHER_DEFINE(name, NAME) \
- int uv_##name##_init(uv_loop_t* loop, uv_##name##_t* handle) { \
- uv__handle_init(loop, (uv_handle_t*) handle, UV_##NAME); \
- \
- return 0; \
- } \
- \
- \
- int uv_##name##_start(uv_##name##_t* handle, uv_##name##_cb cb) { \
- uv_loop_t* loop = handle->loop; \
- uv_##name##_t* old_head; \
- \
- assert(handle->type == UV_##NAME); \
- \
- if (uv__is_active(handle)) \
- return 0; \
- \
- if (cb == NULL) \
- return UV_EINVAL; \
- \
- old_head = loop->name##_handles; \
- \
- handle->name##_next = old_head; \
- handle->name##_prev = NULL; \
- \
- if (old_head) { \
- old_head->name##_prev = handle; \
- } \
- \
- loop->name##_handles = handle; \
- \
- handle->name##_cb = cb; \
- uv__handle_start(handle); \
- \
- return 0; \
- } \
- \
- \
- int uv_##name##_stop(uv_##name##_t* handle) { \
- uv_loop_t* loop = handle->loop; \
- \
- assert(handle->type == UV_##NAME); \
- \
- if (!uv__is_active(handle)) \
- return 0; \
- \
- /* Update loop head if needed */ \
- if (loop->name##_handles == handle) { \
- loop->name##_handles = handle->name##_next; \
- } \
- \
- /* Update the iterator-next pointer of needed */ \
- if (loop->next_##name##_handle == handle) { \
- loop->next_##name##_handle = handle->name##_next; \
- } \
- \
- if (handle->name##_prev) { \
- handle->name##_prev->name##_next = handle->name##_next; \
- } \
- if (handle->name##_next) { \
- handle->name##_next->name##_prev = handle->name##_prev; \
- } \
- \
- uv__handle_stop(handle); \
- \
- return 0; \
- } \
- \
- \
- void uv_##name##_invoke(uv_loop_t* loop) { \
- uv_##name##_t* handle; \
- \
- (loop)->next_##name##_handle = (loop)->name##_handles; \
- \
- while ((loop)->next_##name##_handle != NULL) { \
- handle = (loop)->next_##name##_handle; \
- (loop)->next_##name##_handle = handle->name##_next; \
- \
- handle->name##_cb(handle); \
- } \
- }
-
-UV_LOOP_WATCHER_DEFINE(prepare, PREPARE)
-UV_LOOP_WATCHER_DEFINE(check, CHECK)
-UV_LOOP_WATCHER_DEFINE(idle, IDLE)
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/pipe.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/pipe.cpp
deleted file mode 100644
index 80661d8..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/pipe.cpp
+++ /dev/null
@@ -1,2337 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include <assert.h>
-#include <io.h>
-#include <stdbool.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "uv.h"
-#include "internal.h"
-#include "handle-inl.h"
-#include "stream-inl.h"
-#include "req-inl.h"
-
-#include <aclapi.h>
-#include <accctrl.h>
-
-/* A zero-size buffer for use by uv_pipe_read */
-static char uv_zero_[] = "";
-
-/* Null uv_buf_t */
-static const uv_buf_t uv_null_buf_ = { 0, NULL };
-
-/* The timeout that the pipe will wait for the remote end to write data when
- * the local ends wants to shut it down. */
-static const int64_t eof_timeout = 50; /* ms */
-
-static const int default_pending_pipe_instances = 4;
-
-/* Pipe prefix */
-static char pipe_prefix[] = "\\\\?\\pipe";
-static const int pipe_prefix_len = sizeof(pipe_prefix) - 1;
-
-/* IPC incoming xfer queue item. */
-typedef struct {
- uv__ipc_socket_xfer_info_t xfer_info;
- QUEUE member;
-} uv__ipc_xfer_queue_item_t;
-
-/* IPC frame types. */
-enum { UV__IPC_DATA_FRAME = 0, UV__IPC_XFER_FRAME = 1 };
-
-/* IPC frame header. */
-typedef struct {
- uint32_t type;
- uint32_t payload_length;
-} uv__ipc_frame_header_t;
-
-/* Coalesced write request. */
-typedef struct {
- uv_write_t req; /* Internal heap-allocated write request. */
- uv_write_t* user_req; /* Pointer to user-specified uv_write_t. */
-} uv__coalesced_write_t;
-
-
-static void eof_timer_init(uv_pipe_t* pipe);
-static void eof_timer_start(uv_pipe_t* pipe);
-static void eof_timer_stop(uv_pipe_t* pipe);
-static void eof_timer_cb(uv_timer_t* timer);
-static void eof_timer_destroy(uv_pipe_t* pipe);
-static void eof_timer_close_cb(uv_handle_t* handle);
-
-
-static void uv_unique_pipe_name(char* ptr, char* name, size_t size) {
- snprintf(name, size, "\\\\?\\pipe\\uv\\%p-%lu", ptr, GetCurrentProcessId());
-}
-
-
-int uv_pipe_init(uv_loop_t* loop, uv_pipe_t* handle, int ipc) {
- uv_stream_init(loop, (uv_stream_t*)handle, UV_NAMED_PIPE);
-
- handle->reqs_pending = 0;
- handle->handle = INVALID_HANDLE_VALUE;
- handle->name = NULL;
- handle->pipe.conn.ipc_remote_pid = 0;
- handle->pipe.conn.ipc_data_frame.payload_remaining = 0;
- QUEUE_INIT(&handle->pipe.conn.ipc_xfer_queue);
- handle->pipe.conn.ipc_xfer_queue_length = 0;
- handle->ipc = ipc;
- handle->pipe.conn.non_overlapped_writes_tail = NULL;
-
- return 0;
-}
-
-
-static void uv_pipe_connection_init(uv_pipe_t* handle) {
- uv_connection_init((uv_stream_t*) handle);
- handle->read_req.data = handle;
- handle->pipe.conn.eof_timer = NULL;
- assert(!(handle->flags & UV_HANDLE_PIPESERVER));
- if (handle->flags & UV_HANDLE_NON_OVERLAPPED_PIPE) {
- handle->pipe.conn.readfile_thread_handle = NULL;
- InitializeCriticalSection(&handle->pipe.conn.readfile_thread_lock);
- }
-}
-
-
-static HANDLE open_named_pipe(const WCHAR* name, DWORD* duplex_flags) {
- HANDLE pipeHandle;
-
- /*
- * Assume that we have a duplex pipe first, so attempt to
- * connect with GENERIC_READ | GENERIC_WRITE.
- */
- pipeHandle = CreateFileW(name,
- GENERIC_READ | GENERIC_WRITE,
- 0,
- NULL,
- OPEN_EXISTING,
- FILE_FLAG_OVERLAPPED,
- NULL);
- if (pipeHandle != INVALID_HANDLE_VALUE) {
- *duplex_flags = UV_HANDLE_READABLE | UV_HANDLE_WRITABLE;
- return pipeHandle;
- }
-
- /*
- * If the pipe is not duplex CreateFileW fails with
- * ERROR_ACCESS_DENIED. In that case try to connect
- * as a read-only or write-only.
- */
- if (GetLastError() == ERROR_ACCESS_DENIED) {
- pipeHandle = CreateFileW(name,
- GENERIC_READ | FILE_WRITE_ATTRIBUTES,
- 0,
- NULL,
- OPEN_EXISTING,
- FILE_FLAG_OVERLAPPED,
- NULL);
-
- if (pipeHandle != INVALID_HANDLE_VALUE) {
- *duplex_flags = UV_HANDLE_READABLE;
- return pipeHandle;
- }
- }
-
- if (GetLastError() == ERROR_ACCESS_DENIED) {
- pipeHandle = CreateFileW(name,
- GENERIC_WRITE | FILE_READ_ATTRIBUTES,
- 0,
- NULL,
- OPEN_EXISTING,
- FILE_FLAG_OVERLAPPED,
- NULL);
-
- if (pipeHandle != INVALID_HANDLE_VALUE) {
- *duplex_flags = UV_HANDLE_WRITABLE;
- return pipeHandle;
- }
- }
-
- return INVALID_HANDLE_VALUE;
-}
-
-
-static void close_pipe(uv_pipe_t* pipe) {
- assert(pipe->u.fd == -1 || pipe->u.fd > 2);
- if (pipe->u.fd == -1)
- CloseHandle(pipe->handle);
- else
- close(pipe->u.fd);
-
- pipe->u.fd = -1;
- pipe->handle = INVALID_HANDLE_VALUE;
-}
-
-
-int uv_stdio_pipe_server(uv_loop_t* loop, uv_pipe_t* handle, DWORD access,
- char* name, size_t nameSize) {
- HANDLE pipeHandle;
- int err;
- char* ptr = (char*)handle;
-
- for (;;) {
- uv_unique_pipe_name(ptr, name, nameSize);
-
- pipeHandle = CreateNamedPipeA(name,
- access | FILE_FLAG_OVERLAPPED | FILE_FLAG_FIRST_PIPE_INSTANCE | WRITE_DAC,
- PIPE_TYPE_BYTE | PIPE_READMODE_BYTE | PIPE_WAIT, 1, 65536, 65536, 0,
- NULL);
-
- if (pipeHandle != INVALID_HANDLE_VALUE) {
- /* No name collisions. We're done. */
- break;
- }
-
- err = GetLastError();
- if (err != ERROR_PIPE_BUSY && err != ERROR_ACCESS_DENIED) {
- goto error;
- }
-
- /* Pipe name collision. Increment the pointer and try again. */
- ptr++;
- }
-
- if (CreateIoCompletionPort(pipeHandle,
- loop->iocp,
- (ULONG_PTR)handle,
- 0) == NULL) {
- err = GetLastError();
- goto error;
- }
-
- uv_pipe_connection_init(handle);
- handle->handle = pipeHandle;
-
- return 0;
-
- error:
- if (pipeHandle != INVALID_HANDLE_VALUE) {
- CloseHandle(pipeHandle);
- }
-
- return err;
-}
-
-
-static int uv_set_pipe_handle(uv_loop_t* loop,
- uv_pipe_t* handle,
- HANDLE pipeHandle,
- int fd,
- DWORD duplex_flags) {
- NTSTATUS nt_status;
- IO_STATUS_BLOCK io_status;
- FILE_MODE_INFORMATION mode_info;
- DWORD mode = PIPE_READMODE_BYTE | PIPE_WAIT;
- DWORD current_mode = 0;
- DWORD err = 0;
-
- if (!(handle->flags & UV_HANDLE_PIPESERVER) &&
- handle->handle != INVALID_HANDLE_VALUE)
- return UV_EBUSY;
-
- if (!SetNamedPipeHandleState(pipeHandle, &mode, NULL, NULL)) {
- err = GetLastError();
- if (err == ERROR_ACCESS_DENIED) {
- /*
- * SetNamedPipeHandleState can fail if the handle doesn't have either
- * GENERIC_WRITE or FILE_WRITE_ATTRIBUTES.
- * But if the handle already has the desired wait and blocking modes
- * we can continue.
- */
- if (!GetNamedPipeHandleState(pipeHandle, ¤t_mode, NULL, NULL,
- NULL, NULL, 0)) {
- return -1;
- } else if (current_mode & PIPE_NOWAIT) {
- SetLastError(ERROR_ACCESS_DENIED);
- return -1;
- }
- } else {
- /* If this returns ERROR_INVALID_PARAMETER we probably opened
- * something that is not a pipe. */
- if (err == ERROR_INVALID_PARAMETER) {
- SetLastError(WSAENOTSOCK);
- }
- return -1;
- }
- }
-
- /* Check if the pipe was created with FILE_FLAG_OVERLAPPED. */
- nt_status = pNtQueryInformationFile(pipeHandle,
- &io_status,
- &mode_info,
- sizeof(mode_info),
- FileModeInformation);
- if (nt_status != STATUS_SUCCESS) {
- return -1;
- }
-
- if (mode_info.Mode & FILE_SYNCHRONOUS_IO_ALERT ||
- mode_info.Mode & FILE_SYNCHRONOUS_IO_NONALERT) {
- /* Non-overlapped pipe. */
- handle->flags |= UV_HANDLE_NON_OVERLAPPED_PIPE;
- } else {
- /* Overlapped pipe. Try to associate with IOCP. */
- if (CreateIoCompletionPort(pipeHandle,
- loop->iocp,
- (ULONG_PTR)handle,
- 0) == NULL) {
- handle->flags |= UV_HANDLE_EMULATE_IOCP;
- }
- }
-
- handle->handle = pipeHandle;
- handle->u.fd = fd;
- handle->flags |= duplex_flags;
-
- return 0;
-}
-
-
-static DWORD WINAPI pipe_shutdown_thread_proc(void* parameter) {
- uv_loop_t* loop;
- uv_pipe_t* handle;
- uv_shutdown_t* req;
-
- req = (uv_shutdown_t*) parameter;
- assert(req);
- handle = (uv_pipe_t*) req->handle;
- assert(handle);
- loop = handle->loop;
- assert(loop);
-
- FlushFileBuffers(handle->handle);
-
- /* Post completed */
- POST_COMPLETION_FOR_REQ(loop, req);
-
- return 0;
-}
-
-
-void uv_pipe_endgame(uv_loop_t* loop, uv_pipe_t* handle) {
- int err;
- DWORD result;
- uv_shutdown_t* req;
- NTSTATUS nt_status;
- IO_STATUS_BLOCK io_status;
- FILE_PIPE_LOCAL_INFORMATION pipe_info;
- uv__ipc_xfer_queue_item_t* xfer_queue_item;
-
- if ((handle->flags & UV_HANDLE_CONNECTION) &&
- handle->stream.conn.shutdown_req != NULL &&
- handle->stream.conn.write_reqs_pending == 0) {
- req = handle->stream.conn.shutdown_req;
-
- /* Clear the shutdown_req field so we don't go here again. */
- handle->stream.conn.shutdown_req = NULL;
-
- if (handle->flags & UV__HANDLE_CLOSING) {
- UNREGISTER_HANDLE_REQ(loop, handle, req);
-
- /* Already closing. Cancel the shutdown. */
- if (req->cb) {
- req->cb(req, UV_ECANCELED);
- }
-
- DECREASE_PENDING_REQ_COUNT(handle);
- return;
- }
-
- /* Try to avoid flushing the pipe buffer in the thread pool. */
- nt_status = pNtQueryInformationFile(handle->handle,
- &io_status,
- &pipe_info,
- sizeof pipe_info,
- FilePipeLocalInformation);
-
- if (nt_status != STATUS_SUCCESS) {
- /* Failure */
- UNREGISTER_HANDLE_REQ(loop, handle, req);
-
- handle->flags |= UV_HANDLE_WRITABLE; /* Questionable */
- if (req->cb) {
- err = pRtlNtStatusToDosError(nt_status);
- req->cb(req, uv_translate_sys_error(err));
- }
-
- DECREASE_PENDING_REQ_COUNT(handle);
- return;
- }
-
- if (pipe_info.OutboundQuota == pipe_info.WriteQuotaAvailable) {
- /* Short-circuit, no need to call FlushFileBuffers. */
- uv_insert_pending_req(loop, (uv_req_t*) req);
- return;
- }
-
- /* Run FlushFileBuffers in the thread pool. */
- result = QueueUserWorkItem(pipe_shutdown_thread_proc,
- req,
- WT_EXECUTELONGFUNCTION);
- if (result) {
- return;
-
- } else {
- /* Failure. */
- UNREGISTER_HANDLE_REQ(loop, handle, req);
-
- handle->flags |= UV_HANDLE_WRITABLE; /* Questionable */
- if (req->cb) {
- err = GetLastError();
- req->cb(req, uv_translate_sys_error(err));
- }
-
- DECREASE_PENDING_REQ_COUNT(handle);
- return;
- }
- }
-
- if (handle->flags & UV__HANDLE_CLOSING &&
- handle->reqs_pending == 0) {
- assert(!(handle->flags & UV_HANDLE_CLOSED));
-
- if (handle->flags & UV_HANDLE_CONNECTION) {
- /* Free pending sockets */
- while (!QUEUE_EMPTY(&handle->pipe.conn.ipc_xfer_queue)) {
- QUEUE* q;
- SOCKET socket;
-
- q = QUEUE_HEAD(&handle->pipe.conn.ipc_xfer_queue);
- QUEUE_REMOVE(q);
- xfer_queue_item = QUEUE_DATA(q, uv__ipc_xfer_queue_item_t, member);
-
- /* Materialize socket and close it */
- socket = WSASocketW(FROM_PROTOCOL_INFO,
- FROM_PROTOCOL_INFO,
- FROM_PROTOCOL_INFO,
- &xfer_queue_item->xfer_info.socket_info,
- 0,
- WSA_FLAG_OVERLAPPED);
- uv__free(xfer_queue_item);
-
- if (socket != INVALID_SOCKET)
- closesocket(socket);
- }
- handle->pipe.conn.ipc_xfer_queue_length = 0;
-
- if (handle->flags & UV_HANDLE_EMULATE_IOCP) {
- if (handle->read_req.wait_handle != INVALID_HANDLE_VALUE) {
- UnregisterWait(handle->read_req.wait_handle);
- handle->read_req.wait_handle = INVALID_HANDLE_VALUE;
- }
- if (handle->read_req.event_handle) {
- CloseHandle(handle->read_req.event_handle);
- handle->read_req.event_handle = NULL;
- }
- }
-
- if (handle->flags & UV_HANDLE_NON_OVERLAPPED_PIPE)
- DeleteCriticalSection(&handle->pipe.conn.readfile_thread_lock);
- }
-
- if (handle->flags & UV_HANDLE_PIPESERVER) {
- assert(handle->pipe.serv.accept_reqs);
- uv__free(handle->pipe.serv.accept_reqs);
- handle->pipe.serv.accept_reqs = NULL;
- }
-
- uv__handle_close(handle);
- }
-}
-
-
-void uv_pipe_pending_instances(uv_pipe_t* handle, int count) {
- if (handle->flags & UV_HANDLE_BOUND)
- return;
- handle->pipe.serv.pending_instances = count;
- handle->flags |= UV_HANDLE_PIPESERVER;
-}
-
-
-/* Creates a pipe server. */
-int uv_pipe_bind(uv_pipe_t* handle, const char* name) {
- uv_loop_t* loop = handle->loop;
- int i, err, nameSize;
- uv_pipe_accept_t* req;
-
- if (handle->flags & UV_HANDLE_BOUND) {
- return UV_EINVAL;
- }
-
- if (!name) {
- return UV_EINVAL;
- }
-
- if (!(handle->flags & UV_HANDLE_PIPESERVER)) {
- handle->pipe.serv.pending_instances = default_pending_pipe_instances;
- }
-
- handle->pipe.serv.accept_reqs = (uv_pipe_accept_t*)
- uv__malloc(sizeof(uv_pipe_accept_t) * handle->pipe.serv.pending_instances);
- if (!handle->pipe.serv.accept_reqs) {
- uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
- }
-
- for (i = 0; i < handle->pipe.serv.pending_instances; i++) {
- req = &handle->pipe.serv.accept_reqs[i];
- UV_REQ_INIT(req, UV_ACCEPT);
- req->data = handle;
- req->pipeHandle = INVALID_HANDLE_VALUE;
- req->next_pending = NULL;
- }
-
- /* Convert name to UTF16. */
- nameSize = MultiByteToWideChar(CP_UTF8, 0, name, -1, NULL, 0) * sizeof(WCHAR);
- handle->name = (WCHAR*)uv__malloc(nameSize);
- if (!handle->name) {
- uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
- }
-
- if (!MultiByteToWideChar(CP_UTF8,
- 0,
- name,
- -1,
- handle->name,
- nameSize / sizeof(WCHAR))) {
- err = GetLastError();
- goto error;
- }
-
- /*
- * Attempt to create the first pipe with FILE_FLAG_FIRST_PIPE_INSTANCE.
- * If this fails then there's already a pipe server for the given pipe name.
- */
- handle->pipe.serv.accept_reqs[0].pipeHandle = CreateNamedPipeW(handle->name,
- PIPE_ACCESS_DUPLEX | FILE_FLAG_OVERLAPPED |
- FILE_FLAG_FIRST_PIPE_INSTANCE | WRITE_DAC,
- PIPE_TYPE_BYTE | PIPE_READMODE_BYTE | PIPE_WAIT,
- PIPE_UNLIMITED_INSTANCES, 65536, 65536, 0, NULL);
-
- if (handle->pipe.serv.accept_reqs[0].pipeHandle == INVALID_HANDLE_VALUE) {
- err = GetLastError();
- if (err == ERROR_ACCESS_DENIED) {
- err = WSAEADDRINUSE; /* Translates to UV_EADDRINUSE. */
- } else if (err == ERROR_PATH_NOT_FOUND || err == ERROR_INVALID_NAME) {
- err = WSAEACCES; /* Translates to UV_EACCES. */
- }
- goto error;
- }
-
- if (uv_set_pipe_handle(loop,
- handle,
- handle->pipe.serv.accept_reqs[0].pipeHandle,
- -1,
- 0)) {
- err = GetLastError();
- goto error;
- }
-
- handle->pipe.serv.pending_accepts = NULL;
- handle->flags |= UV_HANDLE_PIPESERVER;
- handle->flags |= UV_HANDLE_BOUND;
-
- return 0;
-
-error:
- if (handle->name) {
- uv__free(handle->name);
- handle->name = NULL;
- }
-
- if (handle->pipe.serv.accept_reqs[0].pipeHandle != INVALID_HANDLE_VALUE) {
- CloseHandle(handle->pipe.serv.accept_reqs[0].pipeHandle);
- handle->pipe.serv.accept_reqs[0].pipeHandle = INVALID_HANDLE_VALUE;
- }
-
- return uv_translate_sys_error(err);
-}
-
-
-static DWORD WINAPI pipe_connect_thread_proc(void* parameter) {
- uv_loop_t* loop;
- uv_pipe_t* handle;
- uv_connect_t* req;
- HANDLE pipeHandle = INVALID_HANDLE_VALUE;
- DWORD duplex_flags;
-
- req = (uv_connect_t*) parameter;
- assert(req);
- handle = (uv_pipe_t*) req->handle;
- assert(handle);
- loop = handle->loop;
- assert(loop);
-
- /* We're here because CreateFile on a pipe returned ERROR_PIPE_BUSY. We wait
- * for the pipe to become available with WaitNamedPipe. */
- while (WaitNamedPipeW(handle->name, 30000)) {
- /* The pipe is now available, try to connect. */
- pipeHandle = open_named_pipe(handle->name, &duplex_flags);
- if (pipeHandle != INVALID_HANDLE_VALUE) {
- break;
- }
-
- SwitchToThread();
- }
-
- if (pipeHandle != INVALID_HANDLE_VALUE &&
- !uv_set_pipe_handle(loop, handle, pipeHandle, -1, duplex_flags)) {
- SET_REQ_SUCCESS(req);
- } else {
- SET_REQ_ERROR(req, GetLastError());
- }
-
- /* Post completed */
- POST_COMPLETION_FOR_REQ(loop, req);
-
- return 0;
-}
-
-
-void uv_pipe_connect(uv_connect_t* req, uv_pipe_t* handle,
- const char* name, uv_connect_cb cb) {
- uv_loop_t* loop = handle->loop;
- int err, nameSize;
- HANDLE pipeHandle = INVALID_HANDLE_VALUE;
- DWORD duplex_flags;
-
- UV_REQ_INIT(req, UV_CONNECT);
- req->handle = (uv_stream_t*) handle;
- req->cb = cb;
-
- /* Convert name to UTF16. */
- nameSize = MultiByteToWideChar(CP_UTF8, 0, name, -1, NULL, 0) * sizeof(WCHAR);
- handle->name = (WCHAR*)uv__malloc(nameSize);
- if (!handle->name) {
- uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
- }
-
- if (!MultiByteToWideChar(CP_UTF8,
- 0,
- name,
- -1,
- handle->name,
- nameSize / sizeof(WCHAR))) {
- err = GetLastError();
- goto error;
- }
-
- pipeHandle = open_named_pipe(handle->name, &duplex_flags);
- if (pipeHandle == INVALID_HANDLE_VALUE) {
- if (GetLastError() == ERROR_PIPE_BUSY) {
- /* Wait for the server to make a pipe instance available. */
- if (!QueueUserWorkItem(&pipe_connect_thread_proc,
- req,
- WT_EXECUTELONGFUNCTION)) {
- err = GetLastError();
- goto error;
- }
-
- REGISTER_HANDLE_REQ(loop, handle, req);
- handle->reqs_pending++;
-
- return;
- }
-
- err = GetLastError();
- goto error;
- }
-
- assert(pipeHandle != INVALID_HANDLE_VALUE);
-
- if (uv_set_pipe_handle(loop,
- (uv_pipe_t*) req->handle,
- pipeHandle,
- -1,
- duplex_flags)) {
- err = GetLastError();
- goto error;
- }
-
- SET_REQ_SUCCESS(req);
- uv_insert_pending_req(loop, (uv_req_t*) req);
- handle->reqs_pending++;
- REGISTER_HANDLE_REQ(loop, handle, req);
- return;
-
-error:
- if (handle->name) {
- uv__free(handle->name);
- handle->name = NULL;
- }
-
- if (pipeHandle != INVALID_HANDLE_VALUE) {
- CloseHandle(pipeHandle);
- }
-
- /* Make this req pending reporting an error. */
- SET_REQ_ERROR(req, err);
- uv_insert_pending_req(loop, (uv_req_t*) req);
- handle->reqs_pending++;
- REGISTER_HANDLE_REQ(loop, handle, req);
- return;
-}
-
-
-void uv__pipe_interrupt_read(uv_pipe_t* handle) {
- BOOL r;
-
- if (!(handle->flags & UV_HANDLE_READ_PENDING))
- return; /* No pending reads. */
- if (handle->flags & UV_HANDLE_CANCELLATION_PENDING)
- return; /* Already cancelled. */
- if (handle->handle == INVALID_HANDLE_VALUE)
- return; /* Pipe handle closed. */
-
- if (!(handle->flags & UV_HANDLE_NON_OVERLAPPED_PIPE)) {
- /* Cancel asynchronous read. */
- r = CancelIoEx(handle->handle, &handle->read_req.u.io.overlapped);
- assert(r || GetLastError() == ERROR_NOT_FOUND);
-
- } else {
- /* Cancel synchronous read (which is happening in the thread pool). */
- HANDLE thread;
- volatile HANDLE* thread_ptr = &handle->pipe.conn.readfile_thread_handle;
-
- EnterCriticalSection(&handle->pipe.conn.readfile_thread_lock);
-
- thread = *thread_ptr;
- if (thread == NULL) {
- /* The thread pool thread has not yet reached the point of blocking, we
- * can pre-empt it by setting thread_handle to INVALID_HANDLE_VALUE. */
- *thread_ptr = INVALID_HANDLE_VALUE;
-
- } else {
- /* Spin until the thread has acknowledged (by setting the thread to
- * INVALID_HANDLE_VALUE) that it is past the point of blocking. */
- while (thread != INVALID_HANDLE_VALUE) {
- r = CancelSynchronousIo(thread);
- assert(r || GetLastError() == ERROR_NOT_FOUND);
- SwitchToThread(); /* Yield thread. */
- thread = *thread_ptr;
- }
- }
-
- LeaveCriticalSection(&handle->pipe.conn.readfile_thread_lock);
- }
-
- /* Set flag to indicate that read has been cancelled. */
- handle->flags |= UV_HANDLE_CANCELLATION_PENDING;
-}
-
-
-void uv__pipe_read_stop(uv_pipe_t* handle) {
- handle->flags &= ~UV_HANDLE_READING;
- DECREASE_ACTIVE_COUNT(handle->loop, handle);
-
- uv__pipe_interrupt_read(handle);
-}
-
-
-/* Cleans up uv_pipe_t (server or connection) and all resources associated with
- * it. */
-void uv_pipe_cleanup(uv_loop_t* loop, uv_pipe_t* handle) {
- int i;
- HANDLE pipeHandle;
-
- uv__pipe_interrupt_read(handle);
-
- if (handle->name) {
- uv__free(handle->name);
- handle->name = NULL;
- }
-
- if (handle->flags & UV_HANDLE_PIPESERVER) {
- for (i = 0; i < handle->pipe.serv.pending_instances; i++) {
- pipeHandle = handle->pipe.serv.accept_reqs[i].pipeHandle;
- if (pipeHandle != INVALID_HANDLE_VALUE) {
- CloseHandle(pipeHandle);
- handle->pipe.serv.accept_reqs[i].pipeHandle = INVALID_HANDLE_VALUE;
- }
- }
- handle->handle = INVALID_HANDLE_VALUE;
- }
-
- if (handle->flags & UV_HANDLE_CONNECTION) {
- handle->flags &= ~UV_HANDLE_WRITABLE;
- eof_timer_destroy(handle);
- }
-
- if ((handle->flags & UV_HANDLE_CONNECTION)
- && handle->handle != INVALID_HANDLE_VALUE)
- close_pipe(handle);
-}
-
-
-void uv_pipe_close(uv_loop_t* loop, uv_pipe_t* handle) {
- if (handle->flags & UV_HANDLE_READING) {
- handle->flags &= ~UV_HANDLE_READING;
- DECREASE_ACTIVE_COUNT(loop, handle);
- }
-
- if (handle->flags & UV_HANDLE_LISTENING) {
- handle->flags &= ~UV_HANDLE_LISTENING;
- DECREASE_ACTIVE_COUNT(loop, handle);
- }
-
- uv_pipe_cleanup(loop, handle);
-
- if (handle->reqs_pending == 0) {
- uv_want_endgame(loop, (uv_handle_t*) handle);
- }
-
- handle->flags &= ~(UV_HANDLE_READABLE | UV_HANDLE_WRITABLE);
- uv__handle_closing(handle);
-}
-
-
-static void uv_pipe_queue_accept(uv_loop_t* loop, uv_pipe_t* handle,
- uv_pipe_accept_t* req, BOOL firstInstance) {
- assert(handle->flags & UV_HANDLE_LISTENING);
-
- if (!firstInstance) {
- assert(req->pipeHandle == INVALID_HANDLE_VALUE);
-
- req->pipeHandle = CreateNamedPipeW(handle->name,
- PIPE_ACCESS_DUPLEX | FILE_FLAG_OVERLAPPED | WRITE_DAC,
- PIPE_TYPE_BYTE | PIPE_READMODE_BYTE | PIPE_WAIT,
- PIPE_UNLIMITED_INSTANCES, 65536, 65536, 0, NULL);
-
- if (req->pipeHandle == INVALID_HANDLE_VALUE) {
- SET_REQ_ERROR(req, GetLastError());
- uv_insert_pending_req(loop, (uv_req_t*) req);
- handle->reqs_pending++;
- return;
- }
-
- if (uv_set_pipe_handle(loop, handle, req->pipeHandle, -1, 0)) {
- CloseHandle(req->pipeHandle);
- req->pipeHandle = INVALID_HANDLE_VALUE;
- SET_REQ_ERROR(req, GetLastError());
- uv_insert_pending_req(loop, (uv_req_t*) req);
- handle->reqs_pending++;
- return;
- }
- }
-
- assert(req->pipeHandle != INVALID_HANDLE_VALUE);
-
- /* Prepare the overlapped structure. */
- memset(&(req->u.io.overlapped), 0, sizeof(req->u.io.overlapped));
-
- if (!ConnectNamedPipe(req->pipeHandle, &req->u.io.overlapped) &&
- GetLastError() != ERROR_IO_PENDING) {
- if (GetLastError() == ERROR_PIPE_CONNECTED) {
- SET_REQ_SUCCESS(req);
- } else {
- CloseHandle(req->pipeHandle);
- req->pipeHandle = INVALID_HANDLE_VALUE;
- /* Make this req pending reporting an error. */
- SET_REQ_ERROR(req, GetLastError());
- }
- uv_insert_pending_req(loop, (uv_req_t*) req);
- handle->reqs_pending++;
- return;
- }
-
- /* Wait for completion via IOCP */
- handle->reqs_pending++;
-}
-
-
-int uv_pipe_accept(uv_pipe_t* server, uv_stream_t* client) {
- uv_loop_t* loop = server->loop;
- uv_pipe_t* pipe_client;
- uv_pipe_accept_t* req;
- QUEUE* q;
- uv__ipc_xfer_queue_item_t* item;
- int err;
-
- if (server->ipc) {
- if (QUEUE_EMPTY(&server->pipe.conn.ipc_xfer_queue)) {
- /* No valid pending sockets. */
- return WSAEWOULDBLOCK;
- }
-
- q = QUEUE_HEAD(&server->pipe.conn.ipc_xfer_queue);
- QUEUE_REMOVE(q);
- server->pipe.conn.ipc_xfer_queue_length--;
- item = QUEUE_DATA(q, uv__ipc_xfer_queue_item_t, member);
-
- err = uv__tcp_xfer_import((uv_tcp_t*) client, &item->xfer_info);
- if (err != 0)
- return err;
-
- uv__free(item);
-
- } else {
- pipe_client = (uv_pipe_t*)client;
-
- /* Find a connection instance that has been connected, but not yet
- * accepted. */
- req = server->pipe.serv.pending_accepts;
-
- if (!req) {
- /* No valid connections found, so we error out. */
- return WSAEWOULDBLOCK;
- }
-
- /* Initialize the client handle and copy the pipeHandle to the client */
- uv_pipe_connection_init(pipe_client);
- pipe_client->handle = req->pipeHandle;
- pipe_client->flags |= UV_HANDLE_READABLE | UV_HANDLE_WRITABLE;
-
- /* Prepare the req to pick up a new connection */
- server->pipe.serv.pending_accepts = req->next_pending;
- req->next_pending = NULL;
- req->pipeHandle = INVALID_HANDLE_VALUE;
-
- if (!(server->flags & UV__HANDLE_CLOSING)) {
- uv_pipe_queue_accept(loop, server, req, FALSE);
- }
- }
-
- return 0;
-}
-
-
-/* Starts listening for connections for the given pipe. */
-int uv_pipe_listen(uv_pipe_t* handle, int backlog, uv_connection_cb cb) {
- uv_loop_t* loop = handle->loop;
- int i;
-
- if (handle->flags & UV_HANDLE_LISTENING) {
- handle->stream.serv.connection_cb = cb;
- }
-
- if (!(handle->flags & UV_HANDLE_BOUND)) {
- return WSAEINVAL;
- }
-
- if (handle->flags & UV_HANDLE_READING) {
- return WSAEISCONN;
- }
-
- if (!(handle->flags & UV_HANDLE_PIPESERVER)) {
- return ERROR_NOT_SUPPORTED;
- }
-
- handle->flags |= UV_HANDLE_LISTENING;
- INCREASE_ACTIVE_COUNT(loop, handle);
- handle->stream.serv.connection_cb = cb;
-
- /* First pipe handle should have already been created in uv_pipe_bind */
- assert(handle->pipe.serv.accept_reqs[0].pipeHandle != INVALID_HANDLE_VALUE);
-
- for (i = 0; i < handle->pipe.serv.pending_instances; i++) {
- uv_pipe_queue_accept(loop, handle, &handle->pipe.serv.accept_reqs[i], i == 0);
- }
-
- return 0;
-}
-
-
-static DWORD WINAPI uv_pipe_zero_readfile_thread_proc(void* arg) {
- uv_read_t* req = (uv_read_t*) arg;
- uv_pipe_t* handle = (uv_pipe_t*) req->data;
- uv_loop_t* loop = handle->loop;
- volatile HANDLE* thread_ptr = &handle->pipe.conn.readfile_thread_handle;
- CRITICAL_SECTION* lock = &handle->pipe.conn.readfile_thread_lock;
- HANDLE thread;
- DWORD bytes;
- DWORD err;
-
- assert(req->type == UV_READ);
- assert(handle->type == UV_NAMED_PIPE);
-
- err = 0;
-
- /* Create a handle to the current thread. */
- if (!DuplicateHandle(GetCurrentProcess(),
- GetCurrentThread(),
- GetCurrentProcess(),
- &thread,
- 0,
- FALSE,
- DUPLICATE_SAME_ACCESS)) {
- err = GetLastError();
- goto out1;
- }
-
- /* The lock needs to be held when thread handle is modified. */
- EnterCriticalSection(lock);
- if (*thread_ptr == INVALID_HANDLE_VALUE) {
- /* uv__pipe_interrupt_read() cancelled reading before we got here. */
- err = ERROR_OPERATION_ABORTED;
- } else {
- /* Let main thread know which worker thread is doing the blocking read. */
- assert(*thread_ptr == NULL);
- *thread_ptr = thread;
- }
- LeaveCriticalSection(lock);
-
- if (err)
- goto out2;
-
- /* Block the thread until data is available on the pipe, or the read is
- * cancelled. */
- if (!ReadFile(handle->handle, &uv_zero_, 0, &bytes, NULL))
- err = GetLastError();
-
- /* Let the main thread know the worker is past the point of blocking. */
- assert(thread == *thread_ptr);
- *thread_ptr = INVALID_HANDLE_VALUE;
-
- /* Briefly acquire the mutex. Since the main thread holds the lock while it
- * is spinning trying to cancel this thread's I/O, we will block here until
- * it stops doing that. */
- EnterCriticalSection(lock);
- LeaveCriticalSection(lock);
-
-out2:
- /* Close the handle to the current thread. */
- CloseHandle(thread);
-
-out1:
- /* Set request status and post a completion record to the IOCP. */
- if (err)
- SET_REQ_ERROR(req, err);
- else
- SET_REQ_SUCCESS(req);
- POST_COMPLETION_FOR_REQ(loop, req);
-
- return 0;
-}
-
-
-static DWORD WINAPI uv_pipe_writefile_thread_proc(void* parameter) {
- int result;
- DWORD bytes;
- uv_write_t* req = (uv_write_t*) parameter;
- uv_pipe_t* handle = (uv_pipe_t*) req->handle;
- uv_loop_t* loop = handle->loop;
-
- assert(req != NULL);
- assert(req->type == UV_WRITE);
- assert(handle->type == UV_NAMED_PIPE);
- assert(req->write_buffer.base);
-
- result = WriteFile(handle->handle,
- req->write_buffer.base,
- req->write_buffer.len,
- &bytes,
- NULL);
-
- if (!result) {
- SET_REQ_ERROR(req, GetLastError());
- }
-
- POST_COMPLETION_FOR_REQ(loop, req);
- return 0;
-}
-
-
-static void CALLBACK post_completion_read_wait(void* context, BOOLEAN timed_out) {
- uv_read_t* req;
- uv_tcp_t* handle;
-
- req = (uv_read_t*) context;
- assert(req != NULL);
- handle = (uv_tcp_t*)req->data;
- assert(handle != NULL);
- assert(!timed_out);
-
- if (!PostQueuedCompletionStatus(handle->loop->iocp,
- req->u.io.overlapped.InternalHigh,
- 0,
- &req->u.io.overlapped)) {
- uv_fatal_error(GetLastError(), "PostQueuedCompletionStatus");
- }
-}
-
-
-static void CALLBACK post_completion_write_wait(void* context, BOOLEAN timed_out) {
- uv_write_t* req;
- uv_tcp_t* handle;
-
- req = (uv_write_t*) context;
- assert(req != NULL);
- handle = (uv_tcp_t*)req->handle;
- assert(handle != NULL);
- assert(!timed_out);
-
- if (!PostQueuedCompletionStatus(handle->loop->iocp,
- req->u.io.overlapped.InternalHigh,
- 0,
- &req->u.io.overlapped)) {
- uv_fatal_error(GetLastError(), "PostQueuedCompletionStatus");
- }
-}
-
-
-static void uv_pipe_queue_read(uv_loop_t* loop, uv_pipe_t* handle) {
- uv_read_t* req;
- int result;
-
- assert(handle->flags & UV_HANDLE_READING);
- assert(!(handle->flags & UV_HANDLE_READ_PENDING));
-
- assert(handle->handle != INVALID_HANDLE_VALUE);
-
- req = &handle->read_req;
-
- if (handle->flags & UV_HANDLE_NON_OVERLAPPED_PIPE) {
- handle->pipe.conn.readfile_thread_handle = NULL; /* Reset cancellation. */
- if (!QueueUserWorkItem(&uv_pipe_zero_readfile_thread_proc,
- req,
- WT_EXECUTELONGFUNCTION)) {
- /* Make this req pending reporting an error. */
- SET_REQ_ERROR(req, GetLastError());
- goto error;
- }
- } else {
- memset(&req->u.io.overlapped, 0, sizeof(req->u.io.overlapped));
- if (handle->flags & UV_HANDLE_EMULATE_IOCP) {
- req->u.io.overlapped.hEvent = (HANDLE) ((uintptr_t) req->event_handle | 1);
- }
-
- /* Do 0-read */
- result = ReadFile(handle->handle,
- &uv_zero_,
- 0,
- NULL,
- &req->u.io.overlapped);
-
- if (!result && GetLastError() != ERROR_IO_PENDING) {
- /* Make this req pending reporting an error. */
- SET_REQ_ERROR(req, GetLastError());
- goto error;
- }
-
- if (handle->flags & UV_HANDLE_EMULATE_IOCP) {
- if (!req->event_handle) {
- req->event_handle = CreateEvent(NULL, 0, 0, NULL);
- if (!req->event_handle) {
- uv_fatal_error(GetLastError(), "CreateEvent");
- }
- }
- if (req->wait_handle == INVALID_HANDLE_VALUE) {
- if (!RegisterWaitForSingleObject(&req->wait_handle,
- req->u.io.overlapped.hEvent, post_completion_read_wait, (void*) req,
- INFINITE, WT_EXECUTEINWAITTHREAD)) {
- SET_REQ_ERROR(req, GetLastError());
- goto error;
- }
- }
- }
- }
-
- /* Start the eof timer if there is one */
- eof_timer_start(handle);
- handle->flags |= UV_HANDLE_READ_PENDING;
- handle->reqs_pending++;
- return;
-
-error:
- uv_insert_pending_req(loop, (uv_req_t*)req);
- handle->flags |= UV_HANDLE_READ_PENDING;
- handle->reqs_pending++;
-}
-
-
-int uv_pipe_read_start(uv_pipe_t* handle,
- uv_alloc_cb alloc_cb,
- uv_read_cb read_cb) {
- uv_loop_t* loop = handle->loop;
-
- handle->flags |= UV_HANDLE_READING;
- INCREASE_ACTIVE_COUNT(loop, handle);
- handle->read_cb = read_cb;
- handle->alloc_cb = alloc_cb;
-
- /* If reading was stopped and then started again, there could still be a read
- * request pending. */
- if (!(handle->flags & UV_HANDLE_READ_PENDING))
- uv_pipe_queue_read(loop, handle);
-
- return 0;
-}
-
-
-static void uv_insert_non_overlapped_write_req(uv_pipe_t* handle,
- uv_write_t* req) {
- req->next_req = NULL;
- if (handle->pipe.conn.non_overlapped_writes_tail) {
- req->next_req =
- handle->pipe.conn.non_overlapped_writes_tail->next_req;
- handle->pipe.conn.non_overlapped_writes_tail->next_req = (uv_req_t*)req;
- handle->pipe.conn.non_overlapped_writes_tail = req;
- } else {
- req->next_req = (uv_req_t*)req;
- handle->pipe.conn.non_overlapped_writes_tail = req;
- }
-}
-
-
-static uv_write_t* uv_remove_non_overlapped_write_req(uv_pipe_t* handle) {
- uv_write_t* req;
-
- if (handle->pipe.conn.non_overlapped_writes_tail) {
- req = (uv_write_t*)handle->pipe.conn.non_overlapped_writes_tail->next_req;
-
- if (req == handle->pipe.conn.non_overlapped_writes_tail) {
- handle->pipe.conn.non_overlapped_writes_tail = NULL;
- } else {
- handle->pipe.conn.non_overlapped_writes_tail->next_req =
- req->next_req;
- }
-
- return req;
- } else {
- /* queue empty */
- return NULL;
- }
-}
-
-
-static void uv_queue_non_overlapped_write(uv_pipe_t* handle) {
- uv_write_t* req = uv_remove_non_overlapped_write_req(handle);
- if (req) {
- if (!QueueUserWorkItem(&uv_pipe_writefile_thread_proc,
- req,
- WT_EXECUTELONGFUNCTION)) {
- uv_fatal_error(GetLastError(), "QueueUserWorkItem");
- }
- }
-}
-
-
-static int uv__build_coalesced_write_req(uv_write_t* user_req,
- const uv_buf_t bufs[],
- size_t nbufs,
- uv_write_t** req_out,
- uv_buf_t* write_buf_out) {
- /* Pack into a single heap-allocated buffer:
- * (a) a uv_write_t structure where libuv stores the actual state.
- * (b) a pointer to the original uv_write_t.
- * (c) data from all `bufs` entries.
- */
- char* heap_buffer;
- size_t heap_buffer_length, heap_buffer_offset;
- uv__coalesced_write_t* coalesced_write_req; /* (a) + (b) */
- char* data_start; /* (c) */
- size_t data_length;
- unsigned int i;
-
- /* Compute combined size of all combined buffers from `bufs`. */
- data_length = 0;
- for (i = 0; i < nbufs; i++)
- data_length += bufs[i].len;
-
- /* The total combined size of data buffers should not exceed UINT32_MAX,
- * because WriteFile() won't accept buffers larger than that. */
- if (data_length > UINT32_MAX)
- return WSAENOBUFS; /* Maps to UV_ENOBUFS. */
-
- /* Compute heap buffer size. */
- heap_buffer_length = sizeof *coalesced_write_req + /* (a) + (b) */
- data_length; /* (c) */
-
- /* Allocate buffer. */
- heap_buffer = (char*)uv__malloc(heap_buffer_length);
- if (heap_buffer == NULL)
- return ERROR_NOT_ENOUGH_MEMORY; /* Maps to UV_ENOMEM. */
-
- /* Copy uv_write_t information to the buffer. */
- coalesced_write_req = (uv__coalesced_write_t*) heap_buffer;
- coalesced_write_req->req = *user_req; /* copy (a) */
- coalesced_write_req->req.coalesced = 1;
- coalesced_write_req->user_req = user_req; /* copy (b) */
- heap_buffer_offset = sizeof *coalesced_write_req; /* offset (a) + (b) */
-
- /* Copy data buffers to the heap buffer. */
- data_start = &heap_buffer[heap_buffer_offset];
- for (i = 0; i < nbufs; i++) {
- memcpy(&heap_buffer[heap_buffer_offset],
- bufs[i].base,
- bufs[i].len); /* copy (c) */
- heap_buffer_offset += bufs[i].len; /* offset (c) */
- }
- assert(heap_buffer_offset == heap_buffer_length);
-
- /* Set out arguments and return. */
- *req_out = &coalesced_write_req->req;
- *write_buf_out = uv_buf_init(data_start, (unsigned int) data_length);
- return 0;
-}
-
-
-static int uv__pipe_write_data(uv_loop_t* loop,
- uv_write_t* req,
- uv_pipe_t* handle,
- const uv_buf_t bufs[],
- size_t nbufs,
- uv_stream_t* send_handle,
- uv_write_cb cb,
- bool copy_always) {
- int err;
- int result;
- uv_buf_t write_buf;
-
- assert(handle->handle != INVALID_HANDLE_VALUE);
-
- UV_REQ_INIT(req, UV_WRITE);
- req->handle = (uv_stream_t*) handle;
- req->send_handle = send_handle;
- req->cb = cb;
- /* Private fields. */
- req->coalesced = 0;
- req->event_handle = NULL;
- req->wait_handle = INVALID_HANDLE_VALUE;
- memset(&req->u.io.overlapped, 0, sizeof(req->u.io.overlapped));
- req->write_buffer = uv_null_buf_;
-
- if (nbufs == 0) {
- /* Write empty buffer. */
- write_buf = uv_null_buf_;
- } else if (nbufs == 1 && !copy_always) {
- /* Write directly from bufs[0]. */
- write_buf = bufs[0];
- } else {
- /* Coalesce all `bufs` into one big buffer. This also creates a new
- * write-request structure that replaces the old one. */
- err = uv__build_coalesced_write_req(req, bufs, nbufs, &req, &write_buf);
- if (err != 0)
- return err;
- }
-
- if ((handle->flags &
- (UV_HANDLE_BLOCKING_WRITES | UV_HANDLE_NON_OVERLAPPED_PIPE)) ==
- (UV_HANDLE_BLOCKING_WRITES | UV_HANDLE_NON_OVERLAPPED_PIPE)) {
- DWORD bytes;
- result =
- WriteFile(handle->handle, write_buf.base, write_buf.len, &bytes, NULL);
-
- if (!result) {
- err = GetLastError();
- return err;
- } else {
- /* Request completed immediately. */
- req->u.io.queued_bytes = 0;
- }
-
- REGISTER_HANDLE_REQ(loop, handle, req);
- handle->reqs_pending++;
- handle->stream.conn.write_reqs_pending++;
- POST_COMPLETION_FOR_REQ(loop, req);
- return 0;
- } else if (handle->flags & UV_HANDLE_NON_OVERLAPPED_PIPE) {
- req->write_buffer = write_buf;
- uv_insert_non_overlapped_write_req(handle, req);
- if (handle->stream.conn.write_reqs_pending == 0) {
- uv_queue_non_overlapped_write(handle);
- }
-
- /* Request queued by the kernel. */
- req->u.io.queued_bytes = write_buf.len;
- handle->write_queue_size += req->u.io.queued_bytes;
- } else if (handle->flags & UV_HANDLE_BLOCKING_WRITES) {
- /* Using overlapped IO, but wait for completion before returning */
- req->u.io.overlapped.hEvent = CreateEvent(NULL, 1, 0, NULL);
- if (!req->u.io.overlapped.hEvent) {
- uv_fatal_error(GetLastError(), "CreateEvent");
- }
-
- result = WriteFile(handle->handle,
- write_buf.base,
- write_buf.len,
- NULL,
- &req->u.io.overlapped);
-
- if (!result && GetLastError() != ERROR_IO_PENDING) {
- err = GetLastError();
- CloseHandle(req->u.io.overlapped.hEvent);
- return err;
- }
-
- if (result) {
- /* Request completed immediately. */
- req->u.io.queued_bytes = 0;
- } else {
- /* Request queued by the kernel. */
- req->u.io.queued_bytes = write_buf.len;
- handle->write_queue_size += req->u.io.queued_bytes;
- if (WaitForSingleObject(req->u.io.overlapped.hEvent, INFINITE) !=
- WAIT_OBJECT_0) {
- err = GetLastError();
- CloseHandle(req->u.io.overlapped.hEvent);
- return err;
- }
- }
- CloseHandle(req->u.io.overlapped.hEvent);
-
- REGISTER_HANDLE_REQ(loop, handle, req);
- handle->reqs_pending++;
- handle->stream.conn.write_reqs_pending++;
- return 0;
- } else {
- result = WriteFile(handle->handle,
- write_buf.base,
- write_buf.len,
- NULL,
- &req->u.io.overlapped);
-
- if (!result && GetLastError() != ERROR_IO_PENDING) {
- return GetLastError();
- }
-
- if (result) {
- /* Request completed immediately. */
- req->u.io.queued_bytes = 0;
- } else {
- /* Request queued by the kernel. */
- req->u.io.queued_bytes = write_buf.len;
- handle->write_queue_size += req->u.io.queued_bytes;
- }
-
- if (handle->flags & UV_HANDLE_EMULATE_IOCP) {
- req->event_handle = CreateEvent(NULL, 0, 0, NULL);
- if (!req->event_handle) {
- uv_fatal_error(GetLastError(), "CreateEvent");
- }
- if (!RegisterWaitForSingleObject(&req->wait_handle,
- req->u.io.overlapped.hEvent, post_completion_write_wait, (void*) req,
- INFINITE, WT_EXECUTEINWAITTHREAD)) {
- return GetLastError();
- }
- }
- }
-
- REGISTER_HANDLE_REQ(loop, handle, req);
- handle->reqs_pending++;
- handle->stream.conn.write_reqs_pending++;
-
- return 0;
-}
-
-
-static DWORD uv__pipe_get_ipc_remote_pid(uv_pipe_t* handle) {
- DWORD* pid = &handle->pipe.conn.ipc_remote_pid;
-
- /* If the both ends of the IPC pipe are owned by the same process,
- * the remote end pid may not yet be set. If so, do it here.
- * TODO: this is weird; it'd probably better to use a handshake. */
- if (*pid == 0)
- *pid = GetCurrentProcessId();
-
- return *pid;
-}
-
-
-int uv__pipe_write_ipc(uv_loop_t* loop,
- uv_write_t* req,
- uv_pipe_t* handle,
- const uv_buf_t data_bufs[],
- size_t data_buf_count,
- uv_stream_t* send_handle,
- uv_write_cb cb) {
- uv_buf_t stack_bufs[6];
- uv_buf_t* bufs;
- size_t buf_count, buf_index;
- uv__ipc_frame_header_t xfer_frame_header;
- uv__ipc_socket_xfer_info_t xfer_info;
- uv__ipc_frame_header_t data_frame_header;
- size_t data_length;
- size_t i;
- int err;
-
- /* Compute the combined size of data buffers. */
- data_length = 0;
- for (i = 0; i < data_buf_count; i++)
- data_length += data_bufs[i].len;
- if (data_length > UINT32_MAX)
- return WSAENOBUFS; /* Maps to UV_ENOBUFS. */
-
- /* Prepare xfer frame payload. */
- if (send_handle) {
- uv_tcp_t* send_tcp_handle = (uv_tcp_t*) send_handle;
-
- /* Verify that `send_handle` it is indeed a tcp handle. */
- if (send_tcp_handle->type != UV_TCP)
- return ERROR_NOT_SUPPORTED;
-
- /* Export the tcp handle. */
- err = uv__tcp_xfer_export(
- send_tcp_handle, uv__pipe_get_ipc_remote_pid(handle), &xfer_info);
- if (err != 0)
- return err;
- }
-
- /* Compute the number of uv_buf_t's required. */
- buf_count = 0;
- if (send_handle != NULL) {
- buf_count += 2; /* One for the frame header, one for the payload. */
- }
- if (data_buf_count > 0) {
- buf_count += 1 + data_buf_count; /* One extra for the frame header. */
- }
-
- /* Use the on-stack buffer array if it is big enough; otherwise allocate
- * space for it on the heap. */
- if (buf_count < ARRAY_SIZE(stack_bufs)) {
- /* Use on-stack buffer array. */
- bufs = stack_bufs;
- } else {
- /* Use heap-allocated buffer array. */
- bufs = (uv_buf_t*)uv__calloc(buf_count, sizeof(uv_buf_t));
- if (bufs == NULL)
- return ERROR_NOT_ENOUGH_MEMORY; /* Maps to UV_ENOMEM. */
- }
- buf_index = 0;
-
- if (send_handle != NULL) {
- /* Add xfer frame header. */
- xfer_frame_header.type = UV__IPC_XFER_FRAME;
- xfer_frame_header.payload_length = sizeof xfer_info;
- bufs[buf_index++] =
- uv_buf_init((char*) &xfer_frame_header, sizeof xfer_frame_header);
-
- /* Add xfer frame payload. */
- bufs[buf_index++] = uv_buf_init((char*) &xfer_info, sizeof xfer_info);
- }
-
- if (data_length > 0) {
- /* Add data frame header. */
- data_frame_header.type = UV__IPC_DATA_FRAME;
- data_frame_header.payload_length = (uint32_t) data_length;
- bufs[buf_index++] =
- uv_buf_init((char*) &data_frame_header, sizeof data_frame_header);
-
- /* Add data buffers. */
- for (i = 0; i < data_buf_count; i++)
- bufs[buf_index++] = data_bufs[i];
- }
-
- /* Write buffers. We set the `always_copy` flag, so it is not a problem that
- * some of the written data lives on the stack. */
- err = uv__pipe_write_data(
- loop, req, handle, bufs, buf_count, send_handle, cb, true);
-
- /* If we had to heap-allocate the bufs array, free it now. */
- if (bufs != stack_bufs) {
- uv__free(bufs);
- }
-
- return err;
-}
-
-
-int uv__pipe_write(uv_loop_t* loop,
- uv_write_t* req,
- uv_pipe_t* handle,
- const uv_buf_t bufs[],
- size_t nbufs,
- uv_stream_t* send_handle,
- uv_write_cb cb) {
- if (handle->ipc) {
- /* IPC pipe write: use framing protocol. */
- return uv__pipe_write_ipc(loop, req, handle, bufs, nbufs, send_handle, cb);
- } else {
- /* Non-IPC pipe write: put data on the wire directly. */
- assert(send_handle == NULL);
- return uv__pipe_write_data(
- loop, req, handle, bufs, nbufs, NULL, cb, false);
- }
-}
-
-
-static void uv_pipe_read_eof(uv_loop_t* loop, uv_pipe_t* handle,
- uv_buf_t buf) {
- /* If there is an eof timer running, we don't need it any more, so discard
- * it. */
- eof_timer_destroy(handle);
-
- handle->flags &= ~UV_HANDLE_READABLE;
- uv_read_stop((uv_stream_t*) handle);
-
- handle->read_cb((uv_stream_t*) handle, UV_EOF, &buf);
-}
-
-
-static void uv_pipe_read_error(uv_loop_t* loop, uv_pipe_t* handle, int error,
- uv_buf_t buf) {
- /* If there is an eof timer running, we don't need it any more, so discard
- * it. */
- eof_timer_destroy(handle);
-
- uv_read_stop((uv_stream_t*) handle);
-
- handle->read_cb((uv_stream_t*)handle, uv_translate_sys_error(error), &buf);
-}
-
-
-static void uv_pipe_read_error_or_eof(uv_loop_t* loop, uv_pipe_t* handle,
- int error, uv_buf_t buf) {
- if (error == ERROR_BROKEN_PIPE) {
- uv_pipe_read_eof(loop, handle, buf);
- } else {
- uv_pipe_read_error(loop, handle, error, buf);
- }
-}
-
-
-static void uv__pipe_queue_ipc_xfer_info(
- uv_pipe_t* handle, uv__ipc_socket_xfer_info_t* xfer_info) {
- uv__ipc_xfer_queue_item_t* item;
-
- item = (uv__ipc_xfer_queue_item_t*) uv__malloc(sizeof(*item));
- if (item == NULL)
- uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
-
- memcpy(&item->xfer_info, xfer_info, sizeof(item->xfer_info));
- QUEUE_INSERT_TAIL(&handle->pipe.conn.ipc_xfer_queue, &item->member);
- handle->pipe.conn.ipc_xfer_queue_length++;
-}
-
-
-/* Read an exact number of bytes from a pipe. If an error or end-of-file is
- * encountered before the requested number of bytes are read, an error is
- * returned. */
-static int uv__pipe_read_exactly(HANDLE h, void* buffer, DWORD count) {
- DWORD bytes_read, bytes_read_now;
-
- bytes_read = 0;
- while (bytes_read < count) {
- if (!ReadFile(h,
- (char*) buffer + bytes_read,
- count - bytes_read,
- &bytes_read_now,
- NULL)) {
- return GetLastError();
- }
-
- bytes_read += bytes_read_now;
- }
-
- assert(bytes_read == count);
- return 0;
-}
-
-
-static DWORD uv__pipe_read_data(uv_loop_t* loop,
- uv_pipe_t* handle,
- DWORD suggested_bytes,
- DWORD max_bytes) {
- DWORD bytes_read;
- uv_buf_t buf;
-
- /* Ask the user for a buffer to read data into. */
- buf = uv_buf_init(NULL, 0);
- handle->alloc_cb((uv_handle_t*) handle, suggested_bytes, &buf);
- if (buf.base == NULL || buf.len == 0) {
- handle->read_cb((uv_stream_t*) handle, UV_ENOBUFS, &buf);
- return 0; /* Break out of read loop. */
- }
-
- /* Ensure we read at most the smaller of:
- * (a) the length of the user-allocated buffer.
- * (b) the maximum data length as specified by the `max_bytes` argument.
- */
- if (max_bytes > buf.len)
- max_bytes = buf.len;
-
- /* Read into the user buffer. */
- if (!ReadFile(handle->handle, buf.base, max_bytes, &bytes_read, NULL)) {
- uv_pipe_read_error_or_eof(loop, handle, GetLastError(), buf);
- return 0; /* Break out of read loop. */
- }
-
- /* Call the read callback. */
- handle->read_cb((uv_stream_t*) handle, bytes_read, &buf);
-
- return bytes_read;
-}
-
-
-static DWORD uv__pipe_read_ipc(uv_loop_t* loop, uv_pipe_t* handle) {
- DWORD* data_remaining =
- (DWORD*)&handle->pipe.conn.ipc_data_frame.payload_remaining;
- int err;
-
- if (*data_remaining > 0) {
- /* Read data frame payload. */
- DWORD bytes_read =
- uv__pipe_read_data(loop, handle, *data_remaining, *data_remaining);
- *data_remaining -= bytes_read;
- return bytes_read;
-
- } else {
- /* Start of a new IPC frame. */
- uv__ipc_frame_header_t frame_header;
- uv__ipc_socket_xfer_info_t xfer_info;
-
- /* Read the IPC frame header. */
- err = uv__pipe_read_exactly(
- handle->handle, &frame_header, sizeof frame_header);
- if (err)
- goto error;
-
- if (frame_header.type == UV__IPC_DATA_FRAME) {
- /* Data frame: capture payload length. Actual data will be read in
- * subsequent call to uv__pipe_read_ipc(). */
- *data_remaining = frame_header.payload_length;
-
- /* Return number of bytes read. */
- return sizeof frame_header;
-
- } else if (frame_header.type == UV__IPC_XFER_FRAME) {
- /* Xfer frame: read the payload. */
- assert(frame_header.payload_length == sizeof xfer_info);
- err =
- uv__pipe_read_exactly(handle->handle, &xfer_info, sizeof xfer_info);
- if (err)
- goto error;
-
- /* Store the pending socket info. */
- uv__pipe_queue_ipc_xfer_info(handle, &xfer_info);
-
- /* Return number of bytes read. */
- return sizeof frame_header + sizeof xfer_info;
- }
-
- /* Invalid frame. */
- err = WSAECONNABORTED; /* Maps to UV_ECONNABORTED. */
- }
-
-error:
- uv_pipe_read_error_or_eof(loop, handle, err, uv_null_buf_);
- return 0; /* Break out of read loop. */
-}
-
-
-void uv_process_pipe_read_req(uv_loop_t* loop,
- uv_pipe_t* handle,
- uv_req_t* req) {
- assert(handle->type == UV_NAMED_PIPE);
-
- handle->flags &= ~(UV_HANDLE_READ_PENDING | UV_HANDLE_CANCELLATION_PENDING);
- DECREASE_PENDING_REQ_COUNT(handle);
- eof_timer_stop(handle);
-
- /* At this point, we're done with bookkeeping. If the user has stopped
- * reading the pipe in the meantime, there is nothing left to do, since there
- * is no callback that we can call. */
- if (!(handle->flags & UV_HANDLE_READING))
- return;
-
- if (!REQ_SUCCESS(req)) {
- /* An error occurred doing the zero-read. */
- DWORD err = GET_REQ_ERROR(req);
-
- /* If the read was cancelled by uv__pipe_interrupt_read(), the request may
- * indicate an ERROR_OPERATION_ABORTED error. This error isn't relevant to
- * the user; we'll start a new zero-read at the end of this function. */
- if (err != ERROR_OPERATION_ABORTED)
- uv_pipe_read_error_or_eof(loop, handle, err, uv_null_buf_);
-
- } else {
- /* The zero-read completed without error, indicating there is data
- * available in the kernel buffer. */
- DWORD avail;
-
- /* Get the number of bytes available. */
- avail = 0;
- if (!PeekNamedPipe(handle->handle, NULL, 0, NULL, &avail, NULL))
- uv_pipe_read_error_or_eof(loop, handle, GetLastError(), uv_null_buf_);
-
- /* Read until we've either read all the bytes available, or the 'reading'
- * flag is cleared. */
- while (avail > 0 && handle->flags & UV_HANDLE_READING) {
- /* Depending on the type of pipe, read either IPC frames or raw data. */
- DWORD bytes_read =
- handle->ipc ? uv__pipe_read_ipc(loop, handle)
- : uv__pipe_read_data(loop, handle, avail, (DWORD) -1);
-
- /* If no bytes were read, treat this as an indication that an error
- * occurred, and break out of the read loop. */
- if (bytes_read == 0)
- break;
-
- /* It is possible that more bytes were read than we thought were
- * available. To prevent `avail` from underflowing, break out of the loop
- * if this is the case. */
- if (bytes_read > avail)
- break;
-
- /* Recompute the number of bytes available. */
- avail -= bytes_read;
- }
- }
-
- /* Start another zero-read request if necessary. */
- if ((handle->flags & UV_HANDLE_READING) &&
- !(handle->flags & UV_HANDLE_READ_PENDING)) {
- uv_pipe_queue_read(loop, handle);
- }
-}
-
-
-void uv_process_pipe_write_req(uv_loop_t* loop, uv_pipe_t* handle,
- uv_write_t* req) {
- int err;
-
- assert(handle->type == UV_NAMED_PIPE);
-
- assert(handle->write_queue_size >= req->u.io.queued_bytes);
- handle->write_queue_size -= req->u.io.queued_bytes;
-
- UNREGISTER_HANDLE_REQ(loop, handle, req);
-
- if (handle->flags & UV_HANDLE_EMULATE_IOCP) {
- if (req->wait_handle != INVALID_HANDLE_VALUE) {
- UnregisterWait(req->wait_handle);
- req->wait_handle = INVALID_HANDLE_VALUE;
- }
- if (req->event_handle) {
- CloseHandle(req->event_handle);
- req->event_handle = NULL;
- }
- }
-
- err = GET_REQ_ERROR(req);
-
- /* If this was a coalesced write, extract pointer to the user_provided
- * uv_write_t structure so we can pass the expected pointer to the callback,
- * then free the heap-allocated write req. */
- if (req->coalesced) {
- uv__coalesced_write_t* coalesced_write =
- container_of(req, uv__coalesced_write_t, req);
- req = coalesced_write->user_req;
- uv__free(coalesced_write);
- }
- if (req->cb) {
- req->cb(req, uv_translate_sys_error(err));
- }
-
- handle->stream.conn.write_reqs_pending--;
-
- if (handle->flags & UV_HANDLE_NON_OVERLAPPED_PIPE &&
- handle->pipe.conn.non_overlapped_writes_tail) {
- assert(handle->stream.conn.write_reqs_pending > 0);
- uv_queue_non_overlapped_write(handle);
- }
-
- if (handle->stream.conn.shutdown_req != NULL &&
- handle->stream.conn.write_reqs_pending == 0) {
- uv_want_endgame(loop, (uv_handle_t*)handle);
- }
-
- DECREASE_PENDING_REQ_COUNT(handle);
-}
-
-
-void uv_process_pipe_accept_req(uv_loop_t* loop, uv_pipe_t* handle,
- uv_req_t* raw_req) {
- uv_pipe_accept_t* req = (uv_pipe_accept_t*) raw_req;
-
- assert(handle->type == UV_NAMED_PIPE);
-
- if (handle->flags & UV__HANDLE_CLOSING) {
- /* The req->pipeHandle should be freed already in uv_pipe_cleanup(). */
- assert(req->pipeHandle == INVALID_HANDLE_VALUE);
- DECREASE_PENDING_REQ_COUNT(handle);
- return;
- }
-
- if (REQ_SUCCESS(req)) {
- assert(req->pipeHandle != INVALID_HANDLE_VALUE);
- req->next_pending = handle->pipe.serv.pending_accepts;
- handle->pipe.serv.pending_accepts = req;
-
- if (handle->stream.serv.connection_cb) {
- handle->stream.serv.connection_cb((uv_stream_t*)handle, 0);
- }
- } else {
- if (req->pipeHandle != INVALID_HANDLE_VALUE) {
- CloseHandle(req->pipeHandle);
- req->pipeHandle = INVALID_HANDLE_VALUE;
- }
- if (!(handle->flags & UV__HANDLE_CLOSING)) {
- uv_pipe_queue_accept(loop, handle, req, FALSE);
- }
- }
-
- DECREASE_PENDING_REQ_COUNT(handle);
-}
-
-
-void uv_process_pipe_connect_req(uv_loop_t* loop, uv_pipe_t* handle,
- uv_connect_t* req) {
- int err;
-
- assert(handle->type == UV_NAMED_PIPE);
-
- UNREGISTER_HANDLE_REQ(loop, handle, req);
-
- if (req->cb) {
- err = 0;
- if (REQ_SUCCESS(req)) {
- uv_pipe_connection_init(handle);
- } else {
- err = GET_REQ_ERROR(req);
- }
- req->cb(req, uv_translate_sys_error(err));
- }
-
- DECREASE_PENDING_REQ_COUNT(handle);
-}
-
-
-void uv_process_pipe_shutdown_req(uv_loop_t* loop, uv_pipe_t* handle,
- uv_shutdown_t* req) {
- assert(handle->type == UV_NAMED_PIPE);
-
- UNREGISTER_HANDLE_REQ(loop, handle, req);
-
- if (handle->flags & UV_HANDLE_READABLE) {
- /* Initialize and optionally start the eof timer. Only do this if the pipe
- * is readable and we haven't seen EOF come in ourselves. */
- eof_timer_init(handle);
-
- /* If reading start the timer right now. Otherwise uv_pipe_queue_read will
- * start it. */
- if (handle->flags & UV_HANDLE_READ_PENDING) {
- eof_timer_start(handle);
- }
-
- } else {
- /* This pipe is not readable. We can just close it to let the other end
- * know that we're done writing. */
- close_pipe(handle);
- }
-
- if (req->cb) {
- req->cb(req, 0);
- }
-
- DECREASE_PENDING_REQ_COUNT(handle);
-}
-
-
-static void eof_timer_init(uv_pipe_t* pipe) {
- int r;
-
- assert(pipe->pipe.conn.eof_timer == NULL);
- assert(pipe->flags & UV_HANDLE_CONNECTION);
-
- pipe->pipe.conn.eof_timer = (uv_timer_t*) uv__malloc(sizeof *pipe->pipe.conn.eof_timer);
-
- r = uv_timer_init(pipe->loop, pipe->pipe.conn.eof_timer);
- assert(r == 0); /* timers can't fail */
- pipe->pipe.conn.eof_timer->data = pipe;
- uv_unref((uv_handle_t*) pipe->pipe.conn.eof_timer);
-}
-
-
-static void eof_timer_start(uv_pipe_t* pipe) {
- assert(pipe->flags & UV_HANDLE_CONNECTION);
-
- if (pipe->pipe.conn.eof_timer != NULL) {
- uv_timer_start(pipe->pipe.conn.eof_timer, eof_timer_cb, eof_timeout, 0);
- }
-}
-
-
-static void eof_timer_stop(uv_pipe_t* pipe) {
- assert(pipe->flags & UV_HANDLE_CONNECTION);
-
- if (pipe->pipe.conn.eof_timer != NULL) {
- uv_timer_stop(pipe->pipe.conn.eof_timer);
- }
-}
-
-
-static void eof_timer_cb(uv_timer_t* timer) {
- uv_pipe_t* pipe = (uv_pipe_t*) timer->data;
- uv_loop_t* loop = timer->loop;
-
- assert(pipe->type == UV_NAMED_PIPE);
-
- /* This should always be true, since we start the timer only in
- * uv_pipe_queue_read after successfully calling ReadFile, or in
- * uv_process_pipe_shutdown_req if a read is pending, and we always
- * immediately stop the timer in uv_process_pipe_read_req. */
- assert(pipe->flags & UV_HANDLE_READ_PENDING);
-
- /* If there are many packets coming off the iocp then the timer callback may
- * be called before the read request is coming off the queue. Therefore we
- * check here if the read request has completed but will be processed later.
- */
- if ((pipe->flags & UV_HANDLE_READ_PENDING) &&
- HasOverlappedIoCompleted(&pipe->read_req.u.io.overlapped)) {
- return;
- }
-
- /* Force both ends off the pipe. */
- close_pipe(pipe);
-
- /* Stop reading, so the pending read that is going to fail will not be
- * reported to the user. */
- uv_read_stop((uv_stream_t*) pipe);
-
- /* Report the eof and update flags. This will get reported even if the user
- * stopped reading in the meantime. TODO: is that okay? */
- uv_pipe_read_eof(loop, pipe, uv_null_buf_);
-}
-
-
-static void eof_timer_destroy(uv_pipe_t* pipe) {
- assert(pipe->flags & UV_HANDLE_CONNECTION);
-
- if (pipe->pipe.conn.eof_timer) {
- uv_close((uv_handle_t*) pipe->pipe.conn.eof_timer, eof_timer_close_cb);
- pipe->pipe.conn.eof_timer = NULL;
- }
-}
-
-
-static void eof_timer_close_cb(uv_handle_t* handle) {
- assert(handle->type == UV_TIMER);
- uv__free(handle);
-}
-
-
-int uv_pipe_open(uv_pipe_t* pipe, uv_file file) {
- HANDLE os_handle = uv__get_osfhandle(file);
- NTSTATUS nt_status;
- IO_STATUS_BLOCK io_status;
- FILE_ACCESS_INFORMATION access;
- DWORD duplex_flags = 0;
-
- if (os_handle == INVALID_HANDLE_VALUE)
- return UV_EBADF;
-
- uv__once_init();
- /* In order to avoid closing a stdio file descriptor 0-2, duplicate the
- * underlying OS handle and forget about the original fd.
- * We could also opt to use the original OS handle and just never close it,
- * but then there would be no reliable way to cancel pending read operations
- * upon close.
- */
- if (file <= 2) {
- if (!DuplicateHandle(INVALID_HANDLE_VALUE,
- os_handle,
- INVALID_HANDLE_VALUE,
- &os_handle,
- 0,
- FALSE,
- DUPLICATE_SAME_ACCESS))
- return uv_translate_sys_error(GetLastError());
- file = -1;
- }
-
- /* Determine what kind of permissions we have on this handle.
- * Cygwin opens the pipe in message mode, but we can support it,
- * just query the access flags and set the stream flags accordingly.
- */
- nt_status = pNtQueryInformationFile(os_handle,
- &io_status,
- &access,
- sizeof(access),
- FileAccessInformation);
- if (nt_status != STATUS_SUCCESS)
- return UV_EINVAL;
-
- if (pipe->ipc) {
- if (!(access.AccessFlags & FILE_WRITE_DATA) ||
- !(access.AccessFlags & FILE_READ_DATA)) {
- return UV_EINVAL;
- }
- }
-
- if (access.AccessFlags & FILE_WRITE_DATA)
- duplex_flags |= UV_HANDLE_WRITABLE;
- if (access.AccessFlags & FILE_READ_DATA)
- duplex_flags |= UV_HANDLE_READABLE;
-
- if (os_handle == INVALID_HANDLE_VALUE ||
- uv_set_pipe_handle(pipe->loop,
- pipe,
- os_handle,
- file,
- duplex_flags) == -1) {
- return UV_EINVAL;
- }
-
- uv_pipe_connection_init(pipe);
-
- if (pipe->ipc) {
- assert(!(pipe->flags & UV_HANDLE_NON_OVERLAPPED_PIPE));
- pipe->pipe.conn.ipc_remote_pid = uv_os_getppid();
- assert(pipe->pipe.conn.ipc_remote_pid != -1);
- }
- return 0;
-}
-
-
-static int uv__pipe_getname(const uv_pipe_t* handle, char* buffer, size_t* size) {
- NTSTATUS nt_status;
- IO_STATUS_BLOCK io_status;
- FILE_NAME_INFORMATION tmp_name_info;
- FILE_NAME_INFORMATION* name_info;
- WCHAR* name_buf;
- unsigned int addrlen;
- unsigned int name_size;
- unsigned int name_len;
- int err;
-
- uv__once_init();
- name_info = NULL;
-
- if (handle->handle == INVALID_HANDLE_VALUE) {
- *size = 0;
- return UV_EINVAL;
- }
-
- /* NtQueryInformationFile will block if another thread is performing a
- * blocking operation on the queried handle. If the pipe handle is
- * synchronous, there may be a worker thread currently calling ReadFile() on
- * the pipe handle, which could cause a deadlock. To avoid this, interrupt
- * the read. */
- if (handle->flags & UV_HANDLE_CONNECTION &&
- handle->flags & UV_HANDLE_NON_OVERLAPPED_PIPE) {
- uv__pipe_interrupt_read((uv_pipe_t*) handle); /* cast away const warning */
- }
-
- nt_status = pNtQueryInformationFile(handle->handle,
- &io_status,
- &tmp_name_info,
- sizeof tmp_name_info,
- FileNameInformation);
- if (nt_status == STATUS_BUFFER_OVERFLOW) {
- name_size = sizeof(*name_info) + tmp_name_info.FileNameLength;
- name_info = (FILE_NAME_INFORMATION*)uv__malloc(name_size);
- if (!name_info) {
- *size = 0;
- err = UV_ENOMEM;
- goto cleanup;
- }
-
- nt_status = pNtQueryInformationFile(handle->handle,
- &io_status,
- name_info,
- name_size,
- FileNameInformation);
- }
-
- if (nt_status != STATUS_SUCCESS) {
- *size = 0;
- err = uv_translate_sys_error(pRtlNtStatusToDosError(nt_status));
- goto error;
- }
-
- if (!name_info) {
- /* the struct on stack was used */
- name_buf = tmp_name_info.FileName;
- name_len = tmp_name_info.FileNameLength;
- } else {
- name_buf = name_info->FileName;
- name_len = name_info->FileNameLength;
- }
-
- if (name_len == 0) {
- *size = 0;
- err = 0;
- goto error;
- }
-
- name_len /= sizeof(WCHAR);
-
- /* check how much space we need */
- addrlen = WideCharToMultiByte(CP_UTF8,
- 0,
- name_buf,
- name_len,
- NULL,
- 0,
- NULL,
- NULL);
- if (!addrlen) {
- *size = 0;
- err = uv_translate_sys_error(GetLastError());
- goto error;
- } else if (pipe_prefix_len + addrlen >= *size) {
- /* "\\\\.\\pipe" + name */
- *size = pipe_prefix_len + addrlen + 1;
- err = UV_ENOBUFS;
- goto error;
- }
-
- memcpy(buffer, pipe_prefix, pipe_prefix_len);
- addrlen = WideCharToMultiByte(CP_UTF8,
- 0,
- name_buf,
- name_len,
- buffer+pipe_prefix_len,
- *size-pipe_prefix_len,
- NULL,
- NULL);
- if (!addrlen) {
- *size = 0;
- err = uv_translate_sys_error(GetLastError());
- goto error;
- }
-
- addrlen += pipe_prefix_len;
- *size = addrlen;
- buffer[addrlen] = '\0';
-
- err = 0;
-
-error:
- uv__free(name_info);
-
-cleanup:
- return err;
-}
-
-
-int uv_pipe_pending_count(uv_pipe_t* handle) {
- if (!handle->ipc)
- return 0;
- return handle->pipe.conn.ipc_xfer_queue_length;
-}
-
-
-int uv_pipe_getsockname(const uv_pipe_t* handle, char* buffer, size_t* size) {
- if (handle->flags & UV_HANDLE_BOUND)
- return uv__pipe_getname(handle, buffer, size);
-
- if (handle->flags & UV_HANDLE_CONNECTION ||
- handle->handle != INVALID_HANDLE_VALUE) {
- *size = 0;
- return 0;
- }
-
- return UV_EBADF;
-}
-
-
-int uv_pipe_getpeername(const uv_pipe_t* handle, char* buffer, size_t* size) {
- /* emulate unix behaviour */
- if (handle->flags & UV_HANDLE_BOUND)
- return UV_ENOTCONN;
-
- if (handle->handle != INVALID_HANDLE_VALUE)
- return uv__pipe_getname(handle, buffer, size);
-
- return UV_EBADF;
-}
-
-
-uv_handle_type uv_pipe_pending_type(uv_pipe_t* handle) {
- if (!handle->ipc)
- return UV_UNKNOWN_HANDLE;
- if (handle->pipe.conn.ipc_xfer_queue_length == 0)
- return UV_UNKNOWN_HANDLE;
- else
- return UV_TCP;
-}
-
-int uv_pipe_chmod(uv_pipe_t* handle, int mode) {
- SID_IDENTIFIER_AUTHORITY sid_world = SECURITY_WORLD_SID_AUTHORITY;
- PACL old_dacl, new_dacl;
- PSECURITY_DESCRIPTOR sd;
- EXPLICIT_ACCESS ea;
- PSID everyone;
- int error;
-
- if (handle == NULL || handle->handle == INVALID_HANDLE_VALUE)
- return UV_EBADF;
-
- if (mode != UV_READABLE &&
- mode != UV_WRITABLE &&
- mode != (UV_WRITABLE | UV_READABLE))
- return UV_EINVAL;
-
- if (!AllocateAndInitializeSid(&sid_world,
- 1,
- SECURITY_WORLD_RID,
- 0, 0, 0, 0, 0, 0, 0,
- &everyone)) {
- error = GetLastError();
- goto done;
- }
-
- if (GetSecurityInfo(handle->handle,
- SE_KERNEL_OBJECT,
- DACL_SECURITY_INFORMATION,
- NULL,
- NULL,
- &old_dacl,
- NULL,
- &sd)) {
- error = GetLastError();
- goto clean_sid;
- }
-
- memset(&ea, 0, sizeof(EXPLICIT_ACCESS));
- if (mode & UV_READABLE)
- ea.grfAccessPermissions |= GENERIC_READ | FILE_WRITE_ATTRIBUTES;
- if (mode & UV_WRITABLE)
- ea.grfAccessPermissions |= GENERIC_WRITE | FILE_READ_ATTRIBUTES;
- ea.grfAccessPermissions |= SYNCHRONIZE;
- ea.grfAccessMode = SET_ACCESS;
- ea.grfInheritance = NO_INHERITANCE;
- ea.Trustee.TrusteeForm = TRUSTEE_IS_SID;
- ea.Trustee.TrusteeType = TRUSTEE_IS_WELL_KNOWN_GROUP;
- ea.Trustee.ptstrName = (LPTSTR)everyone;
-
- if (SetEntriesInAcl(1, &ea, old_dacl, &new_dacl)) {
- error = GetLastError();
- goto clean_sd;
- }
-
- if (SetSecurityInfo(handle->handle,
- SE_KERNEL_OBJECT,
- DACL_SECURITY_INFORMATION,
- NULL,
- NULL,
- new_dacl,
- NULL)) {
- error = GetLastError();
- goto clean_dacl;
- }
-
- error = 0;
-
-clean_dacl:
- LocalFree((HLOCAL) new_dacl);
-clean_sd:
- LocalFree((HLOCAL) sd);
-clean_sid:
- FreeSid(everyone);
-done:
- return uv_translate_sys_error(error);
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/poll.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/poll.cpp
deleted file mode 100644
index b1369df..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/poll.cpp
+++ /dev/null
@@ -1,643 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include <assert.h>
-#include <io.h>
-
-#include "uv.h"
-#include "internal.h"
-#include "handle-inl.h"
-#include "req-inl.h"
-
-
-static const GUID uv_msafd_provider_ids[UV_MSAFD_PROVIDER_COUNT] = {
- {0xe70f1aa0, 0xab8b, 0x11cf,
- {0x8c, 0xa3, 0x00, 0x80, 0x5f, 0x48, 0xa1, 0x92}},
- {0xf9eab0c0, 0x26d4, 0x11d0,
- {0xbb, 0xbf, 0x00, 0xaa, 0x00, 0x6c, 0x34, 0xe4}},
- {0x9fc48064, 0x7298, 0x43e4,
- {0xb7, 0xbd, 0x18, 0x1f, 0x20, 0x89, 0x79, 0x2a}}
-};
-
-typedef struct uv_single_fd_set_s {
- unsigned int fd_count;
- SOCKET fd_array[1];
-} uv_single_fd_set_t;
-
-
-static OVERLAPPED overlapped_dummy_;
-static uv_once_t overlapped_dummy_init_guard_ = UV_ONCE_INIT;
-
-static AFD_POLL_INFO afd_poll_info_dummy_;
-
-
-static void uv__init_overlapped_dummy(void) {
- HANDLE event;
-
- event = CreateEvent(NULL, TRUE, TRUE, NULL);
- if (event == NULL)
- uv_fatal_error(GetLastError(), "CreateEvent");
-
- memset(&overlapped_dummy_, 0, sizeof overlapped_dummy_);
- overlapped_dummy_.hEvent = (HANDLE) ((uintptr_t) event | 1);
-}
-
-
-static OVERLAPPED* uv__get_overlapped_dummy(void) {
- uv_once(&overlapped_dummy_init_guard_, uv__init_overlapped_dummy);
- return &overlapped_dummy_;
-}
-
-
-static AFD_POLL_INFO* uv__get_afd_poll_info_dummy(void) {
- return &afd_poll_info_dummy_;
-}
-
-
-static void uv__fast_poll_submit_poll_req(uv_loop_t* loop, uv_poll_t* handle) {
- uv_req_t* req;
- AFD_POLL_INFO* afd_poll_info;
- DWORD result;
-
- /* Find a yet unsubmitted req to submit. */
- if (handle->submitted_events_1 == 0) {
- req = &handle->poll_req_1;
- afd_poll_info = &handle->afd_poll_info_1;
- handle->submitted_events_1 = handle->events;
- handle->mask_events_1 = 0;
- handle->mask_events_2 = handle->events;
- } else if (handle->submitted_events_2 == 0) {
- req = &handle->poll_req_2;
- afd_poll_info = &handle->afd_poll_info_2;
- handle->submitted_events_2 = handle->events;
- handle->mask_events_1 = handle->events;
- handle->mask_events_2 = 0;
- } else {
- /* Just wait until there's an unsubmitted req. This will happen almost
- * immediately as one of the 2 outstanding requests is about to return.
- * When this happens, uv__fast_poll_process_poll_req will be called, and
- * the pending events, if needed, will be processed in a subsequent
- * request. */
- return;
- }
-
- /* Setting Exclusive to TRUE makes the other poll request return if there is
- * any. */
- afd_poll_info->Exclusive = TRUE;
- afd_poll_info->NumberOfHandles = 1;
- afd_poll_info->Timeout.QuadPart = INT64_MAX;
- afd_poll_info->Handles[0].Handle = (HANDLE) handle->socket;
- afd_poll_info->Handles[0].Status = 0;
- afd_poll_info->Handles[0].Events = 0;
-
- if (handle->events & UV_READABLE) {
- afd_poll_info->Handles[0].Events |= AFD_POLL_RECEIVE |
- AFD_POLL_DISCONNECT | AFD_POLL_ACCEPT | AFD_POLL_ABORT;
- } else {
- if (handle->events & UV_DISCONNECT) {
- afd_poll_info->Handles[0].Events |= AFD_POLL_DISCONNECT;
- }
- }
- if (handle->events & UV_WRITABLE) {
- afd_poll_info->Handles[0].Events |= AFD_POLL_SEND | AFD_POLL_CONNECT_FAIL;
- }
-
- memset(&req->u.io.overlapped, 0, sizeof req->u.io.overlapped);
-
- result = uv_msafd_poll((SOCKET) handle->peer_socket,
- afd_poll_info,
- afd_poll_info,
- &req->u.io.overlapped);
- if (result != 0 && WSAGetLastError() != WSA_IO_PENDING) {
- /* Queue this req, reporting an error. */
- SET_REQ_ERROR(req, WSAGetLastError());
- uv_insert_pending_req(loop, req);
- }
-}
-
-
-static int uv__fast_poll_cancel_poll_req(uv_loop_t* loop, uv_poll_t* handle) {
- AFD_POLL_INFO afd_poll_info;
- DWORD result;
-
- afd_poll_info.Exclusive = TRUE;
- afd_poll_info.NumberOfHandles = 1;
- afd_poll_info.Timeout.QuadPart = INT64_MAX;
- afd_poll_info.Handles[0].Handle = (HANDLE) handle->socket;
- afd_poll_info.Handles[0].Status = 0;
- afd_poll_info.Handles[0].Events = AFD_POLL_ALL;
-
- result = uv_msafd_poll(handle->socket,
- &afd_poll_info,
- uv__get_afd_poll_info_dummy(),
- uv__get_overlapped_dummy());
-
- if (result == SOCKET_ERROR) {
- DWORD error = WSAGetLastError();
- if (error != WSA_IO_PENDING)
- return error;
- }
-
- return 0;
-}
-
-
-static void uv__fast_poll_process_poll_req(uv_loop_t* loop, uv_poll_t* handle,
- uv_req_t* req) {
- unsigned char mask_events;
- AFD_POLL_INFO* afd_poll_info;
-
- if (req == &handle->poll_req_1) {
- afd_poll_info = &handle->afd_poll_info_1;
- handle->submitted_events_1 = 0;
- mask_events = handle->mask_events_1;
- } else if (req == &handle->poll_req_2) {
- afd_poll_info = &handle->afd_poll_info_2;
- handle->submitted_events_2 = 0;
- mask_events = handle->mask_events_2;
- } else {
- assert(0);
- return;
- }
-
- /* Report an error unless the select was just interrupted. */
- if (!REQ_SUCCESS(req)) {
- DWORD error = GET_REQ_SOCK_ERROR(req);
- if (error != WSAEINTR && handle->events != 0) {
- handle->events = 0; /* Stop the watcher */
- handle->poll_cb(handle, uv_translate_sys_error(error), 0);
- }
-
- } else if (afd_poll_info->NumberOfHandles >= 1) {
- unsigned char events = 0;
-
- if ((afd_poll_info->Handles[0].Events & (AFD_POLL_RECEIVE |
- AFD_POLL_DISCONNECT | AFD_POLL_ACCEPT | AFD_POLL_ABORT)) != 0) {
- events |= UV_READABLE;
- if ((afd_poll_info->Handles[0].Events & AFD_POLL_DISCONNECT) != 0) {
- events |= UV_DISCONNECT;
- }
- }
- if ((afd_poll_info->Handles[0].Events & (AFD_POLL_SEND |
- AFD_POLL_CONNECT_FAIL)) != 0) {
- events |= UV_WRITABLE;
- }
-
- events &= handle->events & ~mask_events;
-
- if (afd_poll_info->Handles[0].Events & AFD_POLL_LOCAL_CLOSE) {
- /* Stop polling. */
- handle->events = 0;
- if (uv__is_active(handle))
- uv__handle_stop(handle);
- }
-
- if (events != 0) {
- handle->poll_cb(handle, 0, events);
- }
- }
-
- if ((handle->events & ~(handle->submitted_events_1 |
- handle->submitted_events_2)) != 0) {
- uv__fast_poll_submit_poll_req(loop, handle);
- } else if ((handle->flags & UV__HANDLE_CLOSING) &&
- handle->submitted_events_1 == 0 &&
- handle->submitted_events_2 == 0) {
- uv_want_endgame(loop, (uv_handle_t*) handle);
- }
-}
-
-
-static int uv__fast_poll_set(uv_loop_t* loop, uv_poll_t* handle, int events) {
- assert(handle->type == UV_POLL);
- assert(!(handle->flags & UV__HANDLE_CLOSING));
- assert((events & ~(UV_READABLE | UV_WRITABLE | UV_DISCONNECT)) == 0);
-
- handle->events = events;
-
- if (handle->events != 0) {
- uv__handle_start(handle);
- } else {
- uv__handle_stop(handle);
- }
-
- if ((handle->events & ~(handle->submitted_events_1 |
- handle->submitted_events_2)) != 0) {
- uv__fast_poll_submit_poll_req(handle->loop, handle);
- }
-
- return 0;
-}
-
-
-static int uv__fast_poll_close(uv_loop_t* loop, uv_poll_t* handle) {
- handle->events = 0;
- uv__handle_closing(handle);
-
- if (handle->submitted_events_1 == 0 &&
- handle->submitted_events_2 == 0) {
- uv_want_endgame(loop, (uv_handle_t*) handle);
- return 0;
- } else {
- /* Cancel outstanding poll requests by executing another, unique poll
- * request that forces the outstanding ones to return. */
- return uv__fast_poll_cancel_poll_req(loop, handle);
- }
-}
-
-
-static SOCKET uv__fast_poll_create_peer_socket(HANDLE iocp,
- WSAPROTOCOL_INFOW* protocol_info) {
- SOCKET sock = 0;
-
- sock = WSASocketW(protocol_info->iAddressFamily,
- protocol_info->iSocketType,
- protocol_info->iProtocol,
- protocol_info,
- 0,
- WSA_FLAG_OVERLAPPED);
- if (sock == INVALID_SOCKET) {
- return INVALID_SOCKET;
- }
-
- if (!SetHandleInformation((HANDLE) sock, HANDLE_FLAG_INHERIT, 0)) {
- goto error;
- };
-
- if (CreateIoCompletionPort((HANDLE) sock,
- iocp,
- (ULONG_PTR) sock,
- 0) == NULL) {
- goto error;
- }
-
- return sock;
-
- error:
- closesocket(sock);
- return INVALID_SOCKET;
-}
-
-
-static SOCKET uv__fast_poll_get_peer_socket(uv_loop_t* loop,
- WSAPROTOCOL_INFOW* protocol_info) {
- int index, i;
- SOCKET peer_socket;
-
- index = -1;
- for (i = 0; (size_t) i < ARRAY_SIZE(uv_msafd_provider_ids); i++) {
- if (memcmp((void*) &protocol_info->ProviderId,
- (void*) &uv_msafd_provider_ids[i],
- sizeof protocol_info->ProviderId) == 0) {
- index = i;
- }
- }
-
- /* Check if the protocol uses an msafd socket. */
- if (index < 0) {
- return INVALID_SOCKET;
- }
-
- /* If we didn't (try) to create a peer socket yet, try to make one. Don't try
- * again if the peer socket creation failed earlier for the same protocol. */
- peer_socket = loop->poll_peer_sockets[index];
- if (peer_socket == 0) {
- peer_socket = uv__fast_poll_create_peer_socket(loop->iocp, protocol_info);
- loop->poll_peer_sockets[index] = peer_socket;
- }
-
- return peer_socket;
-}
-
-
-static DWORD WINAPI uv__slow_poll_thread_proc(void* arg) {
- uv_req_t* req = (uv_req_t*) arg;
- uv_poll_t* handle = (uv_poll_t*) req->data;
- unsigned char reported_events;
- int r;
- uv_single_fd_set_t rfds, wfds, efds;
- struct timeval timeout;
-
- assert(handle->type == UV_POLL);
- assert(req->type == UV_POLL_REQ);
-
- if (handle->events & UV_READABLE) {
- rfds.fd_count = 1;
- rfds.fd_array[0] = handle->socket;
- } else {
- rfds.fd_count = 0;
- }
-
- if (handle->events & UV_WRITABLE) {
- wfds.fd_count = 1;
- wfds.fd_array[0] = handle->socket;
- efds.fd_count = 1;
- efds.fd_array[0] = handle->socket;
- } else {
- wfds.fd_count = 0;
- efds.fd_count = 0;
- }
-
- /* Make the select() time out after 3 minutes. If select() hangs because the
- * user closed the socket, we will at least not hang indefinitely. */
- timeout.tv_sec = 3 * 60;
- timeout.tv_usec = 0;
-
- r = select(1, (fd_set*) &rfds, (fd_set*) &wfds, (fd_set*) &efds, &timeout);
- if (r == SOCKET_ERROR) {
- /* Queue this req, reporting an error. */
- SET_REQ_ERROR(&handle->poll_req_1, WSAGetLastError());
- POST_COMPLETION_FOR_REQ(handle->loop, req);
- return 0;
- }
-
- reported_events = 0;
-
- if (r > 0) {
- if (rfds.fd_count > 0) {
- assert(rfds.fd_count == 1);
- assert(rfds.fd_array[0] == handle->socket);
- reported_events |= UV_READABLE;
- }
-
- if (wfds.fd_count > 0) {
- assert(wfds.fd_count == 1);
- assert(wfds.fd_array[0] == handle->socket);
- reported_events |= UV_WRITABLE;
- } else if (efds.fd_count > 0) {
- assert(efds.fd_count == 1);
- assert(efds.fd_array[0] == handle->socket);
- reported_events |= UV_WRITABLE;
- }
- }
-
- SET_REQ_SUCCESS(req);
- req->u.io.overlapped.InternalHigh = (DWORD) reported_events;
- POST_COMPLETION_FOR_REQ(handle->loop, req);
-
- return 0;
-}
-
-
-static void uv__slow_poll_submit_poll_req(uv_loop_t* loop, uv_poll_t* handle) {
- uv_req_t* req;
-
- /* Find a yet unsubmitted req to submit. */
- if (handle->submitted_events_1 == 0) {
- req = &handle->poll_req_1;
- handle->submitted_events_1 = handle->events;
- handle->mask_events_1 = 0;
- handle->mask_events_2 = handle->events;
- } else if (handle->submitted_events_2 == 0) {
- req = &handle->poll_req_2;
- handle->submitted_events_2 = handle->events;
- handle->mask_events_1 = handle->events;
- handle->mask_events_2 = 0;
- } else {
- assert(0);
- return;
- }
-
- if (!QueueUserWorkItem(uv__slow_poll_thread_proc,
- (void*) req,
- WT_EXECUTELONGFUNCTION)) {
- /* Make this req pending, reporting an error. */
- SET_REQ_ERROR(req, GetLastError());
- uv_insert_pending_req(loop, req);
- }
-}
-
-
-
-static void uv__slow_poll_process_poll_req(uv_loop_t* loop, uv_poll_t* handle,
- uv_req_t* req) {
- unsigned char mask_events;
- int err;
-
- if (req == &handle->poll_req_1) {
- handle->submitted_events_1 = 0;
- mask_events = handle->mask_events_1;
- } else if (req == &handle->poll_req_2) {
- handle->submitted_events_2 = 0;
- mask_events = handle->mask_events_2;
- } else {
- assert(0);
- return;
- }
-
- if (!REQ_SUCCESS(req)) {
- /* Error. */
- if (handle->events != 0) {
- err = GET_REQ_ERROR(req);
- handle->events = 0; /* Stop the watcher */
- handle->poll_cb(handle, uv_translate_sys_error(err), 0);
- }
- } else {
- /* Got some events. */
- int events = req->u.io.overlapped.InternalHigh & handle->events & ~mask_events;
- if (events != 0) {
- handle->poll_cb(handle, 0, events);
- }
- }
-
- if ((handle->events & ~(handle->submitted_events_1 |
- handle->submitted_events_2)) != 0) {
- uv__slow_poll_submit_poll_req(loop, handle);
- } else if ((handle->flags & UV__HANDLE_CLOSING) &&
- handle->submitted_events_1 == 0 &&
- handle->submitted_events_2 == 0) {
- uv_want_endgame(loop, (uv_handle_t*) handle);
- }
-}
-
-
-static int uv__slow_poll_set(uv_loop_t* loop, uv_poll_t* handle, int events) {
- assert(handle->type == UV_POLL);
- assert(!(handle->flags & UV__HANDLE_CLOSING));
- assert((events & ~(UV_READABLE | UV_WRITABLE)) == 0);
-
- handle->events = events;
-
- if (handle->events != 0) {
- uv__handle_start(handle);
- } else {
- uv__handle_stop(handle);
- }
-
- if ((handle->events &
- ~(handle->submitted_events_1 | handle->submitted_events_2)) != 0) {
- uv__slow_poll_submit_poll_req(handle->loop, handle);
- }
-
- return 0;
-}
-
-
-static int uv__slow_poll_close(uv_loop_t* loop, uv_poll_t* handle) {
- handle->events = 0;
- uv__handle_closing(handle);
-
- if (handle->submitted_events_1 == 0 &&
- handle->submitted_events_2 == 0) {
- uv_want_endgame(loop, (uv_handle_t*) handle);
- }
-
- return 0;
-}
-
-
-int uv_poll_init(uv_loop_t* loop, uv_poll_t* handle, int fd) {
- return uv_poll_init_socket(loop, handle, (SOCKET) uv__get_osfhandle(fd));
-}
-
-
-int uv_poll_init_socket(uv_loop_t* loop, uv_poll_t* handle,
- uv_os_sock_t socket) {
- WSAPROTOCOL_INFOW protocol_info;
- int len;
- SOCKET peer_socket, base_socket;
- DWORD bytes;
- DWORD yes = 1;
-
- /* Set the socket to nonblocking mode */
- if (ioctlsocket(socket, FIONBIO, &yes) == SOCKET_ERROR)
- return uv_translate_sys_error(WSAGetLastError());
-
-/* Try to obtain a base handle for the socket. This increases this chances that
- * we find an AFD handle and are able to use the fast poll mechanism. This will
- * always fail on windows XP/2k3, since they don't support the. SIO_BASE_HANDLE
- * ioctl. */
-#ifndef NDEBUG
- base_socket = INVALID_SOCKET;
-#endif
-
- if (WSAIoctl(socket,
- SIO_BASE_HANDLE,
- NULL,
- 0,
- &base_socket,
- sizeof base_socket,
- &bytes,
- NULL,
- NULL) == 0) {
- assert(base_socket != 0 && base_socket != INVALID_SOCKET);
- socket = base_socket;
- }
-
- uv__handle_init(loop, (uv_handle_t*) handle, UV_POLL);
- handle->socket = socket;
- handle->events = 0;
-
- /* Obtain protocol information about the socket. */
- len = sizeof protocol_info;
- if (getsockopt(socket,
- SOL_SOCKET,
- SO_PROTOCOL_INFOW,
- (char*) &protocol_info,
- &len) != 0) {
- return uv_translate_sys_error(WSAGetLastError());
- }
-
- /* Get the peer socket that is needed to enable fast poll. If the returned
- * value is NULL, the protocol is not implemented by MSAFD and we'll have to
- * use slow mode. */
- peer_socket = uv__fast_poll_get_peer_socket(loop, &protocol_info);
-
- if (peer_socket != INVALID_SOCKET) {
- /* Initialize fast poll specific fields. */
- handle->peer_socket = peer_socket;
- } else {
- /* Initialize slow poll specific fields. */
- handle->flags |= UV_HANDLE_POLL_SLOW;
- }
-
- /* Initialize 2 poll reqs. */
- handle->submitted_events_1 = 0;
- UV_REQ_INIT(&handle->poll_req_1, UV_POLL_REQ);
- handle->poll_req_1.data = handle;
-
- handle->submitted_events_2 = 0;
- UV_REQ_INIT(&handle->poll_req_2, UV_POLL_REQ);
- handle->poll_req_2.data = handle;
-
- return 0;
-}
-
-
-int uv_poll_start(uv_poll_t* handle, int events, uv_poll_cb cb) {
- int err;
-
- if (!(handle->flags & UV_HANDLE_POLL_SLOW)) {
- err = uv__fast_poll_set(handle->loop, handle, events);
- } else {
- err = uv__slow_poll_set(handle->loop, handle, events);
- }
-
- if (err) {
- return uv_translate_sys_error(err);
- }
-
- handle->poll_cb = cb;
-
- return 0;
-}
-
-
-int uv_poll_stop(uv_poll_t* handle) {
- int err;
-
- if (!(handle->flags & UV_HANDLE_POLL_SLOW)) {
- err = uv__fast_poll_set(handle->loop, handle, 0);
- } else {
- err = uv__slow_poll_set(handle->loop, handle, 0);
- }
-
- return uv_translate_sys_error(err);
-}
-
-
-void uv_process_poll_req(uv_loop_t* loop, uv_poll_t* handle, uv_req_t* req) {
- if (!(handle->flags & UV_HANDLE_POLL_SLOW)) {
- uv__fast_poll_process_poll_req(loop, handle, req);
- } else {
- uv__slow_poll_process_poll_req(loop, handle, req);
- }
-}
-
-
-int uv_poll_close(uv_loop_t* loop, uv_poll_t* handle) {
- if (!(handle->flags & UV_HANDLE_POLL_SLOW)) {
- return uv__fast_poll_close(loop, handle);
- } else {
- return uv__slow_poll_close(loop, handle);
- }
-}
-
-
-void uv_poll_endgame(uv_loop_t* loop, uv_poll_t* handle) {
- assert(handle->flags & UV__HANDLE_CLOSING);
- assert(!(handle->flags & UV_HANDLE_CLOSED));
-
- assert(handle->submitted_events_1 == 0);
- assert(handle->submitted_events_2 == 0);
-
- uv__handle_close(handle);
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/process-stdio.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/process-stdio.cpp
deleted file mode 100644
index 0ae9f06..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/process-stdio.cpp
+++ /dev/null
@@ -1,511 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include <assert.h>
-#include <io.h>
-#include <stdio.h>
-#include <stdlib.h>
-
-#include "uv.h"
-#include "internal.h"
-#include "handle-inl.h"
-
-
-/*
- * The `child_stdio_buffer` buffer has the following layout:
- * int number_of_fds
- * unsigned char crt_flags[number_of_fds]
- * HANDLE os_handle[number_of_fds]
- */
-#define CHILD_STDIO_SIZE(count) \
- (sizeof(int) + \
- sizeof(unsigned char) * (count) + \
- sizeof(uintptr_t) * (count))
-
-#define CHILD_STDIO_COUNT(buffer) \
- *((unsigned int*) (buffer))
-
-#define CHILD_STDIO_CRT_FLAGS(buffer, fd) \
- *((unsigned char*) (buffer) + sizeof(int) + fd)
-
-#define CHILD_STDIO_HANDLE(buffer, fd) \
- *((HANDLE*) ((unsigned char*) (buffer) + \
- sizeof(int) + \
- sizeof(unsigned char) * \
- CHILD_STDIO_COUNT((buffer)) + \
- sizeof(HANDLE) * (fd)))
-
-
-/* CRT file descriptor mode flags */
-#define FOPEN 0x01
-#define FEOFLAG 0x02
-#define FCRLF 0x04
-#define FPIPE 0x08
-#define FNOINHERIT 0x10
-#define FAPPEND 0x20
-#define FDEV 0x40
-#define FTEXT 0x80
-
-
-/*
- * Clear the HANDLE_FLAG_INHERIT flag from all HANDLEs that were inherited
- * the parent process. Don't check for errors - the stdio handles may not be
- * valid, or may be closed already. There is no guarantee that this function
- * does a perfect job.
- */
-void uv_disable_stdio_inheritance(void) {
- HANDLE handle;
- STARTUPINFOW si;
-
- /* Make the windows stdio handles non-inheritable. */
- handle = GetStdHandle(STD_INPUT_HANDLE);
- if (handle != NULL && handle != INVALID_HANDLE_VALUE)
- SetHandleInformation(handle, HANDLE_FLAG_INHERIT, 0);
-
- handle = GetStdHandle(STD_OUTPUT_HANDLE);
- if (handle != NULL && handle != INVALID_HANDLE_VALUE)
- SetHandleInformation(handle, HANDLE_FLAG_INHERIT, 0);
-
- handle = GetStdHandle(STD_ERROR_HANDLE);
- if (handle != NULL && handle != INVALID_HANDLE_VALUE)
- SetHandleInformation(handle, HANDLE_FLAG_INHERIT, 0);
-
- /* Make inherited CRT FDs non-inheritable. */
- GetStartupInfoW(&si);
- if (uv__stdio_verify(si.lpReserved2, si.cbReserved2))
- uv__stdio_noinherit(si.lpReserved2);
-}
-
-
-static int uv__create_stdio_pipe_pair(uv_loop_t* loop,
- uv_pipe_t* server_pipe, HANDLE* child_pipe_ptr, unsigned int flags) {
- char pipe_name[64];
- SECURITY_ATTRIBUTES sa;
- DWORD server_access = 0;
- DWORD client_access = 0;
- HANDLE child_pipe = INVALID_HANDLE_VALUE;
- int err;
-
- if (flags & UV_READABLE_PIPE) {
- /* The server needs inbound access too, otherwise CreateNamedPipe() won't
- * give us the FILE_READ_ATTRIBUTES permission. We need that to probe the
- * state of the write buffer when we're trying to shutdown the pipe. */
- server_access |= PIPE_ACCESS_OUTBOUND | PIPE_ACCESS_INBOUND;
- client_access |= GENERIC_READ | FILE_WRITE_ATTRIBUTES;
- }
- if (flags & UV_WRITABLE_PIPE) {
- server_access |= PIPE_ACCESS_INBOUND;
- client_access |= GENERIC_WRITE | FILE_READ_ATTRIBUTES;
- }
-
- /* Create server pipe handle. */
- err = uv_stdio_pipe_server(loop,
- server_pipe,
- server_access,
- pipe_name,
- sizeof(pipe_name));
- if (err)
- goto error;
-
- /* Create child pipe handle. */
- sa.nLength = sizeof sa;
- sa.lpSecurityDescriptor = NULL;
- sa.bInheritHandle = TRUE;
-
- BOOL overlap = server_pipe->ipc || (flags & UV_OVERLAPPED_PIPE);
- child_pipe = CreateFileA(pipe_name,
- client_access,
- 0,
- &sa,
- OPEN_EXISTING,
- overlap ? FILE_FLAG_OVERLAPPED : 0,
- NULL);
- if (child_pipe == INVALID_HANDLE_VALUE) {
- err = GetLastError();
- goto error;
- }
-
-#ifndef NDEBUG
- /* Validate that the pipe was opened in the right mode. */
- {
- DWORD mode;
- BOOL r = GetNamedPipeHandleState(child_pipe,
- &mode,
- NULL,
- NULL,
- NULL,
- NULL,
- 0);
- assert(r == TRUE);
- assert(mode == (PIPE_READMODE_BYTE | PIPE_WAIT));
- }
-#endif
-
- /* Do a blocking ConnectNamedPipe. This should not block because we have both
- * ends of the pipe created. */
- if (!ConnectNamedPipe(server_pipe->handle, NULL)) {
- if (GetLastError() != ERROR_PIPE_CONNECTED) {
- err = GetLastError();
- goto error;
- }
- }
-
- /* The server end is now readable and/or writable. */
- if (flags & UV_READABLE_PIPE)
- server_pipe->flags |= UV_HANDLE_WRITABLE;
- if (flags & UV_WRITABLE_PIPE)
- server_pipe->flags |= UV_HANDLE_READABLE;
-
- *child_pipe_ptr = child_pipe;
- return 0;
-
- error:
- if (server_pipe->handle != INVALID_HANDLE_VALUE) {
- uv_pipe_cleanup(loop, server_pipe);
- }
-
- if (child_pipe != INVALID_HANDLE_VALUE) {
- CloseHandle(child_pipe);
- }
-
- return err;
-}
-
-
-static int uv__duplicate_handle(uv_loop_t* loop, HANDLE handle, HANDLE* dup) {
- HANDLE current_process;
-
-
- /* _get_osfhandle will sometimes return -2 in case of an error. This seems to
- * happen when fd <= 2 and the process' corresponding stdio handle is set to
- * NULL. Unfortunately DuplicateHandle will happily duplicate (HANDLE) -2, so
- * this situation goes unnoticed until someone tries to use the duplicate.
- * Therefore we filter out known-invalid handles here. */
- if (handle == INVALID_HANDLE_VALUE ||
- handle == NULL ||
- handle == (HANDLE) -2) {
- *dup = INVALID_HANDLE_VALUE;
- return ERROR_INVALID_HANDLE;
- }
-
- current_process = GetCurrentProcess();
-
- if (!DuplicateHandle(current_process,
- handle,
- current_process,
- dup,
- 0,
- TRUE,
- DUPLICATE_SAME_ACCESS)) {
- *dup = INVALID_HANDLE_VALUE;
- return GetLastError();
- }
-
- return 0;
-}
-
-
-static int uv__duplicate_fd(uv_loop_t* loop, int fd, HANDLE* dup) {
- HANDLE handle;
-
- if (fd == -1) {
- *dup = INVALID_HANDLE_VALUE;
- return ERROR_INVALID_HANDLE;
- }
-
- handle = uv__get_osfhandle(fd);
- return uv__duplicate_handle(loop, handle, dup);
-}
-
-
-int uv__create_nul_handle(HANDLE* handle_ptr,
- DWORD access) {
- HANDLE handle;
- SECURITY_ATTRIBUTES sa;
-
- sa.nLength = sizeof sa;
- sa.lpSecurityDescriptor = NULL;
- sa.bInheritHandle = TRUE;
-
- handle = CreateFileW(L"NUL",
- access,
- FILE_SHARE_READ | FILE_SHARE_WRITE,
- &sa,
- OPEN_EXISTING,
- 0,
- NULL);
- if (handle == INVALID_HANDLE_VALUE) {
- return GetLastError();
- }
-
- *handle_ptr = handle;
- return 0;
-}
-
-
-int uv__stdio_create(uv_loop_t* loop,
- const uv_process_options_t* options,
- BYTE** buffer_ptr) {
- BYTE* buffer;
- int count, i;
- int err;
-
- count = options->stdio_count;
-
- if (count < 0 || count > 255) {
- /* Only support FDs 0-255 */
- return ERROR_NOT_SUPPORTED;
- } else if (count < 3) {
- /* There should always be at least 3 stdio handles. */
- count = 3;
- }
-
- /* Allocate the child stdio buffer */
- buffer = (BYTE*) uv__malloc(CHILD_STDIO_SIZE(count));
- if (buffer == NULL) {
- return ERROR_OUTOFMEMORY;
- }
-
- /* Prepopulate the buffer with INVALID_HANDLE_VALUE handles so we can clean
- * up on failure. */
- CHILD_STDIO_COUNT(buffer) = count;
- for (i = 0; i < count; i++) {
- CHILD_STDIO_CRT_FLAGS(buffer, i) = 0;
- CHILD_STDIO_HANDLE(buffer, i) = INVALID_HANDLE_VALUE;
- }
-
- for (i = 0; i < count; i++) {
- uv_stdio_container_t fdopt;
- if (i < options->stdio_count) {
- fdopt = options->stdio[i];
- } else {
- fdopt.flags = UV_IGNORE;
- }
-
- switch (fdopt.flags & (UV_IGNORE | UV_CREATE_PIPE | UV_INHERIT_FD |
- UV_INHERIT_STREAM)) {
- case UV_IGNORE:
- /* Starting a process with no stdin/stout/stderr can confuse it. So no
- * matter what the user specified, we make sure the first three FDs are
- * always open in their typical modes, e. g. stdin be readable and
- * stdout/err should be writable. For FDs > 2, don't do anything - all
- * handles in the stdio buffer are initialized with.
- * INVALID_HANDLE_VALUE, which should be okay. */
- if (i <= 2) {
- DWORD access = (i == 0) ? FILE_GENERIC_READ :
- FILE_GENERIC_WRITE | FILE_READ_ATTRIBUTES;
-
- err = uv__create_nul_handle(&CHILD_STDIO_HANDLE(buffer, i),
- access);
- if (err)
- goto error;
-
- CHILD_STDIO_CRT_FLAGS(buffer, i) = FOPEN | FDEV;
- }
- break;
-
- case UV_CREATE_PIPE: {
- /* Create a pair of two connected pipe ends; one end is turned into an
- * uv_pipe_t for use by the parent. The other one is given to the
- * child. */
- uv_pipe_t* parent_pipe = (uv_pipe_t*) fdopt.data.stream;
- HANDLE child_pipe = INVALID_HANDLE_VALUE;
-
- /* Create a new, connected pipe pair. stdio[i]. stream should point to
- * an uninitialized, but not connected pipe handle. */
- assert(fdopt.data.stream->type == UV_NAMED_PIPE);
- assert(!(fdopt.data.stream->flags & UV_HANDLE_CONNECTION));
- assert(!(fdopt.data.stream->flags & UV_HANDLE_PIPESERVER));
-
- err = uv__create_stdio_pipe_pair(loop,
- parent_pipe,
- &child_pipe,
- fdopt.flags);
- if (err)
- goto error;
-
- CHILD_STDIO_HANDLE(buffer, i) = child_pipe;
- CHILD_STDIO_CRT_FLAGS(buffer, i) = FOPEN | FPIPE;
- break;
- }
-
- case UV_INHERIT_FD: {
- /* Inherit a raw FD. */
- HANDLE child_handle;
-
- /* Make an inheritable duplicate of the handle. */
- err = uv__duplicate_fd(loop, fdopt.data.fd, &child_handle);
- if (err) {
- /* If fdopt. data. fd is not valid and fd <= 2, then ignore the
- * error. */
- if (fdopt.data.fd <= 2 && err == ERROR_INVALID_HANDLE) {
- CHILD_STDIO_CRT_FLAGS(buffer, i) = 0;
- CHILD_STDIO_HANDLE(buffer, i) = INVALID_HANDLE_VALUE;
- break;
- }
- goto error;
- }
-
- /* Figure out what the type is. */
- switch (GetFileType(child_handle)) {
- case FILE_TYPE_DISK:
- CHILD_STDIO_CRT_FLAGS(buffer, i) = FOPEN;
- break;
-
- case FILE_TYPE_PIPE:
- CHILD_STDIO_CRT_FLAGS(buffer, i) = FOPEN | FPIPE;
- break;
-
- case FILE_TYPE_CHAR:
- case FILE_TYPE_REMOTE:
- CHILD_STDIO_CRT_FLAGS(buffer, i) = FOPEN | FDEV;
- break;
-
- case FILE_TYPE_UNKNOWN:
- if (GetLastError() != 0) {
- err = GetLastError();
- CloseHandle(child_handle);
- goto error;
- }
- CHILD_STDIO_CRT_FLAGS(buffer, i) = FOPEN | FDEV;
- break;
-
- default:
- assert(0);
- return -1;
- }
-
- CHILD_STDIO_HANDLE(buffer, i) = child_handle;
- break;
- }
-
- case UV_INHERIT_STREAM: {
- /* Use an existing stream as the stdio handle for the child. */
- HANDLE stream_handle, child_handle;
- unsigned char crt_flags;
- uv_stream_t* stream = fdopt.data.stream;
-
- /* Leech the handle out of the stream. */
- if (stream->type == UV_TTY) {
- stream_handle = ((uv_tty_t*) stream)->handle;
- crt_flags = FOPEN | FDEV;
- } else if (stream->type == UV_NAMED_PIPE &&
- stream->flags & UV_HANDLE_CONNECTION) {
- stream_handle = ((uv_pipe_t*) stream)->handle;
- crt_flags = FOPEN | FPIPE;
- } else {
- stream_handle = INVALID_HANDLE_VALUE;
- crt_flags = 0;
- }
-
- if (stream_handle == NULL ||
- stream_handle == INVALID_HANDLE_VALUE) {
- /* The handle is already closed, or not yet created, or the stream
- * type is not supported. */
- err = ERROR_NOT_SUPPORTED;
- goto error;
- }
-
- /* Make an inheritable copy of the handle. */
- err = uv__duplicate_handle(loop, stream_handle, &child_handle);
- if (err)
- goto error;
-
- CHILD_STDIO_HANDLE(buffer, i) = child_handle;
- CHILD_STDIO_CRT_FLAGS(buffer, i) = crt_flags;
- break;
- }
-
- default:
- assert(0);
- return -1;
- }
- }
-
- *buffer_ptr = buffer;
- return 0;
-
- error:
- uv__stdio_destroy(buffer);
- return err;
-}
-
-
-void uv__stdio_destroy(BYTE* buffer) {
- int i, count;
-
- count = CHILD_STDIO_COUNT(buffer);
- for (i = 0; i < count; i++) {
- HANDLE handle = CHILD_STDIO_HANDLE(buffer, i);
- if (handle != INVALID_HANDLE_VALUE) {
- CloseHandle(handle);
- }
- }
-
- uv__free(buffer);
-}
-
-
-void uv__stdio_noinherit(BYTE* buffer) {
- int i, count;
-
- count = CHILD_STDIO_COUNT(buffer);
- for (i = 0; i < count; i++) {
- HANDLE handle = CHILD_STDIO_HANDLE(buffer, i);
- if (handle != INVALID_HANDLE_VALUE) {
- SetHandleInformation(handle, HANDLE_FLAG_INHERIT, 0);
- }
- }
-}
-
-
-int uv__stdio_verify(BYTE* buffer, WORD size) {
- unsigned int count;
-
- /* Check the buffer pointer. */
- if (buffer == NULL)
- return 0;
-
- /* Verify that the buffer is at least big enough to hold the count. */
- if (size < CHILD_STDIO_SIZE(0))
- return 0;
-
- /* Verify if the count is within range. */
- count = CHILD_STDIO_COUNT(buffer);
- if (count > 256)
- return 0;
-
- /* Verify that the buffer size is big enough to hold info for N FDs. */
- if (size < CHILD_STDIO_SIZE(count))
- return 0;
-
- return 1;
-}
-
-
-WORD uv__stdio_size(BYTE* buffer) {
- return (WORD) CHILD_STDIO_SIZE(CHILD_STDIO_COUNT((buffer)));
-}
-
-
-HANDLE uv__stdio_handle(BYTE* buffer, int fd) {
- return CHILD_STDIO_HANDLE(buffer, fd);
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/process.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/process.cpp
deleted file mode 100644
index c47a3c4..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/process.cpp
+++ /dev/null
@@ -1,1278 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include <assert.h>
-#include <io.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <signal.h>
-#include <limits.h>
-#include <wchar.h>
-#include <malloc.h> /* alloca */
-
-#include "uv.h"
-#include "internal.h"
-#include "handle-inl.h"
-#include "req-inl.h"
-
-
-#define SIGKILL 9
-
-
-typedef struct env_var {
- const WCHAR* const wide;
- const WCHAR* const wide_eq;
- const size_t len; /* including null or '=' */
-} env_var_t;
-
-#define E_V(str) { L##str, L##str L"=", sizeof(str) }
-
-static const env_var_t required_vars[] = { /* keep me sorted */
- E_V("HOMEDRIVE"),
- E_V("HOMEPATH"),
- E_V("LOGONSERVER"),
- E_V("PATH"),
- E_V("SYSTEMDRIVE"),
- E_V("SYSTEMROOT"),
- E_V("TEMP"),
- E_V("USERDOMAIN"),
- E_V("USERNAME"),
- E_V("USERPROFILE"),
- E_V("WINDIR"),
-};
-static size_t n_required_vars = ARRAY_SIZE(required_vars);
-
-
-static HANDLE uv_global_job_handle_;
-static uv_once_t uv_global_job_handle_init_guard_ = UV_ONCE_INIT;
-
-
-static void uv__init_global_job_handle(void) {
- /* Create a job object and set it up to kill all contained processes when
- * it's closed. Since this handle is made non-inheritable and we're not
- * giving it to anyone, we're the only process holding a reference to it.
- * That means that if this process exits it is closed and all the processes
- * it contains are killed. All processes created with uv_spawn that are not
- * spawned with the UV_PROCESS_DETACHED flag are assigned to this job.
- *
- * We're setting the JOB_OBJECT_LIMIT_SILENT_BREAKAWAY_OK flag so only the
- * processes that we explicitly add are affected, and *their* subprocesses
- * are not. This ensures that our child processes are not limited in their
- * ability to use job control on Windows versions that don't deal with
- * nested jobs (prior to Windows 8 / Server 2012). It also lets our child
- * processes created detached processes without explicitly breaking away
- * from job control (which uv_spawn doesn't, either).
- */
- SECURITY_ATTRIBUTES attr;
- JOBOBJECT_EXTENDED_LIMIT_INFORMATION info;
-
- memset(&attr, 0, sizeof attr);
- attr.bInheritHandle = FALSE;
-
- memset(&info, 0, sizeof info);
- info.BasicLimitInformation.LimitFlags =
- JOB_OBJECT_LIMIT_BREAKAWAY_OK |
- JOB_OBJECT_LIMIT_SILENT_BREAKAWAY_OK |
- JOB_OBJECT_LIMIT_DIE_ON_UNHANDLED_EXCEPTION |
- JOB_OBJECT_LIMIT_KILL_ON_JOB_CLOSE;
-
- uv_global_job_handle_ = CreateJobObjectW(&attr, NULL);
- if (uv_global_job_handle_ == NULL)
- uv_fatal_error(GetLastError(), "CreateJobObjectW");
-
- if (!SetInformationJobObject(uv_global_job_handle_,
- JobObjectExtendedLimitInformation,
- &info,
- sizeof info))
- uv_fatal_error(GetLastError(), "SetInformationJobObject");
-}
-
-
-static int uv_utf8_to_utf16_alloc(const char* s, WCHAR** ws_ptr) {
- int ws_len, r;
- WCHAR* ws;
-
- ws_len = MultiByteToWideChar(CP_UTF8,
- 0,
- s,
- -1,
- NULL,
- 0);
- if (ws_len <= 0) {
- return GetLastError();
- }
-
- ws = (WCHAR*) uv__malloc(ws_len * sizeof(WCHAR));
- if (ws == NULL) {
- return ERROR_OUTOFMEMORY;
- }
-
- r = MultiByteToWideChar(CP_UTF8,
- 0,
- s,
- -1,
- ws,
- ws_len);
- assert(r == ws_len);
-
- *ws_ptr = ws;
- return 0;
-}
-
-
-static void uv_process_init(uv_loop_t* loop, uv_process_t* handle) {
- uv__handle_init(loop, (uv_handle_t*) handle, UV_PROCESS);
- handle->exit_cb = NULL;
- handle->pid = 0;
- handle->exit_signal = 0;
- handle->wait_handle = INVALID_HANDLE_VALUE;
- handle->process_handle = INVALID_HANDLE_VALUE;
- handle->child_stdio_buffer = NULL;
- handle->exit_cb_pending = 0;
-
- UV_REQ_INIT(&handle->exit_req, UV_PROCESS_EXIT);
- handle->exit_req.data = handle;
-}
-
-
-/*
- * Path search functions
- */
-
-/*
- * Helper function for search_path
- */
-static WCHAR* search_path_join_test(const WCHAR* dir,
- size_t dir_len,
- const WCHAR* name,
- size_t name_len,
- const WCHAR* ext,
- size_t ext_len,
- const WCHAR* cwd,
- size_t cwd_len) {
- WCHAR *result, *result_pos;
- DWORD attrs;
- if (dir_len > 2 && dir[0] == L'\\' && dir[1] == L'\\') {
- /* It's a UNC path so ignore cwd */
- cwd_len = 0;
- } else if (dir_len >= 1 && (dir[0] == L'/' || dir[0] == L'\\')) {
- /* It's a full path without drive letter, use cwd's drive letter only */
- cwd_len = 2;
- } else if (dir_len >= 2 && dir[1] == L':' &&
- (dir_len < 3 || (dir[2] != L'/' && dir[2] != L'\\'))) {
- /* It's a relative path with drive letter (ext.g. D:../some/file)
- * Replace drive letter in dir by full cwd if it points to the same drive,
- * otherwise use the dir only.
- */
- if (cwd_len < 2 || _wcsnicmp(cwd, dir, 2) != 0) {
- cwd_len = 0;
- } else {
- dir += 2;
- dir_len -= 2;
- }
- } else if (dir_len > 2 && dir[1] == L':') {
- /* It's an absolute path with drive letter
- * Don't use the cwd at all
- */
- cwd_len = 0;
- }
-
- /* Allocate buffer for output */
- result = result_pos = (WCHAR*)uv__malloc(sizeof(WCHAR) *
- (cwd_len + 1 + dir_len + 1 + name_len + 1 + ext_len + 1));
-
- /* Copy cwd */
- wcsncpy(result_pos, cwd, cwd_len);
- result_pos += cwd_len;
-
- /* Add a path separator if cwd didn't end with one */
- if (cwd_len && wcsrchr(L"\\/:", result_pos[-1]) == NULL) {
- result_pos[0] = L'\\';
- result_pos++;
- }
-
- /* Copy dir */
- wcsncpy(result_pos, dir, dir_len);
- result_pos += dir_len;
-
- /* Add a separator if the dir didn't end with one */
- if (dir_len && wcsrchr(L"\\/:", result_pos[-1]) == NULL) {
- result_pos[0] = L'\\';
- result_pos++;
- }
-
- /* Copy filename */
- wcsncpy(result_pos, name, name_len);
- result_pos += name_len;
-
- if (ext_len) {
- /* Add a dot if the filename didn't end with one */
- if (name_len && result_pos[-1] != '.') {
- result_pos[0] = L'.';
- result_pos++;
- }
-
- /* Copy extension */
- wcsncpy(result_pos, ext, ext_len);
- result_pos += ext_len;
- }
-
- /* Null terminator */
- result_pos[0] = L'\0';
-
- attrs = GetFileAttributesW(result);
-
- if (attrs != INVALID_FILE_ATTRIBUTES &&
- !(attrs & FILE_ATTRIBUTE_DIRECTORY)) {
- return result;
- }
-
- uv__free(result);
- return NULL;
-}
-
-
-/*
- * Helper function for search_path
- */
-static WCHAR* path_search_walk_ext(const WCHAR *dir,
- size_t dir_len,
- const WCHAR *name,
- size_t name_len,
- WCHAR *cwd,
- size_t cwd_len,
- int name_has_ext) {
- WCHAR* result;
-
- /* If the name itself has a nonempty extension, try this extension first */
- if (name_has_ext) {
- result = search_path_join_test(dir, dir_len,
- name, name_len,
- L"", 0,
- cwd, cwd_len);
- if (result != NULL) {
- return result;
- }
- }
-
- /* Try .com extension */
- result = search_path_join_test(dir, dir_len,
- name, name_len,
- L"com", 3,
- cwd, cwd_len);
- if (result != NULL) {
- return result;
- }
-
- /* Try .exe extension */
- result = search_path_join_test(dir, dir_len,
- name, name_len,
- L"exe", 3,
- cwd, cwd_len);
- if (result != NULL) {
- return result;
- }
-
- return NULL;
-}
-
-
-/*
- * search_path searches the system path for an executable filename -
- * the windows API doesn't provide this as a standalone function nor as an
- * option to CreateProcess.
- *
- * It tries to return an absolute filename.
- *
- * Furthermore, it tries to follow the semantics that cmd.exe, with this
- * exception that PATHEXT environment variable isn't used. Since CreateProcess
- * can start only .com and .exe files, only those extensions are tried. This
- * behavior equals that of msvcrt's spawn functions.
- *
- * - Do not search the path if the filename already contains a path (either
- * relative or absolute).
- *
- * - If there's really only a filename, check the current directory for file,
- * then search all path directories.
- *
- * - If filename specified has *any* extension, search for the file with the
- * specified extension first.
- *
- * - If the literal filename is not found in a directory, try *appending*
- * (not replacing) .com first and then .exe.
- *
- * - The path variable may contain relative paths; relative paths are relative
- * to the cwd.
- *
- * - Directories in path may or may not end with a trailing backslash.
- *
- * - CMD does not trim leading/trailing whitespace from path/pathex entries
- * nor from the environment variables as a whole.
- *
- * - When cmd.exe cannot read a directory, it will just skip it and go on
- * searching. However, unlike posix-y systems, it will happily try to run a
- * file that is not readable/executable; if the spawn fails it will not
- * continue searching.
- *
- * UNC path support: we are dealing with UNC paths in both the path and the
- * filename. This is a deviation from what cmd.exe does (it does not let you
- * start a program by specifying an UNC path on the command line) but this is
- * really a pointless restriction.
- *
- */
-static WCHAR* search_path(const WCHAR *file,
- WCHAR *cwd,
- const WCHAR *path) {
- int file_has_dir;
- WCHAR* result = NULL;
- WCHAR *file_name_start;
- WCHAR *dot;
- const WCHAR *dir_start, *dir_end, *dir_path;
- size_t dir_len;
- int name_has_ext;
-
- size_t file_len = wcslen(file);
- size_t cwd_len = wcslen(cwd);
-
- /* If the caller supplies an empty filename,
- * we're not gonna return c:\windows\.exe -- GFY!
- */
- if (file_len == 0
- || (file_len == 1 && file[0] == L'.')) {
- return NULL;
- }
-
- /* Find the start of the filename so we can split the directory from the
- * name. */
- for (file_name_start = (WCHAR*)file + file_len;
- file_name_start > file
- && file_name_start[-1] != L'\\'
- && file_name_start[-1] != L'/'
- && file_name_start[-1] != L':';
- file_name_start--);
-
- file_has_dir = file_name_start != file;
-
- /* Check if the filename includes an extension */
- dot = wcschr(file_name_start, L'.');
- name_has_ext = (dot != NULL && dot[1] != L'\0');
-
- if (file_has_dir) {
- /* The file has a path inside, don't use path */
- result = path_search_walk_ext(
- file, file_name_start - file,
- file_name_start, file_len - (file_name_start - file),
- cwd, cwd_len,
- name_has_ext);
-
- } else {
- dir_end = path;
-
- /* The file is really only a name; look in cwd first, then scan path */
- result = path_search_walk_ext(L"", 0,
- file, file_len,
- cwd, cwd_len,
- name_has_ext);
-
- while (result == NULL) {
- if (*dir_end == L'\0') {
- break;
- }
-
- /* Skip the separator that dir_end now points to */
- if (dir_end != path || *path == L';') {
- dir_end++;
- }
-
- /* Next slice starts just after where the previous one ended */
- dir_start = dir_end;
-
- /* If path is quoted, find quote end */
- if (*dir_start == L'"' || *dir_start == L'\'') {
- dir_end = wcschr(dir_start + 1, *dir_start);
- if (dir_end == NULL) {
- dir_end = wcschr(dir_start, L'\0');
- }
- }
- /* Slice until the next ; or \0 is found */
- dir_end = wcschr(dir_end, L';');
- if (dir_end == NULL) {
- dir_end = wcschr(dir_start, L'\0');
- }
-
- /* If the slice is zero-length, don't bother */
- if (dir_end - dir_start == 0) {
- continue;
- }
-
- dir_path = dir_start;
- dir_len = dir_end - dir_start;
-
- /* Adjust if the path is quoted. */
- if (dir_path[0] == '"' || dir_path[0] == '\'') {
- ++dir_path;
- --dir_len;
- }
-
- if (dir_path[dir_len - 1] == '"' || dir_path[dir_len - 1] == '\'') {
- --dir_len;
- }
-
- result = path_search_walk_ext(dir_path, dir_len,
- file, file_len,
- cwd, cwd_len,
- name_has_ext);
- }
- }
-
- return result;
-}
-
-
-/*
- * Quotes command line arguments
- * Returns a pointer to the end (next char to be written) of the buffer
- */
-WCHAR* quote_cmd_arg(const WCHAR *source, WCHAR *target) {
- size_t len = wcslen(source);
- size_t i;
- int quote_hit;
- WCHAR* start;
-
- if (len == 0) {
- /* Need double quotation for empty argument */
- *(target++) = L'"';
- *(target++) = L'"';
- return target;
- }
-
- if (NULL == wcspbrk(source, L" \t\"")) {
- /* No quotation needed */
- wcsncpy(target, source, len);
- target += len;
- return target;
- }
-
- if (NULL == wcspbrk(source, L"\"\\")) {
- /*
- * No embedded double quotes or backlashes, so I can just wrap
- * quote marks around the whole thing.
- */
- *(target++) = L'"';
- wcsncpy(target, source, len);
- target += len;
- *(target++) = L'"';
- return target;
- }
-
- /*
- * Expected input/output:
- * input : hello"world
- * output: "hello\"world"
- * input : hello""world
- * output: "hello\"\"world"
- * input : hello\world
- * output: hello\world
- * input : hello\\world
- * output: hello\\world
- * input : hello\"world
- * output: "hello\\\"world"
- * input : hello\\"world
- * output: "hello\\\\\"world"
- * input : hello world\
- * output: "hello world\\"
- */
-
- *(target++) = L'"';
- start = target;
- quote_hit = 1;
-
- for (i = len; i > 0; --i) {
- *(target++) = source[i - 1];
-
- if (quote_hit && source[i - 1] == L'\\') {
- *(target++) = L'\\';
- } else if(source[i - 1] == L'"') {
- quote_hit = 1;
- *(target++) = L'\\';
- } else {
- quote_hit = 0;
- }
- }
- target[0] = L'\0';
- wcsrev(start);
- *(target++) = L'"';
- return target;
-}
-
-
-int make_program_args(char** args, int verbatim_arguments, WCHAR** dst_ptr) {
- char** arg;
- WCHAR* dst = NULL;
- WCHAR* temp_buffer = NULL;
- size_t dst_len = 0;
- size_t temp_buffer_len = 0;
- WCHAR* pos;
- int arg_count = 0;
- int err = 0;
-
- /* Count the required size. */
- for (arg = args; *arg; arg++) {
- DWORD arg_len;
-
- arg_len = MultiByteToWideChar(CP_UTF8,
- 0,
- *arg,
- -1,
- NULL,
- 0);
- if (arg_len == 0) {
- return GetLastError();
- }
-
- dst_len += arg_len;
-
- if (arg_len > temp_buffer_len)
- temp_buffer_len = arg_len;
-
- arg_count++;
- }
-
- /* Adjust for potential quotes. Also assume the worst-case scenario that
- * every character needs escaping, so we need twice as much space. */
- dst_len = dst_len * 2 + arg_count * 2;
-
- /* Allocate buffer for the final command line. */
- dst = (WCHAR*) uv__malloc(dst_len * sizeof(WCHAR));
- if (dst == NULL) {
- err = ERROR_OUTOFMEMORY;
- goto error;
- }
-
- /* Allocate temporary working buffer. */
- temp_buffer = (WCHAR*) uv__malloc(temp_buffer_len * sizeof(WCHAR));
- if (temp_buffer == NULL) {
- err = ERROR_OUTOFMEMORY;
- goto error;
- }
-
- pos = dst;
- for (arg = args; *arg; arg++) {
- DWORD arg_len;
-
- /* Convert argument to wide char. */
- arg_len = MultiByteToWideChar(CP_UTF8,
- 0,
- *arg,
- -1,
- temp_buffer,
- (int) (dst + dst_len - pos));
- if (arg_len == 0) {
- err = GetLastError();
- goto error;
- }
-
- if (verbatim_arguments) {
- /* Copy verbatim. */
- wcscpy(pos, temp_buffer);
- pos += arg_len - 1;
- } else {
- /* Quote/escape, if needed. */
- pos = quote_cmd_arg(temp_buffer, pos);
- }
-
- *pos++ = *(arg + 1) ? L' ' : L'\0';
- }
-
- uv__free(temp_buffer);
-
- *dst_ptr = dst;
- return 0;
-
-error:
- uv__free(dst);
- uv__free(temp_buffer);
- return err;
-}
-
-
-int env_strncmp(const wchar_t* a, int na, const wchar_t* b) {
- const wchar_t* a_eq;
- const wchar_t* b_eq;
- wchar_t* A;
- wchar_t* B;
- int nb;
- int r;
-
- if (na < 0) {
- a_eq = wcschr(a, L'=');
- assert(a_eq);
- na = (int)(long)(a_eq - a);
- } else {
- na--;
- }
- b_eq = wcschr(b, L'=');
- assert(b_eq);
- nb = b_eq - b;
-
- A = (wchar_t*)alloca((na+1) * sizeof(wchar_t));
- B = (wchar_t*)alloca((nb+1) * sizeof(wchar_t));
-
- r = LCMapStringW(LOCALE_INVARIANT, LCMAP_UPPERCASE, a, na, A, na);
- assert(r==na);
- A[na] = L'\0';
- r = LCMapStringW(LOCALE_INVARIANT, LCMAP_UPPERCASE, b, nb, B, nb);
- assert(r==nb);
- B[nb] = L'\0';
-
- while (1) {
- wchar_t AA = *A++;
- wchar_t BB = *B++;
- if (AA < BB) {
- return -1;
- } else if (AA > BB) {
- return 1;
- } else if (!AA && !BB) {
- return 0;
- }
- }
-}
-
-
-static int qsort_wcscmp(const void *a, const void *b) {
- wchar_t* astr = *(wchar_t* const*)a;
- wchar_t* bstr = *(wchar_t* const*)b;
- return env_strncmp(astr, -1, bstr);
-}
-
-
-/*
- * The way windows takes environment variables is different than what C does;
- * Windows wants a contiguous block of null-terminated strings, terminated
- * with an additional null.
- *
- * Windows has a few "essential" environment variables. winsock will fail
- * to initialize if SYSTEMROOT is not defined; some APIs make reference to
- * TEMP. SYSTEMDRIVE is probably also important. We therefore ensure that
- * these get defined if the input environment block does not contain any
- * values for them.
- *
- * Also add variables known to Cygwin to be required for correct
- * subprocess operation in many cases:
- * https://github.com/Alexpux/Cygwin/blob/b266b04fbbd3a595f02ea149e4306d3ab9b1fe3d/winsup/cygwin/environ.cc#L955
- *
- */
-int make_program_env(char* env_block[], WCHAR** dst_ptr) {
- WCHAR* dst;
- WCHAR* ptr;
- char** env;
- size_t env_len = 0;
- int len;
- size_t i;
- DWORD var_size;
- size_t env_block_count = 1; /* 1 for null-terminator */
- WCHAR* dst_copy;
- WCHAR** ptr_copy;
- WCHAR** env_copy;
- DWORD* required_vars_value_len =
- (DWORD*)alloca(n_required_vars * sizeof(DWORD*));
-
- /* first pass: determine size in UTF-16 */
- for (env = env_block; *env; env++) {
- int len;
- if (strchr(*env, '=')) {
- len = MultiByteToWideChar(CP_UTF8,
- 0,
- *env,
- -1,
- NULL,
- 0);
- if (len <= 0) {
- return GetLastError();
- }
- env_len += len;
- env_block_count++;
- }
- }
-
- /* second pass: copy to UTF-16 environment block */
- dst_copy = (WCHAR*)uv__malloc(env_len * sizeof(WCHAR));
- if (!dst_copy) {
- return ERROR_OUTOFMEMORY;
- }
- env_copy = (WCHAR**)alloca(env_block_count * sizeof(WCHAR*));
-
- ptr = dst_copy;
- ptr_copy = env_copy;
- for (env = env_block; *env; env++) {
- if (strchr(*env, '=')) {
- len = MultiByteToWideChar(CP_UTF8,
- 0,
- *env,
- -1,
- ptr,
- (int) (env_len - (ptr - dst_copy)));
- if (len <= 0) {
- DWORD err = GetLastError();
- uv__free(dst_copy);
- return err;
- }
- *ptr_copy++ = ptr;
- ptr += len;
- }
- }
- *ptr_copy = NULL;
- assert(env_len == ptr - dst_copy);
-
- /* sort our (UTF-16) copy */
- qsort(env_copy, env_block_count-1, sizeof(wchar_t*), qsort_wcscmp);
-
- /* third pass: check for required variables */
- for (ptr_copy = env_copy, i = 0; i < n_required_vars; ) {
- int cmp;
- if (!*ptr_copy) {
- cmp = -1;
- } else {
- cmp = env_strncmp(required_vars[i].wide_eq,
- required_vars[i].len,
- *ptr_copy);
- }
- if (cmp < 0) {
- /* missing required var */
- var_size = GetEnvironmentVariableW(required_vars[i].wide, NULL, 0);
- required_vars_value_len[i] = var_size;
- if (var_size != 0) {
- env_len += required_vars[i].len;
- env_len += var_size;
- }
- i++;
- } else {
- ptr_copy++;
- if (cmp == 0)
- i++;
- }
- }
-
- /* final pass: copy, in sort order, and inserting required variables */
- dst = (WCHAR*)uv__malloc((1+env_len) * sizeof(WCHAR));
- if (!dst) {
- uv__free(dst_copy);
- return ERROR_OUTOFMEMORY;
- }
-
- for (ptr = dst, ptr_copy = env_copy, i = 0;
- *ptr_copy || i < n_required_vars;
- ptr += len) {
- int cmp;
- if (i >= n_required_vars) {
- cmp = 1;
- } else if (!*ptr_copy) {
- cmp = -1;
- } else {
- cmp = env_strncmp(required_vars[i].wide_eq,
- required_vars[i].len,
- *ptr_copy);
- }
- if (cmp < 0) {
- /* missing required var */
- len = required_vars_value_len[i];
- if (len) {
- wcscpy(ptr, required_vars[i].wide_eq);
- ptr += required_vars[i].len;
- var_size = GetEnvironmentVariableW(required_vars[i].wide,
- ptr,
- (int) (env_len - (ptr - dst)));
- if (var_size != len-1) { /* race condition? */
- uv_fatal_error(GetLastError(), "GetEnvironmentVariableW");
- }
- }
- i++;
- } else {
- /* copy var from env_block */
- len = wcslen(*ptr_copy) + 1;
- wmemcpy(ptr, *ptr_copy, len);
- ptr_copy++;
- if (cmp == 0)
- i++;
- }
- }
-
- /* Terminate with an extra NULL. */
- assert(env_len == (ptr - dst));
- *ptr = L'\0';
-
- uv__free(dst_copy);
- *dst_ptr = dst;
- return 0;
-}
-
-/*
- * Attempt to find the value of the PATH environment variable in the child's
- * preprocessed environment.
- *
- * If found, a pointer into `env` is returned. If not found, NULL is returned.
- */
-static WCHAR* find_path(WCHAR *env) {
- for (; env != NULL && *env != 0; env += wcslen(env) + 1) {
- if ((env[0] == L'P' || env[0] == L'p') &&
- (env[1] == L'A' || env[1] == L'a') &&
- (env[2] == L'T' || env[2] == L't') &&
- (env[3] == L'H' || env[3] == L'h') &&
- (env[4] == L'=')) {
- return &env[5];
- }
- }
-
- return NULL;
-}
-
-/*
- * Called on Windows thread-pool thread to indicate that
- * a child process has exited.
- */
-static void CALLBACK exit_wait_callback(void* data, BOOLEAN didTimeout) {
- uv_process_t* process = (uv_process_t*) data;
- uv_loop_t* loop = process->loop;
-
- assert(didTimeout == FALSE);
- assert(process);
- assert(!process->exit_cb_pending);
-
- process->exit_cb_pending = 1;
-
- /* Post completed */
- POST_COMPLETION_FOR_REQ(loop, &process->exit_req);
-}
-
-
-/* Called on main thread after a child process has exited. */
-void uv_process_proc_exit(uv_loop_t* loop, uv_process_t* handle) {
- int64_t exit_code;
- DWORD status;
-
- assert(handle->exit_cb_pending);
- handle->exit_cb_pending = 0;
-
- /* If we're closing, don't call the exit callback. Just schedule a close
- * callback now. */
- if (handle->flags & UV__HANDLE_CLOSING) {
- uv_want_endgame(loop, (uv_handle_t*) handle);
- return;
- }
-
- /* Unregister from process notification. */
- if (handle->wait_handle != INVALID_HANDLE_VALUE) {
- UnregisterWait(handle->wait_handle);
- handle->wait_handle = INVALID_HANDLE_VALUE;
- }
-
- /* Set the handle to inactive: no callbacks will be made after the exit
- * callback. */
- uv__handle_stop(handle);
-
- if (GetExitCodeProcess(handle->process_handle, &status)) {
- exit_code = status;
- } else {
- /* Unable to obtain the exit code. This should never happen. */
- exit_code = uv_translate_sys_error(GetLastError());
- }
-
- /* Fire the exit callback. */
- if (handle->exit_cb) {
- handle->exit_cb(handle, exit_code, handle->exit_signal);
- }
-}
-
-
-void uv_process_close(uv_loop_t* loop, uv_process_t* handle) {
- uv__handle_closing(handle);
-
- if (handle->wait_handle != INVALID_HANDLE_VALUE) {
- /* This blocks until either the wait was cancelled, or the callback has
- * completed. */
- BOOL r = UnregisterWaitEx(handle->wait_handle, INVALID_HANDLE_VALUE);
- if (!r) {
- /* This should never happen, and if it happens, we can't recover... */
- uv_fatal_error(GetLastError(), "UnregisterWaitEx");
- }
-
- handle->wait_handle = INVALID_HANDLE_VALUE;
- }
-
- if (!handle->exit_cb_pending) {
- uv_want_endgame(loop, (uv_handle_t*)handle);
- }
-}
-
-
-void uv_process_endgame(uv_loop_t* loop, uv_process_t* handle) {
- assert(!handle->exit_cb_pending);
- assert(handle->flags & UV__HANDLE_CLOSING);
- assert(!(handle->flags & UV_HANDLE_CLOSED));
-
- /* Clean-up the process handle. */
- CloseHandle(handle->process_handle);
-
- uv__handle_close(handle);
-}
-
-
-int uv_spawn(uv_loop_t* loop,
- uv_process_t* process,
- const uv_process_options_t* options) {
- int i;
- int err = 0;
- WCHAR* path = NULL, *alloc_path = NULL;
- BOOL result;
- WCHAR* application_path = NULL, *application = NULL, *arguments = NULL,
- *env = NULL, *cwd = NULL;
- STARTUPINFOW startup;
- PROCESS_INFORMATION info;
- DWORD process_flags;
-
- uv_process_init(loop, process);
- process->exit_cb = options->exit_cb;
-
- if (options->flags & (UV_PROCESS_SETGID | UV_PROCESS_SETUID)) {
- return UV_ENOTSUP;
- }
-
- if (options->file == NULL ||
- options->args == NULL) {
- return UV_EINVAL;
- }
-
- assert(options->file != NULL);
- assert(!(options->flags & ~(UV_PROCESS_DETACHED |
- UV_PROCESS_SETGID |
- UV_PROCESS_SETUID |
- UV_PROCESS_WINDOWS_HIDE |
- UV_PROCESS_WINDOWS_VERBATIM_ARGUMENTS)));
-
- err = uv_utf8_to_utf16_alloc(options->file, &application);
- if (err)
- goto done;
-
- err = make_program_args(
- options->args,
- options->flags & UV_PROCESS_WINDOWS_VERBATIM_ARGUMENTS,
- &arguments);
- if (err)
- goto done;
-
- if (options->env) {
- err = make_program_env(options->env, &env);
- if (err)
- goto done;
- }
-
- if (options->cwd) {
- /* Explicit cwd */
- err = uv_utf8_to_utf16_alloc(options->cwd, &cwd);
- if (err)
- goto done;
-
- } else {
- /* Inherit cwd */
- DWORD cwd_len, r;
-
- cwd_len = GetCurrentDirectoryW(0, NULL);
- if (!cwd_len) {
- err = GetLastError();
- goto done;
- }
-
- cwd = (WCHAR*) uv__malloc(cwd_len * sizeof(WCHAR));
- if (cwd == NULL) {
- err = ERROR_OUTOFMEMORY;
- goto done;
- }
-
- r = GetCurrentDirectoryW(cwd_len, cwd);
- if (r == 0 || r >= cwd_len) {
- err = GetLastError();
- goto done;
- }
- }
-
- /* Get PATH environment variable. */
- path = find_path(env);
- if (path == NULL) {
- DWORD path_len, r;
-
- path_len = GetEnvironmentVariableW(L"PATH", NULL, 0);
- if (path_len == 0) {
- err = GetLastError();
- goto done;
- }
-
- alloc_path = (WCHAR*) uv__malloc(path_len * sizeof(WCHAR));
- if (alloc_path == NULL) {
- err = ERROR_OUTOFMEMORY;
- goto done;
- }
- path = alloc_path;
-
- r = GetEnvironmentVariableW(L"PATH", path, path_len);
- if (r == 0 || r >= path_len) {
- err = GetLastError();
- goto done;
- }
- }
-
- err = uv__stdio_create(loop, options, &process->child_stdio_buffer);
- if (err)
- goto done;
-
- application_path = search_path(application,
- cwd,
- path);
- if (application_path == NULL) {
- /* Not found. */
- err = ERROR_FILE_NOT_FOUND;
- goto done;
- }
-
- startup.cb = sizeof(startup);
- startup.lpReserved = NULL;
- startup.lpDesktop = NULL;
- startup.lpTitle = NULL;
- startup.dwFlags = STARTF_USESTDHANDLES | STARTF_USESHOWWINDOW;
-
- startup.cbReserved2 = uv__stdio_size(process->child_stdio_buffer);
- startup.lpReserved2 = (BYTE*) process->child_stdio_buffer;
-
- startup.hStdInput = uv__stdio_handle(process->child_stdio_buffer, 0);
- startup.hStdOutput = uv__stdio_handle(process->child_stdio_buffer, 1);
- startup.hStdError = uv__stdio_handle(process->child_stdio_buffer, 2);
-
- process_flags = CREATE_UNICODE_ENVIRONMENT;
-
- if (options->flags & UV_PROCESS_WINDOWS_HIDE) {
- /* Avoid creating console window if stdio is not inherited. */
- for (i = 0; i < options->stdio_count; i++) {
- if (options->stdio[i].flags & UV_INHERIT_FD)
- break;
- if (i == options->stdio_count - 1)
- process_flags |= CREATE_NO_WINDOW;
- }
-
- /* Use SW_HIDE to avoid any potential process window. */
- startup.wShowWindow = SW_HIDE;
- } else {
- startup.wShowWindow = SW_SHOWDEFAULT;
- }
-
- if (options->flags & UV_PROCESS_DETACHED) {
- /* Note that we're not setting the CREATE_BREAKAWAY_FROM_JOB flag. That
- * means that libuv might not let you create a fully daemonized process
- * when run under job control. However the type of job control that libuv
- * itself creates doesn't trickle down to subprocesses so they can still
- * daemonize.
- *
- * A reason to not do this is that CREATE_BREAKAWAY_FROM_JOB makes the
- * CreateProcess call fail if we're under job control that doesn't allow
- * breakaway.
- */
- process_flags |= DETACHED_PROCESS | CREATE_NEW_PROCESS_GROUP;
- }
-
- if (!CreateProcessW(application_path,
- arguments,
- NULL,
- NULL,
- 1,
- process_flags,
- env,
- cwd,
- &startup,
- &info)) {
- /* CreateProcessW failed. */
- err = GetLastError();
- goto done;
- }
-
- /* Spawn succeeded. Beyond this point, failure is reported asynchronously. */
-
- process->process_handle = info.hProcess;
- process->pid = info.dwProcessId;
-
- /* If the process isn't spawned as detached, assign to the global job object
- * so windows will kill it when the parent process dies. */
- if (!(options->flags & UV_PROCESS_DETACHED)) {
- uv_once(&uv_global_job_handle_init_guard_, uv__init_global_job_handle);
-
- if (!AssignProcessToJobObject(uv_global_job_handle_, info.hProcess)) {
- /* AssignProcessToJobObject might fail if this process is under job
- * control and the job doesn't have the
- * JOB_OBJECT_LIMIT_SILENT_BREAKAWAY_OK flag set, on a Windows version
- * that doesn't support nested jobs.
- *
- * When that happens we just swallow the error and continue without
- * establishing a kill-child-on-parent-exit relationship, otherwise
- * there would be no way for libuv applications run under job control
- * to spawn processes at all.
- */
- DWORD err = GetLastError();
- if (err != ERROR_ACCESS_DENIED)
- uv_fatal_error(err, "AssignProcessToJobObject");
- }
- }
-
- /* Set IPC pid to all IPC pipes. */
- for (i = 0; i < options->stdio_count; i++) {
- const uv_stdio_container_t* fdopt = &options->stdio[i];
- if (fdopt->flags & UV_CREATE_PIPE &&
- fdopt->data.stream->type == UV_NAMED_PIPE &&
- ((uv_pipe_t*) fdopt->data.stream)->ipc) {
- ((uv_pipe_t*) fdopt->data.stream)->pipe.conn.ipc_remote_pid =
- info.dwProcessId;
- }
- }
-
- /* Setup notifications for when the child process exits. */
- result = RegisterWaitForSingleObject(&process->wait_handle,
- process->process_handle, exit_wait_callback, (void*)process, INFINITE,
- WT_EXECUTEINWAITTHREAD | WT_EXECUTEONLYONCE);
- if (!result) {
- uv_fatal_error(GetLastError(), "RegisterWaitForSingleObject");
- }
-
- CloseHandle(info.hThread);
-
- assert(!err);
-
- /* Make the handle active. It will remain active until the exit callback is
- * made or the handle is closed, whichever happens first. */
- uv__handle_start(process);
-
- /* Cleanup, whether we succeeded or failed. */
- done:
- uv__free(application);
- uv__free(application_path);
- uv__free(arguments);
- uv__free(cwd);
- uv__free(env);
- uv__free(alloc_path);
-
- if (process->child_stdio_buffer != NULL) {
- /* Clean up child stdio handles. */
- uv__stdio_destroy(process->child_stdio_buffer);
- process->child_stdio_buffer = NULL;
- }
-
- return uv_translate_sys_error(err);
-}
-
-
-static int uv__kill(HANDLE process_handle, int signum) {
- if (signum < 0 || signum >= NSIG) {
- return UV_EINVAL;
- }
-
- switch (signum) {
- case SIGTERM:
- case SIGKILL:
- case SIGINT: {
- /* Unconditionally terminate the process. On Windows, killed processes
- * normally return 1. */
- DWORD status;
- int err;
-
- if (TerminateProcess(process_handle, 1))
- return 0;
-
- /* If the process already exited before TerminateProcess was called,.
- * TerminateProcess will fail with ERROR_ACCESS_DENIED. */
- err = GetLastError();
- if (err == ERROR_ACCESS_DENIED &&
- GetExitCodeProcess(process_handle, &status) &&
- status != STILL_ACTIVE) {
- return UV_ESRCH;
- }
-
- return uv_translate_sys_error(err);
- }
-
- case 0: {
- /* Health check: is the process still alive? */
- DWORD status;
-
- if (!GetExitCodeProcess(process_handle, &status))
- return uv_translate_sys_error(GetLastError());
-
- if (status != STILL_ACTIVE)
- return UV_ESRCH;
-
- return 0;
- }
-
- default:
- /* Unsupported signal. */
- return UV_ENOSYS;
- }
-}
-
-
-int uv_process_kill(uv_process_t* process, int signum) {
- int err;
-
- if (process->process_handle == INVALID_HANDLE_VALUE) {
- return UV_EINVAL;
- }
-
- err = uv__kill(process->process_handle, signum);
- if (err) {
- return err; /* err is already translated. */
- }
-
- process->exit_signal = signum;
-
- return 0;
-}
-
-
-int uv_kill(int pid, int signum) {
- int err;
- HANDLE process_handle;
-
- if (pid == 0) {
- process_handle = GetCurrentProcess();
- } else {
- process_handle = OpenProcess(PROCESS_TERMINATE | PROCESS_QUERY_INFORMATION,
- FALSE,
- pid);
- }
-
- if (process_handle == NULL) {
- err = GetLastError();
- if (err == ERROR_INVALID_PARAMETER) {
- return UV_ESRCH;
- } else {
- return uv_translate_sys_error(err);
- }
- }
-
- err = uv__kill(process_handle, signum);
- CloseHandle(process_handle);
-
- return err; /* err is already translated. */
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/req.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/req.cpp
deleted file mode 100644
index 111cc5e..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/req.cpp
+++ /dev/null
@@ -1,25 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include <assert.h>
-
-#include "uv.h"
-#include "internal.h"
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/signal.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/signal.cpp
deleted file mode 100644
index 750c1b3..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/signal.cpp
+++ /dev/null
@@ -1,277 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include <assert.h>
-#include <signal.h>
-
-#include "uv.h"
-#include "internal.h"
-#include "handle-inl.h"
-#include "req-inl.h"
-
-
-RB_HEAD(uv_signal_tree_s, uv_signal_s);
-
-static struct uv_signal_tree_s uv__signal_tree = RB_INITIALIZER(uv__signal_tree);
-static CRITICAL_SECTION uv__signal_lock;
-
-static BOOL WINAPI uv__signal_control_handler(DWORD type);
-
-int uv__signal_start(uv_signal_t* handle,
- uv_signal_cb signal_cb,
- int signum,
- int oneshot);
-
-void uv_signals_init(void) {
- InitializeCriticalSection(&uv__signal_lock);
- if (!SetConsoleCtrlHandler(uv__signal_control_handler, TRUE))
- abort();
-}
-
-
-static int uv__signal_compare(uv_signal_t* w1, uv_signal_t* w2) {
- /* Compare signums first so all watchers with the same signnum end up
- * adjacent. */
- if (w1->signum < w2->signum) return -1;
- if (w1->signum > w2->signum) return 1;
-
- /* Sort by loop pointer, so we can easily look up the first item after
- * { .signum = x, .loop = NULL }. */
- if ((uintptr_t) w1->loop < (uintptr_t) w2->loop) return -1;
- if ((uintptr_t) w1->loop > (uintptr_t) w2->loop) return 1;
-
- if ((uintptr_t) w1 < (uintptr_t) w2) return -1;
- if ((uintptr_t) w1 > (uintptr_t) w2) return 1;
-
- return 0;
-}
-
-
-RB_GENERATE_STATIC(uv_signal_tree_s, uv_signal_s, tree_entry, uv__signal_compare)
-
-
-/*
- * Dispatches signal {signum} to all active uv_signal_t watchers in all loops.
- * Returns 1 if the signal was dispatched to any watcher, or 0 if there were
- * no active signal watchers observing this signal.
- */
-int uv__signal_dispatch(int signum) {
- uv_signal_t lookup;
- uv_signal_t* handle;
- int dispatched;
-
- dispatched = 0;
-
- EnterCriticalSection(&uv__signal_lock);
-
- lookup.signum = signum;
- lookup.loop = NULL;
-
- for (handle = RB_NFIND(uv_signal_tree_s, &uv__signal_tree, &lookup);
- handle != NULL && handle->signum == signum;
- handle = RB_NEXT(uv_signal_tree_s, &uv__signal_tree, handle)) {
- unsigned long previous = InterlockedExchange(
- (volatile LONG*) &handle->pending_signum, signum);
-
- if (handle->flags & UV__SIGNAL_ONE_SHOT_DISPATCHED)
- continue;
-
- if (!previous) {
- POST_COMPLETION_FOR_REQ(handle->loop, &handle->signal_req);
- }
-
- dispatched = 1;
- if (handle->flags & UV__SIGNAL_ONE_SHOT)
- handle->flags |= UV__SIGNAL_ONE_SHOT_DISPATCHED;
- }
-
- LeaveCriticalSection(&uv__signal_lock);
-
- return dispatched;
-}
-
-
-static BOOL WINAPI uv__signal_control_handler(DWORD type) {
- switch (type) {
- case CTRL_C_EVENT:
- return uv__signal_dispatch(SIGINT);
-
- case CTRL_BREAK_EVENT:
- return uv__signal_dispatch(SIGBREAK);
-
- case CTRL_CLOSE_EVENT:
- if (uv__signal_dispatch(SIGHUP)) {
- /* Windows will terminate the process after the control handler
- * returns. After that it will just terminate our process. Therefore
- * block the signal handler so the main loop has some time to pick up
- * the signal and do something for a few seconds. */
- Sleep(INFINITE);
- return TRUE;
- }
- return FALSE;
-
- case CTRL_LOGOFF_EVENT:
- case CTRL_SHUTDOWN_EVENT:
- /* These signals are only sent to services. Services have their own
- * notification mechanism, so there's no point in handling these. */
-
- default:
- /* We don't handle these. */
- return FALSE;
- }
-}
-
-
-int uv_signal_init(uv_loop_t* loop, uv_signal_t* handle) {
- uv__handle_init(loop, (uv_handle_t*) handle, UV_SIGNAL);
- handle->pending_signum = 0;
- handle->signum = 0;
- handle->signal_cb = NULL;
-
- UV_REQ_INIT(&handle->signal_req, UV_SIGNAL_REQ);
- handle->signal_req.data = handle;
-
- return 0;
-}
-
-
-int uv_signal_stop(uv_signal_t* handle) {
- uv_signal_t* removed_handle;
-
- /* If the watcher wasn't started, this is a no-op. */
- if (handle->signum == 0)
- return 0;
-
- EnterCriticalSection(&uv__signal_lock);
-
- removed_handle = RB_REMOVE(uv_signal_tree_s, &uv__signal_tree, handle);
- assert(removed_handle == handle);
-
- LeaveCriticalSection(&uv__signal_lock);
-
- handle->signum = 0;
- uv__handle_stop(handle);
-
- return 0;
-}
-
-
-int uv_signal_start(uv_signal_t* handle, uv_signal_cb signal_cb, int signum) {
- return uv__signal_start(handle, signal_cb, signum, 0);
-}
-
-
-int uv_signal_start_oneshot(uv_signal_t* handle,
- uv_signal_cb signal_cb,
- int signum) {
- return uv__signal_start(handle, signal_cb, signum, 1);
-}
-
-
-int uv__signal_start(uv_signal_t* handle,
- uv_signal_cb signal_cb,
- int signum,
- int oneshot) {
- /* Test for invalid signal values. */
- if (signum != SIGWINCH && (signum <= 0 || signum >= NSIG))
- return UV_EINVAL;
-
- /* Short circuit: if the signal watcher is already watching {signum} don't go
- * through the process of deregistering and registering the handler.
- * Additionally, this avoids pending signals getting lost in the (small) time
- * frame that handle->signum == 0. */
- if (signum == handle->signum) {
- handle->signal_cb = signal_cb;
- return 0;
- }
-
- /* If the signal handler was already active, stop it first. */
- if (handle->signum != 0) {
- int r = uv_signal_stop(handle);
- /* uv_signal_stop is infallible. */
- assert(r == 0);
- }
-
- EnterCriticalSection(&uv__signal_lock);
-
- handle->signum = signum;
- if (oneshot)
- handle->flags |= UV__SIGNAL_ONE_SHOT;
-
- RB_INSERT(uv_signal_tree_s, &uv__signal_tree, handle);
-
- LeaveCriticalSection(&uv__signal_lock);
-
- handle->signal_cb = signal_cb;
- uv__handle_start(handle);
-
- return 0;
-}
-
-
-void uv_process_signal_req(uv_loop_t* loop, uv_signal_t* handle,
- uv_req_t* req) {
- long dispatched_signum;
-
- assert(handle->type == UV_SIGNAL);
- assert(req->type == UV_SIGNAL_REQ);
-
- dispatched_signum = InterlockedExchange(
- (volatile LONG*) &handle->pending_signum, 0);
- assert(dispatched_signum != 0);
-
- /* Check if the pending signal equals the signum that we are watching for.
- * These can get out of sync when the handler is stopped and restarted while
- * the signal_req is pending. */
- if (dispatched_signum == handle->signum)
- handle->signal_cb(handle, dispatched_signum);
-
- if (handle->flags & UV__SIGNAL_ONE_SHOT)
- uv_signal_stop(handle);
-
- if (handle->flags & UV__HANDLE_CLOSING) {
- /* When it is closing, it must be stopped at this point. */
- assert(handle->signum == 0);
- uv_want_endgame(loop, (uv_handle_t*) handle);
- }
-}
-
-
-void uv_signal_close(uv_loop_t* loop, uv_signal_t* handle) {
- uv_signal_stop(handle);
- uv__handle_closing(handle);
-
- if (handle->pending_signum == 0) {
- uv_want_endgame(loop, (uv_handle_t*) handle);
- }
-}
-
-
-void uv_signal_endgame(uv_loop_t* loop, uv_signal_t* handle) {
- assert(handle->flags & UV__HANDLE_CLOSING);
- assert(!(handle->flags & UV_HANDLE_CLOSED));
-
- assert(handle->signum == 0);
- assert(handle->pending_signum == 0);
-
- handle->flags |= UV_HANDLE_CLOSED;
-
- uv__handle_close(handle);
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/stream.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/stream.cpp
deleted file mode 100644
index 3273a03..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/stream.cpp
+++ /dev/null
@@ -1,240 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include <assert.h>
-
-#include "uv.h"
-#include "internal.h"
-#include "handle-inl.h"
-#include "req-inl.h"
-
-
-int uv_listen(uv_stream_t* stream, int backlog, uv_connection_cb cb) {
- int err;
-
- err = ERROR_INVALID_PARAMETER;
- switch (stream->type) {
- case UV_TCP:
- err = uv_tcp_listen((uv_tcp_t*)stream, backlog, cb);
- break;
- case UV_NAMED_PIPE:
- err = uv_pipe_listen((uv_pipe_t*)stream, backlog, cb);
- break;
- default:
- assert(0);
- }
-
- return uv_translate_sys_error(err);
-}
-
-
-int uv_accept(uv_stream_t* server, uv_stream_t* client) {
- int err;
-
- err = ERROR_INVALID_PARAMETER;
- switch (server->type) {
- case UV_TCP:
- err = uv_tcp_accept((uv_tcp_t*)server, (uv_tcp_t*)client);
- break;
- case UV_NAMED_PIPE:
- err = uv_pipe_accept((uv_pipe_t*)server, client);
- break;
- default:
- assert(0);
- }
-
- return uv_translate_sys_error(err);
-}
-
-
-int uv_read_start(uv_stream_t* handle, uv_alloc_cb alloc_cb,
- uv_read_cb read_cb) {
- int err;
-
- if (handle->flags & UV_HANDLE_READING) {
- return UV_EALREADY;
- }
-
- if (!(handle->flags & UV_HANDLE_READABLE)) {
- return UV_ENOTCONN;
- }
-
- err = ERROR_INVALID_PARAMETER;
- switch (handle->type) {
- case UV_TCP:
- err = uv_tcp_read_start((uv_tcp_t*)handle, alloc_cb, read_cb);
- break;
- case UV_NAMED_PIPE:
- err = uv_pipe_read_start((uv_pipe_t*)handle, alloc_cb, read_cb);
- break;
- case UV_TTY:
- err = uv_tty_read_start((uv_tty_t*) handle, alloc_cb, read_cb);
- break;
- default:
- assert(0);
- }
-
- return uv_translate_sys_error(err);
-}
-
-
-int uv_read_stop(uv_stream_t* handle) {
- int err;
-
- if (!(handle->flags & UV_HANDLE_READING))
- return 0;
-
- err = 0;
- if (handle->type == UV_TTY) {
- err = uv_tty_read_stop((uv_tty_t*) handle);
- } else if (handle->type == UV_NAMED_PIPE) {
- uv__pipe_read_stop((uv_pipe_t*) handle);
- } else {
- handle->flags &= ~UV_HANDLE_READING;
- DECREASE_ACTIVE_COUNT(handle->loop, handle);
- }
-
- return uv_translate_sys_error(err);
-}
-
-
-int uv_write(uv_write_t* req,
- uv_stream_t* handle,
- const uv_buf_t bufs[],
- unsigned int nbufs,
- uv_write_cb cb) {
- uv_loop_t* loop = handle->loop;
- int err;
-
- if (!(handle->flags & UV_HANDLE_WRITABLE)) {
- return UV_EPIPE;
- }
-
- err = ERROR_INVALID_PARAMETER;
- switch (handle->type) {
- case UV_TCP:
- err = uv_tcp_write(loop, req, (uv_tcp_t*) handle, bufs, nbufs, cb);
- break;
- case UV_NAMED_PIPE:
- err = uv__pipe_write(
- loop, req, (uv_pipe_t*) handle, bufs, nbufs, NULL, cb);
- break;
- case UV_TTY:
- err = uv_tty_write(loop, req, (uv_tty_t*) handle, bufs, nbufs, cb);
- break;
- default:
- assert(0);
- }
-
- return uv_translate_sys_error(err);
-}
-
-
-int uv_write2(uv_write_t* req,
- uv_stream_t* handle,
- const uv_buf_t bufs[],
- unsigned int nbufs,
- uv_stream_t* send_handle,
- uv_write_cb cb) {
- uv_loop_t* loop = handle->loop;
- int err;
-
- if (send_handle == NULL) {
- return uv_write(req, handle, bufs, nbufs, cb);
- }
-
- if (handle->type != UV_NAMED_PIPE || !((uv_pipe_t*) handle)->ipc) {
- return UV_EINVAL;
- } else if (!(handle->flags & UV_HANDLE_WRITABLE)) {
- return UV_EPIPE;
- }
-
- err = uv__pipe_write(
- loop, req, (uv_pipe_t*) handle, bufs, nbufs, send_handle, cb);
- return uv_translate_sys_error(err);
-}
-
-
-int uv_try_write(uv_stream_t* stream,
- const uv_buf_t bufs[],
- unsigned int nbufs) {
- if (stream->flags & UV__HANDLE_CLOSING)
- return UV_EBADF;
- if (!(stream->flags & UV_HANDLE_WRITABLE))
- return UV_EPIPE;
-
- switch (stream->type) {
- case UV_TCP:
- return uv__tcp_try_write((uv_tcp_t*) stream, bufs, nbufs);
- case UV_TTY:
- return uv__tty_try_write((uv_tty_t*) stream, bufs, nbufs);
- case UV_NAMED_PIPE:
- return UV_EAGAIN;
- default:
- assert(0);
- return UV_ENOSYS;
- }
-}
-
-
-int uv_shutdown(uv_shutdown_t* req, uv_stream_t* handle, uv_shutdown_cb cb) {
- uv_loop_t* loop = handle->loop;
-
- if (!(handle->flags & UV_HANDLE_WRITABLE)) {
- return UV_EPIPE;
- }
-
- UV_REQ_INIT(req, UV_SHUTDOWN);
- req->handle = handle;
- req->cb = cb;
-
- handle->flags &= ~UV_HANDLE_WRITABLE;
- handle->stream.conn.shutdown_req = req;
- handle->reqs_pending++;
- REGISTER_HANDLE_REQ(loop, handle, req);
-
- uv_want_endgame(loop, (uv_handle_t*)handle);
-
- return 0;
-}
-
-
-int uv_is_readable(const uv_stream_t* handle) {
- return !!(handle->flags & UV_HANDLE_READABLE);
-}
-
-
-int uv_is_writable(const uv_stream_t* handle) {
- return !!(handle->flags & UV_HANDLE_WRITABLE);
-}
-
-
-int uv_stream_set_blocking(uv_stream_t* handle, int blocking) {
- if (handle->type != UV_NAMED_PIPE)
- return UV_EINVAL;
-
- if (blocking != 0)
- handle->flags |= UV_HANDLE_BLOCKING_WRITES;
- else
- handle->flags &= ~UV_HANDLE_BLOCKING_WRITES;
-
- return 0;
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/tcp.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/tcp.cpp
deleted file mode 100644
index 38cd73e..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/tcp.cpp
+++ /dev/null
@@ -1,1515 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include <assert.h>
-#include <stdlib.h>
-
-#include "uv.h"
-#include "internal.h"
-#include "handle-inl.h"
-#include "stream-inl.h"
-#include "req-inl.h"
-
-
-/*
- * Threshold of active tcp streams for which to preallocate tcp read buffers.
- * (Due to node slab allocator performing poorly under this pattern,
- * the optimization is temporarily disabled (threshold=0). This will be
- * revisited once node allocator is improved.)
- */
-const unsigned int uv_active_tcp_streams_threshold = 0;
-
-/*
- * Number of simultaneous pending AcceptEx calls.
- */
-const unsigned int uv_simultaneous_server_accepts = 32;
-
-/* A zero-size buffer for use by uv_tcp_read */
-static char uv_zero_[] = "";
-
-static int uv__tcp_nodelay(uv_tcp_t* handle, SOCKET socket, int enable) {
- if (setsockopt(socket,
- IPPROTO_TCP,
- TCP_NODELAY,
- (const char*)&enable,
- sizeof enable) == -1) {
- return WSAGetLastError();
- }
- return 0;
-}
-
-
-static int uv__tcp_keepalive(uv_tcp_t* handle, SOCKET socket, int enable, unsigned int delay) {
- if (setsockopt(socket,
- SOL_SOCKET,
- SO_KEEPALIVE,
- (const char*)&enable,
- sizeof enable) == -1) {
- return WSAGetLastError();
- }
-
- if (enable && setsockopt(socket,
- IPPROTO_TCP,
- TCP_KEEPALIVE,
- (const char*)&delay,
- sizeof delay) == -1) {
- return WSAGetLastError();
- }
-
- return 0;
-}
-
-
-static int uv_tcp_set_socket(uv_loop_t* loop,
- uv_tcp_t* handle,
- SOCKET socket,
- int family,
- int imported) {
- DWORD yes = 1;
- int non_ifs_lsp;
- int err;
-
- if (handle->socket != INVALID_SOCKET)
- return UV_EBUSY;
-
- /* Set the socket to nonblocking mode */
- if (ioctlsocket(socket, FIONBIO, &yes) == SOCKET_ERROR) {
- return WSAGetLastError();
- }
-
- /* Make the socket non-inheritable */
- if (!SetHandleInformation((HANDLE) socket, HANDLE_FLAG_INHERIT, 0))
- return GetLastError();
-
- /* Associate it with the I/O completion port. Use uv_handle_t pointer as
- * completion key. */
- if (CreateIoCompletionPort((HANDLE)socket,
- loop->iocp,
- (ULONG_PTR)socket,
- 0) == NULL) {
- if (imported) {
- handle->flags |= UV_HANDLE_EMULATE_IOCP;
- } else {
- return GetLastError();
- }
- }
-
- if (family == AF_INET6) {
- non_ifs_lsp = uv_tcp_non_ifs_lsp_ipv6;
- } else {
- non_ifs_lsp = uv_tcp_non_ifs_lsp_ipv4;
- }
-
- if (!(handle->flags & UV_HANDLE_EMULATE_IOCP) && !non_ifs_lsp) {
- UCHAR sfcnm_flags =
- FILE_SKIP_SET_EVENT_ON_HANDLE | FILE_SKIP_COMPLETION_PORT_ON_SUCCESS;
- if (!SetFileCompletionNotificationModes((HANDLE) socket, sfcnm_flags))
- return GetLastError();
- handle->flags |= UV_HANDLE_SYNC_BYPASS_IOCP;
- }
-
- if (handle->flags & UV_HANDLE_TCP_NODELAY) {
- err = uv__tcp_nodelay(handle, socket, 1);
- if (err)
- return err;
- }
-
- /* TODO: Use stored delay. */
- if (handle->flags & UV_HANDLE_TCP_KEEPALIVE) {
- err = uv__tcp_keepalive(handle, socket, 1, 60);
- if (err)
- return err;
- }
-
- handle->socket = socket;
-
- if (family == AF_INET6) {
- handle->flags |= UV_HANDLE_IPV6;
- } else {
- assert(!(handle->flags & UV_HANDLE_IPV6));
- }
-
- return 0;
-}
-
-
-int uv_tcp_init_ex(uv_loop_t* loop, uv_tcp_t* handle, unsigned int flags) {
- int domain;
-
- /* Use the lower 8 bits for the domain */
- domain = flags & 0xFF;
- if (domain != AF_INET && domain != AF_INET6 && domain != AF_UNSPEC)
- return UV_EINVAL;
-
- if (flags & ~0xFF)
- return UV_EINVAL;
-
- uv_stream_init(loop, (uv_stream_t*) handle, UV_TCP);
- handle->tcp.serv.accept_reqs = NULL;
- handle->tcp.serv.pending_accepts = NULL;
- handle->socket = INVALID_SOCKET;
- handle->reqs_pending = 0;
- handle->tcp.serv.func_acceptex = NULL;
- handle->tcp.conn.func_connectex = NULL;
- handle->tcp.serv.processed_accepts = 0;
- handle->delayed_error = 0;
-
- /* If anything fails beyond this point we need to remove the handle from
- * the handle queue, since it was added by uv__handle_init in uv_stream_init.
- */
-
- if (domain != AF_UNSPEC) {
- SOCKET sock;
- DWORD err;
-
- sock = socket(domain, SOCK_STREAM, 0);
- if (sock == INVALID_SOCKET) {
- err = WSAGetLastError();
- QUEUE_REMOVE(&handle->handle_queue);
- return uv_translate_sys_error(err);
- }
-
- err = uv_tcp_set_socket(handle->loop, handle, sock, domain, 0);
- if (err) {
- closesocket(sock);
- QUEUE_REMOVE(&handle->handle_queue);
- return uv_translate_sys_error(err);
- }
-
- }
-
- return 0;
-}
-
-
-int uv_tcp_init(uv_loop_t* loop, uv_tcp_t* handle) {
- return uv_tcp_init_ex(loop, handle, AF_UNSPEC);
-}
-
-
-void uv_tcp_endgame(uv_loop_t* loop, uv_tcp_t* handle) {
- int err;
- unsigned int i;
- uv_tcp_accept_t* req;
-
- if (handle->flags & UV_HANDLE_CONNECTION &&
- handle->stream.conn.shutdown_req != NULL &&
- handle->stream.conn.write_reqs_pending == 0) {
-
- UNREGISTER_HANDLE_REQ(loop, handle, handle->stream.conn.shutdown_req);
-
- err = 0;
- if (handle->flags & UV__HANDLE_CLOSING) {
- err = ERROR_OPERATION_ABORTED;
- } else if (shutdown(handle->socket, SD_SEND) == SOCKET_ERROR) {
- err = WSAGetLastError();
- }
-
- if (handle->stream.conn.shutdown_req->cb) {
- handle->stream.conn.shutdown_req->cb(handle->stream.conn.shutdown_req,
- uv_translate_sys_error(err));
- }
-
- handle->stream.conn.shutdown_req = NULL;
- DECREASE_PENDING_REQ_COUNT(handle);
- return;
- }
-
- if (handle->flags & UV__HANDLE_CLOSING &&
- handle->reqs_pending == 0) {
- assert(!(handle->flags & UV_HANDLE_CLOSED));
-
- if (!(handle->flags & UV_HANDLE_TCP_SOCKET_CLOSED)) {
- closesocket(handle->socket);
- handle->socket = INVALID_SOCKET;
- handle->flags |= UV_HANDLE_TCP_SOCKET_CLOSED;
- }
-
- if (!(handle->flags & UV_HANDLE_CONNECTION) && handle->tcp.serv.accept_reqs) {
- if (handle->flags & UV_HANDLE_EMULATE_IOCP) {
- for (i = 0; i < uv_simultaneous_server_accepts; i++) {
- req = &handle->tcp.serv.accept_reqs[i];
- if (req->wait_handle != INVALID_HANDLE_VALUE) {
- UnregisterWait(req->wait_handle);
- req->wait_handle = INVALID_HANDLE_VALUE;
- }
- if (req->event_handle) {
- CloseHandle(req->event_handle);
- req->event_handle = NULL;
- }
- }
- }
-
- uv__free(handle->tcp.serv.accept_reqs);
- handle->tcp.serv.accept_reqs = NULL;
- }
-
- if (handle->flags & UV_HANDLE_CONNECTION &&
- handle->flags & UV_HANDLE_EMULATE_IOCP) {
- if (handle->read_req.wait_handle != INVALID_HANDLE_VALUE) {
- UnregisterWait(handle->read_req.wait_handle);
- handle->read_req.wait_handle = INVALID_HANDLE_VALUE;
- }
- if (handle->read_req.event_handle) {
- CloseHandle(handle->read_req.event_handle);
- handle->read_req.event_handle = NULL;
- }
- }
-
- uv__handle_close(handle);
- loop->active_tcp_streams--;
- }
-}
-
-
-/* Unlike on Unix, here we don't set SO_REUSEADDR, because it doesn't just
- * allow binding to addresses that are in use by sockets in TIME_WAIT, it
- * effectively allows 'stealing' a port which is in use by another application.
- *
- * SO_EXCLUSIVEADDRUSE is also not good here because it does check all sockets,
- * regardless of state, so we'd get an error even if the port is in use by a
- * socket in TIME_WAIT state.
- *
- * See issue #1360.
- *
- */
-static int uv_tcp_try_bind(uv_tcp_t* handle,
- const struct sockaddr* addr,
- unsigned int addrlen,
- unsigned int flags) {
- DWORD err;
- int r;
-
- if (handle->socket == INVALID_SOCKET) {
- SOCKET sock;
-
- /* Cannot set IPv6-only mode on non-IPv6 socket. */
- if ((flags & UV_TCP_IPV6ONLY) && addr->sa_family != AF_INET6)
- return ERROR_INVALID_PARAMETER;
-
- sock = socket(addr->sa_family, SOCK_STREAM, 0);
- if (sock == INVALID_SOCKET) {
- return WSAGetLastError();
- }
-
- err = uv_tcp_set_socket(handle->loop, handle, sock, addr->sa_family, 0);
- if (err) {
- closesocket(sock);
- return err;
- }
- }
-
-#ifdef IPV6_V6ONLY
- if (addr->sa_family == AF_INET6) {
- int on;
-
- on = (flags & UV_TCP_IPV6ONLY) != 0;
-
- /* TODO: how to handle errors? This may fail if there is no ipv4 stack
- * available, or when run on XP/2003 which have no support for dualstack
- * sockets. For now we're silently ignoring the error. */
- setsockopt(handle->socket,
- IPPROTO_IPV6,
- IPV6_V6ONLY,
- (const char*)&on,
- sizeof on);
- }
-#endif
-
- r = bind(handle->socket, addr, addrlen);
-
- if (r == SOCKET_ERROR) {
- err = WSAGetLastError();
- if (err == WSAEADDRINUSE) {
- /* Some errors are not to be reported until connect() or listen() */
- handle->delayed_error = err;
- } else {
- return err;
- }
- }
-
- handle->flags |= UV_HANDLE_BOUND;
-
- return 0;
-}
-
-
-static void CALLBACK post_completion(void* context, BOOLEAN timed_out) {
- uv_req_t* req;
- uv_tcp_t* handle;
-
- req = (uv_req_t*) context;
- assert(req != NULL);
- handle = (uv_tcp_t*)req->data;
- assert(handle != NULL);
- assert(!timed_out);
-
- if (!PostQueuedCompletionStatus(handle->loop->iocp,
- req->u.io.overlapped.InternalHigh,
- 0,
- &req->u.io.overlapped)) {
- uv_fatal_error(GetLastError(), "PostQueuedCompletionStatus");
- }
-}
-
-
-static void CALLBACK post_write_completion(void* context, BOOLEAN timed_out) {
- uv_write_t* req;
- uv_tcp_t* handle;
-
- req = (uv_write_t*) context;
- assert(req != NULL);
- handle = (uv_tcp_t*)req->handle;
- assert(handle != NULL);
- assert(!timed_out);
-
- if (!PostQueuedCompletionStatus(handle->loop->iocp,
- req->u.io.overlapped.InternalHigh,
- 0,
- &req->u.io.overlapped)) {
- uv_fatal_error(GetLastError(), "PostQueuedCompletionStatus");
- }
-}
-
-
-static void uv_tcp_queue_accept(uv_tcp_t* handle, uv_tcp_accept_t* req) {
- uv_loop_t* loop = handle->loop;
- BOOL success;
- DWORD bytes;
- SOCKET accept_socket;
- short family;
-
- assert(handle->flags & UV_HANDLE_LISTENING);
- assert(req->accept_socket == INVALID_SOCKET);
-
- /* choose family and extension function */
- if (handle->flags & UV_HANDLE_IPV6) {
- family = AF_INET6;
- } else {
- family = AF_INET;
- }
-
- /* Open a socket for the accepted connection. */
- accept_socket = socket(family, SOCK_STREAM, 0);
- if (accept_socket == INVALID_SOCKET) {
- SET_REQ_ERROR(req, WSAGetLastError());
- uv_insert_pending_req(loop, (uv_req_t*)req);
- handle->reqs_pending++;
- return;
- }
-
- /* Make the socket non-inheritable */
- if (!SetHandleInformation((HANDLE) accept_socket, HANDLE_FLAG_INHERIT, 0)) {
- SET_REQ_ERROR(req, GetLastError());
- uv_insert_pending_req(loop, (uv_req_t*)req);
- handle->reqs_pending++;
- closesocket(accept_socket);
- return;
- }
-
- /* Prepare the overlapped structure. */
- memset(&(req->u.io.overlapped), 0, sizeof(req->u.io.overlapped));
- if (handle->flags & UV_HANDLE_EMULATE_IOCP) {
- req->u.io.overlapped.hEvent = (HANDLE) ((ULONG_PTR) req->event_handle | 1);
- }
-
- success = handle->tcp.serv.func_acceptex(handle->socket,
- accept_socket,
- (void*)req->accept_buffer,
- 0,
- sizeof(struct sockaddr_storage),
- sizeof(struct sockaddr_storage),
- &bytes,
- &req->u.io.overlapped);
-
- if (UV_SUCCEEDED_WITHOUT_IOCP(success)) {
- /* Process the req without IOCP. */
- req->accept_socket = accept_socket;
- handle->reqs_pending++;
- uv_insert_pending_req(loop, (uv_req_t*)req);
- } else if (UV_SUCCEEDED_WITH_IOCP(success)) {
- /* The req will be processed with IOCP. */
- req->accept_socket = accept_socket;
- handle->reqs_pending++;
- if (handle->flags & UV_HANDLE_EMULATE_IOCP &&
- req->wait_handle == INVALID_HANDLE_VALUE &&
- !RegisterWaitForSingleObject(&req->wait_handle,
- req->event_handle, post_completion, (void*) req,
- INFINITE, WT_EXECUTEINWAITTHREAD)) {
- SET_REQ_ERROR(req, GetLastError());
- uv_insert_pending_req(loop, (uv_req_t*)req);
- }
- } else {
- /* Make this req pending reporting an error. */
- SET_REQ_ERROR(req, WSAGetLastError());
- uv_insert_pending_req(loop, (uv_req_t*)req);
- handle->reqs_pending++;
- /* Destroy the preallocated client socket. */
- closesocket(accept_socket);
- /* Destroy the event handle */
- if (handle->flags & UV_HANDLE_EMULATE_IOCP) {
- CloseHandle(req->u.io.overlapped.hEvent);
- req->event_handle = NULL;
- }
- }
-}
-
-
-static void uv_tcp_queue_read(uv_loop_t* loop, uv_tcp_t* handle) {
- uv_read_t* req;
- uv_buf_t buf;
- int result;
- DWORD bytes, flags;
-
- assert(handle->flags & UV_HANDLE_READING);
- assert(!(handle->flags & UV_HANDLE_READ_PENDING));
-
- req = &handle->read_req;
- memset(&req->u.io.overlapped, 0, sizeof(req->u.io.overlapped));
-
- /*
- * Preallocate a read buffer if the number of active streams is below
- * the threshold.
- */
- if (loop->active_tcp_streams < uv_active_tcp_streams_threshold) {
- handle->flags &= ~UV_HANDLE_ZERO_READ;
- handle->tcp.conn.read_buffer = uv_buf_init(NULL, 0);
- handle->alloc_cb((uv_handle_t*) handle, 65536, &handle->tcp.conn.read_buffer);
- if (handle->tcp.conn.read_buffer.base == NULL ||
- handle->tcp.conn.read_buffer.len == 0) {
- handle->read_cb((uv_stream_t*) handle, UV_ENOBUFS, &handle->tcp.conn.read_buffer);
- return;
- }
- assert(handle->tcp.conn.read_buffer.base != NULL);
- buf = handle->tcp.conn.read_buffer;
- } else {
- handle->flags |= UV_HANDLE_ZERO_READ;
- buf.base = (char*) &uv_zero_;
- buf.len = 0;
- }
-
- /* Prepare the overlapped structure. */
- memset(&(req->u.io.overlapped), 0, sizeof(req->u.io.overlapped));
- if (handle->flags & UV_HANDLE_EMULATE_IOCP) {
- assert(req->event_handle);
- req->u.io.overlapped.hEvent = (HANDLE) ((ULONG_PTR) req->event_handle | 1);
- }
-
- flags = 0;
- result = WSARecv(handle->socket,
- (WSABUF*)&buf,
- 1,
- &bytes,
- &flags,
- &req->u.io.overlapped,
- NULL);
-
- if (UV_SUCCEEDED_WITHOUT_IOCP(result == 0)) {
- /* Process the req without IOCP. */
- handle->flags |= UV_HANDLE_READ_PENDING;
- req->u.io.overlapped.InternalHigh = bytes;
- handle->reqs_pending++;
- uv_insert_pending_req(loop, (uv_req_t*)req);
- } else if (UV_SUCCEEDED_WITH_IOCP(result == 0)) {
- /* The req will be processed with IOCP. */
- handle->flags |= UV_HANDLE_READ_PENDING;
- handle->reqs_pending++;
- if (handle->flags & UV_HANDLE_EMULATE_IOCP &&
- req->wait_handle == INVALID_HANDLE_VALUE &&
- !RegisterWaitForSingleObject(&req->wait_handle,
- req->event_handle, post_completion, (void*) req,
- INFINITE, WT_EXECUTEINWAITTHREAD)) {
- SET_REQ_ERROR(req, GetLastError());
- uv_insert_pending_req(loop, (uv_req_t*)req);
- }
- } else {
- /* Make this req pending reporting an error. */
- SET_REQ_ERROR(req, WSAGetLastError());
- uv_insert_pending_req(loop, (uv_req_t*)req);
- handle->reqs_pending++;
- }
-}
-
-
-int uv_tcp_listen(uv_tcp_t* handle, int backlog, uv_connection_cb cb) {
- unsigned int i, simultaneous_accepts;
- uv_tcp_accept_t* req;
- int err;
-
- assert(backlog > 0);
-
- if (handle->flags & UV_HANDLE_LISTENING) {
- handle->stream.serv.connection_cb = cb;
- }
-
- if (handle->flags & UV_HANDLE_READING) {
- return WSAEISCONN;
- }
-
- if (handle->delayed_error) {
- return handle->delayed_error;
- }
-
- if (!(handle->flags & UV_HANDLE_BOUND)) {
- err = uv_tcp_try_bind(handle,
- (const struct sockaddr*) &uv_addr_ip4_any_,
- sizeof(uv_addr_ip4_any_),
- 0);
- if (err)
- return err;
- if (handle->delayed_error)
- return handle->delayed_error;
- }
-
- if (!handle->tcp.serv.func_acceptex) {
- if (!uv_get_acceptex_function(handle->socket, &handle->tcp.serv.func_acceptex)) {
- return WSAEAFNOSUPPORT;
- }
- }
-
- if (!(handle->flags & UV_HANDLE_SHARED_TCP_SOCKET) &&
- listen(handle->socket, backlog) == SOCKET_ERROR) {
- return WSAGetLastError();
- }
-
- handle->flags |= UV_HANDLE_LISTENING;
- handle->stream.serv.connection_cb = cb;
- INCREASE_ACTIVE_COUNT(loop, handle);
-
- simultaneous_accepts = handle->flags & UV_HANDLE_TCP_SINGLE_ACCEPT ? 1
- : uv_simultaneous_server_accepts;
-
- if(!handle->tcp.serv.accept_reqs) {
- handle->tcp.serv.accept_reqs = (uv_tcp_accept_t*)
- uv__malloc(uv_simultaneous_server_accepts * sizeof(uv_tcp_accept_t));
- if (!handle->tcp.serv.accept_reqs) {
- uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
- }
-
- for (i = 0; i < simultaneous_accepts; i++) {
- req = &handle->tcp.serv.accept_reqs[i];
- UV_REQ_INIT(req, UV_ACCEPT);
- req->accept_socket = INVALID_SOCKET;
- req->data = handle;
-
- req->wait_handle = INVALID_HANDLE_VALUE;
- if (handle->flags & UV_HANDLE_EMULATE_IOCP) {
- req->event_handle = CreateEvent(NULL, 0, 0, NULL);
- if (!req->event_handle) {
- uv_fatal_error(GetLastError(), "CreateEvent");
- }
- } else {
- req->event_handle = NULL;
- }
-
- uv_tcp_queue_accept(handle, req);
- }
-
- /* Initialize other unused requests too, because uv_tcp_endgame doesn't
- * know how many requests were initialized, so it will try to clean up
- * {uv_simultaneous_server_accepts} requests. */
- for (i = simultaneous_accepts; i < uv_simultaneous_server_accepts; i++) {
- req = &handle->tcp.serv.accept_reqs[i];
- UV_REQ_INIT(req, UV_ACCEPT);
- req->accept_socket = INVALID_SOCKET;
- req->data = handle;
- req->wait_handle = INVALID_HANDLE_VALUE;
- req->event_handle = NULL;
- }
- }
-
- return 0;
-}
-
-
-int uv_tcp_accept(uv_tcp_t* server, uv_tcp_t* client) {
- uv_loop_t* loop = server->loop;
- int err = 0;
- int family;
-
- uv_tcp_accept_t* req = server->tcp.serv.pending_accepts;
-
- if (!req) {
- /* No valid connections found, so we error out. */
- return WSAEWOULDBLOCK;
- }
-
- if (req->accept_socket == INVALID_SOCKET) {
- return WSAENOTCONN;
- }
-
- if (server->flags & UV_HANDLE_IPV6) {
- family = AF_INET6;
- } else {
- family = AF_INET;
- }
-
- err = uv_tcp_set_socket(client->loop,
- client,
- req->accept_socket,
- family,
- 0);
- if (err) {
- closesocket(req->accept_socket);
- } else {
- uv_connection_init((uv_stream_t*) client);
- /* AcceptEx() implicitly binds the accepted socket. */
- client->flags |= UV_HANDLE_BOUND | UV_HANDLE_READABLE | UV_HANDLE_WRITABLE;
- }
-
- /* Prepare the req to pick up a new connection */
- server->tcp.serv.pending_accepts = req->next_pending;
- req->next_pending = NULL;
- req->accept_socket = INVALID_SOCKET;
-
- if (!(server->flags & UV__HANDLE_CLOSING)) {
- /* Check if we're in a middle of changing the number of pending accepts. */
- if (!(server->flags & UV_HANDLE_TCP_ACCEPT_STATE_CHANGING)) {
- uv_tcp_queue_accept(server, req);
- } else {
- /* We better be switching to a single pending accept. */
- assert(server->flags & UV_HANDLE_TCP_SINGLE_ACCEPT);
-
- server->tcp.serv.processed_accepts++;
-
- if (server->tcp.serv.processed_accepts >= uv_simultaneous_server_accepts) {
- server->tcp.serv.processed_accepts = 0;
- /*
- * All previously queued accept requests are now processed.
- * We now switch to queueing just a single accept.
- */
- uv_tcp_queue_accept(server, &server->tcp.serv.accept_reqs[0]);
- server->flags &= ~UV_HANDLE_TCP_ACCEPT_STATE_CHANGING;
- server->flags |= UV_HANDLE_TCP_SINGLE_ACCEPT;
- }
- }
- }
-
- loop->active_tcp_streams++;
-
- return err;
-}
-
-
-int uv_tcp_read_start(uv_tcp_t* handle, uv_alloc_cb alloc_cb,
- uv_read_cb read_cb) {
- uv_loop_t* loop = handle->loop;
-
- handle->flags |= UV_HANDLE_READING;
- handle->read_cb = read_cb;
- handle->alloc_cb = alloc_cb;
- INCREASE_ACTIVE_COUNT(loop, handle);
-
- /* If reading was stopped and then started again, there could still be a read
- * request pending. */
- if (!(handle->flags & UV_HANDLE_READ_PENDING)) {
- if (handle->flags & UV_HANDLE_EMULATE_IOCP &&
- !handle->read_req.event_handle) {
- handle->read_req.event_handle = CreateEvent(NULL, 0, 0, NULL);
- if (!handle->read_req.event_handle) {
- uv_fatal_error(GetLastError(), "CreateEvent");
- }
- }
- uv_tcp_queue_read(loop, handle);
- }
-
- return 0;
-}
-
-
-static int uv_tcp_try_connect(uv_connect_t* req,
- uv_tcp_t* handle,
- const struct sockaddr* addr,
- unsigned int addrlen,
- uv_connect_cb cb) {
- uv_loop_t* loop = handle->loop;
- const struct sockaddr* bind_addr;
- struct sockaddr_storage converted;
- BOOL success;
- DWORD bytes;
- int err;
-
- err = uv__convert_to_localhost_if_unspecified(addr, &converted);
- if (err)
- return err;
-
- if (handle->delayed_error) {
- return handle->delayed_error;
- }
-
- if (!(handle->flags & UV_HANDLE_BOUND)) {
- if (addrlen == sizeof(uv_addr_ip4_any_)) {
- bind_addr = (const struct sockaddr*) &uv_addr_ip4_any_;
- } else if (addrlen == sizeof(uv_addr_ip6_any_)) {
- bind_addr = (const struct sockaddr*) &uv_addr_ip6_any_;
- } else {
- abort();
- }
- err = uv_tcp_try_bind(handle, bind_addr, addrlen, 0);
- if (err)
- return err;
- if (handle->delayed_error)
- return handle->delayed_error;
- }
-
- if (!handle->tcp.conn.func_connectex) {
- if (!uv_get_connectex_function(handle->socket, &handle->tcp.conn.func_connectex)) {
- return WSAEAFNOSUPPORT;
- }
- }
-
- UV_REQ_INIT(req, UV_CONNECT);
- req->handle = (uv_stream_t*) handle;
- req->cb = cb;
- memset(&req->u.io.overlapped, 0, sizeof(req->u.io.overlapped));
-
- success = handle->tcp.conn.func_connectex(handle->socket,
- (const struct sockaddr*) &converted,
- addrlen,
- NULL,
- 0,
- &bytes,
- &req->u.io.overlapped);
-
- if (UV_SUCCEEDED_WITHOUT_IOCP(success)) {
- /* Process the req without IOCP. */
- handle->reqs_pending++;
- REGISTER_HANDLE_REQ(loop, handle, req);
- uv_insert_pending_req(loop, (uv_req_t*)req);
- } else if (UV_SUCCEEDED_WITH_IOCP(success)) {
- /* The req will be processed with IOCP. */
- handle->reqs_pending++;
- REGISTER_HANDLE_REQ(loop, handle, req);
- } else {
- return WSAGetLastError();
- }
-
- return 0;
-}
-
-
-int uv_tcp_getsockname(const uv_tcp_t* handle,
- struct sockaddr* name,
- int* namelen) {
- int result;
-
- if (handle->socket == INVALID_SOCKET) {
- return UV_EINVAL;
- }
-
- if (handle->delayed_error) {
- return uv_translate_sys_error(handle->delayed_error);
- }
-
- result = getsockname(handle->socket, name, namelen);
- if (result != 0) {
- return uv_translate_sys_error(WSAGetLastError());
- }
-
- return 0;
-}
-
-
-int uv_tcp_getpeername(const uv_tcp_t* handle,
- struct sockaddr* name,
- int* namelen) {
- int result;
-
- if (handle->socket == INVALID_SOCKET) {
- return UV_EINVAL;
- }
-
- if (handle->delayed_error) {
- return uv_translate_sys_error(handle->delayed_error);
- }
-
- result = getpeername(handle->socket, name, namelen);
- if (result != 0) {
- return uv_translate_sys_error(WSAGetLastError());
- }
-
- return 0;
-}
-
-
-int uv_tcp_write(uv_loop_t* loop,
- uv_write_t* req,
- uv_tcp_t* handle,
- const uv_buf_t bufs[],
- unsigned int nbufs,
- uv_write_cb cb) {
- int result;
- DWORD bytes;
-
- UV_REQ_INIT(req, UV_WRITE);
- req->handle = (uv_stream_t*) handle;
- req->cb = cb;
-
- /* Prepare the overlapped structure. */
- memset(&(req->u.io.overlapped), 0, sizeof(req->u.io.overlapped));
- if (handle->flags & UV_HANDLE_EMULATE_IOCP) {
- req->event_handle = CreateEvent(NULL, 0, 0, NULL);
- if (!req->event_handle) {
- uv_fatal_error(GetLastError(), "CreateEvent");
- }
- req->u.io.overlapped.hEvent = (HANDLE) ((ULONG_PTR) req->event_handle | 1);
- req->wait_handle = INVALID_HANDLE_VALUE;
- }
-
- result = WSASend(handle->socket,
- (WSABUF*) bufs,
- nbufs,
- &bytes,
- 0,
- &req->u.io.overlapped,
- NULL);
-
- if (UV_SUCCEEDED_WITHOUT_IOCP(result == 0)) {
- /* Request completed immediately. */
- req->u.io.queued_bytes = 0;
- handle->reqs_pending++;
- handle->stream.conn.write_reqs_pending++;
- REGISTER_HANDLE_REQ(loop, handle, req);
- uv_insert_pending_req(loop, (uv_req_t*) req);
- } else if (UV_SUCCEEDED_WITH_IOCP(result == 0)) {
- /* Request queued by the kernel. */
- req->u.io.queued_bytes = uv__count_bufs(bufs, nbufs);
- handle->reqs_pending++;
- handle->stream.conn.write_reqs_pending++;
- REGISTER_HANDLE_REQ(loop, handle, req);
- handle->write_queue_size += req->u.io.queued_bytes;
- if (handle->flags & UV_HANDLE_EMULATE_IOCP &&
- !RegisterWaitForSingleObject(&req->wait_handle,
- req->event_handle, post_write_completion, (void*) req,
- INFINITE, WT_EXECUTEINWAITTHREAD | WT_EXECUTEONLYONCE)) {
- SET_REQ_ERROR(req, GetLastError());
- uv_insert_pending_req(loop, (uv_req_t*)req);
- }
- } else {
- /* Send failed due to an error, report it later */
- req->u.io.queued_bytes = 0;
- handle->reqs_pending++;
- handle->stream.conn.write_reqs_pending++;
- REGISTER_HANDLE_REQ(loop, handle, req);
- SET_REQ_ERROR(req, WSAGetLastError());
- uv_insert_pending_req(loop, (uv_req_t*) req);
- }
-
- return 0;
-}
-
-
-int uv__tcp_try_write(uv_tcp_t* handle,
- const uv_buf_t bufs[],
- unsigned int nbufs) {
- int result;
- DWORD bytes;
-
- if (handle->stream.conn.write_reqs_pending > 0)
- return UV_EAGAIN;
-
- result = WSASend(handle->socket,
- (WSABUF*) bufs,
- nbufs,
- &bytes,
- 0,
- NULL,
- NULL);
-
- if (result == SOCKET_ERROR)
- return uv_translate_sys_error(WSAGetLastError());
- else
- return bytes;
-}
-
-
-void uv_process_tcp_read_req(uv_loop_t* loop, uv_tcp_t* handle,
- uv_req_t* req) {
- DWORD bytes, flags, err;
- uv_buf_t buf;
-
- assert(handle->type == UV_TCP);
-
- handle->flags &= ~UV_HANDLE_READ_PENDING;
-
- if (!REQ_SUCCESS(req)) {
- /* An error occurred doing the read. */
- if ((handle->flags & UV_HANDLE_READING) ||
- !(handle->flags & UV_HANDLE_ZERO_READ)) {
- handle->flags &= ~UV_HANDLE_READING;
- DECREASE_ACTIVE_COUNT(loop, handle);
- buf = (handle->flags & UV_HANDLE_ZERO_READ) ?
- uv_buf_init(NULL, 0) : handle->tcp.conn.read_buffer;
-
- err = GET_REQ_SOCK_ERROR(req);
-
- if (err == WSAECONNABORTED) {
- /* Turn WSAECONNABORTED into UV_ECONNRESET to be consistent with Unix.
- */
- err = WSAECONNRESET;
- }
-
- handle->read_cb((uv_stream_t*)handle,
- uv_translate_sys_error(err),
- &buf);
- }
- } else {
- if (!(handle->flags & UV_HANDLE_ZERO_READ)) {
- /* The read was done with a non-zero buffer length. */
- if (req->u.io.overlapped.InternalHigh > 0) {
- /* Successful read */
- handle->read_cb((uv_stream_t*)handle,
- req->u.io.overlapped.InternalHigh,
- &handle->tcp.conn.read_buffer);
- /* Read again only if bytes == buf.len */
- if (req->u.io.overlapped.InternalHigh < handle->tcp.conn.read_buffer.len) {
- goto done;
- }
- } else {
- /* Connection closed */
- if (handle->flags & UV_HANDLE_READING) {
- handle->flags &= ~UV_HANDLE_READING;
- DECREASE_ACTIVE_COUNT(loop, handle);
- }
- handle->flags &= ~UV_HANDLE_READABLE;
-
- buf.base = 0;
- buf.len = 0;
- handle->read_cb((uv_stream_t*)handle, UV_EOF, &handle->tcp.conn.read_buffer);
- goto done;
- }
- }
-
- /* Do nonblocking reads until the buffer is empty */
- while (handle->flags & UV_HANDLE_READING) {
- buf = uv_buf_init(NULL, 0);
- handle->alloc_cb((uv_handle_t*) handle, 65536, &buf);
- if (buf.base == NULL || buf.len == 0) {
- handle->read_cb((uv_stream_t*) handle, UV_ENOBUFS, &buf);
- break;
- }
- assert(buf.base != NULL);
-
- flags = 0;
- if (WSARecv(handle->socket,
- (WSABUF*)&buf,
- 1,
- &bytes,
- &flags,
- NULL,
- NULL) != SOCKET_ERROR) {
- if (bytes > 0) {
- /* Successful read */
- handle->read_cb((uv_stream_t*)handle, bytes, &buf);
- /* Read again only if bytes == buf.len */
- if (bytes < buf.len) {
- break;
- }
- } else {
- /* Connection closed */
- handle->flags &= ~(UV_HANDLE_READING | UV_HANDLE_READABLE);
- DECREASE_ACTIVE_COUNT(loop, handle);
-
- handle->read_cb((uv_stream_t*)handle, UV_EOF, &buf);
- break;
- }
- } else {
- err = WSAGetLastError();
- if (err == WSAEWOULDBLOCK) {
- /* Read buffer was completely empty, report a 0-byte read. */
- handle->read_cb((uv_stream_t*)handle, 0, &buf);
- } else {
- /* Ouch! serious error. */
- handle->flags &= ~UV_HANDLE_READING;
- DECREASE_ACTIVE_COUNT(loop, handle);
-
- if (err == WSAECONNABORTED) {
- /* Turn WSAECONNABORTED into UV_ECONNRESET to be consistent with
- * Unix. */
- err = WSAECONNRESET;
- }
-
- handle->read_cb((uv_stream_t*)handle,
- uv_translate_sys_error(err),
- &buf);
- }
- break;
- }
- }
-
-done:
- /* Post another read if still reading and not closing. */
- if ((handle->flags & UV_HANDLE_READING) &&
- !(handle->flags & UV_HANDLE_READ_PENDING)) {
- uv_tcp_queue_read(loop, handle);
- }
- }
-
- DECREASE_PENDING_REQ_COUNT(handle);
-}
-
-
-void uv_process_tcp_write_req(uv_loop_t* loop, uv_tcp_t* handle,
- uv_write_t* req) {
- int err;
-
- assert(handle->type == UV_TCP);
-
- assert(handle->write_queue_size >= req->u.io.queued_bytes);
- handle->write_queue_size -= req->u.io.queued_bytes;
-
- UNREGISTER_HANDLE_REQ(loop, handle, req);
-
- if (handle->flags & UV_HANDLE_EMULATE_IOCP) {
- if (req->wait_handle != INVALID_HANDLE_VALUE) {
- UnregisterWait(req->wait_handle);
- req->wait_handle = INVALID_HANDLE_VALUE;
- }
- if (req->event_handle) {
- CloseHandle(req->event_handle);
- req->event_handle = NULL;
- }
- }
-
- if (req->cb) {
- err = uv_translate_sys_error(GET_REQ_SOCK_ERROR(req));
- if (err == UV_ECONNABORTED) {
- /* use UV_ECANCELED for consistency with Unix */
- err = UV_ECANCELED;
- }
- req->cb(req, err);
- }
-
- handle->stream.conn.write_reqs_pending--;
- if (handle->stream.conn.shutdown_req != NULL &&
- handle->stream.conn.write_reqs_pending == 0) {
- uv_want_endgame(loop, (uv_handle_t*)handle);
- }
-
- DECREASE_PENDING_REQ_COUNT(handle);
-}
-
-
-void uv_process_tcp_accept_req(uv_loop_t* loop, uv_tcp_t* handle,
- uv_req_t* raw_req) {
- uv_tcp_accept_t* req = (uv_tcp_accept_t*) raw_req;
- int err;
-
- assert(handle->type == UV_TCP);
-
- /* If handle->accepted_socket is not a valid socket, then uv_queue_accept
- * must have failed. This is a serious error. We stop accepting connections
- * and report this error to the connection callback. */
- if (req->accept_socket == INVALID_SOCKET) {
- if (handle->flags & UV_HANDLE_LISTENING) {
- handle->flags &= ~UV_HANDLE_LISTENING;
- DECREASE_ACTIVE_COUNT(loop, handle);
- if (handle->stream.serv.connection_cb) {
- err = GET_REQ_SOCK_ERROR(req);
- handle->stream.serv.connection_cb((uv_stream_t*)handle,
- uv_translate_sys_error(err));
- }
- }
- } else if (REQ_SUCCESS(req) &&
- setsockopt(req->accept_socket,
- SOL_SOCKET,
- SO_UPDATE_ACCEPT_CONTEXT,
- (char*)&handle->socket,
- sizeof(handle->socket)) == 0) {
- req->next_pending = handle->tcp.serv.pending_accepts;
- handle->tcp.serv.pending_accepts = req;
-
- /* Accept and SO_UPDATE_ACCEPT_CONTEXT were successful. */
- if (handle->stream.serv.connection_cb) {
- handle->stream.serv.connection_cb((uv_stream_t*)handle, 0);
- }
- } else {
- /* Error related to accepted socket is ignored because the server socket
- * may still be healthy. If the server socket is broken uv_queue_accept
- * will detect it. */
- closesocket(req->accept_socket);
- req->accept_socket = INVALID_SOCKET;
- if (handle->flags & UV_HANDLE_LISTENING) {
- uv_tcp_queue_accept(handle, req);
- }
- }
-
- DECREASE_PENDING_REQ_COUNT(handle);
-}
-
-
-void uv_process_tcp_connect_req(uv_loop_t* loop, uv_tcp_t* handle,
- uv_connect_t* req) {
- int err;
-
- assert(handle->type == UV_TCP);
-
- UNREGISTER_HANDLE_REQ(loop, handle, req);
-
- err = 0;
- if (REQ_SUCCESS(req)) {
- if (handle->flags & UV__HANDLE_CLOSING) {
- /* use UV_ECANCELED for consistency with Unix */
- err = ERROR_OPERATION_ABORTED;
- } else if (setsockopt(handle->socket,
- SOL_SOCKET,
- SO_UPDATE_CONNECT_CONTEXT,
- NULL,
- 0) == 0) {
- uv_connection_init((uv_stream_t*)handle);
- handle->flags |= UV_HANDLE_READABLE | UV_HANDLE_WRITABLE;
- loop->active_tcp_streams++;
- } else {
- err = WSAGetLastError();
- }
- } else {
- err = GET_REQ_SOCK_ERROR(req);
- }
- req->cb(req, uv_translate_sys_error(err));
-
- DECREASE_PENDING_REQ_COUNT(handle);
-}
-
-
-int uv__tcp_xfer_export(uv_tcp_t* handle,
- int target_pid,
- uv__ipc_socket_xfer_info_t* xfer_info) {
- if (!(handle->flags & UV_HANDLE_CONNECTION)) {
- /* We're about to share the socket with another process. Because this is a
- * listening socket, we assume that the other process will be accepting
- * connections on it. Thus, before sharing the socket with another process,
- * we call listen here in the parent process. */
- if (!(handle->flags & UV_HANDLE_LISTENING)) {
- if (!(handle->flags & UV_HANDLE_BOUND)) {
- return ERROR_NOT_SUPPORTED;
- }
- if (handle->delayed_error == 0 &&
- listen(handle->socket, SOMAXCONN) == SOCKET_ERROR) {
- handle->delayed_error = WSAGetLastError();
- }
- }
- }
-
- if (WSADuplicateSocketW(
- handle->socket, target_pid, &xfer_info->socket_info)) {
- return WSAGetLastError();
- }
- xfer_info->delayed_error = handle->delayed_error;
- xfer_info->flags = handle->flags & UV_HANDLE_CONNECTION;
-
- /* Mark the local copy of the handle as 'shared' so we behave in a way that's
- * friendly to the process(es) that we share the socket with. */
- handle->flags |= UV_HANDLE_SHARED_TCP_SOCKET;
-
- return 0;
-}
-
-
-int uv__tcp_xfer_import(uv_tcp_t* tcp, uv__ipc_socket_xfer_info_t* xfer_info) {
- int err;
- SOCKET socket = WSASocketW(FROM_PROTOCOL_INFO,
- FROM_PROTOCOL_INFO,
- FROM_PROTOCOL_INFO,
- &xfer_info->socket_info,
- 0,
- WSA_FLAG_OVERLAPPED);
-
- if (socket == INVALID_SOCKET) {
- return WSAGetLastError();
- }
-
- err = uv_tcp_set_socket(
- tcp->loop, tcp, socket, xfer_info->socket_info.iAddressFamily, 1);
- if (err) {
- closesocket(socket);
- return err;
- }
-
- tcp->delayed_error = xfer_info->delayed_error;
- tcp->flags |= UV_HANDLE_BOUND | UV_HANDLE_SHARED_TCP_SOCKET;
-
- if (xfer_info->flags & UV_HANDLE_CONNECTION) {
- uv_connection_init((uv_stream_t*)tcp);
- tcp->flags |= UV_HANDLE_READABLE | UV_HANDLE_WRITABLE;
- }
-
- tcp->loop->active_tcp_streams++;
- return 0;
-}
-
-
-int uv_tcp_nodelay(uv_tcp_t* handle, int enable) {
- int err;
-
- if (handle->socket != INVALID_SOCKET) {
- err = uv__tcp_nodelay(handle, handle->socket, enable);
- if (err)
- return err;
- }
-
- if (enable) {
- handle->flags |= UV_HANDLE_TCP_NODELAY;
- } else {
- handle->flags &= ~UV_HANDLE_TCP_NODELAY;
- }
-
- return 0;
-}
-
-
-int uv_tcp_keepalive(uv_tcp_t* handle, int enable, unsigned int delay) {
- int err;
-
- if (handle->socket != INVALID_SOCKET) {
- err = uv__tcp_keepalive(handle, handle->socket, enable, delay);
- if (err)
- return err;
- }
-
- if (enable) {
- handle->flags |= UV_HANDLE_TCP_KEEPALIVE;
- } else {
- handle->flags &= ~UV_HANDLE_TCP_KEEPALIVE;
- }
-
- /* TODO: Store delay if handle->socket isn't created yet. */
-
- return 0;
-}
-
-
-int uv_tcp_simultaneous_accepts(uv_tcp_t* handle, int enable) {
- if (handle->flags & UV_HANDLE_CONNECTION) {
- return UV_EINVAL;
- }
-
- /* Check if we're already in the desired mode. */
- if ((enable && !(handle->flags & UV_HANDLE_TCP_SINGLE_ACCEPT)) ||
- (!enable && handle->flags & UV_HANDLE_TCP_SINGLE_ACCEPT)) {
- return 0;
- }
-
- /* Don't allow switching from single pending accept to many. */
- if (enable) {
- return UV_ENOTSUP;
- }
-
- /* Check if we're in a middle of changing the number of pending accepts. */
- if (handle->flags & UV_HANDLE_TCP_ACCEPT_STATE_CHANGING) {
- return 0;
- }
-
- handle->flags |= UV_HANDLE_TCP_SINGLE_ACCEPT;
-
- /* Flip the changing flag if we have already queued multiple accepts. */
- if (handle->flags & UV_HANDLE_LISTENING) {
- handle->flags |= UV_HANDLE_TCP_ACCEPT_STATE_CHANGING;
- }
-
- return 0;
-}
-
-
-static int uv_tcp_try_cancel_io(uv_tcp_t* tcp) {
- SOCKET socket = tcp->socket;
- int non_ifs_lsp;
-
- /* Check if we have any non-IFS LSPs stacked on top of TCP */
- non_ifs_lsp = (tcp->flags & UV_HANDLE_IPV6) ? uv_tcp_non_ifs_lsp_ipv6 :
- uv_tcp_non_ifs_lsp_ipv4;
-
- /* If there are non-ifs LSPs then try to obtain a base handle for the socket.
- * This will always fail on Windows XP/3k. */
- if (non_ifs_lsp) {
- DWORD bytes;
- if (WSAIoctl(socket,
- SIO_BASE_HANDLE,
- NULL,
- 0,
- &socket,
- sizeof socket,
- &bytes,
- NULL,
- NULL) != 0) {
- /* Failed. We can't do CancelIo. */
- return -1;
- }
- }
-
- assert(socket != 0 && socket != INVALID_SOCKET);
-
- if (!CancelIo((HANDLE) socket)) {
- return GetLastError();
- }
-
- /* It worked. */
- return 0;
-}
-
-
-void uv_tcp_close(uv_loop_t* loop, uv_tcp_t* tcp) {
- int close_socket = 1;
-
- if (tcp->flags & UV_HANDLE_READ_PENDING) {
- /* In order for winsock to do a graceful close there must not be any any
- * pending reads, or the socket must be shut down for writing */
- if (!(tcp->flags & UV_HANDLE_SHARED_TCP_SOCKET)) {
- /* Just do shutdown on non-shared sockets, which ensures graceful close. */
- shutdown(tcp->socket, SD_SEND);
-
- } else if (uv_tcp_try_cancel_io(tcp) == 0) {
- /* In case of a shared socket, we try to cancel all outstanding I/O,. If
- * that works, don't close the socket yet - wait for the read req to
- * return and close the socket in uv_tcp_endgame. */
- close_socket = 0;
-
- } else {
- /* When cancelling isn't possible - which could happen when an LSP is
- * present on an old Windows version, we will have to close the socket
- * with a read pending. That is not nice because trailing sent bytes may
- * not make it to the other side. */
- }
-
- } else if ((tcp->flags & UV_HANDLE_SHARED_TCP_SOCKET) &&
- tcp->tcp.serv.accept_reqs != NULL) {
- /* Under normal circumstances closesocket() will ensure that all pending
- * accept reqs are canceled. However, when the socket is shared the
- * presence of another reference to the socket in another process will keep
- * the accept reqs going, so we have to ensure that these are canceled. */
- if (uv_tcp_try_cancel_io(tcp) != 0) {
- /* When cancellation is not possible, there is another option: we can
- * close the incoming sockets, which will also cancel the accept
- * operations. However this is not cool because we might inadvertently
- * close a socket that just accepted a new connection, which will cause
- * the connection to be aborted. */
- unsigned int i;
- for (i = 0; i < uv_simultaneous_server_accepts; i++) {
- uv_tcp_accept_t* req = &tcp->tcp.serv.accept_reqs[i];
- if (req->accept_socket != INVALID_SOCKET &&
- !HasOverlappedIoCompleted(&req->u.io.overlapped)) {
- closesocket(req->accept_socket);
- req->accept_socket = INVALID_SOCKET;
- }
- }
- }
- }
-
- if (tcp->flags & UV_HANDLE_READING) {
- tcp->flags &= ~UV_HANDLE_READING;
- DECREASE_ACTIVE_COUNT(loop, tcp);
- }
-
- if (tcp->flags & UV_HANDLE_LISTENING) {
- tcp->flags &= ~UV_HANDLE_LISTENING;
- DECREASE_ACTIVE_COUNT(loop, tcp);
- }
-
- if (close_socket) {
- closesocket(tcp->socket);
- tcp->socket = INVALID_SOCKET;
- tcp->flags |= UV_HANDLE_TCP_SOCKET_CLOSED;
- }
-
- tcp->flags &= ~(UV_HANDLE_READABLE | UV_HANDLE_WRITABLE);
- uv__handle_closing(tcp);
-
- if (tcp->reqs_pending == 0) {
- uv_want_endgame(tcp->loop, (uv_handle_t*)tcp);
- }
-}
-
-
-int uv_tcp_open(uv_tcp_t* handle, uv_os_sock_t sock) {
- WSAPROTOCOL_INFOW protocol_info;
- int opt_len;
- int err;
- struct sockaddr_storage saddr;
- int saddr_len;
-
- /* Detect the address family of the socket. */
- opt_len = (int) sizeof protocol_info;
- if (getsockopt(sock,
- SOL_SOCKET,
- SO_PROTOCOL_INFOW,
- (char*) &protocol_info,
- &opt_len) == SOCKET_ERROR) {
- return uv_translate_sys_error(GetLastError());
- }
-
- err = uv_tcp_set_socket(handle->loop,
- handle,
- sock,
- protocol_info.iAddressFamily,
- 1);
- if (err) {
- return uv_translate_sys_error(err);
- }
-
- /* Support already active socket. */
- saddr_len = sizeof(saddr);
- if (!uv_tcp_getsockname(handle, (struct sockaddr*) &saddr, &saddr_len)) {
- /* Socket is already bound. */
- handle->flags |= UV_HANDLE_BOUND;
- saddr_len = sizeof(saddr);
- if (!uv_tcp_getpeername(handle, (struct sockaddr*) &saddr, &saddr_len)) {
- /* Socket is already connected. */
- uv_connection_init((uv_stream_t*) handle);
- handle->flags |= UV_HANDLE_READABLE | UV_HANDLE_WRITABLE;
- }
- }
-
- return 0;
-}
-
-
-/* This function is an egress point, i.e. it returns libuv errors rather than
- * system errors.
- */
-int uv__tcp_bind(uv_tcp_t* handle,
- const struct sockaddr* addr,
- unsigned int addrlen,
- unsigned int flags) {
- int err;
-
- err = uv_tcp_try_bind(handle, addr, addrlen, flags);
- if (err)
- return uv_translate_sys_error(err);
-
- return 0;
-}
-
-
-/* This function is an egress point, i.e. it returns libuv errors rather than
- * system errors.
- */
-int uv__tcp_connect(uv_connect_t* req,
- uv_tcp_t* handle,
- const struct sockaddr* addr,
- unsigned int addrlen,
- uv_connect_cb cb) {
- int err;
-
- err = uv_tcp_try_connect(req, handle, addr, addrlen, cb);
- if (err)
- return uv_translate_sys_error(err);
-
- return 0;
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/thread.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/thread.cpp
deleted file mode 100644
index 6ad8128..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/thread.cpp
+++ /dev/null
@@ -1,498 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include <assert.h>
-#include <limits.h>
-#include <stdlib.h>
-
-#include "uv.h"
-#include "internal.h"
-
-static int uv_cond_condvar_init(uv_cond_t* cond);
-static void uv_cond_condvar_destroy(uv_cond_t* cond);
-static void uv_cond_condvar_signal(uv_cond_t* cond);
-static void uv_cond_condvar_broadcast(uv_cond_t* cond);
-static void uv_cond_condvar_wait(uv_cond_t* cond, uv_mutex_t* mutex);
-static int uv_cond_condvar_timedwait(uv_cond_t* cond,
- uv_mutex_t* mutex, uint64_t timeout);
-
-
-static void uv__once_inner(uv_once_t* guard, void (*callback)(void)) {
- DWORD result;
- HANDLE existing_event, created_event;
-
- created_event = CreateEvent(NULL, 1, 0, NULL);
- if (created_event == 0) {
- /* Could fail in a low-memory situation? */
- uv_fatal_error(GetLastError(), "CreateEvent");
- }
-
- existing_event = InterlockedCompareExchangePointer(&guard->event,
- created_event,
- NULL);
-
- if (existing_event == NULL) {
- /* We won the race */
- callback();
-
- result = SetEvent(created_event);
- assert(result);
- guard->ran = 1;
-
- } else {
- /* We lost the race. Destroy the event we created and wait for the existing
- * one to become signaled. */
- CloseHandle(created_event);
- result = WaitForSingleObject(existing_event, INFINITE);
- assert(result == WAIT_OBJECT_0);
- }
-}
-
-
-void uv_once(uv_once_t* guard, void (*callback)(void)) {
- /* Fast case - avoid WaitForSingleObject. */
- if (guard->ran) {
- return;
- }
-
- uv__once_inner(guard, callback);
-}
-
-
-/* Verify that uv_thread_t can be stored in a TLS slot. */
-STATIC_ASSERT(sizeof(uv_thread_t) <= sizeof(void*));
-
-static uv_key_t uv__current_thread_key;
-static uv_once_t uv__current_thread_init_guard = UV_ONCE_INIT;
-
-
-static void uv__init_current_thread_key(void) {
- if (uv_key_create(&uv__current_thread_key))
- abort();
-}
-
-
-struct thread_ctx {
- void (*entry)(void* arg);
- void* arg;
- uv_thread_t self;
-};
-
-
-static UINT __stdcall uv__thread_start(void* arg) {
- struct thread_ctx *ctx_p;
- struct thread_ctx ctx;
-
- ctx_p = (struct thread_ctx*)arg;
- ctx = *ctx_p;
- uv__free(ctx_p);
-
- uv_once(&uv__current_thread_init_guard, uv__init_current_thread_key);
- uv_key_set(&uv__current_thread_key, (void*) ctx.self);
-
- ctx.entry(ctx.arg);
-
- return 0;
-}
-
-
-int uv_thread_create(uv_thread_t *tid, void (*entry)(void *arg), void *arg) {
- struct thread_ctx* ctx;
- int err;
- HANDLE thread;
-
- ctx = (struct thread_ctx*)uv__malloc(sizeof(*ctx));
- if (ctx == NULL)
- return UV_ENOMEM;
-
- ctx->entry = entry;
- ctx->arg = arg;
-
- /* Create the thread in suspended state so we have a chance to pass
- * its own creation handle to it */
- thread = (HANDLE) _beginthreadex(NULL,
- 0,
- uv__thread_start,
- ctx,
- CREATE_SUSPENDED,
- NULL);
- if (thread == NULL) {
- err = errno;
- uv__free(ctx);
- } else {
- err = 0;
- *tid = thread;
- ctx->self = thread;
- ResumeThread(thread);
- }
-
- switch (err) {
- case 0:
- return 0;
- case EACCES:
- return UV_EACCES;
- case EAGAIN:
- return UV_EAGAIN;
- case EINVAL:
- return UV_EINVAL;
- }
-
- return UV_EIO;
-}
-
-
-uv_thread_t uv_thread_self(void) {
- uv_once(&uv__current_thread_init_guard, uv__init_current_thread_key);
- return (uv_thread_t) uv_key_get(&uv__current_thread_key);
-}
-
-
-int uv_thread_join(uv_thread_t *tid) {
- if (WaitForSingleObject(*tid, INFINITE))
- return uv_translate_sys_error(GetLastError());
- else {
- CloseHandle(*tid);
- *tid = 0;
- MemoryBarrier(); /* For feature parity with pthread_join(). */
- return 0;
- }
-}
-
-
-int uv_thread_equal(const uv_thread_t* t1, const uv_thread_t* t2) {
- return *t1 == *t2;
-}
-
-
-int uv_mutex_init(uv_mutex_t* mutex) {
- InitializeCriticalSection(mutex);
- return 0;
-}
-
-
-int uv_mutex_init_recursive(uv_mutex_t* mutex) {
- return uv_mutex_init(mutex);
-}
-
-
-void uv_mutex_destroy(uv_mutex_t* mutex) {
- DeleteCriticalSection(mutex);
-}
-
-
-void uv_mutex_lock(uv_mutex_t* mutex) {
- EnterCriticalSection(mutex);
-}
-
-
-int uv_mutex_trylock(uv_mutex_t* mutex) {
- if (TryEnterCriticalSection(mutex))
- return 0;
- else
- return UV_EBUSY;
-}
-
-
-void uv_mutex_unlock(uv_mutex_t* mutex) {
- LeaveCriticalSection(mutex);
-}
-
-
-int uv_rwlock_init(uv_rwlock_t* rwlock) {
- /* Initialize the semaphore that acts as the write lock. */
- HANDLE handle = CreateSemaphoreW(NULL, 1, 1, NULL);
- if (handle == NULL)
- return uv_translate_sys_error(GetLastError());
- rwlock->state_.write_semaphore_ = handle;
-
- /* Initialize the critical section protecting the reader count. */
- InitializeCriticalSection(&rwlock->state_.num_readers_lock_);
-
- /* Initialize the reader count. */
- rwlock->state_.num_readers_ = 0;
-
- return 0;
-}
-
-
-void uv_rwlock_destroy(uv_rwlock_t* rwlock) {
- DeleteCriticalSection(&rwlock->state_.num_readers_lock_);
- CloseHandle(rwlock->state_.write_semaphore_);
-}
-
-
-void uv_rwlock_rdlock(uv_rwlock_t* rwlock) {
- /* Acquire the lock that protects the reader count. */
- EnterCriticalSection(&rwlock->state_.num_readers_lock_);
-
- /* Increase the reader count, and lock for write if this is the first
- * reader.
- */
- if (++rwlock->state_.num_readers_ == 1) {
- DWORD r = WaitForSingleObject(rwlock->state_.write_semaphore_, INFINITE);
- if (r != WAIT_OBJECT_0)
- uv_fatal_error(GetLastError(), "WaitForSingleObject");
- }
-
- /* Release the lock that protects the reader count. */
- LeaveCriticalSection(&rwlock->state_.num_readers_lock_);
-}
-
-
-int uv_rwlock_tryrdlock(uv_rwlock_t* rwlock) {
- int err;
-
- if (!TryEnterCriticalSection(&rwlock->state_.num_readers_lock_))
- return UV_EBUSY;
-
- err = 0;
-
- if (rwlock->state_.num_readers_ == 0) {
- /* Currently there are no other readers, which means that the write lock
- * needs to be acquired.
- */
- DWORD r = WaitForSingleObject(rwlock->state_.write_semaphore_, 0);
- if (r == WAIT_OBJECT_0)
- rwlock->state_.num_readers_++;
- else if (r == WAIT_TIMEOUT)
- err = UV_EBUSY;
- else if (r == WAIT_FAILED)
- uv_fatal_error(GetLastError(), "WaitForSingleObject");
-
- } else {
- /* The write lock has already been acquired because there are other
- * active readers.
- */
- rwlock->state_.num_readers_++;
- }
-
- LeaveCriticalSection(&rwlock->state_.num_readers_lock_);
- return err;
-}
-
-
-void uv_rwlock_rdunlock(uv_rwlock_t* rwlock) {
- EnterCriticalSection(&rwlock->state_.num_readers_lock_);
-
- if (--rwlock->state_.num_readers_ == 0) {
- if (!ReleaseSemaphore(rwlock->state_.write_semaphore_, 1, NULL))
- uv_fatal_error(GetLastError(), "ReleaseSemaphore");
- }
-
- LeaveCriticalSection(&rwlock->state_.num_readers_lock_);
-}
-
-
-void uv_rwlock_wrlock(uv_rwlock_t* rwlock) {
- DWORD r = WaitForSingleObject(rwlock->state_.write_semaphore_, INFINITE);
- if (r != WAIT_OBJECT_0)
- uv_fatal_error(GetLastError(), "WaitForSingleObject");
-}
-
-
-int uv_rwlock_trywrlock(uv_rwlock_t* rwlock) {
- DWORD r = WaitForSingleObject(rwlock->state_.write_semaphore_, 0);
- if (r == WAIT_OBJECT_0)
- return 0;
- else if (r == WAIT_TIMEOUT)
- return UV_EBUSY;
- else
- uv_fatal_error(GetLastError(), "WaitForSingleObject");
-}
-
-
-void uv_rwlock_wrunlock(uv_rwlock_t* rwlock) {
- if (!ReleaseSemaphore(rwlock->state_.write_semaphore_, 1, NULL))
- uv_fatal_error(GetLastError(), "ReleaseSemaphore");
-}
-
-
-int uv_sem_init(uv_sem_t* sem, unsigned int value) {
- *sem = CreateSemaphore(NULL, value, INT_MAX, NULL);
- if (*sem == NULL)
- return uv_translate_sys_error(GetLastError());
- else
- return 0;
-}
-
-
-void uv_sem_destroy(uv_sem_t* sem) {
- if (!CloseHandle(*sem))
- abort();
-}
-
-
-void uv_sem_post(uv_sem_t* sem) {
- if (!ReleaseSemaphore(*sem, 1, NULL))
- abort();
-}
-
-
-void uv_sem_wait(uv_sem_t* sem) {
- if (WaitForSingleObject(*sem, INFINITE) != WAIT_OBJECT_0)
- abort();
-}
-
-
-int uv_sem_trywait(uv_sem_t* sem) {
- DWORD r = WaitForSingleObject(*sem, 0);
-
- if (r == WAIT_OBJECT_0)
- return 0;
-
- if (r == WAIT_TIMEOUT)
- return UV_EAGAIN;
-
- abort();
- return -1; /* Satisfy the compiler. */
-}
-
-
-int uv_cond_init(uv_cond_t* cond) {
- InitializeConditionVariable(&cond->cond_var);
- return 0;
-}
-
-
-void uv_cond_destroy(uv_cond_t* cond) {
- /* nothing to do */
- UV__UNUSED(cond);
-}
-
-
-void uv_cond_signal(uv_cond_t* cond) {
- WakeConditionVariable(&cond->cond_var);
-}
-
-
-void uv_cond_broadcast(uv_cond_t* cond) {
- WakeAllConditionVariable(&cond->cond_var);
-}
-
-
-void uv_cond_wait(uv_cond_t* cond, uv_mutex_t* mutex) {
- if (!SleepConditionVariableCS(&cond->cond_var, mutex, INFINITE))
- abort();
-}
-
-int uv_cond_timedwait(uv_cond_t* cond, uv_mutex_t* mutex, uint64_t timeout) {
- if (SleepConditionVariableCS(&cond->cond_var, mutex, (DWORD)(timeout / 1e6)))
- return 0;
- if (GetLastError() != ERROR_TIMEOUT)
- abort();
- return UV_ETIMEDOUT;
-}
-
-
-int uv_barrier_init(uv_barrier_t* barrier, unsigned int count) {
- int err;
-
- barrier->n = count;
- barrier->count = 0;
-
- err = uv_mutex_init(&barrier->mutex);
- if (err)
- return err;
-
- err = uv_sem_init(&barrier->turnstile1, 0);
- if (err)
- goto error2;
-
- err = uv_sem_init(&barrier->turnstile2, 1);
- if (err)
- goto error;
-
- return 0;
-
-error:
- uv_sem_destroy(&barrier->turnstile1);
-error2:
- uv_mutex_destroy(&barrier->mutex);
- return err;
-
-}
-
-
-void uv_barrier_destroy(uv_barrier_t* barrier) {
- uv_sem_destroy(&barrier->turnstile2);
- uv_sem_destroy(&barrier->turnstile1);
- uv_mutex_destroy(&barrier->mutex);
-}
-
-
-int uv_barrier_wait(uv_barrier_t* barrier) {
- int serial_thread;
-
- uv_mutex_lock(&barrier->mutex);
- if (++barrier->count == barrier->n) {
- uv_sem_wait(&barrier->turnstile2);
- uv_sem_post(&barrier->turnstile1);
- }
- uv_mutex_unlock(&barrier->mutex);
-
- uv_sem_wait(&barrier->turnstile1);
- uv_sem_post(&barrier->turnstile1);
-
- uv_mutex_lock(&barrier->mutex);
- serial_thread = (--barrier->count == 0);
- if (serial_thread) {
- uv_sem_wait(&barrier->turnstile1);
- uv_sem_post(&barrier->turnstile2);
- }
- uv_mutex_unlock(&barrier->mutex);
-
- uv_sem_wait(&barrier->turnstile2);
- uv_sem_post(&barrier->turnstile2);
- return serial_thread;
-}
-
-
-int uv_key_create(uv_key_t* key) {
- key->tls_index = TlsAlloc();
- if (key->tls_index == TLS_OUT_OF_INDEXES)
- return UV_ENOMEM;
- return 0;
-}
-
-
-void uv_key_delete(uv_key_t* key) {
- if (TlsFree(key->tls_index) == FALSE)
- abort();
- key->tls_index = TLS_OUT_OF_INDEXES;
-}
-
-
-void* uv_key_get(uv_key_t* key) {
- void* value;
-
- value = TlsGetValue(key->tls_index);
- if (value == NULL)
- if (GetLastError() != ERROR_SUCCESS)
- abort();
-
- return value;
-}
-
-
-void uv_key_set(uv_key_t* key, void* value) {
- if (TlsSetValue(key->tls_index, value) == FALSE)
- abort();
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/timer.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/timer.cpp
deleted file mode 100644
index eda5c24..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/timer.cpp
+++ /dev/null
@@ -1,195 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include <assert.h>
-#include <limits.h>
-
-#include "uv.h"
-#include "internal.h"
-#include "uv/tree.h"
-#include "handle-inl.h"
-
-
-/* The number of milliseconds in one second. */
-#define UV__MILLISEC 1000
-
-
-void uv_update_time(uv_loop_t* loop) {
- uint64_t new_time = uv__hrtime(UV__MILLISEC);
- assert(new_time >= loop->time);
- loop->time = new_time;
-}
-
-
-static int uv_timer_compare(uv_timer_t* a, uv_timer_t* b) {
- if (a->due < b->due)
- return -1;
- if (a->due > b->due)
- return 1;
- /*
- * compare start_id when both has the same due. start_id is
- * allocated with loop->timer_counter in uv_timer_start().
- */
- if (a->start_id < b->start_id)
- return -1;
- if (a->start_id > b->start_id)
- return 1;
- return 0;
-}
-
-
-RB_GENERATE_STATIC(uv_timer_tree_s, uv_timer_s, tree_entry, uv_timer_compare)
-
-
-int uv_timer_init(uv_loop_t* loop, uv_timer_t* handle) {
- uv__handle_init(loop, (uv_handle_t*) handle, UV_TIMER);
- handle->timer_cb = NULL;
- handle->repeat = 0;
-
- return 0;
-}
-
-
-void uv_timer_endgame(uv_loop_t* loop, uv_timer_t* handle) {
- if (handle->flags & UV__HANDLE_CLOSING) {
- assert(!(handle->flags & UV_HANDLE_CLOSED));
- uv__handle_close(handle);
- }
-}
-
-
-static uint64_t get_clamped_due_time(uint64_t loop_time, uint64_t timeout) {
- uint64_t clamped_timeout;
-
- clamped_timeout = loop_time + timeout;
- if (clamped_timeout < timeout)
- clamped_timeout = (uint64_t) -1;
-
- return clamped_timeout;
-}
-
-
-int uv_timer_start(uv_timer_t* handle, uv_timer_cb timer_cb, uint64_t timeout,
- uint64_t repeat) {
- uv_loop_t* loop = handle->loop;
- uv_timer_t* old;
-
- if (timer_cb == NULL)
- return UV_EINVAL;
-
- if (uv__is_active(handle))
- uv_timer_stop(handle);
-
- handle->timer_cb = timer_cb;
- handle->due = get_clamped_due_time(loop->time, timeout);
- handle->repeat = repeat;
- uv__handle_start(handle);
-
- /* start_id is the second index to be compared in uv__timer_cmp() */
- handle->start_id = handle->loop->timer_counter++;
-
- old = RB_INSERT(uv_timer_tree_s, &loop->timers, handle);
- assert(old == NULL);
-
- return 0;
-}
-
-
-int uv_timer_stop(uv_timer_t* handle) {
- uv_loop_t* loop = handle->loop;
-
- if (!uv__is_active(handle))
- return 0;
-
- RB_REMOVE(uv_timer_tree_s, &loop->timers, handle);
- uv__handle_stop(handle);
-
- return 0;
-}
-
-
-int uv_timer_again(uv_timer_t* handle) {
- /* If timer_cb is NULL that means that the timer was never started. */
- if (!handle->timer_cb) {
- return UV_EINVAL;
- }
-
- if (handle->repeat) {
- uv_timer_stop(handle);
- uv_timer_start(handle, handle->timer_cb, handle->repeat, handle->repeat);
- }
-
- return 0;
-}
-
-
-void uv_timer_set_repeat(uv_timer_t* handle, uint64_t repeat) {
- assert(handle->type == UV_TIMER);
- handle->repeat = repeat;
-}
-
-
-uint64_t uv_timer_get_repeat(const uv_timer_t* handle) {
- assert(handle->type == UV_TIMER);
- return handle->repeat;
-}
-
-
-DWORD uv__next_timeout(const uv_loop_t* loop) {
- uv_timer_t* timer;
- int64_t delta;
-
- /* Check if there are any running timers
- * Need to cast away const first, since RB_MIN doesn't know what we are
- * going to do with this return value, it can't be marked const
- */
- timer = RB_MIN(uv_timer_tree_s, &((uv_loop_t*)loop)->timers);
- if (timer) {
- delta = timer->due - loop->time;
- if (delta >= UINT_MAX - 1) {
- /* A timeout value of UINT_MAX means infinite, so that's no good. */
- return UINT_MAX - 1;
- } else if (delta < 0) {
- /* Negative timeout values are not allowed */
- return 0;
- } else {
- return (DWORD)delta;
- }
- } else {
- /* No timers */
- return INFINITE;
- }
-}
-
-
-void uv_process_timers(uv_loop_t* loop) {
- uv_timer_t* timer;
-
- /* Call timer callbacks */
- for (timer = RB_MIN(uv_timer_tree_s, &loop->timers);
- timer != NULL && timer->due <= loop->time;
- timer = RB_MIN(uv_timer_tree_s, &loop->timers)) {
-
- uv_timer_stop(timer);
- uv_timer_again(timer);
- timer->timer_cb((uv_timer_t*) timer);
- }
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/tty.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/tty.cpp
deleted file mode 100644
index 4ac21b6..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/tty.cpp
+++ /dev/null
@@ -1,2335 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include <assert.h>
-#include <io.h>
-#include <string.h>
-#include <stdlib.h>
-
-#if defined(_MSC_VER) && _MSC_VER < 1600
-# include "uv/stdint-msvc2008.h"
-#else
-# include <stdint.h>
-#endif
-
-#ifndef COMMON_LVB_REVERSE_VIDEO
-# define COMMON_LVB_REVERSE_VIDEO 0x4000
-#endif
-
-#include "uv.h"
-#include "internal.h"
-#include "handle-inl.h"
-#include "stream-inl.h"
-#include "req-inl.h"
-
-#pragma comment(lib, "User32.lib")
-
-#ifndef InterlockedOr
-# define InterlockedOr _InterlockedOr
-#endif
-
-#define UNICODE_REPLACEMENT_CHARACTER (0xfffd)
-
-#define ANSI_NORMAL 0x00
-#define ANSI_ESCAPE_SEEN 0x02
-#define ANSI_CSI 0x04
-#define ANSI_ST_CONTROL 0x08
-#define ANSI_IGNORE 0x10
-#define ANSI_IN_ARG 0x20
-#define ANSI_IN_STRING 0x40
-#define ANSI_BACKSLASH_SEEN 0x80
-
-#define MAX_INPUT_BUFFER_LENGTH 8192
-#define MAX_CONSOLE_CHAR 8192
-
-#ifndef ENABLE_VIRTUAL_TERMINAL_PROCESSING
-#define ENABLE_VIRTUAL_TERMINAL_PROCESSING 0x0004
-#endif
-
-static void uv_tty_capture_initial_style(CONSOLE_SCREEN_BUFFER_INFO* info);
-static void uv_tty_update_virtual_window(CONSOLE_SCREEN_BUFFER_INFO* info);
-static int uv__cancel_read_console(uv_tty_t* handle);
-
-
-/* Null uv_buf_t */
-static const uv_buf_t uv_null_buf_ = { 0, NULL };
-
-enum uv__read_console_status_e {
- NOT_STARTED,
- IN_PROGRESS,
- TRAP_REQUESTED,
- COMPLETED
-};
-
-static volatile LONG uv__read_console_status = NOT_STARTED;
-static volatile LONG uv__restore_screen_state;
-static CONSOLE_SCREEN_BUFFER_INFO uv__saved_screen_state;
-
-
-/*
- * The console virtual window.
- *
- * Normally cursor movement in windows is relative to the console screen buffer,
- * e.g. the application is allowed to overwrite the 'history'. This is very
- * inconvenient, it makes absolute cursor movement pretty useless. There is
- * also the concept of 'client rect' which is defined by the actual size of
- * the console window and the scroll position of the screen buffer, but it's
- * very volatile because it changes when the user scrolls.
- *
- * To make cursor movement behave sensibly we define a virtual window to which
- * cursor movement is confined. The virtual window is always as wide as the
- * console screen buffer, but it's height is defined by the size of the
- * console window. The top of the virtual window aligns with the position
- * of the caret when the first stdout/err handle is created, unless that would
- * mean that it would extend beyond the bottom of the screen buffer - in that
- * that case it's located as far down as possible.
- *
- * When the user writes a long text or many newlines, such that the output
- * reaches beyond the bottom of the virtual window, the virtual window is
- * shifted downwards, but not resized.
- *
- * Since all tty i/o happens on the same console, this window is shared
- * between all stdout/stderr handles.
- */
-
-static int uv_tty_virtual_offset = -1;
-static int uv_tty_virtual_height = -1;
-static int uv_tty_virtual_width = -1;
-
-/* The console window size
- * We keep this separate from uv_tty_virtual_*. We use those values to only
- * handle signalling SIGWINCH
- */
-
-static HANDLE uv__tty_console_handle = INVALID_HANDLE_VALUE;
-static int uv__tty_console_height = -1;
-static int uv__tty_console_width = -1;
-
-static DWORD WINAPI uv__tty_console_resize_message_loop_thread(void* param);
-static void CALLBACK uv__tty_console_resize_event(HWINEVENTHOOK hWinEventHook,
- DWORD event,
- HWND hwnd,
- LONG idObject,
- LONG idChild,
- DWORD dwEventThread,
- DWORD dwmsEventTime);
-
-/* We use a semaphore rather than a mutex or critical section because in some
- cases (uv__cancel_read_console) we need take the lock in the main thread and
- release it in another thread. Using a semaphore ensures that in such
- scenario the main thread will still block when trying to acquire the lock. */
-static uv_sem_t uv_tty_output_lock;
-
-static WORD uv_tty_default_text_attributes =
- FOREGROUND_RED | FOREGROUND_GREEN | FOREGROUND_BLUE;
-
-static char uv_tty_default_fg_color = 7;
-static char uv_tty_default_bg_color = 0;
-static char uv_tty_default_fg_bright = 0;
-static char uv_tty_default_bg_bright = 0;
-static char uv_tty_default_inverse = 0;
-
-typedef enum {
- UV_SUPPORTED,
- UV_UNCHECKED,
- UV_UNSUPPORTED
-} uv_vtermstate_t;
-/* Determine whether or not ANSI support is enabled. */
-static uv_vtermstate_t uv__vterm_state = UV_UNCHECKED;
-static void uv__determine_vterm_state(HANDLE handle);
-
-void uv_console_init(void) {
- if (uv_sem_init(&uv_tty_output_lock, 1))
- abort();
- uv__tty_console_handle = CreateFileW(L"CONOUT$",
- GENERIC_READ | GENERIC_WRITE,
- FILE_SHARE_WRITE,
- 0,
- OPEN_EXISTING,
- 0,
- 0);
- if (uv__tty_console_handle != NULL) {
- QueueUserWorkItem(uv__tty_console_resize_message_loop_thread,
- NULL,
- WT_EXECUTELONGFUNCTION);
- }
-}
-
-
-int uv_tty_init(uv_loop_t* loop, uv_tty_t* tty, uv_file fd, int readable) {
- HANDLE handle;
- CONSOLE_SCREEN_BUFFER_INFO screen_buffer_info;
-
- uv__once_init();
- handle = (HANDLE) uv__get_osfhandle(fd);
- if (handle == INVALID_HANDLE_VALUE)
- return UV_EBADF;
-
- if (fd <= 2) {
- /* In order to avoid closing a stdio file descriptor 0-2, duplicate the
- * underlying OS handle and forget about the original fd.
- * We could also opt to use the original OS handle and just never close it,
- * but then there would be no reliable way to cancel pending read operations
- * upon close.
- */
- if (!DuplicateHandle(INVALID_HANDLE_VALUE,
- handle,
- INVALID_HANDLE_VALUE,
- &handle,
- 0,
- FALSE,
- DUPLICATE_SAME_ACCESS))
- return uv_translate_sys_error(GetLastError());
- fd = -1;
- }
-
- if (!readable) {
- /* Obtain the screen buffer info with the output handle. */
- if (!GetConsoleScreenBufferInfo(handle, &screen_buffer_info)) {
- return uv_translate_sys_error(GetLastError());
- }
-
- /* Obtain the tty_output_lock because the virtual window state is shared
- * between all uv_tty_t handles. */
- uv_sem_wait(&uv_tty_output_lock);
-
- if (uv__vterm_state == UV_UNCHECKED)
- uv__determine_vterm_state(handle);
-
- /* Remember the original console text attributes. */
- uv_tty_capture_initial_style(&screen_buffer_info);
-
- uv_tty_update_virtual_window(&screen_buffer_info);
-
- uv_sem_post(&uv_tty_output_lock);
- }
-
-
- uv_stream_init(loop, (uv_stream_t*) tty, UV_TTY);
- uv_connection_init((uv_stream_t*) tty);
-
- tty->handle = handle;
- tty->u.fd = fd;
- tty->reqs_pending = 0;
- tty->flags |= UV_HANDLE_BOUND;
-
- if (readable) {
- /* Initialize TTY input specific fields. */
- tty->flags |= UV_HANDLE_TTY_READABLE | UV_HANDLE_READABLE;
- /* TODO: remove me in v2.x. */
- tty->tty.rd.unused_ = NULL;
- tty->tty.rd.read_line_buffer = uv_null_buf_;
- tty->tty.rd.read_raw_wait = NULL;
-
- /* Init keycode-to-vt100 mapper state. */
- tty->tty.rd.last_key_len = 0;
- tty->tty.rd.last_key_offset = 0;
- tty->tty.rd.last_utf16_high_surrogate = 0;
- memset(&tty->tty.rd.last_input_record, 0, sizeof tty->tty.rd.last_input_record);
- } else {
- /* TTY output specific fields. */
- tty->flags |= UV_HANDLE_WRITABLE;
-
- /* Init utf8-to-utf16 conversion state. */
- tty->tty.wr.utf8_bytes_left = 0;
- tty->tty.wr.utf8_codepoint = 0;
-
- /* Initialize eol conversion state */
- tty->tty.wr.previous_eol = 0;
-
- /* Init ANSI parser state. */
- tty->tty.wr.ansi_parser_state = ANSI_NORMAL;
- }
-
- return 0;
-}
-
-
-/* Set the default console text attributes based on how the console was
- * configured when libuv started.
- */
-static void uv_tty_capture_initial_style(CONSOLE_SCREEN_BUFFER_INFO* info) {
- static int style_captured = 0;
-
- /* Only do this once.
- Assumption: Caller has acquired uv_tty_output_lock. */
- if (style_captured)
- return;
-
- /* Save raw win32 attributes. */
- uv_tty_default_text_attributes = info->wAttributes;
-
- /* Convert black text on black background to use white text. */
- if (uv_tty_default_text_attributes == 0)
- uv_tty_default_text_attributes = 7;
-
- /* Convert Win32 attributes to ANSI colors. */
- uv_tty_default_fg_color = 0;
- uv_tty_default_bg_color = 0;
- uv_tty_default_fg_bright = 0;
- uv_tty_default_bg_bright = 0;
- uv_tty_default_inverse = 0;
-
- if (uv_tty_default_text_attributes & FOREGROUND_RED)
- uv_tty_default_fg_color |= 1;
-
- if (uv_tty_default_text_attributes & FOREGROUND_GREEN)
- uv_tty_default_fg_color |= 2;
-
- if (uv_tty_default_text_attributes & FOREGROUND_BLUE)
- uv_tty_default_fg_color |= 4;
-
- if (uv_tty_default_text_attributes & BACKGROUND_RED)
- uv_tty_default_bg_color |= 1;
-
- if (uv_tty_default_text_attributes & BACKGROUND_GREEN)
- uv_tty_default_bg_color |= 2;
-
- if (uv_tty_default_text_attributes & BACKGROUND_BLUE)
- uv_tty_default_bg_color |= 4;
-
- if (uv_tty_default_text_attributes & FOREGROUND_INTENSITY)
- uv_tty_default_fg_bright = 1;
-
- if (uv_tty_default_text_attributes & BACKGROUND_INTENSITY)
- uv_tty_default_bg_bright = 1;
-
- if (uv_tty_default_text_attributes & COMMON_LVB_REVERSE_VIDEO)
- uv_tty_default_inverse = 1;
-
- style_captured = 1;
-}
-
-
-int uv_tty_set_mode(uv_tty_t* tty, uv_tty_mode_t mode) {
- DWORD flags;
- unsigned char was_reading;
- uv_alloc_cb alloc_cb;
- uv_read_cb read_cb;
- int err;
-
- if (!(tty->flags & UV_HANDLE_TTY_READABLE)) {
- return UV_EINVAL;
- }
-
- if (!!mode == !!(tty->flags & UV_HANDLE_TTY_RAW)) {
- return 0;
- }
-
- switch (mode) {
- case UV_TTY_MODE_NORMAL:
- flags = ENABLE_ECHO_INPUT | ENABLE_LINE_INPUT | ENABLE_PROCESSED_INPUT;
- break;
- case UV_TTY_MODE_RAW:
- flags = ENABLE_WINDOW_INPUT;
- break;
- case UV_TTY_MODE_IO:
- return UV_ENOTSUP;
- default:
- return UV_EINVAL;
- }
-
- /* If currently reading, stop, and restart reading. */
- if (tty->flags & UV_HANDLE_READING) {
- was_reading = 1;
- alloc_cb = tty->alloc_cb;
- read_cb = tty->read_cb;
- err = uv_tty_read_stop(tty);
- if (err) {
- return uv_translate_sys_error(err);
- }
- } else {
- was_reading = 0;
- }
-
- uv_sem_wait(&uv_tty_output_lock);
- if (!SetConsoleMode(tty->handle, flags)) {
- err = uv_translate_sys_error(GetLastError());
- uv_sem_post(&uv_tty_output_lock);
- return err;
- }
- uv_sem_post(&uv_tty_output_lock);
-
- /* Update flag. */
- tty->flags &= ~UV_HANDLE_TTY_RAW;
- tty->flags |= mode ? UV_HANDLE_TTY_RAW : 0;
-
- /* If we just stopped reading, restart. */
- if (was_reading) {
- err = uv_tty_read_start(tty, alloc_cb, read_cb);
- if (err) {
- return uv_translate_sys_error(err);
- }
- }
-
- return 0;
-}
-
-
-int uv_is_tty(uv_file file) {
- DWORD result;
- return GetConsoleMode((HANDLE) _get_osfhandle(file), &result) != 0;
-}
-
-
-int uv_tty_get_winsize(uv_tty_t* tty, int* width, int* height) {
- CONSOLE_SCREEN_BUFFER_INFO info;
-
- if (!GetConsoleScreenBufferInfo(tty->handle, &info)) {
- return uv_translate_sys_error(GetLastError());
- }
-
- uv_sem_wait(&uv_tty_output_lock);
- uv_tty_update_virtual_window(&info);
- uv_sem_post(&uv_tty_output_lock);
-
- *width = uv_tty_virtual_width;
- *height = uv_tty_virtual_height;
-
- return 0;
-}
-
-
-static void CALLBACK uv_tty_post_raw_read(void* data, BOOLEAN didTimeout) {
- uv_loop_t* loop;
- uv_tty_t* handle;
- uv_req_t* req;
-
- assert(data);
- assert(!didTimeout);
-
- req = (uv_req_t*) data;
- handle = (uv_tty_t*) req->data;
- loop = handle->loop;
-
- UnregisterWait(handle->tty.rd.read_raw_wait);
- handle->tty.rd.read_raw_wait = NULL;
-
- SET_REQ_SUCCESS(req);
- POST_COMPLETION_FOR_REQ(loop, req);
-}
-
-
-static void uv_tty_queue_read_raw(uv_loop_t* loop, uv_tty_t* handle) {
- uv_read_t* req;
- BOOL r;
-
- assert(handle->flags & UV_HANDLE_READING);
- assert(!(handle->flags & UV_HANDLE_READ_PENDING));
-
- assert(handle->handle && handle->handle != INVALID_HANDLE_VALUE);
-
- handle->tty.rd.read_line_buffer = uv_null_buf_;
-
- req = &handle->read_req;
- memset(&req->u.io.overlapped, 0, sizeof(req->u.io.overlapped));
-
- r = RegisterWaitForSingleObject(&handle->tty.rd.read_raw_wait,
- handle->handle,
- uv_tty_post_raw_read,
- (void*) req,
- INFINITE,
- WT_EXECUTEINWAITTHREAD | WT_EXECUTEONLYONCE);
- if (!r) {
- handle->tty.rd.read_raw_wait = NULL;
- SET_REQ_ERROR(req, GetLastError());
- uv_insert_pending_req(loop, (uv_req_t*)req);
- }
-
- handle->flags |= UV_HANDLE_READ_PENDING;
- handle->reqs_pending++;
-}
-
-
-static DWORD CALLBACK uv_tty_line_read_thread(void* data) {
- uv_loop_t* loop;
- uv_tty_t* handle;
- uv_req_t* req;
- DWORD bytes, read_bytes;
- WCHAR utf16[MAX_INPUT_BUFFER_LENGTH / 3];
- DWORD chars, read_chars;
- LONG status;
- COORD pos;
- BOOL read_console_success;
-
- assert(data);
-
- req = (uv_req_t*) data;
- handle = (uv_tty_t*) req->data;
- loop = handle->loop;
-
- assert(handle->tty.rd.read_line_buffer.base != NULL);
- assert(handle->tty.rd.read_line_buffer.len > 0);
-
- /* ReadConsole can't handle big buffers. */
- if (handle->tty.rd.read_line_buffer.len < MAX_INPUT_BUFFER_LENGTH) {
- bytes = handle->tty.rd.read_line_buffer.len;
- } else {
- bytes = MAX_INPUT_BUFFER_LENGTH;
- }
-
- /* At last, unicode! One utf-16 codeunit never takes more than 3 utf-8
- * codeunits to encode. */
- chars = bytes / 3;
-
- status = InterlockedExchange(&uv__read_console_status, IN_PROGRESS);
- if (status == TRAP_REQUESTED) {
- SET_REQ_SUCCESS(req);
- req->u.io.overlapped.InternalHigh = 0;
- POST_COMPLETION_FOR_REQ(loop, req);
- return 0;
- }
-
- read_console_success = ReadConsoleW(handle->handle,
- (void*) utf16,
- chars,
- &read_chars,
- NULL);
-
- if (read_console_success) {
- read_bytes = WideCharToMultiByte(CP_UTF8,
- 0,
- utf16,
- read_chars,
- handle->tty.rd.read_line_buffer.base,
- bytes,
- NULL,
- NULL);
- SET_REQ_SUCCESS(req);
- req->u.io.overlapped.InternalHigh = read_bytes;
- } else {
- SET_REQ_ERROR(req, GetLastError());
- }
-
- status = InterlockedExchange(&uv__read_console_status, COMPLETED);
-
- if (status == TRAP_REQUESTED) {
- /* If we canceled the read by sending a VK_RETURN event, restore the
- screen state to undo the visual effect of the VK_RETURN */
- if (read_console_success && InterlockedOr(&uv__restore_screen_state, 0)) {
- HANDLE active_screen_buffer;
- active_screen_buffer = CreateFileA("conout$",
- GENERIC_READ | GENERIC_WRITE,
- FILE_SHARE_READ | FILE_SHARE_WRITE,
- NULL,
- OPEN_EXISTING,
- FILE_ATTRIBUTE_NORMAL,
- NULL);
- if (active_screen_buffer != INVALID_HANDLE_VALUE) {
- pos = uv__saved_screen_state.dwCursorPosition;
-
- /* If the cursor was at the bottom line of the screen buffer, the
- VK_RETURN would have caused the buffer contents to scroll up by one
- line. The right position to reset the cursor to is therefore one line
- higher */
- if (pos.Y == uv__saved_screen_state.dwSize.Y - 1)
- pos.Y--;
-
- SetConsoleCursorPosition(active_screen_buffer, pos);
- CloseHandle(active_screen_buffer);
- }
- }
- uv_sem_post(&uv_tty_output_lock);
- }
- POST_COMPLETION_FOR_REQ(loop, req);
- return 0;
-}
-
-
-static void uv_tty_queue_read_line(uv_loop_t* loop, uv_tty_t* handle) {
- uv_read_t* req;
- BOOL r;
-
- assert(handle->flags & UV_HANDLE_READING);
- assert(!(handle->flags & UV_HANDLE_READ_PENDING));
- assert(handle->handle && handle->handle != INVALID_HANDLE_VALUE);
-
- req = &handle->read_req;
- memset(&req->u.io.overlapped, 0, sizeof(req->u.io.overlapped));
-
- handle->tty.rd.read_line_buffer = uv_buf_init(NULL, 0);
- handle->alloc_cb((uv_handle_t*) handle, 8192, &handle->tty.rd.read_line_buffer);
- if (handle->tty.rd.read_line_buffer.base == NULL ||
- handle->tty.rd.read_line_buffer.len == 0) {
- handle->read_cb((uv_stream_t*) handle,
- UV_ENOBUFS,
- &handle->tty.rd.read_line_buffer);
- return;
- }
- assert(handle->tty.rd.read_line_buffer.base != NULL);
-
- /* Reset flags No locking is required since there cannot be a line read
- in progress. We are also relying on the memory barrier provided by
- QueueUserWorkItem*/
- uv__restore_screen_state = FALSE;
- uv__read_console_status = NOT_STARTED;
- r = QueueUserWorkItem(uv_tty_line_read_thread,
- (void*) req,
- WT_EXECUTELONGFUNCTION);
- if (!r) {
- SET_REQ_ERROR(req, GetLastError());
- uv_insert_pending_req(loop, (uv_req_t*)req);
- }
-
- handle->flags |= UV_HANDLE_READ_PENDING;
- handle->reqs_pending++;
-}
-
-
-static void uv_tty_queue_read(uv_loop_t* loop, uv_tty_t* handle) {
- if (handle->flags & UV_HANDLE_TTY_RAW) {
- uv_tty_queue_read_raw(loop, handle);
- } else {
- uv_tty_queue_read_line(loop, handle);
- }
-}
-
-
-static const char* get_vt100_fn_key(DWORD code, char shift, char ctrl,
- size_t* len) {
-#define VK_CASE(vk, normal_str, shift_str, ctrl_str, shift_ctrl_str) \
- case (vk): \
- if (shift && ctrl) { \
- *len = sizeof shift_ctrl_str; \
- return "\033" shift_ctrl_str; \
- } else if (shift) { \
- *len = sizeof shift_str ; \
- return "\033" shift_str; \
- } else if (ctrl) { \
- *len = sizeof ctrl_str; \
- return "\033" ctrl_str; \
- } else { \
- *len = sizeof normal_str; \
- return "\033" normal_str; \
- }
-
- switch (code) {
- /* These mappings are the same as Cygwin's. Unmodified and alt-modified
- * keypad keys comply with linux console, modifiers comply with xterm
- * modifier usage. F1. f12 and shift-f1. f10 comply with linux console, f6.
- * f12 with and without modifiers comply with rxvt. */
- VK_CASE(VK_INSERT, "[2~", "[2;2~", "[2;5~", "[2;6~")
- VK_CASE(VK_END, "[4~", "[4;2~", "[4;5~", "[4;6~")
- VK_CASE(VK_DOWN, "[B", "[1;2B", "[1;5B", "[1;6B")
- VK_CASE(VK_NEXT, "[6~", "[6;2~", "[6;5~", "[6;6~")
- VK_CASE(VK_LEFT, "[D", "[1;2D", "[1;5D", "[1;6D")
- VK_CASE(VK_CLEAR, "[G", "[1;2G", "[1;5G", "[1;6G")
- VK_CASE(VK_RIGHT, "[C", "[1;2C", "[1;5C", "[1;6C")
- VK_CASE(VK_UP, "[A", "[1;2A", "[1;5A", "[1;6A")
- VK_CASE(VK_HOME, "[1~", "[1;2~", "[1;5~", "[1;6~")
- VK_CASE(VK_PRIOR, "[5~", "[5;2~", "[5;5~", "[5;6~")
- VK_CASE(VK_DELETE, "[3~", "[3;2~", "[3;5~", "[3;6~")
- VK_CASE(VK_NUMPAD0, "[2~", "[2;2~", "[2;5~", "[2;6~")
- VK_CASE(VK_NUMPAD1, "[4~", "[4;2~", "[4;5~", "[4;6~")
- VK_CASE(VK_NUMPAD2, "[B", "[1;2B", "[1;5B", "[1;6B")
- VK_CASE(VK_NUMPAD3, "[6~", "[6;2~", "[6;5~", "[6;6~")
- VK_CASE(VK_NUMPAD4, "[D", "[1;2D", "[1;5D", "[1;6D")
- VK_CASE(VK_NUMPAD5, "[G", "[1;2G", "[1;5G", "[1;6G")
- VK_CASE(VK_NUMPAD6, "[C", "[1;2C", "[1;5C", "[1;6C")
- VK_CASE(VK_NUMPAD7, "[A", "[1;2A", "[1;5A", "[1;6A")
- VK_CASE(VK_NUMPAD8, "[1~", "[1;2~", "[1;5~", "[1;6~")
- VK_CASE(VK_NUMPAD9, "[5~", "[5;2~", "[5;5~", "[5;6~")
- VK_CASE(VK_DECIMAL, "[3~", "[3;2~", "[3;5~", "[3;6~")
- VK_CASE(VK_F1, "[[A", "[23~", "[11^", "[23^" )
- VK_CASE(VK_F2, "[[B", "[24~", "[12^", "[24^" )
- VK_CASE(VK_F3, "[[C", "[25~", "[13^", "[25^" )
- VK_CASE(VK_F4, "[[D", "[26~", "[14^", "[26^" )
- VK_CASE(VK_F5, "[[E", "[28~", "[15^", "[28^" )
- VK_CASE(VK_F6, "[17~", "[29~", "[17^", "[29^" )
- VK_CASE(VK_F7, "[18~", "[31~", "[18^", "[31^" )
- VK_CASE(VK_F8, "[19~", "[32~", "[19^", "[32^" )
- VK_CASE(VK_F9, "[20~", "[33~", "[20^", "[33^" )
- VK_CASE(VK_F10, "[21~", "[34~", "[21^", "[34^" )
- VK_CASE(VK_F11, "[23~", "[23$", "[23^", "[23@" )
- VK_CASE(VK_F12, "[24~", "[24$", "[24^", "[24@" )
-
- default:
- *len = 0;
- return NULL;
- }
-#undef VK_CASE
-}
-
-
-void uv_process_tty_read_raw_req(uv_loop_t* loop, uv_tty_t* handle,
- uv_req_t* req) {
- /* Shortcut for handle->tty.rd.last_input_record.Event.KeyEvent. */
-#define KEV handle->tty.rd.last_input_record.Event.KeyEvent
-
- DWORD records_left, records_read;
- uv_buf_t buf;
- off_t buf_used;
-
- assert(handle->type == UV_TTY);
- assert(handle->flags & UV_HANDLE_TTY_READABLE);
- handle->flags &= ~UV_HANDLE_READ_PENDING;
-
- if (!(handle->flags & UV_HANDLE_READING) ||
- !(handle->flags & UV_HANDLE_TTY_RAW)) {
- goto out;
- }
-
- if (!REQ_SUCCESS(req)) {
- /* An error occurred while waiting for the event. */
- if ((handle->flags & UV_HANDLE_READING)) {
- handle->flags &= ~UV_HANDLE_READING;
- handle->read_cb((uv_stream_t*)handle,
- uv_translate_sys_error(GET_REQ_ERROR(req)),
- &uv_null_buf_);
- }
- goto out;
- }
-
- /* Fetch the number of events */
- if (!GetNumberOfConsoleInputEvents(handle->handle, &records_left)) {
- handle->flags &= ~UV_HANDLE_READING;
- DECREASE_ACTIVE_COUNT(loop, handle);
- handle->read_cb((uv_stream_t*)handle,
- uv_translate_sys_error(GetLastError()),
- &uv_null_buf_);
- goto out;
- }
-
- /* Windows sends a lot of events that we're not interested in, so buf will be
- * allocated on demand, when there's actually something to emit. */
- buf = uv_null_buf_;
- buf_used = 0;
-
- while ((records_left > 0 || handle->tty.rd.last_key_len > 0) &&
- (handle->flags & UV_HANDLE_READING)) {
- if (handle->tty.rd.last_key_len == 0) {
- /* Read the next input record */
- if (!ReadConsoleInputW(handle->handle,
- &handle->tty.rd.last_input_record,
- 1,
- &records_read)) {
- handle->flags &= ~UV_HANDLE_READING;
- DECREASE_ACTIVE_COUNT(loop, handle);
- handle->read_cb((uv_stream_t*) handle,
- uv_translate_sys_error(GetLastError()),
- &buf);
- goto out;
- }
- records_left--;
-
- /* Ignore other events that are not key events. */
- if (handle->tty.rd.last_input_record.EventType != KEY_EVENT) {
- continue;
- }
-
- /* Ignore keyup events, unless the left alt key was held and a valid
- * unicode character was emitted. */
- if (!KEV.bKeyDown && !(((KEV.dwControlKeyState & LEFT_ALT_PRESSED) ||
- KEV.wVirtualKeyCode==VK_MENU) && KEV.uChar.UnicodeChar != 0)) {
- continue;
- }
-
- /* Ignore keypresses to numpad number keys if the left alt is held
- * because the user is composing a character, or windows simulating this.
- */
- if ((KEV.dwControlKeyState & LEFT_ALT_PRESSED) &&
- !(KEV.dwControlKeyState & ENHANCED_KEY) &&
- (KEV.wVirtualKeyCode == VK_INSERT ||
- KEV.wVirtualKeyCode == VK_END ||
- KEV.wVirtualKeyCode == VK_DOWN ||
- KEV.wVirtualKeyCode == VK_NEXT ||
- KEV.wVirtualKeyCode == VK_LEFT ||
- KEV.wVirtualKeyCode == VK_CLEAR ||
- KEV.wVirtualKeyCode == VK_RIGHT ||
- KEV.wVirtualKeyCode == VK_HOME ||
- KEV.wVirtualKeyCode == VK_UP ||
- KEV.wVirtualKeyCode == VK_PRIOR ||
- KEV.wVirtualKeyCode == VK_NUMPAD0 ||
- KEV.wVirtualKeyCode == VK_NUMPAD1 ||
- KEV.wVirtualKeyCode == VK_NUMPAD2 ||
- KEV.wVirtualKeyCode == VK_NUMPAD3 ||
- KEV.wVirtualKeyCode == VK_NUMPAD4 ||
- KEV.wVirtualKeyCode == VK_NUMPAD5 ||
- KEV.wVirtualKeyCode == VK_NUMPAD6 ||
- KEV.wVirtualKeyCode == VK_NUMPAD7 ||
- KEV.wVirtualKeyCode == VK_NUMPAD8 ||
- KEV.wVirtualKeyCode == VK_NUMPAD9)) {
- continue;
- }
-
- if (KEV.uChar.UnicodeChar != 0) {
- int prefix_len, char_len;
-
- /* Character key pressed */
- if (KEV.uChar.UnicodeChar >= 0xD800 &&
- KEV.uChar.UnicodeChar < 0xDC00) {
- /* UTF-16 high surrogate */
- handle->tty.rd.last_utf16_high_surrogate = KEV.uChar.UnicodeChar;
- continue;
- }
-
- /* Prefix with \u033 if alt was held, but alt was not used as part a
- * compose sequence. */
- if ((KEV.dwControlKeyState & (LEFT_ALT_PRESSED | RIGHT_ALT_PRESSED))
- && !(KEV.dwControlKeyState & (LEFT_CTRL_PRESSED |
- RIGHT_CTRL_PRESSED)) && KEV.bKeyDown) {
- handle->tty.rd.last_key[0] = '\033';
- prefix_len = 1;
- } else {
- prefix_len = 0;
- }
-
- if (KEV.uChar.UnicodeChar >= 0xDC00 &&
- KEV.uChar.UnicodeChar < 0xE000) {
- /* UTF-16 surrogate pair */
- WCHAR utf16_buffer[2] = { handle->tty.rd.last_utf16_high_surrogate,
- KEV.uChar.UnicodeChar};
- char_len = WideCharToMultiByte(CP_UTF8,
- 0,
- utf16_buffer,
- 2,
- &handle->tty.rd.last_key[prefix_len],
- sizeof handle->tty.rd.last_key,
- NULL,
- NULL);
- } else {
- /* Single UTF-16 character */
- char_len = WideCharToMultiByte(CP_UTF8,
- 0,
- &KEV.uChar.UnicodeChar,
- 1,
- &handle->tty.rd.last_key[prefix_len],
- sizeof handle->tty.rd.last_key,
- NULL,
- NULL);
- }
-
- /* Whatever happened, the last character wasn't a high surrogate. */
- handle->tty.rd.last_utf16_high_surrogate = 0;
-
- /* If the utf16 character(s) couldn't be converted something must be
- * wrong. */
- if (!char_len) {
- handle->flags &= ~UV_HANDLE_READING;
- DECREASE_ACTIVE_COUNT(loop, handle);
- handle->read_cb((uv_stream_t*) handle,
- uv_translate_sys_error(GetLastError()),
- &buf);
- goto out;
- }
-
- handle->tty.rd.last_key_len = (unsigned char) (prefix_len + char_len);
- handle->tty.rd.last_key_offset = 0;
- continue;
-
- } else {
- /* Function key pressed */
- const char* vt100;
- size_t prefix_len, vt100_len;
-
- vt100 = get_vt100_fn_key(KEV.wVirtualKeyCode,
- !!(KEV.dwControlKeyState & SHIFT_PRESSED),
- !!(KEV.dwControlKeyState & (
- LEFT_CTRL_PRESSED |
- RIGHT_CTRL_PRESSED)),
- &vt100_len);
-
- /* If we were unable to map to a vt100 sequence, just ignore. */
- if (!vt100) {
- continue;
- }
-
- /* Prefix with \x033 when the alt key was held. */
- if (KEV.dwControlKeyState & (LEFT_ALT_PRESSED | RIGHT_ALT_PRESSED)) {
- handle->tty.rd.last_key[0] = '\033';
- prefix_len = 1;
- } else {
- prefix_len = 0;
- }
-
- /* Copy the vt100 sequence to the handle buffer. */
- assert(prefix_len + vt100_len < sizeof handle->tty.rd.last_key);
- memcpy(&handle->tty.rd.last_key[prefix_len], vt100, vt100_len);
-
- handle->tty.rd.last_key_len = (unsigned char) (prefix_len + vt100_len);
- handle->tty.rd.last_key_offset = 0;
- continue;
- }
- } else {
- /* Copy any bytes left from the last keypress to the user buffer. */
- if (handle->tty.rd.last_key_offset < handle->tty.rd.last_key_len) {
- /* Allocate a buffer if needed */
- if (buf_used == 0) {
- buf = uv_buf_init(NULL, 0);
- handle->alloc_cb((uv_handle_t*) handle, 1024, &buf);
- if (buf.base == NULL || buf.len == 0) {
- handle->read_cb((uv_stream_t*) handle, UV_ENOBUFS, &buf);
- goto out;
- }
- assert(buf.base != NULL);
- }
-
- buf.base[buf_used++] = handle->tty.rd.last_key[handle->tty.rd.last_key_offset++];
-
- /* If the buffer is full, emit it */
- if ((size_t) buf_used == buf.len) {
- handle->read_cb((uv_stream_t*) handle, buf_used, &buf);
- buf = uv_null_buf_;
- buf_used = 0;
- }
-
- continue;
- }
-
- /* Apply dwRepeat from the last input record. */
- if (--KEV.wRepeatCount > 0) {
- handle->tty.rd.last_key_offset = 0;
- continue;
- }
-
- handle->tty.rd.last_key_len = 0;
- continue;
- }
- }
-
- /* Send the buffer back to the user */
- if (buf_used > 0) {
- handle->read_cb((uv_stream_t*) handle, buf_used, &buf);
- }
-
- out:
- /* Wait for more input events. */
- if ((handle->flags & UV_HANDLE_READING) &&
- !(handle->flags & UV_HANDLE_READ_PENDING)) {
- uv_tty_queue_read(loop, handle);
- }
-
- DECREASE_PENDING_REQ_COUNT(handle);
-
-#undef KEV
-}
-
-
-
-void uv_process_tty_read_line_req(uv_loop_t* loop, uv_tty_t* handle,
- uv_req_t* req) {
- uv_buf_t buf;
-
- assert(handle->type == UV_TTY);
- assert(handle->flags & UV_HANDLE_TTY_READABLE);
-
- buf = handle->tty.rd.read_line_buffer;
-
- handle->flags &= ~UV_HANDLE_READ_PENDING;
- handle->tty.rd.read_line_buffer = uv_null_buf_;
-
- if (!REQ_SUCCESS(req)) {
- /* Read was not successful */
- if (handle->flags & UV_HANDLE_READING) {
- /* Real error */
- handle->flags &= ~UV_HANDLE_READING;
- DECREASE_ACTIVE_COUNT(loop, handle);
- handle->read_cb((uv_stream_t*) handle,
- uv_translate_sys_error(GET_REQ_ERROR(req)),
- &buf);
- } else {
- /* The read was cancelled, or whatever we don't care */
- handle->read_cb((uv_stream_t*) handle, 0, &buf);
- }
-
- } else {
- if (!(handle->flags & UV_HANDLE_CANCELLATION_PENDING)) {
- /* Read successful. TODO: read unicode, convert to utf-8 */
- DWORD bytes = req->u.io.overlapped.InternalHigh;
- handle->read_cb((uv_stream_t*) handle, bytes, &buf);
- } else {
- handle->flags &= ~UV_HANDLE_CANCELLATION_PENDING;
- handle->read_cb((uv_stream_t*) handle, 0, &buf);
- }
- }
-
- /* Wait for more input events. */
- if ((handle->flags & UV_HANDLE_READING) &&
- !(handle->flags & UV_HANDLE_READ_PENDING)) {
- uv_tty_queue_read(loop, handle);
- }
-
- DECREASE_PENDING_REQ_COUNT(handle);
-}
-
-
-void uv_process_tty_read_req(uv_loop_t* loop, uv_tty_t* handle,
- uv_req_t* req) {
- assert(handle->type == UV_TTY);
- assert(handle->flags & UV_HANDLE_TTY_READABLE);
-
- /* If the read_line_buffer member is zero, it must have been an raw read.
- * Otherwise it was a line-buffered read. FIXME: This is quite obscure. Use a
- * flag or something. */
- if (handle->tty.rd.read_line_buffer.len == 0) {
- uv_process_tty_read_raw_req(loop, handle, req);
- } else {
- uv_process_tty_read_line_req(loop, handle, req);
- }
-}
-
-
-int uv_tty_read_start(uv_tty_t* handle, uv_alloc_cb alloc_cb,
- uv_read_cb read_cb) {
- uv_loop_t* loop = handle->loop;
-
- if (!(handle->flags & UV_HANDLE_TTY_READABLE)) {
- return ERROR_INVALID_PARAMETER;
- }
-
- handle->flags |= UV_HANDLE_READING;
- INCREASE_ACTIVE_COUNT(loop, handle);
- handle->read_cb = read_cb;
- handle->alloc_cb = alloc_cb;
-
- /* If reading was stopped and then started again, there could still be a read
- * request pending. */
- if (handle->flags & UV_HANDLE_READ_PENDING) {
- return 0;
- }
-
- /* Maybe the user stopped reading half-way while processing key events.
- * Short-circuit if this could be the case. */
- if (handle->tty.rd.last_key_len > 0) {
- SET_REQ_SUCCESS(&handle->read_req);
- uv_insert_pending_req(handle->loop, (uv_req_t*) &handle->read_req);
- /* Make sure no attempt is made to insert it again until it's handled. */
- handle->flags |= UV_HANDLE_READ_PENDING;
- handle->reqs_pending++;
- return 0;
- }
-
- uv_tty_queue_read(loop, handle);
-
- return 0;
-}
-
-
-int uv_tty_read_stop(uv_tty_t* handle) {
- INPUT_RECORD record;
- DWORD written, err;
-
- handle->flags &= ~UV_HANDLE_READING;
- DECREASE_ACTIVE_COUNT(handle->loop, handle);
-
- if (!(handle->flags & UV_HANDLE_READ_PENDING))
- return 0;
-
- if (handle->flags & UV_HANDLE_TTY_RAW) {
- /* Cancel raw read. Write some bullshit event to force the console wait to
- * return. */
- memset(&record, 0, sizeof record);
- if (!WriteConsoleInputW(handle->handle, &record, 1, &written)) {
- return GetLastError();
- }
- } else if (!(handle->flags & UV_HANDLE_CANCELLATION_PENDING)) {
- /* Cancel line-buffered read if not already pending */
- err = uv__cancel_read_console(handle);
- if (err)
- return err;
-
- handle->flags |= UV_HANDLE_CANCELLATION_PENDING;
- }
-
- return 0;
-}
-
-static int uv__cancel_read_console(uv_tty_t* handle) {
- HANDLE active_screen_buffer = INVALID_HANDLE_VALUE;
- INPUT_RECORD record;
- DWORD written;
- DWORD err = 0;
- LONG status;
-
- assert(!(handle->flags & UV_HANDLE_CANCELLATION_PENDING));
-
- /* Hold the output lock during the cancellation, to ensure that further
- writes don't interfere with the screen state. It will be the ReadConsole
- thread's responsibility to release the lock. */
- uv_sem_wait(&uv_tty_output_lock);
- status = InterlockedExchange(&uv__read_console_status, TRAP_REQUESTED);
- if (status != IN_PROGRESS) {
- /* Either we have managed to set a trap for the other thread before
- ReadConsole is called, or ReadConsole has returned because the user
- has pressed ENTER. In either case, there is nothing else to do. */
- uv_sem_post(&uv_tty_output_lock);
- return 0;
- }
-
- /* Save screen state before sending the VK_RETURN event */
- active_screen_buffer = CreateFileA("conout$",
- GENERIC_READ | GENERIC_WRITE,
- FILE_SHARE_READ | FILE_SHARE_WRITE,
- NULL,
- OPEN_EXISTING,
- FILE_ATTRIBUTE_NORMAL,
- NULL);
-
- if (active_screen_buffer != INVALID_HANDLE_VALUE &&
- GetConsoleScreenBufferInfo(active_screen_buffer,
- &uv__saved_screen_state)) {
- InterlockedOr(&uv__restore_screen_state, 1);
- }
-
- /* Write enter key event to force the console wait to return. */
- record.EventType = KEY_EVENT;
- record.Event.KeyEvent.bKeyDown = TRUE;
- record.Event.KeyEvent.wRepeatCount = 1;
- record.Event.KeyEvent.wVirtualKeyCode = VK_RETURN;
- record.Event.KeyEvent.wVirtualScanCode =
- MapVirtualKeyW(VK_RETURN, MAPVK_VK_TO_VSC);
- record.Event.KeyEvent.uChar.UnicodeChar = L'\r';
- record.Event.KeyEvent.dwControlKeyState = 0;
- if (!WriteConsoleInputW(handle->handle, &record, 1, &written))
- err = GetLastError();
-
- if (active_screen_buffer != INVALID_HANDLE_VALUE)
- CloseHandle(active_screen_buffer);
-
- return err;
-}
-
-
-static void uv_tty_update_virtual_window(CONSOLE_SCREEN_BUFFER_INFO* info) {
- uv_tty_virtual_width = info->dwSize.X;
- uv_tty_virtual_height = info->srWindow.Bottom - info->srWindow.Top + 1;
-
- /* Recompute virtual window offset row. */
- if (uv_tty_virtual_offset == -1) {
- uv_tty_virtual_offset = info->dwCursorPosition.Y;
- } else if (uv_tty_virtual_offset < info->dwCursorPosition.Y -
- uv_tty_virtual_height + 1) {
- /* If suddenly find the cursor outside of the virtual window, it must have
- * somehow scrolled. Update the virtual window offset. */
- uv_tty_virtual_offset = info->dwCursorPosition.Y -
- uv_tty_virtual_height + 1;
- }
- if (uv_tty_virtual_offset + uv_tty_virtual_height > info->dwSize.Y) {
- uv_tty_virtual_offset = info->dwSize.Y - uv_tty_virtual_height;
- }
- if (uv_tty_virtual_offset < 0) {
- uv_tty_virtual_offset = 0;
- }
-}
-
-
-static COORD uv_tty_make_real_coord(uv_tty_t* handle,
- CONSOLE_SCREEN_BUFFER_INFO* info, int x, unsigned char x_relative, int y,
- unsigned char y_relative) {
- COORD result;
-
- uv_tty_update_virtual_window(info);
-
- /* Adjust y position */
- if (y_relative) {
- y = info->dwCursorPosition.Y + y;
- } else {
- y = uv_tty_virtual_offset + y;
- }
- /* Clip y to virtual client rectangle */
- if (y < uv_tty_virtual_offset) {
- y = uv_tty_virtual_offset;
- } else if (y >= uv_tty_virtual_offset + uv_tty_virtual_height) {
- y = uv_tty_virtual_offset + uv_tty_virtual_height - 1;
- }
-
- /* Adjust x */
- if (x_relative) {
- x = info->dwCursorPosition.X + x;
- }
- /* Clip x */
- if (x < 0) {
- x = 0;
- } else if (x >= uv_tty_virtual_width) {
- x = uv_tty_virtual_width - 1;
- }
-
- result.X = (unsigned short) x;
- result.Y = (unsigned short) y;
- return result;
-}
-
-
-static int uv_tty_emit_text(uv_tty_t* handle, WCHAR buffer[], DWORD length,
- DWORD* error) {
- DWORD written;
-
- if (*error != ERROR_SUCCESS) {
- return -1;
- }
-
- if (!WriteConsoleW(handle->handle,
- (void*) buffer,
- length,
- &written,
- NULL)) {
- *error = GetLastError();
- return -1;
- }
-
- return 0;
-}
-
-
-static int uv_tty_move_caret(uv_tty_t* handle, int x, unsigned char x_relative,
- int y, unsigned char y_relative, DWORD* error) {
- CONSOLE_SCREEN_BUFFER_INFO info;
- COORD pos;
-
- if (*error != ERROR_SUCCESS) {
- return -1;
- }
-
- retry:
- if (!GetConsoleScreenBufferInfo(handle->handle, &info)) {
- *error = GetLastError();
- }
-
- pos = uv_tty_make_real_coord(handle, &info, x, x_relative, y, y_relative);
-
- if (!SetConsoleCursorPosition(handle->handle, pos)) {
- if (GetLastError() == ERROR_INVALID_PARAMETER) {
- /* The console may be resized - retry */
- goto retry;
- } else {
- *error = GetLastError();
- return -1;
- }
- }
-
- return 0;
-}
-
-
-static int uv_tty_reset(uv_tty_t* handle, DWORD* error) {
- const COORD origin = {0, 0};
- const WORD char_attrs = uv_tty_default_text_attributes;
- CONSOLE_SCREEN_BUFFER_INFO info;
- DWORD count, written;
-
- if (*error != ERROR_SUCCESS) {
- return -1;
- }
-
- /* Reset original text attributes. */
- if (!SetConsoleTextAttribute(handle->handle, char_attrs)) {
- *error = GetLastError();
- return -1;
- }
-
- /* Move the cursor position to (0, 0). */
- if (!SetConsoleCursorPosition(handle->handle, origin)) {
- *error = GetLastError();
- return -1;
- }
-
- /* Clear the screen buffer. */
- retry:
- if (!GetConsoleScreenBufferInfo(handle->handle, &info)) {
- *error = GetLastError();
- return -1;
- }
-
- count = info.dwSize.X * info.dwSize.Y;
-
- if (!(FillConsoleOutputCharacterW(handle->handle,
- L'\x20',
- count,
- origin,
- &written) &&
- FillConsoleOutputAttribute(handle->handle,
- char_attrs,
- written,
- origin,
- &written))) {
- if (GetLastError() == ERROR_INVALID_PARAMETER) {
- /* The console may be resized - retry */
- goto retry;
- } else {
- *error = GetLastError();
- return -1;
- }
- }
-
- /* Move the virtual window up to the top. */
- uv_tty_virtual_offset = 0;
- uv_tty_update_virtual_window(&info);
-
- return 0;
-}
-
-
-static int uv_tty_clear(uv_tty_t* handle, int dir, char entire_screen,
- DWORD* error) {
- CONSOLE_SCREEN_BUFFER_INFO info;
- COORD start, end;
- DWORD count, written;
-
- int x1, x2, y1, y2;
- int x1r, x2r, y1r, y2r;
-
- if (*error != ERROR_SUCCESS) {
- return -1;
- }
-
- if (dir == 0) {
- /* Clear from current position */
- x1 = 0;
- x1r = 1;
- } else {
- /* Clear from column 0 */
- x1 = 0;
- x1r = 0;
- }
-
- if (dir == 1) {
- /* Clear to current position */
- x2 = 0;
- x2r = 1;
- } else {
- /* Clear to end of row. We pretend the console is 65536 characters wide,
- * uv_tty_make_real_coord will clip it to the actual console width. */
- x2 = 0xffff;
- x2r = 0;
- }
-
- if (!entire_screen) {
- /* Stay on our own row */
- y1 = y2 = 0;
- y1r = y2r = 1;
- } else {
- /* Apply columns direction to row */
- y1 = x1;
- y1r = x1r;
- y2 = x2;
- y2r = x2r;
- }
-
- retry:
- if (!GetConsoleScreenBufferInfo(handle->handle, &info)) {
- *error = GetLastError();
- return -1;
- }
-
- start = uv_tty_make_real_coord(handle, &info, x1, x1r, y1, y1r);
- end = uv_tty_make_real_coord(handle, &info, x2, x2r, y2, y2r);
- count = (end.Y * info.dwSize.X + end.X) -
- (start.Y * info.dwSize.X + start.X) + 1;
-
- if (!(FillConsoleOutputCharacterW(handle->handle,
- L'\x20',
- count,
- start,
- &written) &&
- FillConsoleOutputAttribute(handle->handle,
- info.wAttributes,
- written,
- start,
- &written))) {
- if (GetLastError() == ERROR_INVALID_PARAMETER) {
- /* The console may be resized - retry */
- goto retry;
- } else {
- *error = GetLastError();
- return -1;
- }
- }
-
- return 0;
-}
-
-#define FLIP_FGBG \
- do { \
- WORD fg = info.wAttributes & 0xF; \
- WORD bg = info.wAttributes & 0xF0; \
- info.wAttributes &= 0xFF00; \
- info.wAttributes |= fg << 4; \
- info.wAttributes |= bg >> 4; \
- } while (0)
-
-static int uv_tty_set_style(uv_tty_t* handle, DWORD* error) {
- unsigned short argc = handle->tty.wr.ansi_csi_argc;
- unsigned short* argv = handle->tty.wr.ansi_csi_argv;
- int i;
- CONSOLE_SCREEN_BUFFER_INFO info;
-
- char fg_color = -1, bg_color = -1;
- char fg_bright = -1, bg_bright = -1;
- char inverse = -1;
-
- if (argc == 0) {
- /* Reset mode */
- fg_color = uv_tty_default_fg_color;
- bg_color = uv_tty_default_bg_color;
- fg_bright = uv_tty_default_fg_bright;
- bg_bright = uv_tty_default_bg_bright;
- inverse = uv_tty_default_inverse;
- }
-
- for (i = 0; i < argc; i++) {
- short arg = argv[i];
-
- if (arg == 0) {
- /* Reset mode */
- fg_color = uv_tty_default_fg_color;
- bg_color = uv_tty_default_bg_color;
- fg_bright = uv_tty_default_fg_bright;
- bg_bright = uv_tty_default_bg_bright;
- inverse = uv_tty_default_inverse;
-
- } else if (arg == 1) {
- /* Foreground bright on */
- fg_bright = 1;
-
- } else if (arg == 2) {
- /* Both bright off */
- fg_bright = 0;
- bg_bright = 0;
-
- } else if (arg == 5) {
- /* Background bright on */
- bg_bright = 1;
-
- } else if (arg == 7) {
- /* Inverse: on */
- inverse = 1;
-
- } else if (arg == 21 || arg == 22) {
- /* Foreground bright off */
- fg_bright = 0;
-
- } else if (arg == 25) {
- /* Background bright off */
- bg_bright = 0;
-
- } else if (arg == 27) {
- /* Inverse: off */
- inverse = 0;
-
- } else if (arg >= 30 && arg <= 37) {
- /* Set foreground color */
- fg_color = arg - 30;
-
- } else if (arg == 39) {
- /* Default text color */
- fg_color = uv_tty_default_fg_color;
- fg_bright = uv_tty_default_fg_bright;
-
- } else if (arg >= 40 && arg <= 47) {
- /* Set background color */
- bg_color = arg - 40;
-
- } else if (arg == 49) {
- /* Default background color */
- bg_color = uv_tty_default_bg_color;
- bg_bright = uv_tty_default_bg_bright;
-
- } else if (arg >= 90 && arg <= 97) {
- /* Set bold foreground color */
- fg_bright = 1;
- fg_color = arg - 90;
-
- } else if (arg >= 100 && arg <= 107) {
- /* Set bold background color */
- bg_bright = 1;
- bg_color = arg - 100;
-
- }
- }
-
- if (fg_color == -1 && bg_color == -1 && fg_bright == -1 &&
- bg_bright == -1 && inverse == -1) {
- /* Nothing changed */
- return 0;
- }
-
- if (!GetConsoleScreenBufferInfo(handle->handle, &info)) {
- *error = GetLastError();
- return -1;
- }
-
- if ((info.wAttributes & COMMON_LVB_REVERSE_VIDEO) > 0) {
- FLIP_FGBG;
- }
-
- if (fg_color != -1) {
- info.wAttributes &= ~(FOREGROUND_RED | FOREGROUND_GREEN | FOREGROUND_BLUE);
- if (fg_color & 1) info.wAttributes |= FOREGROUND_RED;
- if (fg_color & 2) info.wAttributes |= FOREGROUND_GREEN;
- if (fg_color & 4) info.wAttributes |= FOREGROUND_BLUE;
- }
-
- if (fg_bright != -1) {
- if (fg_bright) {
- info.wAttributes |= FOREGROUND_INTENSITY;
- } else {
- info.wAttributes &= ~FOREGROUND_INTENSITY;
- }
- }
-
- if (bg_color != -1) {
- info.wAttributes &= ~(BACKGROUND_RED | BACKGROUND_GREEN | BACKGROUND_BLUE);
- if (bg_color & 1) info.wAttributes |= BACKGROUND_RED;
- if (bg_color & 2) info.wAttributes |= BACKGROUND_GREEN;
- if (bg_color & 4) info.wAttributes |= BACKGROUND_BLUE;
- }
-
- if (bg_bright != -1) {
- if (bg_bright) {
- info.wAttributes |= BACKGROUND_INTENSITY;
- } else {
- info.wAttributes &= ~BACKGROUND_INTENSITY;
- }
- }
-
- if (inverse != -1) {
- if (inverse) {
- info.wAttributes |= COMMON_LVB_REVERSE_VIDEO;
- } else {
- info.wAttributes &= ~COMMON_LVB_REVERSE_VIDEO;
- }
- }
-
- if ((info.wAttributes & COMMON_LVB_REVERSE_VIDEO) > 0) {
- FLIP_FGBG;
- }
-
- if (!SetConsoleTextAttribute(handle->handle, info.wAttributes)) {
- *error = GetLastError();
- return -1;
- }
-
- return 0;
-}
-
-
-static int uv_tty_save_state(uv_tty_t* handle, unsigned char save_attributes,
- DWORD* error) {
- CONSOLE_SCREEN_BUFFER_INFO info;
-
- if (*error != ERROR_SUCCESS) {
- return -1;
- }
-
- if (!GetConsoleScreenBufferInfo(handle->handle, &info)) {
- *error = GetLastError();
- return -1;
- }
-
- uv_tty_update_virtual_window(&info);
-
- handle->tty.wr.saved_position.X = info.dwCursorPosition.X;
- handle->tty.wr.saved_position.Y = info.dwCursorPosition.Y - uv_tty_virtual_offset;
- handle->flags |= UV_HANDLE_TTY_SAVED_POSITION;
-
- if (save_attributes) {
- handle->tty.wr.saved_attributes = info.wAttributes &
- (FOREGROUND_INTENSITY | BACKGROUND_INTENSITY);
- handle->flags |= UV_HANDLE_TTY_SAVED_ATTRIBUTES;
- }
-
- return 0;
-}
-
-
-static int uv_tty_restore_state(uv_tty_t* handle,
- unsigned char restore_attributes, DWORD* error) {
- CONSOLE_SCREEN_BUFFER_INFO info;
- WORD new_attributes;
-
- if (*error != ERROR_SUCCESS) {
- return -1;
- }
-
- if (handle->flags & UV_HANDLE_TTY_SAVED_POSITION) {
- if (uv_tty_move_caret(handle,
- handle->tty.wr.saved_position.X,
- 0,
- handle->tty.wr.saved_position.Y,
- 0,
- error) != 0) {
- return -1;
- }
- }
-
- if (restore_attributes &&
- (handle->flags & UV_HANDLE_TTY_SAVED_ATTRIBUTES)) {
- if (!GetConsoleScreenBufferInfo(handle->handle, &info)) {
- *error = GetLastError();
- return -1;
- }
-
- new_attributes = info.wAttributes;
- new_attributes &= ~(FOREGROUND_INTENSITY | BACKGROUND_INTENSITY);
- new_attributes |= handle->tty.wr.saved_attributes;
-
- if (!SetConsoleTextAttribute(handle->handle, new_attributes)) {
- *error = GetLastError();
- return -1;
- }
- }
-
- return 0;
-}
-
-static int uv_tty_set_cursor_visibility(uv_tty_t* handle,
- BOOL visible,
- DWORD* error) {
- CONSOLE_CURSOR_INFO cursor_info;
-
- if (!GetConsoleCursorInfo(handle->handle, &cursor_info)) {
- *error = GetLastError();
- return -1;
- }
-
- cursor_info.bVisible = visible;
-
- if (!SetConsoleCursorInfo(handle->handle, &cursor_info)) {
- *error = GetLastError();
- return -1;
- }
-
- return 0;
-}
-
-static int uv_tty_write_bufs(uv_tty_t* handle,
- const uv_buf_t bufs[],
- unsigned int nbufs,
- DWORD* error) {
- /* We can only write 8k characters at a time. Windows can't handle much more
- * characters in a single console write anyway. */
- WCHAR utf16_buf[MAX_CONSOLE_CHAR];
- WCHAR* utf16_buffer;
- DWORD utf16_buf_used = 0;
- unsigned int i, len, max_len, pos;
- int allocate = 0;
-
-#define FLUSH_TEXT() \
- do { \
- pos = 0; \
- do { \
- len = utf16_buf_used - pos; \
- if (len > MAX_CONSOLE_CHAR) \
- len = MAX_CONSOLE_CHAR; \
- uv_tty_emit_text(handle, &utf16_buffer[pos], len, error); \
- pos += len; \
- } while (pos < utf16_buf_used); \
- if (allocate) { \
- uv__free(utf16_buffer); \
- allocate = 0; \
- utf16_buffer = utf16_buf; \
- } \
- utf16_buf_used = 0; \
- } while (0)
-
-#define ENSURE_BUFFER_SPACE(wchars_needed) \
- if (wchars_needed > ARRAY_SIZE(utf16_buf) - utf16_buf_used) { \
- FLUSH_TEXT(); \
- }
-
- /* Cache for fast access */
- unsigned char utf8_bytes_left = handle->tty.wr.utf8_bytes_left;
- unsigned int utf8_codepoint = handle->tty.wr.utf8_codepoint;
- unsigned char previous_eol = handle->tty.wr.previous_eol;
- unsigned char ansi_parser_state = handle->tty.wr.ansi_parser_state;
-
- /* Store the error here. If we encounter an error, stop trying to do i/o but
- * keep parsing the buffer so we leave the parser in a consistent state. */
- *error = ERROR_SUCCESS;
-
- utf16_buffer = utf16_buf;
-
- uv_sem_wait(&uv_tty_output_lock);
-
- for (i = 0; i < nbufs; i++) {
- uv_buf_t buf = bufs[i];
- unsigned int j;
-
- if (uv__vterm_state == UV_SUPPORTED && buf.len > 0) {
- utf16_buf_used = MultiByteToWideChar(CP_UTF8,
- 0,
- buf.base,
- buf.len,
- NULL,
- 0);
-
- if (utf16_buf_used == 0) {
- *error = GetLastError();
- break;
- }
-
- max_len = (utf16_buf_used + 1) * sizeof(WCHAR);
- allocate = max_len > MAX_CONSOLE_CHAR;
- if (allocate)
- utf16_buffer = (WCHAR*)uv__malloc(max_len);
- if (!MultiByteToWideChar(CP_UTF8,
- 0,
- buf.base,
- buf.len,
- utf16_buffer,
- utf16_buf_used)) {
- if (allocate)
- uv__free(utf16_buffer);
- *error = GetLastError();
- break;
- }
-
- FLUSH_TEXT();
-
- continue;
- }
-
- for (j = 0; j < buf.len; j++) {
- unsigned char c = buf.base[j];
-
- /* Run the character through the utf8 decoder We happily accept non
- * shortest form encodings and invalid code points - there's no real harm
- * that can be done. */
- if (utf8_bytes_left == 0) {
- /* Read utf-8 start byte */
- DWORD first_zero_bit;
- unsigned char not_c = ~c;
-#ifdef _MSC_VER /* msvc */
- if (_BitScanReverse(&first_zero_bit, not_c)) {
-#else /* assume gcc */
- if (c != 0) {
- first_zero_bit = (sizeof(int) * 8) - 1 - __builtin_clz(not_c);
-#endif
- if (first_zero_bit == 7) {
- /* Ascii - pass right through */
- utf8_codepoint = (unsigned int) c;
-
- } else if (first_zero_bit <= 5) {
- /* Multibyte sequence */
- utf8_codepoint = (0xff >> (8 - first_zero_bit)) & c;
- utf8_bytes_left = (char) (6 - first_zero_bit);
-
- } else {
- /* Invalid continuation */
- utf8_codepoint = UNICODE_REPLACEMENT_CHARACTER;
- }
-
- } else {
- /* 0xff -- invalid */
- utf8_codepoint = UNICODE_REPLACEMENT_CHARACTER;
- }
-
- } else if ((c & 0xc0) == 0x80) {
- /* Valid continuation of utf-8 multibyte sequence */
- utf8_bytes_left--;
- utf8_codepoint <<= 6;
- utf8_codepoint |= ((unsigned int) c & 0x3f);
-
- } else {
- /* Start byte where continuation was expected. */
- utf8_bytes_left = 0;
- utf8_codepoint = UNICODE_REPLACEMENT_CHARACTER;
- /* Patch buf offset so this character will be parsed again as a start
- * byte. */
- j--;
- }
-
- /* Maybe we need to parse more bytes to find a character. */
- if (utf8_bytes_left != 0) {
- continue;
- }
-
- /* Parse vt100/ansi escape codes */
- if (ansi_parser_state == ANSI_NORMAL) {
- switch (utf8_codepoint) {
- case '\033':
- ansi_parser_state = ANSI_ESCAPE_SEEN;
- continue;
-
- case 0233:
- ansi_parser_state = ANSI_CSI;
- handle->tty.wr.ansi_csi_argc = 0;
- continue;
- }
-
- } else if (ansi_parser_state == ANSI_ESCAPE_SEEN) {
- switch (utf8_codepoint) {
- case '[':
- ansi_parser_state = ANSI_CSI;
- handle->tty.wr.ansi_csi_argc = 0;
- continue;
-
- case '^':
- case '_':
- case 'P':
- case ']':
- /* Not supported, but we'll have to parse until we see a stop code,
- * e. g. ESC \ or BEL. */
- ansi_parser_state = ANSI_ST_CONTROL;
- continue;
-
- case '\033':
- /* Ignore double escape. */
- continue;
-
- case 'c':
- /* Full console reset. */
- FLUSH_TEXT();
- uv_tty_reset(handle, error);
- ansi_parser_state = ANSI_NORMAL;
- continue;
-
- case '7':
- /* Save the cursor position and text attributes. */
- FLUSH_TEXT();
- uv_tty_save_state(handle, 1, error);
- ansi_parser_state = ANSI_NORMAL;
- continue;
-
- case '8':
- /* Restore the cursor position and text attributes */
- FLUSH_TEXT();
- uv_tty_restore_state(handle, 1, error);
- ansi_parser_state = ANSI_NORMAL;
- continue;
-
- default:
- if (utf8_codepoint >= '@' && utf8_codepoint <= '_') {
- /* Single-char control. */
- ansi_parser_state = ANSI_NORMAL;
- continue;
- } else {
- /* Invalid - proceed as normal, */
- ansi_parser_state = ANSI_NORMAL;
- }
- }
-
- } else if (ansi_parser_state & ANSI_CSI) {
- if (!(ansi_parser_state & ANSI_IGNORE)) {
- if (utf8_codepoint >= '0' && utf8_codepoint <= '9') {
- /* Parsing a numerical argument */
-
- if (!(ansi_parser_state & ANSI_IN_ARG)) {
- /* We were not currently parsing a number */
-
- /* Check for too many arguments */
- if (handle->tty.wr.ansi_csi_argc >= ARRAY_SIZE(handle->tty.wr.ansi_csi_argv)) {
- ansi_parser_state |= ANSI_IGNORE;
- continue;
- }
-
- ansi_parser_state |= ANSI_IN_ARG;
- handle->tty.wr.ansi_csi_argc++;
- handle->tty.wr.ansi_csi_argv[handle->tty.wr.ansi_csi_argc - 1] =
- (unsigned short) utf8_codepoint - '0';
- continue;
- } else {
- /* We were already parsing a number. Parse next digit. */
- uint32_t value = 10 *
- handle->tty.wr.ansi_csi_argv[handle->tty.wr.ansi_csi_argc - 1];
-
- /* Check for overflow. */
- if (value > UINT16_MAX) {
- ansi_parser_state |= ANSI_IGNORE;
- continue;
- }
-
- handle->tty.wr.ansi_csi_argv[handle->tty.wr.ansi_csi_argc - 1] =
- (unsigned short) value + (utf8_codepoint - '0');
- continue;
- }
-
- } else if (utf8_codepoint == ';') {
- /* Denotes the end of an argument. */
- if (ansi_parser_state & ANSI_IN_ARG) {
- ansi_parser_state &= ~ANSI_IN_ARG;
- continue;
-
- } else {
- /* If ANSI_IN_ARG is not set, add another argument and default it
- * to 0. */
-
- /* Check for too many arguments */
- if (handle->tty.wr.ansi_csi_argc >= ARRAY_SIZE(handle->tty.wr.ansi_csi_argv)) {
- ansi_parser_state |= ANSI_IGNORE;
- continue;
- }
-
- handle->tty.wr.ansi_csi_argc++;
- handle->tty.wr.ansi_csi_argv[handle->tty.wr.ansi_csi_argc - 1] = 0;
- continue;
- }
-
- } else if (utf8_codepoint == '?' && !(ansi_parser_state & ANSI_IN_ARG) &&
- handle->tty.wr.ansi_csi_argc == 0) {
- /* Ignores '?' if it is the first character after CSI[. This is an
- * extension character from the VT100 codeset that is supported and
- * used by most ANSI terminals today. */
- continue;
-
- } else if (utf8_codepoint >= '@' && utf8_codepoint <= '~' &&
- (handle->tty.wr.ansi_csi_argc > 0 || utf8_codepoint != '[')) {
- int x, y, d;
-
- /* Command byte */
- switch (utf8_codepoint) {
- case 'A':
- /* cursor up */
- FLUSH_TEXT();
- y = -(handle->tty.wr.ansi_csi_argc ? handle->tty.wr.ansi_csi_argv[0] : 1);
- uv_tty_move_caret(handle, 0, 1, y, 1, error);
- break;
-
- case 'B':
- /* cursor down */
- FLUSH_TEXT();
- y = handle->tty.wr.ansi_csi_argc ? handle->tty.wr.ansi_csi_argv[0] : 1;
- uv_tty_move_caret(handle, 0, 1, y, 1, error);
- break;
-
- case 'C':
- /* cursor forward */
- FLUSH_TEXT();
- x = handle->tty.wr.ansi_csi_argc ? handle->tty.wr.ansi_csi_argv[0] : 1;
- uv_tty_move_caret(handle, x, 1, 0, 1, error);
- break;
-
- case 'D':
- /* cursor back */
- FLUSH_TEXT();
- x = -(handle->tty.wr.ansi_csi_argc ? handle->tty.wr.ansi_csi_argv[0] : 1);
- uv_tty_move_caret(handle, x, 1, 0, 1, error);
- break;
-
- case 'E':
- /* cursor next line */
- FLUSH_TEXT();
- y = handle->tty.wr.ansi_csi_argc ? handle->tty.wr.ansi_csi_argv[0] : 1;
- uv_tty_move_caret(handle, 0, 0, y, 1, error);
- break;
-
- case 'F':
- /* cursor previous line */
- FLUSH_TEXT();
- y = -(handle->tty.wr.ansi_csi_argc ? handle->tty.wr.ansi_csi_argv[0] : 1);
- uv_tty_move_caret(handle, 0, 0, y, 1, error);
- break;
-
- case 'G':
- /* cursor horizontal move absolute */
- FLUSH_TEXT();
- x = (handle->tty.wr.ansi_csi_argc >= 1 && handle->tty.wr.ansi_csi_argv[0])
- ? handle->tty.wr.ansi_csi_argv[0] - 1 : 0;
- uv_tty_move_caret(handle, x, 0, 0, 1, error);
- break;
-
- case 'H':
- case 'f':
- /* cursor move absolute */
- FLUSH_TEXT();
- y = (handle->tty.wr.ansi_csi_argc >= 1 && handle->tty.wr.ansi_csi_argv[0])
- ? handle->tty.wr.ansi_csi_argv[0] - 1 : 0;
- x = (handle->tty.wr.ansi_csi_argc >= 2 && handle->tty.wr.ansi_csi_argv[1])
- ? handle->tty.wr.ansi_csi_argv[1] - 1 : 0;
- uv_tty_move_caret(handle, x, 0, y, 0, error);
- break;
-
- case 'J':
- /* Erase screen */
- FLUSH_TEXT();
- d = handle->tty.wr.ansi_csi_argc ? handle->tty.wr.ansi_csi_argv[0] : 0;
- if (d >= 0 && d <= 2) {
- uv_tty_clear(handle, d, 1, error);
- }
- break;
-
- case 'K':
- /* Erase line */
- FLUSH_TEXT();
- d = handle->tty.wr.ansi_csi_argc ? handle->tty.wr.ansi_csi_argv[0] : 0;
- if (d >= 0 && d <= 2) {
- uv_tty_clear(handle, d, 0, error);
- }
- break;
-
- case 'm':
- /* Set style */
- FLUSH_TEXT();
- uv_tty_set_style(handle, error);
- break;
-
- case 's':
- /* Save the cursor position. */
- FLUSH_TEXT();
- uv_tty_save_state(handle, 0, error);
- break;
-
- case 'u':
- /* Restore the cursor position */
- FLUSH_TEXT();
- uv_tty_restore_state(handle, 0, error);
- break;
-
- case 'l':
- /* Hide the cursor */
- if (handle->tty.wr.ansi_csi_argc == 1 &&
- handle->tty.wr.ansi_csi_argv[0] == 25) {
- FLUSH_TEXT();
- uv_tty_set_cursor_visibility(handle, 0, error);
- }
- break;
-
- case 'h':
- /* Show the cursor */
- if (handle->tty.wr.ansi_csi_argc == 1 &&
- handle->tty.wr.ansi_csi_argv[0] == 25) {
- FLUSH_TEXT();
- uv_tty_set_cursor_visibility(handle, 1, error);
- }
- break;
- }
-
- /* Sequence ended - go back to normal state. */
- ansi_parser_state = ANSI_NORMAL;
- continue;
-
- } else {
- /* We don't support commands that use private mode characters or
- * intermediaries. Ignore the rest of the sequence. */
- ansi_parser_state |= ANSI_IGNORE;
- continue;
- }
- } else {
- /* We're ignoring this command. Stop only on command character. */
- if (utf8_codepoint >= '@' && utf8_codepoint <= '~') {
- ansi_parser_state = ANSI_NORMAL;
- }
- continue;
- }
-
- } else if (ansi_parser_state & ANSI_ST_CONTROL) {
- /* Unsupported control code.
- * Ignore everything until we see `BEL` or `ESC \`. */
- if (ansi_parser_state & ANSI_IN_STRING) {
- if (!(ansi_parser_state & ANSI_BACKSLASH_SEEN)) {
- if (utf8_codepoint == '"') {
- ansi_parser_state &= ~ANSI_IN_STRING;
- } else if (utf8_codepoint == '\\') {
- ansi_parser_state |= ANSI_BACKSLASH_SEEN;
- }
- } else {
- ansi_parser_state &= ~ANSI_BACKSLASH_SEEN;
- }
- } else {
- if (utf8_codepoint == '\007' || (utf8_codepoint == '\\' &&
- (ansi_parser_state & ANSI_ESCAPE_SEEN))) {
- /* End of sequence */
- ansi_parser_state = ANSI_NORMAL;
- } else if (utf8_codepoint == '\033') {
- /* Escape character */
- ansi_parser_state |= ANSI_ESCAPE_SEEN;
- } else if (utf8_codepoint == '"') {
- /* String starting */
- ansi_parser_state |= ANSI_IN_STRING;
- ansi_parser_state &= ~ANSI_ESCAPE_SEEN;
- ansi_parser_state &= ~ANSI_BACKSLASH_SEEN;
- } else {
- ansi_parser_state &= ~ANSI_ESCAPE_SEEN;
- }
- }
- continue;
- } else {
- /* Inconsistent state */
- abort();
- }
-
- /* We wouldn't mind emitting utf-16 surrogate pairs. Too bad, the windows
- * console doesn't really support UTF-16, so just emit the replacement
- * character. */
- if (utf8_codepoint > 0xffff) {
- utf8_codepoint = UNICODE_REPLACEMENT_CHARACTER;
- }
-
- if (utf8_codepoint == 0x0a || utf8_codepoint == 0x0d) {
- /* EOL conversion - emit \r\n when we see \n. */
-
- if (utf8_codepoint == 0x0a && previous_eol != 0x0d) {
- /* \n was not preceded by \r; print \r\n. */
- ENSURE_BUFFER_SPACE(2);
- utf16_buf[utf16_buf_used++] = L'\r';
- utf16_buf[utf16_buf_used++] = L'\n';
- } else if (utf8_codepoint == 0x0d && previous_eol == 0x0a) {
- /* \n was followed by \r; do not print the \r, since the source was
- * either \r\n\r (so the second \r is redundant) or was \n\r (so the
- * \n was processed by the last case and an \r automatically
- * inserted). */
- } else {
- /* \r without \n; print \r as-is. */
- ENSURE_BUFFER_SPACE(1);
- utf16_buf[utf16_buf_used++] = (WCHAR) utf8_codepoint;
- }
-
- previous_eol = (char) utf8_codepoint;
-
- } else if (utf8_codepoint <= 0xffff) {
- /* Encode character into utf-16 buffer. */
- ENSURE_BUFFER_SPACE(1);
- utf16_buf[utf16_buf_used++] = (WCHAR) utf8_codepoint;
- previous_eol = 0;
- }
- }
- }
-
- /* Flush remaining characters */
- FLUSH_TEXT();
-
- /* Copy cached values back to struct. */
- handle->tty.wr.utf8_bytes_left = utf8_bytes_left;
- handle->tty.wr.utf8_codepoint = utf8_codepoint;
- handle->tty.wr.previous_eol = previous_eol;
- handle->tty.wr.ansi_parser_state = ansi_parser_state;
-
- uv_sem_post(&uv_tty_output_lock);
-
- if (*error == STATUS_SUCCESS) {
- return 0;
- } else {
- return -1;
- }
-
-#undef FLUSH_TEXT
-}
-
-
-int uv_tty_write(uv_loop_t* loop,
- uv_write_t* req,
- uv_tty_t* handle,
- const uv_buf_t bufs[],
- unsigned int nbufs,
- uv_write_cb cb) {
- DWORD error;
-
- UV_REQ_INIT(req, UV_WRITE);
- req->handle = (uv_stream_t*) handle;
- req->cb = cb;
-
- handle->reqs_pending++;
- handle->stream.conn.write_reqs_pending++;
- REGISTER_HANDLE_REQ(loop, handle, req);
-
- req->u.io.queued_bytes = 0;
-
- if (!uv_tty_write_bufs(handle, bufs, nbufs, &error)) {
- SET_REQ_SUCCESS(req);
- } else {
- SET_REQ_ERROR(req, error);
- }
-
- uv_insert_pending_req(loop, (uv_req_t*) req);
-
- return 0;
-}
-
-
-int uv__tty_try_write(uv_tty_t* handle,
- const uv_buf_t bufs[],
- unsigned int nbufs) {
- DWORD error;
-
- if (handle->stream.conn.write_reqs_pending > 0)
- return UV_EAGAIN;
-
- if (uv_tty_write_bufs(handle, bufs, nbufs, &error))
- return uv_translate_sys_error(error);
-
- return uv__count_bufs(bufs, nbufs);
-}
-
-
-void uv_process_tty_write_req(uv_loop_t* loop, uv_tty_t* handle,
- uv_write_t* req) {
- int err;
-
- handle->write_queue_size -= req->u.io.queued_bytes;
- UNREGISTER_HANDLE_REQ(loop, handle, req);
-
- if (req->cb) {
- err = GET_REQ_ERROR(req);
- req->cb(req, uv_translate_sys_error(err));
- }
-
- handle->stream.conn.write_reqs_pending--;
- if (handle->stream.conn.shutdown_req != NULL &&
- handle->stream.conn.write_reqs_pending == 0) {
- uv_want_endgame(loop, (uv_handle_t*)handle);
- }
-
- DECREASE_PENDING_REQ_COUNT(handle);
-}
-
-
-void uv_tty_close(uv_tty_t* handle) {
- assert(handle->u.fd == -1 || handle->u.fd > 2);
- if (handle->u.fd == -1)
- CloseHandle(handle->handle);
- else
- close(handle->u.fd);
-
- if (handle->flags & UV_HANDLE_READING)
- uv_tty_read_stop(handle);
-
- handle->u.fd = -1;
- handle->handle = INVALID_HANDLE_VALUE;
- handle->flags &= ~(UV_HANDLE_READABLE | UV_HANDLE_WRITABLE);
- uv__handle_closing(handle);
-
- if (handle->reqs_pending == 0) {
- uv_want_endgame(handle->loop, (uv_handle_t*) handle);
- }
-}
-
-
-void uv_tty_endgame(uv_loop_t* loop, uv_tty_t* handle) {
- if (!(handle->flags & UV_HANDLE_TTY_READABLE) &&
- handle->stream.conn.shutdown_req != NULL &&
- handle->stream.conn.write_reqs_pending == 0) {
- UNREGISTER_HANDLE_REQ(loop, handle, handle->stream.conn.shutdown_req);
-
- /* TTY shutdown is really just a no-op */
- if (handle->stream.conn.shutdown_req->cb) {
- if (handle->flags & UV__HANDLE_CLOSING) {
- handle->stream.conn.shutdown_req->cb(handle->stream.conn.shutdown_req, UV_ECANCELED);
- } else {
- handle->stream.conn.shutdown_req->cb(handle->stream.conn.shutdown_req, 0);
- }
- }
-
- handle->stream.conn.shutdown_req = NULL;
-
- DECREASE_PENDING_REQ_COUNT(handle);
- return;
- }
-
- if (handle->flags & UV__HANDLE_CLOSING &&
- handle->reqs_pending == 0) {
- /* The wait handle used for raw reading should be unregistered when the
- * wait callback runs. */
- assert(!(handle->flags & UV_HANDLE_TTY_READABLE) ||
- handle->tty.rd.read_raw_wait == NULL);
-
- assert(!(handle->flags & UV_HANDLE_CLOSED));
- uv__handle_close(handle);
- }
-}
-
-
-/*
- * uv_process_tty_accept_req() is a stub to keep DELEGATE_STREAM_REQ working
- * TODO: find a way to remove it
- */
-void uv_process_tty_accept_req(uv_loop_t* loop, uv_tty_t* handle,
- uv_req_t* raw_req) {
- abort();
-}
-
-
-/*
- * uv_process_tty_connect_req() is a stub to keep DELEGATE_STREAM_REQ working
- * TODO: find a way to remove it
- */
-void uv_process_tty_connect_req(uv_loop_t* loop, uv_tty_t* handle,
- uv_connect_t* req) {
- abort();
-}
-
-
-int uv_tty_reset_mode(void) {
- /* Not necessary to do anything. */
- return 0;
-}
-
-/* Determine whether or not this version of windows supports
- * proper ANSI color codes. Should be supported as of windows
- * 10 version 1511, build number 10.0.10586.
- */
-static void uv__determine_vterm_state(HANDLE handle) {
- DWORD dwMode = 0;
-
- if (!GetConsoleMode(handle, &dwMode)) {
- uv__vterm_state = UV_UNSUPPORTED;
- return;
- }
-
- dwMode |= ENABLE_VIRTUAL_TERMINAL_PROCESSING;
- if (!SetConsoleMode(handle, dwMode)) {
- uv__vterm_state = UV_UNSUPPORTED;
- return;
- }
-
- uv__vterm_state = UV_SUPPORTED;
-}
-
-static DWORD WINAPI uv__tty_console_resize_message_loop_thread(void* param) {
- CONSOLE_SCREEN_BUFFER_INFO sb_info;
- MSG msg;
-
- if (!GetConsoleScreenBufferInfo(uv__tty_console_handle, &sb_info))
- return 0;
-
- uv__tty_console_width = sb_info.dwSize.X;
- uv__tty_console_height = sb_info.srWindow.Bottom - sb_info.srWindow.Top + 1;
-
- if (pSetWinEventHook == NULL)
- return 0;
-
- if (!pSetWinEventHook(EVENT_CONSOLE_LAYOUT,
- EVENT_CONSOLE_LAYOUT,
- NULL,
- uv__tty_console_resize_event,
- 0,
- 0,
- WINEVENT_OUTOFCONTEXT))
- return 0;
-
- while (GetMessage(&msg, NULL, 0, 0)) {
- TranslateMessage(&msg);
- DispatchMessage(&msg);
- }
- return 0;
-}
-
-static void CALLBACK uv__tty_console_resize_event(HWINEVENTHOOK hWinEventHook,
- DWORD event,
- HWND hwnd,
- LONG idObject,
- LONG idChild,
- DWORD dwEventThread,
- DWORD dwmsEventTime) {
- CONSOLE_SCREEN_BUFFER_INFO sb_info;
- int width, height;
-
- if (!GetConsoleScreenBufferInfo(uv__tty_console_handle, &sb_info))
- return;
-
- width = sb_info.dwSize.X;
- height = sb_info.srWindow.Bottom - sb_info.srWindow.Top + 1;
-
- if (width != uv__tty_console_width || height != uv__tty_console_height) {
- uv__tty_console_width = width;
- uv__tty_console_height = height;
- uv__signal_dispatch(SIGWINCH);
- }
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/udp.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/udp.cpp
deleted file mode 100644
index e56282a..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/udp.cpp
+++ /dev/null
@@ -1,962 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include <assert.h>
-#include <stdlib.h>
-
-#include "uv.h"
-#include "internal.h"
-#include "handle-inl.h"
-#include "stream-inl.h"
-#include "req-inl.h"
-
-
-/*
- * Threshold of active udp streams for which to preallocate udp read buffers.
- */
-const unsigned int uv_active_udp_streams_threshold = 0;
-
-/* A zero-size buffer for use by uv_udp_read */
-static char uv_zero_[] = "";
-
-int uv_udp_getsockname(const uv_udp_t* handle,
- struct sockaddr* name,
- int* namelen) {
- int result;
-
- if (handle->socket == INVALID_SOCKET) {
- return UV_EINVAL;
- }
-
- result = getsockname(handle->socket, name, namelen);
- if (result != 0) {
- return uv_translate_sys_error(WSAGetLastError());
- }
-
- return 0;
-}
-
-
-static int uv_udp_set_socket(uv_loop_t* loop, uv_udp_t* handle, SOCKET socket,
- int family) {
- DWORD yes = 1;
- WSAPROTOCOL_INFOW info;
- int opt_len;
-
- if (handle->socket != INVALID_SOCKET)
- return UV_EBUSY;
-
- /* Set the socket to nonblocking mode */
- if (ioctlsocket(socket, FIONBIO, &yes) == SOCKET_ERROR) {
- return WSAGetLastError();
- }
-
- /* Make the socket non-inheritable */
- if (!SetHandleInformation((HANDLE)socket, HANDLE_FLAG_INHERIT, 0)) {
- return GetLastError();
- }
-
- /* Associate it with the I/O completion port. Use uv_handle_t pointer as
- * completion key. */
- if (CreateIoCompletionPort((HANDLE)socket,
- loop->iocp,
- (ULONG_PTR)socket,
- 0) == NULL) {
- return GetLastError();
- }
-
- /* All known Windows that support SetFileCompletionNotificationModes have a
- * bug that makes it impossible to use this function in conjunction with
- * datagram sockets. We can work around that but only if the user is using
- * the default UDP driver (AFD) and has no other. LSPs stacked on top. Here
- * we check whether that is the case. */
- opt_len = (int) sizeof info;
- if (getsockopt(
- socket, SOL_SOCKET, SO_PROTOCOL_INFOW, (char*) &info, &opt_len) ==
- SOCKET_ERROR) {
- return GetLastError();
- }
-
- if (info.ProtocolChain.ChainLen == 1) {
- if (SetFileCompletionNotificationModes(
- (HANDLE) socket,
- FILE_SKIP_SET_EVENT_ON_HANDLE |
- FILE_SKIP_COMPLETION_PORT_ON_SUCCESS)) {
- handle->flags |= UV_HANDLE_SYNC_BYPASS_IOCP;
- handle->func_wsarecv = uv_wsarecv_workaround;
- handle->func_wsarecvfrom = uv_wsarecvfrom_workaround;
- } else if (GetLastError() != ERROR_INVALID_FUNCTION) {
- return GetLastError();
- }
- }
-
- handle->socket = socket;
-
- if (family == AF_INET6) {
- handle->flags |= UV_HANDLE_IPV6;
- } else {
- assert(!(handle->flags & UV_HANDLE_IPV6));
- }
-
- return 0;
-}
-
-
-int uv_udp_init_ex(uv_loop_t* loop, uv_udp_t* handle, unsigned int flags) {
- int domain;
-
- /* Use the lower 8 bits for the domain */
- domain = flags & 0xFF;
- if (domain != AF_INET && domain != AF_INET6 && domain != AF_UNSPEC)
- return UV_EINVAL;
-
- if (flags & ~0xFF)
- return UV_EINVAL;
-
- uv__handle_init(loop, (uv_handle_t*) handle, UV_UDP);
- handle->socket = INVALID_SOCKET;
- handle->reqs_pending = 0;
- handle->activecnt = 0;
- handle->func_wsarecv = WSARecv;
- handle->func_wsarecvfrom = WSARecvFrom;
- handle->send_queue_size = 0;
- handle->send_queue_count = 0;
- UV_REQ_INIT(&handle->recv_req, UV_UDP_RECV);
- handle->recv_req.data = handle;
-
- /* If anything fails beyond this point we need to remove the handle from
- * the handle queue, since it was added by uv__handle_init.
- */
-
- if (domain != AF_UNSPEC) {
- SOCKET sock;
- DWORD err;
-
- sock = socket(domain, SOCK_DGRAM, 0);
- if (sock == INVALID_SOCKET) {
- err = WSAGetLastError();
- QUEUE_REMOVE(&handle->handle_queue);
- return uv_translate_sys_error(err);
- }
-
- err = uv_udp_set_socket(handle->loop, handle, sock, domain);
- if (err) {
- closesocket(sock);
- QUEUE_REMOVE(&handle->handle_queue);
- return uv_translate_sys_error(err);
- }
- }
-
- return 0;
-}
-
-
-int uv_udp_init(uv_loop_t* loop, uv_udp_t* handle) {
- return uv_udp_init_ex(loop, handle, AF_UNSPEC);
-}
-
-
-void uv_udp_close(uv_loop_t* loop, uv_udp_t* handle) {
- uv_udp_recv_stop(handle);
- closesocket(handle->socket);
- handle->socket = INVALID_SOCKET;
-
- uv__handle_closing(handle);
-
- if (handle->reqs_pending == 0) {
- uv_want_endgame(loop, (uv_handle_t*) handle);
- }
-}
-
-
-void uv_udp_endgame(uv_loop_t* loop, uv_udp_t* handle) {
- if (handle->flags & UV__HANDLE_CLOSING &&
- handle->reqs_pending == 0) {
- assert(!(handle->flags & UV_HANDLE_CLOSED));
- uv__handle_close(handle);
- }
-}
-
-
-static int uv_udp_maybe_bind(uv_udp_t* handle,
- const struct sockaddr* addr,
- unsigned int addrlen,
- unsigned int flags) {
- int r;
- int err;
- DWORD no = 0;
-
- if (handle->flags & UV_HANDLE_BOUND)
- return 0;
-
- if ((flags & UV_UDP_IPV6ONLY) && addr->sa_family != AF_INET6) {
- /* UV_UDP_IPV6ONLY is supported only for IPV6 sockets */
- return ERROR_INVALID_PARAMETER;
- }
-
- if (handle->socket == INVALID_SOCKET) {
- SOCKET sock = socket(addr->sa_family, SOCK_DGRAM, 0);
- if (sock == INVALID_SOCKET) {
- return WSAGetLastError();
- }
-
- err = uv_udp_set_socket(handle->loop, handle, sock, addr->sa_family);
- if (err) {
- closesocket(sock);
- return err;
- }
- }
-
- if (flags & UV_UDP_REUSEADDR) {
- DWORD yes = 1;
- /* Set SO_REUSEADDR on the socket. */
- if (setsockopt(handle->socket,
- SOL_SOCKET,
- SO_REUSEADDR,
- (char*) &yes,
- sizeof yes) == SOCKET_ERROR) {
- err = WSAGetLastError();
- return err;
- }
- }
-
- if (addr->sa_family == AF_INET6)
- handle->flags |= UV_HANDLE_IPV6;
-
- if (addr->sa_family == AF_INET6 && !(flags & UV_UDP_IPV6ONLY)) {
- /* On windows IPV6ONLY is on by default. If the user doesn't specify it
- * libuv turns it off. */
-
- /* TODO: how to handle errors? This may fail if there is no ipv4 stack
- * available, or when run on XP/2003 which have no support for dualstack
- * sockets. For now we're silently ignoring the error. */
- setsockopt(handle->socket,
- IPPROTO_IPV6,
- IPV6_V6ONLY,
- (char*) &no,
- sizeof no);
- }
-
- r = bind(handle->socket, addr, addrlen);
- if (r == SOCKET_ERROR) {
- return WSAGetLastError();
- }
-
- handle->flags |= UV_HANDLE_BOUND;
-
- return 0;
-}
-
-
-static void uv_udp_queue_recv(uv_loop_t* loop, uv_udp_t* handle) {
- uv_req_t* req;
- uv_buf_t buf;
- DWORD bytes, flags;
- int result;
-
- assert(handle->flags & UV_HANDLE_READING);
- assert(!(handle->flags & UV_HANDLE_READ_PENDING));
-
- req = &handle->recv_req;
- memset(&req->u.io.overlapped, 0, sizeof(req->u.io.overlapped));
-
- /*
- * Preallocate a read buffer if the number of active streams is below
- * the threshold.
- */
- if (loop->active_udp_streams < uv_active_udp_streams_threshold) {
- handle->flags &= ~UV_HANDLE_ZERO_READ;
-
- handle->recv_buffer = uv_buf_init(NULL, 0);
- handle->alloc_cb((uv_handle_t*) handle, 65536, &handle->recv_buffer);
- if (handle->recv_buffer.base == NULL || handle->recv_buffer.len == 0) {
- handle->recv_cb(handle, UV_ENOBUFS, &handle->recv_buffer, NULL, 0);
- return;
- }
- assert(handle->recv_buffer.base != NULL);
-
- buf = handle->recv_buffer;
- memset(&handle->recv_from, 0, sizeof handle->recv_from);
- handle->recv_from_len = sizeof handle->recv_from;
- flags = 0;
-
- result = handle->func_wsarecvfrom(handle->socket,
- (WSABUF*) &buf,
- 1,
- &bytes,
- &flags,
- (struct sockaddr*) &handle->recv_from,
- &handle->recv_from_len,
- &req->u.io.overlapped,
- NULL);
-
- if (UV_SUCCEEDED_WITHOUT_IOCP(result == 0)) {
- /* Process the req without IOCP. */
- handle->flags |= UV_HANDLE_READ_PENDING;
- req->u.io.overlapped.InternalHigh = bytes;
- handle->reqs_pending++;
- uv_insert_pending_req(loop, req);
- } else if (UV_SUCCEEDED_WITH_IOCP(result == 0)) {
- /* The req will be processed with IOCP. */
- handle->flags |= UV_HANDLE_READ_PENDING;
- handle->reqs_pending++;
- } else {
- /* Make this req pending reporting an error. */
- SET_REQ_ERROR(req, WSAGetLastError());
- uv_insert_pending_req(loop, req);
- handle->reqs_pending++;
- }
-
- } else {
- handle->flags |= UV_HANDLE_ZERO_READ;
-
- buf.base = (char*) uv_zero_;
- buf.len = 0;
- flags = MSG_PEEK;
-
- result = handle->func_wsarecv(handle->socket,
- (WSABUF*) &buf,
- 1,
- &bytes,
- &flags,
- &req->u.io.overlapped,
- NULL);
-
- if (UV_SUCCEEDED_WITHOUT_IOCP(result == 0)) {
- /* Process the req without IOCP. */
- handle->flags |= UV_HANDLE_READ_PENDING;
- req->u.io.overlapped.InternalHigh = bytes;
- handle->reqs_pending++;
- uv_insert_pending_req(loop, req);
- } else if (UV_SUCCEEDED_WITH_IOCP(result == 0)) {
- /* The req will be processed with IOCP. */
- handle->flags |= UV_HANDLE_READ_PENDING;
- handle->reqs_pending++;
- } else {
- /* Make this req pending reporting an error. */
- SET_REQ_ERROR(req, WSAGetLastError());
- uv_insert_pending_req(loop, req);
- handle->reqs_pending++;
- }
- }
-}
-
-
-int uv__udp_recv_start(uv_udp_t* handle, uv_alloc_cb alloc_cb,
- uv_udp_recv_cb recv_cb) {
- uv_loop_t* loop = handle->loop;
- int err;
-
- if (handle->flags & UV_HANDLE_READING) {
- return WSAEALREADY;
- }
-
- err = uv_udp_maybe_bind(handle,
- (const struct sockaddr*) &uv_addr_ip4_any_,
- sizeof(uv_addr_ip4_any_),
- 0);
- if (err)
- return err;
-
- handle->flags |= UV_HANDLE_READING;
- INCREASE_ACTIVE_COUNT(loop, handle);
- loop->active_udp_streams++;
-
- handle->recv_cb = recv_cb;
- handle->alloc_cb = alloc_cb;
-
- /* If reading was stopped and then started again, there could still be a recv
- * request pending. */
- if (!(handle->flags & UV_HANDLE_READ_PENDING))
- uv_udp_queue_recv(loop, handle);
-
- return 0;
-}
-
-
-int uv__udp_recv_stop(uv_udp_t* handle) {
- if (handle->flags & UV_HANDLE_READING) {
- handle->flags &= ~UV_HANDLE_READING;
- handle->loop->active_udp_streams--;
- DECREASE_ACTIVE_COUNT(loop, handle);
- }
-
- return 0;
-}
-
-
-static int uv__send(uv_udp_send_t* req,
- uv_udp_t* handle,
- const uv_buf_t bufs[],
- unsigned int nbufs,
- const struct sockaddr* addr,
- unsigned int addrlen,
- uv_udp_send_cb cb) {
- uv_loop_t* loop = handle->loop;
- DWORD result, bytes;
-
- UV_REQ_INIT(req, UV_UDP_SEND);
- req->handle = handle;
- req->cb = cb;
- memset(&req->u.io.overlapped, 0, sizeof(req->u.io.overlapped));
-
- result = WSASendTo(handle->socket,
- (WSABUF*)bufs,
- nbufs,
- &bytes,
- 0,
- addr,
- addrlen,
- &req->u.io.overlapped,
- NULL);
-
- if (UV_SUCCEEDED_WITHOUT_IOCP(result == 0)) {
- /* Request completed immediately. */
- req->u.io.queued_bytes = 0;
- handle->reqs_pending++;
- handle->send_queue_size += req->u.io.queued_bytes;
- handle->send_queue_count++;
- REGISTER_HANDLE_REQ(loop, handle, req);
- uv_insert_pending_req(loop, (uv_req_t*)req);
- } else if (UV_SUCCEEDED_WITH_IOCP(result == 0)) {
- /* Request queued by the kernel. */
- req->u.io.queued_bytes = uv__count_bufs(bufs, nbufs);
- handle->reqs_pending++;
- handle->send_queue_size += req->u.io.queued_bytes;
- handle->send_queue_count++;
- REGISTER_HANDLE_REQ(loop, handle, req);
- } else {
- /* Send failed due to an error. */
- return WSAGetLastError();
- }
-
- return 0;
-}
-
-
-void uv_process_udp_recv_req(uv_loop_t* loop, uv_udp_t* handle,
- uv_req_t* req) {
- uv_buf_t buf;
- int partial;
-
- assert(handle->type == UV_UDP);
-
- handle->flags &= ~UV_HANDLE_READ_PENDING;
-
- if (!REQ_SUCCESS(req)) {
- DWORD err = GET_REQ_SOCK_ERROR(req);
- if (err == WSAEMSGSIZE) {
- /* Not a real error, it just indicates that the received packet was
- * bigger than the receive buffer. */
- } else if (err == WSAECONNRESET || err == WSAENETRESET) {
- /* A previous sendto operation failed; ignore this error. If zero-reading
- * we need to call WSARecv/WSARecvFrom _without_ the. MSG_PEEK flag to
- * clear out the error queue. For nonzero reads, immediately queue a new
- * receive. */
- if (!(handle->flags & UV_HANDLE_ZERO_READ)) {
- goto done;
- }
- } else {
- /* A real error occurred. Report the error to the user only if we're
- * currently reading. */
- if (handle->flags & UV_HANDLE_READING) {
- uv_udp_recv_stop(handle);
- buf = (handle->flags & UV_HANDLE_ZERO_READ) ?
- uv_buf_init(NULL, 0) : handle->recv_buffer;
- handle->recv_cb(handle, uv_translate_sys_error(err), &buf, NULL, 0);
- }
- goto done;
- }
- }
-
- if (!(handle->flags & UV_HANDLE_ZERO_READ)) {
- /* Successful read */
- partial = !REQ_SUCCESS(req);
- handle->recv_cb(handle,
- req->u.io.overlapped.InternalHigh,
- &handle->recv_buffer,
- (const struct sockaddr*) &handle->recv_from,
- partial ? UV_UDP_PARTIAL : 0);
- } else if (handle->flags & UV_HANDLE_READING) {
- DWORD bytes, err, flags;
- struct sockaddr_storage from;
- int from_len;
-
- /* Do a nonblocking receive.
- * TODO: try to read multiple datagrams at once. FIONREAD maybe? */
- buf = uv_buf_init(NULL, 0);
- handle->alloc_cb((uv_handle_t*) handle, 65536, &buf);
- if (buf.base == NULL || buf.len == 0) {
- handle->recv_cb(handle, UV_ENOBUFS, &buf, NULL, 0);
- goto done;
- }
- assert(buf.base != NULL);
-
- memset(&from, 0, sizeof from);
- from_len = sizeof from;
-
- flags = 0;
-
- if (WSARecvFrom(handle->socket,
- (WSABUF*)&buf,
- 1,
- &bytes,
- &flags,
- (struct sockaddr*) &from,
- &from_len,
- NULL,
- NULL) != SOCKET_ERROR) {
-
- /* Message received */
- handle->recv_cb(handle, bytes, &buf, (const struct sockaddr*) &from, 0);
- } else {
- err = WSAGetLastError();
- if (err == WSAEMSGSIZE) {
- /* Message truncated */
- handle->recv_cb(handle,
- bytes,
- &buf,
- (const struct sockaddr*) &from,
- UV_UDP_PARTIAL);
- } else if (err == WSAEWOULDBLOCK) {
- /* Kernel buffer empty */
- handle->recv_cb(handle, 0, &buf, NULL, 0);
- } else if (err == WSAECONNRESET || err == WSAENETRESET) {
- /* WSAECONNRESET/WSANETRESET is ignored because this just indicates
- * that a previous sendto operation failed.
- */
- handle->recv_cb(handle, 0, &buf, NULL, 0);
- } else {
- /* Any other error that we want to report back to the user. */
- uv_udp_recv_stop(handle);
- handle->recv_cb(handle, uv_translate_sys_error(err), &buf, NULL, 0);
- }
- }
- }
-
-done:
- /* Post another read if still reading and not closing. */
- if ((handle->flags & UV_HANDLE_READING) &&
- !(handle->flags & UV_HANDLE_READ_PENDING)) {
- uv_udp_queue_recv(loop, handle);
- }
-
- DECREASE_PENDING_REQ_COUNT(handle);
-}
-
-
-void uv_process_udp_send_req(uv_loop_t* loop, uv_udp_t* handle,
- uv_udp_send_t* req) {
- int err;
-
- assert(handle->type == UV_UDP);
-
- assert(handle->send_queue_size >= req->u.io.queued_bytes);
- assert(handle->send_queue_count >= 1);
- handle->send_queue_size -= req->u.io.queued_bytes;
- handle->send_queue_count--;
-
- UNREGISTER_HANDLE_REQ(loop, handle, req);
-
- if (req->cb) {
- err = 0;
- if (!REQ_SUCCESS(req)) {
- err = GET_REQ_SOCK_ERROR(req);
- }
- req->cb(req, uv_translate_sys_error(err));
- }
-
- DECREASE_PENDING_REQ_COUNT(handle);
-}
-
-
-static int uv__udp_set_membership4(uv_udp_t* handle,
- const struct sockaddr_in* multicast_addr,
- const char* interface_addr,
- uv_membership membership) {
- int err;
- int optname;
- struct ip_mreq mreq;
-
- if (handle->flags & UV_HANDLE_IPV6)
- return UV_EINVAL;
-
- /* If the socket is unbound, bind to inaddr_any. */
- err = uv_udp_maybe_bind(handle,
- (const struct sockaddr*) &uv_addr_ip4_any_,
- sizeof(uv_addr_ip4_any_),
- UV_UDP_REUSEADDR);
- if (err)
- return uv_translate_sys_error(err);
-
- memset(&mreq, 0, sizeof mreq);
-
- if (interface_addr) {
- err = uv_inet_pton(AF_INET, interface_addr, &mreq.imr_interface.s_addr);
- if (err)
- return err;
- } else {
- mreq.imr_interface.s_addr = htonl(INADDR_ANY);
- }
-
- mreq.imr_multiaddr.s_addr = multicast_addr->sin_addr.s_addr;
-
- switch (membership) {
- case UV_JOIN_GROUP:
- optname = IP_ADD_MEMBERSHIP;
- break;
- case UV_LEAVE_GROUP:
- optname = IP_DROP_MEMBERSHIP;
- break;
- default:
- return UV_EINVAL;
- }
-
- if (setsockopt(handle->socket,
- IPPROTO_IP,
- optname,
- (char*) &mreq,
- sizeof mreq) == SOCKET_ERROR) {
- return uv_translate_sys_error(WSAGetLastError());
- }
-
- return 0;
-}
-
-
-int uv__udp_set_membership6(uv_udp_t* handle,
- const struct sockaddr_in6* multicast_addr,
- const char* interface_addr,
- uv_membership membership) {
- int optname;
- int err;
- struct ipv6_mreq mreq;
- struct sockaddr_in6 addr6;
-
- if ((handle->flags & UV_HANDLE_BOUND) && !(handle->flags & UV_HANDLE_IPV6))
- return UV_EINVAL;
-
- err = uv_udp_maybe_bind(handle,
- (const struct sockaddr*) &uv_addr_ip6_any_,
- sizeof(uv_addr_ip6_any_),
- UV_UDP_REUSEADDR);
-
- if (err)
- return uv_translate_sys_error(err);
-
- memset(&mreq, 0, sizeof(mreq));
-
- if (interface_addr) {
- if (uv_ip6_addr(interface_addr, 0, &addr6))
- return UV_EINVAL;
- mreq.ipv6mr_interface = addr6.sin6_scope_id;
- } else {
- mreq.ipv6mr_interface = 0;
- }
-
- mreq.ipv6mr_multiaddr = multicast_addr->sin6_addr;
-
- switch (membership) {
- case UV_JOIN_GROUP:
- optname = IPV6_ADD_MEMBERSHIP;
- break;
- case UV_LEAVE_GROUP:
- optname = IPV6_DROP_MEMBERSHIP;
- break;
- default:
- return UV_EINVAL;
- }
-
- if (setsockopt(handle->socket,
- IPPROTO_IPV6,
- optname,
- (char*) &mreq,
- sizeof mreq) == SOCKET_ERROR) {
- return uv_translate_sys_error(WSAGetLastError());
- }
-
- return 0;
-}
-
-
-int uv_udp_set_membership(uv_udp_t* handle,
- const char* multicast_addr,
- const char* interface_addr,
- uv_membership membership) {
- struct sockaddr_in addr4;
- struct sockaddr_in6 addr6;
-
- if (uv_ip4_addr(multicast_addr, 0, &addr4) == 0)
- return uv__udp_set_membership4(handle, &addr4, interface_addr, membership);
- else if (uv_ip6_addr(multicast_addr, 0, &addr6) == 0)
- return uv__udp_set_membership6(handle, &addr6, interface_addr, membership);
- else
- return UV_EINVAL;
-}
-
-
-int uv_udp_set_multicast_interface(uv_udp_t* handle, const char* interface_addr) {
- struct sockaddr_storage addr_st;
- struct sockaddr_in* addr4;
- struct sockaddr_in6* addr6;
-
- addr4 = (struct sockaddr_in*) &addr_st;
- addr6 = (struct sockaddr_in6*) &addr_st;
-
- if (!interface_addr) {
- memset(&addr_st, 0, sizeof addr_st);
- if (handle->flags & UV_HANDLE_IPV6) {
- addr_st.ss_family = AF_INET6;
- addr6->sin6_scope_id = 0;
- } else {
- addr_st.ss_family = AF_INET;
- addr4->sin_addr.s_addr = htonl(INADDR_ANY);
- }
- } else if (uv_ip4_addr(interface_addr, 0, addr4) == 0) {
- /* nothing, address was parsed */
- } else if (uv_ip6_addr(interface_addr, 0, addr6) == 0) {
- /* nothing, address was parsed */
- } else {
- return UV_EINVAL;
- }
-
- if (handle->socket == INVALID_SOCKET)
- return UV_EBADF;
-
- if (addr_st.ss_family == AF_INET) {
- if (setsockopt(handle->socket,
- IPPROTO_IP,
- IP_MULTICAST_IF,
- (char*) &addr4->sin_addr,
- sizeof(addr4->sin_addr)) == SOCKET_ERROR) {
- return uv_translate_sys_error(WSAGetLastError());
- }
- } else if (addr_st.ss_family == AF_INET6) {
- if (setsockopt(handle->socket,
- IPPROTO_IPV6,
- IPV6_MULTICAST_IF,
- (char*) &addr6->sin6_scope_id,
- sizeof(addr6->sin6_scope_id)) == SOCKET_ERROR) {
- return uv_translate_sys_error(WSAGetLastError());
- }
- } else {
- assert(0 && "unexpected address family");
- abort();
- }
-
- return 0;
-}
-
-
-int uv_udp_set_broadcast(uv_udp_t* handle, int value) {
- BOOL optval = (BOOL) value;
-
- if (handle->socket == INVALID_SOCKET)
- return UV_EBADF;
-
- if (setsockopt(handle->socket,
- SOL_SOCKET,
- SO_BROADCAST,
- (char*) &optval,
- sizeof optval)) {
- return uv_translate_sys_error(WSAGetLastError());
- }
-
- return 0;
-}
-
-
-int uv_udp_open(uv_udp_t* handle, uv_os_sock_t sock) {
- WSAPROTOCOL_INFOW protocol_info;
- int opt_len;
- int err;
-
- /* Detect the address family of the socket. */
- opt_len = (int) sizeof protocol_info;
- if (getsockopt(sock,
- SOL_SOCKET,
- SO_PROTOCOL_INFOW,
- (char*) &protocol_info,
- &opt_len) == SOCKET_ERROR) {
- return uv_translate_sys_error(GetLastError());
- }
-
- err = uv_udp_set_socket(handle->loop,
- handle,
- sock,
- protocol_info.iAddressFamily);
- return uv_translate_sys_error(err);
-}
-
-
-#define SOCKOPT_SETTER(name, option4, option6, validate) \
- int uv_udp_set_##name(uv_udp_t* handle, int value) { \
- DWORD optval = (DWORD) value; \
- \
- if (!(validate(value))) { \
- return UV_EINVAL; \
- } \
- \
- if (handle->socket == INVALID_SOCKET) \
- return UV_EBADF; \
- \
- if (!(handle->flags & UV_HANDLE_IPV6)) { \
- /* Set IPv4 socket option */ \
- if (setsockopt(handle->socket, \
- IPPROTO_IP, \
- option4, \
- (char*) &optval, \
- sizeof optval)) { \
- return uv_translate_sys_error(WSAGetLastError()); \
- } \
- } else { \
- /* Set IPv6 socket option */ \
- if (setsockopt(handle->socket, \
- IPPROTO_IPV6, \
- option6, \
- (char*) &optval, \
- sizeof optval)) { \
- return uv_translate_sys_error(WSAGetLastError()); \
- } \
- } \
- return 0; \
- }
-
-#define VALIDATE_TTL(value) ((value) >= 1 && (value) <= 255)
-#define VALIDATE_MULTICAST_TTL(value) ((value) >= -1 && (value) <= 255)
-#define VALIDATE_MULTICAST_LOOP(value) (1)
-
-SOCKOPT_SETTER(ttl,
- IP_TTL,
- IPV6_HOPLIMIT,
- VALIDATE_TTL)
-SOCKOPT_SETTER(multicast_ttl,
- IP_MULTICAST_TTL,
- IPV6_MULTICAST_HOPS,
- VALIDATE_MULTICAST_TTL)
-SOCKOPT_SETTER(multicast_loop,
- IP_MULTICAST_LOOP,
- IPV6_MULTICAST_LOOP,
- VALIDATE_MULTICAST_LOOP)
-
-#undef SOCKOPT_SETTER
-#undef VALIDATE_TTL
-#undef VALIDATE_MULTICAST_TTL
-#undef VALIDATE_MULTICAST_LOOP
-
-
-/* This function is an egress point, i.e. it returns libuv errors rather than
- * system errors.
- */
-int uv__udp_bind(uv_udp_t* handle,
- const struct sockaddr* addr,
- unsigned int addrlen,
- unsigned int flags) {
- int err;
-
- err = uv_udp_maybe_bind(handle, addr, addrlen, flags);
- if (err)
- return uv_translate_sys_error(err);
-
- return 0;
-}
-
-
-/* This function is an egress point, i.e. it returns libuv errors rather than
- * system errors.
- */
-int uv__udp_send(uv_udp_send_t* req,
- uv_udp_t* handle,
- const uv_buf_t bufs[],
- unsigned int nbufs,
- const struct sockaddr* addr,
- unsigned int addrlen,
- uv_udp_send_cb send_cb) {
- const struct sockaddr* bind_addr;
- int err;
-
- if (!(handle->flags & UV_HANDLE_BOUND)) {
- if (addrlen == sizeof(uv_addr_ip4_any_))
- bind_addr = (const struct sockaddr*) &uv_addr_ip4_any_;
- else if (addrlen == sizeof(uv_addr_ip6_any_))
- bind_addr = (const struct sockaddr*) &uv_addr_ip6_any_;
- else
- return UV_EINVAL;
- err = uv_udp_maybe_bind(handle, bind_addr, addrlen, 0);
- if (err)
- return uv_translate_sys_error(err);
- }
-
- err = uv__send(req, handle, bufs, nbufs, addr, addrlen, send_cb);
- if (err)
- return uv_translate_sys_error(err);
-
- return 0;
-}
-
-
-int uv__udp_try_send(uv_udp_t* handle,
- const uv_buf_t bufs[],
- unsigned int nbufs,
- const struct sockaddr* addr,
- unsigned int addrlen) {
- DWORD bytes;
- const struct sockaddr* bind_addr;
- struct sockaddr_storage converted;
- int err;
-
- assert(nbufs > 0);
-
- err = uv__convert_to_localhost_if_unspecified(addr, &converted);
- if (err)
- return err;
-
- /* Already sending a message.*/
- if (handle->send_queue_count != 0)
- return UV_EAGAIN;
-
- if (!(handle->flags & UV_HANDLE_BOUND)) {
- if (addrlen == sizeof(uv_addr_ip4_any_))
- bind_addr = (const struct sockaddr*) &uv_addr_ip4_any_;
- else if (addrlen == sizeof(uv_addr_ip6_any_))
- bind_addr = (const struct sockaddr*) &uv_addr_ip6_any_;
- else
- return UV_EINVAL;
- err = uv_udp_maybe_bind(handle, bind_addr, addrlen, 0);
- if (err)
- return uv_translate_sys_error(err);
- }
-
- err = WSASendTo(handle->socket,
- (WSABUF*)bufs,
- nbufs,
- &bytes,
- 0,
- (const struct sockaddr*) &converted,
- addrlen,
- NULL,
- NULL);
-
- if (err)
- return uv_translate_sys_error(WSAGetLastError());
-
- return bytes;
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/util.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/util.cpp
deleted file mode 100644
index 1917c02..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/util.cpp
+++ /dev/null
@@ -1,1539 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include <assert.h>
-#include <direct.h>
-#include <limits.h>
-#include <stdio.h>
-#include <string.h>
-#include <time.h>
-#include <wchar.h>
-
-#include "uv.h"
-#include "internal.h"
-
-#include <winsock2.h>
-#include <winperf.h>
-#include <iphlpapi.h>
-#include <psapi.h>
-#include <tlhelp32.h>
-#include <windows.h>
-#include <userenv.h>
-#include <math.h>
-
-/*
- * Max title length; the only thing MSDN tells us about the maximum length
- * of the console title is that it is smaller than 64K. However in practice
- * it is much smaller, and there is no way to figure out what the exact length
- * of the title is or can be, at least not on XP. To make it even more
- * annoying, GetConsoleTitle fails when the buffer to be read into is bigger
- * than the actual maximum length. So we make a conservative guess here;
- * just don't put the novel you're writing in the title, unless the plot
- * survives truncation.
- */
-#define MAX_TITLE_LENGTH 8192
-
-/* The number of nanoseconds in one second. */
-#define UV__NANOSEC 1000000000
-
-/* Max user name length, from iphlpapi.h */
-#ifndef UNLEN
-# define UNLEN 256
-#endif
-
-/*
- Max hostname length. The Windows gethostname() documentation states that 256
- bytes will always be large enough to hold the null-terminated hostname.
-*/
-#ifndef MAXHOSTNAMELEN
-# define MAXHOSTNAMELEN 256
-#endif
-
-/* Maximum environment variable size, including the terminating null */
-#define MAX_ENV_VAR_LENGTH 32767
-
-/* Cached copy of the process title, plus a mutex guarding it. */
-static char *process_title;
-static CRITICAL_SECTION process_title_lock;
-
-#pragma comment(lib, "Advapi32.lib")
-#pragma comment(lib, "IPHLPAPI.lib")
-#pragma comment(lib, "Psapi.lib")
-#pragma comment(lib, "Userenv.lib")
-#pragma comment(lib, "kernel32.lib")
-
-/* Interval (in seconds) of the high-resolution clock. */
-static double hrtime_interval_ = 0;
-
-
-/*
- * One-time initialization code for functionality defined in util.c.
- */
-void uv__util_init(void) {
- LARGE_INTEGER perf_frequency;
-
- /* Initialize process title access mutex. */
- InitializeCriticalSection(&process_title_lock);
-
- /* Retrieve high-resolution timer frequency
- * and precompute its reciprocal.
- */
- if (QueryPerformanceFrequency(&perf_frequency)) {
- hrtime_interval_ = 1.0 / perf_frequency.QuadPart;
- } else {
- hrtime_interval_= 0;
- }
-}
-
-
-int uv_exepath(char* buffer, size_t* size_ptr) {
- int utf8_len, utf16_buffer_len, utf16_len;
- WCHAR* utf16_buffer;
- int err;
-
- if (buffer == NULL || size_ptr == NULL || *size_ptr == 0) {
- return UV_EINVAL;
- }
-
- if (*size_ptr > 32768) {
- /* Windows paths can never be longer than this. */
- utf16_buffer_len = 32768;
- } else {
- utf16_buffer_len = (int) *size_ptr;
- }
-
- utf16_buffer = (WCHAR*) uv__malloc(sizeof(WCHAR) * utf16_buffer_len);
- if (!utf16_buffer) {
- return UV_ENOMEM;
- }
-
- /* Get the path as UTF-16. */
- utf16_len = GetModuleFileNameW(NULL, utf16_buffer, utf16_buffer_len);
- if (utf16_len <= 0) {
- err = GetLastError();
- goto error;
- }
-
- /* utf16_len contains the length, *not* including the terminating null. */
- utf16_buffer[utf16_len] = L'\0';
-
- /* Convert to UTF-8 */
- utf8_len = WideCharToMultiByte(CP_UTF8,
- 0,
- utf16_buffer,
- -1,
- buffer,
- (int) *size_ptr,
- NULL,
- NULL);
- if (utf8_len == 0) {
- err = GetLastError();
- goto error;
- }
-
- uv__free(utf16_buffer);
-
- /* utf8_len *does* include the terminating null at this point, but the
- * returned size shouldn't. */
- *size_ptr = utf8_len - 1;
- return 0;
-
- error:
- uv__free(utf16_buffer);
- return uv_translate_sys_error(err);
-}
-
-
-int uv_cwd(char* buffer, size_t* size) {
- DWORD utf16_len;
- WCHAR utf16_buffer[MAX_PATH];
- int r;
-
- if (buffer == NULL || size == NULL) {
- return UV_EINVAL;
- }
-
- utf16_len = GetCurrentDirectoryW(MAX_PATH, utf16_buffer);
- if (utf16_len == 0) {
- return uv_translate_sys_error(GetLastError());
- } else if (utf16_len > MAX_PATH) {
- /* This should be impossible; however the CRT has a code path to deal with
- * this scenario, so I added a check anyway. */
- return UV_EIO;
- }
-
- /* utf16_len contains the length, *not* including the terminating null. */
- utf16_buffer[utf16_len] = L'\0';
-
- /* The returned directory should not have a trailing slash, unless it points
- * at a drive root, like c:\. Remove it if needed. */
- if (utf16_buffer[utf16_len - 1] == L'\\' &&
- !(utf16_len == 3 && utf16_buffer[1] == L':')) {
- utf16_len--;
- utf16_buffer[utf16_len] = L'\0';
- }
-
- /* Check how much space we need */
- r = WideCharToMultiByte(CP_UTF8,
- 0,
- utf16_buffer,
- -1,
- NULL,
- 0,
- NULL,
- NULL);
- if (r == 0) {
- return uv_translate_sys_error(GetLastError());
- } else if (r > (int) *size) {
- *size = r;
- return UV_ENOBUFS;
- }
-
- /* Convert to UTF-8 */
- r = WideCharToMultiByte(CP_UTF8,
- 0,
- utf16_buffer,
- -1,
- buffer,
- *size > INT_MAX ? INT_MAX : (int) *size,
- NULL,
- NULL);
- if (r == 0) {
- return uv_translate_sys_error(GetLastError());
- }
-
- *size = r - 1;
- return 0;
-}
-
-
-int uv_chdir(const char* dir) {
- WCHAR utf16_buffer[MAX_PATH];
- size_t utf16_len;
- WCHAR drive_letter, env_var[4];
-
- if (dir == NULL) {
- return UV_EINVAL;
- }
-
- if (MultiByteToWideChar(CP_UTF8,
- 0,
- dir,
- -1,
- utf16_buffer,
- MAX_PATH) == 0) {
- DWORD error = GetLastError();
- /* The maximum length of the current working directory is 260 chars,
- * including terminating null. If it doesn't fit, the path name must be too
- * long. */
- if (error == ERROR_INSUFFICIENT_BUFFER) {
- return UV_ENAMETOOLONG;
- } else {
- return uv_translate_sys_error(error);
- }
- }
-
- if (!SetCurrentDirectoryW(utf16_buffer)) {
- return uv_translate_sys_error(GetLastError());
- }
-
- /* Windows stores the drive-local path in an "hidden" environment variable,
- * which has the form "=C:=C:\Windows". SetCurrentDirectory does not update
- * this, so we'll have to do it. */
- utf16_len = GetCurrentDirectoryW(MAX_PATH, utf16_buffer);
- if (utf16_len == 0) {
- return uv_translate_sys_error(GetLastError());
- } else if (utf16_len > MAX_PATH) {
- return UV_EIO;
- }
-
- /* The returned directory should not have a trailing slash, unless it points
- * at a drive root, like c:\. Remove it if needed. */
- if (utf16_buffer[utf16_len - 1] == L'\\' &&
- !(utf16_len == 3 && utf16_buffer[1] == L':')) {
- utf16_len--;
- utf16_buffer[utf16_len] = L'\0';
- }
-
- if (utf16_len < 2 || utf16_buffer[1] != L':') {
- /* Doesn't look like a drive letter could be there - probably an UNC path.
- * TODO: Need to handle win32 namespaces like \\?\C:\ ? */
- drive_letter = 0;
- } else if (utf16_buffer[0] >= L'A' && utf16_buffer[0] <= L'Z') {
- drive_letter = utf16_buffer[0];
- } else if (utf16_buffer[0] >= L'a' && utf16_buffer[0] <= L'z') {
- /* Convert to uppercase. */
- drive_letter = utf16_buffer[0] - L'a' + L'A';
- } else {
- /* Not valid. */
- drive_letter = 0;
- }
-
- if (drive_letter != 0) {
- /* Construct the environment variable name and set it. */
- env_var[0] = L'=';
- env_var[1] = drive_letter;
- env_var[2] = L':';
- env_var[3] = L'\0';
-
- if (!SetEnvironmentVariableW(env_var, utf16_buffer)) {
- return uv_translate_sys_error(GetLastError());
- }
- }
-
- return 0;
-}
-
-
-void uv_loadavg(double avg[3]) {
- /* Can't be implemented */
- avg[0] = avg[1] = avg[2] = 0;
-}
-
-
-uint64_t uv_get_free_memory(void) {
- MEMORYSTATUSEX memory_status;
- memory_status.dwLength = sizeof(memory_status);
-
- if (!GlobalMemoryStatusEx(&memory_status)) {
- return -1;
- }
-
- return (uint64_t)memory_status.ullAvailPhys;
-}
-
-
-uint64_t uv_get_total_memory(void) {
- MEMORYSTATUSEX memory_status;
- memory_status.dwLength = sizeof(memory_status);
-
- if (!GlobalMemoryStatusEx(&memory_status)) {
- return -1;
- }
-
- return (uint64_t)memory_status.ullTotalPhys;
-}
-
-
-uv_pid_t uv_os_getpid(void) {
- return GetCurrentProcessId();
-}
-
-
-uv_pid_t uv_os_getppid(void) {
- int parent_pid = -1;
- HANDLE handle;
- PROCESSENTRY32 pe;
- DWORD current_pid = GetCurrentProcessId();
-
- pe.dwSize = sizeof(PROCESSENTRY32);
- handle = CreateToolhelp32Snapshot(TH32CS_SNAPPROCESS, 0);
-
- if (Process32First(handle, &pe)) {
- do {
- if (pe.th32ProcessID == current_pid) {
- parent_pid = pe.th32ParentProcessID;
- break;
- }
- } while( Process32Next(handle, &pe));
- }
-
- CloseHandle(handle);
- return parent_pid;
-}
-
-
-char** uv_setup_args(int argc, char** argv) {
- return argv;
-}
-
-
-int uv_set_process_title(const char* title) {
- int err;
- int length;
- WCHAR* title_w = NULL;
-
- uv__once_init();
-
- /* Find out how big the buffer for the wide-char title must be */
- length = MultiByteToWideChar(CP_UTF8, 0, title, -1, NULL, 0);
- if (!length) {
- err = GetLastError();
- goto done;
- }
-
- /* Convert to wide-char string */
- title_w = (WCHAR*)uv__malloc(sizeof(WCHAR) * length);
- if (!title_w) {
- uv_fatal_error(ERROR_OUTOFMEMORY, "uv__malloc");
- }
-
- length = MultiByteToWideChar(CP_UTF8, 0, title, -1, title_w, length);
- if (!length) {
- err = GetLastError();
- goto done;
- }
-
- /* If the title must be truncated insert a \0 terminator there */
- if (length > MAX_TITLE_LENGTH) {
- title_w[MAX_TITLE_LENGTH - 1] = L'\0';
- }
-
- if (!SetConsoleTitleW(title_w)) {
- err = GetLastError();
- goto done;
- }
-
- EnterCriticalSection(&process_title_lock);
- uv__free(process_title);
- process_title = uv__strdup(title);
- LeaveCriticalSection(&process_title_lock);
-
- err = 0;
-
-done:
- uv__free(title_w);
- return uv_translate_sys_error(err);
-}
-
-
-static int uv__get_process_title(void) {
- WCHAR title_w[MAX_TITLE_LENGTH];
-
- if (!GetConsoleTitleW(title_w, sizeof(title_w) / sizeof(WCHAR))) {
- return -1;
- }
-
- if (uv__convert_utf16_to_utf8(title_w, -1, &process_title) != 0)
- return -1;
-
- return 0;
-}
-
-
-int uv_get_process_title(char* buffer, size_t size) {
- size_t len;
-
- if (buffer == NULL || size == 0)
- return UV_EINVAL;
-
- uv__once_init();
-
- EnterCriticalSection(&process_title_lock);
- /*
- * If the process_title was never read before nor explicitly set,
- * we must query it with getConsoleTitleW
- */
- if (!process_title && uv__get_process_title() == -1) {
- LeaveCriticalSection(&process_title_lock);
- return uv_translate_sys_error(GetLastError());
- }
-
- assert(process_title);
- len = strlen(process_title) + 1;
-
- if (size < len) {
- LeaveCriticalSection(&process_title_lock);
- return UV_ENOBUFS;
- }
-
- memcpy(buffer, process_title, len);
- LeaveCriticalSection(&process_title_lock);
-
- return 0;
-}
-
-
-uint64_t uv_hrtime(void) {
- uv__once_init();
- return uv__hrtime(UV__NANOSEC);
-}
-
-uint64_t uv__hrtime(double scale) {
- LARGE_INTEGER counter;
-
- /* If the performance interval is zero, there's no support. */
- if (hrtime_interval_ == 0) {
- return 0;
- }
-
- if (!QueryPerformanceCounter(&counter)) {
- return 0;
- }
-
- /* Because we have no guarantee about the order of magnitude of the
- * performance counter interval, integer math could cause this computation
- * to overflow. Therefore we resort to floating point math.
- */
- return (uint64_t) ((double) counter.QuadPart * hrtime_interval_ * scale);
-}
-
-
-int uv_resident_set_memory(size_t* rss) {
- HANDLE current_process;
- PROCESS_MEMORY_COUNTERS pmc;
-
- current_process = GetCurrentProcess();
-
- if (!GetProcessMemoryInfo(current_process, &pmc, sizeof(pmc))) {
- return uv_translate_sys_error(GetLastError());
- }
-
- *rss = pmc.WorkingSetSize;
-
- return 0;
-}
-
-
-int uv_uptime(double* uptime) {
- BYTE stack_buffer[4096];
- BYTE* malloced_buffer = NULL;
- BYTE* buffer = (BYTE*) stack_buffer;
- size_t buffer_size = sizeof(stack_buffer);
- DWORD data_size;
-
- PERF_DATA_BLOCK* data_block;
- PERF_OBJECT_TYPE* object_type;
- PERF_COUNTER_DEFINITION* counter_definition;
-
- DWORD i;
-
- for (;;) {
- LONG result;
-
- data_size = (DWORD) buffer_size;
- result = RegQueryValueExW(HKEY_PERFORMANCE_DATA,
- L"2",
- NULL,
- NULL,
- buffer,
- &data_size);
- if (result == ERROR_SUCCESS) {
- break;
- } else if (result != ERROR_MORE_DATA) {
- *uptime = 0;
- return uv_translate_sys_error(result);
- }
-
- buffer_size *= 2;
- /* Don't let the buffer grow infinitely. */
- if (buffer_size > 1 << 20) {
- goto internalError;
- }
-
- uv__free(malloced_buffer);
-
- buffer = malloced_buffer = (BYTE*) uv__malloc(buffer_size);
- if (malloced_buffer == NULL) {
- *uptime = 0;
- return UV_ENOMEM;
- }
- }
-
- if (data_size < sizeof(*data_block))
- goto internalError;
-
- data_block = (PERF_DATA_BLOCK*) buffer;
-
- if (wmemcmp(data_block->Signature, L"PERF", 4) != 0)
- goto internalError;
-
- if (data_size < data_block->HeaderLength + sizeof(*object_type))
- goto internalError;
-
- object_type = (PERF_OBJECT_TYPE*) (buffer + data_block->HeaderLength);
-
- if (object_type->NumInstances != PERF_NO_INSTANCES)
- goto internalError;
-
- counter_definition = (PERF_COUNTER_DEFINITION*) (buffer +
- data_block->HeaderLength + object_type->HeaderLength);
- for (i = 0; i < object_type->NumCounters; i++) {
- if ((BYTE*) counter_definition + sizeof(*counter_definition) >
- buffer + data_size) {
- break;
- }
-
- if (counter_definition->CounterNameTitleIndex == 674 &&
- counter_definition->CounterSize == sizeof(uint64_t)) {
- if (counter_definition->CounterOffset + sizeof(uint64_t) > data_size ||
- !(counter_definition->CounterType & PERF_OBJECT_TIMER)) {
- goto internalError;
- } else {
- BYTE* address = (BYTE*) object_type + object_type->DefinitionLength +
- counter_definition->CounterOffset;
- uint64_t value = *((uint64_t*) address);
- *uptime = floor((double) (object_type->PerfTime.QuadPart - value) /
- (double) object_type->PerfFreq.QuadPart);
- uv__free(malloced_buffer);
- return 0;
- }
- }
-
- counter_definition = (PERF_COUNTER_DEFINITION*)
- ((BYTE*) counter_definition + counter_definition->ByteLength);
- }
-
- /* If we get here, the uptime value was not found. */
- uv__free(malloced_buffer);
- *uptime = 0;
- return UV_ENOSYS;
-
- internalError:
- uv__free(malloced_buffer);
- *uptime = 0;
- return UV_EIO;
-}
-
-
-int uv_cpu_info(uv_cpu_info_t** cpu_infos_ptr, int* cpu_count_ptr) {
- uv_cpu_info_t* cpu_infos;
- SYSTEM_PROCESSOR_PERFORMANCE_INFORMATION* sppi;
- DWORD sppi_size;
- SYSTEM_INFO system_info;
- DWORD cpu_count, i;
- NTSTATUS status;
- ULONG result_size;
- int err;
- uv_cpu_info_t* cpu_info;
-
- cpu_infos = NULL;
- cpu_count = 0;
- sppi = NULL;
-
- uv__once_init();
-
- GetSystemInfo(&system_info);
- cpu_count = system_info.dwNumberOfProcessors;
-
- cpu_infos = (uv_cpu_info_t*)uv__calloc(cpu_count, sizeof *cpu_infos);
- if (cpu_infos == NULL) {
- err = ERROR_OUTOFMEMORY;
- goto error;
- }
-
- sppi_size = cpu_count * sizeof(*sppi);
- sppi = (SYSTEM_PROCESSOR_PERFORMANCE_INFORMATION*)uv__malloc(sppi_size);
- if (sppi == NULL) {
- err = ERROR_OUTOFMEMORY;
- goto error;
- }
-
- status = pNtQuerySystemInformation(SystemProcessorPerformanceInformation,
- sppi,
- sppi_size,
- &result_size);
- if (!NT_SUCCESS(status)) {
- err = pRtlNtStatusToDosError(status);
- goto error;
- }
-
- assert(result_size == sppi_size);
-
- for (i = 0; i < cpu_count; i++) {
- WCHAR key_name[128];
- HKEY processor_key;
- DWORD cpu_speed;
- DWORD cpu_speed_size = sizeof(cpu_speed);
- WCHAR cpu_brand[256];
- DWORD cpu_brand_size = sizeof(cpu_brand);
- size_t len;
-
- len = _snwprintf(key_name,
- ARRAY_SIZE(key_name),
- L"HARDWARE\\DESCRIPTION\\System\\CentralProcessor\\%d",
- i);
-
- assert(len > 0 && len < ARRAY_SIZE(key_name));
-
- err = RegOpenKeyExW(HKEY_LOCAL_MACHINE,
- key_name,
- 0,
- KEY_QUERY_VALUE,
- &processor_key);
- if (err != ERROR_SUCCESS) {
- goto error;
- }
-
- err = RegQueryValueExW(processor_key,
- L"~MHz",
- NULL,
- NULL,
- (BYTE*)&cpu_speed,
- &cpu_speed_size);
- if (err != ERROR_SUCCESS) {
- RegCloseKey(processor_key);
- goto error;
- }
-
- err = RegQueryValueExW(processor_key,
- L"ProcessorNameString",
- NULL,
- NULL,
- (BYTE*)&cpu_brand,
- &cpu_brand_size);
- if (err != ERROR_SUCCESS) {
- RegCloseKey(processor_key);
- goto error;
- }
-
- RegCloseKey(processor_key);
-
- cpu_info = &cpu_infos[i];
- cpu_info->speed = cpu_speed;
- cpu_info->cpu_times.user = sppi[i].UserTime.QuadPart / 10000;
- cpu_info->cpu_times.sys = (sppi[i].KernelTime.QuadPart -
- sppi[i].IdleTime.QuadPart) / 10000;
- cpu_info->cpu_times.idle = sppi[i].IdleTime.QuadPart / 10000;
- cpu_info->cpu_times.irq = sppi[i].InterruptTime.QuadPart / 10000;
- cpu_info->cpu_times.nice = 0;
-
- uv__convert_utf16_to_utf8(cpu_brand,
- cpu_brand_size / sizeof(WCHAR),
- &(cpu_info->model));
- }
-
- uv__free(sppi);
-
- *cpu_count_ptr = cpu_count;
- *cpu_infos_ptr = cpu_infos;
-
- return 0;
-
- error:
- /* This is safe because the cpu_infos array is zeroed on allocation. */
- for (i = 0; i < cpu_count; i++)
- uv__free(cpu_infos[i].model);
-
- uv__free(cpu_infos);
- uv__free(sppi);
-
- return uv_translate_sys_error(err);
-}
-
-
-void uv_free_cpu_info(uv_cpu_info_t* cpu_infos, int count) {
- int i;
-
- for (i = 0; i < count; i++) {
- uv__free(cpu_infos[i].model);
- }
-
- uv__free(cpu_infos);
-}
-
-
-static int is_windows_version_or_greater(DWORD os_major,
- DWORD os_minor,
- WORD service_pack_major,
- WORD service_pack_minor) {
- OSVERSIONINFOEX osvi;
- DWORDLONG condition_mask = 0;
- int op = VER_GREATER_EQUAL;
-
- /* Initialize the OSVERSIONINFOEX structure. */
- ZeroMemory(&osvi, sizeof(OSVERSIONINFOEX));
- osvi.dwOSVersionInfoSize = sizeof(OSVERSIONINFOEX);
- osvi.dwMajorVersion = os_major;
- osvi.dwMinorVersion = os_minor;
- osvi.wServicePackMajor = service_pack_major;
- osvi.wServicePackMinor = service_pack_minor;
-
- /* Initialize the condition mask. */
- VER_SET_CONDITION(condition_mask, VER_MAJORVERSION, op);
- VER_SET_CONDITION(condition_mask, VER_MINORVERSION, op);
- VER_SET_CONDITION(condition_mask, VER_SERVICEPACKMAJOR, op);
- VER_SET_CONDITION(condition_mask, VER_SERVICEPACKMINOR, op);
-
- /* Perform the test. */
- return (int) VerifyVersionInfo(
- &osvi,
- VER_MAJORVERSION | VER_MINORVERSION |
- VER_SERVICEPACKMAJOR | VER_SERVICEPACKMINOR,
- condition_mask);
-}
-
-
-static int address_prefix_match(int family,
- struct sockaddr* address,
- struct sockaddr* prefix_address,
- int prefix_len) {
- uint8_t* address_data;
- uint8_t* prefix_address_data;
- int i;
-
- assert(address->sa_family == family);
- assert(prefix_address->sa_family == family);
-
- if (family == AF_INET6) {
- address_data = (uint8_t*) &(((struct sockaddr_in6 *) address)->sin6_addr);
- prefix_address_data =
- (uint8_t*) &(((struct sockaddr_in6 *) prefix_address)->sin6_addr);
- } else {
- address_data = (uint8_t*) &(((struct sockaddr_in *) address)->sin_addr);
- prefix_address_data =
- (uint8_t*) &(((struct sockaddr_in *) prefix_address)->sin_addr);
- }
-
- for (i = 0; i < prefix_len >> 3; i++) {
- if (address_data[i] != prefix_address_data[i])
- return 0;
- }
-
- if (prefix_len % 8)
- return prefix_address_data[i] ==
- (address_data[i] & (0xff << (8 - prefix_len % 8)));
-
- return 1;
-}
-
-
-int uv_interface_addresses(uv_interface_address_t** addresses_ptr,
- int* count_ptr) {
- IP_ADAPTER_ADDRESSES* win_address_buf;
- ULONG win_address_buf_size;
- IP_ADAPTER_ADDRESSES* adapter;
-
- uv_interface_address_t* uv_address_buf;
- char* name_buf;
- size_t uv_address_buf_size;
- uv_interface_address_t* uv_address;
-
- int count;
-
- int is_vista_or_greater;
- ULONG flags;
-
- is_vista_or_greater = is_windows_version_or_greater(6, 0, 0, 0);
- if (is_vista_or_greater) {
- flags = GAA_FLAG_SKIP_ANYCAST | GAA_FLAG_SKIP_MULTICAST |
- GAA_FLAG_SKIP_DNS_SERVER;
- } else {
- /* We need at least XP SP1. */
- if (!is_windows_version_or_greater(5, 1, 1, 0))
- return UV_ENOTSUP;
-
- flags = GAA_FLAG_SKIP_ANYCAST | GAA_FLAG_SKIP_MULTICAST |
- GAA_FLAG_SKIP_DNS_SERVER | GAA_FLAG_INCLUDE_PREFIX;
- }
-
-
- /* Fetch the size of the adapters reported by windows, and then get the list
- * itself. */
- win_address_buf_size = 0;
- win_address_buf = NULL;
-
- for (;;) {
- ULONG r;
-
- /* If win_address_buf is 0, then GetAdaptersAddresses will fail with.
- * ERROR_BUFFER_OVERFLOW, and the required buffer size will be stored in
- * win_address_buf_size. */
- r = GetAdaptersAddresses(AF_UNSPEC,
- flags,
- NULL,
- win_address_buf,
- &win_address_buf_size);
-
- if (r == ERROR_SUCCESS)
- break;
-
- uv__free(win_address_buf);
-
- switch (r) {
- case ERROR_BUFFER_OVERFLOW:
- /* This happens when win_address_buf is NULL or too small to hold all
- * adapters. */
- win_address_buf =
- (IP_ADAPTER_ADDRESSES*)uv__malloc(win_address_buf_size);
- if (win_address_buf == NULL)
- return UV_ENOMEM;
-
- continue;
-
- case ERROR_NO_DATA: {
- /* No adapters were found. */
- uv_address_buf = (uv_interface_address_t*)uv__malloc(1);
- if (uv_address_buf == NULL)
- return UV_ENOMEM;
-
- *count_ptr = 0;
- *addresses_ptr = uv_address_buf;
-
- return 0;
- }
-
- case ERROR_ADDRESS_NOT_ASSOCIATED:
- return UV_EAGAIN;
-
- case ERROR_INVALID_PARAMETER:
- /* MSDN says:
- * "This error is returned for any of the following conditions: the
- * SizePointer parameter is NULL, the Address parameter is not
- * AF_INET, AF_INET6, or AF_UNSPEC, or the address information for
- * the parameters requested is greater than ULONG_MAX."
- * Since the first two conditions are not met, it must be that the
- * adapter data is too big.
- */
- return UV_ENOBUFS;
-
- default:
- /* Other (unspecified) errors can happen, but we don't have any special
- * meaning for them. */
- assert(r != ERROR_SUCCESS);
- return uv_translate_sys_error(r);
- }
- }
-
- /* Count the number of enabled interfaces and compute how much space is
- * needed to store their info. */
- count = 0;
- uv_address_buf_size = 0;
-
- for (adapter = win_address_buf;
- adapter != NULL;
- adapter = adapter->Next) {
- IP_ADAPTER_UNICAST_ADDRESS* unicast_address;
- int name_size;
-
- /* Interfaces that are not 'up' should not be reported. Also skip
- * interfaces that have no associated unicast address, as to avoid
- * allocating space for the name for this interface. */
- if (adapter->OperStatus != IfOperStatusUp ||
- adapter->FirstUnicastAddress == NULL)
- continue;
-
- /* Compute the size of the interface name. */
- name_size = WideCharToMultiByte(CP_UTF8,
- 0,
- adapter->FriendlyName,
- -1,
- NULL,
- 0,
- NULL,
- FALSE);
- if (name_size <= 0) {
- uv__free(win_address_buf);
- return uv_translate_sys_error(GetLastError());
- }
- uv_address_buf_size += name_size;
-
- /* Count the number of addresses associated with this interface, and
- * compute the size. */
- for (unicast_address = (IP_ADAPTER_UNICAST_ADDRESS*)
- adapter->FirstUnicastAddress;
- unicast_address != NULL;
- unicast_address = unicast_address->Next) {
- count++;
- uv_address_buf_size += sizeof(uv_interface_address_t);
- }
- }
-
- /* Allocate space to store interface data plus adapter names. */
- uv_address_buf = (uv_interface_address_t*)uv__malloc(uv_address_buf_size);
- if (uv_address_buf == NULL) {
- uv__free(win_address_buf);
- return UV_ENOMEM;
- }
-
- /* Compute the start of the uv_interface_address_t array, and the place in
- * the buffer where the interface names will be stored. */
- uv_address = uv_address_buf;
- name_buf = (char*) (uv_address_buf + count);
-
- /* Fill out the output buffer. */
- for (adapter = win_address_buf;
- adapter != NULL;
- adapter = adapter->Next) {
- IP_ADAPTER_UNICAST_ADDRESS* unicast_address;
- int name_size;
- size_t max_name_size;
-
- if (adapter->OperStatus != IfOperStatusUp ||
- adapter->FirstUnicastAddress == NULL)
- continue;
-
- /* Convert the interface name to UTF8. */
- max_name_size = (char*) uv_address_buf + uv_address_buf_size - name_buf;
- if (max_name_size > (size_t) INT_MAX)
- max_name_size = INT_MAX;
- name_size = WideCharToMultiByte(CP_UTF8,
- 0,
- adapter->FriendlyName,
- -1,
- name_buf,
- (int) max_name_size,
- NULL,
- FALSE);
- if (name_size <= 0) {
- uv__free(win_address_buf);
- uv__free(uv_address_buf);
- return uv_translate_sys_error(GetLastError());
- }
-
- /* Add an uv_interface_address_t element for every unicast address. */
- for (unicast_address = (IP_ADAPTER_UNICAST_ADDRESS*)
- adapter->FirstUnicastAddress;
- unicast_address != NULL;
- unicast_address = unicast_address->Next) {
- struct sockaddr* sa;
- ULONG prefix_len;
-
- sa = unicast_address->Address.lpSockaddr;
-
- /* XP has no OnLinkPrefixLength field. */
- if (is_vista_or_greater) {
- prefix_len =
- ((IP_ADAPTER_UNICAST_ADDRESS_LH*) unicast_address)->OnLinkPrefixLength;
- } else {
- /* Prior to Windows Vista the FirstPrefix pointed to the list with
- * single prefix for each IP address assigned to the adapter.
- * Order of FirstPrefix does not match order of FirstUnicastAddress,
- * so we need to find corresponding prefix.
- */
- IP_ADAPTER_PREFIX* prefix;
- prefix_len = 0;
-
- for (prefix = adapter->FirstPrefix; prefix; prefix = prefix->Next) {
- /* We want the longest matching prefix. */
- if (prefix->Address.lpSockaddr->sa_family != sa->sa_family ||
- prefix->PrefixLength <= prefix_len)
- continue;
-
- if (address_prefix_match(sa->sa_family, sa,
- prefix->Address.lpSockaddr, prefix->PrefixLength)) {
- prefix_len = prefix->PrefixLength;
- }
- }
-
- /* If there is no matching prefix information, return a single-host
- * subnet mask (e.g. 255.255.255.255 for IPv4).
- */
- if (!prefix_len)
- prefix_len = (sa->sa_family == AF_INET6) ? 128 : 32;
- }
-
- memset(uv_address, 0, sizeof *uv_address);
-
- uv_address->name = name_buf;
-
- if (adapter->PhysicalAddressLength == sizeof(uv_address->phys_addr)) {
- memcpy(uv_address->phys_addr,
- adapter->PhysicalAddress,
- sizeof(uv_address->phys_addr));
- }
-
- uv_address->is_internal =
- (adapter->IfType == IF_TYPE_SOFTWARE_LOOPBACK);
-
- if (sa->sa_family == AF_INET6) {
- uv_address->address.address6 = *((struct sockaddr_in6 *) sa);
-
- uv_address->netmask.netmask6.sin6_family = AF_INET6;
- memset(uv_address->netmask.netmask6.sin6_addr.s6_addr, 0xff, prefix_len >> 3);
- /* This check ensures that we don't write past the size of the data. */
- if (prefix_len % 8) {
- uv_address->netmask.netmask6.sin6_addr.s6_addr[prefix_len >> 3] =
- 0xff << (8 - prefix_len % 8);
- }
-
- } else {
- uv_address->address.address4 = *((struct sockaddr_in *) sa);
-
- uv_address->netmask.netmask4.sin_family = AF_INET;
- uv_address->netmask.netmask4.sin_addr.s_addr = (prefix_len > 0) ?
- htonl(0xffffffff << (32 - prefix_len)) : 0;
- }
-
- uv_address++;
- }
-
- name_buf += name_size;
- }
-
- uv__free(win_address_buf);
-
- *addresses_ptr = uv_address_buf;
- *count_ptr = count;
-
- return 0;
-}
-
-
-void uv_free_interface_addresses(uv_interface_address_t* addresses,
- int count) {
- uv__free(addresses);
-}
-
-
-int uv_getrusage(uv_rusage_t *uv_rusage) {
- FILETIME createTime, exitTime, kernelTime, userTime;
- SYSTEMTIME kernelSystemTime, userSystemTime;
- PROCESS_MEMORY_COUNTERS memCounters;
- IO_COUNTERS ioCounters;
- int ret;
-
- ret = GetProcessTimes(GetCurrentProcess(), &createTime, &exitTime, &kernelTime, &userTime);
- if (ret == 0) {
- return uv_translate_sys_error(GetLastError());
- }
-
- ret = FileTimeToSystemTime(&kernelTime, &kernelSystemTime);
- if (ret == 0) {
- return uv_translate_sys_error(GetLastError());
- }
-
- ret = FileTimeToSystemTime(&userTime, &userSystemTime);
- if (ret == 0) {
- return uv_translate_sys_error(GetLastError());
- }
-
- ret = GetProcessMemoryInfo(GetCurrentProcess(),
- &memCounters,
- sizeof(memCounters));
- if (ret == 0) {
- return uv_translate_sys_error(GetLastError());
- }
-
- ret = GetProcessIoCounters(GetCurrentProcess(), &ioCounters);
- if (ret == 0) {
- return uv_translate_sys_error(GetLastError());
- }
-
- memset(uv_rusage, 0, sizeof(*uv_rusage));
-
- uv_rusage->ru_utime.tv_sec = userSystemTime.wHour * 3600 +
- userSystemTime.wMinute * 60 +
- userSystemTime.wSecond;
- uv_rusage->ru_utime.tv_usec = userSystemTime.wMilliseconds * 1000;
-
- uv_rusage->ru_stime.tv_sec = kernelSystemTime.wHour * 3600 +
- kernelSystemTime.wMinute * 60 +
- kernelSystemTime.wSecond;
- uv_rusage->ru_stime.tv_usec = kernelSystemTime.wMilliseconds * 1000;
-
- uv_rusage->ru_majflt = (uint64_t) memCounters.PageFaultCount;
- uv_rusage->ru_maxrss = (uint64_t) memCounters.PeakWorkingSetSize / 1024;
-
- uv_rusage->ru_oublock = (uint64_t) ioCounters.WriteOperationCount;
- uv_rusage->ru_inblock = (uint64_t) ioCounters.ReadOperationCount;
-
- return 0;
-}
-
-
-int uv_os_homedir(char* buffer, size_t* size) {
- uv_passwd_t pwd;
- size_t len;
- int r;
-
- /* Check if the USERPROFILE environment variable is set first. The task of
- performing input validation on buffer and size is taken care of by
- uv_os_getenv(). */
- r = uv_os_getenv("USERPROFILE", buffer, size);
-
- /* Don't return an error if USERPROFILE was not found. */
- if (r != UV_ENOENT)
- return r;
-
- /* USERPROFILE is not set, so call uv__getpwuid_r() */
- r = uv__getpwuid_r(&pwd);
-
- if (r != 0) {
- return r;
- }
-
- len = strlen(pwd.homedir);
-
- if (len >= *size) {
- *size = len + 1;
- uv_os_free_passwd(&pwd);
- return UV_ENOBUFS;
- }
-
- memcpy(buffer, pwd.homedir, len + 1);
- *size = len;
- uv_os_free_passwd(&pwd);
-
- return 0;
-}
-
-
-int uv_os_tmpdir(char* buffer, size_t* size) {
- wchar_t path[MAX_PATH + 1];
- DWORD bufsize;
- size_t len;
-
- if (buffer == NULL || size == NULL || *size == 0)
- return UV_EINVAL;
-
- len = GetTempPathW(MAX_PATH + 1, path);
-
- if (len == 0) {
- return uv_translate_sys_error(GetLastError());
- } else if (len > MAX_PATH + 1) {
- /* This should not be possible */
- return UV_EIO;
- }
-
- /* The returned directory should not have a trailing slash, unless it points
- * at a drive root, like c:\. Remove it if needed. */
- if (path[len - 1] == L'\\' &&
- !(len == 3 && path[1] == L':')) {
- len--;
- path[len] = L'\0';
- }
-
- /* Check how much space we need */
- bufsize = WideCharToMultiByte(CP_UTF8, 0, path, -1, NULL, 0, NULL, NULL);
-
- if (bufsize == 0) {
- return uv_translate_sys_error(GetLastError());
- } else if (bufsize > *size) {
- *size = bufsize;
- return UV_ENOBUFS;
- }
-
- /* Convert to UTF-8 */
- bufsize = WideCharToMultiByte(CP_UTF8,
- 0,
- path,
- -1,
- buffer,
- *size,
- NULL,
- NULL);
-
- if (bufsize == 0)
- return uv_translate_sys_error(GetLastError());
-
- *size = bufsize - 1;
- return 0;
-}
-
-
-void uv_os_free_passwd(uv_passwd_t* pwd) {
- if (pwd == NULL)
- return;
-
- uv__free(pwd->username);
- uv__free(pwd->homedir);
- pwd->username = NULL;
- pwd->homedir = NULL;
-}
-
-
-/*
- * Converts a UTF-16 string into a UTF-8 one. The resulting string is
- * null-terminated.
- *
- * If utf16 is null terminated, utf16len can be set to -1, otherwise it must
- * be specified.
- */
-int uv__convert_utf16_to_utf8(const WCHAR* utf16, int utf16len, char** utf8) {
- DWORD bufsize;
-
- if (utf16 == NULL)
- return UV_EINVAL;
-
- /* Check how much space we need */
- bufsize = WideCharToMultiByte(CP_UTF8,
- 0,
- utf16,
- utf16len,
- NULL,
- 0,
- NULL,
- NULL);
-
- if (bufsize == 0)
- return uv_translate_sys_error(GetLastError());
-
- /* Allocate the destination buffer adding an extra byte for the terminating
- * NULL. If utf16len is not -1 WideCharToMultiByte will not add it, so
- * we do it ourselves always, just in case. */
- *utf8 = (char*)uv__malloc(bufsize + 1);
-
- if (*utf8 == NULL)
- return UV_ENOMEM;
-
- /* Convert to UTF-8 */
- bufsize = WideCharToMultiByte(CP_UTF8,
- 0,
- utf16,
- utf16len,
- *utf8,
- bufsize,
- NULL,
- NULL);
-
- if (bufsize == 0) {
- uv__free(*utf8);
- *utf8 = NULL;
- return uv_translate_sys_error(GetLastError());
- }
-
- (*utf8)[bufsize] = '\0';
- return 0;
-}
-
-
-/*
- * Converts a UTF-8 string into a UTF-16 one. The resulting string is
- * null-terminated.
- *
- * If utf8 is null terminated, utf8len can be set to -1, otherwise it must
- * be specified.
- */
-int uv__convert_utf8_to_utf16(const char* utf8, int utf8len, WCHAR** utf16) {
- int bufsize;
-
- if (utf8 == NULL)
- return UV_EINVAL;
-
- /* Check how much space we need */
- bufsize = MultiByteToWideChar(CP_UTF8, 0, utf8, utf8len, NULL, 0);
-
- if (bufsize == 0)
- return uv_translate_sys_error(GetLastError());
-
- /* Allocate the destination buffer adding an extra byte for the terminating
- * NULL. If utf8len is not -1 MultiByteToWideChar will not add it, so
- * we do it ourselves always, just in case. */
- *utf16 = (WCHAR*)uv__malloc(sizeof(WCHAR) * (bufsize + 1));
-
- if (*utf16 == NULL)
- return UV_ENOMEM;
-
- /* Convert to UTF-16 */
- bufsize = MultiByteToWideChar(CP_UTF8, 0, utf8, utf8len, *utf16, bufsize);
-
- if (bufsize == 0) {
- uv__free(*utf16);
- *utf16 = NULL;
- return uv_translate_sys_error(GetLastError());
- }
-
- (*utf16)[bufsize] = '\0';
- return 0;
-}
-
-
-int uv__getpwuid_r(uv_passwd_t* pwd) {
- HANDLE token;
- wchar_t username[UNLEN + 1];
- wchar_t path[MAX_PATH];
- DWORD bufsize;
- int r;
-
- if (pwd == NULL)
- return UV_EINVAL;
-
- /* Get the home directory using GetUserProfileDirectoryW() */
- if (OpenProcessToken(GetCurrentProcess(), TOKEN_READ, &token) == 0)
- return uv_translate_sys_error(GetLastError());
-
- bufsize = ARRAY_SIZE(path);
- if (!GetUserProfileDirectoryW(token, path, &bufsize)) {
- r = GetLastError();
- CloseHandle(token);
-
- /* This should not be possible */
- if (r == ERROR_INSUFFICIENT_BUFFER)
- return UV_ENOMEM;
-
- return uv_translate_sys_error(r);
- }
-
- CloseHandle(token);
-
- /* Get the username using GetUserNameW() */
- bufsize = ARRAY_SIZE(username);
- if (!GetUserNameW(username, &bufsize)) {
- r = GetLastError();
-
- /* This should not be possible */
- if (r == ERROR_INSUFFICIENT_BUFFER)
- return UV_ENOMEM;
-
- return uv_translate_sys_error(r);
- }
-
- pwd->homedir = NULL;
- r = uv__convert_utf16_to_utf8(path, -1, &pwd->homedir);
-
- if (r != 0)
- return r;
-
- pwd->username = NULL;
- r = uv__convert_utf16_to_utf8(username, -1, &pwd->username);
-
- if (r != 0) {
- uv__free(pwd->homedir);
- return r;
- }
-
- pwd->shell = NULL;
- pwd->uid = -1;
- pwd->gid = -1;
-
- return 0;
-}
-
-
-int uv_os_get_passwd(uv_passwd_t* pwd) {
- return uv__getpwuid_r(pwd);
-}
-
-
-int uv_os_getenv(const char* name, char* buffer, size_t* size) {
- wchar_t var[MAX_ENV_VAR_LENGTH];
- wchar_t* name_w;
- DWORD bufsize;
- size_t len;
- int r;
-
- if (name == NULL || buffer == NULL || size == NULL || *size == 0)
- return UV_EINVAL;
-
- r = uv__convert_utf8_to_utf16(name, -1, &name_w);
-
- if (r != 0)
- return r;
-
- len = GetEnvironmentVariableW(name_w, var, MAX_ENV_VAR_LENGTH);
- uv__free(name_w);
- assert(len < MAX_ENV_VAR_LENGTH); /* len does not include the null */
-
- if (len == 0) {
- r = GetLastError();
-
- if (r == ERROR_ENVVAR_NOT_FOUND)
- return UV_ENOENT;
-
- return uv_translate_sys_error(r);
- }
-
- /* Check how much space we need */
- bufsize = WideCharToMultiByte(CP_UTF8, 0, var, -1, NULL, 0, NULL, NULL);
-
- if (bufsize == 0) {
- return uv_translate_sys_error(GetLastError());
- } else if (bufsize > *size) {
- *size = bufsize;
- return UV_ENOBUFS;
- }
-
- /* Convert to UTF-8 */
- bufsize = WideCharToMultiByte(CP_UTF8,
- 0,
- var,
- -1,
- buffer,
- *size,
- NULL,
- NULL);
-
- if (bufsize == 0)
- return uv_translate_sys_error(GetLastError());
-
- *size = bufsize - 1;
- return 0;
-}
-
-
-int uv_os_setenv(const char* name, const char* value) {
- wchar_t* name_w;
- wchar_t* value_w;
- int r;
-
- if (name == NULL || value == NULL)
- return UV_EINVAL;
-
- r = uv__convert_utf8_to_utf16(name, -1, &name_w);
-
- if (r != 0)
- return r;
-
- r = uv__convert_utf8_to_utf16(value, -1, &value_w);
-
- if (r != 0) {
- uv__free(name_w);
- return r;
- }
-
- r = SetEnvironmentVariableW(name_w, value_w);
- uv__free(name_w);
- uv__free(value_w);
-
- if (r == 0)
- return uv_translate_sys_error(GetLastError());
-
- return 0;
-}
-
-
-int uv_os_unsetenv(const char* name) {
- wchar_t* name_w;
- int r;
-
- if (name == NULL)
- return UV_EINVAL;
-
- r = uv__convert_utf8_to_utf16(name, -1, &name_w);
-
- if (r != 0)
- return r;
-
- r = SetEnvironmentVariableW(name_w, NULL);
- uv__free(name_w);
-
- if (r == 0)
- return uv_translate_sys_error(GetLastError());
-
- return 0;
-}
-
-
-int uv_os_gethostname(char* buffer, size_t* size) {
- char buf[MAXHOSTNAMELEN + 1];
- size_t len;
-
- if (buffer == NULL || size == NULL || *size == 0)
- return UV_EINVAL;
-
- uv__once_init(); /* Initialize winsock */
-
- if (gethostname(buf, sizeof(buf)) != 0)
- return uv_translate_sys_error(WSAGetLastError());
-
- buf[sizeof(buf) - 1] = '\0'; /* Null terminate, just to be safe. */
- len = strlen(buf);
-
- if (len >= *size) {
- *size = len + 1;
- return UV_ENOBUFS;
- }
-
- memcpy(buffer, buf, len + 1);
- *size = len;
- return 0;
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/winapi.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/winapi.cpp
deleted file mode 100644
index 0fd598e..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/winapi.cpp
+++ /dev/null
@@ -1,113 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include <assert.h>
-
-#include "uv.h"
-#include "internal.h"
-
-
-/* Ntdll function pointers */
-sRtlNtStatusToDosError pRtlNtStatusToDosError;
-sNtDeviceIoControlFile pNtDeviceIoControlFile;
-sNtQueryInformationFile pNtQueryInformationFile;
-sNtSetInformationFile pNtSetInformationFile;
-sNtQueryVolumeInformationFile pNtQueryVolumeInformationFile;
-sNtQueryDirectoryFile pNtQueryDirectoryFile;
-sNtQuerySystemInformation pNtQuerySystemInformation;
-
-/* Powrprof.dll function pointer */
-sPowerRegisterSuspendResumeNotification pPowerRegisterSuspendResumeNotification;
-
-/* User32.dll function pointer */
-sSetWinEventHook pSetWinEventHook;
-
-
-void uv_winapi_init(void) {
- HMODULE ntdll_module;
- HMODULE powrprof_module;
- HMODULE user32_module;
-
- ntdll_module = GetModuleHandleA("ntdll.dll");
- if (ntdll_module == NULL) {
- uv_fatal_error(GetLastError(), "GetModuleHandleA");
- }
-
- pRtlNtStatusToDosError = (sRtlNtStatusToDosError) GetProcAddress(
- ntdll_module,
- "RtlNtStatusToDosError");
- if (pRtlNtStatusToDosError == NULL) {
- uv_fatal_error(GetLastError(), "GetProcAddress");
- }
-
- pNtDeviceIoControlFile = (sNtDeviceIoControlFile) GetProcAddress(
- ntdll_module,
- "NtDeviceIoControlFile");
- if (pNtDeviceIoControlFile == NULL) {
- uv_fatal_error(GetLastError(), "GetProcAddress");
- }
-
- pNtQueryInformationFile = (sNtQueryInformationFile) GetProcAddress(
- ntdll_module,
- "NtQueryInformationFile");
- if (pNtQueryInformationFile == NULL) {
- uv_fatal_error(GetLastError(), "GetProcAddress");
- }
-
- pNtSetInformationFile = (sNtSetInformationFile) GetProcAddress(
- ntdll_module,
- "NtSetInformationFile");
- if (pNtSetInformationFile == NULL) {
- uv_fatal_error(GetLastError(), "GetProcAddress");
- }
-
- pNtQueryVolumeInformationFile = (sNtQueryVolumeInformationFile)
- GetProcAddress(ntdll_module, "NtQueryVolumeInformationFile");
- if (pNtQueryVolumeInformationFile == NULL) {
- uv_fatal_error(GetLastError(), "GetProcAddress");
- }
-
- pNtQueryDirectoryFile = (sNtQueryDirectoryFile)
- GetProcAddress(ntdll_module, "NtQueryDirectoryFile");
- if (pNtQueryVolumeInformationFile == NULL) {
- uv_fatal_error(GetLastError(), "GetProcAddress");
- }
-
- pNtQuerySystemInformation = (sNtQuerySystemInformation) GetProcAddress(
- ntdll_module,
- "NtQuerySystemInformation");
- if (pNtQuerySystemInformation == NULL) {
- uv_fatal_error(GetLastError(), "GetProcAddress");
- }
-
- powrprof_module = LoadLibraryA("powrprof.dll");
- if (powrprof_module != NULL) {
- pPowerRegisterSuspendResumeNotification = (sPowerRegisterSuspendResumeNotification)
- GetProcAddress(powrprof_module, "PowerRegisterSuspendResumeNotification");
- }
-
- user32_module = LoadLibraryA("user32.dll");
- if (user32_module != NULL) {
- pSetWinEventHook = (sSetWinEventHook)
- GetProcAddress(user32_module, "SetWinEventHook");
- }
-
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/winapi.h b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/winapi.h
deleted file mode 100644
index d0fcfd8..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/winapi.h
+++ /dev/null
@@ -1,4713 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#ifndef UV_WIN_WINAPI_H_
-#define UV_WIN_WINAPI_H_
-
-#include <windows.h>
-
-
-/*
- * Ntdll headers
- */
-#ifndef STATUS_SEVERITY_SUCCESS
-# define STATUS_SEVERITY_SUCCESS 0x0
-#endif
-
-#ifndef STATUS_SEVERITY_INFORMATIONAL
-# define STATUS_SEVERITY_INFORMATIONAL 0x1
-#endif
-
-#ifndef STATUS_SEVERITY_WARNING
-# define STATUS_SEVERITY_WARNING 0x2
-#endif
-
-#ifndef STATUS_SEVERITY_ERROR
-# define STATUS_SEVERITY_ERROR 0x3
-#endif
-
-#ifndef FACILITY_NTWIN32
-# define FACILITY_NTWIN32 0x7
-#endif
-
-#ifndef NT_SUCCESS
-# define NT_SUCCESS(status) (((NTSTATUS) (status)) >= 0)
-#endif
-
-#ifndef NT_INFORMATION
-# define NT_INFORMATION(status) ((((ULONG) (status)) >> 30) == 1)
-#endif
-
-#ifndef NT_WARNING
-# define NT_WARNING(status) ((((ULONG) (status)) >> 30) == 2)
-#endif
-
-#ifndef NT_ERROR
-# define NT_ERROR(status) ((((ULONG) (status)) >> 30) == 3)
-#endif
-
-#ifndef STATUS_SUCCESS
-# define STATUS_SUCCESS ((NTSTATUS) 0x00000000L)
-#endif
-
-#ifndef STATUS_WAIT_0
-# define STATUS_WAIT_0 ((NTSTATUS) 0x00000000L)
-#endif
-
-#ifndef STATUS_WAIT_1
-# define STATUS_WAIT_1 ((NTSTATUS) 0x00000001L)
-#endif
-
-#ifndef STATUS_WAIT_2
-# define STATUS_WAIT_2 ((NTSTATUS) 0x00000002L)
-#endif
-
-#ifndef STATUS_WAIT_3
-# define STATUS_WAIT_3 ((NTSTATUS) 0x00000003L)
-#endif
-
-#ifndef STATUS_WAIT_63
-# define STATUS_WAIT_63 ((NTSTATUS) 0x0000003FL)
-#endif
-
-#ifndef STATUS_ABANDONED
-# define STATUS_ABANDONED ((NTSTATUS) 0x00000080L)
-#endif
-
-#ifndef STATUS_ABANDONED_WAIT_0
-# define STATUS_ABANDONED_WAIT_0 ((NTSTATUS) 0x00000080L)
-#endif
-
-#ifndef STATUS_ABANDONED_WAIT_63
-# define STATUS_ABANDONED_WAIT_63 ((NTSTATUS) 0x000000BFL)
-#endif
-
-#ifndef STATUS_USER_APC
-# define STATUS_USER_APC ((NTSTATUS) 0x000000C0L)
-#endif
-
-#ifndef STATUS_KERNEL_APC
-# define STATUS_KERNEL_APC ((NTSTATUS) 0x00000100L)
-#endif
-
-#ifndef STATUS_ALERTED
-# define STATUS_ALERTED ((NTSTATUS) 0x00000101L)
-#endif
-
-#ifndef STATUS_TIMEOUT
-# define STATUS_TIMEOUT ((NTSTATUS) 0x00000102L)
-#endif
-
-#ifndef STATUS_PENDING
-# define STATUS_PENDING ((NTSTATUS) 0x00000103L)
-#endif
-
-#ifndef STATUS_REPARSE
-# define STATUS_REPARSE ((NTSTATUS) 0x00000104L)
-#endif
-
-#ifndef STATUS_MORE_ENTRIES
-# define STATUS_MORE_ENTRIES ((NTSTATUS) 0x00000105L)
-#endif
-
-#ifndef STATUS_NOT_ALL_ASSIGNED
-# define STATUS_NOT_ALL_ASSIGNED ((NTSTATUS) 0x00000106L)
-#endif
-
-#ifndef STATUS_SOME_NOT_MAPPED
-# define STATUS_SOME_NOT_MAPPED ((NTSTATUS) 0x00000107L)
-#endif
-
-#ifndef STATUS_OPLOCK_BREAK_IN_PROGRESS
-# define STATUS_OPLOCK_BREAK_IN_PROGRESS ((NTSTATUS) 0x00000108L)
-#endif
-
-#ifndef STATUS_VOLUME_MOUNTED
-# define STATUS_VOLUME_MOUNTED ((NTSTATUS) 0x00000109L)
-#endif
-
-#ifndef STATUS_RXACT_COMMITTED
-# define STATUS_RXACT_COMMITTED ((NTSTATUS) 0x0000010AL)
-#endif
-
-#ifndef STATUS_NOTIFY_CLEANUP
-# define STATUS_NOTIFY_CLEANUP ((NTSTATUS) 0x0000010BL)
-#endif
-
-#ifndef STATUS_NOTIFY_ENUM_DIR
-# define STATUS_NOTIFY_ENUM_DIR ((NTSTATUS) 0x0000010CL)
-#endif
-
-#ifndef STATUS_NO_QUOTAS_FOR_ACCOUNT
-# define STATUS_NO_QUOTAS_FOR_ACCOUNT ((NTSTATUS) 0x0000010DL)
-#endif
-
-#ifndef STATUS_PRIMARY_TRANSPORT_CONNECT_FAILED
-# define STATUS_PRIMARY_TRANSPORT_CONNECT_FAILED ((NTSTATUS) 0x0000010EL)
-#endif
-
-#ifndef STATUS_PAGE_FAULT_TRANSITION
-# define STATUS_PAGE_FAULT_TRANSITION ((NTSTATUS) 0x00000110L)
-#endif
-
-#ifndef STATUS_PAGE_FAULT_DEMAND_ZERO
-# define STATUS_PAGE_FAULT_DEMAND_ZERO ((NTSTATUS) 0x00000111L)
-#endif
-
-#ifndef STATUS_PAGE_FAULT_COPY_ON_WRITE
-# define STATUS_PAGE_FAULT_COPY_ON_WRITE ((NTSTATUS) 0x00000112L)
-#endif
-
-#ifndef STATUS_PAGE_FAULT_GUARD_PAGE
-# define STATUS_PAGE_FAULT_GUARD_PAGE ((NTSTATUS) 0x00000113L)
-#endif
-
-#ifndef STATUS_PAGE_FAULT_PAGING_FILE
-# define STATUS_PAGE_FAULT_PAGING_FILE ((NTSTATUS) 0x00000114L)
-#endif
-
-#ifndef STATUS_CACHE_PAGE_LOCKED
-# define STATUS_CACHE_PAGE_LOCKED ((NTSTATUS) 0x00000115L)
-#endif
-
-#ifndef STATUS_CRASH_DUMP
-# define STATUS_CRASH_DUMP ((NTSTATUS) 0x00000116L)
-#endif
-
-#ifndef STATUS_BUFFER_ALL_ZEROS
-# define STATUS_BUFFER_ALL_ZEROS ((NTSTATUS) 0x00000117L)
-#endif
-
-#ifndef STATUS_REPARSE_OBJECT
-# define STATUS_REPARSE_OBJECT ((NTSTATUS) 0x00000118L)
-#endif
-
-#ifndef STATUS_RESOURCE_REQUIREMENTS_CHANGED
-# define STATUS_RESOURCE_REQUIREMENTS_CHANGED ((NTSTATUS) 0x00000119L)
-#endif
-
-#ifndef STATUS_TRANSLATION_COMPLETE
-# define STATUS_TRANSLATION_COMPLETE ((NTSTATUS) 0x00000120L)
-#endif
-
-#ifndef STATUS_DS_MEMBERSHIP_EVALUATED_LOCALLY
-# define STATUS_DS_MEMBERSHIP_EVALUATED_LOCALLY ((NTSTATUS) 0x00000121L)
-#endif
-
-#ifndef STATUS_NOTHING_TO_TERMINATE
-# define STATUS_NOTHING_TO_TERMINATE ((NTSTATUS) 0x00000122L)
-#endif
-
-#ifndef STATUS_PROCESS_NOT_IN_JOB
-# define STATUS_PROCESS_NOT_IN_JOB ((NTSTATUS) 0x00000123L)
-#endif
-
-#ifndef STATUS_PROCESS_IN_JOB
-# define STATUS_PROCESS_IN_JOB ((NTSTATUS) 0x00000124L)
-#endif
-
-#ifndef STATUS_VOLSNAP_HIBERNATE_READY
-# define STATUS_VOLSNAP_HIBERNATE_READY ((NTSTATUS) 0x00000125L)
-#endif
-
-#ifndef STATUS_FSFILTER_OP_COMPLETED_SUCCESSFULLY
-# define STATUS_FSFILTER_OP_COMPLETED_SUCCESSFULLY ((NTSTATUS) 0x00000126L)
-#endif
-
-#ifndef STATUS_INTERRUPT_VECTOR_ALREADY_CONNECTED
-# define STATUS_INTERRUPT_VECTOR_ALREADY_CONNECTED ((NTSTATUS) 0x00000127L)
-#endif
-
-#ifndef STATUS_INTERRUPT_STILL_CONNECTED
-# define STATUS_INTERRUPT_STILL_CONNECTED ((NTSTATUS) 0x00000128L)
-#endif
-
-#ifndef STATUS_PROCESS_CLONED
-# define STATUS_PROCESS_CLONED ((NTSTATUS) 0x00000129L)
-#endif
-
-#ifndef STATUS_FILE_LOCKED_WITH_ONLY_READERS
-# define STATUS_FILE_LOCKED_WITH_ONLY_READERS ((NTSTATUS) 0x0000012AL)
-#endif
-
-#ifndef STATUS_FILE_LOCKED_WITH_WRITERS
-# define STATUS_FILE_LOCKED_WITH_WRITERS ((NTSTATUS) 0x0000012BL)
-#endif
-
-#ifndef STATUS_RESOURCEMANAGER_READ_ONLY
-# define STATUS_RESOURCEMANAGER_READ_ONLY ((NTSTATUS) 0x00000202L)
-#endif
-
-#ifndef STATUS_RING_PREVIOUSLY_EMPTY
-# define STATUS_RING_PREVIOUSLY_EMPTY ((NTSTATUS) 0x00000210L)
-#endif
-
-#ifndef STATUS_RING_PREVIOUSLY_FULL
-# define STATUS_RING_PREVIOUSLY_FULL ((NTSTATUS) 0x00000211L)
-#endif
-
-#ifndef STATUS_RING_PREVIOUSLY_ABOVE_QUOTA
-# define STATUS_RING_PREVIOUSLY_ABOVE_QUOTA ((NTSTATUS) 0x00000212L)
-#endif
-
-#ifndef STATUS_RING_NEWLY_EMPTY
-# define STATUS_RING_NEWLY_EMPTY ((NTSTATUS) 0x00000213L)
-#endif
-
-#ifndef STATUS_RING_SIGNAL_OPPOSITE_ENDPOINT
-# define STATUS_RING_SIGNAL_OPPOSITE_ENDPOINT ((NTSTATUS) 0x00000214L)
-#endif
-
-#ifndef STATUS_OPLOCK_SWITCHED_TO_NEW_HANDLE
-# define STATUS_OPLOCK_SWITCHED_TO_NEW_HANDLE ((NTSTATUS) 0x00000215L)
-#endif
-
-#ifndef STATUS_OPLOCK_HANDLE_CLOSED
-# define STATUS_OPLOCK_HANDLE_CLOSED ((NTSTATUS) 0x00000216L)
-#endif
-
-#ifndef STATUS_WAIT_FOR_OPLOCK
-# define STATUS_WAIT_FOR_OPLOCK ((NTSTATUS) 0x00000367L)
-#endif
-
-#ifndef STATUS_OBJECT_NAME_EXISTS
-# define STATUS_OBJECT_NAME_EXISTS ((NTSTATUS) 0x40000000L)
-#endif
-
-#ifndef STATUS_THREAD_WAS_SUSPENDED
-# define STATUS_THREAD_WAS_SUSPENDED ((NTSTATUS) 0x40000001L)
-#endif
-
-#ifndef STATUS_WORKING_SET_LIMIT_RANGE
-# define STATUS_WORKING_SET_LIMIT_RANGE ((NTSTATUS) 0x40000002L)
-#endif
-
-#ifndef STATUS_IMAGE_NOT_AT_BASE
-# define STATUS_IMAGE_NOT_AT_BASE ((NTSTATUS) 0x40000003L)
-#endif
-
-#ifndef STATUS_RXACT_STATE_CREATED
-# define STATUS_RXACT_STATE_CREATED ((NTSTATUS) 0x40000004L)
-#endif
-
-#ifndef STATUS_SEGMENT_NOTIFICATION
-# define STATUS_SEGMENT_NOTIFICATION ((NTSTATUS) 0x40000005L)
-#endif
-
-#ifndef STATUS_LOCAL_USER_SESSION_KEY
-# define STATUS_LOCAL_USER_SESSION_KEY ((NTSTATUS) 0x40000006L)
-#endif
-
-#ifndef STATUS_BAD_CURRENT_DIRECTORY
-# define STATUS_BAD_CURRENT_DIRECTORY ((NTSTATUS) 0x40000007L)
-#endif
-
-#ifndef STATUS_SERIAL_MORE_WRITES
-# define STATUS_SERIAL_MORE_WRITES ((NTSTATUS) 0x40000008L)
-#endif
-
-#ifndef STATUS_REGISTRY_RECOVERED
-# define STATUS_REGISTRY_RECOVERED ((NTSTATUS) 0x40000009L)
-#endif
-
-#ifndef STATUS_FT_READ_RECOVERY_FROM_BACKUP
-# define STATUS_FT_READ_RECOVERY_FROM_BACKUP ((NTSTATUS) 0x4000000AL)
-#endif
-
-#ifndef STATUS_FT_WRITE_RECOVERY
-# define STATUS_FT_WRITE_RECOVERY ((NTSTATUS) 0x4000000BL)
-#endif
-
-#ifndef STATUS_SERIAL_COUNTER_TIMEOUT
-# define STATUS_SERIAL_COUNTER_TIMEOUT ((NTSTATUS) 0x4000000CL)
-#endif
-
-#ifndef STATUS_NULL_LM_PASSWORD
-# define STATUS_NULL_LM_PASSWORD ((NTSTATUS) 0x4000000DL)
-#endif
-
-#ifndef STATUS_IMAGE_MACHINE_TYPE_MISMATCH
-# define STATUS_IMAGE_MACHINE_TYPE_MISMATCH ((NTSTATUS) 0x4000000EL)
-#endif
-
-#ifndef STATUS_RECEIVE_PARTIAL
-# define STATUS_RECEIVE_PARTIAL ((NTSTATUS) 0x4000000FL)
-#endif
-
-#ifndef STATUS_RECEIVE_EXPEDITED
-# define STATUS_RECEIVE_EXPEDITED ((NTSTATUS) 0x40000010L)
-#endif
-
-#ifndef STATUS_RECEIVE_PARTIAL_EXPEDITED
-# define STATUS_RECEIVE_PARTIAL_EXPEDITED ((NTSTATUS) 0x40000011L)
-#endif
-
-#ifndef STATUS_EVENT_DONE
-# define STATUS_EVENT_DONE ((NTSTATUS) 0x40000012L)
-#endif
-
-#ifndef STATUS_EVENT_PENDING
-# define STATUS_EVENT_PENDING ((NTSTATUS) 0x40000013L)
-#endif
-
-#ifndef STATUS_CHECKING_FILE_SYSTEM
-# define STATUS_CHECKING_FILE_SYSTEM ((NTSTATUS) 0x40000014L)
-#endif
-
-#ifndef STATUS_FATAL_APP_EXIT
-# define STATUS_FATAL_APP_EXIT ((NTSTATUS) 0x40000015L)
-#endif
-
-#ifndef STATUS_PREDEFINED_HANDLE
-# define STATUS_PREDEFINED_HANDLE ((NTSTATUS) 0x40000016L)
-#endif
-
-#ifndef STATUS_WAS_UNLOCKED
-# define STATUS_WAS_UNLOCKED ((NTSTATUS) 0x40000017L)
-#endif
-
-#ifndef STATUS_SERVICE_NOTIFICATION
-# define STATUS_SERVICE_NOTIFICATION ((NTSTATUS) 0x40000018L)
-#endif
-
-#ifndef STATUS_WAS_LOCKED
-# define STATUS_WAS_LOCKED ((NTSTATUS) 0x40000019L)
-#endif
-
-#ifndef STATUS_LOG_HARD_ERROR
-# define STATUS_LOG_HARD_ERROR ((NTSTATUS) 0x4000001AL)
-#endif
-
-#ifndef STATUS_ALREADY_WIN32
-# define STATUS_ALREADY_WIN32 ((NTSTATUS) 0x4000001BL)
-#endif
-
-#ifndef STATUS_WX86_UNSIMULATE
-# define STATUS_WX86_UNSIMULATE ((NTSTATUS) 0x4000001CL)
-#endif
-
-#ifndef STATUS_WX86_CONTINUE
-# define STATUS_WX86_CONTINUE ((NTSTATUS) 0x4000001DL)
-#endif
-
-#ifndef STATUS_WX86_SINGLE_STEP
-# define STATUS_WX86_SINGLE_STEP ((NTSTATUS) 0x4000001EL)
-#endif
-
-#ifndef STATUS_WX86_BREAKPOINT
-# define STATUS_WX86_BREAKPOINT ((NTSTATUS) 0x4000001FL)
-#endif
-
-#ifndef STATUS_WX86_EXCEPTION_CONTINUE
-# define STATUS_WX86_EXCEPTION_CONTINUE ((NTSTATUS) 0x40000020L)
-#endif
-
-#ifndef STATUS_WX86_EXCEPTION_LASTCHANCE
-# define STATUS_WX86_EXCEPTION_LASTCHANCE ((NTSTATUS) 0x40000021L)
-#endif
-
-#ifndef STATUS_WX86_EXCEPTION_CHAIN
-# define STATUS_WX86_EXCEPTION_CHAIN ((NTSTATUS) 0x40000022L)
-#endif
-
-#ifndef STATUS_IMAGE_MACHINE_TYPE_MISMATCH_EXE
-# define STATUS_IMAGE_MACHINE_TYPE_MISMATCH_EXE ((NTSTATUS) 0x40000023L)
-#endif
-
-#ifndef STATUS_NO_YIELD_PERFORMED
-# define STATUS_NO_YIELD_PERFORMED ((NTSTATUS) 0x40000024L)
-#endif
-
-#ifndef STATUS_TIMER_RESUME_IGNORED
-# define STATUS_TIMER_RESUME_IGNORED ((NTSTATUS) 0x40000025L)
-#endif
-
-#ifndef STATUS_ARBITRATION_UNHANDLED
-# define STATUS_ARBITRATION_UNHANDLED ((NTSTATUS) 0x40000026L)
-#endif
-
-#ifndef STATUS_CARDBUS_NOT_SUPPORTED
-# define STATUS_CARDBUS_NOT_SUPPORTED ((NTSTATUS) 0x40000027L)
-#endif
-
-#ifndef STATUS_WX86_CREATEWX86TIB
-# define STATUS_WX86_CREATEWX86TIB ((NTSTATUS) 0x40000028L)
-#endif
-
-#ifndef STATUS_MP_PROCESSOR_MISMATCH
-# define STATUS_MP_PROCESSOR_MISMATCH ((NTSTATUS) 0x40000029L)
-#endif
-
-#ifndef STATUS_HIBERNATED
-# define STATUS_HIBERNATED ((NTSTATUS) 0x4000002AL)
-#endif
-
-#ifndef STATUS_RESUME_HIBERNATION
-# define STATUS_RESUME_HIBERNATION ((NTSTATUS) 0x4000002BL)
-#endif
-
-#ifndef STATUS_FIRMWARE_UPDATED
-# define STATUS_FIRMWARE_UPDATED ((NTSTATUS) 0x4000002CL)
-#endif
-
-#ifndef STATUS_DRIVERS_LEAKING_LOCKED_PAGES
-# define STATUS_DRIVERS_LEAKING_LOCKED_PAGES ((NTSTATUS) 0x4000002DL)
-#endif
-
-#ifndef STATUS_MESSAGE_RETRIEVED
-# define STATUS_MESSAGE_RETRIEVED ((NTSTATUS) 0x4000002EL)
-#endif
-
-#ifndef STATUS_SYSTEM_POWERSTATE_TRANSITION
-# define STATUS_SYSTEM_POWERSTATE_TRANSITION ((NTSTATUS) 0x4000002FL)
-#endif
-
-#ifndef STATUS_ALPC_CHECK_COMPLETION_LIST
-# define STATUS_ALPC_CHECK_COMPLETION_LIST ((NTSTATUS) 0x40000030L)
-#endif
-
-#ifndef STATUS_SYSTEM_POWERSTATE_COMPLEX_TRANSITION
-# define STATUS_SYSTEM_POWERSTATE_COMPLEX_TRANSITION ((NTSTATUS) 0x40000031L)
-#endif
-
-#ifndef STATUS_ACCESS_AUDIT_BY_POLICY
-# define STATUS_ACCESS_AUDIT_BY_POLICY ((NTSTATUS) 0x40000032L)
-#endif
-
-#ifndef STATUS_ABANDON_HIBERFILE
-# define STATUS_ABANDON_HIBERFILE ((NTSTATUS) 0x40000033L)
-#endif
-
-#ifndef STATUS_BIZRULES_NOT_ENABLED
-# define STATUS_BIZRULES_NOT_ENABLED ((NTSTATUS) 0x40000034L)
-#endif
-
-#ifndef STATUS_GUARD_PAGE_VIOLATION
-# define STATUS_GUARD_PAGE_VIOLATION ((NTSTATUS) 0x80000001L)
-#endif
-
-#ifndef STATUS_DATATYPE_MISALIGNMENT
-# define STATUS_DATATYPE_MISALIGNMENT ((NTSTATUS) 0x80000002L)
-#endif
-
-#ifndef STATUS_BREAKPOINT
-# define STATUS_BREAKPOINT ((NTSTATUS) 0x80000003L)
-#endif
-
-#ifndef STATUS_SINGLE_STEP
-# define STATUS_SINGLE_STEP ((NTSTATUS) 0x80000004L)
-#endif
-
-#ifndef STATUS_BUFFER_OVERFLOW
-# define STATUS_BUFFER_OVERFLOW ((NTSTATUS) 0x80000005L)
-#endif
-
-#ifndef STATUS_NO_MORE_FILES
-# define STATUS_NO_MORE_FILES ((NTSTATUS) 0x80000006L)
-#endif
-
-#ifndef STATUS_WAKE_SYSTEM_DEBUGGER
-# define STATUS_WAKE_SYSTEM_DEBUGGER ((NTSTATUS) 0x80000007L)
-#endif
-
-#ifndef STATUS_HANDLES_CLOSED
-# define STATUS_HANDLES_CLOSED ((NTSTATUS) 0x8000000AL)
-#endif
-
-#ifndef STATUS_NO_INHERITANCE
-# define STATUS_NO_INHERITANCE ((NTSTATUS) 0x8000000BL)
-#endif
-
-#ifndef STATUS_GUID_SUBSTITUTION_MADE
-# define STATUS_GUID_SUBSTITUTION_MADE ((NTSTATUS) 0x8000000CL)
-#endif
-
-#ifndef STATUS_PARTIAL_COPY
-# define STATUS_PARTIAL_COPY ((NTSTATUS) 0x8000000DL)
-#endif
-
-#ifndef STATUS_DEVICE_PAPER_EMPTY
-# define STATUS_DEVICE_PAPER_EMPTY ((NTSTATUS) 0x8000000EL)
-#endif
-
-#ifndef STATUS_DEVICE_POWERED_OFF
-# define STATUS_DEVICE_POWERED_OFF ((NTSTATUS) 0x8000000FL)
-#endif
-
-#ifndef STATUS_DEVICE_OFF_LINE
-# define STATUS_DEVICE_OFF_LINE ((NTSTATUS) 0x80000010L)
-#endif
-
-#ifndef STATUS_DEVICE_BUSY
-# define STATUS_DEVICE_BUSY ((NTSTATUS) 0x80000011L)
-#endif
-
-#ifndef STATUS_NO_MORE_EAS
-# define STATUS_NO_MORE_EAS ((NTSTATUS) 0x80000012L)
-#endif
-
-#ifndef STATUS_INVALID_EA_NAME
-# define STATUS_INVALID_EA_NAME ((NTSTATUS) 0x80000013L)
-#endif
-
-#ifndef STATUS_EA_LIST_INCONSISTENT
-# define STATUS_EA_LIST_INCONSISTENT ((NTSTATUS) 0x80000014L)
-#endif
-
-#ifndef STATUS_INVALID_EA_FLAG
-# define STATUS_INVALID_EA_FLAG ((NTSTATUS) 0x80000015L)
-#endif
-
-#ifndef STATUS_VERIFY_REQUIRED
-# define STATUS_VERIFY_REQUIRED ((NTSTATUS) 0x80000016L)
-#endif
-
-#ifndef STATUS_EXTRANEOUS_INFORMATION
-# define STATUS_EXTRANEOUS_INFORMATION ((NTSTATUS) 0x80000017L)
-#endif
-
-#ifndef STATUS_RXACT_COMMIT_NECESSARY
-# define STATUS_RXACT_COMMIT_NECESSARY ((NTSTATUS) 0x80000018L)
-#endif
-
-#ifndef STATUS_NO_MORE_ENTRIES
-# define STATUS_NO_MORE_ENTRIES ((NTSTATUS) 0x8000001AL)
-#endif
-
-#ifndef STATUS_FILEMARK_DETECTED
-# define STATUS_FILEMARK_DETECTED ((NTSTATUS) 0x8000001BL)
-#endif
-
-#ifndef STATUS_MEDIA_CHANGED
-# define STATUS_MEDIA_CHANGED ((NTSTATUS) 0x8000001CL)
-#endif
-
-#ifndef STATUS_BUS_RESET
-# define STATUS_BUS_RESET ((NTSTATUS) 0x8000001DL)
-#endif
-
-#ifndef STATUS_END_OF_MEDIA
-# define STATUS_END_OF_MEDIA ((NTSTATUS) 0x8000001EL)
-#endif
-
-#ifndef STATUS_BEGINNING_OF_MEDIA
-# define STATUS_BEGINNING_OF_MEDIA ((NTSTATUS) 0x8000001FL)
-#endif
-
-#ifndef STATUS_MEDIA_CHECK
-# define STATUS_MEDIA_CHECK ((NTSTATUS) 0x80000020L)
-#endif
-
-#ifndef STATUS_SETMARK_DETECTED
-# define STATUS_SETMARK_DETECTED ((NTSTATUS) 0x80000021L)
-#endif
-
-#ifndef STATUS_NO_DATA_DETECTED
-# define STATUS_NO_DATA_DETECTED ((NTSTATUS) 0x80000022L)
-#endif
-
-#ifndef STATUS_REDIRECTOR_HAS_OPEN_HANDLES
-# define STATUS_REDIRECTOR_HAS_OPEN_HANDLES ((NTSTATUS) 0x80000023L)
-#endif
-
-#ifndef STATUS_SERVER_HAS_OPEN_HANDLES
-# define STATUS_SERVER_HAS_OPEN_HANDLES ((NTSTATUS) 0x80000024L)
-#endif
-
-#ifndef STATUS_ALREADY_DISCONNECTED
-# define STATUS_ALREADY_DISCONNECTED ((NTSTATUS) 0x80000025L)
-#endif
-
-#ifndef STATUS_LONGJUMP
-# define STATUS_LONGJUMP ((NTSTATUS) 0x80000026L)
-#endif
-
-#ifndef STATUS_CLEANER_CARTRIDGE_INSTALLED
-# define STATUS_CLEANER_CARTRIDGE_INSTALLED ((NTSTATUS) 0x80000027L)
-#endif
-
-#ifndef STATUS_PLUGPLAY_QUERY_VETOED
-# define STATUS_PLUGPLAY_QUERY_VETOED ((NTSTATUS) 0x80000028L)
-#endif
-
-#ifndef STATUS_UNWIND_CONSOLIDATE
-# define STATUS_UNWIND_CONSOLIDATE ((NTSTATUS) 0x80000029L)
-#endif
-
-#ifndef STATUS_REGISTRY_HIVE_RECOVERED
-# define STATUS_REGISTRY_HIVE_RECOVERED ((NTSTATUS) 0x8000002AL)
-#endif
-
-#ifndef STATUS_DLL_MIGHT_BE_INSECURE
-# define STATUS_DLL_MIGHT_BE_INSECURE ((NTSTATUS) 0x8000002BL)
-#endif
-
-#ifndef STATUS_DLL_MIGHT_BE_INCOMPATIBLE
-# define STATUS_DLL_MIGHT_BE_INCOMPATIBLE ((NTSTATUS) 0x8000002CL)
-#endif
-
-#ifndef STATUS_STOPPED_ON_SYMLINK
-# define STATUS_STOPPED_ON_SYMLINK ((NTSTATUS) 0x8000002DL)
-#endif
-
-#ifndef STATUS_CANNOT_GRANT_REQUESTED_OPLOCK
-# define STATUS_CANNOT_GRANT_REQUESTED_OPLOCK ((NTSTATUS) 0x8000002EL)
-#endif
-
-#ifndef STATUS_NO_ACE_CONDITION
-# define STATUS_NO_ACE_CONDITION ((NTSTATUS) 0x8000002FL)
-#endif
-
-#ifndef STATUS_UNSUCCESSFUL
-# define STATUS_UNSUCCESSFUL ((NTSTATUS) 0xC0000001L)
-#endif
-
-#ifndef STATUS_NOT_IMPLEMENTED
-# define STATUS_NOT_IMPLEMENTED ((NTSTATUS) 0xC0000002L)
-#endif
-
-#ifndef STATUS_INVALID_INFO_CLASS
-# define STATUS_INVALID_INFO_CLASS ((NTSTATUS) 0xC0000003L)
-#endif
-
-#ifndef STATUS_INFO_LENGTH_MISMATCH
-# define STATUS_INFO_LENGTH_MISMATCH ((NTSTATUS) 0xC0000004L)
-#endif
-
-#ifndef STATUS_ACCESS_VIOLATION
-# define STATUS_ACCESS_VIOLATION ((NTSTATUS) 0xC0000005L)
-#endif
-
-#ifndef STATUS_IN_PAGE_ERROR
-# define STATUS_IN_PAGE_ERROR ((NTSTATUS) 0xC0000006L)
-#endif
-
-#ifndef STATUS_PAGEFILE_QUOTA
-# define STATUS_PAGEFILE_QUOTA ((NTSTATUS) 0xC0000007L)
-#endif
-
-#ifndef STATUS_INVALID_HANDLE
-# define STATUS_INVALID_HANDLE ((NTSTATUS) 0xC0000008L)
-#endif
-
-#ifndef STATUS_BAD_INITIAL_STACK
-# define STATUS_BAD_INITIAL_STACK ((NTSTATUS) 0xC0000009L)
-#endif
-
-#ifndef STATUS_BAD_INITIAL_PC
-# define STATUS_BAD_INITIAL_PC ((NTSTATUS) 0xC000000AL)
-#endif
-
-#ifndef STATUS_INVALID_CID
-# define STATUS_INVALID_CID ((NTSTATUS) 0xC000000BL)
-#endif
-
-#ifndef STATUS_TIMER_NOT_CANCELED
-# define STATUS_TIMER_NOT_CANCELED ((NTSTATUS) 0xC000000CL)
-#endif
-
-#ifndef STATUS_INVALID_PARAMETER
-# define STATUS_INVALID_PARAMETER ((NTSTATUS) 0xC000000DL)
-#endif
-
-#ifndef STATUS_NO_SUCH_DEVICE
-# define STATUS_NO_SUCH_DEVICE ((NTSTATUS) 0xC000000EL)
-#endif
-
-#ifndef STATUS_NO_SUCH_FILE
-# define STATUS_NO_SUCH_FILE ((NTSTATUS) 0xC000000FL)
-#endif
-
-#ifndef STATUS_INVALID_DEVICE_REQUEST
-# define STATUS_INVALID_DEVICE_REQUEST ((NTSTATUS) 0xC0000010L)
-#endif
-
-#ifndef STATUS_END_OF_FILE
-# define STATUS_END_OF_FILE ((NTSTATUS) 0xC0000011L)
-#endif
-
-#ifndef STATUS_WRONG_VOLUME
-# define STATUS_WRONG_VOLUME ((NTSTATUS) 0xC0000012L)
-#endif
-
-#ifndef STATUS_NO_MEDIA_IN_DEVICE
-# define STATUS_NO_MEDIA_IN_DEVICE ((NTSTATUS) 0xC0000013L)
-#endif
-
-#ifndef STATUS_UNRECOGNIZED_MEDIA
-# define STATUS_UNRECOGNIZED_MEDIA ((NTSTATUS) 0xC0000014L)
-#endif
-
-#ifndef STATUS_NONEXISTENT_SECTOR
-# define STATUS_NONEXISTENT_SECTOR ((NTSTATUS) 0xC0000015L)
-#endif
-
-#ifndef STATUS_MORE_PROCESSING_REQUIRED
-# define STATUS_MORE_PROCESSING_REQUIRED ((NTSTATUS) 0xC0000016L)
-#endif
-
-#ifndef STATUS_NO_MEMORY
-# define STATUS_NO_MEMORY ((NTSTATUS) 0xC0000017L)
-#endif
-
-#ifndef STATUS_CONFLICTING_ADDRESSES
-# define STATUS_CONFLICTING_ADDRESSES ((NTSTATUS) 0xC0000018L)
-#endif
-
-#ifndef STATUS_NOT_MAPPED_VIEW
-# define STATUS_NOT_MAPPED_VIEW ((NTSTATUS) 0xC0000019L)
-#endif
-
-#ifndef STATUS_UNABLE_TO_FREE_VM
-# define STATUS_UNABLE_TO_FREE_VM ((NTSTATUS) 0xC000001AL)
-#endif
-
-#ifndef STATUS_UNABLE_TO_DELETE_SECTION
-# define STATUS_UNABLE_TO_DELETE_SECTION ((NTSTATUS) 0xC000001BL)
-#endif
-
-#ifndef STATUS_INVALID_SYSTEM_SERVICE
-# define STATUS_INVALID_SYSTEM_SERVICE ((NTSTATUS) 0xC000001CL)
-#endif
-
-#ifndef STATUS_ILLEGAL_INSTRUCTION
-# define STATUS_ILLEGAL_INSTRUCTION ((NTSTATUS) 0xC000001DL)
-#endif
-
-#ifndef STATUS_INVALID_LOCK_SEQUENCE
-# define STATUS_INVALID_LOCK_SEQUENCE ((NTSTATUS) 0xC000001EL)
-#endif
-
-#ifndef STATUS_INVALID_VIEW_SIZE
-# define STATUS_INVALID_VIEW_SIZE ((NTSTATUS) 0xC000001FL)
-#endif
-
-#ifndef STATUS_INVALID_FILE_FOR_SECTION
-# define STATUS_INVALID_FILE_FOR_SECTION ((NTSTATUS) 0xC0000020L)
-#endif
-
-#ifndef STATUS_ALREADY_COMMITTED
-# define STATUS_ALREADY_COMMITTED ((NTSTATUS) 0xC0000021L)
-#endif
-
-#ifndef STATUS_ACCESS_DENIED
-# define STATUS_ACCESS_DENIED ((NTSTATUS) 0xC0000022L)
-#endif
-
-#ifndef STATUS_BUFFER_TOO_SMALL
-# define STATUS_BUFFER_TOO_SMALL ((NTSTATUS) 0xC0000023L)
-#endif
-
-#ifndef STATUS_OBJECT_TYPE_MISMATCH
-# define STATUS_OBJECT_TYPE_MISMATCH ((NTSTATUS) 0xC0000024L)
-#endif
-
-#ifndef STATUS_NONCONTINUABLE_EXCEPTION
-# define STATUS_NONCONTINUABLE_EXCEPTION ((NTSTATUS) 0xC0000025L)
-#endif
-
-#ifndef STATUS_INVALID_DISPOSITION
-# define STATUS_INVALID_DISPOSITION ((NTSTATUS) 0xC0000026L)
-#endif
-
-#ifndef STATUS_UNWIND
-# define STATUS_UNWIND ((NTSTATUS) 0xC0000027L)
-#endif
-
-#ifndef STATUS_BAD_STACK
-# define STATUS_BAD_STACK ((NTSTATUS) 0xC0000028L)
-#endif
-
-#ifndef STATUS_INVALID_UNWIND_TARGET
-# define STATUS_INVALID_UNWIND_TARGET ((NTSTATUS) 0xC0000029L)
-#endif
-
-#ifndef STATUS_NOT_LOCKED
-# define STATUS_NOT_LOCKED ((NTSTATUS) 0xC000002AL)
-#endif
-
-#ifndef STATUS_PARITY_ERROR
-# define STATUS_PARITY_ERROR ((NTSTATUS) 0xC000002BL)
-#endif
-
-#ifndef STATUS_UNABLE_TO_DECOMMIT_VM
-# define STATUS_UNABLE_TO_DECOMMIT_VM ((NTSTATUS) 0xC000002CL)
-#endif
-
-#ifndef STATUS_NOT_COMMITTED
-# define STATUS_NOT_COMMITTED ((NTSTATUS) 0xC000002DL)
-#endif
-
-#ifndef STATUS_INVALID_PORT_ATTRIBUTES
-# define STATUS_INVALID_PORT_ATTRIBUTES ((NTSTATUS) 0xC000002EL)
-#endif
-
-#ifndef STATUS_PORT_MESSAGE_TOO_LONG
-# define STATUS_PORT_MESSAGE_TOO_LONG ((NTSTATUS) 0xC000002FL)
-#endif
-
-#ifndef STATUS_INVALID_PARAMETER_MIX
-# define STATUS_INVALID_PARAMETER_MIX ((NTSTATUS) 0xC0000030L)
-#endif
-
-#ifndef STATUS_INVALID_QUOTA_LOWER
-# define STATUS_INVALID_QUOTA_LOWER ((NTSTATUS) 0xC0000031L)
-#endif
-
-#ifndef STATUS_DISK_CORRUPT_ERROR
-# define STATUS_DISK_CORRUPT_ERROR ((NTSTATUS) 0xC0000032L)
-#endif
-
-#ifndef STATUS_OBJECT_NAME_INVALID
-# define STATUS_OBJECT_NAME_INVALID ((NTSTATUS) 0xC0000033L)
-#endif
-
-#ifndef STATUS_OBJECT_NAME_NOT_FOUND
-# define STATUS_OBJECT_NAME_NOT_FOUND ((NTSTATUS) 0xC0000034L)
-#endif
-
-#ifndef STATUS_OBJECT_NAME_COLLISION
-# define STATUS_OBJECT_NAME_COLLISION ((NTSTATUS) 0xC0000035L)
-#endif
-
-#ifndef STATUS_PORT_DISCONNECTED
-# define STATUS_PORT_DISCONNECTED ((NTSTATUS) 0xC0000037L)
-#endif
-
-#ifndef STATUS_DEVICE_ALREADY_ATTACHED
-# define STATUS_DEVICE_ALREADY_ATTACHED ((NTSTATUS) 0xC0000038L)
-#endif
-
-#ifndef STATUS_OBJECT_PATH_INVALID
-# define STATUS_OBJECT_PATH_INVALID ((NTSTATUS) 0xC0000039L)
-#endif
-
-#ifndef STATUS_OBJECT_PATH_NOT_FOUND
-# define STATUS_OBJECT_PATH_NOT_FOUND ((NTSTATUS) 0xC000003AL)
-#endif
-
-#ifndef STATUS_OBJECT_PATH_SYNTAX_BAD
-# define STATUS_OBJECT_PATH_SYNTAX_BAD ((NTSTATUS) 0xC000003BL)
-#endif
-
-#ifndef STATUS_DATA_OVERRUN
-# define STATUS_DATA_OVERRUN ((NTSTATUS) 0xC000003CL)
-#endif
-
-#ifndef STATUS_DATA_LATE_ERROR
-# define STATUS_DATA_LATE_ERROR ((NTSTATUS) 0xC000003DL)
-#endif
-
-#ifndef STATUS_DATA_ERROR
-# define STATUS_DATA_ERROR ((NTSTATUS) 0xC000003EL)
-#endif
-
-#ifndef STATUS_CRC_ERROR
-# define STATUS_CRC_ERROR ((NTSTATUS) 0xC000003FL)
-#endif
-
-#ifndef STATUS_SECTION_TOO_BIG
-# define STATUS_SECTION_TOO_BIG ((NTSTATUS) 0xC0000040L)
-#endif
-
-#ifndef STATUS_PORT_CONNECTION_REFUSED
-# define STATUS_PORT_CONNECTION_REFUSED ((NTSTATUS) 0xC0000041L)
-#endif
-
-#ifndef STATUS_INVALID_PORT_HANDLE
-# define STATUS_INVALID_PORT_HANDLE ((NTSTATUS) 0xC0000042L)
-#endif
-
-#ifndef STATUS_SHARING_VIOLATION
-# define STATUS_SHARING_VIOLATION ((NTSTATUS) 0xC0000043L)
-#endif
-
-#ifndef STATUS_QUOTA_EXCEEDED
-# define STATUS_QUOTA_EXCEEDED ((NTSTATUS) 0xC0000044L)
-#endif
-
-#ifndef STATUS_INVALID_PAGE_PROTECTION
-# define STATUS_INVALID_PAGE_PROTECTION ((NTSTATUS) 0xC0000045L)
-#endif
-
-#ifndef STATUS_MUTANT_NOT_OWNED
-# define STATUS_MUTANT_NOT_OWNED ((NTSTATUS) 0xC0000046L)
-#endif
-
-#ifndef STATUS_SEMAPHORE_LIMIT_EXCEEDED
-# define STATUS_SEMAPHORE_LIMIT_EXCEEDED ((NTSTATUS) 0xC0000047L)
-#endif
-
-#ifndef STATUS_PORT_ALREADY_SET
-# define STATUS_PORT_ALREADY_SET ((NTSTATUS) 0xC0000048L)
-#endif
-
-#ifndef STATUS_SECTION_NOT_IMAGE
-# define STATUS_SECTION_NOT_IMAGE ((NTSTATUS) 0xC0000049L)
-#endif
-
-#ifndef STATUS_SUSPEND_COUNT_EXCEEDED
-# define STATUS_SUSPEND_COUNT_EXCEEDED ((NTSTATUS) 0xC000004AL)
-#endif
-
-#ifndef STATUS_THREAD_IS_TERMINATING
-# define STATUS_THREAD_IS_TERMINATING ((NTSTATUS) 0xC000004BL)
-#endif
-
-#ifndef STATUS_BAD_WORKING_SET_LIMIT
-# define STATUS_BAD_WORKING_SET_LIMIT ((NTSTATUS) 0xC000004CL)
-#endif
-
-#ifndef STATUS_INCOMPATIBLE_FILE_MAP
-# define STATUS_INCOMPATIBLE_FILE_MAP ((NTSTATUS) 0xC000004DL)
-#endif
-
-#ifndef STATUS_SECTION_PROTECTION
-# define STATUS_SECTION_PROTECTION ((NTSTATUS) 0xC000004EL)
-#endif
-
-#ifndef STATUS_EAS_NOT_SUPPORTED
-# define STATUS_EAS_NOT_SUPPORTED ((NTSTATUS) 0xC000004FL)
-#endif
-
-#ifndef STATUS_EA_TOO_LARGE
-# define STATUS_EA_TOO_LARGE ((NTSTATUS) 0xC0000050L)
-#endif
-
-#ifndef STATUS_NONEXISTENT_EA_ENTRY
-# define STATUS_NONEXISTENT_EA_ENTRY ((NTSTATUS) 0xC0000051L)
-#endif
-
-#ifndef STATUS_NO_EAS_ON_FILE
-# define STATUS_NO_EAS_ON_FILE ((NTSTATUS) 0xC0000052L)
-#endif
-
-#ifndef STATUS_EA_CORRUPT_ERROR
-# define STATUS_EA_CORRUPT_ERROR ((NTSTATUS) 0xC0000053L)
-#endif
-
-#ifndef STATUS_FILE_LOCK_CONFLICT
-# define STATUS_FILE_LOCK_CONFLICT ((NTSTATUS) 0xC0000054L)
-#endif
-
-#ifndef STATUS_LOCK_NOT_GRANTED
-# define STATUS_LOCK_NOT_GRANTED ((NTSTATUS) 0xC0000055L)
-#endif
-
-#ifndef STATUS_DELETE_PENDING
-# define STATUS_DELETE_PENDING ((NTSTATUS) 0xC0000056L)
-#endif
-
-#ifndef STATUS_CTL_FILE_NOT_SUPPORTED
-# define STATUS_CTL_FILE_NOT_SUPPORTED ((NTSTATUS) 0xC0000057L)
-#endif
-
-#ifndef STATUS_UNKNOWN_REVISION
-# define STATUS_UNKNOWN_REVISION ((NTSTATUS) 0xC0000058L)
-#endif
-
-#ifndef STATUS_REVISION_MISMATCH
-# define STATUS_REVISION_MISMATCH ((NTSTATUS) 0xC0000059L)
-#endif
-
-#ifndef STATUS_INVALID_OWNER
-# define STATUS_INVALID_OWNER ((NTSTATUS) 0xC000005AL)
-#endif
-
-#ifndef STATUS_INVALID_PRIMARY_GROUP
-# define STATUS_INVALID_PRIMARY_GROUP ((NTSTATUS) 0xC000005BL)
-#endif
-
-#ifndef STATUS_NO_IMPERSONATION_TOKEN
-# define STATUS_NO_IMPERSONATION_TOKEN ((NTSTATUS) 0xC000005CL)
-#endif
-
-#ifndef STATUS_CANT_DISABLE_MANDATORY
-# define STATUS_CANT_DISABLE_MANDATORY ((NTSTATUS) 0xC000005DL)
-#endif
-
-#ifndef STATUS_NO_LOGON_SERVERS
-# define STATUS_NO_LOGON_SERVERS ((NTSTATUS) 0xC000005EL)
-#endif
-
-#ifndef STATUS_NO_SUCH_LOGON_SESSION
-# define STATUS_NO_SUCH_LOGON_SESSION ((NTSTATUS) 0xC000005FL)
-#endif
-
-#ifndef STATUS_NO_SUCH_PRIVILEGE
-# define STATUS_NO_SUCH_PRIVILEGE ((NTSTATUS) 0xC0000060L)
-#endif
-
-#ifndef STATUS_PRIVILEGE_NOT_HELD
-# define STATUS_PRIVILEGE_NOT_HELD ((NTSTATUS) 0xC0000061L)
-#endif
-
-#ifndef STATUS_INVALID_ACCOUNT_NAME
-# define STATUS_INVALID_ACCOUNT_NAME ((NTSTATUS) 0xC0000062L)
-#endif
-
-#ifndef STATUS_USER_EXISTS
-# define STATUS_USER_EXISTS ((NTSTATUS) 0xC0000063L)
-#endif
-
-#ifndef STATUS_NO_SUCH_USER
-# define STATUS_NO_SUCH_USER ((NTSTATUS) 0xC0000064L)
-#endif
-
-#ifndef STATUS_GROUP_EXISTS
-# define STATUS_GROUP_EXISTS ((NTSTATUS) 0xC0000065L)
-#endif
-
-#ifndef STATUS_NO_SUCH_GROUP
-# define STATUS_NO_SUCH_GROUP ((NTSTATUS) 0xC0000066L)
-#endif
-
-#ifndef STATUS_MEMBER_IN_GROUP
-# define STATUS_MEMBER_IN_GROUP ((NTSTATUS) 0xC0000067L)
-#endif
-
-#ifndef STATUS_MEMBER_NOT_IN_GROUP
-# define STATUS_MEMBER_NOT_IN_GROUP ((NTSTATUS) 0xC0000068L)
-#endif
-
-#ifndef STATUS_LAST_ADMIN
-# define STATUS_LAST_ADMIN ((NTSTATUS) 0xC0000069L)
-#endif
-
-#ifndef STATUS_WRONG_PASSWORD
-# define STATUS_WRONG_PASSWORD ((NTSTATUS) 0xC000006AL)
-#endif
-
-#ifndef STATUS_ILL_FORMED_PASSWORD
-# define STATUS_ILL_FORMED_PASSWORD ((NTSTATUS) 0xC000006BL)
-#endif
-
-#ifndef STATUS_PASSWORD_RESTRICTION
-# define STATUS_PASSWORD_RESTRICTION ((NTSTATUS) 0xC000006CL)
-#endif
-
-#ifndef STATUS_LOGON_FAILURE
-# define STATUS_LOGON_FAILURE ((NTSTATUS) 0xC000006DL)
-#endif
-
-#ifndef STATUS_ACCOUNT_RESTRICTION
-# define STATUS_ACCOUNT_RESTRICTION ((NTSTATUS) 0xC000006EL)
-#endif
-
-#ifndef STATUS_INVALID_LOGON_HOURS
-# define STATUS_INVALID_LOGON_HOURS ((NTSTATUS) 0xC000006FL)
-#endif
-
-#ifndef STATUS_INVALID_WORKSTATION
-# define STATUS_INVALID_WORKSTATION ((NTSTATUS) 0xC0000070L)
-#endif
-
-#ifndef STATUS_PASSWORD_EXPIRED
-# define STATUS_PASSWORD_EXPIRED ((NTSTATUS) 0xC0000071L)
-#endif
-
-#ifndef STATUS_ACCOUNT_DISABLED
-# define STATUS_ACCOUNT_DISABLED ((NTSTATUS) 0xC0000072L)
-#endif
-
-#ifndef STATUS_NONE_MAPPED
-# define STATUS_NONE_MAPPED ((NTSTATUS) 0xC0000073L)
-#endif
-
-#ifndef STATUS_TOO_MANY_LUIDS_REQUESTED
-# define STATUS_TOO_MANY_LUIDS_REQUESTED ((NTSTATUS) 0xC0000074L)
-#endif
-
-#ifndef STATUS_LUIDS_EXHAUSTED
-# define STATUS_LUIDS_EXHAUSTED ((NTSTATUS) 0xC0000075L)
-#endif
-
-#ifndef STATUS_INVALID_SUB_AUTHORITY
-# define STATUS_INVALID_SUB_AUTHORITY ((NTSTATUS) 0xC0000076L)
-#endif
-
-#ifndef STATUS_INVALID_ACL
-# define STATUS_INVALID_ACL ((NTSTATUS) 0xC0000077L)
-#endif
-
-#ifndef STATUS_INVALID_SID
-# define STATUS_INVALID_SID ((NTSTATUS) 0xC0000078L)
-#endif
-
-#ifndef STATUS_INVALID_SECURITY_DESCR
-# define STATUS_INVALID_SECURITY_DESCR ((NTSTATUS) 0xC0000079L)
-#endif
-
-#ifndef STATUS_PROCEDURE_NOT_FOUND
-# define STATUS_PROCEDURE_NOT_FOUND ((NTSTATUS) 0xC000007AL)
-#endif
-
-#ifndef STATUS_INVALID_IMAGE_FORMAT
-# define STATUS_INVALID_IMAGE_FORMAT ((NTSTATUS) 0xC000007BL)
-#endif
-
-#ifndef STATUS_NO_TOKEN
-# define STATUS_NO_TOKEN ((NTSTATUS) 0xC000007CL)
-#endif
-
-#ifndef STATUS_BAD_INHERITANCE_ACL
-# define STATUS_BAD_INHERITANCE_ACL ((NTSTATUS) 0xC000007DL)
-#endif
-
-#ifndef STATUS_RANGE_NOT_LOCKED
-# define STATUS_RANGE_NOT_LOCKED ((NTSTATUS) 0xC000007EL)
-#endif
-
-#ifndef STATUS_DISK_FULL
-# define STATUS_DISK_FULL ((NTSTATUS) 0xC000007FL)
-#endif
-
-#ifndef STATUS_SERVER_DISABLED
-# define STATUS_SERVER_DISABLED ((NTSTATUS) 0xC0000080L)
-#endif
-
-#ifndef STATUS_SERVER_NOT_DISABLED
-# define STATUS_SERVER_NOT_DISABLED ((NTSTATUS) 0xC0000081L)
-#endif
-
-#ifndef STATUS_TOO_MANY_GUIDS_REQUESTED
-# define STATUS_TOO_MANY_GUIDS_REQUESTED ((NTSTATUS) 0xC0000082L)
-#endif
-
-#ifndef STATUS_GUIDS_EXHAUSTED
-# define STATUS_GUIDS_EXHAUSTED ((NTSTATUS) 0xC0000083L)
-#endif
-
-#ifndef STATUS_INVALID_ID_AUTHORITY
-# define STATUS_INVALID_ID_AUTHORITY ((NTSTATUS) 0xC0000084L)
-#endif
-
-#ifndef STATUS_AGENTS_EXHAUSTED
-# define STATUS_AGENTS_EXHAUSTED ((NTSTATUS) 0xC0000085L)
-#endif
-
-#ifndef STATUS_INVALID_VOLUME_LABEL
-# define STATUS_INVALID_VOLUME_LABEL ((NTSTATUS) 0xC0000086L)
-#endif
-
-#ifndef STATUS_SECTION_NOT_EXTENDED
-# define STATUS_SECTION_NOT_EXTENDED ((NTSTATUS) 0xC0000087L)
-#endif
-
-#ifndef STATUS_NOT_MAPPED_DATA
-# define STATUS_NOT_MAPPED_DATA ((NTSTATUS) 0xC0000088L)
-#endif
-
-#ifndef STATUS_RESOURCE_DATA_NOT_FOUND
-# define STATUS_RESOURCE_DATA_NOT_FOUND ((NTSTATUS) 0xC0000089L)
-#endif
-
-#ifndef STATUS_RESOURCE_TYPE_NOT_FOUND
-# define STATUS_RESOURCE_TYPE_NOT_FOUND ((NTSTATUS) 0xC000008AL)
-#endif
-
-#ifndef STATUS_RESOURCE_NAME_NOT_FOUND
-# define STATUS_RESOURCE_NAME_NOT_FOUND ((NTSTATUS) 0xC000008BL)
-#endif
-
-#ifndef STATUS_ARRAY_BOUNDS_EXCEEDED
-# define STATUS_ARRAY_BOUNDS_EXCEEDED ((NTSTATUS) 0xC000008CL)
-#endif
-
-#ifndef STATUS_FLOAT_DENORMAL_OPERAND
-# define STATUS_FLOAT_DENORMAL_OPERAND ((NTSTATUS) 0xC000008DL)
-#endif
-
-#ifndef STATUS_FLOAT_DIVIDE_BY_ZERO
-# define STATUS_FLOAT_DIVIDE_BY_ZERO ((NTSTATUS) 0xC000008EL)
-#endif
-
-#ifndef STATUS_FLOAT_INEXACT_RESULT
-# define STATUS_FLOAT_INEXACT_RESULT ((NTSTATUS) 0xC000008FL)
-#endif
-
-#ifndef STATUS_FLOAT_INVALID_OPERATION
-# define STATUS_FLOAT_INVALID_OPERATION ((NTSTATUS) 0xC0000090L)
-#endif
-
-#ifndef STATUS_FLOAT_OVERFLOW
-# define STATUS_FLOAT_OVERFLOW ((NTSTATUS) 0xC0000091L)
-#endif
-
-#ifndef STATUS_FLOAT_STACK_CHECK
-# define STATUS_FLOAT_STACK_CHECK ((NTSTATUS) 0xC0000092L)
-#endif
-
-#ifndef STATUS_FLOAT_UNDERFLOW
-# define STATUS_FLOAT_UNDERFLOW ((NTSTATUS) 0xC0000093L)
-#endif
-
-#ifndef STATUS_INTEGER_DIVIDE_BY_ZERO
-# define STATUS_INTEGER_DIVIDE_BY_ZERO ((NTSTATUS) 0xC0000094L)
-#endif
-
-#ifndef STATUS_INTEGER_OVERFLOW
-# define STATUS_INTEGER_OVERFLOW ((NTSTATUS) 0xC0000095L)
-#endif
-
-#ifndef STATUS_PRIVILEGED_INSTRUCTION
-# define STATUS_PRIVILEGED_INSTRUCTION ((NTSTATUS) 0xC0000096L)
-#endif
-
-#ifndef STATUS_TOO_MANY_PAGING_FILES
-# define STATUS_TOO_MANY_PAGING_FILES ((NTSTATUS) 0xC0000097L)
-#endif
-
-#ifndef STATUS_FILE_INVALID
-# define STATUS_FILE_INVALID ((NTSTATUS) 0xC0000098L)
-#endif
-
-#ifndef STATUS_ALLOTTED_SPACE_EXCEEDED
-# define STATUS_ALLOTTED_SPACE_EXCEEDED ((NTSTATUS) 0xC0000099L)
-#endif
-
-#ifndef STATUS_INSUFFICIENT_RESOURCES
-# define STATUS_INSUFFICIENT_RESOURCES ((NTSTATUS) 0xC000009AL)
-#endif
-
-#ifndef STATUS_DFS_EXIT_PATH_FOUND
-# define STATUS_DFS_EXIT_PATH_FOUND ((NTSTATUS) 0xC000009BL)
-#endif
-
-#ifndef STATUS_DEVICE_DATA_ERROR
-# define STATUS_DEVICE_DATA_ERROR ((NTSTATUS) 0xC000009CL)
-#endif
-
-#ifndef STATUS_DEVICE_NOT_CONNECTED
-# define STATUS_DEVICE_NOT_CONNECTED ((NTSTATUS) 0xC000009DL)
-#endif
-
-#ifndef STATUS_DEVICE_POWER_FAILURE
-# define STATUS_DEVICE_POWER_FAILURE ((NTSTATUS) 0xC000009EL)
-#endif
-
-#ifndef STATUS_FREE_VM_NOT_AT_BASE
-# define STATUS_FREE_VM_NOT_AT_BASE ((NTSTATUS) 0xC000009FL)
-#endif
-
-#ifndef STATUS_MEMORY_NOT_ALLOCATED
-# define STATUS_MEMORY_NOT_ALLOCATED ((NTSTATUS) 0xC00000A0L)
-#endif
-
-#ifndef STATUS_WORKING_SET_QUOTA
-# define STATUS_WORKING_SET_QUOTA ((NTSTATUS) 0xC00000A1L)
-#endif
-
-#ifndef STATUS_MEDIA_WRITE_PROTECTED
-# define STATUS_MEDIA_WRITE_PROTECTED ((NTSTATUS) 0xC00000A2L)
-#endif
-
-#ifndef STATUS_DEVICE_NOT_READY
-# define STATUS_DEVICE_NOT_READY ((NTSTATUS) 0xC00000A3L)
-#endif
-
-#ifndef STATUS_INVALID_GROUP_ATTRIBUTES
-# define STATUS_INVALID_GROUP_ATTRIBUTES ((NTSTATUS) 0xC00000A4L)
-#endif
-
-#ifndef STATUS_BAD_IMPERSONATION_LEVEL
-# define STATUS_BAD_IMPERSONATION_LEVEL ((NTSTATUS) 0xC00000A5L)
-#endif
-
-#ifndef STATUS_CANT_OPEN_ANONYMOUS
-# define STATUS_CANT_OPEN_ANONYMOUS ((NTSTATUS) 0xC00000A6L)
-#endif
-
-#ifndef STATUS_BAD_VALIDATION_CLASS
-# define STATUS_BAD_VALIDATION_CLASS ((NTSTATUS) 0xC00000A7L)
-#endif
-
-#ifndef STATUS_BAD_TOKEN_TYPE
-# define STATUS_BAD_TOKEN_TYPE ((NTSTATUS) 0xC00000A8L)
-#endif
-
-#ifndef STATUS_BAD_MASTER_BOOT_RECORD
-# define STATUS_BAD_MASTER_BOOT_RECORD ((NTSTATUS) 0xC00000A9L)
-#endif
-
-#ifndef STATUS_INSTRUCTION_MISALIGNMENT
-# define STATUS_INSTRUCTION_MISALIGNMENT ((NTSTATUS) 0xC00000AAL)
-#endif
-
-#ifndef STATUS_INSTANCE_NOT_AVAILABLE
-# define STATUS_INSTANCE_NOT_AVAILABLE ((NTSTATUS) 0xC00000ABL)
-#endif
-
-#ifndef STATUS_PIPE_NOT_AVAILABLE
-# define STATUS_PIPE_NOT_AVAILABLE ((NTSTATUS) 0xC00000ACL)
-#endif
-
-#ifndef STATUS_INVALID_PIPE_STATE
-# define STATUS_INVALID_PIPE_STATE ((NTSTATUS) 0xC00000ADL)
-#endif
-
-#ifndef STATUS_PIPE_BUSY
-# define STATUS_PIPE_BUSY ((NTSTATUS) 0xC00000AEL)
-#endif
-
-#ifndef STATUS_ILLEGAL_FUNCTION
-# define STATUS_ILLEGAL_FUNCTION ((NTSTATUS) 0xC00000AFL)
-#endif
-
-#ifndef STATUS_PIPE_DISCONNECTED
-# define STATUS_PIPE_DISCONNECTED ((NTSTATUS) 0xC00000B0L)
-#endif
-
-#ifndef STATUS_PIPE_CLOSING
-# define STATUS_PIPE_CLOSING ((NTSTATUS) 0xC00000B1L)
-#endif
-
-#ifndef STATUS_PIPE_CONNECTED
-# define STATUS_PIPE_CONNECTED ((NTSTATUS) 0xC00000B2L)
-#endif
-
-#ifndef STATUS_PIPE_LISTENING
-# define STATUS_PIPE_LISTENING ((NTSTATUS) 0xC00000B3L)
-#endif
-
-#ifndef STATUS_INVALID_READ_MODE
-# define STATUS_INVALID_READ_MODE ((NTSTATUS) 0xC00000B4L)
-#endif
-
-#ifndef STATUS_IO_TIMEOUT
-# define STATUS_IO_TIMEOUT ((NTSTATUS) 0xC00000B5L)
-#endif
-
-#ifndef STATUS_FILE_FORCED_CLOSED
-# define STATUS_FILE_FORCED_CLOSED ((NTSTATUS) 0xC00000B6L)
-#endif
-
-#ifndef STATUS_PROFILING_NOT_STARTED
-# define STATUS_PROFILING_NOT_STARTED ((NTSTATUS) 0xC00000B7L)
-#endif
-
-#ifndef STATUS_PROFILING_NOT_STOPPED
-# define STATUS_PROFILING_NOT_STOPPED ((NTSTATUS) 0xC00000B8L)
-#endif
-
-#ifndef STATUS_COULD_NOT_INTERPRET
-# define STATUS_COULD_NOT_INTERPRET ((NTSTATUS) 0xC00000B9L)
-#endif
-
-#ifndef STATUS_FILE_IS_A_DIRECTORY
-# define STATUS_FILE_IS_A_DIRECTORY ((NTSTATUS) 0xC00000BAL)
-#endif
-
-#ifndef STATUS_NOT_SUPPORTED
-# define STATUS_NOT_SUPPORTED ((NTSTATUS) 0xC00000BBL)
-#endif
-
-#ifndef STATUS_REMOTE_NOT_LISTENING
-# define STATUS_REMOTE_NOT_LISTENING ((NTSTATUS) 0xC00000BCL)
-#endif
-
-#ifndef STATUS_DUPLICATE_NAME
-# define STATUS_DUPLICATE_NAME ((NTSTATUS) 0xC00000BDL)
-#endif
-
-#ifndef STATUS_BAD_NETWORK_PATH
-# define STATUS_BAD_NETWORK_PATH ((NTSTATUS) 0xC00000BEL)
-#endif
-
-#ifndef STATUS_NETWORK_BUSY
-# define STATUS_NETWORK_BUSY ((NTSTATUS) 0xC00000BFL)
-#endif
-
-#ifndef STATUS_DEVICE_DOES_NOT_EXIST
-# define STATUS_DEVICE_DOES_NOT_EXIST ((NTSTATUS) 0xC00000C0L)
-#endif
-
-#ifndef STATUS_TOO_MANY_COMMANDS
-# define STATUS_TOO_MANY_COMMANDS ((NTSTATUS) 0xC00000C1L)
-#endif
-
-#ifndef STATUS_ADAPTER_HARDWARE_ERROR
-# define STATUS_ADAPTER_HARDWARE_ERROR ((NTSTATUS) 0xC00000C2L)
-#endif
-
-#ifndef STATUS_INVALID_NETWORK_RESPONSE
-# define STATUS_INVALID_NETWORK_RESPONSE ((NTSTATUS) 0xC00000C3L)
-#endif
-
-#ifndef STATUS_UNEXPECTED_NETWORK_ERROR
-# define STATUS_UNEXPECTED_NETWORK_ERROR ((NTSTATUS) 0xC00000C4L)
-#endif
-
-#ifndef STATUS_BAD_REMOTE_ADAPTER
-# define STATUS_BAD_REMOTE_ADAPTER ((NTSTATUS) 0xC00000C5L)
-#endif
-
-#ifndef STATUS_PRINT_QUEUE_FULL
-# define STATUS_PRINT_QUEUE_FULL ((NTSTATUS) 0xC00000C6L)
-#endif
-
-#ifndef STATUS_NO_SPOOL_SPACE
-# define STATUS_NO_SPOOL_SPACE ((NTSTATUS) 0xC00000C7L)
-#endif
-
-#ifndef STATUS_PRINT_CANCELLED
-# define STATUS_PRINT_CANCELLED ((NTSTATUS) 0xC00000C8L)
-#endif
-
-#ifndef STATUS_NETWORK_NAME_DELETED
-# define STATUS_NETWORK_NAME_DELETED ((NTSTATUS) 0xC00000C9L)
-#endif
-
-#ifndef STATUS_NETWORK_ACCESS_DENIED
-# define STATUS_NETWORK_ACCESS_DENIED ((NTSTATUS) 0xC00000CAL)
-#endif
-
-#ifndef STATUS_BAD_DEVICE_TYPE
-# define STATUS_BAD_DEVICE_TYPE ((NTSTATUS) 0xC00000CBL)
-#endif
-
-#ifndef STATUS_BAD_NETWORK_NAME
-# define STATUS_BAD_NETWORK_NAME ((NTSTATUS) 0xC00000CCL)
-#endif
-
-#ifndef STATUS_TOO_MANY_NAMES
-# define STATUS_TOO_MANY_NAMES ((NTSTATUS) 0xC00000CDL)
-#endif
-
-#ifndef STATUS_TOO_MANY_SESSIONS
-# define STATUS_TOO_MANY_SESSIONS ((NTSTATUS) 0xC00000CEL)
-#endif
-
-#ifndef STATUS_SHARING_PAUSED
-# define STATUS_SHARING_PAUSED ((NTSTATUS) 0xC00000CFL)
-#endif
-
-#ifndef STATUS_REQUEST_NOT_ACCEPTED
-# define STATUS_REQUEST_NOT_ACCEPTED ((NTSTATUS) 0xC00000D0L)
-#endif
-
-#ifndef STATUS_REDIRECTOR_PAUSED
-# define STATUS_REDIRECTOR_PAUSED ((NTSTATUS) 0xC00000D1L)
-#endif
-
-#ifndef STATUS_NET_WRITE_FAULT
-# define STATUS_NET_WRITE_FAULT ((NTSTATUS) 0xC00000D2L)
-#endif
-
-#ifndef STATUS_PROFILING_AT_LIMIT
-# define STATUS_PROFILING_AT_LIMIT ((NTSTATUS) 0xC00000D3L)
-#endif
-
-#ifndef STATUS_NOT_SAME_DEVICE
-# define STATUS_NOT_SAME_DEVICE ((NTSTATUS) 0xC00000D4L)
-#endif
-
-#ifndef STATUS_FILE_RENAMED
-# define STATUS_FILE_RENAMED ((NTSTATUS) 0xC00000D5L)
-#endif
-
-#ifndef STATUS_VIRTUAL_CIRCUIT_CLOSED
-# define STATUS_VIRTUAL_CIRCUIT_CLOSED ((NTSTATUS) 0xC00000D6L)
-#endif
-
-#ifndef STATUS_NO_SECURITY_ON_OBJECT
-# define STATUS_NO_SECURITY_ON_OBJECT ((NTSTATUS) 0xC00000D7L)
-#endif
-
-#ifndef STATUS_CANT_WAIT
-# define STATUS_CANT_WAIT ((NTSTATUS) 0xC00000D8L)
-#endif
-
-#ifndef STATUS_PIPE_EMPTY
-# define STATUS_PIPE_EMPTY ((NTSTATUS) 0xC00000D9L)
-#endif
-
-#ifndef STATUS_CANT_ACCESS_DOMAIN_INFO
-# define STATUS_CANT_ACCESS_DOMAIN_INFO ((NTSTATUS) 0xC00000DAL)
-#endif
-
-#ifndef STATUS_CANT_TERMINATE_SELF
-# define STATUS_CANT_TERMINATE_SELF ((NTSTATUS) 0xC00000DBL)
-#endif
-
-#ifndef STATUS_INVALID_SERVER_STATE
-# define STATUS_INVALID_SERVER_STATE ((NTSTATUS) 0xC00000DCL)
-#endif
-
-#ifndef STATUS_INVALID_DOMAIN_STATE
-# define STATUS_INVALID_DOMAIN_STATE ((NTSTATUS) 0xC00000DDL)
-#endif
-
-#ifndef STATUS_INVALID_DOMAIN_ROLE
-# define STATUS_INVALID_DOMAIN_ROLE ((NTSTATUS) 0xC00000DEL)
-#endif
-
-#ifndef STATUS_NO_SUCH_DOMAIN
-# define STATUS_NO_SUCH_DOMAIN ((NTSTATUS) 0xC00000DFL)
-#endif
-
-#ifndef STATUS_DOMAIN_EXISTS
-# define STATUS_DOMAIN_EXISTS ((NTSTATUS) 0xC00000E0L)
-#endif
-
-#ifndef STATUS_DOMAIN_LIMIT_EXCEEDED
-# define STATUS_DOMAIN_LIMIT_EXCEEDED ((NTSTATUS) 0xC00000E1L)
-#endif
-
-#ifndef STATUS_OPLOCK_NOT_GRANTED
-# define STATUS_OPLOCK_NOT_GRANTED ((NTSTATUS) 0xC00000E2L)
-#endif
-
-#ifndef STATUS_INVALID_OPLOCK_PROTOCOL
-# define STATUS_INVALID_OPLOCK_PROTOCOL ((NTSTATUS) 0xC00000E3L)
-#endif
-
-#ifndef STATUS_INTERNAL_DB_CORRUPTION
-# define STATUS_INTERNAL_DB_CORRUPTION ((NTSTATUS) 0xC00000E4L)
-#endif
-
-#ifndef STATUS_INTERNAL_ERROR
-# define STATUS_INTERNAL_ERROR ((NTSTATUS) 0xC00000E5L)
-#endif
-
-#ifndef STATUS_GENERIC_NOT_MAPPED
-# define STATUS_GENERIC_NOT_MAPPED ((NTSTATUS) 0xC00000E6L)
-#endif
-
-#ifndef STATUS_BAD_DESCRIPTOR_FORMAT
-# define STATUS_BAD_DESCRIPTOR_FORMAT ((NTSTATUS) 0xC00000E7L)
-#endif
-
-#ifndef STATUS_INVALID_USER_BUFFER
-# define STATUS_INVALID_USER_BUFFER ((NTSTATUS) 0xC00000E8L)
-#endif
-
-#ifndef STATUS_UNEXPECTED_IO_ERROR
-# define STATUS_UNEXPECTED_IO_ERROR ((NTSTATUS) 0xC00000E9L)
-#endif
-
-#ifndef STATUS_UNEXPECTED_MM_CREATE_ERR
-# define STATUS_UNEXPECTED_MM_CREATE_ERR ((NTSTATUS) 0xC00000EAL)
-#endif
-
-#ifndef STATUS_UNEXPECTED_MM_MAP_ERROR
-# define STATUS_UNEXPECTED_MM_MAP_ERROR ((NTSTATUS) 0xC00000EBL)
-#endif
-
-#ifndef STATUS_UNEXPECTED_MM_EXTEND_ERR
-# define STATUS_UNEXPECTED_MM_EXTEND_ERR ((NTSTATUS) 0xC00000ECL)
-#endif
-
-#ifndef STATUS_NOT_LOGON_PROCESS
-# define STATUS_NOT_LOGON_PROCESS ((NTSTATUS) 0xC00000EDL)
-#endif
-
-#ifndef STATUS_LOGON_SESSION_EXISTS
-# define STATUS_LOGON_SESSION_EXISTS ((NTSTATUS) 0xC00000EEL)
-#endif
-
-#ifndef STATUS_INVALID_PARAMETER_1
-# define STATUS_INVALID_PARAMETER_1 ((NTSTATUS) 0xC00000EFL)
-#endif
-
-#ifndef STATUS_INVALID_PARAMETER_2
-# define STATUS_INVALID_PARAMETER_2 ((NTSTATUS) 0xC00000F0L)
-#endif
-
-#ifndef STATUS_INVALID_PARAMETER_3
-# define STATUS_INVALID_PARAMETER_3 ((NTSTATUS) 0xC00000F1L)
-#endif
-
-#ifndef STATUS_INVALID_PARAMETER_4
-# define STATUS_INVALID_PARAMETER_4 ((NTSTATUS) 0xC00000F2L)
-#endif
-
-#ifndef STATUS_INVALID_PARAMETER_5
-# define STATUS_INVALID_PARAMETER_5 ((NTSTATUS) 0xC00000F3L)
-#endif
-
-#ifndef STATUS_INVALID_PARAMETER_6
-# define STATUS_INVALID_PARAMETER_6 ((NTSTATUS) 0xC00000F4L)
-#endif
-
-#ifndef STATUS_INVALID_PARAMETER_7
-# define STATUS_INVALID_PARAMETER_7 ((NTSTATUS) 0xC00000F5L)
-#endif
-
-#ifndef STATUS_INVALID_PARAMETER_8
-# define STATUS_INVALID_PARAMETER_8 ((NTSTATUS) 0xC00000F6L)
-#endif
-
-#ifndef STATUS_INVALID_PARAMETER_9
-# define STATUS_INVALID_PARAMETER_9 ((NTSTATUS) 0xC00000F7L)
-#endif
-
-#ifndef STATUS_INVALID_PARAMETER_10
-# define STATUS_INVALID_PARAMETER_10 ((NTSTATUS) 0xC00000F8L)
-#endif
-
-#ifndef STATUS_INVALID_PARAMETER_11
-# define STATUS_INVALID_PARAMETER_11 ((NTSTATUS) 0xC00000F9L)
-#endif
-
-#ifndef STATUS_INVALID_PARAMETER_12
-# define STATUS_INVALID_PARAMETER_12 ((NTSTATUS) 0xC00000FAL)
-#endif
-
-#ifndef STATUS_REDIRECTOR_NOT_STARTED
-# define STATUS_REDIRECTOR_NOT_STARTED ((NTSTATUS) 0xC00000FBL)
-#endif
-
-#ifndef STATUS_REDIRECTOR_STARTED
-# define STATUS_REDIRECTOR_STARTED ((NTSTATUS) 0xC00000FCL)
-#endif
-
-#ifndef STATUS_STACK_OVERFLOW
-# define STATUS_STACK_OVERFLOW ((NTSTATUS) 0xC00000FDL)
-#endif
-
-#ifndef STATUS_NO_SUCH_PACKAGE
-# define STATUS_NO_SUCH_PACKAGE ((NTSTATUS) 0xC00000FEL)
-#endif
-
-#ifndef STATUS_BAD_FUNCTION_TABLE
-# define STATUS_BAD_FUNCTION_TABLE ((NTSTATUS) 0xC00000FFL)
-#endif
-
-#ifndef STATUS_VARIABLE_NOT_FOUND
-# define STATUS_VARIABLE_NOT_FOUND ((NTSTATUS) 0xC0000100L)
-#endif
-
-#ifndef STATUS_DIRECTORY_NOT_EMPTY
-# define STATUS_DIRECTORY_NOT_EMPTY ((NTSTATUS) 0xC0000101L)
-#endif
-
-#ifndef STATUS_FILE_CORRUPT_ERROR
-# define STATUS_FILE_CORRUPT_ERROR ((NTSTATUS) 0xC0000102L)
-#endif
-
-#ifndef STATUS_NOT_A_DIRECTORY
-# define STATUS_NOT_A_DIRECTORY ((NTSTATUS) 0xC0000103L)
-#endif
-
-#ifndef STATUS_BAD_LOGON_SESSION_STATE
-# define STATUS_BAD_LOGON_SESSION_STATE ((NTSTATUS) 0xC0000104L)
-#endif
-
-#ifndef STATUS_LOGON_SESSION_COLLISION
-# define STATUS_LOGON_SESSION_COLLISION ((NTSTATUS) 0xC0000105L)
-#endif
-
-#ifndef STATUS_NAME_TOO_LONG
-# define STATUS_NAME_TOO_LONG ((NTSTATUS) 0xC0000106L)
-#endif
-
-#ifndef STATUS_FILES_OPEN
-# define STATUS_FILES_OPEN ((NTSTATUS) 0xC0000107L)
-#endif
-
-#ifndef STATUS_CONNECTION_IN_USE
-# define STATUS_CONNECTION_IN_USE ((NTSTATUS) 0xC0000108L)
-#endif
-
-#ifndef STATUS_MESSAGE_NOT_FOUND
-# define STATUS_MESSAGE_NOT_FOUND ((NTSTATUS) 0xC0000109L)
-#endif
-
-#ifndef STATUS_PROCESS_IS_TERMINATING
-# define STATUS_PROCESS_IS_TERMINATING ((NTSTATUS) 0xC000010AL)
-#endif
-
-#ifndef STATUS_INVALID_LOGON_TYPE
-# define STATUS_INVALID_LOGON_TYPE ((NTSTATUS) 0xC000010BL)
-#endif
-
-#ifndef STATUS_NO_GUID_TRANSLATION
-# define STATUS_NO_GUID_TRANSLATION ((NTSTATUS) 0xC000010CL)
-#endif
-
-#ifndef STATUS_CANNOT_IMPERSONATE
-# define STATUS_CANNOT_IMPERSONATE ((NTSTATUS) 0xC000010DL)
-#endif
-
-#ifndef STATUS_IMAGE_ALREADY_LOADED
-# define STATUS_IMAGE_ALREADY_LOADED ((NTSTATUS) 0xC000010EL)
-#endif
-
-#ifndef STATUS_ABIOS_NOT_PRESENT
-# define STATUS_ABIOS_NOT_PRESENT ((NTSTATUS) 0xC000010FL)
-#endif
-
-#ifndef STATUS_ABIOS_LID_NOT_EXIST
-# define STATUS_ABIOS_LID_NOT_EXIST ((NTSTATUS) 0xC0000110L)
-#endif
-
-#ifndef STATUS_ABIOS_LID_ALREADY_OWNED
-# define STATUS_ABIOS_LID_ALREADY_OWNED ((NTSTATUS) 0xC0000111L)
-#endif
-
-#ifndef STATUS_ABIOS_NOT_LID_OWNER
-# define STATUS_ABIOS_NOT_LID_OWNER ((NTSTATUS) 0xC0000112L)
-#endif
-
-#ifndef STATUS_ABIOS_INVALID_COMMAND
-# define STATUS_ABIOS_INVALID_COMMAND ((NTSTATUS) 0xC0000113L)
-#endif
-
-#ifndef STATUS_ABIOS_INVALID_LID
-# define STATUS_ABIOS_INVALID_LID ((NTSTATUS) 0xC0000114L)
-#endif
-
-#ifndef STATUS_ABIOS_SELECTOR_NOT_AVAILABLE
-# define STATUS_ABIOS_SELECTOR_NOT_AVAILABLE ((NTSTATUS) 0xC0000115L)
-#endif
-
-#ifndef STATUS_ABIOS_INVALID_SELECTOR
-# define STATUS_ABIOS_INVALID_SELECTOR ((NTSTATUS) 0xC0000116L)
-#endif
-
-#ifndef STATUS_NO_LDT
-# define STATUS_NO_LDT ((NTSTATUS) 0xC0000117L)
-#endif
-
-#ifndef STATUS_INVALID_LDT_SIZE
-# define STATUS_INVALID_LDT_SIZE ((NTSTATUS) 0xC0000118L)
-#endif
-
-#ifndef STATUS_INVALID_LDT_OFFSET
-# define STATUS_INVALID_LDT_OFFSET ((NTSTATUS) 0xC0000119L)
-#endif
-
-#ifndef STATUS_INVALID_LDT_DESCRIPTOR
-# define STATUS_INVALID_LDT_DESCRIPTOR ((NTSTATUS) 0xC000011AL)
-#endif
-
-#ifndef STATUS_INVALID_IMAGE_NE_FORMAT
-# define STATUS_INVALID_IMAGE_NE_FORMAT ((NTSTATUS) 0xC000011BL)
-#endif
-
-#ifndef STATUS_RXACT_INVALID_STATE
-# define STATUS_RXACT_INVALID_STATE ((NTSTATUS) 0xC000011CL)
-#endif
-
-#ifndef STATUS_RXACT_COMMIT_FAILURE
-# define STATUS_RXACT_COMMIT_FAILURE ((NTSTATUS) 0xC000011DL)
-#endif
-
-#ifndef STATUS_MAPPED_FILE_SIZE_ZERO
-# define STATUS_MAPPED_FILE_SIZE_ZERO ((NTSTATUS) 0xC000011EL)
-#endif
-
-#ifndef STATUS_TOO_MANY_OPENED_FILES
-# define STATUS_TOO_MANY_OPENED_FILES ((NTSTATUS) 0xC000011FL)
-#endif
-
-#ifndef STATUS_CANCELLED
-# define STATUS_CANCELLED ((NTSTATUS) 0xC0000120L)
-#endif
-
-#ifndef STATUS_CANNOT_DELETE
-# define STATUS_CANNOT_DELETE ((NTSTATUS) 0xC0000121L)
-#endif
-
-#ifndef STATUS_INVALID_COMPUTER_NAME
-# define STATUS_INVALID_COMPUTER_NAME ((NTSTATUS) 0xC0000122L)
-#endif
-
-#ifndef STATUS_FILE_DELETED
-# define STATUS_FILE_DELETED ((NTSTATUS) 0xC0000123L)
-#endif
-
-#ifndef STATUS_SPECIAL_ACCOUNT
-# define STATUS_SPECIAL_ACCOUNT ((NTSTATUS) 0xC0000124L)
-#endif
-
-#ifndef STATUS_SPECIAL_GROUP
-# define STATUS_SPECIAL_GROUP ((NTSTATUS) 0xC0000125L)
-#endif
-
-#ifndef STATUS_SPECIAL_USER
-# define STATUS_SPECIAL_USER ((NTSTATUS) 0xC0000126L)
-#endif
-
-#ifndef STATUS_MEMBERS_PRIMARY_GROUP
-# define STATUS_MEMBERS_PRIMARY_GROUP ((NTSTATUS) 0xC0000127L)
-#endif
-
-#ifndef STATUS_FILE_CLOSED
-# define STATUS_FILE_CLOSED ((NTSTATUS) 0xC0000128L)
-#endif
-
-#ifndef STATUS_TOO_MANY_THREADS
-# define STATUS_TOO_MANY_THREADS ((NTSTATUS) 0xC0000129L)
-#endif
-
-#ifndef STATUS_THREAD_NOT_IN_PROCESS
-# define STATUS_THREAD_NOT_IN_PROCESS ((NTSTATUS) 0xC000012AL)
-#endif
-
-#ifndef STATUS_TOKEN_ALREADY_IN_USE
-# define STATUS_TOKEN_ALREADY_IN_USE ((NTSTATUS) 0xC000012BL)
-#endif
-
-#ifndef STATUS_PAGEFILE_QUOTA_EXCEEDED
-# define STATUS_PAGEFILE_QUOTA_EXCEEDED ((NTSTATUS) 0xC000012CL)
-#endif
-
-#ifndef STATUS_COMMITMENT_LIMIT
-# define STATUS_COMMITMENT_LIMIT ((NTSTATUS) 0xC000012DL)
-#endif
-
-#ifndef STATUS_INVALID_IMAGE_LE_FORMAT
-# define STATUS_INVALID_IMAGE_LE_FORMAT ((NTSTATUS) 0xC000012EL)
-#endif
-
-#ifndef STATUS_INVALID_IMAGE_NOT_MZ
-# define STATUS_INVALID_IMAGE_NOT_MZ ((NTSTATUS) 0xC000012FL)
-#endif
-
-#ifndef STATUS_INVALID_IMAGE_PROTECT
-# define STATUS_INVALID_IMAGE_PROTECT ((NTSTATUS) 0xC0000130L)
-#endif
-
-#ifndef STATUS_INVALID_IMAGE_WIN_16
-# define STATUS_INVALID_IMAGE_WIN_16 ((NTSTATUS) 0xC0000131L)
-#endif
-
-#ifndef STATUS_LOGON_SERVER_CONFLICT
-# define STATUS_LOGON_SERVER_CONFLICT ((NTSTATUS) 0xC0000132L)
-#endif
-
-#ifndef STATUS_TIME_DIFFERENCE_AT_DC
-# define STATUS_TIME_DIFFERENCE_AT_DC ((NTSTATUS) 0xC0000133L)
-#endif
-
-#ifndef STATUS_SYNCHRONIZATION_REQUIRED
-# define STATUS_SYNCHRONIZATION_REQUIRED ((NTSTATUS) 0xC0000134L)
-#endif
-
-#ifndef STATUS_DLL_NOT_FOUND
-# define STATUS_DLL_NOT_FOUND ((NTSTATUS) 0xC0000135L)
-#endif
-
-#ifndef STATUS_OPEN_FAILED
-# define STATUS_OPEN_FAILED ((NTSTATUS) 0xC0000136L)
-#endif
-
-#ifndef STATUS_IO_PRIVILEGE_FAILED
-# define STATUS_IO_PRIVILEGE_FAILED ((NTSTATUS) 0xC0000137L)
-#endif
-
-#ifndef STATUS_ORDINAL_NOT_FOUND
-# define STATUS_ORDINAL_NOT_FOUND ((NTSTATUS) 0xC0000138L)
-#endif
-
-#ifndef STATUS_ENTRYPOINT_NOT_FOUND
-# define STATUS_ENTRYPOINT_NOT_FOUND ((NTSTATUS) 0xC0000139L)
-#endif
-
-#ifndef STATUS_CONTROL_C_EXIT
-# define STATUS_CONTROL_C_EXIT ((NTSTATUS) 0xC000013AL)
-#endif
-
-#ifndef STATUS_LOCAL_DISCONNECT
-# define STATUS_LOCAL_DISCONNECT ((NTSTATUS) 0xC000013BL)
-#endif
-
-#ifndef STATUS_REMOTE_DISCONNECT
-# define STATUS_REMOTE_DISCONNECT ((NTSTATUS) 0xC000013CL)
-#endif
-
-#ifndef STATUS_REMOTE_RESOURCES
-# define STATUS_REMOTE_RESOURCES ((NTSTATUS) 0xC000013DL)
-#endif
-
-#ifndef STATUS_LINK_FAILED
-# define STATUS_LINK_FAILED ((NTSTATUS) 0xC000013EL)
-#endif
-
-#ifndef STATUS_LINK_TIMEOUT
-# define STATUS_LINK_TIMEOUT ((NTSTATUS) 0xC000013FL)
-#endif
-
-#ifndef STATUS_INVALID_CONNECTION
-# define STATUS_INVALID_CONNECTION ((NTSTATUS) 0xC0000140L)
-#endif
-
-#ifndef STATUS_INVALID_ADDRESS
-# define STATUS_INVALID_ADDRESS ((NTSTATUS) 0xC0000141L)
-#endif
-
-#ifndef STATUS_DLL_INIT_FAILED
-# define STATUS_DLL_INIT_FAILED ((NTSTATUS) 0xC0000142L)
-#endif
-
-#ifndef STATUS_MISSING_SYSTEMFILE
-# define STATUS_MISSING_SYSTEMFILE ((NTSTATUS) 0xC0000143L)
-#endif
-
-#ifndef STATUS_UNHANDLED_EXCEPTION
-# define STATUS_UNHANDLED_EXCEPTION ((NTSTATUS) 0xC0000144L)
-#endif
-
-#ifndef STATUS_APP_INIT_FAILURE
-# define STATUS_APP_INIT_FAILURE ((NTSTATUS) 0xC0000145L)
-#endif
-
-#ifndef STATUS_PAGEFILE_CREATE_FAILED
-# define STATUS_PAGEFILE_CREATE_FAILED ((NTSTATUS) 0xC0000146L)
-#endif
-
-#ifndef STATUS_NO_PAGEFILE
-# define STATUS_NO_PAGEFILE ((NTSTATUS) 0xC0000147L)
-#endif
-
-#ifndef STATUS_INVALID_LEVEL
-# define STATUS_INVALID_LEVEL ((NTSTATUS) 0xC0000148L)
-#endif
-
-#ifndef STATUS_WRONG_PASSWORD_CORE
-# define STATUS_WRONG_PASSWORD_CORE ((NTSTATUS) 0xC0000149L)
-#endif
-
-#ifndef STATUS_ILLEGAL_FLOAT_CONTEXT
-# define STATUS_ILLEGAL_FLOAT_CONTEXT ((NTSTATUS) 0xC000014AL)
-#endif
-
-#ifndef STATUS_PIPE_BROKEN
-# define STATUS_PIPE_BROKEN ((NTSTATUS) 0xC000014BL)
-#endif
-
-#ifndef STATUS_REGISTRY_CORRUPT
-# define STATUS_REGISTRY_CORRUPT ((NTSTATUS) 0xC000014CL)
-#endif
-
-#ifndef STATUS_REGISTRY_IO_FAILED
-# define STATUS_REGISTRY_IO_FAILED ((NTSTATUS) 0xC000014DL)
-#endif
-
-#ifndef STATUS_NO_EVENT_PAIR
-# define STATUS_NO_EVENT_PAIR ((NTSTATUS) 0xC000014EL)
-#endif
-
-#ifndef STATUS_UNRECOGNIZED_VOLUME
-# define STATUS_UNRECOGNIZED_VOLUME ((NTSTATUS) 0xC000014FL)
-#endif
-
-#ifndef STATUS_SERIAL_NO_DEVICE_INITED
-# define STATUS_SERIAL_NO_DEVICE_INITED ((NTSTATUS) 0xC0000150L)
-#endif
-
-#ifndef STATUS_NO_SUCH_ALIAS
-# define STATUS_NO_SUCH_ALIAS ((NTSTATUS) 0xC0000151L)
-#endif
-
-#ifndef STATUS_MEMBER_NOT_IN_ALIAS
-# define STATUS_MEMBER_NOT_IN_ALIAS ((NTSTATUS) 0xC0000152L)
-#endif
-
-#ifndef STATUS_MEMBER_IN_ALIAS
-# define STATUS_MEMBER_IN_ALIAS ((NTSTATUS) 0xC0000153L)
-#endif
-
-#ifndef STATUS_ALIAS_EXISTS
-# define STATUS_ALIAS_EXISTS ((NTSTATUS) 0xC0000154L)
-#endif
-
-#ifndef STATUS_LOGON_NOT_GRANTED
-# define STATUS_LOGON_NOT_GRANTED ((NTSTATUS) 0xC0000155L)
-#endif
-
-#ifndef STATUS_TOO_MANY_SECRETS
-# define STATUS_TOO_MANY_SECRETS ((NTSTATUS) 0xC0000156L)
-#endif
-
-#ifndef STATUS_SECRET_TOO_LONG
-# define STATUS_SECRET_TOO_LONG ((NTSTATUS) 0xC0000157L)
-#endif
-
-#ifndef STATUS_INTERNAL_DB_ERROR
-# define STATUS_INTERNAL_DB_ERROR ((NTSTATUS) 0xC0000158L)
-#endif
-
-#ifndef STATUS_FULLSCREEN_MODE
-# define STATUS_FULLSCREEN_MODE ((NTSTATUS) 0xC0000159L)
-#endif
-
-#ifndef STATUS_TOO_MANY_CONTEXT_IDS
-# define STATUS_TOO_MANY_CONTEXT_IDS ((NTSTATUS) 0xC000015AL)
-#endif
-
-#ifndef STATUS_LOGON_TYPE_NOT_GRANTED
-# define STATUS_LOGON_TYPE_NOT_GRANTED ((NTSTATUS) 0xC000015BL)
-#endif
-
-#ifndef STATUS_NOT_REGISTRY_FILE
-# define STATUS_NOT_REGISTRY_FILE ((NTSTATUS) 0xC000015CL)
-#endif
-
-#ifndef STATUS_NT_CROSS_ENCRYPTION_REQUIRED
-# define STATUS_NT_CROSS_ENCRYPTION_REQUIRED ((NTSTATUS) 0xC000015DL)
-#endif
-
-#ifndef STATUS_DOMAIN_CTRLR_CONFIG_ERROR
-# define STATUS_DOMAIN_CTRLR_CONFIG_ERROR ((NTSTATUS) 0xC000015EL)
-#endif
-
-#ifndef STATUS_FT_MISSING_MEMBER
-# define STATUS_FT_MISSING_MEMBER ((NTSTATUS) 0xC000015FL)
-#endif
-
-#ifndef STATUS_ILL_FORMED_SERVICE_ENTRY
-# define STATUS_ILL_FORMED_SERVICE_ENTRY ((NTSTATUS) 0xC0000160L)
-#endif
-
-#ifndef STATUS_ILLEGAL_CHARACTER
-# define STATUS_ILLEGAL_CHARACTER ((NTSTATUS) 0xC0000161L)
-#endif
-
-#ifndef STATUS_UNMAPPABLE_CHARACTER
-# define STATUS_UNMAPPABLE_CHARACTER ((NTSTATUS) 0xC0000162L)
-#endif
-
-#ifndef STATUS_UNDEFINED_CHARACTER
-# define STATUS_UNDEFINED_CHARACTER ((NTSTATUS) 0xC0000163L)
-#endif
-
-#ifndef STATUS_FLOPPY_VOLUME
-# define STATUS_FLOPPY_VOLUME ((NTSTATUS) 0xC0000164L)
-#endif
-
-#ifndef STATUS_FLOPPY_ID_MARK_NOT_FOUND
-# define STATUS_FLOPPY_ID_MARK_NOT_FOUND ((NTSTATUS) 0xC0000165L)
-#endif
-
-#ifndef STATUS_FLOPPY_WRONG_CYLINDER
-# define STATUS_FLOPPY_WRONG_CYLINDER ((NTSTATUS) 0xC0000166L)
-#endif
-
-#ifndef STATUS_FLOPPY_UNKNOWN_ERROR
-# define STATUS_FLOPPY_UNKNOWN_ERROR ((NTSTATUS) 0xC0000167L)
-#endif
-
-#ifndef STATUS_FLOPPY_BAD_REGISTERS
-# define STATUS_FLOPPY_BAD_REGISTERS ((NTSTATUS) 0xC0000168L)
-#endif
-
-#ifndef STATUS_DISK_RECALIBRATE_FAILED
-# define STATUS_DISK_RECALIBRATE_FAILED ((NTSTATUS) 0xC0000169L)
-#endif
-
-#ifndef STATUS_DISK_OPERATION_FAILED
-# define STATUS_DISK_OPERATION_FAILED ((NTSTATUS) 0xC000016AL)
-#endif
-
-#ifndef STATUS_DISK_RESET_FAILED
-# define STATUS_DISK_RESET_FAILED ((NTSTATUS) 0xC000016BL)
-#endif
-
-#ifndef STATUS_SHARED_IRQ_BUSY
-# define STATUS_SHARED_IRQ_BUSY ((NTSTATUS) 0xC000016CL)
-#endif
-
-#ifndef STATUS_FT_ORPHANING
-# define STATUS_FT_ORPHANING ((NTSTATUS) 0xC000016DL)
-#endif
-
-#ifndef STATUS_BIOS_FAILED_TO_CONNECT_INTERRUPT
-# define STATUS_BIOS_FAILED_TO_CONNECT_INTERRUPT ((NTSTATUS) 0xC000016EL)
-#endif
-
-#ifndef STATUS_PARTITION_FAILURE
-# define STATUS_PARTITION_FAILURE ((NTSTATUS) 0xC0000172L)
-#endif
-
-#ifndef STATUS_INVALID_BLOCK_LENGTH
-# define STATUS_INVALID_BLOCK_LENGTH ((NTSTATUS) 0xC0000173L)
-#endif
-
-#ifndef STATUS_DEVICE_NOT_PARTITIONED
-# define STATUS_DEVICE_NOT_PARTITIONED ((NTSTATUS) 0xC0000174L)
-#endif
-
-#ifndef STATUS_UNABLE_TO_LOCK_MEDIA
-# define STATUS_UNABLE_TO_LOCK_MEDIA ((NTSTATUS) 0xC0000175L)
-#endif
-
-#ifndef STATUS_UNABLE_TO_UNLOAD_MEDIA
-# define STATUS_UNABLE_TO_UNLOAD_MEDIA ((NTSTATUS) 0xC0000176L)
-#endif
-
-#ifndef STATUS_EOM_OVERFLOW
-# define STATUS_EOM_OVERFLOW ((NTSTATUS) 0xC0000177L)
-#endif
-
-#ifndef STATUS_NO_MEDIA
-# define STATUS_NO_MEDIA ((NTSTATUS) 0xC0000178L)
-#endif
-
-#ifndef STATUS_NO_SUCH_MEMBER
-# define STATUS_NO_SUCH_MEMBER ((NTSTATUS) 0xC000017AL)
-#endif
-
-#ifndef STATUS_INVALID_MEMBER
-# define STATUS_INVALID_MEMBER ((NTSTATUS) 0xC000017BL)
-#endif
-
-#ifndef STATUS_KEY_DELETED
-# define STATUS_KEY_DELETED ((NTSTATUS) 0xC000017CL)
-#endif
-
-#ifndef STATUS_NO_LOG_SPACE
-# define STATUS_NO_LOG_SPACE ((NTSTATUS) 0xC000017DL)
-#endif
-
-#ifndef STATUS_TOO_MANY_SIDS
-# define STATUS_TOO_MANY_SIDS ((NTSTATUS) 0xC000017EL)
-#endif
-
-#ifndef STATUS_LM_CROSS_ENCRYPTION_REQUIRED
-# define STATUS_LM_CROSS_ENCRYPTION_REQUIRED ((NTSTATUS) 0xC000017FL)
-#endif
-
-#ifndef STATUS_KEY_HAS_CHILDREN
-# define STATUS_KEY_HAS_CHILDREN ((NTSTATUS) 0xC0000180L)
-#endif
-
-#ifndef STATUS_CHILD_MUST_BE_VOLATILE
-# define STATUS_CHILD_MUST_BE_VOLATILE ((NTSTATUS) 0xC0000181L)
-#endif
-
-#ifndef STATUS_DEVICE_CONFIGURATION_ERROR
-# define STATUS_DEVICE_CONFIGURATION_ERROR ((NTSTATUS) 0xC0000182L)
-#endif
-
-#ifndef STATUS_DRIVER_INTERNAL_ERROR
-# define STATUS_DRIVER_INTERNAL_ERROR ((NTSTATUS) 0xC0000183L)
-#endif
-
-#ifndef STATUS_INVALID_DEVICE_STATE
-# define STATUS_INVALID_DEVICE_STATE ((NTSTATUS) 0xC0000184L)
-#endif
-
-#ifndef STATUS_IO_DEVICE_ERROR
-# define STATUS_IO_DEVICE_ERROR ((NTSTATUS) 0xC0000185L)
-#endif
-
-#ifndef STATUS_DEVICE_PROTOCOL_ERROR
-# define STATUS_DEVICE_PROTOCOL_ERROR ((NTSTATUS) 0xC0000186L)
-#endif
-
-#ifndef STATUS_BACKUP_CONTROLLER
-# define STATUS_BACKUP_CONTROLLER ((NTSTATUS) 0xC0000187L)
-#endif
-
-#ifndef STATUS_LOG_FILE_FULL
-# define STATUS_LOG_FILE_FULL ((NTSTATUS) 0xC0000188L)
-#endif
-
-#ifndef STATUS_TOO_LATE
-# define STATUS_TOO_LATE ((NTSTATUS) 0xC0000189L)
-#endif
-
-#ifndef STATUS_NO_TRUST_LSA_SECRET
-# define STATUS_NO_TRUST_LSA_SECRET ((NTSTATUS) 0xC000018AL)
-#endif
-
-#ifndef STATUS_NO_TRUST_SAM_ACCOUNT
-# define STATUS_NO_TRUST_SAM_ACCOUNT ((NTSTATUS) 0xC000018BL)
-#endif
-
-#ifndef STATUS_TRUSTED_DOMAIN_FAILURE
-# define STATUS_TRUSTED_DOMAIN_FAILURE ((NTSTATUS) 0xC000018CL)
-#endif
-
-#ifndef STATUS_TRUSTED_RELATIONSHIP_FAILURE
-# define STATUS_TRUSTED_RELATIONSHIP_FAILURE ((NTSTATUS) 0xC000018DL)
-#endif
-
-#ifndef STATUS_EVENTLOG_FILE_CORRUPT
-# define STATUS_EVENTLOG_FILE_CORRUPT ((NTSTATUS) 0xC000018EL)
-#endif
-
-#ifndef STATUS_EVENTLOG_CANT_START
-# define STATUS_EVENTLOG_CANT_START ((NTSTATUS) 0xC000018FL)
-#endif
-
-#ifndef STATUS_TRUST_FAILURE
-# define STATUS_TRUST_FAILURE ((NTSTATUS) 0xC0000190L)
-#endif
-
-#ifndef STATUS_MUTANT_LIMIT_EXCEEDED
-# define STATUS_MUTANT_LIMIT_EXCEEDED ((NTSTATUS) 0xC0000191L)
-#endif
-
-#ifndef STATUS_NETLOGON_NOT_STARTED
-# define STATUS_NETLOGON_NOT_STARTED ((NTSTATUS) 0xC0000192L)
-#endif
-
-#ifndef STATUS_ACCOUNT_EXPIRED
-# define STATUS_ACCOUNT_EXPIRED ((NTSTATUS) 0xC0000193L)
-#endif
-
-#ifndef STATUS_POSSIBLE_DEADLOCK
-# define STATUS_POSSIBLE_DEADLOCK ((NTSTATUS) 0xC0000194L)
-#endif
-
-#ifndef STATUS_NETWORK_CREDENTIAL_CONFLICT
-# define STATUS_NETWORK_CREDENTIAL_CONFLICT ((NTSTATUS) 0xC0000195L)
-#endif
-
-#ifndef STATUS_REMOTE_SESSION_LIMIT
-# define STATUS_REMOTE_SESSION_LIMIT ((NTSTATUS) 0xC0000196L)
-#endif
-
-#ifndef STATUS_EVENTLOG_FILE_CHANGED
-# define STATUS_EVENTLOG_FILE_CHANGED ((NTSTATUS) 0xC0000197L)
-#endif
-
-#ifndef STATUS_NOLOGON_INTERDOMAIN_TRUST_ACCOUNT
-# define STATUS_NOLOGON_INTERDOMAIN_TRUST_ACCOUNT ((NTSTATUS) 0xC0000198L)
-#endif
-
-#ifndef STATUS_NOLOGON_WORKSTATION_TRUST_ACCOUNT
-# define STATUS_NOLOGON_WORKSTATION_TRUST_ACCOUNT ((NTSTATUS) 0xC0000199L)
-#endif
-
-#ifndef STATUS_NOLOGON_SERVER_TRUST_ACCOUNT
-# define STATUS_NOLOGON_SERVER_TRUST_ACCOUNT ((NTSTATUS) 0xC000019AL)
-#endif
-
-#ifndef STATUS_DOMAIN_TRUST_INCONSISTENT
-# define STATUS_DOMAIN_TRUST_INCONSISTENT ((NTSTATUS) 0xC000019BL)
-#endif
-
-#ifndef STATUS_FS_DRIVER_REQUIRED
-# define STATUS_FS_DRIVER_REQUIRED ((NTSTATUS) 0xC000019CL)
-#endif
-
-#ifndef STATUS_IMAGE_ALREADY_LOADED_AS_DLL
-# define STATUS_IMAGE_ALREADY_LOADED_AS_DLL ((NTSTATUS) 0xC000019DL)
-#endif
-
-#ifndef STATUS_INCOMPATIBLE_WITH_GLOBAL_SHORT_NAME_REGISTRY_SETTING
-# define STATUS_INCOMPATIBLE_WITH_GLOBAL_SHORT_NAME_REGISTRY_SETTING ((NTSTATUS) 0xC000019EL)
-#endif
-
-#ifndef STATUS_SHORT_NAMES_NOT_ENABLED_ON_VOLUME
-# define STATUS_SHORT_NAMES_NOT_ENABLED_ON_VOLUME ((NTSTATUS) 0xC000019FL)
-#endif
-
-#ifndef STATUS_SECURITY_STREAM_IS_INCONSISTENT
-# define STATUS_SECURITY_STREAM_IS_INCONSISTENT ((NTSTATUS) 0xC00001A0L)
-#endif
-
-#ifndef STATUS_INVALID_LOCK_RANGE
-# define STATUS_INVALID_LOCK_RANGE ((NTSTATUS) 0xC00001A1L)
-#endif
-
-#ifndef STATUS_INVALID_ACE_CONDITION
-# define STATUS_INVALID_ACE_CONDITION ((NTSTATUS) 0xC00001A2L)
-#endif
-
-#ifndef STATUS_IMAGE_SUBSYSTEM_NOT_PRESENT
-# define STATUS_IMAGE_SUBSYSTEM_NOT_PRESENT ((NTSTATUS) 0xC00001A3L)
-#endif
-
-#ifndef STATUS_NOTIFICATION_GUID_ALREADY_DEFINED
-# define STATUS_NOTIFICATION_GUID_ALREADY_DEFINED ((NTSTATUS) 0xC00001A4L)
-#endif
-
-#ifndef STATUS_NETWORK_OPEN_RESTRICTION
-# define STATUS_NETWORK_OPEN_RESTRICTION ((NTSTATUS) 0xC0000201L)
-#endif
-
-#ifndef STATUS_NO_USER_SESSION_KEY
-# define STATUS_NO_USER_SESSION_KEY ((NTSTATUS) 0xC0000202L)
-#endif
-
-#ifndef STATUS_USER_SESSION_DELETED
-# define STATUS_USER_SESSION_DELETED ((NTSTATUS) 0xC0000203L)
-#endif
-
-#ifndef STATUS_RESOURCE_LANG_NOT_FOUND
-# define STATUS_RESOURCE_LANG_NOT_FOUND ((NTSTATUS) 0xC0000204L)
-#endif
-
-#ifndef STATUS_INSUFF_SERVER_RESOURCES
-# define STATUS_INSUFF_SERVER_RESOURCES ((NTSTATUS) 0xC0000205L)
-#endif
-
-#ifndef STATUS_INVALID_BUFFER_SIZE
-# define STATUS_INVALID_BUFFER_SIZE ((NTSTATUS) 0xC0000206L)
-#endif
-
-#ifndef STATUS_INVALID_ADDRESS_COMPONENT
-# define STATUS_INVALID_ADDRESS_COMPONENT ((NTSTATUS) 0xC0000207L)
-#endif
-
-#ifndef STATUS_INVALID_ADDRESS_WILDCARD
-# define STATUS_INVALID_ADDRESS_WILDCARD ((NTSTATUS) 0xC0000208L)
-#endif
-
-#ifndef STATUS_TOO_MANY_ADDRESSES
-# define STATUS_TOO_MANY_ADDRESSES ((NTSTATUS) 0xC0000209L)
-#endif
-
-#ifndef STATUS_ADDRESS_ALREADY_EXISTS
-# define STATUS_ADDRESS_ALREADY_EXISTS ((NTSTATUS) 0xC000020AL)
-#endif
-
-#ifndef STATUS_ADDRESS_CLOSED
-# define STATUS_ADDRESS_CLOSED ((NTSTATUS) 0xC000020BL)
-#endif
-
-#ifndef STATUS_CONNECTION_DISCONNECTED
-# define STATUS_CONNECTION_DISCONNECTED ((NTSTATUS) 0xC000020CL)
-#endif
-
-#ifndef STATUS_CONNECTION_RESET
-# define STATUS_CONNECTION_RESET ((NTSTATUS) 0xC000020DL)
-#endif
-
-#ifndef STATUS_TOO_MANY_NODES
-# define STATUS_TOO_MANY_NODES ((NTSTATUS) 0xC000020EL)
-#endif
-
-#ifndef STATUS_TRANSACTION_ABORTED
-# define STATUS_TRANSACTION_ABORTED ((NTSTATUS) 0xC000020FL)
-#endif
-
-#ifndef STATUS_TRANSACTION_TIMED_OUT
-# define STATUS_TRANSACTION_TIMED_OUT ((NTSTATUS) 0xC0000210L)
-#endif
-
-#ifndef STATUS_TRANSACTION_NO_RELEASE
-# define STATUS_TRANSACTION_NO_RELEASE ((NTSTATUS) 0xC0000211L)
-#endif
-
-#ifndef STATUS_TRANSACTION_NO_MATCH
-# define STATUS_TRANSACTION_NO_MATCH ((NTSTATUS) 0xC0000212L)
-#endif
-
-#ifndef STATUS_TRANSACTION_RESPONDED
-# define STATUS_TRANSACTION_RESPONDED ((NTSTATUS) 0xC0000213L)
-#endif
-
-#ifndef STATUS_TRANSACTION_INVALID_ID
-# define STATUS_TRANSACTION_INVALID_ID ((NTSTATUS) 0xC0000214L)
-#endif
-
-#ifndef STATUS_TRANSACTION_INVALID_TYPE
-# define STATUS_TRANSACTION_INVALID_TYPE ((NTSTATUS) 0xC0000215L)
-#endif
-
-#ifndef STATUS_NOT_SERVER_SESSION
-# define STATUS_NOT_SERVER_SESSION ((NTSTATUS) 0xC0000216L)
-#endif
-
-#ifndef STATUS_NOT_CLIENT_SESSION
-# define STATUS_NOT_CLIENT_SESSION ((NTSTATUS) 0xC0000217L)
-#endif
-
-#ifndef STATUS_CANNOT_LOAD_REGISTRY_FILE
-# define STATUS_CANNOT_LOAD_REGISTRY_FILE ((NTSTATUS) 0xC0000218L)
-#endif
-
-#ifndef STATUS_DEBUG_ATTACH_FAILED
-# define STATUS_DEBUG_ATTACH_FAILED ((NTSTATUS) 0xC0000219L)
-#endif
-
-#ifndef STATUS_SYSTEM_PROCESS_TERMINATED
-# define STATUS_SYSTEM_PROCESS_TERMINATED ((NTSTATUS) 0xC000021AL)
-#endif
-
-#ifndef STATUS_DATA_NOT_ACCEPTED
-# define STATUS_DATA_NOT_ACCEPTED ((NTSTATUS) 0xC000021BL)
-#endif
-
-#ifndef STATUS_NO_BROWSER_SERVERS_FOUND
-# define STATUS_NO_BROWSER_SERVERS_FOUND ((NTSTATUS) 0xC000021CL)
-#endif
-
-#ifndef STATUS_VDM_HARD_ERROR
-# define STATUS_VDM_HARD_ERROR ((NTSTATUS) 0xC000021DL)
-#endif
-
-#ifndef STATUS_DRIVER_CANCEL_TIMEOUT
-# define STATUS_DRIVER_CANCEL_TIMEOUT ((NTSTATUS) 0xC000021EL)
-#endif
-
-#ifndef STATUS_REPLY_MESSAGE_MISMATCH
-# define STATUS_REPLY_MESSAGE_MISMATCH ((NTSTATUS) 0xC000021FL)
-#endif
-
-#ifndef STATUS_MAPPED_ALIGNMENT
-# define STATUS_MAPPED_ALIGNMENT ((NTSTATUS) 0xC0000220L)
-#endif
-
-#ifndef STATUS_IMAGE_CHECKSUM_MISMATCH
-# define STATUS_IMAGE_CHECKSUM_MISMATCH ((NTSTATUS) 0xC0000221L)
-#endif
-
-#ifndef STATUS_LOST_WRITEBEHIND_DATA
-# define STATUS_LOST_WRITEBEHIND_DATA ((NTSTATUS) 0xC0000222L)
-#endif
-
-#ifndef STATUS_CLIENT_SERVER_PARAMETERS_INVALID
-# define STATUS_CLIENT_SERVER_PARAMETERS_INVALID ((NTSTATUS) 0xC0000223L)
-#endif
-
-#ifndef STATUS_PASSWORD_MUST_CHANGE
-# define STATUS_PASSWORD_MUST_CHANGE ((NTSTATUS) 0xC0000224L)
-#endif
-
-#ifndef STATUS_NOT_FOUND
-# define STATUS_NOT_FOUND ((NTSTATUS) 0xC0000225L)
-#endif
-
-#ifndef STATUS_NOT_TINY_STREAM
-# define STATUS_NOT_TINY_STREAM ((NTSTATUS) 0xC0000226L)
-#endif
-
-#ifndef STATUS_RECOVERY_FAILURE
-# define STATUS_RECOVERY_FAILURE ((NTSTATUS) 0xC0000227L)
-#endif
-
-#ifndef STATUS_STACK_OVERFLOW_READ
-# define STATUS_STACK_OVERFLOW_READ ((NTSTATUS) 0xC0000228L)
-#endif
-
-#ifndef STATUS_FAIL_CHECK
-# define STATUS_FAIL_CHECK ((NTSTATUS) 0xC0000229L)
-#endif
-
-#ifndef STATUS_DUPLICATE_OBJECTID
-# define STATUS_DUPLICATE_OBJECTID ((NTSTATUS) 0xC000022AL)
-#endif
-
-#ifndef STATUS_OBJECTID_EXISTS
-# define STATUS_OBJECTID_EXISTS ((NTSTATUS) 0xC000022BL)
-#endif
-
-#ifndef STATUS_CONVERT_TO_LARGE
-# define STATUS_CONVERT_TO_LARGE ((NTSTATUS) 0xC000022CL)
-#endif
-
-#ifndef STATUS_RETRY
-# define STATUS_RETRY ((NTSTATUS) 0xC000022DL)
-#endif
-
-#ifndef STATUS_FOUND_OUT_OF_SCOPE
-# define STATUS_FOUND_OUT_OF_SCOPE ((NTSTATUS) 0xC000022EL)
-#endif
-
-#ifndef STATUS_ALLOCATE_BUCKET
-# define STATUS_ALLOCATE_BUCKET ((NTSTATUS) 0xC000022FL)
-#endif
-
-#ifndef STATUS_PROPSET_NOT_FOUND
-# define STATUS_PROPSET_NOT_FOUND ((NTSTATUS) 0xC0000230L)
-#endif
-
-#ifndef STATUS_MARSHALL_OVERFLOW
-# define STATUS_MARSHALL_OVERFLOW ((NTSTATUS) 0xC0000231L)
-#endif
-
-#ifndef STATUS_INVALID_VARIANT
-# define STATUS_INVALID_VARIANT ((NTSTATUS) 0xC0000232L)
-#endif
-
-#ifndef STATUS_DOMAIN_CONTROLLER_NOT_FOUND
-# define STATUS_DOMAIN_CONTROLLER_NOT_FOUND ((NTSTATUS) 0xC0000233L)
-#endif
-
-#ifndef STATUS_ACCOUNT_LOCKED_OUT
-# define STATUS_ACCOUNT_LOCKED_OUT ((NTSTATUS) 0xC0000234L)
-#endif
-
-#ifndef STATUS_HANDLE_NOT_CLOSABLE
-# define STATUS_HANDLE_NOT_CLOSABLE ((NTSTATUS) 0xC0000235L)
-#endif
-
-#ifndef STATUS_CONNECTION_REFUSED
-# define STATUS_CONNECTION_REFUSED ((NTSTATUS) 0xC0000236L)
-#endif
-
-#ifndef STATUS_GRACEFUL_DISCONNECT
-# define STATUS_GRACEFUL_DISCONNECT ((NTSTATUS) 0xC0000237L)
-#endif
-
-#ifndef STATUS_ADDRESS_ALREADY_ASSOCIATED
-# define STATUS_ADDRESS_ALREADY_ASSOCIATED ((NTSTATUS) 0xC0000238L)
-#endif
-
-#ifndef STATUS_ADDRESS_NOT_ASSOCIATED
-# define STATUS_ADDRESS_NOT_ASSOCIATED ((NTSTATUS) 0xC0000239L)
-#endif
-
-#ifndef STATUS_CONNECTION_INVALID
-# define STATUS_CONNECTION_INVALID ((NTSTATUS) 0xC000023AL)
-#endif
-
-#ifndef STATUS_CONNECTION_ACTIVE
-# define STATUS_CONNECTION_ACTIVE ((NTSTATUS) 0xC000023BL)
-#endif
-
-#ifndef STATUS_NETWORK_UNREACHABLE
-# define STATUS_NETWORK_UNREACHABLE ((NTSTATUS) 0xC000023CL)
-#endif
-
-#ifndef STATUS_HOST_UNREACHABLE
-# define STATUS_HOST_UNREACHABLE ((NTSTATUS) 0xC000023DL)
-#endif
-
-#ifndef STATUS_PROTOCOL_UNREACHABLE
-# define STATUS_PROTOCOL_UNREACHABLE ((NTSTATUS) 0xC000023EL)
-#endif
-
-#ifndef STATUS_PORT_UNREACHABLE
-# define STATUS_PORT_UNREACHABLE ((NTSTATUS) 0xC000023FL)
-#endif
-
-#ifndef STATUS_REQUEST_ABORTED
-# define STATUS_REQUEST_ABORTED ((NTSTATUS) 0xC0000240L)
-#endif
-
-#ifndef STATUS_CONNECTION_ABORTED
-# define STATUS_CONNECTION_ABORTED ((NTSTATUS) 0xC0000241L)
-#endif
-
-#ifndef STATUS_BAD_COMPRESSION_BUFFER
-# define STATUS_BAD_COMPRESSION_BUFFER ((NTSTATUS) 0xC0000242L)
-#endif
-
-#ifndef STATUS_USER_MAPPED_FILE
-# define STATUS_USER_MAPPED_FILE ((NTSTATUS) 0xC0000243L)
-#endif
-
-#ifndef STATUS_AUDIT_FAILED
-# define STATUS_AUDIT_FAILED ((NTSTATUS) 0xC0000244L)
-#endif
-
-#ifndef STATUS_TIMER_RESOLUTION_NOT_SET
-# define STATUS_TIMER_RESOLUTION_NOT_SET ((NTSTATUS) 0xC0000245L)
-#endif
-
-#ifndef STATUS_CONNECTION_COUNT_LIMIT
-# define STATUS_CONNECTION_COUNT_LIMIT ((NTSTATUS) 0xC0000246L)
-#endif
-
-#ifndef STATUS_LOGIN_TIME_RESTRICTION
-# define STATUS_LOGIN_TIME_RESTRICTION ((NTSTATUS) 0xC0000247L)
-#endif
-
-#ifndef STATUS_LOGIN_WKSTA_RESTRICTION
-# define STATUS_LOGIN_WKSTA_RESTRICTION ((NTSTATUS) 0xC0000248L)
-#endif
-
-#ifndef STATUS_IMAGE_MP_UP_MISMATCH
-# define STATUS_IMAGE_MP_UP_MISMATCH ((NTSTATUS) 0xC0000249L)
-#endif
-
-#ifndef STATUS_INSUFFICIENT_LOGON_INFO
-# define STATUS_INSUFFICIENT_LOGON_INFO ((NTSTATUS) 0xC0000250L)
-#endif
-
-#ifndef STATUS_BAD_DLL_ENTRYPOINT
-# define STATUS_BAD_DLL_ENTRYPOINT ((NTSTATUS) 0xC0000251L)
-#endif
-
-#ifndef STATUS_BAD_SERVICE_ENTRYPOINT
-# define STATUS_BAD_SERVICE_ENTRYPOINT ((NTSTATUS) 0xC0000252L)
-#endif
-
-#ifndef STATUS_LPC_REPLY_LOST
-# define STATUS_LPC_REPLY_LOST ((NTSTATUS) 0xC0000253L)
-#endif
-
-#ifndef STATUS_IP_ADDRESS_CONFLICT1
-# define STATUS_IP_ADDRESS_CONFLICT1 ((NTSTATUS) 0xC0000254L)
-#endif
-
-#ifndef STATUS_IP_ADDRESS_CONFLICT2
-# define STATUS_IP_ADDRESS_CONFLICT2 ((NTSTATUS) 0xC0000255L)
-#endif
-
-#ifndef STATUS_REGISTRY_QUOTA_LIMIT
-# define STATUS_REGISTRY_QUOTA_LIMIT ((NTSTATUS) 0xC0000256L)
-#endif
-
-#ifndef STATUS_PATH_NOT_COVERED
-# define STATUS_PATH_NOT_COVERED ((NTSTATUS) 0xC0000257L)
-#endif
-
-#ifndef STATUS_NO_CALLBACK_ACTIVE
-# define STATUS_NO_CALLBACK_ACTIVE ((NTSTATUS) 0xC0000258L)
-#endif
-
-#ifndef STATUS_LICENSE_QUOTA_EXCEEDED
-# define STATUS_LICENSE_QUOTA_EXCEEDED ((NTSTATUS) 0xC0000259L)
-#endif
-
-#ifndef STATUS_PWD_TOO_SHORT
-# define STATUS_PWD_TOO_SHORT ((NTSTATUS) 0xC000025AL)
-#endif
-
-#ifndef STATUS_PWD_TOO_RECENT
-# define STATUS_PWD_TOO_RECENT ((NTSTATUS) 0xC000025BL)
-#endif
-
-#ifndef STATUS_PWD_HISTORY_CONFLICT
-# define STATUS_PWD_HISTORY_CONFLICT ((NTSTATUS) 0xC000025CL)
-#endif
-
-#ifndef STATUS_PLUGPLAY_NO_DEVICE
-# define STATUS_PLUGPLAY_NO_DEVICE ((NTSTATUS) 0xC000025EL)
-#endif
-
-#ifndef STATUS_UNSUPPORTED_COMPRESSION
-# define STATUS_UNSUPPORTED_COMPRESSION ((NTSTATUS) 0xC000025FL)
-#endif
-
-#ifndef STATUS_INVALID_HW_PROFILE
-# define STATUS_INVALID_HW_PROFILE ((NTSTATUS) 0xC0000260L)
-#endif
-
-#ifndef STATUS_INVALID_PLUGPLAY_DEVICE_PATH
-# define STATUS_INVALID_PLUGPLAY_DEVICE_PATH ((NTSTATUS) 0xC0000261L)
-#endif
-
-#ifndef STATUS_DRIVER_ORDINAL_NOT_FOUND
-# define STATUS_DRIVER_ORDINAL_NOT_FOUND ((NTSTATUS) 0xC0000262L)
-#endif
-
-#ifndef STATUS_DRIVER_ENTRYPOINT_NOT_FOUND
-# define STATUS_DRIVER_ENTRYPOINT_NOT_FOUND ((NTSTATUS) 0xC0000263L)
-#endif
-
-#ifndef STATUS_RESOURCE_NOT_OWNED
-# define STATUS_RESOURCE_NOT_OWNED ((NTSTATUS) 0xC0000264L)
-#endif
-
-#ifndef STATUS_TOO_MANY_LINKS
-# define STATUS_TOO_MANY_LINKS ((NTSTATUS) 0xC0000265L)
-#endif
-
-#ifndef STATUS_QUOTA_LIST_INCONSISTENT
-# define STATUS_QUOTA_LIST_INCONSISTENT ((NTSTATUS) 0xC0000266L)
-#endif
-
-#ifndef STATUS_FILE_IS_OFFLINE
-# define STATUS_FILE_IS_OFFLINE ((NTSTATUS) 0xC0000267L)
-#endif
-
-#ifndef STATUS_EVALUATION_EXPIRATION
-# define STATUS_EVALUATION_EXPIRATION ((NTSTATUS) 0xC0000268L)
-#endif
-
-#ifndef STATUS_ILLEGAL_DLL_RELOCATION
-# define STATUS_ILLEGAL_DLL_RELOCATION ((NTSTATUS) 0xC0000269L)
-#endif
-
-#ifndef STATUS_LICENSE_VIOLATION
-# define STATUS_LICENSE_VIOLATION ((NTSTATUS) 0xC000026AL)
-#endif
-
-#ifndef STATUS_DLL_INIT_FAILED_LOGOFF
-# define STATUS_DLL_INIT_FAILED_LOGOFF ((NTSTATUS) 0xC000026BL)
-#endif
-
-#ifndef STATUS_DRIVER_UNABLE_TO_LOAD
-# define STATUS_DRIVER_UNABLE_TO_LOAD ((NTSTATUS) 0xC000026CL)
-#endif
-
-#ifndef STATUS_DFS_UNAVAILABLE
-# define STATUS_DFS_UNAVAILABLE ((NTSTATUS) 0xC000026DL)
-#endif
-
-#ifndef STATUS_VOLUME_DISMOUNTED
-# define STATUS_VOLUME_DISMOUNTED ((NTSTATUS) 0xC000026EL)
-#endif
-
-#ifndef STATUS_WX86_INTERNAL_ERROR
-# define STATUS_WX86_INTERNAL_ERROR ((NTSTATUS) 0xC000026FL)
-#endif
-
-#ifndef STATUS_WX86_FLOAT_STACK_CHECK
-# define STATUS_WX86_FLOAT_STACK_CHECK ((NTSTATUS) 0xC0000270L)
-#endif
-
-#ifndef STATUS_VALIDATE_CONTINUE
-# define STATUS_VALIDATE_CONTINUE ((NTSTATUS) 0xC0000271L)
-#endif
-
-#ifndef STATUS_NO_MATCH
-# define STATUS_NO_MATCH ((NTSTATUS) 0xC0000272L)
-#endif
-
-#ifndef STATUS_NO_MORE_MATCHES
-# define STATUS_NO_MORE_MATCHES ((NTSTATUS) 0xC0000273L)
-#endif
-
-#ifndef STATUS_NOT_A_REPARSE_POINT
-# define STATUS_NOT_A_REPARSE_POINT ((NTSTATUS) 0xC0000275L)
-#endif
-
-#ifndef STATUS_IO_REPARSE_TAG_INVALID
-# define STATUS_IO_REPARSE_TAG_INVALID ((NTSTATUS) 0xC0000276L)
-#endif
-
-#ifndef STATUS_IO_REPARSE_TAG_MISMATCH
-# define STATUS_IO_REPARSE_TAG_MISMATCH ((NTSTATUS) 0xC0000277L)
-#endif
-
-#ifndef STATUS_IO_REPARSE_DATA_INVALID
-# define STATUS_IO_REPARSE_DATA_INVALID ((NTSTATUS) 0xC0000278L)
-#endif
-
-#ifndef STATUS_IO_REPARSE_TAG_NOT_HANDLED
-# define STATUS_IO_REPARSE_TAG_NOT_HANDLED ((NTSTATUS) 0xC0000279L)
-#endif
-
-#ifndef STATUS_REPARSE_POINT_NOT_RESOLVED
-# define STATUS_REPARSE_POINT_NOT_RESOLVED ((NTSTATUS) 0xC0000280L)
-#endif
-
-#ifndef STATUS_DIRECTORY_IS_A_REPARSE_POINT
-# define STATUS_DIRECTORY_IS_A_REPARSE_POINT ((NTSTATUS) 0xC0000281L)
-#endif
-
-#ifndef STATUS_RANGE_LIST_CONFLICT
-# define STATUS_RANGE_LIST_CONFLICT ((NTSTATUS) 0xC0000282L)
-#endif
-
-#ifndef STATUS_SOURCE_ELEMENT_EMPTY
-# define STATUS_SOURCE_ELEMENT_EMPTY ((NTSTATUS) 0xC0000283L)
-#endif
-
-#ifndef STATUS_DESTINATION_ELEMENT_FULL
-# define STATUS_DESTINATION_ELEMENT_FULL ((NTSTATUS) 0xC0000284L)
-#endif
-
-#ifndef STATUS_ILLEGAL_ELEMENT_ADDRESS
-# define STATUS_ILLEGAL_ELEMENT_ADDRESS ((NTSTATUS) 0xC0000285L)
-#endif
-
-#ifndef STATUS_MAGAZINE_NOT_PRESENT
-# define STATUS_MAGAZINE_NOT_PRESENT ((NTSTATUS) 0xC0000286L)
-#endif
-
-#ifndef STATUS_REINITIALIZATION_NEEDED
-# define STATUS_REINITIALIZATION_NEEDED ((NTSTATUS) 0xC0000287L)
-#endif
-
-#ifndef STATUS_DEVICE_REQUIRES_CLEANING
-# define STATUS_DEVICE_REQUIRES_CLEANING ((NTSTATUS) 0x80000288L)
-#endif
-
-#ifndef STATUS_DEVICE_DOOR_OPEN
-# define STATUS_DEVICE_DOOR_OPEN ((NTSTATUS) 0x80000289L)
-#endif
-
-#ifndef STATUS_ENCRYPTION_FAILED
-# define STATUS_ENCRYPTION_FAILED ((NTSTATUS) 0xC000028AL)
-#endif
-
-#ifndef STATUS_DECRYPTION_FAILED
-# define STATUS_DECRYPTION_FAILED ((NTSTATUS) 0xC000028BL)
-#endif
-
-#ifndef STATUS_RANGE_NOT_FOUND
-# define STATUS_RANGE_NOT_FOUND ((NTSTATUS) 0xC000028CL)
-#endif
-
-#ifndef STATUS_NO_RECOVERY_POLICY
-# define STATUS_NO_RECOVERY_POLICY ((NTSTATUS) 0xC000028DL)
-#endif
-
-#ifndef STATUS_NO_EFS
-# define STATUS_NO_EFS ((NTSTATUS) 0xC000028EL)
-#endif
-
-#ifndef STATUS_WRONG_EFS
-# define STATUS_WRONG_EFS ((NTSTATUS) 0xC000028FL)
-#endif
-
-#ifndef STATUS_NO_USER_KEYS
-# define STATUS_NO_USER_KEYS ((NTSTATUS) 0xC0000290L)
-#endif
-
-#ifndef STATUS_FILE_NOT_ENCRYPTED
-# define STATUS_FILE_NOT_ENCRYPTED ((NTSTATUS) 0xC0000291L)
-#endif
-
-#ifndef STATUS_NOT_EXPORT_FORMAT
-# define STATUS_NOT_EXPORT_FORMAT ((NTSTATUS) 0xC0000292L)
-#endif
-
-#ifndef STATUS_FILE_ENCRYPTED
-# define STATUS_FILE_ENCRYPTED ((NTSTATUS) 0xC0000293L)
-#endif
-
-#ifndef STATUS_WAKE_SYSTEM
-# define STATUS_WAKE_SYSTEM ((NTSTATUS) 0x40000294L)
-#endif
-
-#ifndef STATUS_WMI_GUID_NOT_FOUND
-# define STATUS_WMI_GUID_NOT_FOUND ((NTSTATUS) 0xC0000295L)
-#endif
-
-#ifndef STATUS_WMI_INSTANCE_NOT_FOUND
-# define STATUS_WMI_INSTANCE_NOT_FOUND ((NTSTATUS) 0xC0000296L)
-#endif
-
-#ifndef STATUS_WMI_ITEMID_NOT_FOUND
-# define STATUS_WMI_ITEMID_NOT_FOUND ((NTSTATUS) 0xC0000297L)
-#endif
-
-#ifndef STATUS_WMI_TRY_AGAIN
-# define STATUS_WMI_TRY_AGAIN ((NTSTATUS) 0xC0000298L)
-#endif
-
-#ifndef STATUS_SHARED_POLICY
-# define STATUS_SHARED_POLICY ((NTSTATUS) 0xC0000299L)
-#endif
-
-#ifndef STATUS_POLICY_OBJECT_NOT_FOUND
-# define STATUS_POLICY_OBJECT_NOT_FOUND ((NTSTATUS) 0xC000029AL)
-#endif
-
-#ifndef STATUS_POLICY_ONLY_IN_DS
-# define STATUS_POLICY_ONLY_IN_DS ((NTSTATUS) 0xC000029BL)
-#endif
-
-#ifndef STATUS_VOLUME_NOT_UPGRADED
-# define STATUS_VOLUME_NOT_UPGRADED ((NTSTATUS) 0xC000029CL)
-#endif
-
-#ifndef STATUS_REMOTE_STORAGE_NOT_ACTIVE
-# define STATUS_REMOTE_STORAGE_NOT_ACTIVE ((NTSTATUS) 0xC000029DL)
-#endif
-
-#ifndef STATUS_REMOTE_STORAGE_MEDIA_ERROR
-# define STATUS_REMOTE_STORAGE_MEDIA_ERROR ((NTSTATUS) 0xC000029EL)
-#endif
-
-#ifndef STATUS_NO_TRACKING_SERVICE
-# define STATUS_NO_TRACKING_SERVICE ((NTSTATUS) 0xC000029FL)
-#endif
-
-#ifndef STATUS_SERVER_SID_MISMATCH
-# define STATUS_SERVER_SID_MISMATCH ((NTSTATUS) 0xC00002A0L)
-#endif
-
-#ifndef STATUS_DS_NO_ATTRIBUTE_OR_VALUE
-# define STATUS_DS_NO_ATTRIBUTE_OR_VALUE ((NTSTATUS) 0xC00002A1L)
-#endif
-
-#ifndef STATUS_DS_INVALID_ATTRIBUTE_SYNTAX
-# define STATUS_DS_INVALID_ATTRIBUTE_SYNTAX ((NTSTATUS) 0xC00002A2L)
-#endif
-
-#ifndef STATUS_DS_ATTRIBUTE_TYPE_UNDEFINED
-# define STATUS_DS_ATTRIBUTE_TYPE_UNDEFINED ((NTSTATUS) 0xC00002A3L)
-#endif
-
-#ifndef STATUS_DS_ATTRIBUTE_OR_VALUE_EXISTS
-# define STATUS_DS_ATTRIBUTE_OR_VALUE_EXISTS ((NTSTATUS) 0xC00002A4L)
-#endif
-
-#ifndef STATUS_DS_BUSY
-# define STATUS_DS_BUSY ((NTSTATUS) 0xC00002A5L)
-#endif
-
-#ifndef STATUS_DS_UNAVAILABLE
-# define STATUS_DS_UNAVAILABLE ((NTSTATUS) 0xC00002A6L)
-#endif
-
-#ifndef STATUS_DS_NO_RIDS_ALLOCATED
-# define STATUS_DS_NO_RIDS_ALLOCATED ((NTSTATUS) 0xC00002A7L)
-#endif
-
-#ifndef STATUS_DS_NO_MORE_RIDS
-# define STATUS_DS_NO_MORE_RIDS ((NTSTATUS) 0xC00002A8L)
-#endif
-
-#ifndef STATUS_DS_INCORRECT_ROLE_OWNER
-# define STATUS_DS_INCORRECT_ROLE_OWNER ((NTSTATUS) 0xC00002A9L)
-#endif
-
-#ifndef STATUS_DS_RIDMGR_INIT_ERROR
-# define STATUS_DS_RIDMGR_INIT_ERROR ((NTSTATUS) 0xC00002AAL)
-#endif
-
-#ifndef STATUS_DS_OBJ_CLASS_VIOLATION
-# define STATUS_DS_OBJ_CLASS_VIOLATION ((NTSTATUS) 0xC00002ABL)
-#endif
-
-#ifndef STATUS_DS_CANT_ON_NON_LEAF
-# define STATUS_DS_CANT_ON_NON_LEAF ((NTSTATUS) 0xC00002ACL)
-#endif
-
-#ifndef STATUS_DS_CANT_ON_RDN
-# define STATUS_DS_CANT_ON_RDN ((NTSTATUS) 0xC00002ADL)
-#endif
-
-#ifndef STATUS_DS_CANT_MOD_OBJ_CLASS
-# define STATUS_DS_CANT_MOD_OBJ_CLASS ((NTSTATUS) 0xC00002AEL)
-#endif
-
-#ifndef STATUS_DS_CROSS_DOM_MOVE_FAILED
-# define STATUS_DS_CROSS_DOM_MOVE_FAILED ((NTSTATUS) 0xC00002AFL)
-#endif
-
-#ifndef STATUS_DS_GC_NOT_AVAILABLE
-# define STATUS_DS_GC_NOT_AVAILABLE ((NTSTATUS) 0xC00002B0L)
-#endif
-
-#ifndef STATUS_DIRECTORY_SERVICE_REQUIRED
-# define STATUS_DIRECTORY_SERVICE_REQUIRED ((NTSTATUS) 0xC00002B1L)
-#endif
-
-#ifndef STATUS_REPARSE_ATTRIBUTE_CONFLICT
-# define STATUS_REPARSE_ATTRIBUTE_CONFLICT ((NTSTATUS) 0xC00002B2L)
-#endif
-
-#ifndef STATUS_CANT_ENABLE_DENY_ONLY
-# define STATUS_CANT_ENABLE_DENY_ONLY ((NTSTATUS) 0xC00002B3L)
-#endif
-
-#ifndef STATUS_FLOAT_MULTIPLE_FAULTS
-# define STATUS_FLOAT_MULTIPLE_FAULTS ((NTSTATUS) 0xC00002B4L)
-#endif
-
-#ifndef STATUS_FLOAT_MULTIPLE_TRAPS
-# define STATUS_FLOAT_MULTIPLE_TRAPS ((NTSTATUS) 0xC00002B5L)
-#endif
-
-#ifndef STATUS_DEVICE_REMOVED
-# define STATUS_DEVICE_REMOVED ((NTSTATUS) 0xC00002B6L)
-#endif
-
-#ifndef STATUS_JOURNAL_DELETE_IN_PROGRESS
-# define STATUS_JOURNAL_DELETE_IN_PROGRESS ((NTSTATUS) 0xC00002B7L)
-#endif
-
-#ifndef STATUS_JOURNAL_NOT_ACTIVE
-# define STATUS_JOURNAL_NOT_ACTIVE ((NTSTATUS) 0xC00002B8L)
-#endif
-
-#ifndef STATUS_NOINTERFACE
-# define STATUS_NOINTERFACE ((NTSTATUS) 0xC00002B9L)
-#endif
-
-#ifndef STATUS_DS_ADMIN_LIMIT_EXCEEDED
-# define STATUS_DS_ADMIN_LIMIT_EXCEEDED ((NTSTATUS) 0xC00002C1L)
-#endif
-
-#ifndef STATUS_DRIVER_FAILED_SLEEP
-# define STATUS_DRIVER_FAILED_SLEEP ((NTSTATUS) 0xC00002C2L)
-#endif
-
-#ifndef STATUS_MUTUAL_AUTHENTICATION_FAILED
-# define STATUS_MUTUAL_AUTHENTICATION_FAILED ((NTSTATUS) 0xC00002C3L)
-#endif
-
-#ifndef STATUS_CORRUPT_SYSTEM_FILE
-# define STATUS_CORRUPT_SYSTEM_FILE ((NTSTATUS) 0xC00002C4L)
-#endif
-
-#ifndef STATUS_DATATYPE_MISALIGNMENT_ERROR
-# define STATUS_DATATYPE_MISALIGNMENT_ERROR ((NTSTATUS) 0xC00002C5L)
-#endif
-
-#ifndef STATUS_WMI_READ_ONLY
-# define STATUS_WMI_READ_ONLY ((NTSTATUS) 0xC00002C6L)
-#endif
-
-#ifndef STATUS_WMI_SET_FAILURE
-# define STATUS_WMI_SET_FAILURE ((NTSTATUS) 0xC00002C7L)
-#endif
-
-#ifndef STATUS_COMMITMENT_MINIMUM
-# define STATUS_COMMITMENT_MINIMUM ((NTSTATUS) 0xC00002C8L)
-#endif
-
-#ifndef STATUS_REG_NAT_CONSUMPTION
-# define STATUS_REG_NAT_CONSUMPTION ((NTSTATUS) 0xC00002C9L)
-#endif
-
-#ifndef STATUS_TRANSPORT_FULL
-# define STATUS_TRANSPORT_FULL ((NTSTATUS) 0xC00002CAL)
-#endif
-
-#ifndef STATUS_DS_SAM_INIT_FAILURE
-# define STATUS_DS_SAM_INIT_FAILURE ((NTSTATUS) 0xC00002CBL)
-#endif
-
-#ifndef STATUS_ONLY_IF_CONNECTED
-# define STATUS_ONLY_IF_CONNECTED ((NTSTATUS) 0xC00002CCL)
-#endif
-
-#ifndef STATUS_DS_SENSITIVE_GROUP_VIOLATION
-# define STATUS_DS_SENSITIVE_GROUP_VIOLATION ((NTSTATUS) 0xC00002CDL)
-#endif
-
-#ifndef STATUS_PNP_RESTART_ENUMERATION
-# define STATUS_PNP_RESTART_ENUMERATION ((NTSTATUS) 0xC00002CEL)
-#endif
-
-#ifndef STATUS_JOURNAL_ENTRY_DELETED
-# define STATUS_JOURNAL_ENTRY_DELETED ((NTSTATUS) 0xC00002CFL)
-#endif
-
-#ifndef STATUS_DS_CANT_MOD_PRIMARYGROUPID
-# define STATUS_DS_CANT_MOD_PRIMARYGROUPID ((NTSTATUS) 0xC00002D0L)
-#endif
-
-#ifndef STATUS_SYSTEM_IMAGE_BAD_SIGNATURE
-# define STATUS_SYSTEM_IMAGE_BAD_SIGNATURE ((NTSTATUS) 0xC00002D1L)
-#endif
-
-#ifndef STATUS_PNP_REBOOT_REQUIRED
-# define STATUS_PNP_REBOOT_REQUIRED ((NTSTATUS) 0xC00002D2L)
-#endif
-
-#ifndef STATUS_POWER_STATE_INVALID
-# define STATUS_POWER_STATE_INVALID ((NTSTATUS) 0xC00002D3L)
-#endif
-
-#ifndef STATUS_DS_INVALID_GROUP_TYPE
-# define STATUS_DS_INVALID_GROUP_TYPE ((NTSTATUS) 0xC00002D4L)
-#endif
-
-#ifndef STATUS_DS_NO_NEST_GLOBALGROUP_IN_MIXEDDOMAIN
-# define STATUS_DS_NO_NEST_GLOBALGROUP_IN_MIXEDDOMAIN ((NTSTATUS) 0xC00002D5L)
-#endif
-
-#ifndef STATUS_DS_NO_NEST_LOCALGROUP_IN_MIXEDDOMAIN
-# define STATUS_DS_NO_NEST_LOCALGROUP_IN_MIXEDDOMAIN ((NTSTATUS) 0xC00002D6L)
-#endif
-
-#ifndef STATUS_DS_GLOBAL_CANT_HAVE_LOCAL_MEMBER
-# define STATUS_DS_GLOBAL_CANT_HAVE_LOCAL_MEMBER ((NTSTATUS) 0xC00002D7L)
-#endif
-
-#ifndef STATUS_DS_GLOBAL_CANT_HAVE_UNIVERSAL_MEMBER
-# define STATUS_DS_GLOBAL_CANT_HAVE_UNIVERSAL_MEMBER ((NTSTATUS) 0xC00002D8L)
-#endif
-
-#ifndef STATUS_DS_UNIVERSAL_CANT_HAVE_LOCAL_MEMBER
-# define STATUS_DS_UNIVERSAL_CANT_HAVE_LOCAL_MEMBER ((NTSTATUS) 0xC00002D9L)
-#endif
-
-#ifndef STATUS_DS_GLOBAL_CANT_HAVE_CROSSDOMAIN_MEMBER
-# define STATUS_DS_GLOBAL_CANT_HAVE_CROSSDOMAIN_MEMBER ((NTSTATUS) 0xC00002DAL)
-#endif
-
-#ifndef STATUS_DS_LOCAL_CANT_HAVE_CROSSDOMAIN_LOCAL_MEMBER
-# define STATUS_DS_LOCAL_CANT_HAVE_CROSSDOMAIN_LOCAL_MEMBER ((NTSTATUS) 0xC00002DBL)
-#endif
-
-#ifndef STATUS_DS_HAVE_PRIMARY_MEMBERS
-# define STATUS_DS_HAVE_PRIMARY_MEMBERS ((NTSTATUS) 0xC00002DCL)
-#endif
-
-#ifndef STATUS_WMI_NOT_SUPPORTED
-# define STATUS_WMI_NOT_SUPPORTED ((NTSTATUS) 0xC00002DDL)
-#endif
-
-#ifndef STATUS_INSUFFICIENT_POWER
-# define STATUS_INSUFFICIENT_POWER ((NTSTATUS) 0xC00002DEL)
-#endif
-
-#ifndef STATUS_SAM_NEED_BOOTKEY_PASSWORD
-# define STATUS_SAM_NEED_BOOTKEY_PASSWORD ((NTSTATUS) 0xC00002DFL)
-#endif
-
-#ifndef STATUS_SAM_NEED_BOOTKEY_FLOPPY
-# define STATUS_SAM_NEED_BOOTKEY_FLOPPY ((NTSTATUS) 0xC00002E0L)
-#endif
-
-#ifndef STATUS_DS_CANT_START
-# define STATUS_DS_CANT_START ((NTSTATUS) 0xC00002E1L)
-#endif
-
-#ifndef STATUS_DS_INIT_FAILURE
-# define STATUS_DS_INIT_FAILURE ((NTSTATUS) 0xC00002E2L)
-#endif
-
-#ifndef STATUS_SAM_INIT_FAILURE
-# define STATUS_SAM_INIT_FAILURE ((NTSTATUS) 0xC00002E3L)
-#endif
-
-#ifndef STATUS_DS_GC_REQUIRED
-# define STATUS_DS_GC_REQUIRED ((NTSTATUS) 0xC00002E4L)
-#endif
-
-#ifndef STATUS_DS_LOCAL_MEMBER_OF_LOCAL_ONLY
-# define STATUS_DS_LOCAL_MEMBER_OF_LOCAL_ONLY ((NTSTATUS) 0xC00002E5L)
-#endif
-
-#ifndef STATUS_DS_NO_FPO_IN_UNIVERSAL_GROUPS
-# define STATUS_DS_NO_FPO_IN_UNIVERSAL_GROUPS ((NTSTATUS) 0xC00002E6L)
-#endif
-
-#ifndef STATUS_DS_MACHINE_ACCOUNT_QUOTA_EXCEEDED
-# define STATUS_DS_MACHINE_ACCOUNT_QUOTA_EXCEEDED ((NTSTATUS) 0xC00002E7L)
-#endif
-
-#ifndef STATUS_MULTIPLE_FAULT_VIOLATION
-# define STATUS_MULTIPLE_FAULT_VIOLATION ((NTSTATUS) 0xC00002E8L)
-#endif
-
-#ifndef STATUS_CURRENT_DOMAIN_NOT_ALLOWED
-# define STATUS_CURRENT_DOMAIN_NOT_ALLOWED ((NTSTATUS) 0xC00002E9L)
-#endif
-
-#ifndef STATUS_CANNOT_MAKE
-# define STATUS_CANNOT_MAKE ((NTSTATUS) 0xC00002EAL)
-#endif
-
-#ifndef STATUS_SYSTEM_SHUTDOWN
-# define STATUS_SYSTEM_SHUTDOWN ((NTSTATUS) 0xC00002EBL)
-#endif
-
-#ifndef STATUS_DS_INIT_FAILURE_CONSOLE
-# define STATUS_DS_INIT_FAILURE_CONSOLE ((NTSTATUS) 0xC00002ECL)
-#endif
-
-#ifndef STATUS_DS_SAM_INIT_FAILURE_CONSOLE
-# define STATUS_DS_SAM_INIT_FAILURE_CONSOLE ((NTSTATUS) 0xC00002EDL)
-#endif
-
-#ifndef STATUS_UNFINISHED_CONTEXT_DELETED
-# define STATUS_UNFINISHED_CONTEXT_DELETED ((NTSTATUS) 0xC00002EEL)
-#endif
-
-#ifndef STATUS_NO_TGT_REPLY
-# define STATUS_NO_TGT_REPLY ((NTSTATUS) 0xC00002EFL)
-#endif
-
-#ifndef STATUS_OBJECTID_NOT_FOUND
-# define STATUS_OBJECTID_NOT_FOUND ((NTSTATUS) 0xC00002F0L)
-#endif
-
-#ifndef STATUS_NO_IP_ADDRESSES
-# define STATUS_NO_IP_ADDRESSES ((NTSTATUS) 0xC00002F1L)
-#endif
-
-#ifndef STATUS_WRONG_CREDENTIAL_HANDLE
-# define STATUS_WRONG_CREDENTIAL_HANDLE ((NTSTATUS) 0xC00002F2L)
-#endif
-
-#ifndef STATUS_CRYPTO_SYSTEM_INVALID
-# define STATUS_CRYPTO_SYSTEM_INVALID ((NTSTATUS) 0xC00002F3L)
-#endif
-
-#ifndef STATUS_MAX_REFERRALS_EXCEEDED
-# define STATUS_MAX_REFERRALS_EXCEEDED ((NTSTATUS) 0xC00002F4L)
-#endif
-
-#ifndef STATUS_MUST_BE_KDC
-# define STATUS_MUST_BE_KDC ((NTSTATUS) 0xC00002F5L)
-#endif
-
-#ifndef STATUS_STRONG_CRYPTO_NOT_SUPPORTED
-# define STATUS_STRONG_CRYPTO_NOT_SUPPORTED ((NTSTATUS) 0xC00002F6L)
-#endif
-
-#ifndef STATUS_TOO_MANY_PRINCIPALS
-# define STATUS_TOO_MANY_PRINCIPALS ((NTSTATUS) 0xC00002F7L)
-#endif
-
-#ifndef STATUS_NO_PA_DATA
-# define STATUS_NO_PA_DATA ((NTSTATUS) 0xC00002F8L)
-#endif
-
-#ifndef STATUS_PKINIT_NAME_MISMATCH
-# define STATUS_PKINIT_NAME_MISMATCH ((NTSTATUS) 0xC00002F9L)
-#endif
-
-#ifndef STATUS_SMARTCARD_LOGON_REQUIRED
-# define STATUS_SMARTCARD_LOGON_REQUIRED ((NTSTATUS) 0xC00002FAL)
-#endif
-
-#ifndef STATUS_KDC_INVALID_REQUEST
-# define STATUS_KDC_INVALID_REQUEST ((NTSTATUS) 0xC00002FBL)
-#endif
-
-#ifndef STATUS_KDC_UNABLE_TO_REFER
-# define STATUS_KDC_UNABLE_TO_REFER ((NTSTATUS) 0xC00002FCL)
-#endif
-
-#ifndef STATUS_KDC_UNKNOWN_ETYPE
-# define STATUS_KDC_UNKNOWN_ETYPE ((NTSTATUS) 0xC00002FDL)
-#endif
-
-#ifndef STATUS_SHUTDOWN_IN_PROGRESS
-# define STATUS_SHUTDOWN_IN_PROGRESS ((NTSTATUS) 0xC00002FEL)
-#endif
-
-#ifndef STATUS_SERVER_SHUTDOWN_IN_PROGRESS
-# define STATUS_SERVER_SHUTDOWN_IN_PROGRESS ((NTSTATUS) 0xC00002FFL)
-#endif
-
-#ifndef STATUS_NOT_SUPPORTED_ON_SBS
-# define STATUS_NOT_SUPPORTED_ON_SBS ((NTSTATUS) 0xC0000300L)
-#endif
-
-#ifndef STATUS_WMI_GUID_DISCONNECTED
-# define STATUS_WMI_GUID_DISCONNECTED ((NTSTATUS) 0xC0000301L)
-#endif
-
-#ifndef STATUS_WMI_ALREADY_DISABLED
-# define STATUS_WMI_ALREADY_DISABLED ((NTSTATUS) 0xC0000302L)
-#endif
-
-#ifndef STATUS_WMI_ALREADY_ENABLED
-# define STATUS_WMI_ALREADY_ENABLED ((NTSTATUS) 0xC0000303L)
-#endif
-
-#ifndef STATUS_MFT_TOO_FRAGMENTED
-# define STATUS_MFT_TOO_FRAGMENTED ((NTSTATUS) 0xC0000304L)
-#endif
-
-#ifndef STATUS_COPY_PROTECTION_FAILURE
-# define STATUS_COPY_PROTECTION_FAILURE ((NTSTATUS) 0xC0000305L)
-#endif
-
-#ifndef STATUS_CSS_AUTHENTICATION_FAILURE
-# define STATUS_CSS_AUTHENTICATION_FAILURE ((NTSTATUS) 0xC0000306L)
-#endif
-
-#ifndef STATUS_CSS_KEY_NOT_PRESENT
-# define STATUS_CSS_KEY_NOT_PRESENT ((NTSTATUS) 0xC0000307L)
-#endif
-
-#ifndef STATUS_CSS_KEY_NOT_ESTABLISHED
-# define STATUS_CSS_KEY_NOT_ESTABLISHED ((NTSTATUS) 0xC0000308L)
-#endif
-
-#ifndef STATUS_CSS_SCRAMBLED_SECTOR
-# define STATUS_CSS_SCRAMBLED_SECTOR ((NTSTATUS) 0xC0000309L)
-#endif
-
-#ifndef STATUS_CSS_REGION_MISMATCH
-# define STATUS_CSS_REGION_MISMATCH ((NTSTATUS) 0xC000030AL)
-#endif
-
-#ifndef STATUS_CSS_RESETS_EXHAUSTED
-# define STATUS_CSS_RESETS_EXHAUSTED ((NTSTATUS) 0xC000030BL)
-#endif
-
-#ifndef STATUS_PKINIT_FAILURE
-# define STATUS_PKINIT_FAILURE ((NTSTATUS) 0xC0000320L)
-#endif
-
-#ifndef STATUS_SMARTCARD_SUBSYSTEM_FAILURE
-# define STATUS_SMARTCARD_SUBSYSTEM_FAILURE ((NTSTATUS) 0xC0000321L)
-#endif
-
-#ifndef STATUS_NO_KERB_KEY
-# define STATUS_NO_KERB_KEY ((NTSTATUS) 0xC0000322L)
-#endif
-
-#ifndef STATUS_HOST_DOWN
-# define STATUS_HOST_DOWN ((NTSTATUS) 0xC0000350L)
-#endif
-
-#ifndef STATUS_UNSUPPORTED_PREAUTH
-# define STATUS_UNSUPPORTED_PREAUTH ((NTSTATUS) 0xC0000351L)
-#endif
-
-#ifndef STATUS_EFS_ALG_BLOB_TOO_BIG
-# define STATUS_EFS_ALG_BLOB_TOO_BIG ((NTSTATUS) 0xC0000352L)
-#endif
-
-#ifndef STATUS_PORT_NOT_SET
-# define STATUS_PORT_NOT_SET ((NTSTATUS) 0xC0000353L)
-#endif
-
-#ifndef STATUS_DEBUGGER_INACTIVE
-# define STATUS_DEBUGGER_INACTIVE ((NTSTATUS) 0xC0000354L)
-#endif
-
-#ifndef STATUS_DS_VERSION_CHECK_FAILURE
-# define STATUS_DS_VERSION_CHECK_FAILURE ((NTSTATUS) 0xC0000355L)
-#endif
-
-#ifndef STATUS_AUDITING_DISABLED
-# define STATUS_AUDITING_DISABLED ((NTSTATUS) 0xC0000356L)
-#endif
-
-#ifndef STATUS_PRENT4_MACHINE_ACCOUNT
-# define STATUS_PRENT4_MACHINE_ACCOUNT ((NTSTATUS) 0xC0000357L)
-#endif
-
-#ifndef STATUS_DS_AG_CANT_HAVE_UNIVERSAL_MEMBER
-# define STATUS_DS_AG_CANT_HAVE_UNIVERSAL_MEMBER ((NTSTATUS) 0xC0000358L)
-#endif
-
-#ifndef STATUS_INVALID_IMAGE_WIN_32
-# define STATUS_INVALID_IMAGE_WIN_32 ((NTSTATUS) 0xC0000359L)
-#endif
-
-#ifndef STATUS_INVALID_IMAGE_WIN_64
-# define STATUS_INVALID_IMAGE_WIN_64 ((NTSTATUS) 0xC000035AL)
-#endif
-
-#ifndef STATUS_BAD_BINDINGS
-# define STATUS_BAD_BINDINGS ((NTSTATUS) 0xC000035BL)
-#endif
-
-#ifndef STATUS_NETWORK_SESSION_EXPIRED
-# define STATUS_NETWORK_SESSION_EXPIRED ((NTSTATUS) 0xC000035CL)
-#endif
-
-#ifndef STATUS_APPHELP_BLOCK
-# define STATUS_APPHELP_BLOCK ((NTSTATUS) 0xC000035DL)
-#endif
-
-#ifndef STATUS_ALL_SIDS_FILTERED
-# define STATUS_ALL_SIDS_FILTERED ((NTSTATUS) 0xC000035EL)
-#endif
-
-#ifndef STATUS_NOT_SAFE_MODE_DRIVER
-# define STATUS_NOT_SAFE_MODE_DRIVER ((NTSTATUS) 0xC000035FL)
-#endif
-
-#ifndef STATUS_ACCESS_DISABLED_BY_POLICY_DEFAULT
-# define STATUS_ACCESS_DISABLED_BY_POLICY_DEFAULT ((NTSTATUS) 0xC0000361L)
-#endif
-
-#ifndef STATUS_ACCESS_DISABLED_BY_POLICY_PATH
-# define STATUS_ACCESS_DISABLED_BY_POLICY_PATH ((NTSTATUS) 0xC0000362L)
-#endif
-
-#ifndef STATUS_ACCESS_DISABLED_BY_POLICY_PUBLISHER
-# define STATUS_ACCESS_DISABLED_BY_POLICY_PUBLISHER ((NTSTATUS) 0xC0000363L)
-#endif
-
-#ifndef STATUS_ACCESS_DISABLED_BY_POLICY_OTHER
-# define STATUS_ACCESS_DISABLED_BY_POLICY_OTHER ((NTSTATUS) 0xC0000364L)
-#endif
-
-#ifndef STATUS_FAILED_DRIVER_ENTRY
-# define STATUS_FAILED_DRIVER_ENTRY ((NTSTATUS) 0xC0000365L)
-#endif
-
-#ifndef STATUS_DEVICE_ENUMERATION_ERROR
-# define STATUS_DEVICE_ENUMERATION_ERROR ((NTSTATUS) 0xC0000366L)
-#endif
-
-#ifndef STATUS_MOUNT_POINT_NOT_RESOLVED
-# define STATUS_MOUNT_POINT_NOT_RESOLVED ((NTSTATUS) 0xC0000368L)
-#endif
-
-#ifndef STATUS_INVALID_DEVICE_OBJECT_PARAMETER
-# define STATUS_INVALID_DEVICE_OBJECT_PARAMETER ((NTSTATUS) 0xC0000369L)
-#endif
-
-#ifndef STATUS_MCA_OCCURED
-# define STATUS_MCA_OCCURED ((NTSTATUS) 0xC000036AL)
-#endif
-
-#ifndef STATUS_DRIVER_BLOCKED_CRITICAL
-# define STATUS_DRIVER_BLOCKED_CRITICAL ((NTSTATUS) 0xC000036BL)
-#endif
-
-#ifndef STATUS_DRIVER_BLOCKED
-# define STATUS_DRIVER_BLOCKED ((NTSTATUS) 0xC000036CL)
-#endif
-
-#ifndef STATUS_DRIVER_DATABASE_ERROR
-# define STATUS_DRIVER_DATABASE_ERROR ((NTSTATUS) 0xC000036DL)
-#endif
-
-#ifndef STATUS_SYSTEM_HIVE_TOO_LARGE
-# define STATUS_SYSTEM_HIVE_TOO_LARGE ((NTSTATUS) 0xC000036EL)
-#endif
-
-#ifndef STATUS_INVALID_IMPORT_OF_NON_DLL
-# define STATUS_INVALID_IMPORT_OF_NON_DLL ((NTSTATUS) 0xC000036FL)
-#endif
-
-#ifndef STATUS_DS_SHUTTING_DOWN
-# define STATUS_DS_SHUTTING_DOWN ((NTSTATUS) 0x40000370L)
-#endif
-
-#ifndef STATUS_NO_SECRETS
-# define STATUS_NO_SECRETS ((NTSTATUS) 0xC0000371L)
-#endif
-
-#ifndef STATUS_ACCESS_DISABLED_NO_SAFER_UI_BY_POLICY
-# define STATUS_ACCESS_DISABLED_NO_SAFER_UI_BY_POLICY ((NTSTATUS) 0xC0000372L)
-#endif
-
-#ifndef STATUS_FAILED_STACK_SWITCH
-# define STATUS_FAILED_STACK_SWITCH ((NTSTATUS) 0xC0000373L)
-#endif
-
-#ifndef STATUS_HEAP_CORRUPTION
-# define STATUS_HEAP_CORRUPTION ((NTSTATUS) 0xC0000374L)
-#endif
-
-#ifndef STATUS_SMARTCARD_WRONG_PIN
-# define STATUS_SMARTCARD_WRONG_PIN ((NTSTATUS) 0xC0000380L)
-#endif
-
-#ifndef STATUS_SMARTCARD_CARD_BLOCKED
-# define STATUS_SMARTCARD_CARD_BLOCKED ((NTSTATUS) 0xC0000381L)
-#endif
-
-#ifndef STATUS_SMARTCARD_CARD_NOT_AUTHENTICATED
-# define STATUS_SMARTCARD_CARD_NOT_AUTHENTICATED ((NTSTATUS) 0xC0000382L)
-#endif
-
-#ifndef STATUS_SMARTCARD_NO_CARD
-# define STATUS_SMARTCARD_NO_CARD ((NTSTATUS) 0xC0000383L)
-#endif
-
-#ifndef STATUS_SMARTCARD_NO_KEY_CONTAINER
-# define STATUS_SMARTCARD_NO_KEY_CONTAINER ((NTSTATUS) 0xC0000384L)
-#endif
-
-#ifndef STATUS_SMARTCARD_NO_CERTIFICATE
-# define STATUS_SMARTCARD_NO_CERTIFICATE ((NTSTATUS) 0xC0000385L)
-#endif
-
-#ifndef STATUS_SMARTCARD_NO_KEYSET
-# define STATUS_SMARTCARD_NO_KEYSET ((NTSTATUS) 0xC0000386L)
-#endif
-
-#ifndef STATUS_SMARTCARD_IO_ERROR
-# define STATUS_SMARTCARD_IO_ERROR ((NTSTATUS) 0xC0000387L)
-#endif
-
-#ifndef STATUS_DOWNGRADE_DETECTED
-# define STATUS_DOWNGRADE_DETECTED ((NTSTATUS) 0xC0000388L)
-#endif
-
-#ifndef STATUS_SMARTCARD_CERT_REVOKED
-# define STATUS_SMARTCARD_CERT_REVOKED ((NTSTATUS) 0xC0000389L)
-#endif
-
-#ifndef STATUS_ISSUING_CA_UNTRUSTED
-# define STATUS_ISSUING_CA_UNTRUSTED ((NTSTATUS) 0xC000038AL)
-#endif
-
-#ifndef STATUS_REVOCATION_OFFLINE_C
-# define STATUS_REVOCATION_OFFLINE_C ((NTSTATUS) 0xC000038BL)
-#endif
-
-#ifndef STATUS_PKINIT_CLIENT_FAILURE
-# define STATUS_PKINIT_CLIENT_FAILURE ((NTSTATUS) 0xC000038CL)
-#endif
-
-#ifndef STATUS_SMARTCARD_CERT_EXPIRED
-# define STATUS_SMARTCARD_CERT_EXPIRED ((NTSTATUS) 0xC000038DL)
-#endif
-
-#ifndef STATUS_DRIVER_FAILED_PRIOR_UNLOAD
-# define STATUS_DRIVER_FAILED_PRIOR_UNLOAD ((NTSTATUS) 0xC000038EL)
-#endif
-
-#ifndef STATUS_SMARTCARD_SILENT_CONTEXT
-# define STATUS_SMARTCARD_SILENT_CONTEXT ((NTSTATUS) 0xC000038FL)
-#endif
-
-#ifndef STATUS_PER_USER_TRUST_QUOTA_EXCEEDED
-# define STATUS_PER_USER_TRUST_QUOTA_EXCEEDED ((NTSTATUS) 0xC0000401L)
-#endif
-
-#ifndef STATUS_ALL_USER_TRUST_QUOTA_EXCEEDED
-# define STATUS_ALL_USER_TRUST_QUOTA_EXCEEDED ((NTSTATUS) 0xC0000402L)
-#endif
-
-#ifndef STATUS_USER_DELETE_TRUST_QUOTA_EXCEEDED
-# define STATUS_USER_DELETE_TRUST_QUOTA_EXCEEDED ((NTSTATUS) 0xC0000403L)
-#endif
-
-#ifndef STATUS_DS_NAME_NOT_UNIQUE
-# define STATUS_DS_NAME_NOT_UNIQUE ((NTSTATUS) 0xC0000404L)
-#endif
-
-#ifndef STATUS_DS_DUPLICATE_ID_FOUND
-# define STATUS_DS_DUPLICATE_ID_FOUND ((NTSTATUS) 0xC0000405L)
-#endif
-
-#ifndef STATUS_DS_GROUP_CONVERSION_ERROR
-# define STATUS_DS_GROUP_CONVERSION_ERROR ((NTSTATUS) 0xC0000406L)
-#endif
-
-#ifndef STATUS_VOLSNAP_PREPARE_HIBERNATE
-# define STATUS_VOLSNAP_PREPARE_HIBERNATE ((NTSTATUS) 0xC0000407L)
-#endif
-
-#ifndef STATUS_USER2USER_REQUIRED
-# define STATUS_USER2USER_REQUIRED ((NTSTATUS) 0xC0000408L)
-#endif
-
-#ifndef STATUS_STACK_BUFFER_OVERRUN
-# define STATUS_STACK_BUFFER_OVERRUN ((NTSTATUS) 0xC0000409L)
-#endif
-
-#ifndef STATUS_NO_S4U_PROT_SUPPORT
-# define STATUS_NO_S4U_PROT_SUPPORT ((NTSTATUS) 0xC000040AL)
-#endif
-
-#ifndef STATUS_CROSSREALM_DELEGATION_FAILURE
-# define STATUS_CROSSREALM_DELEGATION_FAILURE ((NTSTATUS) 0xC000040BL)
-#endif
-
-#ifndef STATUS_REVOCATION_OFFLINE_KDC
-# define STATUS_REVOCATION_OFFLINE_KDC ((NTSTATUS) 0xC000040CL)
-#endif
-
-#ifndef STATUS_ISSUING_CA_UNTRUSTED_KDC
-# define STATUS_ISSUING_CA_UNTRUSTED_KDC ((NTSTATUS) 0xC000040DL)
-#endif
-
-#ifndef STATUS_KDC_CERT_EXPIRED
-# define STATUS_KDC_CERT_EXPIRED ((NTSTATUS) 0xC000040EL)
-#endif
-
-#ifndef STATUS_KDC_CERT_REVOKED
-# define STATUS_KDC_CERT_REVOKED ((NTSTATUS) 0xC000040FL)
-#endif
-
-#ifndef STATUS_PARAMETER_QUOTA_EXCEEDED
-# define STATUS_PARAMETER_QUOTA_EXCEEDED ((NTSTATUS) 0xC0000410L)
-#endif
-
-#ifndef STATUS_HIBERNATION_FAILURE
-# define STATUS_HIBERNATION_FAILURE ((NTSTATUS) 0xC0000411L)
-#endif
-
-#ifndef STATUS_DELAY_LOAD_FAILED
-# define STATUS_DELAY_LOAD_FAILED ((NTSTATUS) 0xC0000412L)
-#endif
-
-#ifndef STATUS_AUTHENTICATION_FIREWALL_FAILED
-# define STATUS_AUTHENTICATION_FIREWALL_FAILED ((NTSTATUS) 0xC0000413L)
-#endif
-
-#ifndef STATUS_VDM_DISALLOWED
-# define STATUS_VDM_DISALLOWED ((NTSTATUS) 0xC0000414L)
-#endif
-
-#ifndef STATUS_HUNG_DISPLAY_DRIVER_THREAD
-# define STATUS_HUNG_DISPLAY_DRIVER_THREAD ((NTSTATUS) 0xC0000415L)
-#endif
-
-#ifndef STATUS_INSUFFICIENT_RESOURCE_FOR_SPECIFIED_SHARED_SECTION_SIZE
-# define STATUS_INSUFFICIENT_RESOURCE_FOR_SPECIFIED_SHARED_SECTION_SIZE ((NTSTATUS) 0xC0000416L)
-#endif
-
-#ifndef STATUS_INVALID_CRUNTIME_PARAMETER
-# define STATUS_INVALID_CRUNTIME_PARAMETER ((NTSTATUS) 0xC0000417L)
-#endif
-
-#ifndef STATUS_NTLM_BLOCKED
-# define STATUS_NTLM_BLOCKED ((NTSTATUS) 0xC0000418L)
-#endif
-
-#ifndef STATUS_DS_SRC_SID_EXISTS_IN_FOREST
-# define STATUS_DS_SRC_SID_EXISTS_IN_FOREST ((NTSTATUS) 0xC0000419L)
-#endif
-
-#ifndef STATUS_DS_DOMAIN_NAME_EXISTS_IN_FOREST
-# define STATUS_DS_DOMAIN_NAME_EXISTS_IN_FOREST ((NTSTATUS) 0xC000041AL)
-#endif
-
-#ifndef STATUS_DS_FLAT_NAME_EXISTS_IN_FOREST
-# define STATUS_DS_FLAT_NAME_EXISTS_IN_FOREST ((NTSTATUS) 0xC000041BL)
-#endif
-
-#ifndef STATUS_INVALID_USER_PRINCIPAL_NAME
-# define STATUS_INVALID_USER_PRINCIPAL_NAME ((NTSTATUS) 0xC000041CL)
-#endif
-
-#ifndef STATUS_FATAL_USER_CALLBACK_EXCEPTION
-# define STATUS_FATAL_USER_CALLBACK_EXCEPTION ((NTSTATUS) 0xC000041DL)
-#endif
-
-#ifndef STATUS_ASSERTION_FAILURE
-# define STATUS_ASSERTION_FAILURE ((NTSTATUS) 0xC0000420L)
-#endif
-
-#ifndef STATUS_VERIFIER_STOP
-# define STATUS_VERIFIER_STOP ((NTSTATUS) 0xC0000421L)
-#endif
-
-#ifndef STATUS_CALLBACK_POP_STACK
-# define STATUS_CALLBACK_POP_STACK ((NTSTATUS) 0xC0000423L)
-#endif
-
-#ifndef STATUS_INCOMPATIBLE_DRIVER_BLOCKED
-# define STATUS_INCOMPATIBLE_DRIVER_BLOCKED ((NTSTATUS) 0xC0000424L)
-#endif
-
-#ifndef STATUS_HIVE_UNLOADED
-# define STATUS_HIVE_UNLOADED ((NTSTATUS) 0xC0000425L)
-#endif
-
-#ifndef STATUS_COMPRESSION_DISABLED
-# define STATUS_COMPRESSION_DISABLED ((NTSTATUS) 0xC0000426L)
-#endif
-
-#ifndef STATUS_FILE_SYSTEM_LIMITATION
-# define STATUS_FILE_SYSTEM_LIMITATION ((NTSTATUS) 0xC0000427L)
-#endif
-
-#ifndef STATUS_INVALID_IMAGE_HASH
-# define STATUS_INVALID_IMAGE_HASH ((NTSTATUS) 0xC0000428L)
-#endif
-
-#ifndef STATUS_NOT_CAPABLE
-# define STATUS_NOT_CAPABLE ((NTSTATUS) 0xC0000429L)
-#endif
-
-#ifndef STATUS_REQUEST_OUT_OF_SEQUENCE
-# define STATUS_REQUEST_OUT_OF_SEQUENCE ((NTSTATUS) 0xC000042AL)
-#endif
-
-#ifndef STATUS_IMPLEMENTATION_LIMIT
-# define STATUS_IMPLEMENTATION_LIMIT ((NTSTATUS) 0xC000042BL)
-#endif
-
-#ifndef STATUS_ELEVATION_REQUIRED
-# define STATUS_ELEVATION_REQUIRED ((NTSTATUS) 0xC000042CL)
-#endif
-
-#ifndef STATUS_NO_SECURITY_CONTEXT
-# define STATUS_NO_SECURITY_CONTEXT ((NTSTATUS) 0xC000042DL)
-#endif
-
-#ifndef STATUS_PKU2U_CERT_FAILURE
-# define STATUS_PKU2U_CERT_FAILURE ((NTSTATUS) 0xC000042FL)
-#endif
-
-#ifndef STATUS_BEYOND_VDL
-# define STATUS_BEYOND_VDL ((NTSTATUS) 0xC0000432L)
-#endif
-
-#ifndef STATUS_ENCOUNTERED_WRITE_IN_PROGRESS
-# define STATUS_ENCOUNTERED_WRITE_IN_PROGRESS ((NTSTATUS) 0xC0000433L)
-#endif
-
-#ifndef STATUS_PTE_CHANGED
-# define STATUS_PTE_CHANGED ((NTSTATUS) 0xC0000434L)
-#endif
-
-#ifndef STATUS_PURGE_FAILED
-# define STATUS_PURGE_FAILED ((NTSTATUS) 0xC0000435L)
-#endif
-
-#ifndef STATUS_CRED_REQUIRES_CONFIRMATION
-# define STATUS_CRED_REQUIRES_CONFIRMATION ((NTSTATUS) 0xC0000440L)
-#endif
-
-#ifndef STATUS_CS_ENCRYPTION_INVALID_SERVER_RESPONSE
-# define STATUS_CS_ENCRYPTION_INVALID_SERVER_RESPONSE ((NTSTATUS) 0xC0000441L)
-#endif
-
-#ifndef STATUS_CS_ENCRYPTION_UNSUPPORTED_SERVER
-# define STATUS_CS_ENCRYPTION_UNSUPPORTED_SERVER ((NTSTATUS) 0xC0000442L)
-#endif
-
-#ifndef STATUS_CS_ENCRYPTION_EXISTING_ENCRYPTED_FILE
-# define STATUS_CS_ENCRYPTION_EXISTING_ENCRYPTED_FILE ((NTSTATUS) 0xC0000443L)
-#endif
-
-#ifndef STATUS_CS_ENCRYPTION_NEW_ENCRYPTED_FILE
-# define STATUS_CS_ENCRYPTION_NEW_ENCRYPTED_FILE ((NTSTATUS) 0xC0000444L)
-#endif
-
-#ifndef STATUS_CS_ENCRYPTION_FILE_NOT_CSE
-# define STATUS_CS_ENCRYPTION_FILE_NOT_CSE ((NTSTATUS) 0xC0000445L)
-#endif
-
-#ifndef STATUS_INVALID_LABEL
-# define STATUS_INVALID_LABEL ((NTSTATUS) 0xC0000446L)
-#endif
-
-#ifndef STATUS_DRIVER_PROCESS_TERMINATED
-# define STATUS_DRIVER_PROCESS_TERMINATED ((NTSTATUS) 0xC0000450L)
-#endif
-
-#ifndef STATUS_AMBIGUOUS_SYSTEM_DEVICE
-# define STATUS_AMBIGUOUS_SYSTEM_DEVICE ((NTSTATUS) 0xC0000451L)
-#endif
-
-#ifndef STATUS_SYSTEM_DEVICE_NOT_FOUND
-# define STATUS_SYSTEM_DEVICE_NOT_FOUND ((NTSTATUS) 0xC0000452L)
-#endif
-
-#ifndef STATUS_RESTART_BOOT_APPLICATION
-# define STATUS_RESTART_BOOT_APPLICATION ((NTSTATUS) 0xC0000453L)
-#endif
-
-#ifndef STATUS_INSUFFICIENT_NVRAM_RESOURCES
-# define STATUS_INSUFFICIENT_NVRAM_RESOURCES ((NTSTATUS) 0xC0000454L)
-#endif
-
-#ifndef STATUS_INVALID_TASK_NAME
-# define STATUS_INVALID_TASK_NAME ((NTSTATUS) 0xC0000500L)
-#endif
-
-#ifndef STATUS_INVALID_TASK_INDEX
-# define STATUS_INVALID_TASK_INDEX ((NTSTATUS) 0xC0000501L)
-#endif
-
-#ifndef STATUS_THREAD_ALREADY_IN_TASK
-# define STATUS_THREAD_ALREADY_IN_TASK ((NTSTATUS) 0xC0000502L)
-#endif
-
-#ifndef STATUS_CALLBACK_BYPASS
-# define STATUS_CALLBACK_BYPASS ((NTSTATUS) 0xC0000503L)
-#endif
-
-#ifndef STATUS_FAIL_FAST_EXCEPTION
-# define STATUS_FAIL_FAST_EXCEPTION ((NTSTATUS) 0xC0000602L)
-#endif
-
-#ifndef STATUS_IMAGE_CERT_REVOKED
-# define STATUS_IMAGE_CERT_REVOKED ((NTSTATUS) 0xC0000603L)
-#endif
-
-#ifndef STATUS_PORT_CLOSED
-# define STATUS_PORT_CLOSED ((NTSTATUS) 0xC0000700L)
-#endif
-
-#ifndef STATUS_MESSAGE_LOST
-# define STATUS_MESSAGE_LOST ((NTSTATUS) 0xC0000701L)
-#endif
-
-#ifndef STATUS_INVALID_MESSAGE
-# define STATUS_INVALID_MESSAGE ((NTSTATUS) 0xC0000702L)
-#endif
-
-#ifndef STATUS_REQUEST_CANCELED
-# define STATUS_REQUEST_CANCELED ((NTSTATUS) 0xC0000703L)
-#endif
-
-#ifndef STATUS_RECURSIVE_DISPATCH
-# define STATUS_RECURSIVE_DISPATCH ((NTSTATUS) 0xC0000704L)
-#endif
-
-#ifndef STATUS_LPC_RECEIVE_BUFFER_EXPECTED
-# define STATUS_LPC_RECEIVE_BUFFER_EXPECTED ((NTSTATUS) 0xC0000705L)
-#endif
-
-#ifndef STATUS_LPC_INVALID_CONNECTION_USAGE
-# define STATUS_LPC_INVALID_CONNECTION_USAGE ((NTSTATUS) 0xC0000706L)
-#endif
-
-#ifndef STATUS_LPC_REQUESTS_NOT_ALLOWED
-# define STATUS_LPC_REQUESTS_NOT_ALLOWED ((NTSTATUS) 0xC0000707L)
-#endif
-
-#ifndef STATUS_RESOURCE_IN_USE
-# define STATUS_RESOURCE_IN_USE ((NTSTATUS) 0xC0000708L)
-#endif
-
-#ifndef STATUS_HARDWARE_MEMORY_ERROR
-# define STATUS_HARDWARE_MEMORY_ERROR ((NTSTATUS) 0xC0000709L)
-#endif
-
-#ifndef STATUS_THREADPOOL_HANDLE_EXCEPTION
-# define STATUS_THREADPOOL_HANDLE_EXCEPTION ((NTSTATUS) 0xC000070AL)
-#endif
-
-#ifndef STATUS_THREADPOOL_SET_EVENT_ON_COMPLETION_FAILED
-# define STATUS_THREADPOOL_SET_EVENT_ON_COMPLETION_FAILED ((NTSTATUS) 0xC000070BL)
-#endif
-
-#ifndef STATUS_THREADPOOL_RELEASE_SEMAPHORE_ON_COMPLETION_FAILED
-# define STATUS_THREADPOOL_RELEASE_SEMAPHORE_ON_COMPLETION_FAILED ((NTSTATUS) 0xC000070CL)
-#endif
-
-#ifndef STATUS_THREADPOOL_RELEASE_MUTEX_ON_COMPLETION_FAILED
-# define STATUS_THREADPOOL_RELEASE_MUTEX_ON_COMPLETION_FAILED ((NTSTATUS) 0xC000070DL)
-#endif
-
-#ifndef STATUS_THREADPOOL_FREE_LIBRARY_ON_COMPLETION_FAILED
-# define STATUS_THREADPOOL_FREE_LIBRARY_ON_COMPLETION_FAILED ((NTSTATUS) 0xC000070EL)
-#endif
-
-#ifndef STATUS_THREADPOOL_RELEASED_DURING_OPERATION
-# define STATUS_THREADPOOL_RELEASED_DURING_OPERATION ((NTSTATUS) 0xC000070FL)
-#endif
-
-#ifndef STATUS_CALLBACK_RETURNED_WHILE_IMPERSONATING
-# define STATUS_CALLBACK_RETURNED_WHILE_IMPERSONATING ((NTSTATUS) 0xC0000710L)
-#endif
-
-#ifndef STATUS_APC_RETURNED_WHILE_IMPERSONATING
-# define STATUS_APC_RETURNED_WHILE_IMPERSONATING ((NTSTATUS) 0xC0000711L)
-#endif
-
-#ifndef STATUS_PROCESS_IS_PROTECTED
-# define STATUS_PROCESS_IS_PROTECTED ((NTSTATUS) 0xC0000712L)
-#endif
-
-#ifndef STATUS_MCA_EXCEPTION
-# define STATUS_MCA_EXCEPTION ((NTSTATUS) 0xC0000713L)
-#endif
-
-#ifndef STATUS_CERTIFICATE_MAPPING_NOT_UNIQUE
-# define STATUS_CERTIFICATE_MAPPING_NOT_UNIQUE ((NTSTATUS) 0xC0000714L)
-#endif
-
-#ifndef STATUS_SYMLINK_CLASS_DISABLED
-# define STATUS_SYMLINK_CLASS_DISABLED ((NTSTATUS) 0xC0000715L)
-#endif
-
-#ifndef STATUS_INVALID_IDN_NORMALIZATION
-# define STATUS_INVALID_IDN_NORMALIZATION ((NTSTATUS) 0xC0000716L)
-#endif
-
-#ifndef STATUS_NO_UNICODE_TRANSLATION
-# define STATUS_NO_UNICODE_TRANSLATION ((NTSTATUS) 0xC0000717L)
-#endif
-
-#ifndef STATUS_ALREADY_REGISTERED
-# define STATUS_ALREADY_REGISTERED ((NTSTATUS) 0xC0000718L)
-#endif
-
-#ifndef STATUS_CONTEXT_MISMATCH
-# define STATUS_CONTEXT_MISMATCH ((NTSTATUS) 0xC0000719L)
-#endif
-
-#ifndef STATUS_PORT_ALREADY_HAS_COMPLETION_LIST
-# define STATUS_PORT_ALREADY_HAS_COMPLETION_LIST ((NTSTATUS) 0xC000071AL)
-#endif
-
-#ifndef STATUS_CALLBACK_RETURNED_THREAD_PRIORITY
-# define STATUS_CALLBACK_RETURNED_THREAD_PRIORITY ((NTSTATUS) 0xC000071BL)
-#endif
-
-#ifndef STATUS_INVALID_THREAD
-# define STATUS_INVALID_THREAD ((NTSTATUS) 0xC000071CL)
-#endif
-
-#ifndef STATUS_CALLBACK_RETURNED_TRANSACTION
-# define STATUS_CALLBACK_RETURNED_TRANSACTION ((NTSTATUS) 0xC000071DL)
-#endif
-
-#ifndef STATUS_CALLBACK_RETURNED_LDR_LOCK
-# define STATUS_CALLBACK_RETURNED_LDR_LOCK ((NTSTATUS) 0xC000071EL)
-#endif
-
-#ifndef STATUS_CALLBACK_RETURNED_LANG
-# define STATUS_CALLBACK_RETURNED_LANG ((NTSTATUS) 0xC000071FL)
-#endif
-
-#ifndef STATUS_CALLBACK_RETURNED_PRI_BACK
-# define STATUS_CALLBACK_RETURNED_PRI_BACK ((NTSTATUS) 0xC0000720L)
-#endif
-
-#ifndef STATUS_CALLBACK_RETURNED_THREAD_AFFINITY
-# define STATUS_CALLBACK_RETURNED_THREAD_AFFINITY ((NTSTATUS) 0xC0000721L)
-#endif
-
-#ifndef STATUS_DISK_REPAIR_DISABLED
-# define STATUS_DISK_REPAIR_DISABLED ((NTSTATUS) 0xC0000800L)
-#endif
-
-#ifndef STATUS_DS_DOMAIN_RENAME_IN_PROGRESS
-# define STATUS_DS_DOMAIN_RENAME_IN_PROGRESS ((NTSTATUS) 0xC0000801L)
-#endif
-
-#ifndef STATUS_DISK_QUOTA_EXCEEDED
-# define STATUS_DISK_QUOTA_EXCEEDED ((NTSTATUS) 0xC0000802L)
-#endif
-
-#ifndef STATUS_DATA_LOST_REPAIR
-# define STATUS_DATA_LOST_REPAIR ((NTSTATUS) 0x80000803L)
-#endif
-
-#ifndef STATUS_CONTENT_BLOCKED
-# define STATUS_CONTENT_BLOCKED ((NTSTATUS) 0xC0000804L)
-#endif
-
-#ifndef STATUS_BAD_CLUSTERS
-# define STATUS_BAD_CLUSTERS ((NTSTATUS) 0xC0000805L)
-#endif
-
-#ifndef STATUS_VOLUME_DIRTY
-# define STATUS_VOLUME_DIRTY ((NTSTATUS) 0xC0000806L)
-#endif
-
-#ifndef STATUS_FILE_CHECKED_OUT
-# define STATUS_FILE_CHECKED_OUT ((NTSTATUS) 0xC0000901L)
-#endif
-
-#ifndef STATUS_CHECKOUT_REQUIRED
-# define STATUS_CHECKOUT_REQUIRED ((NTSTATUS) 0xC0000902L)
-#endif
-
-#ifndef STATUS_BAD_FILE_TYPE
-# define STATUS_BAD_FILE_TYPE ((NTSTATUS) 0xC0000903L)
-#endif
-
-#ifndef STATUS_FILE_TOO_LARGE
-# define STATUS_FILE_TOO_LARGE ((NTSTATUS) 0xC0000904L)
-#endif
-
-#ifndef STATUS_FORMS_AUTH_REQUIRED
-# define STATUS_FORMS_AUTH_REQUIRED ((NTSTATUS) 0xC0000905L)
-#endif
-
-#ifndef STATUS_VIRUS_INFECTED
-# define STATUS_VIRUS_INFECTED ((NTSTATUS) 0xC0000906L)
-#endif
-
-#ifndef STATUS_VIRUS_DELETED
-# define STATUS_VIRUS_DELETED ((NTSTATUS) 0xC0000907L)
-#endif
-
-#ifndef STATUS_BAD_MCFG_TABLE
-# define STATUS_BAD_MCFG_TABLE ((NTSTATUS) 0xC0000908L)
-#endif
-
-#ifndef STATUS_CANNOT_BREAK_OPLOCK
-# define STATUS_CANNOT_BREAK_OPLOCK ((NTSTATUS) 0xC0000909L)
-#endif
-
-#ifndef STATUS_WOW_ASSERTION
-# define STATUS_WOW_ASSERTION ((NTSTATUS) 0xC0009898L)
-#endif
-
-#ifndef STATUS_INVALID_SIGNATURE
-# define STATUS_INVALID_SIGNATURE ((NTSTATUS) 0xC000A000L)
-#endif
-
-#ifndef STATUS_HMAC_NOT_SUPPORTED
-# define STATUS_HMAC_NOT_SUPPORTED ((NTSTATUS) 0xC000A001L)
-#endif
-
-#ifndef STATUS_AUTH_TAG_MISMATCH
-# define STATUS_AUTH_TAG_MISMATCH ((NTSTATUS) 0xC000A002L)
-#endif
-
-#ifndef STATUS_IPSEC_QUEUE_OVERFLOW
-# define STATUS_IPSEC_QUEUE_OVERFLOW ((NTSTATUS) 0xC000A010L)
-#endif
-
-#ifndef STATUS_ND_QUEUE_OVERFLOW
-# define STATUS_ND_QUEUE_OVERFLOW ((NTSTATUS) 0xC000A011L)
-#endif
-
-#ifndef STATUS_HOPLIMIT_EXCEEDED
-# define STATUS_HOPLIMIT_EXCEEDED ((NTSTATUS) 0xC000A012L)
-#endif
-
-#ifndef STATUS_PROTOCOL_NOT_SUPPORTED
-# define STATUS_PROTOCOL_NOT_SUPPORTED ((NTSTATUS) 0xC000A013L)
-#endif
-
-#ifndef STATUS_FASTPATH_REJECTED
-# define STATUS_FASTPATH_REJECTED ((NTSTATUS) 0xC000A014L)
-#endif
-
-#ifndef STATUS_LOST_WRITEBEHIND_DATA_NETWORK_DISCONNECTED
-# define STATUS_LOST_WRITEBEHIND_DATA_NETWORK_DISCONNECTED ((NTSTATUS) 0xC000A080L)
-#endif
-
-#ifndef STATUS_LOST_WRITEBEHIND_DATA_NETWORK_SERVER_ERROR
-# define STATUS_LOST_WRITEBEHIND_DATA_NETWORK_SERVER_ERROR ((NTSTATUS) 0xC000A081L)
-#endif
-
-#ifndef STATUS_LOST_WRITEBEHIND_DATA_LOCAL_DISK_ERROR
-# define STATUS_LOST_WRITEBEHIND_DATA_LOCAL_DISK_ERROR ((NTSTATUS) 0xC000A082L)
-#endif
-
-#ifndef STATUS_XML_PARSE_ERROR
-# define STATUS_XML_PARSE_ERROR ((NTSTATUS) 0xC000A083L)
-#endif
-
-#ifndef STATUS_XMLDSIG_ERROR
-# define STATUS_XMLDSIG_ERROR ((NTSTATUS) 0xC000A084L)
-#endif
-
-#ifndef STATUS_WRONG_COMPARTMENT
-# define STATUS_WRONG_COMPARTMENT ((NTSTATUS) 0xC000A085L)
-#endif
-
-#ifndef STATUS_AUTHIP_FAILURE
-# define STATUS_AUTHIP_FAILURE ((NTSTATUS) 0xC000A086L)
-#endif
-
-#ifndef STATUS_DS_OID_MAPPED_GROUP_CANT_HAVE_MEMBERS
-# define STATUS_DS_OID_MAPPED_GROUP_CANT_HAVE_MEMBERS ((NTSTATUS) 0xC000A087L)
-#endif
-
-#ifndef STATUS_DS_OID_NOT_FOUND
-# define STATUS_DS_OID_NOT_FOUND ((NTSTATUS) 0xC000A088L)
-#endif
-
-#ifndef STATUS_HASH_NOT_SUPPORTED
-# define STATUS_HASH_NOT_SUPPORTED ((NTSTATUS) 0xC000A100L)
-#endif
-
-#ifndef STATUS_HASH_NOT_PRESENT
-# define STATUS_HASH_NOT_PRESENT ((NTSTATUS) 0xC000A101L)
-#endif
-
-/* This is not the NTSTATUS_FROM_WIN32 that the DDK provides, because the DDK
- * got it wrong! */
-#ifdef NTSTATUS_FROM_WIN32
-# undef NTSTATUS_FROM_WIN32
-#endif
-#define NTSTATUS_FROM_WIN32(error) ((NTSTATUS) (error) <= 0 ? \
- ((NTSTATUS) (error)) : ((NTSTATUS) (((error) & 0x0000FFFF) | \
- (FACILITY_NTWIN32 << 16) | ERROR_SEVERITY_WARNING)))
-
-#ifndef JOB_OBJECT_LIMIT_PROCESS_MEMORY
-# define JOB_OBJECT_LIMIT_PROCESS_MEMORY 0x00000100
-#endif
-#ifndef JOB_OBJECT_LIMIT_JOB_MEMORY
-# define JOB_OBJECT_LIMIT_JOB_MEMORY 0x00000200
-#endif
-#ifndef JOB_OBJECT_LIMIT_DIE_ON_UNHANDLED_EXCEPTION
-# define JOB_OBJECT_LIMIT_DIE_ON_UNHANDLED_EXCEPTION 0x00000400
-#endif
-#ifndef JOB_OBJECT_LIMIT_BREAKAWAY_OK
-# define JOB_OBJECT_LIMIT_BREAKAWAY_OK 0x00000800
-#endif
-#ifndef JOB_OBJECT_LIMIT_SILENT_BREAKAWAY_OK
-# define JOB_OBJECT_LIMIT_SILENT_BREAKAWAY_OK 0x00001000
-#endif
-#ifndef JOB_OBJECT_LIMIT_KILL_ON_JOB_CLOSE
-# define JOB_OBJECT_LIMIT_KILL_ON_JOB_CLOSE 0x00002000
-#endif
-
-#ifndef SYMBOLIC_LINK_FLAG_ALLOW_UNPRIVILEGED_CREATE
-# define SYMBOLIC_LINK_FLAG_ALLOW_UNPRIVILEGED_CREATE 0x00000002
-#endif
-
-/* from winternl.h */
-typedef struct _UNICODE_STRING {
- USHORT Length;
- USHORT MaximumLength;
- PWSTR Buffer;
-} UNICODE_STRING, *PUNICODE_STRING;
-
-typedef const UNICODE_STRING *PCUNICODE_STRING;
-
-/* from ntifs.h */
-#ifndef DEVICE_TYPE
-# define DEVICE_TYPE DWORD
-#endif
-
-/* MinGW already has a definition for REPARSE_DATA_BUFFER, but mingw-w64 does
- * not.
- */
-#if defined(_MSC_VER) || defined(__MINGW64_VERSION_MAJOR)
- typedef struct _REPARSE_DATA_BUFFER {
- ULONG ReparseTag;
- USHORT ReparseDataLength;
- USHORT Reserved;
- union {
- struct {
- USHORT SubstituteNameOffset;
- USHORT SubstituteNameLength;
- USHORT PrintNameOffset;
- USHORT PrintNameLength;
- ULONG Flags;
- WCHAR PathBuffer[1];
- } SymbolicLinkReparseBuffer;
- struct {
- USHORT SubstituteNameOffset;
- USHORT SubstituteNameLength;
- USHORT PrintNameOffset;
- USHORT PrintNameLength;
- WCHAR PathBuffer[1];
- } MountPointReparseBuffer;
- struct {
- UCHAR DataBuffer[1];
- } GenericReparseBuffer;
- };
- } REPARSE_DATA_BUFFER, *PREPARSE_DATA_BUFFER;
-#endif
-
-typedef struct _IO_STATUS_BLOCK {
- union {
- NTSTATUS Status;
- PVOID Pointer;
- };
- ULONG_PTR Information;
-} IO_STATUS_BLOCK, *PIO_STATUS_BLOCK;
-
-typedef enum _FILE_INFORMATION_CLASS {
- FileDirectoryInformation = 1,
- FileFullDirectoryInformation,
- FileBothDirectoryInformation,
- FileBasicInformation,
- FileStandardInformation,
- FileInternalInformation,
- FileEaInformation,
- FileAccessInformation,
- FileNameInformation,
- FileRenameInformation,
- FileLinkInformation,
- FileNamesInformation,
- FileDispositionInformation,
- FilePositionInformation,
- FileFullEaInformation,
- FileModeInformation,
- FileAlignmentInformation,
- FileAllInformation,
- FileAllocationInformation,
- FileEndOfFileInformation,
- FileAlternateNameInformation,
- FileStreamInformation,
- FilePipeInformation,
- FilePipeLocalInformation,
- FilePipeRemoteInformation,
- FileMailslotQueryInformation,
- FileMailslotSetInformation,
- FileCompressionInformation,
- FileObjectIdInformation,
- FileCompletionInformation,
- FileMoveClusterInformation,
- FileQuotaInformation,
- FileReparsePointInformation,
- FileNetworkOpenInformation,
- FileAttributeTagInformation,
- FileTrackingInformation,
- FileIdBothDirectoryInformation,
- FileIdFullDirectoryInformation,
- FileValidDataLengthInformation,
- FileShortNameInformation,
- FileIoCompletionNotificationInformation,
- FileIoStatusBlockRangeInformation,
- FileIoPriorityHintInformation,
- FileSfioReserveInformation,
- FileSfioVolumeInformation,
- FileHardLinkInformation,
- FileProcessIdsUsingFileInformation,
- FileNormalizedNameInformation,
- FileNetworkPhysicalNameInformation,
- FileIdGlobalTxDirectoryInformation,
- FileIsRemoteDeviceInformation,
- FileAttributeCacheInformation,
- FileNumaNodeInformation,
- FileStandardLinkInformation,
- FileRemoteProtocolInformation,
- FileMaximumInformation
-} FILE_INFORMATION_CLASS, *PFILE_INFORMATION_CLASS;
-
-typedef struct _FILE_DIRECTORY_INFORMATION {
- ULONG NextEntryOffset;
- ULONG FileIndex;
- LARGE_INTEGER CreationTime;
- LARGE_INTEGER LastAccessTime;
- LARGE_INTEGER LastWriteTime;
- LARGE_INTEGER ChangeTime;
- LARGE_INTEGER EndOfFile;
- LARGE_INTEGER AllocationSize;
- ULONG FileAttributes;
- ULONG FileNameLength;
- WCHAR FileName[1];
-} FILE_DIRECTORY_INFORMATION, *PFILE_DIRECTORY_INFORMATION;
-
-typedef struct _FILE_BOTH_DIR_INFORMATION {
- ULONG NextEntryOffset;
- ULONG FileIndex;
- LARGE_INTEGER CreationTime;
- LARGE_INTEGER LastAccessTime;
- LARGE_INTEGER LastWriteTime;
- LARGE_INTEGER ChangeTime;
- LARGE_INTEGER EndOfFile;
- LARGE_INTEGER AllocationSize;
- ULONG FileAttributes;
- ULONG FileNameLength;
- ULONG EaSize;
- CCHAR ShortNameLength;
- WCHAR ShortName[12];
- WCHAR FileName[1];
-} FILE_BOTH_DIR_INFORMATION, *PFILE_BOTH_DIR_INFORMATION;
-
-typedef struct _FILE_BASIC_INFORMATION {
- LARGE_INTEGER CreationTime;
- LARGE_INTEGER LastAccessTime;
- LARGE_INTEGER LastWriteTime;
- LARGE_INTEGER ChangeTime;
- DWORD FileAttributes;
-} FILE_BASIC_INFORMATION, *PFILE_BASIC_INFORMATION;
-
-typedef struct _FILE_STANDARD_INFORMATION {
- LARGE_INTEGER AllocationSize;
- LARGE_INTEGER EndOfFile;
- ULONG NumberOfLinks;
- BOOLEAN DeletePending;
- BOOLEAN Directory;
-} FILE_STANDARD_INFORMATION, *PFILE_STANDARD_INFORMATION;
-
-typedef struct _FILE_INTERNAL_INFORMATION {
- LARGE_INTEGER IndexNumber;
-} FILE_INTERNAL_INFORMATION, *PFILE_INTERNAL_INFORMATION;
-
-typedef struct _FILE_EA_INFORMATION {
- ULONG EaSize;
-} FILE_EA_INFORMATION, *PFILE_EA_INFORMATION;
-
-typedef struct _FILE_ACCESS_INFORMATION {
- ACCESS_MASK AccessFlags;
-} FILE_ACCESS_INFORMATION, *PFILE_ACCESS_INFORMATION;
-
-typedef struct _FILE_POSITION_INFORMATION {
- LARGE_INTEGER CurrentByteOffset;
-} FILE_POSITION_INFORMATION, *PFILE_POSITION_INFORMATION;
-
-typedef struct _FILE_MODE_INFORMATION {
- ULONG Mode;
-} FILE_MODE_INFORMATION, *PFILE_MODE_INFORMATION;
-
-typedef struct _FILE_ALIGNMENT_INFORMATION {
- ULONG AlignmentRequirement;
-} FILE_ALIGNMENT_INFORMATION, *PFILE_ALIGNMENT_INFORMATION;
-
-typedef struct _FILE_NAME_INFORMATION {
- ULONG FileNameLength;
- WCHAR FileName[1];
-} FILE_NAME_INFORMATION, *PFILE_NAME_INFORMATION;
-
-typedef struct _FILE_END_OF_FILE_INFORMATION {
- LARGE_INTEGER EndOfFile;
-} FILE_END_OF_FILE_INFORMATION, *PFILE_END_OF_FILE_INFORMATION;
-
-typedef struct _FILE_ALL_INFORMATION {
- FILE_BASIC_INFORMATION BasicInformation;
- FILE_STANDARD_INFORMATION StandardInformation;
- FILE_INTERNAL_INFORMATION InternalInformation;
- FILE_EA_INFORMATION EaInformation;
- FILE_ACCESS_INFORMATION AccessInformation;
- FILE_POSITION_INFORMATION PositionInformation;
- FILE_MODE_INFORMATION ModeInformation;
- FILE_ALIGNMENT_INFORMATION AlignmentInformation;
- FILE_NAME_INFORMATION NameInformation;
-} FILE_ALL_INFORMATION, *PFILE_ALL_INFORMATION;
-
-typedef struct _FILE_DISPOSITION_INFORMATION {
- BOOLEAN DeleteFile;
-} FILE_DISPOSITION_INFORMATION, *PFILE_DISPOSITION_INFORMATION;
-
-typedef struct _FILE_PIPE_LOCAL_INFORMATION {
- ULONG NamedPipeType;
- ULONG NamedPipeConfiguration;
- ULONG MaximumInstances;
- ULONG CurrentInstances;
- ULONG InboundQuota;
- ULONG ReadDataAvailable;
- ULONG OutboundQuota;
- ULONG WriteQuotaAvailable;
- ULONG NamedPipeState;
- ULONG NamedPipeEnd;
-} FILE_PIPE_LOCAL_INFORMATION, *PFILE_PIPE_LOCAL_INFORMATION;
-
-#define FILE_SYNCHRONOUS_IO_ALERT 0x00000010
-#define FILE_SYNCHRONOUS_IO_NONALERT 0x00000020
-
-typedef enum _FS_INFORMATION_CLASS {
- FileFsVolumeInformation = 1,
- FileFsLabelInformation = 2,
- FileFsSizeInformation = 3,
- FileFsDeviceInformation = 4,
- FileFsAttributeInformation = 5,
- FileFsControlInformation = 6,
- FileFsFullSizeInformation = 7,
- FileFsObjectIdInformation = 8,
- FileFsDriverPathInformation = 9,
- FileFsVolumeFlagsInformation = 10,
- FileFsSectorSizeInformation = 11
-} FS_INFORMATION_CLASS, *PFS_INFORMATION_CLASS;
-
-typedef struct _FILE_FS_VOLUME_INFORMATION {
- LARGE_INTEGER VolumeCreationTime;
- ULONG VolumeSerialNumber;
- ULONG VolumeLabelLength;
- BOOLEAN SupportsObjects;
- WCHAR VolumeLabel[1];
-} FILE_FS_VOLUME_INFORMATION, *PFILE_FS_VOLUME_INFORMATION;
-
-typedef struct _FILE_FS_LABEL_INFORMATION {
- ULONG VolumeLabelLength;
- WCHAR VolumeLabel[1];
-} FILE_FS_LABEL_INFORMATION, *PFILE_FS_LABEL_INFORMATION;
-
-typedef struct _FILE_FS_SIZE_INFORMATION {
- LARGE_INTEGER TotalAllocationUnits;
- LARGE_INTEGER AvailableAllocationUnits;
- ULONG SectorsPerAllocationUnit;
- ULONG BytesPerSector;
-} FILE_FS_SIZE_INFORMATION, *PFILE_FS_SIZE_INFORMATION;
-
-typedef struct _FILE_FS_DEVICE_INFORMATION {
- DEVICE_TYPE DeviceType;
- ULONG Characteristics;
-} FILE_FS_DEVICE_INFORMATION, *PFILE_FS_DEVICE_INFORMATION;
-
-typedef struct _FILE_FS_ATTRIBUTE_INFORMATION {
- ULONG FileSystemAttributes;
- LONG MaximumComponentNameLength;
- ULONG FileSystemNameLength;
- WCHAR FileSystemName[1];
-} FILE_FS_ATTRIBUTE_INFORMATION, *PFILE_FS_ATTRIBUTE_INFORMATION;
-
-typedef struct _FILE_FS_CONTROL_INFORMATION {
- LARGE_INTEGER FreeSpaceStartFiltering;
- LARGE_INTEGER FreeSpaceThreshold;
- LARGE_INTEGER FreeSpaceStopFiltering;
- LARGE_INTEGER DefaultQuotaThreshold;
- LARGE_INTEGER DefaultQuotaLimit;
- ULONG FileSystemControlFlags;
-} FILE_FS_CONTROL_INFORMATION, *PFILE_FS_CONTROL_INFORMATION;
-
-typedef struct _FILE_FS_FULL_SIZE_INFORMATION {
- LARGE_INTEGER TotalAllocationUnits;
- LARGE_INTEGER CallerAvailableAllocationUnits;
- LARGE_INTEGER ActualAvailableAllocationUnits;
- ULONG SectorsPerAllocationUnit;
- ULONG BytesPerSector;
-} FILE_FS_FULL_SIZE_INFORMATION, *PFILE_FS_FULL_SIZE_INFORMATION;
-
-typedef struct _FILE_FS_OBJECTID_INFORMATION {
- UCHAR ObjectId[16];
- UCHAR ExtendedInfo[48];
-} FILE_FS_OBJECTID_INFORMATION, *PFILE_FS_OBJECTID_INFORMATION;
-
-typedef struct _FILE_FS_DRIVER_PATH_INFORMATION {
- BOOLEAN DriverInPath;
- ULONG DriverNameLength;
- WCHAR DriverName[1];
-} FILE_FS_DRIVER_PATH_INFORMATION, *PFILE_FS_DRIVER_PATH_INFORMATION;
-
-typedef struct _FILE_FS_VOLUME_FLAGS_INFORMATION {
- ULONG Flags;
-} FILE_FS_VOLUME_FLAGS_INFORMATION, *PFILE_FS_VOLUME_FLAGS_INFORMATION;
-
-typedef struct _FILE_FS_SECTOR_SIZE_INFORMATION {
- ULONG LogicalBytesPerSector;
- ULONG PhysicalBytesPerSectorForAtomicity;
- ULONG PhysicalBytesPerSectorForPerformance;
- ULONG FileSystemEffectivePhysicalBytesPerSectorForAtomicity;
- ULONG Flags;
- ULONG ByteOffsetForSectorAlignment;
- ULONG ByteOffsetForPartitionAlignment;
-} FILE_FS_SECTOR_SIZE_INFORMATION, *PFILE_FS_SECTOR_SIZE_INFORMATION;
-
-typedef struct _SYSTEM_PROCESSOR_PERFORMANCE_INFORMATION {
- LARGE_INTEGER IdleTime;
- LARGE_INTEGER KernelTime;
- LARGE_INTEGER UserTime;
- LARGE_INTEGER DpcTime;
- LARGE_INTEGER InterruptTime;
- ULONG InterruptCount;
-} SYSTEM_PROCESSOR_PERFORMANCE_INFORMATION, *PSYSTEM_PROCESSOR_PERFORMANCE_INFORMATION;
-
-#ifndef SystemProcessorPerformanceInformation
-# define SystemProcessorPerformanceInformation 8
-#endif
-
-#ifndef FILE_DEVICE_FILE_SYSTEM
-# define FILE_DEVICE_FILE_SYSTEM 0x00000009
-#endif
-
-#ifndef FILE_DEVICE_NETWORK
-# define FILE_DEVICE_NETWORK 0x00000012
-#endif
-
-#ifndef METHOD_BUFFERED
-# define METHOD_BUFFERED 0
-#endif
-
-#ifndef METHOD_IN_DIRECT
-# define METHOD_IN_DIRECT 1
-#endif
-
-#ifndef METHOD_OUT_DIRECT
-# define METHOD_OUT_DIRECT 2
-#endif
-
-#ifndef METHOD_NEITHER
-#define METHOD_NEITHER 3
-#endif
-
-#ifndef METHOD_DIRECT_TO_HARDWARE
-# define METHOD_DIRECT_TO_HARDWARE METHOD_IN_DIRECT
-#endif
-
-#ifndef METHOD_DIRECT_FROM_HARDWARE
-# define METHOD_DIRECT_FROM_HARDWARE METHOD_OUT_DIRECT
-#endif
-
-#ifndef FILE_ANY_ACCESS
-# define FILE_ANY_ACCESS 0
-#endif
-
-#ifndef FILE_SPECIAL_ACCESS
-# define FILE_SPECIAL_ACCESS (FILE_ANY_ACCESS)
-#endif
-
-#ifndef FILE_READ_ACCESS
-# define FILE_READ_ACCESS 0x0001
-#endif
-
-#ifndef FILE_WRITE_ACCESS
-# define FILE_WRITE_ACCESS 0x0002
-#endif
-
-#ifndef CTL_CODE
-# define CTL_CODE(device_type, function, method, access) \
- (((device_type) << 16) | ((access) << 14) | ((function) << 2) | (method))
-#endif
-
-#ifndef FSCTL_SET_REPARSE_POINT
-# define FSCTL_SET_REPARSE_POINT CTL_CODE(FILE_DEVICE_FILE_SYSTEM, \
- 41, \
- METHOD_BUFFERED, \
- FILE_SPECIAL_ACCESS)
-#endif
-
-#ifndef FSCTL_GET_REPARSE_POINT
-# define FSCTL_GET_REPARSE_POINT CTL_CODE(FILE_DEVICE_FILE_SYSTEM, \
- 42, \
- METHOD_BUFFERED, \
- FILE_ANY_ACCESS)
-#endif
-
-#ifndef FSCTL_DELETE_REPARSE_POINT
-# define FSCTL_DELETE_REPARSE_POINT CTL_CODE(FILE_DEVICE_FILE_SYSTEM, \
- 43, \
- METHOD_BUFFERED, \
- FILE_SPECIAL_ACCESS)
-#endif
-
-#ifndef IO_REPARSE_TAG_SYMLINK
-# define IO_REPARSE_TAG_SYMLINK (0xA000000CL)
-#endif
-
-typedef VOID (NTAPI *PIO_APC_ROUTINE)
- (PVOID ApcContext,
- PIO_STATUS_BLOCK IoStatusBlock,
- ULONG Reserved);
-
-typedef ULONG (NTAPI *sRtlNtStatusToDosError)
- (NTSTATUS Status);
-
-typedef NTSTATUS (NTAPI *sNtDeviceIoControlFile)
- (HANDLE FileHandle,
- HANDLE Event,
- PIO_APC_ROUTINE ApcRoutine,
- PVOID ApcContext,
- PIO_STATUS_BLOCK IoStatusBlock,
- ULONG IoControlCode,
- PVOID InputBuffer,
- ULONG InputBufferLength,
- PVOID OutputBuffer,
- ULONG OutputBufferLength);
-
-typedef NTSTATUS (NTAPI *sNtQueryInformationFile)
- (HANDLE FileHandle,
- PIO_STATUS_BLOCK IoStatusBlock,
- PVOID FileInformation,
- ULONG Length,
- FILE_INFORMATION_CLASS FileInformationClass);
-
-typedef NTSTATUS (NTAPI *sNtSetInformationFile)
- (HANDLE FileHandle,
- PIO_STATUS_BLOCK IoStatusBlock,
- PVOID FileInformation,
- ULONG Length,
- FILE_INFORMATION_CLASS FileInformationClass);
-
-typedef NTSTATUS (NTAPI *sNtQueryVolumeInformationFile)
- (HANDLE FileHandle,
- PIO_STATUS_BLOCK IoStatusBlock,
- PVOID FsInformation,
- ULONG Length,
- FS_INFORMATION_CLASS FsInformationClass);
-
-typedef NTSTATUS (NTAPI *sNtQuerySystemInformation)
- (UINT SystemInformationClass,
- PVOID SystemInformation,
- ULONG SystemInformationLength,
- PULONG ReturnLength);
-
-typedef NTSTATUS (NTAPI *sNtQueryDirectoryFile)
- (HANDLE FileHandle,
- HANDLE Event,
- PIO_APC_ROUTINE ApcRoutine,
- PVOID ApcContext,
- PIO_STATUS_BLOCK IoStatusBlock,
- PVOID FileInformation,
- ULONG Length,
- FILE_INFORMATION_CLASS FileInformationClass,
- BOOLEAN ReturnSingleEntry,
- PUNICODE_STRING FileName,
- BOOLEAN RestartScan
- );
-
-/*
- * Kernel32 headers
- */
-#ifndef FILE_SKIP_COMPLETION_PORT_ON_SUCCESS
-# define FILE_SKIP_COMPLETION_PORT_ON_SUCCESS 0x1
-#endif
-
-#ifndef FILE_SKIP_SET_EVENT_ON_HANDLE
-# define FILE_SKIP_SET_EVENT_ON_HANDLE 0x2
-#endif
-
-#ifndef SYMBOLIC_LINK_FLAG_DIRECTORY
-# define SYMBOLIC_LINK_FLAG_DIRECTORY 0x1
-#endif
-
-#if defined(__MINGW32__) && !defined(__MINGW64_VERSION_MAJOR)
- typedef struct _OVERLAPPED_ENTRY {
- ULONG_PTR lpCompletionKey;
- LPOVERLAPPED lpOverlapped;
- ULONG_PTR Internal;
- DWORD dwNumberOfBytesTransferred;
- } OVERLAPPED_ENTRY, *LPOVERLAPPED_ENTRY;
-#endif
-
-/* from wincon.h */
-#ifndef ENABLE_INSERT_MODE
-# define ENABLE_INSERT_MODE 0x20
-#endif
-
-#ifndef ENABLE_QUICK_EDIT_MODE
-# define ENABLE_QUICK_EDIT_MODE 0x40
-#endif
-
-#ifndef ENABLE_EXTENDED_FLAGS
-# define ENABLE_EXTENDED_FLAGS 0x80
-#endif
-
-/* from winerror.h */
-#ifndef ERROR_ELEVATION_REQUIRED
-# define ERROR_ELEVATION_REQUIRED 740
-#endif
-
-#ifndef ERROR_SYMLINK_NOT_SUPPORTED
-# define ERROR_SYMLINK_NOT_SUPPORTED 1464
-#endif
-
-#ifndef ERROR_MUI_FILE_NOT_FOUND
-# define ERROR_MUI_FILE_NOT_FOUND 15100
-#endif
-
-#ifndef ERROR_MUI_INVALID_FILE
-# define ERROR_MUI_INVALID_FILE 15101
-#endif
-
-#ifndef ERROR_MUI_INVALID_RC_CONFIG
-# define ERROR_MUI_INVALID_RC_CONFIG 15102
-#endif
-
-#ifndef ERROR_MUI_INVALID_LOCALE_NAME
-# define ERROR_MUI_INVALID_LOCALE_NAME 15103
-#endif
-
-#ifndef ERROR_MUI_INVALID_ULTIMATEFALLBACK_NAME
-# define ERROR_MUI_INVALID_ULTIMATEFALLBACK_NAME 15104
-#endif
-
-#ifndef ERROR_MUI_FILE_NOT_LOADED
-# define ERROR_MUI_FILE_NOT_LOADED 15105
-#endif
-
-/* from powerbase.h */
-#ifndef DEVICE_NOTIFY_CALLBACK
-# define DEVICE_NOTIFY_CALLBACK 2
-#endif
-
-#ifndef PBT_APMRESUMEAUTOMATIC
-# define PBT_APMRESUMEAUTOMATIC 18
-#endif
-
-#ifndef PBT_APMRESUMESUSPEND
-# define PBT_APMRESUMESUSPEND 7
-#endif
-
-typedef ULONG CALLBACK _DEVICE_NOTIFY_CALLBACK_ROUTINE(
- PVOID Context,
- ULONG Type,
- PVOID Setting
-);
-typedef _DEVICE_NOTIFY_CALLBACK_ROUTINE* _PDEVICE_NOTIFY_CALLBACK_ROUTINE;
-
-typedef struct _DEVICE_NOTIFY_SUBSCRIBE_PARAMETERS {
- _PDEVICE_NOTIFY_CALLBACK_ROUTINE Callback;
- PVOID Context;
-} _DEVICE_NOTIFY_SUBSCRIBE_PARAMETERS, *_PDEVICE_NOTIFY_SUBSCRIBE_PARAMETERS;
-
-typedef PVOID _HPOWERNOTIFY;
-typedef _HPOWERNOTIFY *_PHPOWERNOTIFY;
-
-typedef DWORD (WINAPI *sPowerRegisterSuspendResumeNotification)
- (DWORD Flags,
- HANDLE Recipient,
- _PHPOWERNOTIFY RegistrationHandle);
-
-/* from Winuser.h */
-typedef VOID (CALLBACK* WINEVENTPROC)
- (HWINEVENTHOOK hWinEventHook,
- DWORD event,
- HWND hwnd,
- LONG idObject,
- LONG idChild,
- DWORD idEventThread,
- DWORD dwmsEventTime);
-
-typedef HWINEVENTHOOK (WINAPI *sSetWinEventHook)
- (UINT eventMin,
- UINT eventMax,
- HMODULE hmodWinEventProc,
- WINEVENTPROC lpfnWinEventProc,
- DWORD idProcess,
- DWORD idThread,
- UINT dwflags);
-
-
-/* Ntdll function pointers */
-extern sRtlNtStatusToDosError pRtlNtStatusToDosError;
-extern sNtDeviceIoControlFile pNtDeviceIoControlFile;
-extern sNtQueryInformationFile pNtQueryInformationFile;
-extern sNtSetInformationFile pNtSetInformationFile;
-extern sNtQueryVolumeInformationFile pNtQueryVolumeInformationFile;
-extern sNtQueryDirectoryFile pNtQueryDirectoryFile;
-extern sNtQuerySystemInformation pNtQuerySystemInformation;
-
-/* Powrprof.dll function pointer */
-extern sPowerRegisterSuspendResumeNotification pPowerRegisterSuspendResumeNotification;
-
-/* User32.dll function pointer */
-extern sSetWinEventHook pSetWinEventHook;
-
-#endif /* UV_WIN_WINAPI_H_ */
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/winsock.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/winsock.cpp
deleted file mode 100644
index f4172e2..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/main/native/libuv/win/winsock.cpp
+++ /dev/null
@@ -1,593 +0,0 @@
-/* Copyright Joyent, Inc. and other Node contributors. All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to
- * deal in the Software without restriction, including without limitation the
- * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
- * sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
- * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
- * IN THE SOFTWARE.
- */
-
-#include <assert.h>
-#include <stdlib.h>
-
-#include "uv.h"
-#include "internal.h"
-
-
-#pragma comment(lib, "Ws2_32.lib")
-
-/* Whether there are any non-IFS LSPs stacked on TCP */
-int uv_tcp_non_ifs_lsp_ipv4;
-int uv_tcp_non_ifs_lsp_ipv6;
-
-/* Ip address used to bind to any port at any interface */
-struct sockaddr_in uv_addr_ip4_any_;
-struct sockaddr_in6 uv_addr_ip6_any_;
-
-
-/*
- * Retrieves the pointer to a winsock extension function.
- */
-static BOOL uv_get_extension_function(SOCKET socket, GUID guid,
- void **target) {
- int result;
- DWORD bytes;
-
- result = WSAIoctl(socket,
- SIO_GET_EXTENSION_FUNCTION_POINTER,
- &guid,
- sizeof(guid),
- (void*)target,
- sizeof(*target),
- &bytes,
- NULL,
- NULL);
-
- if (result == SOCKET_ERROR) {
- *target = NULL;
- return FALSE;
- } else {
- return TRUE;
- }
-}
-
-
-BOOL uv_get_acceptex_function(SOCKET socket, LPFN_ACCEPTEX* target) {
- const GUID wsaid_acceptex = WSAID_ACCEPTEX;
- return uv_get_extension_function(socket, wsaid_acceptex, (void**)target);
-}
-
-
-BOOL uv_get_connectex_function(SOCKET socket, LPFN_CONNECTEX* target) {
- const GUID wsaid_connectex = WSAID_CONNECTEX;
- return uv_get_extension_function(socket, wsaid_connectex, (void**)target);
-}
-
-
-static int error_means_no_support(DWORD error) {
- return error == WSAEPROTONOSUPPORT || error == WSAESOCKTNOSUPPORT ||
- error == WSAEPFNOSUPPORT || error == WSAEAFNOSUPPORT;
-}
-
-
-void uv_winsock_init(void) {
- WSADATA wsa_data;
- int errorno;
- SOCKET dummy;
- WSAPROTOCOL_INFOW protocol_info;
- int opt_len;
-
- /* Initialize winsock */
- errorno = WSAStartup(MAKEWORD(2, 2), &wsa_data);
- if (errorno != 0) {
- uv_fatal_error(errorno, "WSAStartup");
- }
-
- /* Set implicit binding address used by connectEx */
- if (uv_ip4_addr("0.0.0.0", 0, &uv_addr_ip4_any_)) {
- abort();
- }
-
- if (uv_ip6_addr("::", 0, &uv_addr_ip6_any_)) {
- abort();
- }
-
- /* Detect non-IFS LSPs */
- dummy = socket(AF_INET, SOCK_STREAM, IPPROTO_IP);
-
- if (dummy != INVALID_SOCKET) {
- opt_len = (int) sizeof protocol_info;
- if (getsockopt(dummy,
- SOL_SOCKET,
- SO_PROTOCOL_INFOW,
- (char*) &protocol_info,
- &opt_len) == SOCKET_ERROR)
- uv_fatal_error(WSAGetLastError(), "getsockopt");
-
- if (!(protocol_info.dwServiceFlags1 & XP1_IFS_HANDLES))
- uv_tcp_non_ifs_lsp_ipv4 = 1;
-
- if (closesocket(dummy) == SOCKET_ERROR)
- uv_fatal_error(WSAGetLastError(), "closesocket");
-
- } else if (!error_means_no_support(WSAGetLastError())) {
- /* Any error other than "socket type not supported" is fatal. */
- uv_fatal_error(WSAGetLastError(), "socket");
- }
-
- /* Detect IPV6 support and non-IFS LSPs */
- dummy = socket(AF_INET6, SOCK_STREAM, IPPROTO_IP);
-
- if (dummy != INVALID_SOCKET) {
- opt_len = (int) sizeof protocol_info;
- if (getsockopt(dummy,
- SOL_SOCKET,
- SO_PROTOCOL_INFOW,
- (char*) &protocol_info,
- &opt_len) == SOCKET_ERROR)
- uv_fatal_error(WSAGetLastError(), "getsockopt");
-
- if (!(protocol_info.dwServiceFlags1 & XP1_IFS_HANDLES))
- uv_tcp_non_ifs_lsp_ipv6 = 1;
-
- if (closesocket(dummy) == SOCKET_ERROR)
- uv_fatal_error(WSAGetLastError(), "closesocket");
-
- } else if (!error_means_no_support(WSAGetLastError())) {
- /* Any error other than "socket type not supported" is fatal. */
- uv_fatal_error(WSAGetLastError(), "socket");
- }
-}
-
-
-int uv_ntstatus_to_winsock_error(NTSTATUS status) {
- switch (status) {
- case STATUS_SUCCESS:
- return ERROR_SUCCESS;
-
- case STATUS_PENDING:
- return ERROR_IO_PENDING;
-
- case STATUS_INVALID_HANDLE:
- case STATUS_OBJECT_TYPE_MISMATCH:
- return WSAENOTSOCK;
-
- case STATUS_INSUFFICIENT_RESOURCES:
- case STATUS_PAGEFILE_QUOTA:
- case STATUS_COMMITMENT_LIMIT:
- case STATUS_WORKING_SET_QUOTA:
- case STATUS_NO_MEMORY:
- case STATUS_QUOTA_EXCEEDED:
- case STATUS_TOO_MANY_PAGING_FILES:
- case STATUS_REMOTE_RESOURCES:
- return WSAENOBUFS;
-
- case STATUS_TOO_MANY_ADDRESSES:
- case STATUS_SHARING_VIOLATION:
- case STATUS_ADDRESS_ALREADY_EXISTS:
- return WSAEADDRINUSE;
-
- case STATUS_LINK_TIMEOUT:
- case STATUS_IO_TIMEOUT:
- case STATUS_TIMEOUT:
- return WSAETIMEDOUT;
-
- case STATUS_GRACEFUL_DISCONNECT:
- return WSAEDISCON;
-
- case STATUS_REMOTE_DISCONNECT:
- case STATUS_CONNECTION_RESET:
- case STATUS_LINK_FAILED:
- case STATUS_CONNECTION_DISCONNECTED:
- case STATUS_PORT_UNREACHABLE:
- case STATUS_HOPLIMIT_EXCEEDED:
- return WSAECONNRESET;
-
- case STATUS_LOCAL_DISCONNECT:
- case STATUS_TRANSACTION_ABORTED:
- case STATUS_CONNECTION_ABORTED:
- return WSAECONNABORTED;
-
- case STATUS_BAD_NETWORK_PATH:
- case STATUS_NETWORK_UNREACHABLE:
- case STATUS_PROTOCOL_UNREACHABLE:
- return WSAENETUNREACH;
-
- case STATUS_HOST_UNREACHABLE:
- return WSAEHOSTUNREACH;
-
- case STATUS_CANCELLED:
- case STATUS_REQUEST_ABORTED:
- return WSAEINTR;
-
- case STATUS_BUFFER_OVERFLOW:
- case STATUS_INVALID_BUFFER_SIZE:
- return WSAEMSGSIZE;
-
- case STATUS_BUFFER_TOO_SMALL:
- case STATUS_ACCESS_VIOLATION:
- return WSAEFAULT;
-
- case STATUS_DEVICE_NOT_READY:
- case STATUS_REQUEST_NOT_ACCEPTED:
- return WSAEWOULDBLOCK;
-
- case STATUS_INVALID_NETWORK_RESPONSE:
- case STATUS_NETWORK_BUSY:
- case STATUS_NO_SUCH_DEVICE:
- case STATUS_NO_SUCH_FILE:
- case STATUS_OBJECT_PATH_NOT_FOUND:
- case STATUS_OBJECT_NAME_NOT_FOUND:
- case STATUS_UNEXPECTED_NETWORK_ERROR:
- return WSAENETDOWN;
-
- case STATUS_INVALID_CONNECTION:
- return WSAENOTCONN;
-
- case STATUS_REMOTE_NOT_LISTENING:
- case STATUS_CONNECTION_REFUSED:
- return WSAECONNREFUSED;
-
- case STATUS_PIPE_DISCONNECTED:
- return WSAESHUTDOWN;
-
- case STATUS_CONFLICTING_ADDRESSES:
- case STATUS_INVALID_ADDRESS:
- case STATUS_INVALID_ADDRESS_COMPONENT:
- return WSAEADDRNOTAVAIL;
-
- case STATUS_NOT_SUPPORTED:
- case STATUS_NOT_IMPLEMENTED:
- return WSAEOPNOTSUPP;
-
- case STATUS_ACCESS_DENIED:
- return WSAEACCES;
-
- default:
- if ((status & (FACILITY_NTWIN32 << 16)) == (FACILITY_NTWIN32 << 16) &&
- (status & (ERROR_SEVERITY_ERROR | ERROR_SEVERITY_WARNING))) {
- /* It's a windows error that has been previously mapped to an ntstatus
- * code. */
- return (DWORD) (status & 0xffff);
- } else {
- /* The default fallback for unmappable ntstatus codes. */
- return WSAEINVAL;
- }
- }
-}
-
-
-/*
- * This function provides a workaround for a bug in the winsock implementation
- * of WSARecv. The problem is that when SetFileCompletionNotificationModes is
- * used to avoid IOCP notifications of completed reads, WSARecv does not
- * reliably indicate whether we can expect a completion package to be posted
- * when the receive buffer is smaller than the received datagram.
- *
- * However it is desirable to use SetFileCompletionNotificationModes because
- * it yields a massive performance increase.
- *
- * This function provides a workaround for that bug, but it only works for the
- * specific case that we need it for. E.g. it assumes that the "avoid iocp"
- * bit has been set, and supports only overlapped operation. It also requires
- * the user to use the default msafd driver, doesn't work when other LSPs are
- * stacked on top of it.
- */
-int WSAAPI uv_wsarecv_workaround(SOCKET socket, WSABUF* buffers,
- DWORD buffer_count, DWORD* bytes, DWORD* flags, WSAOVERLAPPED *overlapped,
- LPWSAOVERLAPPED_COMPLETION_ROUTINE completion_routine) {
- NTSTATUS status;
- void* apc_context;
- IO_STATUS_BLOCK* iosb = (IO_STATUS_BLOCK*) &overlapped->Internal;
- AFD_RECV_INFO info;
- DWORD error;
-
- if (overlapped == NULL || completion_routine != NULL) {
- WSASetLastError(WSAEINVAL);
- return SOCKET_ERROR;
- }
-
- info.BufferArray = buffers;
- info.BufferCount = buffer_count;
- info.AfdFlags = AFD_OVERLAPPED;
- info.TdiFlags = TDI_RECEIVE_NORMAL;
-
- if (*flags & MSG_PEEK) {
- info.TdiFlags |= TDI_RECEIVE_PEEK;
- }
-
- if (*flags & MSG_PARTIAL) {
- info.TdiFlags |= TDI_RECEIVE_PARTIAL;
- }
-
- if (!((intptr_t) overlapped->hEvent & 1)) {
- apc_context = (void*) overlapped;
- } else {
- apc_context = NULL;
- }
-
- iosb->Status = STATUS_PENDING;
- iosb->Pointer = 0;
-
- status = pNtDeviceIoControlFile((HANDLE) socket,
- overlapped->hEvent,
- NULL,
- apc_context,
- iosb,
- IOCTL_AFD_RECEIVE,
- &info,
- sizeof(info),
- NULL,
- 0);
-
- *flags = 0;
- *bytes = (DWORD) iosb->Information;
-
- switch (status) {
- case STATUS_SUCCESS:
- error = ERROR_SUCCESS;
- break;
-
- case STATUS_PENDING:
- error = WSA_IO_PENDING;
- break;
-
- case STATUS_BUFFER_OVERFLOW:
- error = WSAEMSGSIZE;
- break;
-
- case STATUS_RECEIVE_EXPEDITED:
- error = ERROR_SUCCESS;
- *flags = MSG_OOB;
- break;
-
- case STATUS_RECEIVE_PARTIAL_EXPEDITED:
- error = ERROR_SUCCESS;
- *flags = MSG_PARTIAL | MSG_OOB;
- break;
-
- case STATUS_RECEIVE_PARTIAL:
- error = ERROR_SUCCESS;
- *flags = MSG_PARTIAL;
- break;
-
- default:
- error = uv_ntstatus_to_winsock_error(status);
- break;
- }
-
- WSASetLastError(error);
-
- if (error == ERROR_SUCCESS) {
- return 0;
- } else {
- return SOCKET_ERROR;
- }
-}
-
-
-/* See description of uv_wsarecv_workaround. */
-int WSAAPI uv_wsarecvfrom_workaround(SOCKET socket, WSABUF* buffers,
- DWORD buffer_count, DWORD* bytes, DWORD* flags, struct sockaddr* addr,
- int* addr_len, WSAOVERLAPPED *overlapped,
- LPWSAOVERLAPPED_COMPLETION_ROUTINE completion_routine) {
- NTSTATUS status;
- void* apc_context;
- IO_STATUS_BLOCK* iosb = (IO_STATUS_BLOCK*) &overlapped->Internal;
- AFD_RECV_DATAGRAM_INFO info;
- DWORD error;
-
- if (overlapped == NULL || addr == NULL || addr_len == NULL ||
- completion_routine != NULL) {
- WSASetLastError(WSAEINVAL);
- return SOCKET_ERROR;
- }
-
- info.BufferArray = buffers;
- info.BufferCount = buffer_count;
- info.AfdFlags = AFD_OVERLAPPED;
- info.TdiFlags = TDI_RECEIVE_NORMAL;
- info.Address = addr;
- info.AddressLength = addr_len;
-
- if (*flags & MSG_PEEK) {
- info.TdiFlags |= TDI_RECEIVE_PEEK;
- }
-
- if (*flags & MSG_PARTIAL) {
- info.TdiFlags |= TDI_RECEIVE_PARTIAL;
- }
-
- if (!((intptr_t) overlapped->hEvent & 1)) {
- apc_context = (void*) overlapped;
- } else {
- apc_context = NULL;
- }
-
- iosb->Status = STATUS_PENDING;
- iosb->Pointer = 0;
-
- status = pNtDeviceIoControlFile((HANDLE) socket,
- overlapped->hEvent,
- NULL,
- apc_context,
- iosb,
- IOCTL_AFD_RECEIVE_DATAGRAM,
- &info,
- sizeof(info),
- NULL,
- 0);
-
- *flags = 0;
- *bytes = (DWORD) iosb->Information;
-
- switch (status) {
- case STATUS_SUCCESS:
- error = ERROR_SUCCESS;
- break;
-
- case STATUS_PENDING:
- error = WSA_IO_PENDING;
- break;
-
- case STATUS_BUFFER_OVERFLOW:
- error = WSAEMSGSIZE;
- break;
-
- case STATUS_RECEIVE_EXPEDITED:
- error = ERROR_SUCCESS;
- *flags = MSG_OOB;
- break;
-
- case STATUS_RECEIVE_PARTIAL_EXPEDITED:
- error = ERROR_SUCCESS;
- *flags = MSG_PARTIAL | MSG_OOB;
- break;
-
- case STATUS_RECEIVE_PARTIAL:
- error = ERROR_SUCCESS;
- *flags = MSG_PARTIAL;
- break;
-
- default:
- error = uv_ntstatus_to_winsock_error(status);
- break;
- }
-
- WSASetLastError(error);
-
- if (error == ERROR_SUCCESS) {
- return 0;
- } else {
- return SOCKET_ERROR;
- }
-}
-
-
-int WSAAPI uv_msafd_poll(SOCKET socket, AFD_POLL_INFO* info_in,
- AFD_POLL_INFO* info_out, OVERLAPPED* overlapped) {
- IO_STATUS_BLOCK iosb;
- IO_STATUS_BLOCK* iosb_ptr;
- HANDLE event = NULL;
- void* apc_context;
- NTSTATUS status;
- DWORD error;
-
- if (overlapped != NULL) {
- /* Overlapped operation. */
- iosb_ptr = (IO_STATUS_BLOCK*) &overlapped->Internal;
- event = overlapped->hEvent;
-
- /* Do not report iocp completion if hEvent is tagged. */
- if ((uintptr_t) event & 1) {
- event = (HANDLE)((uintptr_t) event & ~(uintptr_t) 1);
- apc_context = NULL;
- } else {
- apc_context = overlapped;
- }
-
- } else {
- /* Blocking operation. */
- iosb_ptr = &iosb;
- event = CreateEvent(NULL, FALSE, FALSE, NULL);
- if (event == NULL) {
- return SOCKET_ERROR;
- }
- apc_context = NULL;
- }
-
- iosb_ptr->Status = STATUS_PENDING;
- status = pNtDeviceIoControlFile((HANDLE) socket,
- event,
- NULL,
- apc_context,
- iosb_ptr,
- IOCTL_AFD_POLL,
- info_in,
- sizeof *info_in,
- info_out,
- sizeof *info_out);
-
- if (overlapped == NULL) {
- /* If this is a blocking operation, wait for the event to become signaled,
- * and then grab the real status from the io status block. */
- if (status == STATUS_PENDING) {
- DWORD r = WaitForSingleObject(event, INFINITE);
-
- if (r == WAIT_FAILED) {
- DWORD saved_error = GetLastError();
- CloseHandle(event);
- WSASetLastError(saved_error);
- return SOCKET_ERROR;
- }
-
- status = iosb.Status;
- }
-
- CloseHandle(event);
- }
-
- switch (status) {
- case STATUS_SUCCESS:
- error = ERROR_SUCCESS;
- break;
-
- case STATUS_PENDING:
- error = WSA_IO_PENDING;
- break;
-
- default:
- error = uv_ntstatus_to_winsock_error(status);
- break;
- }
-
- WSASetLastError(error);
-
- if (error == ERROR_SUCCESS) {
- return 0;
- } else {
- return SOCKET_ERROR;
- }
-}
-
-int uv__convert_to_localhost_if_unspecified(const struct sockaddr* addr,
- struct sockaddr_storage* storage) {
- struct sockaddr_in* dest4;
- struct sockaddr_in6* dest6;
-
- if (addr == NULL)
- return UV_EINVAL;
-
- switch (addr->sa_family) {
- case AF_INET:
- dest4 = (struct sockaddr_in*) storage;
- memcpy(dest4, addr, sizeof(*dest4));
- if (dest4->sin_addr.s_addr == 0)
- dest4->sin_addr.s_addr = htonl(INADDR_LOOPBACK);
- return 0;
- case AF_INET6:
- dest6 = (struct sockaddr_in6*) storage;
- memcpy(dest6, addr, sizeof(*dest6));
- if (memcmp(&dest6->sin6_addr,
- &uv_addr_ip6_any_.sin6_addr,
- sizeof(uv_addr_ip6_any_.sin6_addr)) == 0) {
- struct in6_addr init_sin6_addr = IN6ADDR_LOOPBACK_INIT;
- dest6->sin6_addr = init_sin6_addr;
- }
- return 0;
- default:
- return UV_EINVAL;
- }
-}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/unix/Demangle.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/unix/Demangle.cpp
new file mode 100644
index 0000000..1ce4f31
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/unix/Demangle.cpp
@@ -0,0 +1,36 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "wpi/Demangle.h"
+
+#include <cxxabi.h>
+
+#include <cstdio>
+
+namespace wpi {
+
+std::string Demangle(char const* mangledSymbol) {
+ char buffer[256];
+ size_t length;
+ int32_t status;
+
+ if (std::sscanf(mangledSymbol, "%*[^(]%*[(]%255[^)+]", buffer)) {
+ char* symbol = abi::__cxa_demangle(buffer, nullptr, &length, &status);
+ if (status == 0) {
+ return symbol;
+ } else {
+ // If the symbol couldn't be demangled, it's probably a C function,
+ // so just return it as-is.
+ return buffer;
+ }
+ }
+
+ // If everything else failed, just return the mangled symbol
+ return mangledSymbol;
+}
+
+} // namespace wpi
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/unix/StackTrace.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/unix/StackTrace.cpp
new file mode 100644
index 0000000..be28080
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/unix/StackTrace.cpp
@@ -0,0 +1,37 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "wpi/StackTrace.h"
+
+#include <execinfo.h>
+
+#include "wpi/Demangle.h"
+#include "wpi/SmallString.h"
+#include "wpi/raw_ostream.h"
+
+namespace wpi {
+
+std::string GetStackTrace(int offset) {
+ void* stackTrace[128];
+ int stackSize = backtrace(stackTrace, 128);
+ char** mangledSymbols = backtrace_symbols(stackTrace, stackSize);
+ wpi::SmallString<1024> buf;
+ wpi::raw_svector_ostream trace(buf);
+
+ for (int i = offset; i < stackSize; i++) {
+ // Only print recursive functions once in a row.
+ if (i == 0 || stackTrace[i] != stackTrace[i - 1]) {
+ trace << "\tat " << Demangle(mangledSymbols[i]) << "\n";
+ }
+ }
+
+ std::free(mangledSymbols);
+
+ return trace.str();
+}
+
+} // namespace wpi
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/windows/Demangle.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/windows/Demangle.cpp
new file mode 100644
index 0000000..34d1cab
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/windows/Demangle.cpp
@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "wpi/Demangle.h"
+
+#include <windows.h> // NOLINT(build/include_order)
+
+#include <dbghelp.h>
+
+#include "wpi/mutex.h"
+
+#pragma comment(lib, "Dbghelp.lib")
+
+namespace wpi {
+
+std::string Demangle(char const* mangledSymbol) {
+ static wpi::mutex m;
+ std::scoped_lock lock(m);
+ char buffer[256];
+ DWORD sz = UnDecorateSymbolName(mangledSymbol, buffer, sizeof(buffer),
+ UNDNAME_COMPLETE);
+ if (sz == 0) return mangledSymbol;
+ return std::string(buffer, sz);
+}
+
+} // namespace wpi
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/windows/StackTrace.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/windows/StackTrace.cpp
new file mode 100644
index 0000000..86bbdff
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/windows/StackTrace.cpp
@@ -0,0 +1,45 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "wpi/StackTrace.h"
+
+#include "StackWalker.h"
+#include "wpi/ConvertUTF.h"
+#include "wpi/SmallString.h"
+
+namespace {
+class StackTraceWalker : public StackWalker {
+ public:
+ explicit StackTraceWalker(std::string& output) : m_output(output) {}
+
+ void OnOutput(LPCTSTR szText) override;
+
+ private:
+ std::string& m_output;
+};
+} // namespace
+
+void StackTraceWalker::OnOutput(LPCTSTR szText) {
+#ifdef _UNICODE
+ wpi::SmallString<128> utf8;
+ wpi::sys::windows::UTF16ToUTF8(szText, wcslen(szText), utf8);
+ m_output.append(utf8.data(), utf8.size());
+#else
+ m_output.append(szText);
+#endif
+}
+
+namespace wpi {
+
+std::string GetStackTrace(int offset) {
+ // TODO: implement offset
+ std::string output;
+ StackTraceWalker walker(output);
+ return output;
+}
+
+} // namespace wpi
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/windows/StackWalker.cpp b/third_party/allwpilib_2019/wpiutil/src/main/native/windows/StackWalker.cpp
new file mode 100644
index 0000000..237360a
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/windows/StackWalker.cpp
@@ -0,0 +1,1374 @@
+/**********************************************************************
+ *
+ * StackWalker.cpp
+ * https://github.com/JochenKalmbach/StackWalker
+ *
+ * Old location: http://stackwalker.codeplex.com/
+ *
+ *
+ * History:
+ * 2005-07-27 v1 - First public release on http://www.codeproject.com/
+ * http://www.codeproject.com/threads/StackWalker.asp
+ * 2005-07-28 v2 - Changed the params of the constructor and ShowCallstack
+ * (to simplify the usage)
+ * 2005-08-01 v3 - Changed to use 'CONTEXT_FULL' instead of CONTEXT_ALL
+ * (should also be enough)
+ * - Changed to compile correctly with the PSDK of VC7.0
+ * (GetFileVersionInfoSizeA and GetFileVersionInfoA is wrongly defined:
+ * it uses LPSTR instead of LPCSTR as first parameter)
+ * - Added declarations to support VC5/6 without using 'dbghelp.h'
+ * - Added a 'pUserData' member to the ShowCallstack function and the
+ * PReadProcessMemoryRoutine declaration (to pass some user-defined data,
+ * which can be used in the readMemoryFunction-callback)
+ * 2005-08-02 v4 - OnSymInit now also outputs the OS-Version by default
+ * - Added example for doing an exception-callstack-walking in main.cpp
+ * (thanks to owillebo: http://www.codeproject.com/script/profile/whos_who.asp?id=536268)
+ * 2005-08-05 v5 - Removed most Lint (http://www.gimpel.com/) errors... thanks to Okko Willeboordse!
+ * 2008-08-04 v6 - Fixed Bug: Missing LEAK-end-tag
+ * http://www.codeproject.com/KB/applications/leakfinder.aspx?msg=2502890#xx2502890xx
+ * Fixed Bug: Compiled with "WIN32_LEAN_AND_MEAN"
+ * http://www.codeproject.com/KB/applications/leakfinder.aspx?msg=1824718#xx1824718xx
+ * Fixed Bug: Compiling with "/Wall"
+ * http://www.codeproject.com/KB/threads/StackWalker.aspx?msg=2638243#xx2638243xx
+ * Fixed Bug: Now checking SymUseSymSrv
+ * http://www.codeproject.com/KB/threads/StackWalker.aspx?msg=1388979#xx1388979xx
+ * Fixed Bug: Support for recursive function calls
+ * http://www.codeproject.com/KB/threads/StackWalker.aspx?msg=1434538#xx1434538xx
+ * Fixed Bug: Missing FreeLibrary call in "GetModuleListTH32"
+ * http://www.codeproject.com/KB/threads/StackWalker.aspx?msg=1326923#xx1326923xx
+ * Fixed Bug: SymDia is number 7, not 9!
+ * 2008-09-11 v7 For some (undocumented) reason, dbhelp.h is needing a packing of 8!
+ * Thanks to Teajay which reported the bug...
+ * http://www.codeproject.com/KB/applications/leakfinder.aspx?msg=2718933#xx2718933xx
+ * 2008-11-27 v8 Debugging Tools for Windows are now stored in a different directory
+ * Thanks to Luiz Salamon which reported this "bug"...
+ * http://www.codeproject.com/KB/threads/StackWalker.aspx?msg=2822736#xx2822736xx
+ * 2009-04-10 v9 License slightly corrected (<ORGANIZATION> replaced)
+ * 2009-11-01 v10 Moved to http://stackwalker.codeplex.com/
+ * 2009-11-02 v11 Now try to use IMAGEHLP_MODULE64_V3 if available
+ * 2010-04-15 v12 Added support for VS2010 RTM
+ * 2010-05-25 v13 Now using secure MyStrcCpy. Thanks to luke.simon:
+ * http://www.codeproject.com/KB/applications/leakfinder.aspx?msg=3477467#xx3477467xx
+ * 2013-01-07 v14 Runtime Check Error VS2010 Debug Builds fixed:
+ * http://stackwalker.codeplex.com/workitem/10511
+ *
+ *
+ * LICENSE (http://www.opensource.org/licenses/bsd-license.php)
+ *
+ * Copyright (c) 2005-2013, Jochen Kalmbach
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *
+ * Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * Neither the name of Jochen Kalmbach nor the names of its contributors may be
+ * used to endorse or promote products derived from this software without
+ * specific prior written permission.
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+ * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ **********************************************************************/
+
+#include "StackWalker.h"
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <tchar.h>
+#pragma comment(lib, "version.lib") // for "VerQueryValue"
+#pragma comment(lib, "Advapi32.lib") // for "GetUserName"
+#pragma warning(disable : 4826)
+
+#ifdef UNICODE
+ #define DBGHELP_TRANSLATE_TCHAR
+
+#endif
+#pragma pack(push, 8)
+#include <dbghelp.h>
+#pragma pack(pop)
+
+
+static void MyStrCpy(TCHAR* szDest, size_t nMaxDestSize, const TCHAR* szSrc)
+{
+ if (nMaxDestSize <= 0)
+ return;
+ _tcsncpy_s(szDest, nMaxDestSize, szSrc, _TRUNCATE);
+ // INFO: _TRUNCATE will ensure that it is null-terminated;
+ // but with older compilers (<1400) it uses "strncpy" and this does not!)
+ szDest[nMaxDestSize - 1] = 0;
+} // MyStrCpy
+
+#ifdef _UNICODE
+ typedef SYMBOL_INFOW tSymbolInfo;
+ typedef IMAGEHLP_LINEW64 tImageHelperLine;
+#else
+ typedef SYMBOL_INFO tSymbolInfo;
+ typedef IMAGEHLP_LINE64 tImageHelperLine;
+#endif
+
+// Normally it should be enough to use 'CONTEXT_FULL' (better would be 'CONTEXT_ALL')
+#define USED_CONTEXT_FLAGS CONTEXT_FULL
+
+class StackWalkerInternal
+{
+public:
+ StackWalkerInternal(StackWalker* parent, HANDLE hProcess)
+ {
+ m_parent = parent;
+ m_hDbhHelp = NULL;
+ symCleanup = NULL;
+ m_hProcess = hProcess;
+ m_szSymPath = NULL;
+ symFunctionTableAccess64 = NULL;
+ symGetLineFromAddr64 = NULL;
+ symGetModuleBase64 = NULL;
+ symGetModuleInfo64 = NULL;
+ symGetOptions = NULL;
+ symFromAddr = NULL;
+ symInitialize = NULL;
+ symLoadModuleEx = NULL;
+ symSetOptions = NULL;
+ stackWalk64 = NULL;
+ unDecorateSymbolName = NULL;
+ symGetSearchPath = NULL;
+ }
+ ~StackWalkerInternal()
+ {
+ if (symCleanup != NULL)
+ symCleanup(m_hProcess); // SymCleanup
+ if (m_hDbhHelp != NULL)
+ FreeLibrary(m_hDbhHelp);
+ m_hDbhHelp = NULL;
+ m_parent = NULL;
+ if (m_szSymPath != NULL)
+ free(m_szSymPath);
+ m_szSymPath = NULL;
+ }
+ BOOL Init(LPCTSTR szSymPath)
+ {
+ if (m_parent == NULL)
+ return FALSE;
+ // Dynamically load the Entry-Points for dbghelp.dll:
+ // First try to load the newest one from
+ TCHAR szTemp[4096];
+ // But before we do this, we first check if the ".local" file exists
+ if (GetModuleFileName(NULL, szTemp, 4096) > 0)
+ {
+ _tcscat_s(szTemp, _T(".local"));
+ if (GetFileAttributes(szTemp) == INVALID_FILE_ATTRIBUTES)
+ {
+ // ".local" file does not exist, so we can try to load the dbghelp.dll from the "Debugging Tools for Windows"
+ // Ok, first try the new path according to the architecture:
+#ifdef _M_IX86
+ if ((m_hDbhHelp == NULL) && (GetEnvironmentVariable(_T("ProgramFiles"), szTemp, 4096) > 0))
+ {
+ _tcscat_s(szTemp, _T("\\Debugging Tools for Windows (x86)\\dbghelp.dll"));
+ // now check if the file exists:
+ if (GetFileAttributes(szTemp) != INVALID_FILE_ATTRIBUTES)
+ {
+ m_hDbhHelp = LoadLibrary(szTemp);
+ }
+ }
+#elif _M_X64
+ if ((m_hDbhHelp == NULL) && (GetEnvironmentVariable(_T("ProgramFiles"), szTemp, 4096) > 0))
+ {
+ _tcscat_s(szTemp, _T("\\Debugging Tools for Windows (x64)\\dbghelp.dll"));
+ // now check if the file exists:
+ if (GetFileAttributes(szTemp) != INVALID_FILE_ATTRIBUTES)
+ {
+ m_hDbhHelp = LoadLibrary(szTemp);
+ }
+ }
+#elif _M_IA64
+ if ((m_hDbhHelp == NULL) && (GetEnvironmentVariable(_T("ProgramFiles"), szTemp, 4096) > 0))
+ {
+ _tcscat_s(szTemp, _T("\\Debugging Tools for Windows (ia64)\\dbghelp.dll"));
+ // now check if the file exists:
+ if (GetFileAttributes(szTemp) != INVALID_FILE_ATTRIBUTES)
+ {
+ m_hDbhHelp = LoadLibrary(szTemp);
+ }
+ }
+#endif
+ // If still not found, try the old directories...
+ if ((m_hDbhHelp == NULL) && (GetEnvironmentVariable(_T("ProgramFiles"), szTemp, 4096) > 0))
+ {
+ _tcscat_s(szTemp, _T("\\Debugging Tools for Windows\\dbghelp.dll"));
+ // now check if the file exists:
+ if (GetFileAttributes(szTemp) != INVALID_FILE_ATTRIBUTES)
+ {
+ m_hDbhHelp = LoadLibrary(szTemp);
+ }
+ }
+#if defined _M_X64 || defined _M_IA64
+ // Still not found? Then try to load the (old) 64-Bit version:
+ if ((m_hDbhHelp == NULL) && (GetEnvironmentVariable(_T("ProgramFiles"), szTemp, 4096) > 0))
+ {
+ _tcscat_s(szTemp, _T("\\Debugging Tools for Windows 64-Bit\\dbghelp.dll"));
+ if (GetFileAttributes(szTemp) != INVALID_FILE_ATTRIBUTES)
+ {
+ m_hDbhHelp = LoadLibrary(szTemp);
+ }
+ }
+#endif
+ }
+ }
+ if (m_hDbhHelp == NULL) // if not already loaded, try to load a default-one
+ m_hDbhHelp = LoadLibrary(_T("dbghelp.dll"));
+ if (m_hDbhHelp == NULL)
+ return FALSE;
+
+#ifdef _UNICODE
+ static const char strSymInitialize[] = "SymInitializeW";
+ static const char strUnDecorateSymbolName[] = "UnDecorateSymbolNameW";
+ static const char strSymGetSearchPath[] = "SymGetSearchPathW";
+ static const char strSymLoadModuleEx[] = "SymLoadModuleExW";
+ static const char strSymGetLineFromAddr64[] = "SymGetLineFromAddrW64";
+ static const char strSymGetModuleInfo64[] = "SymGetModuleInfoW64";
+ static const char strSymFromAddr[] = "SymFromAddrW";
+#else
+ static const char strSymInitialize[] = "SymInitialize";
+ static const char strUnDecorateSymbolName[] = "UnDecorateSymbolName";
+ static const char strSymGetSearchPath[] = "SymGetSearchPath";
+ static const char strSymLoadModuleEx[] = "SymLoadModuleEx";
+ static const char strSymGetLineFromAddr64[] = "SymGetLineFromAddr64";
+ static const char strSymGetModuleInfo64[] = "SymGetModuleInfo64";
+ static const char strSymFromAddr[] = "SymFromAddr";
+#endif
+ symInitialize = (tSI)GetProcAddress(m_hDbhHelp, strSymInitialize);
+ symCleanup = (tSC)GetProcAddress(m_hDbhHelp, "SymCleanup");
+
+ stackWalk64 = (tSW)GetProcAddress(m_hDbhHelp, "StackWalk64");
+ symGetOptions = (tSGO)GetProcAddress(m_hDbhHelp, "SymGetOptions");
+ symSetOptions = (tSSO)GetProcAddress(m_hDbhHelp, "SymSetOptions");
+
+ symFunctionTableAccess64 = (tSFTA)GetProcAddress(m_hDbhHelp, "SymFunctionTableAccess64");
+ symGetLineFromAddr64 = (tSGLFA)GetProcAddress(m_hDbhHelp, strSymGetLineFromAddr64);
+ symGetModuleBase64 = (tSGMB)GetProcAddress(m_hDbhHelp, "SymGetModuleBase64");
+ symGetModuleInfo64 = (tSGMI)GetProcAddress(m_hDbhHelp, strSymGetModuleInfo64);
+ symFromAddr = (tSFA)GetProcAddress(m_hDbhHelp, strSymFromAddr);
+ unDecorateSymbolName = (tUDSN)GetProcAddress(m_hDbhHelp, strUnDecorateSymbolName);
+ symLoadModuleEx = (tSLM)GetProcAddress(m_hDbhHelp, strSymLoadModuleEx);
+ symGetSearchPath = (tSGSP)GetProcAddress(m_hDbhHelp, strSymGetSearchPath);
+
+ if (symCleanup == NULL || symFunctionTableAccess64 == NULL || symGetModuleBase64 == NULL || symGetModuleInfo64 == NULL || symGetOptions == NULL ||
+ symFromAddr == NULL || symInitialize == NULL || symSetOptions == NULL || stackWalk64 == NULL || unDecorateSymbolName == NULL ||
+ symLoadModuleEx == NULL)
+ {
+ FreeLibrary(m_hDbhHelp);
+ m_hDbhHelp = NULL;
+ symCleanup = NULL;
+ return FALSE;
+ }
+
+ // SymInitialize
+ if (szSymPath != NULL)
+ m_szSymPath = _tcsdup(szSymPath);
+ if (this->symInitialize(m_hProcess, m_szSymPath, FALSE) == FALSE)
+ this->m_parent->OnDbgHelpErr(_T("SymInitialize"), GetLastError(), 0);
+
+ DWORD symOptions = this->symGetOptions(); // SymGetOptions
+ symOptions |= SYMOPT_LOAD_LINES;
+ symOptions |= SYMOPT_FAIL_CRITICAL_ERRORS;
+ //symOptions |= SYMOPT_NO_PROMPTS;
+ // SymSetOptions
+ symOptions = this->symSetOptions(symOptions);
+
+ TCHAR buf[StackWalker::STACKWALK_MAX_NAMELEN] = {0};
+ if (this->symGetSearchPath != NULL)
+ {
+ if (this->symGetSearchPath(m_hProcess, buf, StackWalker::STACKWALK_MAX_NAMELEN) == FALSE)
+ this->m_parent->OnDbgHelpErr(_T("SymGetSearchPath"), GetLastError(), 0);
+ }
+ TCHAR szUserName[1024] = {0};
+ DWORD dwSize = 1024;
+ GetUserName(szUserName, &dwSize);
+ this->m_parent->OnSymInit(buf, symOptions, szUserName);
+
+ return TRUE;
+ }
+
+ StackWalker* m_parent;
+
+ HMODULE m_hDbhHelp;
+ HANDLE m_hProcess;
+ LPTSTR m_szSymPath;
+
+#pragma pack(push, 8)
+ typedef struct IMAGEHLP_MODULE64_V3
+ {
+ DWORD SizeOfStruct; // set to sizeof(IMAGEHLP_MODULE64)
+ DWORD64 BaseOfImage; // base load address of module
+ DWORD ImageSize; // virtual size of the loaded module
+ DWORD TimeDateStamp; // date/time stamp from pe header
+ DWORD CheckSum; // checksum from the pe header
+ DWORD NumSyms; // number of symbols in the symbol table
+ SYM_TYPE SymType; // type of symbols loaded
+ TCHAR ModuleName[32]; // module name
+ TCHAR ImageName[256]; // image name
+ TCHAR LoadedImageName[256]; // symbol file name
+ // new elements: 07-Jun-2002
+ TCHAR LoadedPdbName[256]; // pdb file name
+ DWORD CVSig; // Signature of the CV record in the debug directories
+ TCHAR CVData[MAX_PATH * 3]; // Contents of the CV record
+ DWORD PdbSig; // Signature of PDB
+ GUID PdbSig70; // Signature of PDB (VC 7 and up)
+ DWORD PdbAge; // DBI age of pdb
+ BOOL PdbUnmatched; // loaded an unmatched pdb
+ BOOL DbgUnmatched; // loaded an unmatched dbg
+ BOOL LineNumbers; // we have line number information
+ BOOL GlobalSymbols; // we have internal symbol information
+ BOOL TypeInfo; // we have type information
+ // new elements: 17-Dec-2003
+ BOOL SourceIndexed; // pdb supports source server
+ BOOL Publics; // contains public symbols
+ };
+
+ typedef struct IMAGEHLP_MODULE64_V2
+ {
+ DWORD SizeOfStruct; // set to sizeof(IMAGEHLP_MODULE64)
+ DWORD64 BaseOfImage; // base load address of module
+ DWORD ImageSize; // virtual size of the loaded module
+ DWORD TimeDateStamp; // date/time stamp from pe header
+ DWORD CheckSum; // checksum from the pe header
+ DWORD NumSyms; // number of symbols in the symbol table
+ SYM_TYPE SymType; // type of symbols loaded
+ CHAR ModuleName[32]; // module name
+ CHAR ImageName[256]; // image name
+ CHAR LoadedImageName[256]; // symbol file name
+ };
+#pragma pack(pop)
+
+ // SymCleanup()
+ typedef BOOL(__stdcall* tSC)(IN HANDLE hProcess);
+ tSC symCleanup;
+
+ // SymFunctionTableAccess64()
+ typedef PVOID(__stdcall* tSFTA)(HANDLE hProcess, DWORD64 AddrBase);
+ tSFTA symFunctionTableAccess64;
+
+ // SymGetLineFromAddr64()
+ typedef BOOL(__stdcall* tSGLFA)(IN HANDLE hProcess,
+ IN DWORD64 dwAddr,
+ OUT PDWORD pdwDisplacement,
+ OUT tImageHelperLine* Line);
+ tSGLFA symGetLineFromAddr64;
+
+ // SymGetModuleBase64()
+ typedef DWORD64(__stdcall* tSGMB)(IN HANDLE hProcess, IN DWORD64 dwAddr);
+ tSGMB symGetModuleBase64;
+
+ // SymGetModuleInfo64()
+ typedef BOOL(__stdcall* tSGMI)(IN HANDLE hProcess,
+ IN DWORD64 dwAddr,
+ OUT IMAGEHLP_MODULE64_V3* ModuleInfo);
+ tSGMI symGetModuleInfo64;
+
+ // SymGetOptions()
+ typedef DWORD(__stdcall* tSGO)(VOID);
+ tSGO symGetOptions;
+
+
+ // SymGetSymFromAddr64()
+ typedef BOOL(__stdcall* tSFA)(IN HANDLE hProcess,
+ IN DWORD64 Address,
+ OUT PDWORD64 pdwDisplacement,
+ OUT tSymbolInfo* Symbol);
+ tSFA symFromAddr;
+
+ // SymInitialize()
+ typedef BOOL(__stdcall* tSI)(IN HANDLE hProcess, IN PTSTR UserSearchPath, IN BOOL fInvadeProcess);
+ tSI symInitialize;
+
+ // SymLoadModule64()
+ typedef DWORD64(__stdcall* tSLM)(IN HANDLE hProcess,
+ IN HANDLE hFile,
+ IN PTSTR ImageName,
+ IN PTSTR ModuleName,
+ IN DWORD64 BaseOfDll,
+ IN DWORD SizeOfDll,
+ IN PMODLOAD_DATA Data,
+ IN DWORD Flags);
+ tSLM symLoadModuleEx;
+
+ // SymSetOptions()
+ typedef DWORD(__stdcall* tSSO)(IN DWORD SymOptions);
+ tSSO symSetOptions;
+
+ // StackWalk64()
+ typedef BOOL(__stdcall* tSW)(DWORD MachineType,
+ HANDLE hProcess,
+ HANDLE hThread,
+ LPSTACKFRAME64 StackFrame,
+ PVOID ContextRecord,
+ PREAD_PROCESS_MEMORY_ROUTINE64 ReadMemoryRoutine,
+ PFUNCTION_TABLE_ACCESS_ROUTINE64 FunctionTableAccessRoutine,
+ PGET_MODULE_BASE_ROUTINE64 GetModuleBaseRoutine,
+ PTRANSLATE_ADDRESS_ROUTINE64 TranslateAddress);
+ tSW stackWalk64;
+
+ // UnDecorateSymbolName()
+ typedef DWORD(__stdcall WINAPI* tUDSN)(PCTSTR DecoratedName,
+ PTSTR UnDecoratedName,
+ DWORD UndecoratedLength,
+ DWORD Flags);
+ tUDSN unDecorateSymbolName;
+
+ typedef BOOL(__stdcall WINAPI* tSGSP)(HANDLE hProcess, PTSTR SearchPath, DWORD SearchPathLength);
+ tSGSP symGetSearchPath;
+
+private:
+// **************************************** ToolHelp32 ************************
+#define MAX_MODULE_NAME32 255
+#define TH32CS_SNAPMODULE 0x00000008
+#pragma pack(push, 8)
+ typedef struct tagMODULEENTRY32
+ {
+ DWORD dwSize;
+ DWORD th32ModuleID; // This module
+ DWORD th32ProcessID; // owning process
+ DWORD GlblcntUsage; // Global usage count on the module
+ DWORD ProccntUsage; // Module usage count in th32ProcessID's context
+ BYTE* modBaseAddr; // Base address of module in th32ProcessID's context
+ DWORD modBaseSize; // Size in bytes of module starting at modBaseAddr
+ HMODULE hModule; // The hModule of this module in th32ProcessID's context
+ TCHAR szModule[MAX_MODULE_NAME32 + 1];
+ TCHAR szExePath[MAX_PATH];
+ } MODULEENTRY32;
+ typedef MODULEENTRY32* PMODULEENTRY32;
+ typedef MODULEENTRY32* LPMODULEENTRY32;
+#pragma pack(pop)
+
+ BOOL GetModuleListTH32(HANDLE hProcess, DWORD pid)
+ {
+ // CreateToolhelp32Snapshot()
+ typedef HANDLE(__stdcall * tCT32S)(DWORD dwFlags, DWORD th32ProcessID);
+ // Module32First()
+ typedef BOOL(__stdcall * tM32F)(HANDLE hSnapshot, LPMODULEENTRY32 lpme);
+ // Module32Next()
+ typedef BOOL(__stdcall * tM32N)(HANDLE hSnapshot, LPMODULEENTRY32 lpme);
+
+ // try both dlls...
+ const TCHAR* dllname[] = {_T("kernel32.dll"), _T("tlhelp32.dll")};
+ HINSTANCE hToolhelp = NULL;
+ tCT32S createToolhelp32Snapshot = NULL;
+ tM32F module32First = NULL;
+ tM32N module32Next = NULL;
+
+ HANDLE hSnap;
+ MODULEENTRY32 moduleEntry32;
+ moduleEntry32.dwSize = sizeof(moduleEntry32);
+ BOOL keepGoing;
+
+#ifdef _UNICODE
+ static const char strModule32First[] = "Module32FirstW";
+ static const char strModule32Next[] = "Module32NextW";
+ #else
+ static const char strModule32First[] = "Module32First";
+ static const char strModule32Next[] = "Module32Next";
+#endif
+ for (size_t i = 0; i < (sizeof(dllname) / sizeof(dllname[0])); i++)
+ {
+ hToolhelp = LoadLibrary(dllname[i]);
+ if (hToolhelp == NULL)
+ continue;
+ createToolhelp32Snapshot = (tCT32S)GetProcAddress(hToolhelp, "CreateToolhelp32Snapshot");
+ module32First = (tM32F)GetProcAddress(hToolhelp, strModule32First);
+ module32Next = (tM32N)GetProcAddress(hToolhelp, strModule32Next);
+ if ((createToolhelp32Snapshot != NULL) && (module32First != NULL) && (module32Next != NULL))
+ break; // found the functions!
+ FreeLibrary(hToolhelp);
+ hToolhelp = NULL;
+ }
+
+ if (hToolhelp == NULL)
+ return FALSE;
+
+ hSnap = createToolhelp32Snapshot(TH32CS_SNAPMODULE, pid);
+ if (hSnap == (HANDLE)-1)
+ {
+ FreeLibrary(hToolhelp);
+ return FALSE;
+ }
+
+ keepGoing = !!module32First(hSnap, &moduleEntry32);
+ int cnt = 0;
+ while (keepGoing)
+ {
+ this->LoadModule(hProcess, moduleEntry32.szExePath, moduleEntry32.szModule, (DWORD64)moduleEntry32.modBaseAddr,
+ moduleEntry32.modBaseSize);
+ cnt++;
+ keepGoing = !!module32Next(hSnap, &moduleEntry32);
+ }
+ CloseHandle(hSnap);
+ FreeLibrary(hToolhelp);
+ if (cnt <= 0)
+ return FALSE;
+ return TRUE;
+ } // GetModuleListTH32
+
+ // **************************************** PSAPI ************************
+ typedef struct _MODULEINFO
+ {
+ LPVOID lpBaseOfDll;
+ DWORD SizeOfImage;
+ LPVOID EntryPoint;
+ } MODULEINFO, *LPMODULEINFO;
+
+ BOOL GetModuleListPSAPI(HANDLE hProcess)
+ {
+ // EnumProcessModules()
+ typedef BOOL(__stdcall * tEPM)(HANDLE hProcess, HMODULE * lphModule, DWORD cb,
+ LPDWORD lpcbNeeded);
+ // GetModuleFileNameEx()
+ typedef DWORD(__stdcall * tGMFNE)(HANDLE hProcess, HMODULE hModule, LPTSTR lpFilename,
+ DWORD nSize);
+ // GetModuleBaseName()
+ typedef DWORD(__stdcall * tGMBN)(HANDLE hProcess, HMODULE hModule, LPTSTR lpFilename,
+ DWORD nSize);
+ // GetModuleInformation()
+ typedef BOOL(__stdcall * tGMI)(HANDLE hProcess, HMODULE hModule, LPMODULEINFO pmi, DWORD nSize);
+
+ //ModuleEntry e;
+ DWORD cbNeeded;
+ MODULEINFO mi;
+ HMODULE* hMods = 0;
+ TCHAR* tt = NULL;
+ TCHAR* tt2 = NULL;
+ const SIZE_T TTBUFLEN = 8096;
+ int cnt = 0;
+
+ HINSTANCE hPsapi = LoadLibrary(_T("psapi.dll"));
+ if (hPsapi == NULL)
+ return FALSE;
+
+#ifdef _UNICODE
+ static const char strGetModuleFileName[] = "GetModuleFileNameExW";
+ static const char strGetModuleBaseName[] = "GetModuleBaseNameW";
+#else
+ static const char strGetModuleFileName[] = "GetModulefileNameExA";
+ static const char strGetModuleBaseName[] = "GetModuleBaseNameA";
+#endif
+
+ tEPM enumProcessModules = (tEPM)GetProcAddress(hPsapi, "EnumProcessModules");
+ tGMFNE getModuleFileNameEx = (tGMFNE)GetProcAddress(hPsapi, strGetModuleFileName);
+ tGMBN getModuleBaseName = (tGMFNE)GetProcAddress(hPsapi, strGetModuleBaseName);
+ tGMI getModuleInformation = (tGMI)GetProcAddress(hPsapi, "GetModuleInformation");
+ if ((enumProcessModules == NULL) || (getModuleFileNameEx == NULL) ||
+ (getModuleBaseName == NULL) || (getModuleInformation == NULL))
+ {
+ // we couldn't find all functions
+ FreeLibrary(hPsapi);
+ return FALSE;
+ }
+
+ hMods = (HMODULE*)malloc(sizeof(HMODULE) * (TTBUFLEN / sizeof(HMODULE)));
+ tt = (TCHAR*)malloc(sizeof(TCHAR) * TTBUFLEN);
+ tt2 = (TCHAR*)malloc(sizeof(TCHAR) * TTBUFLEN);
+ if ((hMods == NULL) || (tt == NULL) || (tt2 == NULL))
+ goto cleanup;
+
+ if (!enumProcessModules(hProcess, hMods, TTBUFLEN, &cbNeeded))
+ {
+ //_ftprintf(fLogFile, _T("%lu: EPM failed, GetLastError = %lu\n"), g_dwShowCount, gle );
+ goto cleanup;
+ }
+
+ if (cbNeeded > TTBUFLEN)
+ {
+ //_ftprintf(fLogFile, _T("%lu: More than %lu module handles. Huh?\n"), g_dwShowCount, lenof( hMods ) );
+ goto cleanup;
+ }
+
+ for (DWORD i = 0; i < cbNeeded / sizeof(hMods[0]); i++)
+ {
+ // base address, size
+ getModuleInformation(hProcess, hMods[i], &mi, sizeof(mi));
+ // image file name
+ tt[0] = 0;
+ getModuleFileNameEx(hProcess, hMods[i], tt, TTBUFLEN);
+ // module name
+ tt2[0] = 0;
+ getModuleBaseName(hProcess, hMods[i], tt2, TTBUFLEN);
+
+ DWORD dwRes = this->LoadModule(hProcess, tt, tt2, (DWORD64)mi.lpBaseOfDll, mi.SizeOfImage);
+ if (dwRes != ERROR_SUCCESS)
+ this->m_parent->OnDbgHelpErr(_T("LoadModule"), dwRes, 0);
+ cnt++;
+ }
+
+ cleanup:
+ if (hPsapi != NULL)
+ FreeLibrary(hPsapi);
+ if (tt2 != NULL)
+ free(tt2);
+ if (tt != NULL)
+ free(tt);
+ if (hMods != NULL)
+ free(hMods);
+
+ return cnt != 0;
+ } // GetModuleListPSAPI
+
+ DWORD LoadModule(HANDLE hProcess, LPCTSTR img, LPCTSTR mod, DWORD64 baseAddr, DWORD size)
+ {
+ TCHAR* szImg = _tcsdup(img);
+ TCHAR* szMod = _tcsdup(mod);
+ DWORD result = ERROR_SUCCESS;
+ if ((szImg == NULL) || (szMod == NULL))
+ result = ERROR_NOT_ENOUGH_MEMORY;
+ else
+ {
+ if (symLoadModuleEx(hProcess, 0, szImg, szMod, baseAddr, size, 0, 0) == 0)
+ result = GetLastError();
+ }
+ ULONGLONG fileVersion = 0;
+ if ((m_parent != NULL) && (szImg != NULL))
+ {
+ // try to retrieve the file-version:
+ if ((this->m_parent->m_options & StackWalker::RetrieveFileVersion) != 0)
+ {
+ VS_FIXEDFILEINFO* fInfo = NULL;
+ DWORD dwHandle;
+ DWORD dwSize = GetFileVersionInfoSize(szImg, &dwHandle);
+ if (dwSize > 0)
+ {
+ LPVOID vData = malloc(dwSize);
+ if (vData != NULL)
+ {
+ if (GetFileVersionInfo(szImg, dwHandle, dwSize, vData) != 0)
+ {
+ UINT len;
+ TCHAR szSubBlock[] = _T("\\");
+ if (VerQueryValue(vData, szSubBlock, (LPVOID*)&fInfo, &len) == 0)
+ fInfo = NULL;
+ else
+ {
+ fileVersion =
+ ((ULONGLONG)fInfo->dwFileVersionLS) + ((ULONGLONG)fInfo->dwFileVersionMS << 32);
+ }
+ }
+ free(vData);
+ }
+ }
+ }
+
+ // Retrieve some additional-infos about the module
+ IMAGEHLP_MODULE64_V3 Module;
+ const TCHAR* szSymType = _T("-unknown-");
+ if (this->GetModuleInfo(hProcess, baseAddr, &Module) != FALSE)
+ {
+ switch (Module.SymType)
+ {
+ case SymNone:
+ szSymType = _T("-nosymbols-");
+ break;
+ case SymCoff: // 1
+ szSymType = _T("COFF");
+ break;
+ case SymCv: // 2
+ szSymType = _T("CV");
+ break;
+ case SymPdb: // 3
+ szSymType = _T("PDB");
+ break;
+ case SymExport: // 4
+ szSymType = _T("-exported-");
+ break;
+ case SymDeferred: // 5
+ szSymType = _T("-deferred-");
+ break;
+ case SymSym: // 6
+ szSymType = _T("SYM");
+ break;
+ case 7: // SymDia:
+ szSymType = _T("DIA");
+ break;
+ case 8: //SymVirtual:
+ szSymType = _T("Virtual");
+ break;
+ }
+ }
+ LPCTSTR pdbName = Module.LoadedImageName;
+ if (Module.LoadedPdbName[0] != 0)
+ pdbName = Module.LoadedPdbName;
+ this->m_parent->OnLoadModule(img, mod, baseAddr, size, result, szSymType, pdbName,
+ fileVersion);
+ }
+ if (szImg != NULL)
+ free(szImg);
+ if (szMod != NULL)
+ free(szMod);
+ return result;
+ }
+
+public:
+ BOOL LoadModules(HANDLE hProcess, DWORD dwProcessId)
+ {
+ // first try toolhelp32
+ if (GetModuleListTH32(hProcess, dwProcessId))
+ return true;
+ // then try psapi
+ return GetModuleListPSAPI(hProcess);
+ }
+
+ BOOL GetModuleInfo(HANDLE hProcess, DWORD64 baseAddr, IMAGEHLP_MODULE64_V3* pModuleInfo)
+ {
+ memset(pModuleInfo, 0, sizeof(IMAGEHLP_MODULE64_V3));
+ if (this->symGetModuleInfo64 == NULL)
+ {
+ SetLastError(ERROR_DLL_INIT_FAILED);
+ return FALSE;
+ }
+ // First try to use the larger ModuleInfo-Structure
+ pModuleInfo->SizeOfStruct = sizeof(IMAGEHLP_MODULE64_V3);
+ void* pData = malloc(
+ 4096); // reserve enough memory, so the bug in v6.3.5.1 does not lead to memory-overwrites...
+ if (pData == NULL)
+ {
+ SetLastError(ERROR_NOT_ENOUGH_MEMORY);
+ return FALSE;
+ }
+ memcpy(pData, pModuleInfo, sizeof(IMAGEHLP_MODULE64_V3));
+ static bool s_useV3Version = true;
+ if (s_useV3Version)
+ {
+ if (this->symGetModuleInfo64(hProcess, baseAddr, (IMAGEHLP_MODULE64_V3*)pData) != FALSE)
+ {
+ // only copy as much memory as is reserved...
+ memcpy(pModuleInfo, pData, sizeof(IMAGEHLP_MODULE64_V3));
+ pModuleInfo->SizeOfStruct = sizeof(IMAGEHLP_MODULE64_V3);
+ free(pData);
+ return TRUE;
+ }
+ s_useV3Version = false; // to prevent unnecessary calls with the larger struct...
+ }
+
+ // could not retrieve the bigger structure, try with the smaller one (as defined in VC7.1)...
+ pModuleInfo->SizeOfStruct = sizeof(IMAGEHLP_MODULE64_V2);
+ memcpy(pData, pModuleInfo, sizeof(IMAGEHLP_MODULE64_V2));
+ if (this->symGetModuleInfo64(hProcess, baseAddr, (IMAGEHLP_MODULE64_V3*)pData) != FALSE)
+ {
+ // only copy as much memory as is reserved...
+ memcpy(pModuleInfo, pData, sizeof(IMAGEHLP_MODULE64_V2));
+ pModuleInfo->SizeOfStruct = sizeof(IMAGEHLP_MODULE64_V2);
+ free(pData);
+ return TRUE;
+ }
+ free(pData);
+ SetLastError(ERROR_DLL_INIT_FAILED);
+ return FALSE;
+ }
+};
+
+// #############################################################
+StackWalker::StackWalker(DWORD dwProcessId, HANDLE hProcess)
+{
+ this->m_options = OptionsAll;
+ this->m_modulesLoaded = FALSE;
+ this->m_hProcess = hProcess;
+ this->m_sw = new StackWalkerInternal(this, this->m_hProcess);
+ this->m_dwProcessId = dwProcessId;
+ this->m_szSymPath = NULL;
+ this->m_MaxRecursionCount = 1000;
+}
+StackWalker::StackWalker(int options, LPCTSTR szSymPath, DWORD dwProcessId, HANDLE hProcess)
+{
+ this->m_options = options;
+ this->m_modulesLoaded = FALSE;
+ this->m_hProcess = hProcess;
+ this->m_sw = new StackWalkerInternal(this, this->m_hProcess);
+ this->m_dwProcessId = dwProcessId;
+ if (szSymPath != NULL)
+ {
+ this->m_szSymPath = _tcsdup(szSymPath);
+ this->m_options |= SymBuildPath;
+ }
+ else
+ this->m_szSymPath = NULL;
+ this->m_MaxRecursionCount = 1000;
+}
+
+StackWalker::~StackWalker()
+{
+ if (m_szSymPath != NULL)
+ free(m_szSymPath);
+ m_szSymPath = NULL;
+ if (this->m_sw != NULL)
+ delete this->m_sw;
+ this->m_sw = NULL;
+}
+
+BOOL StackWalker::LoadModules()
+{
+ if (this->m_sw == NULL)
+ {
+ SetLastError(ERROR_DLL_INIT_FAILED);
+ return FALSE;
+ }
+ if (m_modulesLoaded != FALSE)
+ return TRUE;
+
+ // Build the sym-path:
+ TCHAR* szSymPath = NULL;
+ if ((this->m_options & SymBuildPath) != 0)
+ {
+ const size_t nSymPathLen = 4096;
+ szSymPath = (TCHAR*)malloc(nSymPathLen * sizeof(TCHAR));
+ if (szSymPath == NULL)
+ {
+ SetLastError(ERROR_NOT_ENOUGH_MEMORY);
+ return FALSE;
+ }
+ szSymPath[0] = 0;
+ // Now first add the (optional) provided sympath:
+ if (this->m_szSymPath != NULL)
+ {
+ _tcscat_s(szSymPath, nSymPathLen, this->m_szSymPath);
+ _tcscat_s(szSymPath, nSymPathLen, _T(";"));
+ }
+
+ _tcscat_s(szSymPath, nSymPathLen, _T(".;"));
+
+ const size_t nTempLen = 1024;
+ TCHAR szTemp[nTempLen];
+ // Now add the current directory:
+ if (GetCurrentDirectory(nTempLen, szTemp) > 0)
+ {
+ szTemp[nTempLen - 1] = 0;
+ _tcscat_s(szSymPath, nSymPathLen, szTemp);
+ _tcscat_s(szSymPath, nSymPathLen, _T(";"));
+ }
+
+ // Now add the path for the main-module:
+ if (GetModuleFileName(NULL, szTemp, nTempLen) > 0)
+ {
+ szTemp[nTempLen - 1] = 0;
+ for (TCHAR* p = (szTemp + _tcslen(szTemp) - 1); p >= szTemp; --p)
+ {
+ // locate the rightmost path separator
+ if ((*p == '\\') || (*p == '/') || (*p == ':'))
+ {
+ *p = 0;
+ break;
+ }
+ } // for (search for path separator...)
+ if (_tcslen(szTemp) > 0)
+ {
+ _tcscat_s(szSymPath, nSymPathLen, szTemp);
+ _tcscat_s(szSymPath, nSymPathLen, _T(";"));
+ }
+ }
+ if (GetEnvironmentVariable(_T("_NT_SYMBOL_PATH"), szTemp, nTempLen) > 0)
+ {
+ szTemp[nTempLen - 1] = 0;
+ _tcscat_s(szSymPath, nSymPathLen, szTemp);
+ _tcscat_s(szSymPath, nSymPathLen, _T(";"));
+ }
+ if (GetEnvironmentVariable(_T("_NT_ALTERNATE_SYMBOL_PATH"), szTemp, nTempLen) > 0)
+ {
+ szTemp[nTempLen - 1] = 0;
+ _tcscat_s(szSymPath, nSymPathLen, szTemp);
+ _tcscat_s(szSymPath, nSymPathLen, _T(";"));
+ }
+ if (GetEnvironmentVariable(_T("SYSTEMROOT"), szTemp, nTempLen) > 0)
+ {
+ szTemp[nTempLen - 1] = 0;
+ _tcscat_s(szSymPath, nSymPathLen, szTemp);
+ _tcscat_s(szSymPath, nSymPathLen, _T(";"));
+ // also add the "system32"-directory:
+ _tcscat_s(szTemp, nTempLen, _T("\\system32"));
+ _tcscat_s(szSymPath, nSymPathLen, szTemp);
+ _tcscat_s(szSymPath, nSymPathLen, _T(";"));
+ }
+
+ if ((this->m_options & SymUseSymSrv) != 0)
+ {
+ if (GetEnvironmentVariable(_T("SYSTEMDRIVE"), szTemp, nTempLen) > 0)
+ {
+ szTemp[nTempLen - 1] = 0;
+ _tcscat_s(szSymPath, nSymPathLen, _T("SRV*"));
+ _tcscat_s(szSymPath, nSymPathLen, szTemp);
+ _tcscat_s(szSymPath, nSymPathLen, _T("\\websymbols"));
+ _tcscat_s(szSymPath, nSymPathLen, _T("*http://msdl.microsoft.com/download/symbols;"));
+ }
+ else
+ _tcscat_s(szSymPath, nSymPathLen,
+ _T("SRV*c:\\websymbols*http://msdl.microsoft.com/download/symbols;"));
+ }
+ } // if SymBuildPath
+
+ // First Init the whole stuff...
+ BOOL bRet = this->m_sw->Init(szSymPath);
+ if (szSymPath != NULL)
+ free(szSymPath);
+ szSymPath = NULL;
+ if (bRet == FALSE)
+ {
+ this->OnDbgHelpErr(_T("Error while initializing dbghelp.dll"), 0, 0);
+ SetLastError(ERROR_DLL_INIT_FAILED);
+ return FALSE;
+ }
+
+ bRet = this->m_sw->LoadModules(this->m_hProcess, this->m_dwProcessId);
+ if (bRet != FALSE)
+ m_modulesLoaded = TRUE;
+ return bRet;
+}
+
+// The following is used to pass the "userData"-Pointer to the user-provided readMemoryFunction
+// This has to be done due to a problem with the "hProcess"-parameter in x64...
+// Because this class is in no case multi-threading-enabled (because of the limitations
+// of dbghelp.dll) it is "safe" to use a static-variable
+static StackWalker::PReadProcessMemoryRoutine s_readMemoryFunction = NULL;
+static LPVOID s_readMemoryFunction_UserData = NULL;
+
+BOOL StackWalker::ShowCallstack(HANDLE hThread,
+ const CONTEXT* context,
+ PReadProcessMemoryRoutine readMemoryFunction,
+ LPVOID pUserData)
+{
+ CONTEXT c;
+ CallstackEntry csEntry;
+
+ tSymbolInfo* pSym = NULL;
+ StackWalkerInternal::IMAGEHLP_MODULE64_V3 Module;
+ tImageHelperLine Line;
+ int frameNum;
+ bool bLastEntryCalled = true;
+ int curRecursionCount = 0;
+
+ if (m_modulesLoaded == FALSE)
+ this->LoadModules(); // ignore the result...
+
+ if (this->m_sw->m_hDbhHelp == NULL)
+ {
+ SetLastError(ERROR_DLL_INIT_FAILED);
+ return FALSE;
+ }
+
+ s_readMemoryFunction = readMemoryFunction;
+ s_readMemoryFunction_UserData = pUserData;
+
+ if (context == NULL)
+ {
+ // If no context is provided, capture the context
+ // See: https://stackwalker.codeplex.com/discussions/446958
+#if _WIN32_WINNT <= 0x0501
+ // If we need to support XP, we need to use the "old way", because "GetThreadId" is not available!
+ if (hThread == GetCurrentThread())
+#else
+ if (GetThreadId(hThread) == GetCurrentThreadId())
+#endif
+ {
+ GET_CURRENT_CONTEXT_STACKWALKER_CODEPLEX(c, USED_CONTEXT_FLAGS);
+ }
+ else
+ {
+ SuspendThread(hThread);
+ memset(&c, 0, sizeof(CONTEXT));
+ c.ContextFlags = USED_CONTEXT_FLAGS;
+
+ // TODO: Detect if you want to get a thread context of a different process, which is running a different processor architecture...
+ // This does only work if we are x64 and the target process is x64 or x86;
+ // It cannot work, if this process is x64 and the target process is x64... this is not supported...
+ // See also: http://www.howzatt.demon.co.uk/articles/DebuggingInWin64.html
+ if (GetThreadContext(hThread, &c) == FALSE)
+ {
+ ResumeThread(hThread);
+ return FALSE;
+ }
+ }
+ }
+ else
+ c = *context;
+
+ // init STACKFRAME for first call
+ STACKFRAME64 s; // in/out stackframe
+ memset(&s, 0, sizeof(s));
+ DWORD imageType;
+#ifdef _M_IX86
+ // normally, call ImageNtHeader() and use machine info from PE header
+ imageType = IMAGE_FILE_MACHINE_I386;
+ s.AddrPC.Offset = c.Eip;
+ s.AddrPC.Mode = AddrModeFlat;
+ s.AddrFrame.Offset = c.Ebp;
+ s.AddrFrame.Mode = AddrModeFlat;
+ s.AddrStack.Offset = c.Esp;
+ s.AddrStack.Mode = AddrModeFlat;
+#elif _M_X64
+ imageType = IMAGE_FILE_MACHINE_AMD64;
+ s.AddrPC.Offset = c.Rip;
+ s.AddrPC.Mode = AddrModeFlat;
+ s.AddrFrame.Offset = c.Rsp;
+ s.AddrFrame.Mode = AddrModeFlat;
+ s.AddrStack.Offset = c.Rsp;
+ s.AddrStack.Mode = AddrModeFlat;
+#elif _M_IA64
+ imageType = IMAGE_FILE_MACHINE_IA64;
+ s.AddrPC.Offset = c.StIIP;
+ s.AddrPC.Mode = AddrModeFlat;
+ s.AddrFrame.Offset = c.IntSp;
+ s.AddrFrame.Mode = AddrModeFlat;
+ s.AddrBStore.Offset = c.RsBSP;
+ s.AddrBStore.Mode = AddrModeFlat;
+ s.AddrStack.Offset = c.IntSp;
+ s.AddrStack.Mode = AddrModeFlat;
+#else
+#error "Platform not supported!"
+#endif
+
+ pSym = (tSymbolInfo*)malloc(sizeof(tSymbolInfo) + STACKWALK_MAX_NAMELEN*sizeof(TCHAR));
+ if (!pSym)
+ goto cleanup; // not enough memory...
+ memset(pSym, 0, sizeof(tSymbolInfo) + STACKWALK_MAX_NAMELEN*sizeof(TCHAR));
+ pSym->SizeOfStruct = sizeof(tSymbolInfo);
+ pSym->MaxNameLen = STACKWALK_MAX_NAMELEN;
+
+ memset(&Line, 0, sizeof(Line));
+ Line.SizeOfStruct = sizeof(Line);
+
+ memset(&Module, 0, sizeof(Module));
+ Module.SizeOfStruct = sizeof(Module);
+
+ for (frameNum = 0;; ++frameNum)
+ {
+ // get next stack frame (StackWalk64(), SymFunctionTableAccess64(), SymGetModuleBase64())
+ // if this returns ERROR_INVALID_ADDRESS (487) or ERROR_NOACCESS (998), you can
+ // assume that either you are done, or that the stack is so hosed that the next
+ // deeper frame could not be found.
+ // CONTEXT need not to be supplied if imageTyp is IMAGE_FILE_MACHINE_I386!
+ if (!this->m_sw->stackWalk64(imageType, this->m_hProcess, hThread, &s, &c, myReadProcMem,
+ this->m_sw->symFunctionTableAccess64, this->m_sw->symGetModuleBase64, NULL))
+ {
+ // INFO: "StackWalk64" does not set "GetLastError"...
+ this->OnDbgHelpErr(_T("StackWalk64"), 0, s.AddrPC.Offset);
+ break;
+ }
+
+ csEntry.offset = s.AddrPC.Offset;
+ csEntry.name[0] = 0;
+ csEntry.undName[0] = 0;
+ csEntry.undFullName[0] = 0;
+ csEntry.offsetFromSmybol = 0;
+ csEntry.offsetFromLine = 0;
+ csEntry.lineFileName[0] = 0;
+ csEntry.lineNumber = 0;
+ csEntry.loadedImageName[0] = 0;
+ csEntry.moduleName[0] = 0;
+ if (s.AddrPC.Offset == s.AddrReturn.Offset)
+ {
+ if ((this->m_MaxRecursionCount > 0) && (curRecursionCount > m_MaxRecursionCount))
+ {
+ this->OnDbgHelpErr(_T("StackWalk64-Endless-Callstack!"), 0, s.AddrPC.Offset);
+ break;
+ }
+ curRecursionCount++;
+ }
+ else
+ curRecursionCount = 0;
+ if (s.AddrPC.Offset != 0)
+ {
+ // we seem to have a valid PC
+ // show procedure info (SymGetSymFromAddr64())
+ if (this->m_sw->symFromAddr(this->m_hProcess, s.AddrPC.Offset, &(csEntry.offsetFromSmybol),
+ pSym) != FALSE)
+ {
+ MyStrCpy(csEntry.name, STACKWALK_MAX_NAMELEN, pSym->Name);
+ // UnDecorateSymbolName()
+ DWORD res = this->m_sw->unDecorateSymbolName(pSym->Name, csEntry.undName, STACKWALK_MAX_NAMELEN, UNDNAME_NAME_ONLY);
+ res = this->m_sw->unDecorateSymbolName(pSym->Name, csEntry.undFullName, STACKWALK_MAX_NAMELEN, UNDNAME_COMPLETE);
+ }
+ else
+ {
+ this->OnDbgHelpErr(_T("SymGetSymFromAddr64"), GetLastError(), s.AddrPC.Offset);
+ }
+
+ // show line number info, NT5.0-method (SymGetLineFromAddr64())
+ if (this->m_sw->symGetLineFromAddr64 != NULL)
+ { // yes, we have SymGetLineFromAddr64()
+ if (this->m_sw->symGetLineFromAddr64(this->m_hProcess, s.AddrPC.Offset, &(csEntry.offsetFromLine),
+ &Line) != FALSE)
+ {
+ csEntry.lineNumber = Line.LineNumber;
+ MyStrCpy(csEntry.lineFileName, STACKWALK_MAX_NAMELEN, Line.FileName);
+ }
+ else
+ {
+ this->OnDbgHelpErr(_T("SymGetLineFromAddr64"), GetLastError(), s.AddrPC.Offset);
+ }
+ } // yes, we have SymGetLineFromAddr64()
+
+ // show module info (SymGetModuleInfo64())
+ if (this->m_sw->GetModuleInfo(this->m_hProcess, s.AddrPC.Offset, &Module) != FALSE)
+ { // got module info OK
+ switch (Module.SymType)
+ {
+ case SymNone:
+ csEntry.symTypeString = "-nosymbols-";
+ break;
+ case SymCoff:
+ csEntry.symTypeString = "COFF";
+ break;
+ case SymCv:
+ csEntry.symTypeString = "CV";
+ break;
+ case SymPdb:
+ csEntry.symTypeString = "PDB";
+ break;
+ case SymExport:
+ csEntry.symTypeString = "-exported-";
+ break;
+ case SymDeferred:
+ csEntry.symTypeString = "-deferred-";
+ break;
+ case SymSym:
+ csEntry.symTypeString = "SYM";
+ break;
+#if API_VERSION_NUMBER >= 9
+ case SymDia:
+ csEntry.symTypeString = "DIA";
+ break;
+#endif
+ case 8: //SymVirtual:
+ csEntry.symTypeString = "Virtual";
+ break;
+ default:
+ //_snprintf( ty, sizeof(ty), "symtype=%ld", (long) Module.SymType );
+ csEntry.symTypeString = NULL;
+ break;
+ }
+
+ MyStrCpy(csEntry.moduleName, STACKWALK_MAX_NAMELEN, Module.ModuleName);
+ csEntry.baseOfImage = Module.BaseOfImage;
+ MyStrCpy(csEntry.loadedImageName, STACKWALK_MAX_NAMELEN, Module.LoadedImageName);
+ } // got module info OK
+ else
+ {
+ this->OnDbgHelpErr(_T("SymGetModuleInfo64"), GetLastError(), s.AddrPC.Offset);
+ }
+ } // we seem to have a valid PC
+
+ CallstackEntryType et = nextEntry;
+ if (frameNum == 0)
+ et = firstEntry;
+ bLastEntryCalled = false;
+ this->OnCallstackEntry(et, csEntry);
+
+ if (s.AddrReturn.Offset == 0)
+ {
+ bLastEntryCalled = true;
+ this->OnCallstackEntry(lastEntry, csEntry);
+ SetLastError(ERROR_SUCCESS);
+ break;
+ }
+ } // for ( frameNum )
+
+cleanup:
+ if (pSym)
+ free(pSym);
+
+ if (bLastEntryCalled == false)
+ this->OnCallstackEntry(lastEntry, csEntry);
+
+ if (context == NULL)
+ ResumeThread(hThread);
+
+ return TRUE;
+}
+
+BOOL StackWalker::ShowObject(LPVOID pObject)
+{
+ // Load modules if not done yet
+ if (m_modulesLoaded == FALSE)
+ this->LoadModules(); // ignore the result...
+
+ // Verify that the DebugHelp.dll was actually found
+ if (this->m_sw->m_hDbhHelp == NULL)
+ {
+ SetLastError(ERROR_DLL_INIT_FAILED);
+ return FALSE;
+ }
+
+ // SymGetSymFromAddr64() is required
+ if (this->m_sw->symFromAddr == NULL)
+ return FALSE;
+
+ // Show object info (SymGetSymFromAddr64())
+ DWORD64 dwAddress = DWORD64(pObject);
+ DWORD64 dwDisplacement = 0;
+ tSymbolInfo* pSym =
+ (tSymbolInfo*)malloc(sizeof(tSymbolInfo) + STACKWALK_MAX_NAMELEN*sizeof(TCHAR));
+ memset(pSym, 0, sizeof(tSymbolInfo) + STACKWALK_MAX_NAMELEN*sizeof(TCHAR));
+ pSym->SizeOfStruct = sizeof(tSymbolInfo);
+ pSym->MaxNameLen = STACKWALK_MAX_NAMELEN;
+ if (this->m_sw->symFromAddr(this->m_hProcess, dwAddress, &dwDisplacement, pSym) == FALSE)
+ {
+ this->OnDbgHelpErr(_T("SymGetSymFromAddr64"), GetLastError(), dwAddress);
+ return FALSE;
+ }
+ // Object name output
+ this->OnOutput(pSym->Name);
+
+ free(pSym);
+ return TRUE;
+};
+
+BOOL __stdcall StackWalker::myReadProcMem(HANDLE hProcess,
+ DWORD64 qwBaseAddress,
+ PVOID lpBuffer,
+ DWORD nSize,
+ LPDWORD lpNumberOfBytesRead)
+{
+ if (s_readMemoryFunction == NULL)
+ {
+ SIZE_T st;
+ BOOL bRet = ReadProcessMemory(hProcess, (LPVOID)qwBaseAddress, lpBuffer, nSize, &st);
+ *lpNumberOfBytesRead = (DWORD)st;
+ //printf("ReadMemory: hProcess: %p, baseAddr: %p, buffer: %p, size: %d, read: %d, result: %d\n", hProcess, (LPVOID) qwBaseAddress, lpBuffer, nSize, (DWORD) st, (DWORD) bRet);
+ return bRet;
+ }
+ else
+ {
+ return s_readMemoryFunction(hProcess, qwBaseAddress, lpBuffer, nSize, lpNumberOfBytesRead,
+ s_readMemoryFunction_UserData);
+ }
+}
+
+void StackWalker::OnLoadModule(LPCTSTR img,
+ LPCTSTR mod,
+ DWORD64 baseAddr,
+ DWORD size,
+ DWORD result,
+ LPCTSTR symType,
+ LPCTSTR pdbName,
+ ULONGLONG fileVersion)
+{
+ TCHAR buffer[STACKWALK_MAX_NAMELEN];
+ size_t maxLen = STACKWALK_MAX_NAMELEN;
+#if _MSC_VER >= 1400
+ maxLen = _TRUNCATE;
+#endif
+ if (fileVersion == 0)
+ _sntprintf_s(buffer, maxLen, _T("%s:%s (%p), size: %d (result: %d), SymType: '%s', PDB: '%s'\n"),
+ img, mod, (LPVOID)baseAddr, size, result, symType, pdbName);
+ else
+ {
+ DWORD v4 = (DWORD)(fileVersion & 0xFFFF);
+ DWORD v3 = (DWORD)((fileVersion >> 16) & 0xFFFF);
+ DWORD v2 = (DWORD)((fileVersion >> 32) & 0xFFFF);
+ DWORD v1 = (DWORD)((fileVersion >> 48) & 0xFFFF);
+ _sntprintf_s(
+ buffer, maxLen,
+ _T("%s:%s (%p), size: %d (result: %d), SymType: '%s', PDB: '%s', fileVersion: %d.%d.%d.%d\n"),
+ img, mod, (LPVOID)baseAddr, size, result, symType, pdbName, v1, v2, v3, v4);
+ }
+ buffer[STACKWALK_MAX_NAMELEN - 1] = 0; // be sure it is NULL terminated
+ OnOutput(buffer);
+}
+
+void StackWalker::OnCallstackEntry(CallstackEntryType eType, CallstackEntry& entry)
+{
+ TCHAR buffer[STACKWALK_MAX_NAMELEN];
+ size_t maxLen = STACKWALK_MAX_NAMELEN;
+#if _MSC_VER >= 1400
+ maxLen = _TRUNCATE;
+#endif
+ if ((eType != lastEntry) && (entry.offset != 0))
+ {
+ if (entry.name[0] == 0)
+ MyStrCpy(entry.name, STACKWALK_MAX_NAMELEN, _T("(function-name not available)"));
+ if (entry.undName[0] != 0)
+ MyStrCpy(entry.name, STACKWALK_MAX_NAMELEN, entry.undName);
+ if (entry.undFullName[0] != 0)
+ MyStrCpy(entry.name, STACKWALK_MAX_NAMELEN, entry.undFullName);
+ if (entry.lineFileName[0] == 0)
+ {
+ MyStrCpy(entry.lineFileName, STACKWALK_MAX_NAMELEN, _T("(filename not available)"));
+ if (entry.moduleName[0] == 0)
+ MyStrCpy(entry.moduleName, STACKWALK_MAX_NAMELEN, _T("(module-name not available)"));
+ _sntprintf_s(buffer, maxLen, _T("%p (%s): %s: %s\n"), (LPVOID)entry.offset, entry.moduleName,
+ entry.lineFileName, entry.name);
+ }
+ else
+ _sntprintf_s(buffer, maxLen, _T("%s (%d): %s\n"), entry.lineFileName, entry.lineNumber,
+ entry.name);
+ buffer[STACKWALK_MAX_NAMELEN - 1] = 0;
+ OnOutput(buffer);
+ }
+}
+
+void StackWalker::OnDbgHelpErr(LPCTSTR szFuncName, DWORD gle, DWORD64 addr)
+{
+ TCHAR buffer[STACKWALK_MAX_NAMELEN];
+ size_t maxLen = STACKWALK_MAX_NAMELEN;
+#if _MSC_VER >= 1400
+ maxLen = _TRUNCATE;
+#endif
+ _sntprintf_s(buffer, maxLen, _T("ERROR: %s, GetLastError: %d (Address: %p)\n"), szFuncName, gle,
+ (LPVOID)addr);
+ buffer[STACKWALK_MAX_NAMELEN - 1] = 0;
+ OnOutput(buffer);
+}
+
+void StackWalker::OnSymInit(LPCTSTR szSearchPath, DWORD symOptions, LPCTSTR szUserName)
+{
+ TCHAR buffer[STACKWALK_MAX_NAMELEN];
+ size_t maxLen = STACKWALK_MAX_NAMELEN;
+#if _MSC_VER >= 1400
+ maxLen = _TRUNCATE;
+#endif
+ _sntprintf_s(buffer, maxLen, _T("SymInit: Symbol-SearchPath: '%s', symOptions: %d, UserName: '%s'\n"),
+ szSearchPath, symOptions, szUserName);
+ buffer[STACKWALK_MAX_NAMELEN - 1] = 0;
+ OnOutput(buffer);
+ // Also display the OS-version
+#if _MSC_VER <= 1200
+ OSVERSIONINFOA ver;
+ ZeroMemory(&ver, sizeof(OSVERSIONINFOA));
+ ver.dwOSVersionInfoSize = sizeof(ver);
+ if (GetVersionExA(&ver) != FALSE)
+ {
+ _snprintf_s(buffer, maxLen, "OS-Version: %d.%d.%d (%s)\n", ver.dwMajorVersion,
+ ver.dwMinorVersion, ver.dwBuildNumber, ver.szCSDVersion);
+ buffer[STACKWALK_MAX_NAMELEN - 1] = 0;
+ OnOutput(buffer);
+ }
+#else
+ OSVERSIONINFOEX ver;
+ ZeroMemory(&ver, sizeof(OSVERSIONINFOEX));
+ ver.dwOSVersionInfoSize = sizeof(ver);
+#if _MSC_VER >= 1900
+#pragma warning(push)
+#pragma warning(disable : 4996)
+#endif
+ if (GetVersionEx((OSVERSIONINFO*)&ver) != FALSE)
+ {
+ _sntprintf_s(buffer, maxLen, _T("OS-Version: %d.%d.%d (%s) 0x%x-0x%x\n"), ver.dwMajorVersion,
+ ver.dwMinorVersion, ver.dwBuildNumber, ver.szCSDVersion, ver.wSuiteMask,
+ ver.wProductType);
+ buffer[STACKWALK_MAX_NAMELEN - 1] = 0;
+ OnOutput(buffer);
+ }
+#if _MSC_VER >= 1900
+#pragma warning(pop)
+#endif
+#endif
+}
+
+void StackWalker::OnOutput(LPCTSTR buffer)
+{
+ OutputDebugString(buffer);
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/main/native/windows/StackWalker.h b/third_party/allwpilib_2019/wpiutil/src/main/native/windows/StackWalker.h
new file mode 100644
index 0000000..750de96
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/main/native/windows/StackWalker.h
@@ -0,0 +1,178 @@
+/**********************************************************************
+ *
+ * StackWalker.h
+ *
+ *
+ *
+ * LICENSE (http://www.opensource.org/licenses/bsd-license.php)
+ *
+ * Copyright (c) 2005-2009, Jochen Kalmbach
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *
+ * Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * Neither the name of Jochen Kalmbach nor the names of its contributors may be
+ * used to endorse or promote products derived from this software without
+ * specific prior written permission.
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+ * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ * **********************************************************************/
+#pragma once
+
+#include <windows.h>
+
+#if _MSC_VER >= 1900
+#pragma warning(disable : 4091)
+#endif
+
+class StackWalkerInternal; // forward
+class StackWalker
+{
+public:
+ typedef enum StackWalkOptions
+ {
+ // No addition info will be retrieved
+ // (only the address is available)
+ RetrieveNone = 0,
+
+ // Try to get the symbol-name
+ RetrieveSymbol = 1,
+
+ // Try to get the line for this symbol
+ RetrieveLine = 2,
+
+ // Try to retrieve the module-infos
+ RetrieveModuleInfo = 4,
+
+ // Also retrieve the version for the DLL/EXE
+ RetrieveFileVersion = 8,
+
+ // Contains all the above
+ RetrieveVerbose = 0xF,
+
+ // Generate a "good" symbol-search-path
+ SymBuildPath = 0x10,
+
+ // Also use the public Microsoft-Symbol-Server
+ SymUseSymSrv = 0x20,
+
+ // Contains all the above "Sym"-options
+ SymAll = 0x30,
+
+ // Contains all options (default)
+ OptionsAll = 0x3F
+ } StackWalkOptions;
+
+ StackWalker(int options = OptionsAll, // 'int' is by design, to combine the enum-flags
+ LPCTSTR szSymPath = NULL,
+ DWORD dwProcessId = GetCurrentProcessId(),
+ HANDLE hProcess = GetCurrentProcess());
+ StackWalker(DWORD dwProcessId, HANDLE hProcess);
+ virtual ~StackWalker();
+
+ typedef BOOL(__stdcall* PReadProcessMemoryRoutine)(
+ HANDLE hProcess,
+ DWORD64 qwBaseAddress,
+ PVOID lpBuffer,
+ DWORD nSize,
+ LPDWORD lpNumberOfBytesRead,
+ LPVOID pUserData // optional data, which was passed in "ShowCallstack"
+ );
+
+ BOOL LoadModules();
+
+ BOOL ShowCallstack(
+ HANDLE hThread = GetCurrentThread(),
+ const CONTEXT* context = NULL,
+ PReadProcessMemoryRoutine readMemoryFunction = NULL,
+ LPVOID pUserData = NULL // optional to identify some data in the 'readMemoryFunction'-callback
+ );
+
+ BOOL ShowObject(LPVOID pObject);
+
+protected:
+ enum
+ {
+ STACKWALK_MAX_NAMELEN = 1024
+ }; // max name length for found symbols
+
+protected:
+ // Entry for each Callstack-Entry
+ typedef struct CallstackEntry
+ {
+ DWORD64 offset; // if 0, we have no valid entry
+ TCHAR name[STACKWALK_MAX_NAMELEN];
+ TCHAR undName[STACKWALK_MAX_NAMELEN];
+ TCHAR undFullName[STACKWALK_MAX_NAMELEN];
+ DWORD64 offsetFromSmybol;
+ DWORD offsetFromLine;
+ DWORD lineNumber;
+ TCHAR lineFileName[STACKWALK_MAX_NAMELEN];
+ DWORD symType;
+ LPCSTR symTypeString;
+ TCHAR moduleName[STACKWALK_MAX_NAMELEN];
+ DWORD64 baseOfImage;
+ TCHAR loadedImageName[STACKWALK_MAX_NAMELEN];
+ } CallstackEntry;
+
+ typedef enum CallstackEntryType
+ {
+ firstEntry,
+ nextEntry,
+ lastEntry
+ } CallstackEntryType;
+
+ virtual void OnSymInit(LPCTSTR szSearchPath, DWORD symOptions, LPCTSTR szUserName);
+ virtual void OnLoadModule(LPCTSTR img,
+ LPCTSTR mod,
+ DWORD64 baseAddr,
+ DWORD size,
+ DWORD result,
+ LPCTSTR symType,
+ LPCTSTR pdbName,
+ ULONGLONG fileVersion);
+ virtual void OnCallstackEntry(CallstackEntryType eType, CallstackEntry& entry);
+ virtual void OnDbgHelpErr(LPCTSTR szFuncName, DWORD gle, DWORD64 addr);
+ virtual void OnOutput(LPCTSTR szText);
+
+ StackWalkerInternal* m_sw;
+ HANDLE m_hProcess;
+ DWORD m_dwProcessId;
+ BOOL m_modulesLoaded;
+ LPTSTR m_szSymPath;
+
+ int m_options;
+ int m_MaxRecursionCount;
+
+ static BOOL __stdcall myReadProcMem(HANDLE hProcess,
+ DWORD64 qwBaseAddress,
+ PVOID lpBuffer,
+ DWORD nSize,
+ LPDWORD lpNumberOfBytesRead);
+
+ friend StackWalkerInternal;
+}; // class StackWalker
+
+// The following is defined for x86 (XP and higher), x64 and IA64:
+#define GET_CURRENT_CONTEXT_STACKWALKER_CODEPLEX(c, contextFlags) \
+ do \
+ { \
+ memset(&c, 0, sizeof(CONTEXT)); \
+ c.ContextFlags = contextFlags; \
+ RtlCaptureContext(&c); \
+ } while (0);
diff --git a/third_party/allwpilib_2019/wpiutil/src/netconsoleServer/native/cpp/main.cpp b/third_party/allwpilib_2019/wpiutil/src/netconsoleServer/native/cpp/main.cpp
index c673008..ed45eeb 100644
--- a/third_party/allwpilib_2019/wpiutil/src/netconsoleServer/native/cpp/main.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/netconsoleServer/native/cpp/main.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -48,14 +48,16 @@
// Header is 2 byte len, 1 byte type, 4 byte timestamp, 2 byte sequence num
uint32_t ts = wpi::FloatToBits((wpi::Now() - startTime) * 1.0e-6);
uint16_t len = rem.size() + toCopy.size() + 1 + 4 + 2;
- out << wpi::ArrayRef<uint8_t>({static_cast<uint8_t>((len >> 8) & 0xff),
- static_cast<uint8_t>(len & 0xff), 12,
- static_cast<uint8_t>((ts >> 24) & 0xff),
- static_cast<uint8_t>((ts >> 16) & 0xff),
- static_cast<uint8_t>((ts >> 8) & 0xff),
- static_cast<uint8_t>(ts & 0xff),
- static_cast<uint8_t>((tcpSeq >> 8) & 0xff),
- static_cast<uint8_t>(tcpSeq & 0xff)});
+ const uint8_t header[] = {static_cast<uint8_t>((len >> 8) & 0xff),
+ static_cast<uint8_t>(len & 0xff),
+ 12,
+ static_cast<uint8_t>((ts >> 24) & 0xff),
+ static_cast<uint8_t>((ts >> 16) & 0xff),
+ static_cast<uint8_t>((ts >> 8) & 0xff),
+ static_cast<uint8_t>(ts & 0xff),
+ static_cast<uint8_t>((tcpSeq >> 8) & 0xff),
+ static_cast<uint8_t>(tcpSeq & 0xff)};
+ out << wpi::ArrayRef<uint8_t>(header);
}
out << rem << toCopy;
@@ -75,8 +77,8 @@
}
in.data.connect(
- [ rem = std::make_shared<std::string>(), outPtr = out.get(), addr ](
- uv::Buffer & buf, size_t len) {
+ [rem = std::make_shared<std::string>(), outPtr = out.get(), addr](
+ uv::Buffer& buf, size_t len) {
// build buffers
wpi::SmallVector<uv::Buffer, 4> bufs;
if (!NewlineBuffer(*rem, buf, len, bufs, false, 0)) return;
@@ -94,18 +96,20 @@
std::string rem;
uint16_t seq = 0;
};
- in.data.connect([ data = std::make_shared<StreamData>(), outPtr = out.get() ](
- uv::Buffer & buf, size_t len) {
- // build buffers
- wpi::SmallVector<uv::Buffer, 4> bufs;
- if (!NewlineBuffer(data->rem, buf, len, bufs, true, data->seq++)) return;
+ in.data.connect(
+ [data = std::make_shared<StreamData>(), outPtr = out.get()](
+ uv::Buffer& buf, size_t len) {
+ // build buffers
+ wpi::SmallVector<uv::Buffer, 4> bufs;
+ if (!NewlineBuffer(data->rem, buf, len, bufs, true, data->seq++))
+ return;
- // send output
- outPtr->Write(bufs, [](auto bufs2, uv::Error) {
- for (auto buf : bufs2) buf.Deallocate();
- });
- },
- out);
+ // send output
+ outPtr->Write(bufs, [](auto bufs2, uv::Error) {
+ for (auto buf : bufs2) buf.Deallocate();
+ });
+ },
+ out);
}
static void CopyStream(uv::Stream& in, std::shared_ptr<uv::Stream> out) {
@@ -183,7 +187,7 @@
tcp->Bind("", 1740);
// when we get a connection, accept it
- tcp->connection.connect([ srv = tcp.get(), stdoutPipe, stderrPipe ] {
+ tcp->connection.connect([srv = tcp.get(), stdoutPipe, stderrPipe] {
auto tcp = srv->Accept();
if (!tcp) return;
diff --git a/third_party/allwpilib_2019/wpiutil/src/netconsoleTee/native/cpp/main.cpp b/third_party/allwpilib_2019/wpiutil/src/netconsoleTee/native/cpp/main.cpp
index d14b322..6c2a4fe 100644
--- a/third_party/allwpilib_2019/wpiutil/src/netconsoleTee/native/cpp/main.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/netconsoleTee/native/cpp/main.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -39,14 +39,16 @@
// Header is 2 byte len, 1 byte type, 4 byte timestamp, 2 byte sequence num
uint32_t ts = wpi::FloatToBits((wpi::Now() - startTime) * 1.0e-6);
uint16_t len = rem.size() + toCopy.size() + 1 + 4 + 2;
- out << wpi::ArrayRef<uint8_t>({static_cast<uint8_t>((len >> 8) & 0xff),
- static_cast<uint8_t>(len & 0xff), 12,
- static_cast<uint8_t>((ts >> 24) & 0xff),
- static_cast<uint8_t>((ts >> 16) & 0xff),
- static_cast<uint8_t>((ts >> 8) & 0xff),
- static_cast<uint8_t>(ts & 0xff),
- static_cast<uint8_t>((tcpSeq >> 8) & 0xff),
- static_cast<uint8_t>(tcpSeq & 0xff)});
+ const uint8_t header[] = {static_cast<uint8_t>((len >> 8) & 0xff),
+ static_cast<uint8_t>(len & 0xff),
+ 12,
+ static_cast<uint8_t>((ts >> 24) & 0xff),
+ static_cast<uint8_t>((ts >> 16) & 0xff),
+ static_cast<uint8_t>((ts >> 8) & 0xff),
+ static_cast<uint8_t>(ts & 0xff),
+ static_cast<uint8_t>((tcpSeq >> 8) & 0xff),
+ static_cast<uint8_t>(tcpSeq & 0xff)};
+ out << wpi::ArrayRef<uint8_t>(header);
}
out << rem << toCopy;
@@ -66,8 +68,8 @@
}
in.data.connect(
- [ rem = std::make_shared<std::string>(), outPtr = out.get(), addr ](
- uv::Buffer & buf, size_t len) {
+ [rem = std::make_shared<std::string>(), outPtr = out.get(), addr](
+ uv::Buffer& buf, size_t len) {
// build buffers
wpi::SmallVector<uv::Buffer, 4> bufs;
if (!NewlineBuffer(*rem, buf, len, bufs, false, 0)) return;
@@ -85,18 +87,20 @@
std::string rem;
uint16_t seq = 0;
};
- in.data.connect([ data = std::make_shared<StreamData>(), outPtr = out.get() ](
- uv::Buffer & buf, size_t len) {
- // build buffers
- wpi::SmallVector<uv::Buffer, 4> bufs;
- if (!NewlineBuffer(data->rem, buf, len, bufs, true, data->seq++)) return;
+ in.data.connect(
+ [data = std::make_shared<StreamData>(), outPtr = out.get()](
+ uv::Buffer& buf, size_t len) {
+ // build buffers
+ wpi::SmallVector<uv::Buffer, 4> bufs;
+ if (!NewlineBuffer(data->rem, buf, len, bufs, true, data->seq++))
+ return;
- // send output
- outPtr->Write(bufs, [](auto bufs2, uv::Error) {
- for (auto buf : bufs2) buf.Deallocate();
- });
- },
- out);
+ // send output
+ outPtr->Write(bufs, [](auto bufs2, uv::Error) {
+ for (auto buf : bufs2) buf.Deallocate();
+ });
+ },
+ out);
}
static void CopyStream(uv::Stream& in, std::shared_ptr<uv::Stream> out) {
@@ -165,7 +169,7 @@
tcp->Bind("", 1740);
// when we get a connection, accept it
- tcp->connection.connect([ srv = tcp.get(), stdinTty ] {
+ tcp->connection.connect([srv = tcp.get(), stdinTty] {
auto tcp = srv->Accept();
if (!tcp) return;
diff --git a/third_party/allwpilib_2019/wpiutil/src/test/java/edu/wpi/first/wpiutil/CircularBufferTest.java b/third_party/allwpilib_2019/wpiutil/src/test/java/edu/wpi/first/wpiutil/CircularBufferTest.java
new file mode 100644
index 0000000..f995098
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/test/java/edu/wpi/first/wpiutil/CircularBufferTest.java
@@ -0,0 +1,214 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpiutil;
+
+import org.junit.jupiter.api.Test;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+class CircularBufferTest {
+ private final double[] m_values = {751.848, 766.366, 342.657, 234.252, 716.126,
+ 132.344, 445.697, 22.727, 421.125, 799.913};
+ private final double[] m_addFirstOut = {799.913, 421.125, 22.727, 445.697, 132.344,
+ 716.126, 234.252, 342.657};
+ private final double[] m_addLastOut = {342.657, 234.252, 716.126, 132.344, 445.697,
+ 22.727, 421.125, 799.913};
+
+ @Test
+ void addFirstTest() {
+ CircularBuffer queue = new CircularBuffer(8);
+
+ for (double value : m_values) {
+ queue.addFirst(value);
+ }
+
+ for (int i = 0; i < m_addFirstOut.length; i++) {
+ assertEquals(m_addFirstOut[i], queue.get(i), 0.00005);
+ }
+ }
+
+ @Test
+ void addLastTest() {
+ CircularBuffer queue = new CircularBuffer(8);
+
+ for (double value : m_values) {
+ queue.addLast(value);
+ }
+
+ for (int i = 0; i < m_addLastOut.length; i++) {
+ assertEquals(m_addLastOut[i], queue.get(i), 0.00005);
+ }
+ }
+
+ @Test
+ void pushPopTest() {
+ CircularBuffer queue = new CircularBuffer(3);
+
+ // Insert three elements into the buffer
+ queue.addLast(1.0);
+ queue.addLast(2.0);
+ queue.addLast(3.0);
+
+ assertEquals(1.0, queue.get(0), 0.00005);
+ assertEquals(2.0, queue.get(1), 0.00005);
+ assertEquals(3.0, queue.get(2), 0.00005);
+
+ /*
+ * The buffer is full now, so pushing subsequent elements will overwrite the
+ * front-most elements.
+ */
+
+ queue.addLast(4.0); // Overwrite 1 with 4
+
+ // The buffer now contains 2, 3, and 4
+ assertEquals(2.0, queue.get(0), 0.00005);
+ assertEquals(3.0, queue.get(1), 0.00005);
+ assertEquals(4.0, queue.get(2), 0.00005);
+
+ queue.addLast(5.0); // Overwrite 2 with 5
+
+ // The buffer now contains 3, 4, and 5
+ assertEquals(3.0, queue.get(0), 0.00005);
+ assertEquals(4.0, queue.get(1), 0.00005);
+ assertEquals(5.0, queue.get(2), 0.00005);
+
+ assertEquals(5.0, queue.removeLast(), 0.00005); // 5 is removed
+
+ // The buffer now contains 3 and 4
+ assertEquals(3.0, queue.get(0), 0.00005);
+ assertEquals(4.0, queue.get(1), 0.00005);
+
+ assertEquals(3.0, queue.removeFirst(), 0.00005); // 3 is removed
+
+ // Leaving only one element with value == 4
+ assertEquals(4.0, queue.get(0), 0.00005);
+ }
+
+ @Test
+ void resetTest() {
+ CircularBuffer queue = new CircularBuffer(5);
+
+ for (int i = 0; i < 6; i++) {
+ queue.addLast(i);
+ }
+
+ queue.clear();
+
+ for (int i = 0; i < 5; i++) {
+ assertEquals(0.0, queue.get(i), 0.00005);
+ }
+ }
+
+ @Test
+ @SuppressWarnings("PMD.ExcessiveMethodLength")
+ void resizeTest() {
+ CircularBuffer queue = new CircularBuffer(5);
+
+ /* Buffer contains {1, 2, 3, _, _}
+ * ^ front
+ */
+ queue.addLast(1.0);
+ queue.addLast(2.0);
+ queue.addLast(3.0);
+
+ queue.resize(2);
+ assertEquals(1.0, queue.get(0), 0.00005);
+ assertEquals(2.0, queue.get(1), 0.00005);
+
+ queue.resize(5);
+ assertEquals(1.0, queue.get(0), 0.00005);
+ assertEquals(2.0, queue.get(1), 0.00005);
+
+ queue.clear();
+
+ /* Buffer contains {_, 1, 2, 3, _}
+ * ^ front
+ */
+ queue.addLast(0.0);
+ queue.addLast(1.0);
+ queue.addLast(2.0);
+ queue.addLast(3.0);
+ queue.removeFirst();
+
+ queue.resize(2);
+ assertEquals(1.0, queue.get(0), 0.00005);
+ assertEquals(2.0, queue.get(1), 0.00005);
+
+ queue.resize(5);
+ assertEquals(1.0, queue.get(0), 0.00005);
+ assertEquals(2.0, queue.get(1), 0.00005);
+
+ queue.clear();
+
+ /* Buffer contains {_, _, 1, 2, 3}
+ * ^ front
+ */
+ queue.addLast(0.0);
+ queue.addLast(0.0);
+ queue.addLast(1.0);
+ queue.addLast(2.0);
+ queue.addLast(3.0);
+ queue.removeFirst();
+ queue.removeFirst();
+
+ queue.resize(2);
+ assertEquals(1.0, queue.get(0), 0.00005);
+ assertEquals(2.0, queue.get(1), 0.00005);
+
+ queue.resize(5);
+ assertEquals(1.0, queue.get(0), 0.00005);
+ assertEquals(2.0, queue.get(1), 0.00005);
+
+ queue.clear();
+
+ /* Buffer contains {3, _, _, 1, 2}
+ * ^ front
+ */
+ queue.addLast(3.0);
+ queue.addFirst(2.0);
+ queue.addFirst(1.0);
+
+ queue.resize(2);
+ assertEquals(1.0, queue.get(0), 0.00005);
+ assertEquals(2.0, queue.get(1), 0.00005);
+
+ queue.resize(5);
+ assertEquals(1.0, queue.get(0), 0.00005);
+ assertEquals(2.0, queue.get(1), 0.00005);
+
+ queue.clear();
+
+ /* Buffer contains {2, 3, _, _, 1}
+ * ^ front
+ */
+ queue.addLast(2.0);
+ queue.addLast(3.0);
+ queue.addFirst(1.0);
+
+ queue.resize(2);
+ assertEquals(1.0, queue.get(0), 0.00005);
+ assertEquals(2.0, queue.get(1), 0.00005);
+
+ queue.resize(5);
+ assertEquals(1.0, queue.get(0), 0.00005);
+ assertEquals(2.0, queue.get(1), 0.00005);
+
+ // Test addLast() after resize
+ queue.addLast(3.0);
+ assertEquals(1.0, queue.get(0), 0.00005);
+ assertEquals(2.0, queue.get(1), 0.00005);
+ assertEquals(3.0, queue.get(2), 0.00005);
+
+ // Test addFirst() after resize
+ queue.addFirst(4.0);
+ assertEquals(4.0, queue.get(0), 0.00005);
+ assertEquals(1.0, queue.get(1), 0.00005);
+ assertEquals(2.0, queue.get(2), 0.00005);
+ assertEquals(3.0, queue.get(3), 0.00005);
+ }
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/test/java/edu/wpi/first/wpiutil/math/MatrixTest.java b/third_party/allwpilib_2019/wpiutil/src/test/java/edu/wpi/first/wpiutil/math/MatrixTest.java
new file mode 100644
index 0000000..4d6697d
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/test/java/edu/wpi/first/wpiutil/math/MatrixTest.java
@@ -0,0 +1,210 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpiutil.math;
+
+import org.ejml.data.SingularMatrixException;
+import org.ejml.dense.row.MatrixFeatures_DDRM;
+import org.ejml.simple.SimpleMatrix;
+import org.junit.jupiter.api.Test;
+
+import edu.wpi.first.wpiutil.math.numbers.N1;
+import edu.wpi.first.wpiutil.math.numbers.N2;
+import edu.wpi.first.wpiutil.math.numbers.N3;
+import edu.wpi.first.wpiutil.math.numbers.N4;
+
+import static org.junit.jupiter.api.Assertions.assertThrows;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+public class MatrixTest {
+ @Test
+ void testMatrixMultiplication() {
+ var mat1 = MatrixUtils.mat(Nat.N2(), Nat.N2())
+ .fill(2.0, 1.0,
+ 0.0, 1.0);
+ var mat2 = MatrixUtils.mat(Nat.N2(), Nat.N2())
+ .fill(3.0, 0.0,
+ 0.0, 2.5);
+
+ Matrix<N2, N2> result = mat1.times(mat2);
+
+ assertTrue(MatrixFeatures_DDRM.isEquals(
+ MatrixUtils.mat(Nat.N2(), Nat.N2())
+ .fill(6.0, 2.5,
+ 0.0, 2.5).getStorage().getDDRM(),
+ result.getStorage().getDDRM()
+ ));
+
+ var mat3 = MatrixUtils.mat(Nat.N2(), Nat.N3())
+ .fill(1.0, 3.0, 0.5,
+ 2.0, 4.3, 1.2);
+ var mat4 = MatrixUtils.mat(Nat.N3(), Nat.N4())
+ .fill(3.0, 1.5, 2.0, 4.5,
+ 2.3, 1.0, 1.6, 3.1,
+ 5.2, 2.1, 2.0, 1.0);
+
+ Matrix<N2, N4> result2 = mat3.times(mat4);
+
+ assertTrue(MatrixFeatures_DDRM.isIdentical(
+ MatrixUtils.mat(Nat.N2(), Nat.N4())
+ .fill(12.5, 5.55, 7.8, 14.3,
+ 22.13, 9.82, 13.28, 23.53).getStorage().getDDRM(),
+ result2.getStorage().getDDRM(),
+ 1E-9
+ ));
+ }
+
+ @Test
+ void testMatrixVectorMultiplication() {
+ var mat = MatrixUtils.mat(Nat.N2(), Nat.N2())
+ .fill(1.0, 1.0,
+ 0.0, 1.0);
+
+ var vec = MatrixUtils.vec(Nat.N2())
+ .fill(3.0,
+ 2.0);
+
+ Matrix<N2, N1> result = mat.times(vec);
+ assertTrue(MatrixFeatures_DDRM.isEquals(
+ MatrixUtils.vec(Nat.N2())
+ .fill(5.0,
+ 2.0).getStorage().getDDRM(),
+ result.getStorage().getDDRM()
+ ));
+ }
+
+ @Test
+ void testTranspose() {
+ Matrix<N3, N1> vec = MatrixUtils.vec(Nat.N3())
+ .fill(1.0,
+ 2.0,
+ 3.0);
+
+ Matrix<N1, N3> transpose = vec.transpose();
+
+ assertTrue(MatrixFeatures_DDRM.isEquals(
+ MatrixUtils.mat(Nat.N1(), Nat.N3()).fill(1.0, 2.0, 3.0).getStorage()
+ .getDDRM(),
+ transpose.getStorage().getDDRM()
+ ));
+ }
+
+ @Test
+ void testInverse() {
+ var mat = MatrixUtils.mat(Nat.N3(), Nat.N3())
+ .fill(1.0, 3.0, 2.0,
+ 5.0, 2.0, 1.5,
+ 0.0, 1.3, 2.5);
+
+ var inv = mat.inv();
+
+ assertTrue(MatrixFeatures_DDRM.isIdentical(
+ MatrixUtils.eye(Nat.N3()).getStorage().getDDRM(),
+ mat.times(inv).getStorage().getDDRM(),
+ 1E-9
+ ));
+
+ assertTrue(MatrixFeatures_DDRM.isIdentical(
+ MatrixUtils.eye(Nat.N3()).getStorage().getDDRM(),
+ inv.times(mat).getStorage().getDDRM(),
+ 1E-9
+ ));
+ }
+
+ @Test
+ void testUninvertableMatrix() {
+ var singularMatrix = MatrixUtils.mat(Nat.N2(), Nat.N2())
+ .fill(2.0, 1.0,
+ 2.0, 1.0);
+
+ assertThrows(SingularMatrixException.class, singularMatrix::inv);
+ }
+
+ @Test
+ void testMatrixScalarArithmetic() {
+ var mat = MatrixUtils.mat(Nat.N2(), Nat.N2())
+ .fill(1.0, 2.0,
+ 3.0, 4.0);
+
+
+ assertTrue(MatrixFeatures_DDRM.isEquals(
+ MatrixUtils.mat(Nat.N2(), Nat.N2())
+ .fill(3.0, 4.0,
+ 5.0, 6.0).getStorage().getDDRM(),
+ mat.plus(2.0).getStorage().getDDRM()
+ ));
+
+ assertTrue(MatrixFeatures_DDRM.isEquals(
+ MatrixUtils.mat(Nat.N2(), Nat.N2())
+ .fill(0.0, 1.0,
+ 2.0, 3.0).getStorage().getDDRM(),
+ mat.minus(1.0).getStorage().getDDRM()
+ ));
+
+ assertTrue(MatrixFeatures_DDRM.isEquals(
+ MatrixUtils.mat(Nat.N2(), Nat.N2())
+ .fill(2.0, 4.0,
+ 6.0, 8.0).getStorage().getDDRM(),
+ mat.times(2.0).getStorage().getDDRM()
+ ));
+
+ assertTrue(MatrixFeatures_DDRM.isIdentical(
+ MatrixUtils.mat(Nat.N2(), Nat.N2())
+ .fill(0.5, 1.0,
+ 1.5, 2.0).getStorage().getDDRM(),
+ mat.div(2.0).getStorage().getDDRM(),
+ 1E-3
+ ));
+ }
+
+ @Test
+ void testMatrixMatrixArithmetic() {
+ var mat1 = MatrixUtils.mat(Nat.N2(), Nat.N2())
+ .fill(1.0, 2.0,
+ 3.0, 4.0);
+
+ var mat2 = MatrixUtils.mat(Nat.N2(), Nat.N2())
+ .fill(5.0, 6.0,
+ 7.0, 8.0);
+
+ assertTrue(MatrixFeatures_DDRM.isEquals(
+ MatrixUtils.mat(Nat.N2(), Nat.N2())
+ .fill(-4.0, -4.0,
+ -4.0, -4.0).getStorage().getDDRM(),
+ mat1.minus(mat2).getStorage().getDDRM()
+ ));
+
+ assertTrue(MatrixFeatures_DDRM.isEquals(
+ MatrixUtils.mat(Nat.N2(), Nat.N2())
+ .fill(6.0, 8.0,
+ 10.0, 12.0).getStorage().getDDRM(),
+ mat1.plus(mat2).getStorage().getDDRM()
+ ));
+ }
+
+ @Test
+ void testMatrixExponential() {
+ SimpleMatrix matrix = MatrixUtils.eye(Nat.N2()).getStorage();
+ var result = SimpleMatrixUtils.expm(matrix);
+
+ assertTrue(MatrixFeatures_DDRM.isIdentical(
+ result.getDDRM(),
+ new SimpleMatrix(2, 2, true, new double[]{Math.E, 0, 0, Math.E}).getDDRM(),
+ 1E-9
+ ));
+
+ matrix = new SimpleMatrix(2, 2, true, new double[]{1, 2, 3, 4});
+ result = SimpleMatrixUtils.expm(matrix.scale(0.01));
+
+ assertTrue(MatrixFeatures_DDRM.isIdentical(
+ result.getDDRM(),
+ new SimpleMatrix(2, 2, true, new double[]{1.01035625, 0.02050912,
+ 0.03076368, 1.04111993}).getDDRM(),
+ 1E-8
+ ));
+ }
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/Base64Test.cpp b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/Base64Test.cpp
index 99aecb9..caa35aa 100644
--- a/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/Base64Test.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/Base64Test.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -85,8 +85,7 @@
"mQgc28gb24uLi4K"},
};
-INSTANTIATE_TEST_CASE_P(Base64Sample, Base64Test,
- ::testing::ValuesIn(sample), );
+INSTANTIATE_TEST_SUITE_P(Base64Sample, Base64Test, ::testing::ValuesIn(sample));
static Base64TestParam standard[] = {
{0, "", ""},
@@ -99,7 +98,7 @@
{2, "\xff\xef", "/+8="},
};
-INSTANTIATE_TEST_CASE_P(Base64Standard, Base64Test,
- ::testing::ValuesIn(standard), );
+INSTANTIATE_TEST_SUITE_P(Base64Standard, Base64Test,
+ ::testing::ValuesIn(standard));
} // namespace wpi
diff --git a/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/CircularBufferTest.cpp b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/CircularBufferTest.cpp
new file mode 100644
index 0000000..7fe9e03
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/CircularBufferTest.cpp
@@ -0,0 +1,209 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2015-2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "wpi/circular_buffer.h" // NOLINT(build/include_order)
+
+#include <array>
+
+#include "gtest/gtest.h"
+
+static const std::array<double, 10> values = {
+ {751.848, 766.366, 342.657, 234.252, 716.126, 132.344, 445.697, 22.727,
+ 421.125, 799.913}};
+
+static const std::array<double, 8> pushFrontOut = {
+ {799.913, 421.125, 22.727, 445.697, 132.344, 716.126, 234.252, 342.657}};
+
+static const std::array<double, 8> pushBackOut = {
+ {342.657, 234.252, 716.126, 132.344, 445.697, 22.727, 421.125, 799.913}};
+
+TEST(CircularBufferTest, PushFrontTest) {
+ wpi::circular_buffer<double> queue(8);
+
+ for (auto& value : values) {
+ queue.push_front(value);
+ }
+
+ for (size_t i = 0; i < pushFrontOut.size(); i++) {
+ EXPECT_EQ(pushFrontOut[i], queue[i]);
+ }
+}
+
+TEST(CircularBufferTest, PushBackTest) {
+ wpi::circular_buffer<double> queue(8);
+
+ for (auto& value : values) {
+ queue.push_back(value);
+ }
+
+ for (size_t i = 0; i < pushBackOut.size(); i++) {
+ EXPECT_EQ(pushBackOut[i], queue[i]);
+ }
+}
+
+TEST(CircularBufferTest, PushPopTest) {
+ wpi::circular_buffer<double> queue(3);
+
+ // Insert three elements into the buffer
+ queue.push_back(1.0);
+ queue.push_back(2.0);
+ queue.push_back(3.0);
+
+ EXPECT_EQ(1.0, queue[0]);
+ EXPECT_EQ(2.0, queue[1]);
+ EXPECT_EQ(3.0, queue[2]);
+
+ /*
+ * The buffer is full now, so pushing subsequent elements will overwrite the
+ * front-most elements.
+ */
+
+ queue.push_back(4.0); // Overwrite 1 with 4
+
+ // The buffer now contains 2, 3 and 4
+ EXPECT_EQ(2.0, queue[0]);
+ EXPECT_EQ(3.0, queue[1]);
+ EXPECT_EQ(4.0, queue[2]);
+
+ queue.push_back(5.0); // Overwrite 2 with 5
+
+ // The buffer now contains 3, 4 and 5
+ EXPECT_EQ(3.0, queue[0]);
+ EXPECT_EQ(4.0, queue[1]);
+ EXPECT_EQ(5.0, queue[2]);
+
+ EXPECT_EQ(5.0, queue.pop_back()); // 5 is removed
+
+ // The buffer now contains 3 and 4
+ EXPECT_EQ(3.0, queue[0]);
+ EXPECT_EQ(4.0, queue[1]);
+
+ EXPECT_EQ(3.0, queue.pop_front()); // 3 is removed
+
+ // Leaving only one element with value == 4
+ EXPECT_EQ(4.0, queue[0]);
+}
+
+TEST(CircularBufferTest, ResetTest) {
+ wpi::circular_buffer<double> queue(5);
+
+ for (size_t i = 1; i < 6; i++) {
+ queue.push_back(i);
+ }
+
+ queue.reset();
+
+ for (size_t i = 0; i < 5; i++) {
+ EXPECT_EQ(0.0, queue[i]);
+ }
+}
+
+TEST(CircularBufferTest, ResizeTest) {
+ wpi::circular_buffer<double> queue(5);
+
+ /* Buffer contains {1, 2, 3, _, _}
+ * ^ front
+ */
+ queue.push_back(1.0);
+ queue.push_back(2.0);
+ queue.push_back(3.0);
+
+ queue.resize(2);
+ EXPECT_EQ(1.0, queue[0]);
+ EXPECT_EQ(2.0, queue[1]);
+
+ queue.resize(5);
+ EXPECT_EQ(1.0, queue[0]);
+ EXPECT_EQ(2.0, queue[1]);
+
+ queue.reset();
+
+ /* Buffer contains {_, 1, 2, 3, _}
+ * ^ front
+ */
+ queue.push_back(0.0);
+ queue.push_back(1.0);
+ queue.push_back(2.0);
+ queue.push_back(3.0);
+ queue.pop_front();
+
+ queue.resize(2);
+ EXPECT_EQ(1.0, queue[0]);
+ EXPECT_EQ(2.0, queue[1]);
+
+ queue.resize(5);
+ EXPECT_EQ(1.0, queue[0]);
+ EXPECT_EQ(2.0, queue[1]);
+
+ queue.reset();
+
+ /* Buffer contains {_, _, 1, 2, 3}
+ * ^ front
+ */
+ queue.push_back(0.0);
+ queue.push_back(0.0);
+ queue.push_back(1.0);
+ queue.push_back(2.0);
+ queue.push_back(3.0);
+ queue.pop_front();
+ queue.pop_front();
+
+ queue.resize(2);
+ EXPECT_EQ(1.0, queue[0]);
+ EXPECT_EQ(2.0, queue[1]);
+
+ queue.resize(5);
+ EXPECT_EQ(1.0, queue[0]);
+ EXPECT_EQ(2.0, queue[1]);
+
+ queue.reset();
+
+ /* Buffer contains {3, _, _, 1, 2}
+ * ^ front
+ */
+ queue.push_back(3.0);
+ queue.push_front(2.0);
+ queue.push_front(1.0);
+
+ queue.resize(2);
+ EXPECT_EQ(1.0, queue[0]);
+ EXPECT_EQ(2.0, queue[1]);
+
+ queue.resize(5);
+ EXPECT_EQ(1.0, queue[0]);
+ EXPECT_EQ(2.0, queue[1]);
+
+ queue.reset();
+
+ /* Buffer contains {2, 3, _, _, 1}
+ * ^ front
+ */
+ queue.push_back(2.0);
+ queue.push_back(3.0);
+ queue.push_front(1.0);
+
+ queue.resize(2);
+ EXPECT_EQ(1.0, queue[0]);
+ EXPECT_EQ(2.0, queue[1]);
+
+ queue.resize(5);
+ EXPECT_EQ(1.0, queue[0]);
+ EXPECT_EQ(2.0, queue[1]);
+
+ // Test push_back() after resize
+ queue.push_back(3.0);
+ EXPECT_EQ(1.0, queue[0]);
+ EXPECT_EQ(2.0, queue[1]);
+ EXPECT_EQ(3.0, queue[2]);
+
+ // Test push_front() after resize
+ queue.push_front(4.0);
+ EXPECT_EQ(4.0, queue[0]);
+ EXPECT_EQ(1.0, queue[1]);
+ EXPECT_EQ(2.0, queue[2]);
+ EXPECT_EQ(3.0, queue[3]);
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/EigenTest.cpp b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/EigenTest.cpp
new file mode 100644
index 0000000..04a0bc2
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/EigenTest.cpp
@@ -0,0 +1,61 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <Eigen/Core>
+#include <Eigen/LU>
+
+#include "gtest/gtest.h"
+
+TEST(EigenTest, MultiplicationTest) {
+ Eigen::Matrix<double, 2, 2> m1;
+ m1 << 2, 1, 0, 1;
+
+ Eigen::Matrix<double, 2, 2> m2;
+ m2 << 3, 0, 0, 2.5;
+
+ const auto result = m1 * m2;
+
+ Eigen::Matrix<double, 2, 2> expectedResult;
+ expectedResult << 6.0, 2.5, 0.0, 2.5;
+
+ EXPECT_TRUE(expectedResult.isApprox(result));
+
+ Eigen::Matrix<double, 2, 3> m3;
+ m3 << 1.0, 3.0, 0.5, 2.0, 4.3, 1.2;
+
+ Eigen::Matrix<double, 3, 4> m4;
+ m4 << 3.0, 1.5, 2.0, 4.5, 2.3, 1.0, 1.6, 3.1, 5.2, 2.1, 2.0, 1.0;
+
+ const auto result2 = m3 * m4;
+
+ Eigen::Matrix<double, 2, 4> expectedResult2;
+ expectedResult2 << 12.5, 5.55, 7.8, 14.3, 22.13, 9.82, 13.28, 23.53;
+
+ EXPECT_TRUE(expectedResult2.isApprox(result2));
+}
+
+TEST(EigenTest, TransposeTest) {
+ Eigen::Matrix<double, 3, 1> vec;
+ vec << 1, 2, 3;
+
+ const auto transpose = vec.transpose();
+
+ Eigen::Matrix<double, 1, 3> expectedTranspose;
+ expectedTranspose << 1, 2, 3;
+
+ EXPECT_TRUE(expectedTranspose.isApprox(transpose));
+}
+
+TEST(EigenTest, InverseTest) {
+ Eigen::Matrix<double, 3, 3> mat;
+ mat << 1.0, 3.0, 2.0, 5.0, 2.0, 1.5, 0.0, 1.3, 2.5;
+
+ const auto inverse = mat.inverse();
+ const auto identity = Eigen::MatrixXd::Identity(3, 3);
+
+ EXPECT_TRUE(identity.isApprox(mat * inverse));
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/UnitsTest.cpp b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/UnitsTest.cpp
new file mode 100644
index 0000000..8e0823a
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/UnitsTest.cpp
@@ -0,0 +1,3379 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <array>
+#include <chrono>
+#include <string>
+#include <type_traits>
+
+#include "gtest/gtest.h"
+#include "units/units.h"
+
+using namespace units;
+using namespace units::dimensionless;
+using namespace units::length;
+using namespace units::mass;
+using namespace units::angle;
+using namespace units::time;
+using namespace units::frequency;
+using namespace units::area;
+using namespace units::velocity;
+using namespace units::angular_velocity;
+using namespace units::temperature;
+using namespace units::luminous_intensity;
+using namespace units::solid_angle;
+using namespace units::frequency;
+using namespace units::acceleration;
+using namespace units::pressure;
+using namespace units::charge;
+using namespace units::energy;
+using namespace units::power;
+using namespace units::voltage;
+using namespace units::capacitance;
+using namespace units::impedance;
+using namespace units::conductance;
+using namespace units::magnetic_flux;
+using namespace units::magnetic_field_strength;
+using namespace units::inductance;
+using namespace units::luminous_flux;
+using namespace units::illuminance;
+using namespace units::radiation;
+using namespace units::torque;
+using namespace units::volume;
+using namespace units::density;
+using namespace units::concentration;
+using namespace units::data;
+using namespace units::data_transfer_rate;
+using namespace units::math;
+
+#if !defined(_MSC_VER) || _MSC_VER > 1800
+using namespace units::literals;
+#endif
+
+namespace {
+
+class TypeTraits : public ::testing::Test {
+ protected:
+ TypeTraits() {}
+ virtual ~TypeTraits() {}
+ virtual void SetUp() {}
+ virtual void TearDown() {}
+};
+
+class UnitManipulators : public ::testing::Test {
+ protected:
+ UnitManipulators() {}
+ virtual ~UnitManipulators() {}
+ virtual void SetUp() {}
+ virtual void TearDown() {}
+};
+
+class UnitContainer : public ::testing::Test {
+ protected:
+ UnitContainer() {}
+ virtual ~UnitContainer() {}
+ virtual void SetUp() {}
+ virtual void TearDown() {}
+};
+
+class UnitConversion : public ::testing::Test {
+ protected:
+ UnitConversion() {}
+ virtual ~UnitConversion() {}
+ virtual void SetUp() {}
+ virtual void TearDown() {}
+};
+
+class UnitMath : public ::testing::Test {
+ protected:
+ UnitMath() {}
+ virtual ~UnitMath() {}
+ virtual void SetUp() {}
+ virtual void TearDown() {}
+};
+
+class CompileTimeArithmetic : public ::testing::Test {
+ protected:
+ CompileTimeArithmetic() {}
+ virtual ~CompileTimeArithmetic() {}
+ virtual void SetUp() {}
+ virtual void TearDown() {}
+};
+
+class Constexpr : public ::testing::Test {
+ protected:
+ Constexpr() {}
+ virtual ~Constexpr() {}
+ virtual void SetUp() {}
+ virtual void TearDown() {}
+};
+
+class CaseStudies : public ::testing::Test {
+ protected:
+ CaseStudies() {}
+ virtual ~CaseStudies() {}
+ virtual void SetUp() {}
+ virtual void TearDown() {}
+
+ struct RightTriangle {
+ using a = unit_value_t<meters, 3>;
+ using b = unit_value_t<meters, 4>;
+ using c = unit_value_sqrt<
+ unit_value_add<unit_value_power<a, 2>, unit_value_power<b, 2>>>;
+ };
+};
+} // namespace
+
+TEST_F(TypeTraits, isRatio) {
+ EXPECT_TRUE(traits::is_ratio<std::ratio<1>>::value);
+ EXPECT_FALSE(traits::is_ratio<double>::value);
+}
+
+TEST_F(TypeTraits, ratio_sqrt) {
+ using rt2 = ratio_sqrt<std::ratio<2>>;
+ EXPECT_LT(std::abs(std::sqrt(2 / static_cast<double>(1)) -
+ rt2::num / static_cast<double>(rt2::den)),
+ 5e-9);
+
+ using rt4 = ratio_sqrt<std::ratio<4>>;
+ EXPECT_LT(std::abs(std::sqrt(4 / static_cast<double>(1)) -
+ rt4::num / static_cast<double>(rt4::den)),
+ 5e-9);
+
+ using rt10 = ratio_sqrt<std::ratio<10>>;
+ EXPECT_LT(std::abs(std::sqrt(10 / static_cast<double>(1)) -
+ rt10::num / static_cast<double>(rt10::den)),
+ 5e-9);
+
+ using rt30 = ratio_sqrt<std::ratio<30>>;
+ EXPECT_LT(std::abs(std::sqrt(30 / static_cast<double>(1)) -
+ rt30::num / static_cast<double>(rt30::den)),
+ 5e-9);
+
+ using rt61 = ratio_sqrt<std::ratio<61>>;
+ EXPECT_LT(std::abs(std::sqrt(61 / static_cast<double>(1)) -
+ rt61::num / static_cast<double>(rt61::den)),
+ 5e-9);
+
+ using rt100 = ratio_sqrt<std::ratio<100>>;
+ EXPECT_LT(std::abs(std::sqrt(100 / static_cast<double>(1)) -
+ rt100::num / static_cast<double>(rt100::den)),
+ 5e-9);
+
+ using rt1000 = ratio_sqrt<std::ratio<1000>>;
+ EXPECT_LT(std::abs(std::sqrt(1000 / static_cast<double>(1)) -
+ rt1000::num / static_cast<double>(rt1000::den)),
+ 5e-9);
+
+ using rt10000 = ratio_sqrt<std::ratio<10000>>;
+ EXPECT_LT(std::abs(std::sqrt(10000 / static_cast<double>(1)) -
+ rt10000::num / static_cast<double>(rt10000::den)),
+ 5e-9);
+}
+
+TEST_F(TypeTraits, is_unit) {
+ EXPECT_FALSE(traits::is_unit<std::ratio<1>>::value);
+ EXPECT_FALSE(traits::is_unit<double>::value);
+ EXPECT_TRUE(traits::is_unit<meters>::value);
+ EXPECT_TRUE(traits::is_unit<feet>::value);
+ EXPECT_TRUE(traits::is_unit<degrees_squared>::value);
+ EXPECT_FALSE(traits::is_unit<meter_t>::value);
+}
+
+TEST_F(TypeTraits, is_unit_t) {
+ EXPECT_FALSE(traits::is_unit_t<std::ratio<1>>::value);
+ EXPECT_FALSE(traits::is_unit_t<double>::value);
+ EXPECT_FALSE(traits::is_unit_t<meters>::value);
+ EXPECT_FALSE(traits::is_unit_t<feet>::value);
+ EXPECT_FALSE(traits::is_unit_t<degrees_squared>::value);
+ EXPECT_TRUE(traits::is_unit_t<meter_t>::value);
+}
+
+TEST_F(TypeTraits, unit_traits) {
+ EXPECT_TRUE(
+ (std::is_same<void,
+ traits::unit_traits<double>::conversion_ratio>::value));
+ EXPECT_FALSE(
+ (std::is_same<void,
+ traits::unit_traits<meters>::conversion_ratio>::value));
+}
+
+TEST_F(TypeTraits, unit_t_traits) {
+ EXPECT_TRUE(
+ (std::is_same<void,
+ traits::unit_t_traits<double>::underlying_type>::value));
+ EXPECT_TRUE(
+ (std::is_same<UNIT_LIB_DEFAULT_TYPE,
+ traits::unit_t_traits<meter_t>::underlying_type>::value));
+ EXPECT_TRUE(
+ (std::is_same<void, traits::unit_t_traits<double>::value_type>::value));
+ EXPECT_TRUE(
+ (std::is_same<UNIT_LIB_DEFAULT_TYPE,
+ traits::unit_t_traits<meter_t>::value_type>::value));
+}
+
+TEST_F(TypeTraits, all_true) {
+ EXPECT_TRUE(all_true<true>::type::value);
+ EXPECT_TRUE((all_true<true, true>::type::value));
+ EXPECT_TRUE((all_true<true, true, true>::type::value));
+ EXPECT_FALSE(all_true<false>::type::value);
+ EXPECT_FALSE((all_true<true, false>::type::value));
+ EXPECT_FALSE((all_true<true, true, false>::type::value));
+ EXPECT_FALSE((all_true<false, false, false>::type::value));
+}
+
+TEST_F(TypeTraits, is_convertible_unit) {
+ EXPECT_TRUE((traits::is_convertible_unit<meters, meters>::value));
+ EXPECT_TRUE((traits::is_convertible_unit<meters, astronicalUnits>::value));
+ EXPECT_TRUE((traits::is_convertible_unit<meters, parsecs>::value));
+
+ EXPECT_TRUE((traits::is_convertible_unit<meters, meters>::value));
+ EXPECT_TRUE((traits::is_convertible_unit<astronicalUnits, meters>::value));
+ EXPECT_TRUE((traits::is_convertible_unit<parsecs, meters>::value));
+ EXPECT_TRUE((traits::is_convertible_unit<years, weeks>::value));
+
+ EXPECT_FALSE((traits::is_convertible_unit<meters, seconds>::value));
+ EXPECT_FALSE((traits::is_convertible_unit<seconds, meters>::value));
+ EXPECT_FALSE((traits::is_convertible_unit<years, meters>::value));
+}
+
+TEST_F(TypeTraits, inverse) {
+ double test;
+
+ using htz = inverse<seconds>;
+ bool shouldBeTrue = std::is_same<htz, hertz>::value;
+ EXPECT_TRUE(shouldBeTrue);
+
+ test = convert<inverse<celsius>, inverse<fahrenheit>>(1.0);
+ EXPECT_NEAR(5.0 / 9.0, test, 5.0e-5);
+
+ test = convert<inverse<kelvin>, inverse<fahrenheit>>(6.0);
+ EXPECT_NEAR(10.0 / 3.0, test, 5.0e-5);
+}
+
+TEST_F(TypeTraits, base_unit_of) {
+ using base = traits::base_unit_of<years>;
+ bool shouldBeTrue = std::is_same<base, category::time_unit>::value;
+
+ EXPECT_TRUE(shouldBeTrue);
+}
+
+TEST_F(TypeTraits, has_linear_scale) {
+ EXPECT_TRUE((traits::has_linear_scale<scalar_t>::value));
+ EXPECT_TRUE((traits::has_linear_scale<meter_t>::value));
+ EXPECT_TRUE((traits::has_linear_scale<foot_t>::value));
+ EXPECT_TRUE((traits::has_linear_scale<watt_t, scalar_t>::value));
+ EXPECT_TRUE((traits::has_linear_scale<scalar_t, meter_t>::value));
+ EXPECT_TRUE((traits::has_linear_scale<meters_per_second_t>::value));
+ EXPECT_FALSE((traits::has_linear_scale<dB_t>::value));
+ EXPECT_FALSE((traits::has_linear_scale<dB_t, meters_per_second_t>::value));
+}
+
+TEST_F(TypeTraits, has_decibel_scale) {
+ EXPECT_FALSE((traits::has_decibel_scale<scalar_t>::value));
+ EXPECT_FALSE((traits::has_decibel_scale<meter_t>::value));
+ EXPECT_FALSE((traits::has_decibel_scale<foot_t>::value));
+ EXPECT_TRUE((traits::has_decibel_scale<dB_t>::value));
+ EXPECT_TRUE((traits::has_decibel_scale<dBW_t>::value));
+
+ EXPECT_TRUE((traits::has_decibel_scale<dBW_t, dB_t>::value));
+ EXPECT_TRUE((traits::has_decibel_scale<dBW_t, dBm_t>::value));
+ EXPECT_TRUE((traits::has_decibel_scale<dB_t, dB_t>::value));
+ EXPECT_TRUE((traits::has_decibel_scale<dB_t, dB_t, dB_t>::value));
+ EXPECT_FALSE((traits::has_decibel_scale<dB_t, dB_t, meter_t>::value));
+ EXPECT_FALSE((traits::has_decibel_scale<meter_t, dB_t>::value));
+}
+
+TEST_F(TypeTraits, is_same_scale) {
+ EXPECT_TRUE((traits::is_same_scale<scalar_t, dimensionless_t>::value));
+ EXPECT_TRUE((traits::is_same_scale<dB_t, dBW_t>::value));
+ EXPECT_FALSE((traits::is_same_scale<dB_t, scalar_t>::value));
+}
+
+TEST_F(TypeTraits, is_dimensionless_unit) {
+ EXPECT_TRUE((traits::is_dimensionless_unit<scalar_t>::value));
+ EXPECT_TRUE((traits::is_dimensionless_unit<const scalar_t>::value));
+ EXPECT_TRUE((traits::is_dimensionless_unit<const scalar_t&>::value));
+ EXPECT_TRUE((traits::is_dimensionless_unit<dimensionless_t>::value));
+ EXPECT_TRUE((traits::is_dimensionless_unit<dB_t>::value));
+ EXPECT_TRUE((traits::is_dimensionless_unit<dB_t, scalar_t>::value));
+ EXPECT_TRUE((traits::is_dimensionless_unit<ppm_t>::value));
+ EXPECT_FALSE((traits::is_dimensionless_unit<meter_t>::value));
+ EXPECT_FALSE((traits::is_dimensionless_unit<dBW_t>::value));
+ EXPECT_FALSE((traits::is_dimensionless_unit<dBW_t, scalar_t>::value));
+}
+
+TEST_F(TypeTraits, is_length_unit) {
+ EXPECT_TRUE((traits::is_length_unit<meter>::value));
+ EXPECT_TRUE((traits::is_length_unit<cubit>::value));
+ EXPECT_FALSE((traits::is_length_unit<year>::value));
+ EXPECT_FALSE((traits::is_length_unit<double>::value));
+
+ EXPECT_TRUE((traits::is_length_unit<meter_t>::value));
+ EXPECT_TRUE((traits::is_length_unit<const meter_t>::value));
+ EXPECT_TRUE((traits::is_length_unit<const meter_t&>::value));
+ EXPECT_TRUE((traits::is_length_unit<cubit_t>::value));
+ EXPECT_FALSE((traits::is_length_unit<year_t>::value));
+ EXPECT_TRUE((traits::is_length_unit<meter_t, cubit_t>::value));
+ EXPECT_FALSE((traits::is_length_unit<meter_t, year_t>::value));
+}
+
+TEST_F(TypeTraits, is_mass_unit) {
+ EXPECT_TRUE((traits::is_mass_unit<kilogram>::value));
+ EXPECT_TRUE((traits::is_mass_unit<stone>::value));
+ EXPECT_FALSE((traits::is_mass_unit<meter>::value));
+ EXPECT_FALSE((traits::is_mass_unit<double>::value));
+
+ EXPECT_TRUE((traits::is_mass_unit<kilogram_t>::value));
+ EXPECT_TRUE((traits::is_mass_unit<const kilogram_t>::value));
+ EXPECT_TRUE((traits::is_mass_unit<const kilogram_t&>::value));
+ EXPECT_TRUE((traits::is_mass_unit<stone_t>::value));
+ EXPECT_FALSE((traits::is_mass_unit<meter_t>::value));
+ EXPECT_TRUE((traits::is_mass_unit<kilogram_t, stone_t>::value));
+ EXPECT_FALSE((traits::is_mass_unit<kilogram_t, meter_t>::value));
+}
+
+TEST_F(TypeTraits, is_time_unit) {
+ EXPECT_TRUE((traits::is_time_unit<second>::value));
+ EXPECT_TRUE((traits::is_time_unit<year>::value));
+ EXPECT_FALSE((traits::is_time_unit<meter>::value));
+ EXPECT_FALSE((traits::is_time_unit<double>::value));
+
+ EXPECT_TRUE((traits::is_time_unit<second_t>::value));
+ EXPECT_TRUE((traits::is_time_unit<const second_t>::value));
+ EXPECT_TRUE((traits::is_time_unit<const second_t&>::value));
+ EXPECT_TRUE((traits::is_time_unit<year_t>::value));
+ EXPECT_FALSE((traits::is_time_unit<meter_t>::value));
+ EXPECT_TRUE((traits::is_time_unit<second_t, year_t>::value));
+ EXPECT_FALSE((traits::is_time_unit<second_t, meter_t>::value));
+}
+
+TEST_F(TypeTraits, is_angle_unit) {
+ EXPECT_TRUE((traits::is_angle_unit<angle::radian>::value));
+ EXPECT_TRUE((traits::is_angle_unit<angle::degree>::value));
+ EXPECT_FALSE((traits::is_angle_unit<watt>::value));
+ EXPECT_FALSE((traits::is_angle_unit<double>::value));
+
+ EXPECT_TRUE((traits::is_angle_unit<angle::radian_t>::value));
+ EXPECT_TRUE((traits::is_angle_unit<const angle::radian_t>::value));
+ EXPECT_TRUE((traits::is_angle_unit<const angle::radian_t&>::value));
+ EXPECT_TRUE((traits::is_angle_unit<angle::degree_t>::value));
+ EXPECT_FALSE((traits::is_angle_unit<watt_t>::value));
+ EXPECT_TRUE((traits::is_angle_unit<angle::radian_t, angle::degree_t>::value));
+ EXPECT_FALSE((traits::is_angle_unit<angle::radian_t, watt_t>::value));
+}
+
+TEST_F(TypeTraits, is_current_unit) {
+ EXPECT_TRUE((traits::is_current_unit<current::ampere>::value));
+ EXPECT_FALSE((traits::is_current_unit<volt>::value));
+ EXPECT_FALSE((traits::is_current_unit<double>::value));
+
+ EXPECT_TRUE((traits::is_current_unit<current::ampere_t>::value));
+ EXPECT_TRUE((traits::is_current_unit<const current::ampere_t>::value));
+ EXPECT_TRUE((traits::is_current_unit<const current::ampere_t&>::value));
+ EXPECT_FALSE((traits::is_current_unit<volt_t>::value));
+ EXPECT_TRUE((traits::is_current_unit<current::ampere_t,
+ current::milliampere_t>::value));
+ EXPECT_FALSE((traits::is_current_unit<current::ampere_t, volt_t>::value));
+}
+
+TEST_F(TypeTraits, is_temperature_unit) {
+ EXPECT_TRUE((traits::is_temperature_unit<fahrenheit>::value));
+ EXPECT_TRUE((traits::is_temperature_unit<kelvin>::value));
+ EXPECT_FALSE((traits::is_temperature_unit<cubit>::value));
+ EXPECT_FALSE((traits::is_temperature_unit<double>::value));
+
+ EXPECT_TRUE((traits::is_temperature_unit<fahrenheit_t>::value));
+ EXPECT_TRUE((traits::is_temperature_unit<const fahrenheit_t>::value));
+ EXPECT_TRUE((traits::is_temperature_unit<const fahrenheit_t&>::value));
+ EXPECT_TRUE((traits::is_temperature_unit<kelvin_t>::value));
+ EXPECT_FALSE((traits::is_temperature_unit<cubit_t>::value));
+ EXPECT_TRUE((traits::is_temperature_unit<fahrenheit_t, kelvin_t>::value));
+ EXPECT_FALSE((traits::is_temperature_unit<cubit_t, fahrenheit_t>::value));
+}
+
+TEST_F(TypeTraits, is_substance_unit) {
+ EXPECT_TRUE((traits::is_substance_unit<substance::mol>::value));
+ EXPECT_FALSE((traits::is_substance_unit<year>::value));
+ EXPECT_FALSE((traits::is_substance_unit<double>::value));
+
+ EXPECT_TRUE((traits::is_substance_unit<substance::mole_t>::value));
+ EXPECT_TRUE((traits::is_substance_unit<const substance::mole_t>::value));
+ EXPECT_TRUE((traits::is_substance_unit<const substance::mole_t&>::value));
+ EXPECT_FALSE((traits::is_substance_unit<year_t>::value));
+ EXPECT_TRUE(
+ (traits::is_substance_unit<substance::mole_t, substance::mole_t>::value));
+ EXPECT_FALSE((traits::is_substance_unit<year_t, substance::mole_t>::value));
+}
+
+TEST_F(TypeTraits, is_luminous_intensity_unit) {
+ EXPECT_TRUE((traits::is_luminous_intensity_unit<candela>::value));
+ EXPECT_FALSE(
+ (traits::is_luminous_intensity_unit<units::radiation::rad>::value));
+ EXPECT_FALSE((traits::is_luminous_intensity_unit<double>::value));
+
+ EXPECT_TRUE((traits::is_luminous_intensity_unit<candela_t>::value));
+ EXPECT_TRUE((traits::is_luminous_intensity_unit<const candela_t>::value));
+ EXPECT_TRUE((traits::is_luminous_intensity_unit<const candela_t&>::value));
+ EXPECT_FALSE((traits::is_luminous_intensity_unit<rad_t>::value));
+ EXPECT_TRUE(
+ (traits::is_luminous_intensity_unit<candela_t, candela_t>::value));
+ EXPECT_FALSE((traits::is_luminous_intensity_unit<rad_t, candela_t>::value));
+}
+
+TEST_F(TypeTraits, is_solid_angle_unit) {
+ EXPECT_TRUE((traits::is_solid_angle_unit<steradian>::value));
+ EXPECT_TRUE((traits::is_solid_angle_unit<degree_squared>::value));
+ EXPECT_FALSE((traits::is_solid_angle_unit<angle::degree>::value));
+ EXPECT_FALSE((traits::is_solid_angle_unit<double>::value));
+
+ EXPECT_TRUE((traits::is_solid_angle_unit<steradian_t>::value));
+ EXPECT_TRUE((traits::is_solid_angle_unit<const steradian_t>::value));
+ EXPECT_TRUE((traits::is_solid_angle_unit<const degree_squared_t&>::value));
+ EXPECT_FALSE((traits::is_solid_angle_unit<angle::degree_t>::value));
+ EXPECT_TRUE(
+ (traits::is_solid_angle_unit<degree_squared_t, steradian_t>::value));
+ EXPECT_FALSE(
+ (traits::is_solid_angle_unit<angle::degree_t, steradian_t>::value));
+}
+
+TEST_F(TypeTraits, is_frequency_unit) {
+ EXPECT_TRUE((traits::is_frequency_unit<hertz>::value));
+ EXPECT_FALSE((traits::is_frequency_unit<second>::value));
+ EXPECT_FALSE((traits::is_frequency_unit<double>::value));
+
+ EXPECT_TRUE((traits::is_frequency_unit<hertz_t>::value));
+ EXPECT_TRUE((traits::is_frequency_unit<const hertz_t>::value));
+ EXPECT_TRUE((traits::is_frequency_unit<const hertz_t&>::value));
+ EXPECT_FALSE((traits::is_frequency_unit<second_t>::value));
+ EXPECT_TRUE((traits::is_frequency_unit<const hertz_t&, gigahertz_t>::value));
+ EXPECT_FALSE((traits::is_frequency_unit<second_t, hertz_t>::value));
+}
+
+TEST_F(TypeTraits, is_velocity_unit) {
+ EXPECT_TRUE((traits::is_velocity_unit<meters_per_second>::value));
+ EXPECT_TRUE((traits::is_velocity_unit<miles_per_hour>::value));
+ EXPECT_FALSE((traits::is_velocity_unit<meters_per_second_squared>::value));
+ EXPECT_FALSE((traits::is_velocity_unit<double>::value));
+
+ EXPECT_TRUE((traits::is_velocity_unit<meters_per_second_t>::value));
+ EXPECT_TRUE((traits::is_velocity_unit<const meters_per_second_t>::value));
+ EXPECT_TRUE((traits::is_velocity_unit<const meters_per_second_t&>::value));
+ EXPECT_TRUE((traits::is_velocity_unit<miles_per_hour_t>::value));
+ EXPECT_FALSE((traits::is_velocity_unit<meters_per_second_squared_t>::value));
+ EXPECT_TRUE(
+ (traits::is_velocity_unit<miles_per_hour_t, meters_per_second_t>::value));
+ EXPECT_FALSE((traits::is_velocity_unit<meters_per_second_squared_t,
+ meters_per_second_t>::value));
+}
+
+TEST_F(TypeTraits, is_acceleration_unit) {
+ EXPECT_TRUE((traits::is_acceleration_unit<meters_per_second_squared>::value));
+ EXPECT_TRUE(
+ (traits::is_acceleration_unit<acceleration::standard_gravity>::value));
+ EXPECT_FALSE((traits::is_acceleration_unit<inch>::value));
+ EXPECT_FALSE((traits::is_acceleration_unit<double>::value));
+
+ EXPECT_TRUE(
+ (traits::is_acceleration_unit<meters_per_second_squared_t>::value));
+ EXPECT_TRUE(
+ (traits::is_acceleration_unit<const meters_per_second_squared_t>::value));
+ EXPECT_TRUE((
+ traits::is_acceleration_unit<const meters_per_second_squared_t&>::value));
+ EXPECT_TRUE((traits::is_acceleration_unit<standard_gravity_t>::value));
+ EXPECT_FALSE((traits::is_acceleration_unit<inch_t>::value));
+ EXPECT_TRUE(
+ (traits::is_acceleration_unit<standard_gravity_t,
+ meters_per_second_squared_t>::value));
+ EXPECT_FALSE(
+ (traits::is_acceleration_unit<inch_t,
+ meters_per_second_squared_t>::value));
+}
+
+TEST_F(TypeTraits, is_force_unit) {
+ EXPECT_TRUE((traits::is_force_unit<units::force::newton>::value));
+ EXPECT_TRUE((traits::is_force_unit<units::force::dynes>::value));
+ EXPECT_FALSE((traits::is_force_unit<meter>::value));
+ EXPECT_FALSE((traits::is_force_unit<double>::value));
+
+ EXPECT_TRUE((traits::is_force_unit<units::force::newton_t>::value));
+ EXPECT_TRUE((traits::is_force_unit<const units::force::newton_t>::value));
+ EXPECT_TRUE((traits::is_force_unit<const units::force::newton_t&>::value));
+ EXPECT_TRUE((traits::is_force_unit<units::force::dyne_t>::value));
+ EXPECT_FALSE((traits::is_force_unit<watt_t>::value));
+ EXPECT_TRUE((traits::is_force_unit<units::force::dyne_t,
+ units::force::newton_t>::value));
+ EXPECT_FALSE((traits::is_force_unit<watt_t, units::force::newton_t>::value));
+}
+
+TEST_F(TypeTraits, is_pressure_unit) {
+ EXPECT_TRUE((traits::is_pressure_unit<pressure::pascals>::value));
+ EXPECT_TRUE((traits::is_pressure_unit<atmosphere>::value));
+ EXPECT_FALSE((traits::is_pressure_unit<year>::value));
+ EXPECT_FALSE((traits::is_pressure_unit<double>::value));
+
+ EXPECT_TRUE((traits::is_pressure_unit<pascal_t>::value));
+ EXPECT_TRUE((traits::is_pressure_unit<const pascal_t>::value));
+ EXPECT_TRUE((traits::is_pressure_unit<const pascal_t&>::value));
+ EXPECT_TRUE((traits::is_pressure_unit<atmosphere_t>::value));
+ EXPECT_FALSE((traits::is_pressure_unit<year_t>::value));
+ EXPECT_TRUE(
+ (traits::is_pressure_unit<atmosphere_t, pressure::pascal_t>::value));
+ EXPECT_FALSE((traits::is_pressure_unit<year_t, pressure::pascal_t>::value));
+}
+
+TEST_F(TypeTraits, is_charge_unit) {
+ EXPECT_TRUE((traits::is_charge_unit<coulomb>::value));
+ EXPECT_FALSE((traits::is_charge_unit<watt>::value));
+ EXPECT_FALSE((traits::is_charge_unit<double>::value));
+
+ EXPECT_TRUE((traits::is_charge_unit<coulomb_t>::value));
+ EXPECT_TRUE((traits::is_charge_unit<const coulomb_t>::value));
+ EXPECT_TRUE((traits::is_charge_unit<const coulomb_t&>::value));
+ EXPECT_FALSE((traits::is_charge_unit<watt_t>::value));
+ EXPECT_TRUE((traits::is_charge_unit<const coulomb_t&, coulomb_t>::value));
+ EXPECT_FALSE((traits::is_charge_unit<watt_t, coulomb_t>::value));
+}
+
+TEST_F(TypeTraits, is_energy_unit) {
+ EXPECT_TRUE((traits::is_energy_unit<joule>::value));
+ EXPECT_TRUE((traits::is_energy_unit<calorie>::value));
+ EXPECT_FALSE((traits::is_energy_unit<watt>::value));
+ EXPECT_FALSE((traits::is_energy_unit<double>::value));
+
+ EXPECT_TRUE((traits::is_energy_unit<joule_t>::value));
+ EXPECT_TRUE((traits::is_energy_unit<const joule_t>::value));
+ EXPECT_TRUE((traits::is_energy_unit<const joule_t&>::value));
+ EXPECT_TRUE((traits::is_energy_unit<calorie_t>::value));
+ EXPECT_FALSE((traits::is_energy_unit<watt_t>::value));
+ EXPECT_TRUE((traits::is_energy_unit<calorie_t, joule_t>::value));
+ EXPECT_FALSE((traits::is_energy_unit<watt_t, joule_t>::value));
+}
+
+TEST_F(TypeTraits, is_power_unit) {
+ EXPECT_TRUE((traits::is_power_unit<watt>::value));
+ EXPECT_FALSE((traits::is_power_unit<henry>::value));
+ EXPECT_FALSE((traits::is_power_unit<double>::value));
+
+ EXPECT_TRUE((traits::is_power_unit<watt_t>::value));
+ EXPECT_TRUE((traits::is_power_unit<const watt_t>::value));
+ EXPECT_TRUE((traits::is_power_unit<const watt_t&>::value));
+ EXPECT_FALSE((traits::is_power_unit<henry_t>::value));
+ EXPECT_TRUE((traits::is_power_unit<const watt_t&, watt_t>::value));
+ EXPECT_FALSE((traits::is_power_unit<henry_t, watt_t>::value));
+}
+
+TEST_F(TypeTraits, is_voltage_unit) {
+ EXPECT_TRUE((traits::is_voltage_unit<volt>::value));
+ EXPECT_FALSE((traits::is_voltage_unit<henry>::value));
+ EXPECT_FALSE((traits::is_voltage_unit<double>::value));
+
+ EXPECT_TRUE((traits::is_voltage_unit<volt_t>::value));
+ EXPECT_TRUE((traits::is_voltage_unit<const volt_t>::value));
+ EXPECT_TRUE((traits::is_voltage_unit<const volt_t&>::value));
+ EXPECT_FALSE((traits::is_voltage_unit<henry_t>::value));
+ EXPECT_TRUE((traits::is_voltage_unit<const volt_t&, volt_t>::value));
+ EXPECT_FALSE((traits::is_voltage_unit<henry_t, volt_t>::value));
+}
+
+TEST_F(TypeTraits, is_capacitance_unit) {
+ EXPECT_TRUE((traits::is_capacitance_unit<farad>::value));
+ EXPECT_FALSE((traits::is_capacitance_unit<ohm>::value));
+ EXPECT_FALSE((traits::is_capacitance_unit<double>::value));
+
+ EXPECT_TRUE((traits::is_capacitance_unit<farad_t>::value));
+ EXPECT_TRUE((traits::is_capacitance_unit<const farad_t>::value));
+ EXPECT_TRUE((traits::is_capacitance_unit<const farad_t&>::value));
+ EXPECT_FALSE((traits::is_capacitance_unit<ohm_t>::value));
+ EXPECT_TRUE(
+ (traits::is_capacitance_unit<const farad_t&, millifarad_t>::value));
+ EXPECT_FALSE((traits::is_capacitance_unit<ohm_t, farad_t>::value));
+}
+
+TEST_F(TypeTraits, is_impedance_unit) {
+ EXPECT_TRUE((traits::is_impedance_unit<ohm>::value));
+ EXPECT_FALSE((traits::is_impedance_unit<farad>::value));
+ EXPECT_FALSE((traits::is_impedance_unit<double>::value));
+
+ EXPECT_TRUE((traits::is_impedance_unit<ohm_t>::value));
+ EXPECT_TRUE((traits::is_impedance_unit<const ohm_t>::value));
+ EXPECT_TRUE((traits::is_impedance_unit<const ohm_t&>::value));
+ EXPECT_FALSE((traits::is_impedance_unit<farad_t>::value));
+ EXPECT_TRUE((traits::is_impedance_unit<const ohm_t&, milliohm_t>::value));
+ EXPECT_FALSE((traits::is_impedance_unit<farad_t, ohm_t>::value));
+}
+
+TEST_F(TypeTraits, is_conductance_unit) {
+ EXPECT_TRUE((traits::is_conductance_unit<siemens>::value));
+ EXPECT_FALSE((traits::is_conductance_unit<volt>::value));
+ EXPECT_FALSE((traits::is_conductance_unit<double>::value));
+
+ EXPECT_TRUE((traits::is_conductance_unit<siemens_t>::value));
+ EXPECT_TRUE((traits::is_conductance_unit<const siemens_t>::value));
+ EXPECT_TRUE((traits::is_conductance_unit<const siemens_t&>::value));
+ EXPECT_FALSE((traits::is_conductance_unit<volt_t>::value));
+ EXPECT_TRUE(
+ (traits::is_conductance_unit<const siemens_t&, millisiemens_t>::value));
+ EXPECT_FALSE((traits::is_conductance_unit<volt_t, siemens_t>::value));
+}
+
+TEST_F(TypeTraits, is_magnetic_flux_unit) {
+ EXPECT_TRUE((traits::is_magnetic_flux_unit<weber>::value));
+ EXPECT_TRUE((traits::is_magnetic_flux_unit<maxwell>::value));
+ EXPECT_FALSE((traits::is_magnetic_flux_unit<inch>::value));
+ EXPECT_FALSE((traits::is_magnetic_flux_unit<double>::value));
+
+ EXPECT_TRUE((traits::is_magnetic_flux_unit<weber_t>::value));
+ EXPECT_TRUE((traits::is_magnetic_flux_unit<const weber_t>::value));
+ EXPECT_TRUE((traits::is_magnetic_flux_unit<const weber_t&>::value));
+ EXPECT_TRUE((traits::is_magnetic_flux_unit<maxwell_t>::value));
+ EXPECT_FALSE((traits::is_magnetic_flux_unit<inch_t>::value));
+ EXPECT_TRUE((traits::is_magnetic_flux_unit<maxwell_t, weber_t>::value));
+ EXPECT_FALSE((traits::is_magnetic_flux_unit<inch_t, weber_t>::value));
+}
+
+TEST_F(TypeTraits, is_magnetic_field_strength_unit) {
+ EXPECT_TRUE((traits::is_magnetic_field_strength_unit<
+ units::magnetic_field_strength::tesla>::value));
+ EXPECT_TRUE((traits::is_magnetic_field_strength_unit<gauss>::value));
+ EXPECT_FALSE((traits::is_magnetic_field_strength_unit<volt>::value));
+ EXPECT_FALSE((traits::is_magnetic_field_strength_unit<double>::value));
+
+ EXPECT_TRUE((traits::is_magnetic_field_strength_unit<tesla_t>::value));
+ EXPECT_TRUE((traits::is_magnetic_field_strength_unit<const tesla_t>::value));
+ EXPECT_TRUE((traits::is_magnetic_field_strength_unit<const tesla_t&>::value));
+ EXPECT_TRUE((traits::is_magnetic_field_strength_unit<gauss_t>::value));
+ EXPECT_FALSE((traits::is_magnetic_field_strength_unit<volt_t>::value));
+ EXPECT_TRUE(
+ (traits::is_magnetic_field_strength_unit<gauss_t, tesla_t>::value));
+ EXPECT_FALSE(
+ (traits::is_magnetic_field_strength_unit<volt_t, tesla_t>::value));
+}
+
+TEST_F(TypeTraits, is_inductance_unit) {
+ EXPECT_TRUE((traits::is_inductance_unit<henry>::value));
+ EXPECT_FALSE((traits::is_inductance_unit<farad>::value));
+ EXPECT_FALSE((traits::is_inductance_unit<double>::value));
+
+ EXPECT_TRUE((traits::is_inductance_unit<henry_t>::value));
+ EXPECT_TRUE((traits::is_inductance_unit<const henry_t>::value));
+ EXPECT_TRUE((traits::is_inductance_unit<const henry_t&>::value));
+ EXPECT_FALSE((traits::is_inductance_unit<farad_t>::value));
+ EXPECT_TRUE(
+ (traits::is_inductance_unit<const henry_t&, millihenry_t>::value));
+ EXPECT_FALSE((traits::is_inductance_unit<farad_t, henry_t>::value));
+}
+
+TEST_F(TypeTraits, is_luminous_flux_unit) {
+ EXPECT_TRUE((traits::is_luminous_flux_unit<lumen>::value));
+ EXPECT_FALSE((traits::is_luminous_flux_unit<pound>::value));
+ EXPECT_FALSE((traits::is_luminous_flux_unit<double>::value));
+
+ EXPECT_TRUE((traits::is_luminous_flux_unit<lumen_t>::value));
+ EXPECT_TRUE((traits::is_luminous_flux_unit<const lumen_t>::value));
+ EXPECT_TRUE((traits::is_luminous_flux_unit<const lumen_t&>::value));
+ EXPECT_FALSE((traits::is_luminous_flux_unit<pound_t>::value));
+ EXPECT_TRUE(
+ (traits::is_luminous_flux_unit<const lumen_t&, millilumen_t>::value));
+ EXPECT_FALSE((traits::is_luminous_flux_unit<pound_t, lumen_t>::value));
+}
+
+TEST_F(TypeTraits, is_illuminance_unit) {
+ EXPECT_TRUE((traits::is_illuminance_unit<illuminance::footcandle>::value));
+ EXPECT_TRUE((traits::is_illuminance_unit<illuminance::lux>::value));
+ EXPECT_FALSE((traits::is_illuminance_unit<meter>::value));
+ EXPECT_FALSE((traits::is_illuminance_unit<double>::value));
+
+ EXPECT_TRUE((traits::is_illuminance_unit<footcandle_t>::value));
+ EXPECT_TRUE((traits::is_illuminance_unit<const footcandle_t>::value));
+ EXPECT_TRUE((traits::is_illuminance_unit<const footcandle_t&>::value));
+ EXPECT_TRUE((traits::is_illuminance_unit<lux_t>::value));
+ EXPECT_FALSE((traits::is_illuminance_unit<meter_t>::value));
+ EXPECT_TRUE((traits::is_illuminance_unit<lux_t, footcandle_t>::value));
+ EXPECT_FALSE((traits::is_illuminance_unit<meter_t, footcandle_t>::value));
+}
+
+TEST_F(TypeTraits, is_radioactivity_unit) {
+ EXPECT_TRUE((traits::is_radioactivity_unit<becquerel>::value));
+ EXPECT_FALSE((traits::is_radioactivity_unit<year>::value));
+ EXPECT_FALSE((traits::is_radioactivity_unit<double>::value));
+
+ EXPECT_TRUE((traits::is_radioactivity_unit<becquerel_t>::value));
+ EXPECT_TRUE((traits::is_radioactivity_unit<const becquerel_t>::value));
+ EXPECT_TRUE((traits::is_radioactivity_unit<const becquerel_t&>::value));
+ EXPECT_FALSE((traits::is_radioactivity_unit<year_t>::value));
+ EXPECT_TRUE((traits::is_radioactivity_unit<const becquerel_t&,
+ millibecquerel_t>::value));
+ EXPECT_FALSE((traits::is_radioactivity_unit<year_t, becquerel_t>::value));
+}
+
+TEST_F(TypeTraits, is_torque_unit) {
+ EXPECT_TRUE((traits::is_torque_unit<torque::newton_meter>::value));
+ EXPECT_TRUE((traits::is_torque_unit<torque::foot_pound>::value));
+ EXPECT_FALSE((traits::is_torque_unit<volume::cubic_meter>::value));
+ EXPECT_FALSE((traits::is_torque_unit<double>::value));
+
+ EXPECT_TRUE((traits::is_torque_unit<torque::newton_meter_t>::value));
+ EXPECT_TRUE((traits::is_torque_unit<const torque::newton_meter_t>::value));
+ EXPECT_TRUE((traits::is_torque_unit<const torque::newton_meter_t&>::value));
+ EXPECT_TRUE((traits::is_torque_unit<torque::foot_pound_t>::value));
+ EXPECT_FALSE((traits::is_torque_unit<volume::cubic_meter_t>::value));
+ EXPECT_TRUE((traits::is_torque_unit<torque::foot_pound_t,
+ torque::newton_meter_t>::value));
+ EXPECT_FALSE((traits::is_torque_unit<volume::cubic_meter_t,
+ torque::newton_meter_t>::value));
+}
+
+TEST_F(TypeTraits, is_area_unit) {
+ EXPECT_TRUE((traits::is_area_unit<square_meter>::value));
+ EXPECT_TRUE((traits::is_area_unit<hectare>::value));
+ EXPECT_FALSE((traits::is_area_unit<astronicalUnit>::value));
+ EXPECT_FALSE((traits::is_area_unit<double>::value));
+
+ EXPECT_TRUE((traits::is_area_unit<square_meter_t>::value));
+ EXPECT_TRUE((traits::is_area_unit<const square_meter_t>::value));
+ EXPECT_TRUE((traits::is_area_unit<const square_meter_t&>::value));
+ EXPECT_TRUE((traits::is_area_unit<hectare_t>::value));
+ EXPECT_FALSE((traits::is_area_unit<astronicalUnit_t>::value));
+ EXPECT_TRUE((traits::is_area_unit<hectare_t, square_meter_t>::value));
+ EXPECT_FALSE((traits::is_area_unit<astronicalUnit_t, square_meter_t>::value));
+}
+
+TEST_F(TypeTraits, is_volume_unit) {
+ EXPECT_TRUE((traits::is_volume_unit<cubic_meter>::value));
+ EXPECT_TRUE((traits::is_volume_unit<cubic_foot>::value));
+ EXPECT_FALSE((traits::is_volume_unit<square_feet>::value));
+ EXPECT_FALSE((traits::is_volume_unit<double>::value));
+
+ EXPECT_TRUE((traits::is_volume_unit<cubic_meter_t>::value));
+ EXPECT_TRUE((traits::is_volume_unit<const cubic_meter_t>::value));
+ EXPECT_TRUE((traits::is_volume_unit<const cubic_meter_t&>::value));
+ EXPECT_TRUE((traits::is_volume_unit<cubic_inch_t>::value));
+ EXPECT_FALSE((traits::is_volume_unit<foot_t>::value));
+ EXPECT_TRUE((traits::is_volume_unit<cubic_inch_t, cubic_meter_t>::value));
+ EXPECT_FALSE((traits::is_volume_unit<foot_t, cubic_meter_t>::value));
+}
+
+TEST_F(TypeTraits, is_density_unit) {
+ EXPECT_TRUE((traits::is_density_unit<kilograms_per_cubic_meter>::value));
+ EXPECT_TRUE((traits::is_density_unit<ounces_per_cubic_foot>::value));
+ EXPECT_FALSE((traits::is_density_unit<year>::value));
+ EXPECT_FALSE((traits::is_density_unit<double>::value));
+
+ EXPECT_TRUE((traits::is_density_unit<kilograms_per_cubic_meter_t>::value));
+ EXPECT_TRUE(
+ (traits::is_density_unit<const kilograms_per_cubic_meter_t>::value));
+ EXPECT_TRUE(
+ (traits::is_density_unit<const kilograms_per_cubic_meter_t&>::value));
+ EXPECT_TRUE((traits::is_density_unit<ounces_per_cubic_foot_t>::value));
+ EXPECT_FALSE((traits::is_density_unit<year_t>::value));
+ EXPECT_TRUE((traits::is_density_unit<ounces_per_cubic_foot_t,
+ kilograms_per_cubic_meter_t>::value));
+ EXPECT_FALSE(
+ (traits::is_density_unit<year_t, kilograms_per_cubic_meter_t>::value));
+}
+
+TEST_F(TypeTraits, is_data_unit) {
+ EXPECT_TRUE((traits::is_data_unit<bit>::value));
+ EXPECT_TRUE((traits::is_data_unit<byte>::value));
+ EXPECT_TRUE((traits::is_data_unit<exabit>::value));
+ EXPECT_TRUE((traits::is_data_unit<exabyte>::value));
+ EXPECT_FALSE((traits::is_data_unit<year>::value));
+ EXPECT_FALSE((traits::is_data_unit<double>::value));
+
+ EXPECT_TRUE((traits::is_data_unit<bit_t>::value));
+ EXPECT_TRUE((traits::is_data_unit<const bit_t>::value));
+ EXPECT_TRUE((traits::is_data_unit<const bit_t&>::value));
+ EXPECT_TRUE((traits::is_data_unit<byte_t>::value));
+ EXPECT_FALSE((traits::is_data_unit<year_t>::value));
+ EXPECT_TRUE((traits::is_data_unit<bit_t, byte_t>::value));
+ EXPECT_FALSE((traits::is_data_unit<year_t, byte_t>::value));
+}
+
+TEST_F(TypeTraits, is_data_transfer_rate_unit) {
+ EXPECT_TRUE((traits::is_data_transfer_rate_unit<Gbps>::value));
+ EXPECT_TRUE((traits::is_data_transfer_rate_unit<GBps>::value));
+ EXPECT_FALSE((traits::is_data_transfer_rate_unit<year>::value));
+ EXPECT_FALSE((traits::is_data_transfer_rate_unit<double>::value));
+
+ EXPECT_TRUE(
+ (traits::is_data_transfer_rate_unit<gigabits_per_second_t>::value));
+ EXPECT_TRUE((
+ traits::is_data_transfer_rate_unit<const gigabytes_per_second_t>::value));
+ EXPECT_TRUE((traits::is_data_transfer_rate_unit<
+ const gigabytes_per_second_t&>::value));
+ EXPECT_TRUE(
+ (traits::is_data_transfer_rate_unit<gigabytes_per_second_t>::value));
+ EXPECT_FALSE((traits::is_data_transfer_rate_unit<year_t>::value));
+ EXPECT_TRUE(
+ (traits::is_data_transfer_rate_unit<gigabits_per_second_t,
+ gigabytes_per_second_t>::value));
+ EXPECT_FALSE(
+ (traits::is_data_transfer_rate_unit<year_t,
+ gigabytes_per_second_t>::value));
+}
+
+TEST_F(UnitManipulators, squared) {
+ double test;
+
+ test = convert<squared<meters>, square_feet>(0.092903);
+ EXPECT_NEAR(0.99999956944, test, 5.0e-12);
+
+ using scalar_2 = squared<scalar>; // this is actually nonsensical, and should
+ // also result in a scalar.
+ bool isSame =
+ std::is_same<typename std::decay<scalar_t>::type,
+ typename std::decay<unit_t<scalar_2>>::type>::value;
+ EXPECT_TRUE(isSame);
+}
+
+TEST_F(UnitManipulators, cubed) {
+ double test;
+
+ test = convert<cubed<meters>, cubic_feet>(0.0283168);
+ EXPECT_NEAR(0.999998354619, test, 5.0e-13);
+}
+
+TEST_F(UnitManipulators, square_root) {
+ double test;
+
+ test = convert<square_root<square_kilometer>, meter>(1.0);
+ EXPECT_TRUE((traits::is_convertible_unit<
+ typename std::decay<square_root<square_kilometer>>::type,
+ kilometer>::value));
+ EXPECT_NEAR(1000.0, test, 5.0e-13);
+}
+
+TEST_F(UnitManipulators, compound_unit) {
+ using acceleration1 = unit<std::ratio<1>, category::acceleration_unit>;
+ using acceleration2 =
+ compound_unit<meters, inverse<seconds>, inverse<seconds>>;
+ using acceleration3 =
+ unit<std::ratio<1>,
+ base_unit<std::ratio<1>, std::ratio<0>, std::ratio<-2>>>;
+ using acceleration4 = compound_unit<meters, inverse<squared<seconds>>>;
+ using acceleration5 = compound_unit<meters, squared<inverse<seconds>>>;
+
+ bool areSame12 = std::is_same<acceleration1, acceleration2>::value;
+ bool areSame23 = std::is_same<acceleration2, acceleration3>::value;
+ bool areSame34 = std::is_same<acceleration3, acceleration4>::value;
+ bool areSame45 = std::is_same<acceleration4, acceleration5>::value;
+
+ EXPECT_TRUE(areSame12);
+ EXPECT_TRUE(areSame23);
+ EXPECT_TRUE(areSame34);
+ EXPECT_TRUE(areSame45);
+
+ // test that thing with translations still compile
+ using arbitrary1 = compound_unit<meters, inverse<celsius>>;
+ using arbitrary2 = compound_unit<meters, celsius>;
+ using arbitrary3 = compound_unit<arbitrary1, arbitrary2>;
+ EXPECT_TRUE((std::is_same<square_meters, arbitrary3>::value));
+}
+
+TEST_F(UnitManipulators, dimensionalAnalysis) {
+ // these look like 'compound units', but the dimensional analysis can be
+ // REALLY handy if the unit types aren't know (i.e. they themselves are
+ // template parameters), as you can get the resulting unit of the operation.
+
+ using velocity = units::detail::unit_divide<meters, second>;
+ bool shouldBeTrue = std::is_same<meters_per_second, velocity>::value;
+ EXPECT_TRUE(shouldBeTrue);
+
+ using acceleration1 = unit<std::ratio<1>, category::acceleration_unit>;
+ using acceleration2 = units::detail::unit_divide<
+ meters, units::detail::unit_multiply<seconds, seconds>>;
+ shouldBeTrue = std::is_same<acceleration1, acceleration2>::value;
+ EXPECT_TRUE(shouldBeTrue);
+}
+
+#ifdef _MSC_VER
+#if (_MSC_VER >= 1900)
+TEST_F(UnitContainer, trivial) {
+ EXPECT_TRUE((std::is_trivial<meter_t>::value));
+ EXPECT_TRUE((std::is_trivially_assignable<meter_t, meter_t>::value));
+ EXPECT_TRUE((std::is_trivially_constructible<meter_t>::value));
+ EXPECT_TRUE((std::is_trivially_copy_assignable<meter_t>::value));
+ EXPECT_TRUE((std::is_trivially_copy_constructible<meter_t>::value));
+ EXPECT_TRUE((std::is_trivially_copyable<meter_t>::value));
+ EXPECT_TRUE((std::is_trivially_default_constructible<meter_t>::value));
+ EXPECT_TRUE((std::is_trivially_destructible<meter_t>::value));
+ EXPECT_TRUE((std::is_trivially_move_assignable<meter_t>::value));
+ EXPECT_TRUE((std::is_trivially_move_constructible<meter_t>::value));
+
+ EXPECT_TRUE((std::is_trivial<dB_t>::value));
+ EXPECT_TRUE((std::is_trivially_assignable<dB_t, dB_t>::value));
+ EXPECT_TRUE((std::is_trivially_constructible<dB_t>::value));
+ EXPECT_TRUE((std::is_trivially_copy_assignable<dB_t>::value));
+ EXPECT_TRUE((std::is_trivially_copy_constructible<dB_t>::value));
+ EXPECT_TRUE((std::is_trivially_copyable<dB_t>::value));
+ EXPECT_TRUE((std::is_trivially_default_constructible<dB_t>::value));
+ EXPECT_TRUE((std::is_trivially_destructible<dB_t>::value));
+ EXPECT_TRUE((std::is_trivially_move_assignable<dB_t>::value));
+ EXPECT_TRUE((std::is_trivially_move_constructible<dB_t>::value));
+}
+#endif
+#endif
+
+TEST_F(UnitContainer, has_value_member) {
+ EXPECT_TRUE((traits::has_value_member<linear_scale<double>, double>::value));
+ EXPECT_FALSE((traits::has_value_member<meter, double>::value));
+}
+
+TEST_F(UnitContainer, make_unit) {
+ auto dist = units::make_unit<meter_t>(5);
+ EXPECT_EQ(meter_t(5), dist);
+}
+
+TEST_F(UnitContainer, unitTypeAddition) {
+ // units
+ meter_t a_m(1.0), c_m;
+ foot_t b_ft(3.28084);
+
+ double d = convert<feet, meters>(b_ft());
+ EXPECT_NEAR(1.0, d, 5.0e-5);
+
+ c_m = a_m + b_ft;
+ EXPECT_NEAR(2.0, c_m(), 5.0e-5);
+
+ c_m = b_ft + meter_t(3);
+ EXPECT_NEAR(4.0, c_m(), 5.0e-5);
+
+ auto e_ft = b_ft + meter_t(3);
+ EXPECT_NEAR(13.12336, e_ft(), 5.0e-6);
+
+ // scalar
+ scalar_t sresult = scalar_t(1.0) + scalar_t(1.0);
+ EXPECT_NEAR(2.0, sresult, 5.0e-6);
+
+ sresult = scalar_t(1.0) + 1.0;
+ EXPECT_NEAR(2.0, sresult, 5.0e-6);
+
+ sresult = 1.0 + scalar_t(1.0);
+ EXPECT_NEAR(2.0, sresult, 5.0e-6);
+
+ d = scalar_t(1.0) + scalar_t(1.0);
+ EXPECT_NEAR(2.0, d, 5.0e-6);
+
+ d = scalar_t(1.0) + 1.0;
+ EXPECT_NEAR(2.0, d, 5.0e-6);
+
+ d = 1.0 + scalar_t(1.0);
+ EXPECT_NEAR(2.0, d, 5.0e-6);
+}
+
+TEST_F(UnitContainer, unitTypeUnaryAddition) {
+ meter_t a_m(1.0);
+
+ EXPECT_EQ(++a_m, meter_t(2));
+ EXPECT_EQ(a_m++, meter_t(2));
+ EXPECT_EQ(a_m, meter_t(3));
+ EXPECT_EQ(+a_m, meter_t(3));
+ EXPECT_EQ(a_m, meter_t(3));
+
+ dBW_t b_dBW(1.0);
+
+ EXPECT_EQ(++b_dBW, dBW_t(2));
+ EXPECT_EQ(b_dBW++, dBW_t(2));
+ EXPECT_EQ(b_dBW, dBW_t(3));
+ EXPECT_EQ(+b_dBW, dBW_t(3));
+ EXPECT_EQ(b_dBW, dBW_t(3));
+}
+
+TEST_F(UnitContainer, unitTypeSubtraction) {
+ meter_t a_m(1.0), c_m;
+ foot_t b_ft(3.28084);
+
+ c_m = a_m - b_ft;
+ EXPECT_NEAR(0.0, c_m(), 5.0e-5);
+
+ c_m = b_ft - meter_t(1);
+ EXPECT_NEAR(0.0, c_m(), 5.0e-5);
+
+ auto e_ft = b_ft - meter_t(1);
+ EXPECT_NEAR(0.0, e_ft(), 5.0e-6);
+
+ scalar_t sresult = scalar_t(1.0) - scalar_t(1.0);
+ EXPECT_NEAR(0.0, sresult, 5.0e-6);
+
+ sresult = scalar_t(1.0) - 1.0;
+ EXPECT_NEAR(0.0, sresult, 5.0e-6);
+
+ sresult = 1.0 - scalar_t(1.0);
+ EXPECT_NEAR(0.0, sresult, 5.0e-6);
+
+ double d = scalar_t(1.0) - scalar_t(1.0);
+ EXPECT_NEAR(0.0, d, 5.0e-6);
+
+ d = scalar_t(1.0) - 1.0;
+ EXPECT_NEAR(0.0, d, 5.0e-6);
+
+ d = 1.0 - scalar_t(1.0);
+ EXPECT_NEAR(0.0, d, 5.0e-6);
+}
+
+TEST_F(UnitContainer, unitTypeUnarySubtraction) {
+ meter_t a_m(4.0);
+
+ EXPECT_EQ(--a_m, meter_t(3));
+ EXPECT_EQ(a_m--, meter_t(3));
+ EXPECT_EQ(a_m, meter_t(2));
+ EXPECT_EQ(-a_m, meter_t(-2));
+ EXPECT_EQ(a_m, meter_t(2));
+
+ dBW_t b_dBW(4.0);
+
+ EXPECT_EQ(--b_dBW, dBW_t(3));
+ EXPECT_EQ(b_dBW--, dBW_t(3));
+ EXPECT_EQ(b_dBW, dBW_t(2));
+ EXPECT_EQ(-b_dBW, dBW_t(-2));
+ EXPECT_EQ(b_dBW, dBW_t(2));
+}
+
+TEST_F(UnitContainer, unitTypeMultiplication) {
+ meter_t a_m(1.0), b_m(2.0);
+ foot_t a_ft(3.28084);
+
+ auto c_m2 = a_m * b_m;
+ EXPECT_NEAR(2.0, c_m2(), 5.0e-5);
+
+ c_m2 = b_m * meter_t(2);
+ EXPECT_NEAR(4.0, c_m2(), 5.0e-5);
+
+ c_m2 = b_m * a_ft;
+ EXPECT_NEAR(2.0, c_m2(), 5.0e-5);
+
+ auto c_m = b_m * 2.0;
+ EXPECT_NEAR(4.0, c_m(), 5.0e-5);
+
+ c_m = 2.0 * b_m;
+ EXPECT_NEAR(4.0, c_m(), 5.0e-5);
+
+ double convert = scalar_t(3.14);
+ EXPECT_NEAR(3.14, convert, 5.0e-5);
+
+ scalar_t sresult = scalar_t(5.0) * scalar_t(4.0);
+ EXPECT_NEAR(20.0, sresult(), 5.0e-5);
+
+ sresult = scalar_t(5.0) * 4.0;
+ EXPECT_NEAR(20.0, sresult(), 5.0e-5);
+
+ sresult = 4.0 * scalar_t(5.0);
+ EXPECT_NEAR(20.0, sresult(), 5.0e-5);
+
+ double result = scalar_t(5.0) * scalar_t(4.0);
+ EXPECT_NEAR(20.0, result, 5.0e-5);
+
+ result = scalar_t(5.0) * 4.0;
+ EXPECT_NEAR(20.0, result, 5.0e-5);
+
+ result = 4.0 * scalar_t(5.0);
+ EXPECT_NEAR(20.0, result, 5.0e-5);
+}
+
+TEST_F(UnitContainer, unitTypeMixedUnitMultiplication) {
+ meter_t a_m(1.0);
+ foot_t b_ft(3.28084);
+ unit_t<inverse<meter>> i_m(2.0);
+
+ // resultant unit is square of leftmost unit
+ auto c_m2 = a_m * b_ft;
+ EXPECT_NEAR(1.0, c_m2(), 5.0e-5);
+
+ auto c_ft2 = b_ft * a_m;
+ EXPECT_NEAR(10.7639111056, c_ft2(), 5.0e-7);
+
+ // you can get whatever (compatible) type you want if you ask explicitly
+ square_meter_t d_m2 = b_ft * a_m;
+ EXPECT_NEAR(1.0, d_m2(), 5.0e-5);
+
+ // a unit times a sclar ends up with the same units.
+ meter_t e_m = a_m * scalar_t(3.0);
+ EXPECT_NEAR(3.0, e_m(), 5.0e-5);
+
+ e_m = scalar_t(4.0) * a_m;
+ EXPECT_NEAR(4.0, e_m(), 5.0e-5);
+
+ // unit times its inverse results in a scalar
+ scalar_t s = a_m * i_m;
+ EXPECT_NEAR(2.0, s, 5.0e-5);
+
+ c_m2 = b_ft * meter_t(2);
+ EXPECT_NEAR(2.0, c_m2(), 5.0e-5);
+
+ auto e_ft2 = b_ft * meter_t(3);
+ EXPECT_NEAR(32.2917333168, e_ft2(), 5.0e-6);
+
+ auto mps = meter_t(10.0) * unit_t<inverse<seconds>>(1.0);
+ EXPECT_EQ(mps, meters_per_second_t(10));
+}
+
+TEST_F(UnitContainer, unitTypeScalarMultiplication) {
+ meter_t a_m(1.0);
+
+ auto result_m = scalar_t(3.0) * a_m;
+ EXPECT_NEAR(3.0, result_m(), 5.0e-5);
+
+ result_m = a_m * scalar_t(4.0);
+ EXPECT_NEAR(4.0, result_m(), 5.0e-5);
+
+ result_m = 3.0 * a_m;
+ EXPECT_NEAR(3.0, result_m(), 5.0e-5);
+
+ result_m = a_m * 4.0;
+ EXPECT_NEAR(4.0, result_m(), 5.0e-5);
+
+ bool isSame = std::is_same<decltype(result_m), meter_t>::value;
+ EXPECT_TRUE(isSame);
+}
+
+TEST_F(UnitContainer, unitTypeDivision) {
+ meter_t a_m(1.0), b_m(2.0);
+ foot_t a_ft(3.28084);
+ second_t a_sec(10.0);
+ bool isSame;
+
+ auto c = a_m / a_ft;
+ EXPECT_NEAR(1.0, c, 5.0e-5);
+ isSame = std::is_same<decltype(c), scalar_t>::value;
+ EXPECT_TRUE(isSame);
+
+ c = a_m / b_m;
+ EXPECT_NEAR(0.5, c, 5.0e-5);
+ isSame = std::is_same<decltype(c), scalar_t>::value;
+ EXPECT_TRUE(isSame);
+
+ c = a_ft / a_m;
+ EXPECT_NEAR(1.0, c, 5.0e-5);
+ isSame = std::is_same<decltype(c), scalar_t>::value;
+ EXPECT_TRUE(isSame);
+
+ c = scalar_t(1.0) / 2.0;
+ EXPECT_NEAR(0.5, c, 5.0e-5);
+ isSame = std::is_same<decltype(c), scalar_t>::value;
+ EXPECT_TRUE(isSame);
+
+ c = 1.0 / scalar_t(2.0);
+ EXPECT_NEAR(0.5, c, 5.0e-5);
+ isSame = std::is_same<decltype(c), scalar_t>::value;
+ EXPECT_TRUE(isSame);
+
+ double d = scalar_t(1.0) / 2.0;
+ EXPECT_NEAR(0.5, d, 5.0e-5);
+
+ auto e = a_m / a_sec;
+ EXPECT_NEAR(0.1, e(), 5.0e-5);
+ isSame = std::is_same<decltype(e), meters_per_second_t>::value;
+ EXPECT_TRUE(isSame);
+
+ auto f = a_m / 8.0;
+ EXPECT_NEAR(0.125, f(), 5.0e-5);
+ isSame = std::is_same<decltype(f), meter_t>::value;
+ EXPECT_TRUE(isSame);
+
+ auto g = 4.0 / b_m;
+ EXPECT_NEAR(2.0, g(), 5.0e-5);
+ isSame = std::is_same<decltype(g), unit_t<inverse<meters>>>::value;
+ EXPECT_TRUE(isSame);
+
+ auto mph = mile_t(60.0) / hour_t(1.0);
+ meters_per_second_t mps = mph;
+ EXPECT_NEAR(26.8224, mps(), 5.0e-5);
+}
+
+TEST_F(UnitContainer, compoundAssignmentAddition) {
+ // units
+ meter_t a(0.0);
+ a += meter_t(1.0);
+
+ EXPECT_EQ(meter_t(1.0), a);
+
+ a += foot_t(meter_t(1));
+
+ EXPECT_EQ(meter_t(2.0), a);
+
+ // scalars
+ scalar_t b(0);
+ b += scalar_t(1.0);
+
+ EXPECT_EQ(scalar_t(1.0), b);
+
+ b += 1;
+
+ EXPECT_EQ(scalar_t(2.0), b);
+}
+
+TEST_F(UnitContainer, compoundAssignmentSubtraction) {
+ // units
+ meter_t a(2.0);
+ a -= meter_t(1.0);
+
+ EXPECT_EQ(meter_t(1.0), a);
+
+ a -= foot_t(meter_t(1));
+
+ EXPECT_EQ(meter_t(0.0), a);
+
+ // scalars
+ scalar_t b(2);
+ b -= scalar_t(1.0);
+
+ EXPECT_EQ(scalar_t(1.0), b);
+
+ b -= 1;
+
+ EXPECT_EQ(scalar_t(0), b);
+}
+
+TEST_F(UnitContainer, compoundAssignmentMultiplication) {
+ // units
+ meter_t a(2.0);
+ a *= scalar_t(2.0);
+
+ EXPECT_EQ(meter_t(4.0), a);
+
+ a *= 2.0;
+
+ EXPECT_EQ(meter_t(8.0), a);
+
+ // scalars
+ scalar_t b(2);
+ b *= scalar_t(2.0);
+
+ EXPECT_EQ(scalar_t(4.0), b);
+
+ b *= 2;
+
+ EXPECT_EQ(scalar_t(8.0), b);
+}
+
+TEST_F(UnitContainer, compoundAssignmentDivision) {
+ // units
+ meter_t a(8.0);
+ a /= scalar_t(2.0);
+
+ EXPECT_EQ(meter_t(4.0), a);
+
+ a /= 2.0;
+
+ EXPECT_EQ(meter_t(2.0), a);
+
+ // scalars
+ scalar_t b(8);
+ b /= scalar_t(2.0);
+
+ EXPECT_EQ(scalar_t(4.0), b);
+
+ b /= 2;
+
+ EXPECT_EQ(scalar_t(2.0), b);
+}
+
+TEST_F(UnitContainer, scalarTypeImplicitConversion) {
+ double test = scalar_t(3.0);
+ EXPECT_DOUBLE_EQ(3.0, test);
+
+ scalar_t testS = 3.0;
+ EXPECT_DOUBLE_EQ(3.0, testS);
+
+ scalar_t test3(ppm_t(10));
+ EXPECT_DOUBLE_EQ(0.00001, test3);
+
+ scalar_t test4;
+ test4 = ppm_t(1);
+ EXPECT_DOUBLE_EQ(0.000001, test4);
+}
+
+TEST_F(UnitContainer, valueMethod) {
+ double test = meter_t(3.0).to<double>();
+ EXPECT_DOUBLE_EQ(3.0, test);
+
+ auto test2 = meter_t(4.0).value();
+ EXPECT_DOUBLE_EQ(4.0, test2);
+ EXPECT_TRUE((std::is_same<decltype(test2), double>::value));
+}
+
+TEST_F(UnitContainer, convertMethod) {
+ double test = meter_t(3.0).convert<feet>().to<double>();
+ EXPECT_NEAR(9.84252, test, 5.0e-6);
+}
+
+#ifndef UNIT_LIB_DISABLE_IOSTREAM
+TEST_F(UnitContainer, cout) {
+ testing::internal::CaptureStdout();
+ std::cout << degree_t(349.87);
+ std::string output = testing::internal::GetCapturedStdout();
+ EXPECT_STREQ("349.87 deg", output.c_str());
+
+ testing::internal::CaptureStdout();
+ std::cout << meter_t(1.0);
+ output = testing::internal::GetCapturedStdout();
+ EXPECT_STREQ("1 m", output.c_str());
+
+ testing::internal::CaptureStdout();
+ std::cout << dB_t(31.0);
+ output = testing::internal::GetCapturedStdout();
+ EXPECT_STREQ("31 dB", output.c_str());
+
+ testing::internal::CaptureStdout();
+ std::cout << volt_t(21.79);
+ output = testing::internal::GetCapturedStdout();
+ EXPECT_STREQ("21.79 V", output.c_str());
+
+ testing::internal::CaptureStdout();
+ std::cout << dBW_t(12.0);
+ output = testing::internal::GetCapturedStdout();
+ EXPECT_STREQ("12 dBW", output.c_str());
+
+ testing::internal::CaptureStdout();
+ std::cout << dBm_t(120.0);
+ output = testing::internal::GetCapturedStdout();
+ EXPECT_STREQ("120 dBm", output.c_str());
+
+ testing::internal::CaptureStdout();
+ std::cout << miles_per_hour_t(72.1);
+ output = testing::internal::GetCapturedStdout();
+ EXPECT_STREQ("72.1 mph", output.c_str());
+
+ // undefined unit
+ testing::internal::CaptureStdout();
+ std::cout << units::math::cpow<4>(meter_t(2));
+ output = testing::internal::GetCapturedStdout();
+ EXPECT_STREQ("16 m^4", output.c_str());
+
+ testing::internal::CaptureStdout();
+ std::cout << units::math::cpow<3>(foot_t(2));
+ output = testing::internal::GetCapturedStdout();
+ EXPECT_STREQ("8 cu_ft", output.c_str());
+
+ testing::internal::CaptureStdout();
+ std::cout << std::setprecision(9) << units::math::cpow<4>(foot_t(2));
+ output = testing::internal::GetCapturedStdout();
+ EXPECT_STREQ("0.138095597 m^4", output.c_str());
+
+ // constants
+ testing::internal::CaptureStdout();
+ std::cout << std::setprecision(8) << constants::k_B;
+ output = testing::internal::GetCapturedStdout();
+#if defined(_MSC_VER) && (_MSC_VER <= 1800)
+ EXPECT_STREQ("1.3806485e-023 m^2 kg s^-2 K^-1", output.c_str());
+#else
+ EXPECT_STREQ("1.3806485e-23 m^2 kg s^-2 K^-1", output.c_str());
+#endif
+
+ testing::internal::CaptureStdout();
+ std::cout << std::setprecision(9) << constants::mu_B;
+ output = testing::internal::GetCapturedStdout();
+#if defined(_MSC_VER) && (_MSC_VER <= 1800)
+ EXPECT_STREQ("9.27400999e-024 m^2 A", output.c_str());
+#else
+ EXPECT_STREQ("9.27400999e-24 m^2 A", output.c_str());
+#endif
+
+ testing::internal::CaptureStdout();
+ std::cout << std::setprecision(7) << constants::sigma;
+ output = testing::internal::GetCapturedStdout();
+#if defined(_MSC_VER) && (_MSC_VER <= 1800)
+ EXPECT_STREQ("5.670367e-008 kg s^-3 K^-4", output.c_str());
+#else
+ EXPECT_STREQ("5.670367e-08 kg s^-3 K^-4", output.c_str());
+#endif
+}
+
+TEST_F(UnitContainer, to_string) {
+ foot_t a(3.5);
+ EXPECT_STREQ("3.5 ft", units::length::to_string(a).c_str());
+
+ meter_t b(8);
+ EXPECT_STREQ("8 m", units::length::to_string(b).c_str());
+}
+
+TEST_F(UnitContainer, DISABLED_to_string_locale) {
+ struct lconv* lc;
+
+ // German locale
+#if defined(_MSC_VER)
+ setlocale(LC_ALL, "de-DE");
+#else
+ EXPECT_STREQ("de_DE.utf8", setlocale(LC_ALL, "de_DE.utf8"));
+#endif
+
+ lc = localeconv();
+ char point_de = *lc->decimal_point;
+ EXPECT_EQ(point_de, ',');
+
+ kilometer_t de = 2_km;
+ EXPECT_STREQ("2 km", units::length::to_string(de).c_str());
+
+ de = 2.5_km;
+ EXPECT_STREQ("2,5 km", units::length::to_string(de).c_str());
+
+ // US locale
+#if defined(_MSC_VER)
+ setlocale(LC_ALL, "en-US");
+#else
+ EXPECT_STREQ("en_US.utf8", setlocale(LC_ALL, "en_US.utf8"));
+#endif
+
+ lc = localeconv();
+ char point_us = *lc->decimal_point;
+ EXPECT_EQ(point_us, '.');
+
+ mile_t us = 2_mi;
+ EXPECT_STREQ("2 mi", units::length::to_string(us).c_str());
+
+ us = 2.5_mi;
+ EXPECT_STREQ("2.5 mi", units::length::to_string(us).c_str());
+}
+
+TEST_F(UnitContainer, nameAndAbbreviation) {
+ foot_t a(3.5);
+ EXPECT_STREQ("ft", units::abbreviation(a));
+ EXPECT_STREQ("ft", a.abbreviation());
+ EXPECT_STREQ("foot", a.name());
+
+ meter_t b(8);
+ EXPECT_STREQ("m", units::abbreviation(b));
+ EXPECT_STREQ("m", b.abbreviation());
+ EXPECT_STREQ("meter", b.name());
+}
+#endif
+
+TEST_F(UnitContainer, negative) {
+ meter_t a(5.3);
+ meter_t b(-5.3);
+ EXPECT_NEAR(a.to<double>(), -b.to<double>(), 5.0e-320);
+ EXPECT_NEAR(b.to<double>(), -a.to<double>(), 5.0e-320);
+
+ dB_t c(2.87);
+ dB_t d(-2.87);
+ EXPECT_NEAR(c.to<double>(), -d.to<double>(), 5.0e-320);
+ EXPECT_NEAR(d.to<double>(), -c.to<double>(), 5.0e-320);
+
+ ppm_t e = -1 * ppm_t(10);
+ EXPECT_EQ(e, -ppm_t(10));
+ EXPECT_NEAR(-0.00001, e, 5.0e-10);
+}
+
+TEST_F(UnitContainer, concentration) {
+ ppb_t a(ppm_t(1));
+ EXPECT_EQ(ppb_t(1000), a);
+ EXPECT_EQ(0.000001, a);
+ EXPECT_EQ(0.000001, a.to<double>());
+
+ scalar_t b(ppm_t(1));
+ EXPECT_EQ(0.000001, b);
+
+ scalar_t c = ppb_t(1);
+ EXPECT_EQ(0.000000001, c);
+}
+
+TEST_F(UnitContainer, dBConversion) {
+ dBW_t a_dbw(23.1);
+ watt_t a_w = a_dbw;
+ dBm_t a_dbm = a_dbw;
+
+ EXPECT_NEAR(204.173794, a_w(), 5.0e-7);
+ EXPECT_NEAR(53.1, a_dbm(), 5.0e-7);
+
+ milliwatt_t b_mw(100000.0);
+ watt_t b_w = b_mw;
+ dBm_t b_dbm = b_mw;
+ dBW_t b_dbw = b_mw;
+
+ EXPECT_NEAR(100.0, b_w(), 5.0e-7);
+ EXPECT_NEAR(50.0, b_dbm(), 5.0e-7);
+ EXPECT_NEAR(20.0, b_dbw(), 5.0e-7);
+}
+
+TEST_F(UnitContainer, dBAddition) {
+ bool isSame;
+
+ auto result_dbw = dBW_t(10.0) + dB_t(30.0);
+ EXPECT_NEAR(40.0, result_dbw(), 5.0e-5);
+ result_dbw = dB_t(12.0) + dBW_t(30.0);
+ EXPECT_NEAR(42.0, result_dbw(), 5.0e-5);
+ isSame = std::is_same<decltype(result_dbw), dBW_t>::value;
+ EXPECT_TRUE(isSame);
+
+ auto result_dbm = dB_t(30.0) + dBm_t(20.0);
+ EXPECT_NEAR(50.0, result_dbm(), 5.0e-5);
+
+ // adding dBW to dBW is something you probably shouldn't do, but let's see if
+ // it works...
+ auto result_dBW2 = dBW_t(10.0) + dBm_t(40.0);
+ EXPECT_NEAR(20.0, result_dBW2(), 5.0e-5);
+ isSame = std::is_same<decltype(result_dBW2),
+ unit_t<squared<watts>, double, decibel_scale>>::value;
+ EXPECT_TRUE(isSame);
+}
+
+TEST_F(UnitContainer, dBSubtraction) {
+ bool isSame;
+
+ auto result_dbw = dBW_t(10.0) - dB_t(30.0);
+ EXPECT_NEAR(-20.0, result_dbw(), 5.0e-5);
+ isSame = std::is_same<decltype(result_dbw), dBW_t>::value;
+ EXPECT_TRUE(isSame);
+
+ auto result_dbm = dBm_t(100.0) - dB_t(30.0);
+ EXPECT_NEAR(70.0, result_dbm(), 5.0e-5);
+ isSame = std::is_same<decltype(result_dbm), dBm_t>::value;
+ EXPECT_TRUE(isSame);
+
+ auto result_db = dBW_t(100.0) - dBW_t(80.0);
+ EXPECT_NEAR(20.0, result_db(), 5.0e-5);
+ isSame = std::is_same<decltype(result_db), dB_t>::value;
+ EXPECT_TRUE(isSame);
+
+ result_db = dB_t(100.0) - dB_t(80.0);
+ EXPECT_NEAR(20.0, result_db(), 5.0e-5);
+ isSame = std::is_same<decltype(result_db), dB_t>::value;
+ EXPECT_TRUE(isSame);
+}
+
+TEST_F(UnitContainer, unit_cast) {
+ meter_t test1(5.7);
+ hectare_t test2(16);
+
+ double dResult1 = 5.7;
+
+ double dResult2 = 16;
+ int iResult2 = 16;
+
+ EXPECT_EQ(dResult1, unit_cast<double>(test1));
+ EXPECT_EQ(dResult2, unit_cast<double>(test2));
+ EXPECT_EQ(iResult2, unit_cast<int>(test2));
+
+ EXPECT_TRUE(
+ (std::is_same<double, decltype(unit_cast<double>(test1))>::value));
+ EXPECT_TRUE((std::is_same<int, decltype(unit_cast<int>(test2))>::value));
+}
+
+// literal syntax is only supported in GCC 4.7+ and MSVC2015+
+#if !defined(_MSC_VER) || _MSC_VER > 1800
+TEST_F(UnitContainer, literals) {
+ // basic functionality testing
+ EXPECT_TRUE((std::is_same<decltype(16.2_m), meter_t>::value));
+ EXPECT_TRUE(meter_t(16.2) == 16.2_m);
+ EXPECT_TRUE(meter_t(16) == 16_m);
+
+ EXPECT_TRUE((std::is_same<decltype(11.2_ft), foot_t>::value));
+ EXPECT_TRUE(foot_t(11.2) == 11.2_ft);
+ EXPECT_TRUE(foot_t(11) == 11_ft);
+
+ // auto using literal syntax
+ auto x = 10.0_m;
+ EXPECT_TRUE((std::is_same<decltype(x), meter_t>::value));
+ EXPECT_TRUE(meter_t(10) == x);
+
+ // conversion using literal syntax
+ foot_t y = 0.3048_m;
+ EXPECT_TRUE(1_ft == y);
+
+ // Pythagorean theorem
+ meter_t a = 3_m;
+ meter_t b = 4_m;
+ meter_t c = sqrt(pow<2>(a) + pow<2>(b));
+ EXPECT_TRUE(c == 5_m);
+}
+#endif
+
+TEST_F(UnitConversion, length) {
+ double test;
+ test = convert<meters, nanometers>(0.000000001);
+ EXPECT_NEAR(1.0, test, 5.0e-20);
+ test = convert<meters, micrometers>(0.000001);
+ EXPECT_NEAR(1.0, test, 5.0e-20);
+ test = convert<meters, millimeters>(0.001);
+ EXPECT_NEAR(1.0, test, 5.0e-20);
+ test = convert<meters, centimeters>(0.01);
+ EXPECT_NEAR(1.0, test, 5.0e-20);
+ test = convert<meters, kilometers>(1000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-20);
+ test = convert<meters, meters>(1.0);
+ EXPECT_NEAR(1.0, test, 5.0e-20);
+ test = convert<meters, feet>(0.3048);
+ EXPECT_NEAR(1.0, test, 5.0e-20);
+ test = convert<meters, miles>(1609.344);
+ EXPECT_NEAR(1.0, test, 5.0e-20);
+ test = convert<meters, inches>(0.0254);
+ EXPECT_NEAR(1.0, test, 5.0e-20);
+ test = convert<meters, nauticalMiles>(1852.0);
+ EXPECT_NEAR(1.0, test, 5.0e-20);
+ test = convert<meters, astronicalUnits>(149597870700.0);
+ EXPECT_NEAR(1.0, test, 5.0e-20);
+ test = convert<meters, lightyears>(9460730472580800.0);
+ EXPECT_NEAR(1.0, test, 5.0e-20);
+ test = convert<meters, parsec>(3.08567758e16);
+ EXPECT_NEAR(1.0, test, 5.0e7);
+
+ test = convert<feet, feet>(6.3);
+ EXPECT_NEAR(6.3, test, 5.0e-5);
+ test = convert<feet, inches>(6.0);
+ EXPECT_NEAR(72.0, test, 5.0e-5);
+ test = convert<inches, feet>(6.0);
+ EXPECT_NEAR(0.5, test, 5.0e-5);
+ test = convert<meter, feet>(1.0);
+ EXPECT_NEAR(3.28084, test, 5.0e-5);
+ test = convert<miles, nauticalMiles>(6.3);
+ EXPECT_NEAR(5.47455, test, 5.0e-6);
+ test = convert<miles, meters>(11.0);
+ EXPECT_NEAR(17702.8, test, 5.0e-2);
+ test = convert<meters, chains>(1.0);
+ EXPECT_NEAR(0.0497097, test, 5.0e-7);
+}
+
+TEST_F(UnitConversion, mass) {
+ double test;
+
+ test = convert<kilograms, grams>(1.0e-3);
+ EXPECT_NEAR(1.0, test, 5.0e-6);
+ test = convert<kilograms, micrograms>(1.0e-9);
+ EXPECT_NEAR(1.0, test, 5.0e-6);
+ test = convert<kilograms, milligrams>(1.0e-6);
+ EXPECT_NEAR(1.0, test, 5.0e-6);
+ test = convert<kilograms, kilograms>(1.0);
+ EXPECT_NEAR(1.0, test, 5.0e-6);
+ test = convert<kilograms, metric_tons>(1000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-6);
+ test = convert<kilograms, pounds>(0.453592);
+ EXPECT_NEAR(1.0, test, 5.0e-6);
+ test = convert<kilograms, long_tons>(1016.05);
+ EXPECT_NEAR(1.0, test, 5.0e-6);
+ test = convert<kilograms, short_tons>(907.185);
+ EXPECT_NEAR(1.0, test, 5.0e-6);
+ test = convert<kilograms, mass::ounces>(0.0283495);
+ EXPECT_NEAR(1.0, test, 5.0e-6);
+ test = convert<kilograms, carats>(0.0002);
+ EXPECT_NEAR(1.0, test, 5.0e-6);
+ test = convert<slugs, kilograms>(1.0);
+ EXPECT_NEAR(14.593903, test, 5.0e-7);
+
+ test = convert<pounds, carats>(6.3);
+ EXPECT_NEAR(14288.2, test, 5.0e-2);
+}
+
+TEST_F(UnitConversion, time) {
+ double result = 0;
+ double daysPerYear = 365;
+ double hoursPerDay = 24;
+ double minsPerHour = 60;
+ double secsPerMin = 60;
+ double daysPerWeek = 7;
+
+ result = 2 * daysPerYear * hoursPerDay * minsPerHour * secsPerMin *
+ (1 / minsPerHour) * (1 / secsPerMin) * (1 / hoursPerDay) *
+ (1 / daysPerWeek);
+ EXPECT_NEAR(104.286, result, 5.0e-4);
+
+ year_t twoYears(2.0);
+ week_t twoYearsInWeeks = twoYears;
+ EXPECT_NEAR(week_t(104.286).to<double>(), twoYearsInWeeks.to<double>(),
+ 5.0e-4);
+
+ double test;
+
+ test = convert<seconds, seconds>(1.0);
+ EXPECT_NEAR(1.0, test, 5.0e-20);
+ test = convert<seconds, nanoseconds>(1.0e-9);
+ EXPECT_NEAR(1.0, test, 5.0e-20);
+ test = convert<seconds, microseconds>(1.0e-6);
+ EXPECT_NEAR(1.0, test, 5.0e-20);
+ test = convert<seconds, milliseconds>(1.0e-3);
+ EXPECT_NEAR(1.0, test, 5.0e-20);
+ test = convert<seconds, minutes>(60.0);
+ EXPECT_NEAR(1.0, test, 5.0e-20);
+ test = convert<seconds, hours>(3600.0);
+ EXPECT_NEAR(1.0, test, 5.0e-20);
+ test = convert<seconds, days>(86400.0);
+ EXPECT_NEAR(1.0, test, 5.0e-20);
+ test = convert<seconds, weeks>(604800.0);
+ EXPECT_NEAR(1.0, test, 5.0e-20);
+ test = convert<seconds, years>(3.154e7);
+ EXPECT_NEAR(1.0, test, 5.0e3);
+
+ test = convert<years, weeks>(2.0);
+ EXPECT_NEAR(104.2857142857143, test, 5.0e-14);
+ test = convert<hours, minutes>(4.0);
+ EXPECT_NEAR(240.0, test, 5.0e-14);
+ test = convert<julian_years, days>(1.0);
+ EXPECT_NEAR(365.25, test, 5.0e-14);
+ test = convert<gregorian_years, days>(1.0);
+ EXPECT_NEAR(365.2425, test, 5.0e-14);
+}
+
+TEST_F(UnitConversion, angle) {
+ angle::degree_t quarterCircleDeg(90.0);
+ angle::radian_t quarterCircleRad = quarterCircleDeg;
+ EXPECT_NEAR(angle::radian_t(constants::detail::PI_VAL / 2.0).to<double>(),
+ quarterCircleRad.to<double>(), 5.0e-12);
+
+ double test;
+
+ test = convert<angle::radians, angle::radians>(1.0);
+ EXPECT_NEAR(1.0, test, 5.0e-20);
+ test = convert<angle::radians, angle::milliradians>(0.001);
+ EXPECT_NEAR(1.0, test, 5.0e-4);
+ test = convert<angle::radians, angle::degrees>(0.0174533);
+ EXPECT_NEAR(1.0, test, 5.0e-7);
+ test = convert<angle::radians, angle::arcminutes>(0.000290888);
+ EXPECT_NEAR(0.99999928265913, test, 5.0e-8);
+ test = convert<angle::radians, angle::arcseconds>(4.8481e-6);
+ EXPECT_NEAR(0.999992407, test, 5.0e-10);
+ test = convert<angle::radians, angle::turns>(6.28319);
+ EXPECT_NEAR(1.0, test, 5.0e-6);
+ test = convert<angle::radians, angle::gradians>(0.015708);
+ EXPECT_NEAR(1.0, test, 5.0e-6);
+
+ test = convert<angle::radians, angle::radians>(2.1);
+ EXPECT_NEAR(2.1, test, 5.0e-6);
+ test = convert<angle::arcseconds, angle::gradians>(2.1);
+ EXPECT_NEAR(0.000648148, test, 5.0e-6);
+ test = convert<angle::radians, angle::degrees>(constants::detail::PI_VAL);
+ EXPECT_NEAR(180.0, test, 5.0e-6);
+ test = convert<angle::degrees, angle::radians>(90.0);
+ EXPECT_NEAR(constants::detail::PI_VAL / 2, test, 5.0e-6);
+}
+
+TEST_F(UnitConversion, current) {
+ double test;
+
+ test = convert<current::A, current::mA>(2.1);
+ EXPECT_NEAR(2100.0, test, 5.0e-6);
+}
+
+TEST_F(UnitConversion, temperature) {
+ // temp conversion are weird/hard since they involve translations AND scaling.
+ double test;
+
+ test = convert<kelvin, kelvin>(72.0);
+ EXPECT_NEAR(72.0, test, 5.0e-5);
+ test = convert<fahrenheit, fahrenheit>(72.0);
+ EXPECT_NEAR(72.0, test, 5.0e-5);
+ test = convert<kelvin, fahrenheit>(300.0);
+ EXPECT_NEAR(80.33, test, 5.0e-5);
+ test = convert<fahrenheit, kelvin>(451.0);
+ EXPECT_NEAR(505.928, test, 5.0e-4);
+ test = convert<kelvin, celsius>(300.0);
+ EXPECT_NEAR(26.85, test, 5.0e-3);
+ test = convert<celsius, kelvin>(451.0);
+ EXPECT_NEAR(724.15, test, 5.0e-3);
+ test = convert<fahrenheit, celsius>(72.0);
+ EXPECT_NEAR(22.2222, test, 5.0e-5);
+ test = convert<celsius, fahrenheit>(100.0);
+ EXPECT_NEAR(212.0, test, 5.0e-5);
+ test = convert<fahrenheit, celsius>(32.0);
+ EXPECT_NEAR(0.0, test, 5.0e-5);
+ test = convert<celsius, fahrenheit>(0.0);
+ EXPECT_NEAR(32.0, test, 5.0e-5);
+ test = convert<rankine, kelvin>(100.0);
+ EXPECT_NEAR(55.5556, test, 5.0e-5);
+ test = convert<kelvin, rankine>(100.0);
+ EXPECT_NEAR(180.0, test, 5.0e-5);
+ test = convert<fahrenheit, rankine>(100.0);
+ EXPECT_NEAR(559.67, test, 5.0e-5);
+ test = convert<rankine, fahrenheit>(72.0);
+ EXPECT_NEAR(-387.67, test, 5.0e-5);
+ test = convert<reaumur, kelvin>(100.0);
+ EXPECT_NEAR(398.0, test, 5.0e-1);
+ test = convert<reaumur, celsius>(80.0);
+ EXPECT_NEAR(100.0, test, 5.0e-5);
+ test = convert<celsius, reaumur>(212.0);
+ EXPECT_NEAR(169.6, test, 5.0e-2);
+ test = convert<reaumur, fahrenheit>(80.0);
+ EXPECT_NEAR(212.0, test, 5.0e-5);
+ test = convert<fahrenheit, reaumur>(37.0);
+ EXPECT_NEAR(2.222, test, 5.0e-3);
+}
+
+TEST_F(UnitConversion, luminous_intensity) {
+ double test;
+
+ test = convert<candela, millicandela>(72.0);
+ EXPECT_NEAR(72000.0, test, 5.0e-5);
+ test = convert<millicandela, candela>(376.0);
+ EXPECT_NEAR(0.376, test, 5.0e-5);
+}
+
+TEST_F(UnitConversion, solid_angle) {
+ double test;
+ bool same;
+
+ same = std::is_same<traits::base_unit_of<steradians>,
+ traits::base_unit_of<degrees_squared>>::value;
+ EXPECT_TRUE(same);
+
+ test = convert<steradians, steradians>(72.0);
+ EXPECT_NEAR(72.0, test, 5.0e-5);
+ test = convert<steradians, degrees_squared>(1.0);
+ EXPECT_NEAR(3282.8, test, 5.0e-2);
+ test = convert<steradians, spats>(8.0);
+ EXPECT_NEAR(0.636619772367582, test, 5.0e-14);
+ test = convert<degrees_squared, steradians>(3282.8);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<degrees_squared, degrees_squared>(72.0);
+ EXPECT_NEAR(72.0, test, 5.0e-5);
+ test = convert<degrees_squared, spats>(3282.8);
+ EXPECT_NEAR(1.0 / (4 * constants::detail::PI_VAL), test, 5.0e-5);
+ test = convert<spats, steradians>(1.0 / (4 * constants::detail::PI_VAL));
+ EXPECT_NEAR(1.0, test, 5.0e-14);
+ test = convert<spats, degrees_squared>(1.0 / (4 * constants::detail::PI_VAL));
+ EXPECT_NEAR(3282.8, test, 5.0e-2);
+ test = convert<spats, spats>(72.0);
+ EXPECT_NEAR(72.0, test, 5.0e-5);
+}
+
+TEST_F(UnitConversion, frequency) {
+ double test;
+
+ test = convert<hertz, kilohertz>(63000.0);
+ EXPECT_NEAR(63.0, test, 5.0e-5);
+ test = convert<hertz, hertz>(6.3);
+ EXPECT_NEAR(6.3, test, 5.0e-5);
+ test = convert<kilohertz, hertz>(5.0);
+ EXPECT_NEAR(5000.0, test, 5.0e-5);
+ test = convert<megahertz, hertz>(1.0);
+ EXPECT_NEAR(1.0e6, test, 5.0e-5);
+}
+
+TEST_F(UnitConversion, velocity) {
+ double test;
+ bool same;
+
+ same = std::is_same<meters_per_second,
+ unit<std::ratio<1>, category::velocity_unit>>::value;
+ EXPECT_TRUE(same);
+ same = traits::is_convertible_unit<miles_per_hour, meters_per_second>::value;
+ EXPECT_TRUE(same);
+
+ test = convert<meters_per_second, miles_per_hour>(1250.0);
+ EXPECT_NEAR(2796.17, test, 5.0e-3);
+ test = convert<feet_per_second, kilometers_per_hour>(2796.17);
+ EXPECT_NEAR(3068.181418, test, 5.0e-7);
+ test = convert<knots, miles_per_hour>(600.0);
+ EXPECT_NEAR(690.468, test, 5.0e-4);
+ test = convert<miles_per_hour, feet_per_second>(120.0);
+ EXPECT_NEAR(176.0, test, 5.0e-5);
+ test = convert<feet_per_second, meters_per_second>(10.0);
+ EXPECT_NEAR(3.048, test, 5.0e-5);
+}
+
+TEST_F(UnitConversion, angular_velocity) {
+ double test;
+ bool same;
+
+ same =
+ std::is_same<radians_per_second,
+ unit<std::ratio<1>, category::angular_velocity_unit>>::value;
+ EXPECT_TRUE(same);
+ same = traits::is_convertible_unit<rpm, radians_per_second>::value;
+ EXPECT_TRUE(same);
+
+ test = convert<radians_per_second, milliarcseconds_per_year>(1.0);
+ EXPECT_NEAR(6.504e15, test, 1.0e12);
+ test = convert<degrees_per_second, radians_per_second>(1.0);
+ EXPECT_NEAR(0.0174533, test, 5.0e-8);
+ test = convert<rpm, radians_per_second>(1.0);
+ EXPECT_NEAR(0.10471975512, test, 5.0e-13);
+ test = convert<milliarcseconds_per_year, radians_per_second>(1.0);
+ EXPECT_NEAR(1.537e-16, test, 5.0e-20);
+}
+
+TEST_F(UnitConversion, acceleration) {
+ double test;
+
+ test = convert<standard_gravity, meters_per_second_squared>(1.0);
+ EXPECT_NEAR(9.80665, test, 5.0e-10);
+}
+TEST_F(UnitConversion, force) {
+ double test;
+
+ test = convert<units::force::newton, units::force::newton>(1.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<units::force::newton, units::force::pounds>(6.3);
+ EXPECT_NEAR(1.4163, test, 5.0e-5);
+ test = convert<units::force::newton, units::force::dynes>(5.0);
+ EXPECT_NEAR(500000.0, test, 5.0e-5);
+ test = convert<units::force::newtons, units::force::poundals>(2.1);
+ EXPECT_NEAR(15.1893, test, 5.0e-5);
+ test = convert<units::force::newtons, units::force::kiloponds>(173.0);
+ EXPECT_NEAR(17.6411, test, 5.0e-5);
+ test = convert<units::force::poundals, units::force::kiloponds>(21.879);
+ EXPECT_NEAR(0.308451933, test, 5.0e-10);
+}
+
+TEST_F(UnitConversion, area) {
+ double test;
+
+ test = convert<hectares, acres>(6.3);
+ EXPECT_NEAR(15.5676, test, 5.0e-5);
+ test = convert<square_miles, square_kilometers>(10.0);
+ EXPECT_NEAR(25.8999, test, 5.0e-5);
+ test = convert<square_inch, square_meter>(4.0);
+ EXPECT_NEAR(0.00258064, test, 5.0e-9);
+ test = convert<acre, square_foot>(5.0);
+ EXPECT_NEAR(217800.0, test, 5.0e-5);
+ test = convert<square_meter, square_foot>(1.0);
+ EXPECT_NEAR(10.7639, test, 5.0e-5);
+}
+
+TEST_F(UnitConversion, pressure) {
+ double test;
+
+ test = convert<pascals, torr>(1.0);
+ EXPECT_NEAR(0.00750062, test, 5.0e-5);
+ test = convert<bar, psi>(2.2);
+ EXPECT_NEAR(31.9083, test, 5.0e-5);
+ test = convert<atmospheres, bar>(4.0);
+ EXPECT_NEAR(4.053, test, 5.0e-5);
+ test = convert<torr, pascals>(800.0);
+ EXPECT_NEAR(106657.89474, test, 5.0e-5);
+ test = convert<psi, atmospheres>(38.0);
+ EXPECT_NEAR(2.58575, test, 5.0e-5);
+ test = convert<psi, pascals>(1.0);
+ EXPECT_NEAR(6894.76, test, 5.0e-3);
+ test = convert<pascals, bar>(0.25);
+ EXPECT_NEAR(2.5e-6, test, 5.0e-5);
+ test = convert<torr, atmospheres>(9.0);
+ EXPECT_NEAR(0.0118421, test, 5.0e-8);
+ test = convert<bar, torr>(12.0);
+ EXPECT_NEAR(9000.74, test, 5.0e-3);
+ test = convert<atmospheres, psi>(1.0);
+ EXPECT_NEAR(14.6959, test, 5.0e-5);
+}
+
+TEST_F(UnitConversion, charge) {
+ double test;
+
+ test = convert<coulombs, ampere_hours>(4.0);
+ EXPECT_NEAR(0.00111111, test, 5.0e-9);
+ test = convert<ampere_hours, coulombs>(1.0);
+ EXPECT_NEAR(3600.0, test, 5.0e-6);
+}
+
+TEST_F(UnitConversion, energy) {
+ double test;
+
+ test = convert<joules, calories>(8000.000464);
+ EXPECT_NEAR(1912.046, test, 5.0e-4);
+ test = convert<therms, joules>(12.0);
+ EXPECT_NEAR(1.266e+9, test, 5.0e5);
+ test = convert<megajoules, watt_hours>(100.0);
+ EXPECT_NEAR(27777.778, test, 5.0e-4);
+ test = convert<kilocalories, megajoules>(56.0);
+ EXPECT_NEAR(0.234304, test, 5.0e-7);
+ test = convert<kilojoules, therms>(56.0);
+ EXPECT_NEAR(0.000530904, test, 5.0e-5);
+ test = convert<british_thermal_units, kilojoules>(18.56399995447);
+ EXPECT_NEAR(19.5860568, test, 5.0e-5);
+ test = convert<calories, energy::foot_pounds>(18.56399995447);
+ EXPECT_NEAR(57.28776190423856, test, 5.0e-5);
+ test = convert<megajoules, calories>(1.0);
+ EXPECT_NEAR(239006.0, test, 5.0e-1);
+ test = convert<kilocalories, kilowatt_hours>(2.0);
+ EXPECT_NEAR(0.00232444, test, 5.0e-9);
+ test = convert<therms, kilocalories>(0.1);
+ EXPECT_NEAR(2521.04, test, 5.0e-3);
+ test = convert<watt_hours, megajoules>(67.0);
+ EXPECT_NEAR(0.2412, test, 5.0e-5);
+ test = convert<british_thermal_units, watt_hours>(100.0);
+ EXPECT_NEAR(29.3071, test, 5.0e-5);
+ test = convert<calories, BTU>(100.0);
+ EXPECT_NEAR(0.396567, test, 5.0e-5);
+}
+
+TEST_F(UnitConversion, power) {
+ double test;
+
+ test = convert<compound_unit<energy::foot_pounds, inverse<seconds>>, watts>(
+ 550.0);
+ EXPECT_NEAR(745.7, test, 5.0e-2);
+ test = convert<watts, gigawatts>(1000000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-4);
+ test = convert<microwatts, watts>(200000.0);
+ EXPECT_NEAR(0.2, test, 5.0e-4);
+ test = convert<horsepower, watts>(100.0);
+ EXPECT_NEAR(74570.0, test, 5.0e-1);
+ test = convert<horsepower, megawatts>(5.0);
+ EXPECT_NEAR(0.0037284994, test, 5.0e-7);
+ test = convert<kilowatts, horsepower>(232.0);
+ EXPECT_NEAR(311.117, test, 5.0e-4);
+ test = convert<milliwatts, horsepower>(1001.0);
+ EXPECT_NEAR(0.001342363, test, 5.0e-9);
+}
+
+TEST_F(UnitConversion, voltage) {
+ double test;
+
+ test = convert<volts, millivolts>(10.0);
+ EXPECT_NEAR(10000.0, test, 5.0e-5);
+ test = convert<picovolts, volts>(1000000000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<nanovolts, volts>(1000000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<microvolts, volts>(1000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<millivolts, volts>(1000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<kilovolts, volts>(0.001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<megavolts, volts>(0.000001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<gigavolts, volts>(0.000000001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<statvolts, volts>(299.792458);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<millivolts, statvolts>(1000.0);
+ EXPECT_NEAR(299.792458, test, 5.0e-5);
+ test = convert<abvolts, nanovolts>(0.1);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<microvolts, abvolts>(0.01);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+}
+
+TEST_F(UnitConversion, capacitance) {
+ double test;
+
+ test = convert<farads, millifarads>(10.0);
+ EXPECT_NEAR(10000.0, test, 5.0e-5);
+ test = convert<picofarads, farads>(1000000000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<nanofarads, farads>(1000000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<microfarads, farads>(1000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<millifarads, farads>(1000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<kilofarads, farads>(0.001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<megafarads, farads>(0.000001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<gigafarads, farads>(0.000000001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+}
+
+TEST_F(UnitConversion, impedance) {
+ double test;
+
+ test = convert<ohms, milliohms>(10.0);
+ EXPECT_NEAR(10000.0, test, 5.0e-5);
+ test = convert<picoohms, ohms>(1000000000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<nanoohms, ohms>(1000000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<microohms, ohms>(1000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<milliohms, ohms>(1000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<kiloohms, ohms>(0.001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<megaohms, ohms>(0.000001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<gigaohms, ohms>(0.000000001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+}
+
+TEST_F(UnitConversion, conductance) {
+ double test;
+
+ test = convert<siemens, millisiemens>(10.0);
+ EXPECT_NEAR(10000.0, test, 5.0e-5);
+ test = convert<picosiemens, siemens>(1000000000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<nanosiemens, siemens>(1000000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<microsiemens, siemens>(1000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<millisiemens, siemens>(1000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<kilosiemens, siemens>(0.001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<megasiemens, siemens>(0.000001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<gigasiemens, siemens>(0.000000001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+}
+
+TEST_F(UnitConversion, magnetic_flux) {
+ double test;
+
+ test = convert<webers, milliwebers>(10.0);
+ EXPECT_NEAR(10000.0, test, 5.0e-5);
+ test = convert<picowebers, webers>(1000000000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<nanowebers, webers>(1000000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<microwebers, webers>(1000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<milliwebers, webers>(1000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<kilowebers, webers>(0.001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<megawebers, webers>(0.000001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<gigawebers, webers>(0.000000001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<maxwells, webers>(100000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<nanowebers, maxwells>(10.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+}
+
+TEST_F(UnitConversion, magnetic_field_strength) {
+ double test;
+
+ test = convert<teslas, milliteslas>(10.0);
+ EXPECT_NEAR(10000.0, test, 5.0e-5);
+ test = convert<picoteslas, teslas>(1000000000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<nanoteslas, teslas>(1000000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<microteslas, teslas>(1000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<milliteslas, teslas>(1000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<kiloteslas, teslas>(0.001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<megateslas, teslas>(0.000001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<gigateslas, teslas>(0.000000001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<gauss, teslas>(10000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<nanoteslas, gauss>(100000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+}
+
+TEST_F(UnitConversion, inductance) {
+ double test;
+
+ test = convert<henries, millihenries>(10.0);
+ EXPECT_NEAR(10000.0, test, 5.0e-5);
+ test = convert<picohenries, henries>(1000000000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<nanohenries, henries>(1000000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<microhenries, henries>(1000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<millihenries, henries>(1000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<kilohenries, henries>(0.001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<megahenries, henries>(0.000001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<gigahenries, henries>(0.000000001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+}
+
+TEST_F(UnitConversion, luminous_flux) {
+ double test;
+
+ test = convert<lumens, millilumens>(10.0);
+ EXPECT_NEAR(10000.0, test, 5.0e-5);
+ test = convert<picolumens, lumens>(1000000000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<nanolumens, lumens>(1000000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<microlumens, lumens>(1000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<millilumens, lumens>(1000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<kilolumens, lumens>(0.001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<megalumens, lumens>(0.000001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<gigalumens, lumens>(0.000000001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+}
+
+TEST_F(UnitConversion, illuminance) {
+ double test;
+
+ test = convert<luxes, milliluxes>(10.0);
+ EXPECT_NEAR(10000.0, test, 5.0e-5);
+ test = convert<picoluxes, luxes>(1000000000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<nanoluxes, luxes>(1000000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<microluxes, luxes>(1000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<milliluxes, luxes>(1000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<kiloluxes, luxes>(0.001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<megaluxes, luxes>(0.000001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<gigaluxes, luxes>(0.000000001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+
+ test = convert<footcandles, luxes>(0.092903);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<lux, lumens_per_square_inch>(1550.0031000062);
+ EXPECT_NEAR(1.0, test, 5.0e-13);
+ test = convert<phots, luxes>(0.0001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+}
+
+TEST_F(UnitConversion, radiation) {
+ double test;
+
+ test = convert<becquerels, millibecquerels>(10.0);
+ EXPECT_NEAR(10000.0, test, 5.0e-5);
+ test = convert<picobecquerels, becquerels>(1000000000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<nanobecquerels, becquerels>(1000000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<microbecquerels, becquerels>(1000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<millibecquerels, becquerels>(1000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<kilobecquerels, becquerels>(0.001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<megabecquerels, becquerels>(0.000001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<gigabecquerels, becquerels>(0.000000001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+
+ test = convert<grays, milligrays>(10.0);
+ EXPECT_NEAR(10000.0, test, 5.0e-5);
+ test = convert<picograys, grays>(1000000000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<nanograys, grays>(1000000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<micrograys, grays>(1000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<milligrays, grays>(1000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<kilograys, grays>(0.001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<megagrays, grays>(0.000001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<gigagrays, grays>(0.000000001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+
+ test = convert<sieverts, millisieverts>(10.0);
+ EXPECT_NEAR(10000.0, test, 5.0e-5);
+ test = convert<picosieverts, sieverts>(1000000000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<nanosieverts, sieverts>(1000000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<microsieverts, sieverts>(1000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<millisieverts, sieverts>(1000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<kilosieverts, sieverts>(0.001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<megasieverts, sieverts>(0.000001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<gigasieverts, sieverts>(0.000000001);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+
+ test = convert<becquerels, curies>(37.0e9);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<becquerels, rutherfords>(1000000.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<rads, grays>(100.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+}
+
+TEST_F(UnitConversion, torque) {
+ double test;
+
+ test = convert<torque::foot_pounds, newton_meter>(1.0);
+ EXPECT_NEAR(1.355817948, test, 5.0e-5);
+ test = convert<inch_pounds, newton_meter>(1.0);
+ EXPECT_NEAR(0.112984829, test, 5.0e-5);
+ test = convert<foot_poundals, newton_meter>(1.0);
+ EXPECT_NEAR(4.214011009e-2, test, 5.0e-5);
+ test = convert<meter_kilograms, newton_meter>(1.0);
+ EXPECT_NEAR(9.80665, test, 5.0e-5);
+ test = convert<inch_pound, meter_kilogram>(86.79616930855788);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<foot_poundals, inch_pound>(2.681170713);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+}
+
+TEST_F(UnitConversion, volume) {
+ double test;
+
+ test = convert<cubic_meters, cubic_meter>(1.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<cubic_millimeters, cubic_meter>(1.0);
+ EXPECT_NEAR(1.0e-9, test, 5.0e-5);
+ test = convert<cubic_kilometers, cubic_meter>(1.0);
+ EXPECT_NEAR(1.0e9, test, 5.0e-5);
+ test = convert<liters, cubic_meter>(1.0);
+ EXPECT_NEAR(0.001, test, 5.0e-5);
+ test = convert<milliliters, cubic_meter>(1.0);
+ EXPECT_NEAR(1.0e-6, test, 5.0e-5);
+ test = convert<cubic_inches, cubic_meter>(1.0);
+ EXPECT_NEAR(1.6387e-5, test, 5.0e-10);
+ test = convert<cubic_feet, cubic_meter>(1.0);
+ EXPECT_NEAR(0.0283168, test, 5.0e-8);
+ test = convert<cubic_yards, cubic_meter>(1.0);
+ EXPECT_NEAR(0.764555, test, 5.0e-7);
+ test = convert<cubic_miles, cubic_meter>(1.0);
+ EXPECT_NEAR(4.168e+9, test, 5.0e5);
+ test = convert<gallons, cubic_meter>(1.0);
+ EXPECT_NEAR(0.00378541, test, 5.0e-8);
+ test = convert<quarts, cubic_meter>(1.0);
+ EXPECT_NEAR(0.000946353, test, 5.0e-10);
+ test = convert<pints, cubic_meter>(1.0);
+ EXPECT_NEAR(0.000473176, test, 5.0e-10);
+ test = convert<cups, cubic_meter>(1.0);
+ EXPECT_NEAR(0.00024, test, 5.0e-6);
+ test = convert<volume::fluid_ounces, cubic_meter>(1.0);
+ EXPECT_NEAR(2.9574e-5, test, 5.0e-5);
+ test = convert<barrels, cubic_meter>(1.0);
+ EXPECT_NEAR(0.158987294928, test, 5.0e-13);
+ test = convert<bushels, cubic_meter>(1.0);
+ EXPECT_NEAR(0.0352391, test, 5.0e-8);
+ test = convert<cords, cubic_meter>(1.0);
+ EXPECT_NEAR(3.62456, test, 5.0e-6);
+ test = convert<cubic_fathoms, cubic_meter>(1.0);
+ EXPECT_NEAR(6.11644, test, 5.0e-6);
+ test = convert<tablespoons, cubic_meter>(1.0);
+ EXPECT_NEAR(1.4787e-5, test, 5.0e-10);
+ test = convert<teaspoons, cubic_meter>(1.0);
+ EXPECT_NEAR(4.9289e-6, test, 5.0e-11);
+ test = convert<pinches, cubic_meter>(1.0);
+ EXPECT_NEAR(616.11519921875e-9, test, 5.0e-20);
+ test = convert<dashes, cubic_meter>(1.0);
+ EXPECT_NEAR(308.057599609375e-9, test, 5.0e-20);
+ test = convert<drops, cubic_meter>(1.0);
+ EXPECT_NEAR(82.14869322916e-9, test, 5.0e-9);
+ test = convert<fifths, cubic_meter>(1.0);
+ EXPECT_NEAR(0.00075708236, test, 5.0e-12);
+ test = convert<drams, cubic_meter>(1.0);
+ EXPECT_NEAR(3.69669e-6, test, 5.0e-12);
+ test = convert<gills, cubic_meter>(1.0);
+ EXPECT_NEAR(0.000118294, test, 5.0e-10);
+ test = convert<pecks, cubic_meter>(1.0);
+ EXPECT_NEAR(0.00880977, test, 5.0e-9);
+ test = convert<sacks, cubic_meter>(9.4591978);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<shots, cubic_meter>(1.0);
+ EXPECT_NEAR(4.43603e-5, test, 5.0e-11);
+ test = convert<strikes, cubic_meter>(1.0);
+ EXPECT_NEAR(0.07047814033376, test, 5.0e-5);
+ test = convert<volume::fluid_ounces, milliliters>(1.0);
+ EXPECT_NEAR(29.5735, test, 5.0e-5);
+}
+
+TEST_F(UnitConversion, density) {
+ double test;
+
+ test = convert<kilograms_per_cubic_meter, kilograms_per_cubic_meter>(1.0);
+ EXPECT_NEAR(1.0, test, 5.0e-5);
+ test = convert<grams_per_milliliter, kilograms_per_cubic_meter>(1.0);
+ EXPECT_NEAR(1000.0, test, 5.0e-5);
+ test = convert<kilograms_per_liter, kilograms_per_cubic_meter>(1.0);
+ EXPECT_NEAR(1000.0, test, 5.0e-5);
+ test = convert<ounces_per_cubic_foot, kilograms_per_cubic_meter>(1.0);
+ EXPECT_NEAR(1.001153961, test, 5.0e-10);
+ test = convert<ounces_per_cubic_inch, kilograms_per_cubic_meter>(1.0);
+ EXPECT_NEAR(1.729994044e3, test, 5.0e-7);
+ test = convert<ounces_per_gallon, kilograms_per_cubic_meter>(1.0);
+ EXPECT_NEAR(7.489151707, test, 5.0e-10);
+ test = convert<pounds_per_cubic_foot, kilograms_per_cubic_meter>(1.0);
+ EXPECT_NEAR(16.01846337, test, 5.0e-9);
+ test = convert<pounds_per_cubic_inch, kilograms_per_cubic_meter>(1.0);
+ EXPECT_NEAR(2.767990471e4, test, 5.0e-6);
+ test = convert<pounds_per_gallon, kilograms_per_cubic_meter>(1.0);
+ EXPECT_NEAR(119.8264273, test, 5.0e-8);
+ test = convert<slugs_per_cubic_foot, kilograms_per_cubic_meter>(1.0);
+ EXPECT_NEAR(515.3788184, test, 5.0e-6);
+}
+
+TEST_F(UnitConversion, concentration) {
+ double test;
+
+ test = ppm_t(1.0);
+ EXPECT_NEAR(1.0e-6, test, 5.0e-12);
+ test = ppb_t(1.0);
+ EXPECT_NEAR(1.0e-9, test, 5.0e-12);
+ test = ppt_t(1.0);
+ EXPECT_NEAR(1.0e-12, test, 5.0e-12);
+ test = percent_t(18.0);
+ EXPECT_NEAR(0.18, test, 5.0e-12);
+}
+
+TEST_F(UnitConversion, data) {
+ EXPECT_EQ(8, (convert<byte, bit>(1)));
+
+ EXPECT_EQ(1000, (convert<kilobytes, bytes>(1)));
+ EXPECT_EQ(1000, (convert<megabytes, kilobytes>(1)));
+ EXPECT_EQ(1000, (convert<gigabytes, megabytes>(1)));
+ EXPECT_EQ(1000, (convert<terabytes, gigabytes>(1)));
+ EXPECT_EQ(1000, (convert<petabytes, terabytes>(1)));
+ EXPECT_EQ(1000, (convert<exabytes, petabytes>(1)));
+
+ EXPECT_EQ(1024, (convert<kibibytes, bytes>(1)));
+ EXPECT_EQ(1024, (convert<mebibytes, kibibytes>(1)));
+ EXPECT_EQ(1024, (convert<gibibytes, mebibytes>(1)));
+ EXPECT_EQ(1024, (convert<tebibytes, gibibytes>(1)));
+ EXPECT_EQ(1024, (convert<pebibytes, tebibytes>(1)));
+ EXPECT_EQ(1024, (convert<exbibytes, pebibytes>(1)));
+
+ EXPECT_EQ(93750000, (convert<gigabytes, kibibits>(12)));
+
+ EXPECT_EQ(1000, (convert<kilobits, bits>(1)));
+ EXPECT_EQ(1000, (convert<megabits, kilobits>(1)));
+ EXPECT_EQ(1000, (convert<gigabits, megabits>(1)));
+ EXPECT_EQ(1000, (convert<terabits, gigabits>(1)));
+ EXPECT_EQ(1000, (convert<petabits, terabits>(1)));
+ EXPECT_EQ(1000, (convert<exabits, petabits>(1)));
+
+ EXPECT_EQ(1024, (convert<kibibits, bits>(1)));
+ EXPECT_EQ(1024, (convert<mebibits, kibibits>(1)));
+ EXPECT_EQ(1024, (convert<gibibits, mebibits>(1)));
+ EXPECT_EQ(1024, (convert<tebibits, gibibits>(1)));
+ EXPECT_EQ(1024, (convert<pebibits, tebibits>(1)));
+ EXPECT_EQ(1024, (convert<exbibits, pebibits>(1)));
+
+ // Source: https://en.wikipedia.org/wiki/Binary_prefix
+ EXPECT_NEAR(percent_t(2.4), kibibyte_t(1) / kilobyte_t(1) - 1, 0.005);
+ EXPECT_NEAR(percent_t(4.9), mebibyte_t(1) / megabyte_t(1) - 1, 0.005);
+ EXPECT_NEAR(percent_t(7.4), gibibyte_t(1) / gigabyte_t(1) - 1, 0.005);
+ EXPECT_NEAR(percent_t(10.0), tebibyte_t(1) / terabyte_t(1) - 1, 0.005);
+ EXPECT_NEAR(percent_t(12.6), pebibyte_t(1) / petabyte_t(1) - 1, 0.005);
+ EXPECT_NEAR(percent_t(15.3), exbibyte_t(1) / exabyte_t(1) - 1, 0.005);
+}
+
+TEST_F(UnitConversion, data_transfer_rate) {
+ EXPECT_EQ(8, (convert<bytes_per_second, bits_per_second>(1)));
+
+ EXPECT_EQ(1000, (convert<kilobytes_per_second, bytes_per_second>(1)));
+ EXPECT_EQ(1000, (convert<megabytes_per_second, kilobytes_per_second>(1)));
+ EXPECT_EQ(1000, (convert<gigabytes_per_second, megabytes_per_second>(1)));
+ EXPECT_EQ(1000, (convert<terabytes_per_second, gigabytes_per_second>(1)));
+ EXPECT_EQ(1000, (convert<petabytes_per_second, terabytes_per_second>(1)));
+ EXPECT_EQ(1000, (convert<exabytes_per_second, petabytes_per_second>(1)));
+
+ EXPECT_EQ(1024, (convert<kibibytes_per_second, bytes_per_second>(1)));
+ EXPECT_EQ(1024, (convert<mebibytes_per_second, kibibytes_per_second>(1)));
+ EXPECT_EQ(1024, (convert<gibibytes_per_second, mebibytes_per_second>(1)));
+ EXPECT_EQ(1024, (convert<tebibytes_per_second, gibibytes_per_second>(1)));
+ EXPECT_EQ(1024, (convert<pebibytes_per_second, tebibytes_per_second>(1)));
+ EXPECT_EQ(1024, (convert<exbibytes_per_second, pebibytes_per_second>(1)));
+
+ EXPECT_EQ(93750000, (convert<gigabytes_per_second, kibibits_per_second>(12)));
+
+ EXPECT_EQ(1000, (convert<kilobits_per_second, bits_per_second>(1)));
+ EXPECT_EQ(1000, (convert<megabits_per_second, kilobits_per_second>(1)));
+ EXPECT_EQ(1000, (convert<gigabits_per_second, megabits_per_second>(1)));
+ EXPECT_EQ(1000, (convert<terabits_per_second, gigabits_per_second>(1)));
+ EXPECT_EQ(1000, (convert<petabits_per_second, terabits_per_second>(1)));
+ EXPECT_EQ(1000, (convert<exabits_per_second, petabits_per_second>(1)));
+
+ EXPECT_EQ(1024, (convert<kibibits_per_second, bits_per_second>(1)));
+ EXPECT_EQ(1024, (convert<mebibits_per_second, kibibits_per_second>(1)));
+ EXPECT_EQ(1024, (convert<gibibits_per_second, mebibits_per_second>(1)));
+ EXPECT_EQ(1024, (convert<tebibits_per_second, gibibits_per_second>(1)));
+ EXPECT_EQ(1024, (convert<pebibits_per_second, tebibits_per_second>(1)));
+ EXPECT_EQ(1024, (convert<exbibits_per_second, pebibits_per_second>(1)));
+
+ // Source: https://en.wikipedia.org/wiki/Binary_prefix
+ EXPECT_NEAR(percent_t(2.4),
+ kibibytes_per_second_t(1) / kilobytes_per_second_t(1) - 1, 0.005);
+ EXPECT_NEAR(percent_t(4.9),
+ mebibytes_per_second_t(1) / megabytes_per_second_t(1) - 1, 0.005);
+ EXPECT_NEAR(percent_t(7.4),
+ gibibytes_per_second_t(1) / gigabytes_per_second_t(1) - 1, 0.005);
+ EXPECT_NEAR(percent_t(10.0),
+ tebibytes_per_second_t(1) / terabytes_per_second_t(1) - 1, 0.005);
+ EXPECT_NEAR(percent_t(12.6),
+ pebibytes_per_second_t(1) / petabytes_per_second_t(1) - 1, 0.005);
+ EXPECT_NEAR(percent_t(15.3),
+ exbibytes_per_second_t(1) / exabytes_per_second_t(1) - 1, 0.005);
+}
+
+TEST_F(UnitConversion, pi) {
+ EXPECT_TRUE(
+ units::traits::is_dimensionless_unit<decltype(constants::pi)>::value);
+ EXPECT_TRUE(units::traits::is_dimensionless_unit<constants::PI>::value);
+
+ // implicit conversion/arithmetic
+ EXPECT_NEAR(3.14159, constants::pi, 5.0e-6);
+ EXPECT_NEAR(6.28318531, (2 * constants::pi), 5.0e-9);
+ EXPECT_NEAR(6.28318531, (constants::pi + constants::pi), 5.0e-9);
+ EXPECT_NEAR(0.0, (constants::pi - constants::pi), 5.0e-9);
+ EXPECT_NEAR(31.00627668, units::math::cpow<3>(constants::pi), 5.0e-10);
+ EXPECT_NEAR(0.0322515344, (1.0 / units::math::cpow<3>(constants::pi)),
+ 5.0e-11);
+ EXPECT_TRUE(constants::detail::PI_VAL == constants::pi);
+ EXPECT_TRUE(1.0 != constants::pi);
+ EXPECT_TRUE(4.0 > constants::pi);
+ EXPECT_TRUE(3.0 < constants::pi);
+ EXPECT_TRUE(constants::pi > 3.0);
+ EXPECT_TRUE(constants::pi < 4.0);
+
+ // explicit conversion
+ EXPECT_NEAR(3.14159, constants::pi.to<double>(), 5.0e-6);
+
+ // auto multiplication
+ EXPECT_TRUE(
+ (std::is_same<meter_t, decltype(constants::pi * meter_t(1))>::value));
+ EXPECT_TRUE(
+ (std::is_same<meter_t, decltype(meter_t(1) * constants::pi)>::value));
+
+ EXPECT_NEAR(constants::detail::PI_VAL,
+ (constants::pi * meter_t(1)).to<double>(), 5.0e-10);
+ EXPECT_NEAR(constants::detail::PI_VAL,
+ (meter_t(1) * constants::pi).to<double>(), 5.0e-10);
+
+ // explicit multiplication
+ meter_t a = constants::pi * meter_t(1);
+ meter_t b = meter_t(1) * constants::pi;
+
+ EXPECT_NEAR(constants::detail::PI_VAL, a.to<double>(), 5.0e-10);
+ EXPECT_NEAR(constants::detail::PI_VAL, b.to<double>(), 5.0e-10);
+
+ // auto division
+ EXPECT_TRUE(
+ (std::is_same<hertz_t, decltype(constants::pi / second_t(1))>::value));
+ EXPECT_TRUE(
+ (std::is_same<second_t, decltype(second_t(1) / constants::pi)>::value));
+
+ EXPECT_NEAR(constants::detail::PI_VAL,
+ (constants::pi / second_t(1)).to<double>(), 5.0e-10);
+ EXPECT_NEAR(1.0 / constants::detail::PI_VAL,
+ (second_t(1) / constants::pi).to<double>(), 5.0e-10);
+
+ // explicit
+ hertz_t c = constants::pi / second_t(1);
+ second_t d = second_t(1) / constants::pi;
+
+ EXPECT_NEAR(constants::detail::PI_VAL, c.to<double>(), 5.0e-10);
+ EXPECT_NEAR(1.0 / constants::detail::PI_VAL, d.to<double>(), 5.0e-10);
+}
+
+TEST_F(UnitConversion, constants) {
+ // Source: NIST "2014 CODATA recommended values"
+ EXPECT_NEAR(299792458, constants::c(), 5.0e-9);
+ EXPECT_NEAR(6.67408e-11, constants::G(), 5.0e-17);
+ EXPECT_NEAR(6.626070040e-34, constants::h(), 5.0e-44);
+ EXPECT_NEAR(1.2566370614e-6, constants::mu0(), 5.0e-17);
+ EXPECT_NEAR(8.854187817e-12, constants::epsilon0(), 5.0e-21);
+ EXPECT_NEAR(376.73031346177, constants::Z0(), 5.0e-12);
+ EXPECT_NEAR(8987551787.3681764, constants::k_e(), 5.0e-6);
+ EXPECT_NEAR(1.6021766208e-19, constants::e(), 5.0e-29);
+ EXPECT_NEAR(9.10938356e-31, constants::m_e(), 5.0e-40);
+ EXPECT_NEAR(1.672621898e-27, constants::m_p(), 5.0e-37);
+ EXPECT_NEAR(9.274009994e-24, constants::mu_B(), 5.0e-32);
+ EXPECT_NEAR(6.022140857e23, constants::N_A(), 5.0e14);
+ EXPECT_NEAR(8.3144598, constants::R(), 5.0e-8);
+ EXPECT_NEAR(1.38064852e-23, constants::k_B(), 5.0e-31);
+ EXPECT_NEAR(96485.33289, constants::F(), 5.0e-5);
+ EXPECT_NEAR(5.670367e-8, constants::sigma(), 5.0e-14);
+}
+
+TEST_F(UnitConversion, std_chrono) {
+ nanosecond_t a = std::chrono::nanoseconds(10);
+ EXPECT_EQ(nanosecond_t(10), a);
+ microsecond_t b = std::chrono::microseconds(10);
+ EXPECT_EQ(microsecond_t(10), b);
+ millisecond_t c = std::chrono::milliseconds(10);
+ EXPECT_EQ(millisecond_t(10), c);
+ second_t d = std::chrono::seconds(1);
+ EXPECT_EQ(second_t(1), d);
+ minute_t e = std::chrono::minutes(120);
+ EXPECT_EQ(minute_t(120), e);
+ hour_t f = std::chrono::hours(2);
+ EXPECT_EQ(hour_t(2), f);
+
+ std::chrono::nanoseconds g = nanosecond_t(100);
+ EXPECT_EQ(std::chrono::duration_cast<std::chrono::nanoseconds>(g).count(),
+ 100);
+ std::chrono::nanoseconds h = microsecond_t(2);
+ EXPECT_EQ(std::chrono::duration_cast<std::chrono::nanoseconds>(h).count(),
+ 2000);
+ std::chrono::nanoseconds i = millisecond_t(1);
+ EXPECT_EQ(std::chrono::duration_cast<std::chrono::nanoseconds>(i).count(),
+ 1000000);
+ std::chrono::nanoseconds j = second_t(1);
+ EXPECT_EQ(std::chrono::duration_cast<std::chrono::nanoseconds>(j).count(),
+ 1000000000);
+ std::chrono::nanoseconds k = minute_t(1);
+ EXPECT_EQ(std::chrono::duration_cast<std::chrono::nanoseconds>(k).count(),
+ 60000000000);
+ std::chrono::nanoseconds l = hour_t(1);
+ EXPECT_EQ(std::chrono::duration_cast<std::chrono::nanoseconds>(l).count(),
+ 3600000000000);
+}
+
+TEST_F(UnitConversion, squaredTemperature) {
+ using squared_celsius = units::compound_unit<squared<celsius>>;
+ using squared_celsius_t = units::unit_t<squared_celsius>;
+ const squared_celsius_t right(100);
+ const celsius_t rootRight = units::math::sqrt(right);
+ EXPECT_EQ(celsius_t(10), rootRight);
+}
+
+TEST_F(UnitMath, min) {
+ meter_t a(1);
+ foot_t c(1);
+ EXPECT_EQ(c, math::min(a, c));
+}
+
+TEST_F(UnitMath, max) {
+ meter_t a(1);
+ foot_t c(1);
+ EXPECT_EQ(a, math::max(a, c));
+}
+
+TEST_F(UnitMath, cos) {
+ EXPECT_TRUE((std::is_same<typename std::decay<scalar_t>::type,
+ typename std::decay<decltype(
+ cos(angle::radian_t(0)))>::type>::value));
+ EXPECT_NEAR(scalar_t(-0.41614683654), cos(angle::radian_t(2)), 5.0e-11);
+ EXPECT_NEAR(scalar_t(-0.70710678118), cos(angle::degree_t(135)),
+ 5.0e-11);
+}
+
+TEST_F(UnitMath, sin) {
+ EXPECT_TRUE((std::is_same<typename std::decay<scalar_t>::type,
+ typename std::decay<decltype(
+ sin(angle::radian_t(0)))>::type>::value));
+ EXPECT_NEAR(scalar_t(0.90929742682), sin(angle::radian_t(2)), 5.0e-11);
+ EXPECT_NEAR(scalar_t(0.70710678118), sin(angle::degree_t(135)), 5.0e-11);
+}
+
+TEST_F(UnitMath, tan) {
+ EXPECT_TRUE((std::is_same<typename std::decay<scalar_t>::type,
+ typename std::decay<decltype(
+ tan(angle::radian_t(0)))>::type>::value));
+ EXPECT_NEAR(scalar_t(-2.18503986326), tan(angle::radian_t(2)), 5.0e-11);
+ EXPECT_NEAR(scalar_t(-1.0), tan(angle::degree_t(135)), 5.0e-11);
+}
+
+TEST_F(UnitMath, acos) {
+ EXPECT_TRUE(
+ (std::is_same<
+ typename std::decay<angle::radian_t>::type,
+ typename std::decay<decltype(acos(scalar_t(0)))>::type>::value));
+ EXPECT_NEAR(angle::radian_t(2).to<double>(),
+ acos(scalar_t(-0.41614683654)).to<double>(), 5.0e-11);
+ EXPECT_NEAR(
+ angle::degree_t(135).to<double>(),
+ angle::degree_t(acos(scalar_t(-0.70710678118654752440084436210485)))
+ .to<double>(),
+ 5.0e-12);
+}
+
+TEST_F(UnitMath, asin) {
+ EXPECT_TRUE(
+ (std::is_same<
+ typename std::decay<angle::radian_t>::type,
+ typename std::decay<decltype(asin(scalar_t(0)))>::type>::value));
+ EXPECT_NEAR(angle::radian_t(1.14159265).to<double>(),
+ asin(scalar_t(0.90929742682)).to<double>(), 5.0e-9);
+ EXPECT_NEAR(
+ angle::degree_t(45).to<double>(),
+ angle::degree_t(asin(scalar_t(0.70710678118654752440084436210485)))
+ .to<double>(),
+ 5.0e-12);
+}
+
+TEST_F(UnitMath, atan) {
+ EXPECT_TRUE(
+ (std::is_same<
+ typename std::decay<angle::radian_t>::type,
+ typename std::decay<decltype(atan(scalar_t(0)))>::type>::value));
+ EXPECT_NEAR(angle::radian_t(-1.14159265).to<double>(),
+ atan(scalar_t(-2.18503986326)).to<double>(), 5.0e-9);
+ EXPECT_NEAR(angle::degree_t(-45).to<double>(),
+ angle::degree_t(atan(scalar_t(-1.0))).to<double>(), 5.0e-12);
+}
+
+TEST_F(UnitMath, atan2) {
+ EXPECT_TRUE((std::is_same<typename std::decay<angle::radian_t>::type,
+ typename std::decay<decltype(atan2(
+ scalar_t(1), scalar_t(1)))>::type>::value));
+ EXPECT_NEAR(angle::radian_t(constants::detail::PI_VAL / 4).to<double>(),
+ atan2(scalar_t(2), scalar_t(2)).to<double>(), 5.0e-12);
+ EXPECT_NEAR(
+ angle::degree_t(45).to<double>(),
+ angle::degree_t(atan2(scalar_t(2), scalar_t(2))).to<double>(),
+ 5.0e-12);
+
+ EXPECT_TRUE((std::is_same<typename std::decay<angle::radian_t>::type,
+ typename std::decay<decltype(atan2(
+ scalar_t(1), scalar_t(1)))>::type>::value));
+ EXPECT_NEAR(angle::radian_t(constants::detail::PI_VAL / 6).to<double>(),
+ atan2(scalar_t(1), scalar_t(std::sqrt(3))).to<double>(),
+ 5.0e-12);
+ EXPECT_NEAR(angle::degree_t(30).to<double>(),
+ angle::degree_t(atan2(scalar_t(1), scalar_t(std::sqrt(3))))
+ .to<double>(),
+ 5.0e-12);
+}
+
+TEST_F(UnitMath, cosh) {
+ EXPECT_TRUE((std::is_same<typename std::decay<scalar_t>::type,
+ typename std::decay<decltype(
+ cosh(angle::radian_t(0)))>::type>::value));
+ EXPECT_NEAR(scalar_t(3.76219569108), cosh(angle::radian_t(2)), 5.0e-11);
+ EXPECT_NEAR(scalar_t(5.32275215), cosh(angle::degree_t(135)), 5.0e-9);
+}
+
+TEST_F(UnitMath, sinh) {
+ EXPECT_TRUE((std::is_same<typename std::decay<scalar_t>::type,
+ typename std::decay<decltype(
+ sinh(angle::radian_t(0)))>::type>::value));
+ EXPECT_NEAR(scalar_t(3.62686040785), sinh(angle::radian_t(2)), 5.0e-11);
+ EXPECT_NEAR(scalar_t(5.22797192), sinh(angle::degree_t(135)), 5.0e-9);
+}
+
+TEST_F(UnitMath, tanh) {
+ EXPECT_TRUE((std::is_same<typename std::decay<scalar_t>::type,
+ typename std::decay<decltype(
+ tanh(angle::radian_t(0)))>::type>::value));
+ EXPECT_NEAR(scalar_t(0.96402758007), tanh(angle::radian_t(2)), 5.0e-11);
+ EXPECT_NEAR(scalar_t(0.98219338), tanh(angle::degree_t(135)), 5.0e-11);
+}
+
+TEST_F(UnitMath, acosh) {
+ EXPECT_TRUE((std::is_same<typename std::decay<angle::radian_t>::type,
+ typename std::decay<decltype(
+ acosh(scalar_t(0)))>::type>::value));
+ EXPECT_NEAR(angle::radian_t(1.316957896924817).to<double>(),
+ acosh(scalar_t(2.0)).to<double>(), 5.0e-11);
+ EXPECT_NEAR(angle::degree_t(75.456129290216893).to<double>(),
+ angle::degree_t(acosh(scalar_t(2.0))).to<double>(), 5.0e-12);
+}
+
+TEST_F(UnitMath, asinh) {
+ EXPECT_TRUE((std::is_same<typename std::decay<angle::radian_t>::type,
+ typename std::decay<decltype(
+ asinh(scalar_t(0)))>::type>::value));
+ EXPECT_NEAR(angle::radian_t(1.443635475178810).to<double>(),
+ asinh(scalar_t(2)).to<double>(), 5.0e-9);
+ EXPECT_NEAR(angle::degree_t(82.714219883108939).to<double>(),
+ angle::degree_t(asinh(scalar_t(2))).to<double>(), 5.0e-12);
+}
+
+TEST_F(UnitMath, atanh) {
+ EXPECT_TRUE((std::is_same<typename std::decay<angle::radian_t>::type,
+ typename std::decay<decltype(
+ atanh(scalar_t(0)))>::type>::value));
+ EXPECT_NEAR(angle::radian_t(0.549306144334055).to<double>(),
+ atanh(scalar_t(0.5)).to<double>(), 5.0e-9);
+ EXPECT_NEAR(angle::degree_t(31.472923730945389).to<double>(),
+ angle::degree_t(atanh(scalar_t(0.5))).to<double>(), 5.0e-12);
+}
+
+TEST_F(UnitMath, exp) {
+ double val = 10.0;
+ EXPECT_EQ(std::exp(val), exp(scalar_t(val)));
+}
+
+TEST_F(UnitMath, log) {
+ double val = 100.0;
+ EXPECT_EQ(std::log(val), log(scalar_t(val)));
+}
+
+TEST_F(UnitMath, log10) {
+ double val = 100.0;
+ EXPECT_EQ(std::log10(val), log10(scalar_t(val)));
+}
+
+TEST_F(UnitMath, modf) {
+ double val = 100.0;
+ double modfr1;
+ scalar_t modfr2;
+ EXPECT_EQ(std::modf(val, &modfr1), modf(scalar_t(val), &modfr2));
+ EXPECT_EQ(modfr1, modfr2);
+}
+
+TEST_F(UnitMath, exp2) {
+ double val = 10.0;
+ EXPECT_EQ(std::exp2(val), exp2(scalar_t(val)));
+}
+
+TEST_F(UnitMath, expm1) {
+ double val = 10.0;
+ EXPECT_EQ(std::expm1(val), expm1(scalar_t(val)));
+}
+
+TEST_F(UnitMath, log1p) {
+ double val = 10.0;
+ EXPECT_EQ(std::log1p(val), log1p(scalar_t(val)));
+}
+
+TEST_F(UnitMath, log2) {
+ double val = 10.0;
+ EXPECT_EQ(std::log2(val), log2(scalar_t(val)));
+}
+
+TEST_F(UnitMath, pow) {
+ bool isSame;
+ meter_t value(10.0);
+
+ auto sq = pow<2>(value);
+ EXPECT_NEAR(100.0, sq(), 5.0e-2);
+ isSame = std::is_same<decltype(sq), square_meter_t>::value;
+ EXPECT_TRUE(isSame);
+
+ auto cube = pow<3>(value);
+ EXPECT_NEAR(1000.0, cube(), 5.0e-2);
+ isSame = std::is_same<decltype(cube), unit_t<cubed<meter>>>::value;
+ EXPECT_TRUE(isSame);
+
+ auto fourth = pow<4>(value);
+ EXPECT_NEAR(10000.0, fourth(), 5.0e-2);
+ isSame = std::is_same<
+ decltype(fourth),
+ unit_t<compound_unit<squared<meter>, squared<meter>>>>::value;
+ EXPECT_TRUE(isSame);
+}
+
+TEST_F(UnitMath, sqrt) {
+ EXPECT_TRUE((std::is_same<typename std::decay<meter_t>::type,
+ typename std::decay<decltype(sqrt(
+ square_meter_t(4.0)))>::type>::value));
+ EXPECT_NEAR(meter_t(2.0).to<double>(),
+ sqrt(square_meter_t(4.0)).to<double>(), 5.0e-9);
+
+ EXPECT_TRUE((std::is_same<typename std::decay<angle::radian_t>::type,
+ typename std::decay<decltype(
+ sqrt(steradian_t(16.0)))>::type>::value));
+ EXPECT_NEAR(angle::radian_t(4.0).to<double>(),
+ sqrt(steradian_t(16.0)).to<double>(), 5.0e-9);
+
+ EXPECT_TRUE((std::is_convertible<typename std::decay<foot_t>::type,
+ typename std::decay<decltype(sqrt(
+ square_foot_t(10.0)))>::type>::value));
+
+ // for rational conversion (i.e. no integral root) let's check a bunch of
+ // different ways this could go wrong
+ foot_t resultFt = sqrt(square_foot_t(10.0));
+ EXPECT_NEAR(foot_t(3.16227766017).to<double>(),
+ sqrt(square_foot_t(10.0)).to<double>(), 5.0e-9);
+ EXPECT_NEAR(foot_t(3.16227766017).to<double>(), resultFt.to<double>(),
+ 5.0e-9);
+ EXPECT_EQ(resultFt, sqrt(square_foot_t(10.0)));
+}
+
+TEST_F(UnitMath, hypot) {
+ EXPECT_TRUE((std::is_same<typename std::decay<meter_t>::type,
+ typename std::decay<decltype(hypot(
+ meter_t(3.0), meter_t(4.0)))>::type>::value));
+ EXPECT_NEAR(meter_t(5.0).to<double>(),
+ (hypot(meter_t(3.0), meter_t(4.0))).to<double>(), 5.0e-9);
+
+ EXPECT_TRUE((std::is_same<typename std::decay<foot_t>::type,
+ typename std::decay<decltype(hypot(
+ foot_t(3.0), meter_t(1.2192)))>::type>::value));
+ EXPECT_NEAR(foot_t(5.0).to<double>(),
+ (hypot(foot_t(3.0), meter_t(1.2192))).to<double>(), 5.0e-9);
+}
+
+TEST_F(UnitMath, ceil) {
+ double val = 101.1;
+ EXPECT_EQ(std::ceil(val), ceil(meter_t(val)).to<double>());
+ EXPECT_TRUE((std::is_same<typename std::decay<meter_t>::type,
+ typename std::decay<decltype(
+ ceil(meter_t(val)))>::type>::value));
+}
+
+TEST_F(UnitMath, floor) {
+ double val = 101.1;
+ EXPECT_EQ(std::floor(val), floor(scalar_t(val)));
+}
+
+TEST_F(UnitMath, fmod) {
+ EXPECT_EQ(std::fmod(100.0, 101.2),
+ fmod(meter_t(100.0), meter_t(101.2)).to<double>());
+}
+
+TEST_F(UnitMath, trunc) {
+ double val = 101.1;
+ EXPECT_EQ(std::trunc(val), trunc(scalar_t(val)));
+}
+
+TEST_F(UnitMath, round) {
+ double val = 101.1;
+ EXPECT_EQ(std::round(val), round(scalar_t(val)));
+}
+
+TEST_F(UnitMath, copysign) {
+ double sign = -1;
+ meter_t val(5.0);
+ EXPECT_EQ(meter_t(-5.0), copysign(val, sign));
+ EXPECT_EQ(meter_t(-5.0), copysign(val, angle::radian_t(sign)));
+}
+
+TEST_F(UnitMath, fdim) {
+ EXPECT_EQ(meter_t(0.0), fdim(meter_t(8.0), meter_t(10.0)));
+ EXPECT_EQ(meter_t(2.0), fdim(meter_t(10.0), meter_t(8.0)));
+ EXPECT_NEAR(meter_t(9.3904).to<double>(),
+ fdim(meter_t(10.0), foot_t(2.0)).to<double>(),
+ 5.0e-320); // not sure why they aren't comparing exactly equal,
+ // but clearly they are.
+}
+
+TEST_F(UnitMath, fmin) {
+ EXPECT_EQ(meter_t(8.0), fmin(meter_t(8.0), meter_t(10.0)));
+ EXPECT_EQ(meter_t(8.0), fmin(meter_t(10.0), meter_t(8.0)));
+ EXPECT_EQ(foot_t(2.0), fmin(meter_t(10.0), foot_t(2.0)));
+}
+
+TEST_F(UnitMath, fmax) {
+ EXPECT_EQ(meter_t(10.0), fmax(meter_t(8.0), meter_t(10.0)));
+ EXPECT_EQ(meter_t(10.0), fmax(meter_t(10.0), meter_t(8.0)));
+ EXPECT_EQ(meter_t(10.0), fmax(meter_t(10.0), foot_t(2.0)));
+}
+
+TEST_F(UnitMath, fabs) {
+ EXPECT_EQ(meter_t(10.0), fabs(meter_t(-10.0)));
+ EXPECT_EQ(meter_t(10.0), fabs(meter_t(10.0)));
+}
+
+TEST_F(UnitMath, abs) {
+ EXPECT_EQ(meter_t(10.0), abs(meter_t(-10.0)));
+ EXPECT_EQ(meter_t(10.0), abs(meter_t(10.0)));
+}
+
+TEST_F(UnitMath, fma) {
+ meter_t x(2.0);
+ meter_t y(3.0);
+ square_meter_t z(1.0);
+ EXPECT_EQ(square_meter_t(7.0), fma(x, y, z));
+}
+
+// Constexpr
+#if !defined(_MSC_VER) || _MSC_VER > 1800
+TEST_F(Constexpr, construction) {
+ constexpr meter_t result0(0);
+ constexpr auto result1 = make_unit<meter_t>(1);
+ constexpr auto result2 = meter_t(2);
+
+ EXPECT_EQ(meter_t(0), result0);
+ EXPECT_EQ(meter_t(1), result1);
+ EXPECT_EQ(meter_t(2), result2);
+
+ EXPECT_TRUE(noexcept(result0));
+ EXPECT_TRUE(noexcept(result1));
+ EXPECT_TRUE(noexcept(result2));
+}
+
+TEST_F(Constexpr, constants) {
+ EXPECT_TRUE(noexcept(constants::c()));
+ EXPECT_TRUE(noexcept(constants::G()));
+ EXPECT_TRUE(noexcept(constants::h()));
+ EXPECT_TRUE(noexcept(constants::mu0()));
+ EXPECT_TRUE(noexcept(constants::epsilon0()));
+ EXPECT_TRUE(noexcept(constants::Z0()));
+ EXPECT_TRUE(noexcept(constants::k_e()));
+ EXPECT_TRUE(noexcept(constants::e()));
+ EXPECT_TRUE(noexcept(constants::m_e()));
+ EXPECT_TRUE(noexcept(constants::m_p()));
+ EXPECT_TRUE(noexcept(constants::mu_B()));
+ EXPECT_TRUE(noexcept(constants::N_A()));
+ EXPECT_TRUE(noexcept(constants::R()));
+ EXPECT_TRUE(noexcept(constants::k_B()));
+ EXPECT_TRUE(noexcept(constants::F()));
+ EXPECT_TRUE(noexcept(constants::sigma()));
+}
+
+TEST_F(Constexpr, arithmetic) {
+ constexpr auto result0(1_m + 1_m);
+ constexpr auto result1(1_m - 1_m);
+ constexpr auto result2(1_m * 1_m);
+ constexpr auto result3(1_m / 1_m);
+ constexpr auto result4(meter_t(1) + meter_t(1));
+ constexpr auto result5(meter_t(1) - meter_t(1));
+ constexpr auto result6(meter_t(1) * meter_t(1));
+ constexpr auto result7(meter_t(1) / meter_t(1));
+ constexpr auto result8(units::math::cpow<2>(meter_t(2)));
+ constexpr auto result9 = units::math::cpow<3>(2_m);
+ constexpr auto result10 = 2_m * 2_m;
+
+ EXPECT_TRUE(noexcept(result0));
+ EXPECT_TRUE(noexcept(result1));
+ EXPECT_TRUE(noexcept(result2));
+ EXPECT_TRUE(noexcept(result3));
+ EXPECT_TRUE(noexcept(result4));
+ EXPECT_TRUE(noexcept(result5));
+ EXPECT_TRUE(noexcept(result6));
+ EXPECT_TRUE(noexcept(result7));
+ EXPECT_TRUE(noexcept(result8));
+ EXPECT_TRUE(noexcept(result9));
+ EXPECT_TRUE(noexcept(result10));
+
+ EXPECT_EQ(8_cu_m, result9);
+ EXPECT_EQ(4_sq_m, result10);
+}
+
+TEST_F(Constexpr, realtional) {
+ constexpr bool equalityTrue = (1_m == 1_m);
+ constexpr bool equalityFalse = (1_m == 2_m);
+ constexpr bool lessThanTrue = (1_m < 2_m);
+ constexpr bool lessThanFalse = (1_m < 1_m);
+ constexpr bool lessThanEqualTrue1 = (1_m <= 1_m);
+ constexpr bool lessThanEqualTrue2 = (1_m <= 2_m);
+ constexpr bool lessThanEqualFalse = (1_m < 0_m);
+ constexpr bool greaterThanTrue = (2_m > 1_m);
+ constexpr bool greaterThanFalse = (2_m > 2_m);
+ constexpr bool greaterThanEqualTrue1 = (2_m >= 1_m);
+ constexpr bool greaterThanEqualTrue2 = (2_m >= 2_m);
+ constexpr bool greaterThanEqualFalse = (2_m > 3_m);
+
+ EXPECT_TRUE(equalityTrue);
+ EXPECT_TRUE(lessThanTrue);
+ EXPECT_TRUE(lessThanEqualTrue1);
+ EXPECT_TRUE(lessThanEqualTrue2);
+ EXPECT_TRUE(greaterThanTrue);
+ EXPECT_TRUE(greaterThanEqualTrue1);
+ EXPECT_TRUE(greaterThanEqualTrue2);
+ EXPECT_FALSE(equalityFalse);
+ EXPECT_FALSE(lessThanFalse);
+ EXPECT_FALSE(lessThanEqualFalse);
+ EXPECT_FALSE(greaterThanFalse);
+ EXPECT_FALSE(greaterThanEqualFalse);
+}
+
+TEST_F(Constexpr, stdArray) {
+ constexpr std::array<meter_t, 5> arr = {0_m, 1_m, 2_m, 3_m, 4_m};
+ constexpr bool equal = (arr[3] == 3_m);
+ EXPECT_TRUE(equal);
+}
+
+#endif
+
+TEST_F(CompileTimeArithmetic, unit_value_t) {
+ typedef unit_value_t<meters, 3, 2> mRatio;
+ EXPECT_EQ(meter_t(1.5), mRatio::value());
+}
+
+TEST_F(CompileTimeArithmetic, is_unit_value_t) {
+ typedef unit_value_t<meters, 3, 2> mRatio;
+
+ EXPECT_TRUE((traits::is_unit_value_t<mRatio>::value));
+ EXPECT_FALSE((traits::is_unit_value_t<meter_t>::value));
+ EXPECT_FALSE((traits::is_unit_value_t<double>::value));
+
+ EXPECT_TRUE((traits::is_unit_value_t<mRatio, meters>::value));
+ EXPECT_FALSE((traits::is_unit_value_t<meter_t, meters>::value));
+ EXPECT_FALSE((traits::is_unit_value_t<double, meters>::value));
+}
+
+TEST_F(CompileTimeArithmetic, is_unit_value_t_category) {
+ typedef unit_value_t<feet, 3, 2> mRatio;
+ EXPECT_TRUE(
+ (traits::is_unit_value_t_category<category::length_unit, mRatio>::value));
+ EXPECT_FALSE(
+ (traits::is_unit_value_t_category<category::angle_unit, mRatio>::value));
+ EXPECT_FALSE((
+ traits::is_unit_value_t_category<category::length_unit, meter_t>::value));
+ EXPECT_FALSE(
+ (traits::is_unit_value_t_category<category::length_unit, double>::value));
+}
+
+TEST_F(CompileTimeArithmetic, unit_value_add) {
+ typedef unit_value_t<meters, 3, 2> mRatio;
+
+ using sum = unit_value_add<mRatio, mRatio>;
+ EXPECT_EQ(meter_t(3.0), sum::value());
+ EXPECT_TRUE(
+ (traits::is_unit_value_t_category<category::length_unit, sum>::value));
+
+ typedef unit_value_t<feet, 1> ftRatio;
+
+ using sumf = unit_value_add<ftRatio, mRatio>;
+ EXPECT_TRUE((
+ std::is_same<typename std::decay<foot_t>::type,
+ typename std::decay<decltype(sumf::value())>::type>::value));
+ EXPECT_NEAR(5.92125984, sumf::value().to<double>(), 5.0e-8);
+ EXPECT_TRUE(
+ (traits::is_unit_value_t_category<category::length_unit, sumf>::value));
+
+ typedef unit_value_t<celsius, 1> cRatio;
+ typedef unit_value_t<fahrenheit, 2> fRatio;
+
+ using sumc = unit_value_add<cRatio, fRatio>;
+ EXPECT_TRUE((
+ std::is_same<typename std::decay<celsius_t>::type,
+ typename std::decay<decltype(sumc::value())>::type>::value));
+ EXPECT_NEAR(2.11111111111, sumc::value().to<double>(), 5.0e-8);
+ EXPECT_TRUE((traits::is_unit_value_t_category<category::temperature_unit,
+ sumc>::value));
+
+ typedef unit_value_t<angle::radian, 1> rRatio;
+ typedef unit_value_t<angle::degree, 3> dRatio;
+
+ using sumr = unit_value_add<rRatio, dRatio>;
+ EXPECT_TRUE((
+ std::is_same<typename std::decay<angle::radian_t>::type,
+ typename std::decay<decltype(sumr::value())>::type>::value));
+ EXPECT_NEAR(1.05235988, sumr::value().to<double>(), 5.0e-8);
+ EXPECT_TRUE(
+ (traits::is_unit_value_t_category<category::angle_unit, sumr>::value));
+}
+
+TEST_F(CompileTimeArithmetic, unit_value_subtract) {
+ typedef unit_value_t<meters, 3, 2> mRatio;
+
+ using diff = unit_value_subtract<mRatio, mRatio>;
+ EXPECT_EQ(meter_t(0), diff::value());
+ EXPECT_TRUE(
+ (traits::is_unit_value_t_category<category::length_unit, diff>::value));
+
+ typedef unit_value_t<feet, 1> ftRatio;
+
+ using difff = unit_value_subtract<ftRatio, mRatio>;
+ EXPECT_TRUE((std::is_same<
+ typename std::decay<foot_t>::type,
+ typename std::decay<decltype(difff::value())>::type>::value));
+ EXPECT_NEAR(-3.92125984, difff::value().to<double>(), 5.0e-8);
+ EXPECT_TRUE(
+ (traits::is_unit_value_t_category<category::length_unit, difff>::value));
+
+ typedef unit_value_t<celsius, 1> cRatio;
+ typedef unit_value_t<fahrenheit, 2> fRatio;
+
+ using diffc = unit_value_subtract<cRatio, fRatio>;
+ EXPECT_TRUE((std::is_same<
+ typename std::decay<celsius_t>::type,
+ typename std::decay<decltype(diffc::value())>::type>::value));
+ EXPECT_NEAR(-0.11111111111, diffc::value().to<double>(), 5.0e-8);
+ EXPECT_TRUE((traits::is_unit_value_t_category<category::temperature_unit,
+ diffc>::value));
+
+ typedef unit_value_t<angle::radian, 1> rRatio;
+ typedef unit_value_t<angle::degree, 3> dRatio;
+
+ using diffr = unit_value_subtract<rRatio, dRatio>;
+ EXPECT_TRUE((std::is_same<
+ typename std::decay<angle::radian_t>::type,
+ typename std::decay<decltype(diffr::value())>::type>::value));
+ EXPECT_NEAR(0.947640122, diffr::value().to<double>(), 5.0e-8);
+ EXPECT_TRUE(
+ (traits::is_unit_value_t_category<category::angle_unit, diffr>::value));
+}
+
+TEST_F(CompileTimeArithmetic, unit_value_multiply) {
+ typedef unit_value_t<meters, 2> mRatio;
+ typedef unit_value_t<feet, 656168, 100000> ftRatio; // 2 meter
+
+ using product = unit_value_multiply<mRatio, mRatio>;
+ EXPECT_EQ(square_meter_t(4), product::value());
+ EXPECT_TRUE(
+ (traits::is_unit_value_t_category<category::area_unit, product>::value));
+
+ using productM = unit_value_multiply<mRatio, ftRatio>;
+
+ EXPECT_TRUE((std::is_same<
+ typename std::decay<square_meter_t>::type,
+ typename std::decay<decltype(productM::value())>::type>::value));
+ EXPECT_NEAR(4.0, productM::value().to<double>(), 5.0e-7);
+ EXPECT_TRUE(
+ (traits::is_unit_value_t_category<category::area_unit, productM>::value));
+
+ using productF = unit_value_multiply<ftRatio, mRatio>;
+ EXPECT_TRUE((std::is_same<
+ typename std::decay<square_foot_t>::type,
+ typename std::decay<decltype(productF::value())>::type>::value));
+ EXPECT_NEAR(43.0556444224, productF::value().to<double>(), 5.0e-6);
+ EXPECT_TRUE(
+ (traits::is_unit_value_t_category<category::area_unit, productF>::value));
+
+ using productF2 = unit_value_multiply<ftRatio, ftRatio>;
+ EXPECT_TRUE(
+ (std::is_same<
+ typename std::decay<square_foot_t>::type,
+ typename std::decay<decltype(productF2::value())>::type>::value));
+ EXPECT_NEAR(43.0556444224, productF2::value().to<double>(), 5.0e-8);
+ EXPECT_TRUE((
+ traits::is_unit_value_t_category<category::area_unit, productF2>::value));
+
+ typedef unit_value_t<units::force::newton, 5> nRatio;
+
+ using productN = unit_value_multiply<nRatio, ftRatio>;
+ EXPECT_FALSE(
+ (std::is_same<
+ typename std::decay<torque::newton_meter_t>::type,
+ typename std::decay<decltype(productN::value())>::type>::value));
+ EXPECT_TRUE((std::is_convertible<
+ typename std::decay<torque::newton_meter_t>::type,
+ typename std::decay<decltype(productN::value())>::type>::value));
+ EXPECT_NEAR(32.8084, productN::value().to<double>(), 5.0e-8);
+ EXPECT_NEAR(10.0, (productN::value().convert<newton_meter>().to<double>()),
+ 5.0e-7);
+ EXPECT_TRUE((traits::is_unit_value_t_category<category::torque_unit,
+ productN>::value));
+
+ typedef unit_value_t<angle::radian, 11, 10> r1Ratio;
+ typedef unit_value_t<angle::radian, 22, 10> r2Ratio;
+
+ using productR = unit_value_multiply<r1Ratio, r2Ratio>;
+ EXPECT_TRUE((std::is_same<
+ typename std::decay<steradian_t>::type,
+ typename std::decay<decltype(productR::value())>::type>::value));
+ EXPECT_NEAR(2.42, productR::value().to<double>(), 5.0e-8);
+ EXPECT_NEAR(7944.39137,
+ (productR::value().convert<degrees_squared>().to<double>()),
+ 5.0e-6);
+ EXPECT_TRUE((traits::is_unit_value_t_category<category::solid_angle_unit,
+ productR>::value));
+}
+
+TEST_F(CompileTimeArithmetic, unit_value_divide) {
+ typedef unit_value_t<meters, 2> mRatio;
+ typedef unit_value_t<feet, 656168, 100000> ftRatio; // 2 meter
+
+ using product = unit_value_divide<mRatio, mRatio>;
+ EXPECT_EQ(scalar_t(1), product::value());
+ EXPECT_TRUE((
+ traits::is_unit_value_t_category<category::scalar_unit, product>::value));
+
+ using productM = unit_value_divide<mRatio, ftRatio>;
+
+ EXPECT_TRUE((std::is_same<
+ typename std::decay<scalar_t>::type,
+ typename std::decay<decltype(productM::value())>::type>::value));
+ EXPECT_NEAR(1, productM::value().to<double>(), 5.0e-7);
+ EXPECT_TRUE((traits::is_unit_value_t_category<category::scalar_unit,
+ productM>::value));
+
+ using productF = unit_value_divide<ftRatio, mRatio>;
+ EXPECT_TRUE((std::is_same<
+ typename std::decay<scalar_t>::type,
+ typename std::decay<decltype(productF::value())>::type>::value));
+ EXPECT_NEAR(1.0, productF::value().to<double>(), 5.0e-6);
+ EXPECT_TRUE((traits::is_unit_value_t_category<category::scalar_unit,
+ productF>::value));
+
+ using productF2 = unit_value_divide<ftRatio, ftRatio>;
+ EXPECT_TRUE(
+ (std::is_same<
+ typename std::decay<scalar_t>::type,
+ typename std::decay<decltype(productF2::value())>::type>::value));
+ EXPECT_NEAR(1.0, productF2::value().to<double>(), 5.0e-8);
+ EXPECT_TRUE((traits::is_unit_value_t_category<category::scalar_unit,
+ productF2>::value));
+
+ typedef unit_value_t<seconds, 10> sRatio;
+
+ using productMS = unit_value_divide<mRatio, sRatio>;
+ EXPECT_TRUE(
+ (std::is_same<
+ typename std::decay<meters_per_second_t>::type,
+ typename std::decay<decltype(productMS::value())>::type>::value));
+ EXPECT_NEAR(0.2, productMS::value().to<double>(), 5.0e-8);
+ EXPECT_TRUE((traits::is_unit_value_t_category<category::velocity_unit,
+ productMS>::value));
+
+ typedef unit_value_t<angle::radian, 20> rRatio;
+
+ using productRS = unit_value_divide<rRatio, sRatio>;
+ EXPECT_TRUE(
+ (std::is_same<
+ typename std::decay<radians_per_second_t>::type,
+ typename std::decay<decltype(productRS::value())>::type>::value));
+ EXPECT_NEAR(2, productRS::value().to<double>(), 5.0e-8);
+ EXPECT_NEAR(114.592,
+ (productRS::value().convert<degrees_per_second>().to<double>()),
+ 5.0e-4);
+ EXPECT_TRUE((traits::is_unit_value_t_category<category::angular_velocity_unit,
+ productRS>::value));
+}
+
+TEST_F(CompileTimeArithmetic, unit_value_power) {
+ typedef unit_value_t<meters, 2> mRatio;
+
+ using sq = unit_value_power<mRatio, 2>;
+ EXPECT_TRUE((std::is_convertible<
+ typename std::decay<square_meter_t>::type,
+ typename std::decay<decltype(sq::value())>::type>::value));
+ EXPECT_NEAR(4, sq::value().to<double>(), 5.0e-8);
+ EXPECT_TRUE(
+ (traits::is_unit_value_t_category<category::area_unit, sq>::value));
+
+ typedef unit_value_t<angle::radian, 18, 10> rRatio;
+
+ using sqr = unit_value_power<rRatio, 2>;
+ EXPECT_TRUE((std::is_convertible<
+ typename std::decay<steradian_t>::type,
+ typename std::decay<decltype(sqr::value())>::type>::value));
+ EXPECT_NEAR(3.24, sqr::value().to<double>(), 5.0e-8);
+ EXPECT_NEAR(10636.292574038049895092690529904,
+ (sqr::value().convert<degrees_squared>().to<double>()), 5.0e-10);
+ EXPECT_TRUE((traits::is_unit_value_t_category<category::solid_angle_unit,
+ sqr>::value));
+}
+
+TEST_F(CompileTimeArithmetic, unit_value_sqrt) {
+ typedef unit_value_t<square_meters, 10> mRatio;
+
+ using root = unit_value_sqrt<mRatio>;
+ EXPECT_TRUE((std::is_convertible<
+ typename std::decay<meter_t>::type,
+ typename std::decay<decltype(root::value())>::type>::value));
+ EXPECT_NEAR(3.16227766017, root::value().to<double>(), 5.0e-9);
+ EXPECT_TRUE(
+ (traits::is_unit_value_t_category<category::length_unit, root>::value));
+
+ typedef unit_value_t<hectare, 51, 7> hRatio;
+
+ using rooth = unit_value_sqrt<hRatio, 100000000>;
+ EXPECT_TRUE((std::is_convertible<
+ typename std::decay<mile_t>::type,
+ typename std::decay<decltype(rooth::value())>::type>::value));
+ EXPECT_NEAR(2.69920623253, rooth::value().to<double>(), 5.0e-8);
+ EXPECT_NEAR(269.920623, rooth::value().convert<meters>().to<double>(),
+ 5.0e-6);
+ EXPECT_TRUE(
+ (traits::is_unit_value_t_category<category::length_unit, rooth>::value));
+
+ typedef unit_value_t<steradian, 18, 10> rRatio;
+
+ using rootr = unit_value_sqrt<rRatio>;
+ EXPECT_TRUE((traits::is_angle_unit<decltype(rootr::value())>::value));
+ EXPECT_NEAR(1.3416407865, rootr::value().to<double>(), 5.0e-8);
+ EXPECT_NEAR(76.870352574,
+ rootr::value().convert<angle::degrees>().to<double>(), 5.0e-6);
+ EXPECT_TRUE(
+ (traits::is_unit_value_t_category<category::angle_unit, rootr>::value));
+}
+
+TEST_F(CaseStudies, radarRangeEquation) {
+ watt_t P_t; // transmit power
+ scalar_t G; // gain
+ meter_t lambda; // wavelength
+ square_meter_t sigma; // radar cross section
+ meter_t R; // range
+ kelvin_t T_s; // system noise temp
+ hertz_t B_n; // bandwidth
+ scalar_t L; // loss
+
+ P_t = megawatt_t(1.4);
+ G = dB_t(33.0);
+ lambda = constants::c / megahertz_t(2800);
+ sigma = square_meter_t(1.0);
+ R = meter_t(111000.0);
+ T_s = kelvin_t(950.0);
+ B_n = megahertz_t(1.67);
+ L = dB_t(8.0);
+
+ scalar_t SNR = (P_t * math::pow<2>(G) * math::pow<2>(lambda) * sigma) /
+ (math::pow<3>(4 * constants::pi) * math::pow<4>(R) *
+ constants::k_B * T_s * B_n * L);
+
+ EXPECT_NEAR(1.535, SNR(), 5.0e-4);
+}
+
+TEST_F(CaseStudies, pythagoreanTheorum) {
+ EXPECT_EQ(meter_t(3), RightTriangle::a::value());
+ EXPECT_EQ(meter_t(4), RightTriangle::b::value());
+ EXPECT_EQ(meter_t(5), RightTriangle::c::value());
+ EXPECT_TRUE(pow<2>(RightTriangle::a::value()) +
+ pow<2>(RightTriangle::b::value()) ==
+ pow<2>(RightTriangle::c::value()));
+}
diff --git a/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/WebSocketClientTest.cpp b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/WebSocketClientTest.cpp
index 692e2a7..2db9b54 100644
--- a/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/WebSocketClientTest.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/WebSocketClientTest.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -135,9 +135,8 @@
mockProtocol = "myProtocol";
clientPipe->Connect(pipeName, [&] {
- auto ws = WebSocket::CreateClient(
- *clientPipe, "/test", pipeName,
- ArrayRef<StringRef>{"myProtocol", "myProtocol2"});
+ auto ws = WebSocket::CreateClient(*clientPipe, "/test", pipeName,
+ {"myProtocol", "myProtocol2"});
ws->closed.connect([&](uint16_t code, StringRef msg) {
Finish();
if (code != 1005 && code != 1006)
@@ -222,8 +221,8 @@
std::shared_ptr<WebSocket> ws;
};
-INSTANTIATE_TEST_CASE_P(WebSocketClientDataTests, WebSocketClientDataTest,
- ::testing::Values(0, 1, 125, 126, 65535, 65536), );
+INSTANTIATE_TEST_SUITE_P(WebSocketClientDataTests, WebSocketClientDataTest,
+ ::testing::Values(0, 1, 125, 126, 65535, 65536));
TEST_P(WebSocketClientDataTest, SendBinary) {
int gotCallback = 0;
diff --git a/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/WebSocketIntegrationTest.cpp b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/WebSocketIntegrationTest.cpp
index f51e8fc..9a66a2e 100644
--- a/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/WebSocketIntegrationTest.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/WebSocketIntegrationTest.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -35,7 +35,7 @@
if (code != 1005 && code != 1006)
FAIL() << "Code: " << code << " Reason: " << reason;
});
- ws->open.connect([&, s = ws.get() ](StringRef) {
+ ws->open.connect([&, s = ws.get()](StringRef) {
++gotClientOpen;
s->Close();
});
@@ -68,7 +68,7 @@
if (code != 1005 && code != 1006)
FAIL() << "Code: " << code << " Reason: " << reason;
});
- ws->open.connect([&, s = ws.get() ](StringRef protocol) {
+ ws->open.connect([&, s = ws.get()](StringRef protocol) {
++gotClientOpen;
s->Close();
ASSERT_EQ(protocol, "proto1");
@@ -134,7 +134,7 @@
if (code != 1005 && code != 1006)
FAIL() << "Code: " << code << " Reason: " << reason;
});
- ws->open.connect([&, s = ws.get() ](StringRef) {
+ ws->open.connect([&, s = ws.get()](StringRef) {
s->SendText(uv::Buffer{"hello"}, [&](auto, uv::Error) {});
s->Close();
});
diff --git a/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/WebSocketServerTest.cpp b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/WebSocketServerTest.cpp
index 7d723e3..d11fdda 100644
--- a/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/WebSocketServerTest.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/WebSocketServerTest.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -141,14 +141,15 @@
});
};
// need to respond with close for server to finish shutdown
- auto message = BuildMessage(0x08, true, true, {0x03u, 0xe8u});
+ const uint8_t contents[] = {0x03u, 0xe8u};
+ auto message = BuildMessage(0x08, true, true, contents);
handleData = [&](StringRef) {
clientPipe->Write(uv::Buffer(message), [&](auto bufs, uv::Error) {});
};
loop->Run();
- auto expectData = BuildMessage(0x08, true, false, {0x03u, 0xe8u});
+ auto expectData = BuildMessage(0x08, true, false, contents);
ASSERT_EQ(wireData, expectData);
ASSERT_EQ(gotClosed, 1);
}
@@ -164,16 +165,15 @@
});
};
// need to respond with close for server to finish shutdown
- auto message = BuildMessage(0x08, true, true,
- {0x03u, 0xe8u, 'h', 'a', 'n', 'g', 'u', 'p'});
+ const uint8_t contents[] = {0x03u, 0xe8u, 'h', 'a', 'n', 'g', 'u', 'p'};
+ auto message = BuildMessage(0x08, true, true, contents);
handleData = [&](StringRef) {
clientPipe->Write(uv::Buffer(message), [&](auto bufs, uv::Error) {});
};
loop->Run();
- auto expectData = BuildMessage(0x08, true, false,
- {0x03u, 0xe8u, 'h', 'a', 'n', 'g', 'u', 'p'});
+ auto expectData = BuildMessage(0x08, true, false, contents);
ASSERT_EQ(wireData, expectData);
ASSERT_EQ(gotClosed, 1);
}
@@ -211,7 +211,8 @@
ASSERT_EQ(code, 1000) << "reason: " << reason;
});
};
- auto message = BuildMessage(0x08, true, true, {0x03u, 0xe8u});
+ const uint8_t contents[] = {0x03u, 0xe8u};
+ auto message = BuildMessage(0x08, true, true, contents);
resp.headersComplete.connect([&](bool) {
clientPipe->Write(uv::Buffer(message), [&](auto bufs, uv::Error) {});
});
@@ -219,7 +220,7 @@
loop->Run();
// the endpoint should echo the message
- auto expectData = BuildMessage(0x08, true, false, {0x03u, 0xe8u});
+ auto expectData = BuildMessage(0x08, true, false, contents);
ASSERT_EQ(wireData, expectData);
ASSERT_EQ(gotClosed, 1);
}
@@ -233,8 +234,8 @@
ASSERT_EQ(reason, "hangup");
});
};
- auto message = BuildMessage(0x08, true, true,
- {0x03u, 0xe8u, 'h', 'a', 'n', 'g', 'u', 'p'});
+ const uint8_t contents[] = {0x03u, 0xe8u, 'h', 'a', 'n', 'g', 'u', 'p'};
+ auto message = BuildMessage(0x08, true, true, contents);
resp.headersComplete.connect([&](bool) {
clientPipe->Write(uv::Buffer(message), [&](auto bufs, uv::Error) {});
});
@@ -242,8 +243,7 @@
loop->Run();
// the endpoint should echo the message
- auto expectData = BuildMessage(0x08, true, false,
- {0x03u, 0xe8u, 'h', 'a', 'n', 'g', 'u', 'p'});
+ auto expectData = BuildMessage(0x08, true, false, contents);
ASSERT_EQ(wireData, expectData);
ASSERT_EQ(gotClosed, 1);
}
@@ -257,10 +257,10 @@
: public WebSocketServerTest,
public ::testing::WithParamInterface<uint8_t> {};
-INSTANTIATE_TEST_CASE_P(WebSocketServerBadOpcodeTests,
- WebSocketServerBadOpcodeTest,
- ::testing::Values(3, 4, 5, 6, 7, 0xb, 0xc, 0xd, 0xe,
- 0xf), );
+INSTANTIATE_TEST_SUITE_P(WebSocketServerBadOpcodeTests,
+ WebSocketServerBadOpcodeTest,
+ ::testing::Values(3, 4, 5, 6, 7, 0xb, 0xc, 0xd, 0xe,
+ 0xf));
TEST_P(WebSocketServerBadOpcodeTest, Receive) {
int gotCallback = 0;
@@ -289,9 +289,9 @@
: public WebSocketServerTest,
public ::testing::WithParamInterface<uint8_t> {};
-INSTANTIATE_TEST_CASE_P(WebSocketServerControlFrameTests,
- WebSocketServerControlFrameTest,
- ::testing::Values(0x8, 0x9, 0xa), );
+INSTANTIATE_TEST_SUITE_P(WebSocketServerControlFrameTests,
+ WebSocketServerControlFrameTest,
+ ::testing::Values(0x8, 0x9, 0xa));
TEST_P(WebSocketServerControlFrameTest, ReceiveFragment) {
int gotCallback = 0;
@@ -532,8 +532,8 @@
class WebSocketServerDataTest : public WebSocketServerTest,
public ::testing::WithParamInterface<size_t> {};
-INSTANTIATE_TEST_CASE_P(WebSocketServerDataTests, WebSocketServerDataTest,
- ::testing::Values(0, 1, 125, 126, 65535, 65536), );
+INSTANTIATE_TEST_SUITE_P(WebSocketServerDataTests, WebSocketServerDataTest,
+ ::testing::Values(0, 1, 125, 126, 65535, 65536));
TEST_P(WebSocketServerDataTest, SendText) {
int gotCallback = 0;
diff --git a/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/json/unit-cbor.cpp b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/json/unit-cbor.cpp
index 84e98eb..2e37a17 100644
--- a/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/json/unit-cbor.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/json/unit-cbor.cpp
@@ -139,8 +139,8 @@
-4294967297,
};
-INSTANTIATE_TEST_CASE_P(CborSignedNeg8Tests, CborSignedNeg8Test,
- ::testing::ValuesIn(neg8_numbers), );
+INSTANTIATE_TEST_SUITE_P(CborSignedNeg8Tests, CborSignedNeg8Test,
+ ::testing::ValuesIn(neg8_numbers));
// -4294967296..-65537
class CborSignedNeg4Test : public ::testing::TestWithParam<int64_t> {};
@@ -189,8 +189,8 @@
-4294967296,
};
-INSTANTIATE_TEST_CASE_P(CborSignedNeg4Tests, CborSignedNeg4Test,
- ::testing::ValuesIn(neg4_numbers), );
+INSTANTIATE_TEST_SUITE_P(CborSignedNeg4Tests, CborSignedNeg4Test,
+ ::testing::ValuesIn(neg4_numbers));
// -65536..-257
TEST(CborSignedTest, Neg2)
@@ -447,8 +447,8 @@
1048576u,
};
-INSTANTIATE_TEST_CASE_P(CborSignedPos4Tests, CborSignedPos4Test,
- ::testing::ValuesIn(pos4_numbers), );
+INSTANTIATE_TEST_SUITE_P(CborSignedPos4Tests, CborSignedPos4Test,
+ ::testing::ValuesIn(pos4_numbers));
// 4294967296..4611686018427387903
class CborSignedPos8Test : public ::testing::TestWithParam<uint64_t> {};
@@ -500,8 +500,8 @@
4611686018427387903ul
};
-INSTANTIATE_TEST_CASE_P(CborSignedPos8Tests, CborSignedPos8Test,
- ::testing::ValuesIn(pos8_numbers), );
+INSTANTIATE_TEST_SUITE_P(CborSignedPos8Tests, CborSignedPos8Test,
+ ::testing::ValuesIn(pos8_numbers));
/*
// -32768..-129 (int 16)
@@ -670,8 +670,8 @@
EXPECT_EQ(json::from_cbor(result), j);
}
-INSTANTIATE_TEST_CASE_P(CborUnsignedPos4Tests, CborUnsignedPos4Test,
- ::testing::ValuesIn(pos4_numbers), );
+INSTANTIATE_TEST_SUITE_P(CborUnsignedPos4Tests, CborUnsignedPos4Test,
+ ::testing::ValuesIn(pos4_numbers));
// 4294967296..4611686018427387903 (eight-byte uint64_t)
class CborUnsignedPos8Test : public ::testing::TestWithParam<uint64_t> {};
@@ -716,8 +716,8 @@
EXPECT_EQ(json::from_cbor(result), j);
}
-INSTANTIATE_TEST_CASE_P(CborUnsignedPos8Tests, CborUnsignedPos8Test,
- ::testing::ValuesIn(pos8_numbers), );
+INSTANTIATE_TEST_SUITE_P(CborUnsignedPos8Tests, CborUnsignedPos8Test,
+ ::testing::ValuesIn(pos8_numbers));
// 3.1415925
TEST(CborFloatTest, Number)
@@ -853,8 +853,8 @@
65535u
};
-INSTANTIATE_TEST_CASE_P(CborString3Tests, CborString3Test,
- ::testing::ValuesIn(string3_lens), );
+INSTANTIATE_TEST_SUITE_P(CborString3Tests, CborString3Test,
+ ::testing::ValuesIn(string3_lens));
// N = 65536..4294967295
class CborString5Test : public ::testing::TestWithParam<size_t> {};
@@ -893,8 +893,8 @@
1048576u
};
-INSTANTIATE_TEST_CASE_P(CborString5Tests, CborString5Test,
- ::testing::ValuesIn(string5_lens), );
+INSTANTIATE_TEST_SUITE_P(CborString5Tests, CborString5Test,
+ ::testing::ValuesIn(string5_lens));
TEST(CborArrayTest, Empty)
{
@@ -948,7 +948,7 @@
{
json j(257, nullptr);
std::vector<uint8_t> expected(j.size() + 3, 0xf6); // all null
- expected[0] = static_cast<char>(0x99); // array 16 bit
+ expected[0] = static_cast<uint8_t>(0x99); // array 16 bit
expected[1] = 0x01; // size (0x0101), byte 0
expected[2] = 0x01; // size (0x0101), byte 1
const auto result = json::to_cbor(j);
@@ -963,7 +963,7 @@
{
json j(65793, nullptr);
std::vector<uint8_t> expected(j.size() + 5, 0xf6); // all null
- expected[0] = static_cast<char>(0x9a); // array 32 bit
+ expected[0] = static_cast<uint8_t>(0x9a); // array 32 bit
expected[1] = 0x00; // size (0x00010101), byte 0
expected[2] = 0x01; // size (0x00010101), byte 1
expected[3] = 0x01; // size (0x00010101), byte 2
@@ -1236,8 +1236,8 @@
0xf8,
};
-INSTANTIATE_TEST_CASE_P(CborUnsupportedBytesTests, CborUnsupportedBytesTest,
- ::testing::ValuesIn(unsupported_bytes_cases), );
+INSTANTIATE_TEST_SUITE_P(CborUnsupportedBytesTests, CborUnsupportedBytesTest,
+ ::testing::ValuesIn(unsupported_bytes_cases));
#if 0
// use this testcase outside [hide] to run it with Valgrind
TEST(CborRoundtripTest, Sample)
@@ -1327,7 +1327,7 @@
"test/data/cbor_regression/test21",
};
-INSTANTIATE_TEST_CASE_P(CborRegressionFuzzTests, CborRegressionFuzzTest,
+INSTANTIATE_TEST_SUITE_P(CborRegressionFuzzTests, CborRegressionFuzzTest,
::testing::ValuesIn(fuzz_test_cases));
class CborRegressionFlynnTest : public ::testing::TestWithParam<const char*> {};
@@ -1497,7 +1497,7 @@
"test/data/nst_json_testsuite/test_parsing/y_structure_whitespace_array.json",
};
-INSTANTIATE_TEST_CASE_P(CborRegressionFlynnTests, CborRegressionFlynnTest,
+INSTANTIATE_TEST_SUITE_P(CborRegressionFlynnTests, CborRegressionFlynnTest,
::testing::ValuesIn(flynn_test_cases));
#endif
@@ -1644,16 +1644,16 @@
{"-4.1", {0xfb,0xc0,0x10,0x66,0x66,0x66,0x66,0x66,0x66}, true},
};
-INSTANTIATE_TEST_CASE_P(CborRfc7049AppendixANumberTests, CborRoundtripTest,
- ::testing::ValuesIn(rfc7049_appendix_a_numbers), );
+INSTANTIATE_TEST_SUITE_P(CborRfc7049AppendixANumberTests, CborRoundtripTest,
+ ::testing::ValuesIn(rfc7049_appendix_a_numbers));
static const internal::CborRoundtripTestParam rfc7049_appendix_a_simple_values[] = {
{"false", {0xf4}, true},
{"true", {0xf5}, true},
};
-INSTANTIATE_TEST_CASE_P(CborRfc7049AppendixASimpleValueTests, CborRoundtripTest,
- ::testing::ValuesIn(rfc7049_appendix_a_simple_values), );
+INSTANTIATE_TEST_SUITE_P(CborRfc7049AppendixASimpleValueTests, CborRoundtripTest,
+ ::testing::ValuesIn(rfc7049_appendix_a_simple_values));
static const internal::CborRoundtripTestParam rfc7049_appendix_a_strings[] = {
{"\"\"", {0x60}, true},
@@ -1666,8 +1666,8 @@
{"\"streaming\"", {0x7f,0x65,0x73,0x74,0x72,0x65,0x61,0x64,0x6d,0x69,0x6e,0x67,0xff}, false},
};
-INSTANTIATE_TEST_CASE_P(CborRfc7049AppendixAStringTests, CborRoundtripTest,
- ::testing::ValuesIn(rfc7049_appendix_a_strings), );
+INSTANTIATE_TEST_SUITE_P(CborRfc7049AppendixAStringTests, CborRoundtripTest,
+ ::testing::ValuesIn(rfc7049_appendix_a_strings));
static const internal::CborRoundtripTestParam rfc7049_appendix_a_arrays[] = {
{"[]", {0x80}, true},
@@ -1683,8 +1683,8 @@
{"[1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25]", {0x9f,0x01,0x02,0x03,0x04,0x05,0x06,0x07,0x08,0x09,0x0a,0x0b,0x0c,0x0d,0x0e,0x0f,0x10,0x11,0x12,0x13,0x14,0x15,0x16,0x17,0x18,0x18,0x18,0x19,0xff}, false},
};
-INSTANTIATE_TEST_CASE_P(CborRfc7049AppendixAArrayTests, CborRoundtripTest,
- ::testing::ValuesIn(rfc7049_appendix_a_arrays), );
+INSTANTIATE_TEST_SUITE_P(CborRfc7049AppendixAArrayTests, CborRoundtripTest,
+ ::testing::ValuesIn(rfc7049_appendix_a_arrays));
static const internal::CborRoundtripTestParam rfc7049_appendix_a_objects[] = {
{"{}", {0xa0}, true},
@@ -1697,5 +1697,5 @@
{"{\"Fun\": true, \"Amt\": -2}", {0xbf,0x63,0x46,0x75,0x6e,0xf5,0x63,0x41,0x6d,0x74,0x21,0xff}, false},
};
-INSTANTIATE_TEST_CASE_P(CborRfc7049AppendixAObjectTests, CborRoundtripTest,
- ::testing::ValuesIn(rfc7049_appendix_a_objects), );
+INSTANTIATE_TEST_SUITE_P(CborRfc7049AppendixAObjectTests, CborRoundtripTest,
+ ::testing::ValuesIn(rfc7049_appendix_a_objects));
diff --git a/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/json/unit-constructor1.cpp b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/json/unit-constructor1.cpp
index 71c4678..85b9b91 100644
--- a/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/json/unit-constructor1.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/json/unit-constructor1.cpp
@@ -67,8 +67,8 @@
json::value_t::number_float,
};
-INSTANTIATE_TEST_CASE_P(JsonConstructTypeTests, JsonConstructTypeTest,
- ::testing::ValuesIn(construct_type_cases), );
+INSTANTIATE_TEST_SUITE_P(JsonConstructTypeTests, JsonConstructTypeTest,
+ ::testing::ValuesIn(construct_type_cases));
TEST(JsonConstructNullTest, NoParameter)
@@ -214,7 +214,7 @@
std::array<json, 6>, std::vector<json>,
std::deque<json>>
JsonConstructArrayTestTypes;
-TYPED_TEST_CASE(JsonConstructArrayTest, JsonConstructArrayTestTypes);
+TYPED_TEST_SUITE(JsonConstructArrayTest, JsonConstructArrayTestTypes, );
// clang warns on missing braces on the TypeParam initializer line below.
// Suppress this warning.
@@ -405,7 +405,7 @@
#endif
> JsonConstructIntegerTestTypes;
-TYPED_TEST_CASE(JsonConstructIntegerTest, JsonConstructIntegerTestTypes);
+TYPED_TEST_SUITE(JsonConstructIntegerTest, JsonConstructIntegerTestTypes, );
TYPED_TEST(JsonConstructIntegerTest, Implicit)
{
@@ -523,7 +523,7 @@
>
JsonConstructFloatTestTypes;
-TYPED_TEST_CASE(JsonConstructFloatTest, JsonConstructFloatTestTypes);
+TYPED_TEST_SUITE(JsonConstructFloatTest, JsonConstructFloatTestTypes, );
TYPED_TEST(JsonConstructFloatTest, Implicit)
{
diff --git a/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/json/unit-conversions.cpp b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/json/unit-conversions.cpp
index e4981f2..b60e5ac 100644
--- a/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/json/unit-conversions.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/json/unit-conversions.cpp
@@ -62,7 +62,7 @@
, std::unordered_map<std::string, json>
, std::unordered_multimap<std::string, json>
> JsonGetObjectTestTypes;
-TYPED_TEST_CASE(JsonGetObjectTest, JsonGetObjectTestTypes);
+TYPED_TEST_SUITE(JsonGetObjectTest, JsonGetObjectTestTypes, );
TYPED_TEST(JsonGetObjectTest, Explicit)
{
@@ -109,7 +109,7 @@
/*std::forward_list<json>,*/ std::vector<json>,
std::deque<json>>
JsonGetArrayTestTypes;
-TYPED_TEST_CASE(JsonGetArrayTest, JsonGetArrayTestTypes);
+TYPED_TEST_SUITE(JsonGetArrayTest, JsonGetArrayTestTypes, );
TYPED_TEST(JsonGetArrayTest, Explicit)
{
@@ -200,7 +200,7 @@
};
typedef ::testing::Types<std::string, std::string> JsonGetStringTestTypes;
-TYPED_TEST_CASE(JsonGetStringTest, JsonGetStringTestTypes);
+TYPED_TEST_SUITE(JsonGetStringTest, JsonGetStringTestTypes, );
TYPED_TEST(JsonGetStringTest, Explicit)
{
@@ -244,7 +244,7 @@
};
typedef ::testing::Types<bool, bool> JsonGetBooleanTestTypes;
-TYPED_TEST_CASE(JsonGetBooleanTest, JsonGetBooleanTestTypes);
+TYPED_TEST_SUITE(JsonGetBooleanTest, JsonGetBooleanTestTypes, );
TYPED_TEST(JsonGetBooleanTest, Explicit)
{
@@ -328,7 +328,7 @@
#endif
> JsonGetIntegerTestTypes;
-TYPED_TEST_CASE(JsonGetIntegerTest, JsonGetIntegerTestTypes);
+TYPED_TEST_SUITE(JsonGetIntegerTest, JsonGetIntegerTestTypes, );
TYPED_TEST(JsonGetIntegerTest, Explicit)
{
@@ -381,7 +381,7 @@
typedef ::testing::Types<double, float, double>
JsonGetFloatTestTypes;
-TYPED_TEST_CASE(JsonGetFloatTest, JsonGetFloatTestTypes);
+TYPED_TEST_SUITE(JsonGetFloatTest, JsonGetFloatTestTypes, );
TYPED_TEST(JsonGetFloatTest, Explicit)
{
diff --git a/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/json/unit-deserialization.cpp b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/json/unit-deserialization.cpp
index 12ac280..2505ef5 100644
--- a/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/json/unit-deserialization.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/json/unit-deserialization.cpp
@@ -133,6 +133,6 @@
"\"\x7F\xF4\x7F",
};
-INSTANTIATE_TEST_CASE_P(JsonDeserializationErrorTests,
+INSTANTIATE_TEST_SUITE_P(JsonDeserializationErrorTests,
JsonDeserializationErrorTest,
- ::testing::ValuesIn(error_cases), );
+ ::testing::ValuesIn(error_cases));
diff --git a/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/json/unit-msgpack.cpp b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/json/unit-msgpack.cpp
index 0c03ee0..c0a237d 100644
--- a/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/json/unit-msgpack.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/json/unit-msgpack.cpp
@@ -253,8 +253,8 @@
4294967295u,
};
-INSTANTIATE_TEST_CASE_P(MessagePackSignedPos4Tests, MessagePackSignedPos4Test,
- ::testing::ValuesIn(pos4_numbers), );
+INSTANTIATE_TEST_SUITE_P(MessagePackSignedPos4Tests, MessagePackSignedPos4Test,
+ ::testing::ValuesIn(pos4_numbers));
// 4294967296..9223372036854775807 (int 64)
class MessagePackSignedPos8Test : public ::testing::TestWithParam<uint64_t> {};
@@ -306,8 +306,8 @@
9223372036854775807lu,
};
-INSTANTIATE_TEST_CASE_P(MessagePackSignedPos8Tests, MessagePackSignedPos8Test,
- ::testing::ValuesIn(pos8_numbers), );
+INSTANTIATE_TEST_SUITE_P(MessagePackSignedPos8Tests, MessagePackSignedPos8Test,
+ ::testing::ValuesIn(pos8_numbers));
// -128..-33 (int 8)
TEST(MessagePackSignedTest, Neg1)
@@ -419,8 +419,8 @@
-2147483648ll,
};
-INSTANTIATE_TEST_CASE_P(MessagePackSignedNeg4Tests, MessagePackSignedNeg4Test,
- ::testing::ValuesIn(neg4_numbers), );
+INSTANTIATE_TEST_SUITE_P(MessagePackSignedNeg4Tests, MessagePackSignedNeg4Test,
+ ::testing::ValuesIn(neg4_numbers));
// -9223372036854775808..-2147483649 (int 64)
class MessagePackSignedNeg8Test : public ::testing::TestWithParam<int64_t> {};
@@ -470,8 +470,8 @@
-2147483649ll,
};
-INSTANTIATE_TEST_CASE_P(MessagePackSignedNeg8Tests, MessagePackSignedNeg8Test,
- ::testing::ValuesIn(neg8_numbers), );
+INSTANTIATE_TEST_SUITE_P(MessagePackSignedNeg8Tests, MessagePackSignedNeg8Test,
+ ::testing::ValuesIn(neg8_numbers));
// 0..127 (positive fixnum)
TEST(MessagePackUnsignedTest, Pos0)
@@ -605,9 +605,9 @@
EXPECT_EQ(json::from_msgpack(result), j);
}
-INSTANTIATE_TEST_CASE_P(MessagePackUnsignedPos4Tests,
+INSTANTIATE_TEST_SUITE_P(MessagePackUnsignedPos4Tests,
MessagePackUnsignedPos4Test,
- ::testing::ValuesIn(pos4_numbers), );
+ ::testing::ValuesIn(pos4_numbers));
// 4294967296..18446744073709551615 (uint 64)
class MessagePackUnsignedPos8Test : public ::testing::TestWithParam<uint64_t> {};
@@ -652,9 +652,9 @@
EXPECT_EQ(json::from_msgpack(result), j);
}
-INSTANTIATE_TEST_CASE_P(MessagePackUnsignedPos8Tests,
+INSTANTIATE_TEST_SUITE_P(MessagePackUnsignedPos8Tests,
MessagePackUnsignedPos8Test,
- ::testing::ValuesIn(pos8_numbers), );
+ ::testing::ValuesIn(pos8_numbers));
// 3.1415925
TEST(MessagePackFloatTest, Number)
@@ -786,8 +786,8 @@
65535u
};
-INSTANTIATE_TEST_CASE_P(MessagePackString3Tests, MessagePackString3Test,
- ::testing::ValuesIn(string3_lens), );
+INSTANTIATE_TEST_SUITE_P(MessagePackString3Tests, MessagePackString3Test,
+ ::testing::ValuesIn(string3_lens));
// N = 65536..4294967295
@@ -827,8 +827,8 @@
1048576u
};
-INSTANTIATE_TEST_CASE_P(MessagePackString5Tests, MessagePackString5Test,
- ::testing::ValuesIn(string5_lens), );
+INSTANTIATE_TEST_SUITE_P(MessagePackString5Tests, MessagePackString5Test,
+ ::testing::ValuesIn(string5_lens));
TEST(MessagePackArrayTest, Empty)
{
@@ -1264,6 +1264,6 @@
"test/data/nst_json_testsuite/test_parsing/y_structure_whitespace_array.json",
};
-INSTANTIATE_TEST_CASE_P(MessagePackRegressionTests, MessagePackRegressionTest,
+INSTANTIATE_TEST_SUITE_P(MessagePackRegressionTests, MessagePackRegressionTest,
::testing::ValuesIn(regression_test_cases));
#endif
diff --git a/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/llvm/FunctionExtrasTest.cpp b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/llvm/FunctionExtrasTest.cpp
new file mode 100644
index 0000000..5dcd11f
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/llvm/FunctionExtrasTest.cpp
@@ -0,0 +1,228 @@
+//===- FunctionExtrasTest.cpp - Unit tests for function type erasure ------===//
+//
+// The LLVM Compiler Infrastructure
+//
+// This file is distributed under the University of Illinois Open Source
+// License. See LICENSE.TXT for details.
+//
+//===----------------------------------------------------------------------===//
+
+#include "wpi/FunctionExtras.h"
+#include "gtest/gtest.h"
+
+#include <memory>
+
+using namespace wpi;
+
+namespace {
+
+TEST(UniqueFunctionTest, Basic) {
+ unique_function<int(int, int)> Sum = [](int A, int B) { return A + B; };
+ EXPECT_EQ(Sum(1, 2), 3);
+
+ unique_function<int(int, int)> Sum2 = std::move(Sum);
+ EXPECT_EQ(Sum2(1, 2), 3);
+
+ unique_function<int(int, int)> Sum3 = [](int A, int B) { return A + B; };
+ Sum2 = std::move(Sum3);
+ EXPECT_EQ(Sum2(1, 2), 3);
+
+ Sum2 = unique_function<int(int, int)>([](int A, int B) { return A + B; });
+ EXPECT_EQ(Sum2(1, 2), 3);
+
+ // Explicit self-move test.
+ *&Sum2 = std::move(Sum2);
+ EXPECT_EQ(Sum2(1, 2), 3);
+
+ Sum2 = unique_function<int(int, int)>();
+ EXPECT_FALSE(Sum2);
+
+ // Make sure we can forward through l-value reference parameters.
+ unique_function<void(int &)> Inc = [](int &X) { ++X; };
+ int X = 42;
+ Inc(X);
+ EXPECT_EQ(X, 43);
+
+ // Make sure we can forward through r-value reference parameters with
+ // move-only types.
+ unique_function<int(std::unique_ptr<int> &&)> ReadAndDeallocByRef =
+ [](std::unique_ptr<int> &&Ptr) {
+ int V = *Ptr;
+ Ptr.reset();
+ return V;
+ };
+ std::unique_ptr<int> Ptr{new int(13)};
+ EXPECT_EQ(ReadAndDeallocByRef(std::move(Ptr)), 13);
+ EXPECT_FALSE((bool)Ptr);
+
+ // Make sure we can pass a move-only temporary as opposed to a local variable.
+ EXPECT_EQ(ReadAndDeallocByRef(std::unique_ptr<int>(new int(42))), 42);
+
+ // Make sure we can pass a move-only type by-value.
+ unique_function<int(std::unique_ptr<int>)> ReadAndDeallocByVal =
+ [](std::unique_ptr<int> Ptr) {
+ int V = *Ptr;
+ Ptr.reset();
+ return V;
+ };
+ Ptr.reset(new int(13));
+ EXPECT_EQ(ReadAndDeallocByVal(std::move(Ptr)), 13);
+ EXPECT_FALSE((bool)Ptr);
+
+ EXPECT_EQ(ReadAndDeallocByVal(std::unique_ptr<int>(new int(42))), 42);
+}
+
+TEST(UniqueFunctionTest, Captures) {
+ long A = 1, B = 2, C = 3, D = 4, E = 5;
+
+ unique_function<long()> Tmp;
+
+ unique_function<long()> C1 = [A]() { return A; };
+ EXPECT_EQ(C1(), 1);
+ Tmp = std::move(C1);
+ EXPECT_EQ(Tmp(), 1);
+
+ unique_function<long()> C2 = [A, B]() { return A + B; };
+ EXPECT_EQ(C2(), 3);
+ Tmp = std::move(C2);
+ EXPECT_EQ(Tmp(), 3);
+
+ unique_function<long()> C3 = [A, B, C]() { return A + B + C; };
+ EXPECT_EQ(C3(), 6);
+ Tmp = std::move(C3);
+ EXPECT_EQ(Tmp(), 6);
+
+ unique_function<long()> C4 = [A, B, C, D]() { return A + B + C + D; };
+ EXPECT_EQ(C4(), 10);
+ Tmp = std::move(C4);
+ EXPECT_EQ(Tmp(), 10);
+
+ unique_function<long()> C5 = [A, B, C, D, E]() { return A + B + C + D + E; };
+ EXPECT_EQ(C5(), 15);
+ Tmp = std::move(C5);
+ EXPECT_EQ(Tmp(), 15);
+}
+
+TEST(UniqueFunctionTest, MoveOnly) {
+ struct SmallCallable {
+ std::unique_ptr<int> A{new int(1)};
+
+ int operator()(int B) { return *A + B; }
+ };
+ unique_function<int(int)> Small = SmallCallable();
+ EXPECT_EQ(Small(2), 3);
+ unique_function<int(int)> Small2 = std::move(Small);
+ EXPECT_EQ(Small2(2), 3);
+
+ struct LargeCallable {
+ std::unique_ptr<int> A{new int(1)};
+ std::unique_ptr<int> B{new int(2)};
+ std::unique_ptr<int> C{new int(3)};
+ std::unique_ptr<int> D{new int(4)};
+ std::unique_ptr<int> E{new int(5)};
+
+ int operator()() { return *A + *B + *C + *D + *E; }
+ };
+ unique_function<int()> Large = LargeCallable();
+ EXPECT_EQ(Large(), 15);
+ unique_function<int()> Large2 = std::move(Large);
+ EXPECT_EQ(Large2(), 15);
+}
+
+TEST(UniqueFunctionTest, CountForwardingCopies) {
+ struct CopyCounter {
+ int &CopyCount;
+
+ CopyCounter(int &CopyCount) : CopyCount(CopyCount) {}
+ CopyCounter(const CopyCounter &Arg) : CopyCount(Arg.CopyCount) {
+ ++CopyCount;
+ }
+ };
+
+ unique_function<void(CopyCounter)> ByValF = [](CopyCounter) {};
+ int CopyCount = 0;
+ ByValF(CopyCounter(CopyCount));
+ EXPECT_EQ(1, CopyCount);
+
+ CopyCount = 0;
+ {
+ CopyCounter Counter{CopyCount};
+ ByValF(Counter);
+ }
+ EXPECT_EQ(2, CopyCount);
+
+ // Check that we don't generate a copy at all when we can bind a reference all
+ // the way down, even if that reference could *in theory* allow copies.
+ unique_function<void(const CopyCounter &)> ByRefF = [](const CopyCounter &) {
+ };
+ CopyCount = 0;
+ ByRefF(CopyCounter(CopyCount));
+ EXPECT_EQ(0, CopyCount);
+
+ CopyCount = 0;
+ {
+ CopyCounter Counter{CopyCount};
+ ByRefF(Counter);
+ }
+ EXPECT_EQ(0, CopyCount);
+
+ // If we use a reference, we can make a stronger guarantee that *no* copy
+ // occurs.
+ struct Uncopyable {
+ Uncopyable() = default;
+ Uncopyable(const Uncopyable &) = delete;
+ };
+ unique_function<void(const Uncopyable &)> UncopyableF =
+ [](const Uncopyable &) {};
+ UncopyableF(Uncopyable());
+ Uncopyable X;
+ UncopyableF(X);
+}
+
+TEST(UniqueFunctionTest, CountForwardingMoves) {
+ struct MoveCounter {
+ int &MoveCount;
+
+ MoveCounter(int &MoveCount) : MoveCount(MoveCount) {}
+ MoveCounter(MoveCounter &&Arg) : MoveCount(Arg.MoveCount) { ++MoveCount; }
+ };
+
+ unique_function<void(MoveCounter)> ByValF = [](MoveCounter) {};
+ int MoveCount = 0;
+ ByValF(MoveCounter(MoveCount));
+ EXPECT_EQ(1, MoveCount);
+
+ MoveCount = 0;
+ {
+ MoveCounter Counter{MoveCount};
+ ByValF(std::move(Counter));
+ }
+ EXPECT_EQ(2, MoveCount);
+
+ // Check that when we use an r-value reference we get no spurious copies.
+ unique_function<void(MoveCounter &&)> ByRefF = [](MoveCounter &&) {};
+ MoveCount = 0;
+ ByRefF(MoveCounter(MoveCount));
+ EXPECT_EQ(0, MoveCount);
+
+ MoveCount = 0;
+ {
+ MoveCounter Counter{MoveCount};
+ ByRefF(std::move(Counter));
+ }
+ EXPECT_EQ(0, MoveCount);
+
+ // If we use an r-value reference we can in fact make a stronger guarantee
+ // with an unmovable type.
+ struct Unmovable {
+ Unmovable() = default;
+ Unmovable(Unmovable &&) = delete;
+ };
+ unique_function<void(const Unmovable &)> UnmovableF = [](const Unmovable &) {
+ };
+ UnmovableF(Unmovable());
+ Unmovable X;
+ UnmovableF(X);
+}
+
+} // anonymous namespace
diff --git a/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/priority_mutex_test.cpp b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/priority_mutex_test.cpp
index c5c86b6..448a757 100644
--- a/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/priority_mutex_test.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/priority_mutex_test.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -25,14 +25,14 @@
public:
// Efficiently waits until the Notification has been notified once.
void Wait() {
- std::unique_lock<priority_mutex> lock(m_mutex);
+ std::unique_lock lock(m_mutex);
while (!m_set) {
m_condition.wait(lock);
}
}
// Sets the condition to true, and wakes all waiting threads.
void Notify() {
- std::lock_guard<priority_mutex> lock(m_mutex);
+ std::scoped_lock lock(m_mutex);
m_set = true;
m_condition.notify_all();
}
diff --git a/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/spinlock_bench.cpp b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/spinlock_bench.cpp
index 2280a44..b36e558 100644
--- a/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/spinlock_bench.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/spinlock_bench.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -35,7 +35,7 @@
auto start = high_resolution_clock::now();
for (int i = 0; i < 10000000; i++) {
- std::lock_guard<std::mutex> lock(std_mutex);
+ std::scoped_lock lock(std_mutex);
++value;
}
auto stop = high_resolution_clock::now();
@@ -49,7 +49,7 @@
auto start = high_resolution_clock::now();
for (int i = 0; i < 1000000; i++) {
- std::lock_guard<std::mutex> lock(std_mutex);
+ std::scoped_lock lock(std_mutex);
++value;
}
auto stop = high_resolution_clock::now();
@@ -64,7 +64,7 @@
auto start = high_resolution_clock::now();
for (int i = 0; i < 1000000; i++) {
- std::lock_guard<std::recursive_mutex> lock(std_recursive_mutex);
+ std::scoped_lock lock(std_recursive_mutex);
++value;
}
auto stop = high_resolution_clock::now();
@@ -79,7 +79,7 @@
auto start = high_resolution_clock::now();
for (int i = 0; i < 1000000; i++) {
- std::lock_guard<wpi::mutex> lock(wpi_mutex);
+ std::scoped_lock lock(wpi_mutex);
++value;
}
auto stop = high_resolution_clock::now();
@@ -94,7 +94,7 @@
auto start = high_resolution_clock::now();
for (int i = 0; i < 1000000; i++) {
- std::lock_guard<wpi::recursive_mutex> lock(wpi_recursive_mutex);
+ std::scoped_lock lock(wpi_recursive_mutex);
++value;
}
auto stop = high_resolution_clock::now();
@@ -109,7 +109,7 @@
auto start = high_resolution_clock::now();
for (int i = 0; i < 1000000; i++) {
- std::lock_guard<wpi::spinlock> lock(spinlock);
+ std::scoped_lock lock(spinlock);
++value;
}
auto stop = high_resolution_clock::now();
@@ -124,7 +124,7 @@
auto start = high_resolution_clock::now();
for (int i = 0; i < 1000000; i++) {
- std::lock_guard<wpi::recursive_spinlock1> lock(recursive_spinlock1);
+ std::scoped_lock lock(recursive_spinlock1);
++value;
}
auto stop = high_resolution_clock::now();
@@ -139,7 +139,7 @@
auto start = high_resolution_clock::now();
for (int i = 0; i < 1000000; i++) {
- std::lock_guard<wpi::recursive_spinlock2> lock(recursive_spinlock2);
+ std::scoped_lock lock(recursive_spinlock2);
++value;
}
auto stop = high_resolution_clock::now();
@@ -154,7 +154,7 @@
auto start = high_resolution_clock::now();
for (int i = 0; i < 1000000; i++) {
- std::lock_guard<wpi::recursive_spinlock> lock(recursive_spinlock);
+ std::scoped_lock lock(recursive_spinlock);
++value;
}
auto stop = high_resolution_clock::now();
diff --git a/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/test_optional.cpp b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/test_optional.cpp
deleted file mode 100644
index e64f0c2..0000000
--- a/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/test_optional.cpp
+++ /dev/null
@@ -1,1523 +0,0 @@
-// Copyright (C) 2011 - 2017 Andrzej Krzemienski.
-//
-// Use, modification, and distribution is subject to the Boost Software
-// License, Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
-// http://www.boost.org/LICENSE_1_0.txt)
-//
-// The idea and interface is based on Boost.Optional library
-// authored by Fernando Luis Cacciola Carballal
-
-# include "wpi/optional.h"
-
-#include "gtest/gtest.h"
-
-# include <vector>
-# include <iostream>
-# include <functional>
-# include <complex>
-
-
-
-enum State
-{
- sDefaultConstructed,
- sValueCopyConstructed,
- sValueMoveConstructed,
- sCopyConstructed,
- sMoveConstructed,
- sMoveAssigned,
- sCopyAssigned,
- sValueCopyAssigned,
- sValueMoveAssigned,
- sMovedFrom,
- sValueConstructed
-};
-
-struct OracleVal
-{
- State s;
- int i;
- OracleVal(int i = 0) : s(sValueConstructed), i(i) {}
-};
-
-struct Oracle
-{
- State s;
- OracleVal val;
-
- Oracle() : s(sDefaultConstructed) {}
- Oracle(const OracleVal& v) : s(sValueCopyConstructed), val(v) {}
- Oracle(OracleVal&& v) : s(sValueMoveConstructed), val(std::move(v)) {v.s = sMovedFrom;}
- Oracle(const Oracle& o) : s(sCopyConstructed), val(o.val) {}
- Oracle(Oracle&& o) : s(sMoveConstructed), val(std::move(o.val)) {o.s = sMovedFrom;}
-
- Oracle& operator=(const OracleVal& v) { s = sValueCopyConstructed; val = v; return *this; }
- Oracle& operator=(OracleVal&& v) { s = sValueMoveConstructed; val = std::move(v); v.s = sMovedFrom; return *this; }
- Oracle& operator=(const Oracle& o) { s = sCopyConstructed; val = o.val; return *this; }
- Oracle& operator=(Oracle&& o) { s = sMoveConstructed; val = std::move(o.val); o.s = sMovedFrom; return *this; }
-};
-
-struct Guard
-{
- std::string val;
- Guard() : val{} {}
- explicit Guard(std::string s, int = 0) : val(s) {}
- Guard(const Guard&) = delete;
- Guard(Guard&&) = delete;
- void operator=(const Guard&) = delete;
- void operator=(Guard&&) = delete;
-};
-
-struct ExplicitStr
-{
- std::string s;
- explicit ExplicitStr(const char* chp) : s(chp) {};
-};
-
-struct Date
-{
- int i;
- Date() = delete;
- Date(int i) : i{i} {};
- Date(Date&& d) : i(d.i) { d.i = 0; }
- Date(const Date&) = delete;
- Date& operator=(const Date&) = delete;
- Date& operator=(Date&& d) { i = d.i; d.i = 0; return *this;};
-};
-
-bool operator==( Oracle const& a, Oracle const& b ) { return a.val.i == b.val.i; }
-bool operator!=( Oracle const& a, Oracle const& b ) { return a.val.i != b.val.i; }
-
-
-namespace tr2 = wpi;
-
-
-TEST(Optional, disengaged_ctor)
-{
- tr2::optional<int> o1;
- assert (!o1);
-
- tr2::optional<int> o2 = tr2::nullopt;
- assert (!o2);
-
- tr2::optional<int> o3 = o2;
- assert (!o3);
-
- assert (o1 == tr2::nullopt);
- assert (o1 == tr2::optional<int>{});
- assert (!o1);
- assert (bool(o1) == false);
-
- assert (o2 == tr2::nullopt);
- assert (o2 == tr2::optional<int>{});
- assert (!o2);
- assert (bool(o2) == false);
-
- assert (o3 == tr2::nullopt);
- assert (o3 == tr2::optional<int>{});
- assert (!o3);
- assert (bool(o3) == false);
-
- assert (o1 == o2);
- assert (o2 == o1);
- assert (o1 == o3);
- assert (o3 == o1);
- assert (o2 == o3);
- assert (o3 == o2);
-}
-
-
-TEST(Optional, value_ctor)
-{
- OracleVal v;
- tr2::optional<Oracle> oo1(v);
- assert (oo1 != tr2::nullopt);
- assert (oo1 != tr2::optional<Oracle>{});
- assert (oo1 == tr2::optional<Oracle>{v});
- assert (!!oo1);
- assert (bool(oo1));
- // NA: assert (oo1->s == sValueCopyConstructed);
- assert (oo1->s == sMoveConstructed);
- assert (v.s == sValueConstructed);
-
- tr2::optional<Oracle> oo2(std::move(v));
- assert (oo2 != tr2::nullopt);
- assert (oo2 != tr2::optional<Oracle>{});
- assert (oo2 == oo1);
- assert (!!oo2);
- assert (bool(oo2));
- // NA: assert (oo2->s == sValueMoveConstructed);
- assert (oo2->s == sMoveConstructed);
- assert (v.s == sMovedFrom);
-
- {
- OracleVal v;
- tr2::optional<Oracle> oo1{tr2::in_place, v};
- assert (oo1 != tr2::nullopt);
- assert (oo1 != tr2::optional<Oracle>{});
- assert (oo1 == tr2::optional<Oracle>{v});
- assert (!!oo1);
- assert (bool(oo1));
- assert (oo1->s == sValueCopyConstructed);
- assert (v.s == sValueConstructed);
-
- tr2::optional<Oracle> oo2{tr2::in_place, std::move(v)};
- assert (oo2 != tr2::nullopt);
- assert (oo2 != tr2::optional<Oracle>{});
- assert (oo2 == oo1);
- assert (!!oo2);
- assert (bool(oo2));
- assert (oo2->s == sValueMoveConstructed);
- assert (v.s == sMovedFrom);
- }
-}
-
-
-TEST(Optional, assignment)
-{
- tr2::optional<int> oi;
- oi = tr2::optional<int>{1};
- assert (*oi == 1);
-
- oi = tr2::nullopt;
- assert (!oi);
-
- oi = 2;
- assert (*oi == 2);
-
- oi = {};
- assert (!oi);
-}
-
-
-template <class T>
-struct MoveAware
-{
- T val;
- bool moved;
- MoveAware(T val) : val(val), moved(false) {}
- MoveAware(MoveAware const&) = delete;
- MoveAware(MoveAware&& rhs) : val(rhs.val), moved(rhs.moved) {
- rhs.moved = true;
- }
- MoveAware& operator=(MoveAware const&) = delete;
- MoveAware& operator=(MoveAware&& rhs) {
- val = (rhs.val);
- moved = (rhs.moved);
- rhs.moved = true;
- return *this;
- }
-};
-
-TEST(Optional, moved_from_state)
-{
- // first, test mock:
- MoveAware<int> i{1}, j{2};
- assert (i.val == 1);
- assert (!i.moved);
- assert (j.val == 2);
- assert (!j.moved);
-
- MoveAware<int> k = std::move(i);
- assert (k.val == 1);
- assert (!k.moved);
- assert (i.val == 1);
- assert (i.moved);
-
- k = std::move(j);
- assert (k.val == 2);
- assert (!k.moved);
- assert (j.val == 2);
- assert (j.moved);
-
- // now, test optional
- tr2::optional<MoveAware<int>> oi{1}, oj{2};
- assert (oi);
- assert (!oi->moved);
- assert (oj);
- assert (!oj->moved);
-
- tr2::optional<MoveAware<int>> ok = std::move(oi);
- assert (ok);
- assert (!ok->moved);
- assert (oi);
- assert (oi->moved);
-
- ok = std::move(oj);
- assert (ok);
- assert (!ok->moved);
- assert (oj);
- assert (oj->moved);
-}
-
-
-TEST(Optional, copy_move_ctor_optional_int)
-{
- tr2::optional<int> oi;
- tr2::optional<int> oj = oi;
-
- assert (!oj);
- assert (oj == oi);
- assert (oj == tr2::nullopt);
- assert (!bool(oj));
-
- oi = 1;
- tr2::optional<int> ok = oi;
- assert (!!ok);
- assert (bool(ok));
- assert (ok == oi);
- assert (ok != oj);
- assert (*ok == 1);
-
- tr2::optional<int> ol = std::move(oi);
- assert (!!ol);
- assert (bool(ol));
- assert (ol == oi);
- assert (ol != oj);
- assert (*ol == 1);
-}
-
-
-TEST(Optional, optional_optional)
-{
- tr2::optional<tr2::optional<int>> oi1 = tr2::nullopt;
- assert (oi1 == tr2::nullopt);
- assert (!oi1);
-
- {
- tr2::optional<tr2::optional<int>> oi2 {tr2::in_place};
- assert (oi2 != tr2::nullopt);
- assert (bool(oi2));
- assert (*oi2 == tr2::nullopt);
- //assert (!(*oi2));
- //std::cout << typeid(**oi2).name() << std::endl;
- }
-
- {
- tr2::optional<tr2::optional<int>> oi2 {tr2::in_place, tr2::nullopt};
- assert (oi2 != tr2::nullopt);
- assert (bool(oi2));
- assert (*oi2 == tr2::nullopt);
- assert (!*oi2);
- }
-
- {
- tr2::optional<tr2::optional<int>> oi2 {tr2::optional<int>{}};
- assert (oi2 != tr2::nullopt);
- assert (bool(oi2));
- assert (*oi2 == tr2::nullopt);
- assert (!*oi2);
- }
-
- tr2::optional<int> oi;
- auto ooi = tr2::make_optional(oi);
- static_assert( std::is_same<tr2::optional<tr2::optional<int>>, decltype(ooi)>::value, "");
-
-}
-
-TEST(Optional, example_guard)
-{
- using namespace tr2;
- //FAILS: optional<Guard> ogx(Guard("res1"));
- //FAILS: optional<Guard> ogx = "res1";
- //FAILS: optional<Guard> ogx("res1");
- optional<Guard> oga; // Guard is non-copyable (and non-moveable)
- optional<Guard> ogb(in_place, "res1"); // initialzes the contained value with "res1"
- assert (bool(ogb));
- assert (ogb->val == "res1");
-
- optional<Guard> ogc(in_place); // default-constructs the contained value
- assert (bool(ogc));
- assert (ogc->val == "");
-
- oga.emplace("res1"); // initialzes the contained value with "res1"
- assert (bool(oga));
- assert (oga->val == "res1");
-
- oga.emplace(); // destroys the contained value and
- // default-constructs the new one
- assert (bool(oga));
- assert (oga->val == "");
-
- oga = nullopt; // OK: make disengaged the optional Guard
- assert (!(oga));
- //FAILS: ogb = {}; // ERROR: Guard is not Moveable
-}
-
-
-void process(){}
-void process(int ){}
-void processNil(){}
-
-
-TEST(Optional, example1)
-{
- using namespace tr2;
- optional<int> oi; // create disengaged object
- optional<int> oj = nullopt; // alternative syntax
- oi = oj; // assign disengaged object
- optional<int> ok = oj; // ok is disengaged
-
- if (oi) assert(false); // 'if oi is engaged...'
- if (!oi) assert(true); // 'if oi is disengaged...'
-
- if (oi != nullopt) assert(false); // 'if oi is engaged...'
- if (oi == nullopt) assert(true); // 'if oi is disengaged...'
-
- assert(oi == ok); // two disengaged optionals compare equal
-
- ///////////////////////////////////////////////////////////////////////////
- optional<int> ol{1}; // ol is engaged; its contained value is 1
- ok = 2; // ok becomes engaged; its contained value is 2
- oj = ol; // oj becomes engaged; its contained value is 1
-
- assert(oi != ol); // disengaged != engaged
- assert(ok != ol); // different contained values
- assert(oj == ol); // same contained value
- assert(oi < ol); // disengaged < engaged
- assert(ol < ok); // less by contained value
-
- /////////////////////////////////////////////////////////////////////////////
- optional<int> om{1}; // om is engaged; its contained value is 1
- optional<int> on = om; // on is engaged; its contained value is 1
- om = 2; // om is engaged; its contained value is 2
- assert (on != om); // on still contains 3. They are not pointers
-
- /////////////////////////////////////////////////////////////////////////////
- int i = *ol; // i obtains the value contained in ol
- assert (i == 1);
- *ol = 9; // the object contained in ol becomes 9
- assert(*ol == 9);
- assert(ol == make_optional(9));
-
- ///////////////////////////////////
- int p = 1;
- optional<int> op = p;
- assert(*op == 1);
- p = 2;
- assert(*op == 1); // value contained in op is separated from p
-
- ////////////////////////////////
- if (ol)
- process(*ol); // use contained value if present
- else
- process(); // proceed without contained value
-
- if (!om)
- processNil();
- else
- process(*om);
-
- /////////////////////////////////////////
- process(ol.value_or(0)); // use 0 if ol is disengaged
-
- ////////////////////////////////////////////
- ok = nullopt; // if ok was engaged calls T's dtor
- oj = {}; // assigns a temporary disengaged optional
-}
-
-
-TEST(Optional, example_guard2)
-{
- using wpi::optional;
- const optional<int> c = 4;
- int i = *c; // i becomes 4
- assert (i == 4);
- // FAILS: *c = i; // ERROR: cannot assign to const int&
-}
-
-
-TEST(Optional, example_ref)
-{
- using namespace wpi;
- int i = 1;
- int j = 2;
- optional<int&> ora; // disengaged optional reference to int
- optional<int&> orb = i; // contained reference refers to object i
-
- *orb = 3; // i becomes 3
- // FAILS: ora = j; // ERROR: optional refs do not have assignment from T
- // FAILS: ora = {j}; // ERROR: optional refs do not have copy/move assignment
- // FAILS: ora = orb; // ERROR: no copy/move assignment
- ora.emplace(j); // OK: contained reference refers to object j
- ora.emplace(i); // OK: contained reference now refers to object i
-
- ora = nullopt; // OK: ora becomes disengaged
-}
-
-
-template <typename T>
-T getValue( tr2::optional<T> newVal = tr2::nullopt, tr2::optional<T&> storeHere = tr2::nullopt )
-{
- T cached{};
-
- if (newVal) {
- cached = *newVal;
-
- if (storeHere) {
- *storeHere = *newVal; // LEGAL: assigning T to T
- }
- }
- return cached;
-}
-
-TEST(Optional, example_optional_arg)
-{
- int iii = 0;
- iii = getValue<int>(iii, iii);
- iii = getValue<int>(iii);
- iii = getValue<int>();
-
- {
- using namespace wpi;
- optional<Guard> grd1{in_place, "res1", 1}; // guard 1 initialized
- optional<Guard> grd2;
-
- grd2.emplace("res2", 2); // guard 2 initialized
- grd1 = nullopt; // guard 1 released
-
- } // guard 2 released (in dtor)
-}
-
-
-std::tuple<Date, Date, Date> getStartMidEnd() { return std::tuple<Date, Date, Date>{Date{1}, Date{2}, Date{3}}; }
-void run(Date const&, Date const&, Date const&) {}
-
-TEST(Optional, example_date)
-{
- using namespace wpi;
- optional<Date> start, mid, end; // Date doesn't have default ctor (no good default date)
-
- std::tie(start, mid, end) = getStartMidEnd();
- run(*start, *mid, *end);
-}
-
-
-wpi::optional<char> readNextChar(){ return{}; }
-
-void run(wpi::optional<std::string>) {}
-void run(std::complex<double>) {}
-
-
-template <class T>
-void assign_norebind(tr2::optional<T&>& optref, T& obj)
-{
- if (optref) *optref = obj;
- else optref.emplace(obj);
-}
-
-template <typename T> void unused(T&&) {}
-
-TEST(Optional, example_conceptual_model)
-{
- using namespace wpi;
-
- optional<int> oi = 0;
- optional<int> oj = 1;
- optional<int> ok = nullopt;
-
- oi = 1;
- oj = nullopt;
- ok = 0;
-
- unused(oi == nullopt);
- unused(oj == 0);
- unused(ok == 1);
-}
-
-TEST(Optional, example_rationale)
-{
- using namespace wpi;
- if (optional<char> ch = readNextChar()) {
- unused(ch);
- // ...
- }
-
- //////////////////////////////////
- optional<int> opt1 = nullopt;
- optional<int> opt2 = {};
-
- opt1 = nullopt;
- opt2 = {};
-
- if (opt1 == nullopt) {}
- if (!opt2) {}
- if (opt2 == optional<int>{}) {}
-
-
-
- ////////////////////////////////
-
- run(nullopt); // pick the second overload
- // FAILS: run({}); // ambiguous
-
- if (opt1 == nullopt) {} // fine
- // FAILS: if (opt2 == {}) {} // ilegal
-
- ////////////////////////////////
- assert (optional<unsigned>{} < optional<unsigned>{0});
- assert (optional<unsigned>{0} < optional<unsigned>{1});
- assert (!(optional<unsigned>{} < optional<unsigned>{}) );
- assert (!(optional<unsigned>{1} < optional<unsigned>{1}));
-
- assert (optional<unsigned>{} != optional<unsigned>{0});
- assert (optional<unsigned>{0} != optional<unsigned>{1});
- assert (optional<unsigned>{} == optional<unsigned>{} );
- assert (optional<unsigned>{0} == optional<unsigned>{0});
-
- /////////////////////////////////
- optional<int> o;
- o = make_optional(1); // copy/move assignment
- o = 1; // assignment from T
- o.emplace(1); // emplacement
-
- ////////////////////////////////////
- int isas = 0, i = 9;
- optional<int&> asas = i;
- assign_norebind(asas, isas);
-
- /////////////////////////////////////
- ////tr2::optional<std::vector<int>> ov2 = {2, 3};
- ////assert (bool(ov2));
- ////assert ((*ov2)[1] == 3);
- ////
- ////////////////////////////////
- ////std::vector<int> v = {1, 2, 4, 8};
- ////optional<std::vector<int>> ov = {1, 2, 4, 8};
-
- ////assert (v == *ov);
- ////
- ////ov = {1, 2, 4, 8};
-
- ////std::allocator<int> a;
- ////optional<std::vector<int>> ou { in_place, {1, 2, 4, 8}, a };
-
- ////assert (ou == ov);
-
- //////////////////////////////
- // inconvenient syntax:
- {
-
- tr2::optional<std::vector<int>> ov2{tr2::in_place, {2, 3}};
-
- assert (bool(ov2));
- assert ((*ov2)[1] == 3);
-
- ////////////////////////////
-
- std::vector<int> v = {1, 2, 4, 8};
- optional<std::vector<int>> ov{tr2::in_place, {1, 2, 4, 8}};
-
- assert (v == *ov);
-
- ov.emplace({1, 2, 4, 8});
-/*
- std::allocator<int> a;
- optional<std::vector<int>> ou { in_place, {1, 2, 4, 8}, a };
-
- assert (ou == ov);
-*/
- }
-
- /////////////////////////////////
- {
- typedef int T;
- optional<optional<T>> ot {in_place};
- optional<optional<T>> ou {in_place, nullopt};
- optional<optional<T>> ov {optional<T>{}};
-
- (void) ot;
- (void) ou;
-
- optional<int> oi;
- auto ooi = make_optional(oi);
- static_assert( std::is_same<optional<optional<int>>, decltype(ooi)>::value, "");
- }
-}
-
-
-bool fun(std::string , wpi::optional<int> oi = wpi::nullopt)
-{
- return bool(oi);
-}
-
-TEST(Optional, example_converting_ctor)
-{
- using namespace wpi;
-
- assert (true == fun("dog", 2));
- assert (false == fun("dog"));
- assert (false == fun("dog", nullopt)); // just to be explicit
-}
-
-
-TEST(Optional, bad_comparison)
-{
- tr2::optional<int> oi, oj;
- int i;
- bool b = (oi == oj);
- b = (oi >= i);
- b = (oi == i);
- unused(b);
-}
-
-
-//// NOT APPLICABLE ANYMORE
-////TEST(Optional, perfect_ctor)
-////{
-//// //tr2::optional<std::string> ois = "OS";
-//// assert (*ois == "OS");
-////
-//// // FAILS: tr2::optional<ExplicitStr> oes = "OS";
-//// tr2::optional<ExplicitStr> oes{"OS"};
-//// assert (oes->s == "OS");
-////}
-
-TEST(Optional, value_or)
-{
- tr2::optional<int> oi = 1;
- int i = oi.value_or(0);
- assert (i == 1);
-
- oi = tr2::nullopt;
- assert (oi.value_or(3) == 3);
-
- tr2::optional<std::string> os{"AAA"};
- assert (os.value_or("BBB") == "AAA");
- os = {};
- assert (os.value_or("BBB") == "BBB");
-}
-
-TEST(Optional, reset)
-{
- using namespace wpi;
- optional<int> oi {1};
- oi.reset();
- assert (!oi);
-
- int i = 1;
- optional<const int&> oir {i};
- oir.reset();
- assert (!oir);
-}
-
-TEST(Optional, mixed_order)
-{
- using namespace wpi;
-
- optional<int> oN {nullopt};
- optional<int> o0 {0};
- optional<int> o1 {1};
-
- assert ( (oN < 0));
- assert ( (oN < 1));
- assert (!(o0 < 0));
- assert ( (o0 < 1));
- assert (!(o1 < 0));
- assert (!(o1 < 1));
-
- assert (!(oN >= 0));
- assert (!(oN >= 1));
- assert ( (o0 >= 0));
- assert (!(o0 >= 1));
- assert ( (o1 >= 0));
- assert ( (o1 >= 1));
-
- assert (!(oN > 0));
- assert (!(oN > 1));
- assert (!(o0 > 0));
- assert (!(o0 > 1));
- assert ( (o1 > 0));
- assert (!(o1 > 1));
-
- assert ( (oN <= 0));
- assert ( (oN <= 1));
- assert ( (o0 <= 0));
- assert ( (o0 <= 1));
- assert (!(o1 <= 0));
- assert ( (o1 <= 1));
-
- assert ( (0 > oN));
- assert ( (1 > oN));
- assert (!(0 > o0));
- assert ( (1 > o0));
- assert (!(0 > o1));
- assert (!(1 > o1));
-
- assert (!(0 <= oN));
- assert (!(1 <= oN));
- assert ( (0 <= o0));
- assert (!(1 <= o0));
- assert ( (0 <= o1));
- assert ( (1 <= o1));
-
- assert (!(0 < oN));
- assert (!(1 < oN));
- assert (!(0 < o0));
- assert (!(1 < o0));
- assert ( (0 < o1));
- assert (!(1 < o1));
-
- assert ( (0 >= oN));
- assert ( (1 >= oN));
- assert ( (0 >= o0));
- assert ( (1 >= o0));
- assert (!(0 >= o1));
- assert ( (1 >= o1));
-}
-
-struct BadRelops
-{
- int i;
-};
-
-constexpr bool operator<(BadRelops a, BadRelops b) { return a.i < b.i; }
-constexpr bool operator>(BadRelops a, BadRelops b) { return a.i < b.i; } // intentional error!
-
-TEST(Optional, bad_relops)
-{
- using namespace wpi;
- BadRelops a{1}, b{2};
- assert (a < b);
- assert (a > b);
-
- optional<BadRelops> oa = a, ob = b;
- assert (oa < ob);
- assert (!(oa > ob));
-
- assert (oa < b);
- assert (oa > b);
-
- optional<BadRelops&> ra = a, rb = b;
- assert (ra < rb);
- assert (!(ra > rb));
-
- assert (ra < b);
- assert (ra > b);
-}
-
-
-TEST(Optional, mixed_equality)
-{
- using namespace wpi;
-
- assert (make_optional(0) == 0);
- assert (make_optional(1) == 1);
- assert (make_optional(0) != 1);
- assert (make_optional(1) != 0);
-
- optional<int> oN {nullopt};
- optional<int> o0 {0};
- optional<int> o1 {1};
-
- assert (o0 == 0);
- assert ( 0 == o0);
- assert (o1 == 1);
- assert ( 1 == o1);
- assert (o1 != 0);
- assert ( 0 != o1);
- assert (o0 != 1);
- assert ( 1 != o0);
-
- assert ( 1 != oN);
- assert ( 0 != oN);
- assert (oN != 1);
- assert (oN != 0);
- assert (!( 1 == oN));
- assert (!( 0 == oN));
- assert (!(oN == 1));
- assert (!(oN == 0));
-
- std::string cat{"cat"}, dog{"dog"};
- optional<std::string> oNil{}, oDog{"dog"}, oCat{"cat"};
-
- assert (oCat == cat);
- assert ( cat == oCat);
- assert (oDog == dog);
- assert ( dog == oDog);
- assert (oDog != cat);
- assert ( cat != oDog);
- assert (oCat != dog);
- assert ( dog != oCat);
-
- assert ( dog != oNil);
- assert ( cat != oNil);
- assert (oNil != dog);
- assert (oNil != cat);
- assert (!( dog == oNil));
- assert (!( cat == oNil));
- assert (!(oNil == dog));
- assert (!(oNil == cat));
-}
-
-TEST(Optional, const_propagation)
-{
- using namespace wpi;
-
- optional<int> mmi{0};
- static_assert(std::is_same<decltype(*mmi), int&>::value, "WTF");
-
- const optional<int> cmi{0};
- static_assert(std::is_same<decltype(*cmi), const int&>::value, "WTF");
-
- optional<const int> mci{0};
- static_assert(std::is_same<decltype(*mci), const int&>::value, "WTF");
-
- optional<const int> cci{0};
- static_assert(std::is_same<decltype(*cci), const int&>::value, "WTF");
-}
-
-
-static_assert(std::is_base_of<std::logic_error, wpi::bad_optional_access>::value, "");
-
-TEST(Optional, safe_value)
-{
- using namespace wpi;
-
- try {
- optional<int> ovN{}, ov1{1};
-
- int& r1 = ov1.value();
- assert (r1 == 1);
-
- try {
- ovN.value();
- assert (false);
- }
- catch (bad_optional_access const&) {
- }
-
- { // ref variant
- int i1 = 1;
- optional<int&> orN{}, or1{i1};
-
- int& r2 = or1.value();
- assert (r2 == 1);
-
- try {
- orN.value();
- assert (false);
- }
- catch (bad_optional_access const&) {
- }
- }
- }
- catch(...) {
- assert (false);
- }
-}
-
-TEST(Optional, optional_ref)
-{
- using namespace tr2;
- // FAILS: optional<int&&> orr;
- // FAILS: optional<nullopt_t&> on;
- int i = 8;
- optional<int&> ori;
- assert (!ori);
- ori.emplace(i);
- assert (bool(ori));
- assert (*ori == 8);
- assert (&*ori == &i);
- *ori = 9;
- assert (i == 9);
-
- // FAILS: int& ir = ori.value_or(i);
- int ii = ori.value_or(i);
- assert (ii == 9);
- ii = 7;
- assert (*ori == 9);
-
- int j = 22;
- auto&& oj = make_optional(std::ref(j));
- *oj = 23;
- assert (&*oj == &j);
- assert (j == 23);
-}
-
-TEST(Optional, optional_ref_const_propagation)
-{
- using namespace wpi;
-
- int i = 9;
- const optional<int&> mi = i;
- int& r = *mi;
- optional<const int&> ci = i;
- static_assert(std::is_same<decltype(*mi), int&>::value, "WTF");
- static_assert(std::is_same<decltype(*ci), const int&>::value, "WTF");
-
- unused(r);
-}
-
-TEST(Optional, optional_ref_assign)
-{
- using namespace wpi;
-
- int i = 9;
- optional<int&> ori = i;
-
- int j = 1;
- ori = optional<int&>{j};
- ori = {j};
- // FAILS: ori = j;
-
- optional<int&> orx = ori;
- ori = orx;
-
- optional<int&> orj = j;
-
- assert (ori);
- assert (*ori == 1);
- assert (ori == orj);
- assert (i == 9);
-
- *ori = 2;
- assert (*ori == 2);
- assert (ori == 2);
- assert (2 == ori);
- assert (ori != 3);
-
- assert (ori == orj);
- assert (j == 2);
- assert (i == 9);
-
- ori = {};
- assert (!ori);
- assert (ori != orj);
- assert (j == 2);
- assert (i == 9);
-}
-
-TEST(Optional, optional_swap)
-{
- namespace tr2 = wpi;
- tr2::optional<int> oi {1}, oj {};
- swap(oi, oj);
- assert (oj);
- assert (*oj == 1);
- assert (!oi);
- static_assert(noexcept(swap(oi, oj)), "swap() is not noexcept");
-}
-
-
-TEST(Optional, optional_ref_swap)
-{
- using namespace wpi;
- int i = 0;
- int j = 1;
- optional<int&> oi = i;
- optional<int&> oj = j;
-
- assert (&*oi == &i);
- assert (&*oj == &j);
-
- swap(oi, oj);
- assert (&*oi == &j);
- assert (&*oj == &i);
-}
-
-TEST(Optional, optional_initialization)
-{
- using namespace tr2;
- using std::string;
- string s = "STR";
-
- optional<string> os{s};
- optional<string> ot = s;
- optional<string> ou{"STR"};
- optional<string> ov = string{"STR"};
-
-}
-
-#include <unordered_set>
-
-TEST(Optional, optional_hashing)
-{
- using namespace tr2;
- using std::string;
-
- std::hash<int> hi;
- std::hash<optional<int>> hoi;
- std::hash<string> hs;
- std::hash<optional<string>> hos;
-
- assert (hi(0) == hoi(optional<int>{0}));
- assert (hi(1) == hoi(optional<int>{1}));
- assert (hi(3198) == hoi(optional<int>{3198}));
-
- assert (hs("") == hos(optional<string>{""}));
- assert (hs("0") == hos(optional<string>{"0"}));
- assert (hs("Qa1#") == hos(optional<string>{"Qa1#"}));
-
- std::unordered_set<optional<string>> set;
- assert(set.find({"Qa1#"}) == set.end());
-
- set.insert({"0"});
- assert(set.find({"Qa1#"}) == set.end());
-
- set.insert({"Qa1#"});
- assert(set.find({"Qa1#"}) != set.end());
-}
-
-
-// optional_ref_emulation
-template <class T>
-struct generic
-{
- typedef T type;
-};
-
-template <class U>
-struct generic<U&>
-{
- typedef std::reference_wrapper<U> type;
-};
-
-template <class T>
-using Generic = typename generic<T>::type;
-
-template <class X>
-bool generic_fun()
-{
- wpi::optional<Generic<X>> op;
- return bool(op);
-}
-
-TEST(Optional, optional_ref_emulation)
-{
- using namespace wpi;
- optional<Generic<int>> oi = 1;
- assert (*oi == 1);
-
- int i = 8;
- int j = 4;
- optional<Generic<int&>> ori {i};
- assert (*ori == 8);
- assert ((void*)&*ori != (void*)&i); // !DIFFERENT THAN optional<T&>
-
- *ori = j;
- assert (*ori == 4);
-}
-
-
-TEST(Optional, moved_on_value_or)
-{
- using namespace tr2;
- optional<Oracle> oo{in_place};
-
- assert (oo);
- assert (oo->s == sDefaultConstructed);
-
- Oracle o = std::move(oo).value_or( Oracle{OracleVal{}} );
- assert (oo);
- assert (oo->s == sMovedFrom);
- assert (o.s == sMoveConstructed);
-
- optional<MoveAware<int>> om {in_place, 1};
- assert (om);
- assert (om->moved == false);
-
- /*MoveAware<int> m =*/ std::move(om).value_or( MoveAware<int>{1} );
- assert (om);
- assert (om->moved == true);
-
-# if OPTIONAL_HAS_MOVE_ACCESSORS == 1
- {
- Date d = optional<Date>{in_place, 1}.value();
- assert (d.i); // to silence compiler warning
-
- Date d2 = *optional<Date>{in_place, 1};
- assert (d2.i); // to silence compiler warning
- }
-# endif
-}
-
-
-TEST(Optional, optional_ref_hashing)
-{
- using namespace tr2;
- using std::string;
-
- std::hash<int> hi;
- std::hash<optional<int&>> hoi;
- std::hash<string> hs;
- std::hash<optional<string&>> hos;
-
- int i0 = 0;
- int i1 = 1;
- assert (hi(0) == hoi(optional<int&>{i0}));
- assert (hi(1) == hoi(optional<int&>{i1}));
-
- string s{""};
- string s0{"0"};
- string sCAT{"CAT"};
- assert (hs("") == hos(optional<string&>{s}));
- assert (hs("0") == hos(optional<string&>{s0}));
- assert (hs("CAT") == hos(optional<string&>{sCAT}));
-
- std::unordered_set<optional<string&>> set;
- assert(set.find({sCAT}) == set.end());
-
- set.insert({s0});
- assert(set.find({sCAT}) == set.end());
-
- set.insert({sCAT});
- assert(set.find({sCAT}) != set.end());
-}
-
-struct Combined
-{
- int m = 0;
- int n = 1;
-
- constexpr Combined() : m{5}, n{6} {}
- constexpr Combined(int m, int n) : m{m}, n{n} {}
-};
-
-struct Nasty
-{
- int m = 0;
- int n = 1;
-
- constexpr Nasty() : m{5}, n{6} {}
- constexpr Nasty(int m, int n) : m{m}, n{n} {}
-
- int operator&() { return n; }
- int operator&() const { return n; }
-};
-
-TEST(Optional, arrow_operator)
-{
- using namespace wpi;
-
- optional<Combined> oc1{in_place, 1, 2};
- assert (oc1);
- assert (oc1->m == 1);
- assert (oc1->n == 2);
-
- optional<Nasty> on{in_place, 1, 2};
- assert (on);
- assert (on->m == 1);
- assert (on->n == 2);
-}
-
-TEST(Optional, arrow_wit_optional_ref)
-{
- using namespace wpi;
-
- Combined c{1, 2};
- optional<Combined&> oc = c;
- assert (oc);
- assert (oc->m == 1);
- assert (oc->n == 2);
-
- Nasty n{1, 2};
- Nasty m{3, 4};
- Nasty p{5, 6};
-
- optional<Nasty&> on{n};
- assert (on);
- assert (on->m == 1);
- assert (on->n == 2);
-
- on = {m};
- assert (on);
- assert (on->m == 3);
- assert (on->n == 4);
-
- on.emplace(p);
- assert (on);
- assert (on->m == 5);
- assert (on->n == 6);
-
- optional<Nasty&> om{in_place, n};
- assert (om);
- assert (om->m == 1);
- assert (om->n == 2);
-}
-
-TEST(Optional, no_dangling_reference_in_value)
-{
- // this mostly tests compiler warnings
- using namespace wpi;
- optional<int> oi {2};
- unused (oi.value());
- const optional<int> coi {3};
- unused (coi.value());
-}
-
-struct CountedObject
-{
- static int _counter;
- bool _throw;
- CountedObject(bool b) : _throw(b) { ++_counter; }
- CountedObject(CountedObject const& rhs) : _throw(rhs._throw) { if (_throw) throw int(); }
- ~CountedObject() { --_counter; }
-};
-
-int CountedObject::_counter = 0;
-
-TEST(Optional, exception_safety)
-{
- using namespace wpi;
- try {
- optional<CountedObject> oo(in_place, true); // throw
- optional<CountedObject> o1(oo);
- }
- catch(...)
- {
- //
- }
- assert(CountedObject::_counter == 0);
-
- try {
- optional<CountedObject> oo(in_place, true); // throw
- optional<CountedObject> o1(std::move(oo)); // now move
- }
- catch(...)
- {
- //
- }
- assert(CountedObject::_counter == 0);
-}
-
-TEST(Optional, nested_optional)
-{
- using namespace wpi;
-
- optional<optional<optional<int>>> o1 {nullopt};
- assert (!o1);
-
- optional<optional<optional<int>>> o2 {in_place, nullopt};
- assert (o2);
- assert (!*o2);
-
- optional<optional<optional<int>>> o3 (in_place, in_place, nullopt);
- assert (o3);
- assert (*o3);
- assert (!**o3);
-}
-
-TEST(Optional, three_ways_of_having_value)
-{
- using namespace wpi;
- optional<int> oN, o1 (1);
-
- assert (!oN);
- assert (!oN.has_value());
- assert (oN == nullopt);
-
- assert (o1);
- assert (o1.has_value());
- assert (o1 != nullopt);
-
- assert (bool(oN) == oN.has_value());
- assert (bool(o1) == o1.has_value());
-
- int i = 1;
- optional<int&> rN, r1 (i);
-
- assert (!rN);
- assert (!rN.has_value());
- assert (rN == nullopt);
-
- assert (r1);
- assert (r1.has_value());
- assert (r1 != nullopt);
-
- assert (bool(rN) == rN.has_value());
- assert (bool(r1) == r1.has_value());
-}
-
-//// constexpr tests
-
-// these 4 classes have different noexcept signatures in move operations
-struct NothrowBoth {
- NothrowBoth(NothrowBoth&&) noexcept(true) {};
- void operator=(NothrowBoth&&) noexcept(true) {};
-};
-struct NothrowCtor {
- NothrowCtor(NothrowCtor&&) noexcept(true) {};
- void operator=(NothrowCtor&&) noexcept(false) {};
-};
-struct NothrowAssign {
- NothrowAssign(NothrowAssign&&) noexcept(false) {};
- void operator=(NothrowAssign&&) noexcept(true) {};
-};
-struct NothrowNone {
- NothrowNone(NothrowNone&&) noexcept(false) {};
- void operator=(NothrowNone&&) noexcept(false) {};
-};
-
-void test_noexcept()
-{
- {
- tr2::optional<NothrowBoth> b1, b2;
- static_assert(noexcept(tr2::optional<NothrowBoth>{tr2::constexpr_move(b1)}), "bad noexcept!");
- static_assert(noexcept(b1 = tr2::constexpr_move(b2)), "bad noexcept!");
- }
- {
- tr2::optional<NothrowCtor> c1, c2;
- static_assert(noexcept(tr2::optional<NothrowCtor>{tr2::constexpr_move(c1)}), "bad noexcept!");
- static_assert(!noexcept(c1 = tr2::constexpr_move(c2)), "bad noexcept!");
- }
- {
- tr2::optional<NothrowAssign> a1, a2;
- static_assert(!noexcept(tr2::optional<NothrowAssign>{tr2::constexpr_move(a1)}), "bad noexcept!");
- static_assert(!noexcept(a1 = tr2::constexpr_move(a2)), "bad noexcept!");
- }
- {
- tr2::optional<NothrowNone> n1, n2;
- static_assert(!noexcept(tr2::optional<NothrowNone>{tr2::constexpr_move(n1)}), "bad noexcept!");
- static_assert(!noexcept(n1 = tr2::constexpr_move(n2)), "bad noexcept!");
- }
-}
-
-
-void constexpr_test_disengaged()
-{
- constexpr tr2::optional<int> g0{};
- constexpr tr2::optional<int> g1{tr2::nullopt};
- static_assert( !g0, "initialized!" );
- static_assert( !g1, "initialized!" );
-
- static_assert( bool(g1) == bool(g0), "ne!" );
-
- static_assert( g1 == g0, "ne!" );
- static_assert( !(g1 != g0), "ne!" );
- static_assert( g1 >= g0, "ne!" );
- static_assert( !(g1 > g0), "ne!" );
- static_assert( g1 <= g0, "ne!" );
- static_assert( !(g1 <g0), "ne!" );
-
- static_assert( g1 == tr2::nullopt, "!" );
- static_assert( !(g1 != tr2::nullopt), "!" );
- static_assert( g1 <= tr2::nullopt, "!" );
- static_assert( !(g1 < tr2::nullopt), "!" );
- static_assert( g1 >= tr2::nullopt, "!" );
- static_assert( !(g1 > tr2::nullopt), "!" );
-
- static_assert( (tr2::nullopt == g0), "!" );
- static_assert( !(tr2::nullopt != g0), "!" );
- static_assert( (tr2::nullopt >= g0), "!" );
- static_assert( !(tr2::nullopt > g0), "!" );
- static_assert( (tr2::nullopt <= g0), "!" );
- static_assert( !(tr2::nullopt < g0), "!" );
-
- static_assert( (g1 != tr2::optional<int>(1)), "!" );
- static_assert( !(g1 == tr2::optional<int>(1)), "!" );
- static_assert( (g1 < tr2::optional<int>(1)), "!" );
- static_assert( (g1 <= tr2::optional<int>(1)), "!" );
- static_assert( !(g1 > tr2::optional<int>(1)), "!" );
- static_assert( !(g1 > tr2::optional<int>(1)), "!" );
-}
-
-
-constexpr tr2::optional<int> g0{};
-constexpr tr2::optional<int> g2{2};
-static_assert( g2, "not initialized!" );
-static_assert( *g2 == 2, "not 2!" );
-static_assert( g2 == tr2::optional<int>(2), "not 2!" );
-static_assert( g2 != g0, "eq!" );
-
-# if OPTIONAL_HAS_MOVE_ACCESSORS == 1
-static_assert( *tr2::optional<int>{3} == 3, "WTF!" );
-static_assert( tr2::optional<int>{3}.value() == 3, "WTF!" );
-static_assert( tr2::optional<int>{3}.value_or(1) == 3, "WTF!" );
-static_assert( tr2::optional<int>{}.value_or(4) == 4, "WTF!" );
-# endif
-
-constexpr tr2::optional<Combined> gc0{tr2::in_place};
-static_assert(gc0->n == 6, "WTF!");
-
-// optional refs
-int gi = 0;
-constexpr tr2::optional<int&> gori = gi;
-constexpr tr2::optional<int&> gorn{};
-constexpr int& gri = *gori;
-static_assert(gori, "WTF");
-static_assert(!gorn, "WTF");
-static_assert(gori != tr2::nullopt, "WTF");
-static_assert(gorn == tr2::nullopt, "WTF");
-static_assert(&gri == &*gori, "WTF");
-
-constexpr int gci = 1;
-constexpr tr2::optional<int const&> gorci = gci;
-constexpr tr2::optional<int const&> gorcn{};
-
-static_assert(gorcn < gorci, "WTF");
-static_assert(gorcn <= gorci, "WTF");
-static_assert(gorci == gorci, "WTF");
-static_assert(*gorci == 1, "WTF");
-static_assert(gorci == gci, "WTF");
-
-namespace constexpr_optional_ref_and_arrow
-{
- using namespace wpi;
- constexpr Combined c{1, 2};
- constexpr optional<Combined const&> oc = c;
- static_assert(oc, "WTF!");
- static_assert(oc->m == 1, "WTF!");
- static_assert(oc->n == 2, "WTF!");
-}
-
-#if OPTIONAL_HAS_CONSTEXPR_INIT_LIST
-
-namespace InitList
-{
- using namespace wpi;
-
- struct ConstInitLister
- {
- template <typename T>
- constexpr ConstInitLister(std::initializer_list<T> il) : len (il.size()) {}
- size_t len;
- };
-
- constexpr ConstInitLister CIL {2, 3, 4};
- static_assert(CIL.len == 3, "WTF!");
-
- constexpr optional<ConstInitLister> oil {in_place, {4, 5, 6, 7}};
- static_assert(oil, "WTF!");
- static_assert(oil->len == 4, "WTF!");
-}
-
-#endif // OPTIONAL_HAS_CONSTEXPR_INIT_LIST
-
-// end constexpr tests
-
-
-#include <string>
-
-
-struct VEC
-{
- std::vector<int> v;
- template <typename... X>
- VEC( X&&...x) : v(std::forward<X>(x)...) {}
-
- template <typename U, typename... X>
- VEC(std::initializer_list<U> il, X&&...x) : v(il, std::forward<X>(x)...) {}
-};
-
-
-
-TEST(Optional, Vector) {
- tr2::optional<int> oi = 1;
- assert (bool(oi));
- oi.operator=({});
- assert (!oi);
-
- VEC v = {5, 6};
-
- if (OPTIONAL_HAS_CONSTEXPR_INIT_LIST)
- std::cout << "Optional has constexpr initializer_list" << std::endl;
- else
- std::cout << "Optional doesn't have constexpr initializer_list" << std::endl;
-
- if (OPTIONAL_HAS_MOVE_ACCESSORS)
- std::cout << "Optional has constexpr move accessors" << std::endl;
- else
- std::cout << "Optional doesn't have constexpr move accessors" << std::endl;
-}
-
diff --git a/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/uv/UvLoopWalkTest.cpp b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/uv/UvLoopWalkTest.cpp
index 78abf69..5d2e120 100644
--- a/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/uv/UvLoopWalkTest.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/uv/UvLoopWalkTest.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -45,7 +45,7 @@
timer->error.connect([](Error) { FAIL(); });
- timer->timeout.connect([&, theTimer = timer.get() ] {
+ timer->timeout.connect([&, theTimer = timer.get()] {
theTimer->GetLoopRef().Walk([&](Handle& it) {
if (&it == timer.get()) seen_timer_handle++;
});
diff --git a/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/uv/UvTimerTest.cpp b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/uv/UvTimerTest.cpp
index 706e1eb..6e1bd5c 100644
--- a/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/uv/UvTimerTest.cpp
+++ b/third_party/allwpilib_2019/wpiutil/src/test/native/cpp/uv/UvTimerTest.cpp
@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -24,7 +24,7 @@
handleRepeat->error.connect([](Error) { FAIL(); });
handleNoRepeat->timeout.connect(
- [&checkTimerNoRepeatEvent, handle = handleNoRepeat.get() ] {
+ [&checkTimerNoRepeatEvent, handle = handleNoRepeat.get()] {
ASSERT_FALSE(checkTimerNoRepeatEvent);
checkTimerNoRepeatEvent = true;
handle->Stop();
@@ -33,7 +33,7 @@
});
handleRepeat->timeout.connect(
- [&checkTimerRepeatEvent, handle = handleRepeat.get() ] {
+ [&checkTimerRepeatEvent, handle = handleRepeat.get()] {
if (checkTimerRepeatEvent) {
handle->Stop();
handle->Close();
diff --git a/third_party/allwpilib_2019/wpiutil/wpiutil-config.cmake b/third_party/allwpilib_2019/wpiutil/wpiutil-config.cmake
deleted file mode 100644
index 91d01a7..0000000
--- a/third_party/allwpilib_2019/wpiutil/wpiutil-config.cmake
+++ /dev/null
@@ -1,2 +0,0 @@
-get_filename_component(SELF_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
-include(${SELF_DIR}/wpiutil.cmake)
diff --git a/third_party/allwpilib_2019/wpiutil/wpiutil-config.cmake.in b/third_party/allwpilib_2019/wpiutil/wpiutil-config.cmake.in
new file mode 100644
index 0000000..59e506d
--- /dev/null
+++ b/third_party/allwpilib_2019/wpiutil/wpiutil-config.cmake.in
@@ -0,0 +1,8 @@
+include(CMakeFindDependencyMacro)
+@FILENAME_DEP_REPLACE@
+set(THREADS_PREFER_PTHREAD_FLAG ON)
+find_dependency(Threads)
+@LIBUV_VCPKG_REPLACE@
+@EIGEN_VCPKG_REPLACE@
+
+include(${SELF_DIR}/wpiutil.cmake)